/* close procssing session ---------------------------------------------------*/
static void closeses(pcvs_t *pcvs, pcvs_t *pcvr)
{
trace(3,"closeses:\n");
/* free antenna parameters */
free(pcvs->pcv); pcvs->pcv=NULL; pcvs->n=pcvs->nmax=0;
free(pcvr->pcv); pcvr->pcv=NULL; pcvr->n=pcvr->nmax=0;
/* close geoid data */
closegeoid();
/* close solution statistics and debug trace */
rtkclosestat();
traceclose();
}
}
void stop_rtkrcv() {
/* stop rtk server */
stopsvr(&svr_vt);
if (moniport>0) closemoni();
if (outstat>0) rtkclosestat();
if (rcv_trace>0) traceclose();
/* save navigation data */
if (!savenav(NAVIFILE,&svr.nav)) {
fprintf(stderr,"navigation data save error: %s\n",NAVIFILE);
static void RtkServer__stop(JNIEnv* env, jclass thiz, jobjectArray j_cmds)
{
unsigned i;
struct native_ctx_t *nctx;
const char *cmds[3]={NULL, NULL, NULL};
jstring cmds_jstring[3]={NULL, NULL, NULL};
LOGV("RtkServer__stop()");
nctx = (struct native_ctx_t *)(uintptr_t)(*env)->GetLongField(env, thiz, m_object_field);
if (nctx == NULL) {
LOGV("nctx is null");
return;
}
for (i=0; i<sizeof(cmds)/sizeof(cmds[0]); ++i) {
cmds_jstring[i] = (*env)->GetObjectArrayElement(env, j_cmds, i);
if ((*env)->ExceptionOccurred(env))
goto rtksvrstop_close;
if (cmds_jstring[i] != NULL) {
cmds[i] = (*env)->GetStringUTFChars(env, cmds_jstring[i], NULL);
if (cmds[i] == NULL)
goto rtksvrstop_close;
}
}
rtksvrstop_close:
rtksvrstop(&nctx->rtksvr,(char **)cmds);
traceclose();
rtkclosestat();
for (i=0; i<sizeof(cmds)/sizeof(cmds[0]); ++i) {
if (cmds[i] != NULL)
(*env)->ReleaseStringUTFChars(env, cmds_jstring[i], cmds[i]);
}
}
/* execute processing session ------------------------------------------------*/
static int execses(gtime_t ts, gtime_t te, double ti, const prcopt_t *popt,
const solopt_t *sopt, const filopt_t *fopt, int flag,
char **infile, const int *index, int n, char *outfile)
{
FILE *fp;
prcopt_t popt_=*popt;
char tracefile[1024],statfile[1024];
trace(3,"execses : n=%d outfile=%s\n",n,outfile);
/* open debug trace */
if (flag&&sopt->trace>0) {
if (*outfile) {
strcpy(tracefile,outfile);
strcat(tracefile,".trace");
}
else {
strcpy(tracefile,fopt->trace);
}
traceclose();
traceopen(tracefile);
tracelevel(sopt->trace);
}
/* read obs and nav data */
if (!readobsnav(ts,te,ti,infile,index,n,&popt_,&obss,&navs,stas)) return 0;
/* set antenna paramters */
if (popt_.sateph==EPHOPT_PREC||popt_.sateph==EPHOPT_SSRCOM) {
setpcv(obss.n>0?obss.data[0].time:timeget(),&popt_,&navs,&pcvss,&pcvsr,
stas);
}
/* read ocean tide loading parameters */
if (popt_.mode>PMODE_SINGLE&&fopt->blq) {
readotl(&popt_,fopt->blq,stas);
}
/* rover/reference fixed position */
if (popt_.mode==PMODE_FIXED) {
if (!antpos(&popt_,1,&obss,&navs,stas,fopt->stapos)) {
freeobsnav(&obss,&navs);
return 0;
}
}
else if (PMODE_DGPS<=popt_.mode&&popt_.mode<=PMODE_STATIC) {
if (!antpos(&popt_,2,&obss,&navs,stas,fopt->stapos)) {
freeobsnav(&obss,&navs);
return 0;
}
}
/* open solution statistics */
if (flag&&sopt->sstat>0) {
strcpy(statfile,outfile);
strcat(statfile,".stat");
rtkclosestat();
rtkopenstat(statfile,sopt->sstat);
}
/* write header to output file */
if (flag&&!outhead(outfile,infile,n,&popt_,sopt)) {
freeobsnav(&obss,&navs);
return 0;
}
iobsu=iobsr=isbs=ilex=revs=aborts=0;
if (popt_.mode==PMODE_SINGLE||popt_.soltype==0) {
if ((fp=openfile(outfile))) {
procpos(fp,&popt_,sopt,0); /* forward */
fclose(fp);
}
}
else if (popt_.soltype==1) {
if ((fp=openfile(outfile))) {
revs=1; iobsu=iobsr=obss.n-1; isbs=sbss.n-1; ilex=lexs.n-1;
procpos(fp,&popt_,sopt,0); /* backward */
fclose(fp);
}
}
else { /* combined */
solf=(sol_t *)malloc(sizeof(sol_t)*nepoch);
solb=(sol_t *)malloc(sizeof(sol_t)*nepoch);
rbf=(double *)malloc(sizeof(double)*nepoch*3);
rbb=(double *)malloc(sizeof(double)*nepoch*3);
if (solf&&solb) {
isolf=isolb=0;
procpos(NULL,&popt_,sopt,1); /* forward */
revs=1; iobsu=iobsr=obss.n-1; isbs=sbss.n-1; ilex=lexs.n-1;
procpos(NULL,&popt_,sopt,1); /* backward */
/* combine forward/backward solutions */
if (!aborts&&(fp=openfile(outfile))) {
combres(fp,&popt_,sopt);
fclose(fp);
}
}
else showmsg("error : memory allocation");
free(solf);
free(solb);
free(rbf);
free(rbb);
}
/* free obs and nav data */
freeobsnav(&obss,&navs);
return aborts?1:0;
}
static jboolean RtkServer__rtksvrstart(JNIEnv* env, jclass thiz,
jint j_cycle,
jint j_buffsize,
jintArray j_strs,
jobjectArray j_paths,
jintArray j_format,
jint j_navsel,
jobjectArray j_cmds,
jobjectArray j_rcvopts,
jint j_nmea_cycle,
jint j_nmea_req,
jdoubleArray j_nmeapos,
jobject j_procopt,
jobject j_solopt1,
jobject j_solopt2
) {
struct native_ctx_t *nctx;
int i;
jobject obj;
jboolean res;
/* Input stream types */
int strs[8];
/* input stream paths */
const char *paths[8] = {NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL };
jstring paths_jstring[8] = {NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL };
/* input stream formats (STRFMT_???) */
int format[3];
/* input stream start commands */
const char *cmds[3] = {NULL, NULL, NULL};
jstring cmds_jstring[3] = {NULL, NULL, NULL};
/* receiver options */
const char *rcvopts[3] = {NULL, NULL, NULL};
char *rcvopts_jstring[3] = {NULL, NULL, NULL};
/* rtk processing options */
prcopt_t prcopt;
/* solution options */
solopt_t solopt[2];
/* nmea position */
double nmeapos[3];
res = JNI_FALSE;
for (i=0; i<sizeof(paths)/sizeof(paths[0]); ++i) {
paths_jstring[i] = (*env)->GetObjectArrayElement(env, j_paths, i);
if ((*env)->ExceptionOccurred(env))
goto rtksvrstart_end;
if (paths_jstring[i] != NULL) {
paths[i] = (*env)->GetStringUTFChars(env, paths_jstring[i], NULL);
if (paths[i] == NULL)
goto rtksvrstart_end;
}
}
for (i=0; i<sizeof(cmds)/sizeof(cmds[0]); ++i) {
cmds_jstring[i] = (*env)->GetObjectArrayElement(env, j_cmds, i);
if ((*env)->ExceptionOccurred(env))
goto rtksvrstart_end;
if (cmds_jstring[i] != NULL) {
cmds[i] = (*env)->GetStringUTFChars(env, cmds_jstring[i], NULL);
if (cmds[i] == NULL)
goto rtksvrstart_end;
}
}
for (i=0; i<sizeof(rcvopts)/sizeof(rcvopts[0]); ++i) {
rcvopts_jstring[i] = (*env)->GetObjectArrayElement(env, j_rcvopts, i);
if ((*env)->ExceptionOccurred(env))
goto rtksvrstart_end;
if (rcvopts_jstring[i] != NULL) {
rcvopts[i] = (*env)->GetStringUTFChars(env, rcvopts_jstring[i], NULL);
if (rcvopts[i] == NULL)
goto rtksvrstart_end;
}
}
(*env)->GetIntArrayRegion(env, j_strs, 0,
sizeof(strs)/sizeof(strs[0]), strs);
if ((*env)->ExceptionOccurred(env))
goto rtksvrstart_end;
(*env)->GetIntArrayRegion(env, j_format, 0,
sizeof(format)/sizeof(format[0]), format);
if ((*env)->ExceptionOccurred(env))
goto rtksvrstart_end;
(*env)->GetDoubleArrayRegion(env, j_nmeapos, 0,
sizeof(nmeapos)/sizeof(nmeapos[0]), nmeapos);
if ((*env)->ExceptionOccurred(env))
goto rtksvrstart_end;
solution_options2solopt_t(env, j_solopt1, &solopt[0]);
solution_options2solopt_t(env, j_solopt2, &solopt[1]);
nctx = (struct native_ctx_t *)(uintptr_t)(*env)->GetLongField(env, thiz, m_object_field);
if (nctx == NULL) {
LOGV("nctx is null");
goto rtksvrstart_end;
}
{
/* Open trace / solution files */
gtime_t now;
now = timeget();
if (solopt[0].trace > 0)
open_trace_file(env, solopt[0].trace, now);
/* treat processing options only now for having trace */
processing_options2prcopt_t(env, j_procopt, &prcopt);
if (solopt[0].sstat > 0)
open_solution_status_file(env, solopt[0].sstat, now);
}
if ((*env)->ExceptionOccurred(env))
goto rtksvrstart_end;
char errmsg[2048]=""; // Modif Mathieu Peyréga : adapt to new 2.4.3b26 API
char *cmds_periodic[]={NULL,NULL,NULL}; // Modif Mathieu Peyréga : adapt to new 2.4.3b26 API
if (!rtksvrstart(
&nctx->rtksvr,
/* SvrCycle ms */ j_cycle,
/* SvrBuffSize */ j_buffsize,
/* stream types */ strs,
/* paths */ (char **)paths,
/* input stream format */ format,
/* NavSelect */ j_navsel,
/* input stream start commands */ (char **)cmds,
/* input stream periodic commands */ (char **)cmds_periodic, // Modif Mathieu Peyréga : adapt to new 2.4.3b26 API
/* receiver options */ (char **)rcvopts,
/* nmea request cycle ms */ j_nmea_cycle,
/* nmea request type */ j_nmea_req,
/* transmitted nmea position */ nmeapos,
/* rtk processing options */&prcopt,
/* solution options */ solopt,
/* monitor stream */ &nctx->monistr,
/* err */errmsg // Modif Mathieu Peyréga : adapt to new 2.4.3b26 API
)) {
}else {
res = JNI_TRUE;
}
rtksvrstart_end:
for (i=0; i<sizeof(paths)/sizeof(paths[0]); ++i) {
if (paths[i] != NULL)
(*env)->ReleaseStringUTFChars(env, paths_jstring[i], paths[i]);
}
for (i=0; i<sizeof(cmds)/sizeof(cmds[0]); ++i) {
if (cmds[i] != NULL)
(*env)->ReleaseStringUTFChars(env, cmds_jstring[i], cmds[i]);
}
for (i=0; i<sizeof(rcvopts)/sizeof(rcvopts[0]); ++i) {
if (rcvopts[i] != NULL)
(*env)->ReleaseStringUTFChars(env, rcvopts_jstring[i], rcvopts[i]);
}
if (!res) {
traceclose();
rtkclosestat();
}
return res;
}