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|
/*------------------------------------------------------------------------------
* convbin.c : convert receiver binary log file to rinex obs/nav, sbas messages
*
* Copyright (C) 2007-2016 by T.TAKASU, All rights reserved.
*
* options : -DWIN32 use windows file path separator
*
* version : $Revision: 1.1 $ $Date: 2008/07/17 22:13:04 $
* history : 2008/06/22 1.0 new
* 2009/06/17 1.1 support glonass
* 2009/12/19 1.2 fix bug on disable of glonass
* fix bug on inproper header for rtcm2 and rtcm3
* 2010/07/18 1.3 add option -v, -t, -h, -x
* 2011/01/15 1.4 add option -ro, -hc, -hm, -hn, -ht, -ho, -hr, -ha,
* -hp, -hd, -y, -c, -q
* support gw10 and javad receiver, galileo, qzss
* support rinex file name convention
* 2012/10/22 1.5 add option -scan, -oi, -ot, -ol
* change default rinex version to 2.11
* fix bug on default output directory (/ -> .)
* support galileo nav (LNAV) output
* support compass
* 2012/11/19 1.6 fix bug on setting code mask in rinex options
* 2013/02/18 1.7 support binex
* 2013/05/19 1.8 support auto format for file path with wild-card
* 2014/02/08 1.9 add option -span -trace -mask
* 2014/08/26 1.10 add Trimble RT17 support
* 2014/12/26 1.11 add option -nomask
* 2016/01/23 1.12 enable septentrio
*-----------------------------------------------------------------------------*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdarg.h>
#include "rtklib.h"
static const char rcsid[]="$Id: convbin.c,v 1.1 2008/07/17 22:13:04 ttaka Exp $";
#define PRGNAME "CONVBIN"
#define TRACEFILE "convbin.trace"
/* help text -----------------------------------------------------------------*/
static const char *help[]={
"",
" Synopsis",
"",
" convbin [option ...] file",
"",
" Description",
"",
" Convert RTCM, receiver raw data log and RINEX file to RINEX and SBAS/LEX",
" message file. SBAS message file complies with RTKLIB SBAS/LEX message",
" format. It supports the following messages or files.",
"",
" RTCM 2 : Type 1, 3, 9, 14, 16, 17, 18, 19, 22",
" RTCM 3 : Type 1002, 1004, 1005, 1006, 1010, 1012, 1019, 1020",
" Type 1071-1127 (MSM except for compact msg)",
" NovAtel OEMV/4,OEMStar: RANGECMPB, RANGEB, RAWEPHEMB, IONUTCB, RAWWASSFRAMEB",
" NovAtel OEM3 : RGEB, REGD, REPB, FRMB, IONB, UTCB",
" u-blox LEA-4T/5T/6T : RXM-RAW, RXM-SFRB",
" NovAtel Superstar II : ID#20, ID#21, ID#22, ID#23, ID#67",
" Hemisphere : BIN76, BIN80, BIN94, BIN95, BIN96",
" SkyTraq S1315F : msg0xDD, msg0xE0, msg0xDC",
" GW10 : msg0x08, msg0x03, msg0x27, msg0x20",
" Javad : [R*],[r*],[*R],[*r],[P*],[p*],[*P],[*p],[D*],[*d],",
" [E*],[*E],[F*],[TC],[GE],[NE],[EN],[QE],[UO],[IO],",
" [WD]",
" NVS : BINR",
" BINEX : big-endian, regular CRC, forward record (0xE2)",
" 0x01-01,0x01-02,0x01-03,0x01-04,0x01-06,0x7f-05",
" Trimble : RT17",
" Septentrio : SBF",
" RINEX : OBS, NAV, GNAV, HNAV, LNAV, QNAV",
"",
" Options [default]",
"",
" file input receiver binary log file",
" -ts y/m/d h:m:s start time [all]",
" -te y/m/d h:m:s end time [all]",
" -tr y/m/d h:m:s approximated time for rtcm messages",
" -ti tint observation data interval (s) [all]",
" -span span time span (h) [all]",
" -r format log format type",
" rtcm2= RTCM 2",
" rtcm3= RTCM 3",
" nov = NovAtel OEMV/4/6,OEMStar",
" oem3 = NovAtel OEM3",
" ubx = ublox LEA-4T/5T/6T",
" ss2 = NovAtel Superstar II",
" hemis= Hemisphere Eclipse/Crescent",
" stq = SkyTraq S1315F",
" javad= Javad",
" nvs = NVS NV08C BINR",
" binex= BINEX",
" rt17 = Trimble RT17",
" sbf = Septentrio SBF",
" rinex= RINEX",
" -ro opt receiver options",
" -f freq number of frequencies [2]",
" -hc comment rinex header: comment line",
" -hm marker rinex header: marker name",
" -hn markno rinex header: marker number",
" -ht marktype rinex header: marker type",
" -ho observ rinex header: oberver name and agency separated by /",
" -hr rec rinex header: receiver number, type and version separated by /",
" -ha ant rinex header: antenna number and type separated by /",
" -hp pos rinex header: approx position x/y/z separated by /",
" -hd delta rinex header: antenna delta h/e/n separated by /",
" -v ver rinex version [2.11]",
" -od include doppler frequency in rinex obs [off]",
" -os include snr in rinex obs [off]",
" -oi include iono correction in rinex nav header [off]",
" -ot include time correction in rinex nav header [off]",
" -ol include leap seconds in rinex nav header [off]",
" -scan scan input file [off]",
" -mask [sig[,...]] signal mask(s) (sig={G|R|E|J|S|C}L{1C|1P|1W|...})",
" -nomask [sig[,...]] signal no mask (same as above)",
" -x sat exclude satellite",
" -y sys exclude systems (G:GPS,R:GLONASS,E:Galileo,J:QZSS,S:SBAS,C:BeiDou)",
" -d dir output directory [same as input file]",
" -c staid use RINEX file name convention with staid [off]",
" -o ofile output RINEX OBS file",
" -n nfile output RINEX NAV file",
" -g gfile output RINEX GNAV file",
" -h hfile output RINEX HNAV file",
" -q qfile output RINEX QNAV file",
" -l lfile output RINEX LNAV file",
" -s sfile output SBAS message file",
" -trace level output trace level [off]",
"",
" If any output file specified, default output files (<file>.obs,",
" <file>.nav, <file>.gnav, <file>.hnav, <file>.qnav, <file>.lnav and",
" <file>.sbs) are used.",
"",
" If receiver type is not specified, type is recognized by the input",
" file extension as follows.",
" *.rtcm2 RTCM 2",
" *.rtcm3 RTCM 3",
" *.gps NovAtel OEMV/4/6,OEMStar",
" *.ubx u-blox LEA-4T/5T/6T",
" *.log NovAtel Superstar II",
" *.bin Hemisphere Eclipse/Crescent",
" *.stq SkyTraq S1315F",
" *.jps Javad",
" *.bnx,*binex BINEX",
" *.rt17 Trimble RT17",
" *.sbf Septentrio SBF",
" *.obs,*.*o RINEX OBS"
};
/* print help ----------------------------------------------------------------*/
static void printhelp(void)
{
int i;
for (i=0;i<(int)(sizeof(help)/sizeof(*help));i++) fprintf(stderr,"%s\n",help[i]);
exit(0);
}
/* show message --------------------------------------------------------------*/
extern int showmsg(char *format, ...)
{
va_list arg;
va_start(arg,format); vfprintf(stderr,format,arg); va_end(arg);
fprintf(stderr,*format?"\r":"\n");
return 0;
}
/* convert main --------------------------------------------------------------*/
static int convbin(int format, rnxopt_t *opt, const char *ifile, char **file,
char *dir)
{
int i,def;
char work[1024],ofile_[7][1024],*ofile[7],*p;
char *extnav=opt->rnxver<=2.99||opt->navsys==SYS_GPS?"N":"P";
char *extlog=format==STRFMT_LEXR?"lex":"sbs";
def=!file[0]&&!file[1]&&!file[2]&&!file[3]&&!file[4]&&!file[5]&&!file[6];
for (i=0;i<7;i++) ofile[i]=ofile_[i];
if (file[0]) strcpy(ofile[0],file[0]);
else if (*opt->staid) {
strcpy(ofile[0],"%r%n0.%yO");
}
else if (def) {
strcpy(ofile[0],ifile);
if ((p=strrchr(ofile[0],'.'))) strcpy(p,".obs");
else strcat(ofile[0],".obs");
}
if (file[1]) strcpy(ofile[1],file[1]);
else if (*opt->staid) {
strcpy(ofile[1],"%r%n0.%y");
strcat(ofile[1],extnav);
}
else if (def) {
strcpy(ofile[1],ifile);
if ((p=strrchr(ofile[1],'.'))) strcpy(p,".nav");
else strcat(ofile[1],".nav");
}
if (file[2]) strcpy(ofile[2],file[2]);
else if (opt->rnxver<=2.99&&*opt->staid) {
strcpy(ofile[2],"%r%n0.%yG");
}
else if (opt->rnxver<=2.99&&def) {
strcpy(ofile[2],ifile);
if ((p=strrchr(ofile[2],'.'))) strcpy(p,".gnav");
else strcat(ofile[2],".gnav");
}
if (file[3]) strcpy(ofile[3],file[3]);
else if (opt->rnxver<=2.99&&*opt->staid) {
strcpy(ofile[3],"%r%n0.%yH");
}
else if (opt->rnxver<=2.99&&def) {
strcpy(ofile[3],ifile);
if ((p=strrchr(ofile[3],'.'))) strcpy(p,".hnav");
else strcat(ofile[3],".hnav");
}
if (file[4]) strcpy(ofile[4],file[4]);
else if (opt->rnxver<=2.99&&*opt->staid) {
strcpy(ofile[4],"%r%n0.%yQ");
}
else if (opt->rnxver<=2.99&&def) {
strcpy(ofile[4],ifile);
if ((p=strrchr(ofile[4],'.'))) strcpy(p,".qnav");
else strcat(ofile[4],".qnav");
}
if (file[5]) strcpy(ofile[5],file[5]);
else if (*opt->staid) {
strcpy(ofile[5],"%r%n0.%yL");
}
else if (opt->rnxver<=2.99&&def) {
strcpy(ofile[5],ifile);
if ((p=strrchr(ofile[5],'.'))) strcpy(p,".lnav");
else strcat(ofile[5],".qnav");
}
if (file[6]) strcpy(ofile[6],file[6]);
else if (*opt->staid) {
strcpy(ofile[6],"%r%n0_%y.");
strcat(ofile[6],extlog);
}
else if (def) {
strcpy(ofile[6],ifile);
if ((p=strrchr(ofile[6],'.'))) strcpy(p,".");
else strcat(ofile[6],".");
strcat(ofile[6],extlog);
}
for (i=0;i<7;i++) {
if (!*dir||!*ofile[i]) continue;
if ((p=strrchr(ofile[i],FILEPATHSEP))) strcpy(work,p+1);
else strcpy(work,ofile[i]);
sprintf(ofile[i],"%s%c%s",dir,FILEPATHSEP,work);
}
fprintf(stderr,"input file : %s (%s)\n",ifile,formatstrs[format]);
if (*ofile[0]) fprintf(stderr,"->rinex obs : %s\n",ofile[0]);
if (*ofile[1]) fprintf(stderr,"->rinex nav : %s\n",ofile[1]);
if (*ofile[2]) fprintf(stderr,"->rinex gnav: %s\n",ofile[2]);
if (*ofile[3]) fprintf(stderr,"->rinex hnav: %s\n",ofile[3]);
if (*ofile[4]) fprintf(stderr,"->rinex qnav: %s\n",ofile[4]);
if (*ofile[5]) fprintf(stderr,"->rinex lnav: %s\n",ofile[5]);
if (*ofile[6]) fprintf(stderr,"->sbas log : %s\n",ofile[6]);
if (!convrnx(format,opt,ifile,ofile)) {
fprintf(stderr,"\n");
return -1;
}
fprintf(stderr,"\n");
return 0;
}
/* set signal mask -----------------------------------------------------------*/
static void setmask(const char *argv, rnxopt_t *opt, int mask)
{
char buff[1024],*p;
int i,code;
strcpy(buff,argv);
for (p=strtok(buff,",");p;p=strtok(NULL,",")) {
if (strlen(p)<4||p[1]!='L') continue;
if (p[0]=='G') i=0;
else if (p[0]=='R') i=1;
else if (p[0]=='E') i=2;
else if (p[0]=='J') i=3;
else if (p[0]=='S') i=4;
else if (p[0]=='C') i=5;
else continue;
if ((code=obs2code(p+2,NULL))) {
opt->mask[i][code-1]=mask?'1':'0';
}
}
}
/* parse command line options ------------------------------------------------*/
static int cmdopts(int argc, char **argv, rnxopt_t *opt, char **ifile,
char **ofile, char **dir, int *trace)
{
double eps[]={1980,1,1,0,0,0},epe[]={2037,12,31,0,0,0};
double epr[]={2010,1,1,0,0,0},span=0.0;
int i,j,k,sat,nf=2,nc=2,format=-1;
char *p,*sys,*fmt="",*paths[1],path[1024];
opt->rnxver=2.11;
opt->obstype=OBSTYPE_PR|OBSTYPE_CP;
opt->navsys=SYS_GPS|SYS_GLO|SYS_GAL|SYS_QZS|SYS_SBS|SYS_CMP;
for (i=0;i<6;i++) for (j=0;j<64;j++) opt->mask[i][j]='1';
for (i=1;i<argc;i++) {
if (!strcmp(argv[i],"-ts")&&i+2<argc) {
sscanf(argv[++i],"%lf/%lf/%lf",eps,eps+1,eps+2);
sscanf(argv[++i],"%lf:%lf:%lf",eps+3,eps+4,eps+5);
opt->ts=epoch2time(eps);
}
else if (!strcmp(argv[i],"-te")&&i+2<argc) {
sscanf(argv[++i],"%lf/%lf/%lf",epe,epe+1,epe+2);
sscanf(argv[++i],"%lf:%lf:%lf",epe+3,epe+4,epe+5);
opt->te=epoch2time(epe);
}
else if (!strcmp(argv[i],"-tr")&&i+2<argc) {
sscanf(argv[++i],"%lf/%lf/%lf",epr,epr+1,epr+2);
sscanf(argv[++i],"%lf:%lf:%lf",epr+3,epr+4,epr+5);
opt->trtcm=epoch2time(epr);
}
else if (!strcmp(argv[i],"-ti")&&i+1<argc) {
opt->tint=atof(argv[++i]);
}
else if (!strcmp(argv[i],"-span")&&i+1<argc) {
span=atof(argv[++i]);
}
else if (!strcmp(argv[i],"-r" )&&i+1<argc) {
fmt=argv[++i];
}
else if (!strcmp(argv[i],"-ro")&&i+1<argc) {
strcpy(opt->rcvopt,argv[++i]);
}
else if (!strcmp(argv[i],"-f" )&&i+1<argc) {
nf=atoi(argv[++i]);
}
else if (!strcmp(argv[i],"-hc")&&i+1<argc) {
if (nc<MAXCOMMENT) strcpy(opt->comment[nc++],argv[++i]);
}
else if (!strcmp(argv[i],"-hm")&&i+1<argc) {
strcpy(opt->marker,argv[++i]);
}
else if (!strcmp(argv[i],"-hn")&&i+1<argc) {
strcpy(opt->markerno,argv[++i]);
}
else if (!strcmp(argv[i],"-ht")&&i+1<argc) {
strcpy(opt->markertype,argv[++i]);
}
else if (!strcmp(argv[i],"-ho")&&i+1<argc) {
for (j=0,p=strtok(argv[++i],"/");j<2&&p;j++,p=strtok(NULL,"/")) {
strcpy(opt->name[j],p);
}
}
else if (!strcmp(argv[i],"-hr")&&i+1<argc) {
for (j=0,p=strtok(argv[++i],"/");j<3&&p;j++,p=strtok(NULL,"/")) {
strcpy(opt->rec[j],p);
}
}
else if (!strcmp(argv[i],"-ha")&&i+1<argc) {
for (j=0,p=strtok(argv[++i],"/");j<3&&p;j++,p=strtok(NULL,"/")) {
strcpy(opt->ant[j],p);
}
}
else if (!strcmp(argv[i],"-hp")&&i+1<argc) {
for (j=0,p=strtok(argv[++i],"/");j<3&&p;j++,p=strtok(NULL,"/")) {
opt->apppos[j]=atof(p);
}
}
else if (!strcmp(argv[i],"-hd")&&i+1<argc) {
for (j=0,p=strtok(argv[++i],"/");j<3&&p;j++,p=strtok(NULL,"/")) {
opt->antdel[j]=atof(p);
}
}
else if (!strcmp(argv[i],"-v" )&&i+1<argc) {
opt->rnxver=atof(argv[++i]);
}
else if (!strcmp(argv[i],"-od")) {
opt->obstype|=OBSTYPE_DOP;
}
else if (!strcmp(argv[i],"-os")) {
opt->obstype|=OBSTYPE_SNR;
}
else if (!strcmp(argv[i],"-oi")) {
opt->outiono=1;
}
else if (!strcmp(argv[i],"-ot")) {
opt->outtime=1;
}
else if (!strcmp(argv[i],"-ol")) {
opt->outleaps=1;
}
else if (!strcmp(argv[i],"-scan")) {
opt->scanobs=1;
}
else if (!strcmp(argv[i],"-mask")&&i+1<argc) {
for (j=0;j<6;j++) for (k=0;k<64;k++) opt->mask[j][k]='0';
setmask(argv[++i],opt,1);
}
else if (!strcmp(argv[i],"-nomask")&&i+1<argc) {
setmask(argv[++i],opt,0);
}
else if (!strcmp(argv[i],"-x" )&&i+1<argc) {
if ((sat=satid2no(argv[++i]))) opt->exsats[sat-1]=1;
}
else if (!strcmp(argv[i],"-y" )&&i+1<argc) {
sys=argv[++i];
if (!strcmp(sys,"G")) opt->navsys&=~SYS_GPS;
else if (!strcmp(sys,"R")) opt->navsys&=~SYS_GLO;
else if (!strcmp(sys,"E")) opt->navsys&=~SYS_GAL;
else if (!strcmp(sys,"J")) opt->navsys&=~SYS_QZS;
else if (!strcmp(sys,"S")) opt->navsys&=~SYS_SBS;
else if (!strcmp(sys,"C")) opt->navsys&=~SYS_CMP;
}
else if (!strcmp(argv[i],"-d" )&&i+1<argc) {
*dir=argv[++i];
}
else if (!strcmp(argv[i],"-c" )&&i+1<argc) {
strcpy(opt->staid,argv[++i]);
}
else if (!strcmp(argv[i],"-o" )&&i+1<argc) ofile[0]=argv[++i];
else if (!strcmp(argv[i],"-n" )&&i+1<argc) ofile[1]=argv[++i];
else if (!strcmp(argv[i],"-g" )&&i+1<argc) ofile[2]=argv[++i];
else if (!strcmp(argv[i],"-h" )&&i+1<argc) ofile[3]=argv[++i];
else if (!strcmp(argv[i],"-q" )&&i+1<argc) ofile[4]=argv[++i];
else if (!strcmp(argv[i],"-l" )&&i+1<argc) ofile[5]=argv[++i];
else if (!strcmp(argv[i],"-s" )&&i+1<argc) ofile[6]=argv[++i];
else if (!strcmp(argv[i],"-trace" )&&i+1<argc) {
*trace=atoi(argv[++i]);
}
else if (!strncmp(argv[i],"-",1)) printhelp();
else *ifile=argv[i];
}
if (span>0.0&&opt->ts.time) {
opt->te=timeadd(opt->ts,span*3600.0-1e-3);
}
if (nf>=1) opt->freqtype|=FREQTYPE_L1;
if (nf>=2) opt->freqtype|=FREQTYPE_L2;
if (nf>=3) opt->freqtype|=FREQTYPE_L5;
if (nf>=4) opt->freqtype|=FREQTYPE_L6;
if (nf>=5) opt->freqtype|=FREQTYPE_L7;
if (nf>=6) opt->freqtype|=FREQTYPE_L8;
if (*fmt) {
if (!strcmp(fmt,"rtcm2")) format=STRFMT_RTCM2;
else if (!strcmp(fmt,"rtcm3")) format=STRFMT_RTCM3;
else if (!strcmp(fmt,"nov" )) format=STRFMT_OEM4;
else if (!strcmp(fmt,"oem3" )) format=STRFMT_OEM3;
else if (!strcmp(fmt,"ubx" )) format=STRFMT_UBX;
else if (!strcmp(fmt,"ss2" )) format=STRFMT_SS2;
else if (!strcmp(fmt,"hemis")) format=STRFMT_CRES;
else if (!strcmp(fmt,"stq" )) format=STRFMT_STQ;
else if (!strcmp(fmt,"javad")) format=STRFMT_JAVAD;
else if (!strcmp(fmt,"nvs" )) format=STRFMT_NVS;
else if (!strcmp(fmt,"binex")) format=STRFMT_BINEX;
else if (!strcmp(fmt,"rt17" )) format=STRFMT_RT17;
else if (!strcmp(fmt,"sbf" )) format=STRFMT_SEPT;
else if (!strcmp(fmt,"rinex")) format=STRFMT_RINEX;
}
else {
paths[0]=path;
if (!expath(*ifile,paths,1)||!(p=strrchr(path,'.'))) return -1;
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,".stq" )) format=STRFMT_STQ;
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,".sbf" )) format=STRFMT_SEPT;
else if (!strcmp(p,".obs" )) format=STRFMT_RINEX;
else if (!strcmp(p+3,"o" )) format=STRFMT_RINEX;
else if (!strcmp(p+3,"O" )) format=STRFMT_RINEX;
}
return format;
}
/* main ----------------------------------------------------------------------*/
int main(int argc, char **argv)
{
rnxopt_t opt={{0}};
int format,trace=0,stat;
char *ifile="",*ofile[7]={0},*dir="";
/* parse command line options */
format=cmdopts(argc,argv,&opt,&ifile,ofile,&dir,&trace);
if (!*ifile) {
fprintf(stderr,"no input file\n");
return -1;
}
if (format<0) {
fprintf(stderr,"input format can not be recognized\n");
return -1;
}
sprintf(opt.prog,"%s %s",PRGNAME,VER_RTKLIB);
sprintf(opt.comment[0],"log: %-55.55s",ifile);
sprintf(opt.comment[1],"format: %s",formatstrs[format]);
if (*opt.rcvopt) {
strcat(opt.comment[1],", option: ");
strcat(opt.comment[1],opt.rcvopt);
}
if (trace>0) {
traceopen(TRACEFILE);
tracelevel(trace);
}
stat=convbin(format,&opt,ifile,ofile,dir);
traceclose();
return stat;
}
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