添加rtk后处理函数

Erensu · Apr 28, 2019 · 423bc6a · 423bc6a
1 parent 1d14391
commit 423bc6a
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Showing 5 changed files with 163 additions and 17 deletions.
diff --git a/.idea/codeStyleSettings.xml b/.idea/codeStyleSettings.xml
diff --git a/.idea/markdown-exported-files.xml b/.idea/markdown-exported-files.xml
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
diff --git a/lib/libcarvig.a b/lib/libcarvig.a
diff --git a/src/ins-gnss/app/rnx2rtkp.cc b/src/ins-gnss/app/rnx2rtkp.cc
@@ -8,6 +8,21 @@
 
 #define MAXFILE     16                  /* max number of input files */
 
+/* receiver options table ----------------------------------------------------*/
+#define TIMOPT  "0:gpst,1:utc,2:jst,3:tow"
+#define CONOPT  "0:dms,1:deg,2:xyz,3:enu,4:pyl"
+#define FLGOPT  "0:off,1:std+2:age/ratio/ns"
+#define ISTOPT  "0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http"
+#define OSTOPT  "0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr,11:ntripc_c"
+#define FMTOPT  "0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,11:binex,12:rt17,13:sbf,14:cmr,15:tersus,18:sp3,19:rnxclk,20:sbas,21:nmea,22:gsof,23:ublox-evk-m8u,24:ublox-sol,25:m39,26:rinex,27:m39-mix,28:euroc-imu,29:euroc-img,30:karl-img,31:malaga-gnss,32:malaga-imu,33:malaga-img,34:oem6-sol,35:oem6-pose,36:oem6-raw"
+#define NMEOPT  "0:off,1:latlon,2:single"
+#define SOLOPT  "0:llh,1:xyz,2:enu,3:nmea,4:stat,5:gsif,6:ins"
+#define MSGOPT  "0:all,1:rover,2:base,3:corr"
+
+#define OPTSDIR     "."                 /* default config directory */
+#define OPTSFILE    "rtkrcv.conf"       /* default config file */
+#define MAXSTR      1024                /* max length of a stream */
+
 /* help text -----------------------------------------------------------------*/
 static const char *help[]={
         "",
@@ -27,9 +42,59 @@ static const char *help[]={
         " command line options precede options in the configuration file.",
         "",
         " -?        print help",
-        " -k file   input options from configuration file [off]",
+        " -p file   input options from configuration file [off]",
         " -o file   set output file [stdout]",
 };
+static int strtype[]={                  /* stream types */
+        STR_SERIAL,STR_NONE,STR_NONE,STR_NONE,STR_NONE,STR_NONE,STR_NONE,STR_NONE,STR_NONE,
+        STR_NONE,STR_NONE,STR_NONE,STR_NONE,STR_NONE
+};
+static char strpath[14][MAXSTR]={"","","","","","","","","","","","","",""}; /* stream paths */
+static int strfmt[]={                   /* stream formats */
+        STRFMT_UBX,STRFMT_RTCM3,STRFMT_SP3,STRFMT_UBXM8,STRFMT_UBXSOL,SOLF_LLH,SOLF_NMEA,
+        SOLF_LLH,SOLF_LLH
+};
+static opt_t rcvopts[]={
+        {"inpstr1-type",    3,  (void *)&strtype[0],         ISTOPT },
+        {"inpstr2-type",    3,  (void *)&strtype[1],         ISTOPT },
+        {"inpstr3-type",    3,  (void *)&strtype[2],         ISTOPT },
+        {"inpstr4-type",    3,  (void *)&strtype[3],         ISTOPT },
+        {"inpstr5-type",    3,  (void *)&strtype[4],         ISTOPT },
+        {"inpstr6-type",    3,  (void *)&strtype[5],         ISTOPT },
+        {"inpstr7-type",    3,  (void *)&strtype[6],         ISTOPT },
+        {"inpstr1-path",    2,  (void *)strpath [0],         ""     },
+        {"inpstr2-path",    2,  (void *)strpath [1],         ""     },
+        {"inpstr3-path",    2,  (void *)strpath [2],         ""     },
+        {"inpstr4-path",    2,  (void *)strpath [3],         ""     },
+        {"inpstr5-path",    2,  (void *)strpath [4],         ""     },
+        {"inpstr6-path",    2,  (void *)strpath [5],         ""     },
+        {"inpstr7-path",    2,  (void *)strpath [6],         ""     },
+        {"inpstr1-format",  3,  (void *)&strfmt [0],         FMTOPT },
+        {"inpstr2-format",  3,  (void *)&strfmt [1],         FMTOPT },
+        {"inpstr3-format",  3,  (void *)&strfmt [2],         FMTOPT },
+        {"inpstr4-format",  3,  (void *)&strfmt [3],         FMTOPT },
+        {"inpstr5-format",  3,  (void *)&strfmt [4],         FMTOPT },
+        {"inpstr6-format",  3,  (void *)&strfmt [5],         FMTOPT },
+        {"inpstr7-format",  3,  (void *)&strfmt [6],         FMTOPT },
+        {"outstr1-type",    3,  (void *)&strtype[7],         OSTOPT },
+        {"outstr2-type",    3,  (void *)&strtype[8],         OSTOPT },
+        {"outstr1-path",    2,  (void *)strpath [7],         ""     },
+        {"outstr2-path",    2,  (void *)strpath [8],         ""     },
+        {"outstr1-format",  3,  (void *)&strfmt [7],         SOLOPT },
+        {"outstr2-format",  3,  (void *)&strfmt [8],         SOLOPT },
+        {"logstr1-type",    3,  (void *)&strtype[9],         OSTOPT },
+        {"logstr2-type",    3,  (void *)&strtype[10],        OSTOPT },
+        {"logstr3-type",    3,  (void *)&strtype[11],        OSTOPT },
+        {"logstr4-type",    3,  (void *)&strtype[12],        OSTOPT },
+        {"logstr5-type",    3,  (void *)&strtype[13],        OSTOPT },
+        {"logstr1-path",    2,  (void *)strpath [9],         ""     },
+        {"logstr2-path",    2,  (void *)strpath [10],        ""     },
+        {"logstr3-path",    2,  (void *)strpath [11],        ""     },
+        {"logstr4-path",    2,  (void *)strpath [12],        ""     },
+        {"logstr5-path",    2,  (void *)strpath [13],        ""     },
+
+        {"",0,NULL,""}
+};
 /* print help ----------------------------------------------------------------*/
 static void printhelp(void)
 {
@@ -44,29 +109,43 @@ int main(int argc, char **argv)
     solopt_t solopt=solopt_default;
     filopt_t filopt={""};
     gtime_t ts={0},te={0};
-    double tint=0.0,es[]={2000,1,1,0,0,0},ee[]={2000,12,31,23,59,59},pos[3];
-    int i,j,n,ret;
-    char *infile[MAXFILE],*outfile="",*p;
+    double tint=0.0;
+    int i,n,ret;
+    char *infile[MAXFILE],*outfile="",file[1024];
 
+    for (i=1;i<argc;i++) {
+        if      (!strcmp(argv[i],"-p")&&i+1<argc) strcpy(file,argv[++i]);
+        else if (!strcmp(argv[i],"-o")&&i+1<argc) outfile=argv[++i];
+        else printhelp();
+    }
+    /* load options file */
+    if (!*file) sprintf(file,"%s/%s",OPTSDIR,OPTSFILE);
+    resetsysopts();
+    if (!loadopts(file,rcvopts)||!loadopts(file,sysopts)||
+        !loadopts(file,insopts)) {
+        fprintf(stderr,"no options file: %s. defaults used\n",file);
+    }
+    getsysopts(&prcopt,&solopt,&filopt);
+    for (i=0;i<16;i++) {
+        if (!(infile[i]=(char *)malloc(1024))) {
+            for (;i>=0;i--) free(infile[i]); return -1;
+        }
+    }
     prcopt.mode  =PMODE_KINEMA;
     prcopt.navsys=0;
     prcopt.refpos=1;
     prcopt.glomodear=1;
     solopt.timef=0;
 
-    /* load options from configuration file */
-    for (i=1;i<argc;i++) {
-        if (!strcmp(argv[i],"-k")&&i+1<argc) {
-            resetsysopts();
-            if (!loadopts(argv[++i],sysopts)) return -1;
-            getsysopts(&prcopt,&solopt,&filopt);
-        }
-    }
-    for (i=1,n=0;i<argc;i++) {
-        if      (!strcmp(argv[i],"-o")&&i+1<argc) outfile=argv[++i];
-        else if (*argv[i]=='-?') printhelp();
-        else if (n<MAXFILE) infile[n++]=argv[i];
-    }
+    /* set input files */
+    strcpy(infile[0],strpath[0]);
+    strcpy(infile[1],strpath[1]);
+    strcpy(infile[2],filopt.navfile);
+    strcpy(infile[3],filopt.bdsfile);
+    strcpy(infile[4],filopt.glofile);
+    strcpy(infile[5],filopt.mixfile);
+    n=6;
+
     if (n<=0) {
         showmsg("error : no input file");
         return -2;