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/*------------------------------------------------------------------------------
* rnx2rtcm.c : rinex to rtcm converter
*
* Copyright (C) 2012 by T.TAKASU, All rights reserved.
*
* version : $Revision: 1.1 $ $Date: 2008/07/17 21:55:16 $
* history : 2012/12/12 1.0 new
*-----------------------------------------------------------------------------*/
#include "rtklib.h"
static const char rcsid[]="$Id:$";
#define PROGNAME "RNX2RTCM" /* program name */
#define TRACEFILE "rnx2rtcm.trace" /* debug trace file */
/* print usage ---------------------------------------------------------------*/
static const char *help[]={
"",
"usage: rnx2rtcm [options] [infile ...]",
"",
"options:",
" -ts y/m/d h:m:s start time (gpst)",
" -te y/m/d h:m:s end time (gpst)",
" -ti tint time interval (s)",
" -sta staid station id",
" -out outfile output rtcm file",
" -typ type[,type...] rtcm message types",
" -x level debug trace level",
""
};
static void print_help(void)
{
int i;
for (i=0;i<sizeof(help)/sizeof(*help);i++) fprintf(stderr,"%s\n",help[i]);
exit(0);
}
/* test rtcm nav data --------------------------------------------------------*/
static int is_nav(int type)
{
return type==1019||type==1044||type==1045||type==1046;
}
/* test rtcm gnav data -------------------------------------------------------*/
static int is_gnav(int type)
{
return type==1020;
}
/* test rtcm ant info --------------------------------------------------------*/
static int is_ant(int type)
{
return type==1005||type==1006||type==1007||type==1008||type==1033;
}
/* generate rtcm obs data messages -------------------------------------------*/
static void gen_rtcm_obs(rtcm_t *rtcm, const int *type, int n, FILE *fp)
{
int i,j=0;
for (i=0;i<n;i++) {
if (is_nav(type[i])||is_gnav(type[i])||is_ant(type[i])) continue;
j=i; /* index of last message */
}
for (i=0;i<n;i++) {
if (is_nav(type[i])||is_gnav(type[i])||is_ant(type[i])) continue;
if (!gen_rtcm3(rtcm,type[i],i!=j)) continue;
if (fwrite(rtcm->buff,rtcm->nbyte,1,fp)<1) break;
}
}
/* generate rtcm nav data messages -------------------------------------------*/
static void gen_rtcm_nav(gtime_t time, rtcm_t *rtcm, const nav_t *nav,
int *index, const int *type, int n, FILE *fp)
{
int i,j,sat,prn;
for (i=index[0];i<nav->n;i++) {
if (time.time&&timediff(nav->eph[i].ttr,time)>-0.1) continue;
sat=nav->eph[i].sat;
rtcm->time=nav->eph[i].ttr;
rtcm->nav.eph[sat-1]=nav->eph[i];
rtcm->ephsat=sat;
for (j=0;j<n;j++) {
if (!is_nav(type[j])) continue;
if (!gen_rtcm3(rtcm,type[j],0)) continue;
if (fwrite(rtcm->buff,rtcm->nbyte,1,fp)<1) break;
}
index[0]=i+1;
}
for (i=index[1];i<nav->ng;i++) {
if (time.time&&timediff(nav->geph[i].tof,time)>-0.1) continue;
sat=nav->geph[i].sat;
if (satsys(sat,&prn)!=SYS_GLO) continue;
rtcm->time=nav->geph[i].tof;
rtcm->nav.geph[prn-1]=nav->geph[i];
rtcm->ephsat=sat;
for (j=0;j<n;j++) {
if (!is_gnav(type[j])) continue;
if (!gen_rtcm3(rtcm,type[j],0)) continue;
if (fwrite(rtcm->buff,rtcm->nbyte,1,fp)<1) break;
}
index[1]=i+1;
}
}
/* generate rtcm antenna info messages ---------------------------------------*/
static void gen_rtcm_ant(rtcm_t *rtcm, const int *type, int n, FILE *fp)
{
int i;
for (i=0;i<n;i++) {
if (!is_ant(type[i])) continue;
if (!gen_rtcm3(rtcm,type[i],0)) continue;
if (fwrite(rtcm->buff,rtcm->nbyte,1,fp)<1) break;
}
}
/* convert to rtcm messages --------------------------------------------------*/
static int conv_rtcm(const int *type, int n, const char *outfile,
const obs_t *obs, const nav_t *nav, const sta_t *sta,
int staid)
{
FILE *fp=stdout;
gtime_t time0={0};
rtcm_t rtcm={0};
eph_t eph0={0};
geph_t geph0={0};
int i,j,prn,index[2]={0};
if (!(rtcm.nav.eph =(eph_t *)malloc(sizeof(eph_t )*MAXSAT ))||
!(rtcm.nav.geph=(geph_t *)malloc(sizeof(geph_t)*MAXPRNGLO))) return 0;
rtcm.staid=staid;
rtcm.sta=*sta;
for (i=0;i<MAXSAT ;i++) rtcm.nav.eph [i]=eph0;
for (i=0;i<MAXPRNGLO;i++) rtcm.nav.geph[i]=geph0;
/* update glonass freq channel number */
for (i=0;i<nav->ng;i++) {
if (satsys(nav->geph[i].sat,&prn)!=SYS_GLO) continue;
rtcm.nav.geph[prn-1]=nav->geph[i];
}
if (*outfile&&!(fp=fopen(outfile,"wb"))) {
fprintf(stderr,"file open error: %s\n",outfile);
return 0;
}
/* gerate rtcm antenna info messages */
gen_rtcm_ant(&rtcm,type,n,fp);
for (i=0;i<obs->n;i=j) {
/* extract epoch obs data */
for (j=i+1;j<obs->n;j++) {
if (timediff(obs->data[j].time,obs->data[i].time)>DTTOL) break;
}
rtcm.time=obs->data[i].time;
rtcm.seqno++;
rtcm.obs.data=obs->data+i;
rtcm.obs.n=j-i;
/* generate rtcm obs data messages */
gen_rtcm_obs(&rtcm,type,n,fp);
/* generate rtcm nav data messages */
gen_rtcm_nav(rtcm.time,&rtcm,nav,index,type,n,fp);
fprintf(stderr,"%s: NOBS=%2d\r",time_str(rtcm.time,0),rtcm.obs.n);
}
/* gerate rtcm nav data messages */
gen_rtcm_nav(time0,&rtcm,nav,index,type,n,fp);
fclose(fp);
/* print statistics */
fprintf(stderr,"\n MT # OF MSGS\n");
for (i=1;i<299;i++) {
if (!rtcm.nmsg3[i]) continue;
fprintf(stderr,"%04d %10d\n",1000+i,rtcm.nmsg3[i]);
}
fprintf(stderr,"\n");
free(rtcm.nav.eph);
free(rtcm.nav.geph);
return 1;
}
/* main ----------------------------------------------------------------------*/
int main(int argc, char **argv)
{
gtime_t ts={0},te={0};
obs_t obs={0};
nav_t nav={0};
sta_t sta={{0}};
double es[6]={0},ee[6]={0},tint=0.0;
char *infile[16]={0},*outfile="",buff[1024],*p;
int i,n=0,m=0,type[16],trlevel=0,staid=0,ret=0;
for (i=1;i<argc;i++) {
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+6);
}
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);
}
else if (!strcmp(argv[i],"-ti" )&&i+1<argc) tint =atof(argv[++i]);
else if (!strcmp(argv[i],"-sta")&&i+1<argc) staid=atoi(argv[++i]);
else if (!strcmp(argv[i],"-out")&&i+1<argc) outfile=argv[++i];
else if (!strcmp(argv[i],"-typ")&&i+1<argc) {
strcpy(buff,argv[++i]);
for (p=strtok(buff,",");p;p=strtok(NULL,",")) type[m++]=atoi(p);
}
else if (!strcmp(argv[i],"-x" )&&i+1<argc) trlevel=atoi(argv[++i]);
else if (!strncmp(argv[i],"-",1)) print_help();
else infile[n++]=argv[i];
}
if (trlevel>0) {
traceopen(TRACEFILE);
tracelevel(trlevel);
}
if (es[0]>0.0) ts=epoch2time(es);
if (ee[0]>0.0) te=epoch2time(ee);
/* read rinex files */
for (i=0;i<n;i++) {
readrnxt(infile[i],0,ts,te,tint,"",&obs,&nav,&sta);
}
sortobs(&obs);
uniqnav(&nav);
/* convert to rtcm messages */
if (!conv_rtcm(type,m,outfile,&obs,&nav,&sta,staid)) ret=-1;
free(obs.data);
freenav(&nav,0xFF);
if (trlevel>0) {
traceclose();
}
return ret;
}
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