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|
/*------------------------------------------------------------------------------
* convrnx.c : rinex translator for rtcm and receiver raw data log
*
* Copyright (C) 2009-2014 by T.TAKASU, All rights reserved.
*
* version : $Revision: 1.2 $ $Date: 2008/07/17 21:48:06 $
* history : 2009/04/10 1.0 new
* 2009/06/02 1.1 support glonass
* 2009/12/18 1.2 add check return of init_rtcm()/init_raw()
* 2010/07/15 1.3 support wildcard expansion of input file
* support rinex 3.00
* support rinex as input format
* support output of geo navigation message
* support rtcm antenna and receiver info
* changed api:
* convrnx()
* 2011/05/27 1.4 support GW10, Javad, LEX receiver
* support lex message conversion
* change api convrnx()
* 2012/10/18 1.5 support multiple codes in a frequency
* 2012/10/29 1.6 fix bug on scanning obs types
* support output of compass navigation data
* add supported obs types for rinex input
* 2013/03/11 1.7 support binex and rinex 3.02
* add approx position in rinex obs header if blank
* 2014/05/24 1.8 support beidou B1
* 2014/08/26 1.9 support input format rt17
*-----------------------------------------------------------------------------*/
#include "rtklib.h"
static const char rcsid[]="$Id:$";
#define NOUTFILE 7 /* number of output files */
#define TSTARTMARGIN 60.0 /* time margin for file name replacement */
/* type definition -----------------------------------------------------------*/
typedef struct { /* stream file type */
int format; /* stream format (STRFMT_???) */
int sat; /* input satellite */
obs_t *obs; /* input observation data */
nav_t *nav; /* input navigation data */
gtime_t time; /* current time */
rtcm_t rtcm; /* rtcm data */
raw_t raw; /* receiver raw data */
rnxctr_t rnx; /* rinex data */
FILE *fp; /* file pointer */
} strfile_t;
/* global variables ----------------------------------------------------------*/
static const int navsys[]={ /* system codes */
SYS_GPS,SYS_GLO,SYS_GAL,SYS_QZS,SYS_SBS,SYS_CMP,0
};
/* convert rinex obs type ver.3 -> ver.2 -------------------------------------*/
static void convcode(double ver, int sys, char *type)
{
if (ver>=2.12&&(sys==SYS_GPS||sys==SYS_QZS||sys==SYS_SBS)&&
!strcmp(type+1,"1C")) { /* L1C/A */
strcpy(type+1,"A");
}
else if (ver>=2.12&&(sys==SYS_GPS||sys==SYS_QZS)&&
(!strcmp(type+1,"1S")||!strcmp(type+1,"1L")||
!strcmp(type+1,"1X"))) { /* L1C */
strcpy(type+1,"B");
}
else if (ver>=2.12&&(sys==SYS_GPS||sys==SYS_QZS)&&
(!strcmp(type+1,"2S")||!strcmp(type+1,"2L")||
!strcmp(type+1,"2X"))) { /* L2C */
strcpy(type+1,"C");
}
else if (ver>=2.12&&sys==SYS_GLO&&!strcmp(type+1,"1C")) { /* L1C/A */
strcpy(type+1,"A");
}
else if (ver>=2.12&&sys==SYS_GLO&&!strcmp(type+1,"2C")) { /* L2C/A */
strcpy(type+1,"D");
}
else if (sys==SYS_CMP&&(!strcmp(type+1,"1I")||!strcmp(type+1,"1Q")||
!strcmp(type+1,"1X"))) { /* B1 */
strcpy(type+1,"2");
}
else if (!strcmp(type,"C1P")||!strcmp(type,"C1W")||!strcmp(type,"C1Y")||
!strcmp(type,"C1N")) { /* L1P,P(Y) */
strcpy(type,"P1");
}
else if (!strcmp(type,"C2P")||!strcmp(type,"C2W")||!strcmp(type,"C2Y")||
!strcmp(type,"C2N")||!strcmp(type,"C2D")) { /* L2P,P(Y) */
strcpy(type,"P2");
}
else {
type[2]='\0';
}
}
/* set rinex station and receiver info to options ----------------------------*/
static void rnx2opt(const rnxctr_t *rnx, rnxopt_t *opt)
{
double pos[3],enu[3];
int i;
trace(3,"rnx2opt:\n");
/* receiver and antenna info */
if (!*opt->marker&&!*opt->markerno) {
strcpy(opt->marker,rnx->sta.name);
strcpy(opt->markerno,rnx->sta.marker);
}
if (!*opt->rec[0]&&!*opt->rec[1]&&!*opt->rec[2]) {
strcpy(opt->rec[0],rnx->sta.recsno);
strcpy(opt->rec[1],rnx->sta.rectype);
strcpy(opt->rec[2],rnx->sta.recver);
}
if (!*opt->ant[0]&&!*opt->ant[1]) {
strcpy(opt->ant[0],rnx->sta.antsno);
strcpy(opt->ant[1],rnx->sta.antdes);
}
/* antenna approx position */
if (!opt->autopos&&norm(rnx->sta.pos,3)>0.0) {
for (i=0;i<3;i++) opt->apppos[i]=rnx->sta.pos[i];
}
/* antenna delta */
if (norm(rnx->sta.del,3)>0.0) {
if (!rnx->sta.deltype) { /* enu */
opt->antdel[0]=rnx->sta.del[2]; /* h */
opt->antdel[1]=rnx->sta.del[0]; /* e */
opt->antdel[2]=rnx->sta.del[1]; /* n */
}
else if (norm(opt->apppos,3)>0.0) { /* xyz */
ecef2pos(opt->apppos,pos);
ecef2enu(pos,rnx->sta.del,enu);
opt->antdel[0]=enu[2];
opt->antdel[1]=enu[0];
opt->antdel[2]=enu[1];
}
}
}
/* set rtcm antenna and receiver info to options -----------------------------*/
static void rtcm2opt(const rtcm_t *rtcm, rnxopt_t *opt)
{
double pos[3],enu[3];
int i;
trace(3,"rtcm2opt:\n");
/* comment */
sprintf(opt->comment[1]+strlen(opt->comment[1]),", station ID: %d",
rtcm->staid);
/* receiver and antenna info */
if (!*opt->rec[0]&&!*opt->rec[1]&&!*opt->rec[2]) {
strcpy(opt->rec[0],rtcm->sta.recsno);
strcpy(opt->rec[1],rtcm->sta.rectype);
strcpy(opt->rec[2],rtcm->sta.recver);
}
if (!*opt->ant[0]&&!*opt->ant[1]&&!*opt->ant[2]) {
strcpy(opt->ant[0],rtcm->sta.antsno);
strcpy(opt->ant[1],rtcm->sta.antdes);
if (rtcm->sta.antsetup) {
sprintf(opt->ant[2],"%d",rtcm->sta.antsetup);
}
else *opt->ant[2]='\0';
}
/* antenna approx position */
if (!opt->autopos&&norm(rtcm->sta.pos,3)>0.0) {
for (i=0;i<3;i++) opt->apppos[i]=rtcm->sta.pos[i];
}
/* antenna delta */
if (norm(rtcm->sta.del,3)>0.0) {
if (!rtcm->sta.deltype&&norm(rtcm->sta.del,3)>0.0) { /* enu */
opt->antdel[0]=rtcm->sta.del[2]; /* h */
opt->antdel[1]=rtcm->sta.del[0]; /* e */
opt->antdel[2]=rtcm->sta.del[1]; /* n */
}
else if (norm(rtcm->sta.pos,3)>0.0) { /* xyz */
ecef2pos(rtcm->sta.pos,pos);
ecef2enu(pos,rtcm->sta.del,enu);
opt->antdel[0]=enu[2]; /* h */
opt->antdel[1]=enu[0]; /* e */
opt->antdel[2]=enu[1]; /* n */
}
}
else {
opt->antdel[0]=rtcm->sta.hgt;
opt->antdel[0]=0.0;
opt->antdel[0]=0.0;
}
}
/* generate stream file ------------------------------------------------------*/
static strfile_t *gen_strfile(int format, const char *opt, gtime_t time)
{
strfile_t *str;
trace(3,"init_strfile:\n");
if (!(str=(strfile_t *)malloc(sizeof(strfile_t)))) return NULL;
if (format==STRFMT_RTCM2||format==STRFMT_RTCM3) {
if (!init_rtcm(&str->rtcm)) {
showmsg("init rtcm error");
return 0;
}
str->rtcm.time=time;
str->obs=&str->rtcm.obs;
str->nav=&str->rtcm.nav;
strcpy(str->rtcm.opt,opt);
}
else if (format<=MAXRCVFMT) {
if (!init_raw(&str->raw)) {
showmsg("init raw error");
return 0;
}
str->raw.time=time;
str->obs=&str->raw.obs;
str->nav=&str->raw.nav;
strcpy(str->raw.opt,opt);
}
else if (format==STRFMT_RINEX) {
if (!init_rnxctr(&str->rnx)) {
showmsg("init rnx error");
return 0;
}
str->obs=&str->rnx.obs;
str->nav=&str->rnx.nav;
strcpy(str->rnx.opt,opt);
}
str->format=format;
str->sat=0;
str->fp=NULL;
return str;
}
/* free stream file ----------------------------------------------------------*/
static void free_strfile(strfile_t *str)
{
trace(3,"free_strfile:\n");
if (str->format==STRFMT_RTCM2||str->format==STRFMT_RTCM3) {
free_rtcm(&str->rtcm);
}
else if (str->format<=MAXRCVFMT) {
free_raw(&str->raw);
}
else if (str->format==STRFMT_RINEX) {
free_rnxctr(&str->rnx);
}
free(str);
}
/* input stream file ---------------------------------------------------------*/
static int input_strfile(strfile_t *str)
{
int type=0;
trace(4,"input_strfile:\n");
if (str->format==STRFMT_RTCM2) {
if ((type=input_rtcm2f(&str->rtcm,str->fp))>=1) {
str->time=str->rtcm.time;
str->sat=str->rtcm.ephsat;
}
}
else if (str->format==STRFMT_RTCM3) {
if ((type=input_rtcm3f(&str->rtcm,str->fp))>=1) {
str->time=str->rtcm.time;
str->sat=str->rtcm.ephsat;
}
}
else if (str->format<=MAXRCVFMT) {
if ((type=input_rawf(&str->raw,str->format,str->fp))>=1) {
str->time=str->raw.time;
str->sat=str->raw.ephsat;
}
}
else if (str->format==STRFMT_RINEX) {
if ((type=input_rnxctr(&str->rnx,str->fp))>=1) {
str->time=str->rnx.time;
str->sat=str->rnx.ephsat;
}
}
trace(4,"input_strfile: time=%s type=%d sat=%2d\n",time_str(str->time,3),
type,str->sat);
return type;
}
/* open stream file ----------------------------------------------------------*/
static int open_strfile(strfile_t *str, const char *file)
{
trace(3,"open_strfile: file=%s\n",file);
if (str->format==STRFMT_RTCM2||str->format==STRFMT_RTCM3) {
if (!(str->fp=fopen(file,"rb"))) {
showmsg("rtcm open error: %s",file);
return 0;
}
}
else if (str->format<=MAXRCVFMT) {
if (!(str->fp=fopen(file,"rb"))) {
showmsg("log open error: %s",file);
return 0;
}
/* read head to resolve time ambiguity */
if (str->time.time==0) {
str->raw.flag=1;
while (input_strfile(str)>=-1&&str->time.time==0) ;
str->raw.flag=1;
rewind(str->fp);
}
}
else if (str->format==STRFMT_RINEX) {
if (!(str->fp=fopen(file,"r"))) {
showmsg("rinex open error: %s",file);
return 0;
}
/* open rinex control */
if (!open_rnxctr(&str->rnx,str->fp)) {
showmsg("no rinex file: %s",file);
fclose(str->fp);
return 0;
}
}
return 1;
}
/* close stream file ---------------------------------------------------------*/
static void close_strfile(strfile_t *str)
{
trace(3,"close_strfile:\n");
if (str->format==STRFMT_RTCM2||str->format==STRFMT_RTCM3) {
if (str->fp) fclose(str->fp);
}
else if (str->format<=MAXRCVFMT) {
if (str->fp) fclose(str->fp);
}
else if (str->format==STRFMT_RINEX) {
if (str->fp) fclose(str->fp);
}
}
/* sort codes ----------------------------------------------------------------*/
static void sort_codes(unsigned char *codes, unsigned char *types, int n)
{
unsigned char tmp;
char *obs1,*obs2;
int i,j;
for (i=0;i<n-1;i++) for (j=i+1;j<n;j++) {
obs1=code2obs(codes[i],NULL);
obs2=code2obs(codes[j],NULL);
if (strcmp(obs1,obs2)<=0) continue;
tmp=codes[i]; codes[i]=codes[j]; codes[j]=tmp;
tmp=types[i]; types[i]=types[j]; types[j]=tmp;
}
}
/* set observation types in rinex option -------------------------------------*/
static void setopt_obstype(const unsigned char *codes,
const unsigned char *types, int sys, rnxopt_t *opt)
{
const char type_str[]="CLDS";
char type[16],*id;
int i,j,k,freq;
trace(3,"setopt_obstype: sys=%d\n",sys);
opt->nobs[sys]=0;
if (!(navsys[sys]&opt->navsys)) return;
for (i=0;codes[i];i++) {
if (!(id=code2obs(codes[i],&freq))) continue;
if (!(opt->freqtype&(1<<(freq-1)))||opt->mask[sys][codes[i]-1]=='0') {
continue;
}
for (j=0;j<4;j++) {
if (!(opt->obstype&(1<<j))) continue;
if (types&&!(types[i]&(1<<j))) continue;
/* observation type in ver.3 */
sprintf(type,"%c%s",type_str[j],id);
if (type[0]=='C'&&type[2]=='N') continue; /* codeless */
if (opt->rnxver<=2.99) { /* ver.2 */
/* ver.3 -> ver.2 */
convcode(opt->rnxver,navsys[sys],type);
/* check duplicated observation type */
for (k=0;k<opt->nobs[0];k++) {
if (!strcmp(opt->tobs[0][k],type)) break;
}
if (k>=opt->nobs[0]&&opt->nobs[0]<MAXOBSTYPE) {
strcpy(opt->tobs[0][opt->nobs[0]++],type);
}
}
else if (opt->nobs[sys]<MAXOBSTYPE) { /* ver.3 */
strcpy(opt->tobs[sys][opt->nobs[sys]++],type);
}
}
}
}
/* scan observation types ----------------------------------------------------*/
static int scan_obstype(int format, const char *file, rnxopt_t *opt,
gtime_t *time)
{
strfile_t *str;
unsigned char codes[6][33]={{0}};
unsigned char types[6][33]={{0}};
char msg[128];
int i,j,k,l,c=0,type,sys,abort=0,n[6]={0};
trace(3,"scan_obstype: file=%s, opt=%s\n",file,opt);
if (!(str=gen_strfile(format,opt->rcvopt,*time))) return 0;
if (!open_strfile(str,file)) {
free_strfile(str);
return 0;
}
/* scan codes in input file */
while ((type=input_strfile(str))>=-1) {
if (type!=1||str->obs->n<=0) continue;
if (!opt->ts.time||timediff(str->obs->data[0].time,opt->ts)>=0.001) {
for (i=0;i<str->obs->n;i++) {
sys=satsys(str->obs->data[i].sat,NULL);
for (l=0;navsys[l];l++) if (navsys[l]==sys) break;
if (!navsys[l]) continue;
for (j=0;j<NFREQ+NEXOBS;j++) {
if (!str->obs->data[i].code[j]) continue;
for (k=0;k<n[l];k++) {
if (codes[l][k]==str->obs->data[i].code[j]) break;
}
if (k>=n[l]&&n[l]<32) {
codes[l][n[l]++]=str->obs->data[i].code[j];
}
if (k<n[l]) {
if (str->obs->data[i].P[j]!=0.0) types[l][k]|=1;
if (str->obs->data[i].L[j]!=0.0) types[l][k]|=2;
if (str->obs->data[i].D[j]!=0.0) types[l][k]|=4;
if (str->obs->data[i].SNR[j]!=0) types[l][k]|=8;
}
}
}
if (!time->time) *time=str->obs->data[0].time;
}
if (opt->te.time&&timediff(str->obs->data[0].time,opt->te)>10.0) break;
if (++c%11) continue;
sprintf(msg,"scanning: %s %s%s%s%s%s%s",time_str(str->time,0),
n[0]?"G":"",n[1]?"R":"",n[2]?"E":"",n[3]?"J":"",
n[4]?"S":"",n[5]?"C":"");
if ((abort=showmsg(msg))) break;
}
showmsg("");
close_strfile(str);
free_strfile(str);
if (abort) {
trace(2,"aborted in scan\n");
return 0;
}
for (i=0;i<6;i++) for (j=0;j<n[i];j++) {
trace(2,"scan_obstype: sys=%d code=%s type=%d\n",i,code2obs(codes[i][j],NULL),types[i][j]);
}
for (i=0;i<6;i++) {
/* sort codes */
sort_codes(codes[i],types[i],n[i]);
/* set observation types in rinex option */
setopt_obstype(codes[i],types[i],i,opt);
for (j=0;j<n[i];j++) {
trace(3,"scan_obstype: sys=%d code=%s\n",i,code2obs(codes[i][j],NULL));
}
}
return 1;
}
/* set observation types -----------------------------------------------------*/
static void set_obstype(int format, rnxopt_t *opt)
{
/* supported codes by rtcm2 */
const unsigned char codes_rtcm2[6][8]={
{CODE_L1C,CODE_L1P,CODE_L2C,CODE_L2P},
{CODE_L1C,CODE_L1P,CODE_L2C,CODE_L2P}
};
/* supported codes by rtcm3 */
const unsigned char codes_rtcm3[6][8]={
{CODE_L1C,CODE_L1W,CODE_L2W,CODE_L2X,CODE_L5X},
{CODE_L1C,CODE_L1P,CODE_L2C,CODE_L2P},
{CODE_L1X,CODE_L5X,CODE_L7X,CODE_L8X},
{CODE_L1C,CODE_L2X,CODE_L5X},
{CODE_L1C,CODE_L5X},
{CODE_L1C,CODE_L2C,CODE_L7I}
};
/* supported codes by novatel oem3 */
const unsigned char codes_oem3[6][8]={
{CODE_L1C,CODE_L2P},{0},{0},{0},{CODE_L1C}
};
/* supported codes by novatel oem4 */
const unsigned char codes_oem4[6][8]={
{CODE_L1C,CODE_L2P,CODE_L2D,CODE_L2X,CODE_L5Q},
{CODE_L1C,CODE_L2C,CODE_L2P},
{CODE_L1B,CODE_L1C,CODE_L5Q,CODE_L7Q,CODE_L8Q},
{CODE_L1C,CODE_L2X,CODE_L5Q},
{CODE_L1C,CODE_L5I}
};
/* supported codes by hemisphere */
const unsigned char codes_cres[6][8]={
{CODE_L1C,CODE_L2P},
{CODE_L1C,CODE_L2P},
{0},{0},{CODE_L1C}
};
/* supported codes by javad */
const unsigned char codes_javad[6][8]={
{CODE_L1C,CODE_L1W,CODE_L1X,CODE_L2X,CODE_L2W,CODE_L5X},
{CODE_L1C,CODE_L1P,CODE_L2C,CODE_L2P},
{CODE_L1X,CODE_L5X,CODE_L7X,CODE_L8X},
{CODE_L1C,CODE_L1X,CODE_L1Z,CODE_L2X,CODE_L5X},
{CODE_L1C,CODE_L5X},
{CODE_L1I,CODE_L2C,CODE_L7I}
};
/* supported codes by rinex and binex */
const unsigned char codes_rinex[6][32]={
{CODE_L1C,CODE_L1P,CODE_L1W,CODE_L1Y,CODE_L1M,CODE_L1N,CODE_L1S,CODE_L1L,
CODE_L2C,CODE_L2D,CODE_L2S,CODE_L2L,CODE_L2X,CODE_L2P,CODE_L2W,CODE_L2Y,
CODE_L2M,CODE_L2N,CODE_L5I,CODE_L5Q,CODE_L5X},
{CODE_L1C,CODE_L1P,CODE_L2C,CODE_L2P,CODE_L3I,CODE_L3Q,CODE_L3X},
{CODE_L1C,CODE_L1A,CODE_L1B,CODE_L1X,CODE_L1Z,CODE_L5I,CODE_L5Q,CODE_L5X,
CODE_L6A,CODE_L6B,CODE_L6C,CODE_L6X,CODE_L6Z,CODE_L7I,CODE_L7Q,CODE_L7X,
CODE_L8I,CODE_L8Q,CODE_L8X},
{CODE_L1C,CODE_L1S,CODE_L1L,CODE_L1X,CODE_L1Z,CODE_L2S,CODE_L2L,CODE_L2X,
CODE_L5I,CODE_L5Q,CODE_L5X,CODE_L6S,CODE_L6L,CODE_L6X},
{CODE_L1C,CODE_L5I,CODE_L5Q,CODE_L5X},
{CODE_L1I,CODE_L1Q,CODE_L1X,CODE_L7I,CODE_L7Q,CODE_L7X,CODE_L6I,CODE_L6Q,
CODE_L6X}
};
/* supported codes by rt17 */
const unsigned char codes_rt17[6][8]={
{CODE_L1C,CODE_L2W}
};
/* supported codes by others */
const unsigned char codes_other[6][8]={
{CODE_L1C},{CODE_L1C},{CODE_L1C},{CODE_L1C},{CODE_L1C},{CODE_L1I}
};
const unsigned char *codes;
int i;
trace(3,"set_obstype: format=%d\n",format);
for (i=0;i<6;i++) {
switch (format) {
case STRFMT_RTCM2: codes=codes_rtcm2[i]; break;
case STRFMT_RTCM3: codes=codes_rtcm3[i]; break;
case STRFMT_OEM4 : codes=codes_oem4 [i]; break;
case STRFMT_OEM3 : codes=codes_oem3 [i]; break;
case STRFMT_CRES : codes=codes_cres [i]; break;
case STRFMT_JAVAD: codes=codes_javad[i]; break;
case STRFMT_BINEX: codes=codes_rinex[i]; break;
case STRFMT_RT17 : codes=codes_rt17 [i]; break;
case STRFMT_RINEX: codes=codes_rinex[i]; break;
default: codes=codes_other[i]; break;
}
/* set observation types in rinex option */
setopt_obstype(codes,NULL,i,opt);
}
}
/* save slip conditions ------------------------------------------------------*/
static void saveslips(unsigned char slips[][NFREQ+NEXOBS], obsd_t *data, int n)
{
int i,j;
for (i=0;i<n;i++) for (j=0;j<NFREQ+NEXOBS;j++) {
if (data[i].LLI[j]&1) slips[data[i].sat-1][j]|=1;
}
}
/* restore slip conditions ---------------------------------------------------*/
static void restslips(unsigned char slips[][NFREQ+NEXOBS], obsd_t *data, int n)
{
int i,j;
for (i=0;i<n;i++) for (j=0;j<NFREQ+NEXOBS;j++) {
if (slips[data[i].sat-1][j]&1) data[i].LLI[j]|=1;
slips[data[i].sat-1][j]=0;
}
}
/* open output files ---------------------------------------------------------*/
static int openfile(FILE **ofp, char *files[], const char *file,
const rnxopt_t *opt, nav_t *nav)
{
char path[1024];
int i;
trace(3,"openfile:\n");
for (i=0;i<NOUTFILE;i++) {
if (!*files[i]) continue;
strcpy(path,files[i]);
/* check overwrite input file and modify output file */
if (!strcmp(path,file)) strcat(path,"_");
/* create directory if not exist */
createdir(path);
if (!(ofp[i]=fopen(path,"w"))) {
showmsg("file open error: %s",path);
for (i--;i>=0;i--) if (ofp[i]) fclose(ofp[i]);
return 0;
}
/* write header to file */
switch (i) {
case 0: outrnxobsh (ofp[0],opt,nav); break;
case 1: outrnxnavh (ofp[1],opt,nav); break;
case 2: outrnxgnavh(ofp[2],opt,nav); break;
case 3: outrnxhnavh(ofp[3],opt,nav); break;
case 4: outrnxqnavh(ofp[4],opt,nav); break;
case 5: outrnxlnavh(ofp[5],opt,nav); break;
}
}
return 1;
}
/* close output files --------------------------------------------------------*/
static void closefile(FILE **ofp, const rnxopt_t *opt, nav_t *nav)
{
int i;
trace(3,"closefile:\n");
for (i=0;i<NOUTFILE;i++) {
if (!ofp[i]) continue;
/* rewrite header to file */
rewind(ofp[i]);
switch (i) {
case 0: outrnxobsh (ofp[0],opt,nav); break;
case 1: outrnxnavh (ofp[1],opt,nav); break;
case 2: outrnxgnavh(ofp[2],opt,nav); break;
case 3: outrnxhnavh(ofp[3],opt,nav); break;
case 4: outrnxqnavh(ofp[4],opt,nav); break;
case 5: outrnxlnavh(ofp[5],opt,nav); break;
}
fclose(ofp[i]);
}
}
/* convert obs message -------------------------------------------------------*/
static void convobs(FILE **ofp, rnxopt_t *opt, strfile_t *str, int *n,
unsigned char slips[][NFREQ+NEXOBS])
{
gtime_t time;
trace(3,"convobs :\n");
if (!ofp[0]||str->obs->n<=0) return;
time=str->obs->data[0].time;
/* save slips */
saveslips(slips,str->obs->data,str->obs->n);
if (!screent(time,opt->ts,opt->te,opt->tint)) return;
/* restore slips */
restslips(slips,str->obs->data,str->obs->n);
/* output rinex obs */
outrnxobsb(ofp[0],opt,str->obs->data,str->obs->n,0);
if (opt->tstart.time==0) opt->tstart=time;
opt->tend=time;
n[0]++;
}
/* convert nav message -------------------------------------------------------*/
static void convnav(FILE **ofp, rnxopt_t *opt, strfile_t *str, int *n)
{
gtime_t ts1,te1,ts2,te2;
int sys,prn;
trace(3,"convnav :\n");
ts1=opt->ts; if (ts1.time!=0) ts1=timeadd(ts1,-MAXDTOE);
te1=opt->te; if (te1.time!=0) te1=timeadd(te1, MAXDTOE);
ts2=opt->ts; if (ts2.time!=0) ts2=timeadd(ts2,-MAXDTOE_GLO);
te2=opt->te; if (te2.time!=0) te2=timeadd(te2, MAXDTOE_GLO);
sys=satsys(str->sat,&prn)&opt->navsys;
if (sys==SYS_GPS) {
if (opt->exsats[str->sat-1]==1||!screent(str->time,ts1,te1,0.0)) return;
if (ofp[1]) {
/* output rinex nav */
outrnxnavb(ofp[1],opt,str->nav->eph+str->sat-1);
n[1]++;
}
}
else if (sys==SYS_GLO) {
if (opt->exsats[str->sat-1]==1||!screent(str->time,ts2,te2,0.0)) return;
if (ofp[1]&&opt->rnxver>2.99) {
/* output rinex nav */
outrnxgnavb(ofp[1],opt,str->nav->geph+prn-1);
n[1]++;
}
if (ofp[2]&&opt->rnxver<=2.99) {
/* output rinex gnav */
outrnxgnavb(ofp[2],opt,str->nav->geph+prn-1);
n[2]++;
}
}
else if (sys==SYS_SBS) {
if (opt->exsats[str->sat-1]==1||!screent(str->time,ts1,te1,0.0)) return;
if (ofp[1]&&opt->rnxver>2.99) {
/* output rinex nav */
outrnxhnavb(ofp[1],opt,str->nav->seph+prn-MINPRNSBS);
n[1]++;
}
if (ofp[3]&&opt->rnxver<=2.99) {
/* output rinex hnav */
outrnxhnavb(ofp[3],opt,str->nav->seph+prn-MINPRNSBS);
n[3]++;
}
}
else if (sys==SYS_QZS) {
if (opt->exsats[str->sat-1]==1||!screent(str->time,ts1,te1,0.0)) return;
if (ofp[1]&&opt->rnxver>2.99) {
/* output rinex nav */
outrnxnavb(ofp[1],opt,str->nav->eph+str->sat-1);
n[1]++;
}
if (ofp[4]&&opt->rnxver<=2.99) {
/* output rinex qnav */
outrnxnavb(ofp[4],opt,str->nav->eph+str->sat-1);
n[4]++;
}
}
else if (sys==SYS_GAL) {
if (opt->exsats[str->sat-1]==1||!screent(str->time,ts1,te1,0.0)) return;
if (ofp[1]&&opt->rnxver>2.99) {
/* output rinex nav */
outrnxnavb(ofp[1],opt,str->nav->eph+str->sat-1);
n[1]++;
}
if (ofp[5]&&opt->rnxver<=2.99) {
/* output rinex lnav */
outrnxnavb(ofp[5],opt,str->nav->eph+str->sat-1);
n[5]++;
}
}
else if (sys==SYS_CMP) {
if (opt->exsats[str->sat-1]==1||!screent(str->time,ts1,te1,0.0)) return;
if (ofp[1]&&opt->rnxver>2.99) {
/* output rinex nav */
outrnxnavb(ofp[1],opt,str->nav->eph+str->sat-1);
n[1]++;
}
}
}
/* convert sbas message ------------------------------------------------------*/
static void convsbs(FILE **ofp, rnxopt_t *opt, strfile_t *str, int *n)
{
gtime_t ts1,te1;
int msg,prn,sat,sys;
trace(3,"convsbs :\n");
ts1=opt->ts; if (ts1.time!=0) ts1=timeadd(ts1,-MAXDTOE);
te1=opt->te; if (te1.time!=0) te1=timeadd(te1, MAXDTOE);
msg=sbsupdatecorr(&str->raw.sbsmsg,str->nav);
prn=str->raw.sbsmsg.prn;
if (MINPRNSBS<=prn&&prn<=MAXPRNSBS) sys=SYS_SBS;
else if (MINPRNQZS<=prn&&prn<=MAXPRNQZS) sys=SYS_QZS;
else {
trace(2,"sbas message satellite error: prn=%d\n",prn);
return;
}
if (!(sat=satno(sys,prn))||opt->exsats[sat-1]==1) return;
if (ofp[6]) { /* output sbas log */
if (screent(gpst2time(str->raw.sbsmsg.week,str->raw.sbsmsg.tow),opt->ts,
opt->te,0.0)) {
sbsoutmsg(ofp[6],&str->raw.sbsmsg); n[6]++;
}
}
if (!(opt->navsys&SYS_SBS)||msg!=9||
!screent(str->time,ts1,te1,0.0)) return;
if (ofp[1]&&opt->rnxver>2.99) {
/* output rinex nav */
outrnxhnavb(ofp[1],opt,str->nav->seph+prn-MINPRNSBS);
n[1]++;
}
if (ofp[3]&&opt->rnxver<=2.99) {
/* output rinex hnav */
outrnxhnavb(ofp[3],opt,str->nav->seph+prn-MINPRNSBS);
n[3]++;
}
}
/* convert lex message -------------------------------------------------------*/
static void convlex(FILE **ofp, rnxopt_t *opt, strfile_t *str, int *n)
{
gtime_t ts1,te1;
trace(3,"convlex :\n");
ts1=opt->ts; if (ts1.time!=0) ts1=timeadd(ts1,-MAXDTOE);
te1=opt->te; if (te1.time!=0) te1=timeadd(te1, MAXDTOE);
if (ofp[6]&&screent(str->time,opt->ts,opt->te,0.0)) {
lexoutmsg(ofp[6],&str->raw.lexmsg); n[6]++;
}
}
/* set approx position -------------------------------------------------------*/
static void setapppos(strfile_t *str, rnxopt_t *opt)
{
prcopt_t prcopt=prcopt_default;
sol_t sol={{0}};
char msg[128];
prcopt.navsys=opt->navsys;
/* point positioning with last obs data */
if (!pntpos(str->obs->data,str->obs->n,str->nav,&prcopt,&sol,NULL,NULL,
msg)) {
trace(2,"point position error (%s)\n",msg);
return;
}
matcpy(opt->apppos,sol.rr,3,1);
}
/* show status message -------------------------------------------------------*/
static int showstat(int sess, gtime_t ts, gtime_t te, int *n)
{
const char type[]="ONGHQLSE";
char msg[1024]="",*p=msg,s[64];
int i;
if (sess>0) {
p+=sprintf(p,"(%d) ",sess);
}
if (ts.time!=0) {
time2str(ts,s,0);
p+=sprintf(p,"%s",s);
}
if (te.time!=0&&timediff(te,ts)>0.9) {
time2str(te,s,0);
p+=sprintf(p,"-%s",s+5);
}
p+=sprintf(p,": ");
for (i=0;i<NOUTFILE+1;i++) {
if (n[i]==0) continue;
p+=sprintf(p,"%c=%d%s",type[i],n[i],i<NOUTFILE?" ":"");
}
return showmsg(msg);
}
/* rinex converter for single-session ----------------------------------------*/
static int convrnx_s(int sess, int format, rnxopt_t *opt, const char *file,
char **ofile)
{
FILE *ofp[NOUTFILE]={NULL};
strfile_t *str;
gtime_t ts={0},te={0},tend={0},time={0};
unsigned char slips[MAXSAT][NFREQ+NEXOBS]={{0}};
int i,j,nf,type,n[NOUTFILE+1]={0},abort=0;
char path[1024],*paths[NOUTFILE],s[NOUTFILE][1024];
char *epath[MAXEXFILE]={0},*staid=*opt->staid?opt->staid:"0000";
trace(3,"convrnx_s: sess=%d format=%d file=%s ofile=%s %s %s %s %s %s %s\n",
sess,format,file,ofile[0],ofile[1],ofile[2],ofile[3],ofile[4],
ofile[5],ofile[6]);
/* replace keywords in input file */
if (reppath(file,path,opt->ts,staid,"")<0) {
showmsg("no time for input file: %s",file);
return 0;
}
/* expand wild-cards in input file */
for (i=0;i<MAXEXFILE;i++) {
if (!(epath[i]=(char *)malloc(1024))) {
for (i=0;i<MAXEXFILE;i++) free(epath[i]);
return 0;
}
}
nf=expath(path,epath,MAXEXFILE);
if (format==STRFMT_RTCM2||format==STRFMT_RTCM3||format==STRFMT_RT17) {
time=opt->trtcm;
}
if (opt->scanobs) {
/* scan observation types */
if (!scan_obstype(format,epath[0],opt,&time)) return 0;
}
else {
/* set observation types by format */
set_obstype(format,opt);
}
if (!(str=gen_strfile(format,opt->rcvopt,time))) {
for (i=0;i<MAXEXFILE;i++) free(epath[i]);
return 0;
}
time=opt->ts.time?opt->ts:(time.time?timeadd(time,TSTARTMARGIN):time);
/* replace keywords in output file */
for (i=0;i<NOUTFILE;i++) {
paths[i]=s[i];
if (reppath(ofile[i],paths[i],time,staid,"")<0) {
showmsg("no time for output path: %s",ofile[i]);
for (i=0;i<MAXEXFILE;i++) free(epath[i]);
free_strfile(str);
return 0;
}
}
/* open output files */
if (!openfile(ofp,paths,path,opt,str->nav)) {
for (i=0;i<MAXEXFILE;i++) free(epath[i]);
free_strfile(str);
return 0;
}
for (i=0;i<nf&&!abort;i++) {
/* open stream file */
if (!open_strfile(str,epath[i])) continue;
/* input message */
for (j=0;(type=input_strfile(str))>=-1;j++) {
if (j%11==1&&(abort=showstat(sess,te,te,n))) break;
/* avioid duplicated if overlapped data */
if (tend.time&&timediff(str->time,tend)<=0.0) continue;
/* convert message */
switch (type) {
case 1: convobs(ofp,opt,str,n,slips); break;
case 2: convnav(ofp,opt,str,n); break;
case 3: convsbs(ofp,opt,str,n); break;
case 31: convlex(ofp,opt,str,n); break;
case -1: n[NOUTFILE]++; break; /* error */
}
te=str->time; if (ts.time==0) ts=te;
/* set approx position */
if (type==1&&!opt->autopos&&norm(opt->apppos,3)<=0.0) {
setapppos(str,opt);
}
if (opt->te.time&&timediff(te,opt->te)>10.0) break;
}
/* close stream file */
close_strfile(str);
tend=te; /* end time of a file */
}
/* set receiver and antenna information to option */
if (format==STRFMT_RTCM2||format==STRFMT_RTCM3) {
rtcm2opt(&str->rtcm,opt);
}
else if (format==STRFMT_RINEX) {
rnx2opt(&str->rnx,opt);
}
/* close output files */
closefile(ofp,opt,str->nav);
/* remove empty output files */
for (i=0;i<NOUTFILE;i++) {
if (ofp[i]&&n[i]<=0) remove(ofile[i]);
}
if (ts.time>0) showstat(sess,ts,te,n);
for (i=0;i<MAXEXFILE;i++) free(epath[i]);
free_strfile(str);
if (opt->tstart.time==0) opt->tstart=opt->ts;
if (opt->tend .time==0) opt->tend =opt->te;
return abort?-1:1;
}
/* rinex converter -------------------------------------------------------------
* convert receiver log file to rinex obs/nav, sbas log files
* args : int format I receiver raw format (STRFMT_???)
* rnxopt_t *opt IO rinex options (see below)
* char *file I rtcm, receiver raw or rinex file
* (wild-cards (*) are expanded)
* char **ofile IO output files
* ofile[0] rinex obs file ("": no output)
* ofile[1] rinex nav file ("": no output)
* ofile[2] rinex gnav file ("": no output)
* ofile[3] rinex hnav file ("": no output)
* ofile[4] rinex qnav file ("": no output)
* ofile[5] rinex lnav file ("": no output)
* ofile[6] sbas/lex log file("": no output)
* return : status (1:ok,0:error,-1:abort)
* notes : the following members of opt are replaced by information in last
* converted rinex: opt->tstart, opt->tend, opt->obstype, opt->nobs
* keywords in ofile[] are replaced by first obs date/time and station
* id (%r)
* the order of wild-card expanded files must be in-order by time
*-----------------------------------------------------------------------------*/
extern int convrnx(int format, rnxopt_t *opt, const char *file, char **ofile)
{
gtime_t t0={0};
rnxopt_t opt_=*opt;
double tu,ts;
int i,week,stat=1;
trace(3,"convrnx: format=%d file=%s ofile=%s %s %s %s %s %s %s\n",
format,file,ofile[0],ofile[1],ofile[2],ofile[3],ofile[4],ofile[5],
ofile[6]);
showmsg("");
if (opt->ts.time==0||opt->te.time==0||opt->tunit<=0.0) {
/* single-session */
opt_.tstart=opt_.tend=t0;
stat=convrnx_s(0,format,&opt_,file,ofile);
}
else if (timediff(opt->ts,opt->te)<=0.0) {
/* multiple-session */
tu=opt->tunit<86400.0?opt->tunit:86400.0;
ts=tu*(int)floor(time2gpst(opt->ts,&week)/tu);
for (i=0;;i++) { /* for each session */
opt_.ts=gpst2time(week,ts+i*tu);
opt_.te=timeadd(opt_.ts,tu-DTTOL-0.001);
opt_.trtcm=timeadd(opt->trtcm,timediff(opt_.ts,opt->ts));
if (timediff(opt_.ts,opt->te)>0.0) break;
if (timediff(opt_.ts,opt->ts)<0.0) opt_.ts=opt->ts;
if (timediff(opt_.te,opt->te)>0.0) opt_.te=opt->te;
opt_.tstart=opt_.tend=t0;
if ((stat=convrnx_s(i+1,format,&opt_,file,ofile))<0) break;
}
}
else {
showmsg("no period");
return 0;
}
/* output start/end time */
opt->tstart=opt_.tstart; opt->tend=opt_.tend;
return stat;
}
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