1819 lines
65 KiB
C++
1819 lines
65 KiB
C++
#define _LARGEFILE64_SOURCE
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#include <sys/types.h>
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#include <sys/time.h>
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#include <map>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <termios.h>
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#include <stdio.h>
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#include <unistd.h>
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#include <strings.h>
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#include <stdlib.h>
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#include <string>
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#include <algorithm>
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#include <random>
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#include <stdint.h>
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#include "ubx.hh"
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#include "navmon.hh"
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#include <iostream>
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#include <fstream>
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#include <string.h>
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#include "fmt/format.h"
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#include "fmt/printf.h"
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#include "bits.hh"
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#include "galileo.hh"
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#include <arpa/inet.h>
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#include "navmon.pb.h"
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#include "gps.hh"
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#include "glonass.hh"
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#include "beidou.hh"
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#include "CLI/CLI.hpp"
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#include <thread>
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#include <mutex>
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#include "comboaddress.hh"
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#include "swrappers.hh"
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#include "sclasses.hh"
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#include "version.hh"
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static char program[]="ubxtool";
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bool doDEBUG{false};
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bool doLOGFILE{false};
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bool doVERSION{false};
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struct timespec g_gnssutc;
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uint16_t g_galwn;
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using namespace std;
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uint16_t g_srcid{0};
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int g_fixtype{-1};
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double g_speed{-1};
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extern const char* g_gitHash;
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static int getBaudrate(int baud)
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{
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if(baud==115200)
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return B115200;
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else if(baud==57600)
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return B57600;
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else if(baud==38400)
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return B38400;
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else if(baud==19200)
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return B19200;
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else if(baud==9600)
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return B9600;
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else
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throw std::runtime_error("Unknown baudrate "+to_string(baud));
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}
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static int g_baudval;
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size_t writen2(int fd, const void *buf, size_t count)
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{
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const char *ptr = (char*)buf;
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const char *eptr = ptr + count;
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ssize_t res;
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while(ptr != eptr) {
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res = ::write(fd, ptr, eptr - ptr);
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if(res < 0) {
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throw runtime_error("failed in writen2: "+string(strerror(errno)));
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}
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else if (res == 0)
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throw EofException();
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ptr += (size_t) res;
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}
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return count;
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}
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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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E1:
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t n w
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0 1: 2 tow % 30 == 1
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2 2: 4 tow % 30 == 3
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4 3: 6 TOW 5 -> set startTow, startTowFresh
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6 4: 7/9 7
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8 5: 8/10 9
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10 6: 0 WN/TOW 11
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12 7: 0 WN/TOW 13
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14 8: 0 WN/TOW 15
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16 9: 0 WN/TOW 17
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18 10: 0 WN/TOW 19
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20 11: 1 21
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22 12: 3 23
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24 13: 5 WN/TOW 25
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26 14: 0 WN/TOW 27
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28 15: 0 WN/TOW 29
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E5b-1:
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t n w
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0 1: 1 (2/2) tow % 30 == 0
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2 2: 3 tow % 30 == 2
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4 3: 5 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 WN/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: 2
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22 12: 4
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24 13: 6 TOW
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26 14: 0 WN/TOW
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28 15: 1 (1/2) WN/TOW
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*/
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class UBXMessage
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{
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public:
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struct BadChecksum{};
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explicit UBXMessage(basic_string_view<uint8_t> src)
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{
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d_raw = src;
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if(d_raw.size() < 6)
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throw std::runtime_error("Partial UBX message");
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uint16_t csum = calcUbxChecksum(getClass(), getType(), d_raw.substr(6, d_raw.size()-8));
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if(csum != d_raw.at(d_raw.size()-2) + 256*d_raw.at(d_raw.size()-1))
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throw BadChecksum();
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}
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uint8_t getClass() const
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{
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return d_raw.at(2);
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}
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uint8_t getType() const
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{
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return d_raw.at(3);
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}
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std::basic_string<uint8_t> getPayload() const
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{
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return d_raw.substr(6, d_raw.size()-8);
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}
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std::basic_string<uint8_t> d_raw;
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};
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bool g_fromFile{false};
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#if !defined(O_LARGEFILE)
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#define O_LARGEFILE 0
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#endif
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std::pair<UBXMessage, struct timeval> getUBXMessage(int fd, double* timeout)
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{
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static int logfile=0;
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if (doLOGFILE) {
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if(!logfile && !g_fromFile) {
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logfile = open("./logfile", O_WRONLY|O_CREAT|O_APPEND|O_LARGEFILE, 0600);
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if(!logfile)
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throw std::runtime_error("Failed to open logfile for writing");
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}
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}
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uint8_t marker[2]={0};
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for(;;) {
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marker[0] = marker[1];
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int res = readn2Timeout(fd, marker+1, 1, timeout);
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if(res < 0)
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throw EofException();
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// if (doDEBUG) { cerr<<humanTimeNow()<<" marker now: "<< (int)marker[0]<<" " <<(int)marker[1]<<endl; }
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if(marker[0]==0xb5 && marker[1]==0x62) { // bingo
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struct timeval tv;
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gettimeofday(&tv, 0);
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basic_string<uint8_t> msg;
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msg.append(marker, 2); // 0,1
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uint8_t b[4];
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readn2Timeout(fd, b, 4, timeout);
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msg.append(b, 4); // class, type, len1, len2
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uint16_t len = b[2] + 256*b[3];
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// if (doDEBUG) { cerr<<humanTimeNow()<<" Got class "<<(int)msg[2]<<" type "<<(int)msg[3]<<", len = "<<len<<endl; }
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uint8_t buffer[len+2];
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res=readn2Timeout(fd, buffer, len+2, timeout);
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msg.append(buffer, len+2); // checksum
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if (doLOGFILE) {
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if(!g_fromFile)
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writen2(logfile, msg.c_str(), msg.size());
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}
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return make_pair(UBXMessage(msg), tv);
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}
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}
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}
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UBXMessage waitForUBX(int fd, int seconds, uint8_t ubxClass, uint8_t ubxType)
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{
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double timeout = seconds;
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for(;;) {
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auto [msg, tv] = getUBXMessage(fd, &timeout);
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(void) tv;
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if(msg.getClass() == ubxClass && msg.getType() == ubxType) {
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return msg;
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}
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else
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if (doDEBUG) { cerr<<humanTimeNow()<<" Got: "<<(int)msg.getClass() << " " <<(int)msg.getType() <<" while waiting for "<<(int)ubxClass<<" " <<(int)ubxType<<endl; }
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}
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throw std::runtime_error("Did not get response on time");
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}
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UBXMessage sendAndWaitForUBX(int fd, int seconds, basic_string_view<uint8_t> msg, uint8_t ubxClass, uint8_t ubxType)
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{
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for(int n=3; n; --n) {
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writen2(fd, &msg[0], msg.size());
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try {
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return waitForUBX(fd, seconds, ubxClass, ubxType);
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}
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catch(...) {
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if(n==1)
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throw;
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cerr<<"Retransmit"<<endl;
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}
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}
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// we actually never get here, but if you remove this line, we get a warning
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// and people can't stop nagging us about the warning..
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return waitForUBX(fd, seconds, ubxClass, ubxType);
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}
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bool waitForUBXAckNack(int fd, int seconds, int ubxClass, int ubxType)
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{
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double timeout = seconds;
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for(;;) {
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auto [msg, tv] = getUBXMessage(fd, &timeout);
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(void)tv;
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if(msg.getClass() != 5 || !(msg.getType() == 0 || msg.getType() == 1)) {
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if (doDEBUG) { cerr<<humanTimeNow()<<" Got: "<<(int)msg.getClass() << " " <<(int)msg.getType() <<" while waiting for ack/nack of " << ubxClass<<" "<<ubxType<<endl; }
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continue;
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}
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const auto& payload = msg.getPayload();
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if(payload.size() != 2) {
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if (doDEBUG) { cerr<<"Wrong payload size for ack/nack: "<<payload.size()<<endl; }
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continue;
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}
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if (doDEBUG) { cerr<<humanTimeNow()<<" Got an " << (msg.getType() ? "ack" : "nack")<<" for "<<(int)payload[0] <<" " << (int)payload[1]<<" while waiting for "<<ubxClass<<" " <<ubxType<<endl; }
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if(msg.getClass() == 0x05 && msg.getType() == 0x01 && payload[0]==ubxClass && payload[1]==ubxType) {
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return true;
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}
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else if(msg.getClass() == 0x05 && msg.getType() == 0x00 && payload[0]==ubxClass && payload[1]==ubxType) {
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return false;
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}
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}
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throw std::runtime_error("Did not get ACK/NACK response for class "+to_string(ubxClass)+" type "+to_string(ubxType)+" on time");
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}
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bool sendAndWaitForUBXAckNack(int fd, int seconds, basic_string_view<uint8_t> msg, uint8_t ubxClass, uint8_t ubxType)
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{
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for(int n=3; n; --n) {
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writen2(fd, &msg[0], msg.size());
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try {
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return waitForUBXAckNack(fd, seconds, ubxClass, ubxType);
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}
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catch(...) {
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if(n==1)
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throw;
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cerr<<"Retransmit"<<endl;
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}
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}
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return false;
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}
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class NMMSender
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{
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struct Destination
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{
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int fd{-1};
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std::string dst;
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std::string fname;
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deque<string> queue;
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std::mutex mut;
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void emitNMM(const NavMonMessage& nmm);
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};
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public:
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void addDestination(int fd)
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{
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auto d = std::make_unique<Destination>();
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d->fd = fd;
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d_dests.push_back(std::move(d));
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}
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void addDestination(const std::string& dest)
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{
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auto d = std::make_unique<Destination>();
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d->dst = dest;
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d_dests.push_back(std::move(d));
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}
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void launch()
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{
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for(auto& d : d_dests) {
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if(!d->dst.empty()) {
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thread t(&NMMSender::sendTCPThread, this, d.get());
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t.detach();
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}
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}
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}
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void sendTCPThread(Destination* d)
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{
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struct NameError{};
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for(;;) {
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ComboAddress chosen;
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try {
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vector<ComboAddress> addrs;
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for(;;) {
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addrs=resolveName(d->dst, true, true);
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if(!addrs.empty())
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break;
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cerr<<humanTimeNow()<<" Unable to resolve "<<d->dst<<", sleeping and trying again later"<<endl;
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throw NameError();
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}
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std::random_device rng;
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std::mt19937 urng(rng());
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std::shuffle(addrs.begin(), addrs.end(), urng);
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for(auto& addr: addrs) {
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if(!addr.sin4.sin_port)
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addr.sin4.sin_port = ntohs(29603);
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chosen=addr;
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Socket s(addr.sin4.sin_family, SOCK_STREAM);
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SocketCommunicator sc(s);
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sc.setTimeout(3);
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sc.connect(addr);
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if (doDEBUG) { cerr<<humanTimeNow()<<" Connected to "<<d->dst<<" on "<<addr.toStringWithPort()<<endl; }
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for(;;) {
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std::string msg;
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{
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std::lock_guard<std::mutex> mut(d->mut);
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if(!d->queue.empty()) {
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msg = d->queue.front();
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}
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}
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if(!msg.empty()) {
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sc.writen(msg);
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std::lock_guard<std::mutex> mut(d->mut);
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d->queue.pop_front();
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}
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else usleep(100000);
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}
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}
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}
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catch(NameError&) {
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{
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std::lock_guard<std::mutex> mut(d->mut);
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if (doDEBUG) { cerr<<humanTimeNow()<<" There are now "<<d->queue.size()<<" messages queued for "<<d->dst<<endl; }
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}
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sleep(30);
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}
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catch(std::exception& e) {
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if (doDEBUG) { cerr<<humanTimeNow()<<" Sending thread for "<<d->dst<<" via "<<chosen.toStringWithPort()<<" had error: "<<e.what()<<endl; }
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{
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std::lock_guard<std::mutex> mut(d->mut);
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if (doDEBUG) { cerr<<humanTimeNow()<<" There are now "<<d->queue.size()<<" messages queued for "<<d->dst<<endl; }
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}
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sleep(1);
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}
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catch(...) {
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if (doDEBUG) { cerr<<humanTimeNow()<<" Sending thread for "<<d->dst <<" via "<<chosen.toStringWithPort()<<" had error"; }
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{
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std::lock_guard<std::mutex> mut(d->mut);
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if (doDEBUG) { cerr<<"There are now "<<d->queue.size()<<" messages queued for "<<d->dst<<" via "<<chosen.toStringWithPort()<<endl; }
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}
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sleep(1);
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}
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}
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}
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void emitNMM(const NavMonMessage& nmm);
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private:
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vector<unique_ptr<Destination>> d_dests;
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};
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void NMMSender::emitNMM(const NavMonMessage& nmm)
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{
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for(auto& d : d_dests) {
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d->emitNMM(nmm);
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}
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}
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void NMMSender::Destination::emitNMM(const NavMonMessage& nmm)
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{
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string out;
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nmm.SerializeToString(& out);
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string msg("bert");
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uint16_t len = htons(out.size());
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msg.append((char*)&len, 2);
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msg.append(out);
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if(!dst.empty()) {
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std::lock_guard<std::mutex> l(mut);
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queue.push_back(msg);
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}
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else
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writen2(fd, msg.c_str(), msg.size());
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}
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bool version9 = false;
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void enableUBXMessageOnPort(int fd, uint8_t ubxClass, uint8_t ubxType, uint8_t port, uint8_t rate=1)
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{
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for(int n=0 ; n < 5; ++n) {
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try {
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basic_string<uint8_t> payload;
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if(version9) {
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payload= basic_string<uint8_t>({ubxClass, ubxType, rate});
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}
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else {
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if(port > 6)
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throw std::runtime_error("Port number out of range (>6)");
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payload.assign({ubxClass, ubxType, 0, 0, 0, 0, 0, 0});
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payload[2+ port]=rate;
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}
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auto msg = buildUbxMessage(0x06, 0x01, payload);
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if(sendAndWaitForUBXAckNack(fd, 2, msg, 0x06, 0x01))
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return;
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else
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throw std::runtime_error("Got NACK enabling UBX message "+to_string((int)ubxClass)+" "+to_string((int)ubxType));
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}
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catch(TimeoutError& te) {
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if (doDEBUG) { cerr<<humanTimeNow()<<" Had "<<n<<"th timeout in enableUBXMessageOnPort"<<endl; }
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continue;
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}
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}
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throw TimeoutError();
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}
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bool isPresent(string_view fname)
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{
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struct stat sb;
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if(stat(&fname[0], &sb) < 0)
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return false;
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return true;
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}
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bool isCharDevice(string_view fname)
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{
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struct stat sb;
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if(stat(&fname[0], &sb) < 0)
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return false;
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return (sb.st_mode & S_IFMT) == S_IFCHR;
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}
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void readSome(int fd)
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{
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for(int n=0; n < 5; ++n) {
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double timeout=1;
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try {
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auto [msg, timestamp] = getUBXMessage(fd, &timeout);
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(void)timestamp;
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if (doDEBUG) { cerr<<humanTimeNow()<<" Read some init: "<<(int)msg.getClass() << " " <<(int)msg.getType() <<endl; }
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if(msg.getClass() == 0x4)
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if (doDEBUG) { cerr<<humanTimeNow()<<" "<<string((char*)msg.getPayload().c_str(), msg.getPayload().size()) <<endl; }
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}
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catch(TimeoutError& te) {
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cerr<<"Timeout"<<endl;
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}
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}
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}
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|
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struct termios g_oldtio;
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|
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int initFD(const char* fname, bool doRTSCTS)
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|
{
|
|
int fd;
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" initFD()"<<endl; }
|
|
if (!isPresent(fname)) {
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" initFD - "<<fname<<" - not present"<<endl; }
|
|
throw runtime_error("Opening file "+string(fname));
|
|
}
|
|
if(string(fname) != "stdin" && string(fname) != "/dev/stdin" && isCharDevice(fname)) {
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" initFD - open("<<fname<<")"<<endl; }
|
|
fd = open(fname, O_RDWR | O_NOCTTY );
|
|
if (fd <0 ) {
|
|
throw runtime_error("Opening file "+string(fname));
|
|
}
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" initFD - open successful"<<endl; }
|
|
|
|
struct termios newtio;
|
|
if(tcgetattr(fd, &g_oldtio)) { /* save current port settings */
|
|
perror("tcgetattr");
|
|
exit(-1);
|
|
}
|
|
|
|
bzero(&newtio, sizeof(newtio));
|
|
newtio.c_cflag = CS8 | CLOCAL | CREAD;
|
|
if (doRTSCTS) {
|
|
if(doDEBUG) { cerr<<humanTimeNow()<<" will enable RTSCTS"<<endl; }
|
|
newtio.c_cflag |= CRTSCTS;
|
|
}
|
|
newtio.c_iflag = IGNPAR;
|
|
newtio.c_oflag = 0;
|
|
|
|
/* set input mode (non-canonical, no echo,...) */
|
|
newtio.c_lflag = 0;
|
|
|
|
newtio.c_cc[VTIME] = 0; /* inter-character timer unused */
|
|
newtio.c_cc[VMIN] = 4; /* blocking read until 5 chars received */
|
|
|
|
cfsetspeed(&newtio, g_baudval);
|
|
if(tcsetattr(fd, TCSANOW, &newtio)) {
|
|
perror("tcsetattr");
|
|
exit(-1);
|
|
}
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" initFD - tty set"<<endl; }
|
|
}
|
|
else {
|
|
g_fromFile = true;
|
|
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" initFD - open("<<fname<<") - from file"<<endl; }
|
|
fd = open(fname, O_RDONLY );
|
|
if(fd < 0)
|
|
throw runtime_error("Opening file "+string(fname));
|
|
}
|
|
return fd;
|
|
|
|
}
|
|
|
|
// ubxtool device srcid
|
|
int main(int argc, char** argv)
|
|
{
|
|
time_t starttime=time(0);
|
|
GOOGLE_PROTOBUF_VERIFY_VERSION;
|
|
|
|
CLI::App app(program);
|
|
|
|
|
|
bool doGPS{true}, doGalileo{true}, doGlonass{false}, doBeidou{true}, doReset{false}, doWait{true}, doRTSCTS{true}, doSBAS{false};
|
|
bool doFakeFix{false};
|
|
bool doKeepNMEA{false};
|
|
bool doSTDOUT=false;
|
|
#ifdef OpenBSD
|
|
doRTSCTS = false;
|
|
#endif
|
|
|
|
vector<string> destinations;
|
|
string portName;
|
|
int ubxport=3;
|
|
int baudrate=115200;
|
|
unsigned int fuzzPositionMeters=0;
|
|
string owner;
|
|
string remark;
|
|
|
|
app.add_option("--destination,-d", destinations, "Send output to this IPv4/v6 address");
|
|
app.add_flag("--wait", doWait, "Wait a bit, do not try to read init messages");
|
|
app.add_flag("--reset", doReset, "Reset UBX device");
|
|
app.add_flag("--beidou,-c", doBeidou, "Enable BeiDou reception");
|
|
app.add_flag("--gps,-g", doGPS, "Enable GPS reception");
|
|
app.add_flag("--glonass,-r", doGlonass, "Enable Glonass reception");
|
|
app.add_flag("--galileo,-e", doGalileo, "Enable Galileo reception");
|
|
app.add_flag("--sbas,-s", doSBAS, "Enable SBAS (EGNOS/WAAS/etc) reception");
|
|
app.add_option("--rtscts", doRTSCTS, "Set hardware handshaking");
|
|
app.add_flag("--stdout", doSTDOUT, "Emit output to stdout");
|
|
auto pn = app.add_option("--port,-p", portName, "Device or file to read serial from");
|
|
app.add_option("--station", g_srcid, "Station id");
|
|
app.add_option("--ubxport,-u", ubxport, "UBX port to enable messages on (usb=3)");
|
|
app.add_option("--baud,-b", baudrate, "Baudrate for serial connection");
|
|
app.add_flag("--keep-nmea,-k", doKeepNMEA, "Don't disable NMEA");
|
|
app.add_flag("--fake-fix", doFakeFix, "Inject locally generated fake fix data");
|
|
app.add_option("--fuzz-position,-f", fuzzPositionMeters, "Fuzz position by this many meters");
|
|
app.add_option("--owner,-o", owner, "Name/handle/nick of owner/operator");
|
|
app.add_option("--remark", remark, "Remark for this station");
|
|
|
|
int surveyMinSeconds = 0;
|
|
int surveyMinCM = 0;
|
|
bool doSurveyReset=false;
|
|
app.add_option("--survey-min-seconds", surveyMinSeconds, "Survey minimally this amount of seconds");
|
|
app.add_option("--survey-min-cm", surveyMinCM, "Survey until accuracy is better (lower) than this setting");
|
|
app.add_flag("--survey-reset", doSurveyReset, "Reset the Surveyed-in state");
|
|
app.add_flag("--debug", doDEBUG, "Display debug information");
|
|
app.add_flag("--logfile", doLOGFILE, "Create logfile");
|
|
app.add_flag("--version", doVERSION, "show program version and copyright");
|
|
try {
|
|
app.parse(argc, argv);
|
|
} catch(const CLI::Error &e) {
|
|
return app.exit(e);
|
|
}
|
|
|
|
if(doVERSION) {
|
|
showVersion(program, g_gitHash);
|
|
exit(0);
|
|
}
|
|
|
|
if(! *pn) {
|
|
cerr<<"you must provide the --port"<<endl;
|
|
exit(1);
|
|
}
|
|
|
|
g_baudval = getBaudrate(baudrate);
|
|
|
|
if(!(doGPS || doGalileo || doGlonass || doBeidou)) {
|
|
cerr<<"Enable at least one of --gps, --galileo, --glonass, --beidou"<<endl;
|
|
return EXIT_FAILURE;
|
|
}
|
|
|
|
signal(SIGPIPE, SIG_IGN);
|
|
NMMSender ns;
|
|
for(const auto& s : destinations) {
|
|
auto res=resolveName(s, true, true);
|
|
if(res.empty()) {
|
|
cerr<<"Unable to resolve '"<<s<<"' as destination for data, exiting"<<endl;
|
|
exit(EXIT_FAILURE);
|
|
}
|
|
ns.addDestination(s); // ComboAddress(s, 29603));
|
|
}
|
|
if(doSTDOUT)
|
|
ns.addDestination(1);
|
|
|
|
int fd = initFD(portName.c_str(), doRTSCTS);
|
|
|
|
|
|
if(doFakeFix) // hack
|
|
version9 = true;
|
|
bool m8t = false;
|
|
|
|
string hwversion;
|
|
string swversion;
|
|
string mods;
|
|
string serialno;
|
|
|
|
if(!g_fromFile) {
|
|
bool doInit = true;
|
|
if(doInit) {
|
|
if(doWait)
|
|
sleep(2);
|
|
else
|
|
readSome(fd);
|
|
|
|
std::basic_string<uint8_t> msg;
|
|
if(doReset) {
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Sending a soft reset"<<endl; }
|
|
msg = buildUbxMessage(0x06, 0x04, {0x00, 0x00, 0x01, 0x00}); // soft reset
|
|
writen2(fd, msg.c_str(), msg.size());
|
|
usleep(100000);
|
|
close(fd);
|
|
for(int n=0 ; n< 20; ++n) {
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Waiting for device to come back"<<endl; }
|
|
try {
|
|
fd = initFD(portName.c_str(), doRTSCTS);
|
|
readSome(fd);
|
|
}
|
|
catch(...)
|
|
{
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Not yet back"<<endl; }
|
|
usleep(400000);
|
|
continue;
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
|
|
|
|
msg = buildUbxMessage(0x0a, 0x04, {});
|
|
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Sending version query"<<endl; }
|
|
UBXMessage um1=sendAndWaitForUBX(fd, 1, msg, 0x0a, 0x04); // ask for version
|
|
swversion = (const char*)um1.getPayload().c_str();
|
|
hwversion = (const char*)um1.getPayload().c_str()+30;
|
|
cerr<<humanTimeNow()<<" swVersion: "<<swversion<<endl;
|
|
cerr<<humanTimeNow()<<" hwVersion: "<<hwversion<<endl;
|
|
|
|
for(unsigned int n=0; 40+30*n < um1.getPayload().size(); ++n) {
|
|
string line = (const char*)um1.getPayload().c_str() + 40 +30*n;
|
|
cerr<<humanTimeNow()<<" Extended info: "<<line <<endl;
|
|
|
|
if(line.find("F9") != string::npos)
|
|
version9=true;
|
|
|
|
if(line.find("M8T") != string::npos) {
|
|
m8t=true;
|
|
}
|
|
|
|
if(line.find("MOD=") != string::npos)
|
|
mods += line.substr(4);
|
|
|
|
// timing: MOD=NEO-M8T-0
|
|
|
|
}
|
|
if (doDEBUG && m8t) { cerr<<humanTimeNow()<<" Detected timing module"<<endl; }
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Sending serial number query"<<endl; }
|
|
msg = buildUbxMessage(0x27, 0x03, {});
|
|
um1=sendAndWaitForUBX(fd, 1, msg, 0x27, 0x03); // ask for serial
|
|
serialno = fmt::sprintf("%02x%02x%02x%02x%02x",
|
|
um1.getPayload()[4],
|
|
um1.getPayload()[5],
|
|
um1.getPayload()[6],
|
|
um1.getPayload()[7],
|
|
um1.getPayload()[8]);
|
|
|
|
cerr<<humanTimeNow()<<" Serial number "<< serialno <<endl;
|
|
|
|
if(version9)
|
|
cerr<<humanTimeNow()<<" Detected version U-Blox 9"<<endl;
|
|
usleep(50000);
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Sending GNSS query"<<endl; }
|
|
msg = buildUbxMessage(0x06, 0x3e, {});
|
|
|
|
um1=sendAndWaitForUBX(fd, 1, msg, 0x06, 0x3e); // query GNSS
|
|
auto payload = um1.getPayload();
|
|
if (doDEBUG) {
|
|
cerr<<humanTimeNow()<<" GNSS status, got " << (int)payload[3]<<" rows:"<<endl;
|
|
for(uint8_t n = 0 ; n < payload[3]; ++n) {
|
|
cerr<<humanTimeNow()<<" GNSSID "<<(int)payload[4+8*n]<<" enabled "<<(int)payload[8+8*n]<<" minTrk "<< (int)payload[5+8*n] <<" maxTrk "<<(int)payload[6+8*n]<<" " << (int)payload[8+8*n]<<" " << (int)payload[9+8*n] << " " <<" " << (int)payload[10+8*n]<<" " << (int)payload[11+8*n]<<endl;
|
|
}
|
|
}
|
|
|
|
try {
|
|
if(waitForUBXAckNack(fd, 2, 0x06, 0x3e)) {
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Got ACK for our poll of GNSS settings"<<endl; }
|
|
}
|
|
}catch(...) {
|
|
cerr<<"Got timeout waiting for ack of poll, no problem"<<endl;
|
|
}
|
|
if(!version9) {
|
|
// ver RO maxch cfgs
|
|
msg = buildUbxMessage(0x06, 0x3e, {0x00, 0x00, 0xff, 0x06,
|
|
// GPS min max res x1 x2 x3, x4
|
|
0x00, 0x04, 0x08, 0, doGPS, 0x00, 0x01, 0x00,
|
|
// SBAS min max rex x1 x2 x3 x4
|
|
0x01, 0x03, 0x04, 0, doSBAS, 0x00, 0x01, 0x00,
|
|
// BEI min max res x1 x2 x3, x4
|
|
0x03, 0x04, 0x08, 0, doBeidou, 0x00, 0x01, 0x00,
|
|
// ??? min max res x1 x2 x3, x4
|
|
0x05, 0x04, 0x08, 0, 0, 0x00, 0x01, 0x00,
|
|
|
|
// GAL min max res x1 x2 x3, x4
|
|
0x02, 0x08, 0x0A, 0, doGalileo, 0x00, 0x01, 0x00,
|
|
// GLO min max res x1 x2 x3, x4
|
|
0x06, 0x06, 0x08, 0, doGlonass, 0x00, 0x01, 0x00
|
|
|
|
});
|
|
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Sending GNSS setting, GPS: "<<doGPS<<", Galileo: "<<doGalileo<<", BeiDou: "<<doBeidou<<", GLONASS: "<<doGlonass<<", SBAS: "<<doSBAS<<endl; }
|
|
|
|
if(sendAndWaitForUBXAckNack(fd, 2, msg, 0x06, 0x3e)) { // GNSS setting
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Got ack on GNSS setting"<<endl; }
|
|
}
|
|
else {
|
|
cerr<<humanTimeNow()<<" Got nack on GNSS setting"<<endl;
|
|
exit(-1);
|
|
}
|
|
}
|
|
else { // UBX-CFG-VALSET
|
|
|
|
msg = buildUbxMessage(0x06, 0x8a, {0x00, 0x01, 0x00, 0x00,
|
|
0x1f,0x00,0x31,0x10, doGPS,
|
|
0x01,0x00,0x31,0x10, doGPS,
|
|
0x03,0x00,0x31,0x10, doGPS,
|
|
|
|
0x21,0x00,0x31,0x10, doGalileo,
|
|
0x07,0x00,0x31,0x10, doGalileo,
|
|
0x0a,0x00,0x31,0x10, doGalileo,
|
|
|
|
0x22,0x00,0x31,0x10, doBeidou,
|
|
0x0d,0x00,0x31,0x10, doBeidou,
|
|
0x0e,0x00,0x31,0x10, doBeidou,
|
|
|
|
0x25,0x00,0x31,0x10, doGlonass,
|
|
0x18,0x00,0x31,0x10, doGlonass,
|
|
0x1a,0x00,0x31,0x10, doGlonass
|
|
});
|
|
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Sending F9P GNSS setting, GPS: "<<doGPS<<", Galileo: "<<doGalileo<<", BeiDou: "<<doBeidou<<", GLONASS: "<<doGlonass<<", SBAS: "<<doSBAS<<endl; }
|
|
|
|
if(sendAndWaitForUBXAckNack(fd, 2, msg, 0x06, 0x8a)) { // GNSS setting, F9 stylee
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Got ack on F9P GNSS setting"<<endl; }
|
|
}
|
|
else {
|
|
cerr<<humanTimeNow()<<" Got nack on F9P GNSS setting"<<endl;
|
|
exit(-1);
|
|
}
|
|
/* VALSET
|
|
0x20 91 02 32 =
|
|
*/
|
|
|
|
msg = buildUbxMessage(0x06, 0x8a, {0x00, 0x01, 0x00, 0x00,
|
|
0x07, 0x00, 0x91, 0x20, 1,
|
|
0x32, 0x02, 0x91, 0x20, 1});
|
|
if(sendAndWaitForUBXAckNack(fd, 2, msg, 0x06, 0x8a)) { // msg cfg F9P
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Got ack on F9P UART1 setting"<<endl; }
|
|
}
|
|
else {
|
|
cerr<<humanTimeNow()<<" Got nack on F9P UART1 setting"<<endl;
|
|
exit(-1);
|
|
}
|
|
}
|
|
if(m8t) {
|
|
cerr<<humanTimeNow()<<" Sending TMODE2 status query"<<endl;
|
|
msg = buildUbxMessage(0x06, 0x3d, {});
|
|
um1=sendAndWaitForUBX(fd, 1, msg, 0x06, 0x3d); // query TMODE2
|
|
auto tmodepayload = um1.getPayload();
|
|
cerr<<humanTimeNow()<<" TMODE2 status, mode " << (int)tmodepayload[0] << endl;
|
|
|
|
try {
|
|
if(waitForUBXAckNack(fd, 2, 0x06, 0x3d)) {
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Got ACK for our poll of TMODE2"<<endl; }
|
|
}
|
|
}catch(...) {
|
|
cerr<<"Got timeout waiting for ack of poll, no problem"<<endl;
|
|
}
|
|
}
|
|
if(doSurveyReset) {
|
|
uint8_t cmd = 0x3d; // vers res survey ign
|
|
auto msg = buildUbxMessage(0x06, cmd,
|
|
{ 0,0,0,0, // survey-in, res, flag1, flag2
|
|
0,0,0,0, // x
|
|
0,0,0,0, // y
|
|
0,0,0,0, // z
|
|
0,0,0,0, // fixed position accuracy
|
|
0,0,0,0,
|
|
0,0,0,0
|
|
});
|
|
cerr<<humanTimeNow()<<" Sending survey-reset commmand"<<endl;
|
|
|
|
if(sendAndWaitForUBXAckNack(fd, 2, msg, 0x06, cmd)) {
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Got ack on survey-reset"<<endl; }
|
|
}
|
|
else {
|
|
cerr<<humanTimeNow()<<" Got nack on survey-reset"<<endl;
|
|
exit(-1);
|
|
}
|
|
exit(0);
|
|
}
|
|
if(surveyMinSeconds || surveyMinCM) {
|
|
uint32_t minSecondsVal = surveyMinSeconds;
|
|
uint32_t minCentimetersVal;
|
|
if(surveyMinCM==0)
|
|
minCentimetersVal = 10000000; // 100km
|
|
else
|
|
minCentimetersVal = surveyMinCM * 100;
|
|
uint8_t* ptrSeconds = (uint8_t*)&minSecondsVal, *ptrCent= (uint8_t*)&minCentimetersVal;
|
|
uint8_t cmd;
|
|
std::basic_string<uint8_t> msg;
|
|
if(version9) {
|
|
cmd = 0x8a;
|
|
msg = buildUbxMessage(0x06, cmd, {0x00, 0x01, 0x00, 0x00,
|
|
0x01,0x00,0x03,0x20, 1, // survey in mode
|
|
// min survey time:
|
|
0x10,0x00,0x03,0x40, ptrSeconds[0], ptrSeconds[1], ptrSeconds[2], ptrSeconds[3],
|
|
0x11,0x00,0x03,0x40, ptrCent[0], ptrCent[1], ptrCent[2], ptrCent[3]
|
|
});
|
|
}
|
|
else {
|
|
minCentimetersVal /= 10;
|
|
cmd = 0x3d;
|
|
msg = buildUbxMessage(0x06, cmd,
|
|
{ 1,0,0,0, // survey-in, res, flag1, flag2
|
|
0,0,0,0, // x
|
|
0,0,0,0, // y
|
|
0,0,0,0, // z
|
|
0,0,0,0, // fixed position accuracy
|
|
ptrSeconds[0], ptrSeconds[1], ptrSeconds[2], ptrSeconds[3],
|
|
ptrCent[0], ptrCent[1], ptrCent[2], ptrCent[3]
|
|
});
|
|
}
|
|
|
|
cerr<<humanTimeNow()<<" Sending survey-in commmand"<<endl;
|
|
|
|
if(sendAndWaitForUBXAckNack(fd, 2, msg, 0x06, cmd)) {
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Got ack on survey-in"<<endl; }
|
|
}
|
|
else {
|
|
cerr<<humanTimeNow()<<" Got nack on survey-in"<<endl;
|
|
exit(-1);
|
|
}
|
|
}
|
|
if(doSBAS) {
|
|
// "on" "*.*" ign scanmode--------------------
|
|
msg = buildUbxMessage(0x06, 0x16, {0x01, 0x07, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00}); // enable SBAS
|
|
|
|
if(sendAndWaitForUBXAckNack(fd, 10, msg, 0x06, 0x16)) { // enable SBAS
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Got ack on SBAS setting"<<endl; }
|
|
}
|
|
else {
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Got nack on SBAS setting"<<endl; }
|
|
exit(-1);
|
|
}
|
|
}
|
|
|
|
|
|
if(!doKeepNMEA) {
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Disabling NMEA"<<endl; }
|
|
|
|
if(ubxport == 1 || ubxport == 2) {
|
|
/* Ublox UART[1] or UART2 port, so encode baudrate and serial settings */
|
|
msg = buildUbxMessage(0x06, 0x00, {(unsigned char)(ubxport),0x00,0x00,0x00,
|
|
0xC0 /* 8 bit */,
|
|
0x08 /* No parity */,
|
|
0x00,0x00,
|
|
(unsigned char)((baudrate) & 0xFF),
|
|
(unsigned char)((baudrate>>8) & 0xFF),
|
|
(unsigned char)((baudrate>>16) & 0xFF),
|
|
(unsigned char)((baudrate>>24) & 0xFF),
|
|
0x03,0x00,0x01,0x00,
|
|
0x00,0x00,0x00,0x00
|
|
});
|
|
}
|
|
else {
|
|
msg = buildUbxMessage(0x06, 0x00, {(unsigned char)(ubxport),0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x03,0x00,0x01,0x00,0x00,0x00,0x00,0x00});
|
|
}
|
|
if(sendAndWaitForUBXAckNack(fd, 10, msg, 0x06, 0x00)) { // disable NMEA
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" NMEA disabled"<<endl; }
|
|
}
|
|
else {
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Got NACK disabling NMEA"<<endl; }
|
|
}
|
|
}
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Polling port settings"<<endl; } // UBX-CFG-PRT, 0x03 == USB
|
|
msg = buildUbxMessage(0x06, 0x00, {(unsigned char)(ubxport)});
|
|
|
|
UBXMessage um=sendAndWaitForUBX(fd, 4, msg, 0x06, 0x00); // UBX-CFG-PRT
|
|
if (doDEBUG) {
|
|
cerr<<humanTimeNow()<<" Protocol settings on port: "<<endl;
|
|
for(const auto& c : um.getPayload())
|
|
cerr<<(int)c<< " ";
|
|
cerr<<endl;
|
|
}
|
|
try {
|
|
if(waitForUBXAckNack(fd, 2, 0x06, 0x00)) {
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Got ACK for our poll of port protocol settings"<<endl; }
|
|
}
|
|
}catch(...) {
|
|
cerr<<"Got timeout waiting for ack of port protocol poll, no problem"<<endl;
|
|
}
|
|
|
|
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-RXM-RLM"<<endl; } // SAR
|
|
enableUBXMessageOnPort(fd, 0x02, 0x59, ubxport); // UBX-RXM-RLM
|
|
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-MON-HW"<<endl; } // SAR
|
|
enableUBXMessageOnPort(fd, 0x0A, 0x09, ubxport, 16); // UBX-MON-HW
|
|
|
|
|
|
if(version9) {
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-NAV-SVIN"<<endl; } // Survey-in results
|
|
enableUBXMessageOnPort(fd, 0x01, 0x3b, ubxport, 2);
|
|
}
|
|
else if(m8t) {
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-TIM-SVIN"<<endl; } // Survey-in results
|
|
enableUBXMessageOnPort(fd, 0x0d, 0x04, ubxport, 2);
|
|
}
|
|
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-RXM-RAWX"<<endl; } // RF doppler
|
|
enableUBXMessageOnPort(fd, 0x02, 0x15, ubxport, 8); // RXM-RAWX
|
|
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-NAV-CLOCK"<<endl; } // clock details
|
|
enableUBXMessageOnPort(fd, 0x01, 0x22, ubxport, 16); // UBX-NAV-CLOCK
|
|
|
|
|
|
if(!version9 && !m8t && !fuzzPositionMeters) {
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling debugging data"<<endl; } // RF doppler
|
|
enableUBXMessageOnPort(fd, 0x03, 0x10, ubxport, 4);
|
|
}
|
|
else
|
|
enableUBXMessageOnPort(fd, 0x03, 0x10, ubxport, 0);
|
|
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-RXM-SFRBX"<<endl; } // raw navigation frames
|
|
enableUBXMessageOnPort(fd, 0x02, 0x13, ubxport); // SFRBX
|
|
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-NAV-POSECEF"<<endl; } // position
|
|
enableUBXMessageOnPort(fd, 0x01, 0x01, ubxport, 8); // POSECEF
|
|
|
|
if(version9) {
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-NAV-SIG"<<endl; } // satellite reception details
|
|
enableUBXMessageOnPort(fd, 0x01, 0x43, ubxport, 8); // NAV-SIG
|
|
/*
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-RXM-MEASX"<<endl; } // satellite reception details
|
|
enableUBXMessageOnPort(fd, 0x02, 0x14, ubxport, 1); // RXM-MEASX
|
|
*/
|
|
}
|
|
else {
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-NAV-SAT"<<endl; } // satellite reception details
|
|
enableUBXMessageOnPort(fd, 0x01, 0x35, ubxport, 8); // NAV-SAT
|
|
}
|
|
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-NAV-PVT"<<endl; } // position, velocity, time fix
|
|
enableUBXMessageOnPort(fd, 0x01, 0x07, ubxport, 1); // NAV-PVT we use this to get timing
|
|
}
|
|
}
|
|
|
|
/* goal: isolate UBX messages, ignore everyting else.
|
|
The challenge is that we might sometimes hit the 0xb5 0x62 marker
|
|
in the middle of a message, which will cause us to possibly jump over valid messages
|
|
|
|
This program sits on the serial link and therefore has the best timestamps.
|
|
At least Galileo messages sometimes rely on the timestamp-of-receipt, but the promise
|
|
is that such messages are sent at whole second intervals.
|
|
|
|
We therefore perform a layering violation and peer into the message to see
|
|
what timestamp it claims to have, so that we can set subsequent timestamps correctly.
|
|
*/
|
|
|
|
int curCycleTOW{-1}; // means invalid
|
|
ns.launch();
|
|
|
|
cerr<<humanTimeNow()<<" Entering main loop"<<endl;
|
|
for(;;) {
|
|
try {
|
|
auto [msg, timestamp] = getUBXMessage(fd, nullptr);
|
|
(void)timestamp;
|
|
auto payload = msg.getPayload();
|
|
|
|
if(msg.getClass() == 0x01 && msg.getType() == 0x07) { // UBX-NAV-PVT
|
|
struct PVT
|
|
{
|
|
uint32_t itow;
|
|
uint16_t year;
|
|
uint8_t month; // jan = 1
|
|
uint8_t day;
|
|
uint8_t hour; // 24
|
|
uint8_t min;
|
|
uint8_t sec;
|
|
uint8_t valid;
|
|
uint32_t tAcc;
|
|
int32_t nano;
|
|
uint8_t fixtype;
|
|
uint8_t flags;
|
|
uint8_t flags2;
|
|
uint8_t numsv;
|
|
// 1e-7 mm mm
|
|
int32_t lon, lat, height, hMSL;
|
|
// mm mm
|
|
uint32_t hAcc, vAcc;
|
|
// mm/s mm/s mm/s mm/s
|
|
int32_t velN, velE, velD, gSpeed; // millimeters
|
|
|
|
} __attribute__((packed));
|
|
PVT pvt;
|
|
|
|
memcpy(&pvt, &payload[0], sizeof(pvt));
|
|
// cerr << "Ground speed: "<<pvt.gSpeed<<", "<<pvt.velN<<" "<<pvt.velE<<" "<<pvt.velD << endl;
|
|
|
|
g_fixtype = pvt.fixtype;
|
|
g_speed = pvt.gSpeed / 1000.0;
|
|
|
|
struct tm tm;
|
|
memset(&tm, 0, sizeof(tm));
|
|
tm.tm_year = pvt.year - 1900;
|
|
tm.tm_mon = pvt.month - 1;
|
|
tm.tm_mday = pvt.day;
|
|
tm.tm_hour = pvt.hour;
|
|
tm.tm_min = pvt.min;
|
|
tm.tm_sec = pvt.sec;
|
|
|
|
uint32_t satt = timegm(&tm);
|
|
// double satutc = timegm(&tm) + pvt.nano/1000000000.0; // negative is no problem here
|
|
if(pvt.nano < 0) {
|
|
pvt.sec--;
|
|
satt--;
|
|
pvt.nano += 1000000000;
|
|
}
|
|
if(!g_gnssutc.tv_sec) {
|
|
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Got initial timestamp: "<<humanTime(satt)<<endl; }
|
|
}
|
|
g_gnssutc.tv_sec = satt;
|
|
g_gnssutc.tv_nsec = pvt.nano;
|
|
continue;
|
|
}
|
|
|
|
if(!doFakeFix) {
|
|
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;
|
|
}
|
|
}
|
|
else {
|
|
auto oldtime = g_gnssutc;
|
|
clock_gettime(CLOCK_REALTIME, &g_gnssutc);
|
|
if(oldtime.tv_sec != g_gnssutc.tv_sec) {
|
|
NavMonMessage nmm;
|
|
nmm.set_type(NavMonMessage::ObserverPositionType);
|
|
nmm.set_localutcseconds(g_gnssutc.tv_sec);
|
|
nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
|
|
nmm.set_sourceid(g_srcid);
|
|
// 3924698.1158 301124.8036 5001904.9952
|
|
nmm.mutable_op()->set_x(3924698.1158);
|
|
nmm.mutable_op()->set_y(301124.8036);
|
|
nmm.mutable_op()->set_z(5001904.9952);
|
|
nmm.mutable_op()->set_acc(3.14);
|
|
ns.emitNMM( nmm);
|
|
}
|
|
}
|
|
|
|
|
|
if(msg.getClass() == 0x02 && msg.getType() == 0x15) { // RAWX, the doppler stuff
|
|
// if (doDEBUG) { cerr<<humanTimeNow()<<" Got "<<(int)payload[11] <<" measurements "<<endl; }
|
|
double rcvTow;
|
|
memcpy(&rcvTow, &payload[0], 8);
|
|
uint16_t rcvWn = payload[8] + 256*payload[9];
|
|
bool clkReset = payload[12] & 0x02;
|
|
|
|
for(int n=0 ; n < payload[11]; ++n) {
|
|
double prMes;
|
|
double cpMes;
|
|
float doppler;
|
|
|
|
memcpy(&prMes, &payload[16+32*n], 8);
|
|
memcpy(&cpMes, &payload[24+32*n], 8);
|
|
memcpy(&doppler, &payload[32+32*n], 4);
|
|
int gnssid = payload[36+32*n];
|
|
int sv = payload[37+32*n];
|
|
int sigid=0;
|
|
if(version9) {
|
|
sigid = payload[38+32*n];
|
|
if(gnssid == 2 && sigid ==6) // they separate out I and Q, but the rest of UBX doesn't
|
|
sigid = 5; // so map it back
|
|
if(gnssid == 2 && sigid ==0) // they separate out I and Q, but the rest of UBX doesn't
|
|
sigid = 1; // so map it back
|
|
}
|
|
else if(gnssid==2) { // version 8 defaults galileo to E1B
|
|
sigid = 1;
|
|
}
|
|
|
|
|
|
uint16_t locktimems;
|
|
memcpy(&locktimems, &payload[40+32*n], 2);
|
|
uint8_t cno = payload[42+32*n];
|
|
uint8_t prStddev = payload[43+32*n] & 0xf;
|
|
uint8_t cpStddev = payload[44+32*n] & 0xf;
|
|
uint8_t doStddev = payload[45+32*n] & 0xf;
|
|
uint8_t trkStat = payload[46+32*n] & 0xf;
|
|
|
|
NavMonMessage nmm;
|
|
nmm.set_type(NavMonMessage::RFDataType);
|
|
nmm.set_localutcseconds(g_gnssutc.tv_sec);
|
|
nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
|
|
nmm.set_sourceid(g_srcid);
|
|
|
|
nmm.mutable_rfd()->set_gnssid(gnssid);
|
|
nmm.mutable_rfd()->set_gnsssv(sv);
|
|
nmm.mutable_rfd()->set_sigid(sigid);
|
|
nmm.mutable_rfd()->set_rcvtow(rcvTow);
|
|
nmm.mutable_rfd()->set_rcvwn(rcvWn);
|
|
nmm.mutable_rfd()->set_doppler(doppler);
|
|
nmm.mutable_rfd()->set_carrierphase(cpMes);
|
|
nmm.mutable_rfd()->set_pseudorange(prMes);
|
|
|
|
nmm.mutable_rfd()->set_prstd(ldexp(0.01, prStddev));
|
|
nmm.mutable_rfd()->set_dostd(ldexp(0.002, doStddev));
|
|
nmm.mutable_rfd()->set_cpstd(cpStddev*0.4);
|
|
nmm.mutable_rfd()->set_locktimems(locktimems);
|
|
nmm.mutable_rfd()->set_cno(cno);
|
|
|
|
nmm.mutable_rfd()->set_prvalid(trkStat & 1);
|
|
nmm.mutable_rfd()->set_cpvalid(trkStat & 2);
|
|
nmm.mutable_rfd()->set_halfcycvalid(trkStat & 4);
|
|
nmm.mutable_rfd()->set_subhalfcyc(trkStat & 8);
|
|
|
|
nmm.mutable_rfd()->set_clkreset(clkReset);
|
|
ns.emitNMM( nmm);
|
|
}
|
|
}
|
|
else if(msg.getClass() == 0x01 && msg.getType() == 0x01) { // POSECF
|
|
struct pos
|
|
{
|
|
uint32_t iTOW;
|
|
int32_t ecefX;
|
|
int32_t ecefY;
|
|
int32_t ecefZ;
|
|
uint32_t pAcc;
|
|
};
|
|
pos p;
|
|
memcpy(&p, payload.c_str(), sizeof(pos));
|
|
if(fuzzPositionMeters) {
|
|
p.ecefX -= (p.ecefX % (fuzzPositionMeters*100));
|
|
p.ecefY -= (p.ecefY % (fuzzPositionMeters*100));
|
|
p.ecefZ -= (p.ecefZ % (fuzzPositionMeters*100));
|
|
}
|
|
|
|
/*
|
|
if (doDEBUG) {
|
|
cerr<<humanTimeNow()<<" Position: ("<< p.ecefX / 100000.0<<", "
|
|
<< p.ecefY / 100000.0<<", "
|
|
<< p.ecefZ / 100000.0<<") +- "<<p.pAcc<<" cm"<<endl;
|
|
}
|
|
*/
|
|
|
|
// g_ourpos = {p.ecefX/100.0, p.ecefY/100.0, p.ecefZ/100.0};
|
|
|
|
NavMonMessage nmm;
|
|
nmm.set_type(NavMonMessage::ObserverPositionType);
|
|
nmm.set_localutcseconds(g_gnssutc.tv_sec);
|
|
nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
|
|
nmm.set_sourceid(g_srcid);
|
|
|
|
nmm.mutable_op()->set_x(p.ecefX /100.0);
|
|
nmm.mutable_op()->set_y(p.ecefY /100.0);
|
|
nmm.mutable_op()->set_z(p.ecefZ /100.0);
|
|
nmm.mutable_op()->set_acc(p.pAcc /100.0);
|
|
if(g_speed >= 0.0)
|
|
nmm.mutable_op()->set_groundspeed(g_speed);
|
|
|
|
ns.emitNMM( nmm);
|
|
}
|
|
else if(msg.getClass() == 2 && msg.getType() == 0x13) { // SFRBX
|
|
|
|
// order: 2, 4, 6, 7/9, 8/10, 0, 0, 0, 0, 0, 1, 3, 5, 0, 0
|
|
// * * * * * * *
|
|
// tow
|
|
|
|
try {
|
|
pair<int,int> id = make_pair(payload[0], payload[1]);
|
|
int sigid = payload[2];
|
|
static set<tuple<int,int,int>> svseen;
|
|
static time_t lastStat;
|
|
svseen.insert({id.first, id.second, payload[2]});
|
|
|
|
if(time(0)- lastStat > 30) {
|
|
cerr<<humanTimeNow()<<" src "<<g_srcid<< " (fix: "<<g_fixtype<<") currently receiving: ";
|
|
for(auto& s : svseen) {
|
|
cerr<<get<0>(s)<<","<<get<1>(s)<<"@"<<get<2>(s)<<" ";
|
|
}
|
|
cerr<<endl;
|
|
lastStat = time(0);
|
|
svseen.clear();
|
|
}
|
|
|
|
if(id.first == 0 && !sigid) { // classic GPS
|
|
NavMonMessage nmm;
|
|
nmm.set_type(NavMonMessage::GPSInavType);
|
|
nmm.set_localutcseconds(g_gnssutc.tv_sec);
|
|
nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
|
|
nmm.set_sourceid(g_srcid);
|
|
// if (doDEBUG) { cerr<<humanTimeNow()<<" GPS frame, numwords: "<<(int)payload[4]<<", version: "<<(int)payload[6]<<endl; }
|
|
static int wn, tow;
|
|
auto gpsframe = getGPSFromSFRBXMsg(payload);
|
|
auto cond = getCondensedGPSMessage(gpsframe);
|
|
auto frameno = getbitu(&cond[0], 24+19, 3);
|
|
if(frameno == 1 && sigid==0)
|
|
wn = 2048 + getbitu(&cond[0], 2*24, 10);
|
|
if(!wn)
|
|
continue; // can't file this yet
|
|
|
|
tow = 1.5*(getbitu(&cond[0], 24, 17)*4);
|
|
nmm.mutable_gpsi()->set_gnsswn(wn); // XXX this sucks
|
|
nmm.mutable_gpsi()->set_sigid(sigid);
|
|
nmm.mutable_gpsi()->set_gnsstow(tow); // "with 6 second increments" -- needs to be adjusted
|
|
nmm.mutable_gpsi()->set_gnssid(id.first);
|
|
nmm.mutable_gpsi()->set_gnsssv(id.second);
|
|
nmm.mutable_gpsi()->set_contents(string((char*)gpsframe.c_str(), gpsframe.size()));
|
|
ns.emitNMM( nmm);
|
|
continue;
|
|
}
|
|
if(id.first == 0 && sigid) { // new GPS
|
|
auto cnav = getGPSFromSFRBXMsg(payload);
|
|
static int wn, tow;
|
|
|
|
int type = getbitu(&cnav[0], 14, 6);
|
|
tow = 6 * getbitu(&cnav[0], 20, 17) - 12;
|
|
|
|
if(type == 10) {
|
|
wn = getbitu(&cnav[0], 38, 13);
|
|
}
|
|
|
|
if(!wn)
|
|
continue; // can't file this yet
|
|
|
|
NavMonMessage nmm;
|
|
nmm.set_type(NavMonMessage::GPSCnavType);
|
|
nmm.set_localutcseconds(g_gnssutc.tv_sec);
|
|
nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
|
|
nmm.set_sourceid(g_srcid);
|
|
nmm.mutable_gpsc()->set_gnsswn(wn); // XXX this sucks
|
|
nmm.mutable_gpsc()->set_sigid(sigid);
|
|
nmm.mutable_gpsc()->set_gnsstow(tow); // "with 6 second increments" -- needs to be adjusted
|
|
nmm.mutable_gpsc()->set_gnssid(id.first);
|
|
nmm.mutable_gpsc()->set_gnsssv(id.second);
|
|
nmm.mutable_gpsc()->set_contents(string((char*)cnav.c_str(), cnav.size()));
|
|
ns.emitNMM( nmm);
|
|
}
|
|
else if(id.first ==2) { // GALILEO
|
|
auto inav = getInavFromSFRBXMsg(payload);
|
|
unsigned int wtype = getbitu(&inav[0], 0, 6);
|
|
|
|
uint32_t satTOW;
|
|
int msgTOW{0};
|
|
if(getTOWFromInav(inav, &satTOW, &g_galwn)) { // 0, 6, 5
|
|
// if (doDEBUG) { cerr<<humanTimeNow()<<" "<<wtype<<" sv "<<id.second<<" tow "<<satTOW << " % 30 = "<< satTOW % 30<<", implied start of cycle: "<<(satTOW - (satTOW %30)) <<endl; }
|
|
msgTOW = satTOW;
|
|
curCycleTOW = satTOW - (satTOW %30);
|
|
}
|
|
else {
|
|
if(curCycleTOW < 0) // did not yet have a start of cycle
|
|
continue;
|
|
// if (doDEBUG) { cerr<<humanTimeNow()<<" "<<wtype<<" sv "<<id.second<<" tow "; }
|
|
if(sigid == 5) {
|
|
if(wtype == 2) {
|
|
msgTOW = curCycleTOW + 20;
|
|
}
|
|
else if(wtype == 4) {
|
|
msgTOW = curCycleTOW + 22;
|
|
} // next have '6' which sets TOW
|
|
else if(wtype==7 || wtype == 9) {
|
|
msgTOW = curCycleTOW + 6;
|
|
}
|
|
else if(wtype==8 || wtype == 10) {
|
|
msgTOW = curCycleTOW + 8;
|
|
}
|
|
else if(wtype==1) {
|
|
msgTOW = curCycleTOW+30;
|
|
}
|
|
else if(wtype==3) {
|
|
msgTOW = curCycleTOW + 32;
|
|
}
|
|
else { // dummy
|
|
if(id.second != 20) // known broken XXX
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" galileo E"<<id.second<<" what kind of wtype is this: "<<wtype<<endl; }
|
|
continue;
|
|
}
|
|
}
|
|
else {
|
|
if(wtype == 2) {
|
|
// if (doDEBUG) { cerr<<humanTimeNow()<<" infered to be 1 "<<curCycleTOW + 31<<endl; }
|
|
msgTOW = curCycleTOW + 31;
|
|
}
|
|
else if(wtype == 4) {
|
|
// if (doDEBUG) { cerr<<humanTimeNow()<<" infered to be 3 "<<curCycleTOW + 33<<endl; }
|
|
msgTOW = curCycleTOW + 33;
|
|
} // next have '6' which sets TOW
|
|
else if(wtype==7 || wtype == 9) {
|
|
msgTOW = curCycleTOW + 7;
|
|
}
|
|
else if(wtype==8 || wtype == 10) {
|
|
msgTOW = curCycleTOW + 9;
|
|
}
|
|
else if(wtype==1) {
|
|
msgTOW = curCycleTOW + 21;
|
|
}
|
|
else if(wtype==3) {
|
|
msgTOW = curCycleTOW + 23;
|
|
}
|
|
else { // dummy
|
|
if(id.second != 20) // known broken XXX
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" galileo E"<<id.second<<" what kind of wtype is this: "<<wtype<<endl; }
|
|
continue;
|
|
}
|
|
|
|
}
|
|
}
|
|
NavMonMessage nmm;
|
|
nmm.set_sourceid(g_srcid);
|
|
nmm.set_type(NavMonMessage::GalileoInavType);
|
|
nmm.set_localutcseconds(g_gnssutc.tv_sec);
|
|
nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
|
|
|
|
nmm.mutable_gi()->set_gnsswn(g_galwn);
|
|
|
|
nmm.mutable_gi()->set_gnsstow(msgTOW);
|
|
nmm.mutable_gi()->set_gnssid(id.first);
|
|
nmm.mutable_gi()->set_gnsssv(id.second);
|
|
nmm.mutable_gi()->set_sigid(sigid);
|
|
nmm.mutable_gi()->set_contents((const char*)&inav[0], inav.size());
|
|
|
|
ns.emitNMM( nmm);
|
|
}
|
|
else if(id.first==3) {
|
|
auto gstr = getGlonassFromSFRBXMsg(payload);
|
|
auto cond = getCondensedBeidouMessage(gstr);
|
|
static map<int, BeidouMessage> bms;
|
|
auto& bm = bms[id.second];
|
|
|
|
uint8_t pageno;
|
|
bm.parse(cond, &pageno);
|
|
|
|
if(bm.wn < 0) {
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" BeiDou C"<<id.second<<" WN not yet known, not yet emitting message"<<endl; }
|
|
continue;
|
|
}
|
|
NavMonMessage nmm;
|
|
nmm.set_localutcseconds(g_gnssutc.tv_sec);
|
|
nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
|
|
nmm.set_sourceid(g_srcid);
|
|
if(id.second > 5) {
|
|
// this **HARDCODES** that C01,02,03,04,05 emit D2 messages!
|
|
nmm.set_type(NavMonMessage::BeidouInavTypeD1);
|
|
nmm.mutable_bid1()->set_gnsswn(bm.wn); // only sent in word 1!!
|
|
nmm.mutable_bid1()->set_gnsstow(bm.sow);
|
|
nmm.mutable_bid1()->set_gnssid(id.first);
|
|
nmm.mutable_bid1()->set_gnsssv(id.second);
|
|
nmm.mutable_bid1()->set_sigid(sigid);
|
|
nmm.mutable_bid1()->set_contents(string((char*)gstr.c_str(), gstr.size()));
|
|
ns.emitNMM( nmm);
|
|
}
|
|
else {
|
|
// not sending this: we can't even get the week number right!
|
|
/*
|
|
nmm.set_type(NavMonMessage::BeidouInavTypeD2);
|
|
nmm.mutable_bid2()->set_gnsswn(bm.wn);
|
|
nmm.mutable_bid2()->set_gnsstow(bm.sow);
|
|
nmm.mutable_bid2()->set_gnssid(id.first);
|
|
nmm.mutable_bid2()->set_gnsssv(id.second);
|
|
nmm.mutable_bid2()->set_sigid(sigid);
|
|
nmm.mutable_bid2()->set_contents(string((char*)gstr.c_str(), gstr.size()));
|
|
*/
|
|
|
|
}
|
|
|
|
continue;
|
|
}
|
|
else if(id.first==6) {
|
|
// if (doDEBUG) { cerr<<humanTimeNow()<<" SFRBX from GLONASS "<<id.second<<" @ frequency "<<(int)payload[3]<<", msg of "<<(int)payload[4]<< " words"<<endl; }
|
|
auto gstr = getGlonassFromSFRBXMsg(payload);
|
|
/*
|
|
static map<int, GlonassMessage> gms;
|
|
GlonassMessage& gm = gms[id.second];
|
|
int strno = gm.parse(gstr);
|
|
*/
|
|
if(id.second != 255) {
|
|
NavMonMessage nmm;
|
|
nmm.set_localutcseconds(g_gnssutc.tv_sec);
|
|
nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
|
|
nmm.set_sourceid(g_srcid);
|
|
nmm.set_type(NavMonMessage::GlonassInavType);
|
|
nmm.mutable_gloi()->set_freq(payload[3]);
|
|
nmm.mutable_gloi()->set_gnssid(id.first);
|
|
nmm.mutable_gloi()->set_gnsssv(id.second);
|
|
nmm.mutable_gloi()->set_sigid(sigid);
|
|
nmm.mutable_gloi()->set_contents(string((char*)gstr.c_str(), gstr.size()));
|
|
|
|
ns.emitNMM( nmm);
|
|
}
|
|
}
|
|
else if(id.first == 1) {// SBAS
|
|
/* if (doDEBUG) {
|
|
cerr<<humanTimeNow()<<" SBAS "<<id.second<<" frame, numwords: "<<(int)payload[4]<<", version: "<<(int)payload[6]<<", ";
|
|
}
|
|
*/
|
|
|
|
auto sbas = getSBASFromSFRBXMsg(payload);
|
|
|
|
NavMonMessage nmm;
|
|
nmm.set_localutcseconds(g_gnssutc.tv_sec);
|
|
nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
|
|
nmm.set_sourceid(g_srcid);
|
|
nmm.set_type(NavMonMessage::SBASMessageType);
|
|
nmm.mutable_sbm()->set_gnssid(id.first);
|
|
nmm.mutable_sbm()->set_gnsssv(id.second);
|
|
nmm.mutable_sbm()->set_contents(string((char*)sbas.c_str(), sbas.size()));
|
|
|
|
ns.emitNMM( nmm);
|
|
}
|
|
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; }
|
|
}
|
|
|
|
}
|
|
else if(msg.getClass() == 1 && msg.getType() == 0x35) { // UBX-NAV-SAT
|
|
if(version9) // we have UBX-NAV-SIG
|
|
continue;
|
|
// if (doDEBUG) { cerr<<humanTimeNow()<<" Info for "<<(int) payload[5]<<" svs: \n"; }
|
|
for(unsigned int n = 0 ; n < payload[5]; ++n) {
|
|
int gnssid = payload[8+12*n];
|
|
int sv = payload[9+12*n];
|
|
|
|
auto el = (int)(char)payload[11+12*n];
|
|
auto azi = ((int)payload[13+12*n]*256 + payload[12+12*n]);
|
|
auto db = (int)payload[10+12*n];
|
|
// if (doDEBUG) { cerr<<"gnssid "<<gnssid<<" sv "<<sv<<" el "<<el<<endl; }
|
|
NavMonMessage nmm;
|
|
nmm.set_sourceid(g_srcid);
|
|
nmm.set_localutcseconds(g_gnssutc.tv_sec);
|
|
nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
|
|
|
|
nmm.set_type(NavMonMessage::ReceptionDataType);
|
|
nmm.mutable_rd()->set_gnssid(gnssid);
|
|
nmm.mutable_rd()->set_gnsssv(sv);
|
|
nmm.mutable_rd()->set_db(db);
|
|
nmm.mutable_rd()->set_el(el);
|
|
nmm.mutable_rd()->set_azi(azi);
|
|
nmm.mutable_rd()->set_prres(*((int16_t*)(payload.c_str()+ 14 +12*n)) *0.1);
|
|
|
|
uint32_t status;
|
|
memcpy(&status, &payload[16+12*n], 4);
|
|
nmm.mutable_rd()->set_qi(status & 7);
|
|
nmm.mutable_rd()->set_used(status & 8);
|
|
|
|
/*
|
|
if (doDEBUG) {
|
|
cerr<<humanTimeNow()<<" "<<gnssid<<","<<sv<<":";
|
|
cerr<<" used " << ((status & 8) == 8);
|
|
cerr<< " qualityind "<<(status & 7);
|
|
cerr<<" db "<<db<<" el "<< el;
|
|
cerr<<" health " << (status & (1<<5));
|
|
cerr<<" sbasCorr " << (status & (1<<16));
|
|
cerr<<" prRes "<<nmm.rd().prres();
|
|
cerr<<" orbsrc " << ((status >> 8)&7);
|
|
cerr<<" eph-avail " << !!(status & (1<<11));
|
|
cerr<<" alm-avail " << !!(status & (1<<12));
|
|
cerr<<endl;
|
|
}
|
|
*/
|
|
ns.emitNMM( nmm);
|
|
}
|
|
}
|
|
else if(msg.getClass() == 1 && msg.getType() == 0x43) { // UBX-NAV-SIG
|
|
for(unsigned int n = 0 ; n < payload[5]; ++n) {
|
|
int gnssid = payload[8+16*n];
|
|
int sv = payload[9+16*n];
|
|
int qi = payload[15+16*n];
|
|
uint16_t sigflags;
|
|
memcpy(&sigflags, &payload[18+16*n], 2);
|
|
int sigid = 0;
|
|
|
|
if(version9) { // we only use this on version9 right now tho
|
|
sigid = payload[10+16*n];
|
|
if(gnssid == 2 && sigid ==6) // they separate out I and Q, but the rest of UBX doesn't
|
|
sigid = 5; // so map it back
|
|
if(gnssid == 2 && sigid ==0)
|
|
sigid = 1;
|
|
if(gnssid ==0) {
|
|
if(sigid==3) // L2C is sent as '4' and '3', but the '4' numbers here are bogus
|
|
sigid=4; // if we see 3, use it, and change number to 4 to be consistent
|
|
else if(sigid != 0) // sigid 0 = 0
|
|
continue; // ignore the rest
|
|
}
|
|
}
|
|
else if(gnssid==2) { // version 8 defaults galileo to E1B
|
|
sigid = 1;
|
|
}
|
|
|
|
auto db = (int)payload[14+16*n];
|
|
// if (doDEBUG) { cerr<<"gnssid "<<gnssid<<" sv "<<sv<<" el "<<el<<endl; }
|
|
NavMonMessage nmm;
|
|
nmm.set_sourceid(g_srcid);
|
|
nmm.set_localutcseconds(g_gnssutc.tv_sec);
|
|
nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
|
|
|
|
nmm.set_type(NavMonMessage::ReceptionDataType);
|
|
nmm.mutable_rd()->set_gnssid(gnssid);
|
|
nmm.mutable_rd()->set_gnsssv(sv);
|
|
nmm.mutable_rd()->set_db(db);
|
|
nmm.mutable_rd()->set_prres(*((int16_t*)(payload.c_str()+ 12 +16*n)) *0.1); // ENDIANISM
|
|
nmm.mutable_rd()->set_sigid(sigid);
|
|
nmm.mutable_rd()->set_el(0);
|
|
nmm.mutable_rd()->set_azi(0);
|
|
nmm.mutable_rd()->set_qi(qi);
|
|
nmm.mutable_rd()->set_used(sigflags & 8);
|
|
|
|
|
|
ns.emitNMM( nmm);
|
|
}
|
|
}
|
|
else if(msg.getClass() == 1 && msg.getType() == 0x30) { // UBX-NAV-SVINFO
|
|
|
|
}
|
|
else if(msg.getClass() == 1 && msg.getType() == 0x22) { // UBX-NAV-CLOCK
|
|
struct NavClock
|
|
{
|
|
uint32_t iTowMS;
|
|
int32_t clkBNS;
|
|
int32_t clkDNS;
|
|
uint32_t tAcc;
|
|
uint32_t fAcc;
|
|
} nc;
|
|
memcpy(&nc, &payload[0], sizeof(nc));
|
|
// cerr<<"Clock offset "<< nc.clkBNS<<" nanoseconds, drift "<< nc.clkDNS<<" nanoseconds/second, accuracy " << nc.tAcc<<" ns, frequency accuracy "<<nc.fAcc << " ps/s"<<endl;
|
|
// cerr<<"hwversion "<<hwversion<<" swversion "<< swversion <<" mods "<< mods <<" serialno "<<serialno<<endl;
|
|
|
|
|
|
NavMonMessage nmm;
|
|
|
|
nmm.set_sourceid(g_srcid);
|
|
nmm.set_localutcseconds(g_gnssutc.tv_sec);
|
|
nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
|
|
|
|
nmm.set_type(NavMonMessage::ObserverDetailsType);
|
|
nmm.mutable_od()->set_vendor("Ublox");
|
|
nmm.mutable_od()->set_hwversion(hwversion);
|
|
nmm.mutable_od()->set_swversion(swversion);
|
|
nmm.mutable_od()->set_serialno(serialno);
|
|
nmm.mutable_od()->set_modules(mods);
|
|
nmm.mutable_od()->set_clockoffsetns(nc.clkBNS);
|
|
nmm.mutable_od()->set_clockoffsetdriftns(nc.clkDNS);
|
|
nmm.mutable_od()->set_clockaccuracyns(nc.tAcc);
|
|
nmm.mutable_od()->set_freqaccuracyps(nc.fAcc);
|
|
|
|
nmm.mutable_od()->set_owner(owner);
|
|
nmm.mutable_od()->set_remark(remark);
|
|
nmm.mutable_od()->set_recvgithash(g_gitHash);
|
|
nmm.mutable_od()->set_uptime(time(0) - starttime);
|
|
|
|
|
|
ns.emitNMM( nmm);
|
|
}
|
|
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;
|
|
uint16_t fracChips;
|
|
// uint8_t intCodePhase = payload[64+24*n];
|
|
uint32_t codePhase;
|
|
|
|
memcpy(&wholeChips, &payload[56+24*n], 2);
|
|
memcpy(&fracChips, &payload[58+24*n], 2);
|
|
memcpy(&codePhase, &payload[60+24*n], 4);
|
|
|
|
// if (doDEBUG) { cerr<<humanTimeNow()<<" "<<(int)payload[44+24*n]<<","<<(int)payload[45+24*n]<<" whole-chips "<<wholeChips<<" frac-chips "<<fracChips<<" int-code-phase " <<(int)intCodePhase <<" frac-code-phase "<<ldexp(codePhase, -21) << " mpath " << (int)payload[47+24*n] << " r1 " << (int)payload[66+24*n] << " r2 " <<(int)payload[67+24*n]<<endl; }
|
|
}
|
|
}
|
|
else if(msg.getClass() == 0x02 && msg.getType() == 0x59) { // UBX-RXM-RLM
|
|
int type = (int)payload[1];
|
|
int sv = (int)payload[2];
|
|
|
|
NavMonMessage nmm;
|
|
nmm.set_sourceid(g_srcid);
|
|
nmm.set_localutcseconds(g_gnssutc.tv_sec);
|
|
nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
|
|
|
|
nmm.set_type(NavMonMessage::SARResponseType);
|
|
nmm.mutable_sr()->set_gnssid(2); // Galileo only for now
|
|
nmm.mutable_sr()->set_gnsssv(sv);
|
|
nmm.mutable_sr()->set_sigid(0); // we should fill this in later
|
|
nmm.mutable_sr()->set_type(payload[1]);
|
|
nmm.mutable_sr()->set_identifier(string((char*)payload.c_str()+4, 8));
|
|
nmm.mutable_sr()->set_code(payload[12]);
|
|
nmm.mutable_sr()->set_params(string((char*)payload.c_str()+13, payload.size()-14));
|
|
|
|
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);
|
|
// 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";
|
|
|
|
}
|
|
else if(msg.getClass()==39 && msg.getType()==0) {
|
|
NavMonMessage nmm;
|
|
nmm.set_sourceid(g_srcid);
|
|
nmm.set_localutcseconds(g_gnssutc.tv_sec);
|
|
nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
|
|
|
|
nmm.set_type(NavMonMessage::DebuggingType);
|
|
nmm.mutable_dm()->set_type(0);
|
|
nmm.mutable_dm()->set_payload(string((char*)&payload[0], payload.size()));
|
|
ns.emitNMM( nmm);
|
|
}
|
|
else if(msg.getClass() == 0x01 && msg.getType() == 0x3B) { // UBX-NAV-SVIN
|
|
struct NavSin
|
|
{
|
|
uint8_t ver;
|
|
uint8_t res[3];
|
|
uint32_t iTow;
|
|
uint32_t dur;
|
|
int32_t meanXCM, meanYCM, meanZCM;
|
|
int8_t meanXHP, meanYHP, meanZHP;
|
|
uint8_t res2;
|
|
int32_t meanAcc;
|
|
int32_t obs;
|
|
int8_t valid;
|
|
int8_t active;
|
|
uint8_t res3[2];
|
|
} __attribute__((packed));
|
|
NavSin NS;
|
|
static NavSin lastNS;
|
|
|
|
if(payload.size() != sizeof(NS)) {
|
|
cerr<<"Wrong NAV-SVIN message size, skipping"<<endl;
|
|
continue;
|
|
}
|
|
memcpy(&NS, payload.c_str(), sizeof(NS));
|
|
NS.res[0] = NS.res[1] = NS.res[2] = 0;
|
|
NS.res2=0;
|
|
NS.res3[0] = NS.res3[1] = 0;
|
|
NS.iTow = 0;
|
|
if(memcmp(&NS, &lastNS, sizeof(NS))) {
|
|
cerr<<humanTimeNow()<<" NAV-SVIN ver "<<(int)NS.ver<< " valid "<< (int)NS.valid<<" active " << (int)NS.active<<" duration "<<NS.dur<<"s meanAcc " <<NS.meanAcc /100<< "cm obs "<<NS.obs<<" ";
|
|
cerr<<std::fixed<<" ("<<NS.meanXCM + 0.01*NS.meanXHP<<", "<<NS.meanYCM + 0.01*NS.meanYHP<<", "<<NS.meanZCM + 0.01*NS.meanZHP<<")";
|
|
|
|
auto latlonh = ecefToWGS84Deg((NS.meanXCM +0.01*NS.meanXHP)/100.0,
|
|
(NS.meanYCM +0.01*NS.meanYHP)/100.0,
|
|
(NS.meanZCM +0.01*NS.meanZHP)/100.0);
|
|
cerr<<" lat "<< get<0>(latlonh)<<" lon "<< get<1>(latlonh) << " h " << get<2>(latlonh) << endl;
|
|
}
|
|
lastNS = NS;
|
|
}
|
|
else if(msg.getClass() == 0x0d && msg.getType() == 0x04) { // UBX-TIM-SVIN
|
|
struct TimSin
|
|
{
|
|
uint32_t dur;
|
|
int32_t meanXCM, meanYCM, meanZCM;
|
|
uint32_t meanVar;
|
|
uint32_t obs;
|
|
int8_t valid;
|
|
int8_t active;
|
|
uint8_t res3[2];
|
|
} __attribute__((packed));
|
|
TimSin TS;
|
|
static TimSin lastTS;
|
|
|
|
if(payload.size() != sizeof(TS)) {
|
|
cerr<<"Wrong NAV-SVIN message size, skipping"<<endl;
|
|
continue;
|
|
}
|
|
memcpy(&TS, payload.c_str(), sizeof(TS));
|
|
TS.res3[0] = TS.res3[1] = 0;
|
|
if(memcmp(&TS, &lastTS, sizeof(TS))) {
|
|
cerr<<humanTimeNow()<<" TIM-SVIN valid "<< (int)TS.valid<<" active " << (int)TS.active<<" duration "<<TS.dur<<"s meanAcc " <<sqrt(TS.meanVar)/10<< "cm obs "<<TS.obs<<" ";
|
|
cerr<<std::fixed<<"("<<TS.meanXCM <<", "<<TS.meanYCM <<", "<<TS.meanZCM<<")"<<endl;
|
|
}
|
|
lastTS = TS;
|
|
}
|
|
else if(msg.getClass() == 0x0a && msg.getType() == 0x09) { // UBX-MON-HW
|
|
struct MonHW {
|
|
uint32_t pinSel, pinBank, pinDir, pinVal;
|
|
|
|
uint16_t noisePerMS;
|
|
uint16_t agcCnt;
|
|
|
|
uint8_t aStatus;
|
|
uint8_t aPower;
|
|
uint8_t flags;
|
|
uint8_t res1;
|
|
|
|
uint32_t usedMask;
|
|
|
|
uint8_t VP[17];
|
|
uint8_t jamInd;
|
|
uint16_t res2;
|
|
uint32_t pinIrq, pullH, pullL;
|
|
} __attribute__((packed));
|
|
MonHW mhw;
|
|
memcpy(&mhw, payload.c_str(), sizeof(MonHW));
|
|
// cerr << "agcCnt "<< mhw.agcCnt <<" jamind " << (unsigned int) mhw.jamInd <<" flags "<< (unsigned int)mhw.flags << endl;
|
|
NavMonMessage nmm;
|
|
nmm.set_sourceid(g_srcid);
|
|
nmm.set_localutcseconds(g_gnssutc.tv_sec);
|
|
nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
|
|
|
|
nmm.set_type(NavMonMessage::UbloxJammingStatsType);
|
|
nmm.mutable_ujs()->set_noiseperms(mhw.noisePerMS);
|
|
nmm.mutable_ujs()->set_agccnt(mhw.agcCnt);
|
|
nmm.mutable_ujs()->set_flags(mhw.flags);
|
|
nmm.mutable_ujs()->set_jamind(mhw.jamInd);
|
|
ns.emitNMM(nmm);
|
|
}
|
|
else
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Unknown UBX message of class "<<(int) msg.getClass() <<" and type "<< (int) msg.getType()<< " of "<<payload.size()<<" bytes"<<endl; }
|
|
|
|
// writen2(1, payload.d_raw.c_str(),msg.d_raw.size());
|
|
}
|
|
catch(UBXMessage::BadChecksum &e) {
|
|
if (doDEBUG) { cerr<<humanTimeNow()<<" Bad UBX checksum, skipping message"<<endl; }
|
|
}
|
|
catch(EofException& em) {
|
|
cerr<<"EOF, break"<<endl;
|
|
break;
|
|
}
|
|
}
|
|
if(!g_fromFile)
|
|
tcsetattr(fd, TCSANOW, &g_oldtio);
|
|
}
|
|
|