mrtk_foundation.h

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/*------------------------------------------------------------------------------
 * mrtk_foundation.h : common types, standard includes, and system constants
 *
 * Copyright (C) 2026 H.SHIONO (MRTKLIB Project)
 * Copyright (C) 2023-2025 Cabinet Office, Japan
 * Copyright (C) 2024-2025 Lighthouse Technology & Consulting Co. Ltd.
 * Copyright (C) 2023-2025 Japan Aerospace Exploration Agency
 * Copyright (C) 2023-2025 TOSHIBA ELECTRONIC TECHNOLOGIES CORPORATION
 * Copyright (C) 2015- Mitsubishi Electric Corp.
 * Copyright (C) 2014 Geospatial Information Authority of Japan
 * Copyright (C) 2014 T.SUZUKI
 * Copyright (C) 2007-2023 T.TAKASU
 *
 * SPDX-License-Identifier: BSD-2-Clause
 *----------------------------------------------------------------------------*/
/**
 * @file mrtk_foundation.h
 * @brief MRTKLIB Foundation — Common types, standard includes, and system
 *        constants (MAXSAT, NFREQ, MAXOBS, observation codes, etc.).
 *
 * Every public mrtk_*.h header includes this file so that downstream users
 * get a consistent set of base types and array-size constants.
 *
 * @note Constellation satellite counts (MAXSAT) depend on compile-time flags
 *       (ENAGLO, ENAGAL, ENAQZS, ENACMP, ENAIRN).  These flags are set via
 *       target_compile_definitions on the mrtklib CMake target and propagate
 *       to rtklib through PUBLIC link dependency.
 */
#ifndef MRTK_FOUNDATION_H
#define MRTK_FOUNDATION_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
 
/*============================================================================
 * Frequency / Observation Constants
 *===========================================================================*/
 
#ifndef NFREQ
#define NFREQ 3 /* number of carrier frequencies */
#endif
#define NFREQGLO 2  /* number of carrier frequencies of GLONASS */
#define NFREQPCV 12 /* number of carrier frequencies for pcv_t */
 
#ifndef NEXOBS
#define NEXOBS 0 /* number of extended obs codes */
#endif
 
#define SNR_UNIT 0.001 /* SNR unit (dBHz) */
 
/*============================================================================
 * Constellation PRN / Satellite Count Defines
 *===========================================================================*/
 
#define MINPRNGPS 1                         /* min satellite PRN number of GPS */
#define MAXPRNGPS 32                        /* max satellite PRN number of GPS */
#define NSATGPS (MAXPRNGPS - MINPRNGPS + 1) /* number of GPS satellites */
#define NSYSGPS 1
 
#ifdef ENAGLO
#define MINPRNGLO 1                         /* min satellite slot number of GLONASS */
#define MAXPRNGLO 27                        /* max satellite slot number of GLONASS */
#define NSATGLO (MAXPRNGLO - MINPRNGLO + 1) /* number of GLONASS satellites */
#define NSYSGLO 1
#else
#define MINPRNGLO 0
#define MAXPRNGLO 0
#define NSATGLO 0
#define NSYSGLO 0
#endif
#ifdef ENAGAL
#define MINPRNGAL 1                         /* min satellite PRN number of Galileo */
#define MAXPRNGAL 36                        /* max satellite PRN number of Galileo */
#define NSATGAL (MAXPRNGAL - MINPRNGAL + 1) /* number of Galileo satellites */
#define NSYSGAL 1
#else
#define MINPRNGAL 0
#define MAXPRNGAL 0
#define NSATGAL 0
#define NSYSGAL 0
#endif
#ifdef ENAQZS
#define MINPRNQZS 193                       /* min satellite PRN number of QZSS */
#define MAXPRNQZS 202                       /* max satellite PRN number of QZSS */
#define MINPRNQZS_S 183                     /* min satellite PRN number of QZSS L1S */
#define MAXPRNQZS_S 191                     /* max satellite PRN number of QZSS L1S */
#define NSATQZS (MAXPRNQZS - MINPRNQZS + 1) /* number of QZSS satellites */
#define NSYSQZS 1
#else
#define MINPRNQZS 0
#define MAXPRNQZS 0
#define MINPRNQZS_S 0
#define MAXPRNQZS_S 0
#define NSATQZS 0
#define NSYSQZS 0
#endif
#ifdef ENACMP
#define MINPRNCMP 1                         /* min satellite sat number of BeiDou */
#define MAXPRNCMP 63                        /* max satellite sat number of BeiDou */
#define NSATCMP (MAXPRNCMP - MINPRNCMP + 1) /* number of BeiDou satellites */
#define NSYSCMP 1
#define MINPRNBDS3 19 /* min satellite sat number of BeiDou-3 */
#else
#define MINPRNCMP 0
#define MAXPRNCMP 0
#define NSATCMP 0
#define NSYSCMP 0
#endif
#ifdef ENAIRN
#define MINPRNIRN 1                         /* min satellite sat number of IRNSS */
#define MAXPRNIRN 14                        /* max satellite sat number of IRNSS */
#define NSATIRN (MAXPRNIRN - MINPRNIRN + 1) /* number of IRNSS satellites */
#define NSYSIRN 1
#else
#define MINPRNIRN 0
#define MAXPRNIRN 0
#define NSATIRN 0
#define NSYSIRN 0
#endif
#ifdef ENALEO
#define MINPRNLEO 1                         /* min satellite sat number of LEO */
#define MAXPRNLEO 10                        /* max satellite sat number of LEO */
#define NSATLEO (MAXPRNLEO - MINPRNLEO + 1) /* number of LEO satellites */
#define NSYSLEO 1
#else
#define MINPRNLEO 0
#define MAXPRNLEO 0
#define NSATLEO 0
#define NSYSLEO 0
#endif
#define NSYS (NSYSGPS + NSYSGLO + NSYSGAL + NSYSQZS + NSYSCMP + NSYSIRN + NSYSLEO) /* number of systems */
 
#define MINPRNSBS 120                       /* min satellite PRN number of SBAS */
#define MAXPRNSBS 158                       /* max satellite PRN number of SBAS */
#define NSATSBS (MAXPRNSBS - MINPRNSBS + 1) /* number of SBAS satellites */
 
#define MAXSAT (NSATGPS + NSATGLO + NSATGAL + NSATQZS + NSATCMP + NSATIRN + NSATSBS + NSATLEO)
/* max satellite number (1 to MAXSAT) */
#define MAXSTA 255
 
/*============================================================================
 * Array-Size Constants
 *===========================================================================*/
 
#ifndef MAXOBS
#define MAXOBS 96 /* max number of obs in an epoch */
#endif
#define MAXRCV 64     /* max receiver number (1 to MAXRCV) */
#define MAXOBSTYPE 64 /* max number of obs type in RINEX */
#ifdef OBS_100HZ
#define DTTOL 0.005 /* tolerance of time difference (s) */
#else
#define DTTOL 0.025 /* tolerance of time difference (s) */
#endif
#define MAXEXFILE 1024  /* max number of expanded files */
#define SSR_CH_NUM 2    /* number of SSR input channels */
#define MAXBAND 10      /* max SBAS band of IGP */
#define MAXNIGP 201     /* max number of IGP in SBAS band */
#define MAXNGEO 4       /* max number of GEO satellites */
#define MAXCOMMENT 100  /* max number of RINEX comments */
#define MAXSTRPATH 1024 /* max length of stream path */
#define MAXSTRMSG 1024  /* max length of stream message */
#define MAXSTRRTK 8     /* max number of stream in RTK server */
#define MAXSBSMSG 32    /* max number of SBAS msg in RTK server */
#define MAXSOLMSG 8191  /* max length of solution message */
#define MAXRAWLEN 16384 /* max length of receiver raw message */
#define MAXERRMSG 4096  /* max length of error/warning message */
#define MAXANT 64       /* max length of station name/antenna type */
#define MAXSOLBUF 256   /* max number of solution buffer */
#define MAXOBSBUF 128   /* max number of observation data buffer */
#define MAXNRPOS 16     /* max number of reference positions */
#define MAXLEAPS 64     /* max number of leap seconds table */
#define MAXGISLAYER 32  /* max number of GIS data layers */
#define MAXRCVCMD 4096  /* max length of receiver commands */
 
/*============================================================================
 * Observation Code Constants
 *===========================================================================*/
 
#define CODE_NONE 0 /* obs code: none or unknown */
#define CODE_L1C 1  /* obs code: L1C/A,G1C/A,E1C (GPS,GLO,GAL,QZS,SBS) */
#define CODE_L1P 2  /* obs code: L1P,G1P,B1C(P) (GPS,GLO,BDS) */
#define CODE_L1W 3  /* obs code: L1 Z-track (GPS) */
#define CODE_L1Y 4  /* obs code: L1Y        (GPS) */
#define CODE_L1M 5  /* obs code: L1M        (GPS) */
#define CODE_L1N 6  /* obs code: L1codeless,B1codeless (GPS,BDS) */
#define CODE_L1S 7  /* obs code: L1C(D),B1A(D) (GPS,QZS,BDS) */
#define CODE_L1L 8  /* obs code: L1C(P),B1A(P) (GPS,QZS,BDS) */
#define CODE_L1E 9  /* (not used) */
#define CODE_L1A 10 /* obs code: E1A        (GAL) */
#define CODE_L1B 11 /* obs code: E1B,L1Sb   (GAL,QZS) */
#define CODE_L1X 12 /* obs code: E1B+C,L1C(D+P),B1C(D+P) (GAL,QZS,BDS) */
#define CODE_L1Z 13 /* obs code: E1A+B+C,L1S,B1A(D+P) (GAL,QZS,BDS) */
#define CODE_L2C 14 /* obs code: L2C/A,G1C/A (GPS,GLO) */
#define CODE_L2D 15 /* obs code: L2 L1C/A-(P2-P1) (GPS) */
#define CODE_L2S 16 /* obs code: L2C(M)     (GPS,QZS) */
#define CODE_L2L 17 /* obs code: L2C(L)     (GPS,QZS) */
#define CODE_L2X 18 /* obs code: L2C(M+L),B1_2I+Q (GPS,QZS,BDS) */
#define CODE_L2P 19 /* obs code: L2P,G2P    (GPS,GLO) */
#define CODE_L2W 20 /* obs code: L2 Z-track (GPS) */
#define CODE_L2Y 21 /* obs code: L2Y        (GPS) */
#define CODE_L2M 22 /* obs code: L2M        (GPS) */
#define CODE_L2N 23 /* obs code: L2codeless (GPS) */
#define CODE_L5I 24 /* obs code: L5I,E5aI   (GPS,GAL,QZS,SBS) */
#define CODE_L5Q 25 /* obs code: L5Q,E5aQ   (GPS,GAL,QZS,SBS) */
#define CODE_L5X 26 /* obs code: L5I+Q,E5aI+Q,L5B+C,B2aD+P (GPS,GAL,QZS,IRN,SBS,BDS) */
#define CODE_L7I 27 /* obs code: E5bI,B2bI  (GAL,BDS) */
#define CODE_L7Q 28 /* obs code: E5bQ,B2bQ  (GAL,BDS) */
#define CODE_L7X 29 /* obs code: E5bI+Q,B2bI+Q (GAL,BDS) */
#define CODE_L6A 30 /* obs code: E6A,B3A    (GAL,BDS) */
#define CODE_L6B 31 /* obs code: E6B        (GAL) */
#define CODE_L6C 32 /* obs code: E6C        (GAL) */
#define CODE_L6X 33 /* obs code: E6B+C,L6(D+P),B3I+Q (GAL,QZS,BDS) */
#define CODE_L6Z 34 /* obs code: E6A+B+C,L6(D+E),B3A(D+P) (GAL,QZS,BDS) */
#define CODE_L6S 35 /* obs code: L6D        (QZS) */
#define CODE_L6L 36 /* obs code: L6P        (QZS) */
#define CODE_L8I 37 /* obs code: E5abI      (GAL) */
#define CODE_L8Q 38 /* obs code: E5abQ      (GAL) */
#define CODE_L8X 39 /* obs code: E5abI+Q,B2abD+P (GAL,BDS) */
#define CODE_L2I 40 /* obs code: B1_2I      (BDS) */
#define CODE_L2Q 41 /* obs code: B1_2Q      (BDS) */
#define CODE_L6I 42 /* obs code: B3I        (BDS) */
#define CODE_L6Q 43 /* obs code: B3Q        (BDS) */
#define CODE_L3I 44 /* obs code: G3I        (GLO) */
#define CODE_L3Q 45 /* obs code: G3Q        (GLO) */
#define CODE_L3X 46 /* obs code: G3I+Q      (GLO) */
#define CODE_L1I 47 /* obs code: B1I        (BDS) (obsolute) */
#define CODE_L1Q 48 /* obs code: B1Q        (BDS) (obsolute) */
#define CODE_L5A 49 /* obs code: L5A SPS    (IRN) */
#define CODE_L5B 50 /* obs code: L5B RS(D)  (IRN) */
#define CODE_L5C 51 /* obs code: L5C RS(P)  (IRN) */
#define CODE_L9A 52 /* obs code: SA SPS     (IRN) */
#define CODE_L9B 53 /* obs code: SB RS(D)   (IRN) */
#define CODE_L9C 54 /* obs code: SC RS(P)   (IRN) */
#define CODE_L9X 55 /* obs code: SB+C       (IRN) */
#define CODE_L1D 56 /* obs code: B1D        (BDS) */
#define CODE_L5D 57 /* obs code: L5S(I),B2aD (QZS,BDS) */
#define CODE_L5P 58 /* obs code: L5S(Q),B2aP (QZS,BDS) */
#define CODE_L5Z 59 /* obs code: L5S(I+Q)   (QZS) */
#define CODE_L6E 60 /* obs code: L6E        (QZS) */
#define CODE_L7D 61 /* obs code: B2bD       (BDS) */
#define CODE_L7P 62 /* obs code: B2bP       (BDS) */
#define CODE_L7Z 63 /* obs code: B2bD+P     (BDS) */
#define CODE_L8D 64 /* obs code: B2abD      (BDS) */
#define CODE_L8P 65 /* obs code: B2abP      (BDS) */
#define CODE_L4A 66 /* obs code: G1aL1OCd   (GLO) */
#define CODE_L4B 67 /* obs code: G1aL1OCd   (GLO) */
#define CODE_L4X 68 /* obs code: G1al1OCd+p (GLO) */
#define CODE_L6D 69 /* obs code: B3A(D)     (BDS) */
#define CODE_L6P 70 /* obs code: B3A(P)     (BDS) */
#define MAXCODE 70  /* max number of obs code */
 
/*============================================================================
 * Physical Frequency Band Identifiers
 *
 * Per-constellation band names for unambiguous signal identification.
 * Bands sharing the same physical frequency (e.g., GPS L1 = GAL E1 = 1575.42 MHz)
 * are distinguished by constellation for clarity in configuration and RINEX mapping.
 *===========================================================================*/
 
typedef enum {
    MRTK_BAND_UNKNOWN = 0,
    /* GPS */
    MRTK_BAND_GPS_L1, /* 1575.42 MHz */
    MRTK_BAND_GPS_L2, /* 1227.60 MHz */
    MRTK_BAND_GPS_L5, /* 1176.45 MHz */
    /* GLONASS */
    MRTK_BAND_GLO_G1, /* ~1602 MHz (FDMA) */
    MRTK_BAND_GLO_G2, /* ~1246 MHz (FDMA) */
    MRTK_BAND_GLO_G3, /* 1202.025 MHz */
    /* Galileo */
    MRTK_BAND_GAL_E1,   /* 1575.42 MHz */
    MRTK_BAND_GAL_E5a,  /* 1176.45 MHz */
    MRTK_BAND_GAL_E5b,  /* 1207.14 MHz */
    MRTK_BAND_GAL_E6,   /* 1278.75 MHz */
    MRTK_BAND_GAL_E5ab, /* 1191.795 MHz */
    /* QZSS */
    MRTK_BAND_QZS_L1, /* 1575.42 MHz */
    MRTK_BAND_QZS_L2, /* 1227.60 MHz */
    MRTK_BAND_QZS_L5, /* 1176.45 MHz */
    MRTK_BAND_QZS_L6, /* 1278.75 MHz */
    /* SBAS */
    MRTK_BAND_SBS_L1, /* 1575.42 MHz */
    MRTK_BAND_SBS_L5, /* 1176.45 MHz */
    /* BDS */
    MRTK_BAND_BDS_B1I,  /* 1561.098 MHz */
    MRTK_BAND_BDS_B1C,  /* 1575.42 MHz */
    MRTK_BAND_BDS_B2a,  /* 1176.45 MHz */
    MRTK_BAND_BDS_B2b,  /* 1207.14 MHz */
    MRTK_BAND_BDS_B2ab, /* 1191.795 MHz */
    MRTK_BAND_BDS_B3,   /* 1268.52 MHz */
    /* NavIC */
    MRTK_BAND_IRN_L5, /* 1176.45 MHz */
    MRTK_BAND_IRN_S,  /* 2492.028 MHz */
    MRTK_BAND_MAX
} mrtk_band_t;
 
/*============================================================================
 * Other Size Constants (used by nav_t and related types)
 *===========================================================================*/
 
#define MAXBSNXSYS 7 /* BIAS-SINEX Supported GNSS(G,R,E,J,C,I,S) */
 
#define MAXSITES 256    /* max number of stat input streams */
#define MAXBLK 32       /* max number of block */
#define MAXTRPSTA 512   /* max number of tropospheric station blocks */
#define MAXIONSTA 256   /* max number of ionospheric station blocks */
#define MAX_REJ_SITES 5 /* max number of reject sites */
 
/*============================================================================
 * MADOCA-PPP L6D Ionospheric Correction Constants
 *===========================================================================*/
 
#define MIONO_MAX_RID 256     /* max region id (IS-QZSS-MDC-002 Table 6.3.2-4) */
#define MIONO_MAX_ANUM 32     /* max area number (Table 6.3.2-4) */
#define MIONO_MAX_PRN (2 + 1) /* max MADOCA-PPP L6D signal (Table 3-1) + 1 reserved */
 
/*============================================================================
 * Platform-Dependent Lock / Thread Types
 *===========================================================================*/
 
#include <pthread.h>
#define rtk_thread_t pthread_t
#define rtk_lock_t pthread_mutex_t
#define rtk_initlock(f) pthread_mutex_init(f, NULL)
#define rtk_lock(f) pthread_mutex_lock(f)
#define rtk_unlock(f) pthread_mutex_unlock(f)
#define FILEPATHSEP '/'
 
#ifdef __cplusplus
}
#endif
 
#endif /* MRTK_FOUNDATION_H */