/* set system options ----------------------------------------------------------
* set system options
* args : prcopt_t *prcopt I processing options (NULL: default)
* solopt_t *solopt I solution options (NULL: default)
* filopt_t *filopt I file options (NULL: default)
* return : none
* notes : to save system options, use saveopts() after calling the function
*-----------------------------------------------------------------------------*/
extern void setsysopts(const prcopt_t *prcopt, const solopt_t *solopt,
const filopt_t *filopt)
{
trace(3,"setsysopts:\n");
resetsysopts();
if (prcopt) prcopt_=*prcopt;
if (solopt) solopt_=*solopt;
if (filopt) filopt_=*filopt;
sysopts2buff();
}
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;
//---------------------------------------------------------------------------
void __fastcall TOptDialog::LoadOpt(AnsiString file)
{
int itype[]={STR_SERIAL,STR_TCPCLI,STR_TCPSVR,STR_NTRIPCLI,STR_FILE,STR_FTP,STR_HTTP};
int otype[]={STR_SERIAL,STR_TCPCLI,STR_TCPSVR,STR_NTRIPSVR,STR_FILE};
TEdit *editu[]={RovPos1,RovPos2,RovPos3};
TEdit *editr[]={RefPos1,RefPos2,RefPos3};
AnsiString s;
char buff[1024]="",*p,id[32];
int sat;
prcopt_t prcopt=prcopt_default;
solopt_t solopt=solopt_default;
filopt_t filopt={""};
resetsysopts();
if (!loadopts(file.c_str(),sysopts)||
!loadopts(file.c_str(),rcvopts)) return;
getsysopts(&prcopt,&solopt,&filopt);
for (int i=0;i<8;i++) {
MainForm->StreamC[i]=strtype[i]!=STR_NONE;
MainForm->Stream[i]=STR_NONE;
for (int j=0;j<(i<3?7:5);j++) {
if (strtype[i]!=(i<3?itype[j]:otype[j])) continue;
MainForm->Stream[i]=j;
break;
}
if (i<5) MainForm->Format[i]=strfmt[i];
if (strtype[i]==STR_SERIAL) {
MainForm->Paths[i][0]=strpath[i];
}
else if (strtype[i]==STR_FILE) {
MainForm->Paths[i][2]=strpath[i];
}
else if (strtype[i]<=STR_NTRIPCLI) {
MainForm->Paths[i][1]=strpath[i];
}
else if (strtype[i]<=STR_HTTP) {
MainForm->Paths[i][3]=strpath[i];
}
}
MainForm->NmeaReq=nmeareq;
MainForm->NmeaPos[0]=nmeapos[0];
MainForm->NmeaPos[1]=nmeapos[1];
SbasSatE ->Text =s.sprintf("%d",prcopt.sbassatsel);
PosMode ->ItemIndex =prcopt.mode;
Freq ->ItemIndex =prcopt.nf>NFREQ-1?NFREQ-1:prcopt.nf-1;
Solution ->ItemIndex =prcopt.soltype;
ElMask ->Text =s.sprintf("%.0f",prcopt.elmin*R2D);
DynamicModel ->ItemIndex =prcopt.dynamics;
TideCorr ->ItemIndex =prcopt.tidecorr;
IonoOpt ->ItemIndex =prcopt.ionoopt;
TropOpt ->ItemIndex =prcopt.tropopt;
SatEphem ->ItemIndex =prcopt.sateph;
ExSatsE ->Text ="";
for (sat=1,p=buff;sat<=MAXSAT;sat++) {
if (!prcopt.exsats[sat-1]) continue;
satno2id(sat,id);
p+=sprintf(p,"%s%s%s",p==buff?"":" ",prcopt.exsats[sat-1]==2?"+":"",id);
}
ExSatsE ->Text =buff;
NavSys1 ->Checked =prcopt.navsys&SYS_GPS;
NavSys2 ->Checked =prcopt.navsys&SYS_GLO;
NavSys3 ->Checked =prcopt.navsys&SYS_GAL;
NavSys4 ->Checked =prcopt.navsys&SYS_QZS;
NavSys5 ->Checked =prcopt.navsys&SYS_SBS;
NavSys6 ->Checked =prcopt.navsys&SYS_CMP;
PosOpt1 ->Checked =prcopt.posopt[0];
PosOpt2 ->Checked =prcopt.posopt[1];
PosOpt3 ->Checked =prcopt.posopt[2];
PosOpt4 ->Checked =prcopt.posopt[3];
PosOpt5 ->Checked =prcopt.posopt[4];
AmbRes ->ItemIndex =prcopt.modear;
GloAmbRes ->ItemIndex =prcopt.glomodear;
ValidThresAR ->Text =s.sprintf("%.1f",prcopt.thresar[0]);
OutCntResetAmb->Text =s.sprintf("%d" ,prcopt.maxout );
FixCntHoldAmb->Text =s.sprintf("%d" ,prcopt.minfix );
LockCntFixAmb->Text =s.sprintf("%d" ,prcopt.minlock );
ElMaskAR ->Text =s.sprintf("%.0f",prcopt.elmaskar*R2D);
ElMaskHold ->Text =s.sprintf("%.0f",prcopt.elmaskhold*R2D);
MaxAgeDiff ->Text =s.sprintf("%.1f",prcopt.maxtdiff );
RejectGdop ->Text =s.sprintf("%.1f",prcopt.maxgdop );
RejectThres ->Text =s.sprintf("%.1f",prcopt.maxinno );
SlipThres ->Text =s.sprintf("%.3f",prcopt.thresslip);
NumIter ->Text =s.sprintf("%d", prcopt.niter );
SyncSol ->ItemIndex =prcopt.syncsol;
BaselineLen ->Text =s.sprintf("%.3f",prcopt.baseline[0]);
BaselineSig ->Text =s.sprintf("%.3f",prcopt.baseline[1]);
BaselineConst->Checked =prcopt.baseline[0]>0.0;
SolFormat ->ItemIndex =solopt.posf;
TimeFormat ->ItemIndex =solopt.timef==0?0:solopt.times+1;
TimeDecimal ->Text =s.sprintf("%d",solopt.timeu);
LatLonFormat ->ItemIndex =solopt.degf;
FieldSep ->Text =solopt.sep;
OutputHead ->ItemIndex =solopt.outhead;
OutputOpt ->ItemIndex =solopt.outopt;
OutputDatum ->ItemIndex =solopt.datum;
OutputHeight ->ItemIndex =solopt.height;
OutputGeoid ->ItemIndex =solopt.geoid;
NmeaIntv1 ->Text =s.sprintf("%.2g",solopt.nmeaintv[0]);
NmeaIntv2 ->Text =s.sprintf("%.2g",solopt.nmeaintv[1]);
DebugTrace ->ItemIndex =solopt.trace;
DebugStatus ->ItemIndex =solopt.sstat;
MeasErrR1 ->Text =s.sprintf("%.1f",prcopt.eratio[0]);
MeasErrR2 ->Text =s.sprintf("%.3f",prcopt.eratio[1]);
MeasErr2 ->Text =s.sprintf("%.3f",prcopt.err[1]);
MeasErr3 ->Text =s.sprintf("%.3f",prcopt.err[2]);
MeasErr4 ->Text =s.sprintf("%.3f",prcopt.err[3]);
MeasErr5 ->Text =s.sprintf("%.3f",prcopt.err[4]);
SatClkStab ->Text =s.sprintf("%.2E",prcopt.sclkstab);
PrNoise1 ->Text =s.sprintf("%.2E",prcopt.prn[0]);
PrNoise2 ->Text =s.sprintf("%.2E",prcopt.prn[1]);
PrNoise3 ->Text =s.sprintf("%.2E",prcopt.prn[2]);
PrNoise4 ->Text =s.sprintf("%.2E",prcopt.prn[3]);
PrNoise5 ->Text =s.sprintf("%.2E",prcopt.prn[4]);
RovAntPcv ->Checked =*prcopt.anttype[0];
RefAntPcv ->Checked =*prcopt.anttype[1];
RovAnt ->Text =prcopt.anttype[0];
RefAnt ->Text =prcopt.anttype[1];
RovAntE ->Text =s.sprintf("%.4f",prcopt.antdel[0][0]);
RovAntN ->Text =s.sprintf("%.4f",prcopt.antdel[0][1]);
RovAntU ->Text =s.sprintf("%.4f",prcopt.antdel[0][2]);
RefAntE ->Text =s.sprintf("%.4f",prcopt.antdel[1][0]);
RefAntN ->Text =s.sprintf("%.4f",prcopt.antdel[1][1]);
RefAntU ->Text =s.sprintf("%.4f",prcopt.antdel[1][2]);
RovPosTypeP ->ItemIndex =prcopt.rovpos==0?0:3;
RefPosTypeP ->ItemIndex =prcopt.refpos==0?0:3;
RovPosTypeF =RovPosTypeP->ItemIndex;
RefPosTypeF =RefPosTypeP->ItemIndex;
SetPos(RovPosTypeP->ItemIndex,editu,prcopt.ru);
SetPos(RefPosTypeP->ItemIndex,editr,prcopt.rb);
SatPcvFile ->Text =filopt.satantp;
AntPcvFile ->Text =filopt.rcvantp;
StaPosFile ->Text =filopt.stapos;
GeoidDataFile->Text =filopt.geoid;
DCBFile ->Text =filopt.dcb;
LocalDir ->Text =filopt.tempdir;
ReadAntList();
UpdateEnable();
}
/* rnx2rtkp main -------------------------------------------------------------*/
int main(int argc, char **argv)
{
prcopt_t prcopt=prcopt_default;
solopt_t solopt=solopt_default;
filopt_t filopt={""};
gtime_t ts={0},te={0};
double tint=0.0,es[]={2000,1,1,0,0,0},ee[]={2000,12,31,23,59,59},pos[3];
int i,j,n,ret;
char *infile[MAXFILE],*outfile="";
prcopt.mode =PMODE_KINEMA;
prcopt.navsys=SYS_GPS|SYS_GLO;
prcopt.refpos=1;
prcopt.glomodear=1;
sprintf(solopt.prog ,"%s ver.%s",PROGNAME,VER_RTKLIB);
sprintf(filopt.trace,"%s.trace",PROGNAME);
/* load options from configuration file */
for (i=1;i<argc;i++) {
if (!strcmp(argv[i],"-k")&&i+1<argc) {
resetsysopts();
if (!loadopts(argv[++i],sysopts)) return -1;
getsysopts(&prcopt,&solopt,&filopt);
}
}
for (i=1,n=0;i<argc;i++) {
if (!strcmp(argv[i],"-o")&&i+1<argc) outfile=argv[++i];
else 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+5);
ts=epoch2time(es);
}
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);
te=epoch2time(ee);
}
else if (!strcmp(argv[i],"-ti")&&i+1<argc) tint=atof(argv[++i]);
else if (!strcmp(argv[i],"-k")&&i+1<argc) {++i; continue;}
else if (!strcmp(argv[i],"-p")&&i+1<argc) prcopt.mode=atoi(argv[++i]);
else if (!strcmp(argv[i],"-f")&&i+1<argc) prcopt.nf=atoi(argv[++i]);
else if (!strcmp(argv[i],"-m")&&i+1<argc) prcopt.elmin=atof(argv[++i])*D2R;
else if (!strcmp(argv[i],"-v")&&i+1<argc) prcopt.thresar[0]=atof(argv[++i]);
else if (!strcmp(argv[i],"-s")&&i+1<argc) strcpy(solopt.sep,argv[++i]);
else if (!strcmp(argv[i],"-d")&&i+1<argc) solopt.timeu=atoi(argv[++i]);
else if (!strcmp(argv[i],"-b")) prcopt.soltype=1;
else if (!strcmp(argv[i],"-c")) prcopt.soltype=2;
else if (!strcmp(argv[i],"-i")) prcopt.modear=2;
else if (!strcmp(argv[i],"-h")) prcopt.modear=3;
else if (!strcmp(argv[i],"-t")) solopt.timef=1;
else if (!strcmp(argv[i],"-u")) solopt.times=TIMES_UTC;
else if (!strcmp(argv[i],"-e")) solopt.posf=SOLF_XYZ;
else if (!strcmp(argv[i],"-a")) solopt.posf=SOLF_ENU;
else if (!strcmp(argv[i],"-n")) solopt.posf=SOLF_NMEA;
else if (!strcmp(argv[i],"-g")) solopt.degf=1;
else if (!strcmp(argv[i],"-r")&&i+3<argc) {
prcopt.refpos=0;
for (j=0;j<3;j++) prcopt.rb[j]=atof(argv[++i]);
}
else if (!strcmp(argv[i],"-l")&&i+3<argc) {
prcopt.refpos=0;
for (j=0;j<3;j++) pos[j]=atof(argv[++i]);
for (j=0;j<2;j++) pos[j]*=D2R;
pos2ecef(pos,prcopt.rb);
}
else if (!strcmp(argv[i],"-y")&&i+1<argc) solopt.sstat=atoi(argv[++i]);
else if (!strcmp(argv[i],"-x")&&i+1<argc) solopt.trace=atoi(argv[++i]);
else if (*argv[i]=='-') printhelp();
else if (n<MAXFILE) infile[n++]=argv[i];
}
if (n<=0) {
showmsg("error : no input file");
return -2;
}
ret=postpos(ts,te,tint,0.0,&prcopt,&solopt,&filopt,infile,n,outfile,"","");
if (!ret) fprintf(stderr,"%40s\r","");
return ret;
}