MRTKLIB RTK Server Module — real-time positioning server. More...

#include "mrtklib/mrtk_clas.h"
#include "mrtklib/mrtk_context.h"
#include "mrtklib/mrtk_foundation.h"
#include "mrtklib/mrtk_has.h"
#include "mrtklib/mrtk_nav.h"
#include "mrtklib/mrtk_obs.h"
#include "mrtklib/mrtk_opt.h"
#include "mrtklib/mrtk_ppp.h"
#include "mrtklib/mrtk_rcvraw.h"
#include "mrtklib/mrtk_rtcm.h"
#include "mrtklib/mrtk_rtkpos.h"
#include "mrtklib/mrtk_sol.h"
#include "mrtklib/mrtk_stream.h"
#include "mrtklib/mrtk_time.h"

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Classes
struct	rtksvr_t

Functions
int	rtksvrinit (rtksvr_t *svr)
	Initialize RTK server.
void	rtksvrfree (rtksvr_t *svr)
	Free RTK server resources.
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.
void	rtksvrlock (rtksvr_t *svr)
	Lock RTK server mutex.
void	rtksvrunlock (rtksvr_t *svr)
	Unlock RTK server mutex.
int	rtksvrostat (rtksvr_t svr, int type, 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.
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].

Detailed Description

MRTKLIB RTK Server Module — real-time positioning server.

This header provides the rtksvr_t type and functions for managing a real-time RTK positioning server that reads receiver data streams, performs positioning computation, and outputs solutions.

Note: Functions declared here are implemented in mrtk_rtksvr.c.

Definition in file mrtk_rtksvr.h.

Function Documentation

◆ rtksvr_ssr_applicable()

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].

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 )

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 )

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 )

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 )

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 )

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 )

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 )

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 )

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 )

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 )

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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◆ rtksvrunlock()

void rtksvrunlock ( rtksvr_t * svr )

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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Classes

Functions

Detailed Description

Function Documentation

◆ rtksvr_ssr_applicable()

◆ rtksvrclosestr()

◆ rtksvrfree()

◆ rtksvrinit()

◆ rtksvrlock()

◆ rtksvrmark()

◆ rtksvropenstr()

◆ rtksvrostat()

◆ rtksvrsstat()

◆ rtksvrstart()

◆ rtksvrstop()

◆ rtksvrunlock()