From 5169dc2ca30dbdee19fc9ee84f6a8ac8cf0a4375 Mon Sep 17 00:00:00 2001
From: bert hubert <bert.hubert@netherlabs.nl>
Date: Mon, 23 Sep 2019 14:23:03 +0200
Subject: [PATCH] cleanup of ubxtool, with buffered writing ability to multiple
 destination

---
 Makefile   |   4 +-
 navdump.cc |   6 +-
 ubxtool.cc | 311 ++++++++++++++++++++++++++++++++++-------------------
 3 files changed, 207 insertions(+), 114 deletions(-)

diff --git a/Makefile b/Makefile
index c5ba2fa..f2d4bfa 100644
--- a/Makefile
+++ b/Makefile
@@ -42,8 +42,8 @@ tlecatch: tlecatch.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc))
 navmon.pb.cc: navmon.proto
 	protoc --cpp_out=./ navmon.proto
 
-ubxtool: navmon.pb.o ubxtool.o ubx.o bits.o ext/fmt-5.2.1/src/format.o galileo.o  gps.o beidou.o navmon.o ephemeris.o
-	$(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -lprotobuf
+ubxtool: navmon.pb.o ubxtool.o ubx.o bits.o ext/fmt-5.2.1/src/format.o galileo.o  gps.o beidou.o navmon.o ephemeris.o $(SIMPLESOCKETS)
+	$(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -lprotobuf -pthread
 
 testrunner: navmon.pb.o testrunner.o ubx.o bits.o ext/fmt-5.2.1/src/format.o galileo.o  gps.o beidou.o ephemeris.o
 	$(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -lprotobuf
diff --git a/navdump.cc b/navdump.cc
index 8cd13ce..a0d9f9e 100644
--- a/navdump.cc
+++ b/navdump.cc
@@ -92,10 +92,10 @@ try
   tles.parseFile("gps-ops.txt");
   tles.parseFile("beidou.txt");
 
-  bool skipGPS{true};
-  bool skipBeidou{true};
+  bool skipGPS{false};
+  bool skipBeidou{false};
   bool skipGalileo{false};
-  bool skipGlonass{true};
+  bool skipGlonass{false};
   
   ofstream almanac("almanac.txt");
   ofstream iodstream("iodstream.csv");
diff --git a/ubxtool.cc b/ubxtool.cc
index faa6717..f2f6a1e 100644
--- a/ubxtool.cc
+++ b/ubxtool.cc
@@ -26,11 +26,19 @@
 #include "glonass.hh"
 #include "beidou.hh"
 #include "CLI/CLI.hpp"
-struct timespec g_gstutc;
-uint16_t g_wn;
+#include <thread>
+#include <mutex>
+#include "comboaddress.hh"
+#include "swrappers.hh"
+#include "sclasses.hh"
+
+struct timespec g_gnssutc;
+uint16_t g_galwn;
+
 using namespace std;
 
-uint16_t g_srcid{2};
+uint16_t g_srcid{0};
+
 
 #define BAUDRATE B115200
 
@@ -77,30 +85,6 @@ t   n   w
 28  15: 0          WN/TOW
 */
 
-/*
-    if(ubxClass == 2 && ubxType == 89) { // SAR
-      string hexstring;
-      for(int n = 0; n < 15; ++n)
-        hexstring+=fmt::format("%x", (int)getbitu(msg.c_str(), 36 + 4*n, 4));
-      
-      //      int sv = (int)msg[2];
-      //      wk.emitLine(sv, "SAR "+hexstring);
-      //      cout<<"SAR: sv = "<< (int)msg[2] <<" ";
-      //      for(int n=4; n < 12; ++n)
-      //        fmt::printf("%02x", (int)msg[n]);
-
-      //      for(int n = 0; n < 15; ++n)
-      //        fmt::printf("%x", (int)getbitu(msg.c_str(), 36 + 4*n, 4));
-      
-      //      cout << " Type: "<< (int) msg[12] <<"\n";
-      //      cout<<"Parameter: (len = "<<msg.length()<<") ";
-      //      for(unsigned int n = 13; n < msg.length(); ++n)
-      //        fmt::printf("%02x ", (int)msg[n]);
-      //      cout<<"\n";
-    }
-*/
-
-
 class UBXMessage
 {
 public:
@@ -196,6 +180,7 @@ UBXMessage waitForUBX(int fd, int seconds, uint8_t ubxClass, uint8_t ubxType)
 
 struct TimeoutError{};
 
+// perhaps do retransmit from here?
 bool waitForUBXAckNack(int fd, int seconds, int ubxClass, int ubxType)
 {
   time_t start = time(0);
@@ -228,9 +213,103 @@ bool waitForUBXAckNack(int fd, int seconds, int ubxClass, int ubxType)
   throw std::runtime_error("Did not get ACK/NACK response for class "+to_string(ubxClass)+" type "+to_string(ubxType)+" on time");
 }
 
-void emitNMM(int fd, const NavMonMessage& nmm)
+class NMMSender
+{
+  struct Destination
+  {
+    int fd{-1};
+    ComboAddress dst{"0.0.0.0:0"};
+    std::string fname;
+
+    deque<string> queue;
+    std::mutex mut;
+    void emitNMM(const NavMonMessage& nmm);
+  };
+  
+public:
+  void addDestination(int fd)
+  {
+    auto d = std::make_unique<Destination>();
+    d->fd = fd;
+    d_dests.push_back(std::move(d));
+  }
+  void addDestination(const ComboAddress& dest)
+  {
+    auto d = std::make_unique<Destination>();
+    d->dst = dest;
+    d_dests.push_back(std::move(d));
+  }
+
+  void launch()
+  {
+    for(auto& d : d_dests) {
+      if(d->dst.sin4.sin_port != 0) {
+        thread t(&NMMSender::sendTCPThread, this, d.get());
+        t.detach();
+      }
+    }
+  }
+  
+  void sendTCPThread(Destination* d)
+  {
+    for(;;) {
+      try {
+        Socket s(d->dst.sin4.sin_family, SOCK_STREAM);
+        SocketCommunicator sc(s);
+        sc.setTimeout(3);
+        sc.connect(d->dst);
+        cerr<<"Connected to "<<d->dst.toStringWithPort()<<endl;
+        for(;;) {
+          std::string msg;
+          {
+            std::lock_guard<std::mutex> mut(d->mut);
+            if(!d->queue.empty()) {
+              msg = d->queue.front();
+            }
+          }
+          if(!msg.empty()) {
+            sc.writen(msg);
+            d->queue.pop_front();
+          }
+          else usleep(100000);
+        }
+      }
+      catch(std::exception& e) {
+        cerr<<"Sending thread for "<<d->dst.toStringWithPort()<<" had error: "<<e.what()<<endl;
+        {
+          std::lock_guard<std::mutex> mut(d->mut);
+          cerr<<"There are now "<<d->queue.size()<<" messages queued for "<<d->dst.toStringWithPort()<<endl;
+        }
+        sleep(1);
+      }
+      catch(...) {
+        cerr<<"Sending thread for "<<d->dst.toStringWithPort()<<" had error";
+        {
+          std::lock_guard<std::mutex> mut(d->mut);
+          cerr<<"There are now "<<d->queue.size()<<" messages queued for "<<d->dst.toStringWithPort()<<endl;
+        }
+        sleep(1);
+      }
+    }
+    
+  }
+  
+  void emitNMM(const NavMonMessage& nmm);
+
+private:
+
+  vector<unique_ptr<Destination>> d_dests;
+};
+
+void NMMSender::emitNMM(const NavMonMessage& nmm)
+{
+  for(auto& d : d_dests) {
+    d->emitNMM(nmm);
+  }
+}
+
+void NMMSender::Destination::emitNMM(const NavMonMessage& nmm)
 {
-            
   string out;
   nmm.SerializeToString(& out);
   string msg("bert");
@@ -238,10 +317,16 @@ void emitNMM(int fd, const NavMonMessage& nmm)
   uint16_t len = htons(out.size());
   msg.append((char*)&len, 2);
   msg.append(out);
-  
-  writen2(fd, msg.c_str(), msg.size());
+
+  if(dst.sin4.sin_port) {
+    std::lock_guard<std::mutex> l(mut);
+    queue.push_back(msg);
+  }
+  else
+    writen2(fd, msg.c_str(), msg.size());
 }
 
+
 void enableUBXMessageUSB(int fd, uint8_t ubxClass, uint8_t ubxType, uint8_t rate=1)
 {
   for(int n=0 ; n < 5; ++n) {
@@ -335,15 +420,16 @@ int main(int argc, char** argv)
 
   CLI::App app("ubxtool");
     
-  vector<std::string> serial;
-  bool doGPS{true}, doGalileo{true}, doGlonass{false}, doBeidou{true}, doReset{false}, doWait{false}, doRTSCTS{true}, doSBAS{false};
 
+  bool doGPS{true}, doGalileo{true}, doGlonass{false}, doBeidou{true}, doReset{false}, doWait{true}, doRTSCTS{true}, doSBAS{false};
+  bool doSTDOUT=false;
 #ifdef OpenBSD
   doRTSCTS = false;
 #endif
 
-  app.add_option("serial", serial, "Serial");
-    
+  vector<string> destinations;
+  string portName;
+  app.add_option("--destination,-d", destinations, "Send output to this IPv4/v6 address");
   app.add_flag("--wait", doWait, "Wait a bit, do not try to read init messages");
   app.add_flag("--reset", doReset, "Reset UBX device");
   app.add_flag("--beidou,-c", doBeidou, "Enable BeiDou reception");
@@ -352,22 +438,18 @@ int main(int argc, char** argv)
   app.add_flag("--galileo,-e", doGalileo, "Enable Galileo reception");
   app.add_flag("--sbas,-s", doSBAS, "Enable SBAS (EGNOS/WAAS/etc) reception");
   app.add_option("--rtscts", doRTSCTS, "Set hardware handshaking");
-
-  
+  app.add_flag("--stdout", doSTDOUT, "Emit output to stdout");
+  app.add_option("--port,-p", portName, "Device or file to read serial from");
+  app.add_option("--station", g_srcid, "Station id");  
   try {
     app.parse(argc, argv);
   } catch(const CLI::Error &e) {
     return app.exit(e);
   }
 
-  if(serial.size() != 2) {
-    cout<<app.help()<<endl;
-    return EXIT_FAILURE;
-  }
 
-  int fd = initFD(serial[0].c_str(), doRTSCTS);
+  int fd = initFD(portName.c_str(), doRTSCTS);
   
-  g_srcid = atoi(serial[1].c_str());
   bool version9 = false;  
   if(!g_fromFile) {
     bool doInit = true;
@@ -387,7 +469,7 @@ int main(int argc, char** argv)
         for(int n=0 ; n< 20; ++n) {
           cerr<<"Waiting for device to come back"<<endl;
           try {
-            fd = initFD(serial[0].c_str(), doRTSCTS);
+            fd = initFD(portName.c_str(), doRTSCTS);
             readSome(fd);          
           }
           catch(...)
@@ -472,9 +554,6 @@ int main(int argc, char** argv)
         }
       }
        
-
-
-      
       
       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});
@@ -526,7 +605,7 @@ int main(int argc, char** argv)
       }
       
       cerr<<"Enabling UBX-NAV-PVT"<<endl; // position, velocity, time fix
-      enableUBXMessageUSB(fd, 0x01, 0x07, 1);
+      enableUBXMessageUSB(fd, 0x01, 0x07, 1); // we use this to get timing
     }
   }
   
@@ -542,16 +621,23 @@ int main(int argc, char** argv)
      what timestamp it claims to have, so that we can set subsequent timestamps correctly.
   */
 
-  std::map<pair<int,int>, struct timeval> lasttv, tv;
   int curCycleTOW{-1}; // means invalid
-
+  signal(SIGPIPE, SIG_IGN);
+  NMMSender ns;
+  for(const auto& s : destinations)
+    ns.addDestination(ComboAddress(s, 29603));
+  if(doSTDOUT)
+    ns.addDestination(1);
+  ns.launch();
+  
+  
   cerr<<"Entering main loop"<<endl;
   for(;;) {
     try {
       auto [msg, timestamp] = getUBXMessage(fd);
       (void)timestamp;
       auto payload = msg.getPayload();
-      // should turn this into protobuf
+
       if(msg.getClass() == 0x01 && msg.getType() == 0x07) {  // UBX-NAV-PVT
         struct PVT
         {
@@ -586,26 +672,19 @@ int main(int argc, char** argv)
           satt--;
           pvt.nano += 1000000000;
         }
-
-        g_gstutc.tv_sec = satt;
-        g_gstutc.tv_nsec = pvt.nano;
-
-        
-        //        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);
-
-        if(!g_fromFile) {
-          //          struct tm ourtime;
-          //          time_t ourt = timestamp.tv_sec;
-          //          gmtime_r(&ourt, &ourtime);
-          //          
-          //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);
-        }
+        if(!g_gnssutc.tv_sec)
+          cerr<<"Got initial timestamp"<<endl;
+        g_gnssutc.tv_sec = satt;
+        g_gnssutc.tv_nsec = pvt.nano;
+        continue;
       }
-      else if(msg.getClass() == 0x02 && msg.getType() == 0x15) {  // RAWX, the doppler stuff
+      if(!g_gnssutc.tv_sec) {
+        cerr<<"Ignoring message with class "<<msg.getClass()<< " and type "<< msg.getType()<<": have not yet received a timestamp"<<endl;
+        continue;
+      }
+      
+      
+      if(msg.getClass() == 0x02 && msg.getType() == 0x15) {  // RAWX, the doppler stuff
         //        cerr<<"Got "<<(int)payload[11] <<" measurements "<<endl;
         double rcvTow;
         memcpy(&rcvTow, &payload[0], 8);
@@ -642,8 +721,8 @@ int main(int argc, char** argv)
 
           NavMonMessage nmm;
           nmm.set_type(NavMonMessage::RFDataType);
-          nmm.set_localutcseconds(g_gstutc.tv_sec);
-          nmm.set_localutcnanoseconds(g_gstutc.tv_nsec);
+          nmm.set_localutcseconds(g_gnssutc.tv_sec);
+          nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
           nmm.set_sourceid(g_srcid); 
 
           nmm.mutable_rfd()->set_gnssid(gnssid);
@@ -659,7 +738,7 @@ int main(int argc, char** argv)
           nmm.mutable_rfd()->set_dostd(ldexp(0.002, doStddev));
           nmm.mutable_rfd()->set_cpstd(cpStddev*0.4);
           nmm.mutable_rfd()->set_locktimems(locktimems);
-          emitNMM(1, nmm);
+          ns.emitNMM( nmm);
         }
       }
       else if(msg.getClass() == 0x01 && msg.getType() == 0x01) {  // POSECF
@@ -681,14 +760,14 @@ int main(int argc, char** argv)
         
         NavMonMessage nmm;
         nmm.set_type(NavMonMessage::ObserverPositionType);
-        nmm.set_localutcseconds(g_gstutc.tv_sec);
-        nmm.set_localutcnanoseconds(g_gstutc.tv_nsec);
+        nmm.set_localutcseconds(g_gnssutc.tv_sec);
+        nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
         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);
         nmm.mutable_op()->set_acc(p.pAcc /100.0);
-        emitNMM(1, nmm);
+        ns.emitNMM( nmm);
       }
       else if(msg.getClass() == 2 && msg.getType() == 0x13) {  // SFRBX
                   
@@ -716,8 +795,8 @@ int main(int argc, char** argv)
           if(id.first == 0 && !sigid) { // can only parse the old stuff
             NavMonMessage nmm;
             nmm.set_type(NavMonMessage::GPSInavType);
-            nmm.set_localutcseconds(g_gstutc.tv_sec);
-            nmm.set_localutcnanoseconds(g_gstutc.tv_nsec);
+            nmm.set_localutcseconds(g_gnssutc.tv_sec);
+            nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
             nmm.set_sourceid(g_srcid);         
             //            cerr<<"GPS frame, numwords: "<<(int)payload[4]<<", version: "<<(int)payload[6]<<endl;
             static int wn, tow;
@@ -736,7 +815,7 @@ int main(int argc, char** argv)
             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);
+            ns.emitNMM( nmm);
             continue;
           }
           else if(id.first ==2) {
@@ -744,12 +823,12 @@ int main(int argc, char** argv)
             //            cerr<<" res1 "<<(int)payload[2]<<" numwords "<<(int)payload[4] << " channel "<< (int)payload[5] << " version " << (int)payload[6]<<" res2 "<<(int)payload[7]<<endl;
             auto inav = getInavFromSFRBXMsg(payload);
             unsigned int wtype = getbitu(&inav[0], 0, 6);
-            tv[id] = timestamp;
+
             
             //          cerr<<"gnssid "<<id.first<<" sv "<<id.second<<" " << wtype << endl;
             uint32_t satTOW;
             int msgTOW{0};
-            if(getTOWFromInav(inav, &satTOW, &g_wn)) { // 0, 6, 5
+            if(getTOWFromInav(inav, &satTOW, &g_galwn)) { // 0, 6, 5
               //            cerr<<"   "<<wtype<<" sv "<<id.second<<" tow "<<satTOW << " % 30 = "<< satTOW % 30<<", implied start of cycle: "<<(satTOW - (satTOW %30)) <<endl;
               msgTOW = satTOW;
               curCycleTOW = satTOW - (satTOW %30);
@@ -786,10 +865,10 @@ int main(int argc, char** argv)
             NavMonMessage nmm;
             nmm.set_sourceid(g_srcid);
             nmm.set_type(NavMonMessage::GalileoInavType);
-            nmm.set_localutcseconds(g_gstutc.tv_sec);
-            nmm.set_localutcnanoseconds(g_gstutc.tv_nsec);
+            nmm.set_localutcseconds(g_gnssutc.tv_sec);
+            nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
             
-            nmm.mutable_gi()->set_gnsswn(g_wn);
+            nmm.mutable_gi()->set_gnsswn(g_galwn);
             
             nmm.mutable_gi()->set_gnsstow(msgTOW);
             nmm.mutable_gi()->set_gnssid(id.first);
@@ -797,7 +876,7 @@ int main(int argc, char** argv)
             nmm.mutable_gi()->set_sigid(sigid);
             nmm.mutable_gi()->set_contents((const char*)&inav[0], inav.size());
             
-            emitNMM(1, nmm);
+            ns.emitNMM( nmm);
           }
           else if(id.first==3) {
             auto gstr = getGlonassFromSFRBXMsg(payload);
@@ -813,20 +892,23 @@ int main(int argc, char** argv)
               continue;
             }
             NavMonMessage nmm;
-            nmm.set_localutcseconds(g_gstutc.tv_sec);
-            nmm.set_localutcnanoseconds(g_gstutc.tv_nsec);
+            nmm.set_localutcseconds(g_gnssutc.tv_sec);
+            nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
             nmm.set_sourceid(g_srcid);
             if(id.second > 5) {
               // this **HARDCODES** that C01,02,03,04,05 emit D2 messages!            
               nmm.set_type(NavMonMessage::BeidouInavTypeD1);
-              nmm.mutable_bid1()->set_gnsswn(bm.wn);  
+              nmm.mutable_bid1()->set_gnsswn(bm.wn);  // only sent in word 1!!
               nmm.mutable_bid1()->set_gnsstow(bm.sow); 
               nmm.mutable_bid1()->set_gnssid(id.first);
               nmm.mutable_bid1()->set_gnsssv(id.second);
               nmm.mutable_bid1()->set_sigid(sigid);              
               nmm.mutable_bid1()->set_contents(string((char*)gstr.c_str(), gstr.size()));
+              ns.emitNMM( nmm);
             }
             else {
+              // not sending this: we can't even get the week number right!
+              /*
               nmm.set_type(NavMonMessage::BeidouInavTypeD2);
               nmm.mutable_bid2()->set_gnsswn(bm.wn);  
               nmm.mutable_bid2()->set_gnsstow(bm.sow); 
@@ -834,8 +916,10 @@ int main(int argc, char** argv)
               nmm.mutable_bid2()->set_gnsssv(id.second);
               nmm.mutable_bid2()->set_sigid(sigid);              
               nmm.mutable_bid2()->set_contents(string((char*)gstr.c_str(), gstr.size()));
+              */
+              
             }
-            emitNMM(1, nmm);
+
             continue;
           }
           else if(id.first==6) {
@@ -848,8 +932,8 @@ int main(int argc, char** argv)
             */
             if(id.second != 255) {
               NavMonMessage nmm;
-              nmm.set_localutcseconds(g_gstutc.tv_sec);
-              nmm.set_localutcnanoseconds(g_gstutc.tv_nsec);
+              nmm.set_localutcseconds(g_gnssutc.tv_sec);  
+              nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
               nmm.set_sourceid(g_srcid);
               nmm.set_type(NavMonMessage::GlonassInavType);
               nmm.mutable_gloi()->set_freq(payload[3]);
@@ -858,21 +942,14 @@ int main(int argc, char** argv)
               nmm.mutable_gloi()->set_sigid(sigid);              
               nmm.mutable_gloi()->set_contents(string((char*)gstr.c_str(), gstr.size()));
               
-              emitNMM(1, nmm);
+              ns.emitNMM( nmm);
             }
           }
+          else if(id.first == 1) {// SBAS
+          }
           else
             cerr<<"SFRBX from unsupported GNSSID/sigid combination "<<id.first<<", sv "<<id.second<<", sigid "<<sigid<<", "<<payload.size()<<" bytes"<<endl;
         
-#if 0        
-          if(0 && lasttv.count(id)) {
-            fmt::fprintf(stderr, "gnssid %d sv %d wtype %d, %d:%d -> %d:%d, delta=%d\n", 
-                         payload[0], payload[1], wtype, lasttv[id].tv_sec, lasttv[id].tv_usec, tv[id].tv_sec, tv[id].tv_usec, tv[id].tv_usec - lasttv[id].tv_usec);
-          }
-#endif
-          lasttv[id]=tv[id];
-
-          
         }
         catch(CRCMismatch& cm) {
           cerr<<"Had CRC mismatch!"<<endl;
@@ -892,8 +969,8 @@ int main(int argc, char** argv)
           //          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);
+          nmm.set_localutcseconds(g_gnssutc.tv_sec);
+          nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
           
           nmm.set_type(NavMonMessage::ReceptionDataType);
           nmm.mutable_rd()->set_gnssid(gnssid);
@@ -902,7 +979,23 @@ int main(int argc, char** argv)
           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);
+          /*
+          uint32_t status;
+          memcpy(&status, &payload[16+12*n], 4);
+          cerr<<gnssid<<","<<sv<<":";
+          if(status & (1<<3))
+            cerr<<" used";
+          cerr<< " qualityind "<<(status & 7);
+          cerr<<" db "<<db<<" el "<< el;
+          cerr<<" health " << (status & (1<<5));
+          cerr<<" sbasCorr " << (status & (1<<16));
+          cerr<<" prRes "<<nmm.rd().prres();
+          cerr<<" orbsrc " << ((status >> 8)&7);
+          cerr<<" eph-avail " << !!(status & (1<<11));
+          cerr<<" alm-avail " << !!(status & (1<<12)); 
+          cerr<<endl;
+          */
+          ns.emitNMM( nmm);
         }
       }
       else if(msg.getClass() == 1 && msg.getType() == 0x43) { // UBX-NAV-SIG
@@ -926,8 +1019,8 @@ int main(int argc, char** argv)
           //          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);
+          nmm.set_localutcseconds(g_gnssutc.tv_sec);
+          nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
           
           nmm.set_type(NavMonMessage::ReceptionDataType);
           nmm.mutable_rd()->set_gnssid(gnssid);
@@ -938,7 +1031,7 @@ int main(int argc, char** argv)
           nmm.mutable_rd()->set_el(0);
           nmm.mutable_rd()->set_azi(0);
           
-          emitNMM(1, nmm);
+          ns.emitNMM( nmm);
         }
       }
       else if(msg.getClass() == 1 && msg.getType() == 0x30) { // UBX-NAV-SVINFO
@@ -965,8 +1058,8 @@ int main(int argc, char** argv)
 
         NavMonMessage nmm;
         nmm.set_sourceid(g_srcid);
-        nmm.set_localutcseconds(g_gstutc.tv_sec);
-        nmm.set_localutcnanoseconds(g_gstutc.tv_nsec);
+        nmm.set_localutcseconds(g_gnssutc.tv_sec);
+        nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
         
         nmm.set_type(NavMonMessage::SARResponseType);
         nmm.mutable_sr()->set_gnssid(2); // Galileo only for now