From c6312269a9a2c17ff6b52e9cce58a0940702a726 Mon Sep 17 00:00:00 2001
From: TimEverett <tim.everett3@gmail.com>
Date: Thu, 25 Oct 2018 18:07:12 -0600
Subject: [PATCH] - Enhance event position log to handle events logged in
following epoch - Remove space from NTRIP agent string - Delete unused
receiver file
---
src/postpos.c | 2 +-
src/rcv/ss2.c | 312 --------------------------------------------------
src/rinex.c | 13 ++-
src/stream.c | 2 +-
4 files changed, 12 insertions(+), 317 deletions(-)
delete mode 100644 src/rcv/ss2.c
diff --git a/src/postpos.c b/src/postpos.c
index 38fdbff..0c16405 100644
--- a/src/postpos.c
+++ b/src/postpos.c
@@ -259,7 +259,7 @@ static int inputobs(obsd_t *obs, int solq, const prcopt_t *popt)
if (timediff(obss.data[i].time,obss.data[iobsu].time)>DTTOL) break;
}
nr=nextobsf(&obss,&iobsr,2);
- if (nr<=0) { /* remove this for event logging??? */
+ if (nr<=0) {
nr=nextobsf(&obss,&iobsr,2);
}
for (i=0;i<nu&&n<MAXOBS*2;i++) obs[n++]=obss.data[iobsu+i];
diff --git a/src/rcv/ss2.c b/src/rcv/ss2.c
deleted file mode 100644
index 5471b43..0000000
--- a/src/rcv/ss2.c
+++ /dev/null
@@ -1,312 +0,0 @@
-/*------------------------------------------------------------------------------
-* ss2.c : superstar II receiver dependent functions
-*
-* Copyright (C) 2007-2013 by T.TAKASU, All rights reserved.
-*
-* reference:
-* [1] NovAtel, OM-20000086 Superstar II Firmware Reference Manuall, 2005
-*
-* version : $Revision: 1.2 $ $Date: 2008/07/14 00:05:05 $
-* history : 2008/05/18 1.0 new
-* 2008/06/16 1.2 separate common functions to rcvcmn.c
-* 2009/04/01 1.3 fix bug on decode #21 message
-* 2010/08/20 1.4 fix problem with minus value of time slew in #23
-* (2.4.0_p5)
-* 2011/05/27 1.5 fix problem with ARM compiler
-* 2013/02/23 1.6 fix memory access violation problem on arm
-*-----------------------------------------------------------------------------*/
-#include "rtklib.h"
-
-#define SS2SOH 0x01 /* ss2 start of header */
-
-#define ID_SS2LLH 20 /* ss2 message ID#20 navigation data (user) */
-#define ID_SS2ECEF 21 /* ss2 message ID#21 navigation data (ecef) */
-#define ID_SS2EPH 22 /* ss2 message ID#22 ephemeris data */
-#define ID_SS2RAW 23 /* ss2 message ID#23 measurement block */
-#define ID_SS2SBAS 67 /* ss2 message ID#67 sbas data */
-
-/* get/set fields (little-endian) --------------------------------------------*/
-#define U1(p) (*((unsigned char *)(p)))
-static unsigned short U2(unsigned char *p) {unsigned short u; memcpy(&u,p,2); return u;}
-static unsigned int U4(unsigned char *p) {unsigned int u; memcpy(&u,p,4); return u;}
-static double R8(unsigned char *p) {double r; memcpy(&r,p,8); return r;}
-
-/* checksum ------------------------------------------------------------------*/
-static int chksum(const unsigned char *buff, int len)
-{
- int i;
- unsigned short sum=0;
-
- for (i=0;i<len-2;i++) sum+=buff[i];
- return (sum>>8)==buff[len-1]&&(sum&0xFF)==buff[len-2];
-}
-/* adjust week ---------------------------------------------------------------*/
-static int adjweek(raw_t *raw, double sec)
-{
- double tow;
- int week;
-
- if (raw->time.time==0) return 0;
- tow=time2gpst(raw->time,&week);
- if (sec<tow-302400.0) sec+=604800.0;
- else if (sec>tow+302400.0) sec-=604800.0;
- raw->time=gpst2time(week,sec);
- return 1;
-}
-/* decode id#20 navigation data (user) ---------------------------------------*/
-static int decode_ss2llh(raw_t *raw)
-{
- double ep[6];
- unsigned char *p=raw->buff+4;
-
- trace(4,"decode_ss2llh: len=%d\n",raw->len);
-
- if (raw->len!=77) {
- trace(2,"ss2 id#20 length error: len=%d\n",raw->len);
- return -1;
- }
- ep[3]=U1(p ); ep[4]=U1(p+ 1); ep[5]=R8(p+ 2);
- ep[2]=U1(p+10); ep[1]=U1(p+11); ep[0]=U2(p+12);
- raw->time=utc2gpst(epoch2time(ep));
- return 0;
-}
-/* decode id#21 navigation data (ecef) ---------------------------------------*/
-static int decode_ss2ecef(raw_t *raw)
-{
- unsigned char *p=raw->buff+4;
-
- trace(4,"decode_ss2ecef: len=%d\n",raw->len);
-
- if (raw->len!=85) {
- trace(2,"ss2 id#21 length error: len=%d\n",raw->len);
- return -1;
- }
- raw->time=gpst2time(U2(p+8),R8(p));
- return 0;
-}
-/* decode id#23 measurement block --------------------------------------------*/
-static int decode_ss2meas(raw_t *raw)
-{
- const double freqif=1.405396825E6,tslew=1.75E-7;
- double tow,slew,code,icp,d;
- int i,j,n,prn,sat,nobs;
- unsigned char *p=raw->buff+4;
- unsigned int sc;
-
- trace(4,"decode_ss2meas: len=%d\n",raw->len);
-
- nobs=U1(p+2);
- if (17+nobs*11!=raw->len) {
- trace(2,"ss2 id#23 message length error: len=%d\n",raw->len);
- return -1;
- }
- tow=floor(R8(p+3)*1000.0+0.5)/1000.0; /* rounded by 1ms */
- if (!adjweek(raw,tow)) {
- trace(2,"ss2 id#23 message time adjustment error\n");
- return -1;
- }
- /* time slew defined as uchar (ref [1]) but minus value appears in some f/w */
- slew=*(char *)(p)*tslew;
-
- raw->icpc+=4.5803-freqif*slew-FREQ1*(slew-1E-6); /* phase correction */
-
- for (i=n=0,p+=11;i<nobs&&n<MAXOBS;i++,p+=11) {
- prn=(p[0]&0x1F)+1;
- if (!(sat=satno(p[0]&0x20?SYS_SBS:SYS_GPS,prn))) {
- trace(2,"ss2 id#23 satellite number error: prn=%d\n",prn);
- continue;
- }
- raw->obs.data[n].time=raw->time;
- raw->obs.data[n].sat=sat;
- code=(tow-floor(tow))-(double)(U4(p+2))/2095104000.0;
- raw->obs.data[n].P[0]=CLIGHT*(code+(code<0.0?1.0:0.0));
- icp=(double)(U4(p+6)>>2)/1024.0+raw->off[sat-1]; /* unwrap */
- if (fabs(icp-raw->icpp[sat-1])>524288.0) {
- d=icp>raw->icpp[sat-1]?-1048576.0:1048576.0;
- raw->off[sat-1]+=d; icp+=d;
- }
- raw->icpp[sat-1]=icp;
- raw->obs.data[n].L[0]=icp+raw->icpc;
- raw->obs.data[n].D[0]=0.0;
- raw->obs.data[n].SNR[0]=(unsigned char)(floor(U1(p+1)+0.5));
- sc=U1(p+10);
- raw->obs.data[n].LLI[0]=(int)((unsigned char)sc-(unsigned char)raw->lockt[sat-1][0])>0;
- raw->obs.data[n].LLI[0]|=U1(p+6)&1?2:0;
- raw->obs.data[n].code[0]=CODE_L1C;
- raw->lockt[sat-1][0]=sc;
-
- for (j=1;j<NFREQ;j++) {
- raw->obs.data[n].L[j]=raw->obs.data[n].P[j]=0.0;
- raw->obs.data[n].D[j]=0.0;
- raw->obs.data[n].SNR[j]=raw->obs.data[n].LLI[j]=0;
- raw->obs.data[n].code[j]=CODE_NONE;
- }
- n++;
- }
- raw->obs.n=n;
- return 1;
-}
-/* decode id#22 ephemeris data ------------------------------------------------*/
-static int decode_ss2eph(raw_t *raw)
-{
- eph_t eph={0};
- unsigned int tow;
- int i,j,prn,sat;
- unsigned char *p=raw->buff+4,buff[90]={0};
-
- trace(4,"decode_ss2eph: len=%d\n",raw->len);
-
- if (raw->len!=79) {
- trace(2,"ss2 id#22 length error: len=%d\n",raw->len);
- return -1;
- }
- prn=(U4(p)&0x1F)+1;
- if (!(sat=satno(SYS_GPS,prn))) {
- trace(2,"ss2 id#22 satellite number error: prn=%d\n",prn);
- return -1;
- }
- if (raw->time.time==0) {
- trace(2,"ss2 id#22 week number unknown error\n");
- return -1;
- }
- tow=(unsigned int)(time2gpst(raw->time,NULL)/6.0);
- for (i=0;i<3;i++) {
- buff[30*i+3]=(unsigned char)(tow>>9); /* add tow + subframe id */
- buff[30*i+4]=(unsigned char)(tow>>1);
- buff[30*i+5]=(unsigned char)(((tow&1)<<7)+((i+1)<<2));
- for (j=0;j<24;j++) buff[30*i+6+j]=p[1+24*i+j];
- }
- if (decode_frame(buff ,&eph,NULL,NULL,NULL,NULL)!=1||
- decode_frame(buff+30,&eph,NULL,NULL,NULL,NULL)!=2||
- decode_frame(buff+60,&eph,NULL,NULL,NULL,NULL)!=3) {
- trace(2,"ss2 id#22 subframe error: prn=%d\n",prn);
- return -1;
- }
- if (eph.iode==raw->nav.eph[sat-1].iode) return 0; /* unchanged */
- eph.sat=sat;
- eph.ttr=raw->time;
- raw->nav.eph[sat-1]=eph;
- raw->ephsat=sat;
- return 2;
-}
-/* decode id#67 sbas data ----------------------------------------------------*/
-static int decode_ss2sbas(raw_t *raw)
-{
- gtime_t time;
- int i,prn;
- unsigned char *p=raw->buff+4;
-
- trace(4,"decode_ss2sbas: len=%d\n",raw->len);
-
- if (raw->len!=54) {
- trace(2,"ss2 id#67 length error: len=%d\n",raw->len);
- return -1;
- }
- prn=U4(p+12);
- if (prn<MINPRNSBS||MAXPRNSBS<prn) return 0;
- raw->sbsmsg.week=U4(p);
- raw->sbsmsg.tow=(int)R8(p+4);
- time=gpst2time(raw->sbsmsg.week,raw->sbsmsg.tow);
- raw->sbsmsg.prn=prn;
- for (i=0;i<29;i++) raw->sbsmsg.msg[i]=p[16+i];
- return 3;
-}
-/* decode superstar 2 raw message --------------------------------------------*/
-static int decode_ss2(raw_t *raw)
-{
- unsigned char *p=raw->buff;
- int type=U1(p+1);
-
- trace(3,"decode_ss2: type=%2d\n",type);
-
- if (!chksum(raw->buff,raw->len)) {
- trace(2,"ss2 message checksum error: type=%d len=%d\n",type,raw->len);
- return -1;
- }
- if (raw->outtype) {
- sprintf(raw->msgtype,"SS2 %2d (%4d):",type,raw->len);
- }
- switch (type) {
- case ID_SS2LLH : return decode_ss2llh (raw);
- case ID_SS2ECEF: return decode_ss2ecef(raw);
- case ID_SS2RAW : return decode_ss2meas(raw);
- case ID_SS2EPH : return decode_ss2eph (raw);
- case ID_SS2SBAS: return decode_ss2sbas(raw);
- }
- return 0;
-}
-/* sync code -----------------------------------------------------------------*/
-static int sync_ss2(unsigned char *buff, unsigned char data)
-{
- buff[0]=buff[1]; buff[1]=buff[2]; buff[2]=data;
- return buff[0]==SS2SOH&&(buff[1]^buff[2])==0xFF;
-}
-/* input superstar 2 raw message from stream -----------------------------------
-* input next superstar 2 raw message from stream
-* args : raw_t *raw IO receiver raw data control struct
-* unsigned char data I stream data (1 byte)
-* return : status (-1: error message, 0: no message, 1: input observation data,
-* 2: input ephemeris, 3: input sbas message,
-* 9: input ion/utc parameter)
-* notes : needs #20 or #21 message to get proper week number of #23 raw
-* observation data
-*-----------------------------------------------------------------------------*/
-extern int input_ss2(raw_t *raw, unsigned char data)
-{
- trace(5,"input_ss2: data=%02x\n",data);
-
- /* synchronize frame */
- if (raw->nbyte==0) {
- if (!sync_ss2(raw->buff,data)) return 0;
- raw->nbyte=3;
- return 0;
- }
- raw->buff[raw->nbyte++]=data;
-
- if (raw->nbyte==4) {
- if ((raw->len=U1(raw->buff+3)+6)>MAXRAWLEN) {
- trace(2,"ss2 length error: len=%d\n",raw->len);
- raw->nbyte=0;
- return -1;
- }
- }
- if (raw->nbyte<4||raw->nbyte<raw->len) return 0;
- raw->nbyte=0;
-
- /* decode superstar 2 raw message */
- return decode_ss2(raw);
-}
-/* input superstar 2 raw message from file -------------------------------------
-* input next superstar 2 raw message from file
-* args : raw_t *raw IO receiver raw data control struct
-* FILE *fp I file pointer
-* return : status(-2: end of file, -1...9: same as above)
-*-----------------------------------------------------------------------------*/
-extern int input_ss2f(raw_t *raw, FILE *fp)
-{
- int i,data;
-
- trace(4,"input_ss2f:\n");
-
- /* synchronize frame */
- if (raw->nbyte==0) {
- for (i=0;;i++) {
- if ((data=fgetc(fp))==EOF) return -2;
- if (sync_ss2(raw->buff,(unsigned char)data)) break;
- if (i>=4096) return 0;
- }
- }
- if (fread(raw->buff+3,1,1,fp)<1) return -2;
- raw->nbyte=4;
-
- if ((raw->len=U1(raw->buff+3)+6)>MAXRAWLEN) {
- trace(2,"ss2 length error: len=%d\n",raw->len);
- raw->nbyte=0;
- return -1;
- }
- if (fread(raw->buff+4,1,raw->len-4,fp)<(size_t)(raw->len-4)) return -2;
- raw->nbyte=0;
-
- /* decode superstar 2 raw message */
- return decode_ss2(raw);
-}
diff --git a/src/rinex.c b/src/rinex.c
index ce31059..9c0360b 100644
--- a/src/rinex.c
+++ b/src/rinex.c
@@ -1004,10 +1004,10 @@ static int readrnxobs(FILE *fp, gtime_t ts, gtime_t te, double tint,
const char *opt, int rcv, double ver, int *tsys,
char tobs[][MAXOBSTYPE][4], obs_t *obs, sta_t *sta)
{
- gtime_t eventime={0};
+ gtime_t eventime={0},time1={0};
obsd_t *data;
unsigned char slips[MAXSAT][NFREQ]={{0}};
- int i,n,flag=0,stat=0;
+ int i,n,n1=0,flag=0,stat=0;
trace(4,"readrnxobs: rcv=%d ver=%.2f tsys=%d\n",rcv,ver,*tsys);
@@ -1023,7 +1023,13 @@ static int readrnxobs(FILE *fp, gtime_t ts, gtime_t te, double tint,
n = readrnxobsb(fp,opt,ver,tsys,tobs,&flag,data,sta);
}
- for (i=0;i<n;i++) data[i].eventime = eventime;
+ if (eventime.time==0 || obs->n-n1<=0 || timediff(eventime,time1)>=0) {
+ for (i=0;i<n;i++) data[i].eventime = eventime;
+ } else {
+ /* add event to previous epoch if delayed */
+ for (i=0;i<n1;i++) obs->data[obs->n-i-1].eventime = eventime;
+ for (i=0;i<n;i++) data[i].eventime.time = data[i].eventime.sec = 0;
+ }
/* set to zero eventime for the next iteration */
eventime.time = 0;
eventime.sec = 0;
@@ -1049,6 +1055,7 @@ static int readrnxobs(FILE *fp, gtime_t ts, gtime_t te, double tint,
/* save obs data */
if ((stat=addobsdata(obs,data+i))<0) break;
}
+ n1=n;time1=data[0].time;
}
trace(4,"readrnxobs: nobs=%d stat=%d\n",obs->n,stat);
diff --git a/src/stream.c b/src/stream.c
index 28660db..634576b 100644
--- a/src/stream.c
+++ b/src/stream.c
@@ -88,7 +88,7 @@
#define MAXSTATMSG 32 /* max length of status message */
#define DEFAULT_MEMBUF_SIZE 4096 /* default memory buffer size (bytes) */
-#define NTRIP_AGENT "RTKLIB/" VER_RTKLIB " " PATCH_LEVEL
+#define NTRIP_AGENT "RTKLIB/" VER_RTKLIB "_" PATCH_LEVEL
#define NTRIP_CLI_PORT 2101 /* default ntrip-client connection port */
#define NTRIP_SVR_PORT 80 /* default ntrip-server connection port */
#define NTRIP_MAXRSP 32768 /* max size of ntrip response */
--
GitLab