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Merge branch 'next' of https://github.com/carlesfernandez/gnss-sdr into next

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Carles Fernandez 2019-08-25 17:15:06 +02:00
commit 4bb21372d9
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4 changed files with 96 additions and 76 deletions
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141
src/algorithms/libs/rtklib/rtklib_solution.cc
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@ -1468,6 +1468,8 @@ int outpos(unsigned char *buff, const char *s, const sol_t *sol,
double Q[9]; double Q[9];
const char *sep = opt2sep(opt); const char *sep = opt2sep(opt);
char *p = reinterpret_cast<char *>(buff); char *p = reinterpret_cast<char *>(buff);
char *start;
start = p;
trace(3, "outpos :\n"); trace(3, "outpos :\n");
@ -1482,15 +1484,15 @@ int outpos(unsigned char *buff, const char *s, const sol_t *sol,
{ {
deg2dms(pos[0] * R2D, dms1); deg2dms(pos[0] * R2D, dms1);
deg2dms(pos[1] * R2D, dms2); deg2dms(pos[1] * R2D, dms2);
p += std::snprintf(p, MAXSOLMSG, "%s%s%4.0f%s%02.0f%s%08.5f%s%4.0f%s%02.0f%s%08.5f", s, sep, p += std::snprintf(p, MAXSOLMSG - (p - start), "%s%s%4.0f%s%02.0f%s%08.5f%s%4.0f%s%02.0f%s%08.5f", s, sep,
dms1[0], sep, dms1[1], sep, dms1[2], sep, dms2[0], sep, dms2[1], sep, dms1[0], sep, dms1[1], sep, dms1[2], sep, dms2[0], sep, dms2[1], sep,
dms2[2]); dms2[2]);
} }
else else
{ {
p += std::snprintf(p, MAXSOLMSG, "%s%s%14.9f%s%14.9f", s, sep, pos[0] * R2D, sep, pos[1] * R2D); p += std::snprintf(p, MAXSOLMSG - (p - start), "%s%s%14.9f%s%14.9f", s, sep, pos[0] * R2D, sep, pos[1] * R2D);
} }
p += std::snprintf(p, MAXSOLMSG, "%s%10.4f%s%3d%s%3d%s%8.4f%s%8.4f%s%8.4f%s%8.4f%s%8.4f%s%8.4f%s%6.2f%s%6.1f\n", p += std::snprintf(p, MAXSOLMSG - (p - start), "%s%10.4f%s%3d%s%3d%s%8.4f%s%8.4f%s%8.4f%s%8.4f%s%8.4f%s%8.4f%s%6.2f%s%6.1f\n",
sep, pos[2], sep, sol->stat, sep, sol->ns, sep, SQRT_SOL(Q[4]), sep, sep, pos[2], sep, sol->stat, sep, sol->ns, sep, SQRT_SOL(Q[4]), sep,
SQRT_SOL(Q[0]), sep, SQRT_SOL(Q[8]), sep, sqvar(Q[1]), sep, sqvar(Q[2]), SQRT_SOL(Q[0]), sep, SQRT_SOL(Q[8]), sep, sqvar(Q[1]), sep, sqvar(Q[2]),
sep, sqvar(Q[5]), sep, sol->age, sep, sol->ratio); sep, sqvar(Q[5]), sep, sol->age, sep, sol->ratio);
@ -1546,17 +1548,18 @@ int outnmea_rmc(unsigned char *buff, const sol_t *sol)
char *q; char *q;
char sum; char sum;
char *emag = const_cast<char *>("E"); char *emag = const_cast<char *>("E");
const int MSG_TAIL = 6;
trace(3, "outnmea_rmc:\n"); trace(3, "outnmea_rmc:\n");
if (sol->stat <= SOLQ_NONE) if (sol->stat <= SOLQ_NONE)
{ {
p += std::snprintf(p, MAXSOLBUF, "$GPRMC,,,,,,,,,,,,"); p += std::snprintf(p, MAXSOLBUF - MSG_TAIL, "$GPRMC,,,,,,,,,,,,");
for (q = reinterpret_cast<char *>(buff) + 1, sum = 0; *q; q++) for (q = reinterpret_cast<char *>(buff) + 1, sum = 0; *q; q++)
{ {
sum ^= *q; sum ^= *q;
} }
p += std::snprintf(p, MAXSOLBUF, "*%02X%c%c", sum, 0x0D, 0x0A); p += std::snprintf(p, MSG_TAIL, "*%02X%c%c", sum, 0x0D, 0x0A);
return p - reinterpret_cast<char *>(buff); return p - reinterpret_cast<char *>(buff);
} }
time = gpst2utc(sol->time); time = gpst2utc(sol->time);
@ -1584,7 +1587,7 @@ int outnmea_rmc(unsigned char *buff, const sol_t *sol)
} }
deg2dms(fabs(pos[0]) * R2D, dms1); deg2dms(fabs(pos[0]) * R2D, dms1);
deg2dms(fabs(pos[1]) * R2D, dms2); deg2dms(fabs(pos[1]) * R2D, dms2);
p += std::snprintf(p, MAXSOLBUF, "$GPRMC,%02.0f%02.0f%05.2f,A,%02.0f%010.7f,%s,%03.0f%010.7f,%s,%4.2f,%4.2f,%02.0f%02.0f%02d,%.1f,%s,%s", p += std::snprintf(p, MAXSOLBUF - MSG_TAIL, "$GPRMC,%02.0f%02.0f%05.2f,A,%02.0f%010.7f,%s,%03.0f%010.7f,%s,%4.2f,%4.2f,%02.0f%02.0f%02d,%.1f,%s,%s",
ep[3], ep[4], ep[5], dms1[0], dms1[1] + dms1[2] / 60.0, pos[0] >= 0 ? "N" : "S", ep[3], ep[4], ep[5], dms1[0], dms1[1] + dms1[2] / 60.0, pos[0] >= 0 ? "N" : "S",
dms2[0], dms2[1] + dms2[2] / 60.0, pos[1] >= 0 ? "E" : "W", vel / KNOT2M, dir, dms2[0], dms2[1] + dms2[2] / 60.0, pos[1] >= 0 ? "E" : "W", vel / KNOT2M, dir,
ep[2], ep[1], static_cast<int>(ep[0]) % 100, amag, emag, ep[2], ep[1], static_cast<int>(ep[0]) % 100, amag, emag,
@ -1593,7 +1596,7 @@ int outnmea_rmc(unsigned char *buff, const sol_t *sol)
{ {
sum ^= *q; /* check-sum */ sum ^= *q; /* check-sum */
} }
p += std::snprintf(p, MAXSOLBUF, "*%02X%c%c", sum, 0x0D, 0x0A); p += std::snprintf(p, MSG_TAIL, "*%02X%c%c", sum, 0x0D, 0x0A);
return p - reinterpret_cast<char *>(buff); return p - reinterpret_cast<char *>(buff);
} }
@ -1612,17 +1615,18 @@ int outnmea_gga(unsigned char *buff, const sol_t *sol)
char *p = reinterpret_cast<char *>(buff); char *p = reinterpret_cast<char *>(buff);
char *q; char *q;
char sum; char sum;
const int MSG_TAIL = 6;
trace(3, "outnmea_gga:\n"); trace(3, "outnmea_gga:\n");
if (sol->stat <= SOLQ_NONE) if (sol->stat <= SOLQ_NONE)
{ {
p += std::snprintf(p, MAXSOLBUF, "$GPGGA,,,,,,,,,,,,,,"); p += std::snprintf(p, MAXSOLBUF - MSG_TAIL, "$GPGGA,,,,,,,,,,,,,,");
for (q = reinterpret_cast<char *>(buff) + 1, sum = 0; *q; q++) for (q = reinterpret_cast<char *>(buff) + 1, sum = 0; *q; q++)
{ {
sum ^= *q; sum ^= *q;
} }
p += std::snprintf(p, MAXSOLBUF, "*%02X%c%c", sum, 0x0D, 0x0A); p += std::snprintf(p, MSG_TAIL, "*%02X%c%c", sum, 0x0D, 0x0A);
return p - reinterpret_cast<char *>(buff); return p - reinterpret_cast<char *>(buff);
} }
for (solq = 0; solq < 8; solq++) for (solq = 0; solq < 8; solq++)
@ -1647,7 +1651,7 @@ int outnmea_gga(unsigned char *buff, const sol_t *sol)
h = 0; // geoidh(pos); h = 0; // geoidh(pos);
deg2dms(fabs(pos[0]) * R2D, dms1); deg2dms(fabs(pos[0]) * R2D, dms1);
deg2dms(fabs(pos[1]) * R2D, dms2); deg2dms(fabs(pos[1]) * R2D, dms2);
p += std::snprintf(p, MAXSOLBUF, "$GPGGA,%02.0f%02.0f%05.2f,%02.0f%010.7f,%s,%03.0f%010.7f,%s,%d,%02d,%.1f,%.3f,M,%.3f,M,%.1f,", p += std::snprintf(p, MAXSOLBUF - MSG_TAIL, "$GPGGA,%02.0f%02.0f%05.2f,%02.0f%010.7f,%s,%03.0f%010.7f,%s,%d,%02d,%.1f,%.3f,M,%.3f,M,%.1f,",
ep[3], ep[4], ep[5], dms1[0], dms1[1] + dms1[2] / 60.0, pos[0] >= 0 ? "N" : "S", ep[3], ep[4], ep[5], dms1[0], dms1[1] + dms1[2] / 60.0, pos[0] >= 0 ? "N" : "S",
dms2[0], dms2[1] + dms2[2] / 60.0, pos[1] >= 0 ? "E" : "W", solq, dms2[0], dms2[1] + dms2[2] / 60.0, pos[1] >= 0 ? "E" : "W", solq,
sol->ns, dop, pos[2] - h, h, sol->age); sol->ns, dop, pos[2] - h, h, sol->age);
@ -1655,7 +1659,7 @@ int outnmea_gga(unsigned char *buff, const sol_t *sol)
{ {
sum ^= *q; /* check-sum */ sum ^= *q; /* check-sum */
} }
p += std::snprintf(p, MAXSOLBUF, "*%02X%c%c", sum, 0x0D, 0x0A); p += std::snprintf(p, MSG_TAIL, "*%02X%c%c", sum, 0x0D, 0x0A);
return p - reinterpret_cast<char *>(buff); return p - reinterpret_cast<char *>(buff);
} }
@ -1675,17 +1679,20 @@ int outnmea_gsa(unsigned char *buff, const sol_t *sol,
char *q; char *q;
char *s; char *s;
char sum; char sum;
const int MSG_TAIL = 6;
const int COMMA_LENGTH = 2;
const int MAX_LENGTH_INT = 10;
trace(3, "outnmea_gsa:\n"); trace(3, "outnmea_gsa:\n");
if (sol->stat <= SOLQ_NONE) if (sol->stat <= SOLQ_NONE)
{ {
p += std::snprintf(p, MAXSOLBUF, "$GPGSA,A,1,,,,,,,,,,,,,,,"); p += std::snprintf(p, MAXSOLBUF - MSG_TAIL, "$GPGSA,A,1,,,,,,,,,,,,,,,");
for (q = reinterpret_cast<char *>(buff) + 1, sum = 0; *q; q++) for (q = reinterpret_cast<char *>(buff) + 1, sum = 0; *q; q++)
{ {
sum ^= *q; sum ^= *q;
} }
p += std::snprintf(p, MAXSOLBUF, "*%02X%c%c", sum, 0x0D, 0x0A); p += std::snprintf(p, MSG_TAIL, "*%02X%c%c", sum, 0x0D, 0x0A);
return p - reinterpret_cast<char *>(buff); return p - reinterpret_cast<char *>(buff);
} }
@ -1719,20 +1726,20 @@ int outnmea_gsa(unsigned char *buff, const sol_t *sol,
{ {
if (i < nsat) if (i < nsat)
{ {
p += std::snprintf(p, MAXSOLBUF, ",%02d", prn[i]); p += std::snprintf(p, MAX_LENGTH_INT + 2, ",%02d", prn[i]);
} }
else else
{ {
p += std::snprintf(p, MAXSOLBUF, ","); p += std::snprintf(p, COMMA_LENGTH, ",");
} }
} }
dops(nsat, azel, 0.0, dop); dops(nsat, azel, 0.0, dop);
p += std::snprintf(p, MAXSOLBUF, ",%3.1f,%3.1f,%3.1f,1", dop[1], dop[2], dop[3]); p += std::snprintf(p, MAXSOLBUF - (p - s), ",%3.1f,%3.1f,%3.1f,1", dop[1], dop[2], dop[3]);
for (q = s + 1, sum = 0; *q; q++) for (q = s + 1, sum = 0; *q; q++)
{ {
sum ^= *q; /* check-sum */ sum ^= *q; /* check-sum */
} }
p += std::snprintf(p, MAXSOLBUF, "*%02X%c%c", sum, 0x0D, 0x0A); p += std::snprintf(p, MSG_TAIL, "*%02X%c%c", sum, 0x0D, 0x0A);
} }
/* GLGSA: glonass */ /* GLGSA: glonass */
for (sat = 1, nsat = 0; sat <= MAXSAT && nsat < 12; sat++) for (sat = 1, nsat = 0; sat <= MAXSAT && nsat < 12; sat++)
@ -1754,25 +1761,26 @@ int outnmea_gsa(unsigned char *buff, const sol_t *sol,
if (nsat > 0) if (nsat > 0)
{ {
s = p; s = p;
p += std::snprintf(p, MAXSOLBUF, "$GLGSA,A,%d", sol->stat <= 0 ? 1 : 3); const int GLGSA_LENGTH = 11;
p += std::snprintf(p, GLGSA_LENGTH, "$GLGSA,A,%d", sol->stat <= 0 ? 1 : 3);
for (i = 0; i < 12; i++) for (i = 0; i < 12; i++)
{ {
if (i < nsat) if (i < nsat)
{ {
p += std::snprintf(p, MAXSOLBUF, ",%02d", prn[i] + 64); p += std::snprintf(p, MAX_LENGTH_INT + 2, ",%02d", prn[i] + 64);
} }
else else
{ {
p += std::snprintf(p, MAXSOLBUF, ","); p += std::snprintf(p, COMMA_LENGTH, ",");
} }
} }
dops(nsat, azel, 0.0, dop); dops(nsat, azel, 0.0, dop);
p += std::snprintf(p, MAXSOLBUF, ",%3.1f,%3.1f,%3.1f,2", dop[1], dop[2], dop[3]); p += std::snprintf(p, MAXSOLBUF - (p - s), ",%3.1f,%3.1f,%3.1f,2", dop[1], dop[2], dop[3]);
for (q = s + 1, sum = 0; *q; q++) for (q = s + 1, sum = 0; *q; q++)
{ {
sum ^= *q; /* check-sum */ sum ^= *q; /* check-sum */
} }
p += std::snprintf(p, MAXSOLBUF, "*%02X%c%c", sum, 0x0D, 0x0A); p += std::snprintf(p, MSG_TAIL, "*%02X%c%c", sum, 0x0D, 0x0A);
} }
/* GAGSA: galileo */ /* GAGSA: galileo */
for (sat = 1, nsat = 0; sat <= MAXSAT && nsat < 12; sat++) for (sat = 1, nsat = 0; sat <= MAXSAT && nsat < 12; sat++)
@ -1799,20 +1807,20 @@ int outnmea_gsa(unsigned char *buff, const sol_t *sol,
{ {
if (i < nsat) if (i < nsat)
{ {
p += std::snprintf(p, MAXSOLBUF, ",%02d", prn[i]); p += std::snprintf(p, MAX_LENGTH_INT + 2, ",%02d", prn[i]);
} }
else else
{ {
p += std::snprintf(p, MAXSOLBUF, ","); p += std::snprintf(p, COMMA_LENGTH, ",");
} }
} }
dops(nsat, azel, 0.0, dop); dops(nsat, azel, 0.0, dop);
p += std::snprintf(p, MAXSOLBUF, ",%3.1f,%3.1f,%3.1f,3", dop[1], dop[2], dop[3]); p += std::snprintf(p, MAXSOLBUF - (p - s), ",%3.1f,%3.1f,%3.1f,3", dop[1], dop[2], dop[3]);
for (q = s + 1, sum = 0; *q; q++) for (q = s + 1, sum = 0; *q; q++)
{ {
sum ^= *q; /* check-sum */ sum ^= *q; /* check-sum */
} }
p += std::snprintf(p, MAXSOLBUF, "*%02X%c%c", sum, 0x0D, 0x0A); p += std::snprintf(p, MSG_TAIL, "*%02X%c%c", sum, 0x0D, 0x0A);
} }
return p - reinterpret_cast<char *>(buff); return p - reinterpret_cast<char *>(buff);
} }
@ -1838,6 +1846,7 @@ int outnmea_gsv(unsigned char *buff, const sol_t *sol,
char *q; char *q;
char *s; char *s;
char sum; char sum;
const int MSG_TAIL = 6;
trace(3, "outnmea_gsv:\n"); trace(3, "outnmea_gsv:\n");
@ -1848,7 +1857,7 @@ int outnmea_gsv(unsigned char *buff, const sol_t *sol,
{ {
sum ^= *q; sum ^= *q;
} }
p += std::snprintf(p, MAXSOLBUF, "*%02X%c%c", sum, 0x0D, 0x0A); p += std::snprintf(p, MSG_TAIL, "*%02X%c%c", sum, 0x0D, 0x0A);
return p - reinterpret_cast<char *>(buff); return p - reinterpret_cast<char *>(buff);
} }
/* GPGSV: gps/sbas */ /* GPGSV: gps/sbas */
@ -1886,19 +1895,19 @@ int outnmea_gsv(unsigned char *buff, const sol_t *sol,
} }
el = ssat[sats[k] - 1].azel[1] * R2D; el = ssat[sats[k] - 1].azel[1] * R2D;
snr = ssat[sats[k] - 1].snr[0] * 0.25; snr = ssat[sats[k] - 1].snr[0] * 0.25;
p += std::snprintf(p, MAXSOLBUF, ",%02d,%02.0f,%03.0f,%02.0f", prn, el, az, snr); p += std::snprintf(p, MAXSOLBUF - (s - p), ",%02d,%02.0f,%03.0f,%02.0f", prn, el, az, snr);
} }
else else
{ {
p += std::snprintf(p, MAXSOLBUF, ",,,,"); p += std::snprintf(p, MAXSOLBUF - (s - p), ",,,,");
} }
} }
p += std::snprintf(p, MAXSOLBUF, ",1"); /* L1C/A */ p += std::snprintf(p, MAXSOLBUF - (s - p), ",1"); /* L1C/A */
for (q = s + 1, sum = 0; *q; q++) for (q = s + 1, sum = 0; *q; q++)
{ {
sum ^= *q; /* check-sum */ sum ^= *q; /* check-sum */
} }
p += std::snprintf(p, MAXSOLBUF, "*%02X%c%c", sum, 0x0D, 0x0A); p += std::snprintf(p, MSG_TAIL, "*%02X%c%c", sum, 0x0D, 0x0A);
} }
/* GLGSV: glonass */ /* GLGSV: glonass */
for (sat = 1, n = 0; sat < MAXSAT && n < 12; sat++) for (sat = 1, n = 0; sat < MAXSAT && n < 12; sat++)
@ -1932,19 +1941,19 @@ int outnmea_gsv(unsigned char *buff, const sol_t *sol,
} }
el = ssat[sats[k] - 1].azel[1] * R2D; el = ssat[sats[k] - 1].azel[1] * R2D;
snr = ssat[sats[k] - 1].snr[0] * 0.25; snr = ssat[sats[k] - 1].snr[0] * 0.25;
p += std::snprintf(p, MAXSOLBUF, ",%02d,%02.0f,%03.0f,%02.0f", prn, el, az, snr); p += std::snprintf(p, MAXSOLBUF - (s - p), ",%02d,%02.0f,%03.0f,%02.0f", prn, el, az, snr);
} }
else else
{ {
p += std::snprintf(p, MAXSOLBUF, ",,,,"); p += std::snprintf(p, MAXSOLBUF - (s - p), ",,,,");
} }
} }
p += std::snprintf(p, MAXSOLBUF, ",1"); /* L1C/A */ p += std::snprintf(p, MAXSOLBUF - (s - p), ",1"); /* L1C/A */
for (q = s + 1, sum = 0; *q; q++) for (q = s + 1, sum = 0; *q; q++)
{ {
sum ^= *q; /* check-sum */ sum ^= *q; /* check-sum */
} }
p += std::snprintf(p, MAXSOLBUF, "*%02X%c%c", sum, 0x0D, 0x0A); p += std::snprintf(p, MSG_TAIL, "*%02X%c%c", sum, 0x0D, 0x0A);
} }
/* GAGSV: galileo */ /* GAGSV: galileo */
for (sat = 1, n = 0; sat < MAXSAT && n < 12; sat++) for (sat = 1, n = 0; sat < MAXSAT && n < 12; sat++)
@ -1977,19 +1986,19 @@ int outnmea_gsv(unsigned char *buff, const sol_t *sol,
} }
el = ssat[sats[k] - 1].azel[1] * R2D; el = ssat[sats[k] - 1].azel[1] * R2D;
snr = ssat[sats[k] - 1].snr[0] * 0.25; snr = ssat[sats[k] - 1].snr[0] * 0.25;
p += std::snprintf(p, MAXSOLBUF, ",%02d,%02.0f,%03.0f,%02.0f", prn, el, az, snr); p += std::snprintf(p, MAXSOLBUF - (s - p), ",%02d,%02.0f,%03.0f,%02.0f", prn, el, az, snr);
} }
else else
{ {
p += std::snprintf(p, MAXSOLBUF, ",,,,"); p += std::snprintf(p, MAXSOLBUF - (s - p), ",,,,");
} }
} }
p += std::snprintf(p, MAXSOLBUF, ",7"); /* L1BC */ p += std::snprintf(p, MAXSOLBUF - (s - p), ",7"); /* L1BC */
for (q = s + 1, sum = 0; *q; q++) for (q = s + 1, sum = 0; *q; q++)
{ {
sum ^= *q; /* check-sum */ sum ^= *q; /* check-sum */
} }
p += std::snprintf(p, MAXSOLBUF, "*%02X%c%c", sum, 0x0D, 0x0A); p += std::snprintf(p, MSG_TAIL, "*%02X%c%c", sum, 0x0D, 0x0A);
} }
return p - reinterpret_cast<char *>(buff); return p - reinterpret_cast<char *>(buff);
} }
@ -2019,6 +2028,8 @@ int outprcopts(unsigned char *buff, const prcopt_t *opt)
const char *s9[] = {"off", "on", "auto calib", "external calib", ""}; const char *s9[] = {"off", "on", "auto calib", "external calib", ""};
int i; int i;
char *p = reinterpret_cast<char *>(buff); char *p = reinterpret_cast<char *>(buff);
char *s;
s = p;
trace(3, "outprcopts:\n"); trace(3, "outprcopts:\n");
@ -2026,51 +2037,51 @@ int outprcopts(unsigned char *buff, const prcopt_t *opt)
if (PMODE_DGPS <= opt->mode && opt->mode <= PMODE_FIXED) if (PMODE_DGPS <= opt->mode && opt->mode <= PMODE_FIXED)
{ {
p += std::snprintf(p, MAXSOLMSG, "%s freqs : %s\n", COMMENTH, s2[opt->nf - 1]); p += std::snprintf(p, MAXSOLMSG - (p - s), "%s freqs : %s\n", COMMENTH, s2[opt->nf - 1]);
} }
if (opt->mode > PMODE_SINGLE) if (opt->mode > PMODE_SINGLE)
{ {
p += std::snprintf(p, MAXSOLMSG, "%s solution : %s\n", COMMENTH, s3[opt->soltype]); p += std::snprintf(p, MAXSOLMSG - (p - s), "%s solution : %s\n", COMMENTH, s3[opt->soltype]);
} }
p += std::snprintf(p, MAXSOLMSG, "%s elev mask : %.1f deg\n", COMMENTH, opt->elmin * R2D); p += std::snprintf(p, MAXSOLMSG - (p - s), "%s elev mask : %.1f deg\n", COMMENTH, opt->elmin * R2D);
if (opt->mode > PMODE_SINGLE) if (opt->mode > PMODE_SINGLE)
{ {
p += std::snprintf(p, MAXSOLMSG, "%s dynamics : %s\n", COMMENTH, opt->dynamics ? "on" : "off"); p += std::snprintf(p, MAXSOLMSG - (p - s), "%s dynamics : %s\n", COMMENTH, opt->dynamics ? "on" : "off");
p += std::snprintf(p, MAXSOLMSG, "%s tidecorr : %s\n", COMMENTH, opt->tidecorr ? "on" : "off"); p += std::snprintf(p, MAXSOLMSG - (p - s), "%s tidecorr : %s\n", COMMENTH, opt->tidecorr ? "on" : "off");
} }
if (opt->mode <= PMODE_FIXED) if (opt->mode <= PMODE_FIXED)
{ {
p += std::snprintf(p, MAXSOLMSG, "%s ionos opt : %s\n", COMMENTH, s4[opt->ionoopt]); p += std::snprintf(p, MAXSOLMSG - (p - s), "%s ionos opt : %s\n", COMMENTH, s4[opt->ionoopt]);
} }
p += std::snprintf(p, MAXSOLMSG, "%s tropo opt : %s\n", COMMENTH, s5[opt->tropopt]); p += std::snprintf(p, MAXSOLMSG - (p - s), "%s tropo opt : %s\n", COMMENTH, s5[opt->tropopt]);
p += std::snprintf(p, MAXSOLMSG, "%s ephemeris : %s\n", COMMENTH, s6[opt->sateph]); p += std::snprintf(p, MAXSOLMSG - (p - s), "%s ephemeris : %s\n", COMMENTH, s6[opt->sateph]);
if (opt->navsys != SYS_GPS) if (opt->navsys != SYS_GPS)
{ {
p += std::snprintf(p, MAXSOLMSG, "%s navi sys :", COMMENTH); p += std::snprintf(p, MAXSOLMSG - (p - s), "%s navi sys :", COMMENTH);
for (i = 0; sys[i]; i++) for (i = 0; sys[i]; i++)
{ {
if (opt->navsys & sys[i]) if (opt->navsys & sys[i])
{ {
p += std::snprintf(p, MAXSOLMSG, " %s", s7[i]); p += std::snprintf(p, MAXSOLMSG - (p - s), " %s", s7[i]);
} }
} }
p += std::snprintf(p, MAXSOLMSG, "\n"); p += std::snprintf(p, MAXSOLMSG - (p - s), "\n");
} }
if (PMODE_KINEMA <= opt->mode && opt->mode <= PMODE_FIXED) if (PMODE_KINEMA <= opt->mode && opt->mode <= PMODE_FIXED)
{ {
p += std::snprintf(p, MAXSOLMSG, "%s amb res : %s\n", COMMENTH, s8[opt->modear]); p += std::snprintf(p, MAXSOLMSG - (p - s), "%s amb res : %s\n", COMMENTH, s8[opt->modear]);
if (opt->navsys & SYS_GLO) if (opt->navsys & SYS_GLO)
{ {
p += std::snprintf(p, MAXSOLMSG, "%s amb glo : %s\n", COMMENTH, s9[opt->glomodear]); p += std::snprintf(p, MAXSOLMSG - (p - s), "%s amb glo : %s\n", COMMENTH, s9[opt->glomodear]);
} }
if (opt->thresar[0] > 0.0) if (opt->thresar[0] > 0.0)
{ {
p += std::snprintf(p, MAXSOLMSG, "%s val thres : %.1f\n", COMMENTH, opt->thresar[0]); p += std::snprintf(p, MAXSOLMSG - (p - s), "%s val thres : %.1f\n", COMMENTH, opt->thresar[0]);
} }
} }
if (opt->mode == PMODE_MOVEB && opt->baseline[0] > 0.0) if (opt->mode == PMODE_MOVEB && opt->baseline[0] > 0.0)
{ {
p += std::snprintf(p, MAXSOLMSG, "%s baseline : %.4f %.4f m\n", COMMENTH, p += std::snprintf(p, MAXSOLMSG - (p - s), "%s baseline : %.4f %.4f m\n", COMMENTH,
opt->baseline[0], opt->baseline[1]); opt->baseline[0], opt->baseline[1]);
} }
for (i = 0; i < 2; i++) for (i = 0; i < 2; i++)
@ -2079,7 +2090,7 @@ int outprcopts(unsigned char *buff, const prcopt_t *opt)
{ {
continue; continue;
} }
p += std::snprintf(p, MAXSOLMSG, "%s antenna%d : %-21s (%7.4f %7.4f %7.4f)\n", COMMENTH, p += std::snprintf(p, MAXSOLMSG - (p - s), "%s antenna%d : %-21s (%7.4f %7.4f %7.4f)\n", COMMENTH,
i + 1, opt->anttype[i], opt->antdel[i][0], opt->antdel[i][1], i + 1, opt->anttype[i], opt->antdel[i][0], opt->antdel[i][1],
opt->antdel[i][2]); opt->antdel[i][2]);
} }
@ -2101,6 +2112,8 @@ int outsolheads(unsigned char *buff, const solopt_t *opt)
const char *sep = opt2sep(opt); const char *sep = opt2sep(opt);
char *p = reinterpret_cast<char *>(buff); char *p = reinterpret_cast<char *>(buff);
int timeu = opt->timeu < 0 ? 0 : (opt->timeu > 20 ? 20 : opt->timeu); int timeu = opt->timeu < 0 ? 0 : (opt->timeu > 20 ? 20 : opt->timeu);
char *s;
s = p;
trace(3, "outsolheads:\n"); trace(3, "outsolheads:\n");
@ -2114,32 +2127,32 @@ int outsolheads(unsigned char *buff, const solopt_t *opt)
p += std::snprintf(p, MAXSOLMSG, "%s (", COMMENTH); p += std::snprintf(p, MAXSOLMSG, "%s (", COMMENTH);
if (opt->posf == SOLF_XYZ) if (opt->posf == SOLF_XYZ)
{ {
p += std::snprintf(p, MAXSOLMSG, "x/y/z-ecef=WGS84"); p += std::snprintf(p, MAXSOLMSG - (p - s), "x/y/z-ecef=WGS84");
} }
else if (opt->posf == SOLF_ENU) else if (opt->posf == SOLF_ENU)
{ {
p += std::snprintf(p, MAXSOLMSG, "e/n/u-baseline=WGS84"); p += std::snprintf(p, MAXSOLMSG - (p - s), "e/n/u-baseline=WGS84");
} }
else else
{ {
p += std::snprintf(p, MAXSOLMSG, "lat/lon/height=%s/%s", s1[opt->datum], s2[opt->height]); p += std::snprintf(p, MAXSOLMSG - (p - s), "lat/lon/height=%s/%s", s1[opt->datum], s2[opt->height]);
} }
p += std::snprintf(p, MAXSOLMSG, ",Q=1:fix,2:float,3:sbas,4:dgps,5:single,6:ppp,ns=# of satellites)\n"); p += std::snprintf(p, MAXSOLMSG - (p - s), ",Q=1:fix,2:float,3:sbas,4:dgps,5:single,6:ppp,ns=# of satellites)\n");
} }
p += std::snprintf(p, MAXSOLMSG, "%s %-*s%s", COMMENTH, (opt->timef ? 16 : 8) + timeu + 1, s3[opt->times], sep); p += std::snprintf(p, MAXSOLMSG - (p - s), "%s %-*s%s", COMMENTH, (opt->timef ? 16 : 8) + timeu + 1, s3[opt->times], sep);
if (opt->posf == SOLF_LLH) if (opt->posf == SOLF_LLH)
{ /* lat/lon/hgt */ { /* lat/lon/hgt */
if (opt->degf) if (opt->degf)
{ {
p += std::snprintf(p, MAXSOLMSG, "%16s%s%16s%s%10s%s%3s%s%3s%s%8s%s%8s%s%8s%s%8s%s%8s%s%8s%s%6s%s%6s\n", p += std::snprintf(p, MAXSOLMSG - (p - s), "%16s%s%16s%s%10s%s%3s%s%3s%s%8s%s%8s%s%8s%s%8s%s%8s%s%8s%s%6s%s%6s\n",
"latitude(d'\")", sep, "longitude(d'\")", sep, "height(m)", sep, "latitude(d'\")", sep, "longitude(d'\")", sep, "height(m)", sep,
"Q", sep, "ns", sep, "sdn(m)", sep, "sde(m)", sep, "sdu(m)", sep, "Q", sep, "ns", sep, "sdn(m)", sep, "sde(m)", sep, "sdu(m)", sep,
"sdne(m)", sep, "sdeu(m)", sep, "sdue(m)", sep, "age(s)", sep, "ratio"); "sdne(m)", sep, "sdeu(m)", sep, "sdue(m)", sep, "age(s)", sep, "ratio");
} }
else else
{ {
p += std::snprintf(p, MAXSOLMSG, "%14s%s%14s%s%10s%s%3s%s%3s%s%8s%s%8s%s%8s%s%8s%s%8s%s%8s%s%6s%s%6s\n", p += std::snprintf(p, MAXSOLMSG - (p - s), "%14s%s%14s%s%10s%s%3s%s%3s%s%8s%s%8s%s%8s%s%8s%s%8s%s%8s%s%6s%s%6s\n",
"latitude(deg)", sep, "longitude(deg)", sep, "height(m)", sep, "latitude(deg)", sep, "longitude(deg)", sep, "height(m)", sep,
"Q", sep, "ns", sep, "sdn(m)", sep, "sde(m)", sep, "sdu(m)", sep, "Q", sep, "ns", sep, "sdn(m)", sep, "sde(m)", sep, "sdu(m)", sep,
"sdne(m)", sep, "sdeu(m)", sep, "sdun(m)", sep, "age(s)", sep, "ratio"); "sdne(m)", sep, "sdeu(m)", sep, "sdun(m)", sep, "age(s)", sep, "ratio");
@ -2147,14 +2160,14 @@ int outsolheads(unsigned char *buff, const solopt_t *opt)
} }
else if (opt->posf == SOLF_XYZ) else if (opt->posf == SOLF_XYZ)
{ /* x/y/z-ecef */ { /* x/y/z-ecef */
p += std::snprintf(p, MAXSOLMSG, "%14s%s%14s%s%14s%s%3s%s%3s%s%8s%s%8s%s%8s%s%8s%s%8s%s%8s%s%6s%s%6s\n", p += std::snprintf(p, MAXSOLMSG - (p - s), "%14s%s%14s%s%14s%s%3s%s%3s%s%8s%s%8s%s%8s%s%8s%s%8s%s%8s%s%6s%s%6s\n",
"x-ecef(m)", sep, "y-ecef(m)", sep, "z-ecef(m)", sep, "Q", sep, "ns", sep, "x-ecef(m)", sep, "y-ecef(m)", sep, "z-ecef(m)", sep, "Q", sep, "ns", sep,
"sdx(m)", sep, "sdy(m)", sep, "sdz(m)", sep, "sdxy(m)", sep, "sdx(m)", sep, "sdy(m)", sep, "sdz(m)", sep, "sdxy(m)", sep,
"sdyz(m)", sep, "sdzx(m)", sep, "age(s)", sep, "ratio"); "sdyz(m)", sep, "sdzx(m)", sep, "age(s)", sep, "ratio");
} }
else if (opt->posf == SOLF_ENU) else if (opt->posf == SOLF_ENU)
{ /* e/n/u-baseline */ { /* e/n/u-baseline */
p += std::snprintf(p, MAXSOLMSG, "%14s%s%14s%s%14s%s%3s%s%3s%s%8s%s%8s%s%8s%s%8s%s%8s%s%8s%s%6s%s%6s\n", p += std::snprintf(p, MAXSOLMSG - (p - s), "%14s%s%14s%s%14s%s%3s%s%3s%s%8s%s%8s%s%8s%s%8s%s%8s%s%8s%s%6s%s%6s\n",
"e-baseline(m)", sep, "n-baseline(m)", sep, "u-baseline(m)", sep, "e-baseline(m)", sep, "n-baseline(m)", sep, "u-baseline(m)", sep,
"Q", sep, "ns", sep, "sde(m)", sep, "sdn(m)", sep, "sdu(m)", sep, "Q", sep, "ns", sep, "sde(m)", sep, "sdn(m)", sep, "sdu(m)", sep,
"sden(m)", sep, "sdnu(m)", sep, "sdue(m)", sep, "age(s)", sep, "ratio"); "sden(m)", sep, "sdnu(m)", sep, "sdue(m)", sep, "age(s)", sep, "ratio");

22
src/algorithms/libs/rtklib/rtklib_stream.cc
View File

@ -1484,13 +1484,15 @@ int reqntrip_s(ntrip_t *ntrip, char *msg)
{ {
char buff[256 + NTRIP_MAXSTR]; char buff[256 + NTRIP_MAXSTR];
char *p = buff; char *p = buff;
char *s;
s = p;
tracet(3, "reqntrip_s: state=%d\n", ntrip->state); tracet(3, "reqntrip_s: state=%d\n", ntrip->state);
p += std::snprintf(p, 256 + NTRIP_MAXSTR, "SOURCE %s %s\r\n", ntrip->passwd, ntrip->mntpnt); p += std::snprintf(p, 256 + NTRIP_MAXSTR, "SOURCE %s %s\r\n", ntrip->passwd, ntrip->mntpnt);
p += std::snprintf(p, NTRIP_MAXSTR, "Source-Agent: NTRIP %s\r\n", NTRIP_AGENT); p += std::snprintf(p, NTRIP_MAXSTR - (p - s), "Source-Agent: NTRIP %s\r\n", NTRIP_AGENT);
p += std::snprintf(p, NTRIP_MAXSTR, "STR: %s\r\n", ntrip->str); p += std::snprintf(p, NTRIP_MAXSTR - (p - s), "STR: %s\r\n", ntrip->str);
p += std::snprintf(p, NTRIP_MAXSTR, "\r\n"); p += std::snprintf(p, sizeof("\r\n") + 1, "\r\n");
if (writetcpcli(ntrip->tcp, reinterpret_cast<unsigned char *>(buff), p - buff, msg) != p - buff) if (writetcpcli(ntrip->tcp, reinterpret_cast<unsigned char *>(buff), p - buff, msg) != p - buff)
{ {
@ -1510,25 +1512,27 @@ int reqntrip_c(ntrip_t *ntrip, char *msg)
char buff[1024]; char buff[1024];
char user[512]; char user[512];
char *p = buff; char *p = buff;
char *s;
s = p;
tracet(3, "reqntrip_c: state=%d\n", ntrip->state); tracet(3, "reqntrip_c: state=%d\n", ntrip->state);
p += std::snprintf(p, NTRIP_MAXSTR, "GET %s/%s HTTP/1.0\r\n", ntrip->url, ntrip->mntpnt); p += std::snprintf(p, NTRIP_MAXSTR, "GET %s/%s HTTP/1.0\r\n", ntrip->url, ntrip->mntpnt);
p += std::snprintf(p, NTRIP_MAXSTR, "User-Agent: NTRIP %s\r\n", NTRIP_AGENT); p += std::snprintf(p, NTRIP_MAXSTR - (p - s), "User-Agent: NTRIP %s\r\n", NTRIP_AGENT);
if (!*ntrip->user) if (!*ntrip->user)
{ {
p += std::snprintf(p, NTRIP_MAXSTR, "Accept: */*\r\n"); p += std::snprintf(p, NTRIP_MAXSTR - (p - s), "Accept: */*\r\n");
p += std::snprintf(p, NTRIP_MAXSTR, "Connection: close\r\n"); p += std::snprintf(p, NTRIP_MAXSTR - (p - s), "Connection: close\r\n");
} }
else else
{ {
std::snprintf(user, sizeof(user), "%s:%s", ntrip->user, ntrip->passwd); std::snprintf(user, sizeof(user), "%s:%s", ntrip->user, ntrip->passwd);
p += std::snprintf(p, NTRIP_MAXSTR, "Authorization: Basic "); p += std::snprintf(p, NTRIP_MAXSTR - (p - s), "Authorization: Basic ");
p += encbase64(p, reinterpret_cast<unsigned char *>(user), strlen(user)); p += encbase64(p, reinterpret_cast<unsigned char *>(user), strlen(user));
p += std::snprintf(p, NTRIP_MAXSTR, "\r\n"); p += std::snprintf(p, sizeof("\r\n") + 1, "\r\n");
} }
p += std::snprintf(p, NTRIP_MAXSTR, "\r\n"); p += std::snprintf(p, sizeof("\r\n") + 1, "\r\n");
if (writetcpcli(ntrip->tcp, reinterpret_cast<unsigned char *>(buff), p - buff, msg) != p - buff) if (writetcpcli(ntrip->tcp, reinterpret_cast<unsigned char *>(buff), p - buff, msg) != p - buff)
{ {

4
src/core/libs/supl/asn-rrlp/constr_SEQUENCE.c
View File

@ -1151,8 +1151,10 @@ SEQUENCE_decode_uper(asn_codec_ctx_t *opt_codec_ctx, asn_TYPE_descriptor_t *td,
if(!epres) _ASN_DECODE_STARVED; if(!epres) _ASN_DECODE_STARVED;
/* Get the extensions map */ /* Get the extensions map */
if(per_get_many_bits(pd, epres, 0, bmlength)) if(per_get_many_bits(pd, epres, 0, bmlength)) {
FREEMEM(epres);
_ASN_DECODE_STARVED; _ASN_DECODE_STARVED;
}
memset(&epmd, 0, sizeof(epmd)); memset(&epmd, 0, sizeof(epmd));
epmd.buffer = epres; epmd.buffer = epres;

5
src/core/libs/supl/asn-supl/constr_SEQUENCE.c
View File

@ -1151,9 +1151,10 @@ SEQUENCE_decode_uper(asn_codec_ctx_t *opt_codec_ctx, asn_TYPE_descriptor_t *td,
if(!epres) _ASN_DECODE_STARVED; if(!epres) _ASN_DECODE_STARVED;
/* Get the extensions map */ /* Get the extensions map */
if(per_get_many_bits(pd, epres, 0, bmlength)) if(per_get_many_bits(pd, epres, 0, bmlength)) {
FREEMEM(epres);
_ASN_DECODE_STARVED; _ASN_DECODE_STARVED;
}
memset(&epmd, 0, sizeof(epmd)); memset(&epmd, 0, sizeof(epmd));
epmd.buffer = epres; epmd.buffer = epres;
epmd.nbits = bmlength; epmd.nbits = bmlength;