/* read obs and nav data -----------------------------------------------------*/
static int readobsnav(gtime_t ts, gtime_t te, double ti, char **infile,
const int *index, int n, const prcopt_t *prcopt,
obs_t *obs, nav_t *nav, sta_t *sta)
{
int i,j,ind=0,nobs=0,rcv=1;
trace(3,"readobsnav: ts=%s n=%d\n",time_str(ts,0),n);
obs->data=NULL; obs->n =obs->nmax =0;
nav->eph =NULL; nav->n =nav->nmax =0;
nav->geph=NULL; nav->ng=nav->ngmax=0;
nav->seph=NULL; nav->ns=nav->nsmax=0;
nepoch=0;
for (i=0;i<n;i++) {
if (checkbrk("")) return 0;
if (index[i]!=ind) {
if (obs->n>nobs) rcv++;
ind=index[i]; nobs=obs->n;
}
/* read rinex obs and nav file */
if (readrnxt(infile[i],rcv,ts,te,ti,prcopt->rnxopt[rcv<=1?0:1],obs,nav,
rcv<=2?sta+rcv-1:NULL)<0) {
checkbrk("error : insufficient memory");
trace(1,"insufficient memory\n");
return 0;
}
}
if (obs->n<=0) {
checkbrk("error : no obs data");
trace(1,"no obs data\n");
return 0;
}
if (nav->n<=0&&nav->ng<=0&&nav->ns<=0) {
checkbrk("error : no nav data");
trace(1,"no nav data\n");
return 0;
}
/* sort observation data */
nepoch=sortobs(obs);
/* delete duplicated ephemeris */
uniqnav(nav);
/* set time span for progress display */
if (ts.time==0||te.time==0) {
for (i=0; i<obs->n;i++) if (obs->data[i].rcv==1) break;
for (j=obs->n-1;j>=0;j--) if (obs->data[j].rcv==1) break;
if (i<j) {
if (ts.time==0) ts=obs->data[i].time;
if (te.time==0) te=obs->data[j].time;
settspan(ts,te);
}
}
return 1;
}
/* execute processing session for each base station --------------------------*/
static int execses_b(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,
const char *rov, const char *base)
{
gtime_t t0={0};
int i,stat=0;
char *ifile[MAXINFILE],ofile[1024],*base_,*p,*q,s[64];
trace(3,"execses_b: n=%d outfile=%s\n",n,outfile);
/* read prec ephemeris and sbas data */
readpreceph(infile,n,popt,&navs,&sbss,&lexs);
for (i=0;i<n;i++) if (strstr(infile[i],"%b")) break;
if (i<n) { /* include base station keywords */
if (!(base_=(char *)malloc(strlen(base)+1))) {
freepreceph(&navs,&sbss,&lexs);
return 0;
}
strcpy(base_,base);
for (i=0;i<n;i++) {
if (!(ifile[i]=(char *)malloc(1024))) {
free(base_); for (;i>=0;i--) free(ifile[i]);
freepreceph(&navs,&sbss,&lexs);
return 0;
}
}
for (p=base_;;p=q+1) { /* for each base station */
if ((q=strchr(p,' '))) *q='\0';
if (*p) {
strcpy(proc_base,p);
if (ts.time) time2str(ts,s,0); else *s='\0';
if (checkbrk("reading : %s",s)) {
stat=1;
break;
}
for (i=0;i<n;i++) reppath(infile[i],ifile[i],t0,"",p);
reppath(outfile,ofile,t0,"",p);
stat=execses_r(ts,te,ti,popt,sopt,fopt,flag,ifile,index,n,ofile,rov);
}
if (stat==1||!q) break;
}
free(base_); for (i=0;i<n;i++) free(ifile[i]);
}
else {
stat=execses_r(ts,te,ti,popt,sopt,fopt,flag,infile,index,n,outfile,rov);
}
/* free prec ephemeris and sbas data */
freepreceph(&navs,&sbss,&lexs);
return stat;
}
/* execute processing session for each rover ---------------------------------*/
static int execses_r(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,
const char *rov)
{
gtime_t t0={0};
int i,stat=0;
char *ifile[MAXINFILE],ofile[1024],*rov_,*p,*q,s[64]="";
trace(3,"execses_r: n=%d outfile=%s\n",n,outfile);
for (i=0;i<n;i++) if (strstr(infile[i],"%r")) break;
if (i<n) { /* include rover keywords */
if (!(rov_=(char *)malloc(strlen(rov)+1))) return 0;
strcpy(rov_,rov);
for (i=0;i<n;i++) {
if (!(ifile[i]=(char *)malloc(1024))) {
free(rov_); for (;i>=0;i--) free(ifile[i]);
return 0;
}
}
for (p=rov_;;p=q+1) { /* for each rover */
if ((q=strchr(p,' '))) *q='\0';
if (*p) {
strcpy(proc_rov,p);
if (ts.time) time2str(ts,s,0); else *s='\0';
if (checkbrk("reading : %s",s)) {
stat=1;
break;
}
for (i=0;i<n;i++) reppath(infile[i],ifile[i],t0,p,"");
reppath(outfile,ofile,t0,p,"");
/* execute processing session */
stat=execses(ts,te,ti,popt,sopt,fopt,flag,ifile,index,n,ofile);
}
if (stat==1||!q) break;
}
free(rov_); for (i=0;i<n;i++) free(ifile[i]);
}
else {
/* execute processing session */
stat=execses(ts,te,ti,popt,sopt,fopt,flag,infile,index,n,outfile);
}
return stat;
}
/* 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;
}
/* post-processing positioning -------------------------------------------------
* post-processing positioning
* args : gtime_t ts I processing start time (ts.time==0: no limit)
* : gtime_t te I processing end time (te.time==0: no limit)
* double ti I processing interval (s) (0:all)
* double tu I processing unit time (s) (0:all)
* prcopt_t *popt I processing options
* solopt_t *sopt I solution options
* filopt_t *fopt I file options
* char **infile I input files (see below)
* int n I number of input files
* char *outfile I output file ("":stdout, see below)
* char *rov I rover id list (separated by " ")
* char *base I base station id list (separated by " ")
* return : status (0:ok,0>:error,1:aborted)
* notes : input files should contain observation data, navigation data, precise
* ephemeris/clock (optional), sbas log file (optional), ssr message
* log file (optional) and tec grid file (optional). only the first
* observation data file in the input files is recognized as the rover
* data.
*
* the type of an input file is recognized by the file extention as ]
* follows:
* .sp3,.SP3,.eph*,.EPH*: precise ephemeris (sp3c)
* .sbs,.SBS,.ems,.EMS : sbas message log files (rtklib or ems)
* .lex,.LEX : qzss lex message log files
* .rtcm3,.RTCM3 : ssr message log files (rtcm3)
* .*i,.*I : tec grid files (ionex)
* others : rinex obs, nav, gnav, hnav, qnav or clock
*
* inputs files can include wild-cards (*). if an file includes
* wild-cards, the wild-card expanded multiple files are used.
*
* inputs files can include keywords. if an file includes keywords,
* the keywords are replaced by date, time, rover id and base station
* id and multiple session analyses run. refer reppath() for the
* keywords.
*
* the output file can also include keywords. if the output file does
* not include keywords. the results of all multiple session analyses
* are output to a single output file.
*
* ssr corrections are valid only for forward estimation.
*-----------------------------------------------------------------------------*/
extern int postpos(gtime_t ts, gtime_t te, double ti, double tu,
const prcopt_t *popt, const solopt_t *sopt,
const filopt_t *fopt, char **infile, int n, char *outfile,
const char *rov, const char *base)
{
gtime_t tts,tte,ttte;
double tunit,tss;
int i,j,k,nf,stat=0,week,flag=1,index[MAXINFILE]={0};
char *ifile[MAXINFILE],ofile[1024],*ext;
trace(3,"postpos : ti=%.0f tu=%.0f n=%d outfile=%s\n",ti,tu,n,outfile);
/* open processing session */
if (!openses(popt,sopt,fopt,&navs,&pcvss,&pcvsr)) return -1;
if (ts.time!=0&&te.time!=0&&tu>=0.0) {
if (timediff(te,ts)<0.0) {
showmsg("error : no period");
closeses(&navs,&pcvss,&pcvsr);
return 0;
}
for (i=0;i<MAXINFILE;i++) {
if (!(ifile[i]=(char *)malloc(1024))) {
for (;i>=0;i--) free(ifile[i]);
closeses(&navs,&pcvss,&pcvsr);
return -1;
}
}
if (tu==0.0||tu>86400.0*MAXPRCDAYS) tu=86400.0*MAXPRCDAYS;
settspan(ts,te);
tunit=tu<86400.0?tu:86400.0;
tss=tunit*(int)floor(time2gpst(ts,&week)/tunit);
for (i=0;;i++) { /* for each periods */
tts=gpst2time(week,tss+i*tu);
tte=timeadd(tts,tu-DTTOL);
if (timediff(tts,te)>0.0) break;
if (timediff(tts,ts)<0.0) tts=ts;
if (timediff(tte,te)>0.0) tte=te;
strcpy(proc_rov ,"");
strcpy(proc_base,"");
if (checkbrk("reading : %s",time_str(tts,0))) {
stat=1;
break;
}
for (j=k=nf=0;j<n;j++) {
ext=strrchr(infile[j],'.');
if (ext&&(!strcmp(ext,".rtcm3")||!strcmp(ext,".RTCM3"))) {
strcpy(ifile[nf++],infile[j]);
}
else {
/* include next day precise ephemeris or rinex brdc nav */
ttte=tte;
if (ext&&(!strcmp(ext,".sp3")||!strcmp(ext,".SP3")||
!strcmp(ext,".eph")||!strcmp(ext,".EPH"))) {
ttte=timeadd(ttte,3600.0);
}
else if (strstr(infile[j],"brdc")) {
ttte=timeadd(ttte,7200.0);
}
nf+=reppaths(infile[j],ifile+nf,MAXINFILE-nf,tts,ttte,"","");
}
while (k<nf) index[k++]=j;
if (nf>=MAXINFILE) {
trace(2,"too many input files. trancated\n");
break;
}
}
if (!reppath(outfile,ofile,tts,"","")&&i>0) flag=0;
/* execute processing session */
stat=execses_b(tts,tte,ti,popt,sopt,fopt,flag,ifile,index,nf,ofile,
rov,base);
if (stat==1) break;
}
for (i=0;i<MAXINFILE;i++) free(ifile[i]);
}
else if (ts.time!=0) {
for (i=0;i<n&&i<MAXINFILE;i++) {
if (!(ifile[i]=(char *)malloc(1024))) {
for (;i>=0;i--) free(ifile[i]); return -1;
}
reppath(infile[i],ifile[i],ts,"","");
index[i]=i;
}
reppath(outfile,ofile,ts,"","");
/* execute processing session */
stat=execses_b(ts,te,ti,popt,sopt,fopt,1,ifile,index,n,ofile,rov,
base);
for (i=0;i<n&&i<MAXINFILE;i++) free(ifile[i]);
}
else {
for (i=0;i<n;i++) index[i]=i;
/* execute processing session */
stat=execses_b(ts,te,ti,popt,sopt,fopt,1,infile,index,n,outfile,rov,
base);
}
/* close processing session */
closeses(&navs,&pcvss,&pcvsr);
return stat;
}
/* 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);
}
