#include "mrtklib/mrtk_rtksvr.h"
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "mrtklib/mrtk_coords.h"
#include "mrtklib/mrtk_eph.h"
#include "mrtklib/mrtk_l6.h"
#include "mrtklib/mrtk_madoca.h"
#include "mrtklib/mrtk_madoca_local_corr.h"
#include "mrtklib/mrtk_mat.h"
#include "mrtklib/mrtk_nav.h"
#include "mrtklib/mrtk_obs.h"
#include "mrtklib/mrtk_opt.h"
#include "mrtklib/mrtk_peph.h"
#include "mrtklib/mrtk_ppp.h"
#include "mrtklib/mrtk_rcvraw.h"
#include "mrtklib/mrtk_rinex.h"
#include "mrtklib/mrtk_rtcm.h"
#include "mrtklib/mrtk_rtkpos.h"
#include "mrtklib/mrtk_sbas.h"
#include "mrtklib/mrtk_sol.h"
#include "mrtklib/mrtk_spp.h"
#include "mrtklib/mrtk_stream.h"
#include "mrtklib/mrtk_sys.h"
#include "mrtklib/mrtk_time.h"
#include "mrtklib/mrtk_trace.h"

Include dependency graph for mrtk_rtksvr.c:

Macros
#define	SYS_GPS 0x01
#define	SYS_GLO 0x04
#define	SYS_GAL 0x08
#define	SYS_QZS 0x10
#define	SYS_CMP 0x20
#define	R2D (180.0 / 3.1415926535897932)
#define	COMMENTH "%"
#define	MIN_INT_RESET 30000 /* mininum interval of reset command (ms) */

Functions
void	timeset (gtime_t t)
static void	writesolhead (stream_t stream, const solopt_t solopt)
static void	saveoutbuf (rtksvr_t svr, uint8_t buff, int n, int index)
static void	writesol (rtksvr_t *svr, int index)
static void	update_glofcn (rtksvr_t *svr)
static void	update_obs (rtksvr_t svr, obs_t obs, int index, int iobs)
static void	update_eph (rtksvr_t svr, nav_t nav, int ephsat, int ephset, int index)
static void	update_sbs (rtksvr_t svr, sbsmsg_t sbsmsg, int index)
static void	update_ionutc (rtksvr_t svr, nav_t nav, int index)
static void	update_antpos (rtksvr_t *svr, int index)
static void	update_ssr (rtksvr_t *svr, int index)
static void	update_stat (rtksvr_t *svr, int index)
static void	update_lcl (rtksvr_t *svr, int index)
int	rtksvr_ssr_applicable (const rtksvr_t *svr, int index, int ret)
	Decide whether a decoded SSR result may be applied to nav.ssr_ch[0].
static void	update_svr (rtksvr_t svr, int ret, obs_t obs, nav_t nav, int ephsat, int ephset, sbsmsg_t sbsmsg, int index, int iobs)
static int	decoderaw (rtksvr_t *svr, int index)
static void	decodefile (rtksvr_t *svr, int index)
static void	periodic_cmd (int cycle, const char cmd, stream_t stream)
static double	baseline_len (const rtk_t *rtk)
static void	send_nmea (rtksvr_t svr, uint32_t tickreset)
static void *	rtksvrthread (void *arg)
int	rtksvrinit (rtksvr_t *svr)
	Initialize RTK server.
void	rtksvrfree (rtksvr_t *svr)
	Free RTK server resources.
void	rtksvrlock (rtksvr_t *svr)
	Lock RTK server mutex.
void	rtksvrunlock (rtksvr_t *svr)
	Unlock RTK server mutex.
int	rtksvrstart (rtksvr_t svr, int cycle, int buffsize, int strs, char *paths, int formats, int navsel, char cmds, char cmds_periodic, char *rcvopts, int nmeacycle, int nmeareq, const double nmeapos, prcopt_t prcopt, solopt_t solopt, stream_t moni, gtime_t rst, char errmsg)
	Start RTK server.
void	rtksvrstop (rtksvr_t svr, char *cmds)
	Stop RTK server.
int	rtksvropenstr (rtksvr_t svr, int index, int str, const char path, const solopt_t *solopt)
	Open RTK server output/log stream.
void	rtksvrclosestr (rtksvr_t *svr, int index)
	Close RTK server output/log stream.
int	rtksvrostat (rtksvr_t svr, int rcv, gtime_t time, int sat, double az, double el, int snr, int vsat)
	Get observation data status.
void	rtksvrsstat (rtksvr_t svr, int sstat, char *msg)
	Get stream status.
int	rtksvrmark (rtksvr_t svr, const char name, const char *comment)
	Mark current position in solution.

Macro Definition Documentation

◆ COMMENTH

#define COMMENTH "%"

Definition at line 55 of file mrtk_rtksvr.c.

◆ MIN_INT_RESET

#define MIN_INT_RESET 30000 /* mininum interval of reset command (ms) */

Definition at line 60 of file mrtk_rtksvr.c.

Referenced by rtksvrthread(), and send_nmea().

◆ R2D

#define R2D (180.0 / 3.1415926535897932)

Definition at line 53 of file mrtk_rtksvr.c.

◆ SYS_CMP

#define SYS_CMP 0x20

Definition at line 51 of file mrtk_rtksvr.c.

◆ SYS_GAL

#define SYS_GAL 0x08

Definition at line 49 of file mrtk_rtksvr.c.

◆ SYS_GLO

#define SYS_GLO 0x04

Definition at line 48 of file mrtk_rtksvr.c.

◆ SYS_GPS

#define SYS_GPS 0x01

Definition at line 47 of file mrtk_rtksvr.c.

◆ SYS_QZS

#define SYS_QZS 0x10

Definition at line 50 of file mrtk_rtksvr.c.

Function Documentation

◆ baseline_len()

double baseline_len ( const rtk_t * rtk )

static

Definition at line 768 of file mrtk_rtksvr.c.

References norm(), rtk_t::rb, sol_t::rr, and rtk_t::sol.

Referenced by send_nmea().

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◆ decodefile()

void decodefile	(	rtksvr_t *	svr,
		int	index )

static

Definition at line 661 of file mrtk_rtksvr.c.

References rtksvr_t::buff, calloc, rtksvr_t::files, rtksvr_t::format, free, rtksvr_t::ftime, rtksvr_t::nav, rtksvr_t::nb, nav_s::nc, nav_s::ncmax, nav_s::ne, nav_s::nemax, nav_s::pclk, nav_s::peph, readrnxc(), readsp3(), rtksvrlock(), rtksvrunlock(), STRFMT_RNXCLK, STRFMT_SP3, timeget(), tracet(), and utc2gpst().

Referenced by rtksvrthread().

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◆ decoderaw()

int decoderaw	(	rtksvr_t *	svr,
		int	index )

static

Definition at line 375 of file mrtk_rtksvr.c.

References miono_region_t::area, miono_area_t::avalid, clas_ctx_t::bank, rtcm_t::buff, rtksvr_t::buff, calloc, rtksvr_t::clas, clas_bank_get_close(), clas_check_grid_status(), clas_decode_msg(), clas_input_cssr(), CLAS_MAX_NETWORK, clas_route_l6frame(), clas_set_l6tag(), clas_update_global(), CSSR_REF_MAX, clas_ctx_t::current, obs_t::data, raw_t::ephsat, rtcm_t::ephsat, raw_t::ephset, rtcm_t::ephset, rtksvr_t::format, free, clas_ctx_t::grid, rtksvr_t::has, has_input_page(), raw_t::has_page, raw_t::has_prn, raw_t::has_time, clas_l6buf_t::havebit, init_mcssr(), init_miono(), input_qzssl6d(), input_qzssl6e(), input_raw(), input_rtcm2(), input_rtcm3(), input_stat(), ssr_t::iod, l6_prn_info_t::iono_slot, l6_parse_header(), l6_prn_info(), clas_ctx_t::l6buf, prcopt_t::l6mrg, raw_t::l6tag, MAXOBSBUF, MAXSAT, rtksvr_t::mdciono, MIONO_MAX_ANUM, MIONO_MAX_PRN, obs_t::n, raw_t::nav, rtcm_t::nav, rtksvr_t::nav, rtksvr_t::nb, clas_l6buf_t::nbit, mdcl6d_t::nbyte, clas_grid_t::network, clas_l6buf_t::nframe, raw_t::obs, rtcm_t::obs, mdcl6d_t::opt, rtk_t::opt, nav_s::pppiono, prcopt_t::pppopt, rtksvr_t::prcout, l6_header_t::prn, l6_header_t::ptn, rtksvr_t::raw, mdcl6d_t::re, pppiono_t::re, mdcl6d_t::rid, rtksvr_t::rtcm, rtksvr_t::rtk, rtksvrlock(), rtksvrunlock(), miono_region_t::rvalid, miono_area_t::sat, raw_t::sbsmsg, has_t::ssr, nav_s::ssr_ch, rtksvr_t::sstat, STRFMT_CLAS, STRFMT_L6E, STRFMT_RTCM2, STRFMT_RTCM3, STRFMT_SEPT, STRFMT_STAT, STRFMT_UBX, miono_sat_t::t0, ssr_t::t0, tickget(), clas_l6buf_t::time, gtime_t::time, mdcl6d_t::time, obsd_t::time, raw_t::time, rtcm_t::time, time2gpst(), time_str(), timediff(), clas_ctx_t::tow_ref, trace(), tracet(), ssr_t::update, update_svr(), clas_bank_ctrl_t::use, and clas_ctx_t::week_ref.

Referenced by rtksvrthread().

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◆ periodic_cmd()

void periodic_cmd	(	int	cycle,
		const char *	cmd,
		stream_t *	stream )

static

Definition at line 733 of file mrtk_rtksvr.c.

References strsendcmd().

Referenced by rtksvrthread().

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◆ rtksvr_ssr_applicable()

int rtksvr_ssr_applicable	(	const rtksvr_t *	svr,
		int	index,
		int	ret )

extern

Decide whether a decoded SSR result may be applied to nav.ssr_ch[0].

In CLAS/PPP-RTK mode (svr->clas set) the CLAS decoder owns nav.ssr_ch[0], so MADOCA-PPP SSR from a raw L6E stream (STRFMT_L6E, code 10) or from a UBX/SBF L6E frame (code 15) is not applied. Other SSR sources (e.g. RTCM3 SSR, code 10) are applied as before.

Parameters

[in]	svr	RTK server struct
[in]	index	input stream index (0..2)
[in]	ret	decoder status (10 or 15)

Returns: 1 if update_ssr() should apply the result, 0 otherwise

Definition at line 336 of file mrtk_rtksvr.c.

References rtksvr_t::clas, rtksvr_t::format, and STRFMT_L6E.

Referenced by update_svr().

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◆ rtksvrclosestr()

void rtksvrclosestr	(	rtksvr_t *	svr,
		int	index )

extern

Close RTK server output/log stream.

Parameters

[in,out]	svr	RTK server struct
[in]	index	stream index

Definition at line 1481 of file mrtk_rtksvr.c.

References rtksvrlock(), rtksvrunlock(), rtksvr_t::state, strclose(), rtksvr_t::stream, and tracet().

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◆ rtksvrfree()

void rtksvrfree ( rtksvr_t * svr )

extern

Free RTK server resources.

Parameters

[in,out] svr RTK server struct

Definition at line 1097 of file mrtk_rtksvr.c.

References rtksvr_t::clas, clas_ctx_free(), obs_t::data, nav_s::eph, free, nav_s::geph, rtksvr_t::has, has_free(), MAXOBSBUF, rtksvr_t::mdciono, rtksvr_t::nav, rtksvr_t::obs, nav_s::pppiono, rtksvr_t::rtk, rtkfree(), and nav_s::seph.

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◆ rtksvrinit()

int rtksvrinit ( rtksvr_t * svr )

extern

Initialize RTK server.

Parameters

[in,out] svr RTK server struct

Returns: status (0:error,1:ok)

Definition at line 979 of file mrtk_rtksvr.c.

References rtksvr_t::bl_reset, rtksvr_t::buff, rtksvr_t::buffsize, rtksvr_t::clas, rtksvr_t::cmd_reset, rtksvr_t::cmds_periodic, rtksvr_t::cputime, rtksvr_t::cycle, obs_t::data, nav_s::eph, rtksvr_t::files, rtksvr_t::format, rtksvr_t::ftime, nav_s::geph, rtksvr_t::has, rtksvr_t::lock, malloc, MAXOBS, MAXOBSBUF, MAXSAT, MAXSOLBUF, MAXSTRRTK, rtksvr_t::mdciono, rtksvr_t::moni, nav_s::n, rtksvr_t::nav, rtksvr_t::nave, rtksvr_t::navsel, rtksvr_t::nb, nav_s::ng, rtksvr_t::nmeacycle, rtksvr_t::nmeapos, rtksvr_t::nmeareq, rtksvr_t::nmsg, rtksvr_t::npb, nav_s::ns, NSATGLO, NSATSBS, rtksvr_t::nsb, rtksvr_t::nsbs, rtksvr_t::nsol, rtksvr_t::obs, rtksvr_t::pbuf, prcopt_default, rtksvr_t::prcout, rtksvr_t::raw, rtksvr_t::rb_ave, rtksvr_t::rtcm, rtksvr_t::rtk, rtk_initlock, rtkinit(), rtksvr_t::sbuf, nav_s::seph, rtksvr_t::solbuf, rtksvr_t::solopt, solopt_default, nav_s::stat, rtksvr_t::state, rtksvr_t::stream, strinit(), rtksvr_t::thread, rtksvr_t::tick, and tracet().

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◆ rtksvrlock()

void rtksvrlock ( rtksvr_t * svr )

extern

Lock RTK server mutex.

Parameters

[in,out] svr RTK server struct

Definition at line 1132 of file mrtk_rtksvr.c.

References rtksvr_t::lock, and rtk_lock.

Referenced by decodefile(), decoderaw(), rtksvrclosestr(), rtksvrmark(), rtksvropenstr(), rtksvrostat(), rtksvrsstat(), rtksvrstop(), rtksvrthread(), saveoutbuf(), and writesol().

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◆ rtksvrmark()

int rtksvrmark	(	rtksvr_t *	svr,
		const char *	name,
		const char *	comment )

extern

Mark current position in solution.

Parameters

[in,out]	svr	RTK server struct
[in]	name	mark name
[in]	comment	mark comment

Returns: status (0:error,1:ok)

Definition at line 1565 of file mrtk_rtksvr.c.

References COMMENTH, ecef2pos(), MAXSOLMSG, rtksvr_t::moni, solopt_t::posf, R2D, sol_t::rr, rtksvr_t::rtk, rtksvrlock(), rtksvrunlock(), saveoutbuf(), rtk_t::sol, SOLF_NMEA, SOLF_STAT, rtksvr_t::solopt, sol_t::stat, rtksvr_t::state, rtksvr_t::stream, strwrite(), sol_t::time, time2gpst(), time2str(), and tracet().

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◆ rtksvropenstr()

int rtksvropenstr	(	rtksvr_t *	svr,
		int	index,
		int	str,
		const char *	path,
		const solopt_t *	solopt )

extern

Open RTK server output/log stream.

Parameters

[in,out]	svr	RTK server struct
[in]	index	stream index
[in]	str	stream type
[in]	path	stream path
[in]	solopt	solution options

Returns: status (0:error,1:ok)

Definition at line 1446 of file mrtk_rtksvr.c.

References rtksvrlock(), rtksvrunlock(), rtksvr_t::solopt, rtksvr_t::state, stream_tag::state, STR_MODE_W, rtksvr_t::stream, stropen(), tracet(), and writesolhead().

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◆ rtksvrostat()

int rtksvrostat	(	rtksvr_t *	svr,
		int	type,
		gtime_t *	time,
		int *	sat,
		double *	az,
		double *	el,
		int **	snr,
		int *	vsat )

extern

Get observation data status.

Parameters

[in]	svr	RTK server struct
[in]	type	receiver type (0:rover,1:base,2:corr)
[out]	time	observation time
[out]	sat	satellite numbers
[out]	az	azimuths (rad)
[out]	el	elevations (rad)
[out]	snr	SNR (0.001 dBHz)
[out]	vsat	valid satellite flags

Returns: number of satellites

Definition at line 1507 of file mrtk_rtksvr.c.

References ssat_t::azel, obs_t::data, obs_t::n, rtksvr_t::obs, rtksvr_t::rtk, rtksvrlock(), rtksvrunlock(), obsd_t::sat, obsd_t::SNR, SNR_UNIT, rtk_t::sol, SOLQ_NONE, SOLQ_SINGLE, rtk_t::ssat, sol_t::stat, rtksvr_t::state, obsd_t::time, tracet(), ssat_t::vs, and ssat_t::vsat.

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◆ rtksvrsstat()

void rtksvrsstat	(	rtksvr_t *	svr,
		int *	sstat,
		char *	msg )

extern

Get stream status.

Parameters

[in,out]	svr	RTK server struct
[out]	sstat	stream status
[out]	msg	status message

Definition at line 1543 of file mrtk_rtksvr.c.

References MAXSTRMSG, MAXSTRRTK, rtksvrlock(), rtksvrunlock(), rtksvr_t::stream, strstat(), and tracet().

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◆ rtksvrstart()

int rtksvrstart	(	rtksvr_t *	svr,
		int	cycle,
		int	buffsize,
		int *	strs,
		char **	paths,
		int *	formats,
		int	navsel,
		char **	cmds,
		char **	cmds_periodic,
		char **	rcvopts,
		int	nmeacycle,
		int	nmeareq,
		const double *	nmeapos,
		prcopt_t *	prcopt,
		solopt_t *	solopt,
		stream_t *	moni,
		gtime_t	rst,
		char *	errmsg )

extern

Start RTK server.

Parameters

[in,out]	svr	RTK server struct
[in]	cycle	processing cycle (ms)
[in]	buffsize	input buffer size (bytes)
[in]	strs	stream types (8)
[in]	paths	stream paths (8)
[in]	formats	input formats (3)
[in]	navsel	navigation select (0:all,1:rov,2:base,3:corr)
[in]	cmds	startup commands (3)
[in]	cmds_periodic	periodic commands (3)
[in]	rcvopts	receiver options (3)
[in]	nmeacycle	NMEA request cycle (ms) (0:no)
[in]	nmeareq	NMEA request type (0:no,1:nmeapos,2:single)
[in]	nmeapos	NMEA request position (ecef) (m) (3)
[in]	prcopt	processing options
[in]	solopt	solution options (2)
[in]	moni	monitor stream (NULL: no monitor)
[in]	rst	reset time
[out]	errmsg	error message

Returns: status (0:error,1:ok)

Definition at line 1181 of file mrtk_rtksvr.c.

References rtksvr_t::buff, buffsize, rtksvr_t::buffsize, calloc, rtksvr_t::clas, nav_s::clas_ctx, clas_ctx_init(), rtksvr_t::cmds_periodic, CORR_GAL_HAS, CORR_QZS_MADOCA, prcopt_t::correction, rtksvr_t::ctx, rtksvr_t::cycle, nav_s::dgps, rtcm_t::dgps, nav_s::eph, errmsg(), rtksvr_t::format, free, g_mrtk_ctx, nav_s::geph, rtksvr_t::has, has_new(), init_raw(), init_rtcm(), prcopt_t::initrst, prcopt_t::ionocorr, prcopt_t::ionoopt, IONOOPT_EST, malloc, MAXOBSBUF, MAXSAT, MAXSTRRTK, rtksvr_t::mdciono, MIONO_MAX_PRN, prcopt_t::mode, rtksvr_t::moni, obs_t::n, rtksvr_t::nav, rtksvr_t::nave, rtksvr_t::navsel, rtksvr_t::nb, rtksvr_t::nmeacycle, rtksvr_t::nmeapos, rtksvr_t::nmeareq, rtksvr_t::nmsg, rtksvr_t::npb, NSATGLO, NSATSBS, rtksvr_t::nsbs, rtksvr_t::nsol, rtksvr_t::obs, raw_t::opt, rtcm_t::opt, rtksvr_t::pbuf, PMODE_PPP_RTK, POSOPT_SINGLE, nav_s::pppiono, rtksvr_t::prcout, rtksvr_t::raw, prcopt_t::rb, rtk_t::rb, rtksvr_t::rb_ave, prcopt_t::refpos, rtksvr_t::rtcm, rtksvr_t::rtk, rtkfree(), rtkinit(), rtksvrthread(), rtksvr_t::sbuf, nav_s::seph, prcopt_t::sigcfg, raw_t::sigcfg, prcopt_t::sigcfg_set, raw_t::sigcfg_set, sleepms(), rtksvr_t::solopt, rtksvr_t::state, STR_FILE, STR_MODE_R, STR_MODE_W, strclose(), rtksvr_t::stream, STRFMT_CLAS, STRFMT_L6E, STRFMT_SEPT, STRFMT_UBX, strgettime(), strinitcom(), stropen(), strsendcmd(), strsync(), strwrite(), rtksvr_t::thread, gtime_t::time, raw_t::time, rtcm_t::time, timeget(), geph_t::tof, seph_t::tof, tracet(), eph_t::ttr, utc2gpst(), and writesolhead().

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◆ rtksvrstop()

void rtksvrstop	(	rtksvr_t *	svr,
		char **	cmds )

extern

Stop RTK server.

Parameters

[in,out]	svr	RTK server struct
[in]	cmds	shutdown commands (3)

Definition at line 1415 of file mrtk_rtksvr.c.

References rtksvrlock(), rtksvrunlock(), rtksvr_t::state, rtksvr_t::stream, strsendcmd(), rtksvr_t::thread, and tracet().

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◆ rtksvrthread()

void * rtksvrthread ( void * arg )

static

Definition at line 835 of file mrtk_rtksvr.c.

References rtksvr_t::buff, rtksvr_t::buffsize, rtksvr_t::cmds_periodic, rtksvr_t::cputime, rtksvr_t::ctx, rtksvr_t::cycle, obs_t::data, decodefile(), decoderaw(), DTTOL, rtksvr_t::format, free, free_raw(), free_rtcm(), gpst2utc(), malloc, prcopt_t::maxaveep, MAXOBS, MAXSTRRTK, MIN_INT_RESET, obs_t::n, rtksvr_t::nav, rtksvr_t::nave, rtksvr_t::nb, rtksvr_t::nmeacycle, rtksvr_t::npb, rtksvr_t::nsb, rtksvr_t::obs, rtk_t::opt, rtksvr_t::pbuf, periodic_cmd(), pntpos(), POSOPT_SINGLE, rtksvr_t::prcout, rtk_t::prev_qr, sol_t::qr, rtksvr_t::raw, prcopt_t::rb, rtksvr_t::rb_ave, prcopt_t::refpos, sol_t::rr, rtksvr_t::rtcm, rtksvr_t::rtk, rtkpos(), rtksvrlock(), rtksvrunlock(), rtksvr_t::sbuf, send_nmea(), sleepms(), rtk_t::sol, SOLQ_NONE, sol_t::stat, rtksvr_t::state, strclose(), rtksvr_t::stream, STRFMT_RNXCLK, STRFMT_SP3, strread(), strwrite(), rtksvr_t::tick, tickget(), sol_t::time, timeadd(), timeset(), tracet(), and writesol().

Referenced by rtksvrstart().

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◆ rtksvrunlock()

void rtksvrunlock ( rtksvr_t * svr )

extern

Unlock RTK server mutex.

Parameters

[in,out] svr RTK server struct

Definition at line 1133 of file mrtk_rtksvr.c.

References rtksvr_t::lock, and rtk_unlock.

Referenced by decodefile(), decoderaw(), rtksvrclosestr(), rtksvrmark(), rtksvropenstr(), rtksvrostat(), rtksvrsstat(), rtksvrstop(), rtksvrthread(), saveoutbuf(), and writesol().

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◆ saveoutbuf()

void saveoutbuf	(	rtksvr_t *	svr,
		uint8_t *	buff,
		int	n,
		int	index )

static

Definition at line 71 of file mrtk_rtksvr.c.

References rtksvr_t::buffsize, rtksvr_t::nsb, rtksvrlock(), rtksvrunlock(), and rtksvr_t::sbuf.

Referenced by rtksvrmark(), and writesol().

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◆ send_nmea()

void send_nmea	(	rtksvr_t *	svr,
		uint32_t *	tickreset )

static

Definition at line 782 of file mrtk_rtksvr.c.

References baseline_len(), rtksvr_t::bl_reset, rtksvr_t::cmd_reset, matcpy(), MIN_INT_RESET, rtksvr_t::nmeapos, rtksvr_t::nmeareq, norm(), rtk_t::rb, sol_t::rr, rtksvr_t::rtk, rtk_t::sol, SOLQ_SINGLE, sol_t::stat, stream_tag::state, rtksvr_t::stream, strsendcmd(), strsendnmea(), tickget(), sol_t::time, timeget(), tracet(), and utc2gpst().

Referenced by rtksvrthread().

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◆ timeset()

void timeset ( gtime_t t )

extern

Definition at line 318 of file mrtk_time.c.

Referenced by rtksvrthread().

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◆ update_antpos()

void update_antpos	(	rtksvr_t *	svr,
		int	index )

static

Definition at line 238 of file mrtk_rtksvr.c.

References sta_t::del, sta_t::deltype, ecef2pos(), enu2ecef(), rtksvr_t::format, sta_t::hgt, rtksvr_t::nmsg, rtk_t::opt, sta_t::pos, POSOPT_RTCM, rtksvr_t::raw, rtk_t::rb, prcopt_t::refpos, rtksvr_t::rtcm, rtksvr_t::rtk, raw_t::sta, rtcm_t::sta, STRFMT_RTCM2, and STRFMT_RTCM3.

Referenced by update_svr().

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◆ update_eph()

void update_eph	(	rtksvr_t *	svr,
		nav_t *	nav,
		int	ephsat,
		int	ephset,
		int	index )

static

Definition at line 168 of file mrtk_rtksvr.c.

References nav_s::eph, nav_s::geph, eph_t::iode, geph_t::iode, MAXPRNGLO, MAXSAT, rtksvr_t::nav, rtksvr_t::navsel, rtksvr_t::nmsg, satsys(), SYS_GLO, gtime_t::time, timediff(), eph_t::toc, eph_t::toe, geph_t::tof, eph_t::ttr, and update_glofcn().

Referenced by update_svr().

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◆ update_glofcn()

void update_glofcn ( rtksvr_t * svr )

static

Definition at line 123 of file mrtk_rtksvr.c.

References geph_t::frq, nav_s::geph, MAXPRNGLO, raw_t::nav, rtksvr_t::raw, geph_t::sat, satno(), and SYS_GLO.

Referenced by update_eph().

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◆ update_ionutc()

void update_ionutc	(	rtksvr_t *	svr,
		nav_t *	nav,
		int	index )

static

Definition at line 220 of file mrtk_rtksvr.c.

References nav_s::ion_cmp, nav_s::ion_gal, nav_s::ion_gps, nav_s::ion_irn, nav_s::ion_qzs, matcpy(), rtksvr_t::nav, rtksvr_t::navsel, rtksvr_t::nmsg, nav_s::utc_cmp, nav_s::utc_gal, nav_s::utc_glo, nav_s::utc_gps, nav_s::utc_irn, nav_s::utc_qzs, and nav_s::utc_sbs.

Referenced by update_svr().

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◆ update_lcl()

void update_lcl	(	rtksvr_t *	svr,
		int	index )

static

Definition at line 322 of file mrtk_rtksvr.c.

References block2stat(), rtksvr_t::nav, rtksvr_t::nmsg, rtksvr_t::rtcm, and nav_s::stat.

Referenced by update_svr().

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◆ update_obs()

void update_obs	(	rtksvr_t *	svr,
		obs_t *	obs,
		int	index,
		int	iobs )

static

Definition at line 149 of file mrtk_rtksvr.c.

References obs_t::data, prcopt_t::exsats, MAXOBSBUF, obs_t::n, prcopt_t::navsys, rtksvr_t::nmsg, rtksvr_t::obs, rtk_t::opt, obsd_t::rcv, rtksvr_t::rtk, obsd_t::sat, satsys(), and sortobs().

Referenced by update_svr().

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◆ update_sbs()

void update_sbs	(	rtksvr_t *	svr,
		sbsmsg_t *	sbsmsg,
		int	index )

static

Definition at line 202 of file mrtk_rtksvr.c.

References MAXSBSMSG, rtksvr_t::nav, rtksvr_t::nmsg, rtksvr_t::nsbs, rtk_t::opt, sbsmsg_t::prn, sbsmsg_t::rcv, rtksvr_t::rtk, prcopt_t::sbassatsel, rtksvr_t::sbsmsg, and sbsupdatecorr().

Referenced by update_svr().

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◆ update_ssr()

void update_ssr	(	rtksvr_t *	svr,
		int	index )

static

Definition at line 271 of file mrtk_rtksvr.c.

References nav_s::eph, nav_s::geph, ssr_t::iod, eph_t::iode, geph_t::iode, ssr_t::iode, MAXPRNGLO, MAXSAT, rtksvr_t::nav, rtksvr_t::nmsg, rtksvr_t::rtcm, satsys(), rtcm_t::ssr, nav_s::ssr_ch, SYS_GAL, SYS_GLO, SYS_GPS, SYS_QZS, and ssr_t::update.

Referenced by update_svr().

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◆ update_stat()

void update_stat	(	rtksvr_t *	svr,
		int	index )

static

Definition at line 305 of file mrtk_rtksvr.c.

References getstano(), MAXSAT, rtksvr_t::nav, rtksvr_t::nmsg, sstat_t::sion, stat_t::sion, rtksvr_t::sstat, nav_s::stat, sstat_t::strp, stat_t::strp, sstat_t::time, and stat_t::time.

Referenced by update_svr().

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◆ update_svr()

void update_svr	(	rtksvr_t *	svr,
		int	ret,
		obs_t *	obs,
		nav_t *	nav,
		int	ephsat,
		int	ephset,
		sbsmsg_t *	sbsmsg,
		int	index,
		int	iobs )

static

Definition at line 346 of file mrtk_rtksvr.c.

References rtksvr_t::nmsg, rtksvr_ssr_applicable(), tracet(), update_antpos(), update_eph(), update_ionutc(), update_lcl(), update_obs(), update_sbs(), update_ssr(), and update_stat().

Referenced by decoderaw().

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◆ writesol()

void writesol	(	rtksvr_t *	svr,
		int	index )

static

Definition at line 81 of file mrtk_rtksvr.c.

References MAXSOLBUF, MAXSOLMSG, rtksvr_t::moni, rtksvr_t::nsol, outsolexs(), outsols(), solopt_t::posf, rtk_t::rb, rtksvr_t::rtk, rtkoutstat(), rtksvrlock(), rtksvrunlock(), saveoutbuf(), rtk_t::sol, rtksvr_t::solbuf, SOLF_STAT, rtksvr_t::solopt, solopt_default, rtk_t::ssat, rtksvr_t::stream, strwrite(), and tracet().

Referenced by rtksvrthread().

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◆ writesolhead()

void writesolhead	(	stream_t *	stream,
		const solopt_t *	solopt )

static

Definition at line 63 of file mrtk_rtksvr.c.

References outsolheads(), and strwrite().

Referenced by rtksvropenstr(), and rtksvrstart().

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Macros

Functions

Macro Definition Documentation

◆ COMMENTH

◆ MIN_INT_RESET

◆ R2D

◆ SYS_CMP

◆ SYS_GAL

◆ SYS_GLO

◆ SYS_GPS

◆ SYS_QZS

Function Documentation

◆ baseline_len()

◆ decodefile()

◆ decoderaw()

◆ periodic_cmd()

◆ rtksvr_ssr_applicable()

◆ rtksvrclosestr()

◆ rtksvrfree()

◆ rtksvrinit()

◆ rtksvrlock()

◆ rtksvrmark()

◆ rtksvropenstr()

◆ rtksvrostat()

◆ rtksvrsstat()

◆ rtksvrstart()

◆ rtksvrstop()

◆ rtksvrthread()

◆ rtksvrunlock()

◆ saveoutbuf()

◆ send_nmea()

◆ timeset()

◆ update_antpos()

◆ update_eph()

◆ update_glofcn()

◆ update_ionutc()

◆ update_lcl()

◆ update_obs()

◆ update_sbs()

◆ update_ssr()

◆ update_stat()

◆ update_svr()

◆ writesol()

◆ writesolhead()