/* read obs and nav data -----------------------------------------------------*/
static int readobsnav(gtime_t ts, gtime_t te, double ti, char **infile,
const int *index, int n, const prcopt_t *prcopt,
obs_t *obs, nav_t *nav, sta_t *sta)
{
int i,j,ind=0,nobs=0,rcv=1;
trace(3,"readobsnav: ts=%s n=%d\n",time_str(ts,0),n);
obs->data=NULL; obs->n =obs->nmax =0;
nav->eph =NULL; nav->n =nav->nmax =0;
nav->geph=NULL; nav->ng=nav->ngmax=0;
nav->seph=NULL; nav->ns=nav->nsmax=0;
nepoch=0;
for (i=0;i<n;i++) {
if (checkbrk("")) return 0;
if (index[i]!=ind) {
if (obs->n>nobs) rcv++;
ind=index[i]; nobs=obs->n;
}
/* read rinex obs and nav file */
if (readrnxt(infile[i],rcv,ts,te,ti,prcopt->rnxopt[rcv<=1?0:1],obs,nav,
rcv<=2?sta+rcv-1:NULL)<0) {
checkbrk("error : insufficient memory");
trace(1,"insufficient memory\n");
return 0;
}
}
if (obs->n<=0) {
checkbrk("error : no obs data");
trace(1,"no obs data\n");
return 0;
}
if (nav->n<=0&&nav->ng<=0&&nav->ns<=0) {
checkbrk("error : no nav data");
trace(1,"no nav data\n");
return 0;
}
/* sort observation data */
nepoch=sortobs(obs);
/* delete duplicated ephemeris */
uniqnav(nav);
/* set time span for progress display */
if (ts.time==0||te.time==0) {
for (i=0; i<obs->n;i++) if (obs->data[i].rcv==1) break;
for (j=obs->n-1;j>=0;j--) if (obs->data[j].rcv==1) break;
if (i<j) {
if (ts.time==0) ts=obs->data[i].time;
if (te.time==0) te=obs->data[j].time;
settspan(ts,te);
}
}
return 1;
}
// read observation data rinex ----------------------------------------------
int __fastcall TPlot::ReadObsRnx(TStrings *files, obs_t *obs, nav_t *nav,
sta_t *sta)
{
AnsiString s;
gtime_t ts,te;
double tint;
int i;
char obsfile[1024],navfile[1024],*p,*opt=RnxOpts.c_str();
trace(3,"ReadObsRnx\n");
TimeSpan(&ts,&te,&tint);
for (i=0;i<files->Count;i++) {
strcpy(obsfile,U2A(files->Strings[i]).c_str());
ShowMsg(s.sprintf("reading obs data... %s",obsfile));
Application->ProcessMessages();
if (readrnxt(obsfile,1,ts,te,tint,opt,obs,nav,sta)<0) {
ShowMsg("error: insufficient memory");
return -1;
}
}
ShowMsg("reading nav data...");
Application->ProcessMessages();
for (i=0;i<files->Count;i++) {
strcpy(navfile,U2A(files->Strings[i]).c_str());
if (!(p=strrchr(navfile,'.'))) continue;
if (!strcmp(p,".obs")||!strcmp(p,".OBS")) {
strcpy(p,".nav" ); readrnxt(navfile,1,ts,te,tint,opt,NULL,nav,NULL);
strcpy(p,".gnav"); readrnxt(navfile,1,ts,te,tint,opt,NULL,nav,NULL);
strcpy(p,".hnav"); readrnxt(navfile,1,ts,te,tint,opt,NULL,nav,NULL);
strcpy(p,".qnav"); readrnxt(navfile,1,ts,te,tint,opt,NULL,nav,NULL);
strcpy(p,".lnav"); readrnxt(navfile,1,ts,te,tint,opt,NULL,nav,NULL);
}
else if (!strcmp(p+3,"o" )||!strcmp(p+3,"d" )||
!strcmp(p+3,"O" )||!strcmp(p+3,"D" )) {
strcpy(p+3,"N"); readrnxt(navfile,1,ts,te,tint,opt,NULL,nav,NULL);
strcpy(p+3,"G"); readrnxt(navfile,1,ts,te,tint,opt,NULL,nav,NULL);
strcpy(p+3,"H"); readrnxt(navfile,1,ts,te,tint,opt,NULL,nav,NULL);
strcpy(p+3,"Q"); readrnxt(navfile,1,ts,te,tint,opt,NULL,nav,NULL);
strcpy(p+3,"L"); readrnxt(navfile,1,ts,te,tint,opt,NULL,nav,NULL);
strcpy(p+3,"P"); readrnxt(navfile,1,ts,te,tint,opt,NULL,nav,NULL);
}
}
if (obs->n<=0) {
ShowMsg(s.sprintf("no observation data: %s...",files->Strings[0].c_str()));
freenav(nav,0xFF);
return 0;
}
uniqnav(nav);
return sortobs(obs);
}
/* main ----------------------------------------------------------------------*/
int main(int argc, char **argv)
{
gtime_t ts={0},te={0};
obs_t obs={0};
nav_t nav={0};
sta_t sta={{0}};
double es[6]={0},ee[6]={0},tint=0.0;
char *infile[16]={0},*outfile="",buff[1024],*p;
int i,n=0,m=0,type[16],trlevel=0,staid=0,ret=0;
for (i=1;i<argc;i++) {
if (!strcmp(argv[i],"-ts")&&i+2<argc) {
sscanf(argv[++i],"%lf/%lf/%lf",es ,es+1,es+2);
sscanf(argv[++i],"%lf:%lf:%lf",es+3,es+4,es+6);
}
else if (!strcmp(argv[i],"-te")&&i+2<argc) {
sscanf(argv[++i],"%lf/%lf/%lf",ee ,ee+1,ee+2);
sscanf(argv[++i],"%lf:%lf:%lf",ee+3,ee+4,ee+5);
}
else if (!strcmp(argv[i],"-ti" )&&i+1<argc) tint =atof(argv[++i]);
else if (!strcmp(argv[i],"-sta")&&i+1<argc) staid=atoi(argv[++i]);
else if (!strcmp(argv[i],"-out")&&i+1<argc) outfile=argv[++i];
else if (!strcmp(argv[i],"-typ")&&i+1<argc) {
strcpy(buff,argv[++i]);
for (p=strtok(buff,",");p;p=strtok(NULL,",")) type[m++]=atoi(p);
}
else if (!strcmp(argv[i],"-x" )&&i+1<argc) trlevel=atoi(argv[++i]);
else if (!strncmp(argv[i],"-",1)) print_help();
else infile[n++]=argv[i];
}
if (trlevel>0) {
traceopen(TRACEFILE);
tracelevel(trlevel);
}
if (es[0]>0.0) ts=epoch2time(es);
if (ee[0]>0.0) te=epoch2time(ee);
/* read rinex files */
for (i=0;i<n;i++) {
readrnxt(infile[i],0,ts,te,tint,"",&obs,&nav,&sta);
}
sortobs(&obs);
uniqnav(&nav);
/* convert to rtcm messages */
if (!conv_rtcm(type,m,outfile,&obs,&nav,&sta,staid)) ret=-1;
free(obs.data);
freenav(&nav,0xFF);
if (trlevel>0) {
traceclose();
}
return ret;
}
/* readrnx(), sortobs(), uniqnav() */
void utest1(void)
{
char file1[]="abc.00o";
char file2[]="bcd.00n";
char file3[]="../data/rinex/07590920.05o";
char file4[]="../data/rinex/07590920.05n";
char file5[]="../data/rinex/30400920.05o";
char file6[]="../data/rinex/30400920.05n";
obs_t obs={0};
nav_t nav={0};
sta_t sta={""};
int n,stat;
stat=readrnx(file1,1,"",&obs,&nav,&sta);
assert(stat==0&&obs.n==0&&nav.n==0&&nav.ng==0&&nav.ns==0);
stat=readrnx(file2,1,"",&obs,&nav,&sta);
assert(stat==0&&obs.n==0&&nav.n==0&&nav.ng==0&&nav.ns==0);
stat=readrnx(file3,1,"",&obs,&nav,&sta);
assert(stat==1);
stat=readrnx(file4,1,"",&obs,&nav,&sta);
assert(stat==1);
stat=readrnx(file5,2,"",&obs,&nav,&sta);
assert(stat==1);
stat=readrnx(file6,2,"",&obs,&nav,&sta);
assert(stat==1);
n=sortobs(&obs);
assert(n==171);
uniqnav(&nav);
assert(nav.n==167);
dumpobs(&obs); dumpnav(&nav); dumpsta(&sta);
assert(obs.data&&obs.n>0&&nav.eph&&nav.n>0);
free(obs.data);
free(nav.eph);
free(nav.geph);
free(nav.seph);
printf("%s utest1 : OK\n",__FILE__);
}
/* update rtk server struct --------------------------------------------------*/
static void updatesvr(rtksvr_t *svr, int ret, obs_t *obs, nav_t *nav, int sat,
sbsmsg_t *sbsmsg, int index, int iobs)
{
eph_t *eph1,*eph2,*eph3;
geph_t *geph1,*geph2,*geph3;
gtime_t tof;
double pos[3],del[3],dr[3];
int i,n=0,prn=0,sbssat=svr->rtk.opt.sbassatsel,sys=0,iode=0;
INIT_ZERO(del);
INIT_ZERO(dr);
INIT_ZERO(pos);
INIT_ZERO(prn);
tracet(4,"updatesvr: ret=%d sat=%2d index=%d\n",ret,sat,index);
if (ret==1) { /* observation data */
if (iobs<MAXOBSBUF) {
for (i=0;i<obs->n;i++) {
if (svr->rtk.opt.exsats[obs->data[i].sat-1]==1||
!(satsys(obs->data[i].sat,NULL)&svr->rtk.opt.navsys)) continue;
svr->obs[index][iobs].data[n]=obs->data[i];
svr->obs[index][iobs].data[n++].rcv=index+1;
}
svr->obs[index][iobs].n=n;
sortobs(&svr->obs[index][iobs]);
}
svr->nmsg[index][0]++;
}
else if (ret==2) { /* ephemeris */
if (satsys(sat,&prn)!=SYS_GLO) {
if (!svr->navsel||svr->navsel==index+1) {
eph1=nav->eph+sat-1;
eph2=svr->nav.eph+sat-1;
eph3=svr->nav.eph+sat-1+MAXSAT;
if (eph2->ttr.time==0||
(eph1->iode!=eph3->iode&&eph1->iode!=eph2->iode)||
(timediff(eph1->toe,eph3->toe)!=0.0&&
timediff(eph1->toe,eph2->toe)!=0.0)) {
*eph3=*eph2;
*eph2=*eph1;
updatenav(&svr->nav);
}
}
svr->nmsg[index][1]++;
}
else {
if (!svr->navsel||svr->navsel==index+1) {
geph1=nav->geph+prn-1;
geph2=svr->nav.geph+prn-1;
geph3=svr->nav.geph+prn-1+MAXPRNGLO;
if (geph2->tof.time==0||
(geph1->iode!=geph3->iode&&geph1->iode!=geph2->iode)) {
*geph3=*geph2;
*geph2=*geph1;
updatenav(&svr->nav);
updatefcn(svr);
}
}
svr->nmsg[index][6]++;
}
}
else if (ret==3) { /* sbas message */
if (sbsmsg&&(sbssat==sbsmsg->prn||sbssat==0)) {
if (svr->nsbs<MAXSBSMSG) {
svr->sbsmsg[svr->nsbs++]=*sbsmsg;
}
else {
for (i=0;i<MAXSBSMSG-1;i++) svr->sbsmsg[i]=svr->sbsmsg[i+1];
svr->sbsmsg[i]=*sbsmsg;
}
sbsupdatecorr(sbsmsg,&svr->nav);
}
svr->nmsg[index][3]++;
}
else if (ret==9) { /* ion/utc parameters */
if (svr->navsel==index||svr->navsel>=3) {
for (i=0;i<8;i++) svr->nav.ion_gps[i]=nav->ion_gps[i];
for (i=0;i<4;i++) svr->nav.utc_gps[i]=nav->utc_gps[i];
for (i=0;i<4;i++) svr->nav.ion_gal[i]=nav->ion_gal[i];
for (i=0;i<4;i++) svr->nav.utc_gal[i]=nav->utc_gal[i];
for (i=0;i<8;i++) svr->nav.ion_qzs[i]=nav->ion_qzs[i];
for (i=0;i<4;i++) svr->nav.utc_qzs[i]=nav->utc_qzs[i];
svr->nav.leaps=nav->leaps;
}
svr->nmsg[index][2]++;
}
else if (ret==5) { /* antenna postion parameters */
if (svr->rtk.opt.refpos==4&&index==1) {
for (i=0;i<3;i++) {
svr->rtk.rb[i]=svr->rtcm[1].sta.pos[i];
}
/* antenna delta */
ecef2pos(svr->rtk.rb,pos);
if (svr->rtcm[1].sta.deltype) { /* xyz */
del[2]=svr->rtcm[1].sta.hgt;
enu2ecef(pos,del,dr);
for (i=0;i<3;i++) {
svr->rtk.rb[i]+=svr->rtcm[1].sta.del[i]+dr[i];
}
}
else { /* enu */
enu2ecef(pos,svr->rtcm[1].sta.del,dr);
for (i=0;i<3;i++) {
svr->rtk.rb[i]+=dr[i];
}
}
}
svr->nmsg[index][4]++;
}
else if (ret==7) { /* dgps correction */
svr->nmsg[index][5]++;
}
else if (ret==10) { /* ssr message */
for (i=0;i<MAXSAT;i++) {
if (!svr->rtcm[index].ssr[i].update) continue;
svr->rtcm[index].ssr[i].update=0;
iode=svr->rtcm[index].ssr[i].iode;
sys=satsys(i+1,&prn);
/* check corresponding ephemeris exists */
if (sys==SYS_GPS||sys==SYS_GAL||sys==SYS_QZS) {
if (svr->nav.eph[i ].iode!=iode&&
svr->nav.eph[i+MAXSAT].iode!=iode) {
continue;
}
}
else if (sys==SYS_GLO) {
if (svr->nav.geph[prn-1 ].iode!=iode&&
svr->nav.geph[prn-1+MAXPRNGLO].iode!=iode) {
continue;
}
}
svr->nav.ssr[i]=svr->rtcm[index].ssr[i];
}
svr->nmsg[index][7]++;
}
else if (ret==31) { /* lex message */
lexupdatecorr(&svr->raw[index].lexmsg,&svr->nav,&tof);
svr->nmsg[index][8]++;
}
else if (ret==-1) { /* error */
svr->nmsg[index][9]++;
}
}
/* main ----------------------------------------------------------------------*/
int main(int argc, char **argv)
{
FILE *fp=stdout;
pcvs_t pcvs={0};
nav_t nav={0};
obs_t obs={0};
sta_t sta={{0}};
pcv_t *pcv=NULL;
gtime_t ts={0},te={0};
double eps[6]={0},epe[6]={0},rr[3]={0},tint=30.0;
char *ifile[32],*ofile="",*afile="",*dfile="",ant[64]="";
int i,j,n=0;
for (i=1;i<argc;i++) {
if (!strcmp(argv[i],"-ts")&&i+2<argc) {
sscanf(argv[++i],"%lf/%lf/%lf",eps,eps+1,eps+2);
sscanf(argv[++i],"%lf:%lf:%lf",eps+3,eps+4,eps+5);
}
else if (!strcmp(argv[i],"-te")&&i+2<argc) {
sscanf(argv[++i],"%lf/%lf/%lf",epe,epe+1,epe+2);
sscanf(argv[++i],"%lf:%lf:%lf",epe+3,epe+4,epe+5);
}
else if (!strcmp(argv[i],"-ti")&&i+1<argc) {
tint=atof(argv[++i]);
}
else if (!strcmp(argv[i],"-r")&&i+3<argc) {
for (j=0;j<3;j++) rr[j]=atof(argv[++i]);
}
else if (!strcmp(argv[i],"-o")&&i+1<argc) ofile=argv[++i];
else if (!strcmp(argv[i],"-a")&&i+1<argc) afile=argv[++i];
else if (!strcmp(argv[i],"-d")&&i+1<argc) dfile=argv[++i];
else ifile[n++]=argv[i];
}
/* open output file */
if (*ofile&&!(fp=fopen(ofile,"w"))) {
fprintf(stderr,"output file open error: %s\n",ofile);
return -1;
}
if (eps[2]>=1.0) ts=epoch2time(eps);
if (epe[2]>=1.0) te=epoch2time(epe);
/* read rinex obs/nav */
for (i=0;i<n;i++) {
fprintf(stderr,"reading: %s\n",ifile[i]);
readrnxt(ifile[i],1,ts,te,0.0,"",&obs,&nav,&sta);
if (*sta.antdes) strcpy(ant,sta.antdes);
if (norm(sta.pos,3)>0.0) matcpy(rr,sta.pos,3,1);
}
if (!sortobs(&obs)) {
fprintf(stderr,"no observation data\n");
return -1;
}
uniqnav(&nav);
/* read antenna file */
if (*afile&&*ant) {
if (!readpcv(afile,&pcvs)) {
fprintf(stderr,"antenna file open error: %s\n",afile);
return -1;
}
/* search pcv */
if (!(pcv=searchpcv(0,ant,obs.data[0].time,&pcvs))) {
fprintf(stderr,"no antenna parmeter: %s\n",ant);
}
}
/* read p1-c1 dcb parameters */
if (*dfile) readdcb(dfile,&nav);
/* set p1-p2 dcb parameters */
for (i=0;i<MAXSAT;i++) {
for (j=0;j<nav.n;j++) {
if (nav.eph[j].sat!=i+1) continue;
nav.cbias[i][0]=nav.eph[j].tgd[0]*CLIGHT;
break;
}
}
/* estimate ionosphere parameters */
est_iono(&obs,&nav,pcv,rr,tint,fp);
fclose(fp);
if (*ofile) fprintf(stderr,"output: %s\n",ofile);
return 0;
}
