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|
/*
* gpsrinex: read "RAW" messages from a gpsd and output a RINEX 3 obs file.
*
* gpsrinex will read live data from gpsd and create a file of RINEX 3
* observations. Currently this only works if the GPS is a u-blox
* GPS and is sending UBX-RXM-RAWX messages.
*
* The u-blox must be configured for u-blox binary messages. GLONASS,
* GALILEO, and BEIDOU must be off. Optionally SBAS on, but can be
* flakey.
*
* Too much data for 9600!
*
* To configure a u-blox to output the proper data:
* # gpsctl -s 115200
* # sleep 2
* # ubxtool -d NMEA
* # ubstool -e BINARY
* # ubxtool -d GLONASS
* # ubxtool -d BEIDOU
* # ubxtool -d GALILEO
* # ubxtool -d SBAS
* # ubxtool -e RAWX
*
* After collecting the default number of observations, gpsrinex will
* create the RINEX .obs file and exit. Upload this file to an
* offline processing service to get cm accuracy.
*
* One service known to work with obsrinex output is [CSRS-PPP]:
* https://webapp.geod.nrcan.gc.ca/geod/tools-outils/ppp.php
*
* Examples:
* To collect 4 hours of samples as 30 second intervals:
* # gpsrinex -i 30 -n 480
*
* To generate RINEX 3 from a u-blox capture file:
* Grab 4 hours of raw live data:
* # gpspipe -x 14400 -R > 4h-raw.ubx
* Feed that data to gpsfake:
* # gpsfake -1 -P 3000 4h-raw.ubx
* In another window, convert that raw to RINEX 3:
* # gpsrinex -i 1 -n 1000000
*
* See also:
* [1] RINEX: The Receiver Independent Exchange Format, Version 3.03
* ftp://igs.org/pub/data/format/rinex303.pdf
*
* [2] GPSTk, http://www.gpstk.org/
*
* [3] Nischan, Thomas (2016):
* GFZRNX - RINEX GNSS Data Conversion and Manipulation Toolbox.
* GFZ Data Services. http://dx.doi.org/10.5880/GFZ.1.1.2016.002
*
* [4] RTKLIB: An Open Source Program Package for GNSS Positioning
* http://www.rtklib.com/
*
* This file is Copyright (c) 2018 by the GPSD project
* SPDX-License-Identifier: BSD-2-clause
*
*/
#if !defined(_POSIX_C_SOURCE) || _POSIX_C_SOURCE < 200112L
/* isfinite() needs _POSIX_C_SOURCE >= 200112L
* isnan(+Inf) is false, isfinite(+Inf) is false
* use isfinite() to make sure a float is valid
*/
#define _POSIX_C_SOURCE 200112L
#endif
#ifndef _XOPEN_SOURCE
/* need >= 500 for strdup() */
#define _XOPEN_SOURCE 500
#endif
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <string.h>
#include <math.h>
#include <time.h>
#include <errno.h>
#include <libgen.h>
#include <signal.h>
#include <assert.h>
#include <unistd.h>
#include "gps.h"
#include "gpsd_config.h"
#include "gpsdclient.h"
#include "revision.h"
#include "os_compat.h"
static char *progname;
static struct fixsource_t source;
static double ecefx = 0.0;
static double ecefy = 0.0;
static double ecefz = 0.0;
static timespec_t start_time = {0}; /* report gen time, UTC */
static timespec_t first_mtime = {0}; /* GPS time, not UTC */
static timespec_t last_mtime = {0}; /* GPS time, not UTC */
/* total count of observations by gnssid [0-6]
* 0 = GPS RINEX G
* 1 = SBAS RINEX S
* 2 = Galileo RINEX E
* 3 - BeiDou RINEX C
* 4 = IMES not supported by RINEX
* 5 = QZSS RINEX J
* 6 = GLONASS RINEX R
* IRNSS RINEX I
*
* RINEX 3 observation codes [1]:
* C1C L1 C/A Pseudorange
* C1P L1 P Pseudorange
* C1W L1 Z-tracking Pseudorange
* D1C L1 C/A Doppler
* L1C L1 C/A Carrier Phase
* L1P L1 P Carrier Phase
* L1W L1 Z-tracking Carrier Phase
* C2C L2 C/A Pseudorange
* C2P L2 P Pseudorange
* C2W L2 Z-tracking Pseudorange
* D2C L2 C/A Doppler
* L2C L2 C/A Carrier phase
* L2P L1 P Carrier Phase
* L2W L2 Z-tracking Carrier Phase
*
* CSRS-PPP supports:
* GPS: C1C L1C C2C L2C C1W L1W C2W L2W
* GLONASS : C1C L1C C2C L2C C1P L1P C2P L2P
*
*/
typedef enum {C1C = 0, D1C, L1C, C2C, D2C, L2C, CODEMAX} obs_codes;
/* structure to hold count of observations by gnssid:svid
* MAXCHANNEL+1 is just a WAG of max size */
#define MAXCNT (MAXCHANNELS + 1)
static struct obs_cnt_t {
unsigned char gnssid;
unsigned char svid; /* svid of 0 means unused slot */
obs_codes obs_cnts[CODEMAX+1];
unsigned int count; /* count of obscode */
} obs_cnt[MAXCNT] = {0};
static FILE * tmp_file; /* file handle for temp file */
static int sample_count = 20; /* number of measurement sets to get */
/* seconds between measurement sets */
static unsigned int sample_interval = 30;
static int debug = 0; /* debug level */
static struct gps_data_t gpsdata;
static FILE *log_file;
/* convert a gnssid to the RINEX 3 constellation code
* see [1] Section 3.5
*/
static char gnssid2rinex(int gnssid)
{
switch (gnssid) {
case 0: /* 0 = GPS */
return 'G';
case 1: /* 1 = SBAS */
return 'S';
case 2: /* 2 = Galileo */
return 'E';
case 3: /* 3 = BeiDou */
return 'C';
case 4: /* 4 = IMES - unsupported */
return 'X';
case 5: /* 5 = QZSS */
return 'J';
case 6: /* 6 = GLONASS */
return 'R';
default: /* Huh? */
return 'x';
}
}
/* obs_cnt_inc()
*
* increment an observation count
*/
static void obs_cnt_inc(unsigned char gnssid, unsigned char svid,
obs_codes obs_code)
{
int i;
if (CODEMAX <= obs_code) {
/* should never happen... */
fprintf(stderr, "ERROR: obs_code_inc() obs_code %d out of range\n",
obs_code);
exit(1);
}
/* yeah, slow and ugly, linear search. */
for (i = 0; i < MAXCNT; i++) {
if (0 == obs_cnt[i].svid) {
/* end of list, not found, so add this item */
obs_cnt[i].gnssid = gnssid;
obs_cnt[i].svid = svid;
obs_cnt[i].obs_cnts[obs_code] = 1;
break;
}
if (obs_cnt[i].gnssid != gnssid) {
continue;
}
if (obs_cnt[i].svid != svid) {
continue;
}
/* found it, increment it */
obs_cnt[i].obs_cnts[obs_code]++;
if (99999 < obs_cnt[i].obs_cnts[obs_code]) {
/* RINEX 3 max is 99999 */
obs_cnt[i].obs_cnts[obs_code] = 99999;
}
break;
}
/* fell out because table full, item added, or item incremented */
return;
}
/* compare two obs_cnt, for sorting by gnssid, and svid */
static int compare_obs_cnt(const void *A, const void *B)
{
const struct obs_cnt_t *a = (const struct obs_cnt_t *)A;
const struct obs_cnt_t *b = (const struct obs_cnt_t *)B;
unsigned char a_gnssid = a->gnssid;
unsigned char b_gnssid = b->gnssid;
/* 0 = svid means unused, make those last */
if (0 == a->svid) {
a_gnssid = 255;
}
if (0 == b->svid) {
b_gnssid = 255;
}
if (a_gnssid != b_gnssid) {
return a_gnssid - b_gnssid;
}
/* put unused last */
if (a->svid != b->svid) {
return a->svid - b->svid;
}
/* two blank records */
return 0;
}
/* return number of unique PRN in a gnssid from obs_cnt.
* return all PRNs if 255 == gnssid */
static int obs_cnt_prns(unsigned char gnssid)
{
int i;
int prn_cnt = 0;
for (i = 0; i < MAXCNT; i++) {
if (0 == obs_cnt[i].svid) {
/* end of list, done */
break;
}
if ((255 != gnssid) && (gnssid != obs_cnt[i].gnssid)) {
/* wrong gnssid */
continue;
}
prn_cnt++;
}
/* fell out because table full, item added, or item incremented */
return prn_cnt;
}
/* print_rinex_header()
* Print a RINEX 3 header to the file "log_file".
* Some of the data in the header is only known after processing all
* the raw data.
*/
static void print_rinex_header(void)
{
int i, j;
char tmstr[40]; /* time: yyyymmdd hhmmss UTC */
struct tm *report_time;
struct tm *first_time;
struct tm *last_time;
int cnt; /* number of obs for one sat */
int prn_count[7] = {0}; /* count of PRN per gnssid */
if ( 3 < debug) {
(void)fprintf(stderr,"doing header\n");
}
report_time = gmtime(&(start_time.tv_sec));
(void)strftime(tmstr, sizeof(tmstr), "%Y%m%d %H%M%S UTC", report_time);
(void)fprintf(log_file,
"%9s%11s%-20s%-20s%-20s\n",
"3.03", "", "OBSERVATION DATA", "M: Mixed", "RINEX VERSION / TYPE");
(void)fprintf(log_file,
"%-20s%-20s%-20s%-20s\n",
"gpsrinex 3.19-dev", "", tmstr,
"PGM / RUN BY / DATE");
(void)fprintf(log_file, "%-60s%-20s\n",
"Source: gpsd live data", "COMMENT");
(void)fprintf(log_file, "%-60s%-20s\n", "XXXX", "MARKER NAME");
(void)fprintf(log_file, "%-60s%-20s\n", "NON_PHYSICAL", "MARKER TYPE");
(void)fprintf(log_file, "%-20s%-20s%-20s%-20s\n",
"Unknown", "Unknown", "", "OBSERVER / AGENCY");
(void)fprintf(log_file, "%-20s%-20s%-20s%-20s\n",
"", "", "", "REC # / TYPE / VERS");
(void)fprintf(log_file, "%-20s%-20s%-16s%4s%-20s\n",
"", "", "", "NONE", "ANT # / TYPE");
(void)fprintf(log_file, "%14.4f%14.4f%14.4f%18s%-20s\n",
ecefx, ecefy, ecefz, "", "APPROX POSITION XYZ");
(void)fprintf(log_file, "%14.4f%14.4f%14.4f%18s%-20s\n",
0.0, 0.0, 0.0, "", "ANTENNA: DELTA H/E/N");
(void)fprintf(log_file, "%6d%6d%48s%-20s\n", 1, 1,
"", "WAVELENGTH FACT L1/2");
/* get PRN stats */
qsort(obs_cnt, MAXCNT, sizeof(struct obs_cnt_t), compare_obs_cnt);
for (i = 0; i < 7; i++ ) {
prn_count[i] = obs_cnt_prns(i);
}
/* CSRS-PPP needs C1C, L1C or C1C, L1C, D1C
* CSRS-PPP refuses files with L1C first
* convbin wants C1C, L1C, D1C
* for some reason gfzrnx_lx wants C1C, D1C, L1C, not C1C, L1C, D1C */
if (0 < prn_count[0]) {
/* GPS */
(void)fprintf(log_file, "%c%5d%4s%4s%4s%4s%4s%4s%4s%4s%22s%-20s\n",
gnssid2rinex(0), 5, "C1C", "L1C", "D1C", "C2C", "L2C", "",
"", "", "", "SYS / # / OBS TYPES");
}
if (0 < prn_count[1]) {
/* SBAS, L1 and L5 only */
(void)fprintf(log_file, "%c%5d%4s%4s%4s%4s%4s%4s%4s%4s%22s%-20s\n",
gnssid2rinex(1), 3, "C1C", "L1C", "D1C", "", "", "",
"", "", "", "SYS / # / OBS TYPES");
}
if (0 < prn_count[2]) {
/* GALILEO, E1, E5 aand E6 only */
(void)fprintf(log_file, "%c%5d%4s%4s%4s%4s%4s%4s%4s%4s%22s%-20s\n",
gnssid2rinex(2), 3, "C1C", "L1C", "D1C", "", "", "",
"", "", "", "SYS / # / OBS TYPES");
}
if (0 < prn_count[3]) {
/* BeiDou, BDS */
(void)fprintf(log_file, "%c%5d%4s%4s%4s%4s%4s%4s%4s%4s%22s%-20s\n",
gnssid2rinex(3), 5, "C1C", "L1C", "D1C", "C2C", "L2C", "",
"", "", "", "SYS / # / OBS TYPES");
}
if (0 < prn_count[5]) {
/* QZSS */
(void)fprintf(log_file, "%c%5d%4s%4s%4s%4s%4s%4s%4s%4s%22s%-20s\n",
gnssid2rinex(5), 5, "C1C", "L1C", "D1C", "C2C", "L2C", "",
"", "", "", "SYS / # / OBS TYPES");
}
if (0 < prn_count[6]) {
/* GLONASS */
(void)fprintf(log_file, "%c%5d%4s%4s%4s%4s%4s%4s%4s%4s%22s%-20s\n",
gnssid2rinex(6), 5, "C1C", "L1C", "D1C", "C2C", "L2C", "",
"", "", "", "SYS / # / OBS TYPES");
}
(void)fprintf(log_file, "%6d%54s%-20s\n", obs_cnt_prns(255),
"", "# OF SATELLITES");
/* get all the PRN / # OF OBS */
for (i = 0; i <= MAXCNT; i++) {
cnt = 0;
if (0 == obs_cnt[i].svid) {
/* done */
break;
}
for (j = 0; j < CODEMAX; j++) {
cnt += obs_cnt[i].obs_cnts[j];
}
if (0 > cnt) {
/* no counts for this sat */
continue;
}
switch (obs_cnt[i].gnssid) {
case 0:
/* GPS */
(void)fprintf(log_file," %c%02d%6u%6u%6u%6u%6u%24s%-20s\n",
gnssid2rinex(obs_cnt[i].gnssid), obs_cnt[i].svid,
obs_cnt[i].obs_cnts[C1C],
obs_cnt[i].obs_cnts[L1C],
obs_cnt[i].obs_cnts[D1C],
obs_cnt[i].obs_cnts[C2C],
obs_cnt[i].obs_cnts[L2C],
"", "PRN / # OF OBS");
break;
case 1:
/* SBAS */
/* FALLTHROUGH */
case 2:
/* GALILEO */
/* FALLTHROUGH */
default:
(void)fprintf(log_file," %c%02d%6u%6u%6u%6s%6s%24s%-20s\n",
gnssid2rinex(obs_cnt[i].gnssid), obs_cnt[i].svid,
obs_cnt[i].obs_cnts[C1C],
obs_cnt[i].obs_cnts[L1C],
obs_cnt[i].obs_cnts[D1C],
"", "",
"", "PRN / # OF OBS");
}
}
(void)fprintf(log_file, "%10.3f%50s%-20s\n",
(double)sample_interval, "", "INTERVAL");
/* GPS time not UTC */
first_time = gmtime(&(first_mtime.tv_sec));
(void)fprintf(log_file, "%6d%6d%6d%6d%6d%5d.%07ld%8s%9s%-20s\n",
first_time->tm_year + 1900,
first_time->tm_mon + 1,
first_time->tm_mday,
first_time->tm_hour,
first_time->tm_min,
first_time->tm_sec,
(long)(first_mtime.tv_nsec / 100),
"GPS", "",
"TIME OF FIRST OBS");
/* GPS time not UTC */
last_time = gmtime(&(last_mtime.tv_sec));
(void)fprintf(log_file, "%6d%6d%6d%6d%6d%5d.%07ld%8s%9s%-20s\n",
last_time->tm_year + 1900,
last_time->tm_mon + 1,
last_time->tm_mday,
last_time->tm_hour,
last_time->tm_min,
last_time->tm_sec,
(long)(last_mtime.tv_nsec / 100),
"GPS", "",
"TIME OF LAST OBS");
if (0 < prn_count[0]) {
/* GPS */
(void)fprintf(log_file, "%-60s%-20s\n",
"G L1C", "SYS / PHASE SHIFT");
(void)fprintf(log_file, "%-60s%-20s\n",
"G L2C", "SYS / PHASE SHIFT");
}
if (0 < prn_count[1]) {
/* SBAS, L1 and L5 only */
(void)fprintf(log_file, "%-60s%-20s\n",
"S L1C", "SYS / PHASE SHIFT");
}
if (0 < prn_count[2]) {
/* GALILEO, E1, E5 and E6 */
(void)fprintf(log_file, "%-60s%-20s\n",
"E L1C", "SYS / PHASE SHIFT");
}
if (0 < prn_count[3]) {
/* BeiDou */
(void)fprintf(log_file, "%-60s%-20s\n",
"B L1C", "SYS / PHASE SHIFT");
(void)fprintf(log_file, "%-60s%-20s\n",
"B L2C", "SYS / PHASE SHIFT");
}
if (0 < prn_count[5]) {
/* QZSS */
(void)fprintf(log_file, "%-60s%-20s\n",
"J L1C", "SYS / PHASE SHIFT");
(void)fprintf(log_file, "%-60s%-20s\n",
"J L2C", "SYS / PHASE SHIFT");
}
if (0 < prn_count[6]) {
/* GLONASS */
(void)fprintf(log_file, "%-60s%-20s\n",
"R L1I", "SYS / PHASE SHIFT");
(void)fprintf(log_file, "%-60s%-20s\n",
"R L2I", "SYS / PHASE SHIFT");
}
(void)fprintf(log_file, "%-60s%-20s\n",
"", "END OF HEADER");
if ( 3 < debug) {
(void)fprintf(stderr,"done header\n");
}
return;
}
/* print_rinex_footer()
* print a RINEX 3 footer to the file "log_file".
* Except RINEX 3 has no footer. So what this really does is
* call the header function, then move the processed observations from
* "tmp_file" to "log_file".
*/
static void print_rinex_footer(void)
{
char buffer[4096];
/* print the header */
print_rinex_header();
/* now replay the data in the tmp_file into the output */
(void)fflush(tmp_file);
rewind(tmp_file);
while (true) {
size_t count;
count = fread(buffer, 1, sizeof(buffer), tmp_file);
if (0 >= count ) {
break;
}
(void)fwrite(buffer, 1, count, log_file);
}
(void)fclose(tmp_file);
(void)fclose(log_file);
(void)gps_close(&gpsdata);
}
/* compare two meas_t, for sorting by gnssid, svid, and sigid */
static int compare_meas(const void *A, const void *B)
{
const struct meas_t *a = (const struct meas_t*)A;
const struct meas_t *b = (const struct meas_t*)B;
if (a->gnssid != b->gnssid) {
return a->gnssid - b->gnssid;
}
if (a->svid != b->svid) {
return a->svid - b->svid;
}
if (a->sigid != b->sigid) {
return a->sigid - b->sigid;
}
/* two blank records */
return 0;
}
/* convert an observation item and return it as a (F14,3,I1,I1)
* in a static buffer */
static const char * fmt_obs(double val, unsigned char lli, unsigned char snr)
{
static char buf[20];
char lli_c; /* set zero lli to blank */
char snr_c; /* set zero snr to blank */
if (!isfinite(val)) {
/* bad value, return 16 blanks */
return " ";
}
switch (lli) {
case 0:
default:
lli_c = ' ';
break;
case 1:
lli_c = '1';
break;
case 2:
lli_c = '2';
break;
case 3:
lli_c = '3';
break;
}
if ((1 > snr) || (9 < snr)) {
snr_c = ' ';
} else {
snr_c = 48 + snr;
}
(void)snprintf(buf, sizeof(buf), "%14.3f%c%1c", val, lli_c, snr_c);
return buf;
}
/* print_raw()
* print one epoch of observations into "tmp_file"
*/
static void print_raw(struct gps_data_t *gpsdata)
{
struct tm *tmp_now;
int nsat = 0;
int i;
if ((last_mtime.tv_sec + (time_t)sample_interval) >
gpsdata->raw.mtime.tv_sec) {
/* not time yet */
return;
}
/* opus insists (time % interval) = 0 */
if (0 != (gpsdata->raw.mtime.tv_sec % sample_interval)) {
return;
}
/* go through list twice, first just to get a count */
for (i = 0; i < MAXCHANNELS; i++) {
if (0 == gpsdata->raw.meas[i].svid) {
continue;
}
if (4 == gpsdata->raw.meas[i].gnssid) {
/* skip IMES */
continue;
}
if (6 < gpsdata->raw.meas[i].gnssid) {
/* invalid gnssid */
continue;
}
nsat++;
}
if (0 >= nsat) {
/* nothing to do */
return;
}
/* save time of last measurement, GPS time, not UTC */
last_mtime = gpsdata->raw.mtime; /* structure copy */
if (0 == first_mtime.tv_sec) {
/* save time of first measurement */
first_mtime = last_mtime; /* structure copy */
}
tmp_now = gmtime(&(last_mtime.tv_sec));
(void)fprintf(tmp_file,"> %4d %02d %02d %02d %02d %02d.%07ld 0%3d\n",
tmp_now->tm_year + 1900,
tmp_now->tm_mon + 1,
tmp_now->tm_mday,
tmp_now->tm_hour,
tmp_now->tm_min,
tmp_now->tm_sec,
(long)(last_mtime.tv_nsec / 100), nsat);
/* RINEX 3 wants records in each epoch sorted by gnssid.
* To look nice: sort by gnssid and svid */
qsort(gpsdata->raw.meas, MAXCHANNELS, sizeof(gpsdata->raw.meas[0]),
compare_meas);
for (i = 0; i < MAXCHANNELS; i++) {
char gnssid;
char svid;
unsigned char snr;
if (0 == gpsdata->raw.meas[i].svid) {
continue;
}
svid = gpsdata->raw.meas[i].svid;
gnssid = gnssid2rinex(gpsdata->raw.meas[i].gnssid);
switch (gpsdata->raw.meas[i].gnssid) {
case 0:
/* GPS */
break;
case 1:
/* SBAS, per section 8.4 of RINEX 3.03 spec */
break;
case 2:
/* GALILEO */
break;
case 3:
/* Beidou */
break;
case 4:
/* IMES */
/* FALLTHROUGH */
default:
/* huh? */
continue;
case 5:
/* QZSS */
break;
case 6:
/* GLONASS */
break;
}
/* map snr to RINEX snr flag [1-9] */
if ( 0 == gpsdata->raw.meas[i].snr) {
snr = 0;
} else if ( 12 > gpsdata->raw.meas[i].snr) {
snr = 1;
} else if ( 18 >= gpsdata->raw.meas[i].snr) {
snr = 2;
} else if ( 23 >= gpsdata->raw.meas[i].snr) {
snr = 3;
} else if ( 29 >= gpsdata->raw.meas[i].snr) {
snr = 4;
} else if ( 35 >= gpsdata->raw.meas[i].snr) {
snr = 5;
} else if ( 41 >= gpsdata->raw.meas[i].snr) {
snr = 6;
} else if ( 47 >= gpsdata->raw.meas[i].snr) {
snr = 7;
} else if ( 53 >= gpsdata->raw.meas[i].snr) {
snr = 8;
} else {
/* snr >= 54 */
snr = 9;
}
/* check for slip */
/* FIXME: use actual interval */
if (gpsdata->raw.meas[i].locktime < (sample_interval * 1000)) {
gpsdata->raw.meas[i].lli |= 2;
}
if (0 != isfinite(gpsdata->raw.meas[i].pseudorange)) {
obs_cnt_inc(gpsdata->raw.meas[i].gnssid, gpsdata->raw.meas[i].svid,
C1C);
}
if (0 != isfinite(gpsdata->raw.meas[i].carrierphase)) {
obs_cnt_inc(gpsdata->raw.meas[i].gnssid, gpsdata->raw.meas[i].svid,
L1C);
}
if (0 != isfinite(gpsdata->raw.meas[i].doppler)) {
obs_cnt_inc(gpsdata->raw.meas[i].gnssid, gpsdata->raw.meas[i].svid,
D1C);
}
if (0 != isfinite(gpsdata->raw.meas[i].c2c)) {
obs_cnt_inc(gpsdata->raw.meas[i].gnssid, gpsdata->raw.meas[i].svid,
C2C);
}
if (0 != isfinite(gpsdata->raw.meas[i].l2c)) {
obs_cnt_inc(gpsdata->raw.meas[i].gnssid, gpsdata->raw.meas[i].svid,
L2C);
}
/* line no longer must be 80 chars in RINEX 3 */
(void)fprintf(tmp_file,"%c%02d", gnssid, svid);
(void)fputs(fmt_obs(gpsdata->raw.meas[i].pseudorange, 0, snr),
tmp_file);
(void)fputs(fmt_obs(gpsdata->raw.meas[i].carrierphase,
gpsdata->raw.meas[i].lli, 0), tmp_file);
(void)fputs(fmt_obs(gpsdata->raw.meas[i].doppler, 0, 0), tmp_file);
(void)fputs(fmt_obs(gpsdata->raw.meas[i].c2c, 0, 0), tmp_file);
(void)fputs(fmt_obs(gpsdata->raw.meas[i].l2c, 0, 0), tmp_file);
(void)fputs("\n", tmp_file);
nsat--;
}
sample_count--;
if (0 != nsat) {
(void)fprintf(stderr,"ERROR: satellite count mismatch %d\n", nsat);
exit(1);
}
}
/* quit_handler()
* quit nicely on ^C. That is: print the header and observation records
* gathered so far. Then exit.
*/
static void quit_handler(int signum)
{
/* don't clutter the logs on Ctrl-C */
if (signum != SIGINT)
syslog(LOG_INFO, "exiting, signal %d received", signum);
print_rinex_footer();
(void)gps_close(&gpsdata);
exit(EXIT_SUCCESS);
}
/* conditionally_log_fix()
* take the new gpsdata and decide what to do with it.
*/
static void conditionally_log_fix(struct gps_data_t *gpsdata)
{
if ( 4 < debug) {
/* The (long long unsigned) is for 32/64-bit compatibility */
(void)fprintf(tmp_file,"mode %d set %llx\n", gpsdata->fix.mode,
(long long unsigned)gpsdata->set);
}
/* mostly we don't care if 2D or 3D fix, let the post processor
* decide */
if ((MODE_2D < gpsdata->fix.mode) &&
(LATLON_SET & gpsdata->set)) {
/* got a good 3D fix */
if (isfinite(gpsdata->fix.ecef.x) &&
isfinite(gpsdata->fix.ecef.y) &&
isfinite(gpsdata->fix.ecef.z)) {
/* save ecef for "APPROX POS" */
ecefx = gpsdata->fix.ecef.x;
ecefy = gpsdata->fix.ecef.y;
ecefz = gpsdata->fix.ecef.z;
}
if ( 3 < debug) {
(void)fprintf(stderr,"got ECEF\n");
}
}
if (RAW_SET & gpsdata->set) {
if ( 3 < debug) {
(void)fprintf(stderr,"got RAW\n");
}
print_raw(gpsdata);
}
return;
}
/* usage()
* print usages, and exit
*/
static void usage(void)
{
(void)fprintf(stderr,
"Usage: %s [OPTIONS] [server[:port:[device]]]\n"
" [-D debuglevel] Set debug level, default 0\n"
" [-f filename] out to filename\n"
" gpsrinexYYYYDDDDHHMM.obs\n"
" [-h] print this usage and exit\n"
" [-i interval] time between samples\n"
" [-n count] number samples to collect, default: %d\n"
" [-V] print version and exit\n"
"defaults to '%s -n %d -i %d localhost:2947'\n",
progname, sample_count, progname, sample_count, sample_interval);
exit(EXIT_FAILURE);
}
/*
*
* Main
*
*/
int main(int argc, char **argv)
{
char tmstr[40]; /* time: YYYYDDDMMHH */
struct tm *report_time;
int ch;
unsigned int flags = WATCH_ENABLE;
char *fname = NULL;
int timeout = 10;
progname = argv[0];
log_file = stdout;
while ((ch = getopt(argc, argv, "D:f:hi:n:V")) != -1) {
switch (ch) {
case 'D':
debug = atoi(optarg);
gps_enable_debug(debug, log_file);
break;
case 'f': /* Output file name. */
fname = strdup(optarg);
break;
case 'i': /* set sampling interval */
sample_interval = (time_t) atoi(optarg);
if (sample_interval < 1)
sample_interval = 1;
if (sample_interval >= 3600)
(void)fprintf(stderr,
"WARNING: saample interval is an hour or more!\n");
break;
case 'n':
sample_count = atoi(optarg);
break;
case 'V':
(void)fprintf(stderr, "%s: version %s (revision %s)\n",
progname, VERSION, REVISION);
exit(EXIT_SUCCESS);
default:
usage();
/* NOTREACHED */
}
}
if ( 1 ) {
source.server = (char *)"localhost";
source.port = (char *)DEFAULT_GPSD_PORT;
source.device = NULL;
}
if (optind < argc) {
/* in this case, switch to the method "socket" always */
gpsd_source_spec(argv[optind], &source);
}
if ( 2 < debug ) {
(void)fprintf(stderr,"INFO: server: %s port: %s device: %s\n",
source.server, source.port, source.device);
}
/* save start time of report */
(void)clock_gettime(CLOCK_REALTIME, &start_time);
report_time = gmtime(&(start_time.tv_sec));
/* open the output file */
if (NULL == fname) {
(void)strftime(tmstr, sizeof(tmstr), "gpsrinex%Y%j%H%M%S.obs",
report_time);
fname = tmstr;
}
log_file = fopen(fname, "w");
if (log_file == NULL) {
syslog(LOG_ERR, "ERROR: Failed to open %s: %s",
fname, strerror(errno));
exit(3);
}
/* clear the counts */
memset(obs_cnt, 0, sizeof(obs_cnt));
/* catch all interesting signals */
(void)signal(SIGTERM, quit_handler);
(void)signal(SIGQUIT, quit_handler);
(void)signal(SIGINT, quit_handler);
if (gps_open(source.server, source.port, &gpsdata) != 0) {
(void)fprintf(stderr, "%s: no gpsd running or network error: %d, %s\n",
progname, errno, gps_errstr(errno));
exit(EXIT_FAILURE);
}
if (source.device != NULL)
flags |= WATCH_DEVICE;
(void)gps_stream(&gpsdata, flags, source.device);
tmp_file = tmpfile();
if (NULL == tmp_file) {
(void)fprintf(stderr, "ERROR: could not open temp file: %s\n",
strerror(errno));
exit(2);
}
for (;;) {
/* wait for gpsd */
if (!gps_waiting(&gpsdata, timeout * 1000000)) {
(void)fprintf(stderr, "gpsrinex: timeout\n");
syslog(LOG_INFO, "timeout;");
break;
}
(void)gps_read(&gpsdata, NULL, 0);
if (ERROR_SET & gpsdata.set) {
fprintf(stderr, "gps_read() error '%s'\n", gpsdata.error);
exit(6);
}
conditionally_log_fix(&gpsdata);
if ( 0 >= sample_count) {
/* done */
break;
}
}
print_rinex_footer();
exit(EXIT_SUCCESS);
}
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