int main(int argc, char* argv[])
{
try
{
// if no options are given on command line, print syntax and quit
if (argc < 2 || string(argv[1]) == "-h" || string(argv[1]) == "--help")
{
cout << "Program CalcDOPs reads an FIC, FICA or a Rinex Nav file" << endl
<< "Usage: CalcDOPs -i <inputfile> input file for day to be calculated (required)" << endl
<< " -p <inputfile> input file for previous day (optional, ephemeris mode only)" << endl
<< " -o <outputfile> grid output file [DOPs.out]" << endl
<< " -sf <outputfile> stats output file [DOPs.stat]" << endl
<< " -tf <outputfile> time steps output file [DOPs.times]" << endl
<< " -l <outputfile> log output file [DOPs.log]" << endl
<< " -rs read from stats file" << endl
<< " -a work in almanac mode [ephemeris mode is default]" << endl
<< " -w <week> -s <sow> starting time tag" << endl
<< " -x <prn> exclude satellite PRN" << endl
<< " -t <dt> time spacing" << endl
<< " -na do North America only" << endl
<< " -d dump grid results at each time step (time-intensive)" << endl
<< " -h, --help output options info and exit" << endl
<< " -v print version info and exit" << endl
<< endl;
return 0;
}
int i, j, ii;
// parse command line
i = 1;
while (i < argc)
{
if (string(argv[i]) == "-i" ) inputfile = string(argv[++i]);
else if (string(argv[i]) == "-p" ) previnputfile = string(argv[++i]);
else if (string(argv[i]) == "-o" ) outputfile = string(argv[++i]);
else if (string(argv[i]) == "-l" ) logfile = string(argv[++i]);
else if (string(argv[i]) == "-tf") timesfile = string(argv[++i]);
else if (string(argv[i]) == "-a" ) ephmode = false;
else if (string(argv[i]) == "-w" ) week = atoi(argv[++i]);
else if (string(argv[i]) == "-s" ) sow = atof(argv[++i]);
else if (string(argv[i]) == "-x" ) ExPRN.push_back(atoi(argv[++i]));
else if (string(argv[i]) == "-t" ) dt = atof(argv[++i]);
else if (string(argv[i]) == "-sf") statsfile = string(argv[++i]);
else if (string(argv[i]) == "-rs") readStats = true;
else if (string(argv[i]) == "-na") NAonly = true;
else if (string(argv[i]) == "-d" ) dumpeach = true;
else if (string(argv[i]) == "-v" )
{
cout << "CalcDOPs version " << fixed << setprecision(1) << setw(3) << version << endl;
return 0;
}
else cout << "Unrecognized option: " << argv[i] << endl;
i++;
}
lofs.open(logfile.c_str(),ios_base::out);
if (!lofs) return -8;
tofs.open(timesfile.c_str(),ios_base::out);
if (!tofs) return -8;
// reassurance print
lofs << "Program visible with:" << endl << "current-day input file " << inputfile << endl;
if ( previnputfile != "" ) lofs << "and previous-day input file " << previnputfile << endl;
lofs << "and output file " << outputfile << endl;
if (week > 0) lofs << " Input time tag: " << week << " " << sow << endl;
if (ExPRN.size() > 0)
{
lofs << " Exclude satellite PRNs";
for(i=0; i<ExPRN.size(); i++) lofs << " " << ExPRN[i];
lofs << "." << endl;
}
// compute the number of time steps from the time spacing
nt = int(86400.0/dt); // 86400 = 60*60*24 = sec/day
// open and read the previous day's input data file first, if specified and in Eph mode
if ( previnputfile != "" && ephmode )
{
lofs << "Reading in previous-day input file..." << endl;
i = ReadDataFile(previnputfile);
if (i)
{
if (i == -1) lofs << "Previous-day input file does not exist. Abort." << endl;
if (i == -2) lofs << "Cannot identify previous-day file type. Abort." << endl;
return i;
}
}
// open and read the current day's input data file
lofs << "Reading in current-day input file..." << endl;
i = ReadDataFile(inputfile);
if (i)
{
if (i == -1) lofs << "Current-day input file does not exist. Abort." << endl;
if (i == -2) lofs << "Cannot identify current-day file type. Abort." << endl;
return i;
}
// build the spatial grid, and store it in vector<GridData> Grid;
BuildGrid();
// get a list of the available satellite PRNs and the initial timetag
bool ok;
DayTime tt, starttime;
bool initialTimeSet = false;
if ( ephmode ) // ephemeris mode
{
try
{
DayTime earliest = ges.getInitialTime();
DayTime latest = ges.getFinalTime();
// DayTime start = latest - gpstk::DayTime::SEC_DAY/2; /* make sure you're in the right day */
DayTime start = latest - 6*3600.0; /* go back 6 h: covers any 4 h ephemeris going into the next day */
tt = DayTime( start.year(), start.month(), start.day(), 0, 0, 0.0 );
starttime = tt;
lofs << " Initial time tag is " << tt.printf("%4F %8.1g") << endl;
initialTimeSet = true;
}
catch(InvalidRequest)
{
i = -100;
lofs << "Initial Time or Final Time missing. Abort." << endl;
return i;
}
for (i=1; i<33; i++)
{
for (ok=true,j=0; j<ExPRN.size(); j++)
{
if (ExPRN[j] == i) { ok=false; break; }
}
if (!ok) continue; // skip this satellite
Sats.push_back(i); // save this satellite
}
}
else // almanac mode (original version)
{
DayTime start(DayTime::BEGINNING_OF_TIME); // Declare and initialize to something guaranteed to be early.
for (i=1; i<33; i++) // # of SVs hard-wired to 32
{
if (aomap.find(i) == aomap.end()) continue; // satellite not found in almanac
for (ok=true,j=0; j<ExPRN.size(); j++)
{
if (ExPRN[j] == i) { ok=false; break; }
}
if (!ok) continue; // skip this satellite if not ok
Sats.push_back(i); // save this satellite otherwise
// store latest transmit time tag of the set.
if (aomap[i].getTransmitTime()>start) start = aomap[i].getTransmitTime();
}
// Set starting time to beginning of day in which majority of almanac was collected.
tt = DayTime( start.year(), start.month(), start.day(), 0, 0, 0.0 );
starttime = tt;
lofs << " Initial time tag is " << tt.printf("%4F %8.1g") << endl;
initialTimeSet = true;
}
if (Sats.size() < 4)
{
lofs << "Fewer than 4 satellite almanacs are available - abort." << endl;
return -3;
}
// allocate Stats objects for each grid point's DOPs
GGridStats = new Stats<double>[Grid.size()];
PGridStats = new Stats<double>[Grid.size()];
HGridStats = new Stats<double>[Grid.size()];
VGridStats = new Stats<double>[Grid.size()];
TGridStats = new Stats<double>[Grid.size()];
NGridStats = new Stats<double>[Grid.size()];
BadPDOP = (double*)calloc(Grid.size(),sizeof(double));
if (!GGridStats || !PGridStats || !HGridStats ||
!VGridStats || !TGridStats || !NGridStats )
{
lofs << "Failed to allocate GridStats" << endl;
return -4;
}
// initialize storage of 'worsts' and 'peaks'
IworstN = IworstG = IworstP = IworstH = IworstV = IworstT = -1; // indexes of worst Number and worst DOPs
NtrofN = NpeakG = NpeakP = NpeakH = NpeakV = NpeakT = 0; // number of cells with DOP > 10, # with < 5 sats
// if reading a stats file (-rs), initialize stats using data from a file
if (readStats)
{
i = ReadStatsFile(statsfile);
if (i)
{
lofs << "Could not open stats file for input. Abort." << endl;
return i;
}
}
// compute away
dlon = 360.0/double(MaxNLon);
for (j=0; j<nt; j++) // LOOP OVER TIMES
{
SVs.clear(); // clear SV position array
for (i=0; i<Sats.size(); i++) // LOOP OVER SVs -- get positions at each time step
{
if (ephmode) // ephemeris mode
{
SatID sid(Sats[i],SatID::systemGPS);
try
{
if (ges.getSatHealth(sid,tt)!=0) continue;
SVPVT = ges.getXvt(sid,tt);
}
catch(InvalidRequest& e)
{
continue;
}
SV.setECEF(SVPVT.x[0],SVPVT.x[1],SVPVT.x[2]); // get SV position
SVs.push_back(SV); // add to the vector
}
else // almanac mode
{
SVPVT = aomap[Sats[i]].svXvt(tt);
SV.setECEF(SVPVT.x[0],SVPVT.x[1],SVPVT.x[2]); // get SV position
SVs.push_back(SV); // add to the vector
}
}
// zero worst-site DOPs (worst #SVs to large #) for this time step
StepWorstG = StepWorstP = StepWorstH = StepWorstV = StepWorstT = 0.;
StepWorstN = 10000.;
for (i=0; i<Grid.size(); i++) // LOOP OVER GRID POSITIONS
{
if ( j == 0 ) // set up grid position vector only on first time step
{
// transform XYZT to UENT: R*Vector(XYZT) = Vector(UENT)
double ca,sa,co,so;
Position Rx(Grid[i].lat,Grid[i].lon,0.0,Position::Geodetic); // grid position
ca = cos(Rx.geodeticLatitude()*DEG_TO_RAD);
sa = sin(Rx.geodeticLatitude()*DEG_TO_RAD);
co = cos(Rx.longitude()*DEG_TO_RAD);
so = sin(Rx.longitude()*DEG_TO_RAD);
M4 Rtemp;
Rtemp(0,0) = ca*co ; Rtemp(0,1) = ca*so ; Rtemp(0,2) = sa ; Rtemp(0,3) = 0.0;
Rtemp(1,0) = -so ; Rtemp(1,1) = co ; Rtemp(1,2) = 0.0; Rtemp(1,3) = 0.0;
Rtemp(2,0) = -sa*co; Rtemp(2,1) = -sa*so; Rtemp(2,2) = ca ; Rtemp(2,3) = 0.0;
Rtemp(3,0) = 0.0 ; Rtemp(3,1) = 0.0 ; Rtemp(3,2) = 0.0; Rtemp(3,3) = 1.0;
Rmat.push_back(Rtemp); // add this grid point's R matrix to the stack
}
ComputeDOPs(tt,Grid[i],SVs,Rmat[i]); // compute DOPs
BadPDOP[i] = BadPDOP[i] + Grid[i].bdop; // adds up each grid pt.'s BDOP over all times
// BDOP for a single pt. is 0 or 1 for PDOP <= v. > 6
// add to stats -- each GridStats object ends up holding all times for a grid point
GGridStats[i].Add(Grid[i].gdop);
PGridStats[i].Add(Grid[i].pdop);
HGridStats[i].Add(Grid[i].hdop);
VGridStats[i].Add(Grid[i].vdop);
TGridStats[i].Add(Grid[i].tdop);
NGridStats[i].Add(Grid[i].nsvs);
// save the worst and the peaks
if (Grid[i].gdop > StepWorstG)
{
StepWorstG = Grid[i].gdop;
}
if (Grid[i].pdop > StepWorstP)
{
StepWorstP = Grid[i].pdop;
}
if (Grid[i].hdop > StepWorstH)
{
StepWorstH = Grid[i].hdop;
}
if (Grid[i].vdop > StepWorstV)
{
StepWorstV = Grid[i].vdop;
}
if (Grid[i].tdop > StepWorstT)
{
StepWorstT = Grid[i].tdop;
}
if (Grid[i].nsvs < StepWorstN)
{
StepWorstN = Grid[i].nsvs;
}
if (IworstG == -1 || Grid[i].gdop > WorstG)
{
IworstG = i;
WorstG = Grid[i].gdop;
TworstG = tt;
}
if (IworstP == -1 || Grid[i].pdop > WorstP)
{
IworstP = i;
WorstP = Grid[i].pdop;
TworstP = tt;
}
if (IworstH == -1 || Grid[i].hdop > WorstH)
{
IworstH = i;
WorstH = Grid[i].hdop;
TworstH = tt;
}
if (IworstV == -1 || Grid[i].vdop > WorstV)
{
IworstV = i;
WorstV = Grid[i].vdop;
TworstV = tt;
}
if (IworstT == -1 || Grid[i].tdop > WorstT)
{
IworstT = i;
WorstT = Grid[i].tdop;
TworstT = tt;
}
if (IworstN == -1 || Grid[i].nsvs < WorstN)
{
IworstN = i;
WorstN = Grid[i].nsvs;
TworstN = tt;
}
if (Grid[i].nsvs < 5) NtrofN++;
if (Grid[i].pdop > 10.)
{
NpeakP++;
lofs << "PDS " << NpeakP
<< " " << setw(4) << j+1 // time
<< fixed << setprecision(2)
<< " " << setw(7) << Grid[i].lon
<< " " << setw(7) << Grid[i].lat
<< endl;
}
if (Grid[i].hdop > 10.)
{
NpeakH++;
lofs << "HDS " << NpeakH
<< " " << setw(4) << j+1 // time
<< fixed << setprecision(2)
<< " " << setw(7) << Grid[i].lon
<< " " << setw(7) << Grid[i].lat
<< endl;
}
} // end loop over grid
// write timestep results to timesfile
tofs << " "
<< tt.printf("%4F %8.1g") << " "
<< " " << setw(7) << StepWorstG
<< " " << setw(7) << StepWorstP
<< " " << setw(7) << StepWorstH
<< " " << setw(7) << StepWorstV
<< " " << setw(7) << StepWorstT
<< " " << setw(6) << StepWorstN
<< endl;
// dump grid results to file for each time step if enabled
if (dumpeach)
{
stringstream ss;
ss << j;
dumpfile = outputfile + ".t-" + ss.str();
cout << dumpfile << endl;
ii = DumpGrid(tt, dumpfile);
if (ii)
{
lofs << "Could not dump grid file for writing. Abort." << endl;
return i;
}
}
// record worst-site DOPs at each time step
WGTimeStats.push_back(StepWorstG);
WPTimeStats.push_back(StepWorstP);
WHTimeStats.push_back(StepWorstH);
WVTimeStats.push_back(StepWorstV);
WTTimeStats.push_back(StepWorstT);
WNTimeStats.push_back(StepWorstN);
tt += dt; // increment time tag
} // end loop over times
// get day's average of worst-site (grid) DOPs
for (i=0; i<nt; i++)
{
AvgWorstSiteDOP.wgdop += WGTimeStats[i];
AvgWorstSiteDOP.wpdop += WPTimeStats[i];
AvgWorstSiteDOP.whdop += WHTimeStats[i];
AvgWorstSiteDOP.wvdop += WVTimeStats[i];
AvgWorstSiteDOP.wtdop += WTTimeStats[i];
AvgWorstSiteDOP.wnsvs += WNTimeStats[i];
}
AvgWorstSiteDOP.wgdop /= nt;
AvgWorstSiteDOP.wpdop /= nt;
AvgWorstSiteDOP.whdop /= nt;
AvgWorstSiteDOP.wvdop /= nt;
AvgWorstSiteDOP.wtdop /= nt;
AvgWorstSiteDOP.wnsvs /= nt;
// output the grid itself and the stats - for use later
i = OutputGrid(outputfile); // output average and worst-site DOP results over the grid
if (i)
{
lofs << "Could not output file for writing. Abort." << endl;
return i;
}
i = WriteStatsFile(statsfile);
if (i)
{
lofs << "Could not open stats file for output. Abort." << endl;
return i;
}
// clean up
delete[] GGridStats;
delete[] PGridStats;
delete[] HGridStats;
delete[] VGridStats;
delete[] TGridStats;
delete[] NGridStats;
lofs.close();
}
catch(Exception& e) {
lofs << "Caught an exception" << endl << e << endl;
}
return 0;
}
