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update

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bert hubert 2019-08-02 11:13:10 +02:00
parent 6a3c77d2a7
commit 7619731067
2 changed files with 138 additions and 15 deletions
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8
Makefile
View File

@ -1,4 +1,4 @@
CXXFLAGS:= -std=gnu++17 -Wall -O3 -MMD -MP -ggdb -fno-omit-frame-pointer -Iext/fmt-5.2.1/include/
CXXFLAGS:= -std=gnu++17 -Wall -O3 -MMD -MP -ggdb -fno-omit-frame-pointer -Iext/fmt-5.2.1/include/ -Iext/powerblog/ext/simplesocket -Iext/powerblog/ext/
PROGRAMS = ubxparse ubxdisplay minread
@ -9,8 +9,10 @@ all: $(PROGRAMS)
clean:
rm -f *~ *.o *.d ext/*/*.o $(PROGRAMS)
ubxparse: ubxparse.o ext/fmt-5.2.1/src/format.o
g++ -std=gnu++17 $^ -o $@ -pthread -lncurses
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
ubxparse: ubxparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS)
g++ -std=gnu++17 $^ -o $@ -pthread -lncurses -L/usr/local/lib -lh2o-evloop -lssl -lcrypto -lz
ubxdisplay: ubxdisplay.o ext/fmt-5.2.1/src/format.o
g++ -std=gnu++17 $^ -o $@ -pthread -lncurses

145
ubxparse.cc
View File

@ -10,6 +10,9 @@
#include <curses.h>
#include <vector>
#include <boost/algorithm/string.hpp>
#include <thread>
#include <signal.h>
#include "ext/powerblog/h2o-pp.hh"
using namespace std;
struct EofException{};
@ -156,6 +159,8 @@ struct SVIOD
int16_t cuc{0}, cus{0}, crc{0}, crs{0}, cic{0}, cis{0};
uint8_t sisa;
uint32_t wn{0}, tow{0};
bool complete() const
{
return words[1] && words[2] && words[3] && words[4];
@ -208,7 +213,8 @@ struct SVStat
bool disturb1{false}, disturb2{false}, disturb3{false}, disturb4{false}, disturb5{false};
uint16_t wn{0};
uint32_t tow{0}; // "last seen"
uint32_t a0{0}, a1{0};
uint32_t a0{0}, a1{0}, t0t{0}, wn0t{0};
int16_t el{-1}, db{-1};
map<int, SVIOD> iods;
void addWord(std::basic_string_view<uint8_t> page);
bool completeIOD() const;
@ -248,7 +254,16 @@ SVIOD SVStat::liveIOD() const
void SVStat::addWord(std::basic_string_view<uint8_t> page)
{
uint8_t wtype = getbitu(&page[0], 0, 6);
if(wtype >=1 && wtype <= 4) { // ephemeris
if(wtype == 0) {
if(getbitu(&page[0], 6,2) == 2) {
wn = getbitu(&page[0], 96, 12);
tow = getbitu(&page[0], 108, 20);
}
}
else if(wtype >=1 && wtype <= 4) { // ephemeris
uint16_t iod = getbitu(&page[0], 6, 10);
iods[iod].addWord(page);
@ -271,7 +286,18 @@ void SVStat::addWord(std::basic_string_view<uint8_t> page)
tow = getbitu(&page[0], 85, 20);
// cout<<"Setting tow to "<<tow<<endl;
}
else if(wtype == 6) {
a0 = getbits(&page[0], 6, 32);
a1 = getbits(&page[0], 38, 24);
t0t = getbitu(&page[0], 70, 8);
wn0t = getbits(&page[0], 78, 8);
}
}
double todeg(double rad)
{
return 360 * rad/(2*M_PI);
}
void getCoordinates(int wn, int tow, const SVIOD& iod, double* x, double* y, double* z, bool quiet=true)
@ -308,11 +334,11 @@ void getCoordinates(int wn, int tow, const SVIOD& iod, double* x, double* y, dou
cout << "sqrtA = "<< sqrtA << endl;
cout << "deltan = "<< deltan << endl;
cout << "t0e = "<< t0e << endl;
cout << "m0 = "<< m0 << endl;
cout << "m0 = "<< m0 << " ("<<todeg(m0)<<")"<<endl;
cout << "e = "<< e << endl;
cout << "omega = " << omega << endl;
cout << "omega = " << omega << " ("<<todeg(omega)<<")"<<endl;
cout << "idot = " << idot <<endl;
cout << "i0 = " << i0 <<endl;
cout << "i0 = " << i0 << " ("<<todeg(i0)<<")"<<endl;
cout << "cuc = " << cuc << endl;
cout << "cus = " << cus << endl;
@ -322,6 +348,10 @@ void getCoordinates(int wn, int tow, const SVIOD& iod, double* x, double* y, dou
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);
@ -360,16 +390,21 @@ void getCoordinates(int wn, int tow, const SVIOD& iod, double* x, double* y, dou
e*e*e * (0.25*sin(M) - (13.0/12.0)*sin(3*M));
double nu3 = 2* atan( sqrt((1+e)/(1-e)) * tan(E/2));
nu = nu3;
if(!quiet) {
cout <<" nu sis: "<<nu<< " / +pi = " << nu +M_PI << endl;
cout <<" nu ?: "<<nu1<< " / +pi = " << nu1 +M_PI << endl;
cout <<" nu fourier/esa: "<<nu2<< " / +pi = "<<nu2+M_PI << endl;
cout <<" nu wikipedia: "<<nu3<< " / +pi = " <<nu3 +M_PI << endl;
}
nu = nu2;
// https://en.wikipedia.org/wiki/True_anomaly is good
double psi = nu + omega;
if(!quiet) {
cout<<"psi = nu + omega = " << nu <<" + "<<omega<< " = " << psi << "\n";
cout <<" nu1: "<<nu1<<endl;
cout <<" nu2: "<<nu2<<endl;
cout <<" nu3: "<<nu3<<endl;
}
@ -415,9 +450,89 @@ std::string humanTime(int wn, int tow)
return buffer;
}
int main()
int* g_tow, *g_wn;
int main(int argc, char** argv)
try
{
signal(SIGPIPE, SIG_IGN);
H2OWebserver h2s("galmon");
int tow=0, wn=0;
g_tow = &tow;
g_wn = &wn;
h2s.addHandler("/svs", [](auto handler, auto req) {
nlohmann::json ret = nlohmann::json::object();
for(const auto& s: g_svstats)
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["e5bdvs"]=s.second.e5bdvs;
item["e1bdvs"]=s.second.e1bdvs;
item["e5bhs"]=s.second.e5bhs;
item["e1bhs"]=s.second.e1bhs;
item["elev"]=s.second.el;
item["db"]=s.second.db;
item["eph-age-m"] = (*g_tow - 60*s.second.liveIOD().t0e)/60.0;
item["last-seen-s"] = s.second.tow ? (*g_tow - s.second.tow) : -1;
/* Our location:
X : 3922.505 km
Y : 290.116 km
Z : 5004.189 km
*/
double ourx = 3922.505 * 1000;
double oury = 290.116 * 1000;
double ourz = 5004.189 * 1000;
double x, y, z;
// cout<<"For sv " <<s.first<<" at "<<humanTime(*g_wn, *g_tow)<<": \n";
getCoordinates(*g_wn, *g_tow, s.second.liveIOD(), &x, &y, &z);
double dx = x-ourx, dy = y-oury, dz = z-ourz;
/* https://gis.stackexchange.com/questions/58923/calculating-view-angle
to calculate elevation:
Cos(elevation) = (x*dx + y*dy + z*dz) / Sqrt((x^2+y^2+z^2)*(dx^2+dy^2+dz^2))
Obtain its principal inverse cosine. Subtract this from 90 degrees if you want
the angle of view relative to a nominal horizon. This is the "elevation."
NOTE! x = you on the ground!
*/
double elev = acos ( (ourx*dx + oury*dy + ourz*dz) / (sqrt(ourx*ourx + oury*oury + ourz*ourz) * sqrt(dx*dx + dy*dy + dz*dz)));
double deg = 180.0* (elev/M_PI);
item["calc-elev"] = 90 - deg;
/*
cout<<s.first<<" calc elev radians "<< elev << ", deg "<< deg <<" calc-elev "<<(90-deg)<<", from ublox "<< s.second.el<<endl <<std::fixed<<" (" << ourx << ", "<< oury <<", "<<ourz<<") -> ("
<< x << ", "<< y <<", "<< z<<") " << sqrt(ourx*ourx + oury*oury + ourz*ourz) <<" - " << sqrt(x*x+y*y+z*z) <<endl;
*/
item["x"]=x;
item["y"]=y;
item["z"]=z;
item["wn"]=*g_wn;
item["tow"]=*g_tow;
ret[std::to_string(s.first)] = item;
}
return ret;
});
h2s.addDirectory("/", argc > 2 ? argv[2] : "./html/");
int port = argc > 1 ? atoi(argv[1]) : 29599;
std::thread ws([&h2s, port]() {
auto actx = h2s.addContext();
h2s.addListener(ComboAddress("::", port), actx);
cout<<"Listening on port "<< port <<endl;
h2s.runLoop();
});
ws.detach();
// unsigned int tow=0, wn=0;
ofstream csv("iod.csv");
ofstream csv2("toe.csv");
@ -432,7 +547,7 @@ try
sisacsv << "timestamp sv sisa"<<endl;
int tow=0, wn=0;
string line;
for(;;) {
auto c = getUint8();
@ -450,6 +565,12 @@ try
vector<string> strs;
boost::split(strs,line,boost::is_any_of(","));
for(unsigned int n=4; n + 4 < strs.size(); n += 4) {
g_svstats[atoi(strs[n].c_str())].el = atoi(strs[n+1].c_str());
if(g_svstats[atoi(strs[n].c_str())].el >= 0)
g_svstats[atoi(strs[n].c_str())].db = atoi(strs[n+3].c_str());
else
g_svstats[atoi(strs[n].c_str())].db = -1;
/*
cout<<"sv "<<atoi(strs[n].c_str())
<< " el "<< atoi(strs[n+1].c_str())