/* input obs data, navigation messages and sbas correction -------------------*/
static int inputobs(obsd_t *obs, int solq, const prcopt_t *popt)
{
gtime_t time={0};
char path[1024];
int i,nu,nr,n=0;
trace(3,"infunc : revs=%d iobsu=%d iobsr=%d isbs=%d\n",revs,iobsu,iobsr,isbs);
if (0<=iobsu&&iobsu<obss.n) {
settime((time=obss.data[iobsu].time));
if (checkbrk("processing : %s Q=%d",time_str(time,0),solq)) {
aborts=1; showmsg("aborted"); return -1;
}
}
if (!revs) { /* input forward data */
if ((nu=nextobsf(&obss,&iobsu,1))<=0) return -1;
if (popt->intpref) {
for (;(nr=nextobsf(&obss,&iobsr,2))>0;iobsr+=nr)
if (timediff(obss.data[iobsr].time,obss.data[iobsu].time)>-DTTOL) break;
}
else {
for (i=iobsr;(nr=nextobsf(&obss,&i,2))>0;iobsr=i,i+=nr)
if (timediff(obss.data[i].time,obss.data[iobsu].time)>DTTOL) break;
}
nr=nextobsf(&obss,&iobsr,2);
for (i=0;i<nu&&n<MAXOBS;i++) obs[n++]=obss.data[iobsu+i];
for (i=0;i<nr&&n<MAXOBS;i++) obs[n++]=obss.data[iobsr+i];
iobsu+=nu;
/* update sbas corrections */
while (isbs<sbss.n) {
time=gpst2time(sbss.msgs[isbs].week,sbss.msgs[isbs].tow);
if (getbitu(sbss.msgs[isbs].msg,8,6)!=9) { /* except for geo nav */
sbsupdatecorr(sbss.msgs+isbs,&navs);
}
if (timediff(time,obs[0].time)>-1.0-DTTOL) break;
isbs++;
}
/* update lex corrections */
while (ilex<lexs.n) {
if (lexupdatecorr(lexs.msgs+ilex,&navs,&time)) {
if (timediff(time,obs[0].time)>-1.0-DTTOL) break;
}
ilex++;
}
/* update rtcm corrections */
if (*rtcm_file) {
/* open or swap rtcm file */
reppath(rtcm_file,path,obs[0].time,"","");
if (strcmp(path,rtcm_path)) {
strcpy(rtcm_path,path);
if (fp_rtcm) fclose(fp_rtcm);
fp_rtcm=fopen(path,"rb");
if (fp_rtcm) {
rtcm.time=obs[0].time;
input_rtcm3f(&rtcm,fp_rtcm);
trace(2,"rtcm file open: %s\n",path);
}
}
if (fp_rtcm) {
while (timediff(rtcm.time,obs[0].time)<0.0) {
if (input_rtcm3f(&rtcm,fp_rtcm)<-1) break;
}
for (i=0;i<MAXSAT;i++) navs.ssr[i]=rtcm.ssr[i];
}
}
}
else { /* input backward data */
if ((nu=nextobsb(&obss,&iobsu,1))<=0) return -1;
if (popt->intpref) {
for (;(nr=nextobsb(&obss,&iobsr,2))>0;iobsr-=nr)
if (timediff(obss.data[iobsr].time,obss.data[iobsu].time)<DTTOL) break;
}
else {
for (i=iobsr;(nr=nextobsb(&obss,&i,2))>0;iobsr=i,i-=nr)
if (timediff(obss.data[i].time,obss.data[iobsu].time)<-DTTOL) break;
}
nr=nextobsb(&obss,&iobsr,2);
for (i=0;i<nu&&n<MAXOBS;i++) obs[n++]=obss.data[iobsu-nu+1+i];
for (i=0;i<nr&&n<MAXOBS;i++) obs[n++]=obss.data[iobsr-nr+1+i];
iobsu-=nu;
/* update sbas corrections */
while (isbs>=0) {
time=gpst2time(sbss.msgs[isbs].week,sbss.msgs[isbs].tow);
if (getbitu(sbss.msgs[isbs].msg,8,6)!=9) { /* except for geo nav */
sbsupdatecorr(sbss.msgs+isbs,&navs);
}
if (timediff(time,obs[0].time)<1.0+DTTOL) break;
isbs--;
}
/* update lex corrections */
while (ilex>=0) {
if (lexupdatecorr(lexs.msgs+ilex,&navs,&time)) {
if (timediff(time,obs[0].time)<1.0+DTTOL) break;
}
ilex--;
}
}
return n;
}
/* input obs data, navigation messages and sbas correction -------------------*/
static int inputobs(obsd_t *obs, int solq, const prcopt_t *popt)
{
gtime_t time={0};
int i,nu,nr,n=0;
char str[32];
trace(3,"infunc : revs=%d iobsu=%d iobsr=%d isbs=%d\n",revs,iobsu,iobsr,isbs);
if (0<=iobsu&&iobsu<obss.n) {
settime((time=obss.data[iobsu].time));
if (checkbrk("processing : %s Q=%d",time_str(time,0),solq)) {
aborts=1; showmsg("aborted"); return -1;
}
}
if (!revs) { /* input forward data */
if ((nu=nextobsf(&obss,&iobsu,1))<=0) return -1;
if (popt->intpref) {
for (;(nr=nextobsf(&obss,&iobsr,2))>0;iobsr+=nr)
if (timediff(obss.data[iobsr].time,obss.data[iobsu].time)>-DTTOL) break;
}
else {
for (i=iobsr;(nr=nextobsf(&obss,&i,2))>0;iobsr=i,i+=nr)
if (timediff(obss.data[i].time,obss.data[iobsu].time)>DTTOL) break;
}
nr=nextobsf(&obss,&iobsr,2);
for (i=0;i<nu&&n<MAXOBS;i++) obs[n++]=obss.data[iobsu+i];
for (i=0;i<nr&&n<MAXOBS;i++) obs[n++]=obss.data[iobsr+i];
iobsu+=nu;
/* update sbas corrections */
while (isbs<sbss.n) {
time=gpst2time(sbss.msgs[isbs].week,sbss.msgs[isbs].tow);
if (getbitu(sbss.msgs[isbs].msg,8,6)!=9) { /* except for geo nav */
sbsupdatecorr(sbss.msgs+isbs,&navs);
}
if (timediff(time,obs[0].time)>-1.0-DTTOL) break;
isbs++;
}
/* update lex corrections */
while (ilex<lexs.n) {
if (lexupdatecorr(lexs.msgs+ilex,&navs,&time)) {
if (timediff(time,obs[0].time)>-1.0-DTTOL) break;
}
ilex++;
}
/* update rtcm corrections */
if (fp_rtcm) {
if (rtcm.time.time==0) rtcm.time=obs[0].time;
#if 1
while (timediff(rtcm.time,obs[0].time)<-1.0) {
#else
while (timediff(rtcm.time,obs[0].time)<5.0) {
#endif
if (input_rtcm3f(&rtcm,fp_rtcm)==-2) break;
}
for (i=0;i<MAXSAT;i++) navs.ssr[i]=rtcm.ssr[i];
}
}
else { /* input backward data */
if ((nu=nextobsb(&obss,&iobsu,1))<=0) return -1;
if (popt->intpref) {
for (;(nr=nextobsb(&obss,&iobsr,2))>0;iobsr-=nr)
if (timediff(obss.data[iobsr].time,obss.data[iobsu].time)<DTTOL) break;
}
else {
for (i=iobsr;(nr=nextobsb(&obss,&i,2))>0;iobsr=i,i-=nr)
if (timediff(obss.data[i].time,obss.data[iobsu].time)<-DTTOL) break;
}
nr=nextobsb(&obss,&iobsr,2);
for (i=0;i<nu&&n<MAXOBS;i++) obs[n++]=obss.data[iobsu-nu+1+i];
for (i=0;i<nr&&n<MAXOBS;i++) obs[n++]=obss.data[iobsr-nr+1+i];
iobsu-=nu;
/* update sbas corrections */
while (isbs>=0) {
time=gpst2time(sbss.msgs[isbs].week,sbss.msgs[isbs].tow);
if (getbitu(sbss.msgs[isbs].msg,8,6)!=9) { /* except for geo nav */
sbsupdatecorr(sbss.msgs+isbs,&navs);
}
if (timediff(time,obs[0].time)<1.0+DTTOL) break;
isbs--;
}
/* update lex corrections */
while (ilex>=0) {
if (lexupdatecorr(lexs.msgs+ilex,&navs,&time)) {
if (timediff(time,obs[0].time)<1.0+DTTOL) break;
}
ilex--;
}
}
return n;
}
/* process positioning -------------------------------------------------------*/
static void procpos(FILE *fp, const prcopt_t *popt, const solopt_t *sopt,
int mode)
{
gtime_t time={0};
sol_t sol={{0}};
rtk_t rtk;
obsd_t obs[MAXOBS];
double rb[3]={0};
int i,nobs,n,solstatic,pri[]={0,1,2,3,4,5,1,6};
trace(3,"procpos : mode=%d\n",mode);
solstatic=sopt->solstatic&&
(popt->mode==PMODE_STATIC||popt->mode==PMODE_PPP_STATIC);
rtkinit(&rtk,popt);
while ((nobs=inputobs(obs,rtk.sol.stat,popt))>=0) {
/* exclude satellites */
for (i=n=0;i<nobs;i++) {
if ((satsys(obs[i].sat,NULL)&popt->navsys)&&
popt->exsats[obs[i].sat-1]!=1) obs[n++]=obs[i];
}
if (n<=0) continue;
if (!rtkpos(&rtk,obs,n,&navs)) continue;
if (mode==0) { /* forward/backward */
if (!solstatic) {
outsol(fp,&rtk.sol,rtk.rb,sopt);
}
else if (time.time==0||pri[rtk.sol.stat]<=pri[sol.stat]) {
sol=rtk.sol;
for (i=0;i<3;i++) rb[i]=rtk.rb[i];
if (time.time==0||timediff(rtk.sol.time,time)<0.0) {
time=rtk.sol.time;
}
}
}
else if (!revs) { /* combined-forward */
if (isolf>=nepoch) return;
solf[isolf]=rtk.sol;
for (i=0;i<3;i++) rbf[i+isolf*3]=rtk.rb[i];
isolf++;
}
else { /* combined-backward */
if (isolb>=nepoch) return;
solb[isolb]=rtk.sol;
for (i=0;i<3;i++) rbb[i+isolb*3]=rtk.rb[i];
isolb++;
}
}
if (mode==0&&solstatic&&time.time!=0.0) {
sol.time=time;
outsol(fp,&sol,rb,sopt);
}
rtkfree(&rtk);
}