/* decode download file ------------------------------------------------------*/ static void decodefile(rtksvr_t *svr, int index) { nav_t nav; char file[1024]; int nb; INIT_ZERO(nav); tracet(4,"decodefile: index=%d\n",index); rtksvrlock(svr); /* check file path completed */ if ((nb=svr->nb[index])<=2|| svr->buff[index][nb-2]!='\r'||svr->buff[index][nb-1]!='\n') { rtksvrunlock(svr); return; } strncpy(file,(char *)svr->buff[index],nb-2); file[nb-2]='\0'; svr->nb[index]=0; rtksvrunlock(svr); if (svr->format[index]==STRFMT_SP3) { /* precise ephemeris */ /* read sp3 precise ephemeris */ readsp3(file,&nav,0); if (nav.ne<=0) { tracet(1,"sp3 file read error: %s\n",file); return; } /* update precise ephemeris */ rtksvrlock(svr); if (svr->nav.peph) free(svr->nav.peph); svr->nav.ne=svr->nav.nemax=nav.ne; svr->nav.peph=nav.peph; svr->ftime[index]=utc2gpst(timeget()); strcpy(svr->files[index],file); rtksvrunlock(svr); } else if (svr->format[index]==STRFMT_RNXCLK) { /* precise clock */ /* read rinex clock */ if (readrnxc(file,&nav)<=0) { tracet(1,"rinex clock file read error: %s\n",file); return; } /* update precise clock */ rtksvrlock(svr); if (svr->nav.pclk) free(svr->nav.pclk); svr->nav.nc=svr->nav.ncmax=nav.nc; svr->nav.pclk=nav.pclk; svr->ftime[index]=utc2gpst(timeget()); strcpy(svr->files[index],file); rtksvrunlock(svr); } }
/* timeget() */ void utest10(void) { char s1[64],s2[64]; gtime_t time1,time2; int i,j; time1=timeget(); for (i=0;i<2000000000;i++) j=1; time2=timeget(); time2str(time1,s1,6); time2str(time2,s2,6); assert(timediff(time1,time2)<=0.0); printf("%s utset10 : OK\n",__FILE__); }
} /* read antenna file ---------------------------------------------------------*/ static void readant(vt_t *vt, prcopt_t *opt, nav_t *nav) { const pcv_t pcv0={0}; pcvs_t pcvr={0},pcvs={0}; pcv_t *pcv; gtime_t time=timeget(); int i; trace(3,"readant:\n"); opt->pcvr[0]=opt->pcvr[1]=pcv0; if (!*filopt.rcvantp) return; if (readpcv(filopt.rcvantp,&pcvr)) { for (i=0;i<2;i++) { if (!*opt->anttype[i]) continue; if (!(pcv=searchpcv(0,opt->anttype[i],time,&pcvr))) { printvt(vt,"no antenna %s in %s",opt->anttype[i],filopt.rcvantp); continue; } opt->pcvr[i]=*pcv; } } else printvt(vt,"antenna file open error %s",filopt.rcvantp); if (readpcv(filopt.satantp,&pcvs)) { for (i=0;i<MAXSAT;i++) { if (!(pcv=searchpcv(i+1,"",time,&pcvs))) continue; nav->pcvs[i]=*pcv; } } else printvt(vt,"antenna file open error %s",filopt.satantp);
static void RtkServer__readsatant(JNIEnv* env, jclass thiz, jstring file) { struct native_ctx_t *nctx; pcvs_t pcvs={0}; pcv_t *pcv; int i; gtime_t now=timeget(); nctx = (struct native_ctx_t *)(uintptr_t)(*env)->GetLongField(env, thiz, m_object_field); if (nctx == NULL) { LOGV("nctx is null"); return; } const char *filename = (*env)->GetStringUTFChars(env, file, 0); rtksvrlock(&nctx->rtksvr); if (readpcv(filename,&pcvs)) { for (i=0;i<MAXSAT;i++) { if (!(pcv=searchpcv(i+1,"",now,&pcvs))) continue; nctx->rtksvr.nav.pcvs[i]=*pcv; } } rtksvrunlock(&nctx->rtksvr); (*env)->ReleaseStringUTFChars(env,file, filename); }
/* main ----------------------------------------------------------------------*/ int main(int argc, char **argv) { gtime_t time; double ep[6]= {0}; int i,page=1; time2epoch(utc2gpst(timeget()),ep); ep[4]=ep[5]=0.0; for (i=1; i<argc; i++) { if (!strcmp(argv[i],"-t")&&i+2<argc) { sscanf(argv[++i],"%lf/%lf/%lf",ep ,ep+1,ep+2); sscanf(argv[++i],"%lf:%lf:%lf",ep+3,ep+4,ep+5); } else if (!strcmp(argv[i],"-p")&&i+1<argc) page=atoi(argv[++i]); } time=epoch2time(ep); switch (page) { case 1: gen_page1(time,TEMP1,PAGE1); break; case 2: gen_page2(time,TEMP2,PAGE2); break; case 3: gen_page3(time,TEMP3,PAGE3); break; } return 0; }
//--------------------------------------------------------------------------- void __fastcall TStartDialog::FormShow(TObject *Sender) { char tstr[64]; if (Time.time==0) { Time=utc2gpst(timeget()); } time2str(Time,tstr,0); tstr[10]='\0'; TimeY1->Text=tstr; TimeH1->Text=tstr+11; }
/* adjust hourly rollover of rtcm 2 time -------------------------------------*/ static void adjhour(rtcm_t *rtcm, double zcnt) { double tow,hour,sec; int week; /* if no time, get cpu time */ if (rtcm->time.time==0) rtcm->time=utc2gpst(timeget()); tow=time2gpst(rtcm->time,&week); hour=floor(tow/3600.0); sec=tow-hour*3600.0; if (zcnt<sec-1800.0) zcnt+=3600.0; else if (zcnt>sec+1800.0) zcnt-=3600.0; rtcm->time=gpst2time(week,hour*3600+zcnt); }
/* send nmea request ----------------------------------------------------------- * send nmea gpgga message to stream * args : stream_t *stream I stream * double *pos I position {x,y,z} (ecef) (m) * return : none *-----------------------------------------------------------------------------*/ extern void strsendnmea(stream_t *stream, const double *pos) { sol_t sol={{0}}; unsigned char buff[1024]; int i,n; tracet(3,"strsendnmea: pos=%.3f %.3f %.3f\n",pos[0],pos[1],pos[2]); sol.stat=SOLQ_SINGLE; sol.time=utc2gpst(timeget()); for (i=0;i<3;i++) sol.rr[i]=pos[i]; n=outnmea_gga(buff,&sol); strwrite(stream,buff,n); }
void MClient::parseBuffer(){ m_buffer.remove(SEP + QString(_MTEMP_BOARD_OK)); switch (m_currentCommand) { case Conf: //per ora nulla; break; case TimeGet: parseTimeGet(); break; case TimeSet: QThread::msleep(250); m_currentCommand = NoCommand; m_buffer.clear(); timeget(); return; case RoomStat: parseRoomStat(); break; case RoomSet: QThread::msleep(250); m_currentCommand = NoCommand; m_buffer.clear(); roomstat(m_currentRoom); return; case ProgGet: parseProgGet(); break; case ProgSet: QThread::msleep(250); m_currentCommand = NoCommand; m_buffer.clear(); progget(m_currentRoom, m_currentDay); return; default: break; } m_currentCommand = NoCommand; m_buffer.clear(); }
/* convert pvt message -------------------------------------------------------*/ static void convpvt(FILE **ofp, rnxopt_t *opt, strfile_t *str, int *n) { gtime_t time,current; static gtime_t firsttime={0,0}; double ep[6]; trace(3,"convpvt :\n"); if (!ofp[7]) return; time=str->pvt->time; if (!screent(time,opt->ts,opt->te,opt->tint)) return; if(n[7]==0) { current=timeget(); if(timediff(time,current)>86400) return; firsttime=time; time2epoch(time,ep); fprintf(ofp[7], "%04.0f %02.0f %02.0f %02.0f %02.0f %02.6f\n", ep[0],ep[1],ep[2],ep[3],ep[4],ep[5]); } fprintf(ofp[7], "%15.7f %14.3lf %14.3lf %14.3lf %11.3lf %11.3lf %11.3lf", timediff(time,firsttime), str->pvt->pos[0], str->pvt->pos[1], str->pvt->pos[2], str->pvt->vel[0], str->pvt->vel[1], str->pvt->vel[2]); fprintf(ofp[7],"\n"); if (opt->tstart.time==0) opt->tstart=time; opt->tend=time; n[7]++; }
/* 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; }
/* 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; }
//--------------------------------------------------------------------------- void __fastcall TOptDialog::SaveOpt(AnsiString file) { AnsiString ProxyAddrE_Text=ProxyAddrE->Text; AnsiString ExSatsE_Text=ExSatsE->Text; AnsiString FieldSep_Text=FieldSep->Text; AnsiString RovAnt_Text=RovAnt->Text,RefAnt_Text=RefAnt->Text; AnsiString SatPcvFile_Text=SatPcvFile->Text; AnsiString AntPcvFile_Text=AntPcvFile->Text; AnsiString StaPosFile_Text=StaPosFile->Text; AnsiString GeoidDataFile_Text=GeoidDataFile->Text; AnsiString DCBFile_Text=DCBFile->Text; AnsiString LocalDir_Text=LocalDir->Text; 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}; char buff[1024],*p,id[32],comment[256],s[64]; int sat,ex; prcopt_t prcopt=prcopt_default; solopt_t solopt=solopt_default; filopt_t filopt={""}; for (int i=0;i<8;i++) { strtype[i]=i<3?itype[MainForm->Stream[i]]:otype[MainForm->Stream[i]]; strfmt[i]=MainForm->Format[i]; if (!MainForm->StreamC[i]) { strtype[i]=STR_NONE; strcpy(strpath[i],""); } else if (strtype[i]==STR_SERIAL) { strcpy(strpath[i],MainForm->Paths[i][0].c_str()); } else if (strtype[i]==STR_FILE) { strcpy(strpath[i],MainForm->Paths[i][2].c_str()); } else if (strtype[i]<=STR_NTRIPCLI) { strcpy(strpath[i],MainForm->Paths[i][1].c_str()); } else if (strtype[i]<=STR_HTTP) { strcpy(strpath[i],MainForm->Paths[i][3].c_str()); } } nmeareq =MainForm->NmeaReq; nmeapos[0]=MainForm->NmeaPos[0]; nmeapos[1]=MainForm->NmeaPos[1]; svrcycle =SvrCycleE ->Text.ToInt(); timeout =TimeoutTimeE->Text.ToInt(); reconnect =ReconTimeE ->Text.ToInt(); nmeacycle =NmeaCycleE ->Text.ToInt(); buffsize =SvrBuffSizeE->Text.ToInt(); navmsgsel =NavSelectS ->ItemIndex; strcpy(proxyaddr,ProxyAddrE_Text.c_str()); fswapmargin =FileSwapMarginE->Text.ToInt(); prcopt.sbassatsel=SbasSatE->Text.ToInt(); prcopt.mode =PosMode ->ItemIndex; prcopt.nf =Freq ->ItemIndex+1; prcopt.soltype =Solution ->ItemIndex; prcopt.elmin =str2dbl(ElMask ->Text)*D2R; prcopt.dynamics =DynamicModel->ItemIndex; prcopt.tidecorr =TideCorr ->ItemIndex; prcopt.ionoopt =IonoOpt ->ItemIndex; prcopt.tropopt =TropOpt ->ItemIndex; prcopt.sateph =SatEphem ->ItemIndex; if (ExSatsE->Text!="") { strcpy(buff,ExSatsE_Text.c_str()); for (p=strtok(buff," ");p;p=strtok(NULL," ")) { if (*p=='+') {ex=2; p++;} else ex=1; if (!(sat=satid2no(p))) continue; prcopt.exsats[sat-1]=ex; } } prcopt.navsys = (NavSys1->Checked?SYS_GPS:0)| (NavSys2->Checked?SYS_GLO:0)| (NavSys3->Checked?SYS_GAL:0)| (NavSys4->Checked?SYS_QZS:0)| (NavSys5->Checked?SYS_SBS:0)| (NavSys6->Checked?SYS_CMP:0); prcopt.posopt[0]=PosOpt1->Checked; prcopt.posopt[1]=PosOpt2->Checked; prcopt.posopt[2]=PosOpt3->Checked; prcopt.posopt[3]=PosOpt4->Checked; prcopt.posopt[4]=PosOpt5->Checked; prcopt.modear =AmbRes ->ItemIndex; prcopt.glomodear=GloAmbRes ->ItemIndex; prcopt.thresar[0]=str2dbl(ValidThresAR->Text); prcopt.maxout =str2dbl(OutCntResetAmb->Text); prcopt.minfix =str2dbl(FixCntHoldAmb->Text); prcopt.minlock =str2dbl(LockCntFixAmb->Text); prcopt.elmaskar =str2dbl(ElMaskAR ->Text)*D2R; prcopt.elmaskhold=str2dbl(ElMaskHold->Text)*D2R; prcopt.maxtdiff =str2dbl(MaxAgeDiff ->Text); prcopt.maxgdop =str2dbl(RejectGdop ->Text); prcopt.maxinno =str2dbl(RejectThres->Text); prcopt.thresslip=str2dbl(SlipThres ->Text); prcopt.niter =str2dbl(NumIter ->Text); prcopt.syncsol =SyncSol->ItemIndex; if (prcopt.mode==PMODE_MOVEB&&BaselineConst->Checked) { prcopt.baseline[0]=str2dbl(BaselineLen->Text); prcopt.baseline[1]=str2dbl(BaselineSig->Text); } solopt.posf =SolFormat ->ItemIndex; solopt.timef =TimeFormat ->ItemIndex==0?0:1; solopt.times =TimeFormat ->ItemIndex==0?0:TimeFormat->ItemIndex-1; solopt.timeu =str2dbl(TimeDecimal ->Text); solopt.degf =LatLonFormat->ItemIndex; strcpy(solopt.sep,FieldSep_Text.c_str()); solopt.outhead =OutputHead ->ItemIndex; solopt.outopt =OutputOpt ->ItemIndex; solopt.datum =OutputDatum ->ItemIndex; solopt.height =OutputHeight->ItemIndex; solopt.geoid =OutputGeoid ->ItemIndex; solopt.nmeaintv[0]=str2dbl(NmeaIntv1->Text); solopt.nmeaintv[1]=str2dbl(NmeaIntv2->Text); solopt.trace =DebugTrace ->ItemIndex; solopt.sstat =DebugStatus ->ItemIndex; prcopt.eratio[0]=str2dbl(MeasErrR1->Text); prcopt.eratio[1]=str2dbl(MeasErrR2->Text); prcopt.err[1] =str2dbl(MeasErr2->Text); prcopt.err[2] =str2dbl(MeasErr3->Text); prcopt.err[3] =str2dbl(MeasErr4->Text); prcopt.err[4] =str2dbl(MeasErr5->Text); prcopt.sclkstab =str2dbl(SatClkStab->Text); prcopt.prn[0] =str2dbl(PrNoise1->Text); prcopt.prn[1] =str2dbl(PrNoise2->Text); prcopt.prn[2] =str2dbl(PrNoise3->Text); prcopt.prn[3] =str2dbl(PrNoise4->Text); prcopt.prn[4] =str2dbl(PrNoise5->Text); if (RovAntPcv->Checked) strcpy(prcopt.anttype[0],RovAnt_Text.c_str()); if (RefAntPcv->Checked) strcpy(prcopt.anttype[1],RefAnt_Text.c_str()); prcopt.antdel[0][0]=str2dbl(RovAntE->Text); prcopt.antdel[0][1]=str2dbl(RovAntN->Text); prcopt.antdel[0][2]=str2dbl(RovAntU->Text); prcopt.antdel[1][0]=str2dbl(RefAntE->Text); prcopt.antdel[1][1]=str2dbl(RefAntN->Text); prcopt.antdel[1][2]=str2dbl(RefAntU->Text); prcopt.rovpos=RovPosTypeP->ItemIndex<3?0:4; prcopt.refpos=RefPosTypeP->ItemIndex<3?0:4; if (prcopt.rovpos==0) GetPos(RovPosTypeP->ItemIndex,editu,prcopt.ru); if (prcopt.refpos==0) GetPos(RefPosTypeP->ItemIndex,editr,prcopt.rb); strcpy(filopt.satantp,SatPcvFile_Text.c_str()); strcpy(filopt.rcvantp,AntPcvFile_Text.c_str()); strcpy(filopt.stapos, StaPosFile_Text.c_str()); strcpy(filopt.geoid, GeoidDataFile_Text.c_str()); strcpy(filopt.dcb, DCBFile_Text.c_str()); strcpy(filopt.tempdir,LocalDir_Text.c_str()); time2str(utc2gpst(timeget()),s,0); sprintf(comment,"RTKNAVI options (%s, v.%s)",s,VER_RTKLIB); setsysopts(&prcopt,&solopt,&filopt); if (!saveopts(file.c_str(),"w",comment,sysopts)|| !saveopts(file.c_str(),"a","",rcvopts)) return; }
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; }
/* 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; }
/* start rtk server ------------------------------------------------------------ * start rtk server thread * args : rtksvr_t *svr IO rtk server * int cycle I server cycle (ms) * int buffsize I input buffer size (bytes) * int *strs I stream types (STR_???) * types[0]=input stream rover * types[1]=input stream base station * types[2]=input stream correction * types[3]=output stream solution 1 * types[4]=output stream solution 2 * types[5]=log stream rover * types[6]=log stream base station * types[7]=log stream correction * char *paths I input stream paths * int *format I input stream formats (STRFMT_???) * format[0]=input stream rover * format[1]=input stream base station * format[2]=input stream correction * int navsel I navigation message select * (0:rover,1:base,2:ephem,3:all) * char **cmds I input stream start commands * cmds[0]=input stream rover (NULL: no command) * cmds[1]=input stream base (NULL: no command) * cmds[2]=input stream corr (NULL: no command) * char **rcvopts I receiver options * rcvopt[0]=receiver option rover * rcvopt[1]=receiver option base * rcvopt[2]=receiver option corr * int nmeacycle I nmea request cycle (ms) (0:no request) * int nmeareq I nmea request type (0:no,1:base pos,2:single sol) * double *nmeapos I transmitted nmea position (ecef) (m) * prcopt_t *prcopt I rtk processing options * solopt_t *solopt I solution options * solopt[0]=solution 1 options * solopt[1]=solution 2 options * stream_t *moni I monitor stream (NULL: not used) * return : status (1:ok 0:error) *-----------------------------------------------------------------------------*/ extern int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs, char **paths, int *formats, int navsel, char **cmds, char **rcvopts, int nmeacycle, int nmeareq, const double *nmeapos, prcopt_t *prcopt, solopt_t *solopt, stream_t *moni) { gtime_t time,time0; int i,j,rw; INIT_ZERO(time); INIT_ZERO(time0); tracet(3,"rtksvrstart: cycle=%d buffsize=%d navsel=%d nmeacycle=%d nmeareq=%d\n", cycle,buffsize,navsel,nmeacycle,nmeareq); if (svr->state) return 0; strinitcom(); svr->cycle=cycle>1?cycle:1; svr->nmeacycle=nmeacycle>1000?nmeacycle:1000; svr->nmeareq=nmeareq; for (i=0;i<3;i++) svr->nmeapos[i]=nmeapos[i]; svr->buffsize=buffsize>4096?buffsize:4096; for (i=0;i<3;i++) svr->format[i]=formats[i]; svr->navsel=navsel; svr->nsbs=0; svr->nsol=0; svr->prcout=0; rtkfree(&svr->rtk); rtkinit(&svr->rtk,prcopt); for (i=0;i<3;i++) { /* input/log streams */ svr->nb[i]=svr->npb[i]=0; if (!(svr->buff[i]=(unsigned char *)malloc(buffsize))|| !(svr->pbuf[i]=(unsigned char *)malloc(buffsize))) { tracet(1,"rtksvrstart: malloc error\n"); return 0; } for (j=0;j<10;j++) svr->nmsg[i][j]=0; for (j=0;j<MAXOBSBUF;j++) svr->obs[i][j].n=0; /* initialize receiver raw and rtcm control */ init_raw (svr->raw +i); init_rtcm(svr->rtcm+i); /* set receiver and rtcm option */ strcpy(svr->raw [i].opt,rcvopts[i]); strcpy(svr->rtcm[i].opt,rcvopts[i]); /* connect dgps corrections */ svr->rtcm[i].dgps=svr->nav.dgps; } for (i=0;i<2;i++) { /* output peek buffer */ if (!(svr->sbuf[i]=(unsigned char *)malloc(buffsize))) { tracet(1,"rtksvrstart: malloc error\n"); return 0; } } /* set solution options */ for (i=0;i<2;i++) { svr->solopt[i]=solopt[i]; } /* set base station position */ for (i=0;i<6;i++) { svr->rtk.rb[i]=i<3?prcopt->rb[i]:0.0; } /* update navigation data */ for (i=0;i<MAXSAT *2;i++) svr->nav.eph [i].ttr=time0; for (i=0;i<NSATGLO*2;i++) svr->nav.geph[i].tof=time0; for (i=0;i<NSATSBS*2;i++) svr->nav.seph[i].tof=time0; updatenav(&svr->nav); /* set monitor stream */ svr->moni=moni; /* open input streams */ for (i=0;i<8;i++) { rw=i<3?STR_MODE_R:STR_MODE_W; if (strs[i]!=STR_FILE) rw|=STR_MODE_W; if (!stropen(svr->stream+i,strs[i],rw,paths[i])) { for (i--;i>=0;i--) strclose(svr->stream+i); return 0; } /* set initial time for rtcm and raw */ if (i<3) { time=utc2gpst(timeget()); svr->raw [i].time=strs[i]==STR_FILE?strgettime(svr->stream+i):time; svr->rtcm[i].time=strs[i]==STR_FILE?strgettime(svr->stream+i):time; } } /* sync input streams */ strsync(svr->stream,svr->stream+1); strsync(svr->stream,svr->stream+2); /* write start commands to input streams */ for (i=0;i<3;i++) { if (cmds[i]) strsendcmd(svr->stream+i,cmds[i]); } /* write solution header to solution streams */ for (i=3;i<5;i++) { writesolhead(svr->stream+i,svr->solopt+i-3); } /* create rtk server thread */ #ifdef WIN32 if (!(svr->thread=CreateThread(NULL,0,rtksvrthread,svr,0,NULL))) { #else if (pthread_create(&svr->thread,NULL,rtksvrthread,svr)) { #endif for (i=0;i<MAXSTRRTK;i++) strclose(svr->stream+i); return 0; } return 1; } /* stop rtk server ------------------------------------------------------------- * start rtk server thread * args : rtksvr_t *svr IO rtk server * char **cmds I input stream stop commands * cmds[0]=input stream rover (NULL: no command) * cmds[1]=input stream base (NULL: no command) * cmds[2]=input stream ephem (NULL: no command) * return : none *-----------------------------------------------------------------------------*/ extern void rtksvrstop(rtksvr_t *svr, char **cmds) { int i; tracet(3,"rtksvrstop:\n"); /* write stop commands to input streams */ rtksvrlock(svr); for (i=0;i<3;i++) { if (cmds[i]) strsendcmd(svr->stream+i,cmds[i]); } rtksvrunlock(svr); /* stop rtk server */ svr->state=0; /* free rtk server thread */ #ifdef WIN32 WaitForSingleObject(svr->thread,10000); CloseHandle(svr->thread); #else pthread_join(svr->thread,NULL); #endif }
/* execute local file test ----------------------------------------------------- * execute local file test * args : gtime_t ts,te I time start and end * double tint I time interval (s) * url_t *urls I download urls * int nurl I number of urls * char **stas I stations * int nsta I number of stations * char *dir I local directory * int ncol I number of column * int datefmt I date format (0:year-dow,1:year-dd/mm,2:week) * FILE *fp IO log test result file pointer * return : status (1:ok,0:error,-1:aborted) *-----------------------------------------------------------------------------*/ extern void dl_test(gtime_t ts, gtime_t te, double ti, const url_t *urls, int nurl, char **stas, int nsta, const char *dir, int ncol, int datefmt, FILE *fp) { gtime_t time; double tow; char year[32],date[32],date_p[32]; int i,j,n,m,*nc,*nt,week,flag,abort=0; if (ncol<1) ncol=1; else if (ncol>200) ncol=200; fprintf(fp,"** LOCAL DATA AVAILABILITY (%s, %s) **\n\n", time_str(timeget(),0),*dir?dir:"*"); for (i=n=0;i<nurl;i++) { n+=strstr(urls[i].path,"%s")||strstr(urls[i].path,"%S")?nsta:1; } nc=imat(n,1); nt=imat(n,1); for (i=0;i<n;i++) nc[i]=nt[i]=0; for (;timediff(ts,te)<1E-3&&!abort;ts=timeadd(ts,ti*ncol)) { genpath(datefmt==0?" %Y-":"%Y/%m/","",ts,0,year); if (datefmt<=1) fprintf(fp,"%s %s",datefmt==0?"DOY ":"DATE",year); else fprintf(fp,"WEEK "); *date_p='\0'; flag=0; m=datefmt==2?1:2; for (i=0;i<(ncol+m-1)/m;i++) { time=timeadd(ts,ti*i*m); if (timediff(time,te)>=1E-3) break; if (datefmt<=1) { genpath(datefmt==0?"%n":"%d","",time,0,date); fprintf(fp,"%-4s",strcmp(date,date_p)?date:""); } else { if (fabs(time2gpst(time,&week))<1.0) { fprintf(fp,"%04d",week); flag=1; } else { fprintf(fp,"%s",flag?"":" "); flag=0; } } strcpy(date_p,date); } fprintf(fp,"\n"); for (i=j=0;i<nurl&&!abort;i++) { time=timeadd(ts,ti*ncol-1.0); if (timediff(time,te)>=0.0) time=te; /* test local files */ abort=test_locals(ts,time,ti,urls+i,stas,nsta,dir,nc+j,nt+j,fp); j+=strstr(urls[i].path,"%s")||strstr(urls[i].path,"%S")?nsta:1; } fprintf(fp,"\n"); } fprintf(fp,"# COUNT : FILES/TOTAL\n"); for (i=j=0;i<nurl;i++) { j+=print_total(urls+i,stas,nsta,nc+j,nt+j,fp); } free(nc); free(nt); }
int main(int argc,char **argv) { ros::init(argc, argv, "rtk_robot"); ROS_INFO("RTKlib for ROS Robot Edition"); ros::NodeHandle nn; ros::NodeHandle pn("~"); ros::Subscriber ecef_sub; if(pn.getParam("base_position/x", ecef_base_station.position.x) && pn.getParam("base_position/y", ecef_base_station.position.y) && pn.getParam("base_position/z", ecef_base_station.position.z)) { ROS_INFO("RTK -- Loading base station parameters from the parameter server..."); XmlRpc::XmlRpcValue position_covariance; if( pn.getParam("base_position/covariance", position_covariance) ) { ROS_ASSERT(position_covariance.getType() == XmlRpc::XmlRpcValue::TypeArray); if(position_covariance.size() != 9) { ROS_WARN("RTK -- The base station covariances are not complete! Using default values..."); } else { for(int i=0 ; i<position_covariance.size() ; ++i) { ROS_ASSERT(position_covariance[i].getType() == XmlRpc::XmlRpcValue::TypeDouble); ecef_base_station.position_covariance[i] = static_cast<double>(position_covariance[i]); } } } } else { ROS_INFO("RTK -- Subscribing to the base station for online parameters..."); ecef_sub = nn.subscribe("base_station/gps/ecef", 50, ecefCallback); } double rate; pn.param("rate", rate, 2.0); std::string gps_frame_id; pn.param<std::string>("gps_frame_id", gps_frame_id, "gps"); std::string port; pn.param<std::string>("port", port, "ttyACM0"); int baudrate; pn.param("baudrate", baudrate, 115200); ros::Publisher gps_pub = nn.advertise<sensor_msgs::NavSatFix>("gps/fix", 50); ros::Publisher status_pub = nn.advertise<rtk_msgs::Status>("gps/status", 50); ros::Subscriber gps_sub = nn.subscribe("base_station/gps/raw_data", 50, baseStationCallback); int n; //********************* rtklib stuff ********************* rtksvrinit(&server); if(server.state) { ROS_FATAL("RTK -- Failed to initialize rtklib server!"); ROS_BREAK(); } gtime_t time, time0 = {0}; int format[] = {STRFMT_UBX, STRFMT_UBX, STRFMT_RTCM2}; prcopt_t options = prcopt_default; options.mode = 2; options.nf = 1; options.navsys = SYS_GPS | SYS_SBS; options.modear = 3; options.glomodear = 0; options.minfix = 3; options.ionoopt = IONOOPT_BRDC; options.tropopt = TROPOPT_SAAS; options.rb[0] = ecef_base_station.position.x; options.rb[1] = ecef_base_station.position.y; options.rb[2] = ecef_base_station.position.z; strinitcom(); server.cycle = 10; server.nmeacycle = 1000; server.nmeareq = 0; for(int i=0 ; i<3 ; i++) server.nmeapos[i] = 0; server.buffsize = BUFFSIZE; for(int i=0 ; i<3 ; i++) server.format[i] = format[i]; server.navsel = 0; server.nsbs = 0; server.nsol = 0; server.prcout = 0; rtkfree(&server.rtk); rtkinit(&server.rtk, &options); for(int i=0 ; i<3 ; i++) { server.nb[i] = server.npb[i] = 0; if(!(server.buff[i]=(unsigned char *)malloc(BUFFSIZE)) || !(server.pbuf[i]=(unsigned char *)malloc(BUFFSIZE))) { ROS_FATAL("RTK -- Failed to initialize rtklib server - malloc error!"); ROS_BREAK(); } for(int j=0 ; j<10 ; j++) server.nmsg[i][j] = 0; for(int j=0 ; j<MAXOBSBUF ; j++) server.obs[i][j].n = 0; /* initialize receiver raw and rtcm control */ init_raw(server.raw + i); init_rtcm(server.rtcm + i); /* set receiver option */ strcpy(server.raw[i].opt, ""); strcpy(server.rtcm[i].opt, ""); /* connect dgps corrections */ server.rtcm[i].dgps = server.nav.dgps; } /* output peek buffer */ for(int i=0 ; i<2 ; i++) { if (!(server.sbuf[i]=(unsigned char *)malloc(BUFFSIZE))) { ROS_FATAL("RTK -- Failed to initialize rtklib server - malloc error!"); ROS_BREAK(); } } /* set solution options */ solopt_t sol_options[2]; sol_options[0] = solopt_default; sol_options[1] = solopt_default; for(int i=0 ; i<2 ; i++) server.solopt[i] = sol_options[i]; /* set base station position */ for(int i=0 ; i<6 ; i++) server.rtk.rb[i] = i < 3 ? options.rb[i] : 0.0; /* update navigation data */ for(int i=0 ; i<MAXSAT*2 ; i++) server.nav.eph[i].ttr = time0; for(int i=0 ; i<NSATGLO*2 ; i++) server.nav.geph[i].tof = time0; for(int i=0 ; i<NSATSBS*2 ; i++) server.nav.seph[i].tof = time0; updatenav(&server.nav); /* set monitor stream */ server.moni = NULL; /* open input streams */ int stream_type[8] = {STR_SERIAL, 0, 0, 0, 0, 0, 0, 0}; char gps_path[64]; sprintf(gps_path, "%s:%d:8:n:1:off", port.c_str(), baudrate); char * paths[] = {gps_path, "localhost:27015", "", "", "", "", "", ""}; char * cmds[] = {"", "", ""}; int rw; for(int i=0 ; i<8 ; i++) { rw = i < 3 ? STR_MODE_R : STR_MODE_W; if(stream_type[i] != STR_FILE) rw |= STR_MODE_W; if(!stropen(server.stream+i, stream_type[i], rw, paths[i])) { ROS_ERROR("RTK -- Failed to open stream %s", paths[i]); for(i-- ; i>=0 ; i--) strclose(server.stream+i); ROS_FATAL("RTK -- Failed to initialize rtklib server - failed to open all streams!"); ROS_BREAK(); } /* set initial time for rtcm and raw */ if(i<3) { time = utc2gpst(timeget()); server.raw[i].time = stream_type[i] == STR_FILE ? strgettime(server.stream+i) : time; server.rtcm[i].time = stream_type[i] == STR_FILE ? strgettime(server.stream+i) : time; } } /* sync input streams */ strsync(server.stream, server.stream+1); strsync(server.stream, server.stream+2); /* write start commands to input streams */ for(int i=0 ; i<3 ; i++) { if(cmds[i]) strsendcmd(server.stream+i, cmds[i]); } /* write solution header to solution streams */ for(int i=3 ; i<5 ; i++) { unsigned char buff[1024]; int n; n = outsolheads(buff, server.solopt+i-3); strwrite(server.stream+i, buff, n); } //******************************************************** obs_t obs; obsd_t data[MAXOBS*2]; server.state=1; obs.data=data; double tt; unsigned int tick; int fobs[3] = {0}; server.tick = tickget(); ROS_DEBUG("RTK -- Initialization complete."); ros::Rate r(rate); while(ros::ok()) { tick = tickget(); unsigned char *p = server.buff[RTK_ROBOT]+server.nb[RTK_ROBOT]; unsigned char *q = server.buff[RTK_ROBOT]+server.buffsize; ROS_DEBUG("RTK -- Getting data from GPS..."); /* read receiver raw/rtcm data from input stream */ n = strread(server.stream, p, q-p); /* write receiver raw/rtcm data to log stream */ strwrite(server.stream+5, p, n); server.nb[RTK_ROBOT] += n; /* save peek buffer */ rtksvrlock(&server); n = n < server.buffsize - server.npb[RTK_ROBOT] ? n : server.buffsize - server.npb[RTK_ROBOT]; memcpy(server.pbuf[RTK_ROBOT] + server.npb[RTK_ROBOT], p, n); server.npb[RTK_ROBOT] += n; rtksvrunlock(&server); ROS_DEBUG("RTK -- Decoding GPS data..."); /* decode data */ fobs[RTK_ROBOT] = decoderaw(&server, RTK_ROBOT); fobs[RTK_BASE_STATION] = decoderaw(&server, RTK_BASE_STATION); ROS_DEBUG("RTK -- Got %d observations.", fobs[RTK_ROBOT]); /* for each rover observation data */ for(int i=0 ; i<fobs[RTK_ROBOT] ; i++) { obs.n = 0; for(int j=0 ; j<server.obs[RTK_ROBOT][i].n && obs.n<MAXOBS*2 ; j++) { obs.data[obs.n++] = server.obs[RTK_ROBOT][i].data[j]; } for(int j=0 ; j<server.obs[1][0].n && obs.n<MAXOBS*2 ; j++) { obs.data[obs.n++] = server.obs[1][0].data[j]; } ROS_DEBUG("RTK -- Calculating RTK positioning..."); /* rtk positioning */ rtksvrlock(&server); rtkpos(&server.rtk, obs.data, obs.n, &server.nav); rtksvrunlock(&server); sensor_msgs::NavSatFix gps_msg; gps_msg.header.stamp = ros::Time::now(); gps_msg.header.frame_id = gps_frame_id; rtk_msgs::Status status_msg; status_msg.stamp = gps_msg.header.stamp; if(server.rtk.sol.stat != SOLQ_NONE) { /* adjust current time */ tt = (int)(tickget()-tick)/1000.0+DTTOL; timeset(gpst2utc(timeadd(server.rtk.sol.time,tt))); /* write solution */ unsigned char buff[1024]; n = outsols(buff, &server.rtk.sol, server.rtk.rb, server.solopt); if(n==141 && buff[0]>'0' && buff[0]<'9') { int ano,mes,dia,horas,minutos,Q,nsat; double segundos,lat,longi,alt,sde,sdn,sdu,sdne,sdeu,sdun; sscanf((const char *)(buff),"%d/%d/%d %d:%d:%lf %lf %lf %lf %d %d %lf %lf %lf %lf %lf %lf", &ano, &mes, &dia, &horas, &minutos, &segundos, &lat, &longi, &alt, &Q, &nsat, &sdn, &sde, &sdu, &sdne, &sdeu, &sdun); gps_msg.latitude = lat; gps_msg.longitude = longi; gps_msg.altitude = alt; gps_msg.position_covariance_type = sensor_msgs::NavSatFix::COVARIANCE_TYPE_KNOWN; gps_msg.position_covariance[0] = sde + ecef_base_station.position_covariance[0]; gps_msg.position_covariance[1] = sdne + ecef_base_station.position_covariance[1]; gps_msg.position_covariance[2] = sdeu + ecef_base_station.position_covariance[2]; gps_msg.position_covariance[3] = sdne + ecef_base_station.position_covariance[3]; gps_msg.position_covariance[4] = sdn + ecef_base_station.position_covariance[4]; gps_msg.position_covariance[5] = sdun + ecef_base_station.position_covariance[5]; gps_msg.position_covariance[6] = sdeu + ecef_base_station.position_covariance[6]; gps_msg.position_covariance[7] = sdun + ecef_base_station.position_covariance[7]; gps_msg.position_covariance[8] = sdu + ecef_base_station.position_covariance[8]; gps_msg.status.status = Q==5 ? sensor_msgs::NavSatStatus::STATUS_FIX : sensor_msgs::NavSatStatus::STATUS_GBAS_FIX; gps_msg.status.service = sensor_msgs::NavSatStatus::SERVICE_GPS; status_msg.fix_quality = Q; status_msg.number_of_satellites = nsat; } } else { gps_msg.status.status = sensor_msgs::NavSatStatus::STATUS_NO_FIX; gps_msg.status.service = sensor_msgs::NavSatStatus::SERVICE_GPS; } ROS_DEBUG("RTK -- Publishing ROS msg..."); gps_pub.publish(gps_msg); status_pub.publish(status_msg); } ros::spinOnce(); r.sleep(); } return(0); }