[27] | 1 | /*
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| 2 | Converter for RTCM3 data to RINEX.
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[959] | 3 | $Id: rtcm3torinex.c,v 1.28 2008/06/20 06:15:25 stoecker Exp $
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[744] | 4 | Copyright (C) 2005-2008 by Dirk Stöcker <stoecker@alberding.eu>
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[27] | 5 |
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[268] | 6 | This software is a complete NTRIP-RTCM3 to RINEX converter as well as
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| 7 | a module of the BNC tool for multiformat conversion. Contact Dirk
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[744] | 8 | Stöcker for suggestions and bug reports related to the RTCM3 to RINEX
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[268] | 9 | conversion problems and the author of BNC for all the other problems.
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| 10 |
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[27] | 11 | This program is free software; you can redistribute it and/or modify
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| 12 | it under the terms of the GNU General Public License as published by
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| 13 | the Free Software Foundation; either version 2 of the License, or
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| 14 | (at your option) any later version.
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| 15 |
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| 16 | This program is distributed in the hope that it will be useful,
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| 17 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 18 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 19 | GNU General Public License for more details.
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| 20 |
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| 21 | You should have received a copy of the GNU General Public License
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| 22 | along with this program; if not, write to the Free Software
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| 23 | Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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| 24 | or read http://www.gnu.org/licenses/gpl.txt
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| 25 | */
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| 26 |
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| 27 | #include <ctype.h>
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| 28 | #include <errno.h>
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| 29 | #include <math.h>
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| 30 | #include <signal.h>
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[318] | 31 | #include <stdarg.h>
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[27] | 32 | #include <stdio.h>
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| 33 | #include <stdlib.h>
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| 34 | #include <string.h>
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| 35 | #include <sys/types.h>
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| 36 | #include <time.h>
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| 37 | #include <unistd.h>
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| 38 |
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[268] | 39 | #ifndef NO_RTCM3_MAIN
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| 40 | #include <getopt.h>
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| 41 | #include <netdb.h>
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| 42 | #include <netinet/in.h>
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| 43 | #include <sys/socket.h>
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| 44 | #endif
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[27] | 45 |
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[269] | 46 | #ifndef sparc
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| 47 | #include <stdint.h>
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| 48 | #endif
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| 49 |
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[268] | 50 | #include "rtcm3torinex.h"
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[27] | 51 |
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| 52 | /* CVS revision and version */
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[959] | 53 | static char revisionstr[] = "$Revision: 1.28 $";
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[27] | 54 |
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[439] | 55 | #ifndef COMPILEDATE
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| 56 | #define COMPILEDATE " built " __DATE__
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| 57 | #endif
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| 58 |
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[27] | 59 | static uint32_t CRC24(long size, const unsigned char *buf)
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| 60 | {
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| 61 | uint32_t crc = 0;
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| 62 | int i;
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| 63 |
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| 64 | while(size--)
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| 65 | {
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| 66 | crc ^= (*buf++) << (16);
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| 67 | for(i = 0; i < 8; i++)
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| 68 | {
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| 69 | crc <<= 1;
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| 70 | if(crc & 0x1000000)
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| 71 | crc ^= 0x01864cfb;
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| 72 | }
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| 73 | }
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| 74 | return crc;
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| 75 | }
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| 76 |
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| 77 | static int GetMessage(struct RTCM3ParserData *handle)
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| 78 | {
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| 79 | unsigned char *m, *e;
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| 80 | int i;
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| 81 |
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| 82 | m = handle->Message+handle->SkipBytes;
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| 83 | e = handle->Message+handle->MessageSize;
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| 84 | handle->NeedBytes = handle->SkipBytes = 0;
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| 85 | while(e-m >= 3)
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| 86 | {
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| 87 | if(m[0] == 0xD3)
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| 88 | {
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| 89 | handle->size = ((m[1]&3)<<8)|m[2];
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| 90 | if(e-m >= handle->size+6)
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| 91 | {
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| 92 | if((uint32_t)((m[3+handle->size]<<16)|(m[3+handle->size+1]<<8)
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| 93 | |(m[3+handle->size+2])) == CRC24(handle->size+3, m))
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| 94 | {
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| 95 | handle->SkipBytes = handle->size;
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| 96 | break;
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| 97 | }
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| 98 | else
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| 99 | ++m;
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| 100 | }
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| 101 | else
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| 102 | {
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| 103 | handle->NeedBytes = handle->size+6;
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| 104 | break;
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| 105 | }
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| 106 | }
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| 107 | else
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| 108 | ++m;
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| 109 | }
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| 110 | if(e-m < 3)
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| 111 | handle->NeedBytes = 3;
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[744] | 112 |
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[27] | 113 | /* copy buffer to front */
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| 114 | i = m - handle->Message;
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| 115 | if(i && m < e)
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[318] | 116 | memmove(handle->Message, m, (size_t)(handle->MessageSize-i));
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[27] | 117 | handle->MessageSize -= i;
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| 118 |
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| 119 | return !handle->NeedBytes;
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| 120 | }
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| 121 |
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| 122 | #define LOADBITS(a) \
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| 123 | { \
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| 124 | while((a) > numbits) \
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| 125 | { \
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| 126 | if(!size--) break; \
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| 127 | bitfield = (bitfield<<8)|*(data++); \
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| 128 | numbits += 8; \
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| 129 | } \
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| 130 | }
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| 131 |
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| 132 | /* extract bits from data stream
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| 133 | b = variable to store result, a = number of bits */
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| 134 | #define GETBITS(b, a) \
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| 135 | { \
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| 136 | LOADBITS(a) \
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| 137 | b = (bitfield<<(64-numbits))>>(64-(a)); \
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| 138 | numbits -= (a); \
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| 139 | }
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| 140 |
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[502] | 141 | /* extract floating value from data stream
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| 142 | b = variable to store result, a = number of bits */
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| 143 | #define GETFLOAT(b, a, c) \
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| 144 | { \
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| 145 | LOADBITS(a) \
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| 146 | b = ((double)((bitfield<<(64-numbits))>>(64-(a))))*(c); \
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| 147 | numbits -= (a); \
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| 148 | }
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| 149 |
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| 150 | /* extract signed floating value from data stream
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| 151 | b = variable to store result, a = number of bits */
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| 152 | #define GETFLOATSIGN(b, a, c) \
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| 153 | { \
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| 154 | LOADBITS(a) \
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| 155 | b = ((double)(((int64_t)(bitfield<<(64-numbits)))>>(64-(a))))*(c); \
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| 156 | numbits -= (a); \
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| 157 | }
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| 158 |
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[27] | 159 | /* extract bits from data stream
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| 160 | b = variable to store result, a = number of bits */
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| 161 | #define GETBITSSIGN(b, a) \
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| 162 | { \
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| 163 | LOADBITS(a) \
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| 164 | b = ((int64_t)(bitfield<<(64-numbits)))>>(64-(a)); \
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| 165 | numbits -= (a); \
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| 166 | }
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| 167 |
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[502] | 168 | #define GETFLOATSIGNM(b, a, c) \
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| 169 | { int l; \
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| 170 | LOADBITS(a) \
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| 171 | l = (bitfield<<(64-numbits))>>(64-1); \
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| 172 | b = ((double)(((bitfield<<(64-(numbits-1))))>>(64-(a-1))))*(c); \
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| 173 | numbits -= (a); \
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| 174 | if(l) b *= -1.0; \
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| 175 | }
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| 176 |
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[27] | 177 | #define SKIPBITS(b) { LOADBITS(b) numbits -= (b); }
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| 178 |
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[270] | 179 | struct leapseconds { /* specify the day of leap second */
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| 180 | int day; /* this is the day, where 23:59:59 exists 2 times */
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| 181 | int month; /* not the next day! */
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| 182 | int year;
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| 183 | int taicount;
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[744] | 184 | };
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[270] | 185 | static const int months[13] = {0,31,28,31,30,31,30,31,31,30,31,30,31};
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| 186 | static const struct leapseconds leap[] = {
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| 187 | /*{31, 12, 1971, 11},*/
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| 188 | /*{31, 12, 1972, 12},*/
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| 189 | /*{31, 12, 1973, 13},*/
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| 190 | /*{31, 12, 1974, 14},*/
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| 191 | /*{31, 12, 1975, 15},*/
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| 192 | /*{31, 12, 1976, 16},*/
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| 193 | /*{31, 12, 1977, 17},*/
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| 194 | /*{31, 12, 1978, 18},*/
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| 195 | /*{31, 12, 1979, 19},*/
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| 196 | {30, 06, 1981,20},
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| 197 | {30, 06, 1982,21},
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| 198 | {30, 06, 1983,22},
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| 199 | {30, 06, 1985,23},
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| 200 | {31, 12, 1987,24},
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| 201 | {31, 12, 1989,25},
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| 202 | {31, 12, 1990,26},
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| 203 | {30, 06, 1992,27},
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| 204 | {30, 06, 1993,28},
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| 205 | {30, 06, 1994,29},
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| 206 | {31, 12, 1995,30},
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| 207 | {30, 06, 1997,31},
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| 208 | {31, 12, 1998,32},
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| 209 | {31, 12, 2005,33},
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[959] | 210 | {31, 12, 2008,34},
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[270] | 211 | {0,0,0,0} /* end marker */
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| 212 | };
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[328] | 213 | #define LEAPSECONDS 14 /* only needed for approx. time */
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[270] | 214 | #define GPSLEAPSTART 19 /* 19 leap seconds existed at 6.1.1980 */
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| 215 |
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| 216 | static int longyear(int year, int month)
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| 217 | {
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| 218 | if(!(year % 4) && (!(year % 400) || (year % 100)))
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| 219 | {
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| 220 | if(!month || month == 2)
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| 221 | return 1;
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| 222 | }
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| 223 | return 0;
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| 224 | }
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| 225 |
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| 226 | static int gnumleap(int year, int month, int day)
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| 227 | {
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| 228 | int ls = 0;
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| 229 | const struct leapseconds *l;
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| 230 |
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| 231 | for(l = leap; l->taicount && year >= l->year; ++l)
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| 232 | {
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| 233 | if(year > l->year || month > l->month || day > l->day)
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| 234 | ls = l->taicount - GPSLEAPSTART;
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| 235 | }
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| 236 | return ls;
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| 237 | }
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| 238 |
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[502] | 239 | static void updatetime(int *week, int *tow, int tk, int fixnumleap)
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[270] | 240 | {
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[502] | 241 | int y,m,d,k,l, nul;
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[270] | 242 | unsigned int j = *week*(7*24*60*60) + *tow + 5*24*60*60+3*60*60;
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| 243 | int glo_daynumber = 0, glo_timeofday;
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| 244 | for(y = 1980; j >= (unsigned int)(k = (l = (365+longyear(y,0)))*24*60*60)
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| 245 | + gnumleap(y+1,1,1); ++y)
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| 246 | {
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| 247 | j -= k; glo_daynumber += l;
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| 248 | }
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| 249 | for(m = 1; j >= (unsigned int)(k = (l = months[m]+longyear(y, m))*24*60*60)
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| 250 | + gnumleap(y, m+1, 1); ++m)
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| 251 | {
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| 252 | j -= k; glo_daynumber += l;
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| 253 | }
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| 254 | for(d = 1; j >= 24UL*60UL*60UL + gnumleap(y, m, d+1); ++d)
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| 255 | j -= 24*60*60;
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| 256 | glo_daynumber -= 16*365+4-d;
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[502] | 257 | nul = gnumleap(y, m, d);
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| 258 | glo_timeofday = j-nul;
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[270] | 259 |
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| 260 | if(tk < 5*60*1000 && glo_timeofday > 23*60*60)
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| 261 | *tow += 24*60*60;
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| 262 | else if(glo_timeofday < 5*60 && tk > 23*60*60*1000)
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| 263 | *tow -= 24*60*60;
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| 264 | *tow += tk/1000-glo_timeofday;
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[502] | 265 | if(fixnumleap)
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| 266 | *tow -= nul;
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[270] | 267 | if(*tow < 0) {*tow += 24*60*60*7; --*week; }
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| 268 | if(*tow >= 24*60*60*7) {*tow -= 24*60*60*7; ++*week; }
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| 269 | }
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| 270 |
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[268] | 271 | int RTCM3Parser(struct RTCM3ParserData *handle)
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[27] | 272 | {
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| 273 | int ret=0;
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| 274 |
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| 275 | while(!ret && GetMessage(handle))
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| 276 | {
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| 277 | /* using 64 bit integer types, as it is much easier than handling
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| 278 | the long datatypes in 32 bit */
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| 279 | uint64_t numbits = 0, bitfield = 0;
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| 280 | int size = handle->size, type;
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[270] | 281 | int syncf, old = 0;
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[27] | 282 | unsigned char *data = handle->Message+3;
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| 283 |
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| 284 | GETBITS(type,12)
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| 285 | switch(type)
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| 286 | {
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[502] | 287 | case 1019:
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| 288 | {
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| 289 | struct gpsephemeris *ge;
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| 290 | int sv;
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| 291 |
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| 292 | ge = &handle->ephemerisGPS;
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| 293 | memset(ge, 0, sizeof(*ge));
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| 294 |
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| 295 | GETBITS(sv, 6)
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| 296 | ge->satellite = (sv < 40 ? sv : sv+80);
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| 297 | GETBITS(ge->GPSweek, 10)
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| 298 | ge->GPSweek += 1024;
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| 299 | GETBITS(ge->URAindex, 4)
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| 300 | GETBITS(sv, 2)
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| 301 | if(sv & 1)
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| 302 | ge->flags |= GPSEPHF_L2PCODE;
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| 303 | if(sv & 2)
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| 304 | ge->flags |= GPSEPHF_L2CACODE;
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| 305 | GETFLOATSIGN(ge->IDOT, 14, PI/(double)(1<<30)/(double)(1<<13))
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| 306 | GETBITS(ge->IODE, 8)
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| 307 | GETBITS(ge->TOC, 16)
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| 308 | ge->TOC <<= 4;
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| 309 | GETFLOATSIGN(ge->clock_driftrate, 8, 1.0/(double)(1<<30)/(double)(1<<25))
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| 310 | GETFLOATSIGN(ge->clock_drift, 16, 1.0/(double)(1<<30)/(double)(1<<13))
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| 311 | GETFLOATSIGN(ge->clock_bias, 22, 1.0/(double)(1<<30)/(double)(1<<1))
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| 312 | GETBITS(ge->IODC, 10)
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| 313 | GETFLOATSIGN(ge->Crs, 16, 1.0/(double)(1<<5))
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| 314 | GETFLOATSIGN(ge->Delta_n, 16, PI/(double)(1<<30)/(double)(1<<13))
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| 315 | GETFLOATSIGN(ge->M0, 32, PI/(double)(1<<30)/(double)(1<<1))
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| 316 | GETFLOATSIGN(ge->Cuc, 16, 1.0/(double)(1<<29))
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| 317 | GETFLOAT(ge->e, 32, 1.0/(double)(1<<30)/(double)(1<<3))
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| 318 | GETFLOATSIGN(ge->Cus, 16, 1.0/(double)(1<<29))
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| 319 | GETFLOAT(ge->sqrt_A, 32, 1.0/(double)(1<<19))
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| 320 | GETBITS(ge->TOE, 16)
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| 321 | ge->TOE <<= 4;
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| 322 |
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| 323 | GETFLOATSIGN(ge->Cic, 16, 1.0/(double)(1<<29))
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| 324 | GETFLOATSIGN(ge->OMEGA0, 32, PI/(double)(1<<30)/(double)(1<<1))
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| 325 | GETFLOATSIGN(ge->Cis, 16, 1.0/(double)(1<<29))
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| 326 | GETFLOATSIGN(ge->i0, 32, PI/(double)(1<<30)/(double)(1<<1))
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| 327 | GETFLOATSIGN(ge->Crc, 16, 1.0/(double)(1<<5))
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| 328 | GETFLOATSIGN(ge->omega, 32, PI/(double)(1<<30)/(double)(1<<1))
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| 329 | GETFLOATSIGN(ge->OMEGADOT, 24, PI/(double)(1<<30)/(double)(1<<13))
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| 330 | GETFLOATSIGN(ge->TGD, 8, 1.0/(double)(1<<30)/(double)(1<<1))
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| 331 | GETBITS(ge->SVhealth, 6)
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| 332 | GETBITS(sv, 1)
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| 333 | if(sv)
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| 334 | ge->flags |= GPSEPHF_L2PCODEDATA;
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| 335 |
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| 336 | ret = 1019;
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| 337 | }
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| 338 | break;
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| 339 | case 1020:
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| 340 | {
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| 341 | struct glonassephemeris *ge;
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| 342 | int i;
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| 343 |
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| 344 | ge = &handle->ephemerisGLONASS;
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| 345 | memset(ge, 0, sizeof(*ge));
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| 346 |
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| 347 | ge->flags |= GLOEPHF_PAVAILABLE;
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| 348 | GETBITS(ge->almanac_number, 6)
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| 349 | GETBITS(i, 5)
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| 350 | ge->frequency_number = i-7;
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| 351 | GETBITS(i, 1)
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| 352 | if(i)
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| 353 | ge->flags |= GLOEPHF_ALMANACHEALTHY;
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| 354 | GETBITS(i, 1)
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| 355 | if(i)
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| 356 | ge->flags |= GLOEPHF_ALMANACHEALTHOK;
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| 357 | GETBITS(i, 2)
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| 358 | if(i & 1)
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| 359 | ge->flags |= GLOEPHF_P10TRUE;
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| 360 | if(i & 2)
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| 361 | ge->flags |= GLOEPHF_P11TRUE;
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| 362 | GETBITS(i, 5)
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| 363 | ge->tk = i*60*60;
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| 364 | GETBITS(i, 6)
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| 365 | ge->tk += i*60;
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| 366 | GETBITS(i, 1)
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| 367 | ge->tk += i*30;
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| 368 | GETBITS(i, 1)
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| 369 | if(i)
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| 370 | ge->flags |= GLOEPHF_UNHEALTHY;
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| 371 | GETBITS(i, 1)
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| 372 | if(i)
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| 373 | ge->flags |= GLOEPHF_P2TRUE;
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| 374 | GETBITS(i, 7)
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| 375 | ge->tb = i*15*60;
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| 376 | GETFLOATSIGNM(ge->x_velocity, 24, 1.0/(double)(1<<20))
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| 377 | GETFLOATSIGNM(ge->x_pos, 27, 1.0/(double)(1<<11))
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| 378 | GETFLOATSIGNM(ge->x_acceleration, 5, 1.0/(double)(1<<30))
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| 379 | GETFLOATSIGNM(ge->y_velocity, 24, 1.0/(double)(1<<20))
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| 380 | GETFLOATSIGNM(ge->y_pos, 27, 1.0/(double)(1<<11))
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| 381 | GETFLOATSIGNM(ge->y_acceleration, 5, 1.0/(double)(1<<30))
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| 382 | GETFLOATSIGNM(ge->z_velocity, 24, 1.0/(double)(1<<20))
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| 383 | GETFLOATSIGNM(ge->z_pos, 27, 1.0/(double)(1<<11))
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| 384 | GETFLOATSIGNM(ge->z_acceleration, 5, 1.0/(double)(1<<30))
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| 385 | GETBITS(i, 1)
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| 386 | if(i)
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| 387 | ge->flags |= GLOEPHF_P3TRUE;
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| 388 | GETFLOATSIGNM(ge->gamma, 11, 1.0/(double)(1<<30)/(double)(1<<10))
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| 389 | SKIPBITS(3) /* GLONASS-M P, GLONASS-M ln (third string) */
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| 390 | GETFLOATSIGNM(ge->tau, 22, 1.0/(double)(1<<30)) /* GLONASS tau n(tb) */
|
---|
| 391 | SKIPBITS(5) /* GLONASS-M delta tau n(tb) */
|
---|
| 392 | GETBITS(ge->E, 5)
|
---|
| 393 | /* GETBITS(b, 1) / * GLONASS-M P4 */
|
---|
| 394 | /* GETBITS(b, 4) / * GLONASS-M Ft */
|
---|
| 395 | /* GETBITS(b, 11) / * GLONASS-M Nt */
|
---|
| 396 | /* GETBITS(b, 2) / * GLONASS-M M */
|
---|
| 397 | /* GETBITS(b, 1) / * GLONASS-M The Availability of Additional Data */
|
---|
| 398 | /* GETBITS(b, 11) / * GLONASS-M Na */
|
---|
| 399 | /* GETFLOATSIGNM(b, 32, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS tau c */
|
---|
| 400 | /* GETBITS(b, 5) / * GLONASS-M N4 */
|
---|
| 401 | /* GETFLOATSIGNM(b, 22, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS-M tau GPS */
|
---|
| 402 | /* GETBITS(b, 1) / * GLONASS-M ln (fifth string) */
|
---|
| 403 | ge->GPSWeek = handle->GPSWeek;
|
---|
| 404 | ge->GPSTOW = handle->GPSTOW;
|
---|
| 405 | ret = 1020;
|
---|
| 406 | }
|
---|
| 407 | break;
|
---|
[33] | 408 | case 1001: case 1002: case 1003: case 1004:
|
---|
[27] | 409 | if(handle->GPSWeek)
|
---|
| 410 | {
|
---|
| 411 | int lastlockl1[64];
|
---|
| 412 | int lastlockl2[64];
|
---|
| 413 | struct gnssdata *gnss;
|
---|
| 414 | int i, num, wasamb=0;
|
---|
| 415 |
|
---|
| 416 | for(i = 0; i < 64; ++i)
|
---|
| 417 | lastlockl1[i] = lastlockl2[i] = 0;
|
---|
| 418 |
|
---|
[270] | 419 | gnss = &handle->DataNew;
|
---|
[27] | 420 |
|
---|
| 421 | SKIPBITS(12) /* id */
|
---|
| 422 | GETBITS(i,30)
|
---|
| 423 | if(i/1000 < (int)handle->GPSTOW - 86400)
|
---|
| 424 | ++handle->GPSWeek;
|
---|
| 425 | handle->GPSTOW = i/1000;
|
---|
[270] | 426 | if(gnss->week && (gnss->timeofweek != i || gnss->week
|
---|
| 427 | != handle->GPSWeek))
|
---|
| 428 | {
|
---|
| 429 | handle->Data = *gnss;
|
---|
| 430 | memset(gnss, 0, sizeof(*gnss));
|
---|
| 431 | old = 1;
|
---|
| 432 | }
|
---|
[27] | 433 | gnss->timeofweek = i;
|
---|
| 434 | gnss->week = handle->GPSWeek;
|
---|
| 435 |
|
---|
[270] | 436 | GETBITS(syncf,1) /* sync */
|
---|
[27] | 437 | GETBITS(i,5)
|
---|
| 438 | gnss->numsats = i;
|
---|
| 439 | SKIPBITS(4) /* smind, smint */
|
---|
| 440 |
|
---|
| 441 | for(num = 0; num < gnss->numsats; ++num)
|
---|
| 442 | {
|
---|
[33] | 443 | int sv, code, l1range, c,l,s,ce,le,se,amb=0;
|
---|
[27] | 444 |
|
---|
| 445 | GETBITS(sv, 6);
|
---|
| 446 | gnss->satellites[num] = (sv < 40 ? sv : sv+80);
|
---|
| 447 | /* L1 */
|
---|
| 448 | GETBITS(code, 1);
|
---|
| 449 | if(code)
|
---|
| 450 | {
|
---|
| 451 | c = GNSSDF_P1DATA; ce = GNSSENTRY_P1DATA;
|
---|
| 452 | l = GNSSDF_L1PDATA; le = GNSSENTRY_L1PDATA;
|
---|
| 453 | s = GNSSDF_S1PDATA; se = GNSSENTRY_S1PDATA;
|
---|
| 454 | }
|
---|
| 455 | else
|
---|
| 456 | {
|
---|
| 457 | c = GNSSDF_C1DATA; ce = GNSSENTRY_C1DATA;
|
---|
| 458 | l = GNSSDF_L1CDATA; le = GNSSENTRY_L1CDATA;
|
---|
| 459 | s = GNSSDF_S1CDATA; se = GNSSENTRY_S1CDATA;
|
---|
| 460 | }
|
---|
| 461 | GETBITS(l1range, 24);
|
---|
| 462 | GETBITSSIGN(i, 20);
|
---|
[325] | 463 | if((i&((1<<20)-1)) != 0x80000)
|
---|
[27] | 464 | {
|
---|
[744] | 465 | gnss->dataflags[num] |= (c|l);
|
---|
| 466 | gnss->measdata[num][ce] = l1range*0.02;
|
---|
[27] | 467 | gnss->measdata[num][le] = l1range*0.02+i*0.0005;
|
---|
| 468 | }
|
---|
| 469 | GETBITS(i, 7);
|
---|
| 470 | lastlockl1[sv] = i;
|
---|
| 471 | if(handle->lastlockl1[sv] > i)
|
---|
| 472 | gnss->dataflags[num] |= GNSSDF_LOCKLOSSL1;
|
---|
[33] | 473 | if(type == 1002 || type == 1004)
|
---|
[27] | 474 | {
|
---|
[33] | 475 | GETBITS(amb,8);
|
---|
| 476 | if(amb && (gnss->dataflags[num] & c))
|
---|
| 477 | {
|
---|
| 478 | gnss->measdata[num][ce] += amb*299792.458;
|
---|
| 479 | gnss->measdata[num][le] += amb*299792.458;
|
---|
| 480 | ++wasamb;
|
---|
| 481 | }
|
---|
| 482 | GETBITS(i, 8);
|
---|
| 483 | if(i)
|
---|
| 484 | {
|
---|
| 485 | gnss->dataflags[num] |= s;
|
---|
| 486 | gnss->measdata[num][se] = i*0.25;
|
---|
| 487 | i /= 4*4;
|
---|
| 488 | if(i > 9) i = 9;
|
---|
| 489 | else if(i < 1) i = 1;
|
---|
| 490 | gnss->snrL1[num] = i;
|
---|
| 491 | }
|
---|
[27] | 492 | }
|
---|
[81] | 493 | gnss->measdata[num][le] /= GPS_WAVELENGTH_L1;
|
---|
[33] | 494 | if(type == 1003 || type == 1004)
|
---|
[27] | 495 | {
|
---|
[33] | 496 | /* L2 */
|
---|
| 497 | GETBITS(code,2);
|
---|
| 498 | if(code)
|
---|
| 499 | {
|
---|
| 500 | c = GNSSDF_P2DATA; ce = GNSSENTRY_P2DATA;
|
---|
| 501 | l = GNSSDF_L2PDATA; le = GNSSENTRY_L2PDATA;
|
---|
| 502 | s = GNSSDF_S2PDATA; se = GNSSENTRY_S2PDATA;
|
---|
| 503 | }
|
---|
| 504 | else
|
---|
| 505 | {
|
---|
| 506 | c = GNSSDF_C2DATA; ce = GNSSENTRY_C2DATA;
|
---|
| 507 | l = GNSSDF_L2CDATA; le = GNSSENTRY_L2CDATA;
|
---|
| 508 | s = GNSSDF_S2CDATA; se = GNSSENTRY_S2CDATA;
|
---|
| 509 | }
|
---|
| 510 | GETBITSSIGN(i,14);
|
---|
[325] | 511 | if((i&((1<<14)-1)) != 0x2000)
|
---|
[33] | 512 | {
|
---|
| 513 | gnss->dataflags[num] |= c;
|
---|
| 514 | gnss->measdata[num][ce] = l1range*0.02+i*0.02
|
---|
| 515 | +amb*299792.458;
|
---|
| 516 | }
|
---|
| 517 | GETBITSSIGN(i,20);
|
---|
[325] | 518 | if((i&((1<<20)-1)) != 0x80000)
|
---|
[33] | 519 | {
|
---|
| 520 | gnss->dataflags[num] |= l;
|
---|
| 521 | gnss->measdata[num][le] = l1range*0.02+i*0.0005
|
---|
| 522 | +amb*299792.458;
|
---|
| 523 | }
|
---|
| 524 | GETBITS(i,7);
|
---|
| 525 | lastlockl2[sv] = i;
|
---|
| 526 | if(handle->lastlockl2[sv] > i)
|
---|
| 527 | gnss->dataflags[num] |= GNSSDF_LOCKLOSSL2;
|
---|
| 528 | if(type == 1004)
|
---|
| 529 | {
|
---|
| 530 | GETBITS(i, 8);
|
---|
| 531 | if(i)
|
---|
| 532 | {
|
---|
| 533 | gnss->dataflags[num] |= s;
|
---|
| 534 | gnss->measdata[num][se] = i*0.25;
|
---|
| 535 | i /= 4*4;
|
---|
| 536 | if(i > 9) i = 9;
|
---|
| 537 | else if(i < 1) i = 1;
|
---|
| 538 | gnss->snrL2[num] = i;
|
---|
| 539 | }
|
---|
| 540 | }
|
---|
[81] | 541 | gnss->measdata[num][le] /= GPS_WAVELENGTH_L2;
|
---|
[27] | 542 | }
|
---|
| 543 | }
|
---|
| 544 | for(i = 0; i < 64; ++i)
|
---|
| 545 | {
|
---|
| 546 | handle->lastlockl1[i] = lastlockl1[i];
|
---|
| 547 | handle->lastlockl2[i] = lastlockl2[i];
|
---|
| 548 | }
|
---|
[270] | 549 | if(!syncf && !old)
|
---|
| 550 | {
|
---|
| 551 | handle->Data = *gnss;
|
---|
| 552 | memset(gnss, 0, sizeof(*gnss));
|
---|
| 553 | }
|
---|
| 554 | if(!syncf || old)
|
---|
| 555 | {
|
---|
| 556 | if(wasamb) /* not RINEX compatible without */
|
---|
| 557 | ret = 1;
|
---|
| 558 | else
|
---|
| 559 | ret = 2;
|
---|
| 560 | }
|
---|
[27] | 561 | }
|
---|
| 562 | break;
|
---|
[270] | 563 | case 1009: case 1010: case 1011: case 1012:
|
---|
| 564 | {
|
---|
| 565 | int lastlockl1[64];
|
---|
| 566 | int lastlockl2[64];
|
---|
| 567 | struct gnssdata *gnss;
|
---|
| 568 | int i, num;
|
---|
| 569 | int wasamb=0;
|
---|
| 570 |
|
---|
| 571 | for(i = 0; i < 64; ++i)
|
---|
| 572 | lastlockl1[i] = lastlockl2[i] = 0;
|
---|
| 573 |
|
---|
| 574 | gnss = &handle->DataNew;
|
---|
| 575 |
|
---|
| 576 | SKIPBITS(12) /* id */;
|
---|
| 577 | GETBITS(i,27) /* tk */
|
---|
| 578 |
|
---|
[502] | 579 | updatetime(&handle->GPSWeek, &handle->GPSTOW, i, 0);
|
---|
[270] | 580 | i = handle->GPSTOW*1000;
|
---|
| 581 | if(gnss->week && (gnss->timeofweek != i || gnss->week
|
---|
| 582 | != handle->GPSWeek))
|
---|
| 583 | {
|
---|
| 584 | handle->Data = *gnss;
|
---|
| 585 | memset(gnss, 0, sizeof(*gnss));
|
---|
| 586 | old = 1;
|
---|
| 587 | }
|
---|
| 588 |
|
---|
| 589 | gnss->timeofweek = i;
|
---|
| 590 | gnss->week = handle->GPSWeek;
|
---|
| 591 |
|
---|
| 592 | GETBITS(syncf,1) /* sync */
|
---|
| 593 | GETBITS(i,5)
|
---|
| 594 | gnss->numsats += i;
|
---|
| 595 |
|
---|
| 596 | SKIPBITS(4) /* smind, smint */
|
---|
| 597 |
|
---|
| 598 | for(num = gnss->numsats-i; num < gnss->numsats; ++num)
|
---|
| 599 | {
|
---|
| 600 | int sv, code, l1range, c,l,s,ce,le,se,amb=0;
|
---|
[325] | 601 | int freq;
|
---|
[270] | 602 |
|
---|
| 603 | GETBITS(sv, 6)
|
---|
[325] | 604 | gnss->satellites[num] = sv-1 + PRN_GLONASS_START;
|
---|
| 605 | /* L1 */
|
---|
| 606 | GETBITS(code, 1)
|
---|
| 607 | GETBITS(freq, 5)
|
---|
| 608 | if(code)
|
---|
[270] | 609 | {
|
---|
[325] | 610 | c = GNSSDF_P1DATA; ce = GNSSENTRY_P1DATA;
|
---|
| 611 | l = GNSSDF_L1PDATA; le = GNSSENTRY_L1PDATA;
|
---|
| 612 | s = GNSSDF_S1PDATA; se = GNSSENTRY_S1PDATA;
|
---|
[270] | 613 | }
|
---|
| 614 | else
|
---|
| 615 | {
|
---|
[325] | 616 | c = GNSSDF_C1DATA; ce = GNSSENTRY_C1DATA;
|
---|
| 617 | l = GNSSDF_L1CDATA; le = GNSSENTRY_L1CDATA;
|
---|
| 618 | s = GNSSDF_S1CDATA; se = GNSSENTRY_S1CDATA;
|
---|
| 619 | }
|
---|
| 620 | GETBITS(l1range, 25)
|
---|
| 621 | GETBITSSIGN(i, 20)
|
---|
| 622 | if((i&((1<<20)-1)) != 0x80000)
|
---|
| 623 | {
|
---|
[744] | 624 | /* Handle this like GPS. Actually for GLONASS L1 range is always
|
---|
| 625 | valid. To be on the save side, we handle it as invalid like we
|
---|
| 626 | do for GPS and also remove range in case of 0x80000. */
|
---|
| 627 | gnss->dataflags[num] |= (c|l);
|
---|
| 628 | gnss->measdata[num][ce] = l1range*0.02;
|
---|
[325] | 629 | gnss->measdata[num][le] = l1range*0.02+i*0.0005;
|
---|
| 630 | }
|
---|
| 631 | GETBITS(i, 7)
|
---|
| 632 | lastlockl1[sv] = i;
|
---|
| 633 | if(handle->lastlockl1[sv] > i)
|
---|
| 634 | gnss->dataflags[num] |= GNSSDF_LOCKLOSSL1;
|
---|
| 635 | if(type == 1010 || type == 1012)
|
---|
| 636 | {
|
---|
| 637 | GETBITS(amb,7)
|
---|
| 638 | if(amb && (gnss->dataflags[num] & c))
|
---|
| 639 | {
|
---|
| 640 | gnss->measdata[num][ce] += amb*599584.916;
|
---|
| 641 | gnss->measdata[num][le] += amb*599584.916;
|
---|
| 642 | ++wasamb;
|
---|
| 643 | }
|
---|
| 644 | GETBITS(i, 8)
|
---|
| 645 | if(i)
|
---|
| 646 | {
|
---|
| 647 | gnss->dataflags[num] |= s;
|
---|
| 648 | gnss->measdata[num][se] = i*0.25;
|
---|
| 649 | i /= 4*4;
|
---|
| 650 | if(i > 9) i = 9;
|
---|
| 651 | else if(i < 1) i = 1;
|
---|
| 652 | gnss->snrL1[num] = i;
|
---|
| 653 | }
|
---|
| 654 | }
|
---|
| 655 | gnss->measdata[num][le] /= GLO_WAVELENGTH_L1(freq-7);
|
---|
| 656 | if(type == 1011 || type == 1012)
|
---|
| 657 | {
|
---|
| 658 | /* L2 */
|
---|
| 659 | GETBITS(code,2)
|
---|
[270] | 660 | if(code)
|
---|
| 661 | {
|
---|
[325] | 662 | c = GNSSDF_P2DATA; ce = GNSSENTRY_P2DATA;
|
---|
| 663 | l = GNSSDF_L2PDATA; le = GNSSENTRY_L2PDATA;
|
---|
| 664 | s = GNSSDF_S2PDATA; se = GNSSENTRY_S2PDATA;
|
---|
[270] | 665 | }
|
---|
| 666 | else
|
---|
| 667 | {
|
---|
[325] | 668 | c = GNSSDF_C2DATA; ce = GNSSENTRY_C2DATA;
|
---|
| 669 | l = GNSSDF_L2CDATA; le = GNSSENTRY_L2CDATA;
|
---|
| 670 | s = GNSSDF_S2CDATA; se = GNSSENTRY_S2CDATA;
|
---|
[270] | 671 | }
|
---|
[325] | 672 | GETBITSSIGN(i,14)
|
---|
| 673 | if((i&((1<<14)-1)) != 0x2000)
|
---|
[270] | 674 | {
|
---|
| 675 | gnss->dataflags[num] |= c;
|
---|
[325] | 676 | gnss->measdata[num][ce] = l1range*0.02+i*0.02
|
---|
| 677 | +amb*599584.916;
|
---|
[270] | 678 | }
|
---|
[325] | 679 | GETBITSSIGN(i,20)
|
---|
| 680 | if((i&((1<<20)-1)) != 0x80000)
|
---|
[270] | 681 | {
|
---|
| 682 | gnss->dataflags[num] |= l;
|
---|
[325] | 683 | gnss->measdata[num][le] = l1range*0.02+i*0.0005
|
---|
[949] | 684 | +amb*599584.916;
|
---|
[270] | 685 | }
|
---|
[325] | 686 | GETBITS(i,7)
|
---|
| 687 | lastlockl2[sv] = i;
|
---|
| 688 | if(handle->lastlockl2[sv] > i)
|
---|
| 689 | gnss->dataflags[num] |= GNSSDF_LOCKLOSSL2;
|
---|
| 690 | if(type == 1012)
|
---|
[270] | 691 | {
|
---|
| 692 | GETBITS(i, 8)
|
---|
| 693 | if(i)
|
---|
| 694 | {
|
---|
| 695 | gnss->dataflags[num] |= s;
|
---|
| 696 | gnss->measdata[num][se] = i*0.25;
|
---|
| 697 | i /= 4*4;
|
---|
| 698 | if(i > 9) i = 9;
|
---|
| 699 | else if(i < 1) i = 1;
|
---|
[325] | 700 | gnss->snrL2[num] = i;
|
---|
[270] | 701 | }
|
---|
| 702 | }
|
---|
[325] | 703 | gnss->measdata[num][le] /= GLO_WAVELENGTH_L2(freq-7);
|
---|
[270] | 704 | }
|
---|
[325] | 705 | if(!sv || sv > 24)
|
---|
| 706 | {
|
---|
| 707 | --num; --gnss->numsats;
|
---|
| 708 | }
|
---|
[270] | 709 | }
|
---|
| 710 | for(i = 0; i < 64; ++i)
|
---|
| 711 | {
|
---|
| 712 | handle->lastlockl1[i] = lastlockl1[i];
|
---|
| 713 | handle->lastlockl2[i] = lastlockl2[i];
|
---|
| 714 | }
|
---|
| 715 | if(!syncf && !old)
|
---|
| 716 | {
|
---|
| 717 | handle->Data = *gnss;
|
---|
| 718 | memset(gnss, 0, sizeof(*gnss));
|
---|
| 719 | }
|
---|
| 720 | if(!syncf || old)
|
---|
| 721 | {
|
---|
| 722 | if(wasamb) /* not RINEX compatible without */
|
---|
| 723 | ret = 1;
|
---|
| 724 | else
|
---|
| 725 | ret = 2;
|
---|
| 726 | }
|
---|
| 727 | }
|
---|
| 728 | break;
|
---|
[27] | 729 | }
|
---|
| 730 | }
|
---|
| 731 | return ret;
|
---|
| 732 | }
|
---|
| 733 |
|
---|
| 734 | struct Header
|
---|
| 735 | {
|
---|
| 736 | const char *version;
|
---|
| 737 | const char *pgm;
|
---|
| 738 | const char *marker;
|
---|
[503] | 739 | const char *markertype;
|
---|
[27] | 740 | const char *observer;
|
---|
| 741 | const char *receiver;
|
---|
| 742 | const char *antenna;
|
---|
| 743 | const char *position;
|
---|
| 744 | const char *antennaposition;
|
---|
| 745 | const char *wavelength;
|
---|
| 746 | const char *typesofobs; /* should not be modified outside */
|
---|
[502] | 747 | const char *typesofobsG; /* should not be modified outside */
|
---|
| 748 | const char *typesofobsR; /* should not be modified outside */
|
---|
| 749 | const char *typesofobsS; /* should not be modified outside */
|
---|
[27] | 750 | const char *timeoffirstobs; /* should not be modified outside */
|
---|
| 751 | };
|
---|
| 752 |
|
---|
| 753 | #define MAXHEADERLINES 50
|
---|
| 754 | #define MAXHEADERBUFFERSIZE 4096
|
---|
| 755 | struct HeaderData
|
---|
| 756 | {
|
---|
| 757 | union
|
---|
| 758 | {
|
---|
| 759 | struct Header named;
|
---|
| 760 | const char *unnamed[MAXHEADERLINES];
|
---|
| 761 | } data;
|
---|
| 762 | int numheaders;
|
---|
| 763 | };
|
---|
| 764 |
|
---|
[270] | 765 | struct converttimeinfo {
|
---|
| 766 | int second; /* seconds of GPS time [0..59] */
|
---|
| 767 | int minute; /* minutes of GPS time [0..59] */
|
---|
| 768 | int hour; /* hour of GPS time [0..24] */
|
---|
| 769 | int day; /* day of GPS time [1..28..30(31)*/
|
---|
| 770 | int month; /* month of GPS time [1..12]*/
|
---|
| 771 | int year; /* year of GPS time [1980..] */
|
---|
| 772 | };
|
---|
| 773 |
|
---|
| 774 | static void converttime(struct converttimeinfo *c, int week, int tow)
|
---|
| 775 | {
|
---|
| 776 | int i, k, doy, j; /* temporary variables */
|
---|
| 777 | j = week*(7*24*60*60) + tow + 5*24*60*60;
|
---|
| 778 | for(i = 1980; j >= (k = (365+longyear(i,0))*24*60*60); ++i)
|
---|
| 779 | j -= k;
|
---|
| 780 | c->year = i;
|
---|
| 781 | doy = 1+ (j / (24*60*60));
|
---|
| 782 | j %= (24*60*60);
|
---|
| 783 | c->hour = j / (60*60);
|
---|
| 784 | j %= (60*60);
|
---|
| 785 | c->minute = j / 60;
|
---|
| 786 | c->second = j % 60;
|
---|
| 787 | j = 0;
|
---|
| 788 | for(i = 1; j + (k = months[i] + longyear(c->year,i)) < doy; ++i)
|
---|
| 789 | j += k;
|
---|
| 790 | c->month = i;
|
---|
| 791 | c->day = doy - j;
|
---|
| 792 | }
|
---|
| 793 |
|
---|
[318] | 794 | #ifndef NO_RTCM3_MAIN
|
---|
| 795 | void RTCM3Error(const char *fmt, ...)
|
---|
| 796 | {
|
---|
| 797 | va_list v;
|
---|
| 798 | va_start(v, fmt);
|
---|
| 799 | vfprintf(stderr, fmt, v);
|
---|
| 800 | va_end(v);
|
---|
| 801 | }
|
---|
| 802 | #endif
|
---|
| 803 |
|
---|
| 804 | void RTCM3Text(const char *fmt, ...)
|
---|
| 805 | {
|
---|
| 806 | va_list v;
|
---|
| 807 | va_start(v, fmt);
|
---|
| 808 | vprintf(fmt, v);
|
---|
| 809 | va_end(v);
|
---|
| 810 | }
|
---|
| 811 |
|
---|
[503] | 812 | static int HandleRunBy(char *buffer, int buffersize, const char **u,
|
---|
| 813 | int rinex3)
|
---|
[502] | 814 | {
|
---|
| 815 | const char *user;
|
---|
| 816 | time_t t;
|
---|
| 817 | struct tm * t2;
|
---|
| 818 |
|
---|
| 819 | #ifdef NO_RTCM3_MAIN
|
---|
| 820 | if(revisionstr[0] == '$')
|
---|
| 821 | {
|
---|
| 822 | char *a;
|
---|
| 823 | int i=0;
|
---|
| 824 | for(a = revisionstr+11; *a && *a != ' '; ++a)
|
---|
| 825 | revisionstr[i++] = *a;
|
---|
| 826 | revisionstr[i] = 0;
|
---|
| 827 | }
|
---|
| 828 | #endif
|
---|
| 829 |
|
---|
| 830 | user= getenv("USER");
|
---|
| 831 | if(!user) user = "";
|
---|
| 832 | t = time(&t);
|
---|
| 833 | t2 = gmtime(&t);
|
---|
| 834 | if(u) *u = user;
|
---|
| 835 | return 1+snprintf(buffer, buffersize,
|
---|
[503] | 836 | rinex3 ?
|
---|
| 837 | "RTCM3TORINEX %-7.7s%-20.20s%04d%02d%02d %02d%02d%02d UTC "
|
---|
| 838 | "PGM / RUN BY / DATE" :
|
---|
[502] | 839 | "RTCM3TORINEX %-7.7s%-20.20s%04d-%02d-%02d %02d:%02d "
|
---|
| 840 | "PGM / RUN BY / DATE", revisionstr, user, 1900+t2->tm_year,
|
---|
[503] | 841 | t2->tm_mon+1, t2->tm_mday, t2->tm_hour, t2->tm_min, t2->tm_sec);
|
---|
[502] | 842 | }
|
---|
| 843 |
|
---|
[318] | 844 | #define NUMSTARTSKIP 3
|
---|
[268] | 845 | void HandleHeader(struct RTCM3ParserData *Parser)
|
---|
[27] | 846 | {
|
---|
| 847 | struct HeaderData hdata;
|
---|
| 848 | char thebuffer[MAXHEADERBUFFERSIZE];
|
---|
| 849 | char *buffer = thebuffer;
|
---|
[318] | 850 | size_t buffersize = sizeof(thebuffer);
|
---|
[27] | 851 | int i;
|
---|
| 852 |
|
---|
[549] | 853 | memset(&hdata, 0, sizeof(hdata));
|
---|
| 854 |
|
---|
[502] | 855 | hdata.data.named.version = buffer;
|
---|
| 856 | i = 1+snprintf(buffer, buffersize,
|
---|
| 857 | "%9.2f OBSERVATION DATA M (Mixed)"
|
---|
| 858 | " RINEX VERSION / TYPE", Parser->rinex3 ? 3.0 : 2.11);
|
---|
| 859 | buffer += i; buffersize -= i;
|
---|
[27] | 860 |
|
---|
| 861 | {
|
---|
[30] | 862 | const char *str;
|
---|
[27] | 863 | hdata.data.named.pgm = buffer;
|
---|
[503] | 864 | i = HandleRunBy(buffer, buffersize, &str, Parser->rinex3);
|
---|
[27] | 865 | buffer += i; buffersize -= i;
|
---|
| 866 | hdata.data.named.observer = buffer;
|
---|
| 867 | i = 1+snprintf(buffer, buffersize,
|
---|
| 868 | "%-20.20s "
|
---|
| 869 | "OBSERVER / AGENCY", str);
|
---|
| 870 | buffer += i; buffersize -= i;
|
---|
| 871 | }
|
---|
| 872 |
|
---|
| 873 | hdata.data.named.marker =
|
---|
| 874 | "RTCM3TORINEX "
|
---|
| 875 | "MARKER NAME";
|
---|
| 876 |
|
---|
[503] | 877 | hdata.data.named.markertype = !Parser->rinex3 ? 0 :
|
---|
| 878 | "GEODETIC "
|
---|
| 879 | "MARKER TYPE";
|
---|
| 880 |
|
---|
[27] | 881 | hdata.data.named.receiver =
|
---|
| 882 | " "
|
---|
| 883 | "REC # / TYPE / VERS";
|
---|
| 884 |
|
---|
| 885 | hdata.data.named.antenna =
|
---|
| 886 | " "
|
---|
| 887 | "ANT # / TYPE";
|
---|
| 888 |
|
---|
| 889 | hdata.data.named.position =
|
---|
| 890 | " .0000 .0000 .0000 "
|
---|
| 891 | "APPROX POSITION XYZ";
|
---|
| 892 |
|
---|
| 893 | hdata.data.named.antennaposition =
|
---|
| 894 | " .0000 .0000 .0000 "
|
---|
| 895 | "ANTENNA: DELTA H/E/N";
|
---|
[744] | 896 |
|
---|
[502] | 897 | hdata.data.named.wavelength = Parser->rinex3 ? 0 :
|
---|
[27] | 898 | " 1 1 "
|
---|
| 899 | "WAVELENGTH FACT L1/2";
|
---|
| 900 |
|
---|
[502] | 901 | if(Parser->rinex3)
|
---|
[27] | 902 | {
|
---|
[502] | 903 | #define CHECKFLAGSNEW(a, b, c) \
|
---|
| 904 | if(flags & GNSSDF_##b##DATA) \
|
---|
| 905 | { \
|
---|
| 906 | Parser->dataflag##a[Parser->numdatatypes##a] = GNSSDF_##b##DATA; \
|
---|
| 907 | Parser->datapos##a[Parser->numdatatypes##a] = GNSSENTRY_##b##DATA; \
|
---|
| 908 | ++Parser->numdatatypes##a; \
|
---|
| 909 | snprintf(tbuffer+tbufferpos, sizeof(tbuffer)-tbufferpos, " "#c); \
|
---|
| 910 | tbufferpos += 4; \
|
---|
| 911 | }
|
---|
| 912 |
|
---|
| 913 | int flags = Parser->startflags;
|
---|
| 914 | char tbuffer[6*RINEXENTRY_NUMBER+1];
|
---|
| 915 | int tbufferpos = 0;
|
---|
| 916 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
| 917 | flags |= Parser->Data.dataflags[i];
|
---|
| 918 |
|
---|
| 919 | CHECKFLAGSNEW(GPS, C1, C1C)
|
---|
| 920 | CHECKFLAGSNEW(GPS, L1C, L1C)
|
---|
| 921 | CHECKFLAGSNEW(GPS, D1C, D1C)
|
---|
| 922 | CHECKFLAGSNEW(GPS, S1C, S1C)
|
---|
| 923 | CHECKFLAGSNEW(GPS, P1, C1P)
|
---|
| 924 | CHECKFLAGSNEW(GPS, L1P, L1P)
|
---|
| 925 | CHECKFLAGSNEW(GPS, D1P, D1P)
|
---|
| 926 | CHECKFLAGSNEW(GPS, S1P, S1P)
|
---|
| 927 |
|
---|
| 928 | hdata.data.named.typesofobsS = buffer;
|
---|
| 929 | i = 1+snprintf(buffer, buffersize,
|
---|
| 930 | "S %3d%-52.52s SYS / # / OBS TYPES", Parser->numdatatypesGPS, tbuffer);
|
---|
| 931 | buffer += i; buffersize -= i;
|
---|
| 932 |
|
---|
| 933 | CHECKFLAGSNEW(GPS, P2, C2P)
|
---|
| 934 | CHECKFLAGSNEW(GPS, L2P, L2P)
|
---|
| 935 | CHECKFLAGSNEW(GPS, D2P, D2P)
|
---|
| 936 | CHECKFLAGSNEW(GPS, S2P, S2P)
|
---|
| 937 | CHECKFLAGSNEW(GPS, C2, C2X)
|
---|
| 938 | CHECKFLAGSNEW(GPS, L2C, L2X)
|
---|
| 939 | CHECKFLAGSNEW(GPS, D2C, D2X)
|
---|
| 940 | CHECKFLAGSNEW(GPS, S2C, S2X)
|
---|
| 941 |
|
---|
| 942 | hdata.data.named.typesofobsG = buffer;
|
---|
| 943 | i = 1+snprintf(buffer, buffersize,
|
---|
| 944 | "G %3d%-52.52s SYS / # / OBS TYPES", Parser->numdatatypesGPS, tbuffer);
|
---|
| 945 | if(Parser->numdatatypesGPS>13)
|
---|
| 946 | {
|
---|
| 947 | i += snprintf(buffer+i-1, buffersize,
|
---|
| 948 | "\n %-52.52s SYS / # / OBS TYPES", tbuffer+13*4);
|
---|
| 949 | }
|
---|
| 950 | buffer += i; buffersize -= i;
|
---|
| 951 |
|
---|
| 952 | tbufferpos = 0;
|
---|
| 953 |
|
---|
| 954 | CHECKFLAGSNEW(GLO, C1, C1C)
|
---|
| 955 | CHECKFLAGSNEW(GLO, L1C, L1C)
|
---|
| 956 | CHECKFLAGSNEW(GLO, D1C, D1C)
|
---|
| 957 | CHECKFLAGSNEW(GLO, S1C, S1C)
|
---|
| 958 | CHECKFLAGSNEW(GLO, P1, C1P)
|
---|
| 959 | CHECKFLAGSNEW(GLO, L1P, L1P)
|
---|
| 960 | CHECKFLAGSNEW(GLO, D1P, D1P)
|
---|
| 961 | CHECKFLAGSNEW(GLO, S1P, S1P)
|
---|
| 962 | CHECKFLAGSNEW(GLO, P2, C2P)
|
---|
| 963 | CHECKFLAGSNEW(GLO, L2P, L2P)
|
---|
| 964 | CHECKFLAGSNEW(GLO, D2P, D2P)
|
---|
| 965 | CHECKFLAGSNEW(GLO, S2P, S2P)
|
---|
| 966 | CHECKFLAGSNEW(GLO, C2, C2C)
|
---|
| 967 | CHECKFLAGSNEW(GLO, L2C, L2C)
|
---|
| 968 | CHECKFLAGSNEW(GLO, D2C, D2C)
|
---|
| 969 | CHECKFLAGSNEW(GLO, S2C, S2C)
|
---|
| 970 |
|
---|
| 971 | hdata.data.named.typesofobsR = buffer;
|
---|
| 972 | i = 1+snprintf(buffer, buffersize,
|
---|
| 973 | "R %3d%-52.52s SYS / # / OBS TYPES", Parser->numdatatypesGLO, tbuffer);
|
---|
| 974 | if(Parser->numdatatypesGLO>13)
|
---|
| 975 | {
|
---|
| 976 | i += snprintf(buffer+i-1, buffersize,
|
---|
| 977 | "\n %-52.52s SYS / # / OBS TYPES", tbuffer+13*4);
|
---|
| 978 | }
|
---|
| 979 | buffer += i; buffersize -= i;
|
---|
| 980 | }
|
---|
| 981 | else
|
---|
| 982 | {
|
---|
[27] | 983 | #define CHECKFLAGS(a, b) \
|
---|
[363] | 984 | if(flags & GNSSDF_##a##DATA) \
|
---|
[27] | 985 | { \
|
---|
[363] | 986 | if(data[RINEXENTRY_##b##DATA]) \
|
---|
| 987 | { \
|
---|
[502] | 988 | Parser->dataflagGPS[data[RINEXENTRY_##b##DATA]-1] = GNSSDF_##a##DATA; \
|
---|
| 989 | Parser->dataposGPS[data[RINEXENTRY_##b##DATA]-1] = GNSSENTRY_##a##DATA; \
|
---|
[363] | 990 | } \
|
---|
| 991 | else \
|
---|
| 992 | { \
|
---|
[502] | 993 | Parser->dataflag[Parser->numdatatypesGPS] = GNSSDF_##a##DATA; \
|
---|
| 994 | Parser->datapos[Parser->numdatatypesGPS] = GNSSENTRY_##a##DATA; \
|
---|
| 995 | data[RINEXENTRY_##b##DATA] = ++Parser->numdatatypesGPS; \
|
---|
[364] | 996 | snprintf(tbuffer+tbufferpos, sizeof(tbuffer)-tbufferpos, " "#b); \
|
---|
| 997 | tbufferpos += 6; \
|
---|
[363] | 998 | } \
|
---|
[27] | 999 | }
|
---|
| 1000 |
|
---|
[318] | 1001 | int flags = Parser->startflags;
|
---|
[27] | 1002 | int data[RINEXENTRY_NUMBER];
|
---|
| 1003 | char tbuffer[6*RINEXENTRY_NUMBER+1];
|
---|
| 1004 | int tbufferpos = 0;
|
---|
| 1005 | for(i = 0; i < RINEXENTRY_NUMBER; ++i)
|
---|
| 1006 | data[i] = 0;
|
---|
| 1007 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
| 1008 | flags |= Parser->Data.dataflags[i];
|
---|
| 1009 |
|
---|
| 1010 | CHECKFLAGS(C1,C1)
|
---|
| 1011 | CHECKFLAGS(C2,C2)
|
---|
| 1012 | CHECKFLAGS(P1,P1)
|
---|
| 1013 | CHECKFLAGS(P2,P2)
|
---|
| 1014 | CHECKFLAGS(L1C,L1)
|
---|
| 1015 | CHECKFLAGS(L1P,L1)
|
---|
| 1016 | CHECKFLAGS(L2C,L2)
|
---|
| 1017 | CHECKFLAGS(L2P,L2)
|
---|
| 1018 | CHECKFLAGS(D1C,D1)
|
---|
| 1019 | CHECKFLAGS(D1P,D1)
|
---|
| 1020 | CHECKFLAGS(D2C,D2)
|
---|
| 1021 | CHECKFLAGS(D2P,D2)
|
---|
| 1022 | CHECKFLAGS(S1C,S1)
|
---|
| 1023 | CHECKFLAGS(S1P,S1)
|
---|
| 1024 | CHECKFLAGS(S2C,S2)
|
---|
| 1025 | CHECKFLAGS(S2P,S2)
|
---|
| 1026 |
|
---|
| 1027 | hdata.data.named.typesofobs = buffer;
|
---|
| 1028 | i = 1+snprintf(buffer, buffersize,
|
---|
[502] | 1029 | "%6d%-54.54s# / TYPES OF OBSERV", Parser->numdatatypesGPS, tbuffer);
|
---|
| 1030 | if(Parser->numdatatypesGPS>9)
|
---|
[27] | 1031 | {
|
---|
| 1032 | i += snprintf(buffer+i-1, buffersize,
|
---|
| 1033 | "\n %-54.54s# / TYPES OF OBSERV", tbuffer+9*6);
|
---|
| 1034 | }
|
---|
| 1035 | buffer += i; buffersize -= i;
|
---|
| 1036 | }
|
---|
| 1037 |
|
---|
| 1038 | {
|
---|
| 1039 | struct converttimeinfo cti;
|
---|
| 1040 | converttime(&cti, Parser->Data.week,
|
---|
[268] | 1041 | (int)floor(Parser->Data.timeofweek/1000.0));
|
---|
[27] | 1042 | hdata.data.named.timeoffirstobs = buffer;
|
---|
[502] | 1043 | i = 1+snprintf(buffer, buffersize,
|
---|
[27] | 1044 | " %4d %2d %2d %2d %2d %10.7f GPS "
|
---|
[378] | 1045 | "TIME OF FIRST OBS", cti.year, cti.month, cti.day, cti.hour,
|
---|
[27] | 1046 | cti.minute, cti.second + fmod(Parser->Data.timeofweek/1000.0,1.0));
|
---|
| 1047 |
|
---|
| 1048 | buffer += i; buffersize -= i;
|
---|
| 1049 | }
|
---|
| 1050 |
|
---|
[503] | 1051 | hdata.numheaders = 15;
|
---|
[27] | 1052 |
|
---|
| 1053 | if(Parser->headerfile)
|
---|
| 1054 | {
|
---|
| 1055 | FILE *fh;
|
---|
| 1056 | if((fh = fopen(Parser->headerfile, "r")))
|
---|
| 1057 | {
|
---|
[318] | 1058 | size_t siz;
|
---|
[27] | 1059 | char *lastblockstart;
|
---|
| 1060 | if((siz = fread(buffer, 1, buffersize-1, fh)) > 0)
|
---|
| 1061 | {
|
---|
| 1062 | buffer[siz] = '\n';
|
---|
| 1063 | if(siz == buffersize)
|
---|
| 1064 | {
|
---|
[318] | 1065 | RTCM3Error("Header file is too large. Only %d bytes read.",
|
---|
[364] | 1066 | (int)siz);
|
---|
[27] | 1067 | }
|
---|
| 1068 | /* scan the file line by line and enter the entries in the list */
|
---|
| 1069 | /* warn for "# / TYPES OF OBSERV" and "TIME OF FIRST OBS" */
|
---|
| 1070 | /* overwrites entries, except for comments */
|
---|
| 1071 | lastblockstart = buffer;
|
---|
[318] | 1072 | for(i = 0; i < (int)siz; ++i)
|
---|
[27] | 1073 | {
|
---|
| 1074 | if(buffer[i] == '\n')
|
---|
| 1075 | { /* we found a line */
|
---|
| 1076 | char *end;
|
---|
| 1077 | while(buffer[i+1] == '\r')
|
---|
| 1078 | ++i; /* skip \r in case there are any */
|
---|
| 1079 | end = buffer+i;
|
---|
| 1080 | while(*end == '\t' || *end == ' ' || *end == '\r' || *end == '\n')
|
---|
| 1081 | *(end--) = 0;
|
---|
| 1082 | if(end-lastblockstart < 60+5) /* short line */
|
---|
[318] | 1083 | RTCM3Error("Short Header line '%s' ignored.\n", lastblockstart);
|
---|
[27] | 1084 | else
|
---|
| 1085 | {
|
---|
| 1086 | int pos;
|
---|
| 1087 | if(!strcmp("COMMENT", lastblockstart+60))
|
---|
| 1088 | pos = hdata.numheaders;
|
---|
| 1089 | else
|
---|
| 1090 | {
|
---|
| 1091 | for(pos = 0; pos < hdata.numheaders; ++pos)
|
---|
| 1092 | {
|
---|
| 1093 | if(!strcmp(hdata.data.unnamed[pos]+60, lastblockstart+60))
|
---|
| 1094 | break;
|
---|
| 1095 | }
|
---|
| 1096 | if(!strcmp("# / TYPES OF OBSERV", lastblockstart+60)
|
---|
| 1097 | || !strcmp("TIME OF FIRST OBS", lastblockstart+60))
|
---|
| 1098 | {
|
---|
[318] | 1099 | RTCM3Error("Overwriting header '%s' is dangerous.\n",
|
---|
[27] | 1100 | lastblockstart+60);
|
---|
| 1101 | }
|
---|
| 1102 | }
|
---|
| 1103 | if(pos >= MAXHEADERLINES)
|
---|
| 1104 | {
|
---|
[318] | 1105 | RTCM3Error("Maximum number of header lines of %d reached.\n",
|
---|
[27] | 1106 | MAXHEADERLINES);
|
---|
| 1107 | }
|
---|
| 1108 | else if(!strcmp("END OF HEADER", lastblockstart+60))
|
---|
| 1109 | {
|
---|
[318] | 1110 | RTCM3Error("End of header ignored.\n");
|
---|
[27] | 1111 | }
|
---|
| 1112 | else
|
---|
| 1113 | {
|
---|
| 1114 | hdata.data.unnamed[pos] = lastblockstart;
|
---|
| 1115 | if(pos == hdata.numheaders)
|
---|
| 1116 | ++hdata.numheaders;
|
---|
| 1117 | }
|
---|
| 1118 | }
|
---|
| 1119 | lastblockstart = buffer+i+1;
|
---|
| 1120 | }
|
---|
| 1121 | }
|
---|
| 1122 | }
|
---|
| 1123 | else
|
---|
| 1124 | {
|
---|
[318] | 1125 | RTCM3Error("Could not read data from headerfile '%s'.\n",
|
---|
[27] | 1126 | Parser->headerfile);
|
---|
| 1127 | }
|
---|
| 1128 | fclose(fh);
|
---|
| 1129 | }
|
---|
| 1130 | else
|
---|
| 1131 | {
|
---|
[318] | 1132 | RTCM3Error("Could not open header datafile '%s'.\n",
|
---|
[27] | 1133 | Parser->headerfile);
|
---|
| 1134 | }
|
---|
| 1135 | }
|
---|
| 1136 |
|
---|
[287] | 1137 | #ifndef NO_RTCM3_MAIN
|
---|
[27] | 1138 | for(i = 0; i < hdata.numheaders; ++i)
|
---|
[502] | 1139 | {
|
---|
| 1140 | if(hdata.data.unnamed[i] && hdata.data.unnamed[i][0])
|
---|
| 1141 | RTCM3Text("%s\n", hdata.data.unnamed[i]);
|
---|
| 1142 | }
|
---|
[318] | 1143 | RTCM3Text(" "
|
---|
[27] | 1144 | "END OF HEADER\n");
|
---|
[287] | 1145 | #endif
|
---|
[27] | 1146 | }
|
---|
| 1147 |
|
---|
[502] | 1148 | static void ConvLine(FILE *file, const char *fmt, ...)
|
---|
| 1149 | {
|
---|
| 1150 | char buffer[100], *b;
|
---|
| 1151 | va_list v;
|
---|
| 1152 | va_start(v, fmt);
|
---|
| 1153 | vsnprintf(buffer, sizeof(buffer), fmt, v);
|
---|
| 1154 | for(b = buffer; *b; ++b)
|
---|
| 1155 | {
|
---|
| 1156 | if(*b == 'e') *b = 'D';
|
---|
| 1157 | }
|
---|
| 1158 | fprintf(file, "%s", buffer);
|
---|
| 1159 | va_end(v);
|
---|
| 1160 | }
|
---|
| 1161 |
|
---|
[268] | 1162 | void HandleByte(struct RTCM3ParserData *Parser, unsigned int byte)
|
---|
[27] | 1163 | {
|
---|
| 1164 | Parser->Message[Parser->MessageSize++] = byte;
|
---|
| 1165 | if(Parser->MessageSize >= Parser->NeedBytes)
|
---|
| 1166 | {
|
---|
| 1167 | int r;
|
---|
| 1168 | while((r = RTCM3Parser(Parser)))
|
---|
| 1169 | {
|
---|
[502] | 1170 | if(r == 1020 || r == 1019)
|
---|
[27] | 1171 | {
|
---|
[502] | 1172 | FILE *file = 0;
|
---|
[318] | 1173 |
|
---|
[502] | 1174 | if(Parser->rinex3 && !(file = Parser->gpsfile))
|
---|
| 1175 | {
|
---|
| 1176 | const char *n = Parser->gpsephemeris ? Parser->gpsephemeris : Parser->glonassephemeris;
|
---|
| 1177 | if(n)
|
---|
| 1178 | {
|
---|
| 1179 | if(!(Parser->gpsfile = fopen(n, "w")))
|
---|
| 1180 | {
|
---|
| 1181 | RTCM3Error("Could not open ephemeris output file.\n");
|
---|
| 1182 | }
|
---|
| 1183 | else
|
---|
| 1184 | {
|
---|
| 1185 | char buffer[100];
|
---|
| 1186 | fprintf(Parser->gpsfile,
|
---|
| 1187 | "%9.2f%11sN: GNSS NAV DATA M: Mixed%12sRINEX VERSION / TYPE\n", 3.0, "", "");
|
---|
[503] | 1188 | HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
|
---|
[502] | 1189 | fprintf(Parser->gpsfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
| 1190 | }
|
---|
| 1191 | Parser->gpsephemeris = 0;
|
---|
| 1192 | Parser->glonassephemeris = 0;
|
---|
| 1193 | file = Parser->gpsfile;
|
---|
| 1194 | }
|
---|
| 1195 | }
|
---|
[318] | 1196 | else
|
---|
| 1197 | {
|
---|
[502] | 1198 | if(r == 1020)
|
---|
| 1199 | {
|
---|
| 1200 | if(Parser->glonassephemeris)
|
---|
| 1201 | {
|
---|
| 1202 | if(!(Parser->glonassfile = fopen(Parser->glonassephemeris, "w")))
|
---|
| 1203 | {
|
---|
| 1204 | RTCM3Error("Could not open GLONASS ephemeris output file.\n");
|
---|
| 1205 | }
|
---|
| 1206 | else
|
---|
| 1207 | {
|
---|
| 1208 | char buffer[100];
|
---|
| 1209 | fprintf(Parser->glonassfile,
|
---|
| 1210 | "%9.2f%11sG: GLONASS NAV DATA%21sRINEX VERSION / TYPE\n", 2.1, "", "");
|
---|
[503] | 1211 | HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
|
---|
[502] | 1212 | fprintf(Parser->glonassfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
| 1213 | }
|
---|
| 1214 | Parser->glonassephemeris = 0;
|
---|
| 1215 | }
|
---|
| 1216 | file = Parser->glonassfile;
|
---|
| 1217 | }
|
---|
| 1218 | else if(r == 1019)
|
---|
| 1219 | {
|
---|
| 1220 | if(Parser->gpsephemeris)
|
---|
| 1221 | {
|
---|
| 1222 | if(!(Parser->gpsfile = fopen(Parser->gpsephemeris, "w")))
|
---|
| 1223 | {
|
---|
| 1224 | RTCM3Error("Could not open GPS ephemeris output file.\n");
|
---|
| 1225 | }
|
---|
| 1226 | else
|
---|
| 1227 | {
|
---|
| 1228 | char buffer[100];
|
---|
| 1229 | fprintf(Parser->gpsfile,
|
---|
| 1230 | "%9.2f%11sN: GPS NAV DATA%25sRINEX VERSION / TYPE\n", 2.1, "", "");
|
---|
[503] | 1231 | HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
|
---|
[502] | 1232 | fprintf(Parser->gpsfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
| 1233 | }
|
---|
| 1234 | Parser->gpsephemeris = 0;
|
---|
| 1235 | }
|
---|
| 1236 | file = Parser->gpsfile;
|
---|
| 1237 | }
|
---|
[318] | 1238 | }
|
---|
[502] | 1239 | if(file)
|
---|
| 1240 | {
|
---|
| 1241 | if(r == 1020)
|
---|
| 1242 | {
|
---|
| 1243 | struct glonassephemeris *e = &Parser->ephemerisGLONASS;
|
---|
| 1244 | int w = e->GPSWeek, tow = e->GPSTOW, i;
|
---|
| 1245 | struct converttimeinfo cti;
|
---|
| 1246 |
|
---|
| 1247 | updatetime(&w, &tow, e->tb*1000, 1);
|
---|
| 1248 | converttime(&cti, w, tow);
|
---|
| 1249 |
|
---|
| 1250 | i = e->tk-3*60*60; if(i < 0) i += 86400;
|
---|
| 1251 |
|
---|
| 1252 | if(Parser->rinex3)
|
---|
| 1253 | ConvLine(file, "R%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
| 1254 | e->almanac_number, cti.year, cti.month, cti.day, cti.hour, cti.minute,
|
---|
| 1255 | cti.second, -e->tau, e->gamma, (double) i);
|
---|
| 1256 | else
|
---|
| 1257 | ConvLine(file, "%02d %02d %02d %02d %02d %02d%5.1f%19.12e%19.12e%19.12e\n",
|
---|
| 1258 | e->almanac_number, cti.year%100, cti.month, cti.day, cti.hour, cti.minute,
|
---|
| 1259 | (double) cti.second, -e->tau, e->gamma, (double) i);
|
---|
| 1260 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->x_pos,
|
---|
| 1261 | e->x_velocity, e->x_acceleration, (e->flags & GLOEPHF_UNHEALTHY) ? 1.0 : 0.0);
|
---|
| 1262 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->y_pos,
|
---|
| 1263 | e->y_velocity, e->y_acceleration, (double) e->frequency_number);
|
---|
| 1264 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->z_pos,
|
---|
| 1265 | e->z_velocity, e->z_acceleration, (double) e->E);
|
---|
| 1266 | }
|
---|
| 1267 | else /* if(r == 1019) */
|
---|
| 1268 | {
|
---|
| 1269 | struct gpsephemeris *e = &Parser->ephemerisGPS;
|
---|
| 1270 | double d; /* temporary variable */
|
---|
| 1271 | unsigned long int i; /* temporary variable */
|
---|
| 1272 | struct converttimeinfo cti;
|
---|
| 1273 | converttime(&cti, e->GPSweek, e->TOC);
|
---|
| 1274 |
|
---|
| 1275 | if(Parser->rinex3)
|
---|
| 1276 | ConvLine(file, "G%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
| 1277 | e->satellite, cti.year, cti.month, cti.day, cti.hour,
|
---|
| 1278 | cti.minute, cti.second, e->clock_bias, e->clock_drift,
|
---|
| 1279 | e->clock_driftrate);
|
---|
| 1280 | else
|
---|
| 1281 | ConvLine(file, "%02d %02d %02d %02d %02d %02d%05.1f%19.12e%19.12e%19.12e\n",
|
---|
| 1282 | e->satellite, cti.year%100, cti.month, cti.day, cti.hour,
|
---|
| 1283 | cti.minute, (double) cti.second, e->clock_bias, e->clock_drift,
|
---|
| 1284 | e->clock_driftrate);
|
---|
| 1285 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", (double)e->IODE,
|
---|
| 1286 | e->Crs, e->Delta_n, e->M0);
|
---|
| 1287 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->Cuc,
|
---|
| 1288 | e->e, e->Cus, e->sqrt_A);
|
---|
| 1289 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n",
|
---|
| 1290 | (double) e->TOE, e->Cic, e->OMEGA0, e->Cis);
|
---|
| 1291 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->i0,
|
---|
| 1292 | e->Crc, e->omega, e->OMEGADOT);
|
---|
| 1293 | d = 0;
|
---|
| 1294 | i = e->flags;
|
---|
| 1295 | if(i & GPSEPHF_L2CACODE)
|
---|
| 1296 | d += 2.0;
|
---|
| 1297 | if(i & GPSEPHF_L2PCODE)
|
---|
| 1298 | d += 1.0;
|
---|
| 1299 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->IDOT, d,
|
---|
| 1300 | (double) e->GPSweek, i & GPSEPHF_L2PCODEDATA ? 1.0 : 0.0);
|
---|
| 1301 | if(e->URAindex <= 6) /* URA index */
|
---|
| 1302 | d = ceil(10.0*pow(2.0, 1.0+((double)e->URAindex)/2.0))/10.0;
|
---|
| 1303 | else
|
---|
| 1304 | d = ceil(10.0*pow(2.0, ((double)e->URAindex)/2.0))/10.0;
|
---|
| 1305 | /* 15 indicates not to use satellite. We can't handle this special
|
---|
| 1306 | case, so we create a high "non"-accuracy value. */
|
---|
| 1307 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", d,
|
---|
| 1308 | ((double) e->SVhealth), e->TGD, ((double) e->IODC));
|
---|
| 1309 |
|
---|
| 1310 | ConvLine(file, " %19.12e%19.12e\n", ((double)e->TOW), 0.0);
|
---|
| 1311 | /* TOW */
|
---|
| 1312 | }
|
---|
| 1313 | }
|
---|
[27] | 1314 | }
|
---|
[502] | 1315 | else
|
---|
[27] | 1316 | {
|
---|
[502] | 1317 | int i, j, o;
|
---|
| 1318 | struct converttimeinfo cti;
|
---|
[27] | 1319 |
|
---|
[502] | 1320 | if(Parser->init < NUMSTARTSKIP) /* skip first epochs to detect correct data types */
|
---|
[27] | 1321 | {
|
---|
[502] | 1322 | ++Parser->init;
|
---|
| 1323 |
|
---|
| 1324 | if(Parser->init == NUMSTARTSKIP)
|
---|
| 1325 | HandleHeader(Parser);
|
---|
[27] | 1326 | else
|
---|
[502] | 1327 | {
|
---|
| 1328 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
| 1329 | Parser->startflags |= Parser->Data.dataflags[i];
|
---|
| 1330 | continue;
|
---|
| 1331 | }
|
---|
[27] | 1332 | }
|
---|
[502] | 1333 | if(r == 2 && !Parser->validwarning)
|
---|
[27] | 1334 | {
|
---|
[502] | 1335 | RTCM3Text("No valid RINEX! All values are modulo 299792.458!"
|
---|
| 1336 | " COMMENT\n");
|
---|
| 1337 | Parser->validwarning = 1;
|
---|
| 1338 | }
|
---|
| 1339 |
|
---|
| 1340 | converttime(&cti, Parser->Data.week,
|
---|
| 1341 | (int)floor(Parser->Data.timeofweek/1000.0));
|
---|
| 1342 | if(Parser->rinex3)
|
---|
| 1343 | {
|
---|
| 1344 | RTCM3Text("> %04d %02d %02d %02d %02d%11.7f 0%3d\n",
|
---|
| 1345 | cti.year, cti.month, cti.day, cti.hour, cti.minute, cti.second
|
---|
| 1346 | + fmod(Parser->Data.timeofweek/1000.0,1.0), Parser->Data.numsats);
|
---|
| 1347 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
[363] | 1348 | {
|
---|
[502] | 1349 | int glo = 0;
|
---|
| 1350 | if(Parser->Data.satellites[i] <= PRN_GPS_END)
|
---|
| 1351 | RTCM3Text("G%02d", Parser->Data.satellites[i]);
|
---|
| 1352 | else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
|
---|
| 1353 | && Parser->Data.satellites[i] <= PRN_GLONASS_END)
|
---|
| 1354 | {
|
---|
| 1355 | RTCM3Text("R%02d", Parser->Data.satellites[i] - (PRN_GLONASS_START-1));
|
---|
| 1356 | glo = 1;
|
---|
| 1357 | }
|
---|
| 1358 | else if(Parser->Data.satellites[i] >= PRN_WAAS_START
|
---|
| 1359 | && Parser->Data.satellites[i] <= PRN_WAAS_END)
|
---|
| 1360 | RTCM3Text("S%02d", Parser->Data.satellites[i] - PRN_WAAS_START+20);
|
---|
| 1361 | else
|
---|
| 1362 | RTCM3Text("%3d", Parser->Data.satellites[i]);
|
---|
[363] | 1363 |
|
---|
[502] | 1364 | if(glo)
|
---|
[363] | 1365 | {
|
---|
[502] | 1366 | for(j = 0; j < Parser->numdatatypesGLO; ++j)
|
---|
| 1367 | {
|
---|
| 1368 | int df = Parser->dataflagGLO[j];
|
---|
| 1369 | int pos = Parser->dataposGLO[j];
|
---|
| 1370 | if((Parser->Data.dataflags[i] & df)
|
---|
| 1371 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
| 1372 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
| 1373 | {
|
---|
| 1374 | char lli = ' ';
|
---|
| 1375 | char snr = ' ';
|
---|
| 1376 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
| 1377 | {
|
---|
| 1378 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL1)
|
---|
| 1379 | lli = '1';
|
---|
| 1380 | snr = '0'+Parser->Data.snrL1[i];
|
---|
| 1381 | }
|
---|
| 1382 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
| 1383 | {
|
---|
| 1384 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL2)
|
---|
| 1385 | lli = '1';
|
---|
| 1386 | snr = '0'+Parser->Data.snrL2[i];
|
---|
| 1387 | }
|
---|
| 1388 | RTCM3Text("%14.3f%c%c",
|
---|
| 1389 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
| 1390 | }
|
---|
| 1391 | else
|
---|
| 1392 | { /* no or illegal data */
|
---|
| 1393 | RTCM3Text(" ");
|
---|
| 1394 | }
|
---|
| 1395 | }
|
---|
[363] | 1396 | }
|
---|
[502] | 1397 | else
|
---|
| 1398 | {
|
---|
| 1399 | for(j = 0; j < Parser->numdatatypesGPS; ++j)
|
---|
| 1400 | {
|
---|
| 1401 | int df = Parser->dataflagGPS[j];
|
---|
| 1402 | int pos = Parser->dataposGPS[j];
|
---|
| 1403 | if((Parser->Data.dataflags[i] & df)
|
---|
| 1404 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
| 1405 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
| 1406 | {
|
---|
| 1407 | char lli = ' ';
|
---|
| 1408 | char snr = ' ';
|
---|
| 1409 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
| 1410 | {
|
---|
| 1411 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL1)
|
---|
| 1412 | lli = '1';
|
---|
| 1413 | snr = '0'+Parser->Data.snrL1[i];
|
---|
| 1414 | }
|
---|
| 1415 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
| 1416 | {
|
---|
| 1417 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL2)
|
---|
| 1418 | lli = '1';
|
---|
| 1419 | snr = '0'+Parser->Data.snrL2[i];
|
---|
| 1420 | }
|
---|
| 1421 | RTCM3Text("%14.3f%c%c",
|
---|
| 1422 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
| 1423 | }
|
---|
| 1424 | else
|
---|
| 1425 | { /* no or illegal data */
|
---|
| 1426 | RTCM3Text(" ");
|
---|
| 1427 | }
|
---|
| 1428 | }
|
---|
| 1429 | }
|
---|
| 1430 | RTCM3Text("\n");
|
---|
[363] | 1431 | }
|
---|
[502] | 1432 | }
|
---|
| 1433 | else
|
---|
| 1434 | {
|
---|
| 1435 | RTCM3Text(" %02d %2d %2d %2d %2d %10.7f 0%3d",
|
---|
| 1436 | cti.year%100, cti.month, cti.day, cti.hour, cti.minute, cti.second
|
---|
| 1437 | + fmod(Parser->Data.timeofweek/1000.0,1.0), Parser->Data.numsats);
|
---|
| 1438 | for(i = 0; i < 12 && i < Parser->Data.numsats; ++i)
|
---|
| 1439 | {
|
---|
| 1440 | if(Parser->Data.satellites[i] <= PRN_GPS_END)
|
---|
| 1441 | RTCM3Text("G%02d", Parser->Data.satellites[i]);
|
---|
| 1442 | else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
|
---|
| 1443 | && Parser->Data.satellites[i] <= PRN_GLONASS_END)
|
---|
| 1444 | RTCM3Text("R%02d", Parser->Data.satellites[i] - (PRN_GLONASS_START-1));
|
---|
| 1445 | else if(Parser->Data.satellites[i] >= PRN_WAAS_START
|
---|
| 1446 | && Parser->Data.satellites[i] <= PRN_WAAS_END)
|
---|
| 1447 | RTCM3Text("S%02d", Parser->Data.satellites[i] - PRN_WAAS_START+20);
|
---|
| 1448 | else
|
---|
| 1449 | RTCM3Text("%3d", Parser->Data.satellites[i]);
|
---|
[27] | 1450 | }
|
---|
[502] | 1451 | RTCM3Text("\n");
|
---|
| 1452 | o = 12;
|
---|
| 1453 | j = Parser->Data.numsats - 12;
|
---|
| 1454 | while(j > 0)
|
---|
[27] | 1455 | {
|
---|
[502] | 1456 | RTCM3Text(" ");
|
---|
| 1457 | for(i = o; i < o+12 && i < Parser->Data.numsats; ++i)
|
---|
[27] | 1458 | {
|
---|
[502] | 1459 | if(Parser->Data.satellites[i] <= PRN_GPS_END)
|
---|
| 1460 | RTCM3Text("G%02d", Parser->Data.satellites[i]);
|
---|
| 1461 | else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
|
---|
| 1462 | && Parser->Data.satellites[i] <= PRN_GLONASS_END)
|
---|
| 1463 | RTCM3Text("R%02d", Parser->Data.satellites[i] - (PRN_GLONASS_START-1));
|
---|
| 1464 | else if(Parser->Data.satellites[i] >= PRN_WAAS_START
|
---|
| 1465 | && Parser->Data.satellites[i] <= PRN_WAAS_END)
|
---|
| 1466 | RTCM3Text("S%02d", Parser->Data.satellites[i] - PRN_WAAS_START+20);
|
---|
| 1467 | else
|
---|
| 1468 | RTCM3Text("%3d", Parser->Data.satellites[i]);
|
---|
[27] | 1469 | }
|
---|
[502] | 1470 | RTCM3Text("\n");
|
---|
| 1471 | j -= 12;
|
---|
| 1472 | o += 12;
|
---|
| 1473 | }
|
---|
| 1474 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
| 1475 | {
|
---|
| 1476 | for(j = 0; j < Parser->numdatatypesGPS; ++j)
|
---|
[27] | 1477 | {
|
---|
[502] | 1478 | int v = 0;
|
---|
| 1479 | int df = Parser->dataflag[j];
|
---|
| 1480 | int pos = Parser->datapos[j];
|
---|
| 1481 | if((Parser->Data.dataflags[i] & df)
|
---|
| 1482 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
| 1483 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
| 1484 | {
|
---|
| 1485 | v = 1;
|
---|
| 1486 | }
|
---|
| 1487 | else
|
---|
| 1488 | {
|
---|
| 1489 | df = Parser->dataflagGPS[j];
|
---|
| 1490 | pos = Parser->dataposGPS[j];
|
---|
| 1491 |
|
---|
| 1492 | if((Parser->Data.dataflags[i] & df)
|
---|
| 1493 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
| 1494 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
| 1495 | {
|
---|
| 1496 | v = 1;
|
---|
| 1497 | }
|
---|
| 1498 | }
|
---|
| 1499 |
|
---|
| 1500 | if(!v)
|
---|
| 1501 | { /* no or illegal data */
|
---|
| 1502 | RTCM3Text(" ");
|
---|
| 1503 | }
|
---|
| 1504 | else
|
---|
| 1505 | {
|
---|
| 1506 | char lli = ' ';
|
---|
| 1507 | char snr = ' ';
|
---|
| 1508 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
| 1509 | {
|
---|
| 1510 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL1)
|
---|
| 1511 | lli = '1';
|
---|
| 1512 | snr = '0'+Parser->Data.snrL1[i];
|
---|
| 1513 | }
|
---|
| 1514 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
| 1515 | {
|
---|
| 1516 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL2)
|
---|
| 1517 | lli = '1';
|
---|
| 1518 | snr = '0'+Parser->Data.snrL2[i];
|
---|
| 1519 | }
|
---|
| 1520 | RTCM3Text("%14.3f%c%c",
|
---|
| 1521 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
| 1522 | }
|
---|
| 1523 | if(j%5 == 4 || j == Parser->numdatatypesGPS-1)
|
---|
| 1524 | RTCM3Text("\n");
|
---|
[27] | 1525 | }
|
---|
| 1526 | }
|
---|
| 1527 | }
|
---|
| 1528 | }
|
---|
| 1529 | }
|
---|
| 1530 | }
|
---|
| 1531 | }
|
---|
| 1532 |
|
---|
[268] | 1533 | #ifndef NO_RTCM3_MAIN
|
---|
[959] | 1534 | static char datestr[] = "$Date: 2008/06/20 06:15:25 $";
|
---|
[269] | 1535 |
|
---|
[268] | 1536 | /* The string, which is send as agent in HTTP request */
|
---|
| 1537 | #define AGENTSTRING "NTRIP NtripRTCM3ToRINEX"
|
---|
| 1538 |
|
---|
| 1539 | #define MAXDATASIZE 1000 /* max number of bytes we can get at once */
|
---|
| 1540 |
|
---|
[269] | 1541 | static const char encodingTable [64] = {
|
---|
| 1542 | 'A','B','C','D','E','F','G','H','I','J','K','L','M','N','O','P',
|
---|
| 1543 | 'Q','R','S','T','U','V','W','X','Y','Z','a','b','c','d','e','f',
|
---|
| 1544 | 'g','h','i','j','k','l','m','n','o','p','q','r','s','t','u','v',
|
---|
| 1545 | 'w','x','y','z','0','1','2','3','4','5','6','7','8','9','+','/'
|
---|
| 1546 | };
|
---|
| 1547 |
|
---|
| 1548 | /* does not buffer overrun, but breaks directly after an error */
|
---|
| 1549 | /* returns the number of required bytes */
|
---|
| 1550 | static int encode(char *buf, int size, const char *user, const char *pwd)
|
---|
| 1551 | {
|
---|
| 1552 | unsigned char inbuf[3];
|
---|
| 1553 | char *out = buf;
|
---|
| 1554 | int i, sep = 0, fill = 0, bytes = 0;
|
---|
| 1555 |
|
---|
| 1556 | while(*user || *pwd)
|
---|
| 1557 | {
|
---|
| 1558 | i = 0;
|
---|
| 1559 | while(i < 3 && *user) inbuf[i++] = *(user++);
|
---|
| 1560 | if(i < 3 && !sep) {inbuf[i++] = ':'; ++sep; }
|
---|
| 1561 | while(i < 3 && *pwd) inbuf[i++] = *(pwd++);
|
---|
| 1562 | while(i < 3) {inbuf[i++] = 0; ++fill; }
|
---|
| 1563 | if(out-buf < size-1)
|
---|
| 1564 | *(out++) = encodingTable[(inbuf [0] & 0xFC) >> 2];
|
---|
| 1565 | if(out-buf < size-1)
|
---|
| 1566 | *(out++) = encodingTable[((inbuf [0] & 0x03) << 4)
|
---|
| 1567 | | ((inbuf [1] & 0xF0) >> 4)];
|
---|
| 1568 | if(out-buf < size-1)
|
---|
| 1569 | {
|
---|
| 1570 | if(fill == 2)
|
---|
| 1571 | *(out++) = '=';
|
---|
| 1572 | else
|
---|
| 1573 | *(out++) = encodingTable[((inbuf [1] & 0x0F) << 2)
|
---|
| 1574 | | ((inbuf [2] & 0xC0) >> 6)];
|
---|
| 1575 | }
|
---|
| 1576 | if(out-buf < size-1)
|
---|
| 1577 | {
|
---|
| 1578 | if(fill >= 1)
|
---|
| 1579 | *(out++) = '=';
|
---|
| 1580 | else
|
---|
| 1581 | *(out++) = encodingTable[inbuf [2] & 0x3F];
|
---|
| 1582 | }
|
---|
| 1583 | bytes += 4;
|
---|
| 1584 | }
|
---|
| 1585 | if(out-buf < size)
|
---|
| 1586 | *out = 0;
|
---|
| 1587 | return bytes;
|
---|
| 1588 | }
|
---|
| 1589 |
|
---|
[268] | 1590 | static int stop = 0;
|
---|
| 1591 |
|
---|
| 1592 | struct Args
|
---|
| 1593 | {
|
---|
| 1594 | const char *server;
|
---|
[502] | 1595 | const char *port;
|
---|
| 1596 | int mode;
|
---|
[477] | 1597 | int timeout;
|
---|
[502] | 1598 | int rinex3;
|
---|
[268] | 1599 | const char *user;
|
---|
| 1600 | const char *password;
|
---|
[502] | 1601 | const char *proxyhost;
|
---|
| 1602 | const char *proxyport;
|
---|
| 1603 | const char *nmea;
|
---|
[268] | 1604 | const char *data;
|
---|
| 1605 | const char *headerfile;
|
---|
[502] | 1606 | const char *gpsephemeris;
|
---|
| 1607 | const char *glonassephemeris;
|
---|
[268] | 1608 | };
|
---|
| 1609 |
|
---|
| 1610 | /* option parsing */
|
---|
| 1611 | #ifdef NO_LONG_OPTS
|
---|
| 1612 | #define LONG_OPT(a)
|
---|
| 1613 | #else
|
---|
| 1614 | #define LONG_OPT(a) a
|
---|
| 1615 | static struct option opts[] = {
|
---|
[502] | 1616 | { "data", required_argument, 0, 'd'},
|
---|
| 1617 | { "server", required_argument, 0, 's'},
|
---|
| 1618 | { "password", required_argument, 0, 'p'},
|
---|
| 1619 | { "port", required_argument, 0, 'r'},
|
---|
| 1620 | { "timeout", required_argument, 0, 't'},
|
---|
| 1621 | { "header", required_argument, 0, 'f'},
|
---|
| 1622 | { "user", required_argument, 0, 'u'},
|
---|
| 1623 | { "gpsephemeris", required_argument, 0, 'E'},
|
---|
| 1624 | { "glonassephemeris", required_argument, 0, 'G'},
|
---|
| 1625 | { "rinex3", no_argument, 0, '3'},
|
---|
| 1626 | { "proxyport", required_argument, 0, 'R'},
|
---|
| 1627 | { "proxyhost", required_argument, 0, 'S'},
|
---|
| 1628 | { "nmea", required_argument, 0, 'n'},
|
---|
| 1629 | { "mode", required_argument, 0, 'M'},
|
---|
| 1630 | { "help", no_argument, 0, 'h'},
|
---|
[268] | 1631 | {0,0,0,0}};
|
---|
| 1632 | #endif
|
---|
[502] | 1633 | #define ARGOPT "-d:s:p:r:t:f:u:E:G:M:S:R:n:h3"
|
---|
[268] | 1634 |
|
---|
[502] | 1635 | enum MODE { HTTP = 1, RTSP = 2, NTRIP1 = 3, AUTO = 4, END };
|
---|
| 1636 |
|
---|
[270] | 1637 | static const char *geturl(const char *url, struct Args *args)
|
---|
| 1638 | {
|
---|
| 1639 | static char buf[1000];
|
---|
| 1640 | static char *Buffer = buf;
|
---|
| 1641 | static char *Bufend = buf+sizeof(buf);
|
---|
| 1642 |
|
---|
| 1643 | if(strncmp("ntrip:", url, 6))
|
---|
| 1644 | return "URL must start with 'ntrip:'.";
|
---|
| 1645 | url += 6; /* skip ntrip: */
|
---|
| 1646 |
|
---|
| 1647 | if(*url != '@' && *url != '/')
|
---|
| 1648 | {
|
---|
| 1649 | /* scan for mountpoint */
|
---|
| 1650 | args->data = Buffer;
|
---|
[502] | 1651 | while(*url && *url != '@' && *url != ';' &&*url != '/' && Buffer != Bufend)
|
---|
[270] | 1652 | *(Buffer++) = *(url++);
|
---|
| 1653 | if(Buffer == args->data)
|
---|
| 1654 | return "Mountpoint required.";
|
---|
| 1655 | else if(Buffer >= Bufend-1)
|
---|
| 1656 | return "Parsing buffer too short.";
|
---|
| 1657 | *(Buffer++) = 0;
|
---|
| 1658 | }
|
---|
| 1659 |
|
---|
| 1660 | if(*url == '/') /* username and password */
|
---|
| 1661 | {
|
---|
| 1662 | ++url;
|
---|
| 1663 | args->user = Buffer;
|
---|
[502] | 1664 | while(*url && *url != '@' && *url != ';' && *url != ':' && Buffer != Bufend)
|
---|
[270] | 1665 | *(Buffer++) = *(url++);
|
---|
| 1666 | if(Buffer == args->user)
|
---|
| 1667 | return "Username cannot be empty.";
|
---|
| 1668 | else if(Buffer >= Bufend-1)
|
---|
| 1669 | return "Parsing buffer too short.";
|
---|
| 1670 | *(Buffer++) = 0;
|
---|
| 1671 |
|
---|
| 1672 | if(*url == ':') ++url;
|
---|
| 1673 |
|
---|
| 1674 | args->password = Buffer;
|
---|
[502] | 1675 | while(*url && *url != '@' && *url != ';' && Buffer != Bufend)
|
---|
[270] | 1676 | *(Buffer++) = *(url++);
|
---|
| 1677 | if(Buffer == args->password)
|
---|
| 1678 | return "Password cannot be empty.";
|
---|
| 1679 | else if(Buffer >= Bufend-1)
|
---|
| 1680 | return "Parsing buffer too short.";
|
---|
| 1681 | *(Buffer++) = 0;
|
---|
| 1682 | }
|
---|
| 1683 |
|
---|
| 1684 | if(*url == '@') /* server */
|
---|
| 1685 | {
|
---|
| 1686 | ++url;
|
---|
[502] | 1687 | if(*url != '@' && *url != ':')
|
---|
| 1688 | {
|
---|
| 1689 | args->server = Buffer;
|
---|
| 1690 | while(*url && *url != '@' && *url != ':' && *url != ';' && Buffer != Bufend)
|
---|
| 1691 | *(Buffer++) = *(url++);
|
---|
| 1692 | if(Buffer == args->server)
|
---|
| 1693 | return "Servername cannot be empty.";
|
---|
| 1694 | else if(Buffer >= Bufend-1)
|
---|
| 1695 | return "Parsing buffer too short.";
|
---|
| 1696 | *(Buffer++) = 0;
|
---|
| 1697 | }
|
---|
[270] | 1698 |
|
---|
| 1699 | if(*url == ':')
|
---|
| 1700 | {
|
---|
[502] | 1701 | ++url;
|
---|
| 1702 | args->port = Buffer;
|
---|
| 1703 | while(*url && *url != '@' && *url != ';' && Buffer != Bufend)
|
---|
| 1704 | *(Buffer++) = *(url++);
|
---|
| 1705 | if(Buffer == args->port)
|
---|
| 1706 | return "Port cannot be empty.";
|
---|
| 1707 | else if(Buffer >= Bufend-1)
|
---|
| 1708 | return "Parsing buffer too short.";
|
---|
| 1709 | *(Buffer++) = 0;
|
---|
[270] | 1710 | }
|
---|
[502] | 1711 |
|
---|
| 1712 | if(*url == '@') /* proxy */
|
---|
| 1713 | {
|
---|
| 1714 | ++url;
|
---|
| 1715 | args->proxyhost = Buffer;
|
---|
| 1716 | while(*url && *url != ':' && *url != ';' && Buffer != Bufend)
|
---|
| 1717 | *(Buffer++) = *(url++);
|
---|
| 1718 | if(Buffer == args->proxyhost)
|
---|
| 1719 | return "Proxy servername cannot be empty.";
|
---|
| 1720 | else if(Buffer >= Bufend-1)
|
---|
| 1721 | return "Parsing buffer too short.";
|
---|
| 1722 | *(Buffer++) = 0;
|
---|
| 1723 |
|
---|
| 1724 | if(*url == ':')
|
---|
| 1725 | {
|
---|
| 1726 | ++url;
|
---|
| 1727 | args->proxyport = Buffer;
|
---|
| 1728 | while(*url && *url != ';' && Buffer != Bufend)
|
---|
| 1729 | *(Buffer++) = *(url++);
|
---|
| 1730 | if(Buffer == args->proxyport)
|
---|
| 1731 | return "Proxy port cannot be empty.";
|
---|
| 1732 | else if(Buffer >= Bufend-1)
|
---|
| 1733 | return "Parsing buffer too short.";
|
---|
| 1734 | *(Buffer++) = 0;
|
---|
| 1735 | }
|
---|
| 1736 | }
|
---|
[270] | 1737 | }
|
---|
[502] | 1738 | if(*url == ';') /* NMEA */
|
---|
| 1739 | {
|
---|
| 1740 | args->nmea = ++url;
|
---|
| 1741 | while(*url)
|
---|
| 1742 | ++url;
|
---|
| 1743 | }
|
---|
[270] | 1744 |
|
---|
| 1745 | return *url ? "Garbage at end of server string." : 0;
|
---|
| 1746 | }
|
---|
| 1747 |
|
---|
[268] | 1748 | static int getargs(int argc, char **argv, struct Args *args)
|
---|
| 1749 | {
|
---|
| 1750 | int res = 1;
|
---|
| 1751 | int getoptr;
|
---|
| 1752 | int help = 0;
|
---|
| 1753 | char *t;
|
---|
| 1754 |
|
---|
| 1755 | args->server = "www.euref-ip.net";
|
---|
[502] | 1756 | args->port = "2101";
|
---|
[477] | 1757 | args->timeout = 60;
|
---|
[268] | 1758 | args->user = "";
|
---|
| 1759 | args->password = "";
|
---|
| 1760 | args->data = 0;
|
---|
| 1761 | args->headerfile = 0;
|
---|
[502] | 1762 | args->gpsephemeris = 0;
|
---|
| 1763 | args->glonassephemeris = 0;
|
---|
| 1764 | args->rinex3 = 0;
|
---|
| 1765 | args->nmea = 0;
|
---|
| 1766 | args->proxyhost = 0;
|
---|
| 1767 | args->proxyport = "2101";
|
---|
| 1768 | args->mode = AUTO;
|
---|
[268] | 1769 | help = 0;
|
---|
| 1770 |
|
---|
| 1771 | do
|
---|
| 1772 | {
|
---|
[477] | 1773 |
|
---|
[268] | 1774 | #ifdef NO_LONG_OPTS
|
---|
| 1775 | switch((getoptr = getopt(argc, argv, ARGOPT)))
|
---|
| 1776 | #else
|
---|
| 1777 | switch((getoptr = getopt_long(argc, argv, ARGOPT, opts, 0)))
|
---|
| 1778 | #endif
|
---|
| 1779 | {
|
---|
| 1780 | case 's': args->server = optarg; break;
|
---|
| 1781 | case 'u': args->user = optarg; break;
|
---|
| 1782 | case 'p': args->password = optarg; break;
|
---|
| 1783 | case 'd': args->data = optarg; break;
|
---|
| 1784 | case 'f': args->headerfile = optarg; break;
|
---|
[502] | 1785 | case 'E': args->gpsephemeris = optarg; break;
|
---|
| 1786 | case 'G': args->glonassephemeris = optarg; break;
|
---|
| 1787 | case 'r': args->port = optarg; break;
|
---|
| 1788 | case '3': args->rinex3 = 1; break;
|
---|
| 1789 | case 'S': args->proxyhost = optarg; break;
|
---|
| 1790 | case 'n': args->nmea = optarg; break;
|
---|
| 1791 | case 'R': args->proxyport = optarg; break;
|
---|
[268] | 1792 | case 'h': help=1; break;
|
---|
[502] | 1793 | case 'M':
|
---|
| 1794 | args->mode = 0;
|
---|
| 1795 | if (!strcmp(optarg,"n") || !strcmp(optarg,"ntrip1"))
|
---|
| 1796 | args->mode = NTRIP1;
|
---|
| 1797 | else if(!strcmp(optarg,"h") || !strcmp(optarg,"http"))
|
---|
| 1798 | args->mode = HTTP;
|
---|
| 1799 | else if(!strcmp(optarg,"r") || !strcmp(optarg,"rtsp"))
|
---|
| 1800 | args->mode = RTSP;
|
---|
| 1801 | else if(!strcmp(optarg,"a") || !strcmp(optarg,"auto"))
|
---|
| 1802 | args->mode = AUTO;
|
---|
| 1803 | else args->mode = atoi(optarg);
|
---|
| 1804 | if((args->mode == 0) || (args->mode >= END))
|
---|
| 1805 | {
|
---|
| 1806 | fprintf(stderr, "Mode %s unknown\n", optarg);
|
---|
[268] | 1807 | res = 0;
|
---|
[502] | 1808 | }
|
---|
[268] | 1809 | break;
|
---|
[502] | 1810 | case 't':
|
---|
[477] | 1811 | args->timeout = strtoul(optarg, &t, 10);
|
---|
| 1812 | if((t && *t) || args->timeout < 0)
|
---|
| 1813 | res = 0;
|
---|
| 1814 | break;
|
---|
| 1815 |
|
---|
[270] | 1816 | case 1:
|
---|
| 1817 | {
|
---|
| 1818 | const char *err;
|
---|
| 1819 | if((err = geturl(optarg, args)))
|
---|
| 1820 | {
|
---|
[318] | 1821 | RTCM3Error("%s\n\n", err);
|
---|
[270] | 1822 | res = 0;
|
---|
| 1823 | }
|
---|
| 1824 | }
|
---|
| 1825 | break;
|
---|
[268] | 1826 | case -1: break;
|
---|
| 1827 | }
|
---|
| 1828 | } while(getoptr != -1 || !res);
|
---|
| 1829 |
|
---|
| 1830 | datestr[0] = datestr[7];
|
---|
| 1831 | datestr[1] = datestr[8];
|
---|
| 1832 | datestr[2] = datestr[9];
|
---|
| 1833 | datestr[3] = datestr[10];
|
---|
| 1834 | datestr[5] = datestr[12];
|
---|
| 1835 | datestr[6] = datestr[13];
|
---|
| 1836 | datestr[8] = datestr[15];
|
---|
| 1837 | datestr[9] = datestr[16];
|
---|
| 1838 | datestr[4] = datestr[7] = '-';
|
---|
| 1839 | datestr[10] = 0;
|
---|
| 1840 |
|
---|
[502] | 1841 | if(args->gpsephemeris && args->glonassephemeris && args->rinex3)
|
---|
[268] | 1842 | {
|
---|
[503] | 1843 | RTCM3Error("RINEX3 produces a combined ephemeris file, but 2 files were specified.\n"
|
---|
| 1844 | "Please specify only one navigation file.\n");
|
---|
[502] | 1845 | res = 0;
|
---|
| 1846 | }
|
---|
| 1847 | else if(!res || help)
|
---|
| 1848 | {
|
---|
[439] | 1849 | RTCM3Error("Version %s (%s) GPL" COMPILEDATE
|
---|
| 1850 | "\nUsage: %s -s server -u user ...\n"
|
---|
[502] | 1851 | " -d " LONG_OPT("--data ") "the requested data set\n"
|
---|
| 1852 | " -f " LONG_OPT("--headerfile ") "file for RINEX header information\n"
|
---|
| 1853 | " -s " LONG_OPT("--server ") "the server name or address\n"
|
---|
| 1854 | " -p " LONG_OPT("--password ") "the login password\n"
|
---|
| 1855 | " -r " LONG_OPT("--port ") "the server port number (default 2101)\n"
|
---|
| 1856 | " -t " LONG_OPT("--timeout ") "timeout in seconds (default 60)\n"
|
---|
| 1857 | " -u " LONG_OPT("--user ") "the user name\n"
|
---|
| 1858 | " -E " LONG_OPT("--gpsephemeris ") "output file for GPS ephemeris data\n"
|
---|
| 1859 | " -G " LONG_OPT("--glonassephemeris ") "output file for GLONASS ephemeris data\n"
|
---|
| 1860 | " -3 " LONG_OPT("--rinex3 ") "output RINEX type 3 data\n"
|
---|
| 1861 | " -S " LONG_OPT("--proxyhost ") "proxy name or address\n"
|
---|
| 1862 | " -R " LONG_OPT("--proxyport ") "proxy port, optional (default 2101)\n"
|
---|
| 1863 | " -n " LONG_OPT("--nmea ") "NMEA string for sending to server\n"
|
---|
| 1864 | " -M " LONG_OPT("--mode ") "mode for data request\n"
|
---|
| 1865 | " Valid modes are:\n"
|
---|
| 1866 | " 1, h, http NTRIP Version 2.0 Caster in TCP/IP mode\n"
|
---|
| 1867 | " 2, r, rtsp NTRIP Version 2.0 Caster in RTSP/RTP mode\n"
|
---|
| 1868 | " 3, n, ntrip1 NTRIP Version 1.0 Caster\n"
|
---|
| 1869 | " 4, a, auto automatic detection (default)\n"
|
---|
| 1870 | "or using an URL:\n%s ntrip:data[/user[:password]][@[server][:port][@proxyhost[:proxyport]]][;nmea]\n"
|
---|
[270] | 1871 | , revisionstr, datestr, argv[0], argv[0]);
|
---|
[268] | 1872 | exit(1);
|
---|
| 1873 | }
|
---|
| 1874 | return res;
|
---|
| 1875 | }
|
---|
| 1876 |
|
---|
| 1877 | /* let the output complete a block if necessary */
|
---|
| 1878 | static void signalhandler(int sig)
|
---|
| 1879 | {
|
---|
| 1880 | if(!stop)
|
---|
| 1881 | {
|
---|
[318] | 1882 | RTCM3Error("Stop signal number %d received. "
|
---|
[268] | 1883 | "Trying to terminate gentle.\n", sig);
|
---|
| 1884 | stop = 1;
|
---|
| 1885 | alarm(1);
|
---|
| 1886 | }
|
---|
| 1887 | }
|
---|
| 1888 |
|
---|
[502] | 1889 | #define ALARMTIME (2*60)
|
---|
| 1890 |
|
---|
[268] | 1891 | /* for some reason we had to abort hard (maybe waiting for data */
|
---|
| 1892 | #ifdef __GNUC__
|
---|
| 1893 | static __attribute__ ((noreturn)) void signalhandler_alarm(
|
---|
| 1894 | int sig __attribute__((__unused__)))
|
---|
| 1895 | #else /* __GNUC__ */
|
---|
| 1896 | static void signalhandler_alarm(int sig)
|
---|
| 1897 | #endif /* __GNUC__ */
|
---|
| 1898 | {
|
---|
[318] | 1899 | RTCM3Error("Programm forcefully terminated.\n");
|
---|
[268] | 1900 | exit(1);
|
---|
| 1901 | }
|
---|
| 1902 |
|
---|
[27] | 1903 | int main(int argc, char **argv)
|
---|
| 1904 | {
|
---|
| 1905 | struct Args args;
|
---|
| 1906 | struct RTCM3ParserData Parser;
|
---|
| 1907 |
|
---|
| 1908 | setbuf(stdout, 0);
|
---|
| 1909 | setbuf(stdin, 0);
|
---|
| 1910 | setbuf(stderr, 0);
|
---|
| 1911 |
|
---|
| 1912 | {
|
---|
| 1913 | char *a;
|
---|
| 1914 | int i=0;
|
---|
| 1915 | for(a = revisionstr+11; *a && *a != ' '; ++a)
|
---|
| 1916 | revisionstr[i++] = *a;
|
---|
| 1917 | revisionstr[i] = 0;
|
---|
| 1918 | }
|
---|
| 1919 |
|
---|
| 1920 | signal(SIGINT, signalhandler);
|
---|
| 1921 | signal(SIGALRM,signalhandler_alarm);
|
---|
| 1922 | signal(SIGQUIT,signalhandler);
|
---|
| 1923 | signal(SIGTERM,signalhandler);
|
---|
| 1924 | signal(SIGPIPE,signalhandler);
|
---|
| 1925 | memset(&Parser, 0, sizeof(Parser));
|
---|
| 1926 | {
|
---|
| 1927 | time_t tim;
|
---|
| 1928 | tim = time(0) - ((10*365+2+5)*24*60*60+LEAPSECONDS);
|
---|
| 1929 | Parser.GPSWeek = tim/(7*24*60*60);
|
---|
| 1930 | Parser.GPSTOW = tim%(7*24*60*60);
|
---|
| 1931 | }
|
---|
| 1932 |
|
---|
| 1933 | if(getargs(argc, argv, &args))
|
---|
| 1934 | {
|
---|
[502] | 1935 | int sockfd, numbytes;
|
---|
[27] | 1936 | char buf[MAXDATASIZE];
|
---|
[502] | 1937 | struct sockaddr_in their_addr; /* connector's address information */
|
---|
[27] | 1938 | struct hostent *he;
|
---|
[502] | 1939 | struct servent *se;
|
---|
| 1940 | const char *server, *port, *proxyserver = 0;
|
---|
| 1941 | char proxyport[6];
|
---|
| 1942 | char *b;
|
---|
| 1943 | long i;
|
---|
| 1944 | struct timeval tv;
|
---|
[27] | 1945 |
|
---|
[502] | 1946 | alarm(ALARMTIME);
|
---|
| 1947 |
|
---|
[27] | 1948 | Parser.headerfile = args.headerfile;
|
---|
[502] | 1949 | Parser.glonassephemeris = args.glonassephemeris;
|
---|
| 1950 | Parser.gpsephemeris = args.gpsephemeris;
|
---|
| 1951 | Parser.rinex3 = args.rinex3;
|
---|
[27] | 1952 |
|
---|
[502] | 1953 | if(args.proxyhost)
|
---|
[27] | 1954 | {
|
---|
[502] | 1955 | int p;
|
---|
| 1956 | if((i = strtol(args.port, &b, 10)) && (!b || !*b))
|
---|
| 1957 | p = i;
|
---|
| 1958 | else if(!(se = getservbyname(args.port, 0)))
|
---|
| 1959 | {
|
---|
| 1960 | RTCM3Error("Can't resolve port %s.", args.port);
|
---|
| 1961 | exit(1);
|
---|
| 1962 | }
|
---|
| 1963 | else
|
---|
| 1964 | {
|
---|
| 1965 | p = ntohs(se->s_port);
|
---|
| 1966 | }
|
---|
| 1967 | snprintf(proxyport, sizeof(proxyport), "%d", p);
|
---|
| 1968 | port = args.proxyport;
|
---|
| 1969 | proxyserver = args.server;
|
---|
| 1970 | server = args.proxyhost;
|
---|
| 1971 | }
|
---|
| 1972 | else
|
---|
| 1973 | {
|
---|
| 1974 | server = args.server;
|
---|
| 1975 | port = args.port;
|
---|
| 1976 | }
|
---|
| 1977 |
|
---|
| 1978 | memset(&their_addr, 0, sizeof(struct sockaddr_in));
|
---|
| 1979 | if((i = strtol(port, &b, 10)) && (!b || !*b))
|
---|
| 1980 | their_addr.sin_port = htons(i);
|
---|
| 1981 | else if(!(se = getservbyname(port, 0)))
|
---|
| 1982 | {
|
---|
| 1983 | RTCM3Error("Can't resolve port %s.", port);
|
---|
[27] | 1984 | exit(1);
|
---|
| 1985 | }
|
---|
[502] | 1986 | else
|
---|
| 1987 | {
|
---|
| 1988 | their_addr.sin_port = se->s_port;
|
---|
| 1989 | }
|
---|
| 1990 | if(!(he=gethostbyname(server)))
|
---|
| 1991 | {
|
---|
| 1992 | RTCM3Error("Server name lookup failed for '%s'.\n", server);
|
---|
| 1993 | exit(1);
|
---|
| 1994 | }
|
---|
[27] | 1995 | if((sockfd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
|
---|
| 1996 | {
|
---|
[502] | 1997 | perror("socket");
|
---|
[27] | 1998 | exit(1);
|
---|
| 1999 | }
|
---|
[477] | 2000 |
|
---|
| 2001 | tv.tv_sec = args.timeout;
|
---|
| 2002 | tv.tv_usec = 0;
|
---|
| 2003 | if(setsockopt(sockfd, SOL_SOCKET, SO_RCVTIMEO, (struct timeval *)&tv, sizeof(struct timeval) ) == -1)
|
---|
| 2004 | {
|
---|
| 2005 | RTCM3Error("Function setsockopt: %s\n", strerror(errno));
|
---|
| 2006 | exit(1);
|
---|
| 2007 | }
|
---|
| 2008 |
|
---|
[502] | 2009 | their_addr.sin_family = AF_INET;
|
---|
[27] | 2010 | their_addr.sin_addr = *((struct in_addr *)he->h_addr);
|
---|
[502] | 2011 |
|
---|
| 2012 | if(args.data && args.mode == RTSP)
|
---|
[27] | 2013 | {
|
---|
[502] | 2014 | struct sockaddr_in local;
|
---|
| 2015 | int sockudp, localport;
|
---|
| 2016 | int cseq = 1;
|
---|
| 2017 | socklen_t len;
|
---|
[27] | 2018 |
|
---|
[502] | 2019 | if((sockudp = socket(AF_INET, SOCK_DGRAM, 0)) == -1)
|
---|
| 2020 | {
|
---|
| 2021 | perror("socket");
|
---|
| 2022 | exit(1);
|
---|
| 2023 | }
|
---|
| 2024 | /* fill structure with local address information for UDP */
|
---|
| 2025 | memset(&local, 0, sizeof(local));
|
---|
| 2026 | local.sin_family = AF_INET;
|
---|
| 2027 | local.sin_port = htons(0);
|
---|
| 2028 | local.sin_addr.s_addr = htonl(INADDR_ANY);
|
---|
| 2029 | len = sizeof(local);
|
---|
| 2030 | /* bind() in order to get a random RTP client_port */
|
---|
| 2031 | if((bind(sockudp, (struct sockaddr *)&local, len)) < 0)
|
---|
| 2032 | {
|
---|
| 2033 | perror("bind");
|
---|
| 2034 | exit(1);
|
---|
| 2035 | }
|
---|
| 2036 | if((getsockname(sockudp, (struct sockaddr*)&local, &len)) != -1)
|
---|
| 2037 | {
|
---|
| 2038 | localport = ntohs(local.sin_port);
|
---|
| 2039 | }
|
---|
| 2040 | else
|
---|
| 2041 | {
|
---|
| 2042 | perror("local access failed");
|
---|
| 2043 | exit(1);
|
---|
| 2044 | }
|
---|
| 2045 | if(connect(sockfd, (struct sockaddr *)&their_addr,
|
---|
| 2046 | sizeof(struct sockaddr)) == -1)
|
---|
| 2047 | {
|
---|
| 2048 | perror("connect");
|
---|
| 2049 | exit(1);
|
---|
| 2050 | }
|
---|
[27] | 2051 | i=snprintf(buf, MAXDATASIZE-40, /* leave some space for login */
|
---|
[502] | 2052 | "SETUP rtsp://%s%s%s/%s RTSP/1.0\r\n"
|
---|
| 2053 | "CSeq: %d\r\n"
|
---|
| 2054 | "Ntrip-Version: Ntrip/2.0\r\n"
|
---|
| 2055 | "Ntrip-Component: Ntripclient\r\n"
|
---|
[27] | 2056 | "User-Agent: %s/%s\r\n"
|
---|
[502] | 2057 | "Transport: RTP/GNSS;unicast;client_port=%u\r\n"
|
---|
| 2058 | "Authorization: Basic ",
|
---|
| 2059 | args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
|
---|
| 2060 | args.data, cseq++, AGENTSTRING, revisionstr, localport);
|
---|
[479] | 2061 | if(i > MAXDATASIZE-40 || i < 0) /* second check for old glibc */
|
---|
[27] | 2062 | {
|
---|
[318] | 2063 | RTCM3Error("Requested data too long\n");
|
---|
[27] | 2064 | exit(1);
|
---|
| 2065 | }
|
---|
[339] | 2066 | i += encode(buf+i, MAXDATASIZE-i-4, args.user, args.password);
|
---|
| 2067 | if(i > MAXDATASIZE-4)
|
---|
[27] | 2068 | {
|
---|
[318] | 2069 | RTCM3Error("Username and/or password too long\n");
|
---|
[27] | 2070 | exit(1);
|
---|
| 2071 | }
|
---|
[339] | 2072 | buf[i++] = '\r';
|
---|
| 2073 | buf[i++] = '\n';
|
---|
| 2074 | buf[i++] = '\r';
|
---|
| 2075 | buf[i++] = '\n';
|
---|
[502] | 2076 | if(args.nmea)
|
---|
[27] | 2077 | {
|
---|
[502] | 2078 | int j = snprintf(buf+i, MAXDATASIZE-i, "%s\r\n", args.nmea);
|
---|
| 2079 | if(j >= 0 && j < MAXDATASIZE-i)
|
---|
| 2080 | i += j;
|
---|
| 2081 | else
|
---|
[27] | 2082 | {
|
---|
[502] | 2083 | RTCM3Error("NMEA string too long\n");
|
---|
| 2084 | exit(1);
|
---|
| 2085 | }
|
---|
| 2086 | }
|
---|
| 2087 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
| 2088 | {
|
---|
| 2089 | perror("send");
|
---|
| 2090 | exit(1);
|
---|
| 2091 | }
|
---|
| 2092 | if((numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
|
---|
| 2093 | {
|
---|
| 2094 | if(numbytes >= 17 && !strncmp(buf, "RTSP/1.0 200 OK\r\n", 17))
|
---|
[744] | 2095 | {
|
---|
[502] | 2096 | int serverport = 0, session = 0;
|
---|
| 2097 | const char *portcheck = "server_port=";
|
---|
| 2098 | const char *sessioncheck = "session: ";
|
---|
| 2099 | int l = strlen(portcheck)-1;
|
---|
| 2100 | int j=0;
|
---|
| 2101 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
[27] | 2102 | {
|
---|
[502] | 2103 | for(j = 0; j < l && tolower(buf[i+j]) == portcheck[j]; ++j)
|
---|
| 2104 | ;
|
---|
| 2105 | }
|
---|
| 2106 | if(i == numbytes-l)
|
---|
| 2107 | {
|
---|
| 2108 | RTCM3Error("No server port number found\n");
|
---|
| 2109 | exit(1);
|
---|
| 2110 | }
|
---|
| 2111 | else
|
---|
| 2112 | {
|
---|
| 2113 | i+=l;
|
---|
| 2114 | while(i < numbytes && buf[i] >= '0' && buf[i] <= '9')
|
---|
| 2115 | serverport = serverport * 10 + buf[i++]-'0';
|
---|
| 2116 | if(buf[i] != '\r' && buf[i] != ';')
|
---|
[27] | 2117 | {
|
---|
[502] | 2118 | RTCM3Error("Could not extract server port\n");
|
---|
| 2119 | exit(1);
|
---|
[27] | 2120 | }
|
---|
[502] | 2121 | }
|
---|
| 2122 | l = strlen(sessioncheck)-1;
|
---|
| 2123 | j=0;
|
---|
| 2124 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
| 2125 | {
|
---|
| 2126 | for(j = 0; j < l && tolower(buf[i+j]) == sessioncheck[j]; ++j)
|
---|
| 2127 | ;
|
---|
| 2128 | }
|
---|
| 2129 | if(i == numbytes-l)
|
---|
| 2130 | {
|
---|
| 2131 | RTCM3Error("No session number found\n");
|
---|
[27] | 2132 | exit(1);
|
---|
| 2133 | }
|
---|
[502] | 2134 | else
|
---|
| 2135 | {
|
---|
| 2136 | i+=l;
|
---|
| 2137 | while(i < numbytes && buf[i] >= '0' && buf[i] <= '9')
|
---|
| 2138 | session = session * 10 + buf[i++]-'0';
|
---|
| 2139 | if(buf[i] != '\r')
|
---|
| 2140 | {
|
---|
| 2141 | RTCM3Error("Could not extract session number\n");
|
---|
| 2142 | exit(1);
|
---|
| 2143 | }
|
---|
| 2144 | }
|
---|
| 2145 |
|
---|
| 2146 | i = snprintf(buf, MAXDATASIZE,
|
---|
| 2147 | "PLAY rtsp://%s%s%s/%s RTSP/1.0\r\n"
|
---|
| 2148 | "CSeq: %d\r\n"
|
---|
| 2149 | "Session: %d\r\n"
|
---|
| 2150 | "\r\n",
|
---|
| 2151 | args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
|
---|
| 2152 | args.data, cseq++, session);
|
---|
| 2153 |
|
---|
| 2154 | if(i > MAXDATASIZE || i < 0) /* second check for old glibc */
|
---|
| 2155 | {
|
---|
| 2156 | RTCM3Error("Requested data too long\n");
|
---|
| 2157 | exit(1);
|
---|
| 2158 | }
|
---|
| 2159 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
| 2160 | {
|
---|
| 2161 | perror("send");
|
---|
| 2162 | exit(1);
|
---|
| 2163 | }
|
---|
| 2164 | if((numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
|
---|
| 2165 | {
|
---|
| 2166 | if(numbytes >= 17 && !strncmp(buf, "RTSP/1.0 200 OK\r\n", 17))
|
---|
| 2167 | {
|
---|
| 2168 | struct sockaddr_in addrRTP;
|
---|
| 2169 | /* fill structure with caster address information for UDP */
|
---|
| 2170 | memset(&addrRTP, 0, sizeof(addrRTP));
|
---|
| 2171 | addrRTP.sin_family = AF_INET;
|
---|
| 2172 | addrRTP.sin_port = htons(serverport);
|
---|
| 2173 | their_addr.sin_addr = *((struct in_addr *)he->h_addr);
|
---|
| 2174 | len = sizeof(addrRTP);
|
---|
| 2175 | int ts = 0;
|
---|
| 2176 | int sn = 0;
|
---|
| 2177 | int ssrc = 0;
|
---|
| 2178 | int init = 0;
|
---|
| 2179 | int u, v, w;
|
---|
| 2180 | while(!stop && (i = recvfrom(sockudp, buf, 1526, 0,
|
---|
| 2181 | (struct sockaddr*) &addrRTP, &len)) > 0)
|
---|
| 2182 | {
|
---|
| 2183 | alarm(ALARMTIME);
|
---|
| 2184 | if(i >= 12+1 && (unsigned char)buf[0] == (2 << 6) && buf[1] == 0x60)
|
---|
| 2185 | {
|
---|
| 2186 | u= ((unsigned char)buf[2]<<8)+(unsigned char)buf[3];
|
---|
| 2187 | v = ((unsigned char)buf[4]<<24)+((unsigned char)buf[5]<<16)
|
---|
| 2188 | +((unsigned char)buf[6]<<8)+(unsigned char)buf[7];
|
---|
| 2189 | w = ((unsigned char)buf[8]<<24)+((unsigned char)buf[9]<<16)
|
---|
| 2190 | +((unsigned char)buf[10]<<8)+(unsigned char)buf[11];
|
---|
| 2191 |
|
---|
| 2192 | if(init)
|
---|
| 2193 | {
|
---|
| 2194 | if(u < -30000 && sn > 30000) sn -= 0xFFFF;
|
---|
| 2195 | if(ssrc != w || ts > v)
|
---|
| 2196 | {
|
---|
| 2197 | RTCM3Error("Illegal UDP data received.\n");
|
---|
| 2198 | exit(1);
|
---|
| 2199 | }
|
---|
| 2200 | if(u > sn) /* don't show out-of-order packets */
|
---|
| 2201 | fwrite(buf+12, (size_t)i-12, 1, stdout);
|
---|
| 2202 | }
|
---|
| 2203 | sn = u; ts = v; ssrc = w; init = 1;
|
---|
| 2204 | }
|
---|
| 2205 | else
|
---|
| 2206 | {
|
---|
| 2207 | RTCM3Error("Illegal UDP header.\n");
|
---|
| 2208 | exit(1);
|
---|
| 2209 | }
|
---|
| 2210 | }
|
---|
| 2211 | }
|
---|
| 2212 | i = snprintf(buf, MAXDATASIZE,
|
---|
| 2213 | "TEARDOWN rtsp://%s%s%s/%s RTSP/1.0\r\n"
|
---|
| 2214 | "CSeq: %d\r\n"
|
---|
| 2215 | "Session: %d\r\n"
|
---|
| 2216 | "\r\n",
|
---|
| 2217 | args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
|
---|
| 2218 | args.data, cseq++, session);
|
---|
| 2219 |
|
---|
| 2220 | if(i > MAXDATASIZE || i < 0) /* second check for old glibc */
|
---|
| 2221 | {
|
---|
| 2222 | RTCM3Error("Requested data too long\n");
|
---|
| 2223 | exit(1);
|
---|
| 2224 | }
|
---|
| 2225 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
| 2226 | {
|
---|
| 2227 | perror("send");
|
---|
| 2228 | exit(1);
|
---|
| 2229 | }
|
---|
| 2230 | }
|
---|
| 2231 | else
|
---|
| 2232 | {
|
---|
| 2233 | RTCM3Error("Could not start data stream.\n");
|
---|
| 2234 | exit(1);
|
---|
| 2235 | }
|
---|
[27] | 2236 | }
|
---|
| 2237 | else
|
---|
| 2238 | {
|
---|
[502] | 2239 | RTCM3Error("Could not setup initial control connection.\n");
|
---|
| 2240 | exit(1);
|
---|
[27] | 2241 | }
|
---|
| 2242 | }
|
---|
[502] | 2243 | else
|
---|
| 2244 | {
|
---|
| 2245 | perror("recv");
|
---|
| 2246 | exit(1);
|
---|
| 2247 | }
|
---|
[27] | 2248 | }
|
---|
| 2249 | else
|
---|
| 2250 | {
|
---|
[502] | 2251 | if(connect(sockfd, (struct sockaddr *)&their_addr,
|
---|
| 2252 | sizeof(struct sockaddr)) == -1)
|
---|
[27] | 2253 | {
|
---|
[502] | 2254 | perror("connect");
|
---|
| 2255 | exit(1);
|
---|
[27] | 2256 | }
|
---|
[502] | 2257 | if(!args.data)
|
---|
| 2258 | {
|
---|
| 2259 | i = snprintf(buf, MAXDATASIZE,
|
---|
| 2260 | "GET %s%s%s%s/ HTTP/1.0\r\n"
|
---|
| 2261 | "Host: %s\r\n%s"
|
---|
| 2262 | "User-Agent: %s/%s\r\n"
|
---|
[646] | 2263 | "Connection: close\r\n"
|
---|
[502] | 2264 | "\r\n"
|
---|
| 2265 | , proxyserver ? "http://" : "", proxyserver ? proxyserver : "",
|
---|
| 2266 | proxyserver ? ":" : "", proxyserver ? proxyport : "",
|
---|
| 2267 | args.server, args.mode == NTRIP1 ? "" : "Ntrip-Version: Ntrip/2.0\r\n",
|
---|
| 2268 | AGENTSTRING, revisionstr);
|
---|
| 2269 | }
|
---|
| 2270 | else
|
---|
| 2271 | {
|
---|
| 2272 | i=snprintf(buf, MAXDATASIZE-40, /* leave some space for login */
|
---|
| 2273 | "GET %s%s%s%s/%s HTTP/1.0\r\n"
|
---|
| 2274 | "Host: %s\r\n%s"
|
---|
| 2275 | "User-Agent: %s/%s\r\n"
|
---|
[646] | 2276 | "Connection: close\r\n"
|
---|
[502] | 2277 | "Authorization: Basic "
|
---|
| 2278 | , proxyserver ? "http://" : "", proxyserver ? proxyserver : "",
|
---|
| 2279 | proxyserver ? ":" : "", proxyserver ? proxyport : "",
|
---|
| 2280 | args.data, args.server,
|
---|
| 2281 | args.mode == NTRIP1 ? "" : "Ntrip-Version: Ntrip/2.0\r\n",
|
---|
| 2282 | AGENTSTRING, revisionstr);
|
---|
| 2283 | if(i > MAXDATASIZE-40 || i < 0) /* second check for old glibc */
|
---|
| 2284 | {
|
---|
| 2285 | RTCM3Error("Requested data too long\n");
|
---|
| 2286 | exit(1);
|
---|
| 2287 | }
|
---|
| 2288 | i += encode(buf+i, MAXDATASIZE-i-4, args.user, args.password);
|
---|
| 2289 | if(i > MAXDATASIZE-4)
|
---|
| 2290 | {
|
---|
| 2291 | RTCM3Error("Username and/or password too long\n");
|
---|
| 2292 | exit(1);
|
---|
| 2293 | }
|
---|
| 2294 | buf[i++] = '\r';
|
---|
| 2295 | buf[i++] = '\n';
|
---|
| 2296 | buf[i++] = '\r';
|
---|
| 2297 | buf[i++] = '\n';
|
---|
| 2298 | if(args.nmea)
|
---|
| 2299 | {
|
---|
| 2300 | int j = snprintf(buf+i, MAXDATASIZE-i, "%s\r\n", args.nmea);
|
---|
| 2301 | if(j >= 0 && j < MAXDATASIZE-i)
|
---|
| 2302 | i += j;
|
---|
| 2303 | else
|
---|
| 2304 | {
|
---|
| 2305 | RTCM3Error("NMEA string too long\n");
|
---|
| 2306 | exit(1);
|
---|
| 2307 | }
|
---|
| 2308 | }
|
---|
| 2309 | }
|
---|
| 2310 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
| 2311 | {
|
---|
| 2312 | perror("send");
|
---|
| 2313 | exit(1);
|
---|
| 2314 | }
|
---|
| 2315 | if(args.data)
|
---|
| 2316 | {
|
---|
| 2317 | int k = 0;
|
---|
| 2318 | int chunkymode = 0;
|
---|
| 2319 | int starttime = time(0);
|
---|
| 2320 | int lastout = starttime;
|
---|
| 2321 | int totalbytes = 0;
|
---|
| 2322 | int chunksize = 0;
|
---|
| 2323 |
|
---|
| 2324 | while(!stop && (numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
|
---|
| 2325 | {
|
---|
| 2326 | alarm(ALARMTIME);
|
---|
| 2327 | if(!k)
|
---|
| 2328 | {
|
---|
| 2329 | if(numbytes > 17 && (!strncmp(buf, "HTTP/1.1 200 OK\r\n", 17)
|
---|
| 2330 | || !strncmp(buf, "HTTP/1.0 200 OK\r\n", 17)))
|
---|
[744] | 2331 | {
|
---|
[502] | 2332 | const char *datacheck = "Content-Type: gnss/data\r\n";
|
---|
| 2333 | const char *chunkycheck = "Transfer-Encoding: chunked\r\n";
|
---|
| 2334 | int l = strlen(datacheck)-1;
|
---|
| 2335 | int j=0;
|
---|
| 2336 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
| 2337 | {
|
---|
| 2338 | for(j = 0; j < l && buf[i+j] == datacheck[j]; ++j)
|
---|
| 2339 | ;
|
---|
| 2340 | }
|
---|
| 2341 | if(i == numbytes-l)
|
---|
| 2342 | {
|
---|
| 2343 | RTCM3Error("No 'Content-Type: gnss/data' found\n");
|
---|
| 2344 | exit(1);
|
---|
| 2345 | }
|
---|
| 2346 | l = strlen(chunkycheck)-1;
|
---|
| 2347 | j=0;
|
---|
| 2348 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
| 2349 | {
|
---|
| 2350 | for(j = 0; j < l && buf[i+j] == chunkycheck[j]; ++j)
|
---|
| 2351 | ;
|
---|
| 2352 | }
|
---|
| 2353 | if(i < numbytes-l)
|
---|
| 2354 | chunkymode = 1;
|
---|
| 2355 | }
|
---|
| 2356 | else if(numbytes < 12 || strncmp("ICY 200 OK\r\n", buf, 12))
|
---|
| 2357 | {
|
---|
| 2358 | RTCM3Error("Could not get the requested data: ");
|
---|
| 2359 | for(k = 0; k < numbytes && buf[k] != '\n' && buf[k] != '\r'; ++k)
|
---|
| 2360 | {
|
---|
| 2361 | RTCM3Error("%c", isprint(buf[k]) ? buf[k] : '.');
|
---|
| 2362 | }
|
---|
| 2363 | RTCM3Error("\n");
|
---|
| 2364 | exit(1);
|
---|
| 2365 | }
|
---|
| 2366 | else if(args.mode != NTRIP1)
|
---|
| 2367 | {
|
---|
| 2368 | if(args.mode != AUTO)
|
---|
| 2369 | {
|
---|
| 2370 | RTCM3Error("NTRIP version 2 HTTP connection failed%s.\n",
|
---|
| 2371 | args.mode == AUTO ? ", falling back to NTRIP1" : "");
|
---|
| 2372 | }
|
---|
| 2373 | if(args.mode == HTTP)
|
---|
| 2374 | exit(1);
|
---|
| 2375 | }
|
---|
| 2376 | ++k;
|
---|
| 2377 | }
|
---|
| 2378 | else
|
---|
| 2379 | {
|
---|
| 2380 | if(chunkymode)
|
---|
| 2381 | {
|
---|
| 2382 | int stop = 0;
|
---|
| 2383 | int pos = 0;
|
---|
| 2384 | while(!stop && pos < numbytes)
|
---|
| 2385 | {
|
---|
| 2386 | switch(chunkymode)
|
---|
| 2387 | {
|
---|
| 2388 | case 1: /* reading number starts */
|
---|
| 2389 | chunksize = 0;
|
---|
| 2390 | ++chunkymode; /* no break */
|
---|
| 2391 | case 2: /* during reading number */
|
---|
| 2392 | i = buf[pos++];
|
---|
| 2393 | if(i >= '0' && i <= '9') chunksize = chunksize*16+i-'0';
|
---|
| 2394 | else if(i >= 'a' && i <= 'f') chunksize = chunksize*16+i-'a'+10;
|
---|
| 2395 | else if(i >= 'A' && i <= 'F') chunksize = chunksize*16+i-'A'+10;
|
---|
| 2396 | else if(i == '\r') ++chunkymode;
|
---|
[646] | 2397 | else if(i == ';') chunkymode = 5;
|
---|
[502] | 2398 | else stop = 1;
|
---|
| 2399 | break;
|
---|
| 2400 | case 3: /* scanning for return */
|
---|
| 2401 | if(buf[pos++] == '\n') chunkymode = chunksize ? 4 : 1;
|
---|
| 2402 | else stop = 1;
|
---|
| 2403 | break;
|
---|
| 2404 | case 4: /* output data */
|
---|
| 2405 | i = numbytes-pos;
|
---|
| 2406 | if(i > chunksize) i = chunksize;
|
---|
| 2407 | {
|
---|
| 2408 | int z;
|
---|
| 2409 | for(z = 0; z < i && !stop; ++z)
|
---|
| 2410 | HandleByte(&Parser, (unsigned int) buf[pos+z]);
|
---|
| 2411 | }
|
---|
| 2412 | totalbytes += i;
|
---|
| 2413 | chunksize -= i;
|
---|
| 2414 | pos += i;
|
---|
| 2415 | if(!chunksize)
|
---|
| 2416 | chunkymode = 1;
|
---|
| 2417 | break;
|
---|
[646] | 2418 | case 5:
|
---|
| 2419 | if(i == '\r') chunkymode = 3;
|
---|
| 2420 | break;
|
---|
[502] | 2421 | }
|
---|
| 2422 | }
|
---|
| 2423 | if(stop)
|
---|
| 2424 | {
|
---|
| 2425 | RTCM3Error("Error in chunky transfer encoding\n");
|
---|
| 2426 | break;
|
---|
| 2427 | }
|
---|
| 2428 | }
|
---|
| 2429 | else
|
---|
| 2430 | {
|
---|
| 2431 | totalbytes += numbytes;
|
---|
| 2432 | {
|
---|
| 2433 | int z;
|
---|
| 2434 | for(z = 0; z < numbytes && !stop; ++z)
|
---|
| 2435 | HandleByte(&Parser, (unsigned int) buf[z]);
|
---|
| 2436 | }
|
---|
| 2437 | }
|
---|
| 2438 | if(totalbytes < 0) /* overflow */
|
---|
| 2439 | {
|
---|
| 2440 | totalbytes = 0;
|
---|
| 2441 | starttime = time(0);
|
---|
| 2442 | lastout = starttime;
|
---|
| 2443 | }
|
---|
| 2444 | }
|
---|
| 2445 | }
|
---|
| 2446 | }
|
---|
| 2447 | else
|
---|
| 2448 | {
|
---|
| 2449 | while(!stop && (numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) > 0)
|
---|
| 2450 | {
|
---|
| 2451 | alarm(ALARMTIME);
|
---|
| 2452 | fwrite(buf, (size_t)numbytes, 1, stdout);
|
---|
| 2453 | }
|
---|
| 2454 | }
|
---|
| 2455 | close(sockfd);
|
---|
[27] | 2456 | }
|
---|
| 2457 | }
|
---|
| 2458 | return 0;
|
---|
| 2459 | }
|
---|
[268] | 2460 | #endif /* NO_RTCM3_MAIN */
|
---|