gnss-sdr/src/algorithms/libs/rtklib/rtklib_rtksvr.cc

#include "rtklib_rtksvr.h"
#include "rtklib_rtkcmn.h"
#include "rtklib_rtkpos.h"
#include "rtklib_solution.h"
#include "rtklib_sbas.h"
#include "rtklib_preceph.h"
#include "rtklib_stream.h"
#include "rtklib_rtcm.h"

/* write solution header to output stream ------------------------------------*/
void writesolhead(stream_t *stream, const solopt_t *solopt)
{
    unsigned char buff[1024];
    int n;
    n = outsolheads(buff, solopt);
    strwrite(stream, buff, n);
}


/* save output buffer --------------------------------------------------------*/
void saveoutbuf(rtksvr_t *svr, unsigned char *buff, int n, int index)
{
    rtksvrlock(svr);

    n = n < svr->buffsize-svr->nsb[index] ? n : svr->buffsize-svr->nsb[index];
    memcpy(svr->sbuf[index]+svr->nsb[index], buff, n);
    svr->nsb[index] += n;

    rtksvrunlock(svr);
}


/* write solution to output stream -------------------------------------------*/
void writesol(rtksvr_t *svr, int index)
{
    solopt_t solopt = solopt_default;
    unsigned char buff[1024];
    int i, n;

    tracet(4, "writesol: index=%d\n", index);

    for (i = 0; i < 2; i++)
        {
            /* output solution */
            n = outsols(buff, &svr->rtk.sol, svr->rtk.rb, svr->solopt+i);
            strwrite(svr->stream+i+3, buff, n);

            /* save output buffer */
            saveoutbuf(svr, buff, n, i);

            /* output extended solution */
            n = outsolexs(buff, &svr->rtk.sol, svr->rtk.ssat, svr->solopt+i);
            strwrite(svr->stream+i+3, buff, n);

            /* save output buffer */
            saveoutbuf(svr, buff, n, i);
        }
    /* output solution to monitor port */
    if (svr->moni)
        {
            n = outsols(buff, &svr->rtk.sol, svr->rtk.rb, &solopt);
            strwrite(svr->moni, buff, n);
        }
    /* save solution buffer */
    if (svr->nsol < MAXSOLBUF)
        {
            rtksvrlock(svr);
            svr->solbuf[svr->nsol++] = svr->rtk.sol;
            rtksvrunlock(svr);
        }
}


/* update navigation data ----------------------------------------------------*/
void updatenav(nav_t *nav)
{
    int i, j;
    for (i = 0; i < MAXSAT; i++) for (j = 0; j < NFREQ; j++)
        {
            nav->lam[i][j] = satwavelen(i+1, j, nav);
        }
}


/* update glonass frequency channel number in raw data struct ----------------*/
void updatefcn(rtksvr_t *svr)
{
    int i, j, sat, frq;

    for (i = 0; i < MAXPRNGLO; i++)
        {
            sat = satno(SYS_GLO, i+1);

            for (j = 0, frq = -999; j < 3; j++)
                {
                    if (svr->raw[j].nav.geph[i].sat != sat) continue;
                    frq = svr->raw[j].nav.geph[i].frq;
                }
            if (frq < -7 || frq>6) continue;

            for (j = 0; j < 3; j++)
                {
                    if (svr->raw[j].nav.geph[i].sat == sat) continue;
                    svr->raw[j].nav.geph[i].sat = sat;
                    svr->raw[j].nav.geph[i].frq = frq;
                }
        }
}


/* update rtk server struct --------------------------------------------------*/
void updatesvr(rtksvr_t *svr, int ret, obs_t *obs, nav_t *nav, int sat,
        sbsmsg_t *sbsmsg, int index, int iobs)
{
    eph_t *eph1, *eph2, *eph3;
    geph_t *geph1, *geph2, *geph3;
    // gtime_t tof;
    double pos[3], del[3] = {0}, dr[3];
    int i, n = 0, prn, sbssat = svr->rtk.opt.sbassatsel, sys, iode;

    tracet(4, "updatesvr: ret=%d sat=%2d index=%d\n", ret, sat, index);

    if (ret == 1)
        { /* observation data */
            if (iobs < MAXOBSBUF)
                {
                    for (i = 0; i < obs->n; i++)
                        {
                            if (svr->rtk.opt.exsats[obs->data[i].sat-1] == 1 ||
                                    !(satsys(obs->data[i].sat, NULL)&svr->rtk.opt.navsys)) continue;
                            svr->obs[index][iobs].data[n] = obs->data[i];
                            svr->obs[index][iobs].data[n++].rcv = index+1;
                        }
                    svr->obs[index][iobs].n = n;
                    sortobs(&svr->obs[index][iobs]);
                }
            svr->nmsg[index][0]++;
        }
    else if (ret == 2)
        { /* ephemeris */
            if (satsys(sat, &prn) != SYS_GLO)
                {
                    if (!svr->navsel || svr->navsel == index+1)
                        {
                            eph1 = nav->eph+sat-1;
                            eph2 = svr->nav.eph+sat-1;
                            eph3 = svr->nav.eph+sat-1+MAXSAT;
                            if (eph2->ttr.time == 0 ||
                                    (eph1->iode != eph3->iode && eph1->iode != eph2->iode) ||
                                    (timediff(eph1->toe, eph3->toe) != 0.0 &&
                                            timediff(eph1->toe, eph2->toe) != 0.0))
                                {
                                    *eph3 = *eph2;
                                    *eph2 = *eph1;
                                    updatenav(&svr->nav);
                                }
                        }
                    svr->nmsg[index][1]++;
                }
            else
                {
                    if (!svr->navsel || svr->navsel == index+1)
                        {
                            geph1 = nav->geph+prn-1;
                            geph2 = svr->nav.geph+prn-1;
                            geph3 = svr->nav.geph+prn-1+MAXPRNGLO;
                            if (geph2->tof.time == 0 ||
                                    (geph1->iode != geph3->iode && geph1->iode != geph2->iode))
                                {
                                    *geph3 = *geph2;
                                    *geph2 = *geph1;
                                    updatenav(&svr->nav);
                                    updatefcn(svr);
                                }
                        }
                    svr->nmsg[index][6]++;
                }
        }
    else if (ret == 3)
        { /* sbas message */
            if (sbsmsg && (sbssat == sbsmsg->prn || sbssat == 0))
                {
                    if (svr->nsbs < MAXSBSMSG)
                        {
                            svr->sbsmsg[svr->nsbs++] = *sbsmsg;
                        }
                    else
                        {
                            for (i = 0; i < MAXSBSMSG-1; i++) svr->sbsmsg[i] = svr->sbsmsg[i+1];
                            svr->sbsmsg[i] = *sbsmsg;
                        }
                    sbsupdatecorr(sbsmsg, &svr->nav);
                }
            svr->nmsg[index][3]++;
        }
    else if (ret == 9)
        { /* ion/utc parameters */
            if (svr->navsel == index || svr->navsel >= 3)
                {
                    for (i = 0; i < 8; i++) svr->nav.ion_gps[i] = nav->ion_gps[i];
                    for (i = 0; i < 4; i++) svr->nav.utc_gps[i] = nav->utc_gps[i];
                    for (i = 0; i < 4; i++) svr->nav.ion_gal[i] = nav->ion_gal[i];
                    for (i = 0; i < 4; i++) svr->nav.utc_gal[i] = nav->utc_gal[i];
                    for (i = 0; i < 8; i++) svr->nav.ion_qzs[i] = nav->ion_qzs[i];
                    for (i = 0; i < 4; i++) svr->nav.utc_qzs[i] = nav->utc_qzs[i];
                    svr->nav.leaps = nav->leaps;
                }
            svr->nmsg[index][2]++;
        }
    else if (ret == 5)
        { /* antenna postion parameters */
            if (svr->rtk.opt.refpos == 4 && index == 1)
                {
                    for (i = 0; i < 3; i++)
                        {
                            svr->rtk.rb[i] = svr->rtcm[1].sta.pos[i];
                        }
                    /* antenna delta */
                    ecef2pos(svr->rtk.rb, pos);
                    if (svr->rtcm[1].sta.deltype)
                        { /* xyz */
                            del[2] = svr->rtcm[1].sta.hgt;
                            enu2ecef(pos, del, dr);
                            for (i = 0; i < 3; i++)
                                {
                                    svr->rtk.rb[i] += svr->rtcm[1].sta.del[i]+dr[i];
                                }
                        }
                    else
                        { /* enu */
                            enu2ecef(pos, svr->rtcm[1].sta.del, dr);
                            for (i = 0; i < 3; i++)
                                {
                                    svr->rtk.rb[i] += dr[i];
                                }
                        }
                }
            svr->nmsg[index][4]++;
        }
    else if (ret == 7)
        { /* dgps correction */
            svr->nmsg[index][5]++;
        }
    else if (ret == 10)
        { /* ssr message */
            for (i = 0; i < MAXSAT; i++)
                {
                    if (!svr->rtcm[index].ssr[i].update) continue;
                    svr->rtcm[index].ssr[i].update = 0;

                    iode = svr->rtcm[index].ssr[i].iode;
                    sys = satsys(i+1, &prn);

                    /* check corresponding ephemeris exists */
                    if (sys == SYS_GPS || sys == SYS_GAL || sys == SYS_QZS)
                        {
                            if (svr->nav.eph[i].iode != iode &&
                                    svr->nav.eph[i+MAXSAT].iode != iode)
                                {
                                    continue;
                                }
                        }
                    else if (sys == SYS_GLO)
                        {
                            if (svr->nav.geph[prn-1].iode != iode &&
                                    svr->nav.geph[prn-1+MAXPRNGLO].iode != iode)
                                {
                                    continue;
                                }
                        }
                    svr->nav.ssr[i] = svr->rtcm[index].ssr[i];
                }
            svr->nmsg[index][7]++;
        }
    else if (ret == 31)
        { /* lex message */
            // lexupdatecorr(&svr->raw[index].lexmsg, &svr->nav, &tof);
            svr->nmsg[index][8]++;
        }
    else if (ret == -1)
        { /* error */
            svr->nmsg[index][9]++;
        }
}


/* decode receiver raw/rtcm data ---------------------------------------------*/
int decoderaw(rtksvr_t *svr, int index)
{
    obs_t *obs;
    nav_t *nav;
    sbsmsg_t *sbsmsg = NULL;
    int i, ret = 0, sat, fobs = 0;

    tracet(4, "decoderaw: index=%d\n", index);

    rtksvrlock(svr);

    for (i = 0; i < svr->nb[index]; i++)
        {
            /* input rtcm/receiver raw data from stream */
            if (svr->format[index] == STRFMT_RTCM2)
                {
                    ret = input_rtcm2(svr->rtcm+index, svr->buff[index][i]);
                    obs = &svr->rtcm[index].obs;
                    nav = &svr->rtcm[index].nav;
                    sat = svr->rtcm[index].ephsat;
                }
            else if (svr->format[index] == STRFMT_RTCM3)
                {
                    ret = input_rtcm3(svr->rtcm+index, svr->buff[index][i]);
                    obs = &svr->rtcm[index].obs;
                    nav = &svr->rtcm[index].nav;
                    sat = svr->rtcm[index].ephsat;
                }
            else
                {
                    // Disabled !!
                    //ret = input_raw(svr->raw+index, svr->format[index], svr->buff[index][i]);
                    obs = &svr->raw[index].obs;
                    nav = &svr->raw[index].nav;
                    sat = svr->raw[index].ephsat;
                    sbsmsg = &svr->raw[index].sbsmsg;
                }
#if 0 /* record for receiving tick */
            if (ret == 1)
                {
                    trace(0, "%d %10d T=%s NS=%2d\n", index, tickget(),
                            time_str(obs->data[0].time, 0), obs->n);
                }
#endif
            /* update rtk server */
            if (ret > 0) updatesvr(svr, ret, obs, nav, sat, sbsmsg, index, fobs);

            /* observation data received */
            if (ret == 1)
                {
                    if (fobs < MAXOBSBUF) fobs++; else svr->prcout++;
                }
        }
    svr->nb[index] = 0;

    rtksvrunlock(svr);

    return fobs;
}


/* decode download file ------------------------------------------------------*/
void decodefile(rtksvr_t *svr, int index)
{
    pcv_t pcvt0[MAXSAT] = { {0, {'0'}, {'0'}, {0, 0.0}, {0, 0.0}, {{0.0},{0.0}}, {{0.0},{0.0}} } };
    sbsfcorr_t sbsfcorr0 = {{0, 0.0}, 0.0, 0.0, 0.0, 0, 0, 0};
    sbslcorr_t sbslcorr0 = { {0, 0.0}, 0, {0.0}, {0.0}, 0.0, 0.0};
    sbssat_t sbssat0 = {0, 0, 0, { {0, sbsfcorr0, sbslcorr0 } }};
    sbsigp_t sbsigp0[MAXNIGP] = {{{0, 0.0}, 0, 0, 0, 0.0 }};
    sbsion_t sbsion0[MAXBAND+1] = {{0, 0, {*sbsigp0} }};
    dgps_t dgps0[MAXSAT] = { {{0, 0.0}, 0.0, 0.0, 0, 0.0 }};
    ssr_t ssr0[MAXSAT] = {{ {{0, 0.0}}, {0.0}, {0}, 0, 0, 0, 0, {0.0}, {0.0}, {0.0}, 0.0, {0.0}, {0.0}, {0.0}, 0.0, 0.0, '0' }};
    lexeph_t lexeph0[MAXSAT] = {{ {0,0.0}, {0,0.0}, 0, 0, 0, {0.0}, {0.0}, {0.0}, {0.0}, 0.0, 0.0, 0.0, {0.0} }};
    stec_t stec0[MAXSTA] = {{ {0,0.0}, 0, 0.0, 0.0, {0.0}, 0}};
    trop_t trop0[MAXSTA] = {{ {0, 0.0}, {0.0}, {0.0}}};
    pppcorr_t pppcorr0 = {0, {{0},{0}}, {{0.0},{0.0}}, {0}, {0}, {0}, {0}, {stec0}, {trop0} };

    nav_t nav = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
            {0, 0, (erpd_t *){0}}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0},
            {0.0}, {0.0}, {0.0}, {0.0}, 0, {{0.0},{0.0}}, {{0.0},{0.0}}, {{0.0},{0.0},{0.0}},
            {0.0}, {0.0}, '0', {*pcvt0}, sbssat0, {*sbsion0}, {*dgps0},  {*ssr0}, {*lexeph0},
            {{0,0.0}, 0.0, {0.0}, {{0.0},{0.0}} }, pppcorr0} ;

    char file[1024];
    int nb;

    tracet(4, "decodefile: index=%d\n", index);

    rtksvrlock(svr);

    /* check file path completed */
    if ((nb = svr->nb[index]) <= 2 ||
            svr->buff[index][nb-2] != '\r' || svr->buff[index][nb-1] != '\n')
        {
            rtksvrunlock(svr);
            return;
        }
    strncpy(file, (char *)svr->buff[index], nb-2); file[nb-2] = '\0';
    svr->nb[index] = 0;

    rtksvrunlock(svr);

    if (svr->format[index] == STRFMT_SP3) { /* precise ephemeris */

            /* read sp3 precise ephemeris */
            readsp3(file, &nav, 0);
            if (nav.ne <= 0)
                {
                    tracet(1, "sp3 file read error: %s\n", file);
                    return;
                }
            /* update precise ephemeris */
            rtksvrlock(svr);

            if (svr->nav.peph) free(svr->nav.peph);
            svr->nav.ne = svr->nav.nemax = nav.ne;
            svr->nav.peph = nav.peph;
            svr->ftime[index] = utc2gpst(timeget());
            strcpy(svr->files[index], file);

            rtksvrunlock(svr);
    }
    else if (svr->format[index] == STRFMT_RNXCLK) { /* precise clock */

            /* read rinex clock */ // Disabled!!
            if ( 1 /*readrnxc(file, &nav)<=0 */) {
                    tracet(1, "rinex clock file read error: %s\n", file);
                    return;
            }
            /* update precise clock */
            rtksvrlock(svr);

            if (svr->nav.pclk) free(svr->nav.pclk);
            svr->nav.nc = svr->nav.ncmax = nav.nc;
            svr->nav.pclk = nav.pclk;
            svr->ftime[index] = utc2gpst(timeget());
            strcpy(svr->files[index], file);

            rtksvrunlock(svr);
    }
}


/* rtk server thread ---------------------------------------------------------*/
void *rtksvrthread(void *arg)
{
    rtksvr_t *svr = (rtksvr_t *)arg;
    obs_t obs;
    obsd_t data[MAXOBS*2];
    double tt;
    unsigned int tick, ticknmea;
    unsigned char *p, *q;
    int i, j, n, fobs[3] = {0}, cycle, cputime;

    tracet(3, "rtksvrthread:\n");

    svr->state = 1; obs.data = data;
    svr->tick = tickget();
    ticknmea = svr->tick-1000;

    for (cycle = 0;svr->state;cycle++)
        {
            tick = tickget();

            for (i = 0; i < 3; i++)
                {
                    p = svr->buff[i]+svr->nb[i]; q = svr->buff[i]+svr->buffsize;

                    /* read receiver raw/rtcm data from input stream */
                    if ((n = strread(svr->stream+i, p, q-p)) <= 0)
                        {
                            continue;
                        }
                    /* write receiver raw/rtcm data to log stream */
                    strwrite(svr->stream+i+5, p, n);
                    svr->nb[i] += n;

                    /* save peek buffer */
                    rtksvrlock(svr);
                    n = n < svr->buffsize-svr->npb[i] ? n : svr->buffsize-svr->npb[i];
                    memcpy(svr->pbuf[i]+svr->npb[i], p, n);
                    svr->npb[i] += n;
                    rtksvrunlock(svr);
                }
            for (i = 0; i < 3; i++)
                {
                    if (svr->format[i] == STRFMT_SP3 || svr->format[i] == STRFMT_RNXCLK)
                        {
                            /* decode download file */
                            decodefile(svr, i);
                        }
                    else
                        {
                            /* decode receiver raw/rtcm data */
                            fobs[i] = decoderaw(svr, i);
                        }
                }
            for (i = 0; i < fobs[0]; i++)
                { /* for each rover observation data */
                    obs.n = 0;
                    for (j = 0; j < svr->obs[0][i].n && obs.n < MAXOBS*2; j++)
                        {
                            obs.data[obs.n++] = svr->obs[0][i].data[j];
                        }
                    for (j = 0; j < svr->obs[1][0].n && obs.n < MAXOBS*2; j++)
                        {
                            obs.data[obs.n++] = svr->obs[1][0].data[j];
                        }
                    /* rtk positioning */
                    rtksvrlock(svr);
                    rtkpos(&svr->rtk, obs.data, obs.n, &svr->nav);
                    rtksvrunlock(svr);

                    if (svr->rtk.sol.stat != SOLQ_NONE)
                        {
                            /* adjust current time */
                            tt = (int)(tickget()-tick)/1000.0+DTTOL;
                            timeset(gpst2utc(timeadd(svr->rtk.sol.time, tt)));

                            /* write solution */
                            writesol(svr, i);
                        }
                    /* if cpu overload, inclement obs outage counter and break */
                    if ((int)(tickget()-tick) >= svr->cycle)
                        {
                            svr->prcout += fobs[0]-i-1;
#if 0 /* omitted v.2.4.1 */
                            break;
#endif
                        }
                }
            /* send null solution if no solution (1hz) */
            if (svr->rtk.sol.stat == SOLQ_NONE && cycle%(1000/svr->cycle) == 0)
                {
                    writesol(svr, 0);
                }
            /* send nmea request to base/nrtk input stream */
            if (svr->nmeacycle>0 && (int)(tick-ticknmea) >= svr->nmeacycle)
                {
                    if (svr->stream[1].state == 1)
                        {
                            if (svr->nmeareq == 1)
                                {
                                    strsendnmea(svr->stream+1, svr->nmeapos);
                                }
                            else if (svr->nmeareq == 2 && norm_rtk(svr->rtk.sol.rr, 3)>0.0)
                                {
                                    strsendnmea(svr->stream+1, svr->rtk.sol.rr);
                                }
                        }
                    ticknmea = tick;
                }
            if ((cputime = (int)(tickget()-tick))>0) svr->cputime = cputime;

            /* sleep until next cycle */
            sleepms(svr->cycle-cputime);
        }
    for (i = 0; i < MAXSTRRTK; i++) strclose(svr->stream+i);
    for (i = 0; i < 3; i++)
        {
            svr->nb[i] = svr->npb[i] = 0;
            free(svr->buff[i]); svr->buff[i] = NULL;
            free(svr->pbuf[i]); svr->pbuf[i] = NULL;
            //free_raw (svr->raw +i);
            free_rtcm(svr->rtcm+i);
        }
    for (i = 0; i < 2; i++)
        {
            svr->nsb[i] = 0;
            free(svr->sbuf[i]); svr->sbuf[i] = NULL;
        }
    return 0;
}


/* initialize rtk server -------------------------------------------------------
 * initialize rtk server
 * args   : rtksvr_t *svr    IO rtk server
 * return : status (0:error, 1:ok)
 *-----------------------------------------------------------------------------*/
int rtksvrinit(rtksvr_t *svr)
{
    gtime_t time0 = {0, 0.0};
    sol_t  sol0  = {{0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0},
            '0', '0', '0', 0, 0, 0 };
    eph_t  eph0  = {0, -1, -1, 0, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0,0.0},
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
    geph_t geph0 = {0, -1, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0.0}, {0.0}, {0.0},
            0.0, 0.0, 0.0};
    seph_t seph0 = {0, {0,0.0}, {0,0.0}, 0, 0, {0.0}, {0.0}, {0.0}, 0.0, 0.0};
    int i, j;

    tracet(3, "rtksvrinit:\n");

    svr->state = svr->cycle = svr->nmeacycle = svr->nmeareq = 0;
    for (i = 0; i < 3; i++) svr->nmeapos[i] = 0.0;
    svr->buffsize = 0;
    for (i = 0; i < 3; i++) svr->format[i] = 0;
    for (i = 0; i < 2; i++) svr->solopt[i] = solopt_default;
    svr->navsel = svr->nsbs = svr->nsol = 0;
    rtkinit(&svr->rtk, &prcopt_default);
    for (i = 0; i < 3; i++) svr->nb[i] = 0;
    for (i = 0; i < 2; i++) svr->nsb[i] = 0;
    for (i = 0; i < 3; i++) svr->npb[i] = 0;
    for (i = 0; i < 3; i++) svr->buff[i] = NULL;
    for (i = 0; i < 2; i++) svr->sbuf[i] = NULL;
    for (i = 0; i < 3; i++) svr->pbuf[i] = NULL;
    for (i = 0; i < MAXSOLBUF; i++) svr->solbuf[i] = sol0;
    for (i = 0; i < 3; i++) for (j = 0; j < 10; j++) svr->nmsg[i][j] = 0;
    for (i = 0; i < 3; i++) svr->ftime[i] = time0;
    for (i = 0; i < 3; i++) svr->files[i][0] = '\0';
    svr->moni = NULL;
    svr->tick = 0;
    svr->thread = 0;
    svr->cputime = svr->prcout = 0;

    if (!(svr->nav.eph  = (eph_t *)malloc(sizeof(eph_t )*MAXSAT *2)) ||
            !(svr->nav.geph = (geph_t *)malloc(sizeof(geph_t)*NSATGLO*2)) ||
            !(svr->nav.seph = (seph_t *)malloc(sizeof(seph_t)*NSATSBS*2)))
        {
            tracet(1, "rtksvrinit: malloc error\n");
            return 0;
        }
    for (i = 0; i < MAXSAT *2; i++) svr->nav.eph [i] = eph0;
    for (i = 0; i < NSATGLO*2; i++) svr->nav.geph[i] = geph0;
    for (i = 0; i < NSATSBS*2; i++) svr->nav.seph[i] = seph0;
    svr->nav.n  = MAXSAT *2;
    svr->nav.ng = NSATGLO*2;
    svr->nav.ns = NSATSBS*2;

    for (i = 0; i < 3; i++) for (j = 0; j < MAXOBSBUF; j++)
        {
            if (!(svr->obs[i][j].data = (obsd_t *)malloc(sizeof(obsd_t)*MAXOBS)))
                {
                    tracet(1, "rtksvrinit: malloc error\n");
                    return 0;
                }
        }
    for (i = 0; i < 3; i++)
        {
            memset(svr->raw +i, 0, sizeof(raw_t ));
            memset(svr->rtcm+i, 0, sizeof(rtcm_t));
        }
    for (i = 0; i < MAXSTRRTK; i++) strinit(svr->stream+i);

    initlock(&svr->lock);

    return 1;
}


/* free rtk server -------------------------------------------------------------
 * free rtk server
 * args   : rtksvr_t *svr    IO rtk server
 * return : none
 *-----------------------------------------------------------------------------*/
void rtksvrfree(rtksvr_t *svr)
{
    int i, j;

    free(svr->nav.eph );
    free(svr->nav.geph);
    free(svr->nav.seph);
    for (i = 0; i < 3; i++) for (j = 0; j < MAXOBSBUF; j++)
        {
            free(svr->obs[i][j].data);
        }
}


/* lock/unlock rtk server ------------------------------------------------------
 * lock/unlock rtk server
 * args   : rtksvr_t *svr    IO rtk server
 * return : status (1:ok 0:error)
 *-----------------------------------------------------------------------------*/
void rtksvrlock  (rtksvr_t *svr) {rtk_lock  (&svr->lock);}


void rtksvrunlock(rtksvr_t *svr) {rtk_unlock(&svr->lock);}


/* start rtk server ------------------------------------------------------------
 * start rtk server thread
 * args   : rtksvr_t *svr    IO rtk server
 *          int     cycle    I  server cycle (ms)
 *          int     buffsize I  input buffer size (bytes)
 *          int     *strs    I  stream types (STR_???)
 *                              types[0]=input stream rover
 *                              types[1]=input stream base station
 *                              types[2]=input stream correction
 *                              types[3]=output stream solution 1
 *                              types[4]=output stream solution 2
 *                              types[5]=log stream rover
 *                              types[6]=log stream base station
 *                              types[7]=log stream correction
 *          char    *paths   I  input stream paths
 *          int     *format  I  input stream formats (STRFMT_???)
 *                              format[0]=input stream rover
 *                              format[1]=input stream base station
 *                              format[2]=input stream correction
 *          int     navsel   I  navigation message select
 *                              (0:rover, 1:base, 2:ephem, 3:all)
 *          char    **cmds   I  input stream start commands
 *                              cmds[0]=input stream rover (NULL: no command)
 *                              cmds[1]=input stream base (NULL: no command)
 *                              cmds[2]=input stream corr (NULL: no command)
 *          char    **rcvopts I receiver options
 *                              rcvopt[0]=receiver option rover
 *                              rcvopt[1]=receiver option base
 *                              rcvopt[2]=receiver option corr
 *          int     nmeacycle I nmea request cycle (ms) (0:no request)
 *          int     nmeareq  I  nmea request type (0:no, 1:base pos, 2:single sol)
 *          double *nmeapos  I  transmitted nmea position (ecef) (m)
 *          prcopt_t *prcopt I  rtk processing options
 *          solopt_t *solopt I  solution options
 *                              solopt[0]=solution 1 options
 *                              solopt[1]=solution 2 options
 *          stream_t *moni   I  monitor stream (NULL: not used)
 * return : status (1:ok 0:error)
 *-----------------------------------------------------------------------------*/
int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs,
        char **paths, int *formats, int navsel, char **cmds,
        char **rcvopts, int nmeacycle, int nmeareq,
        const double *nmeapos, prcopt_t *prcopt,
        solopt_t *solopt, stream_t *moni)
{
    gtime_t time, time0 = {0, 0.0};
    int i, j, rw;

    tracet(3, "rtksvrstart: cycle=%d buffsize=%d navsel=%d nmeacycle=%d nmeareq=%d\n",
            cycle, buffsize, navsel, nmeacycle, nmeareq);

    if (svr->state) return 0;

    strinitcom();
    svr->cycle = cycle > 1 ? cycle : 1;
    svr->nmeacycle = nmeacycle > 1000 ? nmeacycle : 1000;
    svr->nmeareq = nmeareq;
    for (i = 0; i < 3; i++) svr->nmeapos[i] = nmeapos[i];
    svr->buffsize = buffsize > 4096 ? buffsize : 4096;
    for (i = 0; i < 3; i++) svr->format[i] = formats[i];
    svr->navsel = navsel;
    svr->nsbs = 0;
    svr->nsol = 0;
    svr->prcout = 0;
    rtkfree(&svr->rtk);
    rtkinit(&svr->rtk, prcopt);

    for (i = 0; i < 3; i++)
        { /* input/log streams */
            svr->nb[i] = svr->npb[i] = 0;
            if (!(svr->buff[i] = (unsigned char *)malloc(buffsize)) ||
                    !(svr->pbuf[i] = (unsigned char *)malloc(buffsize)))
                {
                    tracet(1, "rtksvrstart: malloc error\n");
                    return 0;
                }
            for (j = 0; j < 10; j++) svr->nmsg[i][j] = 0;
            for (j = 0; j < MAXOBSBUF; j++) svr->obs[i][j].n = 0;

            /* initialize receiver raw and rtcm control */
            //init_raw (svr->raw +i);
            init_rtcm(svr->rtcm+i);

            /* set receiver and rtcm option */
            if(strlen(rcvopts[i]) < 256 ) strcpy(svr->raw [i].opt, rcvopts[i]);
            if(strlen(rcvopts[i]) < 256 ) strcpy(svr->rtcm[i].opt, rcvopts[i]);

            /* connect dgps corrections */
            svr->rtcm[i].dgps = svr->nav.dgps;
        }
    for (i = 0; i < 2; i++)
        { /* output peek buffer */
            if (!(svr->sbuf[i] = (unsigned char *)malloc(buffsize)))
                {
                    tracet(1, "rtksvrstart: malloc error\n");
                    return 0;
                }
        }
    /* set solution options */
    for (i = 0; i < 2; i++)
        {
            svr->solopt[i] = solopt[i];
        }
    /* set base station position */
    for (i = 0; i < 6; i++)
        {
            svr->rtk.rb[i] = i < 3 ? prcopt->rb[i] : 0.0;
        }
    /* update navigation data */
    for (i = 0; i < MAXSAT *2; i++) svr->nav.eph [i].ttr = time0;
    for (i = 0; i < NSATGLO*2; i++) svr->nav.geph[i].tof = time0;
    for (i = 0; i < NSATSBS*2; i++) svr->nav.seph[i].tof = time0;
    updatenav(&svr->nav);

    /* set monitor stream */
    svr->moni = moni;

    /* open input streams */
    for (i = 0; i < 8; i++)
        {
            rw = i < 3 ? STR_MODE_R : STR_MODE_W;
            if (strs[i] != STR_FILE) rw |= STR_MODE_W;
            if (!stropen(svr->stream+i, strs[i], rw, paths[i]))
                {
                    for (i--; i >= 0; i--) strclose(svr->stream+i);
                    return 0;
                }
            /* set initial time for rtcm and raw */
            if (i < 3)
                {
                    time = utc2gpst(timeget());
                    svr->raw [i].time = strs[i] == STR_FILE ? strgettime(svr->stream+i) : time;
                    svr->rtcm[i].time = strs[i] == STR_FILE ? strgettime(svr->stream+i) : time;
                }
        }
    /* sync input streams */
    strsync(svr->stream, svr->stream+1);
    strsync(svr->stream, svr->stream+2);

    /* write start commands to input streams */
    for (i = 0; i < 3; i++)
        {
            if (cmds[i]) strsendcmd(svr->stream+i, cmds[i]);
        }
    /* write solution header to solution streams */
    for (i = 3; i < 5; i++)
        {
            writesolhead(svr->stream+i, svr->solopt+i-3);
        }
    /* create rtk server thread */
    if (pthread_create(&svr->thread, NULL, rtksvrthread, svr))
        {
            for (i = 0; i < MAXSTRRTK; i++) strclose(svr->stream+i);
            return 0;
        }
    return 1;
}


/* stop rtk server -------------------------------------------------------------
 * start rtk server thread
 * args   : rtksvr_t *svr    IO rtk server
 *          char    **cmds   I  input stream stop commands
 *                              cmds[0]=input stream rover (NULL: no command)
 *                              cmds[1]=input stream base  (NULL: no command)
 *                              cmds[2]=input stream ephem (NULL: no command)
 * return : none
 *-----------------------------------------------------------------------------*/
void rtksvrstop(rtksvr_t *svr, char **cmds)
{
    int i;

    tracet(3, "rtksvrstop:\n");

    /* write stop commands to input streams */
    rtksvrlock(svr);
    for (i = 0; i < 3; i++)
        {
            if (cmds[i]) strsendcmd(svr->stream+i, cmds[i]);
        }
    rtksvrunlock(svr);

    /* stop rtk server */
    svr->state = 0;

    /* free rtk server thread */
    pthread_join(svr->thread, NULL);
}


/* open output/log stream ------------------------------------------------------
 * open output/log stream
 * args   : rtksvr_t *svr    IO rtk server
 *          int     index    I  output/log stream index
 *                              (3:solution 1, 4:solution 2, 5:log rover,
 *                               6:log base station, 7:log correction)
 *          int     str      I  output/log stream types (STR_???)
 *          char    *path    I  output/log stream path
 *          solopt_t *solopt I  solution options
 * return : status (1:ok 0:error)
 *-----------------------------------------------------------------------------*/
int rtksvropenstr(rtksvr_t *svr, int index, int str, const char *path,
        const solopt_t *solopt)
{
    tracet(3, "rtksvropenstr: index=%d str=%d path=%s\n", index, str, path);

    if (index < 3 || index > 7 || !svr->state) return 0;

    rtksvrlock(svr);

    if (svr->stream[index].state>0)
        {
            rtksvrunlock(svr);
            return 0;
        }
    if (!stropen(svr->stream+index, str, STR_MODE_W, path))
        {
            tracet(2, "stream open error: index=%d\n", index);
            rtksvrunlock(svr);
            return 0;
        }
    if (index <= 4)
        {
            svr->solopt[index-3] = *solopt;

            /* write solution header to solution stream */
            writesolhead(svr->stream+index, svr->solopt+index-3);
        }
    rtksvrunlock(svr);
    return 1;
}


/* close output/log stream -----------------------------------------------------
 * close output/log stream
 * args   : rtksvr_t *svr    IO rtk server
 *          int     index    I  output/log stream index
 *                              (3:solution 1, 4:solution 2, 5:log rover,
 *                               6:log base station, 7:log correction)
 * return : none
 *-----------------------------------------------------------------------------*/
void rtksvrclosestr(rtksvr_t *svr, int index)
{
    tracet(3, "rtksvrclosestr: index=%d\n", index);

    if (index < 3 || index>7 || !svr->state) return;

    rtksvrlock(svr);

    strclose(svr->stream+index);

    rtksvrunlock(svr);
}


/* get observation data status -------------------------------------------------
 * get current observation data status
 * args   : rtksvr_t *svr    I  rtk server
 *          int     rcv      I  receiver (0:rover, 1:base, 2:ephem)
 *          gtime_t *time    O  time of observation data
 *          int     *sat     O  satellite prn numbers
 *          double  *az      O  satellite azimuth angles (rad)
 *          double  *el      O  satellite elevation angles (rad)
 *          int     **snr    O  satellite snr for each freq (dBHz)
 *                              snr[i][j] = sat i freq j snr
 *          int     *vsat    O  valid satellite flag
 * return : number of satellites
 *-----------------------------------------------------------------------------*/
int rtksvrostat(rtksvr_t *svr, int rcv, gtime_t *time, int *sat,
        double *az, double *el, int **snr, int *vsat)
{
    int i, j, ns;

    tracet(4, "rtksvrostat: rcv=%d\n", rcv);

    if (!svr->state) return 0;
    rtksvrlock(svr);
    ns = svr->obs[rcv][0].n;
    if (ns>0)
        {
            *time = svr->obs[rcv][0].data[0].time;
        }
    for (i = 0; i < ns; i++)
        {
            sat [i] = svr->obs[rcv][0].data[i].sat;
            az  [i] = svr->rtk.ssat[sat[i]-1].azel[0];
            el  [i] = svr->rtk.ssat[sat[i]-1].azel[1];
            for (j = 0; j < NFREQ; j++)
                {
                    snr[i][j] = (int)(svr->obs[rcv][0].data[i].SNR[j]*0.25);
                }
            if (svr->rtk.sol.stat == SOLQ_NONE || svr->rtk.sol.stat ==  SOLQ_SINGLE)
                {
                    vsat[i] = svr->rtk.ssat[sat[i]-1].vs;
                }
            else
                {
                    vsat[i] = svr->rtk.ssat[sat[i]-1].vsat[0];
                }
        }
    rtksvrunlock(svr);
    return ns;
}


/* get stream status -----------------------------------------------------------
 * get current stream status
 * args   : rtksvr_t *svr    I  rtk server
 *          int     *sstat   O  status of streams
 *          char    *msg     O  status messages
 * return : none
 *-----------------------------------------------------------------------------*/
void rtksvrsstat(rtksvr_t *svr, int *sstat, char *msg)
{
    int i;
    char s[MAXSTRMSG], *p = msg;

    tracet(4, "rtksvrsstat:\n");

    rtksvrlock(svr);
    for (i = 0; i < MAXSTRRTK; i++)
        {
            sstat[i] = strstat(svr->stream+i, s);
            if (*s) p += sprintf(p, "(%d) %s ", i+1, s);
        }
    rtksvrunlock(svr);
}