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span_decoder.cpp
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span_decoder.cpp
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// span_decoder.cpp : This file contains the 'main' function. Program execution begins and ends there.
//
#include <iostream>
#include "kml.h"
#include "dirent.h"
#include <vector>
#include <string>
#include <assert.h>
#include "minizipdll.h"
#pragma comment(lib,"MINIZIPDLL.lib")
#define MAXFIELD 100
#define P2_33 1.164153218269348E-10 /* 2^-33 */
#define P2_29 1.862645149230957E-09 /* 2^-29 */
#define SPAN_CPT7 0
#define SPAN_FLEX6 1
#define SPAN_ACEINNA 2
#define SPAN_ADI16488 3
#define UB482 4
#define HEADKML1 "<?xml version=\"1.0\" encoding=\"UTF-8\"?>"
#define HEADKML2 "<kml xmlns=\"http://www.opengis.net/kml/2.2\">"
#define MARKICON "http://maps.google.com/mapfiles/kml/shapes/track.png"
#define SIZP 0.4 /* mark size of rover positions */
#define SIZR 0.8 /* mark size of reference position */
#define grav_WGS84 9.7803267714e0
#ifndef PI
#define PI 3.14159265358979
#endif
typedef struct { /* time struct */
time_t time; /* time (s) expressed by standard time_t */
double sec; /* fraction of second under 1 s */
} gtime_t;
extern gtime_t epoch2time(const double* ep)
{
const int doy[] = { 1,32,60,91,121,152,182,213,244,274,305,335 };
gtime_t time = { 0 };
int days, sec, year = (int)ep[0], mon = (int)ep[1], day = (int)ep[2];
if (year < 1970 || 2099 < year || mon < 1 || 12 < mon) return time;
/* leap year if year%4==0 in 1901-2099 */
days = (year - 1970) * 365 + (year - 1969) / 4 + doy[mon - 1] + day - 2 + (year % 4 == 0 && mon >= 3 ? 1 : 0);
sec = (int)floor(ep[5]);
time.time = (time_t)days * 86400 + (int)ep[3] * 3600 + (int)ep[4] * 60 + sec;
time.sec = ep[5] - sec;
return time;
}
static const double gpst0[] = { 1980,1, 6,0,0,0 }; /* gps time reference */
/* time to gps time ------------------------------------------------------------
* convert gtime_t struct to week and tow in gps time
* args : gtime_t t I gtime_t struct
* int *week IO week number in gps time (NULL: no output)
* return : time of week in gps time (s)
*-----------------------------------------------------------------------------*/
extern double time2gpst(gtime_t t, int* week)
{
gtime_t t0 = epoch2time(gpst0);
time_t sec = t.time - t0.time;
int w = (int)(sec / (86400 * 7));
if (week) *week = w;
return (double)(sec - (double)w * 86400 * 7) + t.sec;
}
#define RE_WGS84 6378137.0 /* earth semimajor axis (WGS84) (m) */
#define FE_WGS84 (1.0/298.257223563) /* earth flattening (WGS84) */
/* transform geodetic to ecef position -----------------------------------------
* transform geodetic position to ecef position
* args : double *pos I geodetic position {lat,lon,h} (rad,m)
* double *r O ecef position {x,y,z} (m)
* return : none
* notes : WGS84, ellipsoidal height
*-----------------------------------------------------------------------------*/
extern void pos2ecef(const double* pos, double* r)
{
double sinp = sin(pos[0]), cosp = cos(pos[0]), sinl = sin(pos[1]), cosl = cos(pos[1]);
double e2 = FE_WGS84 * (2.0 - FE_WGS84), v = RE_WGS84 / sqrt(1.0 - e2 * sinp * sinp);
r[0] = (v + pos[2]) * cosp * cosl;
r[1] = (v + pos[2]) * cosp * sinl;
r[2] = (v * (1.0 - e2) + pos[2]) * sinp;
}
/* multiply matrix -----------------------------------------------------------*/
extern void matmul(const char* tr, int n, int k, int m, double alpha,
const double* A, const double* B, double beta, double* C)
{
double d;
int i, j, x, f = tr[0] == 'N' ? (tr[1] == 'N' ? 1 : 2) : (tr[1] == 'N' ? 3 : 4);
for (i = 0; i < n; i++) for (j = 0; j < k; j++) {
d = 0.0;
switch (f) {
case 1: for (x = 0; x < m; x++) d += A[i + x * n] * B[x + j * m]; break;
case 2: for (x = 0; x < m; x++) d += A[i + x * n] * B[j + x * k]; break;
case 3: for (x = 0; x < m; x++) d += A[x + i * m] * B[x + j * m]; break;
case 4: for (x = 0; x < m; x++) d += A[x + i * m] * B[j + x * k]; break;
}
if (beta == 0.0) C[i + j * n] = alpha * d; else C[i + j * n] = alpha * d + beta * C[i + j * n];
}
}
/* ecef to local coordinate transfromation matrix ------------------------------
* compute ecef to local coordinate transfromation matrix
* args : double *pos I geodetic position {lat,lon} (rad)
* double *E O ecef to local coord transformation matrix (3x3)
* return : none
* notes : matirix stored by column-major order (fortran convention)
*-----------------------------------------------------------------------------*/
extern void xyz2enu(const double* pos, double* E)
{
double sinp = sin(pos[0]), cosp = cos(pos[0]), sinl = sin(pos[1]), cosl = cos(pos[1]);
E[0] = -sinl; E[3] = cosl; E[6] = 0.0;
E[1] = -sinp * cosl; E[4] = -sinp * sinl; E[7] = cosp;
E[2] = cosp * cosl; E[5] = cosp * sinl; E[8] = sinp;
}
/* transform ecef vector to local tangental coordinate -------------------------
* transform ecef vector to local tangental coordinate
* args : double *pos I geodetic position {lat,lon} (rad)
* double *r I vector in ecef coordinate {x,y,z}
* double *e O vector in local tangental coordinate {e,n,u}
* return : none
*-----------------------------------------------------------------------------*/
extern void ecef2enu(const double* pos, const double* r, double* e)
{
double E[9];
xyz2enu(pos, E);
matmul("NN", 3, 1, 3, 1.0, E, r, 0.0, e);
}
typedef enum INS_STATUS
{
INS_INACTIVE = 0,
DETERMINING_ORIENTATION,
INS_ALIGNING,
INS_ALIGNMENT_COMPLETE,
INS_SOLUTION_GOOD
};
typedef struct
{
int week;
double gps_tow;
double lat; // deg
double lon;
float hgt;
float vn; // m/s
float ve;
float vu;
float roll; // deg
float pitch;
float azimuth;
} ins_pva;
#define SECONDS_IN_WEEK (604800)
static gtime_t timeadd(gtime_t t, double sec)
{
double tt;
t.sec += sec;
tt = floor(t.sec);
t.time += (int)tt;
t.sec -= tt;
return t;
}
static gtime_t gpst2utc(gtime_t t)
{
return timeadd(t, -18.0);
}
static gtime_t gpst2time(int week, double sec)
{
gtime_t t = epoch2time(gpst0);
if (sec < -1E9 || 1E9 < sec)
sec = 0.0;
t.time += SECONDS_IN_WEEK * week + (int)sec;
t.sec = sec - (int)sec;
return t;
}
static void time2epoch(gtime_t t, double* ep)
{
const int mday[] = {/* # of days in a month */
31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31, 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31,
31, 29, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31, 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31 };
int days, sec, mon, day;
/* leap year if year%4==0 in 1901-2099 */
days = (int)(t.time / 86400);
sec = (int)(t.time - (time_t)days * 86400);
for (day = days % 1461, mon = 0; mon < 48; mon++)
{
if (day >= mday[mon])
day -= mday[mon];
else
break;
}
ep[0] = 1970 + days / 1461 * 4 + mon / 12;
ep[1] = mon % 12 + 1;
ep[2] = day + 1;
ep[3] = sec / 3600;
ep[4] = sec % 3600 / 60;
ep[5] = sec % 60 + t.sec;
}
static void deg2dms(double deg, double* dms, int ndec)
{
double sign = deg < 0.0 ? -1.0 : 1.0, a = fabs(deg);
double unit = pow(0.1, ndec);
dms[0] = floor(a);
a = (a - dms[0]) * 60.0;
dms[1] = floor(a);
a = (a - dms[1]) * 60.0;
dms[2] = floor(a / unit + 0.5) * unit;
if (dms[2] >= 60.0)
{
dms[2] = 0.0;
dms[1] += 1.0;
if (dms[1] >= 60.0)
{
dms[1] = 0.0;
dms[0] += 1.0;
}
}
dms[0] *= sign;
}
static int print_nmea_gga(gtime_t time, double* xyz, int nsat, int type, double dop, double age, char* buff)
{
double h, ep[6], pos[3], dms1[3], dms2[3];
char* p = (char*)buff, * q, sum;
if ((xyz[0] * xyz[0] + xyz[1] * xyz[1] + xyz[2] * xyz[2]) < 1.0)
{
p += sprintf(p, "$GPGGA,,,,,,,,,,,,,,");
for (q = (char*)buff + 1, sum = 0; *q; q++)
sum ^= *q;
p += sprintf(p, "*%02X%c%c", sum, 0x0D, 0x0A);
}
else
{
time = gpst2utc(time);
time2epoch(time, ep);
#if 0
int sss = 0;
if (ep[3] == 10.0 && ep[4] == 29.0 && fabs(ep[5] - 46.1) < 0.01)
sss = 1;
#endif
pos[0] = xyz[0]; pos[1] = xyz[1]; pos[2] = xyz[2];
h = 0.0; //geoidh(pos);
deg2dms(fabs(pos[0]), dms1, 7);
deg2dms(fabs(pos[1]), dms2, 7);
p += sprintf(p, "$GPGGA,%02.0f%02.0f%05.2f,%02.0f%010.7f,%s,%03.0f%010.7f,%s,%d,%02d,%.1f,%.3f,M,%.3f,M,%.1f,",
ep[3], ep[4], ep[5], dms1[0], dms1[1] + dms1[2] / 60.0, pos[0] >= 0 ? "N" : "S",
dms2[0], dms2[1] + dms2[2] / 60.0, pos[1] >= 0 ? "E" : "W", type,
nsat, dop, pos[2] - h, h, age);
for (q = (char*)buff + 1, sum = 0; *q; q++)
sum ^= *q; /* check-sum */
p += sprintf(p, "*%02X%c%c", sum, 0x0D, 0x0A);
}
return p - (char*)buff;
}
static void parse_fields(char* const buffer, char** val)
{
char* p, * q;
int n = 0;
/* parse fields */
for (p = buffer; *p && n < MAXFIELD; p = q + 1) {
if ((q = strchr(p, ',')) || (q = strchr(p, '*'))) {
val[n++] = p; *q = '\0';
}
else break;
}
}
void decode_span(const char* fname, int sensor, double sampleRate, int isKMZ)
{
FILE* fdat = NULL;
FILE* fgga = NULL;
FILE* fpos = NULL;
FILE* fgps = NULL;
FILE* fimu = NULL;
FILE* fins = NULL;
FILE* fpkml = NULL;
FILE* fhdg = NULL;
FILE* fGGA_INS = NULL;
char fileName[255] = { 0 };
char outfilename[255] = { 0 };
char out_kml_fpath[255] = { 0 };
fdat = fopen(fname, "r"); if (fdat == NULL) return;
strcpy(fileName, fname);
char* result1 = strrchr(fileName, '.');
if (result1 != NULL) result1[0] = '\0';
sprintf(outfilename, "%s-gps.nmea", fileName); fgga = fopen(outfilename, "w");
sprintf(outfilename, "%s-ins.nmea", fileName); fGGA_INS = fopen(outfilename, "w");
sprintf(outfilename, "%s-gps.csv", fileName); fgps = fopen(outfilename, "w");
sprintf(outfilename, "%s-pos.csv", fileName); fpos = fopen(outfilename, "w");
sprintf(outfilename, "%s-imu.csv", fileName); fimu = fopen(outfilename, "w");
sprintf(outfilename, "%s-ins.csv", fileName); fins = fopen(outfilename, "w");
sprintf(outfilename, "%s-hdg.csv", fileName); fhdg = fopen(outfilename, "w");
sprintf(out_kml_fpath, "%s.kml", fileName); fpkml = fopen(out_kml_fpath, "w");
if (fpkml!=NULL) print_kml_heder(fpkml);
int type = 0;
int wn = 0;
char buffer[1024*8] = { 0 }, sol_status[56] = {0};
char* p, * q, * val[MAXFIELD];
double time_vel[4] = { 0.0 };
double ws_pv = 0.0;
while (!feof(fdat))
{
fgets(buffer, sizeof(buffer), fdat);
if (strlen(buffer) <= 0) continue;
char *temp = strchr(buffer, '\n');
if (temp != NULL) temp[0] = '\0';
parse_fields(buffer, val);
if (strstr(val[0], "BESTGNSSPOSA") != NULL)
{
/*
#BESTGNSSPOSA,SPECIAL,0,45.0,COARSESTEERING,2075,507495.200,00400000,bede,14392;SOL_COMPUTED,SINGLE,37.38509346056,-122.09022710468,29.3987,-32.3000,WGS84,4.4743,3.1986,5.9788,"",0.000,0.000,5,5,5,0,00,02,00,01*44f57d2d
*/
double blh[3] = { atof(val[11]), atof(val[12]), atof(val[13])+ atof(val[14]) };
double wn = atof(val[5]);
double ws = atof(val[6]);
double rms[3] = { atof(val[16]), atof(val[17]), atof(val[18]) };
int type = 0;
if (strstr(val[9], "SOL_COMPUTED") != NULL) {
if (strstr(val[10], "SINGLE") != NULL) type = 1;
else if (strstr(val[10], "NARROW_INT") != NULL) type = 4;
else if (strstr(val[10], "NARROW_FLOAT") != NULL) type = 5;
else if (strstr(val[10], "PSRDIFF") != NULL) type = 2;
if (fpos != NULL) {
fprintf(fpos, "%4.0f,%10.3f,1,%14.10f,%14.10f,%10.4f,%10.4f,%10.4f,%10.4f,%3i\n", wn, ws, blh[0], blh[1], blh[2], rms[0], rms[1], rms[2], type);
#ifdef GNSS_ONLY
char solsts[28] = { "GNSS only" };
print_kml_gga(fpkml, blh[0], blh[1], blh[2], type, ws, 0.0, solsts);
#endif
}
gtime_t gt = gpst2time(wn, ws);
char gga[256] = { 0 };
print_nmea_gga(gt, blh, atof(val[23]), type, 1.0, atof(val[20]), gga);
if (NULL != fgga) fprintf(fgga, "%s", gga);
}
continue;
}
if (strstr(val[0], "RTKPOSA") != NULL)
{
/*
#RTKPOSA,USB1,0,70.8,FINESTEERING,2076,112663.000,00000000,000e,10558;SOL_COMPUTED,NARROW_INT,40.04225041311,116.28967046789,49.2162,-9.7964,WGS84,0.0268,0.0212,0.0552,"1597",1.000,0.000,32,32,24,19,00,02,30,33*d9f90b44
*/
double blh[3] = { atof(val[11]), atof(val[12]), atof(val[13]) + atof(val[14]) };
double wn = atof(val[5]);
double ws = atof(val[6]);
double rms[3] = { atof(val[16]), atof(val[17]), atof(val[18]) };
int type = 0;
if (strstr(val[10], "SINGLE") != NULL) type = 1;
else if (strstr(val[10], "NARROW_INT") != NULL) type = 4;
else if (strstr(val[10], "NARROW_FLOAT") != NULL) type = 5;
else if (strstr(val[10], "PSRDIFF") != NULL) type = 2;
if (fpos != NULL) fprintf(fpos, "%4.0f,%10.3f,1,%14.10f,%14.10f,%10.4f,%10.4f,%10.4f,%10.4f,%3i\n", wn, ws, blh[0], blh[1], blh[2], rms[0], rms[1], rms[2], type);
continue;
}
if (strstr(val[0], "RTKVELA") != NULL)
{
/*
#BESTVELA,USB1,0,73.3,FINESTEERING,2076,112838.000,00000000,000e,10558;SOL_COMPUTED,DOPPLER_VELOCITY,0.000,1.000,8.6437,77.431308,0.0275,0.0*d771d968
/* TODO, output to fpos
*/
continue;
}
if (strstr(val[0], "BESTPOSA") != NULL)
{
/*
#BESTPOSA,COM1,0,36.0,FINE,2143,269380.800,136615,34,18;SOL_COMPUTED,SINGLE,31.49462671482,120.36342564250,5.5551,7.4383,WGS84,1.0661,1.1722,2.1196,"",0.000,0.000,40,28,28,24,0,06,03,d3*e4da69bc
*/
double blh[3] = { atof(val[11]), atof(val[12]), atof(val[13]) + atof(val[14]) };
double vel[3] = { 0.0 };
double wn = atof(val[5]);
double ws = atof(val[6]);
double rms[3] = { atof(val[16]), atof(val[17]), atof(val[18]) };
int type = 0;
if (strstr(val[10], "SINGLE") != NULL) type = 1;
else if (strstr(val[10], "NARROW_INT") != NULL) type = 4;
else if (strstr(val[10], "NARROW_FLOAT") != NULL) type = 5;
else if (strstr(val[10], "PSRDIFF") != NULL) type = 2;
int out_data = fabs(floor(ws) - ws) < 0.001 ? 1:0;
if (fpos != NULL && out_data) {
ws_pv = ws;
fprintf(fpos, "%4.0f,%10.3f,%14.10f,%14.10f,%10.4f,%10.4f,%10.4f,%10.4f,%3i,"// /*%10.4f,%10.4f,%10.4f,%10.4f,*/"
, wn, ws, blh[0], blh[1], blh[2], rms[0], rms[1], rms[2], type
//, vel[0], vel[1], vel[2], -180.0
);
}
continue;
}
if (strstr(val[0], "BESTVELA") != NULL)
{
/*
#BESTVELA,COM1,0,36.0,FINE,2143,269380.800,136615,28,18;SOL_COMPUTED,DOPPLER_VELOCITY,0.000,0.000,0.0032,306.503090,-0.0089,0001500024*a94a28f1
/* TODO, output to fpos
*/
double wn = atof(val[5]);
double ws = atof(val[6]);
float latency = atof(val[11]), vh = atof(val[13]), heading = atof(val[14]) * PI / 180.0, vu = atof(val[15]);
float hdg_deg = atof(val[14]);
float vn = vh * cos(heading);
float ve = vh * sin(heading);
if (fpos != NULL && ws == ws_pv) { // NEED RE-CHECK
fprintf(fpos, "%.3f,%.3f,%.3f,%.3f\n", vn, ve, vu, hdg_deg);
}
continue;
}
if (strstr(val[0], "HEADING2A") != NULL)
{
/*
#HEADING2A,SPECIAL,0,23.5,FINESTEERING,2078,516279.000,02004000,1684,15826;SOL_COMPUTED,NARROW_INT,-1.000000000,239.906387329,-0.616668701,0.0,0.206709728,0.369018108,"H64Z","H64Z",32,29,29,23,04,01,15,33*272e3cb4
/* TODO, output to fpos
*/
double wn = atof(val[5]);
double ws = atof(val[6]);
float baseline_len = atof(val[10]);
float heading_da = atof(val[11]); // dual antenna heading
float pitch_da = atof(val[12]); // dual antenna pitch/roll, depend on antenna installation
int type = 0;
if (strstr(val[10], "SINGLE") != NULL) type = 1;
else if (strstr(val[10], "NARROW_INT") != NULL) type = 4;
else if (strstr(val[10], "NARROW_FLOAT") != NULL) type = 5;
else if (strstr(val[10], "PSRDIFF") != NULL) type = 2;
if (fhdg != NULL) fprintf(fhdg, "%4.0f,%10.3f,%.3f,%.3f,%.3f,%d\n", wn, ws, baseline_len, heading_da, pitch_da, type);
continue;
}
if (strstr(val[0], "HEADINGA") != NULL)
{
/*
#HEADINGA,COM1,0,49.0,FINE,2143,269381.000,136814,43,18;SOL_COMPUTED,NARROW_INT,0.6786,46.4054,-0.6630,0.0000,0.3189,0.5865,"999",41,39,39,28,3,01,3,f3*821e4438
/* TODO, output to fpos
*/
double wn = atof(val[5]);
double ws = atof(val[6]);
float baseline_len = atof(val[10]);
float heading_da = atof(val[11]); // dual antenna heading
float pitch_da = atof(val[12]); // dual antenna pitch/roll, depend on antenna installation
int type = 0;
if (strstr(val[10], "SINGLE") != NULL) type = 1;
else if (strstr(val[10], "NARROW_INT") != NULL) type = 4;
else if (strstr(val[10], "NARROW_FLOAT") != NULL) type = 5;
else if (strstr(val[10], "PSRDIFF") != NULL) type = 2;
if (fhdg != NULL) fprintf(fhdg, "%4.0f,%10.3f,%.3f,%.3f,%.3f,%d\n", wn, ws, baseline_len, heading_da, pitch_da, type);
continue;
}
if (strstr(val[0], "BESTGNSSVELA") != NULL)
{
/*
#BESTGNSSVELA,SPECIAL,0,45.0,COARSESTEERING,2075,507495.200,00400000,00b0,14392;SOL_COMPUTED,DOPPLER_VELOCITY,0.000,0.000,0.1949,334.029536,-0.0767,0.0*ed8abf8e
*/
double wn = atof(val[5]);
double ws = atof(val[6]);
float latency = atof(val[11]), vh = atof(val[13]), heading = atof(val[14])*PI/180.0, vu = atof(val[15]);
float vn = vh * cos(heading);
float ve = vh * sin(heading);
//if (fpos != NULL) fprintf(fpos, "%4.0f,%10.3f,%.3f,%.3f,%.3f,%.3f\n", wn, ws, latency, ve, vn, vu);
continue;
}
if (strstr(val[0], "RANGECMPA") != NULL)
{
int k = 0;
/* decode the RAW GNSS measurements from main antenna and 2nd antenna, then store to GPS file */
/* TODO */
}
if (strstr(val[0], "RAWIMUSXA") != NULL)
{
/*
%RAWIMUSXA,2075,507495.165;00,13,2075,507495.165000000,00000000,32068,-1612,-1320,256,1536,-255*dd88585c
*/
double wn = atof(val[4]);
double ws = atof(val[5]);
double wxyz_scale = 1.0;
double fxyz_scale = 1.0;
if (sensor == SPAN_CPT7)
{
fxyz_scale = P2_29;
wxyz_scale = P2_33;
}
else if (sensor == SPAN_FLEX6)
{
double aa = P2_29;
double bb = 2 << 29;
int i = 0;
/* 0.05 x 2-15, 0.1x 2-8 arcsec/LSB*/
}
else if (sensor == SPAN_ACEINNA)
{
fxyz_scale = 2.5e-4*grav_WGS84;
wxyz_scale = 5.0e-3*PI / 180.0;
}
if (sampleRate > 0.0)
{
fxyz_scale *= sampleRate;
wxyz_scale *= sampleRate;
}
double fxyz[3] = { atof(val[9]) * fxyz_scale, -atof(val[8]) * fxyz_scale, atof(val[7]) * fxyz_scale };
double wxyz[3] = { atof(val[12]) * wxyz_scale, -atof(val[11]) * wxyz_scale, atof(val[10]) * wxyz_scale };
if (fimu != NULL) fprintf(fimu, "%4.0f,%14.7f,%14.10f,%14.10f,%14.10f,%14.10f,%14.10f,%14.10f\n", wn, ws, fxyz[0], fxyz[1], fxyz[2], wxyz[0], wxyz[1], wxyz[2]);
continue;
}
if (strstr(val[0], "INSPVAXA") != NULL)
{
/*
#INSPVAXA,SPECIAL,0,63.5,FINESTEERING,2077,426091.650,02004800,471d,15826;WAITING_AZIMUTH,NARROW_INT,37.38118475784,-121.94136658119,9.0947,-32.1000,0.0094,0.0022,-0.0245,1.128617803,3.143108851,-0.000000000,0.0111,0.0055,0.0167,0.0431,0.0235,0.0673,3.0000,3.0000,180.0000,01000000,0*284f2874
*/
//if (!strstr(val[9], "INS_ALIGNMENT_COMPLETE") && !strstr(val[9], "INS_SOLUTION_GOOD")) continue;
int wn = atoi(val[5]);
double ws = atof(val[6]);
double blh[3] = { atof(val[11]), atof(val[12]), atof(val[13])+ atof(val[14]) };
if (blh[0]==0.0 && blh[1]==0.0 && blh[2] == 0.0) continue;
double vel_NEU[3] = { atof(val[15]), atof(val[16]), -atof(val[17]) };
double att[3] = { atof(val[18]), atof(val[19]), atof(val[20]) };
double rms_PosNEU[3] = { atof(val[21]), atof(val[22]), atof(val[23]) };
double rms_VelNEU[3] = { atof(val[24]), atof(val[24]), atof(val[26]) };
double rms_att[3] = { atof(val[27]), atof(val[28]), atof(val[29]) };
double timeLast = atof(val[31]);
time_vel[0] = ws;
time_vel[1] = vel_NEU[0]; // N
time_vel[2] = vel_NEU[1]; // E
time_vel[3] =-vel_NEU[2]; // D
strcpy(sol_status, strchr(val[9], ';')+1);
if (fins != NULL)
{
fprintf(fins, "%4i,%10.3f,%14.9f,%14.9f,%10.4f,%10.4f,%10.4f,%10.4f,%14.9f,%14.9f,%14.9f,%10.4f,%10.4f,%10.4f,%10.4f,%10.4f,%10.4f,%10.4f,%10.4f,%10.4f\n"
, wn, ws
, blh[0], blh[1], blh[2]
, vel_NEU[0], vel_NEU[1], vel_NEU[2]
, att[0], att[1], att[2]
, rms_PosNEU[0], rms_PosNEU[1], rms_PosNEU[2]
, rms_VelNEU[0], rms_VelNEU[1], rms_VelNEU[2]
, rms_att[0], rms_att[1], rms_att[2]
);
}
int solType = -1;
if (strstr(val[10], "INS_PSRSP") != NULL) solType = 1;
else if (strstr(val[10], "INS_PSRDIFF") != NULL) solType = 2;
else if (strstr(val[10], "PSRDIFF") != NULL) solType = 2;
else if (strstr(val[10], "PROPAGATED") != NULL) solType = 3;
else if (strstr(val[10], "INS_RTKFLOAT") != NULL) solType = 5;
else if (strstr(val[10], "INS_RTKFIXED") != NULL) solType = 4;
else {
solType = 1;
//printf("not supported\n");
}
strcpy(sol_status+strlen(sol_status), ",");
strcpy(sol_status+strlen(sol_status), val[10]);
gtime_t gt = gpst2time(wn, ws);
char gga[256] = { 0 };
print_nmea_gga(gt, blh, 20, solType, 1.0, 1.0, gga);
if (NULL != fGGA_INS) fprintf(fGGA_INS, "%s", gga);
//printf("GPS TOW: %f\n", ws);
float heading = atof(val[20]);
#ifndef GNSS_ONLY
print_kml_gga(fpkml, blh[0], blh[1], blh[2], solType, ws, heading, sol_status);
#endif
if (fGGA_INS)
{
gtime_t gt = gpst2time(wn, ws);
char gga[256] = { 0 };
print_nmea_gga(gt, blh, 10, 4, 1.0, 0.0, gga);
fprintf(fGGA_INS, "%s", gga);
}
continue;
}
if (strstr(val[0], "INSPVASA") != NULL)
{
/*
%INSPVASA,2083,374524.200;2083,374524.200000000,31.51668826020,120.38636567293,13.9998,13.1095,-12.9404,-0.0070,2.093819658,2.854168081,316.626703726,INS_SOLUTION_GOOD*8fc5adb1
*/
//if (!strstr(val[9], "INS_ALIGNMENT_COMPLETE") && !strstr(val[9], "INS_SOLUTION_GOOD")) continue;
int wn = atoi(val[1]);
double ws = atof(val[3]);
double blh[3] = { atof(val[4]), atof(val[5]), atof(val[6]) };
if (blh[0] == 0.0 && blh[1] == 0.0 && blh[2] == 0.0) continue;
double vel_NEU[3] = { atof(val[7]), atof(val[8]), -atof(val[9]) };
double att[3] = { atof(val[10]), atof(val[11]), atof(val[12]) };
if (fins != NULL)
{
fprintf(fins, "%4i,%10.3f,%14.9f,%14.9f,%10.4f,%10.4f,%10.4f,%10.4f,%14.9f,%14.9f,%14.9f\n"
, wn, ws
, blh[0], blh[1], blh[2]
, vel_NEU[0], vel_NEU[1], vel_NEU[2]
, att[0], att[1], att[2]
);
}
//int solType = -1;
//if (strstr(val[10], "INS_PSRSP") != NULL) solType = 1;
//else if (strstr(val[10], "INS_PSRDIFF") != NULL) solType = 2;
//else if (strstr(val[10], "PSRDIFF") != NULL) solType = 2;
//else if (strstr(val[10], "PROPAGATED") != NULL) solType = 3;
//else if (strstr(val[10], "INS_RTKFLOAT") != NULL) solType = 5;
//else if (strstr(val[10], "INS_RTKFIXED") != NULL) solType = 4;
//else {
// solType = 1;
// //printf("not supported\n");
//}
/*strcpy(sol_status + strlen(sol_status), ",");
strcpy(sol_status + strlen(sol_status), val[10]);
*/
float heading = 0.0f;
strcpy(sol_status, val[13]);
#ifdef INSPVA_SHORT
print_kml_gga(fpkml, blh[0], blh[1], blh[2], solType, ws, heading, sol_status);
#endif
continue;
}
if (strstr(val[0], "INSPVAA") != NULL)
{
/*
#INSPVAA,COM1,0,48.0,FINE,2142,381518.300,647042,12,18;2142,381518.300,31.50898694373,120.37280481075,9.6629,14.1262,15.7235,-0.7222,0.638765,-3.365489,50.477889,INS_SOLUTION_GOOD*5524a4dc
*/
//if (!strstr(val[9], "INS_ALIGNMENT_COMPLETE") && !strstr(val[9], "INS_SOLUTION_GOOD")) continue;
int wn = atoi(val[1]);
double ws = atof(val[3]);
double blh[3] = { atof(val[4]), atof(val[5]), atof(val[6]) };
if (blh[0] == 0.0 && blh[1] == 0.0 && blh[2] == 0.0) continue;
double vel_NEU[3] = { atof(val[7]), atof(val[8]), -atof(val[9]) };
double att[3] = { atof(val[10]), atof(val[11]), atof(val[12]) };
if (fins != NULL)
{
fprintf(fins, "%4i,%10.3f,%14.9f,%14.9f,%10.4f,%10.4f,%10.4f,%10.4f,%14.9f,%14.9f,%14.9f\n"
, wn, ws
, blh[0], blh[1], blh[2]
, vel_NEU[0], vel_NEU[1], vel_NEU[2]
, att[0], att[1], att[2]
);
}
//int solType = -1;
//if (strstr(val[10], "INS_PSRSP") != NULL) solType = 1;
//else if (strstr(val[10], "INS_PSRDIFF") != NULL) solType = 2;
//else if (strstr(val[10], "PSRDIFF") != NULL) solType = 2;
//else if (strstr(val[10], "PROPAGATED") != NULL) solType = 3;
//else if (strstr(val[10], "INS_RTKFLOAT") != NULL) solType = 5;
//else if (strstr(val[10], "INS_RTKFIXED") != NULL) solType = 4;
//else {
// solType = 1;
// //printf("not supported\n");
//}
/*strcpy(sol_status + strlen(sol_status), ",");
strcpy(sol_status + strlen(sol_status), val[10]);
*/
float heading = 0.0f;
strcpy(sol_status, val[13]);
#ifdef INSPVA_SHORT
print_kml_gga(fpkml, blh[0], blh[1], blh[2], solType, ws, heading, sol_status);
#endif
continue;
}
}
if (fpkml != NULL) print_kml_eof(fpkml);
if (fdat != NULL) fclose(fdat);
if (fgga != NULL) fclose(fgga);
if (fGGA_INS != NULL) fclose(fGGA_INS);
if (fpos != NULL) fclose(fpos);
if (fgps != NULL) fclose(fgps);
if (fimu != NULL) fclose(fimu);
if (fins != NULL) fclose(fins);
if (fGGA_INS != NULL) fclose(fGGA_INS);
if (fhdg != NULL) fclose(fhdg);
if (fpkml != NULL) {
fclose(fpkml);
if (isKMZ == 1)
{
/* zip kml to get kmz */
char** paras = new char*[3];
for (int i = 0; i < 3; i++) {
paras[i] = new char[255];
}
strcpy(paras[0], "./minizipdll");
sprintf(paras[1], "%s.kmz", fileName);
remove(paras[1]);
strcpy(paras[2], out_kml_fpath);
minizip(3, paras);
}
}
return;
}
static void span_csv_to_kml(const char* fname_span)
{
FILE* fpkml = NULL, * fpspan = NULL;
char fileName[255] = { 0 };
char outfilename[255] = { 0 };
char buffer[1024] = { 0 };
fpspan = fopen(fname_span, "r");
if (fpspan == NULL) return;
strncpy(fileName, fname_span, strlen(fname_span));
char* result1 = strrchr(fileName, '.');
if (result1 != NULL) result1[0] = '\0';
sprintf(outfilename, "%s.kml", fileName);
fpkml = fopen(outfilename, "w");
//B-G-R white green light-yellow red yellow cyan
const char* color[] = { "ffffffff","ff008800","ff00aaff","ff0000ff","ff00ffff","ffff00ff" };
fprintf(fpkml, "%s\n%s\n", HEADKML1, HEADKML2);
fprintf(fpkml, "<Document>\n");
for (int i = 0; i < 6; i++) {
fprintf(fpkml, "<Style id=\"P%d\">\n", i);
fprintf(fpkml, " <IconStyle>\n");
fprintf(fpkml, " <color>%s</color>\n", color[i]);
fprintf(fpkml, " <scale>%.1f</scale>\n", i == 0 ? SIZR : SIZP);
fprintf(fpkml, " <Icon><href>%s</href></Icon>\n", MARKICON);
fprintf(fpkml, " </IconStyle>\n");
fprintf(fpkml, "</Style>\n");
}
char* val[MAXFIELD];
char str[256] = "";
double gpstow_sol = 0.0, gpstow_span = 0.0;
ins_pva sol_pva = { 0 }, span_pva = { 0 };
int idxpos = 0, idxvel = 0, idxatt = 0;
double ep[6] = { 0.0 };
ep[0] = 2019;
ep[1] = 11;
ep[2] = 8;
double posdata[10] = { 0.0 };
double posdata2[20] = { 0.0 };
int wk = 0;
while (!feof(fpspan))
{
memset(buffer, 0, sizeof(buffer));
fgets(buffer, sizeof(buffer), fpspan);
if (strlen(buffer) <= 0) continue;
int type = 0;
int fixID = 0;
int num = sscanf(buffer, "%lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf",
posdata2, &gpstow_span, posdata2 + 1, posdata2 + 2, posdata2 + 3
, posdata2 + 4, posdata2 + 5, posdata2 + 6
, posdata2 + 7, posdata2 + 8, posdata2 + 9
, posdata2 + 10, posdata2 + 11, posdata2 + 12
, posdata2 + 13, posdata2 + 14, posdata2 + 15
, posdata2 + 16, posdata2 + 17, posdata2 + 18);
/*posdata2[1] *= PI / 180.0;
posdata2[2] *= PI / 180.0;*/
wk = posdata2[0];
gtime_t tm = gpst2time(wk, gpstow_span);
time2epoch(tm, ep);
int output_kml_pnt = (gpstow_span - floor(gpstow_span)) < 0.05 ? 1 : 0;
if (fpkml != NULL && output_kml_pnt) {
fprintf(fpkml, "<Placemark>\n");
fprintf(fpkml, "<TimeStamp><when>%s</when></TimeStamp>\n", str);
fprintf(fpkml, "<description><![CDATA[\n");
fprintf(fpkml, "<TABLE border=\"1\" width=\"100%\" Align=\"center\">\n");
fprintf(fpkml, "<TR ALIGN=RIGHT>\n");
fprintf(fpkml, "<TR ALIGN = RIGHT><TD ALIGN = LEFT>Time:</TD><TD>");
fprintf(fpkml, "%4d</TD><TD>", wk);
fprintf(fpkml, "%11.4f</TD><TD>", gpstow_span);
fprintf(fpkml, "%02.0f:%02.0f:%06.3f</TD><TD>", ep[3], ep[4], ep[5]);
fprintf(fpkml, "%2d/%2d/%3d</TD></TR>\n", (int)ep[0], (int)ep[1], (int)ep[2]);
fprintf(fpkml, "<TR ALIGN=RIGHT><TD ALIGN=LEFT>Position:</TD><TD>");
fprintf(fpkml, "%11.7f</TD><TD>", posdata2[1]);
fprintf(fpkml, "%11.7f</TD><TD>", posdata2[2]);
fprintf(fpkml, "%8.4f</TD>", posdata2[3]);
fprintf(fpkml, "<TD>(DMS,m)</TD></TR>\n");
fprintf(fpkml, "<TR ALIGN=RIGHT><TD ALIGN=LEFT>Vel(N,E,D):</TD><TD>");
fprintf(fpkml, "%8.4f</TD><TD>", posdata2[4]);
fprintf(fpkml, "%8.4f</TD><TD>", posdata2[5]);
fprintf(fpkml, "%8.4f</TD>", posdata2[6]);
fprintf(fpkml, "<TD>(m/s)</TD></TR>\n");
fprintf(fpkml, "<TR ALIGN=RIGHT><TD ALIGN=LEFT>Att(r,p,y):</TD><TD>");
fprintf(fpkml, "%8.4f</TD><TD>", posdata2[7]);
fprintf(fpkml, "%8.4f</TD><TD>", posdata2[8]);
fprintf(fpkml, "%8.4f</TD>", posdata2[9]);
fprintf(fpkml, "<TD>(deg)</TD></TR>\n");
fprintf(fpkml, "<TR ALIGN=RIGHT><TD ALIGN=LEFT>Misc Info:</TD><TD>");
fprintf(fpkml, "%d</TD><TD>", 0);
fprintf(fpkml, "%d</TD><TD>", 0);
fprintf(fpkml, "%d</TD>", 0);
fprintf(fpkml, "<TD></TD></TR>\n");
fprintf(fpkml, "</TABLE>\n");
fprintf(fpkml, "]]></description>\n");
fprintf(fpkml, "<styleUrl>#P%d</styleUrl>\n", 2);
fprintf(fpkml, "<Style>\n");
fprintf(fpkml, "<IconStyle>\n");
fprintf(fpkml, "<heading>%f</heading>\n", posdata2[9]);
fprintf(fpkml, "</IconStyle>\n");
fprintf(fpkml, "</Style>\n");
fprintf(fpkml, "<Point>\n");
fprintf(fpkml, "<coordinates>%13.9f,%12.9f,%5.3f</coordinates>\n", posdata2[2],
posdata2[1], posdata2[3]);
fprintf(fpkml, "</Point>\n");
fprintf(fpkml, "</Placemark>\n");
}
}
if (fpkml != NULL) {
fprintf(fpkml, "</Document>\n");
fprintf(fpkml, "</kml>\n");
fclose(fpkml);
}
if (fpspan != NULL) fclose(fpspan);
return;
}
/* use SPAN CPT7 solutio as reference */
bool diff_test(const char* fname_sol, const char* fname_span)
{
FILE* fpsol = NULL, * fpspan = NULL, * fpdiff = NULL;
char fileName[255] = { 0 };
char outfilename[255] = { 0 };
char buffer[1024] = { 0 };
fpsol = fopen(fname_sol, "r");
fpspan = fopen(fname_span, "r");
if (fpsol == NULL || fpspan == NULL) return false;
strncpy(fileName, fname_sol, strlen(fname_sol));
char* result1 = strrchr(fileName, '.');
if (result1 != NULL) result1[0] = '\0';
sprintf(outfilename, "%s.diff", fileName);
fpdiff = fopen(outfilename, "w");
char* val[MAXFIELD];
//char* valspan[MAXFIELD];
double gpstow_sol = 0.0, gpstow_span = 0.0;
ins_pva sol_pva = { 0 }, span_pva = { 0 };
int idxpos = 0, idxvel = 0, idxatt = 0;
double ep[6] = { 0.0 };
ep[0] = 2019;
ep[1] = 11;
ep[2] = 8;
double posdata[10] = { 0.0 };
double posdata2[20] = { 0.0 };
while (!feof(fpsol))
{
memset(buffer, 0, sizeof(buffer));
//memset(val, 0, sizeof(val));*/
fgets(buffer, sizeof(buffer), fpsol);
if (strlen(buffer) <= 0||strstr(buffer, "$GPGGA")==NULL) continue;
parse_fields(buffer, val);
std::string temp = val[1];
ep[3] = atof(temp.substr(0, 2).c_str());
ep[4] = atof(temp.substr(2, 2).c_str());
ep[5] = atof(temp.substr(4).c_str())+18.0;
gtime_t time = epoch2time(ep);
int wk = 0;
posdata[0] = time2gpst(time, &wk);
temp = val[2]; // lat
ep[3] = atof(temp.substr(0, 2).c_str());
ep[4] = atof(temp.substr(2).c_str());
posdata[1] = (ep[3] + ep[4] / 60.0) * PI / 180.0;
temp = val[3]; // N
temp = val[4]; // lon
ep[3] = atof(temp.substr(0, 3).c_str());
ep[4] = atof(temp.substr(3).c_str());
posdata[2] = -(ep[3] + ep[4] / 60.0) * PI / 180.0;
temp = val[5]; // W
posdata[4] = atof(val[6]); // type
if (posdata[4] == 1.0) continue;
posdata[3] = atof(val[9]); // ht
while (!feof(fpspan))
{
if (posdata[0] < (posdata2[0] - 0.001)) break;
if (fabs(posdata[0] - posdata2[0]) < 0.01)
{
break;
}
memset(buffer, 0, sizeof(buffer));
fgets(buffer, sizeof(buffer), fpspan);
if (strlen(buffer) <= 0) continue;
int type = 0;
int fixID = 0;
int num = sscanf(buffer, "%i,%lf,%i,%lf,%lf,%lf,%lf,%lf,%lf,%i,%lf,%lf,%lf,%lf",
&wk, posdata2 + 0, &type, posdata2 + 1, posdata2 + 2, posdata2 + 3
, posdata2 + 4, posdata2 + 5, posdata2 + 6, &fixID
, posdata2 + 7, posdata2 + 8, posdata2 + 9, posdata2 + 10);
posdata2[1] *= PI / 180.0;
posdata2[2] *= PI / 180.0;
posdata2[11] = fixID;
}
if (fabs(posdata[0] - posdata2[0]) < 0.01 && posdata2[11]==4)
{
double xyz1[3] = { 0.0 };
double xyz2[3] = { 0.0 };
pos2ecef(posdata + 1, xyz1);
pos2ecef(posdata2 + 1, xyz2);
double diffxyz[3] = { xyz2[0] - xyz1[0], xyz2[1] - xyz1[1],xyz2[2] - xyz1[2] };
double diffenu[3] = { 0.0 };
ecef2enu(posdata2 + 1, diffxyz, diffenu);
fprintf(fpdiff, "%10.3f,%10.3f,%10.3f,%10.3f,%3i,%3i\n", posdata[0], diffenu[0], diffenu[1], diffenu[2], int(posdata[4]), (int)posdata2[11]);
}
}
if (fpsol != NULL) fclose(fpsol);
if (fpspan != NULL) fclose(fpspan);
if (fpdiff != NULL) fclose(fpdiff);
return true;
}