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gpsrinex.c
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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
*
* If you have a u-blox 9 then enable GLONASS as well.
*
* 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
*
*/
#include "gpsd_config.h" /* must be before all includes */
#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 "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 u-blox 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
* 7 = 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
*
* C2L L2C (L), Pseudo Range, BeiDou
* D2L L2C (L), Doppler, BeiDou
* L2L L2C (L), Carrier Phase, BeiDou
*
* L5I L5 I Pseudo Range
* C5I L5 I Carrier Phase
* D5I L5 I Doppler
*
* 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,
C2L, D2L, L2L,
C5I, D5I, L5I,
C7I, D7I, L7I,
C7Q, D7Q, L7Q, 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 */
unsigned int obs_cnts[CODEMAX+1]; /* 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;
#define DEBUG_QUIET 0
#define DEBUG_INFO 1
#define DEBUG_PROG 2
#define DEBUG_RAW 3
static int debug = DEBUG_INFO; /* debug level */
static struct gps_data_t gpsdata;
static FILE *log_file;
/* convert a u-blox/gpsd gnssid to the RINEX 3 constellation code
* see [1] Section 3.5
*/
static char gnssid2rinex(int gnssid)
{
switch (gnssid) {
case GNSSID_GPS: /* 0 = GPS */
return 'G';
case GNSSID_SBAS: /* 1 = SBAS */
return 'S';
case GNSSID_GAL: /* 2 = Galileo */
return 'E';
case GNSSID_BD: /* 3 = BeiDou */
return 'C';
case GNSSID_IMES: /* 4 = IMES - unsupported */
return 'X';
case GNSSID_QZSS: /* 5 = QZSS */
return 'J';
case GNSSID_GLO: /* 6 = GLONASS */
return 'R';
case GNSSID_IRNSS: /* 7 = IRNSS */
return 'I';
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 gnssid:svid */
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[GNSSID_CNT] = {0}; /* count of PRN per gnssid */
if (DEBUG_PROG <= 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", "", 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",
"0", "UNKNOWN", "0", "REC # / TYPE / VERS");
(void)fprintf(log_file, "%-20s%-20s%-20s%-20s\n",
"0", "UNKNOWN EXT NONE", "" , "ANT # / TYPE");
if (isfinite(ecefx) &&
isfinite(ecefy) &&
isfinite(ecefz)) {
(void)fprintf(log_file, "%14.4f%14.4f%14.4f%18s%-20s\n",
ecefx, ecefy, ecefz, "", "APPROX POSITION XYZ");
} else if (DEBUG_INFO <= debug) {
(void)fprintf(stderr, "INFO: missing ECEF\n");
}
(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 < GNSSID_CNT; 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[GNSSID_GPS]) {
/* GPS, code G */
(void)fprintf(log_file, "%c%5d%4s%4s%4s%4s%4s%4s%4s%4s%22s%-20s\n",
gnssid2rinex(GNSSID_GPS), 5, "C1C", "L1C", "D1C", "C2C", "L2C",
"D2C", "", "", "", "SYS / # / OBS TYPES");
}
if (0 < prn_count[GNSSID_SBAS]) {
/* SBAS, L1 and L5 only, code S */
(void)fprintf(log_file, "%c%5d%4s%4s%4s%4s%4s%4s%4s%4s%22s%-20s\n",
gnssid2rinex(GNSSID_SBAS), 3, "C1C", "L1C", "D1C", "", "", "",
"", "", "", "SYS / # / OBS TYPES");
}
if (0 < prn_count[GNSSID_GAL]) {
/* Galileo, E1, E5 aand E6 only, code E */
(void)fprintf(log_file, "%c%5d%4s%4s%4s%4s%4s%4s%4s%4s%22s%-20s\n",
gnssid2rinex(GNSSID_GAL), 3, "C1C", "L1C", "D1C", "C7Q",
"L7Q", "D7Q", "", "", "", "SYS / # / OBS TYPES");
}
if (0 < prn_count[GNSSID_BD]) {
/* BeiDou, BDS, code C */
(void)fprintf(log_file, "%c%5d%4s%4s%4s%4s%4s%4s%4s%4s%22s%-20s\n",
gnssid2rinex(GNSSID_BD), 5, "C1C", "L1C", "D1C", "C7I", "L7I",
"D7I", "", "", "", "SYS / # / OBS TYPES");
}
if (0 < prn_count[GNSSID_QZSS]) {
/* QZSS, code J */
(void)fprintf(log_file, "%c%5d%4s%4s%4s%4s%4s%4s%4s%4s%22s%-20s\n",
gnssid2rinex(GNSSID_QZSS), 5, "C1C", "L1C", "D1C", "C2L",
"L2L", "D2L", "", "", "", "SYS / # / OBS TYPES");
}
if (0 < prn_count[GNSSID_GLO]) {
/* GLONASS, R */
(void)fprintf(log_file, "%c%5d%4s%4s%4s%4s%4s%4s%4s%4s%22s%-20s\n",
gnssid2rinex(GNSSID_GLO), 5, "C1C", "L1C", "D1C", "C2C", "L2C",
"D2C", "", "", "", "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 GNSSID_GPS:
/* GPS, code G */
(void)fprintf(log_file," %c%02d%6u%6u%6u%6u%6u%6u%18s%-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],
obs_cnt[i].obs_cnts[D2C],
"", "PRN / # OF OBS");
break;
case GNSSID_SBAS:
/* SBAS, L1C and L5C, code S */
(void)fprintf(log_file," %c%02d%6u%6u%6u%6u%6u%6u%18s%-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[C5I],
obs_cnt[i].obs_cnts[L5I],
obs_cnt[i].obs_cnts[D5I],
"", "PRN / # OF OBS");
break;
case GNSSID_GAL:
/* Galileo, code E */
(void)fprintf(log_file," %c%02d%6u%6u%6u%6u%6u%6u%18s%-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[C7Q],
obs_cnt[i].obs_cnts[L7Q],
obs_cnt[i].obs_cnts[D7Q],
"", "PRN / # OF OBS");
break;
case GNSSID_BD:
/* BeiDou, code C */
(void)fprintf(log_file," %c%02d%6u%6u%6u%6u%6u%6u%18s%-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[C7I],
obs_cnt[i].obs_cnts[L7I],
obs_cnt[i].obs_cnts[D7I],
"", "PRN / # OF OBS");
break;
case GNSSID_QZSS:
/* QZSS, code J */
(void)fprintf(log_file," %c%02d%6u%6u%6u%6u%6u%6u%18s%-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[C2L],
obs_cnt[i].obs_cnts[L2L],
obs_cnt[i].obs_cnts[D2L],
"", "PRN / # OF OBS");
break;
case GNSSID_GLO:
/* GLONASS, code R */
(void)fprintf(log_file," %c%02d%6u%6u%6u%6u%6u%6u%18s%-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],
obs_cnt[i].obs_cnts[D2C],
"", "PRN / # OF OBS");
break;
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[GNSSID_GPS]) {
/* GPS, code G */
(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[GNSSID_SBAS]) {
/* SBAS, L1 and L5 only, code S */
(void)fprintf(log_file, "%-60s%-20s\n",
"S L1C", "SYS / PHASE SHIFT");
(void)fprintf(log_file, "%-60s%-20s\n",
"E L5Q", "SYS / PHASE SHIFT");
}
if (0 < prn_count[GNSSID_GAL]) {
/* GALILEO, E1, E5 and E6, code E */
(void)fprintf(log_file, "%-60s%-20s\n",
"E L1C", "SYS / PHASE SHIFT");
(void)fprintf(log_file, "%-60s%-20s\n",
"E L7Q", "SYS / PHASE SHIFT");
}
if (0 < prn_count[GNSSID_BD]) {
/* BeiDou, code C */
(void)fprintf(log_file, "%-60s%-20s\n",
"B L1C", "SYS / PHASE SHIFT");
(void)fprintf(log_file, "%-60s%-20s\n",
"B L7I", "SYS / PHASE SHIFT");
}
if (0 < prn_count[GNSSID_QZSS]) {
/* QZSS, code J */
(void)fprintf(log_file, "%-60s%-20s\n",
"J L1C", "SYS / PHASE SHIFT");
(void)fprintf(log_file, "%-60s%-20s\n",
"J L2L", "SYS / PHASE SHIFT");
}
if (0 < prn_count[GNSSID_GLO]) {
/* GLONASS, code R */
(void)fprintf(log_file, "%-60s%-20s\n",
"R L1C", "SYS / PHASE SHIFT");
(void)fprintf(log_file, "%-60s%-20s\n",
"R L2C", "SYS / PHASE SHIFT");
}
(void)fprintf(log_file, "%-60s%-20s\n",
"", "END OF HEADER");
if (DEBUG_PROG <= 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;
}
/* one_sig() - print one signal
*
* one CxC s LxC DxC
*/
static void one_sig(struct meas_t *meas)
{
unsigned char snr;
unsigned gnssid = meas->gnssid;
unsigned svid = meas->svid;
unsigned sigid = meas->sigid;
obs_codes cxx = C1C;
obs_codes lxx = L1C;
obs_codes dxx = D1C;
if (DEBUG_PROG <= debug) {
(void)fprintf(stderr, "INFO: one_sig() %c %u:%u:%u\n",
gnssid2rinex(gnssid),
gnssid, svid, sigid);
}
switch (sigid) {
default:
(void)fprintf(stderr, "ERROR: one_sig() gnmssid %u unknown sigid %u\n",
gnssid, sigid);
/* FALLTHROUGH */
case 0:
/* L1C */
cxx = C1C;
lxx = L1C;
dxx = D1C;
break;
case 2:
/* GLONASS L2 OF or BeiDou B2I D1 */
if (GNSSID_BD == gnssid) {
/* WAG */
cxx = C7I;
lxx = L7I;
dxx = D7I;
} else {
cxx = C2C;
lxx = L2C;
dxx = D2C;
}
break;
case 3:
/* GPS L2 or BD B2I D2 */
cxx = C2C;
lxx = L2C;
dxx = D2C;
break;
case 5:
/* QZSS L2C (L) */
cxx = C2L;
lxx = L2L;
dxx = D2L;
break;
case 6:
/* Galileo E5 bQ */
cxx = C7Q;
lxx = L7Q;
dxx = D7Q;
break;
}
/* map snr to RINEX snr flag [1-9] */
if (0 == meas->snr) {
snr = 0;
} else if (12 > meas->snr) {
snr = 1;
} else if (18 >= meas->snr) {
snr = 2;
} else if (23 >= meas->snr) {
snr = 3;
} else if (29 >= meas->snr) {
snr = 4;
} else if (35 >= meas->snr) {
snr = 5;
} else if (41 >= meas->snr) {
snr = 6;
} else if (47 >= meas->snr) {
snr = 7;
} else if (53 >= meas->snr) {
snr = 8;
} else {
/* snr >= 54 */
snr = 9;
}
/* check for slip */
/* FIXME: use actual interval */
if (meas->locktime < (sample_interval * 1000)) {
meas->lli |= 2;
}
if (0 != isfinite(meas->pseudorange)) {
obs_cnt_inc(gnssid, svid, cxx);
}
if (0 != isfinite(meas->carrierphase)) {
obs_cnt_inc(gnssid, svid, lxx);
}
if (0 != isfinite(meas->doppler)) {
obs_cnt_inc(gnssid, svid, dxx);
}
(void)fputs(fmt_obs(meas->pseudorange, 0, snr), tmp_file);
(void)fputs(fmt_obs(meas->carrierphase, meas->lli, 0), tmp_file);
(void)fputs(fmt_obs(meas->doppler, 0, 0), tmp_file);
}
/* print_raw()
* print one epoch of observations into "tmp_file"
*/
static void print_raw(struct gps_data_t *gpsdata)
{
struct tm *tmp_now;
unsigned nrec = 0;
unsigned nsat = 0;
unsigned i;
unsigned char last_gnssid = 0;
unsigned char last_svid = 0;
int need_nl = 0;
int got_l1 = 0;
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;
}
/* RINEX 3 wants records in each epoch sorted by gnssid.
* To look nice: sort by gnssid and svid
* To work nice, sort by gnssid, svid and sigid.
* Each sigid is one record in RAW, but all sigid is one
* record in RINEX
*/
/* go through list three times, first just to get a count for sort */
for (i = 0; i < MAXCHANNELS; i++) {
if (0 == gpsdata->raw.meas[i].svid) {
/* bad svid, end of list */
break;
}
nrec++;
}
if (0 >= nrec) {
/* nothing to do */
return;
}
qsort(gpsdata->raw.meas, nrec, sizeof(gpsdata->raw.meas[0]),
compare_meas);
/* second just to get a count, needed for epoch header */
for (i = 0; i < nrec; i++) {
if (0 == gpsdata->raw.meas[i].svid) {
/* bad svid */
continue;
}
if (4 == gpsdata->raw.meas[i].gnssid) {
/* skip IMES */
continue;
}
if (GNSSID_CNT <= gpsdata->raw.meas[i].gnssid) {
/* invalid gnssid */
continue;
}
/* prevent separate sigid from double counting gnssid:svid */
if ((last_gnssid == gpsdata->raw.meas[i].gnssid) &&
(last_svid == gpsdata->raw.meas[i].svid)) {
/* duplicate sat */
continue;
}
last_gnssid = gpsdata->raw.meas[i].gnssid;
last_svid = gpsdata->raw.meas[i].svid;
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 */
}
/* print epoch header line */
tmp_now = gmtime(&(last_mtime.tv_sec));
(void)fprintf(tmp_file,"> %4d %02d %02d %02d %02d %02d.%07ld 0%3u\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);
last_gnssid = 0;
last_svid = 0;
need_nl = 0;
got_l1 = 0;
/* Print the observations, one gnssid:svid per line.
* The fun is merging consecutive records (new sigid) of
* same gnssid:svid */
for (i = 0; i < nrec; i++) {
char rinex_gnssid;
unsigned char gnssid;
unsigned char svid;
unsigned char sigid;
gnssid = gpsdata->raw.meas[i].gnssid;
rinex_gnssid = gnssid2rinex(gnssid);
svid = gpsdata->raw.meas[i].svid;
sigid = gpsdata->raw.meas[i].sigid;
if (DEBUG_RAW <= debug) {
(void)fprintf(stderr,"record: %u:%u:%u %s\n",
gnssid, svid, sigid,
gpsdata->raw.meas[i].obs_code);
}
if (0 == gpsdata->raw.meas[i].svid) {
/* should not happen... */
continue;
}
/* line can be longer than 80 chars in RINEX 3 */
if ((last_gnssid != gpsdata->raw.meas[i].gnssid) ||
(last_svid != gpsdata->raw.meas[i].svid)) {
if (0 != need_nl) {
(void)fputs("\n", tmp_file);
}
got_l1 = 0;
/* new record line gnssid:svid preamble */
(void)fprintf(tmp_file,"%c%02d", rinex_gnssid, svid);
}
last_gnssid = gpsdata->raw.meas[i].gnssid;
last_svid = gpsdata->raw.meas[i].svid;
/* L1x */
switch (gpsdata->raw.meas[i].sigid) {
case 0:
/* L1 */
one_sig(&gpsdata->raw.meas[i]);
got_l1 = 1;
break;
case 2:
/* GLONASS L2 OF or BD B2I D1 */
if (0 == got_l1) {
/* space to start of L2 */
(void)fprintf(tmp_file, "%48s", "");
}
one_sig(&gpsdata->raw.meas[i]);
break;
case 3:
/* GPS L2 or BD B2I D2 */
if (0 == got_l1) {
/* space to start of L2 */
(void)fprintf(tmp_file, "%48s", "");
}
one_sig(&gpsdata->raw.meas[i]);
break;
case 5:
/* QZSS L2C (L) */
if (0 == got_l1) {
/* space to start of L2 */
(void)fprintf(tmp_file, "%48s", "");
}
one_sig(&gpsdata->raw.meas[i]);
break;
case 6:
/* Galileo E5 bQ */
if (0 == got_l1) {
/* space to start of L2 */
(void)fprintf(tmp_file, "%48s", "");
}
one_sig(&gpsdata->raw.meas[i]);
break;
default:
(void)fprintf(stderr,
"ERROR: print_raw() gnssid %u unknown sigid %u\n",
gnssid, sigid);
break;
}
need_nl = 1;
}
if (0 != need_nl) {
(void)fputs("\n", tmp_file);
}
sample_count--;
}
/* 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 (DEBUG_PROG <= debug) {
/* The (long long unsigned) is for 32/64-bit compatibility */
(void)fprintf(stderr, "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) {
/* got a good 3D fix */
if (1.0 > ecefx &&
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 (DEBUG_PROG <= debug) {
(void)fprintf(stderr,"got ECEF\n");
}
}
}
if (RAW_SET & gpsdata->set) {
if (DEBUG_RAW <= debug) {
(void)fprintf(stderr,"got RAW\n");
}
print_raw(gpsdata);
}
return;
}