//---------------------------------------------------------------------------
void __fastcall TOptDialog::GetPos(int type, TEdit **edit, double *pos)
{
AnsiString edit0_Text=edit[0]->Text;
AnsiString edit1_Text=edit[1]->Text;
double p[3]={0},dms1[3]={0},dms2[3]={0};
if (type==1) { /* lat/lon/height dms/m */
sscanf(edit0_Text.c_str(),"%lf %lf %lf",dms1,dms1+1,dms1+2);
sscanf(edit1_Text.c_str(),"%lf %lf %lf",dms2,dms2+1,dms2+2);
p[0]=(dms1[0]<0?-1:1)*(fabs(dms1[0])+dms1[1]/60+dms1[2]/3600)*D2R;
p[1]=(dms2[0]<0?-1:1)*(fabs(dms2[0])+dms2[1]/60+dms2[2]/3600)*D2R;
p[2]=str2dbl(edit[2]->Text);
pos2ecef(p,pos);
}
else if (type==2) { /* x/y/z-ecef */
pos[0]=str2dbl(edit[0]->Text);
pos[1]=str2dbl(edit[1]->Text);
pos[2]=str2dbl(edit[2]->Text);
}
else {
p[0]=str2dbl(edit[0]->Text)*D2R;
p[1]=str2dbl(edit[1]->Text)*D2R;
p[2]=str2dbl(edit[2]->Text);
pos2ecef(p,pos);
}
}
/* decode reference position -------------------------------------------------*/
static void decode_refpos(char *buff, const solopt_t *opt, double *rb)
{
double val[MAXFIELD],pos[3];
int i,n;
const char *sep=opt2sep(opt);
trace(3,"decode_refpos: buff=%s\n",buff);
if ((n=tonum(buff,sep,val))<3) return;
if ((opt->posf==SOLF_XYZ) || (opt->posf==SOLF_RVA)) { /* xyz */
for (i=0;i<3;i++) rb[i]=val[i];
}
else if (opt->degf==0) { /* lat/lon/hgt (ddd.ddd) */
pos[0]=val[0]*D2R;
pos[1]=val[1]*D2R;
pos[2]=val[2];
pos2ecef(pos,rb);
}
else if (opt->degf==1&&n>=7) { /* lat/lon/hgt (ddd mm ss) */
pos[0]=dms2deg(val )*D2R;
pos[1]=dms2deg(val+3)*D2R;
pos[2]=val[6];
pos2ecef(pos,rb);
}
}
// read station position data -----------------------------------------------
void __fastcall TPlot::ReadStaPos(const char *file, const char *sta,
double *rr)
{
FILE *fp;
char buff[256],code[256],name[256];
double pos[3];
int sinex=0;
if (!(fp=fopen(file,"r"))) return;
while (fgets(buff,sizeof(buff),fp)) {
if (strstr(buff,"%=SNX")==buff) sinex=1;
if (buff[0]=='%'||buff[1]=='#') continue;
if (sinex) {
if (strlen(buff)<68||strncmp(buff+14,sta,4)) continue;
if (!strncmp(buff+7,"STAX",4)) rr[0]=str2num(buff,47,21);
if (!strncmp(buff+7,"STAY",4)) rr[1]=str2num(buff,47,21);
if (!strncmp(buff+7,"STAZ",4)) {
rr[2]=str2num(buff,47,21);
break;
}
}
else {
if (sscanf(buff,"%lf %lf %lf %s",pos,pos+1,pos+2,code)<4) continue;
if (strcmp(code,sta)) continue;
pos[0]*=D2R;
pos[1]*=D2R;
pos2ecef(pos,rr);
break;
}
}
fclose(fp);
}
/* station position from file ------------------------------------------------*/
static int getstapos(const char *file, char *name, double *r)
{
FILE *fp;
char buff[256],sname[256],*p,*q;
double pos[3];
trace(3,"getstapos: file=%s name=%s\n",file,name);
if (!(fp=fopen(file,"r"))) {
trace(1,"station position file open error: %s\n",file);
return 0;
}
while (fgets(buff,sizeof(buff),fp)) {
if ((p=strchr(buff,'%'))) *p='\0';
if (sscanf(buff,"%lf %lf %lf %s",pos,pos+1,pos+2,sname)<4) continue;
for (p=sname,q=name;*p&&*q;p++,q++) {
if (toupper((int)*p)!=toupper((int)*q)) break;
}
if (!*p) {
pos[0]*=D2R;
pos[1]*=D2R;
pos2ecef(pos,r);
fclose(fp);
return 1;
}
}
fclose(fp);
trace(1,"no station position: %s %s\n",name,file);
return 0;
}
// read map path data -------------------------------------------------------
void __fastcall TPlot::ReadMapPath(AnsiString file)
{
FILE *fp;
int n=0;
char buff[1024];
double pos[3];
if (!(fp=fopen(file.c_str(),"r"))) return;
while (fgets(buff,sizeof(buff),fp)&&n<MAXMAPPATH) {
if (sscanf(buff,"%lf %lf %lf",pos,pos+1,pos+2)!=3) continue;
pos[0]*=D2R;
pos[1]*=D2R;
pos2ecef(pos,MapPath+n*3);
n++;
}
fclose(fp);
NMapPath=n;
BtnShowPoint->Down=true;
UpdatePlot();
}
static void RtkCommon__pos2ecef(JNIEnv* env, jclass clazz, jdouble lat,
jdouble lon, jdouble height, jdoubleArray j_pos)
{
double r[3] = {lat, lon, height};
double pos[3];
pos2ecef(r, pos);
(*env)->SetDoubleArrayRegion(env, j_pos, 0, 3, pos);
}
/* decode nmea gpgga: fix information ----------------------------------------*/
static int decode_nmeagga(char **val, int n, sol_t *sol)
{
gtime_t time;
double tod=0.0,lat=0.0,lon=0.0,hdop=0.0,alt=0.0,msl=0.0,ep[6],tt;
double pos[3]={0};
char ns='N',ew='E',ua=' ',um=' ';
int i,solq=0,nrcv=0;
trace(4,"decode_nmeagga: n=%d\n",n);
for (i=0;i<n;i++) {
switch (i) {
case 0: tod =atof(val[i]); break; /* time in utc (hhmmss) */
case 1: lat =atof(val[i]); break; /* latitude (ddmm.mmm) */
case 2: ns =*val[i]; break; /* N=north,S=south */
case 3: lon =atof(val[i]); break; /* longitude (dddmm.mmm) */
case 4: ew =*val[i]; break; /* E=east,W=west */
case 5: solq=atoi(val[i]); break; /* fix quality */
case 6: nrcv=atoi(val[i]); break; /* # of satellite tracked */
case 7: hdop=atof(val[i]); break; /* hdop */
case 8: alt =atof(val[i]); break; /* altitude in msl */
case 9: ua =*val[i]; break; /* unit (M) */
case 10: msl =atof(val[i]); break; /* height of geoid */
case 11: um =*val[i]; break; /* unit (M) */
}
}
if ((ns!='N'&&ns!='S')||(ew!='E'&&ew!='W')) {
trace(2,"invalid nmea gpgga format\n");
return 0;
}
if (sol->time.time==0.0) {
trace(2,"no date info for nmea gpgga\n");
return 0;
}
pos[0]=(ns=='N'?1.0:-1.0)*dmm2deg(lat)*D2R;
pos[1]=(ew=='E'?1.0:-1.0)*dmm2deg(lon)*D2R;
pos[2]=alt+msl;
time2epoch(sol->time,ep);
septime(tod,ep+3,ep+4,ep+5);
time=utc2gpst(epoch2time(ep));
tt=timediff(time,sol->time);
if (tt<-43200.0) sol->time=timeadd(time, 86400.0);
else if (tt> 43200.0) sol->time=timeadd(time,-86400.0);
else sol->time=time;
pos2ecef(pos,sol->rr);
sol->stat=0<=solq&&solq<=8?solq_nmea[solq]:SOLQ_NONE;
sol->ns=nrcv;
sol->type=0; /* postion type = xyz */
trace(5,"decode_nmeagga: %s rr=%.3f %.3f %.3f stat=%d ns=%d hdop=%.1f ua=%c um=%c\n",
time_str(sol->time,0),sol->rr[0],sol->rr[1],sol->rr[2],sol->stat,sol->ns,
hdop,ua,um);
return 1;
}
//---------------------------------------------------------------------------
void __fastcall TPntDialog::BtnOkClick(TObject *Sender)
{
double pos[3]={0};
int n=0;
for (int i=0;i<PntList->RowCount;i++) {
if (PntList->Cells[3][i]=="") continue;
pos[0]=str2dbl(PntList->Cells[0][i])*D2R;
pos[1]=str2dbl(PntList->Cells[1][i])*D2R;
pos[2]=str2dbl(PntList->Cells[2][i]);
pos2ecef(pos,Plot->PntPos[n]);
Plot->PntName[n++]=PntList->Cells[3][i];
}
Plot->NWayPnt=n;
}
/* decode nmea gprmc: recommended minumum data for gps -----------------------*/
static int decode_nmearmc(char **val, int n, sol_t *sol)
{
double tod=0.0,lat=0.0,lon=0.0,vel=0.0,dir=0.0,date=0.0,ang=0.0,ep[6];
double pos[3]={0};
char act=' ',ns='N',ew='E',mew='E',mode='A';
int i;
trace(4,"decode_nmearmc: n=%d\n",n);
for (i=0;i<n;i++) {
switch (i) {
case 0: tod =atof(val[i]); break; /* time in utc (hhmmss) */
case 1: act =*val[i]; break; /* A=active,V=void */
case 2: lat =atof(val[i]); break; /* latitude (ddmm.mmm) */
case 3: ns =*val[i]; break; /* N=north,S=south */
case 4: lon =atof(val[i]); break; /* longitude (dddmm.mmm) */
case 5: ew =*val[i]; break; /* E=east,W=west */
case 6: vel =atof(val[i]); break; /* speed (knots) */
case 7: dir =atof(val[i]); break; /* track angle (deg) */
case 8: date=atof(val[i]); break; /* date (ddmmyy) */
case 9: ang =atof(val[i]); break; /* magnetic variation */
case 10: mew =*val[i]; break; /* E=east,W=west */
case 11: mode=*val[i]; break; /* mode indicator (>nmea 2) */
/* A=autonomous,D=differential */
/* E=estimated,N=not valid,S=simulator */
}
}
if ((act!='A'&&act!='V')||(ns!='N'&&ns!='S')||(ew!='E'&&ew!='W')) {
trace(2,"invalid nmea gprmc format\n");
return 0;
}
pos[0]=(ns=='S'?-1.0:1.0)*dmm2deg(lat)*D2R;
pos[1]=(ew=='W'?-1.0:1.0)*dmm2deg(lon)*D2R;
septime(date,ep+2,ep+1,ep);
septime(tod,ep+3,ep+4,ep+5);
ep[0]+=ep[0]<80.0?2000.0:1900.0;
sol->time=utc2gpst(epoch2time(ep));
pos2ecef(pos,sol->rr);
sol->stat=mode=='D'?SOLQ_DGPS:SOLQ_SINGLE;
sol->ns=0;
sol->type=0; /* postion type = xyz */
trace(5,"decode_nmearmc: %s rr=%.3f %.3f %.3f stat=%d ns=%d vel=%.2f dir=%.0f ang=%.0f mew=%c mode=%c\n",
time_str(sol->time,0),sol->rr[0],sol->rr[1],sol->rr[2],sol->stat,sol->ns,
vel,dir,ang,mew,mode);
return 1;
}
/* system options buffer to options ------------------------------------------*/
static void buff2sysopts(void)
{
double pos[3],*rr;
char buff[1024],*p,*id;
int i,j,sat,*ps;
prcopt_.elmin =elmask_ *D2R;
prcopt_.elmaskar =elmaskar_ *D2R;
prcopt_.elmaskhold=elmaskhold_*D2R;
for (i=0;i<2;i++) {
ps=i==0?&prcopt_.rovpos:&prcopt_.refpos;
rr=i==0?prcopt_.ru:prcopt_.rb;
if (antpostype_[i]==0) { /* lat/lon/hgt */
*ps=0;
pos[0]=antpos_[i][0]*D2R;
pos[1]=antpos_[i][1]*D2R;
pos[2]=antpos_[i][2];
pos2ecef(pos,rr);
}
else if (antpostype_[i]==1) { /* xyz-ecef */
*ps=0;
rr[0]=antpos_[i][0];
rr[1]=antpos_[i][1];
rr[2]=antpos_[i][2];
}
else *ps=antpostype_[i]-1;
}
/* excluded satellites */
for (i=0;i<MAXSAT;i++) prcopt_.exsats[i]=0;
if (exsats_[0]!='\0') {
strcpy(buff,exsats_);
for (p=strtok(buff," ");p;p=strtok(NULL," ")) {
if (*p=='+') id=p+1; else id=p;
if (!(sat=satid2no(id))) continue;
prcopt_.exsats[sat-1]=*p=='+'?2:1;
}
}
/* snrmask */
for (i=0;i<NFREQ;i++) {
for (j=0;j<9;j++) prcopt_.snrmask.mask[i][j]=0.0;
strcpy(buff,snrmask_[i]);
for (p=strtok(buff,","),j=0;p&&j<9;p=strtok(NULL,",")) {
prcopt_.snrmask.mask[i][j++]=atof(p);
}
}
}
/* decode lat/lon/height -----------------------------------------------------*/
static int decode_solllh(char *buff, const solopt_t *opt, sol_t *sol)
{
double val[MAXFIELD],pos[3],Q[9]={0},P[9];
int i=0,n;
const char *sep=opt2sep(opt);
trace(4,"decode_solllh:\n");
n=tonum(buff,sep,val);
if (!opt->degf) {
if (n<3) return 0;
pos[0]=val[i++]*D2R; /* lat/lon/hgt (ddd.ddd) */
pos[1]=val[i++]*D2R;
pos[2]=val[i++];
}
else {
if (n<7) return 0;
pos[0]=dms2deg(val )*D2R; /* lat/lon/hgt (ddd mm ss) */
pos[1]=dms2deg(val+3)*D2R;
pos[2]=val[6];
i+=7;
}
pos2ecef(pos,sol->rr);
if (i<n) sol->stat=(unsigned char)val[i++];
if (i<n) sol->ns =(unsigned char)val[i++];
if (i+3<n) {
Q[4]=val[i]*val[i]; i++; /* sdn */
Q[0]=val[i]*val[i]; i++; /* sde */
Q[8]=val[i]*val[i]; i++; /* sdu */
if (i+3<n) {
Q[1]=Q[3]=NSQR(val[i]); i++; /* sdne */
Q[2]=Q[6]=NSQR(val[i]); i++; /* sdeu */
Q[5]=Q[7]=NSQR(val[i]); i++; /* sdun */
}
covecef(pos,Q,P);
covtosol(P,sol->qr);
}
if (i<n) sol->age =(float)val[i++];
if (i<n) sol->ratio=(float)val[i];
sol->type=0; /* postion type = xyz */
sol->rva=0; /* postion type != rva */
if (MAXSOLQ<sol->stat) sol->stat=SOLQ_NONE;
return 1;
}
//---------------------------------------------------------------------------
void __fastcall TOptDialog::BtnRefPosClick(TObject *Sender)
{
TEdit *edit[]={RefPos1,RefPos2,RefPos3};
double p[3],pos[3];
GetPos(RefPosTypeP->ItemIndex,edit,p);
ecef2pos(p,pos);
RefDialog->RovPos[0]=pos[0]*R2D;
RefDialog->RovPos[1]=pos[1]*R2D;
RefDialog->RovPos[2]=pos[2];
RefDialog->StaPosFile=StaPosFile->Text;
RefDialog->Left=Left+Width/2-RefDialog->Width/2;
RefDialog->Top=Top+Height/2-RefDialog->Height/2;
if (RefDialog->ShowModal()!=mrOk) return;
pos[0]=RefDialog->Pos[0]*D2R;
pos[1]=RefDialog->Pos[1]*D2R;
pos[2]=RefDialog->Pos[2];
pos2ecef(pos,p);
SetPos(RefPosTypeP->ItemIndex,edit,p);
}
/* pos2ecef() */
void utest2(void)
{
double lat,lon,h,pos[3],posi[3];
double r[3];
for (lat=-90.0;lat<=90.0;lat+=5.0) {
for (lon=-180.0;lon<180.0;lon+=5.0) {
for (h=-10.0;h<10000.0;h+=100.0) {
pos[0]=lat*D2R; pos[1]=lon*D2R; pos[2]=h;
pos2ecef(pos,r);
ecef2pos(r,posi);
assert(fabs(lat-posi[0]*R2D)<1E-7&&
(lat==-90.0||lat==90.0?1:fabs(lon-posi[1]*R2D)<1E-7)&&
fabs(h-posi[2])<1E-4);
}
}
}
printf("%s utset2 : OK\n",__FILE__);
}
void rtkinit(rtk_t *rtk,const prcopt_t *opt)
{
gtime_t time0= {0};
// ambc_t ambc0={{0}};
ssat_t ssat0;
double *x0=rtk->x;
double *P0=rtk->P;
double *xa=rtk->xa;
double *Pa=rtk->Pa;
char *errmsg=rtk->errbuf;
int i,j,tmp;
double pos[3];
rtk->opt=*opt;
rtk->nx=NX(opt);
rtk->na=NR(opt);
//base position
#ifdef BASE_POS_TYPE_LLH
pos[0]=opt->rb[0]*D2R;
pos[1]=opt->rb[1]*D2R;
pos[2]=opt->rb[2];
pos2ecef(pos,rtk->rb);
#else
for (i=0; i<3; i++)
rtk->rb[i]=opt->rb[i];
#endif
//base velocity
for (i=3; i<6; i++)
{
rtk->rb[i] = 0.0;
}
//rover position and velocities
for (i=0; i<6; i++)
rtk->sol.rr[i]=0.0;
rtk->sol.dtr[0]=0.0;
rtk->sol.time=time0;
rtk->tt = 0.0;//time diff
for (i=0,tmp=0; i<rtk->nx; i++)
{
x0[i]=0.0;
for (j=0; j<rtk->nx; j++)
{
P0[tmp++]=0.0;
}
}
for (i=0,tmp=0; i<rtk->na; i++)
{
xa[i]=0.0;
for (j=0; j<rtk->na; j++)
{
Pa[tmp++]=0.0;
}
}
rtk->nfix=rtk->neb=0;
for (i=0; i<MAX_SAT; i++)
{
// rtk->ambc[i]=ambc0;
rtk->ssat[i]=ssat0;
}
for (i=0; i<MAX_ERRMSG; i++)
{
errmsg[i]=0;
}
}
// generate visibility data ----------------------------------------------------
void __fastcall TPlot::GenVisData(void)
{
gtime_t time,ts,te;
obsd_t data={{0}};
sta_t sta={0};
double tint,r,pos[3],rr[3],rs[6],e[3],azel[2];
int i,j,nobs=0;
char name[16];
trace(3,"GenVisData\n");
ClearObs();
SimObs=1;
ts=TimeStart;
te=TimeEnd;
tint=TimeInt;
matcpy(pos,OOPos,3,1);
pos2ecef(pos,rr);
ReadWaitStart();
ShowLegend(NULL);
ShowMsg("generating satellite visibility...");
Application->ProcessMessages();
for (time=ts;timediff(time,te)<=0.0;time=timeadd(time,tint)) {
for (i=0;i<MAXSAT;i++) {
satno2id(i+1,name);
if (!tle_pos(time,name,"","",&TLEData,NULL,rs)) continue;
if ((r=geodist(rs,rr,e))<=0.0) continue;
if (satazel(pos,e,azel)<=0.0) continue;
if (Obs.n>=Obs.nmax) {
Obs.nmax=Obs.nmax<=0?4096:Obs.nmax*2;
Obs.data=(obsd_t *)realloc(Obs.data,sizeof(obsd_t)*Obs.nmax);
if (!Obs.data) {
Obs.n=Obs.nmax=0;
break;
}
}
data.time=time;
data.sat=i+1;
for (j=0;j<NFREQ;j++) {
data.P[j]=data.L[j]=0.0;
data.code[j]=CODE_NONE;
}
data.code[0]=CODE_L1C;
Obs.data[Obs.n++]=data;
}
if (++nobs>=MAX_SIMOBS) break;
}
if (Obs.n<=0) {
ReadWaitEnd();
ShowMsg("no satellite visibility");
return;
}
UpdateObs(nobs);
Caption="Satellite Visibility (Predicted)";
BtnSol1->Down=true;
time2gpst(Obs.data[0].time,&Week);
SolIndex[0]=SolIndex[1]=ObsIndex=0;
if (PlotType<PLOT_OBS||PLOT_DOP<PlotType) {
UpdateType(PLOT_OBS);
}
else {
UpdatePlotType();
}
FitTime();
ReadWaitEnd();
UpdateObsType();
UpdateTime();
UpdatePlot();
}
/* 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;
}
/* simgal main ---------------------------------------------------------------*/
int main(int argc, char **argv)
{
FILE *fp;
rnxopt_t rnxopt={{0}};
obs_t obs={0};
nav_t nav={0};
gtime_t ts={0},te={0};
double es[]={2000,1,1,0,0,0},ee[]={2000,1,1,0,0,0},tint=30.0;
double pos[3]={0},rr[3];
char *infile[16]={0},*outfile="";
int i,j,n=0,opt=0;
for (i=1;i<argc;i++) {
if (!strcmp(argv[i],"-o")&&i+1<argc) outfile=argv[++i];
else if (!strcmp(argv[i],"-ts")&&i+1<argc) {
sscanf(argv[++i],"%lf/%lf/%lf %lf:%lf:%lf",es,es+1,es+2,es+3,es+4,es+5);
ts=epoch2time(es);
}
else if (!strcmp(argv[i],"-te")&&i+1<argc) {
sscanf(argv[++i],"%lf/%lf/%lf %lf:%lf:%lf",ee,ee+1,ee+2,ee+3,ee+4,ee+5);
te=epoch2time(ee);
}
else if (!strcmp(argv[i],"-ti")&&i+1<argc) tint=atof(argv[++i]);
else if (!strcmp(argv[i],"-r")&&i+3<argc) {
for (j=0;j<3;j++) pos[j]=atof(argv[++i]); /* lat,lon,hgt */
}
else infile[n++]=argv[i];
}
if (n<=0) {
fprintf(stderr,"no input file\n");
return -1;
}
if (!*outfile) {
fprintf(stderr,"no output file\n");
return -1;
}
if (norm(pos,3)<=0.0) {
fprintf(stderr,"no receiver pos\n");
return -1;
}
pos[0]*=D2R; pos[1]*=D2R; pos2ecef(pos,rr);
/* read simulated/real rinex nav files */
readrnx(infile,n,&obs,&nav);
if (nav.n<=0) {
fprintf(stderr,"no nav data\n");
return -1;
}
/* generate simulated observation data */
if (!simobs(ts,te,tint,rr,&nav,&obs,opt)) return -1;
/* output rinex obs file */
if (!(fp=fopen(outfile,"w"))) {
fprintf(stderr,"error : outfile open %s\n",outfile);
return -1;
}
fprintf(stderr,"saving...: %s\n",outfile);
strcpy(rnxopt.prog,PROGNAME);
strcpy(rnxopt.comment[0],"SIMULATED OBS DATA");
rnxopt.tstart=ts;
rnxopt.tstart=te;
rnxopt.navsys=SYS_ALL;
rnxopt.obstype=OBSTYPE_PR|OBSTYPE_CP|OBSTYPE_SNR;
rnxopt.freqtype=FREQTYPE_L1|FREQTYPE_L2|FREQTYPE_L5|FREQTYPE_L7;
for (i=0;i<3;i++) rnxopt.apppos[i]=rr[i];
outrnxobsh(fp,&rnxopt);
for (i=0;i<obs.n;i=j) {
for (j=i;j<obs.n;j++) {
if (timediff(obs.data[j].time,obs.data[i].time)>0.001) break;
}
outrnxobsb(fp,&rnxopt,obs.data+i,j-i,0);
}
fclose(fp);
return 0;
}
/* rnx2rtkp main -------------------------------------------------------------*/
int main(int argc, char **argv)
{
prcopt_t prcopt=prcopt_default;
solopt_t solopt=solopt_default;
filopt_t filopt={""};
gtime_t ts={0},te={0};
double tint=0.0,es[]={2000,1,1,0,0,0},ee[]={2000,12,31,23,59,59},pos[3];
int i,j,n,ret;
char *infile[MAXFILE],*outfile="";
prcopt.mode =PMODE_KINEMA;
prcopt.navsys=SYS_GPS|SYS_GLO;
prcopt.refpos=1;
prcopt.glomodear=1;
sprintf(solopt.prog ,"%s ver.%s",PROGNAME,VER_RTKLIB);
sprintf(filopt.trace,"%s.trace",PROGNAME);
/* load options from configuration file */
for (i=1;i<argc;i++) {
if (!strcmp(argv[i],"-k")&&i+1<argc) {
resetsysopts();
if (!loadopts(argv[++i],sysopts)) return -1;
getsysopts(&prcopt,&solopt,&filopt);
}
}
for (i=1,n=0;i<argc;i++) {
if (!strcmp(argv[i],"-o")&&i+1<argc) outfile=argv[++i];
else 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+5);
ts=epoch2time(es);
}
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);
te=epoch2time(ee);
}
else if (!strcmp(argv[i],"-ti")&&i+1<argc) tint=atof(argv[++i]);
else if (!strcmp(argv[i],"-k")&&i+1<argc) {++i; continue;}
else if (!strcmp(argv[i],"-p")&&i+1<argc) prcopt.mode=atoi(argv[++i]);
else if (!strcmp(argv[i],"-f")&&i+1<argc) prcopt.nf=atoi(argv[++i]);
else if (!strcmp(argv[i],"-m")&&i+1<argc) prcopt.elmin=atof(argv[++i])*D2R;
else if (!strcmp(argv[i],"-v")&&i+1<argc) prcopt.thresar[0]=atof(argv[++i]);
else if (!strcmp(argv[i],"-s")&&i+1<argc) strcpy(solopt.sep,argv[++i]);
else if (!strcmp(argv[i],"-d")&&i+1<argc) solopt.timeu=atoi(argv[++i]);
else if (!strcmp(argv[i],"-b")) prcopt.soltype=1;
else if (!strcmp(argv[i],"-c")) prcopt.soltype=2;
else if (!strcmp(argv[i],"-i")) prcopt.modear=2;
else if (!strcmp(argv[i],"-h")) prcopt.modear=3;
else if (!strcmp(argv[i],"-t")) solopt.timef=1;
else if (!strcmp(argv[i],"-u")) solopt.times=TIMES_UTC;
else if (!strcmp(argv[i],"-e")) solopt.posf=SOLF_XYZ;
else if (!strcmp(argv[i],"-a")) solopt.posf=SOLF_ENU;
else if (!strcmp(argv[i],"-n")) solopt.posf=SOLF_NMEA;
else if (!strcmp(argv[i],"-g")) solopt.degf=1;
else if (!strcmp(argv[i],"-r")&&i+3<argc) {
prcopt.refpos=0;
for (j=0;j<3;j++) prcopt.rb[j]=atof(argv[++i]);
}
else if (!strcmp(argv[i],"-l")&&i+3<argc) {
prcopt.refpos=0;
for (j=0;j<3;j++) pos[j]=atof(argv[++i]);
for (j=0;j<2;j++) pos[j]*=D2R;
pos2ecef(pos,prcopt.rb);
}
else if (!strcmp(argv[i],"-y")&&i+1<argc) solopt.sstat=atoi(argv[++i]);
else if (!strcmp(argv[i],"-x")&&i+1<argc) solopt.trace=atoi(argv[++i]);
else if (*argv[i]=='-') printhelp();
else if (n<MAXFILE) infile[n++]=argv[i];
}
if (n<=0) {
showmsg("error : no input file");
return -2;
}
ret=postpos(ts,te,tint,0.0,&prcopt,&solopt,&filopt,infile,n,outfile,"","");
if (!ret) fprintf(stderr,"%40s\r","");
return ret;
}
/* 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;
}
// update observation data index, azimuth/elevation, satellite list ---------
void __fastcall TPlot::UpdateObs(int nobs)
{
AnsiString s;
prcopt_t opt=prcopt_default;
gtime_t time;
sol_t sol={0};
double pos[3],rr[3],e[3],azel[MAXOBS*2]={0},rs[6],dts[2],var;
int i,j,k,svh,per,per_=-1;
char msg[128];
trace(3,"UpdateObs\n");
delete [] IndexObs; IndexObs=NULL;
delete [] Az; Az=NULL;
delete [] El; El=NULL;
NObs=0;
if (nobs<=0) return;
IndexObs=new int[nobs];
Az=new double[Obs.n];
El=new double[Obs.n];
opt.err[0]=900.0;
ReadWaitStart();
ShowLegend(NULL);
for (i=0;i<Obs.n;i=j) {
time=Obs.data[i].time;
for (j=i;j<Obs.n;j++) {
if (timediff(Obs.data[j].time,time)>TTOL) break;
}
IndexObs[NObs++]=i;
if (Nav.n<=0&&Nav.ng<=0&&Nav.ns<=0) {
for (k=0;k<j-i;k++) Az[i+k]=El[i+k]=0.0;
continue;
}
if (RcvPos==0) {
pntpos(Obs.data+i,j-i,&Nav,&opt,&sol,azel,NULL,msg);
}
else {
if (RcvPos==1) { // lat/lon/height
for (k=0;k<3;k++) pos[k]=OOPos[k];
pos2ecef(pos,rr);
}
else { // rinex header position
for (k=0;k<3;k++) rr[k]=Sta.pos[k];
ecef2pos(rr,pos);
}
for (k=0;k<j-i;k++) {
azel[k*2]=azel[1+k*2]=0.0;
if (!satpos(time,time,Obs.data[i+k].sat,EPHOPT_BRDC,&Nav,rs,dts,
&var,&svh)) continue;
if (geodist(rs,rr,e)>0.0) satazel(pos,e,azel+k*2);
}
}
for (k=0;k<j-i;k++) {
Az[i+k]=azel[ k*2];
El[i+k]=azel[1+k*2];
if (Az[i+k]<0.0) Az[i+k]+=2.0*PI;
}
per=(i+1)*100/Obs.n;
if (per!=per_) {
ShowMsg(s.sprintf("updating azimuth/elevation... (%d%%)",(per_=per)));
Application->ProcessMessages();
}
}
IndexObs[NObs]=Obs.n;
UpdateSatList();
ReadWaitEnd();
}
/* generate simulated observation data ---------------------------------------*/
static int simobs(gtime_t ts, gtime_t te, double tint, const double *rr,
nav_t *nav, obs_t *obs, int opt)
{
gtime_t time;
obsd_t data[MAXSAT]={{{0}}};
double pos[3],rs[3*MAXSAT],dts[MAXSAT],r,e[3],azel[2];
double ecp[MAXSAT][NFREQ]={{0}},epr[MAXSAT][NFREQ]={{0}};
double snr[MAXSAT][NFREQ]={{0}},ers[MAXSAT][3]={{0}};
double iono,trop,fact,cp,pr,dtr=0.0,rref[3],bl;
int i,j,k,n,ns,amb[MAXSAT][NFREQ]={{0}},sys,prn;
char s[64];
double pref[]={36.106114294,140.087190410,70.3010}; /* ref station */
trace(3,"simobs:nnav=%d ngnav=%d\n",nav->n,nav->ng);
for (i=0;i<2;i++) pref[i]*=D2R;
pos2ecef(pref,rref);
for (i=0;i<3;i++) rref[i]-=rr[i];
bl=norm(rref,3)/1E4; /* baseline (10km) */
srand(0);
/* ephemeris error */
for (i=0;i<MAXSAT;i++) {
data[i].sat=i+1;
data[i].P[0]=2E7;
for (j=0;j<3;j++) ers[i][j]=randn(0.0,erreph);
}
srand(tickget());
ecef2pos(rr,pos);
n=(int)(timediff(te,ts)/tint+1.0);
for (i=0;i<n;i++) {
time=timeadd(ts,tint*i);
time2str(time,s,0);
for (j=0;j<MAXSAT;j++) data[j].time=time;
for (j=0;j<3;j++) { /* iteration for pseudorange */
satpos(time,data,MAXSAT,nav,rs,dts);
for (k=0;k<MAXSAT;k++) {
if ((r=geodist(rs+k*3,rr,e))<=0.0) continue;
data[k].P[0]=r+CLIGHT*(dtr-dts[k]);
}
}
satpos(time,data,MAXSAT,nav,rs,dts);
for (j=ns=0;j<MAXSAT;j++) {
/* add ephemeris error */
for (k=0;k<3;k++) rs[k+j*3]+=ers[j][k];
if ((r=geodist(rs+j*3,rr,e))<=0.0) continue;
satazel(pos,e,azel);
if (azel[1]<minel*D2R) continue;
iono=ionmodel(time,nav->ion,pos,azel);
trop=tropmodel(pos,azel,0.3);
/* add ionospheric error */
iono+=errion*bl*ionmapf(pos,azel);
snrmodel(azel,snr[j]);
errmodel(azel,snr[j],ecp[j],epr[j]);
sys=satsys(data[j].sat,&prn);
for (k=0;k<NFREQ;k++) {
data[j].L[k]=data[j].P[k]=0.0;
data[j].SNR[k]=0;
data[j].LLI[k]=0;
if (sys==SYS_GPS) {
if (k>=3) continue; /* no L5a/L5b in gps */
if (k>=2&&!gpsblock[prn-1]) continue; /* no L5 in block II */
}
else if (sys==SYS_GLO) {
if (k>=3) continue;
}
else if (sys==SYS_GAL) {
if (k==1) continue; /* no L2 in galileo */
}
else continue;
/* generate observation data */
fact=lam[k]*lam[k]/lam[0]/lam[0];
cp=r+CLIGHT*(dtr-dts[j])-fact*iono+trop+ecp[j][k];
pr=r+CLIGHT*(dtr-dts[j])+fact*iono+trop+epr[j][k];
if (amb[j][k]==0) amb[j][k]=(int)(-cp/lam[k]);
data[j].L[k]=cp/lam[k]+amb[j][k];
data[j].P[k]=pr;
data[j].SNR[k]=(unsigned char)snr[j][k];
data[j].LLI[k]=data[j].SNR[k]<slipthres?1:0;
}
if (obs->nmax<=obs->n) {
if (obs->nmax==0) obs->nmax=65532; else obs->nmax+=65532;
if (!(obs->data=(obsd_t *)realloc(obs->data,sizeof(obsd_t)*obs->nmax))) {
fprintf(stderr,"malloc error\n");
return 0;
}
}
obs->data[obs->n++]=data[j];
ns++;
}
fprintf(stderr,"time=%s nsat=%2d\r",s,ns);
}
fprintf(stderr,"\n");
return 1;
}
}
/* 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;
}