#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdarg.h>
#include <ctype.h>
#include <unistd.h>
#include <errno.h>
#include <pthread.h>
#include <rtklib/rtklib.h>

Include dependency graph for rtkrcv.cpp:

Classes
struct	vt_t
Defines
#define	_POSIX_C_SOURCE 2
#define	CONOPT "0:dms,1:deg,2:xyz,3:enu,4:pyl"
#define	FLGOPT "0:off,1:std+2:age/ratio/ns"
#define	FMTOPT "0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,15:sp3"
#define	INTKEEPALIVE 1000 /* keep alive interval (ms) */
#define	ISTOPT "0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http"
#define	MAX(x, y) ((x)>(y)?(x):(y))
#define	MAXBUFF 1024 /* max input buffer */
#define	MAXRCVCMD 4096 /* max receiver command */
#define	MAXSTR 1024 /* max length of a string */
#define	MIN(x, y) ((x)<(y)?(x):(y))
#define	MSGOPT "0:all,1:rover,2:base,3:corr"
#define	NAVIFILE "rtkrcv.nav" /* navigation save file */
#define	NMEOPT "0:off,1:latlon,2:single"
#define	OSTOPT "0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr"
#define	SOLOPT "0:llh,1:xyz,2:enu,3:nmea"
#define	SQRT(x) ((x)<=0.0?0.0:sqrt(x))
#define	STATFILE "rtkrcv.stat" /* solution status file */
#define	TIMOPT "0:gpst,1:utc,2:jst,3:tow"
#define	TRACEFILE "rtkrcv.trace" /* trace file */
Functions
static void	chop (char *str)
static void	closemoni (void)
static int	confwrite (vt_t vt, const char file)
char	get_solution (double &lat, double &lon, double &height)
static int	inpvt (vt_t vt, char buff, int nmax)
int	loadrosopts (opt_t *opts)
static int	openmoni (int port)
static int	outvt (vt_t vt, char buff, int n)
static int	printvt (vt_t vt, const char format,...)
static void	readant (vt_t vt, prcopt_t opt, nav_t *nav)
static int	readcmd (const char file, char cmd, int type)
static int	readremote (vt_t vt, char buff, int nmax)
static void *	sendkeepalive (void *arg)
int	start_rtkrcv (int argc, char **argv)
static int	startsvr (vt_t *vt)
void	stop_rtkrcv ()
static void	stopsvr (vt_t *vt)
static int	writeremote (vt_t vt, char buff, int n)
Variables
static int	buffsize = 32768
static filopt_t	filopt = {""}
static int	fswapmargin = 30
static int	keepalive = 0
static FILE *	logfp = NULL
static int	modflgr [256] = {0}
static int	modflgs [256] = {0}
static stream_t	moni
static int	moniport = 0
static int	navmsgsel = 0
static int	nmeacycle = 5000
static double	nmeapos [] = {0,0}
static int	nmeareq = 0
static int	outstat = 0
static char	passwd [MAXSTR] = "admin"
static prcopt_t	prcopt
static char	proxyaddr [256] = ""
static int	rcv_trace = 0
static char	rcvcmds [3][MAXSTR] = {""}
static opt_t	rcvopts []
static int	reconnect = 10000
static int	solflag = 2
static solopt_t	solopt [2] = {{0}}
static int	soltype = 0
static char	startcmd [MAXSTR] = ""
static char	stopcmd [MAXSTR] = ""
static int	strfmt []
static char	strpath [8][MAXSTR] = {""}
static int	strtype []
static rtksvr_t	svr
static vt_t	svr_vt = {0}
static int	svrcycle = 10
static int	timeout = 10000
static int	timetype = 0

Define Documentation

#define _POSIX_C_SOURCE 2

Definition at line 22 of file rtkrcv.cpp.

#define CONOPT "0:dms,1:deg,2:xyz,3:enu,4:pyl"

Definition at line 103 of file rtkrcv.cpp.

#define FLGOPT "0:off,1:std+2:age/ratio/ns"

Definition at line 104 of file rtkrcv.cpp.

#define FMTOPT "0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,15:sp3"

Definition at line 107 of file rtkrcv.cpp.

#define INTKEEPALIVE 1000 /* keep alive interval (ms) */

Definition at line 43 of file rtkrcv.cpp.

#define ISTOPT "0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http"

Definition at line 105 of file rtkrcv.cpp.

#define MAX	(	x,
		y
	)	((x)>(y)?(x):(y))

Definition at line 46 of file rtkrcv.cpp.

#define MAXBUFF 1024 /* max input buffer */

Definition at line 38 of file rtkrcv.cpp.

#define MAXRCVCMD 4096 /* max receiver command */

Definition at line 39 of file rtkrcv.cpp.

#define MAXSTR 1024 /* max length of a string */

Definition at line 37 of file rtkrcv.cpp.

#define MIN	(	x,
		y
	)	((x)<(y)?(x):(y))

Definition at line 45 of file rtkrcv.cpp.

#define MSGOPT "0:all,1:rover,2:base,3:corr"

Definition at line 110 of file rtkrcv.cpp.

#define NAVIFILE "rtkrcv.nav" /* navigation save file */

Definition at line 40 of file rtkrcv.cpp.

#define NMEOPT "0:off,1:latlon,2:single"

Definition at line 108 of file rtkrcv.cpp.

#define OSTOPT "0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr"

Definition at line 106 of file rtkrcv.cpp.

#define SOLOPT "0:llh,1:xyz,2:enu,3:nmea"

Definition at line 109 of file rtkrcv.cpp.

#define SQRT ( x ) ((x)<=0.0?0.0:sqrt(x))

Definition at line 47 of file rtkrcv.cpp.

#define STATFILE "rtkrcv.stat" /* solution status file */

Definition at line 41 of file rtkrcv.cpp.

#define TIMOPT "0:gpst,1:utc,2:jst,3:tow"

Definition at line 102 of file rtkrcv.cpp.

#define TRACEFILE "rtkrcv.trace" /* trace file */

Definition at line 42 of file rtkrcv.cpp.

Function Documentation

static void chop ( char * str ) [static]

Definition at line 163 of file rtkrcv.cpp.

static void closemoni ( void ) [static]

Definition at line 196 of file rtkrcv.cpp.

static int confwrite	(	vt_t *	vt,
		const char *	file
	)		`[static]`

Definition at line 293 of file rtkrcv.cpp.

char get_solution	(	double &	lat,
		double &	lon,
		double &	height
	)

Definition at line 550 of file rtkrcv.cpp.

static int inpvt	(	vt_t *	vt,
		char *	buff,
		int	nmax
	)		`[static]`

Definition at line 255 of file rtkrcv.cpp.

int loadrosopts ( opt_t * opts )

Definition at line 6 of file ros_options.cpp.

static int openmoni ( int port ) [static]

Definition at line 181 of file rtkrcv.cpp.

static int outvt	(	vt_t *	vt,
		char *	buff,
		int	n
	)		`[static]`

Definition at line 246 of file rtkrcv.cpp.

static int printvt	(	vt_t *	vt,
		const char *	format,
			...
	)		`[static]`

Definition at line 273 of file rtkrcv.cpp.

static void readant	(	vt_t *	vt,
		prcopt_t *	opt,
		nav_t *	nav
	)		`[static]`

Definition at line 327 of file rtkrcv.cpp.

static int readcmd	(	const char *	file,
		char *	cmd,
		int	type
	)		`[static]`

Definition at line 307 of file rtkrcv.cpp.

static int readremote	(	vt_t *	vt,
		char *	buff,
		int	nmax
	)		`[static]`

Definition at line 210 of file rtkrcv.cpp.

static void* sendkeepalive ( void * arg ) [static]

Definition at line 169 of file rtkrcv.cpp.

int start_rtkrcv	(	int	argc,
		char **	argv
	)

Definition at line 493 of file rtkrcv.cpp.

static int startsvr ( vt_t * vt ) [static]

Definition at line 363 of file rtkrcv.cpp.

void stop_rtkrcv ( )

Definition at line 534 of file rtkrcv.cpp.

static void stopsvr ( vt_t * vt ) [static]

Definition at line 439 of file rtkrcv.cpp.

static int writeremote	(	vt_t *	vt,
		char *	buff,
		int	n
	)		`[static]`

Definition at line 227 of file rtkrcv.cpp.

Variable Documentation

int buffsize = 32768 [static]

Definition at line 83 of file rtkrcv.cpp.

filopt_t filopt = {""} [static]

Definition at line 99 of file rtkrcv.cpp.

int fswapmargin = 30 [static]

Definition at line 95 of file rtkrcv.cpp.

int keepalive = 0 [static]

Definition at line 94 of file rtkrcv.cpp.

FILE* logfp = NULL [static]

Definition at line 66 of file rtkrcv.cpp.

int modflgr[256] = {0} [static]

Definition at line 91 of file rtkrcv.cpp.

int modflgs[256] = {0} [static]

Definition at line 92 of file rtkrcv.cpp.

stream_t moni [static]

Definition at line 64 of file rtkrcv.cpp.

int moniport = 0 [static]

Definition at line 93 of file rtkrcv.cpp.

int navmsgsel = 0 [static]

Definition at line 84 of file rtkrcv.cpp.

int nmeacycle = 5000 [static]

Definition at line 82 of file rtkrcv.cpp.

double nmeapos[] = {0,0} [static]

Definition at line 87 of file rtkrcv.cpp.

int nmeareq = 0 [static]

Definition at line 86 of file rtkrcv.cpp.

int outstat = 0 [static]

Definition at line 489 of file rtkrcv.cpp.

char passwd[MAXSTR] = "admin" [static]

Definition at line 68 of file rtkrcv.cpp.

prcopt_t prcopt [static]

Definition at line 97 of file rtkrcv.cpp.

char proxyaddr[256] = "" [static]

Definition at line 85 of file rtkrcv.cpp.

int rcv_trace = 0 [static]

Definition at line 489 of file rtkrcv.cpp.

char rcvcmds[3][MAXSTR] = {""} [static]

Definition at line 88 of file rtkrcv.cpp.

opt_t rcvopts[] [static]

Definition at line 112 of file rtkrcv.cpp.

int reconnect = 10000 [static]

Definition at line 81 of file rtkrcv.cpp.

int solflag = 2 [static]

Definition at line 71 of file rtkrcv.cpp.

solopt_t solopt[2] = {{0}} [static]

Definition at line 98 of file rtkrcv.cpp.

int soltype = 0 [static]

Definition at line 70 of file rtkrcv.cpp.

char startcmd[MAXSTR] = "" [static]

Definition at line 89 of file rtkrcv.cpp.

char stopcmd[MAXSTR] = "" [static]

Definition at line 90 of file rtkrcv.cpp.

int strfmt[] [static]

Initial value:

{                   
    STRFMT_UBX,STRFMT_RTCM3,STRFMT_SP3,SOLF_LLH,SOLF_NMEA
}

Definition at line 76 of file rtkrcv.cpp.

char strpath[8][MAXSTR] = {""} [static]

Definition at line 75 of file rtkrcv.cpp.

int strtype[] [static]

Initial value:

{                  
    STR_SERIAL,STR_NONE,STR_NONE,STR_NONE,STR_NONE,STR_NONE,STR_NONE,STR_NONE
}

Definition at line 72 of file rtkrcv.cpp.

rtksvr_t svr [static]

Definition at line 63 of file rtkrcv.cpp.

vt_t svr_vt = {0} [static]

Definition at line 488 of file rtkrcv.cpp.

int svrcycle = 10 [static]

Definition at line 79 of file rtkrcv.cpp.

int timeout = 10000 [static]

Definition at line 80 of file rtkrcv.cpp.

int timetype = 0 [static]

Definition at line 69 of file rtkrcv.cpp.

Classes

Defines

Functions

Variables

Define Documentation

Function Documentation

Variable Documentation