MRTKLIB Solution Module — Solution data types and I/O functions. More...

#include <stdint.h>
#include <stdio.h>
#include "mrtklib/mrtk_foundation.h"
#include "mrtklib/mrtk_opt.h"
#include "mrtklib/mrtk_time.h"

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Classes
struct	sol_t
struct	solbuf_t
struct	solstat_t
struct	solstatbuf_t
struct	ssat_t

Functions
void	initsolbuf (solbuf_t *solbuf, int cyclic, int nmax)
	Initialize solution buffer.
void	freesolbuf (solbuf_t *solbuf)
	Free solution buffer memory.
void	freesolstatbuf (solstatbuf_t *solstatbuf)
	Free solution status buffer memory.
sol_t *	getsol (solbuf_t *solbuf, int index)
	Get solution from buffer.
int	addsol (solbuf_t solbuf, const sol_t sol)
	Add solution to buffer.
int	readsol (char files[], int nfile, solbuf_t sol)
	Read solutions from files.
int	readsolt (char files[], int nfile, gtime_t ts, gtime_t te, double tint, int qflag, solbuf_t sol)
	Read solutions from files with time filter.
int	readsolstat (char files[], int nfile, solstatbuf_t statbuf)
	Read solution status from files.
int	readsolstatt (char files[], int nfile, gtime_t ts, gtime_t te, double tint, solstatbuf_t statbuf)
	Read solution status from files with time filter.
int	inputsol (uint8_t data, gtime_t ts, gtime_t te, double tint, int qflag, const solopt_t opt, solbuf_t solbuf)
	Input solution data from stream.
int	outprcopts (uint8_t buff, const prcopt_t opt)
	Output processing options to buffer.
int	outsolheads (uint8_t buff, const solopt_t opt)
	Output solution header to buffer.
int	outsols (uint8_t buff, const sol_t sol, const double rb, const solopt_t opt)
	Output solution to buffer.
int	outsolexs (uint8_t buff, const sol_t sol, const ssat_t ssat, const solopt_t opt)
	Output solution extended data to buffer.
void	outprcopt (FILE fp, const prcopt_t opt)
	Output processing options to file.
void	outsolhead (FILE fp, const solopt_t opt)
	Output solution header to file.
void	outsol (FILE fp, const sol_t sol, const double rb, const solopt_t opt)
	Output solution to file.
void	outsolex (FILE fp, const sol_t sol, const ssat_t ssat, const solopt_t opt)
	Output solution extended data to file.
int	outnmea_rmc (uint8_t buff, const sol_t sol)
	Output NMEA RMC sentence.
int	outnmea_gga (uint8_t buff, const sol_t sol)
	Output NMEA GGA sentence.
int	outnmea_gsa (uint8_t buff, const sol_t sol, const ssat_t *ssat)
	Output NMEA GSA sentence.
int	outnmea_gsv (uint8_t buff, const sol_t sol, const ssat_t *ssat)
	Output NMEA GSV sentence.

Detailed Description

MRTKLIB Solution Module — Solution data types and I/O functions.

This header provides the solution data structures (sol_t, solbuf_t, solstat_t, solstatbuf_t, ssat_t) and solution I/O functions extracted from rtklib.h/solution.c with zero algorithmic changes.

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

Definition in file mrtk_sol.h.

Function Documentation

◆ addsol()

int addsol	(	solbuf_t *	solbuf,
		const sol_t *	sol )

Add solution to buffer.

Parameters

[in,out]	solbuf	Solution buffer
[in]	sol	Solution data

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

Definition at line 1017 of file mrtk_sol.c.

References solbuf_t::cyclic, solbuf_t::data, solbuf_t::end, free, solbuf_t::n, solbuf_t::nmax, solbuf_t::start, and trace().

Referenced by inputsol().

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◆ freesolbuf()

void freesolbuf ( solbuf_t * solbuf )

Free solution buffer memory.

Parameters

[in,out] solbuf Solution buffer

Definition at line 1111 of file mrtk_sol.c.

References solbuf_t::data, solbuf_t::end, free, solbuf_t::n, solbuf_t::nb, solbuf_t::nmax, solbuf_t::rb, solbuf_t::start, and trace().

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◆ freesolstatbuf()

void freesolstatbuf ( solstatbuf_t * solstatbuf )

Free solution status buffer memory.

Parameters

[in,out] solstatbuf Solution status buffer

Definition at line 1123 of file mrtk_sol.c.

References solstatbuf_t::data, free, solstatbuf_t::n, solstatbuf_t::nmax, and trace().

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◆ getsol()

sol_t * getsol	(	solbuf_t *	solbuf,
		int	index )

Get solution from buffer.

Parameters

[in,out]	solbuf	Solution buffer
[in]	index	Solution index (0 to n-1)

Returns: Solution data pointer (NULL: out of range)

Definition at line 1060 of file mrtk_sol.c.

References solbuf_t::data, solbuf_t::nmax, solbuf_t::start, and trace().

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◆ initsolbuf()

void initsolbuf	(	solbuf_t *	solbuf,
		int	cyclic,
		int	nmax )

Initialize solution buffer.

Parameters

[out]	solbuf	Solution buffer
[in]	cyclic	Cyclic buffer flag (0:off, 1:on)
[in]	nmax	Max number of solutions (0:default)

Definition at line 1078 of file mrtk_sol.c.

References solbuf_t::cyclic, solbuf_t::data, solbuf_t::end, malloc, solbuf_t::n, solbuf_t::nb, solbuf_t::nmax, solbuf_t::rb, solbuf_t::start, solbuf_t::time, and trace().

Referenced by readsolt().

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◆ inputsol()

int inputsol	(	uint8_t	data,
		gtime_t	ts,
		gtime_t	te,
		double	tint,
		int	qflag,
		const solopt_t *	opt,
		solbuf_t *	solbuf )

Input solution data from stream.

Parameters

[in]	data	Stream data byte
[in]	ts	Start time (GPST)
[in]	te	End time (GPST)
[in]	tint	Time interval (s)
[in]	qflag	Quality flag (0:all)
[in]	opt	Solution options
[in,out]	solbuf	Solution buffer

Returns: Status (0:no data, 1:new solution)

Definition at line 874 of file mrtk_sol.c.

References addsol(), solbuf_t::buff, decode_sol(), MAXSOLMSG, MSG_DISCONN, solbuf_t::nb, solbuf_t::rb, screent(), sol_t::stat, sol_t::time, solbuf_t::time, and trace().

Referenced by readsoldata().

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◆ outnmea_gga()

int outnmea_gga	(	uint8_t *	buff,
		const sol_t *	sol )

Output NMEA GGA sentence.

Parameters

[out]	buff	Output buffer
[in]	sol	Solution data

Returns: Number of output bytes

Definition at line 1447 of file mrtk_sol.c.

References sol_t::age, deg2dms(), ecef2pos(), geoidh(), gpst2utc(), nmea_solq, NMEA_TID, sol_t::ns, R2D, sol_t::rr, gtime_t::sec, SOLQ_NONE, sol_t::stat, gtime_t::time, sol_t::time, time2epoch(), and trace().

Referenced by outsols(), and strsendnmea().

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◆ outnmea_gsa()

int outnmea_gsa	(	uint8_t *	buff,
		const sol_t *	sol,
		const ssat_t *	ssat )

Output NMEA GSA sentence.

Parameters

[out]	buff	Output buffer
[in]	sol	Solution data
[in]	ssat	Satellite status

Returns: Number of output bytes

Definition at line 1493 of file mrtk_sol.c.

References ssat_t::azel, dops(), MAXSAT, nmea_sid, nmea_sys, nmea_tid, satsys(), sol_t::stat, SYS_GLO, SYS_QZS, SYS_SBS, and trace().

Referenced by outsolexs().

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◆ outnmea_gsv()

int outnmea_gsv	(	uint8_t *	buff,
		const sol_t *	sol,
		const ssat_t *	ssat )

Output NMEA GSV sentence.

Parameters

[out]	buff	Output buffer
[in]	sol	Solution data
[in]	ssat	Satellite status

Returns: Number of output bytes

Definition at line 1552 of file mrtk_sol.c.

References ssat_t::azel, MAXSAT, nmea_sys, nmea_tid, R2D, satsys(), ssat_t::snr, SNR_UNIT, SYS_GLO, SYS_QZS, SYS_SBS, and trace().

Referenced by outsolexs().

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◆ outnmea_rmc()

int outnmea_rmc	(	uint8_t *	buff,
		const sol_t *	sol )

Output NMEA RMC sentence.

Parameters

[out]	buff	Output buffer
[in]	sol	Solution data

Returns: Number of output bytes

Definition at line 1390 of file mrtk_sol.c.

References deg2dms(), ecef2enu(), ecef2pos(), gpst2utc(), KNOT2M, NMEA_TID, norm(), R2D, sol_t::rr, gtime_t::sec, SOLQ_DGPS, SOLQ_FIX, SOLQ_FLOAT, SOLQ_NONE, SOLQ_PPP, SOLQ_SBAS, sol_t::stat, gtime_t::time, sol_t::time, time2epoch(), and trace().

Referenced by outsols().

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◆ outprcopt()

void outprcopt	(	FILE *	fp,
		const prcopt_t *	opt )

Output processing options to file.

Parameters

[in]	fp	Output file pointer
[in]	opt	Processing options

Definition at line 1871 of file mrtk_sol.c.

References MAXSOLMSG, outprcopts(), and trace().

Referenced by outheader().

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◆ outprcopts()

int outprcopts	(	uint8_t *	buff,
		const prcopt_t *	opt )

Output processing options to buffer.

Parameters

[out]	buff	Output buffer
[in]	opt	Processing options

Returns: Number of output bytes

Definition at line 1609 of file mrtk_sol.c.

References prcopt_t::antdel, prcopt_t::anttype, prcopt_t::arsys, prcopt_t::baseline, COMMENTH, prcopt_t::dynamics, prcopt_t::elmin, prcopt_t::ionoopt, prcopt_t::mode, prcopt_t::modear, prcopt_t::navsys, prcopt_t::nf, PMODE_DGPS, PMODE_FIXED, PMODE_KINEMA, PMODE_MOVEB, PMODE_PPP_FIXED, PMODE_SINGLE, R2D, prcopt_t::sateph, prcopt_t::soltype, SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_IRN, SYS_QZS, SYS_SBS, prcopt_t::thresar, prcopt_t::tidecorr, trace(), and prcopt_t::tropopt.

Referenced by outprcopt().

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◆ outsol()

void outsol	(	FILE *	fp,
		const sol_t *	sol,
		const double *	rb,
		const solopt_t *	opt )

Output solution to file.

Parameters

[in]	fp	Output file pointer
[in]	sol	Solution data
[in]	rb	Reference position (ecef) (m)
[in]	opt	Solution options

Definition at line 1905 of file mrtk_sol.c.

References MAXSOLMSG, outsols(), and trace().

Referenced by combres(), and procpos().

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◆ outsolex()

void outsolex	(	FILE *	fp,
		const sol_t *	sol,
		const ssat_t *	ssat,
		const solopt_t *	opt )

Output solution extended data to file.

Parameters

[in]	fp	Output file pointer
[in]	sol	Solution data
[in]	ssat	Satellite status
[in]	opt	Solution options

Definition at line 1924 of file mrtk_sol.c.

References MAXSOLMSG, outsolexs(), and trace().

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◆ outsolexs()

int outsolexs	(	uint8_t *	buff,
		const sol_t *	sol,
		const ssat_t *	ssat,
		const solopt_t *	opt )

Output solution extended data to buffer.

Parameters

[out]	buff	Output buffer
[in]	sol	Solution data
[in]	ssat	Satellite status
[in]	opt	Solution options

Returns: Number of output bytes

Definition at line 1841 of file mrtk_sol.c.

References solopt_t::maxsolstd, solopt_t::nmeaintv, outnmea_gsa(), outnmea_gsv(), solopt_t::posf, screent(), sol_std(), SOLF_NMEA, sol_t::time, and trace().

Referenced by outsolex(), and writesol().

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◆ outsolhead()

void outsolhead	(	FILE *	fp,
		const solopt_t *	opt )

Output solution header to file.

Parameters

[in]	fp	Output file pointer
[in]	opt	Solution options

Definition at line 1887 of file mrtk_sol.c.

References MAXSOLMSG, outsolheads(), and trace().

Referenced by outheader().

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◆ outsolheads()

int outsolheads	(	uint8_t *	buff,
		const solopt_t *	opt )

Output solution header to buffer.

Parameters

[out]	buff	Output buffer
[in]	opt	Solution options

Returns: Number of output bytes

Definition at line 1683 of file mrtk_sol.c.

References COMMENTH, solopt_t::datum, solopt_t::degf, solopt_t::height, opt2sep(), solopt_t::outhead, solopt_t::outvel, solopt_t::posf, SOLF_ENU, SOLF_GSIF, SOLF_LLH, SOLF_NMEA, SOLF_STAT, SOLF_XYZ, solopt_t::timef, solopt_t::times, solopt_t::timeu, and trace().

Referenced by outsolhead(), and writesolhead().

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◆ outsols()

int outsols	(	uint8_t *	buff,
		const sol_t *	sol,
		const double *	rb,
		const solopt_t *	opt )

Output solution to buffer.

Parameters

[out]	buff	Output buffer
[in]	sol	Solution data
[in]	rb	Reference position (ecef) (m)
[in]	opt	Solution options

Returns: Number of output bytes

Definition at line 1770 of file mrtk_sol.c.

References gpst2utc(), solopt_t::maxsolstd, solopt_t::nmeaintv, norm(), opt2sep(), outecef(), outenu(), outnmea_gga(), outnmea_rmc(), outpos(), solopt_t::posf, screent(), sol_std(), SOLF_ENU, SOLF_LLH, SOLF_NMEA, SOLF_XYZ, SOLQ_NONE, sol_t::stat, sol_t::time, time2gpst(), time2str(), timeadd(), solopt_t::timef, solopt_t::times, TIMES_JST, TIMES_UTC, solopt_t::timeu, and trace().

Referenced by outsol(), and writesol().

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◆ readsol()

int readsol	(	char *	files[],
		int	nfile,
		solbuf_t *	sol )

Read solutions from files.

Parameters

[in]	files	Solution file paths
[in]	nfile	Number of files
[out]	sol	Solution buffer

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

Definition at line 1004 of file mrtk_sol.c.

References readsolt(), and trace().

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◆ readsolstat()

int readsolstat	(	char *	files[],
		int	nfile,
		solstatbuf_t *	statbuf )

Read solution status from files.

Parameters

[in]	files	Solution status file paths
[in]	nfile	Number of files
[out]	statbuf	Solution status buffer

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

Definition at line 1293 of file mrtk_sol.c.

References readsolstatt(), and trace().

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◆ readsolstatt()

int readsolstatt	(	char *	files[],
		int	nfile,
		gtime_t	ts,
		gtime_t	te,
		double	tint,
		solstatbuf_t *	statbuf )

Read solution status from files with time filter.

Parameters

[in]	files	Solution status file paths
[in]	nfile	Number of files
[in]	ts	Start time (GPST)
[in]	te	End time (GPST)
[in]	tint	Time interval (s)
[out]	statbuf	Solution status buffer

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

Definition at line 1261 of file mrtk_sol.c.

References solstatbuf_t::data, solstatbuf_t::n, solstatbuf_t::nmax, readsolstatdata(), sort_solstat(), and trace().

Referenced by readsolstat().

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◆ readsolt()

int readsolt	(	char *	files[],
		int	nfile,
		gtime_t	ts,
		gtime_t	te,
		double	tint,
		int	qflag,
		solbuf_t *	sol )

Read solutions from files with time filter.

Parameters

[in]	files	Solution file paths
[in]	nfile	Number of files
[in]	ts	Start time (GPST) (ts.time==0: no limit)
[in]	te	End time (GPST) (te.time==0: no limit)
[in]	tint	Time interval (s) (0.0: no limit)
[in]	qflag	Quality flag (0:all)
[out]	sol	Solution buffer

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

Definition at line 978 of file mrtk_sol.c.

References initsolbuf(), readsoldata(), readsolopt(), solopt_default, sort_solbuf(), and trace().

Referenced by readsol().

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Classes

Functions

Detailed Description

Function Documentation

◆ addsol()

◆ freesolbuf()

◆ freesolstatbuf()

◆ getsol()

◆ initsolbuf()

◆ inputsol()

◆ outnmea_gga()

◆ outnmea_gsa()

◆ outnmea_gsv()

◆ outnmea_rmc()

◆ outprcopt()

◆ outprcopts()

◆ outsol()

◆ outsolex()

◆ outsolexs()

◆ outsolhead()

◆ outsolheads()

◆ outsols()

◆ readsol()

◆ readsolstat()

◆ readsolstatt()

◆ readsolt()