mirror of https://github.com/gnss-sdr/gnss-sdr
138 lines
5.5 KiB
C
138 lines
5.5 KiB
C
/*!
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* \file rtklib_rtksvr.h
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* \brief rtk server functions
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* \authors <ul>
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* <li> 2007-2013, T. Takasu
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* <li> 2017, Javier Arribas
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* <li> 2017, Carles Fernandez
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* </ul>
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*
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* This is a derived work from RTKLIB http://www.rtklib.com/
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* The original source code at https://github.com/tomojitakasu/RTKLIB is
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* released under the BSD 2-clause license with an additional exclusive clause
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* that does not apply here. This additional clause is reproduced below:
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*
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* " The software package includes some companion executive binaries or shared
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* libraries necessary to execute APs on Windows. These licenses succeed to the
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* original ones of these software. "
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*
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* Neither the executive binaries nor the shared libraries are required by, used
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* or included in GNSS-SDR.
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*
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* -------------------------------------------------------------------------
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* Copyright (C) 2007-2013, T. Takasu
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* Copyright (C) 2017, Javier Arribas
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* Copyright (C) 2017, Carles Fernandez
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are
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* met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*
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*----------------------------------------------------------------------------*/
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#ifndef GNSS_SDR_RTKLIB_RKTSVR_H_
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#define GNSS_SDR_RTKLIB_RKTSVR_H_
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#include "rtklib.h"
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const solopt_t SOLOPT_DEFAULT = {
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/* defaults solution output options */
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SOLF_LLH, TIMES_GPST, 1, 3, /* posf, times, timef, timeu */
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0, 1, 0, 0, 0, 0, /* degf, outhead, outopt, datum, height, geoid */
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0, 0, 0, /* solstatic, sstat, trace */
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{0.0, 0.0}, /* nmeaintv */
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" ", "", 0 /* separator/program name */
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};
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const prcopt_t PRCOPT_DEFAULT = { /* defaults processing options */
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PMODE_SINGLE, 0, 2, SYS_GPS, /* mode, soltype, nf, navsys */
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15.0 * D2R, {{}, {{}, {}}}, /* elmin, snrmask */
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0, 1, 1, 1, /* sateph, modear, glomodear, bdsmodear */
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5, 0, 10, 1, /* maxout, minlock, minfix, armaxiter */
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0, 0, 0, 0, /* estion, esttrop, dynamics, tidecorr */
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1, 0, 0, 0, 0, /* niter, codesmooth, intpref, sbascorr, sbassatsel */
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0, 0, /* rovpos, refpos */
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{100.0, 100.0, 100.0}, /* eratio[] */
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{100.0, 0.003, 0.003, 0.0, 1.0}, /* err[] */
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{30.0, 0.03, 0.3}, /* std[] */
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{1e-4, 1e-3, 1e-4, 1e-1, 1e-2, 0.0}, /* prn[] */
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5E-12, /* sclkstab */
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{3.0, 0.9999, 0.25, 0.1, 0.05, 0, 0, 0}, /* thresar */
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0.0, 0.0, 0.05, /* elmaskar, almaskhold, thresslip */
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30.0, 30.0, 30.0, /* maxtdif, maxinno, maxgdop */
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{}, {}, {}, /* baseline, ru, rb */
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{"", ""}, /* anttype */
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{}, {}, {}, /* antdel, pcv, exsats */
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0, 0, 0, {"", ""}, {}, 0, {{}, {}}, {{}, {{}, {}}, {{}, {}}, {}, {}}, 0, {}};
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void writesolhead(stream_t *stream, const solopt_t *solopt);
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void saveoutbuf(rtksvr_t *svr, unsigned char *buff, int n, int index);
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void writesol(rtksvr_t *svr, int index);
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void updatenav(nav_t *nav);
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void updatefcn(rtksvr_t *svr);
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void updatesvr(rtksvr_t *svr, int ret, obs_t *obs, nav_t *nav, int sat,
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sbsmsg_t *sbsmsg, int index, int iobs);
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int decoderaw(rtksvr_t *svr, int index);
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void decodefile(rtksvr_t *svr, int index);
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void *rtksvrthread(void *arg);
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int rtksvrinit(rtksvr_t *svr);
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void rtksvrfree(rtksvr_t *svr);
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void rtksvrlock(rtksvr_t *svr);
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void rtksvrunlock(rtksvr_t *svr);
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int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs,
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char **paths, const int *formats, int navsel, char **cmds,
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char **rcvopts, int nmeacycle, int nmeareq,
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const double *nmeapos, prcopt_t *prcopt,
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solopt_t *solopt, stream_t *moni);
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void rtksvrstop(rtksvr_t *svr, char **cmds);
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int rtksvropenstr(rtksvr_t *svr, int index, int str, const char *path,
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const solopt_t *solopt);
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void rtksvrclosestr(rtksvr_t *svr, int index);
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int rtksvrostat(rtksvr_t *svr, int rcv, gtime_t *time, int *sat,
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double *az, double *el, int **snr, int *vsat);
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void rtksvrsstat(rtksvr_t *svr, int *sstat, char *msg);
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#endif
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