/*!
 * \file rtklib_rtksvr.h
 * \brief rtk server functions
 * \authors <ul>
 *          <li> 2007-2013, T. Takasu
 *          <li> 2017, Javier Arribas
 *          <li> 2017, Carles Fernandez
 *          </ul>
 *
 * This is a derived work from RTKLIB http://www.rtklib.com/
 * The original source code at https://github.com/tomojitakasu/RTKLIB is
 * released under the BSD 2-clause license with an additional exclusive clause
 * that does not apply here. This additional clause is reproduced below:
 *
 * " The software package includes some companion executive binaries or shared
 * libraries necessary to execute APs on Windows. These licenses succeed to the
 * original ones of these software. "
 *
 * Neither the executive binaries nor the shared libraries are required by, used
 * or included in GNSS-SDR.
 *
 * -------------------------------------------------------------------------
 * Copyright (C) 2007-2013, T. Takasu
 * Copyright (C) 2017, Javier Arribas
 * Copyright (C) 2017, Carles Fernandez
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are
 * met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
 * HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 *
 *----------------------------------------------------------------------------*/

#ifndef GNSS_SDR_RTKLIB_RKTSVR_H_
#define GNSS_SDR_RTKLIB_RKTSVR_H_

#include "rtklib.h"


const solopt_t solopt_default = { /* defaults solution output options */
        SOLF_LLH, TIMES_GPST, 1, 3,     /* posf, times, timef, timeu */
        0, 1, 0, 0, 0, 0,                 /* degf, outhead, outopt, datum, height, geoid */
        0, 0, 0,                       /* solstatic, sstat, trace */
        {0.0, 0.0},                  /* nmeaintv */
        " ", "", 0                      /* separator/program name */
};

const prcopt_t prcopt_default = { /* defaults processing options */
        PMODE_SINGLE, 0, 2, SYS_GPS,    /* mode, soltype, nf, navsys */
        15.0*D2R, { {}, {{},{}} },            /* elmin, snrmask */
        0, 1, 1, 1,                     /* sateph, modear, glomodear, bdsmodear */
        5, 0, 10, 1,                    /* maxout, minlock, minfix, armaxiter */
        0, 0, 0, 0,                     /* estion, esttrop, dynamics, tidecorr */
        1, 0, 0, 0, 0,                   /* niter, codesmooth, intpref, sbascorr, sbassatsel */
        0, 0,                         /* rovpos, refpos */
        {100.0, 100.0, 100.0},               /* eratio[] */
        {100.0, 0.003, 0.003, 0.0, 1.0},  /* err[] */
        {30.0, 0.03, 0.3},             /* std[] */
        {1e-4, 1e-3, 1e-4, 1e-1, 1e-2, 0.0},  /* prn[] */
        5E-12,                       /* sclkstab */
        {3.0, 0.9999, 0.25, 0.1, 0.05, 0, 0, 0},  /* thresar */
        0.0, 0.0, 0.05,                /* elmaskar, almaskhold, thresslip */
        30.0, 30.0, 30.0,              /* maxtdif, maxinno, maxgdop */
        {}, {}, {},                 /* baseline, ru, rb */
        {"",""},                    /* anttype */
        {} , {}, {},              /* antdel, pcv, exsats */
        0, 0, 0, {"",""}, {}, 0, {{},{}}, { {}, {{},{}}, {{},{}}, {}, {} }, 0, {}
};


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);

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 **rcvopts, int nmeacycle, int nmeareq,
        const double *nmeapos, prcopt_t *prcopt,
        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);

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);

void rtksvrsstat(rtksvr_t *svr, int *sstat, char *msg);



#endif