} /* start rtk server ----------------------------------------------------------*/ static int startsvr(vt_t *vt) { double pos[3],npos[3]; char s[3][MAXRCVCMD]={"","",""},*cmds[]={NULL,NULL,NULL}; char *ropts[]={"","",""}; char *paths[]={ strpath[0],strpath[1],strpath[2],strpath[3],strpath[4],strpath[5], strpath[6],strpath[7] }; int i,ret,stropt[8]={0}; trace(3,"startsvr:\n"); /* read start commads from command files */ for (i=0;i<3;i++) { if (!*rcvcmds[i]) continue; if (!readcmd(rcvcmds[i],s[i],0)) { printvt(vt,"no command file: %s\n",rcvcmds[i]); } else cmds[i]=s[i]; } /* confirm overwrite */ for (i=3;i<8;i++) { if (strtype[i]==STR_FILE&&!confwrite(vt,strpath[i])) return 0; } if (prcopt.refpos==4) { /* rtcm */ for (i=0;i<3;i++) prcopt.rb[i]=0.0; } pos[0]=nmeapos[0]*D2R; pos[1]=nmeapos[1]*D2R; pos[2]=0.0; pos2ecef(pos,npos); /* read antenna file */ readant(vt,&prcopt,&svr.nav); /* open geoid data file */ if (solopt[0].geoid>0&&!opengeoid(solopt[0].geoid,filopt.geoid)) { trace(2,"geoid data open error: %s\n",filopt.geoid); printvt(vt,"geoid data open error: %s\n",filopt.geoid); } for (i=0;*rcvopts[i].name;i++) modflgr[i]=0; for (i=0;*sysopts[i].name;i++) modflgs[i]=0; /* set stream options */ stropt[0]=timeout; stropt[1]=reconnect; stropt[2]=1000; stropt[3]=buffsize; stropt[4]=fswapmargin; strsetopt(stropt); if (strfmt[2]==8) strfmt[2]=STRFMT_SP3; /* set ftp/http directory and proxy */ strsetdir(filopt.tempdir); strsetproxy(proxyaddr); /* execute start command */ if (*startcmd&&(ret=system(startcmd))) { trace(2,"command exec error: %s (%d)\n",startcmd,ret); printvt(vt,"command exec error: %s (%d)\n",startcmd,ret); } solopt[0].posf=strfmt[3]; solopt[1].posf=strfmt[4]; /* start rtk server */ if (!rtksvrstart(&svr,svrcycle,buffsize,strtype,paths,strfmt,navmsgsel, cmds,ropts,nmeacycle,nmeareq,npos,&prcopt,solopt,&moni)) { trace(2,"rtk server start error\n"); printvt(vt,"rtk server start error\n"); return 0; }
/* str2str -------------------------------------------------------------------*/ int main(int argc, char **argv) { static char cmd[MAXRCVCMD]=""; const char ss[]={'E','-','W','C','C'}; strconv_t *conv[MAXSTR]={NULL}; double pos[3],stapos[3]={0}; char *paths[MAXSTR],s[MAXSTR][MAXSTRPATH]={{0}},*cmdfile=""; char *local="",*proxy="",*msg="1004,1019",*opt="",buff[256],*p; char strmsg[MAXSTRMSG]=""; int i,n=0,dispint=5000,trlevel=0,opts[]={10000,10000,2000,32768,10,0,30}; int types[MAXSTR]={0},stat[MAXSTR]={0},byte[MAXSTR]={0},bps[MAXSTR]={0}; int fmts[MAXSTR],sta=0; for (i=0;i<MAXSTR;i++) paths[i]=s[i]; for (i=1;i<argc;i++) { if (!strcmp(argv[i],"-in")&&i+1<argc) { if (!decodepath(argv[++i],types,paths[0],fmts)) return -1; } else if (!strcmp(argv[i],"-out")&&i+1<argc&&n<MAXSTR-1) { if (!decodepath(argv[++i],types+n+1,paths[n+1],fmts+n+1)) return -1; n++; } else if (!strcmp(argv[i],"-p")&&i+3<argc) { pos[0]=atof(argv[++i])*D2R; pos[1]=atof(argv[++i])*D2R; pos[2]=atof(argv[++i]); pos2ecef(pos,stapos); } else if (!strcmp(argv[i],"-msg")&&i+1<argc) msg=argv[++i]; else if (!strcmp(argv[i],"-opt")&&i+1<argc) opt=argv[++i]; else if (!strcmp(argv[i],"-sta")&&i+1<argc) sta=atoi(argv[++i]); else if (!strcmp(argv[i],"-d" )&&i+1<argc) dispint=atoi(argv[++i]); else if (!strcmp(argv[i],"-s" )&&i+1<argc) opts[0]=atoi(argv[++i]); else if (!strcmp(argv[i],"-r" )&&i+1<argc) opts[1]=atoi(argv[++i]); else if (!strcmp(argv[i],"-n" )&&i+1<argc) opts[5]=atoi(argv[++i]); else if (!strcmp(argv[i],"-f" )&&i+1<argc) opts[6]=atoi(argv[++i]); else if (!strcmp(argv[i],"-c" )&&i+1<argc) cmdfile=argv[++i]; else if (!strcmp(argv[i],"-l" )&&i+1<argc) local=argv[++i]; else if (!strcmp(argv[i],"-x" )&&i+1<argc) proxy=argv[++i]; else if (!strcmp(argv[i],"-t" )&&i+1<argc) trlevel=atoi(argv[++i]); else if (*argv[i]=='-') printhelp(); } if (!*paths[0]) { fprintf(stderr,"specify input stream\n"); return -1; } if (n<=0) { fprintf(stderr,"specify output stream(s)\n"); return -1; } for (i=0;i<n;i++) { if (fmts[i+1]<0) continue; if (fmts[i+1]!=STRFMT_RTCM3) { fprintf(stderr,"unsupported output format\n"); return -1; } if (fmts[0]<0) { fprintf(stderr,"specify input format\n"); return -1; } if (!(conv[i]=strconvnew(fmts[0],fmts[i+1],msg,sta,sta!=0,opt))) { fprintf(stderr,"stream conversion error\n"); return -1; } } signal(SIGTERM,sigfunc); signal(SIGINT ,sigfunc); signal(SIGHUP ,SIG_IGN); signal(SIGPIPE,SIG_IGN); strsvrinit(&strsvr,n+1); if (trlevel>0) { traceopen(TRFILE); tracelevel(trlevel); } fprintf(stderr,"stream server start\n"); strsetdir(local); strsetproxy(proxy); if (*cmdfile) readcmd(cmdfile,cmd,0); /* start stream server */ if (!strsvrstart(&strsvr,opts,types,paths,conv,*cmd?cmd:NULL,stapos)) { fprintf(stderr,"stream server start error\n"); return -1; } for (intrflg=0;!intrflg;) { /* get stream server status */ strsvrstat(&strsvr,stat,byte,bps,strmsg); /* show stream server status */ for (i=0,p=buff;i<MAXSTR;i++) p+=sprintf(p,"%c",ss[stat[i]+1]); fprintf(stderr,"%s [%s] %10d B %7d bps %s\n", time_str(utc2gpst(timeget()),0),buff,byte[0],bps[0],strmsg); sleepms(dispint); } if (*cmdfile) readcmd(cmdfile,cmd,1); /* stop stream server */ strsvrstop(&strsvr,*cmd?cmd:NULL); for (i=0;i<n;i++) { strconvfree(conv[i]); } if (trlevel>0) { traceclose(); } fprintf(stderr,"stream server stop\n"); return 0; }
/* str2str -------------------------------------------------------------------*/ int main(int argc, char **argv) { static char cmd[MAXRCVCMD]=""; const char ss[]={'E','-','W','C','C'}; strconv_t *conv[MAXSTR]={NULL}; double pos[3],stapos[3]={0},off[3]={0}; char *paths[MAXSTR],s[MAXSTR][MAXSTRPATH]={{0}},*cmdfile=""; char *local="",*proxy="",*msg="1004,1019",*opt="",buff[256],*p; char strmsg[MAXSTRMSG]="",*antinfo="",*rcvinfo=""; char *ant[]={"","",""},*rcv[]={"","",""}; int i,j,n=0,dispint=5000,trlevel=0,opts[]={10000,10000,2000,32768,10,0,30}; int types[MAXSTR]={STR_FILE,STR_FILE},stat[MAXSTR]={0},byte[MAXSTR]={0}; int bps[MAXSTR]={0},fmts[MAXSTR]={0},sta=0; int ctl_port=2097; char ctl_buffer[256]; char *nodefile; int sockfd; char *rip; struct sockaddr_in serv_addr; rip=ctl_buffer; fd_set sockset; roverMsg rmsg; for (i=0;i<MAXSTR;i++) paths[i]=s[i]; for (i=1;i<argc;i++) { if (!strcmp(argv[i],"-in")&&i+1<argc) { if (!decodepath(argv[++i],types,paths[0],fmts)) return -1; } else if (!strcmp(argv[i],"-out")&&i+1<argc&&n<MAXSTR-1) { if (!decodepath(argv[++i],types+n+1,paths[n+1],fmts+n+1)) return -1; n++; } else if (!strcmp(argv[i],"-p")&&i+3<argc) { pos[0]=atof(argv[++i])*D2R; pos[1]=atof(argv[++i])*D2R; pos[2]=atof(argv[++i]); pos2ecef(pos,stapos); } else if (!strcmp(argv[i],"-o")&&i+3<argc) { off[0]=atof(argv[++i]); off[1]=atof(argv[++i]); off[2]=atof(argv[++i]); } else if (!strcmp(argv[i],"-msg")&&i+1<argc) msg=argv[++i]; else if (!strcmp(argv[i],"-opt")&&i+1<argc) opt=argv[++i]; else if (!strcmp(argv[i],"-sta")&&i+1<argc) sta=atoi(argv[++i]); else if (!strcmp(argv[i],"-d" )&&i+1<argc) dispint=atoi(argv[++i]); else if (!strcmp(argv[i],"-s" )&&i+1<argc) opts[0]=atoi(argv[++i]); else if (!strcmp(argv[i],"-r" )&&i+1<argc) opts[1]=atoi(argv[++i]); else if (!strcmp(argv[i],"-n" )&&i+1<argc) opts[5]=atoi(argv[++i]); else if (!strcmp(argv[i],"-f" )&&i+1<argc) opts[6]=atoi(argv[++i]); else if (!strcmp(argv[i],"-c" )&&i+1<argc) cmdfile=argv[++i]; else if (!strcmp(argv[i],"-a" )&&i+1<argc) antinfo=argv[++i]; else if (!strcmp(argv[i],"-i" )&&i+1<argc) rcvinfo=argv[++i]; else if (!strcmp(argv[i],"-l" )&&i+1<argc) local=argv[++i]; else if (!strcmp(argv[i],"-x" )&&i+1<argc) proxy=argv[++i]; else if (!strcmp(argv[i],"-t" )&&i+1<argc) trlevel=atoi(argv[++i]); else if (!strcmp(argv[i],"-port")&&i+1<argc) ctl_port=atoi(argv[++i]); else if (!strcmp(argv[i], "-nodefile")&& i+1<argc) nodefile=argv[++i]; else if (!strcmp(argv[i], "-rip")&&i+1<argc) rip=argv[++i]; else if (*argv[i]=='-') printhelp(); } if (n<=0) n=1; /* stdout */ fprintf(stderr,"argv parsed\n"); if(rip==ctl_buffer) { fprintf(stderr, "No rover ip address\n"); return(-1); } serv_addr.sin_family=AF_INET; inet_aton(rip, &serv_addr.sin_addr); serv_addr.sin_port=htons(ctl_port); sockfd=socket(AF_INET,SOCK_STREAM, 0); if (sockfd < 0) fprintf(stderr,"ERROR opening socket\n"); FD_ZERO(&sockset); FD_SET(sockfd, &sockset); for (i=0;i<n;i++) { if (fmts[i+1]<=0) continue; if (fmts[i+1]!=STRFMT_RTCM3) { fprintf(stderr,"unsupported output format\n"); return -1; } if (fmts[0]<0) { fprintf(stderr,"specify input format\n"); return -1; } if (!(conv[i]=strconvnew(fmts[0],fmts[i+1],msg,sta,sta!=0,opt))) { fprintf(stderr,"stream conversion error\n"); return -1; } strcpy(buff,antinfo); for (p=strtok(buff,","),j=0;p&&j<3;p=strtok(NULL,",")) ant[j++]=p; strcpy(conv[i]->out.sta.antdes,ant[0]); strcpy(conv[i]->out.sta.antsno,ant[1]); conv[i]->out.sta.antsetup=atoi(ant[2]); strcpy(buff,rcvinfo); for (p=strtok(buff,","),j=0;p&&j<3;p=strtok(NULL,",")) rcv[j++]=p; strcpy(conv[i]->out.sta.rectype,rcv[0]); strcpy(conv[i]->out.sta.recver ,rcv[1]); strcpy(conv[i]->out.sta.recsno ,rcv[2]); matcpy(conv[i]->out.sta.pos,pos,3,1); matcpy(conv[i]->out.sta.del,off,3,1); } signal(SIGTERM,sigfunc); signal(SIGINT ,sigfunc); signal(SIGHUP ,SIG_IGN); signal(SIGPIPE,SIG_IGN); strsvrinit(&strsvr,n+1); if (trlevel>0) { traceopen(TRFILE); tracelevel(trlevel); } fprintf(stderr,"stream server start\n"); strsetdir(local); strsetproxy(proxy); if (*cmdfile) readcmd(cmdfile,cmd,0); /* start stream server */ if (!strsvrstart(&strsvr,opts,types,paths,conv,*cmd?cmd:NULL,stapos)) { fprintf(stderr,"stream server start error\n"); return -1; } // Socket server start if(connect(sockfd,(struct sockaddr*)&serv_addr,sizeof(serv_addr))<0) fprintf(stderr,"error connecting\n"); if (bind(sockfd, (struct sockaddr *) &serv_addr, sizeof(serv_addr)) < 0) fprintf(stderr,"ERROR on binding"); for (intrflg=0;!intrflg;) { /* get stream server status */ strsvrstat(&strsvr,stat,byte,bps,strmsg); /* show stream server status */ for (i=0,p=buff;i<MAXSTR;i++) p+=sprintf(p,"%c",ss[stat[i]+1]); fprintf(stderr,"%s [%s] %10d B %7d bps %s\n", time_str(utc2gpst(timeget()),0),buff,byte[0],bps[0],strmsg); sleepms(dispint); } if (*cmdfile) readcmd(cmdfile,cmd,1); /* stop stream server */ strsvrstop(&strsvr,*cmd?cmd:NULL); for (i=0;i<n;i++) { strconvfree(conv[i]); } if (trlevel>0) { traceclose(); } fprintf(stderr,"stream server stop\n"); return 0; }