char *justify (char * target, char * source, int tmax) {
int slen;
slen = strlen(source);
if (slen >= tmax)
right(target, source, tmax);
else {
strinit(target, tmax - slen, '0');
strcat(target, source);
}
return target;
}
static void RtkServer__create(JNIEnv* env, jobject thiz)
{
struct native_ctx_t *nctx;
LOGV("RtkServer__create()");
nctx = (struct native_ctx_t *)calloc(1, sizeof(struct native_ctx_t));
if (nctx == NULL) {
LOGV("calloc() error");
return;
}
rtksvrinit(&nctx->rtksvr);
strinit(&nctx->monistr);
(*env)->SetLongField(env, thiz, m_object_field, (long)nctx);
}
int loadrosopts(opt_t *opts);
int start_rtkrcv(int argc, char **argv)
{
int i;
for (i=1;i<argc;i++) {
if (!strcmp(argv[i],"-m")&&i+1<argc) moniport=atoi(argv[++i]);
else if (!strcmp(argv[i],"-r")&&i+1<argc) outstat=atoi(argv[++i]);
else if (!strcmp(argv[i],"-t")&&i+1<argc) rcv_trace=atoi(argv[++i]);
else fprintf(stderr,"Unknown option: %s\n",argv[i]);
}
if (rcv_trace>0) {
traceopen(TRACEFILE);
tracelevel(rcv_trace);
}
/* initialize rtk server and monitor port */
rtksvrinit(&svr);
strinit(&moni);
/* load options from ROS */
resetsysopts();
loadrosopts(rcvopts);
loadrosopts(sysopts);
getsysopts(&prcopt,solopt,&filopt);
/* read navigation data */
if (!readnav(NAVIFILE,&svr.nav)) {
fprintf(stderr,"no navigation data: %s\n",NAVIFILE);
}
if (outstat>0) {
rtkopenstat(STATFILE,outstat);
}
/* open monitor port */
if (moniport>0&&!openmoni(moniport)) {
fprintf(stderr,"monitor port open error: %d\n",moniport);
return 0;
}
/* start rtk server */
if (!startsvr(&svr_vt)) return 0;
int hasValidOpenTag() {
int result;
TString str;
strinit(&str);
int c;
for( short i = 0; i < OPEN_TAG_LENGTH; ++i) {
c = fgetc(source);
result = strCharAppend( &str, c);
if (result != EOK) return result;
}
//nacti oddelovac oteviraci znacky
int separator = fgetc(source);
// pokud je oddelovacem znak konce radku, je potreba tento znak vratit,
// aby pocitani radku pro token opravdu odpovidalo
if (separator == '\n') ungetc(separator, source);
return (strcmp(str.string, OPEN_TAG ) == 0 ) && isspace(separator);
}
/* get source table -------------------------------------------------------*/
static char *getsrctbl(const char *path)
{
static int lock=0;
AnsiString s;
stream_t str;
char *p=buff,msg[MAXSTRMSG];
int ns,stat,len=strlen(ENDSRCTBL);
unsigned int tick=tickget();
if (lock) return NULL; else lock=1;
strinit(&str);
if (!stropen(&str,STR_NTRIPCLI,STR_MODE_R,path)) {
lock=0;
MainForm->ShowMsg("stream open error");
return NULL;
}
MainForm->ShowMsg("connecting...");
while(p<buff+MAXSRCTBL-1) {
ns=strread(&str,p,buff+MAXSRCTBL-p-1); *(p+ns)='\0';
if (p-len-3>buff&&strstr(p-len-3,ENDSRCTBL)) break;
p+=ns;
Sleep(NTRIP_CYCLE);
stat=strstat(&str,msg);
MainForm->ShowMsg(msg);
if (stat<0) break;
if ((int)(tickget()-tick)>NTRIP_TIMEOUT) {
MainForm->ShowMsg("response timeout");
break;
}
}
strclose(&str);
lock=0;
return buff;
}
/* initialize rtk server -------------------------------------------------------
* initialize rtk server
* args : rtksvr_t *svr IO rtk server
* return : status (0:error,1:ok)
*-----------------------------------------------------------------------------*/
extern int rtksvrinit(rtksvr_t *svr)
{
gtime_t time0;
sol_t sol0;
eph_t eph0;
geph_t geph0;
seph_t seph0;
int i,j;
INIT_ZERO(time0);
INIT_ZERO(sol0);
INIT_ZERO(eph0);
INIT_ZERO(geph0);
INIT_ZERO(seph0);
tracet(3,"rtksvrinit:\n");
svr->state=svr->cycle=svr->nmeacycle=svr->nmeareq=0;
for (i=0;i<3;i++) svr->nmeapos[i]=0.0;
svr->buffsize=0;
for (i=0;i<3;i++) svr->format[i]=0;
for (i=0;i<2;i++) svr->solopt[i]=solopt_default;
svr->navsel=svr->nsbs=svr->nsol=0;
rtkinit(&svr->rtk,&prcopt_default);
for (i=0;i<3;i++) svr->nb[i]=0;
for (i=0;i<2;i++) svr->nsb[i]=0;
for (i=0;i<3;i++) svr->npb[i]=0;
for (i=0;i<3;i++) svr->buff[i]=NULL;
for (i=0;i<2;i++) svr->sbuf[i]=NULL;
for (i=0;i<3;i++) svr->pbuf[i]=NULL;
for (i=0;i<MAXSOLBUF;i++) svr->solbuf[i]=sol0;
for (i=0;i<3;i++) for (j=0;j<10;j++) svr->nmsg[i][j]=0;
for (i=0;i<3;i++) svr->ftime[i]=time0;
for (i=0;i<3;i++) svr->files[i][0]='\0';
svr->moni=NULL;
svr->tick=0;
svr->thread=0;
svr->cputime=svr->prcout=0;
if (!(svr->nav.eph =(eph_t *)malloc(sizeof(eph_t )*MAXSAT *2))||
!(svr->nav.geph=(geph_t *)malloc(sizeof(geph_t)*NSATGLO*2))||
!(svr->nav.seph=(seph_t *)malloc(sizeof(seph_t)*NSATSBS*2))) {
tracet(1,"rtksvrinit: malloc error\n");
return 0;
}
for (i=0;i<MAXSAT *2;i++) svr->nav.eph [i]=eph0;
for (i=0;i<NSATGLO*2;i++) svr->nav.geph[i]=geph0;
for (i=0;i<NSATSBS*2;i++) svr->nav.seph[i]=seph0;
svr->nav.n =MAXSAT *2;
svr->nav.ng=NSATGLO*2;
svr->nav.ns=NSATSBS*2;
for (i=0;i<3;i++) for (j=0;j<MAXOBSBUF;j++) {
if (!(svr->obs[i][j].data=(obsd_t *)malloc(sizeof(obsd_t)*MAXOBS))) {
tracet(1,"rtksvrinit: malloc error\n");
return 0;
}
}
for (i=0;i<3;i++) {
memset(svr->raw +i,0,sizeof(raw_t ));
memset(svr->rtcm+i,0,sizeof(rtcm_t));
}
for (i=0;i<MAXSTRRTK;i++) strinit(svr->stream+i);
initlock(&svr->lock);
return 1;
}
