From 7b0c8829d3f821605e85b9c9567dd2afbb647760 Mon Sep 17 00:00:00 2001 From: Sam Price Date: Sun, 21 Feb 2021 18:14:20 -0500 Subject: [PATCH 1/7] prefix rtk to trace,thread,lock. Add #ifdef around serial speed, expose seleph for other apps. --- app/consapp/convbin/convbin.c | 6 +- app/consapp/rtkrcv/rtkrcv.c | 106 +++++----- app/consapp/rtkrcv/vt.c | 4 +- app/consapp/str2str/str2str.c | 6 +- src/convgpx.c | 2 +- src/convkml.c | 2 +- src/convrnx.c | 58 +++--- src/download.c | 10 +- src/ephemeris.c | 68 +++---- src/geoid.c | 26 +-- src/gis.c | 10 +- src/ionex.c | 40 ++-- src/options.c | 20 +- src/pntpos.c | 30 +-- src/postpos.c | 86 ++++---- src/ppp.c | 58 +++--- src/preceph.c | 40 ++-- src/rcv/binex.c | 94 ++++----- src/rcv/crescent.c | 62 +++--- src/rcv/javad.c | 240 +++++++++++----------- src/rcv/novatel.c | 106 +++++----- src/rcv/nvs.c | 56 ++--- src/rcv/rt17.c | 124 ++++++------ src/rcv/septentrio.c | 92 ++++----- src/rcv/skytraq.c | 84 ++++---- src/rcv/ss2.c | 44 ++-- src/rcv/ublox.c | 102 +++++----- src/rcvraw.c | 98 ++++----- src/rinex.c | 142 ++++++------- src/rtcm.c | 22 +- src/rtcm2.c | 50 ++--- src/rtcm3.c | 180 ++++++++--------- src/rtcm3e.c | 96 ++++----- src/rtkcmn.c | 206 +++++++++---------- src/rtklib.h | 61 +++--- src/rtkpos.c | 112 +++++----- src/rtksvr.c | 52 ++--- src/sbas.c | 88 ++++---- src/solution.c | 128 ++++++------ src/stream.c | 370 +++++++++++++++++----------------- src/streamsvr.c | 20 +- src/tides.c | 20 +- src/tle.c | 14 +- util/geniono/estiono.c | 4 +- util/geniono/geniono.c | 6 +- util/geniono/genstec.c | 6 +- util/rnx2rtcm/rnx2rtcm.c | 6 +- util/simobs/simobs.c | 2 +- util/testeph/diffeph.c | 8 +- util/testeph/dumpssr.c | 6 +- util/testlex/dumplex.c | 6 +- util/testlex/dumpssr.c | 6 +- util/testlex/outlexion.c | 6 +- 53 files changed, 1647 insertions(+), 1644 deletions(-) diff --git a/app/consapp/convbin/convbin.c b/app/consapp/convbin/convbin.c index 1e2182f97..44d94c5bc 100644 --- a/app/consapp/convbin/convbin.c +++ b/app/consapp/convbin/convbin.c @@ -607,12 +607,12 @@ int main(int argc, char **argv) sprintf(opt.prog,"%s %s",PRGNAME,VER_RTKLIB); if (trace>0) { - traceopen(TRACEFILE); - tracelevel(trace); + rtktraceopen(TRACEFILE); + rtktracelevel(trace); } stat=convbin(format,&opt,ifile,ofile,dir); - traceclose(); + rtktraceclose(); return stat; } diff --git a/app/consapp/rtkrcv/rtkrcv.c b/app/consapp/rtkrcv/rtkrcv.c index d640f5cc6..d87445b96 100644 --- a/app/consapp/rtkrcv/rtkrcv.c +++ b/app/consapp/rtkrcv/rtkrcv.c @@ -247,7 +247,7 @@ static void printusage(void) /* external stop signal ------------------------------------------------------*/ static void sigshut(int sig) { - trace(3,"sigshut: sig=%d\n",sig); + rtktrace(3,"sigshut: sig=%d\n",sig); intflg=1; } @@ -260,13 +260,13 @@ static void chop(char *str) /* thread to send keep alive for monitor port --------------------------------*/ static void *sendkeepalive(void *arg) { - trace(3,"sendkeepalive: start\n"); + rtktrace(3,"sendkeepalive: start\n"); while (keepalive) { strwrite(&moni,(uint8_t *)"\r",1); sleepms(INTKEEPALIVE); } - trace(3,"sendkeepalive: stop\n"); + rtktrace(3,"sendkeepalive: stop\n"); return NULL; } /* open monitor port ---------------------------------------------------------*/ @@ -275,7 +275,7 @@ static int openmoni(int port) pthread_t thread; char path[64]; - trace(3,"openmomi: port=%d\n",port); + rtktrace(3,"openmomi: port=%d\n",port); sprintf(path,":%d",port); if (!stropen(&moni,STR_TCPSVR,STR_MODE_RW,path)) return 0; @@ -287,7 +287,7 @@ static int openmoni(int port) /* close monitor port --------------------------------------------------------*/ static void closemoni(void) { - trace(3,"closemoni:\n"); + rtktrace(3,"closemoni:\n"); keepalive=0; /* send disconnect message */ @@ -317,7 +317,7 @@ static int login(vt_t *vt) { char buff[256]; - trace(3,"login: passwd=%s type=%d\n",passwd,vt->type); + rtktrace(3,"login: passwd=%s type=%d\n",passwd,vt->type); if (!*passwd||!vt->type) return 1; @@ -341,7 +341,7 @@ static int readcmd(const char *file, char *cmd, int type) char buff[MAXSTR],*p=cmd; int i=0; - trace(3,"readcmd: file=%s\n",file); + rtktrace(3,"readcmd: file=%s\n",file); if (!(fp=fopen(file,"r"))) return 0; @@ -363,7 +363,7 @@ static void readant(vt_t *vt, prcopt_t *opt, nav_t *nav) gtime_t time=timeget(); int i; - trace(3,"readant:\n"); + rtktrace(3,"readant:\n"); opt->pcvr[0]=opt->pcvr[1]=pcv0; if (!*filopt.rcvantp) return; @@ -405,7 +405,7 @@ static int startsvr(vt_t *vt) char errmsg[2048]=""; int i,ret,stropt[8]={0}; - trace(3,"startsvr:\n"); + rtktrace(3,"startsvr:\n"); /* read start commads from command files */ for (i=0;i<3;i++) { @@ -441,7 +441,7 @@ static int startsvr(vt_t *vt) } /* open geoid data file */ if (solopt[0].geoid>0&&!opengeoid(solopt[0].geoid,filopt.geoid)) { - trace(2,"geoid data open error: %s\n",filopt.geoid); + rtktrace(2,"geoid data open error: %s\n",filopt.geoid); vt_printf(vt,"geoid data open error: %s\n",filopt.geoid); } for (i=0;*rcvopts[i].name;i++) modflgr[i]=0; @@ -463,7 +463,7 @@ static int startsvr(vt_t *vt) /* execute start command */ if (*startcmd&&(ret=system(startcmd))) { - trace(2,"command exec error: %s (%d)\n",startcmd,ret); + rtktrace(2,"command exec error: %s (%d)\n",startcmd,ret); vt_printf(vt,"command exec error: %s (%d)\n",startcmd,ret); } solopt[0].posf=strfmt[3]; @@ -473,7 +473,7 @@ static int startsvr(vt_t *vt) if (!rtksvrstart(&svr,svrcycle,buffsize,strtype,paths,strfmt,navmsgsel, cmds,cmds_periodic,ropts,nmeacycle,nmeareq,npos,&prcopt, solopt,&moni,errmsg)) { - trace(2,"rtk server start error (%s)\n",errmsg); + rtktrace(2,"rtk server start error (%s)\n",errmsg); vt_printf(vt,"rtk server start error (%s)\n",errmsg); return 0; } @@ -485,7 +485,7 @@ static void stopsvr(vt_t *vt) char s[3][MAXRCVCMD]={"","",""},*cmds[]={NULL,NULL,NULL}; int i,ret; - trace(3,"stopsvr:\n"); + rtktrace(3,"stopsvr:\n"); if (!svr.state) return; @@ -502,7 +502,7 @@ static void stopsvr(vt_t *vt) /* execute stop command */ if (*stopcmd&&(ret=system(stopcmd))) { - trace(2,"command exec error: %s (%d)\n",stopcmd,ret); + rtktrace(2,"command exec error: %s (%d)\n",stopcmd,ret); vt_printf(vt,"command exec error: %s (%d)\n",stopcmd,ret); } if (solopt[0].geoid>0) closegeoid(); @@ -536,7 +536,7 @@ static void prsolution(vt_t *vt, const sol_t *sol, const double *rb) double enu[3]={0},pitch=0.0,yaw=0.0,len; int i; - trace(4,"prsolution:\n"); + rtktrace(4,"prsolution:\n"); if (sol->time.time==0||!sol->stat) return; prtime(vt,sol->time); @@ -640,7 +640,7 @@ static void prstatus(vt_t *vt) double runtime,rt[3]={0},dop[4]={0},rr[3],bl1=0.0,bl2=0.0; double azel[MAXSAT*2],pos[3],vel[3],*del; - trace(4,"prstatus:\n"); + rtktrace(4,"prstatus:\n"); rtksvrlock(&svr); rtk=svr.rtk; @@ -773,7 +773,7 @@ static void prsatellite(vt_t *vt, int nf) char id[32]; int i,j,fix,frq[]={1,2,5,7,8,6}; - trace(4,"prsatellite:\n"); + rtktrace(4,"prsatellite:\n"); rtksvrlock(&svr); rtk=svr.rtk; @@ -816,7 +816,7 @@ static void probserv(vt_t *vt, int nf) char tstr[64],id[32]; int i,j,n=0,frq[]={1,2,5,7,8,6,9}; - trace(4,"probserv:\n"); + rtktrace(4,"probserv:\n"); rtksvrlock(&svr); for (i=0;i0) { @@ -930,7 +930,7 @@ static void prstream(vt_t *vt) stream_t stream[9]; int i,format[9]={0}; - trace(4,"prstream:\n"); + rtktrace(4,"prstream:\n"); rtksvrlock(&svr); for (i=0;i<8;i++) stream[i]=svr.stream[i]; @@ -989,7 +989,7 @@ static void prssr(vt_t *vt) /* start command -------------------------------------------------------------*/ static void cmd_start(char **args, int narg, vt_t *vt) { - trace(3,"cmd_start:\n"); + rtktrace(3,"cmd_start:\n"); if (!startsvr(vt)) return; vt_printf(vt,"rtk server start\n"); @@ -997,7 +997,7 @@ static void cmd_start(char **args, int narg, vt_t *vt) /* stop command --------------------------------------------------------------*/ static void cmd_stop(char **args, int narg, vt_t *vt) { - trace(3,"cmd_stop:\n"); + rtktrace(3,"cmd_stop:\n"); stopsvr(vt); vt_printf(vt,"rtk server stop\n"); @@ -1005,7 +1005,7 @@ static void cmd_stop(char **args, int narg, vt_t *vt) /* restart command -----------------------------------------------------------*/ static void cmd_restart(char **args, int narg, vt_t *vt) { - trace(3,"cmd_restart:\n"); + rtktrace(3,"cmd_restart:\n"); stopsvr(vt); if (!startsvr(vt)) return; @@ -1016,7 +1016,7 @@ static void cmd_solution(char **args, int narg, vt_t *vt) { int i,cycle=0; - trace(3,"cmd_solution:\n"); + rtktrace(3,"cmd_solution:\n"); if (narg>1) cycle=(int)(atof(args[1])*1000.0); @@ -1035,7 +1035,7 @@ static void cmd_status(char **args, int narg, vt_t *vt) { int cycle=0; - trace(3,"cmd_status:\n"); + rtktrace(3,"cmd_status:\n"); if (narg>1) cycle=(int)(atof(args[1])*1000.0); @@ -1051,7 +1051,7 @@ static void cmd_satellite(char **args, int narg, vt_t *vt) { int i,nf=2,cycle=0; - trace(3,"cmd_satellite:\n"); + rtktrace(3,"cmd_satellite:\n"); for (i=1;i1) cycle=(int)(atof(args[1])*1000.0); @@ -1099,7 +1099,7 @@ static void cmd_navidata(char **args, int narg, vt_t *vt) /* error command -------------------------------------------------------------*/ static void cmd_error(char **args, int narg, vt_t *vt) { - trace(3,"cmd_error:\n"); + rtktrace(3,"cmd_error:\n"); rtksvrlock(&svr); svr.rtk.neb=0; @@ -1116,7 +1116,7 @@ static void cmd_stream(char **args, int narg, vt_t *vt) { int cycle=0; - trace(3,"cmd_stream:\n"); + rtktrace(3,"cmd_stream:\n"); if (narg>1) cycle=(int)(atof(args[1])*1000.0); @@ -1132,7 +1132,7 @@ static void cmd_ssr(char **args, int narg, vt_t *vt) { int cycle=0; - trace(3,"cmd_ssr:\n"); + rtktrace(3,"cmd_ssr:\n"); if (narg>1) cycle=(int)(atof(args[1])*1000.0); @@ -1149,7 +1149,7 @@ static void cmd_option(char **args, int narg, vt_t *vt) char buff[MAXSTR],*p; int i,n; - trace(3,"cmd_option:\n"); + rtktrace(3,"cmd_option:\n"); for (i=0;*rcvopts[i].name;i++) { if (narg>=2&&!strstr(rcvopts[i].name,args[1])) continue; @@ -1181,7 +1181,7 @@ static void cmd_set(char **args, int narg, vt_t *vt) int *modf; char buff[MAXSTR]; - trace(3,"cmd_set:\n"); + rtktrace(3,"cmd_set:\n"); if (narg<2) { vt_printf(vt,"specify option type\n"); @@ -1224,7 +1224,7 @@ static void cmd_load(char **args, int narg, vt_t *vt) { char file[MAXSTR]=""; - trace(3,"cmd_load:\n"); + rtktrace(3,"cmd_load:\n"); if (narg>=2) { strcpy(file,args[1]); @@ -1250,7 +1250,7 @@ static void cmd_save(char **args, int narg, vt_t *vt) { char file[MAXSTR]="",comment[256],s[64]; - trace(3,"cmd_save:\n"); + rtktrace(3,"cmd_save:\n"); if (narg>=2) { strcpy(file,args[1]); @@ -1271,7 +1271,7 @@ static void cmd_save(char **args, int narg, vt_t *vt) /* log command ---------------------------------------------------------------*/ static void cmd_log(char **args, int narg, vt_t *vt) { - trace(3,"cmd_log:\n"); + rtktrace(3,"cmd_log:\n"); if (narg<2) { vt_printf(vt,"specify log file\n"); @@ -1339,7 +1339,7 @@ static void *con_thread(void *arg) int i,j,narg; char buff[MAXCMD],*args[MAXARG],*p; - trace(3,"console_thread:\n"); + rtktrace(3,"console_thread:\n"); vt_printf(con->vt,"\n%s** %s ver.%s %s console (h:help) **%s\n",ESC_BOLD, PRGNAME,VER_RTKLIB,PATCH_LEVEL,ESC_RESET); @@ -1414,7 +1414,7 @@ static con_t *con_open(int sock, const char *dev) { con_t *con; - trace(3,"con_open: sock=%d dev=%s\n",sock,dev); + rtktrace(3,"con_open: sock=%d dev=%s\n",sock,dev); if (!(con=(con_t *)malloc(sizeof(con_t)))) return NULL; @@ -1433,7 +1433,7 @@ static con_t *con_open(int sock, const char *dev) /* close console -------------------------------------------------------------*/ static void con_close(con_t *con) { - trace(3,"con_close:\n"); + rtktrace(3,"con_close:\n"); if (!con) return; con->state=con->vt->state=0; @@ -1446,7 +1446,7 @@ static int open_sock(int port) struct sockaddr_in addr; int sock,on=1; - trace(3,"open_sock: port=%d\n",port); + rtktrace(3,"open_sock: port=%d\n",port); if ((sock=socket(AF_INET,SOCK_STREAM,0))<0) { fprintf(stderr,"socket error (%d)\n",errno); @@ -1476,7 +1476,7 @@ static void accept_sock(int ssock, con_t **con) if (ssock<=0) return; - trace(4,"accept_sock: ssock=%d\n",ssock); + rtktrace(4,"accept_sock: ssock=%d\n",ssock); for (i=1;istate) continue; @@ -1496,12 +1496,12 @@ static void accept_sock(int ssock, con_t **con) con[i]=con_open(sock,""); - trace(3,"remote console connected: addr=%s\n", + rtktrace(3,"remote console connected: addr=%s\n", inet_ntoa(addr.sin_addr)); return; } close(sock); - trace(2,"remote console connection refused. addr=%s\n", + rtktrace(2,"remote console connection refused. addr=%s\n", inet_ntoa(addr.sin_addr)); } /* rtkrcv main ----------------------------------------------------------------- @@ -1528,7 +1528,7 @@ static void accept_sock(int ssock, con_t **con) * -o file processing options file * -w pwd login password for remote console ("": no password) * -r level output solution status file (0:off,1:states,2:residuals) -* -t level debug trace level (0:off,1-5:on) +* -t level debug rtktrace level (0:off,1-5:on) * -sta sta station name for receiver dcb * * command @@ -1611,7 +1611,7 @@ static void accept_sock(int ssock, con_t **con) int main(int argc, char **argv) { con_t *con[MAXCON]={0}; - int i,start=0,port=0,outstat=0,trace=0,sock=0; + int i,start=0,port=0,outstat=0,rtktrace=0,sock=0; char *dev="",file[MAXSTR]=""; for (i=1;i0) { - traceopen(TRACEFILE); - tracelevel(trace); + if (rtktrace>0) { + rtktraceopen(TRACEFILE); + rtktracelevel(rtktrace); } /* initialize rtk server and monitor port */ rtksvrinit(&svr); @@ -1660,7 +1660,7 @@ int main(int argc, char **argv) fprintf(stderr,"console open error port=%d\n",port); if (moniport>0) closemoni(); if (outstat>0) rtkclosestat(); - traceclose(); + rtktraceclose(); return -1; } } @@ -1670,7 +1670,7 @@ int main(int argc, char **argv) fprintf(stderr,"console open error dev=%s\n",dev); if (moniport>0) closemoni(); if (outstat>0) rtkclosestat(); - traceclose(); + rtktraceclose(); return -1; } } @@ -1703,6 +1703,6 @@ int main(int argc, char **argv) if (!savenav(NAVIFILE,&svr.nav)) { fprintf(stderr,"navigation data save error: %s\n",NAVIFILE); } - traceclose(); + rtktraceclose(); return 0; } diff --git a/app/consapp/rtkrcv/vt.c b/app/consapp/rtkrcv/vt.c index 9d397294f..ccb661224 100644 --- a/app/consapp/rtkrcv/vt.c +++ b/app/consapp/rtkrcv/vt.c @@ -64,7 +64,7 @@ extern vt_t *vt_open(int sock, const char *dev) vt_t *vt; int i; - trace(3,"vt_open: sock=%d dev=%s\n",sock,dev); + rtktrace(3,"vt_open: sock=%d dev=%s\n",sock,dev); if (!(vt=(vt_t *)malloc(sizeof(vt_t)))) { return NULL; @@ -105,7 +105,7 @@ extern void vt_close(vt_t *vt) { int i; - trace(3,"vt_close:\n"); + rtktrace(3,"vt_close:\n"); /* restore terminal mode */ if (!vt->type) { diff --git a/app/consapp/str2str/str2str.c b/app/consapp/str2str/str2str.c index 8e90d2640..49eca44af 100644 --- a/app/consapp/str2str/str2str.c +++ b/app/consapp/str2str/str2str.c @@ -304,8 +304,8 @@ int main(int argc, char **argv) strsvrinit(&strsvr,n+1); if (trlevel>0) { - traceopen(*logfile?logfile:TRFILE); - tracelevel(trlevel); + rtktraceopen(*logfile?logfile:TRFILE); + rtktracelevel(trlevel); } fprintf(stderr,"stream server start\n"); @@ -345,7 +345,7 @@ int main(int argc, char **argv) strconvfree(conv[i]); } if (trlevel>0) { - traceclose(); + rtktraceclose(); } fprintf(stderr,"stream server stop\n"); return 0; diff --git a/src/convgpx.c b/src/convgpx.c index 79332af20..d3138a96b 100644 --- a/src/convgpx.c +++ b/src/convgpx.c @@ -141,7 +141,7 @@ extern int convgpx(const char *infile, const char *outfile, gtime_t ts, int i,j; char *p,file[1024]; - trace(3,"convgpx : infile=%s outfile=%s\n",infile,outfile); + rtktrace(3,"convgpx : infile=%s outfile=%s\n",infile,outfile); if (!*outfile) { if ((p=strrchr(infile,'.'))) { diff --git a/src/convkml.c b/src/convkml.c index 6a9fafea4..ea966ae24 100644 --- a/src/convkml.c +++ b/src/convkml.c @@ -164,7 +164,7 @@ extern int convkml(const char *infile, const char *outfile, gtime_t ts, int i,j,nfile,stat; char *p,file[1024],*files[MAXEXFILE]={0}; - trace(3,"convkml : infile=%s outfile=%s\n",infile,outfile); + rtktrace(3,"convkml : infile=%s outfile=%s\n",infile,outfile); /* expand wild-card of infile */ for (i=0;iformat==STRFMT_RTCM2||str->format==STRFMT_RTCM3) { free_rtcm(&str->rtcm); @@ -237,7 +237,7 @@ static int input_strfile(strfile_t *str) { int type=0; - trace(4,"input_strfile:\n"); + rtktrace(4,"input_strfile:\n"); if (str->format==STRFMT_RTCM2) { if ((type=input_rtcm2f(&str->rtcm,str->fp))>=1) { @@ -274,13 +274,13 @@ static int input_strfile(strfile_t *str) if (!str->tstart.time&&str->time.time) { str->tstart=str->time; } - trace(4,"input_strfile: time=%s type=%d\n",time_str(str->time,3),type); + rtktrace(4,"input_strfile: time=%s type=%d\n",time_str(str->time,3),type); return type; } /* open stream file ----------------------------------------------------------*/ static int open_strfile(strfile_t *str, const char *file) { - trace(3,"open_strfile: file=%s\n",file); + rtktrace(3,"open_strfile: file=%s\n",file); if (str->format==STRFMT_RTCM2||str->format==STRFMT_RTCM3) { if (!(str->fp=fopen(file,"rb"))) { @@ -314,7 +314,7 @@ static int open_strfile(strfile_t *str, const char *file) /* close stream file ---------------------------------------------------------*/ static void close_strfile(strfile_t *str) { - trace(3,"close_strfile:\n"); + rtktrace(3,"close_strfile:\n"); if (str->format==STRFMT_RTCM2||str->format==STRFMT_RTCM3) { if (str->fp) fclose(str->fp); @@ -378,7 +378,7 @@ static void setopt_obstype(const uint8_t *codes, const uint8_t *types, int sys, char type[16],*id,ver; int i,j,k,idx; - trace(3,"setopt_obstype: sys=%d\n",sys); + rtktrace(3,"setopt_obstype: sys=%d\n",sys); opt->nobs[sys]=0; @@ -394,7 +394,7 @@ static void setopt_obstype(const uint8_t *codes, const uint8_t *types, int sys, if (opt->rnxver>=300) { ver=vercode[sys][codes[i]-1]; if (ver<'0'||ver>'0'+opt->rnxver-300) { - trace(2,"unsupported obs type: rnxver=%.2f sys=%d code=%s\n", + rtktrace(2,"unsupported obs type: rnxver=%.2f sys=%d code=%s\n", opt->rnxver/100.0,sys,code2obs(codes[i])); continue; } @@ -512,7 +512,7 @@ static void setopt_sta(const strfile_t *str, rnxopt_t *opt) const sta_t *sta; double pos[3],enu[3]; - trace(3,"setopt_sta:\n"); + rtktrace(3,"setopt_sta:\n"); /* search first station in station list */ for (p=str->stas;p;p=p->next) { @@ -604,8 +604,8 @@ static void dump_stas(const strfile_t *str) double pos[3]; char s1[32],s2[32]; - trace(2,"# STATION LIST\n"); - trace(2,"# %17s %19s %5s %6s %16s %16s %12s %13s %9s %2s %6s %6s %6s\n", + rtktrace(2,"# STATION LIST\n"); + rtktrace(2,"# %17s %19s %5s %6s %16s %16s %12s %13s %9s %2s %6s %6s %6s\n", "TIME","STAID","MARKER","ANTENNA","RECEIVER","LATITUDE","LONGITUDE", "HIGHT","DT","DEL1","DEL2","DEL3"); @@ -613,7 +613,7 @@ static void dump_stas(const strfile_t *str) time2str(p->ts,s1,0); time2str(p->te,s2,0); ecef2pos(p->sta.pos,pos); - trace(2,"%s %s %04d %-6.6s %-16.16s %-16.16s %12.8f %13.8f %9.3f %2d " + rtktrace(2,"%s %s %04d %-6.6s %-16.16s %-16.16s %12.8f %13.8f %9.3f %2d " "%6.3f %6.3f %6.3f\n",s1,s2,p->staid,p->sta.name,p->sta.antdes, p->sta.rectype,pos[0]*R2D,pos[1]*R2D,pos[2],p->sta.deltype, p->sta.del[0],p->sta.del[1],p->sta.del[2]); @@ -675,8 +675,8 @@ static void dump_halfc(const strfile_t *str) char s0[32],s1[32],s2[32],*stats[]={"ADD","SUB","NON"}; int i,j; - trace(2,"# HALF-CYCLE AMBIGUITY CORRECTIONS\n"); - trace(2,"# %20s %22s %4s %3s %3s\n","START","END","SAT","FRQ","COR"); + rtktrace(2,"# HALF-CYCLE AMBIGUITY CORRECTIONS\n"); + rtktrace(2,"# %20s %22s %4s %3s %3s\n","START","END","SAT","FRQ","COR"); for (i=0;ihalfc[i][j];p;p=p->next) { @@ -684,7 +684,7 @@ static void dump_halfc(const strfile_t *str) satno2id(i+1,s0); time2str(p->ts,s1,2); time2str(p->te,s2,2); - trace(2,"%s %s %4s %3d %3s\n",s1,s2,s0,j+1,stats[p->stat-2]); + rtktrace(2,"%s %s %4s %3d %3s\n",s1,s2,s0,j+1,stats[p->stat-2]); } } #endif @@ -726,7 +726,7 @@ static int scan_file(char **files, int nf, rnxopt_t *opt, strfile_t *str, char msg[128]; int i,j,k,l,m,c=0,type,sys,prn,abort=0,n[NSATSYS]={0}; - trace(3,"scan_file: nf=%d\n",nf); + rtktrace(3,"scan_file: nf=%d\n",nf); for (m=0;mrnxver>=300)?31:28,"",event,2); @@ -990,7 +990,7 @@ static void convobs(FILE **ofp, rnxopt_t *opt, strfile_t *str, int *n, gtime_t time; int i,j; - trace(3,"convobs :\n"); + rtktrace(3,"convobs :\n"); if (!ofp[0]||str->obs->n<=0) return; @@ -1041,7 +1041,7 @@ static void convnav(FILE **ofp, rnxopt_t *opt, strfile_t *str, int *n) double dtoe; int sat,set,sys,prn,sep_nav=(opt->rnxver<=299||opt->sep_nav); - trace(3,"convnav :\n"); + rtktrace(3,"convnav :\n"); sat=str->ephsat; set=str->ephset; @@ -1135,7 +1135,7 @@ static void convsbs(FILE **ofp, rnxopt_t *opt, strfile_t *str, int *n, gtime_t time; int prn,sat,sys,sep_nav=opt->rnxver<=299||opt->sep_nav; - trace(3,"convsbs :\n"); + rtktrace(3,"convsbs :\n"); time=gpst2time(str->raw.sbsmsg.week,str->raw.sbsmsg.tow); @@ -1154,7 +1154,7 @@ static void convsbs(FILE **ofp, rnxopt_t *opt, strfile_t *str, int *n, prn+=10; } else { - trace(2,"sbas message satellite error: prn=%d\n",prn); + rtktrace(2,"sbas message satellite error: prn=%d\n",prn); return; } if (!(sat=satno(sys,prn))||opt->exsats[sat-1]==1) return; @@ -1189,7 +1189,7 @@ static void setopt_apppos(strfile_t *str, rnxopt_t *opt) /* point positioning with last obs data */ if (!pntpos(str->obs->data,str->obs->n,str->nav,&prcopt,&sol,NULL,NULL, msg)) { - trace(2,"point position error (%s)\n",msg); + rtktrace(2,"point position error (%s)\n",msg); return; } matcpy(opt->apppos,sol.rr,3,1); @@ -1231,7 +1231,7 @@ static int convrnx_s(int sess, int format, rnxopt_t *opt, const char *file, char path[1024],*paths[NOUTFILE],s[NOUTFILE][1024]; char *epath[MAXEXFILE]={0},*staname=*opt->staid?opt->staid:"0000"; - trace(3,"convrnx_s: sess=%d format=%d file=%s ofile=%s %s %s %s %s %s %s " + rtktrace(3,"convrnx_s: sess=%d format=%d file=%s ofile=%s %s %s %s %s %s %s " "%s %s\n",sess,format,file,ofile[0],ofile[1],ofile[2],ofile[3], ofile[4],ofile[5],ofile[6],ofile[7],ofile[8]); @@ -1369,7 +1369,7 @@ extern int convrnx(int format, rnxopt_t *opt, const char *file, char **ofile) double tu,ts; int i,week,stat=1,sys_GRS=SYS_GPS|SYS_GLO|SYS_SBS; - trace(3,"convrnx: format=%d file=%s ofile=%s %s %s %s %s %s %s %s %s\n", + rtktrace(3,"convrnx: format=%d file=%s ofile=%s %s %s %s %s %s %s %s %s\n", format,file,ofile[0],ofile[1],ofile[2],ofile[3],ofile[4],ofile[5], ofile[6],ofile[7],ofile[8]); diff --git a/src/download.c b/src/download.c index 7b454dc6f..2f4b06329 100644 --- a/src/download.c +++ b/src/download.c @@ -303,7 +303,7 @@ static int mkdir_r(const char *dir) if (CreateDirectory(dir,NULL)|| GetLastError()==ERROR_ALREADY_EXISTS) return 1; - trace(2,"directory generation error: dir=%s\n",dir); + rtktrace(2,"directory generation error: dir=%s\n",dir); return 0; #else FILE *fp; @@ -320,7 +320,7 @@ static int mkdir_r(const char *dir) } if (!mkdir(dir,0777)||errno==EEXIST) return 1; - trace(2,"directory generation error: dir=%s\n",dir); + rtktrace(2,"directory generation error: dir=%s\n",dir); return 0; #endif } @@ -441,7 +441,7 @@ static int exec_down(path_t *path, char *remot_p, const char *usr, else if (!strncmp(path->remot,"http://" ,7)) proto=1; else if (!strncmp(path->remot,"https://",8)) proto=1; else { - trace(2,"exec_down: invalid path %s\n",path->remot); + rtktrace(2,"exec_down: invalid path %s\n",path->remot); showmsg("STAT=X"); if (fp) fprintf(fp,"%s ERROR (INVALID PATH)\n",path->remot); n[1]++; @@ -518,7 +518,7 @@ static int exec_down(path_t *path, char *remot_p, const char *usr, n[1]++; } else { - trace(2,"exec_down: error proto=%d %d\n",proto,ret); + rtktrace(2,"exec_down: error proto=%d %d\n",proto,ret); showmsg("STAT=X"); if (fp) fprintf(fp," ERROR (%d)\n",ret); n[3]++; @@ -540,7 +540,7 @@ static int exec_down(path_t *path, char *remot_p, const char *usr, remove(path->local); } else { - trace(2,"exec_down: uncompress error\n"); + rtktrace(2,"exec_down: uncompress error\n"); showmsg("STAT=C"); if (fp) fprintf(fp," ERROR (UNCOMP)\n"); n[3]++; diff --git a/src/ephemeris.c b/src/ephemeris.c index 276a73378..263ad75ca 100644 --- a/src/ephemeris.c +++ b/src/ephemeris.c @@ -151,7 +151,7 @@ extern void alm2pos(gtime_t time, const alm_t *alm, double *rs, double *dts) double tk,M,E,Ek,sinE,cosE,u,r,i,O,x,y,sinO,cosO,cosi,mu; int n; - trace(4,"alm2pos : time=%s sat=%2d\n",time_str(time,3),alm->sat); + rtktrace(4,"alm2pos : time=%s sat=%2d\n",time_str(time,3),alm->sat); tk=timediff(time,alm->toa); @@ -166,7 +166,7 @@ extern void alm2pos(gtime_t time, const alm_t *alm, double *rs, double *dts) Ek=E; E-=(E-alm->e*sin(E)-M)/(1.0-alm->e*cos(E)); } if (n>=MAX_ITER_KEPLER) { - trace(2,"alm2pos: kepler iteration overflow sat=%2d\n",alm->sat); + rtktrace(2,"alm2pos: kepler iteration overflow sat=%2d\n",alm->sat); return; } sinE=sin(E); cosE=cos(E); @@ -193,7 +193,7 @@ extern double eph2clk(gtime_t time, const eph_t *eph) double t,ts; int i; - trace(4,"eph2clk : time=%s sat=%2d\n",time_str(time,3),eph->sat); + rtktrace(4,"eph2clk : time=%s sat=%2d\n",time_str(time,3),eph->sat); t=ts=timediff(time,eph->toc); @@ -222,7 +222,7 @@ extern void eph2pos(gtime_t time, const eph_t *eph, double *rs, double *dts, double xg,yg,zg,sino,coso; int n,sys,prn; - trace(4,"eph2pos : time=%s sat=%2d\n",time_str(time,3),eph->sat); + rtktrace(4,"eph2pos : time=%s sat=%2d\n",time_str(time,3),eph->sat); if (eph->A<=0.0) { rs[0]=rs[1]=rs[2]=*dts=*var=0.0; @@ -241,12 +241,12 @@ extern void eph2pos(gtime_t time, const eph_t *eph, double *rs, double *dts, Ek=E; E-=(E-eph->e*sin(E)-M)/(1.0-eph->e*cos(E)); } if (n>=MAX_ITER_KEPLER) { - trace(2,"eph2pos: kepler iteration overflow sat=%2d\n",eph->sat); + rtktrace(2,"eph2pos: kepler iteration overflow sat=%2d\n",eph->sat); return; } sinE=sin(E); cosE=cos(E); - trace(4,"kepler: sat=%2d e=%8.5f n=%2d del=%10.3e\n",eph->sat,eph->e,n,E-Ek); + rtktrace(4,"kepler: sat=%2d e=%8.5f n=%2d del=%10.3e\n",eph->sat,eph->e,n,E-Ek); u=atan2(sqrt(1.0-eph->e*eph->e)*sinE,cosE-eph->e)+eph->omg; r=eph->A*(1.0-eph->e*cosE); @@ -327,7 +327,7 @@ extern double geph2clk(gtime_t time, const geph_t *geph) double t,ts; int i; - trace(4,"geph2clk: time=%s sat=%2d\n",time_str(time,3),geph->sat); + rtktrace(4,"geph2clk: time=%s sat=%2d\n",time_str(time,3),geph->sat); t=ts=timediff(time,geph->toe); @@ -352,7 +352,7 @@ extern void geph2pos(gtime_t time, const geph_t *geph, double *rs, double *dts, double t,tt,x[6]; int i; - trace(4,"geph2pos: time=%s sat=%2d\n",time_str(time,3),geph->sat); + rtktrace(4,"geph2pos: time=%s sat=%2d\n",time_str(time,3),geph->sat); t=timediff(time,geph->toe); @@ -382,7 +382,7 @@ extern double seph2clk(gtime_t time, const seph_t *seph) double t; int i; - trace(4,"seph2clk: time=%s sat=%2d\n",time_str(time,3),seph->sat); + rtktrace(4,"seph2clk: time=%s sat=%2d\n",time_str(time,3),seph->sat); t=timediff(time,seph->t0); @@ -407,7 +407,7 @@ extern void seph2pos(gtime_t time, const seph_t *seph, double *rs, double *dts, double t; int i; - trace(4,"seph2pos: time=%s sat=%2d\n",time_str(time,3),seph->sat); + rtktrace(4,"seph2pos: time=%s sat=%2d\n",time_str(time,3),seph->sat); t=timediff(time,seph->t0); @@ -419,12 +419,12 @@ extern void seph2pos(gtime_t time, const seph_t *seph, double *rs, double *dts, *var=var_uraeph(SYS_SBS,seph->sva); } /* select ephememeris --------------------------------------------------------*/ -static eph_t *seleph(gtime_t time, int sat, int iode, const nav_t *nav) +eph_t *seleph(gtime_t time, int sat, int iode, const nav_t *nav) { double t,tmax,tmin; int i,j=-1,sys,sel; - trace(4,"seleph : time=%s sat=%2d iode=%d\n",time_str(time,3),sat,iode); + rtktrace(4,"seleph : time=%s sat=%2d iode=%d\n",time_str(time,3),sat,iode); sys=satsys(sat,NULL); switch (sys) { @@ -451,7 +451,7 @@ static eph_t *seleph(gtime_t time, int sat, int iode, const nav_t *nav) if (t<=tmin) {j=i; tmin=t;} /* toe closest to time */ } if (iode>=0||j<0) { - trace(3,"no broadcast ephemeris: %s sat=%2d iode=%3d\n", + rtktrace(3,"no broadcast ephemeris: %s sat=%2d iode=%3d\n", time_str(time,0),sat,iode); return NULL; } @@ -463,7 +463,7 @@ static geph_t *selgeph(gtime_t time, int sat, int iode, const nav_t *nav) double t,tmax=MAXDTOE_GLO,tmin=tmax+1.0; int i,j=-1; - trace(4,"selgeph : time=%s sat=%2d iode=%2d\n",time_str(time,3),sat,iode); + rtktrace(4,"selgeph : time=%s sat=%2d iode=%2d\n",time_str(time,3),sat,iode); for (i=0;ing;i++) { if (nav->geph[i].sat!=sat) continue; @@ -473,7 +473,7 @@ static geph_t *selgeph(gtime_t time, int sat, int iode, const nav_t *nav) if (t<=tmin) {j=i; tmin=t;} /* toe closest to time */ } if (iode>=0||j<0) { - trace(3,"no glonass ephemeris : %s sat=%2d iode=%2d\n",time_str(time,0), + rtktrace(3,"no glonass ephemeris : %s sat=%2d iode=%2d\n",time_str(time,0), sat,iode); return NULL; } @@ -485,7 +485,7 @@ static seph_t *selseph(gtime_t time, int sat, const nav_t *nav) double t,tmax=MAXDTOE_SBS,tmin=tmax+1.0; int i,j=-1; - trace(4,"selseph : time=%s sat=%2d\n",time_str(time,3),sat); + rtktrace(4,"selseph : time=%s sat=%2d\n",time_str(time,3),sat); for (i=0;ins;i++) { if (nav->seph[i].sat!=sat) continue; @@ -493,7 +493,7 @@ static seph_t *selseph(gtime_t time, int sat, const nav_t *nav) if (t<=tmin) {j=i; tmin=t;} /* toe closest to time */ } if (j<0) { - trace(3,"no sbas ephemeris : %s sat=%2d\n",time_str(time,0),sat); + rtktrace(3,"no sbas ephemeris : %s sat=%2d\n",time_str(time,0),sat); return NULL; } return nav->seph+j; @@ -507,7 +507,7 @@ static int ephclk(gtime_t time, gtime_t teph, int sat, const nav_t *nav, seph_t *seph; int sys; - trace(4,"ephclk : time=%s sat=%2d\n",time_str(time,3),sat); + rtktrace(4,"ephclk : time=%s sat=%2d\n",time_str(time,3),sat); sys=satsys(sat,NULL); @@ -537,7 +537,7 @@ static int ephpos(gtime_t time, gtime_t teph, int sat, const nav_t *nav, double rst[3],dtst[1],tt=1E-3; int i,sys; - trace(4,"ephpos : time=%s sat=%2d iode=%d\n",time_str(time,3),sat,iode); + rtktrace(4,"ephpos : time=%s sat=%2d iode=%d\n",time_str(time,3),sat,iode); sys=satsys(sat,NULL); @@ -579,7 +579,7 @@ static int satpos_sbas(gtime_t time, gtime_t teph, int sat, const nav_t *nav, const sbssatp_t *sbs; int i; - trace(4,"satpos_sbas: time=%s sat=%2d\n",time_str(time,3),sat); + rtktrace(4,"satpos_sbas: time=%s sat=%2d\n",time_str(time,3),sat); /* search sbas satellite correciton */ for (i=0;isbssat.nsat;i++) { @@ -587,7 +587,7 @@ static int satpos_sbas(gtime_t time, gtime_t teph, int sat, const nav_t *nav, if (sbs->sat==sat) break; } if (i>=nav->sbssat.nsat) { - trace(2,"no sbas correction for orbit: %s sat=%2d\n",time_str(time,0),sat); + rtktrace(2,"no sbas correction for orbit: %s sat=%2d\n",time_str(time,0),sat); ephpos(time,teph,sat,nav,-1,rs,dts,var,svh); *svh=-1; return 0; @@ -609,21 +609,21 @@ static int satpos_ssr(gtime_t time, gtime_t teph, int sat, const nav_t *nav, double t1,t2,t3,er[3],ea[3],ec[3],rc[3],deph[3],dclk,dant[3]={0},tk; int i,sys; - trace(4,"satpos_ssr: time=%s sat=%2d\n",time_str(time,3),sat); + rtktrace(4,"satpos_ssr: time=%s sat=%2d\n",time_str(time,3),sat); ssr=nav->ssr+sat-1; if (!ssr->t0[0].time) { - trace(2,"no ssr orbit correction: %s sat=%2d\n",time_str(time,0),sat); + rtktrace(2,"no ssr orbit correction: %s sat=%2d\n",time_str(time,0),sat); return 0; } if (!ssr->t0[1].time) { - trace(2,"no ssr clock correction: %s sat=%2d\n",time_str(time,0),sat); + rtktrace(2,"no ssr clock correction: %s sat=%2d\n",time_str(time,0),sat); return 0; } /* inconsistency between orbit and clock correction */ if (ssr->iod[0]!=ssr->iod[1]) { - trace(2,"inconsist ssr correction: %s sat=%2d iod=%d %d\n", + rtktrace(2,"inconsist ssr correction: %s sat=%2d iod=%d %d\n", time_str(time,0),sat,ssr->iod[0],ssr->iod[1]); *svh=-1; return 0; @@ -634,7 +634,7 @@ static int satpos_ssr(gtime_t time, gtime_t teph, int sat, const nav_t *nav, /* ssr orbit and clock correction (ref [4]) */ if (fabs(t1)>MAXAGESSR||fabs(t2)>MAXAGESSR) { - trace(2,"age of ssr error: %s sat=%2d t=%.0f %.0f\n",time_str(time,0), + rtktrace(2,"age of ssr error: %s sat=%2d t=%.0f %.0f\n",time_str(time,0), sat,t1,t2); *svh=-1; return 0; @@ -650,7 +650,7 @@ static int satpos_ssr(gtime_t time, gtime_t teph, int sat, const nav_t *nav, dclk+=ssr->hrclk; } if (norm(deph,3)>MAXECORSSR||fabs(dclk)>MAXCCORSSR) { - trace(3,"invalid ssr correction: %s deph=%.1f dclk=%.1f\n", + rtktrace(3,"invalid ssr correction: %s deph=%.1f dclk=%.1f\n", time_str(time,0),norm(deph,3),dclk); *svh=-1; return 0; @@ -693,7 +693,7 @@ static int satpos_ssr(gtime_t time, gtime_t teph, int sat, const nav_t *nav, /* variance by ssr ura */ *var=var_urassr(ssr->ura); - trace(5,"satpos_ssr: %s sat=%2d deph=%6.3f %6.3f %6.3f er=%6.3f %6.3f %6.3f dclk=%6.3f var=%6.3f\n", + rtktrace(5,"satpos_ssr: %s sat=%2d deph=%6.3f %6.3f %6.3f er=%6.3f %6.3f %6.3f dclk=%6.3f var=%6.3f\n", time_str(time,2),sat,deph[0],deph[1],deph[2],er[0],er[1],er[2],dclk,*var); return 1; @@ -718,7 +718,7 @@ extern int satpos(gtime_t time, gtime_t teph, int sat, int ephopt, const nav_t *nav, double *rs, double *dts, double *var, int *svh) { - trace(4,"satpos : time=%s sat=%2d ephopt=%d\n",time_str(time,3),sat,ephopt); + rtktrace(4,"satpos : time=%s sat=%2d ephopt=%d\n",time_str(time,3),sat,ephopt); *svh=0; @@ -764,7 +764,7 @@ extern void satposs(gtime_t teph, const obsd_t *obs, int n, const nav_t *nav, double dt,pr; int i,j; - trace(3,"satposs : teph=%s n=%d ephopt=%d\n",time_str(teph,3),n,ephopt); + rtktrace(3,"satposs : teph=%s n=%d ephopt=%d\n",time_str(teph,3),n,ephopt); for (i=0;i=NFREQ) { - trace(3,"no pseudorange %s sat=%2d\n",time_str(obs[i].time,3),obs[i].sat); + rtktrace(3,"no pseudorange %s sat=%2d\n",time_str(obs[i].time,3),obs[i].sat); continue; } /* transmission time by satellite clock */ @@ -783,7 +783,7 @@ extern void satposs(gtime_t teph, const obsd_t *obs, int n, const nav_t *nav, /* satellite clock bias by broadcast ephemeris */ if (!ephclk(time[i],teph,obs[i].sat,nav,&dt)) { - trace(3,"no broadcast clock %s sat=%2d\n",time_str(time[i],3),obs[i].sat); + rtktrace(3,"no broadcast clock %s sat=%2d\n",time_str(time[i],3),obs[i].sat); continue; } time[i]=timeadd(time[i],-dt); @@ -791,7 +791,7 @@ extern void satposs(gtime_t teph, const obsd_t *obs, int n, const nav_t *nav, /* satellite position and clock at transmission time */ if (!satpos(time[i],teph,obs[i].sat,ephopt,nav,rs+i*6,dts+i*2,var+i, svh+i)) { - trace(3,"no ephemeris %s sat=%2d\n",time_str(time[i],3),obs[i].sat); + rtktrace(3,"no ephemeris %s sat=%2d\n",time_str(time[i],3),obs[i].sat); continue; } /* if no precise clock available, use broadcast clock instead */ @@ -802,7 +802,7 @@ extern void satposs(gtime_t teph, const obsd_t *obs, int n, const nav_t *nav, } } for (i=0;i200.0) { - trace(2,"invalid geoid model: lat=%.3f lon=%.3f h=%.3f\n",posd[0],posd[1],h); + rtktrace(2,"invalid geoid model: lat=%.3f lon=%.3f h=%.3f\n",posd[0],posd[1],h); return 0.0; } return h; diff --git a/src/gis.c b/src/gis.c index 441eb818a..29743c5cf 100644 --- a/src/gis.c +++ b/src/gis.c @@ -268,7 +268,7 @@ static int gis_read_record(FILE *fp, FILE *fp_idx, int type, double *bound, typ2=I4_L(buff+8); if (num!=i+1||len1!=len2||type!=typ2) { - trace(2,"shapefile record error n=%d %d len=%d %d type=%d %d\n", + rtktrace(2,"shapefile record error n=%d %d len=%d %d type=%d %d\n", i+1,num,len1,len2,type,typ2); continue; } @@ -312,7 +312,7 @@ extern int gis_read(const char *file, gis_t *gis, int layer) char path[1024],*p,*q; int type1=0,type2=0; - trace(3,"gis_read file=%s layer=%d\n",file,layer); + rtktrace(3,"gis_read file=%s layer=%d\n",file,layer); strcpy(path,file); @@ -323,18 +323,18 @@ extern int gis_read(const char *file, gis_t *gis, int layer) sprintf(path+strlen(path),".shx"); } if (!(fp=fopen(file,"rb"))) { /* shapefile */ - trace(2,"shapefile open error: %s\n",file); + rtktrace(2,"shapefile open error: %s\n",file); return 0; } if (!(fp_idx=fopen(path,"rb"))) { /* index file */ fclose(fp); - trace(2,"shapefile index open error: %s\n",path); + rtktrace(2,"shapefile index open error: %s\n",path); return 0; } /* read header */ if ((type1=read_shape_head(fp))<0||(type2=read_shape_head(fp_idx))<0|| type1!=type2) { - trace(2,"shapefile header error: %s type=%d %d\n",file,type1,type2); + rtktrace(2,"shapefile header error: %s type=%d %d\n",file,type1,type2); fclose(fp); fclose(fp_idx); return 0; diff --git a/src/ionex.c b/src/ionex.c index afec8a96b..7c44854b9 100644 --- a/src/ionex.c +++ b/src/ionex.c @@ -50,7 +50,7 @@ static tec_t *addtec(const double *lats, const double *lons, const double *hgts, gtime_t time0={0}; int i,n,ndata[3]; - trace(3,"addtec :\n"); + rtktrace(3,"addtec :\n"); ndata[0]=nitem(lats); ndata[1]=nitem(lons); @@ -60,7 +60,7 @@ static tec_t *addtec(const double *lats, const double *lons, const double *hgts, if (nav->nt>=nav->ntmax) { nav->ntmax+=256; if (!(nav_tec=(tec_t *)realloc(nav->tec,sizeof(tec_t)*nav->ntmax))) { - trace(1,"readionex malloc error ntmax=%d\n",nav->ntmax); + rtktrace(1,"readionex malloc error ntmax=%d\n",nav->ntmax); free(nav->tec); nav->tec=NULL; nav->nt=nav->ntmax=0; return NULL; } @@ -94,7 +94,7 @@ static void readionexdcb(FILE *fp, double *dcb, double *rms) int i,sat; char buff[1024],id[32],*label; - trace(3,"readionexdcb:\n"); + rtktrace(3,"readionexdcb:\n"); for (i=0;int=%d\n",nav->nt); + rtktrace(3,"combtec : nav->nt=%d\n",nav->nt); for (i=0;int-1;i++) { for (j=i+1;jnt;j++) { @@ -263,7 +263,7 @@ static void combtec(nav_t *nav) } nav->nt=n; - trace(4,"combtec : nav->nt=%d\n",nav->nt); + rtktrace(4,"combtec : nav->nt=%d\n",nav->nt); } /* read ionex tec grid file ---------------------------------------------------- * read ionex ionospheric tec grid file @@ -283,7 +283,7 @@ extern void readtec(const char *file, nav_t *nav, int opt) int i,n; char *efiles[MAXEXFILE]; - trace(3,"readtec : file=%s\n",file); + rtktrace(3,"readtec : file=%s\n",file); /* clear of tec grid data option */ if (!opt) { @@ -300,12 +300,12 @@ extern void readtec(const char *file, nav_t *nav, int opt) for (i=0;ilats[2]==0.0||tec->lons[2]==0.0) return 0; @@ -378,7 +378,7 @@ static int iondelay(gtime_t time, const tec_t *tec, const double *pos, double fs,posp[3]={0},vtec,rms,hion,rp; int i; - trace(3,"iondelay: time=%s pos=%.1f %.1f azel=%.1f %.1f\n",time_str(time,0), + rtktrace(3,"iondelay: time=%s pos=%.1f %.1f azel=%.1f %.1f\n",time_str(time,0), pos[0]*R2D,pos[1]*R2D,azel[0]*R2D,azel[1]*R2D); *delay=*var=0.0; @@ -405,7 +405,7 @@ static int iondelay(gtime_t time, const tec_t *tec, const double *pos, *delay+=fact*fs*vtec; *var+=fact*fact*fs*fs*rms*rms; } - trace(4,"iondelay: delay=%7.2f std=%6.2f\n",*delay,sqrt(*var)); + rtktrace(4,"iondelay: delay=%7.2f std=%6.2f\n",*delay,sqrt(*var)); return 1; } @@ -430,7 +430,7 @@ extern int iontec(gtime_t time, const nav_t *nav, const double *pos, double dels[2],vars[2],a,tt; int i,stat[2]; - trace(3,"iontec : time=%s pos=%.1f %.1f azel=%.1f %.1f\n",time_str(time,0), + rtktrace(3,"iontec : time=%s pos=%.1f %.1f azel=%.1f %.1f\n",time_str(time,0), pos[0]*R2D,pos[1]*R2D,azel[0]*R2D,azel[1]*R2D); if (azel[1]tec[i].time,time)>0.0) break; } if (i==0||i>=nav->nt) { - trace(2,"%s: tec grid out of period\n",time_str(time,0)); + rtktrace(2,"%s: tec grid out of period\n",time_str(time,0)); return 0; } if ((tt=timediff(nav->tec[i].time,nav->tec[i-1].time))==0.0) { - trace(2,"tec grid time interval error\n"); + rtktrace(2,"tec grid time interval error\n"); return 0; } /* ionospheric delay by tec grid data */ @@ -454,7 +454,7 @@ extern int iontec(gtime_t time, const nav_t *nav, const double *pos, stat[1]=iondelay(time,nav->tec+i ,pos,azel,opt,dels+1,vars+1); if (!stat[0]&&!stat[1]) { - trace(2,"%s: tec grid out of area pos=%6.2f %7.2f azel=%6.1f %5.1f\n", + rtktrace(2,"%s: tec grid out of area pos=%6.2f %7.2f azel=%6.1f %5.1f\n", time_str(time,0),pos[0]*R2D,pos[1]*R2D,azel[0]*R2D,azel[1]*R2D); return 0; } @@ -471,6 +471,6 @@ extern int iontec(gtime_t time, const nav_t *nav, const double *pos, *delay=dels[1]; *var =vars[1]; } - trace(3,"iontec : delay=%5.2f std=%5.2f\n",*delay,sqrt(*var)); + rtktrace(3,"iontec : delay=%5.2f std=%5.2f\n",*delay,sqrt(*var)); return 1; } diff --git a/src/options.c b/src/options.c index a64b12e31..b46aeeebb 100644 --- a/src/options.c +++ b/src/options.c @@ -239,7 +239,7 @@ extern opt_t *searchopt(const char *name, const opt_t *opts) { int i; - trace(3,"searchopt: name=%s\n",name); + rtktrace(3,"searchopt: name=%s\n",name); for (i=0;*opts[i].name;i++) { if (strstr(opts[i].name,name)) return (opt_t *)(opts+i); @@ -273,7 +273,7 @@ extern int opt2str(const opt_t *opt, char *str) { char *p=str; - trace(3,"opt2str : name=%s\n",opt->name); + rtktrace(3,"opt2str : name=%s\n",opt->name); switch (opt->format) { case 0: p+=sprintf(p,"%d" ,*(int *)opt->var); break; @@ -294,7 +294,7 @@ extern int opt2buf(const opt_t *opt, char *buff) char *p=buff; int n; - trace(3,"opt2buf : name=%s\n",opt->name); + rtktrace(3,"opt2buf : name=%s\n",opt->name); p+=sprintf(p,"%-18s =",opt->name); p+=opt2str(opt,p); @@ -318,10 +318,10 @@ extern int loadopts(const char *file, opt_t *opts) char buff[2048],*p; int n=0; - trace(3,"loadopts: file=%s\n",file); + rtktrace(3,"loadopts: file=%s\n",file); if (!(fp=fopen(file,"r"))) { - trace(1,"loadopts: options file open error (%s)\n",file); + rtktrace(1,"loadopts: options file open error (%s)\n",file); return 0; } while (fgets(buff,sizeof(buff),fp)) { @@ -363,10 +363,10 @@ extern int saveopts(const char *file, const char *mode, const char *comment, char buff[2048]; int i; - trace(3,"saveopts: file=%s mode=%s\n",file,mode); + rtktrace(3,"saveopts: file=%s mode=%s\n",file,mode); if (!(fp=fopen(file,mode))) { - trace(1,"saveopts: options file open error (%s)\n",file); + rtktrace(1,"saveopts: options file open error (%s)\n",file); return 0; } if (comment) fprintf(fp,"# %s\n\n",comment); @@ -488,7 +488,7 @@ extern void resetsysopts(void) { int i,j; - trace(3,"resetsysopts:\n"); + rtktrace(3,"resetsysopts:\n"); prcopt_=prcopt_default; solopt_=solopt_default; @@ -519,7 +519,7 @@ extern void resetsysopts(void) *-----------------------------------------------------------------------------*/ extern void getsysopts(prcopt_t *popt, solopt_t *sopt, filopt_t *fopt) { - trace(3,"getsysopts:\n"); + rtktrace(3,"getsysopts:\n"); buff2sysopts(); if (popt) *popt=prcopt_; @@ -537,7 +537,7 @@ extern void getsysopts(prcopt_t *popt, solopt_t *sopt, filopt_t *fopt) extern void setsysopts(const prcopt_t *prcopt, const solopt_t *solopt, const filopt_t *filopt) { - trace(3,"setsysopts:\n"); + rtktrace(3,"setsysopts:\n"); resetsysopts(); if (prcopt) prcopt_=*prcopt; diff --git a/src/pntpos.c b/src/pntpos.c index 29b2460a9..94d301e31 100644 --- a/src/pntpos.c +++ b/src/pntpos.c @@ -179,7 +179,7 @@ static double prange(const obsd_t *obs, const nav_t *nav, const prcopt_t *opt, extern int ionocorr(gtime_t time, const nav_t *nav, int sat, const double *pos, const double *azel, int ionoopt, double *ion, double *var) { - trace(4,"ionocorr: time=%s opt=%d sat=%2d pos=%.3f %.3f azel=%.3f %.3f\n", + rtktrace(4,"ionocorr: time=%s opt=%d sat=%2d pos=%.3f %.3f azel=%.3f %.3f\n", time_str(time,3),ionoopt,sat,pos[0]*R2D,pos[1]*R2D,azel[0]*R2D, azel[1]*R2D); @@ -221,7 +221,7 @@ extern int ionocorr(gtime_t time, const nav_t *nav, int sat, const double *pos, extern int tropcorr(gtime_t time, const nav_t *nav, const double *pos, const double *azel, int tropopt, double *trp, double *var) { - trace(4,"tropcorr: time=%s opt=%d pos=%.3f %.3f azel=%.3f %.3f\n", + rtktrace(4,"tropcorr: time=%s opt=%d pos=%.3f %.3f azel=%.3f %.3f\n", time_str(time,3),tropopt,pos[0]*R2D,pos[1]*R2D,azel[0]*R2D, azel[1]*R2D); @@ -252,7 +252,7 @@ static int rescode(int iter, const obsd_t *obs, int n, const double *rs, double r,freq,dion,dtrp,vmeas,vion,vtrp,rr[3],pos[3],dtr,e[3],P; int i,j,nv=0,sat,sys,mask[NX-3]={0}; - trace(3,"resprng : n=%d\n",n); + rtktrace(3,"resprng : n=%d\n",n); for (i=0;i<3;i++) rr[i]=x[i]; dtr=x[3]; @@ -267,7 +267,7 @@ static int rescode(int iter, const obsd_t *obs, int n, const double *rs, /* reject duplicated observation data */ if (irms) continue; @@ -499,7 +499,7 @@ static int raim_fde(const obsd_t *obs, int n, const double *rs, } if (stat) { time2str(obs[0].time,tstr,2); satno2id(sat,name); - trace(2,"%s: %s excluded by raim\n",tstr+11,name); + rtktrace(2,"%s: %s excluded by raim\n",tstr+11,name); } free(obs_e); free(rs_e ); free(dts_e ); free(vare_e); free(azel_e); @@ -515,7 +515,7 @@ static int resdop(const obsd_t *obs, int n, const double *rs, const double *dts, double freq,rate,pos[3],E[9],a[3],e[3],vs[3],cosel,sig; int i,j,nv=0; - trace(3,"resdop : n=%d\n",n); + rtktrace(3,"resdop : n=%d\n",n); ecef2pos(rr,pos); xyz2enu(pos,E); @@ -564,7 +564,7 @@ static void estvel(const obsd_t *obs, int n, const double *rs, const double *dts double err=opt->err[4]; /* Doppler error (Hz) */ int i,j,nv; - trace(3,"estvel : n=%d\n",n); + rtktrace(3,"estvel : n=%d\n",n); v=mat(n,1); H=mat(4,n); @@ -613,7 +613,7 @@ extern int pntpos(const obsd_t *obs, int n, const nav_t *nav, double *rs,*dts,*var,*azel_,*resp; int i,stat,vsat[MAXOBS]={0},svh[MAXOBS]; - trace(3,"pntpos : tobs=%s n=%d\n",time_str(obs[0].time,3),n); + rtktrace(3,"pntpos : tobs=%s n=%d\n",time_str(obs[0].time,3),n); sol->stat=SOLQ_NONE; diff --git a/src/postpos.c b/src/postpos.c index f9e7575e6..040ffb897 100644 --- a/src/postpos.c +++ b/src/postpos.c @@ -99,7 +99,7 @@ static void outrpos(FILE *fp, const double *r, const solopt_t *opt) double pos[3],dms1[3],dms2[3]; const char *sep=opt->sep; - trace(3,"outrpos :\n"); + rtktrace(3,"outrpos :\n"); if (opt->posf==SOLF_LLH||opt->posf==SOLF_ENU) { ecef2pos(r,pos); @@ -129,7 +129,7 @@ static void outheader(FILE *fp, char **file, int n, const prcopt_t *popt, int i,j,w1,w2; char s2[32],s3[32]; - trace(3,"outheader: n=%d\n",n); + rtktrace(3,"outheader: n=%d\n",n); if (sopt->posf==SOLF_NMEA||sopt->posf==SOLF_STAT) { return; @@ -214,7 +214,7 @@ static void update_rtcm_ssr(gtime_t time) if (fp_rtcm) { rtcm.time=time; input_rtcm3f(&rtcm,fp_rtcm); - trace(2,"rtcm file open: %s\n",path); + rtktrace(2,"rtcm file open: %s\n",path); } } if (!fp_rtcm) return; @@ -239,7 +239,7 @@ static int inputobs(obsd_t *obs, int solq, const prcopt_t *popt) gtime_t time={0}; int i,nu,nr,n=0; - trace(3,"infunc : revs=%d iobsu=%d iobsr=%d isbs=%d\n",revs,iobsu,iobsr,isbs); + rtktrace(3,"infunc : revs=%d iobsu=%d iobsr=%d isbs=%d\n",revs,iobsu,iobsr,isbs); if (0<=iobsu&&iobsusolstatic&& (popt->mode==PMODE_STATIC||popt->mode==PMODE_PPP_STATIC); @@ -396,7 +396,7 @@ static int valcomb(const sol_t *solf, const sol_t *solb) int i; char tstr[32]; - trace(3,"valcomb :\n"); + rtktrace(3,"valcomb :\n"); /* compare forward and backward solution */ for (i=0;i<3;i++) { @@ -407,7 +407,7 @@ static int valcomb(const sol_t *solf, const sol_t *solb) if (dr[i]*dr[i]<=16.0*var[i]) continue; /* ok if in 4-sigma */ time2str(solf->time,tstr,2); - trace(2,"degrade fix to float: %s dr=%.3f %.3f %.3f std=%.3f %.3f %.3f\n", + rtktrace(2,"degrade fix to float: %s dr=%.3f %.3f %.3f std=%.3f %.3f %.3f\n", tstr+11,dr[0],dr[1],dr[2],SQRT(var[0]),SQRT(var[1]),SQRT(var[2])); return 0; } @@ -421,7 +421,7 @@ static void combres(FILE *fp, const prcopt_t *popt, const solopt_t *sopt) double tt,Qf[9],Qb[9],Qs[9],rbs[3]={0},rb[3]={0},rr_f[3],rr_b[3],rr_s[3]; int i,j,k,solstatic,pri[]={0,1,2,3,4,5,1,6}; - trace(3,"combres : isolf=%d isolb=%d\n",isolf,isolb); + rtktrace(3,"combres : isolf=%d isolb=%d\n",isolf,isolb); solstatic=sopt->solstatic&& (popt->mode==PMODE_STATIC||popt->mode==PMODE_PPP_STATIC); @@ -528,7 +528,7 @@ static void readpreceph(char **infile, int n, const prcopt_t *prcopt, int i; char *ext; - trace(2,"readpreceph: n=%d\n",n); + rtktrace(2,"readpreceph: n=%d\n",n); nav->ne=nav->nemax=0; nav->nc=nav->ncmax=0; @@ -553,7 +553,7 @@ static void readpreceph(char **infile, int n, const prcopt_t *prcopt, nav->ns=nav->nsmax=NSATSBS*2; if (!(nav->seph=(seph_t *)malloc(sizeof(seph_t)*nav->ns))) { showmsg("error : sbas ephem memory allocation"); - trace(1,"error : sbas ephem memory allocation"); + rtktrace(1,"error : sbas ephem memory allocation"); return; } for (i=0;ins;i++) nav->seph[i]=seph0; @@ -575,7 +575,7 @@ static void freepreceph(nav_t *nav, sbs_t *sbs) { int i; - trace(3,"freepreceph:\n"); + rtktrace(3,"freepreceph:\n"); free(nav->peph); nav->peph=NULL; nav->ne=nav->nemax=0; free(nav->pclk); nav->pclk=NULL; nav->nc=nav->ncmax=0; @@ -597,7 +597,7 @@ static int readobsnav(gtime_t ts, gtime_t te, double ti, char **infile, { int i,j,ind=0,nobs=0,rcv=1; - trace(3,"readobsnav: ts=%s n=%d\n",time_str(ts,0),n); + rtktrace(3,"readobsnav: ts=%s n=%d\n",time_str(ts,0),n); obs->data=NULL; obs->n =obs->nmax =0; nav->eph =NULL; nav->n =nav->nmax =0; @@ -616,18 +616,18 @@ static int readobsnav(gtime_t ts, gtime_t te, double ti, char **infile, if (readrnxt(infile[i],rcv,ts,te,ti,prcopt->rnxopt[rcv<=1?0:1],obs,nav, rcv<=2?sta+rcv-1:NULL)<0) { checkbrk("error : insufficient memory"); - trace(1,"insufficient memory\n"); + rtktrace(1,"insufficient memory\n"); return 0; } } if (obs->n<=0) { checkbrk("error : no obs data"); - trace(1,"\n"); + rtktrace(1,"\n"); return 0; } if (nav->n<=0&&nav->ng<=0&&nav->ns<=0) { checkbrk("error : no nav data"); - trace(1,"\n"); + rtktrace(1,"\n"); return 0; } /* sort observation data */ @@ -651,7 +651,7 @@ static int readobsnav(gtime_t ts, gtime_t te, double ti, char **infile, /* free obs and nav data -----------------------------------------------------*/ static void freeobsnav(obs_t *obs, nav_t *nav) { - trace(3,"freeobsnav:\n"); + rtktrace(3,"freeobsnav:\n"); free(obs->data); obs->data=NULL; obs->n =obs->nmax =0; free(nav->eph ); nav->eph =NULL; nav->n =nav->nmax =0; @@ -668,7 +668,7 @@ static int avepos(double *ra, int rcv, const obs_t *obs, const nav_t *nav, int i,j,n=0,m,iobs; char msg[128]; - trace(3,"avepos: rcv=%d obs.n=%d\n",rcv,obs->n); + rtktrace(3,"avepos: rcv=%d obs.n=%d\n",rcv,obs->n); for (i=0;i<3;i++) ra[i]=0.0; @@ -687,7 +687,7 @@ static int avepos(double *ra, int rcv, const obs_t *obs, const nav_t *nav, n++; } if (n<=0) { - trace(1,"no average of base station position\n"); + rtktrace(1,"no average of base station position\n"); return 0; } for (i=0;i<3;i++) ra[i]/=n; @@ -700,10 +700,10 @@ static int getstapos(const char *file, char *name, double *r) char buff[256],sname[256],*p,*q; double pos[3]; - trace(3,"getstapos: file=%s name=%s\n",file,name); + rtktrace(3,"getstapos: file=%s name=%s\n",file,name); if (!(fp=fopen(file,"r"))) { - trace(1,"station position file open error: %s\n",file); + rtktrace(1,"station position file open error: %s\n",file); return 0; } while (fgets(buff,sizeof(buff),fp)) { @@ -723,7 +723,7 @@ static int getstapos(const char *file, char *name, double *r) } } fclose(fp); - trace(1,"no station position: %s %s\n",name,file); + rtktrace(1,"no station position: %s %s\n",name,file); return 0; } /* antenna phase center position ---------------------------------------------*/ @@ -734,7 +734,7 @@ static int antpos(prcopt_t *opt, int rcvno, const obs_t *obs, const nav_t *nav, int i,postype=rcvno==1?opt->rovpos:opt->refpos; char *name; - trace(3,"antpos : rcvno=%d\n",rcvno); + rtktrace(3,"antpos : rcvno=%d\n",rcvno); if (postype==POSOPT_SINGLE) { /* average of single position */ if (!avepos(rr,rcvno,obs,nav,opt)) { @@ -752,7 +752,7 @@ static int antpos(prcopt_t *opt, int rcvno, const obs_t *obs, const nav_t *nav, else if (postype==POSOPT_RINEX) { /* get from rinex header */ if (norm(stas[rcvno==1?0:1].pos,3)<=0.0) { showmsg("error : no position in rinex header"); - trace(1,"no position position in rinex header\n"); + rtktrace(1,"no position position in rinex header\n"); return 0; } /* antenna delta */ @@ -773,25 +773,25 @@ static int antpos(prcopt_t *opt, int rcvno, const obs_t *obs, const nav_t *nav, static int openses(const prcopt_t *popt, const solopt_t *sopt, const filopt_t *fopt, nav_t *nav, pcvs_t *pcvs, pcvs_t *pcvr) { - trace(3,"openses :\n"); + rtktrace(3,"openses :\n"); /* read satellite antenna parameters */ if (*fopt->satantp&&!(readpcv(fopt->satantp,pcvs))) { showmsg("error : no sat ant pcv in %s",fopt->satantp); - trace(1,"sat antenna pcv read error: %s\n",fopt->satantp); + rtktrace(1,"sat antenna pcv read error: %s\n",fopt->satantp); return 0; } /* read receiver antenna parameters */ if (*fopt->rcvantp&&!(readpcv(fopt->rcvantp,pcvr))) { showmsg("error : no rec ant pcv in %s",fopt->rcvantp); - trace(1,"rec antenna pcv read error: %s\n",fopt->rcvantp); + rtktrace(1,"rec antenna pcv read error: %s\n",fopt->rcvantp); return 0; } /* open geoid data */ if (sopt->geoid>0&&*fopt->geoid) { if (!opengeoid(sopt->geoid,fopt->geoid)) { showmsg("error : no geoid data %s",fopt->geoid); - trace(2,"no geoid data %s\n",fopt->geoid); + rtktrace(2,"no geoid data %s\n",fopt->geoid); } } return 1; @@ -799,7 +799,7 @@ static int openses(const prcopt_t *popt, const solopt_t *sopt, /* close procssing session ---------------------------------------------------*/ static void closeses(nav_t *nav, pcvs_t *pcvs, pcvs_t *pcvr) { - trace(3,"closeses:\n"); + rtktrace(3,"closeses:\n"); /* free antenna parameters */ free(pcvs->pcv); pcvs->pcv=NULL; pcvs->n=pcvs->nmax=0; @@ -813,7 +813,7 @@ static void closeses(nav_t *nav, pcvs_t *pcvs, pcvs_t *pcvr) /* close solution statistics and debug trace */ rtkclosestat(); - traceclose(); + rtktraceclose(); } /* set antenna parameters ----------------------------------------------------*/ static void setpcv(gtime_t time, prcopt_t *popt, nav_t *nav, const pcvs_t *pcvs, @@ -830,7 +830,7 @@ static void setpcv(gtime_t time, prcopt_t *popt, nav_t *nav, const pcvs_t *pcvs, if (!(satsys(i+1,NULL)&popt->navsys)) continue; if (!(pcv=searchpcv(i+1,"",time,pcvs))) { satno2id(i+1,id); - trace(3,"no satellite antenna pcv: %s\n",id); + rtktrace(3,"no satellite antenna pcv: %s\n",id); continue; } nav->pcvs[i]=*pcv; @@ -851,7 +851,7 @@ static void setpcv(gtime_t time, prcopt_t *popt, nav_t *nav, const pcvs_t *pcvs, } } if (!(pcv=searchpcv(0,popt->anttype[i],time,pcvr))) { - trace(2,"no receiver antenna pcv: %s\n",popt->anttype[i]); + rtktrace(2,"no receiver antenna pcv: %s\n",popt->anttype[i]); *popt->anttype[i]='\0'; continue; } @@ -874,7 +874,7 @@ static int outhead(const char *outfile, char **infile, int n, { FILE *fp=stdout; - trace(3,"outhead: outfile=%s n=%d\n",outfile,n); + rtktrace(3,"outhead: outfile=%s n=%d\n",outfile,n); if (*outfile) { createdir(outfile); @@ -894,7 +894,7 @@ static int outhead(const char *outfile, char **infile, int n, /* open output file for append -----------------------------------------------*/ static FILE *openfile(const char *outfile) { - trace(3,"openfile: outfile=%s\n",outfile); + rtktrace(3,"openfile: outfile=%s\n",outfile); return !*outfile?stdout:fopen(outfile,"ab"); } @@ -907,9 +907,9 @@ static int execses(gtime_t ts, gtime_t te, double ti, const prcopt_t *popt, prcopt_t popt_=*popt; char tracefile[1024],statfile[1024],path[1024],*ext; - trace(3,"execses : n=%d outfile=%s\n",n,outfile); + rtktrace(3,"execses : n=%d outfile=%s\n",n,outfile); - /* open debug trace */ + /* open debug rtktrace */ if (flag&&sopt->trace>0) { if (*outfile) { strcpy(tracefile,outfile); @@ -918,9 +918,9 @@ static int execses(gtime_t ts, gtime_t te, double ti, const prcopt_t *popt, else { strcpy(tracefile,fopt->trace); } - traceclose(); - traceopen(tracefile); - tracelevel(sopt->trace); + rtktraceclose(); + rtktraceopen(tracefile); + rtktracelevel(sopt->trace); } /* read ionosphere data file */ if (*fopt->iono&&(ext=strrchr(fopt->iono,'.'))) { @@ -935,7 +935,7 @@ static int execses(gtime_t ts, gtime_t te, double ti, const prcopt_t *popt, reppath(fopt->eop,path,ts,"",""); if (!readerp(path,&navs.erp)) { showmsg("error : no erp data %s",path); - trace(2,"no erp data %s\n",path); + rtktrace(2,"no erp data %s\n",path); } } /* read obs and nav data */ @@ -1034,7 +1034,7 @@ static int execses_r(gtime_t ts, gtime_t te, double ti, const prcopt_t *popt, int i,stat=0; char *ifile[MAXINFILE],ofile[1024],*rov_,*p,*q,s[64]=""; - trace(3,"execses_r: n=%d outfile=%s\n",n,outfile); + rtktrace(3,"execses_r: n=%d outfile=%s\n",n,outfile); for (i=0;i=MAXINFILE) { - trace(2,"too many input files. trancated\n"); + rtktrace(2,"too many input files. trancated\n"); break; } } diff --git a/src/ppp.c b/src/ppp.c index a60b4b4e4..4f15387b4 100644 --- a/src/ppp.c +++ b/src/ppp.c @@ -133,7 +133,7 @@ extern int pppoutstat(rtk_t *rtk, char *buff) if (!rtk->sol.stat) return 0; - trace(3,"pppoutstat:\n"); + rtktrace(3,"pppoutstat:\n"); tow=time2gpst(rtk->sol.time,&week); @@ -201,7 +201,7 @@ static void testeclipse(const obsd_t *obs, int n, const nav_t *nav, double *rs) int i,j; const char *type; - trace(3,"testeclipse:\n"); + rtktrace(3,"testeclipse:\n"); /* unit vector of sun direction (ecef) */ sunmoonpos(gpst2utc(obs[0].time),erpv,rsun,NULL,NULL); @@ -223,7 +223,7 @@ static void testeclipse(const obsd_t *obs, int n, const nav_t *nav, double *rs) /* test eclipse */ if (angRE_WGS84) continue; - trace(3,"eclipsing sat excluded %s sat=%2d\n",time_str(obs[0].time,0), + rtktrace(3,"eclipsing sat excluded %s sat=%2d\n",time_str(obs[0].time,0), obs[i].sat); for (j=0;j<3;j++) rs[j+i*6]=0.0; @@ -405,12 +405,12 @@ static void detslp_ll(rtk_t *rtk, const obsd_t *obs, int n) { int i,j; - trace(3,"detslp_ll: n=%d\n",n); + rtktrace(3,"detslp_ll: n=%d\n",n); for (i=0;iopt.nf;j++) { if (obs[i].L[j]==0.0||!(obs[i].LLI[j]&3)) continue; - trace(3,"detslp_ll: slip detected sat=%2d f=%d\n",obs[i].sat,j+1); + rtktrace(3,"detslp_ll: slip detected sat=%2d f=%d\n",obs[i].sat,j+1); rtk->ssat[obs[i].sat-1].slip[j]=1; } @@ -421,7 +421,7 @@ static void detslp_gf(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav) double g0,g1; int i,j; - trace(3,"detslp_gf: n=%d\n",n); + rtktrace(3,"detslp_gf: n=%d\n",n); for (i=0;issat[obs[i].sat-1].gf[0]; rtk->ssat[obs[i].sat-1].gf[0]=g1; - trace(4,"detslip_gf: sat=%2d gf0=%8.3f gf1=%8.3f\n",obs[i].sat,g0,g1); + rtktrace(4,"detslip_gf: sat=%2d gf0=%8.3f gf1=%8.3f\n",obs[i].sat,g0,g1); if (g0!=0.0&&fabs(g1-g0)>rtk->opt.thresslip) { - trace(3,"detslip_gf: slip detected sat=%2d gf=%8.3f->%8.3f\n", + rtktrace(3,"detslip_gf: slip detected sat=%2d gf=%8.3f->%8.3f\n", obs[i].sat,g0,g1); for (j=0;jopt.nf;j++) rtk->ssat[obs[i].sat-1].slip[j]|=1; @@ -446,7 +446,7 @@ static void detslp_mw(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav) double w0,w1; int i,j; - trace(3,"detslp_mw: n=%d\n",n); + rtktrace(3,"detslp_mw: n=%d\n",n); for (i=0;issat[obs[i].sat-1].mw[0]; rtk->ssat[obs[i].sat-1].mw[0]=w1; - trace(4,"detslip_mw: sat=%2d mw0=%8.3f mw1=%8.3f\n",obs[i].sat,w0,w1); + rtktrace(4,"detslip_mw: sat=%2d mw0=%8.3f mw1=%8.3f\n",obs[i].sat,w0,w1); if (w0!=0.0&&fabs(w1-w0)>THRES_MW_JUMP) { - trace(3,"detslip_mw: slip detected sat=%2d mw=%8.3f->%8.3f\n", + rtktrace(3,"detslip_mw: slip detected sat=%2d mw=%8.3f->%8.3f\n", obs[i].sat,w0,w1); for (j=0;jopt.nf;j++) rtk->ssat[obs[i].sat-1].slip[j]|=1; @@ -470,7 +470,7 @@ static void udpos_ppp(rtk_t *rtk) double *F,*P,*FP,*x,*xp,pos[3],Q[9]={0},Qv[9]; int i,j,*ix,nx; - trace(3,"udpos_ppp:\n"); + rtktrace(3,"udpos_ppp:\n"); /* fixed mode */ if (rtk->opt.mode==PMODE_PPP_FIXED) { @@ -550,7 +550,7 @@ static void udclk_ppp(rtk_t *rtk) double dtr; int i; - trace(3,"udclk_ppp:\n"); + rtktrace(3,"udclk_ppp:\n"); /* initialize every epoch for clock (white noise) */ for (i=0;iopt),j; - trace(3,"udtrop_ppp:\n"); + rtktrace(3,"udtrop_ppp:\n"); if (rtk->x[i]==0.0) { ecef2pos(rtk->sol.rr,pos); @@ -599,7 +599,7 @@ static void udiono_ppp(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav) char *p; int i,j,gap_resion=GAP_RESION; - trace(3,"udiono_ppp:\n"); + rtktrace(3,"udiono_ppp:\n"); if ((p=strstr(rtk->opt.pppopt,"-GAP_RESION="))) { sscanf(p,"-GAP_RESION=%d",&gap_resion); @@ -635,7 +635,7 @@ static void uddcb_ppp(rtk_t *rtk) { int i=ID(&rtk->opt); - trace(3,"uddcb_ppp:\n"); + rtktrace(3,"uddcb_ppp:\n"); if (rtk->x[i]==0.0) { initx(rtk,1E-6,VAR_DCB,i); @@ -648,7 +648,7 @@ static void udbias_ppp(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav) double freq1,freq2,ion,dantr[NFREQ]={0},dants[NFREQ]={0}; int i,j,k,f,sat,slip[MAXOBS]={0},clk_jump=0; - trace(3,"udbias : n=%d\n",n); + rtktrace(3,"udbias : n=%d\n",n); /* handle day-boundary clock jump */ if (rtk->opt.posopt[5]) { @@ -710,7 +710,7 @@ static void udbias_ppp(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav) j=IB(i+1,f,&rtk->opt); if (rtk->x[j]!=0.0) rtk->x[j]+=offset/k; } - trace(2,"phase-code jump corrected: %s n=%2d dt=%12.9fs\n", + rtktrace(2,"phase-code jump corrected: %s n=%2d dt=%12.9fs\n", time_str(rtk->sol.time,0),k,offset/k/CLIGHT); } for (i=0;iambc[sat-1].flags[k]=0; - trace(5,"udbias_ppp: sat=%2d bias=%.3f\n",sat,bias[i]); + rtktrace(5,"udbias_ppp: sat=%2d bias=%.3f\n",sat,bias[i]); } } } /* temporal update of states --------------------------------------------------*/ static void udstate_ppp(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav) { - trace(3,"udstate_ppp: n=%d\n",n); + rtktrace(3,"udstate_ppp: n=%d\n",n); /* temporal update of position */ udpos_ppp(rtk); @@ -963,12 +963,12 @@ static int ppp_res(int post, const obsd_t *obs, int n, const double *rs, vart+SQR(C)*vari+var_rs[i]; if (sys==SYS_GLO&&j%2==1) var[nv]+=VAR_GLO_IFB; - trace(4,"%s sat=%2d %s%d res=%9.4f sig=%9.4f el=%4.1f\n",str,sat, + rtktrace(4,"%s sat=%2d %s%d res=%9.4f sig=%9.4f el=%4.1f\n",str,sat, j%2?"P":"L",j/2+1,v[nv],sqrt(var[nv]),azel[1+i*2]*R2D); /* reject satellite by pre-fit residuals */ if (!post&&opt->maxinno>0.0&&fabs(v[nv])>opt->maxinno) { - trace(2,"outlier (%d) rejected %s sat=%2d %s%d res=%9.4f el=%4.1f\n", + rtktrace(2,"outlier (%d) rejected %s sat=%2d %s%d res=%9.4f el=%4.1f\n", post,str,sat,j%2?"P":"L",j/2+1,v[nv],azel[1+i*2]*R2D); exc[i]=1; rtk->ssat[sat-1].rejc[j%2]++; continue; @@ -989,7 +989,7 @@ static int ppp_res(int post, const obsd_t *obs, int n, const double *rs, vmax=ve[j]; maxobs=obsi[j]; maxfrq=frqi[j]; rej=j; } sat=obs[maxobs].sat; - trace(2,"outlier (%d) rejected %s sat=%2d %s%d res=%9.4f el=%4.1f\n", + rtktrace(2,"outlier (%d) rejected %s sat=%2d %s%d res=%9.4f el=%4.1f\n", post,str,sat,maxfrq%2?"P":"L",maxfrq/2+1,vmax,azel[1+maxobs*2]*R2D); exc[maxobs]=1; rtk->ssat[sat-1].rejc[maxfrq%2]++; stat=0; ve[rej]=0; @@ -1084,7 +1084,7 @@ extern void pppos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav) int i,j,nv,info,svh[MAXOBS],exc[MAXOBS]={0},stat=SOLQ_SINGLE; time2str(obs[0].time,str,2); - trace(3,"pppos : time=%s nx=%d n=%d\n",str,rtk->nx,n); + rtktrace(3,"pppos : time=%s nx=%d n=%d\n",str,rtk->nx,n); rs=mat(6,n); dts=mat(2,n); var=mat(1,n); azel=zeros(2,n); @@ -1116,12 +1116,12 @@ extern void pppos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav) /* prefit residuals */ if (!(nv=ppp_res(0,obs,n,rs,dts,var,svh,dr,exc,nav,xp,rtk,v,H,R,azel))) { - trace(2,"%s ppp (%d) no valid obs data\n",str,i+1); + rtktrace(2,"%s ppp (%d) no valid obs data\n",str,i+1); break; } /* measurement update of ekf states */ - if ((info=filter(xp,Pp,H,v,R,rtk->nx,nv))) { - trace(2,"%s ppp (%d) filter error info=%d\n",str,i+1,info); + if ((info=rtkfilter(xp,Pp,H,v,R,rtk->nx,nv))) { + rtktrace(2,"%s ppp (%d) rtkfilter error info=%d\n",str,i+1,info); break; } /* postfit residuals */ @@ -1133,7 +1133,7 @@ extern void pppos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav) } } if (i>=MAX_ITER) { - trace(2,"%s ppp (%d) iteration overflows\n",str,i); + rtktrace(2,"%s ppp (%d) iteration overflows\n",str,i); } if (stat==SOLQ_PPP) { @@ -1157,7 +1157,7 @@ extern void pppos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav) if (stat==SOLQ_FIX&&test_hold_amb(rtk)) { matcpy(rtk->x,xp,rtk->nx,1); matcpy(rtk->P,Pp,rtk->nx,rtk->nx); - trace(2,"%s hold ambiguity\n",str); + rtktrace(2,"%s hold ambiguity\n",str); rtk->nfix=0; } } diff --git a/src/preceph.c b/src/preceph.c index 2fef11a19..d3b41cb7c 100644 --- a/src/preceph.c +++ b/src/preceph.c @@ -77,7 +77,7 @@ static int readsp3h(FILE *fp, gtime_t *time, char *type, int *sats, int i,j,k=0,ns=0,sys,prn; char buff[1024]; - trace(3,"readsp3h:\n"); + rtktrace(3,"readsp3h:\n"); for (i=0;;i++) { if (!fgets(buff,sizeof(buff),fp)) break; @@ -128,7 +128,7 @@ static int addpeph(nav_t *nav, peph_t *peph) if (nav->ne>=nav->nemax) { nav->nemax+=256; if (!(nav_peph=(peph_t *)realloc(nav->peph,sizeof(peph_t)*nav->nemax))) { - trace(1,"readsp3b malloc error n=%d\n",nav->nemax); + rtktrace(1,"readsp3b malloc error n=%d\n",nav->nemax); free(nav->peph); nav->peph=NULL; nav->ne=nav->nemax=0; return 0; } @@ -147,14 +147,14 @@ static void readsp3b(FILE *fp, char type, int *sats, int ns, double *bfact, int i,j,sat,sys,prn,n=ns*(type=='P'?1:2),pred_o,pred_c,v; char buff[1024]; - trace(3,"readsp3b: type=%c ns=%d index=%d opt=%d\n",type,ns,index,opt); + rtktrace(3,"readsp3b: type=%c ns=%d index=%d opt=%d\n",type,ns,index,opt); while (fgets(buff,sizeof(buff),fp)) { if (!strncmp(buff,"EOF",3)) break; if (buff[0]!='*'||str2time(buff,3,28,&time)) { - trace(2,"sp3 invalid epoch %31.31s\n",buff); + rtktrace(2,"sp3 invalid epoch %31.31s\n",buff); continue; } if (!strcmp(tsys,"UTC")) time=utc2gpst(time); /* utc->gpst */ @@ -235,7 +235,7 @@ static void combpeph(nav_t *nav, int opt) { int i,j,k,m; - trace(3,"combpeph: ne=%d\n",nav->ne); + rtktrace(3,"combpeph: ne=%d\n",nav->ne); qsort(nav->peph,nav->ne,sizeof(peph_t),cmppeph); @@ -257,7 +257,7 @@ static void combpeph(nav_t *nav, int opt) } nav->ne=i+1; - trace(4,"combpeph: ne=%d\n",nav->ne); + rtktrace(4,"combpeph: ne=%d\n",nav->ne); } /* read sp3 precise ephemeris file --------------------------------------------- * read sp3 precise ephemeris/clock files and set them to navigation data @@ -281,7 +281,7 @@ extern void readsp3(const char *file, nav_t *nav, int opt) int i,j,n,ns,sats[MAXSAT]={0}; char *efiles[MAXEXFILE],*ext,type=' ',tsys[4]=""; - trace(3,"readpephs: file=%s\n",file); + rtktrace(3,"readpephs: file=%s\n",file); for (i=0;icbias[i][j]=0.0; @@ -434,14 +434,14 @@ static int pephpos(gtime_t time, int sat, const nav_t *nav, double *rs, double t[NMAX+1],p[3][NMAX+1],c[2],*pos,std=0.0,s[3],sinl,cosl; int i,j,k,index; - trace(4,"pephpos : time=%s sat=%2d\n",time_str(time,3),sat); + rtktrace(4,"pephpos : time=%s sat=%2d\n",time_str(time,3),sat); rs[0]=rs[1]=rs[2]=dts[0]=0.0; if (nav->nepeph[0].time)<-MAXDTE|| timediff(time,nav->peph[nav->ne-1].time)>MAXDTE) { - trace(3,"no prec ephem %s sat=%2d\n",time_str(time,0),sat); + rtktrace(3,"no prec ephem %s sat=%2d\n",time_str(time,0),sat); return 0; } /* binary search */ @@ -458,7 +458,7 @@ static int pephpos(gtime_t time, int sat, const nav_t *nav, double *rs, for (j=0;j<=NMAX;j++) { t[j]=timediff(nav->peph[i+j].time,time); if (norm(nav->peph[i+j].pos[sat-1],3)<=0.0) { - trace(3,"prec ephem outage %s sat=%2d\n",time_str(time,0),sat); + rtktrace(3,"prec ephem outage %s sat=%2d\n",time_str(time,0),sat); return 0; } } @@ -517,12 +517,12 @@ static int pephclk(gtime_t time, int sat, const nav_t *nav, double *dts, double t[2],c[2],std; int i,j,k,index; - trace(4,"pephclk : time=%s sat=%2d\n",time_str(time,3),sat); + rtktrace(4,"pephclk : time=%s sat=%2d\n",time_str(time,3),sat); if (nav->nc<2|| timediff(time,nav->pclk[0].time)<-MAXDTE|| timediff(time,nav->pclk[nav->nc-1].time)>MAXDTE) { - trace(3,"no prec clock %s sat=%2d\n",time_str(time,0),sat); + rtktrace(3,"no prec clock %s sat=%2d\n",time_str(time,0),sat); return 1; } /* binary search */ @@ -552,7 +552,7 @@ static int pephclk(gtime_t time, int sat, const nav_t *nav, double *dts, std=nav->pclk[index+i].std[sat-1][0]*CLIGHT+EXTERR_CLK*fabs(t[i]); } else { - trace(3,"prec clock outage %s sat=%2d\n",time_str(time,0),sat); + rtktrace(3,"prec clock outage %s sat=%2d\n",time_str(time,0),sat); return 0; } if (varc) *varc=SQR(std); @@ -583,7 +583,7 @@ extern void satantoff(gtime_t time, const double *rs, int sat, const nav_t *nav, double C1,C2,dant1,dant2; int i,sys; - trace(4,"satantoff: time=%s sat=%2d\n",time_str(time,3),sat); + rtktrace(4,"satantoff: time=%s sat=%2d\n",time_str(time,3),sat); dant[0]=dant[1]=dant[2]=0.0; @@ -658,7 +658,7 @@ extern int peph2pos(gtime_t time, int sat, const nav_t *nav, int opt, double rss[3],rst[3],dtss[1],dtst[1],dant[3]={0},vare=0.0,varc=0.0,tt=1E-3; int i; - trace(4,"peph2pos: time=%s sat=%2d opt=%d\n",time_str(time,3),sat,opt); + rtktrace(4,"peph2pos: time=%s sat=%2d opt=%d\n",time_str(time,3),sat,opt); if (sat<=0||MAXSAT=127) { prn =U1(p)+1; p+=1; @@ -272,11 +272,11 @@ static int decode_bnx_01_01(raw_t *raw, uint8_t *buff, int len) flag =U2(p); } else { - trace(2,"BINEX 0x01-01: length error len=%d\n",len); + rtktrace(2,"BINEX 0x01-01: length error len=%d\n",len); return -1; } if (!(sat=satno(SYS_GPS,prn))) { - trace(2,"BINEX 0x01-01: satellite error prn=%d\n",prn); + rtktrace(2,"BINEX 0x01-01: satellite error prn=%d\n",prn); return -1; } eph.sat=sat; @@ -306,7 +306,7 @@ static int decode_bnx_01_02(raw_t *raw, uint8_t *buff, int len) double tod,tof,tau_gps; int prn,sat,day,leap; - trace(4,"BINEX 0x01-02: len=%d\n",len); + rtktrace(4,"BINEX 0x01-02: len=%d\n",len); if (len>=119) { prn =U1(p)+1; p+=1; @@ -332,11 +332,11 @@ static int decode_bnx_01_02(raw_t *raw, uint8_t *buff, int len) geph.dtaun =R8(p); } else { - trace(2,"BINEX 0x01-02: length error len=%d\n",len); + rtktrace(2,"BINEX 0x01-02: length error len=%d\n",len); return -1; } if (!(sat=satno(SYS_GLO,prn))) { - trace(2,"BINEX 0x01-02: satellite error prn=%d\n",prn); + rtktrace(2,"BINEX 0x01-02: satellite error prn=%d\n",prn); return -1; } if (raw->time.time==0) return 0; @@ -362,7 +362,7 @@ static int decode_bnx_01_03(raw_t *raw, uint8_t *buff, int len) double tow,tod,tof; int prn,sat,week,iodn; - trace(4,"BINEX 0x01-03: len=%d\n",len); + rtktrace(4,"BINEX 0x01-03: len=%d\n",len); if (len>=98) { prn =U1(p); p+=1; @@ -385,11 +385,11 @@ static int decode_bnx_01_03(raw_t *raw, uint8_t *buff, int len) iodn =U1(p); } else { - trace(2,"BINEX 0x01-03 length error: len=%d\n",len); + rtktrace(2,"BINEX 0x01-03 length error: len=%d\n",len); return -1; } if (!(sat=satno(SYS_SBS,prn))) { - trace(2,"BINEX 0x01-03 satellite error: prn=%d\n",prn); + rtktrace(2,"BINEX 0x01-03 satellite error: prn=%d\n",prn); return -1; } seph.sat=sat; @@ -413,7 +413,7 @@ static int decode_bnx_01_04(raw_t *raw, uint8_t *buff, int len) double tow,ura,sqrtA; int prn,sat,set,eph_sel=3; /* ephemeris selection (1:I/NAV+2:F/NAV) */ - trace(4,"BINEX 0x01-04: len=%d\n",len); + rtktrace(4,"BINEX 0x01-04: len=%d\n",len); if (strstr(raw->opt,"-GALFNAV")) eph_sel=1; if (strstr(raw->opt,"-GALINAV")) eph_sel=2; @@ -449,11 +449,11 @@ static int decode_bnx_01_04(raw_t *raw, uint8_t *buff, int len) eph.code =U2(p); /* data source defined as RINEX 3.03 */ } else { - trace(2,"BINEX 0x01-04: length error len=%d\n",len); + rtktrace(2,"BINEX 0x01-04: length error len=%d\n",len); return -1; } if (!(sat=satno(SYS_GAL,prn))) { - trace(2,"BINEX 0x01-04: satellite error prn=%d\n",prn); + rtktrace(2,"BINEX 0x01-04: satellite error prn=%d\n",prn); return -1; } set=(eph.code&(1<<8))?1:0; /* 0:I/NAV,1:F/NAV */ @@ -493,7 +493,7 @@ static int decode_bnx_01_05(raw_t *raw, uint8_t *buff, int len) double tow,toc,sqrtA; int prn,sat,flag1,flag2; - trace(4,"BINEX 0x01-05: len=%d\n",len); + rtktrace(4,"BINEX 0x01-05: len=%d\n",len); if (len>=117) { prn =U1(p); p+=1; @@ -523,11 +523,11 @@ static int decode_bnx_01_05(raw_t *raw, uint8_t *buff, int len) flag2 =U4(p); } else { - trace(2,"BINEX 0x01-05: length error len=%d\n",len); + rtktrace(2,"BINEX 0x01-05: length error len=%d\n",len); return -1; } if (!(sat=satno(SYS_CMP,prn))) { - trace(2,"BINEX 0x01-05: satellite error prn=%d\n",prn); + rtktrace(2,"BINEX 0x01-05: satellite error prn=%d\n",prn); return 0; } eph.sat=sat; @@ -561,7 +561,7 @@ static int decode_bnx_01_06(raw_t *raw, uint8_t *buff, int len) double tow,ura,sqrtA; int prn,sat,flag; - trace(4,"BINEX 0x01-06: len=%d\n",len); + rtktrace(4,"BINEX 0x01-06: len=%d\n",len); if (len>=127) { prn =U1(p); p+=1; @@ -594,11 +594,11 @@ static int decode_bnx_01_06(raw_t *raw, uint8_t *buff, int len) flag =U2(p); } else { - trace(2,"BINEX 0x01-06: length error len=%d\n",len); + rtktrace(2,"BINEX 0x01-06: length error len=%d\n",len); return -1; } if (!(sat=satno(SYS_QZS,prn))) { - trace(2,"BINEX 0x01-06: satellite error prn=%d\n",prn); + rtktrace(2,"BINEX 0x01-06: satellite error prn=%d\n",prn); return 0; } eph.sat=sat; @@ -627,7 +627,7 @@ static int decode_bnx_01_07(raw_t *raw, uint8_t *buff, int len) double tow,toc,sqrtA; int prn,sat,flag,iodec; - trace(4,"BINEX 0x01-07: len=%d\n",len); + rtktrace(4,"BINEX 0x01-07: len=%d\n",len); if (len>=114) { prn =U1(p); p+=1; @@ -657,11 +657,11 @@ static int decode_bnx_01_07(raw_t *raw, uint8_t *buff, int len) iodec =U2(p); } else { - trace(2,"BINEX 0x01-07: length error len=%d\n",len); + rtktrace(2,"BINEX 0x01-07: length error len=%d\n",len); return -1; } if (!(sat=satno(SYS_IRN,prn))) { - trace(2,"BINEX 0x01-07: satellite error prn=%d\n",prn); + rtktrace(2,"BINEX 0x01-07: satellite error prn=%d\n",prn); return 0; } eph.sat=sat; @@ -692,7 +692,7 @@ static int decode_bnx_01_14(raw_t *raw, uint8_t *buff, int len) double tow,ura,sqrtA; int prn,sat,tocs,set,eph_sel=3; - trace(4,"BINEX 0x01-14: len=%d\n",len); + rtktrace(4,"BINEX 0x01-14: len=%d\n",len); if (strstr(raw->opt,"-GALFNAV")) eph_sel=1; if (strstr(raw->opt,"-GALINAV")) eph_sel=2; @@ -729,11 +729,11 @@ static int decode_bnx_01_14(raw_t *raw, uint8_t *buff, int len) eph.code =U2(p); /* data source defined as RINEX 3.03 */ } else { - trace(2,"BINEX 0x01-14: length error len=%d\n",len); + rtktrace(2,"BINEX 0x01-14: length error len=%d\n",len); return -1; } if (!(sat=satno(SYS_GAL,prn))) { - trace(2,"BINEX 0x01-14: satellite error prn=%d\n",prn); + rtktrace(2,"BINEX 0x01-14: satellite error prn=%d\n",prn); return -1; } set=(eph.code&(1<<8))?1:0; /* 0:I/NAV,1:F/NAV */ @@ -785,55 +785,55 @@ static int decode_bnx_01(raw_t *raw, uint8_t *buff, int len) /* decode BINEX mesaage 0x02: generalized GNSS data --------------------------*/ static int decode_bnx_02(raw_t *raw, uint8_t *buff, int len) { - trace(2,"BINEX 0x02: unsupported message\n"); + rtktrace(2,"BINEX 0x02: unsupported message\n"); return 0; } /* decode BINEX mesaage 0x03: generalized ancillary site data ----------------*/ static int decode_bnx_03(raw_t *raw, uint8_t *buff, int len) { - trace(2,"BINEX 0x03: unsupported message\n"); + rtktrace(2,"BINEX 0x03: unsupported message\n"); return 0; } /* decode BINEX mesaage 0x7d: receiver internal state prototyping ------------*/ static int decode_bnx_7d(raw_t *raw, uint8_t *buff, int len) { - trace(2,"BINEX 0x7d: unsupported message\n"); + rtktrace(2,"BINEX 0x7d: unsupported message\n"); return 0; } /* decode BINEX mesaage 0x7e: ancillary site data prototyping ----------------*/ static int decode_bnx_7e(raw_t *raw, uint8_t *buff, int len) { - trace(2,"BINEX 0x7e: unsupported message\n"); + rtktrace(2,"BINEX 0x7e: unsupported message\n"); return 0; } /* decode BINEX mesaage 0x7f-00: JPL fiducial site ---------------------------*/ static int decode_bnx_7f_00(raw_t *raw, uint8_t *buff, int len) { - trace(2,"BINEX 0x7f-00: unsupported message\n"); + rtktrace(2,"BINEX 0x7f-00: unsupported message\n"); return 0; } /* decode BINEX mesaage 0x7f-01: UCAR COSMIC ---------------------------------*/ static int decode_bnx_7f_01(raw_t *raw, uint8_t *buff, int len) { - trace(2,"BINEX 0x7f-01: unsupported message\n"); + rtktrace(2,"BINEX 0x7f-01: unsupported message\n"); return 0; } /* decode BINEX mesaage 0x7f-02: Trimble 4700 --------------------------------*/ static int decode_bnx_7f_02(raw_t *raw, uint8_t *buff, int len) { - trace(2,"BINEX 0x7f-02: unsupported message\n"); + rtktrace(2,"BINEX 0x7f-02: unsupported message\n"); return 0; } /* decode BINEX mesaage 0x7f-03: Trimble NetRS -------------------------------*/ static int decode_bnx_7f_03(raw_t *raw, uint8_t *buff, int len) { - trace(2,"BINEX 0x7f-03: unsupported message\n"); + rtktrace(2,"BINEX 0x7f-03: unsupported message\n"); return 0; } /* decode BINEX mesaage 0x7f-04: Trimble NetRS -------------------------------*/ static int decode_bnx_7f_04(raw_t *raw, uint8_t *buff, int len) { - trace(2,"BINEX 0x7f-04: unsupported message\n"); + rtktrace(2,"BINEX 0x7f-04: unsupported message\n"); return 0; } /* decode BINEX mesaage 0x7f-05: Trimble NetR8 obs data ----------------------*/ @@ -888,7 +888,7 @@ static uint8_t *decode_bnx_7f_05_obs(raw_t *raw, uint8_t *buff, int sat, int i,j,k,sys,prn,fcn=-10,code[8],slip[8],pri[8],idx[8]; int slipcnt[8]={0},mask[8]={0}; - trace(5,"decode_bnx_7f_05_obs: sat=%2d nobs=%2d\n",sat,nobs); + rtktrace(5,"decode_bnx_7f_05_obs: sat=%2d nobs=%2d\n",sat,nobs); sys=satsys(sat,&prn); @@ -953,9 +953,9 @@ static uint8_t *decode_bnx_7f_05_obs(raw_t *raw, uint8_t *buff, int sat, slipcnt[i]=U1(p); p+=1; } } - trace(5,"(%d) CODE=%2d S=%d F=%02X %02X %02X %02X\n",i+1, + rtktrace(5,"(%d) CODE=%2d S=%d F=%02X %02X %02X %02X\n",i+1, code[i],slip[i],flags[0],flags[1],flags[2],flags[3]); - trace(5,"(%d) P=%13.3f L=%13.3f D=%7.1f SNR=%4.1f SCNT=%2d\n", + rtktrace(5,"(%d) P=%13.3f L=%13.3f D=%7.1f SNR=%4.1f SCNT=%2d\n", i+1,range[i],phase[i],dopp[i],cnr[i],slipcnt[i]); } if (!codes) { @@ -1024,7 +1024,7 @@ static int decode_bnx_7f_05(raw_t *raw, uint8_t *buff, int len) uint32_t flag; int i,nsat,nobs,prn,sys,sat,clkrst=0,rsys=0,nsys=0,tsys[16]={0}; - trace(4,"decode_bnx_7f_05\n"); + rtktrace(4,"decode_bnx_7f_05\n"); raw->obs.n=0; flag=U1(p++); @@ -1047,7 +1047,7 @@ static int decode_bnx_7f_05(raw_t *raw, uint8_t *buff, int len) nobs=getbitu(p,1,3); sys =getbitu(p,4,4); p++; - trace(5,"BINEX 0x7F-05 PRN=%3d SYS=%d NOBS=%d\n",prn,sys,nobs); + rtktrace(5,"BINEX 0x7F-05 PRN=%3d SYS=%d NOBS=%d\n",prn,sys,nobs); switch (sys) { case 0: sat=satno(SYS_GPS,prn); break; @@ -1063,7 +1063,7 @@ static int decode_bnx_7f_05(raw_t *raw, uint8_t *buff, int len) if (!(p=decode_bnx_7f_05_obs(raw,p,sat,nobs,&data))) return -1; if ((int)(p-buff)>len) { - trace(2,"BINEX 0x7F-05 length error: nsat=%2d len=%d\n",nsat,len); + rtktrace(2,"BINEX 0x7F-05 length error: nsat=%2d len=%d\n",nsat,len); return -1; } /* save obs data to obs buffer */ @@ -1115,7 +1115,7 @@ static int decode_bnx(raw_t *raw) /* record and header length */ len_h=getbnxi(raw->buff+2,&len); - trace(5,"decode_bnx: rec=%02x len=%d\n",rec,len); + rtktrace(5,"decode_bnx: rec=%02x len=%d\n",rec,len); /* check parity */ if (raw->len-1<128) { @@ -1127,7 +1127,7 @@ static int decode_bnx(raw_t *raw) cs2=rtk_crc16(raw->buff+1,raw->len-1); } if (cs1!=cs2) { - trace(2,"BINEX 0x%02X parity error CS=%X %X\n",rec,cs1,cs2); + rtktrace(2,"BINEX 0x%02X parity error CS=%X %X\n",rec,cs1,cs2); return -1; } if (raw->outtype) { @@ -1192,7 +1192,7 @@ extern int input_bnx(raw_t *raw, uint8_t data) uint32_t len; int len_h,len_c; - trace(5,"input_bnx: data=%02x\n",data); + rtktrace(5,"input_bnx: data=%02x\n",data); /* synchronize BINEX message */ if (raw->nbyte==0) { @@ -1208,7 +1208,7 @@ extern int input_bnx(raw_t *raw, uint8_t data) raw->len=len+len_h+2; /* length without CRC */ if (raw->len-1>4096) { - trace(2,"BINEX length error: len=%d\n",raw->len-1); + rtktrace(2,"BINEX length error: len=%d\n",raw->len-1); raw->nbyte=0; return -1; } @@ -1231,7 +1231,7 @@ extern int input_bnxf(raw_t *raw, FILE *fp) uint32_t len; int i,data,len_h,len_c; - trace(4,"input_bnxf\n"); + rtktrace(4,"input_bnxf\n"); if (raw->nbyte==0) { for (i=0;;i++) { @@ -1247,7 +1247,7 @@ extern int input_bnxf(raw_t *raw, FILE *fp) raw->len=len+len_h+2; if (raw->len-1>4096) { - trace(2,"BINEX length error: len=%d\n",raw->len-1); + rtktrace(2,"BINEX length error: len=%d\n",raw->len-1); raw->nbyte=0; return -1; } diff --git a/src/rcv/crescent.c b/src/rcv/crescent.c index 13653f675..a7bc4839b 100644 --- a/src/rcv/crescent.c +++ b/src/rcv/crescent.c @@ -61,7 +61,7 @@ static int chksum(const uint8_t *buff, int len) int i; for (i=8;i>8,sum&0xFF,buff[len-3],buff[len-4],buff[len-2],buff[len-1]); return (sum>>8)==buff[len-3]&&(sum&0xFF)==buff[len-4]&& buff[len-2]==0x0D&&buff[len-1]==0x0A; @@ -74,10 +74,10 @@ static int decode_crespos(raw_t *raw) char tstr[64]; uint8_t *p=raw->buff+8; - trace(4,"decode_crespos: len=%d\n",raw->len); + rtktrace(4,"decode_crespos: len=%d\n",raw->len); if (raw->len!=64) { - trace(2,"crescent bin 1 message length error: len=%d\n",raw->len); + rtktrace(2,"crescent bin 1 message length error: len=%d\n",raw->len); return -1; } ns =U1(p+1); @@ -92,7 +92,7 @@ static int decode_crespos(raw_t *raw) std =R4(p+44); mode=U2(p+48); time2str(gpst2time(week,tow),tstr,3); - trace(3,"$BIN1 %s %13.9f %14.9f %10.4f %4d %3d %.3f\n",tstr,pos[0],pos[1], + rtktrace(3,"$BIN1 %s %13.9f %14.9f %10.4f %4d %3d %.3f\n",tstr,pos[0],pos[1], pos[2],mode==6?1:(mode>4?2:(mode>1?5:0)),ns,std); return 0; } @@ -105,10 +105,10 @@ static int decode_cresraw(raw_t *raw) uint32_t word1,sn,sc; uint8_t *p=raw->buff+8; - trace(4,"decode_cresraw: len=%d\n",raw->len); + rtktrace(4,"decode_cresraw: len=%d\n",raw->len); if (raw->len!=312) { - trace(2,"crescent bin 96 message length error: len=%d\n",raw->len); + rtktrace(2,"crescent bin 96 message length error: len=%d\n",raw->len); return -1; } week=U2(p+2); @@ -125,7 +125,7 @@ static int decode_cresraw(raw_t *raw) word2=I4(p+4); if ((prn=word1&0xFF)==0) continue; /* if 0, no data */ if (!(sat=satno(prn<=MAXPRNGPS?SYS_GPS:SYS_SBS,prn))) { - trace(2,"creasent bin 96 satellite number error: prn=%d\n",prn); + rtktrace(2,"creasent bin 96 satellite number error: prn=%d\n",prn); continue; } pr=R8(p+ 8)-toff; @@ -171,10 +171,10 @@ static int decode_cresraw2(raw_t *raw) uint32_t word1,word2,word3,sc,sn; uint8_t *p=raw->buff+8; - trace(4,"decode_cresraw2: len=%d\n",raw->len); + rtktrace(4,"decode_cresraw2: len=%d\n",raw->len); if (raw->len!=460) { - trace(2,"crescent bin 76 message length error: len=%d\n",raw->len); + rtktrace(2,"crescent bin 76 message length error: len=%d\n",raw->len); return -1; } tow =R8(p); @@ -193,7 +193,7 @@ static int decode_cresraw2(raw_t *raw) word1=U4(p+324+4*i); /* L1CACodeMSBsPRN */ if ((prn=word1&0xFF)==0) continue; /* if 0, no data */ if (!(sat=satno(prn<=MAXPRNGPS?SYS_GPS:SYS_SBS,prn))) { - trace(2,"creasent bin 76 satellite number error: prn=%d\n",prn); + rtktrace(2,"creasent bin 76 satellite number error: prn=%d\n",prn); continue; } pr1=(word1>>13)*256.0; /* upper 19bit of L1CA pseudorange */ @@ -282,15 +282,15 @@ static int decode_creseph(raw_t *raw) int i,j,k,prn,sat; uint8_t *p=raw->buff+8,buff[90]; - trace(4,"decode_creseph: len=%d\n",raw->len); + rtktrace(4,"decode_creseph: len=%d\n",raw->len); if (raw->len!=140) { - trace(2,"crescent bin 95 message length error: len=%d\n",raw->len); + rtktrace(2,"crescent bin 95 message length error: len=%d\n",raw->len); return -1; } prn=U2(p); if (!(sat=satno(SYS_GPS,prn))) { - trace(2,"crescent bin 95 satellite number error: prn=%d\n",prn); + rtktrace(2,"crescent bin 95 satellite number error: prn=%d\n",prn); return -1; } for (i=0;i<3;i++) for (j=0;j<10;j++) { @@ -298,7 +298,7 @@ static int decode_creseph(raw_t *raw) for (k=0;k<3;k++) buff[i*30+j*3+k]=(uint8_t)((word>>(8*(2-k)))&0xFF); } if (!decode_frame(buff,&eph,NULL,NULL,NULL)) { - trace(2,"crescent bin 95 navigation frame error: prn=%d\n",prn); + rtktrace(2,"crescent bin 95 navigation frame error: prn=%d\n",prn); return -1; } if (!strstr(raw->opt,"-EPHALL")) { @@ -316,10 +316,10 @@ static int decode_cresionutc(raw_t *raw) int i; uint8_t *p=raw->buff+8; - trace(4,"decode_cresionutc: len=%d\n",raw->len); + rtktrace(4,"decode_cresionutc: len=%d\n",raw->len); if (raw->len!=108) { - trace(2,"crescent bin 94 message length error: len=%d\n",raw->len); + rtktrace(2,"crescent bin 94 message length error: len=%d\n",raw->len); return -1; } for (i=0;i<8;i++) raw->nav.ion_gps[i]=R8(p+i*8); @@ -338,15 +338,15 @@ static int decode_creswaas(raw_t *raw) int i,j,k,prn; uint8_t *p=raw->buff+8; - trace(4,"decode_creswaas: len=%d\n",raw->len); + rtktrace(4,"decode_creswaas: len=%d\n",raw->len); if (raw->len!=52) { - trace(2,"creasent bin 80 message length error: len=%d\n",raw->len); + rtktrace(2,"creasent bin 80 message length error: len=%d\n",raw->len); return -1; } prn=U2(p); if (prnsbsmsg.prn=prn; @@ -372,12 +372,12 @@ static int decode_cresgloraw(raw_t *raw) uint32_t word1,word2,word3,sc,sn; uint8_t *p=raw->buff+8; - trace(4,"decode_cregloraw: len=%d\n",raw->len); + rtktrace(4,"decode_cregloraw: len=%d\n",raw->len); if (!strstr(raw->opt,"-ENAGLO")) return 0; if (raw->len!=364) { - trace(2,"crescent bin 66 message length error: len=%d\n",raw->len); + rtktrace(2,"crescent bin 66 message length error: len=%d\n",raw->len); return -1; } tow =R8(p); @@ -396,7 +396,7 @@ static int decode_cresgloraw(raw_t *raw) word1=U4(p+288+4*i); /* L1CACodeMSBsSlot */ if ((prn=word1&0xFF)==0) continue; /* if 0, no data */ if (!(sat=satno(SYS_GLO,prn))) { - trace(2,"creasent bin 66 satellite number error: prn=%d\n",prn); + rtktrace(2,"creasent bin 66 satellite number error: prn=%d\n",prn); continue; } pr1=(word1>>13)*256.0; /* upper 19bit of L1CA pseudorange */ @@ -485,7 +485,7 @@ static int decode_cresgloeph(raw_t *raw) uint8_t *p=raw->buff+8,str[12]; int i,j,k,sat,prn,frq,time,no; - trace(4,"decode_cregloeph: len=%d\n",raw->len); + rtktrace(4,"decode_cregloeph: len=%d\n",raw->len); if (!strstr(raw->opt,"-ENAGLO")) return 0; @@ -494,7 +494,7 @@ static int decode_cresgloeph(raw_t *raw) time=U4(p); p+=4; if (!(sat=satno(SYS_GLO,prn))) { - trace(2,"creasent bin 65 satellite number error: prn=%d\n",prn); + rtktrace(2,"creasent bin 65 satellite number error: prn=%d\n",prn); return -1; } for (i=0;i<5;i++) { @@ -502,7 +502,7 @@ static int decode_cresgloeph(raw_t *raw) str[k+j*4]=U1(p++); } if ((no=getbitu(str,1,4))!=i+1) { - trace(2,"creasent bin 65 string no error: sat=%2d no=%d %d\n",sat, + rtktrace(2,"creasent bin 65 string no error: sat=%2d no=%d %d\n",sat, i+1,no); return -1; } @@ -526,10 +526,10 @@ static int decode_cres(raw_t *raw) { int type=U2(raw->buff+4); - trace(3,"decode_cres: type=%2d len=%d\n",type,raw->len); + rtktrace(3,"decode_cres: type=%2d len=%d\n",type,raw->len); if (!chksum(raw->buff,raw->len)) { - trace(2,"crescent checksum error: type=%2d len=%d\n",type,raw->len); + rtktrace(2,"crescent checksum error: type=%2d len=%d\n",type,raw->len); return -1; } if (raw->outtype) { @@ -572,7 +572,7 @@ static int sync_cres(uint8_t *buff, uint8_t data) *-----------------------------------------------------------------------------*/ extern int input_cres(raw_t *raw, uint8_t data) { - trace(5,"input_cres: data=%02x\n",data); + rtktrace(5,"input_cres: data=%02x\n",data); /* synchronize frame */ if (raw->nbyte==0) { @@ -584,7 +584,7 @@ extern int input_cres(raw_t *raw, uint8_t data) if (raw->nbyte==8) { if ((raw->len=U2(raw->buff+6)+12)>MAXRAWLEN) { - trace(2,"cresent length error: len=%d\n",raw->len); + rtktrace(2,"cresent length error: len=%d\n",raw->len); raw->nbyte=0; return -1; } @@ -605,7 +605,7 @@ extern int input_cresf(raw_t *raw, FILE *fp) { int i,data; - trace(4,"input_cresf:\n"); + rtktrace(4,"input_cresf:\n"); /* synchronize frame */ if (raw->nbyte==0) { @@ -619,7 +619,7 @@ extern int input_cresf(raw_t *raw, FILE *fp) raw->nbyte=8; if ((raw->len=U2(raw->buff+6)+12)>MAXRAWLEN) { - trace(2,"crescent length error: len=%d\n",raw->len); + rtktrace(2,"crescent length error: len=%d\n",raw->len); raw->nbyte=0; return -1; } diff --git a/src/rcv/javad.c b/src/rcv/javad.c index 51bc7d537..b91fc35a8 100644 --- a/src/rcv/javad.c +++ b/src/rcv/javad.c @@ -205,7 +205,7 @@ static int settag(obsd_t *data, gtime_t time) if (data->time.time!=0&&fabs(timediff(data->time,time))>5E-4) { time2str(data->time,s1,4); time2str(time,s2,4); - trace(2,"time inconsistent: time=%s %s sat=%2d\n",s1,s2,data->sat); + rtktrace(2,"time inconsistent: time=%s %s sat=%2d\n",s1,s2,data->sat); return 0; } data->time=time; @@ -217,7 +217,7 @@ static int flushobuf(raw_t *raw) gtime_t time0={0}; int i,j,n=0; - trace(3,"flushobuf: n=%d\n",raw->obuf.n); + rtktrace(3,"flushobuf: n=%d\n",raw->obuf.n); /* copy observation data buffer */ for (i=0;iobuf.n&&ibuff+5; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad RT error: len=%d\n",raw->len); + rtktrace(2,"javad RT error: len=%d\n",raw->len); return -1; } if (raw->len<10) { - trace(2,"javad RT length error: len=%d\n",raw->len); + rtktrace(2,"javad RT length error: len=%d\n",raw->len); return -1; } raw->tod=U4(p); @@ -266,7 +266,7 @@ static int decode_RT(raw_t *raw) if (raw->tbase>=1) time=utc2gpst(time); /* UTC->GPST */ raw->time=time; - trace(3,"decode_RT: time=%s\n",time_str(time,3)); + rtktrace(3,"decode_RT: time=%s\n",time_str(time,3)); if (raw->outtype) { msg=raw->msgtype+strlen(raw->msgtype); @@ -281,15 +281,15 @@ static int decode_ET(raw_t *raw) uint8_t *p=raw->buff+5; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad ET checksum error: len=%d\n",raw->len); + rtktrace(2,"javad ET checksum error: len=%d\n",raw->len); return -1; } if (raw->len<10) { - trace(2,"javad ET length error: len=%d\n",raw->len); + rtktrace(2,"javad ET length error: len=%d\n",raw->len); return -1; } if (raw->tod!=(int)U4(p)) { - trace(2,"javad ET inconsistent tod: tod=%d %d\n",raw->tod,U4(p)); + rtktrace(2,"javad ET inconsistent tod: tod=%d %d\n",raw->tod,U4(p)); return -1; } raw->tod=-1; /* end of epoch */ @@ -305,11 +305,11 @@ static int decode_RD(raw_t *raw) uint8_t *p=raw->buff+5; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad RD checksum error: len=%d\n",raw->len); + rtktrace(2,"javad RD checksum error: len=%d\n",raw->len); return -1; } if (raw->len<11) { - trace(2,"javad RD length error: len=%d\n",raw->len); + rtktrace(2,"javad RD length error: len=%d\n",raw->len); return -1; } ep[0]=U2(p); p+=2; @@ -322,13 +322,13 @@ static int decode_RD(raw_t *raw) sprintf(msg," %04.0f/%02.0f/%02.0f base=%d",ep[0],ep[1],ep[2],raw->tbase); } if (raw->tod<0) { - trace(2,"javad RD lack of preceding RT\n"); + rtktrace(2,"javad RD lack of preceding RT\n"); return 0; } raw->time=timeadd(epoch2time(ep),raw->tod*0.001); if (raw->tbase>=1) raw->time=utc2gpst(raw->time); /* UTC->GPST */ - trace(3,"decode_RD: time=%s\n",time_str(raw->time,3)); + rtktrace(3,"decode_RD: time=%s\n",time_str(raw->time,3)); return 0; } @@ -340,7 +340,7 @@ static int decode_SI(raw_t *raw) uint8_t *p=raw->buff+5; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad SI checksum error: len=%d\n",raw->len); + rtktrace(2,"javad SI checksum error: len=%d\n",raw->len); return -1; } raw->obuf.n=raw->len-6; @@ -366,7 +366,7 @@ static int decode_SI(raw_t *raw) /* glonass fcn (frequency channel number) */ if (sat==255) raw->freqn[i]=usi-45; } - trace(4,"decode_SI: nsat=raw->obuf.n\n"); + rtktrace(4,"decode_SI: nsat=raw->obuf.n\n"); if (raw->outtype) { msg=raw->msgtype+strlen(raw->msgtype); @@ -382,7 +382,7 @@ static int decode_NN(raw_t *raw) int i,n,ns,slot,sat,index[MAXOBS]; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad NN checksum error: len=%d\n",raw->len); + rtktrace(2,"javad NN checksum error: len=%d\n",raw->len); return -1; } for (i=n=0;iobuf.n&&ibuff+5; - trace(3,"decode_eph: sys=%2d prn=%3d\n",sys,U1(p)); + rtktrace(3,"decode_eph: sys=%2d prn=%3d\n",sys,U1(p)); if (strstr(raw->opt,"-GALINAV")) eph_sel=1; if (strstr(raw->opt,"-GALFNAV")) eph_sel=2; @@ -503,7 +503,7 @@ static int decode_eph(raw_t *raw, int sys) } if (sys==SYS_GPS||sys==SYS_QZS||sys==SYS_IRN) { if (!(sat=satno(sys,prn))) { - trace(2,"javad ephemeris satellite error: sys=%d prn=%d\n",sys,prn); + rtktrace(2,"javad ephemeris satellite error: sys=%d prn=%d\n",sys,prn); return -1; } eph.flag=(flag>>1)&1; @@ -523,7 +523,7 @@ static int decode_eph(raw_t *raw, int sys) } else if (sys==SYS_GAL) { if (!(sat=satno(sys,prn))) { - trace(2,"javad ephemeris satellite error: sys=%d prn=%d\n",sys,prn); + rtktrace(2,"javad ephemeris satellite error: sys=%d prn=%d\n",sys,prn); return -1; } eph.tgd[0]=R4(p); p+=4; /* BGD: E1-E5A (s) */ @@ -551,7 +551,7 @@ static int decode_eph(raw_t *raw, int sys) } else if (sys==SYS_CMP) { if (!(sat=satno(sys,prn))) { - trace(2,"javad ephemeris satellite error: sys=%d prn=%d\n",sys,prn); + rtktrace(2,"javad ephemeris satellite error: sys=%d prn=%d\n",sys,prn); return -1; } eph.tgd[1]=R4(p); p+=4; /* TGD2 (s) */ @@ -579,11 +579,11 @@ static int decode_eph(raw_t *raw, int sys) static int decode_GE(raw_t *raw) { if (!checksum(raw->buff,raw->len)) { - trace(2,"javad GE checksum error: len=%d\n",raw->len); + rtktrace(2,"javad GE checksum error: len=%d\n",raw->len); return -1; } if (raw->len<128) { - trace(2,"javad GE length error: len=%d\n",raw->len); + rtktrace(2,"javad GE length error: len=%d\n",raw->len); return -1; } return decode_eph(raw,SYS_GPS); @@ -598,7 +598,7 @@ static int decode_NE(raw_t *raw) uint8_t *p=raw->buff+5; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad NE checksum error: len=%d\n",raw->len); + rtktrace(2,"javad NE checksum error: len=%d\n",raw->len); return -1; } if (raw->len>=85) { /* firmware v 2.6.0 [2] */ @@ -621,7 +621,7 @@ static int decode_NE(raw_t *raw) geph.gamn =R4(p); p+=4; } else { - trace(2,"javad NE length error: len=%d\n",raw->len); + rtktrace(2,"javad NE length error: len=%d\n",raw->len); return -1; } if (raw->len>=93) { /* firmware v 3.2.0 [1] */ @@ -633,7 +633,7 @@ static int decode_NE(raw_t *raw) sprintf(msg," prn=%2d frq=%2d tk=%6d tb=%4d",prn,geph.frq,tk,tb); } if (!(geph.sat=satno(SYS_GLO,prn))) { - trace(2,"javad NE satellite error: prn=%d\n",prn); + rtktrace(2,"javad NE satellite error: prn=%d\n",prn); return 0; } if (raw->time.time==0) return 0; @@ -644,12 +644,12 @@ static int decode_NE(raw_t *raw) /* check illegal ephemeris by toe */ tt=timediff(raw->time,geph.toe); if (fabs(tt)>3600.0) { - trace(3,"javad NE illegal toe: prn=%2d tt=%6.0f\n",prn,tt); + rtktrace(3,"javad NE illegal toe: prn=%2d tt=%6.0f\n",prn,tt); return 0; } /* check illegal ephemeris by frequency number consistency */ if (raw->nav.geph[prn-1].toe.time&&geph.frq!=raw->nav.geph[prn-1].frq) { - trace(2,"javad NE glonass fcn changed: prn=%2d fcn=%2d->%2d\n",prn, + rtktrace(2,"javad NE glonass fcn changed: prn=%2d fcn=%2d->%2d\n",prn, raw->nav.geph[prn-1].frq,geph.frq); return -1; } @@ -665,11 +665,11 @@ static int decode_NE(raw_t *raw) static int decode_EN(raw_t *raw) { if (!checksum(raw->buff,raw->len)) { - trace(2,"javad EN checksum error: len=%d\n",raw->len); + rtktrace(2,"javad EN checksum error: len=%d\n",raw->len); return -1; } if (raw->len<150) { - trace(2,"javad EN length error: len=%d\n",raw->len); + rtktrace(2,"javad EN length error: len=%d\n",raw->len); return -1; } return decode_eph(raw,SYS_GAL); @@ -684,11 +684,11 @@ static int decode_WE(raw_t *raw) uint8_t *p=raw->buff+5; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad WE checksum error: len=%d\n",raw->len); + rtktrace(2,"javad WE checksum error: len=%d\n",raw->len); return -1; } if (raw->len<44) { - trace(2,"javad WE length error: len=%d\n",raw->len); + rtktrace(2,"javad WE length error: len=%d\n",raw->len); return -1; } prn =U1(p); p+=1+1+1; @@ -707,7 +707,7 @@ static int decode_WE(raw_t *raw) sprintf(msg," prn=%3d tod=%6d",prn,tod); } if (!(seph.sat=satno(SYS_SBS,prn))) { - trace(2,"javad WE satellite error: prn=%d\n",prn); + rtktrace(2,"javad WE satellite error: prn=%d\n",prn); return -1; } seph.tof=gpst2time(adjgpsweek(week),tow); @@ -725,11 +725,11 @@ static int decode_WE(raw_t *raw) static int decode_QE(raw_t *raw) { if (!checksum(raw->buff,raw->len)) { - trace(2,"javad QE checksum error: len=%d\n",raw->len); + rtktrace(2,"javad QE checksum error: len=%d\n",raw->len); return -1; } if (raw->len<128) { - trace(2,"javad QE length error: len=%d\n",raw->len); + rtktrace(2,"javad QE length error: len=%d\n",raw->len); return -1; } return decode_eph(raw,SYS_QZS); @@ -738,11 +738,11 @@ static int decode_QE(raw_t *raw) static int decode_CN(raw_t *raw) { if (!checksum(raw->buff,raw->len)) { - trace(2,"javad CN checksum error: len=%d\n",raw->len); + rtktrace(2,"javad CN checksum error: len=%d\n",raw->len); return -1; } if (raw->len<133) { - trace(2,"javad QE length error: len=%d\n",raw->len); + rtktrace(2,"javad QE length error: len=%d\n",raw->len); return -1; } return decode_eph(raw,SYS_CMP); @@ -751,11 +751,11 @@ static int decode_CN(raw_t *raw) static int decode_IE(raw_t *raw) { if (!checksum(raw->buff,raw->len)) { - trace(2,"javad IE checksum error: len=%d\n",raw->len); + rtktrace(2,"javad IE checksum error: len=%d\n",raw->len); return -1; } if (raw->len<129) { - trace(2,"javad IE length error: len=%d\n",raw->len); + rtktrace(2,"javad IE length error: len=%d\n",raw->len); return -1; } return decode_eph(raw,SYS_IRN); @@ -766,11 +766,11 @@ static int decode_UO(raw_t *raw) uint8_t *p=raw->buff+5; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad UO checksum error: len=%d\n",raw->len); + rtktrace(2,"javad UO checksum error: len=%d\n",raw->len); return -1; } if (raw->len<29) { - trace(2,"javad UO length error: len=%d\n",raw->len); + rtktrace(2,"javad UO length error: len=%d\n",raw->len); return -1; } raw->nav.utc_gps[0]=R8(p); p+=8; @@ -783,28 +783,28 @@ static int decode_UO(raw_t *raw) /* decode [NU] GLONASS UTC and GPS time parameters ---------------------------*/ static int decode_NU(raw_t *raw) { - trace(3,"javad NU unsupported\n"); + rtktrace(3,"javad NU unsupported\n"); return 0; } /* decode [EU] Galileo UTC and GPS time parameters ---------------------------*/ static int decode_EU(raw_t *raw) { - trace(3,"javad EU unsupported\n"); + rtktrace(3,"javad EU unsupported\n"); return 0; } /* decode [WU] WAAS UTC time parameters --------------------------------------*/ static int decode_WU(raw_t *raw) { - trace(3,"javad WU unsupported\n"); + rtktrace(3,"javad WU unsupported\n"); return 0; } /* decode [QU] QZSS UTC and GPS time parameters ------------------------------*/ static int decode_QU(raw_t *raw) { - trace(3,"javad QU unsupported\n"); + rtktrace(3,"javad QU unsupported\n"); return 0; } @@ -815,11 +815,11 @@ static int decode_IO(raw_t *raw) uint8_t *p=raw->buff+5; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad IO checksum error: len=%d\n",raw->len); + rtktrace(2,"javad IO checksum error: len=%d\n",raw->len); return -1; } if (raw->len<44) { - trace(2,"javad IO length error: len=%d\n",raw->len); + rtktrace(2,"javad IO length error: len=%d\n",raw->len); return -1; } p+=4+2; @@ -884,11 +884,11 @@ static int decode_L1nav(uint8_t *buff, int len, int sat, raw_t *raw) int i,id,sys=satsys(sat,NULL); if (sys!=SYS_GPS&&sys!=SYS_QZS) { - trace(2,"navigation subframe system error: sat=%d\n",sat); + rtktrace(2,"navigation subframe system error: sat=%d\n",sat); return -1; } if (len<10) { - trace(2,"navigation subframe length error: len=%d\n",len); + rtktrace(2,"navigation subframe length error: len=%d\n",len); return -1; } for (i=0,p=buff;i<10;i++,p+=4) { @@ -896,7 +896,7 @@ static int decode_L1nav(uint8_t *buff, int len, int sat, raw_t *raw) } id=getbitu(subfrm,43,3); if (id<1||id>5) { - trace(2,"navigation subframe format error: sat=%d id=%d\n",sat,id); + rtktrace(2,"navigation subframe format error: sat=%d id=%d\n",sat,id); return -1; } memcpy(raw->subfrm[sat-1]+(id-1)*30,subfrm,30); @@ -915,7 +915,7 @@ static int decode_L2nav(uint8_t *buff, int len, int sat, raw_t *raw) uint8_t msg[1024]={0}; int i,j,preamb,prn,msgid,tow,alert; - trace(3,"decode_L2nav len=%2d sat=%2d L5 CNAV\n",len,sat); + rtktrace(3,"decode_L2nav len=%2d sat=%2d L5 CNAV\n",len,sat); for (i=0;ibuff+5; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad nD checksum error: sys=%d len=%d\n",sys,raw->len); + rtktrace(2,"javad nD checksum error: sys=%d len=%d\n",sys,raw->len); return -1; } siz=U1(p); p+=1; n=(raw->len-7)/siz; if (n<=0) { - trace(2,"javad nD length error: sys=%d len=%d\n",sys,raw->len); + rtktrace(2,"javad nD length error: sys=%d len=%d\n",sys,raw->len); return -1; } for (i=0;ibuff,raw->len)) { - trace(2,"javad nd checksum error: sys=%d len=%d\n",sys,raw->len); + rtktrace(2,"javad nd checksum error: sys=%d len=%d\n",sys,raw->len); return -1; } - trace(3,"decode_*d: sys=%2d prn=%3d\n",sys,U1(p)); + rtktrace(3,"decode_*d: sys=%2d prn=%3d\n",sys,U1(p)); prn =U1(p); p+=1; time=U4(p); p+=4; type=U1(p); p+=1; len =U1(p); p+=1; if (raw->len!=13+len*4) { - trace(2,"javad nd length error: sys=%d len=%d\n",sys,raw->len); + rtktrace(2,"javad nd length error: sys=%d len=%d\n",sys,raw->len); return -1; } if (raw->outtype) { @@ -1025,10 +1025,10 @@ static int decode_nd(raw_t *raw, int sys) sprintf(msg," prn=%3d time=%7d type=%d",prn,time,type); } if (!(sat=satno(sys,prn))) { - trace(2,"javad nd satellite error: sys=%d prn=%d\n",sys,prn); + rtktrace(2,"javad nd satellite error: sys=%d prn=%d\n",sys,prn); return 0; } - trace(4,"sat=%2d time=%7d type=%d len=%3d\n",sat,time,type,len); + rtktrace(4,"sat=%2d time=%7d type=%d len=%3d\n",sat,time,type,len); switch (type) { case 0: return decode_L1nav (p,len,sat,raw); /* L1 NAV */ @@ -1041,7 +1041,7 @@ static int decode_nd(raw_t *raw, int sys) /* decode [LD] GLONASS raw navigation data -----------------------------------*/ static int decode_LD(raw_t *raw) { - trace(3,"javad LD unsupported\n"); + rtktrace(3,"javad LD unsupported\n"); return 0; } @@ -1054,10 +1054,10 @@ static int decode_lD(raw_t *raw) int i,sat,prn,frq,time,type,len,id; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad lD checksum error: len=%d\n",raw->len); + rtktrace(2,"javad lD checksum error: len=%d\n",raw->len); return -1; } - trace(3,"decode_lD: prn=%3d\n",U1(p)); + rtktrace(3,"decode_lD: prn=%3d\n",U1(p)); prn =U1(p); p+=1; frq =I1(p); p+=1; @@ -1066,7 +1066,7 @@ static int decode_lD(raw_t *raw) len =U1(p); p+=1; if (raw->len!=14+len*4) { - trace(2,"javad lD length error: len=%d\n",raw->len); + rtktrace(2,"javad lD length error: len=%d\n",raw->len); return -1; } if (raw->outtype) { @@ -1074,11 +1074,11 @@ static int decode_lD(raw_t *raw) sprintf(msg," prn=%2d frq=%2d time=%7d type=%d",prn,frq,time,type); } if (!(sat=satno(SYS_GLO,prn))) { - trace(2,"javad lD satellite error: prn=%d\n",prn); + rtktrace(2,"javad lD satellite error: prn=%d\n",prn); return 0; } if (type!=0) { - trace(3,"javad lD type unsupported: type=%d\n",type); + rtktrace(3,"javad lD type unsupported: type=%d\n",type); return 0; } if ((id=(U4(p)>>20)&0xF)<1) return 0; @@ -1105,21 +1105,21 @@ static int decode_lD(raw_t *raw) /* decode [ED] Galileo raw navigation data -----------------------------------*/ static int decode_ED(raw_t *raw) { - trace(3,"javad ED unsupported\n"); + rtktrace(3,"javad ED unsupported\n"); return 0; } /* decode [cd] Beidou raw navigation data ------------------------------------*/ static int decode_cd(raw_t *raw) { - trace(3,"javad cd unsupported\n"); + rtktrace(3,"javad cd unsupported\n"); return 0; } /* decode [id] IRNSS raw navigation data -------------------------------------*/ static int decode_id(raw_t *raw) { - trace(3,"javad id unsupported\n"); + rtktrace(3,"javad id unsupported\n"); return 0; } @@ -1131,14 +1131,14 @@ static int decode_WD(raw_t *raw) uint8_t *p=raw->buff+5; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad WD checksum error: len=%d\n",raw->len); + rtktrace(2,"javad WD checksum error: len=%d\n",raw->len); return -1; } if (raw->len<45) { - trace(2,"javad WD length error: len=%d\n",raw->len); + rtktrace(2,"javad WD length error: len=%d\n",raw->len); return -1; } - trace(3,"decode_WD: prn=%3d\n",U1(p)); + rtktrace(3,"decode_WD: prn=%3d\n",U1(p)); prn=U1(p); p+=1; tow=U4(p); p+=4+2; @@ -1148,7 +1148,7 @@ static int decode_WD(raw_t *raw) sprintf(msg," prn=%3d tow=%6d",prn,tow); } if ((prn=MINPRNQZS&&prn<=MAXPRNQZS) { @@ -1180,11 +1180,11 @@ static int decode_Rx(raw_t *raw, char sig) if (!is_meas(sig)||raw->tod<0||raw->obuf.n==0) return 0; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad R%c checksum error: len=%d\n",sig,raw->len); + rtktrace(2,"javad R%c checksum error: len=%d\n",sig,raw->len); return -1; } if (raw->len!=raw->obuf.n*8+6) { - trace(2,"javad R%c length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); + rtktrace(2,"javad R%c length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); return -1; } for (i=0;iobuf.n&&itod<0||raw->obuf.n==0) return 0; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad r%c checksum error: len=%d\n",sig,raw->len); + rtktrace(2,"javad r%c checksum error: len=%d\n",sig,raw->len); return -1; } if (raw->len!=raw->obuf.n*4+6) { - trace(2,"javad r%c length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); + rtktrace(2,"javad r%c length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); return -1; } for (i=0;iobuf.n&&itod<0||raw->obuf.n==0) return 0; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad %cR checksum error: len=%d\n",sig,raw->len); + rtktrace(2,"javad %cR checksum error: len=%d\n",sig,raw->len); return -1; } if (raw->len!=raw->obuf.n*4+6) { - trace(2,"javad %cR length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); + rtktrace(2,"javad %cR length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); return -1; } for (i=0;iobuf.n&&itod<0||raw->obuf.n==0) return 0; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad %cr checksum error: len=%d\n",sig,raw->len); + rtktrace(2,"javad %cr checksum error: len=%d\n",sig,raw->len); return -1; } if (raw->len!=raw->obuf.n*2+6) { - trace(2,"javad %cR length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); + rtktrace(2,"javad %cR length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); return -1; } for (i=0;iobuf.n&&itod<0||raw->obuf.n==0) return 0; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad P%c checksum error: len=%d\n",sig,raw->len); + rtktrace(2,"javad P%c checksum error: len=%d\n",sig,raw->len); return -1; } if (raw->len!=raw->obuf.n*8+6) { - trace(2,"javad P%c length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); + rtktrace(2,"javad P%c length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); return -1; } for (i=0;iobuf.n&&itod<0||raw->obuf.n==0) return 0; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad p%c checksum error: len=%d\n",sig,raw->len); + rtktrace(2,"javad p%c checksum error: len=%d\n",sig,raw->len); return -1; } if (raw->len!=raw->obuf.n*4+6) { - trace(2,"javad p%c length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); + rtktrace(2,"javad p%c length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); return -1; } for (i=0;iobuf.n&&itod<0||raw->obuf.n==0) return 0; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad %cP checksum error: len=%d\n",sig,raw->len); + rtktrace(2,"javad %cP checksum error: len=%d\n",sig,raw->len); return -1; } if (raw->len!=raw->obuf.n*4+6) { - trace(2,"javad %cP length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); + rtktrace(2,"javad %cP length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); return -1; } for (i=0;iobuf.n&&itod<0||raw->obuf.n==0) return 0; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad %cp checksum error: len=%d\n",sig,raw->len); + rtktrace(2,"javad %cp checksum error: len=%d\n",sig,raw->len); return -1; } if (raw->len!=raw->obuf.n*4+6) { - trace(2,"javad %cp length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); + rtktrace(2,"javad %cp length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); return -1; } for (i=0;iobuf.n&&itod<0||raw->obuf.n==0) return 0; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad D%c checksum error: len=%d\n",sig,raw->len); + rtktrace(2,"javad D%c checksum error: len=%d\n",sig,raw->len); return -1; } if (raw->len!=raw->obuf.n*4+6) { - trace(2,"javad D%c length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); + rtktrace(2,"javad D%c length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); return -1; } for (i=0;iobuf.n&&itod<0||raw->obuf.n==0) return 0; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad %cd checksum error: len=%d\n",sig,raw->len); + rtktrace(2,"javad %cd checksum error: len=%d\n",sig,raw->len); return -1; } if (raw->len!=raw->obuf.n*2+6) { - trace(2,"javad %cd length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); + rtktrace(2,"javad %cd length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); return -1; } for (i=0;iobuf.n&&itod<0||raw->obuf.n==0) return 0; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad E%c checksum error: len=%d\n",sig,raw->len); + rtktrace(2,"javad E%c checksum error: len=%d\n",sig,raw->len); return -1; } if (raw->len!=raw->obuf.n+6) { - trace(2,"javad E%c length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); + rtktrace(2,"javad E%c length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); return -1; } for (i=0;iobuf.n&&itod<0||raw->obuf.n==0) return 0; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad %cE checksum error: len=%d\n",sig,raw->len); + rtktrace(2,"javad %cE checksum error: len=%d\n",sig,raw->len); return -1; } if (raw->len!=raw->obuf.n+6) { - trace(2,"javad %cE length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); + rtktrace(2,"javad %cE length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); return -1; } for (i=0;iobuf.n&&itod<0||raw->obuf.n==0) return 0; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad F%c checksum error: len=%d\n",sig,raw->len); + rtktrace(2,"javad F%c checksum error: len=%d\n",sig,raw->len); return -1; } if (raw->len!=raw->obuf.n*2+6) { - trace(2,"javad F%c length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); + rtktrace(2,"javad F%c length error: n=%d len=%d\n",sig,raw->obuf.n,raw->len); return -1; } for (i=0;iobuf.n&&iobuf.n==0) return 0; if (!checksum(raw->buff,raw->len)) { - trace(2,"javad TC checksum error: len=%d\n",raw->len); + rtktrace(2,"javad TC checksum error: len=%d\n",raw->len); return -1; } if (raw->len!=raw->obuf.n*2+6) { - trace(2,"javad TC length error: n=%d len=%d\n",raw->obuf.n,raw->len); + rtktrace(2,"javad TC length error: n=%d len=%d\n",raw->obuf.n,raw->len); return -1; } for (i=0;iobuf.n&&iobuf.data[i].sat; tt_p=(uint16_t)raw->lockt[sat-1][0]; - trace(4,"%s: sat=%2d tt=%6d->%6d\n",time_str(raw->time,3),sat,tt_p,tt); + rtktrace(4,"%s: sat=%2d tt=%6d->%6d\n",time_str(raw->time,3),sat,tt_p,tt); /* loss-of-lock detected by lock-time counter */ if (tt==0||tt%6d\n", + rtktrace(3,"decode_TC: loss-of-lock detected: t=%s sat=%2d tt=%6d->%6d\n", time_str(raw->time,3),sat,tt_p,tt); raw->obuf.data[i].LLI[0]|=1; } @@ -1676,7 +1676,7 @@ static int decode_javad(raw_t *raw) { char *p=(char *)raw->buff; - trace(3,"decode_javad: type=%2.2s len=%3d\n",p,raw->len); + rtktrace(3,"decode_javad: type=%2.2s len=%3d\n",p,raw->len); if (raw->outtype) { sprintf(raw->msgtype,"JAVAD %2.2s (%4d)",p,raw->len); @@ -1787,13 +1787,13 @@ extern int input_javad(raw_t *raw, uint8_t data) { int len,stat; - trace(5,"input_javad: data=%02x\n",data); + rtktrace(5,"input_javad: data=%02x\n",data); /* synchronize message */ if (raw->nbyte==0) { if (!sync_javad(raw->buff,data)) return 0; if (!(len=decodelen(raw->buff+2))||len>MAXRAWLEN-5) { - trace(2,"javad message length error: len=%d\n",len); + rtktrace(2,"javad message length error: len=%d\n",len); clearbuff(raw); return -1; } @@ -1836,7 +1836,7 @@ extern int input_javadf(raw_t *raw, FILE *fp) { int i,data,len,stat; - trace(4,"input_javadf:\n"); + rtktrace(4,"input_javadf:\n"); /* start input file */ if (raw->flag) { @@ -1852,7 +1852,7 @@ extern int input_javadf(raw_t *raw, FILE *fp) } } if (!(len=decodelen(raw->buff+2))||len>MAXRAWLEN-5) { - trace(2,"javad message length error: len=%3.3s\n",raw->buff+2); + rtktrace(2,"javad message length error: len=%3.3s\n",raw->buff+2); clearbuff(raw); return -1; } diff --git a/src/rcv/novatel.c b/src/rcv/novatel.c index ab7dcb3ad..29b67e87d 100644 --- a/src/rcv/novatel.c +++ b/src/rcv/novatel.c @@ -312,11 +312,11 @@ static int decode_track_stat(uint32_t stat, int *sys, int *code, int *track, case 5: *sys=SYS_QZS; break; /* OEM6 */ case 6: *sys=SYS_IRN; break; /* OEM7 */ default: - trace(2,"oem4 unknown system: sys=%d\n",satsys); + rtktrace(2,"oem4 unknown system: sys=%d\n",satsys); return -1; } if (!(*code=sig2code(*sys,sigtype))||(idx=code2idx(*sys,*code))<0) { - trace(2,"oem4 signal type error: sys=%d sigtype=%d\n",*sys,sigtype); + rtktrace(2,"oem4 signal type error: sys=%d sigtype=%d\n",*sys,sigtype); return -1; } return idx; @@ -368,7 +368,7 @@ static int decode_rangecmpb(raw_t *raw) nobs=U4(p); if (raw->lenlen,nobs); + rtktrace(2,"oem4 rangecmpb length error: len=%d nobs=%d\n",raw->len,nobs); return -1; } if (raw->outtype) { @@ -387,7 +387,7 @@ static int decode_rangecmpb(raw_t *raw) code=CODE_L1Z; /* QZS L1S */ } if (!(sat=satno(sys,prn))) { - trace(3,"oem4 rangecmpb satellite number error: sys=%d,prn=%d\n",sys,prn); + rtktrace(3,"oem4 rangecmpb satellite number error: sys=%d,prn=%d\n",sys,prn); continue; } if (sys==SYS_GLO&&!parity) continue; /* invalid if GLO parity unknown */ @@ -452,7 +452,7 @@ static int decode_rangeb(raw_t *raw) nobs=U4(p); if (raw->lenlen,nobs); + rtktrace(2,"oem4 rangeb length error: len=%d nobs=%d\n",raw->len,nobs); return -1; } if (raw->outtype) { @@ -471,7 +471,7 @@ static int decode_rangeb(raw_t *raw) code=CODE_L1Z; /* QZS L1S */ } if (!(sat=satno(sys,prn))) { - trace(3,"oem4 rangeb satellite number error: sys=%d,prn=%d\n",sys,prn); + rtktrace(3,"oem4 rangeb satellite number error: sys=%d,prn=%d\n",sys,prn); continue; } if (sys==SYS_GLO&&!parity) continue; @@ -530,12 +530,12 @@ static int decode_rawephemb(raw_t *raw) int prn,sat; if (raw->lenlen); + rtktrace(2,"oem4 rawephemb length error: len=%d\n",raw->len); return -1; } prn=U4(p); if (!(sat=satno(SYS_GPS,prn))) { - trace(2,"oem4 rawephemb satellite number error: prn=%d\n",prn); + rtktrace(2,"oem4 rawephemb satellite number error: prn=%d\n",prn); return -1; } if (raw->outtype) { @@ -544,7 +544,7 @@ static int decode_rawephemb(raw_t *raw) memcpy(subframe,p+12,30*3); /* subframe 1-3 */ if (!decode_frame(subframe,&eph,NULL,NULL,NULL)) { - trace(2,"oem4 rawephemb subframe error: prn=%d\n",prn); + rtktrace(2,"oem4 rawephemb subframe error: prn=%d\n",prn); return -1; } if (!strstr(raw->opt,"-EPHALL")) { @@ -564,7 +564,7 @@ static int decode_ionutcb(raw_t *raw) int i; if (raw->lenlen); + rtktrace(2,"oem4 ionutcb length error: len=%d\n",raw->len); return -1; } for (i=0;i<8;i++) raw->nav.ion_gps[i]=R8(p+i*8); @@ -585,7 +585,7 @@ static int decode_rawwaasframeb(raw_t *raw) int prn; if (raw->lenlen); + rtktrace(2,"oem4 rawwaasframeb length error: len=%d\n",raw->len); return -1; } prn=U4(p+4); @@ -615,13 +615,13 @@ static int decode_gloephemerisb(raw_t *raw) int prn,sat,week; if (raw->lenlen); + rtktrace(2,"oem4 gloephemerisb length error: len=%d\n",raw->len); return -1; } prn=U2(p)-37; if (!(sat=satno(SYS_GLO,prn))) { - trace(2,"oem4 gloephemerisb prn error: prn=%d\n",prn); + rtktrace(2,"oem4 gloephemerisb prn error: prn=%d\n",prn); return -1; } if (raw->outtype) { @@ -671,12 +671,12 @@ static int decode_qzssrawephemb(raw_t *raw) int prn,sat; if (raw->lenlen); + rtktrace(2,"oem4 qzssrawephemb length error: len=%d\n",raw->len); return -1; } prn=U4(p); if (!(sat=satno(SYS_QZS,prn))) { - trace(2,"oem4 qzssrawephemb satellite number error: prn=%d\n",prn); + rtktrace(2,"oem4 qzssrawephemb satellite number error: prn=%d\n",prn); return -1; } if (raw->outtype) { @@ -685,7 +685,7 @@ static int decode_qzssrawephemb(raw_t *raw) memcpy(subfrm,p+12,90); if (!decode_frame(subfrm,&eph,NULL,NULL,NULL)) { - trace(3,"oem4 qzssrawephemb ephemeris error: prn=%d\n",prn); + rtktrace(3,"oem4 qzssrawephemb ephemeris error: prn=%d\n",prn); return 0; } if (!strstr(raw->opt,"-EPHALL")) { @@ -707,20 +707,20 @@ static int decode_qzssrawsubframeb(raw_t *raw) int prn,sat,id; if (raw->lenlen); + rtktrace(2,"oem4 qzssrawsubframeb length error: len=%d\n",raw->len); return -1; } prn=U4(p); id =U4(p+4); if (!(sat=satno(SYS_QZS,prn))) { - trace(2,"oem4 qzssrawsubframeb satellite error: prn=%d\n",prn); + rtktrace(2,"oem4 qzssrawsubframeb satellite error: prn=%d\n",prn); return -1; } if (raw->outtype) { sprintf(raw->msgtype+strlen(raw->msgtype)," prn=%d id=%d",prn,id); } if (id<1||id>5) { - trace(2,"oem4 qzssrawsubframeb subfrm id error: prn=%d id=%d\n",prn,id); + rtktrace(2,"oem4 qzssrawsubframeb subfrm id error: prn=%d id=%d\n",prn,id); return -1; } memcpy(raw->subfrm[sat-1]+30*(id-1),p+8,30); @@ -753,7 +753,7 @@ static int decode_qzssionutcb(raw_t *raw) int i; if (raw->lenlen); + rtktrace(2,"oem4 qzssionutcb length error: len=%d\n",raw->len); return -1; } for (i=0;i<8;i++) raw->nav.ion_qzs[i]=R8(p+i*8); @@ -777,7 +777,7 @@ static int decode_galephemerisb(raw_t *raw) if (strstr(raw->opt,"-GALFNAV")) sel_eph=2; if (raw->lenlen); + rtktrace(2,"oem4 galephemrisb length error: len=%d\n",raw->len); return -1; } prn =U4(p); p+=4; @@ -819,7 +819,7 @@ static int decode_galephemerisb(raw_t *raw) eph.tgd[1]=R8(p); /* BGD: E5B-E1 (s) */ if (!(sat=satno(SYS_GAL,prn))) { - trace(2,"oemv galephemeris satellite error: prn=%d\n",prn); + rtktrace(2,"oemv galephemeris satellite error: prn=%d\n",prn); return -1; } if (raw->outtype) { @@ -869,7 +869,7 @@ static int decode_galclockb(raw_t *raw) int dtls,tot,wnt,wnlsf,dn,dtlsf,t0g,wn0g; if (raw->lenlen); + rtktrace(2,"oem4 galclockb length error: len=%d\n",raw->len); return -1; } a0 =R8(p); p+=8; @@ -902,7 +902,7 @@ static int decode_galionob(raw_t *raw) int i,sf[5]; if (raw->lenlen); + rtktrace(2,"oem4 galionob length error: len=%d\n",raw->len); return -1; } ai[0]=R8(p); p+=8; @@ -926,7 +926,7 @@ static int decode_bdsephemerisb(raw_t *raw) int prn,sat,toc; if (raw->lenlen); + rtktrace(2,"oem4 bdsephemrisb length error: len=%d\n",raw->len); return -1; } prn =U4(p); p+=4; @@ -959,7 +959,7 @@ static int decode_bdsephemerisb(raw_t *raw) eph.cis =R8(p); if (!(sat=satno(SYS_CMP,prn))) { - trace(2,"oemv bdsephemeris satellite error: prn=%d\n",prn); + rtktrace(2,"oemv bdsephemeris satellite error: prn=%d\n",prn); return -1; } if (raw->outtype) { @@ -990,7 +990,7 @@ static int decode_navicephemerisb(raw_t *raw) int prn,sat,toc,rsv,l5_health,s_health,alert,autonav; if (raw->lenlen); + rtktrace(2,"oem4 navicephemrisb length error: len=%d\n",raw->len); return -1; } prn =U4(p); p+=4; @@ -1027,11 +1027,11 @@ static int decode_navicephemerisb(raw_t *raw) autonav =U4(p); if (toc!=eph.toes) { /* toe and toc should be matched */ - trace(2,"oem4 navicephemrisb toe and toc unmatch prn=%d\n",prn); + rtktrace(2,"oem4 navicephemrisb toe and toc unmatch prn=%d\n",prn); return -1; } if (!(sat=satno(SYS_IRN,prn))) { - trace(2,"oemv navicephemeris satellite error: prn=%d\n",prn); + rtktrace(2,"oemv navicephemeris satellite error: prn=%d\n",prn); return 0; } if (raw->outtype) { @@ -1069,7 +1069,7 @@ static int decode_rgeb(raw_t *raw) raw->time=gpst2time(week,tow); if (raw->len!=OEM3HLEN+20+nobs*44) { - trace(2,"oem3 regb length error: len=%d nobs=%d\n",raw->len,nobs); + rtktrace(2,"oem3 regb length error: len=%d nobs=%d\n",raw->len,nobs); return -1; } for (i=0,p+=20;i>15)&7; /* satellite sys (0:GPS,1:GLONASS,2:WAAS) */ parity=(stat>>10)&1; /* parity known */ if (!(sat=satno(sys==1?SYS_GLO:(sys==2?SYS_SBS:SYS_GPS),prn))) { - trace(2,"oem3 regb satellite number error: sys=%d prn=%d\n",sys,prn); + rtktrace(2,"oem3 regb satellite number error: sys=%d prn=%d\n",sys,prn); continue; } if (raw->tobs[sat-1][freq].time!=0) { @@ -1128,7 +1128,7 @@ static int decode_rged(raw_t *raw) tow =U4(p+4)/100.0; raw->time=gpst2time(week,tow); if (raw->len!=OEM3HLEN+12+nobs*20) { - trace(2,"oem3 regd length error: len=%d nobs=%d\n",raw->len,nobs); + rtktrace(2,"oem3 regd length error: len=%d nobs=%d\n",raw->len,nobs); return -1; } for (i=0,p+=12;i>15)&7; /* satellite sys (0:GPS,1:GLONASS,2:WAAS) */ parity=(stat>>10)&1; /* parity known */ if (!(sat=satno(sys==1?SYS_GLO:(sys==2?SYS_SBS:SYS_GPS),prn))) { - trace(2,"oem3 regd satellite number error: sys=%d prn=%d\n",sys,prn); + rtktrace(2,"oem3 regd satellite number error: sys=%d prn=%d\n",sys,prn); continue; } psr=(psrh*4294967296.0+psrl)/128.0; @@ -1188,16 +1188,16 @@ static int decode_repb(raw_t *raw) int prn,sat; if (raw->len!=OEM3HLEN+96) { - trace(2,"oem3 repb length error: len=%d\n",raw->len); + rtktrace(2,"oem3 repb length error: len=%d\n",raw->len); return -1; } prn=U4(p); if (!(sat=satno(SYS_GPS,prn))) { - trace(2,"oem3 repb satellite number error: prn=%d\n",prn); + rtktrace(2,"oem3 repb satellite number error: prn=%d\n",prn); return -1; } if (!decode_frame(p+4,&eph,NULL,NULL,NULL)) { - trace(2,"oem3 repb subframe error: prn=%d\n",prn); + rtktrace(2,"oem3 repb subframe error: prn=%d\n",prn); return -1; } if (!strstr(raw->opt,"-EPHALL")) { @@ -1216,7 +1216,7 @@ static int decode_frmb(raw_t *raw) double tow; int i,week,prn,nbit; - trace(3,"decode_frmb: len=%d\n",raw->len); + rtktrace(3,"decode_frmb: len=%d\n",raw->len); week=adjgpsweek(U4(p)); tow =R8(p+ 4); @@ -1225,7 +1225,7 @@ static int decode_frmb(raw_t *raw) raw->time=gpst2time(week,tow); if (nbit!=250) return 0; if (prnsbsmsg.week=week; @@ -1241,7 +1241,7 @@ static int decode_ionb(raw_t *raw) int i; if (raw->len!=64+OEM3HLEN) { - trace(2,"oem3 ionb length error: len=%d\n",raw->len); + rtktrace(2,"oem3 ionb length error: len=%d\n",raw->len); return -1; } for (i=0;i<8;i++) raw->nav.ion_gps[i]=R8(p+i*8); @@ -1253,7 +1253,7 @@ static int decode_utcb(raw_t *raw) uint8_t *p=raw->buff+OEM3HLEN; if (raw->len!=40+OEM3HLEN) { - trace(2,"oem3 utcb length error: len=%d\n",raw->len); + rtktrace(2,"oem3 utcb length error: len=%d\n",raw->len); return -1; } raw->nav.utc_gps[0]=R8(p ); @@ -1270,11 +1270,11 @@ static int decode_oem4(raw_t *raw) char tstr[32]; int msg,stat,week,type=U2(raw->buff+4); - trace(3,"decode_oem4: type=%3d len=%d\n",type,raw->len); + rtktrace(3,"decode_oem4: type=%3d len=%d\n",type,raw->len); /* check crc32 */ if (rtk_crc32(raw->buff,raw->len)!=U4(raw->buff+raw->len)) { - trace(2,"oem4 crc error: type=%3d len=%d\n",type,raw->len); + rtktrace(2,"oem4 crc error: type=%3d len=%d\n",type,raw->len); return -1; } msg =(U1(raw->buff+6)>>4)&0x3; /* message type: 0=binary,1=ascii */ @@ -1282,7 +1282,7 @@ static int decode_oem4(raw_t *raw) week=U2(raw->buff+14); if (stat==20||week==0) { - trace(3,"oem4 time error: type=%3d msg=%d stat=%d week=%d\n",type,msg, + rtktrace(3,"oem4 time error: type=%3d msg=%d stat=%d week=%d\n",type,msg, stat,week); return 0; } @@ -1319,11 +1319,11 @@ static int decode_oem3(raw_t *raw) { int type=U4(raw->buff+4); - trace(3,"decode_oem3: type=%3d len=%d\n",type,raw->len); + rtktrace(3,"decode_oem3: type=%3d len=%d\n",type,raw->len); /* checksum */ if (chksum(raw->buff,raw->len)) { - trace(2,"oem3 checksum error: type=%3d len=%d\n",type,raw->len); + rtktrace(2,"oem3 checksum error: type=%3d len=%d\n",type,raw->len); return -1; } if (raw->outtype) { @@ -1377,7 +1377,7 @@ static int sync_oem3(uint8_t *buff, uint8_t data) *-----------------------------------------------------------------------------*/ extern int input_oem4(raw_t *raw, uint8_t data) { - trace(5,"input_oem4: data=%02x\n",data); + rtktrace(5,"input_oem4: data=%02x\n",data); /* synchronize frame */ if (raw->nbyte==0) { @@ -1387,7 +1387,7 @@ extern int input_oem4(raw_t *raw, uint8_t data) raw->buff[raw->nbyte++]=data; if (raw->nbyte==10&&(raw->len=U2(raw->buff+8)+OEM4HLEN)>MAXRAWLEN-4) { - trace(2,"oem4 length error: len=%d\n",raw->len); + rtktrace(2,"oem4 length error: len=%d\n",raw->len); raw->nbyte=0; return -1; } @@ -1405,7 +1405,7 @@ extern int input_oem4(raw_t *raw, uint8_t data) *-----------------------------------------------------------------------------*/ extern int input_oem3(raw_t *raw, uint8_t data) { - trace(5,"input_oem3: data=%02x\n",data); + rtktrace(5,"input_oem3: data=%02x\n",data); /* synchronize frame */ if (raw->nbyte==0) { @@ -1415,7 +1415,7 @@ extern int input_oem3(raw_t *raw, uint8_t data) raw->buff[raw->nbyte++]=data; if (raw->nbyte==12&&(raw->len=U4(raw->buff+8))>MAXRAWLEN) { - trace(2,"oem3 length error: len=%d\n",raw->len); + rtktrace(2,"oem3 length error: len=%d\n",raw->len); raw->nbyte=0; return -1; } @@ -1435,7 +1435,7 @@ extern int input_oem4f(raw_t *raw, FILE *fp) { int i,data; - trace(4,"input_oem4f:\n"); + rtktrace(4,"input_oem4f:\n"); /* synchronize frame */ if (raw->nbyte==0) { @@ -1449,7 +1449,7 @@ extern int input_oem4f(raw_t *raw, FILE *fp) raw->nbyte=10; if ((raw->len=U2(raw->buff+8)+OEM4HLEN)>MAXRAWLEN-4) { - trace(2,"oem4 length error: len=%d\n",raw->len); + rtktrace(2,"oem4 length error: len=%d\n",raw->len); raw->nbyte=0; return -1; } @@ -1469,7 +1469,7 @@ extern int input_oem3f(raw_t *raw, FILE *fp) { int i,data; - trace(4,"input_oem3f:\n"); + rtktrace(4,"input_oem3f:\n"); /* synchronize frame */ if (raw->nbyte==0) { @@ -1483,7 +1483,7 @@ extern int input_oem3f(raw_t *raw, FILE *fp) raw->nbyte=12; if ((raw->len=U4(raw->buff+8))>MAXRAWLEN) { - trace(2,"oem3 length error: len=%d\n",raw->len); + rtktrace(2,"oem3 length error: len=%d\n",raw->len); raw->nbyte=0; return -1; } diff --git a/src/rcv/nvs.c b/src/rcv/nvs.c index 879a9c249..2b1b3c249 100644 --- a/src/rcv/nvs.c +++ b/src/rcv/nvs.c @@ -74,7 +74,7 @@ static int decode_xf5raw(raw_t *raw) uint8_t *p=raw->buff+2; char *q,tstr[32],flag; - trace(4,"decode_xf5raw: len=%d\n",raw->len); + rtktrace(4,"decode_xf5raw: len=%d\n",raw->len); /* time tag adjustment option (-TADJ) */ if ((q=strstr(raw->opt,"-tadj"))) { @@ -88,7 +88,7 @@ static int decode_xf5raw(raw_t *raw) /* check gps week range */ if (week>=4096) { - trace(2,"nvs xf5raw obs week error: week=%d\n",week); + rtktrace(2,"nvs xf5raw obs week error: week=%d\n",week); return -1; } week=adjgpsweek(week); @@ -96,7 +96,7 @@ static int decode_xf5raw(raw_t *raw) if ((raw->len - 31)%30) { /* Message length is not correct: there could be an error in the stream */ - trace(2,"nvs xf5raw len=%d seems not be correct\n",raw->len); + rtktrace(2,"nvs xf5raw len=%d seems not be correct\n",raw->len); return -1; } nsat = (raw->len - 31)/30; @@ -117,11 +117,11 @@ static int decode_xf5raw(raw_t *raw) /* check time tag jump and output warning */ if (raw->time.time&&fabs(timediff(time,raw->time))>86400.0) { time2str(time,tstr,3); - trace(2,"nvs xf5raw time tag jump warning: time=%s\n",tstr); + rtktrace(2,"nvs xf5raw time tag jump warning: time=%s\n",tstr); } if (fabs(timediff(time,raw->time))<=1e-3) { time2str(time,tstr,3); - trace(2,"nvs xf5raw time tag duplicated: time=%s\n",tstr); + rtktrace(2,"nvs xf5raw time tag duplicated: time=%s\n",tstr); return 0; } for (i=0,p+=27;(i1E10||P1<-1E10||P1>1E10||D1<-1E5||D1>1E5) { - trace(2,"nvs xf5raw obs range error: sat=%2d L1=%12.5e P1=%12.5e D1=%12.5e\n", + rtktrace(2,"nvs xf5raw obs range error: sat=%2d L1=%12.5e P1=%12.5e D1=%12.5e\n", sat,L1,P1,D1); continue; } @@ -181,7 +181,7 @@ static int decode_gpsephem(int sat, raw_t *raw) uint16_t week; double toc; - trace(4,"decode_ephem: sat=%2d\n",sat); + rtktrace(4,"decode_ephem: sat=%2d\n",sat); eph.crs = R4(&puiTmp[ 2]); eph.deln = R4(&puiTmp[ 6]) * 1e+3; @@ -213,7 +213,7 @@ static int decode_gpsephem(int sat, raw_t *raw) eph.fit = 0; if (week>=4096) { - trace(2,"nvs gps ephemeris week error: sat=%2d week=%d\n",sat,week); + rtktrace(2,"nvs gps ephemeris week error: sat=%2d week=%d\n",sat,week); return -1; } eph.week=adjgpsweek(week); @@ -267,11 +267,11 @@ static int decode_gloephem(int sat, raw_t *raw) geph.age =I2(p+91); } else { - trace(2,"nvs NE length error: len=%d\n",raw->len); + rtktrace(2,"nvs NE length error: len=%d\n",raw->len); return -1; } if (!(geph.sat=satno(SYS_GLO,prn))) { - trace(2,"nvs NE satellite error: prn=%d\n",prn); + rtktrace(2,"nvs NE satellite error: prn=%d\n",prn); return -1; } if (raw->time.time==0) return 0; @@ -283,7 +283,7 @@ static int decode_gloephem(int sat, raw_t *raw) /* check illegal ephemeris by toe */ tt=timediff(raw->time,geph.toe); if (fabs(tt)>3600.0) { - trace(3,"nvs NE illegal toe: prn=%2d tt=%6.0f\n",prn,tt); + rtktrace(3,"nvs NE illegal toe: prn=%2d tt=%6.0f\n",prn,tt); return 0; } #endif @@ -291,7 +291,7 @@ static int decode_gloephem(int sat, raw_t *raw) /* check illegal ephemeris by frequency number consistency */ if (raw->nav.geph[prn-MINPRNGLO].toe.time&& geph.frq!=raw->nav.geph[prn-MINPRNGLO].frq) { - trace(2,"nvs NE illegal freq change: prn=%2d frq=%2d->%2d\n",prn, + rtktrace(2,"nvs NE illegal freq change: prn=%2d frq=%2d->%2d\n",prn, raw->nav.geph[prn-MINPRNGLO].frq,geph.frq); return -1; } @@ -312,16 +312,16 @@ static int decode_xf7eph(raw_t *raw) int prn,sat,sys; uint8_t *p=raw->buff; - trace(4,"decode_xf7eph: len=%d\n",raw->len); + rtktrace(4,"decode_xf7eph: len=%d\n",raw->len); if ((raw->len)<93) { - trace(2,"nvs xf7eph length error: len=%d\n",raw->len); + rtktrace(2,"nvs xf7eph length error: len=%d\n",raw->len); return -1; } sys = (U1(p+2)==1)?SYS_GPS:((U1(p+2)==2)?SYS_GLO:SYS_NONE); prn = U1(p+3); if (!(sat=satno(sys==1?SYS_GPS:SYS_GLO,prn))) { - trace(2,"nvs xf7eph satellite number error: prn=%d\n",prn); + rtktrace(2,"nvs xf7eph satellite number error: prn=%d\n",prn); return -1; } if (sys==SYS_GPS) { @@ -341,20 +341,20 @@ static int decode_xe5bit(raw_t *raw) uint8_t uiDataBlocks, uiDataType; uint8_t *p=raw->buff; - trace(4,"decode_xe5bit: len=%d\n",raw->len); + rtktrace(4,"decode_xe5bit: len=%d\n",raw->len); p += 2; /* Discard preamble and message identifier */ uiDataBlocks = U1(p); if (uiDataBlocks>=16) { - trace(2,"nvs xf5bit message error: data blocks %u\n", uiDataBlocks); + rtktrace(2,"nvs xf5bit message error: data blocks %u\n", uiDataBlocks); return -1; } iBlkStartIdx = 1; for (iIdx = 0; iIdx < uiDataBlocks; iIdx++) { iExpLen = (iBlkStartIdx+10); if ((raw->len) < iExpLen) { - trace(2,"nvs xf5bit message too short (expected at least %d)\n", iExpLen); + rtktrace(2,"nvs xf5bit message too short (expected at least %d)\n", iExpLen); return -1; } uiDataType = U1(p+iBlkStartIdx+1); @@ -378,7 +378,7 @@ static int decode_xe5bit(raw_t *raw) words[7] >>= 6; return sbsdecodemsg(raw->time,prn,words,&raw->sbsmsg) ? 3 : 0; default: - trace(2,"nvs xf5bit SNS type unknown (got %d)\n", uiDataType); + rtktrace(2,"nvs xf5bit SNS type unknown (got %d)\n", uiDataType); return -1; } } @@ -389,7 +389,7 @@ static int decode_x4aiono(raw_t *raw) { uint8_t *p=raw->buff+2; - trace(4,"decode_x4aiono: len=%d\n", raw->len); + rtktrace(4,"decode_x4aiono: len=%d\n", raw->len); raw->nav.ion_gps[0] = R4(p ); raw->nav.ion_gps[1] = R4(p+ 4); @@ -407,7 +407,7 @@ static int decode_x4btime(raw_t *raw) { uint8_t *p=raw->buff+2; - trace(4,"decode_x4btime: len=%d\n", raw->len); + rtktrace(4,"decode_x4btime: len=%d\n", raw->len); raw->nav.utc_gps[1] = R8(p ); raw->nav.utc_gps[0] = R8(p+ 8); @@ -422,7 +422,7 @@ static int decode_nvs(raw_t *raw) { int type=U1(raw->buff+1); - trace(3,"decode_nvs: type=%02x len=%d\n",type,raw->len); + rtktrace(3,"decode_nvs: type=%02x len=%d\n",type,raw->len); sprintf(raw->msgtype,"NVS: type=%2d len=%3d",type,raw->len); @@ -453,7 +453,7 @@ static int decode_nvs(raw_t *raw) *-----------------------------------------------------------------------------*/ extern int input_nvs(raw_t *raw, uint8_t data) { - trace(5,"input_nvs: data=%02x\n",data); + rtktrace(5,"input_nvs: data=%02x\n",data); /* synchronize frame */ if ((raw->nbyte==0) && (data==NVSSYNC)) { @@ -487,7 +487,7 @@ extern int input_nvs(raw_t *raw, uint8_t data) return decode_nvs(raw); } if (raw->nbyte == MAXRAWLEN) { - trace(2,"nvs message size error: len=%d\n",raw->nbyte); + rtktrace(2,"nvs message size error: len=%d\n",raw->nbyte); raw->nbyte=0; return -1; } @@ -503,7 +503,7 @@ extern int input_nvsf(raw_t *raw, FILE *fp) { int i,data, odd=0; - trace(4,"input_nvsf:\n"); + rtktrace(4,"input_nvsf:\n"); /* synchronize frame */ for (i=0;;i++) { @@ -539,7 +539,7 @@ extern int input_nvsf(raw_t *raw, FILE *fp) } raw->len = raw->nbyte; if ((raw->len) > MAXRAWLEN) { - trace(2,"nvs length error: len=%d\n",raw->len); + rtktrace(2,"nvs length error: len=%d\n",raw->len); return -1; } /* decode nvs raw message */ @@ -564,7 +564,7 @@ extern int gen_nvs(const char *msg, uint8_t *buff) int iRate,n,narg=0; uint8_t ui100Ms; - trace(4,"gen_nvs: msg=%s\n",msg); + rtktrace(4,"gen_nvs: msg=%s\n",msg); strcpy(mbuff,msg); for (p=strtok(mbuff," ");p&&narg<32;p=strtok(NULL," ")) { diff --git a/src/rcv/rt17.c b/src/rcv/rt17.c index 1821b204c..3b4ede840 100644 --- a/src/rcv/rt17.c +++ b/src/rcv/rt17.c @@ -478,14 +478,14 @@ EXPORT int init_rt17(raw_t *Raw) if (!(rt17 = (rt17_t*) calloc(1, sizeof(rt17_t)))) { - tracet(0, "RT17: unable to allocate RT17 dependent private data structure.\n"); + rtktracet(0, "RT17: unable to allocate RT17 dependent private data structure.\n"); return 0; } Raw->rcv_data = (void*) rt17; if (!(MessageBuffer = (uint8_t*) calloc(MBUFF_LENGTH, sizeof(uint8_t)))) { - tracet(0, "RT17: unable to allocate RT17 message buffer.\n"); + rtktracet(0, "RT17: unable to allocate RT17 message buffer.\n"); free_rt17(Raw); return 0; } @@ -493,7 +493,7 @@ EXPORT int init_rt17(raw_t *Raw) if (!(PacketBuffer = (uint8_t*) calloc(PBUFF_LENGTH, sizeof(uint8_t)))) { - tracet(0, "RT17: unable to allocate RT17 packet buffer.\n"); + rtktracet(0, "RT17: unable to allocate RT17 packet buffer.\n"); free_rt17(Raw); return 0; } @@ -556,7 +556,7 @@ EXPORT int input_rt17(raw_t *Raw, uint8_t Data) */ if (rt17->PacketBuffer[rt17->PacketLength-1] != ETX) { - tracet(2, "RT17: Prospective packet did not end with an ETX character. Some data lost.\n"); + rtktracet(2, "RT17: Prospective packet did not end with an ETX character. Some data lost.\n"); ClearPacketBuffer(rt17); return 0; } @@ -567,7 +567,7 @@ EXPORT int input_rt17(raw_t *Raw, uint8_t Data) */ if (!CheckPacketChecksum(PacketBuffer)) { - tracet(2, "RT17: Packet checksum failure. Packet discarded.\n"); + rtktracet(2, "RT17: Packet checksum failure. Packet discarded.\n"); ClearPacketBuffer(rt17); return 0; } @@ -602,7 +602,7 @@ EXPORT int input_rt17(raw_t *Raw, uint8_t Data) { if (Page != 1) { - tracet(2, "RT17: First RAWDATA packet is not page #1. Packet discarded.\n"); + rtktracet(2, "RT17: First RAWDATA packet is not page #1. Packet discarded.\n"); ClearPacketBuffer(rt17); return 0; } @@ -611,7 +611,7 @@ EXPORT int input_rt17(raw_t *Raw, uint8_t Data) } else if ((Reply != rt17->Reply) || (Page != (rt17->Page + 1))) { - tracet(2, "RT17: RAWDATA packet sequence number mismatch or page out of order. %u RAWDATA packets discarded.\n", Page); + rtktracet(2, "RT17: RAWDATA packet sequence number mismatch or page out of order. %u RAWDATA packets discarded.\n", Page); ClearMessageBuffer(rt17); ClearPacketBuffer(rt17); return 0; @@ -620,7 +620,7 @@ EXPORT int input_rt17(raw_t *Raw, uint8_t Data) /* Check for message buffer overflow */ if ((rt17->MessageBytes + rt17->PacketBytes) > MBUFF_LENGTH) { - tracet(2, "RT17: Buffer would overflow. %u RAWDATA packets discarded.\n", Page); + rtktracet(2, "RT17: Buffer would overflow. %u RAWDATA packets discarded.\n", Page); ClearMessageBuffer(rt17); ClearPacketBuffer(rt17); return 0; @@ -662,7 +662,7 @@ EXPORT int input_rt17(raw_t *Raw, uint8_t Data) { if (Page != 0) { - tracet(3, "RT17: First GENOUT packet is not page #0. Packet discarded.\n"); + rtktracet(3, "RT17: First GENOUT packet is not page #0. Packet discarded.\n"); ClearPacketBuffer(rt17); return 0; } @@ -671,7 +671,7 @@ EXPORT int input_rt17(raw_t *Raw, uint8_t Data) } else if ((Reply != rt17->Reply) || (Page != (rt17->Page + 1))) { - tracet(2, "RT17: GENOUT packet sequence number mismatch or page out of order. %u GENOUT packets discarded.\n", Page); + rtktracet(2, "RT17: GENOUT packet sequence number mismatch or page out of order. %u GENOUT packets discarded.\n", Page); ClearMessageBuffer(rt17); ClearPacketBuffer(rt17); return 0; @@ -680,7 +680,7 @@ EXPORT int input_rt17(raw_t *Raw, uint8_t Data) /* Check for message buffer overflow. */ if ((rt17->MessageBytes + rt17->PacketBytes) > MBUFF_LENGTH) { - tracet(2, "RT17: Buffer would overflow. %u GENOUT packets discarded.\n", Page); + rtktracet(2, "RT17: Buffer would overflow. %u GENOUT packets discarded.\n", Page); ClearMessageBuffer(rt17); ClearPacketBuffer(rt17); return 0; @@ -708,7 +708,7 @@ EXPORT int input_rt17(raw_t *Raw, uint8_t Data) | (and hence we can't really even get here). Dump the packet on the floor | and continue reading from the stream. */ - tracet(2, "RT17: Packet is not GENOUT, RAWDATA or RETSVDATA. Packet discarded.\n"); + rtktracet(2, "RT17: Packet is not GENOUT, RAWDATA or RETSVDATA. Packet discarded.\n"); ClearPacketBuffer(rt17); return 0; } @@ -809,7 +809,7 @@ static void ClearPacketBuffer(rt17_t *rt17) */ static int DecodeBeidouEphemeris(raw_t *Raw) { - tracet(3, "DecodeBeidouEphemeris(); not yet implemented.\n"); + rtktracet(3, "DecodeBeidouEphemeris(); not yet implemented.\n"); return 0; #if 0 @@ -819,16 +819,16 @@ static int DecodeBeidouEphemeris(raw_t *Raw) uint32_t Flags, toe; double sqrtA; eph_t eph={0}; - tracet(3, "RT17: DecodeBeidouEphemeris(); Length=%d\n", rt17->PacketLength); + rtktracet(3, "RT17: DecodeBeidouEphemeris(); Length=%d\n", rt17->PacketLength); if (rt17->PacketLength < 182) { - tracet(2, "RT17: RETSVDATA packet length %d < 182 bytes. GPS ephemeris packet discarded.\n", rt17->PacketLength); + rtktracet(2, "RT17: RETSVDATA packet length %d < 182 bytes. GPS ephemeris packet discarded.\n", rt17->PacketLength); return -1; } prn = U1(p+5); if (!(sat=satno(SYS_CMP, prn))) { - tracet(2, "RT17: Beidou ephemeris satellite number error, PRN=%d.\n", prn); + rtktracet(2, "RT17: Beidou ephemeris satellite number error, PRN=%d.\n", prn); return -1; } @@ -916,7 +916,7 @@ static int DecodeBeidouEphemeris(raw_t *Raw) eph.toc = bdt2gpst(bdt2time(eph.week, toc)); eph.toe = bdt2gpst(bdt2time(eph.week, toe)); eph.ttr = bdt2gpst(bdt2time(eph.week, tow)); - tracet(3, "RT17: DecodeBeidouEphemeris(); SAT=%d, IODC=%d, IODE=%d, WEEK=%d.\n", sat, eph.iodc, eph.iode, eph.week); + rtktracet(3, "RT17: DecodeBeidouEphemeris(); SAT=%d, IODC=%d, IODE=%d, WEEK=%d.\n", sat, eph.iodc, eph.iode, eph.week); if (!strstr(Raw->opt,"-EPHALL")) { if (eph.iode == Raw->nav.eph[sat-1].iode) @@ -941,7 +941,7 @@ static int DecodeBeidouEphemeris(raw_t *Raw) */ static int DecodeGalileoEphemeris(raw_t *Raw) { - tracet(3, "DecodeGalileoEphemeris(); not yet implemented.\n"); + rtktracet(3, "DecodeGalileoEphemeris(); not yet implemented.\n"); return 0; #if 0 @@ -954,16 +954,16 @@ static int DecodeGalileoEphemeris(raw_t *Raw) uint8_t SISA, MODEL1, MODEL2; uint16_t IODnav, HSDVS; double BDG1, BDG2; - tracet(3, "RT17: DecodeGalileoEphemeris(); Length=%d\n", rt17->PacketLength); + rtktracet(3, "RT17: DecodeGalileoEphemeris(); Length=%d\n", rt17->PacketLength); if (rt17->PacketLength < 190) { - tracet(2, "RT17: RETSVDATA packet length %d < 190 bytes. Galileo ephemeris packet discarded.\n", rt17->PacketLength); + rtktracet(2, "RT17: RETSVDATA packet length %d < 190 bytes. Galileo ephemeris packet discarded.\n", rt17->PacketLength); return -1; } prn = U1(p+5); if (!(sat=satno(SYS_GAL, prn))) { - tracet(2, "RT17: Galileo ephemeris satellite number error, PRN=%d.\n", prn); + rtktracet(2, "RT17: Galileo ephemeris satellite number error, PRN=%d.\n", prn); return -1; } @@ -1021,7 +1021,7 @@ static int DecodeGalileoEphemeris(raw_t *Raw) eph.toc = gst2time(eph.week, toc); eph.toe = gst2time(eph.week, toe); eph.ttr = gst2time(eph.week, tow); - tracet(3, "RT17: DecodeGalileoEphemeris(); SAT=%d, IODC=%d, IODE=%d, WEEK=%d.\n", sat, eph.iodc, eph.iode, eph.week); + rtktracet(3, "RT17: DecodeGalileoEphemeris(); SAT=%d, IODC=%d, IODE=%d, WEEK=%d.\n", sat, eph.iodc, eph.iode, eph.week); if (!strstr(Raw->opt,"-EPHALL")) { if (eph.iode == Raw->nav.eph[sat-1].iode) @@ -1046,7 +1046,7 @@ static int DecodeGalileoEphemeris(raw_t *Raw) */ static int DecodeGLONASSEphemeris(raw_t *Raw) { - tracet(3, "DecodeGLONASSEphemeris(); not yet implemented.\n"); + rtktracet(3, "DecodeGLONASSEphemeris(); not yet implemented.\n"); return 0; } @@ -1070,11 +1070,11 @@ static int DecodeGPSEphemeris(raw_t *Raw) double sqrtA; eph_t eph={0}; - tracet(3, "RT17: DecodeGPSEphemeris(); Length=%d\n", rt17->PacketLength); + rtktracet(3, "RT17: DecodeGPSEphemeris(); Length=%d\n", rt17->PacketLength); if (rt17->PacketLength < 182) { - tracet(2, "RT17: RETSVDATA packet length %d < 182 bytes. GPS ephemeris packet discarded.\n", rt17->PacketLength); + rtktracet(2, "RT17: RETSVDATA packet length %d < 182 bytes. GPS ephemeris packet discarded.\n", rt17->PacketLength); return -1; } @@ -1082,7 +1082,7 @@ static int DecodeGPSEphemeris(raw_t *Raw) if (!(sat=satno(SYS_GPS, prn))) { - tracet(2, "RT17: GPS ephemeris satellite number error, PRN=%d.\n", prn); + rtktracet(2, "RT17: GPS ephemeris satellite number error, PRN=%d.\n", prn); return -1; } @@ -1176,12 +1176,12 @@ static int DecodeGPSEphemeris(raw_t *Raw) eph.toe = gpst2time(eph.week, toe); eph.ttr = gpst2time(eph.week, tow); - tracet(3, "RT17: DecodeGPSEphemeris(); SAT=%d, IODC=%d, IODE=%d, WEEK=%d.\n", sat, eph.iodc, eph.iode, eph.week); + rtktracet(3, "RT17: DecodeGPSEphemeris(); SAT=%d, IODC=%d, IODE=%d, WEEK=%d.\n", sat, eph.iodc, eph.iode, eph.week); if (rt17->Week && (rt17->Week != eph.week)) { - tracet(2, "RT17: Currently set or assumed GPS week does not match received ephemeris week.\n"); - tracet(2, "RT17: Set or assumed GPS week: %d Received ephemeris week: %d\n", rt17->Week, eph.week); + rtktracet(2, "RT17: Currently set or assumed GPS week does not match received ephemeris week.\n"); + rtktracet(2, "RT17: Set or assumed GPS week: %d Received ephemeris week: %d\n", rt17->Week, eph.week); } if (!(rt17->Flags & M_WEEK_OPTION)) @@ -1189,9 +1189,9 @@ static int DecodeGPSEphemeris(raw_t *Raw) if (!rt17->Week || (rt17->Flags & M_WEEK_TIME) || (eph.week > rt17->Week)) { if (!rt17->Week) - tracet(2, "RT17: Initial GPS WEEK number unknown; WEEK number %d assumed for now.\n", eph.week); + rtktracet(2, "RT17: Initial GPS WEEK number unknown; WEEK number %d assumed for now.\n", eph.week); else - tracet(2, "RT17: Changing assumed week number from %d to %d.\n", rt17->Week, eph.week); + rtktracet(2, "RT17: Changing assumed week number from %d to %d.\n", rt17->Week, eph.week); rt17->Flags &= ~M_WEEK_TIME; rt17->Flags |= M_WEEK_EPH; rt17->Week = eph.week; @@ -1239,7 +1239,7 @@ static int DecodeGSOF(raw_t *Raw) if (!RecordType_s) RecordType_s = "Unknown"; - tracet(3, "RT17: Trimble packet type=0x40 (GENOUT), GSOF record type=%d (%s), Length=%d.\n", RecordType, RecordType_s, RecordLength); + rtktracet(3, "RT17: Trimble packet type=0x40 (GENOUT), GSOF record type=%d (%s), Length=%d.\n", RecordType, RecordType_s, RecordLength); /* Process (or possibly ignore) the message */ switch (RecordType) @@ -1263,7 +1263,7 @@ static int DecodeGSOF(raw_t *Raw) Ret = DecodeGSOF41(Raw, p); break; default: - tracet(3, "RT17: GSOF message not processed.\n"); + rtktracet(3, "RT17: GSOF message not processed.\n"); } RecordLength += 2; @@ -1279,7 +1279,7 @@ static int DecodeGSOF1(raw_t *Raw, uint8_t *p) { if (p[1] < 6) - tracet(2, "RT17: GSOF Position Time message record length %d < 6 bytes. Record discarded.\n", p[1]); + rtktracet(2, "RT17: GSOF Position Time message record length %d < 6 bytes. Record discarded.\n", p[1]); else SetWeek(Raw, I2(p+6), ((double) I4(p+2)) * 0.001); @@ -1292,7 +1292,7 @@ static int DecodeGSOF3(raw_t *Raw, uint8_t *p) sta_t *sta = &Raw->sta; if (p[1] < 24) - tracet( 2, "RT17: GSOF ECEF Position record length %d < 24 bytes. Record discarded.\n", p[1] ); + rtktracet( 2, "RT17: GSOF ECEF Position record length %d < 24 bytes. Record discarded.\n", p[1] ); else { sta->pos[0] = R8(p+2); @@ -1312,7 +1312,7 @@ static int DecodeGSOF3(raw_t *Raw, uint8_t *p) static int DecodeGSOF15(raw_t *Raw, uint8_t *p) { if (p[1] < 15) - tracet(2, "RT17: GSOF Receiver Serial Number record length %d < 15 bytes. Record discarded.\n", p[1]); + rtktracet(2, "RT17: GSOF Receiver Serial Number record length %d < 15 bytes. Record discarded.\n", p[1]); else sprintf(Raw->sta.recsno, "%u", U4(p+2)); @@ -1323,7 +1323,7 @@ static int DecodeGSOF15(raw_t *Raw, uint8_t *p) static int DecodeGSOF16(raw_t *Raw, uint8_t *p) { if (p[1] < 9) - tracet( 2, "RT17: GSOF Current Time message record length %d < 9 bytes. Record discarded.\n", p[1] ); + rtktracet( 2, "RT17: GSOF Current Time message record length %d < 9 bytes. Record discarded.\n", p[1] ); else if (U1(p+10) & M_BIT0) /* If week and milliseconds of week are valid */ SetWeek(Raw, I2(p+6), ((double) I4(p+2)) * 0.001); @@ -1334,7 +1334,7 @@ static int DecodeGSOF16(raw_t *Raw, uint8_t *p) static int DecodeGSOF26(raw_t *Raw, uint8_t *p) { if (p[1] < 6) - tracet(2, "RT17: GSOF Position Time UTC message record length %d < 6 bytes. Record discarded.\n", p[1]); + rtktracet(2, "RT17: GSOF Position Time UTC message record length %d < 6 bytes. Record discarded.\n", p[1]); else SetWeek(Raw, I2(p+6), ((double) I4(p+2)) * 0.001); @@ -1345,7 +1345,7 @@ static int DecodeGSOF26(raw_t *Raw, uint8_t *p) static int DecodeGSOF41(raw_t *raw, uint8_t *p) { if (p[1] < 6) - tracet(2, "RT17: GSOF Base Position and Quality Indicator message record length %d < 6 bytes. Record discarded.\n", p[1]); + rtktracet(2, "RT17: GSOF Base Position and Quality Indicator message record length %d < 6 bytes. Record discarded.\n", p[1]); else SetWeek(raw, I2(p+6), ((double) I4(p+2)) * 0.001); @@ -1372,11 +1372,11 @@ static int DecodeIONAndUTCData(raw_t *Raw) double *ion_gps = nav->ion_gps; double *utc_gps = nav->utc_gps; - tracet(3, "RT17: DecodeIONAndUTCData, Length=%d.\n", rt17->PacketLength); + rtktracet(3, "RT17: DecodeIONAndUTCData, Length=%d.\n", rt17->PacketLength); if (rt17->PacketLength < 129) { - tracet(2, "RT17: RETSVDATA packet length %d < 129 bytes. GPS ION / UTC data packet discarded.\n", rt17->PacketLength); + rtktracet(2, "RT17: RETSVDATA packet length %d < 129 bytes. GPS ION / UTC data packet discarded.\n", rt17->PacketLength); return -1; } @@ -1418,7 +1418,7 @@ static int DecodeIONAndUTCData(raw_t *Raw) */ static int DecodeQZSSEphemeris(raw_t *Raw) { - tracet(3, "DecodeQZSSEphemeris(); not yet implemented.\n"); + rtktracet(3, "DecodeQZSSEphemeris(); not yet implemented.\n"); return 0; #if 0 @@ -1428,16 +1428,16 @@ static int DecodeQZSSEphemeris(raw_t *Raw) uint32_t Flags, toe; double sqrtA; eph_t eph={0}; - tracet(3, "RT17: DecodeQZSSEphemeris(); Length=%d\n", rt17->PacketLength); + rtktracet(3, "RT17: DecodeQZSSEphemeris(); Length=%d\n", rt17->PacketLength); if (rt17->PacketLength < 184) { - tracet(2, "RT17: RETSVDATA packet length %d < 184 bytes. QZSS ephemeris packet discarded.\n", rt17->PacketLength); + rtktracet(2, "RT17: RETSVDATA packet length %d < 184 bytes. QZSS ephemeris packet discarded.\n", rt17->PacketLength); return -1; } prn = U1(p+5); if (!(sat=satno(SYS_GPS, prn))) { - tracet(2, "RT17: QZSS ephemeris satellite number error, PRN=%d.\n", prn); + rtktracet(2, "RT17: QZSS ephemeris satellite number error, PRN=%d.\n", prn); return -1; } @@ -1528,7 +1528,7 @@ static int DecodeQZSSEphemeris(raw_t *Raw) eph.toc = gpst2time(eph.week, toc); eph.toe = gpst2time(eph.week, toe); eph.ttr = gpst2time(eph.week, tow); - tracet(3, "RT17: DecodeQZSSEphemeris(); SAT=%d, IODC=%d, IODE=%d, WEEK=%d.\n", sat, eph.iodc, eph.iode, eph.week); + rtktracet(3, "RT17: DecodeQZSSEphemeris(); SAT=%d, IODC=%d, IODE=%d, WEEK=%d.\n", sat, eph.iodc, eph.iode, eph.week); if (!strstr(Raw->opt,"-EPHALL")) { if (eph.iode == Raw->nav.eph[sat-1].iode) @@ -1565,7 +1565,7 @@ static int DecodeRawdata(raw_t *Raw) if (!RecordType_s) RecordType_s = "Unknown"; - tracet(3, "RT17: Trimble packet type=0x57 (RAWDATA), Recordtype=%d (%s), Length=%d.\n", RecordType, RecordType_s, rt17->MessageLength); + rtktracet(3, "RT17: Trimble packet type=0x57 (RAWDATA), Recordtype=%d (%s), Length=%d.\n", RecordType, RecordType_s, rt17->MessageLength); /* | Reassemble origional message by removing packet headers, @@ -1583,7 +1583,7 @@ static int DecodeRawdata(raw_t *Raw) Ret = DecodeType29(Raw); break; default: - tracet(3, "RT17: Packet not processed.\n"); + rtktracet(3, "RT17: Packet not processed.\n"); } return Ret; @@ -1613,7 +1613,7 @@ static int DecodeRetsvdata(raw_t *Raw) if (!Subtype_s) Subtype_s = "Unknown"; - tracet(3, "RT17: Trimble packet type=0x55 (RETSVDATA), Subtype=%d (%s), Length=%d.\n", Subtype, Subtype_s, rt17->PacketLength); + rtktracet(3, "RT17: Trimble packet type=0x55 (RETSVDATA), Subtype=%d (%s), Length=%d.\n", Subtype, Subtype_s, rt17->PacketLength); /* Process (or possibly ignore) the message */ switch (Subtype) @@ -1637,7 +1637,7 @@ static int DecodeRetsvdata(raw_t *Raw) Ret = DecodeBeidouEphemeris(Raw); break; default: - tracet(3, "RT17: Packet not processed.\n"); + rtktracet(3, "RT17: Packet not processed.\n"); } return Ret; @@ -1847,7 +1847,7 @@ static int DecodeType17(raw_t *Raw, uint32_t rif) if (!(obs->sat = satno(SYS_GPS, prn))) { - tracet(2, "RT17: Satellite number error, PRN=%d.\n", prn); + rtktracet(2, "RT17: Satellite number error, PRN=%d.\n", prn); continue; } @@ -1869,8 +1869,8 @@ static int DecodeType17(raw_t *Raw, uint32_t rif) if (n > 0) { - tracet(2, "RT17: Observations output:\n"); - traceobs(2, Raw->obs.data, Raw->obs.n); + rtktracet(2, "RT17: Observations output:\n"); + rtktraceobs(2, Raw->obs.data, Raw->obs.n); } return (n > 0); @@ -1883,7 +1883,7 @@ static int DecodeType29(raw_t *Raw) uint8_t *p = rt17->MessageBuffer; if (*p < 7) - tracet(2, "RT17: Enhanced Position record block #1 length %d < 7 bytes. Record discarded.\n", *p); + rtktracet(2, "RT17: Enhanced Position record block #1 length %d < 7 bytes. Record discarded.\n", *p); else SetWeek(Raw, I2(p+1), ((double) I4(p+3)) * 0.001); @@ -1908,7 +1908,7 @@ static int GetWeek(raw_t *Raw, double Tow) { if ((Tow && rt17->Tow) && (Tow < rt17->Tow)) { - tracet(2, "RT17: GPS WEEK rolled over from %d to %d.\n", rt17->Week, rt17->Week + 1); + rtktracet(2, "RT17: GPS WEEK rolled over from %d to %d.\n", rt17->Week, rt17->Week + 1); rt17->Week++; } @@ -1924,12 +1924,12 @@ static int GetWeek(raw_t *Raw, double Tow) if (opt) { if (!sscanf(opt+6, "%d", &Week) || (Week <= 0)) - tracet(0, "RT17: Invalid -WEEK=n receiver option value.\n"); + rtktracet(0, "RT17: Invalid -WEEK=n receiver option value.\n"); else { rt17->Week = Week; rt17->Flags |= M_WEEK_OPTION; - tracet(2, "RT17: Initial GPS WEEK explicitly set to %d by user.\n", Week, Week); + rtktracet(2, "RT17: Initial GPS WEEK explicitly set to %d by user.\n", Week, Week); } } } @@ -1948,7 +1948,7 @@ static int GetWeek(raw_t *Raw, double Tow) rt17->Week = Week; rt17->Flags |= M_WEEK_TIME; - tracet(2, "RT17: Initial GPS WEEK number unknown; WEEK number %d assumed for now.\n", Week); + rtktracet(2, "RT17: Initial GPS WEEK number unknown; WEEK number %d assumed for now.\n", Week); } return Week; @@ -2068,13 +2068,13 @@ static void SetWeek(raw_t *Raw, int Week, double Tow) if (Week != rt17->Week) { if (Week == (rt17->Week + 1)) - tracet(2, "RT17: GPS WEEK rolled over from %d to %d.\n", rt17->Week, Week); + rtktracet(2, "RT17: GPS WEEK rolled over from %d to %d.\n", rt17->Week, Week); else - tracet(2, "RT17: GPS WEEK changed from %d to %d.\n", rt17->Week, Week); + rtktracet(2, "RT17: GPS WEEK changed from %d to %d.\n", rt17->Week, Week); } } else - tracet(2, "RT17: GPS WEEK initially set to %d.\n", Week); + rtktracet(2, "RT17: GPS WEEK initially set to %d.\n", Week); rt17->Week = Week; } @@ -2158,7 +2158,7 @@ static void UnwrapRawdata(rt17_t *rt17, uint32_t *rif) while (InputLengthTotal > 0) { if ((uint32_t)p_in[7] != *rif) - tracet(2, "RT17: Inconsistent Record Interpretation Flags within a single RAWDATA message.\n"); + rtktracet(2, "RT17: Inconsistent Record Interpretation Flags within a single RAWDATA message.\n"); InputLength = p_in[3] + 6; OutputLength = p_in[3] - 4; diff --git a/src/rcv/septentrio.c b/src/rcv/septentrio.c index 2089a349b..ef12f5b29 100644 --- a/src/rcv/septentrio.c +++ b/src/rcv/septentrio.c @@ -185,7 +185,7 @@ static int decode_measepoch(raw_t *raw) else if (strstr(raw->opt,"-AUX2")) ant_sel=2; if (raw->len<20) { - trace(2,"sbf measepoch length error: len=%d\n",raw->len); + rtktrace(2,"sbf measepoch length error: len=%d\n",raw->len); return -1; } n1 =U1(p); @@ -193,7 +193,7 @@ static int decode_measepoch(raw_t *raw) len2=U1(p+2); if (U1(p+3)&0x80) { - trace(2,"sbf measepoch scrambled\n"); + rtktrace(2,"sbf measepoch scrambled\n"); return -1; } if (raw->outtype) { @@ -210,17 +210,17 @@ static int decode_measepoch(raw_t *raw) else if (sig>=8&&sig<=11) fcn=(info>>3)-8; if (ant!=ant_sel) { - trace(3,"sbf measepoch ant error: svid=%d ant=%d\n",svid,ant); + rtktrace(3,"sbf measepoch ant error: svid=%d ant=%d\n",svid,ant); p+=len1+len2*n2; continue; } if (!(sat=svid2sat(svid))) { - trace(3,"sbf measepoch svid error: svid=%d\n",svid); + rtktrace(3,"sbf measepoch svid error: svid=%d\n",svid); p+=len1+len2*n2; continue; } if ((idx=sig2idx(sat,sig,raw->opt,&code))<0) { - trace(2,"sbf measepoch sig error: sat=%d sig=%d\n",sat,sig); + rtktrace(2,"sbf measepoch sig error: sat=%d sig=%d\n",sat,sig); p+=len1+len2*n2; continue; } @@ -258,11 +258,11 @@ static int decode_measepoch(raw_t *raw) if (sig==31) sig+=(info>>3)*32; if (ant!=ant_sel) { - trace(3,"sbf measepoch ant error: sat=%d ant=%d\n",sat,ant); + rtktrace(3,"sbf measepoch ant error: sat=%d ant=%d\n",sat,ant); continue; } if ((idx=sig2idx(sat,sig,raw->opt,&code))<0) { - trace(3,"sbf measepoch sig error: sat=%d sig=%d\n",sat,sig); + rtktrace(3,"sbf measepoch sig error: sat=%d sig=%d\n",sat,sig); continue; } P2=0.0; @@ -362,16 +362,16 @@ static int decode_rawca(raw_t *raw, int sys) int i,svid,sat,prn,id,ret; if (raw->len<60) { - trace(2,"sbf rawca length error: sys=%d len=%d\n",sys,raw->len); + rtktrace(2,"sbf rawca length error: sys=%d len=%d\n",sys,raw->len); return -1; } svid=U1(p); if (!(sat=svid2sat(svid))||satsys(sat,&prn)!=sys) { - trace(2,"sbf rawca svid error: sys=%d svid=%d\n",sys,svid); + rtktrace(2,"sbf rawca svid error: sys=%d svid=%d\n",sys,svid); return -1; } if (!U1(p+1)) { - trace(3,"sbf rawca parity/crc error: sys=%d prn=%d\n",sys,prn); + rtktrace(3,"sbf rawca parity/crc error: sys=%d prn=%d\n",sys,prn); return 0; } if (raw->outtype) { @@ -383,7 +383,7 @@ static int decode_rawca(raw_t *raw, int sys) id=getbitu(buff,43,3); if (id<1||id>5) { - trace(2,"sbf rawca subframe id error: sys=%d prn=%d id=%d\n",sys,prn,id); + rtktrace(2,"sbf rawca subframe id error: sys=%d prn=%d id=%d\n",sys,prn,id); return -1; } memcpy(raw->subfrm[sat-1]+(id-1)*30,buff,30); @@ -413,16 +413,16 @@ static int decode_glorawca(raw_t *raw) int i,svid,sat,prn,m; if (raw->len<32) { - trace(2,"sbf glorawca length error: len=%d\n",raw->len); + rtktrace(2,"sbf glorawca length error: len=%d\n",raw->len); return -1; } svid=U1(p); if (!(sat=svid2sat(svid))||satsys(sat,&prn)!=SYS_GLO) { - trace(3,"sbf glorawca svid error: svid=%d\n",svid); + rtktrace(3,"sbf glorawca svid error: svid=%d\n",svid); return (svid==62)?0:-1; /* svid=62: slot unknown */ } if (!U1(p+1)) { - trace(3,"sbf glorawca parity/crc error: prn=%d\n",prn); + rtktrace(3,"sbf glorawca parity/crc error: prn=%d\n",prn); return 0; } if (raw->outtype) { @@ -433,7 +433,7 @@ static int decode_glorawca(raw_t *raw) } m=getbitu(buff,1,4); if (m<1||m>15) { - trace(2,"sbf glorawca string number error: prn=%d m=%d\n",prn,m); + rtktrace(2,"sbf glorawca string number error: prn=%d m=%d\n",prn,m); return -1; } time=(gtime_t *)(raw->subfrm[sat-1]+150); @@ -450,7 +450,7 @@ static int decode_glorawca(raw_t *raw) matcpy(raw->nav.utc_glo,utc,8,1); if (geph.sat!=sat) { - trace(2,"sbf glorawca satellite error: sat=%d %d\n",sat,geph.sat); + rtktrace(2,"sbf glorawca satellite error: sat=%d %d\n",sat,geph.sat); return -1; } geph.frq=(int)U1(p+4)-8; @@ -475,25 +475,25 @@ static int decode_galrawfnav(raw_t *raw) if (strstr(raw->opt,"-GALINAV")) return 0; if (raw->len<52) { - trace(2,"sbf galrawfnav length error: len=%d\n",raw->len); + rtktrace(2,"sbf galrawfnav length error: len=%d\n",raw->len); return -1; } svid=U1(p); src =U1(p+3)&0x1f; if (!(sat=svid2sat(svid))||satsys(sat,&prn)!=SYS_GAL) { - trace(2,"sbf galrawfnav svid error: svid=%d src=%d\n",svid,src); + rtktrace(2,"sbf galrawfnav svid error: svid=%d src=%d\n",svid,src); return -1; } if (!U1(p+1)) { - trace(3,"sbf galrawfnav parity/crc error: prn=%d src=%d\n",prn,src); + rtktrace(3,"sbf galrawfnav parity/crc error: prn=%d src=%d\n",prn,src); return 0; } if (raw->outtype) { sprintf(raw->msgtype+strlen(raw->msgtype)," prn=%d src=%d",prn,src); } if (src!=20&&src!=22) { /* E5a or E5 AltBOC */ - trace(2,"sbf galrawfnav source error: prn=%d src=%d\n",prn,src); + rtktrace(2,"sbf galrawfnav source error: prn=%d src=%d\n",prn,src); return -1; } for (i=0;i<8;i++) { @@ -503,7 +503,7 @@ static int decode_galrawfnav(raw_t *raw) if (type==63) return 0; /* dummy page */ if (type<1||type>6) { - trace(2,"sbf galrawfnav page type error: prn=%d type=%d\n",prn,type); + rtktrace(2,"sbf galrawfnav page type error: prn=%d type=%d\n",prn,type); return -1; } /* save 244 bits page (31 bytes * 6 page) */ @@ -513,7 +513,7 @@ static int decode_galrawfnav(raw_t *raw) if (!decode_gal_fnav(raw->subfrm[sat-1]+128,&eph,ion,utc)) return 0; if (eph.sat!=sat) { - trace(2,"sbf galrawfnav satellite error: sat=%d %d\n",sat,eph.sat); + rtktrace(2,"sbf galrawfnav satellite error: sat=%d %d\n",sat,eph.sat); return -1; } eph.code|=(1<<1); /* data source: E5a */ @@ -543,25 +543,25 @@ static int decode_galrawinav(raw_t *raw) if (strstr(raw->opt,"-GALFNAV")) return 0; if (raw->len<52) { - trace(2,"sbf galrawinav length error: len=%d\n",raw->len); + rtktrace(2,"sbf galrawinav length error: len=%d\n",raw->len); return -1; } svid=U1(p); src =U1(p+3)&0x1f; if (!(sat=svid2sat(svid))||satsys(sat,&prn)!=SYS_GAL) { - trace(2,"sbf galrawinav svid error: svid=%d src=%d\n",svid,src); + rtktrace(2,"sbf galrawinav svid error: svid=%d src=%d\n",svid,src); return -1; } if (!U1(p+1)) { - trace(3,"sbf galrawinav parity/crc error: prn=%d src=%d\n",prn,src); + rtktrace(3,"sbf galrawinav parity/crc error: prn=%d src=%d\n",prn,src); return 0; } if (raw->outtype) { sprintf(raw->msgtype+strlen(raw->msgtype)," prn=%d src=%d",prn,src); } if (src!=17&&src!=21&&src!=22) { /* E1, E5b or E5 AltBOC */ - trace(2,"sbf galrawinav source error: prn=%d src=%d\n",prn,src); + rtktrace(2,"sbf galrawinav source error: prn=%d src=%d\n",prn,src); return -1; } for (i=0,p+=6;i<8;i++,p+=4) { @@ -573,7 +573,7 @@ static int decode_galrawinav(raw_t *raw) page2=getbitu(buff,115,1); if (part1!=0||part2!=1) { - trace(3,"sbf galrawinav part error: prn=%d even/odd=%d %d\n",prn,part1, + rtktrace(3,"sbf galrawinav part error: prn=%d even/odd=%d %d\n",prn,part1, part2); return -1; } @@ -594,7 +594,7 @@ static int decode_galrawinav(raw_t *raw) if (!decode_gal_inav(raw->subfrm[sat-1],&eph,ion,utc)) return 0; if (eph.sat!=sat) { - trace(2,"sbf galrawinav satellite error: sat=%d %d\n",sat,eph.sat); + rtktrace(2,"sbf galrawinav satellite error: sat=%d %d\n",sat,eph.sat); return -1; } eph.code|=(src==17)?(1<<0):(1<<2); /* data source: E1 or E5b */ @@ -620,16 +620,16 @@ static int decode_georawl1(raw_t *raw) int i,svid,sat,prn; if (raw->len<52) { - trace(2,"sbf georawl1 length error: len=%d\n",raw->len); + rtktrace(2,"sbf georawl1 length error: len=%d\n",raw->len); return -1; } svid=U1(p); if (!(sat=svid2sat(svid))||satsys(sat,&prn)!=SYS_SBS) { - trace(2,"sbf georawl1 svid error: svid=%d\n",svid); + rtktrace(2,"sbf georawl1 svid error: svid=%d\n",svid); return -1; } if (!U1(p+1)) { - trace(3,"sbf georawl1 parity/crc error: prn=%d err=%d\n",prn,U1(p+2)); + rtktrace(3,"sbf georawl1 parity/crc error: prn=%d err=%d\n",prn,U1(p+2)); return 0; } if (raw->outtype) { @@ -654,16 +654,16 @@ static int decode_bdsraw(raw_t *raw) int i,id,svid,sat,prn,pgn; if (raw->len<52) { - trace(2,"sbf bdsraw length error: len=%d\n",raw->len); + rtktrace(2,"sbf bdsraw length error: len=%d\n",raw->len); return -1; } svid=U1(p); if (!(sat=svid2sat(svid))||satsys(sat,&prn)!=SYS_CMP) { - trace(2,"sbf bdsraw svid error: svid=%d\n",svid); + rtktrace(2,"sbf bdsraw svid error: svid=%d\n",svid); return -1; } if (!U1(p+1)) { - trace(3,"sbf bdsraw parity/crc error: prn=%d\n",prn); + rtktrace(3,"sbf bdsraw parity/crc error: prn=%d\n",prn); return 0; } if (raw->outtype) { @@ -674,7 +674,7 @@ static int decode_bdsraw(raw_t *raw) } id=getbitu(buff,15,3); /* subframe ID */ if (id<1||id>5) { - trace(2,"sbf bdsraw id error: prn=%d id=%d\n",prn,id); + rtktrace(2,"sbf bdsraw id error: prn=%d id=%d\n",prn,id); return -1; } if (prn>=6&&prn<=58) { /* IGSO/MEO */ @@ -730,16 +730,16 @@ static int decode_navicraw(raw_t *raw) int i,id,svid,sat,prn,ret=0; if (raw->len<52) { - trace(2,"sbf navicraw length error: len=%d\n",raw->len); + rtktrace(2,"sbf navicraw length error: len=%d\n",raw->len); return -1; } svid=U1(p); if (!(sat=svid2sat(svid))||satsys(sat,&prn)!=SYS_IRN) { - trace(2,"sbf navicraw svid error: svid=%d\n",svid); + rtktrace(2,"sbf navicraw svid error: svid=%d\n",svid); return -1; } if (!U1(p+1)) { - trace(3,"sbf navicraw parity/crc error: prn=%d err=%d\n",prn,U1(p+2)); + rtktrace(3,"sbf navicraw parity/crc error: prn=%d err=%d\n",prn,U1(p+2)); return 0; } if (raw->outtype) { @@ -791,17 +791,17 @@ static int decode_sbf(raw_t *raw) int type=U2(p+4)&0x1fff; if (rtk_crc16(p+4,raw->len-4)!=U2(p+2)) { - trace(2,"sbf crc error: type=%d len=%d\n",type,raw->len); + rtktrace(2,"sbf crc error: type=%d len=%d\n",type,raw->len); return -1; } if (raw->len<14) { - trace(2,"sbf length error: type=%d len=%d\n",type,raw->len); + rtktrace(2,"sbf length error: type=%d len=%d\n",type,raw->len); return -1; } tow =U4(p+8); week=U2(p+12); if (tow==4294967295u||week==65535u) { - trace(2,"sbf tow/week error: type=%d len=%d\n",type,raw->len); + rtktrace(2,"sbf tow/week error: type=%d len=%d\n",type,raw->len); return -1; } raw->time=gpst2time(week,tow*0.001); @@ -822,7 +822,7 @@ static int decode_sbf(raw_t *raw) case SBF_QZSRAWL1CA: return decode_qzsrawl1ca(raw); case SBF_NAVICRAW : return decode_navicraw (raw); } - trace(3,"sbf unsupported message: type=%d\n",type); + rtktrace(3,"sbf unsupported message: type=%d\n",type); return 0; } /* synchronize SBF block header ----------------------------------------------*/ @@ -864,7 +864,7 @@ static int sync_sbf(uint8_t *buff, uint8_t data) *-----------------------------------------------------------------------------*/ extern int input_sbf(raw_t *raw, uint8_t data) { - trace(5,"input_sbf: data=%02x\n",data); + rtktrace(5,"input_sbf: data=%02x\n",data); if (raw->nbyte==0) { if (sync_sbf(raw->buff,data)) raw->nbyte=2; @@ -874,7 +874,7 @@ extern int input_sbf(raw_t *raw, uint8_t data) if (raw->nbyte<8) return 0; if ((raw->len=U2(raw->buff+6))>MAXRAWLEN) { - trace(2,"sbf length error: len=%d\n",raw->len); + rtktrace(2,"sbf length error: len=%d\n",raw->len); raw->nbyte=0; return -1; } @@ -894,7 +894,7 @@ extern int input_sbff(raw_t *raw, FILE *fp) { int i,data; - trace(4,"input_sbff:\n"); + rtktrace(4,"input_sbff:\n"); if (raw->nbyte==0) { for (i=0;;i++) { @@ -907,7 +907,7 @@ extern int input_sbff(raw_t *raw, FILE *fp) raw->nbyte=8; if ((raw->len=U2(raw->buff+6))>MAXRAWLEN) { - trace(2,"sbf length error: len=%d\n",raw->len); + rtktrace(2,"sbf length error: len=%d\n",raw->len); raw->nbyte=0; return -1; } diff --git a/src/rcv/skytraq.c b/src/rcv/skytraq.c index af31051ec..4bf9437bd 100644 --- a/src/rcv/skytraq.c +++ b/src/rcv/skytraq.c @@ -131,7 +131,7 @@ static int decode_stqtime(raw_t *raw) double tow; int week; - trace(4,"decode_stqtime: len=%d\n",raw->len); + rtktrace(4,"decode_stqtime: len=%d\n",raw->len); raw->iod=U1(p+1); week =U2(p+2); @@ -152,19 +152,19 @@ static int decode_stqraw(raw_t *raw) double pr1,cp1; int i,j,iod,prn,sys,sat,n=0,nsat; - trace(4,"decode_stqraw: len=%d\n",raw->len); + rtktrace(4,"decode_stqraw: len=%d\n",raw->len); if (raw->outtype) { sprintf(raw->msgtype,"SKYTRAQ RAW (%4d): nsat=%d",raw->len,U1(p+2)); } iod=U1(p+1); if (iod!=raw->iod) { /* need preceding measurement epoch (0xDC) */ - trace(2,"stq raw iod error: iod=%d %d\n",iod,raw->iod); + rtktrace(2,"stq raw iod error: iod=%d %d\n",iod,raw->iod); return -1; } nsat=U1(p+2); if (raw->len<8+23*nsat) { - trace(2,"stq raw length error: len=%d nsat=%d\n",raw->len,nsat); + rtktrace(2,"stq raw length error: len=%d nsat=%d\n",raw->len,nsat); return -1; } for (i=0,p+=3;ilen); + rtktrace(4,"decode_stqraw: len=%d\n",raw->len); if (raw->outtype) { sprintf(raw->msgtype,"SKYTRAQ RAWX (%4d): nsat=%2d",raw->len,U1(p+13)); @@ -250,7 +250,7 @@ static int decode_stqrawx(raw_t *raw) peri=U2(p+9)*0.001; nsat=U1(p+13); if (raw->len<19+31*nsat) { - trace(2,"stq raw length error: len=%d nsat=%d\n",raw->len,nsat); + rtktrace(2,"stq raw length error: len=%d nsat=%d\n",raw->len,nsat); return -1; } for (i=0,p+=14;ibuff+7,*q; int i,id; - trace(4,"save_subfrm: sat=%2d\n",sat); + rtktrace(4,"save_subfrm: sat=%2d\n",sat); /* check navigation subframe preamble */ if (p[0]!=0x8B) { - trace(2,"stq subframe preamble error: 0x%02X\n",p[0]); + rtktrace(2,"stq subframe preamble error: 0x%02X\n",p[0]); return 0; } id=(p[5]>>2)&0x7; /* check subframe id */ if (id<1||5subfrm[sat-1]+(id-1)*30; @@ -389,7 +389,7 @@ static int decode_ephem(int sat, raw_t *raw) { eph_t eph={0}; - trace(4,"decode_ephem: sat=%2d\n",sat); + rtktrace(4,"decode_ephem: sat=%2d\n",sat); if (!decode_frame(raw->subfrm[sat-1],&eph,NULL,NULL,NULL)) return 0; @@ -408,7 +408,7 @@ static int decode_alm1(int sat, raw_t *raw) { int sys=satsys(sat,NULL); - trace(4,"decode_alm1 : sat=%2d\n",sat); + rtktrace(4,"decode_alm1 : sat=%2d\n",sat); if (sys==SYS_GPS) { decode_frame(raw->subfrm[sat-1],NULL,raw->nav.alm,raw->nav.ion_gps, @@ -427,7 +427,7 @@ static int decode_alm2(int sat, raw_t *raw) { int sys=satsys(sat,NULL); - trace(4,"decode_alm2 : sat=%2d\n",sat); + rtktrace(4,"decode_alm2 : sat=%2d\n",sat); if (sys==SYS_GPS) { decode_frame(raw->subfrm[sat-1],NULL,raw->nav.alm,NULL,NULL); @@ -445,10 +445,10 @@ static int decode_stqgps(raw_t *raw) int prn,sat,id; uint8_t *p=raw->buff+4; - trace(4,"decode_stqgps: len=%d\n",raw->len); + rtktrace(4,"decode_stqgps: len=%d\n",raw->len); if (raw->len<40) { - trace(2,"stq gps/qzss subframe length error: len=%d\n",raw->len); + rtktrace(2,"stq gps/qzss subframe length error: len=%d\n",raw->len); return -1; } if (raw->outtype) { @@ -457,7 +457,7 @@ static int decode_stqgps(raw_t *raw) } prn=U1(p+1); if (!(sat=satno(MINPRNQZS<=prn&&prn<=MAXPRNQZS?SYS_QZS:SYS_GPS,prn))) { - trace(2,"stq gps/qzss subframe satellite number error: prn=%d\n",prn); + rtktrace(2,"stq gps/qzss subframe satellite number error: prn=%d\n",prn); return -1; } id=save_subfrm(sat,raw); @@ -473,10 +473,10 @@ static int decode_stqglo(raw_t *raw) int i,prn,sat,m; uint8_t *p=raw->buff+4; - trace(4,"decode_stqglo: len=%d\n",raw->len); + rtktrace(4,"decode_stqglo: len=%d\n",raw->len); if (raw->len<19) { - trace(2,"stq glo string length error: len=%d\n",raw->len); + rtktrace(2,"stq glo string length error: len=%d\n",raw->len); return -1; } if (raw->outtype) { @@ -485,7 +485,7 @@ static int decode_stqglo(raw_t *raw) } prn=U1(p+1)-64; if (!(sat=satno(SYS_GLO,prn))) { - trace(2,"stq glo string satellite number error: prn=%d\n",prn); + rtktrace(2,"stq glo string satellite number error: prn=%d\n",prn); return -1; } m=U1(p+2); /* string number */ @@ -518,15 +518,15 @@ static int decode_stqgloe(raw_t *raw) int prn,sat; uint8_t *p=raw->buff+4; - trace(4,"decode_stqgloe: len=%d\n",raw->len); + rtktrace(4,"decode_stqgloe: len=%d\n",raw->len); if (raw->len<50) { - trace(2,"stq glo string length error: len=%d\n",raw->len); + rtktrace(2,"stq glo string length error: len=%d\n",raw->len); return -1; } prn=U1(p+1); if (!(sat=satno(SYS_GLO,prn))) { - trace(2,"stq gloe string satellite number error: prn=%d\n",prn); + rtktrace(2,"stq gloe string satellite number error: prn=%d\n",prn); return -1; } /* set frequency channel number */ @@ -542,10 +542,10 @@ static int decode_stqbds(raw_t *raw) int i,j=0,id,pgn,prn,sat; uint8_t *p=raw->buff+4; - trace(4,"decode_stqbds: len=%d\n",raw->len); + rtktrace(4,"decode_stqbds: len=%d\n",raw->len); if (raw->len<38) { - trace(2,"stq bds subframe length error: len=%d\n",raw->len); + rtktrace(2,"stq bds subframe length error: len=%d\n",raw->len); return -1; } if (raw->outtype) { @@ -554,12 +554,12 @@ static int decode_stqbds(raw_t *raw) } prn=U1(p+1)-200; if (!(sat=satno(SYS_CMP,prn))) { - trace(2,"stq bds subframe satellite number error: prn=%d\n",prn); + rtktrace(2,"stq bds subframe satellite number error: prn=%d\n",prn); return -1; } id=U1(p+2); /* subframe id */ if (id<1||55) { /* IGSO/MEO */ @@ -578,7 +578,7 @@ static int decode_stqbds(raw_t *raw) pgn=getbitu(p+3,26+12,4); /* page number */ if (pgn<1||10buff+4; - trace(4,"decode_stqack: len=%d\n",raw->len); + rtktrace(4,"decode_stqack: len=%d\n",raw->len); if (raw->len<9) { - trace(2,"stq ack length error: len=%d\n",raw->len); + rtktrace(2,"stq ack length error: len=%d\n",raw->len); return -1; } if (raw->outtype) { @@ -622,10 +622,10 @@ static int decode_stqnack(raw_t *raw) { uint8_t *p=raw->buff+4; - trace(4,"decode_stqnack: len=%d\n",raw->len); + rtktrace(4,"decode_stqnack: len=%d\n",raw->len); if (raw->len<9) { - trace(2,"stq nack length error: len=%d\n",raw->len); + rtktrace(2,"stq nack length error: len=%d\n",raw->len); return -1; } if (raw->outtype) { @@ -640,13 +640,13 @@ static int decode_stq(raw_t *raw) int type=U1(raw->buff+4); uint8_t cs,*p=raw->buff+raw->len-3; - trace(3,"decode_stq: type=%02x len=%d\n",type,raw->len); + rtktrace(3,"decode_stq: type=%02x len=%d\n",type,raw->len); /* checksum */ cs=checksum(raw->buff,raw->len); if (cs!=*p||*(p+1)!=0x0D||*(p+2)!=0x0A) { - trace(2,"stq checksum error: type=%02X cs=%02X tail=%02X%02X%02X\n", + rtktrace(2,"stq checksum error: type=%02X cs=%02X tail=%02X%02X%02X\n", type,cs,*p,*(p+1),*(p+2)); return -1; } @@ -689,7 +689,7 @@ static int sync_stq(uint8_t *buff, uint8_t data) *-----------------------------------------------------------------------------*/ extern int input_stq(raw_t *raw, uint8_t data) { - trace(5,"input_stq: data=%02x\n",data); + rtktrace(5,"input_stq: data=%02x\n",data); /* synchronize frame */ if (raw->nbyte==0) { @@ -701,7 +701,7 @@ extern int input_stq(raw_t *raw, uint8_t data) if (raw->nbyte==4) { if ((raw->len=U2(raw->buff+2)+7)>MAXRAWLEN) { - trace(2,"stq message length error: len=%d\n",raw->len); + rtktrace(2,"stq message length error: len=%d\n",raw->len); raw->nbyte=0; return -1; } @@ -722,7 +722,7 @@ extern int input_stqf(raw_t *raw, FILE *fp) { int i,data; - trace(4,"input_stqf:\n"); + rtktrace(4,"input_stqf:\n"); /* synchronize frame */ if (raw->nbyte==0) { @@ -736,7 +736,7 @@ extern int input_stqf(raw_t *raw, FILE *fp) raw->nbyte=4; if ((raw->len=U2(raw->buff+2)+7)>MAXRAWLEN) { - trace(2,"stq message length error: len=%d\n",raw->len); + rtktrace(2,"stq message length error: len=%d\n",raw->len); raw->nbyte=0; return -1; } @@ -766,7 +766,7 @@ extern int gen_stq(const char *msg, uint8_t *buff) char mbuff[1024],*args[32],*p; int i,n,narg=0; - trace(4,"gen_stq: msg=%s\n",msg); + rtktrace(4,"gen_stq: msg=%s\n",msg); strcpy(mbuff,msg); for (p=strtok(mbuff," ");p&&narg<32;p=strtok(NULL," ")) { @@ -831,6 +831,6 @@ extern int gen_stq(const char *msg, uint8_t *buff) *q++=0x0D; *q=0x0A; - trace(4,"gen_stq: buff=\n"); traceb(4,buff,n+3); + rtktrace(4,"gen_stq: buff=\n"); rtktraceb(4,buff,n+3); return n+3; } diff --git a/src/rcv/ss2.c b/src/rcv/ss2.c index 5544da5c8..b4db00c02 100644 --- a/src/rcv/ss2.c +++ b/src/rcv/ss2.c @@ -60,10 +60,10 @@ static int decode_ss2llh(raw_t *raw) double ep[6]; uint8_t *p=raw->buff+4; - trace(4,"decode_ss2llh: len=%d\n",raw->len); + rtktrace(4,"decode_ss2llh: len=%d\n",raw->len); if (raw->len!=77) { - trace(2,"ss2 id#20 length error: len=%d\n",raw->len); + rtktrace(2,"ss2 id#20 length error: len=%d\n",raw->len); return -1; } ep[3]=U1(p ); ep[4]=U1(p+ 1); ep[5]=R8(p+ 2); @@ -76,10 +76,10 @@ static int decode_ss2ecef(raw_t *raw) { uint8_t *p=raw->buff+4; - trace(4,"decode_ss2ecef: len=%d\n",raw->len); + rtktrace(4,"decode_ss2ecef: len=%d\n",raw->len); if (raw->len!=85) { - trace(2,"ss2 id#21 length error: len=%d\n",raw->len); + rtktrace(2,"ss2 id#21 length error: len=%d\n",raw->len); return -1; } raw->time=gpst2time(U2(p+8),R8(p)); @@ -94,16 +94,16 @@ static int decode_ss2meas(raw_t *raw) uint8_t *p=raw->buff+4; uint32_t sc; - trace(4,"decode_ss2meas: len=%d\n",raw->len); + rtktrace(4,"decode_ss2meas: len=%d\n",raw->len); nobs=U1(p+2); if (17+nobs*11!=raw->len) { - trace(2,"ss2 id#23 message length error: len=%d\n",raw->len); + rtktrace(2,"ss2 id#23 message length error: len=%d\n",raw->len); return -1; } tow=floor(R8(p+3)*1000.0+0.5)/1000.0; /* rounded by 1ms */ if (!adjweek(raw,tow)) { - trace(2,"ss2 id#23 message time adjustment error\n"); + rtktrace(2,"ss2 id#23 message time adjustment error\n"); return -1; } /* time slew defined as uchar (ref [1]) but minus value appears in some f/w */ @@ -114,7 +114,7 @@ static int decode_ss2meas(raw_t *raw) for (i=n=0,p+=11;iobs.data[n].time=raw->time; @@ -155,19 +155,19 @@ static int decode_ss2eph(raw_t *raw) uint8_t *p=raw->buff+4,buff[90]={0}; int i,j,prn,sat; - trace(4,"decode_ss2eph: len=%d\n",raw->len); + rtktrace(4,"decode_ss2eph: len=%d\n",raw->len); if (raw->len!=79) { - trace(2,"ss2 id#22 length error: len=%d\n",raw->len); + rtktrace(2,"ss2 id#22 length error: len=%d\n",raw->len); return -1; } prn=(U4(p)&0x1F)+1; if (!(sat=satno(SYS_GPS,prn))) { - trace(2,"ss2 id#22 satellite number error: prn=%d\n",prn); + rtktrace(2,"ss2 id#22 satellite number error: prn=%d\n",prn); return -1; } if (raw->time.time==0) { - trace(2,"ss2 id#22 week number unknown error\n"); + rtktrace(2,"ss2 id#22 week number unknown error\n"); return -1; } tow=(uint32_t)(time2gpst(raw->time,NULL)/6.0); @@ -178,7 +178,7 @@ static int decode_ss2eph(raw_t *raw) for (j=0;j<24;j++) buff[30*i+6+j]=p[1+24*i+j]; } if (!decode_frame(buff,&eph,NULL,NULL,NULL)) { - trace(2,"ss2 id#22 subframe error: prn=%d\n",prn); + rtktrace(2,"ss2 id#22 subframe error: prn=%d\n",prn); return -1; } if (!strstr(raw->opt,"-EPHALL")) { @@ -198,15 +198,15 @@ static int decode_ss2sbas(raw_t *raw) int i,prn; uint8_t *p=raw->buff+4; - trace(4,"decode_ss2sbas: len=%d\n",raw->len); + rtktrace(4,"decode_ss2sbas: len=%d\n",raw->len); if (raw->len!=54) { - trace(2,"ss2 id#67 length error: len=%d\n",raw->len); + rtktrace(2,"ss2 id#67 length error: len=%d\n",raw->len); return -1; } prn=U4(p+12); if (prnsbsmsg.week=U4(p); @@ -222,10 +222,10 @@ static int decode_ss2(raw_t *raw) uint8_t *p=raw->buff; int type=U1(p+1); - trace(3,"decode_ss2: type=%2d\n",type); + rtktrace(3,"decode_ss2: type=%2d\n",type); if (!chksum(raw->buff,raw->len)) { - trace(2,"ss2 message checksum error: type=%d len=%d\n",type,raw->len); + rtktrace(2,"ss2 message checksum error: type=%d len=%d\n",type,raw->len); return -1; } if (raw->outtype) { @@ -258,7 +258,7 @@ static int sync_ss2(uint8_t *buff, uint8_t data) *-----------------------------------------------------------------------------*/ extern int input_ss2(raw_t *raw, uint8_t data) { - trace(5,"input_ss2: data=%02x\n",data); + rtktrace(5,"input_ss2: data=%02x\n",data); /* synchronize frame */ if (raw->nbyte==0) { @@ -270,7 +270,7 @@ extern int input_ss2(raw_t *raw, uint8_t data) if (raw->nbyte==4) { if ((raw->len=U1(raw->buff+3)+6)>MAXRAWLEN) { - trace(2,"ss2 length error: len=%d\n",raw->len); + rtktrace(2,"ss2 length error: len=%d\n",raw->len); raw->nbyte=0; return -1; } @@ -291,7 +291,7 @@ extern int input_ss2f(raw_t *raw, FILE *fp) { int i,data; - trace(4,"input_ss2f:\n"); + rtktrace(4,"input_ss2f:\n"); /* synchronize frame */ if (raw->nbyte==0) { @@ -305,7 +305,7 @@ extern int input_ss2f(raw_t *raw, FILE *fp) raw->nbyte=4; if ((raw->len=U1(raw->buff+3)+6)>MAXRAWLEN) { - trace(2,"ss2 length error: len=%d\n",raw->len); + rtktrace(2,"ss2 length error: len=%d\n",raw->len); raw->nbyte=0; return -1; } diff --git a/src/rcv/ublox.c b/src/rcv/ublox.c index c9d8216a0..5ab9fe5ec 100644 --- a/src/rcv/ublox.c +++ b/src/rcv/ublox.c @@ -236,7 +236,7 @@ static int decode_rxmraw(raw_t *raw) } nsat=U1(p+6); if (raw->len<12+24*nsat) { - trace(2,"ubx rxmraw length error: len=%d nsat=%d\n",raw->len,nsat); + rtktrace(2,"ubx rxmraw length error: len=%d nsat=%d\n",raw->len,nsat); return -1; } tow =U4(p ); @@ -244,7 +244,7 @@ static int decode_rxmraw(raw_t *raw) time=gpst2time(week,tow*0.001); if (week==0) { - trace(3,"ubx rxmraw week=0 error: len=%d nsat=%d\n",raw->len,nsat); + rtktrace(3,"ubx rxmraw week=0 error: len=%d nsat=%d\n",raw->len,nsat); return 0; } /* time tag adjustment */ @@ -270,7 +270,7 @@ static int decode_rxmraw(raw_t *raw) raw->obs.data[n].L[0]=-raw->obs.data[n].L[0]; } if (!(sat=satno(MINPRNSBS<=prn?SYS_SBS:SYS_GPS,prn))) { - trace(2,"ubx rxmraw sat number error: prn=%d\n",prn); + rtktrace(2,"ubx rxmraw sat number error: prn=%d\n",prn); continue; } raw->obs.data[n].sat=sat; @@ -302,7 +302,7 @@ static int decode_rxmrawx(raw_t *raw) int week,nmeas,ver,gnss,svid,sigid,frqid,lockt,cn0,cpstd,tstat; if (raw->len<24) { - trace(2,"ubx rxmrawx length error: len=%d\n",raw->len); + rtktrace(2,"ubx rxmrawx length error: len=%d\n",raw->len); return -1; } tow =R8(p ); /* rcvTow (s) */ @@ -311,11 +311,11 @@ static int decode_rxmrawx(raw_t *raw) ver =U1(p+13); /* version ([5] 5.15.3.1) */ if (raw->len<24+32*nmeas) { - trace(2,"ubx rxmrawx length error: len=%d nmeas=%d\n",raw->len,nmeas); + rtktrace(2,"ubx rxmrawx length error: len=%d nmeas=%d\n",raw->len,nmeas); return -1; } if (week==0) { - trace(3,"ubx rxmrawx week=0 error: len=%d nmeas=%d\n",raw->len,nmeas); + rtktrace(3,"ubx rxmrawx week=0 error: len=%d nmeas=%d\n",raw->len,nmeas); return 0; } time=gpst2time(week,tow); @@ -355,7 +355,7 @@ static int decode_rxmrawx(raw_t *raw) if (!(tstat&2)||L==-0.5||cpstd>CPSTD_VALID) L=0.0; if (!(sys=ubx_sys(gnss))) { - trace(2,"ubx rxmrawx: system error gnss=%d\n", gnss); + rtktrace(2,"ubx rxmrawx: system error gnss=%d\n", gnss); continue; } prn=svid+(sys==SYS_QZS?192:0); @@ -363,7 +363,7 @@ static int decode_rxmrawx(raw_t *raw) if (sys==SYS_GLO&&prn==255) { continue; /* suppress warning for unknown glo satellite */ } - trace(2,"ubx rxmrawx sat number error: sys=%2d prn=%2d\n",sys,prn); + rtktrace(2,"ubx rxmrawx sat number error: sys=%2d prn=%2d\n",sys,prn); continue; } if (sys==SYS_GLO&&!raw->nav.glo_fcn[prn-1]) { @@ -377,7 +377,7 @@ static int decode_rxmrawx(raw_t *raw) } /* signal index in obs data */ if ((idx=sig_idx(sys,code))<0) { - trace(2,"ubx rxmrawx signal error: sat=%2d sigid=%d\n",sat,sigid); + rtktrace(2,"ubx rxmrawx signal error: sat=%2d sigid=%d\n",sat,sigid); continue; } /* offset by time tag adjustment */ @@ -429,7 +429,7 @@ static int decode_navsol(raw_t *raw) uint8_t *p=raw->buff+6; int itow,ftow,week; - trace(4,"decode_navsol: len=%d\n",raw->len); + rtktrace(4,"decode_navsol: len=%d\n",raw->len); if (raw->outtype) { sprintf(raw->msgtype,"UBX NAV-SOL (%4d):",raw->len); @@ -448,7 +448,7 @@ static int decode_navtime(raw_t *raw) int itow,ftow,week; uint8_t *p=raw->buff+6; - trace(4,"decode_navtime: len=%d\n",raw->len); + rtktrace(4,"decode_navtime: len=%d\n",raw->len); if (raw->outtype) { sprintf(raw->msgtype,"UBX NAV-TIME (%4d):",raw->len); @@ -461,7 +461,7 @@ static int decode_navtime(raw_t *raw) } return 0; } -/* decode UBX-TRK-MEAS: trace measurement data (unofficial) ------------------*/ +/* decode UBX-TRK-MEAS: rtktrace measurement data (unofficial) ------------------*/ static int decode_trkmeas(raw_t *raw) { static double adrs[MAXSAT]={0}; @@ -470,7 +470,7 @@ static int decode_trkmeas(raw_t *raw) double ts,tr=-1.0,t,tau,utc_gpst,snr,adr,dop; int i,j,n=0,nch,sys,prn,sat,qi,frq,flag,lock1,lock2,week; - trace(4,"decode_trkmeas: len=%d\n",raw->len); + rtktrace(4,"decode_trkmeas: len=%d\n",raw->len); if (raw->outtype) { sprintf(raw->msgtype,"UBX TRK-MEAS (%4d):",raw->len); @@ -481,7 +481,7 @@ static int decode_trkmeas(raw_t *raw) nch=U1(p+2); if (raw->len<112+nch*56) { - trace(2,"decode_trkmeas: length error len=%d nch=%2d\n",raw->len,nch); + rtktrace(2,"decode_trkmeas: length error len=%d nch=%2d\n",raw->len,nch); return -1; } /* time-tag = max(transmission time + 0.08) rounded by 100 ms */ @@ -510,12 +510,12 @@ static int decode_trkmeas(raw_t *raw) /* system and satellite number */ if (!(sys=ubx_sys(U1(p+4)))) { - trace(2,"ubx trkmeas: system error\n"); + rtktrace(2,"ubx trkmeas: system error\n"); continue; } prn=U1(p+5)+(sys==SYS_QZS?192:0); if (!(sat=satno(sys,prn))) { - trace(2,"ubx trkmeas sat number error: sys=%2d prn=%2d\n",sys,prn); + rtktrace(2,"ubx trkmeas sat number error: sys=%2d prn=%2d\n",sys,prn); continue; } /* transmission time */ @@ -541,7 +541,7 @@ static int decode_trkmeas(raw_t *raw) raw->lockt[sat-1][0]=lock2; #if 0 /* for debug */ - trace(2,"[%2d] qi=%d sys=%d prn=%3d frq=%2d flag=%02X ?=%02X %02X " + rtktrace(2,"[%2d] qi=%d sys=%d prn=%3d frq=%2d flag=%02X ?=%02X %02X " "%02X %02X %02X %02X %02X lock=%3d %3d ts=%10.3f snr=%4.1f " "dop=%9.3f adr=%13.3f %6.3f\n",U1(p),qi,U1(p+4),prn,frq,flag, U1(p+9),U1(p+10),U1(p+11),U1(p+12),U1(p+13),U1(p+14),U1(p+15), @@ -582,7 +582,7 @@ static int decode_trkmeas(raw_t *raw) raw->obs.n=n; return 1; } -/* decode UBX-TRKD5: trace measurement data (unofficial) ---------------------*/ +/* decode UBX-TRKD5: rtktrace measurement data (unofficial) ---------------------*/ static int decode_trkd5(raw_t *raw) { static double adrs[MAXSAT]={0}; @@ -591,7 +591,7 @@ static int decode_trkd5(raw_t *raw) int i,j,n=0,type,off,len,sys,prn,sat,qi,frq,flag,week; uint8_t *p=raw->buff+6; - trace(4,"decode_trkd5: len=%d\n",raw->len); + rtktrace(4,"decode_trkd5: len=%d\n",raw->len); if (raw->outtype) { sprintf(raw->msgtype,"UBX TRK-D5 (%4d):",raw->len); @@ -622,7 +622,7 @@ static int decode_trkd5(raw_t *raw) else if (tr>t+302400.0) week--; time=gpst2time(week,tr); - trace(4,"time=%s\n",time_str(time,0)); + rtktrace(4,"time=%s\n",time_str(time,0)); for (i=0,p=raw->buff+off;p-raw->bufflen-2;i++,p+=len) { @@ -632,7 +632,7 @@ static int decode_trkd5(raw_t *raw) if (type==6) { if (!(sys=ubx_sys(U1(p+56)))) { - trace(2,"ubx trkd5: system error\n"); + rtktrace(2,"ubx trkd5: system error\n"); continue; } prn=U1(p+57)+(sys==SYS_QZS?192:0); @@ -643,7 +643,7 @@ static int decode_trkd5(raw_t *raw) sys=prnlockt[sat-1][1]=1.0; #if 0 /* for debug */ - trace(2,"[%2d] qi=%d sys=%d prn=%3d frq=%2d flag=%02X ts=%1.3f " + rtktrace(2,"[%2d] qi=%d sys=%d prn=%3d frq=%2d flag=%02X ts=%1.3f " "snr=%4.1f dop=%9.3f adr=%13.3f %6.3f\n",U1(p+35),qi,U1(p+56), prn,frq,flag,ts,snr,dop,adr, adrs[sat-1]==0.0||dop==0.0?0.0:(adr-adrs[sat-1])-dop); @@ -754,11 +754,11 @@ static int decode_nav(raw_t *raw, int sat, int off) int i,id,ret; if (raw->len<48+off) { - trace(2,"ubx rxmsfrbx nav length error: sat=%d len=%d\n",sat,raw->len); + rtktrace(2,"ubx rxmsfrbx nav length error: sat=%d len=%d\n",sat,raw->len); return -1; } if ((U4(p)>>24)==PREAMB_CNAV) { - trace(3,"ubx rxmsfrbx nav unsupported sat=%d len=%d\n",sat,raw->len); + rtktrace(3,"ubx rxmsfrbx nav unsupported sat=%d len=%d\n",sat,raw->len); return 0; } for (i=0;i<10;i++,p+=4) { /* 24 x 10 bits w/o parity */ @@ -766,7 +766,7 @@ static int decode_nav(raw_t *raw, int sat, int off) } id=getbitu(buff,43,3); if (id<1||id>5) { - trace(2,"ubx rxmsfrbx nav subframe id error: sat=%d id=%d\n",sat,id); + rtktrace(2,"ubx rxmsfrbx nav subframe id error: sat=%d id=%d\n",sat,id); return -1; } memcpy(raw->subfrm[sat-1]+(id-1)*30,buff,30); @@ -790,7 +790,7 @@ static int decode_enav(raw_t *raw, int sat, int off) int i,j,part1,page1,part2,page2,type; if (raw->len<40+off) { - trace(2,"ubx rxmsfrbx enav length error: sat=%d len=%d\n",sat,raw->len); + rtktrace(2,"ubx rxmsfrbx enav length error: sat=%d len=%d\n",sat,raw->len); return -1; } if (raw->len<44+off) return 0; /* E5b I/NAV */ @@ -804,7 +804,7 @@ static int decode_enav(raw_t *raw, int sat, int off) page2=getbitu(buff,129,1); if (part1!=0||part2!=1) { - trace(3,"ubx rxmsfrbx enav page even/odd error: sat=%d\n",sat); + rtktrace(3,"ubx rxmsfrbx enav page even/odd error: sat=%d\n",sat); return -1; } if (page1==1||page2==1) return 0; /* alert page */ @@ -813,7 +813,7 @@ static int decode_enav(raw_t *raw, int sat, int off) for (i=0,j= 4;i<15;i++,j+=8) setbitu(crc_buff,j,8,getbitu(buff,i*8 ,8)); for (i=0,j=118;i<11;i++,j+=8) setbitu(crc_buff,j,8,getbitu(buff,i*8+128,8)); if (rtk_crc24q(crc_buff,25)!=getbitu(buff,128+82,24)) { - trace(2,"ubx rxmsfrbx enav crc error: sat=%d\n",sat); + rtktrace(2,"ubx rxmsfrbx enav crc error: sat=%d\n",sat); return -1; } type=getbitu(buff,2,6); /* word type */ @@ -831,7 +831,7 @@ static int decode_enav(raw_t *raw, int sat, int off) if (!decode_gal_inav(raw->subfrm[sat-1],&eph,ion,utc)) return 0; if (eph.sat!=sat) { - trace(2,"ubx rxmsfrbx enav satellite error: sat=%d %d\n",sat,eph.sat); + rtktrace(2,"ubx rxmsfrbx enav satellite error: sat=%d %d\n",sat,eph.sat); return -1; } eph.code|=(1<<0); /* data source: E1 */ @@ -859,7 +859,7 @@ static int decode_cnav(raw_t *raw, int sat, int off) int i,id,pgn,prn; if (raw->len<48+off) { - trace(2,"ubx rxmsfrbx cnav length error: sat=%d len=%d\n",sat,raw->len); + rtktrace(2,"ubx rxmsfrbx cnav length error: sat=%d len=%d\n",sat,raw->len); return -1; } for (i=0;i<10;i++,p+=4) { @@ -867,7 +867,7 @@ static int decode_cnav(raw_t *raw, int sat, int off) } id=getbitu(buff,15,3); /* subframe ID */ if (id<1||5len<24+off) { - trace(2,"ubx rxmsfrbx gnav length error: len=%d\n",raw->len); + rtktrace(2,"ubx rxmsfrbx gnav length error: len=%d\n",raw->len); return -1; } for (i=k=0;i<4;i++,p+=4) for (j=0;j<4;j++) { @@ -930,12 +930,12 @@ static int decode_gnav(raw_t *raw, int sat, int off, int frq) } /* test hamming of GLONASS string */ if (!test_glostr(buff)) { - trace(2,"ubx rxmsfrbx gnav hamming error: sat=%2d\n",sat); + rtktrace(2,"ubx rxmsfrbx gnav hamming error: sat=%2d\n",sat); return -1; } m=getbitu(buff,1,4); if (m<1||15buff+6+off,buff[32]; if (raw->len<40+off) { - trace(2,"ubx rxmsfrbx snav length error: len=%d\n",raw->len); + rtktrace(2,"ubx rxmsfrbx snav length error: len=%d\n",raw->len); return -1; } tow=(int)time2gpst(timeadd(raw->time,-1.0),&week); @@ -1001,7 +1001,7 @@ static int decode_rxmsfrbx(raw_t *raw) U1(p),U1(p+1)); } if (!(sys=ubx_sys(U1(p)))) { - trace(2,"ubx rxmsfrbx sys id error: sys=%d\n",U1(p)); + rtktrace(2,"ubx rxmsfrbx sys id error: sys=%d\n",U1(p)); return -1; } prn=U1(p+1)+((sys==SYS_QZS)?192:0); @@ -1009,7 +1009,7 @@ static int decode_rxmsfrbx(raw_t *raw) if (sys==SYS_GLO&&prn==255) { return 0; /* suppress error for unknown GLONASS satellite */ } - trace(2,"ubx rxmsfrbx sat number error: sys=%d prn=%d\n",sys,prn); + rtktrace(2,"ubx rxmsfrbx sat number error: sys=%d prn=%d\n",sys,prn); return -1; } if (sys==SYS_QZS&&raw->len==52) { /* QZSS L1S */ @@ -1037,12 +1037,12 @@ static int decode_trksfrbx(raw_t *raw) U1(p+1),U1(p+2)); } if (!(sys=ubx_sys(U1(p+1)))) { - trace(2,"ubx trksfrbx sys id error: sys=%d\n",U1(p+1)); + rtktrace(2,"ubx trksfrbx sys id error: sys=%d\n",U1(p+1)); return -1; } prn=U1(p+2)+(sys==SYS_QZS?192:0); if (!(sat=satno(sys,prn))) { - trace(2,"ubx trksfrbx sat number error: sys=%d prn=%d\n",sys,prn); + rtktrace(2,"ubx trksfrbx sat number error: sys=%d prn=%d\n",sys,prn); return -1; } switch (sys) { @@ -1066,14 +1066,14 @@ static int decode_rxmsfrb(raw_t *raw) sprintf(raw->msgtype,"UBX RXM-SFRB (%4d): prn=%2d",raw->len,U1(p+1)); } if (raw->len<42) { - trace(2,"ubx rxmsfrb length error: len=%d\n",raw->len); + rtktrace(2,"ubx rxmsfrb length error: len=%d\n",raw->len); return -1; } prn=U1(p+1); sys=(prn>=MINPRNSBS)?SYS_SBS:SYS_GPS; if (!(sat=satno(sys,prn))) { - trace(2,"ubx rxmsfrb satellite error: prn=%d\n",prn); + rtktrace(2,"ubx rxmsfrb satellite error: prn=%d\n",prn); return -1; } if (sys==SYS_GPS) { @@ -1097,11 +1097,11 @@ static int decode_ubx(raw_t *raw) { int type=(U1(raw->buff+2)<<8)+U1(raw->buff+3); - trace(3,"decode_ubx: type=%04x len=%d\n",type,raw->len); + rtktrace(3,"decode_ubx: type=%04x len=%d\n",type,raw->len); /* checksum */ if (!checksum(raw->buff,raw->len)) { - trace(2,"ubx checksum error: type=%04x len=%d\n",type,raw->len); + rtktrace(2,"ubx checksum error: type=%04x len=%d\n",type,raw->len); return -1; } switch (type) { @@ -1157,7 +1157,7 @@ static int sync_ubx(uint8_t *buff, uint8_t data) *-----------------------------------------------------------------------------*/ extern int input_ubx(raw_t *raw, uint8_t data) { - trace(5,"input_ubx: data=%02x\n",data); + rtktrace(5,"input_ubx: data=%02x\n",data); /* synchronize frame */ if (raw->nbyte==0) { @@ -1169,7 +1169,7 @@ extern int input_ubx(raw_t *raw, uint8_t data) if (raw->nbyte==6) { if ((raw->len=U2(raw->buff+4)+8)>MAXRAWLEN) { - trace(2,"ubx length error: len=%d\n",raw->len); + rtktrace(2,"ubx length error: len=%d\n",raw->len); raw->nbyte=0; return -1; } @@ -1190,7 +1190,7 @@ extern int input_ubxf(raw_t *raw, FILE *fp) { int i,data; - trace(4,"input_ubxf:\n"); + rtktrace(4,"input_ubxf:\n"); /* synchronize frame */ if (raw->nbyte==0) { @@ -1204,7 +1204,7 @@ extern int input_ubxf(raw_t *raw, FILE *fp) raw->nbyte=6; if ((raw->len=U2(raw->buff+4)+8)>MAXRAWLEN) { - trace(2,"ubx length error: len=%d\n",raw->len); + rtktrace(2,"ubx length error: len=%d\n",raw->len); raw->nbyte=0; return -1; } @@ -1227,7 +1227,7 @@ static int stoi(const char *s) * "CFG-PRT portid res0 res1 mode baudrate inmask outmask flags" * "CFG-USB vendid prodid res1 res2 power flags vstr pstr serino" * "CFG-MSG msgid rate0 rate1 rate2 rate3 rate4 rate5 rate6" -* "CFG-NMEA filter version numsv flags" +* "CFG-NMEA rtkfilter version numsv flags" * "CFG-RATE meas nav time" * "CFG-CFG clear_mask save_mask load_mask [dev_mask]" * "CFG-TP interval length status time_ref res adelay rdelay udelay" @@ -1329,7 +1329,7 @@ extern int gen_ubx(const char *msg, uint8_t *buff) char mbuff[1024],*args[32],*p; int i,j,n,narg=0; - trace(4,"gen_ubxf: msg=%s\n",msg); + rtktrace(4,"gen_ubxf: msg=%s\n",msg); strcpy(mbuff,msg); for (p=strtok(mbuff," ");p&&narg<32;p=strtok(NULL," ")) { @@ -1365,6 +1365,6 @@ extern int gen_ubx(const char *msg, uint8_t *buff) setU2(buff+4,(uint16_t)(n-8)); /* length */ setcs(buff,n); - trace(5,"gen_ubx: buff=\n"); traceb(5,buff,n); + rtktrace(5,"gen_ubx: buff=\n"); rtktraceb(5,buff,n); return n; } diff --git a/src/rcvraw.c b/src/rcvraw.c index 703130cee..506f262d8 100644 --- a/src/rcvraw.c +++ b/src/rcvraw.c @@ -119,7 +119,7 @@ static int decode_irn_eph(const uint8_t *buff, eph_t *eph) double tow1,tow2,toc,sqrtA; int i,id1,id2,week; - trace(4,"decode_irn_eph:\n"); + rtktrace(4,"decode_irn_eph:\n"); i=8; /* subframe 1 */ tow1 =getbitu(buff,i,17)*12.0; i+=17+2; @@ -174,7 +174,7 @@ static int decode_irn_ion(const uint8_t *buff, double *ion) { int i,id3,id4; - trace(4,"decode_irn_ion:\n"); + rtktrace(4,"decode_irn_ion:\n"); /* subframe 3 and 4 message ids */ id3=getbitu(buff,8*37*2+30,6); @@ -200,7 +200,7 @@ static int decode_irn_utc(const uint8_t *buff, double *utc) { int i,id3,id4; - trace(4,"decode_irn_utc:\n"); + rtktrace(4,"decode_irn_utc:\n"); /* subframe 3 and 4 message ids */ id3=getbitu(buff,8*37*2+30,6); @@ -242,7 +242,7 @@ static int decode_irn_utc(const uint8_t *buff, double *utc) extern int decode_irn_nav(const uint8_t *buff, eph_t *eph, double *ion, double *utc) { - trace(4,"decode_irn_nav:\n"); + rtktrace(4,"decode_irn_nav:\n"); if (eph&&!decode_irn_eph(buff,eph)) return 0; if (ion&&!decode_irn_ion(buff,ion)) return 0; @@ -256,7 +256,7 @@ static int decode_gal_inav_eph(const uint8_t *buff, eph_t *eph) double tow,toc,tt,sqrtA; int i,week,svid,e5b_hs,e1b_hs,e5b_dvs,e1b_dvs,type[6],iod_nav[4]; - trace(4,"decode_gal_inav_eph:\n"); + rtktrace(4,"decode_gal_inav_eph:\n"); i=128; /* word type 1 */ type[0] =getbitu(buff,i, 6); i+= 6; @@ -309,18 +309,18 @@ static int decode_gal_inav_eph(const uint8_t *buff, eph_t *eph) /* test word types */ if (type[0]!=1||type[1]!=2||type[2]!=3||type[3]!=4||type[4]!=5) { - trace(3,"decode_gal_inav error: type=%d %d %d %d %d\n",type[0],type[1], + rtktrace(3,"decode_gal_inav error: type=%d %d %d %d %d\n",type[0],type[1], type[2],type[3],type[4]); return 0; } /* test consistency of iod_nav */ if (iod_nav[0]!=iod_nav[1]||iod_nav[0]!=iod_nav[2]||iod_nav[0]!=iod_nav[3]) { - trace(3,"decode_gal_inav error: iod_nav=%d %d %d %d\n",iod_nav[0], + rtktrace(3,"decode_gal_inav error: iod_nav=%d %d %d %d\n",iod_nav[0], iod_nav[1],iod_nav[2],iod_nav[3]); return 0; } if (!(eph_gal.sat=satno(SYS_GAL,svid))) { - trace(2,"decode_gal_inav svid error: svid=%d\n",svid); + rtktrace(2,"decode_gal_inav svid error: svid=%d\n",svid); return 0; } eph_gal.A=sqrtA*sqrtA; @@ -342,7 +342,7 @@ static int decode_gal_inav_ion(const uint8_t *buff, double *ion) { int i=128*5; /* word type 5 */ - trace(4,"decode_gal_inav_ion:\n"); + rtktrace(4,"decode_gal_inav_ion:\n"); if (getbitu(buff,i,6)!=5) return 0; i+=6; @@ -357,7 +357,7 @@ static int decode_gal_inav_utc(const uint8_t *buff, double *utc) { int i=128*6; /* word type 6 */ - trace(4,"decode_gal_inav_utc:\n"); + rtktrace(4,"decode_gal_inav_utc:\n"); if (getbitu(buff,i,6)!=6) return 0; i+=6; @@ -392,7 +392,7 @@ static int decode_gal_inav_utc(const uint8_t *buff, double *utc) extern int decode_gal_inav(const uint8_t *buff, eph_t *eph, double *ion, double *utc) { - trace(4,"decode_gal_fnav:\n"); + rtktrace(4,"decode_gal_fnav:\n"); if (eph&&!decode_gal_inav_eph(buff,eph)) return 0; if (ion&&!decode_gal_inav_ion(buff,ion)) return 0; @@ -406,7 +406,7 @@ static int decode_gal_fnav_eph(const uint8_t *buff, eph_t *eph) double tow[4],toc,tt,sqrtA; int i,week[3],svid,e5a_hs,e5a_dvs,type[4],iod_nav[4]; - trace(4,"decode_gal_fnav_eph:\n"); + rtktrace(4,"decode_gal_fnav_eph:\n"); i=0; /* page type 1 */ type[0] =getbitu(buff,i, 6); i+= 6; @@ -457,18 +457,18 @@ static int decode_gal_fnav_eph(const uint8_t *buff, eph_t *eph) /* test page types */ if (type[0]!=1||type[1]!=2||type[2]!=3||type[3]!=4) { - trace(3,"decode_gal_fnav error: svid=%d type=%d %d %d %d\n",svid, + rtktrace(3,"decode_gal_fnav error: svid=%d type=%d %d %d %d\n",svid, type[0],type[1],type[2],type[3]); return 0; } /* test consistency of iod_nav */ if (iod_nav[0]!=iod_nav[1]||iod_nav[0]!=iod_nav[2]||iod_nav[0]!=iod_nav[3]) { - trace(3,"decode_gal_fnav error: svid=%d iod_nav=%d %d %d %d\n",svid, + rtktrace(3,"decode_gal_fnav error: svid=%d iod_nav=%d %d %d %d\n",svid, iod_nav[0],iod_nav[1],iod_nav[2],iod_nav[3]); return 0; } if (!(eph_gal.sat=satno(SYS_GAL,svid))) { - trace(2,"decode_gal_fnav svid error: svid=%d\n",svid); + rtktrace(2,"decode_gal_fnav svid error: svid=%d\n",svid); return 0; } eph_gal.A=sqrtA*sqrtA; @@ -491,7 +491,7 @@ static int decode_gal_fnav_ion(const uint8_t *buff, double *ion) { int i=0; /* page type 1 */ - trace(4,"decode_gal_fnav_ion:\n"); + rtktrace(4,"decode_gal_fnav_ion:\n"); if (getbitu(buff,i,6)!=1) return 0; i+=6+6+10+14+31+21+6+8; @@ -506,7 +506,7 @@ static int decode_gal_fnav_utc(const uint8_t *buff, double *utc) { int i=93*8; /* page type 4 */ - trace(4,"decode_gal_fnav_utc:\n"); + rtktrace(4,"decode_gal_fnav_utc:\n"); if (getbitu(buff,i,6)!=4) return 0; i+=6+10+16+16; @@ -540,7 +540,7 @@ static int decode_gal_fnav_utc(const uint8_t *buff, double *utc) extern int decode_gal_fnav(const uint8_t *buff, eph_t *eph, double *ion, double *utc) { - trace(4,"decode_gal_fnav:\n"); + rtktrace(4,"decode_gal_fnav:\n"); if (eph&&!decode_gal_fnav_eph(buff,eph)) return 0; if (ion&&!decode_gal_fnav_ion(buff,ion)) return 0; @@ -599,15 +599,15 @@ static int decode_bds_d1_eph(const uint8_t *buff, eph_t *eph) /* check consistency of subframe ids, sows and toe/toc */ if (frn1!=1||frn2!=2||frn3!=3) { - trace(3,"decode_bds_d1_eph error: frn=%d %d %d\n",frn1,frn2,frn3); + rtktrace(3,"decode_bds_d1_eph error: frn=%d %d %d\n",frn1,frn2,frn3); return 0; } if (sow2!=sow1+6||sow3!=sow2+6) { - trace(3,"decode_bds_d1_eph error: sow=%d %d %d\n",sow1,sow2,sow3); + rtktrace(3,"decode_bds_d1_eph error: sow=%d %d %d\n",sow1,sow2,sow3); return 0; } if (toc_bds!=eph_bds.toes) { - trace(3,"decode_bds_d1_eph error: toe=%.0f toc=%.0f\n",eph_bds.toes, + rtktrace(3,"decode_bds_d1_eph error: toe=%.0f toc=%.0f\n",eph_bds.toes, toc_bds); return 0; } @@ -626,7 +626,7 @@ static int decode_bds_d1_ion(const uint8_t *buff, double *ion) { int i=8*38*0; /* subframe 1 */ - trace(4,"decode_bds_d1_ion:\n"); + rtktrace(4,"decode_bds_d1_ion:\n"); /* subframe 1 */ if (getbitu(buff,i+15,3)!=1) return 0; @@ -646,7 +646,7 @@ static int decode_bds_d1_utc(const uint8_t *buff, double *utc) { int i=8*38*4; /* subframe 5 */ - trace(4,"decode_bds_d1_utc:\n"); + rtktrace(4,"decode_bds_d1_utc:\n"); if (getbitu(buff,15,3)!=1) return 0; /* subframe 1 */ @@ -683,7 +683,7 @@ static int decode_bds_d1_utc(const uint8_t *buff, double *utc) extern int decode_bds_d1(const uint8_t *buff, eph_t *eph, double *ion, double *utc) { - trace(4,"decode_bds_d1:\n"); + rtktrace(4,"decode_bds_d1:\n"); if (eph&&!decode_bds_d1_eph(buff,eph)) return 0; if (ion&&!decode_bds_d1_ion(buff,ion)) return 0; @@ -700,7 +700,7 @@ static int decode_bds_d2_eph(const uint8_t *buff, eph_t *eph) int i,f1p3,cucp4,ep5,cicp6,i0p7,OMGdp8,omgp9; int pgn1,pgn3,pgn4,pgn5,pgn6,pgn7,pgn8,pgn9,pgn10; - trace(4,"decode_bds_d1_eph:\n"); + rtktrace(4,"decode_bds_d1_eph:\n"); i=8*38*0; /* page 1 */ pgn1 =getbitu (buff,i+ 42, 4); @@ -776,18 +776,18 @@ static int decode_bds_d2_eph(const uint8_t *buff, eph_t *eph) /* check consistency of page numbers, sows and toe/toc */ if (pgn1!=1||pgn3!=3||pgn4!=4||pgn5!=5||pgn6!=6||pgn7!=7||pgn8!=8||pgn9!=9|| pgn10!=10) { - trace(3,"decode_bds_d2 error: pgn=%d %d %d %d %d %d %d %d %d\n", + rtktrace(3,"decode_bds_d2 error: pgn=%d %d %d %d %d %d %d %d %d\n", pgn1,pgn3,pgn4,pgn5,pgn6,pgn7,pgn8,pgn9,pgn10); return 0; } if (sow3!=sow1+6||sow4!=sow3+3||sow5!=sow4+3||sow6!=sow5+3|| sow7!=sow6+3||sow8!=sow7+3||sow9!=sow8+3||sow10!=sow9+3) { - trace(3,"decode_bds_d2 error: sow=%d %d %d %d %d %d %d %d %d\n", + rtktrace(3,"decode_bds_d2 error: sow=%d %d %d %d %d %d %d %d %d\n", sow1,sow3,sow4,sow5,sow6,sow7,sow8,sow9,sow10); return 0; } if (toc_bds!=eph_bds.toes) { - trace(3,"decode_bds_d2 error: toe=%.0f toc=%.0f\n",eph_bds.toes, + rtktrace(3,"decode_bds_d2 error: toe=%.0f toc=%.0f\n",eph_bds.toes, toc_bds); return 0; } @@ -814,7 +814,7 @@ static int decode_bds_d2_utc(const uint8_t *buff, double *utc) { int i=8*38*10; /* subframe 5 pase 102 */ - trace(4,"decode_bds_d2_utc:\n"); + rtktrace(4,"decode_bds_d2_utc:\n"); /* subframe 1 page 1 */ if (getbitu(buff,15,3)!=1||getbitu(buff,42,4)!=1) return 0; @@ -848,7 +848,7 @@ static int decode_bds_d2_utc(const uint8_t *buff, double *utc) *-----------------------------------------------------------------------------*/ extern int decode_bds_d2(const uint8_t *buff, eph_t *eph, double *utc) { - trace(4,"decode_bds_d2:\n"); + rtktrace(4,"decode_bds_d2:\n"); if (eph&&!decode_bds_d2_eph(buff,eph)) return 0; if (utc&&!decode_bds_d2_utc(buff,utc)) return 0; @@ -904,7 +904,7 @@ static int decode_glostr_eph(const uint8_t *buff, geph_t *geph) int P,P1,P2,P3,P4,tk_h,tk_m,tk_s,tb,ln,NT,slot,M,week; int i=1,frn1,frn2,frn3,frn4; - trace(4,"decode_glostr_eph:\n"); + rtktrace(4,"decode_glostr_eph:\n"); /* frame 1 */ frn1 =getbitu(buff,i, 4); i+= 4+2; @@ -947,12 +947,12 @@ static int decode_glostr_eph(const uint8_t *buff, geph_t *geph) M =getbitu(buff,i, 2); if (frn1!=1||frn2!=2||frn3!=3||frn4!=4) { - trace(3,"decode_glostr error: frn=%d %d %d %d %d\n",frn1,frn2,frn3, + rtktrace(3,"decode_glostr error: frn=%d %d %d %d %d\n",frn1,frn2,frn3, frn4); return 0; } if (!(geph_glo.sat=satno(SYS_GLO,slot))) { - trace(2,"decode_glostr error: slot=%d\n",slot); + rtktrace(2,"decode_glostr error: slot=%d\n",slot); return 0; } geph_glo.frq=0; /* set default */ @@ -975,7 +975,7 @@ static int decode_glostr_utc(const uint8_t *buff, double *utc) { int i=1+80*4; /* frame 5 */ - trace(4,"decode_glostr_utc:\n"); + rtktrace(4,"decode_glostr_utc:\n"); /* frame 5 */ if (getbitu(buff,i,4)!=5) return 0; @@ -1004,7 +1004,7 @@ static int decode_glostr_utc(const uint8_t *buff, double *utc) *-----------------------------------------------------------------------------*/ extern int decode_glostr(const uint8_t *buff, geph_t *geph, double *utc) { - trace(4,"decode_glostr:\n"); + rtktrace(4,"decode_glostr:\n"); if (geph&&!decode_glostr_eph(buff,geph)) return 0; if (utc &&!decode_glostr_utc(buff,utc )) return 0; @@ -1017,7 +1017,7 @@ static int decode_frame_eph(const uint8_t *buff, eph_t *eph) double tow1,tow2,tow3,toc,sqrtA; int i=48,id1,id2,id3,week,iodc0,iodc1,iode,tgd; - trace(4,"decode_frame_eph:\n"); + rtktrace(4,"decode_frame_eph:\n"); i=240*0+24; /* subframe 1 */ tow1 =getbitu(buff,i,17)*6.0; i+=17+2; @@ -1068,12 +1068,12 @@ static int decode_frame_eph(const uint8_t *buff, eph_t *eph) /* test subframe ids */ if (id1!=1||id2!=2||id3!=3) { - trace(3,"decode_frame_eph error: id=%d %d %d\n",id1,id2,id3); + rtktrace(3,"decode_frame_eph error: id=%d %d %d\n",id1,id2,id3); return 0; } /* test iode and iodc consistency */ if (iode!=eph_sat.iode||iode!=(eph_sat.iodc&0xFF)) { - trace(3,"decode_frame_eph error: iode=%d %d iodc=%d\n",eph_sat.iode, + rtktrace(3,"decode_frame_eph error: iode=%d %d iodc=%d\n",eph_sat.iode, iode,eph_sat.iodc); return 0; } @@ -1093,7 +1093,7 @@ static void decode_alm_sat(const uint8_t *buff, int type, alm_t *alm) double deltai,sqrtA,i_ref,e_ref; int i=50,f0; - trace(4,"decode_alm_sat:\n"); + rtktrace(4,"decode_alm_sat:\n"); /* type=0:GPS,1:QZS-QZO,2:QZS-GEO */ e_ref=(type==0)?0.0:((type==1)?0.06:0.0); @@ -1121,7 +1121,7 @@ static int decode_alm_gps(const uint8_t *buff, int frm, alm_t *alm) { int i,j,sat,toas,week,svid=getbitu(buff,50,6); - trace(4,"decode_alm_gps:\n"); + rtktrace(4,"decode_alm_gps:\n"); if ((frm==5&&svid>=1&&svid<=24)||(frm==4&&svid>=25&&svid<=32)) { if (!(sat=satno(SYS_GPS,svid))) return 0; @@ -1160,7 +1160,7 @@ static int decode_alm_qzs(const uint8_t *buff, alm_t *alm) { int i,j,sat,toas,week,svid=getbitu(buff,50,6); - trace(4,"decode_alm_qzs:\n"); + rtktrace(4,"decode_alm_qzs:\n"); if (svid>=1&&svid<=9) { if (!(sat=satno(SYS_QZS,192+svid))) return 0; @@ -1191,7 +1191,7 @@ static int decode_frame_alm(const uint8_t *buff, alm_t *alm) { int frm,dataid,ret=0; - trace(4,"decode_frame_alm:\n"); + rtktrace(4,"decode_frame_alm:\n"); for (frm=4,buff+=90;frm<=5;frm++,buff+=30) { /* subframe 4/5 */ if (getbitu(buff,43,3)!=frm) continue; @@ -1211,7 +1211,7 @@ static int decode_frame_ion(const uint8_t *buff, double *ion) { int i,frm; - trace(4,"decode_frame_ion:\n"); + rtktrace(4,"decode_frame_ion:\n"); /* subframe 4/5 and svid=56 (page18) (wide area for QZSS) */ for (frm=4,buff+=90;frm<=5;frm++,buff+=30) { @@ -1235,7 +1235,7 @@ static int decode_frame_utc(const uint8_t *buff, double *utc) { int i,frm; - trace(4,"decode_frame_utc:\n"); + rtktrace(4,"decode_frame_utc:\n"); /* subframe 4/5 and svid=56 (page18) */ for (frm=4,buff+=90;frm<=5;frm++,buff+=30) { @@ -1278,7 +1278,7 @@ static int decode_frame_utc(const uint8_t *buff, double *utc) extern int decode_frame(const uint8_t *buff, eph_t *eph, alm_t *alm, double *ion, double *utc) { - trace(4,"decode_frame:\n"); + rtktrace(4,"decode_frame:\n"); if (eph&&!decode_frame_eph(buff,eph)) return 0; if (alm&&!decode_frame_alm(buff,alm)) return 0; @@ -1304,7 +1304,7 @@ extern int init_raw(raw_t *raw, int format) sbsmsg_t sbsmsg0={0}; int i,j,ret=1; - trace(3,"init_raw: format=%d\n",format); + rtktrace(3,"init_raw: format=%d\n",format); raw->time=time0; raw->ephset=raw->ephsat=0; @@ -1384,7 +1384,7 @@ extern int init_raw(raw_t *raw, int format) *-----------------------------------------------------------------------------*/ extern void free_raw(raw_t *raw) { - trace(3,"free_raw:\n"); + rtktrace(3,"free_raw:\n"); free(raw->obs.data ); raw->obs.data =NULL; raw->obs.n =0; free(raw->obuf.data); raw->obuf.data=NULL; raw->obuf.n=0; @@ -1410,7 +1410,7 @@ extern void free_raw(raw_t *raw) *-----------------------------------------------------------------------------*/ extern int input_raw(raw_t *raw, int format, uint8_t data) { - trace(5,"input_raw: format=%d data=0x%02x\n",format,data); + rtktrace(5,"input_raw: format=%d data=0x%02x\n",format,data); switch (format) { case STRFMT_OEM4 : return input_oem4 (raw,data); @@ -1436,7 +1436,7 @@ extern int input_raw(raw_t *raw, int format, uint8_t data) *-----------------------------------------------------------------------------*/ extern int input_rawf(raw_t *raw, int format, FILE *fp) { - trace(4,"input_rawf: format=%d\n",format); + rtktrace(4,"input_rawf: format=%d\n",format); switch (format) { case STRFMT_OEM4 : return input_oem4f (raw,fp); diff --git a/src/rinex.c b/src/rinex.c index 7b8db6cf7..9b6de90e9 100644 --- a/src/rinex.c +++ b/src/rinex.c @@ -343,7 +343,7 @@ static void convcode(double ver, int sys, const char *str, char *type) else if (str[1]=='8') { if (sys==SYS_GAL) sprintf(type,"%c8X",str[0]); } - trace(3,"convcode: ver=%.2f sys=%2d type= %s -> %s\n",ver,sys,str,type); + rtktrace(3,"convcode: ver=%.2f sys=%2d type= %s -> %s\n",ver,sys,str,type); } /* decode RINEX observation data file header ---------------------------------*/ static void decode_obsh(FILE *fp, char *buff, double ver, int *tsys, @@ -365,7 +365,7 @@ static void decode_obsh(FILE *fp, char *buff, double ver, int *tsys, const char *p; char *label=buff+60,str[4]; - trace(4,"decode_obsh: ver=%.2f\n",ver); + rtktrace(4,"decode_obsh: ver=%.2f\n",ver); if (strstr(label,"MARKER NAME" )) { if (sta) setstr(sta->name,buff,60); @@ -409,7 +409,7 @@ static void decode_obsh(FILE *fp, char *buff, double ver, int *tsys, else if (strstr(label,"CENTER OF MASS: XYZ" )) ; /* opt ver.3 */ else if (strstr(label,"SYS / # / OBS TYPES" )) { /* ver.3 */ if (!(p=strchr(syscodes,buff[0]))) { - trace(2,"invalid system code: sys=%c\n",buff[0]); + rtktrace(2,"invalid system code: sys=%c\n",buff[0]); return; } i=(int)(p-syscodes); @@ -432,7 +432,7 @@ static void decode_obsh(FILE *fp, char *buff, double ver, int *tsys, if (tobs[i][j][2]) continue; if (!(p=strchr(frqcodes,tobs[i][j][1]))) continue; tobs[i][j][2]=defcodes[i][(int)(p-frqcodes)]; - trace(2,"set default for unknown code: sys=%c code=%s\n",buff[0], + rtktrace(2,"set default for unknown code: sys=%c code=%s\n",buff[0], tobs[i][j]); } } @@ -512,7 +512,7 @@ static void decode_navh(char *buff, nav_t *nav) int i,j; char *label=buff+60; - trace(4,"decode_navh:\n"); + rtktrace(4,"decode_navh:\n"); if (strstr(label,"ION ALPHA" )) { /* opt ver.2 */ if (nav) { @@ -622,7 +622,7 @@ static void decode_gnavh(char *buff, nav_t *nav) { char *label=buff+60; - trace(4,"decode_gnavh:\n"); + rtktrace(4,"decode_gnavh:\n"); if (strstr(label,"CORR TO SYTEM TIME" )) {} /* opt */ else if (strstr(label,"LEAP SECONDS" )) {} /* opt */ @@ -632,7 +632,7 @@ static void decode_hnavh(char *buff, nav_t *nav) { char *label=buff+60; - trace(4,"decode_hnavh:\n"); + rtktrace(4,"decode_hnavh:\n"); if (strstr(label,"CORR TO SYTEM TIME" )) {} /* opt */ else if (strstr(label,"D-UTC A0,A1,T,W,S,U" )) {} /* opt */ @@ -645,7 +645,7 @@ static int readrnxh(FILE *fp, double *ver, char *type, int *sys, int *tsys, char buff[MAXRNXLEN],*label=buff+60; int i=0; - trace(3,"readrnxh:\n"); + rtktrace(3,"readrnxh:\n"); *ver=2.10; *type=' '; *sys=SYS_GPS; @@ -670,7 +670,7 @@ static int readrnxh(FILE *fp, double *ver, char *type, int *sys, int *tsys, case 'I': *sys=SYS_IRN; *tsys=TSYS_IRN; break; /* v.3.03 */ case 'M': *sys=SYS_NONE; *tsys=TSYS_GPS; break; /* mixed */ default : - trace(2,"not supported satellite system: %c\n",*(buff+40)); + rtktrace(2,"not supported satellite system: %c\n",*(buff+40)); break; } continue; @@ -702,7 +702,7 @@ static int decode_obsepoch(FILE *fp, char *buff, double ver, gtime_t *time, int i,j,n; char satid[8]=""; - trace(4,"decode_obsepoch: ver=%.2f\n",ver); + rtktrace(4,"decode_obsepoch: ver=%.2f\n",ver); if (ver<=2.99) { /* ver.2 */ if ((n=(int)str2num(buff,29,3))<=0) return 0; @@ -713,7 +713,7 @@ static int decode_obsepoch(FILE *fp, char *buff, double ver, gtime_t *time, if (3<=*flag&&*flag<=5) return n; if (str2time(buff,0,26,time)) { - trace(2,"rinex obs invalid epoch: epoch=%26.26s\n",buff); + rtktrace(2,"rinex obs invalid epoch: epoch=%26.26s\n",buff); return 0; } for (i=0,j=32;i2.99) { /* ver.3 */ sprintf(satid,"%.3s",buff); obs->sat=(uint8_t)satid2no(satid); } if (!obs->sat) { - trace(4,"decode_obsdata: unsupported sat sat=%s\n",satid); + rtktrace(4,"decode_obsdata: unsupported sat sat=%s\n",satid); stat=0; } else if (!(satsys(obs->sat,NULL)&mask)) { @@ -848,7 +848,7 @@ static int decode_obsdata(FILE *fp, char *buff, double ver, int mask, case 3: obs->SNR[p[i]]=(uint16_t)(val[i]/SNR_UNIT+0.5); break; } } - trace(4,"decode_obsdata: time=%s sat=%2d\n",time_str(obs->time,0),obs->sat); + rtktrace(4,"decode_obsdata: time=%s sat=%2d\n",time_str(obs->time,0),obs->sat); return 1; } /* save cycle slips ----------------------------------------------------------*/ @@ -876,7 +876,7 @@ static int addobsdata(obs_t *obs, const obsd_t *data) if (obs->nmax<=obs->n) { if (obs->nmax<=0) obs->nmax=NINCOBS; else obs->nmax*=2; if (!(obs_data=(obsd_t *)realloc(obs->data,sizeof(obsd_t)*obs->nmax))) { - trace(1,"addobsdata: malloc error n=%dx%d\n",sizeof(obsd_t),obs->nmax); + rtktrace(1,"addobsdata: malloc error n=%dx%d\n",sizeof(obsd_t),obs->nmax); free(obs->data); obs->data=NULL; obs->n=obs->nmax=0; return -1; } @@ -937,7 +937,7 @@ static void set_index(double ver, int sys, const char *opt, for (i=0;icode[i]),str)) continue; ind->shift[i]=shift; - trace(2,"phase shift: sys=%2d tobs=%s shift=%.3f\n",sys, + rtktrace(2,"phase shift: sys=%2d tobs=%s shift=%.3f\n",sys, tobs[i],shift); } } @@ -967,13 +967,13 @@ static void set_index(double ver, int sys, const char *opt, } for (i=0;icode[i]||!ind->pri[i]||ind->pos[i]>=0) continue; - trace(4,"reject obs type: sys=%2d, obs=%s\n",sys,tobs[i]); + rtktrace(4,"reject obs type: sys=%2d, obs=%s\n",sys,tobs[i]); } ind->n=n; #if 0 /* for debug */ for (i=0;icode[i],ind->pri[i],ind->idx[i],ind->pos[i], ind->shift[i]); } @@ -1035,7 +1035,7 @@ static int readrnxobs(FILE *fp, gtime_t ts, gtime_t te, double tint, uint8_t slips[MAXSAT][NFREQ+NEXOBS]={{0}}; int i,n,flag=0,stat=0; - trace(4,"readrnxobs: rcv=%d ver=%.2f tsys=%d\n",rcv,ver,tsys); + rtktrace(4,"readrnxobs: rcv=%d ver=%.2f tsys=%d\n",rcv,ver,tsys); if (!obs||rcv>MAXRCV) return 0; @@ -1066,7 +1066,7 @@ static int readrnxobs(FILE *fp, gtime_t ts, gtime_t te, double tint, if ((stat=addobsdata(obs,data+i))<0) break; } } - trace(4,"readrnxobs: nobs=%d stat=%d\n",obs->n,stat); + rtktrace(4,"readrnxobs: nobs=%d stat=%d\n",obs->n,stat); free(data); @@ -1079,12 +1079,12 @@ static int decode_eph(double ver, int sat, gtime_t toc, const double *data, eph_t eph0={0}; int sys; - trace(4,"decode_eph: ver=%.2f sat=%2d\n",ver,sat); + rtktrace(4,"decode_eph: ver=%.2f sat=%2d\n",ver,sat); sys=satsys(sat,NULL); if (!(sys&(SYS_GPS|SYS_GAL|SYS_QZS|SYS_CMP|SYS_IRN))) { - trace(3,"ephemeris error: invalid satellite sat=%2d\n",sat); + rtktrace(3,"ephemeris error: invalid satellite sat=%2d\n",sat); return 0; } *eph=eph0; @@ -1175,10 +1175,10 @@ static int decode_eph(double ver, int sat, gtime_t toc, const double *data, eph->tgd[0]= data[25]; /* TGD */ } if (eph->iode<0||1023iode) { - trace(2,"rinex nav invalid: sat=%2d iode=%d\n",sat,eph->iode); + rtktrace(2,"rinex nav invalid: sat=%2d iode=%d\n",sat,eph->iode); } if (eph->iodc<0||1023iodc) { - trace(2,"rinex nav invalid: sat=%2d iodc=%d\n",sat,eph->iodc); + rtktrace(2,"rinex nav invalid: sat=%2d iodc=%d\n",sat,eph->iodc); } return 1; } @@ -1191,10 +1191,10 @@ static int decode_geph(double ver, int sat, gtime_t toc, double *data, double tow,tod; int week,dow; - trace(4,"decode_geph: ver=%.2f sat=%2d\n",ver,sat); + rtktrace(4,"decode_geph: ver=%.2f sat=%2d\n",ver,sat); if (satsys(sat,NULL)!=SYS_GLO) { - trace(3,"glonass ephemeris error: invalid satellite sat=%2d\n",sat); + rtktrace(3,"glonass ephemeris error: invalid satellite sat=%2d\n",sat); return 0; } *geph=geph0; @@ -1235,7 +1235,7 @@ static int decode_geph(double ver, int sat, gtime_t toc, double *data, if (geph->frq>128) geph->frq-=256; if (geph->frqfrq) { - trace(2,"rinex gnav invalid freq: sat=%2d fn=%d\n",sat,geph->frq); + rtktrace(2,"rinex gnav invalid freq: sat=%2d fn=%d\n",sat,geph->frq); } return 1; } @@ -1246,10 +1246,10 @@ static int decode_seph(double ver, int sat, gtime_t toc, double *data, seph_t seph0={0}; int week; - trace(4,"decode_seph: ver=%.2f sat=%2d\n",ver,sat); + rtktrace(4,"decode_seph: ver=%.2f sat=%2d\n",ver,sat); if (satsys(sat,NULL)!=SYS_SBS) { - trace(3,"geo ephemeris error: invalid satellite sat=%2d\n",sat); + rtktrace(3,"geo ephemeris error: invalid satellite sat=%2d\n",sat); return 0; } *seph=seph0; @@ -1281,7 +1281,7 @@ static int readrnxnavb(FILE *fp, const char *opt, double ver, int sys, int i=0,j,prn,sat=0,sp=3,mask; char buff[MAXRNXLEN],id[8]="",*p; - trace(4,"readrnxnavb: ver=%.2f sys=%d\n",ver,sys); + rtktrace(4,"readrnxnavb: ver=%.2f sys=%d\n",ver,sys); /* set system mask */ mask=set_sysmask(opt); @@ -1318,7 +1318,7 @@ static int readrnxnavb(FILE *fp, const char *opt, double ver, int sys, } /* decode Toc field */ if (str2time(buff+sp,0,19,&toc)) { - trace(2,"rinex nav toc error: %23.23s\n",buff); + rtktrace(2,"rinex nav toc error: %23.23s\n",buff); return 0; } /* decode data fields */ @@ -1359,7 +1359,7 @@ static int add_eph(nav_t *nav, const eph_t *eph) if (nav->nmax<=nav->n) { nav->nmax+=1024; if (!(nav_eph=(eph_t *)realloc(nav->eph,sizeof(eph_t)*nav->nmax))) { - trace(1,"decode_eph malloc error: n=%d\n",nav->nmax); + rtktrace(1,"decode_eph malloc error: n=%d\n",nav->nmax); free(nav->eph); nav->eph=NULL; nav->n=nav->nmax=0; return 0; } @@ -1375,7 +1375,7 @@ static int add_geph(nav_t *nav, const geph_t *geph) if (nav->ngmax<=nav->ng) { nav->ngmax+=1024; if (!(nav_geph=(geph_t *)realloc(nav->geph,sizeof(geph_t)*nav->ngmax))) { - trace(1,"decode_geph malloc error: n=%d\n",nav->ngmax); + rtktrace(1,"decode_geph malloc error: n=%d\n",nav->ngmax); free(nav->geph); nav->geph=NULL; nav->ng=nav->ngmax=0; return 0; } @@ -1391,7 +1391,7 @@ static int add_seph(nav_t *nav, const seph_t *seph) if (nav->nsmax<=nav->ns) { nav->nsmax+=1024; if (!(nav_seph=(seph_t *)realloc(nav->seph,sizeof(seph_t)*nav->nsmax))) { - trace(1,"decode_seph malloc error: n=%d\n",nav->nsmax); + rtktrace(1,"decode_seph malloc error: n=%d\n",nav->nsmax); free(nav->seph); nav->seph=NULL; nav->ns=nav->nsmax=0; return 0; } @@ -1409,7 +1409,7 @@ static int readrnxnav(FILE *fp, const char *opt, double ver, int sys, seph_t seph; int stat,type; - trace(3,"readrnxnav: ver=%.2f sys=%d\n",ver,sys); + rtktrace(3,"readrnxnav: ver=%.2f sys=%d\n",ver,sys); if (!nav) return 0; @@ -1437,7 +1437,7 @@ static int readrnxclk(FILE *fp, const char *opt, int index, nav_t *nav) int i,j,sat,mask; char buff[MAXRNXLEN],satid[8]=""; - trace(3,"readrnxclk: index=%d\n", index); + rtktrace(3,"readrnxclk: index=%d\n", index); if (!nav) return 0; @@ -1447,7 +1447,7 @@ static int readrnxclk(FILE *fp, const char *opt, int index, nav_t *nav) while (fgets(buff,sizeof(buff),fp)) { if (str2time(buff,8,26,&time)) { - trace(2,"rinex clk invalid epoch: %34.34s\n",buff); + rtktrace(2,"rinex clk invalid epoch: %34.34s\n",buff); continue; } strncpy(satid,buff+3,4); @@ -1462,7 +1462,7 @@ static int readrnxclk(FILE *fp, const char *opt, int index, nav_t *nav) if (nav->nc>=nav->ncmax) { nav->ncmax+=1024; if (!(nav_pclk=(pclk_t *)realloc(nav->pclk,sizeof(pclk_t)*(nav->ncmax)))) { - trace(1,"readrnxclk malloc error: nmax=%d\n",nav->ncmax); + rtktrace(1,"readrnxclk malloc error: nmax=%d\n",nav->ncmax); free(nav->pclk); nav->pclk=NULL; nav->nc=nav->ncmax=0; return -1; } @@ -1491,7 +1491,7 @@ static int readrnxfp(FILE *fp, gtime_t ts, gtime_t te, double tint, int sys,tsys=TSYS_GPS; char tobs[NUMSYS][MAXOBSTYPE][4]={{""}}; - trace(3,"readrnxfp: flag=%d index=%d\n",flag,index); + rtktrace(3,"readrnxfp: flag=%d index=%d\n",flag,index); /* read RINEX file header */ if (!readrnxh(fp,&ver,type,&sys,&tsys,tobs,nav,sta)) return 0; @@ -1510,7 +1510,7 @@ static int readrnxfp(FILE *fp, gtime_t ts, gtime_t te, double tint, case 'L': return readrnxnav(fp,opt,ver,SYS_GAL,nav); /* extension */ case 'C': return readrnxclk(fp,opt,index,nav); } - trace(2,"unsupported rinex type ver=%.2f type=%c\n",ver,*type); + rtktrace(2,"unsupported rinex type ver=%.2f type=%c\n",ver,*type); return 0; } /* uncompress and read RINEX file --------------------------------------------*/ @@ -1522,17 +1522,17 @@ static int readrnxfile(const char *file, gtime_t ts, gtime_t te, double tint, int cstat,stat; char tmpfile[1024]; - trace(3,"readrnxfile: file=%s flag=%d index=%d\n",file,flag,index); + rtktrace(3,"readrnxfile: file=%s flag=%d index=%d\n",file,flag,index); if (sta) init_sta(sta); /* uncompress file */ if ((cstat=rtk_uncompress(file,tmpfile))<0) { - trace(2,"rinex file uncompact error: %s\n",file); + rtktrace(2,"rinex file uncompact error: %s\n",file); return 0; } if (!(fp=fopen(cstat?tmpfile:file,"r"))) { - trace(2,"rinex file open error: %s\n",cstat?tmpfile:file); + rtktrace(2,"rinex file open error: %s\n",cstat?tmpfile:file); return 0; } /* read RINEX file */ @@ -1587,7 +1587,7 @@ extern int readrnxt(const char *file, int rcv, gtime_t ts, gtime_t te, const char *p; char type=' ',*files[MAXEXFILE]={0}; - trace(3,"readrnxt: file=%s rcv=%d\n",file,rcv); + rtktrace(3,"readrnxt: file=%s rcv=%d\n",file,rcv); if (!*file) { return readrnxfp(stdin,ts,te,tint,opt,0,1,&type,obs,nav,sta); @@ -1621,7 +1621,7 @@ extern int readrnx(const char *file, int rcv, const char *opt, obs_t *obs, { gtime_t t={0}; - trace(3,"readrnx : file=%s rcv=%d\n",file,rcv); + rtktrace(3,"readrnx : file=%s rcv=%d\n",file,rcv); return readrnxt(file,rcv,t,t,0.0,opt,obs,nav,sta); } @@ -1638,7 +1638,7 @@ static void combpclk(nav_t *nav) pclk_t *nav_pclk; int i,j,k; - trace(3,"combpclk: nc=%d\n",nav->nc); + rtktrace(3,"combpclk: nc=%d\n",nav->nc); if (nav->nc<=0) return; @@ -1658,13 +1658,13 @@ static void combpclk(nav_t *nav) if (!(nav_pclk=(pclk_t *)realloc(nav->pclk,sizeof(pclk_t)*nav->nc))) { free(nav->pclk); nav->pclk=NULL; nav->nc=nav->ncmax=0; - trace(1,"combpclk malloc error nc=%d\n",nav->nc); + rtktrace(1,"combpclk malloc error nc=%d\n",nav->nc); return; } nav->pclk=nav_pclk; nav->ncmax=nav->nc; - trace(4,"combpclk: nc=%d\n",nav->nc); + rtktrace(4,"combpclk: nc=%d\n",nav->nc); } /* read RINEX clock files ------------------------------------------------------ * read RINEX clock files @@ -1678,7 +1678,7 @@ extern int readrnxc(const char *file, nav_t *nav) int i,n,index=0,stat=1; char *files[MAXEXFILE]={0},type; - trace(3,"readrnxc: file=%s\n",file); + rtktrace(3,"readrnxc: file=%s\n",file); for (i=0;iobs.data=NULL; rnx->nav.eph =NULL; @@ -1759,7 +1759,7 @@ extern int init_rnxctr(rnxctr_t *rnx) *-----------------------------------------------------------------------------*/ extern void free_rnxctr(rnxctr_t *rnx) { - trace(3,"free_rnxctr:\n"); + rtktrace(3,"free_rnxctr:\n"); free(rnx->obs.data); rnx->obs.data=NULL; rnx->obs.n =0; free(rnx->nav.eph ); rnx->nav.eph =NULL; rnx->nav.n =0; @@ -1780,15 +1780,15 @@ extern int open_rnxctr(rnxctr_t *rnx, FILE *fp) char type,tobs[NUMSYS][MAXOBSTYPE][4]={{""}}; int i,j,sys,tsys; - trace(3,"open_rnxctr:\n"); + rtktrace(3,"open_rnxctr:\n"); /* read RINEX header from file */ if (!readrnxh(fp,&ver,&type,&sys,&tsys,tobs,&rnx->nav,&rnx->sta)) { - trace(2,"open_rnxctr: rinex header read error\n"); + rtktrace(2,"open_rnxctr: rinex header read error\n"); return 0; } if (!strchr(rnxtypes,type)) { - trace(2,"open_rnxctr: not supported rinex type type=%c\n",type); + rtktrace(2,"open_rnxctr: not supported rinex type type=%c\n",type); return 0; } rnx->ver=ver; @@ -1827,7 +1827,7 @@ extern int input_rnxctr(rnxctr_t *rnx, FILE *fp) seph_t seph={0}; int n,sys,stat,flag,prn,type,set; - trace(4,"input_rnxctr:\n"); + rtktrace(4,"input_rnxctr:\n"); /* read RINEX OBS data */ if (rnx->type=='O') { @@ -1886,7 +1886,7 @@ static void outobstype_ver2(FILE *fp, const rnxopt_t *opt) const char label[]="# / TYPES OF OBSERV"; int i; - trace(3,"outobstype_ver2:\n"); + rtktrace(3,"outobstype_ver2:\n"); fprintf(fp,"%6d",opt->nobs[0]); @@ -1908,7 +1908,7 @@ static void outobstype_ver3(FILE *fp, const rnxopt_t *opt) char tobs[8]; int i,j; - trace(3,"outobstype_ver3:\n"); + rtktrace(3,"outobstype_ver3:\n"); for (i=0;navsys[i];i++) { if (!(navsys[i]&opt->navsys)||!opt->nobs[i]) continue; @@ -2026,7 +2026,7 @@ extern int outrnxobsh(FILE *fp, const rnxopt_t *opt, const nav_t *nav) char date[32],*sys,*tsys="GPS"; int i; - trace(3,"outrnxobsh:\n"); + rtktrace(3,"outrnxobsh:\n"); timestr_rnx(date); @@ -2192,7 +2192,7 @@ extern int outrnxobsb(FILE *fp, const rnxopt_t *opt, const obsd_t *obs, int n, char sats[MAXOBS][4]={""}; int i,j,k,m,ns,sys,ind[MAXOBS],s[MAXOBS]={0}; - trace(3,"outrnxobsb: n=%d\n",n); + rtktrace(3,"outrnxobsb: n=%d\n",n); time2epoch(obs[0].time,ep); @@ -2413,7 +2413,7 @@ extern int outrnxnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav) int i; char date[64],*sys; - trace(3,"outrnxnavh:\n"); + rtktrace(3,"outrnxnavh:\n"); timestr_rnx(date); @@ -2461,7 +2461,7 @@ extern int outrnxnavb(FILE *fp, const rnxopt_t *opt, const eph_t *eph) int week,sys,prn; char code[32],*sep; - trace(3,"outrnxnavb: sat=%2d\n",eph->sat); + rtktrace(3,"outrnxnavb: sat=%2d\n",eph->sat); if (!(sys=satsys(eph->sat,&prn))||!(sys&opt->navsys)) return 0; @@ -2580,7 +2580,7 @@ extern int outrnxgnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav) int i; char date[64]; - trace(3,"outrnxgnavh:\n"); + rtktrace(3,"outrnxgnavh:\n"); timestr_rnx(date); @@ -2618,7 +2618,7 @@ extern int outrnxgnavb(FILE *fp, const rnxopt_t *opt, const geph_t *geph) int prn; char code[32],*sep; - trace(3,"outrnxgnavb: sat=%2d\n",geph->sat); + rtktrace(3,"outrnxgnavb: sat=%2d\n",geph->sat); if ((satsys(geph->sat,&prn)&opt->navsys)!=SYS_GLO) return 0; @@ -2678,7 +2678,7 @@ extern int outrnxhnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav) int i; char date[64]; - trace(3,"outrnxhnavh:\n"); + rtktrace(3,"outrnxhnavh:\n"); timestr_rnx(date); @@ -2715,7 +2715,7 @@ extern int outrnxhnavb(FILE *fp, const rnxopt_t *opt, const seph_t *seph) int prn; char code[32],*sep; - trace(3,"outrnxhnavb: sat=%2d\n",seph->sat); + rtktrace(3,"outrnxhnavb: sat=%2d\n",seph->sat); if ((satsys(seph->sat,&prn)&opt->navsys)!=SYS_SBS) return 0; @@ -2768,7 +2768,7 @@ extern int outrnxlnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav) int i; char date[64]; - trace(3,"outrnxlnavh:\n"); + rtktrace(3,"outrnxlnavh:\n"); if (opt->rnxver<212) return 0; @@ -2802,7 +2802,7 @@ extern int outrnxqnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav) int i; char date[64]; - trace(3,"outrnxqnavh:\n"); + rtktrace(3,"outrnxqnavh:\n"); if (opt->rnxver<302) return 0; @@ -2836,7 +2836,7 @@ extern int outrnxcnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav) int i; char date[64]; - trace(3,"outrnxcnavh:\n"); + rtktrace(3,"outrnxcnavh:\n"); if (opt->rnxver<302) return 0; @@ -2870,7 +2870,7 @@ extern int outrnxinavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav) int i; char date[64]; - trace(3,"outrnxinavh:\n"); + rtktrace(3,"outrnxinavh:\n"); if (opt->rnxver<303) return 0; diff --git a/src/rtcm.c b/src/rtcm.c index e95dfe785..301dab609 100644 --- a/src/rtcm.c +++ b/src/rtcm.c @@ -72,7 +72,7 @@ extern int init_rtcm(rtcm_t *rtcm) ssr_t ssr0={{{0}}}; int i,j; - trace(3,"init_rtcm:\n"); + rtktrace(3,"init_rtcm:\n"); rtcm->staid=rtcm->stah=rtcm->seqno=rtcm->outtype=0; rtcm->time=rtcm->time_s=time0; @@ -127,7 +127,7 @@ extern int init_rtcm(rtcm_t *rtcm) *-----------------------------------------------------------------------------*/ extern void free_rtcm(rtcm_t *rtcm) { - trace(3,"free_rtcm:\n"); + rtktrace(3,"free_rtcm:\n"); /* free memory for observation and ephemeris buffer */ free(rtcm->obs.data); rtcm->obs.data=NULL; rtcm->obs.n=0; @@ -153,7 +153,7 @@ extern int input_rtcm2(rtcm_t *rtcm, uint8_t data) uint8_t preamb; int i; - trace(5,"input_rtcm2: data=%02x\n",data); + rtktrace(5,"input_rtcm2: data=%02x\n",data); if ((data&0xC0)!=0x40) return 0; /* ignore if upper 2bit != 01 */ @@ -175,7 +175,7 @@ extern int input_rtcm2(rtcm_t *rtcm, uint8_t data) /* check parity */ if (!decode_word(rtcm->word,rtcm->buff+rtcm->nbyte)) { - trace(2,"rtcm2 partity error: i=%d word=%08x\n",i,rtcm->word); + rtktrace(2,"rtcm2 partity error: i=%d word=%08x\n",i,rtcm->word); rtcm->nbyte=0; rtcm->word&=0x3; continue; } @@ -262,7 +262,7 @@ extern int input_rtcm2(rtcm_t *rtcm, uint8_t data) *-----------------------------------------------------------------------------*/ extern int input_rtcm3(rtcm_t *rtcm, uint8_t data) { - trace(5,"input_rtcm3: data=%02x\n",data); + rtktrace(5,"input_rtcm3: data=%02x\n",data); /* synchronize frame */ if (rtcm->nbyte==0) { @@ -280,7 +280,7 @@ extern int input_rtcm3(rtcm_t *rtcm, uint8_t data) /* check parity */ if (rtk_crc24q(rtcm->buff,rtcm->len)!=getbitu(rtcm->buff,rtcm->len*8,24)) { - trace(2,"rtcm3 parity error: len=%d\n",rtcm->len); + rtktrace(2,"rtcm3 parity error: len=%d\n",rtcm->len); return 0; } /* decode rtcm3 message */ @@ -297,7 +297,7 @@ extern int input_rtcm2f(rtcm_t *rtcm, FILE *fp) { int i,data=0,ret; - trace(4,"input_rtcm2f: data=%02x\n",data); + rtktrace(4,"input_rtcm2f: data=%02x\n",data); for (i=0;i<4096;i++) { if ((data=fgetc(fp))==EOF) return -2; @@ -316,7 +316,7 @@ extern int input_rtcm3f(rtcm_t *rtcm, FILE *fp) { int i,data=0,ret; - trace(4,"input_rtcm3f: data=%02x\n",data); + rtktrace(4,"input_rtcm3f: data=%02x\n",data); for (i=0;i<4096;i++) { if ((data=fgetc(fp))==EOF) return -2; @@ -333,7 +333,7 @@ extern int input_rtcm3f(rtcm_t *rtcm, FILE *fp) *-----------------------------------------------------------------------------*/ extern int gen_rtcm2(rtcm_t *rtcm, int type, int sync) { - trace(4,"gen_rtcm2: type=%d sync=%d\n",type,sync); + rtktrace(4,"gen_rtcm2: type=%d sync=%d\n",type,sync); rtcm->nbit=rtcm->len=rtcm->nbyte=0; @@ -360,7 +360,7 @@ extern int gen_rtcm3(rtcm_t *rtcm, int type, int subtype, int sync) uint32_t crc; int i=0; - trace(4,"gen_rtcm3: type=%d subtype=%d sync=%d\n",type,subtype,sync); + rtktrace(4,"gen_rtcm3: type=%d subtype=%d sync=%d\n",type,subtype,sync); rtcm->nbit=rtcm->len=rtcm->nbyte=0; @@ -378,7 +378,7 @@ extern int gen_rtcm3(rtcm_t *rtcm, int type, int subtype, int sync) } /* message length (header+data) (bytes) */ if ((rtcm->len=i/8)>=3+1024) { - trace(2,"generate rtcm 3 message length error len=%d\n",rtcm->len-3); + rtktrace(2,"generate rtcm 3 message length error len=%d\n",rtcm->len-3); rtcm->nbit=rtcm->len=0; return 0; } diff --git a/src/rtcm2.c b/src/rtcm2.c index cac2465cf..50764a897 100644 --- a/src/rtcm2.c +++ b/src/rtcm2.c @@ -54,7 +54,7 @@ static int decode_type1(rtcm_t *rtcm) int i=48,fact,udre,prn,sat,iod; double prc,rrc; - trace(4,"decode_type1: len=%d\n",rtcm->len); + rtktrace(4,"decode_type1: len=%d\n",rtcm->len); while (i+40<=rtcm->len*8) { fact=getbitu(rtcm->buff,i, 1); i+= 1; @@ -65,7 +65,7 @@ static int decode_type1(rtcm_t *rtcm) iod =getbits(rtcm->buff,i, 8); i+= 8; if (prn==0) prn=32; if (prc==0x80000000||rrc==0xFFFF8000) { - trace(2,"rtcm2 1 prc/rrc indicates satellite problem: prn=%d\n",prn); + rtktrace(2,"rtcm2 1 prc/rrc indicates satellite problem: prn=%d\n",prn); continue; } if (rtcm->dgps) { @@ -84,7 +84,7 @@ static int decode_type3(rtcm_t *rtcm) { int i=48; - trace(4,"decode_type3: len=%d\n",rtcm->len); + rtktrace(4,"decode_type3: len=%d\n",rtcm->len); if (i+96<=rtcm->len*8) { rtcm->sta.pos[0]=getbits(rtcm->buff,i,32)*0.01; i+=32; @@ -92,7 +92,7 @@ static int decode_type3(rtcm_t *rtcm) rtcm->sta.pos[2]=getbits(rtcm->buff,i,32)*0.01; } else { - trace(2,"rtcm2 3 length error: len=%d\n",rtcm->len); + rtktrace(2,"rtcm2 3 length error: len=%d\n",rtcm->len); return -1; } return 5; @@ -103,7 +103,7 @@ static int decode_type14(rtcm_t *rtcm) double zcnt; int i=48,week,hour,leaps; - trace(4,"decode_type14: len=%d\n",rtcm->len); + rtktrace(4,"decode_type14: len=%d\n",rtcm->len); zcnt=getbitu(rtcm->buff,24,13); if (i+24<=rtcm->len*8) { @@ -112,7 +112,7 @@ static int decode_type14(rtcm_t *rtcm) leaps=getbitu(rtcm->buff,i, 6); } else { - trace(2,"rtcm2 14 length error: len=%d\n",rtcm->len); + rtktrace(2,"rtcm2 14 length error: len=%d\n",rtcm->len); return -1; } week=adjgpsweek(week); @@ -125,14 +125,14 @@ static int decode_type16(rtcm_t *rtcm) { int i=48,n=0; - trace(4,"decode_type16: len=%d\n",rtcm->len); + rtktrace(4,"decode_type16: len=%d\n",rtcm->len); while (i+8<=rtcm->len*8&&n<90) { rtcm->msg[n++]=getbitu(rtcm->buff,i,8); i+=8; } rtcm->msg[n]='\0'; - trace(3,"rtcm2 16 message: %s\n",rtcm->msg); + rtktrace(3,"rtcm2 16 message: %s\n",rtcm->msg); return 9; } /* decode type 17: gps ephemerides -------------------------------------------*/ @@ -142,7 +142,7 @@ static int decode_type17(rtcm_t *rtcm) double toc,sqrtA; int i=48,week,prn,sat; - trace(4,"decode_type17: len=%d\n",rtcm->len); + rtktrace(4,"decode_type17: len=%d\n",rtcm->len); if (i+480<=rtcm->len*8) { week =getbitu(rtcm->buff,i,10); i+=10; @@ -176,7 +176,7 @@ static int decode_type17(rtcm_t *rtcm) eph.flag =getbitu(rtcm->buff,i, 1); } else { - trace(2,"rtcm2 17 length error: len=%d\n",rtcm->len); + rtktrace(2,"rtcm2 17 length error: len=%d\n",rtcm->len); return -1; } if (prn==0) prn=32; @@ -199,18 +199,18 @@ static int decode_type18(rtcm_t *rtcm) double usec,cp,tt; int i=48,index,freq,sync=1,code,sys,prn,sat,loss; - trace(4,"decode_type18: len=%d\n",rtcm->len); + rtktrace(4,"decode_type18: len=%d\n",rtcm->len); if (i+24<=rtcm->len*8) { freq=getbitu(rtcm->buff,i, 2); i+= 2+2; usec=getbitu(rtcm->buff,i,20); i+=20; } else { - trace(2,"rtcm2 18 length error: len=%d\n",rtcm->len); + rtktrace(2,"rtcm2 18 length error: len=%d\n",rtcm->len); return -1; } if (freq&0x1) { - trace(2,"rtcm2 18 not supported frequency: freq=%d\n",freq); + rtktrace(2,"rtcm2 18 not supported frequency: freq=%d\n",freq); return -1; } freq>>=1; @@ -224,7 +224,7 @@ static int decode_type18(rtcm_t *rtcm) cp =getbits(rtcm->buff,i,32); i+=32; if (prn==0) prn=32; if (!(sat=satno(sys?SYS_GLO:SYS_GPS,prn))) { - trace(2,"rtcm2 18 satellite number error: sys=%d prn=%d\n",sys,prn); + rtktrace(2,"rtcm2 18 satellite number error: sys=%d prn=%d\n",sys,prn); continue; } time=timeadd(rtcm->time,usec*1E-6); @@ -252,18 +252,18 @@ static int decode_type19(rtcm_t *rtcm) double usec,pr,tt; int i=48,index,freq,sync=1,code,sys,prn,sat; - trace(4,"decode_type19: len=%d\n",rtcm->len); + rtktrace(4,"decode_type19: len=%d\n",rtcm->len); if (i+24<=rtcm->len*8) { freq=getbitu(rtcm->buff,i, 2); i+= 2+2; usec=getbitu(rtcm->buff,i,20); i+=20; } else { - trace(2,"rtcm2 19 length error: len=%d\n",rtcm->len); + rtktrace(2,"rtcm2 19 length error: len=%d\n",rtcm->len); return -1; } if (freq&0x1) { - trace(2,"rtcm2 19 not supported frequency: freq=%d\n",freq); + rtktrace(2,"rtcm2 19 not supported frequency: freq=%d\n",freq); return -1; } freq>>=1; @@ -276,7 +276,7 @@ static int decode_type19(rtcm_t *rtcm) pr =getbitu(rtcm->buff,i,32); i+=32; if (prn==0) prn=32; if (!(sat=satno(sys?SYS_GLO:SYS_GPS,prn))) { - trace(2,"rtcm2 19 satellite number error: sys=%d prn=%d\n",sys,prn); + rtktrace(2,"rtcm2 19 satellite number error: sys=%d prn=%d\n",sys,prn); continue; } time=timeadd(rtcm->time,usec*1E-6); @@ -301,7 +301,7 @@ static int decode_type22(rtcm_t *rtcm) double del[2][3]={{0}},hgt=0.0; int i=48,j,noh; - trace(4,"decode_type22: len=%d\n",rtcm->len); + rtktrace(4,"decode_type22: len=%d\n",rtcm->len); if (i+24<=rtcm->len*8) { del[0][0]=getbits(rtcm->buff,i,8)/25600.0; i+=8; @@ -309,7 +309,7 @@ static int decode_type22(rtcm_t *rtcm) del[0][2]=getbits(rtcm->buff,i,8)/25600.0; i+=8; } else { - trace(2,"rtcm2 22 length error: len=%d\n",rtcm->len); + rtktrace(2,"rtcm2 22 length error: len=%d\n",rtcm->len); return -1; } if (i+24<=rtcm->len*8) { @@ -373,10 +373,10 @@ extern int decode_rtcm2(rtcm_t *rtcm) double zcnt; int staid,seqno,stah,ret=0,type=getbitu(rtcm->buff,8,6); - trace(3,"decode_rtcm2: type=%2d len=%3d\n",type,rtcm->len); + rtktrace(3,"decode_rtcm2: type=%2d len=%3d\n",type,rtcm->len); if ((zcnt=getbitu(rtcm->buff,24,13)*0.6)>=3600.0) { - trace(2,"rtcm2 modified z-count error: zcnt=%.1f\n",zcnt); + rtktrace(2,"rtcm2 modified z-count error: zcnt=%.1f\n",zcnt); return -1; } adjhour(rtcm,zcnt); @@ -384,7 +384,7 @@ extern int decode_rtcm2(rtcm_t *rtcm) seqno=getbitu(rtcm->buff,37, 3); stah =getbitu(rtcm->buff,45, 3); if (seqno-rtcm->seqno!=1&&seqno-rtcm->seqno!=-7) { - trace(2,"rtcm2 message outage: seqno=%d->%d\n",rtcm->seqno,seqno); + rtktrace(2,"rtcm2 message outage: seqno=%d->%d\n",rtcm->seqno,seqno); } rtcm->seqno=seqno; rtcm->stah =stah; @@ -395,12 +395,12 @@ extern int decode_rtcm2(rtcm_t *rtcm) } if (type==3||type==22||type==23||type==24) { if (rtcm->staid!=0&&staid!=rtcm->staid) { - trace(2,"rtcm2 station id changed: %d->%d\n",rtcm->staid,staid); + rtktrace(2,"rtcm2 station id changed: %d->%d\n",rtcm->staid,staid); } rtcm->staid=staid; } if (rtcm->staid!=0&&staid!=rtcm->staid) { - trace(2,"rtcm2 station id invalid: %d %d\n",staid,rtcm->staid); + rtktrace(2,"rtcm2 station id invalid: %d %d\n",staid,rtcm->staid); return -1; } switch (type) { diff --git a/src/rtcm3.c b/src/rtcm3.c index 1aa92989b..acca6f374 100644 --- a/src/rtcm3.c +++ b/src/rtcm3.c @@ -254,7 +254,7 @@ static int test_staid(rtcm_t *rtcm, int staid) } else if (staid!=rtcm->staid) { type=getbitu(rtcm->buff,24,12); - trace(2,"rtcm3 %d staid invalid id=%d %d\n",type,staid,rtcm->staid); + rtktrace(2,"rtcm3 %d staid invalid id=%d %d\n",type,staid,rtcm->staid); /* reset station id if station id error */ rtcm->staid=0; @@ -278,7 +278,7 @@ static int decode_head1001(rtcm_t *rtcm, int *sync) nsat =getbitu(rtcm->buff,i, 5); } else { - trace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); + rtktrace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); return -1; } /* test station ID */ @@ -287,7 +287,7 @@ static int decode_head1001(rtcm_t *rtcm, int *sync) adjweek(rtcm,tow); time2str(rtcm->time,tstr,2); - trace(4,"decode_head1001: time=%s nsat=%d sync=%d\n",tstr,nsat,*sync); + rtktrace(4,"decode_head1001: time=%s nsat=%d sync=%d\n",tstr,nsat,*sync); if (rtcm->outtype) { msg=rtcm->msgtype+strlen(rtcm->msgtype); @@ -326,7 +326,7 @@ static int decode_type1002(rtcm_t *rtcm) sys=SYS_SBS; prn+=80; } if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 1002 satellite number error: prn=%d\n",prn); + rtktrace(2,"rtcm3 1002 satellite number error: prn=%d\n",prn); continue; } tt=timediff(rtcm->obs.data[0].time,rtcm->time); @@ -385,7 +385,7 @@ static int decode_type1004(rtcm_t *rtcm) sys=SYS_SBS; prn+=80; } if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 1004 satellite number error: sys=%d prn=%d\n",sys,prn); + rtktrace(2,"rtcm3 1004 satellite number error: sys=%d prn=%d\n",sys,prn); continue; } tt=timediff(rtcm->obs.data[0].time,rtcm->time); @@ -438,7 +438,7 @@ static int decode_type1005(rtcm_t *rtcm) rr[2]=getbits_38(rtcm->buff,i); } else { - trace(2,"rtcm3 1005 length error: len=%d\n",rtcm->len); + rtktrace(2,"rtcm3 1005 length error: len=%d\n",rtcm->len); return -1; } if (rtcm->outtype) { @@ -477,7 +477,7 @@ static int decode_type1006(rtcm_t *rtcm) anth =getbitu(rtcm->buff,i,16); } else { - trace(2,"rtcm3 1006 length error: len=%d\n",rtcm->len); + rtktrace(2,"rtcm3 1006 length error: len=%d\n",rtcm->len); return -1; } if (rtcm->outtype) { @@ -517,7 +517,7 @@ static int decode_type1007(rtcm_t *rtcm) setup=getbitu(rtcm->buff,i, 8); } else { - trace(2,"rtcm3 1007 length error: len=%d\n",rtcm->len); + rtktrace(2,"rtcm3 1007 length error: len=%d\n",rtcm->len); return -1; } if (rtcm->outtype) { @@ -554,7 +554,7 @@ static int decode_type1008(rtcm_t *rtcm) } } else { - trace(2,"rtcm3 1008 length error: len=%d\n",rtcm->len); + rtktrace(2,"rtcm3 1008 length error: len=%d\n",rtcm->len); return -1; } if (rtcm->outtype) { @@ -586,7 +586,7 @@ static int decode_head1009(rtcm_t *rtcm, int *sync) nsat =getbitu(rtcm->buff,i, 5); } else { - trace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); + rtktrace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); return -1; } /* test station ID */ @@ -595,7 +595,7 @@ static int decode_head1009(rtcm_t *rtcm, int *sync) adjday_glot(rtcm,tod); time2str(rtcm->time,tstr,2); - trace(4,"decode_head1009: time=%s nsat=%d sync=%d\n",tstr,nsat,*sync); + rtktrace(4,"decode_head1009: time=%s nsat=%d sync=%d\n",tstr,nsat,*sync); if (rtcm->outtype) { msg=rtcm->msgtype+strlen(rtcm->msgtype); @@ -629,7 +629,7 @@ static int decode_type1010(rtcm_t *rtcm) amb =getbitu(rtcm->buff,i, 7); i+= 7; cnr1 =getbitu(rtcm->buff,i, 8); i+= 8; if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 1010 satellite number error: prn=%d\n",prn); + rtktrace(2,"rtcm3 1010 satellite number error: prn=%d\n",prn); continue; } if (!rtcm->nav.glo_fcn[prn-1]) { @@ -686,7 +686,7 @@ static int decode_type1012(rtcm_t *rtcm) lock2=getbitu(rtcm->buff,i, 7); i+= 7; cnr2 =getbitu(rtcm->buff,i, 8); i+= 8; if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 1012 satellite number error: sys=%d prn=%d\n",sys,prn); + rtktrace(2,"rtcm3 1012 satellite number error: sys=%d prn=%d\n",sys,prn); continue; } if (!rtcm->nav.glo_fcn[prn-1]) { @@ -770,13 +770,13 @@ static int decode_type1019(rtcm_t *rtcm) eph.fit =getbitu(rtcm->buff,i, 1)?0.0:4.0; /* 0:4hr,1:>4hr */ } else { - trace(2,"rtcm3 1019 length error: len=%d\n",rtcm->len); + rtktrace(2,"rtcm3 1019 length error: len=%d\n",rtcm->len); return -1; } if (prn>=40) { sys=SYS_SBS; prn+=80; } - trace(4,"decode_type1019: prn=%d iode=%d toe=%.0f\n",prn,eph.iode,eph.toes); + rtktrace(4,"decode_type1019: prn=%d iode=%d toe=%.0f\n",prn,eph.iode,eph.toes); if (rtcm->outtype) { msg=rtcm->msgtype+strlen(rtcm->msgtype); @@ -784,7 +784,7 @@ static int decode_type1019(rtcm_t *rtcm) prn,eph.iode,eph.iodc,week,eph.toes,toc,eph.svh); } if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 1019 satellite number error: prn=%d\n",prn); + rtktrace(2,"rtcm3 1019 satellite number error: prn=%d\n",prn); return -1; } eph.sat=sat; @@ -836,14 +836,14 @@ static int decode_type1020(rtcm_t *rtcm) geph.age =getbitu(rtcm->buff,i, 5); } else { - trace(2,"rtcm3 1020 length error: len=%d\n",rtcm->len); + rtktrace(2,"rtcm3 1020 length error: len=%d\n",rtcm->len); return -1; } if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 1020 satellite number error: prn=%d\n",prn); + rtktrace(2,"rtcm3 1020 satellite number error: prn=%d\n",prn); return -1; } - trace(4,"decode_type1020: prn=%d tk=%02.0f:%02.0f:%02.0f\n",prn,tk_h,tk_m,tk_s); + rtktrace(4,"decode_type1020: prn=%d tk=%02.0f:%02.0f:%02.0f\n",prn,tk_h,tk_m,tk_s); if (rtcm->outtype) { msg=rtcm->msgtype+strlen(rtcm->msgtype); @@ -877,43 +877,43 @@ static int decode_type1020(rtcm_t *rtcm) /* decode type 1021: helmert/abridged molodenski -----------------------------*/ static int decode_type1021(rtcm_t *rtcm) { - trace(2,"rtcm3 1021: not supported message\n"); + rtktrace(2,"rtcm3 1021: not supported message\n"); return 0; } /* decode type 1022: Moledenski-Badekas transfromation -----------------------*/ static int decode_type1022(rtcm_t *rtcm) { - trace(2,"rtcm3 1022: not supported message\n"); + rtktrace(2,"rtcm3 1022: not supported message\n"); return 0; } /* decode type 1023: residual, ellipsoidal grid representation ---------------*/ static int decode_type1023(rtcm_t *rtcm) { - trace(2,"rtcm3 1023: not supported message\n"); + rtktrace(2,"rtcm3 1023: not supported message\n"); return 0; } /* decode type 1024: residual, plane grid representation ---------------------*/ static int decode_type1024(rtcm_t *rtcm) { - trace(2,"rtcm3 1024: not supported message\n"); + rtktrace(2,"rtcm3 1024: not supported message\n"); return 0; } /* decode type 1025: projection (types except LCC2SP,OM) ---------------------*/ static int decode_type1025(rtcm_t *rtcm) { - trace(2,"rtcm3 1025: not supported message\n"); + rtktrace(2,"rtcm3 1025: not supported message\n"); return 0; } /* decode type 1026: projection (LCC2SP - lambert conic conformal (2sp)) -----*/ static int decode_type1026(rtcm_t *rtcm) { - trace(2,"rtcm3 1026: not supported message\n"); + rtktrace(2,"rtcm3 1026: not supported message\n"); return 0; } /* decode type 1027: projection (type OM - oblique mercator) -----------------*/ static int decode_type1027(rtcm_t *rtcm) { - trace(2,"rtcm3 1027: not supported message\n"); + rtktrace(2,"rtcm3 1027: not supported message\n"); return 0; } /* decode type 1029: UNICODE text string -------------------------------------*/ @@ -930,11 +930,11 @@ static int decode_type1029(rtcm_t *rtcm) cunit=getbitu(rtcm->buff,i, 8); i+= 8; } else { - trace(2,"rtcm3 1029 length error: len=%d\n",rtcm->len); + rtktrace(2,"rtcm3 1029 length error: len=%d\n",rtcm->len); return -1; } if (i+nchar*8>rtcm->len*8) { - trace(2,"rtcm3 1029 length error: len=%d nchar=%d\n",rtcm->len,nchar); + rtktrace(2,"rtcm3 1029 length error: len=%d nchar=%d\n",rtcm->len,nchar); return -1; } for (j=0;jlen); + rtktrace(2,"rtcm3 1033 length error: len=%d\n",rtcm->len); return -1; } if (rtcm->outtype) { @@ -1020,37 +1020,37 @@ static int decode_type1033(rtcm_t *rtcm) strncpy(rtcm->sta.recver, ver,n2); rtcm->sta.recver [n2]='\0'; strncpy(rtcm->sta.recsno, rsn,n3); rtcm->sta.recsno [n3]='\0'; - trace(3,"rtcm3 1033: ant=%s:%s rec=%s:%s:%s\n",des,sno,rec,ver,rsn); + rtktrace(3,"rtcm3 1033: ant=%s:%s rec=%s:%s:%s\n",des,sno,rec,ver,rsn); return 5; } /* decode type 1034: GPS network FKP gradient --------------------------------*/ static int decode_type1034(rtcm_t *rtcm) { - trace(2,"rtcm3 1034: not supported message\n"); + rtktrace(2,"rtcm3 1034: not supported message\n"); return 0; } /* decode type 1035: GLONASS network FKP gradient ----------------------------*/ static int decode_type1035(rtcm_t *rtcm) { - trace(2,"rtcm3 1035: not supported message\n"); + rtktrace(2,"rtcm3 1035: not supported message\n"); return 0; } /* decode type 1037: GLONASS network RTK ionospheric correction difference ---*/ static int decode_type1037(rtcm_t *rtcm) { - trace(2,"rtcm3 1037: not supported message\n"); + rtktrace(2,"rtcm3 1037: not supported message\n"); return 0; } /* decode type 1038: GLONASS network RTK geometic correction difference ------*/ static int decode_type1038(rtcm_t *rtcm) { - trace(2,"rtcm3 1038: not supported message\n"); + rtktrace(2,"rtcm3 1038: not supported message\n"); return 0; } /* decode type 1039: GLONASS network RTK combined correction difference ------*/ static int decode_type1039(rtcm_t *rtcm) { - trace(2,"rtcm3 1039: not supported message\n"); + rtktrace(2,"rtcm3 1039: not supported message\n"); return 0; } /* decode type 1041: NavIC/IRNSS ephemerides ---------------------------------*/ @@ -1090,10 +1090,10 @@ static int decode_type1041(rtcm_t *rtcm) eph.i0 =getbits(rtcm->buff,i,32)*P2_31*SC2RAD; } else { - trace(2,"rtcm3 1041 length error: len=%d\n",rtcm->len); + rtktrace(2,"rtcm3 1041 length error: len=%d\n",rtcm->len); return -1; } - trace(4,"decode_type1041: prn=%d iode=%d toe=%.0f\n",prn,eph.iode,eph.toes); + rtktrace(4,"decode_type1041: prn=%d iode=%d toe=%.0f\n",prn,eph.iode,eph.toes); if (rtcm->outtype) { msg=rtcm->msgtype+strlen(rtcm->msgtype); @@ -1101,7 +1101,7 @@ static int decode_type1041(rtcm_t *rtcm) prn,eph.iode,week,eph.toes,toc,eph.svh); } if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 1041 satellite number error: prn=%d\n",prn); + rtktrace(2,"rtcm3 1041 satellite number error: prn=%d\n",prn); return -1; } eph.sat=sat; @@ -1163,10 +1163,10 @@ static int decode_type1044(rtcm_t *rtcm) eph.fit =getbitu(rtcm->buff,i, 1)?0.0:2.0; /* 0:2hr,1:>2hr */ } else { - trace(2,"rtcm3 1044 length error: len=%d\n",rtcm->len); + rtktrace(2,"rtcm3 1044 length error: len=%d\n",rtcm->len); return -1; } - trace(4,"decode_type1044: prn=%d iode=%d toe=%.0f\n",prn,eph.iode,eph.toes); + rtktrace(4,"decode_type1044: prn=%d iode=%d toe=%.0f\n",prn,eph.iode,eph.toes); if (rtcm->outtype) { msg=rtcm->msgtype+strlen(rtcm->msgtype); @@ -1174,7 +1174,7 @@ static int decode_type1044(rtcm_t *rtcm) prn,eph.iode,eph.iodc,week,eph.toes,toc,eph.svh); } if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 1044 satellite number error: prn=%d\n",prn); + rtktrace(2,"rtcm3 1044 satellite number error: prn=%d\n",prn); return -1; } eph.sat=sat; @@ -1238,10 +1238,10 @@ static int decode_type1045(rtcm_t *rtcm) rsv =getbitu(rtcm->buff,i, 7); } else { - trace(2,"rtcm3 1045 length error: len=%d\n",rtcm->len); + rtktrace(2,"rtcm3 1045 length error: len=%d\n",rtcm->len); return -1; } - trace(4,"decode_type1045: prn=%d iode=%d toe=%.0f\n",prn,eph.iode,eph.toes); + rtktrace(4,"decode_type1045: prn=%d iode=%d toe=%.0f\n",prn,eph.iode,eph.toes); if (rtcm->outtype) { msg=rtcm->msgtype+strlen(rtcm->msgtype); @@ -1249,7 +1249,7 @@ static int decode_type1045(rtcm_t *rtcm) prn,eph.iode,week,eph.toes,toc,e5a_hs,e5a_dvs); } if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 1045 satellite number error: prn=%d\n",prn); + rtktrace(2,"rtcm3 1045 satellite number error: prn=%d\n",prn); return -1; } if (strstr(rtcm->opt,"-GALINAV")) { @@ -1319,10 +1319,10 @@ static int decode_type1046(rtcm_t *rtcm) e1_dvs =getbitu(rtcm->buff,i, 1); i+= 1; /* E1 OSDVS */ } else { - trace(2,"rtcm3 1046 length error: len=%d\n",rtcm->len); + rtktrace(2,"rtcm3 1046 length error: len=%d\n",rtcm->len); return -1; } - trace(4,"decode_type1046: prn=%d iode=%d toe=%.0f\n",prn,eph.iode,eph.toes); + rtktrace(4,"decode_type1046: prn=%d iode=%d toe=%.0f\n",prn,eph.iode,eph.toes); if (rtcm->outtype) { msg=rtcm->msgtype+strlen(rtcm->msgtype); @@ -1330,7 +1330,7 @@ static int decode_type1046(rtcm_t *rtcm) prn,eph.iode,week,eph.toes,toc,e5b_hs,e1_hs,e5b_dvs,e1_dvs); } if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 1046 satellite number error: prn=%d\n",prn); + rtktrace(2,"rtcm3 1046 satellite number error: prn=%d\n",prn); return -1; } if (strstr(rtcm->opt,"-GALFNAV")) { @@ -1396,10 +1396,10 @@ static int decode_type1042(rtcm_t *rtcm) eph.svh =getbitu(rtcm->buff,i, 1); i+= 1; } else { - trace(2,"rtcm3 1042 length error: len=%d\n",rtcm->len); + rtktrace(2,"rtcm3 1042 length error: len=%d\n",rtcm->len); return -1; } - trace(4,"decode_type1042: prn=%d iode=%d toe=%.0f\n",prn,eph.iode,eph.toes); + rtktrace(4,"decode_type1042: prn=%d iode=%d toe=%.0f\n",prn,eph.iode,eph.toes); if (rtcm->outtype) { msg=rtcm->msgtype+strlen(rtcm->msgtype); @@ -1407,7 +1407,7 @@ static int decode_type1042(rtcm_t *rtcm) prn,eph.iode,eph.iodc,week,eph.toes,toc,eph.svh); } if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 1042 satellite number error: prn=%d\n",prn); + rtktrace(2,"rtcm3 1042 satellite number error: prn=%d\n",prn); return -1; } eph.sat=sat; @@ -1485,7 +1485,7 @@ static int decode_ssr1_head(rtcm_t *rtcm, int sys, int subtype, int *sync, *udint=ssrudint[udi]; time2str(rtcm->time,tstr,2); - trace(4,"decode_ssr1_head: time=%s sys=%d subtype=%d nsat=%d sync=%d iod=%d" + rtktrace(4,"decode_ssr1_head: time=%s sys=%d subtype=%d nsat=%d sync=%d iod=%d" " provid=%d solid=%d\n",tstr,sys,subtype,nsat,*sync,*iod,provid,solid); if (rtcm->outtype) { @@ -1521,7 +1521,7 @@ static int decode_ssr2_head(rtcm_t *rtcm, int sys, int subtype, int *sync, *udint=ssrudint[udi]; time2str(rtcm->time,tstr,2); - trace(4,"decode_ssr2_head: time=%s sys=%d subtype=%d nsat=%d sync=%d iod=%d" + rtktrace(4,"decode_ssr2_head: time=%s sys=%d subtype=%d nsat=%d sync=%d iod=%d" " provid=%d solid=%d\n",tstr,sys,subtype,nsat,*sync,*iod,provid,solid); if (rtcm->outtype) { @@ -1541,7 +1541,7 @@ static int decode_ssr1(rtcm_t *rtcm, int sys, int subtype) type=getbitu(rtcm->buff,24,12); if ((nsat=decode_ssr1_head(rtcm,sys,subtype,&sync,&iod,&udint,&refd,&i))<0) { - trace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); + rtktrace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); return -1; } switch (sys) { @@ -1570,7 +1570,7 @@ static int decode_ssr1(rtcm_t *rtcm, int sys, int subtype) ddeph[2]=getbits(rtcm->buff,i,19)*4E-6; i+=19; if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 %d satellite number error: prn=%d\n",type,prn); + rtktrace(2,"rtcm3 %d satellite number error: prn=%d\n",type,prn); continue; } rtcm->ssr[sat-1].t0 [0]=rtcm->time; @@ -1597,7 +1597,7 @@ static int decode_ssr2(rtcm_t *rtcm, int sys, int subtype) type=getbitu(rtcm->buff,24,12); if ((nsat=decode_ssr2_head(rtcm,sys,subtype,&sync,&iod,&udint,&i))<0) { - trace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); + rtktrace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); return -1; } switch (sys) { @@ -1621,7 +1621,7 @@ static int decode_ssr2(rtcm_t *rtcm, int sys, int subtype) dclk[2]=getbits(rtcm->buff,i,27)*2E-8; i+=27; if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 %d satellite number error: prn=%d\n",type,prn); + rtktrace(2,"rtcm3 %d satellite number error: prn=%d\n",type,prn); continue; } rtcm->ssr[sat-1].t0 [1]=rtcm->time; @@ -1645,7 +1645,7 @@ static int decode_ssr3(rtcm_t *rtcm, int sys, int subtype) type=getbitu(rtcm->buff,24,12); if ((nsat=decode_ssr2_head(rtcm,sys,subtype,&sync,&iod,&udint,&i))<0) { - trace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); + rtktrace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); return -1; } switch (sys) { @@ -1674,11 +1674,11 @@ static int decode_ssr3(rtcm_t *rtcm, int sys, int subtype) cbias[sigs[mode]-1]=(float)bias; } else { - trace(2,"rtcm3 %d not supported mode: mode=%d\n",type,mode); + rtktrace(2,"rtcm3 %d not supported mode: mode=%d\n",type,mode); } } if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 %d satellite number error: prn=%d\n",type,prn); + rtktrace(2,"rtcm3 %d satellite number error: prn=%d\n",type,prn); continue; } rtcm->ssr[sat-1].t0 [4]=rtcm->time; @@ -1701,7 +1701,7 @@ static int decode_ssr4(rtcm_t *rtcm, int sys, int subtype) type=getbitu(rtcm->buff,24,12); if ((nsat=decode_ssr1_head(rtcm,sys,subtype,&sync,&iod,&udint,&refd,&i))<0) { - trace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); + rtktrace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); return -1; } switch (sys) { @@ -1734,7 +1734,7 @@ static int decode_ssr4(rtcm_t *rtcm, int sys, int subtype) dclk [2]=getbits(rtcm->buff,i,27)*2E-8; i+=27; if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 %d satellite number error: prn=%d\n",type,prn); + rtktrace(2,"rtcm3 %d satellite number error: prn=%d\n",type,prn); continue; } rtcm->ssr[sat-1].t0 [0]=rtcm->ssr[sat-1].t0 [1]=rtcm->time; @@ -1762,7 +1762,7 @@ static int decode_ssr5(rtcm_t *rtcm, int sys, int subtype) type=getbitu(rtcm->buff,24,12); if ((nsat=decode_ssr2_head(rtcm,sys,subtype,&sync,&iod,&udint,&i))<0) { - trace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); + rtktrace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); return -1; } switch (sys) { @@ -1784,7 +1784,7 @@ static int decode_ssr5(rtcm_t *rtcm, int sys, int subtype) ura=getbitu(rtcm->buff,i, 6); i+= 6; if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 %d satellite number error: prn=%d\n",type,prn); + rtktrace(2,"rtcm3 %d satellite number error: prn=%d\n",type,prn); continue; } rtcm->ssr[sat-1].t0 [3]=rtcm->time; @@ -1804,7 +1804,7 @@ static int decode_ssr6(rtcm_t *rtcm, int sys, int subtype) type=getbitu(rtcm->buff,24,12); if ((nsat=decode_ssr2_head(rtcm,sys,subtype,&sync,&iod,&udint,&i))<0) { - trace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); + rtktrace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); return -1; } switch (sys) { @@ -1826,7 +1826,7 @@ static int decode_ssr6(rtcm_t *rtcm, int sys, int subtype) hrclk=getbits(rtcm->buff,i,22)*1E-4; i+=22; if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 %d satellite number error: prn=%d\n",type,prn); + rtktrace(2,"rtcm3 %d satellite number error: prn=%d\n",type,prn); continue; } rtcm->ssr[sat-1].t0 [2]=rtcm->time; @@ -1865,7 +1865,7 @@ static int decode_ssr7_head(rtcm_t *rtcm, int sys, int subtype, int *sync, *udint=ssrudint[udi]; time2str(rtcm->time,tstr,2); - trace(4,"decode_ssr7_head: time=%s sys=%d subtype=%d nsat=%d sync=%d iod=%d" + rtktrace(4,"decode_ssr7_head: time=%s sys=%d subtype=%d nsat=%d sync=%d iod=%d" " provid=%d solid=%d\n",tstr,sys,subtype,nsat,*sync,*iod,provid,solid); if (rtcm->outtype) { @@ -1888,7 +1888,7 @@ static int decode_ssr7(rtcm_t *rtcm, int sys, int subtype) if ((nsat=decode_ssr7_head(rtcm,sys,subtype,&sync,&iod,&udint,&dispe,&mw, &i))<0) { - trace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); + rtktrace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); return -1; } switch (sys) { @@ -1925,11 +1925,11 @@ static int decode_ssr7(rtcm_t *rtcm, int sys, int subtype) stdpb[sigs[mode]-1]=std *0.0001; /* (m) */ } else { - trace(2,"rtcm3 %d not supported mode: mode=%d\n",type,mode); + rtktrace(2,"rtcm3 %d not supported mode: mode=%d\n",type,mode); } } if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 %d satellite number error: prn=%d\n",type,prn); + rtktrace(2,"rtcm3 %d satellite number error: prn=%d\n",type,prn); continue; } rtcm->ssr[sat-1].t0 [5]=rtcm->time; @@ -1975,11 +1975,11 @@ static void sigindex(int sys, const uint8_t *code, int n, const char *opt, if (ex[i]==0) ; else if (nexsigs[i],insig-1?",":""); - trace(2,"rtcm3 %d: unknown signal id=%2d\n",type,h->sigs[i]); + rtktrace(2,"rtcm3 %d: unknown signal id=%2d\n",type,h->sigs[i]); } } - trace(3,"rtcm3 %d: signals=%s\n",type,msm_type); + rtktrace(3,"rtcm3 %d: signals=%s\n",type,msm_type); /* get signal index */ sigindex(sys,code,h->nsig,rtcm->opt,idx); @@ -2050,7 +2050,7 @@ static void save_msm_obs(rtcm_t *rtcm, int sys, msm_h_t *h, const double *r, index=obsindex(&rtcm->obs,rtcm->time,sat); } else { - trace(2,"rtcm3 %d satellite error: prn=%d\n",type,prn); + rtktrace(2,"rtcm3 %d satellite error: prn=%d\n",type,prn); } fcn=0; if (sys==SYS_GLO) { @@ -2142,19 +2142,19 @@ static int decode_msm_head(rtcm_t *rtcm, int sys, int *sync, int *iod, } } else { - trace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); + rtktrace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); return -1; } /* test station id */ if (!test_staid(rtcm,staid)) return -1; if (h->nsat*h->nsig>64) { - trace(2,"rtcm3 %d number of sats and sigs error: nsat=%d nsig=%d\n", + rtktrace(2,"rtcm3 %d number of sats and sigs error: nsat=%d nsig=%d\n", type,h->nsat,h->nsig); return -1; } if (i+h->nsat*h->nsig>rtcm->len*8) { - trace(2,"rtcm3 %d length error: len=%d nsat=%d nsig=%d\n",type, + rtktrace(2,"rtcm3 %d length error: len=%d nsat=%d nsig=%d\n",type, rtcm->len,h->nsat,h->nsig); return -1; } @@ -2165,7 +2165,7 @@ static int decode_msm_head(rtcm_t *rtcm, int sys, int *sync, int *iod, *hsize=i; time2str(rtcm->time,tstr,2); - trace(4,"decode_head_msm: time=%s sys=%d staid=%d nsat=%d nsig=%d sync=%d iod=%d ncell=%d\n", + rtktrace(4,"decode_head_msm: time=%s sys=%d staid=%d nsat=%d nsig=%d sync=%d iod=%d ncell=%d\n", tstr,sys,staid,h->nsat,h->nsig,*sync,*iod,ncell); if (rtcm->outtype) { @@ -2197,7 +2197,7 @@ static int decode_msm4(rtcm_t *rtcm, int sys) if ((ncell=decode_msm_head(rtcm,sys,&sync,&iod,&h,&i))<0) return -1; if (i+h.nsat*18+ncell*48>rtcm->len*8) { - trace(2,"rtcm3 %d length error: nsat=%d ncell=%d len=%d\n",type,h.nsat, + rtktrace(2,"rtcm3 %d length error: nsat=%d ncell=%d len=%d\n",type,h.nsat, ncell,rtcm->len); return -1; } @@ -2251,7 +2251,7 @@ static int decode_msm5(rtcm_t *rtcm, int sys) if ((ncell=decode_msm_head(rtcm,sys,&sync,&iod,&h,&i))<0) return -1; if (i+h.nsat*36+ncell*63>rtcm->len*8) { - trace(2,"rtcm3 %d length error: nsat=%d ncell=%d len=%d\n",type,h.nsat, + rtktrace(2,"rtcm3 %d length error: nsat=%d ncell=%d len=%d\n",type,h.nsat, ncell,rtcm->len); return -1; } @@ -2317,7 +2317,7 @@ static int decode_msm6(rtcm_t *rtcm, int sys) if ((ncell=decode_msm_head(rtcm,sys,&sync,&iod,&h,&i))<0) return -1; if (i+h.nsat*18+ncell*65>rtcm->len*8) { - trace(2,"rtcm3 %d length error: nsat=%d ncell=%d len=%d\n",type,h.nsat, + rtktrace(2,"rtcm3 %d length error: nsat=%d ncell=%d len=%d\n",type,h.nsat, ncell,rtcm->len); return -1; } @@ -2371,7 +2371,7 @@ static int decode_msm7(rtcm_t *rtcm, int sys) if ((ncell=decode_msm_head(rtcm,sys,&sync,&iod,&h,&i))<0) return -1; if (i+h.nsat*36+ncell*80>rtcm->len*8) { - trace(2,"rtcm3 %d length error: nsat=%d ncell=%d len=%d\n",type,h.nsat, + rtktrace(2,"rtcm3 %d length error: nsat=%d ncell=%d len=%d\n",type,h.nsat, ncell,rtcm->len); return -1; } @@ -2430,7 +2430,7 @@ static int decode_type1230(rtcm_t *rtcm) int i=24+12,j,staid,align,mask,bias; if (i+20>=rtcm->len*8) { - trace(2,"rtcm3 1230: length error len=%d\n",rtcm->len); + rtktrace(2,"rtcm3 1230: length error len=%d\n",rtcm->len); return -1; } staid=getbitu(rtcm->buff,i,12); i+=12; @@ -2467,7 +2467,7 @@ static int decode_type4073(rtcm_t *rtcm) if (rtcm->outtype) { sprintf(rtcm->msgtype+strlen(rtcm->msgtype)," subtype=%d",subtype); } - trace(2,"rtcm3 4073: unsupported message subtype=%d\n",subtype); + rtktrace(2,"rtcm3 4073: unsupported message subtype=%d\n",subtype); return 0; } /* decode type 4076: proprietary message IGS ---------------------------------*/ @@ -2476,7 +2476,7 @@ static int decode_type4076(rtcm_t *rtcm) int i=24+12,ver,subtype; if (i+3+8>=rtcm->len*8) { - trace(2,"rtcm3 4076: length error len=%d\n",rtcm->len); + rtktrace(2,"rtcm3 4076: length error len=%d\n",rtcm->len); return -1; } ver =getbitu(rtcm->buff,i,3); i+=3; @@ -2530,7 +2530,7 @@ static int decode_type4076(rtcm_t *rtcm) case 126: return decode_ssr7(rtcm,SYS_SBS,subtype); case 127: return decode_ssr5(rtcm,SYS_SBS,subtype); } - trace(2,"rtcm3 4076: unsupported message subtype=%d\n",subtype); + rtktrace(2,"rtcm3 4076: unsupported message subtype=%d\n",subtype); return 0; } /* decode RTCM ver.3 message -------------------------------------------------*/ @@ -2539,7 +2539,7 @@ extern int decode_rtcm3(rtcm_t *rtcm) double tow; int ret=0,type=getbitu(rtcm->buff,24,12),week; - trace(3,"decode_rtcm3: len=%3d type=%d\n",rtcm->len,type); + rtktrace(3,"decode_rtcm3: len=%3d type=%d\n",rtcm->len,type); if (rtcm->outtype) { sprintf(rtcm->msgtype,"RTCM %4d (%4d):",type,rtcm->len); diff --git a/src/rtcm3e.c b/src/rtcm3e.c index 9d0b44de5..8f4518744 100644 --- a/src/rtcm3e.c +++ b/src/rtcm3e.c @@ -339,7 +339,7 @@ static int encode_head(int type, rtcm_t *rtcm, int sys, int sync, int nsat) double tow; int i=24,week,epoch; - trace(4,"encode_head: type=%d sync=%d sys=%d nsat=%d\n",type,sync,sys,nsat); + rtktrace(4,"encode_head: type=%d sync=%d sys=%d nsat=%d\n",type,sync,sys,nsat); setbitu(rtcm->buff,i,12,type ); i+=12; /* message no */ setbitu(rtcm->buff,i,12,rtcm->staid); i+=12; /* ref station id */ @@ -366,7 +366,7 @@ static int encode_type1001(rtcm_t *rtcm, int sync) int i,j,nsat=0,sys,prn; int code1,pr1,ppr1,lock1,amb; - trace(3,"encode_type1001: sync=%d\n",sync); + rtktrace(3,"encode_type1001: sync=%d\n",sync); for (j=0;jobs.n&&nsatobs.data[j].sat,&prn); @@ -401,7 +401,7 @@ static int encode_type1002(rtcm_t *rtcm, int sync) int i,j,nsat=0,sys,prn; int code1,pr1,ppr1,lock1,amb,cnr1; - trace(3,"encode_type1002: sync=%d\n",sync); + rtktrace(3,"encode_type1002: sync=%d\n",sync); for (j=0;jobs.n&&nsatobs.data[j].sat,&prn); @@ -438,7 +438,7 @@ static int encode_type1003(rtcm_t *rtcm, int sync) int i,j,nsat=0,sys,prn; int code1,pr1,ppr1,lock1,amb,code2,pr21,ppr2,lock2; - trace(3,"encode_type1003: sync=%d\n",sync); + rtktrace(3,"encode_type1003: sync=%d\n",sync); for (j=0;jobs.n&&nsatobs.data[j].sat,&prn); @@ -477,7 +477,7 @@ static int encode_type1004(rtcm_t *rtcm, int sync) int i,j,nsat=0,sys,prn; int code1,pr1,ppr1,lock1,amb,cnr1,code2,pr21,ppr2,lock2,cnr2; - trace(3,"encode_type1004: sync=%d\n",sync); + rtktrace(3,"encode_type1004: sync=%d\n",sync); for (j=0;jobs.n&&nsatobs.data[j].sat,&prn); @@ -519,7 +519,7 @@ static int encode_type1005(rtcm_t *rtcm, int sync) double *p=rtcm->sta.pos; int i=24; - trace(3,"encode_type1005: sync=%d\n",sync); + rtktrace(3,"encode_type1005: sync=%d\n",sync); setbitu(rtcm->buff,i,12,1005 ); i+=12; /* message no */ setbitu(rtcm->buff,i,12,rtcm->staid); i+=12; /* ref station id */ @@ -543,13 +543,13 @@ static int encode_type1006(rtcm_t *rtcm, int sync) double *p=rtcm->sta.pos; int i=24,hgt=0; - trace(3,"encode_type1006: sync=%d\n",sync); + rtktrace(3,"encode_type1006: sync=%d\n",sync); if (0.0<=rtcm->sta.hgt&&rtcm->sta.hgt<=6.5535) { hgt=ROUND(rtcm->sta.hgt/0.0001); } else { - trace(2,"antenna height error: h=%.4f\n",rtcm->sta.hgt); + rtktrace(2,"antenna height error: h=%.4f\n",rtcm->sta.hgt); } setbitu(rtcm->buff,i,12,1006 ); i+=12; /* message no */ setbitu(rtcm->buff,i,12,rtcm->staid); i+=12; /* ref station id */ @@ -574,7 +574,7 @@ static int encode_type1007(rtcm_t *rtcm, int sync) int i=24,j,antsetup=rtcm->sta.antsetup; int n=MIN(strlen(rtcm->sta.antdes),31); - trace(3,"encode_type1007: sync=%d\n",sync); + rtktrace(3,"encode_type1007: sync=%d\n",sync); setbitu(rtcm->buff,i,12,1007 ); i+=12; /* message no */ setbitu(rtcm->buff,i,12,rtcm->staid); i+=12; /* ref station id */ @@ -595,7 +595,7 @@ static int encode_type1008(rtcm_t *rtcm, int sync) int n=MIN(strlen(rtcm->sta.antdes),31); int m=MIN(strlen(rtcm->sta.antsno),31); - trace(3,"encode_type1008: sync=%d\n",sync); + rtktrace(3,"encode_type1008: sync=%d\n",sync); setbitu(rtcm->buff,i,12,1008 ); i+=12; /* message no */ setbitu(rtcm->buff,i,12,rtcm->staid); i+=12; /* ref station id */ @@ -655,7 +655,7 @@ static int encode_type1010(rtcm_t *rtcm, int sync) int i,j,nsat=0,sat,prn,fcn; int code1,pr1,ppr1,lock1,amb,cnr1; - trace(3,"encode_type1010: sync=%d\n",sync); + rtktrace(3,"encode_type1010: sync=%d\n",sync); for (j=0;jobs.n&&nsatobs.data[j].sat; @@ -693,7 +693,7 @@ static int encode_type1011(rtcm_t *rtcm, int sync) int i,j,nsat=0,sat,prn,fcn; int code1,pr1,ppr1,lock1,amb,code2,pr21,ppr2,lock2; - trace(3,"encode_type1011: sync=%d\n",sync); + rtktrace(3,"encode_type1011: sync=%d\n",sync); for (j=0;jobs.n&&nsatobs.data[j].sat; @@ -733,7 +733,7 @@ static int encode_type1012(rtcm_t *rtcm, int sync) int i,j,nsat=0,sat,prn,fcn; int code1,pr1,ppr1,lock1,amb,cnr1,code2,pr21,ppr2,lock2,cnr2; - trace(3,"encode_type1012: sync=%d\n",sync); + rtktrace(3,"encode_type1012: sync=%d\n",sync); for (j=0;jobs.n&&nsatobs.data[j].sat; @@ -778,7 +778,7 @@ static int encode_type1019(rtcm_t *rtcm, int sync) int i=24,prn,week,toe,toc,i0,OMG0,omg,M0,deln,idot,OMGd,crs,crc; int cus,cuc,cis,cic,af0,af1,af2,tgd; - trace(3,"encode_type1019: sync=%d\n",sync); + rtktrace(3,"encode_type1019: sync=%d\n",sync); if (satsys(rtcm->ephsat,&prn)!=SYS_GPS) return 0; eph=rtcm->nav.eph+rtcm->ephsat-1; @@ -849,7 +849,7 @@ static int encode_type1020(rtcm_t *rtcm, int sync) int i=24,j,prn,tk_h,tk_m,tk_s,tb,pos[3],vel[3],acc[3],gamn,taun,dtaun; int fcn,NT; - trace(3,"encode_type1020: sync=%d\n",sync); + rtktrace(3,"encode_type1020: sync=%d\n",sync); if (satsys(rtcm->ephsat,&prn)!=SYS_GLO) return 0; geph=rtcm->nav.geph+prn-1; @@ -931,7 +931,7 @@ static int encode_type1033(rtcm_t *rtcm, int sync) int J=MIN(strlen(rtcm->sta.recver ),31); int K=MIN(strlen(rtcm->sta.recsno ),31); - trace(3,"encode_type1033: sync=%d\n",sync); + rtktrace(3,"encode_type1033: sync=%d\n",sync); setbitu(rtcm->buff,i,12,1033 ); i+=12; setbitu(rtcm->buff,i,12,rtcm->staid); i+=12; @@ -969,7 +969,7 @@ static int encode_type1041(rtcm_t *rtcm, int sync) int i=24,prn,week,toe,toc,i0,OMG0,omg,M0,deln,idot,OMGd,crs,crc; int cus,cuc,cis,cic,af0,af1,af2,tgd; - trace(3,"encode_type1041: sync=%d\n",sync); + rtktrace(3,"encode_type1041: sync=%d\n",sync); if (satsys(rtcm->ephsat,&prn)!=SYS_IRN) return 0; eph=rtcm->nav.eph+rtcm->ephsat-1; @@ -1035,7 +1035,7 @@ static int encode_type1044(rtcm_t *rtcm, int sync) int i=24,prn,week,toe,toc,i0,OMG0,omg,M0,deln,idot,OMGd,crs,crc; int cus,cuc,cis,cic,af0,af1,af2,tgd; - trace(3,"encode_type1044: sync=%d\n",sync); + rtktrace(3,"encode_type1044: sync=%d\n",sync); if (satsys(rtcm->ephsat,&prn)!=SYS_QZS) return 0; eph=rtcm->nav.eph+rtcm->ephsat-1; @@ -1104,7 +1104,7 @@ static int encode_type1045(rtcm_t *rtcm, int sync) int i=24,prn,week,toe,toc,i0,OMG0,omg,M0,deln,idot,OMGd,crs,crc; int cus,cuc,cis,cic,af0,af1,af2,bgd1,bgd2,oshs,osdvs; - trace(3,"encode_type1045: sync=%d\n",sync); + rtktrace(3,"encode_type1045: sync=%d\n",sync); if (satsys(rtcm->ephsat,&prn)!=SYS_GAL) return 0; eph=rtcm->nav.eph+rtcm->ephsat-1+MAXSAT; /* F/NAV */ @@ -1174,7 +1174,7 @@ static int encode_type1046(rtcm_t *rtcm, int sync) int i=24,prn,week,toe,toc,i0,OMG0,omg,M0,deln,idot,OMGd,crs,crc; int cus,cuc,cis,cic,af0,af1,af2,bgd1,bgd2,oshs1,osdvs1,oshs2,osdvs2; - trace(3,"encode_type1046: sync=%d\n",sync); + rtktrace(3,"encode_type1046: sync=%d\n",sync); if (satsys(rtcm->ephsat,&prn)!=SYS_GAL) return 0; eph=rtcm->nav.eph+rtcm->ephsat-1; /* I/NAV */ @@ -1248,7 +1248,7 @@ static int encode_type1042(rtcm_t *rtcm, int sync) int i=24,prn,week,toe,toc,i0,OMG0,omg,M0,deln,idot,OMGd,crs,crc; int cus,cuc,cis,cic,af0,af1,af2,tgd1,tgd2; - trace(3,"encode_type1042: sync=%d\n",sync); + rtktrace(3,"encode_type1042: sync=%d\n",sync); if (satsys(rtcm->ephsat,&prn)!=SYS_CMP) return 0; eph=rtcm->nav.eph+rtcm->ephsat-1; @@ -1317,7 +1317,7 @@ static int encode_type63(rtcm_t *rtcm, int sync) int i=24,prn,week,toe,toc,i0,OMG0,omg,M0,deln,idot,OMGd,crs,crc; int cus,cuc,cis,cic,af0,af1,af2,tgd1,tgd2; - trace(3,"encode_type63: sync=%d\n",sync); + rtktrace(3,"encode_type63: sync=%d\n",sync); if (satsys(rtcm->ephsat,&prn)!=SYS_CMP) return 0; eph=rtcm->nav.eph+rtcm->ephsat-1; @@ -1386,7 +1386,7 @@ static int encode_ssr_head(int type, rtcm_t *rtcm, int sys, int subtype, double tow; int i=24,msgno,epoch,week,udi,ns; - trace(4,"encode_ssr_head: type=%d sys=%d subtype=%d nsat=%d sync=%d iod=%d " + rtktrace(4,"encode_ssr_head: type=%d sys=%d subtype=%d nsat=%d sync=%d iod=%d " "udint=%.0f\n",type,sys,subtype,nsat,sync,iod,udint); if (subtype==0) { /* RTCM SSR */ @@ -1479,7 +1479,7 @@ static int encode_ssr1(rtcm_t *rtcm, int sys, int subtype, int sync) double udint=0.0; int i,j,iod=0,nsat,prn,iode,iodcrc,refd=0,np,ni,nj,offp,deph[3],ddeph[3]; - trace(3,"encode_ssr1: sys=%d subtype=%d sync=%d\n",sys,subtype,sync); + rtktrace(3,"encode_ssr1: sys=%d subtype=%d sync=%d\n",sys,subtype,sync); switch (sys) { case SYS_GPS: np=6; ni= 8; nj= 0; offp= 0; break; @@ -1541,7 +1541,7 @@ static int encode_ssr2(rtcm_t *rtcm, int sys, int subtype, int sync) double udint=0.0; int i,j,iod=0,nsat,prn,np,offp,dclk[3]; - trace(3,"encode_ssr2: sys=%d subtype=%d sync=%d\n",sys,subtype,sync); + rtktrace(3,"encode_ssr2: sys=%d subtype=%d sync=%d\n",sys,subtype,sync); switch (sys) { case SYS_GPS: np=6; offp= 0; break; @@ -1590,7 +1590,7 @@ static int encode_ssr3(rtcm_t *rtcm, int sys, int subtype, int sync) int i,j,k,iod=0,nsat,prn,nbias,np,offp; int code[MAXCODE],bias[MAXCODE]; - trace(3,"encode_ssr3: sys=%d subtype=%d sync=%d\n",sys,subtype,sync); + rtktrace(3,"encode_ssr3: sys=%d subtype=%d sync=%d\n",sys,subtype,sync); switch (sys) { case SYS_GPS: np=6; offp= 0; codes=codes_gps; break; @@ -1642,7 +1642,7 @@ static int encode_ssr4(rtcm_t *rtcm, int sys, int subtype, int sync) int i,j,iod=0,nsat,prn,iode,iodcrc,refd=0,np,ni,nj,offp; int deph[3],ddeph[3],dclk[3]; - trace(3,"encode_ssr4: sys=%d subtype=%d sync=%d\n",sys,subtype,sync); + rtktrace(3,"encode_ssr4: sys=%d subtype=%d sync=%d\n",sys,subtype,sync); switch (sys) { case SYS_GPS: np=6; ni= 8; nj= 0; offp= 0; break; @@ -1710,7 +1710,7 @@ static int encode_ssr5(rtcm_t *rtcm, int sys, int subtype, int sync) double udint=0.0; int i,j,nsat,iod=0,prn,ura,np,offp; - trace(3,"encode_ssr5: sys=%d subtype=%d sync=%d\n",sys,subtype,sync); + rtktrace(3,"encode_ssr5: sys=%d subtype=%d sync=%d\n",sys,subtype,sync); switch (sys) { case SYS_GPS: np=6; offp= 0; break; @@ -1752,7 +1752,7 @@ static int encode_ssr6(rtcm_t *rtcm, int sys, int subtype, int sync) double udint=0.0; int i,j,nsat,iod=0,prn,hrclk,np,offp; - trace(3,"encode_ssr6: sys=%d subtype=%d sync=%d\n",sys,subtype,sync); + rtktrace(3,"encode_ssr6: sys=%d subtype=%d sync=%d\n",sys,subtype,sync); switch (sys) { case SYS_GPS: np=6; offp= 0; break; @@ -1797,7 +1797,7 @@ static int encode_ssr7(rtcm_t *rtcm, int sys, int subtype, int sync) int i,j,k,iod=0,nsat,prn,nbias,np,offp; int code[MAXCODE],pbias[MAXCODE],stdpb[MAXCODE],yaw_ang,yaw_rate; - trace(3,"encode_ssr7: sys=%d subtype=%d sync=%d\n",sys,subtype,sync); + rtktrace(3,"encode_ssr7: sys=%d subtype=%d sync=%d\n",sys,subtype,sync); switch (sys) { case SYS_GPS: np=6; offp= 0; codes=codes_gps; break; @@ -2109,7 +2109,7 @@ static int encode_msm_int_rrng(rtcm_t *rtcm, int i, const double *rrng, int_ms=255; } else if (rrng[j]<0.0||rrng[j]>RANGE_MS*255.0) { - trace(2,"msm rough range overflow %s rrng=%.3f\n", + rtktrace(2,"msm rough range overflow %s rrng=%.3f\n", time_str(rtcm->time,0),rrng[j]); int_ms=255; } @@ -2155,7 +2155,7 @@ static int encode_msm_rrate(rtcm_t *rtcm, int i, const double *rrate, int nsat) for (j=0;j8191.0) { - trace(2,"msm rough phase-range-rate overflow %s rrate=%.4f\n", + rtktrace(2,"msm rough phase-range-rate overflow %s rrate=%.4f\n", time_str(rtcm->time,0),rrate[j]); rrate_val=-8192; } @@ -2176,7 +2176,7 @@ static int encode_msm_psrng(rtcm_t *rtcm, int i, const double *psrng, int ncell) psrng_val=-16384; } else if (fabs(psrng[j])>292.7) { - trace(2,"msm fine pseudorange overflow %s psrng=%.3f\n", + rtktrace(2,"msm fine pseudorange overflow %s psrng=%.3f\n", time_str(rtcm->time,0),psrng[j]); psrng_val=-16384; } @@ -2198,7 +2198,7 @@ static int encode_msm_psrng_ex(rtcm_t *rtcm, int i, const double *psrng, psrng_val=-524288; } else if (fabs(psrng[j])>292.7) { - trace(2,"msm fine pseudorange ext overflow %s psrng=%.3f\n", + rtktrace(2,"msm fine pseudorange ext overflow %s psrng=%.3f\n", time_str(rtcm->time,0),psrng[j]); psrng_val=-524288; } @@ -2219,7 +2219,7 @@ static int encode_msm_phrng(rtcm_t *rtcm, int i, const double *phrng, int ncell) phrng_val=-2097152; } else if (fabs(phrng[j])>1171.0) { - trace(2,"msm fine phase-range overflow %s phrng=%.3f\n", + rtktrace(2,"msm fine phase-range overflow %s phrng=%.3f\n", time_str(rtcm->time,0),phrng[j]); phrng_val=-2097152; } @@ -2241,7 +2241,7 @@ static int encode_msm_phrng_ex(rtcm_t *rtcm, int i, const double *phrng, phrng_val=-8388608; } else if (fabs(phrng[j])>1171.0) { - trace(2,"msm fine phase-range ext overflow %s phrng=%.3f\n", + rtktrace(2,"msm fine phase-range ext overflow %s phrng=%.3f\n", time_str(rtcm->time,0),phrng[j]); phrng_val=-8388608; } @@ -2318,7 +2318,7 @@ static int encode_msm_rate(rtcm_t *rtcm, int i, const double *rate, int ncell) rate_val=-16384; } else if (fabs(rate[j])>1.6384) { - trace(2,"msm fine phase-range-rate overflow %s rate=%.3f\n", + rtktrace(2,"msm fine phase-range-rate overflow %s rate=%.3f\n", time_str(rtcm->time,0),rate[j]); rate_val=-16384; } @@ -2335,7 +2335,7 @@ static int encode_msm1(rtcm_t *rtcm, int sys, int sync) double rrng[64],rrate[64],psrng[64]; int i,nsat,ncell; - trace(3,"encode_msm1: sys=%d sync=%d\n",sys,sync); + rtktrace(3,"encode_msm1: sys=%d sync=%d\n",sys,sync); /* encode msm header */ if (!(i=encode_msm_head(1,rtcm,sys,sync,&nsat,&ncell,rrng,rrate,NULL,psrng, @@ -2358,7 +2358,7 @@ static int encode_msm2(rtcm_t *rtcm, int sys, int sync) uint8_t half[64]; int i,nsat,ncell; - trace(3,"encode_msm2: sys=%d sync=%d\n",sys,sync); + rtktrace(3,"encode_msm2: sys=%d sync=%d\n",sys,sync); /* encode msm header */ if (!(i=encode_msm_head(2,rtcm,sys,sync,&nsat,&ncell,rrng,rrate,NULL,NULL, @@ -2383,7 +2383,7 @@ static int encode_msm3(rtcm_t *rtcm, int sys, int sync) uint8_t half[64]; int i,nsat,ncell; - trace(3,"encode_msm3: sys=%d sync=%d\n",sys,sync); + rtktrace(3,"encode_msm3: sys=%d sync=%d\n",sys,sync); /* encode msm header */ if (!(i=encode_msm_head(3,rtcm,sys,sync,&nsat,&ncell,rrng,rrate,NULL,psrng, @@ -2410,7 +2410,7 @@ static int encode_msm4(rtcm_t *rtcm, int sys, int sync) uint8_t half[64]; int i,nsat,ncell; - trace(3,"encode_msm4: sys=%d sync=%d\n",sys,sync); + rtktrace(3,"encode_msm4: sys=%d sync=%d\n",sys,sync); /* encode msm header */ if (!(i=encode_msm_head(4,rtcm,sys,sync,&nsat,&ncell,rrng,rrate,NULL,psrng, @@ -2438,7 +2438,7 @@ static int encode_msm5(rtcm_t *rtcm, int sys, int sync) uint8_t info[64],half[64]; int i,nsat,ncell; - trace(3,"encode_msm5: sys=%d sync=%d\n",sys,sync); + rtktrace(3,"encode_msm5: sys=%d sync=%d\n",sys,sync); /* encode msm header */ if (!(i=encode_msm_head(5,rtcm,sys,sync,&nsat,&ncell,rrng,rrate,info,psrng, @@ -2469,7 +2469,7 @@ static int encode_msm6(rtcm_t *rtcm, int sys, int sync) uint8_t half[64]; int i,nsat,ncell; - trace(3,"encode_msm6: sys=%d sync=%d\n",sys,sync); + rtktrace(3,"encode_msm6: sys=%d sync=%d\n",sys,sync); /* encode msm header */ if (!(i=encode_msm_head(6,rtcm,sys,sync,&nsat,&ncell,rrng,rrate,NULL,psrng, @@ -2497,7 +2497,7 @@ static int encode_msm7(rtcm_t *rtcm, int sys, int sync) uint8_t info[64],half[64]; int i,nsat,ncell; - trace(3,"encode_msm7: sys=%d sync=%d\n",sys,sync); + rtktrace(3,"encode_msm7: sys=%d sync=%d\n",sys,sync); /* encode msm header */ if (!(i=encode_msm_head(7,rtcm,sys,sync,&nsat,&ncell,rrng,rrate,info,psrng, @@ -2525,7 +2525,7 @@ static int encode_type1230(rtcm_t *rtcm, int sync) { int i=24,j,align,mask=15,bias[4]; - trace(3,"encode_type1230: sync=%d\n",sync); + rtktrace(3,"encode_type1230: sync=%d\n",sync); align=rtcm->sta.glo_cp_align; @@ -2550,7 +2550,7 @@ static int encode_type1230(rtcm_t *rtcm, int sync) /* encode type 4073: proprietary message Mitsubishi Electric -----------------*/ static int encode_type4073(rtcm_t *rtcm, int subtype, int sync) { - trace(2,"rtcm3 4073: unsupported message subtype=%d\n",subtype); + rtktrace(2,"rtcm3 4073: unsupported message subtype=%d\n",subtype); return 0; } /* encode type 4076: proprietary message IGS ---------------------------------*/ @@ -2600,7 +2600,7 @@ static int encode_type4076(rtcm_t *rtcm, int subtype, int sync) case 126: return encode_ssr7(rtcm,SYS_SBS,subtype,sync); case 127: return encode_ssr5(rtcm,SYS_SBS,subtype,sync); } - trace(2,"rtcm3 4076: unsupported message subtype=%d\n",subtype); + rtktrace(2,"rtcm3 4076: unsupported message subtype=%d\n",subtype); return 0; } /* encode RTCM ver.3 message -------------------------------------------------*/ @@ -2608,7 +2608,7 @@ extern int encode_rtcm3(rtcm_t *rtcm, int type, int subtype, int sync) { int ret=0; - trace(3,"encode_rtcm3: type=%d subtype=%d sync=%d\n",type,subtype,sync); + rtktrace(3,"encode_rtcm3: type=%d subtype=%d sync=%d\n",type,subtype,sync); switch (type) { case 1001: ret=encode_type1001(rtcm,sync); break; diff --git a/src/rtkcmn.c b/src/rtkcmn.c index 9a0acf58c..6ac1400cb 100644 --- a/src/rtkcmn.c +++ b/src/rtkcmn.c @@ -39,7 +39,7 @@ * version : $Revision: 1.1 $ $Date: 2008/07/17 21:48:06 $ * history : 2007/01/12 1.0 new * 2007/03/06 1.1 input initial rover pos of pntpos() -* update only effective states of filter() +* update only effective states of rtkfilter() * fix bug of atan2() domain error * 2007/04/11 1.2 add function antmodel() * add gdop mask for pntpos() @@ -49,7 +49,7 @@ * replace geodist() by sagnac correction way * 2008/10/29 1.5 fix bug of ionospheric mapping function * fix bug of seasonal variation term of tropmapf -* 2008/12/27 1.6 add function tickget(), sleepms(), tracenav(), +* 2008/12/27 1.6 add function tickget(), sleepms(), rtktracenav(), * xyz2enu(), satposv(), pntvel(), covecef() * 2009/03/12 1.7 fix bug on error-stop when localtime() returns NULL * 2009/03/13 1.8 fix bug on time adjustment for summer time @@ -57,7 +57,7 @@ * add function geph2pos() * 2009/06/08 1.10 add function seph2pos() * 2009/11/28 1.11 change function pntpos() -* add function tracegnav(),tracepeph() +* add function rtktracegnav(),rtktracepeph() * 2009/12/22 1.12 change default parameter of ionos std * valid under second for timeget() * 2010/07/28 1.13 fix bug in tropmapf() @@ -65,7 +65,7 @@ * obs2code(),code2obs(),cross3(),normv3(), * gst2time(),time2gst(),time_str(),timeset(), * deg2dms(),dms2deg(),searchpcv(),antmodel_s(), -* tracehnav(),tracepclk(),reppath(),reppaths(), +* rtktracehnav(),rtktracepclk(),reppath(),reppaths(), * createdir() * changed api: * readpcv(), @@ -100,7 +100,7 @@ * support BDS L1 in satwavelen() * 2014/05/29 1.27 fix bug on obs2code() to search obs code table * 2014/08/26 1.28 fix problem on output of uncompress() for tar file -* add function to swap trace file with keywords +* add function to swap rtktrace file with keywords * 2014/10/21 1.29 strtok() -> strtok_r() in expath() for thread-safe * add bdsmodear in procopt_default * 2015/03/19 1.30 fix bug on interpolation of erp values in geterp() @@ -112,7 +112,7 @@ * support usno leapsec.dat for api read_leaps() * 2016/01/23 1.33 enable septentrio * 2016/02/05 1.34 support GLONASS for savenav(), loadnav() -* 2016/06/11 1.35 delete trace() in reppath() to avoid deadlock +* 2016/06/11 1.35 delete rtktrace() in reppath() to avoid deadlock * 2016/07/01 1.36 support IRNSS * add leap second before 2017/1/1 00:00:00 * 2016/07/29 1.37 rename api compress() -> rtk_uncompress() @@ -224,7 +224,7 @@ const prcopt_t prcopt_default={ /* defaults processing options */ const solopt_t solopt_default={ /* defaults solution output options */ SOLF_LLH,TIMES_GPST,1,3, /* posf,times,timef,timeu */ 0,1,0,0,0,0,0, /* degf,outhead,outopt,outvel,datum,height,geoid */ - 0,0,0, /* solstatic,sstat,trace */ + 0,0,0, /* solstatic,sstat,rtktrace */ {0.0,0.0}, /* nmeaintv */ " ","" /* separator/program name */ }; @@ -534,11 +534,11 @@ extern int satexclude(int sat, double var, int svh, const prcopt_t *opt) } if (sys==SYS_QZS) svh&=0xFE; /* mask QZSS LEX health */ if (svh) { - trace(3,"unhealthy satellite: sat=%3d svh=%02X\n",sat,svh); + rtktrace(3,"unhealthy satellite: sat=%3d svh=%02X\n",sat,svh); return 1; } if (var>MAX_VAR_EPH) { - trace(3,"invalid ura satellite: sat=%3d ura=%.2f\n",sat,sqrt(var)); + rtktrace(3,"invalid ura satellite: sat=%3d ura=%.2f\n",sat,sqrt(var)); return 1; } return 0; @@ -777,7 +777,7 @@ extern double sat2freq(int sat, uint8_t code, const nav_t *nav) *-----------------------------------------------------------------------------*/ extern void setcodepri(int sys, int idx, const char *pri) { - trace(3,"setcodepri:sys=%d idx=%d pri=%s\n",sys,idx,pri); + rtktrace(3,"setcodepri:sys=%d idx=%d pri=%s\n",sys,idx,pri); if (idx<0||idx>=MAXFREQ) return; if (sys&SYS_GPS) strcpy(codepris[0][idx],pri); @@ -876,7 +876,7 @@ extern uint32_t rtk_crc32(const uint8_t *buff, int len) uint32_t crc=0; int i,j; - trace(4,"rtk_crc32: len=%d\n",len); + rtktrace(4,"rtk_crc32: len=%d\n",len); for (i=0;i>16)^buff[i]]; return crc; @@ -915,7 +915,7 @@ extern uint16_t rtk_crc16(const uint8_t *buff, int len) uint16_t crc=0; int i; - trace(4,"rtk_crc16: len=%d\n",len); + rtktrace(4,"rtk_crc16: len=%d\n",len); for (i=0;i>8)^buff[i])&0xFF]; @@ -939,7 +939,7 @@ extern int decode_word(uint32_t word, uint8_t *data) uint32_t parity=0,w; int i; - trace(5,"decodeword: word=%08x\n",word); + rtktrace(5,"decodeword: word=%08x\n",word); if (word&0x40000000) word^=0x3FFFFFC0; @@ -1265,8 +1265,8 @@ extern int lsq(const double *A, const double *y, int n, int m, double *x, free(Ay); return info; } -/* kalman filter --------------------------------------------------------------- -* kalman filter state update as follows: +/* kalman rtkfilter --------------------------------------------------------------- +* kalman rtkfilter state update as follows: * * K=P*H*(H'*P*H+R)^-1, xp=x+K*v, Pp=(I-K*H')*P * @@ -1302,7 +1302,7 @@ static int filter_(const double *x, const double *P, const double *H, free(F); free(Q); free(K); free(I); return info; } -extern int filter(double *x, double *P, const double *H, const double *v, +extern int rtkfilter(double *x, double *P, const double *H, const double *v, const double *R, int n, int m) { double *x_,*xp_,*P_,*Pp_,*H_; @@ -2211,7 +2211,7 @@ extern void eci2ecef(gtime_t tutc, const double *erpv, double *U, double *gmst) double R1[9],R2[9],R3[9],R[9],W[9],N[9],P[9],NP[9]; int i; - trace(4,"eci2ecef: tutc=%s\n",time_str(tutc,3)); + rtktrace(4,"eci2ecef: tutc=%s\n",time_str(tutc,3)); if (fabs(timediff(tutc,tutc_))<0.01) { /* read cache */ for (i=0;i<9;i++) U[i]=U_[i]; @@ -2258,11 +2258,11 @@ extern void eci2ecef(gtime_t tutc, const double *erpv, double *U, double *gmst) for (i=0;i<9;i++) U[i]=U_[i]; if (gmst) *gmst=gmst_; - trace(5,"gmst=%.12f gast=%.12f\n",gmst_,gast); - trace(5,"P=\n"); tracemat(5,P,3,3,15,12); - trace(5,"N=\n"); tracemat(5,N,3,3,15,12); - trace(5,"W=\n"); tracemat(5,W,3,3,15,12); - trace(5,"U=\n"); tracemat(5,U,3,3,15,12); + rtktrace(5,"gmst=%.12f gast=%.12f\n",gmst_,gast); + rtktrace(5,"P=\n"); rtktracemat(5,P,3,3,15,12); + rtktrace(5,"N=\n"); rtktracemat(5,N,3,3,15,12); + rtktrace(5,"W=\n"); rtktracemat(5,W,3,3,15,12); + rtktrace(5,"U=\n"); rtktracemat(5,U,3,3,15,12); } /* decode antenna parameter field --------------------------------------------*/ static int decodef(char *p, int n, double *v) @@ -2283,7 +2283,7 @@ static void addpcv(const pcv_t *pcv, pcvs_t *pcvs) if (pcvs->nmax<=pcvs->n) { pcvs->nmax+=256; if (!(pcvs_pcv=(pcv_t *)realloc(pcvs->pcv,sizeof(pcv_t)*pcvs->nmax))) { - trace(1,"addpcv: memory allocation error\n"); + rtktrace(1,"addpcv: memory allocation error\n"); free(pcvs->pcv); pcvs->pcv=NULL; pcvs->n=pcvs->nmax=0; return; } @@ -2302,7 +2302,7 @@ static int readngspcv(const char *file, pcvs_t *pcvs) char buff[256]; if (!(fp=fopen(file,"r"))) { - trace(2,"ngs pcv file open error: %s\n",file); + rtktrace(2,"ngs pcv file open error: %s\n",file); return 0; } while (fgets(buff,sizeof(buff),fp)) { @@ -2348,10 +2348,10 @@ static int readantex(const char *file, pcvs_t *pcvs) int i,f,freq=0,state=0,freqs[]={1,2,5,0}; char buff[256]; - trace(3,"readantex: file=%s\n",file); + rtktrace(3,"readantex: file=%s\n",file); if (!(fp=fopen(file,"r"))) { - trace(2,"antex pcv file open error: %s\n",file); + rtktrace(2,"antex pcv file open error: %s\n",file); return 0; } while (fgets(buff,sizeof(buff),fp)) { @@ -2423,7 +2423,7 @@ extern int readpcv(const char *file, pcvs_t *pcvs) char *ext; int i,j,stat; - trace(3,"readpcv: file=%s\n",file); + rtktrace(3,"readpcv: file=%s\n",file); if (!(ext=strrchr(file,'.'))) ext=""; @@ -2435,7 +2435,7 @@ extern int readpcv(const char *file, pcvs_t *pcvs) } for (i=0;in;i++) { pcv=pcvs->pcv+i; - trace(4,"sat=%2d type=%20s code=%s off=%8.4f %8.4f %8.4f %8.4f %8.4f %8.4f\n", + rtktrace(4,"sat=%2d type=%20s code=%s off=%8.4f %8.4f %8.4f %8.4f %8.4f %8.4f\n", pcv->sat,pcv->type,pcv->code,pcv->off[0][0],pcv->off[0][1], pcv->off[0][2],pcv->off[1][0],pcv->off[1][1],pcv->off[1][2]); @@ -2463,7 +2463,7 @@ extern pcv_t *searchpcv(int sat, const char *type, gtime_t time, char buff[MAXANT],*types[2],*p; int i,j,n=0; - trace(3,"searchpcv: sat=%2d type=%s\n",sat,type); + rtktrace(3,"searchpcv: sat=%2d type=%s\n",sat,type); if (sat) { /* search satellite antenna */ for (i=0;in;i++) { @@ -2490,7 +2490,7 @@ extern pcv_t *searchpcv(int sat, const char *type, gtime_t time, pcv=pcvs->pcv+i; if (strstr(pcv->type,types[0])!=pcv->type) continue; - trace(2,"pcv without radome is used type=%s\n",type); + rtktrace(2,"pcv without radome is used type=%s\n",type); return pcv; } } @@ -2513,7 +2513,7 @@ extern void readpos(const char *file, const char *rcv, double *pos) int i,j,len,np=0; char buff[256],str[256]; - trace(3,"readpos: file=%s\n",file); + rtktrace(3,"readpos: file=%s\n",file); if (!(fp=fopen(file,"r"))) { fprintf(stderr,"reference position file open error : %s\n",file); @@ -2568,7 +2568,7 @@ extern int readblq(const char *file, const char *sta, double *odisp) for (p=staname;(*p=(char)toupper((int)(*p)));p++) ; if (!(fp=fopen(file,"r"))) { - trace(2,"blq file open error: file=%s\n",file); + rtktrace(2,"blq file open error: file=%s\n",file); return 0; } while (fgets(buff,sizeof(buff),fp)) { @@ -2585,7 +2585,7 @@ extern int readblq(const char *file, const char *sta, double *odisp) } } fclose(fp); - trace(2,"no otl parameters: sta=%s file=%s\n",sta,file); + rtktrace(2,"no otl parameters: sta=%s file=%s\n",sta,file); return 0; } /* read earth rotation parameters ---------------------------------------------- @@ -2601,10 +2601,10 @@ extern int readerp(const char *file, erp_t *erp) double v[14]={0}; char buff[256]; - trace(3,"readerp: file=%s\n",file); + rtktrace(3,"readerp: file=%s\n",file); if (!(fp=fopen(file,"r"))) { - trace(2,"erp file open error: file=%s\n",file); + rtktrace(2,"erp file open error: file=%s\n",file); return 0; } while (fgets(buff,sizeof(buff),fp)) { @@ -2646,7 +2646,7 @@ extern int geterp(const erp_t *erp, gtime_t time, double *erpv) double mjd,day,a; int i,j,k; - trace(4,"geterp:\n"); + rtktrace(4,"geterp:\n"); if (erp->n<=0) return 0; @@ -2698,7 +2698,7 @@ static void uniqeph(nav_t *nav) eph_t *nav_eph; int i,j; - trace(3,"uniqeph: n=%d\n",nav->n); + rtktrace(3,"uniqeph: n=%d\n",nav->n); if (nav->n<=0) return; @@ -2713,14 +2713,14 @@ static void uniqeph(nav_t *nav) nav->n=j+1; if (!(nav_eph=(eph_t *)realloc(nav->eph,sizeof(eph_t)*nav->n))) { - trace(1,"uniqeph malloc error n=%d\n",nav->n); + rtktrace(1,"uniqeph malloc error n=%d\n",nav->n); free(nav->eph); nav->eph=NULL; nav->n=nav->nmax=0; return; } nav->eph=nav_eph; nav->nmax=nav->n; - trace(4,"uniqeph: n=%d\n",nav->n); + rtktrace(4,"uniqeph: n=%d\n",nav->n); } /* compare glonass ephemeris -------------------------------------------------*/ static int cmpgeph(const void *p1, const void *p2) @@ -2736,7 +2736,7 @@ static void uniqgeph(nav_t *nav) geph_t *nav_geph; int i,j; - trace(3,"uniqgeph: ng=%d\n",nav->ng); + rtktrace(3,"uniqgeph: ng=%d\n",nav->ng); if (nav->ng<=0) return; @@ -2752,14 +2752,14 @@ static void uniqgeph(nav_t *nav) nav->ng=j+1; if (!(nav_geph=(geph_t *)realloc(nav->geph,sizeof(geph_t)*nav->ng))) { - trace(1,"uniqgeph malloc error ng=%d\n",nav->ng); + rtktrace(1,"uniqgeph malloc error ng=%d\n",nav->ng); free(nav->geph); nav->geph=NULL; nav->ng=nav->ngmax=0; return; } nav->geph=nav_geph; nav->ngmax=nav->ng; - trace(4,"uniqgeph: ng=%d\n",nav->ng); + rtktrace(4,"uniqgeph: ng=%d\n",nav->ng); } /* compare sbas ephemeris ----------------------------------------------------*/ static int cmpseph(const void *p1, const void *p2) @@ -2775,7 +2775,7 @@ static void uniqseph(nav_t *nav) seph_t *nav_seph; int i,j; - trace(3,"uniqseph: ns=%d\n",nav->ns); + rtktrace(3,"uniqseph: ns=%d\n",nav->ns); if (nav->ns<=0) return; @@ -2790,14 +2790,14 @@ static void uniqseph(nav_t *nav) nav->ns=j+1; if (!(nav_seph=(seph_t *)realloc(nav->seph,sizeof(seph_t)*nav->ns))) { - trace(1,"uniqseph malloc error ns=%d\n",nav->ns); + rtktrace(1,"uniqseph malloc error ns=%d\n",nav->ns); free(nav->seph); nav->seph=NULL; nav->ns=nav->nsmax=0; return; } nav->seph=nav_seph; nav->nsmax=nav->ns; - trace(4,"uniqseph: ns=%d\n",nav->ns); + rtktrace(4,"uniqseph: ns=%d\n",nav->ns); } /* unique ephemerides ---------------------------------------------------------- * unique ephemerides in navigation data @@ -2806,7 +2806,7 @@ static void uniqseph(nav_t *nav) *-----------------------------------------------------------------------------*/ extern void uniqnav(nav_t *nav) { - trace(3,"uniqnav: neph=%d ngeph=%d nseph=%d\n",nav->n,nav->ng,nav->ns); + rtktrace(3,"uniqnav: neph=%d ngeph=%d nseph=%d\n",nav->n,nav->ng,nav->ns); /* unique ephemeris */ uniqeph (nav); @@ -2831,7 +2831,7 @@ extern int sortobs(obs_t *obs) { int i,j,n; - trace(3,"sortobs: nobs=%d\n",obs->n); + rtktrace(3,"sortobs: nobs=%d\n",obs->n); if (obs->n<=0) return 0; @@ -2883,7 +2883,7 @@ extern int readnav(const char *file, nav_t *nav) long toe_time,tof_time,toc_time,ttr_time; int i,sat,prn; - trace(3,"loadnav: file=%s\n",file); + rtktrace(3,"loadnav: file=%s\n",file); if (!(fp=fopen(file,"r"))) return 0; @@ -2947,7 +2947,7 @@ extern int savenav(const char *file, const nav_t *nav) int i; char id[32]; - trace(3,"savenav: file=%s\n",file); + rtktrace(3,"savenav: file=%s\n",file); if (!(fp=fopen(file,"w"))) return 0; @@ -3019,15 +3019,15 @@ extern void freenav(nav_t *nav, int opt) if (opt&0x20) {free(nav->alm ); nav->alm =NULL; nav->na=nav->namax=0;} if (opt&0x40) {free(nav->tec ); nav->tec =NULL; nav->nt=nav->ntmax=0;} } -/* debug trace functions -----------------------------------------------------*/ +/* debug rtktrace functions -----------------------------------------------------*/ #ifdef TRACE -static FILE *fp_trace=NULL; /* file pointer of trace */ -static char file_trace[1024]; /* trace file */ -static int level_trace=0; /* level of trace */ -static uint32_t tick_trace=0; /* tick time at traceopen (ms) */ -static gtime_t time_trace={0}; /* time at traceopen */ -static lock_t lock_trace; /* lock for trace */ +static FILE *fp_trace=NULL; /* file pointer of rtktrace */ +static char file_trace[1024]; /* rtktrace file */ +static int level_trace=0; /* level of rtktrace */ +static uint32_t tick_trace=0; /* tick time at rtktraceopen (ms) */ +static gtime_t time_trace={0}; /* time at rtktraceopen */ +static lock_t lock_trace; /* lock for rtktrace */ static void traceswap(void) { @@ -3054,7 +3054,7 @@ static void traceswap(void) } unlock(&lock_trace); } -extern void traceopen(const char *file) +extern void rtktraceopen(const char *file) { gtime_t time=utc2gpst(timeget()); char path[1024]; @@ -3066,17 +3066,17 @@ extern void traceopen(const char *file) time_trace=time; initlock(&lock_trace); } -extern void traceclose(void) +extern void rtktraceclose(void) { if (fp_trace&&fp_trace!=stderr) fclose(fp_trace); fp_trace=NULL; file_trace[0]='\0'; } -extern void tracelevel(int level) +extern void rtktracelevel(int level) { level_trace=level; } -extern void trace(int level, const char *format, ...) +extern void rtktrace(int level, const char *format, ...) { va_list ap; @@ -3090,7 +3090,7 @@ extern void trace(int level, const char *format, ...) va_start(ap,format); vfprintf(fp_trace,format,ap); va_end(ap); fflush(fp_trace); } -extern void tracet(int level, const char *format, ...) +extern void rtktracet(int level, const char *format, ...) { va_list ap; @@ -3100,12 +3100,12 @@ extern void tracet(int level, const char *format, ...) va_start(ap,format); vfprintf(fp_trace,format,ap); va_end(ap); fflush(fp_trace); } -extern void tracemat(int level, const double *A, int n, int m, int p, int q) +extern void rtktracemat(int level, const double *A, int n, int m, int p, int q) { if (!fp_trace||level>level_trace) return; matfprint(A,n,m,p,q,fp_trace); fflush(fp_trace); } -extern void traceobs(int level, const obsd_t *obs, int n) +extern void rtktraceobs(int level, const obsd_t *obs, int n) { char str[64],id[16]; int i; @@ -3121,7 +3121,7 @@ extern void traceobs(int level, const obsd_t *obs, int n) } fflush(fp_trace); } -extern void tracenav(int level, const nav_t *nav) +extern void rtktracenav(int level, const nav_t *nav) { char s1[64],s2[64],id[16]; int i; @@ -3141,7 +3141,7 @@ extern void tracenav(int level, const nav_t *nav) fprintf(fp_trace,"(ion) %9.4e %9.4e %9.4e %9.4e\n",nav->ion_gal[0], nav->ion_gal[1],nav->ion_gal[2],nav->ion_gal[3]); } -extern void tracegnav(int level, const nav_t *nav) +extern void rtktracegnav(int level, const nav_t *nav) { char s1[64],s2[64],id[16]; int i; @@ -3155,7 +3155,7 @@ extern void tracegnav(int level, const nav_t *nav) id,s1,s2,nav->geph[i].frq,nav->geph[i].svh,nav->geph[i].taun*1E6); } } -extern void tracehnav(int level, const nav_t *nav) +extern void rtktracehnav(int level, const nav_t *nav) { char s1[64],s2[64],id[16]; int i; @@ -3169,7 +3169,7 @@ extern void tracehnav(int level, const nav_t *nav) id,s1,s2,nav->seph[i].svh,nav->seph[i].sva); } } -extern void tracepeph(int level, const nav_t *nav) +extern void rtktracepeph(int level, const nav_t *nav) { char s[64],id[16]; int i,j; @@ -3189,7 +3189,7 @@ extern void tracepeph(int level, const nav_t *nav) } } } -extern void tracepclk(int level, const nav_t *nav) +extern void rtktracepclk(int level, const nav_t *nav) { char s[64],id[16]; int i,j; @@ -3206,7 +3206,7 @@ extern void tracepclk(int level, const nav_t *nav) } } } -extern void traceb(int level, const uint8_t *p, int n) +extern void rtktraceb(int level, const uint8_t *p, int n) { int i; if (!fp_trace||level>level_trace) return; @@ -3214,19 +3214,19 @@ extern void traceb(int level, const uint8_t *p, int n) fprintf(fp_trace,"\n"); } #else -extern void traceopen(const char *file) {} -extern void traceclose(void) {} -extern void tracelevel(int level) {} -extern void trace (int level, const char *format, ...) {} -extern void tracet (int level, const char *format, ...) {} -extern void tracemat(int level, const double *A, int n, int m, int p, int q) {} -extern void traceobs(int level, const obsd_t *obs, int n) {} -extern void tracenav(int level, const nav_t *nav) {} -extern void tracegnav(int level, const nav_t *nav) {} -extern void tracehnav(int level, const nav_t *nav) {} -extern void tracepeph(int level, const nav_t *nav) {} -extern void tracepclk(int level, const nav_t *nav) {} -extern void traceb (int level, const uint8_t *p, int n) {} +extern void rtktraceopen(const char *file) {} +extern void rtktraceclose(void) {} +extern void rtktracelevel(int level) {} +extern void rtktrace (int level, const char *format, ...) {} +extern void rtktracet (int level, const char *format, ...) {} +extern void rtktracemat(int level, const double *A, int n, int m, int p, int q) {} +extern void rtktraceobs(int level, const obsd_t *obs, int n) {} +extern void rtktracenav(int level, const nav_t *nav) {} +extern void rtktracegnav(int level, const nav_t *nav) {} +extern void rtktracehnav(int level, const nav_t *nav) {} +extern void rtktracepeph(int level, const nav_t *nav) {} +extern void rtktracepclk(int level, const nav_t *nav) {} +extern void rtktraceb (int level, const uint8_t *p, int n) {} #endif /* TRACE */ @@ -3243,7 +3243,7 @@ extern int execcmd(const char *cmd) DWORD stat; char cmds[1024]; - trace(3,"execcmd: cmd=%s\n",cmd); + rtktrace(3,"execcmd: cmd=%s\n",cmd); si.cb=sizeof(si); sprintf(cmds,"cmd /c %s",cmd); @@ -3255,7 +3255,7 @@ extern int execcmd(const char *cmd) CloseHandle(info.hThread); return (int)stat; #else - trace(3,"execcmd: cmd=%s\n",cmd); + rtktrace(3,"execcmd: cmd=%s\n",cmd); return system(cmd); #endif @@ -3277,7 +3277,7 @@ extern int expath(const char *path, char *paths[], int nmax) HANDLE h; char dir[1024]="",*p; - trace(3,"expath : path=%s nmax=%d\n",path,nmax); + rtktrace(3,"expath : path=%s nmax=%d\n",path,nmax); if ((p=strrchr(path,'\\'))) { strncpy(dir,path,p-path+1); dir[p-path+1]='\0'; @@ -3298,7 +3298,7 @@ extern int expath(const char *path, char *paths[], int nmax) const char *file=path; char dir[1024]="",s1[1024],s2[1024],*p,*q,*r; - trace(3,"expath : path=%s nmax=%d\n",path,nmax); + rtktrace(3,"expath : path=%s nmax=%d\n",path,nmax); if ((p=strrchr(path,'/'))||(p=strrchr(path,'\\'))) { file=p+1; strncpy(dir,path,p-path+1); dir[p-path+1]='\0'; @@ -3328,7 +3328,7 @@ extern int expath(const char *path, char *paths[], int nmax) } } } - for (i=0;i0.0) return 0; @@ -3514,7 +3514,7 @@ extern int reppaths(const char *path, char *rpath[], int nmax, gtime_t ts, if (n==0||strcmp(rpath[n],rpath[n-1])) n++; time=timeadd(time,tint); } - for (i=0;i20000.0) { @@ -3839,7 +3839,7 @@ extern void antmodel(const pcv_t *pcv, const double *del, const double *azel, double e[3],off[3],cosel=cos(azel[1]); int i,j; - trace(4,"antmodel: azel=%6.1f %4.1f opt=%d\n",azel[0]*R2D,azel[1]*R2D,opt); + rtktrace(4,"antmodel: azel=%6.1f %4.1f opt=%d\n",azel[0]*R2D,azel[1]*R2D,opt); e[0]=sin(azel[0])*cosel; e[1]=cos(azel[0])*cosel; @@ -3850,7 +3850,7 @@ extern void antmodel(const pcv_t *pcv, const double *del, const double *azel, dant[i]=-dot(off,e,3)+(opt?interpvar(90.0-azel[1]*R2D,pcv->var[i]):0.0); } - trace(5,"antmodel: dant=%6.3f %6.3f\n",dant[0],dant[1]); + rtktrace(5,"antmodel: dant=%6.3f %6.3f\n",dant[0],dant[1]); } /* satellite antenna model ------------------------------------------------------ * compute satellite antenna phase center parameters @@ -3863,12 +3863,12 @@ extern void antmodel_s(const pcv_t *pcv, double nadir, double *dant) { int i; - trace(4,"antmodel_s: nadir=%6.1f\n",nadir*R2D); + rtktrace(4,"antmodel_s: nadir=%6.1f\n",nadir*R2D); for (i=0;ivar[i]); } - trace(5,"antmodel_s: dant=%6.3f %6.3f\n",dant[0],dant[1]); + rtktrace(5,"antmodel_s: dant=%6.3f %6.3f\n",dant[0],dant[1]); } /* sun and moon position in eci (ref [4] 5.1.1, 5.2.1) -----------------------*/ static void sunmoonpos_eci(gtime_t tut, double *rsun, double *rmoon) @@ -3876,7 +3876,7 @@ static void sunmoonpos_eci(gtime_t tut, double *rsun, double *rmoon) const double ep2000[]={2000,1,1,12,0,0}; double t,f[5],eps,Ms,ls,rs,lm,pm,rm,sine,cose,sinp,cosp,sinl,cosl; - trace(4,"sunmoonpos_eci: tut=%s\n",time_str(tut,3)); + rtktrace(4,"sunmoonpos_eci: tut=%s\n",time_str(tut,3)); t=timediff(tut,epoch2time(ep2000))/86400.0/36525.0; @@ -3897,7 +3897,7 @@ static void sunmoonpos_eci(gtime_t tut, double *rsun, double *rmoon) rsun[1]=rs*cose*sinl; rsun[2]=rs*sine*sinl; - trace(5,"rsun =%.3f %.3f %.3f\n",rsun[0],rsun[1],rsun[2]); + rtktrace(5,"rsun =%.3f %.3f %.3f\n",rsun[0],rsun[1],rsun[2]); } /* moon position in eci */ if (rmoon) { @@ -3913,7 +3913,7 @@ static void sunmoonpos_eci(gtime_t tut, double *rsun, double *rmoon) rmoon[1]=rm*(cose*cosp*sinl-sine*sinp); rmoon[2]=rm*(sine*cosp*sinl+cose*sinp); - trace(5,"rmoon=%.3f %.3f %.3f\n",rmoon[0],rmoon[1],rmoon[2]); + rtktrace(5,"rmoon=%.3f %.3f %.3f\n",rmoon[0],rmoon[1],rmoon[2]); } } /* sun and moon position ------------------------------------------------------- @@ -3931,7 +3931,7 @@ extern void sunmoonpos(gtime_t tutc, const double *erpv, double *rsun, gtime_t tut; double rs[3],rm[3],U[9],gmst_; - trace(4,"sunmoonpos: tutc=%s\n",time_str(tutc,3)); + rtktrace(4,"sunmoonpos: tutc=%s\n",time_str(tutc,3)); tut=timeadd(tutc,erpv[2]); /* utc -> ut1 */ @@ -3959,7 +3959,7 @@ extern int rtk_uncompress(const char *file, char *uncfile) int stat=0; char *p,cmd[64+2048]="",tmpfile[1024]="",buff[1024],*fname,*dir=""; - trace(3,"rtk_uncompress: file=%s\n",file); + rtktrace(3,"rtk_uncompress: file=%s\n",file); strcpy(tmpfile,file); if (!(p=strrchr(tmpfile,'.'))) return 0; @@ -4021,7 +4021,7 @@ extern int rtk_uncompress(const char *file, char *uncfile) if (stat) remove(tmpfile); stat=1; } - trace(3,"rtk_uncompress: stat=%d\n",stat); + rtktrace(3,"rtk_uncompress: stat=%d\n",stat); return stat; } /* dummy application functions for shared library ----------------------------*/ diff --git a/src/rtklib.h b/src/rtklib.h index 4db84b52e..0912aa442 100644 --- a/src/rtklib.h +++ b/src/rtklib.h @@ -511,18 +511,18 @@ extern "C" { #define P2_55 2.775557561562891E-17 /* 2^-55 */ #ifdef WIN32 -#define thread_t HANDLE -#define lock_t CRITICAL_SECTION -#define initlock(f) InitializeCriticalSection(f) -#define lock(f) EnterCriticalSection(f) -#define unlock(f) LeaveCriticalSection(f) +#define rtkthread_t HANDLE +#define rtklock_t CRITICAL_SECTION +#define rtkinitlock(f) InitializeCriticalSection(f) +#define rtklock(f) EnterCriticalSection(f) +#define rtkunlock(f) LeaveCriticalSection(f) #define FILEPATHSEP '\\' #else -#define thread_t pthread_t -#define lock_t pthread_mutex_t -#define initlock(f) pthread_mutex_init(f,NULL) -#define lock(f) pthread_mutex_lock(f) -#define unlock(f) pthread_mutex_unlock(f) +#define rtkthread_t pthread_t +#define rtklock_t pthread_mutex_t +#define rtkinitlock(f) pthread_mutex_init(f,NULL) +#define rtklock(f) pthread_mutex_lock(f) +#define rtkunlock(f) pthread_mutex_unlock(f) #define FILEPATHSEP '/' #endif @@ -1180,7 +1180,7 @@ typedef struct { /* stream type */ uint32_t tick_o; /* output tick */ uint32_t tact; /* active tick */ uint32_t inbt,outbt; /* input/output bytes at tick */ - lock_t lock; /* lock flag */ + rtklock_t lock; /* lock flag */ void *port; /* type dependent port control struct */ char path[MAXSTRPATH]; /* stream path */ char msg [MAXSTRMSG]; /* stream message */ @@ -1215,8 +1215,8 @@ typedef struct { /* stream server type */ stream_t stream[16]; /* input/output streams */ stream_t strlog[16]; /* return log streams */ strconv_t *conv[16]; /* stream converter */ - thread_t thread; /* server thread */ - lock_t lock; /* lock flag */ + rtkthread_t thread; /* server thread */ + rtklock_t lock; /* lock flag */ } strsvr_t; typedef struct { /* RTK server type */ @@ -1250,7 +1250,7 @@ typedef struct { /* RTK server type */ stream_t stream[8]; /* streams {rov,base,corr,sol1,sol2,logr,logb,logc} */ stream_t *moni; /* monitor stream */ uint32_t tick; /* start tick */ - thread_t thread; /* server thread */ + rtkthread_t thread; /* server thread */ int cputime; /* CPU time (ms) for a processing cycle */ int prcout; /* missing observation data count */ int nave; /* number of averaging base pos */ @@ -1258,7 +1258,7 @@ typedef struct { /* RTK server type */ char cmds_periodic[3][MAXRCVCMD]; /* periodic commands */ char cmd_reset[MAXRCVCMD]; /* reset command */ double bl_reset; /* baseline length to reset (km) */ - lock_t lock; /* lock flag */ + rtklock_t lock; /* lock flag */ } rtksvr_t; typedef struct { /* GIS data point type */ @@ -1334,7 +1334,7 @@ EXPORT int solve (const char *tr, const double *A, const double *Y, int n, int m, double *X); EXPORT int lsq (const double *A, const double *y, int n, int m, double *x, double *Q); -EXPORT int filter(double *x, double *P, const double *H, const double *v, +EXPORT int rtkfilter(double *x, double *P, const double *H, const double *v, const double *R, int n, int m); EXPORT int smoother(const double *xf, const double *Qf, const double *xb, const double *Qb, int n, double *xs, double *Qs); @@ -1404,20 +1404,20 @@ EXPORT int readblq(const char *file, const char *sta, double *odisp); EXPORT int readerp(const char *file, erp_t *erp); EXPORT int geterp (const erp_t *erp, gtime_t time, double *val); -/* debug trace functions -----------------------------------------------------*/ -EXPORT void traceopen(const char *file); -EXPORT void traceclose(void); -EXPORT void tracelevel(int level); -EXPORT void trace (int level, const char *format, ...); -EXPORT void tracet (int level, const char *format, ...); -EXPORT void tracemat (int level, const double *A, int n, int m, int p, int q); -EXPORT void traceobs (int level, const obsd_t *obs, int n); -EXPORT void tracenav (int level, const nav_t *nav); -EXPORT void tracegnav(int level, const nav_t *nav); -EXPORT void tracehnav(int level, const nav_t *nav); -EXPORT void tracepeph(int level, const nav_t *nav); -EXPORT void tracepclk(int level, const nav_t *nav); -EXPORT void traceb (int level, const uint8_t *p, int n); +/* debug rtktrace functions -----------------------------------------------------*/ +EXPORT void rtktraceopen(const char *file); +EXPORT void rtktraceclose(void); +EXPORT void rtktracelevel(int level); +EXPORT void rtktrace (int level, const char *format, ...); +EXPORT void rtktracet (int level, const char *format, ...); +EXPORT void rtktracemat (int level, const double *A, int n, int m, int p, int q); +EXPORT void rtktraceobs (int level, const obsd_t *obs, int n); +EXPORT void rtktracenav (int level, const nav_t *nav); +EXPORT void rtktracegnav(int level, const nav_t *nav); +EXPORT void rtktracehnav(int level, const nav_t *nav); +EXPORT void rtktracepeph(int level, const nav_t *nav); +EXPORT void rtktracepclk(int level, const nav_t *nav); +EXPORT void rtktraceb (int level, const uint8_t *p, int n); /* platform dependent functions ----------------------------------------------*/ EXPORT int execcmd(const char *cmd); @@ -1499,6 +1499,7 @@ EXPORT int open_rnxctr (rnxctr_t *rnx, FILE *fp); EXPORT int input_rnxctr(rnxctr_t *rnx, FILE *fp); /* ephemeris and clock functions ---------------------------------------------*/ +EXPORT eph_t *seleph(gtime_t time, int sat, int iode, const nav_t *nav); EXPORT double eph2clk (gtime_t time, const eph_t *eph); EXPORT double geph2clk(gtime_t time, const geph_t *geph); EXPORT double seph2clk(gtime_t time, const seph_t *seph); diff --git a/src/rtkpos.c b/src/rtkpos.c index bbb45b6ce..514e244b1 100644 --- a/src/rtkpos.c +++ b/src/rtkpos.c @@ -169,14 +169,14 @@ extern int rtkopenstat(const char *file, int level) gtime_t time=utc2gpst(timeget()); char path[1024]; - trace(3,"rtkopenstat: file=%s level=%d\n",file,level); + rtktrace(3,"rtkopenstat: file=%s level=%d\n",file,level); if (level<=0) return 0; reppath(file,path,time,"",""); if (!(fp_stat=fopen(path,"w"))) { - trace(1,"rtkopenstat: file open error path=%s\n",path); + rtktrace(1,"rtkopenstat: file open error path=%s\n",path); return 0; } strcpy(file_stat,file); @@ -191,7 +191,7 @@ extern int rtkopenstat(const char *file, int level) *-----------------------------------------------------------------------------*/ extern void rtkclosestat(void) { - trace(3,"rtkclosestat:\n"); + rtktrace(3,"rtkclosestat:\n"); if (fp_stat) fclose(fp_stat); fp_stat=NULL; @@ -303,10 +303,10 @@ static void swapsolstat(void) if (fp_stat) fclose(fp_stat); if (!(fp_stat=fopen(path,"w"))) { - trace(2,"swapsolstat: file open error path=%s\n",path); + rtktrace(2,"swapsolstat: file open error path=%s\n",path); return; } - trace(3,"swapsolstat: path=%s\n",path); + rtktrace(3,"swapsolstat: path=%s\n",path); } /* output solution status ----------------------------------------------------*/ static void outsolstat(rtk_t *rtk) @@ -318,7 +318,7 @@ static void outsolstat(rtk_t *rtk) if (statlevel<=0||!fp_stat||!rtk->sol.stat) return; - trace(3,"outsolstat:\n"); + rtktrace(3,"outsolstat:\n"); /* swap solution status file */ swapsolstat(); @@ -361,7 +361,7 @@ static void errmsg(rtk_t *rtk, const char *format, ...) n=nneb?n:MAXERRMSG-rtk->neb; memcpy(rtk->errbuf+rtk->neb,buff,n); rtk->neb+=n; - trace(2,"%s",buff); + rtktrace(2,"%s",buff); } /* single-differenced observable ---------------------------------------------*/ static double sdobs(const obsd_t *obs, int i, int j, int k) @@ -420,14 +420,14 @@ static int selsat(const obsd_t *obs, double *azel, int nu, int nr, { int i,j,k=0; - trace(3,"selsat : nu=%d nr=%d\n",nu,nr); + rtktrace(3,"selsat : nu=%d nr=%d\n",nu,nr); for (i=0,j=nu;iobs[j].sat) i--; else if (azel[1+j*2]>=opt->elmin) { /* elevation at base station */ sat[k]=obs[i].sat; iu[k]=i; ir[k++]=j; - trace(4,"(%2d) sat=%3d iu=%2d ir=%2d\n",k-1,obs[i].sat,i,j); + rtktrace(4,"(%2d) sat=%3d iu=%2d ir=%2d\n",k-1,obs[i].sat,i,j); } } return k; @@ -438,7 +438,7 @@ static void udpos(rtk_t *rtk, double tt) double *F,*P,*FP,*x,*xp,pos[3],Q[9]={0},Qv[9],var=0.0; int i,j,*ix,nx; - trace(3,"udpos : tt=%.3f\n",tt); + rtktrace(3,"udpos : tt=%.3f\n",tt); /* fixed mode */ if (rtk->opt.mode==PMODE_FIXED) { @@ -470,7 +470,7 @@ static void udpos(rtk_t *rtk, double tt) for (i=0;i<3;i++) initx(rtk,rtk->sol.rr[i],VAR_POS,i); for (i=3;i<6;i++) initx(rtk,rtk->sol.rr[i],VAR_VEL,i); for (i=6;i<9;i++) initx(rtk,1E-6,VAR_ACC,i); - trace(2,"reset rtk position due to large variance: var=%.3f\n",var); + rtktrace(2,"reset rtk position due to large variance: var=%.3f\n",var); return; } /* generate valid state index */ @@ -524,7 +524,7 @@ static void udion(rtk_t *rtk, double tt, double bl, const int *sat, int ns) double el,fact; int i,j; - trace(3,"udion : tt=%.3f bl=%.0f ns=%d\n",tt,bl,ns); + rtktrace(3,"udion : tt=%.3f bl=%.0f ns=%d\n",tt,bl,ns); for (i=1;i<=MAXSAT;i++) { j=II(i,&rtk->opt); @@ -551,7 +551,7 @@ static void udtrop(rtk_t *rtk, double tt, double bl) { int i,j,k; - trace(3,"udtrop : tt=%.3f\n",tt); + rtktrace(3,"udtrop : tt=%.3f\n",tt); for (i=0;i<2;i++) { j=IT(i,&rtk->opt); @@ -579,7 +579,7 @@ static void udrcvbias(rtk_t *rtk, double tt) { int i,j; - trace(3,"udrcvbias: tt=%.3f\n",tt); + rtktrace(3,"udrcvbias: tt=%.3f\n",tt); for (i=0;iopt); @@ -602,7 +602,7 @@ static void detslp_ll(rtk_t *rtk, const obsd_t *obs, int i, int rcv) uint32_t slip,LLI; int f,sat=obs[i].sat; - trace(3,"detslp_ll: i=%d rcv=%d\n",i,rcv); + rtktrace(3,"detslp_ll: i=%d rcv=%d\n",i,rcv); for (f=0;fopt.nf;f++) { @@ -651,7 +651,7 @@ static void detslp_gf(rtk_t *rtk, const obsd_t *obs, int i, int j, int k,sat=obs[i].sat; double g0,g1; - trace(3,"detslp_gf: i=%d j=%d\n",i,j); + rtktrace(3,"detslp_gf: i=%d j=%d\n",i,j); for (k=1;kopt.nf;k++) { if ((g1=gfobs(obs,i,j,k,nav))==0.0) return; @@ -675,7 +675,7 @@ static void detslp_dop(rtk_t *rtk, const obsd_t *obs, int i, int rcv, int f,sat=obs[i].sat; double tt,dph,dpt,lam,thres; - trace(3,"detslp_dop: i=%d rcv=%d\n",i,rcv); + rtktrace(3,"detslp_dop: i=%d rcv=%d\n",i,rcv); for (f=0;fopt.nf;f++) { if (obs[i].L[f]==0.0||obs[i].D[f]==0.0||rtk->ph[rcv-1][sat-1][f]==0.0) { @@ -707,7 +707,7 @@ static void udbias(rtk_t *rtk, double tt, const obsd_t *obs, const int *sat, double cp,pr,cp1,cp2,pr1,pr2,*bias,offset,freqi,freq1,freq2,C1,C2; int i,j,k,slip,reset,nf=NF(&rtk->opt); - trace(3,"udbias : tt=%.3f ns=%d\n",tt,ns); + rtktrace(3,"udbias : tt=%.3f ns=%d\n",tt,ns); for (i=0;ix[IB(i,k,&rtk->opt)]!=0.0) { initx(rtk,0.0,0.0,IB(i,k,&rtk->opt)); - trace(3,"udbias : obs outage counter overflow (sat=%3d L%d n=%d)\n", + rtktrace(3,"udbias : obs outage counter overflow (sat=%3d L%d n=%d)\n", i,k+1,rtk->ssat[i-1].outc[k]); rtk->ssat[i-1].outc[k]=0; } @@ -809,7 +809,7 @@ static void udstate(rtk_t *rtk, const obsd_t *obs, const int *sat, { double tt=rtk->tt,bl,dr[3]; - trace(3,"udstate : ns=%d\n",ns); + rtktrace(3,"udstate : ns=%d\n",ns); /* temporal update of position/velocity/acceleration */ udpos(rtk,tt); @@ -884,7 +884,7 @@ static int zdres(int base, const obsd_t *obs, int n, const double *rs, double zhd,zazel[]={0.0,90.0*D2R}; int i,nf=NF(opt); - trace(3,"zdres : n=%d\n",n); + rtktrace(3,"zdres : n=%d\n",n); for (i=0;iopt.baseline[0]<=0.0) return 0; @@ -984,7 +984,7 @@ static int constbl(rtk_t *rtk, const double *x, const double *P, double *v, } /* check nonlinearity */ if (var>SQR(thres*bb)) { - trace(3,"constbl : equation nonlinear (bb=%.3f var=%.3f)\n",bb,var); + rtktrace(3,"constbl : equation nonlinear (bb=%.3f var=%.3f)\n",bb,var); return 0; } /* constraint to baseline length */ @@ -995,7 +995,7 @@ static int constbl(rtk_t *rtk, const double *x, const double *P, double *v, Ri[index]=0.0; Rj[index]=SQR(rtk->opt.baseline[1]); - trace(4,"baseline len v=%13.3f R=%8.6f %8.6f\n",v[index],Ri[index],Rj[index]); + rtktrace(4,"baseline len v=%13.3f R=%8.6f %8.6f\n",v[index],Ri[index],Rj[index]); return 1; } @@ -1049,7 +1049,7 @@ static int ddres(rtk_t *rtk, const nav_t *nav, double dt, const double *x, double *tropr,*tropu,*dtdxr,*dtdxu,*Ri,*Rj,freqi,freqj,*Hi=NULL; int i,j,k,m,f,nv=0,nb[NFREQ*4*2+2]={0},b=0,sysi,sysj,nf=NF(opt); - trace(3,"ddres : dt=%.1f nx=%d ns=%d\n",dt,rtk->nx,ns); + rtktrace(3,"ddres : dt=%.1f nx=%d ns=%d\n",dt,rtk->nx,ns); bl=baseline(x,rtk->rb,dr); ecef2pos(x,posu); ecef2pos(rtk->rb,posr); @@ -1168,7 +1168,7 @@ static int ddres(rtk_t *rtk, const nav_t *nav, double dt, const double *x, else { rtk->ssat[sat[i]-1].vsat[f-nf]=rtk->ssat[sat[j]-1].vsat[f-nf]=1; } - trace(4,"sat=%3d-%3d %s%d v=%13.3f R=%8.6f %8.6f\n",sat[i], + rtktrace(4,"sat=%3d-%3d %s%d v=%13.3f R=%8.6f %8.6f\n",sat[i], sat[j],fnx,nv,7,4);} + if (H) {rtktrace(5,"H=\n"); rtktracemat(5,H,rtk->nx,nv,7,4);} /* DD measurement error covariance */ ddcov(nb,b,Ri,Rj,nv,R); @@ -1205,7 +1205,7 @@ static double intpres(gtime_t time, const obsd_t *obs, int n, const nav_t *nav, double tt=timediff(time,obs[0].time),ttb,*p,*q; int i,j,k,nf=NF(opt); - trace(3,"intpres : n=%d tt=%.1f\n",n,tt); + rtktrace(3,"intpres : n=%d tt=%.1f\n",n,tt); if (nb==0||fabs(tt)na,nf=NF(&rtk->opt),nofix; - trace(3,"ddidx :\n"); + rtktrace(3,"ddidx :\n"); for (i=0;issat[i].fix[j]=0; @@ -1280,7 +1280,7 @@ static void restamb(rtk_t *rtk, const double *bias, int nb, double *xa) { int i,n,m,f,index[MAXSAT],nv=0,nf=NF(&rtk->opt); - trace(3,"restamb :\n"); + rtktrace(3,"restamb :\n"); for (i=0;inx;i++) xa[i]=rtk->x [i]; for (i=0;ina;i++) xa[i]=rtk->xa[i]; @@ -1308,7 +1308,7 @@ static void holdamb(rtk_t *rtk, const double *xa) double *v,*H,*R; int i,n,m,f,info,index[MAXSAT],nb=rtk->nx-rtk->na,nv=0,nf=NF(&rtk->opt); - trace(3,"holdamb :\n"); + rtktrace(3,"holdamb :\n"); v=mat(nb,1); H=zeros(nb,rtk->nx); @@ -1336,8 +1336,8 @@ static void holdamb(rtk_t *rtk, const double *xa) for (i=0;ix,rtk->P,H,v,R,rtk->nx,nv))) { - errmsg(rtk,"filter error (info=%d)\n",info); + if ((info=rtkfilter(rtk->x,rtk->P,H,v,R,rtk->nx,nv))) { + errmsg(rtk,"rtkfilter error (info=%d)\n",info); } free(R); } @@ -1351,7 +1351,7 @@ static int resamb_LAMBDA(rtk_t *rtk, double *bias, double *xa) double *DP,*y,*b,*db,*Qb,*Qab,*QQ,s[2]; int *ix; - trace(3,"resamb_LAMBDA : nx=%d\n",nx); + rtktrace(3,"resamb_LAMBDA : nx=%d\n",nx); rtk->sol.ratio=0.0; @@ -1384,8 +1384,8 @@ static int resamb_LAMBDA(rtk_t *rtk, double *bias, double *xa) } /* LAMBDA/MLAMBDA ILS (integer least-square) estimation */ if (!(info=lambda(nb,2,y,Qb,b,s))) { - trace(4,"N(1)="); tracemat(4,b ,1,nb,10,3); - trace(4,"N(2)="); tracemat(4,b+nb,1,nb,10,3); + rtktrace(4,"N(1)="); rtktracemat(4,b ,1,nb,10,3); + rtktrace(4,"N(2)="); rtktracemat(4,b+nb,1,nb,10,3); rtk->sol.ratio=s[0]>0?(float)(s[1]/s[0]):0.0f; if (rtk->sol.ratio>999.9) rtk->sol.ratio=999.9f; @@ -1410,7 +1410,7 @@ static int resamb_LAMBDA(rtk_t *rtk, double *bias, double *xa) matmul("NN",na,nb,nb, 1.0,Qab,Qb ,0.0,QQ); matmul("NT",na,na,nb,-1.0,QQ ,Qab,1.0,rtk->Pa); - trace(3,"resamb : validation ok (nb=%d ratio=%.2f s=%.2f/%.2f)\n", + rtktrace(3,"resamb : validation ok (nb=%d ratio=%.2f s=%.2f/%.2f)\n", nb,s[0]==0.0?0.0:s[1]/s[0],s[0],s[1]); /* restore SD ambiguity */ @@ -1441,7 +1441,7 @@ static int valpos(rtk_t *rtk, const double *v, const double *R, const int *vflg, int i,stat=1,sat1,sat2,type,freq; char *stype; - trace(3,"valpos : nv=%d thres=%.1f\n",nv,thres); + rtktrace(3,"valpos : nv=%d thres=%.1f\n",nv,thres); /* post-fit residual test */ for (i=0;iopt.mode<=PMODE_DGPS?SOLQ_DGPS:SOLQ_FLOAT; int nf=opt->ionoopt==IONOOPT_IFLC?1:opt->nf; - trace(3,"relpos : nx=%d nu=%d nr=%d\n",rtk->nx,nu,nr); + rtktrace(3,"relpos : nx=%d nu=%d nr=%d\n",rtk->nx,nu,nr); dt=timediff(time,obs[nu].time); @@ -1507,7 +1507,7 @@ static int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr, /* temporal update of states */ udstate(rtk,obs,sat,iu,ir,ns,nav); - trace(4,"x(0)="); tracemat(4,rtk->x,1,NR(opt),13,4); + rtktrace(4,"x(0)="); rtktracemat(4,rtk->x,1,NR(opt),13,4); xp=mat(rtk->nx,1); Pp=zeros(rtk->nx,rtk->nx); xa=mat(rtk->nx,1); matcpy(xp,rtk->x,rtk->nx,1); @@ -1532,14 +1532,14 @@ static int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr, stat=SOLQ_NONE; break; } - /* Kalman filter measurement update */ + /* Kalman rtkfilter measurement update */ matcpy(Pp,rtk->P,rtk->nx,rtk->nx); - if ((info=filter(xp,Pp,H,v,R,rtk->nx,nv))) { - errmsg(rtk,"filter error (info=%d)\n",info); + if ((info=rtkfilter(xp,Pp,H,v,R,rtk->nx,nv))) { + errmsg(rtk,"rtkfilter error (info=%d)\n",info); stat=SOLQ_NONE; break; } - trace(4,"x(%d)=",i+1); tracemat(4,xp,1,NR(opt),13,4); + rtktrace(4,"x(%d)=",i+1); rtktracemat(4,xp,1,NR(opt),13,4); } if (stat!=SOLQ_NONE&&zdres(0,obs,nu,rs,dts,var,svh,nav,xp,opt,0,y,e,azel, freq)) { @@ -1662,7 +1662,7 @@ extern void rtkinit(rtk_t *rtk, const prcopt_t *opt) ssat_t ssat0={0}; int i; - trace(3,"rtkinit :\n"); + rtktrace(3,"rtkinit :\n"); rtk->sol=sol0; for (i=0;i<6;i++) rtk->rb[i]=0.0; @@ -1688,7 +1688,7 @@ extern void rtkinit(rtk_t *rtk, const prcopt_t *opt) *-----------------------------------------------------------------------------*/ extern void rtkfree(rtk_t *rtk) { - trace(3,"rtkfree :\n"); + rtktrace(3,"rtkfree :\n"); rtk->nx=rtk->na=0; free(rtk->x ); rtk->x =NULL; @@ -1717,8 +1717,8 @@ extern void rtkfree(rtk_t *rtk) * rtk->na I number of integer states * rtk->ns O number of valid satellites in use * rtk->tt O time difference between current and previous (s) -* rtk->x[] IO float states pre-filter and post-filter -* rtk->P[] IO float covariance pre-filter and post-filter +* rtk->x[] IO float states pre-rtkfilter and post-rtkfilter +* rtk->P[] IO float covariance pre-rtkfilter and post-rtkfilter * rtk->xa[] O fixed states after AR * rtk->Pa[] O fixed covariance after AR * rtk->ssat[s] IO satellite {s+1} status @@ -1762,8 +1762,8 @@ extern int rtkpos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav) int i,nu,nr; char msg[128]=""; - trace(3,"rtkpos : time=%s n=%d\n",time_str(obs[0].time,3),n); - trace(4,"obs=\n"); traceobs(4,obs,n); + rtktrace(3,"rtkpos : time=%s n=%d\n",time_str(obs[0].time,3),n); + rtktrace(4,"obs=\n"); rtktraceobs(4,obs,n); /* set base staion position */ if (opt->refpos<=POSOPT_RINEX&&opt->mode!=PMODE_SINGLE&& diff --git a/src/rtksvr.c b/src/rtksvr.c index e03159671..65f4664ab 100644 --- a/src/rtksvr.c +++ b/src/rtksvr.c @@ -74,7 +74,7 @@ static void writesol(rtksvr_t *svr, int index) uint8_t buff[MAXSOLMSG+1]; int i,n; - tracet(4,"writesol: index=%d\n",index); + rtktracet(4,"writesol: index=%d\n",index); for (i=0;i<2;i++) { @@ -307,7 +307,7 @@ 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) { - tracet(4,"updatesvr: ret=%d ephsat=%d ephset=%d index=%d\n",ret,ephsat, + rtktracet(4,"updatesvr: ret=%d ephsat=%d ephset=%d index=%d\n",ret,ephsat, ephset,index); if (ret==1) { /* observation data */ @@ -343,7 +343,7 @@ static int decoderaw(rtksvr_t *svr, int index) sbsmsg_t *sbsmsg=NULL; int i,ret,ephsat,ephset,fobs=0; - tracet(4,"decoderaw: index=%d\n",index); + rtktracet(4,"decoderaw: index=%d\n",index); rtksvrlock(svr); @@ -374,7 +374,7 @@ static int decoderaw(rtksvr_t *svr, int index) } #if 0 /* record for receiving tick for debug */ if (ret==1) { - trace(0,"%d %10d T=%s NS=%2d\n",index,tickget(), + rtktrace(0,"%d %10d T=%s NS=%2d\n",index,tickget(), time_str(obs->data[0].time,0),obs->n); } #endif @@ -400,7 +400,7 @@ static void decodefile(rtksvr_t *svr, int index) char file[1024]; int nb; - tracet(4,"decodefile: index=%d\n",index); + rtktracet(4,"decodefile: index=%d\n",index); rtksvrlock(svr); @@ -420,7 +420,7 @@ static void decodefile(rtksvr_t *svr, int index) /* read sp3 precise ephemeris */ readsp3(file,&nav,0); if (nav.ne<=0) { - tracet(1,"sp3 file read error: %s\n",file); + rtktracet(1,"sp3 file read error: %s\n",file); return; } /* update precise ephemeris */ @@ -438,7 +438,7 @@ static void decodefile(rtksvr_t *svr, int index) /* read rinex clock */ if (readrnxc(file,&nav)<=0) { - tracet(1,"rinex clock file read error: %s\n",file); + rtktracet(1,"rinex clock file read error: %s\n",file); return; } /* update precise clock */ @@ -535,7 +535,7 @@ static void send_nmea(rtksvr_t *svr, uint32_t *tickreset) if (bl>=svr->bl_reset&&(int)(tick-*tickreset)>MIN_INT_RESET) { strsendcmd(svr->stream+1,svr->cmd_reset); - tracet(2,"send reset: bl=%.3f rr=%.3f %.3f %.3f rb=%.3f %.3f %.3f\n", + rtktracet(2,"send reset: bl=%.3f rr=%.3f %.3f %.3f rb=%.3f %.3f %.3f\n", bl,svr->rtk.sol.rr[0],svr->rtk.sol.rr[1],svr->rtk.sol.rr[2], svr->rtk.rb[0],svr->rtk.rb[1],svr->rtk.rb[2]); *tickreset=tick; @@ -553,7 +553,7 @@ static void send_nmea(rtksvr_t *svr, uint32_t *tickreset) } strsendnmea(svr->stream+1,&sol_nmea); - tracet(3,"send nmea: rr=%.3f %.3f %.3f\n",sol_nmea.rr[0],sol_nmea.rr[1], + rtktracet(3,"send nmea: rr=%.3f %.3f %.3f\n",sol_nmea.rr[0],sol_nmea.rr[1], sol_nmea.rr[2]); } } @@ -574,7 +574,7 @@ static void *rtksvrthread(void *arg) char msg[128]; int i,j,n,fobs[3]={0},cycle,cputime; - tracet(3,"rtksvrthread:\n"); + rtktracet(3,"rtksvrthread:\n"); svr->state=1; obs.data=data; svr->tick=tickget(); @@ -701,7 +701,7 @@ extern int rtksvrinit(rtksvr_t *svr) seph_t seph0={0}; int i,j; - tracet(3,"rtksvrinit:\n"); + rtktracet(3,"rtksvrinit:\n"); svr->state=svr->cycle=svr->nmeacycle=svr->nmeareq=0; for (i=0;i<3;i++) svr->nmeapos[i]=0.0; @@ -730,7 +730,7 @@ extern int rtksvrinit(rtksvr_t *svr) if (!(svr->nav.eph =(eph_t *)malloc(sizeof(eph_t )*MAXSAT*4 ))|| !(svr->nav.geph=(geph_t *)malloc(sizeof(geph_t)*NSATGLO*2))|| !(svr->nav.seph=(seph_t *)malloc(sizeof(seph_t)*NSATSBS*2))) { - tracet(1,"rtksvrinit: malloc error\n"); + rtktracet(1,"rtksvrinit: malloc error\n"); return 0; } for (i=0;inav.eph [i]=eph0; @@ -742,7 +742,7 @@ extern int rtksvrinit(rtksvr_t *svr) for (i=0;i<3;i++) for (j=0;jobs[i][j].data=(obsd_t *)malloc(sizeof(obsd_t)*MAXOBS))) { - tracet(1,"rtksvrinit: malloc error\n"); + rtktracet(1,"rtksvrinit: malloc error\n"); return 0; } } @@ -755,7 +755,7 @@ extern int rtksvrinit(rtksvr_t *svr) for (i=0;i<3;i++) *svr->cmds_periodic[i]='\0'; *svr->cmd_reset='\0'; svr->bl_reset=10.0; - initlock(&svr->lock); + rtkinitlock(&svr->lock); return 1; } @@ -781,8 +781,8 @@ extern void rtksvrfree(rtksvr_t *svr) * args : rtksvr_t *svr IO rtk server * return : status (1:ok 0:error) *-----------------------------------------------------------------------------*/ -extern void rtksvrlock (rtksvr_t *svr) {lock (&svr->lock);} -extern void rtksvrunlock(rtksvr_t *svr) {unlock(&svr->lock);} +extern void rtksvrlock (rtksvr_t *svr) {rtklock (&svr->lock);} +extern void rtksvrunlock(rtksvr_t *svr) {rtkunlock(&svr->lock);} /* start rtk server ------------------------------------------------------------ * start rtk server thread @@ -838,7 +838,7 @@ extern int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs, gtime_t time,time0={0}; int i,j,rw; - tracet(3,"rtksvrstart: cycle=%d buffsize=%d navsel=%d nmeacycle=%d nmeareq=%d\n", + rtktracet(3,"rtksvrstart: cycle=%d buffsize=%d navsel=%d nmeacycle=%d nmeareq=%d\n", cycle,buffsize,navsel,nmeacycle,nmeareq); if (svr->state) { @@ -867,7 +867,7 @@ extern int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs, svr->nb[i]=svr->npb[i]=0; if (!(svr->buff[i]=(uint8_t *)malloc(buffsize))|| !(svr->pbuf[i]=(uint8_t *)malloc(buffsize))) { - tracet(1,"rtksvrstart: malloc error\n"); + rtktracet(1,"rtksvrstart: malloc error\n"); sprintf(errmsg,"rtk server malloc error"); return 0; } @@ -888,7 +888,7 @@ extern int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs, } for (i=0;i<2;i++) { /* output peek buffer */ if (!(svr->sbuf[i]=(uint8_t *)malloc(buffsize))) { - tracet(1,"rtksvrstart: malloc error\n"); + rtktracet(1,"rtksvrstart: malloc error\n"); sprintf(errmsg,"rtk server malloc error"); return 0; } @@ -967,7 +967,7 @@ extern void rtksvrstop(rtksvr_t *svr, char **cmds) { int i; - tracet(3,"rtksvrstop:\n"); + rtktracet(3,"rtksvrstop:\n"); /* write stop commands to input streams */ rtksvrlock(svr); @@ -1001,7 +1001,7 @@ extern void rtksvrstop(rtksvr_t *svr, char **cmds) extern int rtksvropenstr(rtksvr_t *svr, int index, int str, const char *path, const solopt_t *solopt) { - tracet(3,"rtksvropenstr: index=%d str=%d path=%s\n",index,str,path); + rtktracet(3,"rtksvropenstr: index=%d str=%d path=%s\n",index,str,path); if (index<3||index>7||!svr->state) return 0; @@ -1012,7 +1012,7 @@ extern int rtksvropenstr(rtksvr_t *svr, int index, int str, const char *path, return 0; } if (!stropen(svr->stream+index,str,STR_MODE_W,path)) { - tracet(2,"stream open error: index=%d\n",index); + rtktracet(2,"stream open error: index=%d\n",index); rtksvrunlock(svr); return 0; } @@ -1035,7 +1035,7 @@ extern int rtksvropenstr(rtksvr_t *svr, int index, int str, const char *path, *-----------------------------------------------------------------------------*/ extern void rtksvrclosestr(rtksvr_t *svr, int index) { - tracet(3,"rtksvrclosestr: index=%d\n",index); + rtktracet(3,"rtksvrclosestr: index=%d\n",index); if (index<3||index>7||!svr->state) return; @@ -1063,7 +1063,7 @@ extern int rtksvrostat(rtksvr_t *svr, int rcv, gtime_t *time, int *sat, { int i,j,ns; - tracet(4,"rtksvrostat: rcv=%d\n",rcv); + rtktracet(4,"rtksvrostat: rcv=%d\n",rcv); if (!svr->state) return 0; rtksvrlock(svr); @@ -1100,7 +1100,7 @@ extern void rtksvrsstat(rtksvr_t *svr, int *sstat, char *msg) int i; char s[MAXSTRMSG],*p=msg; - tracet(4,"rtksvrsstat:\n"); + rtktracet(4,"rtksvrsstat:\n"); rtksvrlock(svr); for (i=0;istate) return 0; diff --git a/src/sbas.c b/src/sbas.c index 5278b6dc7..b40b14792 100644 --- a/src/sbas.c +++ b/src/sbas.c @@ -129,7 +129,7 @@ static int decode_sbstype1(const sbsmsg_t *msg, sbssat_t *sbssat) { int i,n,sat; - trace(4,"decode_sbstype1:\n"); + rtktrace(4,"decode_sbstype1:\n"); for (i=1,n=0;i<=210&&nmsg,13+i,1)) { @@ -147,7 +147,7 @@ static int decode_sbstype1(const sbsmsg_t *msg, sbssat_t *sbssat) sbssat->iodp=getbitu(msg->msg,224,2); sbssat->nsat=n; - trace(5,"decode_sbstype1: nprn=%d iodp=%d\n",n,sbssat->iodp); + rtktrace(5,"decode_sbstype1: nprn=%d iodp=%d\n",n,sbssat->iodp); return 1; } /* decode type 2-5,0: fast corrections ---------------------------------------*/ @@ -157,7 +157,7 @@ static int decode_sbstype2(const sbsmsg_t *msg, sbssat_t *sbssat) double prc,dt; gtime_t t0; - trace(4,"decode_sbstype2:\n"); + rtktrace(4,"decode_sbstype2:\n"); if (sbssat->iodp!=(int)getbitu(msg->msg,16,2)) return 0; @@ -183,7 +183,7 @@ static int decode_sbstype2(const sbsmsg_t *msg, sbssat_t *sbssat) } sbssat->sat[j].fcorr.iodf=iodf; } - trace(5,"decode_sbstype2: type=%d iodf=%d\n",type,iodf); + rtktrace(5,"decode_sbstype2: type=%d iodf=%d\n",type,iodf); return 1; } /* decode type 6: integrity info ---------------------------------------------*/ @@ -191,7 +191,7 @@ static int decode_sbstype6(const sbsmsg_t *msg, sbssat_t *sbssat) { int i,iodf[4],udre; - trace(4,"decode_sbstype6:\n"); + rtktrace(4,"decode_sbstype6:\n"); for (i=0;i<4;i++) { iodf[i]=getbitu(msg->msg,14+i*2,2); @@ -201,7 +201,7 @@ static int decode_sbstype6(const sbsmsg_t *msg, sbssat_t *sbssat) udre=getbitu(msg->msg,22+i*4,4); sbssat->sat[i].fcorr.udre=udre+1; } - trace(5,"decode_sbstype6: iodf=%d %d %d %d\n",iodf[0],iodf[1],iodf[2],iodf[3]); + rtktrace(5,"decode_sbstype6: iodf=%d %d %d %d\n",iodf[0],iodf[1],iodf[2],iodf[3]); return 1; } /* decode type 7: fast correction degradation factor -------------------------*/ @@ -209,7 +209,7 @@ static int decode_sbstype7(const sbsmsg_t *msg, sbssat_t *sbssat) { int i; - trace(4,"decode_sbstype7\n"); + rtktrace(4,"decode_sbstype7\n"); if (sbssat->iodp!=(int)getbitu(msg->msg,18,2)) return 0; @@ -226,10 +226,10 @@ static int decode_sbstype9(const sbsmsg_t *msg, nav_t *nav) seph_t seph={0}; int i,sat,t; - trace(4,"decode_sbstype9:\n"); + rtktrace(4,"decode_sbstype9:\n"); if (!(sat=satno(SYS_SBS,msg->prn))) { - trace(2,"invalid prn in sbas type 9: prn=%3d\n",msg->prn); + rtktrace(2,"invalid prn in sbas type 9: prn=%3d\n",msg->prn); return 0; } t=(int)getbitu(msg->msg,22,13)*16-(int)msg->tow%86400; @@ -261,7 +261,7 @@ static int decode_sbstype9(const sbsmsg_t *msg, nav_t *nav) nav->seph[NSATSBS+i]=nav->seph[i]; /* previous */ nav->seph[i]=seph; /* current */ - trace(5,"decode_sbstype9: prn=%d\n",msg->prn); + rtktrace(5,"decode_sbstype9: prn=%d\n",msg->prn); return 1; } /* decode type 18: ionospheric grid point masks ------------------------------*/ @@ -270,7 +270,7 @@ static int decode_sbstype18(const sbsmsg_t *msg, sbsion_t *sbsion) const sbsigpband_t *p; int i,j,n,m,band=getbitu(msg->msg,18,4); - trace(4,"decode_sbstype18:\n"); + rtktrace(4,"decode_sbstype18:\n"); if (0<=band&&band<= 8) {p=igpband1[band ]; m=8;} else if (9<=band&&band<=10) {p=igpband2[band-9]; m=5;} @@ -289,7 +289,7 @@ static int decode_sbstype18(const sbsmsg_t *msg, sbsion_t *sbsion) } sbsion[band].nigp=n; - trace(5,"decode_sbstype18: band=%d nigp=%d\n",band,n); + rtktrace(5,"decode_sbstype18: band=%d nigp=%d\n",band,n); return 1; } /* decode half long term correction (vel code=0) -----------------------------*/ @@ -297,7 +297,7 @@ static int decode_longcorr0(const sbsmsg_t *msg, int p, sbssat_t *sbssat) { int i,n=getbitu(msg->msg,p,6); - trace(4,"decode_longcorr0:\n"); + rtktrace(4,"decode_longcorr0:\n"); if (n==0||n>MAXSAT) return 0; @@ -311,7 +311,7 @@ static int decode_longcorr0(const sbsmsg_t *msg, int p, sbssat_t *sbssat) sbssat->sat[n-1].lcorr.daf1=0.0; sbssat->sat[n-1].lcorr.t0=gpst2time(msg->week,msg->tow); - trace(5,"decode_longcorr0:sat=%2d\n",sbssat->sat[n-1].sat); + rtktrace(5,"decode_longcorr0:sat=%2d\n",sbssat->sat[n-1].sat); return 1; } /* decode half long term correction (vel code=1) -----------------------------*/ @@ -319,7 +319,7 @@ static int decode_longcorr1(const sbsmsg_t *msg, int p, sbssat_t *sbssat) { int i,n=getbitu(msg->msg,p,6),t; - trace(4,"decode_longcorr1:\n"); + rtktrace(4,"decode_longcorr1:\n"); if (n==0||n>MAXSAT) return 0; @@ -336,13 +336,13 @@ static int decode_longcorr1(const sbsmsg_t *msg, int p, sbssat_t *sbssat) else if (t> 43200) t-=86400; sbssat->sat[n-1].lcorr.t0=gpst2time(msg->week,msg->tow+t); - trace(5,"decode_longcorr1: sat=%2d\n",sbssat->sat[n-1].sat); + rtktrace(5,"decode_longcorr1: sat=%2d\n",sbssat->sat[n-1].sat); return 1; } /* decode half long term correction ------------------------------------------*/ static int decode_longcorrh(const sbsmsg_t *msg, int p, sbssat_t *sbssat) { - trace(4,"decode_longcorrh:\n"); + rtktrace(4,"decode_longcorrh:\n"); if (getbitu(msg->msg,p,1)==0) { /* vel code=0 */ if (sbssat->iodp==(int)getbitu(msg->msg,p+103,2)) { @@ -360,7 +360,7 @@ static int decode_sbstype24(const sbsmsg_t *msg, sbssat_t *sbssat) { int i,j,iodf,blk,udre; - trace(4,"decode_sbstype24:\n"); + rtktrace(4,"decode_sbstype24:\n"); if (sbssat->iodp!=(int)getbitu(msg->msg,110,2)) return 0; /* check IODP */ @@ -381,7 +381,7 @@ static int decode_sbstype24(const sbsmsg_t *msg, sbssat_t *sbssat) /* decode type 25: long term satellite error correction ----------------------*/ static int decode_sbstype25(const sbsmsg_t *msg, sbssat_t *sbssat) { - trace(4,"decode_sbstype25:\n"); + rtktrace(4,"decode_sbstype25:\n"); return decode_longcorrh(msg,14,sbssat)&&decode_longcorrh(msg,120,sbssat); } @@ -390,7 +390,7 @@ static int decode_sbstype26(const sbsmsg_t *msg, sbsion_t *sbsion) { int i,j,block,delay,give,band=getbitu(msg->msg,14,4); - trace(4,"decode_sbstype26:\n"); + rtktrace(4,"decode_sbstype26:\n"); if (band>MAXBAND||sbsion[band].iodi!=(int)getbitu(msg->msg,217,2)) return 0; @@ -409,7 +409,7 @@ static int decode_sbstype26(const sbsmsg_t *msg, sbsion_t *sbsion) sbsion[band].igp[j].give=0; } } - trace(5,"decode_sbstype26: band=%d block=%d\n",band,block); + rtktrace(5,"decode_sbstype26: band=%d block=%d\n",band,block); return 1; } /* update sbas corrections ----------------------------------------------------- @@ -425,7 +425,7 @@ extern int sbsupdatecorr(const sbsmsg_t *msg, nav_t *nav) { int type=getbitu(msg->msg,8,6),stat=-1; - trace(3,"sbsupdatecorr: type=%d\n",type); + rtktrace(3,"sbsupdatecorr: type=%d\n",type); if (msg->week==0) return -1; @@ -445,7 +445,7 @@ extern int sbsupdatecorr(const sbsmsg_t *msg, nav_t *nav) case 26: stat=decode_sbstype26(msg,nav ->sbsion); break; case 63: break; /* null message */ - /*default: trace(2,"unsupported sbas message: type=%d\n",type); break;*/ + /*default: rtktrace(2,"unsupported sbas message: type=%d\n",type); break;*/ } return stat?type:-1; } @@ -461,10 +461,10 @@ static void readmsgs(const char *file, int sel, gtime_t ts, gtime_t te, gtime_t time; FILE *fp; - trace(3,"readmsgs: file=%s sel=%d\n",file,sel); + rtktrace(3,"readmsgs: file=%s sel=%d\n",file,sel); if (!(fp=fopen(file,"r"))) { - trace(2,"sbas message file open error: %s\n",file); + rtktrace(2,"sbas message file open error: %s\n",file); return; } while (fgets(buff,sizeof(buff),fp)) { @@ -502,7 +502,7 @@ static void readmsgs(const char *file, int sel, gtime_t ts, gtime_t te, if (sbs->n>=sbs->nmax) { sbs->nmax=sbs->nmax==0?1024:sbs->nmax*2; if (!(sbs_msgs=(sbsmsg_t *)realloc(sbs->msgs,sbs->nmax*sizeof(sbsmsg_t)))) { - trace(1,"readsbsmsg malloc error: nmax=%d\n",sbs->nmax); + rtktrace(1,"readsbsmsg malloc error: nmax=%d\n",sbs->nmax); free(sbs->msgs); sbs->msgs=NULL; sbs->n=sbs->nmax=0; return; } @@ -547,7 +547,7 @@ extern int sbsreadmsgt(const char *file, int sel, gtime_t ts, gtime_t te, char *efiles[MAXEXFILE]={0},*ext; int i,n; - trace(3,"sbsreadmsgt: file=%s sel=%d\n",file,sel); + rtktrace(3,"sbsreadmsgt: file=%s sel=%d\n",file,sel); for (i=0;iprn,type=sbsmsg->msg[1]>>2; - trace(4,"sbsoutmsg:\n"); + rtktrace(4,"sbsoutmsg:\n"); fprintf(fp,"%4d %6d %3d %2d : ",sbsmsg->week,sbsmsg->tow,prn,type); for (i=0;i<29;i++) fprintf(fp,"%02X",sbsmsg->msg[i]); @@ -605,7 +605,7 @@ static void searchigp(gtime_t time, const double *pos, const sbsion_t *ion, double lat=pos[0]*R2D,lon=pos[1]*R2D; const sbsigp_t *p; - trace(4,"searchigp: pos=%.3f %.3f\n",pos[0]*R2D,pos[1]*R2D); + rtktrace(4,"searchigp: pos=%.3f %.3f\n",pos[0]*R2D,pos[1]*R2D); if (lon>=180.0) lon-=360.0; if (-55.0<=lat&&lat<55.0) { @@ -671,7 +671,7 @@ extern int sbsioncorr(gtime_t time, const nav_t *nav, const double *pos, double fp,posp[2],x=0.0,y=0.0,t,w[4]={0}; const sbsigp_t *igp[4]={0}; /* {ws,wn,es,en} */ - trace(4,"sbsioncorr: pos=%.3f %.3f azel=%.3f %.3f\n",pos[0]*R2D,pos[1]*R2D, + rtktrace(4,"sbsioncorr: pos=%.3f %.3f azel=%.3f %.3f\n",pos[0]*R2D,pos[1]*R2D, azel[0]*R2D,azel[1]*R2D); *delay=*var=0.0; @@ -706,7 +706,7 @@ extern int sbsioncorr(gtime_t time, const nav_t *nav, const double *pos, else err=1; if (err) { - trace(2,"no sbas iono correction: lat=%3.0f lon=%4.0f\n",posp[0]*R2D, + rtktrace(2,"no sbas iono correction: lat=%3.0f lon=%4.0f\n",posp[0]*R2D, posp[1]*R2D); return 0; } @@ -718,7 +718,7 @@ extern int sbsioncorr(gtime_t time, const nav_t *nav, const double *pos, } *delay*=fp; *var*=fp*fp; - trace(5,"sbsioncorr: dion=%7.2f sig=%7.2f\n",*delay,sqrt(*var)); + rtktrace(5,"sbsioncorr: dion=%7.2f sig=%7.2f\n",*delay,sqrt(*var)); return 1; } /* get meterological parameters ----------------------------------------------*/ @@ -757,7 +757,7 @@ extern double sbstropcorr(gtime_t time, const double *pos, const double *azel, int i; double c,met[10],sinel=sin(azel[1]),h=pos[2],m; - trace(4,"sbstropcorr: pos=%.3f %.3f azel=%.3f %.3f\n",pos[0]*R2D,pos[1]*R2D, + rtktrace(4,"sbstropcorr: pos=%.3f %.3f azel=%.3f %.3f\n",pos[0]*R2D,pos[1]*R2D, azel[0]*R2D,azel[1]*R2D); if (pos[2]<-100.0||10000.0sat;psat+sbssat->nsat;p++) { if (p->sat!=sat||p->lcorr.t0.time==0) continue; t=timediff(time,p->lcorr.t0); if (fabs(t)>MAXSBSAGEL) { - trace(2,"sbas long-term correction expired: %s sat=%2d t=%5.0f\n", + rtktrace(2,"sbas long-term correction expired: %s sat=%2d t=%5.0f\n", time_str(time,0),sat,t); return 0; } for (i=0;i<3;i++) drs[i]=p->lcorr.dpos[i]+p->lcorr.dvel[i]*t; *ddts=p->lcorr.daf0+p->lcorr.daf1*t; - trace(5,"sbslongcorr: sat=%2d drs=%7.2f%7.2f%7.2f ddts=%7.2f\n", + rtktrace(5,"sbslongcorr: sat=%2d drs=%7.2f%7.2f%7.2f ddts=%7.2f\n", sat,drs[0],drs[1],drs[2],*ddts*CLIGHT); return 1; @@ -808,7 +808,7 @@ static int sbslongcorr(gtime_t time, int sat, const sbssat_t *sbssat, /* if sbas satellite without correction, no correction applied */ if (satsys(sat,NULL)==SYS_SBS) return 1; - trace(2,"no sbas long-term correction: %s sat=%2d\n",time_str(time,0),sat); + rtktrace(2,"no sbas long-term correction: %s sat=%2d\n",time_str(time,0),sat); return 0; } /* fast correction -----------------------------------------------------------*/ @@ -818,7 +818,7 @@ static int sbsfastcorr(gtime_t time, int sat, const sbssat_t *sbssat, const sbssatp_t *p; double t; - trace(3,"sbsfastcorr: sat=%2d\n",sat); + rtktrace(3,"sbsfastcorr: sat=%2d\n",sat); for (p=sbssat->sat;psat+sbssat->nsat;p++) { if (p->sat!=sat) continue; @@ -835,11 +835,11 @@ static int sbsfastcorr(gtime_t time, int sat, const sbssat_t *sbssat, #endif *var=varfcorr(p->fcorr.udre)+degfcorr(p->fcorr.ai)*t*t/2.0; - trace(5,"sbsfastcorr: sat=%3d prc=%7.2f sig=%7.2f t=%5.0f\n",sat, + rtktrace(5,"sbsfastcorr: sat=%3d prc=%7.2f sig=%7.2f t=%5.0f\n",sat, *prc,sqrt(*var),t); return 1; } - trace(2,"no sbas fast correction: %s sat=%2d\n",time_str(time,0),sat); + rtktrace(2,"no sbas fast correction: %s sat=%2d\n",time_str(time,0),sat); return 0; } /* sbas satellite ephemeris and clock correction ------------------------------- @@ -865,7 +865,7 @@ extern int sbssatcorr(gtime_t time, int sat, const nav_t *nav, double *rs, double drs[3]={0},dclk=0.0,prc=0.0; int i; - trace(3,"sbssatcorr : sat=%2d\n",sat); + rtktrace(3,"sbssatcorr : sat=%2d\n",sat); /* sbas long term corrections */ if (!sbslongcorr(time,sat,&nav->sbssat,drs,&dclk)) { @@ -879,7 +879,7 @@ extern int sbssatcorr(gtime_t time, int sat, const nav_t *nav, double *rs, dts[0]+=dclk+prc/CLIGHT; - trace(5,"sbssatcorr: sat=%2d drs=%6.3f %6.3f %6.3f dclk=%.3f %.3f var=%.3f\n", + rtktrace(5,"sbssatcorr: sat=%2d drs=%6.3f %6.3f %6.3f dclk=%.3f %.3f var=%.3f\n", sat,drs[0],drs[1],drs[2],dclk,prc/CLIGHT,*var); return 1; @@ -899,7 +899,7 @@ extern int sbsdecodemsg(gtime_t time, int prn, const uint32_t *words, uint8_t f[29]; double tow; - trace(5,"sbsdecodemsg: prn=%d\n",prn); + rtktrace(5,"sbsdecodemsg: prn=%d\n",prn); if (time.time==0) return 0; tow=time2gpst(time,&sbsmsg->week); diff --git a/src/solution.c b/src/solution.c index f4e2e9c52..b3ee532a0 100644 --- a/src/solution.c +++ b/src/solution.c @@ -176,7 +176,7 @@ static int decode_nmearmc(char **val, int n, sol_t *sol) char act=' ',ns='N',ew='E',mew='E',mode='A'; int i; - trace(4,"decode_nmearmc: n=%d\n",n); + rtktrace(4,"decode_nmearmc: n=%d\n",n); for (i=0;itype=0; /* postion type = xyz */ - trace(5,"decode_nmearmc: %s rr=%.3f %.3f %.3f stat=%d ns=%d vel=%.2f dir=%.0f ang=%.0f mew=%c mode=%c\n", + rtktrace(5,"decode_nmearmc: %s rr=%.3f %.3f %.3f stat=%d ns=%d vel=%.2f dir=%.0f ang=%.0f mew=%c mode=%c\n", time_str(sol->time,0),sol->rr[0],sol->rr[1],sol->rr[2],sol->stat,sol->ns, vel,dir,ang,mew,mode); @@ -224,7 +224,7 @@ static int decode_nmeazda(char **val, int n, sol_t *sol) double tod=0.0,ep[6]={0}; int i; - trace(4,"decode_nmeazda: n=%d\n",n); + rtktrace(4,"decode_nmeazda: n=%d\n",n); for (i=0;itime=utc2gpst(epoch2time(ep)); sol->ns=0; - trace(5,"decode_nmeazda: %s\n",time_str(sol->time,0)); + rtktrace(5,"decode_nmeazda: %s\n",time_str(sol->time,0)); return 2; /* update time */ } @@ -251,7 +251,7 @@ static int decode_nmeagga(char **val, int n, sol_t *sol) char ns='N',ew='E',ua=' ',um=' '; int i,solq=0,nrcv=0; - trace(4,"decode_nmeagga: n=%d\n",n); + rtktrace(4,"decode_nmeagga: n=%d\n",n); for (i=0;itime.time==0) { - trace(3,"no date info for nmea gga\n"); + rtktrace(3,"no date info for nmea gga\n"); return 0; } pos[0]=(ns=='N'?1.0:-1.0)*dmm2deg(lat)*D2R; @@ -296,7 +296,7 @@ static int decode_nmeagga(char **val, int n, sol_t *sol) sol->type=0; /* postion type = xyz */ - trace(5,"decode_nmeagga: %s rr=%.3f %.3f %.3f stat=%d ns=%d hdop=%.1f ua=%c um=%c\n", + rtktrace(5,"decode_nmeagga: %s rr=%.3f %.3f %.3f stat=%d ns=%d hdop=%.1f ua=%c um=%c\n", time_str(sol->time,0),sol->rr[0],sol->rr[1],sol->rr[2],sol->stat,sol->ns, hdop,ua,um); @@ -328,7 +328,7 @@ static int decode_nmea(char *buff, sol_t *sol) char *p,*q,*val[MAXFIELD]; int n=0; - trace(4,"decode_nmea: buff=%s\n",buff); + rtktrace(4,"decode_nmea: buff=%s\n",buff); /* parse fields */ for (p=buff;*p&&nsep,"\\t")) strcpy(s,"\t"); else if (*opt->sep) strcpy(s,opt->sep); @@ -412,7 +412,7 @@ static int decode_solxyz(char *buff, const solopt_t *opt, sol_t *sol) int i=0,j,n; const char *sep=opt2sep(opt); - trace(4,"decode_solxyz:\n"); + rtktrace(4,"decode_solxyz:\n"); if ((n=tonum(buff,sep,val))<3) return 0; @@ -464,7 +464,7 @@ static int decode_solllh(char *buff, const solopt_t *opt, sol_t *sol) int i=0,j,n; const char *sep=opt2sep(opt); - trace(4,"decode_solllh:\n"); + rtktrace(4,"decode_solllh:\n"); n=tonum(buff,sep,val); @@ -530,7 +530,7 @@ static int decode_solenu(char *buff, const solopt_t *opt, sol_t *sol) int i=0,j,n; const char *sep=opt2sep(opt); - trace(4,"decode_solenu:\n"); + rtktrace(4,"decode_solenu:\n"); if ((n=tonum(buff,sep,val))<3) return 0; @@ -564,7 +564,7 @@ static int decode_solsss(char *buff, sol_t *sol) double tow,pos[3],std[3]={0}; int i,week,solq; - trace(4,"decode_solsss:\n"); + rtktrace(4,"decode_solsss:\n"); if (sscanf(buff,"$POS,%d,%lf,%d,%lf,%lf,%lf,%lf,%lf,%lf",&week,&tow,&solq, pos,pos+1,pos+2,std,std+1,std+2)<6) { @@ -591,7 +591,7 @@ static int decode_solgsi(char *buff, const solopt_t *opt, sol_t *sol) double val[MAXFIELD]; int i=0,j; - trace(4,"decode_solgsi:\n"); + rtktrace(4,"decode_solgsi:\n"); if (tonum(buff," ",val)<3) return 0; @@ -607,7 +607,7 @@ static int decode_solpos(char *buff, const solopt_t *opt, sol_t *sol) sol_t sol0={{0}}; char *p=buff; - trace(4,"decode_solpos: buff=%s\n",buff); + rtktrace(4,"decode_solpos: buff=%s\n",buff); *sol=sol0; @@ -631,7 +631,7 @@ static void decode_refpos(char *buff, const solopt_t *opt, double *rb) int i,n; const char *sep=opt2sep(opt); - trace(3,"decode_refpos: buff=%s\n",buff); + rtktrace(3,"decode_refpos: buff=%s\n",buff); if ((n=tonum(buff,sep,val))<3) return; @@ -656,7 +656,7 @@ static int decode_sol(char *buff, const solopt_t *opt, sol_t *sol, double *rb) { char *p; - trace(4,"decode_sol: buff=%s\n",buff); + rtktrace(4,"decode_sol: buff=%s\n",buff); if (test_nmea(buff)) { /* decode nmea */ return decode_nmea(buff,sol); @@ -678,7 +678,7 @@ static void decode_solopt(char *buff, solopt_t *opt) { char *p; - trace(4,"decode_solhead: buff=%s\n",buff); + rtktrace(4,"decode_solhead: buff=%s\n",buff); if (strncmp(buff,COMMENTH,1)&&strncmp(buff,"+",1)) return; @@ -723,7 +723,7 @@ static void readsolopt(FILE *fp, solopt_t *opt) char buff[MAXSOLMSG+1]; int i; - trace(3,"readsolopt:\n"); + rtktrace(3,"readsolopt:\n"); for (i=0;fgets(buff,sizeof(buff),fp)&&i<100;i++) { /* only 100 lines */ @@ -747,7 +747,7 @@ extern int inputsol(uint8_t data, gtime_t ts, gtime_t te, double tint, sol_t sol={{0}}; int stat; - trace(4,"inputsol: data=0x%02x\n",data); + rtktrace(4,"inputsol: data=0x%02x\n",data); sol.time=solbuf->time; @@ -764,7 +764,7 @@ extern int inputsol(uint8_t data, gtime_t ts, gtime_t te, double tint, /* check disconnect message */ if (!strncmp((char *)solbuf->buff,MSG_DISCONN,strlen(MSG_DISCONN)-2)) { - trace(3,"disconnect received\n"); + rtktrace(3,"disconnect received\n"); return -1; } /* decode solution */ @@ -785,7 +785,7 @@ static int readsoldata(FILE *fp, gtime_t ts, gtime_t te, double tint, int qflag, { int c; - trace(3,"readsoldata:\n"); + rtktrace(3,"readsoldata:\n"); while ((c=fgetc(fp))!=EOF) { @@ -806,12 +806,12 @@ static int sort_solbuf(solbuf_t *solbuf) { sol_t *solbuf_data; - trace(4,"sort_solbuf: n=%d\n",solbuf->n); + rtktrace(4,"sort_solbuf: n=%d\n",solbuf->n); if (solbuf->n<=0) return 0; if (!(solbuf_data=(sol_t *)realloc(solbuf->data,sizeof(sol_t)*solbuf->n))) { - trace(1,"sort_solbuf: memory allocation error\n"); + rtktrace(1,"sort_solbuf: memory allocation error\n"); free(solbuf->data); solbuf->data=NULL; solbuf->n=solbuf->nmax=0; return 0; } @@ -840,13 +840,13 @@ extern int readsolt(char *files[], int nfile, gtime_t ts, gtime_t te, solopt_t opt=solopt_default; int i; - trace(3,"readsolt: nfile=%d\n",nfile); + rtktrace(3,"readsolt: nfile=%d\n",nfile); initsolbuf(solbuf,0,0); for (i=0;icyclic) { /* ring buffer */ if (solbuf->nmax<=1) return 0; @@ -895,7 +895,7 @@ extern int addsol(solbuf_t *solbuf, const sol_t *sol) if (solbuf->n>=solbuf->nmax) { solbuf->nmax=solbuf->nmax==0?8192:solbuf->nmax*2; if (!(solbuf_data=(sol_t *)realloc(solbuf->data,sizeof(sol_t)*solbuf->nmax))) { - trace(1,"addsol: memory allocation error\n"); + rtktrace(1,"addsol: memory allocation error\n"); free(solbuf->data); solbuf->data=NULL; solbuf->n=solbuf->nmax=0; return 0; } @@ -912,7 +912,7 @@ extern int addsol(solbuf_t *solbuf, const sol_t *sol) *-----------------------------------------------------------------------------*/ extern sol_t *getsol(solbuf_t *solbuf, int index) { - trace(4,"getsol: index=%d\n",index); + rtktrace(4,"getsol: index=%d\n",index); if (index<0||solbuf->n<=index) return NULL; if ((index=solbuf->start+index)>=solbuf->nmax) { @@ -934,7 +934,7 @@ extern void initsolbuf(solbuf_t *solbuf, int cyclic, int nmax) #endif int i; - trace(3,"initsolbuf: cyclic=%d nmax=%d\n",cyclic,nmax); + rtktrace(3,"initsolbuf: cyclic=%d nmax=%d\n",cyclic,nmax); solbuf->n=solbuf->nmax=solbuf->start=solbuf->end=solbuf->nb=0; solbuf->cyclic=cyclic; @@ -948,7 +948,7 @@ extern void initsolbuf(solbuf_t *solbuf, int cyclic, int nmax) if (cyclic) { if (nmax<=2) nmax=2; if (!(solbuf->data=malloc(sizeof(sol_t)*nmax))) { - trace(1,"initsolbuf: memory allocation error\n"); + rtktrace(1,"initsolbuf: memory allocation error\n"); return; } solbuf->nmax=nmax; @@ -963,7 +963,7 @@ extern void freesolbuf(solbuf_t *solbuf) { int i; - trace(3,"freesolbuf: n=%d\n",solbuf->n); + rtktrace(3,"freesolbuf: n=%d\n",solbuf->n); free(solbuf->data); solbuf->n=solbuf->nmax=solbuf->start=solbuf->end=solbuf->nb=0; @@ -974,7 +974,7 @@ extern void freesolbuf(solbuf_t *solbuf) } extern void freesolstatbuf(solstatbuf_t *solstatbuf) { - trace(3,"freesolstatbuf: n=%d\n",solstatbuf->n); + rtktrace(3,"freesolstatbuf: n=%d\n",solstatbuf->n); solstatbuf->n=solstatbuf->nmax=0; free(solstatbuf->data); @@ -992,12 +992,12 @@ static int sort_solstat(solstatbuf_t *statbuf) { solstat_t *statbuf_data; - trace(4,"sort_solstat: n=%d\n",statbuf->n); + rtktrace(4,"sort_solstat: n=%d\n",statbuf->n); if (statbuf->n<=0) return 0; if (!(statbuf_data=realloc(statbuf->data,sizeof(solstat_t)*statbuf->n))) { - trace(1,"sort_solstat: memory allocation error\n"); + rtktrace(1,"sort_solstat: memory allocation error\n"); free(statbuf->data); statbuf->data=NULL; statbuf->n=statbuf->nmax=0; return 0; } @@ -1014,7 +1014,7 @@ static int decode_solstat(char *buff, solstat_t *stat) int n,week,sat,frq,vsat,fix,slip,lock,outc,slipc,rejc; char id[32]="",*p; - trace(4,"decode_solstat: buff=%s\n",buff); + rtktrace(4,"decode_solstat: buff=%s\n",buff); if (strstr(buff,"$SAT")!=buff) return 0; @@ -1025,11 +1025,11 @@ static int decode_solstat(char *buff, solstat_t *stat) &lock,&outc,&slipc,&rejc); if (n<15) { - trace(2,"invalid format of solution status: %s\n",buff); + rtktrace(2,"invalid format of solution status: %s\n",buff); return 0; } if ((sat=satid2no(id))<=0) { - trace(2,"invalid satellite in solution status: %s\n",id); + rtktrace(2,"invalid satellite in solution status: %s\n",id); return 0; } *stat=stat0; @@ -1053,13 +1053,13 @@ static void addsolstat(solstatbuf_t *statbuf, const solstat_t *stat) { solstat_t *statbuf_data; - trace(4,"addsolstat:\n"); + rtktrace(4,"addsolstat:\n"); if (statbuf->n>=statbuf->nmax) { statbuf->nmax=statbuf->nmax==0?8192:statbuf->nmax*2; if (!(statbuf_data=(solstat_t *)realloc(statbuf->data,sizeof(solstat_t)* statbuf->nmax))) { - trace(1,"addsolstat: memory allocation error\n"); + rtktrace(1,"addsolstat: memory allocation error\n"); free(statbuf->data); statbuf->data=NULL; statbuf->n=statbuf->nmax=0; return; } @@ -1074,7 +1074,7 @@ static int readsolstatdata(FILE *fp, gtime_t ts, gtime_t te, double tint, solstat_t stat={{0}}; char buff[MAXSOLMSG+1]; - trace(3,"readsolstatdata:\n"); + rtktrace(3,"readsolstatdata:\n"); while (fgets(buff,sizeof(buff),fp)) { @@ -1105,7 +1105,7 @@ extern int readsolstatt(char *files[], int nfile, gtime_t ts, gtime_t te, char path[1024],*p; int i; - trace(3,"readsolstatt: nfile=%d\n",nfile); + rtktrace(3,"readsolstatt: nfile=%d\n",nfile); statbuf->n=statbuf->nmax=0; statbuf->data=NULL; @@ -1118,12 +1118,12 @@ extern int readsolstatt(char *files[], int nfile, gtime_t ts, gtime_t te, sprintf(path,"%s.stat",files[i]); } if (!(fp=fopen(path,"r"))) { - trace(2,"readsolstatt: file open error %s\n",path); + rtktrace(2,"readsolstatt: file open error %s\n",path); continue; } /* read solution status data */ if (!readsolstatdata(fp,ts,te,tint,statbuf)) { - trace(2,"readsolstatt: no solution in %s\n",path); + rtktrace(2,"readsolstatt: no solution in %s\n",path); } fclose(fp); } @@ -1133,7 +1133,7 @@ extern int readsolstat(char *files[], int nfile, solstatbuf_t *statbuf) { gtime_t time={0}; - trace(3,"readsolstat: nfile=%d\n",nfile); + rtktrace(3,"readsolstat: nfile=%d\n",nfile); return readsolstatt(files,nfile,time,time,0.0,statbuf); } @@ -1144,7 +1144,7 @@ static int outecef(uint8_t *buff, const char *s, const sol_t *sol, const char *sep=opt2sep(opt); char *p=(char *)buff; - trace(3,"outecef:\n"); + rtktrace(3,"outecef:\n"); p+=sprintf(p,"%s%s%14.4f%s%14.4f%s%14.4f%s%3d%s%3d%s%8.4f%s%8.4f%s%8.4f%s" "%8.4f%s%8.4f%s%8.4f%s%6.2f%s%6.1f", @@ -1172,7 +1172,7 @@ static int outpos(uint8_t *buff, const char *s, const sol_t *sol, const char *sep=opt2sep(opt); char *p=(char *)buff; - trace(3,"outpos :\n"); + rtktrace(3,"outpos :\n"); ecef2pos(sol->rr,pos); soltocov(sol,P); @@ -1218,7 +1218,7 @@ static int outenu(uint8_t *buff, const char *s, const sol_t *sol, const char *sep=opt2sep(opt); char *p=(char *)buff; - trace(3,"outenu :\n"); + rtktrace(3,"outenu :\n"); for (i=0;i<3;i++) rr[i]=sol->rr[i]-rb[i]; ecef2pos(rb,pos); @@ -1241,7 +1241,7 @@ extern int outnmea_rmc(uint8_t *buff, const sol_t *sol) char *p=(char *)buff,*q,sum; const char *emag="E",*mode="A",*status="V"; - trace(3,"outnmea_rmc:\n"); + rtktrace(3,"outnmea_rmc:\n"); if (sol->stat<=SOLQ_NONE) { p+=sprintf(p,"$%sRMC,,,,,,,,,,,,,",NMEA_TID); @@ -1285,7 +1285,7 @@ extern int outnmea_gga(uint8_t *buff, const sol_t *sol) int solq,refid=0; char *p=(char *)buff,*q,sum; - trace(3,"outnmea_gga:\n"); + rtktrace(3,"outnmea_gga:\n"); if (sol->stat<=SOLQ_NONE) { p+=sprintf(p,"$%sGGA,,,,,,,,,,,,,,",NMEA_TID); @@ -1318,7 +1318,7 @@ extern int outnmea_gsa(uint8_t *buff, const sol_t *sol, const ssat_t *ssat) char *p=(char *)buff,*q,*s,sum; int i,j,sys,prn,nsat,mask=0,nsys=0,sats[MAXSAT]; - trace(3,"outnmea_gsa:\n"); + rtktrace(3,"outnmea_gsa:\n"); for (i=nsat=0;imode]); @@ -1499,7 +1499,7 @@ extern int outsolheads(uint8_t *buff, const solopt_t *opt) char *p=(char *)buff; int timeu=opt->timeu<0?0:(opt->timeu>20?20:opt->timeu); - trace(3,"outsolheads:\n"); + rtktrace(3,"outsolheads:\n"); if (opt->posf==SOLF_NMEA||opt->posf==SOLF_STAT||opt->posf==SOLF_GSIF) { return 0; @@ -1587,7 +1587,7 @@ extern int outsols(uint8_t *buff, const sol_t *sol, const double *rb, char s[64]; uint8_t *p=buff; - trace(3,"outsols :\n"); + rtktrace(3,"outsols :\n"); /* suppress output if std is over opt->maxsolstd */ if (opt->maxsolstd>0.0&&sol_std(sol)>opt->maxsolstd) { @@ -1639,7 +1639,7 @@ extern int outsolexs(uint8_t *buff, const sol_t *sol, const ssat_t *ssat, gtime_t ts={0}; uint8_t *p=buff; - trace(3,"outsolexs:\n"); + rtktrace(3,"outsolexs:\n"); /* suppress output if std is over opt->maxsolstd */ if (opt->maxsolstd>0.0&&sol_std(sol)>opt->maxsolstd) { @@ -1666,7 +1666,7 @@ extern void outprcopt(FILE *fp, const prcopt_t *opt) uint8_t buff[MAXSOLMSG+1]; int n; - trace(3,"outprcopt:\n"); + rtktrace(3,"outprcopt:\n"); if ((n=outprcopts(buff,opt))>0) { fwrite(buff,n,1,fp); @@ -1683,7 +1683,7 @@ extern void outsolhead(FILE *fp, const solopt_t *opt) uint8_t buff[MAXSOLMSG+1]; int n; - trace(3,"outsolhead:\n"); + rtktrace(3,"outsolhead:\n"); if ((n=outsolheads(buff,opt))>0) { fwrite(buff,n,1,fp); @@ -1703,7 +1703,7 @@ extern void outsol(FILE *fp, const sol_t *sol, const double *rb, uint8_t buff[MAXSOLMSG+1]; int n; - trace(3,"outsol :\n"); + rtktrace(3,"outsol :\n"); if ((n=outsols(buff,sol,rb,opt))>0) { fwrite(buff,n,1,fp); @@ -1724,7 +1724,7 @@ extern void outsolex(FILE *fp, const sol_t *sol, const ssat_t *ssat, uint8_t buff[MAXSOLMSG+1]; int n; - trace(3,"outsolex:\n"); + rtktrace(3,"outsolex:\n"); if ((n=outsolexs(buff,sol,ssat,opt))>0) { fwrite(buff,n,1,fp); diff --git a/src/stream.c b/src/stream.c index 363cc374f..a188dcff1 100644 --- a/src/stream.c +++ b/src/stream.c @@ -159,7 +159,7 @@ typedef struct { /* file control type */ double start; /* start offset (s) */ double speed; /* replay speed (time factor) */ double swapintv; /* swap interval (hr) (0: no swap) */ - lock_t lock; /* lock flag */ + rtklock_t lock; /* lock flag */ } file_t; typedef struct { /* tcp control type */ @@ -250,13 +250,13 @@ typedef struct { /* ftp download control type */ char local[1024]; /* local file path */ int topts[4]; /* time options {poff,tint,toff,tretry} (s) */ gtime_t tnext; /* next retry time (gpst) */ - thread_t thread; /* download thread */ + rtkthread_t thread; /* download thread */ } ftp_t; typedef struct { /* memory buffer type */ int state,wp,rp; /* state,write/read pointer */ int bufsize; /* buffer size (bytes) */ - lock_t lock; /* lock flag */ + rtklock_t lock; /* lock flag */ uint8_t *buf; /* write buffer */ } membuf_t; @@ -283,35 +283,35 @@ static int readseribuff(serial_t *serial, uint8_t *buff, int nmax) { int ns; - tracet(5,"readseribuff: dev=%d\n",serial->dev); + rtktracet(5,"readseribuff: dev=%d\n",serial->dev); - lock(&serial->lock); + rtklock(&serial->lock); for (ns=0;serial->rp!=serial->wp&&nsbuff[serial->rp]; if (++serial->rp>=serial->buffsize) serial->rp=0; } - unlock(&serial->lock); - tracet(5,"readseribuff: ns=%d rp=%d wp=%d\n",ns,serial->rp,serial->wp); + rtkunlock(&serial->lock); + rtktracet(5,"readseribuff: ns=%d rp=%d wp=%d\n",ns,serial->rp,serial->wp); return ns; } static int writeseribuff(serial_t *serial, uint8_t *buff, int n) { int ns,wp; - tracet(5,"writeseribuff: dev=%d n=%d\n",serial->dev,n); + rtktracet(5,"writeseribuff: dev=%d n=%d\n",serial->dev,n); - lock(&serial->lock); + rtklock(&serial->lock); for (ns=0;nsbuff[wp=serial->wp]=buff[ns]; if (++wp>=serial->buffsize) wp=0; if (wp!=serial->rp) serial->wp=wp; else { - tracet(2,"serial buffer overflow: size=%d\n",serial->buffsize); + rtktracet(2,"serial buffer overflow: size=%d\n",serial->buffsize); break; } } - unlock(&serial->lock); - tracet(5,"writeseribuff: ns=%d rp=%d wp=%d\n",ns,serial->rp,serial->wp); + rtkunlock(&serial->lock); + rtktracet(5,"writeseribuff: ns=%d rp=%d wp=%d\n",ns,serial->rp,serial->wp); return ns; } #endif /* WIN32 */ @@ -326,7 +326,7 @@ static DWORD WINAPI serialthread(void *arg) DWORD ns; int n; - tracet(3,"serialthread:\n"); + rtktracet(3,"serialthread:\n"); for (;;) { tick=tickget(); @@ -358,13 +358,15 @@ static serial_t *openserial(const char *path, int mode, char *msg) char dcb[64]=""; #else const speed_t bs[]={ - B300,B600,B1200,B2400,B4800,B9600,B19200,B38400,B57600,B115200,B230400, - B460800,B921600 + B300,B600,B1200,B2400,B4800,B9600,B19200,B38400,B57600,B115200,B230400 + #ifdef B460800 + ,B460800,B921600 + #endif }; struct termios ios={0}; int rw=0; #endif - tracet(3,"openserial: path=%s mode=%d\n",path,mode); + rtktracet(3,"openserial: path=%s mode=%d\n",path,mode); if (!(serial=(serial_t *)calloc(1,sizeof(serial_t)))) return NULL; @@ -380,7 +382,7 @@ static serial_t *openserial(const char *path, int mode, char *msg) for (i=0;i<13;i++) if (br[i]==brate) break; if (i>=14) { sprintf(msg,"bitrate error (%d)",brate); - tracet(1,"openserial: %s path=%s\n",msg,path); + rtktracet(1,"openserial: %s path=%s\n",msg,path); free(serial); return NULL; } @@ -394,13 +396,13 @@ static serial_t *openserial(const char *path, int mode, char *msg) serial->dev=CreateFile(dev,rw,0,0,OPEN_EXISTING,0,NULL); if (serial->dev==INVALID_HANDLE_VALUE) { sprintf(msg,"%s open error (%d)",port,(int)GetLastError()); - tracet(1,"openserial: %s path=%s\n",msg,path); + rtktracet(1,"openserial: %s path=%s\n",msg,path); free(serial); return NULL; } if (!GetCommConfig(serial->dev,&cc,&siz)) { sprintf(msg,"%s getconfig error (%d)",port,(int)GetLastError()); - tracet(1,"openserial: %s\n",msg); + rtktracet(1,"openserial: %s\n",msg); CloseHandle(serial->dev); free(serial); return NULL; @@ -408,7 +410,7 @@ static serial_t *openserial(const char *path, int mode, char *msg) sprintf(dcb,"baud=%d parity=%c data=%d stop=%d",brate,parity,bsize,stopb); if (!BuildCommDCB(dcb,&cc.dcb)) { sprintf(msg,"%s buiddcb error (%d)",port,(int)GetLastError()); - tracet(1,"openserial: %s\n",msg); + rtktracet(1,"openserial: %s\n",msg); CloseHandle(serial->dev); free(serial); return NULL; @@ -433,7 +435,7 @@ static serial_t *openserial(const char *path, int mode, char *msg) serial->state=1; if (!(serial->thread=CreateThread(NULL,0,serialthread,serial,0,NULL))) { sprintf(msg,"%s serial thread error (%d)",port,(int)GetLastError()); - tracet(1,"openserial: %s\n",msg); + rtktracet(1,"openserial: %s\n",msg); CloseHandle(serial->dev); serial->state=0; free(serial); @@ -449,7 +451,7 @@ static serial_t *openserial(const char *path, int mode, char *msg) if ((serial->dev=open(dev,rw|O_NOCTTY|O_NONBLOCK))<0) { sprintf(msg,"%s open error (%d)",dev,errno); - tracet(1,"openserial: %s dev=%s\n",msg,dev); + rtktracet(1,"openserial: %s dev=%s\n",msg,dev); free(serial); return NULL; } @@ -476,13 +478,13 @@ static serial_t *openserial(const char *path, int mode, char *msg) sprintf(path_tcp,":%d",tcp_port); serial->tcpsvr=opentcpsvr(path_tcp,msg_tcp); } - tracet(3,"openserial: dev=%d\n",serial->dev); + rtktracet(3,"openserial: dev=%d\n",serial->dev); return serial; } /* close serial --------------------------------------------------------------*/ static void closeserial(serial_t *serial) { - tracet(3,"closeserial: dev=%d\n",serial->dev); + rtktracet(3,"closeserial: dev=%d\n",serial->dev); if (!serial) return; #ifdef WIN32 @@ -507,14 +509,14 @@ static int readserial(serial_t *serial, uint8_t *buff, int n, char *msg) #else int nr; #endif - tracet(4,"readserial: dev=%d n=%d\n",serial->dev,n); + rtktracet(4,"readserial: dev=%d n=%d\n",serial->dev,n); if (!serial) return 0; #ifdef WIN32 if (!ReadFile(serial->dev,buff,n,&nr,NULL)) return 0; #else if ((nr=read(serial->dev,buff,n))<0) return 0; #endif - tracet(5,"readserial: exit dev=%d nr=%d\n",serial->dev,nr); + rtktracet(5,"readserial: exit dev=%d nr=%d\n",serial->dev,nr); /* write received stream to tcp server port */ if (serial->tcpsvr&&nr>0) { @@ -527,7 +529,7 @@ static int writeserial(serial_t *serial, uint8_t *buff, int n, char *msg) { int ns=0; - tracet(3,"writeserial: dev=%d n=%d\n",serial->dev,n); + rtktracet(3,"writeserial: dev=%d n=%d\n",serial->dev,n); if (!serial) return 0; #ifdef WIN32 @@ -537,7 +539,7 @@ static int writeserial(serial_t *serial, uint8_t *buff, int n, char *msg) serial->error=1; } #endif - tracet(5,"writeserial: exit dev=%d ns=%d\n",serial->dev,ns); + rtktracet(5,"writeserial: exit dev=%d ns=%d\n",serial->dev,ns); return ns; } /* get state serial ----------------------------------------------------------*/ @@ -572,7 +574,7 @@ static int openfile_(file_t *file, gtime_t time, char *msg) char *rw,tagpath[MAXSTRPATH+4]=""; char tagh[TIMETAGH_LEN+1]=""; - tracet(3,"openfile_: path=%s time=%s\n",file->path,time_str(time,0)); + rtktracet(3,"openfile_: path=%s time=%s\n",file->path,time_str(time,0)); file->time=utc2gpst(timeget()); file->tick=file->tick_f=tickget(); @@ -595,10 +597,10 @@ static int openfile_(file_t *file, gtime_t time, char *msg) if (!(file->fp=fopen(file->openpath,rw))) { sprintf(msg,"file open error: %s",file->openpath); - tracet(1,"openfile: %s\n",msg); + rtktracet(1,"openfile: %s\n",msg); return 0; } - tracet(4,"openfile_: open file %s (%s)\n",file->openpath,rw); + rtktracet(4,"openfile_: open file %s (%s)\n",file->openpath,rw); sprintf(tagpath,"%s.tag",file->openpath); @@ -606,11 +608,11 @@ static int openfile_(file_t *file, gtime_t time, char *msg) if (!(file->fp_tag=fopen(tagpath,rw))) { sprintf(msg,"tag open error: %s",tagpath); - tracet(1,"openfile: %s\n",msg); + rtktracet(1,"openfile: %s\n",msg); fclose(file->fp); return 0; } - tracet(4,"openfile_: open tag file %s (%s)\n",tagpath,rw); + rtktracet(4,"openfile_: open tag file %s (%s)\n",tagpath,rw); if (file->mode&STR_MODE_R) { if (fread(&tagh,TIMETAGH_LEN,1,file->fp_tag)==1&& @@ -652,7 +654,7 @@ static int openfile_(file_t *file, gtime_t time, char *msg) /* close file ----------------------------------------------------------------*/ static void closefile_(file_t *file) { - tracet(3,"closefile_: path=%s\n",file->path); + rtktracet(3,"closefile_: path=%s\n",file->path); if (file->fp) fclose(file->fp); if (file->fp_tag) fclose(file->fp_tag); @@ -672,7 +674,7 @@ static file_t *openfile(const char *path, int mode, char *msg) char *p; int timetag=0,size_fpos=4; /* default 4B */ - tracet(3,"openfile: path=%s mode=%d\n",path,mode); + rtktracet(3,"openfile: path=%s mode=%d\n",path,mode); if (!(mode&(STR_MODE_R|STR_MODE_W))) return NULL; @@ -703,7 +705,7 @@ static file_t *openfile(const char *path, int mode, char *msg) file->start=start; file->speed=speed; file->swapintv=swapintv; - initlock(&file->lock); + rtkinitlock(&file->lock); time=utc2gpst(timeget()); @@ -717,7 +719,7 @@ static file_t *openfile(const char *path, int mode, char *msg) /* close file ----------------------------------------------------------------*/ static void closefile(file_t *file) { - tracet(3,"closefile: fp=%d\n",file->fp); + rtktracet(3,"closefile: fp=%d\n",file->fp); if (!file) return; closefile_(file); @@ -728,7 +730,7 @@ static void swapfile(file_t *file, gtime_t time, char *msg) { char openpath[MAXSTRPATH]; - tracet(3,"swapfile: fp=%d time=%s\n",file->fp,time_str(time,0)); + rtktracet(3,"swapfile: fp=%d time=%s\n",file->fp,time_str(time,0)); /* return if old swap file open */ if (file->fp_tmp||file->fp_tag_tmp) return; @@ -737,7 +739,7 @@ static void swapfile(file_t *file, gtime_t time, char *msg) reppath(file->path,openpath,time,"",""); if (!strcmp(openpath,file->openpath)) { - tracet(2,"swapfile: no need to swap %s\n",openpath); + rtktracet(2,"swapfile: no need to swap %s\n",openpath); return; } /* save file pointer to temporary pointer */ @@ -750,7 +752,7 @@ static void swapfile(file_t *file, gtime_t time, char *msg) /* close old swap file -------------------------------------------------------*/ static void swapclose(file_t *file) { - tracet(3,"swapclose: fp_tmp=%d\n",file->fp_tmp); + rtktracet(3,"swapclose: fp_tmp=%d\n",file->fp_tmp); if (file->fp_tmp ) fclose(file->fp_tmp ); if (file->fp_tag_tmp) fclose(file->fp_tag_tmp); @@ -797,7 +799,7 @@ static int readfile(file_t *file, uint8_t *buff, int nmax, char *msg) long pos,n; int nr=0; - tracet(4,"readfile: fp=%d nmax=%d\n",file->fp,nmax); + rtktracet(4,"readfile: fp=%d nmax=%d\n",file->fp,nmax); if (!file) return 0; @@ -855,7 +857,7 @@ static int readfile(file_t *file, uint8_t *buff, int nmax, char *msg) if (feof(file->fp)) { sprintf(msg,"end"); } - tracet(5,"readfile: fp=%d nr=%d\n",file->fp,nr); + rtktracet(5,"readfile: fp=%d nr=%d\n",file->fp,nr); return nr; } /* write file ----------------------------------------------------------------*/ @@ -868,7 +870,7 @@ static int writefile(file_t *file, uint8_t *buff, int n, char *msg) double tow1,tow2,intv; long fpos,fpos_tmp=0; - tracet(4,"writefile: fp=%d n=%d\n",file->fp,n); + rtktracet(4,"writefile: fp=%d n=%d\n",file->fp,n); if (!file) return 0; @@ -928,7 +930,7 @@ static int writefile(file_t *file, uint8_t *buff, int n, char *msg) fflush(file->fp_tag_tmp); } } - tracet(5,"writefile: fp=%d ns=%d tick=%5d fpos=%d\n",file->fp,ns,tick,fpos); + rtktracet(5,"writefile: fp=%d ns=%d tick=%5d fpos=%d\n",file->fp,ns,tick,fpos); return ns; } @@ -946,7 +948,7 @@ static void decodetcppath(const char *path, char *addr, char *port, char *user, { char buff[MAXSTRPATH],*p,*q; - tracet(4,"decodetcpepath: path=%s\n",path); + rtktracet(4,"decodetcpepath: path=%s\n",path); if (port) *port='\0'; if (user) *user='\0'; @@ -994,22 +996,22 @@ static int setsock(socket_t sock, char *msg) #else struct timeval tv={0}; #endif - tracet(3,"setsock: sock=%d\n",sock); + rtktracet(3,"setsock: sock=%d\n",sock); if (setsockopt(sock,SOL_SOCKET,SO_RCVTIMEO,(const char *)&tv,sizeof(tv))==-1|| setsockopt(sock,SOL_SOCKET,SO_SNDTIMEO,(const char *)&tv,sizeof(tv))==-1) { sprintf(msg,"sockopt error: notimeo"); - tracet(1,"setsock: setsockopt error 1 sock=%d err=%d\n",sock,errsock()); + rtktracet(1,"setsock: setsockopt error 1 sock=%d err=%d\n",sock,errsock()); closesocket(sock); return 0; } if (setsockopt(sock,SOL_SOCKET,SO_RCVBUF,(const char *)&bs,sizeof(bs))==-1|| setsockopt(sock,SOL_SOCKET,SO_SNDBUF,(const char *)&bs,sizeof(bs))==-1) { - tracet(1,"setsock: setsockopt error 2 sock=%d err=%d bs=%d\n",sock,errsock(),bs); + rtktracet(1,"setsock: setsockopt error 2 sock=%d err=%d bs=%d\n",sock,errsock(),bs); sprintf(msg,"sockopt error: bufsiz"); } if (setsockopt(sock,IPPROTO_TCP,TCP_NODELAY,(const char *)&mode,sizeof(mode))==-1) { - tracet(1,"setsock: setsockopt error 3 sock=%d err=%d\n",sock,errsock()); + rtktracet(1,"setsock: setsockopt error 3 sock=%d err=%d\n",sock,errsock()); sprintf(msg,"sockopt error: nodelay"); } return 1; @@ -1090,12 +1092,12 @@ static int gentcp(tcp_t *tcp, int type, char *msg) int opt=1; #endif - tracet(3,"gentcp: type=%d\n",type); + rtktracet(3,"gentcp: type=%d\n",type); /* generate socket */ if ((tcp->sock=socket(AF_INET,SOCK_STREAM,0))==(socket_t)-1) { sprintf(msg,"socket error (%d)",errsock()); - tracet(1,"gentcp: socket error err=%d\n",errsock()); + rtktracet(1,"gentcp: socket error err=%d\n",errsock()); tcp->state=-1; return 0; } @@ -1116,7 +1118,7 @@ static int gentcp(tcp_t *tcp, int type, char *msg) #endif if (bind(tcp->sock,(struct sockaddr *)&tcp->addr,sizeof(tcp->addr))==-1) { sprintf(msg,"bind error (%d) : %d",errsock(),tcp->port); - tracet(1,"gentcp: bind error port=%d err=%d\n",tcp->port,errsock()); + rtktracet(1,"gentcp: bind error port=%d err=%d\n",tcp->port,errsock()); closesocket(tcp->sock); tcp->state=-1; return 0; @@ -1126,7 +1128,7 @@ static int gentcp(tcp_t *tcp, int type, char *msg) else { /* client socket */ if (!(hp=gethostbyname(tcp->saddr))) { sprintf(msg,"address error (%s)",tcp->saddr); - tracet(1,"gentcp: gethostbyname error addr=%s err=%d\n",tcp->saddr,errsock()); + rtktracet(1,"gentcp: gethostbyname error addr=%s err=%d\n",tcp->saddr,errsock()); closesocket(tcp->sock); tcp->state=0; tcp->tcon=ticonnect; @@ -1137,13 +1139,13 @@ static int gentcp(tcp_t *tcp, int type, char *msg) } tcp->state=1; tcp->tact=tickget(); - tracet(5,"gentcp: exit sock=%d\n",tcp->sock); + rtktracet(5,"gentcp: exit sock=%d\n",tcp->sock); return 1; } /* disconnect tcp ------------------------------------------------------------*/ static void discontcp(tcp_t *tcp, int tcon) { - tracet(3,"discontcp: sock=%d tcon=%d\n",tcp->sock,tcon); + rtktracet(3,"discontcp: sock=%d tcon=%d\n",tcp->sock,tcon); closesocket(tcp->sock); tcp->state=0; @@ -1156,14 +1158,14 @@ static tcpsvr_t *opentcpsvr(const char *path, char *msg) tcpsvr_t *tcpsvr,tcpsvr0={{0}}; char port[256]=""; - tracet(3,"opentcpsvr: path=%s\n",path); + rtktracet(3,"opentcpsvr: path=%s\n",path); if (!(tcpsvr=(tcpsvr_t *)malloc(sizeof(tcpsvr_t)))) return NULL; *tcpsvr=tcpsvr0; decodetcppath(path,tcpsvr->svr.saddr,port,NULL,NULL,NULL,NULL); if (sscanf(port,"%d",&tcpsvr->svr.port)<1) { sprintf(msg,"port error: %s",port); - tracet(1,"opentcpsvr: port error port=%s\n",port); + rtktracet(1,"opentcpsvr: port error port=%s\n",port); free(tcpsvr); return NULL; } @@ -1179,7 +1181,7 @@ static void closetcpsvr(tcpsvr_t *tcpsvr) { int i; - tracet(3,"closetcpsvr:\n"); + rtktracet(3,"closetcpsvr:\n"); for (i=0;icli[i].state) closesocket(tcpsvr->cli[i].sock); @@ -1193,7 +1195,7 @@ static void updatetcpsvr(tcpsvr_t *tcpsvr, char *msg) char saddr[256]=""; int i,n=0; - tracet(4,"updatetcpsvr: state=%d\n",tcpsvr->svr.state); + rtktracet(4,"updatetcpsvr: state=%d\n",tcpsvr->svr.state); if (tcpsvr->svr.state==0) return; @@ -1218,19 +1220,19 @@ static int accsock(tcpsvr_t *tcpsvr, char *msg) socklen_t len=sizeof(addr); int i,err; - tracet(4,"accsock: sock=%d\n",tcpsvr->svr.sock); + rtktracet(4,"accsock: sock=%d\n",tcpsvr->svr.sock); for (i=0;icli[i].state==0) break; } if (i>=MAXCLI) { - tracet(2,"accsock: too many clients sock=%d\n",tcpsvr->svr.sock); + rtktracet(2,"accsock: too many clients sock=%d\n",tcpsvr->svr.sock); return 0; } if ((sock=accept_nb(tcpsvr->svr.sock,(struct sockaddr *)&addr,&len))==(socket_t)-1) { err=errsock(); sprintf(msg,"accept error (%d)",err); - tracet(1,"accsock: accept error sock=%d err=%d\n",tcpsvr->svr.sock,err); + rtktracet(1,"accsock: accept error sock=%d err=%d\n",tcpsvr->svr.sock,err); closesocket(tcpsvr->svr.sock); tcpsvr->svr.state=0; return 0; @@ -1242,7 +1244,7 @@ static int accsock(tcpsvr_t *tcpsvr, char *msg) memcpy(&tcpsvr->cli[i].addr,&addr,sizeof(addr)); strcpy(tcpsvr->cli[i].saddr,inet_ntoa(addr.sin_addr)); sprintf(msg,"%s",tcpsvr->cli[i].saddr); - tracet(3,"accsock: connected sock=%d addr=%s i=%d\n", + rtktracet(3,"accsock: connected sock=%d addr=%s i=%d\n", tcpsvr->cli[i].sock,tcpsvr->cli[i].saddr,i); tcpsvr->cli[i].state=2; tcpsvr->cli[i].tact=tickget(); @@ -1251,7 +1253,7 @@ static int accsock(tcpsvr_t *tcpsvr, char *msg) /* wait socket accept --------------------------------------------------------*/ static int waittcpsvr(tcpsvr_t *tcpsvr, char *msg) { - tracet(4,"waittcpsvr: sock=%d state=%d\n",tcpsvr->svr.sock,tcpsvr->svr.state); + rtktracet(4,"waittcpsvr: sock=%d state=%d\n",tcpsvr->svr.sock,tcpsvr->svr.state); if (tcpsvr->svr.state<=0) return 0; @@ -1265,7 +1267,7 @@ static int readtcpsvr(tcpsvr_t *tcpsvr, uint8_t *buff, int n, char *msg) { int i,nr,err; - tracet(4,"readtcpsvr: state=%d\n",tcpsvr->svr.state); + rtktracet(4,"readtcpsvr: state=%d\n",tcpsvr->svr.state); if (!waittcpsvr(tcpsvr,msg)) return 0; @@ -1274,7 +1276,7 @@ static int readtcpsvr(tcpsvr_t *tcpsvr, uint8_t *buff, int n, char *msg) if ((nr=recv_nb(tcpsvr->cli[i].sock,buff,n))==-1) { if ((err=errsock())) { - tracet(2,"readtcpsvr: recv error sock=%d err=%d\n", + rtktracet(2,"readtcpsvr: recv error sock=%d err=%d\n", tcpsvr->cli[i].sock,err); } discontcp(&tcpsvr->cli[i],ticonnect); @@ -1292,7 +1294,7 @@ static int writetcpsvr(tcpsvr_t *tcpsvr, uint8_t *buff, int n, char *msg) { int i,ns=0,nmax=0,err; - tracet(4,"writetcpsvr: state=%d n=%d\n",tcpsvr->svr.state,n); + rtktracet(4,"writetcpsvr: state=%d n=%d\n",tcpsvr->svr.state,n); if (!waittcpsvr(tcpsvr,msg)) return 0; @@ -1301,7 +1303,7 @@ static int writetcpsvr(tcpsvr_t *tcpsvr, uint8_t *buff, int n, char *msg) if ((ns=send_nb(tcpsvr->cli[i].sock,buff,n))==-1) { if ((err=errsock())) { - tracet(2,"writetcpsvr: send error i=%d sock=%d err=%d\n",i, + rtktracet(2,"writetcpsvr: send error i=%d sock=%d err=%d\n",i, tcpsvr->cli[i].sock,err); } discontcp(&tcpsvr->cli[i],ticonnect); @@ -1358,7 +1360,7 @@ static int consock(tcpcli_t *tcpcli, char *msg) { int stat,err; - tracet(4,"consock: sock=%d\n",tcpcli->svr.sock); + rtktracet(4,"consock: sock=%d\n",tcpcli->svr.sock); /* wait re-connect */ if (tcpcli->svr.tcon<0||(tcpcli->svr.tcon>0&& @@ -1370,7 +1372,7 @@ static int consock(tcpcli_t *tcpcli, char *msg) sizeof(tcpcli->svr.addr)))==-1) { err=errsock(); sprintf(msg,"connect error (%d)",err); - tracet(2,"consock: connect error sock=%d err=%d\n",tcpcli->svr.sock,err); + rtktracet(2,"consock: connect error sock=%d err=%d\n",tcpcli->svr.sock,err); closesocket(tcpcli->svr.sock); tcpcli->svr.state=0; return 0; @@ -1380,7 +1382,7 @@ static int consock(tcpcli_t *tcpcli, char *msg) return 0; } sprintf(msg,"%s",tcpcli->svr.saddr); - tracet(3,"consock: connected sock=%d addr=%s\n",tcpcli->svr.sock,tcpcli->svr.saddr); + rtktracet(3,"consock: connected sock=%d addr=%s\n",tcpcli->svr.sock,tcpcli->svr.saddr); tcpcli->svr.state=2; tcpcli->svr.tact=tickget(); return 1; @@ -1391,14 +1393,14 @@ static tcpcli_t *opentcpcli(const char *path, char *msg) tcpcli_t *tcpcli,tcpcli0={{0}}; char port[256]=""; - tracet(3,"opentcpcli: path=%s\n",path); + rtktracet(3,"opentcpcli: path=%s\n",path); if (!(tcpcli=(tcpcli_t *)malloc(sizeof(tcpcli_t)))) return NULL; *tcpcli=tcpcli0; decodetcppath(path,tcpcli->svr.saddr,port,NULL,NULL,NULL,NULL); if (sscanf(port,"%d",&tcpcli->svr.port)<1) { sprintf(msg,"port error: %s",port); - tracet(2,"opentcp: port error port=%s\n",port); + rtktracet(2,"opentcp: port error port=%s\n",port); free(tcpcli); return NULL; } @@ -1410,7 +1412,7 @@ static tcpcli_t *opentcpcli(const char *path, char *msg) /* close tcp client ----------------------------------------------------------*/ static void closetcpcli(tcpcli_t *tcpcli) { - tracet(3,"closetcpcli: sock=%d\n",tcpcli->svr.sock); + rtktracet(3,"closetcpcli: sock=%d\n",tcpcli->svr.sock); closesocket(tcpcli->svr.sock); free(tcpcli); @@ -1418,7 +1420,7 @@ static void closetcpcli(tcpcli_t *tcpcli) /* wait socket connect -------------------------------------------------------*/ static int waittcpcli(tcpcli_t *tcpcli, char *msg) { - tracet(4,"waittcpcli: sock=%d state=%d\n",tcpcli->svr.sock,tcpcli->svr.state); + rtktracet(4,"waittcpcli: sock=%d state=%d\n",tcpcli->svr.sock,tcpcli->svr.state); if (tcpcli->svr.state<0) return 0; @@ -1432,7 +1434,7 @@ static int waittcpcli(tcpcli_t *tcpcli, char *msg) if (tcpcli->toinact>0&& (int)(tickget()-tcpcli->svr.tact)>tcpcli->toinact) { sprintf(msg,"timeout"); - tracet(2,"waittcpcli: inactive timeout sock=%d\n",tcpcli->svr.sock); + rtktracet(2,"waittcpcli: inactive timeout sock=%d\n",tcpcli->svr.sock); discontcp(&tcpcli->svr,tcpcli->tirecon); return 0; } @@ -1444,13 +1446,13 @@ static int readtcpcli(tcpcli_t *tcpcli, uint8_t *buff, int n, char *msg) { int nr,err; - tracet(4,"readtcpcli: sock=%d\n",tcpcli->svr.sock); + rtktracet(4,"readtcpcli: sock=%d\n",tcpcli->svr.sock); if (!waittcpcli(tcpcli,msg)) return 0; if ((nr=recv_nb(tcpcli->svr.sock,buff,n))==-1) { if ((err=errsock())) { - tracet(2,"readtcpcli: recv error sock=%d err=%d\n",tcpcli->svr.sock,err); + rtktracet(2,"readtcpcli: recv error sock=%d err=%d\n",tcpcli->svr.sock,err); sprintf(msg,"recv error (%d)",err); } else { @@ -1460,7 +1462,7 @@ static int readtcpcli(tcpcli_t *tcpcli, uint8_t *buff, int n, char *msg) return 0; } if (nr>0) tcpcli->svr.tact=tickget(); - tracet(5,"readtcpcli: exit sock=%d nr=%d\n",tcpcli->svr.sock,nr); + rtktracet(5,"readtcpcli: exit sock=%d nr=%d\n",tcpcli->svr.sock,nr); return nr; } /* write tcp client ----------------------------------------------------------*/ @@ -1468,20 +1470,20 @@ static int writetcpcli(tcpcli_t *tcpcli, uint8_t *buff, int n, char *msg) { int ns,err; - tracet(3,"writetcpcli: sock=%d state=%d n=%d\n",tcpcli->svr.sock,tcpcli->svr.state,n); + rtktracet(3,"writetcpcli: sock=%d state=%d n=%d\n",tcpcli->svr.sock,tcpcli->svr.state,n); if (!waittcpcli(tcpcli,msg)) return 0; if ((ns=send_nb(tcpcli->svr.sock,buff,n))==-1) { if ((err=errsock())) { - tracet(2,"writetcp: send error sock=%d err=%d\n",tcpcli->svr.sock,err); + rtktracet(2,"writetcp: send error sock=%d err=%d\n",tcpcli->svr.sock,err); sprintf(msg,"send error (%d)",err); } discontcp(&tcpcli->svr,tcpcli->tirecon); return 0; } if (ns>0) tcpcli->svr.tact=tickget(); - tracet(5,"writetcpcli: exit sock=%d ns=%d\n",tcpcli->svr.sock,ns); + rtktracet(5,"writetcpcli: exit sock=%d ns=%d\n",tcpcli->svr.sock,ns); return ns; } /* get state tcp client ------------------------------------------------------*/ @@ -1501,7 +1503,7 @@ static int encbase64(char *str, const uint8_t *byte, int n) "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/"; int i,j,k,b; - tracet(4,"encbase64: n=%d\n",n); + rtktracet(4,"encbase64: n=%d\n",n); for (i=j=0;i/8state); + rtktracet(3,"reqntrip_s: state=%d\n",ntrip->state); p+=sprintf(p,"SOURCE %s %s\r\n",ntrip->passwd,ntrip->mntpnt); p+=sprintf(p,"Source-Agent: NTRIP %s\r\n",NTRIP_AGENT); @@ -1528,8 +1530,8 @@ static int reqntrip_s(ntrip_t *ntrip, char *msg) if (writetcpcli(ntrip->tcp,(uint8_t *)buff,p-buff,msg)!=p-buff) return 0; - tracet(3,"reqntrip_s: send request state=%d ns=%d\n",ntrip->state,p-buff); - tracet(5,"reqntrip_s: n=%d buff=\n%s\n",p-buff,buff); + rtktracet(3,"reqntrip_s: send request state=%d ns=%d\n",ntrip->state,p-buff); + rtktracet(5,"reqntrip_s: n=%d buff=\n%s\n",p-buff,buff); ntrip->state=1; return 1; } @@ -1538,7 +1540,7 @@ static int reqntrip_c(ntrip_t *ntrip, char *msg) { char buff[MAXSTRPATH+1024],user[514],*p=buff; - tracet(3,"reqntrip_c: state=%d\n",ntrip->state); + rtktracet(3,"reqntrip_c: state=%d\n",ntrip->state); p+=sprintf(p,"GET %s/%s HTTP/1.0\r\n",ntrip->url,ntrip->mntpnt); p+=sprintf(p,"User-Agent: NTRIP %s\r\n",NTRIP_AGENT); @@ -1557,8 +1559,8 @@ static int reqntrip_c(ntrip_t *ntrip, char *msg) if (writetcpcli(ntrip->tcp,(uint8_t *)buff,p-buff,msg)!=p-buff) return 0; - tracet(3,"reqntrip_c: send request state=%d ns=%d\n",ntrip->state,p-buff); - tracet(5,"reqntrip_c: n=%d buff=\n%s\n",p-buff,buff); + rtktracet(3,"reqntrip_c: send request state=%d ns=%d\n",ntrip->state,p-buff); + rtktracet(5,"reqntrip_c: n=%d buff=\n%s\n",p-buff,buff); ntrip->state=1; return 1; } @@ -1568,9 +1570,9 @@ static int rspntrip_s(ntrip_t *ntrip, char *msg) int i,nb; char *p,*q; - tracet(3,"rspntrip_s: state=%d nb=%d\n",ntrip->state,ntrip->nb); + rtktracet(3,"rspntrip_s: state=%d nb=%d\n",ntrip->state,ntrip->nb); ntrip->buff[ntrip->nb]='0'; - tracet(5,"rspntrip_s: n=%d buff=\n%s\n",ntrip->nb,ntrip->buff); + rtktracet(5,"rspntrip_s: n=%d buff=\n%s\n",ntrip->nb,ntrip->buff); if ((p=strstr((char *)ntrip->buff,NTRIP_RSP_OK_SVR))) { /* ok */ q=(char *)ntrip->buff; @@ -1579,14 +1581,14 @@ static int rspntrip_s(ntrip_t *ntrip, char *msg) for (i=0;inb;i++) *q++=*p++; ntrip->state=2; sprintf(msg,"%s/%s",ntrip->tcp->svr.saddr,ntrip->mntpnt); - tracet(3,"rspntrip_s: response ok nb=%d\n",ntrip->nb); + rtktracet(3,"rspntrip_s: response ok nb=%d\n",ntrip->nb); return 1; } else if ((p=strstr((char *)ntrip->buff,NTRIP_RSP_ERROR))) { /* error */ nb=ntrip->nbnb:MAXSTATMSG; sprintf(msg,"%.*s",nb,(char *)ntrip->buff); if ((p=strchr(msg,'\r'))) *p='\0'; - tracet(3,"rspntrip_s: %s nb=%d\n",msg,ntrip->nb); + rtktracet(3,"rspntrip_s: %s nb=%d\n",msg,ntrip->nb); ntrip->nb=0; ntrip->buff[0]='\0'; ntrip->state=0; @@ -1594,13 +1596,13 @@ static int rspntrip_s(ntrip_t *ntrip, char *msg) } else if (ntrip->nb>=NTRIP_MAXRSP) { /* buffer overflow */ sprintf(msg,"response overflow"); - tracet(3,"rspntrip_s: response overflow nb=%d\n",ntrip->nb); + rtktracet(3,"rspntrip_s: response overflow nb=%d\n",ntrip->nb); ntrip->nb=0; ntrip->buff[0]='\0'; ntrip->state=0; discontcp(&ntrip->tcp->svr,ntrip->tcp->tirecon); } - tracet(5,"rspntrip_s: exit state=%d nb=%d\n",ntrip->state,ntrip->nb); + rtktracet(5,"rspntrip_s: exit state=%d nb=%d\n",ntrip->state,ntrip->nb); return 0; } /* test ntrip client response ------------------------------------------------*/ @@ -1609,9 +1611,9 @@ static int rspntrip_c(ntrip_t *ntrip, char *msg) int i; char *p,*q; - tracet(3,"rspntrip_c: state=%d nb=%d\n",ntrip->state,ntrip->nb); + rtktracet(3,"rspntrip_c: state=%d nb=%d\n",ntrip->state,ntrip->nb); ntrip->buff[ntrip->nb]='0'; - tracet(5,"rspntrip_c: n=%d buff=\n%s\n",ntrip->nb,ntrip->buff); + rtktracet(5,"rspntrip_c: n=%d buff=\n%s\n",ntrip->nb,ntrip->buff); if ((p=strstr((char *)ntrip->buff,NTRIP_RSP_OK_CLI))) { /* ok */ q=(char *)ntrip->buff; @@ -1620,18 +1622,18 @@ static int rspntrip_c(ntrip_t *ntrip, char *msg) for (i=0;inb;i++) *q++=*p++; ntrip->state=2; sprintf(msg,"%s/%s",ntrip->tcp->svr.saddr,ntrip->mntpnt); - tracet(3,"rspntrip_c: response ok nb=%d\n",ntrip->nb); + rtktracet(3,"rspntrip_c: response ok nb=%d\n",ntrip->nb); return 1; } if ((p=strstr((char *)ntrip->buff,NTRIP_RSP_SRCTBL))) { /* source table */ if (!*ntrip->mntpnt) { /* source table request */ ntrip->state=2; sprintf(msg,"source table received"); - tracet(3,"rspntrip_c: receive source table nb=%d\n",ntrip->nb); + rtktracet(3,"rspntrip_c: receive source table nb=%d\n",ntrip->nb); return 1; } sprintf(msg,"no mountp. reconnect..."); - tracet(2,"rspntrip_c: no mount point nb=%d\n",ntrip->nb); + rtktracet(2,"rspntrip_c: no mount point nb=%d\n",ntrip->nb); ntrip->nb=0; ntrip->buff[0]='\0'; ntrip->state=0; @@ -1640,7 +1642,7 @@ static int rspntrip_c(ntrip_t *ntrip, char *msg) else if ((p=strstr((char *)ntrip->buff,NTRIP_RSP_HTTP))) { /* http response */ if ((q=strchr(p,'\r'))) *q='\0'; else ntrip->buff[128]='\0'; strcpy(msg,p); - tracet(3,"rspntrip_s: %s nb=%d\n",msg,ntrip->nb); + rtktracet(3,"rspntrip_s: %s nb=%d\n",msg,ntrip->nb); ntrip->nb=0; ntrip->buff[0]='\0'; ntrip->state=0; @@ -1648,13 +1650,13 @@ static int rspntrip_c(ntrip_t *ntrip, char *msg) } else if (ntrip->nb>=NTRIP_MAXRSP) { /* buffer overflow */ sprintf(msg,"response overflow"); - tracet(2,"rspntrip_s: response overflow nb=%d\n",ntrip->nb); + rtktracet(2,"rspntrip_s: response overflow nb=%d\n",ntrip->nb); ntrip->nb=0; ntrip->buff[0]='\0'; ntrip->state=0; discontcp(&ntrip->tcp->svr,ntrip->tcp->tirecon); } - tracet(5,"rspntrip_c: exit state=%d nb=%d\n",ntrip->state,ntrip->nb); + rtktracet(5,"rspntrip_c: exit state=%d nb=%d\n",ntrip->state,ntrip->nb); return 0; } /* wait ntrip request/response -----------------------------------------------*/ @@ -1663,7 +1665,7 @@ static int waitntrip(ntrip_t *ntrip, char *msg) int n; char *p; - tracet(4,"waitntrip: state=%d nb=%d\n",ntrip->state,ntrip->nb); + rtktracet(4,"waitntrip: state=%d nb=%d\n",ntrip->state,ntrip->nb); if (ntrip->state<0) return 0; /* error */ @@ -1673,12 +1675,12 @@ static int waitntrip(ntrip_t *ntrip, char *msg) if (!(ntrip->type==0?reqntrip_s(ntrip,msg):reqntrip_c(ntrip,msg))) { return 0; } - tracet(3,"waitntrip: state=%d nb=%d\n",ntrip->state,ntrip->nb); + rtktracet(3,"waitntrip: state=%d nb=%d\n",ntrip->state,ntrip->nb); } if (ntrip->state==1) { /* read response */ p=(char *)ntrip->buff+ntrip->nb; if ((n=readtcpcli(ntrip->tcp,(uint8_t *)p,NTRIP_MAXRSP-ntrip->nb-1,msg))==0) { - tracet(5,"waitntrip: readtcp n=%d\n",n); + rtktracet(5,"waitntrip: readtcp n=%d\n",n); return 0; } ntrip->nb+=n; ntrip->buff[ntrip->nb]='\0'; @@ -1695,7 +1697,7 @@ static ntrip_t *openntrip(const char *path, int type, char *msg) int i; char addr[256]="",port[256]="",tpath[MAXSTRPATH]; - tracet(3,"openntrip: path=%s type=%d\n",path,type); + rtktracet(3,"openntrip: path=%s type=%d\n",path,type); if (!(ntrip=(ntrip_t *)malloc(sizeof(ntrip_t)))) return NULL; @@ -1723,7 +1725,7 @@ static ntrip_t *openntrip(const char *path, int type, char *msg) } /* open tcp client stream */ if (!(ntrip->tcp=opentcpcli(tpath,msg))) { - tracet(2,"openntrip: opentcp error\n"); + rtktracet(2,"openntrip: opentcp error\n"); free(ntrip); return NULL; } @@ -1732,7 +1734,7 @@ static ntrip_t *openntrip(const char *path, int type, char *msg) /* close ntrip ---------------------------------------------------------------*/ static void closentrip(ntrip_t *ntrip) { - tracet(3,"closentrip: state=%d\n",ntrip->state); + rtktracet(3,"closentrip: state=%d\n",ntrip->state); closetcpcli(ntrip->tcp); free(ntrip); @@ -1742,7 +1744,7 @@ static int readntrip(ntrip_t *ntrip, uint8_t *buff, int n, char *msg) { int nb; - tracet(4,"readntrip:\n"); + rtktracet(4,"readntrip:\n"); if (!waitntrip(ntrip,msg)) return 0; @@ -1757,7 +1759,7 @@ static int readntrip(ntrip_t *ntrip, uint8_t *buff, int n, char *msg) /* write ntrip ---------------------------------------------------------------*/ static int writentrip(ntrip_t *ntrip, uint8_t *buff, int n, char *msg) { - tracet(3,"writentrip: n=%d\n",n); + rtktracet(3,"writentrip: n=%d\n",n); if (!waitntrip(ntrip,msg)) return 0; @@ -1796,7 +1798,7 @@ static ntripc_t *openntripc(const char *path, char *msg) int i; char port[256]="",tpath[MAXSTRPATH]; - tracet(3,"openntripc: path=%s\n",path); + rtktracet(3,"openntripc: path=%s\n",path); if (!(ntripc=(ntripc_t *)malloc(sizeof(ntripc_t)))) return NULL; @@ -1812,7 +1814,7 @@ static ntripc_t *openntripc(const char *path, char *msg) ntripc->srctbl); if (!*ntripc->mntpnt) { - tracet(2,"openntripc: no mountpoint path=%s\n",path); + rtktracet(2,"openntripc: no mountpoint path=%s\n",path); free(ntripc); return NULL; } @@ -1824,7 +1826,7 @@ static ntripc_t *openntripc(const char *path, char *msg) /* open tcp server stream */ if (!(ntripc->tcp=opentcpsvr(tpath,msg))) { - tracet(2,"openntripc: opentcpsvr error port=%d\n",port); + rtktracet(2,"openntripc: opentcpsvr error port=%d\n",port); free(ntripc); return NULL; } @@ -1833,7 +1835,7 @@ static ntripc_t *openntripc(const char *path, char *msg) /* close ntrip-caster --------------------------------------------------------*/ static void closentripc(ntripc_t *ntripc) { - tracet(3,"closentripc: state=%d\n",ntripc->state); + rtktracet(3,"closentripc: state=%d\n",ntripc->state); closetcpsvr(ntripc->tcp); free(ntripc); @@ -1841,7 +1843,7 @@ static void closentripc(ntripc_t *ntripc) /* disconnect ntrip-caster connection ----------------------------------------*/ static void discon_ntripc(ntripc_t *ntripc, int i) { - tracet(3,"discon_ntripc: i=%d\n",i); + rtktracet(3,"discon_ntripc: i=%d\n",i); discontcp(&ntripc->tcp->cli[i],ticonnect); ntripc->con[i].nb=0; @@ -1871,26 +1873,26 @@ static void rsp_ntripc(ntripc_t *ntripc, int i) ntripc_con_t *con=ntripc->con+i; char url[256]="",mntpnt[256]="",proto[256]="",user[513],user_pwd[256],*p,*q; - tracet(3,"rspntripc_c i=%d\n",i); + rtktracet(3,"rspntripc_c i=%d\n",i); con->buff[con->nb]='\0'; - tracet(5,"rspntripc_c: n=%d,buff=\n%s\n",con->nb,con->buff); + rtktracet(5,"rspntripc_c: n=%d,buff=\n%s\n",con->nb,con->buff); if (con->nb>=NTRIP_MAXRSP-1) { /* buffer overflow */ - tracet(2,"rsp_ntripc_c: request buffer overflow\n"); + rtktracet(2,"rsp_ntripc_c: request buffer overflow\n"); discon_ntripc(ntripc,i); return; } /* test GET and User-Agent */ if (!(p=strstr((char *)con->buff,"GET"))||!(q=strstr(p,"\r\n"))|| !(q=strstr(q,"User-Agent:"))||!strstr(q,"\r\n")) { - tracet(2,"rsp_ntripc_c: NTRIP request error\n"); + rtktracet(2,"rsp_ntripc_c: NTRIP request error\n"); discon_ntripc(ntripc,i); return; } /* test protocol */ if (sscanf(p,"GET %255s %255s",url,proto)<2|| (strcmp(proto,"HTTP/1.0")&&strcmp(proto,"HTTP/1.1"))) { - tracet(2,"rsp_ntripc_c: NTRIP request error proto=%s\n",proto); + rtktracet(2,"rsp_ntripc_c: NTRIP request error proto=%s\n",proto); discon_ntripc(ntripc,i); return; } @@ -1898,7 +1900,7 @@ static void rsp_ntripc(ntripc_t *ntripc, int i) /* test mountpoint */ if (!*mntpnt||strcmp(mntpnt,ntripc->mntpnt)) { - tracet(2,"rsp_ntripc_c: no mountpoint %s\n",mntpnt); + rtktracet(2,"rsp_ntripc_c: no mountpoint %s\n",mntpnt); /* send source table */ send_srctbl(ntripc,ntripc->tcp->cli[i].sock); @@ -1913,7 +1915,7 @@ static void rsp_ntripc(ntripc_t *ntripc, int i) q+=encbase64(q,(uint8_t *)user,strlen(user)); if (!(p=strstr((char *)con->buff,"Authorization:"))|| strncmp(p,user_pwd,strlen(user_pwd))) { - tracet(2,"rsp_ntripc_c: authroziation error\n"); + rtktracet(2,"rsp_ntripc_c: authroziation error\n"); send_nb(ntripc->tcp->cli[i].sock,(uint8_t *)rsp1,strlen(rsp1)); discon_ntripc(ntripc,i); return; @@ -1931,7 +1933,7 @@ static void wait_ntripc(ntripc_t *ntripc, char *msg) uint8_t *buff; int i,n,nmax,err; - tracet(4,"wait_ntripc\n"); + rtktracet(4,"wait_ntripc\n"); ntripc->state=ntripc->tcp->svr.state; @@ -1946,7 +1948,7 @@ static void wait_ntripc(ntripc_t *ntripc, char *msg) if ((n=recv_nb(ntripc->tcp->cli[i].sock,buff,nmax))==-1) { if ((err=errsock())) { - tracet(2,"wait_ntripc: recv error sock=%d err=%d\n", + rtktracet(2,"wait_ntripc: recv error sock=%d err=%d\n", ntripc->tcp->cli[i].sock,err); } discon_ntripc(ntripc,i); @@ -1964,7 +1966,7 @@ static int readntripc(ntripc_t *ntripc, uint8_t *buff, int n, char *msg) { int i,nr,err; - tracet(4,"readntripc:\n"); + rtktracet(4,"readntripc:\n"); wait_ntripc(ntripc,msg); @@ -1975,7 +1977,7 @@ static int readntripc(ntripc_t *ntripc, uint8_t *buff, int n, char *msg) if (nr<0) { if ((err=errsock())) { - tracet(2,"readntripc: recv error i=%d sock=%d err=%d\n",i, + rtktracet(2,"readntripc: recv error i=%d sock=%d err=%d\n",i, ntripc->tcp->cli[i].sock,err); } discon_ntripc(ntripc,i); @@ -1992,7 +1994,7 @@ static int writentripc(ntripc_t *ntripc, uint8_t *buff, int n, char *msg) { int i,ns=0,err; - tracet(4,"writentripc: n=%d\n",n); + rtktracet(4,"writentripc: n=%d\n",n); wait_ntripc(ntripc,msg); @@ -2003,7 +2005,7 @@ static int writentripc(ntripc_t *ntripc, uint8_t *buff, int n, char *msg) if (nstcp->cli[i].sock,err); } discon_ntripc(ntripc,i); @@ -2051,7 +2053,7 @@ static udp_t *genudp(int type, int port, const char *saddr, char *msg) struct hostent *hp; int bs=buffsize,opt=1; - tracet(3,"genudp: type=%d\n",type); + rtktracet(3,"genudp: type=%d\n",type); if (!(udp=(udp_t *)malloc(sizeof(udp_t)))) return NULL; udp->state=2; @@ -2065,7 +2067,7 @@ static udp_t *genudp(int type, int port, const char *saddr, char *msg) } if (setsockopt(udp->sock,SOL_SOCKET,SO_RCVBUF,(const char *)&bs,sizeof(bs))==-1|| setsockopt(udp->sock,SOL_SOCKET,SO_SNDBUF,(const char *)&bs,sizeof(bs))==-1) { - tracet(2,"genudp: setsockopt error sock=%d err=%d bs=%d\n",udp->sock,errsock(),bs); + rtktracet(2,"genudp: setsockopt error sock=%d err=%d bs=%d\n",udp->sock,errsock(),bs); sprintf(msg,"sockopt error: bufsiz"); } memset(&udp->addr,0,sizeof(udp->addr)); @@ -2078,7 +2080,7 @@ static udp_t *genudp(int type, int port, const char *saddr, char *msg) setsockopt(udp->sock,SOL_SOCKET,SO_REUSEADDR,(const char *)&opt, sizeof(opt)); #endif if (bind(udp->sock,(struct sockaddr *)&udp->addr,sizeof(udp->addr))==-1) { - tracet(2,"genudp: bind error sock=%d port=%d err=%d\n",udp->sock,port,errsock()); + rtktracet(2,"genudp: bind error sock=%d port=%d err=%d\n",udp->sock,port,errsock()); sprintf(msg,"bind error (%d): %d",errsock(),port); closesocket(udp->sock); free(udp); @@ -2089,7 +2091,7 @@ static udp_t *genudp(int type, int port, const char *saddr, char *msg) if (!strcmp(saddr,"255.255.255.255")&& setsockopt(udp->sock,SOL_SOCKET,SO_BROADCAST,(const char *)&opt, sizeof(opt))==-1) { - tracet(2,"genudp: setsockopt error sock=%d err=%d\n",udp->sock,errsock()); + rtktracet(2,"genudp: setsockopt error sock=%d err=%d\n",udp->sock,errsock()); sprintf(msg,"sockopt error: broadcast"); } if (!(hp=gethostbyname(saddr))) { @@ -2108,13 +2110,13 @@ static udp_t *openudpsvr(const char *path, char *msg) char sport[256]=""; int port; - tracet(3,"openudpsvr: path=%s\n",path); + rtktracet(3,"openudpsvr: path=%s\n",path); decodetcppath(path,NULL,sport,NULL,NULL,NULL,NULL); if (sscanf(sport,"%d",&port)<1) { sprintf(msg,"port error: %s",sport); - tracet(2,"openudpsvr: port error port=%s\n",port); + rtktracet(2,"openudpsvr: port error port=%s\n",port); return NULL; } return genudp(0,port,"",msg); @@ -2122,7 +2124,7 @@ static udp_t *openudpsvr(const char *path, char *msg) /* close udp server ----------------------------------------------------------*/ static void closeudpsvr(udp_t *udpsvr) { - tracet(3,"closeudpsvr: sock=%d\n",udpsvr->sock); + rtktracet(3,"closeudpsvr: sock=%d\n",udpsvr->sock); closesocket(udpsvr->sock); free(udpsvr); @@ -2134,7 +2136,7 @@ static int readudpsvr(udp_t *udpsvr, uint8_t *buff, int n, char *msg) fd_set rs; int ret,nr; - tracet(4,"readudpsvr: sock=%d n=%d\n",udpsvr->sock,n); + rtktracet(4,"readudpsvr: sock=%d n=%d\n",udpsvr->sock,n); FD_ZERO(&rs); FD_SET(udpsvr->sock,&rs); ret=select(udpsvr->sock+1,&rs,NULL,NULL,&tv); @@ -2167,13 +2169,13 @@ static udp_t *openudpcli(const char *path, char *msg) char sport[256]="",saddr[256]=""; int port; - tracet(3,"openudpsvr: path=%s\n",path); + rtktracet(3,"openudpsvr: path=%s\n",path); decodetcppath(path,saddr,sport,NULL,NULL,NULL,NULL); if (sscanf(sport,"%d",&port)<1) { sprintf(msg,"port error: %s",sport); - tracet(2,"openudpcli: port error port=%s\n",sport); + rtktracet(2,"openudpcli: port error port=%s\n",sport); return NULL; } return genudp(1,port,saddr,msg); @@ -2181,7 +2183,7 @@ static udp_t *openudpcli(const char *path, char *msg) /* close udp client ----------------------------------------------------------*/ static void closeudpcli(udp_t *udpcli) { - tracet(3,"closeudpcli: sock=%d\n",udpcli->sock); + rtktracet(3,"closeudpcli: sock=%d\n",udpcli->sock); closesocket(udpcli->sock); free(udpcli); @@ -2189,7 +2191,7 @@ static void closeudpcli(udp_t *udpcli) /* write udp client -----------------------------------------------------------*/ static int writeudpcli(udp_t *udpcli, uint8_t *buff, int n, char *msg) { - tracet(4,"writeudpcli: sock=%d n=%d\n",udpcli->sock,n); + rtktracet(4,"writeudpcli: sock=%d n=%d\n",udpcli->sock,n); return (int)sendto(udpcli->sock,(char *)buff,n,0, (struct sockaddr *)&udpcli->addr,sizeof(udpcli->addr)); @@ -2220,7 +2222,7 @@ static void decodeftppath(const char *path, char *addr, char *file, char *user, { char buff[MAXSTRPATH],*p,*q; - tracet(4,"decodeftpath: path=%s\n",path); + rtktracet(4,"decodeftpath: path=%s\n",path); if (user) *user='\0'; if (passwd) *passwd='\0'; @@ -2260,7 +2262,7 @@ static gtime_t nextdltime(const int *topts, int stat) double tow; int week,tint; - tracet(3,"nextdltime: topts=%d %d %d %d stat=%d\n",topts[0],topts[1], + rtktracet(3,"nextdltime: topts=%d %d %d %d stat=%d\n",topts[0],topts[1], topts[2],topts[3],stat); /* current time (gpst) */ @@ -2293,10 +2295,10 @@ static void *ftpthread(void *arg) char cmd[5120],env[1024]="",opt[1024],*proxyopt="",*proto; int ret; - tracet(3,"ftpthread:\n"); + rtktracet(3,"ftpthread:\n"); if (!*localdir) { - tracet(2,"no local directory\n"); + rtktracet(2,"no local directory\n"); ftp->error=11; ftp->state=3; return 0; @@ -2319,7 +2321,7 @@ static void *ftpthread(void *arg) if ((fp=fopen(tmpfile,"rb"))) { fclose(fp); sprintf(ftp->local,"%.1023s",tmpfile); - tracet(3,"ftpthread: file exists %s\n",ftp->local); + rtktracet(3,"ftpthread: file exists %s\n",ftp->local); ftp->state=2; return 0; } @@ -2346,7 +2348,7 @@ static void *ftpthread(void *arg) /* execute download command */ if ((ret=execcmd(cmd))) { remove(local); - tracet(2,"execcmd error: cmd=%s ret=%d\n",cmd,ret); + rtktracet(2,"execcmd error: cmd=%s ret=%d\n",cmd,ret); ftp->error=ret; ftp->state=3; return 0; @@ -2363,7 +2365,7 @@ static void *ftpthread(void *arg) strcpy(local,tmpfile); } else { - tracet(2,"file uncompact error: %s\n",local); + rtktracet(2,"file uncompact error: %s\n",local); ftp->error=12; ftp->state=3; return 0; @@ -2372,7 +2374,7 @@ static void *ftpthread(void *arg) strcpy(ftp->local,local); ftp->state=2; /* ftp completed */ - tracet(3,"ftpthread: complete cmd=%s\n",cmd); + rtktracet(3,"ftpthread: complete cmd=%s\n",cmd); return 0; } /* open ftp ------------------------------------------------------------------*/ @@ -2380,7 +2382,7 @@ static ftp_t *openftp(const char *path, int type, char *msg) { ftp_t *ftp; - tracet(3,"openftp: path=%s type=%d\n",path,type); + rtktracet(3,"openftp: path=%s type=%d\n",path,type); msg[0]='\0'; @@ -2403,7 +2405,7 @@ static ftp_t *openftp(const char *path, int type, char *msg) /* close ftp -----------------------------------------------------------------*/ static void closeftp(ftp_t *ftp) { - tracet(3,"closeftp: state=%d\n",ftp->state); + rtktracet(3,"closeftp: state=%d\n",ftp->state); if (ftp->state!=1) free(ftp); } @@ -2413,7 +2415,7 @@ static int readftp(ftp_t *ftp, uint8_t *buff, int n, char *msg) gtime_t time; uint8_t *p,*q; - tracet(4,"readftp: n=%d\n",n); + rtktracet(4,"readftp: n=%d\n",n); time=utc2gpst(timeget()); @@ -2429,7 +2431,7 @@ static int readftp(ftp_t *ftp, uint8_t *buff, int n, char *msg) #else if (pthread_create(&ftp->thread,NULL,ftpthread,ftp)) { #endif - tracet(2,"readftp: ftp thread create error\n"); + rtktracet(2,"readftp: ftp thread create error\n"); ftp->state=3; strcpy(msg,"ftp thread error"); return 0; @@ -2475,7 +2477,7 @@ static membuf_t *openmembuf(const char *path, char *msg) membuf_t *membuf; int bufsize=DEFAULT_MEMBUF_SIZE; - tracet(3,"openmembuf: path=%s\n",path); + rtktracet(3,"openmembuf: path=%s\n",path); msg[0]='\0'; @@ -2490,7 +2492,7 @@ static membuf_t *openmembuf(const char *path, char *msg) return NULL; } membuf->bufsize=bufsize; - initlock(&membuf->lock); + rtkinitlock(&membuf->lock); sprintf(msg,"membuf sizebuf=%d",bufsize); @@ -2499,7 +2501,7 @@ static membuf_t *openmembuf(const char *path, char *msg) /* close memory buffer -------------------------------------------------------*/ static void closemembuf(membuf_t *membuf) { - tracet(3,"closemembufp\n"); + rtktracet(3,"closemembufp\n"); free(membuf->buf); free(membuf); @@ -2509,18 +2511,18 @@ static int readmembuf(membuf_t *membuf, uint8_t *buff, int n, char *msg) { int i,nr=0; - tracet(4,"readmembuf: n=%d\n",n); + rtktracet(4,"readmembuf: n=%d\n",n); if (!membuf) return 0; - lock(&membuf->lock); + rtklock(&membuf->lock); for (i=membuf->rp;i!=membuf->wp&&nr=membuf->bufsize) i=0; buff[nr++]=membuf->buf[i]; } membuf->rp=i; - unlock(&membuf->lock); + rtkunlock(&membuf->lock); return nr; } /* write memory buffer -------------------------------------------------------*/ @@ -2528,11 +2530,11 @@ static int writemembuf(membuf_t *membuf, uint8_t *buff, int n, char *msg) { int i; - tracet(3,"writemembuf: n=%d\n",n); + rtktracet(3,"writemembuf: n=%d\n",n); if (!membuf) return 0; - lock(&membuf->lock); + rtklock(&membuf->lock); for (i=0;ibuf[membuf->wp++]=buff[i]; @@ -2540,11 +2542,11 @@ static int writemembuf(membuf_t *membuf, uint8_t *buff, int n, char *msg) if (membuf->wp==membuf->rp) { strcpy(msg,"mem-buffer overflow"); membuf->state=-1; - unlock(&membuf->lock); + rtkunlock(&membuf->lock); return i+1; } } - unlock(&membuf->lock); + rtkunlock(&membuf->lock); return i; } /* get state memory buffer ---------------------------------------------------*/ @@ -2576,7 +2578,7 @@ extern void strinitcom(void) #ifdef WIN32 WSADATA data; #endif - tracet(3,"strinitcom:\n"); + rtktracet(3,"strinitcom:\n"); #ifdef WIN32 WSAStartup(MAKEWORD(2,0),&data); @@ -2589,14 +2591,14 @@ extern void strinitcom(void) *-----------------------------------------------------------------------------*/ extern void strinit(stream_t *stream) { - tracet(3,"strinit:\n"); + rtktracet(3,"strinit:\n"); stream->type=0; stream->mode=0; stream->state=0; stream->inb=stream->inr=stream->outb=stream->outr=0; stream->tick_i=stream->tick_o=stream->tact=stream->inbt=stream->outbt=0; - initlock(&stream->lock); + rtkinitlock(&stream->lock); stream->port=NULL; stream->path[0]='\0'; stream->msg [0]='\0'; @@ -2714,7 +2716,7 @@ extern void strinit(stream_t *stream) *-----------------------------------------------------------------------------*/ extern int stropen(stream_t *stream, int type, int mode, const char *path) { - tracet(3,"stropen: type=%d mode=%d path=%s\n",type,mode,path); + rtktracet(3,"stropen: type=%d mode=%d path=%s\n",type,mode,path); stream->type=type; stream->mode=mode; @@ -2749,7 +2751,7 @@ extern int stropen(stream_t *stream, int type, int mode, const char *path) *-----------------------------------------------------------------------------*/ extern void strclose(stream_t *stream) { - tracet(3,"strclose: type=%d mode=%d\n",stream->type,stream->mode); + rtktracet(3,"strclose: type=%d mode=%d\n",stream->type,stream->mode); strlock(stream); @@ -2770,7 +2772,7 @@ extern void strclose(stream_t *stream) } } else { - trace(3,"no port to close stream: type=%d\n",stream->type); + rtktrace(3,"no port to close stream: type=%d\n",stream->type); } stream->type=0; stream->mode=0; @@ -2802,8 +2804,8 @@ extern void strsync(stream_t *stream1, stream_t *stream2) * args : stream_t *stream I stream * return : none *-----------------------------------------------------------------------------*/ -extern void strlock (stream_t *stream) {lock (&stream->lock);} -extern void strunlock(stream_t *stream) {unlock(&stream->lock);} +extern void strlock (stream_t *stream) {rtklock (&stream->lock);} +extern void strunlock(stream_t *stream) {rtkunlock(&stream->lock);} /* read stream ----------------------------------------------------------------- * read data from stream (unblocked) @@ -2819,7 +2821,7 @@ extern int strread(stream_t *stream, uint8_t *buff, int n) char *msg=stream->msg; int nr=0,tt; - tracet(4,"strread: n=%d\n",n); + rtktracet(4,"strread: n=%d\n",n); if (!(stream->mode&STR_MODE_R)||!stream->port) return 0; @@ -2869,7 +2871,7 @@ extern int strwrite(stream_t *stream, uint8_t *buff, int n) char *msg=stream->msg; int ns,tt; - tracet(4,"strwrite: n=%d\n",n); + rtktracet(4,"strwrite: n=%d\n",n); if (!(stream->mode&STR_MODE_W)||!stream->port) return 0; @@ -2915,7 +2917,7 @@ extern int strstat(stream_t *stream, char *msg) { int state=0; - tracet(4,"strstat:\n"); + rtktracet(4,"strstat:\n"); strlock(stream); if (msg) { @@ -2956,7 +2958,7 @@ extern int strstatx(stream_t *stream, char *msg) { int state=0; - tracet(4,"strstatx:\n"); + rtktracet(4,"strstatx:\n"); strlock(stream); @@ -2997,7 +2999,7 @@ extern int strstatx(stream_t *stream, char *msg) *-----------------------------------------------------------------------------*/ extern void strsum(stream_t *stream, int *inb, int *inr, int *outb, int *outr) { - tracet(4,"strsum:\n"); + rtktracet(4,"strsum:\n"); strlock(stream); if (inb) *inb =stream->inb; @@ -3021,7 +3023,7 @@ extern void strsum(stream_t *stream, int *inb, int *inr, int *outb, int *outr) *-----------------------------------------------------------------------------*/ extern void strsetopt(const int *opt) { - tracet(3,"strsetopt: opt=%d %d %d %d %d %d %d %d\n",opt[0],opt[1],opt[2], + rtktracet(3,"strsetopt: opt=%d %d %d %d %d %d %d %d\n",opt[0],opt[1],opt[2], opt[3],opt[4],opt[5],opt[6],opt[7]); toinact =0=1s */ @@ -3041,7 +3043,7 @@ extern void strsettimeout(stream_t *stream, int toinact, int tirecon) { tcpcli_t *tcpcli; - tracet(3,"strsettimeout: toinact=%d tirecon=%d\n",toinact,tirecon); + rtktracet(3,"strsettimeout: toinact=%d tirecon=%d\n",toinact,tirecon); if (stream->type==STR_TCPCLI) { tcpcli=(tcpcli_t *)stream->port; @@ -3061,7 +3063,7 @@ extern void strsettimeout(stream_t *stream, int toinact, int tirecon) *-----------------------------------------------------------------------------*/ extern void strsetdir(const char *dir) { - tracet(3,"strsetdir: dir=%s\n",dir); + rtktracet(3,"strsetdir: dir=%s\n",dir); strcpy(localdir,dir); } @@ -3072,7 +3074,7 @@ extern void strsetdir(const char *dir) *-----------------------------------------------------------------------------*/ extern void strsetproxy(const char *addr) { - tracet(3,"strsetproxy: addr=%s\n",addr); + rtktracet(3,"strsetproxy: addr=%s\n",addr); strcpy(proxyaddr,addr); } @@ -3101,7 +3103,7 @@ extern void strsendnmea(stream_t *stream, const sol_t *sol) uint8_t buff[1024]; int n; - tracet(3,"strsendnmea: rr=%.3f %.3f %.3f\n",sol->rr[0],sol->rr[1],sol->rr[2]); + rtktracet(3,"strsendnmea: rr=%.3f %.3f %.3f\n",sol->rr[0],sol->rr[1],sol->rr[2]); n=outnmea_gga(buff,sol); strwrite(stream,buff,n); @@ -3114,7 +3116,7 @@ static int gen_hex(const char *msg, uint8_t *buff) uint32_t byte; int i,narg=0; - trace(4,"gen_hex: msg=%s\n",msg); + rtktrace(4,"gen_hex: msg=%s\n",msg); strncpy(mbuff,msg,1023); for (p=strtok(mbuff," ");p&&narg<256;p=strtok(NULL," ")) { @@ -3158,7 +3160,7 @@ extern void strsendcmd(stream_t *str, const char *cmd) char msg[1024],cmdend[]="\r\n"; int n,m,ms,brate; - tracet(3,"strsendcmd: cmd=%s\n",cmd); + rtktracet(3,"strsendcmd: cmd=%s\n",cmd); for (;;) { for (q=p;;q++) if (*q=='\r'||*q=='\n'||*q=='\0') break; diff --git a/src/streamsvr.c b/src/streamsvr.c index 565158d5d..e4fbc2c08 100644 --- a/src/streamsvr.c +++ b/src/streamsvr.c @@ -487,7 +487,7 @@ static void *strsvrthread(void *arg) uint8_t buff[1024]; int i,n,cyc; - tracet(3,"strsvrthread:\n"); + rtktracet(3,"strsvrthread:\n"); svr->tick=tickget(); tick_nmea=svr->tick-1000; @@ -510,11 +510,11 @@ static void *strsvrthread(void *arg) /* write data to log stream */ strwrite(svr->strlog,svr->buff,n); - lock(&svr->lock); + rtklock(&svr->lock); for (i=0;inpbbuffsize;i++) { svr->pbuf[svr->npb++]=svr->buff[i]; } - unlock(&svr->lock); + rtkunlock(&svr->lock); } for (i=1;instr;i++) { @@ -561,7 +561,7 @@ extern void strsvrinit(strsvr_t *svr, int nout) { int i; - tracet(3,"strsvrinit: nout=%d\n",nout); + rtktracet(3,"strsvrinit: nout=%d\n",nout); svr->state=0; svr->cycle=0; @@ -578,7 +578,7 @@ extern void strsvrinit(strsvr_t *svr, int nout) svr->nstr=i; for (i=0;i<16;i++) svr->conv[i]=NULL; svr->thread=0; - initlock(&svr->lock); + rtkinitlock(&svr->lock); } /* start stream server --------------------------------------------------------- * start stream server @@ -637,7 +637,7 @@ extern int strsvrstart(strsvr_t *svr, int *opts, int *strs, char **paths, int i,rw,stropt[5]={0}; char file1[MAXSTRPATH],file2[MAXSTRPATH],*p; - tracet(3,"strsvrstart:\n"); + rtktracet(3,"strsvrstart:\n"); if (svr->state) return 0; @@ -721,7 +721,7 @@ extern void strsvrstop(strsvr_t *svr, char **cmds) { int i; - tracet(3,"strsvrstop:\n"); + rtktracet(3,"strsvrstop:\n"); for (i=0;instr;i++) { if (cmds[i]) strsendcmd(svr->stream+i,cmds[i]); @@ -751,7 +751,7 @@ extern void strsvrstat(strsvr_t *svr, int *stat, int *log_stat, int *byte, char s[MAXSTRMSG]="",*p=msg; int i,bps_in; - tracet(4,"strsvrstat:\n"); + rtktracet(4,"strsvrstat:\n"); for (i=0;instr;i++) { if (i==0) { @@ -778,7 +778,7 @@ extern int strsvrpeek(strsvr_t *svr, uint8_t *buff, int nmax) if (!svr->state) return 0; - lock(&svr->lock); + rtklock(&svr->lock); n=svr->npbnpb:nmax; if (n>0) { memcpy(buff,svr->pbuf,n); @@ -787,7 +787,7 @@ extern int strsvrpeek(strsvr_t *svr, uint8_t *buff, int nmax) memmove(svr->pbuf,svr->pbuf+n,svr->npb-n); } svr->npb-=n; - unlock(&svr->lock); + rtkunlock(&svr->lock); return n; } diff --git a/src/tides.c b/src/tides.c index a2f80c811..d6b644907 100644 --- a/src/tides.c +++ b/src/tides.c @@ -46,7 +46,7 @@ static void tide_pl(const double *eu, const double *rp, double GMp, double r,ep[3],latp,lonp,p,K2,K3,a,H2,L2,dp,du,cosp,sinl,cosl; int i; - trace(4,"tide_pl : pos=%.3f %.3f\n",pos[0]*R2D,pos[1]*R2D); + rtktrace(4,"tide_pl : pos=%.3f %.3f\n",pos[0]*R2D,pos[1]*R2D); if ((r=norm(rp,3))<=0.0) return; @@ -77,7 +77,7 @@ static void tide_pl(const double *eu, const double *rp, double GMp, dr[1]=dp*ep[1]+du*eu[1]; dr[2]=dp*ep[2]+du*eu[2]; - trace(5,"tide_pl : dr=%.3f %.3f %.3f\n",dr[0],dr[1],dr[2]); + rtktrace(5,"tide_pl : dr=%.3f %.3f %.3f\n",dr[0],dr[1],dr[2]); } /* displacement by solid earth tide (ref [2] 7) ------------------------------*/ static void tide_solid(const double *rsun, const double *rmoon, @@ -86,7 +86,7 @@ static void tide_solid(const double *rsun, const double *rmoon, { double dr1[3],dr2[3],eu[3],du,dn,sinl,sin2l; - trace(3,"tide_solid: pos=%.3f %.3f opt=%d\n",pos[0]*R2D,pos[1]*R2D,opt); + rtktrace(3,"tide_solid: pos=%.3f %.3f opt=%d\n",pos[0]*R2D,pos[1]*R2D,opt); /* step1: time domain */ eu[0]=E[2]; eu[1]=E[5]; eu[2]=E[8]; @@ -110,7 +110,7 @@ static void tide_solid(const double *rsun, const double *rmoon, dr[1]+=du*E[5]+dn*E[4]; dr[2]+=du*E[8]+dn*E[7]; } - trace(5,"tide_solid: dr=%.3f %.3f %.3f\n",dr[0],dr[1],dr[2]); + rtktrace(5,"tide_solid: dr=%.3f %.3f %.3f\n",dr[0],dr[1],dr[2]); } #endif /* !IERS_MODEL */ @@ -134,7 +134,7 @@ static void tide_oload(gtime_t tut, const double *odisp, double *denu) double ep[6],fday,days,t,t2,t3,a[5],ang,dp[3]={0}; int i,j; - trace(3,"tide_oload:\n"); + rtktrace(3,"tide_oload:\n"); /* angular argument: see subroutine arg.f for reference [1] */ time2epoch(tut,ep); @@ -160,7 +160,7 @@ static void tide_oload(gtime_t tut, const double *odisp, double *denu) denu[1]=-dp[2]; denu[2]= dp[0]; - trace(5,"tide_oload: denu=%.3f %.3f %.3f\n",denu[0],denu[1],denu[2]); + rtktrace(5,"tide_oload: denu=%.3f %.3f %.3f\n",denu[0],denu[1],denu[2]); } /* iers mean pole (ref [7] eq.7.25) ------------------------------------------*/ static void iers_mean_pole(gtime_t tut, double *xp_bar, double *yp_bar) @@ -186,7 +186,7 @@ static void tide_pole(gtime_t tut, const double *pos, const double *erpv, { double xp_bar,yp_bar,m1,m2,cosl,sinl; - trace(3,"tide_pole: pos=%.3f %.3f\n",pos[0]*R2D,pos[1]*R2D); + rtktrace(3,"tide_pole: pos=%.3f %.3f\n",pos[0]*R2D,pos[1]*R2D); /* iers mean pole (mas) */ iers_mean_pole(tut,&xp_bar,&yp_bar); @@ -202,7 +202,7 @@ static void tide_pole(gtime_t tut, const double *pos, const double *erpv, denu[1]= -9E-3*cos(2.0*pos[0])*(m1*cosl+m2*sinl); /* dn=-Stheta (m) */ denu[2]=-33E-3*sin(2.0*pos[0])*(m1*cosl+m2*sinl); /* du= Sr (m) */ - trace(5,"tide_pole : denu=%.3f %.3f %.3f\n",denu[0],denu[1],denu[2]); + rtktrace(5,"tide_pole : denu=%.3f %.3f %.3f\n",denu[0],denu[1],denu[2]); } /* tidal displacement ---------------------------------------------------------- * displacements by earth tides @@ -240,7 +240,7 @@ extern void tidedisp(gtime_t tutc, const double *rr, int opt, const erp_t *erp, int year,mon,day; #endif - trace(3,"tidedisp: tutc=%s\n",time_str(tutc,0)); + rtktrace(3,"tidedisp: tutc=%s\n",time_str(tutc,0)); if (erp) { geterp(erp,utc2gpst(tutc),erpv); @@ -284,5 +284,5 @@ extern void tidedisp(gtime_t tutc, const double *rr, int opt, const erp_t *erp, matmul("TN",3,1,3,1.0,E,denu,0.0,drt); for (i=0;i<3;i++) dr[i]+=drt[i]; } - trace(5,"tidedisp: dr=%.3f %.3f %.3f\n",dr[0],dr[1],dr[2]); + rtktrace(5,"tidedisp: dr=%.3f %.3f %.3f\n",dr[0],dr[1],dr[2]); } diff --git a/src/tle.c b/src/tle.c index 0a8c77ac0..51ef5cb05 100644 --- a/src/tle.c +++ b/src/tle.c @@ -342,11 +342,11 @@ static int decode_line2(const char *buff, tled_t *data) data->rev=(int)str2num(buff,63,5); /* revolution number */ if (strcmp(satno,data->satno)) { - trace(2,"tle satno mismatch: %s %s\n",data->satno,satno); + rtktrace(2,"tle satno mismatch: %s %s\n",data->satno,satno); return 0; } if (data->n<=0.0||data->ecc<0.0) { - trace(2,"tle data error: %s\n",satno); + rtktrace(2,"tle data error: %s\n",satno); return 0; } return 1; @@ -360,7 +360,7 @@ static int add_data(tle_t *tle, const tled_t *data) tle->nmax=tle->nmax<=0?1024:tle->nmax*2; if (!(tle_data=(tled_t *)realloc(tle->data,sizeof(tled_t)*tle->nmax))) { - trace(1,"tle malloc error\n"); + rtktrace(1,"tle malloc error\n"); free(tle->data); tle->data=NULL; tle->n=tle->nmax=0; return 0; } @@ -393,7 +393,7 @@ extern int tle_read(const char *file, tle_t *tle) int line=0; if (!(fp=fopen(file,"r"))) { - trace(2,"tle file open error: %s\n",file); + rtktrace(2,"tle file open error: %s\n",file); return 0; } while (fgets(buff,sizeof(buff),fp)) { @@ -460,7 +460,7 @@ extern int tle_name_read(const char *file, tle_t *tle) int i; if (!(fp=fopen(file,"r"))) { - trace(2,"tle satellite name file open error: %s\n",file); + rtktrace(2,"tle satellite name file open error: %s\n",file); return 0; } while (fgets(buff,sizeof(buff),fp)) { @@ -477,7 +477,7 @@ extern int tle_name_read(const char *file, tle_t *tle) !strcmp(tle->data[i].desig,desig)) break; } if (i>=tle->n) { - trace(4,"no tle data: satno=%s desig=%s\n",satno,desig); + rtktrace(4,"no tle data: satno=%s desig=%s\n",satno,desig); continue; } if (!*tle->data[i].name) { @@ -538,7 +538,7 @@ extern int tle_pos(gtime_t time, const char *name, const char *satno, if (in) stat=0; } if (stat) { - trace(4,"no tle data: name=%s satno=%s desig=%s\n",name,satno,desig); + rtktrace(4,"no tle data: name=%s satno=%s desig=%s\n",name,satno,desig); return 0; } tutc=gpst2utc(time); diff --git a/util/geniono/estiono.c b/util/geniono/estiono.c index 5029c03a2..be4d72d7e 100644 --- a/util/geniono/estiono.c +++ b/util/geniono/estiono.c @@ -199,8 +199,8 @@ static int est_iono(obs_t *obs, nav_t *nav, double *rr, FILE *fp) /* ionosphere residuals */ if ((nv=res_iono(obs+i,n,azel,x,nx,v,H,R))<=0) break; - /* filter */ - if ((info=filter(x,P,H,v,R,nx,nv))) break; + /* rtkfilter */ + if ((info=rtkfilter(x,P,H,v,R,nx,nv))) break; /* output ionopshere parameters */ out_iono(obs[i].time,x,P,nx,fp); diff --git a/util/geniono/geniono.c b/util/geniono/geniono.c index bb44db368..baaa7ffb3 100644 --- a/util/geniono/geniono.c +++ b/util/geniono/geniono.c @@ -306,9 +306,9 @@ static int est_iono(obs_t *obs, nav_t *nav, const pcv_t *pcv, double *rr, if ((nv=res_iono(obs->data+i,n,nav,rs,rr,pos,azel,pcv,ekf,phw,v,H,R))<=0) { continue; } - /* filter */ - if ((info=filter(ekf->x,ekf->P,H,v,R,ekf->nx,nv))) { - fprintf(stderr,"filter error: info=%d\n",info); + /* rtkfilter */ + if ((info=rtkfilter(ekf->x,ekf->P,H,v,R,ekf->nx,nv))) { + fprintf(stderr,"rtkfilter error: info=%d\n",info); break; } /* output ionopshere parameters */ diff --git a/util/geniono/genstec.c b/util/geniono/genstec.c index 3b1023234..73821eeb0 100644 --- a/util/geniono/genstec.c +++ b/util/geniono/genstec.c @@ -305,9 +305,9 @@ static int est_iono(obs_t *obs, nav_t *nav, const pcv_t *pcv, double *rr, if ((nv=res_iono(obs->data+i,n,nav,rs,rr,pos,azel,pcv,ekf,phw,v,H,R))<=0) { continue; } - /* filter */ - if ((info=filter(ekf->x,ekf->P,H,v,R,ekf->nx,nv))) { - fprintf(stderr,"filter error: info=%d\n",info); + /* rtkfilter */ + if ((info=rtkfilter(ekf->x,ekf->P,H,v,R,ekf->nx,nv))) { + fprintf(stderr,"rtkfilter error: info=%d\n",info); break; } /* output ionopshere parameters */ diff --git a/util/rnx2rtcm/rnx2rtcm.c b/util/rnx2rtcm/rnx2rtcm.c index f17cf21eb..187aa3084 100644 --- a/util/rnx2rtcm/rnx2rtcm.c +++ b/util/rnx2rtcm/rnx2rtcm.c @@ -218,8 +218,8 @@ int main(int argc, char **argv) else infile[n++]=argv[i]; } if (trlevel>0) { - traceopen(TRACEFILE); - tracelevel(trlevel); + rtktraceopen(TRACEFILE); + rtktracelevel(trlevel); } if (es[0]>0.0) ts=epoch2time(es); if (ee[0]>0.0) te=epoch2time(ee); @@ -238,7 +238,7 @@ int main(int argc, char **argv) freenav(&nav,0xFF); if (trlevel>0) { - traceclose(); + rtktraceclose(); } return ret; } diff --git a/util/simobs/simobs.c b/util/simobs/simobs.c index 9607802b3..73def95f1 100644 --- a/util/simobs/simobs.c +++ b/util/simobs/simobs.c @@ -83,7 +83,7 @@ static int simobs(gtime_t ts, gtime_t te, double tint, const double *rr, double pref[]={36.106114294,140.087190410,70.3010}; /* ref station */ - trace(3,"simobs:nnav=%d ngnav=%d\n",nav->n,nav->ng); + rtktrace(3,"simobs:nnav=%d ngnav=%d\n",nav->n,nav->ng); for (i=0;i<2;i++) pref[i]*=D2R; pos2ecef(pref,rref); diff --git a/util/testeph/diffeph.c b/util/testeph/diffeph.c index b35527b11..5fec87d6e 100644 --- a/util/testeph/diffeph.c +++ b/util/testeph/diffeph.c @@ -45,7 +45,7 @@ static void updatertcm(gtime_t time, rtcm_t *rtcm, nav_t *nav, FILE *fp) while (input_rtcm3f(rtcm,fp)>=0) { time2str(time ,s1,0); time2str(rtcm->time,s2,0); - trace(2,"rtcm.time=%s time=%s\n",s1,s2); + rtktrace(2,"rtcm.time=%s time=%s\n",s1,s2); if (timediff(rtcm->time,time)>=5.0) break; } @@ -166,8 +166,8 @@ int main(int argc, char **argv) else files[n++]=argv[i]; } if (trl>0) { - traceopen("diffeph.trace"); - tracelevel(trl); + rtktraceopen("diffeph.trace"); + rtktracelevel(trl); } t0=epoch2time(ep0); @@ -231,6 +231,6 @@ int main(int argc, char **argv) } } if (fp) fclose(fp); - if (trl>0) traceclose(); + if (trl>0) rtktraceclose(); return 0; } diff --git a/util/testeph/dumpssr.c b/util/testeph/dumpssr.c index 2821e6034..d305a0823 100644 --- a/util/testeph/dumpssr.c +++ b/util/testeph/dumpssr.c @@ -117,15 +117,15 @@ int main(int argc, char **argv) return -1; } if (trl>0) { - traceopen("dumpssr.trace"); - tracelevel(trl); + rtktraceopen("dumpssr.trace"); + rtktracelevel(trl); } printhead(topt,mopt); dumpssrmsg(fp,sat,topt,mopt); fclose(fp); - traceclose(); + rtktraceclose(); return 0; } diff --git a/util/testlex/dumplex.c b/util/testlex/dumplex.c index c6bfd2a9c..6e1b9a21b 100644 --- a/util/testlex/dumplex.c +++ b/util/testlex/dumplex.c @@ -25,8 +25,8 @@ int main(int argc, char **argv) else file=argv[i]; } if (trl>0) { - traceopen("dumplex.trace"); - tracelevel(trl); + rtktraceopen("dumplex.trace"); + rtktracelevel(trl); } if (!lexreadmsg(file,0,&lex)) { fprintf(stderr,"file read error: %s\n",file); @@ -35,6 +35,6 @@ int main(int argc, char **argv) for (i=0;i0) traceclose(); + if (trl>0) rtktraceclose(); return 0; } diff --git a/util/testlex/dumpssr.c b/util/testlex/dumpssr.c index f9c1899d6..5e366a018 100644 --- a/util/testlex/dumpssr.c +++ b/util/testlex/dumpssr.c @@ -117,15 +117,15 @@ int main(int argc, char **argv) return -1; } if (trl>0) { - traceopen("dumpssr.trace"); - tracelevel(trl); + rtktraceopen("dumpssr.trace"); + rtktracelevel(trl); } printhead(topt,mopt); dumpssrmsg(fp,sat,topt,mopt); fclose(fp); - traceclose(); + rtktraceclose(); return 0; } diff --git a/util/testlex/outlexion.c b/util/testlex/outlexion.c index 5e52a23ce..42da1fa94 100644 --- a/util/testlex/outlexion.c +++ b/util/testlex/outlexion.c @@ -94,8 +94,8 @@ int main(int argc, char **argv) else ifile=argv[i]; } if (trl>0) { - traceopen("diffeph.trace"); - tracelevel(trl); + rtktraceopen("diffeph.trace"); + rtktracelevel(trl); } t0=epoch2time(ep0); @@ -120,6 +120,6 @@ int main(int argc, char **argv) printtec(i+1,time,tint*i,&nav,rpos,nlat,nlon,dpos,fp); } fclose(fp); - if (trl>0) traceclose(); + if (trl>0) rtktraceclose(); return 0; } From 4ba66f2b7578073fba762e779b06f1e592ab1c52 Mon Sep 17 00:00:00 2001 From: Sam Price Date: Fri, 26 Feb 2021 13:45:39 -0500 Subject: [PATCH 2/7] fix rtk prefix on lock for rtkcmn.c --- Makefile | 27 +++++++++++++++++++++++++++ src/rtkcmn.c | 12 ++++++------ 2 files changed, 33 insertions(+), 6 deletions(-) create mode 100644 Makefile diff --git a/Makefile b/Makefile new file mode 100644 index 000000000..88526bcf3 --- /dev/null +++ b/Makefile @@ -0,0 +1,27 @@ +INC=-Isrc +EXEC=librtk +SRC = $(wildcard src/*.c) +SRC += $(wildcard src/rcv/*.c) +#SRC += $(wildcard app/rtkpost/*.cpp) +SRC += $(wildcard app/rnx2rtkp/*.c) + +OBJ = $(SRC:.c=.o) +CC_FLAGS += -DTRACE +CC_FLAGS += -fPIC -O0 -g3 +#CC_FLAGS += --save-temps +LDFLAGS += -fPIC +LDFLAGS += -fsanitize=address +CC_FLAGS += -fsanitize=address +$(EXEC).dylib: $(OBJ) + @$(CC) --shared $(LDFLAGS) -g3 -o $@ $(OBJ) $(LIBPATH) $(LIBS) + +$(EXEC).a: $(OBJ) + ar rcs $@ $(OBJ) $(LIBPATH) $(LIBS) + +# @ar $(OBJ) $@ $(OBJ) $(LIBPATH) $(LIBS) + +%.o: %.c + @$(CC) $(CC_FLAGS) $(INC) -c -g3 $< -o $@ +clean: + $(RM) $(OBJ) + $(RM) $(EXEC) diff --git a/src/rtkcmn.c b/src/rtkcmn.c index 6ac1400cb..86a5e193b 100644 --- a/src/rtkcmn.c +++ b/src/rtkcmn.c @@ -3027,24 +3027,24 @@ static char file_trace[1024]; /* rtktrace file */ static int level_trace=0; /* level of rtktrace */ static uint32_t tick_trace=0; /* tick time at rtktraceopen (ms) */ static gtime_t time_trace={0}; /* time at rtktraceopen */ -static lock_t lock_trace; /* lock for rtktrace */ +static rtklock_t lock_trace; /* lock for rtktrace */ static void traceswap(void) { gtime_t time=utc2gpst(timeget()); char path[1024]; - lock(&lock_trace); + rtklock(&lock_trace); if ((int)(time2gpst(time ,NULL)/INT_SWAP_TRAC)== (int)(time2gpst(time_trace,NULL)/INT_SWAP_TRAC)) { - unlock(&lock_trace); + rtkunlock(&lock_trace); return; } time_trace=time; if (!reppath(file_trace,path,time,"","")) { - unlock(&lock_trace); + rtkunlock(&lock_trace); return; } if (fp_trace) fclose(fp_trace); @@ -3052,7 +3052,7 @@ static void traceswap(void) if (!(fp_trace=fopen(path,"w"))) { fp_trace=stderr; } - unlock(&lock_trace); + rtkunlock(&lock_trace); } extern void rtktraceopen(const char *file) { @@ -3064,7 +3064,7 @@ extern void rtktraceopen(const char *file) strcpy(file_trace,file); tick_trace=tickget(); time_trace=time; - initlock(&lock_trace); + rtkinitlock(&lock_trace); } extern void rtktraceclose(void) { From d3e5890be305663581fab247585e13c6da454656 Mon Sep 17 00:00:00 2001 From: Sam Price Date: Tue, 15 Feb 2022 23:07:31 -0500 Subject: [PATCH 3/7] antex Decode uniqe id. --- src/rtkcmn.c | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/rtkcmn.c b/src/rtkcmn.c index 86a5e193b..22c067a1a 100644 --- a/src/rtkcmn.c +++ b/src/rtkcmn.c @@ -2339,7 +2339,7 @@ static int readngspcv(const char *file, pcvs_t *pcvs) return 1; } /* read antex file ----------------------------------------------------------*/ -static int readantex(const char *file, pcvs_t *pcvs) +int readantex(const char *file, pcvs_t *pcvs) { FILE *fp; static const pcv_t pcv0={0}; @@ -2369,11 +2369,13 @@ static int readantex(const char *file, pcvs_t *pcvs) if (!state) continue; if (strstr(buff+60,"TYPE / SERIAL NO")) { + pcv.sat = -1; strncpy(pcv.type,buff ,20); pcv.type[20]='\0'; strncpy(pcv.code,buff+20,20); pcv.code[20]='\0'; if (!strncmp(pcv.code+3," ",8)) { pcv.sat=satid2no(pcv.code); } + strncpy(pcv.code,buff+40,10); pcv.code[10]='\0'; } else if (strstr(buff+60,"VALID FROM")) { if (!str2time(buff,0,43,&pcv.ts)) continue; @@ -4025,8 +4027,8 @@ extern int rtk_uncompress(const char *file, char *uncfile) return stat; } /* dummy application functions for shared library ----------------------------*/ -#ifdef WIN_DLL -extern int showmsg(char *format,...) {return 0;} +#ifdef IS_DLL +extern int showmsg(const char *format,...) {return 0;} extern void settspan(gtime_t ts, gtime_t te) {} extern void settime(gtime_t time) {} #endif From 145c3fdd1801632ec878856f32b39d31e445c846 Mon Sep 17 00:00:00 2001 From: Sam Price Date: Wed, 16 Feb 2022 18:15:19 -0500 Subject: [PATCH 4/7] Only update unique id if its gps. --- src/rtkcmn.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/rtkcmn.c b/src/rtkcmn.c index 22c067a1a..20b95c718 100644 --- a/src/rtkcmn.c +++ b/src/rtkcmn.c @@ -2374,8 +2374,8 @@ int readantex(const char *file, pcvs_t *pcvs) strncpy(pcv.code,buff+20,20); pcv.code[20]='\0'; if (!strncmp(pcv.code+3," ",8)) { pcv.sat=satid2no(pcv.code); + strncpy(pcv.code,buff+40,10); pcv.code[10]='\0'; } - strncpy(pcv.code,buff+40,10); pcv.code[10]='\0'; } else if (strstr(buff+60,"VALID FROM")) { if (!str2time(buff,0,43,&pcv.ts)) continue; From 8ee0cf8ddcc691a1380922181fceae3f8fc8d463 Mon Sep 17 00:00:00 2001 From: Sam Price Date: Wed, 16 Feb 2022 18:15:35 -0500 Subject: [PATCH 5/7] Add basic CMakeLists.txt --- CMakeLists.txt | 55 ++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 55 insertions(+) create mode 100644 CMakeLists.txt diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 000000000..83fa285d1 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,55 @@ +cmake_minimum_required(VERSION 3.10) + +# set the project name +project(rtklib) + +# add the executable +add_library(rtk +src/convgpx.c +src/convkml.c +src/convrnx.c +src/datum.c +src/download.c +src/ephemeris.c +src/geoid.c +src/gis.c +src/ionex.c +src/lambda.c +src/options.c +src/pntpos.c +src/postpos.c +src/ppp.c +src/ppp_ar.c +src/preceph.c +src/rcvraw.c +src/rinex.c +src/rtcm.c +src/rtcm2.c +src/rtcm3.c +src/rtcm3e.c +src/rtkcmn.c +src/rtkpos.c +src/rtksvr.c +src/sbas.c +src/solution.c +src/stream.c +src/streamsvr.c +src/tides.c +src/tle.c +src/rcv/binex.c +src/rcv/crescent.c +src/rcv/javad.c +src/rcv/novatel.c +src/rcv/nvs.c +src/rcv/rt17.c +src/rcv/septentrio.c +src/rcv/skytraq.c +src/rcv/ss2.c +src/rcv/ublox.c +) + + +include_directories(rtk +./src/rcv +./src +) \ No newline at end of file From 5f4c485085d504d2e9c5d71b4afa13d919c55fe9 Mon Sep 17 00:00:00 2001 From: "U-NDC\\sprice5" Date: Fri, 25 Feb 2022 12:53:16 -0500 Subject: [PATCH 6/7] Builds on windows via cmake. --- src/rinex.c | 2 +- src/stream.c | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/rinex.c b/src/rinex.c index 9b6de90e9..b5a331411 100644 --- a/src/rinex.c +++ b/src/rinex.c @@ -1974,7 +1974,7 @@ static void outrnx_phase_shift(FILE *fp, const rnxopt_t *opt, const nav_t *nav) static void outrnx_glo_fcn(FILE *fp, const rnxopt_t *opt, const nav_t *nav) { const char *label="GLONASS SLOT / FRQ #"; - int i,j,k,n=0,sat,prn[MAXPRNGLO],fcn[MAXPRNGLO]; + int i,j,k,n=0,sat,prn[MAXPRNGLO+1],fcn[MAXPRNGLO+1]; if (opt->navsys&SYS_GLO) { for (i=0;i Date: Fri, 25 Feb 2022 15:15:47 -0500 Subject: [PATCH 7/7] Drop timeGetTime for windows lib req --- src/rtkcmn.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/rtkcmn.c b/src/rtkcmn.c index 20b95c718..640455b3b 100644 --- a/src/rtkcmn.c +++ b/src/rtkcmn.c @@ -1848,7 +1848,8 @@ extern int adjgpsweek(int week) extern uint32_t tickget(void) { #ifdef WIN32 - return (uint32_t)timeGetTime(); + return 0; +// return (uint32_t)timeGetTime(); #else struct timespec tp={0}; struct timeval tv={0};