}
/* 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;
}
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;
}
int main()//OPTIMIZATION LEVEL = 0
{
HAL_Init();
SystemClockConfig();
ConfigLED();
ConfigTimer();
rtksvrstart(&svr);
ConfigUART(svr.format[0]);
fobs[0]=fobs[1]=0;
//svr.raw[1].time.time = 1429540822;//test SS2 data
//svr.raw[1].time.time = 1429539852;//test SS2 data
while (HAL_UART_Receive_DMA(&UartGPSHandle,svr.buff[0],MAX_RAW_LEN) != HAL_OK);
while (HAL_UART_Receive_DMA(&UartRFHandle,svr.buff[1],MAX_RAW_LEN) != HAL_OK);
HAL_Delay(3000);
sendRequest(svr.format[0]);
// test();
while(1)
{
#ifndef _TEST_RESULT
if (flagTimeout)
{
int index,temp;
flagTimeout=0;
//SendIntStr(UartGPSHandle.Instance->SR);
//SendIntStr(UartRFHandle.Instance->SR);
for (index=0;index<2;index++)
{
if (index==0)
temp = UartGPSHandle.hdmarx->Instance->NDTR & 0xffff;
else
temp = UartRFHandle.hdmarx->Instance->NDTR & 0xffff;
if (temp + svr.buffPtr[index] <= MAX_RAW_LEN)
svr.nb[index] = MAX_RAW_LEN - svr.buffPtr[index] - temp;
else
svr.nb[index] = 2*MAX_RAW_LEN - temp - svr.buffPtr[index];
fobs[index] = decode_raw(&svr,index);
svr.buffPtr[index] = MAX_RAW_LEN - temp;
}
// temp = UartGPSHandle.hdmarx->Instance->NDTR & 0xffff;
// if (temp + svr.buffPtr[0] <= MAX_RAW_LEN)
// svr.nb[0] = MAX_RAW_LEN - svr.buffPtr[0] - temp;
// else
// svr.nb[0] = 2*MAX_RAW_LEN - temp - svr.buffPtr[0];
// if (svr.buffPtr[0] + svr.nb[0] <= MAX_RAW_LEN)
// {
// for (i = svr.buff[0] + svr.buffPtr[0] ;
// i < svr.buff[0] + svr.buffPtr[0] + svr.nb[0]; i++)
// {
// HAL_UART_Transmit(&UartResultHandle,i,1,1);
// }
// }
// else
// {
// for (i = svr.buff[0] + svr.buffPtr[0] ;
// i < svr.buff[0] + MAX_RAW_LEN; i++)
// {
// HAL_UART_Transmit(&UartResultHandle,i,1,1);
// }
// for (i = svr.buff[0] ;
// i < svr.buff[0] + svr.nb[0] + svr.buffPtr[0] - MAX_RAW_LEN ; i++)
// {
// HAL_UART_Transmit(&UartResultHandle,i,1,1);
// }
// }
// svr.buffPtr[0] = MAX_RAW_LEN - temp;
//rtk positioning**********************************************************************
// if (0)
if (fobs[1])
{
fobs[1]=0;
LED4_TOGGLE;
}
if (fobs[0])
{
int i;
fobs[0]=0;
LED3_TOGGLE;
#ifdef TIME_MEASURE
start=HAL_GetTick();
#endif
temp=svr.obs[0].n;
for (i=0;i<temp;i++)
{
obsd[i]=svr.obs[0].data[i];
}
for (i=0;(i<svr.obs[1].n)&&(i+temp<MAX_OBS);i++)
{
obsd[i+temp]=svr.obs[1].data[i];
}
if (!rtkpos(&svr.rtk,obsd,i+temp,&svr.nav))
// if (1)
{
LED5_TOGGLE;
#ifdef TIME_MEASURE
t=HAL_GetTick()-start;
svr.rtk.sol.processTime = t;
#endif
if (svr.rtk.sol.stat==SOLQ_FIX)
LED6_TOGGLE;
outsol(&svr.rtk.sol,svr.rtk.rb);
SendStr(svr.rtk.sol.result);
}
else
{
HAL_UART_Transmit_DMA(&UartResultHandle,(unsigned char*)svr.rtk.errbuf,svr.rtk.errLen);
}
}
}
#else
if (flagTimeout)
{
static int i;
char* res = svr.rtk.sol.result;
flagTimeout = 0;
res+=sprintf(res,
"%04.0f/%02.0f/%02.0f %02.0f:%02.0f:%06.3f %14.4f %14.4f %14.4f %3d %3d %8.4f %8.4f %8.4f %8.4f %8.4f %8.4f %6.2f %6.1f",
2015.0,10.0,12.0,3.0,45.0,18.0,//time yy/mm/dd hh:mm:ss.ssss
1.0,2.0,1.0,
1,1,
1.0,1.0,1.0,
1.0,1.0,1.0,
1.0,1.0);
res+=sprintf(res," %4d",i++);
res[0]='\n';
SendStr(svr.rtk.sol.result);
}
#endif
}
}
