/* decode receiver raw/rtcm data ---------------------------------------------*/
static int decoderaw(rtksvr_t *svr, int index)
{
obs_t *obs;
nav_t *nav;
sbsmsg_t *sbsmsg=NULL;
int i,ret,sat,fobs=0;
tracet(4,"decoderaw: index=%d\n",index);
rtksvrlock(svr);
for (i=0;i<svr->nb[index];i++) {
/* input rtcm/receiver raw data from stream */
if (svr->format[index]==STRFMT_RTCM2) {
ret=input_rtcm2(svr->rtcm+index,svr->buff[index][i]);
obs=&svr->rtcm[index].obs;
nav=&svr->rtcm[index].nav;
sat=svr->rtcm[index].ephsat;
}
else if (svr->format[index]==STRFMT_RTCM3) {
ret=input_rtcm3(svr->rtcm+index,svr->buff[index][i]);
obs=&svr->rtcm[index].obs;
nav=&svr->rtcm[index].nav;
sat=svr->rtcm[index].ephsat;
}
else {
ret=input_raw(svr->raw+index,svr->format[index],svr->buff[index][i]);
obs=&svr->raw[index].obs;
nav=&svr->raw[index].nav;
sat=svr->raw[index].ephsat;
sbsmsg=&svr->raw[index].sbsmsg;
}
#if 0 /* record for receiving tick */
if (ret==1) {
trace(0,"%d %10d T=%s NS=%2d\n",index,tickget(),
time_str(obs->data[0].time,0),obs->n);
}
#endif
/* update rtk server */
if (ret>0) updatesvr(svr,ret,obs,nav,sat,sbsmsg,index,fobs);
/* observation data received */
if (ret==1) {
if (fobs<MAXOBSBUF) fobs++; else svr->prcout++;
}
}
svr->nb[index]=0;
rtksvrunlock(svr);
return fobs;
}
int decode_raw(rtksvr_t* svr, int index)
{
uint8_t* i;
Error err;
char str[20];
int res=0,res2=0,res3=0;
switch (svr->format[index])
{
case STRFMT_UBX:
{
if (svr->buffPtr[index] + svr->nb[index] <= MAX_RAW_LEN)
{
for (i = svr->buff[index] + svr->buffPtr[index] ;
i < svr->buff[index] + svr->buffPtr[index] + svr->nb[index]; i++)
{
err = input_ubx(&svr->raw[index],*i);
if (err>=NO_ERROR1)
{
updatesvr(svr,err,index);
if (err==OBS)
{
res+=1;
}
else if (err==EPHEMERIS)
{
res2+=1;
}
else if (err==SOLUTION)
{
res3+=1;
}
}
}
}
else
{
for (i = svr->buff[index] + svr->buffPtr[index] ;
i < svr->buff[index] + MAX_RAW_LEN; i++)
{
err = input_ubx(&svr->raw[index],*i);
if (err>=NO_ERROR1)
{
updatesvr(svr,err,index);
if (err==OBS)
{
res+=1;
}
else if (err==EPHEMERIS)
{
res2+=1;
}
else if (err==SOLUTION)
{
res3+=1;
}
}
}
for (i = svr->buff[index] ;
i < svr->buff[index] + svr->nb[index] + svr->buffPtr[index] - MAX_RAW_LEN ; i++)
{
err = input_ubx(&svr->raw[index],*i);
if (err>=NO_ERROR1)
{
updatesvr(svr,err,index);
if (err==OBS)
{
res+=1;
}
else if (err==EPHEMERIS)
{
res2+=1;
}
else if (err==SOLUTION)
{
res3+=1;
}
}
}
}
break;
}
case STRFMT_SS2:
{
if (svr->buffPtr[index] + svr->nb[index] <= MAX_RAW_LEN)
{
for (i = svr->buff[index] + svr->buffPtr[index] ;
i < svr->buff[index] + svr->buffPtr[index] + svr->nb[index]; i++)
{
err = input_ss2(&svr->raw[index],*i);
if (err>=NO_ERROR1)
{
updatesvr(svr,err,index);
if (err==OBS)
{
res+=1;
}
else if (err==EPHEMERIS)
{
res2+=1;
}
else if (err==SOLUTION)
{
res3+=1;
}
}
}
}
else
{
for (i = svr->buff[index] + svr->buffPtr[index] ;
i < svr->buff[index] + MAX_RAW_LEN; i++)
{
err = input_ss2(&svr->raw[index],*i);
if (err>=NO_ERROR1)
{
updatesvr(svr,err,index);
if (err==OBS)
{
res+=1;
}
else if (err==EPHEMERIS)
{
res2+=1;
}
else if (err==SOLUTION)
{
res3+=1;
}
}
}
for (i = svr->buff[index] ;
i < svr->buff[index] + svr->nb[index] + svr->buffPtr[index] - MAX_RAW_LEN ; i++)
{
err = input_ss2(&svr->raw[index],*i);
if (err>=NO_ERROR1)
{
updatesvr(svr,err,index);
if (err==OBS)
{
res+=1;
}
else if (err==EPHEMERIS)
{
res2+=1;
}
else if (err==SOLUTION)
{
res3+=1;
}
}
}
}
break;
}
}
/*
if (index==0)
{
sprintf(str,"%d,%d,%d\r\n",res,res2,res3);
SendStr(str);
}
*/
return res;
}
