Merge branch 'master' into console-log-with-time
bert hubert
GitHub
commit
b7e2ea0c93
2
Makefile
2
Makefile
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@ -22,7 +22,7 @@ clean:
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rm -f ext/fmt-5.2.1/src/format.o
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navparse: navparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o
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navparse: navparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o
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$(CXX) -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -L/usr/local/opt/openssl/lib/ -lh2o-evloop -lssl -lcrypto -lz -lcurl -lprotobuf $(WSLAY)
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navdump: navdump.o ext/fmt-5.2.1/src/format.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o navmon.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o sp3.o
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@ -79,7 +79,7 @@ Running
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-------
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Once compiled, run for example `./ubxtool --wait --port /dev/ttyACM0
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--station 1 --stdout | ./ubxparse 10000 html null`
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--station 1 --stdout | ./navparse 10000 html null`
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Next up, browse to http://[::1]:10000 (or try http://localhost:10000/ and
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you should be in business. ubxtool changes (non-permanently) the
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@ -0,0 +1,78 @@
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#include <map>
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#include "galileo.hh"
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#include "minivec.hh"
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#include "navmon.hh"
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#include "navparse.hh"
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#include "ephemeris.hh"
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#include "fmt/format.h"
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#include "fmt/printf.h"
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#include <fstream>
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using namespace std;
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extern GetterSetter<map<int, GalileoMessage::Almanac>> g_galileoalmakeeper;
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extern GetterSetter<svstats_t> g_statskeeper;
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covmap_t emitCoverage()
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{
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covmap_t ret;
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ofstream cmap("covmap.csv");
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cmap<<"latitude longitude count5 count10 count20"<<endl;
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map<int, Point> sats;
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auto galileoalma = g_galileoalmakeeper.get();
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auto svstats = g_statskeeper.get();
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auto pseudoTow = (time(0) - 820368000) % (7*86400);
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// cout<<"pseudoTow "<<pseudoTow<<endl;
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for(const auto &g : galileoalma) {
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Point sat;
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getCoordinates(pseudoTow, g.second, &sat);
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if(g.first < 0)
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continue;
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if(svstats[{2,g.first,1}].completeIOD() && svstats[{2,g.first,1}].liveIOD().sisa == 255) {
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// cout<<g.first<<" NAPA!"<<endl;
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continue;
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}
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sats[g.first]=sat;
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}
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double R = 6371000;
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for(double latitude = 90 ; latitude > -90; latitude-=0.5) { // north-south
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double phi = M_PI* latitude / 180;
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double longsteps = 1 + 360.0 * cos(phi);
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double step = 180.0 / longsteps;
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vector<tuple<double, int, int, int>> latvect;
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for(double longitude = -180; longitude < 180; longitude += step) { // east - west
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Point p;
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// phi = latitude, lambda = longitude
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double lambda = M_PI* longitude / 180;
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p.x = R * cos(phi) * cos(lambda);
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p.y = R * cos(phi) * sin(lambda);
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p.z = R * sin(phi);
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if(longitude == -180) {
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auto longlat = getLongLat(p.x, p.y, p.z);
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// cout<<fmt::sprintf("%3.0f ", 180.0*longlat.second/M_PI);
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}
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int numsats5=0, numsats10=0, numsats20=0;
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for(const auto& s : sats) {
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// double getElevationDeg(const Point& sat, const Point& our);
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double elev = getElevationDeg(s.second, p);
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if(elev > 5.0)
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numsats5++;
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if(elev > 10.0)
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numsats10++;
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if(elev > 20.0)
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numsats20++;
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}
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if(numsats20 < 4)
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latvect.push_back(make_tuple(longitude, numsats5, numsats10, numsats20));
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// cmap << longitude <<" " <<latitude <<" " << numsats5 << " " <<numsats10<<" "<<numsats20<<endl;
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}
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if(!latvect.empty())
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ret.push_back(make_pair(latitude, latvect));
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}
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return ret;
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}
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@ -32,7 +32,7 @@ struct GalileoMessage
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{
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wtype = getbitu(&page[0], 0, 6);
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if(wtype >= parsers.size()) {
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std::cerr<<"Asked for impossible galileo type "<<wtype<<std::endl;
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// std::cerr<<"Asked for impossible galileo type "<<(int)wtype<<std::endl;
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return wtype;
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}
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@ -150,7 +150,7 @@ function maketable(str, arr)
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if(column == "sisa" && myRe.test(row[column]))
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ret.color="#ff2222";
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if(column == "sisa" && row[column]=="NO SIS AVAILABLE")
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if(column == "sisa" && row[column]=="NO SISA AVAILABLE")
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ret.color="#ff2222";
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return ret;
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})
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26
navmon.hh
26
navmon.hh
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@ -4,6 +4,7 @@
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#include <time.h>
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#include <string>
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#include <tuple>
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#include <mutex>
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struct EofException{};
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size_t readn2(int fd, void* buffer, size_t len);
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@ -20,3 +21,28 @@ struct SatID
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return std::tie(gnss, sv, sigid) < std::tie(rhs.gnss, rhs.sv, rhs.sigid);
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}
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};
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template<typename T>
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class GetterSetter
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{
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public:
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void set(const T& t)
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{
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std::lock_guard<std::mutex> mut(d_lock);
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d_t = t;
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}
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T get()
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{
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T ret;
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{
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std::lock_guard<std::mutex> mut(d_lock);
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ret = d_t;
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}
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return ret;
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}
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private:
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T d_t;
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std::mutex d_lock;
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};
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199
navparse.cc
199
navparse.cc
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@ -27,6 +27,7 @@
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#include <optional>
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#include "navmon.hh"
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#include <Tle.h>
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#include "navparse.hh"
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using namespace std;
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struct ObserverPosition
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@ -36,31 +37,6 @@ struct ObserverPosition
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};
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std::map<int, ObserverPosition> g_srcpos;
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template<typename T>
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class GetterSetter
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{
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public:
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void set(const T& t)
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{
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std::lock_guard<std::mutex> mut(d_lock);
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d_t = t;
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}
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T get()
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{
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T ret;
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{
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std::lock_guard<std::mutex> mut(d_lock);
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ret = d_t;
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}
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return ret;
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}
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private:
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T d_t;
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std::mutex d_lock;
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};
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map<int, BeidouAlmanacEntry> g_beidoualma;
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map<int, pair<GlonassMessage, GlonassMessage>> g_glonassalma;
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@ -117,7 +93,7 @@ string humanSisa(uint8_t sisa)
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return std::to_string(200 + 16*(sval-100))+" cm";
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if(sisa < 255)
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return "SPARE";
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return "NO SIS AVAILABLE";
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return "NO SISA AVAILABLE";
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}
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string humanUra(uint8_t ura)
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@ -130,64 +106,6 @@ string humanUra(uint8_t ura)
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}
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struct SVIOD
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{
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std::bitset<32> words;
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int gnssid;
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uint32_t t0e;
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uint32_t e, sqrtA;
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int32_t m0, omega0, i0, omega, idot, omegadot, deltan;
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int16_t cuc{0}, cus{0}, crc{0}, crs{0}, cic{0}, cis{0};
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// 60 seconds
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uint16_t t0c; // clock epoch, stored UNSCALED, since it is not in the same place as GPS
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// 2^-34 2^-46
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int32_t af0{0} , af1{0};
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// 2^-59
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int8_t af2{0};
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uint8_t sisa;
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uint32_t wn{0}, tow{0};
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bool complete() const
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{
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if(gnssid==2)
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return words[1] && words[2] && words[3] && words[4];
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else
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return words[2] && words[3];
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}
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void addGalileoWord(std::basic_string_view<uint8_t> page);
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double getMu() const
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{
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if(gnssid == 2) return 3.986004418 * pow(10.0, 14.0);
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if(gnssid == 0) return 3.986005 * pow(10.0, 14.0);
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throw std::runtime_error("getMu() called for unsupported gnssid "+to_string(gnssid));
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} // m^3/s^2
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// same for galileo & gps
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double getOmegaE() const { return 7.2921151467 * pow(10.0, -5.0);} // rad/s
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uint32_t getT0e() const { return t0e; }
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uint32_t getT0c() const { return 60*t0c; }
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double getSqrtA() const { return ldexp(sqrtA, -19); }
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double getE() const { return ldexp(e, -33); }
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double getCuc() const { return ldexp(cuc, -29); } // radians
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double getCus() const { return ldexp(cus, -29); } // radians
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double getCrc() const { return ldexp(crc, -5); } // meters
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double getCrs() const { return ldexp(crs, -5); } // meters
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double getM0() const { return ldexp(m0 * M_PI, -31); } // radians
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double getDeltan()const { return ldexp(deltan *M_PI, -43); } //radians/s
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double getI0() const { return ldexp(i0 * M_PI, -31); } // radians
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double getCic() const { return ldexp(cic, -29); } // radians
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double getCis() const { return ldexp(cis, -29); } // radians
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double getOmegadot() const { return ldexp(omegadot * M_PI, -43); } // radians/s
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double getOmega0() const { return ldexp(omega0 * M_PI, -31); } // radians
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double getIdot() const { return ldexp(idot * M_PI, -43); } // radians/s
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double getOmega() const { return ldexp(omega * M_PI, -31); } // radians
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};
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void SVIOD::addGalileoWord(std::basic_string_view<uint8_t> page)
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{
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@ -231,78 +149,7 @@ void SVIOD::addGalileoWord(std::basic_string_view<uint8_t> page)
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}
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struct SVPerRecv
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{
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int el{-1}, azi{-1}, db{-1};
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time_t deltaHzTime{-1};
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double deltaHz{-1};
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double prres{-1};
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time_t t; // last seen
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};
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/* Most of thes fields are raw, EXCEPT:
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t0t = seconds, raw fields are 3600 seconds (galileo), 4096 seconds (GPS)
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*/
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struct SVStat
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{
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uint8_t e5bhs{0}, e1bhs{0};
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uint8_t gpshealth{0};
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uint16_t ai0{0};
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int16_t ai1{0}, ai2{0};
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bool sf1{0}, sf2{0}, sf3{0}, sf4{0}, sf5{0};
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int BGDE1E5a{0}, BGDE1E5b{0};
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bool e5bdvs{false}, e1bdvs{false};
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uint16_t wn{0}; // we put the "unrolled" week number here!
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uint32_t tow{0}; // "last seen"
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//
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// 2^-30 2^-50 1 8-bit week
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int32_t a0{0}, a1{0}, t0t{0}, wn0t{0};
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int32_t a0g{0}, a1g{0}, t0g{0}, wn0g{0};
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int8_t dtLS{0}, dtLSF{0};
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uint16_t wnLSF{0};
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uint8_t dn; // leap second day number
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// 1 2^-31 2^-43 2^-55 16 second
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int ura, af0, af1, af2, t0c, gpsiod; // GPS parameters that should not be here XXX (or perhaps they should)
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GPSAlmanac gpsalma;
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// beidou:
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int t0eMSB{-1}, t0eLSB{-1}, aode{-1}, aodc{-1};
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BeidouMessage beidouMessage, oldBeidouMessage;
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BeidouMessage lastBeidouMessage1, lastBeidouMessage2;
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TLERepo::Match tleMatch;
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double lastTLELookupX{0};
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// new galileo
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GalileoMessage galmsg;
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map<int, GalileoMessage> galmsgTyped;
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// Glonass
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GlonassMessage glonassMessage;
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pair<uint32_t, GlonassMessage> glonassAlmaEven;
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map<uint64_t, SVPerRecv> perrecv;
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double latestDisco{-1}, latestDiscoAge{-1}, timeDisco{-1000};
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map<int, SVIOD> iods;
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void addGalileoWord(std::basic_string_view<uint8_t> page);
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bool completeIOD() const;
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uint16_t getIOD() const;
|
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SVIOD liveIOD() const;
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SVIOD& getEph(int i) { return iods[i]; } // XXXX gps adaptor
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pair<int,SVIOD> prevIOD{-1, SVIOD()};
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void clearPrev()
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{
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prevIOD.first = -1;
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}
|
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void checkCompleteAndClean(int iod);
|
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};
|
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|
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bool SVStat::completeIOD() const
|
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{
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|
|
@ -409,7 +256,6 @@ void SVStat::addGalileoWord(std::basic_string_view<uint8_t> page)
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}
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||||
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|
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typedef std::map<SatID, SVStat> svstats_t;
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svstats_t g_svstats;
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GetterSetter<svstats_t> g_statskeeper;
|
||||
|
|
@ -657,7 +503,7 @@ std::optional<double> getHzCorrection(time_t now, int src, unsigned int gnssid,
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std::string humanBhs(int bhs)
|
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{
|
||||
static vector<string> options{"ok", "out of service", "will be out of service", "test"};
|
||||
if(bhs >= options.size()) {
|
||||
if(bhs >= (int)options.size()) {
|
||||
cerr<<"Asked for humanBHS "<<bhs<<endl;
|
||||
return "??";
|
||||
}
|
||||
|
|
@ -869,8 +715,17 @@ try
|
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item["observed"] = false;
|
||||
for(uint32_t sigid : {0,1,5}) {
|
||||
if(auto iter = svstats.find({2, (uint32_t)ae.first, sigid}); iter != svstats.end()) {
|
||||
if(time(0) - nanoTime(2, iter->second.wn, iter->second.tow)/1000000000 < 300)
|
||||
|
||||
if(iter->second.completeIOD()) {
|
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item["sisa"] = iter->second.liveIOD().sisa;
|
||||
}
|
||||
// if we hit an 'observed', stop trying sigids
|
||||
if(time(0) - nanoTime(2, iter->second.wn, iter->second.tow)/1000000000 < 300) {
|
||||
item["observed"] = true;
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1027,7 +882,6 @@ try
|
|||
|
||||
h2s.addHandler("/sv.json", [](auto handler, auto req) {
|
||||
string_view path = convert(req->path);
|
||||
cout<<path<<endl;
|
||||
nlohmann::json ret = nlohmann::json::object();
|
||||
|
||||
SatID id;
|
||||
|
|
@ -1121,6 +975,33 @@ try
|
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return ret;
|
||||
}
|
||||
);
|
||||
|
||||
h2s.addHandler("/galcov.json", [](auto handler, auto req) {
|
||||
auto cov = emitCoverage();
|
||||
auto ret = nlohmann::json::array();
|
||||
|
||||
// ret =
|
||||
// [ [90, [[-180, 3,2,1], [-179, 3,2,1], ... [180,3,2,1] ]]
|
||||
// [89, [[-180, 4], [-179, 4], ... [180,2] ]]
|
||||
// ]
|
||||
for(const auto& latvect : cov) {
|
||||
auto jslatvect = nlohmann::json::array();
|
||||
auto jslongvect = nlohmann::json::array();
|
||||
for(const auto& longpair : latvect.second) {
|
||||
auto jsdatum = nlohmann::json::array();
|
||||
jsdatum.push_back((int)get<0>(longpair));
|
||||
jsdatum.push_back(get<1>(longpair));
|
||||
jsdatum.push_back(get<2>(longpair));
|
||||
jsdatum.push_back(get<3>(longpair));
|
||||
jslongvect.push_back(jsdatum);
|
||||
}
|
||||
jslatvect.push_back(latvect.first);
|
||||
jslatvect.push_back(jslongvect);
|
||||
|
||||
ret.push_back(jslatvect);
|
||||
}
|
||||
return ret;
|
||||
});
|
||||
|
||||
h2s.addHandler("/svs.json", [](auto handler, auto req) {
|
||||
auto svstats = g_statskeeper.get();
|
||||
|
|
|
|||
|
|
@ -0,0 +1,149 @@
|
|||
#include "navmon.hh"
|
||||
#include "galileo.hh"
|
||||
#include "gps.hh"
|
||||
#include "beidou.hh"
|
||||
#include "glonass.hh"
|
||||
#include <map>
|
||||
#include "tle.hh"
|
||||
using namespace std; // XXX
|
||||
|
||||
struct SVPerRecv
|
||||
{
|
||||
int el{-1}, azi{-1}, db{-1};
|
||||
time_t deltaHzTime{-1};
|
||||
double deltaHz{-1};
|
||||
double prres{-1};
|
||||
time_t t; // last seen
|
||||
};
|
||||
|
||||
struct SVIOD
|
||||
{
|
||||
std::bitset<32> words;
|
||||
int gnssid;
|
||||
uint32_t t0e;
|
||||
uint32_t e, sqrtA;
|
||||
int32_t m0, omega0, i0, omega, idot, omegadot, deltan;
|
||||
|
||||
int16_t cuc{0}, cus{0}, crc{0}, crs{0}, cic{0}, cis{0};
|
||||
// 60 seconds
|
||||
uint16_t t0c; // clock epoch, stored UNSCALED, since it is not in the same place as GPS
|
||||
|
||||
// 2^-34 2^-46
|
||||
int32_t af0{0} , af1{0};
|
||||
// 2^-59
|
||||
int8_t af2{0};
|
||||
|
||||
uint8_t sisa;
|
||||
|
||||
uint32_t wn{0}, tow{0};
|
||||
bool complete() const
|
||||
{
|
||||
if(gnssid==2)
|
||||
return words[1] && words[2] && words[3] && words[4];
|
||||
else
|
||||
return words[2] && words[3];
|
||||
}
|
||||
void addGalileoWord(std::basic_string_view<uint8_t> page);
|
||||
|
||||
double getMu() const
|
||||
{
|
||||
if(gnssid == 2) return 3.986004418 * pow(10.0, 14.0);
|
||||
if(gnssid == 0) return 3.986005 * pow(10.0, 14.0);
|
||||
throw std::runtime_error("getMu() called for unsupported gnssid "+to_string(gnssid));
|
||||
} // m^3/s^2
|
||||
// same for galileo & gps
|
||||
double getOmegaE() const { return 7.2921151467 * pow(10.0, -5.0);} // rad/s
|
||||
|
||||
uint32_t getT0e() const { return t0e; }
|
||||
uint32_t getT0c() const { return 60*t0c; }
|
||||
double getSqrtA() const { return ldexp(sqrtA, -19); }
|
||||
double getE() const { return ldexp(e, -33); }
|
||||
double getCuc() const { return ldexp(cuc, -29); } // radians
|
||||
double getCus() const { return ldexp(cus, -29); } // radians
|
||||
double getCrc() const { return ldexp(crc, -5); } // meters
|
||||
double getCrs() const { return ldexp(crs, -5); } // meters
|
||||
double getM0() const { return ldexp(m0 * M_PI, -31); } // radians
|
||||
double getDeltan()const { return ldexp(deltan *M_PI, -43); } //radians/s
|
||||
double getI0() const { return ldexp(i0 * M_PI, -31); } // radians
|
||||
double getCic() const { return ldexp(cic, -29); } // radians
|
||||
double getCis() const { return ldexp(cis, -29); } // radians
|
||||
double getOmegadot() const { return ldexp(omegadot * M_PI, -43); } // radians/s
|
||||
double getOmega0() const { return ldexp(omega0 * M_PI, -31); } // radians
|
||||
double getIdot() const { return ldexp(idot * M_PI, -43); } // radians/s
|
||||
double getOmega() const { return ldexp(omega * M_PI, -31); } // radians
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
/* Most of thes fields are raw, EXCEPT:
|
||||
t0t = seconds, raw fields are 3600 seconds (galileo), 4096 seconds (GPS)
|
||||
*/
|
||||
|
||||
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};
|
||||
int BGDE1E5a{0}, BGDE1E5b{0};
|
||||
bool e5bdvs{false}, e1bdvs{false};
|
||||
|
||||
uint16_t wn{0}; // we put the "unrolled" week number here!
|
||||
uint32_t tow{0}; // "last seen"
|
||||
//
|
||||
// 2^-30 2^-50 1 8-bit week
|
||||
int32_t a0{0}, a1{0}, t0t{0}, wn0t{0};
|
||||
int32_t a0g{0}, a1g{0}, t0g{0}, wn0g{0};
|
||||
int8_t dtLS{0}, dtLSF{0};
|
||||
uint16_t wnLSF{0};
|
||||
uint8_t dn; // leap second day number
|
||||
// 1 2^-31 2^-43 2^-55 16 second
|
||||
int ura, af0, af1, af2, t0c, gpsiod; // GPS parameters that should not be here XXX (or perhaps they should)
|
||||
|
||||
GPSAlmanac gpsalma;
|
||||
|
||||
// beidou:
|
||||
int t0eMSB{-1}, t0eLSB{-1}, aode{-1}, aodc{-1};
|
||||
BeidouMessage beidouMessage, oldBeidouMessage;
|
||||
BeidouMessage lastBeidouMessage1, lastBeidouMessage2;
|
||||
TLERepo::Match tleMatch;
|
||||
double lastTLELookupX{0};
|
||||
|
||||
// new galileo
|
||||
GalileoMessage galmsg;
|
||||
map<int, GalileoMessage> galmsgTyped;
|
||||
|
||||
// Glonass
|
||||
GlonassMessage glonassMessage;
|
||||
pair<uint32_t, GlonassMessage> glonassAlmaEven;
|
||||
|
||||
map<uint64_t, SVPerRecv> perrecv;
|
||||
|
||||
double latestDisco{-1}, latestDiscoAge{-1}, timeDisco{-1000};
|
||||
|
||||
map<int, SVIOD> iods;
|
||||
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(int iod);
|
||||
};
|
||||
|
||||
|
||||
typedef std::map<SatID, SVStat> svstats_t;
|
||||
|
||||
// a vector of pairs of latidude,vector<longitude,numsats>
|
||||
typedef vector<pair<double,vector<tuple<double, int, int, int> > > > covmap_t;
|
||||
|
||||
covmap_t emitCoverage();
|
||||
|
||||
2
tle.cc
2
tle.cc
|
|
@ -98,7 +98,7 @@ TLERepo::Match TLERepo::getBestMatch(time_t now, double x, double y, double z, T
|
|||
distances.insert({1000.0*(rot - sat).Magnitude(),sgp4.first});
|
||||
}
|
||||
catch(SatelliteException& se) {
|
||||
cerr<<"TLE error: "<<se.what()<<endl;
|
||||
// cerr<<"TLE error: "<<se.what()<<endl;
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
1081
ubxparse.cc
1081
ubxparse.cc
File diff suppressed because it is too large
Load Diff
|
|
@ -726,6 +726,7 @@ int main(int argc, char** argv)
|
|||
pvt.nano += 1000000000;
|
||||
}
|
||||
if(!g_gnssutc.tv_sec) {
|
||||
|
||||
if (doDEBUG) { cerr<<humanTimeNow()<<" Got initial timestamp: "<<humanTime(satt)<<endl; }
|
||||
}
|
||||
g_gnssutc.tv_sec = satt;
|
||||
|
|
@ -733,6 +734,7 @@ int main(int argc, char** argv)
|
|||
continue;
|
||||
}
|
||||
if(!g_gnssutc.tv_sec) {
|
||||
|
||||
if (doDEBUG) { cerr<<humanTimeNow()<<" Ignoring message with class "<<(int)msg.getClass()<< " and type "<< (int)msg.getType()<<": have not yet received a timestamp"<<endl; }
|
||||
continue;
|
||||
}
|
||||
|
|
@ -1032,7 +1034,7 @@ int main(int argc, char** argv)
|
|||
}
|
||||
else
|
||||
; // if (doDEBUG) { cerr<<humanTimeNow()<<" SFRBX from unsupported GNSSID/sigid combination "<<id.first<<", sv "<<id.second<<", sigid "<<sigid<<", "<<payload.size()<<" bytes"<<endl; }
|
||||
|
||||
|
||||
}
|
||||
catch(CRCMismatch& cm) {
|
||||
if (doDEBUG) { cerr<<humanTimeNow()<<" Had CRC mismatch!"<<endl; }
|
||||
|
|
@ -1123,6 +1125,7 @@ int main(int argc, char** argv)
|
|||
|
||||
}
|
||||
else if(msg.getClass() == 0x02 && msg.getType() == 0x14) { // UBX-RXM-MEASX
|
||||
|
||||
// if (doDEBUG) { cerr<<humanTimeNow()<<" Got RXM-MEASX for "<<(int)payload[34]<<" satellites, r0 "<< (int)payload[30]<<" r1 " <<(int)payload[31]<<endl; }
|
||||
for(unsigned int n = 0 ; n < payload[34] ; ++n) {
|
||||
uint16_t wholeChips;
|
||||
|
|
@ -1158,6 +1161,7 @@ int main(int argc, char** argv)
|
|||
string hexstring;
|
||||
for(int n = 0; n < 15; ++n)
|
||||
hexstring+=fmt::sprintf("%x", (int)getbitu(payload.c_str(), 36 + 4*n, 4));
|
||||
|
||||
if (doDEBUG) { cerr<<humanTimeNow()<<" "<<humanTime(g_gnssutc.tv_sec)<<" SAR RLM type "<<type<<" from gal sv " << sv << " beacon "<<hexstring <<" code "<<(int)payload[12]<<" params "<<payload[12] + 256*payload[13]<<endl; }
|
||||
|
||||
// wk.emitLine(sv, "SAR "+hexstring);
|
||||
|
|
|
|||
Loading…
Reference in New Issue