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rtkrcv, rtknavi: support more solution out streams #762

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2 changes: 1 addition & 1 deletion app/consapp/rtkrcv/gcc/makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
BINDIR = /usr/local/bin
SRC = ../../../../src

CTARGET= -DTRACE -DENAGLO -DENAQZS -DENACMP -DENAGAL -DENAIRN -DNFREQ=4 -DNEXOBS=3 -DSVR_REUSEADDR
CTARGET= -DTRACE -DENAGLO -DENAQZS -DENACMP -DENAGAL -DENAIRN -DNFREQ=4 -DNEXOBS=3 -DSVR_REUSEADDR -DRTKSVRNSOL=6
#CTARGET= -DENAGLO -DENAQZS -DENACMP -DENAGAL -DENAIRN -DNFREQ=4 -DIERS_MODEL -DSVR_REUSEADDR

CFLAGS = -std=c99 -Wall -O3 -pedantic -Wno-unused-but-set-variable -I$(SRC) -I.. -DTRACE $(CTARGET) -g
Expand Down
124 changes: 74 additions & 50 deletions app/consapp/rtkrcv/rtkrcv.c
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Original file line number Diff line number Diff line change
Expand Up @@ -91,13 +91,14 @@ static char passwd[MAXSTR]="admin"; /* login password */
static int timetype =0; /* time format (0:gpst,1:utc,2:jst,3:tow) */
static int soltype =0; /* sol format (0:dms,1:deg,2:xyz,3:enu,4:pyl) */
static int solflag =2; /* sol flag (1:std+2:age/ratio/ns) */
static int strtype[]={ /* stream types */
STR_SERIAL,STR_NONE,STR_NONE,STR_NONE,STR_NONE,STR_NONE,STR_NONE,STR_NONE
static int strtype[MAXSTRRTK]={ /* stream types */
STR_SERIAL,STR_NONE,STR_NONE,STR_NONE,STR_NONE,STR_NONE
};
static char strpath[8][MAXSTR]={"","","","","","","",""}; /* stream paths */
static int strfmt[]={ /* stream formats */
STRFMT_UBX,STRFMT_RTCM3,STRFMT_SP3,SOLF_LLH,SOLF_NMEA
static char strpath[MAXSTRRTK][MAXSTR]={"","","","","",""}; /* stream paths */
static int strfmt[]={ /* Input stream formats */
STRFMT_UBX,STRFMT_RTCM3,STRFMT_SP3
};
static int ostrfmt[RTKSVRNSOL]; /* Output stream formats */
static char rcvopt[3][256]={""}; /* Receiver options */
static int svrcycle =10; /* server cycle (ms) */
static int timeout =10000; /* timeout time (ms) */
Expand All @@ -122,7 +123,7 @@ static int fswapmargin =30; /* file swap margin (s) */
static char sta_name[256]=""; /* station name */

static prcopt_t prcopt; /* processing options */
static solopt_t solopt[2]={{0}}; /* solution options */
static solopt_t solopt[RTKSVRNSOL]={{0}}; /* solution options */
static filopt_t filopt ={""}; /* file options */

/* help text -----------------------------------------------------------------*/
Expand Down Expand Up @@ -197,33 +198,51 @@ static opt_t rcvopts[]={
{"console-solflag", 0, (void *)&solflag, FLGOPT },

{"inpstr1-type", 3, (void *)&strtype[0], ISTOPT },
{"inpstr2-type", 3, (void *)&strtype[1], ISTOPT },
{"inpstr3-type", 3, (void *)&strtype[2], ISTOPT },
{"inpstr1-path", 2, (void *)strpath [0], "" },
{"inpstr2-path", 2, (void *)strpath [1], "" },
{"inpstr3-path", 2, (void *)strpath [2], "" },
{"inpstr1-format", 3, (void *)&strfmt [0], FMTOPT },
{"inpstr2-format", 3, (void *)&strfmt [1], FMTOPT },
{"inpstr3-format", 3, (void *)&strfmt [2], FMTOPT },
{"inpstr1-rcvopt", 2, (void *)rcvopt[0], "" },
{"inpstr2-type", 3, (void *)&strtype[1], ISTOPT },
{"inpstr2-path", 2, (void *)strpath [1], "" },
{"inpstr2-format", 3, (void *)&strfmt [1], FMTOPT },
{"inpstr2-rcvopt", 2, (void *)rcvopt[1], "" },
{"inpstr3-rcvopt", 2, (void *)rcvopt[2], "" },
{"inpstr2-nmeareq", 3, (void *)&nmeareq, NMEOPT },
{"inpstr2-nmealat", 1, (void *)&nmeapos[0], "deg" },
{"inpstr2-nmealon", 1, (void *)&nmeapos[1], "deg" },
{"inpstr2-nmeahgt", 1, (void *)&nmeapos[2], "m" },
{"outstr1-type", 3, (void *)&strtype[3], OSTOPT },
{"outstr2-type", 3, (void *)&strtype[4], OSTOPT },
{"outstr1-path", 2, (void *)strpath [3], "" },
{"outstr2-path", 2, (void *)strpath [4], "" },
{"outstr1-format", 3, (void *)&strfmt [3], SOLOPT },
{"outstr2-format", 3, (void *)&strfmt [4], SOLOPT },
{"logstr1-type", 3, (void *)&strtype[5], OSTOPT },
{"logstr2-type", 3, (void *)&strtype[6], OSTOPT },
{"logstr3-type", 3, (void *)&strtype[7], OSTOPT },
{"logstr1-path", 2, (void *)strpath [5], "" },
{"logstr2-path", 2, (void *)strpath [6], "" },
{"logstr3-path", 2, (void *)strpath [7], "" },
{"inpstr3-type", 3, (void *)&strtype[2], ISTOPT },
{"inpstr3-path", 2, (void *)strpath [2], "" },
{"inpstr3-format", 3, (void *)&strfmt [2], FMTOPT },
{"inpstr3-rcvopt", 2, (void *)rcvopt[2], "" },
{"logstr1-type", 3, (void *)&strtype[3], OSTOPT },
{"logstr1-path", 2, (void *)strpath [3], "" },
{"logstr2-type", 3, (void *)&strtype[4], OSTOPT },
{"logstr2-path", 2, (void *)strpath [4], "" },
{"logstr3-type", 3, (void *)&strtype[5], OSTOPT },
{"logstr3-path", 2, (void *)strpath [5], "" },
{"outstr1-type", 3, (void *)&strtype[6], OSTOPT },
{"outstr1-path", 2, (void *)strpath [6], "" },
{"outstr1-format", 3, (void *)&ostrfmt[0], SOLOPT },
{"outstr2-type", 3, (void *)&strtype[7], OSTOPT },
{"outstr2-path", 2, (void *)strpath [7], "" },
{"outstr2-format", 3, (void *)&ostrfmt[1], SOLOPT },
{"outstr3-type", 3, (void *)&strtype[8], OSTOPT },
{"outstr3-path", 2, (void *)strpath [8], "" },
{"outstr3-format", 3, (void *)&ostrfmt[2], SOLOPT },
#if RTKSVRNSOL > 3
{"outstr4-type", 3, (void *)&strtype[9], OSTOPT },
{"outstr4-path", 2, (void *)strpath [9], "" },
{"outstr4-format", 3, (void *)&ostrfmt[3], SOLOPT },
#endif
#if RTKSVRNSOL > 4
{"outstr5-type", 3, (void *)&strtype[10], OSTOPT },
{"outstr5-path", 2, (void *)strpath [10], "" },
{"outstr5-format", 3, (void *)&ostrfmt[4], SOLOPT },
#endif
#if RTKSVRNSOL > 5
{"outstr6-type", 3, (void *)&strtype[11], OSTOPT },
{"outstr6-path", 2, (void *)strpath [11], "" },
{"outstr6-format", 3, (void *)&ostrfmt[5], SOLOPT },
#endif

{"misc-svrcycle", 0, (void *)&svrcycle, "ms" },
{"misc-timeout", 0, (void *)&timeout, "ms" },
Expand Down Expand Up @@ -436,15 +455,12 @@ static int startsvr(vt_t *vt)
char s1[3][MAXRCVCMD]={"","",""},*cmds[]={NULL,NULL,NULL};
char s2[3][MAXRCVCMD]={"","",""},*cmds_periodic[]={NULL,NULL,NULL};
char *ropts[]={rcvopt[0],rcvopt[1],rcvopt[2]};
char *paths[]={
strpath[0],strpath[1],strpath[2],strpath[3],strpath[4],strpath[5],
strpath[6],strpath[7]
};
char *paths[MAXSTRRTK];
char errmsg[2048]="";
int i,stropt[8]={0};
int i,stropt[MAXSTRRTK]={0};

trace(3,"startsvr:\n");

/* read start commands from command files */
for (i=0;i<3;i++) {
if (!*rcvcmds[i]) continue;
Expand All @@ -459,7 +475,7 @@ static int startsvr(vt_t *vt)
}
/* confirm overwrite */
if (vt!=NULL) {
for (i=3;i<8;i++) {
for (i = 3; i < MAXSTRRTK; i++) {
if (strtype[i]==STR_FILE&&!confwrite(vt,strpath[i])) return 0;
}
}
Expand Down Expand Up @@ -507,9 +523,10 @@ static int startsvr(vt_t *vt)
vt_printf(vt,"command exec error: %s (%d)\n",startcmd,ret);
}
#endif
solopt[0].posf=strfmt[3];
solopt[1].posf=strfmt[4];

for (int i = 0; i < RTKSVRNSOL; i++) solopt[i].posf=ostrfmt[i];

for (int i = 0; i < MAXSTRRTK; i++) paths[i] = strpath[i];

/* start rtk server */
if (!rtksvrstart(&svr,svrcycle,buffsize,strtype,(const char **)paths,strfmt,navmsgsel,
(const char **)cmds,(const char **)cmds_periodic,(const char **)ropts,nmeacycle,nmeareq,npos,&prcopt,
Expand Down Expand Up @@ -989,35 +1006,34 @@ static void prerror(vt_t *vt)
static void prstream(vt_t *vt)
{
const char *ch[]={
"input rover","input base","input corr","output sol1","output sol2",
"log rover","log base","log corr","monitor"
};
"input rover","input base","input corr","log rover","log base","log corr"};
const char *type[]={
"-","serial","file","tcpsvr","tcpcli","ntrips","ntripc","ftp",
"http","ntripcas","udpsvr","udpcli","membuf"
};
const char *fmt[]={"rtcm2","rtcm3","oem4","","ubx","swift","hemis","skytreq",
"javad","nvs","binex","rt17","sbf","","unicore","sp3",""};
const char *sol[]={"llh","xyz","enu","nmea","stat","-"};
stream_t stream[9];
int i,format[9]={0};
stream_t stream[MAXSTRRTK+1];
int i,format[MAXSTRRTK+1]={0};

trace(4,"prstream:\n");

rtksvrlock(&svr);
for (i=0;i<8;i++) stream[i]=svr.stream[i];
for (i=0;i<MAXSTRRTK;i++) stream[i]=svr.stream[i];
for (i=0;i<3;i++) format[i]=svr.format[i];
for (i=3;i<5;i++) format[i]=svr.solopt[i-3].posf;
stream[8]=moni;
format[8]=SOLF_LLH;
for (i=0;i<RTKSVRNSOL;i++) format[6+i]=svr.solopt[i].posf;
stream[MAXSTRRTK]=moni;
format[MAXSTRRTK]=SOLF_LLH;
rtksvrunlock(&svr);

vt_printf(vt,"\n%s%-12s %-8s %-5s %s %10s %7s %10s %7s %-24s %s%s\n",ESC_BOLD,
"Stream","Type","Fmt","S","In-byte","In-bps","Out-byte","Out-bps",
"Path","Message",ESC_RESET);
for (i=0;i<9;i++) {
for (i=0;i<MAXSTRRTK+1;i++) {
const char *name = i < 6 ? ch[i] : i >= MAXSTRRTK ? "monitor" : "output sol";
vt_printf(vt,"%-12s %-8s %-5s %s %10d %7d %10d %7d %-24.24s %s\n",
ch[i],type[stream[i].type],i<3?fmt[format[i]]:(i<5||i==8?sol[format[i]]:"-"),
name,type[stream[i].type],i<3?fmt[format[i]]:(i>=6?sol[format[i]]:"-"),
stream[i].state<0?"E":(stream[i].state?"C":"-"),
stream[i].inb,stream[i].inr,stream[i].outb,stream[i].outr,
stream[i].path,stream[i].msg);
Expand Down Expand Up @@ -1283,7 +1299,7 @@ static void cmd_set(char **args, int narg, vt_t *vt)
return;
}
getsysopts(&prcopt,solopt,&filopt);
solopt[1]=solopt[0];
for (int i = 1; i < RTKSVRNSOL; i++) solopt[i] = solopt[0];

vt_printf(vt,"option %s changed.",opt->name);
if (strncmp(opt->name,"console",7)) {
Expand Down Expand Up @@ -1388,7 +1404,7 @@ static void cmd_load(char **args, int narg, vt_t *vt)
return;
}
getsysopts(&prcopt,solopt,&filopt);
solopt[1]=solopt[0];
for (int i = 1; i < RTKSVRNSOL; i++) solopt[i] = solopt[0];

if (!loadopts(file,rcvopts)) {
vt_printf(vt,"no options file: %s\n",file);
Expand Down Expand Up @@ -1827,6 +1843,14 @@ int main(int argc, char **argv)
traceopen(TRACEFILE);
tracelevel(trace);
}

// Default input streams.
for (int i = i; i < RTKSVRNSOL; i++) {
strtype[6 + i] = STR_NONE;
strcpy(strpath[6 + i], "");
ostrfmt[i] = i == 0 ? SOLF_LLH : SOLF_NMEA;
}

/* initialize rtk server and monitor port */
rtksvrinit(&svr);
strinit(&moni);
Expand All @@ -1839,8 +1863,8 @@ int main(int argc, char **argv)
fprintf(stderr,"no options file: %s. defaults used\n",file);
}
getsysopts(&prcopt,solopt,&filopt);
/* Copy the system options for the second output solution stream */
solopt[1]=solopt[0];
/* Copy the system options for the other output solution streams */
for (int i = 1; i < RTKSVRNSOL; i++) solopt[i] = solopt[0];

/* read navigation data */
if (!readnav(NAVIFILE,&svr.nav)) {
Expand Down
6 changes: 3 additions & 3 deletions app/qtapp/rtknavi_qt/logstrdlg.ui
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Original file line number Diff line number Diff line change
Expand Up @@ -193,7 +193,7 @@
<string>Enable rover data stream logging</string>
</property>
<property name="text">
<string>(6) Rover</string>
<string>(3) Rover</string>
</property>
</widget>
</item>
Expand Down Expand Up @@ -223,7 +223,7 @@
<string>Enable base station data stream logging</string>
</property>
<property name="text">
<string>(7) Base Station</string>
<string>(4) Base Station</string>
</property>
</widget>
</item>
Expand All @@ -243,7 +243,7 @@
<string>Enable correction data stream logging</string>
</property>
<property name="text">
<string>(8) Correction</string>
<string>(5) Correction</string>
</property>
</widget>
</item>
Expand Down
27 changes: 14 additions & 13 deletions app/qtapp/rtknavi_qt/mondlg.cpp
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Expand Up @@ -1575,10 +1575,10 @@ void MonitorDialog::setStream()
header << tr("STR") << tr("Stream") << tr("Type") << tr("Format") << tr("Mode") << tr("State") << tr("Input (bytes)") << tr("Input (bps)")
<< tr("Output (bytes)") << tr("Output (bps)") << tr("Path") << tr("Message");

int i, width[] = {40, 150, 120, 110, 50, 50, 140, 140, 140, 140, 220, 220};
int i, width[] = {45, 170, 120, 150, 60, 55, 120, 110, 135, 120, 220, 220};

ui->tWConsole->setColumnCount(12);
ui->tWConsole->setRowCount(9);
ui->tWConsole->setRowCount(MAXSTRRTK + 1);
ui->tWConsole->setHorizontalHeaderLabels(header);

for (i = 0; i < ui->tWConsole->columnCount(); i++)
Expand All @@ -1593,9 +1593,10 @@ void MonitorDialog::setStream()
//---------------------------------------------------------------------------
void MonitorDialog::showStream()
{
const QString ch[] = {
tr("Input Rover"), tr("Input Base"), tr("Input Correction"), tr("Output Solution 1"),
tr("Output Solution 2"), tr("Log Rover"), tr("Log Base"), tr("Log Correction"),
const QString ch[MAXSTRRTK + 1] = {
tr("Input Rover"), tr("Input Base"), tr("Input Correction"),
tr("Log Rover"), tr("Log Base"), tr("Log Correction"),
tr("Output Solution 1"), tr("Output Solution 2"), tr("Output Solution 3"),
tr("Monitor")
};
const QString type[] = {
Expand All @@ -1608,26 +1609,26 @@ void MonitorDialog::showStream()
tr("Solution stats"), tr("GSI F1/F2")};
const QString state[] = {tr("Error"), tr("-"), tr("OK")};
QString mode, form;
stream_t stream[9];
int i, format[9] = {0};
stream_t stream[MAXSTRRTK + 1];
int i, format[MAXSTRRTK + 1] = {0};
char path[MAXSTRPATH] = "", *p, *q;

rtksvrlock(rtksvr); // lock
for (i = 0; i < 8; i++) stream[i] = rtksvr->stream[i];
for (i = 0; i < MAXSTRRTK; i++) stream[i] = rtksvr->stream[i];
for (i = 0; i < 3; i++) format[i] = rtksvr->format[i];
for (i = 3; i < 5; i++) format[i] = rtksvr->solopt[i - 3].posf;
stream[8] = *monistr;
format[8] = SOLF_LLH;
for (i = 0; i < RTKSVRNSOL; i++) format[6+i] = rtksvr->solopt[i].posf;
stream[MAXSTRRTK] = *monistr;
format[MAXSTRRTK] = SOLF_LLH;
rtksvrunlock(rtksvr); // unlock

for (i = 0; i < 9; i++) {
for (i = 0; i < MAXSTRRTK + 1; i++) {
int j = 0;
ui->tWConsole->item(i, j++)->setText(QString("(%1)").arg(i+1));
ui->tWConsole->item(i, j++)->setText(ch[i]);
ui->tWConsole->item(i, j++)->setText(type[stream[i].type]);
if (!stream[i].type) form = "-";
else if (i < 3) form = formatstrs[format[i]];
else if (i < 5 || i == 8) form = outformat[format[i]];
else if (i >= 6) form = outformat[format[i]];
else form = "-";
ui->tWConsole->item(i, j++)->setText(form);
if (stream[i].mode & STR_MODE_R) mode = tr("R"); else mode = "";
Expand Down
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