1082 lines
36 KiB
C++
1082 lines
36 KiB
C++
#include <stdio.h>
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#include <string>
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#include <iostream>
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#include <arpa/inet.h>
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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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#include <map>
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#include <bitset>
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#include <curses.h>
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#include <vector>
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#include <boost/algorithm/string.hpp>
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#include <thread>
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#include <signal.h>
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#include "ext/powerblog/h2o-pp.hh"
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#include "minicurl.hh"
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#include <time.h>
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#include "ubx.hh"
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#include "bits.hh"
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#include "minivec.hh"
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using namespace std;
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struct EofException{};
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uint8_t getUint8()
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{
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int c;
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c = fgetc(stdin);
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if(c == -1)
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throw EofException();
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return (uint8_t) c;
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}
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uint16_t getUint16()
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{
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uint16_t ret;
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int res = fread(&ret, 1, sizeof(ret), stdin);
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if(res != sizeof(ret))
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throw EofException();
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// ret = ntohs(ret);
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return ret;
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}
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Point g_ourpos(3922.505 * 1000, 290.116 * 1000, 5004.189 * 1000);
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int g_tow, g_wn, g_dtLS{18};
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/* inav schedule:
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1) Find plausible start time of next cycle
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Current cycle: TOW - (TOW%30)
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Next cycle: TOW - (TOW%30) + 30
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t n w
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0 1: 2 wn % 30 == 0
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2 2: 4 wn % 30 == 2
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4 3: 6 WN/TOW 4 -> set startTow, startTowFresh
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6 4: 7/9
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8 5: 8/10
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10 6: 0 TOW
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12 7: 0 WN/TOW
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14 8: 0 WN/TOW
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16 9: 0 WN/TOW
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18 10: 0 WN/TOW
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20 11: 1
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22 12: 3
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24 13: 5 WN/TOW
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26 14: 0 WN/TOW
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28 15: 0 WN/TOW
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*/
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string humanSisa(uint8_t sisa)
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{
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unsigned int sval = sisa;
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if(sisa < 50)
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return std::to_string(sval)+" cm";
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if(sisa < 75)
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return std::to_string(50 + 2* (sval-50))+" cm";
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if(sisa < 100)
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return std::to_string(100 + 4*(sval-75))+" cm";
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if(sisa < 125)
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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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}
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struct SVIOD
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{
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std::bitset<32> words;
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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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uint16_t t0c; // clock epoch
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int32_t af0, af1;
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int8_t af2;
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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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return words[1] && words[2] && words[3] && words[4];
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}
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void addWord(std::basic_string_view<uint8_t> page);
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};
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void SVIOD::addWord(std::basic_string_view<uint8_t> page)
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{
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uint8_t wtype = getbitu(&page[0], 0, 6);
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words[wtype]=true;
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if(wtype == 1) {
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t0e = getbitu(&page[0], 16, 14);
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m0 = getbits(&page[0], 30, 32);
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e = getbitu(&page[0], 62, 32);
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sqrtA = getbitu(&page[0], 94, 32);
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}
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else if(wtype == 2) {
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omega0 = getbits(&page[0], 16, 32);
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i0 = getbits(&page[0], 48, 32);
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omega = getbits(&page[0], 80, 32);
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idot = getbits(&page[0], 112, 14);
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}
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else if(wtype == 3) {
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omegadot = getbits(&page[0], 16, 24);
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deltan = getbits(&page[0], 40, 16);
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cuc = getbits(&page[0], 56, 16);
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cus = getbits(&page[0], 72, 16);
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crc = getbits(&page[0], 88, 16);
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crs = getbits(&page[0], 104, 16);
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sisa = getbitu(&page[0], 120, 8);
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}
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else if(wtype == 4) {
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cic = getbits(&page[0], 22, 16);
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cis = getbits(&page[0], 38, 16);
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t0c = getbitu(&page[0], 54, 14);
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af0 = getbits(&page[0], 68, 31);
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af1 = getbits(&page[0], 99, 21);
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af2 = getbits(&page[0], 120, 6);
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/*
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cout<<(int) t0c << " " <<(int) af0 <<" " <<(int) af1 <<" " <<(int) af2<<endl;
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cout<<(int) t0c*60 << " " << (((double) af0) / (1ULL<<34))*1000000 <<" usec " << (((double) af1)/(1ULL << 46))*1000000000000 <<" ps/s"<<endl;
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*/
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}
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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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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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bool disturb1{false}, disturb2{false}, disturb3{false}, disturb4{false}, disturb5{false};
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uint16_t wn{0};
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uint32_t tow{0}; // "last seen"
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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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int16_t el{-1}, azi{-1}, db{-1};
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map<int, SVIOD> iods;
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void addWord(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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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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};
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bool SVStat::completeIOD() const
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{
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for(const auto& iod : iods)
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if(iod.second.complete())
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return true;
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return false;
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}
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uint16_t SVStat::getIOD() const
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{
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for(const auto& iod : iods)
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if(iod.second.complete())
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return iod.first;
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throw std::runtime_error("Asked for unknown IOD");
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}
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SVIOD SVStat::liveIOD() const
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{
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if(auto iter = iods.find(getIOD()); iter != iods.end())
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return iter->second;
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throw std::runtime_error("Asked for unknown IOD");
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}
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void SVStat::addWord(std::basic_string_view<uint8_t> page)
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{
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uint8_t wtype = getbitu(&page[0], 0, 6);
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if(wtype == 0) {
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if(getbitu(&page[0], 6,2) == 2) {
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g_wn = wn = getbitu(&page[0], 96, 12);
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g_tow = tow = getbitu(&page[0], 108, 20);
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}
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}
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else if(wtype >=1 && wtype <= 4) { // ephemeris
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uint16_t iod = getbitu(&page[0], 6, 10);
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iods[iod].addWord(page);
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if(iods[iod].complete()) {
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for(const auto& i : iods) {
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if(i.first != iod && i.second.complete())
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prevIOD=i;
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}
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SVIOD latest = iods[iod];
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iods.clear();
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iods[iod] = latest;
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}
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}
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else if(wtype==5) { // disturbance, health, time
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ai0 = getbitu(&page[0], 6, 11);
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ai1 = getbits(&page[0], 17, 11); // ai1 & 2 are signed, 0 not
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ai2 = getbits(&page[0], 28, 14);
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sf1 = getbitu(&page[0], 42, 1);
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sf2 = getbitu(&page[0], 43, 1);
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sf3 = getbitu(&page[0], 44, 1);
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sf4 = getbitu(&page[0], 45, 1);
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sf5 = getbitu(&page[0], 46, 1);
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BGDE1E5a = getbits(&page[0], 47, 10);
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BGDE1E5b = getbits(&page[0], 57, 10);
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e5bhs = getbitu(&page[0], 67, 2);
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e1bhs = getbitu(&page[0], 69, 2);
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e5bdvs = getbitu(&page[0], 71, 1);
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e1bdvs = getbitu(&page[0], 72, 1);
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g_wn = wn = getbitu(&page[0], 73, 12);
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g_tow = tow = getbitu(&page[0], 85, 20);
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}
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else if(wtype == 6) {
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a0 = getbits(&page[0], 6, 32);
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a1 = getbits(&page[0], 38, 24);
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dtLS = getbits(&page[0], 62, 8);
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t0t = getbitu(&page[0], 70, 8);
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wn0t = getbitu(&page[0], 78, 8);
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wnLSF = getbitu(&page[0], 86, 8);
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dn = getbitu(&page[0], 94, 3);
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dtLSF = getbits(&page[0], 97, 8);
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// cout<<(int) dtLS << " " <<(int) wnLSF<<" " <<(int) dn <<" " <<(int) dtLSF<<endl;
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g_tow = tow = getbitu(&page[0], 105, 20);
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}
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else if(wtype == 10) { // GSTT GPS
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a0g = getbits(&page[0], 86, 16);
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a1g = getbits(&page[0], 102, 12);
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t0g = getbitu(&page[0], 114, 8);
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wn0g = getbitu(&page[0], 122, 6);
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}
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}
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double todeg(double rad)
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{
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return 360 * rad/(2*M_PI);
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}
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void getCoordinates(int wn, double tow, const SVIOD& iod, Point* p, bool quiet=true)
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{
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// here goes
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constexpr double mu = 3.986004418 * pow(10.0, 14.0);
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constexpr double omegaE = 7.2921151467 * pow(10.0, -5);
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double sqrtA = 1.0*iod.sqrtA / (1ULL<<19);
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double deltan = M_PI * 1.0*iod.deltan / (1LL<<43);
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double t0e = 60.0*iod.t0e;
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double m0 = M_PI * 1.0*iod.m0 / (1LL<<31);
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double e = 1.0*iod.e / (1ULL<<33);
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double omega = M_PI * 1.0*iod.omega / (1LL<<31);
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double cuc = 1.0*iod.cuc / (1LL<<29);
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double cus = 1.0*iod.cus / (1LL<<29);
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double crc = 1.0*iod.crc / (1LL<<5);
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double crs = 1.0*iod.crs / (1LL<<5);
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double cic = 1.0*iod.cic / (1LL<<29);
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double cis = 1.0*iod.cis / (1LL<<29);
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double idot = M_PI * 1.0*iod.idot / (1LL<<43);
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double i0 = M_PI * 1.0*iod.i0 / (1LL << 31);
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double Omegadot = M_PI * 1.0*iod.omegadot / (1LL << 43);
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double Omega0 = M_PI * 1.0*iod.omega0 / (1LL << 31);
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// NO IOD BEYOND THIS POINT!
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if(!quiet) {
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cout << "sqrtA = "<< sqrtA << endl;
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cout << "deltan = "<< deltan << endl;
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cout << "t0e = "<< t0e << endl;
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cout << "m0 = "<< m0 << " ("<<todeg(m0)<<")"<<endl;
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cout << "e = "<< e << endl;
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cout << "omega = " << omega << " ("<<todeg(omega)<<")"<<endl;
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cout << "idot = " << idot <<endl;
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cout << "i0 = " << i0 << " ("<<todeg(i0)<<")"<<endl;
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cout << "cuc = " << cuc << endl;
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cout << "cus = " << cus << endl;
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cout << "crc = " << crc << endl;
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cout << "crs = " << crs << endl;
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cout << "cic = " << cic << endl;
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cout << "cis = " << cis << endl;
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cout << "Omega0 = " << Omega0 << " ("<<todeg(Omega0)<<")"<<endl;
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cout << "Omegadot = " << Omegadot << " ("<<todeg(Omegadot)<< ")"<<endl;
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}
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double A = pow(sqrtA, 2.0);
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double A3 = pow(sqrtA, 6.0);
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double n0 = sqrt(mu/A3);
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double tk = tow - t0e; // in seconds, ignores WN!
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double n = n0 + deltan;
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if(!quiet)
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cout <<"tk: "<<tk<<", n0: "<<n0<<", deltan: "<<deltan<<", n: "<<n<<endl;
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double M = m0 + n * tk;
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if(!quiet)
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cout << " M = m0 + n * tk = "<<m0 << " + " << n << " * " << tk <<endl;
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double E = M;
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for(int k =0 ; k < 10; ++k) {
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if(!quiet)
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cout<<"M = "<<M<<", E = "<< E << endl;
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E = M + e * sin(E);
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}
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// M = E - e * sin(E) -> E = M + e * sin(E)
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double nu2 = M + e*2*sin(M) +
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e *e * (5.0/4.0) * sin(2*M) -
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e*e*e * (0.25*sin(M) - (13.0/12.0)*sin(3*M));
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double corr = e*e*e*e * (103*sin(4*M) - 44*sin(2*M)) / 96.0 +
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e*e*e*e*e * (1097*sin(5*M) - 645*sin(3*M) + 50 *sin(M))/960.0 +
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e*e*e*e*e*e * (1223*sin(6*M) - 902*sin(4*M) + 85 *sin(2*M))/960.0;
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if(!quiet) {
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double nu1 = atan( ((sqrt(1-e*e) * sin(E)) / (1 - e * cos(E)) ) /
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((cos(E) - e)/ (1-e*cos(E)))
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);
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double nu2 = atan( (sqrt(1-e*e) * sin(E)) /
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(cos(E) - e)
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);
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double nu3 = 2* atan( sqrt((1+e)/(1-e)) * tan(E/2));
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cout << "e: "<<e<<", M: "<< M<<endl;
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cout <<" nu sis: "<<nu1<< " / +pi = " << nu1 +M_PI << endl;
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cout <<" nu ?: "<<nu2<< " / +pi = " << nu2 +M_PI << endl;
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cout <<" nu fourier/esa: "<<nu2<< " + " << corr <<" = " << nu2 + corr<<endl;
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cout <<" nu wikipedia: "<<nu3<< " / +pi = " <<nu3 +M_PI << endl;
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}
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double nu = nu2 + corr;
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// https://en.wikipedia.org/wiki/True_anomaly is good
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double psi = nu + omega;
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if(!quiet) {
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cout<<"psi = nu + omega = " << nu <<" + "<<omega<< " = " << psi << "\n";
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}
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double deltau = cus * sin(2*psi) + cuc * cos(2*psi);
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double deltar = crs * sin(2*psi) + crc * cos(2*psi);
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double deltai = cis * sin(2*psi) + cic * cos(2*psi);
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double u = psi + deltau;
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double r = A * (1- e * cos(E)) + deltar;
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double xprime = r*cos(u), yprime = r*sin(u);
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if(!quiet) {
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cout<<"u = psi + deltau = "<< psi <<" + " << deltau << " = "<<u<<"\n";
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cout << "calculated r = "<< r << " (" << (r/1000.0) <<"km)"<<endl;
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cout << "xprime: "<<xprime<<", yprime: "<<yprime<<endl;
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}
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double Omega = Omega0 + (Omegadot - omegaE)*tk - omegaE * t0e;
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double i = i0 + deltai + idot * tk;
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p->x = xprime * cos(Omega) - yprime * cos(i) * sin(Omega);
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p->y = xprime * sin(Omega) + yprime * cos(i) * cos(Omega);
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p->z = yprime * sin(i);
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if(!quiet) {
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Point core(0.0, .0, .0);
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Vector radius(core, *p);
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cout << radius.length() << " calculated r "<<endl;
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}
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}
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void getSpeed(int wn, double tow, const SVIOD& iod, Vector* v)
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{
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Point a, b;
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getCoordinates(wn, tow-0.5, iod, &a);
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getCoordinates(wn, tow+0.5, iod, &b);
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*v = Vector(a, b);
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}
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std::map<int, SVStat> g_svstats;
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uint64_t nanoTime(int wn, int tow)
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{
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return 1000000000ULL*(935280000 + wn * 7*86400 + tow - g_dtLS); // Leap!!
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}
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uint64_t utcFromGST(int wn, int tow)
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{
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return (935280000 + wn * 7*86400 + tow - g_dtLS); // Leap!!
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}
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double utcFromGST(int wn, double tow)
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{
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return (935280000 + wn * 7*86400 + tow - g_dtLS); // Leap!!
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}
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struct InfluxPusher
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{
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explicit InfluxPusher(std::string_view dbname) : d_dbname(dbname)
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{
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}
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void addValue( const pair<int,SVStat>& ent, string_view name, auto value)
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{
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d_buffer+= string(name) +",sv=" +to_string(ent.first)+" value="+to_string(value)+
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" "+to_string(nanoTime(ent.second.wn, ent.second.tow))+"\n";
|
|
checkSend();
|
|
}
|
|
|
|
// note: this version trusts the system-wide g_wn, g_tow ovre the local one
|
|
void addValue(int sv, string_view name, auto value)
|
|
{
|
|
d_buffer+= string(name) +",sv=" +to_string(sv) + " value="+to_string(value)+" "+
|
|
to_string(nanoTime(g_wn, g_tow))+"\n";
|
|
checkSend();
|
|
}
|
|
|
|
void checkSend()
|
|
{
|
|
if(d_buffer.size() > 1000000 || (time(0) - d_lastsent) > 10) {
|
|
string buffer;
|
|
buffer.swap(d_buffer);
|
|
// thread t([buffer,this]() {
|
|
doSend(buffer);
|
|
// });
|
|
// t.detach();
|
|
d_lastsent=time(0);
|
|
}
|
|
}
|
|
|
|
void doSend(std::string buffer)
|
|
{
|
|
MiniCurl mc;
|
|
MiniCurl::MiniCurlHeaders mch;
|
|
if(!buffer.empty()) {
|
|
mc.postURL("http://127.0.0.1:8086/write?db="+d_dbname, buffer, mch);
|
|
}
|
|
}
|
|
|
|
~InfluxPusher()
|
|
{
|
|
doSend(d_buffer);
|
|
}
|
|
|
|
std::string d_buffer;
|
|
time_t d_lastsent{0};
|
|
string d_dbname;
|
|
};
|
|
|
|
/* The GST start epoch is defined as 13 seconds before midnight between 21st August and
|
|
22nd August 1999, i.e. GST was equal to 13 seconds at 22nd August 1999 00:00:00 UTC. */
|
|
|
|
std::string humanTime(int wn, int tow)
|
|
{
|
|
time_t t = utcFromGST(wn, tow);
|
|
struct tm tm;
|
|
gmtime_r(&t, &tm);
|
|
|
|
char buffer[80];
|
|
strftime(buffer, sizeof(buffer), "%a, %d %b %Y %T %z", &tm);
|
|
return buffer;
|
|
}
|
|
|
|
/* | t0e tow | - > tow - t0e, <3.5 days, so ok
|
|
|
|
| t0e tow | -> tow - t0e > 3.5 days, so
|
|
7*86400 - tow + t0e
|
|
|
|
| tow t0e | -> 7*86400 - tow + t0e > 3.5 days, so
|
|
tow - t0e (negative age)
|
|
|
|
| tow t0e | -> 7*86400 - tow + t0e < 3.5 days, ok
|
|
*/
|
|
|
|
int ephAge(int tow, int t0e)
|
|
{
|
|
unsigned int diff;
|
|
unsigned int halfweek = 0.5*7*86400;
|
|
if(t0e < tow) {
|
|
diff = tow - t0e;
|
|
if(diff < halfweek)
|
|
return diff;
|
|
else
|
|
return (7*86400 - tow) + t0e;
|
|
}
|
|
else { // "t0e in future"
|
|
diff = 7*86400 - t0e + tow;
|
|
if(diff < halfweek)
|
|
return diff;
|
|
else
|
|
return tow - t0e; // in the future, negative age
|
|
}
|
|
}
|
|
|
|
int main(int argc, char** argv)
|
|
try
|
|
{
|
|
signal(SIGPIPE, SIG_IGN);
|
|
InfluxPusher idb(argc > 3 ? argv[3] : "galileo");
|
|
MiniCurl::init();
|
|
|
|
H2OWebserver h2s("galmon");
|
|
|
|
h2s.addHandler("/global", [](auto handler, auto req) {
|
|
nlohmann::json ret = nlohmann::json::object();
|
|
ret["leap-seconds"] = g_dtLS;
|
|
|
|
map<int, int> utcstats, gpsgststats;
|
|
for(const auto& s: g_svstats) {
|
|
// XXX this might run BEFORE we have gps/utc stats!
|
|
|
|
int dw = (uint8_t)g_wn - s.second.wn0t;
|
|
int age = dw * 7 * 86400 + g_tow - s.second.t0t * 3600;
|
|
utcstats[age]=s.first;
|
|
|
|
uint8_t wn0g = s.second.wn0t;
|
|
int dwg = (((uint8_t)g_wn)&(1+2+4+8+16+32)) - wn0g;
|
|
age = dwg*7*86400 + g_tow - s.second.t0g * 3600;
|
|
gpsgststats[age]=s.first;
|
|
|
|
}
|
|
if(utcstats.empty()) {
|
|
ret["utc-offset-ns"]=nullptr;
|
|
}
|
|
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
|
|
ret["utc-offset-ns"] = 1.073741824*ldexp(shift, -20);
|
|
|
|
ret["leap-second-planned"] = (g_svstats[sv].dtLSF != g_svstats[sv].dtLS);
|
|
}
|
|
|
|
if(gpsgststats.empty()) {
|
|
ret["gps-offset-ns"]=nullptr;
|
|
}
|
|
else {
|
|
int sv = gpsgststats.begin()->second; // freshest SV
|
|
long shift = g_svstats[sv].a0g * (1U<<16) + g_svstats[sv].a1g * utcstats.begin()->first; // in 2^-51 seconds units
|
|
|
|
ret["gps-offset-ns"] = 1.073741824*ldexp(shift, -21);
|
|
}
|
|
|
|
|
|
return ret;
|
|
});
|
|
|
|
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["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["elev"]=s.second.el;
|
|
item["db"]=s.second.db;
|
|
item["eph-age-m"] = ephAge(g_tow, 60*s.second.liveIOD().t0e)/60.0;
|
|
item["last-seen-s"] = s.second.tow ? (7*86400*(g_wn - s.second.wn) + (int)g_tow - (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;
|
|
|
|
getCoordinates(g_wn, g_tow, s.second.liveIOD(), &p);
|
|
|
|
Vector core2us(core, our);
|
|
Vector dx(our, p); // = 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 ( core2us.inner(dx) / (core2us.length() * dx.length()));
|
|
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<<" (" << our.x << ", "<< our.y <<", "<<our.z<<") -> ("
|
|
<< p.x << ", "<< p.y <<", "<< p.z<<") "<<endl;// << sqrt(ourx*ourx + oury*oury + ourz*ourz) <<" - " << sqrt(x*x+y*y+z*z) <<endl;
|
|
|
|
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;
|
|
}
|
|
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();
|
|
|
|
|
|
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");
|
|
dopplercsv<<"timestamp gnssid sv prmes cpmes doppler preddop distance radvel locktimems iod_age prstd cpstd dostd trkstat"<<endl;
|
|
|
|
|
|
string line;
|
|
time_t lastDisplay = time(0);
|
|
try {
|
|
for(;;) {
|
|
auto c = getUint8();
|
|
if(c != 0xb5) {
|
|
line.append(1, c);
|
|
// cout << (char)c;
|
|
/*
|
|
msgs num svs sv el az db sv el az db sv el az db sv el az db gnssid
|
|
$GAGSV,3, 1, 09, 02,31,073,34,07,84,296,42,08,40,081,37,12,03,340, ,0*7A
|
|
$GAGSV,3, 2, 09, 13,07,191,16,25,11,023, ,26,36,235,33,30,21,129,38,0*75
|
|
$GAGSV,3, 3, 09, 33,34,300,38,0*42
|
|
*/
|
|
if(c=='\n') {
|
|
if(line.rfind("$GAGSV", 0)==0) {
|
|
vector<string> strs;
|
|
boost::split(strs,line,boost::is_any_of(","));
|
|
for(unsigned int n=4; n + 4 < strs.size(); n += 4) {
|
|
int sv = atoi(strs[n].c_str());
|
|
|
|
if(sv < 37) {
|
|
g_svstats[sv].el = atoi(strs[n+1].c_str());
|
|
g_svstats[sv].azi = atoi(strs[n+2].c_str());
|
|
if(g_svstats[sv].el >= 0)
|
|
g_svstats[sv].db = atoi(strs[n+3].c_str());
|
|
else
|
|
g_svstats[sv].db = -1;
|
|
|
|
idb.addValue(sv, "db", g_svstats[sv].db);
|
|
idb.addValue(sv, "elev", g_svstats[sv].el);
|
|
idb.addValue(sv, "azi", g_svstats[sv].azi);
|
|
}
|
|
}
|
|
}
|
|
line.clear();
|
|
}
|
|
continue;
|
|
}
|
|
c = getUint8();
|
|
if(c != 0x62) {
|
|
ungetc(c, stdin); // might be 0xb5
|
|
continue;
|
|
}
|
|
if(lastDisplay != time(0)) {
|
|
lastDisplay = time(0);
|
|
if(g_wn && g_tow) {
|
|
cout<<"UTC from satellite: "<<humanTime(g_wn, g_tow)<<", delta: "<<lastDisplay - utcFromGST(g_wn, g_tow) << endl;
|
|
}
|
|
}
|
|
// if we are here, just had ubx header
|
|
|
|
uint8_t ubxClass = getUint8();
|
|
uint8_t ubxType = getUint8();
|
|
uint16_t msgLen = getUint16();
|
|
|
|
cout <<"Had an ubx message of class "<<(int) ubxClass <<" and type "<< (int) ubxType << " of " << msgLen <<" bytes"<<endl;
|
|
|
|
std::basic_string<uint8_t> msg;
|
|
msg.reserve(msgLen);
|
|
for(int n=0; n < msgLen; ++n)
|
|
msg.append(1, getUint8());
|
|
|
|
uint16_t ubxChecksum = getUint16();
|
|
if(ubxChecksum != calcUbxChecksum(ubxClass, ubxType, msg)) {
|
|
cout<<humanTime(g_wn, g_tow)<<": len = "<<msgLen<<", sv ? "<<(int)msg[2]<<", checksum: "<<ubxChecksum<< ", calculated: "<<
|
|
calcUbxChecksum(ubxClass, ubxType, msg)<<"\n";
|
|
}
|
|
|
|
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";
|
|
}
|
|
if(ubxClass == 2 && ubxType == 19) { //UBX-RXM-SFRBX
|
|
// cout<<"SFRBX GNSSID "<< (int)msg[0]<<", SV "<< (int)msg[1];
|
|
// cout<<" words "<< (int)msg[4]<<", version "<< (int)msg[6];
|
|
if(msg[0] == 2) {
|
|
// cout<<" word "<< (int)(msg[11] & (~(64+128)));
|
|
}
|
|
// cout<<"\n";
|
|
if(msg[0] != 2) // galileo
|
|
continue;
|
|
|
|
try {
|
|
unsigned int sv = (int)msg[1];
|
|
basic_string<uint8_t> inav = getInavFromSFRBXMsg(msg);
|
|
|
|
// cout<<"inav for "<<wtype<<" for sv "<<sv<<": ";
|
|
// for(auto& c : inav)
|
|
// fmt::printf("%02x ", c);
|
|
|
|
unsigned int wtype = getbitu(&inav[0], 0, 6);
|
|
|
|
g_svstats[sv].addWord(inav);
|
|
if(g_svstats[sv].e1bhs || g_svstats[sv].e5bhs || g_svstats[sv].e1bdvs || g_svstats[sv].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;
|
|
}
|
|
if(!wtype) {
|
|
if(getbitu(&inav[0], 6,2) == 2) {
|
|
// wn = getbitu(&inav[0], 96, 12);
|
|
// tow = getbitu(&inav[0], 108, 20);
|
|
}
|
|
}
|
|
else if(wtype >=1 && wtype <= 4) { // ephemeris
|
|
uint16_t iod = getbitu(&inav[0], 6, 10);
|
|
if(wtype == 1 && g_tow) {
|
|
}
|
|
else if(wtype == 3) {
|
|
|
|
idb.addValue(sv, "sisa", g_svstats[sv].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);
|
|
|
|
double age = ephAge(g_tow, g_svstats[sv].iods[iod].t0c * 60);
|
|
/*
|
|
cout<<"Atomic age "<<age<<", g_tow: "<<g_tow<<", t0c*60 = "<<g_svstats[sv].iods[iod].t0c * 60<<endl;
|
|
cout<<"af0: "<<g_svstats[sv].iods[iod].af0<<", af1: "<<g_svstats[sv].iods[iod].af1 << ", af2: "<<(int)g_svstats[sv].iods[iod].af2<<endl;
|
|
*/
|
|
|
|
double offset = ldexp(1000.0*(1.0*g_svstats[sv].iods[iod].af0 + ldexp(age*g_svstats[sv].iods[iod].af1, -12)), -34);
|
|
// XXX what units is this in then? milliseconds?
|
|
|
|
/*
|
|
cout <<"Atomic offset: "<<offset<<endl;
|
|
cout << 1.0*g_svstats[sv].iods[iod].af0/(1LL<<34) << endl;
|
|
cout << age * (g_svstats[sv].iods[iod].af1/(1LL<<46)) << endl;
|
|
*/
|
|
idb.addValue(sv, "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(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(sv, "BGDE1E5a", g_svstats[sv].BGDE1E5a);
|
|
idb.addValue(sv, "BGDE1E5b", g_svstats[sv].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);
|
|
}
|
|
else if(wtype == 6) { // GST-UTC
|
|
idb.addValue(sv, "a0", g_svstats[sv].a0);
|
|
idb.addValue(sv, "a1", g_svstats[sv].a1);
|
|
|
|
g_dtLS = g_svstats[sv].dtLS;
|
|
|
|
int dw = (uint8_t)g_wn - g_svstats[sv].wn0t;
|
|
|
|
if(g_tow && g_wn) {
|
|
|
|
int age = dw * 7 * 86400 + g_tow - g_svstats[sv].t0t * 3600;
|
|
// a0 = 2^-30 s, a1 = 2^-50 s/s
|
|
|
|
long shift = g_svstats[sv].a0 * (1LL<<20) + g_svstats[sv].a1 * age; // in 2^-50 seconds units
|
|
time_t t = utcFromGST(g_wn, g_tow);
|
|
gstutc << t << " " << sv <<" " << g_tow << " " << (g_svstats[sv].t0t * 3600) << " "<< age <<" " <<shift << " " << shift * pow(2, -50) * 1000000000 << " " << g_svstats[sv].a0 <<" " << g_svstats[sv].a1 << "\n";
|
|
// 2^-30
|
|
idb.addValue(sv, "utc_diff_ns", 1.073741824*ldexp(shift, -20));
|
|
// cout<<humanTime(g_wn, g_tow)<<" sv "<<sv<< " GST-UTC6, a0="+to_string(a0)+", a1="+to_string(a1)+", age="+to_string(age/3600)+"h, dw="+to_string(dw)
|
|
// +", wn0t="+to_string(wn0t)+", wn8="+to_string(g_wn&0xff)+"\n";
|
|
|
|
}
|
|
}
|
|
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);
|
|
}
|
|
for(auto& ent : g_svstats) {
|
|
// fmt::printf("%2d\t", ent.first);
|
|
if(ent.second.completeIOD() && ent.second.prevIOD.first >= 0) {
|
|
time_t t = utcFromGST(g_wn, g_tow);
|
|
sisacsv << t <<" " << ent.first << " " << (unsigned int) ent.second.liveIOD().sisa << endl;
|
|
// cout << t <<" " << ent.first << " " << (unsigned int) ent.second.liveIOD().sisa << "\n";
|
|
|
|
double clockage = ephAge(g_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 + g_wn *7*86400 + ent.second.liveIOD().t0c * 60 << " " << clockage << " " << offset<<endl;
|
|
int ephage = ephAge(g_tow, ent.second.prevIOD.second.t0e * 60);
|
|
if(ent.second.liveIOD().sisa != ent.second.prevIOD.second.sisa) {
|
|
|
|
cout<<humanTime(g_wn, g_tow)<<" sv "<<ent.first<<" 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;
|
|
}
|
|
|
|
Point p, oldp;
|
|
getCoordinates(g_wn, g_tow, ent.second.liveIOD(), &p);
|
|
cout << ent.first << ": iod= "<<ent.second.getIOD()<<" "<< p.x/1000.0 << ", "<< p.y/1000.0 <<", "<<p.z/1000.0<<endl;
|
|
|
|
cout<<"OLD: \n";
|
|
getCoordinates(g_wn, g_tow, ent.second.prevIOD.second, &oldp);
|
|
cout << ent.first << ": iod= "<<ent.second.prevIOD.first<<" "<< oldp.x/1000.0 << ", "<< oldp.y/1000.0 <<", "<<oldp.z/1000.0<<endl;
|
|
|
|
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);
|
|
|
|
|
|
if(hours < 4)
|
|
idb.addValue(sv, "eph-disco", disco);
|
|
|
|
|
|
if(0 && hours < 2) {
|
|
ofstream orbitcsv("orbit."+to_string(ent.first)+"."+to_string(ent.second.prevIOD.first)+"-"+to_string(ent.second.getIOD())+".csv");
|
|
|
|
orbitcsv << "timestamp x y z oldx oldy oldz\n";
|
|
orbitcsv << fixed;
|
|
for(int offset = -7200; offset < 7200; offset += 30) {
|
|
int t = ent.second.liveIOD().t0e * 60 + offset;
|
|
Point p, oldp;
|
|
getCoordinates(g_wn, t, ent.second.liveIOD(), &p);
|
|
getCoordinates(g_wn, t, ent.second.prevIOD.second, &oldp);
|
|
time_t posix = utcFromGST(g_wn, t);
|
|
orbitcsv << posix <<" "
|
|
<<p.x<<" " <<p.y<<" "<<p.z<<" "
|
|
<<oldp.x<<" " <<oldp.y<<" "<<oldp.z<<"\n";
|
|
}
|
|
}
|
|
ent.second.clearPrev();
|
|
}
|
|
}
|
|
}
|
|
catch(CRCMismatch& e) {
|
|
cout<<"Had a CRC mismatch parsing an INAV"<<endl;
|
|
continue;
|
|
}
|
|
}
|
|
else if (ubxClass == 1 && ubxType == 0x35) { // UBX-NAV-SAT
|
|
cout<< "Info for "<<(int) msg[5]<<" svs: \n";
|
|
for(unsigned int n = 0 ; n < msg[5]; ++n) {
|
|
cout << " "<<(msg[8+12*n] ? 'E' : 'G') << (int)msg[9+12*n] <<" db=";
|
|
cout << (int)msg[10+12*n]<<" elev="<<(int)(char)msg[11+12*n]<<" azi=";
|
|
cout << ((int)msg[13+12*n]*256 + msg[12+12*n])<<" pr="<< *((int16_t*)(msg.c_str()+ 14 +12*n)) *0.1 << " signal="<< ((int)(msg[16+12*n])&7) << " used="<< (msg[16+12*n]&8);
|
|
|
|
fmt::printf(" | %02x %02x %02x %02x\n", (int)msg[16+12*n], (int)msg[17+12*n],
|
|
(int)msg[18+12*n], (int)msg[19+12*n]);
|
|
|
|
if(msg[8+12*n]==2) { // galileo
|
|
int sv = msg[9+12*n];
|
|
g_svstats[sv].el = (int)(char)msg[11+12*n];
|
|
g_svstats[sv].azi = ((int)msg[13+12*n]*256 + msg[12+12*n]);
|
|
if(g_svstats[sv].el >= 0)
|
|
g_svstats[sv].db = (int)msg[10+12*n];
|
|
else
|
|
g_svstats[sv].db = -1;
|
|
|
|
idb.addValue(sv, "db", g_svstats[sv].db);
|
|
idb.addValue(sv, "elev", g_svstats[sv].el);
|
|
idb.addValue(sv, "azi", g_svstats[sv].azi);
|
|
}
|
|
}
|
|
}
|
|
else if (ubxClass == 4) { // info
|
|
fmt::printf("Log level %d: %.*s\n", (int)ubxType, msg.size(), (char*)msg.c_str());
|
|
}
|
|
else if (ubxClass == 6 && ubxType == 0) { // port config
|
|
fmt::printf("Port config: ");
|
|
for(const auto& c : msg)
|
|
fmt::printf("0x%02x,", (int)c);
|
|
cout<<"\n";
|
|
uint8_t outmask=msg[14];
|
|
if(outmask & 1)
|
|
cout<<" out UBX"<<endl;
|
|
if(outmask & 2)
|
|
cout<<" out NMEA"<<endl;
|
|
if(outmask & 32)
|
|
cout<<" out RTCM3"<<endl;
|
|
msg[14]=1;
|
|
for(const auto& c : msg)
|
|
fmt::printf("0x%02x,", (int)c);
|
|
cout<<"\n";
|
|
}
|
|
else if (ubxClass == 6 && ubxType == 1) { // msg rate
|
|
fmt::printf("Rate for class %02x type %02x: %d %d %d %d %d %d\n",
|
|
(int)msg[0], (int)msg[1], (int) msg[2], (int) msg[3],(int) msg[4],
|
|
(int) msg[5],(int) msg[6],(int) msg[7]);
|
|
}
|
|
else if(ubxClass == 0x01 && ubxType == 0x01) { // POSECF
|
|
struct pos
|
|
{
|
|
uint32_t iTOW;
|
|
int32_t ecefX; // cm
|
|
int32_t ecefY;
|
|
int32_t ecefZ;
|
|
uint32_t pAcc;
|
|
};
|
|
pos p;
|
|
memcpy(&p, msg.c_str(), sizeof(pos));
|
|
cout<<"Position: ("<< p.ecefX / 100000.0<<", "
|
|
<< p.ecefY / 100000.0<<", "
|
|
<< p.ecefZ / 100000.0<<") +- "<<p.pAcc<<" cm"<<endl;
|
|
g_ourpos.x = p.ecefX/100.0;
|
|
g_ourpos.y = p.ecefY/100.0;
|
|
g_ourpos.z = p.ecefZ/100.0;
|
|
}
|
|
else if(ubxClass == 0x02 && ubxType == 0x15) { // RAWX
|
|
cout<<"Got "<<(int)msg[11] <<" measurements "<<endl;
|
|
double rcvTow;
|
|
memcpy(&rcvTow, &msg[0], 8);
|
|
for(int n=0 ; n < msg[11]; ++n) {
|
|
|
|
double prMes;
|
|
double cpMes;
|
|
float doppler;
|
|
|
|
memcpy(&prMes, &msg[16+32*n], 8);
|
|
memcpy(&cpMes, &msg[24+32*n], 8);
|
|
memcpy(&doppler, &msg[32+32*n], 4);
|
|
|
|
int gnssid = msg[36+32*n];
|
|
int sv = msg[37+32*n];
|
|
uint16_t locktimems;
|
|
memcpy(&locktimems, &msg[40+32*n], 2);
|
|
uint8_t prStddev = msg[43+23*n] & 0xf;
|
|
uint8_t cpStddev = msg[44+23*n] & 0xf;
|
|
uint8_t doStddev = msg[45+23*n] & 0xf;
|
|
uint8_t trkStat = msg[46+23*n] & 0xf;
|
|
if(gnssid ==2 && g_svstats[sv].completeIOD()) {
|
|
Point sat;
|
|
Point us=g_ourpos;
|
|
|
|
getCoordinates(g_wn, rcvTow, g_svstats[sv].liveIOD(), &sat);
|
|
Point core;
|
|
Vector us2sat(us, sat);
|
|
Vector speed;
|
|
getSpeed(g_wn, rcvTow, g_svstats[sv].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";
|
|
|
|
us2sat.norm();
|
|
double radvel=us2sat.inner(speed);
|
|
double c=299792458;
|
|
double galileol1f = 1575.42 * 1000000; // frequency
|
|
double preddop = -galileol1f*radvel/c;
|
|
|
|
double ephage = ephAge(g_tow, g_svstats[sv].liveIOD().t0e*60);
|
|
cout<<"Radial velocity: "<< radvel<<", predicted doppler: "<< preddop << ", measured doppler: "<<doppler<<endl;
|
|
dopplercsv << std::fixed << utcFromGST(g_wn, rcvTow) <<" " <<gnssid <<" " <<sv<<" "<<prMes<<" "<<cpMes <<" " << doppler<<" " << preddop << " " << Vector(us, sat).length() << " " <<radvel <<" " <<locktimems<<" " <<ephage << " " << ldexp(0.01, prStddev) << " " << cpStddev *0.4 <<" " <<
|
|
ldexp(0.002, doStddev) <<" " << (unsigned int)trkStat << endl;
|
|
}
|
|
}
|
|
}
|
|
|
|
else
|
|
cout << "ubxClass: "<<(unsigned int)ubxClass<<", ubxType: "<<(unsigned int)ubxType<<", size="<<msg.size()<<endl;
|
|
}
|
|
}
|
|
catch(EofException& e)
|
|
{}
|
|
}
|
|
catch(std::exception& e)
|
|
{
|
|
cerr<<"Exiting because of fatal error "<<e.what()<<endl;
|
|
}
|