static void statesend(hcnraw_t *hcnraw){
state_t state = { { 0 } };
gtime_t utc;
double timer[6];
utc=gpst2utc(hcnraw->time);
time2epoch(utc,timer);
#if 0
if((timer=gmtime(&utc.time))){
sprintf(state.utctime,"%d-%d-%d-%d-%d-%d",timer->tm_year,
timer->tm_mon,timer->tm_mday,timer->tm_hour,timer->tm_min,
timer->tm_sec);
}
#endif
sprintf(state.utctime,"%.0f-%.0f-%.0f-%.0f-%.0f-%.0f",
timer[0],timer[1],timer[2],timer[3],timer[4],timer[5]);
state.antn.mainantnworksta = hcnraw->board.mainantnworksta;
state.antn.mainantnrfsta = hcnraw->board.mainantnrfsta;
state.antn.aantnworksta = hcnraw->board.aantnworksta;
state.antn.aantnrfsta = hcnraw->board.aantnrfsta;
state.cpu.acpuload = hcnraw->board.acpuload;
state.cpu.dcpuload = hcnraw->board.dcpuload;
state.cpu.astatus = hcnraw->board.astatus;
state.cpu.dstatus = hcnraw->board.dstatus;
#if 1
state.cpu.fstatus = hcnraw->board.fstatus;
#endif
pthread_mutex_lock(&lock);
cmd_response_massage( sock,&msg_head[0],&state,sizeof(state_t));
pthread_mutex_unlock(&lock);
}
/* exclude meas of eclipsing satellite (block IIA) ---------------------------*/
static void testeclipse(const obsd_t *obs, int n, const nav_t *nav, double *rs)
{
double rsun[3],esun[3],r,ang,erpv[5]={0},cosa;
int i,j;
const char *type;
trace(3,"testeclipse:\n");
/* unit vector of sun direction (ecef) */
sunmoonpos(gpst2utc(obs[0].time),erpv,rsun,NULL,NULL);
normv3(rsun,esun);
for (i=0;i<n;i++) {
type=nav->pcvs[obs[i].sat-1].type;
if ((r=norm(rs+i*6,3))<=0.0) continue;
#if 1
/* only block IIA */
if (*type&&!strstr(type,"BLOCK IIA")) continue;
#endif
/* sun-earth-satellite angle */
cosa=dot(rs+i*6,esun,3)/r;
cosa=cosa<-1.0?-1.0:(cosa>1.0?1.0:cosa);
ang=acos(cosa);
/* test eclipse */
if (ang<PI/2.0||r*sin(ang)>RE_WGS84) continue;
trace(2,"eclipsing sat excluded %s sat=%2d\n",time_str(obs[0].time,0),
obs[i].sat);
for (j=0;j<3;j++) rs[j+i*6]=0.0;
}
}
// get position regarding time ----------------------------------------------
double __fastcall TPlot::TimePos(gtime_t time)
{
double tow;
int week;
if (TimeLabel<=1) { // www/ssss or gpst
tow=time2gpst(time,&week);
}
else if (TimeLabel==2) { // utc
tow=time2gpst(gpst2utc(time),&week);
}
else { // jst
tow=time2gpst(timeadd(gpst2utc(time),9*3600.0),&week);
}
return tow+(week-Week)*86400.0*7;
}
/* gpst2utc() */
void utest7(void)
{
double ep0[]={1980, 1, 6, 0, 0, 0.000000};
double ep1[]={1992, 7, 1, 0, 0, 6.999999};
double ep2[]={1992, 7, 1, 0, 0, 7.000000};
double ep3[]={1992, 7, 1, 0, 0, 8.000000};
double ep4[]={2004,12,31,23,59,59.999999};
double ep5[]={2006, 1, 1, 0, 0, 0.000000};
double ep6[]={2038, 1, 1, 0, 0, 0.000000};
gtime_t t;
double ep[6];
t=gpst2utc(epoch2time(ep0)); time2epoch(t,ep);
assert(ep[0]==1980&&ep[1]==1&&ep[2]==6&&ep[3]==0&&ep[4]==0&&ep[5]==0.0);
t=gpst2utc(epoch2time(ep1)); time2epoch(t,ep);
assert(ep[0]==1992&&ep[1]==6&&ep[2]==30&&ep[3]==23&&ep[4]==59&&fabs(ep[5]-59.999999)<1E-14);
t=gpst2utc(epoch2time(ep2)); time2epoch(t,ep);
assert(ep[0]==1992&&ep[1]==7&&ep[2]==1&&ep[3]==0&&ep[4]==0&&ep[5]==0.0);
t=gpst2utc(epoch2time(ep3)); time2epoch(t,ep);
assert(ep[0]==1992&&ep[1]==7&&ep[2]==1&&ep[3]==0&&ep[4]==0&&ep[5]==0.0);
t=gpst2utc(epoch2time(ep4)); time2epoch(t,ep);
assert(ep[0]==2004&&ep[1]==12&&ep[2]==31&&ep[3]==23&&ep[4]==59&&fabs(ep[5]-46.999999)<1E-14);
t=gpst2utc(epoch2time(ep5)); time2epoch(t,ep);
assert(ep[0]==2005&&ep[1]==12&&ep[2]==31&&ep[3]==23&&ep[4]==59&&ep[5]==47.0);
t=gpst2utc(epoch2time(ep6)); time2epoch(t,ep);
assert(ep[0]==2037&&ep[1]==12&&ep[2]==31&&ep[3]==23&&ep[4]==59&&ep[5]==44.0);
printf("%s utset7 : OK\n",__FILE__);
}
/* utc2gpst(), gpst2utc() */
void utest8(void)
{
double ep0[]={1980, 1, 6, 0, 0, 0.000000};
double ep1[]={2010,12,31,23,59,59.999999};
gtime_t t0,t1,t2,t3;
t0=epoch2time(ep0);
t1=epoch2time(ep1);
while (t0.time<t1.time) {
t2=utc2gpst(t0); t3=gpst2utc(t2); assert(t0.time==t3.time&&t0.sec==t3.sec);
t0.time+=86400.0;
}
printf("%s utset8 : OK\n",__FILE__);
}
// update information for current-cursor position ---------------------------
void __fastcall TPlot::UpdatePoint(int x, int y)
{
gtime_t time;
TPoint p(x,y);
double enu[3]={0},rr[3],pos[3],xx,yy,r,xl[2],yl[2],q[2],az,el,snr;
int i;
char tstr[64];
AnsiString msg;
trace(4,"UpdatePoint: x=%d y=%d\n",x,y);
if (PlotType==PLOT_TRK) { // track-plot
if (norm(OPos,3)>0.0) {
GraphT->ToPos(p,enu[0],enu[1]);
ecef2pos(OPos,pos);
enu2ecef(pos,enu,rr);
for (i=0;i<3;i++) rr[i]+=OPos[i];
ecef2pos(rr,pos);
msg=LatLonStr(pos,8);
}
}
else if (PlotType==PLOT_SKY||PlotType==PLOT_MPS) { // sky-plot
GraphS->GetLim(xl,yl);
GraphS->ToPos(p,q[0],q[1]);
r=(xl[1]-xl[0]<yl[1]-yl[0]?xl[1]-xl[0]:yl[1]-yl[0])*0.45;
if ((el=90.0-90.0*norm(q,2)/r)>0.0) {
az=el>=90.0?0.0:ATAN2(q[0],q[1])*R2D;
if (az<0.0) az+=360.0;
msg.sprintf("AZ=%5.1f" CHARDEG " EL=%4.1f" CHARDEG,az,el);
}
}
else if (PlotType==PLOT_SNRE) { // snr-el-plot
GraphE[0]->ToPos(p,q[0],q[1]);
msg.sprintf("EL=%4.1f " CHARDEG,q[0]);
}
else {
GraphG[0]->ToPos(p,xx,yy);
time=gpst2time(Week,xx);
if (TimeLabel==2) time=utc2gpst(time); // UTC
else if (TimeLabel==3) time=timeadd(gpst2utc(time),-9*3600.0); // JST
TimeStr(time,0,1,tstr);
msg=tstr;
}
Panel22->Visible=true;
Message2->Caption=A2U(msg);
}
/* internal decode stream function */
static void decode_stream(raw_t *raw, unsigned char buff[], int len)
{
/* local variable */
int i, j, status;
int sys, prn;
gtime_t utctimebj;
for (i=0; i<len; i++) {
status = decode_unicore(raw, buff[i]);
if (status <= 0) continue;
/* get beijing utc time */
utctimebj = gpst2utc(raw->time);
utctimebj.time += 8*3600;
/* get gsof_sat data */
if (status == 24 ) {
printf("%20s ==== azi & ele ====> %02d\n", time_str(utctimebj, 3),
raw->gsof.sat.num);
for(j=0; j<raw->gsof.sat.num; j++) {
printf(" %c%02d %8.3f %8.3f\n",
(raw->gsof.sat.data[j].sys == SYS_GPS)? 'G': 'C',
raw->gsof.sat.data[j].prn,
raw->gsof.sat.data[j].azi,
raw->gsof.sat.data[j].ele);
}
printf("-----------------------------------------------------\n");
}
/* get raw_sna data */
if (status == 1 ) {
printf("%20s ==== sna ====> %02d\n", time_str(utctimebj, 3),
raw->obs.n);
for(j=0; j<raw->obs.n; j++) {
sys = satsys(raw->obs.data[j].sat, &prn);
printf(" %c%02d %8.3f %8.3f\n",
(sys == SYS_GPS)? 'G': 'C',
prn,
raw->obs.data[j].SNR[0]/4.0,
raw->obs.data[j].SNR[1]/4.0);
}
printf("-----------------------------------------------------\n");
}
}
}
//---------------------------------------------------------------------------
void __fastcall TTimeDialog::FormShow(TObject *Sender)
{
gtime_t utc;
double tow,doy;
int week;
char msg[1024],s1[64],s2[64],*p=msg;
utc=gpst2utc(Time);
time2str(Time,s1,0);
time2str(utc,s2,0);
tow=time2gpst(Time,&week);
doy=time2doy(Time);
p+=sprintf(p,"%s GPST\n",s1);
p+=sprintf(p,"%s UTC\n\n",s2);
p+=sprintf(p,"GPS Week: %d\n",week);
p+=sprintf(p,"GPS Time: %.0f s\n",tow);
p+=sprintf(p,"Day of Year: %03d\n",(int)floor(doy));
p+=sprintf(p,"Day of Week: %d\n",(int)floor(tow/86400.0));
p+=sprintf(p,"Time of Day: %.0f s\n",fmod(tow,86400.0));
sprintf(p,"Leap Seconds: %.0f s\n",timediff(Time,utc));
Message->Caption=msg;
}
/* satellite antenna phase center offset ---------------------------------------
* compute satellite antenna phase center offset in ecef
* args : gtime_t time I time (gpst)
* double *rs I satellite position and velocity (ecef)
* {x,y,z,vx,vy,vz} (m|m/s)
* pcv_t *pcv I satellite antenna parameter
* double *dant I satellite antenna phase center offset (ecef)
* {dx,dy,dz} (m)
* return : none
*-----------------------------------------------------------------------------*/
extern void satantoff(gtime_t time, const double *rs, const pcv_t *pcv,
double *dant)
{
double ex[3],ey[3],ez[3],es[3],r[3],rsun[3],gmst;
int i;
trace(4,"satantoff: time=%s\n",time_str(time,3));
/* sun position in ecef */
sunmoonpos(gpst2utc(time),NULL,rsun,NULL,&gmst);
/* unit vectors of satellite fixed coordinates */
for (i=0;i<3;i++) r[i]=-rs[i];
if (!normv3(r,ez)) return;
for (i=0;i<3;i++) r[i]=rsun[i]-rs[i];
if (!normv3(r,es)) return;
cross3(ez,es,r);
if (!normv3(r,ey)) return;
cross3(ey,ez,ex);
for (i=0;i<3;i++) { /* use L1 value */
dant[i]=pcv->off[0][0]*ex[i]+pcv->off[0][1]*ey[i]+pcv->off[0][2]*ez[i];
}
}
/* phase and code residuals --------------------------------------------------*/
static int res_ppp(int iter, const obsd_t *obs, int n, const double *rs,
const double *dts, const double *vare, const int *svh,
const nav_t *nav, const double *x, rtk_t *rtk, double *v,
double *H, double *R, double *azel)
{
prcopt_t *opt=&rtk->opt;
double r,rr[3],disp[3],pos[3],e[3],meas[2],dtdx[3],dantr[NFREQ]={0};
double dants[NFREQ]={0},var[MAXOBS*2],dtrp=0.0,vart=0.0,varm[2]={0};
int i,j,k,sat,sys,nv=0,nx=rtk->nx,brk,tideopt;
trace(3,"res_ppp : n=%d nx=%d\n",n,nx);
for (i=0;i<MAXSAT;i++) rtk->ssat[i].vsat[0]=0;
for (i=0;i<3;i++) rr[i]=x[i];
/* earth tides correction */
if (opt->tidecorr) {
tideopt=opt->tidecorr==1?1:7; /* 1:solid, 2:solid+otl+pole */
tidedisp(gpst2utc(obs[0].time),rr,tideopt,&nav->erp,opt->odisp[0],
disp);
for (i=0;i<3;i++) rr[i]+=disp[i];
}
ecef2pos(rr,pos);
for (i=0;i<n&&i<MAXOBS;i++) {
sat=obs[i].sat;
if (!(sys=satsys(sat,NULL))||!rtk->ssat[sat-1].vs) continue;
/* geometric distance/azimuth/elevation angle */
if ((r=geodist(rs+i*6,rr,e))<=0.0||
satazel(pos,e,azel+i*2)<opt->elmin) continue;
/* excluded satellite? */
if (satexclude(obs[i].sat,svh[i],opt)) continue;
/* tropospheric delay correction */
if (opt->tropopt==TROPOPT_SAAS) {
dtrp=tropmodel(obs[i].time,pos,azel+i*2,REL_HUMI);
vart=SQR(ERR_SAAS);
}
else if (opt->tropopt==TROPOPT_SBAS) {
dtrp=sbstropcorr(obs[i].time,pos,azel+i*2,&vart);
}
else if (opt->tropopt==TROPOPT_EST||opt->tropopt==TROPOPT_ESTG) {
dtrp=prectrop(obs[i].time,pos,azel+i*2,opt,x+IT(opt),dtdx,&vart);
}
else if (opt->tropopt==TROPOPT_COR||opt->tropopt==TROPOPT_CORG) {
dtrp=prectrop(obs[i].time,pos,azel+i*2,opt,x,dtdx,&vart);
}
/* satellite antenna model */
if (opt->posopt[0]) {
satantpcv(rs+i*6,rr,nav->pcvs+sat-1,dants);
}
/* receiver antenna model */
antmodel(opt->pcvr,opt->antdel[0],azel+i*2,opt->posopt[1],dantr);
/* phase windup correction */
if (opt->posopt[2]) {
windupcorr(rtk->sol.time,rs+i*6,rr,&rtk->ssat[sat-1].phw);
}
/* ionosphere and antenna phase corrected measurements */
if (!corrmeas(obs+i,nav,pos,azel+i*2,&rtk->opt,dantr,dants,
rtk->ssat[sat-1].phw,meas,varm,&brk)) {
continue;
}
/* satellite clock and tropospheric delay */
r+=-CLIGHT*dts[i*2]+dtrp;
trace(5,"sat=%2d azel=%6.1f %5.1f dtrp=%.3f dantr=%6.3f %6.3f dants=%6.3f %6.3f phw=%6.3f\n",
sat,azel[i*2]*R2D,azel[1+i*2]*R2D,dtrp,dantr[0],dantr[1],dants[0],
dants[1],rtk->ssat[sat-1].phw);
for (j=0;j<2;j++) { /* for phase and code */
if (meas[j]==0.0) continue;
for (k=0;k<nx;k++) H[k+nx*nv]=0.0;
v[nv]=meas[j]-r;
for (k=0;k<3;k++) H[k+nx*nv]=-e[k];
if (sys!=SYS_GLO) {
v[nv]-=x[IC(0,opt)];
H[IC(0,opt)+nx*nv]=1.0;
}
else {
v[nv]-=x[IC(1,opt)];
H[IC(1,opt)+nx*nv]=1.0;
}
if (opt->tropopt>=TROPOPT_EST) {
for (k=0;k<(opt->tropopt>=TROPOPT_ESTG?3:1);k++) {
H[IT(opt)+k+nx*nv]=dtdx[k];
}
}
if (j==0) {
v[nv]-=x[IB(obs[i].sat,opt)];
H[IB(obs[i].sat,opt)+nx*nv]=1.0;
}
var[nv]=varerr(obs[i].sat,sys,azel[1+i*2],j,opt)+varm[j]+vare[i]+vart;
if (j==0) rtk->ssat[sat-1].resc[0]=v[nv];
else rtk->ssat[sat-1].resp[0]=v[nv];
/* test innovation */
#if 0
if (opt->maxinno>0.0&&fabs(v[nv])>opt->maxinno) {
#else
if (opt->maxinno>0.0&&fabs(v[nv])>opt->maxinno&&sys!=SYS_GLO) {
#endif
trace(2,"ppp outlier rejected %s sat=%2d type=%d v=%.3f\n",
time_str(obs[i].time,0),sat,j,v[nv]);
rtk->ssat[sat-1].rejc[0]++;
continue;
}
if (j==0) rtk->ssat[sat-1].vsat[0]=1;
nv++;
}
}
for (i=0;i<nv;i++) for (j=0;j<nv;j++) {
R[i+j*nv]=i==j?var[i]:0.0;
}
trace(5,"x=\n"); tracemat(5,x, 1,nx,8,3);
trace(5,"v=\n"); tracemat(5,v, 1,nv,8,3);
trace(5,"H=\n"); tracemat(5,H,nx,nv,8,3);
trace(5,"R=\n"); tracemat(5,R,nv,nv,8,5);
return nv;
}
/* number of estimated states ------------------------------------------------*/
extern int pppnx(const prcopt_t *opt)
{
return NX(opt);
}
/* precise point positioning -------------------------------------------------*/
extern void pppos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
{
const prcopt_t *opt=&rtk->opt;
double *rs,*dts,*var,*v,*H,*R,*azel,*xp,*Pp;
int i,nv,info,svh[MAXOBS],stat=SOLQ_SINGLE;
trace(3,"pppos : nx=%d n=%d\n",rtk->nx,n);
rs=mat(6,n); dts=mat(2,n); var=mat(1,n); azel=zeros(2,n);
for (i=0;i<MAXSAT;i++) rtk->ssat[i].fix[0]=0;
/* temporal update of states */
udstate_ppp(rtk,obs,n,nav);
trace(4,"x(0)="); tracemat(4,rtk->x,1,NR(opt),13,4);
/* satellite positions and clocks */
satposs(obs[0].time,obs,n,nav,rtk->opt.sateph,rs,dts,var,svh);
/* exclude measurements of eclipsing satellite */
if (rtk->opt.posopt[3]) {
testeclipse(obs,n,nav,rs);
}
xp=mat(rtk->nx,1); Pp=zeros(rtk->nx,rtk->nx);
matcpy(xp,rtk->x,rtk->nx,1);
nv=n*rtk->opt.nf*2; v=mat(nv,1); H=mat(rtk->nx,nv); R=mat(nv,nv);
for (i=0;i<rtk->opt.niter;i++) {
/* phase and code residuals */
if ((nv=res_ppp(i,obs,n,rs,dts,var,svh,nav,xp,rtk,v,H,R,azel))<=0) break;
/* measurement update */
matcpy(Pp,rtk->P,rtk->nx,rtk->nx);
if ((info=filter(xp,Pp,H,v,R,rtk->nx,nv))) {
trace(2,"ppp filter error %s info=%d\n",time_str(rtk->sol.time,0),
info);
break;
}
trace(4,"x(%d)=",i+1); tracemat(4,xp,1,NR(opt),13,4);
stat=SOLQ_PPP;
}
if (stat==SOLQ_PPP) {
/* postfit residuals */
res_ppp(1,obs,n,rs,dts,var,svh,nav,xp,rtk,v,H,R,azel);
/* update state and covariance matrix */
matcpy(rtk->x,xp,rtk->nx,1);
matcpy(rtk->P,Pp,rtk->nx,rtk->nx);
/* ambiguity resolution in ppp */
if (opt->modear==ARMODE_PPPAR||opt->modear==ARMODE_PPPAR_ILS) {
if (pppamb(rtk,obs,n,nav,azel)) stat=SOLQ_FIX;
}
/* update solution status */
rtk->sol.ns=0;
for (i=0;i<n&&i<MAXOBS;i++) {
if (!rtk->ssat[obs[i].sat-1].vsat[0]) continue;
rtk->ssat[obs[i].sat-1].lock[0]++;
rtk->ssat[obs[i].sat-1].outc[0]=0;
rtk->ssat[obs[i].sat-1].fix [0]=4;
rtk->sol.ns++;
}
rtk->sol.stat=stat;
for (i=0;i<3;i++) {
rtk->sol.rr[i]=rtk->x[i];
rtk->sol.qr[i]=(float)rtk->P[i+i*rtk->nx];
}
rtk->sol.qr[3]=(float)rtk->P[1];
rtk->sol.qr[4]=(float)rtk->P[2+rtk->nx];
rtk->sol.qr[5]=(float)rtk->P[2];
rtk->sol.dtr[0]=rtk->x[IC(0,opt)];
rtk->sol.dtr[1]=rtk->x[IC(1,opt)]-rtk->x[IC(0,opt)];
for (i=0;i<n&&i<MAXOBS;i++) {
rtk->ssat[obs[i].sat-1].snr[0]=MIN(obs[i].SNR[0],obs[i].SNR[1]);
}
for (i=0;i<MAXSAT;i++) {
if (rtk->ssat[i].slip[0]&3) rtk->ssat[i].slipc[0]++;
}
}
free(rs); free(dts); free(var); free(azel);
free(xp); free(Pp); free(v); free(H); free(R);
}
static jlong GTime_get_utc_time_millis(JNIEnv* env, jobject thiz)
{
gtime_t t;
t = gpst2utc(get_gtime_t(env, thiz));
return (jlong)(1000ll * t.time + llround(1000.0 * t.sec));
}
static void *rtksvrthread(void *arg)
#endif
{
rtksvr_t *svr=(rtksvr_t *)arg;
obs_t obs;
obsd_t data[MAXOBS*2];
double tt;
unsigned int tick,ticknmea;
unsigned char *p,*q;
int i,j,n,fobs[3],cycle,cputime;
INIT_ZERO(fobs);
tracet(3,"rtksvrthread:\n");
svr->state=1; obs.data=data;
svr->tick=tickget();
ticknmea=svr->tick-1000;
for (cycle=0;svr->state;cycle++) {
tick=tickget();
for (i=0;i<3;i++) {
p=svr->buff[i]+svr->nb[i]; q=svr->buff[i]+svr->buffsize;
/* read receiver raw/rtcm data from input stream */
if ((n=strread(svr->stream+i,p,q-p))<=0) {
continue;
}
/* write receiver raw/rtcm data to log stream */
strwrite(svr->stream+i+5,p,n);
svr->nb[i]+=n;
/* save peek buffer */
rtksvrlock(svr);
n=n<svr->buffsize-svr->npb[i]?n:svr->buffsize-svr->npb[i];
memcpy(svr->pbuf[i]+svr->npb[i],p,n);
svr->npb[i]+=n;
rtksvrunlock(svr);
}
for (i=0;i<3;i++) {
if (svr->format[i]==STRFMT_SP3||svr->format[i]==STRFMT_RNXCLK) {
/* decode download file */
decodefile(svr,i);
}
else {
/* decode receiver raw/rtcm data */
fobs[i]=decoderaw(svr,i);
}
}
for (i=0;i<fobs[0];i++) { /* for each rover observation data */
obs.n=0;
for (j=0;j<svr->obs[0][i].n&&obs.n<MAXOBS*2;j++) {
obs.data[obs.n++]=svr->obs[0][i].data[j];
}
for (j=0;j<svr->obs[1][0].n&&obs.n<MAXOBS*2;j++) {
obs.data[obs.n++]=svr->obs[1][0].data[j];
}
/* rtk positioning */
rtksvrlock(svr);
rtkpos(&svr->rtk,obs.data,obs.n,&svr->nav);
rtksvrunlock(svr);
if (svr->rtk.sol.stat!=SOLQ_NONE) {
/* adjust current time */
tt=(int)(tickget()-tick)/1000.0+DTTOL;
timeset(gpst2utc(timeadd(svr->rtk.sol.time,tt)));
/* write solution */
writesol(svr,i);
}
/* if cpu overload, inclement obs outage counter and break */
if ((int)(tickget()-tick)>=svr->cycle) {
svr->prcout+=fobs[0]-i-1;
#if 0 /* omitted v.2.4.1 */
break;
#endif
}
}
/* send null solution if no solution (1hz) */
if (svr->rtk.sol.stat==SOLQ_NONE&&cycle%(1000/svr->cycle)==0) {
writesol(svr,0);
}
/* send nmea request to base/nrtk input stream */
if (svr->nmeacycle>0&&(int)(tick-ticknmea)>=svr->nmeacycle) {
if (svr->stream[1].state==1) {
if (svr->nmeareq==1) {
strsendnmea(svr->stream+1,svr->nmeapos);
}
else if (svr->nmeareq==2&&norm(svr->rtk.sol.rr,3)>0.0) {
strsendnmea(svr->stream+1,svr->rtk.sol.rr);
}
}
ticknmea=tick;
}
if ((cputime=(int)(tickget()-tick))>0) svr->cputime=cputime;
/* sleep until next cycle */
sleepms(svr->cycle-cputime);
}
for (i=0;i<MAXSTRRTK;i++) strclose(svr->stream+i);
for (i=0;i<3;i++) {
svr->nb[i]=svr->npb[i]=0;
free(svr->buff[i]); svr->buff[i]=NULL;
free(svr->pbuf[i]); svr->pbuf[i]=NULL;
free_raw (svr->raw +i);
free_rtcm(svr->rtcm+i);
}
for (i=0;i<2;i++) {
svr->nsb[i]=0;
free(svr->sbuf[i]); svr->sbuf[i]=NULL;
}
return 0;
}
int main(int argc,char **argv)
{
ros::init(argc, argv, "rtk_robot");
ROS_INFO("RTKlib for ROS Robot Edition");
ros::NodeHandle nn;
ros::NodeHandle pn("~");
ros::Subscriber ecef_sub;
if(pn.getParam("base_position/x", ecef_base_station.position.x) && pn.getParam("base_position/y", ecef_base_station.position.y) && pn.getParam("base_position/z", ecef_base_station.position.z))
{
ROS_INFO("RTK -- Loading base station parameters from the parameter server...");
XmlRpc::XmlRpcValue position_covariance;
if( pn.getParam("base_position/covariance", position_covariance) )
{
ROS_ASSERT(position_covariance.getType() == XmlRpc::XmlRpcValue::TypeArray);
if(position_covariance.size() != 9)
{
ROS_WARN("RTK -- The base station covariances are not complete! Using default values...");
}
else
{
for(int i=0 ; i<position_covariance.size() ; ++i)
{
ROS_ASSERT(position_covariance[i].getType() == XmlRpc::XmlRpcValue::TypeDouble);
ecef_base_station.position_covariance[i] = static_cast<double>(position_covariance[i]);
}
}
}
}
else
{
ROS_INFO("RTK -- Subscribing to the base station for online parameters...");
ecef_sub = nn.subscribe("base_station/gps/ecef", 50, ecefCallback);
}
double rate;
pn.param("rate", rate, 2.0);
std::string gps_frame_id;
pn.param<std::string>("gps_frame_id", gps_frame_id, "gps");
std::string port;
pn.param<std::string>("port", port, "ttyACM0");
int baudrate;
pn.param("baudrate", baudrate, 115200);
ros::Publisher gps_pub = nn.advertise<sensor_msgs::NavSatFix>("gps/fix", 50);
ros::Publisher status_pub = nn.advertise<rtk_msgs::Status>("gps/status", 50);
ros::Subscriber gps_sub = nn.subscribe("base_station/gps/raw_data", 50, baseStationCallback);
int n;
//********************* rtklib stuff *********************
rtksvrinit(&server);
if(server.state)
{
ROS_FATAL("RTK -- Failed to initialize rtklib server!");
ROS_BREAK();
}
gtime_t time, time0 = {0};
int format[] = {STRFMT_UBX, STRFMT_UBX, STRFMT_RTCM2};
prcopt_t options = prcopt_default;
options.mode = 2;
options.nf = 1;
options.navsys = SYS_GPS | SYS_SBS;
options.modear = 3;
options.glomodear = 0;
options.minfix = 3;
options.ionoopt = IONOOPT_BRDC;
options.tropopt = TROPOPT_SAAS;
options.rb[0] = ecef_base_station.position.x;
options.rb[1] = ecef_base_station.position.y;
options.rb[2] = ecef_base_station.position.z;
strinitcom();
server.cycle = 10;
server.nmeacycle = 1000;
server.nmeareq = 0;
for(int i=0 ; i<3 ; i++) server.nmeapos[i] = 0;
server.buffsize = BUFFSIZE;
for(int i=0 ; i<3 ; i++) server.format[i] = format[i];
server.navsel = 0;
server.nsbs = 0;
server.nsol = 0;
server.prcout = 0;
rtkfree(&server.rtk);
rtkinit(&server.rtk, &options);
for(int i=0 ; i<3 ; i++)
{
server.nb[i] = server.npb[i] = 0;
if(!(server.buff[i]=(unsigned char *)malloc(BUFFSIZE)) || !(server.pbuf[i]=(unsigned char *)malloc(BUFFSIZE)))
{
ROS_FATAL("RTK -- Failed to initialize rtklib server - malloc error!");
ROS_BREAK();
}
for(int j=0 ; j<10 ; j++) server.nmsg[i][j] = 0;
for(int j=0 ; j<MAXOBSBUF ; j++) server.obs[i][j].n = 0;
/* initialize receiver raw and rtcm control */
init_raw(server.raw + i);
init_rtcm(server.rtcm + i);
/* set receiver option */
strcpy(server.raw[i].opt, "");
strcpy(server.rtcm[i].opt, "");
/* connect dgps corrections */
server.rtcm[i].dgps = server.nav.dgps;
}
/* output peek buffer */
for(int i=0 ; i<2 ; i++)
{
if (!(server.sbuf[i]=(unsigned char *)malloc(BUFFSIZE)))
{
ROS_FATAL("RTK -- Failed to initialize rtklib server - malloc error!");
ROS_BREAK();
}
}
/* set solution options */
solopt_t sol_options[2];
sol_options[0] = solopt_default;
sol_options[1] = solopt_default;
for(int i=0 ; i<2 ; i++) server.solopt[i] = sol_options[i];
/* set base station position */
for(int i=0 ; i<6 ; i++) server.rtk.rb[i] = i < 3 ? options.rb[i] : 0.0;
/* update navigation data */
for(int i=0 ; i<MAXSAT*2 ; i++) server.nav.eph[i].ttr = time0;
for(int i=0 ; i<NSATGLO*2 ; i++) server.nav.geph[i].tof = time0;
for(int i=0 ; i<NSATSBS*2 ; i++) server.nav.seph[i].tof = time0;
updatenav(&server.nav);
/* set monitor stream */
server.moni = NULL;
/* open input streams */
int stream_type[8] = {STR_SERIAL, 0, 0, 0, 0, 0, 0, 0};
char gps_path[64];
sprintf(gps_path, "%s:%d:8:n:1:off", port.c_str(), baudrate);
char * paths[] = {gps_path, "localhost:27015", "", "", "", "", "", ""};
char * cmds[] = {"", "", ""};
int rw;
for(int i=0 ; i<8 ; i++)
{
rw = i < 3 ? STR_MODE_R : STR_MODE_W;
if(stream_type[i] != STR_FILE) rw |= STR_MODE_W;
if(!stropen(server.stream+i, stream_type[i], rw, paths[i]))
{
ROS_ERROR("RTK -- Failed to open stream %s", paths[i]);
for(i-- ; i>=0 ; i--) strclose(server.stream+i);
ROS_FATAL("RTK -- Failed to initialize rtklib server - failed to open all streams!");
ROS_BREAK();
}
/* set initial time for rtcm and raw */
if(i<3)
{
time = utc2gpst(timeget());
server.raw[i].time = stream_type[i] == STR_FILE ? strgettime(server.stream+i) : time;
server.rtcm[i].time = stream_type[i] == STR_FILE ? strgettime(server.stream+i) : time;
}
}
/* sync input streams */
strsync(server.stream, server.stream+1);
strsync(server.stream, server.stream+2);
/* write start commands to input streams */
for(int i=0 ; i<3 ; i++)
{
if(cmds[i]) strsendcmd(server.stream+i, cmds[i]);
}
/* write solution header to solution streams */
for(int i=3 ; i<5 ; i++)
{
unsigned char buff[1024];
int n;
n = outsolheads(buff, server.solopt+i-3);
strwrite(server.stream+i, buff, n);
}
//********************************************************
obs_t obs;
obsd_t data[MAXOBS*2];
server.state=1;
obs.data=data;
double tt;
unsigned int tick;
int fobs[3] = {0};
server.tick = tickget();
ROS_DEBUG("RTK -- Initialization complete.");
ros::Rate r(rate);
while(ros::ok())
{
tick = tickget();
unsigned char *p = server.buff[RTK_ROBOT]+server.nb[RTK_ROBOT];
unsigned char *q = server.buff[RTK_ROBOT]+server.buffsize;
ROS_DEBUG("RTK -- Getting data from GPS...");
/* read receiver raw/rtcm data from input stream */
n = strread(server.stream, p, q-p);
/* write receiver raw/rtcm data to log stream */
strwrite(server.stream+5, p, n);
server.nb[RTK_ROBOT] += n;
/* save peek buffer */
rtksvrlock(&server);
n = n < server.buffsize - server.npb[RTK_ROBOT] ? n : server.buffsize - server.npb[RTK_ROBOT];
memcpy(server.pbuf[RTK_ROBOT] + server.npb[RTK_ROBOT], p, n);
server.npb[RTK_ROBOT] += n;
rtksvrunlock(&server);
ROS_DEBUG("RTK -- Decoding GPS data...");
/* decode data */
fobs[RTK_ROBOT] = decoderaw(&server, RTK_ROBOT);
fobs[RTK_BASE_STATION] = decoderaw(&server, RTK_BASE_STATION);
ROS_DEBUG("RTK -- Got %d observations.", fobs[RTK_ROBOT]);
/* for each rover observation data */
for(int i=0 ; i<fobs[RTK_ROBOT] ; i++)
{
obs.n = 0;
for(int j=0 ; j<server.obs[RTK_ROBOT][i].n && obs.n<MAXOBS*2 ; j++)
{
obs.data[obs.n++] = server.obs[RTK_ROBOT][i].data[j];
}
for(int j=0 ; j<server.obs[1][0].n && obs.n<MAXOBS*2 ; j++)
{
obs.data[obs.n++] = server.obs[1][0].data[j];
}
ROS_DEBUG("RTK -- Calculating RTK positioning...");
/* rtk positioning */
rtksvrlock(&server);
rtkpos(&server.rtk, obs.data, obs.n, &server.nav);
rtksvrunlock(&server);
sensor_msgs::NavSatFix gps_msg;
gps_msg.header.stamp = ros::Time::now();
gps_msg.header.frame_id = gps_frame_id;
rtk_msgs::Status status_msg;
status_msg.stamp = gps_msg.header.stamp;
if(server.rtk.sol.stat != SOLQ_NONE)
{
/* adjust current time */
tt = (int)(tickget()-tick)/1000.0+DTTOL;
timeset(gpst2utc(timeadd(server.rtk.sol.time,tt)));
/* write solution */
unsigned char buff[1024];
n = outsols(buff, &server.rtk.sol, server.rtk.rb, server.solopt);
if(n==141 && buff[0]>'0' && buff[0]<'9')
{
int ano,mes,dia,horas,minutos,Q,nsat;
double segundos,lat,longi,alt,sde,sdn,sdu,sdne,sdeu,sdun;
sscanf((const char *)(buff),"%d/%d/%d %d:%d:%lf %lf %lf %lf %d %d %lf %lf %lf %lf %lf %lf", &ano, &mes, &dia, &horas, &minutos, &segundos, &lat, &longi, &alt, &Q, &nsat, &sdn, &sde, &sdu, &sdne, &sdeu, &sdun);
gps_msg.latitude = lat;
gps_msg.longitude = longi;
gps_msg.altitude = alt;
gps_msg.position_covariance_type = sensor_msgs::NavSatFix::COVARIANCE_TYPE_KNOWN;
gps_msg.position_covariance[0] = sde + ecef_base_station.position_covariance[0];
gps_msg.position_covariance[1] = sdne + ecef_base_station.position_covariance[1];
gps_msg.position_covariance[2] = sdeu + ecef_base_station.position_covariance[2];
gps_msg.position_covariance[3] = sdne + ecef_base_station.position_covariance[3];
gps_msg.position_covariance[4] = sdn + ecef_base_station.position_covariance[4];
gps_msg.position_covariance[5] = sdun + ecef_base_station.position_covariance[5];
gps_msg.position_covariance[6] = sdeu + ecef_base_station.position_covariance[6];
gps_msg.position_covariance[7] = sdun + ecef_base_station.position_covariance[7];
gps_msg.position_covariance[8] = sdu + ecef_base_station.position_covariance[8];
gps_msg.status.status = Q==5 ? sensor_msgs::NavSatStatus::STATUS_FIX : sensor_msgs::NavSatStatus::STATUS_GBAS_FIX;
gps_msg.status.service = sensor_msgs::NavSatStatus::SERVICE_GPS;
status_msg.fix_quality = Q;
status_msg.number_of_satellites = nsat;
}
}
else
{
gps_msg.status.status = sensor_msgs::NavSatStatus::STATUS_NO_FIX;
gps_msg.status.service = sensor_msgs::NavSatStatus::SERVICE_GPS;
}
ROS_DEBUG("RTK -- Publishing ROS msg...");
gps_pub.publish(gps_msg);
status_pub.publish(status_msg);
}
ros::spinOnce();
r.sleep();
}
return(0);
}
/* decode glonass ephemeris strings --------------------------------------------
* decode glonass ephemeris string (ref [2])
* args : unsigned char *buff I glonass navigation data string bits in frames
* (without hamming and time mark)
* buff[ 0- 9]: string #1 (77 bits)
* buff[10-19]: string #2
* buff[20-29]: string #3
* buff[30-39]: string #4
* geph_t *geph IO glonass ephemeris message
* return : status (1:ok,0:error)
* notes : geph->tof should be set to frame time witin 1/2 day before calling
* geph->frq is set to 0
*-----------------------------------------------------------------------------*/
extern int decode_glostr(const unsigned char *buff, geph_t *geph)
{
double tow,tod,tof,toe;
int P,P1,P2,P3,P4,tk_h,tk_m,tk_s,tb,ln,NT,slot,M,week;
int i=1,frn1,frn2,frn3,frn4;
trace(3,"decode_glostr:\n");
/* frame 1 */
frn1 =getbitu(buff,i, 4); i+= 4+2;
P1 =getbitu(buff,i, 2); i+= 2;
tk_h =getbitu(buff,i, 5); i+= 5;
tk_m =getbitu(buff,i, 6); i+= 6;
tk_s =getbitu(buff,i, 1)*30; i+= 1;
geph->vel[0]=getbitg(buff,i,24)*P2_20*1E3; i+=24;
geph->acc[0]=getbitg(buff,i, 5)*P2_30*1E3; i+= 5;
geph->pos[0]=getbitg(buff,i,27)*P2_11*1E3; i+=27+4;
/* frame 2 */
frn2 =getbitu(buff,i, 4); i+= 4;
geph->svh =getbitu(buff,i, 3); i+= 3;
P2 =getbitu(buff,i, 1); i+= 1;
tb =getbitu(buff,i, 7); i+= 7+5;
geph->vel[1]=getbitg(buff,i,24)*P2_20*1E3; i+=24;
geph->acc[1]=getbitg(buff,i, 5)*P2_30*1E3; i+= 5;
geph->pos[1]=getbitg(buff,i,27)*P2_11*1E3; i+=27+4;
/* frame 3 */
frn3 =getbitu(buff,i, 4); i+= 4;
P3 =getbitu(buff,i, 1); i+= 1;
geph->gamn =getbitg(buff,i,11)*P2_40; i+=11+1;
P =getbitu(buff,i, 2); i+= 2;
ln =getbitu(buff,i, 1); i+= 1;
geph->vel[2]=getbitg(buff,i,24)*P2_20*1E3; i+=24;
geph->acc[2]=getbitg(buff,i, 5)*P2_30*1E3; i+= 5;
geph->pos[2]=getbitg(buff,i,27)*P2_11*1E3; i+=27+4;
/* frame 4 */
frn4 =getbitu(buff,i, 4); i+= 4;
geph->taun =getbitg(buff,i,22)*P2_30; i+=22;
geph->dtaun =getbitg(buff,i, 5)*P2_30; i+= 5;
geph->age =getbitu(buff,i, 5); i+= 5+14;
P4 =getbitu(buff,i, 1); i+= 1;
geph->sva =getbitu(buff,i, 4); i+= 4+3;
NT =getbitu(buff,i,11); i+=11;
slot =getbitu(buff,i, 5); i+= 5;
M =getbitu(buff,i, 2);
if (frn1!=1||frn2!=2||frn3!=3||frn4!=4) {
trace(3,"decode_glostr error: frn=%d %d %d %d %d\n",frn1,frn2,frn3,frn4);
return 0;
}
if (!(geph->sat=satno(SYS_GLO,slot))) {
trace(2,"decode_glostr error: slot=%d\n",slot);
return 0;
}
geph->frq=0;
geph->iode=tb;
tow=time2gpst(gpst2utc(geph->tof),&week);
tod=fmod(tow,86400.0); tow-=tod;
tof=tk_h*3600.0+tk_m*60.0+tk_s-10800.0; /* lt->utc */
if (tof<tod-43200.0) tof+=86400.0;
else if (tof>tod+43200.0) tof-=86400.0;
geph->tof=utc2gpst(gpst2time(week,tow+tof));
toe=tb*900.0-10800.0; /* lt->utc */
if (toe<tod-43200.0) toe+=86400.0;
else if (toe>tod+43200.0) toe-=86400.0;
geph->toe=utc2gpst(gpst2time(week,tow+toe)); /* utc->gpst */
return 1;
}