1 | /*
|
---|
2 | Converter for RTCM3 data to RINEX.
|
---|
3 | $Id: rtcm3torinex.c,v 1.31 2010/01/16 11:07:57 weber Exp $
|
---|
4 | Copyright (C) 2005-2008 by Dirk Stöcker <stoecker@alberding.eu>
|
---|
5 |
|
---|
6 | This software is a complete NTRIP-RTCM3 to RINEX converter as well as
|
---|
7 | a module of the BNC tool for multiformat conversion. Contact Dirk
|
---|
8 | Stöcker for suggestions and bug reports related to the RTCM3 to RINEX
|
---|
9 | conversion problems and the author of BNC for all the other problems.
|
---|
10 |
|
---|
11 | This program is free software; you can redistribute it and/or modify
|
---|
12 | it under the terms of the GNU General Public License as published by
|
---|
13 | the Free Software Foundation; either version 2 of the License, or
|
---|
14 | (at your option) any later version.
|
---|
15 |
|
---|
16 | This program is distributed in the hope that it will be useful,
|
---|
17 | but WITHOUT ANY WARRANTY; without even the implied warranty of
|
---|
18 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
---|
19 | GNU General Public License for more details.
|
---|
20 |
|
---|
21 | You should have received a copy of the GNU General Public License
|
---|
22 | along with this program; if not, write to the Free Software
|
---|
23 | Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
---|
24 | or read http://www.gnu.org/licenses/gpl.txt
|
---|
25 | */
|
---|
26 |
|
---|
27 | #include <ctype.h>
|
---|
28 | #include <errno.h>
|
---|
29 | #include <math.h>
|
---|
30 | #include <signal.h>
|
---|
31 | #include <stdarg.h>
|
---|
32 | #include <stdio.h>
|
---|
33 | #include <stdlib.h>
|
---|
34 | #include <string.h>
|
---|
35 | #include <sys/types.h>
|
---|
36 | #include <time.h>
|
---|
37 | #include <unistd.h>
|
---|
38 |
|
---|
39 | #ifndef NO_RTCM3_MAIN
|
---|
40 | #include <getopt.h>
|
---|
41 | #include <netdb.h>
|
---|
42 | #include <netinet/in.h>
|
---|
43 | #include <sys/socket.h>
|
---|
44 | #endif
|
---|
45 |
|
---|
46 | #ifndef sparc
|
---|
47 | #include <stdint.h>
|
---|
48 | #endif
|
---|
49 |
|
---|
50 | #ifndef isinf
|
---|
51 | #define isinf(x) 0
|
---|
52 | #endif
|
---|
53 |
|
---|
54 | #include "rtcm3torinex.h"
|
---|
55 |
|
---|
56 | /* CVS revision and version */
|
---|
57 | static char revisionstr[] = "$Revision: 1.31 $";
|
---|
58 |
|
---|
59 | #ifndef COMPILEDATE
|
---|
60 | #define COMPILEDATE " built " __DATE__
|
---|
61 | #endif
|
---|
62 |
|
---|
63 | static uint32_t CRC24(long size, const unsigned char *buf)
|
---|
64 | {
|
---|
65 | uint32_t crc = 0;
|
---|
66 | int i;
|
---|
67 |
|
---|
68 | while(size--)
|
---|
69 | {
|
---|
70 | crc ^= (*buf++) << (16);
|
---|
71 | for(i = 0; i < 8; i++)
|
---|
72 | {
|
---|
73 | crc <<= 1;
|
---|
74 | if(crc & 0x1000000)
|
---|
75 | crc ^= 0x01864cfb;
|
---|
76 | }
|
---|
77 | }
|
---|
78 | return crc;
|
---|
79 | }
|
---|
80 |
|
---|
81 | static int GetMessage(struct RTCM3ParserData *handle)
|
---|
82 | {
|
---|
83 | unsigned char *m, *e;
|
---|
84 | int i;
|
---|
85 |
|
---|
86 | m = handle->Message+handle->SkipBytes;
|
---|
87 | e = handle->Message+handle->MessageSize;
|
---|
88 | handle->NeedBytes = handle->SkipBytes = 0;
|
---|
89 | while(e-m >= 3)
|
---|
90 | {
|
---|
91 | if(m[0] == 0xD3)
|
---|
92 | {
|
---|
93 | handle->size = ((m[1]&3)<<8)|m[2];
|
---|
94 | if(e-m >= handle->size+6)
|
---|
95 | {
|
---|
96 | if((uint32_t)((m[3+handle->size]<<16)|(m[3+handle->size+1]<<8)
|
---|
97 | |(m[3+handle->size+2])) == CRC24(handle->size+3, m))
|
---|
98 | {
|
---|
99 | handle->SkipBytes = handle->size;
|
---|
100 | break;
|
---|
101 | }
|
---|
102 | else
|
---|
103 | ++m;
|
---|
104 | }
|
---|
105 | else
|
---|
106 | {
|
---|
107 | handle->NeedBytes = handle->size+6;
|
---|
108 | break;
|
---|
109 | }
|
---|
110 | }
|
---|
111 | else
|
---|
112 | ++m;
|
---|
113 | }
|
---|
114 | if(e-m < 3)
|
---|
115 | handle->NeedBytes = 3;
|
---|
116 |
|
---|
117 | /* copy buffer to front */
|
---|
118 | i = m - handle->Message;
|
---|
119 | if(i && m < e)
|
---|
120 | memmove(handle->Message, m, (size_t)(handle->MessageSize-i));
|
---|
121 | handle->MessageSize -= i;
|
---|
122 |
|
---|
123 | return !handle->NeedBytes;
|
---|
124 | }
|
---|
125 |
|
---|
126 | #define LOADBITS(a) \
|
---|
127 | { \
|
---|
128 | while((a) > numbits) \
|
---|
129 | { \
|
---|
130 | if(!size--) break; \
|
---|
131 | bitfield = (bitfield<<8)|*(data++); \
|
---|
132 | numbits += 8; \
|
---|
133 | } \
|
---|
134 | }
|
---|
135 |
|
---|
136 | /* extract bits from data stream
|
---|
137 | b = variable to store result, a = number of bits */
|
---|
138 | #define GETBITS(b, a) \
|
---|
139 | { \
|
---|
140 | LOADBITS(a) \
|
---|
141 | b = (bitfield<<(64-numbits))>>(64-(a)); \
|
---|
142 | numbits -= (a); \
|
---|
143 | }
|
---|
144 |
|
---|
145 | /* extract floating value from data stream
|
---|
146 | b = variable to store result, a = number of bits */
|
---|
147 | #define GETFLOAT(b, a, c) \
|
---|
148 | { \
|
---|
149 | LOADBITS(a) \
|
---|
150 | b = ((double)((bitfield<<(64-numbits))>>(64-(a))))*(c); \
|
---|
151 | numbits -= (a); \
|
---|
152 | }
|
---|
153 |
|
---|
154 | /* extract signed floating value from data stream
|
---|
155 | b = variable to store result, a = number of bits */
|
---|
156 | #define GETFLOATSIGN(b, a, c) \
|
---|
157 | { \
|
---|
158 | LOADBITS(a) \
|
---|
159 | b = ((double)(((int64_t)(bitfield<<(64-numbits)))>>(64-(a))))*(c); \
|
---|
160 | numbits -= (a); \
|
---|
161 | }
|
---|
162 |
|
---|
163 | /* extract bits from data stream
|
---|
164 | b = variable to store result, a = number of bits */
|
---|
165 | #define GETBITSSIGN(b, a) \
|
---|
166 | { \
|
---|
167 | LOADBITS(a) \
|
---|
168 | b = ((int64_t)(bitfield<<(64-numbits)))>>(64-(a)); \
|
---|
169 | numbits -= (a); \
|
---|
170 | }
|
---|
171 |
|
---|
172 | #define GETFLOATSIGNM(b, a, c) \
|
---|
173 | { int l; \
|
---|
174 | LOADBITS(a) \
|
---|
175 | l = (bitfield<<(64-numbits))>>(64-1); \
|
---|
176 | b = ((double)(((bitfield<<(64-(numbits-1))))>>(64-(a-1))))*(c); \
|
---|
177 | numbits -= (a); \
|
---|
178 | if(l) b *= -1.0; \
|
---|
179 | }
|
---|
180 |
|
---|
181 | #define SKIPBITS(b) { LOADBITS(b) numbits -= (b); }
|
---|
182 |
|
---|
183 | /* extract byte-aligned byte from data stream,
|
---|
184 | b = variable to store size, s = variable to store string pointer */
|
---|
185 | #define GETSTRING(b, s) \
|
---|
186 | { \
|
---|
187 | b = *(data++); \
|
---|
188 | s = (char *) data; \
|
---|
189 | data += b; \
|
---|
190 | size -= b+1; \
|
---|
191 | }
|
---|
192 |
|
---|
193 | struct leapseconds { /* specify the day of leap second */
|
---|
194 | int day; /* this is the day, where 23:59:59 exists 2 times */
|
---|
195 | int month; /* not the next day! */
|
---|
196 | int year;
|
---|
197 | int taicount;
|
---|
198 | };
|
---|
199 | static const int months[13] = {0,31,28,31,30,31,30,31,31,30,31,30,31};
|
---|
200 | static const struct leapseconds leap[] = {
|
---|
201 | /*{31, 12, 1971, 11},*/
|
---|
202 | /*{31, 12, 1972, 12},*/
|
---|
203 | /*{31, 12, 1973, 13},*/
|
---|
204 | /*{31, 12, 1974, 14},*/
|
---|
205 | /*{31, 12, 1975, 15},*/
|
---|
206 | /*{31, 12, 1976, 16},*/
|
---|
207 | /*{31, 12, 1977, 17},*/
|
---|
208 | /*{31, 12, 1978, 18},*/
|
---|
209 | /*{31, 12, 1979, 19},*/
|
---|
210 | {30, 06, 1981,20},
|
---|
211 | {30, 06, 1982,21},
|
---|
212 | {30, 06, 1983,22},
|
---|
213 | {30, 06, 1985,23},
|
---|
214 | {31, 12, 1987,24},
|
---|
215 | {31, 12, 1989,25},
|
---|
216 | {31, 12, 1990,26},
|
---|
217 | {30, 06, 1992,27},
|
---|
218 | {30, 06, 1993,28},
|
---|
219 | {30, 06, 1994,29},
|
---|
220 | {31, 12, 1995,30},
|
---|
221 | {30, 06, 1997,31},
|
---|
222 | {31, 12, 1998,32},
|
---|
223 | {31, 12, 2005,33},
|
---|
224 | {31, 12, 2008,34},
|
---|
225 | {0,0,0,0} /* end marker */
|
---|
226 | };
|
---|
227 | #define LEAPSECONDS 14 /* only needed for approx. time */
|
---|
228 | #define GPSLEAPSTART 19 /* 19 leap seconds existed at 6.1.1980 */
|
---|
229 |
|
---|
230 | static int longyear(int year, int month)
|
---|
231 | {
|
---|
232 | if(!(year % 4) && (!(year % 400) || (year % 100)))
|
---|
233 | {
|
---|
234 | if(!month || month == 2)
|
---|
235 | return 1;
|
---|
236 | }
|
---|
237 | return 0;
|
---|
238 | }
|
---|
239 |
|
---|
240 | int gnumleap(int year, int month, int day)
|
---|
241 | {
|
---|
242 | int ls = 0;
|
---|
243 | const struct leapseconds *l;
|
---|
244 |
|
---|
245 | for(l = leap; l->taicount && year >= l->year; ++l)
|
---|
246 | {
|
---|
247 | if(year > l->year || month > l->month || (month == l->month && day > l->day))
|
---|
248 | ls = l->taicount - GPSLEAPSTART;
|
---|
249 | }
|
---|
250 | return ls;
|
---|
251 | }
|
---|
252 |
|
---|
253 | /* Convert Moscow time into UTC (fixnumleap == 1) or GPS (fixnumleap == 0) */
|
---|
254 | void updatetime(int *week, int *secOfWeek, int mSecOfWeek, int fixnumleap)
|
---|
255 | {
|
---|
256 | int y,m,d,k,l, nul;
|
---|
257 | unsigned int j = *week*(7*24*60*60) + *secOfWeek + 5*24*60*60+3*60*60;
|
---|
258 | int glo_daynumber = 0, glo_timeofday;
|
---|
259 | for(y = 1980; j >= (unsigned int)(k = (l = (365+longyear(y,0)))*24*60*60)
|
---|
260 | + gnumleap(y+1,1,1); ++y)
|
---|
261 | {
|
---|
262 | j -= k; glo_daynumber += l;
|
---|
263 | }
|
---|
264 | for(m = 1; j >= (unsigned int)(k = (l = months[m]+longyear(y, m))*24*60*60)
|
---|
265 | + gnumleap(y, m+1, 1); ++m)
|
---|
266 | {
|
---|
267 | j -= k; glo_daynumber += l;
|
---|
268 | }
|
---|
269 | for(d = 1; j >= 24UL*60UL*60UL + gnumleap(y, m, d+1); ++d)
|
---|
270 | j -= 24*60*60;
|
---|
271 | glo_daynumber -= 16*365+4-d;
|
---|
272 | nul = gnumleap(y, m, d);
|
---|
273 | glo_timeofday = j-nul;
|
---|
274 |
|
---|
275 | if(mSecOfWeek < 5*60*1000 && glo_timeofday > 23*60*60)
|
---|
276 | *secOfWeek += 24*60*60;
|
---|
277 | else if(glo_timeofday < 5*60 && mSecOfWeek > 23*60*60*1000)
|
---|
278 | *secOfWeek -= 24*60*60;
|
---|
279 | *secOfWeek += mSecOfWeek/1000-glo_timeofday;
|
---|
280 | if(fixnumleap)
|
---|
281 | *secOfWeek -= nul;
|
---|
282 | if(*secOfWeek < 0) {*secOfWeek += 24*60*60*7; --*week; }
|
---|
283 | if(*secOfWeek >= 24*60*60*7) {*secOfWeek -= 24*60*60*7; ++*week; }
|
---|
284 | }
|
---|
285 |
|
---|
286 | int RTCM3Parser(struct RTCM3ParserData *handle)
|
---|
287 | {
|
---|
288 | int ret=0;
|
---|
289 |
|
---|
290 | #ifdef NO_RTCM3_MAIN
|
---|
291 | if(GetMessage(handle)) /* don't repeat */
|
---|
292 | #else
|
---|
293 | while(!ret && GetMessage(handle))
|
---|
294 | #endif /* NO_RTCM3_MAIN */
|
---|
295 | {
|
---|
296 | /* using 64 bit integer types, as it is much easier than handling
|
---|
297 | the long datatypes in 32 bit */
|
---|
298 | uint64_t numbits = 0, bitfield = 0;
|
---|
299 | int size = handle->size, type;
|
---|
300 | int syncf, old = 0;
|
---|
301 | unsigned char *data = handle->Message+3;
|
---|
302 |
|
---|
303 | GETBITS(type,12)
|
---|
304 | #ifdef NO_RTCM3_MAIN
|
---|
305 | handle->blocktype = type;
|
---|
306 | #endif /* NO_RTCM3_MAIN */
|
---|
307 | switch(type)
|
---|
308 | {
|
---|
309 | #ifdef NO_RTCM3_MAIN
|
---|
310 | default:
|
---|
311 | ret = type;
|
---|
312 | break;
|
---|
313 | case 1005: case 1006:
|
---|
314 | {
|
---|
315 | SKIPBITS(22)
|
---|
316 | GETBITSSIGN(handle->antX, 38)
|
---|
317 | SKIPBITS(2)
|
---|
318 | GETBITSSIGN(handle->antY, 38)
|
---|
319 | SKIPBITS(2)
|
---|
320 | GETBITSSIGN(handle->antZ, 38)
|
---|
321 | if(type == 1006)
|
---|
322 | GETBITS(handle->antH, 16)
|
---|
323 | ret = type;
|
---|
324 | }
|
---|
325 | break;
|
---|
326 | case 1007: case 1008: case 1033:
|
---|
327 | {
|
---|
328 | char *antenna;
|
---|
329 | int antnum;
|
---|
330 |
|
---|
331 | SKIPBITS(12)
|
---|
332 | GETSTRING(antnum,antenna)
|
---|
333 | memcpy(handle->antenna, antenna, antnum);
|
---|
334 | handle->antenna[antnum] = 0;
|
---|
335 | ret = type;
|
---|
336 | }
|
---|
337 | break;
|
---|
338 | #endif /* NO_RTCM3_MAIN */
|
---|
339 | case 1019:
|
---|
340 | {
|
---|
341 | struct gpsephemeris *ge;
|
---|
342 | int sv;
|
---|
343 |
|
---|
344 | ge = &handle->ephemerisGPS;
|
---|
345 | memset(ge, 0, sizeof(*ge));
|
---|
346 |
|
---|
347 | GETBITS(sv, 6)
|
---|
348 | ge->satellite = (sv < 40 ? sv : sv+80);
|
---|
349 | GETBITS(ge->GPSweek, 10)
|
---|
350 | ge->GPSweek += 1024;
|
---|
351 | GETBITS(ge->URAindex, 4)
|
---|
352 | GETBITS(sv, 2)
|
---|
353 | if(sv & 1)
|
---|
354 | ge->flags |= GPSEPHF_L2PCODE;
|
---|
355 | if(sv & 2)
|
---|
356 | ge->flags |= GPSEPHF_L2CACODE;
|
---|
357 | GETFLOATSIGN(ge->IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
358 | GETBITS(ge->IODE, 8)
|
---|
359 | GETBITS(ge->TOC, 16)
|
---|
360 | ge->TOC <<= 4;
|
---|
361 | GETFLOATSIGN(ge->clock_driftrate, 8, 1.0/(double)(1<<30)/(double)(1<<25))
|
---|
362 | GETFLOATSIGN(ge->clock_drift, 16, 1.0/(double)(1<<30)/(double)(1<<13))
|
---|
363 | GETFLOATSIGN(ge->clock_bias, 22, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
364 | GETBITS(ge->IODC, 10)
|
---|
365 | GETFLOATSIGN(ge->Crs, 16, 1.0/(double)(1<<5))
|
---|
366 | GETFLOATSIGN(ge->Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
367 | GETFLOATSIGN(ge->M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
368 | GETFLOATSIGN(ge->Cuc, 16, 1.0/(double)(1<<29))
|
---|
369 | GETFLOAT(ge->e, 32, 1.0/(double)(1<<30)/(double)(1<<3))
|
---|
370 | GETFLOATSIGN(ge->Cus, 16, 1.0/(double)(1<<29))
|
---|
371 | GETFLOAT(ge->sqrt_A, 32, 1.0/(double)(1<<19))
|
---|
372 | GETBITS(ge->TOE, 16)
|
---|
373 | ge->TOE <<= 4;
|
---|
374 |
|
---|
375 | GETFLOATSIGN(ge->Cic, 16, 1.0/(double)(1<<29))
|
---|
376 | GETFLOATSIGN(ge->OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
377 | GETFLOATSIGN(ge->Cis, 16, 1.0/(double)(1<<29))
|
---|
378 | GETFLOATSIGN(ge->i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
379 | GETFLOATSIGN(ge->Crc, 16, 1.0/(double)(1<<5))
|
---|
380 | GETFLOATSIGN(ge->omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
381 | GETFLOATSIGN(ge->OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
382 | GETFLOATSIGN(ge->TGD, 8, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
383 | GETBITS(ge->SVhealth, 6)
|
---|
384 | GETBITS(sv, 1)
|
---|
385 | if(sv)
|
---|
386 | ge->flags |= GPSEPHF_L2PCODEDATA;
|
---|
387 |
|
---|
388 | ret = 1019;
|
---|
389 | }
|
---|
390 | break;
|
---|
391 | case 1020:
|
---|
392 | {
|
---|
393 | struct glonassephemeris *ge;
|
---|
394 | int i;
|
---|
395 |
|
---|
396 | ge = &handle->ephemerisGLONASS;
|
---|
397 | memset(ge, 0, sizeof(*ge));
|
---|
398 |
|
---|
399 | ge->flags |= GLOEPHF_PAVAILABLE;
|
---|
400 | GETBITS(ge->almanac_number, 6)
|
---|
401 | GETBITS(i, 5)
|
---|
402 | ge->frequency_number = i-7;
|
---|
403 | GETBITS(i, 1)
|
---|
404 | if(i)
|
---|
405 | ge->flags |= GLOEPHF_ALMANACHEALTHY;
|
---|
406 | GETBITS(i, 1)
|
---|
407 | if(i)
|
---|
408 | ge->flags |= GLOEPHF_ALMANACHEALTHOK;
|
---|
409 | GETBITS(i, 2)
|
---|
410 | if(i & 1)
|
---|
411 | ge->flags |= GLOEPHF_P10TRUE;
|
---|
412 | if(i & 2)
|
---|
413 | ge->flags |= GLOEPHF_P11TRUE;
|
---|
414 | GETBITS(i, 5)
|
---|
415 | ge->tk = i*60*60;
|
---|
416 | GETBITS(i, 6)
|
---|
417 | ge->tk += i*60;
|
---|
418 | GETBITS(i, 1)
|
---|
419 | ge->tk += i*30;
|
---|
420 | GETBITS(i, 1)
|
---|
421 | if(i)
|
---|
422 | ge->flags |= GLOEPHF_UNHEALTHY;
|
---|
423 | GETBITS(i, 1)
|
---|
424 | if(i)
|
---|
425 | ge->flags |= GLOEPHF_P2TRUE;
|
---|
426 | GETBITS(i, 7)
|
---|
427 | ge->tb = i*15*60;
|
---|
428 | GETFLOATSIGNM(ge->x_velocity, 24, 1.0/(double)(1<<20))
|
---|
429 | GETFLOATSIGNM(ge->x_pos, 27, 1.0/(double)(1<<11))
|
---|
430 | GETFLOATSIGNM(ge->x_acceleration, 5, 1.0/(double)(1<<30))
|
---|
431 | GETFLOATSIGNM(ge->y_velocity, 24, 1.0/(double)(1<<20))
|
---|
432 | GETFLOATSIGNM(ge->y_pos, 27, 1.0/(double)(1<<11))
|
---|
433 | GETFLOATSIGNM(ge->y_acceleration, 5, 1.0/(double)(1<<30))
|
---|
434 | GETFLOATSIGNM(ge->z_velocity, 24, 1.0/(double)(1<<20))
|
---|
435 | GETFLOATSIGNM(ge->z_pos, 27, 1.0/(double)(1<<11))
|
---|
436 | GETFLOATSIGNM(ge->z_acceleration, 5, 1.0/(double)(1<<30))
|
---|
437 | GETBITS(i, 1)
|
---|
438 | if(i)
|
---|
439 | ge->flags |= GLOEPHF_P3TRUE;
|
---|
440 | GETFLOATSIGNM(ge->gamma, 11, 1.0/(double)(1<<30)/(double)(1<<10))
|
---|
441 | SKIPBITS(3) /* GLONASS-M P, GLONASS-M ln (third string) */
|
---|
442 | GETFLOATSIGNM(ge->tau, 22, 1.0/(double)(1<<30)) /* GLONASS tau n(tb) */
|
---|
443 | SKIPBITS(5) /* GLONASS-M delta tau n(tb) */
|
---|
444 | GETBITS(ge->E, 5)
|
---|
445 | /* GETBITS(b, 1) / * GLONASS-M P4 */
|
---|
446 | /* GETBITS(b, 4) / * GLONASS-M Ft */
|
---|
447 | /* GETBITS(b, 11) / * GLONASS-M Nt */
|
---|
448 | /* GETBITS(b, 2) / * GLONASS-M M */
|
---|
449 | /* GETBITS(b, 1) / * GLONASS-M The Availability of Additional Data */
|
---|
450 | /* GETBITS(b, 11) / * GLONASS-M Na */
|
---|
451 | /* GETFLOATSIGNM(b, 32, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS tau c */
|
---|
452 | /* GETBITS(b, 5) / * GLONASS-M N4 */
|
---|
453 | /* GETFLOATSIGNM(b, 22, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS-M tau GPS */
|
---|
454 | /* GETBITS(b, 1) / * GLONASS-M ln (fifth string) */
|
---|
455 | ge->GPSWeek = handle->GPSWeek;
|
---|
456 | ge->GPSTOW = handle->GPSTOW;
|
---|
457 | ret = 1020;
|
---|
458 | }
|
---|
459 | break;
|
---|
460 | case 1001: case 1002: case 1003: case 1004:
|
---|
461 | if(handle->GPSWeek)
|
---|
462 | {
|
---|
463 | int lastlockl1[64];
|
---|
464 | int lastlockl2[64];
|
---|
465 | struct gnssdata *gnss;
|
---|
466 | int i, numsats, wasamb=0;
|
---|
467 |
|
---|
468 | for(i = 0; i < 64; ++i)
|
---|
469 | lastlockl1[i] = lastlockl2[i] = 0;
|
---|
470 |
|
---|
471 | gnss = &handle->DataNew;
|
---|
472 |
|
---|
473 | SKIPBITS(12) /* id */
|
---|
474 | GETBITS(i,30)
|
---|
475 | if(i/1000 < (int)handle->GPSTOW - 86400)
|
---|
476 | ++handle->GPSWeek;
|
---|
477 | handle->GPSTOW = i/1000;
|
---|
478 | if(gnss->week && (gnss->timeofweek != i || gnss->week
|
---|
479 | != handle->GPSWeek))
|
---|
480 | {
|
---|
481 | handle->Data = *gnss;
|
---|
482 | memset(gnss, 0, sizeof(*gnss));
|
---|
483 | old = 1;
|
---|
484 | }
|
---|
485 | gnss->timeofweek = i;
|
---|
486 | gnss->week = handle->GPSWeek;
|
---|
487 |
|
---|
488 | GETBITS(syncf,1) /* sync */
|
---|
489 | GETBITS(numsats,5)
|
---|
490 | SKIPBITS(4) /* smind, smint */
|
---|
491 |
|
---|
492 | while(numsats--)
|
---|
493 | {
|
---|
494 | int sv, code, l1range, c,l,s,ce,le,se,amb=0;
|
---|
495 | int fullsat, num;
|
---|
496 |
|
---|
497 | GETBITS(sv, 6)
|
---|
498 | fullsat = sv < 40 ? sv : sv+80;
|
---|
499 | for(num = 0; num < gnss->numsats
|
---|
500 | && fullsat != gnss->satellites[num]; ++num)
|
---|
501 | ;
|
---|
502 |
|
---|
503 | if(num == gnss->numsats)
|
---|
504 | gnss->satellites[gnss->numsats++] = fullsat;
|
---|
505 |
|
---|
506 | /* L1 */
|
---|
507 | GETBITS(code, 1);
|
---|
508 | if(code)
|
---|
509 | {
|
---|
510 | c = GNSSDF_P1DATA; ce = GNSSENTRY_P1DATA;
|
---|
511 | l = GNSSDF_L1PDATA; le = GNSSENTRY_L1PDATA;
|
---|
512 | s = GNSSDF_S1PDATA; se = GNSSENTRY_S1PDATA;
|
---|
513 | }
|
---|
514 | else
|
---|
515 | {
|
---|
516 | c = GNSSDF_C1DATA; ce = GNSSENTRY_C1DATA;
|
---|
517 | l = GNSSDF_L1CDATA; le = GNSSENTRY_L1CDATA;
|
---|
518 | s = GNSSDF_S1CDATA; se = GNSSENTRY_S1CDATA;
|
---|
519 | }
|
---|
520 | GETBITS(l1range, 24);
|
---|
521 | GETBITSSIGN(i, 20);
|
---|
522 | if((i&((1<<20)-1)) != 0x80000)
|
---|
523 | {
|
---|
524 | gnss->dataflags[num] |= (c|l);
|
---|
525 | gnss->measdata[num][ce] = l1range*0.02;
|
---|
526 | gnss->measdata[num][le] = l1range*0.02+i*0.0005;
|
---|
527 | }
|
---|
528 | GETBITS(i, 7);
|
---|
529 | lastlockl1[sv] = i;
|
---|
530 | if(handle->lastlockl1[sv] > i)
|
---|
531 | gnss->dataflags[num] |= GNSSDF_LOCKLOSSL1;
|
---|
532 | if(type == 1002 || type == 1004)
|
---|
533 | {
|
---|
534 | GETBITS(amb,8);
|
---|
535 | if(amb && (gnss->dataflags[num] & c))
|
---|
536 | {
|
---|
537 | gnss->measdata[num][ce] += amb*299792.458;
|
---|
538 | gnss->measdata[num][le] += amb*299792.458;
|
---|
539 | ++wasamb;
|
---|
540 | }
|
---|
541 | GETBITS(i, 8);
|
---|
542 | if(i)
|
---|
543 | {
|
---|
544 | gnss->dataflags[num] |= s;
|
---|
545 | gnss->measdata[num][se] = i*0.25;
|
---|
546 | i /= 4*4;
|
---|
547 | if(i > 9) i = 9;
|
---|
548 | else if(i < 1) i = 1;
|
---|
549 | gnss->snrL1[num] = i;
|
---|
550 | }
|
---|
551 | }
|
---|
552 | gnss->measdata[num][le] /= GPS_WAVELENGTH_L1;
|
---|
553 | if(type == 1003 || type == 1004)
|
---|
554 | {
|
---|
555 | /* L2 */
|
---|
556 | GETBITS(code,2);
|
---|
557 | if(code)
|
---|
558 | {
|
---|
559 | c = GNSSDF_P2DATA; ce = GNSSENTRY_P2DATA;
|
---|
560 | l = GNSSDF_L2PDATA; le = GNSSENTRY_L2PDATA;
|
---|
561 | s = GNSSDF_S2PDATA; se = GNSSENTRY_S2PDATA;
|
---|
562 | }
|
---|
563 | else
|
---|
564 | {
|
---|
565 | c = GNSSDF_C2DATA; ce = GNSSENTRY_C2DATA;
|
---|
566 | l = GNSSDF_L2CDATA; le = GNSSENTRY_L2CDATA;
|
---|
567 | s = GNSSDF_S2CDATA; se = GNSSENTRY_S2CDATA;
|
---|
568 | }
|
---|
569 | GETBITSSIGN(i,14);
|
---|
570 | if((i&((1<<14)-1)) != 0x2000)
|
---|
571 | {
|
---|
572 | gnss->dataflags[num] |= c;
|
---|
573 | gnss->measdata[num][ce] = l1range*0.02+i*0.02
|
---|
574 | +amb*299792.458;
|
---|
575 | }
|
---|
576 | GETBITSSIGN(i,20);
|
---|
577 | if((i&((1<<20)-1)) != 0x80000)
|
---|
578 | {
|
---|
579 | gnss->dataflags[num] |= l;
|
---|
580 | gnss->measdata[num][le] = l1range*0.02+i*0.0005
|
---|
581 | +amb*299792.458;
|
---|
582 | }
|
---|
583 | GETBITS(i,7);
|
---|
584 | lastlockl2[sv] = i;
|
---|
585 | if(handle->lastlockl2[sv] > i)
|
---|
586 | gnss->dataflags[num] |= GNSSDF_LOCKLOSSL2;
|
---|
587 | if(type == 1004)
|
---|
588 | {
|
---|
589 | GETBITS(i, 8);
|
---|
590 | if(i)
|
---|
591 | {
|
---|
592 | gnss->dataflags[num] |= s;
|
---|
593 | gnss->measdata[num][se] = i*0.25;
|
---|
594 | i /= 4*4;
|
---|
595 | if(i > 9) i = 9;
|
---|
596 | else if(i < 1) i = 1;
|
---|
597 | gnss->snrL2[num] = i;
|
---|
598 | }
|
---|
599 | }
|
---|
600 | gnss->measdata[num][le] /= GPS_WAVELENGTH_L2;
|
---|
601 | }
|
---|
602 | }
|
---|
603 | for(i = 0; i < 64; ++i)
|
---|
604 | {
|
---|
605 | handle->lastlockl1[i] = lastlockl1[i];
|
---|
606 | handle->lastlockl2[i] = lastlockl2[i];
|
---|
607 | }
|
---|
608 | if(!syncf && !old)
|
---|
609 | {
|
---|
610 | handle->Data = *gnss;
|
---|
611 | memset(gnss, 0, sizeof(*gnss));
|
---|
612 | }
|
---|
613 | if(!syncf || old)
|
---|
614 | {
|
---|
615 | if(wasamb) /* not RINEX compatible without */
|
---|
616 | ret = 1;
|
---|
617 | else
|
---|
618 | ret = 2;
|
---|
619 | }
|
---|
620 | #ifdef NO_RTCM3_MAIN
|
---|
621 | else
|
---|
622 | ret = type;
|
---|
623 | #endif /* NO_RTCM3_MAIN */
|
---|
624 | }
|
---|
625 | break;
|
---|
626 | case 1009: case 1010: case 1011: case 1012:
|
---|
627 | {
|
---|
628 | int lastlockl1[64];
|
---|
629 | int lastlockl2[64];
|
---|
630 | struct gnssdata *gnss;
|
---|
631 | int i, numsats;
|
---|
632 | int wasamb=0;
|
---|
633 |
|
---|
634 | for(i = 0; i < 64; ++i)
|
---|
635 | lastlockl1[i] = lastlockl2[i] = 0;
|
---|
636 |
|
---|
637 | gnss = &handle->DataNew;
|
---|
638 |
|
---|
639 | SKIPBITS(12) /* id */;
|
---|
640 | GETBITS(i,27) /* tk */
|
---|
641 |
|
---|
642 | updatetime(&handle->GPSWeek, &handle->GPSTOW, i, 0); /* Moscow -> GPS */
|
---|
643 | i = handle->GPSTOW*1000;
|
---|
644 | if(gnss->week && (gnss->timeofweek != i || gnss->week
|
---|
645 | != handle->GPSWeek))
|
---|
646 | {
|
---|
647 | handle->Data = *gnss;
|
---|
648 | memset(gnss, 0, sizeof(*gnss));
|
---|
649 | old = 1;
|
---|
650 | }
|
---|
651 |
|
---|
652 | gnss->timeofweek = i;
|
---|
653 | gnss->week = handle->GPSWeek;
|
---|
654 |
|
---|
655 | GETBITS(syncf,1) /* sync */
|
---|
656 | GETBITS(numsats,5)
|
---|
657 |
|
---|
658 | SKIPBITS(4) /* smind, smint */
|
---|
659 |
|
---|
660 | while(numsats--)
|
---|
661 | {
|
---|
662 | int sv, code, l1range, c,l,s,ce,le,se,amb=0;
|
---|
663 | int freq;
|
---|
664 | int fullsat, num;
|
---|
665 |
|
---|
666 | GETBITS(sv, 6)
|
---|
667 | fullsat = sv-1 + PRN_GLONASS_START;
|
---|
668 | for(num = 0; num < gnss->numsats
|
---|
669 | && fullsat != gnss->satellites[num]; ++num)
|
---|
670 | ;
|
---|
671 |
|
---|
672 | if(num == gnss->numsats)
|
---|
673 | gnss->satellites[gnss->numsats++] = fullsat;
|
---|
674 |
|
---|
675 | /* L1 */
|
---|
676 | GETBITS(code, 1)
|
---|
677 | GETBITS(freq, 5)
|
---|
678 |
|
---|
679 | gnss->channels[num] = freq - 7;
|
---|
680 |
|
---|
681 | if(code)
|
---|
682 | {
|
---|
683 | c = GNSSDF_P1DATA; ce = GNSSENTRY_P1DATA;
|
---|
684 | l = GNSSDF_L1PDATA; le = GNSSENTRY_L1PDATA;
|
---|
685 | s = GNSSDF_S1PDATA; se = GNSSENTRY_S1PDATA;
|
---|
686 | }
|
---|
687 | else
|
---|
688 | {
|
---|
689 | c = GNSSDF_C1DATA; ce = GNSSENTRY_C1DATA;
|
---|
690 | l = GNSSDF_L1CDATA; le = GNSSENTRY_L1CDATA;
|
---|
691 | s = GNSSDF_S1CDATA; se = GNSSENTRY_S1CDATA;
|
---|
692 | }
|
---|
693 | GETBITS(l1range, 25)
|
---|
694 | GETBITSSIGN(i, 20)
|
---|
695 | if((i&((1<<20)-1)) != 0x80000)
|
---|
696 | {
|
---|
697 | /* Handle this like GPS. Actually for GLONASS L1 range is always
|
---|
698 | valid. To be on the save side, we handle it as invalid like we
|
---|
699 | do for GPS and also remove range in case of 0x80000. */
|
---|
700 | gnss->dataflags[num] |= (c|l);
|
---|
701 | gnss->measdata[num][ce] = l1range*0.02;
|
---|
702 | gnss->measdata[num][le] = l1range*0.02+i*0.0005;
|
---|
703 | }
|
---|
704 | GETBITS(i, 7)
|
---|
705 | lastlockl1[sv] = i;
|
---|
706 | if(handle->lastlockl1[sv] > i)
|
---|
707 | gnss->dataflags[num] |= GNSSDF_LOCKLOSSL1;
|
---|
708 | if(type == 1010 || type == 1012)
|
---|
709 | {
|
---|
710 | GETBITS(amb,7)
|
---|
711 | if(amb && (gnss->dataflags[num] & c))
|
---|
712 | {
|
---|
713 | gnss->measdata[num][ce] += amb*599584.916;
|
---|
714 | gnss->measdata[num][le] += amb*599584.916;
|
---|
715 | ++wasamb;
|
---|
716 | }
|
---|
717 | GETBITS(i, 8)
|
---|
718 | if(i)
|
---|
719 | {
|
---|
720 | gnss->dataflags[num] |= s;
|
---|
721 | gnss->measdata[num][se] = i*0.25;
|
---|
722 | i /= 4*4;
|
---|
723 | if(i > 9) i = 9;
|
---|
724 | else if(i < 1) i = 1;
|
---|
725 | gnss->snrL1[num] = i;
|
---|
726 | }
|
---|
727 | }
|
---|
728 | gnss->measdata[num][le] /= GLO_WAVELENGTH_L1(freq-7);
|
---|
729 | if(type == 1011 || type == 1012)
|
---|
730 | {
|
---|
731 | /* L2 */
|
---|
732 | GETBITS(code,2)
|
---|
733 | if(code)
|
---|
734 | {
|
---|
735 | c = GNSSDF_P2DATA; ce = GNSSENTRY_P2DATA;
|
---|
736 | l = GNSSDF_L2PDATA; le = GNSSENTRY_L2PDATA;
|
---|
737 | s = GNSSDF_S2PDATA; se = GNSSENTRY_S2PDATA;
|
---|
738 | }
|
---|
739 | else
|
---|
740 | {
|
---|
741 | c = GNSSDF_C2DATA; ce = GNSSENTRY_C2DATA;
|
---|
742 | l = GNSSDF_L2CDATA; le = GNSSENTRY_L2CDATA;
|
---|
743 | s = GNSSDF_S2CDATA; se = GNSSENTRY_S2CDATA;
|
---|
744 | }
|
---|
745 | GETBITSSIGN(i,14)
|
---|
746 | if((i&((1<<14)-1)) != 0x2000)
|
---|
747 | {
|
---|
748 | gnss->dataflags[num] |= c;
|
---|
749 | gnss->measdata[num][ce] = l1range*0.02+i*0.02
|
---|
750 | +amb*599584.916;
|
---|
751 | }
|
---|
752 | GETBITSSIGN(i,20)
|
---|
753 | if((i&((1<<20)-1)) != 0x80000)
|
---|
754 | {
|
---|
755 | gnss->dataflags[num] |= l;
|
---|
756 | gnss->measdata[num][le] = l1range*0.02+i*0.0005
|
---|
757 | +amb*599584.916;
|
---|
758 | }
|
---|
759 | GETBITS(i,7)
|
---|
760 | lastlockl2[sv] = i;
|
---|
761 | if(handle->lastlockl2[sv] > i)
|
---|
762 | gnss->dataflags[num] |= GNSSDF_LOCKLOSSL2;
|
---|
763 | if(type == 1012)
|
---|
764 | {
|
---|
765 | GETBITS(i, 8)
|
---|
766 | if(i)
|
---|
767 | {
|
---|
768 | gnss->dataflags[num] |= s;
|
---|
769 | gnss->measdata[num][se] = i*0.25;
|
---|
770 | i /= 4*4;
|
---|
771 | if(i > 9) i = 9;
|
---|
772 | else if(i < 1) i = 1;
|
---|
773 | gnss->snrL2[num] = i;
|
---|
774 | }
|
---|
775 | }
|
---|
776 | gnss->measdata[num][le] /= GLO_WAVELENGTH_L2(freq-7);
|
---|
777 | }
|
---|
778 | if(!sv || sv > 24) /* illegal, remove it again */
|
---|
779 | --gnss->numsats;
|
---|
780 | }
|
---|
781 | for(i = 0; i < 64; ++i)
|
---|
782 | {
|
---|
783 | handle->lastlockl1[i] = lastlockl1[i];
|
---|
784 | handle->lastlockl2[i] = lastlockl2[i];
|
---|
785 | }
|
---|
786 | if(!syncf && !old)
|
---|
787 | {
|
---|
788 | handle->Data = *gnss;
|
---|
789 | memset(gnss, 0, sizeof(*gnss));
|
---|
790 | }
|
---|
791 | if(!syncf || old)
|
---|
792 | {
|
---|
793 | if(wasamb) /* not RINEX compatible without */
|
---|
794 | ret = 1;
|
---|
795 | else
|
---|
796 | ret = 2;
|
---|
797 | }
|
---|
798 | #ifdef NO_RTCM3_MAIN
|
---|
799 | else
|
---|
800 | ret = type;
|
---|
801 | #endif /* NO_RTCM3_MAIN */
|
---|
802 | }
|
---|
803 | break;
|
---|
804 | }
|
---|
805 | }
|
---|
806 | return ret;
|
---|
807 | }
|
---|
808 |
|
---|
809 | struct Header
|
---|
810 | {
|
---|
811 | const char *version;
|
---|
812 | const char *pgm;
|
---|
813 | const char *marker;
|
---|
814 | const char *markertype;
|
---|
815 | const char *observer;
|
---|
816 | const char *receiver;
|
---|
817 | const char *antenna;
|
---|
818 | const char *position;
|
---|
819 | const char *antennaposition;
|
---|
820 | const char *wavelength;
|
---|
821 | const char *typesofobs; /* should not be modified outside */
|
---|
822 | const char *typesofobsG; /* should not be modified outside */
|
---|
823 | const char *typesofobsR; /* should not be modified outside */
|
---|
824 | const char *typesofobsS; /* should not be modified outside */
|
---|
825 | const char *timeoffirstobs; /* should not be modified outside */
|
---|
826 | };
|
---|
827 |
|
---|
828 | #define MAXHEADERLINES 50
|
---|
829 | #define MAXHEADERBUFFERSIZE 4096
|
---|
830 | struct HeaderData
|
---|
831 | {
|
---|
832 | union
|
---|
833 | {
|
---|
834 | struct Header named;
|
---|
835 | const char *unnamed[MAXHEADERLINES];
|
---|
836 | } data;
|
---|
837 | int numheaders;
|
---|
838 | };
|
---|
839 |
|
---|
840 | void converttime(struct converttimeinfo *c, int week, int tow)
|
---|
841 | {
|
---|
842 | int i, k, doy, j; /* temporary variables */
|
---|
843 | j = week*(7*24*60*60) + tow + 5*24*60*60;
|
---|
844 | for(i = 1980; j >= (k = (365+longyear(i,0))*24*60*60); ++i)
|
---|
845 | j -= k;
|
---|
846 | c->year = i;
|
---|
847 | doy = 1+ (j / (24*60*60));
|
---|
848 | j %= (24*60*60);
|
---|
849 | c->hour = j / (60*60);
|
---|
850 | j %= (60*60);
|
---|
851 | c->minute = j / 60;
|
---|
852 | c->second = j % 60;
|
---|
853 | j = 0;
|
---|
854 | for(i = 1; j + (k = months[i] + longyear(c->year,i)) < doy; ++i)
|
---|
855 | j += k;
|
---|
856 | c->month = i;
|
---|
857 | c->day = doy - j;
|
---|
858 | }
|
---|
859 |
|
---|
860 | #ifndef NO_RTCM3_MAIN
|
---|
861 | void RTCM3Error(const char *fmt, ...)
|
---|
862 | {
|
---|
863 | va_list v;
|
---|
864 | va_start(v, fmt);
|
---|
865 | vfprintf(stderr, fmt, v);
|
---|
866 | va_end(v);
|
---|
867 | }
|
---|
868 | #endif
|
---|
869 |
|
---|
870 | void RTCM3Text(const char *fmt, ...)
|
---|
871 | {
|
---|
872 | va_list v;
|
---|
873 | va_start(v, fmt);
|
---|
874 | vprintf(fmt, v);
|
---|
875 | va_end(v);
|
---|
876 | }
|
---|
877 |
|
---|
878 | static int HandleRunBy(char *buffer, int buffersize, const char **u,
|
---|
879 | int rinex3)
|
---|
880 | {
|
---|
881 | const char *user;
|
---|
882 | time_t t;
|
---|
883 | struct tm * t2;
|
---|
884 |
|
---|
885 | #ifdef NO_RTCM3_MAIN
|
---|
886 | if(revisionstr[0] == '$')
|
---|
887 | {
|
---|
888 | char *a;
|
---|
889 | int i=0;
|
---|
890 | for(a = revisionstr+11; *a && *a != ' '; ++a)
|
---|
891 | revisionstr[i++] = *a;
|
---|
892 | revisionstr[i] = 0;
|
---|
893 | }
|
---|
894 | #endif
|
---|
895 |
|
---|
896 | user= getenv("USER");
|
---|
897 | if(!user) user = "";
|
---|
898 | t = time(&t);
|
---|
899 | t2 = gmtime(&t);
|
---|
900 | if(u) *u = user;
|
---|
901 | return 1+snprintf(buffer, buffersize,
|
---|
902 | rinex3 ?
|
---|
903 | "RTCM3TORINEX %-7.7s%-20.20s%04d%02d%02d %02d%02d%02d UTC "
|
---|
904 | "PGM / RUN BY / DATE" :
|
---|
905 | "RTCM3TORINEX %-7.7s%-20.20s%04d-%02d-%02d %02d:%02d "
|
---|
906 | "PGM / RUN BY / DATE", revisionstr, user, 1900+t2->tm_year,
|
---|
907 | t2->tm_mon+1, t2->tm_mday, t2->tm_hour, t2->tm_min, t2->tm_sec);
|
---|
908 | }
|
---|
909 |
|
---|
910 | #ifdef NO_RTCM3_MAIN
|
---|
911 | #define NUMSTARTSKIP 1
|
---|
912 | #else
|
---|
913 | #define NUMSTARTSKIP 3
|
---|
914 | #endif
|
---|
915 |
|
---|
916 | void HandleHeader(struct RTCM3ParserData *Parser)
|
---|
917 | {
|
---|
918 | #ifdef NO_RTCM3_MAIN
|
---|
919 | int i;
|
---|
920 | if(Parser->rinex3)
|
---|
921 | {
|
---|
922 | #define CHECKFLAGSNEW(a, b, c) \
|
---|
923 | { \
|
---|
924 | Parser->dataflag##a[Parser->numdatatypes##a] = GNSSDF_##b##DATA; \
|
---|
925 | Parser->datapos##a[Parser->numdatatypes##a] = GNSSENTRY_##b##DATA; \
|
---|
926 | ++Parser->numdatatypes##a; \
|
---|
927 | }
|
---|
928 |
|
---|
929 | CHECKFLAGSNEW(GPS, C1, C1C)
|
---|
930 | CHECKFLAGSNEW(GPS, L1C, L1C)
|
---|
931 | CHECKFLAGSNEW(GPS, D1C, D1C)
|
---|
932 | CHECKFLAGSNEW(GPS, S1C, S1C)
|
---|
933 | CHECKFLAGSNEW(GPS, P1, C1P)
|
---|
934 | CHECKFLAGSNEW(GPS, L1P, L1P)
|
---|
935 | CHECKFLAGSNEW(GPS, D1P, D1P)
|
---|
936 | CHECKFLAGSNEW(GPS, S1P, S1P)
|
---|
937 | CHECKFLAGSNEW(GPS, P2, C2P)
|
---|
938 | CHECKFLAGSNEW(GPS, L2P, L2P)
|
---|
939 | CHECKFLAGSNEW(GPS, D2P, D2P)
|
---|
940 | CHECKFLAGSNEW(GPS, S2P, S2P)
|
---|
941 | CHECKFLAGSNEW(GPS, C2, C2X)
|
---|
942 | CHECKFLAGSNEW(GPS, L2C, L2X)
|
---|
943 | CHECKFLAGSNEW(GPS, D2C, D2X)
|
---|
944 | CHECKFLAGSNEW(GPS, S2C, S2X)
|
---|
945 | CHECKFLAGSNEW(GLO, C1, C1C)
|
---|
946 | CHECKFLAGSNEW(GLO, L1C, L1C)
|
---|
947 | CHECKFLAGSNEW(GLO, D1C, D1C)
|
---|
948 | CHECKFLAGSNEW(GLO, S1C, S1C)
|
---|
949 | CHECKFLAGSNEW(GLO, P1, C1P)
|
---|
950 | CHECKFLAGSNEW(GLO, L1P, L1P)
|
---|
951 | CHECKFLAGSNEW(GLO, D1P, D1P)
|
---|
952 | CHECKFLAGSNEW(GLO, S1P, S1P)
|
---|
953 | CHECKFLAGSNEW(GLO, P2, C2P)
|
---|
954 | CHECKFLAGSNEW(GLO, L2P, L2P)
|
---|
955 | CHECKFLAGSNEW(GLO, D2P, D2P)
|
---|
956 | CHECKFLAGSNEW(GLO, S2P, S2P)
|
---|
957 | CHECKFLAGSNEW(GLO, C2, C2C)
|
---|
958 | CHECKFLAGSNEW(GLO, L2C, L2C)
|
---|
959 | CHECKFLAGSNEW(GLO, D2C, D2C)
|
---|
960 | CHECKFLAGSNEW(GLO, S2C, S2C)
|
---|
961 | }
|
---|
962 | else
|
---|
963 | {
|
---|
964 | #define CHECKFLAGS(a, b) \
|
---|
965 | { \
|
---|
966 | if(data[RINEXENTRY_##b##DATA]) \
|
---|
967 | { \
|
---|
968 | Parser->dataflagGPS[data[RINEXENTRY_##b##DATA]-1] = GNSSDF_##a##DATA; \
|
---|
969 | Parser->dataposGPS[data[RINEXENTRY_##b##DATA]-1] = GNSSENTRY_##a##DATA; \
|
---|
970 | } \
|
---|
971 | else \
|
---|
972 | { \
|
---|
973 | Parser->dataflag[Parser->numdatatypesGPS] = GNSSDF_##a##DATA; \
|
---|
974 | Parser->datapos[Parser->numdatatypesGPS] = GNSSENTRY_##a##DATA; \
|
---|
975 | data[RINEXENTRY_##b##DATA] = ++Parser->numdatatypesGPS; \
|
---|
976 | } \
|
---|
977 | }
|
---|
978 |
|
---|
979 | int data[RINEXENTRY_NUMBER];
|
---|
980 | for(i = 0; i < RINEXENTRY_NUMBER; ++i) data[i] = 0;
|
---|
981 |
|
---|
982 | CHECKFLAGS(C1,C1)
|
---|
983 | CHECKFLAGS(C2,C2)
|
---|
984 | CHECKFLAGS(P1,P1)
|
---|
985 | CHECKFLAGS(P2,P2)
|
---|
986 | CHECKFLAGS(L1C,L1)
|
---|
987 | CHECKFLAGS(L1P,L1)
|
---|
988 | CHECKFLAGS(L2C,L2)
|
---|
989 | CHECKFLAGS(L2P,L2)
|
---|
990 | CHECKFLAGS(D1C,D1)
|
---|
991 | CHECKFLAGS(D1P,D1)
|
---|
992 | CHECKFLAGS(D2C,D2)
|
---|
993 | CHECKFLAGS(D2P,D2)
|
---|
994 | CHECKFLAGS(S1C,S1)
|
---|
995 | CHECKFLAGS(S1P,S1)
|
---|
996 | CHECKFLAGS(S2C,S2)
|
---|
997 | CHECKFLAGS(S2P,S2)
|
---|
998 | }
|
---|
999 | #else /* NO_RTCM3_MAIN */
|
---|
1000 | struct HeaderData hdata;
|
---|
1001 | char thebuffer[MAXHEADERBUFFERSIZE];
|
---|
1002 | char *buffer = thebuffer;
|
---|
1003 | size_t buffersize = sizeof(thebuffer);
|
---|
1004 | int i;
|
---|
1005 |
|
---|
1006 | memset(&hdata, 0, sizeof(hdata));
|
---|
1007 |
|
---|
1008 | hdata.data.named.version = buffer;
|
---|
1009 | i = 1+snprintf(buffer, buffersize,
|
---|
1010 | "%9.2f OBSERVATION DATA M (Mixed)"
|
---|
1011 | " RINEX VERSION / TYPE", Parser->rinex3 ? 3.0 : 2.11);
|
---|
1012 | buffer += i; buffersize -= i;
|
---|
1013 |
|
---|
1014 | {
|
---|
1015 | const char *str;
|
---|
1016 | hdata.data.named.pgm = buffer;
|
---|
1017 | i = HandleRunBy(buffer, buffersize, &str, Parser->rinex3);
|
---|
1018 | buffer += i; buffersize -= i;
|
---|
1019 | hdata.data.named.observer = buffer;
|
---|
1020 | i = 1+snprintf(buffer, buffersize,
|
---|
1021 | "%-20.20s "
|
---|
1022 | "OBSERVER / AGENCY", str);
|
---|
1023 | buffer += i; buffersize -= i;
|
---|
1024 | }
|
---|
1025 |
|
---|
1026 | hdata.data.named.marker =
|
---|
1027 | "RTCM3TORINEX "
|
---|
1028 | "MARKER NAME";
|
---|
1029 |
|
---|
1030 | hdata.data.named.markertype = !Parser->rinex3 ? 0 :
|
---|
1031 | "GEODETIC "
|
---|
1032 | "MARKER TYPE";
|
---|
1033 |
|
---|
1034 | hdata.data.named.receiver =
|
---|
1035 | " "
|
---|
1036 | "REC # / TYPE / VERS";
|
---|
1037 |
|
---|
1038 | hdata.data.named.antenna =
|
---|
1039 | " "
|
---|
1040 | "ANT # / TYPE";
|
---|
1041 |
|
---|
1042 | hdata.data.named.position =
|
---|
1043 | " .0000 .0000 .0000 "
|
---|
1044 | "APPROX POSITION XYZ";
|
---|
1045 |
|
---|
1046 | hdata.data.named.antennaposition =
|
---|
1047 | " .0000 .0000 .0000 "
|
---|
1048 | "ANTENNA: DELTA H/E/N";
|
---|
1049 |
|
---|
1050 | hdata.data.named.wavelength = Parser->rinex3 ? 0 :
|
---|
1051 | " 1 1 "
|
---|
1052 | "WAVELENGTH FACT L1/2";
|
---|
1053 |
|
---|
1054 | if(Parser->rinex3)
|
---|
1055 | {
|
---|
1056 | #define CHECKFLAGSNEW(a, b, c) \
|
---|
1057 | if(flags & GNSSDF_##b##DATA) \
|
---|
1058 | { \
|
---|
1059 | Parser->dataflag##a[Parser->numdatatypes##a] = GNSSDF_##b##DATA; \
|
---|
1060 | Parser->datapos##a[Parser->numdatatypes##a] = GNSSENTRY_##b##DATA; \
|
---|
1061 | ++Parser->numdatatypes##a; \
|
---|
1062 | snprintf(tbuffer+tbufferpos, sizeof(tbuffer)-tbufferpos, " "#c); \
|
---|
1063 | tbufferpos += 4; \
|
---|
1064 | }
|
---|
1065 |
|
---|
1066 | int flags = Parser->startflags;
|
---|
1067 | char tbuffer[6*RINEXENTRY_NUMBER+1];
|
---|
1068 | int tbufferpos = 0;
|
---|
1069 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
1070 | flags |= Parser->Data.dataflags[i];
|
---|
1071 |
|
---|
1072 | CHECKFLAGSNEW(GPS, C1, C1C)
|
---|
1073 | CHECKFLAGSNEW(GPS, L1C, L1C)
|
---|
1074 | CHECKFLAGSNEW(GPS, D1C, D1C)
|
---|
1075 | CHECKFLAGSNEW(GPS, S1C, S1C)
|
---|
1076 | CHECKFLAGSNEW(GPS, P1, C1P)
|
---|
1077 | CHECKFLAGSNEW(GPS, L1P, L1P)
|
---|
1078 | CHECKFLAGSNEW(GPS, D1P, D1P)
|
---|
1079 | CHECKFLAGSNEW(GPS, S1P, S1P)
|
---|
1080 |
|
---|
1081 | hdata.data.named.typesofobsS = buffer;
|
---|
1082 | i = 1+snprintf(buffer, buffersize,
|
---|
1083 | "S %3d%-52.52s SYS / # / OBS TYPES", Parser->numdatatypesGPS, tbuffer);
|
---|
1084 | buffer += i; buffersize -= i;
|
---|
1085 |
|
---|
1086 | CHECKFLAGSNEW(GPS, P2, C2P)
|
---|
1087 | CHECKFLAGSNEW(GPS, L2P, L2P)
|
---|
1088 | CHECKFLAGSNEW(GPS, D2P, D2P)
|
---|
1089 | CHECKFLAGSNEW(GPS, S2P, S2P)
|
---|
1090 | CHECKFLAGSNEW(GPS, C2, C2X)
|
---|
1091 | CHECKFLAGSNEW(GPS, L2C, L2X)
|
---|
1092 | CHECKFLAGSNEW(GPS, D2C, D2X)
|
---|
1093 | CHECKFLAGSNEW(GPS, S2C, S2X)
|
---|
1094 |
|
---|
1095 | hdata.data.named.typesofobsG = buffer;
|
---|
1096 | i = 1+snprintf(buffer, buffersize,
|
---|
1097 | "G %3d%-52.52s SYS / # / OBS TYPES", Parser->numdatatypesGPS, tbuffer);
|
---|
1098 | if(Parser->numdatatypesGPS>13)
|
---|
1099 | {
|
---|
1100 | i += snprintf(buffer+i-1, buffersize,
|
---|
1101 | "\n %-52.52s SYS / # / OBS TYPES", tbuffer+13*4);
|
---|
1102 | }
|
---|
1103 | buffer += i; buffersize -= i;
|
---|
1104 |
|
---|
1105 | tbufferpos = 0;
|
---|
1106 |
|
---|
1107 | CHECKFLAGSNEW(GLO, C1, C1C)
|
---|
1108 | CHECKFLAGSNEW(GLO, L1C, L1C)
|
---|
1109 | CHECKFLAGSNEW(GLO, D1C, D1C)
|
---|
1110 | CHECKFLAGSNEW(GLO, S1C, S1C)
|
---|
1111 | CHECKFLAGSNEW(GLO, P1, C1P)
|
---|
1112 | CHECKFLAGSNEW(GLO, L1P, L1P)
|
---|
1113 | CHECKFLAGSNEW(GLO, D1P, D1P)
|
---|
1114 | CHECKFLAGSNEW(GLO, S1P, S1P)
|
---|
1115 | CHECKFLAGSNEW(GLO, P2, C2P)
|
---|
1116 | CHECKFLAGSNEW(GLO, L2P, L2P)
|
---|
1117 | CHECKFLAGSNEW(GLO, D2P, D2P)
|
---|
1118 | CHECKFLAGSNEW(GLO, S2P, S2P)
|
---|
1119 | CHECKFLAGSNEW(GLO, C2, C2C)
|
---|
1120 | CHECKFLAGSNEW(GLO, L2C, L2C)
|
---|
1121 | CHECKFLAGSNEW(GLO, D2C, D2C)
|
---|
1122 | CHECKFLAGSNEW(GLO, S2C, S2C)
|
---|
1123 |
|
---|
1124 | hdata.data.named.typesofobsR = buffer;
|
---|
1125 | i = 1+snprintf(buffer, buffersize,
|
---|
1126 | "R %3d%-52.52s SYS / # / OBS TYPES", Parser->numdatatypesGLO, tbuffer);
|
---|
1127 | if(Parser->numdatatypesGLO>13)
|
---|
1128 | {
|
---|
1129 | i += snprintf(buffer+i-1, buffersize,
|
---|
1130 | "\n %-52.52s SYS / # / OBS TYPES", tbuffer+13*4);
|
---|
1131 | }
|
---|
1132 | buffer += i; buffersize -= i;
|
---|
1133 | }
|
---|
1134 | else
|
---|
1135 | {
|
---|
1136 | #define CHECKFLAGS(a, b) \
|
---|
1137 | if(flags & GNSSDF_##a##DATA) \
|
---|
1138 | { \
|
---|
1139 | if(data[RINEXENTRY_##b##DATA]) \
|
---|
1140 | { \
|
---|
1141 | Parser->dataflagGPS[data[RINEXENTRY_##b##DATA]-1] = GNSSDF_##a##DATA; \
|
---|
1142 | Parser->dataposGPS[data[RINEXENTRY_##b##DATA]-1] = GNSSENTRY_##a##DATA; \
|
---|
1143 | } \
|
---|
1144 | else \
|
---|
1145 | { \
|
---|
1146 | Parser->dataflag[Parser->numdatatypesGPS] = GNSSDF_##a##DATA; \
|
---|
1147 | Parser->datapos[Parser->numdatatypesGPS] = GNSSENTRY_##a##DATA; \
|
---|
1148 | data[RINEXENTRY_##b##DATA] = ++Parser->numdatatypesGPS; \
|
---|
1149 | snprintf(tbuffer+tbufferpos, sizeof(tbuffer)-tbufferpos, " "#b); \
|
---|
1150 | tbufferpos += 6; \
|
---|
1151 | } \
|
---|
1152 | }
|
---|
1153 |
|
---|
1154 | int flags = Parser->startflags;
|
---|
1155 | int data[RINEXENTRY_NUMBER];
|
---|
1156 | char tbuffer[6*RINEXENTRY_NUMBER+1];
|
---|
1157 | int tbufferpos = 0;
|
---|
1158 | for(i = 0; i < RINEXENTRY_NUMBER; ++i)
|
---|
1159 | data[i] = 0;
|
---|
1160 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
1161 | flags |= Parser->Data.dataflags[i];
|
---|
1162 |
|
---|
1163 | CHECKFLAGS(C1,C1)
|
---|
1164 | CHECKFLAGS(C2,C2)
|
---|
1165 | CHECKFLAGS(P1,P1)
|
---|
1166 | CHECKFLAGS(P2,P2)
|
---|
1167 | CHECKFLAGS(L1C,L1)
|
---|
1168 | CHECKFLAGS(L1P,L1)
|
---|
1169 | CHECKFLAGS(L2C,L2)
|
---|
1170 | CHECKFLAGS(L2P,L2)
|
---|
1171 | CHECKFLAGS(D1C,D1)
|
---|
1172 | CHECKFLAGS(D1P,D1)
|
---|
1173 | CHECKFLAGS(D2C,D2)
|
---|
1174 | CHECKFLAGS(D2P,D2)
|
---|
1175 | CHECKFLAGS(S1C,S1)
|
---|
1176 | CHECKFLAGS(S1P,S1)
|
---|
1177 | CHECKFLAGS(S2C,S2)
|
---|
1178 | CHECKFLAGS(S2P,S2)
|
---|
1179 |
|
---|
1180 | hdata.data.named.typesofobs = buffer;
|
---|
1181 | i = 1+snprintf(buffer, buffersize,
|
---|
1182 | "%6d%-54.54s# / TYPES OF OBSERV", Parser->numdatatypesGPS, tbuffer);
|
---|
1183 | if(Parser->numdatatypesGPS>9)
|
---|
1184 | {
|
---|
1185 | i += snprintf(buffer+i-1, buffersize,
|
---|
1186 | "\n %-54.54s# / TYPES OF OBSERV", tbuffer+9*6);
|
---|
1187 | }
|
---|
1188 | buffer += i; buffersize -= i;
|
---|
1189 | }
|
---|
1190 |
|
---|
1191 | {
|
---|
1192 | struct converttimeinfo cti;
|
---|
1193 | converttime(&cti, Parser->Data.week,
|
---|
1194 | (int)floor(Parser->Data.timeofweek/1000.0));
|
---|
1195 | hdata.data.named.timeoffirstobs = buffer;
|
---|
1196 | i = 1+snprintf(buffer, buffersize,
|
---|
1197 | " %4d %2d %2d %2d %2d %10.7f GPS "
|
---|
1198 | "TIME OF FIRST OBS", cti.year, cti.month, cti.day, cti.hour,
|
---|
1199 | cti.minute, cti.second + fmod(Parser->Data.timeofweek/1000.0,1.0));
|
---|
1200 |
|
---|
1201 | buffer += i; buffersize -= i;
|
---|
1202 | }
|
---|
1203 |
|
---|
1204 | hdata.numheaders = 15;
|
---|
1205 |
|
---|
1206 | if(Parser->headerfile)
|
---|
1207 | {
|
---|
1208 | FILE *fh;
|
---|
1209 | if((fh = fopen(Parser->headerfile, "r")))
|
---|
1210 | {
|
---|
1211 | size_t siz;
|
---|
1212 | char *lastblockstart;
|
---|
1213 | if((siz = fread(buffer, 1, buffersize-1, fh)) > 0)
|
---|
1214 | {
|
---|
1215 | buffer[siz] = '\n';
|
---|
1216 | if(siz == buffersize)
|
---|
1217 | {
|
---|
1218 | RTCM3Error("Header file is too large. Only %d bytes read.",
|
---|
1219 | (int)siz);
|
---|
1220 | }
|
---|
1221 | /* scan the file line by line and enter the entries in the list */
|
---|
1222 | /* warn for "# / TYPES OF OBSERV" and "TIME OF FIRST OBS" */
|
---|
1223 | /* overwrites entries, except for comments */
|
---|
1224 | lastblockstart = buffer;
|
---|
1225 | for(i = 0; i < (int)siz; ++i)
|
---|
1226 | {
|
---|
1227 | if(buffer[i] == '\n')
|
---|
1228 | { /* we found a line */
|
---|
1229 | char *end;
|
---|
1230 | while(buffer[i+1] == '\r')
|
---|
1231 | ++i; /* skip \r in case there are any */
|
---|
1232 | end = buffer+i;
|
---|
1233 | while(*end == '\t' || *end == ' ' || *end == '\r' || *end == '\n')
|
---|
1234 | *(end--) = 0;
|
---|
1235 | if(end-lastblockstart < 60+5) /* short line */
|
---|
1236 | RTCM3Error("Short Header line '%s' ignored.\n", lastblockstart);
|
---|
1237 | else
|
---|
1238 | {
|
---|
1239 | int pos;
|
---|
1240 | if(!strcmp("COMMENT", lastblockstart+60))
|
---|
1241 | pos = hdata.numheaders;
|
---|
1242 | else
|
---|
1243 | {
|
---|
1244 | for(pos = 0; pos < hdata.numheaders; ++pos)
|
---|
1245 | {
|
---|
1246 | if(!strcmp(hdata.data.unnamed[pos]+60, lastblockstart+60))
|
---|
1247 | break;
|
---|
1248 | }
|
---|
1249 | if(!strcmp("# / TYPES OF OBSERV", lastblockstart+60)
|
---|
1250 | || !strcmp("TIME OF FIRST OBS", lastblockstart+60))
|
---|
1251 | {
|
---|
1252 | RTCM3Error("Overwriting header '%s' is dangerous.\n",
|
---|
1253 | lastblockstart+60);
|
---|
1254 | }
|
---|
1255 | }
|
---|
1256 | if(pos >= MAXHEADERLINES)
|
---|
1257 | {
|
---|
1258 | RTCM3Error("Maximum number of header lines of %d reached.\n",
|
---|
1259 | MAXHEADERLINES);
|
---|
1260 | }
|
---|
1261 | else if(!strcmp("END OF HEADER", lastblockstart+60))
|
---|
1262 | {
|
---|
1263 | RTCM3Error("End of header ignored.\n");
|
---|
1264 | }
|
---|
1265 | else
|
---|
1266 | {
|
---|
1267 | hdata.data.unnamed[pos] = lastblockstart;
|
---|
1268 | if(pos == hdata.numheaders)
|
---|
1269 | ++hdata.numheaders;
|
---|
1270 | }
|
---|
1271 | }
|
---|
1272 | lastblockstart = buffer+i+1;
|
---|
1273 | }
|
---|
1274 | }
|
---|
1275 | }
|
---|
1276 | else
|
---|
1277 | {
|
---|
1278 | RTCM3Error("Could not read data from headerfile '%s'.\n",
|
---|
1279 | Parser->headerfile);
|
---|
1280 | }
|
---|
1281 | fclose(fh);
|
---|
1282 | }
|
---|
1283 | else
|
---|
1284 | {
|
---|
1285 | RTCM3Error("Could not open header datafile '%s'.\n",
|
---|
1286 | Parser->headerfile);
|
---|
1287 | }
|
---|
1288 | }
|
---|
1289 |
|
---|
1290 | for(i = 0; i < hdata.numheaders; ++i)
|
---|
1291 | {
|
---|
1292 | if(hdata.data.unnamed[i] && hdata.data.unnamed[i][0])
|
---|
1293 | RTCM3Text("%s\n", hdata.data.unnamed[i]);
|
---|
1294 | }
|
---|
1295 | RTCM3Text(" "
|
---|
1296 | "END OF HEADER\n");
|
---|
1297 | #endif
|
---|
1298 | }
|
---|
1299 |
|
---|
1300 | static void ConvLine(FILE *file, const char *fmt, ...)
|
---|
1301 | {
|
---|
1302 | char buffer[100], *b;
|
---|
1303 | va_list v;
|
---|
1304 | va_start(v, fmt);
|
---|
1305 | vsnprintf(buffer, sizeof(buffer), fmt, v);
|
---|
1306 | for(b = buffer; *b; ++b)
|
---|
1307 | {
|
---|
1308 | if(*b == 'e') *b = 'D';
|
---|
1309 | }
|
---|
1310 | fprintf(file, "%s", buffer);
|
---|
1311 | va_end(v);
|
---|
1312 | }
|
---|
1313 |
|
---|
1314 | void HandleByte(struct RTCM3ParserData *Parser, unsigned int byte)
|
---|
1315 | {
|
---|
1316 | Parser->Message[Parser->MessageSize++] = byte;
|
---|
1317 | if(Parser->MessageSize >= Parser->NeedBytes)
|
---|
1318 | {
|
---|
1319 | int r;
|
---|
1320 | while((r = RTCM3Parser(Parser)))
|
---|
1321 | {
|
---|
1322 | if(r == 1020 || r == 1019)
|
---|
1323 | {
|
---|
1324 | FILE *file = 0;
|
---|
1325 |
|
---|
1326 | if(Parser->rinex3 && !(file = Parser->gpsfile))
|
---|
1327 | {
|
---|
1328 | const char *n = Parser->gpsephemeris ? Parser->gpsephemeris : Parser->glonassephemeris;
|
---|
1329 | if(n)
|
---|
1330 | {
|
---|
1331 | if(!(Parser->gpsfile = fopen(n, "w")))
|
---|
1332 | {
|
---|
1333 | RTCM3Error("Could not open ephemeris output file.\n");
|
---|
1334 | }
|
---|
1335 | else
|
---|
1336 | {
|
---|
1337 | char buffer[100];
|
---|
1338 | fprintf(Parser->gpsfile,
|
---|
1339 | "%9.2f%11sN: GNSS NAV DATA M: Mixed%12sRINEX VERSION / TYPE\n", 3.0, "", "");
|
---|
1340 | HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
|
---|
1341 | fprintf(Parser->gpsfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
1342 | }
|
---|
1343 | Parser->gpsephemeris = 0;
|
---|
1344 | Parser->glonassephemeris = 0;
|
---|
1345 | file = Parser->gpsfile;
|
---|
1346 | }
|
---|
1347 | }
|
---|
1348 | else
|
---|
1349 | {
|
---|
1350 | if(r == 1020)
|
---|
1351 | {
|
---|
1352 | if(Parser->glonassephemeris)
|
---|
1353 | {
|
---|
1354 | if(!(Parser->glonassfile = fopen(Parser->glonassephemeris, "w")))
|
---|
1355 | {
|
---|
1356 | RTCM3Error("Could not open GLONASS ephemeris output file.\n");
|
---|
1357 | }
|
---|
1358 | else
|
---|
1359 | {
|
---|
1360 | char buffer[100];
|
---|
1361 | fprintf(Parser->glonassfile,
|
---|
1362 | "%9.2f%11sG: GLONASS NAV DATA%21sRINEX VERSION / TYPE\n", 2.1, "", "");
|
---|
1363 | HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
|
---|
1364 | fprintf(Parser->glonassfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
1365 | }
|
---|
1366 | Parser->glonassephemeris = 0;
|
---|
1367 | }
|
---|
1368 | file = Parser->glonassfile;
|
---|
1369 | }
|
---|
1370 | else if(r == 1019)
|
---|
1371 | {
|
---|
1372 | if(Parser->gpsephemeris)
|
---|
1373 | {
|
---|
1374 | if(!(Parser->gpsfile = fopen(Parser->gpsephemeris, "w")))
|
---|
1375 | {
|
---|
1376 | RTCM3Error("Could not open GPS ephemeris output file.\n");
|
---|
1377 | }
|
---|
1378 | else
|
---|
1379 | {
|
---|
1380 | char buffer[100];
|
---|
1381 | fprintf(Parser->gpsfile,
|
---|
1382 | "%9.2f%11sN: GPS NAV DATA%25sRINEX VERSION / TYPE\n", 2.1, "", "");
|
---|
1383 | HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
|
---|
1384 | fprintf(Parser->gpsfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
1385 | }
|
---|
1386 | Parser->gpsephemeris = 0;
|
---|
1387 | }
|
---|
1388 | file = Parser->gpsfile;
|
---|
1389 | }
|
---|
1390 | }
|
---|
1391 | if(file)
|
---|
1392 | {
|
---|
1393 | if(r == 1020)
|
---|
1394 | {
|
---|
1395 | struct glonassephemeris *e = &Parser->ephemerisGLONASS;
|
---|
1396 | int w = e->GPSWeek, tow = e->GPSTOW, i;
|
---|
1397 | struct converttimeinfo cti;
|
---|
1398 |
|
---|
1399 | updatetime(&w, &tow, e->tb*1000, 1); /* Moscow - > UTC */
|
---|
1400 | converttime(&cti, w, tow);
|
---|
1401 |
|
---|
1402 | i = e->tk-3*60*60; if(i < 0) i += 86400;
|
---|
1403 |
|
---|
1404 | if(Parser->rinex3)
|
---|
1405 | ConvLine(file, "R%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
1406 | e->almanac_number, cti.year, cti.month, cti.day, cti.hour, cti.minute,
|
---|
1407 | cti.second, -e->tau, e->gamma, (double) i);
|
---|
1408 | else
|
---|
1409 | ConvLine(file, "%02d %02d %02d %02d %02d %02d%5.1f%19.12e%19.12e%19.12e\n",
|
---|
1410 | e->almanac_number, cti.year%100, cti.month, cti.day, cti.hour, cti.minute,
|
---|
1411 | (double) cti.second, -e->tau, e->gamma, (double) i);
|
---|
1412 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->x_pos,
|
---|
1413 | e->x_velocity, e->x_acceleration, (e->flags & GLOEPHF_UNHEALTHY) ? 1.0 : 0.0);
|
---|
1414 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->y_pos,
|
---|
1415 | e->y_velocity, e->y_acceleration, (double) e->frequency_number);
|
---|
1416 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->z_pos,
|
---|
1417 | e->z_velocity, e->z_acceleration, (double) e->E);
|
---|
1418 | }
|
---|
1419 | else /* if(r == 1019) */
|
---|
1420 | {
|
---|
1421 | struct gpsephemeris *e = &Parser->ephemerisGPS;
|
---|
1422 | double d; /* temporary variable */
|
---|
1423 | unsigned long int i; /* temporary variable */
|
---|
1424 | struct converttimeinfo cti;
|
---|
1425 | converttime(&cti, e->GPSweek, e->TOC);
|
---|
1426 |
|
---|
1427 | if(Parser->rinex3)
|
---|
1428 | ConvLine(file, "G%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
1429 | e->satellite, cti.year, cti.month, cti.day, cti.hour,
|
---|
1430 | cti.minute, cti.second, e->clock_bias, e->clock_drift,
|
---|
1431 | e->clock_driftrate);
|
---|
1432 | else
|
---|
1433 | ConvLine(file, "%02d %02d %02d %02d %02d %02d%05.1f%19.12e%19.12e%19.12e\n",
|
---|
1434 | e->satellite, cti.year%100, cti.month, cti.day, cti.hour,
|
---|
1435 | cti.minute, (double) cti.second, e->clock_bias, e->clock_drift,
|
---|
1436 | e->clock_driftrate);
|
---|
1437 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", (double)e->IODE,
|
---|
1438 | e->Crs, e->Delta_n, e->M0);
|
---|
1439 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->Cuc,
|
---|
1440 | e->e, e->Cus, e->sqrt_A);
|
---|
1441 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n",
|
---|
1442 | (double) e->TOE, e->Cic, e->OMEGA0, e->Cis);
|
---|
1443 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->i0,
|
---|
1444 | e->Crc, e->omega, e->OMEGADOT);
|
---|
1445 | d = 0;
|
---|
1446 | i = e->flags;
|
---|
1447 | if(i & GPSEPHF_L2CACODE)
|
---|
1448 | d += 2.0;
|
---|
1449 | if(i & GPSEPHF_L2PCODE)
|
---|
1450 | d += 1.0;
|
---|
1451 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->IDOT, d,
|
---|
1452 | (double) e->GPSweek, i & GPSEPHF_L2PCODEDATA ? 1.0 : 0.0);
|
---|
1453 | if(e->URAindex <= 6) /* URA index */
|
---|
1454 | d = ceil(10.0*pow(2.0, 1.0+((double)e->URAindex)/2.0))/10.0;
|
---|
1455 | else
|
---|
1456 | d = ceil(10.0*pow(2.0, ((double)e->URAindex)/2.0))/10.0;
|
---|
1457 | /* 15 indicates not to use satellite. We can't handle this special
|
---|
1458 | case, so we create a high "non"-accuracy value. */
|
---|
1459 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", d,
|
---|
1460 | ((double) e->SVhealth), e->TGD, ((double) e->IODC));
|
---|
1461 |
|
---|
1462 | ConvLine(file, " %19.12e%19.12e\n", ((double)e->TOW), 0.0);
|
---|
1463 | /* TOW */
|
---|
1464 | }
|
---|
1465 | }
|
---|
1466 | }
|
---|
1467 | else
|
---|
1468 | {
|
---|
1469 | int i, j, o;
|
---|
1470 | struct converttimeinfo cti;
|
---|
1471 |
|
---|
1472 | if(Parser->init < NUMSTARTSKIP) /* skip first epochs to detect correct data types */
|
---|
1473 | {
|
---|
1474 | ++Parser->init;
|
---|
1475 |
|
---|
1476 | if(Parser->init == NUMSTARTSKIP)
|
---|
1477 | HandleHeader(Parser);
|
---|
1478 | else
|
---|
1479 | {
|
---|
1480 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
1481 | Parser->startflags |= Parser->Data.dataflags[i];
|
---|
1482 | continue;
|
---|
1483 | }
|
---|
1484 | }
|
---|
1485 | if(r == 2 && !Parser->validwarning)
|
---|
1486 | {
|
---|
1487 | RTCM3Text("No valid RINEX! All values are modulo 299792.458!"
|
---|
1488 | " COMMENT\n");
|
---|
1489 | Parser->validwarning = 1;
|
---|
1490 | }
|
---|
1491 |
|
---|
1492 | converttime(&cti, Parser->Data.week,
|
---|
1493 | (int)floor(Parser->Data.timeofweek/1000.0));
|
---|
1494 | if(Parser->rinex3)
|
---|
1495 | {
|
---|
1496 | RTCM3Text("> %04d %02d %02d %02d %02d%11.7f 0%3d\n",
|
---|
1497 | cti.year, cti.month, cti.day, cti.hour, cti.minute, cti.second
|
---|
1498 | + fmod(Parser->Data.timeofweek/1000.0,1.0), Parser->Data.numsats);
|
---|
1499 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
1500 | {
|
---|
1501 | int glo = 0;
|
---|
1502 | if(Parser->Data.satellites[i] <= PRN_GPS_END)
|
---|
1503 | RTCM3Text("G%02d", Parser->Data.satellites[i]);
|
---|
1504 | else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
|
---|
1505 | && Parser->Data.satellites[i] <= PRN_GLONASS_END)
|
---|
1506 | {
|
---|
1507 | RTCM3Text("R%02d", Parser->Data.satellites[i] - (PRN_GLONASS_START-1));
|
---|
1508 | glo = 1;
|
---|
1509 | }
|
---|
1510 | else if(Parser->Data.satellites[i] >= PRN_WAAS_START
|
---|
1511 | && Parser->Data.satellites[i] <= PRN_WAAS_END)
|
---|
1512 | RTCM3Text("S%02d", Parser->Data.satellites[i] - PRN_WAAS_START+20);
|
---|
1513 | else
|
---|
1514 | RTCM3Text("%3d", Parser->Data.satellites[i]);
|
---|
1515 |
|
---|
1516 | if(glo)
|
---|
1517 | {
|
---|
1518 | for(j = 0; j < Parser->numdatatypesGLO; ++j)
|
---|
1519 | {
|
---|
1520 | int df = Parser->dataflagGLO[j];
|
---|
1521 | int pos = Parser->dataposGLO[j];
|
---|
1522 | if((Parser->Data.dataflags[i] & df)
|
---|
1523 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
1524 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
1525 | {
|
---|
1526 | char lli = ' ';
|
---|
1527 | char snr = ' ';
|
---|
1528 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
1529 | {
|
---|
1530 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL1)
|
---|
1531 | lli = '1';
|
---|
1532 | snr = '0'+Parser->Data.snrL1[i];
|
---|
1533 | }
|
---|
1534 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
1535 | {
|
---|
1536 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL2)
|
---|
1537 | lli = '1';
|
---|
1538 | snr = '0'+Parser->Data.snrL2[i];
|
---|
1539 | }
|
---|
1540 | RTCM3Text("%14.3f%c%c",
|
---|
1541 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
1542 | }
|
---|
1543 | else
|
---|
1544 | { /* no or illegal data */
|
---|
1545 | RTCM3Text(" ");
|
---|
1546 | }
|
---|
1547 | }
|
---|
1548 | }
|
---|
1549 | else
|
---|
1550 | {
|
---|
1551 | for(j = 0; j < Parser->numdatatypesGPS; ++j)
|
---|
1552 | {
|
---|
1553 | int df = Parser->dataflagGPS[j];
|
---|
1554 | int pos = Parser->dataposGPS[j];
|
---|
1555 | if((Parser->Data.dataflags[i] & df)
|
---|
1556 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
1557 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
1558 | {
|
---|
1559 | char lli = ' ';
|
---|
1560 | char snr = ' ';
|
---|
1561 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
1562 | {
|
---|
1563 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL1)
|
---|
1564 | lli = '1';
|
---|
1565 | snr = '0'+Parser->Data.snrL1[i];
|
---|
1566 | }
|
---|
1567 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
1568 | {
|
---|
1569 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL2)
|
---|
1570 | lli = '1';
|
---|
1571 | snr = '0'+Parser->Data.snrL2[i];
|
---|
1572 | }
|
---|
1573 | RTCM3Text("%14.3f%c%c",
|
---|
1574 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
1575 | }
|
---|
1576 | else
|
---|
1577 | { /* no or illegal data */
|
---|
1578 | RTCM3Text(" ");
|
---|
1579 | }
|
---|
1580 | }
|
---|
1581 | }
|
---|
1582 | RTCM3Text("\n");
|
---|
1583 | }
|
---|
1584 | }
|
---|
1585 | else
|
---|
1586 | {
|
---|
1587 | RTCM3Text(" %02d %2d %2d %2d %2d %10.7f 0%3d",
|
---|
1588 | cti.year%100, cti.month, cti.day, cti.hour, cti.minute, cti.second
|
---|
1589 | + fmod(Parser->Data.timeofweek/1000.0,1.0), Parser->Data.numsats);
|
---|
1590 | for(i = 0; i < 12 && i < Parser->Data.numsats; ++i)
|
---|
1591 | {
|
---|
1592 | if(Parser->Data.satellites[i] <= PRN_GPS_END)
|
---|
1593 | RTCM3Text("G%02d", Parser->Data.satellites[i]);
|
---|
1594 | else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
|
---|
1595 | && Parser->Data.satellites[i] <= PRN_GLONASS_END)
|
---|
1596 | RTCM3Text("R%02d", Parser->Data.satellites[i] - (PRN_GLONASS_START-1));
|
---|
1597 | else if(Parser->Data.satellites[i] >= PRN_WAAS_START
|
---|
1598 | && Parser->Data.satellites[i] <= PRN_WAAS_END)
|
---|
1599 | RTCM3Text("S%02d", Parser->Data.satellites[i] - PRN_WAAS_START+20);
|
---|
1600 | else
|
---|
1601 | RTCM3Text("%3d", Parser->Data.satellites[i]);
|
---|
1602 | }
|
---|
1603 | RTCM3Text("\n");
|
---|
1604 | o = 12;
|
---|
1605 | j = Parser->Data.numsats - 12;
|
---|
1606 | while(j > 0)
|
---|
1607 | {
|
---|
1608 | RTCM3Text(" ");
|
---|
1609 | for(i = o; i < o+12 && i < Parser->Data.numsats; ++i)
|
---|
1610 | {
|
---|
1611 | if(Parser->Data.satellites[i] <= PRN_GPS_END)
|
---|
1612 | RTCM3Text("G%02d", Parser->Data.satellites[i]);
|
---|
1613 | else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
|
---|
1614 | && Parser->Data.satellites[i] <= PRN_GLONASS_END)
|
---|
1615 | RTCM3Text("R%02d", Parser->Data.satellites[i] - (PRN_GLONASS_START-1));
|
---|
1616 | else if(Parser->Data.satellites[i] >= PRN_WAAS_START
|
---|
1617 | && Parser->Data.satellites[i] <= PRN_WAAS_END)
|
---|
1618 | RTCM3Text("S%02d", Parser->Data.satellites[i] - PRN_WAAS_START+20);
|
---|
1619 | else
|
---|
1620 | RTCM3Text("%3d", Parser->Data.satellites[i]);
|
---|
1621 | }
|
---|
1622 | RTCM3Text("\n");
|
---|
1623 | j -= 12;
|
---|
1624 | o += 12;
|
---|
1625 | }
|
---|
1626 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
1627 | {
|
---|
1628 | for(j = 0; j < Parser->numdatatypesGPS; ++j)
|
---|
1629 | {
|
---|
1630 | int v = 0;
|
---|
1631 | int df = Parser->dataflag[j];
|
---|
1632 | int pos = Parser->datapos[j];
|
---|
1633 | if((Parser->Data.dataflags[i] & df)
|
---|
1634 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
1635 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
1636 | {
|
---|
1637 | v = 1;
|
---|
1638 | }
|
---|
1639 | else
|
---|
1640 | {
|
---|
1641 | df = Parser->dataflagGPS[j];
|
---|
1642 | pos = Parser->dataposGPS[j];
|
---|
1643 |
|
---|
1644 | if((Parser->Data.dataflags[i] & df)
|
---|
1645 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
1646 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
1647 | {
|
---|
1648 | v = 1;
|
---|
1649 | }
|
---|
1650 | }
|
---|
1651 |
|
---|
1652 | if(!v)
|
---|
1653 | { /* no or illegal data */
|
---|
1654 | RTCM3Text(" ");
|
---|
1655 | }
|
---|
1656 | else
|
---|
1657 | {
|
---|
1658 | char lli = ' ';
|
---|
1659 | char snr = ' ';
|
---|
1660 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
1661 | {
|
---|
1662 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL1)
|
---|
1663 | lli = '1';
|
---|
1664 | snr = '0'+Parser->Data.snrL1[i];
|
---|
1665 | }
|
---|
1666 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
1667 | {
|
---|
1668 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL2)
|
---|
1669 | lli = '1';
|
---|
1670 | snr = '0'+Parser->Data.snrL2[i];
|
---|
1671 | }
|
---|
1672 | RTCM3Text("%14.3f%c%c",
|
---|
1673 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
1674 | }
|
---|
1675 | if(j%5 == 4 || j == Parser->numdatatypesGPS-1)
|
---|
1676 | RTCM3Text("\n");
|
---|
1677 | }
|
---|
1678 | }
|
---|
1679 | }
|
---|
1680 | }
|
---|
1681 | }
|
---|
1682 | }
|
---|
1683 | }
|
---|
1684 |
|
---|
1685 | #ifndef NO_RTCM3_MAIN
|
---|
1686 | static char datestr[] = "$Date: 2010/01/16 11:07:57 $";
|
---|
1687 |
|
---|
1688 | /* The string, which is send as agent in HTTP request */
|
---|
1689 | #define AGENTSTRING "NTRIP NtripRTCM3ToRINEX"
|
---|
1690 |
|
---|
1691 | #define MAXDATASIZE 1000 /* max number of bytes we can get at once */
|
---|
1692 |
|
---|
1693 | static const char encodingTable [64] = {
|
---|
1694 | 'A','B','C','D','E','F','G','H','I','J','K','L','M','N','O','P',
|
---|
1695 | 'Q','R','S','T','U','V','W','X','Y','Z','a','b','c','d','e','f',
|
---|
1696 | 'g','h','i','j','k','l','m','n','o','p','q','r','s','t','u','v',
|
---|
1697 | 'w','x','y','z','0','1','2','3','4','5','6','7','8','9','+','/'
|
---|
1698 | };
|
---|
1699 |
|
---|
1700 | /* does not buffer overrun, but breaks directly after an error */
|
---|
1701 | /* returns the number of required bytes */
|
---|
1702 | static int encode(char *buf, int size, const char *user, const char *pwd)
|
---|
1703 | {
|
---|
1704 | unsigned char inbuf[3];
|
---|
1705 | char *out = buf;
|
---|
1706 | int i, sep = 0, fill = 0, bytes = 0;
|
---|
1707 |
|
---|
1708 | while(*user || *pwd)
|
---|
1709 | {
|
---|
1710 | i = 0;
|
---|
1711 | while(i < 3 && *user) inbuf[i++] = *(user++);
|
---|
1712 | if(i < 3 && !sep) {inbuf[i++] = ':'; ++sep; }
|
---|
1713 | while(i < 3 && *pwd) inbuf[i++] = *(pwd++);
|
---|
1714 | while(i < 3) {inbuf[i++] = 0; ++fill; }
|
---|
1715 | if(out-buf < size-1)
|
---|
1716 | *(out++) = encodingTable[(inbuf [0] & 0xFC) >> 2];
|
---|
1717 | if(out-buf < size-1)
|
---|
1718 | *(out++) = encodingTable[((inbuf [0] & 0x03) << 4)
|
---|
1719 | | ((inbuf [1] & 0xF0) >> 4)];
|
---|
1720 | if(out-buf < size-1)
|
---|
1721 | {
|
---|
1722 | if(fill == 2)
|
---|
1723 | *(out++) = '=';
|
---|
1724 | else
|
---|
1725 | *(out++) = encodingTable[((inbuf [1] & 0x0F) << 2)
|
---|
1726 | | ((inbuf [2] & 0xC0) >> 6)];
|
---|
1727 | }
|
---|
1728 | if(out-buf < size-1)
|
---|
1729 | {
|
---|
1730 | if(fill >= 1)
|
---|
1731 | *(out++) = '=';
|
---|
1732 | else
|
---|
1733 | *(out++) = encodingTable[inbuf [2] & 0x3F];
|
---|
1734 | }
|
---|
1735 | bytes += 4;
|
---|
1736 | }
|
---|
1737 | if(out-buf < size)
|
---|
1738 | *out = 0;
|
---|
1739 | return bytes;
|
---|
1740 | }
|
---|
1741 |
|
---|
1742 | static int stop = 0;
|
---|
1743 |
|
---|
1744 | struct Args
|
---|
1745 | {
|
---|
1746 | const char *server;
|
---|
1747 | const char *port;
|
---|
1748 | int mode;
|
---|
1749 | int timeout;
|
---|
1750 | int rinex3;
|
---|
1751 | const char *user;
|
---|
1752 | const char *password;
|
---|
1753 | const char *proxyhost;
|
---|
1754 | const char *proxyport;
|
---|
1755 | const char *nmea;
|
---|
1756 | const char *data;
|
---|
1757 | const char *headerfile;
|
---|
1758 | const char *gpsephemeris;
|
---|
1759 | const char *glonassephemeris;
|
---|
1760 | };
|
---|
1761 |
|
---|
1762 | /* option parsing */
|
---|
1763 | #ifdef NO_LONG_OPTS
|
---|
1764 | #define LONG_OPT(a)
|
---|
1765 | #else
|
---|
1766 | #define LONG_OPT(a) a
|
---|
1767 | static struct option opts[] = {
|
---|
1768 | { "data", required_argument, 0, 'd'},
|
---|
1769 | { "server", required_argument, 0, 's'},
|
---|
1770 | { "password", required_argument, 0, 'p'},
|
---|
1771 | { "port", required_argument, 0, 'r'},
|
---|
1772 | { "timeout", required_argument, 0, 't'},
|
---|
1773 | { "header", required_argument, 0, 'f'},
|
---|
1774 | { "user", required_argument, 0, 'u'},
|
---|
1775 | { "gpsephemeris", required_argument, 0, 'E'},
|
---|
1776 | { "glonassephemeris", required_argument, 0, 'G'},
|
---|
1777 | { "rinex3", no_argument, 0, '3'},
|
---|
1778 | { "proxyport", required_argument, 0, 'R'},
|
---|
1779 | { "proxyhost", required_argument, 0, 'S'},
|
---|
1780 | { "nmea", required_argument, 0, 'n'},
|
---|
1781 | { "mode", required_argument, 0, 'M'},
|
---|
1782 | { "help", no_argument, 0, 'h'},
|
---|
1783 | {0,0,0,0}};
|
---|
1784 | #endif
|
---|
1785 | #define ARGOPT "-d:s:p:r:t:f:u:E:G:M:S:R:n:h3"
|
---|
1786 |
|
---|
1787 | enum MODE { HTTP = 1, RTSP = 2, NTRIP1 = 3, AUTO = 4, END };
|
---|
1788 |
|
---|
1789 | static const char *geturl(const char *url, struct Args *args)
|
---|
1790 | {
|
---|
1791 | static char buf[1000];
|
---|
1792 | static char *Buffer = buf;
|
---|
1793 | static char *Bufend = buf+sizeof(buf);
|
---|
1794 |
|
---|
1795 | if(strncmp("ntrip:", url, 6))
|
---|
1796 | return "URL must start with 'ntrip:'.";
|
---|
1797 | url += 6; /* skip ntrip: */
|
---|
1798 |
|
---|
1799 | if(*url != '@' && *url != '/')
|
---|
1800 | {
|
---|
1801 | /* scan for mountpoint */
|
---|
1802 | args->data = Buffer;
|
---|
1803 | while(*url && *url != '@' && *url != ';' &&*url != '/' && Buffer != Bufend)
|
---|
1804 | *(Buffer++) = *(url++);
|
---|
1805 | if(Buffer == args->data)
|
---|
1806 | return "Mountpoint required.";
|
---|
1807 | else if(Buffer >= Bufend-1)
|
---|
1808 | return "Parsing buffer too short.";
|
---|
1809 | *(Buffer++) = 0;
|
---|
1810 | }
|
---|
1811 |
|
---|
1812 | if(*url == '/') /* username and password */
|
---|
1813 | {
|
---|
1814 | ++url;
|
---|
1815 | args->user = Buffer;
|
---|
1816 | while(*url && *url != '@' && *url != ';' && *url != ':' && Buffer != Bufend)
|
---|
1817 | *(Buffer++) = *(url++);
|
---|
1818 | if(Buffer == args->user)
|
---|
1819 | return "Username cannot be empty.";
|
---|
1820 | else if(Buffer >= Bufend-1)
|
---|
1821 | return "Parsing buffer too short.";
|
---|
1822 | *(Buffer++) = 0;
|
---|
1823 |
|
---|
1824 | if(*url == ':') ++url;
|
---|
1825 |
|
---|
1826 | args->password = Buffer;
|
---|
1827 | while(*url && *url != '@' && *url != ';' && Buffer != Bufend)
|
---|
1828 | *(Buffer++) = *(url++);
|
---|
1829 | if(Buffer == args->password)
|
---|
1830 | return "Password cannot be empty.";
|
---|
1831 | else if(Buffer >= Bufend-1)
|
---|
1832 | return "Parsing buffer too short.";
|
---|
1833 | *(Buffer++) = 0;
|
---|
1834 | }
|
---|
1835 |
|
---|
1836 | if(*url == '@') /* server */
|
---|
1837 | {
|
---|
1838 | ++url;
|
---|
1839 | if(*url != '@' && *url != ':')
|
---|
1840 | {
|
---|
1841 | args->server = Buffer;
|
---|
1842 | while(*url && *url != '@' && *url != ':' && *url != ';' && Buffer != Bufend)
|
---|
1843 | *(Buffer++) = *(url++);
|
---|
1844 | if(Buffer == args->server)
|
---|
1845 | return "Servername cannot be empty.";
|
---|
1846 | else if(Buffer >= Bufend-1)
|
---|
1847 | return "Parsing buffer too short.";
|
---|
1848 | *(Buffer++) = 0;
|
---|
1849 | }
|
---|
1850 |
|
---|
1851 | if(*url == ':')
|
---|
1852 | {
|
---|
1853 | ++url;
|
---|
1854 | args->port = Buffer;
|
---|
1855 | while(*url && *url != '@' && *url != ';' && Buffer != Bufend)
|
---|
1856 | *(Buffer++) = *(url++);
|
---|
1857 | if(Buffer == args->port)
|
---|
1858 | return "Port cannot be empty.";
|
---|
1859 | else if(Buffer >= Bufend-1)
|
---|
1860 | return "Parsing buffer too short.";
|
---|
1861 | *(Buffer++) = 0;
|
---|
1862 | }
|
---|
1863 |
|
---|
1864 | if(*url == '@') /* proxy */
|
---|
1865 | {
|
---|
1866 | ++url;
|
---|
1867 | args->proxyhost = Buffer;
|
---|
1868 | while(*url && *url != ':' && *url != ';' && Buffer != Bufend)
|
---|
1869 | *(Buffer++) = *(url++);
|
---|
1870 | if(Buffer == args->proxyhost)
|
---|
1871 | return "Proxy servername cannot be empty.";
|
---|
1872 | else if(Buffer >= Bufend-1)
|
---|
1873 | return "Parsing buffer too short.";
|
---|
1874 | *(Buffer++) = 0;
|
---|
1875 |
|
---|
1876 | if(*url == ':')
|
---|
1877 | {
|
---|
1878 | ++url;
|
---|
1879 | args->proxyport = Buffer;
|
---|
1880 | while(*url && *url != ';' && Buffer != Bufend)
|
---|
1881 | *(Buffer++) = *(url++);
|
---|
1882 | if(Buffer == args->proxyport)
|
---|
1883 | return "Proxy port cannot be empty.";
|
---|
1884 | else if(Buffer >= Bufend-1)
|
---|
1885 | return "Parsing buffer too short.";
|
---|
1886 | *(Buffer++) = 0;
|
---|
1887 | }
|
---|
1888 | }
|
---|
1889 | }
|
---|
1890 | if(*url == ';') /* NMEA */
|
---|
1891 | {
|
---|
1892 | args->nmea = ++url;
|
---|
1893 | while(*url)
|
---|
1894 | ++url;
|
---|
1895 | }
|
---|
1896 |
|
---|
1897 | return *url ? "Garbage at end of server string." : 0;
|
---|
1898 | }
|
---|
1899 |
|
---|
1900 | static int getargs(int argc, char **argv, struct Args *args)
|
---|
1901 | {
|
---|
1902 | int res = 1;
|
---|
1903 | int getoptr;
|
---|
1904 | int help = 0;
|
---|
1905 | char *t;
|
---|
1906 |
|
---|
1907 | args->server = "www.euref-ip.net";
|
---|
1908 | args->port = "2101";
|
---|
1909 | args->timeout = 60;
|
---|
1910 | args->user = "";
|
---|
1911 | args->password = "";
|
---|
1912 | args->data = 0;
|
---|
1913 | args->headerfile = 0;
|
---|
1914 | args->gpsephemeris = 0;
|
---|
1915 | args->glonassephemeris = 0;
|
---|
1916 | args->rinex3 = 0;
|
---|
1917 | args->nmea = 0;
|
---|
1918 | args->proxyhost = 0;
|
---|
1919 | args->proxyport = "2101";
|
---|
1920 | args->mode = AUTO;
|
---|
1921 | help = 0;
|
---|
1922 |
|
---|
1923 | do
|
---|
1924 | {
|
---|
1925 |
|
---|
1926 | #ifdef NO_LONG_OPTS
|
---|
1927 | switch((getoptr = getopt(argc, argv, ARGOPT)))
|
---|
1928 | #else
|
---|
1929 | switch((getoptr = getopt_long(argc, argv, ARGOPT, opts, 0)))
|
---|
1930 | #endif
|
---|
1931 | {
|
---|
1932 | case 's': args->server = optarg; break;
|
---|
1933 | case 'u': args->user = optarg; break;
|
---|
1934 | case 'p': args->password = optarg; break;
|
---|
1935 | case 'd': args->data = optarg; break;
|
---|
1936 | case 'f': args->headerfile = optarg; break;
|
---|
1937 | case 'E': args->gpsephemeris = optarg; break;
|
---|
1938 | case 'G': args->glonassephemeris = optarg; break;
|
---|
1939 | case 'r': args->port = optarg; break;
|
---|
1940 | case '3': args->rinex3 = 1; break;
|
---|
1941 | case 'S': args->proxyhost = optarg; break;
|
---|
1942 | case 'n': args->nmea = optarg; break;
|
---|
1943 | case 'R': args->proxyport = optarg; break;
|
---|
1944 | case 'h': help=1; break;
|
---|
1945 | case 'M':
|
---|
1946 | args->mode = 0;
|
---|
1947 | if (!strcmp(optarg,"n") || !strcmp(optarg,"ntrip1"))
|
---|
1948 | args->mode = NTRIP1;
|
---|
1949 | else if(!strcmp(optarg,"h") || !strcmp(optarg,"http"))
|
---|
1950 | args->mode = HTTP;
|
---|
1951 | else if(!strcmp(optarg,"r") || !strcmp(optarg,"rtsp"))
|
---|
1952 | args->mode = RTSP;
|
---|
1953 | else if(!strcmp(optarg,"a") || !strcmp(optarg,"auto"))
|
---|
1954 | args->mode = AUTO;
|
---|
1955 | else args->mode = atoi(optarg);
|
---|
1956 | if((args->mode == 0) || (args->mode >= END))
|
---|
1957 | {
|
---|
1958 | fprintf(stderr, "Mode %s unknown\n", optarg);
|
---|
1959 | res = 0;
|
---|
1960 | }
|
---|
1961 | break;
|
---|
1962 | case 't':
|
---|
1963 | args->timeout = strtoul(optarg, &t, 10);
|
---|
1964 | if((t && *t) || args->timeout < 0)
|
---|
1965 | res = 0;
|
---|
1966 | break;
|
---|
1967 |
|
---|
1968 | case 1:
|
---|
1969 | {
|
---|
1970 | const char *err;
|
---|
1971 | if((err = geturl(optarg, args)))
|
---|
1972 | {
|
---|
1973 | RTCM3Error("%s\n\n", err);
|
---|
1974 | res = 0;
|
---|
1975 | }
|
---|
1976 | }
|
---|
1977 | break;
|
---|
1978 | case -1: break;
|
---|
1979 | }
|
---|
1980 | } while(getoptr != -1 || !res);
|
---|
1981 |
|
---|
1982 | datestr[0] = datestr[7];
|
---|
1983 | datestr[1] = datestr[8];
|
---|
1984 | datestr[2] = datestr[9];
|
---|
1985 | datestr[3] = datestr[10];
|
---|
1986 | datestr[5] = datestr[12];
|
---|
1987 | datestr[6] = datestr[13];
|
---|
1988 | datestr[8] = datestr[15];
|
---|
1989 | datestr[9] = datestr[16];
|
---|
1990 | datestr[4] = datestr[7] = '-';
|
---|
1991 | datestr[10] = 0;
|
---|
1992 |
|
---|
1993 | if(args->gpsephemeris && args->glonassephemeris && args->rinex3)
|
---|
1994 | {
|
---|
1995 | RTCM3Error("RINEX3 produces a combined ephemeris file, but 2 files were specified.\n"
|
---|
1996 | "Please specify only one navigation file.\n");
|
---|
1997 | res = 0;
|
---|
1998 | }
|
---|
1999 | else if(!res || help)
|
---|
2000 | {
|
---|
2001 | RTCM3Error("Version %s (%s) GPL" COMPILEDATE
|
---|
2002 | "\nUsage: %s -s server -u user ...\n"
|
---|
2003 | " -d " LONG_OPT("--data ") "the requested data set\n"
|
---|
2004 | " -f " LONG_OPT("--headerfile ") "file for RINEX header information\n"
|
---|
2005 | " -s " LONG_OPT("--server ") "the server name or address\n"
|
---|
2006 | " -p " LONG_OPT("--password ") "the login password\n"
|
---|
2007 | " -r " LONG_OPT("--port ") "the server port number (default 2101)\n"
|
---|
2008 | " -t " LONG_OPT("--timeout ") "timeout in seconds (default 60)\n"
|
---|
2009 | " -u " LONG_OPT("--user ") "the user name\n"
|
---|
2010 | " -E " LONG_OPT("--gpsephemeris ") "output file for GPS ephemeris data\n"
|
---|
2011 | " -G " LONG_OPT("--glonassephemeris ") "output file for GLONASS ephemeris data\n"
|
---|
2012 | " -3 " LONG_OPT("--rinex3 ") "output RINEX type 3 data\n"
|
---|
2013 | " -S " LONG_OPT("--proxyhost ") "proxy name or address\n"
|
---|
2014 | " -R " LONG_OPT("--proxyport ") "proxy port, optional (default 2101)\n"
|
---|
2015 | " -n " LONG_OPT("--nmea ") "NMEA string for sending to server\n"
|
---|
2016 | " -M " LONG_OPT("--mode ") "mode for data request\n"
|
---|
2017 | " Valid modes are:\n"
|
---|
2018 | " 1, h, http NTRIP Version 2.0 Caster in TCP/IP mode\n"
|
---|
2019 | " 2, r, rtsp NTRIP Version 2.0 Caster in RTSP/RTP mode\n"
|
---|
2020 | " 3, n, ntrip1 NTRIP Version 1.0 Caster\n"
|
---|
2021 | " 4, a, auto automatic detection (default)\n"
|
---|
2022 | "or using an URL:\n%s ntrip:data[/user[:password]][@[server][:port][@proxyhost[:proxyport]]][;nmea]\n"
|
---|
2023 | , revisionstr, datestr, argv[0], argv[0]);
|
---|
2024 | exit(1);
|
---|
2025 | }
|
---|
2026 | return res;
|
---|
2027 | }
|
---|
2028 |
|
---|
2029 | /* let the output complete a block if necessary */
|
---|
2030 | static void signalhandler(int sig)
|
---|
2031 | {
|
---|
2032 | if(!stop)
|
---|
2033 | {
|
---|
2034 | RTCM3Error("Stop signal number %d received. "
|
---|
2035 | "Trying to terminate gentle.\n", sig);
|
---|
2036 | stop = 1;
|
---|
2037 | alarm(1);
|
---|
2038 | }
|
---|
2039 | }
|
---|
2040 |
|
---|
2041 | #ifndef WINDOWSVERSION
|
---|
2042 | static void WaitMicro(int mic)
|
---|
2043 | {
|
---|
2044 | struct timeval tv;
|
---|
2045 | tv.tv_sec = mic/1000000;
|
---|
2046 | tv.tv_usec = mic%1000000;
|
---|
2047 | #ifdef DEBUG
|
---|
2048 | fprintf(stderr, "Waiting %d micro seconds\n", mic);
|
---|
2049 | #endif
|
---|
2050 | select(0, 0, 0, 0, &tv);
|
---|
2051 | }
|
---|
2052 | #else /* WINDOWSVERSION */
|
---|
2053 | void WaitMicro(int mic)
|
---|
2054 | {
|
---|
2055 | Sleep(mic/1000);
|
---|
2056 | }
|
---|
2057 | #endif /* WINDOWSVERSION */
|
---|
2058 |
|
---|
2059 | #define ALARMTIME (2*60)
|
---|
2060 |
|
---|
2061 | /* for some reason we had to abort hard (maybe waiting for data */
|
---|
2062 | #ifdef __GNUC__
|
---|
2063 | static __attribute__ ((noreturn)) void signalhandler_alarm(
|
---|
2064 | int sig __attribute__((__unused__)))
|
---|
2065 | #else /* __GNUC__ */
|
---|
2066 | static void signalhandler_alarm(int sig)
|
---|
2067 | #endif /* __GNUC__ */
|
---|
2068 | {
|
---|
2069 | RTCM3Error("Programm forcefully terminated.\n");
|
---|
2070 | exit(1);
|
---|
2071 | }
|
---|
2072 |
|
---|
2073 | int main(int argc, char **argv)
|
---|
2074 | {
|
---|
2075 | struct Args args;
|
---|
2076 | struct RTCM3ParserData Parser;
|
---|
2077 |
|
---|
2078 | setbuf(stdout, 0);
|
---|
2079 | setbuf(stdin, 0);
|
---|
2080 | setbuf(stderr, 0);
|
---|
2081 |
|
---|
2082 | {
|
---|
2083 | char *a;
|
---|
2084 | int i=0;
|
---|
2085 | for(a = revisionstr+11; *a && *a != ' '; ++a)
|
---|
2086 | revisionstr[i++] = *a;
|
---|
2087 | revisionstr[i] = 0;
|
---|
2088 | }
|
---|
2089 |
|
---|
2090 | signal(SIGINT, signalhandler);
|
---|
2091 | signal(SIGALRM,signalhandler_alarm);
|
---|
2092 | signal(SIGQUIT,signalhandler);
|
---|
2093 | signal(SIGTERM,signalhandler);
|
---|
2094 | signal(SIGPIPE,signalhandler);
|
---|
2095 | memset(&Parser, 0, sizeof(Parser));
|
---|
2096 | {
|
---|
2097 | time_t tim;
|
---|
2098 | tim = time(0) - ((10*365+2+5)*24*60*60+LEAPSECONDS);
|
---|
2099 | Parser.GPSWeek = tim/(7*24*60*60);
|
---|
2100 | Parser.GPSTOW = tim%(7*24*60*60);
|
---|
2101 | }
|
---|
2102 |
|
---|
2103 | if(getargs(argc, argv, &args))
|
---|
2104 | {
|
---|
2105 | int sockfd, numbytes;
|
---|
2106 | char buf[MAXDATASIZE];
|
---|
2107 | struct sockaddr_in their_addr; /* connector's address information */
|
---|
2108 | struct hostent *he;
|
---|
2109 | struct servent *se;
|
---|
2110 | const char *server, *port, *proxyserver = 0;
|
---|
2111 | char proxyport[6];
|
---|
2112 | char *b;
|
---|
2113 | long i;
|
---|
2114 | struct timeval tv;
|
---|
2115 |
|
---|
2116 | alarm(ALARMTIME);
|
---|
2117 |
|
---|
2118 | Parser.headerfile = args.headerfile;
|
---|
2119 | Parser.glonassephemeris = args.glonassephemeris;
|
---|
2120 | Parser.gpsephemeris = args.gpsephemeris;
|
---|
2121 | Parser.rinex3 = args.rinex3;
|
---|
2122 |
|
---|
2123 | if(args.proxyhost)
|
---|
2124 | {
|
---|
2125 | int p;
|
---|
2126 | if((i = strtol(args.port, &b, 10)) && (!b || !*b))
|
---|
2127 | p = i;
|
---|
2128 | else if(!(se = getservbyname(args.port, 0)))
|
---|
2129 | {
|
---|
2130 | RTCM3Error("Can't resolve port %s.", args.port);
|
---|
2131 | exit(1);
|
---|
2132 | }
|
---|
2133 | else
|
---|
2134 | {
|
---|
2135 | p = ntohs(se->s_port);
|
---|
2136 | }
|
---|
2137 | snprintf(proxyport, sizeof(proxyport), "%d", p);
|
---|
2138 | port = args.proxyport;
|
---|
2139 | proxyserver = args.server;
|
---|
2140 | server = args.proxyhost;
|
---|
2141 | }
|
---|
2142 | else
|
---|
2143 | {
|
---|
2144 | server = args.server;
|
---|
2145 | port = args.port;
|
---|
2146 | }
|
---|
2147 |
|
---|
2148 | memset(&their_addr, 0, sizeof(struct sockaddr_in));
|
---|
2149 | if((i = strtol(port, &b, 10)) && (!b || !*b))
|
---|
2150 | their_addr.sin_port = htons(i);
|
---|
2151 | else if(!(se = getservbyname(port, 0)))
|
---|
2152 | {
|
---|
2153 | RTCM3Error("Can't resolve port %s.", port);
|
---|
2154 | exit(1);
|
---|
2155 | }
|
---|
2156 | else
|
---|
2157 | {
|
---|
2158 | their_addr.sin_port = se->s_port;
|
---|
2159 | }
|
---|
2160 | if(!(he=gethostbyname(server)))
|
---|
2161 | {
|
---|
2162 | RTCM3Error("Server name lookup failed for '%s'.\n", server);
|
---|
2163 | exit(1);
|
---|
2164 | }
|
---|
2165 | if((sockfd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
|
---|
2166 | {
|
---|
2167 | perror("socket");
|
---|
2168 | exit(1);
|
---|
2169 | }
|
---|
2170 |
|
---|
2171 | tv.tv_sec = args.timeout;
|
---|
2172 | tv.tv_usec = 0;
|
---|
2173 | if(setsockopt(sockfd, SOL_SOCKET, SO_RCVTIMEO, (struct timeval *)&tv, sizeof(struct timeval) ) == -1)
|
---|
2174 | {
|
---|
2175 | RTCM3Error("Function setsockopt: %s\n", strerror(errno));
|
---|
2176 | exit(1);
|
---|
2177 | }
|
---|
2178 |
|
---|
2179 | their_addr.sin_family = AF_INET;
|
---|
2180 | their_addr.sin_addr = *((struct in_addr *)he->h_addr);
|
---|
2181 |
|
---|
2182 | if(args.data && args.mode == RTSP)
|
---|
2183 | {
|
---|
2184 | struct sockaddr_in local;
|
---|
2185 | int sockudp, localport;
|
---|
2186 | int cseq = 1;
|
---|
2187 | socklen_t len;
|
---|
2188 |
|
---|
2189 | if((sockudp = socket(AF_INET, SOCK_DGRAM, 0)) == -1)
|
---|
2190 | {
|
---|
2191 | perror("socket");
|
---|
2192 | exit(1);
|
---|
2193 | }
|
---|
2194 | /* fill structure with local address information for UDP */
|
---|
2195 | memset(&local, 0, sizeof(local));
|
---|
2196 | local.sin_family = AF_INET;
|
---|
2197 | local.sin_port = htons(0);
|
---|
2198 | local.sin_addr.s_addr = htonl(INADDR_ANY);
|
---|
2199 | len = sizeof(local);
|
---|
2200 | /* bind() in order to get a random RTP client_port */
|
---|
2201 | if((bind(sockudp, (struct sockaddr *)&local, len)) < 0)
|
---|
2202 | {
|
---|
2203 | perror("bind");
|
---|
2204 | exit(1);
|
---|
2205 | }
|
---|
2206 | if((getsockname(sockudp, (struct sockaddr*)&local, &len)) != -1)
|
---|
2207 | {
|
---|
2208 | localport = ntohs(local.sin_port);
|
---|
2209 | }
|
---|
2210 | else
|
---|
2211 | {
|
---|
2212 | perror("local access failed");
|
---|
2213 | exit(1);
|
---|
2214 | }
|
---|
2215 | if(connect(sockfd, (struct sockaddr *)&their_addr,
|
---|
2216 | sizeof(struct sockaddr)) == -1)
|
---|
2217 | {
|
---|
2218 | perror("connect");
|
---|
2219 | exit(1);
|
---|
2220 | }
|
---|
2221 | i=snprintf(buf, MAXDATASIZE-40, /* leave some space for login */
|
---|
2222 | "SETUP rtsp://%s%s%s/%s RTSP/1.0\r\n"
|
---|
2223 | "CSeq: %d\r\n"
|
---|
2224 | "Ntrip-Version: Ntrip/2.0\r\n"
|
---|
2225 | "Ntrip-Component: Ntripclient\r\n"
|
---|
2226 | "User-Agent: %s/%s\r\n"
|
---|
2227 | "Transport: RTP/GNSS;unicast;client_port=%u\r\n"
|
---|
2228 | "Authorization: Basic ",
|
---|
2229 | args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
|
---|
2230 | args.data, cseq++, AGENTSTRING, revisionstr, localport);
|
---|
2231 | if(i > MAXDATASIZE-40 || i < 0) /* second check for old glibc */
|
---|
2232 | {
|
---|
2233 | RTCM3Error("Requested data too long\n");
|
---|
2234 | exit(1);
|
---|
2235 | }
|
---|
2236 | i += encode(buf+i, MAXDATASIZE-i-4, args.user, args.password);
|
---|
2237 | if(i > MAXDATASIZE-4)
|
---|
2238 | {
|
---|
2239 | RTCM3Error("Username and/or password too long\n");
|
---|
2240 | exit(1);
|
---|
2241 | }
|
---|
2242 | buf[i++] = '\r';
|
---|
2243 | buf[i++] = '\n';
|
---|
2244 | buf[i++] = '\r';
|
---|
2245 | buf[i++] = '\n';
|
---|
2246 | if(args.nmea)
|
---|
2247 | {
|
---|
2248 | int j = snprintf(buf+i, MAXDATASIZE-i, "%s\r\n", args.nmea);
|
---|
2249 | if(j >= 0 && j < MAXDATASIZE-i)
|
---|
2250 | i += j;
|
---|
2251 | else
|
---|
2252 | {
|
---|
2253 | RTCM3Error("NMEA string too long\n");
|
---|
2254 | exit(1);
|
---|
2255 | }
|
---|
2256 | }
|
---|
2257 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
2258 | {
|
---|
2259 | perror("send");
|
---|
2260 | exit(1);
|
---|
2261 | }
|
---|
2262 | if((numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
|
---|
2263 | {
|
---|
2264 | if(numbytes >= 17 && !strncmp(buf, "RTSP/1.0 200 OK\r\n", 17))
|
---|
2265 | {
|
---|
2266 | int serverport = 0, session = 0;
|
---|
2267 | const char *portcheck = "server_port=";
|
---|
2268 | const char *sessioncheck = "session: ";
|
---|
2269 | int l = strlen(portcheck)-1;
|
---|
2270 | int j=0;
|
---|
2271 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
2272 | {
|
---|
2273 | for(j = 0; j < l && tolower(buf[i+j]) == portcheck[j]; ++j)
|
---|
2274 | ;
|
---|
2275 | }
|
---|
2276 | if(i == numbytes-l)
|
---|
2277 | {
|
---|
2278 | RTCM3Error("No server port number found\n");
|
---|
2279 | exit(1);
|
---|
2280 | }
|
---|
2281 | else
|
---|
2282 | {
|
---|
2283 | i+=l;
|
---|
2284 | while(i < numbytes && buf[i] >= '0' && buf[i] <= '9')
|
---|
2285 | serverport = serverport * 10 + buf[i++]-'0';
|
---|
2286 | if(buf[i] != '\r' && buf[i] != ';')
|
---|
2287 | {
|
---|
2288 | RTCM3Error("Could not extract server port\n");
|
---|
2289 | exit(1);
|
---|
2290 | }
|
---|
2291 | }
|
---|
2292 | l = strlen(sessioncheck)-1;
|
---|
2293 | j=0;
|
---|
2294 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
2295 | {
|
---|
2296 | for(j = 0; j < l && tolower(buf[i+j]) == sessioncheck[j]; ++j)
|
---|
2297 | ;
|
---|
2298 | }
|
---|
2299 | if(i == numbytes-l)
|
---|
2300 | {
|
---|
2301 | RTCM3Error("No session number found\n");
|
---|
2302 | exit(1);
|
---|
2303 | }
|
---|
2304 | else
|
---|
2305 | {
|
---|
2306 | i+=l;
|
---|
2307 | while(i < numbytes && buf[i] >= '0' && buf[i] <= '9')
|
---|
2308 | session = session * 10 + buf[i++]-'0';
|
---|
2309 | if(buf[i] != '\r')
|
---|
2310 | {
|
---|
2311 | RTCM3Error("Could not extract session number\n");
|
---|
2312 | exit(1);
|
---|
2313 | }
|
---|
2314 | }
|
---|
2315 |
|
---|
2316 | i = snprintf(buf, MAXDATASIZE,
|
---|
2317 | "PLAY rtsp://%s%s%s/%s RTSP/1.0\r\n"
|
---|
2318 | "CSeq: %d\r\n"
|
---|
2319 | "Session: %d\r\n"
|
---|
2320 | "\r\n",
|
---|
2321 | args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
|
---|
2322 | args.data, cseq++, session);
|
---|
2323 |
|
---|
2324 | if(i > MAXDATASIZE || i < 0) /* second check for old glibc */
|
---|
2325 | {
|
---|
2326 | RTCM3Error("Requested data too long\n");
|
---|
2327 | exit(1);
|
---|
2328 | }
|
---|
2329 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
2330 | {
|
---|
2331 | perror("send");
|
---|
2332 | exit(1);
|
---|
2333 | }
|
---|
2334 | if((numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
|
---|
2335 | {
|
---|
2336 | if(numbytes >= 17 && !strncmp(buf, "RTSP/1.0 200 OK\r\n", 17))
|
---|
2337 | {
|
---|
2338 | struct sockaddr_in addrRTP;
|
---|
2339 | /* fill structure with caster address information for UDP */
|
---|
2340 | memset(&addrRTP, 0, sizeof(addrRTP));
|
---|
2341 | addrRTP.sin_family = AF_INET;
|
---|
2342 | addrRTP.sin_port = htons(serverport);
|
---|
2343 | their_addr.sin_addr = *((struct in_addr *)he->h_addr);
|
---|
2344 | len = sizeof(addrRTP);
|
---|
2345 | int ts = 0;
|
---|
2346 | int sn = 0;
|
---|
2347 | int ssrc = 0;
|
---|
2348 | int init = 0;
|
---|
2349 | int u, v, w;
|
---|
2350 | while(!stop && (i = recvfrom(sockudp, buf, 1526, 0,
|
---|
2351 | (struct sockaddr*) &addrRTP, &len)) > 0)
|
---|
2352 | {
|
---|
2353 | alarm(ALARMTIME);
|
---|
2354 | if(i >= 12+1 && (unsigned char)buf[0] == (2 << 6) && buf[1] == 0x60)
|
---|
2355 | {
|
---|
2356 | u= ((unsigned char)buf[2]<<8)+(unsigned char)buf[3];
|
---|
2357 | v = ((unsigned char)buf[4]<<24)+((unsigned char)buf[5]<<16)
|
---|
2358 | +((unsigned char)buf[6]<<8)+(unsigned char)buf[7];
|
---|
2359 | w = ((unsigned char)buf[8]<<24)+((unsigned char)buf[9]<<16)
|
---|
2360 | +((unsigned char)buf[10]<<8)+(unsigned char)buf[11];
|
---|
2361 |
|
---|
2362 | if(init)
|
---|
2363 | {
|
---|
2364 | int z;
|
---|
2365 | if(u < -30000 && sn > 30000) sn -= 0xFFFF;
|
---|
2366 | if(ssrc != w || ts > v)
|
---|
2367 | {
|
---|
2368 | RTCM3Error("Illegal UDP data received.\n");
|
---|
2369 | exit(1);
|
---|
2370 | }
|
---|
2371 | if(u > sn) /* don't show out-of-order packets */
|
---|
2372 | for(z = 12; z < i && !stop; ++z)
|
---|
2373 | HandleByte(&Parser, (unsigned int) buf[z]);
|
---|
2374 | }
|
---|
2375 | sn = u; ts = v; ssrc = w; init = 1;
|
---|
2376 | }
|
---|
2377 | else
|
---|
2378 | {
|
---|
2379 | RTCM3Error("Illegal UDP header.\n");
|
---|
2380 | exit(1);
|
---|
2381 | }
|
---|
2382 | }
|
---|
2383 | }
|
---|
2384 | i = snprintf(buf, MAXDATASIZE,
|
---|
2385 | "TEARDOWN rtsp://%s%s%s/%s RTSP/1.0\r\n"
|
---|
2386 | "CSeq: %d\r\n"
|
---|
2387 | "Session: %d\r\n"
|
---|
2388 | "\r\n",
|
---|
2389 | args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
|
---|
2390 | args.data, cseq++, session);
|
---|
2391 |
|
---|
2392 | if(i > MAXDATASIZE || i < 0) /* second check for old glibc */
|
---|
2393 | {
|
---|
2394 | RTCM3Error("Requested data too long\n");
|
---|
2395 | exit(1);
|
---|
2396 | }
|
---|
2397 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
2398 | {
|
---|
2399 | perror("send");
|
---|
2400 | exit(1);
|
---|
2401 | }
|
---|
2402 | }
|
---|
2403 | else
|
---|
2404 | {
|
---|
2405 | RTCM3Error("Could not start data stream.\n");
|
---|
2406 | exit(1);
|
---|
2407 | }
|
---|
2408 | }
|
---|
2409 | else
|
---|
2410 | {
|
---|
2411 | RTCM3Error("Could not setup initial control connection.\n");
|
---|
2412 | exit(1);
|
---|
2413 | }
|
---|
2414 | }
|
---|
2415 | else
|
---|
2416 | {
|
---|
2417 | perror("recv");
|
---|
2418 | exit(1);
|
---|
2419 | }
|
---|
2420 | }
|
---|
2421 | else
|
---|
2422 | {
|
---|
2423 | if(connect(sockfd, (struct sockaddr *)&their_addr,
|
---|
2424 | sizeof(struct sockaddr)) == -1)
|
---|
2425 | {
|
---|
2426 | perror("connect");
|
---|
2427 | exit(1);
|
---|
2428 | }
|
---|
2429 | if(!args.data)
|
---|
2430 | {
|
---|
2431 | i = snprintf(buf, MAXDATASIZE,
|
---|
2432 | "GET %s%s%s%s/ HTTP/1.0\r\n"
|
---|
2433 | "Host: %s\r\n%s"
|
---|
2434 | "User-Agent: %s/%s\r\n"
|
---|
2435 | "Connection: close\r\n"
|
---|
2436 | "\r\n"
|
---|
2437 | , proxyserver ? "http://" : "", proxyserver ? proxyserver : "",
|
---|
2438 | proxyserver ? ":" : "", proxyserver ? proxyport : "",
|
---|
2439 | args.server, args.mode == NTRIP1 ? "" : "Ntrip-Version: Ntrip/2.0\r\n",
|
---|
2440 | AGENTSTRING, revisionstr);
|
---|
2441 | }
|
---|
2442 | else
|
---|
2443 | {
|
---|
2444 | i=snprintf(buf, MAXDATASIZE-40, /* leave some space for login */
|
---|
2445 | "GET %s%s%s%s/%s HTTP/1.0\r\n"
|
---|
2446 | "Host: %s\r\n%s"
|
---|
2447 | "User-Agent: %s/%s\r\n"
|
---|
2448 | "Connection: close\r\n"
|
---|
2449 | "Authorization: Basic "
|
---|
2450 | , proxyserver ? "http://" : "", proxyserver ? proxyserver : "",
|
---|
2451 | proxyserver ? ":" : "", proxyserver ? proxyport : "",
|
---|
2452 | args.data, args.server,
|
---|
2453 | args.mode == NTRIP1 ? "" : "Ntrip-Version: Ntrip/2.0\r\n",
|
---|
2454 | AGENTSTRING, revisionstr);
|
---|
2455 | if(i > MAXDATASIZE-40 || i < 0) /* second check for old glibc */
|
---|
2456 | {
|
---|
2457 | RTCM3Error("Requested data too long\n");
|
---|
2458 | exit(1);
|
---|
2459 | }
|
---|
2460 | i += encode(buf+i, MAXDATASIZE-i-4, args.user, args.password);
|
---|
2461 | if(i > MAXDATASIZE-4)
|
---|
2462 | {
|
---|
2463 | RTCM3Error("Username and/or password too long\n");
|
---|
2464 | exit(1);
|
---|
2465 | }
|
---|
2466 | buf[i++] = '\r';
|
---|
2467 | buf[i++] = '\n';
|
---|
2468 | buf[i++] = '\r';
|
---|
2469 | buf[i++] = '\n';
|
---|
2470 | if(args.nmea)
|
---|
2471 | {
|
---|
2472 | int j = snprintf(buf+i, MAXDATASIZE-i, "%s\r\n", args.nmea);
|
---|
2473 | if(j >= 0 && j < MAXDATASIZE-i)
|
---|
2474 | i += j;
|
---|
2475 | else
|
---|
2476 | {
|
---|
2477 | RTCM3Error("NMEA string too long\n");
|
---|
2478 | exit(1);
|
---|
2479 | }
|
---|
2480 | }
|
---|
2481 | }
|
---|
2482 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
2483 | {
|
---|
2484 | perror("send");
|
---|
2485 | exit(1);
|
---|
2486 | }
|
---|
2487 | if(args.data)
|
---|
2488 | {
|
---|
2489 | int k = 0;
|
---|
2490 | int chunkymode = 0;
|
---|
2491 | int starttime = time(0);
|
---|
2492 | int lastout = starttime;
|
---|
2493 | int totalbytes = 0;
|
---|
2494 | int chunksize = 0;
|
---|
2495 |
|
---|
2496 | while(!stop && (numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
|
---|
2497 | {
|
---|
2498 | if(numbytes > 0)
|
---|
2499 | alarm(ALARMTIME);
|
---|
2500 | else
|
---|
2501 | {
|
---|
2502 | WaitMicro(100);
|
---|
2503 | continue;
|
---|
2504 | }
|
---|
2505 | if(!k)
|
---|
2506 | {
|
---|
2507 | if(numbytes > 17 && (!strncmp(buf, "HTTP/1.1 200 OK\r\n", 17)
|
---|
2508 | || !strncmp(buf, "HTTP/1.0 200 OK\r\n", 17)))
|
---|
2509 | {
|
---|
2510 | const char *datacheck = "Content-Type: gnss/data\r\n";
|
---|
2511 | const char *chunkycheck = "Transfer-Encoding: chunked\r\n";
|
---|
2512 | int l = strlen(datacheck)-1;
|
---|
2513 | int j=0;
|
---|
2514 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
2515 | {
|
---|
2516 | for(j = 0; j < l && buf[i+j] == datacheck[j]; ++j)
|
---|
2517 | ;
|
---|
2518 | }
|
---|
2519 | if(i == numbytes-l)
|
---|
2520 | {
|
---|
2521 | RTCM3Error("No 'Content-Type: gnss/data' found\n");
|
---|
2522 | exit(1);
|
---|
2523 | }
|
---|
2524 | l = strlen(chunkycheck)-1;
|
---|
2525 | j=0;
|
---|
2526 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
2527 | {
|
---|
2528 | for(j = 0; j < l && buf[i+j] == chunkycheck[j]; ++j)
|
---|
2529 | ;
|
---|
2530 | }
|
---|
2531 | if(i < numbytes-l)
|
---|
2532 | chunkymode = 1;
|
---|
2533 | }
|
---|
2534 | else if(numbytes < 12 || strncmp("ICY 200 OK\r\n", buf, 12))
|
---|
2535 | {
|
---|
2536 | RTCM3Error("Could not get the requested data: ");
|
---|
2537 | for(k = 0; k < numbytes && buf[k] != '\n' && buf[k] != '\r'; ++k)
|
---|
2538 | {
|
---|
2539 | RTCM3Error("%c", isprint(buf[k]) ? buf[k] : '.');
|
---|
2540 | }
|
---|
2541 | RTCM3Error("\n");
|
---|
2542 | exit(1);
|
---|
2543 | }
|
---|
2544 | else if(args.mode != NTRIP1)
|
---|
2545 | {
|
---|
2546 | if(args.mode != AUTO)
|
---|
2547 | {
|
---|
2548 | RTCM3Error("NTRIP version 2 HTTP connection failed%s.\n",
|
---|
2549 | args.mode == AUTO ? ", falling back to NTRIP1" : "");
|
---|
2550 | }
|
---|
2551 | if(args.mode == HTTP)
|
---|
2552 | exit(1);
|
---|
2553 | }
|
---|
2554 | ++k;
|
---|
2555 | }
|
---|
2556 | else
|
---|
2557 | {
|
---|
2558 | if(chunkymode)
|
---|
2559 | {
|
---|
2560 | int stop = 0;
|
---|
2561 | int pos = 0;
|
---|
2562 | while(!stop && pos < numbytes)
|
---|
2563 | {
|
---|
2564 | switch(chunkymode)
|
---|
2565 | {
|
---|
2566 | case 1: /* reading number starts */
|
---|
2567 | chunksize = 0;
|
---|
2568 | ++chunkymode; /* no break */
|
---|
2569 | case 2: /* during reading number */
|
---|
2570 | i = buf[pos++];
|
---|
2571 | if(i >= '0' && i <= '9') chunksize = chunksize*16+i-'0';
|
---|
2572 | else if(i >= 'a' && i <= 'f') chunksize = chunksize*16+i-'a'+10;
|
---|
2573 | else if(i >= 'A' && i <= 'F') chunksize = chunksize*16+i-'A'+10;
|
---|
2574 | else if(i == '\r') ++chunkymode;
|
---|
2575 | else if(i == ';') chunkymode = 5;
|
---|
2576 | else stop = 1;
|
---|
2577 | break;
|
---|
2578 | case 3: /* scanning for return */
|
---|
2579 | if(buf[pos++] == '\n') chunkymode = chunksize ? 4 : 1;
|
---|
2580 | else stop = 1;
|
---|
2581 | break;
|
---|
2582 | case 4: /* output data */
|
---|
2583 | i = numbytes-pos;
|
---|
2584 | if(i > chunksize) i = chunksize;
|
---|
2585 | {
|
---|
2586 | int z;
|
---|
2587 | for(z = 0; z < i && !stop; ++z)
|
---|
2588 | HandleByte(&Parser, (unsigned int) buf[pos+z]);
|
---|
2589 | }
|
---|
2590 | totalbytes += i;
|
---|
2591 | chunksize -= i;
|
---|
2592 | pos += i;
|
---|
2593 | if(!chunksize)
|
---|
2594 | chunkymode = 1;
|
---|
2595 | break;
|
---|
2596 | case 5:
|
---|
2597 | if(i == '\r') chunkymode = 3;
|
---|
2598 | break;
|
---|
2599 | }
|
---|
2600 | }
|
---|
2601 | if(stop)
|
---|
2602 | {
|
---|
2603 | RTCM3Error("Error in chunky transfer encoding\n");
|
---|
2604 | break;
|
---|
2605 | }
|
---|
2606 | }
|
---|
2607 | else
|
---|
2608 | {
|
---|
2609 | totalbytes += numbytes;
|
---|
2610 | {
|
---|
2611 | int z;
|
---|
2612 | for(z = 0; z < numbytes && !stop; ++z)
|
---|
2613 | HandleByte(&Parser, (unsigned int) buf[z]);
|
---|
2614 | }
|
---|
2615 | }
|
---|
2616 | if(totalbytes < 0) /* overflow */
|
---|
2617 | {
|
---|
2618 | totalbytes = 0;
|
---|
2619 | starttime = time(0);
|
---|
2620 | lastout = starttime;
|
---|
2621 | }
|
---|
2622 | }
|
---|
2623 | }
|
---|
2624 | }
|
---|
2625 | else
|
---|
2626 | {
|
---|
2627 | while(!stop && (numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) > 0)
|
---|
2628 | {
|
---|
2629 | alarm(ALARMTIME);
|
---|
2630 | fwrite(buf, (size_t)numbytes, 1, stdout);
|
---|
2631 | }
|
---|
2632 | }
|
---|
2633 | close(sockfd);
|
---|
2634 | }
|
---|
2635 | }
|
---|
2636 | return 0;
|
---|
2637 | }
|
---|
2638 | #endif /* NO_RTCM3_MAIN */
|
---|