Add work on rtklib functions

src/algorithms/libs/rtklib/rtklib.h

@@ -60,11 +60,51 @@
 #include <cmath>
 #include <time.h>
 #include <ctype.h>
+#include <pthread.h>
+#include <netinet/in.h>
 #include "MATH_CONSTANTS.h"
 #include "gnss_frequencies.h"
 #include "gnss_obs_codes.h"
 
 
+/* macros --------------------------------------------------------------------*/
+
+#define dev_t               int
+#define socket_t            int
+#define closesocket         close
+#define lock_t              pthread_mutex_t
+#define thread_t            pthread_t
+#define initlock(f)         pthread_mutex_init(f,NULL)
+#define rtk_lock(f)         pthread_mutex_lock(f)
+#define rtk_unlock(f)       pthread_mutex_unlock(f)
+
+#define TINTACT             200         /* period for stream active (ms) */
+#define SERIBUFFSIZE        4096        /* serial buffer size (bytes) */
+#define TIMETAGH_LEN        64          /* time tag file header length */
+#define MAXCLI              32          /* max client connection for tcp svr */
+#define MAXSTATMSG          32          /* max length of status message */
+
+#define VER_RTKLIB  "2.4.2"
+#define NTRIP_AGENT         "RTKLIB/" VER_RTKLIB
+#define NTRIP_CLI_PORT      2101        /* default ntrip-client connection port */
+#define NTRIP_SVR_PORT      80          /* default ntrip-server connection port */
+#define NTRIP_MAXRSP        32768       /* max size of ntrip response */
+#define NTRIP_MAXSTR        256         /* max length of mountpoint string */
+#define NTRIP_RSP_OK_CLI    "ICY 200 OK\r\n" /* ntrip response: client */
+#define NTRIP_RSP_OK_SVR    "OK\r\n"    /* ntrip response: server */
+#define NTRIP_RSP_SRCTBL    "SOURCETABLE 200 OK\r\n" /* ntrip response: source table */
+#define NTRIP_RSP_TBLEND    "ENDSOURCETABLE"
+#define NTRIP_RSP_HTTP      "HTTP/"     /* ntrip response: http */
+#define NTRIP_RSP_ERROR     "ERROR"     /* ntrip response: error */
+
+#define FTP_CMD             "wget"      /* ftp/http command */
+#define FTP_TIMEOUT         30          /* ftp/http timeout (s) */
+
+#define MAXRAWLEN   4096                /* max length of receiver raw message */
+#define MAXSOLBUF   256                 /* max number of solution buffer */
+#define MAXSBSMSG   32                  /* max number of SBAS msg in RTK server */
+#define MAXOBSBUF   128                 /* max number of observation data buffer */
+
 const int FILEPATHSEP = '/';
 const double RE_WGS84 = 6378137.0;             //!< earth semimajor axis (WGS84) (m)
 const double FE_WGS84 = (1.0 / 298.257223563); //!< earth flattening (WGS84)
@@ -1010,6 +1050,179 @@ typedef struct half_cyc_tag {  /* half-cycle correction list type */
 } half_cyc_t;
 
 
+typedef struct {        /* stream type */
+    int type;           /* type (STR_???) */
+    int mode;           /* mode (STR_MODE_?) */
+    int state;          /* state (-1:error,0:close,1:open) */
+    unsigned int inb,inr;   /* input bytes/rate */
+    unsigned int outb,outr; /* output bytes/rate */
+    unsigned int tick,tact; /* tick/active tick */
+    unsigned int inbt,outbt; /* input/output bytes at tick */
+    lock_t lock;        /* lock flag */
+    void *port;         /* type dependent port control struct */
+    char path[MAXSTRPATH]; /* stream path */
+    char msg [MAXSTRMSG];  /* stream message */
+} stream_t;
+
+
+typedef struct {            /* serial control type */
+    dev_t dev;              /* serial device */
+    int error;              /* error state */
+} serial_t;
+
+
+typedef struct {            /* file control type */
+    FILE *fp;               /* file pointer */
+    FILE *fp_tag;           /* file pointer of tag file */
+    FILE *fp_tmp;           /* temporary file pointer for swap */
+    FILE *fp_tag_tmp;       /* temporary file pointer of tag file for swap */
+    char path[MAXSTRPATH];  /* file path */
+    char openpath[MAXSTRPATH]; /* open file path */
+    int mode;               /* file mode */
+    int timetag;            /* time tag flag (0:off,1:on) */
+    int repmode;            /* replay mode (0:master,1:slave) */
+    int offset;             /* time offset (ms) for slave */
+    gtime_t time;           /* start time */
+    gtime_t wtime;          /* write time */
+    unsigned int tick;      /* start tick */
+    unsigned int tick_f;    /* start tick in file */
+    unsigned int fpos;      /* current file position */
+    double start;           /* start offset (s) */
+    double speed;           /* replay speed (time factor) */
+    double swapintv;        /* swap interval (hr) (0: no swap) */
+    lock_t lock;            /* lock flag */
+} file_t;
+
+
+typedef struct {            /* tcp control type */
+    int state;              /* state (0:close,1:wait,2:connect) */
+    char saddr[256];        /* address string */
+    int port;               /* port */
+    struct sockaddr_in addr; /* address resolved */
+    socket_t sock;          /* socket descriptor */
+    int tcon;               /* reconnect time (ms) (-1:never,0:now) */
+    unsigned int tact;      /* data active tick */
+    unsigned int tdis;      /* disconnect tick */
+} tcp_t;
+
+
+typedef struct {            /* tcp server type */
+    tcp_t svr;              /* tcp server control */
+    tcp_t cli[MAXCLI];      /* tcp client controls */
+} tcpsvr_t;
+
+
+typedef struct {            /* tcp cilent type */
+    tcp_t svr;              /* tcp server control */
+    int toinact;            /* inactive timeout (ms) (0:no timeout) */
+    int tirecon;            /* reconnect interval (ms) (0:no reconnect) */
+} tcpcli_t;
+
+
+typedef struct {            /* ntrip control type */
+    int state;              /* state (0:close,1:wait,2:connect) */
+    int type;               /* type (0:server,1:client) */
+    int nb;                 /* response buffer size */
+    char url[256];          /* url for proxy */
+    char mntpnt[256];       /* mountpoint */
+    char user[256];         /* user */
+    char passwd[256];       /* password */
+    char str[NTRIP_MAXSTR]; /* mountpoint string for server */
+    unsigned char buff[NTRIP_MAXRSP]; /* response buffer */
+    tcpcli_t *tcp;          /* tcp client */
+} ntrip_t;
+
+
+typedef struct {            /* ftp download control type */
+    int state;              /* state (0:close,1:download,2:complete,3:error) */
+    int proto;              /* protocol (0:ftp,1:http) */
+    int error;              /* error code (0:no error,1-10:wget error, */
+    /*            11:no temp dir,12:uncompact error) */
+    char addr[1024];        /* download address */
+    char file[1024];        /* download file path */
+    char user[256];         /* user for ftp */
+    char passwd[256];       /* password for ftp */
+    char local[1024];       /* local file path */
+    int topts[4];           /* time options {poff,tint,toff,tretry} (s) */
+    gtime_t tnext;          /* next retry time (gpst) */
+    thread_t thread;        /* download thread */
+} ftp_t;
+
+
+typedef struct {        /* receiver raw data control type */
+    gtime_t time;       /* message time */
+    gtime_t tobs;       /* observation data time */
+    obs_t obs;          /* observation data */
+    obs_t obuf;         /* observation data buffer */
+    nav_t nav;          /* satellite ephemerides */
+    sta_t sta;          /* station parameters */
+    int ephsat;         /* sat number of update ephemeris (0:no satellite) */
+    sbsmsg_t sbsmsg;    /* SBAS message */
+    char msgtype[256];  /* last message type */
+    unsigned char subfrm[MAXSAT][380];  /* subframe buffer */
+    lexmsg_t lexmsg;    /* LEX message */
+    double lockt[MAXSAT][NFREQ+NEXOBS]; /* lock time (s) */
+    double icpp[MAXSAT],off[MAXSAT],icpc; /* carrier params for ss2 */
+    double prCA[MAXSAT],dpCA[MAXSAT]; /* L1/CA pseudrange/doppler for javad */
+    unsigned char halfc[MAXSAT][NFREQ+NEXOBS]; /* half-cycle add flag */
+    char freqn[MAXOBS]; /* frequency number for javad */
+    int nbyte;          /* number of bytes in message buffer */
+    int len;            /* message length (bytes) */
+    int iod;            /* issue of data */
+    int tod;            /* time of day (ms) */
+    int tbase;          /* time base (0:gpst,1:utc(usno),2:glonass,3:utc(su) */
+    int flag;           /* general purpose flag */
+    int outtype;        /* output message type */
+    unsigned char buff[MAXRAWLEN]; /* message buffer */
+    char opt[256];      /* receiver dependent options */
+    double receive_time;/* RT17: Reiceve time of week for week rollover detection */
+    unsigned int plen;  /* RT17: Total size of packet to be read */
+    unsigned int pbyte; /* RT17: How many packet bytes have been read so far */
+    unsigned int page;  /* RT17: Last page number */
+    unsigned int reply; /* RT17: Current reply number */
+    int week;           /* RT17: week number */
+    unsigned char pbuff[255+4+2]; /* RT17: Packet buffer */
+} raw_t;
+
+
+typedef struct {        /* RTK server type */
+    int state;          /* server state (0:stop,1:running) */
+    int cycle;          /* processing cycle (ms) */
+    int nmeacycle;      /* NMEA request cycle (ms) (0:no req) */
+    int nmeareq;        /* NMEA request (0:no,1:nmeapos,2:single sol) */
+    double nmeapos[3];  /* NMEA request position (ecef) (m) */
+    int buffsize;       /* input buffer size (bytes) */
+    int format[3];      /* input format {rov,base,corr} */
+    solopt_t solopt[2]; /* output solution options {sol1,sol2} */
+    int navsel;         /* ephemeris select (0:all,1:rover,2:base,3:corr) */
+    int nsbs;           /* number of sbas message */
+    int nsol;           /* number of solution buffer */
+    rtk_t rtk;          /* RTK control/result struct */
+    int nb [3];         /* bytes in input buffers {rov,base} */
+    int nsb[2];         /* bytes in soulution buffers */
+    int npb[3];         /* bytes in input peek buffers */
+    unsigned char *buff[3]; /* input buffers {rov,base,corr} */
+    unsigned char *sbuf[2]; /* output buffers {sol1,sol2} */
+    unsigned char *pbuf[3]; /* peek buffers {rov,base,corr} */
+    sol_t solbuf[MAXSOLBUF]; /* solution buffer */
+    unsigned int nmsg[3][10]; /* input message counts */
+    raw_t  raw [3];     /* receiver raw control {rov,base,corr} */
+    rtcm_t rtcm[3];     /* RTCM control {rov,base,corr} */
+    gtime_t ftime[3];   /* download time {rov,base,corr} */
+    char files[3][MAXSTRPATH]; /* download paths {rov,base,corr} */
+    obs_t obs[3][MAXOBSBUF]; /* observation data {rov,base,corr} */
+    nav_t nav;          /* navigation data */
+    sbsmsg_t sbsmsg[MAXSBSMSG]; /* SBAS message buffer */
+    stream_t stream[8]; /* streams {rov,base,corr,sol1,sol2,logr,logb,logc} */
+    stream_t *moni;     /* monitor stream */
+    unsigned int tick;  /* start tick */
+    thread_t thread;    /* server thread */
+    int cputime;        /* CPU time (ms) for a processing cycle */
+    int prcout;         /* missing observation data count */
+    lock_t lock;        /* lock flag */
+} rtksvr_t;
+
+
 const double chisqr[100] = {      /* chi-sqr(n) (alpha=0.001) */
     10.8, 13.8, 16.3, 18.5, 20.5, 22.5, 24.3, 26.1, 27.9, 29.6,
     31.3, 32.9, 34.5, 36.1, 37.7, 39.3, 40.8, 42.3, 43.8, 45.3,

src/algorithms/libs/rtklib/rtklib_rtksvr.h

@@ -55,12 +55,7 @@
 #define GNSS_SDR_RTKLIB_RKTSVR_H_
 
 #include "rtklib.h"
-#include "rtklib_stream.h"
 
-#define MAXRAWLEN   4096                /* max length of receiver raw message */
-#define MAXSOLBUF   256                 /* max number of solution buffer */
-#define MAXSBSMSG   32                  /* max number of SBAS msg in RTK server */
-#define MAXOBSBUF   128                 /* max number of observation data buffer */
 
 const solopt_t solopt_default = { /* defaults solution output options */
         SOLF_LLH, TIMES_GPST, 1, 3,     /* posf, times, timef, timeu */
@@ -92,105 +87,50 @@ const prcopt_t prcopt_default = { /* defaults processing options */
         0, 0, 0, {"",""}, {}, 0, {{},{}}, { {}, {{},{}}, {{},{}}, {}, {} }, 0, {}
 };
 
-typedef struct {        /* receiver raw data control type */
-    gtime_t time;       /* message time */
-    gtime_t tobs;       /* observation data time */
-    obs_t obs;          /* observation data */
-    obs_t obuf;         /* observation data buffer */
-    nav_t nav;          /* satellite ephemerides */
-    sta_t sta;          /* station parameters */
-    int ephsat;         /* sat number of update ephemeris (0:no satellite) */
-    sbsmsg_t sbsmsg;    /* SBAS message */
-    char msgtype[256];  /* last message type */
-    unsigned char subfrm[MAXSAT][380];  /* subframe buffer */
-    lexmsg_t lexmsg;    /* LEX message */
-    double lockt[MAXSAT][NFREQ+NEXOBS]; /* lock time (s) */
-    double icpp[MAXSAT],off[MAXSAT],icpc; /* carrier params for ss2 */
-    double prCA[MAXSAT],dpCA[MAXSAT]; /* L1/CA pseudrange/doppler for javad */
-    unsigned char halfc[MAXSAT][NFREQ+NEXOBS]; /* half-cycle add flag */
-    char freqn[MAXOBS]; /* frequency number for javad */
-    int nbyte;          /* number of bytes in message buffer */
-    int len;            /* message length (bytes) */
-    int iod;            /* issue of data */
-    int tod;            /* time of day (ms) */
-    int tbase;          /* time base (0:gpst,1:utc(usno),2:glonass,3:utc(su) */
-    int flag;           /* general purpose flag */
-    int outtype;        /* output message type */
-    unsigned char buff[MAXRAWLEN]; /* message buffer */
-    char opt[256];      /* receiver dependent options */
-    double receive_time;/* RT17: Reiceve time of week for week rollover detection */
-    unsigned int plen;  /* RT17: Total size of packet to be read */
-    unsigned int pbyte; /* RT17: How many packet bytes have been read so far */
-    unsigned int page;  /* RT17: Last page number */
-    unsigned int reply; /* RT17: Current reply number */
-    int week;           /* RT17: week number */
-    unsigned char pbuff[255+4+2]; /* RT17: Packet buffer */
-} raw_t;
-
-typedef struct {        /* RTK server type */
-    int state;          /* server state (0:stop,1:running) */
-    int cycle;          /* processing cycle (ms) */
-    int nmeacycle;      /* NMEA request cycle (ms) (0:no req) */
-    int nmeareq;        /* NMEA request (0:no,1:nmeapos,2:single sol) */
-    double nmeapos[3];  /* NMEA request position (ecef) (m) */
-    int buffsize;       /* input buffer size (bytes) */
-    int format[3];      /* input format {rov,base,corr} */
-    solopt_t solopt[2]; /* output solution options {sol1,sol2} */
-    int navsel;         /* ephemeris select (0:all,1:rover,2:base,3:corr) */
-    int nsbs;           /* number of sbas message */
-    int nsol;           /* number of solution buffer */
-    rtk_t rtk;          /* RTK control/result struct */
-    int nb [3];         /* bytes in input buffers {rov,base} */
-    int nsb[2];         /* bytes in soulution buffers */
-    int npb[3];         /* bytes in input peek buffers */
-    unsigned char *buff[3]; /* input buffers {rov,base,corr} */
-    unsigned char *sbuf[2]; /* output buffers {sol1,sol2} */
-    unsigned char *pbuf[3]; /* peek buffers {rov,base,corr} */
-    sol_t solbuf[MAXSOLBUF]; /* solution buffer */
-    unsigned int nmsg[3][10]; /* input message counts */
-    raw_t  raw [3];     /* receiver raw control {rov,base,corr} */
-    rtcm_t rtcm[3];     /* RTCM control {rov,base,corr} */
-    gtime_t ftime[3];   /* download time {rov,base,corr} */
-    char files[3][MAXSTRPATH]; /* download paths {rov,base,corr} */
-    obs_t obs[3][MAXOBSBUF]; /* observation data {rov,base,corr} */
-    nav_t nav;          /* navigation data */
-    sbsmsg_t sbsmsg[MAXSBSMSG]; /* SBAS message buffer */
-    stream_t stream[8]; /* streams {rov,base,corr,sol1,sol2,logr,logb,logc} */
-    stream_t *moni;     /* monitor stream */
-    unsigned int tick;  /* start tick */
-    thread_t thread;    /* server thread */
-    int cputime;        /* CPU time (ms) for a processing cycle */
-    int prcout;         /* missing observation data count */
-    lock_t lock;        /* lock flag */
-} rtksvr_t;
-
-
 
 void writesolhead(stream_t *stream, const solopt_t *solopt);
+
 void saveoutbuf(rtksvr_t *svr, unsigned char *buff, int n, int index);
+
 void writesol(rtksvr_t *svr, int index);
+
 void updatenav(nav_t *nav);
+
 void updatefcn(rtksvr_t *svr);
+
 void updatesvr(rtksvr_t *svr, int ret, obs_t *obs, nav_t *nav, int sat,
-                      sbsmsg_t *sbsmsg, int index, int iobs);
+        sbsmsg_t *sbsmsg, int index, int iobs);
+
 int decoderaw(rtksvr_t *svr, int index);
+
 void decodefile(rtksvr_t *svr, int index);
+
 void *rtksvrthread(void *arg);
+
 int rtksvrinit(rtksvr_t *svr);
+
 void rtksvrfree(rtksvr_t *svr);
+
 void rtksvrlock  (rtksvr_t *svr);
+
 void rtksvrunlock(rtksvr_t *svr);
+
 int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs,
-                       char **paths, int *formats, int navsel, char **cmds,
+        char **paths, int *formats, int navsel, char **cmds,
-                       char **rcvopts, int nmeacycle, int nmeareq,
+        char **rcvopts, int nmeacycle, int nmeareq,
-                       const double *nmeapos, prcopt_t *prcopt,
+        const double *nmeapos, prcopt_t *prcopt,
-                       solopt_t *solopt, stream_t *moni);
+        solopt_t *solopt, stream_t *moni);
+
 void rtksvrstop(rtksvr_t *svr, char **cmds);
+
 int rtksvropenstr(rtksvr_t *svr, int index, int str, const char *path,
-                         const solopt_t *solopt);
+        const solopt_t *solopt);
+
 void rtksvrclosestr(rtksvr_t *svr, int index);
+
 int rtksvrostat(rtksvr_t *svr, int rcv, gtime_t *time, int *sat,
-                       double *az, double *el, int **snr, int *vsat);
+        double *az, double *el, int **snr, int *vsat);
+
 void rtksvrsstat(rtksvr_t *svr, int *sstat, char *msg);
 
 

src/algorithms/libs/rtklib/rtklib_solution.h

@@ -59,71 +59,123 @@
 #define MSG_DISCONN "$_DISCONNECT\r\n"  /* disconnect message */
 
 const char *opt2sep(const solopt_t *opt);
+
 int tonum(char *buff, const char *sep, double *v);
+
 double sqvar(double covar);
+
 double dmm2deg(double dmm);
+
 void septime(double t, double *t1, double *t2, double *t3);
+
 void soltocov(const sol_t *sol, double *P);
+
 void covtosol(const double *P, sol_t *sol);
+
 int decode_nmearmc(char **val, int n, sol_t *sol);
+
 int decode_nmeagga(char **val, int n, sol_t *sol);
+
 int decode_nmea(char *buff, sol_t *sol);
+
 char *decode_soltime(char *buff, const solopt_t *opt, gtime_t *time);
+
 int decode_solxyz(char *buff, const solopt_t *opt, sol_t *sol);
+
 int decode_solllh(char *buff, const solopt_t *opt, sol_t *sol);
+
 int decode_solenu(char *buff, const solopt_t *opt, sol_t *sol);
+
 int decode_solgsi(char *buff, const solopt_t *opt, sol_t *sol);
+
 int decode_solpos(char *buff, const solopt_t *opt, sol_t *sol);
+
 void decode_refpos(char *buff, const solopt_t *opt, double *rb);
+
 int decode_sol(char *buff, const solopt_t *opt, sol_t *sol, double *rb);
+
 void decode_solopt(char *buff, solopt_t *opt);
+
 void readsolopt(FILE *fp, solopt_t *opt);
+
 int inputsol(unsigned char data, gtime_t ts, gtime_t te, double tint,
-                    int qflag, const solopt_t *opt, solbuf_t *solbuf);
+        int qflag, const solopt_t *opt, solbuf_t *solbuf);
+
 int readsoldata(FILE *fp, gtime_t ts, gtime_t te, double tint, int qflag,
-                    const solopt_t *opt, solbuf_t *solbuf);
+        const solopt_t *opt, solbuf_t *solbuf);
+
 int cmpsol(const void *p1, const void *p2);
+
 int sort_solbuf(solbuf_t *solbuf);
+
 int readsolt(char *files[], int nfile, gtime_t ts, gtime_t te,
-                    double tint, int qflag, solbuf_t *solbuf);
+        double tint, int qflag, solbuf_t *solbuf);
+
 int readsol(char *files[], int nfile, solbuf_t *sol);
+
 int addsol(solbuf_t *solbuf, const sol_t *sol);
+
 sol_t *getsol(solbuf_t *solbuf, int index);
+
 void initsolbuf(solbuf_t *solbuf, int cyclic, int nmax);
+
 void freesolbuf(solbuf_t *solbuf);
+
 void freesolstatbuf(solstatbuf_t *solstatbuf);
+
 int cmpsolstat(const void *p1, const void *p2);
+
 int sort_solstat(solstatbuf_t *statbuf);
+
 int decode_solstat(char *buff, solstat_t *stat);
+
 void addsolstat(solstatbuf_t *statbuf, const solstat_t *stat);
+
 int readsolstatdata(FILE *fp, gtime_t ts, gtime_t te, double tint,
-                           solstatbuf_t *statbuf);
+        solstatbuf_t *statbuf);
+
 int readsolstatt(char *files[], int nfile, gtime_t ts, gtime_t te,
-                    double tint, solstatbuf_t *statbuf);
+        double tint, solstatbuf_t *statbuf);
+
 int readsolstat(char *files[], int nfile, solstatbuf_t *statbuf);
+
 int outecef(unsigned char *buff, const char *s, const sol_t *sol,
-                   const solopt_t *opt);
+        const solopt_t *opt);
+
 int outpos(unsigned char *buff, const char *s, const sol_t *sol, const solopt_t *opt);
+
 int outenu(unsigned char *buff, const char *s, const sol_t *sol,
-                  const double *rb, const solopt_t *opt);
+        const double *rb, const solopt_t *opt);
+
 int outnmea_rmc(unsigned char *buff, const sol_t *sol);
+
 int outnmea_gga(unsigned char *buff, const sol_t *sol);
+
 int outnmea_gsa(unsigned char *buff, const sol_t *sol,
-                       const ssat_t *ssat);
+        const ssat_t *ssat);
+
 int outnmea_gsv(unsigned char *buff, const sol_t *sol,
-                    const ssat_t *ssat);
+        const ssat_t *ssat);
+
 int outprcopts(unsigned char *buff, const prcopt_t *opt);
+
 int outsolheads(unsigned char *buff, const solopt_t *opt);
+
 int outsols(unsigned char *buff, const sol_t *sol, const double *rb,
-                   const solopt_t *opt);
+        const solopt_t *opt);
+
 int outsolexs(unsigned char *buff, const sol_t *sol, const ssat_t *ssat,
-           const solopt_t *opt);
+        const solopt_t *opt);
+
 void outprcopt(FILE *fp, const prcopt_t *opt);
+
 void outsolhead(FILE *fp, const solopt_t *opt);
+
 void outsol(FILE *fp, const sol_t *sol, const double *rb,
-                   const solopt_t *opt);
+        const solopt_t *opt);
+
 void outsolex(FILE *fp, const sol_t *sol, const ssat_t *ssat,
-                   const solopt_t *opt);
+        const solopt_t *opt);
 
 
 

src/algorithms/libs/rtklib/rtklib_stream.h

@@ -54,216 +54,184 @@
  #define GNSS_SDR_RTKLIB_STREAM_H_
 
 #include "rtklib.h"
-#include <pthread.h>
-#include <netinet/in.h>
 
 /* constants -----------------------------------------------------------------*/
 
- #define TINTACT             200         /* period for stream active (ms) */
+#define TINTACT             200         /* period for stream active (ms) */
- #define SERIBUFFSIZE        4096        /* serial buffer size (bytes) */
+#define SERIBUFFSIZE        4096        /* serial buffer size (bytes) */
- #define TIMETAGH_LEN        64          /* time tag file header length */
+#define TIMETAGH_LEN        64          /* time tag file header length */
- #define MAXCLI              32          /* max client connection for tcp svr */
+#define MAXCLI              32          /* max client connection for tcp svr */
- #define MAXSTATMSG          32          /* max length of status message */
+#define MAXSTATMSG          32          /* max length of status message */
 
-#define VER_RTKLIB  "2.4.2"
+#define VER_RTKLIB          "2.4.2"
 #define NTRIP_AGENT         "RTKLIB/" VER_RTKLIB
 #define NTRIP_CLI_PORT      2101        /* default ntrip-client connection port */
 #define NTRIP_SVR_PORT      80          /* default ntrip-server connection port */
 #define NTRIP_MAXRSP        32768       /* max size of ntrip response */
 #define NTRIP_MAXSTR        256         /* max length of mountpoint string */
- #define NTRIP_RSP_OK_CLI    "ICY 200 OK\r\n" /* ntrip response: client */
+#define NTRIP_RSP_OK_CLI    "ICY 200 OK\r\n" /* ntrip response: client */
- #define NTRIP_RSP_OK_SVR    "OK\r\n"    /* ntrip response: server */
+#define NTRIP_RSP_OK_SVR    "OK\r\n"    /* ntrip response: server */
- #define NTRIP_RSP_SRCTBL    "SOURCETABLE 200 OK\r\n" /* ntrip response: source table */
+#define NTRIP_RSP_SRCTBL    "SOURCETABLE 200 OK\r\n" /* ntrip response: source table */
- #define NTRIP_RSP_TBLEND    "ENDSOURCETABLE"
+#define NTRIP_RSP_TBLEND    "ENDSOURCETABLE"
- #define NTRIP_RSP_HTTP      "HTTP/"     /* ntrip response: http */
+#define NTRIP_RSP_HTTP      "HTTP/"     /* ntrip response: http */
- #define NTRIP_RSP_ERROR     "ERROR"     /* ntrip response: error */
+#define NTRIP_RSP_ERROR     "ERROR"     /* ntrip response: error */
 
- #define FTP_CMD             "wget"      /* ftp/http command */
+#define FTP_CMD             "wget"      /* ftp/http command */
- #define FTP_TIMEOUT         30          /* ftp/http timeout (s) */
+#define FTP_TIMEOUT         30          /* ftp/http timeout (s) */
 
- /* macros --------------------------------------------------------------------*/
-
-#define dev_t               int
-#define socket_t            int
-#define closesocket         close
-#define lock_t      pthread_mutex_t
-#define thread_t    pthread_t
-#define initlock(f) pthread_mutex_init(f,NULL)
-#define rtk_lock(f)     pthread_mutex_lock(f)
-#define rtk_unlock(f)   pthread_mutex_unlock(f)
-
-
-typedef struct {        /* stream type */
-    int type;           /* type (STR_???) */
-    int mode;           /* mode (STR_MODE_?) */
-    int state;          /* state (-1:error,0:close,1:open) */
-    unsigned int inb,inr;   /* input bytes/rate */
-    unsigned int outb,outr; /* output bytes/rate */
-    unsigned int tick,tact; /* tick/active tick */
-    unsigned int inbt,outbt; /* input/output bytes at tick */
-    lock_t lock;        /* lock flag */
-    void *port;         /* type dependent port control struct */
-    char path[MAXSTRPATH]; /* stream path */
-    char msg [MAXSTRMSG];  /* stream message */
-} stream_t;
-
-
- /* type definition -----------------------------------------------------------*/
-
- typedef struct {            /* serial control type */
-     dev_t dev;              /* serial device */
-     int error;              /* error state */
- } serial_t;
-
- typedef struct {            /* file control type */
-     FILE *fp;               /* file pointer */
-     FILE *fp_tag;           /* file pointer of tag file */
-     FILE *fp_tmp;           /* temporary file pointer for swap */
-     FILE *fp_tag_tmp;       /* temporary file pointer of tag file for swap */
-     char path[MAXSTRPATH];  /* file path */
-     char openpath[MAXSTRPATH]; /* open file path */
-     int mode;               /* file mode */
-     int timetag;            /* time tag flag (0:off,1:on) */
-     int repmode;            /* replay mode (0:master,1:slave) */
-     int offset;             /* time offset (ms) for slave */
-     gtime_t time;           /* start time */
-     gtime_t wtime;          /* write time */
-     unsigned int tick;      /* start tick */
-     unsigned int tick_f;    /* start tick in file */
-     unsigned int fpos;      /* current file position */
-     double start;           /* start offset (s) */
-     double speed;           /* replay speed (time factor) */
-     double swapintv;        /* swap interval (hr) (0: no swap) */
-     lock_t lock;            /* lock flag */
- } file_t;
-
- typedef struct {            /* tcp control type */
-     int state;              /* state (0:close,1:wait,2:connect) */
-     char saddr[256];        /* address string */
-     int port;               /* port */
-     struct sockaddr_in addr; /* address resolved */
-     socket_t sock;          /* socket descriptor */
-     int tcon;               /* reconnect time (ms) (-1:never,0:now) */
-     unsigned int tact;      /* data active tick */
-     unsigned int tdis;      /* disconnect tick */
- } tcp_t;
-
- typedef struct {            /* tcp server type */
-     tcp_t svr;              /* tcp server control */
-     tcp_t cli[MAXCLI];      /* tcp client controls */
- } tcpsvr_t;
-
- typedef struct {            /* tcp cilent type */
-     tcp_t svr;              /* tcp server control */
-     int toinact;            /* inactive timeout (ms) (0:no timeout) */
-     int tirecon;            /* reconnect interval (ms) (0:no reconnect) */
- } tcpcli_t;
-
- typedef struct {            /* ntrip control type */
-     int state;              /* state (0:close,1:wait,2:connect) */
-     int type;               /* type (0:server,1:client) */
-     int nb;                 /* response buffer size */
-     char url[256];          /* url for proxy */
-     char mntpnt[256];       /* mountpoint */
-     char user[256];         /* user */
-     char passwd[256];       /* password */
-     char str[NTRIP_MAXSTR]; /* mountpoint string for server */
-     unsigned char buff[NTRIP_MAXRSP]; /* response buffer */
-     tcpcli_t *tcp;          /* tcp client */
- } ntrip_t;
-
- typedef struct {            /* ftp download control type */
-     int state;              /* state (0:close,1:download,2:complete,3:error) */
-     int proto;              /* protocol (0:ftp,1:http) */
-     int error;              /* error code (0:no error,1-10:wget error, */
-                             /*            11:no temp dir,12:uncompact error) */
-     char addr[1024];        /* download address */
-     char file[1024];        /* download file path */
-     char user[256];         /* user for ftp */
-     char passwd[256];       /* password for ftp */
-     char local[1024];       /* local file path */
-     int topts[4];           /* time options {poff,tint,toff,tretry} (s) */
-     gtime_t tnext;          /* next retry time (gpst) */
-     thread_t thread;        /* download thread */
- } ftp_t;
 
 serial_t *openserial(const char *path, int mode, char *msg);
+
 void closeserial(serial_t *serial);
+
 int readserial(serial_t *serial, unsigned char *buff, int n, char *msg);
+
 int writeserial(serial_t *serial, unsigned char *buff, int n, char *msg);
+
 int stateserial(serial_t *serial);
+
 int openfile_(file_t *file, gtime_t time, char *msg);
+
 void closefile_(file_t *file);
+
 file_t *openfile(const char *path, int mode, char *msg);
+
 void closefile(file_t *file);
+
 void swapfile(file_t *file, gtime_t time, char *msg);
+
 void swapclose(file_t *file);
+
 int statefile(file_t *file);
+
 int readfile(file_t *file, unsigned char *buff, int nmax, char *msg);
+
 int writefile(file_t *file, unsigned char *buff, int n, char *msg);
+
 void syncfile(file_t *file1, file_t *file2);
+
 void decodetcppath(const char *path, char *addr, char *port, char *user,
-                          char *passwd, char *mntpnt, char *str);
+        char *passwd, char *mntpnt, char *str);
+
 int errsock(void);
+
 int setsock(socket_t sock, char *msg);
+
 socket_t accept_nb(socket_t sock, struct sockaddr *addr, socklen_t *len);
+
 int connect_nb(socket_t sock, struct sockaddr *addr, socklen_t len);
+
 int recv_nb(socket_t sock, unsigned char *buff, int n);
+
 int send_nb(socket_t sock, unsigned char *buff, int n);
+
 int gentcp(tcp_t *tcp, int type, char *msg);
+
 void discontcp(tcp_t *tcp, int tcon);
+
 tcpsvr_t *opentcpsvr(const char *path, char *msg);
+
 void closetcpsvr(tcpsvr_t *tcpsvr);
+
 void updatetcpsvr(tcpsvr_t *tcpsvr, char *msg);
+
 int accsock(tcpsvr_t *tcpsvr, char *msg);
+
 int waittcpsvr(tcpsvr_t *tcpsvr, char *msg);
+
 int readtcpsvr(tcpsvr_t *tcpsvr, unsigned char *buff, int n, char *msg);
+
 int writetcpsvr(tcpsvr_t *tcpsvr, unsigned char *buff, int n, char *msg);
+
 int statetcpsvr(tcpsvr_t *tcpsvr);
+
 int consock(tcpcli_t *tcpcli, char *msg);
+
 tcpcli_t *opentcpcli(const char *path, char *msg);
+
 void closetcpcli(tcpcli_t *tcpcli);
+
 int waittcpcli(tcpcli_t *tcpcli, char *msg);
+
 int readtcpcli(tcpcli_t *tcpcli, unsigned char *buff, int n, char *msg);
+
 int writetcpcli(tcpcli_t *tcpcli, unsigned char *buff, int n, char *msg);
+
 int statetcpcli(tcpcli_t *tcpcli);
+
 int encbase64(char *str, const unsigned char *byte, int n);
+
 int reqntrip_s(ntrip_t *ntrip, char *msg);
+
 int reqntrip_c(ntrip_t *ntrip, char *msg);
+
 int rspntrip_s(ntrip_t *ntrip, char *msg);
+
 int rspntrip_c(ntrip_t *ntrip, char *msg);
+
 int waitntrip(ntrip_t *ntrip, char *msg);
+
 ntrip_t *openntrip(const char *path, int type, char *msg);
+
 void closentrip(ntrip_t *ntrip);
+
 int readntrip(ntrip_t *ntrip, unsigned char *buff, int n, char *msg);
+
 int writentrip(ntrip_t *ntrip, unsigned char *buff, int n, char *msg);
+
 int statentrip(ntrip_t *ntrip);
+
 void decodeftppath(const char *path, char *addr, char *file, char *user,
-                          char *passwd, int *topts);
+        char *passwd, int *topts);
+
 gtime_t nextdltime(const int *topts, int stat);
+
 void *ftpthread(void *arg);
+
 ftp_t *openftp(const char *path, int type, char *msg);
+
 void closeftp(ftp_t *ftp);
+
 int readftp(ftp_t *ftp, unsigned char *buff, int n, char *msg);
+
 int stateftp(ftp_t *ftp);
+
 void strinitcom(void);
+
 void strinit(stream_t *stream);
+
 int stropen(stream_t *stream, int type, int mode, const char *path);
+
 void strclose(stream_t *stream);
+
 void strsync(stream_t *stream1, stream_t *stream2);
+
 void strlock(stream_t *stream);
+
 void strunlock(stream_t *stream);
+
 int strread(stream_t *stream, unsigned char *buff, int n);
+
 int strwrite(stream_t *stream, unsigned char *buff, int n);
+
 int strstat(stream_t *stream, char *msg);
+
 void strsum(stream_t *stream, int *inb, int *inr, int *outb, int *outr);
+
 void strsetopt(const int *opt);
+
 void strsettimeout(stream_t *stream, int toinact, int tirecon);
+
 void strsetdir(const char *dir);
+
 void strsetproxy(const char *addr);
+
 gtime_t strgettime(stream_t *stream);
+
 void strsendnmea(stream_t *stream, const double *pos);
+
 int gen_hex(const char *msg, unsigned char *buff);
+
 void strsendcmd(stream_t *str, const char *cmd);