/* main ----------------------------------------------------------------------*/
int main(int argc, char **argv)
{
gtime_t ts={0},te={0};
obs_t obs={0};
nav_t nav={0};
sta_t sta={{0}};
double es[6]={0},ee[6]={0},tint=0.0;
char *infile[16]={0},*outfile="",buff[1024],*p;
int i,n=0,m=0,type[16],trlevel=0,staid=0,ret=0;
for (i=1;i<argc;i++) {
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+6);
}
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);
}
else if (!strcmp(argv[i],"-ti" )&&i+1<argc) tint =atof(argv[++i]);
else if (!strcmp(argv[i],"-sta")&&i+1<argc) staid=atoi(argv[++i]);
else if (!strcmp(argv[i],"-out")&&i+1<argc) outfile=argv[++i];
else if (!strcmp(argv[i],"-typ")&&i+1<argc) {
strcpy(buff,argv[++i]);
for (p=strtok(buff,",");p;p=strtok(NULL,",")) type[m++]=atoi(p);
}
else if (!strcmp(argv[i],"-x" )&&i+1<argc) trlevel=atoi(argv[++i]);
else if (!strncmp(argv[i],"-",1)) print_help();
else infile[n++]=argv[i];
}
if (trlevel>0) {
traceopen(TRACEFILE);
tracelevel(trlevel);
}
if (es[0]>0.0) ts=epoch2time(es);
if (ee[0]>0.0) te=epoch2time(ee);
/* read rinex files */
for (i=0;i<n;i++) {
readrnxt(infile[i],0,ts,te,tint,"",&obs,&nav,&sta);
}
sortobs(&obs);
uniqnav(&nav);
/* convert to rtcm messages */
if (!conv_rtcm(type,m,outfile,&obs,&nav,&sta,staid)) ret=-1;
free(obs.data);
freenav(&nav,0xFF);
if (trlevel>0) {
traceclose();
}
return ret;
}
int main(int argc, char ** argv)
{
ros::init(argc, argv, "rtk_node");
traceopen("trace");
tracelevel(5);
rtksvr_t svr;
rtksvrinit( &svr );
while(ros::ok())
{
ros::spinOnce();
}
}
static jboolean open_trace_file(JNIEnv* env, int trace_level, gtime_t timestamp)
{
double ep[6];
char filename[1024];
if (trace_level <= 0)
return JNI_FALSE;
time2epoch(utc2gpst(timestamp),ep);
sprintf(filename,"rtkgps_%04.0f%02.0f%02.0f%02.0f%02.0f%02.0f.trace",
ep[0],ep[1],ep[2],ep[3],ep[4],ep[5]);
if (!get_path_in_storage_dir(env, filename, sizeof(filename)))
return JNI_FALSE;
LOGV("open_trace_file() %s", filename);
traceopen(filename);
tracelevel(trace_level);
return JNI_TRUE;
}
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;
/* 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;
}
// convert file -------------------------------------------------------------
void __fastcall TMainWindow::ConvertFile(void)
{
rnxopt_t rnxopt={0};
AnsiString InFile_Text=InFile->Text;
AnsiString OutFile1_Text=OutFile1->Text,OutFile2_Text=OutFile2->Text;
AnsiString OutFile3_Text=OutFile3->Text,OutFile4_Text=OutFile4->Text;
AnsiString OutFile5_Text=OutFile5->Text,OutFile6_Text=OutFile6->Text;
AnsiString OutFile7_Text=OutFile7->Text;
int i,format,sat;
char file[1024]="",*ofile[7],ofile_[7][1024]={""},msg[256],*p;
char buff[256],tstr[32];
double RNXVER[]={2.10,2.11,2.12,3.00,3.01,3.02};
FILE *fp;
// abort conversion
if (BtnConvert->Caption=="Abort") {
abortf=1;
return;
}
for (i=0;i<7;i++) ofile[i]=ofile_[i];
// recognize input file format
strcpy(file,InFile_Text.c_str());
if (!(p=strrchr(file,'.'))) p=file;
if (Format->ItemIndex==0) { // auto
if (!strcmp(p,".rtcm2")) format=STRFMT_RTCM2;
else if (!strcmp(p,".rtcm3")) format=STRFMT_RTCM3;
else if (!strcmp(p,".gps" )) format=STRFMT_OEM4;
else if (!strcmp(p,".ubx" )) format=STRFMT_UBX;
else if (!strcmp(p,".log" )) format=STRFMT_SS2;
else if (!strcmp(p,".bin" )) format=STRFMT_CRES;
else if (!strcmp(p,".jps" )) format=STRFMT_JAVAD;
else if (!strcmp(p,".bnx" )) format=STRFMT_BINEX;
else if (!strcmp(p,".binex")) format=STRFMT_BINEX;
else if (!strcmp(p,".rt17" )) format=STRFMT_RT17;
else if (!strcmp(p,".obs" )) format=STRFMT_RINEX;
else if (!strcmp(p,".OBS" )) format=STRFMT_RINEX;
else if (!strcmp(p,".nav" )) format=STRFMT_RINEX;
else if (!strcmp(p,".NAV" )) format=STRFMT_RINEX;
else if (!strcmp(p+2,"nav" )) format=STRFMT_RINEX;
else if (!strcmp(p+2,"NAV" )) format=STRFMT_RINEX;
else if (!strcmp(p+3,"o" )) format=STRFMT_RINEX;
else if (!strcmp(p+3,"O" )) format=STRFMT_RINEX;
else if (!strcmp(p+3,"n" )) format=STRFMT_RINEX;
else if (!strcmp(p+3,"N" )) format=STRFMT_RINEX;
else if (!strcmp(p+3,"p" )) format=STRFMT_RINEX;
else if (!strcmp(p+3,"P" )) format=STRFMT_RINEX;
else if (!strcmp(p+3,"g" )) format=STRFMT_RINEX;
else if (!strcmp(p+3,"G" )) format=STRFMT_RINEX;
else if (!strcmp(p+3,"h" )) format=STRFMT_RINEX;
else if (!strcmp(p+3,"H" )) format=STRFMT_RINEX;
else if (!strcmp(p+3,"q" )) format=STRFMT_RINEX;
else if (!strcmp(p+3,"Q" )) format=STRFMT_RINEX;
else if (!strcmp(p+3,"l" )) format=STRFMT_RINEX;
else if (!strcmp(p+3,"L" )) format=STRFMT_RINEX;
else {
showmsg("file format can not be recognized");
return;
}
}
else {
for (i=0;formatstrs[i];i++) {
if (Format->Text==formatstrs[i]) break;
}
if (formatstrs[i]) format=i; else return;
}
rnxopt.rnxver=RNXVER[RnxVer];
if (format==STRFMT_RTCM2||format==STRFMT_RTCM3||format==STRFMT_RT17) {
// input start date/time for rtcm 2 ro rtcm 3
if (StartDialog->ShowModal()!=mrOk) return;
rnxopt.trtcm=StartDialog->Time;
}
if (OutFile1->Enabled&&OutFileEna1->Checked) strcpy(ofile[0],OutFile1_Text.c_str());
if (OutFile2->Enabled&&OutFileEna2->Checked) strcpy(ofile[1],OutFile2_Text.c_str());
if (OutFile3->Enabled&&OutFileEna3->Checked) strcpy(ofile[2],OutFile3_Text.c_str());
if (OutFile4->Enabled&&OutFileEna4->Checked) strcpy(ofile[3],OutFile4_Text.c_str());
if (OutFile5->Enabled&&OutFileEna5->Checked) strcpy(ofile[4],OutFile5_Text.c_str());
if (OutFile6->Enabled&&OutFileEna6->Checked) strcpy(ofile[5],OutFile6_Text.c_str());
if (OutFile7->Enabled&&OutFileEna7->Checked) strcpy(ofile[6],OutFile7_Text.c_str());
// check overwrite output file
for (i=0;i<6;i++) {
if (!*ofile[i]||!(fp=fopen(ofile[i],"r"))) continue;
fclose(fp);
ConfDialog->Label2->Caption=ofile[i];
if (ConfDialog->ShowModal()!=mrOk) return;
}
GetTime(&rnxopt.ts,&rnxopt.te,&rnxopt.tint,&rnxopt.tunit);
strncpy(rnxopt.staid,RnxCode.c_str(),31);
sprintf(rnxopt.prog,"%s %s",PRGNAME,VER_RTKLIB);
strncpy(rnxopt.runby,RunBy.c_str(),31);
strncpy(rnxopt.marker,Marker.c_str(),63);
strncpy(rnxopt.markerno,MarkerNo.c_str(),31);
strncpy(rnxopt.markertype,MarkerType.c_str(),31);
for (i=0;i<2;i++) strncpy(rnxopt.name[i],Name[i].c_str(),31);
for (i=0;i<3;i++) strncpy(rnxopt.rec [i],Rec [i].c_str(),31);
for (i=0;i<3;i++) strncpy(rnxopt.ant [i],Ant [i].c_str(),31);
if (AutoPos) {
for (i=0;i<3;i++) rnxopt.apppos[i]=AppPos[i];
}
for (i=0;i<3;i++) rnxopt.antdel[i]=AntDel[i];
strncpy(rnxopt.rcvopt,RcvOption.c_str(),255);
rnxopt.navsys=NavSys;
rnxopt.obstype=ObsType;
rnxopt.freqtype=FreqType;
p=rnxopt.comment[0];
sprintf(p,"log: %-53.53s",file);
p=rnxopt.comment[1];
p+=sprintf(p,"format: %s",formatstrs[format]);
if (*rnxopt.rcvopt) sprintf(p,", option: %s",rnxopt.rcvopt);
for (i=0;i<2;i++) strncpy(rnxopt.comment[i+2],Comment[i].c_str(),63);
for (i=0;i<6;i++) strcpy(rnxopt.mask[i],CodeMask[i].c_str());
rnxopt.autopos=AutoPos;
rnxopt.scanobs=ScanObs;
rnxopt.outiono=OutIono;
rnxopt.outtime=OutTime;
rnxopt.outleaps=OutLeaps;
strcpy(buff,ExSats.c_str());
for (p=strtok(buff," ");p;p=strtok(NULL," ")) {
if (!(sat=satid2no(p))) continue;
rnxopt.exsats[sat-1]=1;
}
abortf=0;
BtnConvert ->Caption="Abort";
Panel1 ->Enabled=false;
Panel2 ->Enabled=false;
BtnPlot ->Enabled=false;
BtnPost ->Enabled=false;
BtnOptions ->Enabled=false;
BtnExit ->Enabled=false;
Format ->Enabled=false;
BtnKey ->Enabled=false;
LabelInFile ->Enabled=false;
LabelOutDir ->Enabled=false;
LabelOutFile->Enabled=false;
LabelFormat ->Enabled=false;
Message ->Caption="";
if (TraceLevel>0) {
traceopen(TRACEFILE);
tracelevel(TraceLevel);
}
// convert to rinex
(void)convrnx(format,&rnxopt,file,ofile);
if (TraceLevel>0) {
traceclose();
}
BtnConvert ->Caption="&Convert";
Panel1 ->Enabled=true;
Panel2 ->Enabled=true;
BtnPlot ->Enabled=true;
BtnPost ->Enabled=true;
BtnOptions ->Enabled=true;
BtnExit ->Enabled=true;
Format ->Enabled=true;
BtnKey ->Enabled=true;
LabelInFile ->Enabled=true;
LabelOutDir ->Enabled=true;
LabelOutFile->Enabled=true;
LabelFormat ->Enabled=true;
#if 0
// set time-start/end if time not specified
if (!TimeStartF->Checked&&rnxopt.tstart.time!=0) {
time2str(rnxopt.tstart,tstr,0);
tstr[10]='\0';
TimeY1->Text=tstr;
TimeH1->Text=tstr+11;
}
if (!TimeEndF->Checked&&rnxopt.tend.time!=0) {
time2str(rnxopt.tend,tstr,0);
tstr[10]='\0';
TimeY2->Text=tstr;
TimeH2->Text=tstr+11;
}
#endif
RnxTime=rnxopt.tstart;
AddHist(InFile);
}
/* 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;
}
/* main ----------------------------------------------------------------------*/
int main(int argc, char **argv)
{
FILE *fp=NULL;
nav_t nav={0};
lex_t lex={0};
gtime_t t0,time;
double ep0[]={2000,1,1,0,0,0},tspan=24.0,tint=7200,dpos=1;
double rpos[]={35,137};
char *ifile="",*ofile="";
int i,trl=0,index=0,nlat=45,nlon=45;
t0=epoch2time(ep0);
for (i=1;i<argc;i++) {
if (!strcmp(argv[i],"-t0")&&i+2<argc) {
if (sscanf(argv[++i],"%lf/%lf/%lf",ep0 ,ep0+1,ep0+2)<3||
sscanf(argv[++i],"%lf:%lf:%lf",ep0+3,ep0+4,ep0+5)<1) {
fprintf(stderr,"invalid time\n");
return -1;
}
}
else if (!strcmp(argv[i],"-ts")&&i+1<argc) tspan=atof(argv[++i]);
else if (!strcmp(argv[i],"-ti")&&i+1<argc) tint =atof(argv[++i]);
else if (!strcmp(argv[i],"-u" )&&i+2<argc) {
rpos[0]=atof(argv[++i]);
rpos[1]=atof(argv[++i]);
}
else if (!strcmp(argv[i],"-n" )&&i+2<argc) {
nlat=atoi(argv[++i]);
nlon=atoi(argv[++i]);
}
else if (!strcmp(argv[i],"-d" )&&i+1<argc) dpos =atof(argv[++i]);
else if (!strcmp(argv[i],"-o" )&&i+1<argc) ofile=argv[++i];
else if (!strcmp(argv[i],"-x" )&&i+1<argc) trl =atof(argv[++i]);
else ifile=argv[i];
}
if (trl>0) {
traceopen("diffeph.trace");
tracelevel(trl);
}
t0=epoch2time(ep0);
if (!lexreadmsg(ifile,0,&lex)) {
fprintf(stderr,"file read error: %s\n",ifile);
return -1;
}
if (!(fp=fopen(ofile,"w"))) {
fprintf(stderr,"file open error: %s\n",ofile);
return -1;
}
fprintf(fp,"epoch=[%.0f %.0f %.0f %.0f %.0f %.0f];\n",
ep0[0],ep0[1],ep0[2],ep0[3],ep0[4],ep0[5]);
for (i=0;i<(int)(tspan*3600.0/tint);i++) {
time=timeadd(t0,tint*i);
fprintf(stderr,"time=%s\r",time_str(time,0));
index=updatelex(index,time,&lex,&nav);
printtec(i+1,time,tint*i,&nav,rpos,nlat,nlon,dpos,fp);
}
fclose(fp);
if (trl>0) traceclose();
return 0;
}