/* readrnxt() */
void utest2(void)
{
gtime_t t0={0},ts,te;
double ep1[]={2005,4,2,1,0,0},ep2[]={2005,4,2,2,0,0};
char file1[]="../data/rinex/07590920.05o";
char file2[]="../data/rinex/07590920.05n";
int n;
obs_t obs={0};
nav_t nav={0};
sta_t sta={""};
ts=epoch2time(ep1);
te=epoch2time(ep2);
n=readrnxt(file1,1,ts,te,0.0,"",&obs,&nav,&sta);
printf("\n\nn=%d\n",n);
n=readrnxt(file2,1,ts,te,0.0,"",&obs,&nav,&sta);
dumpobs(&obs);
free(obs.data); obs.data=NULL; obs.n=obs.nmax=0;
n=readrnxt(file1,1,t0,t0,240.0,"",&obs,&nav,&sta);
printf("\n\nn=%d\n",n);
dumpobs(&obs);
free(obs.data);
printf("%s utset2 : OK\n",__FILE__);
}
// get time -----------------------------------------------------------------
void __fastcall TMainWindow::GetTime(gtime_t *ts, gtime_t *te, double *tint,
double *tunit)
{
AnsiString TimeY1_Text=TimeY1->Text,TimeH1_Text=TimeH1->Text;
AnsiString TimeY2_Text=TimeY2->Text,TimeH2_Text=TimeH2->Text;
AnsiString TimeInt_Text=TimeInt->Text,TimeUnit_Text=TimeUnit->Text;
double eps[]={2000,1,1,0,0,0},epe[]={2000,1,1,0,0,0};
if (TimeStartF->Checked) {
sscanf(TimeY1_Text.c_str(),"%lf/%lf/%lf",eps,eps+1,eps+2);
sscanf(TimeH1_Text.c_str(),"%lf:%lf:%lf",eps+3,eps+4,eps+5);
*ts=epoch2time(eps);
}
if (TimeEndF->Checked) {
sscanf(TimeY2_Text.c_str(),"%lf/%lf/%lf",epe,epe+1,epe+2);
sscanf(TimeH2_Text.c_str(),"%lf:%lf:%lf",epe+3,epe+4,epe+5);
*te=epoch2time(epe);
}
if (TimeIntF->Checked) {
sscanf(TimeInt_Text.c_str(),"%lf",tint);
}
if (TimeUnitF->Checked) {
if (sscanf(TimeUnit_Text.c_str(),"%lf",tunit)>=1) *tunit*=3600.0;
}
}
/* 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;
}
/* 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__);
}
/* time2str() */
void utest9(void)
{
double ep0[]={1970,12,31,23,59,59.1234567890123456};
double ep1[]={2004, 1, 1, 0, 0, 0.0000000000000000};
double ep2[]={2006, 2,28,23,59,59.9999995000000000};
char s[128];
int ret;
time2str(epoch2time(ep0),s,0);
ret=strcmp(s,"1970/12/31 23:59:59");
assert(!ret);
time2str(epoch2time(ep0),s,-1);
ret=strcmp(s,"1970/12/31 23:59:59");
assert(!ret);
time2str(epoch2time(ep0),s,10);
ret=strcmp(s,"1970/12/31 23:59:59.1234567890");
assert(!ret);
time2str(epoch2time(ep1),s,0);
ret=strcmp(s,"2004/01/01 00:00:00");
assert(!ret);
time2str(epoch2time(ep1),s,16);
ret=strcmp(s,"2004/01/01 00:00:00.000000000000");
assert(!ret);
time2str(epoch2time(ep2),s,0);
ret=strcmp(s,"2006/03/01 00:00:00");
assert(!ret);
time2str(epoch2time(ep2),s,6);
ret=strcmp(s,"2006/03/01 00:00:00.000000");
assert(!ret);
time2str(epoch2time(ep2),s,7);
ret=strcmp(s,"2006/02/28 23:59:59.9999995");
assert(!ret);
printf("%s utset9 : OK\n",__FILE__);
}
/* ionmodel() */
void utest1(void)
{
double e1[]={2007,1,16, 1,0,0};
double e2[]={2007,1,16,13,0,0};
double e3[]={2007,1,16,22,0,0};
double ion1[]={
0.2E-7,-0.8e-8,-0.5e-7, 0.1e-6, 0.2E+6, 0.2e+6,-0.1e+6,-0.1e+7
};
double ion2[]={
0.2E-7,-0.8e-8,-0.5e-7, 0.1e-6, 0.2E+6, 0.2e+6,-0.1e+6,-0.1e+7
};
double pos1 []={ 35*D2R, 140*D2R, 100.0};
double pos2 []={-80*D2R,-170*D2R,1000.0};
double pos3 []={ 10*D2R, 30*D2R, 0.0};
double azel1[]={ 60*D2R, 75*D2R};
double azel2[]={190*D2R, 3*D2R};
double azel3[]={350*D2R, 60*D2R};
double azel4[]={ 0*D2R, 90*D2R};
gtime_t t1=epoch2time(e1),t2=epoch2time(e2),t3=epoch2time(e3);
double dion;
dion=ionmodel(t1,ion1,pos1,azel1);
assert(fabs(dion-6.73590532099438)<1e-8);
dion=ionmodel(t1,ion1,pos2,azel1);
assert(fabs(dion-3.56895382197387)<1e-8);
dion=ionmodel(t1,ion1,pos3,azel1);
assert(fabs(dion-3.80716435655161)<1e-8);
dion=ionmodel(t2,ion1,pos1,azel1);
assert(fabs(dion-5.21796954585452)<1e-8);
dion=ionmodel(t3,ion1,pos1,azel1);
assert(fabs(dion-5.90190539264777)<1e-8);
dion=ionmodel(t1,ion1,pos1,azel2);
assert(fabs(dion-21.6345415123632)<1e-8);
dion=ionmodel(t1,ion1,pos1,azel3);
assert(fabs(dion-7.33844278822561)<1e-8);
dion=ionmodel(t1,ion1,pos1,azel4);
assert(fabs(dion-6.58339711400694)<1e-8);
dion=ionmodel(t1,ion2,pos1,azel1);
assert(fabs(dion-6.73590532099438)<1e-8);
printf("%s utest1 : OK\n",__FILE__);
}
/* decode solution time ------------------------------------------------------*/
static char *decode_soltime(char *buff, const solopt_t *opt, gtime_t *time)
{
double v[MAXFIELD];
char *p,*q,s[64]=" ";
int n,len;
trace(4,"decode_soltime:\n");
if (!strcmp(opt->sep,"\\t")) strcpy(s,"\t");
else if (*opt->sep) strcpy(s,opt->sep);
len=(int)strlen(s);
/* yyyy/mm/dd hh:mm:ss or yyyy mm dd hh:mm:ss */
if (sscanf(buff,"%lf/%lf/%lf %lf:%lf:%lf",v,v+1,v+2,v+3,v+4,v+5)>=6) {
if (v[0]<100.0) {
v[0]+=v[0]<80.0?2000.0:1900.0;
}
*time=epoch2time(v);
if (opt->times==TIMES_UTC) {
*time=utc2gpst(*time);
}
else if (opt->times==TIMES_JST) {
*time=utc2gpst(timeadd(*time,-9*3600.0));
}
if (!(p=strchr(buff,':'))||!(p=strchr(p+1,':'))) return NULL;
for (p++;isdigit((int)*p)||*p=='.';) p++;
return p+len;
}
if (opt->posf==SOLF_GSIF) {
if (sscanf(buff,"%lf %lf %lf %lf:%lf:%lf",v,v+1,v+2,v+3,v+4,v+5)<6) {
return NULL;
}
*time=timeadd(epoch2time(v),-12.0*3600.0);
if (!(p=strchr(buff,':'))||!(p=strchr(p+1,':'))) return NULL;
for (p++;isdigit((int)*p)||*p=='.';) p++;
return p+len;
}
/* wwww ssss */
for (p=buff,n=0;n<2;p=q+len) {
if ((q=strstr(p,s))) *q='\0';
if (*p) v[n++]=atof(p);
if (!q) break;
}
if (n>=2&&0.0<=v[0]&&v[0]<=3000.0&&0.0<=v[1]&&v[1]<604800.0) {
*time=gpst2time((int)v[0],v[1]);
return p;
}
return NULL;
}
//---------------------------------------------------------------------------
void __fastcall TConvDialog::BtnConvertClick(TObject *Sender)
{
AnsiString TimeY1_Text=TimeY1->Text,TimeH1_Text=TimeH1->Text;
AnsiString TimeY2_Text=TimeY2->Text,TimeH2_Text=TimeH2->Text;
AnsiString InputFile_Text=InputFile->Text,OutputFile_Text=OutputFile->Text;
int stat;
char cmd[1024],file[1024],kmlfile[1024],*p;
double offset[3]={0},es[6]={1970,1,1},ee[6]={2038,1,1},tint=0.0;
gtime_t ts={0},te={0};
ShowMsg("");
if (InputFile->Text==""||OutputFile->Text=="") return;
ShowMsg("converting ...");
if (TimeSpan->Checked) {
sscanf(TimeY1_Text.c_str(),"%lf/%lf/%lf",es ,es+1,es+2);
sscanf(TimeH1_Text.c_str(),"%lf:%lf:%lf",es+3,es+4,es+5);
sscanf(TimeY2_Text.c_str(),"%lf/%lf/%lf",ee ,ee+1,ee+2);
sscanf(TimeH2_Text.c_str(),"%lf:%lf:%lf",ee+3,ee+4,ee+5);
ts=epoch2time(es);
te=epoch2time(ee);
}
if (AddOffset->Checked) {
offset[0]=str2dbl(Offset1->Text);
offset[1]=str2dbl(Offset2->Text);
offset[2]=str2dbl(Offset3->Text);
}
if (TimeIntF->Checked) tint=str2dbl(TimeInt->Text);
strcpy(file,InputFile_Text.c_str());
strcpy(kmlfile,file);
if (!(p=strrchr(kmlfile,'.'))) p=kmlfile+strlen(kmlfile);
strcpy(p,".kml");
if((stat=convkml(file,Compress->Checked?kmlfile:OutputFile_Text.c_str(),
ts,te,tint,QFlags->ItemIndex,offset,
TrackColor->ItemIndex,PointColor->ItemIndex,
OutputAlt->ItemIndex,OutputTime->ItemIndex))<0) {
if (stat==-1) ShowMsg("error : read input file");
else if (stat==-2) ShowMsg("error : input file format");
else if (stat==-3) ShowMsg("error : no data in input file");
else ShowMsg("error : write kml file");
return;
}
if (Compress->Checked) {
sprintf(cmd,"zip.exe -j -m %s %s",OutputFile->Text.c_str(),kmlfile);
if (!ExecCmd(cmd)) {
ShowMsg("error : zip execution");
return;
}
}
ShowMsg("done");
}
//---------------------------------------------------------------------------
void __fastcall TSpanDialog::BtnOkClick(TObject *Sender)
{
double eps[]={2000,1,1,0,0,0},epe[]={2000,1,1,0,0,0};
TimeEna[0]=TimeStartF->Checked;
TimeEna[1]=TimeEndF ->Checked;
TimeEna[2]=TimeIntF ->Checked;
sscanf(TimeY1->Text.c_str(),"%lf/%lf/%lf",eps,eps+1,eps+2);
sscanf(TimeH1->Text.c_str(),"%lf:%lf:%lf",eps+3,eps+4,eps+5);
sscanf(TimeY2->Text.c_str(),"%lf/%lf/%lf",epe,epe+1,epe+2);
sscanf(TimeH2->Text.c_str(),"%lf:%lf:%lf",epe+3,epe+4,epe+5);
TimeStart=epoch2time(eps);
TimeEnd=epoch2time(epe);
TimeInt=str2dbl(EditTimeInt->Text);
}
/* time2doy() */
void utest11(void)
{
double ep1[]={2004,1,1,0,0,0};
double ep2[]={2004,12,31,0,0,0};
double ep3[]={2005,12,31,12,0,0};
double doy1,doy2,doy3;
doy1=time2doy(epoch2time(ep1));
doy2=time2doy(epoch2time(ep2));
doy3=time2doy(epoch2time(ep3));
assert(fabs(doy1-1.0)<1E-6);
assert(fabs(doy2-366.0)<1E-6);
assert(fabs(doy3-365.5)<1E-6);
printf("%s utset11 : OK\n",__FILE__);
}
/* reppath() */
void utest2(void)
{
gtime_t t0={0},t1,t2;
double ep1[]={1990, 1, 1, 0, 0, 0.00000};
double ep2[]={2010,12,31,23,59,59.99999};
char path0[]="01234567890123456789";
char path1[]="abcde_%Y/%m/%d_%h:%M:%S_%Y%m%d%h%M%S";
char path2[]="abcde_%y%n_%W%D%H_%ha%hb%hc";
char path3[]="rover %r %r base %b %b";
char path4[]="%a %b %c";
char rpath[1024];
char rov[]="RRRRRRRR",base[]="BBBBBBBB";
int stat;
t1=epoch2time(ep1);
t2=epoch2time(ep2);
stat=reppath(path0,rpath,t1,"","");
assert(stat==0);
stat=strcmp(rpath,path0);
assert(stat==0);
stat=reppath(path0,rpath,t0,rov,base);
assert(stat==0);
stat=strcmp(rpath,path0);
assert(stat==0);
stat=reppath(path0,rpath,t1,rov,base);
assert(stat==0);
stat=strcmp(rpath,path0);
assert(stat==0);
stat=reppath(path1,rpath,t1,"","");
assert(stat==1);
stat=strcmp(rpath,"abcde_1990/01/01_00:00:00_19900101000000");
assert(stat==0);
stat=reppath(path2,rpath,t2,rov,base);
assert(stat==1);
stat=strcmp(rpath,"abcde_10365_16165x_211812");
assert(stat==0);
stat=reppath(path3,rpath,t0,rov,base);
assert(stat==1);
stat=strcmp(rpath,"rover RRRRRRRR RRRRRRRR base BBBBBBBB BBBBBBBB");
assert(stat==0);
stat=reppath(path4,rpath,t1,rov,"");
assert(stat==0);
stat=strcmp(rpath,"%a %b %c");
assert(stat==0);
printf("%s utset2 : OK\n",__FILE__);
}
/* main ----------------------------------------------------------------------*/
int main(int argc, char **argv)
{
gtime_t time;
double ep[6]= {0};
int i,page=1;
time2epoch(utc2gpst(timeget()),ep);
ep[4]=ep[5]=0.0;
for (i=1; i<argc; i++) {
if (!strcmp(argv[i],"-t")&&i+2<argc) {
sscanf(argv[++i],"%lf/%lf/%lf",ep ,ep+1,ep+2);
sscanf(argv[++i],"%lf:%lf:%lf",ep+3,ep+4,ep+5);
}
else if (!strcmp(argv[i],"-p")&&i+1<argc) page=atoi(argv[++i]);
}
time=epoch2time(ep);
switch (page) {
case 1:
gen_page1(time,TEMP1,PAGE1);
break;
case 2:
gen_page2(time,TEMP2,PAGE2);
break;
case 3:
gen_page3(time,TEMP3,PAGE3);
break;
}
return 0;
}
/* decode solution -----------------------------------------------------------*/
static int decode_gw10sol(raw_t *raw)
{
gtime_t time;
double ep[6]={0},sec;
unsigned char *p=raw->buff+6;
trace(4,"decode_gw10sol : len=%d\n",raw->len);
if (U2(p+42)&0xC00) { /* time valid? */
trace(2,"gw10 sol time/day invalid\n");
return 0;
}
sec=U4(p+27)/16384.0;
sec=floor(sec*1000.0+0.5)/1000.0;
ep[2]=bcd2num(p[31]);
ep[1]=bcd2num(p[32]);
ep[0]=bcd2num(p[33])*100+bcd2num(p[34]);
time=utc2gpst(timeadd(epoch2time(ep),sec));
/* set time if no time available */
if (raw->time.time==0) {
raw->time=time;
}
return 0;
}
/* convert glonass time to time -----------------------------------------------
* convert glonass time in ephemeris to gtime_t struct
* args : int nt I current day
* int n4 I 4 year interval
* int h I hour
* int m I minute
* int s I second
* return : gtime_t struct
* note : Reference: GLONASS ICD A.3.1.3
*-----------------------------------------------------------------------------*/
gtime_t glot2time(int nt, int n4, int h, int m, int s)
{
double ep[6];
int j=0,year,mon,day=0,doy=0;
int doys[]= {1,32,60,91,121,152,182,213,244,274,305,335}; /* day of year */
int doysl[]={1,32,61,92,122,153,183,214,245,275,306,336}; /* leap year */
ep[3]=h; ep[4]=m; ep[5]=s;
if (nt<= 366) {j=1; doy=nt;}
else if(nt<= 731) {j=2; doy=nt-366+1;}
else if(nt<=1096) {j=3; doy=nt-731+1;}
else if(nt<=1461) {j=4; doy=nt-1096+1;}
/* current year */
year=1996+4*(n4-1)+(j-1);
/* compute current month and day */
for (mon=1;mon<12;mon++) {
if (j==1) {
if (doy<doysl[mon]) {
day=doy-doysl[mon-1];
break;
}
} else {
if (doy<doys[ mon]) {
day=doy-doys[mon-1];
break;
}
}
}
ep[0]=year; ep[1]=mon; ep[2]=day;
return utc2gpst(epoch2time(ep)); /* convert to gtime_t */
}
/* decode binex mesaage 0x7f: gnss data prototyping --------------------------*/
static int decode_bnx_7f(raw_t *raw, unsigned char *buff, int len)
{
const static double gpst0[]={1980,1,6,0,0,0};
char *msg;
unsigned char *p=buff;
unsigned int srec,min,msec;
srec=U1(p); p+=1; /* subrecord id */
min =U4(p); p+=4;
msec=U2(p); p+=2;
raw->time=timeadd(epoch2time(gpst0),min*60.0+msec*0.001);
if (raw->outtype) {
msg=raw->msgtype+strlen(raw->msgtype);
sprintf(msg," subrec=%02X time%s",srec,time_str(raw->time,3));
}
switch (srec) {
case 0x00: return decode_bnx_7f_00(raw,buff+7,len-7);
case 0x01: return decode_bnx_7f_01(raw,buff+7,len-7);
case 0x02: return decode_bnx_7f_02(raw,buff+7,len-7);
case 0x03: return decode_bnx_7f_03(raw,buff+7,len-7);
case 0x04: return decode_bnx_7f_04(raw,buff+7,len-7);
case 0x05: return decode_bnx_7f_05(raw,buff+7,len-7);
}
return 0;
}
/* tle_pos() -----------------------------------------------------------------*/
static void utest2(void)
{
const char *file2="../data/tle/tle_sgp4.txt";
const double ep0[6]={1980,1,1};
tle_t tle={0};
gtime_t epoch;
double min,rs[6];
int i,stat;
epoch=utc2gpst(timeadd(epoch2time(ep0),274.98708465*86400.0));
stat=tle_read(file2,&tle);
assert(stat);
stat=tle_pos(epoch,"TEST_ERR","","",&tle,NULL,rs);
assert(!stat);
for (i=0;i<5;i++) {
min=360.0*i;
stat=tle_pos(timeadd(epoch,min*60.0),"TEST_SAT","","",&tle,NULL,rs);
assert(stat);
fprintf(OUT,"%4.0f: %14.8f %14.8f %14.8f %11.8f %11.8f %11.8f\n",min,
rs[0]/1e3,rs[1]/1e3,rs[2]/1e3,rs[3]/1e3,rs[4]/1e3,rs[5]/1e3);
}
fprintf(OUT,"%s utest2 : OK\n",__FILE__);
}
/* displacement by ocean tide loading (ref [2] 7) ----------------------------*/
static void tide_oload(gtime_t tut, const double *odisp, double *denu)
{
const double args[][5]={
{1.40519E-4, 2.0,-2.0, 0.0, 0.00}, /* M2 */
{1.45444E-4, 0.0, 0.0, 0.0, 0.00}, /* S2 */
{1.37880E-4, 2.0,-3.0, 1.0, 0.00}, /* N2 */
{1.45842E-4, 2.0, 0.0, 0.0, 0.00}, /* K2 */
{0.72921E-4, 1.0, 0.0, 0.0, 0.25}, /* K1 */
{0.67598E-4, 1.0,-2.0, 0.0,-0.25}, /* O1 */
{0.72523E-4,-1.0, 0.0, 0.0,-0.25}, /* P1 */
{0.64959E-4, 1.0,-3.0, 1.0,-0.25}, /* Q1 */
{0.53234E-5, 0.0, 2.0, 0.0, 0.00}, /* Mf */
{0.26392E-5, 0.0, 1.0,-1.0, 0.00}, /* Mm */
{0.03982E-5, 2.0, 0.0, 0.0, 0.00} /* Ssa */
};
const double ep1975[]={1975,1,1,0,0,0};
double ep[6],fday,days,t,t2,t3,a[5],ang,dp[3]={0};
int i,j;
trace(3,"tide_oload:\n");
/* angular argument: see subroutine arg.f for reference [1] */
time2epoch(tut,ep);
fday=ep[3]*3600.0+ep[4]*60.0+ep[5];
ep[3]=ep[4]=ep[5]=0.0;
days=timediff(epoch2time(ep),epoch2time(ep1975))/86400.0;
t=(27392.500528+1.000000035*days)/36525.0;
t2=t*t; t3=t2*t;
a[0]=fday;
a[1]=(279.69668+36000.768930485*t+3.03E-4*t2)*D2R; /* H0 */
a[2]=(270.434358+481267.88314137*t-0.001133*t2+1.9E-6*t3)*D2R; /* S0 */
a[3]=(334.329653+4069.0340329577*t+0.010325*t2-1.2E-5*t3)*D2R; /* P0 */
a[4]=2.0*PI;
/* displacements by 11 constituents */
for (i=0;i<11;i++) {
ang=0.0;
for (j=0;j<5;j++) ang+=a[j]*args[i][j];
for (j=0;j<3;j++) dp[j]+=odisp[j+i*6]*cos(ang-odisp[j+3+i*6]*D2R);
}
denu[0]=-dp[1];
denu[1]=-dp[2];
denu[2]= dp[0];
trace(5,"tide_oload: denu=%.3f %.3f %.3f\n",denu[0],denu[1],denu[2]);
}
//---------------------------------------------------------------------------
void __fastcall TStartDialog::BtnOkClick(TObject *Sender)
{
AnsiString TimeY1_Text=TimeY1->Text,TimeH1_Text=TimeH1->Text;
double ep[]={2000,1,1,0,0,0};
sscanf(TimeY1_Text.c_str(),"%lf/%lf/%lf",ep,ep+1,ep+2);
sscanf(TimeH1_Text.c_str(),"%lf:%lf:%lf",ep+3,ep+4,ep+5);
Time=epoch2time(ep);
}
void utest4(void)
{
double mapfd,mapfw;
double e1[]={2007,1,16,6,0,0},e2[]={2030,12,31,23,59,59};
double pos1 []={ 35*D2R, 140*D2R, 100.0};
double pos2 []={-80*D2R,-170*D2R,1000.0};
double pos3 []={ 10*D2R, 30*D2R, 0.0};
double azel1[]={ 60*D2R, 75*D2R};
double azel2[]={190*D2R, 3*D2R};
double azel3[]={350*D2R, 60*D2R};
double azel4[]={ 0*D2R, 90*D2R};
gtime_t t1=epoch2time(e1),t2=epoch2time(e2);
mapfd=tropmapf(t1,pos1,azel1,&mapfw);
assert(fabs(mapfd-1.035184526466435)<1e-8);
assert(fabs(mapfw-1.035233787448654)<1e-8);
mapfd=tropmapf(t1,pos1,azel2,&mapfw);
assert(fabs(mapfd-14.643271711748200)<1e-8);
assert(fabs(mapfw-16.455045694559484)<1e-8);
mapfd=tropmapf(t1,pos1,azel3,&mapfw);
assert(fabs(mapfd-1.154226397147367)<1e-8);
assert(fabs(mapfw-1.154481126139610)<1e-8);
mapfd=tropmapf(t1,pos1,azel4,&mapfw);
assert(fabs(mapfd-1.000000000000000)<1e-8);
assert(fabs(mapfw-1.000000000000000)<1e-8);
mapfd=tropmapf(t2,pos1,azel1,&mapfw);
assert(fabs(mapfd-1.035184415128022)<1e-8);
assert(fabs(mapfw-1.035233787448654)<1e-8);
mapfd=tropmapf(t1,pos2,azel1,&mapfw);
assert(fabs(mapfd-1.035186155749051)<1e-8);
assert(fabs(mapfw-1.035230548304367)<1e-8);
mapfd=tropmapf(t1,pos3,azel1,&mapfw);
assert(fabs(mapfd-1.035181919429758)<1e-8);
assert(fabs(mapfw-1.035233200318210)<1e-8);
mapfd=tropmapf(t1,pos1,azel1,NULL);
assert(fabs(mapfd-1.035184526466435)<1e-8);
printf("%s utest4 : OK\n",__FILE__);
}
//---------------------------------------------------------------------------
void __fastcall TSpanDialog::BtnTime2Click(TObject *Sender)
{
double ep[]={2000,1,1,0,0,0};
sscanf(TimeY2->Text.c_str(),"%lf/%lf/%lf",ep,ep+1,ep+2);
sscanf(TimeH2->Text.c_str(),"%lf:%lf:%lf",ep+3,ep+4,ep+5);
TimeDialog->Time=epoch2time(ep);
TimeDialog->ShowModal();
}
/* decode binex mesaage 0x00: site/monument/marker/ref point/setup metadata --*/
static int decode_bnx_00(raw_t *raw, unsigned char *buff, int len)
{
const static double gpst0[]={1980,1,6,0,0,0};
char *msg;
unsigned char *p=buff;
unsigned int min,qsec,src,fid;
int n=6;
min =U4(p); p+=4;
qsec=U1(p); p+=1;
src =U1(p); p+=1;
n+=getbnxi(p,&fid);
raw->time=timeadd(epoch2time(gpst0),min*60.0+qsec*0.25);
if (raw->outtype) {
msg=raw->msgtype+strlen(raw->msgtype);
sprintf(msg," fid=%02X time=%s src=%d",fid,time_str(raw->time,0),src);
}
switch (fid) {
case 0x00: return decode_bnx_00_00(raw,buff+n,len-n);
case 0x01: return decode_bnx_00_01(raw,buff+n,len-n);
case 0x02: return decode_bnx_00_02(raw,buff+n,len-n);
case 0x03: return decode_bnx_00_03(raw,buff+n,len-n);
case 0x04: return decode_bnx_00_04(raw,buff+n,len-n);
case 0x05: return decode_bnx_00_05(raw,buff+n,len-n);
case 0x06: return decode_bnx_00_06(raw,buff+n,len-n);
case 0x07: return decode_bnx_00_07(raw,buff+n,len-n);
case 0x08: return decode_bnx_00_08(raw,buff+n,len-n);
case 0x09: return decode_bnx_00_09(raw,buff+n,len-n);
case 0x0A: return decode_bnx_00_0a(raw,buff+n,len-n);
case 0x0B: return decode_bnx_00_0b(raw,buff+n,len-n);
case 0x0C: return decode_bnx_00_0c(raw,buff+n,len-n);
case 0x0D: return decode_bnx_00_0d(raw,buff+n,len-n);
case 0x0E: return decode_bnx_00_0e(raw,buff+n,len-n);
case 0x0F: return decode_bnx_00_0f(raw,buff+n,len-n);
case 0x10: return decode_bnx_00_10(raw,buff+n,len-n);
case 0x11: return decode_bnx_00_11(raw,buff+n,len-n);
case 0x12: return decode_bnx_00_12(raw,buff+n,len-n);
case 0x13: return decode_bnx_00_13(raw,buff+n,len-n);
case 0x14: return decode_bnx_00_14(raw,buff+n,len-n);
case 0x15: return decode_bnx_00_15(raw,buff+n,len-n);
case 0x16: return decode_bnx_00_16(raw,buff+n,len-n);
case 0x17: return decode_bnx_00_17(raw,buff+n,len-n);
case 0x18: return decode_bnx_00_18(raw,buff+n,len-n);
case 0x19: return decode_bnx_00_19(raw,buff+n,len-n);
case 0x1A: return decode_bnx_00_1a(raw,buff+n,len-n);
case 0x1B: return decode_bnx_00_1b(raw,buff+n,len-n);
case 0x1C: return decode_bnx_00_1c(raw,buff+n,len-n);
case 0x1D: return decode_bnx_00_1d(raw,buff+n,len-n);
case 0x1E: return decode_bnx_00_1e(raw,buff+n,len-n);
case 0x1F: return decode_bnx_00_1f(raw,buff+n,len-n);
case 0x20: return decode_bnx_00_20(raw,buff+n,len-n);
case 0x21: return decode_bnx_00_21(raw,buff+n,len-n);
case 0x22: return decode_bnx_00_22(raw,buff+n,len-n);
case 0x7F: return decode_bnx_00_7f(raw,buff+n,len-n);
}
return 0;
}
/* 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__);
}
/* decode nmea gpgga: fix information ----------------------------------------*/
static int decode_nmeagga(char **val, int n, sol_t *sol)
{
gtime_t time;
double tod=0.0,lat=0.0,lon=0.0,hdop=0.0,alt=0.0,msl=0.0,ep[6],tt;
double pos[3]={0};
char ns='N',ew='E',ua=' ',um=' ';
int i,solq=0,nrcv=0;
trace(4,"decode_nmeagga: n=%d\n",n);
for (i=0;i<n;i++) {
switch (i) {
case 0: tod =atof(val[i]); break; /* time in utc (hhmmss) */
case 1: lat =atof(val[i]); break; /* latitude (ddmm.mmm) */
case 2: ns =*val[i]; break; /* N=north,S=south */
case 3: lon =atof(val[i]); break; /* longitude (dddmm.mmm) */
case 4: ew =*val[i]; break; /* E=east,W=west */
case 5: solq=atoi(val[i]); break; /* fix quality */
case 6: nrcv=atoi(val[i]); break; /* # of satellite tracked */
case 7: hdop=atof(val[i]); break; /* hdop */
case 8: alt =atof(val[i]); break; /* altitude in msl */
case 9: ua =*val[i]; break; /* unit (M) */
case 10: msl =atof(val[i]); break; /* height of geoid */
case 11: um =*val[i]; break; /* unit (M) */
}
}
if ((ns!='N'&&ns!='S')||(ew!='E'&&ew!='W')) {
trace(2,"invalid nmea gpgga format\n");
return 0;
}
if (sol->time.time==0.0) {
trace(2,"no date info for nmea gpgga\n");
return 0;
}
pos[0]=(ns=='N'?1.0:-1.0)*dmm2deg(lat)*D2R;
pos[1]=(ew=='E'?1.0:-1.0)*dmm2deg(lon)*D2R;
pos[2]=alt+msl;
time2epoch(sol->time,ep);
septime(tod,ep+3,ep+4,ep+5);
time=utc2gpst(epoch2time(ep));
tt=timediff(time,sol->time);
if (tt<-43200.0) sol->time=timeadd(time, 86400.0);
else if (tt> 43200.0) sol->time=timeadd(time,-86400.0);
else sol->time=time;
pos2ecef(pos,sol->rr);
sol->stat=0<=solq&&solq<=8?solq_nmea[solq]:SOLQ_NONE;
sol->ns=nrcv;
sol->type=0; /* postion type = xyz */
trace(5,"decode_nmeagga: %s rr=%.3f %.3f %.3f stat=%d ns=%d hdop=%.1f ua=%c um=%c\n",
time_str(sol->time,0),sol->rr[0],sol->rr[1],sol->rr[2],sol->stat,sol->ns,
hdop,ua,um);
return 1;
}
/* adjust daily rollover of time ---------------------------------------------*/
static gtime_t adjday(gtime_t time, double tod)
{
double ep[6],tod_p;
time2epoch(time,ep);
tod_p=ep[3]*3600.0+ep[4]*60.0+ep[5];
if (tod<tod_p-43200.0) tod+=86400.0;
else if (tod>tod_p+43200.0) tod-=86400.0;
ep[3]=ep[4]=ep[5]=0.0;
return timeadd(epoch2time(ep),tod);
}
/* timeadd() */
void utest5(void)
{
double ep0[]={2003,12,31,23,59,59.000000};
double ep1[]={2004, 1, 1, 0, 0, 1.000000};
double ep2[]={2004, 2,28, 0, 0, 0.000000};
double ep3[]={2004, 2,29, 0, 0, 0.000000};
gtime_t t;
double ep[6];
t=timeadd(epoch2time(ep0),3.0); time2epoch(t,ep);
assert(ep[0]==2004&&ep[1]==1&&ep[2]==1&&ep[3]==0&&ep[4]==0&&ep[5]==2.0);
t=timeadd(epoch2time(ep1),-3.0); time2epoch(t,ep);
assert(ep[0]==2003&&ep[1]==12&&ep[2]==31&&ep[3]==23&&ep[4]==59&&ep[5]==58.0);
t=timeadd(epoch2time(ep2),86400.0); time2epoch(t,ep);
assert(ep[0]==2004&&ep[1]==2&&ep[2]==29&&ep[3]==0&&ep[4]==0&&ep[5]==0.0);
t=timeadd(epoch2time(ep2),86400.0*2); time2epoch(t,ep);
assert(ep[0]==2004&&ep[1]==3&&ep[2]==1&&ep[3]==0&&ep[4]==0&&ep[5]==0.0);
t=timeadd(epoch2time(ep3),86400.0*2); time2epoch(t,ep);
assert(ep[0]==2004&&ep[1]==3&&ep[2]==2&&ep[3]==0&&ep[4]==0&&ep[5]==0.0);
printf("%s utset5 : OK\n",__FILE__);
}
/* timediff() */
void utest6(void)
{
double ep0[]={2003,12,31,23,59,59.000000};
double ep1[]={2004, 1, 1, 0, 0, 1.000000};
double ep2[]={2004, 2,28, 0, 0, 0.000000};
double ep3[]={2004, 2,29, 0, 0, 0.000000};
double ep4[]={2004, 3, 1, 0, 0, 0.000000};
double sec;
sec=timediff(epoch2time(ep1),epoch2time(ep0));
assert(sec==2.0);
sec=timediff(epoch2time(ep0),epoch2time(ep1));
assert(sec==-2.0);
sec=timediff(epoch2time(ep3),epoch2time(ep2));
assert(sec==86400.0);
sec=timediff(epoch2time(ep4),epoch2time(ep2));
assert(sec==86400.0*2);
sec=timediff(epoch2time(ep3),epoch2time(ep4));
assert(sec==-86400.0);
printf("%s utset6 : OK\n",__FILE__);
}
// clear data ---------------------------------------------------------------
void __fastcall TPlot::Clear(void)
{
AnsiString s;
double ep[]={2010,1,1,0,0,0};
int i;
trace(3,"Clear\n");
Week=NObs=0;
for (i=0;i<2;i++) {
freesolbuf(SolData+i);
free(SolStat[i].data);
SolStat[i].n=0;
SolStat[i].data=NULL;
}
freeobs(&Obs);
freenav(&Nav,0xFF);
delete [] IndexObs;
delete [] Az;
delete [] El;
IndexObs=NULL;
Az=NULL;
El=NULL;
SolFiles[0]->Clear();
SolFiles[1]->Clear();
ObsFiles->Clear();
NavFiles->Clear();
NObs=0;
SolIndex[0]=SolIndex[1]=ObsIndex=0;
for (i=0;i<3;i++) {
TimeEna[i]=0;
}
TimeStart=TimeEnd=epoch2time(ep);
BtnAnimate->Down=false;
if (PlotType>PLOT_NSAT) {
UpdateType(PLOT_TRK);
}
if (!ConnectState) {
initsolbuf(SolData ,0,0);
initsolbuf(SolData+1,0,0);
Caption=Title!=""?Title:s.sprintf("%s ver.%s",PRGNAME,VER_RTKLIB);
}
else {
initsolbuf(SolData ,1,RtBuffSize+1);
initsolbuf(SolData+1,1,RtBuffSize+1);
}
UpdateTime();
UpdatePlot();
}
/* merge ephmeris data ---------------------------------------------------------
* merge separated ephmeris data to ephemeris struct
* args : sdreph_t *eph I/O sdr ephemeris structure
* return : none
*-----------------------------------------------------------------------------*/
void merge_g1(sdreph_t *eph)
{
double ep[6];
eph->geph.tof=glot2time(eph->nt,eph->n4,eph->tk[0],eph->tk[1],eph->tk[2]);
/* compute current tow (tk is time of word 1) */
eph->tow_gpst=time2gpst(eph->geph.tof,&eph->eph.week)+eph->s1cnt*2.0;
eph->week_gpst=eph->eph.week;
ep[3]=0;ep[4]=eph->geph.iode-60*3;ep[5]=0; /* 3 hour bias in UTC-GPST */
eph->geph.toe=utc2gpst(epoch2time(ep)); /* time of ephemeris */
}
/* tle_pos() accuracy --------------------------------------------------------*/
static void utest3(void)
{
const char *file1="../data/tle/brdc3050.12*";
const char *file2="../data/tle/TLE_GNSS_20121101.txt";
const char *file3="../data/tle/igs17127.erp";
const double ep[6]={2012,10,31,0,0,0};
nav_t nav={0};
erp_t erp={0};
tle_t tle={0};
gtime_t time;
char sat[32];
double rs1[6],rs2[6],ds[6],dts[2],var;
int i,j,k,stat,svh;
readrnx(file1,0,"",NULL,&nav,NULL);
assert(nav.n>0);
stat=readerp(file3,&erp);
assert(stat);
stat=tle_read(file2,&tle);
assert(stat);
for (i=0;i<MAXSAT;i++) {
satno2id(i+1,sat);
fprintf(OUT,"SAT=%s\n",sat);
for (j=0;j<96;j++) {
time=timeadd(epoch2time(ep),900.0*j);
if (!satpos(time,time,i+1,EPHOPT_BRDC,&nav,rs1,dts,&var,&svh)) continue;
if (satsys(i+1,NULL)==SYS_QZS) svh&=0xFE;
if (svh) continue;
stat=tle_pos(time,sat,"","",&tle,&erp,rs2);
assert(stat);
for (k=0;k<3;k++) ds[k]=rs2[k]-rs1[k];
fprintf(OUT,"%6.0f %11.3f %11.3f %11.3f %11.3f\n",900.0*j,
ds[0]/1e3,ds[1]/1e3,ds[2]/1e3,norm(ds,3)/1e3);
assert(norm(ds,3)/1e3<300.0);
}
fprintf(OUT,"\n");
}
fprintf(OUT,"%s utest3 : OK\n",__FILE__);
}
/* decode nmea gprmc: recommended minumum data for gps -----------------------*/
static int decode_nmearmc(char **val, int n, sol_t *sol)
{
double tod=0.0,lat=0.0,lon=0.0,vel=0.0,dir=0.0,date=0.0,ang=0.0,ep[6];
double pos[3]={0};
char act=' ',ns='N',ew='E',mew='E',mode='A';
int i;
trace(4,"decode_nmearmc: n=%d\n",n);
for (i=0;i<n;i++) {
switch (i) {
case 0: tod =atof(val[i]); break; /* time in utc (hhmmss) */
case 1: act =*val[i]; break; /* A=active,V=void */
case 2: lat =atof(val[i]); break; /* latitude (ddmm.mmm) */
case 3: ns =*val[i]; break; /* N=north,S=south */
case 4: lon =atof(val[i]); break; /* longitude (dddmm.mmm) */
case 5: ew =*val[i]; break; /* E=east,W=west */
case 6: vel =atof(val[i]); break; /* speed (knots) */
case 7: dir =atof(val[i]); break; /* track angle (deg) */
case 8: date=atof(val[i]); break; /* date (ddmmyy) */
case 9: ang =atof(val[i]); break; /* magnetic variation */
case 10: mew =*val[i]; break; /* E=east,W=west */
case 11: mode=*val[i]; break; /* mode indicator (>nmea 2) */
/* A=autonomous,D=differential */
/* E=estimated,N=not valid,S=simulator */
}
}
if ((act!='A'&&act!='V')||(ns!='N'&&ns!='S')||(ew!='E'&&ew!='W')) {
trace(2,"invalid nmea gprmc format\n");
return 0;
}
pos[0]=(ns=='S'?-1.0:1.0)*dmm2deg(lat)*D2R;
pos[1]=(ew=='W'?-1.0:1.0)*dmm2deg(lon)*D2R;
septime(date,ep+2,ep+1,ep);
septime(tod,ep+3,ep+4,ep+5);
ep[0]+=ep[0]<80.0?2000.0:1900.0;
sol->time=utc2gpst(epoch2time(ep));
pos2ecef(pos,sol->rr);
sol->stat=mode=='D'?SOLQ_DGPS:SOLQ_SINGLE;
sol->ns=0;
sol->type=0; /* postion type = xyz */
trace(5,"decode_nmearmc: %s rr=%.3f %.3f %.3f stat=%d ns=%d vel=%.2f dir=%.0f ang=%.0f mew=%c mode=%c\n",
time_str(sol->time,0),sol->rr[0],sol->rr[1],sol->rr[2],sol->stat,sol->ns,
vel,dir,ang,mew,mode);
return 1;
}
