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gps yolo

pull/1/head
bert hubert 2019-08-12 15:54:16 +02:00
parent 7eeb94c8c5
commit 286befa8a9
13 changed files with 747 additions and 445 deletions
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4
Makefile
View File

@ -12,7 +12,7 @@ clean:
H2OPP=ext/powerblog/h2o-pp.o
SIMPLESOCKETS=ext/powerblog/ext/simplesocket/swrappers.o ext/powerblog/ext/simplesocket/sclasses.o ext/powerblog/ext/simplesocket/comboaddress.o
navparse: navparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o
navparse: navparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o
g++ -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -lh2o-evloop -lssl -lcrypto -lz -lcurl -lprotobuf # -lwslay
navnexus: navnexus.o ext/fmt-5.2.1/src/format.o $(SIMPLESOCKETS) ubx.o bits.o navmon.pb.o storage.o
@ -27,6 +27,6 @@ navrecv: navrecv.o ext/fmt-5.2.1/src/format.o $(SIMPLESOCKETS) navmon.pb.o stora
navmon.pb.h: navmon.proto
protoc --cpp_out=./ navmon.proto
ubxtool: ubxtool.o ubx.o bits.o ext/fmt-5.2.1/src/format.o galileo.o navmon.pb.o
ubxtool: ubxtool.o ubx.o bits.o ext/fmt-5.2.1/src/format.o galileo.o navmon.pb.o gps.o
g++ -std=gnu++17 $^ -o $@ -lprotobuf

146
ephemeris.hh 100644
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@ -0,0 +1,146 @@
#pragma once
#include "minivec.hh"
void getCoordinates(int wn, double tow, const auto& iod, Point* p, bool quiet=true)
{
using namespace std;
// here goes
constexpr double mu = 3.986004418 * pow(10.0, 14.0);
constexpr double omegaE = 7.2921151467 * pow(10.0, -5);
double sqrtA = 1.0*iod.sqrtA / (1ULL<<19);
double deltan = M_PI * 1.0*iod.deltan / (1LL<<43);
double t0e = 60.0*iod.t0e;
double m0 = M_PI * 1.0*iod.m0 / (1LL<<31);
double e = 1.0*iod.e / (1ULL<<33);
double omega = M_PI * 1.0*iod.omega / (1LL<<31);
double cuc = 1.0*iod.cuc / (1LL<<29);
double cus = 1.0*iod.cus / (1LL<<29);
double crc = 1.0*iod.crc / (1LL<<5);
double crs = 1.0*iod.crs / (1LL<<5);
double cic = 1.0*iod.cic / (1LL<<29);
double cis = 1.0*iod.cis / (1LL<<29);
double idot = M_PI * 1.0*iod.idot / (1LL<<43);
double i0 = M_PI * 1.0*iod.i0 / (1LL << 31);
double Omegadot = M_PI * 1.0*iod.omegadot / (1LL << 43);
double Omega0 = M_PI * 1.0*iod.omega0 / (1LL << 31);
// NO IOD BEYOND THIS POINT!
if(!quiet) {
auto todeg = [](double rad)
{
return 360 * rad/(2*M_PI);
};
cerr << "sqrtA = "<< sqrtA << endl;
cerr << "deltan = "<< deltan << endl;
cerr << "t0e = "<< t0e << endl;
cerr << "m0 = "<< m0 << " ("<<todeg(m0)<<")"<<endl;
cerr << "e = "<< e << endl;
cerr << "omega = " << omega << " ("<<todeg(omega)<<")"<<endl;
cerr << "idot = " << idot <<endl;
cerr << "i0 = " << i0 << " ("<<todeg(i0)<<")"<<endl;
cerr << "cuc = " << cuc << endl;
cerr << "cus = " << cus << endl;
cerr << "crc = " << crc << endl;
cerr << "crs = " << crs << endl;
cerr << "cic = " << cic << endl;
cerr << "cis = " << cis << endl;
cerr << "Omega0 = " << Omega0 << " ("<<todeg(Omega0)<<")"<<endl;
cerr << "Omegadot = " << Omegadot << " ("<<todeg(Omegadot)<< ")"<<endl;
}
double A = pow(sqrtA, 2.0);
double A3 = pow(sqrtA, 6.0);
double n0 = sqrt(mu/A3);
double tk = tow - t0e; // in seconds, ignores WN!!! XX!!! ! XX
double n = n0 + deltan;
if(!quiet)
cerr <<"tk: "<<tk<<", n0: "<<n0<<", deltan: "<<deltan<<", n: "<<n<<endl;
double M = m0 + n * tk;
if(!quiet)
cerr << " M = m0 + n * tk = "<<m0 << " + " << n << " * " << tk <<endl;
double E = M;
for(int k =0 ; k < 10; ++k) {
if(!quiet)
cerr<<"M = "<<M<<", E = "<< E << endl;
E = M + e * sin(E);
}
// M = E - e * sin(E) -> E = M + e * sin(E)
double nu2 = M + e*2*sin(M) +
e *e * (5.0/4.0) * sin(2*M) -
e*e*e * (0.25*sin(M) - (13.0/12.0)*sin(3*M));
double corr = e*e*e*e * (103*sin(4*M) - 44*sin(2*M)) / 96.0 +
e*e*e*e*e * (1097*sin(5*M) - 645*sin(3*M) + 50 *sin(M))/960.0 +
e*e*e*e*e*e * (1223*sin(6*M) - 902*sin(4*M) + 85 *sin(2*M))/960.0;
if(!quiet) {
double nu1 = atan( ((sqrt(1-e*e) * sin(E)) / (1 - e * cos(E)) ) /
((cos(E) - e)/ (1-e*cos(E)))
);
double nu2 = atan( (sqrt(1-e*e) * sin(E)) /
(cos(E) - e)
);
double nu3 = 2* atan( sqrt((1+e)/(1-e)) * tan(E/2));
cerr << "e: "<<e<<", M: "<< M<<endl;
cerr <<" nu sis: "<<nu1<< " / +pi = " << nu1 +M_PI << endl;
cerr <<" nu ?: "<<nu2<< " / +pi = " << nu2 +M_PI << endl;
cerr <<" nu fourier/esa: "<<nu2<< " + " << corr <<" = " << nu2 + corr<<endl;
cerr <<" nu wikipedia: "<<nu3<< " / +pi = " <<nu3 +M_PI << endl;
}
double nu = nu2 + corr;
// https://en.wikipedia.org/wiki/True_anomaly is good
double psi = nu + omega;
if(!quiet) {
cerr<<"psi = nu + omega = " << nu <<" + "<<omega<< " = " << psi << "\n";
}
double deltau = cus * sin(2*psi) + cuc * cos(2*psi);
double deltar = crs * sin(2*psi) + crc * cos(2*psi);
double deltai = cis * sin(2*psi) + cic * cos(2*psi);
double u = psi + deltau;
double r = A * (1- e * cos(E)) + deltar;
double xprime = r*cos(u), yprime = r*sin(u);
if(!quiet) {
cerr<<"u = psi + deltau = "<< psi <<" + " << deltau << " = "<<u<<"\n";
cerr << "calculated r = "<< r << " (" << (r/1000.0) <<"km)"<<endl;
cerr << "xprime: "<<xprime<<", yprime: "<<yprime<<endl;
}
double Omega = Omega0 + (Omegadot - omegaE)*tk - omegaE * t0e;
double i = i0 + deltai + idot * tk;
p->x = xprime * cos(Omega) - yprime * cos(i) * sin(Omega);
p->y = xprime * sin(Omega) + yprime * cos(i) * cos(Omega);
p->z = yprime * sin(i);
if(!quiet) {
Point core(0.0, .0, .0);
Vector radius(core, *p);
cerr << radius.length() << " calculated r "<<endl;
}
}

15
gps.cc 100644
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@ -0,0 +1,15 @@
#include "gps.hh"
// this strips out spare bits + parity, and leaves 10 clean 24 bit words
std::basic_string<uint8_t> getCondensedGPSMessage(std::basic_string_view<uint8_t> payload)
{
uint8_t buffer[10*24/8];
for(int w = 0 ; w < 10; ++w) {
setbitu(buffer, 24*w, 24, getbitu(&payload[0], 2 + w*32, 24));
}
return std::basic_string<uint8_t>(buffer, 30);
}

106
gps.hh 100644
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@ -0,0 +1,106 @@
#pragma once
#include <string>
#include "bits.hh"
#include <iostream>
std::basic_string<uint8_t> getCondensedGPSMessage(std::basic_string_view<uint8_t> payload);
// expects input as 24 bit read to to use messages
void parseGPSMessage(std::basic_string_view<uint8_t> cond, auto& out)
{
using namespace std;
int frame = getbitu(&cond[0], 24+19, 3);
// 10 * 4 bytes in payload now
out.tow = 1.5*(getbitu(&cond[0], 24, 17)*4);
cerr << "Preamble: "<<getbitu(&cond[0], 0, 8) <<", frame: "<< frame<<", truncated TOW: "<<out.tow<<endl;
if(frame == 1) {
// word 1, word 2 are TLM and HOW
// 2 bits of padding on each word
// word3:
// 1-10: WN
// 11-12: Which codes 00 = invalid, 01 = P-code on, 10 = C/A code on, 11 invalid
// 13-16: URA, 0-15 scale
// 17-22: 0 is ok
// 23-24: MSB of IODC
// word 8:
// 1-8: LSB of IODC
// 9-24:
out.wn = getbitu(&cond[0], 2*24, 10);
out.ura = getbitu(&cond[0], 2*24+12, 4);
out.gpshealth = getbitu(&cond[0], 2*24+16, 6);
cerr<<"GPS Week Number: "<< out.wn <<", URA: "<< (int)out.ura<<", health: "<<
(int)out.gpshealth <<endl;
out.af2 = getbits(&cond[0], 8*24, 8); // * 2^-55
out.af1 = getbits(&cond[0], 8*24 + 8, 16); // * 2^-43
out.af0 = getbits(&cond[0], 9*24, 22); // * 2^-31
out.t0c = getbits(&cond[0], 7*24 + 8, 16); // * 16
cerr<<"t0c*16: "<<out.t0c*16<<", af2: "<< (int)out.af2 <<", af1: "<< out.af1 <<", af0: "<<
out.af0 <<endl;
}
else if(frame == 2) {
out.iod = getbitu(&cond[0], 2*24, 8);
auto& eph = out.getEph(out.iod);
eph.words[2]=1;
eph.t0e = getbits(&cond[0], 9*24, 16) * 16.0 /60; // XXX GALILEO ADJUSTMENT
cerr<<"IODe "<<(int)out.iod<<", t0e "<< eph.t0e << " = "<< 16* eph.t0e <<"s"<<endl;
eph.e= getbitu(&cond[0], 5*24+16, 32);
cerr<<"e: "<<ldexp(eph.e, -33)<<", ";
// sqrt(A), 32 bits, 2^-19
eph.sqrtA= getbitu(&cond[0], 7*24+ 16, 32);
double sqrtA=ldexp(eph.sqrtA, -19); // 2^-19
cerr<<"Radius: "<<sqrtA*sqrtA<<endl;
eph.crs = getbits(&cond[0], 2*24 + 8, 16); // 2^-5 meters
eph.deltan = getbits(&cond[0], 3*24, 16); // 2^-43 semi-circles/s
eph.m0 = getbits(&cond[0], 3*24+16, 32); // 2^-31 semi-circles
eph.cuc = getbits(&cond[0], 5*24, 16); // 2^-29 RADIANS
eph.cus = getbits(&cond[0], 7*24, 16); // 2^-29 RADIANS
out.checkCompleteAndClean();
}
else if(frame == 3) {
out.iod = getbitu(&cond[0], 9*24, 8);
auto& eph = out.getEph(out.iod);
eph.words[3]=1;
eph.cic = getbits(&cond[0], 2*24, 16); // 2^-29 RADIANS
eph.omega0 = getbits(&cond[0], 2*24 + 16, 32); // 2^-31 semi-circles
eph.cis = getbits(&cond[0], 4*24, 16); // 2^-29 radians
eph.i0 = getbits(&cond[0], 4*24 + 16, 32); // 2^-31, semicircles
eph.crc = getbits(&cond[0], 6*24, 16); // 2^-5, meters
eph.omega = getbits(&cond[0], 6*24+16, 32); // 2^-31, semi-circles
eph.omegadot = getbits(&cond[0], 8*24, 24); // 2^-43, semi-circles/s
eph.idot = getbits(&cond[0], 9*24+8, 14); // 2^-43, semi-cirlces/s
out.checkCompleteAndClean();
}
else if(frame == 4) { // this is a carousel frame
int page = getbitu(&cond[0], 2*24 + 2, 6);
cerr<<"Frame 4, page "<<page;
if(page == 56) { // 56 is the new 18 somehow?
out.a0 = getbits(&cond[0], 6*24 , 32); // 2^-30
out.a1 = getbits(&cond[0], 5*24 , 24); // 2^-50
out.t0t = getbitu(&cond[0], 7*24 + 8, 8); // 2^12
out.wn0t = getbitu(&cond[0], 7*24 + 16, 8);
out.dtLS = getbits(&cond[0], 8*24, 8);
out.dtLSF = getbits(&cond[0], 9*24, 8);
cerr<<": a0: "<<out.a0<<", a1: "<<out.a1<<", t0t: "<< out.t0t * (1<<12) <<", wn0t: "<< out.wn0t<<", rough offset: "<<ldexp(out.a0, -30)<<endl;
cerr<<"deltaTLS: "<< (int)out.dtLS<<", post "<< (int)out.dtLSF<<endl;
}
else cerr<<endl;
// page 18 contains UTC -> 56
// page 25 -> 63
// 2-10 -> 25 -> 32 ??
}
else if(frame == 5) { // this is a caroussel frame
// cerr<<"Frame 5, SV: "<<getbitu(&cond[0], 2*32 + 2 +2, 6)<<endl;
}
}

11
navmon.proto
View File

@ -6,6 +6,7 @@ message NavMonMessage {
ObserverPositionType = 2;
GalileoInavType = 3;
RFDataType = 4;
GPSInavType = 5;
}
required uint64 sourceID = 1;
@ -22,6 +23,15 @@ message NavMonMessage {
required uint32 gnssSV =4;
required bytes contents =5;
}
message GPSInav {
required uint32 gnssWN =1;
required uint32 gnssTOW =2; // INTEGERS!
required uint32 gnssID =3;
required uint32 gnssSV =4;
required bytes contents =5;
}
message ReceptionData {
required uint32 gnssID =1;
@ -58,4 +68,5 @@ message NavMonMessage {
optional ReceptionData rd=6;
optional RFData rfd=7;
optional ObserverPosition op=8;
optional GPSInav gpsi=9;
}

133
navnexus.cc
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@ -20,49 +20,11 @@ using namespace std;
std::mutex g_clientmut;
set<int> g_clients;
std::mutex g_dedupmut;
set<std::tuple<int, int, int, int>> g_dedup;
std::string g_storage;
std::multimap<pair<uint32_t,uint32_t>, string> g_history;
void sendSession(int s, ComboAddress client)
{
cerr<<"New downstream client "<<client.toStringWithPort() << endl;
pair<uint32_t, uint32_t> start;
start.first=time(0)-1800;
start.second=0;
int count =0;
for(auto iter = g_history.lower_bound(start); iter != g_history.end(); ++iter) {
SWriten(s, iter->second);
++count;
}
cerr<<"Wrote "<<count<<" historical messages"<<endl;
g_clients.insert(s);
char c;
int res = read(s, &c, 1);
g_clients.erase(s);
close(s);
cerr<<"Disconnect "<<client.toStringWithPort() << endl;
}
void sendListener(Socket&& s, ComboAddress local)
{
for(;;) {
ComboAddress remote=local;
int fd = SAccept(s, remote);
std::thread t(sendSession, fd, remote);
t.detach();
}
}
void unixDie(const std::string& str)
{
throw std::runtime_error(str+string(": ")+string(strerror(errno)));
@ -96,6 +58,85 @@ vector<uint64_t> getSources()
}
void sendSession(int clientfd, ComboAddress client)
try
{
cerr<<"New downstream client "<<client.toStringWithPort() << endl;
pair<uint64_t, uint64_t> start = {0,0};
start.first = time(0) - 1800;
map<string,uint32_t> fpos;
for(;;) {
auto srcs = getSources();
vector<NavMonMessage> nmms;
for(const auto& s: srcs) {
time_t t = time(0);
cout<<s <<" -> "<<getPath(g_storage, t, s) << " & " << getPath(g_storage, t-3600, s) << endl;
string fname = getPath(g_storage, t, s);
int fd = open(fname.c_str(), O_RDONLY);
if(fd < 0)
continue;
uint32_t offset= fpos[fname];
if(lseek(fd, offset, SEEK_SET) < 0) {
cout<<"Error seeking: "<<strerror(errno) <<endl;
close(fd);
continue;
}
cout <<"Seeked to position "<<fpos[fname]<<" of "<<fname<<endl;
NavMonMessage nmm;
uint32_t looked=0;
while(getNMM(fd, nmm, offset)) {
if(make_pair(nmm.localutcseconds(), nmm.localutcnanoseconds()) > start) {
nmms.push_back(nmm);
}
++looked;
}
cout<<"Harvested "<<nmms.size()<<" events out of "<<looked<<endl;
fpos[fname]=offset;
close(fd);
}
sort(nmms.begin(), nmms.end(), [](const auto& a, const auto& b)
{
return make_pair(a.localutcseconds(), b.localutcnanoseconds()) <
make_pair(b.localutcseconds(), b.localutcnanoseconds());
});
for(const auto& nmm: nmms) {
std::string out;
nmm.SerializeToString(&out);
std::string buf="bert";
uint16_t len = htons(out.size());
buf.append((char*)(&len), 2);
buf+=out;
SWriten(clientfd, buf);
}
if(!nmms.empty())
start = {nmms.rbegin()->localutcseconds(), nmms.rbegin()->localutcnanoseconds()};
sleep(1);
}
}
catch(std::exception& e) {
cerr<<"Sender thread died: "<<e.what()<<endl;
}
void sendListener(Socket&& s, ComboAddress local)
{
for(;;) {
ComboAddress remote=local;
int fd = SAccept(s, remote);
std::thread t(sendSession, fd, remote);
t.detach();
}
}
int main(int argc, char** argv)
{
signal(SIGPIPE, SIG_IGN);
@ -104,18 +145,9 @@ int main(int argc, char** argv)
return(EXIT_FAILURE);
}
g_storage=argv[1];
for(;;) {
auto srcs = getSources();
for(const auto& s: srcs) {
time_t t = time(0);
cout<<s <<" -> "<<getPath(g_storage, t, s) << " & " << getPath(g_storage, t-3600, s) << endl;
}
sleep(5);
}
#if 0
ComboAddress sendaddr(argv[2], 29601);
cout<<"Listening on "<<sendaddr.toStringWithPort()<<", storage: "<<g_storage<<endl;
Socket sender(sendaddr.sin4.sin_family, SOCK_STREAM);
SSetsockopt(sender, SOL_SOCKET, SO_REUSEADDR, 1 );
SBind(sender, sendaddr);
@ -124,7 +156,10 @@ int main(int argc, char** argv)
thread sendThread(sendListener, std::move(sender), sendaddr);
sendThread.detach();
#endif
for(;;) {
sleep(5);
}
}

535
navparse.cc
View File

@ -17,6 +17,8 @@
#include "bits.hh"
#include "minivec.hh"
#include "navmon.pb.h"
#include "ephemeris.hh"
#include "gps.hh"
using namespace std;
@ -49,11 +51,20 @@ string humanSisa(uint8_t sisa)
return "NO SIS AVAILABLE";
}
string humanUra(uint8_t ura)
{
if(ura < 6)
return fmt::sprintf("%d cm", (int)(100*pow(2, 1+ura/2.0)));
else if(ura < 15)
return fmt::sprintf("%d m", (int)(pow(2, ura-2)));
return "NO URA AVAILABLE";
}
struct SVIOD
{
std::bitset<32> words;
int gnssid;
uint32_t t0e;
uint32_t e, sqrtA;
int32_t m0, omega0, i0, omega, idot, omegadot, deltan;
@ -68,15 +79,19 @@ struct SVIOD
uint32_t wn{0}, tow{0};
bool complete() const
{
return words[1] && words[2] && words[3] && words[4];
if(gnssid==2)
return words[1] && words[2] && words[3] && words[4];
else
return words[2] && words[3];
}
void addWord(std::basic_string_view<uint8_t> page);
void addGalileoWord(std::basic_string_view<uint8_t> page);
};
void SVIOD::addWord(std::basic_string_view<uint8_t> page)
void SVIOD::addGalileoWord(std::basic_string_view<uint8_t> page)
{
uint8_t wtype = getbitu(&page[0], 0, 6);
words[wtype]=true;
gnssid = 2;
if(wtype == 1) {
t0e = getbitu(&page[0], 16, 14);
m0 = getbits(&page[0], 30, 32);
@ -117,14 +132,14 @@ void SVIOD::addWord(std::basic_string_view<uint8_t> page)
struct SVPerRecv
{
int el{-1}, azi{-1}, db{-1};
uint16_t wn;
uint32_t tow; // last seen
time_t t; // last seen
};
struct SVStat
{
uint8_t e5bhs{0}, e1bhs{0};
uint8_t gpshealth{0};
uint16_t ai0{0};
int16_t ai1{0}, ai2{0};
bool sf1{0}, sf2{0}, sf3{0}, sf4{0}, sf5{0};
@ -138,20 +153,25 @@ struct SVStat
int8_t dtLS{0}, dtLSF{0};
uint16_t wnLSF{0};
uint8_t dn; // leap second day number
int ura, af0, af1, af2, t0c, iod; // GPS parameters that should not be here XXX
map<uint64_t, SVPerRecv> perrecv;
double latestDisco{-1};
map<int, SVIOD> iods;
void addWord(std::basic_string_view<uint8_t> page);
void addGalileoWord(std::basic_string_view<uint8_t> page);
bool completeIOD() const;
uint16_t getIOD() const;
SVIOD liveIOD() const;
SVIOD& getEph(int i) { return iods[i]; } // XXXX gps adaptor
pair<int,SVIOD> prevIOD{-1, SVIOD()};
void clearPrev()
{
prevIOD.first = -1;
}
void checkCompleteAndClean();
};
bool SVStat::completeIOD() const
@ -177,10 +197,22 @@ SVIOD SVStat::liveIOD() const
throw std::runtime_error("Asked for unknown IOD");
}
void SVStat::addWord(std::basic_string_view<uint8_t> page)
void SVStat::checkCompleteAndClean()
{
if(iods[iod].complete()) {
for(const auto& i : iods) {
if(i.first != iod && i.second.complete())
prevIOD=i;
}
SVIOD latest = iods[iod];
iods.clear();
iods[iod] = latest;
}
}
void SVStat::addGalileoWord(std::basic_string_view<uint8_t> page)
{
uint8_t wtype = getbitu(&page[0], 0, 6);
if(wtype == 0) {
if(getbitu(&page[0], 6,2) == 2) {
wn = getbitu(&page[0], 96, 12);
@ -192,17 +224,8 @@ void SVStat::addWord(std::basic_string_view<uint8_t> page)
}
else if(wtype >=1 && wtype <= 4) { // ephemeris
uint16_t iod = getbitu(&page[0], 6, 10);
iods[iod].addWord(page);
if(iods[iod].complete()) {
for(const auto& i : iods) {
if(i.first != iod && i.second.complete())
prevIOD=i;
}
SVIOD latest = iods[iod];
iods.clear();
iods[iod] = latest;
}
iods[iod].addGalileoWord(page);
checkCompleteAndClean();
}
else if(wtype==5) { // disturbance, health, time
ai0 = getbitu(&page[0], 6, 11);
@ -228,10 +251,11 @@ void SVStat::addWord(std::basic_string_view<uint8_t> page)
}
}
else if(wtype == 6) {
a0 = getbits(&page[0], 6, 32);
a1 = getbits(&page[0], 38, 24);
dtLS = getbits(&page[0], 62, 8);
cerr<<"Setting a0,a1 to "<<a0<<", "<<a1<<endl;
t0t = getbitu(&page[0], 70, 8);
wn0t = getbitu(&page[0], 78, 8);
wnLSF = getbitu(&page[0], 86, 8);
@ -251,154 +275,6 @@ void SVStat::addWord(std::basic_string_view<uint8_t> page)
}
}
double todeg(double rad)
{
return 360 * rad/(2*M_PI);
}
void getCoordinates(int wn, double tow, const SVIOD& iod, Point* p, bool quiet=true)
{
// here goes
constexpr double mu = 3.986004418 * pow(10.0, 14.0);
constexpr double omegaE = 7.2921151467 * pow(10.0, -5);
double sqrtA = 1.0*iod.sqrtA / (1ULL<<19);
double deltan = M_PI * 1.0*iod.deltan / (1LL<<43);
double t0e = 60.0*iod.t0e;
double m0 = M_PI * 1.0*iod.m0 / (1LL<<31);
double e = 1.0*iod.e / (1ULL<<33);
double omega = M_PI * 1.0*iod.omega / (1LL<<31);
double cuc = 1.0*iod.cuc / (1LL<<29);
double cus = 1.0*iod.cus / (1LL<<29);
double crc = 1.0*iod.crc / (1LL<<5);
double crs = 1.0*iod.crs / (1LL<<5);
double cic = 1.0*iod.cic / (1LL<<29);
double cis = 1.0*iod.cis / (1LL<<29);
double idot = M_PI * 1.0*iod.idot / (1LL<<43);
double i0 = M_PI * 1.0*iod.i0 / (1LL << 31);
double Omegadot = M_PI * 1.0*iod.omegadot / (1LL << 43);
double Omega0 = M_PI * 1.0*iod.omega0 / (1LL << 31);
// NO IOD BEYOND THIS POINT!
if(!quiet) {
cout << "sqrtA = "<< sqrtA << endl;
cout << "deltan = "<< deltan << endl;
cout << "t0e = "<< t0e << endl;
cout << "m0 = "<< m0 << " ("<<todeg(m0)<<")"<<endl;
cout << "e = "<< e << endl;
cout << "omega = " << omega << " ("<<todeg(omega)<<")"<<endl;
cout << "idot = " << idot <<endl;
cout << "i0 = " << i0 << " ("<<todeg(i0)<<")"<<endl;
cout << "cuc = " << cuc << endl;
cout << "cus = " << cus << endl;
cout << "crc = " << crc << endl;
cout << "crs = " << crs << endl;
cout << "cic = " << cic << endl;
cout << "cis = " << cis << endl;
cout << "Omega0 = " << Omega0 << " ("<<todeg(Omega0)<<")"<<endl;
cout << "Omegadot = " << Omegadot << " ("<<todeg(Omegadot)<< ")"<<endl;
}
double A = pow(sqrtA, 2.0);
double A3 = pow(sqrtA, 6.0);
double n0 = sqrt(mu/A3);
double tk = tow - t0e; // in seconds, ignores WN!
double n = n0 + deltan;
if(!quiet)
cout <<"tk: "<<tk<<", n0: "<<n0<<", deltan: "<<deltan<<", n: "<<n<<endl;
double M = m0 + n * tk;
if(!quiet)
cout << " M = m0 + n * tk = "<<m0 << " + " << n << " * " << tk <<endl;
double E = M;
for(int k =0 ; k < 10; ++k) {
if(!quiet)
cout<<"M = "<<M<<", E = "<< E << endl;
E = M + e * sin(E);
}
// M = E - e * sin(E) -> E = M + e * sin(E)
double nu2 = M + e*2*sin(M) +
e *e * (5.0/4.0) * sin(2*M) -
e*e*e * (0.25*sin(M) - (13.0/12.0)*sin(3*M));
double corr = e*e*e*e * (103*sin(4*M) - 44*sin(2*M)) / 96.0 +
e*e*e*e*e * (1097*sin(5*M) - 645*sin(3*M) + 50 *sin(M))/960.0 +
e*e*e*e*e*e * (1223*sin(6*M) - 902*sin(4*M) + 85 *sin(2*M))/960.0;
if(!quiet) {
double nu1 = atan( ((sqrt(1-e*e) * sin(E)) / (1 - e * cos(E)) ) /
((cos(E) - e)/ (1-e*cos(E)))
);
double nu2 = atan( (sqrt(1-e*e) * sin(E)) /
(cos(E) - e)
);
double nu3 = 2* atan( sqrt((1+e)/(1-e)) * tan(E/2));
cout << "e: "<<e<<", M: "<< M<<endl;
cout <<" nu sis: "<<nu1<< " / +pi = " << nu1 +M_PI << endl;
cout <<" nu ?: "<<nu2<< " / +pi = " << nu2 +M_PI << endl;
cout <<" nu fourier/esa: "<<nu2<< " + " << corr <<" = " << nu2 + corr<<endl;
cout <<" nu wikipedia: "<<nu3<< " / +pi = " <<nu3 +M_PI << endl;
}
double nu = nu2 + corr;
// https://en.wikipedia.org/wiki/True_anomaly is good
double psi = nu + omega;
if(!quiet) {
cout<<"psi = nu + omega = " << nu <<" + "<<omega<< " = " << psi << "\n";
}
double deltau = cus * sin(2*psi) + cuc * cos(2*psi);
double deltar = crs * sin(2*psi) + crc * cos(2*psi);
double deltai = cis * sin(2*psi) + cic * cos(2*psi);
double u = psi + deltau;
double r = A * (1- e * cos(E)) + deltar;
double xprime = r*cos(u), yprime = r*sin(u);
if(!quiet) {
cout<<"u = psi + deltau = "<< psi <<" + " << deltau << " = "<<u<<"\n";
cout << "calculated r = "<< r << " (" << (r/1000.0) <<"km)"<<endl;
cout << "xprime: "<<xprime<<", yprime: "<<yprime<<endl;
}
double Omega = Omega0 + (Omegadot - omegaE)*tk - omegaE * t0e;
double i = i0 + deltai + idot * tk;
p->x = xprime * cos(Omega) - yprime * cos(i) * sin(Omega);
p->y = xprime * sin(Omega) + yprime * cos(i) * cos(Omega);
p->z = yprime * sin(i);
if(!quiet) {
Point core(0.0, .0, .0);
Vector radius(core, *p);
cout << radius.length() << " calculated r "<<endl;
}
}
void getSpeed(int wn, double tow, const SVIOD& iod, Vector* v)
{
Point a, b;
@ -407,23 +283,25 @@ void getSpeed(int wn, double tow, const SVIOD& iod, Vector* v)
*v = Vector(a, b);
}
std::map<int, SVStat> g_svstats;
std::map<pair<int,int>, SVStat> g_svstats;
int latestWN()
int latestWN(int gnssid)
{
map<int, int> ages;
for(const auto& s: g_svstats)
ages[7*s.second.wn*86400 + s.second.tow]= s.first;
map<int, pair<int,int>> ages;
for(const auto& s: g_svstats)
if(s.first.first == gnssid)
ages[7*s.second.wn*86400 + s.second.tow]= s.first;
if(ages.empty())
throw runtime_error("Asked for latest WN: we don't know it yet");
throw runtime_error("Asked for latest WN for "+to_string(gnssid)+": we don't know it yet");
return g_svstats[ages.rbegin()->second].wn;
}
int latestTow()
int latestTow(int gnssid)
{
map<int, int> ages;
for(const auto& s: g_svstats)
ages[7*s.second.wn*86400 + s.second.tow]= s.first;
map<int, pair<int,int>> ages;
for(const auto& s: g_svstats)
if(s.first.first == gnssid)
ages[7*s.second.wn*86400 + s.second.tow]= s.first;
if(ages.empty())
throw runtime_error("Asked for latest WN: we don't know it yet");
return g_svstats[ages.rbegin()->second].tow;
@ -452,17 +330,17 @@ struct InfluxPusher
explicit InfluxPusher(std::string_view dbname) : d_dbname(dbname)
{
}
void addValue( const pair<int,SVStat>& ent, string_view name, auto value)
void addValue( const pair<pair<int,int>,SVStat>& ent, string_view name, auto value)
{
d_buffer+= string(name) +",sv=" +to_string(ent.first)+" value="+to_string(value)+
d_buffer+= string(name) +",sv=" +to_string(ent.first.second)+",gnssid="+to_string(ent.first.first)+" value="+to_string(value)+
" "+to_string(nanoTime(ent.second.wn, ent.second.tow))+"\n";
checkSend();
}
void addValue(int sv, string_view name, auto value)
void addValue(pair<int,int> id, string_view name, auto value)
{
d_buffer+= string(name) +",sv=" +to_string(sv) + " value="+to_string(value)+" "+
to_string(nanoTime(g_svstats[sv].wn, g_svstats[sv].tow))+"\n";
d_buffer+= string(name) +",gnssid="+to_string(id.first)+",sv=" +to_string(id.second) + " value="+to_string(value)+" "+
to_string(nanoTime(g_svstats[id].wn, g_svstats[id].tow))+"\n";
checkSend();
}
@ -556,19 +434,26 @@ try
h2s.addHandler("/global", [](auto handler, auto req) {
nlohmann::json ret = nlohmann::json::object();
ret["leap-seconds"] = g_dtLS;
try {
ret["last-seen"]=utcFromGST(latestWN(2), latestTow(2));
}
catch(...)
{}
map<int, int> utcstats, gpsgststats;
for(const auto& s: g_svstats) {
if(!s.second.wn) // this will suck in 20 years
continue;
if(s.first.first != 2) // Galileo only
continue;
int dw = (uint8_t)s.second.wn - s.second.wn0t;
int age = dw * 7 * 86400 + s.second.tow - s.second.t0t * 3600;
utcstats[age]=s.first;
utcstats[age]=s.first.second;
uint8_t wn0g = s.second.wn0t;
int dwg = (((uint8_t)s.second.wn)&(1+2+4+8+16+32)) - wn0g;
age = dwg*7*86400 + s.second.tow - s.second.t0g * 3600;
gpsgststats[age]=s.first;
gpsgststats[age]=s.first.second;
}
if(utcstats.empty()) {
@ -576,11 +461,9 @@ try
}
else {
int sv = utcstats.begin()->second; // freshest SV
long shift = g_svstats[sv].a0 * (1LL<<20) + g_svstats[sv].a1 * utcstats.begin()->first; // in 2^-50 seconds units
// cout<<"sv: "<<sv<<", shift: "<<shift<<" a0: "<< g_svstats[sv].a0 << ", a1: "<< g_svstats[sv].a1 <<", age: "<< utcstats.begin()->first<<endl;
long shift = g_svstats[{2,sv}].a0 * (1LL<<20) + g_svstats[{2,sv}].a1 * utcstats.begin()->first; // in 2^-50 seconds units
ret["utc-offset-ns"] = 1.073741824*ldexp(1.0*shift, -20);
ret["leap-second-planned"] = (g_svstats[sv].dtLSF != g_svstats[sv].dtLS);
ret["leap-second-planned"] = (g_svstats[{2,sv}].dtLSF != g_svstats[{2,sv}].dtLS);
}
if(gpsgststats.empty()) {
@ -588,7 +471,7 @@ try
}
else {
int sv = gpsgststats.begin()->second; // freshest SV
long shift = g_svstats[sv].a0g * (1L<<16) + g_svstats[sv].a1g * gpsgststats.begin()->first; // in 2^-51 seconds units
long shift = g_svstats[{2,sv}].a0g * (1L<<16) + g_svstats[{2,sv}].a1g * gpsgststats.begin()->first; // in 2^-51 seconds units
ret["gps-offset-ns"] = 1.073741824*ldexp(shift, -21);
}
@ -599,63 +482,75 @@ try
h2s.addHandler("/svs", [](auto handler, auto req) {
nlohmann::json ret = nlohmann::json::object();
for(const auto& s: g_svstats)
for(const auto& s: g_svstats) {
nlohmann::json item = nlohmann::json::object();
if(!s.second.tow) // I know, I know, will suck briefly
continue;
if(s.second.completeIOD()) {
nlohmann::json item = nlohmann::json::object();
item["iod"]=s.second.getIOD();
item["sisa"]=humanSisa(s.second.liveIOD().sisa);
item["a0"]=s.second.a0;
item["a1"]=s.second.a1;
item["dtLS"]=s.second.dtLS;
item["a0g"]=s.second.a0g;
item["a1g"]=s.second.a1g;
item["e5bdvs"]=s.second.e5bdvs;
item["e1bdvs"]=s.second.e1bdvs;
item["e5bhs"]=s.second.e5bhs;
item["e1bhs"]=s.second.e1bhs;
nlohmann::json perrecv = nlohmann::json::object();
for(const auto& pr : s.second.perrecv) {
nlohmann::json det = nlohmann::json::object();
det["elev"] = pr.second.el;
det["db"] = pr.second.db;
det["last-seen-s"] = (7*86400*(latestWN() - pr.second.wn) + latestTow() - (int)pr.second.tow);
perrecv[to_string(pr.first)]=det;
}
item["perrecv"]=perrecv;
if(s.first.first ==0)
item["sisa"]=humanUra(s.second.ura);
else
item["sisa"]=humanSisa(s.second.liveIOD().sisa);
item["eph-age-m"] = ephAge(s.second.tow, 60*s.second.liveIOD().t0e)/60.0;
item["last-seen-s"] = s.second.tow ? (7*86400*(s.second.wn - s.second.wn) + latestTow() - (int)s.second.tow) : -1;
item["af0"] = s.second.liveIOD().af0;
item["af1"] = s.second.liveIOD().af1;
item["af2"] = (int)s.second.liveIOD().af2;
item["t0c"] = s.second.liveIOD().t0c;
Point our = g_ourpos;
Point p;
Point core;
// this should actually use local time!
getCoordinates(latestWN(), latestTow(), s.second.liveIOD(), &p);
getCoordinates(latestWN(2), latestTow(2), s.second.liveIOD(), &p);
Vector core2us(core, our);
Vector dx(our, p); // = x-ourx, dy = y-oury, dz = z-ourz;
// https://ds9a.nl/articles/
double elev = acos ( core2us.inner(dx) / (core2us.length() * dx.length()));
double deg = 180.0* (elev/M_PI);
item["elev"] = 90 - deg;
item["x"]=p.x;
item["y"]=p.y;
item["z"]=p.z;
item["wn"] = s.second.wn;
item["tow"] = s.second.tow;
ret[std::to_string(s.first)] = item;
}
item["a0"]=s.second.a0;
item["a1"]=s.second.a1;
item["dtLS"]=s.second.dtLS;
item["a0g"]=s.second.a0g;
item["a1g"]=s.second.a1g;
item["e5bdvs"]=s.second.e5bdvs;
item["e1bdvs"]=s.second.e1bdvs;
item["e5bhs"]=s.second.e5bhs;
item["e1bhs"]=s.second.e1bhs;
item["gpshealth"]=s.second.gpshealth;
nlohmann::json perrecv = nlohmann::json::object();
for(const auto& pr : s.second.perrecv) {
nlohmann::json det = nlohmann::json::object();
det["elev"] = pr.second.el;
det["db"] = pr.second.db;
det["last-seen-s"] = time(0) - pr.second.t;
perrecv[to_string(pr.first)]=det;
}
item["perrecv"]=perrecv;
item["last-seen-s"] = s.second.tow ? (7*86400*(latestWN(s.first.first) - s.second.wn) + latestTow(s.first.first) - (int)s.second.tow) : -1;
if(s.second.latestDisco >=0) {
item["latest-disco"]= s.second.latestDisco;
}
item["wn"] = s.second.wn;
item["tow"] = s.second.tow;
ret[fmt::sprintf("%c%02d", s.first.first ? 'E' : 'G', s.first.second)] = item;
}
return ret;
});
h2s.addDirectory("/", argc > 2 ? argv[2] : "./html/");
@ -669,24 +564,7 @@ try
});
ws.detach();
ofstream csv("iod.csv");
ofstream csv2("toe.csv");
csv<<"timestamp sv iod sisa"<<endl;
csv2<<"timestamp sv tow toe"<<endl;
ofstream gstutc("gstutc.csv");
gstutc << "timestamp sv tow t0t age rawshift nsecshift a0 a1" <<endl;
ofstream gstgps("gstgps.csv");
gstgps << "timestamp sv tow t0g age rawshift nsecshift a0g a1g" <<endl;
ofstream sisacsv("sisa.csv");
sisacsv << "timestamp sv sisa"<<endl;
ofstream clockcsv("clock.csv");
clockcsv <<"timestamp sv af0 af1 af2 t0c age offset"<<endl;
ofstream dopplercsv("doppler.csv");
ofstream dopplercsv("doppler."+to_string(getpid())+".csv");
dopplercsv<<"timestamp gnssid sv prmes cpmes doppler preddop distance radvel locktimems iod_age prstd cpstd dostd"<<endl;
@ -709,108 +587,127 @@ try
NavMonMessage nmm;
nmm.ParseFromString(string(buffer, len));
if(nmm.type() == NavMonMessage::ReceptionDataType) {
int gnssid = nmm.rd().gnssid();
int sv = nmm.rd().gnsssv();
g_svstats[sv].perrecv[nmm.sourceid()].db = nmm.rd().db();
g_svstats[sv].perrecv[nmm.sourceid()].el = nmm.rd().el();
g_svstats[sv].perrecv[nmm.sourceid()].azi = nmm.rd().azi();
pair<int,int> id{gnssid, sv};
g_svstats[id].perrecv[nmm.sourceid()].db = nmm.rd().db();
g_svstats[id].perrecv[nmm.sourceid()].el = nmm.rd().el();
g_svstats[id].perrecv[nmm.sourceid()].azi = nmm.rd().azi();
g_svstats[id].perrecv[nmm.sourceid()].t = nmm.localutcseconds();
// idb.addValue(sv, "db", g_svstats[sv].db);
// idb.addValue(sv, "elev", g_svstats[sv].el);
// idb.addValue(sv, "azi", g_svstats[sv].azi);
// THIS HAS TO SPLIT OUT PER SOURCE
idb.addValue(id, "db", nmm.rd().db());
if(nmm.rd().el() <= 90 && nmm.rd().el() > 0)
idb.addValue(id, "elev", nmm.rd().el());
idb.addValue(id, "azi", nmm.rd().azi());
}
else if(nmm.type() == NavMonMessage::GalileoInavType) {
basic_string<uint8_t> inav((uint8_t*)nmm.gi().contents().c_str(), nmm.gi().contents().size());
int sv = nmm.gi().gnsssv();
g_svstats[sv].wn = nmm.gi().gnsswn();
pair<int, int> id={2,sv};
g_svstats[id].wn = nmm.gi().gnsswn();
unsigned int wtype = getbitu(&inav[0], 0, 6);
if(1) {
// cout<<sv <<"\t" << wtype << "\t" << nmm.gi().gnsstow() << "\t"<< nmm.sourceid() << endl;
if(g_svstats[sv].tow > nmm.gi().gnsstow()) {
cout<<" wtype "<<wtype<<", was about to set tow backwards for "<<sv<<", "<<g_svstats[sv].tow << " > "<<nmm.gi().gnsstow()<<", " << ((signed)g_svstats[sv].tow - (signed)nmm.gi().gnsstow()) << ", source "<<nmm.sourceid()<<endl;
if(g_svstats[id].tow > nmm.gi().gnsstow()) {
cout<<" wtype "<<wtype<<", was about to set tow backwards for "<<sv<<", "<<g_svstats[id].tow << " > "<<nmm.gi().gnsstow()<<", " << ((signed)g_svstats[id].tow - (signed)nmm.gi().gnsstow()) << ", source "<<nmm.sourceid()<<endl;
}
}
g_svstats[sv].tow = nmm.gi().gnsstow();
g_svstats[id].tow = nmm.gi().gnsstow();
g_svstats[sv].perrecv[nmm.sourceid()].wn = nmm.gi().gnsswn();
g_svstats[sv].perrecv[nmm.sourceid()].tow = nmm.gi().gnsstow();
// g_svstats[id].perrecv[nmm.sourceid()].wn = nmm.gi().gnsswn();
// g_svstats[id].perrecv[nmm.sourceid()].tow = nmm.gi().gnsstow();
g_svstats[id].perrecv[nmm.sourceid()].t = nmm.localutcseconds();
// cout<<"inav for "<<wtype<<" for sv "<<sv<<": ";
// for(auto& c : inav)
// fmt::printf("%02x ", c);
g_svstats[sv].addWord(inav);
if(g_svstats[sv].e1bhs || g_svstats[sv].e5bhs || g_svstats[sv].e1bdvs || g_svstats[sv].e5bdvs) {
// cout<<"About to add word for galileo sv "<<id.first<<","<<id.second<<": word = "<<wtype<<endl;
g_svstats[id].addGalileoWord(inav);
if(g_svstats[id].e1bhs || g_svstats[id].e5bhs || g_svstats[id].e1bdvs || g_svstats[id].e5bdvs) {
if(sv != 18 && sv != 14)
cout << "sv "<<sv<<" health: " << g_svstats[sv].e1bhs <<" " << g_svstats[sv].e5bhs <<" " << g_svstats[sv].e1bdvs <<" "<< g_svstats[sv].e5bdvs <<endl;
cout << "sv "<<sv<<" health: " << g_svstats[id].e1bhs <<" " << g_svstats[id].e5bhs <<" " << g_svstats[id].e1bdvs <<" "<< g_svstats[id].e5bdvs <<endl;
}
if(wtype >=1 && wtype <= 4) { // ephemeris
uint16_t iod = getbitu(&inav[0], 6, 10);
if(wtype == 3) {
idb.addValue(sv, "sisa", g_svstats[sv].iods[iod].sisa);
idb.addValue(id, "sisa", g_svstats[id].iods[iod].sisa);
}
else if(wtype == 4) {
idb.addValue(sv, "af0", g_svstats[sv].iods[iod].af0);
idb.addValue(sv, "af1", g_svstats[sv].iods[iod].af1);
idb.addValue(sv, "af2", g_svstats[sv].iods[iod].af2);
idb.addValue(sv, "t0c", g_svstats[sv].iods[iod].t0c);
idb.addValue(id, "af0", g_svstats[id].iods[iod].af0);
idb.addValue(id, "af1", g_svstats[id].iods[iod].af1);
idb.addValue(id, "af2", g_svstats[id].iods[iod].af2);
idb.addValue(id, "t0c", g_svstats[id].iods[iod].t0c);
double age = ephAge(g_svstats[sv].tow, g_svstats[sv].iods[iod].t0c * 60);
double age = ephAge(g_svstats[id].tow, g_svstats[id].iods[iod].t0c * 60);
double offset = ldexp(1000.0*(1.0*g_svstats[sv].iods[iod].af0 + ldexp(age*g_svstats[sv].iods[iod].af1, -12)), -34);
idb.addValue(sv, "atomic_offset_ns", 1000000.0*offset);
double offset = ldexp(1000.0*(1.0*g_svstats[id].iods[iod].af0 + ldexp(age*g_svstats[id].iods[iod].af1, -12)), -34);
idb.addValue(id, "atomic_offset_ns", 1000000.0*offset);
}
else
;
}
else if(wtype == 5) {
idb.addValue(sv, "ai0", g_svstats[sv].ai0);
idb.addValue(sv, "ai1", g_svstats[sv].ai1);
idb.addValue(sv, "ai2", g_svstats[sv].ai2);
idb.addValue(id, "ai0", g_svstats[id].ai0);
idb.addValue(id, "ai1", g_svstats[id].ai1);
idb.addValue(id, "ai2", g_svstats[id].ai2);
idb.addValue(sv, "sf1", g_svstats[sv].sf1);
idb.addValue(sv, "sf2", g_svstats[sv].sf2);
idb.addValue(sv, "sf3", g_svstats[sv].sf3);
idb.addValue(sv, "sf4", g_svstats[sv].sf4);
idb.addValue(sv, "sf5", g_svstats[sv].sf5);
idb.addValue(id, "sf1", g_svstats[id].sf1);
idb.addValue(id, "sf2", g_svstats[id].sf2);
idb.addValue(id, "sf3", g_svstats[id].sf3);
idb.addValue(id, "sf4", g_svstats[id].sf4);
idb.addValue(id, "sf5", g_svstats[id].sf5);
idb.addValue(sv, "BGDE1E5a", g_svstats[sv].BGDE1E5a);
idb.addValue(sv, "BGDE1E5b", g_svstats[sv].BGDE1E5b);
idb.addValue(id, "BGDE1E5a", g_svstats[id].BGDE1E5a);
idb.addValue(id, "BGDE1E5b", g_svstats[id].BGDE1E5b);
idb.addValue(sv, "e1bhs", g_svstats[sv].e1bhs);
idb.addValue(sv, "e5bhs", g_svstats[sv].e5bhs);
idb.addValue(sv, "e5bdvs", g_svstats[sv].e5bdvs);
idb.addValue(sv, "e1bdvs", g_svstats[sv].e1bdvs);
idb.addValue(id, "e1bhs", g_svstats[id].e1bhs);
idb.addValue(id, "e5bhs", g_svstats[id].e5bhs);
idb.addValue(id, "e5bdvs", g_svstats[id].e5bdvs);
idb.addValue(id, "e1bdvs", g_svstats[id].e1bdvs);
}
else if(wtype == 6) { // GST-UTC
idb.addValue(sv, "a0", g_svstats[sv].a0);
idb.addValue(sv, "a1", g_svstats[sv].a1);
idb.addValue(id, "a0", g_svstats[id].a0);
idb.addValue(id, "a1", g_svstats[id].a1);
int dw = (uint8_t)g_svstats[id].wn - g_svstats[id].wn0t;
int age = dw * 7 * 86400 + g_svstats[id].tow - g_svstats[id].t0t * 3600;
g_dtLS = g_svstats[sv].dtLS;
long shift = g_svstats[id].a0 * (1LL<<20) + g_svstats[id].a1 * age; // in 2^-50 seconds units
idb.addValue(id, "utc_diff_ns", 1.073741824*ldexp(1.0*shift, -20));
g_dtLS = g_svstats[id].dtLS;
}
else if(wtype == 10) { // GSTT GPS
idb.addValue(sv, "a0g", g_svstats[sv].a0g);
idb.addValue(sv, "a1g", g_svstats[sv].a1g);
idb.addValue(sv, "t0g", g_svstats[sv].t0g);
idb.addValue(id, "a0g", g_svstats[id].a0g);
idb.addValue(id, "a1g", g_svstats[id].a1g);
idb.addValue(id, "t0g", g_svstats[id].t0g);
uint8_t wn0g = g_svstats[id].wn0t;
int dwg = (((uint8_t)g_svstats[id].wn)&(1+2+4+8+16+32)) - wn0g;
int age = dwg*7*86400 + g_svstats[id].tow - g_svstats[id].t0g * 3600;
long shift = g_svstats[id].a0g * (1L<<16) + g_svstats[id].a1g * age; // in 2^-51 seconds units
idb.addValue(id, "gps_gst_offset_ns", 1.073741824*ldexp(shift, -21));
}
for(auto& ent : g_svstats) {
// fmt::printf("%2d\t", ent.first);
id=ent.first;
if(ent.second.completeIOD() && ent.second.prevIOD.first >= 0) {
time_t t = utcFromGST((int)ent.second.wn, (int)ent.second.tow);
sisacsv << t <<" " << ent.first << " " << (unsigned int) ent.second.liveIOD().sisa << endl;
// time_t t = utcFromGST((int)ent.second.wn, (int)ent.second.tow);
// cout << t <<" " << ent.first << " " << (unsigned int) ent.second.liveIOD().sisa << "\n";
double clockage = ephAge(ent.second.tow, ent.second.liveIOD().t0c * 60);
double offset = 1.0*ent.second.liveIOD().af0/(1LL<<34) + clockage * ent.second.liveIOD().af1/(1LL<<46);
clockcsv << t << " " << ent.first<<" " << ent.second.liveIOD().af0 << " " << ent.second.liveIOD().af1 <<" " << (int)ent.second.liveIOD().af2 <<" " << 935280000 + ent.second.wn *7*86400 + ent.second.liveIOD().t0c * 60 << " " << clockage << " " << offset<<endl;
// double clockage = ephAge(ent.second.tow, ent.second.liveIOD().t0c * 60);
// double offset = 1.0*ent.second.liveIOD().af0/(1LL<<34) + clockage * ent.second.liveIOD().af1/(1LL<<46);
int ephage = ephAge(ent.second.tow, ent.second.prevIOD.second.t0e * 60);
if(ent.second.liveIOD().sisa != ent.second.prevIOD.second.sisa) {
cout<<humanTime(ent.second.wn, ent.second.tow)<<" sv "<<ent.first<<" changed sisa from "<<(unsigned int) ent.second.prevIOD.second.sisa<<" ("<<
cout<<humanTime(ent.second.wn, ent.second.tow)<<" gnssid "<<ent.first.first<<" sv "<<ent.first.second<<" changed sisa from "<<(unsigned int) ent.second.prevIOD.second.sisa<<" ("<<
humanSisa(ent.second.prevIOD.second.sisa)<<") to " << (unsigned int)ent.second.liveIOD().sisa << " ("<<
humanSisa(ent.second.liveIOD().sisa)<<"), lastseen = "<< (ephage/3600.0) <<"h"<<endl;
}
@ -825,17 +722,21 @@ try
double hours = ((ent.second.liveIOD().t0e - ent.second.prevIOD.second.t0e)/60.0);
double disco = Vector(p, oldp).length();
cout<<ent.first<<" discontinuity after "<< hours<<" hours: "<< disco <<endl;
idb.addValue(sv, "iod-actual", ent.second.getIOD());
idb.addValue(sv, "iod-hours", hours);
cout<<id.first<<","<<id.second<<" discontinuity after "<< hours<<" hours: "<< disco <<endl;
idb.addValue(id, "iod-actual", ent.second.getIOD());
idb.addValue(id, "iod-hours", hours);
if(hours < 4)
idb.addValue(sv, "eph-disco", disco);
if(hours < 4) {
idb.addValue(id, "eph-disco", disco);
g_svstats[id].latestDisco= disco;
}
else
g_svstats[id].latestDisco= -1;
if(0 && hours < 2) {
ofstream orbitcsv("orbit."+to_string(ent.first)+"."+to_string(ent.second.prevIOD.first)+"-"+to_string(ent.second.getIOD())+".csv");
ofstream orbitcsv("orbit."+to_string(id.first)+"."+to_string(id.second)+"."+to_string(ent.second.prevIOD.first)+"-"+to_string(ent.second.getIOD())+".csv");
orbitcsv << "timestamp x y z oldx oldy oldz\n";
orbitcsv << fixed;
@ -862,24 +763,30 @@ try
}
else if(nmm.type() == NavMonMessage::RFDataType) {
int sv = nmm.rfd().gnsssv();
if(nmm.rfd().gnssid() ==2 && g_svstats[sv].completeIOD()) {
pair<int,int> id{nmm.rfd().gnssid(), nmm.rfd().gnsssv()};
if(!nmm.rfd().gnssid()) {// GPS
dopplercsv << std::fixed << utcFromGST(nmm.rfd().rcvwn(), nmm.rfd().rcvtow()) <<" " << nmm.rfd().gnssid() <<" " <<sv<<" "<<nmm.rfd().pseudorange()<<" "<< nmm.rfd().carrierphase() <<" " << nmm.rfd().doppler()<<" " << 0 << " " << 0 << " " << 0 <<" " << nmm.rfd().locktimems()<<" " << 0 << " " << nmm.rfd().prstd() << " " << nmm.rfd().cpstd() <<" " <<
nmm.rfd().dostd() << endl;
}
else if(nmm.rfd().gnssid() ==2 && g_svstats[id].completeIOD()) {
Point sat;
Point us=g_ourpos;
// be careful with time here - we need to evaluate at the timestamp of this RFDataType update
// which might be newer than .tow in g_svstats
getCoordinates(nmm.rfd().rcvwn(), nmm.rfd().rcvtow(), g_svstats[sv].liveIOD(), &sat);
getCoordinates(nmm.rfd().rcvwn(), nmm.rfd().rcvtow(), g_svstats[id].liveIOD(), &sat);
Point core;
Vector us2sat(us, sat);
Vector speed;
getSpeed(nmm.rfd().rcvwn(), nmm.rfd().rcvtow(), g_svstats[sv].liveIOD(), &speed);
getSpeed(nmm.rfd().rcvwn(), nmm.rfd().rcvtow(), g_svstats[id].liveIOD(), &speed);
// cout<<sv<<" radius: "<<Vector(core, sat).length()<<", distance: "<<us2sat.length()<<", orbital velocity: "<<speed.length()/1000.0<<" km/s, ";
Vector core2us(core, us);
Vector dx(us, sat); // = x-ourx, dy = y-oury, dz = z-ourz;
// double elev = acos ( core2us.inner(dx) / (core2us.length() * dx.length()));
//double deg = 180.0* (elev/M_PI);
// cout <<"elev: "<<90 - deg<< " ("<<g_svstats[sv].el<<")\n";
// cout <<"elev: "<<90 - deg<< " ("<<g_svstats[id].el<<")\n";
us2sat.norm();
double radvel=us2sat.inner(speed);
@ -888,14 +795,18 @@ try
double preddop = -galileol1f*radvel/c;
// be careful with time here -
double ephage = ephAge(nmm.rfd().rcvtow(), g_svstats[sv].liveIOD().t0e*60);
double ephage = ephAge(nmm.rfd().rcvtow(), g_svstats[id].liveIOD().t0e*60);
// cout<<"Radial velocity: "<< radvel<<", predicted doppler: "<< preddop << ", measured doppler: "<<nmm.rfd().doppler()<<endl;
dopplercsv << std::fixed << utcFromGST(g_svstats[sv].wn, nmm.rfd().rcvtow()) <<" " << nmm.rfd().gnssid() <<" " <<sv<<" "<<nmm.rfd().pseudorange()<<" "<< nmm.rfd().carrierphase() <<" " << nmm.rfd().doppler()<<" " << preddop << " " << Vector(us, sat).length() << " " <<radvel <<" " << nmm.rfd().locktimems()<<" " <<ephage << " " << nmm.rfd().prstd() << " " << nmm.rfd().cpstd() <<" " <<
dopplercsv << std::fixed << utcFromGST(nmm.rfd().rcvwn(), nmm.rfd().rcvtow()) <<" " << nmm.rfd().gnssid() <<" " <<sv<<" "<<nmm.rfd().pseudorange()<<" "<< nmm.rfd().carrierphase() <<" " << nmm.rfd().doppler()<<" " << preddop << " " << Vector(us, sat).length() << " " <<radvel <<" " << nmm.rfd().locktimems()<<" " <<ephage << " " << nmm.rfd().prstd() << " " << nmm.rfd().cpstd() <<" " <<
nmm.rfd().dostd() << endl;
}
}
else if(nmm.type()== NavMonMessage::GPSInavType) {
auto cond = getCondensedGPSMessage(std::basic_string<uint8_t>((uint8_t*)nmm.gpsi().contents().c_str(), nmm.gpsi().contents().size()));
pair<int,int> id{nmm.gpsi().gnssid(), nmm.gpsi().gnsssv()};
auto& svstat = g_svstats[id];
parseGPSMessage(cond, svstat);
g_svstats[id].perrecv[nmm.sourceid()].t = nmm.localutcseconds();
}
else {
cout<<"Unknown type "<< (int)nmm.type()<<endl;

56
navrecv.cc
View File

@ -48,30 +48,35 @@ void writeToDisk(time_t s, uint64_t sourceid, std::string_view message)
void recvSession(int s, ComboAddress client)
{
Socket sock(s);
cerr<<"Receiving messages from "<<client.toStringWithPort()<<endl;
for(;;) {
string part=SRead(sock, 4);
if(part != "bert") {
cerr << "Wrong magic!"<<endl;
break;
try {
Socket sock(s);
cerr<<"Receiving messages from "<<client.toStringWithPort()<<endl;
for(;;) {
string part=SRead(sock, 4);
if(part != "bert") {
cerr << "Wrong magic!"<<endl;
break;
}
string out=part;
part = SRead(s, 2);
out += part;
uint16_t len;
memcpy(&len, part.c_str(), 2);
len = htons(len);
part = SRead(s, len);
out += part;
NavMonMessage nmm;
nmm.ParseFromString(part);
writeToDisk(nmm.localutcseconds(), nmm.sourceid(), out);
}
string out=part;
part = SRead(s, 2);
out += part;
uint16_t len;
memcpy(&len, part.c_str(), 2);
len = htons(len);
part = SRead(s, len);
out += part;
NavMonMessage nmm;
nmm.ParseFromString(part);
writeToDisk(nmm.localutcseconds(), nmm.sourceid(), out);
}
catch(std::exception& e) {
cout<<"Error in receiving thread: "<<e.what()<<endl;
}
}
@ -85,8 +90,6 @@ void recvListener(Socket&& s, ComboAddress local)
}
}
int main(int argc, char** argv)
{
signal(SIGPIPE, SIG_IGN);
@ -105,11 +108,8 @@ int main(int argc, char** argv)
thread recvThread(recvListener, std::move(receiver), recvaddr);
recvThread.detach();
for(;;) {
sleep(1);
}
}

22
storage.cc
View File

@ -4,7 +4,7 @@
#include <unistd.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <arpa/inet.h>
using namespace std;
@ -38,3 +38,23 @@ vector<string> getPathComponents(std::string_view root, time_t s, uint64_t sourc
ret.push_back(to_string(tm.tm_hour)+".pb");
return ret;
}
bool getNMM(int fd, NavMonMessage& nmm, uint32_t& offset)
{
char bert[4];
if(read(fd, bert, 4) != 4 || bert[0]!='b' || bert[1]!='e' || bert[2] !='r' || bert[3]!='t') {
return false;
}
uint16_t len;
if(read(fd, &len, 2) != 2)
return false;
len = htons(len);
char buffer[len];
if(read(fd, buffer, len) != len)
return false;
nmm.ParseFromString(string(buffer, len));
offset += 4 + 2 + len;
return true;
}

2
storage.hh
View File

@ -2,6 +2,8 @@
#include <time.h>
#include <string>
#include <vector>
#include "navmon.pb.h"
std::vector<std::string> getPathComponents(std::string_view root, time_t s, uint64_t sourceid);
std::string getPath(std::string_view root, time_t s, uint64_t sourceid, bool create=false);
bool getNMM(int fd, NavMonMessage& nmm, uint32_t& offset);

13
ubx.cc
View File

@ -87,3 +87,16 @@ basic_string<uint8_t> getInavFromSFRBXMsg(std::basic_string_view<uint8_t> msg)
return inav;
}
basic_string<uint8_t> getGPSFromSFRBXMsg(int sv, std::basic_string_view<uint8_t> msg)
{
// byte order adjustment
std::basic_string<uint8_t> payload;
for(unsigned int i = 0 ; i < (msg.size() - 8) / 4; ++i)
for(int j=1; j <= 4; ++j)
payload.append(1, msg[8 + (i+1) * 4 -j]);
return payload;
}

2
ubx.hh
View File

@ -6,5 +6,5 @@ std::basic_string<uint8_t> buildUbxMessage(uint8_t ubxClass, uint8_t ubxType, st
std::basic_string<uint8_t> buildUbxMessage(uint8_t ubxClass, uint8_t ubxType, const std::initializer_list<uint8_t>& str);
std::basic_string<uint8_t> getInavFromSFRBXMsg(std::basic_string_view<uint8_t> msg);
std::basic_string<uint8_t> getGPSFromSFRBXMsg(int sv, std::basic_string_view<uint8_t> msg);
struct CRCMismatch{};

147
ubxtool.cc
View File

@ -20,6 +20,8 @@
#include "galileo.hh"
#include <arpa/inet.h>
#include "navmon.pb.h"
#include "ephemeris.hh"
#include "gps.hh"
struct timespec g_gstutc;
uint16_t g_wn;
using namespace std;
@ -33,6 +35,8 @@ namespace {
struct EofException{};
}
Point g_ourpos;
size_t readn2(int fd, void* buffer, size_t len)
{
size_t pos=0;
@ -152,17 +156,29 @@ public:
std::basic_string<uint8_t> d_raw;
};
bool g_fromFile{false};
std::pair<UBXMessage, struct timeval> getUBXMessage(int fd)
{
static int logfile;
if(!logfile && !g_fromFile) {
logfile = open("./logfile", O_WRONLY|O_CREAT|O_APPEND, 0600);
if(!logfile)
throw std::runtime_error("Failed to open logfile for writing");
}
uint8_t marker[2]={0};
for(;;) {
marker[0] = marker[1];
int res = readn2(fd, marker+1, 1);
if(res < 0)
throw EofException();
// cerr<<"marker now: "<< (int)marker[0]<<" " <<(int)marker[1]<<endl;
if(marker[0]==0xb5 && marker[1]==0x62) { // bingo
struct timeval tv;
gettimeofday(&tv, 0);
basic_string<uint8_t> msg;
@ -172,12 +188,18 @@ std::pair<UBXMessage, struct timeval> getUBXMessage(int fd)
msg.append(b, 4); // class, type, len1, len2
uint16_t len = b[2] + 256*b[3];
// cerr<<"Got class "<<(int)msg[2]<<" type "<<(int)msg[3]<<", len = "<<len<<endl;
uint8_t buffer[len+2];
res=readn2(fd, buffer, len+2);
msg.append(buffer, len+2); // checksum
msg.append(buffer, len+2); // checksum
if(!g_fromFile)
writen2(logfile, msg.c_str(), msg.size());
return make_pair(UBXMessage(msg), tv);
}
}
@ -254,18 +276,19 @@ int main(int argc, char** argv)
}
struct termios oldtio,newtio;
int fd;
bool fromFile=false;
if(string(argv[1]) != "stdin" && string(argv[1]) != "/dev/stdin" && isCharDevice(argv[1]))
fd = open(argv[1], O_RDWR | O_NOCTTY );
else {
fromFile = true;
g_fromFile = true;
fd = open(argv[1], O_RDONLY );
}
if (fd <0) {perror(argv[1]); exit(-1); }
g_srcid = atoi(argv[2]);
if(!fromFile) {
if(!g_fromFile) {
tcgetattr(fd,&oldtio); /* save current port settings */
bzero(&newtio, sizeof(newtio));
@ -309,9 +332,20 @@ int main(int argc, char** argv)
else
cerr<<"Got nack on rate setting"<<endl;
msg = buildUbxMessage(0x06, 0x01, {0x02, 89});
// ver RO maxch cfgs
msg = buildUbxMessage(0x06, 0x3e, {0x00, 0x00, 0xff, 0x02,
// GPS min max res x1 x2 x3, x4
0x00, 0x04, 0x08, 0, 0x01, 0x00, 0x01, 0x00,
// GAL min max res x1 x2 x3, x4
0x00, 0x04, 0x08, 0, 0x01, 0x00, 0x01, 0x00
});
writen2(fd, msg.c_str(), msg.size());
um=waitForUBX(fd, 2, 0x06, 0x01); // ignore
if(waitForUBXAckNack(fd, 2))
cerr<<"Got ack on GNSS setting"<<endl;
else
cerr<<"Got nack on GNSS setting"<<endl;
cerr<<"Disabling NMEA"<<endl;
msg = buildUbxMessage(0x06, 0x00, {0x03,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x03,0x00,0x01,0x00,0x00,0x00,0x00,0x00});
@ -330,16 +364,16 @@ int main(int argc, char** argv)
cerr<<(int)c<< " ";
cerr<<endl;
cerr<<"Enabling UBX-RXM-RAWX"<<endl;
cerr<<"Enabling UBX-RXM-RAWX"<<endl; // RF doppler
enableUBXMessageUSB(fd, 0x02, 0x15);
cerr<<"Enabling UBX-RXM-SFRBX"<<endl;
cerr<<"Enabling UBX-RXM-SFRBX"<<endl; // raw navigation frames
enableUBXMessageUSB(fd, 0x02, 0x13);
cerr<<"Enabling UBX-NAV-POSECEF"<<endl;
cerr<<"Enabling UBX-NAV-POSECEF"<<endl; // position
enableUBXMessageUSB(fd, 0x01, 0x01);
cerr<<"Enabling UBX-NAV-SAT"<<endl;
cerr<<"Enabling UBX-NAV-SAT"<<endl; // satellite reception details
enableUBXMessageUSB(fd, 0x01, 0x35);
cerr<<"Enabling UBX-NAV-PVT"<<endl; // position, velocity, time fix
@ -407,9 +441,9 @@ int main(int argc, char** argv)
double seconds= pvt.sec + pvt.nano/1000000000.0;
fmt::fprintf(stderr, "Satellite UTC: %02d:%02d:%06.4f -> %.4f or %d:%f\n", tm.tm_hour, tm.tm_min, seconds, satutc, timegm(&tm), pvt.nano/1000.0);
// fmt::fprintf(stderr, "Satellite UTC: %02d:%02d:%06.4f -> %.4f or %d:%f\n", tm.tm_hour, tm.tm_min, seconds, satutc, timegm(&tm), pvt.nano/1000.0);
if(!fromFile) {
if(!g_fromFile) {
struct tm ourtime;
time_t ourt = timestamp.tv_sec;
gmtime_r(&ourt, &ourtime);
@ -417,7 +451,7 @@ int main(int argc, char** argv)
double ourutc = ourt + timestamp.tv_usec/1000000.0;
seconds = ourtime.tm_sec + timestamp.tv_usec/1000000.0;
fmt::fprintf(stderr, "Our UTC : %02d:%02d:%06.4f -> %.4f or %d:%f -> delta = %.4fs\n", tm.tm_hour, tm.tm_min, seconds, ourutc, timestamp.tv_sec, 1.0*timestamp.tv_usec, ourutc - satutc);
// fmt::fprintf(stderr, "Our UTC : %02d:%02d:%06.4f -> %.4f or %d:%f -> delta = %.4fs\n", tm.tm_hour, tm.tm_min, seconds, ourutc, timestamp.tv_sec, 1.0*timestamp.tv_usec, ourutc - satutc);
}
}
else if(msg.getClass() == 0x02 && msg.getType() == 0x15) { // RAWX
@ -447,7 +481,7 @@ int main(int argc, char** argv)
nmm.set_type(NavMonMessage::RFDataType);
nmm.set_localutcseconds(g_gstutc.tv_sec);
nmm.set_localutcnanoseconds(g_gstutc.tv_nsec);
nmm.set_sourceid(g_srcid); // XXX source id
nmm.set_sourceid(g_srcid);
nmm.mutable_rfd()->set_gnssid(gnssid);
nmm.mutable_rfd()->set_gnsssv(sv);
@ -479,11 +513,13 @@ int main(int argc, char** argv)
<< p.ecefY / 100000.0<<", "
<< p.ecefZ / 100000.0<<") +- "<<p.pAcc<<" cm"<<endl;
g_ourpos = {p.ecefX/100.0, p.ecefY/100.0, p.ecefZ/100.0};
NavMonMessage nmm;
nmm.set_type(NavMonMessage::ObserverPositionType);
nmm.set_localutcseconds(g_gstutc.tv_sec);
nmm.set_localutcnanoseconds(g_gstutc.tv_nsec);
nmm.set_sourceid(g_srcid); // XXX source id
nmm.set_sourceid(g_srcid);
nmm.mutable_op()->set_x(p.ecefX /100.0);
nmm.mutable_op()->set_y(p.ecefY /100.0);
nmm.mutable_op()->set_z(p.ecefZ /100.0);
@ -498,30 +534,47 @@ int main(int argc, char** argv)
try {
pair<int,int> id = make_pair(payload[0], payload[1]);
if(id.first != 2)
continue; // not Galileo
if(id.first == 0) {
NavMonMessage nmm;
nmm.set_type(NavMonMessage::GPSInavType);
nmm.set_localutcseconds(g_gstutc.tv_sec);
nmm.set_localutcnanoseconds(g_gstutc.tv_nsec);
nmm.set_sourceid(g_srcid);
// cerr<<"GPS frame, numwords: "<<(int)payload[4]<<", version: "<<(int)payload[6]<<endl;
unsigned int wn{18}, tow;
auto gpsframe = getGPSFromSFRBXMsg(id.second, payload);
auto cond = getCondensedGPSMessage(gpsframe);
tow = 1.5*(getbitu(&cond[0], 24, 17)*4);
nmm.mutable_gpsi()->set_gnsswn(wn); // XXX this sucks
nmm.mutable_gpsi()->set_gnsstow(tow); // "with 6 second increments" -- needs to be adjusted
nmm.mutable_gpsi()->set_gnssid(id.first);
nmm.mutable_gpsi()->set_gnsssv(id.second);
nmm.mutable_gpsi()->set_contents(string((char*)gpsframe.c_str(), gpsframe.size()));
emitNMM(1, nmm);
continue;
}
auto inav = getInavFromSFRBXMsg(payload);
unsigned int wtype = getbitu(&inav[0], 0, 6);
tv[id] = timestamp;
cerr<<"gnssid "<<id.first<<" sv "<<id.second<<" " << wtype << endl;
// cerr<<"gnssid "<<id.first<<" sv "<<id.second<<" " << wtype << endl;
uint32_t satTOW;
int msgTOW{0};
if(getTOWFromInav(inav, &satTOW, &g_wn)) { // 0, 6, 5
cerr<<" "<<wtype<<" sv "<<id.second<<" tow "<<satTOW << " % 30 = "<< satTOW % 30<<", implied start of cycle: "<<(satTOW - (satTOW %30)) <<endl;
// cerr<<" "<<wtype<<" sv "<<id.second<<" tow "<<satTOW << " % 30 = "<< satTOW % 30<<", implied start of cycle: "<<(satTOW - (satTOW %30)) <<endl;
msgTOW = satTOW;
curCycleTOW = satTOW - (satTOW %30);
}
else {
if(curCycleTOW < 0) // did not yet have a start of cycle
continue;
cerr<<" "<<wtype<<" sv "<<id.second<<" tow ";
// cerr<<" "<<wtype<<" sv "<<id.second<<" tow ";
if(wtype == 2) {
cerr<<"infered to be 1 "<<curCycleTOW + 31<<endl;
// cerr<<"infered to be 1 "<<curCycleTOW + 31<<endl;
msgTOW = curCycleTOW + 31;
}
else if(wtype == 4) {
cerr<<"infered to be 3 "<<curCycleTOW + 33<<endl;
// cerr<<"infered to be 3 "<<curCycleTOW + 33<<endl;
msgTOW = curCycleTOW + 33;
} // next have '6' which sets TOW
else if(wtype==7 || wtype == 9) {
@ -569,36 +622,26 @@ int main(int argc, char** argv)
else if(msg.getClass() == 1 && msg.getType() == 0x35) { // UBX-NAV-SAT
// cerr<< "Info for "<<(int) payload[5]<<" svs: \n";
for(unsigned int n = 0 ; n < payload[5]; ++n) {
/*
cerr << " "<<(payload[8+12*n] ? 'E' : 'G') << (int)payload[9+12*n] <<" db=";
cerr << (int)payload[10+12*n]<<" elev="<<(int)(char)payload[11+12*n]<<" azi=";
cerr << ((int)payload[13+12*n]*256 + payload[12+12*n])<<" prres="<< *((int16_t*)(payload.c_str()+ 14 +12*n)) *0.1 << " signal="<< ((int)(payload[16+12*n])&7) << " used="<< (payload[16+12*n]&8);
int gnssid = payload[8+12*n];
int sv = payload[9+12*n];
auto el = (int)(char)payload[11+12*n];
auto azi = ((int)payload[13+12*n]*256 + payload[12+12*n]);
auto db = (int)payload[10+12*n];
// cerr <<"gnssid "<<gnssid<<" sv "<<sv<<" el "<<el<<endl;
NavMonMessage nmm;
nmm.set_sourceid(g_srcid);
nmm.set_localutcseconds(g_gstutc.tv_sec);
nmm.set_localutcnanoseconds(g_gstutc.tv_nsec);
fmt::fprintf(stderr, " | %02x %02x %02x %02x\n", (int)payload[16+12*n], (int)payload[17+12*n],
(int)payload[18+12*n], (int)payload[19+12*n]);
*/
if(payload[8+12*n]==2) { // galileo
int sv = payload[9+12*n];
auto el = (int)(char)payload[11+12*n];
auto azi = ((int)payload[13+12*n]*256 + payload[12+12*n]);
auto db = (int)payload[10+12*n];
NavMonMessage nmm;
nmm.set_sourceid(g_srcid);
nmm.set_localutcseconds(g_gstutc.tv_sec);
nmm.set_localutcnanoseconds(g_gstutc.tv_nsec);
nmm.set_type(NavMonMessage::ReceptionDataType);
nmm.mutable_rd()->set_gnssid(payload[8+12*n]);
nmm.mutable_rd()->set_gnsssv(sv);
nmm.mutable_rd()->set_db(db);
nmm.mutable_rd()->set_el(el);
nmm.mutable_rd()->set_azi(azi);
nmm.mutable_rd()->set_prres(*((int16_t*)(payload.c_str()+ 14 +12*n)) *0.1);
emitNMM(1, nmm);
}
nmm.set_type(NavMonMessage::ReceptionDataType);
nmm.mutable_rd()->set_gnssid(gnssid);
nmm.mutable_rd()->set_gnsssv(sv);
nmm.mutable_rd()->set_db(db);
nmm.mutable_rd()->set_el(el);
nmm.mutable_rd()->set_azi(azi);
nmm.mutable_rd()->set_prres(*((int16_t*)(payload.c_str()+ 14 +12*n)) *0.1);
emitNMM(1, nmm);
}
}
@ -608,7 +651,7 @@ int main(int argc, char** argv)
cerr<<"Bad UBX checksum, skipping message"<<endl;
}
}
if(!fromFile)
if(!g_fromFile)
tcsetattr(fd,TCSANOW,&oldtio);
}