[gpstk] 02/09: Imported Upstream version 1.3
Bas Couwenberg
sebastic at debian.org
Sat Jul 9 21:51:09 UTC 2016
This is an automated email from the git hooks/post-receive script.
sebastic pushed a commit to branch master
in repository gpstk.
commit 1b4eaa969cd03e30656a6cc10a94b9ffdb714779
Author: Bas Couwenberg <sebastic at xs4all.nl>
Date: Sat Jun 4 19:28:08 2016 +0200
Imported Upstream version 1.3
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dev/AUTHORS | 32 +
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dev/INSTALL | 386 +
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1818 files changed, 731717 insertions(+), 119371 deletions(-)
diff --git a/dev/AUTHORS b/dev/AUTHORS
new file mode 100644
index 0000000..dc7180d
--- /dev/null
+++ b/dev/AUTHORS
@@ -0,0 +1,32 @@
+$Id$
+
+GPS Toolkit Authorship
+------------------------------------------------------------------------------
+ The GPSTk is sponsored by the Space and Geophysics Laboratory, within the
+ Applied Research Laboratories at the University of Texas at Austin (ARL:UT).
+ GPSTk is the by-product of GPS research conducted at ARL:UT since before
+ the first GPS satellite launched in 1978; it is the combined effort
+ of many software engineers and scientists. In 2003 the research staff
+ at ARL:UT decided to open source much of their basic GPS processing
+ software as the GPSTk.
+
+Contact Information
+------------------------------------------------------------------------------
+ GPSTk Homepage
+ ----------------------------
+ http://gpstk.sourceforge.net
+
+ SGL:ARL:UT Homepage
+ ----------------------------
+ http://sgl.arlut.utexas.edu
+
+ Mailing Lists Subscribe/Unsubscribe/Archive URL
+ ------------------------------------ -------------------------------------
+ gpstk-users at lists.sourceforge.net http://lists.sourceforge.net/lists/listinfo/gpstk-users
+ gpstk-devel at lists.sourceforge.net http://lists.sourceforge.net/lists/listinfo/gpstk-devel
+ gpstk-announce at lists.sourceforge.net http://lists.sourceforge.net/lists/listinfo/gpstk-announce
+ gpstk-admin at lists.sourceforge.net http://lists.sourceforge.net/lists/listinfo/gpstk-admin
+
+ Email
+ ----------------------------
+ Please send general GPSTk comments to gpstk at arlut.utexas.edu .
diff --git a/trunk/COPYING b/dev/COPYING
similarity index 100%
rename from trunk/COPYING
rename to dev/COPYING
diff --git a/dev/ChangeLog b/dev/ChangeLog
new file mode 100644
index 0000000..19da576
--- /dev/null
+++ b/dev/ChangeLog
@@ -0,0 +1,442 @@
+Version 1.3 Monday, July 16, 2006
+
+ General modifications
+ ---------------------
+
+ - Added examples/example7.cpp & associated RINEX data files
+ This program shows 10 different ways to process GPS data using
+ "GNSS data structures". The "GNSS Data Structures" paradigm can
+ process GPS code-based data based on Voctors, Matrices
+ and other objects.
+ - Added examples/example6.cpp
+ Shows a rather minimilist way to process GPS data using GNSS Data
+ Strutures
+
+ - Improved src/icd_200_constants.hpp
+ Fixed RSVCLK value
+
+ - GPSTk is now able to build under the MS Visual Studio 2005 (Express
+ Edition)
+
+ Library modifications
+ ---------------------
+
+ - Added src/SimpleKalmanFilter.[h|c]pp
+ Implements a version of the Kalman filter, based in Vectors
+ and Matrices - not yet GNSS data stuctrures-enabled
+
+ - Added src/NablaOp.[h|c]pp
+ Applies differences in satellite-related data to the GNSS
+ data structures (a.k.a. GDS)
+
+ - Added src/TypeID.[h|c]pp
+ Index able to represent any type of observation, correction,
+ model paratmeter or other data value of interest
+
+ - Added src/DataHeaders.[h|c]pp
+ Adds several headers to be used with the GNSS data structures
+ classes
+
+ - Added DataStructures.[h|c]pp
+ Set of data structures to be used by other GPSTk classes
+
+ - Added src/DeltaOp.[h|c]pp
+ Applies differences on ground-related data to the GNSS data
+ structures
+
+ - Added src/ComputeCompination.hpp
+ Base class to ease computing of data for the GNSS data structures
+
+ - Added src/ComputePC.hpp
+ Eases computing the PC combination for GNSS data structures
+
+ - Added src/ComputeLC.hpp
+ Eases computing the LC combination for GNSS data structures
+
+ - Added src/ComputeLI.hpp
+ Eases computing the LI combination for GNSS data structures
+
+ - Added src/ComputeLdelta.hpp
+ Eases computing the Ldelta combination for GNSS data structures
+
+ - Added src/ComputePdelta.hpponly
+ Eases computing the Pdelta combination for GNSS data structures
+
+ - Added src/ComputePI.hpp
+ Eases computing the PI combination for GNSS data structures
+
+ - Added src/ComputeMelbourneWubbena.hpp
+ Eases computing the ComputeMelbourneWubbena combination for
+ GNSS data structures
+
+ - Added src/ComputeIURAWeights.hpp
+ Computes satellites weights based on URA Index for GNSS data
+ structures
+
+ - Added src/ComputeMOPSWeights.hpp
+ Computes satellites weights based on Appendix J of MOPS C
+ (RTCA/DO-229C), for GNSS data structures
+
+ - Added src/SimpleFilter.hpp
+ Filters satellites with observables grossly out of bounds,
+ intended for GNSS data structures
+
+ - Added src/OneFreqCSDetector.hpp
+ Detects cycle slips using observables in just one frequency
+
+ - Added src/LICSDetector.hpp
+ Detects cycle slips using LI observables
+
+ - Added src/MWCSDetector.hpp
+ Detects cycle slips using the Melbourne-Wubbena combination
+
+ - Added src/CodeSmoother.hpp
+ Smoothes a given code observable using the corresponding phase
+ observable
+
+ - Added src/PCsmoother.hpp
+ Smoothes PC code obserrvables using the corresponding LC phase
+ observables
+
+ - Added src/XYZ2NEU.[h|c]pp
+ Refrence frame change from ECEF XYZ to topcentric North-East-Up
+
+ - Added src/XYZ2NED.[h|c]pp
+ Refrence frame change from ECEF XYZ to topcentric North-East-Down
+
+ - Added src/TimeNamedFileStream.hpp
+ Simple time-based file name stream
+
+ - Improved src/ModeledReferencePR.[c|h]pp
+ Adapted to work with GNSS data structures
+
+ - Improved src/ModeledPR.[h|c]pp
+ Adapted to work with GNSS data structures
+
+ - Improved src/TropModel.hpp
+ Added method MOPSTropModel::setAllParameters()
+
+ - Improved src/SolverLMS.[h|c]pp
+ Adapted to work with GNSS data structures
+
+ - Improved src/SolverWMS.[h|c]pp
+ Adapted to work with GNSS data structures
+
+ - Improved src/icd_200_constants.hpp
+ Added data regarding L5, L6, L7 and L8
+
+ - Improved src/RinexHeader.[h|c]pp
+ Can now process RINEX2.11 navigation files
+
+ - Improved src/icd_200_constants.hpp
+ Fixed RSVCLK
+
+ - Improved src/SP3Data.cpp
+ Modified the reader to be tolerant of short PG lines
+
+ - Improved src/RinexUtilitties.[h|c]pp
+ Added a sort routine
+
+ - Improved src/EngAlmanac.[h|c]pp
+ Routing added that performs a simple sanity check on the almanac
+
+ Application modifications
+ -------------------------
+
+ - Improved apps/differential/vecsol.cpp
+ Along with other submissions allows the toolkit to build under
+ the MS Visual Studio 2005
+
+ - Improved apps/Rinextools.[h|c]pp
+ Increased robustness and added multiple input file capabilities
+
+ - Improved all tools to process input files in time order:
+ apps/Rinextools/ResCor.cpp
+ apps/Rinextools/RinSum.cpp
+ apps/Rinextools/RinexDump.cpp
+ apps/positioning/PRSolve.cpp
+
+Version 1.2 Monday, November 6, 2006
+
+ General modifications
+ ---------------------
+
+ - Moved from Perfoce to a Subversion repository located at
+ https://svn.sourceforge.net/svnroot/gpstk
+
+ - GPSTk library testing is now being implemented in dev/tests
+ These unit tests for the library currently cover over
+ 40% of the code with an average of 95% coverage for
+ tested classes. Tests use CppUnit and Perl scripts.
+ See test documentation for more information.
+
+ - Added examples/example5.cpp
+ An example that shows how to use some very useful high level
+ GPSTk classes for positioning
+
+ - Added Python support to the GPSTk
+
+ - Added capability for FileHunter to work under Window and Cigwin
+
+ Library modifications
+ ---------------------
+
+ - Added RINEX version 2.11 support for GPS Navigation files
+
+ - Added the following prototype time classes:
+ src/CommonTime.[h|c]pp
+ src/YDSTime.[h|c]pp
+ src/CivilTime.[h|c]pp
+ src/GPSEpochWeekSecond.[h|c]pp
+ src/GPSWeekSecond.[h|c]pp
+ src/GPSWeekZcount.[h|c]pp
+ src/JulianDate.[h|c]pp
+ src/MJD.[h|c]pp
+ src/UnixTime.[h|c]pp
+
+ - Added src/TimeConstants.hpp
+ Time constants
+
+ - Added src/TimeConverters.[c|h]pp
+ Time converstion routines
+
+ - Added src/Bancroft.[h|c]pp
+ Class gets an initial guess of GPS receiver's position
+
+ - Added src/SVExclusionList.[h|c]pp
+
+ - Added and implemented src/SatID.hpp
+ Class which encapsulates Satellite Identification information
+
+ - Added src/ModeledPR.[h|c]pp
+ Encapsulates computation of modeled psuedoranges of a mobile
+ receiver
+
+ - Added src/SimpleIURAWeight.[h|c]pp
+ Assigns weights to satellites based on their URA Index
+
+ - Added src/ModeledPseudorangeBase.hpp
+ An abstract base class for modeled pseudoranges
+
+ - Added src/WeightBase.hpp
+ An abstract base class for algorithms assigning weights to satellites
+
+ - Improved src/Matrix.hpp and src/Vector.hpp
+ Added unary minus operator, CholeskyCrout class and inverseChol method
+
+ - Improved src/Vector.hpp
+ Added add() method
+
+ - Improved src/Stats.hpp
+ Better handling of weighted input
+
+ - Improved src/Tropmodel.[h|c]pp
+ Added GCAT tropospheric model
+ Added MOPSTropModel
+
+ - Improved src/Position.[h|c]pp
+ Added methods elevationGeodetic() and azimuthGeodetic()
+
+ - Improved src/TabularEphemerisStore.[h|c]pp
+ Added method hasTGD()
+
+ - Improved src/BCEphemerisStore.[h|c]pp
+ Added method getTGD() to return the Total Group Delay of the SV
+
+ - Improved src/EphemerisRange.[h|c]pp
+ Added methods elevationGeodeitc() and azimuthGeodetic().
+ Changed RelativityCorrection() to improved speed and precision
+
+ - Added src/BinexData.[c|h]pp BinexFilterOperators.hpp BinexStream.hpp
+ Added BINEX code
+
+ Application modifications
+ -------------------------
+
+ - Added apps/positioning/poscvt
+ A position converter modeled after timecvt
+
+ - Added apps/geomatics/relposition/DDBase
+ A network positioning application that uses double
+ differenced carrier phases
+
+ - Added apps/geomatics/kalman
+ Tools for Kalman filtering
+
+ - Added apps/geomatics/robust
+ Tool for robust statistics
+
+ - Added apps/geomatics/????
+ Added geodetic reference frames
+
+ - Complete rewrite and move of apps/cycleslips/DiscFix
+ Located now in apps/geomatics/cycleslips/DiscFix
+ DiscFix is now much more object-oriented, faster, more robust
+ and more accurate. Significant changes have been made to the
+ algorithm.
+
+ - Added apps/visibility/wheresat
+ A tool for caculating SV position, azimut and
+ elevation from a navigation file
+
+ - Added apps/converters/novaRinex
+ A Novatel binary to Rinex converter
+
+ - Improved apps/filetools/navdmp
+ Added -r (RINEX) input capability
+
+ - Added apps/qa/Expression
+ A fully functional expression interpreter
+
+ - Added apps/qa/obsrip
+ A utility which transforms RINEX files into linear combos, ect.
+
+ - Added functionality to apps/multipath/ObsArray
+ Can track observations by PRN and by epoch. Also can insert
+ GPS constants into Expressions.
+
+ - Added apps/positioning/posInterp
+ This application interpolates positions in a RINEX file, increasing
+ the data rate by an integer factor. An example that uses both
+ posInterp and PRSolve is included.
+
+ - Added apps/visibility/findMoreThan12
+ A new tools which given an ephemeris source, finds times when there are
+ more than 12 SVs simultaneously above a specified elevation angle.
+
+ - Improved apps/positioning/rinexpvt
+ Added optional log file to output
+ Added option to set observation rate to other than 30s
+
+
+Version 1.1 Friday, January 7, 2005
+
+ General modifications
+ ---------------------
+
+ - Added patches to support more compilers:
+ GNU compiler version 3.4
+ GNU compiler under AIX
+ Sun ONE Studio 8
+
+ - GNU make/configure capabilities have been added. Since this
+ is a new feature, your mileage may vary. The makefiles
+ work on systems with newer autoconf toolchain versions.
+
+ - More examples were added to gpstk/examples.
+ These examples are described in the website.
+
+ - Major revamp of the website.
+
+ Library modifications
+ ---------------------
+
+ - P code generator was allocating over 20 megabytes in
+ processes that use the shared library. Now the 20 megabytes
+ are not allocated until the P code generator is initialized
+ by the user.
+
+ - Bug fix: FileSpec::extractDayTime() now initializes
+ DayTimes generated from file name to have zero hours,
+ zero minutes, zero seconds, etc.
+
+ - Bug fix: DayTime::setGPS now more robust when accepting
+ a year number as a hint to disambiguate which full GPS
+ week to use.
+
+ - Added more DayTime tests.
+
+ - Bug fix: DayTime user-defined tolerance for comparisons now is
+ working.
+
+ - Bug fix: DayTime::setGPS(short week, long zcount, short year)
+ now works across a year rollover.
+
+ - Renamed WxObsData::find(...) to getWxObservation(...) to remove
+ any confusion that might develop over having the same method
+ name as the STL.
+
+ - Bug fix: satellite combinations in RAIM sometimes incorrect when
+ a user-marked satellite was present.
+
+ - Some Vector routines were throwing Exception instead of
+ VectorException.
+
+ - Added Vector-Matrix concatentation operators.
+
+ - Added a sub-Vector constructor.
+
+ - Modification to Householder decomposition routine.
+
+ - Various fixes to MatrixOperators.
+
+ - Updates to FIC routines.
+
+ - Implemented azimuth and elevation functions in Position, making
+ use of the functions inherited from Triple. Modified EphemerisRange
+ to use Position, as well as TropModel and ResCor; this eliminated
+ a bug in the azimuth() in EphemerisRange and means that now there
+ is only one implementation of az and el. Added a test of the new
+ routines in positiontest. Also added a Position constructor from Xvt.
+
+ - Bugs in DayTime::setToString() - %f was missing (!) and %S
+ was acting as %f should; date was trashed when time was set,
+ and vice versa, and year input was not properly handled.
+
+ - Implemented ionospheric model types other than linear.
+
+ - Cleaned up weather data handling (e.g., error checks).
+
+
+ Application modifications
+ -------------------------
+
+ apps/difftools
+
+ - Unified code using a common class.
+
+
+ apps/filetools
+
+ - Improvments to navdmp.
+
+ - New utility called rinexthin for subsampling RINEX observation
+ files.
+
+
+ apps/binding
+
+ - This new project provides GPSTk bindings in other languages
+ has been added. This capability is in an alpha state.
+ Currently there are a limited set of bindings for
+ Tcl/Tk, Python and Octave.
+
+
+ apps/RinexEditor
+
+ - Bug fix: 'delete all' command was being deleted prematurely.
+
+
+ apps/RinexPlot
+
+ - Improved documentation.
+
+ - Various tweaks.
+
+ - Plotting improvements.
+
+
+ apps/ionosphere
+
+ - Various improvements.
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/dev/Doxyfile b/dev/Doxyfile
new file mode 100644
index 0000000..33e14a2
--- /dev/null
+++ b/dev/Doxyfile
@@ -0,0 +1,1177 @@
+#
+# The version in Subversion is optimized for the GPSTk website. Note that
+# any changes to this file will effect the documentation display at
+# http://www.gpstk.org/doxygen/.
+#
+# This file should work locally without modification however it will have
+# a 'search' entry that will be nonfunctional unless hosted by a web server.
+#
+
+# Doxyfile 1.3.9.1
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project
+#
+# All text after a hash (#) is considered a comment and will be ignored
+# The format is:
+# TAG = value [value, ...]
+# For lists items can also be appended using:
+# TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (" ")
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+
+# The PROJECT_NAME tag is a single word (or a sequence of words surrounded
+# by quotes) that should identify the project.
+
+PROJECT_NAME = "GPS ToolKit Software Library"
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number.
+# This could be handy for archiving the generated documentation or
+# if some version control system is used.
+
+PROJECT_NUMBER =
+
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
+# base path where the generated documentation will be put.
+# If a relative path is entered, it will be relative to the location
+# where doxygen was started. If left blank the current directory will be used.
+
+OUTPUT_DIRECTORY = doc
+
+# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create
+# 4096 sub-directories (in 2 levels) under the output directory of each output
+# format and will distribute the generated files over these directories.
+# Enabling this option can be useful when feeding doxygen a huge amount of source
+# files, where putting all generated files in the same directory would otherwise
+# cause performance problems for the file system.
+
+CREATE_SUBDIRS = NO
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# The default language is English, other supported languages are:
+# Brazilian, Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish,
+# Dutch, Finnish, French, German, Greek, Hungarian, Italian, Japanese,
+# Japanese-en (Japanese with English messages), Korean, Korean-en, Norwegian,
+# Polish, Portuguese, Romanian, Russian, Serbian, Slovak, Slovene, Spanish,
+# Swedish, and Ukrainian.
+
+OUTPUT_LANGUAGE = English
+
+# This tag can be used to specify the encoding used in the generated output.
+# The encoding is not always determined by the language that is chosen,
+# but also whether or not the output is meant for Windows or non-Windows users.
+# In case there is a difference, setting the USE_WINDOWS_ENCODING tag to YES
+# forces the Windows encoding (this is the default for the Windows binary),
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+
+USE_WINDOWS_ENCODING = NO
+
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+INLINE_INHERITED_MEMB = NO
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+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all
+# friend (class|struct|union) declarations.
+# If set to NO (the default) these declarations will be included in the
+# documentation.
+
+HIDE_FRIEND_COMPOUNDS = NO
+
+# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any
+# documentation blocks found inside the body of a function.
+# If set to NO (the default) these blocks will be appended to the
+# function's detailed documentation block.
+
+HIDE_IN_BODY_DOCS = NO
+
+# The INTERNAL_DOCS tag determines if documentation
+# that is typed after a \internal command is included. If the tag is set
+# to NO (the default) then the documentation will be excluded.
+# Set it to YES to include the internal documentation.
+
+INTERNAL_DOCS = NO
+
+# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate
+# file names in lower-case letters. If set to YES upper-case letters are also
+# allowed. This is useful if you have classes or files whose names only differ
+# in case and if your file system supports case sensitive file names. Windows
+# and Mac users are advised to set this option to NO.
+
+CASE_SENSE_NAMES = YES
+
+# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen
+# will show members with their full class and namespace scopes in the
+# documentation. If set to YES the scope will be hidden.
+
+HIDE_SCOPE_NAMES = YES
+
+# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen
+# will put a list of the files that are included by a file in the documentation
+# of that file.
+
+SHOW_INCLUDE_FILES = YES
+
+# If the INLINE_INFO tag is set to YES (the default) then a tag [inline]
+# is inserted in the documentation for inline members.
+
+INLINE_INFO = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen
+# will sort the (detailed) documentation of file and class members
+# alphabetically by member name. If set to NO the members will appear in
+# declaration order.
+
+SORT_MEMBER_DOCS = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the
+# brief documentation of file, namespace and class members alphabetically
+# by member name. If set to NO (the default) the members will appear in
+# declaration order.
+
+SORT_BRIEF_DOCS = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be
+# sorted by fully-qualified names, including namespaces. If set to
+# NO (the default), the class list will be sorted only by class name,
+# not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the
+# alphabetical list.
+
+SORT_BY_SCOPE_NAME = NO
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or
+# disable (NO) the todo list. This list is created by putting \todo
+# commands in the documentation.
+
+GENERATE_TODOLIST = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or
+# disable (NO) the test list. This list is created by putting \test
+# commands in the documentation.
+
+GENERATE_TESTLIST = YES
+
+# The GENERATE_BUGLIST tag can be used to enable (YES) or
+# disable (NO) the bug list. This list is created by putting \bug
+# commands in the documentation.
+
+GENERATE_BUGLIST = YES
+
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
+# disable (NO) the deprecated list. This list is created by putting
+# \deprecated commands in the documentation.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional
+# documentation sections, marked by \if sectionname ... \endif.
+
+ENABLED_SECTIONS =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines
+# the initial value of a variable or define consists of for it to appear in
+# the documentation. If the initializer consists of more lines than specified
+# here it will be hidden. Use a value of 0 to hide initializers completely.
+# The appearance of the initializer of individual variables and defines in the
+# documentation can be controlled using \showinitializer or \hideinitializer
+# command in the documentation regardless of this setting.
+
+MAX_INITIALIZER_LINES = 30
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated
+# at the bottom of the documentation of classes and structs. If set to YES the
+# list will mention the files that were used to generate the documentation.
+
+SHOW_USED_FILES = YES
+
+# If the sources in your project are distributed over multiple directories
+# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy
+# in the documentation.
+
+SHOW_DIRECTORIES = YES
+
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated
+# by doxygen. Possible values are YES and NO. If left blank NO is used.
+
+QUIET = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated by doxygen. Possible values are YES and NO. If left blank
+# NO is used.
+
+WARNINGS = YES
+
+# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings
+# for undocumented members. If EXTRACT_ALL is set to YES then this flag will
+# automatically be disabled.
+
+WARN_IF_UNDOCUMENTED = YES
+
+# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as not documenting some
+# parameters in a documented function, or documenting parameters that
+# don't exist or using markup commands wrongly.
+
+WARN_IF_DOC_ERROR = YES
+
+# The WARN_FORMAT tag determines the format of the warning messages that
+# doxygen can produce. The string should contain the $file, $line, and $text
+# tags, which will be replaced by the file and line number from which the
+# warning originated and the warning text.
+
+WARN_FORMAT = "$file:$line: $text"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning
+# and error messages should be written. If left blank the output is written
+# to stderr.
+
+WARN_LOGFILE =
+
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag can be used to specify the files and/or directories that contain
+# documented source files. You may enter file names like "myfile.cpp" or
+# directories like "/usr/src/myproject". Separate the files or directories
+# with spaces.
+
+INPUT = . \
+ ./src/README
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
+# and *.h) to filter out the source-files in the directories. If left
+# blank the following patterns are tested:
+# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx *.hpp
+# *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm
+
+FILE_PATTERNS = *.hpp \
+ *.h \
+ *.cpp
+
+# The RECURSIVE tag can be used to turn specify whether or not subdirectories
+# should be searched for input files as well. Possible values are YES and NO.
+# If left blank NO is used.
+
+RECURSIVE = YES
+
+# The EXCLUDE tag can be used to specify files and/or directories that should
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+
+EXCLUDE = ./tests \
+ ./examples \
+ ./apps
+
+# The EXCLUDE_SYMLINKS tag can be used select whether or not files or directories
+# that are symbolic links (a Unix filesystem feature) are excluded from the input.
+
+EXCLUDE_SYMLINKS = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories.
+
+EXCLUDE_PATTERNS = getopt.h \
+ regex.h
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or
+# directories that contain example code fragments that are included (see
+# the \include command).
+
+EXAMPLE_PATH = ./tests \
+ ./examples
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
+# and *.h) to filter out the source-files in the directories. If left
+# blank all files are included.
+
+EXAMPLE_PATTERNS = *.cpp
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude
+# commands irrespective of the value of the RECURSIVE tag.
+# Possible values are YES and NO. If left blank NO is used.
+
+EXAMPLE_RECURSIVE = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or
+# directories that contain image that are included in the documentation (see
+# the \image command).
+
+IMAGE_PATH =
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command <filter> <input-file>, where <filter>
+# is the value of the INPUT_FILTER tag, and <input-file> is the name of an
+# input file. Doxygen will then use the output that the filter program writes
+# to standard output. If FILTER_PATTERNS is specified, this tag will be
+# ignored.
+
+INPUT_FILTER =
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis. Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match. The filters are a list of the form:
+# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further
+# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER
+# is applied to all files.
+
+FILTER_PATTERNS =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will be used to filter the input files when producing source
+# files to browse (i.e. when SOURCE_BROWSER is set to YES).
+
+FILTER_SOURCE_FILES = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will
+# be generated. Documented entities will be cross-referenced with these sources.
+# Note: To get rid of all source code in the generated output, make sure also
+# VERBATIM_HEADERS is set to NO.
+
+SOURCE_BROWSER = YES
+
+# Setting the INLINE_SOURCES tag to YES will include the body
+# of functions and classes directly in the documentation.
+
+INLINE_SOURCES = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
+# doxygen to hide any special comment blocks from generated source code
+# fragments. Normal C and C++ comments will always remain visible.
+
+STRIP_CODE_COMMENTS = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES (the default)
+# then for each documented function all documented
+# functions referencing it will be listed.
+
+REFERENCED_BY_RELATION = YES
+
+# If the REFERENCES_RELATION tag is set to YES (the default)
+# then for each documented function all documented entities
+# called/used by that function will be listed.
+
+REFERENCES_RELATION = YES
+
+# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
+# will generate a verbatim copy of the header file for each class for
+# which an include is specified. Set to NO to disable this.
+
+VERBATIM_HEADERS = YES
+
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index
+# of all compounds will be generated. Enable this if the project
+# contains a lot of classes, structs, unions or interfaces.
+
+ALPHABETICAL_INDEX = NO
+
+# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
+# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
+# in which this list will be split (can be a number in the range [1..20])
+
+COLS_IN_ALPHA_INDEX = 5
+
+# In case all classes in a project start with a common prefix, all
+# classes will be put under the same header in the alphabetical index.
+# The IGNORE_PREFIX tag can be used to specify one or more prefixes that
+# should be ignored while generating the index headers.
+
+IGNORE_PREFIX =
+
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES (the default) Doxygen will
+# generate HTML output.
+
+GENERATE_HTML = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `html' will be used as the default path.
+
+HTML_OUTPUT = html
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for
+# each generated HTML page (for example: .htm,.php,.asp). If it is left blank
+# doxygen will generate files with .html extension.
+
+HTML_FILE_EXTENSION = .html
+
+# The HTML_HEADER tag can be used to specify a personal HTML header for
+# each generated HTML page. If it is left blank doxygen will generate a
+# standard header.
+
+HTML_HEADER =
+
+# The HTML_FOOTER tag can be used to specify a personal HTML footer for
+# each generated HTML page. If it is left blank doxygen will generate a
+# standard footer.
+
+HTML_FOOTER =
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading
+# style sheet that is used by each HTML page. It can be used to
+# fine-tune the look of the HTML output. If the tag is left blank doxygen
+# will generate a default style sheet. Note that doxygen will try to copy
+# the style sheet file to the HTML output directory, so don't put your own
+# stylesheet in the HTML output directory as well, or it will be erased!
+
+HTML_STYLESHEET =
+
+# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes,
+# files or namespaces will be aligned in HTML using tables. If set to
+# NO a bullet list will be used.
+
+HTML_ALIGN_MEMBERS = YES
+
+# If the GENERATE_HTMLHELP tag is set to YES, additional index files
+# will be generated that can be used as input for tools like the
+# Microsoft HTML help workshop to generate a compressed HTML help file (.chm)
+# of the generated HTML documentation.
+
+GENERATE_HTMLHELP = NO
+
+# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can
+# be used to specify the file name of the resulting .chm file. You
+# can add a path in front of the file if the result should not be
+# written to the html output directory.
+
+CHM_FILE =
+
+# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can
+# be used to specify the location (absolute path including file name) of
+# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run
+# the HTML help compiler on the generated index.hhp.
+
+HHC_LOCATION =
+
+# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag
+# controls if a separate .chi index file is generated (YES) or that
+# it should be included in the master .chm file (NO).
+
+GENERATE_CHI = NO
+
+# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag
+# controls whether a binary table of contents is generated (YES) or a
+# normal table of contents (NO) in the .chm file.
+
+BINARY_TOC = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members
+# to the contents of the HTML help documentation and to the tree view.
+
+TOC_EXPAND = NO
+
+# The DISABLE_INDEX tag can be used to turn on/off the condensed index at
+# top of each HTML page. The value NO (the default) enables the index and
+# the value YES disables it.
+
+DISABLE_INDEX = NO
+
+# This tag can be used to set the number of enum values (range [1..20])
+# that doxygen will group on one line in the generated HTML documentation.
+
+ENUM_VALUES_PER_LINE = 4
+
+# If the GENERATE_TREEVIEW tag is set to YES, a side panel will be
+# generated containing a tree-like index structure (just like the one that
+# is generated for HTML Help). For this to work a browser that supports
+# JavaScript, DHTML, CSS and frames is required (for instance Mozilla 1.0+,
+# Netscape 6.0+, Internet explorer 5.0+, or Konqueror). Windows users are
+# probably better off using the HTML help feature.
+
+GENERATE_TREEVIEW = NO
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be
+# used to set the initial width (in pixels) of the frame in which the tree
+# is shown.
+
+TREEVIEW_WIDTH = 250
+
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
+# generate Latex output.
+
+GENERATE_LATEX = NO
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `latex' will be used as the default path.
+
+LATEX_OUTPUT = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked. If left blank `latex' will be used as the default command name.
+
+LATEX_CMD_NAME = latex
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to
+# generate index for LaTeX. If left blank `makeindex' will be used as the
+# default command name.
+
+MAKEINDEX_CMD_NAME = makeindex
+
+# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact
+# LaTeX documents. This may be useful for small projects and may help to
+# save some trees in general.
+
+COMPACT_LATEX = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used
+# by the printer. Possible values are: a4, a4wide, letter, legal and
+# executive. If left blank a4wide will be used.
+
+PAPER_TYPE = a4wide
+
+# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
+# packages that should be included in the LaTeX output.
+
+EXTRA_PACKAGES =
+
+# The LATEX_HEADER tag can be used to specify a personal LaTeX header for
+# the generated latex document. The header should contain everything until
+# the first chapter. If it is left blank doxygen will generate a
+# standard header. Notice: only use this tag if you know what you are doing!
+
+LATEX_HEADER =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated
+# is prepared for conversion to pdf (using ps2pdf). The pdf file will
+# contain links (just like the HTML output) instead of page references
+# This makes the output suitable for online browsing using a pdf viewer.
+
+PDF_HYPERLINKS = NO
+
+# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of
+# plain latex in the generated Makefile. Set this option to YES to get a
+# higher quality PDF documentation.
+
+USE_PDFLATEX = NO
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode.
+# command to the generated LaTeX files. This will instruct LaTeX to keep
+# running if errors occur, instead of asking the user for help.
+# This option is also used when generating formulas in HTML.
+
+LATEX_BATCHMODE = NO
+
+# If LATEX_HIDE_INDICES is set to YES then doxygen will not
+# include the index chapters (such as File Index, Compound Index, etc.)
+# in the output.
+
+LATEX_HIDE_INDICES = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output
+# The RTF output is optimized for Word 97 and may not look very pretty with
+# other RTF readers or editors.
+
+GENERATE_RTF = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `rtf' will be used as the default path.
+
+RTF_OUTPUT = rtf
+
+# If the COMPACT_RTF tag is set to YES Doxygen generates more compact
+# RTF documents. This may be useful for small projects and may help to
+# save some trees in general.
+
+COMPACT_RTF = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated
+# will contain hyperlink fields. The RTF file will
+# contain links (just like the HTML output) instead of page references.
+# This makes the output suitable for online browsing using WORD or other
+# programs which support those fields.
+# Note: wordpad (write) and others do not support links.
+
+RTF_HYPERLINKS = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's
+# config file, i.e. a series of assignments. You only have to provide
+# replacements, missing definitions are set to their default value.
+
+RTF_STYLESHEET_FILE =
+
+# Set optional variables used in the generation of an rtf document.
+# Syntax is similar to doxygen's config file.
+
+RTF_EXTENSIONS_FILE =
+
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES (the default) Doxygen will
+# generate man pages
+
+GENERATE_MAN = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `man' will be used as the default path.
+
+MAN_OUTPUT = man
+
+# The MAN_EXTENSION tag determines the extension that is added to
+# the generated man pages (default is the subroutine's section .3)
+
+MAN_EXTENSION = .3
+
+# If the MAN_LINKS tag is set to YES and Doxygen generates man output,
+# then it will generate one additional man file for each entity
+# documented in the real man page(s). These additional files
+# only source the real man page, but without them the man command
+# would be unable to find the correct page. The default is NO.
+
+MAN_LINKS = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES Doxygen will
+# generate an XML file that captures the structure of
+# the code including all documentation.
+
+GENERATE_XML = NO
+
+# The XML_OUTPUT tag is used to specify where the XML pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `xml' will be used as the default path.
+
+XML_OUTPUT = xml
+
+# The XML_SCHEMA tag can be used to specify an XML schema,
+# which can be used by a validating XML parser to check the
+# syntax of the XML files.
+
+XML_SCHEMA =
+
+# The XML_DTD tag can be used to specify an XML DTD,
+# which can be used by a validating XML parser to check the
+# syntax of the XML files.
+
+XML_DTD =
+
+# If the XML_PROGRAMLISTING tag is set to YES Doxygen will
+# dump the program listings (including syntax highlighting
+# and cross-referencing information) to the XML output. Note that
+# enabling this will significantly increase the size of the XML output.
+
+XML_PROGRAMLISTING = YES
+
+#---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will
+# generate an AutoGen Definitions (see autogen.sf.net) file
+# that captures the structure of the code including all
+# documentation. Note that this feature is still experimental
+# and incomplete at the moment.
+
+GENERATE_AUTOGEN_DEF = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_PERLMOD tag is set to YES Doxygen will
+# generate a Perl module file that captures the structure of
+# the code including all documentation. Note that this
+# feature is still experimental and incomplete at the
+# moment.
+
+GENERATE_PERLMOD = NO
+
+# If the PERLMOD_LATEX tag is set to YES Doxygen will generate
+# the necessary Makefile rules, Perl scripts and LaTeX code to be able
+# to generate PDF and DVI output from the Perl module output.
+
+PERLMOD_LATEX = NO
+
+# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be
+# nicely formatted so it can be parsed by a human reader. This is useful
+# if you want to understand what is going on. On the other hand, if this
+# tag is set to NO the size of the Perl module output will be much smaller
+# and Perl will parse it just the same.
+
+PERLMOD_PRETTY = YES
+
+# The names of the make variables in the generated doxyrules.make file
+# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX.
+# This is useful so different doxyrules.make files included by the same
+# Makefile don't overwrite each other's variables.
+
+PERLMOD_MAKEVAR_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will
+# evaluate all C-preprocessor directives found in the sources and include
+# files.
+
+ENABLE_PREPROCESSING = YES
+
+# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro
+# names in the source code. If set to NO (the default) only conditional
+# compilation will be performed. Macro expansion can be done in a controlled
+# way by setting EXPAND_ONLY_PREDEF to YES.
+
+MACRO_EXPANSION = YES
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES
+# then the macro expansion is limited to the macros specified with the
+# PREDEFINED and EXPAND_AS_PREDEFINED tags.
+
+EXPAND_ONLY_PREDEF = NO
+
+# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files
+# in the INCLUDE_PATH (see below) will be search if a #include is found.
+
+SEARCH_INCLUDES = YES
+
+# The INCLUDE_PATH tag can be used to specify one or more directories that
+# contain include files that are not input files but should be processed by
+# the preprocessor.
+
+INCLUDE_PATH = ./src
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will
+# be used.
+
+INCLUDE_FILE_PATTERNS =
+
+# The PREDEFINED tag can be used to specify one or more macro names that
+# are defined before the preprocessor is started (similar to the -D option of
+# gcc). The argument of the tag is a list of macros of the form: name
+# or name=definition (no spaces). If the definition and the = are
+# omitted =1 is assumed. To prevent a macro definition from being
+# undefined via #undef or recursively expanded use the := operator
+# instead of the = operator.
+
+PREDEFINED =
+
+# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then
+# this tag can be used to specify a list of macro names that should be expanded.
+# The macro definition that is found in the sources will be used.
+# Use the PREDEFINED tag if you want to use a different macro definition.
+
+EXPAND_AS_DEFINED =
+
+# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then
+# doxygen's preprocessor will remove all function-like macros that are alone
+# on a line, have an all uppercase name, and do not end with a semicolon. Such
+# function macros are typically used for boiler-plate code, and will confuse the
+# parser if not removed.
+
+SKIP_FUNCTION_MACROS = YES
+
+#---------------------------------------------------------------------------
+# Configuration::additions related to external references
+#---------------------------------------------------------------------------
+
+# The TAGFILES option can be used to specify one or more tagfiles.
+# Optionally an initial location of the external documentation
+# can be added for each tagfile. The format of a tag file without
+# this location is as follows:
+# TAGFILES = file1 file2 ...
+# Adding location for the tag files is done as follows:
+# TAGFILES = file1=loc1 "file2 = loc2" ...
+# where "loc1" and "loc2" can be relative or absolute paths or
+# URLs. If a location is present for each tag, the installdox tool
+# does not have to be run to correct the links.
+# Note that each tag file must have a unique name
+# (where the name does NOT include the path)
+# If a tag file is not located in the directory in which doxygen
+# is run, you must also specify the path to the tagfile here.
+
+TAGFILES =
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create
+# a tag file that is based on the input files it reads.
+
+GENERATE_TAGFILE =
+
+# If the ALLEXTERNALS tag is set to YES all external classes will be listed
+# in the class index. If set to NO only the inherited external classes
+# will be listed.
+
+ALLEXTERNALS = NO
+
+# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed
+# in the modules index. If set to NO, only the current project's groups will
+# be listed.
+
+EXTERNAL_GROUPS = YES
+
+# The PERL_PATH should be the absolute path and name of the perl script
+# interpreter (i.e. the result of `which perl').
+
+PERL_PATH = /usr/bin/perl
+
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+
+# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will
+# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base or
+# super classes. Setting the tag to NO turns the diagrams off. Note that this
+# option is superseded by the HAVE_DOT option below. This is only a fallback. It is
+# recommended to install and use dot, since it yields more powerful graphs.
+
+CLASS_DIAGRAMS = YES
+
+# If set to YES, the inheritance and collaboration graphs will hide
+# inheritance and usage relations if the target is undocumented
+# or is not a class.
+
+HIDE_UNDOC_RELATIONS = YES
+
+# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
+# available from the path. This tool is part of Graphviz, a graph visualization
+# toolkit from AT&T and Lucent Bell Labs. The other options in this section
+# have no effect if this option is set to NO (the default)
+
+HAVE_DOT = YES
+
+# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for each documented class showing the direct and
+# indirect inheritance relations. Setting this tag to YES will force the
+# the CLASS_DIAGRAMS tag to NO.
+
+CLASS_GRAPH = YES
+
+# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for each documented class showing the direct and
+# indirect implementation dependencies (inheritance, containment, and
+# class references variables) of the class with other documented classes.
+
+COLLABORATION_GRAPH = YES
+
+# If the UML_LOOK tag is set to YES doxygen will generate inheritance and
+# collaboration diagrams in a style similar to the OMG's Unified Modeling
+# Language.
+
+UML_LOOK = NO
+
+# If set to YES, the inheritance and collaboration graphs will show the
+# relations between templates and their instances.
+
+TEMPLATE_RELATIONS = YES
+
+# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT
+# tags are set to YES then doxygen will generate a graph for each documented
+# file showing the direct and indirect include dependencies of the file with
+# other documented files.
+
+INCLUDE_GRAPH = YES
+
+# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and
+# HAVE_DOT tags are set to YES then doxygen will generate a graph for each
+# documented header file showing the documented files that directly or
+# indirectly include this file.
+
+INCLUDED_BY_GRAPH = YES
+
+# If the CALL_GRAPH and HAVE_DOT tags are set to YES then doxygen will
+# generate a call dependency graph for every global function or class method.
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable call graphs for selected
+# functions only using the \callgraph command.
+
+CALL_GRAPH = NO
+
+# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen
+# will graphical hierarchy of all classes instead of a textual one.
+
+GRAPHICAL_HIERARCHY = YES
+
+# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
+# generated by dot. Possible values are png, jpg, or gif
+# If left blank png will be used.
+
+DOT_IMAGE_FORMAT = png
+
+# The tag DOT_PATH can be used to specify the path where the dot tool can be
+# found. If left blank, it is assumed the dot tool can be found on the path.
+
+DOT_PATH = /usr/bin
+
+# The DOTFILE_DIRS tag can be used to specify one or more directories that
+# contain dot files that are included in the documentation (see the
+# \dotfile command).
+
+DOTFILE_DIRS = .
+
+# The MAX_DOT_GRAPH_WIDTH tag can be used to set the maximum allowed width
+# (in pixels) of the graphs generated by dot. If a graph becomes larger than
+# this value, doxygen will try to truncate the graph, so that it fits within
+# the specified constraint. Beware that most browsers cannot cope with very
+# large images.
+
+MAX_DOT_GRAPH_WIDTH = 1024
+
+# The MAX_DOT_GRAPH_HEIGHT tag can be used to set the maximum allows height
+# (in pixels) of the graphs generated by dot. If a graph becomes larger than
+# this value, doxygen will try to truncate the graph, so that it fits within
+# the specified constraint. Beware that most browsers cannot cope with very
+# large images.
+
+MAX_DOT_GRAPH_HEIGHT = 1024
+
+# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the
+# graphs generated by dot. A depth value of 3 means that only nodes reachable
+# from the root by following a path via at most 3 edges will be shown. Nodes that
+# lay further from the root node will be omitted. Note that setting this option to
+# 1 or 2 may greatly reduce the computation time needed for large code bases. Also
+# note that a graph may be further truncated if the graph's image dimensions are
+# not sufficient to fit the graph (see MAX_DOT_GRAPH_WIDTH and MAX_DOT_GRAPH_HEIGHT).
+# If 0 is used for the depth value (the default), the graph is not depth-constrained.
+
+MAX_DOT_GRAPH_DEPTH = 0
+
+# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will
+# generate a legend page explaining the meaning of the various boxes and
+# arrows in the dot generated graphs.
+
+GENERATE_LEGEND = YES
+
+# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will
+# remove the intermediate dot files that are used to generate
+# the various graphs.
+
+DOT_CLEANUP = YES
+
+#---------------------------------------------------------------------------
+# Configuration::additions related to the search engine
+#---------------------------------------------------------------------------
+
+# The SEARCHENGINE tag specifies whether or not a search engine should be
+# used. If set to NO the values of all tags below this one will be ignored.
+
+SEARCHENGINE = YES
diff --git a/dev/INSTALL b/dev/INSTALL
new file mode 100644
index 0000000..c8d81be
--- /dev/null
+++ b/dev/INSTALL
@@ -0,0 +1,386 @@
+Installation of the GPSTk library and applications
+--------------------------------------------------
+
+This INSTALL file has these sections
+
+Introduction
+Building and Installing in a UNIX-like Environment using Jam
+Building and Installing in a UNIX-like Environment using GNU make
+Building under Microsoft Visual Studio .NET 2003
+ADDENDUM: Standard notes on using configure
+
+More background information can be found at the GPSTk website,
+http://www.gpstk.org/ .
+
+
+Introduction
+------------
+ This project uses Jam for all of its configuration, build & install tasks.
+ See http://perforce.com/jam/jam.html for more details on this tool.
+ There are two sections below, excepted from the GPSTk website at
+ http://www.gpstk.org/, that describe how UNIX and Windows users
+ can build and install the GPSTk.
+
+ This project uses doxygen to dynamically generate API documentation.
+ See http://www.doxygen.org/ for more details.
+
+ As of ver. 1.1 we have introduced autoconf generated Makefiles into the
+ GPSTk. Since this is a new feature, your mileage may vary. If you don't
+ know how use these makefile, the attached info at the bottom of this file
+ from the Free Software Foundation will help.
+
+ For more information about building the GPSTk, see the website at
+ http://www.gpstk.org/
+
+
+Building and Installing in a UNIX-like Environment using Jam
+------------------------------------------------------------
+
+This section describes build and installation under the following environments.
+
+ - Linux, AIX and Windows/Cygwin using gcc versions 3.3 and 3.4
+ - Solaris using Sun Workshop 6 or Sun ONE Studio 8
+
+The following procedure will build and install the GPSTk.
+
+ 1. Ensure that prerequisites such as jam have been installed.
+
+ 2. Download the GPSTk distribution.
+
+ 3. Extract the GPSTk tarball. For example, using GNU tar
+
+ $ tar xvzf gpstk.tar.gz
+
+ 4. Change into the gpstk directory and type
+
+ $ jam
+
+ 5. To build the source documentation using doxygen:
+
+ $ doxygen
+
+ 6. To install GPSTk as a system library in /usr/local, assume root
+ privileges then execute
+
+ $ jam install
+
+
+Building and Installing in a UNIX-like Environment using GNU make
+-----------------------------------------------------------------
+
+The following procedure will build and install the GPSTk using recent,
+standard GNU build tools. The build has been successfully tested using the
+following tools and versions:
+
+ autoconf (GNU Autoconf) 2.59
+ GNU m4 1.4.2
+ automake (GNU automake) 1.8.5
+
+To check the version of the tool you are using, use the GNU standard version option. For example
+
+ autoconf --version
+
+If you successfully build the GPSTk using other versions of the tools, or
+if you successfully build in a new environment, please let us know.
+
+The following procedure will build and install the GPSTk.
+
+ 1. Ensure that prerequisites, except jam , have been installed.
+
+ 2. Download the GPSTk distribution.
+
+ 3. Extract the GPSTk tarball. For example, using GNU tar
+
+ tar xvzf gpstk.tar.gz
+
+ 4. Change into the gpstk directory and type
+
+ ./configure
+ make
+
+ 5. To build the source documentation using doxygen:
+
+ doxygen
+
+ 6. To install GPSTk as a system library in /usr/local, assume root
+ privileges then execute
+
+ make install
+
+
+Building under Microsoft Visual Studio .NET 2003
+------------------------------------------------
+
+If you are building GPSTk under the Cygwin environment, then use the build
+instructions for UNIX-like environments (above).
+
+The GPSTk is not supported under Microsoft Visual C++ 6.0, or earlier, mainly
+because templates in classes are not supported. Currently there are no
+Makefiles for MSVS, so you must use jam to build the GPSTk on the command line.
+
+Here are the steps we have used to build under MSVS.NET 2003.
+
+ 1. Ensure that prerequisites such as jam have been installed.
+
+ 2. You may have to reinstall the compiler to build with GPSTk. In order f
+ or Jam to work under Windows, the MSVS command line tools
+ (compiler and linker) must be installed in a directory without
+ whitespace in it. Thus the default installation directory
+ (\Program Files\...), for example, will cause Jam to fail. Sorry,
+ you'll have to re-install in another directory; for example we used
+ C:\MSVS2003. Also, if the VCVARS32.BAT batch file was not installed,
+ this option must be chosen during a reinstallation.
+
+ 3. Open a command window and run the VCVARS32.BAT batch file before
+ running Jam.
+
+ 4. Jam requires that two other environment variables be set. Using the
+ command line:
+
+ set MSVCNT=C:\MSVS2003\VC7
+ set NEED_REGEX=yes
+
+ The directory on the right of the '=' is the directory where the command
+ line tools are installed (it will have subdirectories bin,lib,include,
+ etc.); this tells Jam where the compiler and linker are. NEED_REGEX
+ tells Jam to compile regex.c into the library, as it is not part of the
+ MSVS libraries.
+
+ 5. Ensure the Jam executable for Windows is in the path. Install the GPSTk
+ tarball and change to the /dev directory of the GPSTk -- the file
+ 'Jamrules' should be here -- and type
+
+ jam
+
+
+ADDENDUM: Standard notes on using configure
+-------------------------------------------
+
+Copyright (C) 1994, 1995, 1996, 1999, 2000, 2001, 2002 Free Software
+Foundation, Inc.
+
+ This file is free documentation; the Free Software Foundation gives
+unlimited permission to copy, distribute and modify it.
+
+Basic Installation
+==================
+
+ These are generic installation instructions.
+
+ The `configure' shell script attempts to guess correct values for
+various system-dependent variables used during compilation. It uses
+those values to create a `Makefile' in each directory of the package.
+It may also create one or more `.h' files containing system-dependent
+definitions. Finally, it creates a shell script `config.status' that
+you can run in the future to recreate the current configuration, and a
+file `config.log' containing compiler output (useful mainly for
+debugging `configure').
+
+ It can also use an optional file (typically called `config.cache'
+and enabled with `--cache-file=config.cache' or simply `-C') that saves
+the results of its tests to speed up reconfiguring. (Caching is
+disabled by default to prevent problems with accidental use of stale
+cache files.)
+
+ If you need to do unusual things to compile the package, please try
+to figure out how `configure' could check whether to do them, and mail
+diffs or instructions to the address given in the `README' so they can
+be considered for the next release. If you are using the cache, and at
+some point `config.cache' contains results you don't want to keep, you
+may remove or edit it.
+
+ The file `configure.ac' (or `configure.in') is used to create
+`configure' by a program called `autoconf'. You only need
+`configure.ac' if you want to change it or regenerate `configure' using
+a newer version of `autoconf'.
+
+The simplest way to compile this package is:
+
+ 1. `cd' to the directory containing the package's source code and type
+ `./configure' to configure the package for your system. If you're
+ using `csh' on an old version of System V, you might need to type
+ `sh ./configure' instead to prevent `csh' from trying to execute
+ `configure' itself.
+
+ Running `configure' takes awhile. While running, it prints some
+ messages telling which features it is checking for.
+
+ 2. Type `make' to compile the package.
+
+ 3. Optionally, type `make check' to run any self-tests that come with
+ the package.
+
+ 4. Type `make install' to install the programs and any data files and
+ documentation.
+
+ 5. You can remove the program binaries and object files from the
+ source code directory by typing `make clean'. To also remove the
+ files that `configure' created (so you can compile the package for
+ a different kind of computer), type `make distclean'. There is
+ also a `make maintainer-clean' target, but that is intended mainly
+ for the package's developers. If you use it, you may have to get
+ all sorts of other programs in order to regenerate files that came
+ with the distribution.
+
+Compilers and Options
+=====================
+
+ Some systems require unusual options for compilation or linking that
+the `configure' script does not know about. Run `./configure --help'
+for details on some of the pertinent environment variables.
+
+ You can give `configure' initial values for configuration parameters
+by setting variables in the command line or in the environment. Here
+is an example:
+
+ ./configure CC=c89 CFLAGS=-O2 LIBS=-lposix
+
+ *Note Defining Variables::, for more details.
+
+Compiling For Multiple Architectures
+====================================
+
+ You can compile the package for more than one kind of computer at the
+same time, by placing the object files for each architecture in their
+own directory. To do this, you must use a version of `make' that
+supports the `VPATH' variable, such as GNU `make'. `cd' to the
+directory where you want the object files and executables to go and run
+the `configure' script. `configure' automatically checks for the
+source code in the directory that `configure' is in and in `..'.
+
+ If you have to use a `make' that does not support the `VPATH'
+variable, you have to compile the package for one architecture at a
+time in the source code directory. After you have installed the
+package for one architecture, use `make distclean' before reconfiguring
+for another architecture.
+
+Installation Names
+==================
+
+ By default, `make install' will install the package's files in
+`/usr/local/bin', `/usr/local/man', etc. You can specify an
+installation prefix other than `/usr/local' by giving `configure' the
+option `--prefix=PATH'.
+
+ You can specify separate installation prefixes for
+architecture-specific files and architecture-independent files. If you
+give `configure' the option `--exec-prefix=PATH', the package will use
+PATH as the prefix for installing programs and libraries.
+Documentation and other data files will still use the regular prefix.
+
+ In addition, if you use an unusual directory layout you can give
+options like `--bindir=PATH' to specify different values for particular
+kinds of files. Run `configure --help' for a list of the directories
+you can set and what kinds of files go in them.
+
+ If the package supports it, you can cause programs to be installed
+with an extra prefix or suffix on their names by giving `configure' the
+option `--program-prefix=PREFIX' or `--program-suffix=SUFFIX'.
+
+Optional Features
+=================
+
+ Some packages pay attention to `--enable-FEATURE' options to
+`configure', where FEATURE indicates an optional part of the package.
+They may also pay attention to `--with-PACKAGE' options, where PACKAGE
+is something like `gnu-as' or `x' (for the X Window System). The
+`README' should mention any `--enable-' and `--with-' options that the
+package recognizes.
+
+ For packages that use the X Window System, `configure' can usually
+find the X include and library files automatically, but if it doesn't,
+you can use the `configure' options `--x-includes=DIR' and
+`--x-libraries=DIR' to specify their locations.
+
+Specifying the System Type
+==========================
+
+ There may be some features `configure' cannot figure out
+automatically, but needs to determine by the type of machine the package
+will run on. Usually, assuming the package is built to be run on the
+_same_ architectures, `configure' can figure that out, but if it prints
+a message saying it cannot guess the machine type, give it the
+`--build=TYPE' option. TYPE can either be a short name for the system
+type, such as `sun4', or a canonical name which has the form:
+
+ CPU-COMPANY-SYSTEM
+
+where SYSTEM can have one of these forms:
+
+ OS KERNEL-OS
+
+ See the file `config.sub' for the possible values of each field. If
+`config.sub' isn't included in this package, then this package doesn't
+need to know the machine type.
+
+ If you are _building_ compiler tools for cross-compiling, you should
+use the `--target=TYPE' option to select the type of system they will
+produce code for.
+
+ If you want to _use_ a cross compiler, that generates code for a
+platform different from the build platform, you should specify the
+"host" platform (i.e., that on which the generated programs will
+eventually be run) with `--host=TYPE'.
+
+Sharing Defaults
+================
+
+ If you want to set default values for `configure' scripts to share,
+you can create a site shell script called `config.site' that gives
+default values for variables like `CC', `cache_file', and `prefix'.
+`configure' looks for `PREFIX/share/config.site' if it exists, then
+`PREFIX/etc/config.site' if it exists. Or, you can set the
+`CONFIG_SITE' environment variable to the location of the site script.
+A warning: not all `configure' scripts look for a site script.
+
+Defining Variables
+==================
+
+ Variables not defined in a site shell script can be set in the
+environment passed to `configure'. However, some packages may run
+configure again during the build, and the customized values of these
+variables may be lost. In order to avoid this problem, you should set
+them in the `configure' command line, using `VAR=value'. For example:
+
+ ./configure CC=/usr/local2/bin/gcc
+
+will cause the specified gcc to be used as the C compiler (unless it is
+overridden in the site shell script).
+
+`configure' Invocation
+======================
+
+ `configure' recognizes the following options to control how it
+operates.
+
+`--help'
+`-h'
+ Print a summary of the options to `configure', and exit.
+
+`--version'
+`-V'
+ Print the version of Autoconf used to generate the `configure'
+ script, and exit.
+
+`--cache-file=FILE'
+ Enable the cache: use and save the results of the tests in FILE,
+ traditionally `config.cache'. FILE defaults to `/dev/null' to
+ disable caching.
+
+`--config-cache'
+`-C'
+ Alias for `--cache-file=config.cache'.
+
+`--quiet'
+`--silent'
+`-q'
+ Do not print messages saying which checks are being made. To
+ suppress all normal output, redirect it to `/dev/null' (any error
+ messages will still be shown).
+
+`--srcdir=DIR'
+ Look for the package's source code in directory DIR. Usually
+ `configure' can determine that directory automatically.
+
+`configure' also accepts some other, not widely useful, options. Run
+`configure --help' for more details.
\ No newline at end of file
diff --git a/dev/Jamfile b/dev/Jamfile
new file mode 100644
index 0000000..c23f3b3
--- /dev/null
+++ b/dev/Jamfile
@@ -0,0 +1,11 @@
+#
+# $Id$
+#
+
+SubDir TOP ;
+
+SubInclude TOP src ;
+SubInclude TOP lib ;
+SubInclude TOP apps ;
+SubInclude TOP examples ;
+# SubInclude TOP tests ;
diff --git a/dev/Jamrules b/dev/Jamrules
new file mode 100644
index 0000000..ad15458
--- /dev/null
+++ b/dev/Jamrules
@@ -0,0 +1,315 @@
+#
+# $Id$
+#
+
+# not much here... just use defaults as much as possible
+
+NotFile install ;
+
+KEEPOBJS = true ;
+
+# where to install the .hpp files
+INCDIR = /usr/local/include ;
+
+# override the built-in EXEMODE
+EXEMODE = 755 ;
+
+# Used to prevent mixing static and dynamic library objects.
+# This was, once upon a time, .lo, but forte's C compiler prevents, stupidly,
+# any attempt to use any extension other than .o
+SUFOBJ2 ?= -l.o ;
+
+# some OS specific stuff
+if $(UNIX)
+{
+ LIBPREFIX = lib ;
+ LDSHARE_FLAGS = -shared ;
+ LINKLIBS += -lm ;
+ switch $(OS)
+ {
+ case CYGWIN :
+ LINKLIBS += -lstdc++ ;
+
+ case LINUX :
+ LINKLIBS += -lstdc++ ;
+ CCSHARE_FLAGS = -fPIC ;
+
+ case OPENBSD :
+ LINKLIBS += -lstdc++ ;
+ CCSHARE_FLAGS = -fPIC ;
+
+ case SOLARIS :
+ LINKLIBS += -lgen ;
+ # for solaris forte
+ if ( $(C++) = CC )
+ {
+ LDSHARE_FLAGS = -G -mt ;
+ CCSHARE_FLAGS = -KPIC ;
+ CCFLAGS += -Xc ;
+ C++FLAGS += -compat=5 ;
+ AR = "CC -xar -o" ;
+ NOARSCAN = true ;
+ RM = "rm -rf" ;
+ # Required for TCP things to compile.
+ LINKLIBS += -lnsl -lsocket ;
+ }
+ else # for solaris gcc
+ {
+ LINKLIBS += -lstdc++ ;
+ CCSHARE_FLAGS = -fPIC ;
+ }
+
+ case AIX :
+ LINKLIBS += -lstdc++ ;
+ }
+ SUFLIBSHR ?= .so ;
+}
+else if $(NT)
+{
+ LIBPREFIX = "" ;
+ NEED_REGEX = true ;
+ # do NOT define __STDC__ here
+
+ # use these to create a dll
+ #LDSHARE_FLAGS ?= /MAP /DLL ;
+ #SUFLIBSHR = .dll ;
+
+ # Microsoft compilers define macro _MSC_VER = MMmm.mm MM=Major ver mm.mm=minor ver.
+ # ------ MS VC++ 2005 : _MSC_VER >= 1400
+ if $(MSCVER) >= 1400 {
+ MSVCVersion = "VC++2005(VC8)" ;
+ LINKLIBS = ;
+ # -wd turns off warnings; warning 4274 says its ignoring #ident
+ # _CRT_SECURE... stops (many!) warnings
+ # /Ox is max optimize for speed, /O2 opt for speed,
+ # /GL whole prgm opt (add /LTCG to LINKFLAGS)
+ # /O2 seems to be the best
+ CCFLAGS += -D_CRT_SECURE_NO_DEPRECATE -wd4274 ;
+ C++FLAGS += /O2 -DWIN32 -D_CRT_SECURE_NO_DEPRECATE /EHsc /GR -wd4274 ;
+ #LINKFLAGS += /LTCG ; # use with /GL
+ }
+ # ------ MS VC++.NET 2003 : _MSC_VER >= 1300
+ else if $(MSCVER) >= 1300 {
+ MSVCVersion = "VC++.NET2003(VC7)" ;
+ LINKLIBS = ;
+ CCFLAGS += /ML -wd4274 ;
+ # use /O2 optimization
+ C++FLAGS += /O2 /ML -DWIN32 /GX /GR -wd4274 -wd4675 ;
+ }
+ # ------ MS VC++ 6 : _MSC_VER >= 1200
+ # VC++ ver 6 and earlier do not support templates in classes or the toolkit
+ else {
+ Echo "If MSCVER is set, compiler is not supported in Jamrules; otherwise" ;
+ Echo " for MSVC++.NET2003, set MSCVER=1300" ;
+ Echo " for MSVC++2005, set MSCVER=1400" ;
+ }
+ Echo " Version" $(MSVCVersion) "( MSCVER ==" $(MSCVER) ")" ;
+}
+
+# compiler specific stuff - this is probably actually pretty clumsy
+if ( $(CC) != gcc )
+{
+ NEED_GETOPT = true ;
+}
+
+if $(PREFIX)
+{
+# fix does this need to be forward/backslash independent? darn windows.
+ BINDIR = [ FDirName $(PREFIX) bin ] ;
+ LIBDIR = [ FDirName $(PREFIX) lib ] ;
+ INCDIR = [ FDirName $(PREFIX) include ] ;
+}
+
+# debug - edit this as needed.
+if $(DEBUG)
+{
+ # forte
+ if ( $(C++) = CC ) && ( $(OS) = SOLARIS )
+ {
+ OPTIM = -g -xs ;
+ }
+ # gcc-ish rules
+ else if ( $(C++) = cc ) || ( $(C++) = g++ ) || ( $(C++) = c++ )
+ {
+ OPTIM = -ggdb ;
+ }
+ else if $(MSVC) || $(MSVCNT)
+ {
+ OPTIM = /DEBUG ;
+ }
+}
+
+rule BonkForte
+{
+ # forte for solaris...
+ if ( $(C++) = CC ) && ( $(OS) = SOLARIS )
+ {
+ # we need the explicit /usr/include to make sure the regex.h there
+ # is included instead of the one in the gpstk/dev/src directory
+ CCFLAGS += -I/usr/include ;
+ C++FLAGS += -I/usr/include ;
+ }
+}
+
+rule LibObjects
+{
+ local _i ;
+
+ for _i in [ FGristFiles $(<) ]
+ {
+ Object $(_i:S=$(SUFOBJ2)) : $(_i) ;
+ Depends obj : $(_i:S=$(SUFOBJ2)) ;
+ }
+}
+
+
+# Useage :
+# GPSSetupLibrary target : depenancies ;
+rule GPSSetupLibrary
+{
+ local lib = [ FGristFiles $(LIBPREFIX)$(<:S=$(SUFLIB)) ] ;
+ MakeLocate $(lib) : $(LOCATE_SOURCE) ;
+ $(1)_DIR = $(SUBDIR) ;
+ $(1)_GRIST = $(lib) ;
+ $(1)_DEPENDENCIES = $(2) ;
+}
+
+rule GPSBuildLibrary
+{
+ # $(<) is short name of lib to build.
+ # $(>) is the list of sources that build lib.
+
+ local shlib arlib ;
+ local statobjs shrobjs ;
+ local dependencies = [ Uniqueify [ GetDependencies $(<) ] ] ;
+
+ if $(dependencies)
+ {
+ local thisDependency ;
+ for thisDependency in $(dependencies)
+ {
+ SubDirHdrs $($(thisDependency)_DIR) ;
+ }
+ }
+
+ arlib = $(LIBPREFIX)$(<:S=$(SUFLIB)) ;
+ statobjs = $(>:S=$(SUFOBJ)) ;
+
+ Depends lib : $(arlib) ;
+ Objects $(>) ;
+ LibraryFromObjects $(arlib) : $(statobjs) ;
+ InstallLib $(LIBDIR) : $(arlib) ;
+
+ # Windows is limited to 1024 character command lines. This goes over that.
+ # Until we can figure out how to properly split our library, we just can't
+ # build DLLs for Windows.
+ if $(UNIX)
+ {
+ shlib = $(LIBPREFIX)$(<:S=$(SUFLIBSHR)) ;
+ shrobjs = $(>:S=$(SUFOBJ2)) ;
+ ObjectCcFlags $(shrobjs) : $(CCSHARE_FLAGS) ;
+ ObjectC++Flags $(shrobjs) : $(CCSHARE_FLAGS) ;
+ LINKFLAGS on $(shlib) += $(CCSHARE_FLAGS) $(LDSHARE_FLAGS) $(OPTIM) ;
+ Depends lib : $(shlib) ;
+ LibObjects $(>) ;
+ MainFromObjects $(shlib) : $(shrobjs) ;
+ InstallLib $(LIBDIR) : $(shlib) ;
+ }
+}
+
+rule GPSLinkLibraries
+{
+ local dependencies = [ Uniqueify [ GetDependencies $(>) ] ] ;
+ dependencies = [ Uniqueify $(>) $(dependencies) ] ;
+
+ if $(dependencies)
+ {
+ local thisDependency ;
+ local thisDir thisLib ;
+ for thisDependency in $(dependencies)
+ {
+ thisDir = $($(thisDependency)_DIR) ;
+ SubDirHdrs $(thisDir) ;
+ thisLib = $($(thisDependency)_GRIST) ;
+ LinkLibraries $(<) : $(thisLib) ;
+ }
+ }
+}
+
+# a rule to replace Main that includes the functionality of GPSFile.
+rule GPSMain
+{
+ Main $(<) : $(>) ;
+ InstallBin $(BINDIR) : $(<:S=$(SUFEXE)) ;
+}
+
+# a rule to replace File that also cleans it when "jam clean" is run.
+# $(1) is the target, $(2) is the source, $(3) is the mode.
+# $(3) is optional - it will default to 644.
+#
+# GPSFile $(TARGETETCDIR)/moo : moo : $(EXEMODE) ;
+# GPSFile $(TARGETETCDIR)/moo2 : moo2 ;
+#
+rule GPSFile
+{
+ File $(1) : $(2) ;
+ if $(3)
+ {
+ MODE on $(1) = $(3) ;
+ }
+ Clean clean : $(1) ;
+}
+
+PREPROCESSING = yes ;
+SubInclude TOP src ;
+SubInclude TOP lib ;
+PREPROCESSING = ;
+
+rule TestFiles
+{
+ Depends test : $(<) ;
+ if $(TESTCODE)
+ {
+ ReallyTestFiles $(<) : $(>) ;
+ }
+}
+
+actions ReallyTestFiles
+{
+ $(<) $(>)
+}
+
+
+rule GetDependencies
+{
+ local thisDepends itr ;
+
+ if $($(1)_DEPENDENCIES)
+ {
+ thisDepends += $($(1)_DEPENDENCIES) ;
+ thisDepends += [ GetDependencies $($(1)_DEPENDENCIES) ] ;
+ }
+ return $(thisDepends) ;
+}
+
+rule Uniqueify
+{
+ local thisList thisItem thatItem found newList ;
+
+ for thatItem in $(1)
+ {
+ found = 0 ;
+ newList = ;
+ for thisItem in $(thisList)
+ {
+ if $(thatItem) != $(thisItem)
+ {
+ newList += $(thisItem) ;
+ }
+ }
+ newList += $(thatItem) ;
+ thisList = $(newList) ;
+ }
+ return $(thisList) ;
+}
+
diff --git a/dev/Makefile.am b/dev/Makefile.am
new file mode 100644
index 0000000..a38c911
--- /dev/null
+++ b/dev/Makefile.am
@@ -0,0 +1,3 @@
+# $Id$
+EXTRA_DIST = README
+SUBDIRS = src lib apps examples
diff --git a/dev/NEWS b/dev/NEWS
new file mode 100644
index 0000000..ed21f53
--- /dev/null
+++ b/dev/NEWS
@@ -0,0 +1,20 @@
+$Id$
+
+GPS Toolkit News
+------------------------------------------------------------------------------
+ July 16, 2007 . . . . Release Cadidate for Version 1.3 is frozen in the
+ repository
+
+ January 10, 2005 . . . Version 1.1 is released.
+
+ September 20, 2004 . . Version 1.0.2 is released to coincide with
+ presentation at the ION GNSS 2002 in
+ Portland, Oregon.
+
+ August 9, 2004 . . . . Version 1.0.1 released quickly to address
+ minor issues.
+
+ August 8, 2004 . . . . The first version of the GPSTk is released to
+ coincide with an article in LinuxJournal.
+
+ February 25, 2004 . . The GPSTk project is registered at SourceForge.net.
diff --git a/dev/README b/dev/README
new file mode 100644
index 0000000..6e1889c
--- /dev/null
+++ b/dev/README
@@ -0,0 +1,98 @@
+$Id$
+
+The following is excerpted from the GPSTk web site at http://www.gpstk.org/.
+
+What is GPSTk?
+--------------
+
+The goal of the GPSTk project is to provide a world class, open source
+computing suite to the satellite navigation community. It is our hope that the
+GPSTk will empower its users to perform new research and create new
+applications.
+
+GPS users employ practically every computational architecture and operating
+system. Therefore the design of the GPSTk suite is as platform-independent as
+possible. Platform independence is achieved through use of the ANSI-standard
+C++ programming language. The principles of object-oriented programming are
+used throughout the GPSTk code base in order to ensure that the code is
+modular, extensible and maintainable.
+
+The GPSTk suite consists of a core ibrary and a set of applications. The
+library provides a wide array of functions that solve processing problems
+associated with GPS such as processing or using RINEX. The library is the
+basis for the more advanced applications distributed as part of the GPSTk
+suite.
+
+The GPSTk is sponsored by Space and Geophysics Laboratory, within the Applied
+Research Laboratories at the University of Texas at Austin (ARL:UT). GPSTk is
+the by-product of GPS research conducted at ARL:UT since before the first
+satellite launched in 1978; it is the combined effort of many software
+engineers and scientists. In 2003 the research staff at ARL:UT decided to
+open source much of their basic GPS processing software as the GPSTk.
+
+
+GPSTk Library
+-------------
+
+The GPSTk library provides a number of models and algorithms found in GPS
+textbooks and classic papers, such as solving for the user position, or
+estimating atmospheric refraction. Common formats are supported as well, such
+as RINEX or SP-3. There are several categories of functions in the GPSTk
+library:
+
+ 1. GPS time. Conversion among time representations such as MJD, GPS week
+ and seconds of week, and many others.
+
+ 2. Ephemeris calculations. Position and clock interpolation for both
+ broadcast and precise ephemerides.
+
+ 3. Atmospheric delay models. Includes ionosphere and troposphere models.
+
+ 4. Position solution. Includes an implementation of a Receiver Autonomous
+ Integrity Monitoring algorithm.
+
+ 5. Mathematics. Includes Matrix and Vector implementations, as well as
+ interpolation and numerical integration.
+
+ 6. Application framework. Includes processing command lines options,
+ providing interactive help and working with file systems.
+
+A more detailed description of the functionality provided by the GPSTk library can be found in the Doxygen documentation.
+
+
+GPSTk Applications
+------------------
+
+The library is the foundation for applications within the GPSTk suite. Many
+such applications are utilities necessary for advanced research and
+development. For example the GPSTk utility DiscFix fixes cycle slips. Some
+applications implement algorithms described in research papers. The TECMap
+application is an example of an application that creates models of the
+ionosphere, based on models published by a number of researchers. To date
+GPSTk applications fall into the following categories.
+
+ 1. Ionosphere modeling. TEC calculation, receiver bias estimation.
+
+ 2. Residual analysis. Computation of pseudorange observations residuals,
+ and comparison between the precise and broadcast ephemerides.
+
+ 3. RINEX file manipulation. Differencing, mergins and clipping RINEX files.
+
+ 4. Interactive analysis. Bindings to Octave, an open source alternative to
+ MATLAB.
+
+
+License
+-------
+
+The source code provided by the GPSTk is distributed under the GNU LGPL
+(http://www.gnu.org/copyleft/lesser.html). This license gives all users the
+right to use and redistribute the code. Users of the GPSTk are not required
+to open their source, according to the LGPL. This makes the GPSTk a practical
+choice for commercial projects.
+
+Contact Info
+------------
+The GPSTk is a collaborative effort. However, you can email to
+gpstk at arlut.utexas.edu or contact one of the CoreTeam members
+(http://www.gpstk.org/bin/view/Development/CoreTeam).
\ No newline at end of file
diff --git a/dev/apps/DataAvailability/DataAvailabilityAnalyzer.cpp b/dev/apps/DataAvailability/DataAvailabilityAnalyzer.cpp
new file mode 100644
index 0000000..94fe389
--- /dev/null
+++ b/dev/apps/DataAvailability/DataAvailabilityAnalyzer.cpp
@@ -0,0 +1,760 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/** @file Performs a data availability analysis of the input data. In general,
+ availability is determined by station and satellite position.
+
+ This program refers to the items that can be specified as the (in)dependant
+ variables in the analysis as ObservationIDs or oid. The complete list of
+ these are:
+ el Elevation, degrees (0-90)
+ az Azimuth, degrees (0-360, 0=north)
+ time Time in mjd (or as specified)
+ prn SV ID (1-31)
+ ccid Three character Rinex 3.0 observation specification: tna
+ t: observation type (C, L, D, S)
+ n: carrier band (1, 2, 5)
+ a: code tracked (C, P, W, Y, M, I, Q, ...)
+ ch Channel (1-99)
+ snr Signal to noise ratio (C/C0) in dB-Hz
+ health SV health bits
+ tcnt Continuous tracking count
+ iod Issue of data
+ intrk Number of SVs in track
+ tama Time above mask angle
+*/
+
+#include <map>
+#include <algorithm>
+
+#include "StringUtils.hpp"
+#include "ObsID.hpp"
+
+#include "DataAvailabilityAnalyzer.hpp"
+
+#include "EphReader.hpp"
+#include "ObsReader.hpp"
+
+#include "MSCData.hpp"
+#include "MSCStream.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+
+//------------------------------------------------------------------------------
+// The constructor basically just sets up all the command line options
+//------------------------------------------------------------------------------
+DataAvailabilityAnalyzer::DataAvailabilityAnalyzer(const std::string& applName)
+ throw()
+ : timeFormat("%Y %j %02H:%02M:%04.1f"),
+ BasicFramework(
+ applName,
+ "Performs a data availability analysis of the input data. In general,"
+ "availability is determined by station and satellite position."),
+
+ inputOpt('o', "obs",
+ "Where to get the data to analyze.", true),
+
+ outputOpt('\0', "output",
+ "Where to send the output. The default is stdout."),
+
+ independantOpt('x', "indepndant",
+ "The independant variable in the analysis. The default "
+ "is time."),
+
+ ephFileOpt('e', "eph", "Where to get the ephemeris data. Can be "
+ " rinex, fic, or sp3", true),
+
+ mscFileOpt('c', "msc", "Station coordinate file"),
+
+ msidOpt('m', "msid", "Station to process data for. Used to select "
+ "a station position from the msc file."),
+
+ timeFmtOpt('t', "time-format", "Daytime format specifier used for "
+ "times in the output. The default is \""
+ + timeFormat + "\"."),
+
+ startTimeOpt('\0', "start-time", "%4Y/%03j/%02H:%02M:%05.2f",
+ "Ignore data before this time. (%4Y/%03j/%02H:%02M:%05.2f)"),
+
+ stopTimeOpt('\0', "stop-time", "%4Y/%03j/%02H:%02M:%05.2f",
+ "Ignore any data after this time"),
+
+ timeSpanOpt('l', "time-span", "How much data to process, in seconds"),
+
+ maskAngleOpt('\0', "mask-angle",
+ "Ignore anomalies on SVs below this elevation. The default"
+ " is 10 degrees."),
+
+ timeMaskOpt('\0', "time-mask",
+ "Ignore anomalies on SVs that haven't been above the mask"
+ " angle for this number of seconds. The default is 0 "
+ "seconds."),
+
+ badHealthMaskOpt('b', "bad-health",
+ "Ignore anomalies associated with SVs that are marked "
+ "unhealthy."),
+
+ smashAdjacentOpt('s', "smash-adjacent",
+ "Combine adjacent lines from the same PRN."),
+
+ maskAngle(10), badHealthMask(false), timeMask(0), smashAdjacent(false),
+ epochRate(0), epochCounter(0), allMissingCounter(0),
+ anyMissingCounter(0), pointsMissedCounter(0)
+{
+ // Set up a couple of helper arrays to map from enum <-> string
+ obsItemName[oiUnknown] = "unk";
+ obsItemName[oiElevation] = "el";
+ obsItemName[oiAzimuth] = "az";
+ obsItemName[oiTime] = "time";
+ obsItemName[oiPRN] = "prn";
+ obsItemName[oiCCID] = "ccid";
+ obsItemName[oiSNR] = "snr";
+ obsItemName[oiHealth] = "health";
+ obsItemName[oiTrackCount] = "tcnt";
+ obsItemName[oiIOD] = "iod";
+
+ for (ObsItemName::const_iterator i=obsItemName.begin();
+ i!=obsItemName.end(); i++)
+ obsItemId[i->second] = i->first;
+}
+
+
+//------------------------------------------------------------------------------
+// Here the command line options parsed and used to configure the program
+//------------------------------------------------------------------------------
+bool DataAvailabilityAnalyzer::initialize(int argc, char *argv[]) throw()
+{
+ if (!BasicFramework::initialize(argc,argv)) return false;
+
+ if (debugLevel)
+ cout << "debugLevel: " << debugLevel << endl
+ << "verboseLevel: " << verboseLevel << endl;
+
+ if (outputOpt.getCount())
+ {
+ output.open(outputOpt.getValue()[0].c_str(), std::ios::out);
+ if (debugLevel)
+ cout << "Sending output to"
+ << outputOpt.getValue()[0]
+ << endl;
+ }
+ else
+ {
+ if (debugLevel)
+ cout << "Sending output to stdout" << endl;
+ output.copyfmt(std::cout);
+ output.clear(std::cout.rdstate());
+ output.basic_ios<char>::rdbuf(std::cout.rdbuf());
+ }
+
+ if (timeFmtOpt.getCount())
+ timeFormat = timeFmtOpt.getValue()[0];
+
+ if (startTimeOpt.getCount())
+ startTime = startTimeOpt.getTime()[0];
+ else
+ startTime = DayTime::BEGINNING_OF_TIME;
+
+ if (stopTimeOpt.getCount())
+ stopTime = stopTimeOpt.getTime()[0];
+ else
+ stopTime = DayTime::END_OF_TIME;
+
+ if (timeSpanOpt.getCount())
+ timeSpan = StringUtils::asDouble(timeSpanOpt.getValue()[0]);
+ else
+ timeSpan = 1e99;
+
+ if (maskAngleOpt.getCount())
+ maskAngle = StringUtils::asDouble(maskAngleOpt.getValue()[0]);
+
+ if (timeMaskOpt.getCount())
+ timeMask = StringUtils::asDouble(timeMaskOpt.getValue()[0]);
+
+ if (badHealthMaskOpt.getCount())
+ badHealthMask = true;
+
+ if (smashAdjacentOpt.getCount())
+ smashAdjacent = true;
+
+ oiX = oiTime;
+ if (independantOpt.getCount())
+ {
+ ObsItemId::const_iterator i;
+ i = obsItemId.find(independantOpt.getValue()[0]);
+ if (i == obsItemId.end())
+ {
+ cout << "Cound not find obs item. Valid items are:" << endl;
+ for (i=obsItemId.begin(); i!=obsItemId.end(); i++)
+ cout << i->first << " ";
+ cout << endl;
+ exit(-1);
+ }
+ else
+ {
+ oiX = i->second;
+ }
+ }
+
+ if (verboseLevel)
+ {
+ cout << "Using " << obsItemName[oiX] << " as the independant variable."
+ << endl
+ << "Using a mask angle of " << maskAngle << " degrees" << endl;
+ if (badHealthMask)
+ cout << "Ignore anomalies associated with SVs marked unhealthy."
+ << endl;
+ else
+ cout << "Including anomalies associated with SVs marked unhealthy."
+ << endl;
+
+ MDPHeader::debugLevel = debugLevel;
+ }
+
+ return true;
+}
+
+
+//------------------------------------------------------------------------------
+// Load all the data to analyze.
+//------------------------------------------------------------------------------
+void DataAvailabilityAnalyzer::spinUp()
+{
+ EphReader ephData;
+ ephData.verboseLevel = verboseLevel;
+ for (int i=0; i < ephFileOpt.getCount(); i++)
+ ephData.read(ephFileOpt.getValue()[i]);
+
+ if (ephData.eph == NULL)
+ {
+ cout << "Didn't get any ephemeris data from the eph files. "
+ << "Exiting." << endl;
+ exit(-1);
+ }
+ eph = ephData.eph;
+
+ msid = 0;
+ bool haveAntennaPos=false;
+ if (msidOpt.getCount())
+ msid = StringUtils::asUnsigned(msidOpt.getValue()[0]);
+
+ if (msid && mscFileOpt.getCount())
+ {
+ string fn = mscFileOpt.getValue()[0];
+ if (verboseLevel)
+ cout << "Reading " << fn << " as MSC data." << endl;
+ MSCStream mscs(fn.c_str(), ios::in);
+ MSCData mscd;
+ while (mscs >> mscd)
+ {
+ if (mscd.station == msid)
+ {
+ antennaPos = mscd.coordinates;
+ if (verboseLevel>1)
+ cout << "Antenna position read from MSC file:"
+ << antennaPos << " (msid: "
+ << msid << ")" << endl;
+ haveAntennaPos=true;
+ break;
+ }
+ }
+ if (!haveAntennaPos)
+ cout << "Did not find station " << msid << " in " << fn
+ << "." << endl;
+ }
+
+ const string fn=inputOpt.getValue()[0];
+ ObsReader obsReader(fn);
+
+ if (obsReader.inputType == FFIdentifier::tRinexObs && !haveAntennaPos)
+ {
+ antennaPos = obsReader.roh.antennaPosition;
+ if (verboseLevel>1)
+ cout << "Antenna position read from RINEX obs file:"
+ << antennaPos << endl;
+ }
+
+ if (obsReader.inputType == FFIdentifier::tSMODF)
+ obsReader.msid = msid;
+
+ DayTime t0;
+ ObsEpoch oe;
+ int i,j;
+
+ for (i=j=0; i<100 && j<10 && obsReader(); i++)
+ {
+ oe = obsReader.getObsEpoch();
+ double dt = oe.time - t0;
+ if (std::abs(dt - epochRate) > 0.1)
+ {
+ epochRate = dt;
+ j = 0;
+ }
+ else
+ j++;
+ t0 = oe.time;
+ }
+
+ if (j<10)
+ {
+ cout << "Could not determine data rate after " << i << " epochs. Sorry."
+ << " This program is really\nwritten to just work with data that "
+ << "is being collected at a fixed data rate.\nI guess it could be"
+ << " re-written to work for changing data rates but I am too\n"
+ << "lazy to do that right now. I'm not, however, too lazy to "
+ << "write needlessly long\ndiagnostic messages."
+ << endl;
+ exit(-1);
+ }
+
+ if (verboseLevel)
+ cout << "Data rate is " << epochRate << " seconds after " << i
+ << " epochs." << endl;
+}
+
+
+std::string secAsHMS(double seconds, bool frac=false)
+{
+ std::ostringstream oss;
+ oss << setfill('0');
+
+ if (seconds<0)
+ oss << "-";
+
+ seconds = std::abs(seconds);
+ long d=0,h=0,m=0,s=0;
+ s = static_cast<long>(std::floor(seconds));
+ seconds -= static_cast<double>(s);
+
+ if (s > 86400) { d = s/86400; s %= 86400; }
+ if (s > 3600) { h = s/3600; s %= 3600; }
+ if (s > 60) { m = s/60; s %= 60; }
+
+ if (d) oss << d << " d ";
+ if (h) oss << setw(2) << h << ":";
+ if (m) oss << setw(2) << m << ":";
+
+ if (h || m)
+ oss << setfill('0');
+ else
+ oss << setfill(' ');
+
+ oss << setw(2) << s;
+
+ if (seconds>=0.1 && frac)
+ oss << "." << static_cast<int>(seconds*10);
+ else
+ oss << " ";
+
+ return oss.str();
+}
+
+
+//------------------------------------------------------------------------------
+//------------------------------------------------------------------------------
+DataAvailabilityAnalyzer::MissingList DataAvailabilityAnalyzer::processList(
+ const MissingList& ml, const gpstk::EphemerisStore& eph)
+{
+ MissingList sml;
+ for (MissingList::const_iterator i = ml.begin(); i != ml.end(); i++)
+ {
+ InView curr = *i;
+
+ // calculate SV visibility info
+ short prnTemp = 1;
+ short numSVsInView = 0;
+ ECEF rxpos(antennaPos);
+
+ while (prnTemp <= gpstk::MAX_PRN)
+ {
+ Xvt svXVT;
+ bool NoEph = false;
+
+ try { svXVT = eph.getPrnXvt(prnTemp, curr.time); }
+ catch(gpstk::Exception& e)
+ {
+ if (verboseLevel> 1) {cout << e << endl;}
+ NoEph = true;
+ }
+ double elvAngle = 0;
+ if (!NoEph)
+ {
+ try {elvAngle = rxpos.elvAngle(svXVT.x);}
+ catch(gpstk::Exception& e) { if (verboseLevel > 1)
+ {cout << e << endl;}}
+ if (elvAngle > maskAngle) { numSVsInView++; }
+ }
+ prnTemp++;
+ }
+
+ curr.numSVsVisible = numSVsInView;
+ InView& prev = *sml.rbegin();
+
+ // increment counter if there isn't data from any SVs
+ if (curr.prn == 0)
+ {
+ allMissingCounter++;
+ pointsMissedCounter += numSVsInView;
+ }
+ else
+ pointsMissedCounter++;
+
+
+ if (i == ml.begin())
+ {
+ sml.push_back(curr);
+ anyMissingCounter++;
+ continue;
+ }
+ else if (prev.time != curr.time)
+ anyMissingCounter++;
+
+ // smash together epochs if necessary
+ if (curr.prn == prev.prn && smashAdjacent)
+ {
+ prev.smashCount++;
+ prev.time = curr.time;
+ prev.elevation = curr.elevation;
+ prev.azimuth = curr.azimuth;
+ prev.snr = curr.snr;
+ prev.epochCount = curr.epochCount;
+ }
+ else
+ {
+ sml.push_back(curr);
+ }
+ }
+ return sml;
+}
+
+
+//------------------------------------------------------------------------------
+//------------------------------------------------------------------------------
+void DataAvailabilityAnalyzer::process()
+{
+ const string fn=inputOpt.getValue()[0];
+ ObsReader obsReader(fn);
+
+ if (msidOpt.getCount() && obsReader.inputType == FFIdentifier::tSMODF)
+ {
+ msid = StringUtils::asUnsigned(msidOpt.getValue()[0]);
+ obsReader.msid = msid;
+ }
+
+ double x=RSS(antennaPos[0], antennaPos[1], antennaPos[2]);
+
+ if (x<1)
+ {
+ cout << "Warning! The antenna appears to be within one meter of the"
+ << endl << "center of the geoid. Please go check it." << endl;
+ return;
+ }
+
+ ObsEpoch oe, prev_oe;
+
+ DayTime firstEpochTime, lastEpochTime;
+ while (obsReader())
+ {
+ oe = obsReader.getObsEpoch();
+ if (startTime > oe.time)
+ continue;
+ if (stopTime < oe.time)
+ break;
+
+ epochCounter++;
+
+ if (obsReader.epochCount==1)
+ {
+ firstEpochTime = oe.time;
+ if (verboseLevel)
+ cout << "First observation is at "
+ << firstEpochTime.printf(timeFormat) << endl;
+ }
+ else
+ {
+ lastEpochTime = oe.time;
+ if (lastEpochTime - firstEpochTime > timeSpan)
+ break;
+
+ processEpoch(antennaPos, oe, prev_oe);
+ }
+ prev_oe = oe;
+ }
+
+ if (verboseLevel)
+ cout << "Last observation is at " << lastEpochTime.printf(timeFormat)
+ << endl;
+}
+
+
+//------------------------------------------------------------------------------
+//------------------------------------------------------------------------------
+void DataAvailabilityAnalyzer::processEpoch(
+ const Triple& ap,
+ const ObsEpoch& oe,
+ const ObsEpoch& prev_oe)
+{
+ ECEF rxpos(ap);
+ InView::dump ivdumper(cout, timeFormat);
+
+ for (DayTime t = prev_oe.time + epochRate; t <= oe.time; t += epochRate)
+ {
+
+ for (int prn=1; prn<=32; prn++)
+ inView[prn].update(prn, t, rxpos, *eph, gm, maskAngle, verboseLevel);
+
+ if (verboseLevel>2)
+ {
+ cout << t.printf(timeFormat) << " SVs in view: ";
+ for (int prn=1; prn<=32; prn++)
+ if (inView[prn].up)
+ cout << prn << "(" << setprecision(3)
+ << inView[prn].elevation << ") ";
+ cout << endl;
+ }
+
+ if (t != oe.time)
+ {
+ InView iv;
+ iv.prn = 0;
+ iv.time = t;
+ missingList.push_back(iv);
+ continue;
+ }
+
+ for (int prn=1; prn<=32; prn++)
+ {
+ ObsEpoch::const_iterator oei;
+ SatID svid(prn, SatID::systemGPS);
+
+ oei = oe.find(svid);
+ InView& iv=inView[prn];
+ iv.inTrack = oe.size();
+
+ if (oei == oe.end()) // No data from this SV
+ {
+ if (oe.size()<12 && iv.elevation>maskAngle &&
+ (!iv.health || !badHealthMask))
+ {
+ missingList.push_back(iv);
+ }
+ }
+ else // There is data from this SV
+ {
+ if (verboseLevel>3)
+ cout << oei->first << " " << oei->second << endl;
+ if (verboseLevel>3)
+ ivdumper(iv);
+ if (!iv.up)
+ {
+ missingList.push_back(iv);
+ }
+ else
+ {
+ iv.epochCount++;
+ const SvObsEpoch& soe = oei->second;
+ SvObsEpoch::const_iterator q;
+
+ q = soe.find(ObsID(ObsID::otSNR, ObsID::cbL1, ObsID::tcCA));
+ if (q != soe.end())
+ iv.snr = q->second;
+ } // else
+ } // else
+ } // for (int prn=1; prn<=32; prn++)
+ } // for (DayTime t=prev_oe.time+epochRate;t<=oe.time;t+= epochRate)
+} // void DataAvailabilityAnalyzer::processEpoch()
+
+
+//------------------------------------------------------------------------------
+//------------------------------------------------------------------------------
+void DataAvailabilityAnalyzer::shutDown()
+{
+ MissingList sml = processList(missingList, *eph);
+
+ cout << "\n Availability Raw Results:\n\n";
+ cout << " Time Smashes PRN CCID Elv Az Hlth SNR SVs"
+ << " Above Mask tama\n"
+ << "=================================================================="
+ << "======================\n";
+
+ for_each(sml.begin(), sml.end(), InView::dump(cout, timeFormat));
+
+ outputSummary();
+}
+
+//------------------------------------------------------------------------------
+//------------------------------------------------------------------------------
+void DataAvailabilityAnalyzer::InView::update(
+ short prn,
+ const DayTime& time,
+ const ECEF& rxpos,
+ const EphemerisStore& eph,
+ GeoidModel& gm,
+ float maskAngle,
+ const int verbosityLevel)
+{
+ verbosity = verbosityLevel;
+
+ try
+ {
+ this->prn = prn;
+ this->time = time;
+ // We really don't care about the observed range deviation, the
+ // ObsRngDev class is just a convient way to get the azimuth,
+ // elevation, health, iodc,
+
+ ObsRngDev ord(0, SatID(prn, SatID::systemGPS), time, rxpos, eph, gm);
+ vfloat el=ord.getElevation();
+
+ if (el.is_valid() && el > 0)
+ {
+ if (!up)
+ {
+ firstEpoch = time;
+ up = true;
+ aboveMask = false;
+ epochCount = 0;
+ snr = 0;
+ inTrack = 0;
+ }
+ else
+ {
+ rising = el > elevation;
+ }
+ if (el > maskAngle && !aboveMask)
+ {
+ aboveMask = true;
+ firstEpochAboveMask = time;
+ }
+ }
+ else
+ {
+ up = false;
+ aboveMask = false;
+ }
+ elevation = ord.getElevation();
+ azimuth = ord.getAzimuth();
+ iodc = ord.getIODC();
+ health = ord.getHealth();
+ }
+ catch (EphemerisStore::NoEphemerisFound& e)
+ {
+ up = false;
+ aboveMask = false;
+ elevation = 0;
+ azimuth = 0;
+ iodc = 0;
+ health = 0;
+ }
+} // end of InView::update()
+
+
+//------------------------------------------------------------------------------
+//------------------------------------------------------------------------------
+bool DataAvailabilityAnalyzer::InView::dump::operator()(const InView& iv)
+{
+ double timeUp = iv.time - iv.firstEpoch;
+ double timeUpMask = iv.time - iv.firstEpochAboveMask;
+ char dir;
+ if (iv.elevation > 0)
+ dir = iv.rising ? '^' : 'v';
+ else
+ dir = ' ';
+
+ string ccid="all";
+
+ cout << left << iv.time.printf(timeFormat)
+ << " " << setw(4) << iv.smashCount << " ";
+
+ if (iv.prn>0)
+ {
+ cout << setw(3) << iv.prn << " "
+ << ccid << " "
+ << fixed << right
+ << setprecision(2) << setw(6) << iv.elevation
+ << dir << " "
+ << setprecision(0) << setw(3) << iv.azimuth << " "
+ << hex << setw(2) << iv.health << " " << dec;
+
+ if (iv.up)
+ cout << setprecision(1) << setw(4) << iv.snr;
+ else
+ cout << "-El ";
+
+ if (iv.smashCount == 0)
+ cout << right << setw(14) << iv.numSVsVisible;
+
+ else
+ cout << right << setw(14) << "n/a-smashed";
+
+ if (iv.up)
+ cout << right << setw(16) << secAsHMS(timeUpMask);
+ else
+ cout << right << setw(16) << "-El";
+ }
+ else
+ {
+ cout << "All";
+ if (iv.smashCount == 0)
+ cout << right << setw(42) << iv.numSVsVisible;
+ else
+ cout << right << setw(42) << "n/a-smashed";
+ }
+
+ cout << endl;
+
+ return true;
+}
+
+void DataAvailabilityAnalyzer::outputSummary()
+{
+ cout << "\n\n Summary:\n\n";
+
+ cout << right << setw(40) << "Total number of epochs with data: "
+ << left << setw(10) << epochCounter << endl;
+ cout << right << setw(40) << "Epochs with any # of missed points: "
+ << left << setw(10) << anyMissingCounter << endl;
+ cout << right << setw(40) << "Epochs without data from any SV: "
+ << left << setw(10) << allMissingCounter << endl;
+ cout << right << setw(40) << "Total number of points missed: "
+ << left << setw(10) << pointsMissedCounter << endl << endl;
+
+
+}
diff --git a/dev/apps/DataAvailability/DataAvailabilityAnalyzer.hpp b/dev/apps/DataAvailability/DataAvailabilityAnalyzer.hpp
new file mode 100644
index 0000000..5da7fb5
--- /dev/null
+++ b/dev/apps/DataAvailability/DataAvailabilityAnalyzer.hpp
@@ -0,0 +1,200 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/** @file Performs a data availability analysis of the input data. In general,
+ availability is determined by station and satellite position.
+*/
+
+#ifndef DATAAVAILABILITYANALYZER_HPP
+#define DATAAVAILABILITYANALYZER_HPP
+
+#include <fstream>
+#include <list>
+
+#include "BasicFramework.hpp"
+#include "CommandOptionWithTimeArg.hpp"
+#include "GPSGeoid.hpp"
+#include "MiscMath.hpp"
+#include "ObsRngDev.hpp"
+#include "EphemerisStore.hpp"
+
+class DataAvailabilityAnalyzer : public gpstk::BasicFramework
+{
+public:
+ DataAvailabilityAnalyzer(const std::string& applName) throw();
+ bool initialize(int argc, char *argv[]) throw();
+
+protected:
+ virtual void spinUp();
+ virtual void process();
+ virtual void shutDown();
+
+private:
+ void processEpoch(
+ const gpstk::Triple& antPos,
+ const gpstk::ObsEpoch& oe,
+ const gpstk::ObsEpoch& prev_oe);
+
+ void outputSummary();
+
+ std::ifstream input;
+ std::ofstream output;
+ std::string timeFormat;
+ gpstk::CommandOptionWithAnyArg inputOpt, outputOpt, independantOpt,
+ mscFileOpt, msidOpt, timeFmtOpt, ephFileOpt, maskAngleOpt, timeMaskOpt;
+
+ gpstk::CommandOptionNoArg badHealthMaskOpt, smashAdjacentOpt;
+
+ gpstk::CommandOptionWithNumberArg timeSpanOpt;
+ gpstk::CommandOptionWithTimeArg startTimeOpt, stopTimeOpt;
+
+ gpstk::DayTime startTime, stopTime;
+ double timeSpan, timeMask;
+ double epochRate;
+
+ // these are counters used in the summary
+ unsigned long epochCounter;
+ unsigned long allMissingCounter;
+ unsigned long anyMissingCounter;
+ unsigned long pointsMissedCounter;
+
+ enum ObsItemEnum {oiUnknown, oiElevation, oiAzimuth, oiTime, oiPRN, oiCCID,
+ oiSNR, oiHealth, oiTrackCount, oiIOD};
+
+ typedef std::map<ObsItemEnum, std::string> ObsItemName;
+ typedef std::map<std::string, ObsItemEnum> ObsItemId;
+ typedef std::map<gpstk::DayTime, int> SVsInView;
+
+ ObsItemName obsItemName;
+ ObsItemId obsItemId;
+ ObsItemEnum oiX;
+
+ bool badHealthMask, smashAdjacent;
+
+ gpstk::EphemerisStore* eph;
+ gpstk::GPSGeoid gm;
+ gpstk::Triple antennaPos;
+ long msid;
+
+ float maskAngle;
+
+ // This is used to keep track of SV info for both what SVs are in view
+ // and when there is a obs that is missing.
+ struct InView
+ {
+ InView() : up(false), aboveMask(false), smashCount(0){};
+
+ void update(
+ short prn,
+ const gpstk::DayTime& time,
+ const gpstk::ECEF& rxpos,
+ const gpstk::EphemerisStore& eph,
+ gpstk::GeoidModel& gm,
+ float maskAngle,
+ const int verbosityLevel);
+
+ short prn;
+ gpstk::DayTime time;
+
+ int verbosity;
+
+ // Set true when this SV has an elevation greater than 0
+ // If this is false, no other fields are valid.
+ bool up;
+
+ // true when the sv is rising
+ bool rising;
+
+ // First epoch when this SV had an elevation greater than 0
+ gpstk::DayTime firstEpoch;
+
+ // Set true when this SV has risen above the 'mask angle'
+ // It is not cleared when the SV goes back below the mask angle.
+ bool aboveMask;
+
+ // First epoch when this SV had an elevation greater than the
+ // 'mask angle'. Not valid unles aboveMask is true.
+ gpstk::DayTime firstEpochAboveMask;
+
+ // Number of epochs received from this SV during this pass
+ unsigned epochCount;
+ float elevation,azimuth;
+ short iodc, health;
+
+ // This following items are only useful when this class is used to record
+ // information associated with missing data.
+
+ // Set only when the smash function merges this record with others.
+ // Indicates the number of records merged.
+ unsigned smashCount;
+
+ // The number of SVs in track at this point in time.
+ short inTrack;
+
+ // The number of SVs physically above the mask angle at this time
+ short numSVsVisible;
+
+ // The SNR of the CA signal. Note that this will be the SNR of the
+ // most recently received observation when an outage is detected.
+ float snr;
+
+ // A function object to allow printing of a list of these with a
+ // for_each loop
+ class dump
+ {
+ public:
+ dump(std::ostream& s, const std::string fmt)
+ : stream(s), timeFormat(fmt) {};
+ std::ostream& stream;
+ std::string timeFormat;
+ bool operator()(const InView& iv);
+ };
+ };
+
+ typedef std::list<InView> MissingList;
+ MissingList missingList;
+
+ // This combines adjecent items from the same SV
+ MissingList processList(const MissingList& ml,
+ const gpstk::EphemerisStore& eph);
+
+ std::map<int, InView> inView;
+
+
+};
+#endif
diff --git a/dev/apps/DataAvailability/Jamfile b/dev/apps/DataAvailability/Jamfile
new file mode 100644
index 0000000..f370255
--- /dev/null
+++ b/dev/apps/DataAvailability/Jamfile
@@ -0,0 +1,7 @@
+# $Id:$
+
+SubDir TOP apps DataAvailability ;
+
+GPSLinkLibraries daa : rxio gpstk ;
+
+GPSMain daa : daa.cpp DataAvailabilityAnalyzer.cpp ;
diff --git a/dev/apps/DataAvailability/Makefile.am b/dev/apps/DataAvailability/Makefile.am
new file mode 100644
index 0000000..4b0af9f
--- /dev/null
+++ b/dev/apps/DataAvailability/Makefile.am
@@ -0,0 +1,7 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../lib/rxio -I$(srcdir)/../../src
+LDADD = ../../lib/rxio/librxio.la ../../src/libgpstk.la
+
+bin_PROGRAMS = daa
+
+daa_SOURCES = daa.cpp DataAvailabilityAnalyzer.cpp
diff --git a/dev/apps/DataAvailability/daa.cpp b/dev/apps/DataAvailability/daa.cpp
new file mode 100644
index 0000000..c054bb3
--- /dev/null
+++ b/dev/apps/DataAvailability/daa.cpp
@@ -0,0 +1,64 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/** @file Performs a data availability analysis of the input data. In general,
+ availability is determined by station and satellite position.
+*/
+
+#include "DataAvailabilityAnalyzer.hpp"
+
+using namespace std;
+
+int main(int argc, char *argv[])
+{
+ try
+ {
+ DataAvailabilityAnalyzer crap(argv[0]);
+
+ if (!crap.initialize(argc, argv))
+ exit(0);
+
+ crap.run();
+ }
+ catch (gpstk::Exception &exc)
+ { cout << exc << endl; }
+ catch (std::exception &exc)
+ { cout << "Caught std::exception " << exc.what() << endl; }
+ catch (...)
+ { cout << "Caught unknown exception" << endl; }
+}
diff --git a/dev/apps/Jamfile b/dev/apps/Jamfile
new file mode 100644
index 0000000..eeb7830
--- /dev/null
+++ b/dev/apps/Jamfile
@@ -0,0 +1,23 @@
+#
+# $Id$
+#
+
+SubDir TOP apps ;
+
+SubInclude TOP apps checktools ;
+SubInclude TOP apps converters ;
+SubInclude TOP apps DataAvailability ;
+SubInclude TOP apps differential ;
+SubInclude TOP apps difftools ;
+SubInclude TOP apps filetools ;
+SubInclude TOP apps geomatics ;
+SubInclude TOP apps ionosphere ;
+SubInclude TOP apps mergetools ;
+SubInclude TOP apps MDPtools ;
+SubInclude TOP apps multipath ;
+SubInclude TOP apps positioning ;
+SubInclude TOP apps receiver ;
+SubInclude TOP apps reszilla ;
+SubInclude TOP apps Rinextools ;
+SubInclude TOP apps time ;
+SubInclude TOP apps visibility ;
diff --git a/dev/apps/MDPtools/BELogEntry.cpp b/dev/apps/MDPtools/BELogEntry.cpp
new file mode 100644
index 0000000..49acf79
--- /dev/null
+++ b/dev/apps/MDPtools/BELogEntry.cpp
@@ -0,0 +1,64 @@
+#pragma ident "$Id$"
+
+
+//lgpl-license START
+//lgpl-license END
+
+//dod-release-statement START
+//dod-release-statement END
+
+/**
+ * @file BELogEntry.cpp
+ */
+#include "DayTime.hpp"
+#include "BELogEntry.hpp"
+
+namespace gpstk
+{
+ using namespace std;
+ using namespace gpstk;
+
+ // Initialize the static const.
+ const std::string BELogEntry::header = "PRN Earliest SF 1 HOW ! Toe IODC #Collected";
+
+ BELogEntry::BELogEntry( const gpstk::EngEphemeris ee )
+ {
+ HOWSF1 = ee.getTransmitTime();
+ Toe = ee.getEpochTime();
+ PRN_ID = ee.getPRNID();
+ IODC = ee.getIODC();
+ count = 1;
+
+ long shortweek = (long) ee.getFullWeek();
+ shortweek &= 0x0000001F;
+ long sixteenSecCount = long (Toe.GPSsow() / 16.0);
+
+ // The purpose of the key is to enable placing these objects
+ // into SV-specific maps ordered by
+ // Primary :week
+ // Secondary :SOW
+ // Tertiary: IODC
+ // The latter (IODC) is actually only a part of the key so as to
+ // enforce uniqueness
+ key = shortweek << 26 |
+ sixteenSecCount << 10 | IODC;
+ }
+
+ unsigned long BELogEntry::getKey() const { return(key); }
+ DayTime BELogEntry::getHOW() const { return(HOWSF1); }
+ void BELogEntry::increment() { count++; }
+
+ std::string BELogEntry::getStr() const
+ {
+ std::string timeFmt1 = "%02m/%02d/%02y %02H:%02M:%02S";
+ std::string timeFmt2 = "%02m/%02d/%02y %02H:%02M:%02S %03j %5.0s %04F %6.0g";
+ char line[100];
+ sprintf( line, " %02d %s ! %s 0x%03X %4d",
+ PRN_ID, HOWSF1.printf( timeFmt1 ).c_str(),
+ Toe.printf(timeFmt2).c_str(),
+ IODC,count);
+ std::string retStr(line);
+ return(retStr);
+ }
+
+} // namespace
diff --git a/dev/apps/MDPtools/BELogEntry.hpp b/dev/apps/MDPtools/BELogEntry.hpp
new file mode 100644
index 0000000..ed459d7
--- /dev/null
+++ b/dev/apps/MDPtools/BELogEntry.hpp
@@ -0,0 +1,51 @@
+#pragma ident "$Id$"
+
+
+/**
+ * @file BELogEntry.hpp
+ * Record the unique identifying information associated
+ * with a Broadcast Ephemeris, allow it to be ordered (i.e. map support)
+ * and provide a string output capability.
+ */
+
+#ifndef GPSTK_BELOGENTRY_HPP
+#define GPSTK_BELOGENTRY_HPP
+
+//lgpl-license START
+//lgpl-license END
+
+//dod-release-statement START
+//dod-release-statement END
+
+#include "EngEphemeris.hpp"
+
+namespace gpstk
+{
+ class BELogEntry
+ {
+ public:
+ /// Default constructor
+ BELogEntry( const gpstk::EngEphemeris ee );
+
+ /// Destructor
+ virtual ~BELogEntry() {}
+
+ std::string getStr() const;
+ gpstk::DayTime getHOW() const;
+ void increment();
+ unsigned long getKey() const;
+ static const std::string header;
+
+ protected:
+ DayTime HOWSF1;
+ DayTime Toe;
+ int PRN_ID;
+ int IODC;
+ int count;
+ unsigned long key;
+
+ }; // class BELogEntry
+
+} // namespace
+
+#endif
diff --git a/dev/apps/MDPtools/Histogram.hpp b/dev/apps/MDPtools/Histogram.hpp
new file mode 100644
index 0000000..39e9dd8
--- /dev/null
+++ b/dev/apps/MDPtools/Histogram.hpp
@@ -0,0 +1,74 @@
+#pragma ident "$Id: Histogram.hpp 71 2006-08-01 18:46:39Z ehagen $"
+
+#ifndef HISTOGRAM_HPP
+#define HISTOGRAM_HPP
+
+#include <map>
+#include <list>
+#include <ostream>
+
+namespace gpstk
+{
+
+ //-----------------------------------------------------------------------------
+ class Histogram
+ {
+ public:
+ typedef std::pair<double, double> BinRange;
+ typedef std::list<BinRange> BinRangeList;
+ typedef std::map<BinRange, unsigned> BinMap;
+
+ BinMap bins;
+ unsigned total;
+
+ void resetBins(const BinRangeList& brl)
+ {
+ bins.clear();
+ total=0;
+ for (BinRangeList::const_iterator i=brl.begin(); i != brl.end(); i++)
+ bins[*i] = 0;
+ }
+
+ inline void addValue(double v)
+ {
+ BinMap::iterator bm_itr;
+ for (bm_itr=bins.begin(); bm_itr != bins.end(); bm_itr++)
+ {
+ const BinRange& range = bm_itr->first;
+ if (range.first < v && v <= range.second)
+ {
+ bm_itr->second++;
+ total++;
+ break;
+ }
+ }
+ }
+
+ inline void dump(std::ostream& s) const
+ {
+ BinMap::const_iterator bmi;
+ for (bmi = bins.begin(); bmi != bins.end(); bmi++)
+ {
+ const BinRange& br = bmi->first;
+ s << std::right << std::setw(3) << br.first
+ << "-" << std::left << std::setw(3) << br.second
+ << ": " << std::right << bmi->second
+ << std::endl;
+ }
+
+ s << std::right << std::setw(3) << bins.begin()->first.first
+ << "-" << std::left << std::setw(3) << bins.rbegin()->first.second
+ << ": " << std::right << total
+ << std::endl;
+ };
+
+ };
+
+ inline std::ostream& operator<<(std::ostream& s, const Histogram& hist)
+ {
+ hist.dump(s);
+ return s;
+ };
+
+}
+#endif
diff --git a/dev/apps/MDPtools/Jamfile b/dev/apps/MDPtools/Jamfile
new file mode 100644
index 0000000..18ebea3
--- /dev/null
+++ b/dev/apps/MDPtools/Jamfile
@@ -0,0 +1,23 @@
+# $Id$
+
+SubDir TOP apps MDPtools ;
+
+
+# Note that the local library needs to be declaired and built prior to anything
+# else is done.
+GPSLinkLibraries mdplib : rxio gpstk ;
+Library mdplib : MDPProcessors.cpp SummaryProc.cpp TrackProc.cpp NavProc.cpp ;
+
+
+# Now we can set up the things that depend upon the local library. Note that
+# the LinkLibraries rule for mdplib must preceede the GPSLinkLibraries rule
+# for things to build properly
+LinkLibraries mdptool mdp2rinex tcptest : mdplib ;
+GPSLinkLibraries mdptool mdp2rinex tcptest : rxio gpstk ;
+
+
+GPSMain mdptool : mdptool.cpp ;
+
+GPSMain mdp2rinex : mdp2rinex.cpp ;
+
+GPSMain tcptest : tcptest.cpp ;
diff --git a/dev/apps/MDPtools/MDPProcessors.cpp b/dev/apps/MDPtools/MDPProcessors.cpp
new file mode 100644
index 0000000..b5bb860
--- /dev/null
+++ b/dev/apps/MDPtools/MDPProcessors.cpp
@@ -0,0 +1,337 @@
+#pragma ident "$Id$"
+
+
+/** @file Various presentations/analysis on MDP streams */
+
+//lgpl-license START
+//lgpl-license END
+
+#include "MDPProcessors.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+gpstk::MDPStream d1;
+std::ofstream d2;
+
+
+MDPProcessor::MDPProcessor() :
+ timeFormat("%4Y/%03j/%02H:%02M:%04.1f"),
+ stopTime(gpstk::DayTime::END_OF_TIME),
+ startTime(gpstk::DayTime::BEGINNING_OF_TIME),
+ timeSpan(-1), processBad(false), bugMask(0),
+ debugLevel(0), verboseLevel(0), in(d1), out(d2), die(false),
+ pvtOut(false), obsOut(false), navOut(false), tstOut(false)
+{}
+
+MDPProcessor::MDPProcessor(gpstk::MDPStream& in, std::ofstream& out) :
+ timeFormat("%4Y/%03j/%02H:%02M:%04.1f"),
+ stopTime(gpstk::DayTime::END_OF_TIME),
+ startTime(gpstk::DayTime::BEGINNING_OF_TIME),
+ timeSpan(-1), processBad(false), bugMask(0),
+ debugLevel(0), verboseLevel(0), in(in), out(out), die(false),
+ pvtOut(false), obsOut(false), navOut(false), tstOut(false)
+{}
+
+void MDPProcessor::process()
+{
+ MDPHeader header;
+
+ msgCount=0;
+ firstFC=0;
+ lastFC=0;
+ fcErrorCount=0;
+
+ while (!die && in >> header)
+ {
+ if (startTime == DayTime(DayTime::BEGINNING_OF_TIME) && timeSpan>0)
+ {
+ startTime = header.time;
+ if (debugLevel)
+ cout << "startTime: " << startTime << endl;
+ }
+
+ if (stopTime == DayTime(DayTime::END_OF_TIME) && timeSpan>0)
+ {
+ stopTime = startTime + timeSpan;
+ if (debugLevel)
+ cout << "stopTime: " << stopTime << endl;
+ }
+
+ if (header.time > stopTime)
+ return;
+
+ if (header.time < startTime)
+ continue;
+
+ msgCount++;
+
+ if (verboseLevel>5 || debugLevel>2)
+ out << "Record: " << in.recordNumber
+ << ", message: " << msgCount << endl;
+
+ if (msgCount == 1)
+ firstFC = lastFC = in.header.freshnessCount;
+ else
+ {
+ if (in.header.freshnessCount != static_cast<unsigned short>(lastFC+1))
+ {
+ fcErrorCount++;
+ if (verboseLevel)
+ cout << header.time.printf(timeFormat)
+ <<" Freshness count error. Previous was " << lastFC
+ << " current is " << in.header.freshnessCount << endl;
+ }
+ lastFC = in.header.freshnessCount;
+ }
+
+ switch (in.header.id)
+ {
+ case gpstk::MDPObsEpoch::myId:
+ if (obsOut)
+ {
+ gpstk::MDPObsEpoch obs;
+ in >> obs;
+ if (obs || processBad)
+ process(obs);
+ }
+ break;
+
+ case gpstk::MDPPVTSolution::myId:
+ if (pvtOut)
+ {
+ gpstk::MDPPVTSolution pvt;
+ in >> pvt;
+ if (pvt || processBad)
+ process(pvt);
+ }
+ break;
+
+ case gpstk::MDPNavSubframe::myId:
+ if (navOut)
+ {
+ gpstk::MDPNavSubframe nav;
+ in >> nav;
+ if (nav || processBad)
+ process(nav);
+ }
+ break;
+
+ case gpstk::MDPSelftestStatus::myId:
+ if (tstOut)
+ {
+ gpstk::MDPSelftestStatus sts;
+ in >> sts;
+ if (sts || processBad)
+ process(sts);
+ }
+ break;
+ } // end of switch()
+ } // end of while()
+}
+
+
+//-----------------------------------------------------------------------------
+MDPTableProcessor::MDPTableProcessor(gpstk::MDPStream& in, std::ofstream& out) :
+ MDPProcessor(in, out), headerDone(false)
+{}
+
+
+//-----------------------------------------------------------------------------
+void MDPTableProcessor::outputHeader()
+{
+ if (headerDone)
+ return;
+
+ if (obsOut)
+ out << "# time, 300, prn, chan, hlth, #SVs, ele, az, code, carrier, LC, SNR, range, phase, doppler" << endl;
+ if (pvtOut)
+ out << "# time, 301, #SV, dtime, ddtime, x, y, z, vx, vy, vz" << endl;
+ if (navOut)
+ out << "# time, 310, prn, carrier_code, range_code, nav_code, word1, word2, ..." << endl;
+ if (tstOut)
+ out << "# time, 400, tstTime, startTime, Tant, Trx, status, cpu, freq, ssw" << endl;
+
+ headerDone=true;
+}
+
+
+//-----------------------------------------------------------------------------
+void MDPTableProcessor::process(const gpstk::MDPObsEpoch& oe)
+{
+ outputHeader();
+ MDPObsEpoch::ObsMap::const_iterator i;
+ for (i = oe.obs.begin(); i != oe.obs.end(); i++)
+ {
+ const MDPObsEpoch::Observation& obs=i->second;
+ out << oe.time.printf(timeFormat)
+ << fixed
+ << ", " << setw(3) << oe.id
+ << ", " << setw(2) << (int) oe.prn
+ << ", " << setw(2) << (int) oe.channel
+ << ", " << setw(2) << hex << (int) oe.status << dec
+ << ", " << setw(2) << (int) oe.numSVs
+ << setprecision(1)
+ << ", " << setw(2) << (int) oe.elevation
+ << ", " << setw(3) << (int) oe.azimuth
+ << ", " << setw(1) << obs.range
+ << ", " << setw(1) << obs.carrier
+ << ", " << setw(7) << obs.lockCount
+ << setprecision(2)
+ << ", " << setw(5) << obs.snr
+ << setprecision(4)
+ << ", " << setw(13) << obs.pseudorange
+ << ", " << setw(14) << obs.phase
+ << ", " << setw(10) << obs.doppler
+ << endl;
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+void MDPTableProcessor::process(const gpstk::MDPPVTSolution& pvt)
+{
+ outputHeader();
+ out << pvt.time.printf(timeFormat)
+ << fixed
+ << ", " << setw(3) << pvt.id
+ << ", " << setw(2) << (int)pvt.numSVs
+ << setprecision(3)
+ << ", " << setw(12) << pvt.dtime*1e9
+ << setprecision(6)
+ << ", " << setw(9) << pvt.ddtime*1e9
+ << setprecision(3)
+ << ", " << setw(12) << pvt.x[0]
+ << ", " << setw(12) << pvt.x[1]
+ << ", " << setw(12) << pvt.x[2]
+ << setprecision(3)
+ << ", " << setw(8) << pvt.v[0]
+ << ", " << setw(8) << pvt.v[1]
+ << ", " << setw(8) << pvt.v[2]
+ << endl;
+}
+
+
+//-----------------------------------------------------------------------------
+void MDPTableProcessor::process(const gpstk::MDPNavSubframe& sf)
+{
+ outputHeader();
+ out << sf.time.printf(timeFormat)
+ << fixed
+ << ", " << setw(3) << sf.id
+ << ", " << setw(2) << sf.prn
+ << ", " << int(sf.carrier)
+ << ", " << int(sf.range)
+ << ", " << int(sf.nav);
+
+ if (verboseLevel)
+ {
+ out << setfill('0') << hex;
+ for(int i = 1; i < sf.subframe.size(); i++)
+ out << ", " << setw(8) << uppercase << sf.subframe[i];
+ out << dec << setfill(' ');
+ }
+ out << endl;
+}
+
+
+//-----------------------------------------------------------------------------
+void MDPTableProcessor::process(const gpstk::MDPSelftestStatus& sts)
+{
+ outputHeader();
+ out << sts.time.printf(timeFormat)
+ << fixed
+ << ", " << setw(3) << sts.id
+ << ", " << sts.selfTestTime.printf("%4F/%9.2g")
+ << ", " << sts.firstPVTTime.printf("%4F/%9.2g")
+ << ", " << setprecision(1) << sts.antennaTemp
+ << ", " << setprecision(1) << sts.receiverTemp
+ << ", " << hex << sts.status << dec
+ << ", " << setprecision(1) << sts.cpuLoad
+ << ", " << hex << sts.extFreqStatus << dec
+ << ", " << hex << sts.saasmStatusWord << dec
+ << endl;
+}
+
+
+//-----------------------------------------------------------------------------
+void MDPVerboseProcessor::process(const gpstk::MDPObsEpoch& oe)
+{
+ if (verboseLevel)
+ {
+ oe.dump(out);
+ out << endl;
+ }
+ else
+ {
+ out << oe.getName() << "-:"
+ << " T:" << oe.time.printf(timeFormat)
+ << left
+ << " #SV:" << setw(2) << (int)oe.numSVs
+ << " Ch:" << setw(2) << (int)oe.channel
+ << " PRN:" << setw(2) << (int)oe.prn
+ << " El:" << setw(2) << (int)oe.elevation;
+
+ MDPObsEpoch::ObsMap::const_iterator i;
+ for (i = oe.obs.begin(); i != oe.obs.end(); i++)
+ {
+ const MDPObsEpoch::Observation& obs=i->second;
+ out << " " << StringUtils::asString(obs.carrier)
+ << "-" << StringUtils::asString(obs.range);
+ }
+ out << endl;
+ }
+
+
+}
+
+
+//-----------------------------------------------------------------------------
+void MDPVerboseProcessor::process(const gpstk::MDPPVTSolution& pvt)
+{
+ if (verboseLevel)
+ {
+ pvt.dump(out);
+ out << endl;
+ }
+ else
+ {
+ out << pvt.getName() << "-:"
+ << " T:" << pvt.time.printf(timeFormat)
+ << left
+ << " #SV:" << setw(2) << (int)pvt.numSVs
+ << " X:" << StringUtils::asString(pvt.x[0], 3)
+ << " Y:" << StringUtils::asString(pvt.x[1], 3)
+ << " Z:" << StringUtils::asString(pvt.x[2], 3)
+ << endl;
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+void MDPVerboseProcessor::process(const gpstk::MDPNavSubframe& sf)
+{
+ if (verboseLevel)
+ {
+ sf.dump(out);
+ out << endl;
+ }
+ else
+ {
+ out << sf.getName() << "-:"
+ << " T:" << sf.time.printf(timeFormat)
+ << " PRN:" << sf.prn
+ << " " << StringUtils::asString(sf.carrier)
+ << "-" << StringUtils::asString(sf.range)
+ << " " << static_cast<int>(sf.nav)
+ << endl;
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+void MDPVerboseProcessor::process(const gpstk::MDPSelftestStatus& sts)
+{
+ sts.dump(out);
+ out << endl;
+}
diff --git a/dev/apps/MDPtools/MDPProcessors.hpp b/dev/apps/MDPtools/MDPProcessors.hpp
new file mode 100644
index 0000000..2826213
--- /dev/null
+++ b/dev/apps/MDPtools/MDPProcessors.hpp
@@ -0,0 +1,130 @@
+#pragma ident "$Id$"
+
+
+/** @file Various presentations/analysis on MDP streams */
+
+//lgpl-license START
+//lgpl-license END
+
+#ifndef MDPPROCESSORS_HPP
+#define MDPPROCESSORS_HPP
+
+#include <vector>
+#include <map>
+#include <set>
+
+#include <StringUtils.hpp>
+#include <Stats.hpp>
+#include <DayTime.hpp>
+
+#include "MDPStream.hpp"
+#include "MDPNavSubframe.hpp"
+#include "MDPObsEpoch.hpp"
+#include "MDPPVTSolution.hpp"
+#include "MDPSelftestStatus.hpp"
+
+//-----------------------------------------------------------------------------
+class MDPProcessor
+{
+public:
+
+ MDPProcessor();
+ MDPProcessor(gpstk::MDPStream& in, std::ofstream& out);
+ virtual ~MDPProcessor() {};
+
+ void process();
+
+ std::string timeFormat;
+ int debugLevel;
+ int verboseLevel;
+ bool die;
+
+ bool processBad;
+ bool pvtOut, obsOut, navOut, tstOut;
+
+ std::ofstream& out;
+ gpstk::MDPStream& in;
+
+ gpstk::DayTime startTime, stopTime;
+ double timeSpan;
+
+ unsigned long msgCount, fcErrorCount;
+ unsigned short firstFC, lastFC;
+
+ // A bitmask of bugs to not report
+ // bit 0: SV count mismatch
+ //
+ unsigned long bugMask;
+
+private:
+ /// All processors are defined so that subclasses don't have to
+ /// define process methods for messages they don't care about.
+ virtual void process(const gpstk::MDPObsEpoch& oe) {};
+ virtual void process(const gpstk::MDPPVTSolution& pvt) {};
+ virtual void process(const gpstk::MDPNavSubframe& sf) {};
+ virtual void process(const gpstk::MDPSelftestStatus& sts) {};
+};
+
+
+//-----------------------------------------------------------------------------
+class MDPTableProcessor : public MDPProcessor
+{
+ void process(const gpstk::MDPObsEpoch& oe);
+ void process(const gpstk::MDPPVTSolution& pvt);
+ void process(const gpstk::MDPNavSubframe& sts);
+ void process(const gpstk::MDPSelftestStatus& sts);
+
+ bool headerDone;
+ void outputHeader();
+
+public:
+ MDPTableProcessor(gpstk::MDPStream& in, std::ofstream& out);
+};
+
+
+//-----------------------------------------------------------------------------
+class MDPBriefProcessor : public MDPProcessor
+{
+ void process(const gpstk::MDPObsEpoch& oe)
+ {out << "o " << std::flush; };
+
+ void process(const gpstk::MDPPVTSolution& pvt)
+ {out << "p " << std::flush; };
+
+ void process(const gpstk::MDPNavSubframe& sf)
+ {out << "n " << std::flush; };
+
+ void process(const gpstk::MDPSelftestStatus& sts)
+ {out << "s " << std::flush; };
+
+public:
+ MDPBriefProcessor(gpstk::MDPStream& in, std::ofstream& out) :
+ MDPProcessor(in, out)
+ {};
+};
+
+
+//-----------------------------------------------------------------------------
+class MDPVerboseProcessor : public MDPProcessor
+{
+ void process(const gpstk::MDPObsEpoch& oe);
+ void process(const gpstk::MDPPVTSolution& pvt);
+ void process(const gpstk::MDPNavSubframe& sf);
+ void process(const gpstk::MDPSelftestStatus& sts);
+
+public:
+ MDPVerboseProcessor(gpstk::MDPStream& in, std::ofstream& out) :
+ MDPProcessor(in, out)
+ {}
+};
+
+
+//-----------------------------------------------------------------------------
+class MDPNullProcessor : public MDPProcessor
+{
+public:
+ MDPNullProcessor(gpstk::MDPStream& in, std::ofstream& out) :
+ MDPProcessor(in, out)
+ {}
+};
+#endif
diff --git a/dev/apps/MDPtools/Makefile.am b/dev/apps/MDPtools/Makefile.am
new file mode 100644
index 0000000..4874ee7
--- /dev/null
+++ b/dev/apps/MDPtools/Makefile.am
@@ -0,0 +1,13 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../lib/rxio -I$(srcdir)/../../src
+LDADD = ./libmdplib.la ../../lib/rxio/librxio.la ../../src/libgpstk.la
+
+lib_LTLIBRARIES = libmdplib.la
+libmdplib_la_SOURCES = MDPProcessors.cpp SummaryProc.cpp TrackProc.cpp \
+NavProc.cpp
+
+bin_PROGRAMS = mdp2rinex mdptool tcptest
+
+mdptool_SOURCES = mdptool.cpp
+mdp2rinex_SOURCES = mdp2rinex.cpp
+tcptest_SOURCES = tcptest.cpp
diff --git a/dev/apps/MDPtools/NavProc.cpp b/dev/apps/MDPtools/NavProc.cpp
new file mode 100644
index 0000000..cf34a4d
--- /dev/null
+++ b/dev/apps/MDPtools/NavProc.cpp
@@ -0,0 +1,278 @@
+#pragma ident "$Id$"
+
+
+/*
+ Think, navdmp for mdp, with bonus output that you get data from all code/carrier
+ combos.
+*/
+
+#include "Geodetic.hpp"
+#include "NavProc.hpp"
+
+#include "RinexConverters.hpp"
+
+using namespace std;
+using namespace gpstk;
+using namespace gpstk::StringUtils;
+
+
+//-----------------------------------------------------------------------------
+MDPNavProcessor::MDPNavProcessor(gpstk::MDPStream& in, std::ofstream& out)
+ : MDPProcessor(in, out),
+ firstNav(true), almOut(false), ephOut(false), minimalAlm(false),
+ badNavSubframeCount(0), navSubframeCount(0)
+{
+ timeFormat = "%4Y/%03j/%02H:%02M:%02S";
+
+ binByElevation = true;
+ if (binByElevation)
+ {
+ double binSize=5;
+ for (double x=0; x<90; x+=binSize)
+ bins.push_back(Histogram::BinRange(x, x+binSize));
+ }
+ else
+ {
+ bins.push_back(Histogram::BinRange(0, 30));
+ double binSize=3;
+ for (double x=30; x<60; x+=binSize)
+ bins.push_back(Histogram::BinRange(x, x+binSize));
+ bins.push_back(Histogram::BinRange(60, 99));
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+MDPNavProcessor::~MDPNavProcessor()
+{
+ using gpstk::RangeCode;
+ using gpstk::CarrierCode;
+ using gpstk::StringUtils::asString;
+
+ out << "Done processing data." << endl << endl;
+
+ out << endl << "Navigation Subframe message summary:" << endl;
+ if (firstNav)
+ out << " No Navigation Subframe messages processed." << endl;
+ else
+ {
+ out << " navSubframeCount: " << navSubframeCount << endl;
+ out << " badNavSubframeCount: " << badNavSubframeCount << endl;
+ }
+
+ cout << "Parity Errors" << endl;
+ cout << "# snr ";
+ std::map<RangeCarrierPair, Histogram>::const_iterator peh_itr;
+ for (peh_itr = peHist.begin(); peh_itr != peHist.end(); peh_itr++)
+ {
+ const RangeCarrierPair& rcp=peh_itr->first;
+ cout << " " << asString(rcp.second)
+ << "-" << leftJustify(asString(rcp.first), 2);
+ }
+ cout << endl;
+
+ Histogram::BinRangeList::const_iterator brl_itr;
+ for (brl_itr = bins.begin(); brl_itr != bins.end(); brl_itr++)
+ {
+ const Histogram::BinRange& br = *brl_itr ;
+ std::cout << right << setw(2) << br.first << "-"
+ << left << setw(2) << br.second << ":";
+
+ for (peh_itr = peHist.begin(); peh_itr != peHist.end(); peh_itr++)
+ {
+ const RangeCarrierPair& rcp=peh_itr->first;
+ Histogram h=peh_itr->second;
+ cout << right << setw(9) << h.bins[br];
+ }
+
+ cout << endl;
+ }
+
+ // Whoever would write a reference like this should be shot...
+ cout << right << setw(2) << peHist.begin()->second.bins.begin()->first.first
+ << "-" << left << setw(2) << peHist.begin()->second.bins.rbegin()->first.second
+ << ":";
+
+ for (peh_itr = peHist.begin(); peh_itr != peHist.end(); peh_itr++)
+ cout << right << setw(9) << peh_itr->second.total;
+
+ out << endl;
+}
+
+
+//-----------------------------------------------------------------------------
+void MDPNavProcessor::process(const gpstk::MDPNavSubframe& msg)
+{
+ if (firstNav)
+ {
+ firstNav = false;
+ if (verboseLevel)
+ out << msg.time.printf(timeFormat)
+ << " Received first Navigation Subframe message"
+ << endl;
+ }
+
+ navSubframeCount++;
+ RangeCarrierPair rcp(msg.range, msg.carrier);
+ NavIndex ni(rcp, msg.prn);
+
+ gpstk::MDPNavSubframe umsg = msg;
+
+ ostringstream oss;
+ oss << umsg.time.printf(timeFormat)
+ << " PRN:" << setw(2) << umsg.prn
+ << " " << asString(umsg.carrier)
+ << ":" << setw(2) << left << asString(umsg.range)
+ << " ";
+ string msgPrefix = oss.str();
+
+ // First try the data assuming it is already upright
+ umsg.cooked = true;
+ bool parityGood = umsg.checkParity();
+ if (!parityGood)
+ {
+ if (verboseLevel>3)
+ out << msgPrefix << "Raw subframe" << endl;
+ umsg.cooked = false;
+ umsg.cookSubframe();
+ parityGood = umsg.checkParity();
+ }
+ else
+ {
+ if (verboseLevel>3)
+ out << msgPrefix << "Cooked subframe" << endl;
+ }
+
+ if (!parityGood)
+ {
+ badNavSubframeCount++;
+ if (verboseLevel)
+ out << msgPrefix << "Parity error"
+ << " SNR:" << fixed << setprecision(1) << snr[ni]
+ << " EL:" << el[ni]
+ << endl;
+
+ if (peHist.find(rcp) == peHist.end())
+ peHist[rcp].resetBins(bins);
+
+ if (binByElevation)
+ peHist[rcp].addValue(el[ni]);
+ else
+ peHist[rcp].addValue(snr[ni]);
+
+ return;
+ }
+
+ short sfid = umsg.getSFID();
+ short svid = umsg.getSVID();
+ bool isAlm = sfid > 3;
+ long sow = umsg.getHOWTime();
+ short page = ((sow-6) / 30) % 25 + 1;
+
+ if (((isAlm && almOut) || (!isAlm && ephOut))
+ && verboseLevel>2)
+ {
+ out << msgPrefix
+ << "SOW:" << setw(6) << sow
+ << " NC:" << static_cast<int>(umsg.nav)
+ << " I:" << umsg.inverted
+ << " SFID:" << sfid;
+ if (isAlm)
+ out << " SVID:" << svid
+ << " Page:" << page;
+ out << endl;
+ }
+
+ // Sanity check on the header time versus the HOW time
+ short week = umsg.time.GPSfullweek();
+ if (sow <0 || sow>=604800)
+ {
+ badNavSubframeCount++;
+ if (verboseLevel>1)
+ out << msgPrefix << " Bad SOW: " << sow << endl;
+ return;
+ }
+
+ DayTime howTime(week, umsg.getHOWTime());
+ if (howTime == umsg.time)
+ {
+ if (verboseLevel && ! (bugMask & 0x4))
+ out << msgPrefix << " Header time==HOW time" << endl;
+ }
+ else if (howTime != umsg.time+6)
+ {
+ badNavSubframeCount++;
+ if (verboseLevel>1)
+ out << msgPrefix << " HOW time != hdr time+6, HOW:"
+ << howTime.printf(timeFormat)
+ << endl;
+ return;
+ }
+
+ prev[ni] = curr[ni];
+ curr[ni] = umsg;
+
+ if (isAlm && almOut)
+ {
+ AlmanacPages& almPages = almPageStore[ni];
+ EngAlmanac& engAlm = almStore[ni];
+ SubframePage sp(sfid, page);
+ almPages[sp] = umsg;
+ almPages.insert(make_pair(sp, umsg));
+
+ if (makeEngAlmanac(engAlm, almPages, !minimalAlm))
+ {
+ out << msgPrefix << "Built complete almanac" << endl;
+ if (verboseLevel>2)
+ dump(out, almPages);
+ if (verboseLevel>1)
+ engAlm.dump(out);
+ almPages.clear();
+ engAlm = EngAlmanac();
+ }
+ }
+ if (!isAlm && ephOut)
+ {
+ EphemerisPages& ephPages = ephPageStore[ni];
+ ephPages[sfid] = umsg;
+ EngEphemeris engEph;
+ try
+ {
+ if (makeEngEphemeris(engEph, ephPages))
+ {
+ out << msgPrefix << "Built complete ephemeris, iocd:0x"
+ << hex << setw(3) << engEph.getIODC() << dec
+ << endl;
+ if (verboseLevel>2)
+ dump(out, ephPages);
+ if (verboseLevel>1)
+ out << engEph;
+ ephStore[ni] = engEph;
+ }
+ }
+ catch (gpstk::Exception& e)
+ {
+ out << e << endl;
+ }
+ }
+
+ if (verboseLevel>3)
+ out << endl;
+
+} // end of process()
+
+
+void MDPNavProcessor::process(const gpstk::MDPObsEpoch& msg)
+{
+ if (!msg)
+ return;
+
+ for (gpstk::MDPObsEpoch::ObsMap::const_iterator i = msg.obs.begin();
+ i != msg.obs.end(); i++)
+ {
+ const gpstk::MDPObsEpoch::Observation& obs=i->second;
+ NavIndex ni(RangeCarrierPair(obs.range, obs.carrier), msg.prn);
+ snr[ni] = obs.snr;
+ el[ni] = msg.elevation;
+ }
+}
diff --git a/dev/apps/MDPtools/NavProc.hpp b/dev/apps/MDPtools/NavProc.hpp
new file mode 100644
index 0000000..bc80a4e
--- /dev/null
+++ b/dev/apps/MDPtools/NavProc.hpp
@@ -0,0 +1,72 @@
+#pragma ident "$Id$"
+
+#ifndef MDPNAV_HPP
+#define MDPNAV_HPP
+
+#include <map>
+
+#include "EngEphemeris.hpp"
+#include "EngAlmanac.hpp"
+
+#include "Histogram.hpp"
+
+#include "MDPProcessors.hpp"
+
+
+//-----------------------------------------------------------------------------
+class MDPNavProcessor : public MDPProcessor
+{
+public:
+ MDPNavProcessor(gpstk::MDPStream& in, std::ofstream& out);
+ ~MDPNavProcessor();
+
+ virtual void process(const gpstk::MDPNavSubframe& msg);
+ virtual void process(const gpstk::MDPObsEpoch& msg);
+
+ bool firstNav;
+
+ static const int maxChannel=12;
+
+ // First time is of the first missed epoch, second time is the last missed epoch
+ // (i.e. first = previous + obsRateEst, second=current-ObsRateEst
+ typedef std::pair<gpstk::DayTime, gpstk::DayTime> DayTimePair;
+ typedef std::list<DayTimePair> DayTimePairList;
+
+ // Used to control whether we process the engineering eph/alms.
+ bool ephOut;
+ bool almOut;
+ bool minimalAlm; // Set true to allow an alm to be built from a minimal set of pages
+
+ // This is really a triple: RangeCode, CarrierCode, prn
+ typedef std::pair<gpstk::RangeCode, gpstk::CarrierCode> RangeCarrierPair;
+ typedef std::pair<RangeCarrierPair, short> NavIndex;
+
+ // This class can keep track of a subframe and where it came from
+ typedef std::map<NavIndex, gpstk::MDPNavSubframe> NavMap;
+
+ // A note on nomenclature. A navigation subframe is as defined in the
+ // '200 and refers a set of 300 bits of the navigation that can be modulated
+ // on the various codes. Think of it as the raw bits. A navigation message
+ // is a logical set of these subframes. For an ephemeris it will always consist
+ // of three subframes, with subframe ids of 1, 2, and 3. For an almanac it will
+ // consist of an undefined number of subframes, all with subframe ids of 4 and 5.
+
+ NavMap prev, curr;
+
+ std::map<NavIndex, gpstk::AlmanacPages> almPageStore;
+ std::map<NavIndex, gpstk::EngAlmanac> almStore;
+
+ std::map<NavIndex, gpstk::EphemerisPages> ephPageStore;
+ std::map<NavIndex, gpstk::EngEphemeris> ephStore;
+
+ std::list<gpstk::MDPNavSubframe> badList;
+ unsigned long badNavSubframeCount, navSubframeCount;
+
+ std::map<NavIndex, double> snr; // 'current' SNR
+ std::map<NavIndex, double> el; // 'current' elevation
+
+ bool binByElevation;
+ std::map<RangeCarrierPair, gpstk::Histogram> peHist;
+ gpstk::Histogram::BinRangeList bins;
+};
+#endif
diff --git a/dev/apps/MDPtools/SummaryProc.cpp b/dev/apps/MDPtools/SummaryProc.cpp
new file mode 100644
index 0000000..021325e
--- /dev/null
+++ b/dev/apps/MDPtools/SummaryProc.cpp
@@ -0,0 +1,559 @@
+#pragma ident "$Id$"
+
+
+/*
+ This intended to perform a quick summary/analysis of the data in a MDP file
+ or stream. The idea is teqc +meta or +mds with a little bit of +qc thrown
+ in for good measure.
+
+ Mainly driven by the needs of the receiver test cases. The following are
+ some of the test cases that this class is to support.
+
+ RS-13 | needs to report data gaps |
+ RS-16 | needs to report data gaps (based upon presense of data, not sv visibility) |
+ RS-31 | Needs to report jumps in the clock offset reported in the PVT messages |
+ RS-32 | "" |
+ RS-58 | Analyze the changes in lock count over tracking anomolies |
+ RS-72 | |
+ RS-133 | Heh, need to run this for 90 days... |
+*/
+
+#include "Geodetic.hpp"
+#include "EngEphemeris.hpp"
+#include "SummaryProc.hpp"
+
+using namespace std;
+using namespace gpstk;
+using namespace gpstk::StringUtils;
+
+
+//-----------------------------------------------------------------------------
+MDPSummaryProcessor::MDPSummaryProcessor(gpstk::MDPStream& in, std::ofstream& out)
+ : MDPProcessor(in, out),
+ numEpochs(0), numObsEpochMsg(0),
+ firstObs(true), firstPvt(true), firstNav(true), firstSelftest(true),
+ firstObsTime(gpstk::DayTime::END_OF_TIME),
+ lastObsTime(gpstk::DayTime::BEGINNING_OF_TIME),
+ firstNavTime(gpstk::DayTime::END_OF_TIME),
+ lastNavTime(gpstk::DayTime::BEGINNING_OF_TIME),
+ prevEpochTime(gpstk::DayTime::BEGINNING_OF_TIME),
+ obsRateEst(0), pvtRateEst(0),
+ prevObs(maxChannel+1),
+ chanGapList(maxChannel+1),
+ svCountErrorCount(0)
+{
+ elevBins.push_back(elevationPair(10,90));
+ elevBins.push_back(elevationPair( 0, 5));
+ elevBins.push_back(elevationPair( 5,10));
+ elevBins.push_back(elevationPair(10,20));
+ elevBins.push_back(elevationPair(20,60));
+ elevBins.push_back(elevationPair(60,90));
+ processBad = true;
+}
+
+
+//-----------------------------------------------------------------------------
+MDPSummaryProcessor::~MDPSummaryProcessor()
+{
+ using gpstk::RangeCode;
+ using gpstk::CarrierCode;
+ using gpstk::StringUtils::asString;
+
+ out << "Done processing data." << endl << endl;
+
+ out << endl << "Header summary:" << endl;
+ cout << " Processed "<< msgCount << " headers." << endl
+ << " First freshness count was " << hex << firstFC << dec << endl
+ << " Last freshness count was " << hex << lastFC << dec << endl
+ << " Encountered " << fcErrorCount << " breaks in the freshness count" << endl;
+
+ out << endl << "Observation Epoch message summary:" << endl;
+
+ if (firstObs)
+ out << "No Observation Epoch messages processed." << endl;
+ else
+ {
+ double dt = lastObsTime - firstObsTime;
+ out << " Processed " << numObsEpochMsg
+ << " observation epoch messages spanning "
+ << numEpochs << " epochs."
+ << endl
+ << " Obs data spans " << firstObsTime.printf(timeFormat)
+ << " to " << lastObsTime.printf(timeFormat)
+ << " (" << secondsAsHMS(dt) << ")"
+ << endl
+ << " Obs output rate is " << setprecision(2) << obsRateEst
+ << " sec."
+ << endl;
+
+ for (DayTimePairList::const_iterator i=epochGapList.begin(); i!=epochGapList.end(); i++)
+ if (std::abs(i->first - i->second - obsRateEst) > 1e-3)
+ out << " Data gap from " << i->second.printf(timeFormat)
+ << " to " << i->first.printf(timeFormat)
+ << " ( " << secondsAsHMS(i->first - i->second) << " )."
+ << endl;
+
+ for (elevBinList::const_iterator i=elevBins.begin(); i!=elevBins.end(); i++)
+ {
+ const ocm &oc = whack[*i];
+ if (oc.size())
+ out << " Elevation: " << i->first << "..." << i->second << endl;
+ for (ocm::const_iterator j=oc.begin(); j!=oc.end(); j++)
+ {
+ const rc_set ccs = j->first;
+ if (ccs.size())
+ {
+ out << setw(10) << j->second << " ";
+ for (rc_set::const_iterator k=ccs.begin(); k!=ccs.end(); k++)
+ out << "(" << asString(k->second)
+ << ", " << asString(k->first) << ")";
+ out << endl;
+ }
+ }
+ if (verboseLevel<2)
+ break;
+ out << endl;
+ }
+
+ cout << "Encountered " << svCountErrorCount << " SV count errors." << endl;
+ }
+
+ out << endl << "PVT Solution message summary:" << endl;
+ if (firstPvt)
+ out << " No PVT Solution messages processed." << endl;
+ else
+ {
+ double dt = lastPvtTime - firstPvtTime;
+ out << " Pvt data spans " << firstPvtTime.printf(timeFormat)
+ << " to " << lastPvtTime.printf(timeFormat)
+ << " (" << secondsAsHMS(dt) << ")"
+ << endl
+ << " PVT output rate is " << setprecision(2) << pvtRateEst << " sec."
+ << endl << endl;
+ }
+
+
+ out << endl << "Navigation Subframe message summary:" << endl;
+ if (firstNav)
+ out << " No Navigation Subframe messages processed." << endl;
+ else
+ {
+ double dt = lastNavTime - firstNavTime;
+ out << " Nav data spans " << firstNavTime.printf(timeFormat)
+ << " to " << lastNavTime.printf(timeFormat)
+ << " (" << secondsAsHMS(dt) << ")"
+ << endl << endl;
+ }
+
+ out << endl;
+ if (badMessages.size())
+ {
+ out << "Received " << badMessages.size() << " messages with an error." << endl;
+ if (verboseLevel>1)
+ {
+ out << "Headers from the bad messages:" << endl;
+ for (MDPList::const_iterator i=badMessages.begin(); i!=badMessages.end(); i++)
+ i->dump(out);
+ }
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+void MDPSummaryProcessor::process(const gpstk::MDPObsEpoch& msg)
+{
+ if (!msg)
+ {
+ badMessages.push_back(msg);
+ return;
+ }
+
+ // First, do gross accounting on the rate the obs are coming in
+ if (firstObs)
+ {
+ firstObsTime = msg.time;
+ firstObs = false;
+ if (verboseLevel)
+ out << msg.time.printf(timeFormat)
+ << " Received first Observation Epoch message"
+ << endl;
+ }
+ else
+ {
+ double dt = msg.time - prevEpochTime;
+ if (std::abs(dt - obsRateEst) > 1e-3 && dt>0)
+ {
+ if (obsRateEst > 0)
+ {
+ gpstk::DayTime first = prevEpochTime + dt;
+ gpstk::DayTime second = msg.time - dt;
+ epochGapList.push_back(DayTimePair(first, second));
+ if (verboseLevel)
+ {
+ out << msg.time.printf(timeFormat)
+ << " Obs output rate " << dt << " sec";
+ if (obsRateEst != 0)
+ out << " (was " << obsRateEst << " sec).";
+ out << endl;
+ }
+ }
+ obsRateEst = dt;
+ }
+ }
+
+ lastObsTime=msg.time;
+
+ // Next, make a set of the obs that this epoch has and add
+ // this to a list in the appropriate elevation bin
+ rc_set ccs;
+ for (gpstk::MDPObsEpoch::ObsMap::const_iterator i = msg.obs.begin();
+ i != msg.obs.end(); i++)
+ {
+ const gpstk::MDPObsEpoch::Observation& obs=i->second;
+ rcpair rcPair(obs.range, obs.carrier);
+ ccs.insert(rcPair);
+ }
+
+ // figure out what bins we should update code/carrier counts on
+ for (elevBinList::const_iterator i=elevBins.begin(); i!=elevBins.end(); i++)
+ if (msg.elevation >= i->first && msg.elevation <= i->second)
+ whack[*i][ccs]++;
+
+ // This part does some accounting on a per channel basis. The intent is to
+ // look for when there is a gap in the data on a channel.
+ int prn=msg.prn;
+ int chan=msg.channel;
+
+ // First check to see if this channel has been used yet...
+ if (prevObs[chan].prn == 0)
+ {
+ // do nothing
+ }
+ else
+ {
+ // flag when there is a gap on this channel
+ double dt = msg.time - prevObs[chan].time;
+ if (std::abs(dt) < 1e-3)
+ {
+ out << msg.time.printf(timeFormat)
+ << " Got two consecutive obs on channel "
+ << chan << " with the same time." << endl;
+ if (verboseLevel)
+ msg.dump(out), prevObs[chan].dump(out);
+ }
+ else if (obsRateEst == 0)
+ {
+ // do nothing
+ }
+ else if ( (std::abs(dt - obsRateEst) > 1e-3) &&
+ (prevObs[chan].prn == msg.prn) )
+ {
+ gpstk::DayTime first = prevObs[chan].time + dt;
+ gpstk::DayTime second = msg.time - dt;
+ chanGapList[chan].push_back(DayTimePair(first, second));
+ if (verboseLevel>1)
+ out << msg.time.printf(timeFormat)
+ << " Data gap on channel " << chan
+ << ", " << secondsAsHMS(dt)
+ << endl;
+ if (verboseLevel>2)
+ {
+ out << " prev obs on chan " << chan << endl;
+ prevObs[chan].dump(out);
+ out << " curr obs:" << endl;
+ msg.dump(out);
+ }
+ }
+
+ // Look for discontinuities in the lock count
+ // Since this can be quite verbose, only do it in verbose mode
+ if (verboseLevel)
+ {
+ for (gpstk::MDPObsEpoch::ObsMap::const_iterator i = msg.obs.begin();
+ i != msg.obs.end(); i++)
+ {
+ const gpstk::MDPObsEpoch::Observation& curr=i->second;
+ if (prevObs[chan].haveObservation(i->first.first, i->first.second))
+ {
+ gpstk::MDPObsEpoch::Observation prev = prevObs[chan].getObservation(i->first.first, i->first.second);
+ if (curr.lockCount - prev.lockCount != 1)
+ {
+ // The current ash2mdp has periods where it outputs every
+ // message with a lock count of zero
+ if ((prev.lockCount > 0 && verboseLevel>1) || verboseLevel>2)
+ out << msg.time.printf(timeFormat)
+ << " Lock count reset prn " << prn
+ << ", chan " << chan
+ << ", " << asString(i->first.first)
+ << " " << asString(i->first.second)
+ << " (" << prev.lockCount
+ << " -> " << curr.lockCount
+ << ")" << endl;
+ }
+ }
+ }
+ }
+ }
+
+ // Keep track of the number of epochs we have processed and check the
+ // numSVs field.
+ if (prevEpochTime != msg.time)
+ {
+ numEpochs++;
+
+ int prevActual=0;
+ int prevReported=0;
+ for (size_t i = 1; i<=maxChannel; i++)
+ {
+ if (prevObs[i].time == prevEpochTime)
+ {
+ prevActual++;
+ if (prevReported==0)
+ prevReported = prevObs[i].numSVs;
+ }
+ }
+ if (prevActual != prevReported)
+ {
+ svCountErrorCount++;
+ if (! (bugMask & 0x01))
+ cout << prevEpochTime.printf(timeFormat)
+ << " Epoch claimed " << prevReported
+ << " SVs but only received " << prevActual << endl;
+ }
+ }
+
+ prevObs[chan] = msg;
+ prevEpochTime = msg.time;
+ numObsEpochMsg++;
+}
+
+
+//-----------------------------------------------------------------------------
+void MDPSummaryProcessor::process(const gpstk::MDPPVTSolution& msg)
+{
+ if (!msg)
+ {
+ badMessages.push_back(msg);
+ return;
+ }
+
+ if (firstPvt)
+ {
+ firstPvt = false;
+ firstPvtTime = msg.time;
+ if (verboseLevel)
+ out << msg.time.printf(timeFormat)
+ << " Received first PVT Solution message"
+ << endl;
+ }
+ else
+ {
+ double dt = msg.time - prevPvt.time;
+ if (std::abs(dt - pvtRateEst) > 1e-3 && dt>0)
+ {
+ if (verboseLevel)
+ {
+ out << msg.time.printf(timeFormat)
+ << " PVT output rate " << dt << " sec";
+ if (pvtRateEst != 0)
+ out << "(was " << pvtRateEst << " sec).";
+ out << endl;
+ }
+ pvtRateEst = dt;
+
+ // flag when there is a gap
+ double dt = msg.time - prevPvt.time;
+ if (std::abs(dt) < 1e-3)
+ {
+ out << msg.time.printf(timeFormat)
+ << " Got two consecutive PVT messages with the same time." << endl;
+ if (verboseLevel)
+ msg.dump(out), prevPvt.dump(out);
+ }
+ else if (pvtRateEst == 0)
+ {
+ // do nothing
+ }
+ else if ( std::abs(dt - pvtRateEst) > 1e-3 )
+ {
+ gpstk::DayTime first = prevPvt.time + dt;
+ gpstk::DayTime second = msg.time - dt;
+ if (verboseLevel)
+ out << msg.time.printf(timeFormat)
+ << " Gap in PVT messages: " << secondsAsHMS(dt)
+ << endl;
+ if (verboseLevel>2)
+ {
+ out << " prev pvt:" << endl;
+ prevPvt.dump(out);
+ out << " curr obs:" << endl;
+ msg.dump(out);
+ }
+ }
+
+ // Look for discontinuities in the recevier clock estimate
+ double ddt = msg.dtime - prevPvt.dtime;
+ double dtdt = ddt/(msg.time - prevPvt.time);
+ double dtdtErr = std::abs(dtdt - msg.ddtime);
+ if (dtdt > 1e-6)
+ out << msg.time.printf(timeFormat)
+ << " Clock jump: " << setprecision(3) << scientific << ddt
+ << " sec, (" << dtdt << " vs " << msg.ddtime
+ << " sec/sec)"
+ << fixed << endl;
+ else if (dtdtErr > 1e-8 && verboseLevel)
+ out << msg.time.printf(timeFormat)
+ << " Clock error: " << setprecision(3) << scientific << ddt
+ << " sec, (" << dtdt << " vs " << msg.ddtime
+ << " sec/sec)"
+ << fixed << endl;
+ }
+
+ prevPvt = msg;
+ lastPvtTime = msg.time;
+ }
+}
+
+//-----------------------------------------------------------------------------
+void MDPSummaryProcessor::process(const gpstk::MDPNavSubframe& msg)
+{
+ if (!msg)
+ {
+ badMessages.push_back(msg);
+ return;
+ }
+
+ gpstk::MDPNavSubframe umsg = msg;
+
+ // First try the data assuming it is already upright
+ umsg.cooked = true;
+ bool parityGood = umsg.checkParity();
+ if (!parityGood)
+ {
+ if (verboseLevel>2)
+ out << msg.time.printf(timeFormat)
+ << " Subframe appears raw" << endl;
+ umsg.cooked = false;
+ umsg.cookSubframe();
+ parityGood = umsg.checkParity();
+ }
+ else
+ {
+ if (verboseLevel>2)
+ out << msg.time.printf(timeFormat)
+ << " Subframe appears cooked" << endl;
+ }
+
+
+ if (!(bugMask & 0x2) && !parityGood)
+ {
+ MDPNavSubframe tmp(msg);
+ tmp.setstate(parbit);
+ badMessages.push_back(tmp);
+ return;
+ }
+
+ long how_sow = umsg.getHOWTime();
+ long hdr_sow = static_cast<long>(umsg.time.GPSsow());
+ if (how_sow < 0 || how_sow >= 604800)
+ {
+ if (verboseLevel)
+ out << umsg.time.printf(timeFormat)
+ << " Bogus HOW SOW (" << how_sow << ")"
+ << endl;
+ MDPNavSubframe tmp(umsg);
+ tmp.setstate(fmtbit);
+ badMessages.push_back(tmp);
+ return;
+ }
+
+ if ( (how_sow != hdr_sow+6 && how_sow != hdr_sow) ||
+ (how_sow == hdr_sow && !(bugMask & 0x4)) )
+ {
+ if (verboseLevel)
+ out << umsg.time.printf(timeFormat)
+ << " Navigation Subframe HOW/header time mismatch ("
+ << how_sow << " vs " << hdr_sow << ")"
+ << endl;
+ MDPNavSubframe tmp(umsg);
+ tmp.setstate(fmtbit);
+ badMessages.push_back(tmp);
+ return;
+ }
+
+ if (umsg && firstNav)
+ {
+ firstNav = false;
+ firstNavTime = umsg.time;
+ if (verboseLevel)
+ out << umsg.time.printf(timeFormat)
+ << " Received first Navigation Subframe message"
+ << endl;
+ }
+
+ lastNavTime = umsg.time;
+}
+
+
+//-----------------------------------------------------------------------------
+void MDPSummaryProcessor::process(const gpstk::MDPSelftestStatus& msg)
+{
+ if (!msg)
+ {
+ badMessages.push_back(msg);
+ return;
+ }
+
+ if (firstSelftest)
+ {
+ firstSelftest = false;
+ if (verboseLevel)
+ out << msg.time.printf(timeFormat)
+ << " Received first Selftest Status message"
+ << endl;
+ }
+
+ if (verboseLevel)
+ {
+ if (msg.extFreqStatus != prevSelftestStatus.extFreqStatus)
+ out << msg.time.printf(timeFormat)
+ << " External Frequency Status: "
+ << msg.extFreqStatus
+ << endl;
+
+ if (msg.saasmStatusWord != prevSelftestStatus.saasmStatusWord)
+ out << msg.time.printf(timeFormat)
+ << " SAASM Status Word: 0x"
+ << hex << msg.saasmStatusWord << dec
+ << endl;
+ }
+ prevSelftestStatus = msg;
+}
+
+std::string MDPSummaryProcessor::secondsAsHMS(double seconds) const
+{
+ std::ostringstream oss;
+ oss << setfill('0');
+
+ if (seconds<0)
+ oss << "-";
+
+ seconds = std::abs(seconds);
+ long d=0,h=0,m=0,s=0;
+ s = static_cast<long>(std::floor(seconds));
+ seconds -= static_cast<double>(s);
+
+ if (s > 86400) { d = s/86400; s %= 86400; }
+ if (s > 3600) { h = s/3600; s %= 3600; }
+ if (s > 60) { m = s/60; s %= 60; }
+
+ if (d) oss << d << " d ";
+ if (h) oss << setw(2) << h << ":";
+ if (m) oss << setw(2) << m << ":";
+ if (h || m)
+ oss << fixed << setprecision(1) << setw(4) << seconds+s;
+ else
+ oss << setfill(' ') << fixed << setprecision(1) << seconds+s << " s";
+
+ return oss.str();
+}
diff --git a/dev/apps/MDPtools/SummaryProc.hpp b/dev/apps/MDPtools/SummaryProc.hpp
new file mode 100644
index 0000000..ce8d8a6
--- /dev/null
+++ b/dev/apps/MDPtools/SummaryProc.hpp
@@ -0,0 +1,70 @@
+#pragma ident "$Id$"
+
+
+#ifndef MDPSUMMARY_HPP
+#define MDPSUMMARY_HPP
+
+#include "MDPProcessors.hpp"
+
+//-----------------------------------------------------------------------------
+class MDPSummaryProcessor : public MDPProcessor
+{
+public:
+ MDPSummaryProcessor(gpstk::MDPStream& in, std::ofstream& out);
+ ~MDPSummaryProcessor();
+
+ virtual void process(const gpstk::MDPObsEpoch& msg);
+ virtual void process(const gpstk::MDPPVTSolution& msg);
+ virtual void process(const gpstk::MDPNavSubframe& msg);
+ virtual void process(const gpstk::MDPSelftestStatus& msg);
+
+ unsigned long numEpochs;
+ unsigned long numObsEpochMsg;
+
+ std::string secondsAsHMS(double s) const;
+
+ typedef std::pair<int, int> elevationPair; // first is min, second is max
+ typedef std::list<elevationPair> elevBinList;
+ elevBinList elevBins;
+
+ // Used to determine how many of each type of obs we get
+ typedef std::pair<gpstk::RangeCode, gpstk::CarrierCode> rcpair;
+ typedef std::set<rcpair> rc_set;
+ typedef std::map<rc_set, unsigned long> ocm;
+ typedef std::map<elevationPair, ocm> ebocm;
+ ebocm whack;
+
+ // How many epochs that have the incorrect number of SVs in them.
+ unsigned long svCountErrorCount;
+
+ // the time of the first epoch processed and the last epoch processed
+ gpstk::DayTime firstObsTime, lastObsTime;
+ gpstk::DayTime firstPvtTime, lastPvtTime;
+ gpstk::DayTime firstNavTime, lastNavTime;
+
+ bool firstObs, firstPvt, firstNav, firstSelftest;
+ double obsRateEst, pvtRateEst;
+ gpstk::DayTime prevEpochTime;
+
+ static const int maxChannel=12;
+
+ // First time is of the first missed epoch, second time is the last missed epoch
+ // (i.e. first = previous + obsRateEst, second=current-ObsRateEst
+ typedef std::pair<gpstk::DayTime, gpstk::DayTime> DayTimePair;
+ typedef std::list<DayTimePair> DayTimePairList;
+ DayTimePairList epochGapList;
+ std::vector<DayTimePairList> chanGapList;
+
+ // This is used to record the previous obs on each channel
+ typedef std::vector<gpstk::MDPObsEpoch> ObsEpochVector;
+ ObsEpochVector prevObs;
+
+ gpstk::MDPPVTSolution prevPvt;
+ gpstk::MDPSelftestStatus prevSelftestStatus;
+
+ // A list of all messages that had an error decoding them...
+ typedef std::list<gpstk::MDPHeader> MDPList;
+ MDPList badMessages;
+
+};
+#endif
diff --git a/dev/apps/MDPtools/TrackProc.cpp b/dev/apps/MDPtools/TrackProc.cpp
new file mode 100644
index 0000000..99cfbda
--- /dev/null
+++ b/dev/apps/MDPtools/TrackProc.cpp
@@ -0,0 +1,142 @@
+#pragma ident "$Id$"
+
+
+/*
+ This intended to perform a quick summary/analysis of the data in a MDP file
+ or stream. The idea is teqc +meta or +mds with a little bit of +qc thrown
+ in for good measure
+*/
+
+#include "Geodetic.hpp"
+#include "TrackProc.hpp"
+
+using namespace std;
+using namespace gpstk;
+using namespace gpstk::StringUtils;
+
+
+//-----------------------------------------------------------------------------
+MDPTrackProcessor::MDPTrackProcessor(gpstk::MDPStream& in, std::ofstream& out)
+ : MDPProcessor(in, out),
+ currCv(13), prevCv(13)
+{
+ timeFormat = "%02H:%02M:%04.1f";
+ for (int i=1; i<currCv.size(); i++)
+ currCv[i].prn=-1;
+ for (int i=1; i<prevCv.size(); i++)
+ prevCv[i].prn=-1;
+
+ obsOut = true;
+}
+
+
+MDPTrackProcessor::~MDPTrackProcessor()
+{}
+
+void MDPTrackProcessor::process(const gpstk::MDPObsEpoch& oe)
+{
+ if (oe.time != currTime)
+ {
+ printChanges();
+ prevTime = currTime;
+ currTime = oe.time;
+ prevCv = currCv;
+ for (int i=1; i<currCv.size(); i++)
+ currCv[i].prn=-1;
+ }
+
+ int prn=oe.prn;
+ int chan=oe.channel;
+
+ if (chan<1 || chan >12)
+ cout << "Bad channel" << endl, exit(-1);
+
+ // make a set of the obs that this epoch has
+ rc_set ccs;
+ currCv[chan].codes = " ";
+ for (gpstk::MDPObsEpoch::ObsMap::const_iterator i = oe.obs.begin();
+ i != oe.obs.end(); i++)
+ {
+ const gpstk::MDPObsEpoch::Observation& obs=i->second;
+ rcpair rcPair(obs.range, obs.carrier);
+ ccs.insert(rcPair);
+ if (obs.carrier == ccL1)
+ {
+ if (obs.range == rcCA) currCv[chan].codes[0] = 'c';
+ if (obs.range == rcPcode) currCv[chan].codes[1] = 'p';
+ else if (obs.range == rcYcode) currCv[chan].codes[1] = 'y';
+ else if (obs.range == rcCodeless) currCv[chan].codes[1] = 'z';
+ }
+ else if (obs.carrier == ccL2)
+ {
+ if (obs.range == rcCM) currCv[chan].codes[2] = 'm';
+ else if (obs.range == rcCL) currCv[chan].codes[2] = 'l';
+ else if (obs.range == rcCMCL) currCv[chan].codes[2] = 'x';
+ else if (obs.range == rcCA) currCv[chan].codes[2] = 'c';
+ if (obs.range == rcPcode) currCv[chan].codes[3] = 'p';
+ else if (obs.range == rcYcode) currCv[chan].codes[3] = 'y';
+ else if (obs.range == rcCodeless) currCv[chan].codes[3] = 'z';
+ }
+ }
+ currCv[chan].obs = ccs;
+ currCv[chan].prn = oe.prn;
+ currCv[chan].elevation = oe.elevation;
+}
+
+void MDPTrackProcessor::printChanges()
+{
+ if (verboseLevel)
+ {
+ // This is the one line per channel format.
+ for (int i = 1; i < currCv.size(); i++)
+ {
+ // This means that there has been a change in track
+ bool change = currCv[i].obs != prevCv[i].obs ||
+ currCv[i].prn != prevCv[i].prn ||
+ (prevCv[i].prn == -1 && currCv[i].prn == -1);
+ if (change)
+ {
+ if (prevCv[i].prn == -1 && currCv[i].prn == -1)
+ continue;
+ out << currTime.printf(timeFormat) << " Ch:" << setw(2) << i;
+ if (currCv[i].prn >0)
+ {
+ out << " Prn: " << setw(2) << currCv[i].prn
+ << " Elev: " << fixed << setprecision(1) << setw(4)
+ << currCv[i].elevation << " ";
+ const rc_set &ccs = currCv[i].obs;
+ for (rc_set::const_iterator j=ccs.begin(); j!=ccs.end(); j++)
+ out << " (" << asString(j->second)
+ << ", " << asString(j->first) << ")";
+ }
+ else
+ {
+ out << " unused";
+ }
+ out << endl;
+ }
+ }
+ }
+ else
+ {
+ // This is the one line per epoch with changes
+ bool change=false;
+ for (int i = 1; i < currCv.size() && change==false; i++)
+ change = (currCv[i].obs != prevCv[i].obs ||
+ currCv[i].prn != prevCv[i].prn) &&
+ (prevCv[i].prn != -1 || currCv[i].prn != -1);
+
+ if (change)
+ {
+ out << currTime.printf(timeFormat);
+ for (int i = 1; i < currCv.size(); i++)
+ {
+ if (currCv[i].prn >0)
+ out << setw(4) << currCv[i].prn << currCv[i].codes;
+ else
+ out << setw(4) << " -" << " ";
+ }
+ out << endl;
+ }
+ }
+}
diff --git a/dev/apps/MDPtools/TrackProc.hpp b/dev/apps/MDPtools/TrackProc.hpp
new file mode 100644
index 0000000..98450ad
--- /dev/null
+++ b/dev/apps/MDPtools/TrackProc.hpp
@@ -0,0 +1,37 @@
+#pragma ident "$Id$"
+
+
+#ifndef MDPTRACK_HPP
+#define MDPTRACK_HPP
+
+#include "MDPProcessors.hpp"
+
+//-----------------------------------------------------------------------------
+class MDPTrackProcessor : public MDPProcessor
+{
+public:
+ MDPTrackProcessor(gpstk::MDPStream& in, std::ofstream& out);
+ ~MDPTrackProcessor();
+
+ virtual void process(const gpstk::MDPObsEpoch& oe);
+
+ // Used to determine how many of each type of obs we get
+ typedef std::pair<gpstk::RangeCode, gpstk::CarrierCode> rcpair;
+ typedef std::set<rcpair> rc_set;
+
+ struct ChanRec
+ {
+ int prn;
+ float elevation;
+ rc_set obs;
+ std::string codes;
+ };
+
+ // This is a list of what is being received for each channel
+ typedef std::vector<ChanRec> ChanVector;
+ ChanVector currCv, prevCv;
+ gpstk::DayTime currTime, prevTime;
+
+ void printChanges();
+};
+#endif
diff --git a/dev/apps/MDPtools/UniqueAlmStore.cpp b/dev/apps/MDPtools/UniqueAlmStore.cpp
new file mode 100644
index 0000000..a5c0519
--- /dev/null
+++ b/dev/apps/MDPtools/UniqueAlmStore.cpp
@@ -0,0 +1,406 @@
+#pragma ident "$Id$"
+
+
+//lgpl-license START
+//lgpl-license END
+
+//dod-release-statement START
+//dod-release-statement END
+
+/**
+ * @file UniqueAlmStore.cpp
+ */
+#include <iostream>
+#include "UniqueAlmStore.hpp"
+
+#include "FICData162.hpp"
+#include "FICData62.hpp"
+#include "gps_constants.hpp"
+
+namespace gpstk
+{
+ using namespace std;
+ using namespace gpstk;
+
+ // Table 20-V from IS-GPS-200. Negative numbers inidicate
+ // that the SVID given is nominal, but substitutions are allowe4.
+ static short SVIDOrder[] = { 57, 1,
+ 25, 2,
+ 26, 3,
+ 27, 4,
+ 28, 5,
+ 57, 6,
+ 29, 7,
+ 30, 8,
+ 31, 9,
+ 32, 10,
+ 57, 11,
+ 62, 12,
+ 52, 13,
+ 53, 14,
+ 54, 15,
+ 57, 16,
+ 55, 17,
+ 56, 18,
+ -58, 19,
+ -59, 20,
+ 57, 21,
+ -60, 22,
+ -61, 23,
+ 62, 24,
+ 63, 51 };
+
+ UniqueAlmStore::UniqueAlmStore( NavIndex ni, NavCode nc )
+ {
+ state = WAITING;
+ prn = ni.second;
+ range = (ni.first).first;
+ navCode = nc;
+ startingSOW = -10;
+ candidateToa = -10;
+ written = false;
+ numPagesExamined = 0;
+ ToaTime = gpstk::DayTime::BEGINNING_OF_TIME;
+ }
+
+ pmCI UniqueAlmStore::begin() const { return(pageMap.begin()); }
+ pmCI UniqueAlmStore::end() const { return(pageMap.end()); }
+
+ void UniqueAlmStore::newSubframe( gpstk::MDPNavSubframe nav )
+ {
+ numPagesExamined++;
+
+ // Check parity
+ long sfa[10];
+ nav.fillArray(sfa);
+ uint32_t uint_sfa[10];
+ for (int j=0; j<10; ++j) uint_sfa[j] = static_cast<uint32_t>( sfa[j] );
+ if (!gpstk::EngNav::checkParity(uint_sfa))
+ return;
+
+ // Pull the SVID and time from the subframe
+ short SVID = nav.getSVID();
+ short week = nav.time.GPSfullweek();
+ long sow = nav.getHOWTime();
+ if ( sow >604800)
+ return;
+
+ DayTime howTime(week, sow);
+
+ //if (nav.prn==1) cout << "state, SFID, SVID: " << state << ", " << nav.getSFID() << ", " << SVID;
+ // Definitions that appear to need to be outside the switch
+ short expectedSVID;
+ bool optional;
+ bool storePage;
+ int newState = state;
+ switch (state)
+ {
+ // If WAITING, we're looking for SF 5, Page 25
+ // which is SVID 51.
+ case WAITING:
+ if (SVID!=51) break;
+ candidateToa = getToa(nav);
+ newState = START_ON_NEXT_FRAME;
+ if (nav.prn==1) cout << "State Change:START_ON_NEXT_FRAME" << endl;
+ // Clear the subframe map so it's ready to fill
+ pageMap.clear();
+ ToaTime = DayTime::BEGINNING_OF_TIME;
+ startingSOW = -10;
+ written = false;
+ break;
+
+ // The previous SF5 was pg 25, SVID 51.
+ // The next almanac SF we see should be
+ // Pg 4, pg 1, SVID 57 with a time that's
+ // equal to an even 12.5 min (750 sec) epoch
+ // (lus an appropriate offset for the 3 ephemeris
+ // pages and the usual +6 HOW offset(
+ // in terms of SOW. If so, we've established
+ // sync with the almanac cycle and we should
+ // start collecting.
+ case START_ON_NEXT_FRAME:
+ {
+ if (nav.prn==1) cout << "Checking for start. SFID, SVID = " << nav.getSFID() << ", " << SVID << endl;
+ if (nav.getSFID()!=4 ||
+ SVID!=57 ) { newState=WAITING; break; }
+ long test = nav.getHOWTime();
+ long remainder = test % ALMANAC_PERIOD;
+ if (remainder!=SF4_OFFSET) {newState=WAITING; break; }
+ // Appear to have sync, initialize collection
+ SVIDOrderNdx = 0;
+ startingSOW = test;
+ newState = COLLECTING;
+ if (nav.prn==1) cout << "State Change:COLLECTING" << endl;
+ //break; - NO BREAK, we WANT to drop through
+ // to COLLECTING and process this SF
+ }
+
+ // If COLLECTING, we're
+ case COLLECTING:
+ if (nav.prn==1) cout << "COLLECTING: SVID = : " << SVID << endl;
+ if (isToaPage(SVID))
+ {
+ if (candidateToa!=getToa(nav))
+ {
+ newState = WAITING; // Toa mismatch, restart
+ if (nav.prn==1) cout << "State change: WAITING. toa mismatch" << endl;
+ break;
+ }
+ }
+
+ // Test the SVID
+ storePage = true;
+ expectedSVID = SVIDOrder[SVIDOrderNdx];
+ optional = false;
+ if (expectedSVID < 0)
+ {
+ optional = true;
+ expectedSVID = -1 * expectedSVID;
+ }
+ // Test if page is for unavailable SV
+ if (nav.getSVID()==0 &&
+ expectedSVID>1 && expectedSVID<=32)
+ {
+ storePage = false;
+ }
+ // A relaxed test if page is optional in the ordering
+ else if (optional &&
+ nav.getSVID()!=expectedSVID)
+ {
+ cerr << "WARNING: Expected SVID " << expectedSVID <<
+ ", received SVID " << nav.getSVID() <<
+ ". Continuing." << endl;
+ }
+ else if (expectedSVID!=nav.getSVID())
+ {
+ newState = WAITING; // SVID mismatch, restart
+ if (nav.prn==1) cout << "State change: WAITING. SVID out of order" << endl;
+ break;
+ }
+ SVIDOrderNdx++;
+
+ // All tests passed. Store the page.
+ if (storePage) pageMap.insert( make_pair(expectedSVID,nav) );
+
+ // If this is true, we've collected the final
+ // page of a possible set. Perform some checks.
+ if (expectedSVID==51)
+ {
+ if (nav.prn==1) cout << "Testing for end of cycle." << endl;
+ // Check 12.5 min period
+ // First page in set was a SF4, we're now
+ // 24 frames later with a SF5.
+ // (24 frames * 30s/frame) + 6s = 726s;
+ long nowHOW = nav.getHOWTime();
+ long diff = nowHOW - startingSOW;
+ if (diff!= (ALMANAC_PERIOD+6-30) )
+ {
+ newState = WAITING; // Wrong time for cycle, restart
+ if (nav.prn==1) cout << "State change: WAITING. Cycle time of " << diff << " incorrect" << endl;
+ break;
+ }
+
+ // Check for page completeness
+ if (!completeSetOfPages())
+ {
+ newState = WAITING; // Incomplete attempt, restart
+ if (nav.prn==1) cout << "State change: WAITING. incomplete set of pages" << endl;
+ break;
+ }
+
+ // Set ToA time
+ short currentWeek = nav.time.GPSfullweek();
+ uint32_t word = nav.subframe[3];
+ word &= 0x00003FC0;
+ word >>= 6;
+ short toaWeek = fullWeekFrom8Bit( currentWeek, (short) word );
+ ToaTime = DayTime( toaWeek, candidateToa );
+
+ newState = COMPLETE;
+ if (nav.prn==1) cout << "State Change:COMPLETE !!!" << endl;
+ }
+ break;
+
+ // If COMPLETE, then we're
+ // watching the stream to see a change in the
+ // Toa. At that point, we flush the current
+ // data and start all over again in WAITING.
+ case COMPLETE:
+ if (isToaPage(SVID))
+ {
+ if (candidateToa!=getToa(nav))
+ {
+ newState = WAITING; // New Toa, start a new collection
+ if (nav.prn==1) cout << "State Change:WAITING. Found new Toa" << endl;
+ }
+ }
+ break;
+ }
+ // update the state
+ state = newState;
+ return;
+ }
+
+ bool UniqueAlmStore::completeSetOfPages() const
+ {
+ int n;
+
+ // SV IDs 51-57, 62, and 63 must be present
+ pmCI p;
+ for (n=51;n<57;++n)
+ {
+ p = pageMap.find(n);
+ if ( p==pageMap.end() ) return(false);
+ }
+ p = pageMap.find(62);
+ if ( p==pageMap.end() ) return(false);
+ p = pageMap.find(63);
+ if ( p==pageMap.end() ) return(false);
+
+ // For SVID 1-32, should have a page for every
+ // SV where health is not 0x3F.
+ // First unpack the health for all 32 SVs
+ // (we already proved we have the health pages).
+ short tempHealth[gpstk::MAX_PRN+2]; // a. want to index 1-32
+ short SVndx = 0; // b. there's a "don't care" 33
+
+ // SF5, pg 25, SVID 51. Health for PRNID 1-24
+ p = pageMap.find(51);
+ const MDPNavSubframe& nav51 = p->second;
+ uint32_t word;
+ uint32_t h;
+ for (n=4;n<=9;++n)
+ {
+ word = nav51.subframe[n];
+ word >>= 6; // Remove parity
+ for (int bndx=4;bndx>=1;--bndx)
+ {
+ h = word & 0x0000003F;
+ int pndx = SVndx+bndx;
+ tempHealth[pndx] = (short) h;
+ word >>= 6;
+ }
+ SVndx += 4;
+ }
+
+ // SF4, pg 25, SVID 63. Health for PRNID 25-32
+ p = pageMap.find(63);
+ const MDPNavSubframe& nav63 = p->second;
+
+ // PRN 25 is all by itself
+ word = nav63.subframe[8];
+ word >>= 6;
+ h = word & 0x0000003F;
+ tempHealth[SVndx++] = (short) h;
+
+ // PRN 26-32 (plus a bogus extra)
+ for (n=9;n<=10;++n)
+ {
+ word = nav63.subframe[n];
+ word >>= 6; // Remove parity
+ for (int bndx=4;bndx>=1;--bndx)
+ {
+ h = word & 0x0000003F;
+ int pndx = SVndx+bndx;
+ tempHealth[pndx] = (short) h;
+ word >>= 6;
+ }
+ SVndx += 4;
+ }
+
+ //debug
+ //for (n=1;n<=gpstk::MAX_PRN;++n)
+ //{
+ // cout << n << ":" << tempHealth[n] << ", ";
+ // if (n%6==0) cout << endl;
+ //}
+
+ // Now perform the checks
+ bool tripwire = false;
+ for (n=1;n<=gpstk::MAX_PRN;++n)
+ {
+ if (tempHealth[n]!=DEAD_HEALTH && pageMap.find(n)==pageMap.end())
+ {
+ //cout << "Health = " << tempHealth[n] << " for PRNID " << n << " and no page found. " << endl;
+ tripwire = true;
+ }
+ }
+ if (tripwire) return(false);
+ return(true);
+ }
+
+ short UniqueAlmStore::fullWeekFrom8Bit( const short full, const short eightBit )
+ {
+ short curr8bitWeek = full & 0x00FF;
+ short diff = curr8bitWeek - eightBit;
+ short retArg = eightBit;
+ short upperBits = full & 0xFF00;
+ if (diff>HALF_8BITS) upperBits -= 0x0100;
+ else if (diff<-HALF_8BITS) upperBits += 0x0100;
+ retArg = upperBits | eightBit;
+ return(retArg);
+ }
+
+ bool UniqueAlmStore::isToaPage( const short SVID )
+ {
+ if (SVID>=1 && SVID<=38) return(true);
+ if (SVID==51) return(true);
+ return(false);
+ }
+
+ long UniqueAlmStore::getToa( const MDPNavSubframe& nav )
+ {
+ uint32_t word;
+ long retToa = -1;
+ short SVID = nav.getSVID();
+ if (SVID>=1 && SVID<=38)
+ {
+ word = nav.subframe[4];
+ word &= 0x3FFFFFFF;
+ word >>= 22;
+ retToa = (long) word;
+ }
+ else if (SVID==51)
+ {
+ word = nav.subframe[3];
+ word &= 0x003FC000;
+ word >>= 14;
+ retToa = (long) word;
+ }
+ return(retToa);
+ }
+
+ bool UniqueAlmStore::readyToWrite() const
+ {
+ if (state==COMPLETE && !written) return(true);
+ return(false);
+ }
+
+ void UniqueAlmStore::write(gpstk::FICStream& out)
+ {
+ // Cycle through complete almanac
+ // For each page, convert to 162, output 162,
+ // convert to 62, output 62
+ // NOTE: This would be a BAD IDEA for a real-time
+ // implementation. In such a system, the converts
+ // would be better spaced out as the pages are collected;
+ for (pmCI p1=pageMap.begin();p1!=pageMap.end();++p1)
+ {
+ const MDPNavSubframe& nav = p1->second;
+ FICData162 new162( nav.prn,
+ nav.getSVID(),
+ nav.time.GPSfullweek(),
+ ToaTime.GPSfullweek(),
+ nav.subframe);
+ FICData62 new62( new162);
+ out << new162;
+ out << new62;
+ }
+
+ // Set the flag so we don't keep writing the same data
+ // over and over.
+ written = true;
+ }
+
+
+} // namespace
diff --git a/dev/apps/MDPtools/UniqueAlmStore.hpp b/dev/apps/MDPtools/UniqueAlmStore.hpp
new file mode 100644
index 0000000..d8c296e
--- /dev/null
+++ b/dev/apps/MDPtools/UniqueAlmStore.hpp
@@ -0,0 +1,93 @@
+#pragma ident "$Id$"
+
+
+/**
+ * @file UniqueAlmStore.hpp
+ *
+ * Almanac uniqueness has always be a challenge. Here's the working definition
+ * for this module:
+ * 1. Collected within a single 12.5 min cycle
+ * 2. Collected from the same PRN
+ * 3. SF5,Pg25 - complete cycle - SF4,Pg1 all must have the same Toa
+ * 4. SVID available for each PRN for which almanac health is other than
+ * "6 ones" (see IS-GPS-200, 20.3.????)
+ */
+
+#ifndef GPSTK_UNIQUEALMSTORE_HPP
+#define GPSTK_UNIQUEALMSTORE_HPP
+
+//lgpl-license START
+//lgpl-license END
+
+//dod-release-statement START
+//dod-release-statement END
+#include "FICStream.hpp"
+#include "DayTime.hpp"
+#include "EngAlmanac.hpp"
+
+ // Project
+#include "miscdefs.hpp"
+#include "MDPNavSubframe.hpp"
+
+namespace gpstk
+{
+ // The int in the following map is the SVID
+ // The MDPNavSubframe is the corresponding almanac page
+ typedef std::map <short,gpstk::MDPNavSubframe> PageMap;
+ typedef PageMap::iterator pmI;
+ typedef PageMap::const_iterator pmCI;
+
+ class UniqueAlmStore
+ {
+ public:
+ /// Default constructor
+ UniqueAlmStore( gpstk::NavIndex ni, gpstk::NavCode nc );
+
+ /// Destructor
+ virtual ~UniqueAlmStore( ) {}
+
+ pmCI begin() const;
+ pmCI end() const;
+ void newSubframe( gpstk::MDPNavSubframe sf );
+ bool readyToWrite() const;
+ void write(gpstk::FICStream& out);
+
+ protected:
+ bool completeSetOfPages() const;
+ short fullWeekFrom8Bit( const short full, const short eightBit );
+ bool isToaPage( const short SVID );
+ long getToa( const MDPNavSubframe& nav );
+
+ int state; /// Current state of the collection process
+ /// See table of static const below.
+ bool written; /// Has this almanac been written out since last collection?
+ long numPagesExamined;
+
+ int prn; /// < The SV's PRN
+ CarrierCode carrier; /// < This almanac's carrier frequency code
+ RangeCode range; /// < This alamanc's range code
+ NavCode navCode; /// < This almanac's nav code
+
+ short SVIDOrderNdx;
+
+ long startingSOW;
+ long candidateToa;
+ gpstk::DayTime ToaTime; // Not valid until state==COMPLETE | WRITTEN
+ PageMap pageMap;
+
+ // Possible values for member state
+ static const int WAITING = 0;
+ static const int START_ON_NEXT_FRAME = 3;
+ static const int COLLECTING = 1;
+ static const int COMPLETE = 2;
+
+ // Other useful "magic numbers"
+ static const long ALMANAC_PERIOD = 750; // 12.5 minutes in seconds
+ static const long SF4_OFFSET = 24;
+ static const short HALF_8BITS = 128;
+ static const short DEAD_HEALTH = 0x3F;
+
+ }; // class UniqueAlmStore
+} // namespace
+
+#endif
diff --git a/dev/apps/MDPtools/mdp2fic.cpp b/dev/apps/MDPtools/mdp2fic.cpp
new file mode 100644
index 0000000..f73947b
--- /dev/null
+++ b/dev/apps/MDPtools/mdp2fic.cpp
@@ -0,0 +1,450 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/** @file Converts an MDP stream into FIC nav file */
+
+#include "StringUtils.hpp"
+#include "LoopedFramework.hpp"
+
+#include "FICStream.hpp"
+#include "FICHeader.hpp"
+#include "FICData.hpp"
+
+#include "MDPStream.hpp"
+#include "MDPNavSubframe.hpp"
+#include "MDPObsEpoch.hpp"
+#include "FICData109.hpp"
+#include "FICData9.hpp"
+#include "BELogEntry.hpp"
+#include "UniqueAlmStore.hpp"
+#include "miscdefs.hpp"
+
+#include "FormatConversionFunctions.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+
+class MDP2FIC : public gpstk::LoopedFramework
+{
+public:
+ MDP2FIC(const std::string& applName)
+ throw()
+ : LoopedFramework(applName, "Converts an MDP stream to FIC."),
+ navFileOpt('n', "nav", "Filename to which FIC nav data will be written.", true),
+ mdpFileOpt('i', "mdp-input", "Filename to read MDP data from. The filename of '-' means to use stdin.", true),
+ logFileOpt('l', "log", "Filename for (optional) output log file",false)
+ {
+ navFileOpt.setMaxCount(1);
+ mdpFileOpt.setMaxCount(1);
+ }
+
+ bool initialize(int argc, char *argv[]) throw()
+ {
+ if (!LoopedFramework::initialize(argc,argv)) return false;
+
+ if (mdpFileOpt.getCount())
+ if (mdpFileOpt.getValue()[0] != "-")
+ mdpInput.open(mdpFileOpt.getValue()[0].c_str());
+ else
+ {
+
+ if (debugLevel)
+ cout << "Taking input from stdin." << endl;
+ mdpInput.copyfmt(std::cin);
+ mdpInput.clear(std::cin.rdstate());
+ mdpInput.std::basic_ios<char>::rdbuf(std::cin.rdbuf());
+ }
+
+ if (navFileOpt.getCount())
+ FICOutput.open(navFileOpt.getValue()[0].c_str(), std::ios::out);
+ else
+ FICOutput.clear(std::ios::badbit);
+
+ logActive = false;
+ if (logFileOpt.getCount())
+ {
+ logfp = fopen( logFileOpt.getValue()[0].c_str(), "wt");
+ if (logfp!=0) logActive = true;
+ else cout << "Log file open failed. Continuing" << endl;
+ }
+ obsCount = 0;
+ firstObs = true;
+ numSubframesCollected = 0;
+ paritySuccessCount = 0;
+ parityFailCount = 0;
+ firstNavSF = true;
+ earliestTime = gpstk::DayTime::BEGINNING_OF_TIME;
+ latestTime = gpstk::DayTime::END_OF_TIME;
+
+ debugCount = 0;
+
+ return true;
+ }
+
+protected:
+ virtual void spinUp()
+ {
+ if (!mdpInput)
+ {
+ cout << "Error: could not open input." << endl;
+ exit(-1);
+ }
+
+ mdpInput.exceptions(fstream::failbit);
+
+ if (FICOutput)
+ FICOutput.exceptions(fstream::failbit);
+
+ DayTime timeNow;
+ std::string timeStr = timeNow.printf("%02H:%02M, %02m/%02d/%02y");
+ fich.header = "Generated by mdp2fic on " + timeStr;
+
+ if (FICOutput)
+ FICOutput << fich;
+ }
+
+ virtual void process(MDPNavSubframe& nav)
+ {
+ short sfid = nav.getSFID();
+ // For now, only consider SF 1-3 (ephemeris).
+ // Ignore the almanac
+ if (sfid > 3) processSubframes4and5(nav);
+ else processSubframes1to3(nav);
+ return;
+ }
+
+ void processSubframes4and5(MDPNavSubframe& nav)
+ {
+ // For now, just look at L1 C/A navigation message
+ if (nav.range != rcCA || nav.carrier != ccL1)
+ return;
+
+ // Pull the time from the subframe
+ short week = nav.time.GPSfullweek();
+ long sow = nav.getHOWTime();
+ if ( sow >604800)
+ return;
+
+ DayTime howTime(week, sow);
+
+ NavIndex ni(RangeCarrierPair(nav.range, nav.carrier), nav.prn);
+
+ AlmMap::iterator a;
+ a = almData.find(ni);
+ if (a==almData.end())
+ {
+ UniqueAlmStore init( ni, nav.nav );
+ //pair<NavIndex,gpstk::UniqueAlmStore> = node(ni,init);
+ almData.insert( make_pair(ni,init) );
+ a = almData.find(ni);
+ if (a==almData.end())
+ {
+ cerr << "Almanac map insertion failed in mdp2fic.processSubframes4and5." << endl;
+ exit(1);
+ }
+ cout << "Inserted a new almanac map for PRN " << nav.prn << endl;
+ }
+ UniqueAlmStore& uas = a->second;
+ uas.newSubframe(nav);
+ if (uas.readyToWrite()) uas.write( FICOutput );
+ }
+
+ void processSubframes1to3(MDPNavSubframe& nav)
+ {
+ // For now, just look at L1 C/A navigation message
+ if (nav.range != rcCA || nav.carrier != ccL1)
+ return;
+
+ NavIndex ni(RangeCarrierPair(nav.range, nav.carrier), nav.prn);
+ ephData[ni] = nav;
+
+ long sfa[10];
+ nav.fillArray(sfa);
+ uint32_t uint_sfa[10];
+
+ for( int j = 0; j < 10; j++ )
+ uint_sfa[j] = static_cast<uint32_t>( sfa[j] );
+
+ numSubframesCollected++;
+ if (gpstk::EngNav::checkParity(uint_sfa))
+ {
+ paritySuccessCount++;
+ ephPageStore[ni][nav.getSFID()] = nav;
+ EngEphemeris engEph;
+ if (makeEngEphemeris(engEph, ephPageStore[ni]))
+ {
+ currentPRN = engEph.getPRNID(); // debug
+ if (firstNavSF)
+ {
+ earliestTime = engEph.getTransmitTime();
+ firstNavSF = false;
+ }
+ latestTime = engEph.getTransmitTime();
+ processEphemeris( engEph, ephPageStore[ni] );
+ }
+ }
+ else parityFailCount++;
+ } // end of process(MDPNavSubframe)
+
+ virtual void process()
+ {
+ MDPHeader header;
+ MDPNavSubframe nav;
+ MDPObsEpoch obs;
+
+ // Ought to be able to catch EOF here....
+ try
+ {
+ mdpInput >> header;
+ switch (header.id)
+ {
+ case MDPNavSubframe::myId :
+ mdpInput >> nav;
+ process(nav);
+ break;
+
+ case MDPObsEpoch::myId :
+ mdpInput >> obs;
+ obsCount++;
+ if (debugLevel && (obsCount % 1000)==0) cout << "obsCount: " << obsCount << endl;
+ break;
+ }
+ }
+ catch (gpstk::Exception &exc)
+ {
+ cout << "Caught a GPSTk Exception in process()." << endl;
+ cout << exc << endl;
+ timeToDie = true;
+ return;
+ }
+ catch (std::exception &exc)
+ {
+ cout << "Trapped an exception in process()." << endl;
+ timeToDie = true;
+ return;
+ }
+ catch (...)
+ {
+ cout << "I don't know HOW we got here, but we caught an unexpcted exception." << endl;
+ timeToDie = true;
+ return;
+ }
+ timeToDie = !mdpInput;
+ }
+
+ virtual void shutDown()
+ {
+ cout << "Entering shutDown()." << endl;
+ writeLogFile( );
+ }
+
+ void writeLogFile( )
+ {
+ typedef PrnBELogMap::const_iterator ciPRN;
+ if (logActive)
+ {
+ std::string timestring = "%02m/%02d/%02y %03j %02H:%02M:%02S, GPS Week %F, SOW %6.0g";
+ fprintf(logfp,"Output log from mdp2fic.\n");
+ fprintf(logfp,"Earliest Transmit Time: %s\n",earliestTime.printf(timestring).c_str());
+ fprintf(logfp,"Latest Transmit Time : %s\n",latestTime.printf(timestring).c_str());
+ fprintf(logfp,"Statistics on parity checks\n");
+ fprintf(logfp,"Total number of subframes processed: %7d\n",numSubframesCollected);
+ fprintf(logfp,"Number of successful parity checks : %7d\n",paritySuccessCount);
+ fprintf(logfp,"Number of failed parity chekcs : %7d\n",parityFailCount);
+ double perCentFail = (parityFailCount *100.0) / numSubframesCollected;
+ fprintf(logfp,"Percent of subframes failing parity: %7.2lf\n",perCentFail);
+
+ ciPRN pp;
+ for (pp=prnBEmap.begin();pp!=prnBEmap.end();++pp)
+ {
+ int prnID = pp->first;
+ const BELogMap& blm = pp->second;
+ int numEntries = blm.size();
+ typedef BELogMap::const_iterator ciBLM;
+ fprintf(logfp,"\nSummary of Broadcast Ephemerides for PRN %02d\n",prnID);
+ fprintf(logfp,"%d unique ephemerides found.\n",numEntries);
+ fprintf(logfp,"%s\n",BELogEntry::header.c_str());
+
+ // NOTE: The table is stored in the wrong order for output.
+ // I had to use the Toe in the key for uniqueness, however,
+ // I want the ending table ordered by earliest HOW. HOW is
+ // in the object, so now that we have a unique list, it can
+ // be used to re-order a new map
+ std::map<double,BELogEntry> reorder;
+ for (ciBLM bp=blm.begin();bp!=blm.end();++bp)
+ {
+ const BELogEntry& ble = bp->second;
+ double HOW = ble.getHOW().GPSsow();
+ pair<double,BELogEntry> node(HOW,ble);
+ reorder.insert(node);
+ }
+ typedef std::map<double,BELogEntry>::const_iterator rei;
+ for (rei rp=reorder.begin();rp!=reorder.end();++rp)
+ {
+ const BELogEntry& bler = rp->second;
+ fprintf(logfp,"%s\n", bler.getStr().c_str() );
+ }
+ }
+ fclose(logfp);
+ }
+ }
+
+ void processEphemeris( gpstk::EngEphemeris engEph,
+ gpstk::EphemerisPages ephPages )
+ {
+
+ // Construct a BELogEntry and see if it already exists in the
+ // map for the PRN. If it does, we already stored this one,
+ // move on. If not, convert the information to Block 109 and
+ // Block 9 and write it out.
+ BELogEntry curBELog( engEph );
+ unsigned long key = curBELog.getKey();
+ pair<long,BELogEntry> qnode(key,curBELog);
+
+ bool needToOutput = false;
+ PrnBELogMap::iterator pmap = prnBEmap.find( engEph.getPRNID() );
+
+ // May need to add this PRN to the map.
+ if (pmap==prnBEmap.end())
+ {
+ pair<long,BELogEntry> qnode(key,curBELog);
+ BELogMap blm;
+ blm.insert(qnode);
+ pair<int,BELogMap> pnode( (int) engEph.getPRNID(), blm);
+ prnBEmap.insert( pnode );
+ needToOutput = true;
+ }
+ else
+ {
+ BELogMap& blmr = pmap->second;
+ BELogMap::iterator iBLM = blmr.find( key );
+ if (iBLM==blmr.end())
+ {
+ pair<long,BELogEntry> qnode(key,curBELog);
+ blmr.insert(qnode);
+ needToOutput = true;
+ }
+ else
+ {
+ BELogEntry& ble = iBLM->second;
+ ble.increment();
+ }
+ }
+
+ if (needToOutput)
+ {
+ EphemerisPages::const_iterator MDPsf[4];
+ MDPsf[1] = ephPages.find(1);
+ MDPsf[2] = ephPages.find(2);
+ MDPsf[3] = ephPages.find(3);
+ FICData109 new109( engEph.getPRNID(),
+ MDPsf[1]->second.subframe,
+ MDPsf[2]->second.subframe,
+ MDPsf[3]->second.subframe );
+ FICData9 new9( new109, engEph );
+ FICOutput << new109;
+ FICOutput << new9;
+ }
+ }
+
+private:
+ gpstk::FICHeader fich;
+ MDPStream mdpInput;
+ FICStream FICOutput;
+ MDPEpoch epoch;
+
+ long obsCount;
+
+ // Defs and maps related to ephemeris handling
+ //typedef std::pair<gpstk::RangeCode, gpstk::CarrierCode> RangeCarrierPair;
+ //typedef std::pair<RangeCarrierPair, short> NavIndex;
+ typedef std::map<NavIndex, gpstk::MDPNavSubframe> NavMap;
+ NavMap ephData;
+ std::map<NavIndex, gpstk::EphemerisPages> ephPageStore;
+ std::map<NavIndex, gpstk::EngEphemeris> ephStore;
+
+ // Ordered list of BELogEntries
+ typedef std::map<long,BELogEntry> BELogMap;
+
+ // For each PRN, there is a map pointing to the BE logs for that SV
+ typedef std::map<int, BELogMap> PrnBELogMap;
+ PrnBELogMap prnBEmap;
+
+ // Def and maps related to almanac handling
+ typedef std::map<NavIndex, gpstk::UniqueAlmStore> AlmMap;
+ AlmMap almData;
+
+ // Output file
+ FILE *logfp;
+ bool logActive;
+
+ //debug
+ int currentPRN;
+ int debugCount;
+
+ long numSubframesCollected;
+ long paritySuccessCount;
+ long parityFailCount;
+ bool firstNavSF;
+ gpstk::DayTime earliestTime;
+ gpstk::DayTime latestTime;
+
+ bool firstObs;
+ gpstk::DayTime prevTime;
+ gpstk::CommandOptionWithAnyArg mdpFileOpt, navFileOpt, logFileOpt;
+};
+
+
+int main(int argc, char *argv[])
+{
+ try
+ {
+ MDP2FIC crap(argv[0]);
+ if (!crap.initialize(argc, argv))
+ exit(0);
+
+ crap.run();
+ }
+ catch (gpstk::Exception &exc)
+ { cout << exc << endl; }
+ catch (std::exception &exc)
+ { cout << "Caught std::exception " << exc.what() << endl; }
+ catch (...)
+ { cout << "Caught unknown exception" << endl; }
+}
diff --git a/dev/apps/MDPtools/mdp2rinex.cpp b/dev/apps/MDPtools/mdp2rinex.cpp
new file mode 100644
index 0000000..7caba26
--- /dev/null
+++ b/dev/apps/MDPtools/mdp2rinex.cpp
@@ -0,0 +1,355 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/** @file Converts an MDP stream into RINEX obs/nav files */
+
+#include "StringUtils.hpp"
+#include "LoopedFramework.hpp"
+
+#include "RinexObsStream.hpp"
+#include "RinexObsData.hpp"
+#include "RinexNavStream.hpp"
+#include "RinexNavData.hpp"
+
+#include "MDPStream.hpp"
+#include "MDPNavSubframe.hpp"
+#include "MDPObsEpoch.hpp"
+
+#include "RinexConverters.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+
+class MDP2Rinex : public gpstk::LoopedFramework
+{
+public:
+ MDP2Rinex(const std::string& applName)
+ throw()
+ : LoopedFramework(applName, "Converts an MDP stream to RINEX."),
+ obsFileOpt('o', "obs", "Filename to write RINEX obs data to. The filename of '-' means to use stdout.", true),
+ navFileOpt('n', "nav", "Filename to write RINEX nav data to."),
+ mdpFileOpt('i', "mdp-input", "Filename to read MDP data from. The filename of '-' means to use stdin.", true),
+ c2Opt('c', "l2c", "Enable output of L2C data in C2"),
+ antPosOpt('p',"pos", "Antenna position to write into obs file header. Format as string: \"X Y Z\"."),
+ thinningOpt('t', "thinning", "A thinning factor for the data, specified in seconds between points. Default: none.")
+ {
+ navFileOpt.setMaxCount(1);
+ obsFileOpt.setMaxCount(1);
+ mdpFileOpt.setMaxCount(1);
+ antPosOpt.setMaxCount(1);
+ } //MDP2Rinex::MDP2Rinex()
+
+ bool initialize(int argc, char *argv[]) throw()
+ {
+ if (!LoopedFramework::initialize(argc,argv)) return false;
+
+ if (mdpFileOpt.getCount())
+ if (mdpFileOpt.getValue()[0] != "-")
+ mdpInput.open(mdpFileOpt.getValue()[0].c_str());
+ else
+ {
+ if (debugLevel)
+ cout << "Taking input from stdin." << endl;
+ mdpInput.copyfmt(std::cin);
+ mdpInput.clear(std::cin.rdstate());
+ mdpInput.basic_ios<char>::rdbuf(std::cin.rdbuf());
+ }
+
+
+ if (obsFileOpt.getCount())
+ if (obsFileOpt.getValue()[0] != "-")
+ rinexObsOutput.open(obsFileOpt.getValue()[0].c_str(), std::ios::out);
+ else
+ {
+ if (debugLevel)
+ cout << "Sending output to stdout." << endl;
+ rinexObsOutput.copyfmt(std::cout);
+ rinexObsOutput.clear(std::cout.rdstate());
+ rinexObsOutput.basic_ios<char>::rdbuf(std::cout.rdbuf());
+ }
+
+ if (navFileOpt.getCount())
+ rinexNavOutput.open(navFileOpt.getValue()[0].c_str(), std::ios::out);
+ else
+ rinexNavOutput.clear(std::ios::badbit);
+
+ if (thinningOpt.getCount())
+ {
+ thin = true;
+ thinning = gpstk::StringUtils::asInt(thinningOpt.getValue()[0]);
+ if (debugLevel)
+ cout << "Thinning data modulo " << thinning << " seconds." << endl;
+ }
+ else
+ thin = false;
+
+ firstObs = true;;
+ firstEph = true;
+
+ MDPHeader::debugLevel = debugLevel;
+
+ return true;
+ } // MDP2Rinex::initialize()
+
+protected:
+ virtual void spinUp()
+ {
+ if (!mdpInput)
+ {
+ cout << "Error: could not open input." << endl;
+ exit(-1);
+ }
+
+ mdpInput.exceptions(fstream::failbit);
+ rinexObsOutput.exceptions(fstream::failbit);
+ if (rinexNavOutput)
+ rinexNavOutput.exceptions(fstream::failbit);
+
+ roh.valid |= gpstk::RinexObsHeader::allValid21;
+ roh.fileType = "Observation";
+ roh.fileProgram = "mdp2rinex";
+ roh.markerName = "Unknown";
+ roh.observer = "Unknown";
+ roh.agency = "Unknown";
+ roh.antennaOffset = gpstk::Triple(0,0,0);
+ //roh.antennaPosition = gpstk::Triple(0,0,0);
+ roh.wavelengthFactor[0] = 1;
+ roh.wavelengthFactor[1] = 1;
+ roh.recType = "Unknown MDP";
+ roh.recVers = "Unknown";
+ roh.recNo = "1";
+ roh.antType = "Unknown";
+ roh.antNo = "1";
+ roh.obsTypeList.push_back(gpstk::RinexObsHeader::C1);
+ roh.obsTypeList.push_back(gpstk::RinexObsHeader::P1);
+ roh.obsTypeList.push_back(gpstk::RinexObsHeader::L1);
+ roh.obsTypeList.push_back(gpstk::RinexObsHeader::D1);
+ roh.obsTypeList.push_back(gpstk::RinexObsHeader::S1);
+ roh.obsTypeList.push_back(gpstk::RinexObsHeader::P2);
+ roh.obsTypeList.push_back(gpstk::RinexObsHeader::L2);
+ roh.obsTypeList.push_back(gpstk::RinexObsHeader::D2);
+ roh.obsTypeList.push_back(gpstk::RinexObsHeader::S2);
+ if (antPosOpt.getCount())
+ {
+ double x, y, z;
+ sscanf(antPosOpt.getValue().front().c_str(),"%lf %lf %lf", &x, &y, &z);
+ antPos = gpstk::Triple(x,y,z);
+ }
+ else
+ antPos = gpstk::Triple(0,0,0);
+
+ roh.antennaPosition = antPos;
+
+ if (c2Opt.getCount())
+ roh.obsTypeList.push_back(gpstk::RinexObsHeader::C2);
+
+ rnh.valid = gpstk::RinexNavHeader::allValid21;
+ rnh.fileType = "Navigation";
+ rnh.fileProgram = "mdp2rinex";
+ rnh.fileAgency = "Unknown";
+ rnh.version = 2.1;
+ } // MDP2Rinex::spinUp()
+
+
+ virtual void process(MDPNavSubframe& nav)
+ {
+ if (!rinexNavOutput)
+ return;
+
+ if (firstEph)
+ {
+ rinexNavOutput << rnh;
+ cout << "Got first nav SF" << endl;
+ }
+
+ firstEph=false;
+
+ nav.cookSubframe();
+ if (!nav.checkParity())
+ return;
+
+ short sfid = nav.getSFID();
+ if (sfid > 3)
+ return;
+
+ short week = nav.time.GPSfullweek();
+ long sow = nav.getHOWTime();
+ if ( sow >604800)
+ return;
+
+ DayTime howTime(week, sow);
+
+ if (nav.range != rcCA || nav.carrier != ccL1)
+ return;
+
+ NavIndex ni(RangeCarrierPair(nav.range, nav.carrier), nav.prn);
+ ephData[ni] = nav;
+
+ ephPageStore[ni][sfid] = nav;
+ EngEphemeris engEph;
+ if (makeEngEphemeris(engEph, ephPageStore[ni]))
+ {
+ RinexNavData rnd(engEph);
+ rinexNavOutput << rnd;
+ ephPageStore[ni].clear();
+ }
+ } // MDP2Rinex::process(MDPNavSubframe)
+
+
+ virtual void process(MDPObsEpoch& obs)
+ {
+ if (!rinexObsOutput)
+ return;
+
+ const DayTime& t=epoch.begin()->second.time;
+
+ if (!firstObs && t<prevTime)
+ {
+ if (debugLevel)
+ cout << "Out of order data at " << t << endl;
+ return;
+ }
+
+ if (epoch.size() > 0 && t != obs.time)
+ {
+ if (!thin || (static_cast<int>(t.DOYsecond()) % thinning) == 0)
+ {
+ if (firstObs)
+ {
+ roh.firstObs = t;
+ rinexObsOutput << roh;
+ firstObs=false;
+ if (debugLevel)
+ cout << "Got first obs" << endl;
+ }
+
+ RinexObsData rod;
+ rod = makeRinexObsData(epoch);
+ rinexObsOutput << rod;
+ }
+ epoch.clear();
+ prevTime = t;
+ }
+ epoch[obs.prn] = obs;
+ } // MDP2Rinex::process(MDPObsEpoch)
+
+
+ virtual void process()
+ {
+ MDPHeader header;
+ MDPNavSubframe nav;
+ MDPObsEpoch obs;
+
+ try
+ {
+ mdpInput >> header;
+ switch (header.id)
+ {
+ case MDPNavSubframe::myId :
+ mdpInput >> nav;
+ if (nav.rdstate())
+ cout << "Error decoding nav " << nav.rdstate() << endl;
+ else
+ process(nav);
+ break;
+
+ case MDPObsEpoch::myId :
+ mdpInput >> obs;
+ if (obs.rdstate())
+ cout << "Error decoding obs " << obs.rdstate() << endl;
+ else
+ process(obs);
+ break;
+ }
+ }
+ catch (EndOfFile& e)
+ {
+ if (debugLevel)
+ cout << e << endl;
+ timeToDie = true;
+ }
+ timeToDie |= !mdpInput;
+ } // MDP2Rinex::process()
+
+ virtual void shutDown()
+ {}
+
+private:
+ gpstk::RinexObsHeader roh;
+ gpstk::RinexNavHeader rnh;
+ MDPStream mdpInput;
+ RinexObsStream rinexObsOutput;
+ RinexNavStream rinexNavOutput;
+ MDPEpoch epoch;
+
+ typedef std::pair<gpstk::RangeCode, gpstk::CarrierCode> RangeCarrierPair;
+ typedef std::pair<RangeCarrierPair, short> NavIndex;
+ typedef std::map<NavIndex, gpstk::MDPNavSubframe> NavMap;
+ NavMap ephData;
+ std::map<NavIndex, gpstk::EphemerisPages> ephPageStore;
+ std::map<NavIndex, gpstk::EngEphemeris> ephStore;
+
+ bool thin;
+ int thinning;
+ bool firstObs, firstEph;
+ gpstk::DayTime prevTime;
+ gpstk::Triple antPos;
+ gpstk::CommandOptionWithAnyArg mdpFileOpt, navFileOpt, obsFileOpt;
+ gpstk::CommandOptionWithAnyArg thinningOpt, antPosOpt, c2Opt;
+};
+
+
+int main(int argc, char *argv[])
+{
+ try
+ {
+ MDP2Rinex crap(argv[0]);
+
+ if (!crap.initialize(argc, argv))
+ exit(0);
+
+ crap.run();
+ }
+ catch (gpstk::Exception &exc)
+ { cout << exc << endl; }
+ catch (std::exception &exc)
+ { cout << "Caught std::exception " << exc.what() << endl; }
+ catch (...)
+ { cout << "Caught unknown exception" << endl; }
+}
diff --git a/dev/apps/MDPtools/mdpscreen/Jamfile b/dev/apps/MDPtools/mdpscreen/Jamfile
new file mode 100644
index 0000000..3afbf0a
--- /dev/null
+++ b/dev/apps/MDPtools/mdpscreen/Jamfile
@@ -0,0 +1,11 @@
+# $Id$
+
+SubDir TOP apps MDPtools mdpscreen ;
+
+LINKLIBS += -lncurses ;
+
+SEARCH_SOURCE += $(TOP)/apps/MDPtools ;
+
+GPSLinkLibraries mdpscreen : gpstk rxio ;
+
+GPSMain mdpscreen : mdpscreen.cpp MDPProcessors.cpp ScreenProc.cpp ;
diff --git a/dev/apps/MDPtools/mdpscreen/ScreenProc.cpp b/dev/apps/MDPtools/mdpscreen/ScreenProc.cpp
new file mode 100644
index 0000000..8c0fbfe
--- /dev/null
+++ b/dev/apps/MDPtools/mdpscreen/ScreenProc.cpp
@@ -0,0 +1,436 @@
+#pragma ident "$Id$"
+
+
+#include "Geodetic.hpp"
+#include "GPSGeoid.hpp"
+#include "StringUtils.hpp"
+
+#include "ScreenProc.hpp"
+#include "RinexConverters.hpp"
+
+using namespace std;
+using namespace gpstk;
+using namespace gpstk::StringUtils;
+
+extern "C" void wench(int sig);
+
+/* 1 2 3 4 5 6 7
+ 01234567890123456789012345678901234567890123456789012345678901234567890123456789
+ |--------------------------------------------------------------------------------
+ 0|hostname:port 02:43:12 7/7/06 GPS
+ 1|
+ 2|PVT: 02:43:23.5 Offset: 234,456.1 ns Drift: 13.235 ns/d
+ 3|Lon: -179.122345 Lat: 30.12345 N Ht: 230.0 m Rate: 1.0 s
+ 4| Vx: 0.0 cm/s Vy: 0.0 cm/s Vz: 0.00 cm/s FOM: 12.2
+ 5| Trx: 28 C ExtFreq: Unlocked StartTime: 12:34 6/2/06 SSW: 311
+ 6|Tant: 39 C Selftest: 0x000001 TestTime: 02:30 7/7/06
+ 7|
+ 8|Obs Rate: 1.5 s
+ 9| C1 P1 C2 P2 lock res
+10|Ch Prn Az El SNR SNR SNR SNR count iodc h (m)
+11|-- --- --- --- ---- ------ ---- ------ ------ ---- - -----
+12| 1 8 133 22+ 41.2 33.8 Y 38.1 39.2 Y 432000 2ba 0
+13| 2 31
+14| 3 23
+15| 4 27
+16| 5 28
+17| 6 3
+18| 7 11
+19| 8 13
+20| 9 7
+21|10 19
+22|11 --
+23|12 --
+ |-------------------------------------------------------------------------------
+*/
+int pvtRow=2;
+int tCol=5, offCol=26, driftCol=47;
+int lonCol=5, latCol=23, altCol=40, prateCol=59;
+
+int stsRow=5;
+int trxCol=6, freqCol=22, stsTimeCol=44, stsSSWCol=65;
+
+int chanRow=11;
+int prnCol=3, azCol=8, elCol=13, c1snrCol=18, p1snrCol=24, c2snrCol=32;
+int p2snrCol=38, resCol=63, lockCol=46, iodcCol=54, healthCol=60, orateCol=10;
+
+bool MDPScreenProcessor::gotWench;
+
+MDPScreenProcessor::MDPScreenProcessor(gpstk::MDPStream& in, std::ofstream& out):
+ MDPProcessor(in, out),
+ updateRate(0.5), obsRate(-1), pvtRate(-1)
+{
+
+ // First set up curses
+ signal(SIGWINCH, wench);
+ win = initscr();
+ cbreak();
+ nodelay(win,true);
+ noecho();
+ nonl();
+ intrflush(win, true);
+ keypad(win, true);
+ prev_curs = ::curs_set(0); // we want an invisible cursor.
+ gotWench=false;
+
+ host=in.filename;
+
+ drawBase();
+
+ obsOut = true;
+ pvtOut = true;
+ navOut = true;
+ tstOut = true;
+}
+
+
+MDPScreenProcessor::~MDPScreenProcessor()
+{
+ curs_set(prev_curs);
+ endwin();
+}
+
+
+//-----------------------------------------------------------------------------
+void MDPScreenProcessor::process(const MDPObsEpoch& oe)
+{
+ int chan=oe.channel;
+
+ if (chan>12)
+ return;
+
+ // Figure out whether the SV is rising or setting
+ if ((currentObs[chan]).elevation > oe.elevation)
+ elDir[chan]=-1;
+ else if ((currentObs[chan]).elevation < oe.elevation)
+ elDir[chan]=+1;
+ else
+ elDir[chan]=0;
+
+ // Determine the obs output rate
+ double dt = oe.time - currentObs[chan].time;
+ if (currentObs[chan].prn > 0 && std::abs(dt-obsRate) > 1e-3)
+ obsRate=dt;
+
+ currentObs[chan] = oe;
+
+ // Set channels inactive if we haven't seen data from them recently
+ if (obsRate>0)
+ for (int i=1; i<=12; i++)
+ if (currentObs[i].prn > 0 && oe.time - currentObs[i].time > obsRate*2)
+ currentObs[i].prn = 0;
+
+ drawChan(chan);
+ redraw();
+}
+
+//-----------------------------------------------------------------------------
+void MDPScreenProcessor::process(const MDPPVTSolution& pvt)
+{
+ if (host=="")
+ {
+ host=in.filename;
+ drawBase();
+ }
+
+ double dt = pvt.time - currentPvt.time;
+ if (std::abs(dt-pvtRate) > 1e-3)
+ pvtRate=dt;
+ currentPvt = pvt;
+ drawPVT();
+ redraw();
+}
+
+
+void MDPScreenProcessor::process(const gpstk::MDPNavSubframe& sf)
+{
+ short sfid = sf.getSFID();
+
+ NavIndex ni(RangeCarrierPair(sf.range, sf.carrier), sf.prn);
+ prev[ni] = curr[ni];
+ curr[ni] = sf;
+
+ long sfa[10];
+ sf.fillArray(sfa);
+ if (gpstk::EngNav::subframeParity(sfa))
+ {
+ if (sfid > 3)
+ return;
+
+ EphemerisPages& ephPages = ephPageStore[ni];
+ ephPages[sfid] = sf;
+ EngEphemeris engEph;
+
+ if (makeEngEphemeris(engEph, ephPages))
+ ephStore[ni] = engEph;
+ }
+ else
+ {
+ parErrCnt[ni]++;
+ }
+}
+
+void MDPScreenProcessor::process(const gpstk::MDPSelftestStatus& sts)
+{
+ currentSts = sts;
+ drawSTS();
+ redraw();
+}
+
+// Yes, one would think that sun would have a working curses but NO!!
+// They require a non-const string to be passed to mvwaddstr()
+// grrr.
+void writeAt(WINDOW* win, int row, int col, const string s)
+{
+ char *str = const_cast<char*>(s.c_str());
+ mvwaddstr(win, row, col, str);
+}
+
+void MDPScreenProcessor::redraw()
+{
+ gpstk::DayTime now;
+ if (now - lastUpdateTime > updateRate)
+ {
+ string time=currentPvt.time.printf(" %02H:%02M:%02S %2m/%d/%02y");
+ writeAt(win, 0, COLS-time.length()-5, time.c_str());
+ lastUpdateTime = now;
+ int ch = getch();
+ if (tolower(ch)=='q')
+ {
+ die=true;
+ writeAt(win, 0, 0, "Exiting program.");
+ // Use this to indicate that it is time to quit
+ in.setstate(ios_base::failbit);
+ }
+
+ /* should consider doing endwin(), initscr() and redrawing the window */
+ if (gotWench || tolower(ch)=='r')
+ {
+ char buff[30];
+ sprintf(buff, "%2d x %2d (wench)", LINES, COLS);
+ writeAt(win, 0, COLS/2-15, buff);
+ gotWench=false;
+ clearok(win,true);
+ drawBase();
+ }
+ }
+ wrefresh(win);
+}
+
+void MDPScreenProcessor::drawSTS()
+{
+ string firstTime=currentSts.firstPVTTime.printf("%02H:%02M %m/%d/%2Y ");
+ writeAt(win, stsRow, stsTimeCol, firstTime.c_str());
+
+ string testTime=currentSts.selfTestTime.printf("%02H:%02M %m/%d/%2Y ");
+ writeAt(win, stsRow+1, stsTimeCol, testTime.c_str());
+
+ if (currentSts.extFreqStatus)
+ writeAt(win, stsRow, freqCol, "Locked ");
+ else
+ writeAt(win, stsRow, freqCol, "UnLocked");
+
+ string sts=leftJustify(int2x(currentSts.status), 8);
+ writeAt(win, stsRow+1, freqCol, sts.c_str());
+
+ string trx=leftJustify(asString(currentSts.receiverTemp, 0), 2) + "C";
+ writeAt(win, stsRow, trxCol, trx.c_str());
+
+ string tant=leftJustify(asString(currentSts.antennaTemp, 0), 2) + "C";
+ writeAt(win, stsRow+1, trxCol, tant.c_str());
+
+ string ssw=leftJustify(int2x(currentSts.saasmStatusWord), 3);
+ writeAt(win, stsRow, stsSSWCol, ssw.c_str());
+}
+
+void MDPScreenProcessor::drawPVT()
+{
+ string s=rightJustify(asString(pvtRate,1), 3) + " s";
+ writeAt(win, pvtRow+1 , prateCol, s.c_str());
+
+ string time=currentPvt.time.printf("%02H:%02M:%04.1f");
+ writeAt(win, pvtRow, tCol, time.c_str());
+ string off=rightJustify(asString(currentPvt.dtime*1e9, 1), 9) + " ns";
+ writeAt(win, pvtRow, offCol, off.c_str());
+
+ gpstk::GPSGeoid gm;
+ gpstk::Geodetic llh(currentPvt.x, &gm);
+
+ string lat, lon, alt;
+ if (llh[0] > 0)
+ lat=leftJustify(asString(llh[0],5)+" N", 12);
+ else
+ lat=leftJustify(asString(std::abs(llh[0]),5)+" S", 12);
+ if (llh[1] < 180)
+ lon=leftJustify(asString(llh[1],5)+" E", 12);
+ else
+ lon=leftJustify(asString(360.0-llh[1],5)+" W", 12);
+ alt=leftJustify(asString(llh[2],3) + " m", 12);
+ writeAt(win, pvtRow+1, latCol, (const char *)lat.c_str());
+ writeAt(win, pvtRow+1, lonCol, lon.c_str());
+ writeAt(win, pvtRow+1, altCol, alt.c_str());
+
+ string drift=rightJustify(asString(currentPvt.ddtime*1e9*86400, 2), 9) + " ns/d";
+ writeAt(win, pvtRow, driftCol, drift.c_str());
+ string vx, vy, vz;
+ vx=leftJustify(asString(currentPvt.v[0] * 100, 2)+" cm/s", 11);
+ vy=leftJustify(asString(currentPvt.v[1] * 100, 2)+" cm/s", 11);
+ vz=leftJustify(asString(currentPvt.v[2] * 100, 2)+" cm/s", 11);
+ writeAt(win, pvtRow+2, lonCol, vx.c_str());
+ writeAt(win, pvtRow+2, latCol, vy.c_str());
+ writeAt(win, pvtRow+2, altCol, vz.c_str());
+
+ string fom = leftJustify(asString((int)currentPvt.fom), 3);
+ writeAt(win, pvtRow+2, prateCol, fom.c_str());
+ fom = leftJustify(asString((int)currentPvt.pvtMode), 2);
+ writeAt(win, pvtRow+2, prateCol+4, fom.c_str());
+ fom = leftJustify(asString((int)currentPvt.corrections), 2);
+ writeAt(win, pvtRow+2, prateCol+6, fom.c_str());
+}
+
+void MDPScreenProcessor::drawChan(int chan)
+{
+ if (chan>12 || chan < 1)
+ return;
+
+ for (int i=1; i<=12; i++)
+ if (currentObs[i].prn == 0)
+ {
+ writeAt(win, chanRow+i, prnCol, " --");
+ wclrtoeol(win);
+ }
+
+ int row = chanRow + chan;
+ const MDPObsEpoch& obs=currentObs[chan];
+ if (obs.prn == 0)
+ return;
+
+ string orate = leftJustify(asString(obsRate,1)+" s", 7);
+ writeAt(win, chanRow-3 , orateCol, orate.c_str());
+
+ string prn=rightJustify(asString((int)obs.prn), 3);
+ string az=rightJustify(asString(obs.azimuth, 0), 3);
+ string el=rightJustify(asString(obs.elevation, 0), 2);
+ string health = rightJustify(int2x(obs.status), 2);
+
+ if (elDir[chan] > 0)
+ el=el+"+";
+ else if (elDir[chan] < 0)
+ el=el+"-";
+
+ writeAt(win, row, prnCol, prn.c_str());
+ writeAt(win, row, azCol, az.c_str());
+ writeAt(win, row, elCol, el.c_str());
+ writeAt(win, row, healthCol, health.c_str());
+
+ // RangeCode: rcUnknown, rcCA, rcPcode, rcYcode, rcCodeless, rcL2CM, rcL2CL, rcMcode1, rcMcode2
+ // NavCode: ncUnknown, ncICD_200_2, ncICD_700_M, ncICD_705_L5, ncICD_200_4
+ if (obs.haveObservation(ccL1, rcCA))
+ {
+ MDPObsEpoch::Observation o = obs.getObservation(ccL1, rcCA);
+ string snr = rightJustify(asString(o.snr, 1), 4);
+ string lockCount = rightJustify(asString(o.lockCount), 6);
+ writeAt(win, row, c1snrCol, snr.c_str());
+ writeAt(win, row, lockCol, lockCount.c_str());
+ }
+
+ if (obs.haveObservation(ccL2,rcCM))
+ {
+ MDPObsEpoch::Observation o = obs.getObservation(ccL2, rcCM);
+ string snr = rightJustify(asString(o.snr, 1), 4);
+ string lockCount = rightJustify(asString(o.lockCount), 6);
+ writeAt(win, row, c2snrCol, snr.c_str());
+ }
+
+ if (obs.haveObservation(ccL1, rcYcode))
+ {
+ MDPObsEpoch::Observation o=obs.getObservation(ccL1, rcYcode);
+ string snr = rightJustify(asString(o.snr, 1), 4) + " Y";
+ writeAt(win, row, p1snrCol, snr.c_str());
+ }
+ else if (obs.haveObservation(ccL1, rcPcode))
+ {
+ MDPObsEpoch::Observation o=obs.getObservation(ccL1, rcPcode);
+ string snr = rightJustify(asString(o.snr, 1), 4) + " P";
+ writeAt(win, row, p1snrCol, snr.c_str());
+ }
+ else if (obs.haveObservation(ccL1, rcCodeless))
+ {
+ MDPObsEpoch::Observation o=obs.getObservation(ccL1, rcCodeless);
+ string snr = rightJustify(asString(o.snr, 1), 4) + " Z";
+ writeAt(win, row, p1snrCol, snr.c_str());
+ }
+
+ if (obs.haveObservation(ccL2, rcYcode))
+ {
+ MDPObsEpoch::Observation o=obs.getObservation(ccL2, rcYcode);
+ string snr = rightJustify(asString(o.snr, 1), 4) + " Y";
+ writeAt(win, row, p2snrCol, snr.c_str());
+ }
+ else if (obs.haveObservation(ccL2, rcPcode))
+ {
+ MDPObsEpoch::Observation o=obs.getObservation(ccL2, rcPcode);
+ string snr = rightJustify(asString(o.snr, 1), 4) + " P";
+ writeAt(win, row, p2snrCol, snr.c_str());
+ }
+ else if (obs.haveObservation(ccL2, rcCodeless))
+ {
+ MDPObsEpoch::Observation o=obs.getObservation(ccL2, rcCodeless);
+ string snr = rightJustify(asString(o.snr, 1), 4) + " Z";
+ writeAt(win, row, p2snrCol, snr.c_str());
+ }
+
+ EphStore::const_iterator es_itr;
+ for (es_itr=ephStore.begin(); es_itr != ephStore.end(); es_itr++)
+ if (es_itr->first.second == obs.prn)
+ break;
+
+ if (es_itr == ephStore.end())
+ return;
+
+ const NavIndex& ni = es_itr->first;
+ const gpstk::EngEphemeris& eph=es_itr->second;
+ const gpstk::RangeCode rc = ni.first.first;
+ const gpstk::CarrierCode cc = ni.first.second;
+
+ string iodc=rightJustify(int2x(eph.getIODC()), 4);
+ writeAt(win, row, iodcCol, iodc);
+}
+
+void MDPScreenProcessor::drawBase()
+{
+ wclear(win);
+ char buff[80];
+ sprintf(buff, "%2d x %2d", LINES, COLS);
+ writeAt(win, 0, COLS/2-4, buff);
+
+ writeAt(win, 0, 0, host.c_str());
+ writeAt(win, 0, COLS-3, "GPS");
+
+ writeAt(win, pvtRow, 0, "PVT: Offset:");
+ writeAt(win, pvtRow+1, 0, "Lon: Lat: Ht: Rate:");
+ writeAt(win, pvtRow, 0, "PVT: Offset: Drift:");
+ writeAt(win, pvtRow+2, 0, " Vx: Vy: Vz: FOM:");
+
+ writeAt(win, stsRow, 0, " Trx: ExtFreq: StartTime: SSW:");
+ writeAt(win, stsRow+1, 0, "Tant: Selftest: TestTime: ");
+
+ writeAt(win, chanRow-3, 0, "Obs Rate:");
+ writeAt(win, chanRow-2, 0, " C1 P1 C2 P2 lock ");
+ writeAt(win, chanRow-1, 0, "Ch Prn Az El SNR SNR SNR SNR count iodc h");
+ writeAt(win, chanRow, 0, "-- --- --- -- ---- ------ ---- ------ ------ ---- --");
+ for (int i=1; i<=12; i++)
+ {
+ string str=rightJustify(asString(i),2);
+ writeAt(win, chanRow+i, 0, str.c_str());
+ writeAt(win, chanRow+i, prnCol, " --");
+ wclrtoeol(win);
+ }
+ redraw();
+}
+
+/* should consider doing endwin(), initscr() and redrawing the window */
+void wench(int sig)
+{
+ MDPScreenProcessor::gotWench=true;
+}
diff --git a/dev/apps/MDPtools/mdpscreen/ScreenProc.hpp b/dev/apps/MDPtools/mdpscreen/ScreenProc.hpp
new file mode 100644
index 0000000..90d0d24
--- /dev/null
+++ b/dev/apps/MDPtools/mdpscreen/ScreenProc.hpp
@@ -0,0 +1,75 @@
+#pragma ident "$Id$"
+
+
+#ifndef MDPSCREEN_HPP
+#define MDPSCREEN_HPP
+
+#include "EngEphemeris.hpp"
+
+#include "MDPProcessors.hpp"
+
+#include <signal.h>
+#ifdef LINUX
+#include <bits/signum.h>
+#endif
+
+// This prevents forte from using the macro implementation of many of
+// the curses calls. They tend to interfere with parts of the STL.
+#define NOMACROS
+#include <curses.h>
+#if !defined( __linux__) && !defined(NCURSES_ATTR_T)
+typedef int attr_t;
+#endif
+
+
+class MDPScreenProcessor : public MDPProcessor
+{
+public:
+ MDPScreenProcessor(gpstk::MDPStream& in, std::ofstream& out);
+ ~MDPScreenProcessor();
+
+ virtual void process(const gpstk::MDPObsEpoch& obs);
+ virtual void process(const gpstk::MDPPVTSolution& pvt);
+ virtual void process(const gpstk::MDPNavSubframe& sf);
+ virtual void process(const gpstk::MDPSelftestStatus& sts);
+
+ void redraw();
+
+ void drawChan(int chan=0);
+ void drawPVT();
+ void drawSTS();
+ void drawBase();
+
+ std::string host;
+ float updateRate;
+ double obsRate, pvtRate;
+ WINDOW *win;
+ int prev_curs;
+
+ static bool gotWench;
+
+ int elDir[13];
+ gpstk::MDPObsEpoch currentObs[13];
+ gpstk::MDPPVTSolution currentPvt;
+ gpstk::MDPSelftestStatus currentSts;
+ gpstk::DayTime lastUpdateTime;
+
+ // This is really a triple: prn, RangeCode, CarrierCode
+ typedef std::pair<gpstk::RangeCode, gpstk::CarrierCode> RangeCarrierPair;
+ typedef std::pair<RangeCarrierPair, short> NavIndex;
+
+ // This class can keep track of a subframe and where it came from
+ typedef std::map<NavIndex, gpstk::MDPNavSubframe> NavMap;
+
+ NavMap prev, curr;
+
+ typedef std::map<NavIndex, gpstk::EphemerisPages> EphPageStore;
+ EphPageStore ephPageStore;
+
+ typedef std::map<NavIndex, gpstk::EngEphemeris> EphStore;
+ EphStore ephStore;
+
+ std::map<NavIndex, unsigned long> parErrCnt;
+};
+
+#endif
diff --git a/dev/apps/MDPtools/mdpscreen/mdpscreen.cpp b/dev/apps/MDPtools/mdpscreen/mdpscreen.cpp
new file mode 100644
index 0000000..1d99612
--- /dev/null
+++ b/dev/apps/MDPtools/mdpscreen/mdpscreen.cpp
@@ -0,0 +1,115 @@
+#pragma ident "$Id$"
+
+
+//lgpl-license START
+//lgpl-license END
+
+#include "StringUtils.hpp"
+#include "LoopedFramework.hpp"
+#include "CommandOption.hpp"
+
+#include "DeviceStream.hpp"
+#include "TCPStreamBuff.hpp"
+
+#include "MDPProcessors.hpp"
+#include "ScreenProc.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+class MDPTool : public BasicFramework
+{
+public:
+ MDPTool(const std::string& applName)
+ throw()
+ : BasicFramework(applName, "A curses based near-real-time display of an "
+ " MDP stream."),
+ mdpInputOpt('i', "input", "Where to get the MDP data from. The default "
+ "is to use stdin. If the file name begins with \"tcp:\" "
+ "the remainder is assumed to be a hostname[:port] and the "
+ "source is taken from a tcp socket at this address. If the "
+ "port number is not specified a default of 8910 is used.")
+ {}
+
+ bool initialize(int argc, char *argv[]) throw()
+ {
+ if (!BasicFramework::initialize(argc,argv))
+ return false;
+
+ if (debugLevel)
+ cout << "debugLevel: " << debugLevel << endl
+ << "verboseLevel: " << verboseLevel << endl;
+
+ string fn;
+ if (mdpInputOpt.getCount())
+ fn = mdpInputOpt.getValue()[0];
+ DeviceStream<ifstream> *inputDev = new DeviceStream<ifstream>(fn, ios::in);
+ mdpInput.std::basic_ios<char>::rdbuf(inputDev->std::basic_ios<char>::rdbuf());
+ mdpInput.filename = inputDev->getTarget();
+
+ processor = new MDPScreenProcessor(mdpInput, output);
+
+ processor->debugLevel = debugLevel;
+ processor->verboseLevel = verboseLevel;
+
+ MDPHeader::debugLevel = debugLevel;
+
+ return true;
+ }
+
+protected:
+ virtual void spinUp()
+ {
+ if (!processor)
+ cout << "No processor assigned." << endl, exit(-1);
+ }
+
+ virtual void process()
+ {
+ try
+ {
+ processor->process();
+ }
+ catch (gpstk::Exception &e)
+ {
+ cout << e << endl;
+ }
+ catch (std::exception &e)
+ {
+ cout << e.what() << endl;
+ }
+ }
+
+ virtual void shutDown()
+ {
+ delete processor;
+ }
+
+private:
+ MDPStream mdpInput;
+ ofstream output;
+ TCPStreamBuff rdbuf;
+ CommandOptionWithAnyArg mdpInputOpt;
+
+ MDPProcessor* processor;
+};
+
+
+int main(int argc, char *argv[])
+{
+try
+ {
+ MDPTool crap(argv[0]);
+
+ if (!crap.initialize(argc, argv))
+ exit(0);
+
+ crap.run();
+ }
+ catch (gpstk::Exception &exc)
+ { cout << exc << endl; }
+ catch (std::exception &exc)
+ { cout << "Caught std::exception " << exc.what() << endl; }
+ catch (...)
+ { cout << "Caught unknown exception" << endl; }
+}
diff --git a/dev/apps/MDPtools/mdptool.cpp b/dev/apps/MDPtools/mdptool.cpp
new file mode 100644
index 0000000..3460c49
--- /dev/null
+++ b/dev/apps/MDPtools/mdptool.cpp
@@ -0,0 +1,267 @@
+#pragma ident "$Id$"
+
+
+/** @file Various utility functions on MDP streams/files */
+
+//lgpl-license START
+//lgpl-license END
+
+#include "StringUtils.hpp"
+#include "LoopedFramework.hpp"
+#include "CommandOptionWithTimeArg.hpp"
+
+#include "DeviceStream.hpp"
+
+#include "MDPProcessors.hpp"
+#include "SummaryProc.hpp"
+#include "TrackProc.hpp"
+#include "NavProc.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+class MDPTool : public gpstk::BasicFramework
+{
+public:
+ MDPTool(const std::string& applName)
+ throw()
+ : BasicFramework(
+ applName,
+ "Perform various functions on a stream of MDP "
+ "data. In the summary mode, the default is to only "
+ "summarize the obs data above 10 degrees. Increasing "
+ "the verbosity level will also summarize the data below "
+ "10 degrees."),
+ mdpInputOpt(
+ 'i', "input",
+ "Where to get the MDP data from. The default "
+ "is to use stdin. If the file name begins with \"tcp:\" "
+ "the remainder is assumed to be a hostname[:port] and the "
+ "source is taken from a tcp socket at this address. If the "
+ "port number is not specified a default of 8910 is used."),
+ outputOpt(
+ '\0', "output",
+ "Where to send the output. The default is stdout."),
+ styleOpt(
+ 's', "output-style",
+ "What type of output to produce from the "
+ "MDP stream. Valid styles are: brief, verbose, table, track, "
+ "null, mdp, nav, and summary. The default is summary. Some "
+ "modes aren't quite complete. Sorry."),
+ pvtOpt('p', "pvt", "Enable pvt output"),
+ navOpt('n', "nav", "Enable nav output"),
+ tstOpt('t', "test", "Enable selftest output"),
+ obsOpt('o', "obs", "Enable obs output"),
+ hexOpt('x', "hex", "Dump all messages in hex"),
+ badOpt('b', "bad", "Try to process bad messages also."),
+ bugMaskOpt('m', "bug-mask", "What RX bugs to be quite about. "
+ "1 SV count, 2 nav parity/fmt, 4 HOW/hdr time equal."),
+ almOpt(
+ 'a', "almanac",
+ "Build and process almanacs. Only applies to the nav style"),
+ ephOpt(
+ 'e', "ephemeris",
+ "Build and process engineering ephemerides. Only applies to the "
+ "nav style"),
+ minimalAlmOpt(
+ '\0', "min-alm",
+ "This allows a complete almanac to be constructed from fewer than "
+ "50 pages. It is required for receivers the Ashtech Z(Y)12. The "
+ "default is to require all 50 pages."),
+ startTimeOpt(
+ '\0', "start-time", "%4Y/%03j/%02H:%02M:%05.2f",
+ "Ignore data before this time. (%4Y/%03j/%02H:%02M:%05.2f)"),
+ stopTimeOpt(
+ '\0', "stop-time", "%4Y/%03j/%02H:%02M:%05.2f",
+ "Ignore any data after this time"),
+ timeSpanOpt('l', "time-span", "How much data to process, in seconds")
+ {
+ pvtOpt.setMaxCount(1);
+ navOpt.setMaxCount(1);
+ obsOpt.setMaxCount(1);
+ tstOpt.setMaxCount(1);
+ styleOpt.setMaxCount(1);
+ }
+
+ bool initialize(int argc, char *argv[]) throw()
+ {
+ if (!BasicFramework::initialize(argc,argv)) return false;
+
+ if (debugLevel)
+ cout << "debugLevel: " << debugLevel << endl
+ << "verboseLevel: " << verboseLevel << endl;
+
+ string fn;
+ if (mdpInputOpt.getCount())
+ fn = mdpInputOpt.getValue()[0];
+ inputDev.open(fn, ios::in);
+ if (debugLevel)
+ cout << "Taking input from " << inputDev.getTarget() << endl;
+ mdpInput.std::basic_ios<char>::rdbuf(inputDev.std::basic_ios<char>::rdbuf());
+
+ if (outputOpt.getCount())
+ {
+ output.open(outputOpt.getValue()[0].c_str(), std::ios::out);
+ if (debugLevel)
+ cout << "Sending output to"
+ << outputOpt.getValue()[0]
+ << endl;
+ }
+ else
+ {
+ if (debugLevel)
+ cout << "Sending output to stdout" << endl;
+ output.copyfmt(std::cout);
+ output.clear(std::cout.rdstate());
+ output.std::basic_ios<char>::rdbuf(std::cout.rdbuf());
+ }
+
+ style = "summary";
+ if (styleOpt.getCount())
+ style = styleOpt.getValue()[0];
+
+ if (style == "brief")
+ processor = new MDPBriefProcessor(mdpInput, output);
+ else if (style == "table")
+ processor = new MDPTableProcessor(mdpInput, output);
+ else if (style == "verbose")
+ processor = new MDPVerboseProcessor(mdpInput, output);
+ else if (style == "summary")
+ processor = new MDPSummaryProcessor(mdpInput, output);
+ else if (style == "null")
+ processor = new MDPNullProcessor(mdpInput, output);
+ else if (style == "track")
+ processor = new MDPTrackProcessor(mdpInput, output);
+ else if (style == "nav")
+ processor = new MDPNavProcessor(mdpInput, output);
+ else
+ {
+ cout << "Style " << style << " is not a valid style. (it may just not be implimented yet.)" << endl;
+ return false;
+ }
+
+ if (debugLevel)
+ cout << "Using style: " << style << endl;
+
+ processor->pvtOut |= pvtOpt;
+ processor->obsOut |= obsOpt;
+ processor->navOut |= navOpt;
+ processor->tstOut |= tstOpt;
+ processor->processBad |= badOpt;
+
+ // Some nav specific options
+ if (style == "nav")
+ {
+ processor->navOut = true;
+ processor->obsOut = true; // needed to know elevation/SNR of SVs
+ MDPNavProcessor& np=dynamic_cast<MDPNavProcessor&>(*processor);
+ np.almOut = almOpt;
+ np.ephOut = ephOpt;
+ np.minimalAlm = minimalAlmOpt;
+ }
+
+ // If no outputs are specified, then at least set the obs output
+ if (!processor->pvtOut && !processor->obsOut
+ && !processor->navOut && !processor->tstOut)
+ {
+ if (style == "summary")
+ processor->obsOut = processor->pvtOut = processor->navOut = processor->tstOut = true;
+ else
+ processor->obsOut = true;
+ }
+
+ for (int i=0; i<bugMaskOpt.getCount(); i++)
+ processor->bugMask |= StringUtils::asUnsigned(bugMaskOpt.getValue()[i]);
+
+ if (debugLevel)
+ {
+ string msgList;
+ if (processor->pvtOut) msgList += "pvt ";
+ if (processor->obsOut) msgList += "obs ";
+ if (processor->navOut) msgList += "nav ";
+ if (processor->tstOut) msgList += "tst ";
+ if (msgList.size()==0)
+ msgList = "no ";
+ cout << "Processing " << msgList << "messages." << endl;
+ }
+
+ processor->debugLevel = debugLevel;
+ processor->verboseLevel = verboseLevel;
+
+ MDPHeader::hexDump = hexOpt;
+ MDPHeader::debugLevel = debugLevel;
+
+ if (startTimeOpt.getCount())
+ processor->startTime = startTimeOpt.getTime()[0];
+ if (stopTimeOpt.getCount())
+ processor->stopTime = stopTimeOpt.getTime()[0];
+ if (timeSpanOpt.getCount())
+ processor->timeSpan = StringUtils::asDouble(timeSpanOpt.getValue()[0]);
+
+ return true;
+ }
+
+protected:
+ virtual void spinUp()
+ {
+ if (!processor)
+ cout << "No processor assigned." << endl, exit(-1);
+ }
+
+ virtual void process()
+ {
+ try
+ {
+ processor->process();
+ }
+ catch (gpstk::Exception &e)
+ {
+ cout << e << endl;
+ }
+ catch (std::exception &e)
+ {
+ cout << e.what() << endl;
+ }
+ }
+
+ virtual void shutDown()
+ {
+ delete processor;
+ }
+
+private:
+ DeviceStream<ifstream> inputDev;
+ MDPStream mdpInput;
+ ofstream output;
+ gpstk::CommandOptionWithAnyArg mdpInputOpt, outputOpt;
+
+ gpstk::CommandOptionNoArg pvtOpt, obsOpt, navOpt, tstOpt, hexOpt, badOpt;
+ gpstk::CommandOptionNoArg almOpt, ephOpt, minimalAlmOpt;
+ gpstk::CommandOptionWithAnyArg styleOpt;
+ gpstk::CommandOptionWithNumberArg timeSpanOpt, bugMaskOpt;
+ gpstk::CommandOptionWithTimeArg startTimeOpt, stopTimeOpt;
+
+ string style;
+
+ MDPProcessor* processor;
+};
+
+
+int main(int argc, char *argv[])
+{
+ try
+ {
+ MDPTool crap(argv[0]);
+
+ if (!crap.initialize(argc, argv))
+ exit(0);
+
+ crap.run();
+ }
+ catch (gpstk::Exception &exc)
+ { cout << exc << endl; }
+ catch (std::exception &exc)
+ { cout << "Caught std::exception " << exc.what() << endl; }
+ catch (...)
+ { cout << "Caught unknown exception" << endl; }
+}
diff --git a/dev/apps/MDPtools/tcptest.cpp b/dev/apps/MDPtools/tcptest.cpp
new file mode 100644
index 0000000..adbfd91
--- /dev/null
+++ b/dev/apps/MDPtools/tcptest.cpp
@@ -0,0 +1,86 @@
+#pragma ident "$Id$"
+
+
+#include <iostream>
+#include <string>
+using std::istream;
+using std::cout;
+using std::endl;
+
+#include "TCPStream.hpp"
+#include "CommandOption.hpp"
+#include "CommandOptionParser.hpp"
+
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/errno.h>
+
+int main(int argc, char* argv[])
+{
+ try
+ {
+ gpstk::SocketAddr client(std::string("localhost"), 4621);
+ gpstk::IPaddress any;
+ gpstk::SocketAddr server(any, 4621);
+ int debugLevel = 0;
+ gpstk::CommandOptionNoArg
+ debugOption('d', "debug", "Enable debug output."),
+ serverOption('s', "server", "Run as server, not client");
+ std::string appDescription("Test program for the TCPStream stuff.");
+ gpstk::CommandOptionParser cop(appDescription);
+ cop.parseOptions(argc, argv);
+ if (cop.hasErrors())
+ {
+ cop.dumpErrors(cout);
+ cop.displayUsage(cout);
+ exit(0);
+ }
+
+ debugLevel = debugOption.getCount();
+
+ gpstk::TCPStream tcpStream;
+
+ if (serverOption.getCount())
+ {
+ cout << "Running as a server on " << server << endl;
+ int listening_socket = ::socket(AF_INET,SOCK_STREAM,0);
+ if (listening_socket < 0)
+ cout << "Couldn't create listening socket"
+ << " (" << strerror(errno) << ")" << endl, exit(-1);
+
+ int value = 1;
+ int rc=0;
+
+ if (::setsockopt(listening_socket, SOL_SOCKET, SO_REUSEADDR,
+ (char*)&value, sizeof(value)))
+ cout << "Couldn't set reuse address"
+ << " (" << strerror(errno) << ")" << endl, exit(-1);
+
+ if (::bind(listening_socket, (sockaddr *)server, sizeof(sockaddr)))
+ cout << "Couldn't bind"
+ << " (" << strerror(errno) << ")" << endl, exit(-1);
+
+ if (::listen(listening_socket, 5))
+ cout << "Couldn't listen"
+ << " (" << strerror(errno) << ")" << endl, exit(-1);
+
+ gpstk::TCPStream link;
+ gpstk::SocketAddr peeraddr = gpstk::SocketAddr(any,1);
+ link.rdbuf()->accept(listening_socket,peeraddr);
+ cout << "Accepted connection from " << peeraddr << endl;
+ link.close();
+ }
+ else
+ {
+ cout << "Running as client, :" << client << endl;
+
+ tcpStream.connect(client);
+ if( !tcpStream.good() )
+ cout << "Connection failed!" << endl, exit(0);
+ }
+ }
+ catch (...)
+ {
+ cout << "Caught one" << endl;
+ }
+}
diff --git a/dev/apps/Makefile.am b/dev/apps/Makefile.am
new file mode 100644
index 0000000..44e3328
--- /dev/null
+++ b/dev/apps/Makefile.am
@@ -0,0 +1,4 @@
+# $Id$
+SUBDIRS = DataAvailability MDPtools Rinextools checktools converters \
+differential difftools filetools geomatics ionosphere mergetools multipath \
+positioning receiver reszilla time visibility
diff --git a/dev/apps/RinexPlot/README b/dev/apps/RinexPlot/README
new file mode 100644
index 0000000..6bf601a
--- /dev/null
+++ b/dev/apps/RinexPlot/README
@@ -0,0 +1,31 @@
+RinexPlot (/apps/RinexPlot)
+
+ This directory contains a Perl script which uses the Perl::Tk module to
+provide a menu-driven GUI that will plot the data in Rinex observation files.
+It makes use of the Rinex tools, found in /apps/Rinextools, by calling them on
+the command line from within Perl.
+
+ RinexPlot will run under Unix, Linux and Windows. For Windows, you must
+have Perl and Perl::Tk installed on your system; the best place to get these
+(free) is at ActiveState:
+
+http://www.activestate.com/Products/ActivePerl/
+
+Be sure to get Perl::Tk. Normally the Tk module will come with ActivePerl;
+you also get a Perl Package Manager which allows you to update your perl,
+or you can do this with CPAN. Under Windows you can use the
+batch file RinexPlot.bat.
+
+ Two examples are included here, using scripts goRP and goRP1 (Unix), or
+goRP.bat and goRP1.bat (Windows).
+
+ Getting started is easy. Run the example scripts (batch files) first. The
+GUI is menu and mouse driven, and you can get some brief instructions from the
+Help/Topics menu item. You can also provide options on the command line; see
+under Help/Topics again, or just look in the example scripts.
+
+ RinexPlot is young; some menu items are yet to be implemented, and it still
+has a few rough edges. I expect to it be improved greatly in the near future.
+
+Brian Tolman
+btolman at arlut.utexas.edu
diff --git a/trunk/apps/RinexPlot/RSW214B.obs b/dev/apps/RinexPlot/RSW214B.obs
similarity index 100%
rename from trunk/apps/RinexPlot/RSW214B.obs
rename to dev/apps/RinexPlot/RSW214B.obs
diff --git a/trunk/apps/RinexPlot/RinexPlot.bat b/dev/apps/RinexPlot/RinexPlot.bat
similarity index 100%
rename from trunk/apps/RinexPlot/RinexPlot.bat
rename to dev/apps/RinexPlot/RinexPlot.bat
diff --git a/dev/apps/RinexPlot/RinexPlot.pl b/dev/apps/RinexPlot/RinexPlot.pl
new file mode 100644
index 0000000..188f853
--- /dev/null
+++ b/dev/apps/RinexPlot/RinexPlot.pl
@@ -0,0 +1,3487 @@
+#!/usr/bin/perl
+#
+# RinexPlot - plot Rinex data
+#
+# $Id$
+#
+#============================================================================
+#
+# This file is part of GPSTk, the GPS Toolkit.
+#
+# The GPSTk is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# any later version.
+#
+# The GPSTk is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with GPSTk; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+#
+# Copyright 2004, The University of Texas at Austin
+#
+#============================================================================
+#-------------------------------------------------------------------------------------
+# TD
+# (option?) don't plot points with value 0
+# it doesn't plot a symbol for the first point.
+# need to figure out the height and width of a character in pixels. **
+# you can open a file in a re-entrant sub .. see the Perl books .. use for --load
+# make it safe to run two copies at once .. use unique name for $CFG{'datafile'}
+# Right axis
+# Time limits
+# Gnuplot output
+# postscript output?
+# RAIM -- how to plot?
+# Dataset/Configure ? ... all ResCor options
+
+#-------------------------------------------------------------------------------------
+use strict;
+use Tk;
+use Tk::Dialog;
+use Tk::DialogBox;
+use Tk::ROText;
+use Tk::BrowseEntry;
+use File::stat;
+use File::Basename;
+use IO::Handle;
+
+#-------------------------------------------------------------------------------------
+# Version number
+my $VERSION = "1.2 (10/1/2004)";
+# Message box description of this program
+my $ABOUT_TEXT = "\nRinexPlot is a GUI for utility programs developed with\n"
+ . "the GPS Toolkit (GPSTk) that will read, manipulate and plot\n"
+ . "data in a Rinex file.\n";
+my $AUTHOR_TEXT = "RinexPlot is written in Perl/Tk by Dr. Brian W. Tolman.\n";
+
+#-------------------------------------------------------------------------------------
+# configuration - most things are stored in a hash - see Defaults()
+my (%CFG,%OPT); # CFG has one value per key, OPT can have many values per key
+my ($key,$val);
+my %Options; # valid options for command line -- see Defaults()
+my %Grow; # valid options that can have many values (OPT) -- see Defaults()
+
+my $SLASH="/";
+if ($^O eq "MSWin32") {
+ $SLASH="\\";
+}
+my $menutear = 1;
+
+#-------------------------------------------------------------------------------------
+# drawing area TD add to CFG
+my $BCOLOR = 'white'; # background color for canvas
+my $FCOLOR = 'blue'; # foreground color for canvas
+my $MCOLOR = 'black'; # color of mouse rectangles
+my $firstcanvas = 0; # mark very first resizing of canvas
+
+# cursors -- see
+# Win32 : \perl\site\lib\Tk\X11\cursorfont.h
+# Linux : /usr/X11R6/include/X11/cursorfont.h
+my ($cursor,$waitcursor,$crosshair)=('crosshair','watch','crosshair');
+
+#my @items = ();
+
+#-------------------------------------------------------------------------------------
+# Widgets
+my $w_top; # top level window
+my $w_canvas; # canvas
+my $statusbar; # status bar
+my $menubar; # menu bar
+
+#-------------------------------------------------------------------------------------
+# Plot configuration
+my ($Xrate, $Yrate);
+my $FirstAutoscale = 1; # flag showing need to call autoscale()
+my $LimitsSet = 0; # flag indicating LoadConfig has set limits
+my $UsingDefaults = 1; # flag indicating all labels are defaults
+my $LogOpen = 0; # flag saying when LOG is open
+my $MainUp = 0; # flag saying main window is up
+my $ScaleDefined = 0; # flag saying scales have been defined (Rates())
+my ($begW,$begS)=(0,0); # used in DataTime
+my ($endW,$endS);
+
+#-------------------------------------------------------------------------------------
+# Axes
+# Call NiceScale(datamin,datamax,$ScaleN,totalpixels);
+# Labels are ($ScaleMin + ($i-1) * $ScaleStep) foreach $i (1..$ScaleN).
+# Multiply labels by 10**ScaleExp to make them all (minimum size) integers.
+# There are $ScalePPL pixels per label.
+my ($ScaleMin,$ScaleStep,$ScaleExp,$ScaleN,$ScalePPL)=(0,0,0,0,0);
+my @NiceUnits=(0,12,15,20,25,30,40,50,60,80,100,120,150);
+my ($YScaleMin,$YScaleStep,$YScaleExp)=(0,0,0);
+my ($XScaleMin,$XScaleStep,$XScaleExp)=(0,0,0);
+# if plot limits (XMin,etc) are fixed by user, set this =1, else (autoscale) set =0
+my $ScaleFixed=0;
+# tics
+my ($XTicLen,$YTicLen)=(5,5);
+# use these as input to NewScale
+my ($XMin,$XMax,$YMin,$YMax);
+# save previous values for 'unzoom'
+my ($OldXMin,$OldXMax,$OldYMin,$OldYMax)=('','','','');
+
+#-------------------------------------------------------------------------------------
+# Curves to plot (ncurv of them)
+# each curve defined by Sat, OT, column in file, color, symbol type
+my $Reconfigure; # flag that says call ConfigureCurves()
+my $ncurv; # number of curves defined
+my @curvSV = (); # satellite for this curve
+my @curvOT = (); # obs type (from @obslist)
+my @curvON = (); # switch to turn off curve, on is non-zero
+my @curvCol = (); # column in $CFG{'datafile'} where data is found
+my @curvLines = (); # plot with lines or not (0)
+my @curvSymbs = (); # plot with symbols
+my @symbols = ('none','cross','plus','diamond','square','circle','del','delta');
+my @curvColor = (); # color to plot
+my @colors = (
+ '#0000ff', # bright blue
+ '#ff0000', # bright red
+ '#00ff00', # bright green
+ '#ff00ff', # magenta
+ '#00ffff', # cyan
+ '#80ff00', # electric green
+ '#ff0080', # pink
+ '#8000ff', # purple
+ '#ffff00', # yellow
+ '#ff8000', # orange
+ '#00ff80', # sea green
+ '#0080ff', # sky blue
+ '#000080', # dark blue
+ '#800000', # dark red almost brown
+ '#008000', # dark green
+);
+#'#000000', # black
+#'#ffffff', # white
+#'#a0b7ce', # "MSWin blue"
+
+#-------------------------------------------------------------------------------------
+# Mouse rectangle
+my $MOUSE_RECT; # the rectangle id
+my $MAKE_RECT=0; # state, initially off
+my ($RECT_X0,$RECT_X1,$RECT_Y0,$RECT_Y1); # rectangle limits
+my $CLICK = 0; # is the mouse button down?
+
+#-------------------------------------------------------------------------------------
+# Data file(s)
+#my $AutoView=1; # flag that says view RinSum output when created
+my ($filename,$ConfigFile,$ResCorfilename);
+my ($RinexInSummary,$RinexRCSummary);
+my @filelist=();
+my ($numobs, $numsvs); # number of obs types and SVs in Rinex file
+my ($nobssel, $nsvssel); # number of obs types and SVs (above) that are selected
+my @obslist=(); # list of obs types in Rinex header
+my @obsdesc=(); # descriptions of obs types from Rinex header dump
+my @obsselect=(); # list of switches (0,1) parallel to obslist
+my @svlist=(); # list of SVs in Rinex file
+my @svselect=(); # list of switches (0,1) parallel to svlist
+my @svbegin=(); # list of SV begin times (W,SOW)
+my @svend=(); # list of SV end times (W,SOW)
+
+#-------------------------------------------------------------------------------------
+# Computation using ResCor (create file $ResCorfilename)
+# list of extended obs types that ResCor can compute, with desc., units, dependence
+my (@ExtOT, @ExtDesc, @ExtDep, @ExtSelect); # these kept parallel
+# hash: ExtUnit{$ExtOT[$i]} = units of that OT
+my %ExtUnit=('L1','cycles','L2','cycles','C1','meters','P1','meters','P2','meters',
+ 'D1','Hz','D2','Hz','S1','dB-Hz','S2','dB-Hz');
+# flags giving dependence of the Ext obs types on standard obs types
+my ($DepL1,$DepL2,$DepC1,$DepP1,$DepP2,$DepEP,$DepPS) = (1,2,4,8,16,32,64);
+my $ETdb; # dialog box that selects extended obs types ... create only once
+# for use as input to ResCor -- receiver label, position
+my ($RxLabel,$RxX,$RxY,$RxZ,$RxComment) = ('','','','','');
+# types that ResCor will debias: SP VP L3 L4 L5 MP M1 M2 M3 M4 M5 XR XI X1 X2
+# (XR should not be debiased by ResCor)
+# TD add config option to turn this on/off
+my %MayDebias=('SP',1,'VP',1,'L3',1,'L4',1,'L5',1,
+ 'MP',1,'M1',1,'M2',1,'M3',1,'M4',1,'M5',1,
+ 'XR',0,'XI',1,'X1',1,'X2',1);
+#
+my $MyPrgmDir='unknown';
+if ($^O eq 'MSWin32') {
+ $MyPrgmDir="C:\\Code\\GPSLIB\\Working\\dev\\apps\\Rinextools";
+}
+elsif ($^O eq 'linux') {
+ $MyPrgmDir="/home/btolman/mybin";
+}
+#-------------------------------------------------------------------------------------
+#-------------------------------------------------------------------------------------
+# This lists and defines(!) all valid options for CFG and OPT. This string is written
+# in the Help/Topics window, and is printed to the screen when '--help' is the only
+# cmdline option.
+# It is also parsed by Defaults() into the default CFG and OPT settings, with rules:
+# 0. one key/value pair per line.
+# 1. the key follows '--' and does not contain whitespace.
+# 2. the value is in parentheses at the end : ($val)\n$
+# 3. the option is repeatable (cmdline only) if the string '(can repeat)' appears.
+# 4. everything after 'Example:' is ignored.
+# 5. ignore any line that starts (col 1) with '#'.
+my $CmdText =
+"# RinexPlot, part of the GPSTk : Plot Rinex data\n" .
+"# Usage: perl RinexPlot.pl [--option <arg>]\n" .
+"# Input options (put on command line or in config file) :\n" .
+"# Rinex tools directory:\n" .
+" --prgmdir <dir> directory of GPSTK programs (". $MyPrgmDir . ")\n" .
+"# input:\n" .
+" --load <file> load options file, but don't nest (can repeat) ()\n" .
+" --Rinex <file> load and summarize this Rinex observation file ()\n" .
+" --nav <file> load this Rinex navigation file ()\n" .
+"# output:\n" .
+" --log <file> send all diagnostic output to <file> (SCREEN)\n" .
+" --datafile <file> store data to be plotted in flat <file> (RP.dat)\n" .
+"# create new obs types:\n" .
+" --AO <ExOT> add extended obs types (can repeat) ()\n" .
+" --create [on|off] run ResCor to create any new (AO) obs types (on)\n" .
+" --debias <limit> limit that triggers bias reset in ResCor (100)\n" .
+"# plot datasets\n" .
+" --sat <sat> select satellite for plot (can repeat) ()\n" .
+" --obs <OT> select obs type for plot (can repeat) ()\n" .
+" --refresh [on|off] draw the screen (only if --sat and --obs) (on)\n" .
+" --begin <wk,sow> begin GPS time -- do not read data before this time (0,0)\n" .
+" --end <wk,sow> end GPS time -- do not read data after this time (9999,0)\n" .
+"# plot configuration:\n" .
+" --width <pixels> width of plot surface, L-axis to R-axis (640)\n" .
+" --height <pixels> height of plot surface, B-axis to T-axis (480)\n" .
+" --lines [on|off] draw a line when drawing curves (on)\n" .
+" --points [on|off] draw points when drawing curves (off)\n" .
+" --XMin <x> set minimum value on X axis, omit to autoscale ()\n" .
+" --XMax <x> set maximum value on X axis, omit to autoscale ()\n" .
+" --YMin <y> set minimum value on Y axis, omit to autoscale ()\n" .
+" --YMax <y> set maximum value on Y axis, omit to autoscale ()\n" .
+" --Week <w> week number associated with XMin/Max (for Blabel) ()\n" .
+" --Bmargin <pixels> distance between graph and window bottom (30)\n" .
+" --Tmargin <pixels> distance between graph and window top (30)\n" .
+" --Lmargin <pixels> distance between graph and window left (40)\n" .
+" --Rmargin <pixels> distance between graph and window right (30)\n" .
+" --BticN <n> number of tics on bottom axis (5)\n" .
+" --TticN <n> number of tics on top axis (5)\n" .
+" --LticN <n> number of tics on left axis (5)\n" .
+" --RticN <n> number of tics on right axis (5)\n" .
+"# plot labels:\n" .
+" --Blabel <string> label below the bottom axis (GPS Seconds of Week)\n" .
+" --Tlabel <string> label above the top axis, i.e title (Title)\n" .
+" --Llabel <string> label above the left axis ()\n" .
+" --Rlabel <string> label above the right axis ()\n" .
+"# switches:\n" .
+" --verbose [on|off] output more information to log file (off)\n" .
+" --keepdata [on|off] on exit, do not delete the data file RP.dat (off)\n" .
+" --autoview [on|off] automatically display data file summary (on)\n" .
+" --Cforce [on|off] force C1 to replace P1 (off)\n" .
+" --Callow [on|off] allow C1 to replace a missing P1 (on)\n" .
+"# other:\n" .
+" --zoomX <frac> zoom commands expand(contract) by fraction (0.1)\n" .
+" --help [on|off] show the help window (off)\n" .
+"#\n" .
+" Example:\natom>./RinexPlot --Rinex ../gdms/data/04032/alic0320.04o --autoview off" .
+"\n --AO L4 --AO M5 --sat G08 --sat G30 --obs L4 --obs M5 --refresh\n";
+
+#-------------------------------------------------------------------------------------
+# Temp data
+my (@opt, $file, $dummy, $i, $j, $ans, $msg);
+my ($cmd,$buffer,$len);
+
+#-------------------------------------------------------------------------------------
+# computation of scales and coordinate transformations
+#-------------------------------------------------------------------------------------
+# compute a new 'nice' scale, using $XMin,$XMax,$YMin,$YMax.
+# call with first arg 'fixed' if plot limits are fixed, else 'auto' to "autoscale"
+# second arg is a label printed on LOG and Status
+sub NewScale {
+ my ($flag,$str)=@_;
+
+ ($OldXMin, $OldXMax, $OldYMin, $OldYMax) =
+ ($CFG{'XMin'},$CFG{'XMax'},$CFG{'YMin'},$CFG{'YMax'});
+
+ if($YMin > $YMax) { $ans=$YMax; $YMax=$YMin; $YMin=$ans; }
+ if($XMin > $XMax) { $ans=$XMax; $XMax=$XMin; $XMin=$ans; }
+
+ my $tics = $CFG{'BticN'};
+ if($flag eq 'fixed') { $tics = $CFG{'BticN'} + 2; }
+ NiceScale($XMin,$XMax,$tics,$CFG{'width'});
+ if($flag eq 'fixed') { $XScaleMin = $ScaleMin+$ScaleStep; }
+ if($flag eq 'auto') { $XScaleMin = $ScaleMin; }
+ $XScaleStep = $ScaleStep;
+ $XScaleExp = $ScaleExp;
+
+ $tics = $CFG{'LticN'};
+ if($flag eq 'fixed') { $tics = $CFG{'LticN'} + 2; }
+ NiceScale($YMin,$YMax,$tics,$CFG{'height'});
+ if($flag eq 'fixed') { $YScaleMin = $ScaleMin+$ScaleStep; }
+ if($flag eq 'auto') { $YScaleMin = $ScaleMin; }
+ $YScaleStep = $ScaleStep;
+ $YScaleExp = $ScaleExp;
+
+ if($flag eq 'auto') {
+ # let NiceScale determine the plot limits
+ $YMin = $YScaleMin;
+ $YMax = $YScaleMin+($CFG{'LticN'}-1)*$YScaleStep;
+ $XMin = $XScaleMin;
+ $XMax = $XScaleMin+($CFG{'BticN'}-1)*$XScaleStep;
+ }
+
+ ($CFG{'XMin'},$CFG{'XMax'},$CFG{'YMin'},$CFG{'YMax'})=($XMin,$XMax,$YMin,$YMax);
+ Rates(); # Rates() can change XMin, etc.
+
+ print LOG "$str: new limits are $YMin, $YMax, $XMin, $XMax\n";
+ Status("$str: new limits are X: "
+ . sprintf("%10.3f",$XMin) . ", "
+ . sprintf("%10.3f",$XMax) . ", Y: "
+ . sprintf("%.3f",$YMin) . ", "
+ . sprintf("%.3f",$YMax) . ".");
+
+ if($flag eq 'fixed') { $ScaleFixed=1; } else { $ScaleFixed=0; }
+ $FirstAutoscale = 0;
+}
+
+# compute the 'rates' needed for coordinate transformations
+sub Rates {
+ # check for division by 0
+ if($CFG{'XMin'} == $CFG{'XMax'}) {
+ if($CFG{'XMax'} == 0) { $CFG{'XMax'} = 1; }
+ else { $CFG{'XMax'} += 1.5 * $CFG{'XMax'}; }
+ }
+ if($CFG{'YMin'} == $CFG{'YMax'}) {
+ if($CFG{'YMax'} == 0) { $CFG{'YMax'} = 1; }
+ else { $CFG{'YMax'} += 1.5 * $CFG{'YMax'}; }
+ }
+ $Xrate = $CFG{'width'}/($CFG{'XMax'}-$CFG{'XMin'});
+ $Yrate = -$CFG{'height'}/($CFG{'YMax'}-$CFG{'YMin'});
+
+ $ScaleDefined = 1;
+}
+
+# convert data X units, ($CFG{'XMin'} <= $rawx <= $CFG{'XMax'} )
+# into screen coordinates (0 <= $x <= $CFG{'width'})
+sub Xdata2scr {
+ my $rawx = shift;
+ my $x = $CFG{'Lmargin'} + ($rawx-$CFG{'XMin'}) * $Xrate;
+ return int($x);
+}
+
+# convert data Y units, ($CFG{'YMin'} <= $rawy <= $CFG{'YMax'})
+# into screen coordinates ($CFG{'height'} <= $y <= 0 )
+sub Ydata2scr {
+ my $rawy = shift;
+ my $y = $CFG{'Tmargin'} + $CFG{'height'} + ($rawy-$CFG{'YMin'}) * $Yrate;
+ return int($y);
+}
+
+# convert screen coordinates (0 <= $x <= $CFG{'width'})
+# into data units, ($CFG{'XMin'} <= $rawx <= $CFG{'XMax'} )
+sub scr2Xdata {
+ my $x = shift;
+ my $rawx = $CFG{'XMin'} + ($x - $CFG{'Lmargin'})/$Xrate;
+ return $rawx;
+}
+
+# convert screen coordinates ($CFG{'height'} <= $y <= 0 )
+# into data units, ($CFG{'YMin'} <= $rawy <= $CFG{'YMax'})
+sub scr2Ydata {
+ my $y = shift;
+ my $rawy = ($y - $CFG{'Tmargin'} - $CFG{'height'})/$Yrate + $CFG{'YMin'};
+ return $rawy;
+}
+
+#-------------------------------------------------------------------------------------
+# menu callbacks
+#-------------------------------------------------------------------------------------
+sub FileLoad {
+ $filename = $w_top->getOpenFile(-title => 'Load a configuration file',
+ -initialfile => basename($ConfigFile),
+ #-initialdir => $dir,
+ #-defaultextension => $ext,
+ );
+ if($filename eq '') { return; }
+
+ $LimitsSet = 0; # LoadConfig will notice if limits are set
+ $ans = LoadConfig($filename);
+ if($ans ne 'fail') {
+ ProcessConfig();
+ }
+}
+
+sub FileSave {
+ print LOG "Save the configuration file $ConfigFile\n";
+ $ans = SaveConfig($ConfigFile);
+ if($ans eq 'fail') {
+ print LOG "Could not save configuration file $ConfigFile\n";
+ }
+}
+
+sub FileSaAs {
+ my $Savefilename = $w_top->getSaveFile(-title => 'Save configuration in a file');
+ $ans = SaveConfig($Savefilename);
+ if($ans eq 'fail') {
+ print LOG "Could not save configuration file $Savefilename\n";
+ }
+}
+
+#-------------------------------------------------------------------------------------
+sub FileExit {
+ Status("Cleaning up...");
+ print LOG "Clean up and exit.\n";
+ if($CFG{'keepdata'} ne 'on') {
+ $dummy = `rm -f $CFG{'datafile'}`;
+ if($CFG{'verbose'} eq 'on') { print LOG $dummy; }
+ }
+ if($CFG{'log'} ne '') { close LOG; }
+ exit;
+}
+
+#-------------------------------------------------------------------------------------
+sub FileInpu {
+ Status("Get the name of a Rinex observation file...");
+ $filename = $w_top->getOpenFile(-title => 'Choose a Rinex obs file');
+ if($filename eq '') { return; }
+ DataInputProcess($filename);
+}
+
+#-------------------------------------------------------------------------------------
+sub FileSumm {
+ $file = $RinexInSummary;
+ if($ResCorfilename ne '') { $file=$RinexRCSummary; }
+ if($file eq '') {
+ PopNotice("Error: no file","No input Rinex observation file has been chosen\n"
+ . "Go to File/Rinex Obs");
+ #$ans = $w_top->messageBox(-title => 'Error: no file',
+ #-message => "No input observation file has been chosen\n"
+ #. "Go to File/Rinex Obs",
+ #-type => 'OK', -icon => 'info');
+ return;
+ }
+ Status("Press the Close button to return to the main window...");
+ #print LOG "View data from $file\n";
+ $buffer = '';
+ my $len=0;
+ if (not open(F, "<$file")) {
+ $w_top->Dialog(
+ -title => 'File not found',
+ -text => "Could not open the file $file",
+ -bitmap => 'error',
+ )->Show;
+ return;
+ }
+ $len = read(F, $buffer, 100000);
+ #print LOG "Read $len bytes\n";
+ my @list = split("\n", $buffer);
+ my $width=0; foreach $i (@list) { if(length($i)>$width) { $width=length($i); } }
+ my $TWdb = $w_top->DialogBox(
+ -title => "View RinSum output ($len bytes): $file",
+ -buttons => ['Close'],
+ -popover => $w_top,
+ -overanchor => 'w',
+ -popanchor => 'w',
+ );
+ my $text_win = $TWdb->Scrolled('Text',
+ -setgrid => 'true',
+ -scrollbars => 'e',
+ -height => '40', #lines
+ -width => $width, #characters
+ )->pack(-expand => 'yes', -fill => 'both');
+ $text_win->insert('end', $buffer); # add text at end of (empty) widget
+ $text_win->see('end'); # scroll to end of text
+ $TWdb->Show();
+ close F;
+ Status("...");
+}
+
+#-------------------------------------------------------------------------------------
+sub FileSele {
+ Status('');
+
+ # figure out the width of the box
+ my $len = length($CFG{'Rinex'});
+ if($len < length($CFG{'nav'})) { $len = length($CFG{'nav'}); }
+ if($RxLabel ne '' && $len < 60) { $len = 60; }
+ if($ResCorfilename ne '' && $len < length($ResCorfilename)) {
+ $len = length($ResCorfilename);
+ }
+ if($len < 20) { $len = 20; }
+
+ # are there extended obs types defined?
+ $dummy = 0;
+ $msg = '';
+ foreach $i (0..$#ExtOT) {
+ if($ExtSelect[$i] != 0) {
+ $dummy++;
+ $msg = $msg . $ExtOT[$i] . " ";
+ }
+ }
+
+ my $FSdb = $w_top->DialogBox(
+ -title => "Current Selections",
+ -buttons => ['Ok','Clear'],
+ -default_button => 'Ok',
+ -popover => $w_top,
+ -overanchor => 'c',
+ -popanchor => 'c',
+ );
+ $FSdb->add('Label',-text => "Rinex Observation File:")->pack(-anchor => 'w');
+ my $f1=$FSdb->Frame(-borderwidth => 2, -relief => 'groove',
+ )->pack(-anchor => 'w');
+ $FSdb->add('Label',-text => "Rinex Navigation File:")->pack(-anchor => 'w');
+ my $f2=$FSdb->Frame(-borderwidth => 2, -relief => 'groove',
+ )->pack(-anchor => 'w');
+ my ($f3,$f4,$f5,$f6);
+ if($RxLabel ne '') {
+ $FSdb->add('Label',-text => "Receiver Position:")->pack(-anchor => 'w');
+ $f3=$FSdb->Frame(-borderwidth => 2, -relief => 'groove',
+ )->pack(-anchor => 'w');
+ }
+ if($ResCorfilename ne '') {
+ $FSdb->add('Label',-text => "Computed Observations File")->pack(-anchor => 'w');
+ $f4=$FSdb->Frame(-borderwidth => 2, -relief => 'groove',
+ )->pack(-anchor => 'w');
+ }
+ if($dummy > 0) {
+ $FSdb->add('Label',-text => "Computed Observation Types")->pack(-anchor => 'w');
+ $f5=$FSdb->Frame(-borderwidth => 2, -relief => 'groove',
+ )->pack(-anchor => 'w');
+ }
+ $FSdb->add('Label',-text => "Current configuration file")->pack(-anchor => 'w');
+ $f6=$FSdb->Frame(-borderwidth => 2, -relief => 'groove')->pack(-anchor => 'w');
+
+
+ my $e1=$f1->Entry(
+ -textvariable => \$CFG{'Rinex'}, -width => $len, -justify => 'left',
+ )->pack(-side => 'top', -anchor => 'w');
+ $f1->Label(-text => 'Summary file:')->pack(-side => 'left');
+ $f1->Label(-text => $RinexInSummary, -justify => 'left')->pack(-side => 'left');
+ my $e2=$f2->Entry(
+ -textvariable => \$CFG{'nav'}, -width => $len)->pack(-side => 'left');
+ if($RxLabel ne '') {
+ my $f31=$f3->Frame(-borderwidth => 2, -relief => 'flat')->pack(-anchor => 'w');
+ $f31->Label(-text => "Label : ")->pack(-side => 'left');
+ $f31->Entry(-textvariable => \$RxLabel, -width => 5)->pack(-side => 'left');
+ my $f32=$f3->Frame(-borderwidth => 2, -relief => 'flat')->pack(-anchor => 'w');
+ $f32->Label(-text => "X : ")->pack(-side => 'left');
+ $f32->Entry(-textvariable => \$RxX, -width => 15)->pack(-side => 'left');
+ $f32->Label(-text => " Y : ")->pack(-side => 'left');
+ $f32->Entry(-textvariable => \$RxY, -width => 15)->pack(-side => 'left');
+ $f32->Label(-text => " Z : ")->pack(-side => 'left');
+ $f32->Entry(-textvariable => \$RxZ, -width => 15)->pack(-side => 'left');
+ my $f33=$f3->Frame(-borderwidth => 2, -relief => 'flat')->pack(-anchor => 'w');
+ $f33->Label(-text => "Comment: ")->pack(-side => 'left');
+ $f33->Entry(-textvariable => \$RxComment, -width => 50)->pack(-side => 'left');
+ }
+ if($ResCorfilename ne '') {
+ $f4->Label(-text => $ResCorfilename, -justify => 'left',
+ )->pack(-side => 'top', -anchor => 'w');
+ $f4->Label(-text => 'Summary file:'
+ )->pack(-side => 'left', -anchor => 'w');
+ $f4->Label(-text => $RinexRCSummary, -justify => 'left',
+ )->pack(-side => 'left', -anchor => 'w');
+ }
+
+ #TD add ExtOT, Selected sats/obs ?
+ if($dummy > 0) {
+ $f5->Label(-text => $msg, -justify => 'left',
+ )->pack(-side => 'top', -anchor => 'w');
+ }
+
+ $f6->Label(-text => $ConfigFile, -justify => 'left',
+ )->pack(-side => 'top', -anchor => 'w');
+
+ $ans = $FSdb->Show();
+ $e1->focus; $e1->icursor('end');
+ if($ans eq 'Clear') {
+ FileClea();
+ }
+}
+
+#-------------------------------------------------------------------------------------
+sub FileClea {
+ $ans = $w_top->messageBox(
+ -title => "Clear all selections",
+ -message => "Are you sure you want to clear\n"
+ . "all file names and all data selections? ",
+ -type => 'YesNo',
+ -icon => 'question',
+ #no popover for messageBox
+ );
+ if($ans eq 'yes') { ClearAll(); }
+}
+
+#-------------------------------------------------------------------------------------
+sub ClearAll {
+ Status("All the input files and data selection have been cleared.");
+ $CFG{'nav'} = '';
+ $CFG{'Rinex'} = '';
+ $ResCorfilename = '';
+ $RinexInSummary = '';
+ $RinexRCSummary = '';
+ $RxLabel = '';
+ @obslist = ();
+ @obsdesc = ();
+ @obsselect = ();
+ @svlist = ();
+ @svselect = ();
+ $dummy = `rm -f $CFG{'datafile'}`;
+ if($CFG{'verbose'} eq 'on') { print LOG $dummy; }
+ @svbegin = ();
+ @svend = ();
+ $numobs = 0;
+ $numsvs = 0;
+ $nobssel = 0;
+ $nsvssel = 0;
+ $FirstAutoscale = 1;
+ ClearExot();
+}
+
+#-------------------------------------------------------------------------------------
+sub DataInputProcess {
+ ($filename) = @_;
+ # first see that it exists
+ if (not open(F, "<$filename")) {
+ PopNotice("Empty file","File $filename \ndoes not exist or is empty.");
+ return;
+ }
+ print LOG "Selected input Rinex obs file $filename\n";
+ ClearAll();
+ WaitCursor();
+
+ # get extended obs type information here (once) from ResCor
+ ExtDialogInit();
+
+ Status("Summarizing obs file $filename...please wait...");
+ $CFG{'Rinex'} = $filename;
+ $ResCorfilename = '';
+ $RinexRCSummary = '';
+ $RinexInSummary = basename($filename) . ".sum";
+ $cmd = $CFG{'prgmdir'} . $SLASH . "RinSum -g -i" . $CFG{'Rinex'}
+ . " > $RinexInSummary";
+ print LOG "Summarize obs file: Execute $cmd\n";
+ $dummy = `$cmd`; if($CFG{'verbose'} eq 'on') { print LOG $dummy; }
+
+ # pull out obs types from $RinexInSummary
+ $ans = DataGather($RinexInSummary);
+ if($ans == -1) {
+ Status("Choose another observation file");
+ PopNotice("Error: wrong file type",
+ $CFG{'Rinex'} . " \nis NOT a Rinex observation file.\n");
+ $CFG{'Rinex'} = '';
+ $ResCorfilename = '';
+ $RinexInSummary = '';
+ }
+ else {
+ if($CFG{'autoview'} eq 'on') { FileSumm(); }
+ $FirstAutoscale = 1;
+ }
+ Status("Summary complete for $filename.");
+ NormalCursor();
+}
+
+#-------------------------------------------------------------------------------------
+sub DataGather {
+ ($file) = @_;
+ open FILE, "$file" or die "Error: DataGather could not open file $file\n";
+ @obslist = ();
+ @obsdesc = ();
+ @obsselect = ();
+ @svlist = ();
+ @svselect = ();
+ $dummy = `rm -f $CFG{'datafile'}`; if($CFG{'verbose'} eq 'on') { print LOG $dummy; }
+ @svbegin = ();
+ @svend = ();
+ $nobssel = 0;
+ $nsvssel = 0;
+ my $EOH = 0;
+ while(<FILE>) {
+ chomp;
+ $_ =~ s/^\s+//;
+ if(m/is not a Rinex observation file/) {
+ return -1;
+ }
+ if(m/END OF HEADER/) { $EOH=1; }
+
+ @opt = split (/\s+/, $_);
+ if($opt[0] eq "Type") {
+ push @obslist, $opt[3];
+ push @obsdesc, substr($_,13,length($_)-13);
+ push @obsselect, 0;
+ }
+ # following condition (..eq "G") means only GPS satellites get picked up
+ if($EOH==1 && $opt[0] eq "Sat" && substr($opt[1], 0, 1) eq "G") {
+ $numobs = $#obslist + 1;
+ push @svlist, $opt[1];
+ push @svselect, 0;
+ push @svbegin, [ $opt[$numobs+3], $opt[$numobs+4] ];
+ push @svend, [ $opt[$numobs+6], $opt[$numobs+7] ];
+ }
+ if($opt[0] eq "WARNING:" && $opt[1] eq "ObsType") {
+ $dummy = $opt[2];
+ foreach $i (0..$numobs-1) {
+ if($obslist[$i] eq $dummy) {
+ splice(@obslist, $i, 1);
+ splice(@obsdesc, $i, 1);
+ splice(@obsselect, $i, 1);
+ $numobs--;
+ last;
+ }
+ }
+ }
+ }
+ close FILE;
+ $numsvs = $#svlist + 1;
+
+ #print LOG "Obs types ($numobs) found: @obslist\n";
+ #print LOG "Found $numsvs SVs, here are start and stop times:\n";
+ #foreach $i (0..$numsvs-1) {
+ # print LOG "$svlist[$i] ($svbegin[$i][0],$svbegin[$i][1])"
+ # . " - ($svend[$i][0],$svend[$i][1])\n";
+ #}
+ return 0;
+}
+
+#-------------------------------------------------------------------------------------
+sub DataSats {
+ if($numsvs <= 0) {
+ $msg = "There are no satellites to select!"
+ . "\nGo to File/Input to load a new Rinex data file";
+ PopNotice("Error: no satellites",$msg);
+ return;
+ }
+
+ Status("Select satellites to be plotted.");
+ my $SLdb = $w_top->DialogBox(
+ -title => 'Select satellite(s) for plot',
+ -buttons => ['Ok','Cancel'],
+ -default_button => 'Ok',
+ -popover => $w_top,
+ -overanchor=> 'n',
+ -popanchor => 'n',
+ );
+ my (@cb);
+ my $rows = 6;
+ my ($r,$c,$cols)=(1,0,int 1+$numsvs/$rows);
+
+ # label and frame for satellites
+ $SLdb->add('Label',
+ -text => "Select Satellite(s)",
+ -justify => 'center')->grid(-columnspan => "$cols");
+ my $f1=$SLdb->Frame(-borderwidth => 2, -relief => 'groove')->grid();
+ foreach $i (0..$numsvs-1) {
+ $cb[$i] = $f1->Checkbutton(
+ -text => $svlist[$i],
+ -variable => \$svselect[$i],
+ -relief => 'flat')->grid(-row => $r, -column => $c, -ipadx => '2');
+ $r++;
+ if($r > $rows) { $r = 1; $c++; }
+ }
+ # frame for two buttons
+ $dummy = $rows+1;
+ my $f2 = $f1->Frame(-borderwidth => 2, -relief => 'flat'
+ )->grid(-row => $dummy, -columnspan => "$cols");
+ $dummy = int($cols/2);
+ if($dummy == 0) { $dummy=1; }
+ my $cb2 = $f2->Button(
+ -text => 'All',
+ -width => '15',
+ -relief => 'groove',
+ -command => \&SetAllSats)->grid(-row => 1, -column => 1);
+ my $cb1 = $f2->Button(
+ -text => 'Clear',
+ -width => '15',
+ -relief => 'groove',
+ -command => \&ClearSats)->grid(-row => 1, -column => 2);
+
+ # save a copy to see when sats are un-selected
+ my @saveselect = @svselect;
+ $ans = $SLdb->Show();
+ if($ans eq "Cancel") {
+ @svselect = @saveselect;
+ return;
+ }
+
+ $dummy = 0;
+ $filename = "$CFG{'datafile'}";
+ foreach $i (0..$numsvs-1) {
+ if($saveselect[$i] != $svselect[$i]) {
+ if($svselect[$i] == 0) {
+ if($dummy == 0) { print LOG "DataSet/Sats Selected Sats:"; $dummy=1; }
+ print LOG " -$svlist[$i]";
+ }
+ else {
+ if(-e $filename) {
+ $dummy = `rm -f $filename`;
+ if($CFG{'verbose'} eq 'on') { print LOG $dummy; }
+ }
+ }
+ $Reconfigure = 1;
+ }
+ if($svselect[$i] != 0) {
+ if($dummy == 0) { print LOG "DataSet/Sats Selected Sats:"; $dummy=1; }
+ print LOG " $svlist[$i]";
+ $nsvssel++;
+ }
+ }
+ if($dummy == 1) { print LOG "\n"; }
+ Status("Satellites selected ... go to DataSet/Obs to select obs?");
+}
+
+#-------------------------------------------------------------------------------------
+sub DataObst {
+ if($numobs <= 0) {
+ $msg = "There are no observation types selected!"
+ . "\nGo to File/Input to load a new Rinex data file";
+ PopNotice("Error: no obs types",$msg);
+ return;
+ }
+
+ Status("Select observations to be plotted.");
+ my $SLdb = $w_top->DialogBox(
+ -title => 'Select observation type(s) for plotting',
+ -buttons => ['Ok','Cancel'],
+ -default_button => 'Ok',
+ -popover => $w_top,
+ -overanchor=> 'n',
+ -popanchor => 'n',
+ );
+ my (@cb);
+ my $rows = 6;
+ my ($r,$c,$cols)=(1,0,int 1+$numobs/$rows);
+
+ # label and frame for obs types
+ $SLdb->add('Label',
+ -text => "\nSelect Obs Type(s)",
+ -justify => 'center')->grid(-columnspan => "$cols");
+ my $f2=$SLdb->Frame(-borderwidth => 2, -relief => 'groove')->grid();
+ foreach $i (0..$numobs-1) {
+ $cb[$i] = $f2->Checkbutton(
+ -text => $obslist[$i] . " = " . $obsdesc[$i],
+ -variable => \$obsselect[$i],
+ -relief => 'flat')->grid(-sticky => 'w');
+ }
+ # frame for two buttons
+ $dummy = $numobs+1;
+ my $f1 = $f2->Frame(-borderwidth => 2, -relief => 'flat'
+ )->grid(-row => $dummy, -columnspan => "$cols");
+ my $cb2 = $f1->Button(
+ -text => 'Clear',
+ -width => '15',
+ -relief => 'groove',
+ -command => \&ClearObs);
+ my $cb1 = $f1->Button(
+ -text => 'All',
+ -width => '15',
+ -relief => 'groove',
+ -command => \&SetAllObs)->grid($cb2);
+
+ # save a copy to see when sats are un-selected
+ my @saveselect = @obsselect;
+ $ans = $SLdb->Show();
+ if($ans eq "Cancel") {
+ @obsselect = @saveselect;
+ return;
+ }
+
+ $dummy = 0;
+ foreach $i (0..$numobs-1) {
+ if($saveselect[$i] != $obsselect[$i]) {
+ $Reconfigure = 1;
+ $ans = `rm -f $CFG{'datafile'}`; if($CFG{'verbose'} eq 'on') { print LOG $ans; }
+ }
+ if($obsselect[$i] != 0) {
+ if($dummy == 0) { print LOG "DataSet/ObsTypes Selected Obs:"; $dummy=1; }
+ print LOG " $obslist[$i]";
+ $nobssel++;
+ }
+ }
+ if($dummy == 1) { print LOG "\n"; }
+ Status("Observations selected ... Refresh?");
+}
+
+#-------------------------------------------------------------------------------------
+sub DataTime {
+ # put up a dialog box with number entry box
+ Status("Dataset/Times Enter new time limits");
+ my $DTdb = $w_top->DialogBox(
+ -title => 'Time Limits',
+ -buttons => ['Ok','Cancel'],
+ -default_button => 'Ok',
+ -popover => $w_top,
+ -overanchor => 'c',
+ -popanchor => 'c',
+ );
+
+ ($begW,$begS) = split(',',$CFG{'begin'});
+ ($endW,$endS) = split(',',$CFG{'end'});
+
+ $DTdb->add('Label',-text => " GPS Week Seconds of week")->pack(-anchor => 'w');
+ my $f1=$DTdb->Frame(-borderwidth => 2, -relief => 'flat')->pack(-anchor => 'w');
+ #$DTdb->add('Label')->pack(-anchor => 'w');
+ my $f2=$DTdb->Frame(-borderwidth => 2, -relief => 'flat')->pack(-anchor => 'w');
+
+ $f1->Label(-text => "Begin : ")->pack(-side => 'left');
+ my $e1=$f1->Entry(-textvariable => \$begW, -width => 5)->pack(-side => 'left');
+ $f1->Entry(-textvariable => \$begS, -width => 15)->pack(-side => 'left');
+ $f1->Button(-text => 'Clear', -width => '10', -relief => 'groove',
+ -command => \&ClearDTL)->pack(-side => 'right', -padx => '10');
+
+ $f2->Label(-text => "End : ")->pack(-side => 'left');
+ $f2->Entry(-textvariable => \$endW, -width => 5)->pack(-side => 'left');
+ $f2->Entry(-textvariable => \$endS, -width => 15)->pack(-side => 'left');
+ $f2->Button(-text => 'Set to Data', -width => '10', -relief => 'groove',
+ -command => \&SetDTL)->pack(-side => 'right', -padx => '10');
+
+ $e1->focus;
+ $e1->icursor('end');
+ $ans = $DTdb->Show();
+ if($ans eq 'Ok') {
+ print LOG "Dataset/Time limits are ($begW,$begS)-($endW,$endS)\n";
+ $CFG{'begin'} = "$begW,$begS";
+ $CFG{'end'} = "$endW,$endS";
+ }
+ Status('');
+}
+sub ClearDTL {
+ $begW = 0;
+ $begS = 0;
+ $endW = 9999;
+ $endS = 0;
+}
+sub SetDTL {
+ ClearDTL();
+ if($numsvs <= 0) { return; }
+ my $firstime = 1;
+ foreach $i (0..$numsvs-1) {
+ if($svselect[$i] != 0) {
+ if($firstime) {
+ $begW = $svbegin[$i][0];
+ $begS = $svbegin[$i][1];
+ $endW = $svend[$i][0];
+ $endS = $svend[$i][1];
+ $firstime = 0;
+ }
+ else {
+ if( $svbegin[$i][0] < $begW ||
+ ($svbegin[$i][0] == $begW && $svbegin[$i][1] < $begS)) {
+ $begW = $svbegin[$i][0];
+ $begS = $svbegin[$i][1];
+ }
+ if( $svend[$i][0] > $endW ||
+ ($svend[$i][0] == $endW && $svend[$i][1] > $endS)) {
+ $endW = $svend[$i][0];
+ $endS = $svend[$i][1];
+ }
+ }
+ }
+ }
+}
+
+#-------------------------------------------------------------------------------------
+sub DataConf {
+ #PopNotice("DataSet/Configure","DataSet/Configure is not yet implemented");
+ # Iono height
+ # debiasing
+ # $CFG{'debias'}
+ my ($db,$ih)=($CFG{'debias'},$CFG{'ionoht'});
+ Status("Modify data settings");
+ my $DCdb = $w_top->DialogBox(
+ -title => "Data configuration",
+ -buttons => ['Ok','Cancel'],
+ -default_button => 'Ok',
+ -popover => $w_top,
+ -overanchor => 'c',
+ -popanchor => 'c',
+ );
+ $DCdb->add('Label',-text => "Data Settings:")->pack(-anchor => 'w');
+ # debias limit for ResCor
+ my $f1=$DCdb->Frame(-borderwidth => 2, -relief => 'groove')->pack(-anchor => 'w');
+ $f1->Label(-text => " Limit on ResCor debias reset :"
+ )->pack(-side => 'top', -anchor => 'w');
+ $f1->Label(-text => " ")->pack(-side => 'left');
+ my $e1=$f1->Entry(-textvariable => \$db, -width => '20')->pack(-side => 'left');
+
+ # put it up
+ $ans = $DCdb->Show();
+ if($ans eq 'Ok') {
+ $CFG{'debias'} = $db;
+ }
+}
+
+#-------------------------------------------------------------------------------------
+sub SetAllSats {
+ if($numsvs <= 0) { return; }
+ foreach $i (0..$numsvs-1) { $svselect[$i] = 1; }
+ $nsvssel = $numsvs;
+ $FirstAutoscale = 1;
+}
+
+#-------------------------------------------------------------------------------------
+sub ClearSats {
+ if($numsvs <= 0) { return; }
+ foreach $i (0..$numsvs-1) {
+ if($svselect[$i] != 0) {
+ $filename = "$CFG{'datafile'}";
+ if(-e $filename) {
+ $dummy = `rm -f $filename`;
+ if($CFG{'verbose'} eq 'on') { print LOG $dummy; }
+ }
+ }
+ $svselect[$i] = 0;
+ }
+ $nsvssel = 0;
+ $FirstAutoscale = 1;
+}
+
+#-------------------------------------------------------------------------------------
+sub SetAllObs {
+ if($numobs <= 0) { return; }
+ foreach $i (0..$numobs-1) { $obsselect[$i] = 1; }
+ $nobssel = $numobs;
+ $FirstAutoscale = 1;
+}
+
+#-------------------------------------------------------------------------------------
+sub ClearObs {
+ if($numobs <= 0) { return; }
+ foreach $i (0..$numobs-1) { $obsselect[$i] = 0; }
+ $nobssel = 0;
+ $FirstAutoscale = 1;
+}
+
+#-------------------------------------------------------------------------------------
+sub ConfigureCurves {
+ # each curve defined by Sat, OT, column in file, color, symbol type
+ # this routine must be called whenever selected svs OR selected ot changes
+ # when selected ot changes, the file $CFG{'datafile'} must be deleted
+ # if not already called, call this routine: Refresh, Graph/Curves, Graph/Limits
+ if($Reconfigure == 0) { return; }
+ print LOG "Configure curves:";
+ WaitCursor();
+ Status("Configure curves from selected data...please wait...");
+ $ncurv = 0;
+ $dummy = 0; # count colors
+ # count symbols, if symbols 'on' (symbols[0]='none')
+ if($CFG{'points'} eq 'on') { $ans = 1; } else { $ans = 0; }
+ @curvSV = (); # satellite for this curve
+ @curvOT = (); # obs type (from @obslist)
+ @curvON = (); # switch to turn off curve, on is non-zero
+ @curvCol = (); # column in $CFG{'datafile'} where data is found
+ @curvLines = (); # plot with lines or not (0)
+ @curvSymbs = (); # plot with symbols (1-?) or not (0)
+ @curvColor = (); # color to plot
+ foreach $i (0..$numsvs-1) {
+ if($svselect[$i] != 0) { # each satellite <-> file
+ my $n=0; # n just counts the columns <-> obstype
+ foreach $j (0..$numobs-1) {
+ if($obsselect[$j] != 0) { # each obstype
+ $curvSV[$ncurv] = $svlist[$i];
+ $curvOT[$ncurv] = $obslist[$j];
+ $curvON[$ncurv] = 1;
+ $curvCol[$ncurv] = 3*($n+1);
+ $n++;
+ $curvColor[$ncurv] = $colors[$dummy];
+ $dummy++; if($dummy > $#colors) { $dummy=0; }
+ if($CFG{'lines'} eq 'on') { $curvLines[$ncurv] = 1; }
+ else { $curvLines[$ncurv] = 0; }
+ $curvSymbs[$ncurv] = $symbols[$ans];
+ if($CFG{'points'} eq 'on') {
+ $ans++;
+ if($ans > $#symbols) { $ans=1; }
+ }
+ $ncurv++;
+ print LOG " $ncurv:$svlist[$i]/$obslist[$j]";
+ }
+ }
+ }
+ }
+ print LOG "\n";
+
+ if($ncurv <= 0) { # TD message? popup?
+ NormalCursor();
+ Status('');
+ return;
+ }
+
+ #print LOG "Number svs is $numsvs\n";
+ my $file = $CFG{'Rinex'};
+ if($ResCorfilename ne '') { $file = $ResCorfilename; }
+ $filename = "$CFG{'datafile'}";
+ if(not -e $filename) {
+ Status("Configure curves from selected data...please wait...");
+ $cmd = $CFG{'prgmdir'} . $SLASH . "RinexDump " . $file;
+ foreach $i (0..$numsvs-1) {
+ if($svselect[$i] != 0) { $cmd = $cmd . " $svlist[$i]"; }
+ }
+ foreach $j (0..$numobs-1) {
+ if($obsselect[$j] != 0) { $cmd = $cmd . " $obslist[$j]"; }
+ }
+ $cmd = $cmd . " > $filename";
+ print LOG "Collect data for plotting: Execute $cmd\n";
+ $dummy = `$cmd`; if($CFG{'verbose'} eq 'on') { print LOG $dummy; }
+ }
+
+ if($FirstAutoscale == 1) { autoscale(); }
+ if($Reconfigure == 1 && $UsingDefaults) { DefaultLabels(); }
+ $Reconfigure = 0;
+ NormalCursor();
+ Status("Curves configured...Refresh?");
+}
+
+#-------------------------------------------------------------------------------------
+sub DefaultLabels {
+ print LOG "Configure default labels\n";
+ WaitCursor();
+ Status("Configure labels from selected data...please wait...");
+
+ my (@ot, at sv, at un);
+ my %SVseen = ();
+ my %OTseen = ();
+ my %UNseen = ();
+ foreach $i (0..$ncurv-1) {
+ if($curvON[$i] != 0) {
+ # TD decide if they are plotted on left or right
+ unless($SVseen{$curvSV[$i]}) {
+ $SVseen{$curvSV[$i]} = 1;
+ push @sv, $curvSV[$i];
+ }
+ unless($OTseen{$curvOT[$i]}) {
+ $OTseen{$curvOT[$i]} = 1;
+ push @ot, $curvOT[$i];
+ }
+ unless($UNseen{$ExtUnit{$curvOT[$i]}}) {
+ $UNseen{$ExtUnit{$curvOT[$i]}} = 1;
+ push @un, $ExtUnit{$curvOT[$i]};
+ }
+ }
+ }
+
+ #print LOG "Unique SV @sv\n";
+ #print LOG "Unique OT @ot (@un)\n";
+ if($#un > 0) {
+ print LOG "WARNING: Inconsistent units on left axis (@un).\n";
+ }
+ $CFG{'Tlabel'} = "OTs (@ot) for Sats (@sv) vs. Time";
+ $CFG{'Llabel'} = "@ot (@un)";
+ $CFG{'Rlabel'} = '';
+ $CFG{'Blabel'} ="GPS Seconds of Week $CFG{'Week'}";
+
+ NormalCursor();
+ $UsingDefaults = 1;
+ Status("Labels configured.");
+}
+
+#-------------------------------------------------------------------------------------
+sub CompObst {
+ Status("Select new observation types to create...");
+ $ans = $ETdb->Show();
+ if($ans eq "Cancel") {
+ Status('');
+ return;
+ }
+ Status("New observation types have been selected..." .
+ "go to Compute/Create to compute.");
+
+ $dummy = 0;
+ foreach $i (0..$#ExtOT) {
+ if($ExtSelect[$i] != 0) {
+ if($dummy == 0) { print LOG "Compute/New Selected New Obs:"; $dummy=1; }
+ print LOG " $ExtOT[$i]";
+ }
+ }
+ if($dummy == 1) { print LOG "\n"; }
+}
+
+#-------------------------------------------------------------------------------------
+sub ExtDialogInit {
+ if($#ExtOT == -1) { # only do this once...
+ $cmd = $CFG{'prgmdir'} . $SLASH . "ResCor -h > syntax.rc";
+ print LOG "Get list of possible new obs types: Execute $cmd\n";
+ $dummy = `$cmd`; if($CFG{'verbose'} eq 'on') { print LOG $dummy; }
+ open FILE, "syntax.rc" or die "Error: could not open syntax.rc\n";
+ my @opt = <FILE>;
+ my @ExtROT;
+ $ans = 0;
+ for($i=0; $i <= $#opt; $i++) {
+ chomp $opt[$i];
+ if($opt[$i] =~ /OT Description/) { $ans = 1; }
+ if($ans == 2) {
+ if($opt[$i] =~ /End of list of extended observation types/) { last; }
+ push @ExtROT, $opt[$i];
+ #print LOG "Line $i is $opt[$i]\n";
+ }
+ if($ans == 1 && $opt[$i] =~ /^ -- --/) { $ans = 2; }
+ }
+ for($i=0; $i <= $#ExtROT; $i++) {
+ push @ExtOT, substr($ExtROT[$i],2,2);
+ #print "New OT ",substr($ExtROT[$i],2,2);
+ my $desc = substr($ExtROT[$i],5,20);
+ #print " desc ",$desc;
+ #$desc =~ s/\s*$//;
+ push @ExtDesc, $desc;
+ my @fields = split(" ", substr($ExtROT[$i],26,length($ExtROT[$i])-26));
+ #push @ExtUnit, $fields[0];
+ $ExtUnit{$ExtOT[$i]} = $fields[0];
+ #print " units ",$ExtUnit{$ExtOT[$i]},"\n";
+ my $dep=0;
+ for($j=1; $j <= $#fields; $j++) {
+ if($fields[$j] eq 'L1') { $dep |= $DepL1; }
+ if($fields[$j] eq 'L2') { $dep |= $DepL2; }
+ if($fields[$j] eq 'P1') { $dep |= $DepP1; }
+ if($fields[$j] eq 'P2') { $dep |= $DepP2; }
+ if($fields[$j] eq 'EP') { $dep |= $DepEP; }
+ if($fields[$j] eq 'PS') { $dep |= $DepPS; }
+ }
+ push @ExtDep, $dep;
+ push @ExtSelect, 0;
+ #for($j=1; $j <= $#fields; $j++) { print LOG "/$fields[$j]"; } # depends
+ #print LOG "\n";
+ }
+ #print LOG "Extended types:\n";
+ #for($i=0; $i <= $#ExtROT; $i++) {
+ #print LOG "$ExtOT[$i] $ExtDesc[$i] $ExtUnit{$ExtOT[$i]} dep(";
+ #if($ExtDep[$i] & $DepL1) { print LOG " L1"; }
+ #if($ExtDep[$i] & $DepL2) { print LOG " L2"; }
+ #if($ExtDep[$i] & $DepP1) { print LOG " P1"; }
+ #if($ExtDep[$i] & $DepP2) { print LOG " P2"; }
+ #if($ExtDep[$i] & $DepEP) { print LOG " EP"; }
+ #if($ExtDep[$i] & $DepPS) { print LOG " PS"; }
+ #print LOG ")\n";
+ #}
+
+ #now make up the dialog box
+ $ETdb = $w_top->DialogBox(
+ -title => 'Select extended observation type for processing',
+ -buttons => ['Ok','Cancel'],
+ -default_button => 'Ok',
+ -popover => $w_top,
+ -overanchor=> 'n',
+ -popanchor => 'n',
+ );
+ my (@cb);
+ my $rows = 1+$#ExtOT/3;
+ my ($r,$c,$cols)=(1,0,3);
+ $ETdb->add('Label',
+ -text => "Select new observation type",
+ -justify => 'center')->grid(-columnspan => "$cols");
+ my $f1=$ETdb->Frame(-borderwidth => 2, -relief => 'groove')->grid();
+ foreach $i (0..$#ExtOT) {
+ my $cb = $f1->Checkbutton(
+ -text => $ExtOT[$i] . " : " . $ExtDesc[$i],
+ -variable => \$ExtSelect[$i],
+ -relief => 'flat')->grid(
+ -sticky => 'w',
+ -row => $r,
+ -column => $c,
+ -ipadx => '2');
+ $r++;
+ if($r > $rows) { $r = 1; $c++; }
+ }
+ my $cb1 = $f1->Button(
+ -text => 'Clear',
+ -width => '15',
+ -relief => 'groove',
+ -command => \&ClearExot)->grid(-columnspan => "$cols");
+ }
+}
+
+#-------------------------------------------------------------------------------------
+sub ClearExot {
+ foreach $i (0..$#ExtOT) { $ExtSelect[$i] = 0; }
+}
+
+#-------------------------------------------------------------------------------------
+sub CompNavf {
+ Status("Get the name of a Rinex navigation file...");
+ $filename = $w_top->getOpenFile(-title => 'Choose a Rinex nav file');
+ if($filename eq '') { return; }
+ Status("The Rinex navigation file is $filename");
+ # ought to check that it is a Rinex nav file...
+ $CFG{'nav'} = $filename;
+}
+
+#-------------------------------------------------------------------------------------
+sub CompPosnSele {
+ Status("Select a receiver position");
+ $buffer='';
+ $len=0;
+ if (not open(F, "<positions.txt")) {
+ $w_top->Dialog(
+ -title => 'File \'positions.txt\' not found',
+ -text => "Could not open the file \'positions.txt\'",
+ -bitmap => 'error',
+ )->Show;
+ return;
+ }
+ $len = read(F, $buffer, 100000);
+ #print LOG "Read $len bytes\n";
+ close F;
+ my $CPdb = $w_top->DialogBox(
+ -title => "Compute/Receiver position",
+ -buttons => ['Ok','New','Cancel'],
+ -default_button => 'Ok',
+ -popover => $w_top,
+ -overanchor => 'c',
+ -popanchor => 'c',
+ );
+ $CPdb->Label(
+ -text => "Select a receiver position by highlighting\n"
+ . "a selection and pushing \'Ok\'.\n\n"
+ . "( The current Rinex observation file name is\n" . $CFG{'Rinex'}
+ . " )\n",
+ -justify => 'left',
+ )->pack(-side => 'top',-anchor => 'w');
+ my $list_win = $CPdb->Scrolled('Listbox',
+ -setgrid => 'true',
+ -selectmode => 'single',
+ -scrollbars => 'e',
+ -height => '20', #lines
+ -width => '40', #characters
+ );
+ $list_win->pack(-expand => 'yes', -fill => 'both');
+ #$list_win->bind('<Double-1>' =>
+ #sub {
+ #print LOG "You selected " . $_[0]->get('active') . "\n";
+ #}
+ #);
+ my @list = split("\n", $buffer);
+ $list_win->insert(0, @list);
+ $ans = $CPdb->Show();
+ #print LOG "ans is $ans\n";
+ if($ans eq 'Ok') {
+ #print LOG "You selected " . $list_win->get('active') . "\n";
+ ($RxLabel,$RxX,$RxY,$RxZ,$RxComment) = split('\s+',$list_win->get('active'));
+ }
+ elsif($ans eq 'New') {
+ Status("Compute/Receiver Position : Enter a new Receiver position");
+ my $NRdb = $w_top->DialogBox(
+ -title => 'Enter New Receiver',
+ -buttons => ['Ok','Cancel'],
+ -default_button => 'Ok',
+ -popover => $w_top,
+ -overanchor => 'c',
+ -popanchor => 'c',
+ );
+
+ my ($x,$y,$z,$label,$comment)=('','','','name','');
+
+ my $f1=$NRdb->Frame(-borderwidth => 2, -relief => 'flat'
+ )->pack(-anchor => 'w');
+ $NRdb->add('Label',-text => "\nECEF XYZ Coordinates (meters) :"
+ )->pack(-anchor => 'w');
+ my $f2=$NRdb->Frame(-borderwidth => 2, -relief => 'groove'
+ )->pack(-anchor => 'w');
+ $NRdb->add('Label',-text => "\nComment (optional)"
+ )->pack(-anchor => 'w');
+ my $f3=$NRdb->Frame(-borderwidth => 2, -relief => 'flat'
+ )->pack(-anchor => 'w');
+
+ $f1->Label(-text => "Site label for New Receiver (required, 4 characters) : "
+ )->pack(-side => 'left');
+ my $e1=$f1->Entry(-textvariable => \$label, -width => 5
+ )->pack(-side => 'left');
+ $f2->Label(-text => "X : ")->pack(-side => 'left');
+ $f2->Entry(-textvariable => \$x, -width => 15)->pack(-side => 'left');
+ $f2->Label(-text => " Y : ")->pack(-side => 'left');
+ $f2->Entry(-textvariable => \$y, -width => 15)->pack(-side => 'left');
+ $f2->Label(-text => " Z : ")->pack(-side => 'left');
+ $f2->Entry(-textvariable => \$z, -width => 15)->pack(-side => 'left');
+ #$f3->Label(-text => "Comment: ")->pack(-side => 'left');
+ $f3->Entry(-textvariable => \$comment, -width => 60)->pack(-side => 'left');
+
+ $e1->focus;
+ $e1->icursor('end');
+ $ans = $NRdb->Show();
+ if($ans eq 'Ok') {
+ #print LOG "New Rx position is $label, $x, $y, $z, $comment\n";
+ $RxLabel = $label;
+ $RxX = $x;
+ $RxY = $y;
+ $RxZ = $z;
+ $RxComment = $comment;
+ # TD add it to positions.txt
+ }
+ }
+ print LOG "Selected Rx Position is $RxLabel: ($RxX, $RxY, $RxZ) $RxComment\n";
+ Status('');
+}
+
+#-------------------------------------------------------------------------------------
+sub CompPosnRAIM {
+ PopNotice("Compute/Rx Position/RAIM",
+ "Compute/Rx Position/RAIM is not yet implemented");
+}
+
+#-------------------------------------------------------------------------------------
+sub CompConf {
+ my ($cf,$ca)=(0,0);
+ if($CFG{'Cforce'} eq 'on') { $cf=1; }
+ if($CFG{'Callow'} eq 'on') { $ca=1; }
+ Status("Modify computation configuration as preferred");
+ my $CCdb = $w_top->DialogBox(
+ -title => "Computation configuration",
+ -buttons => ['Ok','Cancel'],
+ -default_button => 'Ok',
+ -popover => $w_top,
+ -overanchor => 'c',
+ -popanchor => 'c',
+ );
+ $CCdb->add('Label',-text => "Computation Configuration")->pack(-anchor => 'w');
+ my $f2=$CCdb->Frame(-borderwidth => 2, -relief => 'flat')->pack(-anchor => 'w');
+ $f2->Checkbutton(
+ -text => "Allow C1 to replace missing P1",
+ -variable => \$ca,
+ -relief => 'flat')->pack(-anchor => 'w');
+
+ my $f1=$CCdb->Frame(-borderwidth => 2, -relief => 'flat')->pack(-anchor => 'w');
+ $f1->Checkbutton(
+ -text => "Force C1 to replace P1",
+ -variable => \$cf,
+ -relief => 'flat')->pack(-anchor => 'w');
+
+ $ans = $CCdb->Show();
+ if($ans eq 'Ok') {
+ if($ca) { $CFG{'Callow'} = 'on'; } else { $CFG{'Callow'} = 'off'; }
+ if($cf) { $CFG{'Cforce'} = 'on'; } else { $CFG{'Cforce'} = 'off'; }
+ }
+ Status('');
+}
+
+#-------------------------------------------------------------------------------------
+sub CompCrea {
+ Status("Create new observation types by computation...");
+ my ($depend,$have,$ok,$need)=(0,0,0,0);
+ my @opt = (); # options passed to ResCor
+ $dummy = 0; # count the number of selected ExtOT
+ for($i=0; $i <= $#ExtOT; $i++) {
+ if($ExtSelect[$i] != 0) { $dummy++; $depend |= $ExtDep[$i]; }
+ }
+ if($dummy == 0) {
+ $msg = "There are no extended obs types defined.\n"
+ . "Go to Compute/Select New Obs types to make a choice ";
+ PopNotice("Error: no new obs types",$msg);
+ return;
+ }
+
+ foreach $i (0..$numobs-1) {
+ if($obslist[$i] eq 'C1') { $have |= $DepC1; }
+ if($obslist[$i] eq 'L1') { $have |= $DepL1; }
+ if($obslist[$i] eq 'L2') { $have |= $DepL2; }
+ if($obslist[$i] eq 'P1') { $have |= $DepP1; }
+ if($obslist[$i] eq 'P2') { $have |= $DepP2; }
+ if($CFG{'nav'} ne '') { $have |= $DepEP; }
+ if($RxLabel ne '') { $have |= $DepPS; }
+ }
+ #if(($have & $DepC1) && ($have & $DepP1)) {
+ #print LOG "Dep bits for C1 and P1 are " . sprintf("%X %X\n",$DepC1,$DepP1);
+ #print LOG "old have is " . sprintf("%X",$have) . "\n";
+ #$have |= $DepP1;
+ #$have &= ~($DepC1);
+ #print LOG "new have is " . sprintf("%X",$have) . "\n";
+ #}
+ $ok = $depend & $have; # those we need AND have
+ $need = $ok ^ $depend; # those we need but do NOT have
+ #print "Have $have\n";
+ #print "Depend $depend\n";
+ #print "Need and have $ok\n";
+ #print "Need and don't have $need\n";
+ # can C1 substitute for P1?
+ if(($need & $DepP1) && ($have & $DepC1)
+ && ($CFG{'Callow'} eq 'on' || $CFG{'Cforce'} eq 'off')) {
+ $need &= ~($DepP1);
+ }
+ if($need != 0) {
+ my $needdata = 0;
+ $msg = "The selected new observation types cannot \n"
+ . "be computed because some input is missing :\n\n";
+ if($need & $DepL1) { $msg = $msg . " L1 is missing\n"; $needdata++; }
+ if($need & $DepL2) { $msg = $msg . " L2 is missing\n"; $needdata++; }
+ if($need & $DepP1) {
+ if($have & $DepC1) {
+ if($CFG{'Callow'} eq 'off') {
+ $msg = $msg . " P1 is missing (Hint: Select 'Allow use of C1'\n"
+ . " under Compute/Configure)\n";
+ $needdata++;
+ }
+ }
+ else { $msg = $msg . " P1 is missing\n"; $needdata++; }
+ }
+ if($need & $DepP2) { $msg = $msg . " P2 is missing\n"; $needdata++; }
+ #if($need & $DepEP) { $msg = $msg . " EP is missing\n"; }
+ #if($need & $DepPS) { $msg = $msg . " PS is missing\n"; }
+ #$msg = $msg . "\n";
+ if($needdata != 0) { $msg = $msg
+ . "\n-> Computation cannot proceed with this obs file. \n";
+ }
+ if($need & $DepEP) { $msg = $msg
+ . "\n-> Go to Compute/Nav File to select a navigation file. \n";
+ }
+ if($need & $DepPS) { $msg = $msg
+ . "\n-> Go to Compute/Rx Position to input a receiver position. \n";
+ }
+ PopNotice("Error: Some input missing",$msg);
+ #$ans = $w_top->messageBox(-title => 'Error: Some input missing',
+ #-message => $msg, -type => 'OK', -icon => 'info');
+ return;
+ }
+
+ # call ResCor
+ WaitCursor();
+ Status("Creating new observation types...please wait");
+ $ResCorfilename = basename($CFG{'Rinex'}) . ".rc";
+ print LOG "Create new obs types; output to file $ResCorfilename\n";
+ push @opt, "-IF$CFG{'Rinex'}";
+ push @opt, "-OF$ResCorfilename";
+ if($CFG{'nav'} ne '') { push @opt, "--nav $CFG{'nav'}"; }
+ if($RxX ne '') { push @opt, "--RxXYZ $RxX,$RxY,$RxZ"; }
+ #TD allow this to be configured
+ foreach $i (0..$#ExtOT) { if($ExtSelect[$i] != 0) {
+ push @opt, "-AO$ExtOT[$i]";
+ if($MayDebias{$ExtOT[$i]}) {
+ push @opt, "--debias $ExtOT[$i],$CFG{'debias'}";
+ }
+ } }
+ # use C1 when P1 is not there
+ if(($have & $DepC1) && $CFG{'Callow'} eq 'on') { push @opt, "--Callow"; }
+ if($CFG{'Cforce'} eq 'on') { push @opt, "--Cforce"; }
+ push @opt, "--verbose";
+
+ $cmd = $CFG{'prgmdir'} . $SLASH . "ResCor " . " @opt";
+
+ print LOG "Create new obs types: Execute $cmd\n";
+ $buffer = `$cmd`;
+ #print LOG "Result is\n$buffer\n";
+ Status("New observation types are ready");
+ $RinexRCSummary = $ResCorfilename . ".sum";
+ $cmd = $CFG{'prgmdir'} . $SLASH . "RinSum -g -i" . $ResCorfilename
+ . " > $RinexRCSummary";
+ Status("Summarizing new obs file $filename...please wait...");
+ print LOG "Summarize obs file: Execute $cmd\n";
+ $dummy = `$cmd`; if($CFG{'verbose'} eq 'on') { print LOG $dummy; }
+ if($CFG{'autoview'} eq 'on') { FileSumm(); }
+ $ans = DataGather($RinexRCSummary);
+ NormalCursor();
+ Status("Summary complete for $filename.");
+}
+
+#-------------------------------------------------------------------------------------
+sub GrapLims {
+ #print LOG "Graph/Limits\n";
+ ConfigureCurves();
+
+ # put up a dialog box with number entry box
+ Status("Graph/Limits: enter new limits, or autoscale (determine from data)");
+ my $DLdb = $w_top->DialogBox(
+ -title => 'Plotting Limits',
+ -buttons => ['Ok','Auto','Cancel'],
+ -default_button => 'Ok',
+ -popover => $w_top,
+ -overanchor => 'c',
+ -popanchor => 'c',
+ );
+
+ ($YMin,$YMax,$XMin,$XMax)=($CFG{'YMin'},$CFG{'YMax'},$CFG{'XMin'},$CFG{'XMax'});
+
+ $DLdb->add('Label',-text => "Y: data")->pack(-anchor => 'w');
+ my $f1=$DLdb->Frame(-borderwidth => 2, -relief => 'groove')->pack(-anchor => 'w');
+ $DLdb->add('Label',-text => "X: time")->pack(-anchor => 'w');
+ my $f2=$DLdb->Frame(-borderwidth => 2, -relief => 'groove')->pack(-anchor => 'w');
+
+ #$f1->Label(-text => "Y: data : ")->pack(-side => 'left');
+ my $e1=$f1->Entry(-textvariable => \$YMin, -width => 15)->pack(-side => 'left');
+ $f1->Entry(-textvariable => \$YMax, -width => 15)->pack(-side => 'left');
+
+ #$f2->Label(-text => "X: time : ")->pack(-side => 'left');
+ $f2->Entry(-textvariable => \$XMin, -width => 15)->pack(-side => 'left');
+ $f2->Entry(-textvariable => \$XMax, -width => 15)->pack(-side => 'left');
+
+ $e1->focus;
+ $e1->icursor('end');
+ $ans = $DLdb->Show();
+ if($ans eq 'Ok') {
+ print LOG "Graph/Limits are Y: $YMin, $YMax, X: $XMin, $XMax\n";
+ NewScale('fixed','Graph/Limits');
+ Refresh();
+ }
+ elsif($ans eq 'Auto') {
+ autoscale();
+ Refresh();
+ }
+ else { Status(''); }
+}
+
+#-------------------------------------------------------------------------------------
+sub AutoScale {
+ my $fas=$FirstAutoscale;
+ ConfigureCurves();
+ if($fas == 0) { autoscale(); Refresh(); }
+}
+
+#-------------------------------------------------------------------------------------
+# compute max and min y and x from file(s) -- consider time limits
+sub autoscale {
+ Status("Autoscale - redefine limits using data min/max");
+ $filename = "$CFG{'datafile'}";
+ open FILE, "$filename" or die "Error: autoscale could not open $filename\n";
+ my ($first,$firstime,$thistime,$sat)=(1,1,0,'');
+ my ($bw,$bs)=split(',',$CFG{'begin'});
+ my ($ew,$es)=split(',',$CFG{'end'});
+ while(<FILE>) {
+ chomp;
+ $_ =~ s/^\s_//;
+ if(m/Rinexdump/) { next; }
+ if(m/Week/) { next; }
+ s/^\s+//; # no leading white space
+ @opt = split(/\s+/, $_);
+ #$week = $opt[0];
+ #$sow = $opt[1];
+ next if($opt[0] < $bw);
+ next if($opt[0] == $bw && $opt[1] < $bs);
+ last if($opt[0] > $ew);
+ last if($opt[0] == $ew && $opt[1] > $es);
+ $sat = $opt[2];
+ $thistime = 0;
+ foreach $j (0..$ncurv-1) {
+ if($curvON[$j] == 0) { next; }
+ if($curvSV[$j] eq $sat) {
+ $thistime = 1;
+ if($first == 1) {
+ $YMax = $opt[$curvCol[$j]];
+ $YMin = $opt[$curvCol[$j]];
+ $first = 0;
+ }
+ else {
+ if($opt[$curvCol[$j]] < $YMin) { $YMin = $opt[$curvCol[$j]]; }
+ if($opt[$curvCol[$j]] > $YMax) { $YMax = $opt[$curvCol[$j]]; }
+ }
+ }
+ }
+ if($thistime == 1) {
+ if($firstime == 1) {
+ $XMax = $opt[1];
+ $XMin = $opt[1];
+ $CFG{'Week'} = $opt[0];
+ $firstime = 0;
+ }
+ else {
+ $i = ($opt[0]-$CFG{'Week'})*604800 + $opt[1];
+ if($i < $XMin) { $XMin = $i; }
+ if($i > $XMax) { $XMax = $i; }
+ }
+ }
+ }
+
+ if($firstime == 1) {
+ PopNotice("Graph/Autoscale","Autoscale finds no data (within time limits)!");
+ }
+ else {
+ # NewScale requires $XMin,$XMax,$YMin,$YMax as input
+ NewScale('auto','Autoscale');
+ }
+ if($UsingDefaults) { DefaultLabels(); }
+}
+
+#-------------------------------------------------------------------------------------
+sub NiceScale {
+ # call with args Min Max Ntics Npixels
+ # results stored in $ScaleMin $ScaleStep $ScaleExp $ScaleN
+ my ($dmin,$dmax,$ntic,$npix)=@_;
+ #print LOG "NiceScale called with $dmin $dmax $ntic $npix\n";
+ ($ScaleMin,$ScaleStep,$ScaleExp,$ScaleN,$ScalePPL)=(0,0,0,0);
+ if($dmax < $dmin) { $dummy=$dmax; $dmax=$dmin; $dmin=$dummy; }
+ if($npix < 2 || $npix > 10000) {
+ print LOG "NiceScale: Number of pixels is unreasonable\n";
+ return;
+ }
+ $ScalePPL = ($npix-1)/($ntic-1); # pixels per label
+ if($ScalePPL <= 0 || $ScalePPL >= $npix) {
+ print LOG "NiceScale: Number of pixels per label is unreasonable\n";
+ return;
+ }
+ $ScaleN = 1+($npix-1)/$ScalePPL;
+ $dummy = abs($dmax);
+ if(abs($dmin) > $dummy) { $dummy=abs($dmin); }
+ if($dmax-$dmin <= 5.0e-8 * $dummy) { # effectively equal limits
+ if($dmax < 0) { $dmax=0.0; }
+ elsif($dmax == 0) { $dmax=1.0; }
+ elsif($dmax > 0) { $dmax=0.0; }
+ }
+ my $finter=$npix/$ScalePPL;
+ #print LOG "PPL is $ScalePPL, and finter is $finter\n";
+ my $scale=($dmax-$dmin)*1.00002/$finter;
+ $ScaleExp = 0;
+ while($scale <= 10) { $scale *= 10; $ScaleExp++; }
+ while($scale > 100) { $scale /= 10; $ScaleExp--; }
+ #print LOG "scale is $scale\n";
+ #print LOG "Exponent is $ScaleExp\n";
+ my $iunit;
+ foreach $i (1..$#NiceUnits-1) {
+ $iunit = $i;
+ if($scale <= $NiceUnits[$i]) { last; }
+ }
+ #print LOG "NiceUnit[$iunit] is $NiceUnits[$iunit]\n";
+ my ($istay,$aj,$tstep)=(1,0,0);
+ while($istay == 1) {
+ $ScaleStep = $NiceUnits[$iunit] / (10.0 ** $ScaleExp);
+ $aj = 0;
+ while(1) {
+ $aj++;
+ $dummy = int(($NiceUnits[$iunit]+0.1)/$aj);
+ if($NiceUnits[$iunit]-0.1 > $aj*$dummy) { next; }
+ $tstep = $ScaleStep/$aj;
+ $dummy = $dmin/$tstep + $aj*(0.5/$ScalePPL - $finter*1.0e-5);
+ $ScaleMin = $tstep * int($dummy);
+ if($dummy < 0 && $dummy != int($dummy)) { $ScaleMin -= $tstep; }
+ if($dmax < $ScaleMin + $ScaleStep*($finter*0.99999-(0.5/$ScalePPL))) {
+ $istay=0; last;
+ }
+ $dummy = 1.0 - 1.0/($aj * $finter);
+ # TD this fails occasionally: divide by zero
+ if(($NiceUnits[$iunit]/$NiceUnits[$iunit+1])*$dummy < 0.7) {
+ next;
+ }
+ $iunit++;
+ if($iunit > 11) { $istay=0; last; } # TD ??
+ }
+ }
+ foreach $i (1,2) {
+ $aj *= 10;
+ if($NiceUnits[$iunit]-0.1 < $aj*int(($NiceUnits[$iunit]+0.1)/$aj)) {
+ $ScaleExp--;
+ }
+ }
+
+ #print LOG "NiceScale finds exp $ScaleExp ";
+ #foreach $i (0..$ScaleN-1) {
+ # $dummy = $ScaleMin + $i * $ScaleStep;
+ # # $dummy are labels; multiply by 10**ScaleExp to make them all integers
+ # if($ScaleExp > 0) { print LOG sprintf(" %.$ScaleExp"."f",$dummy); }
+ # else { print LOG " $dummy"; }
+ #}
+ #print LOG "\n";
+}
+
+#-------------------------------------------------------------------------------------
+sub GrapAxes {
+ PopNotice("Graph/Axes","Graph/Axes is not yet implemented");
+}
+
+#-------------------------------------------------------------------------------------
+sub GrapLabe {
+ Status("Labels on the graph");
+ my $GLdb = $w_top->DialogBox(
+ -title => "Graph Labels",
+ -buttons => ['Ok','Default','Clear'],
+ -default_button => 'Ok',
+ -popover => $w_top,
+ -overanchor => 'c',
+ -popanchor => 'c',
+ );
+ $GLdb->add('Label',-text => "Title:")->pack(-anchor => 'w');
+ my $f1=$GLdb->Frame(-borderwidth => 2, -relief => 'groove')->pack(-anchor => 'w');
+ $GLdb->add('Label',-text => "Bottom (X) axis label:")->pack(-anchor => 'w');
+ my $f2=$GLdb->Frame(-borderwidth => 2, -relief => 'groove')->pack(-anchor => 'w');
+ $GLdb->add('Label',-text => "Left (Y) axis label:")->pack(-anchor => 'w');
+ my $f3=$GLdb->Frame(-borderwidth => 2, -relief => 'groove')->pack(-anchor => 'w');
+ $GLdb->add('Label',-text => "Right (Y) axis label:")->pack(-anchor => 'w');
+ my $f4=$GLdb->Frame(-borderwidth => 2, -relief => 'groove')->pack(-anchor => 'w');
+
+ my $len = length($CFG{'Tlabel'});
+ if($len < length($CFG{'Blabel'})) { $len = length($CFG{'Blabel'}); }
+ if($len < length($CFG{'Llabel'})) { $len = length($CFG{'Llabel'}); }
+ if($len < length($CFG{'Rlabel'})) { $len = length($CFG{'Rlabel'}); }
+ if($len < 20) { $len = 20; }
+
+ my $e1=
+ $f1->Entry(-textvariable => \$CFG{'Tlabel'},-width => $len)->pack(-side => 'left');
+ $f2->Entry(-textvariable => \$CFG{'Blabel'},-width => $len)->pack(-side => 'left');
+ $f3->Entry(-textvariable => \$CFG{'Llabel'},-width => $len)->pack(-side => 'left');
+ $f4->Entry(-textvariable => \$CFG{'Rlabel'},-width => $len)->pack(-side => 'left');
+
+ $ans = $GLdb->Show();
+ $e1->focus; $e1->icursor('end');
+ if($ans eq 'Default') {
+ DefaultLabels();
+ GrapLabe();
+ }
+ if($ans eq 'Clear') {
+ $CFG{'Tlabel'}='';
+ $CFG{'Blabel'}='';
+ $CFG{'Llabel'}='';
+ $CFG{'Rlabel'}='';
+ GrapLabe();
+ }
+ else {
+ $UsingDefaults = 0;
+ }
+ Status('');
+}
+
+#-------------------------------------------------------------------------------------
+sub GrapCurv {
+ ConfigureCurves();
+
+ if($ncurv <= 0) {
+ $msg = "There are no curves defined.\n" .
+ "Go to DataSet/Select to make a choice ";
+ PopNotice("Error: no curves",$msg);
+ return;
+ }
+
+ Status("Curves to be plotted");
+ #PopNotice("Graph/Curves","Graph/Curves is not yet implemented");
+ my $GCdb = $w_top->DialogBox(
+ -title => 'Curves defined for plotting',
+ -buttons => ['Ok','Cancel'],
+ -default_button => 'Ok',
+ -popover => $w_top,
+ -overanchor=> 'n',
+ -popanchor => 'n',
+ );
+
+ $GCdb->add('Label', -text => "CURVES", -justify => 'center')->pack(-side => 'top');
+ $GCdb->add('Label', -text =>
+ ' N On Sat OT Color Line Symbol ',
+ #-font => 'C_small',
+ -justify => 'left')->pack(-side => 'top');
+ my @fr; # frame for each curve
+ my @sats = @curvSV;
+ my @otss = @curvOT;
+ my @swit = @curvON;
+ my @line = @curvLines;
+ my @symb = @curvSymbs;
+ my @colo = @curvColor;
+ my @cb;
+ $dummy = ' ';
+ foreach $i (0..$ncurv-1) {
+ # frame for each curve
+ $fr[$i]=$GCdb->Frame(-borderwidth => 2, -relief => 'groove'
+ )->pack(-side => 'top');
+ # label and entry for Sat
+ $fr[$i]->Label(-text => sprintf("%2d",$i), -font => 'C_small'
+ )->pack(-side => 'left');
+ $fr[$i]->Checkbutton(-text => ' ', -variable => \$swit[$i],
+ -relief => 'flat')->pack(-side => 'left');
+ $fr[$i]->Label(-text => " ")->pack(-side => 'left');
+ $fr[$i]->Entry(-textvariable => \$sats[$i], -width => 4)->pack(-side => 'left');
+ $fr[$i]->Label(-text => " ")->pack(-side => 'left');
+ $fr[$i]->Entry(-textvariable => \$otss[$i], -width => 3)->pack(-side => 'left');
+ $fr[$i]->Label(-text => " ")->pack(-side => 'left');
+ # color - colored button calls up color selection dialog
+ $cb[$i] = $fr[$i]->Button(-text => ' ',
+ -width => 2,
+ -background => $colo[$i],
+ -activebackground => $colo[$i],
+ -command => sub {
+ $dummy = $fr[$i]->chooseColor(
+ -title => 'choose a new color',
+ -initialcolor => $colo[$i]);
+ if($dummy ne '') {
+ $colo[$i] = $dummy;
+ $cb[$i]->configure('-background' => $colo[$i],
+ '-activebackground' => $colo[$i]);
+ }
+ })->pack(-side => 'left', -ipadx => '2');
+ # line checkbox
+ $fr[$i]->Checkbutton(-text => '', -variable => \$line[$i],
+ -relief => 'flat')->pack(-side => 'left', -ipadx => '4');
+ # symbol browseentry
+ $fr[$i]->BrowseEntry(-label => ' ',
+ -variable => \$symb[$i],
+ -choices => \@symbols,
+ -width => 6,
+ -listwidth => 18,
+ -state => 'readonly',
+ )->pack(-side => 'left', -ipadx => '2');
+ #space on the right
+ $fr[$i]->Label(-text => " ")->pack(-side => 'left');
+ }
+
+ $ans = $GCdb->Show();
+ Status('');
+ if($ans eq "Cancel") { return; }
+
+ $dummy = 0;
+ foreach $i (0..$#curvON) {
+ if($curvON[$i] != $swit[$i]) {
+ if($dummy == 0) { print LOG "Graph/Curves toggles"; $dummy=1; }
+ print LOG " $i:";
+ if($swit[$i] == 0) { print LOG "OFF"; } else { print LOG "ON"; }
+ }
+ }
+ if($dummy != 0) { print LOG "\n"; }
+ @curvON = @swit;
+ @curvLines = @line;
+ @curvSymbs = @symb;
+ @curvColor = @colo;
+}
+
+#sub GrapColo {
+# #print LOG "Graph/Colors\n";
+# $FCOLOR= $w_top->chooseColor(-title => "Choose color for plot",
+# -initialcolor => $FCOLOR);
+# print LOG "New color is $FCOLOR\n";
+#}
+
+#-------------------------------------------------------------------------------------
+sub GrapZoom {
+ # (for some reason, when called from menu, arguments are different)
+ my $io;
+ ($dummy, $io) = @_; # ignore dummy here
+ $dummy = $CFG{'zoomX'} / 2;
+
+ my $size=$CFG{'XMax'}-$CFG{'XMin'};
+ if($io eq 'In') { $size = -$size; }
+ $XMin = $CFG{'XMin'} - $CFG{'zoomX'} * $size;
+ $XMax = $CFG{'XMax'} + $CFG{'zoomX'} * $size;
+
+ $size=$CFG{'YMax'}-$CFG{'YMin'};
+ if($io eq 'In') { $size = -$size; }
+ $YMin = $CFG{'YMin'} - $CFG{'zoomX'} * $size;
+ $YMax = $CFG{'YMax'} + $CFG{'zoomX'} * $size;
+
+ # NewScale requires $XMin,$XMax,$YMin,$YMax as input
+ NewScale('fixed','Graph/Zoom');
+ Refresh();
+}
+
+#-------------------------------------------------------------------------------------
+sub GrapUnzo {
+ if($OldXMin eq '') { return; }
+ ($XMin,$XMax,$YMin,$YMax) = ($OldXMin,$OldXMax,$OldYMin,$OldYMax);
+ # NewScale requires $XMin,$XMax,$YMin,$YMax as input
+ NewScale('fixed','Graph/Unzoom');
+ Refresh();
+}
+
+#-------------------------------------------------------------------------------------
+sub GrapGnup {
+ PopNotice("Graph/Gnuplot","Graph/Gnuplot is not yet implemented.");
+}
+
+#-------------------------------------------------------------------------------------
+sub HelpTopi {
+ #PopNotice("Help/Topics","Help/Topics is \nnot yet implemented.");
+
+ #if(! Exists($HTmw)) { # not necessary
+ my $HTmw = MainWindow->new();
+ $HTmw->title("Help on RinexPlot");
+ my $b = $HTmw->Button(
+ -text => 'Close this Help window',
+ -width => '40',
+ -command => sub { $HTmw->withdraw },
+ )->pack();
+ my $t = $HTmw->Scrolled('ROText',
+ -setgrid => 'true',
+ -width => '65',
+ -height => '30',
+ -font => 'normal',
+ -wrap => 'word',
+ -scrollbars => 'e');
+ $t->pack(qw/-expand yes -fill both/);
+
+ # Set up display styles.
+ $HTmw->fontCreate(qw/C_small -family courier -size 10/);
+ $HTmw->fontCreate(qw/C_big -family courier -size 14 -weight bold/);
+ $HTmw->fontCreate(qw/C_vbig -family helvetica -size 24 -weight bold/);
+ $HTmw->fontCreate(qw/C_bold -family courier -size 12 -weight bold -slant italic/);
+ $t->tag(qw/configure bold -font C_bold/);
+ $t->tag(qw/configure big -font C_big/);
+ $t->tag(qw/configure verybig -font C_vbig/);
+ $t->tag(qw/configure small -font C_small/);
+ if ($HTmw->depth > 1) {
+ $t->tag(qw/configure color1 -background/ => '#a0b7ce'); #this color is "MSWin blue"
+ $t->tag(qw/configure color2 -foreground red/);
+ $t->tag(qw/configure raised -relief raised -borderwidth 1/);
+ $t->tag(qw/configure sunken -relief sunken -borderwidth 1/);
+ } else {
+ $t->tag(qw/configure color1 -background black -foreground white/);
+ $t->tag(qw/configure color2 -background black -foreground white/);
+ $t->tag(qw/configure raised -background white -relief raised -bd 1/);
+ $t->tag(qw/configure sunken -background white -relief sunken -bd 1/);
+ }
+ $t->tag(qw/configure bgstipple -background black -borderwidth 0
+ -bgstipple gray12/);
+ $t->tag(qw/configure fgstipple -fgstipple gray50/);
+ $t->tag(qw/configure underline -underline on/);
+ $t->tag(qw/configure overstrike -overstrike on/);
+ $t->tag(qw/configure right -justify right/);
+ $t->tag(qw/configure center -justify center/);
+ $t->tag(qw/configure super -offset 4p -font C_small/);
+ $t->tag(qw/configure sub -offset -2p -font C_small/);
+ $t->tag(qw/configure margins -lmargin1 12m -lmargin2 6m -rmargin 10m/);
+ $t->tag(qw/configure spacing -spacing1 10p -spacing2 2p
+ -lmargin1 12m -lmargin2 6m -rmargin 10m/);
+
+
+ # now insert text
+ $t->insert('0.0', "RinexPlot is a GUI for the GPS Toolkit (gpstk) utility "
+ . "programs that will read, manipulate and plot data in a Rinex file.\n\n",
+ 'big');
+ $t->insert('insert',"Here is the general flow of things:\n");
+ $t->insert('insert'," 1.",'big');
+ $t->insert('insert'," Select a Rinex observation file by choosing "
+ . "'File/Obs file' from the main menu. Wait for the summary window to come up,"
+ . " then close it to return to the main menu.\n");
+ $t->insert('insert'," 2.",'big');
+ $t->insert('insert'," (2-4 Optional) Select new observation types by choosing "
+ . "'Compute/New Data types' from the main menu\n");
+ $t->insert('insert'," 3.",'big');
+ $t->insert('insert'," Choose a Rinex navigation file (Compute/Nav file)"
+ . " and a Receiver position (Compute/Rx position)...these may or may not be "
+ . "required, depending on the choices you made in Step 2 (Step 4 will inform"
+ . " you if more input is needed.\n");
+ $t->insert('insert'," 4.",'big');
+ $t->insert('insert'," Compute the new types by choosing 'Compute/Create new data'."
+ . " (This step is important! - if your new obs types do not show up under"
+ . " Dataset/Obs types, you may have skipped this step.)\n");
+ $t->insert('insert'," 5.",'big');
+ $t->insert('insert'," Select dataset(s) to plot by choosing 'Dataset/Satellites'"
+ . " AND 'Dataset/Obs types'; optionally also limit the plot in time using"
+ . " 'Dataset/Times', and in other ways under Dataset/Configure.\n");
+ $t->insert('insert'," 6.",'big');
+ $t->insert('insert'," Now press 'Refresh' to re-draw the screen...whenever the "
+ . "data and/or graph are changed, press Refresh to draw the new plot.\n");
+ $t->insert('insert'," 7.",'big');
+ $t->insert('insert'," Features of the plot, such as limits and colors, can be seen"
+ . " and set under 'Graph' on the main menu.\n");
+ $t->insert('insert'," 8.",'big');
+ $t->insert('insert'," Preferences and switches can be set under 'Settings' on the"
+ . " main menu.\n");
+ #$t->insert('insert'," 9.",'big');
+ #$t->insert('insert',"\n");
+ $t->insert('insert',"\n(Usually you can look at the status bar at the bottom of "
+ . "the window to get hints about what has just happened or what to do next.)\n");
+
+ $t->insert('insert',"\nSwitches and options\n",'big');
+ $t->insert('insert',"- Summary files automatically shown in window.\n");
+ $t->insert('insert',"- Refresh automatically after selection/zoom/resizing.\n");
+ $t->insert('insert',"- GPS satellites only.\n");
+ $t->insert('insert',"- Output to a log file or the screen\n");
+ $t->insert('insert',"- Directory of GPSTk programs\n");
+
+ $t->insert('insert',"\nCommand line arguments:\n",'big');
+ $t->insert('insert'," Command line arguments may come in any order, but note that"
+ . " many depend on others and have no effect unless those others are present."
+ . "\n\n");
+ $t->insert('insert',"All command line options:\n");
+ $t->insert('insert'," [Note pattern: --opt <arg> OR --opt=<arg>]\n",'small');
+ $t->insert('insert',$CmdText,'small');
+
+ $t->insert('insert',"\nMouse things\n",'big');
+ $t->insert('insert',"- Click on any point in the graph; the status bar will show "
+ . "coordinates (both screen and data).\n");
+ $t->insert('insert',"- Click, drag and un-click to make a rectangle on the graph."
+ . " A box pops up allowing you to zoom the plot to the rectangle.\n");
+
+ $t->mark(qw/set insert 0.0/);
+
+ #} else { # HTmw already exists
+ #$HTmw->deiconify();
+ #$HTmw->raise();
+ #}
+}
+
+#-------------------------------------------------------------------------------------
+sub HelpAbou {
+ #print LOG "Help/About\n";
+ my $HAdb = $w_top->DialogBox(
+ -title => 'About RinexPlot',
+ -buttons => ['Ok'],
+ -popover => $w_top,
+ -overanchor => 'n',
+ -popanchor => 'n',
+ );
+ $HAdb->add('Label', -text => $ABOUT_TEXT,
+ -justify => 'left')->pack;
+ $HAdb->add('Label', -text => $AUTHOR_TEXT,
+ -justify => 'left')->pack;
+ $HAdb->add('Label', -text => "Version is " . $VERSION . "\n",
+ -justify => 'left')->pack;
+ $HAdb->add('Label', -text => "Operating System is $^O",
+ -justify => 'left')->pack;
+ $HAdb->Show();
+}
+
+#-------------------------------------------------------------------------------------
+sub SettPref {
+ # menu tearoff (command line only - before creation) my $menutear = 1; ???
+ # (to do this you would have to scan args before calling init() )
+ my ($av,$ud,$lf,$zf)=(0,$CFG{'prgmdir'},$CFG{'log'},$CFG{'zoomX'});
+ my ($vb,$lr,$lo,$so)=(0,0,0,0);
+ if($CFG{'autoview'} eq 'on') { $av=1; }
+ if($CFG{'verbose'} eq 'on') { $vb=1; }
+ if($CFG{'keepdata'} eq 'on') { $lr=1; }
+ if($CFG{'lines'} eq 'on') { $lo=1; }
+ if($CFG{'points'} eq 'on') { $so=1; }
+ Status("Modify settings of global configuration as preferred");
+ my $SPdb = $w_top->DialogBox(
+ -title => "Preferences",
+ -buttons => ['Ok','Cancel'],
+ -default_button => 'Ok',
+ -popover => $w_top,
+ -overanchor => 'c',
+ -popanchor => 'c',
+ );
+ $SPdb->add('Label',-text => "Global Settings:")->pack(-anchor => 'w');
+ # AutoView
+ my $f1=$SPdb->Frame(-borderwidth => 2, -relief => 'groove')->pack(-anchor => 'w');
+ $f1->Checkbutton(
+ -text => "Autoview: automatically show summary file ",
+ -variable => \$av,
+ -relief => 'flat')->pack(-anchor => 'w');
+ # Log file name
+ my $f2=$SPdb->Frame(-borderwidth => 2, -relief => 'groove')->pack(-anchor => 'w');
+ $f2->Label(-text => " Output log file :"
+ )->pack(-side => 'top', -anchor => 'w');
+ $f2->Label(-text => " ")->pack(-side => 'left');
+ if($lf eq '') { $lf="SCREEN"; }
+ my $e1=$f2->Entry(-textvariable => \$lf, -width => '20')->pack(-side => 'left');
+ $f2->Checkbutton(-text => "Verbose output", -variable => \$vb, -relief => 'flat',
+ )->pack(-side => 'left');
+ # GPSTk directory
+ my $f3=$SPdb->Frame(-borderwidth => 2, -relief => 'groove')->pack(-anchor => 'w');
+ $f3->Label(-text => " Directory of GPSTk utilities :"
+ )->pack(-side => 'top', -anchor => 'w');
+ $f3->Label(-text => " ")->pack(-side => 'left');
+ my $e1=$f3->Entry(-textvariable => \$ud, -width => '37')->pack(-side => 'left');
+ $e1->focus; $e1->icursor('end');
+ # Default lines
+ my $f4=$SPdb->Frame(-borderwidth => 2, -relief => 'groove')->pack(-anchor => 'w');
+ $f4->Label(-text => "Default curves have:")->pack(-side => 'left');
+ $f4->Checkbutton(
+ -text => "Lines",
+ -variable => \$lo,
+ -relief => 'flat')->pack(-side => 'left');
+ # Default symbols
+ $f4->Checkbutton(
+ -text => "Points ",
+ -variable => \$so,
+ -relief => 'flat')->pack(-side => 'left');
+ # Zoom factor
+ my $f5=$SPdb->Frame(-borderwidth => 2, -relief => 'groove')->pack(-anchor => 'w');
+ $f5->Label(-text => " Zoom factor (0 < zf < 1) : ")->pack(-side => 'left');
+ my $e2=$f5->Entry(-textvariable => \$zf, -width => '17')->pack(-side => 'left');
+ $e2->icursor('end');
+ # GPS only
+ #my $f5=$SPdb->Frame(-borderwidth => 2, -relief => 'groove')->pack(-anchor => 'w');
+ #$f5->Checkbutton(
+ # -text => "GPS satellites only ",
+ # -variable => \$go,
+ # -relief => 'flat')->pack(-anchor => 'w');
+ # Leave $CFG{'datafile'}
+ my $f6=$SPdb->Frame(-borderwidth => 2, -relief => 'groove')->pack(-anchor => 'w');
+ $f6->Checkbutton(
+ -text => "Leave data file ($CFG{'datafile'}) after exit ",
+ -variable => \$lr,
+ -relief => 'flat')->pack(-anchor => 'w');
+
+ # put it up
+ $ans = $SPdb->Show();
+ if($ans eq 'Ok') {
+ if($av) { $CFG{'autoview'} = 'on'; } else { $CFG{'autoview'} = 'off'; }
+ if($lo) { $CFG{'lines'} = 'on'; } else { $CFG{'lines'} = 'off'; }
+ if($so) { $CFG{'points'} = 'on'; } else { $CFG{'points'} = 'off'; }
+ $CFG{'zoomX'} = $zf;
+ if($lr) { $CFG{'keepdata'} = 'on'; } else { $CFG{'keepdata'} = 'off'; }
+ if($lf eq 'SCREEN') { $CFG{'log'} eq ''; } else {
+ close LOG;
+ $CFG{'log'} = $lf;
+ open LOG, ">$CFG{'log'}" or die "Could not open log file $CFG{'log'}\n";
+ autoflush LOG;
+ print LOG "Log file for RinexPlot\n";
+ }
+ if($vb) { $CFG{'verbose'} = 'on'; }
+ if($ud ne $CFG{'prgmdir'}) {
+ my($ResCor,$RinSum,$RinexDump)=('ResCor','RinSum','RinexDump');
+ if ($^O eq "MSWin32") {
+ $ResCor='ResCor.exe';
+ $RinSum='RinSum.exe';
+ $RinexDump='RinexDump.exe';
+ }
+ if(not -e $ud . $SLASH . $RinSum
+ || not -e $ud . $SLASH . $ResCor
+ || not -e $ud . $SLASH . $RinexDump) {
+ PopNotice("Error:","Error: GPSTk utilities not found in directory $ud.\n"
+ . "Go to Settings/Preferences to change it");
+ }
+ else { $CFG{'prgmdir'} = $ud; }
+ }
+ }
+ Status('');
+}
+
+#-------------------------------------------------------------------------------------
+sub SettCurs {
+ ## Open file that contains all available cursors
+ ## Might have to change this if your cursorfont.h is elsewhere
+ ## On Win32 systems look in C:\Perl\lib\site\Tk\X11\cursorfont.h
+ my $cursorfile='/usr/X11R6/include/X11/cursorfont.h';
+ if ($^O eq "MSWin32") {
+ $cursorfile = '\\perl\\site\\lib\\Tk\\X11\\cursorfont.h';
+ }
+ my @cursors=();
+ open (FH, $cursorfile) or die "Couldn't open cursor file.\n";
+ while (<FH>) { push(@cursors, $1) if (/\#define XC_(\w+) /); }
+ close(FH);
+
+ my $HSdb = $w_top->DialogBox(
+ -title => 'Available cursors',
+ -buttons => ['Ok','Cancel'],
+ -popover => $w_top,
+ -overanchor => 'n',
+ -popanchor => 'n',
+ );
+ my $lab = $HSdb->add('Label',-text =>
+ "Select a cursor name by clicking\n" .
+ "on it, then move the mouse onto\n" .
+ "the canvas to see the result.\n" .
+ "The default cursor is crosshair.\n" .
+ "The current cursor is $cursor")->pack(-anchor => 'w');
+ my $scroll = $HSdb->Scrollbar;
+ my $lb = $HSdb->Listbox(-selectmode => 'single',
+ -yscrollcommand => [set => $scroll]);
+ $scroll->configure(-command => [yview => $lb]);
+ $scroll->pack(-side => 'right', -fill => 'y');
+ $lb->pack(-side => 'left', -fill => 'both');
+ $lb->insert('end', sort @cursors);
+ $lb->bind('<ButtonPress-1>',
+ sub {
+ $cursor = $lb->get($lb->curselection);
+ $w_canvas->configure(-cursor => $cursor);
+ $w_top->update;
+ print LOG "Configure cursor $cursor\n";
+ }
+ );
+ $ans = $HSdb->Show();
+ if($ans eq 'Cancel') {
+ $cursor = $crosshair;
+ NormalCursor();
+ }
+}
+
+#-------------------------------------------------------------------------------------
+# this is the guts of OutputCommand() and SaveConfig()
+# call with argument 'config' for config file format : ^key = value$
+# otherwise for command line format : (sp)--key value
+sub ConfigString {
+ ($ans) = @_;
+ my $cmd='';
+ my ($p1,$p2,$p3)=(' --',' ',''); # for the command line
+ if($ans eq 'config') { # for the config file
+ $p1 = '';
+ $p2 = ' = ';
+ $p3 = "\n";
+ }
+
+ foreach $key (sort keys %CFG) {
+ next if($CFG{$key} eq '');
+ if($CFG{$key} =~ m/\s+/) {
+ $cmd = $cmd . $p1 . $key . $p2 . "\"$CFG{$key}\"" . $p3;
+ }
+ else {
+ $cmd = $cmd . $p1 . $key . $p2 . $CFG{$key} . $p3;
+ }
+ }
+ #foreach $key (sort keys %OPT) {
+ # next if($OPT{$key}[0] eq '');
+ # foreach $i (@{$OPT{$key}}) {
+ # $cmd = $cmd . " --$key $i";
+ # }
+ #}
+
+ # --AO <OT> extended obs type
+ $dummy = 0;
+ foreach $i (0..$#ExtOT) {
+ if($ExtSelect[$i] != 0) {
+ $dummy =1;
+ $cmd = $cmd . $p1 . "AO" . $p2 . $ExtOT[$i] . $p3;
+ }
+ }
+ # --create call create only if --AO
+ if($dummy == 1) {
+ $cmd = $cmd . $p1 . "create" . $p2 . "on" . $p3;
+ }
+ # --sat <sat> select sat
+ $dummy = 0;
+ foreach $i (0..$#svlist) {
+ if($svselect[$i] != 0) {
+ $cmd = $cmd . $p1 . "sat" . $p2 . $svlist[$i] . $p3;
+ $dummy = 1;
+ }
+ }
+ # --obs <ot> select obs type
+ $ans = 0;
+ foreach $i (0..$#obslist) {
+ if($obsselect[$i] != 0) {
+ $cmd = $cmd . $p1 . "obs" . $p2 . $obslist[$i] . $p3;
+ $ans = 1;
+ }
+ }
+ # --refresh call refresh only if --sat and --obs
+ if($dummy != 0 && $ans != 0) {
+ $cmd = $cmd . $p1 . "refresh" . $p2 . "on" . $p3;
+ }
+
+ if($ans ne 'config') {
+ $cmd = $cmd . "\n";
+ }
+
+ return $cmd;
+}
+
+#-------------------------------------------------------------------------------------
+sub OutputCommand {
+ Status("Output the current configuration as a command line...");
+ # ask user for name of file to write to ... or screen
+ my $file = "LOG";
+ my $SOdb = $w_top->DialogBox(
+ -title => "Command line output",
+ -buttons => ['Ok','Cancel'],
+ -default_button => 'Ok',
+ -popover => 'cursor',
+ -overanchor => 'c',
+ -popanchor => 'nw',
+ );
+ #$SOdb->add('Label',-text => "Command line output")->pack(-anchor => 'w');
+ my $f1=$SOdb->Frame(-borderwidth => 2, -relief => 'groove')->pack(-anchor => 'w');
+ $f1->Label(-text => " Output file name for command line\n"
+ . " (SCREEN for stdout, LOG for logfile) :"
+ )->pack(-side => 'top', -anchor => 'w');
+ my $e1=$f1->Entry(-textvariable => \$file, -width => '30')->pack(-side => 'left');
+ $ans = $SOdb->Show();
+ if($ans eq 'Ok') {
+ my $cmd;
+ if($^O eq "MSWin32") { $cmd = "call RinexPlot"; }
+ elsif($^O eq "linux") { $cmd = "perl RinexPlot.pl"; }
+ else { $cmd = "RinexPlot"; }
+
+ $msg = ConfigString();
+ $cmd = $cmd . ' ' . $msg;
+
+ if($file eq "SCREEN") {
+ open(CMDOUT,">-") or die "Could not re-open STDOUT\n";
+ print CMDOUT "$cmd";
+ }
+ elsif($file eq "LOG") {
+ print LOG "$cmd";
+ }
+ else {
+ open CMDOUT, ">$file" or die "Could not open log file $file\n";
+ print CMDOUT "$cmd";
+ close CMDOUT;
+ }
+ }
+ Status('');
+}
+
+#-------------------------------------------------------------------------------------
+sub Refresh {
+ #print LOG "Refresh\n";
+ ConfigureCurves();
+
+ if($ncurv <= 0) {
+ $msg = "There are no curves defined.\n" .
+ "Go to DataSet/Select to make a choice ";
+ PopNotice("Error: no curves",$msg);
+ return;
+ }
+
+ WaitCursor();
+ Status("Refreshing the screen...");
+
+ # clear the screen
+ #$w_canvas->createRectangle(0,0,$CFG{'Lmargin'}+$CFG{'width'}+$CFG{'Rmargin'},
+ # $CFG{'Tmargin'}+$CFG{'height'}+$CFG{'Bmargin'},
+ # -outline => $BCOLOR, -fill => $BCOLOR);
+ $w_canvas->delete("all");
+
+ DrawBase();
+
+ PlotData();
+
+ NormalCursor();
+ Status("Refresh done.");
+}
+
+#-------------------------------------------------------------------------------------
+sub DrawBase {
+ # draw around the matte
+ $w_canvas->createRectangle($CFG{'Lmargin'}, $CFG{'Tmargin'},
+ $CFG{'width'}+$CFG{'Lmargin'}, $CFG{'height'}+$CFG{'Tmargin'},
+ -outline => 'black');
+
+ print LOG "Draw base: limits are X: ";
+ if($XScaleExp > 0) {
+ print LOG sprintf("%.$XScaleExp"."f",$CFG{'XMin'}) . ", "
+ . sprintf("%.$XScaleExp"."f",$CFG{'XMax'}) . ", Y: ";
+ }
+ else { print LOG "$CFG{'XMin'},$CFG{'XMax'}, Y: "; }
+ if($YScaleExp > 0) {
+ print LOG sprintf("%.$YScaleExp"."f",$CFG{'YMin'}) . ", "
+ . sprintf("%.$YScaleExp"."f",$CFG{'YMax'}) . "\n";
+ }
+ else { print LOG "$CFG{'YMin'},$CFG{'YMax'}\n"; }
+
+ print LOG "XScale : exp $XScaleExp ";
+ foreach $i (0..$CFG{'BticN'}-1) {
+ $dummy = $XScaleMin + $i * $XScaleStep;
+ if($XScaleExp > 0) { print LOG sprintf(" %.$XScaleExp"."f",$dummy); }
+ else { print LOG " $dummy"; }
+ }
+ print LOG "\n";
+ print LOG "YScale : exp $YScaleExp ";
+ foreach $i (0..$CFG{'LticN'}-1) {
+ $dummy = $YScaleMin + $i * $YScaleStep;
+ if($YScaleExp > 0) { print LOG sprintf(" %.$YScaleExp"."f",$dummy); }
+ else { print LOG " $dummy"; }
+ }
+ print LOG "\n";
+
+ # title above plot
+ $ans = $w_canvas->createText($CFG{'Lmargin'}+$CFG{'width'}/2,$CFG{'Tmargin'}/2,
+ -justify => 'center', -fill => 'black', -text => $CFG{'Tlabel'},
+ # -font => 'fontname',
+ );
+ # bottom label
+ $ans = $w_canvas->createText($CFG{'Lmargin'}+$CFG{'width'}/2,
+ $CFG{'Tmargin'}+$CFG{'height'}+$CFG{'Bmargin'}-8,
+ -justify => 'center', -fill => 'black', -text => $CFG{'Blabel'},
+ # -font => 'fontname',
+ );
+ # left label
+ $ans = $w_canvas->createText(0.28*$CFG{'Lmargin'}+2*length($CFG{'Llabel'}),
+ 0.6*$CFG{'Tmargin'}, -justify => 'left', -fill => 'black',
+ -text => $CFG{'Llabel'},
+ # -font => 'fontname',
+ );
+ # right label
+ $ans = $w_canvas->createText(
+ $CFG{'Lmargin'}+$CFG{'width'}+0.70*$CFG{'Rmargin'}-2*length($CFG{'Rlabel'}),
+ 0.6*$CFG{'Tmargin'}, -justify => 'right', -fill => 'black',
+ -text => $CFG{'Rlabel'},
+ # -font => 'fontname',
+ );
+
+ DrawLabels();
+}
+
+#-------------------------------------------------------------------------------------
+sub DrawLabels {
+ # tics and numeric labels
+ # (M,M) (M+W,M)
+ # (M,M+H) (M+W,M+H)
+ my ($min,$max)=(0,0);
+ foreach $i (-1..$CFG{'BticN'}) { # X axes
+ $dummy = Xdata2scr($XScaleMin+$i*$XScaleStep);
+ if($dummy >= $CFG{'Lmargin'} && $dummy <= $CFG{'width'}+$CFG{'Lmargin'}) {
+ # bottom tic
+ $ans = $w_canvas->createLine($dummy,$CFG{'Tmargin'}+$CFG{'height'},$dummy,
+ $CFG{'Tmargin'}+$CFG{'height'}-$XTicLen, -fill => 'black');
+ # bottom numeric label
+ $msg = sprintf("%d",$XScaleMin+$i*$XScaleStep);
+ $ans = $w_canvas->createText($dummy, $CFG{'Tmargin'}+$CFG{'height'}+10,
+ -justify => 'center', -fill => 'black', -text => $msg);
+ # save for next if block
+ if($min == 0) { $min = $dummy; }
+ $max = $dummy;
+
+ # top tic
+ $ans = $w_canvas->createLine($dummy, $CFG{'Tmargin'}, $dummy,
+ $CFG{'Tmargin'}+$XTicLen, -fill => 'black');
+ }
+ }
+ if($ScaleFixed == 1) { # numeric labels at ends
+ my $limit=$CFG{'width'}/(2*$CFG{'BticN'});
+ $msg = sprintf("%d",$CFG{'XMin'});
+ if($min-$CFG{'Lmargin'} > $limit) { # don't print if too close to another label
+ $ans = $w_canvas->createText(
+ $CFG{'Lmargin'}, $CFG{'Tmargin'}+$CFG{'height'}+10,
+ -justify => 'center', -fill => 'black', -text => $msg);
+ }
+ $msg = sprintf("%d",$CFG{'XMax'});
+ if($CFG{'Lmargin'}+$CFG{'width'}-$max > $limit) {
+ $ans = $w_canvas->createText(
+ $CFG{'Lmargin'}+$CFG{'width'},$CFG{'Tmargin'}+$CFG{'height'}+10,
+ -justify => 'center', -fill => 'black', -text => $msg);
+ }
+ }
+ #($min,$max)=(0,0);
+ foreach $i (-1..$CFG{'LticN'}) { # Y axes
+ $dummy = Ydata2scr($YScaleMin+$i*$YScaleStep);
+ if($dummy >= $CFG{'Tmargin'} && $dummy <= $CFG{'Tmargin'}+$CFG{'height'}) {
+ # left tic
+ $ans = $w_canvas->createLine(
+ $CFG{'Lmargin'},$dummy,$CFG{'Lmargin'}+$YTicLen,$dummy,
+ -fill => 'black'); # tics
+ if($YScaleExp > 0) {
+ $msg = sprintf(" %.$YScaleExp"."f",$YScaleMin+$i*$YScaleStep);
+ }
+ else { $msg = sprintf("%.0f",$YScaleMin+$i*$YScaleStep); }
+ # left numeric label
+ $ans = $w_canvas->createText($CFG{'Lmargin'}-2*length($msg)-5, $dummy,
+ -justify => 'left', -fill => 'black', -text => $msg);
+ # save for next if block
+ #if($min == 0) { $min = $dummy; }
+ #$max = $dummy;
+
+ # right tic
+ $ans = $w_canvas->createLine(
+ $CFG{'Lmargin'}+$CFG{'width'}, $dummy,
+ $CFG{'Lmargin'}+$CFG{'width'}-$YTicLen, $dummy, -fill => 'black');
+ }
+ }
+ #if($ScaleFixed) { # numeric labels at ends
+ # my $limit=20; # need character size in pixels here...
+ # $msg = sprintf("%d",$CFG{'YMin'});
+ # if($min-$CFG{'Tmargin'} > $limit) {# don't print if too close to another label
+ # $ans = $w_canvas->createText($CFG{'Lmargin'}-2*length($msg)-5,
+ # $CFG{'Tmargin'}+$CFG{'height'},
+ # -justify => 'left', -fill => 'black', -text => $msg);
+ # }
+ # if($CFG{'Tmargin'}+$CFG{'height'}-$max > $limit) {
+ # $msg = sprintf("%d",$CFG{'YMax'});
+ # $ans = $w_canvas->createText($CFG{'Lmargin'}-2*length($msg)-5,
+ # $CFG{'Tmargin'}, -justify => 'left', -fill => 'black', -text => $msg);
+ # }
+ #}
+}
+
+#-------------------------------------------------------------------------------------
+sub PlotData { # plot the data
+ my (@penup, at y, at prevx, at prevy);
+ my ($x,$id);
+ my ($xfr,$xto,$yfr,$yto,$tfl,$ffl);
+ ($begW,$begS) = split(',',$CFG{'begin'});
+ ($endW,$endS) = split(',',$CFG{'end'});
+ my ($sat,$c,$week,$sow);
+ my $sow0 = 0;
+ $CFG{'Week'} = 0;
+
+ # lift all pens
+ foreach $j (0..$ncurv-1) { $penup[$j] = 1; }
+
+ # open the data file and read
+ $filename = "$CFG{'datafile'}";
+ print LOG "Open $filename to plot ...";
+ open FILE, "$filename" or die "Error: Refresh could not open $filename\n";
+ Status("Refresh is plotting data in file $filename ...");
+
+ # loop over data in this file
+ while(<FILE>) {
+ chomp;
+ $_ =~ s/^\s_//;
+ if(m/Rinexdump/) { next; }
+ if(m/Week/) { next; }
+ # data
+ #print LOG "Read $_\n";
+ s/^\s+//; # no leading white space
+ @opt = split(/\s+/, $_);
+ $week = $opt[0]; # GPS week
+ $sow = $opt[1]; # GPS seconds of week
+ # ignore if outside time limits
+ next if($week < $begW);
+ next if($week == $begW && $sow < $begS);
+ last if($week > $endW);
+ last if($week == $endW && $sow > $endS);
+ if($CFG{'Week'} == 0) { $CFG{'Week'} = $week; $sow0 = $sow; }
+ $x = Xdata2scr($sow + ($week-$CFG{'Week'})*604800.);
+ $sat = $opt[2];
+ #print LOG "Sat is $sat ncurves $ncurv\n";
+ foreach $j (0..$ncurv-1) {
+ if($curvON[$j] == 0) { next; }
+ if($curvSV[$j] eq $sat) {
+ $y[$j] = Ydata2scr($opt[$curvCol[$j]]);
+ #print LOG "Data $sat: x=$opt[1] y=$opt[$curvCol[$j]] "
+ #. "sx=$x sy=$y[$j] pen=$penup[$j]\n";
+ if($penup[$j] == 1) {
+ $penup[$j] = 0;
+ }
+ elsif($penup[$j] == 0) {
+ #print LOG "Plot [$j]: ($prevx[$j],$prevy[$j]) to ($x,$y[$j])\n";
+ $xfr = $prevx[$j]; $xto = $x; $yfr = $prevy[$j]; $yto = $y[$j];
+ # clip
+ #print LOG "Clip [$j]: ($xfr,$yfr,$xto,$yto,$tfl,$ffl)\n";
+ if(Clip(\$xfr,\$yfr,\$xto,\$yto,\$tfl,\$ffl) != 0) {
+ $c = $curvColor[$j];
+ #print LOG "Draw [$j]: ($xfr,$yfr) to ($xto,$yto)\n";
+ if($curvLines[$j] != 0) {
+ # draw line
+ $id = $w_canvas->createLine($xfr,$yfr,$xto,$yto,-fill => $c);
+ }
+ if($tfl != 0 && $curvSymbs[$j] ne 'none') {
+ # pt visible, symb selected -> draw symbol
+ # (no clipping here ... maybe should)
+ if($curvSymbs[$j] eq 'cross') {
+ $id = $w_canvas->createLine( # why 2/3 you ask? I don't know
+ $xto-2,$yto-2,$xto+3,$yto+3,-fill => $c);
+ $id = $w_canvas->createLine(
+ $xto+2,$yto-2,$xto-3,$yto+3,-fill => $c);
+ }
+ elsif($curvSymbs[$j] eq 'plus') {
+ $id = $w_canvas->createLine(
+ $xto-2,$yto,$xto+3,$yto,-fill => $c);
+ $id = $w_canvas->createLine(
+ $xto,$yto-2,$xto,$yto+3,-fill => $c);
+ }
+ elsif($curvSymbs[$j] eq 'diamond') {
+ $id = $w_canvas->createLine(
+ $xto-3,$yto,$xto,$yto+3,-fill => $c);
+ $id = $w_canvas->createLine(
+ $xto,$yto+3,$xto+3,$yto,-fill => $c);
+ $id = $w_canvas->createLine(
+ $xto+3,$yto,$xto,$yto-3,-fill => $c);
+ $id = $w_canvas->createLine(
+ $xto,$yto-3,$xto-3,$yto,-fill => $c);
+ }
+ elsif($curvSymbs[$j] eq 'square') {
+ $id = $w_canvas->createLine(
+ $xto-2,$yto-2,$xto-2,$yto+2,-fill => $c);
+ $id = $w_canvas->createLine(
+ $xto-2,$yto+2,$xto+2,$yto+2,-fill => $c);
+ $id = $w_canvas->createLine(
+ $xto+2,$yto+2,$xto+2,$yto-2,-fill => $c);
+ $id = $w_canvas->createLine(
+ $xto+2,$yto-2,$xto-2,$yto-2,-fill => $c);
+ }
+ elsif($curvSymbs[$j] eq 'circle') {
+ $id = $w_canvas->createOval($xto-2,$yto-2,
+ $xto+2,$yto+2,-outline => $c);
+ }
+ elsif($curvSymbs[$j] eq 'del') {
+ $id = $w_canvas->createLine(
+ $xto,$yto+3,$xto+3,$yto-2,-fill => $c);
+ $id = $w_canvas->createLine(
+ $xto+3,$yto-2,$xto-2,$yto-2,-fill => $c);
+ $id = $w_canvas->createLine(
+ $xto-2,$yto-2,$xto,$yto+3,-fill => $c);
+ }
+ elsif($curvSymbs[$j] eq 'delta') {
+ $id = $w_canvas->createLine(
+ $xto-2,$yto+2,$xto+3,$yto+2,-fill => $c);
+ $id = $w_canvas->createLine(
+ $xto+3,$yto+2,$xto,$yto-3,-fill => $c);
+ $id = $w_canvas->createLine(
+ $xto,$yto-3,$xto-2,$yto+2,-fill => $c);
+ }
+ }
+ }
+ }
+ $prevy[$j] = $y[$j];
+ $prevx[$j] = $x;
+ next;
+ }
+ }
+ }
+ close FILE;
+ print LOG " done.\n";
+}
+
+#-------------------------------------------------------------------------------------
+sub Clip {
+ # (M,M) (M+W,M)
+ # (M,M+H) (M+W,M+H)
+ #my $fflag=0; # flag = 1,0 as inside, outside region
+ #my $tflag=0; # 'f' is from, 't' is to
+ my $xf = shift;
+ my $yf = shift;
+ my $xt = shift;
+ my $yt = shift;
+ my $tflag = shift;
+ my $fflag = shift;
+ $$tflag = 0;
+ $$fflag = 0;
+ if($$xt >= $CFG{'Lmargin'} && $$xt <= $CFG{'Lmargin'}+$CFG{'width'}
+ && $$yt >= $CFG{'Tmargin'} && $$yt <= $CFG{'Tmargin'}+$CFG{'height'}) {
+ $$tflag = 1;
+ }
+ if($$xf >= $CFG{'Lmargin'} && $$xf <= $CFG{'Lmargin'}+$CFG{'width'}
+ && $$yf >= $CFG{'Tmargin'} && $$yf <= $CFG{'Tmargin'}+$CFG{'height'}) {
+ $$fflag = 1;
+ }
+ if($$tflag == 1 && $$fflag == 1) { return 1; }
+
+ # Two line segments intersect at (x,y) where
+ # * (x3,y3)
+ # |
+ # |
+ # (x2,y2) * --------+-----------* (x1,y1)
+ # |
+ # |
+ # |
+ # |
+ # * (x4,y4)
+ #
+ # and x = [(x1*y2-x2*y1)*(x3-x4)-(x3*y4-x4*y3)*(x1-x2)]
+ # / [(x1-x2)*(y3-y4)-(x3-x4)*(y1-y2)] ,
+ # y = [(x1*y2-x2*y1)*(y3-y4)-(x3*y4-x4*y3)*(y1-y2)]
+ # / [(x1-x2)*(y3-y4)-(x3-x4)*(y1-y2)]
+ # Note correct reduction when horiz or vert: x=x3 when x3=x4, y=y1 when y1=y2, etc.
+
+ my ($p,$x1,$y1,$x2,$y2); # intersections
+ my $npt=0;
+ $ans = $$yt-$$yf; # y3-y4
+ if($ans != 0) {
+ $dummy = ($$xt*$$yf-$$xf*$$yt)/$ans;
+ $msg = ($$xt-$$xf)/$ans;
+ # intersect top x2=$CFG{'Lmargin'}, x1=$CFG{'Lmargin'}+$CFG{'width'},
+ # y1=y2=$CFG{'Tmargin'}
+ $ans = $CFG{'Tmargin'};
+ $p = int($ans*$msg-$dummy+0.5);
+ if($p > $CFG{'Lmargin'} && $p < $CFG{'Lmargin'}+$CFG{'width'}
+ && ($$yt-$ans)*($$yf-$ans) < 0) {
+ $x1 = $p; $y1 = $CFG{'Tmargin'}; $npt = 1;
+ }
+ # intersect bottom x2=$CFG{'Lmargin'}, x1=$CFG{'Lmargin'}+$CFG{'width'},
+ # y1=y2=$CFG{'Tmargin'}+$CFG{'height'}
+ $ans = $CFG{'Tmargin'}+$CFG{'height'};
+ $p = int($ans*$msg-$dummy+0.5);
+ if($p > $CFG{'Lmargin'} && $p < $CFG{'Lmargin'}+$CFG{'width'}
+ && ($$yt-$ans)*($$yf-$ans) < 0) {
+ if($npt == 0) { $x1 = $p; $y1 = $CFG{'Tmargin'}+$CFG{'height'}; }
+ else { $x2 = $p; $y2 = $CFG{'Tmargin'}+$CFG{'height'}; }
+ $npt++;
+ }
+ }
+ $ans = $$xt-$$xf; # x3-x4
+ if($ans != 0) {
+ $dummy = ($$yt*$$xf-$$yf*$$xt)/$ans;
+ $msg = ($$yt-$$yf)/$ans;
+ # intersect left x3=x4=$CFG{'Lmargin'},s
+ # y3=$CFG{'Tmargin'}, $y4=$CFG{'Tmargin'}+$CFG{'height'}
+ $ans = $CFG{'Lmargin'};
+ $p = int($ans*$msg-$dummy+0.5);
+ if($p > $CFG{'Tmargin'} && $p < $CFG{'Tmargin'}+$CFG{'height'}
+ && ($$xt-$ans)*($$xf-$ans) < 0) {
+ if($npt == 0) { $y1 = $p; $x1 = $CFG{'Lmargin'}; }
+ else { $y2 = $p; $x2 = $CFG{'Lmargin'}; }
+ $npt++;
+ }
+
+ # intersect right x3=x4=$CFG{'Lmargin'}+$CFG{'width'},
+ # y3=$CFG{'Tmargin'}, $y4=$CFG{'Tmargin'}+$CFG{'height'}
+ $ans = $CFG{'Lmargin'}+$CFG{'width'};
+ $p = int($ans*$msg-$dummy+0.5);
+ if($p > $CFG{'Tmargin'} && $p < $CFG{'Tmargin'}+$CFG{'height'}
+ && ($$xt-$ans)*($$xf-$ans) < 0) {
+ if($npt == 0) { $y1 = $p; $x1 = $CFG{'Lmargin'}+$CFG{'width'}; }
+ else { $y2 = $p; $x2 = $CFG{'Lmargin'}+$CFG{'width'}; }
+ $npt++;
+ }
+ }
+
+ if($npt == 0) { return 0; } # no intersections
+
+ if($$tflag == 1 && $$fflag == 0) { # outside to inside
+ $$xf = $x1; $$yf = $y1;
+ }
+ elsif($$tflag == 0 && $$fflag == 1) { # inside to outside
+ $$xt = $x1; $$yt = $y1;
+ }
+ else { # outside to outside
+ if($npt!=2) {
+ print LOG "WARNING: Clip finds outside to outside with"
+ . " $npt intersections\n";
+ return 0;
+ }
+ if((($$xt-$x1)*($$xt-$x1)+($$yt-$y1)*($$yt-$y1)) <
+ (($$xf-$x1)*($$xf-$x1)+($$yf-$y1)*($$yf-$y1))) {
+ $$xt = $x1; $$yt = $y1;
+ $$xf = $x2; $$yf = $y2;
+ }
+ else {
+ $$xt = $x2; $$yt = $y2;
+ $$xf = $x1; $$yf = $y1;
+ }
+ }
+ return 1;
+}
+
+#-------------------------------------------------------------------------------------
+sub CanvConf {
+ my $w = $w_canvas->width;
+ my $h = $w_canvas->height;
+ my $W = $CFG{'Lmargin'}+$CFG{'width'}+$CFG{'Rmargin'};
+ my $H = $CFG{'Tmargin'}+$CFG{'height'}+$CFG{'Bmargin'};
+ if($w != $CFG{'Lmargin'}+$CFG{'width'}+$CFG{'Rmargin'} ||
+ $h != $CFG{'Tmargin'}+$CFG{'height'}+$CFG{'Bmargin'}) {
+ $CFG{'width'} = $w - $CFG{'Lmargin'} - $CFG{'Rmargin'};
+ $CFG{'height'} = $h - $CFG{'Tmargin'} - $CFG{'Bmargin'};
+ Rates();
+ if($firstcanvas == 1) {
+ Status("Plot reconfigured to $CFG{'width'} x $CFG{'height'} ...Refresh?");
+ }
+ $firstcanvas = 1;
+ }
+}
+
+#-------------------------------------------------------------------------------------
+sub PopNotice {
+ my ($dummy1, $dummy2) = @_;
+ #$ans = $w_top->messageBox(
+ #-title => $dummy1,
+ #-message => $dummy2 . " ",
+ #-type => 'OK',
+ #-icon => 'info',
+ ##no popover for messageBox
+ #);
+ my $PNdb = $w_top->DialogBox(
+ -title => $dummy1,
+ -buttons => ['Ok'],
+ -popover => $w_top,
+ -overanchor => 'c',
+ -popanchor => 'c',
+ );
+ $PNdb->add('Label', -text => $dummy2, -justify => 'left')->pack;
+ $PNdb->Show();
+}
+
+#-------------------------------------------------------------------------------------
+sub Status {
+ ($dummy) = (@_);
+ $statusbar->delete('0.0','end');
+ $statusbar->insert('0.0',$dummy);
+ $w_top->update;
+}
+
+#-------------------------------------------------------------------------------------
+sub WaitCursor {
+ $w_canvas->configure(-cursor => $waitcursor);
+ $w_top->update;
+}
+
+#-------------------------------------------------------------------------------------
+sub NormalCursor {
+ $w_canvas->configure(-cursor => $cursor);
+ $w_top->update;
+}
+
+#-------------------------------------------------------------------------------------
+#-------------------------------------------------------------------------------------
+sub mouse_events {
+ # do not enter this routine unless screen is up and scale has been defined
+ if($MainUp == 0 || $ScaleDefined == 0) { return; }
+
+ my ($canv, $x, $y, $mousemsg) = @_;
+
+ if($mousemsg eq "motion") {
+ if($MAKE_RECT) {
+ # first erase the old one
+ $canv->delete($MOUSE_RECT);
+
+ # where is the corner now?
+ $RECT_X1 = $canv->canvasx($x);
+ $RECT_Y1 = $canv->canvasy($y);
+
+ # draw a new foreground-color rectangle
+ $MOUSE_RECT = $canv->createRectangle(
+ $RECT_X0,$RECT_Y0, $RECT_X1,$RECT_Y1,
+ -outline => $MCOLOR );
+ }
+ }
+ else {
+ #print LOG "mouse$msg: (x,y) = ", $canv->canvasx($x), ", ", $canv->canvasy($y),
+ # " (datax,datay) = ", scr2Xdata($canv->canvasx($x)), " , ",
+ # scr2Ydata($canv->canvasy($y)),
+ # "\n";
+ if($mousemsg eq "push left") {
+ $RECT_X0 = $canv->canvasx($x);
+ $RECT_Y0 = $canv->canvasy($y);
+ #print LOG "push: RECT_X0 $RECT_X0, RECT_Y0 $RECT_Y0\n";
+ $MAKE_RECT = 1;
+ }
+ if($mousemsg eq "rel left") {
+ $RECT_X1 = $canv->canvasx($x);
+ $RECT_Y1 = $canv->canvasy($y);
+ #print LOG "rele: RECT_X1 $RECT_X1, RECT_Y1 $RECT_Y1\n";
+ #print LOG "just checking: (x,y) = ", $RECT_X1, ", ", $RECT_Y1,
+ # " (datax,datay) = ", scr2Xdata($RECT_X1), " , ", scr2Ydata($RECT_Y1),
+ # "\n";
+ Status("(x,y) = screen("
+ . $RECT_X1 . ","
+ . $RECT_Y1 . ") = data("
+ . sprintf("%10.3f",scr2Xdata($RECT_X1)) . ","
+ . sprintf("%.3f",scr2Ydata($RECT_Y1)) . ")");
+ $canv->delete($MOUSE_RECT);
+ $MAKE_RECT = 0;
+
+ # ignore zero-area rectangles
+ if(($RECT_X0 == $RECT_X1) || ($RECT_Y0 == $RECT_Y1)) {
+ return;
+ }
+
+ $MOUSE_RECT = $canv->createRectangle(
+ $RECT_X0,$RECT_Y0, $RECT_X1,$RECT_Y1,
+ -outline => $MCOLOR );
+
+ # put up a dialog asking what to do with the rectangle
+ my $db = $w_top->DialogBox(
+ -title => 'Mouse Rectangle',
+ -buttons => ['Zoom', 'Cancel'],
+ -default_button => 'Zoom',
+ -popover => 'cursor', -overanchor => 'c', -popanchor => 'nw',
+ );
+ $db->add('Label', -text => "Zoom: are you sure? ")->pack;
+ $ans = $db->Show();
+ if($ans eq "Zoom") {
+ #print LOG "You said to zoom to mouse rectangle\n";
+ #$canv->move($MOUSE_RECT, 100, 100);
+ ($YMin, $YMax, $XMin, $XMax) =
+ (scr2Ydata($RECT_Y1), scr2Ydata($RECT_Y0),
+ scr2Xdata($RECT_X0), scr2Xdata($RECT_X1) );
+ if($YMin > $YMax) {
+ $ans = $YMax;
+ $YMax = $YMin;
+ $YMin = $ans;
+ }
+ if($XMin > $XMax) {
+ $ans = $XMax;
+ $XMax = $XMin;
+ $XMin = $ans;
+ }
+ # NewScale requires $XMin,$XMax,$YMin,$YMax as input
+ NewScale('fixed','Mouse zoom');
+ Refresh();
+ }
+ if($ans eq "Cancel") {
+ #print LOG "You said to cancel mouse rectangle\n";
+ $canv->delete($MOUSE_RECT);
+ Status('');
+ }
+ }
+ }
+}
+
+#-------------------------------------------------------------------------------------
+#-------------------------------------------------------------------------------------
+# string CmdText defines configuration constants and options on command line,
+# with their default values. See documentation of CmdText and sub CommandLine.
+sub Defaults {
+ # parse CmdText
+ my @lines = split('\n',$CmdText);
+ foreach (@lines) {
+ last if(m/Example:/);
+ next if(m/^#/);
+ if(m/(can repeat)/) { $dummy='grow'; } else { $dummy=''; }
+ s/--(\S+)\s.*\((.*)\)$/$1 = $2/;
+ s/^\s+//;
+ s/\s+$//;
+ ($key, $val) = split(/ = /,$_,2);
+ if($val eq '') { $key =~ s/ =$//; }
+ #print "Line:",$_,"\n";
+ #print "key |$key| value |$val|\n";
+ #AddDefault($key,$val,$dummy);
+ $Options{$key} = 1; # this says 'key' is a valid option
+ if($dummy eq 'grow') {
+ $Grow{$key} = 1; # this says 'key' belongs to OPT, not CFG
+ if($val ne '') { push(@{$OPT{$key}}, $val); } # OPT -- 1 to many
+ }
+ else {
+ if($val ne '') { $CFG{$key} = $val; } # CFG -- 1 to 1
+ }
+ }
+ # TD this should belong to CFG also
+ $ConfigFile = 'rp.cfg';
+}
+
+#-------------------------------------------------------------------------------------
+# command line arguments -- see CmdText above for doc.
+# process the command line, converting command line into key/val pairs,
+# where --key=val --key val --key (val='on')
+# don't allow -key because this makes val = (negative number) impossible
+sub CommandLine {
+ if($#ARGV == 0 && $ARGV[0] eq '--help') {
+ print $CmdText,"\n";
+ exit;
+ }
+ $LimitsSet = 0; # notice if limits are set
+ $key = '';
+ $val = '';
+ while($#ARGV >= 0) {
+ $dummy = shift @ARGV;
+ if(substr($dummy,0,2) eq "--") { # '--' => its key or key=value
+ $dummy = substr($dummy,2,length($dummy)-2); # remove --
+ if($key ne '' && $val eq 'on') { # was prev arg a key alone?
+ AddToConfig($key,$val);
+ $key = '';
+ $val = '';
+ }
+ if($dummy =~ '=') { # is there an '='?
+ ($key, $val) = split(/=/,$dummy,2);
+ AddToConfig($key,$val);
+ $key = '';
+ $val = '';
+ }
+ else { # no =; val is 'on' for now
+ $key = $dummy;
+ $val = 'on';
+ }
+ }
+ else { # no '--' => its val or an error
+ if($key ne '' && $val eq 'on') { # prev arg was --key
+ $val = $dummy;
+ AddToConfig($key,$val);
+ $key = '';
+ $val = '';
+ }
+ else { # isolated and no '--' => err
+ print "Unrecognized argument: $dummy\n";
+ }
+ }
+ }
+ # the last arg
+ if($key ne '' && $val eq 'on') { AddToConfig($key,$val); }
+}
+
+#-------------------------------------------------------------------------------------
+sub AddToConfig {
+ my ($k,$v) = @_;
+ if($Options{$k} == 1) {
+ if($Grow{$k} == 1) {
+ push(@{$OPT{$k}}, split(/\s+/,$v));
+ }
+ else {
+ if($k eq 'prgmdir') {
+ $v =~ s/\//$SLASH/g;
+ $v =~ s/\\/$SLASH/g;
+ }
+ # save it
+ $CFG{$k} = $v;
+ # set flags here -- any option set by the user will pass here
+ if($k eq 'XMin' or $k eq 'XMax' or $k eq 'YMin' or $k eq 'YMax') {
+ $LimitsSet = 1;
+ }
+ if(($k eq 'Blabel' && $v ne 'GPS Seconds of Week') or
+ ($k eq 'Tlabel' && $v ne 'Title') or
+ $k eq 'Rlabel' or
+ $k eq 'Llabel') {
+ $UsingDefaults = 0;
+ }
+ }
+
+ # open file and read as config; do here so later cmds may override
+ if($k eq 'load') {
+ my @c = @{$OPT{'load'}};
+ while($#c >= 0) {
+ $i = shift @c;
+ last unless($i ne '');
+ delete(@{$OPT{'load'}}[0]);
+ LoadConfig($i);
+ }
+ }
+
+ return 'ok';
+ }
+ else {
+ print "Invalid configuration option: $k\n";
+ return 'fail';
+ }
+}
+
+#-------------------------------------------------------------------------------------
+sub LoadConfig {
+ ($filename) = @_;
+ if($CFG{'verbose'}) {
+ if($LogOpen) {
+ print LOG "Attempt to open and read configuration file $filename\n";
+ }
+ else {
+ print "Attempt to open and read configuration file $filename\n";
+ }
+ }
+
+ $dummy = 0; # dummy will count the number of read errors
+ $LimitsSet = 0;
+ if(open(CONFIG, "$filename")) {
+ while (<CONFIG>) {
+ if($dummy > 20) {
+ close CONFIG;
+ if($LogOpen) {
+ print LOG "\nAbort - Too many read errors loading configuration\n";
+ print LOG " File \"$filename\" may not be a configuration file.\n";
+ }
+ else {
+ print "\nAbort - Too many read errors loading configuration\n";
+ print " File \"$filename\" may not be a configuration file.\n";
+ }
+ if($MainUp) {
+ PopNotice("Error loading file",
+ "Abort - Too many read errors while loading a\n" .
+ "configuration file. This may not be a configuration file:\n" .
+ " $filename");
+ }
+ return 'fail';
+ }
+ chomp; # no newline
+ s/^\s+//; # no leading whitespace
+ s/#.*//; # no comments
+ s/\s+$//; # no trailing whitespace
+ s/^--//; # no leading --
+ next unless length; # anything left?
+ unless(m/=/) { # ignore if no =
+ print "Warning: configuration option has no '=' : $_\n";
+ $dummy++;
+ next;
+ }
+ ($key, $val) = split(/\s*=\s*/, $_, 2);
+ # nested conf files do not work
+ if($key eq 'load') {
+ print "Warning: nested --load <file> do not work\n";
+ next;
+ }
+ if($val =~ m/^"/ && $val =~ m/"$/) {
+ # remove quotes around values with whitespace
+ $val =~ s/^"//;
+ $val =~ s/"$//;
+ $ans = AddToConfig($key,$val);
+ }
+ else {
+ $ans = AddToConfig($key,$val);
+ }
+ if($ans eq 'fail') { $dummy++; }
+ }
+ close CONFIG;
+
+ $ConfigFile = $filename;
+ return 'ok';
+ }
+ else {
+ # don't put a popup here b/c top level window may not exist yet.
+ if($LogOpen) {
+ print LOG "Error: Could not open configuration file $filename\n";
+ }
+ else {
+ print "Error: Could not open configuration file $filename\n";
+ }
+ #$ConfigFile = '';
+ return 'fail';
+ }
+}
+
+#-------------------------------------------------------------------------------------
+sub SaveConfig {
+ my ($file)=@_;
+ if($file eq '') { return 'ok'; }
+ print LOG "Save the configuration to the file $file\n";
+
+ my $cmd = ConfigString('config');
+
+ if(open(CONFIG, ">$file")) {
+ print CONFIG $cmd;
+ close CONFIG;
+ return 'ok';
+ }
+ else {
+ return 'fail';
+ }
+}
+
+#-------------------------------------------------------------------------------------
+# process the config, used for command line processing and after config file loaded.
+sub ProcessConfig {
+ if($CFG{'log'} ne '' && $CFG{'log'} ne 'SCREEN') {
+ open LOG, ">$CFG{'log'}" or die "Could not open log file $CFG{'log'}\n";
+ autoflush LOG;
+ $LogOpen = 1;
+ if($CFG{'verbose'}) {
+ print "RP Output directed to log file $CFG{'log'}\n";
+ print LOG "Log file for RinexPlot\n";
+ }
+ }
+ else { open(LOG,">-") or die "Could not re-open STDOUT\n"; }
+
+ if($CFG{'Rinex'} ne '') {
+ DataInputProcess($CFG{'Rinex'});
+
+ my %index;
+ my (@AOs, at Sats, at Obs)=((),(),());
+ if(defined(@{$OPT{'AO'}})) { @AOs = @{$OPT{'AO'}}; }
+ if(defined(@{$OPT{'sat'}})) { @Sats = @{$OPT{'sat'}}; }
+ if(defined(@{$OPT{'obs'}})) { @Obs = @{$OPT{'obs'}}; }
+
+ if($#AOs >= 0) {
+ %index=();
+ $j=0;
+ foreach $i (@ExtOT) {
+ unless($index{$i}) {
+ $index{$i}=$j;
+ $j++;
+ }
+ }
+ $dummy = 0;
+ foreach $i (@AOs) {
+ $j = $index{$i};
+ if($dummy == 0) { print LOG "Selected new obs types"; $dummy=1; }
+ print LOG " $i";
+ $ExtSelect[$j] = 1;
+ }
+ if($dummy==1) { print LOG "\n"; }
+ if($CFG{'create'} eq 'on') { CompCrea(); }
+ }
+ if($#Sats >= 0) {
+ %index=();
+ $j=0;
+ foreach $i (@svlist) {
+ unless($index{$i}) {
+ $index{$i}=$j;
+ $j++;
+ }
+ }
+ $dummy = 0;
+ foreach $i (@Sats) {
+ $j = $index{$i};
+ if($j eq '') {
+ if($dummy==1) { print LOG "\n"; }
+ print LOG "Error: satellite $i is not found in file!\n";
+ print LOG " Satellites in file are: @svlist\n";
+ }
+ else {
+ if($dummy == 0) { print LOG "Selected Sats:"; $dummy=1; }
+ print LOG " $i";
+ $svselect[$j] = 1;
+ }
+ }
+ if($dummy==1) { print LOG "\n"; }
+ }
+ if($#Obs >= 0) {
+ %index=();
+ $j=0;
+ foreach $i (@obslist) {
+ unless($index{$i}) {
+ $index{$i}=$j;
+ $j++;
+ }
+ }
+ $dummy = 0;
+ foreach $i (@Obs) {
+ $j = $index{$i};
+ if($j eq '') {
+ if($dummy==1) { print LOG "\n"; }
+ print LOG "Error: obs type $i is not found in file!\n";
+ print LOG " Obs types in file are: @obslist\n";
+ }
+ else {
+ if($dummy == 0) { print LOG "Selected Obs:"; $dummy=1; }
+ print LOG " $i";
+ $obsselect[$j] = 1;
+ }
+ }
+ if($dummy==1) { print LOG "\n"; }
+ }
+ if($CFG{'refresh'} eq 'on' && $#Obs >= 0 && $#Sats >= 0) {
+ # NewScale requires $XMin,$XMax,$YMin,$YMax as input
+ ($XMin,$XMax,$YMin,$YMax)
+ = ($CFG{'XMin'},$CFG{'XMax'},$CFG{'YMin'},$CFG{'YMax'});
+ NewScale('fixed','Command line');
+ if($LimitsSet == 1) {
+ $FirstAutoscale = 0;
+ $LimitsSet = 0;
+ }
+ else { $FirstAutoscale = 1; }
+ $Reconfigure = 1;
+ ConfigureCurves();
+ Refresh();
+ }
+ }
+ if($CFG{'help'} eq 'on') { HelpTopi(); }
+
+ $LimitsSet = 0;
+ # delete these, as they are used only for cmdline and config file input
+ delete($OPT{'load'});
+ delete($OPT{'AO'});
+ delete($CFG{'create'});
+ delete($OPT{'sat'});
+ delete($OPT{'obs'});
+ delete($CFG{'refresh'});
+ delete($CFG{'help'});
+}
+
+#-------------------------------------------------------------------------------------
+#-------------------------------------------------------------------------------------
+# Create the menubar and everything under it.
+sub create_menu {
+ [
+ [ 'cascade', '~File', -tearoff => $menutear, -menuitems =>
+ [
+ ['command', '~Load File ...', -accelerator => 'Ctrl-L',
+ -command => \&FileLoad ],
+ ['command', '~Save File', -accelerator => 'Ctrl-S', -command => \&FileSave ],
+ ['command', 'Save ~As ...', -command => \&FileSaAs ],
+ ['command', '~Output as command ...', -command => \&OutputCommand ],
+ '',
+ ['command', '~Rinex Obs File ...', -command => \&FileInpu ],
+ '',
+ ['command', 'View ~Data Summary ...', -command => \&FileSumm ],
+ ['command', '~View Selections ...', -command => \&FileSele ],
+ ['command', '~Clear all selections', -command => \&FileClea ],
+ '',
+ ['command', '~Exit', -accelerator => 'Ctrl-Q', -command => \&FileExit ],
+ ],
+ ],
+
+ [ 'cascade', '~Compute', -tearoff => $menutear, -menuitems =>
+ [
+ ['command', 'New ~Data types...', -command => \&CompObst ],
+ ['command', '~Nav File...', -command => \&CompNavf ],
+ ['cascade', '~Rx Position', -tearoff => $menutear, -menuitems =>
+ [
+ ['command', '~Select Rx...', -command => \&CompPosnSele ],
+ ['command', '~RAIM Solution', -command => \&CompPosnRAIM ],
+ ],
+ ],
+ ['command', 'Con~figure...', -command => \&CompConf ],
+ '',
+ ['command', '~Create new data', -command => \&CompCrea ],
+ ],
+ ],
+
+ [ 'cascade', '~DataSet', -tearoff => $menutear, -menuitems =>
+ [
+ ['command', '~Satellites', -command => \&DataSats ],
+ ['command', '~Obs types', -command => \&DataObst ],
+ ['command', '~Times', -command => \&DataTime ],
+ ['command', '~Configure', -command => \&DataConf ],
+ ],
+ ],
+
+ [ 'cascade', '~Graph', -tearoff => $menutear, -menuitems =>
+ [
+ ['command', '~AutoScale', -accelerator => ' Ctrl-A',
+ -command => \&AutoScale ],
+ ['command', '~Limits', -command => \&GrapLims ],
+ ['command', '~Axes', -command => \&GrapAxes ],
+ ['command', 'La~bels', -command => \&GrapLabe ],
+ ['command', '~Curves', -command => \&GrapCurv ],
+ ['command', 'Zoom ~In', '-accelerator', ' Ctrl-I',
+ -command => [ \&GrapZoom, 'dummy', 'In' ] ],
+ ['command', 'Zoom ~Out', '-accelerator', ' Ctrl-O',
+ -command => [ \&GrapZoom, 'dummy', 'Out' ] ],
+ ['command', '~UnZoom', '-accelerator', ' Ctrl-U',
+ -command => \&GrapUnzo ],
+ '',
+ ['command', '~Gnuplot', -command => \&GrapGnup ],
+ ],
+ ],
+
+ # this makes Refresh just a button - no menu under it
+ [ 'command', '~Refresh', -command => \&Refresh ],
+
+ [ 'cascade', '~Settings', -tearoff => $menutear, -menuitems =>
+ [
+ ['command', '~Preferences', -command => \&SettPref ],
+ ['command', '~Set Cursor', -command => \&SettCurs ],
+ ],
+ ],
+
+ [ 'cascade', '~Help', -tearoff => $menutear, -menuitems =>
+ [
+ ['command', '~Topics', -command => \&HelpTopi ],
+ ['command', '~About', -command => \&HelpAbou ],
+ ],
+ ],
+
+ ];
+} # end sub create_menu
+
+#-------------------------------------------------------------------------------------
+# initialize: create menu system and define bindings
+sub init {
+ create_screen();
+
+ # key bindings
+ $w_top->bind("<Control-Key-l>", \&FileLoad);
+ $w_top->bind("<Control-Key-s>", \&FileSave);
+ $w_top->bind("<Control-Key-a>", \&AutoScale);
+ $w_top->bind("<Control-Key-q>", \&FileExit);
+ $w_top->bind("<Control-Key-i>", [ \&GrapZoom, "In"] );
+ $w_top->bind("<Control-Key-o>", [ \&GrapZoom, "Out"] );
+ $w_top->bind("<Control-Key-u>", \&GrapUnzo);
+ $w_top->bind("<Control-Key-r>", \&Refresh);
+
+ # mouse bindings
+ $w_canvas->CanvasBind("<ButtonPress-1>",
+ [ \&mouse_events, Ev('x'), Ev('y'), "push left" ]);
+ $w_canvas->CanvasBind("<ButtonPress-3>",
+ [ \&mouse_events, Ev('x'), Ev('y'), "push right" ]);
+ $w_canvas->CanvasBind("<ButtonRelease-1>",
+ [ \&mouse_events, Ev('x'), Ev('y'), "rel left" ]);
+ $w_canvas->CanvasBind("<ButtonRelease-3>",
+ [ \&mouse_events, Ev('x'), Ev('y'), "rel right" ]);
+ $w_canvas->CanvasBind("<Motion>",
+ [ \&mouse_events, Ev('x'), Ev('y'), "motion" ]);
+
+ # window resizing
+ $w_canvas->CanvasBind("<Configure>", \&CanvConf);
+
+ # fonts
+ $w_top->fontCreate(qw/C_small -family courier -size 10/);
+ $w_top->fontCreate(qw/C_big -family courier -size 14 -weight bold/);
+ $w_top->fontCreate(qw/C_vbig -family helvetica -size 24 -weight bold/);
+ $w_top->fontCreate(qw/C_bold -family courier -size 12 -weight bold -slant italic/);
+
+ $MainUp = 1;
+}
+
+#-------------------------------------------------------------------------------------
+sub create_screen {
+ $w_top = MainWindow->new(-title =>'Rinex Plot');
+
+ # menus
+ $w_top->configure(-menu => $menubar = $w_top->Menu(-menuitems => create_menu));
+
+ # status bar - putting statusbar before canvas means when resizing window,
+ # canvas shrinks but status bar stays
+ $statusbar = $w_top->ROText(
+ -height => 1,
+ -relief => 'flat',
+ -background => '#a0b7ce',
+ -foreground => 'white',
+ -borderwidth => 2
+ )->pack(
+ -expand => '0',
+ -fill => 'both',
+ -side => 'bottom',
+ -anchor => 'w');
+ $statusbar->insert('0.0', 'Welcome to Rinex Plot');
+
+ # canvas
+ $w_canvas = $w_top->Canvas(
+ '-width' => $CFG{'width'}+$CFG{'Lmargin'}+$CFG{'Rmargin'},
+ '-height' => $CFG{'height'}+$CFG{'Tmargin'}+$CFG{'Bmargin'},
+ '-border' => 1,
+ # this has no effect ... '-relief' => 'solid',
+ '-background' => $BCOLOR,
+ '-cursor' => $cursor);
+ $w_canvas->pack(-expand => '1', -anchor => 'nw', -fill => 'both');
+
+ # need update here to prevent a <Configure> event that calls CanvConf at odd time
+ $w_top->update;
+}
+
+#-------------------------------------------------------------------------------------
+# execution begins here
+#-------------------------------------------------------------------------------------
+# define default CFG values
+Defaults();
+
+# process command line arguments
+CommandLine();
+
+# create menu and screen and define bindings
+init();
+
+# process any command line input
+ProcessConfig();
+
+# make sure utilities are available
+my($ResCor,$RinSum,$RinexDump)=('ResCor','RinSum','RinexDump');
+if ($^O eq "MSWin32") {
+ $ResCor='ResCor.exe';
+ $RinSum='RinSum.exe';
+ $RinexDump='RinexDump.exe';
+}
+if(not -e $CFG{'prgmdir'} . $SLASH . $RinSum
+ || not -e $CFG{'prgmdir'} . $SLASH . $ResCor
+ || not -e $CFG{'prgmdir'} . $SLASH . $RinexDump) {
+ PopNotice("Error: GPSTk not found",
+ "Error: GPSTk utilities are not found in directory $CFG{'prgmdir'}.\n"
+ . "Go to Settings/Preferences to change this");
+}
+
+MainLoop();
+#-------------------------------------------------------------------------------------
diff --git a/trunk/apps/RinexPlot/alic0320.04o b/dev/apps/RinexPlot/alic0320.04o
similarity index 100%
rename from trunk/apps/RinexPlot/alic0320.04o
rename to dev/apps/RinexPlot/alic0320.04o
diff --git a/trunk/apps/RinexPlot/goRP b/dev/apps/RinexPlot/goRP
similarity index 100%
rename from trunk/apps/RinexPlot/goRP
rename to dev/apps/RinexPlot/goRP
diff --git a/trunk/apps/RinexPlot/goRP.bat b/dev/apps/RinexPlot/goRP.bat
similarity index 100%
rename from trunk/apps/RinexPlot/goRP.bat
rename to dev/apps/RinexPlot/goRP.bat
diff --git a/trunk/apps/RinexPlot/goRP1 b/dev/apps/RinexPlot/goRP1
similarity index 100%
rename from trunk/apps/RinexPlot/goRP1
rename to dev/apps/RinexPlot/goRP1
diff --git a/trunk/apps/RinexPlot/goRP1.bat b/dev/apps/RinexPlot/goRP1.bat
similarity index 100%
rename from trunk/apps/RinexPlot/goRP1.bat
rename to dev/apps/RinexPlot/goRP1.bat
diff --git a/trunk/apps/RinexPlot/positions.txt b/dev/apps/RinexPlot/positions.txt
similarity index 100%
rename from trunk/apps/RinexPlot/positions.txt
rename to dev/apps/RinexPlot/positions.txt
diff --git a/dev/apps/Rinextools/EditRinex.cpp b/dev/apps/Rinextools/EditRinex.cpp
new file mode 100644
index 0000000..3f38b57
--- /dev/null
+++ b/dev/apps/Rinextools/EditRinex.cpp
@@ -0,0 +1,371 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file EditRinex.cpp
+ * Edit a Rinex observation file using the RinexEditor in gpstk.
+ */
+
+#include "RinexObsBase.hpp"
+#include "RinexObsData.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsStream.hpp"
+#include "DayTime.hpp"
+#include "CommandOptionParser.hpp"
+#include "CommandOption.hpp"
+#include "RinexUtilities.hpp"
+#include "StringUtils.hpp"
+
+#include "RinexEditor.hpp"
+
+#include <string>
+#include <vector>
+#include <iostream>
+#include <fstream>
+#include <time.h>
+
+using namespace std;
+using namespace gpstk;
+using namespace StringUtils;
+
+//------------------------------------------------------------------------------------
+// NB Version for this prgm is just the RinexEditor version.
+
+//------------------------------------------------------------------------------------
+// data input from command line
+string LogFile("EditRinex.log");
+bool Verbose=false,Debug=false;
+string Title;
+// timer
+clock_t totaltime;
+// log file
+ofstream oflog;
+
+//------------------------------------------------------------------------------------
+// prototypes
+int GetCommandLine(int argc, char **argv, RinexEditor& re) throw(Exception);
+void PreProcessArgs(const char *arg, vector<string>& Args) throw(Exception);
+
+//------------------------------------------------------------------------------------
+int main(int argc, char **argv)
+{
+try {
+ totaltime = clock();
+
+ int iret;
+ DayTime last;
+ // NB. Do not instantiate editor outside main(), b/c DayTime::END_OF_TIME is a
+ // static const that can produce static intialization order problems under some OS.
+ RinexEditor REC;
+
+ // Title and description
+ Title = string("EditRinex, part of the GPS ToolKit, Ver ")
+ + REC.getRinexEditVersion() + string(", Run ");
+ time_t timer;
+ struct tm *tblock;
+
+ timer = time(NULL);
+ tblock = localtime(&timer);
+ last.setYMDHMS(1900+tblock->tm_year,1+tblock->tm_mon,
+ tblock->tm_mday,tblock->tm_hour,tblock->tm_min,tblock->tm_sec);
+ Title += last.printf("%04Y/%02m/%02d %02H:%02M:%02S\n");
+ cout << Title;
+
+ // define extended types
+ iret = RegisterARLUTExtendedTypes();
+ if(iret) goto quit;
+
+ // get command line
+ iret=GetCommandLine(argc, argv, REC);
+ if(iret) goto quit;
+
+ iret=REC.EditFile();
+ if(iret) goto quit;
+
+ quit:
+ // compute run time
+ totaltime = clock()-totaltime;
+ oflog << "EditRinex timing: " << setprecision(3)
+ << double(totaltime)/double(CLOCKS_PER_SEC) << " seconds.\n";
+
+ return iret;
+}
+catch(gpstk::FFStreamError& e) { cerr << e; }
+catch(gpstk::Exception& e) { cerr << e; }
+catch(exception& e) { cerr << e.what(); }
+catch (...) { cerr << "Unknown error. Abort." << endl; }
+ return 1;
+} // end main()
+
+//------------------------------------------------------------------------------------
+int GetCommandLine(int argc, char **argv, RinexEditor& REC) throw(Exception)
+{
+ bool help=false;
+ int i,j,iret=0;
+ vector<string> values; // to get values found on command line
+
+try {
+ // required options
+
+ // optional options
+ // this only so it will show up in help page...
+ CommandOption dashf(CommandOption::hasArgument, CommandOption::stdType,
+ 'f',""," [-f|--file] <file> file containing more options");
+
+ CommandOption dashl(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"log"," [-l|--log] <file> Output log file name");
+ dashl.setMaxCount(1);
+
+ CommandOptionNoArg dashh('h', "help",
+ " [-h|--help] print syntax and quit.");
+
+ CommandOptionNoArg dashd('d', "debug",
+ " [-d|--debug] print extended output info.");
+
+ CommandOptionNoArg dashv('v', "verbose",
+ " [-v|--verbose] print extended output info."
+ "\n [<REC>] Rinex editing commands - cf. following");
+
+ // ... other options
+ CommandOptionRest Rest("");
+
+ CommandOptionParser Par(
+ " Prgm EditRinex will open and read one RINEX file, apply editing commands,\n"
+ " and write the modified RINEX data to another RINEX file(s).\n"
+ " Input is on the command line, or of the same format in a file (-f<file>).\n");
+
+ // allow user to put all options in a file
+ // could also scan for debug here
+ vector<string> Args;
+ for(j=1; j<argc; j++) PreProcessArgs(argv[j],Args);
+
+ if(Args.size()==0 || dashh.getCount())
+ help = true;
+
+ // open the log file first
+ oflog.open(LogFile.c_str(),ios_base::out);
+ if(!oflog) {
+ cerr << "Failed to open log file " << LogFile << endl;
+ return -1;
+ }
+ cout << "EditRinex output directed to log file " << LogFile << endl;
+ REC.oflog = &oflog;
+ oflog << Title;
+
+ //if(Debug) {
+ //cout << "List passed to REditCommandLine:\n";
+ //for(i=0; i<Args.size(); i++) cout << i << " " << Args[i] << endl;
+ // strip out the REditCmds
+ //}
+
+ // set up editor and pull out (delete) editing commands
+ REC.REVerbose = Verbose;
+ REC.REDebug = Debug;
+ REC.AddCommandLine(Args);
+
+ //if(Debug) {
+ //deque<REditCmd>::iterator jt=REC.Cmds.begin();
+ //cout << "\nHere is the list of RE cmds\n";
+ //while(jt != REC.Cmds.end()) { jt->Dump(cout,string("")); ++jt; }
+ //cout << "End of list of RE cmds" << endl;
+ //}
+
+ // preprocess the commands
+ iret = REC.ParseCommands();
+ if(iret) {
+ cerr << "EditRinex Error: no " << (iret==-1 ? "input" : "output")
+ << " file specified\n";
+ oflog << "EditRinex Error: no " << (iret==-1 ? "input" : "output")
+ << " file specified\n";
+ }
+ //if(Debug) {
+ //cout << "\nHere is the parsed list of RE cmds\n";
+ //it=REC.Cmds.begin();
+ //while(it != REC.Cmds.end()) { it->Dump(cout,string("")); ++it; }
+ //cout << "End of sorted list of RE cmds" << endl;
+ //}
+
+ // pass the rest
+ argc = Args.size()+1;
+ char **CArgs=new char*[argc];
+ if(!CArgs) { cerr << "Failed to allocate CArgs\n"; return -1; }
+ CArgs[0] = argv[0];
+ for(j=1; j<argc; j++) {
+ CArgs[j] = new char[Args[j-1].size()+1];
+ if(!CArgs[j]) { cerr << "Failed to allocate CArgs[j]\n"; return -1; }
+ strcpy(CArgs[j],Args[j-1].c_str());
+ }
+
+ //if(Debug) {
+ //cout << "List passed to parse\n";
+ //for(i=0; i<argc; i++) cout << i << " " << CArgs[i] << endl;
+ //}
+ Par.parseOptions(argc, CArgs);
+ delete[] CArgs;
+
+ if(iret != 0 || dashh.getCount() > 0) { // iret from ParseCommands
+ if(help) {
+ Par.displayUsage(cout,false);
+ cout << endl;
+ DisplayRinexEditUsage(cout);
+ }
+ else {
+ Par.displayUsage(oflog,false);
+ oflog << endl;
+ DisplayRinexEditUsage(oflog);
+ }
+ help = true; //return 1;
+ }
+
+ if (Par.hasErrors())
+ {
+ cerr << "\nErrors found in command line input:\n";
+ oflog << "\nErrors found in command line input:\n";
+ Par.dumpErrors(cerr);
+ Par.dumpErrors(oflog);
+ cerr << "...end of Errors\n\n";
+ oflog << "...end of Errors\n\n";
+ help = true;
+ }
+
+ // f never appears because we intercept it in PreProcessArgs
+ //if(dashf.getCount()) { cout << "Option f "; dashf.dumpValue(cout); }
+ // get log file name - pull out in PreProcessArgs
+ //if(dashl.getCount()) {
+ // values = dashl.getValue();
+ // LogFile = values[0];
+ // if(help) cout << "Output log file is: " << LogFile << endl;
+ //}
+
+ //if(dashh.getCount() && help)
+ // oflog << "Option h appears " << dashh.getCount() << " times\n";
+ if(dashv.getCount() && help) {
+ Verbose = true;
+ //if(help) oflog << "Option v appears " << dashv.getCount() << " times\n";
+ }
+ if(dashd.getCount() && help) {
+ Debug = true;
+ //if(help) oflog << "Option d appears " << dashd.getCount() << " times\n";
+ }
+
+ if(Rest.getCount() && help) {
+ oflog << "Remaining options:" << endl;
+ values = Rest.getValue();
+ for (i=0; i<values.size(); i++) oflog << values[i] << endl;
+ }
+ if(Verbose && help) {
+ oflog << "\nTokens on command line (" << Args.size() << ") are:" << endl;
+ for(j=0; j<Args.size(); j++) oflog << Args[j] << endl;
+ }
+ if(help) return 1;
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+ return -1;
+}
+
+//------------------------------------------------------------------------------------
+// Pull out --debug --verbose -f<f> and --file <f> and -l<f> --log <f> options.
+void PreProcessArgs(const char *arg, vector<string>& Args) throw(Exception)
+{
+try {
+ static bool found_cfg_file=false;
+ static bool found_log_file=false;
+
+ if(found_cfg_file || (arg[0]=='-' && arg[1]=='f')) {
+ string filename(arg);
+ if(!found_cfg_file) filename.erase(0,2); else found_cfg_file = false;
+ if(Debug) cout << "Found a file of options: " << filename << endl;
+ ifstream infile(filename.c_str());
+ if(!infile) {
+ cout << "Error: could not open options file " << filename << endl;
+ return;
+ }
+
+ bool again_cfg_file=false;
+ bool again_log_file=false;
+ char c;
+ string buffer,word;
+ while(1) {
+ getline(infile,buffer);
+ stripTrailing(buffer,'\r');
+
+ // process the buffer before checking eof or bad b/c there can be
+ // a line at EOF that has no CRLF...
+ while(!buffer.empty()) {
+ word = firstWord(buffer);
+ if(again_cfg_file) {
+ word = "-f" + word;
+ again_cfg_file = false;
+ PreProcessArgs(word.c_str(),Args);
+ }
+ else if(again_log_file) {
+ word = "-l" + word;
+ again_log_file = false;
+ PreProcessArgs(word.c_str(),Args);
+ }
+ else if(word[0] == '#') { // skip to end of line
+ buffer.clear();
+ }
+ else if(word == "--file" || word == "-f")
+ again_cfg_file = true;
+ else if(word == "--log" || word == "-l")
+ again_log_file = true;
+ else if(word[0] == '"') {
+ word = stripFirstWord(buffer,'"');
+ buffer = "dummy " + buffer; // to be stripped later
+ PreProcessArgs(word.c_str(),Args);
+ }
+ else
+ PreProcessArgs(word.c_str(),Args);
+
+ word = stripFirstWord(buffer); // now remove it from buffer
+ }
+ if(infile.eof() || !infile.good()) break;
+ }
+ }
+ else if(found_log_file || (arg[0]=='-' && arg[1]=='l')) {
+ LogFile = string(arg);
+ if(!found_log_file) LogFile.erase(0,2); else found_log_file = false;
+ }
+ else if((arg[0]=='-' && arg[1]=='d') || string(arg)==string("--debug"))
+ Debug = true;
+ else if((arg[0]=='-' && arg[1]=='v') || string(arg)==string("--verbose"))
+ Verbose = true;
+ else if(string(arg) == "--file" || string(arg) == "-f")
+ found_cfg_file = true;
+ else if(string(arg) == "--log")
+ found_log_file = true;
+ else Args.push_back(arg);
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/Rinextools/Jamfile b/dev/apps/Rinextools/Jamfile
new file mode 100644
index 0000000..19144cd
--- /dev/null
+++ b/dev/apps/Rinextools/Jamfile
@@ -0,0 +1,13 @@
+#
+# $Id$
+#
+
+SubDir TOP apps Rinextools ;
+
+GPSLinkLibraries NavMerge RinexDump ResCor EditRinex RinSum : gpstk ;
+
+GPSMain NavMerge : NavMerge.cpp ;
+GPSMain RinexDump : RinexDump.cpp ;
+GPSMain RinSum : RinSum.cpp ;
+GPSMain EditRinex : EditRinex.cpp RinexEditor.cpp ;
+GPSMain ResCor : ResCor.cpp RinexEditor.cpp ;
diff --git a/dev/apps/Rinextools/Makefile.am b/dev/apps/Rinextools/Makefile.am
new file mode 100644
index 0000000..564aa4f
--- /dev/null
+++ b/dev/apps/Rinextools/Makefile.am
@@ -0,0 +1,14 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../src
+LDADD = ./libtoolslib.la ../../src/libgpstk.la
+
+lib_LTLIBRARIES = libtoolslib.la
+libtoolslib_la_SOURCES = RinexEditor.cpp
+
+bin_PROGRAMS = NavMerge RinexDump ResCor EditRinex RinSum
+
+NavMerge_SOURCES = NavMerge.cpp
+RinexDump_SOURCES = RinexDump.cpp
+RinSum_SOURCES = RinSum.cpp
+EditRinex_SOURCES = EditRinex.cpp
+ResCor_SOURCES = ResCor.cpp
diff --git a/dev/apps/Rinextools/NavMerge.cpp b/dev/apps/Rinextools/NavMerge.cpp
new file mode 100755
index 0000000..c8e8c4d
--- /dev/null
+++ b/dev/apps/Rinextools/NavMerge.cpp
@@ -0,0 +1,276 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file NavMerge.cpp
+ * Read, summarize and optionally merge, Rinex navigation files.
+ * NavMerge will merge any number of Rinex nav files into a unique superset,
+ * and either write them out to a new Rinex file (if an output file is given),
+ * or write a summary of the data to the screen. NavMerge also finds
+ * and fixes full week number when it is inconsistent with epoch.
+ */
+
+//------------------------------------------------------------------------------------
+#include <string>
+#include <vector>
+
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+#include "RinexNavData.hpp"
+#include "RinexNavHeader.hpp"
+#include "RinexNavStream.hpp"
+#include "BCEphemerisStore.hpp"
+
+//------------------------------------------------------------------------------------
+
+using namespace std;
+using namespace gpstk;
+using namespace StringUtils;
+
+//------------------------------------------------------------------------------------
+void BadArg(string& arg) { cout << "Error: nothing follows option " << arg << endl; }
+
+//------------------------------------------------------------------------------------
+// Returns 0 when successful.
+int main(int argc, char *argv[])
+{
+ if (argc<2)
+ {
+ cout <<
+"Usage: NavMerge [options] <RINEX nav file name(s)>\n"
+" Options are:\n"
+" [-o|--out] <file> Output RINEX navigation file name. If omitted, a data summary is displayed.\n"
+" [-tb|--begTime] <tb> Output data only if epoch is within 4 hours of the interval (tb,te).\n"
+" [-te|--endTime] <te> If one of (te,tb) is omitted, they are made equal.\n"
+" Times are either 'year,mon,day,hr,min,sec' or 'GPSweek,secOfWeek'\n"
+" NB. NavMerge corrects data for output when GPS full week number is inconsistent with epoch time.\n"
+ ;
+
+ return -1;
+ }
+
+ try
+ {
+ int i;
+ string arg,filename,outfile,YMDformat("%Y,%m,%d,%H,%M,%f"),GPSformat("%F,%g");
+ DayTime tb,te;
+
+ te = tb = DayTime::BEGINNING_OF_TIME;
+
+ i = 1;
+ while(i < argc) {
+ arg = string(argv[i]);
+ if(arg == "--out" || arg.substr(0,2) == "-o") {
+ if(arg == "--out") {
+ argv[i][0] = '\0';
+ if(++i == argc) { BadArg(arg); break; }
+ outfile = string(argv[i]);
+ }
+ else
+ outfile = arg.substr(2);
+ cout << "Output file name is " << outfile << endl;
+ argv[i][0] = '\0';
+ }
+ else if(arg == "--begTime" || arg == "-tb" || arg.substr(0,3) == "-tb") {
+ if(arg.substr(0,3) == "-tb" && arg.size() > 3)
+ arg = arg.substr(3);
+ else {
+ argv[i][0] = '\0';
+ if(++i == argc) { BadArg(arg); break; }
+ arg = string(argv[i]);
+ }
+
+ if(numWords(arg,',') == 2)
+ tb.setToString(arg,GPSformat);
+ else if(numWords(arg,',') == 6)
+ tb.setToString(arg,YMDformat);
+ else
+ cout << "Unable to understand timetag option: " << arg << endl;
+ argv[i][0] = '\0';
+ }
+ else if(arg == "--endTime" || arg == "-te" || arg.substr(0,3) == "-te") {
+ if(arg.substr(0,3) == "-te" && arg.size() > 3)
+ arg = arg.substr(3);
+ else {
+ argv[i][0] = '\0';
+ if(++i == argc) { BadArg(arg); break; }
+ arg = string(argv[i]);
+ }
+
+ if(numWords(arg,',') == 2)
+ te.setToString(arg,GPSformat);
+ else if(numWords(arg,',') == 6)
+ te.setToString(arg,YMDformat);
+ else
+ cout << "Unable to understand timetag option: " << arg << endl;
+ argv[i][0] = '\0';
+ }
+
+ i++;
+ }
+
+ if(te != DayTime::BEGINNING_OF_TIME &&
+ tb == DayTime::BEGINNING_OF_TIME) tb = te;
+ else
+ if(tb != DayTime::BEGINNING_OF_TIME &&
+ te == DayTime::BEGINNING_OF_TIME) te = tb;
+ if(tb > te) { DayTime tt=tb; tb=te; te=tt; }
+
+ if(tb != DayTime::BEGINNING_OF_TIME)
+ cout << "Time limits are " << tb.printf(YMDformat)
+ << " - " << te.printf(YMDformat) << endl;
+
+ RinexNavHeader rnh,rnhout;
+ RinexNavData rne;
+ BCEphemerisStore EphStore;
+ RinexNavStream RNFileOut;
+
+ if(outfile != string("")) {
+ RNFileOut.open(outfile.c_str(),ios::out);
+ RNFileOut.exceptions(fstream::failbit);
+ rnhout.version = 2.1;
+ rnhout.valid |= RinexNavHeader::versionValid;
+ rnhout.fileType = string("NAVIGATION");
+ rnhout.fileProgram = string("NavMerge");
+ rnhout.fileAgency = string("ARL:UT/SGL/GPSTK");
+ rnhout.valid |= RinexNavHeader::runByValid;
+ rnhout.commentList.clear();
+ rnhout.valid |= RinexNavHeader::commentValid;
+ rnhout.valid |= RinexNavHeader::endValid;
+ }
+
+ int na=1,n=0,nf;
+ while(na < argc) {
+ filename = string(argv[na]);
+ if(filename == string("")) { na++; continue; }
+
+ try {
+ RinexNavStream RNFileIn(filename.c_str());
+ if(!RNFileIn) {
+ cout << "Could not open file " << filename << endl;
+ na++;
+ continue;
+ }
+ RNFileIn.exceptions(fstream::failbit);
+
+ RNFileIn >> rnh;
+ if(rnh.valid & RinexNavHeader::ionAlphaValid) {
+ for(i=0; i<4; i++) rnhout.ionAlpha[i]=rnh.ionAlpha[i];
+ rnhout.valid |= RinexNavHeader::ionAlphaValid;
+ }
+ if(rnh.valid & RinexNavHeader::ionBetaValid) {
+ for(i=0; i<4; i++) rnhout.ionBeta[i]=rnh.ionBeta[i];
+ rnhout.valid |= RinexNavHeader::ionBetaValid;
+ }
+ if(rnh.valid & RinexNavHeader::deltaUTCValid) {
+ rnhout.A0 = rnh.A0;
+ rnhout.A1 = rnh.A1;
+ rnhout.UTCRefWeek = rnh.UTCRefWeek;
+ rnhout.UTCRefTime = rnh.UTCRefTime;
+ rnhout.valid |= RinexNavHeader::deltaUTCValid;
+ }
+ if(rnh.valid & RinexNavHeader::leapSecondsValid) {
+ rnhout.leapSeconds = rnh.leapSeconds;
+ rnhout.valid |= RinexNavHeader::leapSecondsValid;
+ }
+
+ nf = 0;
+ while (RNFileIn >> rne)
+ {
+ nf++;
+ n++;
+ // check that week number (associated with HOW) is consistent with TOC.
+ // (NB. in Rinex nav file, the week number is associated with the TOE;
+ // RinexNavData converts it to associate with the HOW)
+ int wkTOC,wk;
+ wk = rne.weeknum; // 'weeknum' associated with HOW
+ wkTOC = rne.time.GPSfullweek(); // 'time' comes from epoch line
+ if(ABS(wk-wkTOC) > 1) { // HOW and TOC should be w/in 1 week
+ double dt = double(wk-wkTOC)/1024.0;
+ dt += (dt < 0.0 ? -0.5 : 0.5);
+ wk -= int(dt) * 1024;
+ if(ABS(wk-wkTOC) > 1) {
+ cout << "WARNING: Ephemeris in " << filename
+ << " for satellite G"
+ << setw(2) << setfill('0') << rne.PRNID << setfill(' ')
+ << " at time " << rne.time
+ << " has inconsistent week number " << rne.weeknum << endl;
+ }
+ else {
+ cout << "NavMerge corrected the week in G"
+ << setw(2) << setfill('0') << rne.PRNID << setfill(' ')
+ << " " << rne.time
+ << " " << filename << endl;
+ rne.weeknum = wk;
+ }
+ }
+ // if healthy, add to the store
+ if(rne.health == 0) EphStore.addEphemeris(rne);
+ }
+ }
+ catch(Exception& e) {
+ cout << "Exception: " << e << endl;
+ }
+ na++;
+ cout << "Read " << setw(4) << nf << " ephemerides from file "
+ << filename << endl;
+ }
+ cout << "Read " << setw(4) << n << " total ephemerides." << endl;
+
+ // pull out all the ephemerides
+ list<EngEphemeris> EphList;
+ i = EphStore.addToList(EphList);
+
+ if(outfile != string("")) {
+ // write the output header
+ RNFileOut << rnhout;
+
+ // write out all the ephemerides
+ list<EngEphemeris>::iterator it=EphList.begin();
+ n=0;
+ while(it != EphList.end()) {
+ rne = RinexNavData(*it);
+ if(tb == DayTime::BEGINNING_OF_TIME ||
+ (rne.time - tb > -14400.0 && rne.time - te < 14400.0))
+ {
+ n++;
+ RNFileOut << rne;
+ }
+ it++;
+ }
+ cout << "Wrote " << setw(3) << n << " unique ephemerides to file "
+ << outfile << endl;
+ }
+ else {
+ EphStore.dump(1);
+ }
+
+ return 0;
+ }
+ catch(Exception& e) { cout << e; }
+ catch (...) { cout << "unknown error. Done." << endl; }
+ return 1;
+
+ return 0;
+}
diff --git a/dev/apps/Rinextools/README b/dev/apps/Rinextools/README
new file mode 100644
index 0000000..c0d12ce
--- /dev/null
+++ b/dev/apps/Rinextools/README
@@ -0,0 +1,45 @@
+Rinex tools (/apps/Rinextools)
+
+ This directory contains 4 standalone programs which are useful in
+manipulating Rinex observation files. They are:
+ RinexDump dumps Rinex observation data in columns in a flat file, useful
+ for plotting
+ RinSum summarizes a Rinex observation file
+ EditRinex reads and edits a Rinex observation file, writing out the a
+ new, edited one.
+ ResCor reads a Rinex file(s) and computes any of several residuals and
+ corrections from the data, and then writes them to an output
+ Rinex observation file.
+ NavMerge reads any number of Rinex navigation files and either prints a
+ summary on the screen, or, if an output file is specified,
+ writes a unique superset of all the ephemeris data to that file.
+ It will also correct the week number in the ephemeris if it is
+ inconsistent with the time on the epoch line.
+
+ In addition there is the RinexEditor module, which implements a class that
+may be called within other programs to edit the Rinex data. The EditRinex program is really just a shell that calls the RinexEditor, while ResCor is a more complicated program that also calls the RinexEditor but also modifies the data (i.e. computes the residuals and corrections) before writing it out.
+
+ All of these programs are run from the command line, and input and outputs are all flat files. To see the command line syntax, run the program with either no arguments, or with arguments but including --help.
+
+ Examples are not included here; however, examples are available elsewhere. RinSum is very easy to run; try typing
+
+ RinSum -i<file>
+
+at the command line for any Rinex observation file <file>. Note, also, that the
+discontinuity corrector uses EditRinex to apply its corrections, and that an
+example of this is found in /apps/cycleslips/examples. Finally, the RinexPlot utility (/apps/RinexPlot) makes extensive use of the other utility programs
+here; it is actually a Perl script and runs these programs from the command
+line.
+
+Brian Tolman
+btolman at arlut.utexas.edu
+
+
+
+
+
+
+
+
+
+
diff --git a/dev/apps/Rinextools/ResCor.cpp b/dev/apps/Rinextools/ResCor.cpp
new file mode 100644
index 0000000..bb77aef
--- /dev/null
+++ b/dev/apps/Rinextools/ResCor.cpp
@@ -0,0 +1,2230 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file ResCor.cpp
+ * 'Residuals and Corrections'
+ * Open and read a single Rinex observation file, apply editing commands
+ * using the RinexEditor package, compute any of several residuals and corrections
+ * and register extended Rinex observation types for them, and then write
+ * the edited data, along with the new extended observation types,
+ * to an output Rinex observation file. Input is all on the command line.
+ * ResCor is implemented by deriving a special class from class RinexEditor and
+ * using its virtual functions to implement all the changes necessary to define
+ * and compute the residuals and corrections.
+ */
+
+//------------------------------------------------------------------------------------
+// ToDo
+// catch exceptions -- elsewhere and on reading header and obs
+// allow user to specify trop model, both for RAIM and for TR output
+//
+
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+#include "RinexSatID.hpp"
+#include "CommandOptionParser.hpp"
+#include "CommandOption.hpp"
+#include "CommandOptionWithTimeArg.hpp"
+#include "RinexObsBase.hpp"
+#include "RinexObsData.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsStream.hpp"
+#include "RinexNavStream.hpp"
+#include "RinexNavData.hpp"
+#include "SP3Stream.hpp"
+#include "SP3EphemerisStore.hpp"
+#include "BCEphemerisStore.hpp"
+#include "EphemerisRange.hpp"
+#include "TropModel.hpp"
+#include "PRSolution.hpp"
+#include "WGS84Geoid.hpp" // for obliquity
+#include "Stats.hpp"
+#include "geometry.hpp" // DEG_TO_RAD
+#include "icd_200_constants.hpp" // PI,C_GPS_M,OSC_FREQ,L1_MULT,L2_MULT
+
+#include "RinexEditor.hpp"
+#include "RinexUtilities.hpp"
+#include "Position.hpp"
+
+#include <time.h>
+#include <string>
+#include <vector>
+#include <map>
+#include <algorithm>
+#include <iostream>
+#include <fstream>
+#include <sstream>
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+using namespace StringUtils;
+
+//------------------------------------------------------------------------------------
+ // prgm data
+string PrgmName("ResCor");
+string PrgmVers("3.7 1/22/07");
+
+// data used in program
+const double CFF=C_GPS_M/OSC_FREQ;
+const double F1=L1_MULT; // 154.0;
+const double F2=L2_MULT; // 120.0;
+const double f12=F1*F1;
+const double f22=F2*F2;
+const double wl1=CFF/F1;
+const double wl2=CFF/F2;
+const double wl1r=F1/(F1+F2);
+const double wl2r=F2/(F1+F2);
+const double wl1p=wl1*F1/(F1-F2);
+const double wl2p=-wl2*F2/(F1-F2);
+const double if1r=f12/(f12-f22);
+const double if2r=-f22/(f12-f22);
+const double if1p=wl1*f12/(f12-f22);
+const double if2p=-wl2*f22/(f12-f22);
+const double gf1r=-1;
+const double gf2r=1;
+const double gf1p=wl1;
+const double gf2p=-wl2;
+const double alpha=f12/f22 - 1.0;
+const double FL1=F1*10.23e6; // Hz
+const double TECUperM=FL1*FL1*1.e-16/40.28; // 6.1617 TECU/m (0.16229 m/TECU)
+
+clock_t totaltime;
+string Title;
+ // input flags and data
+bool Debug,Verbose,Callow,Cforce;
+double IonoHt;
+RinexSatID SVonly;
+string LogFile;
+ofstream logof,oferr; // don't call it oflog - RinexEditor has that
+ // Rinex headers, input and output, saved
+RinexObsHeader rhead, rheadout;
+ // ephemeris
+string NavDir;
+vector<string> NavFiles;
+SP3EphemerisStore SP3EphList;
+BCEphemerisStore BCEphList;
+SimpleTropModel ggtm;
+ // for use with current position and in RefPosMap (RAIM and/or RefPosFile)
+typedef struct ReferencePositionFileData {
+ Position RxPos; // XYZT
+ bool valid;
+ int NPRN;
+ double clk,PDOP,GDOP,RMS;
+} RefPosData;
+RefPosData CurrRef; // current reference position
+ // reference and RAIM solution
+string RefPosFile,KnownPos;
+bool doRAIM,editRAIM,outRef,headRAIM,HaveRAIM;
+bool RefPosInput,KnownPosInput,KnownLLH,RefPosFlat;
+double minElev;
+vector<SatID> Sats;
+vector<double> PRange;
+//RAIMSolution RAIMSol;
+PRSolution prsol;
+Stats<double> ARSX,ARSY,ARSZ; // average solution, for header output
+ // computation
+int inC1,inP1,inP2,inL1,inL2; // indexes in rhead of C1, C1/P1, P2, L1 and L2
+int inEP,inPS; // flags for input of ephemeris, Rx position
+int inD1,inD2,inS1,inS2;
+DayTime CurrentTime, PrgmEpoch;
+// these 3 vectors parallel
+vector<string> OTstrings; // list of OTs (strings) to be computed
+vector<RinexObsHeader::RinexObsType> OTList;
+vector<int> OTindex;
+int otC1,otP1,otP2,otL1,otL2; // indexes in rheadout of C1, C1/P1, P2, L1 and L2
+int otD1,otD2,otS1,otS2;
+bool DoSVX;
+WGS84Geoid WGS84;
+// compute non-dispersive range, ionospheric delay, multipath (L1 and L2)
+bool DoXR;
+double XRM0[4],XRM1[4],XRM2[4],XRM3[4];
+double *XRM[4]={XRM0,XRM1,XRM2,XRM3};
+double XRdat[4],XRsol[4];
+ // structure for holding raw range and phase data during computation
+typedef struct range_and_phase_data {
+ double L1,L2,P1,P2;
+ int LL1,LL2;
+} RCData;
+ // map of <sat,RCData>
+RCData DataStore;
+map<RinexSatID,RCData> DataStoreMap;
+ // debiasing output data
+map<RinexObsHeader::RinexObsType,map<RinexSatID,double> > AllBiases; // (OT,SV)
+ // reference position as function of time (from input)
+map<DayTime,RefPosData> RefPosMap;
+double RefPosMapDT;
+
+string RxhelpString=
+"\n --RxFlat <fn> : fn is a file with reference receiver positions and times:\n"
+" The first line in the file (other than comments, marked by # in column 1)\n"
+" is the format for each line of the file, using the specifications in\n"
+" DayTime::setToString() and Position::setToString().\n"
+" The second line is a pattern made up of characters T, P and X indicating the\n"
+" content of both the lines in the file and the format: (white-space-delimited)\n"
+" words on each line are either part of the time(T) or position(P) specification,\n"
+" or are to be ignored(X). For example, the file begins with these six lines:\n"
+" # format:\n"
+" t= %F %g p= %x %y %z\n"
+" # pattern:\n"
+" XTTXPPP\n"
+" # data:\n"
+" t= 1281 259200 p= -2701232.4 6123085.7 1419837.5";
+
+//------------------------------------------------------------------------------------
+// inherit RinexEditor so that callback routines can be defined by Prgm ResCor
+class RCRinexEditor : public RinexEditor
+{
+ public:
+ /// Constructor.
+ RCRinexEditor() throw() {};
+
+ /// destructor
+ virtual ~RCRinexEditor() {}
+
+ /// after reading input header and before calling
+ /// RinexEditor::EditHeader (pass input header)
+ virtual int BeforeEditHeader(const RinexObsHeader& rhin) throw(Exception);
+
+ /// after calling RinexEditor::EditHeader (pass output header)
+ virtual int AfterEditHeader(const RinexObsHeader& rhout) throw(Exception);
+
+ /// after reading input obs and before calling
+ /// RinexEditor::EditObs (pass input obs)
+ virtual int BeforeEditObs(const RinexObsData& roin) throw(Exception);
+
+ /// before writing out header (pass output header)
+ virtual int BeforeWritingHeader(RinexObsHeader& rhout) throw(Exception);
+
+ /// before writing out filled header
+ virtual int BeforeWritingFilledHeader(RinexObsHeader& rhout) throw(Exception);
+
+ /// just before writing output obs (pass output obs)
+ virtual int BeforeWritingObs(RinexObsData& roout) throw(Exception);
+
+}; // end class RCRinexEditor
+
+//------------------------------------------------------------------------------------
+// prototypes
+int GetCommandLine(int argc, char **argv, RCRinexEditor& rc) throw(Exception);
+int PrepareInput(void) throw(Exception);
+int LoopOverObs(void) throw(Exception);
+void SaveData(const RinexObsData& rod, const RinexObsHeader& rh,
+ int xL1, int xL2, int xP1, int xP2) throw(Exception);
+int UpdateRxPosition(void) throw(Exception);
+void ComputeNewOTs(RinexObsData& rod) throw(Exception);
+void CloseOutputFile(void) throw(Exception);
+void PreProcessArgs(const char *arg, vector<string>& Args) throw(Exception);
+int setBiasLimit(RinexObsHeader::RinexObsType& ot, double lim) throw(Exception);
+double removeBias(const RinexObsHeader::RinexObsType& ot, const RinexSatID& sat,
+ bool& reset, DayTime& tt, double delta) throw(Exception);
+
+//------------------------------------------------------------------------------------
+int main(int argc, char **argv)
+{
+try {
+ totaltime = clock();
+ int iret;
+ // NB. Do not instantiate editor outside main(), b/c DayTime::END_OF_TIME is a
+ // static const that can produce static intialization order problems under some OS.
+ RCRinexEditor REC;
+ CurrentTime = DayTime::BEGINNING_OF_TIME; // for same reason, init here...
+
+ // Title and description
+ Title = PrgmName + ", part of the GPS ToolKit, Ver. " + PrgmVers
+ + " (editor " + REC.getRinexEditVersion() + string("), Run ");
+ time_t timer;
+ struct tm *tblock;
+ timer = time(NULL);
+ tblock = localtime(&timer);
+ PrgmEpoch.setYMDHMS(1900+tblock->tm_year,1+tblock->tm_mon,
+ tblock->tm_mday,tblock->tm_hour,tblock->tm_min,tblock->tm_sec);
+ Title += PrgmEpoch.printf("%04Y/%02m/%02d %02H:%02M:%02S");
+ Title += "\n";
+ cout << Title;
+
+ // define extended types
+ iret = RegisterARLUTExtendedTypes();
+ if(iret) goto quit;
+
+ // Set defaults, define command line and parse it.
+ // Send REdit cmds to REC. Check validity of input.
+ iret = GetCommandLine(argc, argv, REC);
+ if(iret) goto quit;
+
+ // Initialize, read ephemerides, set flags and prepare for processing
+ iret = PrepareInput();
+ if(iret) goto quit;
+
+ // Edit the file, including callbacks
+ iret = REC.EditFile();
+ if(Debug) logof << "EditFile returned " << iret << endl;
+ if(iret) goto quit;
+
+ quit:
+ // compute run time
+ totaltime = clock()-totaltime;
+ logof << "ResCor timing: " << setprecision(3)
+ << double(totaltime)/double(CLOCKS_PER_SEC) << " seconds.\n";
+
+ logof.close();
+ cout << "End ResCor" << endl;
+ return iret;
+}
+catch(gpstk::FFStreamError& e) { cerr << e; }
+catch(gpstk::Exception& e) { cerr << e; }
+catch(exception& e) { cerr << e.what(); }
+catch (...) { cerr << "Unknown error. Abort." << endl; }
+ return 1;
+} // end main()
+
+//------------------------------------------------------------------------------------
+// Set defaults, define command line and parse it. Send REdit cmds to REC.
+// Check validity of input
+int GetCommandLine(int argc, char **argv, RCRinexEditor& REC) throw(Exception)
+{
+ bool help=false,Rxhelp=false,REChelp=false,ROThelp=false;
+ int i,j,iret;
+try {
+ // defaults
+ Debug = Verbose = false;
+
+ doRAIM = false;
+ KnownPosInput = RefPosInput = false;
+ outRef = true;
+ editRAIM = true;
+ headRAIM = false;
+ minElev = 0.0;
+
+ IonoHt = 400.0; // km
+
+ Callow = true;
+ Cforce = false;
+
+ LogFile = string("ResCor.log");
+
+ // -------------------------------------------------
+ // required options
+
+ // optional options
+
+ // this only so it will show up in help page...
+ CommandOption dashf(CommandOption::hasArgument, CommandOption::stdType,
+ 'f',"","\nConfiguration input:\n --file <file> File containing more options");
+
+ // ephemeris
+ CommandOption dashn(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"nav"," --nav <file> Navigation (Rinex Nav OR SP3) file(s)");
+
+ CommandOption dashnd(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"navdir"," --navdir <dir> Directory of navigation file(s)");
+ dashnd.setMaxCount(1);
+
+ // reference position(s)
+ CommandOption dashRx1(CommandOption::hasArgument,CommandOption::stdType,0,"RxLLH",
+ "Reference position input: (there are six ways to input the reference "
+ "position(s):\n --RxLLH <l,l,h> 1.Receiver position (static) in geodetic "
+ "lat, lon(E), ht (deg,deg,m)");
+ dashRx1.setMaxCount(1);
+
+ CommandOption dashRx2(CommandOption::hasArgument, CommandOption::stdType,0,"RxXYZ",
+ " --RxXYZ <x,y,z> 2.Receiver position (static) in ECEF coordinates (m)");
+ dashRx2.setMaxCount(1);
+
+ CommandOptionNoArg dashRx3(0,"Rxhere",
+ " --Rxhere 3.Reference site positions(time) from this file"
+ " (i.e. -IF<RinexFile>)");
+ dashRx3.setMaxCount(1);
+
+ CommandOption dashRx4(CommandOption::hasArgument, CommandOption::stdType,0,
+ "RxRinex"," --RxRinex <fn> 4.Reference site positions(time) from another "
+ "Rinex file named <fn>");
+ dashRx4.setMaxCount(1);
+
+ CommandOption dashRx5(CommandOption::hasArgument,CommandOption::stdType,0,"RxFlat",
+ " --RxFlat <fn> 5.Reference site positions and times given in a flat file"
+ " named <fn>");
+ dashRx5.setMaxCount(1);
+
+ CommandOptionNoArg dashRxhelp(0,"Rxhelp"," --Rxhelp "
+ "(Enter --Rxhelp for a description of the -RxFlat file format)");
+ dashRxhelp.setMaxCount(1);
+
+ CommandOptionNoArg dashRx6(0,"RAIM",
+ " --RAIM 6.Reference site positions computed via RAIM"
+ " (requires P1,P2,EP)");
+ dashRx6.setMaxCount(1);
+
+ CommandOptionNoArg dashred(0,"noRAIMedit",
+ " (NB the following four options apply only if --RAIM is found)\n"
+ " --noRAIMedit Do not edit data based on RAIM solution");
+ dashred.setMaxCount(1);
+
+ CommandOptionNoArg dashrh(0,"RAIMhead",
+ " --RAIMhead Output average RAIM solution to Rinex header "
+ "(if -HDf also appears)");
+ dashrh.setMaxCount(1);
+
+ CommandOptionNoArg dashro(0,"noRefout",
+ " --noRefout Do not output reference solution to Rinex");
+ dashro.setMaxCount(1);
+
+ CommandOption dashelev(CommandOption::hasArgument,CommandOption::stdType,
+ 0,"MinElev",
+ " --MinElev <el> Minimum satellite elevation (deg) for output");
+ dashelev.setMaxCount(1);
+
+ // residual and correction computation, processing options
+ CommandOption dashdb(CommandOption::hasArgument, CommandOption::stdType,0,"debias",
+ "Residual/Correction computation:\n"
+ " --debias <OT,l> Debias new output type <OT>; "
+ "trigger a bias reset with limit <l>");
+
+ CommandOptionNoArg dashca(0,"Callow",
+ " --Callow Allow C1 to replace P1 when P1 is not available");
+ dashca.setMaxCount(1);
+
+ CommandOptionNoArg dashcf(0,"Cforce",
+ " --Cforce Force C/A code pseudorange C1 to replace P1");
+ dashcf.setMaxCount(1);
+
+ CommandOption dashih(CommandOption::hasArgument, CommandOption::stdType,0,"IonoHt",
+ " --IonoHt <ht> Height of ionosphere in km (default 400) "
+ "(needed for LA,LO,VR,VP)");
+ dashih.setMaxCount(1);
+
+ CommandOption dashSV(CommandOption::hasArgument, CommandOption::stdType, 0,"SVonly",
+ " --SVonly <sat> Process this satellite ONLY (use editing command -DS<Sat> to delete Sat)");
+ dashSV.setMaxCount(1);
+
+ // output files
+ CommandOption dashLog(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Log","Output files:\n --Log <file> Output log file name (rc.log)");
+ dashLog.setMaxCount(1);
+
+ //CommandOption dashErr(CommandOption::hasArgument, CommandOption::stdType,
+ // 0,"Err"," --Err <file> Output error file name (rc.err)");
+ //dashErr.setMaxCount(1);
+
+ // help
+ CommandOptionNoArg dashVerb(0,"verbose",
+ "Help:\n --verbose Print extended output to log file.");
+ dashVerb.setMaxCount(1);
+
+ CommandOptionNoArg dashDebug(0,"debug",
+ " --debug Print debugging information to log file.");
+ dashDebug.setMaxCount(1);
+
+ CommandOptionNoArg dashh('h', "help"," --help [or -h] Print syntax and quit.");
+ CommandOptionNoArg dashrech(0, "REChelp",
+ " --REChelp Print syntax of RinexEditor commands and quit.");
+ CommandOptionNoArg dashexth(0, "ROThelp",
+ " --ROThelp Print list of extended Rinex observation types and quit.");
+
+ // ... other options
+ CommandOptionRest Rest("");
+
+ CommandOptionParser Par(
+ "Prgm ResCor will open and read a single Rinex observation file, "
+ "apply editing commands\n"
+ " using the RinexEditor package, compute any of several residuals "
+ "and corrections and\n"
+ " register extended Rinex observation types for them, and then write "
+ "the edited data,\n"
+ " along with the new extended observation types, to an output Rinex "
+ "observation file.\n"
+ "\nRequired arguments:\n"
+ " -IF and -OF (RinexEditor commands: cf. --REChelp) are required arguments.\n");
+
+ // -------------------------------------------------
+ // allow user to put all options in a file
+ // could also scan for debug here
+ vector<string> Args;
+ for(j=1; j<argc; j++) PreProcessArgs(argv[j],Args);
+ argc = Args.size();
+ if(argc==0) Args.push_back(string("--help"));
+
+ //if(Debug) {
+ //cout << "List after PreProcessArgs\n";
+ //for(i=0; i<argc; i++) cout << i << " " << Args[i] << endl;
+ //}
+
+ // add PRGM and RUNBY strings to the header
+ REC.REVerbose = Verbose;
+ REC.REDebug = Debug;
+ Args.push_back(string("-HDp") + PrgmName + string(" v.") + PrgmVers.substr(0,4));
+ Args.push_back(string("-HDrARL:UT/SGL/GPSTK"));
+
+ if(Debug) {
+ cout << "List passed to REditCommandLine:\n";
+ for(i=0; i<argc; i++) cout << i << " " << Args[i] << endl;
+ }
+
+ // Add RE cmds; this will strip out the REditCmds from Args
+ REC.AddCommandLine(Args);
+ if(Debug) {
+ cout << "List after REC.AddCommandLine(Args)\n";
+ argc = Args.size();
+ for(i=0; i<argc; i++) cout << i << " " << Args[i] << endl;
+ }
+
+ // get the list of commands and create OTstrings
+ vector<string> cmds=REC.CommandList();
+ if(Debug) cout << "Here is the list of RE commands:\n";
+ for(i=0; i<cmds.size(); i++) {
+ string cmd = cmds[i];
+ if(Debug) cout << " " << cmd << endl;
+
+ vector<string> field;
+ while(cmd.size() > 0)
+ field.push_back(stripFirstWord(cmd,','));
+ if(field.size() < 5) continue;
+ if(field[0] == "AO")
+ OTstrings.push_back(field[4]);
+ }
+ if(Debug) cout << "End list of RE commands." << endl;
+
+ // preprocess the commands
+ // Return 0 ok, -1 no input file name, -2 no output file name
+ iret = REC.ParseCommands();
+ //if(Debug) {
+ //cout << "\nHere is the parsed list of RE cmds\n";
+ //it=REC.Cmds.begin();
+ //while(it != REC.Cmds.end()) { it->Dump(cout,string("")); ++it; }
+ //cout << "End of sorted list of RE cmds" << endl << endl;
+
+ // pass the rest to the regular command line processor
+ //}
+
+ // -------------------------------------------------------------------
+ argc = Args.size()+1;
+ char **CArgs=new char*[argc];
+ if(!CArgs) { cerr << "Failed to allocate CArgs\n"; return -1; }
+ CArgs[0] = argv[0];
+ for(j=1; j<argc; j++) {
+ CArgs[j] = new char[Args[j-1].size()+1];
+ if(!CArgs[j]) { cerr << "Failed to allocate CArgs[j]\n"; return -1; }
+ strcpy(CArgs[j],Args[j-1].c_str());
+ }
+
+ //if(Debug) {
+ //cout << "List passed to parser\n";
+ //for(i=0; i<argc; i++) cout << i << " " << CArgs[i] << endl;
+ //}
+
+ Par.parseOptions(argc, CArgs);
+ delete[] CArgs;
+
+ // -------------------------------------------------
+ // was help requested?
+ if(dashh.getCount() > 0) help=true;
+ if(dashRxhelp.getCount() > 0) Rxhelp=true;
+ if(dashrech.getCount() > 0) REChelp=true;
+ if(dashexth.getCount() > 0) ROThelp=true;
+ // if errors on the command line, dump them and turn on help
+ if(!(help || Rxhelp || REChelp || ROThelp) && (iret<0 || Par.hasErrors())) {
+ cout << "Errors found in command line input:\n";
+ if(iret==-1 || iret==-3) cout << "Input file name required: use -IF<name>\n";
+ if(iret==-2 || iret==-3) cout << "Output file name required: use -OF<name>\n";
+ Par.dumpErrors(cout);
+ cout << "...end of Errors\n\n";
+ help = true;
+ }
+ // display syntax page(s)
+ if(help || Rxhelp || REChelp || ROThelp) {
+ if(help)
+ Par.displayUsage(cout,false);
+ if(Rxhelp)
+ cout << RxhelpString << endl;
+ if(REChelp) {
+ if(help || Rxhelp) cout << endl;
+ cout << "ResCor is an implementation of the RinexEditor, therefore the"
+ << " following commands are accepted.\n";
+ DisplayRinexEditUsage(cout);
+ }
+ if(ROThelp) {
+ if(help || Rxhelp || REChelp) cout << endl;
+ DisplayStandardRinexObsTypes(cout);
+ cout << "End of list of standard observation types\n";
+ DisplayExtendedRinexObsTypes(cout);
+ cout << "End of list of extended observation types\n";
+ }
+ if(iret < 0) return iret;
+ }
+
+ // -------------------------------------------------
+ // get values found on command line
+ vector<string> values;
+
+ //dashf intercepted above by PreProcessArgs
+ //dashh Handled above (first)
+ //if(dashDebug.getCount()) Debug=true; done by PreProcessArgs
+ //if(dashVerb.getCount()) Verbose=true; done by PreProcessArgs
+
+ // now do the rest
+ // ephemeris input
+ if(dashnd.getCount()) {
+ values = dashnd.getValue();
+ NavDir = values[0];
+ if(help) cout << "Nav Directory is " << NavDir << endl;
+ }
+ if(dashn.getCount()) {
+ values = dashn.getValue();
+ NavFiles = values;
+ if(help) {
+ cout << "Nav files are:";
+ for(i=0; i<NavFiles.size(); i++) cout << " " << NavFiles[i];
+ cout << endl;
+ }
+ }
+
+ // reference position
+ if(dashRx1.getCount()) {
+ values = dashRx1.getValue();
+ KnownPos = values[0];
+ KnownLLH = true;
+ KnownPosInput = true;
+ if(help) cout << "Get reference position from explicit input (LLH) "
+ << KnownPos << endl;
+ }
+ if(dashRx2.getCount()) {
+ values = dashRx2.getValue();
+ KnownPos = values[0];
+ KnownLLH = false;
+ KnownPosInput = true;
+ if(help) cout << "Get reference position from explicit input (XYZ) "
+ << KnownPos << endl;
+ }
+ if(dashRx3.getCount()) { // get ref from this input file
+ RefPosInput = true;
+ if(help) cout << "Get reference position from this input file" << endl;
+ }
+ if(dashRx4.getCount()) {
+ values = dashRx4.getValue();
+ RefPosFile = values[0];
+ RefPosFlat = false;
+ if(help) cout << "Get reference position from Rinex file " << RefPosFile<<endl;
+ }
+ if(dashRx5.getCount()) {
+ values = dashRx5.getValue();
+ RefPosFile = values[0];
+ RefPosFlat = true;
+ if(help) cout << "Get reference position from flat file " << RefPosFile << endl;
+ }
+ if(dashRx6.getCount()) {
+ doRAIM = true;
+ if(help) cout << "Compute a RAIM solution" << endl;
+ }
+
+ // RAIM options
+ if(dashred.getCount()) {
+ if(doRAIM) {
+ editRAIM = false;
+ if(help) cout << "Do not edit data based on RAIM solution" << endl;
+ }
+ else if(help) cout << "Ignore --noRAIMedit: --RAIM was not set" << endl;
+ }
+ if(dashro.getCount()) {
+ outRef = false;
+ if(help) cout << "Do not output Reference solution to Rinex" << endl;
+ }
+ if(dashelev.getCount()) {
+ values = dashelev.getValue();
+ minElev = asDouble(values[0]);
+ if(help) cout << "Set minimum elevation angle "
+ << fixed << setprecision(2) << minElev << endl;
+ }
+ if(dashrh.getCount()) {
+ if(doRAIM) {
+ headRAIM = true;
+ if(help) cout << "Output average RAIM solution to header" << endl;
+ }
+ else if(help) cout << "Ignore --RAIMhead: --RAIM was not set" << endl;
+ }
+
+ if(dashdb.getCount()) {
+ values = dashdb.getValue();
+ vector<string> subfield;
+ string::size_type pos;
+ for(i=0; i<values.size(); i++ ) {
+ string argbias=values[i];
+ subfield.clear();
+ while(argbias.size() > 0) {
+ pos = argbias.find(",");
+ if(pos==string::npos) pos=argbias.size();
+ if(pos==0) subfield.push_back(" ");
+ else subfield.push_back(argbias.substr(0,pos));
+ if(pos >= argbias.size()) break;
+ argbias.erase(0,pos+1);
+ }
+ RinexObsHeader::RinexObsType OT;
+ OT = RinexObsHeader::convertObsType(subfield[0]);
+ double limit=asDouble(subfield[1]);
+ int iret=setBiasLimit(OT,limit);
+ if(iret) {
+ cout << "Error: '--debias <OT,lim>' input is invalid: "
+ << values[i] << endl;
+ cerr << "Error: '--debias <OT,lim>' input is invalid: "
+ << values[i] << endl;
+ }
+ else if(Debug)
+ cout << "Set bias limit for " << RinexObsHeader::convertObsType(OT)
+ << " to " << fixed << setprecision(3) << limit
+ << " (" << values[i] << ")" << endl;
+ }
+ }
+ if(dashca.getCount()) {
+ Callow = true;
+ if(help) cout << "Allow C1 to be P1 when P1 not available\n";
+ }
+ if(dashcf.getCount()) {
+ Cforce = true;
+ if(help) cout << "Force C1 to replace P1 when C1 available\n";
+ }
+ if(dashih.getCount()) {
+ values = dashih.getValue();
+ IonoHt = asDouble(values[0]);
+ if(help) cout << "Set ionosphere height to " << values[0] << " km" << endl;
+ }
+ if(dashSV.getCount()) {
+ values = dashSV.getValue();
+ SVonly.fromString(values[0]);
+ if(help) cout << "Process only satellite : " << SVonly << endl;
+ }
+ if(dashLog.getCount()) {
+ values = dashLog.getValue();
+ LogFile = values[0];
+ if(help) cout << "Log file is " << LogFile << endl;
+ }
+
+ if(Rest.getCount() && help) {
+ cout << "Remaining options:" << endl;
+ values = Rest.getValue();
+ for (i=0; i<values.size(); i++) cout << values[i] << endl;
+ }
+
+ //if(Verbose && help) {
+ // cout << "\nTokens on command line (" << Args.size() << ") are:" << endl;
+ // for(j=0; j<Args.size(); j++) cout << Args[j] << endl;
+ //}
+
+ // -------------------------------------------------
+ // now process some of the input
+ try {
+ logof.clear();
+ logof.exceptions(ios_base::badbit | ios_base::failbit);
+ logof.open(LogFile.c_str(),ios::out);
+ if(logof.fail()) {
+ cout << "Failed to open log file " << LogFile << endl;
+ return -1;
+ }
+ else {
+ cout << "Opened log file (for all output, including debug) "
+ << LogFile << endl;
+ logof << Title;
+ }
+ REC.oflog = &logof;
+ }
+ catch(ios_base::failure& e) {
+ cout << "Exception " << e.what() << endl;
+ return -1;
+ }
+
+ // check for multiple inputs
+ if(KnownPosInput || !RefPosFile.empty() || doRAIM || RefPosInput) {
+ i = 0;
+ if(KnownPosInput) i++;
+ if(!RefPosFile.empty()) i++;
+ if(doRAIM) i++;
+ if(RefPosInput) i++;
+ if(i > 1) {
+ ostringstream stst;
+ stst << "ERROR: multiple inputs inconsistent:";
+ if(KnownPosInput) stst << (KnownLLH ? " --RxLLH" : " --RxXYZ");
+ if(!RefPosFile.empty()) stst << (RefPosFlat ? " --RxFlat" : " --RxRinex");
+ if(doRAIM) stst << " --RAIM";
+ if(RefPosInput) stst << " --RxHere";
+ stst << endl;
+ logof << stst.str();
+ cerr << stst.str();
+ return -1; // fail? or take default
+ }
+ else if(help) logof << "Position input ok\n";
+ }
+ // print config to log
+ if(Verbose) {
+ logof << "-------- Here is the program configuration:\n";
+ logof << "Input Rinex observation file name is: "
+ << REC.InputFileName() << endl;
+ logof << "Input Directory is " << REC.InputDirectory() << endl;
+ logof << "Output Rinex obs file name is: " << REC.OutputFileName() << endl;
+ logof << "Output Directory is " << REC.OutputDirectory() << endl;
+ if(REC.BeginTimeLimit() > DayTime::BEGINNING_OF_TIME)
+ logof << "Begin time limit is " << REC.BeginTimeLimit() << endl;
+ if(REC.EndTimeLimit() < DayTime::END_OF_TIME)
+ logof << "End time limit is " << REC.EndTimeLimit() << endl;
+ if(REC.Decimation() != 0) logof << "Decmimation time interval is "
+ << setprecision(2) << REC.Decimation() << " seconds." << endl;
+ logof << "Tolerance in time-comparisions is " << setprecision(8)
+ << REC.Tolerance() << " seconds." << endl;
+ logof << "Log file name is " << LogFile << " (this file)" << endl;
+ if(SVonly.id > 0) logof << "Process only satellite : " << SVonly << endl;
+
+ if(!NavDir.empty()) logof << "Nav Directory is " << NavDir << endl;
+ if(NavFiles.size()) {
+ logof << "Nav files:";
+ for(i=0; i<NavFiles.size(); i++) logof << " " << NavFiles[i];
+ logof << endl;
+ }
+ if(KnownPosInput) logof << "Get reference position from explicit input ("
+ << (KnownLLH ? "LLH" : "XYZ") << ") : " << KnownPos << endl;
+ if(doRAIM) logof << "Compute a RAIM solution" << endl;
+ if(minElev > 0.0) logof << "Minimum elevation angle limit "
+ << fixed << setprecision(2) << minElev << " degrees." << endl;
+ if(RefPosInput) logof << "Get reference position from in-line headers in "
+ << "the input Rinex file" << endl;
+ if(!RefPosFile.empty())
+ logof << "Get reference position from a " << (RefPosFlat ? "flat" : "Rinex")
+ << " file: " << RefPosFile << endl;
+ if(!editRAIM) logof << "Do not ";
+ logof << "Edit data based on RAIM solution" << endl;
+ if(!outRef) logof << "Do not ";
+ logof << "Output Reference solution to Rinex" << endl;
+ if(!headRAIM) logof << "Do not ";
+ logof << "Output average RAIM solution to header" << endl;
+ if(Callow) logof << "Allow C1 to be P1 when P1 not available\n";
+ if(Cforce) logof << "Force C1 to replace P1 when C1 available\n";
+ logof << "Ionosphere height is " << IonoHt << " km" << endl;
+ if(AllBiases.size()) {
+ logof << "The list of de-biasing limits is:\n";
+ map<RinexObsHeader::RinexObsType,map<RinexSatID,double> >::iterator it;
+ for(it=AllBiases.begin(); it!=AllBiases.end(); it++) {
+ map<RinexSatID,double>::iterator jt;
+ for(jt=it->second.begin(); jt!=it->second.end(); jt++) {
+ logof << " Bias limit(" << RinexObsHeader::convertObsType(it->first)
+ << ") = " << fixed << setprecision(3) << jt->second << endl;
+ }
+ }
+ }
+ logof << "-------- End of the program configuration.\n";
+ logof << endl;
+ }
+
+ if(help) return 1;
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+ return -1;
+}
+
+//------------------------------------------------------------------------------------
+// Initialize, read ephemerides, set flags and prepare for processing
+int PrepareInput(void) throw(Exception)
+{
+try {
+ int iret,i;
+
+ // set all input/output indexes to 'undefined'
+ inC1 = inP1 = inP2 = inL1 = inL2 = inEP = inPS = inD1 = inD2 = inS1 = inS2 = -1;
+ otC1 = otP1 = otP2 = otL1 = otL2 = otD1 = otD2 = otS1 = otS2 = -1;
+
+ // --------------------------------------------------------------------
+ // ephemeris
+ // add Nav directory to nav file names
+ if(!NavDir.empty() && NavFiles.size()>0) {
+ for(i=0; i<NavFiles.size(); i++)
+ NavFiles[i] = NavDir + string("/") + NavFiles[i];
+ }
+
+ // open nav files and read EphemerisStore -- set inEP and inPS
+ iret = FillEphemerisStore(NavFiles, SP3EphList, BCEphList);
+ if(SP3EphList.size()) {
+ if(Verbose) SP3EphList.dump(1,logof);
+ inEP = 1;
+ }
+ else if(Verbose) logof << "SP3 Ephemeris list is empty\n";
+
+ if(BCEphList.size()) {
+ BCEphList.SearchNear();
+ if(Verbose) BCEphList.dump(0,logof);
+ inEP = 1;
+ }
+ else if(Verbose) logof << "BC Ephemeris list is empty\n";
+
+ // --------------------------------------------------------------------
+ // position:
+ // if KnownPosInput, position is input
+ // if !RefPosFile.empty(), open file
+ // if RefPosInput, use the aux headers in input file
+ // if(doRAIM) set up RAIMsolution - including input of RMS, etc?
+ if(KnownPosInput) { // parse the string to get position
+ vector<string> subfield;
+ string::size_type pos;
+ while(KnownPos.size() > 0) {
+ pos = KnownPos.find(",");
+ if(pos==string::npos) pos=KnownPos.size();
+ if(pos==0) subfield.push_back(" ");
+ else subfield.push_back(KnownPos.substr(0,pos));
+ if(pos >= KnownPos.size()) break;
+ KnownPos.erase(0,pos+1);
+ };
+
+ CurrRef.valid = true;
+ CurrRef.clk = 0;
+ CurrRef.NPRN = 0;
+ CurrRef.PDOP = 0;
+ CurrRef.GDOP = 0;
+ CurrRef.RMS = 0;
+ if(KnownLLH) {
+ CurrRef.RxPos.setGeodetic(asDouble(subfield[0]), asDouble(subfield[1]),
+ asDouble(subfield[2]));
+ CurrRef.RxPos.transformTo(Position::Cartesian);
+ }
+ else {
+ CurrRef.RxPos.setECEF(asDouble(subfield[0]), asDouble(subfield[1]),
+ asDouble(subfield[2]));
+ }
+
+ // output
+ logof << "Reference position comes from explicit input of "
+ << "position components:\n";
+ logof << " " << subfield[0] << " " << subfield[1] << " " << subfield[2] << endl;
+ logof << " =" << fixed
+ << " " << setw(13) << setprecision(3) << CurrRef.RxPos.X()
+ << " " << setw(13) << setprecision(3) << CurrRef.RxPos.Y()
+ << " " << setw(13) << setprecision(3) << CurrRef.RxPos.Z()
+ << endl;
+ logof << " = " << fixed
+ << setw(12) << setprecision(8) << CurrRef.RxPos.geodeticLatitude() << "N "
+ << setw(12) << setprecision(8) << CurrRef.RxPos.longitude() << "E "
+ << setw(9) << setprecision(3) << CurrRef.RxPos.height() << "m" << endl;
+ inPS = 1;
+ }
+ else if(!RefPosFile.empty()) {
+ DayTime timetag;
+ //logof << "Reference position from a file (" << RefPosFile << ")\n";
+ // make sure it exists first
+ ifstream inf(RefPosFile.c_str());
+ if(!inf) {
+ logof << "Error: could not open positions file " << RefPosFile << endl;
+ oferr << "Error: could not open positions file " << RefPosFile << endl;
+ return -1;
+ }
+ // fill the map<DayTime,RefPosData> RefPosMap;
+ RefPosMap.clear();
+ if(isRinexObsFile(RefPosFile)) {
+ if(Verbose) {
+ logof << "Reference position will come from input Rinex obs file "
+ << RefPosFile << endl;
+ if(RefPosFlat)
+ logof << " WARNING -- Reference position file is Rinex, not flat!\n";
+ }
+
+ inf.close();
+ RinexObsHeader header;
+ RinexObsData robs;
+ RinexObsStream rostream(RefPosFile.c_str());
+ rostream.exceptions(fstream::failbit);
+
+ rostream >> header;
+ //timetag = header.firstObs;
+ while(rostream >> robs) {
+ if(robs.epochFlag == 4) {
+ // TD: check this; often the in-line header has a bad epoch
+ // But if it has XYZT and DIAG, then GPSTk probably wrote it....
+ timetag = robs.time;
+ CurrRef.NPRN = 0;
+ CurrRef.valid = true;
+ CurrRef.clk = CurrRef.PDOP = CurrRef.GDOP = CurrRef.RMS = 0.0;
+ for(i=0; i<robs.auxHeader.commentList.size(); i++) {
+ string s=robs.auxHeader.commentList[i];
+ string t=stripFirstWord(s);
+ if(t == string("XYZT")) {
+ double x=asDouble(stripFirstWord(s));
+ double y=asDouble(stripFirstWord(s));
+ double z=asDouble(stripFirstWord(s));
+ CurrRef.RxPos.setECEF(x,y,z);
+ CurrRef.clk = asDouble(stripFirstWord(s));
+ }
+ else if(t==string("DIAG")) {
+ CurrRef.NPRN = asInt(stripFirstWord(s));
+ CurrRef.PDOP = asDouble(stripFirstWord(s));
+ CurrRef.GDOP = asDouble(stripFirstWord(s));
+ CurrRef.RMS = asDouble(stripFirstWord(s));
+ }
+ }
+ RefPosMap[timetag] = CurrRef;
+ }
+ }
+ rostream.close();
+ inPS = 1;
+ }
+ else { // flat file input
+ if(Verbose) {
+ logof << "Reference position will come from input flat file "
+ << RefPosFile << endl;
+ if(!RefPosFlat)
+ logof << " WARNING -- Reference position file is flat, not Rinex!\n";
+ }
+
+ bool ok,have=false,havefmt=false,havepat=false;
+ string line,format,pattern,lineT,lineP,word,fword,fmtT,fmtP;
+ Position pos;
+ CurrRef.NPRN = 0;
+ CurrRef.clk = CurrRef.PDOP = CurrRef.GDOP = CurrRef.RMS = 0.0;
+ while(!inf.eof() && inf.good()) {
+ ok = true;
+ while(line.size() > 0) {
+ if(Debug) logof << "echo: " << line << endl;
+ if(line[0] == '#') break; // skip comments
+ if(!have) {
+ if(!havefmt) {
+ format = line;
+ havefmt = true;
+ if(Debug) logof << "Format is " << format << endl;
+ }
+ else if(!havepat) {
+ pattern = line;
+ havepat = true;
+ if(Debug) logof << "Pattern is " << pattern << endl;
+ }
+ have = havefmt & havepat;
+ break;
+ }
+ fmtT = fmtP = lineT = lineP = string("");
+ for(i=0; i<numWords(line); i++) {
+ word = words(line,i,1);
+ fword = words(format,i,1);
+ if(pattern[i] == 'X') continue;
+ else if(pattern[i] == 'T') {
+ lineT += string(" ") + word;
+ fmtT += string(" ") + fword;
+ }
+ else if(pattern[i] == 'P') {
+ lineP += string(" ") + word;
+ fmtP += string(" ") + fword;
+ }
+ }
+ try {
+ timetag.setToString(lineT,fmtT);
+ }
+ catch(Exception& dte) {
+ logof << "ERROR: reading the receiver position flat file threw"
+ << " a DayTime exception:\n"
+ << " This is the time format: " << fmtT << endl;
+ ok = have = havefmt = false;
+ break;
+ }
+ try {
+ pos.setToString(lineP,fmtP);
+ pos.transformTo(Position::Cartesian);
+ CurrRef.RxPos = pos;
+ }
+ catch(Exception& ge) {
+ logof << "ERROR: reading the receiver position flat file threw"
+ << " a Position exception:\n"
+ << " This is the position format: " << fmtP << endl;
+ ok = have = havefmt = havepat = false;
+ }
+ if(ok) {
+ if(Debug)logof << "Result: t= " << timetag << " p= " << pos << endl;
+ RefPosMap[timetag] = CurrRef;
+ CurrRef.valid = true;
+ }
+ break;
+ }
+ if(!ok) break;
+ getline(inf,line);
+ stripTrailing(line,'\r');
+ }
+ inf.close();
+ if(!have) {
+ logof << "ERROR in reading receiver position file: ";
+ if(!havefmt) logof << "format ";
+ if(!havepat) {
+ if(!havefmt) logof << "and pattern ";
+ else logof << "pattern ";
+ }
+ logof << ((havepat || havefmt) ? "was " : "were ")
+ << "wrong or not found!\n";
+ logof << RxhelpString << endl;
+ logof << " [The input format is " << format << "]" << endl;
+ logof << " [The input pattern is " << pattern << "]" << endl;
+ return -2;
+ }
+ inPS = 1;
+ } // end flat file input
+
+ // compute the nominal time spacing of the map
+ {
+ const int ndtmax=15;
+ double dt,bestdt[ndtmax];
+ int j,k,nleast,ndt[ndtmax]={-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1};
+ DayTime prev(DayTime::BEGINNING_OF_TIME);
+ map<DayTime,RefPosData>::const_iterator it;
+
+ if(Debug) logof << "Here is the reference position map\n";
+ for(it=RefPosMap.begin(); it != RefPosMap.end(); it++) {
+ if(Debug) logof << " " << it->first << " " << fixed
+ << " " << setw(13) << setprecision(3) << it->second.RxPos.X()
+ << " " << setw(13) << setprecision(3) << it->second.RxPos.Y()
+ << " " << setw(13) << setprecision(3) << it->second.RxPos.Z()
+ << endl;
+ if(prev != DayTime::BEGINNING_OF_TIME) {
+ dt = it->first - prev;
+ for(i=0; i<ndtmax; i++) {
+ if(ndt[i] <= 0) { bestdt[i]=dt; ndt[i]=1; break; }
+ if(fabs(dt-bestdt[i]) < 0.0001) { ndt[i]++; break; }
+ if(i == ndtmax-1) {
+ k = 0; nleast = ndt[k];
+ for(j=1; j<ndtmax; j++) if(ndt[j] <= nleast) {
+ k=j; nleast=ndt[j];
+ }
+ ndt[k]=1; bestdt[k]=dt;
+ }
+ }
+ }
+ prev = it->first;
+ }
+ for(i=1,j=0; i<ndtmax; i++) if(ndt[i] > ndt[j]) j=i;
+ RefPosMapDT = bestdt[j];
+ }
+
+ } // end non-empty RefPosFile name
+
+ else if(doRAIM) {
+ // if(Debug) prsol.Debug = true; // write to cout ...
+ prsol.Algebraic = false;
+ //prsol.MaxNIterations = PIC.NIter; // TD add to command line?
+ //prsol.Convergence = PIC.Conv;
+ // set inPS below, when you know you can do RAIM
+ logof << "Reference position will come from RAIM\n";
+ }
+ else if(RefPosInput) {
+ logof << "Reference position will come from the input file\n";
+ inPS = 1;
+ }
+
+ // reset average RAIM solution
+ if(headRAIM) {
+ ARSX.Reset();
+ ARSY.Reset();
+ ARSZ.Reset();
+ }
+
+ // --------------------------------------------------------------------
+ // misc
+ // IonoHt used in meters
+ IonoHt *= 1000.0;
+
+ // search for SX,Y,Z input and set DoSX flag, also XR,XI,X1,X2 and DoXR
+ DoSVX = DoXR = false;
+ for(i=0; i<OTstrings.size(); i++) {
+ if(OTstrings[i]==string("SX")
+ || OTstrings[i]==string("SY")
+ || OTstrings[i]==string("SZ")) DoSVX = true;
+ if(OTstrings[i]==string("XR") || OTstrings[i]==string("XI")
+ || OTstrings[i]==string("X1") || OTstrings[i]==string("X2")) DoXR = true;
+ }
+
+ if(DoXR) {
+ int j;
+ // transformation matrix is constant
+ XRM0[0] = alpha+1; XRM0[1] = -1; XRM0[2] = 0; XRM0[3] = 0;
+ XRM1[0] = 1; XRM1[1] = -1; XRM1[2] = 0; XRM1[3] = 0;
+ XRM2[0] = -alpha-2; XRM2[1] = 2; XRM2[2] = alpha; XRM2[3] = 0;
+ XRM3[0] = -2*(alpha+1); XRM3[1] = alpha+2; XRM3[2] = 0; XRM3[3] = alpha;
+ for(i=0; i<4; i++) for(j=0; j<4; j++) XRM[i][j] /= alpha;
+ if(Debug) {
+ logof << "XRM matrix is:\n" << fixed;
+ for(i=0; i<4; i++) {
+ for(j=0; j<4; j++) {
+ logof << " " << setw(20) << setprecision(4) << XRM[i][j];
+ }
+ logof << endl;
+ }
+ }
+ }
+
+ CurrRef.valid = false;
+ if(Debug) logof << "Return from PrepareInput" << endl;
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+ return -1;
+}
+
+//------------------------------------------------------------------------------------
+// after reading input header and before calling REC.EditHeader (pass input header)
+int RCRinexEditor::BeforeEditHeader(const RinexObsHeader& rhin) throw(Exception)
+{
+try {
+ int i;
+
+ // save the header for later use by SaveData and ComputeNewOTs
+ rhead = rhin;
+
+ // -----------------------------------------------------------------------
+ // get indexes of input obs types, for dependence checking and fast access
+ for(i=0; i<rhin.obsTypeList.size(); i++) {
+ if(rhin.obsTypeList[i] == RinexObsHeader::convertObsType("C1")) inC1=i;
+ if(rhin.obsTypeList[i] == RinexObsHeader::convertObsType("L1")) inL1=i;
+ if(rhin.obsTypeList[i] == RinexObsHeader::convertObsType("L2")) inL2=i;
+ if(rhin.obsTypeList[i] == RinexObsHeader::convertObsType("P1")) inP1=i;
+ if(rhin.obsTypeList[i] == RinexObsHeader::convertObsType("P2")) inP2=i;
+ if(rhin.obsTypeList[i] == RinexObsHeader::convertObsType("D1")) inD1=i;
+ if(rhin.obsTypeList[i] == RinexObsHeader::convertObsType("D2")) inD2=i;
+ if(rhin.obsTypeList[i] == RinexObsHeader::convertObsType("S1")) inS1=i;
+ if(rhin.obsTypeList[i] == RinexObsHeader::convertObsType("S2")) inS2=i;
+ }
+
+ // redefine inP1 based on inC1, Callow and Cforce
+ if(Callow && inC1 > -1 && inP1 == -1) inP1=inC1;
+ if(Cforce && inC1 > -1) inP1=inC1;
+
+ // -----------------------------------------------------------------------
+ // Check dependences of input and output data types
+ // -----------------------------------------------------------------------
+ // check that we can do RAIM
+ if(doRAIM) {
+ if(inP1>-1 && inP2>-1) inPS=1;
+ else {
+ ostringstream stst;
+ stst << "Error: cannot compute RAIM solution: missing";
+ if(inP1 == -1) stst << " P1";
+ if(inP2 == -1) stst << " P2";
+ if(inEP == -1) stst << " EP";
+ stst << "; abort.\n";
+ logof << stst.str();
+ oferr << stst.str();
+ return -2;
+ }
+ }
+
+ // -----------------------------------------------------------------------
+ // Define bit flags for input data types
+ unsigned int InputData=0;
+ if(Verbose) logof << "Input data:\n";
+ if(inP1 > -1) {
+ InputData |= 0x08;
+ if(Verbose) logof << " P1(" << inP1 << ")";
+ }
+ if(inP2 > -1) {
+ InputData |= 0x10;
+ if(Verbose) logof << " P2(" << inP2 << ")";
+ }
+ if(inL1 > -1) {
+ InputData |= 0x02;
+ if(Verbose) logof << " L1(" << inL1 << ")";
+ }
+ if(inL2 > -1) {
+ InputData |= 0x04;
+ if(Verbose) logof << " L2(" << inL2 << ")";
+ }
+ if(inEP > -1) {
+ InputData |= RinexObsHeader::RinexObsType::EPdepend;
+ if(Verbose) logof << " EP";
+ }
+ if(inPS > -1) {
+ InputData |= 0x40;
+ if(Verbose) logof << " PS";
+ }
+ if(Verbose) logof << "(" << hex << InputData << ")" << dec << endl;
+
+ // -----------------------------------------------------------------------
+ // create list OTList of RinexObsTypes here, for use later
+ // check dependencies of requested output OTs
+ if(Verbose) logof << "Here is the list of added OTs:";
+ for(i=0; i<OTstrings.size(); i++) {
+ if(Verbose) logof << " " << OTstrings[i];
+ OTList.push_back(RinexObsHeader::convertObsType(OTstrings[i]));
+ }
+ if(Verbose) logof << endl;
+ bool ok=true;
+ for(i=0; i<OTList.size(); i++) {
+ if((InputData & OTList[i].depend) != OTList[i].depend) {
+ ostringstream stst;
+ ok = false;
+ stst << "ResCor Error: Abort: Output OT " << OTstrings[i]
+ << " requires missing input:";
+ unsigned int test=(InputData & OTList[i].depend);
+ test ^= OTList[i].depend;
+ if(test & rhin.obsTypeList[inL1].depend) stst << " L1";
+ if(test & rhin.obsTypeList[inL2].depend) stst << " L2";
+ if(test & rhin.obsTypeList[inP1].depend) stst << " P1";
+ if(test & rhin.obsTypeList[inP2].depend) stst << " P2";
+ if(test & RinexObsHeader::RinexObsType::EPdepend) stst << " EP";
+ if(test & RinexObsHeader::RinexObsType::PSdepend) stst << " PS";
+ stst << endl;
+ logof << stst.str();
+ oferr << stst.str();
+ }
+ }
+ if(!ok) return -3;
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// after calling REC.EditHeader (pass output header)
+int RCRinexEditor::AfterEditHeader(const RinexObsHeader& rhout) throw(Exception)
+{
+try {
+ int i,j;
+
+ // save header for later use by SaveData
+ rheadout = rhout;
+
+ // -----------------------------------------------------------------------
+ // define indexes of raw data in output header
+ for(i=0; i<rhout.obsTypeList.size(); i++) {
+ if(rhout.obsTypeList[i] == RinexObsHeader::convertObsType("C1")) otC1=i;
+ if(rhout.obsTypeList[i] == RinexObsHeader::convertObsType("L1")) otL1=i;
+ if(rhout.obsTypeList[i] == RinexObsHeader::convertObsType("L2")) otL2=i;
+ if(rhout.obsTypeList[i] == RinexObsHeader::convertObsType("P1")) otP1=i;
+ if(rhout.obsTypeList[i] == RinexObsHeader::convertObsType("P2")) otP2=i;
+ if(rhout.obsTypeList[i] == RinexObsHeader::convertObsType("D1")) otD1=i;
+ if(rhout.obsTypeList[i] == RinexObsHeader::convertObsType("D2")) otD2=i;
+ if(rhout.obsTypeList[i] == RinexObsHeader::convertObsType("S1")) otS1=i;
+ if(rhout.obsTypeList[i] == RinexObsHeader::convertObsType("S2")) otS2=i;
+ }
+
+ // redefine otP1 based on otC1, inP1, inC1, Callow and Cforce
+ if(Callow && otC1 > -1 && inC1 > -1 && inP1 == -1) otP1=otC1;
+ if(Cforce && otC1 > -1) otP1=otC1;
+
+ // -----------------------------------------------------------------------
+ // create a list of indexes parallel to OTstrings and OTList
+ for(j=0; j<OTList.size(); j++) {
+ for(i=0; i<rhout.obsTypeList.size(); i++) {
+ if(rhout.obsTypeList[i] == OTList[j]) OTindex.push_back(i);
+ }
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// after reading input obs and before calling EditObs (pass input obs)
+int RCRinexEditor::BeforeEditObs(const RinexObsData& roin) throw(Exception)
+{
+try {
+ if(Debug) logof << "\n----------------------------- " << roin.time
+ << " ------------------------" << endl;
+
+ // -----------------------------------------------------------------------
+ // in-line header info
+ // note that often these have a bad (all zeros) epoch
+ if(roin.epochFlag != 0 && roin.epochFlag != 1) {
+ if(Debug) logof << "Found in-line header (dump comments only)" << endl;
+ //roin.auxHeader.dump(logof);
+ for(int i=0; i<roin.auxHeader.commentList.size(); i++) {
+ string s=roin.auxHeader.commentList[i];
+ if(Debug) logof << s << endl;
+ if(RefPosInput) {
+ string t=stripFirstWord(s);
+ if(t == string("XYZT")) {
+ double x=asDouble(stripFirstWord(s));
+ double y=asDouble(stripFirstWord(s));
+ double z=asDouble(stripFirstWord(s));
+ CurrRef.RxPos.setECEF(x,y,z);
+ CurrRef.clk = asDouble(stripFirstWord(s));
+ }
+ else if(t==string("DIAG")) {
+ CurrRef.NPRN = asInt(stripFirstWord(s));
+ CurrRef.PDOP = asDouble(stripFirstWord(s));
+ CurrRef.GDOP = asDouble(stripFirstWord(s));
+ CurrRef.RMS = asDouble(stripFirstWord(s));
+ CurrRef.valid = true;
+//logof << "Found position:\n" << CurrRef.RxPos.printf("%.4x %.4y %.4z\n");
+ }
+ }
+ }
+ return 0;
+ }
+
+ // --------------------------------------------------------------------
+ // Save the time tag (wait to define until after in-line header info)
+ CurrentTime = roin.time;
+
+ // --------------------------------------------------------------------
+ // save the raw data, if they're not in the output
+ DataStoreMap.clear();
+ if((inL1>-1 && otL1==-1) || (inL2>-1 && otL2==-1) ||
+ (inP1>-1 && (otP1==-1 || (Cforce && otC1==-1))) || (inP2>-1 && otP2==-1)) {
+ SaveData(roin, rhead, inL1, inL2, inP1, inP2);
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// before writing out header (pass output header)
+int RCRinexEditor::BeforeWritingHeader(RinexObsHeader& rhout) throw(Exception)
+{
+try {
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// before writing out filled header (pass output header)
+int RCRinexEditor::BeforeWritingFilledHeader(RinexObsHeader& rhout) throw(Exception)
+{
+try {
+ if(headRAIM) {
+ // put average RAIM position in header
+ rhout.antennaPosition[0] = ARSX.Average();
+ rhout.antennaPosition[1] = ARSY.Average();
+ rhout.antennaPosition[2] = ARSZ.Average();
+ rhout.valid |= RinexObsHeader::antennaPositionValid;
+ if(Verbose) logof << "Average RAIM solution (" << ARSX.N()
+ << ") at time " << CurrentTime << " : "
+ << " " << fixed << setw(16) << setprecision(6) << ARSX.Average()
+ << " +/- " << scientific << setw(8) << setprecision(2) << ARSX.StdDev()
+ << ", " << fixed << setw(16) << setprecision(6) << ARSY.Average()
+ << " +/- " << scientific << setw(8) << setprecision(2) << ARSY.StdDev()
+ << ", " << fixed << setw(16) << setprecision(6) << ARSZ.Average()
+ << " +/- " << scientific << setw(8) << setprecision(2) << ARSZ.StdDev()
+ << endl;
+ }
+
+ if(Verbose) logof << "\nHere is the output header after optional records filled\n";
+ rhout.dump(logof);
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// just before writing output obs (pass output obs)
+// return value of BeforeWritingObs determines what is written:
+// if return <0 abort
+// 0 write nothing
+// 1 write the obs data structure (note that if epochFlag==4,
+// this will result in in-line header information only)
+// 2 write both header data (in auxHeader) and obs data
+int RCRinexEditor::BeforeWritingObs(RinexObsData& roout) throw(Exception)
+{
+try {
+ int i;
+ // what to do with other epochFlags (in-line header information, etc)
+ if(roout.epochFlag != 0 && roout.epochFlag != 1) return 0;
+
+ // save the data, if they're in the output
+ if(otL1>-1 || otL2>-1 || otP1>-1 || otP2>-1)
+ SaveData(roout, rheadout, otL1, otL2, otP1, otP2);
+
+ // update the receiver position (via RAIM or file input)
+ if(UpdateRxPosition()) {
+ logof << "Failed to update Rx position at time " << CurrentTime << endl;
+ cerr << "Failed to update Rx position at time " << CurrentTime << endl;
+ return -1;
+ }
+
+ // compute new OTs, and add to obs
+ ComputeNewOTs(roout);
+
+ // write RAIM position solution to in-line header
+ if(outRef && (HaveRAIM || !RefPosFile.empty())) {
+ ostringstream stst1,stst2;
+ roout.auxHeader.clear();
+ stst1 << "XYZT";
+ stst1 << fixed << " " << setw(13) << setprecision(3) << CurrRef.RxPos.X();
+ stst1 << fixed << " " << setw(13) << setprecision(3) << CurrRef.RxPos.Y();
+ stst1 << fixed << " " << setw(13) << setprecision(3) << CurrRef.RxPos.Z();
+ stst1 << fixed << " " << setw(13) << setprecision(3) << CurrRef.clk;
+ roout.auxHeader.commentList.push_back(stst1.str());
+ if(Verbose)
+ logof << "RAIM output: " << roout.time.printf("%02M:%04.1f ") << stst1.str();
+
+ //for(Nsvs=0,i=0; i<Sats.size(); i++) if(Sats[i].sat > 0) Nsvs++;
+ //PDOP = RSS(prsol.Covariance(0,0),
+ // prsol.Covariance(1,1),prsol.Covariance(2,2));
+ //GDOP = RSS(PDOP, prsol.Covariance(3,3));
+ //rms = prsol.RMSResidual;
+ stst2 << "DIAG";
+ stst2 << " " << setw(2) << CurrRef.NPRN
+ << " " << fixed << setw(5) << setprecision(2) << CurrRef.PDOP
+ << " " << fixed << setw(5) << setprecision(2) << CurrRef.GDOP
+ << " " << fixed << setw(9) << setprecision(3) << CurrRef.RMS
+ << " (N,P-,G-Dop,RMS)";
+ roout.auxHeader.commentList.push_back(stst2.str());
+ if(Verbose) logof << " " << stst2.str() << endl;
+ roout.auxHeader.valid |= RinexObsHeader::commentValid;
+
+ return 4; // write both header (with epochFlag=4) and obs data
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
+void SaveData(const RinexObsData& rod, const RinexObsHeader& rhd,
+ int xL1, int xL2, int xP1, int xP2) throw(Exception)
+{
+try {
+ RinexSatID sat;
+ RinexObsData::RinexObsTypeMap otmap;
+ RinexObsData::RinexSatMap::const_iterator it;
+ RinexObsData::RinexObsTypeMap::const_iterator jt;
+ map<RinexSatID,RCData>::const_iterator kt;
+
+ for(it=rod.obs.begin(); it != rod.obs.end(); ++it) { // loop over satellites
+ sat = RinexSatID(it->first.id,SatID::systemGPS);
+ otmap = it->second;
+ // find the saved input data for this sat, if any
+ kt = DataStoreMap.find(sat);
+ if(kt != DataStoreMap.end()) DataStore=kt->second;
+
+ if(xL1>-1 && (jt=otmap.find(rhd.obsTypeList[xL1])) != otmap.end()) {
+ DataStore.L1 = jt->second.data;
+ DataStore.LL1 = int(jt->second.lli);
+ }
+ if(xL2>-1 && (jt=otmap.find(rhd.obsTypeList[xL2])) != otmap.end()) {
+ DataStore.L2 = jt->second.data;
+ DataStore.LL2 = int(jt->second.lli);
+ }
+ if(xP1>-1 && (jt=otmap.find(rhd.obsTypeList[xP1])) != otmap.end()) {
+ DataStore.P1 = jt->second.data;
+ }
+ if(xP2>-1 && (jt=otmap.find(rhd.obsTypeList[xP2])) != otmap.end()) {
+ DataStore.P2 = jt->second.data;
+ }
+ DataStoreMap[sat] = DataStore;
+ } // end loop over sats
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// fill global data CurrRef
+int UpdateRxPosition(void) throw(Exception)
+{
+try {
+ int iret,i;
+ double rho;
+ Xvt xvt;
+ RinexSatID sat;
+ CorrectedEphemerisRange CER;
+
+ // compute a RAIM solution, add it to average
+ HaveRAIM = false;
+ map<RinexSatID,RCData>::const_iterator kt;
+ if(doRAIM) {
+ Sats.clear();
+ PRange.clear();
+
+ //map<RinexSatID,RCData> DataStoreMap;
+ for(kt=DataStoreMap.begin(); kt != DataStoreMap.end(); kt++) {
+ if(kt->second.P1 == 0 || kt->second.P2 == 0) continue;
+ sat = kt->first;
+ if(minElev > 0.0 && CurrRef.valid) {
+ try {
+ if(SP3EphList.size() > 0)
+ rho = CER.ComputeAtReceiveTime(CurrentTime, xvt, sat,
+ SP3EphList);
+ else if(BCEphList.size() > 0)
+ rho = CER.ComputeAtReceiveTime(CurrentTime, xvt, sat,
+ BCEphList);
+ else continue;
+ }
+ catch(gpstk::EphemerisStore::NoEphemerisFound& e) {
+ continue;
+ }
+ }
+ Sats.push_back(sat);
+ PRange.push_back(if1r*kt->second.P1+if2r*kt->second.P2);
+ }
+
+ if(SP3EphList.size() > 0)
+ iret = prsol.RAIMCompute(CurrentTime, Sats, PRange, SP3EphList, &ggtm);
+ else if(BCEphList.size() > 0)
+ iret = prsol.RAIMCompute(CurrentTime, Sats, PRange, BCEphList, &ggtm);
+ else iret = -4;
+ // 2 failed to find a good solution (RMS residual or slope exceed limits)
+ // 1 solution is suspect (slope is large)
+ // 0 ok
+ // -1 failed to converge
+ // -2 singular problem
+ // -3 not enough good data to form a RAIM solution
+ // (the 4 satellite solution might be returned - check isValid())
+ // -4 ephemeris not found for one or more satellites
+ HaveRAIM = (iret==0 || iret==1);
+ if(HaveRAIM) {
+ if(Verbose) { // output results and return value
+ int Nsvs;
+ for(Nsvs=0,i=0; i<Sats.size(); i++) if(Sats[i].id > 0) Nsvs++;
+ logof << "RPF " << setw(2) << Sats.size()-Nsvs
+ << " " << setw(4) << CurrentTime.GPSfullweek() << fixed
+ << " " << setw(10) << setprecision(3) << CurrentTime.GPSsecond()
+ << " " << setw(2) << Nsvs
+ << " " << setw(16) << setprecision(6) << prsol.Solution(0)
+ << " " << setw(16) << setprecision(6) << prsol.Solution(1)
+ << " " << setw(16) << setprecision(6) << prsol.Solution(2)
+ << " " << setw(16) << setprecision(6) << prsol.Solution(3)
+ << " " << setw(16) << setprecision(6) << prsol.RMSResidual
+ << " " << fixed << setw(7) << setprecision(1) << prsol.MaxSlope
+ << " " << prsol.NIterations
+ << " " << scientific
+ << setw(8) << setprecision(2) << prsol.Convergence;
+ for(i=0; i<Sats.size(); i++) logof << " " << setw(3) << Sats[i].id;
+ logof << " (" << iret << ")" << (prsol.isValid() ? " V":" NV") << endl;
+ }
+
+ CurrRef.RxPos.setECEF(prsol.Solution(0),prsol.Solution(1),
+ prsol.Solution(2));
+ CurrRef.valid = true;
+ CurrRef.clk = prsol.Solution(3);
+ CurrRef.NPRN = prsol.Nsvs;
+ CurrRef.PDOP = RSS(prsol.Covariance(0,0),prsol.Covariance(1,1),
+ prsol.Covariance(2,2));
+ CurrRef.GDOP = RSS(CurrRef.PDOP, prsol.Covariance(3,3));
+ CurrRef.RMS = prsol.RMSResidual;
+ if(headRAIM) { // add to average
+ ARSX.Add(CurrRef.RxPos.X());
+ ARSY.Add(CurrRef.RxPos.Y());
+ ARSZ.Add(CurrRef.RxPos.Z());
+ }
+ inPS = 1;
+ }
+ else { // RAIM failed
+ if(Verbose) {
+ logof << "RAIM failed at " << CurrentTime << " : returned '";
+ if(iret == 2) logof << "failed to find a good solution "
+ << "(RMS residual or slope exceed limits)";
+ if(iret == -1) logof << "failed to converge";
+ if(iret == -2) logof << "singular problem";
+ if(iret == -3) logof << "not enough good data to form a RAIM solution";
+ if(iret == -4) {
+ logof << "ephemeris not found for satellite";
+ for(i=0; i<Sats.size(); i++) {
+ if(Sats[i].id < 0) {
+ Sats[i].id *= -1;
+ logof << " " << Sats[i];
+ }
+ }
+ }
+ logof << "'." << endl;
+ }
+ inPS=-1;
+ }
+ }
+ else if(!RefPosFile.empty()) { // update RxPos from map
+ map<DayTime,RefPosData>::iterator ite;
+ ite = RefPosMap.lower_bound(CurrentTime);
+ // ite points to first element with value >= CurrentTime
+ if(ite == RefPosMap.end() || fabs(ite->first - CurrentTime) > 0.1*RefPosMapDT) {
+ if(Verbose) logof << "No Rx position found at " << CurrentTime << endl;
+ CurrRef.valid = false;
+ inPS = -1;
+ }
+ else {
+ CurrRef.RxPos = ite->second.RxPos;
+ CurrRef.clk = ite->second.clk;
+ CurrRef.NPRN = ite->second.NPRN;
+ CurrRef.PDOP = ite->second.PDOP;
+ CurrRef.GDOP = ite->second.GDOP;
+ CurrRef.RMS = ite->second.RMS;
+ CurrRef.valid = true;
+ inPS = 1;
+ }
+ }
+
+ if(Debug && inPS > -1) {
+ logof << "RxPos " << CurrentTime
+ << " " << CurrentTime.printf("%04F %10.3g") << fixed << setprecision(3)
+ << " " << setw(13) << CurrRef.RxPos.X()
+ << " " << setw(13) << CurrRef.RxPos.Y()
+ << " " << setw(13) << CurrRef.RxPos.Z()
+ << endl;
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void ComputeNewOTs(RinexObsData& rod) throw(Exception)
+{
+try {
+ bool HaveR,HaveP,HaveEphRange,ok,reset,HaveEphThisSat;
+ double rho,IPPLat,IPPLon,Obliq,Trop,Tgd;
+ RinexObsData::RinexSatMap::iterator it; // for loop over sats
+ map<RinexSatID,RCData>::const_iterator kt; // for DataStoreMap
+ vector<RinexSatID> SVDelete;
+ RinexSatID sat;
+ //RinexObsData::RinexObsTypeMap otmap;
+ CorrectedEphemerisRange CER;
+
+ if(Debug) {
+ logof << "Obs data before mods\n";
+ rod.dump(logof);
+ }
+
+ // loop over sats
+ for(it=rod.obs.begin(); it != rod.obs.end(); ++it) {
+ sat = RinexSatID(it->first.id,SatID::systemGPS);
+ //otmap = it->second;
+
+ // delete this satellite if it is excluded, or if RAIM has marked it
+ if( (SVonly.id > 0 && sat != SVonly) ||
+ (editRAIM && HaveRAIM &&
+ find(Sats.begin(),Sats.end(),RinexSatID(-sat.id,sat.system))!=Sats.end()))
+ {
+ SVDelete.push_back(sat);
+ continue;
+ }
+
+ // --------------------------------------------------------
+ // find the saved input data for this sat
+ kt = DataStoreMap.find(sat);
+ HaveR = HaveP = false;
+ if(kt != DataStoreMap.end()) { // have data
+ HaveR = (kt->second.P1 != 0.0 && kt->second.P2 != 0.0);
+ HaveP = (kt->second.L1 != 0.0 && kt->second.L2 != 0.0);
+ }
+ if(doRAIM && !HaveRAIM) inPS=-1;
+
+ // --------------------------------------------------------
+ // compute ephemeris range and ionospheric pierce point
+ if(inEP > -1) HaveEphThisSat=true;
+ HaveEphRange = (HaveEphThisSat && inPS > -1);
+ rho = IPPLat = IPPLon = Obliq = Tgd = 0;
+ if(HaveEphRange) {
+ Xvt xvt;
+ xvt.x[0] = CurrRef.RxPos.X();
+ xvt.x[1] = CurrRef.RxPos.Y();
+ xvt.x[2] = CurrRef.RxPos.Z();
+ try {
+ if(SP3EphList.size() > 0)
+ rho = CER.ComputeAtReceiveTime(CurrentTime, xvt, sat, SP3EphList);
+ else if(BCEphList.size() > 0)
+ rho = CER.ComputeAtReceiveTime(CurrentTime, xvt, sat, BCEphList);
+ else {
+ gpstk::EphemerisStore::NoEphemerisFound e("No ephemeris in store");
+ GPSTK_THROW(e);
+ }
+ }
+ catch(gpstk::EphemerisStore::NoEphemerisFound& e) {
+ if(Verbose)
+ logof << "ComputeNewOTs failed to find ephemeris for satellite "
+ << sat << " at time " << CurrentTime << endl;
+ HaveEphThisSat = false;
+ HaveEphRange = false;
+ }
+
+ if(HaveEphRange) {
+ if(minElev > 0.0 && CER.elevation < minElev) {
+ HaveEphRange = HaveEphThisSat = false;
+ SVDelete.push_back(sat);
+ }
+ else {
+ Position IPP=CurrRef.RxPos.getIonosphericPiercePoint(
+ CER.elevation,CER.azimuth, IonoHt);
+ IPPLat = IPP.geodeticLatitude();
+ IPPLon = IPP.longitude();
+ //Obliq = WGS84.a()*cos(CER.elevation*DEG_TO_RAD)/(WGS84.a()+IonoHt);
+ Obliq = cos(CER.elevation*DEG_TO_RAD)/(1.0+IonoHt/WGS84.a());
+ Obliq = ::sqrt(1.0-Obliq*Obliq);
+ // NB other trop models may require a different call,
+ // and will throw(InvalidTropModel) here
+ Trop = ggtm.correction(CER.elevation);
+ if(BCEphList.size() > 0) {
+ const EngEphemeris& eph = BCEphList.findEphemeris(sat,CurrentTime);
+ Tgd = C_GPS_M * eph.getTgd();
+ }
+ }
+ }
+ }
+
+ // --------------------------------------------------------
+ // compute XR,XI,X1,X2
+ if(DoXR && HaveR && HaveP) {
+ XRdat[0] = wl1 * kt->second.L1;
+ XRdat[1] = wl2 * kt->second.L2;
+ XRdat[2] = kt->second.P1;
+ XRdat[3] = kt->second.P2;
+ for(int i=0; i<4; i++) {
+ XRsol[i] = 0.0;
+ for(int j=0; j<4; j++) {
+ XRsol[i] += XRM[i][j] * XRdat[j];
+ }
+ }
+ }
+
+ // --------------------------------------------------------
+ // get satellite position (if not found above)
+ if(DoSVX && HaveEphThisSat && inPS == -1) {
+ unsigned long ref;
+ try {
+ if(SP3EphList.size())
+ CER.svPosVel = SP3EphList.getSatXvt(sat,CurrentTime);
+ else
+ CER.svPosVel = BCEphList.getSatXvt(sat,CurrentTime);
+ }
+ catch(EphemerisStore::NoEphemerisFound& e) {
+ HaveEphThisSat = false;
+ }
+ }
+
+ // --------------------------------------------------------
+ // now loop over new output OTs, compute and debias them
+ RinexObsData::RinexObsTypeMap::iterator jt;
+ for(int i=0; i<OTList.size(); i++) {
+ jt = it->second.find(OTList[i]);
+ if(jt == it->second.end()) continue; // error. throw?
+
+ jt->second.data = 0.0; // default = marked bad
+ ok = false;
+
+ if(OTstrings[i] == string("ER")) {
+ ok = HaveEphRange;
+ if(ok) jt->second.data = rho;
+ }
+ else if(OTstrings[i] == string("RI")) {
+ ok = HaveR;
+ if(ok) jt->second.data = (kt->second.P2 - kt->second.P1)/alpha;
+ }
+ else if(OTstrings[i] == string("PI")) {
+ ok = HaveP;
+ if(ok) jt->second.data = (wl1*kt->second.L1 - wl2*kt->second.L2)/alpha;
+ }
+ else if(OTstrings[i] == string("TR")) {
+ ok = HaveEphRange;
+ if(ok) jt->second.data = Trop;
+ }
+ else if(OTstrings[i] == string("RL")) {
+ ok = HaveEphThisSat;
+ if(ok) jt->second.data = CER.relativity;
+ }
+ else if(OTstrings[i] == string("SC")) {
+ ok = HaveEphThisSat;
+ if(ok) jt->second.data = CER.svclkbias;
+ }
+ else if(OTstrings[i] == string("EL")) {
+ ok = HaveEphRange;
+ if(ok) jt->second.data = CER.elevation;
+ }
+ else if(OTstrings[i] == string("AZ")) {
+ ok = HaveEphRange;
+ if(ok) jt->second.data = CER.azimuth;
+ }
+ else if(OTstrings[i] == string("SR")) {
+ ok = HaveR;
+ if(ok) jt->second.data =
+ (kt->second.P2 - kt->second.P1 - Tgd)*TECUperM/alpha;
+ }
+ else if(OTstrings[i] == string("SP")) {
+ ok = HaveP;
+ if(ok) {
+ jt->second.data = removeBias(OTList[i], sat, reset, rod.time,
+ (wl1*kt->second.L1 - wl2*kt->second.L2)*TECUperM/alpha);
+ if(reset) jt->second.lli |= 1;
+ }
+ }
+ else if(OTstrings[i] == string("VR")) {
+ ok = (HaveR && HaveEphRange);
+ if(ok) jt->second.data =
+ ((kt->second.P2 - kt->second.P1 - Tgd)*TECUperM/alpha)*Obliq;
+ }
+ else if(OTstrings[i] == string("VP")) {
+ ok = (HaveP && HaveEphRange);
+ if(ok) {
+ jt->second.data = removeBias(OTList[i], sat, reset, rod.time,
+ ((wl1*kt->second.L1 - wl2*kt->second.L2 - Tgd)*TECUperM/alpha)*Obliq);
+ if(reset) jt->second.lli |= 1;
+ }
+ }
+ else if(OTstrings[i] == string("LA")) {
+ ok = HaveEphRange;
+ if(ok) jt->second.data = IPPLat;
+ }
+ else if(OTstrings[i] == string("LO")) {
+ ok = HaveEphRange;
+ if(ok) jt->second.data = IPPLon;
+ }
+ else if(OTstrings[i] == string("P3")) {
+ ok = HaveR;
+ if(ok) jt->second.data = if1r*kt->second.P1 + if2r*kt->second.P2;
+ }
+ else if(OTstrings[i] == string("L3")) {
+ ok = HaveP;
+ if(ok) {
+ jt->second.data = removeBias(OTList[i], sat, reset, rod.time,
+ if1p*kt->second.L1 + if2p*kt->second.L2);
+ if(reset) jt->second.lli |= 1;
+ }
+ }
+ else if(OTstrings[i] == string("PF")) {
+ ok = HaveR;
+ if(ok) jt->second.data = gf1r*kt->second.P1 + gf2r*kt->second.P2;
+ }
+ else if(OTstrings[i] == string("LF")) {
+ ok = HaveP;
+ if(ok) {
+ jt->second.data = removeBias(OTList[i], sat, reset, rod.time,
+ gf1p*kt->second.L1 + gf2p*kt->second.L2);
+ if(reset) jt->second.lli |= 1;
+ }
+ }
+ else if(OTstrings[i] == string("PW")) {
+ ok = HaveR;
+ if(ok) jt->second.data = wl1r*kt->second.P1 + wl2r*kt->second.P2;
+ }
+ else if(OTstrings[i] == string("LW")) {
+ ok = HaveP;
+ if(ok) {
+ jt->second.data = removeBias(OTList[i], sat, reset, rod.time,
+ wl1p*kt->second.L1 + wl2p*kt->second.L2);
+ if(reset) jt->second.lli |= 1;
+ }
+ }
+ else if(OTstrings[i] == string("MP") || OTstrings[i] == string("M3")) {
+ ok = (HaveP && HaveR);
+ if(ok) {
+ jt->second.data = removeBias(OTList[i], sat, reset, rod.time,
+ if1r*kt->second.P1 + if2r*kt->second.P2
+ - (if1p*kt->second.L1 + if2p*kt->second.L2));
+ if(reset) jt->second.lli |= 1;
+ }
+ }
+ else if(OTstrings[i] == string("R1")) {
+ ok = (kt->second.P1 != 0 && kt->second.L1 != 0);
+ if(ok) jt->second.data = 0.5*(kt->second.P1 + kt->second.L1);
+ }
+ else if(OTstrings[i] == string("R2")) {
+ ok = (kt->second.P2 != 0 && kt->second.L2 != 0);
+ if(ok) jt->second.data = 0.5*(kt->second.P2 + kt->second.L2);
+ }
+ else if(OTstrings[i] == string("M1")) {
+ ok = (kt->second.P1 != 0 && kt->second.L1 != 0);
+ if(ok) {
+ jt->second.data = removeBias(OTList[i], sat, reset, rod.time,
+ kt->second.P1 - wl1*kt->second.L1);
+ if(reset) jt->second.lli |= 1;
+ }
+ }
+ else if(OTstrings[i] == string("M2")) {
+ ok = (kt->second.P2 != 0 && kt->second.L2 != 0);
+ if(ok) {
+ jt->second.data = removeBias(OTList[i], sat, reset, rod.time,
+ kt->second.P2 - wl2*kt->second.L2);
+ if(reset) jt->second.lli |= 1;
+ }
+ }
+ // M3 is MP
+ else if(OTstrings[i] == string("M4")) {
+ ok = (HaveP && HaveR);
+ if(ok) {
+ jt->second.data = removeBias(OTList[i], sat, reset, rod.time,
+ gf1r*kt->second.P1 + gf2r*kt->second.P2
+ - (gf1p*kt->second.L1 + gf2p*kt->second.L2));
+ if(reset) jt->second.lli |= 1;
+ }
+ }
+ else if(OTstrings[i] == string("M5")) {
+ ok = (HaveP && HaveR);
+ if(ok) {
+ jt->second.data = removeBias(OTList[i], sat, reset, rod.time,
+ wl1r*kt->second.P1 + wl2r*kt->second.P2
+ - (wl1p*kt->second.L1 + wl2p*kt->second.L2));
+ if(reset) jt->second.lli |= 1;
+ }
+ }
+ else if(OTstrings[i] == string("XR")) {
+ ok = HaveR && HaveP;
+ if(ok) {
+ jt->second.data = XRsol[0];
+ if(reset) jt->second.lli |= 1;
+ }
+ }
+ else if(OTstrings[i] == string("XI")) {
+ ok = HaveR && HaveP;
+ if(ok) {
+ jt->second.data = removeBias(OTList[i], sat, reset, rod.time,XRsol[1]);
+ if(reset) jt->second.lli |= 1;
+ }
+ }
+ else if(OTstrings[i] == string("X1")) {
+ ok = HaveR && HaveP;
+ if(ok) {
+ jt->second.data = removeBias(OTList[i], sat, reset, rod.time,XRsol[2]);
+ if(reset) jt->second.lli |= 1;
+ }
+ }
+ else if(OTstrings[i] == string("X2")) {
+ ok = HaveR && HaveP;
+ if(ok) {
+ jt->second.data = removeBias(OTList[i], sat, reset, rod.time,XRsol[3]);
+ if(reset) jt->second.lli |= 1;
+ }
+ }
+ else if(OTstrings[i] == string("SX")) {
+ ok = HaveP && HaveEphThisSat;
+ if(ok) jt->second.data = CER.svPosVel.x[0];
+ }
+ else if(OTstrings[i] == string("SY")) {
+ ok = HaveP && HaveEphThisSat;
+ if(ok) jt->second.data = CER.svPosVel.x[1];
+ }
+ else if(OTstrings[i] == string("SZ")) {
+ ok = HaveP && HaveEphThisSat;
+ if(ok) jt->second.data = CER.svPosVel.x[2];
+ }
+ else ok = false;
+
+ if(!ok) continue;
+
+ // --------------------------------------------------------
+ // set LLI flag, if it depends on phase, and if phase LLI is set
+ unsigned int test=0;
+ if(inL1 > -1) test=rhead.obsTypeList[inL1].depend;
+ else if(otL1 > -1) test=rhead.obsTypeList[otL1].depend;
+ if((OTList[i].depend & test) && (kt->second.LL1 & 0x01))
+ jt->second.lli |= 1;
+ test = 0;
+ if(inL2 > -1) test=rhead.obsTypeList[inL2].depend;
+ else if(otL2 > -1) test=rhead.obsTypeList[otL2].depend;
+ if((OTList[i].depend & test) && (kt->second.LL2 & 0x01))
+ jt->second.lli |= 1;
+
+ //if(ok && Verbose) ; // TD output here
+
+ } // end loop over new output OTs
+
+ // --------------------------------------------------------
+ // delete this satellite if there is no good data in it
+ for(jt=it->second.begin(); jt != it->second.end(); jt++) {
+ if(jt->second.data != 0.0) break;
+ }
+ if(jt == it->second.end()) SVDelete.push_back(sat);
+
+ } // end loop over sats
+
+ // delete satellites
+ for(int i=0; i<SVDelete.size(); i++) {
+ rod.obs.erase(RinexSatID(SVDelete[i].id,SatID::systemGPS));
+ rod.numSvs--;
+ }
+
+ if(Debug) {
+ logof << "Obs data after mods\n";
+ rod.dump(logof);
+ }
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+//------------------------------------------------------------------------------------//------------------------------------------------------------------------------------
+// NB reentrant, but ugly, function
+// NB PreProcessArgs pulls out --debug --verbose and the -f<f> and --file <f> options.
+// NB It also allow --ROThelp and --REChelp to have any case
+void PreProcessArgs(const char *arg, vector<string>& Args) throw(Exception)
+{
+try {
+ static bool found_cfg_file=false;
+
+ if(found_cfg_file || (arg[0]=='-' && arg[1]=='f')) {
+ string filename(arg);
+ if(!found_cfg_file) filename.erase(0,2); else found_cfg_file = false;
+ if(Debug) cout << "Found a file of options: " << filename << endl;
+ ifstream infile(filename.c_str());
+ if(!infile) {
+ cout << "Error: could not open options file " << filename << endl;
+ return;
+ }
+ bool again_cfg_file=false;
+ char c;
+ string buffer,word;
+ while(1) {
+ getline(infile,buffer);
+ stripTrailing(buffer,'\r');
+
+ while(!buffer.empty()) {
+ word = firstWord(buffer);
+ if(again_cfg_file) {
+ word = "-f" + word;
+ again_cfg_file = false;
+ PreProcessArgs(word.c_str(),Args);
+ }
+ else if(word[0] == '#') { // skip to end of line
+ buffer = "";
+ }
+ else if(word == "--file")
+ again_cfg_file = true;
+ else if(word[0] == '"') {
+ word = stripFirstWord(buffer,'"');
+ buffer = "dummy " + buffer; // to be stripped below
+ PreProcessArgs(word.c_str(),Args);
+ }
+ else
+ PreProcessArgs(word.c_str(),Args);
+
+ word = stripFirstWord(buffer); // now remove it from buffer
+ }
+ // check this last b/c there can be a line at EOF without CRLF...
+ if(infile.eof() || !infile.good()) break;
+ }
+ }
+ else if(string(arg)==string("--verbose"))
+ Verbose = true;
+ else if(string(arg)==string("--debug"))
+ Debug = true;
+ else if(string(arg)==string("--file"))
+ found_cfg_file = true;
+ else if(lowerCase(string(arg)) == string("--rothelp"))
+ Args.push_back(string("--ROThelp"));
+ else if(lowerCase(string(arg)) == string("--rechelp"))
+ Args.push_back(string("--REChelp"));
+ else if(lowerCase(string(arg)) == string("--rxhelp"))
+ Args.push_back(string("--Rxhelp"));
+ else
+ Args.push_back(arg);
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
+// define the bias limit, assign it to the invalid (-1,GPS) satellite
+int setBiasLimit(RinexObsHeader::RinexObsType& ot, double lim) throw(Exception)
+{
+try {
+ if(RinexObsHeader::convertObsType(ot)==string("UN") || lim <= 0.0) return -1;
+ RinexSatID p; // invalid: -1,GPS ... let this hold the LIMIT in the map
+ map<RinexObsHeader::RinexObsType,map<RinexSatID,double> >::iterator it;
+ if( (it=AllBiases.find(ot)) == AllBiases.end()) { // not found
+ map<RinexSatID,double> bm;
+ bm[p] = lim;
+ AllBiases[ot] = bm;
+ if(Verbose) logof << "Set bias for " << RinexObsHeader::convertObsType(ot)
+ << "," << p << " to " << fixed << setprecision(3) << lim << endl;
+ }
+ else { // found
+ it->second[p] = lim;
+ if(Verbose) logof << "Re-Set bias for " << RinexObsHeader::convertObsType(ot)
+ << "," << p << " to " << fixed << setprecision(3) << lim << endl;
+ }
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// set bias, if necessary, and return raw-bias
+double removeBias(const RinexObsHeader::RinexObsType& ot, const RinexSatID& sv,
+ bool& rset, DayTime& tt, double raw) throw(Exception)
+{
+try {
+ rset = false;
+ // is the input valid?
+ if(RinexObsHeader::convertObsType(ot)==string("UN") || sv.id==-1) return raw;
+
+ // get the map<RinexSatID,double> for this OT
+ map<RinexObsHeader::RinexObsType,map<RinexSatID,double> >::iterator it;
+ if( (it=AllBiases.find(ot)) == AllBiases.end()) return raw; // did not find OT
+ // it->second is the right map<RinexSatID,double>
+
+ // get the limit
+ RinexSatID p;
+ map<RinexSatID,double>::iterator jt;
+ jt = it->second.find(p); // p is (-1,GPS) here, so bias=limit
+ if(jt == it->second.end()) return raw; // should never happen - throw?
+ double limit=jt->second;
+
+ // now find the current bias for the input satellite
+ double bias;
+ if( (jt=it->second.find(sv)) == it->second.end()) { // sat not found, define bias
+ bias = it->second[sv] = raw-0.001;
+ if(Verbose) logof << "Did not find a bias for "
+ << RinexObsHeader::convertObsType(ot) << "," << sv
+ << " at time " << tt.printf("%4F %10.3g = %4Y/%02m/%02d %02H:%02M:%02S")
+ << ", set it to " << fixed << setprecision(3) << bias << endl;
+ rset = true;
+ }
+ else { // found the sat
+ bias = jt->second;
+ // logof << "Found bias for " << RinexObsHeader::convertObsType(ot)
+ // << "," << sv << " = " << fixed << setprecision(3) << bias << endl;
+ if(fabs(raw-jt->second) > limit) {
+ if(Verbose) logof << "Bias limit for " << RinexObsHeader::convertObsType(ot)
+ << "," << sv << " was exceeded at time "
+ << tt.printf("%4F %10.3g = %4Y/%02m/%02d %02H:%02M:%02S")
+ << " (" << fixed << setprecision(3) << raw-jt->second
+ << " > " << setprecision(3) << limit
+ << "), set it to " << fixed << setprecision(3) << raw-0.001 << endl;
+ bias = it->second[sv] = raw-0.001;
+ rset = true;
+ }
+ }
+
+ return raw-bias;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/Rinextools/RinSum.cpp b/dev/apps/Rinextools/RinSum.cpp
new file mode 100644
index 0000000..8697c16
--- /dev/null
+++ b/dev/apps/Rinextools/RinSum.cpp
@@ -0,0 +1,852 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file RinSum.cpp
+ * Read and summarize Rinex observation files, optionally fill header in-place.
+ */
+
+#include "MathBase.hpp"
+#include "RinexObsBase.hpp"
+#include "RinexObsData.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsStream.hpp"
+#include "RinexNavBase.hpp"
+#include "RinexNavHeader.hpp"
+#include "RinexNavData.hpp"
+#include "RinexNavStream.hpp"
+#include "DayTime.hpp"
+#include "SatID.hpp"
+#include "RinexSatID.hpp"
+#include "CommandOptionParser.hpp"
+#include "CommandOption.hpp"
+#include "CommandOptionWithTimeArg.hpp"
+#include "icd_200_constants.hpp"
+#include "RinexUtilities.hpp"
+
+#include <string>
+#include <vector>
+#include <iostream>
+#include <fstream>
+#include <algorithm>
+#include <time.h>
+
+using namespace std;
+using namespace gpstk;
+using namespace StringUtils;
+
+//------------------------------------------------------------------------------------
+string version("2.4 1/22/07");
+
+// data input from command line
+vector<string> InputFiles;
+string InputDirectory;
+string OutputFile;
+ostream* pout;
+DayTime BegTime, EndTime;
+bool ReplaceHeader=false;
+bool TimeSortTable=false;
+bool GPSTimeOutput=false;
+bool debug=false;
+bool brief=false;
+
+//------------------------------------------------------------------------------------
+// data used for computation
+const int ndtmax=15;
+double dt,bestdt[ndtmax];
+int ndt[ndtmax]={-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1};
+int nepochs,ncommentblocks;
+
+//------------------------------------------------------------------------------------
+// class used to store SAT/Obs table
+class TableData {
+public:
+ RinexSatID sat;
+ vector<int> nobs;
+ double prevC1,prevP1,prevL1;
+ DayTime begin,end;
+ TableData(const SatID& p, const int& n)
+ { sat=RinexSatID(p); nobs=vector<int>(n); prevC1=prevP1=prevL1=0; };
+ // needed for find()
+ inline bool operator==(const TableData& d) {return d.sat == sat;}
+};
+ // for sort()
+class TableSATLessThan {
+public:
+ bool operator()(const TableData& d1, const TableData& d2)
+ { return d1.sat < d2.sat; }
+};
+class TableBegLessThan {
+public:
+ bool operator()(const TableData& d1, const TableData& d2)
+ { return d1.begin < d2.begin; }
+};
+
+//------------------------------------------------------------------------------------
+// prototypes
+int GetCommandLine(int argc, char **argv) throw(Exception);
+void PreProcessArgs(const char *arg, vector<string>& Args) throw(Exception);
+
+//------------------------------------------------------------------------------------
+int main(int argc, char **argv)
+{
+try {
+ int iret,i,j,k,n,ifile,nsats,nclkjumps,L1lli;
+ double C1,L1,P1,clkjumpave,clkjumpvar;
+ DayTime last,prev,ftime;
+ vector<DayTime> clkjumpTimes;
+ vector<double> clkjumpMillsecs,clkjumpUncertainty;
+ vector<int> clkjumpAgree;
+
+ BegTime = DayTime::BEGINNING_OF_TIME;
+ EndTime = DayTime::END_OF_TIME;
+
+ // Title and description
+ string Title;
+ Title = "RINSUM, part of the GPS ToolKit, Ver " + version + ", Run ";
+ time_t timer;
+ struct tm *tblock;
+ timer = time(NULL);
+ tblock = localtime(&timer);
+ last.setYMDHMS(1900+tblock->tm_year,1+tblock->tm_mon,
+ tblock->tm_mday,tblock->tm_hour,tblock->tm_min,tblock->tm_sec);
+ Title += last.printf("%04Y/%02m/%02d %02H:%02M:%02S\n");
+ cout << Title;
+
+ iret=GetCommandLine(argc, argv);
+ if(iret) return iret;
+
+ iret = RegisterARLUTExtendedTypes();
+ if(iret) return iret;
+
+ // open the output file and write to it
+ if(!OutputFile.empty()) {
+ pout = new ofstream(OutputFile.c_str(),ios::out);
+ if(pout->fail()) {
+ cerr << "Could not open output file " << OutputFile << endl;
+ pout = &cout;
+ }
+ else {
+ pout->exceptions(ios::failbit);
+ *pout << Title;
+ cout << "Writing summary to file " << OutputFile << endl;
+ }
+ }
+ else pout = &cout;
+
+ // add path to input file names
+ if(!InputDirectory.empty()) for(ifile=0; ifile<InputFiles.size(); ifile++) {
+ InputFiles[ifile] = InputDirectory + "/" + InputFiles[ifile];
+ }
+ // sort the input file names on header first time
+ if(InputFiles.size() > 1) sortRinexObsFiles(InputFiles);
+
+ // now open the input files, read the headers and data
+ RinexObsHeader rheader;
+ RinexObsData robs;
+ for(ifile=0; ifile<InputFiles.size(); ifile++) {
+ string filename;
+ if(!InputDirectory.empty()) filename = InputDirectory + "/";
+ filename += InputFiles[ifile];
+ RinexObsStream InStream(filename.c_str());
+ if(!InStream) {
+ *pout << "File " << filename << " could not be opened.\n";
+ continue;
+ }
+ InStream.exceptions(ios::failbit);
+ if(!isRinexObsFile(filename)) {
+ *pout << "File " << filename << " is not a Rinex observation file\n";
+ if(isRinexNavFile(filename))
+ *pout << "This file is a Rinex navigation file - try NavMerge\n";
+ continue;
+ }
+
+ prev = DayTime::BEGINNING_OF_TIME;
+ ftime = DayTime::BEGINNING_OF_TIME;
+
+ if(!brief) *pout << "+++++++++++++ RinSum summary of Rinex obs file "
+ << filename << " +++++++++++++\n";
+ else *pout << "\nFile name: " << filename << endl;
+
+ // input header
+ try {
+ InStream >> rheader;
+ }
+ catch(gpstk::FFStreamError& e) {
+ cerr << "Caught an FFStreamError while reading header: "
+ << e.getText(0) << endl;
+ }
+ catch(gpstk::Exception& e) {
+ cerr << "Caught a gpstk exception while reading header: "
+ << e.getText(0) << endl;
+ }
+
+ if(!brief) {
+ *pout << "Rinex header:\n";
+ rheader.dump(*pout);
+ }
+ else *pout << "Position (XYZ,m) : " << fixed << setprecision(4)
+ << rheader.antennaPosition << ".\n";
+
+ if(!rheader.isValid()) {
+ *pout << "Abort: header is invalid\n";
+ if(!brief) *pout << "\n+++++++++++++ End of RinSum summary of "
+ << filename << " +++++++++++++\n";
+ continue;
+ }
+
+ //RinexObsStream out(argv[2], ios::out);
+ //out << rheader;
+
+ nepochs = ncommentblocks = 0;
+ n = rheader.obsTypeList.size();
+ vector<TableData> table;
+ vector<int> totals(n);
+
+ if(pout == &cout) *pout << "Reading the observation data..." << endl;
+
+ // input obs
+ while(InStream >> robs)
+ {
+ if(debug) *pout << "Epoch: " << robs.time
+ << ", Flag " << robs.epochFlag
+ << ", Nsat " << robs.obs.size()
+ << ", clk " << fixed << robs.clockOffset << endl;
+
+ // is this a comment?
+ if(robs.epochFlag > 1) {
+ ncommentblocks++;
+ //*pout << "inline header info:\n";
+ //robs.auxHeader.dump(*pout);
+ continue;
+ }
+
+ // update first and last time seen, check time limits, count epochs
+ last = robs.time;
+ if(last < BegTime) continue;
+ if(last > EndTime) break;
+ if(ftime == DayTime::BEGINNING_OF_TIME) ftime=last;
+ nepochs++;
+ nsats = nclkjumps = 0; // count sats and signs clock jumps have occurred
+ clkjumpave = clkjumpvar = 0.0;
+
+ // loop over satellites
+ RinexObsData::RinexSatMap::const_iterator it;
+ RinexObsData::RinexObsTypeMap::const_iterator jt;
+ for(it=robs.obs.begin(); it != robs.obs.end(); ++it) {
+ // update the table
+ vector<TableData>::iterator ptab;
+ ptab = find(table.begin(),table.end(),TableData(it->first,n));
+ if(ptab == table.end()) { // sat not found in table - create one
+ table.push_back(TableData(it->first,n));
+ ptab = find(table.begin(),table.end(),TableData(it->first,n));
+ ptab->begin = last;
+ }
+ // update end time for this sat
+ ptab->end = last;
+ if(debug) *pout << "Sat " << setw(2) << RinexSatID(it->first);
+
+ // loop over obs types
+ C1 = P1 = L1 = 0;
+ for(jt=it->second.begin(); jt!=it->second.end(); jt++) {
+ // find the index for this obs type
+ for(k=0; k<n; k++) if(rheader.obsTypeList[k] == jt->first) break;
+ // count this obs
+ if(jt->second.data != 0) {
+ ptab->nobs[k]++; // per obs
+ totals[k]++;
+ }
+ // save L1 range and phase for clk jump test below
+ if(jt->first==RinexObsHeader::C1) C1 = jt->second.data*1000.0/C_GPS_M;
+ if(jt->first==RinexObsHeader::P1) P1 = jt->second.data*1000.0/C_GPS_M;
+ if(jt->first == RinexObsHeader::L1) {
+ L1 = jt->second.data * 1000.0/C_GPS_M;
+ L1lli = jt->second.lli;
+ }
+ // dump this data
+ if(debug) *pout << " " << RinexObsHeader::convertObsType(jt->first)
+ << " " << setw(13) << setprecision(3) << jt->second.data << " "
+ << jt->second.lli << " " << jt->second.ssi;
+ } // end loop over obs types
+ if(debug) *pout << endl;
+
+ // test for millisecond clock adjusts -
+ // sometimes they are applied to range but not phase or vice-versa
+ if(prev != DayTime::BEGINNING_OF_TIME && L1 != 0 && ptab->prevL1 != 0) {
+ int nms;
+ double test;
+ nsats++;
+ if(P1 != 0 && ptab->prevP1 != 0)
+ test = P1-L1_WAVELENGTH*L1
+ - (ptab->prevP1-L1_WAVELENGTH*ptab->prevL1);
+ else if(C1 != 0 && ptab->prevC1 != 0)
+ test = C1-L1_WAVELENGTH*L1
+ - (ptab->prevC1-L1_WAVELENGTH*ptab->prevL1);
+ else
+ test = 0.0;
+ if(fabs(test) > 0.5) { // test must be > 150 km =~ 1/2 millisecond
+ // is it nearly an even multiple of 1 millisecond?
+ //test *= 1000.0/C_GPS_M;
+ if(debug) *pout << "possible clock jump: test = "
+ << setprecision(9) << test;
+ nms = long(test + (test > 0 ? 0.5 : -0.5));
+ if(fabs(test - double(nms)) < 0.001) {
+ if(debug) *pout << " -> " << setprecision(9)
+ << fabs(test - double(nms));
+ // keep clkjumpave = sequential average nms, clkjumpvar=variance
+ if(test < 0) nms *= -1;
+ nclkjumps++;
+ clkjumpave += (double(nms)-clkjumpave)/double(nclkjumps);
+ if(nclkjumps > 1)
+ clkjumpvar = (clkjumpvar*(nclkjumps-2)
+ + nclkjumps*(double(nms)-clkjumpave)*(double(nms)-clkjumpave)
+ /(nclkjumps-1))/(nclkjumps-1);
+ }
+ else if(debug) *pout << " - failed.";
+ if(debug && L1lli != 0) { *pout << " LLI is set"; }
+ if(debug) *pout << " " << RinexSatID(it->first)
+ << " " << last.printf("%4F %.3g") << endl;
+ }
+ }
+ // save C1,L1,P1 for this sat for next time
+ ptab->prevC1 = C1;
+ ptab->prevL1 = L1;
+ ptab->prevP1 = P1;
+
+ } // end loop over sats
+
+ //out << robs;
+
+ // if more than half the sats saw a clk jump, call it
+ if(nclkjumps > nsats/2) {
+ if(debug) *pout << "test nclkjumps is " << nclkjumps
+ << " and nsats is " << nsats
+ << ", ave is " << fixed << setprecision(3) << clkjumpave
+ << " and stddev is " << setprecision(3) << sqrt(clkjumpvar)
+ << endl;
+ clkjumpTimes.push_back(last);
+ clkjumpMillsecs.push_back(clkjumpave);
+ clkjumpAgree.push_back(nsats-nclkjumps);
+ clkjumpUncertainty.push_back(sqrt(clkjumpvar));
+ }
+
+ if(prev != DayTime::BEGINNING_OF_TIME) {
+ dt = last-prev;
+ if(dt > 0.0) {
+ for(i=0; i<ndtmax; i++) {
+ if(ndt[i] <= 0) { bestdt[i]=dt; ndt[i]=1; break; }
+ if(fabs(dt-bestdt[i]) < 0.0001) { ndt[i]++; break; }
+ if(i == ndtmax-1) {
+ k = 0;
+ int nleast=ndt[k];
+ for(j=1; j<ndtmax; j++) if(ndt[j] <= nleast) {
+ k=j; nleast=ndt[j];
+ }
+ ndt[k]=1; bestdt[k]=dt;
+ }
+ }
+ }
+ else {
+ cerr << " WARNING time tags out of order: "
+ //<< " prev > curr : "
+ << prev.printf("%F/%.0g = %04Y/%02m/%02d %02H:%02M:%02S")
+ << " > "
+ << last.printf("%F/%.0g = %04Y/%02m/%02d %02H:%02M:%02S")
+ << endl;
+ }
+ }
+ prev = last;
+
+ } // end loop over epochs in the file
+ InStream.close();
+
+ // check that we found some data
+ if(nepochs <= 0) {
+ *pout << "File " << filename << " : no data found. Are time limits wrong?\n";
+ continue;
+ }
+
+ // compute interval
+ for(i=1,j=0; i<ndtmax; i++) if(ndt[i]>ndt[j]) j=i;
+ dt = bestdt[j];
+
+ // summary info
+ *pout << "Computed interval "
+ << fixed << setw(5) << setprecision(2) << dt << " seconds." << endl;
+ *pout << "Computed first epoch: " << ftime.printf("%4F %14.7g") << " = "
+ << ftime.printf("%04Y/%02m/%02d %02H:%02M:%010.7f") << endl;
+ *pout << "Computed last epoch: " << last.printf("%4F %14.7g") << " = "
+ << last.printf("%04Y/%02m/%02d %02H:%02M:%010.7f") << endl;
+
+ *pout << "Computed time span:";
+ double secs=last-ftime;
+ int iday = int(secs/86400.0);
+ if(iday > 0) *pout << " " << iday << "d";
+ DayTime delta;
+ delta.setSecOfDay(secs - iday*86400);
+ *pout << " " << delta.hour() << "h "
+ << delta.minute() << "m "
+ << delta.second() << "s = "
+ << secs << " seconds." << endl;
+
+ i = 1+int(0.5+(last-ftime)/dt);
+ if(!brief) *pout << "There were " << nepochs << " epochs ("
+ << setprecision(2) << double(nepochs*100)/i
+ << "% of " << i << " possible epochs in this timespan) and "
+ << ncommentblocks << " inline header blocks.\n";
+
+ // sort table
+ sort(table.begin(),table.end(),TableSATLessThan());
+ if(TimeSortTable) sort(table.begin(),table.end(),TableBegLessThan());
+
+ // output table
+ // header
+ vector<TableData>::iterator tit;
+ if(table.size() > 0) table.begin()->sat.setfill('0');
+ if(!brief) {
+ *pout << "\n Summary of data available in this file: "
+ << "(Totals are based on times and interval)\n";
+ *pout << "Sat OT:";
+ for(k=0; k<n; k++)
+ *pout << setw(7) << rheader.obsTypeList[k].type;
+ *pout << " Total Begin time - End time\n";
+ // loop
+ for(tit=table.begin(); tit!=table.end(); ++tit) {
+ *pout << "Sat " << tit->sat << " ";
+ for(k=0; k<n; k++) *pout << setw(7) << tit->nobs[k];
+ // compute total based on times
+ *pout << setw(7) << 1+int(0.5+(tit->end-tit->begin)/dt);
+ if(GPSTimeOutput) {
+ *pout << " " << tit->begin.printf("%4F %10.3g")
+ << " - " << tit->end.printf("%4F %10.3g") << endl;
+ }
+ else {
+ *pout
+ << " " << tit->begin.printf("%04Y/%02m/%02d %02H:%02M:%04.1f")
+ << " - " << tit->end.printf("%04Y/%02m/%02d %02H:%02M:%04.1f")
+ << endl;
+ }
+ }
+ *pout << "TOTAL "; for(k=0; k<n; k++) *pout << setw(7) << totals[k];
+ *pout << endl;
+ }
+ else {
+ *pout << "SATs(" << table.size() << "):";
+ for(tit=table.begin(); tit!=table.end(); ++tit)
+ *pout << " " << tit->sat;
+ *pout << endl;
+
+ *pout << "Obs types(" << rheader.obsTypeList.size() << "): ";
+ for(i=0; i<rheader.obsTypeList.size(); i++)
+ *pout << " " << rheader.obsTypeList[i].type;
+ *pout << endl;
+ }
+
+ // warnings
+ if((rheader.valid & RinexObsHeader::intervalValid)
+ && fabs(dt-rheader.interval) > 1.e-3)
+ *pout << " WARNING: Computed interval is " << setprecision(2)
+ << dt << " sec, while input header has " << setprecision(2)
+ << rheader.interval << " sec.\n";
+ if(fabs(ftime-rheader.firstObs) > 1.e-8)
+ *pout << " WARNING: Computed first time does not agree with header\n";
+ if((rheader.valid & RinexObsHeader::lastTimeValid)
+ && fabs(last-rheader.lastObs) > 1.e-8)
+ *pout << " WARNING: Computed last time does not agree with header\n";
+
+ if(clkjumpTimes.size() > 0) {
+ *pout << " WARNING: millisecond clock adjusts at these times:\n";
+ for(i=0; i<clkjumpTimes.size(); i++) {
+ *pout << " "
+ << clkjumpTimes[i].printf("%4F %10.3g = %04Y/%02m/%02d %02H:%02M:%06.3f")
+ << " " << setprecision(2) << clkjumpMillsecs[i] << " ms_clock_adjust";
+ if(clkjumpAgree[i] > 0 || clkjumpUncertainty[i] > 0.01)
+ *pout << " (low quality determination; data may be irredeemable)";
+ *pout << endl;
+ }
+ }
+ // look for 'empty' obs types
+ for(k=0; k<n; k++) {
+ if(totals[k] <= 0) *pout << " WARNING: ObsType "
+ << rheader.obsTypeList[k].type
+ << " should be deleted from header.\n";
+ }
+
+ if(ReplaceHeader) {
+ // modify the header
+ rheader.version = 2.1; rheader.valid |= RinexObsHeader::versionValid;
+ rheader.interval = dt; rheader.valid |= RinexObsHeader::intervalValid;
+ rheader.lastObs = last; rheader.valid |= RinexObsHeader::lastTimeValid;
+ // now the table
+ rheader.numSVs = table.size(); rheader.valid |= RinexObsHeader::numSatsValid;
+ rheader.numObsForSat.clear();
+ for(tit=table.begin(); tit!=table.end(); ++tit) { // tit defined above
+ rheader.numObsForSat.insert(
+ map<SatID, vector<int> >::value_type(tit->sat,tit->nobs) );
+ }
+ rheader.valid |= RinexObsHeader::prnObsValid;
+ //*pout << "\nNew header\n";
+ //rheader.dump(*pout);
+
+ // now re-open the file and replace the header
+#ifdef _MSC_VER
+ char newname[L_tmpnam];
+ if(!tmpnam(newname)) {
+ cerr << "Could not create temporary file name - abort\n";
+ return -1;
+ }
+#else
+ char newname[]="RinSumTemp.XXXXXX";
+ if(mkstemp(newname)==-1) {
+ cerr << "Could not create temporary file name - abort\n";
+ return -1;
+ }
+#endif
+ remove(newname);
+
+ RinexObsHeader rhjunk;
+ RinexObsStream ROutStr(newname, ios::out);
+ RinexObsStream InAgain(filename.c_str());
+ InAgain.exceptions(ios::failbit);
+
+ InAgain >> rhjunk;
+ ROutStr << rheader;
+ while(InAgain >> robs) {
+ last = robs.time;
+ if(last < BegTime) continue;
+ if(last > EndTime) break;
+ ROutStr << robs;
+ }
+ InAgain.close();
+ ROutStr.close();
+ // delete original file and rename the temporary
+ iret = remove(filename.c_str());
+ if(iret) *pout << "RinSum: Error: Could not remove existing file: "
+ << filename << endl;
+ else {
+ iret = rename(newname,filename.c_str());
+ if(iret) *pout << "RinSum: Error: Could not rename new file " << newname
+ << " using old name " << filename << endl;
+ else *pout << "\nRinSum: Replaced original header with complete one,"
+ << " using temporary file name "
+ << newname << endl;
+ }
+ }
+
+ if(!brief) *pout << "\n+++++++++++++ End of RinSum summary of " << filename
+ << " +++++++++++++\n";
+ }
+
+ if(pout != &cout) {
+ ((ofstream *)pout)->close();
+ delete pout;
+ }
+
+ return 0;
+}
+catch(gpstk::FFStreamError& e) { cerr << "FFStreamError: " << e; }
+catch(gpstk::Exception& e) { cerr << "Exception: " << e; }
+catch (...) { cerr << "Unknown exception. Abort." << endl; }
+ return 1;
+} // end main()
+
+//------------------------------------------------------------------------------------
+int GetCommandLine(int argc, char **argv) throw(Exception)
+{
+try {
+ bool help=false;
+ int j;
+ // required options
+
+ // optional
+ CommandOption dashi(CommandOption::hasArgument, CommandOption::stdType,
+ 'i',"input"," [-i|--input] <file> Input RINEX observation file name(s)");
+ //dashi.setMaxCount(1);
+
+ // optional options
+ // this only so it will show up in help page...
+ CommandOption dashf(CommandOption::hasArgument, CommandOption::stdType,
+ 'f',""," [-f|--file] <file> file containing more options");
+
+ CommandOption dasho(CommandOption::hasArgument, CommandOption::stdType,
+ 'o',"output"," [-o|--output] <file> Output the summary to a file named <file>");
+ dasho.setMaxCount(1);
+
+ CommandOption dashp(CommandOption::hasArgument, CommandOption::stdType,
+ 'p',"path"," [-p|--path] <path> Find the input file(s) in this directory");
+ dashp.setMaxCount(1);
+
+ CommandOptionNoArg dashr('R', "Replace",
+ " [-R|--Replace] Replace input file header with a full one, in place.");
+ dashr.setMaxCount(1);
+
+ CommandOptionNoArg dashs('s', "sort",
+ " [-s|--sort] Sort the SAT/Obs table on begin time.");
+
+ CommandOptionNoArg dashg('g', "gps",
+ " [-g|--gps] Print times in the SAT/Obs table as GPS times.");
+
+ // time
+ // times - don't use CommandOptionWithTimeArg
+ CommandOption dashbt(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"start", " --start <time> Start time: <time> is 'GPSweek,sow' OR "
+ "'YYYY,MM,DD,HH,Min,Sec'");
+ dashbt.setMaxCount(1);
+
+ CommandOption dashet(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"stop", " --stop <time> Stop time: <time> is 'GPSweek,sow' OR "
+ "'YYYY,MM,DD,HH,Min,Sec'");
+ dashet.setMaxCount(1);
+
+ CommandOptionNoArg dashb('b', "brief",
+ " [-b|--brief] produce a brief (6-line) summary.");
+
+ // help and debug
+ CommandOptionNoArg dashh('h', "help",
+ " [-h|--help] print this help page and quit.");
+ CommandOptionNoArg dashd('d', "debug",
+ " [-d|--debug] print debugging info.");
+
+ // ... other options
+ CommandOptionRest Rest("<filename(s)>");
+
+ CommandOptionParser Par(
+ "Prgm RINSUM reads a Rinex file and summarizes it content.\n"
+ " It can optionally fill the header of the input file.\n"
+ " [either <filenames> or --input required; put <filenames> after options].\n"
+ );
+
+ // allow user to put all options in a file
+ // could also scan for debug here
+ vector<string> Args;
+ for(j=1; j<argc; j++) PreProcessArgs(argv[j],Args);
+
+ if(Args.size()==0)
+ Args.push_back(string("-h"));
+
+ argc = Args.size()+1;
+ char **CArgs;
+ CArgs = new char * [argc];
+ if(!CArgs) { cerr << "Failed to allocate CArgs\n"; return -1; }
+ CArgs[0] = argv[0];
+ for(j=1; j<argc; j++) {
+ CArgs[j] = new char[Args[j-1].size()+1];
+ if(!CArgs[j]) { cerr << "Failed to allocate CArgs[j]\n"; return -1; }
+ strcpy(CArgs[j],Args[j-1].c_str());
+ }
+
+ Par.parseOptions(argc, CArgs);
+ delete[] CArgs;
+
+ // get help option first
+ if(dashh.getCount() > 0) {
+ Par.displayUsage(cout,false);
+ help = true; //return 1;
+ }
+
+ if (Par.hasErrors())
+ {
+ cerr << "\nErrors found in command line input:\n";
+ Par.dumpErrors(cerr);
+ cerr << "...end of Errors\n\n";
+ Par.displayUsage(cout,false);
+ help = true; // return -1;
+ }
+
+ // get values found on command line
+ string msg;
+ vector<string> values,field;
+
+ // f never appears because we intercept it above
+ //if(dashf.getCount()) { cout << "Option f "; dashf.dumpValue(cout); }
+
+ if(dashi.getCount()) {
+ InputFiles = dashi.getValue();
+ if(help) {
+ cout << "Input: input files (--input) are:\n";
+ for(int i=0; i<InputFiles.size(); i++)
+ cout << " " << InputFiles[i] << endl;
+ }
+ }
+ if(dasho.getCount()) {
+ values = dasho.getValue();
+ OutputFile = values[0];
+ if(help) cout << "Input: output file is " << OutputFile << endl;
+ }
+ if(dashp.getCount()) {
+ values = dashp.getValue();
+ InputDirectory = values[0];
+ if(help) cout << "Input: set path to " << InputDirectory << endl;
+ }
+
+ if(dashr.getCount()) {
+ ReplaceHeader=true;
+ if(help) cout << "Input: replace header in output" << endl;
+ }
+ if(dashs.getCount()) {
+ TimeSortTable=true;
+ if(help) cout << "Input: sort the SAT/Obs table" << endl;
+ }
+ if(dashg.getCount()) {
+ GPSTimeOutput=true;
+ if(help) cout << "Input: output in GPS time" << endl;
+ }
+ // times
+ // TD put try {} around setToString and catch invalid formats...
+ if(dashbt.getCount()) {
+ values = dashbt.getValue();
+ msg = values[0];
+ field.clear();
+ while(msg.size() > 0)
+ field.push_back(stripFirstWord(msg,','));
+ if(field.size() == 2)
+ BegTime.setToString(field[0]+","+field[1], "%F,%g");
+ else if(field.size() == 6)
+ BegTime.setToString(field[0]+","+field[1]+","+field[2]+","+field[3]+","
+ +field[4]+","+field[5], "%Y,%m,%d,%H,%M,%S");
+ else {
+ cerr << "Error: invalid --start input: " << values[0] << endl;
+ }
+ if(help) cout << " Input: begin time " << values[0] << " = "
+ << BegTime.printf("%Y/%02m/%02d %2H:%02M:%06.3f = %F/%10.3g") << endl;
+ }
+ if(dashet.getCount()) {
+ values = dashet.getValue();
+ msg = values[0];
+ field.clear();
+ while(msg.size() > 0)
+ field.push_back(stripFirstWord(msg,','));
+ if(field.size() == 2)
+ EndTime.setToString(field[0]+","+field[1], "%F,%g");
+ else if(field.size() == 6)
+ EndTime.setToString(field[0]+","+field[1]+","+field[2]+","+field[3]+","
+ +field[4]+","+field[5], "%Y,%m,%d,%H,%M,%S");
+ else {
+ cerr << "Error: invalid --stop input: " << values[0] << endl;
+ }
+ if(help) cout << " Input: end time " << values[0] << " = "
+ << EndTime.printf("%Y/%02m/%02d %2H:%02M:%06.3f = %F/%10.3g") << endl;
+ }
+
+ if(dashb.getCount()) {
+ brief = true;
+ if(help) cout << "Input: found the brief flag" << endl;
+ }
+
+ if(dashd.getCount()) {
+ debug = true;
+ if(help) cout << "Input: found the debug flag" << endl;
+ }
+
+ if(Rest.getCount())
+ {
+ values = Rest.getValue();
+ if(help) cout << "Input: input files are:\n";
+ for (int i=0; i<values.size(); i++) {
+ if(help) cout << " " << values[i] << endl;
+ InputFiles.push_back(values[i]);
+ }
+ }
+
+ if(debug && help) {
+ cout << "\nTokens on command line (" << Args.size() << ") are:" << endl;
+ for(j=0; j<Args.size(); j++) cout << Args[j] << endl;
+ }
+ if(help) return 1;
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+ return -1;
+}
+
+//------------------------------------------------------------------------------------
+// Pull out -f<f> and --file <f> and deprecated options
+void PreProcessArgs(const char *arg, vector<string>& Args) throw(Exception)
+{
+try {
+ static bool found_cfg_file=false;
+
+ if(found_cfg_file || (arg[0]=='-' && arg[1]=='f')) {
+ string filename(arg);
+ if(!found_cfg_file) filename.erase(0,2); else found_cfg_file = false;
+ ifstream infile(filename.c_str());
+ if(!infile) {
+ cout << "Error: could not open options file " << filename << endl;
+ return;
+ }
+
+ bool again_cfg_file=false;
+ char c;
+ string buffer,word;
+ while(1) {
+ getline(infile,buffer);
+ stripTrailing(buffer,'\r');
+
+ // process the buffer before checking eof or bad b/c there can be
+ // a line at EOF that has no CRLF...
+ while(!buffer.empty()) {
+ word = firstWord(buffer);
+ if(again_cfg_file) {
+ word = "-f" + word;
+ again_cfg_file = false;
+ PreProcessArgs(word.c_str(),Args);
+ }
+ else if(word[0] == '#') { // skip to end of line
+ buffer = "";
+ }
+ else if(word == "--file" || word == "-f")
+ again_cfg_file = true;
+ else if(word[0] == '"') {
+ word = stripFirstWord(buffer,'"');
+ buffer = "dummy " + buffer; // to be stripped later
+ PreProcessArgs(word.c_str(),Args);
+ }
+ else
+ PreProcessArgs(word.c_str(),Args);
+
+ word = stripFirstWord(buffer); // now remove it from buffer
+ }
+ if(infile.eof() || !infile.good()) break;
+ }
+ }
+ else if(string(arg) == "--file" || string(arg) == "-f")
+ found_cfg_file = true;
+ // old versions of args -- deprecated
+ else if(string(arg)==string("--EpochBeg")) { Args.push_back("--start"); }
+ else if(string(arg)==string("--GPSBeg")) { Args.push_back("--start"); }
+ else if(string(arg)==string("--EpochEnd")) { Args.push_back("--stop"); }
+ else if(string(arg)==string("--GPSEnd")) { Args.push_back("--stop"); }
+ // regular arg
+ else Args.push_back(arg);
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/Rinextools/RinexDump.cpp b/dev/apps/Rinextools/RinexDump.cpp
new file mode 100644
index 0000000..0a62e6b
--- /dev/null
+++ b/dev/apps/Rinextools/RinexDump.cpp
@@ -0,0 +1,369 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file RinexDump.cpp
+ * Dump Rinex observation data to a flat file.
+ * Read a RINEX file and dump the data for the given satellite(s).
+ * Any number of obstypes may appear in the command; if none appear, all are dumped.
+ * Any number of satellite ID (e.g. G27) may appear; if none appears, all are dumped.
+ * The output file is ASCII column-delimited with time, satellite ID and then three
+ * columns 'observation LLI SSI' for each observation type.
+ */
+
+#include "RinexObsData.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsStream.hpp"
+#include "DayTime.hpp"
+#include "RinexSatID.hpp"
+#include "StringUtils.hpp"
+#include "RinexUtilities.hpp"
+
+#include <vector>
+#include <string>
+
+using namespace std;
+using namespace gpstk;
+using namespace StringUtils;
+
+//------------------------------------------------------------------------------------
+// find the index of first occurance of item t (of type T) in vector<T> v;
+// i.e. v[index]=t Return -1 if t is not found.
+template<class T> int index(const std::vector<T> v, const T& t)
+{
+ for(int i=0; i<v.size(); i++) {
+ if(v[i] == t) return i;
+ }
+ return -1;
+}
+
+//------------------------------------------------------------------------------------
+// Returns 0 on success. Input and output files should diff without error.
+int main(int argc, char *argv[])
+{
+try {
+ bool debug=false;
+ bool AllNumeric=false, DumpPos=false, help=false;
+ bool DumpAll=false,DumpAllObs=false,DumpAllSat=false,ok;
+ int i,j;
+ string X,Y,Z,T,rms,pdop,gdop,N,outputFormat=string("%4F %10.3g");
+ RinexObsHeader::RinexObsType ot;
+ RinexSatID sat;
+ string line, word, filename, leftpad=string(""), rightpad=string("");
+ vector<string> filenames;
+ vector<RinexObsHeader::RinexObsType> otlist;
+ vector<RinexSatID> satlist;
+ RinexObsHeader header;
+ RinexObsData obsdata;
+
+ sat.setfill('0');
+ RegisterARLUTExtendedTypes();
+ //cout << "Registered Obs types are:\n";
+ //for(j=0; j<RinexObsHeader::RegisteredRinexObsTypes.size(); j++)
+ // cout << "ROT[" << j << "] = " << RinexObsHeader::RegisteredRinexObsTypes[j]
+ // << endl;
+
+ // parse command line input
+ for(i=1; i<argc; i++) {
+ word = string(argv[i]);
+ if(debug) cout << "arg = " << word << endl;
+ if(word == "pos") DumpPos = true;
+ else if(word == "-h" || word == "--help") help = true;
+ else if(word == "-f" || word == "-file" || word == "--file") {
+ filename = string(argv[++i]);
+ filenames.push_back(filename);
+ }
+ else if(word == "-n" || word == "--num") AllNumeric = true;
+ else if(word == "--format") outputFormat = string(argv[++i]);
+ else if(word == "-sat" || word == "--sat") {
+ sat.fromString(string(argv[++i]));
+ if(!sat.isValid()) cout << "Error: input argument " << argv[i]
+ << " is not a valid satellite id" << endl;
+ else
+ satlist.push_back(sat);
+ }
+ else if(word == "-obs" || word == "--obs") {
+ ot = RinexObsHeader::convertObsType(argv[++i]);
+ if(RinexObsHeader::convertObsType(ot) == string("UN"))
+ cout << "Error: input argument " << argv[i]
+ << " is not a valid obs type" << endl;
+ else
+ otlist.push_back(ot);
+ }
+ else { // try to figure out what it is...
+ if(debug) cout << " try making it a RINEX obs file: " << word << endl;
+ if(isRinexObsFile(word)) {
+ filenames.push_back(word);
+ continue;
+ }
+
+ if(debug) cout << " try making it an obs type: " << word << endl;
+ ot = RinexObsHeader::convertObsType(argv[i]);
+ if(RinexObsHeader::convertObsType(ot) != string("UN")) {
+ otlist.push_back(ot);
+ continue;
+ }
+
+ if(debug) cout << " try making it a sat : " << word << endl;
+ try {
+ sat.fromString(word);
+ if(sat.isValid()) {
+ satlist.push_back(sat);
+ continue;
+ }
+ }
+ catch(Exception& e) { ; }
+
+ cout << "Unknown argument, ignore: " << word << endl;
+ }
+ }
+
+ if(argc < 2 || help) {
+ cout <<
+"Read RINEX file(s) and dump the given observation types in columns.\n"
+"Output is to the screen, with one time tag and one satellite per line.\n"
+" Usage: RinexDump [options] file obs sat [pos]\n"
+" If no satellites are given, all are output; likewise for observation types.\n"
+" Output begins with header lines (starting with #) identifying input and columns.\n"
+" Options are:\n"
+" pos output only positions from aux headers; sat and obs are ignored.\n"
+" --num or -n make output purely numeric (no header, no system char on sats)\n"
+" --format <f> output times in (DayTime) format (default " << outputFormat << ")\n"
+" --file <file> file is a RINEX observation file; this option may be repreated.\n"
+" --obs <obs> obs is a RINEX observation type (e.g. P1) found in the file header.\n"
+" --sat <sat> sat is a RINEX satellite id (e.g. G31 for GPS PRN 31)\n"
+" [--file, --obs and --sat are optional but may be needed to remove ambiguity.]\n"
+" --help or -h print this and quit.\n"
+" E.g. RinexDump test2820.06o L1 L2 G17\n";
+ return -1;
+ }
+
+ if(otlist.size() == 0) DumpAllObs = true;
+ if(satlist.size() == 0) DumpAllSat = true;
+ if(DumpAllObs && DumpAllSat) DumpAll = true;
+
+ vector<RinexObsHeader::RinexObsType>::iterator it;
+
+ if(filenames.size() == 0) cerr << "Error - no file names specified.\n";
+ if(debug || filenames.size() == 0) {
+ cout << "RinexDump read the following from the command line:\n";
+ for(i=0; i<filenames.size(); i++)
+ cout << " File: " << filenames[i] << endl;
+ cout << " Observation types:";
+ if(otlist.size() == 0) cout << " all";
+ else for(i=0; i<otlist.size(); i++)
+ cout << " " << RinexObsHeader::convertObsType(otlist[i]);
+ cout << endl;
+ cout << " Satellites:";
+ if(satlist.size() == 0) cout << " all";
+ else for(i=0; i<satlist.size(); i++) cout << " " << satlist[i];
+ cout << endl;
+ }
+
+ if(filenames.size() == 0) return -1;
+
+ // sort the file names on the begin time in the header
+ if(filenames.size() > 1) sortRinexObsFiles(filenames);
+
+ // loop over input files
+ for(int nfile=0; nfile < filenames.size(); nfile++) {
+ filename = filenames[nfile];
+
+ // does the file exist?
+ RinexObsStream RinFile(filename.c_str());
+ if(filename.empty() || !RinFile) {
+ cerr << "Error: input file " << filename << " does not exist.\n";
+ continue; //return -1;
+ }
+ RinFile.exceptions(fstream::failbit);
+
+ // is it a Rinex Obs file? ... read the header
+ try { RinFile >> header; }
+ catch(Exception& e) {
+ cerr << "Error: input file " << filename << " is not a Rinex obs file\n";
+ continue; //return -2;
+ }
+ //cout << "Rinex header:\n";
+ //header.dump(cout);
+
+ // check that obs types are in header
+ for(it=otlist.begin(); it !=otlist.end(); ) {
+ ok = false;
+ for(j=0; j<header.obsTypeList.size(); j++) {
+ if(*it == header.obsTypeList[j]) { ok = true; break; }
+ }
+ if(!ok) {
+ cout << "Warning: " << *it << " not found in header of file "
+ << filename << endl;
+ it = otlist.erase(it);
+ }
+ else it++;
+ }
+
+ if(DumpAllObs) {
+ otlist.clear();
+ for(j=0; j<header.obsTypeList.size(); j++)
+ otlist.push_back(header.obsTypeList[j]);
+ }
+
+ // echo input
+ if(!AllNumeric) {
+ cout << "# Rinexdump File: " << filename;
+ if(DumpPos) cout << " Positions (in auxiliary header comments)";
+ else {
+ cout << " Satellites:";
+ if(satlist.size() > 0)
+ for(j=0; j<satlist.size(); j++) { cout << " " << satlist[j]; }
+ else cout << " ALL";
+ cout << " Observations:";
+ if(!DumpAllObs) for(j=0; j<otlist.size(); j++)
+ cout << " " << RinexObsHeader::convertObsType(otlist[j]);
+ else cout << " ALL";
+ }
+ cout << endl;
+ }
+
+ if(otlist.size() == 0) {
+ cout << " Nothing to do.\n";
+ continue; //return -1;
+ }
+
+ // dump the column headers
+ if(!AllNumeric) {
+ // figure out widths
+ DayTime Now;
+ string ts;
+ ts = "# Time (" + outputFormat + ")";
+ int n = ts.size() - Now.printf(outputFormat).size();
+ if(n < 0) rightpad = leftJustify(string(""),-n-1);
+ else leftpad = leftJustify(string(""),n);
+ cout << ts;
+
+ if(DumpPos) cout << " NSVs X(m) Y(m) Z(m)"
+ << " Clk(m) PDOP GDOP RMS(m)";
+ else {
+ cout << " Sat";
+ for(j=0; j<otlist.size(); j++) cout << " "
+ << RinexObsHeader::convertObsType(otlist[j]) << " L S";
+ }
+ cout << endl;
+ }
+
+ cout << fixed;
+ while(RinFile >> obsdata) {
+ RinexObsData::RinexSatMap::const_iterator it;
+ RinexObsData::RinexObsTypeMap::const_iterator jt;
+
+ // if dumping regular data, skip auxiliary header, etc
+ if(!DumpPos && obsdata.epochFlag != 0 && obsdata.epochFlag != 1)
+ continue;
+
+ // dump position data
+ if(DumpPos && obsdata.epochFlag == 4) {
+ // loop over comments in the header data
+ X=Y=Z=T=pdop=gdop=rms=N=string();
+ for(j=0,i=0; i<obsdata.auxHeader.commentList.size(); i++) {
+ line = stripTrailing(obsdata.auxHeader.commentList[i],
+ string("COMMENT"),1);
+ word = stripFirstWord(line);
+ if(word == "XYZT") {
+ X = stripFirstWord(line);
+ Y = stripFirstWord(line);
+ Z = stripFirstWord(line);
+ T = stripFirstWord(line);
+ j++;
+ }
+ else if(word == "DIAG") {
+ N = stripFirstWord(line);
+ pdop = stripFirstWord(line);
+ gdop = stripFirstWord(line);
+ rms = stripFirstWord(line);
+ j++;
+ }
+ else { // ignore
+ }
+ }
+
+ // print it
+ if(j==2) cout << leftpad << obsdata.time.printf(outputFormat) << rightpad
+ << setw(4) << N
+ << setprecision(3)
+ << " " << setw(13) << X
+ << " " << setw(13) << Y
+ << " " << setw(13) << Z
+ << " " << setw(13) << T
+ << " " << setw(5) << pdop
+ << " " << setw(5) << gdop
+ << " " << setw(9) << rms
+ << endl;
+
+ } // end if dumping position data
+
+ if(DumpPos) continue;
+
+ // loop over satellites
+ for(it=obsdata.obs.begin(); it != obsdata.obs.end(); ++it) {
+ // convert to RinexSatID to get the fill character
+ RinexSatID sat = it->first;
+ if(!DumpAll && !DumpAllSat && index(satlist, sat) == -1) continue;
+ // loop over obs
+ ok = false; // set true only when data exists to output
+ for(j=0; j<otlist.size(); j++) {
+ if((jt=it->second.find(otlist[j])) == it->second.end()) {
+ cout << " " << setw(13) << setprecision(3)
+ << 0.0 << " " << 0 << " " << 0;
+ }
+ else {
+ if(!ok) { // output a line
+ // time tag
+ cout << leftpad << obsdata.time.printf(outputFormat) << rightpad;
+ // satellite
+ cout << " ";
+ if(AllNumeric)
+ cout << setw(3) << sat.id;
+ else
+ cout << sat;
+ ok = true;
+ }
+ cout << " " << setw(13) << setprecision(3) << jt->second.data
+ << " " << jt->second.lli << " " << jt->second.ssi;
+ }
+ }
+ if(ok) cout << endl;
+ } // end loop over satellites
+ } // end loop over obs data in file
+
+ RinFile.close();
+ } // end loop over input files
+
+ return 0;
+}
+catch(FFStreamError& e) { cout << e; }
+catch(Exception& e) { cout << e; }
+catch (...) { cout << "unknown error. Done." << endl; }
+ return -1;
+} // main()
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/Rinextools/RinexEditor.cpp b/dev/apps/Rinextools/RinexEditor.cpp
new file mode 100644
index 0000000..7c1108f
--- /dev/null
+++ b/dev/apps/Rinextools/RinexEditor.cpp
@@ -0,0 +1,1467 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file RinexEditor.cpp
+ * Edit Rinex observation files.
+ * class REditCmd encapsulates commands passed to the Rinex Editor
+ */
+
+//------------------------------------------------------------------------------------
+// TD Do better at catching exceptions
+
+//------------------------------------------------------------------------------------
+#include <vector>
+#include <algorithm>
+#include <time.h>
+#include <stdlib.h> // for mkstemp
+#include <iostream>
+
+#include "RinexEditor.hpp"
+
+#include "MathBase.hpp"
+#include "StringUtils.hpp"
+#include "RinexObsStream.hpp"
+#include "RinexUtilities.hpp"
+
+using namespace std;
+using namespace gpstk;
+using namespace StringUtils;
+
+//------------------------------------------------------------------------------------
+string RinexEditVersion; // see below in Initialize()
+std::map<REditCmd::TYPE, std::string> REditCmd::typeLabel;
+
+//------------------------------------------------------------------------------------
+// Initialize
+REditCmd::Initialize REditCmdInitializer;
+
+REditCmd::Initialize::Initialize()
+{
+ RinexEditVersion = string("3.5 6/21/2007");
+
+ typeLabel[INVALID] = string("INVALID");
+ typeLabel[IF] = string("IF");
+ typeLabel[OF] = string("OF");
+ typeLabel[ID] = string("ID");
+ typeLabel[OD] = string("OD");
+ typeLabel[HD] = string("HD");
+ typeLabel[TN] = string("TN");
+ typeLabel[TB] = string("TB");
+ typeLabel[TE] = string("TE");
+ typeLabel[TT] = string("TT");
+ typeLabel[AO] = string("AO");
+ typeLabel[DA] = string("DA");
+ typeLabel[DO] = string("DO");
+ typeLabel[DS] = string("DS");
+ typeLabel[DD] = string("DD");
+ typeLabel[SD] = string("SD");
+ typeLabel[SS] = string("SS");
+ typeLabel[SL] = string("SL");
+ typeLabel[BD] = string("BD");
+ typeLabel[BS] = string("BS");
+ typeLabel[BL] = string("BL");
+ typeLabel[BZ] = string("BZ");
+}
+
+//------------------------------------------------------------------------------------
+// find the index of first occurance of item t (of type T) in vector<T> v;
+// i.e. v[index]=t Return -1 if t is not found.
+template<class T> int index(const std::vector<T> v, const T& t)
+{
+ for(int i=0; i<v.size(); i++) {
+ if(v[i] == t) return i;
+ }
+ return -1;
+}
+
+//------------------------------------------------------------------------------------
+string RinexEditor::getRinexEditVersion(void) { return RinexEditVersion; }
+
+//------------------------------------------------------------------------------------
+// REditCmd member functions
+//------------------------------------------------------------------------------------
+// constructor from a string, pass by value to avoid changing original
+REditCmd::REditCmd(string s, ostream *oflog) throw(Exception)
+{
+try {
+ type = INVALID;
+
+ // ignore leading '-'s
+ while(s.size() && (s[0]=='-' || (s[0]==' '||s[0]=='\t'))) s.erase(0,1);
+ if(s.size() < 2) return;
+
+ // separate type and the rest
+ string tag=s.substr(0,2);
+ field = s.substr(2,s.size()-2);
+
+ // first identify the type
+ map<TYPE,string>::const_iterator it;
+ for(it=typeLabel.begin(); it != typeLabel.end(); it++) {
+ if(tag == it->second) { type = it->first; break; }
+ }
+
+ // defaults
+ bias = -99.99;
+ SV = RinexSatID(33,SatID::systemGPS);
+ sign = 0;
+ inOT = -1;
+ time = DayTime::BEGINNING_OF_TIME;
+
+ // bail if invalid
+ if(type==INVALID) return;
+
+ // BZ needs nothing more
+ if(type==BZ) return;
+
+ // break field into subfields
+ if(field.size() == 0) { type = INVALID; return; }
+ vector<string> subfield;
+ string::size_type pos;
+ while(field.size() > 0) {
+ pos = field.find(",");
+ if(pos==string::npos) pos=field.size();
+ if(pos==0) subfield.push_back(" ");
+ else subfield.push_back(field.substr(0,pos));
+ if(pos >= field.size()) break;
+ field.erase(0,pos+1);
+ };
+
+ // TN just needs time spacing
+ if(type==TN) {
+ bias = asDouble(subfield[0]);
+ // validate?
+ return;
+ }
+
+ // TT just needs delta time
+ if(type==TT) {
+ bias = asDouble(subfield[0]);
+ // validate?
+ return;
+ }
+
+ // get (optional) sign
+ if(type==DA || type==DS || type==DD || type==SL || type==BD) {
+ if(subfield[0][0]=='+') { sign=+1; subfield[0].erase(0,1); }
+ if(subfield[0][0]=='-') { sign=-1; subfield[0].erase(0,1); }
+ }
+
+ // field = filename, OT, or header info
+ if(type==IF || type==OF || type==ID || type==OD || type==HD
+ || type==AO || type==DO) {
+ field = subfield[0];
+ if(type==HD) { // inOT = int(first character)
+ char c=field[0];
+ inOT = int(toupper(c));
+ if(inOT!='F' && inOT!='P' && inOT!='R' && inOT!='O' && inOT!='A' &&
+ inOT!='M' && inOT!='N' && inOT!='C' && inOT!='D' && inOT!='X')
+ { type=INVALID; return; }
+ if(inOT == 'X') {
+ if(subfield.size() < 3) { type=INVALID; return; }
+ field += ";" + subfield[1] + ";" + subfield[2];
+ }
+ field.erase(0,1);
+ }
+ if(type!=OF || subfield.size()==1) return;
+ subfield.erase(subfield.begin());
+ }
+ else field = string(" ");
+
+ // get an SV
+ if(type >= DS) {
+ SV.fromString(subfield[0]);
+ //if(REDebug) *oflog << "REC: PRN is " << SV << endl;
+
+ // allow all commands from DS on to have SV = (system,-1)
+ // where id==-1 means 'all SV of this system'
+ //if((type==DS || type==SL) && SV.id == -1) ; // ok
+ //else if(SV.system == SatID::systemGPS && (SV.id<=0 || SV.id>32))
+ // { type=INVALID; return; }
+ if(type==DS && subfield.size()==1) return;
+ subfield.erase(subfield.begin());
+ }
+
+ // get an OT
+ if(type >= DD) {
+ field = subfield[0];
+ // TD have a bool valid(string) function or bool valid(RinexObsType)
+ RinexObsHeader::RinexObsType rot=RinexObsHeader::convertObsType(field);
+ if(rot.type==string("UN")) { type=INVALID; return; }
+ //if(REDebug) *oflog << "REC: processed OT is " << rot.type << endl;
+ subfield.erase(subfield.begin());
+ }
+
+ // get a time
+ if(subfield.size()==2 || subfield.size()==3) {
+ time.setGPSfullweek(asInt(subfield[0]), asDouble(subfield[1]));
+ }
+ if(subfield.size()==6 || subfield.size()==7) {
+ time.setYMDHMS(asInt(subfield[0]), asInt(subfield[1]),
+ asInt(subfield[2]), asInt(subfield[3]),
+ asInt(subfield[4]), asDouble(subfield[5]));
+ }
+ //if(REDebug) *oflog << "REC: time is "
+ //<< time.printf("%4Y/%2m/%2d %2H:%2M:%.4f") << endl;
+ // test validity?
+
+ // bias
+ if(type >= SD) {
+ //if(REDebug) *oflog << "REC: bias field is " << subfield.back() << endl;
+ bias = asDouble(subfield.back().c_str());
+ //if(REDebug) *oflog << "REC: bias is " << bias << endl;
+ }
+
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+} // end REditCmd::REditCmd(string)
+
+//------------------------------------------------------------------------------------
+REditCmd::~REditCmd(void)
+{
+}
+
+//------------------------------------------------------------------------------------
+void REditCmd::Dump(ostream& os, string msg) throw(Exception)
+{
+try {
+ if(msg.size()) os << msg;
+ os << " type=" << typeLabel[type] << ", sign=" << sign << ", SV="
+ << SV.toString()
+ << ", inOT=" << inOT
+ << ", field=" << field
+ << ", bias=" << fixed << setprecision(3) << bias
+ << ", time = " << time.printf("%4Y/%2m/%2d %2H:%2M:%.4f") << endl;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// RinexEditor member functions
+//------------------------------------------------------------------------------------
+RinexEditor::RinexEditor(void)
+{
+ Decimate = 0.0;
+ TimeTol = 0.001;
+ BegTime = DayTime::BEGINNING_OF_TIME;
+ EndTime = DayTime::END_OF_TIME;
+ REVerbose = REDebug = BiasZeroData = FillOptionalHeader = HDDeleteOldComments
+ = false;
+ Skip = false;
+ IVLast = IVInterval = IVTable = false;
+ for(int i=0; i<9; i++) ndt[i]=-1;
+ oflog = &cout;
+}
+
+//------------------------------------------------------------------------------------
+RinexEditor::~RinexEditor(void)
+{
+ Cmds.erase(Cmds.begin(),Cmds.end());
+ OneTimeCmds.erase(OneTimeCmds.begin(),OneTimeCmds.end());
+ CurrentCmds.erase(CurrentCmds.begin(),CurrentCmds.end());
+}
+
+//------------------------------------------------------------------------------------
+// Return 0 ok, -1 no input file name, -2 no output file name
+int RinexEditor::ParseCommands(void) throw(Exception)
+{
+try {
+ bool flag;
+ int i,iret=0;
+ // first scan command list for BZ,HDf,TN,TT,TB,TE,IF,OF,ID,OD
+ for(i=0; i<Cmds.size(); i++) {
+ if(REDebug) Cmds[i].Dump(*oflog,string("parse this command"));
+ switch(Cmds[i].type) {
+ case REditCmd::TN:
+ Decimate = Cmds[i].bias;
+ IVInterval = true;
+ //if(REDebug) Cmds[i].Dump(*oflog,string("set TN with this cmd"));
+ Cmds[i].type = REditCmd::INVALID;
+ break;
+ case REditCmd::TT:
+ TimeTol = Cmds[i].bias;
+ if(REDebug) Cmds[i].Dump(*oflog,string("set TT with this cmd"));
+ Cmds[i].type = REditCmd::INVALID;
+ break;
+ case REditCmd::TB:
+ BegTime = Cmds[i].time;
+ IVTable = true;
+ //if(REDebug) Cmds[i].Dump(*oflog,string("set TB with this cmd"));
+ Cmds[i].type = REditCmd::INVALID;
+ break;
+ case REditCmd::TE:
+ EndTime = Cmds[i].time;
+ IVLast = IVTable = true;
+ //if(REDebug) Cmds[i].Dump(*oflog,string("set TE with this cmd"));
+ Cmds[i].type = REditCmd::INVALID;
+ break;
+ case REditCmd::IF:
+ //InputFile = Cmds[i].field;
+ Inputfiles.push_back(Cmds[i].field);
+ //if(REDebug) Cmds[i].Dump(*oflog,string("set IF with this cmd"));
+ Cmds[i].type = REditCmd::INVALID;
+ break;
+ case REditCmd::OF:
+ if(Cmds[i].time == DayTime::BEGINNING_OF_TIME) {
+ OutputFile = Cmds[i].field;
+ //if(REDebug) Cmds[i].Dump(*oflog,string("set OF with this cmd"));
+ Cmds[i].type = REditCmd::INVALID;
+ }
+ break;
+ case REditCmd::ID:
+ InputDir = Cmds[i].field;
+ //if(REDebug) Cmds[i].Dump(*oflog,string("set ID with this cmd"));
+ Cmds[i].type = REditCmd::INVALID;
+ break;
+ case REditCmd::OD:
+ OutputDir = Cmds[i].field;
+ //if(REDebug) Cmds[i].Dump(*oflog,string("set OD with this cmd"));
+ Cmds[i].type = REditCmd::INVALID;
+ break;
+ case REditCmd::BZ:
+ BiasZeroData = true;
+ //if(REDebug) Cmds[i].Dump(*oflog,string("set BZ with this cmd"));
+ Cmds[i].type = REditCmd::INVALID;
+ break;
+ case REditCmd::HD:
+ flag = true;
+ switch(Cmds[i].inOT) {
+ case int('F'): FillOptionalHeader=true; break;
+ case int('D'): HDDeleteOldComments=true; break;
+ case int('P'): HDProgram=Cmds[i].field; break;
+ case int('X'): HDPosition=Cmds[i].field; break;
+ case int('R'): HDRunBy=Cmds[i].field; break;
+ case int('O'): HDObserver=Cmds[i].field; break;
+ case int('A'): HDAgency=Cmds[i].field; break;
+ case int('M'): HDMarker=Cmds[i].field; break;
+ case int('N'): HDNumber=Cmds[i].field; break;
+ case int('C'): HDComments.push_back(Cmds[i].field); break;
+ default: flag=false; break;
+ }
+ if(flag) {
+ if(REDebug) Cmds[i].Dump(*oflog,string("set HD rec with this cmd"));
+ Cmds[i].type = REditCmd::INVALID;
+ }
+ break;
+ default: break;
+ }
+ }
+
+ // require an input file name
+ if(Inputfiles.size() == 0) iret -= 1;
+ // sort on begin time (header) and add path
+ else {
+ if(Inputfiles.size() > 1)
+ sortRinexObsFiles(Inputfiles);
+ if(!InputDir.empty()) {
+ for(i=0; i<Inputfiles.size(); i++) {
+ InputFile = InputDir + string("/") + Inputfiles[i];
+ Inputfiles[i] = InputFile;
+ }
+ }
+ }
+
+ // now iterate over the list in reverse, deleting INVALID commands.
+ deque<REditCmd>::iterator jt,it=Cmds.begin();
+ while(it != Cmds.end()) {
+ if(it->type == REditCmd::INVALID) {
+ //if(REDebug) it->Dump(*oflog,string("Erase this INVALID command:"));
+ it = Cmds.erase(it);
+ }
+ else it++;
+ }
+
+ // sort on time
+ sort(Cmds.begin(),Cmds.end(),REditCmdLessThan());
+
+ // iterate over the command list, make sure first OF command has no time tag
+ it = Cmds.begin();
+ if(OutputFile.empty()) {
+ while(it != Cmds.end()) {
+ if(it->type==REditCmd::OF) {
+ if(OutputFile.empty()) {
+ OutputFile = it->field;
+ //if(REDebug) it->Dump(*oflog,string("Let this command set begin time"));
+ BegTime = it->time;
+ it->time = DayTime::BEGINNING_OF_TIME;
+ }
+ }
+ else { IVLast=true; break; }
+ it++;
+ }
+ }
+ if(OutputFile.empty()) { // error
+ iret -= 2;
+ }
+ else if(!OutputDir.empty()) OutputFile = OutputDir + string("/") + OutputFile;
+
+ if(iret) return iret;
+
+ // iterate again, ensure that - commands have corresponding +
+ deque<REditCmd> newCmds;
+ it = Cmds.begin();
+ while(it != Cmds.end()) {
+ if(it->sign == -1) {
+ if(REDebug) it->Dump(*oflog,string("This one needs a +"));
+ flag=false;
+ if(it != Cmds.begin()) {
+ jt = it;
+ bool last=((--jt)==Cmds.begin());
+ while(1) {
+ if(jt->type==it->type && jt->SV==it->SV && jt->field==it->field) {
+ if(REDebug) jt->Dump(*oflog,string("Is this the one ?"));
+ flag = true;
+ break;
+ }
+ if(last) break;
+ last = (--jt==Cmds.begin());
+ }
+ }
+ if(!flag) {
+ REditCmd re(*it);
+ re.sign = 1;
+ re.time = BegTime;
+ newCmds.push_back(re);
+ if(REDebug) re.Dump(*oflog,string("Add this new command:"));
+ }
+ }
+ it++;
+ }
+
+ // add new commands and sort again
+ it = newCmds.begin();
+ while(it != newCmds.end()) {
+ if(REDebug) it->Dump(*oflog,string("this is a new command:"));
+ Cmds.push_back(*it);
+ it++;
+ }
+ sort(Cmds.begin(),Cmds.end(),REditCmdLessThan());
+
+ if(REDebug)
+ for(it=Cmds.begin(); it != Cmds.end(); it++)
+ it->Dump(*oflog,string("final"));
+
+ // have to set the IVTable flag...
+ if(!IVTable) for(it=Cmds.begin(); it != Cmds.end(); it++) {
+ if(it->type==REditCmd::DS || it->type==REditCmd::DA || it->type==REditCmd::DS ||
+ it->type==REditCmd::DO || it->type==REditCmd::AO || it->type==REditCmd::DD)
+ { IVTable = true; break; }
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// leading -'s are ok
+void RinexEditor::AddCommand(string cmd) throw(Exception)
+{
+try {
+ REditCmd r(cmd,oflog);
+ if(r.valid()) Cmds.push_back(r);
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Adds valid commands to C and removes from args; leading -'s are ok
+void RinexEditor::AddCommandLine(vector<string>& args) throw(Exception)
+{
+try {
+ if(args.size()==0) return;
+ //if(REDebug) *oflog << "\nBefore stripping RE cmds, there are (" << args.size()
+ //<< ") tokens." << endl;
+
+ // ver 3.3 preprocess args to allow new-style input, e.g. --IF <file>
+ // e.g. --HD f; --HDp <program> or --HD p<program>; --DS +...; or --DS+ ...
+ static vector<string> CommandLineLabels;
+ if(CommandLineLabels.size() == 0) {
+ for(map<REditCmd::TYPE,string>::iterator jt=REditCmd::typeLabel.begin();
+ jt!=REditCmd::typeLabel.end();
+ jt++)
+ CommandLineLabels.push_back("--" + jt->second);
+ CommandLineLabels.push_back("--HDp");
+ CommandLineLabels.push_back("--HDr");
+ CommandLineLabels.push_back("--HDo");
+ CommandLineLabels.push_back("--HDa");
+ CommandLineLabels.push_back("--HDx");
+ CommandLineLabels.push_back("--HDm");
+ CommandLineLabels.push_back("--HDn");
+ CommandLineLabels.push_back("--HDc");
+ CommandLineLabels.push_back("--DA+");
+ CommandLineLabels.push_back("--DA-");
+ CommandLineLabels.push_back("--DS+");
+ CommandLineLabels.push_back("--DS-");
+ CommandLineLabels.push_back("--DD+");
+ CommandLineLabels.push_back("--DD-");
+ CommandLineLabels.push_back("--SL+");
+ CommandLineLabels.push_back("--SL-");
+ CommandLineLabels.push_back("--BD+");
+ CommandLineLabels.push_back("--BD-");
+ }
+
+ vector<string>::iterator it=args.begin();
+ while(it != args.end()) {
+ string str(*it);
+ if(str == string("--HDf")) *it = "-HDf";
+ else if(str == string("--HDdc")) *it = "-HDdc";
+ else if(str == string("--BZ")) *it = "-BZ";
+ else if(index(CommandLineLabels,str) != -1) {
+ it = args.erase(it);
+ if(it == args.end()) break;
+ str.erase(0,1);
+ str += *it;
+ *it = str;
+ }
+ it++;
+ }
+
+ // process args
+ it = args.begin();
+ while(it != args.end()) {
+ REditCmd r(*it,oflog);
+ if(r.valid()) {
+ Cmds.push_back(r); //if(REDebug) *oflog << "Erase command " << *it << endl;
+ it = args.erase(it);
+ }
+ else {
+ //if(REDebug) *oflog << "Its not an RE command: " << *it << endl;
+ it++;
+ }
+ }
+ //if(REDebug) *oflog << "\nAfter stripping RE cmds, tokens (" << args.size()
+ //<< ") are:" << endl;
+ //if(REDebug) for(unsigned int j=0; j<args.size(); j++) *oflog << args[j] << endl;
+ //if(REDebug) *oflog << "End of RE cmds, tokens" << endl;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// NB does not fill optional records, even when -HDf (EditObs will).
+int RinexEditor::EditHeader(RinexObsHeader& RHInput, RinexObsHeader& RHOutput)
+ throw(Exception)
+{
+try {
+ // save the input header
+ RHIn = RHOutput = RHInput;
+ // get the obstypes
+ ObsTypes = RHInput.obsTypeList;
+ // iterate over the list (in reverse), applying, then deleting, AO, DO
+ // and DS<SV> commands
+ deque<REditCmd>::iterator it=Cmds.begin();
+ while(it != Cmds.end()) {
+ if(it->type==REditCmd::AO || it->type==REditCmd::DO) {
+ //if(REDebug) it->Dump(*oflog,string("Apply and Erase this AO/DO command:"));
+ RinexObsHeader::RinexObsType rot=RinexObsHeader::convertObsType(it->field);
+ vector<RinexObsHeader::RinexObsType>::iterator jt;
+ jt = find(ObsTypes.begin(),ObsTypes.end(),rot);
+ if(jt != ObsTypes.end() && it->type==REditCmd::DO) {
+ ObsTypes.erase(jt);
+ }
+ if(jt == ObsTypes.end() && it->type==REditCmd::AO) {
+ ObsTypes.push_back(rot);
+ }
+ it = Cmds.erase(it);
+ }
+ else if(it->type==REditCmd::DS
+ && it->time==DayTime::BEGINNING_OF_TIME) {
+ //if(REDebug) it->Dump(*oflog,string("Apply and Erase this DS command:"));
+ if(index(DelSV,it->SV) == -1) DelSV.push_back(it->SV);
+ it = Cmds.erase(it);
+ }
+ else it++;
+ }
+
+ RHOutput.obsTypeList = ObsTypes;
+
+ // fill records in output header
+ DayTime currtime;
+ time_t timer;
+ struct tm *tblock;
+ timer = time(NULL);
+ tblock = localtime(&timer);
+ currtime.setYMDHMS(1900+tblock->tm_year,1+tblock->tm_mon,
+ tblock->tm_mday,tblock->tm_hour,tblock->tm_min,tblock->tm_sec);
+ RHOutput.date = currtime.printf("%04Y/%02m/%02d %02H:%02M:%02S");
+ { // figure out system -- anything else will be up to caller
+ bool gps=true,glo=true,tra=true,geo=true;
+ if(find(DelSV.begin(),DelSV.end(),RinexSatID(-1,SatID::systemGPS))
+ != DelSV.end()) gps=false;
+ if(find(DelSV.begin(),DelSV.end(),RinexSatID(-1,SatID::systemGlonass))
+ != DelSV.end()) glo=false;
+ if(find(DelSV.begin(),DelSV.end(),RinexSatID(-1,SatID::systemTransit))
+ != DelSV.end()) tra=false;
+ if(find(DelSV.begin(),DelSV.end(),RinexSatID(-1,SatID::systemGeosync))
+ != DelSV.end()) geo=false;
+ if(!glo && !tra && !geo) RHOutput.system.system = RinexSatID::systemGPS;
+ if(!gps && !tra && !geo) RHOutput.system.system = RinexSatID::systemGlonass;
+ if(!gps && !glo && !geo) RHOutput.system.system = RinexSatID::systemTransit;
+ if(!gps && !glo && !tra) RHOutput.system.system = RinexSatID::systemGeosync;
+ }
+ if(HDDeleteOldComments) {
+ RHOutput.commentList.clear();
+ RHOutput.valid ^= RinexObsHeader::commentValid;
+ }
+ if(!HDProgram.empty()) RHOutput.fileProgram = HDProgram;
+ if(!HDPosition.empty() && numWords(HDPosition,';') >= 3) {
+ double x = asDouble(stripFirstWord(HDPosition,';'));
+ double y = asDouble(stripFirstWord(HDPosition,';'));
+ double z = asDouble(stripFirstWord(HDPosition,';'));
+ RHOutput.antennaPosition = Triple(x,y,z);
+ }
+ if(!HDRunBy.empty()) RHOutput.fileAgency = HDRunBy;
+ if(!HDObserver.empty()) RHOutput.observer = HDObserver;
+ if(!HDAgency.empty()) RHOutput.agency = HDAgency;
+ if(!HDMarker.empty()) RHOutput.markerName = HDMarker;
+ if(!HDNumber.empty()) {
+ RHOutput.markerNumber = HDNumber;
+ RHOutput.valid |= RinexObsHeader::markerNumberValid;
+ }
+ if(HDComments.size()) RHOutput.commentList.insert(RHOutput.commentList.end(),
+ HDComments.begin(),HDComments.end());
+ RHOutput.commentList.push_back(string("Edited by GPSTK Rinex Editor ver ") +
+ RinexEditVersion+string(" on ") + RHOutput.date);
+ RHOutput.valid |= RinexObsHeader::commentValid;
+
+ // invalidate header records
+ if(IVTable && (RHOutput.valid & RinexObsHeader::numSatsValid))
+ RHOutput.valid ^= RinexObsHeader::numSatsValid;
+ if(IVTable && (RHOutput.valid & RinexObsHeader::prnObsValid))
+ RHOutput.valid ^= RinexObsHeader::prnObsValid;
+ if(IVLast && (RHOutput.valid & RinexObsHeader::lastTimeValid))
+ RHOutput.valid ^= RinexObsHeader::lastTimeValid;
+ if(IVInterval && (RHOutput.valid & RinexObsHeader::intervalValid))
+ RHOutput.valid ^= RinexObsHeader::intervalValid;
+
+ RHOut = RHOutput; // save this header; if(FillOptionalHeader) mod RHOut in EditObs
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// will fill header (after writing) when -HDf found.
+// Return -2 error
+// -1 time limit exceeded
+// 0 DO NOT write the output obs ROOut
+// 1 DO NOT write the output obs ROOut, but close and re-open the output file
+// 2 DO write the output obs ROOut
+// 3 DO write the output obs ROOut, but first close and re-open output file
+int RinexEditor::EditObs(RinexObsData& ROIn, RinexObsData& ROOut) throw(Exception)
+{
+try {
+ // check that stored input header is valid...but do only once!
+ //if(!RHIn.valid() || !RHOut.valid()) return -2;
+ bool NewFile=false;
+
+ // test time limits
+ // TD some comment blocks have blank epochs...
+ if(ROIn.time-BegTime < -TimeTol) return 0;
+ if(ROIn.time-EndTime > TimeTol) return -1;
+
+ // when embedded comments found, just copy and go on
+ if(ROIn.epochFlag != 0 && ROIn.epochFlag != 1) {
+ ROOut = ROIn;
+ return 2;
+ }
+
+ // decimate the data
+ if(Decimate > 0.0) {
+ // if BegTime is unset, make it the first of the week
+ if(BegTime == DayTime::BEGINNING_OF_TIME)
+ BegTime.setGPSfullweek(ROIn.time.GPSfullweek(),0.0);
+ double dt=fabs(ROIn.time - BegTime);
+ dt -= Decimate*long(0.5+dt/Decimate);
+ if(fabs(dt) > TimeTol) return 0;
+ }
+
+ // scan command list, updating current, onetime command lists,
+ // delete-SV list, Skip, NewFile
+ // delete the command after processing it
+ double dt;
+ while(Cmds.size() > 0) {
+ dt = Cmds[0].time - ROIn.time;
+ if(dt < -TimeTol || fabs(dt) < TimeTol) { // commands in present and past
+ if(REDebug) Cmds[0].Dump(*oflog,
+ Cmds[0].time.printf("%4Y/%2m/%2d %2H:%2M:%.4f")
+ + string(": Process (now) : "));
+ switch(Cmds[0].type) {
+ case REditCmd::DA:
+ if(Cmds[0].sign > 0) Skip=true;
+ if(Cmds[0].sign < 0) Skip=false;
+ break;
+ case REditCmd::OF:
+ OutputFile = Cmds[0].field;
+ if(!OutputDir.empty()) OutputFile = OutputDir + string("/")
+ + OutputFile;
+ NewFile = true;
+ break;
+ case REditCmd::DS:
+ if(Cmds[0].sign > 0 && index(DelSV,Cmds[0].SV) == -1)
+ DelSV.push_back(Cmds[0].SV);
+ if(Cmds[0].sign < 0) {
+ if(find(DelSV.begin(),DelSV.end(),Cmds[0].SV) != DelSV.end())
+ DelSV.erase(find(DelSV.begin(),DelSV.end(),Cmds[0].SV));
+ }
+ if(Cmds[0].sign == 0 && fabs(dt) < TimeTol)
+ OneTimeCmds.push_back(Cmds[0]);
+ if(Cmds[0].sign != 0 && REDebug) {
+ *oflog << "DS: DelSV is";
+ for(int itemp=0; itemp<DelSV.size(); itemp++)
+ *oflog << " " << DelSV[itemp];
+ *oflog << endl;
+ }
+ break;
+ case REditCmd::DD:
+ case REditCmd::SS:
+ case REditCmd::SL:
+ case REditCmd::SD:
+ case REditCmd::BD:
+ case REditCmd::BS:
+ case REditCmd::BL:
+ if(Cmds[0].sign > 0)
+ CurrentCmds.push_back(Cmds[0]);
+ if(Cmds[0].sign < 0) {
+ vector<REditCmd>::iterator it;
+ it = find(CurrentCmds.begin(), CurrentCmds.end(),Cmds[0]);
+ if(it != CurrentCmds.end()) CurrentCmds.erase(it);
+ }
+ if(Cmds[0].sign == 0 && fabs(dt) < TimeTol)
+ OneTimeCmds.push_back(Cmds[0]);
+ break;
+ default:
+ if(REDebug) Cmds[0].Dump(*oflog,
+ Cmds[0].time.printf("%4Y/%2m/%2d %2H:%2M:%.4f")
+ + string(": This command not implemented! : "));
+ break;
+ } // end switch(type)
+
+ // delete this command
+ if(REDebug) Cmds[0].Dump(*oflog,
+ Cmds[0].time.printf("%4Y/%2m/%2d %2H:%2M:%.4f")
+ + string(": Delete (old) : "));
+ Cmds.pop_front();
+ }
+ else break; // this command (and all others) is in future
+ }
+
+ // clear out anything old
+ ROOut.obs.clear();
+
+ // if not writing out, return here
+ if(Skip && !NewFile) return 0;
+ if(Skip && NewFile) return 1;
+
+ // copy data over to new obs structure
+ RinexObsData::RinexDatum datum; // place holder and zero
+ datum.data = 0.0;
+ datum.lli = datum.ssi = 0;
+ RinexObsData::RinexObsTypeMap otmap; // place holder for ROOut.obs.second
+
+ for(int j=0; j<RHOut.obsTypeList.size(); j++) // loop over obstypes (out) in otmap
+ otmap.insert(std::map<RinexObsHeader::RinexObsType,
+ RinexObsData::RinexDatum>::value_type(RHOut.obsTypeList[j],datum) );
+
+ // loop over prns, create otmap and then insert it with the correct sat
+ int nsvs=0;
+ RinexObsData::RinexSatMap::iterator it;
+ RinexObsData::RinexObsTypeMap::iterator jt,kt;
+ for(it=ROIn.obs.begin(); it != ROIn.obs.end(); ++it) {
+ // loop over prn=it->first, ObsTypeMap=it->second
+ if(find(DelSV.begin(),DelSV.end(),it->first) != DelSV.end()) {
+ if(REDebug) *oflog << "Deleted sat " << it->first
+ << " at " << ROIn.time << endl;
+ continue;
+ }
+ RinexSatID p(-1,it->first.system);
+ if(find(DelSV.begin(),DelSV.end(),p) != DelSV.end()) continue;
+ for(int j=0; j<RHOut.obsTypeList.size(); j++) { // loop over obstypes
+ jt = otmap.find(RHOut.obsTypeList[j]); // jt points to ObsTypeMap output
+ kt = it->second.find(RHOut.obsTypeList[j]); // kt points to ObsTypeMap input
+ if(kt==it->second.end()) // not found
+ jt->second = datum;
+ else
+ jt->second = kt->second;
+ }
+ // TD should test for all zero data -> delete this SV.
+ ROOut.obs.insert(std::map<SatID,
+ RinexObsData::RinexObsTypeMap>::value_type(it->first,otmap) );
+ } // end loop over sats
+
+ ROOut.time = ROIn.time;
+ if(!NewFile) {
+ PrevEpoch = CurrEpoch;
+ CurrEpoch = ROOut.time;
+ }
+ ROOut.clockOffset = ROIn.clockOffset;
+ ROOut.epochFlag = ROIn.epochFlag;
+
+ // apply current commands
+ vector<REditCmd>::iterator cit; // iterator for commands
+ for(cit=CurrentCmds.begin(); cit != CurrentCmds.end(); cit++) {
+ if(REDebug) cit->Dump(*oflog,string("Current : "));
+ // for SV=system only, start at beginning, else start with command SV
+ for(it = ROOut.obs.begin(); it != ROOut.obs.end(); it++) {
+ // skip if the sat is not a match
+ if(cit->SV.system != it->first.system ||
+ (cit->SV.id > -1 && cit->SV.id != it->first.id)) continue;
+ // find the command obs type in the data
+ jt = it->second.find(RinexObsHeader::convertObsType(cit->field));
+ // if its there, edit it
+ if(jt != it->second.end()) {
+ if(cit->type == REditCmd::DD) jt->second.data = 0.0;
+ if(cit->type == REditCmd::SS) jt->second.ssi =
+ (int(cit->bias) < 0 ? 0 : (int(cit->bias) > 9 ? 9 : int(cit->bias)));
+ if(cit->type == REditCmd::SL) jt->second.lli = int(cit->bias);
+ (int(cit->bias) < 0 ? 0 : (int(cit->bias) > 9 ? 9 : int(cit->bias)));
+ if(cit->type == REditCmd::BD) {
+ if(BiasZeroData || fabs(jt->second.data) > 0.001)
+ jt->second.data += cit->bias;
+ }
+ if(cit->type == REditCmd::BS) {
+ jt->second.ssi += int(cit->bias);
+ if(jt->second.ssi < 0) jt->second.ssi = 0;
+ if(jt->second.ssi > 9) jt->second.ssi = 9;
+ }
+ if(cit->type == REditCmd::BL) {
+ jt->second.lli += int(cit->bias);
+ if(jt->second.lli < 0) jt->second.lli = 0;
+ if(jt->second.lli > 9) jt->second.lli = 9;
+ }
+ }
+ } // end loop over satellites
+ } // end loop over current commands
+
+ // apply one-time commands .. iterate in reverse so you can erase as you go
+ vector<REditCmd>::reverse_iterator irt;
+ RinexObsData::RinexSatMap::reverse_iterator roit; // reverse iterator for obs data
+ for(irt=OneTimeCmds.rbegin(); irt != OneTimeCmds.rend(); irt++) {
+ if(REDebug) irt->Dump(*oflog,string("1-time : "));
+ // for SV=system only, start at beginning, else start with command SV
+ for(roit = ROOut.obs.rbegin(); roit != ROOut.obs.rend(); ) {
+ // skip if not a match
+ if(irt->SV.system != roit->first.system ||
+ (irt->SV.id > -1 && irt->SV.id != roit->first.id)) { roit++; continue; }
+ // DS : delete SV altogether
+ if(irt->type == REditCmd::DS) ROOut.obs.erase(roit->first);
+ else {
+ // find the command obs type in the data
+ jt=roit->second.find(RinexObsHeader::convertObsType(irt->field));
+ if(jt != roit->second.end()) {
+ if(irt->type == REditCmd::DD) jt->second.data = 0.0;
+ if(irt->type == REditCmd::SD) jt->second.data = irt->bias;
+ if(irt->type == REditCmd::SS)
+ (int(irt->bias) < 0 ? 0 : (int(irt->bias) > 9 ? 9 : int(irt->bias)));
+ if(irt->type == REditCmd::SL)
+ (int(irt->bias) < 0 ? 0 : (int(irt->bias) > 9 ? 9 : int(irt->bias)));
+ if(irt->type == REditCmd::BD) {
+ if(BiasZeroData || fabs(jt->second.data) > 0.001)
+ jt->second.data += irt->bias;
+ }
+ if(irt->type == REditCmd::BS) {
+ jt->second.ssi += int(irt->bias);
+ if(jt->second.ssi < 0) jt->second.ssi = 0;
+ if(jt->second.ssi > 9) jt->second.ssi = 9;
+ }
+ if(irt->type == REditCmd::BL) {
+ jt->second.lli += int(irt->bias);
+ if(jt->second.lli < 0) jt->second.lli = 0;
+ if(jt->second.lli > 9) jt->second.lli = 9;
+ }
+ }
+ roit++;
+ }
+ } // end loop over satellites
+
+ // delete this command
+ OneTimeCmds.pop_back();
+ } // end loop over one-time commands
+
+ ROOut.numSvs = ROOut.obs.size();
+
+ // update estimate of dt
+ if(FillOptionalHeader) {
+ if(PrevEpoch.year() != 1) {
+ dt = CurrEpoch-PrevEpoch;
+ for(int i=0; i<9; i++) {
+ if(ndt[i] <= 0) { bestdt[i]=dt; ndt[i]=1; break; }
+ if(fabs(dt-bestdt[i]) < 0.0001) { ndt[i]++; break; }
+ if(i == 8) {
+ int k = 0;
+ int nleast=ndt[k];
+ for(int j=1; j<9; j++) if(ndt[j] <= nleast) {
+ k=j; nleast=ndt[j];
+ }
+ ndt[k]=1; bestdt[k]=dt;
+ }
+ }
+ }
+ }
+
+ if(NewFile) return 3;
+ return 2;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// use remove(newname) to delete it
+string GetTempFileName(void) throw(Exception)
+{
+try {
+#ifdef _MSC_VER
+ char newname[L_tmpnam];
+ if(!tmpnam(newname)) {
+#else
+ char newname[]="RETemp.XXXXXX";
+ if(mkstemp(newname)==-1) {
+#endif
+ return string("");
+ }
+ return string(newname);
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// assumes TempFile has been written with RHOut, and info is in config
+// Return 0 or -1 if could not open/delete files
+int RinexEditor::FillHeaderAndReplaceFile(string& TempFile, string& TrueOutputFile)
+ throw(Exception)
+{
+try {
+ int i,j;
+ // compute interval
+ for(i=1,j=0; i<9; i++) if(ndt[i]>ndt[j]) j=i;
+ double dt = bestdt[j];
+ // modify the header
+ RHOut.version = 2.1; RHOut.valid |= RinexObsHeader::versionValid;
+ RHOut.interval = dt; RHOut.valid |= RinexObsHeader::intervalValid;
+ RHOut.lastObs = CurrEpoch; RHOut.valid |= RinexObsHeader::lastTimeValid;
+ // now the table
+ RHOut.numSVs = table.size(); RHOut.valid |= RinexObsHeader::numSatsValid;
+ RHOut.numObsForSat.clear();
+ vector<TableData>::iterator tit;
+ for(tit=table.begin(); tit!=table.end(); ++tit) {
+ RHOut.numObsForSat.insert(map<SatID,
+ vector<int> >::value_type(tit->prn,tit->nobs));
+ }
+ RHOut.valid |= RinexObsHeader::prnObsValid;
+
+ // callback
+ i = BeforeWritingFilledHeader(RHOut);
+ if(i) return -2;
+
+ // here you need to validate the RHOut header
+
+ // now re-open the file and replace the header
+ RinexObsHeader rhjunk;
+ RinexObsStream ROutStr(TrueOutputFile.c_str(), ios::out);
+ RinexObsStream InAgain(TempFile.c_str());
+ InAgain.exceptions(ios::failbit);
+
+ InAgain >> rhjunk;
+ ROutStr << RHOut;
+
+ RinexObsData robs;
+ while(InAgain >> robs) {
+ if(robs.time < BegTime) continue;
+ if(robs.time > EndTime) break;
+ ROutStr << robs;
+ }
+ InAgain.close();
+ ROutStr.close();
+
+ // delete the temporary
+ if(remove(TempFile.c_str()) != 0) {
+ *oflog << "Error: Could not remove existing temp file: " << TempFile << endl;
+ return -1;
+ }
+ else if(REVerbose) *oflog << "Removed temporary file " << TempFile << endl;
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
+// Return -1 failed to open file
+// -2 failed to read input file correctly (includes file not an obs file)
+// -4 failed to fill header and replace original file
+// -5 could not create temporary file
+// -6 callback to BeforeEditHeader returned error
+// -7 callback to AfterEditHeader returned error
+// -8 callback to BeforeEditObs returned error
+// -9 callback to BeforeWritingHeader returned error
+// -10 callback to BeforeWritingObs returned error
+// will replace header after filling using temp file
+int RinexEditor::EditFile(void) throw(Exception)
+{
+try {
+ int iret,Noutput;
+ RinexObsHeader rhin,rhout;
+ RinexObsData roin,roout;
+ string TrueOutputFile,TempFile;
+ RinexObsStream ROFin;
+ RinexObsStream ROFout;
+
+ if(REVerbose) *oflog << "EditFile: Reading " << Inputfiles.size()
+ << " input files, and Writing " << OutputFile << endl;
+
+ // --------------------------------------------------------------
+ // loop over input files
+ for(int nfile=0; nfile < Inputfiles.size(); nfile++) {
+ InputFile = Inputfiles[nfile];
+
+ // --------------------------------------------------------------
+ // open input file
+ ROFin.open(InputFile.c_str(), ios::in);
+ if(!ROFin) {
+ if(REVerbose) *oflog << "RinexEditor::EditFile could not open input file "
+ << InputFile << endl;
+ cerr << "RinexEditor::EditFile could not open input file " << InputFile << endl;
+ if(REVerbose) *oflog << "RinexEditor::EditFile could not open input file "
+ << InputFile << endl;
+ return -1;
+ }
+ ROFin.exceptions(ios::failbit);
+ if(REDebug) *oflog << "Opened input file " << InputFile << endl;
+
+ // --------------------------------------------------------------
+ // read header
+ try {
+ ROFin >> rhin;
+ }
+ catch(gpstk::FFStreamError& e) {
+ cerr << "Caught an FFStreamError while reading header:\n" << e.getText(0)
+ << endl;
+ if(REVerbose) *oflog << "Caught an FFStreamError while reading header:\n"
+ << e.getText(0) << endl;
+ return -2;
+ }
+ catch(gpstk::Exception& e) {
+ cerr << "Caught an exception while reading header:\n" << e.getText(0) << endl;
+ if(REVerbose) *oflog << "Caught an exception while reading header:\n"
+ << e.getText(0) << endl;
+ return -2;
+ }
+ if(REDebug) *oflog << "Read input header" << endl;
+
+ // dump header
+ if(REVerbose) {
+ *oflog << "Input header:\n";
+ rhin.dump(*oflog);
+ }
+
+ // --------------------------------------------------------------
+ // Edit header and open output file - do this only once
+ if(nfile == 0) {
+ // callback before editing input header
+ iret = BeforeEditHeader(rhin);
+ if(iret) return -6;
+
+ // edit header
+ EditHeader(rhin,rhout);
+ if(REVerbose) *oflog << "Edit header done" << endl;
+
+ // callback after calling EditHeader (pass output header)
+ iret = AfterEditHeader(rhout);
+ if(iret) return -7;
+
+ // -----------------------------------------------------------
+ // if header is to be filled, write to a temporary file
+ TrueOutputFile = OutputFile;
+ if(FillOptionalHeader) {
+ OutputFile = GetTempFileName();
+ if(OutputFile.empty()) {
+ cerr << "Could not create temporary file name - abort\n";
+ if(REVerbose) *oflog << "Could not create temporary file name - abort\n";
+ return -5;
+ }
+ // some OSs create the file when you get the name...
+ remove(OutputFile.c_str());
+ if(!OutputDir.empty()) OutputFile = OutputDir + string("/") + OutputFile;
+ TempFile = OutputFile;
+ }
+
+ // -----------------------------------------------------------
+ // open output file
+ ROFout.open(OutputFile.c_str(), ios::out);
+ if(!ROFout) {
+ cerr << "RinexEditor::EditFile could not open output file "
+ << OutputFile << endl;
+ if(REVerbose) *oflog << "RinexEditor::EditFile could not open output file "
+ << OutputFile << endl;
+ return -1;
+ }
+
+ ROFout.exceptions(ios::failbit);
+ Noutput = 0;
+
+ } // end if this is the first input file
+
+ // --------------------------------------------------------------
+ // loop over epochs, reading input and writing to output
+ while (1) {
+
+ // read next observation epoch
+ try {
+ ROFin >> roin;
+ }
+ catch(gpstk::FFStreamError& e) {
+ cerr << "RinexEditor::EditFile caught an FFStreamError while reading obs:\n"
+ << e << endl;
+ if(REVerbose) *oflog
+ << "RinexEditor::EditFile caught an FFStreamError while reading obs:\n"
+ << e << endl;
+ return -2;
+ }
+ catch(gpstk::Exception& e) {
+ cerr << "RinexEditor::EditFile caught an exception while reading obs:\n"
+ << e << endl;
+ if(REVerbose) *oflog
+ << "RinexEditor::EditFile caught an exception while reading obs:\n"
+ << e << endl;
+ return -2;
+ }
+
+ // was read successful?
+ if(!ROFin) { // no
+ if(REVerbose) *oflog << "Reached EOF on " << InputFile << endl;
+ if(nfile == Inputfiles.size()-1) iret = -1;
+ else break;
+ }
+ else { // yes, edit the obs data
+ if(REDebug) {
+ *oflog << "Epoch: " << roin.time << ", Flag " << roin.epochFlag
+ << ", clk " << roin.clockOffset << endl;
+ roin.dump(*oflog);
+ }
+
+ // callback after reading input obs
+ // and before calling EditObs (pass input obs)
+ iret = BeforeEditObs(roin);
+ if(iret) { iret=-8; break; }
+
+ iret = EditObs(roin,roout);
+ // Return -2 error
+ // -1 time limit reached
+ // 0 DO NOT write the output obs ROOut
+ // 1 DO NOT write the output obs ROOut,
+ // but close and re-open the output file
+ // 2 DO write the output obs ROOut
+ // 3 DO write the output obs ROOut,
+ // but first close and re-open the output file
+ if(REDebug) {
+ *oflog << "EditObs returned " << iret << endl;
+ roout.dump(*oflog);
+ }
+ }
+
+ if(iret == -2) break; // error => abort
+
+ if(iret == -1 || iret == 1 || iret == 3) { // new output file
+ // close this output file
+ ROFout.close();
+ // fill the optional header records
+ if(FillOptionalHeader) {
+ if(Noutput > 0) {
+ if(FillHeaderAndReplaceFile(TempFile,TrueOutputFile) != 0) {
+ cerr << "Failed to fill header and replace file - abort\n";
+ if(REVerbose)
+ *oflog << "Failed to fill header and replace file - abort\n";
+ return -4;
+ }
+ else if(REVerbose) *oflog << "Added header to " << TempFile
+ << " and put in " << TrueOutputFile << endl;
+ }
+
+ if(iret != -1) { // not EOF => going on to another file
+ TrueOutputFile = OutputFile;
+ OutputFile = GetTempFileName();
+ if(OutputFile.empty()) {
+ cerr << "Could not create temporary file name - abort\n";
+ if(REVerbose)
+ *oflog << "Could not create temporary file name - abort\n";
+ return -5;
+ }
+ // some OSs create the file when you get the name...
+ remove(OutputFile.c_str());
+ if(!OutputDir.empty())
+ OutputFile = OutputDir + string("/") + OutputFile;
+ TempFile = OutputFile;
+ if(REVerbose) *oflog << "New temp file is " << TempFile
+ << ", and true output file is " << TrueOutputFile << endl;
+ }
+
+ } // end if FillOptionalHeader
+ else {
+ TrueOutputFile = OutputFile;
+ }
+
+ if(iret == -1) { // quit
+ if(REVerbose)
+ *oflog << "Finished processing obs file " << InputFile << endl;
+ iret = 0;
+ break;
+ }
+
+ // open the new output file
+ ROFout.open(OutputFile.c_str(), ios::out);
+ Noutput = 0;
+ if(REVerbose) *oflog << "New output file " << TrueOutputFile
+ << " (really " << OutputFile << ") at time " << roin.time << endl;
+
+ } // end if new output file
+
+ // write to output
+ if(iret > 1) { // not EOF nor error
+ if(Noutput == 0) {
+ rhout.firstObs = roout.time;
+ // callback before writing out header (pass output header)
+ iret = BeforeWritingHeader(rhout);
+ if(iret) return -9;
+
+ ROFout << rhout;
+ if(REVerbose) {
+ *oflog << "Dump output header (iret is " << iret << "):\n";
+ rhout.dump(*oflog);
+ }
+ // prepare for next file
+ RHOut = rhout;
+ table.clear();
+ for(int i=0; i<9; i++) ndt[i]=-1;
+ }
+
+ // callback just before writing output obs (pass reference to output obs)
+ // return value of BeforeWritingObs determines what is written:
+ // if return <0 abort
+ // 0 write nothing
+ // 1 write the obs data structure (note that the caller may set
+ // roout.epochFlag to determine what is output : 0,1 are data,
+ // while 2,3,4 or 5, is for in-line header auxHeader only)
+ // >1 write BOTH header data (in auxHeader, setting
+ // epochFlag=return) AND obs data
+ roout.auxHeader.clear();
+ iret = BeforeWritingObs(roout);
+ if(iret < 0) return -10;
+ if(iret > 1) { // write auxiliary header info first
+ int flag=roout.epochFlag, nsvs=roout.numSvs;
+ roout.epochFlag = iret;
+ roout.numSvs = roout.auxHeader.NumberHeaderRecordsToBeWritten();
+ // write out the header records
+ ROFout << roout;
+ Noutput++;
+ // prepare to write obs
+ roout.epochFlag = flag;
+ roout.numSvs = nsvs;
+ }
+
+ // add count of valid obs to table for header
+ // -- have to do it here b/c BeforeWritingObs has just filled it
+ if(FillOptionalHeader) {
+ int k,n=RHOut.obsTypeList.size();
+ RinexObsData::RinexSatMap::const_iterator pit;
+ RinexObsData::RinexObsTypeMap::const_iterator pjt;
+ for(pit=roout.obs.begin(); pit != roout.obs.end(); ++pit) {
+ vector<TableData>::iterator ptab;
+ ptab = find(table.begin(),table.end(),TableData(pit->first,n));
+ if(ptab == table.end()) {
+ table.push_back(TableData(pit->first,n));
+ ptab = find(table.begin(),table.end(),TableData(pit->first,n));
+ }
+ for(pjt=pit->second.begin(); pjt!=pit->second.end(); pjt++) {
+ for(k=0; k<n; k++) if(RHOut.obsTypeList[k] == pjt->first) break;
+ if(pjt->second.data != 0.0) ptab->nobs[k]++;
+ }
+ }
+ }
+
+ // now write out the obs
+ if(REDebug) {
+ *oflog << "Write this obs to output:\n";
+ roout.dump(*oflog);
+ }
+ ROFout << roout;
+ Noutput++;
+ }
+
+ } // end while loop over epochs
+
+ if(REDebug) *oflog << "Close input file" << endl;
+ ROFin.clear();
+ ROFin.close();
+
+ } // end loop over input file names
+
+ return iret;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+vector<string> RinexEditor::CommandList(void) throw(Exception)
+{
+try {
+ string str,comma(",");
+ vector<string> strs;
+ deque<REditCmd>::iterator jt;
+
+ for(jt=Cmds.begin(); jt != Cmds.end(); jt++) {
+ str = REditCmd::typeLabel[jt->type]
+ + comma + (jt->sign < 0 ? string("-1") :
+ (jt->sign > 0 ? string("1") : string("0")))
+ + comma + jt->SV.toString()
+ + comma + asString(jt->inOT)
+ + comma + jt->field
+ + comma + asString(jt->bias,3)
+ + comma + jt->time.printf("%4Y/%02m/%02d,%02H:%02M:%.4f")
+ ;
+ strs.push_back(str);
+ }
+
+ return strs;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void DisplayRinexEditUsage(ostream& os) throw()
+{
+ os <<
+" Rinex Editor commands:\n"
+" ===================================================================================\n"
+" Commands consist of an identifier and a comma-delimited data field; they may be\n"
+" separated by space(s) '--id <data>' (two minuses) or not '-id<data>' (one minus).\n"
+" Examples are '--IF myFile' or '-IFmyFile'; '--HDc msg' or '--HD cmsg' or '-HDcmsg';\n"
+" --BZ or -BZ; '--DD +<SV,OT,t>' or '--DD+ <SV,OT,t>' or '-DD+<SV,OT,t>'.\n"
+" The data field contains no whitespace and sub-fields are comma-delimited.\n"
+" <SV> is a RINEX 'system & id' identifier, e.g. G27 (= GPS PRN 27);\n"
+" satellite system alone denotes 'all satellites this system', e.g. 'R' (GLONASS).\n"
+" <OT> is a RINEX observation type, e.g. L1 or P2, and is case sensitive.\n"
+" <time> is either <GPSweek,GPSsecOfWeek> or <year,mon,day,hour,min,second>.\n"
+"\n"
+" File I/O:\n"
+" ---------\n"
+" -IF<file> Input RINEX observation file name [may be repeated] (required)\n"
+" -ID<dir> Directory in which to find input file\n"
+" -OF<file> Output RINEX file name (required, or -OF<file>,<time>)\n"
+" -OF<f>,<time> At RINEX epoch <time>, close output file and open another named <f>\n"
+" -OD<dir> Directory in which to put output file(s)\n"
+"\n"
+" Output RINEX header:\n"
+" --------------------\n"
+" -HDf If present, fill optional records in the output RINEX header\n"
+//" (NB EditObs() and EditFile() will do this, but NOT EditHeader().)\n"
+" -HDp<program> Set output RINEX header 'program' field\n"
+" -HDr<run_by> Set output RINEX header 'run by' field\n"
+" -HDo<observer> Set output RINEX header 'observer' field\n"
+" -HDa<agency> Set output RINEX header 'agency' field\n"
+" -HDx<x,y,z> Set output RINEX header 'position' field to ECEF position (x,y,z)\n"
+" -HDm<marker> Set output RINEX header 'marker' field\n"
+" -HDn<number> Set output RINEX header 'number' field\n"
+" -HDc<comment> Add comment to output RINEX header (more than one allowed).\n"
+" -HDdc Delete all comments in output RINEX header\n"
+" (NB -HDdc cannot delete comments created by *subsequent* -HDc commands)\n"
+"\n"
+" Output RINEX observation types (also see 'Specific edit commands' below):\n"
+" -------------------------------------------------------------------------\n"
+" -AO<OT> Add observation type OT to header and observation data\n"
+" -DO<OT> Delete observation type OT entirely (including in header)\n"
+"\n"
+" Time-related edit commands:\n"
+" ---------------------------\n"
+" -TB<time> Begin time: reject data before this time (also used for decimation)\n"
+" -TE<time> End time: reject data after this time\n"
+" -TT<dt> Tolerance in comparing times, in seconds (default=1ms)\n"
+" -TN<dt> Decimate data to epochs = Begin + integer*dt (within tolerance)\n"
+"\n"
+" Specific edit commands:\n"
+" -----------------------\n"
+" (Generally each '+' command (e.g DA+<time>) has a corresponding '-' command,\n"
+" and vice-versa; if not, end-of-file or beginning-of-file is assumed.\n"
+" Note that one-time commands are applied AFTER other commands of the same type.)\n"
+"\n"
+" Delete commands:\n"
+" -DA+<time> Delete all data beginning at this time\n"
+" -DA-<time> Stop deleting data at this time\n"
+" -DO<OT> Delete observation type OT entirely (including in header)\n"
+" -DS<SV> Delete all data for satellite SV entirely (SV may be system only)\n"
+" -DS<SV>,<time> Delete all data for satellite SV at this single time only\n"
+" -DS+<SV>,<time> Delete all data for satellite SV beginning at this time\n"
+" -DS-<SV>,<time> Stop deleting all data for satellite SV at this time\n"
+" -DD<SV,OT,t> Delete a single RINEX datum(SV,OT,t) at time <t>\n"
+" -DD+<SV,OT,t> Delete all (SV,OT) data, beginning at time <t>\n"
+" -DD-<SV,OT,t> Stop deleting all (SV,OT) data at time <t>\n"
+" (NB deleting data for one OT means setting it to zero - as RINEX requires)\n"
+"\n"
+" Set commands:\n"
+" -SD<SV,OT,t,d> Set data(SV,OT,t) to <d> at time <t>\n"
+" -SS<SV,OT,t,s> Set ssi(SV,OT,t) to <s> at time <t>\n"
+" -SL+<SV,OT,t,l> Set all lli(SV,OT,t) to <l> at time <t>\n"
+" -SL-<SV,OT,t,l> Stop setting lli(SV,OT,t) to <l> at time <t> (',<l>' is optional)\n"
+" -SL<SV,OT,t,l> Set lli(SV,OT,t) to <l> at the single time <t> only\n"
+"\n"
+" Bias commands:\n"
+" (NB. BD commands apply only when data is non-zero, unless -BZ appears)\n"
+" -BZ Apply BD commands even when data is zero (i.e. 'missing')\n"
+" -BD<SV,OT,t,d> Add the value of <d> to data(SV,OT,t) at time <t>\n"
+" -BD+<SV,OT,t,d> Add value <d> to data(SV,OT) beginning at time <t>\n"
+" -BD-<SV,OT,t,d> Stop adding <d> to data(SV,OT) at time <t> (',<d>' optional)\n"
+" -BS<SV,OT,t,s> Add the value of <s> to ssi(SV,OT,t) at time <t>\n"
+" -BL<SV,OT,t,l> Add the value of <l> to lli(SV,OT,t) at time <t>\n"
+"\n End of Rinex Editor commands.\n"
+" ===================================================================================\n"
+ ;
+ os << endl;
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/Rinextools/RinexEditor.hpp b/dev/apps/Rinextools/RinexEditor.hpp
new file mode 100644
index 0000000..b92a96d
--- /dev/null
+++ b/dev/apps/Rinextools/RinexEditor.hpp
@@ -0,0 +1,317 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file RinexEditor.hpp
+ * Edit Rinex observation files.
+ */
+
+#ifndef RINEX_EDITING_COMMANDS_INCLUDE
+#define RINEX_EDITING_COMMANDS_INCLUDE
+
+//------------------------------------------------------------------------------------
+#include "Exception.hpp"
+#include "RinexObsBase.hpp"
+#include "RinexObsData.hpp"
+#include "RinexObsHeader.hpp"
+#include "DayTime.hpp"
+#include "RinexSatID.hpp"
+
+#include <fstream>
+#include <string>
+#include <vector>
+#include <deque>
+
+//------------------------------------------------------------------------------------
+namespace gpstk {
+
+ /** @addtogroup rinexutils */
+ //@{
+
+ // forward declarations
+class RinexEditor;
+class REditCmdLessThan;
+class TableData;
+class TablePRNLessThan;
+
+//------------------------------------------------------------------------------------
+/// Class REditCmd encapsulates commands passed to the Rinex Editor
+/// (class RinexEditor).
+class REditCmd {
+ friend class RinexEditor;
+ friend class REditCmdLessThan;
+ friend bool operator==(const REditCmd& x, const REditCmd& y);
+private:
+ /// The command types: input file, output file, etc.
+ enum TYPE {
+ //(order matters)
+ INVALID=0,IF,OF,ID,OD,HD,TN,TB,TE,TT,AO,DA,DO,DS,DD,SD,SS,SL,BD,BS,BL,BZ
+ };
+ /// The type of this command
+ TYPE type;
+ /// Satellite identifier for data to which this command will apply.
+ RinexSatID SV;
+ /// Time associated with this command.
+ DayTime time;
+ /// Sign associated with this command.
+ int sign;
+ /// String associated with this command.
+ std::string field;
+ /// integer associated with this command.
+ int inOT;
+ /// bias associated with this command.
+ double bias;
+ /// map giving label as a string for each command type
+ static std::map<TYPE, std::string> typeLabel;
+
+public:
+ /// Default constructor (type is set INVALID).
+ REditCmd(void) { type=INVALID; }
+ /// Destructor
+ ~REditCmd(void);
+ /// Constructor from a string which contains the editing command.
+ REditCmd(std::string s, std::ostream *oflog=&std::cout) throw(Exception);
+ /// Is this a valid command?
+ inline bool valid(void) throw() { return (type!=INVALID); }
+ /// Print the command on an ostream, with an optional message.
+ void Dump(std::ostream& os, std::string msg) throw(Exception);
+
+ class Initialize {
+ public: Initialize();
+ };
+ static Initialize REditCmdInitializer;
+};
+
+ /// operator==(REditCmd), defined so algorithm find() can be used to find
+ /// the "-" companion to "+" commands.
+inline bool operator==(const REditCmd& x, const REditCmd& y)
+ { return (x.type == y.type &&
+ x.SV == y.SV &&
+ //x.time == y.time &&
+ x.sign == -y.sign && // note the -
+ x.field == y.field &&
+ //x.bias == y.bias &&
+ x.inOT == y.inOT); }
+
+/// class REditCmdLessThan, for use with algorithm sort().
+class REditCmdLessThan {
+public:
+ /// return true if c1 is less than c2.
+ bool operator()(const REditCmd& c1, const REditCmd& c2)
+ { return c1.time < c2.time; }
+};
+
+//------------------------------------------------------------------------------------
+/// class RinexEditor encapsulates the process of editing a Rinex observation dataset
+/// (header and observations), including the editing commands that have been input
+/// from the user.
+class RinexEditor {
+private:
+ /// all input files
+ std::vector<std::string> Inputfiles;
+ /// input and output file names.
+ std::string InputFile,OutputFile;
+ /// directories for the input and output files.
+ std::string InputDir,OutputDir;
+ /// start and stop times, for windowing the data.
+ DayTime BegTime,EndTime;
+ /// tolerance to be used in comparing time tags.
+ double TimeTol;
+ /// time step interval if the data is to be decimated.
+ double Decimate;
+ /// flag to indicate how to handle data with value 'zero'.
+ bool BiasZeroData;
+ /// flag used when data is omitted from output
+ bool Skip;
+ /// vector of Rinex observation types in header.
+ std::vector<RinexObsHeader::RinexObsType> ObsTypes;
+ /// vector of satellites to be deleted.
+ std::vector<RinexSatID> DelSV;
+ /// input and output Rinex headers.
+ RinexObsHeader RHIn,RHOut;
+ /// flag for editing the Rinex header.
+ bool FillOptionalHeader,HDDeleteOldComments;
+ /// flags indicating validity of optional records in the input header.
+ bool IVLast,IVInterval,IVTable;
+ /// content of the PROGRAM header record.
+ std::string HDProgram;
+ /// content of the RUN BY header record.
+ std::string HDRunBy;
+ /// content of the OBSERVER header record.
+ std::string HDObserver;
+ /// content of the AGENCY header record.
+ std::string HDAgency;
+ /// content of the POSITION header record, in the form 'x,y,z'
+ std::string HDPosition;
+ /// content of the MARKER header record.
+ std::string HDMarker;
+ /// content of the NUMBER header record.
+ std::string HDNumber;
+ /// comments in the Rinex header.
+ std::vector<std::string> HDComments;
+ /// times for computing start and stop times, to go in the Rinex header.
+ DayTime CurrEpoch,PrevEpoch;
+ /// an integer array for computing the time interval, to go in the Rinex header.
+ int ndt[9];
+ /// a double array for computing the time interval, to go in the Rinex header.
+ double bestdt[9];
+ /// storage for the PRN/OBS table, to go in the Rinex header.
+ std::vector<TableData> table;
+
+ /// Rinex Editing commands that will have to be saved.
+ std::deque<REditCmd> Cmds;
+ /// Rinex Editing commands for use during processing.
+ std::vector<REditCmd> OneTimeCmds;
+ /// Rinex Editing commands for use in the current timestep.
+ std::vector<REditCmd> CurrentCmds;
+
+public:
+ /// flag to control debugging and analysis output.
+ bool REVerbose,REDebug;
+ /// the output log file stream.
+ std::ostream *oflog;
+
+ /// Default constructor. NB. Do not instantiate a RinexEditor outside of
+ /// main(), as static initialization order on some OSs (Solaris) mean that
+ /// DayTime::END_OF_TIME may not be defined at that point.
+ RinexEditor(void);
+ /// Destructor
+ virtual ~RinexEditor(void);
+ /// return string giving the editor version
+ std::string getRinexEditVersion(void);
+ /// pretty print configuration
+ std::ostream& operator<<(const std::ostream& os);
+ /// Add the Rinex Editing command structures to the user's command line.
+ void AddCommandLine(std::vector<std::string>& args) throw(Exception);
+ /// Add a Rinex Editing command to this Editor.
+ void AddCommand(std::string cmd) throw(Exception);
+ /// Parse the command line for Rinex Editing commands.
+ int ParseCommands(void) throw(Exception);
+ /// Edit the input header to produce the output header.
+ int EditHeader(RinexObsHeader& RHIn, RinexObsHeader& RHOut) throw(Exception);
+ /// Edit the input observation to produce the output observation.
+ int EditObs(RinexObsData& ROIn, RinexObsData& ROOut) throw(Exception);
+ /// Edit a Rinex observation file, using the stored Rinex Editing commands.
+ int EditFile(void) throw(Exception);
+ /// used to add optional records to the header.
+ int FillHeaderAndReplaceFile(std::string& TempFile,std::string& TrueOutputFile)
+ throw(Exception);
+
+ /// This function is called after reading input header and before
+ /// calling EditHeader (pass input header).
+ virtual int BeforeEditHeader(const RinexObsHeader& rhin) throw(Exception)
+ { return 0; }
+
+ /// This function is called after calling EditHeader (pass it the output header).
+ virtual int AfterEditHeader(const RinexObsHeader& rhout) throw(Exception)
+ { return 0; }
+
+ /// This function is called after reading the input observation and before
+ /// calling EditObs (pass it the input observation).
+ virtual int BeforeEditObs(const RinexObsData& roin) throw(Exception)
+ { return 0; }
+
+ /// This function is called before writing out the header (pass it
+ /// the output header).
+ virtual int BeforeWritingHeader(RinexObsHeader& rhout) throw(Exception)
+ { return 0; }
+
+ /// This function is called before writing out the header that has been
+ /// filled with optional records
+ virtual int BeforeWritingFilledHeader(RinexObsHeader& rhout) throw(Exception)
+ { return 0; }
+
+ /** Callback, just before writing output obs (pass output obs)
+ * Return value of BeforeWritingObs determines what is written:
+ * if return <0 write nothing and abort
+ * 0 write nothing
+ * 1 write the obs data roout ONLY (note that the caller may set
+ * roout.epochFlag to determine what is output : 0,1 are data,
+ * while 2,3,4 or 5, are for in-line header (roout.auxHeader)
+ * only -- see the Rinex or RinexObsData documentation)
+ * >1 write BOTH header data (in roout.auxHeader), first setting
+ * roout.epochFlag = the return value), AND the obs data
+ * in roout, using the original value of roout.epochFlag
+ */
+ virtual int BeforeWritingObs(RinexObsData& roout) throw(Exception)
+ { return 0; }
+
+ /// member access of the decimation time interval.
+ double Decimation(void) { return Decimate; }
+ /// member access of the time comparison tolerance.
+ double Tolerance(void) { return TimeTol; }
+ /// member access of the start time.
+ DayTime BeginTimeLimit(void) { return BegTime; }
+ /// member access of the end time.
+ DayTime EndTimeLimit(void) { return EndTime; }
+ /// member access of the input file name.
+ std::string InputFileName(void) { return InputFile; }
+ /// member access of the output file name.
+ std::string OutputFileName(void) { return OutputFile; }
+ /// member access input directory.
+ std::string InputDirectory(void) { return InputDir; }
+ /// member access output directory.
+ std::string OutputDirectory(void) { return OutputDir; }
+ /// member access command list, return vector of strings, each with
+ /// comma-delimited fields: type,sign,sat,inOT,field,bias,time
+ /// e.g. AO,0,G33,-1,SZ,-99.990,-4713/01/01,00:00:0.0000
+ /// IF,0,G33,-1,usno2930.06o.df,-99.990,-4713/01/01,00:00:0.0000
+ /// HD,0,G33,80,ResCor v.3.7 ,-99.990,-4713/01/01,00:00:0.0000
+ std::vector<std::string> CommandList(void) throw(Exception);
+
+}; // end class RinexEditor
+
+//------------------------------------------------------------------------------------
+/// class TableData is used to store the information in the PRN/Obs table in the
+/// Rinex observation header.
+class TableData { // class used to store PRN/Obs table
+public:
+ /// satellite identifier.
+ RinexSatID prn;
+ /// vector of the number of observations, parallel to the obs types in the header.
+ std::vector<int> nobs;
+ /// constructor, given a satellite id and the number of observation types.
+ TableData(const RinexSatID& p, const int& n) { prn=p; nobs=std::vector<int>(n); };
+ /// operator==(), needed for find() (compares prn only).
+ inline bool operator==(const TableData& d) {return d.prn == prn;}
+};
+
+/// class define for use with sort(TableData).
+class TablePRNLessThan {
+public:
+ /// return true is d1 is less than d2 (compares prn only).
+ bool operator()(const TableData& d1, const TableData& d2)
+ { return d1.prn < d2.prn; }
+};
+
+ //@}
+
+} // end namespace gpstk
+
+//------------------------------------------------------------------------------------
+/// Pretty print the Rinex Editing command syntax, for use by the calling program.
+void DisplayRinexEditUsage(std::ostream& os) throw();
+
+//------------------------------------------------------------------------------------
+#endif // nothing below this
diff --git a/trunk/apps/bindings/DayTime.i b/dev/apps/bindings/DayTime.i
similarity index 100%
rename from trunk/apps/bindings/DayTime.i
rename to dev/apps/bindings/DayTime.i
diff --git a/trunk/apps/bindings/Exception.i b/dev/apps/bindings/Exception.i
similarity index 100%
rename from trunk/apps/bindings/Exception.i
rename to dev/apps/bindings/Exception.i
diff --git a/trunk/apps/bindings/FFTextStream.i b/dev/apps/bindings/FFTextStream.i
similarity index 100%
rename from trunk/apps/bindings/FFTextStream.i
rename to dev/apps/bindings/FFTextStream.i
diff --git a/trunk/apps/bindings/GPSZcount.i b/dev/apps/bindings/GPSZcount.i
similarity index 100%
rename from trunk/apps/bindings/GPSZcount.i
rename to dev/apps/bindings/GPSZcount.i
diff --git a/trunk/apps/bindings/README b/dev/apps/bindings/README
similarity index 100%
rename from trunk/apps/bindings/README
rename to dev/apps/bindings/README
diff --git a/trunk/apps/bindings/RinexObsStream.i b/dev/apps/bindings/RinexObsStream.i
similarity index 100%
rename from trunk/apps/bindings/RinexObsStream.i
rename to dev/apps/bindings/RinexObsStream.i
diff --git a/trunk/apps/bindings/common.i b/dev/apps/bindings/common.i
similarity index 100%
rename from trunk/apps/bindings/common.i
rename to dev/apps/bindings/common.i
diff --git a/trunk/apps/bindings/gpstk.i b/dev/apps/bindings/gpstk.i
similarity index 100%
rename from trunk/apps/bindings/gpstk.i
rename to dev/apps/bindings/gpstk.i
diff --git a/dev/apps/bindings/java/Makefile b/dev/apps/bindings/java/Makefile
new file mode 100644
index 0000000..8930ca2
--- /dev/null
+++ b/dev/apps/bindings/java/Makefile
@@ -0,0 +1,51 @@
+#
+# $Id$
+#
+# This simple makefile builds a Java interface to the GPSTk from code
+# generated the SWIG utility (http://www.swig.org/).
+#
+#
+# What you do need:
+# - A C/C++ compiler.
+# - Development kit for Java
+# - The sed utility
+# - the swig utility
+#
+# Not all GPSTk functionality is present in these bindings.
+# Two reasons: First, this is a work in progress and should be considered
+# incomplete. Second, not all of the GPSTk's functionality _can_ be mapped
+# into other languages such as Java.
+#
+# Examples of usage of this interface are in the examples subdirectory.
+#
+# Reminder for later: $@ is target, $< is rhs, $^ is rhs
+
+all : libgpstk.so
+
+gpstk_wrap.cxx: ../gpstk.i ../common.i ../Exception.i ../GPSZcount.i \
+ ../DayTime.i
+ swig -java -c++ -noexcept -I.. gpstk.i
+
+gpstk_wrap_mod.cxx: gpstk_wrap.cxx
+ sed 's/DayTime.hpp\"/DayTime.hpp\"\nusing namespace gpstk;/' gpstk_wrap.cxx > gpstk_wrap_mod.cxx
+
+gpstk_wrap_mod.o: gpstk_wrap_mod.cxx
+ g++ -fPIC -c gpstk_wrap_mod.cxx -I.. \
+ -I/usr/local/jdk1.5.0_01/include \
+ -I/usr/local/jdk1.5.0_01/include/linux
+
+libgpstk.so: gpstk_wrap_mod.o
+ g++ -shared gpstk_wrap_mod.o -o libgpstk.so -lgpstk
+
+clean:
+ rm *.class
+ rm *.java
+ rm *_wrap*
+ rm *gpstk*.so
+
+
+
+
+
+
+
diff --git a/trunk/apps/bindings/java/examples/example1.java b/dev/apps/bindings/java/examples/example1.java
similarity index 100%
rename from trunk/apps/bindings/java/examples/example1.java
rename to dev/apps/bindings/java/examples/example1.java
diff --git a/dev/apps/bindings/octave/Makefile b/dev/apps/bindings/octave/Makefile
new file mode 100644
index 0000000..180ffd3
--- /dev/null
+++ b/dev/apps/bindings/octave/Makefile
@@ -0,0 +1,29 @@
+#
+# $Id$
+#
+# To use these routines the GPSTk shared library either needs to be
+# installed as a system shared library, or the environment variable
+# LD_LIBRARY_PATH needs to set to the directory where the shared
+# library file resides
+#
+
+all : readRinexObsFast.oct readRinexObsGeom.oct \
+ calculatePosition.oct
+
+readRinexObsFast.oct: readRinexObsFast.cpp
+ $(make_oct)
+
+readRinexObsGeom.oct: readRinexObsGeom.cpp
+ $(make_oct)
+
+calculatePosition.oct: calculatePosition.cpp
+ $(make_oct)
+
+define make_oct
+ @echo "making oct file: $@"
+ @echo "mkoctfile $(CXXFLAGS) -o $@ $^ $(LDLIBS)"
+ mkoctfile -I../src -L../src -lgpstk -o $@ $^ $(LDLIBS)
+ chmod 755 $@
+ for file in $^ ; do $(RM) $$file.o ; done
+endef
+
diff --git a/trunk/apps/bindings/octave/calculatePosition.cpp b/dev/apps/bindings/octave/calculatePosition.cpp
similarity index 100%
rename from trunk/apps/bindings/octave/calculatePosition.cpp
rename to dev/apps/bindings/octave/calculatePosition.cpp
diff --git a/trunk/apps/bindings/octave/readRinexObsFast.cpp b/dev/apps/bindings/octave/readRinexObsFast.cpp
similarity index 100%
rename from trunk/apps/bindings/octave/readRinexObsFast.cpp
rename to dev/apps/bindings/octave/readRinexObsFast.cpp
diff --git a/trunk/apps/bindings/octave/readRinexObsGeom.cpp b/dev/apps/bindings/octave/readRinexObsGeom.cpp
similarity index 100%
rename from trunk/apps/bindings/octave/readRinexObsGeom.cpp
rename to dev/apps/bindings/octave/readRinexObsGeom.cpp
diff --git a/dev/apps/bindings/perl/Makefile b/dev/apps/bindings/perl/Makefile
new file mode 100644
index 0000000..5b73d37
--- /dev/null
+++ b/dev/apps/bindings/perl/Makefile
@@ -0,0 +1,50 @@
+#
+# $Id$
+#
+# This simple makefile builds a Perl interface to the GPSTk from code
+# generated the SWIG utility (http://www.swig.org/).
+#
+# You shouldn't need to install SWIG to compile this interface as
+# distributed, unless you change the interface definition (.i files).
+#
+# What you do need:
+# - A C/C++ compiler.
+# - Development headers of Perl
+# - Knowledge of which directory contains "perl.h", "Extern.h" and "XSUB.h"
+# - The sed utility
+#
+# Not all GPSTk functionality is present in these bindings.
+# Two reasons: First, this is a work in progress and should be considered
+# incomplete. Second, not all of the GPSTk's functionality _can_ be mapped
+# into other languages such as perl.
+#
+# Examples of usage of this interface are in the examples subdirectory.
+#
+# Reminder for later: $@ is target, $< is rhs, $^ is rhs
+
+all : gpstk-perl.so
+
+gpstk_wrap.cxx: ../gpstk.i ../common.i ../Exception.i ../GPSZcount.i \
+ ../DayTime.i ../FFTextStream.i ../RinexObsStream.i
+ swig -perl5 -c++ -I.. \
+ gpstk.i
+
+gpstk_wrap_mod.cxx: gpstk_wrap.cxx
+ sed 's/DayTime.hpp\"/DayTime.hpp\"\nusing namespace gpstk;/' gpstk_wrap.cxx > gpstk_wrap_mod.cxx
+
+gpstk_wrap_mod.o: gpstk_wrap_mod.cxx
+ g++ -fpic -c gpstk_wrap_mod.cxx -I.. -I /usr/lib/perl/5.8.4/CORE \
+ -Dbool=char `perl -e 'use Config; print $Config{ccflags}'`
+
+gpstk-perl.so: gpstk_wrap_mod.o
+ g++ -shared gpstk_wrap_mod.o -o gpstk-perl.so -lgpstk
+
+clean:
+ rm *_wrap*
+ rm *gpstk*.so
+
+
+
+
+
+
diff --git a/trunk/apps/bindings/python/DayTimeException.i b/dev/apps/bindings/python/DayTimeException.i
similarity index 100%
rename from trunk/apps/bindings/python/DayTimeException.i
rename to dev/apps/bindings/python/DayTimeException.i
diff --git a/trunk/apps/bindings/python/Developer.txt b/dev/apps/bindings/python/Developer.txt
similarity index 100%
rename from trunk/apps/bindings/python/Developer.txt
rename to dev/apps/bindings/python/Developer.txt
diff --git a/trunk/apps/bindings/python/ExtraWaveFact.i b/dev/apps/bindings/python/ExtraWaveFact.i
similarity index 100%
rename from trunk/apps/bindings/python/ExtraWaveFact.i
rename to dev/apps/bindings/python/ExtraWaveFact.i
diff --git a/trunk/apps/bindings/python/Makefile b/dev/apps/bindings/python/Makefile
similarity index 100%
rename from trunk/apps/bindings/python/Makefile
rename to dev/apps/bindings/python/Makefile
diff --git a/trunk/apps/bindings/python/RinexDatum.i b/dev/apps/bindings/python/RinexDatum.i
similarity index 100%
rename from trunk/apps/bindings/python/RinexDatum.i
rename to dev/apps/bindings/python/RinexDatum.i
diff --git a/trunk/apps/bindings/python/RinexObsType.i b/dev/apps/bindings/python/RinexObsType.i
similarity index 100%
rename from trunk/apps/bindings/python/RinexObsType.i
rename to dev/apps/bindings/python/RinexObsType.i
diff --git a/trunk/apps/bindings/python/common.i b/dev/apps/bindings/python/common.i
similarity index 100%
rename from trunk/apps/bindings/python/common.i
rename to dev/apps/bindings/python/common.i
diff --git a/trunk/apps/bindings/python/examples/example1.html b/dev/apps/bindings/python/examples/example1.html
similarity index 100%
rename from trunk/apps/bindings/python/examples/example1.html
rename to dev/apps/bindings/python/examples/example1.html
diff --git a/trunk/apps/bindings/python/examples/example1.py b/dev/apps/bindings/python/examples/example1.py
similarity index 100%
rename from trunk/apps/bindings/python/examples/example1.py
rename to dev/apps/bindings/python/examples/example1.py
diff --git a/trunk/apps/bindings/python/examples/example2.html b/dev/apps/bindings/python/examples/example2.html
similarity index 100%
rename from trunk/apps/bindings/python/examples/example2.html
rename to dev/apps/bindings/python/examples/example2.html
diff --git a/trunk/apps/bindings/python/examples/example2.py b/dev/apps/bindings/python/examples/example2.py
similarity index 100%
rename from trunk/apps/bindings/python/examples/example2.py
rename to dev/apps/bindings/python/examples/example2.py
diff --git a/trunk/apps/bindings/python/examples/example3.html b/dev/apps/bindings/python/examples/example3.html
similarity index 100%
rename from trunk/apps/bindings/python/examples/example3.html
rename to dev/apps/bindings/python/examples/example3.html
diff --git a/trunk/apps/bindings/python/examples/example3.py b/dev/apps/bindings/python/examples/example3.py
similarity index 100%
rename from trunk/apps/bindings/python/examples/example3.py
rename to dev/apps/bindings/python/examples/example3.py
diff --git a/trunk/apps/bindings/python/gpstkPython.html b/dev/apps/bindings/python/gpstkPython.html
similarity index 100%
rename from trunk/apps/bindings/python/gpstkPython.html
rename to dev/apps/bindings/python/gpstkPython.html
diff --git a/trunk/apps/bindings/python/gpstkPython.i b/dev/apps/bindings/python/gpstkPython.i
similarity index 100%
rename from trunk/apps/bindings/python/gpstkPython.i
rename to dev/apps/bindings/python/gpstkPython.i
diff --git a/trunk/apps/bindings/python/gpstkPythonUtils.cpp b/dev/apps/bindings/python/gpstkPythonUtils.cpp
similarity index 100%
rename from trunk/apps/bindings/python/gpstkPythonUtils.cpp
rename to dev/apps/bindings/python/gpstkPythonUtils.cpp
diff --git a/trunk/apps/bindings/python/gpstkPythonUtils.i b/dev/apps/bindings/python/gpstkPythonUtils.i
similarity index 100%
rename from trunk/apps/bindings/python/gpstkPythonUtils.i
rename to dev/apps/bindings/python/gpstkPythonUtils.i
diff --git a/trunk/apps/bindings/python/gpstkPython_wrap.cxx b/dev/apps/bindings/python/gpstkPython_wrap.cxx
similarity index 100%
rename from trunk/apps/bindings/python/gpstkPython_wrap.cxx
rename to dev/apps/bindings/python/gpstkPython_wrap.cxx
diff --git a/trunk/apps/bindings/python/pydoc.py b/dev/apps/bindings/python/pydoc.py
similarity index 100%
rename from trunk/apps/bindings/python/pydoc.py
rename to dev/apps/bindings/python/pydoc.py
diff --git a/trunk/apps/bindings/python/sensorType.i b/dev/apps/bindings/python/sensorType.i
similarity index 100%
rename from trunk/apps/bindings/python/sensorType.i
rename to dev/apps/bindings/python/sensorType.i
diff --git a/trunk/apps/bindings/python/streamRead.cpp b/dev/apps/bindings/python/streamRead.cpp
similarity index 100%
rename from trunk/apps/bindings/python/streamRead.cpp
rename to dev/apps/bindings/python/streamRead.cpp
diff --git a/trunk/apps/bindings/python/streamRead.i b/dev/apps/bindings/python/streamRead.i
similarity index 100%
rename from trunk/apps/bindings/python/streamRead.i
rename to dev/apps/bindings/python/streamRead.i
diff --git a/dev/apps/bindings/tcl/Makefile b/dev/apps/bindings/tcl/Makefile
new file mode 100644
index 0000000..4a4a270
--- /dev/null
+++ b/dev/apps/bindings/tcl/Makefile
@@ -0,0 +1,49 @@
+#
+# $Id$
+#
+# This simple makefile builds a Tcl/Tk interface to the GPSTk from code
+# generated the SWIG utility (http://www.swig.org/).
+#
+# You shouldn't need to install SWIG to compile this interface as
+# distributed, unless you change the interface definition (.i files).
+#
+# What you do need:
+# - A C/C++ compiler.
+# - Development headers of Tcl/Tk
+# - Knowledge where the header tcl.h is installed
+# - The sed utility
+#
+# Not all GPSTk functionality is present in these Tcl/Tk bindings.
+# Two reasons: First, this is a work in progress and should be considered
+# incomplete. Second, not all of the GPSTk's functionality _can_ be mapped
+# into other languages such as Tcl/Tk.
+#
+# Examples of usage of this interface are in the examples subdirectory.
+#
+# Reminder for later: $@ is target, $< is rhs, $^ is rhs
+
+all : gpstk-tcl.so
+
+gpstk_wrap.cxx: ../gpstk.i ../common.i ../Exception.i ../GPSZcount.i \
+ ../DayTime.i ../FFTextStream.i ../RinexObsStream.i
+ swig -tcl -c++ -importall -ignoremissing -I.. \
+ gpstk.i
+
+gpstk_wrap_mod.cxx: gpstk_wrap.cxx
+ sed 's/DayTime.hpp\"/DayTime.hpp\"\nusing namespace gpstk;/' gpstk_wrap.cxx > gpstk_wrap_mod.cxx
+
+gpstk_wrap_mod.o: gpstk_wrap_mod.cxx
+ g++ -fpic -c gpstk_wrap_mod.cxx -I.. -I /usr/include/tcl8.4
+
+gpstk-tcl.so: gpstk_wrap_mod.o
+ g++ -shared gpstk_wrap_mod.o -o gpstk-tcl.so -lgpstk
+
+clean:
+ rm *_wrap*
+ rm *gpstk*.so
+
+
+
+
+
+
diff --git a/trunk/apps/bindings/tcl/examples/example1.tcl b/dev/apps/bindings/tcl/examples/example1.tcl
similarity index 100%
rename from trunk/apps/bindings/tcl/examples/example1.tcl
rename to dev/apps/bindings/tcl/examples/example1.tcl
diff --git a/trunk/apps/bindings/tcl/gpstk_wrap_mod.cxx b/dev/apps/bindings/tcl/gpstk_wrap_mod.cxx
similarity index 100%
rename from trunk/apps/bindings/tcl/gpstk_wrap_mod.cxx
rename to dev/apps/bindings/tcl/gpstk_wrap_mod.cxx
diff --git a/dev/apps/checktools/CheckFrame.hpp b/dev/apps/checktools/CheckFrame.hpp
new file mode 100644
index 0000000..364a69f
--- /dev/null
+++ b/dev/apps/checktools/CheckFrame.hpp
@@ -0,0 +1,121 @@
+#pragma ident "$Id$"
+
+
+#ifndef CHECKFRAME_HPP
+#define CHECKFRAME_HPP
+
+#include "CommandOptionWithTimeArg.hpp"
+#include "FileFilterFrame.hpp"
+#include "BasicFramework.hpp"
+
+template <class FileData>
+struct NullTimeFilter : public std::unary_function<FileData, bool>
+{
+public:
+ NullTimeFilter(const gpstk::DayTime& startTime,
+ const gpstk::DayTime& endTime)
+ {}
+
+ bool operator() (const FileData& l) const
+ {
+ return false;
+ }
+};
+
+
+template <class FileStream, class FileData, class FilterTimeOperator = NullTimeFilter<FileData> >
+class CheckFrame : public gpstk::BasicFramework
+{
+public:
+ CheckFrame(char* arg0, std::string fileType) :
+ gpstk::BasicFramework(arg0,
+ "Reads given input " + fileType +
+ " files and check for errors. This will only"
+ " report the first error found in each file. "
+ " The entire file is always checked, regardless"
+ " of time options."),
+ timeOption('t', "time", "Time of first record to count (default ="
+ " \"beginning of time\")"),
+ eTimeOption('e', "end-time", "End of time range to compare (default"
+ " = \"end of time\")"),
+ inputFileOption("Each input file is checked for errors.", true),
+ startTime(gpstk::DayTime::BEGINNING_OF_TIME),
+ endTime(gpstk::DayTime::END_OF_TIME)
+ {
+ timeOption.setMaxCount(1);
+ eTimeOption.setMaxCount(1);
+ timeOptions.addOption(&timeOption);
+ timeOptions.addOption(&eTimeOption);
+ }
+
+ virtual bool initialize(int argc, char* argv[]) throw()
+ {
+ if (!gpstk::BasicFramework::initialize(argc, argv))
+ return false;
+ if (timeOption.getCount())
+ startTime = timeOption.getTime()[0];
+ if (eTimeOption.getCount())
+ endTime = eTimeOption.getTime()[0];
+ if (startTime > endTime)
+ {
+ std::cerr << "End time can't precede start time." << std::endl;
+ return false;
+ }
+ return true;
+ }
+
+protected:
+ virtual void process()
+ {
+ std::vector<std::string> inputFiles = inputFileOption.getValue();
+ std::vector<std::string>::iterator itr = inputFiles.begin();
+ FilterTimeOperator timeFilt(startTime, endTime);
+ while (itr != inputFiles.end())
+ {
+ std::cout << "Checking " << *itr << std::endl;
+ unsigned long recCount = 0;
+ try
+ {
+ FileStream f((*itr).c_str());
+ f.exceptions(std::ios::failbit);
+
+ FileData temp;
+ while (f >> temp)
+ {
+ if (!timeFilt(temp))
+ recCount++;
+ }
+
+ std::cout << "Read " << recCount << " records."
+ << std::endl << std::endl;
+ }
+ catch (gpstk::Exception& e)
+ {
+ std::cout << e << std::endl << std::endl;
+ }
+ catch (std::exception& e)
+ {
+ std::cout << e.what() << std::endl;
+ }
+ catch (...)
+ {
+ std::cout << "unknown exception caught" << std::endl;
+ }
+
+ itr++;
+ }
+ }
+
+ /// start time for record counting
+ gpstk::CommandOptionWithSimpleTimeArg timeOption;
+ /// end time for record counting
+ gpstk::CommandOptionWithSimpleTimeArg eTimeOption;
+ /// if either of the time options are set
+ gpstk::CommandOptionGroupOr timeOptions;
+ gpstk::CommandOptionRest inputFileOption;
+
+ gpstk::DayTime startTime, endTime;
+
+};
+
+#endif
diff --git a/dev/apps/checktools/Jamfile b/dev/apps/checktools/Jamfile
new file mode 100644
index 0000000..ec8980c
--- /dev/null
+++ b/dev/apps/checktools/Jamfile
@@ -0,0 +1,12 @@
+# $Id$
+
+SubDir TOP apps checktools ;
+
+GPSLinkLibraries rowcheck rmwcheck rnwcheck ficcheck ficacheck : gpstk ;
+BonkForte ; # bleah.
+
+GPSMain rowcheck : rowcheck.cpp ;
+GPSMain rmwcheck : rmwcheck.cpp ;
+GPSMain rnwcheck : rnwcheck.cpp ;
+GPSMain ficcheck : ficcheck.cpp ;
+GPSMain ficacheck : ficacheck.cpp ;
diff --git a/dev/apps/checktools/Makefile.am b/dev/apps/checktools/Makefile.am
new file mode 100644
index 0000000..12f415b
--- /dev/null
+++ b/dev/apps/checktools/Makefile.am
@@ -0,0 +1,11 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../src
+LDADD = ../../src/libgpstk.la
+
+bin_PROGRAMS = rowcheck rmwcheck rnwcheck ficcheck ficacheck
+
+rowcheck_SOURCES = rowcheck.cpp
+rmwcheck_SOURCES = rmwcheck.cpp
+rnwcheck_SOURCES = rnwcheck.cpp
+ficcheck_SOURCES = ficcheck.cpp
+ficacheck_SOURCES = ficacheck.cpp
diff --git a/dev/apps/checktools/ficacheck.cpp b/dev/apps/checktools/ficacheck.cpp
new file mode 100644
index 0000000..79d7525
--- /dev/null
+++ b/dev/apps/checktools/ficacheck.cpp
@@ -0,0 +1,39 @@
+#pragma ident "$Id$"
+
+
+#include "CheckFrame.hpp"
+
+#include "FICAStream.hpp"
+#include "FICData.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+int main(int argc, char* argv[])
+{
+ try
+ {
+ CheckFrame<FICAStream, FICData> cf(argv[0],
+ std::string("FIC ASCII"));
+
+ if (!cf.initialize(argc, argv))
+ return 0;
+ if (!cf.run())
+ return 1;
+
+ return 0;
+ }
+ catch(gpstk::Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(exception& e)
+ {
+ cout << e.what() << endl;
+ }
+ catch(...)
+ {
+ cout << "unknown error" << endl;
+ }
+ return 1;
+}
diff --git a/dev/apps/checktools/ficcheck.cpp b/dev/apps/checktools/ficcheck.cpp
new file mode 100644
index 0000000..dd5a9d7
--- /dev/null
+++ b/dev/apps/checktools/ficcheck.cpp
@@ -0,0 +1,39 @@
+#pragma ident "$Id$"
+
+
+#include "CheckFrame.hpp"
+
+#include "FICStream.hpp"
+#include "FICData.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+int main(int argc, char* argv[])
+{
+ try
+ {
+ CheckFrame<FICStream, FICData> cf(argv[0],
+ std::string("FIC"));
+
+ if (!cf.initialize(argc, argv))
+ return 0;
+ if (!cf.run())
+ return 1;
+
+ return 0;
+ }
+ catch(gpstk::Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(exception& e)
+ {
+ cout << e.what() << endl;
+ }
+ catch(...)
+ {
+ cout << "unknown error" << endl;
+ }
+ return 1;
+}
diff --git a/dev/apps/checktools/rmwcheck.cpp b/dev/apps/checktools/rmwcheck.cpp
new file mode 100644
index 0000000..3e4dbf3
--- /dev/null
+++ b/dev/apps/checktools/rmwcheck.cpp
@@ -0,0 +1,40 @@
+#pragma ident "$Id$"
+
+
+#include "CheckFrame.hpp"
+
+#include "RinexMetStream.hpp"
+#include "RinexMetData.hpp"
+#include "RinexMetFilterOperators.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+int main(int argc, char* argv[])
+{
+ try
+ {
+ CheckFrame<RinexMetStream, RinexMetData, RinexMetDataFilterTime>
+ cf(argv[0], "Rinex Met");
+
+ if (!cf.initialize(argc, argv))
+ return 0;
+ if (!cf.run())
+ return 1;
+
+ return 0;
+ }
+ catch(gpstk::Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(exception& e)
+ {
+ cout << e.what() << endl;
+ }
+ catch(...)
+ {
+ cout << "unknown error" << endl;
+ }
+ return 1;
+}
diff --git a/dev/apps/checktools/rnwcheck.cpp b/dev/apps/checktools/rnwcheck.cpp
new file mode 100644
index 0000000..79daf99
--- /dev/null
+++ b/dev/apps/checktools/rnwcheck.cpp
@@ -0,0 +1,39 @@
+#pragma ident "$Id$"
+
+
+#include "CheckFrame.hpp"
+
+#include "RinexNavStream.hpp"
+#include "RinexNavData.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+int main(int argc, char* argv[])
+{
+ try
+ {
+ CheckFrame<RinexNavStream, RinexNavData> cf(argv[0],
+ std::string("Rinex Nav"));
+
+ if (!cf.initialize(argc, argv))
+ return 0;
+ if (!cf.run())
+ return 1;
+
+ return 0;
+ }
+ catch(gpstk::Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(exception& e)
+ {
+ cout << e.what() << endl;
+ }
+ catch(...)
+ {
+ cout << "unknown error" << endl;
+ }
+ return 1;
+}
diff --git a/dev/apps/checktools/rowcheck.cpp b/dev/apps/checktools/rowcheck.cpp
new file mode 100644
index 0000000..ed1d3b5
--- /dev/null
+++ b/dev/apps/checktools/rowcheck.cpp
@@ -0,0 +1,39 @@
+#pragma ident "$Id$"
+
+
+#include "CheckFrame.hpp"
+
+#include "RinexObsStream.hpp"
+#include "RinexObsData.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+int main(int argc, char* argv[])
+{
+ try
+ {
+ CheckFrame<RinexObsStream, RinexObsData> cf(argv[0],
+ std::string("Rinex Obs"));
+
+ if (!cf.initialize(argc, argv))
+ return 0;
+ if (!cf.run())
+ return 1;
+
+ return 0;
+ }
+ catch(gpstk::Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(exception& e)
+ {
+ cout << e.what() << endl;
+ }
+ catch(...)
+ {
+ cout << "unknown error" << endl;
+ }
+ return 1;
+}
diff --git a/dev/apps/converters/Jamfile b/dev/apps/converters/Jamfile
new file mode 100644
index 0000000..7daf81e
--- /dev/null
+++ b/dev/apps/converters/Jamfile
@@ -0,0 +1,9 @@
+#
+# $Id$
+#
+
+SubDir TOP apps converters ;
+
+GPSLinkLibraries novaRinex : gpstk ;
+
+GPSMain novaRinex : novaRinex.cpp NovatelData.cpp ;
diff --git a/dev/apps/converters/Makefile.am b/dev/apps/converters/Makefile.am
new file mode 100644
index 0000000..a900d92
--- /dev/null
+++ b/dev/apps/converters/Makefile.am
@@ -0,0 +1,7 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../src
+LDADD = ../../src/libgpstk.la
+
+bin_PROGRAMS = novaRinex
+
+novaRinex_SOURCES = novaRinex.cpp NovatelData.cpp
diff --git a/dev/apps/converters/NovatelData.cpp b/dev/apps/converters/NovatelData.cpp
new file mode 100644
index 0000000..a90152a
--- /dev/null
+++ b/dev/apps/converters/NovatelData.cpp
@@ -0,0 +1,1123 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file NovatelData.cpp
+ * gpstk::NovatelData - container for Novatel data, with methods to convert
+ * binary data files to Rinex
+ */
+
+#include "BinUtils.hpp"
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+#include "EngEphemeris.hpp"
+#include "RinexObsHeader.hpp"
+#include "icd_200_constants.hpp"
+#include "NovatelData.hpp"
+
+using namespace std;
+using namespace gpstk::BinUtils;
+using namespace gpstk::StringUtils;
+
+static bool debug=false;
+
+namespace gpstk
+{
+
+ // --------------------------------------------------------------------------------
+ const double CFF=C_GPS_M/OSC_FREQ;
+ const double wl1=CFF/L1_MULT;
+ const double wl2=CFF/L2_MULT;
+ const double PhaseRollover=8388608;
+
+ // --------------------------------------------------------------------------------
+ const string NovatelData::RecNames[] = {
+ string("Unknown"),
+ string("RGEB obs"),
+ string("RGEC obs"),
+ string("POSB pos"),
+ string("REPB nav"),
+ string("RCSB sts"),
+ string("RANGE obs"),
+ string("RANGECMP obs"),
+ string("RAWEPHEM nav")
+ };
+
+ // --------------------------------------------------------------------------------
+ bool NovatelData::isNav(void) const
+ {
+ switch(rectype) {
+ case POSB:
+ case RCSB:
+ return false;
+ case REPB:
+ case RAWEPHEM:
+ return true;
+ case RGEB:
+ case RGEC:
+ case RANGE:
+ case RANGECMP:
+ return false;
+ case Unknown:
+ default:
+ return false;
+ }
+ }
+
+ // --------------------------------------------------------------------------------
+ bool NovatelData::isObs(void) const
+ {
+ switch(rectype) {
+ case POSB:
+ case RCSB:
+ return false;
+ case REPB:
+ case RAWEPHEM:
+ return false;
+ case RGEB:
+ case RGEC:
+ case RANGE:
+ case RANGECMP:
+ return true;
+ case Unknown:
+ default:
+ return false;
+ }
+ }
+
+ // --------------------------------------------------------------------------------
+ bool NovatelData::isAux(void) const
+ {
+ switch(rectype) {
+ case POSB:
+ case RCSB:
+ return true;
+ case REPB:
+ case RAWEPHEM:
+ return false;
+ case RGEB:
+ case RGEC:
+ case RANGE:
+ case RANGECMP:
+ return false;
+ case Unknown:
+ default:
+ return false;
+ }
+ }
+
+ // --------------------------------------------------------------------------------
+ // True if this record belongs to OEM2 receivers
+ bool NovatelData::isOEM2(void) const
+ {
+ switch(rectype) {
+ case POSB:
+ case RCSB:
+ case REPB:
+ case RGEB:
+ case RGEC:
+ return true;
+ case RAWEPHEM:
+ case RANGE:
+ case RANGECMP:
+ case Unknown:
+ default:
+ return false;
+ }
+ }
+
+ // --------------------------------------------------------------------------------
+ // True if this record belongs to OEM4 receivers
+ bool NovatelData::isOEM4(void) const
+ {
+ switch(rectype) {
+ case RAWEPHEM:
+ case RANGE:
+ case RANGECMP:
+ return true;
+ case POSB:
+ case RCSB:
+ case REPB:
+ case RGEB:
+ case RGEC:
+ case Unknown:
+ default:
+ return false;
+ }
+ }
+
+ // --------------------------------------------------------------------------------
+ bool NovatelData::isValid(void) const
+ {
+ switch(rectype) {
+ case POSB:
+ case RCSB:
+ case REPB:
+ case RAWEPHEM:
+ case RGEB:
+ case RGEC:
+ case RANGE:
+ case RANGECMP:
+ if(datasize == 0 || headersize==0) return false;
+ return true;
+ case Unknown:
+ default:
+ return false;
+ }
+ }
+
+ // --------------------------------------------------------------------------------
+ void NovatelData::dump(ostream& str) const
+ {
+ str << "Record type is " << rectype << endl;
+ }
+
+ // --------------------------------------------------------------------------------
+ void NovatelData::reallyPutRecord(FFStream& s) const
+ throw(exception, StringUtils::StringException, FFStreamError)
+ {
+ FFStreamError e("Novatel::reallyPutRecord() is not implemented");
+ GPSTK_THROW(e);
+ }
+
+
+ // --------------------------------------------------------------------------------
+ void NovatelData::reallyGetRecord(FFStream& ffs)
+ throw(exception, StringUtils::StringException, FFStreamError)
+ {
+ try {
+ if(dynamic_cast<NovatelStream*>(&ffs)) {
+
+ NovatelStream& strm = dynamic_cast<NovatelStream&>(ffs);
+
+ unsigned char *p0 = &buffer[0];
+ unsigned char *p1 = &buffer[1];
+ unsigned char *p2 = &buffer[2];
+ unsigned char *p3 = &buffer[3];
+ unsigned char *p4 = &buffer[4];
+ int i,j,k,failure;
+ long filepos;
+
+ if(debug) cout << "Entered NovatelData::reallyGetRecord()" << endl;
+ // read loop
+ do {
+
+ // move data down by 1 byte
+ *p0 = *p1;
+ *p1 = *p2;
+
+ // get another character
+ try {
+ strm.read((char *)p2, 1);
+ }
+ catch(exception& e) {
+ if(debug) cout << "read 1 threw std exception: " << e.what() << endl;
+ //FFStreamError fe(string("std exception: ")+e.what());
+ //GPSTK_THROW(fe);
+ }
+
+ if(strm.bad()) {
+ FFStreamError fe("Read error");
+ GPSTK_THROW(fe);
+ }
+ if(strm.eof()) {
+ if(debug) cout << "Reached EOF" << endl;
+ break;
+ }
+
+ if(debug) cout << "got char 0x" << hex << uppercase << int(buffer[2])
+ << dec << endl;
+
+ // look for sync bytes
+ if(*p0==0xAA && *p1==0x44 && *p2==0x11) {
+ // -------------------------------------------------- OEM2
+ if(debug) cout << "Found OEM2 sync" << endl;
+
+ // save position in case of failure
+ filepos = strm.tellg();
+ if(debug) cout << "File position " << filepos << endl;
+
+ // read 9 more characters into buffer, giving total of 12
+ strm.read((char *)p3,9);
+ if(strm.bad()) {
+ FFStreamError fe("Read error");
+ GPSTK_THROW(fe);
+ }
+ if(strm.eof()) {
+ if(debug) cout << "Reached EOF" << endl;
+ break;
+ }
+
+ // read the record ID
+ if(*p4==0x20) rectype = RGEB;
+ else if(*p4==0x21) rectype = RGEC;
+ else if(*p4==0x01) rectype = POSB;
+ else if(*p4==0x0E) rectype = REPB;
+ else if(*p4==0x0D) rectype = RCSB;
+ else rectype = Unknown;
+ recnum = int(*p4);
+ intelToHost(recnum);
+
+ // read the rest of the record
+ failure = 0;
+ if(rectype != Unknown) {
+
+ // get the size of the record
+ memmove(&datasize, &(buffer[8]), 4);
+ intelToHost(datasize);
+
+ // read the rest of the record
+ if(datasize-12 >= 1024) {
+ //FFStreamError fe("Read error - buffer overflow");
+ //GPSTK_THROW(fe);
+ failure = 1;
+ }
+ else {
+ strm.read((char *)&buffer[12],datasize-12);
+ if(strm.bad()) {
+ FFStreamError fe("Read error");
+ GPSTK_THROW(fe);
+ }
+ if(strm.eof()) {
+ if(debug) cout << "Reached EOF" << endl;
+ break;
+ }
+ headersize = 3; // just the sync bytes
+
+ // compute the checksum
+ // Ref OEM2 manual
+ unsigned char checksum = 0;
+ checksum ^= buffer[0];
+ checksum ^= buffer[1];
+ checksum ^= buffer[2];
+ for(i=4; i<datasize; i++) checksum ^= buffer[i];
+
+ if(checksum == buffer[3]) break; // sucess
+ failure = 2;
+
+ } // end if datasize fits into buffer
+ } // end if record type != unknown
+
+ // failure - either type unknown, buffer overflow or failed checksum
+ if(debug) {
+ cout << "Failure - ";
+ if(failure == 0) cout << "type unknown";
+ else if(failure == 1) cout << "buffer overflow";
+ else if(failure == 2) cout << "failed checksum";
+ cout << " for recnum " << recnum
+ << " with headersize " << headersize
+ << " and message size " << datasize << endl;
+ }
+
+ strm.seekg(filepos); // rewind to just after the sync bytes
+ datasize = headersize = 0;
+
+ } // end if OEM2 sync
+
+ else if(*p0==0xAA && *p1==0x44 && *p2==0x12) {
+ // -------------------------------------------------- OEM4
+ // Ref OEM4 Manual pg 15
+
+ if(debug) cout << "Found OEM4 sync" << endl;
+
+ // save position in case of failure
+ filepos = strm.tellg();
+ if(debug) cout << "File position " << filepos << endl;
+
+ // ---------------------------------------
+ // read header, 25 characters, into buffer
+ strm.read((char *)p3,25);
+ if(strm.bad()) {
+ FFStreamError fe("Read error");
+ GPSTK_THROW(fe);
+ }
+ if(strm.eof()) {
+ if(debug) cout << "Reached EOF" << endl;
+ break;
+ }
+
+ // parse the header
+ // Ref OEM4 Manual pg 16
+ // (only need some of the data here - cast to Rinex functions
+ // will parse the whole thing)
+ unsigned char headerLength;
+ memmove(&headerLength, &(buffer[3]), 1); intelToHost(headerLength);
+ short messageID;
+ memmove(&messageID, &(buffer[4]), 2); intelToHost(messageID);
+ //char messageType;
+ //memmove(&messageType, &(buffer[6]), 1); intelToHost(messageType);
+ //char portAddress;
+ //memmove(&portAddress, &(buffer[7]), 1); intelToHost(portAddress);
+ short messageLength;
+ memmove(&messageLength, &(buffer[8]), 2); intelToHost(messageLength);
+ //short sequence;
+ //memmove(&sequence, &(buffer[10]), 2); intelToHost(sequence);
+ //char idleTime;
+ //memmove(&idleTime, &(buffer[12]), 1); intelToHost(idleTime);
+ //char timeStatus;
+ //memmove(&timeStatus, &(buffer[13]), 1); intelToHost(timeStatus);
+ //short week;
+ //memmove(&week, &(buffer[14]), 2); intelToHost(week);
+ //long msecOfWeek;
+ //memmove(&msecOfWeek, &(buffer[16]), 4); intelToHost(msecOfWeek);
+ //long rxStatus;
+ //memmove(&rxStatus, &(buffer[20]), 4); intelToHost(rxStatus);
+ //short reserved;
+ //memmove(&reserved, &(buffer[24]), 2); intelToHost(reserved);
+ //short rxSWVersion;
+ //memmove(&rxSWVersion, &(buffer[26]), 2); intelToHost(rxSWVersion);
+
+ datasize = messageLength;
+ headersize = int(headerLength);
+ recnum = messageID;
+
+ if(headersize != 28) { // manual warns that changes may be made
+ Exception e("Header size : expected 28 but found "
+ + StringUtils::asString(headersize) + " for record ID "
+ + StringUtils::asString(recnum));
+ GPSTK_THROW(e);
+ }
+
+ if(debug) cout << "hL " << int(headerLength)
+ << " ID " << messageID
+ << " mL " << messageLength
+ //<< " seq " << sequence
+ //<< " week " << week
+ //<< " msow " << msecOfWeek
+ //<< " rxver " << rxSWVersion
+ << endl;
+
+ if( recnum == 43) rectype = RANGE;
+ else if(recnum == 140) rectype = RANGECMP;
+ else if(recnum == 41) rectype = RAWEPHEM;
+ else rectype = Unknown;
+
+ failure=0;
+ if(rectype != Unknown) {
+
+ // ---------------------------------------
+ // read the data message, but don't overwrite the header
+ // first check against buffer overflow
+ if(datasize-28 >= 1024) {
+ //FFStreamError fe("Read error - buffer overflow");
+ //GPSTK_THROW(fe);
+ failure = 1;
+ }
+ else {
+ strm.read((char *)&(buffer[28]),datasize);
+ if(strm.bad()) {
+ FFStreamError fe("Read error");
+ GPSTK_THROW(fe);
+ }
+ if(strm.eof()) {
+ datasize = 0; // mark a bad record
+ if(debug) cout << "Reached EOF" << endl;
+ break;
+ }
+ if(debug) cout << "Successfully read message" << endl;
+
+ // ---------------------------------------
+ // validate with 32-bit CRC
+ // cf. Ref OEM4 manual pg 21.
+
+ // get the checksum at the end
+ unsigned int checksum =
+ intelToHost(strm.getData<unsigned int>());
+
+ // calculate the checksum of the header(even sync)+data
+ unsigned int check=0,ultemp1,ultemp2;
+ for(i=0; i<datasize+28; i++) {
+ ultemp1 = (check >> 8) & 0x00FFFFFFL;
+ j = ((int)check ^ buffer[i]) & 0xFF;
+ ultemp2 = j;
+ for(k=8; k>0; k--) {
+ if(ultemp2 & 1)
+ ultemp2 = (ultemp2 >> 1) ^ 0xEDB88320L;
+ else
+ ultemp2 >>= 1;
+ }
+ check = ultemp1 ^ ultemp2;
+ }
+
+ if(check == checksum) {
+ if(debug) cout << "checksum ok" << endl;
+ break;
+ }
+ else failure = 2;
+
+ } // end if datasize-28 < buffersize
+ } // end if rectype != Unknown
+
+ // failure - either type unknown, buffer overflow or failed checksum
+ if(debug) {
+ cout << "Failure - ";
+ if(failure == 0) cout << "type unknown";
+ else if(failure == 1) cout << "buffer overflow";
+ else if(failure == 2) cout << "failed checksum";
+ cout << " for recnum " << recnum
+ << " with headersize " << headersize
+ << " and message size " << datasize << endl;
+ }
+ strm.seekg(filepos);
+ datasize = headersize = 0; // marks an invalid object
+
+ } // end if OEM4 sync
+
+ else { // skip these bytes
+ // print only if sync is not underway
+ if(debug && !(*p1==0xAA && *p2==0x44) && !(*p2==0xAA) )
+ cout << "Skip a byte " << hex << uppercase << setfill('0')
+ << setw(2) << *p0 << dec << setfill(' ') << endl;
+ }
+
+ } while(1); // end read loop
+ }
+ else {
+ FFStreamError e("NovatelData tried to read from a non-Novatel file");
+ GPSTK_THROW(e);
+ }
+
+ if(!isValid()) {
+ FFStreamError e("Read an invalid Novatel record");
+ GPSTK_THROW(e);
+ }
+
+ }
+ catch(Exception e) {
+ if(debug) cout << "reallyGetRecord caught GPSTK exception " << e << endl;
+ }
+ catch(exception e) {
+ if(debug) cout << "reallyGetRecord caught std exception " << e.what() << endl;
+ }
+ catch(...) {
+ if(debug) cout << "reallyGetRecord caught an unknown exception" << endl;
+ }
+
+ } // end NovatelData::reallyGetRecord
+
+
+ // --------------------------------------------------------------------------------
+ NovatelData::operator RinexNavData()
+ throw(Exception)
+ {
+ if(!isValid() || !isNav()) {
+ Exception e("Invalid or non-Nav record");
+ GPSTK_THROW(e);
+ }
+
+ int i,j,k;
+ long templ;
+ EngEphemeris eeph;
+
+ if(rectype == RAWEPHEM) { // OEM4
+
+ // parse header
+ // Ref OEM4 Manual pg 16
+ unsigned char headerLength;
+ memmove(&headerLength, &(buffer[3]), 1); intelToHost(headerLength);
+ short messageID;
+ memmove(&messageID, &(buffer[4]), 2); intelToHost(messageID);
+ char messageType;
+ memmove(&messageType, &(buffer[6]), 1); intelToHost(messageType);
+ char portAddress;
+ memmove(&portAddress, &(buffer[7]), 1); intelToHost(portAddress);
+ short messageLength;
+ memmove(&messageLength, &(buffer[8]), 2); intelToHost(messageLength);
+ short sequence;
+ memmove(&sequence, &(buffer[10]), 2); intelToHost(sequence);
+ char idleTime;
+ memmove(&idleTime, &(buffer[12]), 1); intelToHost(idleTime);
+ char timeStatus;
+ memmove(&timeStatus, &(buffer[13]), 1); intelToHost(timeStatus);
+ short week;
+ memmove(&week, &(buffer[14]), 2); intelToHost(week);
+ long msecOfWeek;
+ memmove(&msecOfWeek, &(buffer[16]), 4); intelToHost(msecOfWeek);
+ long rxStatus;
+ memmove(&rxStatus, &(buffer[20]), 4); intelToHost(rxStatus);
+ short reserved;
+ memmove(&reserved, &(buffer[24]), 2); intelToHost(reserved);
+ short rxSWVersion;
+ memmove(&rxSWVersion, &(buffer[26]), 2); intelToHost(rxSWVersion);
+
+ // parse data
+ // Ref OEM4 Manual pg 206
+ short prn,track=1;
+ long gpsSOW;
+
+ // get PRN and timetag
+ memmove(&templ, &(buffer[28]), 4);
+ intelToHost(templ);
+ prn = short(templ);
+ memmove(&gpsWeek, &(buffer[32]), 4); // long gpsWeek is member data
+ intelToHost(gpsWeek);
+ memmove(&gpsSOW, &(buffer[36]), 4);
+ intelToHost(gpsSOW);
+
+ // convert the 3 subframes and create EngEphemeris
+ long subframe[10];
+ for(j=0; j<3; j++) {
+ k = 40 + j*30;
+
+ if(debug) {
+ cout << "Subframe " << setfill('0') << j+1;
+ for(i=0; i<30; i++)
+ cout << " " << hex << uppercase << setw(2) << int(buffer[k+i]);
+ cout << dec << setfill(' ') << endl;
+ }
+
+ for(i=0; i<10; i++) {
+ subframe[i] = (buffer[k] << 22)+(buffer[k+1] << 14)+(buffer[k+2] << 6);
+ k += 3;
+ }
+ if(!eeph.addSubframe(subframe,gpsWeek,prn,track)){
+ if(debug) cout << "Failed to convert RAWEPH subframe " << j+1
+ << ", prn " << prn << " at time " << gpsWeek << " " << gpsSOW
+ << endl;
+ }
+ }
+ } // end RAWEPH record
+
+ else if(rectype == REPB) { // OEM2
+
+ long prn;
+ short track=1;
+
+ // get PRN
+ memmove(&prn,&(buffer[12]), 4);
+ intelToHost(prn);
+
+ // be sure week is defined
+ if(gpsWeek == -1) {
+ DayTime sysTime;
+ gpsWeek = long(sysTime.GPSfullweek());
+ }
+
+ // convert the 3 subframes and create EngEphemeris
+ long subframe[10];
+ for(j=0; j<3; j++) {
+ k = 16 + j*30;
+
+ if(debug) {
+ cout << "Subframe " << setfill('0') << j+1;
+ for(i=0; i<30; i++)
+ cout << " " << hex << uppercase << setw(2) << int(buffer[k+i]);
+ cout << dec << setfill(' ') << endl;
+ }
+
+ for(i=0; i<10; i++) {
+ subframe[i] = (buffer[k] << 22)+(buffer[k+1] << 14)+(buffer[k+2] << 6);
+ k += 3;
+ }
+ if(!eeph.addSubframe(subframe,gpsWeek,short(prn),track)){
+ if(debug) cout << "Failed to convert REPB subframe " << j+1
+ << ", prn " << prn << endl;
+ }
+ }
+
+ } // end REPB record
+
+ // convert it to Rinex
+ RinexNavData rnd(eeph);
+
+ return rnd;
+
+ } // end NovatelData::operator RinexNavData()
+
+
+ // --------------------------------------------------------------------------------
+ NovatelData::operator RinexObsData()
+ throw(Exception)
+ {
+ if(!isValid() || !isObs()) {
+ Exception e("Invalid or non-Obs record");
+ GPSTK_THROW(e);
+ }
+
+ int i,j;
+ short temps;
+ long nobs; // number of observation records (may be 2/PRN: L1 and L2)
+ SatID sat;
+ RinexObsData rod; // this will be returned
+ RinexObsData::RinexDatum rd;
+ RinexObsData::RinexSatMap::iterator satit;
+ RinexObsData::RinexObsTypeMap::iterator obsit;
+
+ if( rectype == RGEB) { // OEM2
+
+
+ } // end RGEB record
+
+ else if(rectype == RGEC) { // OEM2
+ // Ref OEM2 Manual pg 97
+
+ if(debug) {
+ cout << "Header " << setfill('0') << hex << uppercase;
+ for(i=0; i<24; i++) cout << " " << setw(2) << int(buffer[i]);
+ cout << dec << setfill(' ') << endl;
+ }
+
+ // number of observation records to follow
+ memmove(&temps, &(buffer[12]), 2);
+ intelToHost(temps);
+ nobs = long(temps);
+
+ // GPS week (long gpsWeek is member data)
+ memmove(&temps, &(buffer[14]), 2);
+ intelToHost(temps);
+
+ // resolve the week number ambiguity
+ if(gpsWeek == -1) {
+ DayTime sysTime;
+ gpsWeek = long(sysTime.GPSfullweek());
+ }
+ gpsWeek = long(temps) + 1024*(gpsWeek/1024);
+
+ // seconds of week * 100
+ long gpsSOW;
+ memmove(&gpsSOW, &(buffer[16]), 4);
+ intelToHost(gpsSOW);
+
+ // receiver status
+ long rxStatus;
+ memmove(&rxStatus, &(buffer[20]), 4);
+
+ // put timetag into rod
+ rod.time = DayTime(gpsWeek,gpsSOW/100.);
+ rod.epochFlag = 0;
+ rod.clockOffset = 0.0; // don't have it ?
+ rod.numSvs = 0;
+
+ // loop over observation records
+ for(i=0; i<nobs; i++) {
+ unsigned long data[5];
+ for(j=0; j<5; j++)
+ memmove(&data[j], &(buffer[24+i*20+j*4]), 4);
+
+ int prn = int(data[0] & 0x0000003FL);
+
+ double SNR = double((data[0] & 0x000007C0L) >> 6);
+
+ double locktime = double((data[0] & 0xFFFFF800L) >> 11);
+
+ double Ph;
+ if(data[1] & 0x80000000L) // 2s complement
+ Ph = double(data[1] ^ 0x7FFFFFFFL + 1);
+ else
+ Ph = double(data[1]);
+
+ double Doppler = double((data[2] & 0xFFFFFFF0L) >> 4);
+ if(data[2] & 0x80000000L) // 2s complement
+ Doppler = -double((((data[2] & 0xFFFFFFF0L) ^ 0xFFFFFFF0L) >> 4)+1);
+
+ // this is 0xFFFFFFFF + 1
+ double Pr = double(data[2] & 0x0000000FL) * 4294967296.
+ + double(data[3]);
+ // could the pseudorange ever be negative?
+ if(data[2] & 0x00000008L) // 2s complement
+ Pr = -double((data[2] & 0x0000000FL) ^ 0x0000000FL) * 4294967296.
+ - double(data[3] ^ 0xFFFFFFFFL + 1);
+
+ double SdPh = int(data[4] & 0x0000000FL);
+
+ double SdPr = double((data[4] & 0x000000F0L) >> 4);
+
+ long TrackStatus = long((data[4] & 0xFFFFFF00L) >> 8);
+ // the rest are reserved
+
+ // swap bytes
+ intelToHost(prn);
+ intelToHost(SNR);
+ intelToHost(locktime);
+ intelToHost(Ph);
+ intelToHost(Doppler);
+ intelToHost(Pr);
+ intelToHost(SdPr);
+ intelToHost(SdPh);
+
+ // convert to physical units
+ SNR += 20.; // dB-Hz, but 51 means >=51, and 20 means <=20.
+ locktime /= 32.; // sec
+ Doppler /= 256.; // Hz
+ Pr /= 128.; // m
+ Ph /= 256.; // cycles
+ SdPr = (SdPr + 1.)/16.; // m
+ SdPh = (SdPh + 1)/512.; // cycles
+
+ // break out the TrackStatus
+ // cf. Table 5-6, pg 95 of OEM2 manual
+ int TrackState = int( TrackStatus & 0x0000000FL);
+ int Channel = int((TrackStatus & 0x000001F0L) >> 4);
+ bool PhaseLock = bool(TrackStatus & 0x00000200L);
+ bool ParityKnown = bool(TrackStatus & 0x00000400L);
+ bool CodeLock = bool(TrackStatus & 0x00000800L);
+ int Frequency = int((TrackStatus & 0x00100000L) >> 20); // 0:L1 1:L2
+ // CodeType is 0: CA 1: P 2: Pcodeless
+ int CodeType = int((TrackStatus & 0x00600000L) >> 21);
+
+ if(!PhaseLock || !CodeLock) continue;
+
+ // correct the phase for rollovers
+ // ref. OEM2 manual pg 97
+ double ADRrolls = ((-Pr/(Frequency==0 ? wl1 : wl2))-Ph)/PhaseRollover;
+ Ph += long(ADRrolls + (ADRrolls > 0 ? 0.5 : -0.5)) * PhaseRollover;
+
+ //apparently the Novatel convert utility ignores this too
+ //ignore if(!ParityKnown) Ph = 0.0;
+
+ // fill RinexObsData rod
+ sat = SatID(prn,SatID::systemGPS);
+ satit = rod.obs.find(sat); // find the sat
+ if(satit == rod.obs.end()) { // not there - add this sat
+ RinexObsData::RinexObsTypeMap rotm;
+ rod.obs[sat] = rotm;
+ rod.numSvs++;
+ satit = rod.obs.find(sat); // now find it
+ }
+
+ // for convenience, reference the obs data map
+ RinexObsData::RinexObsTypeMap& obs = satit->second;
+ if(Frequency == 0) { // frequency = L1
+ rd.ssi = rd.lli = 0; rd.data = -Ph;
+ obs[RinexObsHeader::L1] = rd; // L1
+
+ rd.ssi = rd.lli = 0; rd.data = Pr;
+ if(CodeType == 0) obs[RinexObsHeader::C1] = rd; // C1
+ else obs[RinexObsHeader::P1] = rd; // P1
+
+ rd.ssi = rd.lli = 0; rd.data = -Doppler;
+ obs[RinexObsHeader::D1] = rd; // D1
+
+ rd.ssi = rd.lli = 0; rd.data = SNR; // S1
+ obs[RinexObsHeader::S1] = rd;
+ }
+ else {
+ rd.ssi = rd.lli = 0; rd.data = Ph;
+ obs[RinexObsHeader::L2] = rd; // L2
+
+ rd.ssi = rd.lli = 0; rd.data = Pr;
+ obs[RinexObsHeader::P2] = rd; // P2
+
+ rd.ssi = rd.lli = 0; rd.data = -Doppler;
+ obs[RinexObsHeader::D2] = rd; // D2
+
+ rd.ssi = rd.lli = 0; rd.data = SNR;
+ obs[RinexObsHeader::S2] = rd; // S2
+ }
+
+ }
+
+ } // end RGEC record
+
+ else { // all OEM4 obs records
+
+ // header
+ // Ref OEM4 Manual pg 16
+ unsigned char headerLength;
+ memmove(&headerLength, &(buffer[3]), 1); intelToHost(headerLength);
+ short messageID;
+ memmove(&messageID, &(buffer[4]), 2); intelToHost(messageID);
+ char messageType;
+ memmove(&messageType, &(buffer[6]), 1); intelToHost(messageType);
+ char portAddress;
+ memmove(&portAddress, &(buffer[7]), 1); intelToHost(portAddress);
+ short messageLength;
+ memmove(&messageLength, &(buffer[8]), 2); intelToHost(messageLength);
+ short sequence;
+ memmove(&sequence, &(buffer[10]), 2); intelToHost(sequence);
+ char idleTime;
+ memmove(&idleTime, &(buffer[12]), 1); intelToHost(idleTime);
+ char timeStatus;
+ memmove(&timeStatus, &(buffer[13]), 1); intelToHost(timeStatus);
+ short week;
+ memmove(&week, &(buffer[14]), 2); intelToHost(week);
+ long msecOfWeek;
+ memmove(&msecOfWeek, &(buffer[16]), 4); intelToHost(msecOfWeek);
+ long rxStatus;
+ memmove(&rxStatus, &(buffer[20]), 4); intelToHost(rxStatus);
+ short reserved;
+ memmove(&reserved, &(buffer[24]), 2); intelToHost(reserved);
+ short rxSWVersion;
+ memmove(&rxSWVersion, &(buffer[26]), 2); intelToHost(rxSWVersion);
+
+ // put timetag into rod
+ rod.time = DayTime(week,double(msecOfWeek)/1000.);
+ rod.epochFlag = 0;
+ rod.clockOffset = 0.0; // don't have it ?
+
+ if( rectype == RANGE) {
+ // Ref OEM4 Manual pg 198-201
+
+ nobs = 0;
+ memmove(&nobs, &(buffer[28]), 4);
+ intelToHost(nobs);
+
+ rod.numSvs = 0;
+ for(i=0; i<nobs; i++) {
+ unsigned short prn,reserved;
+ unsigned long TrackStatus;
+ float PrStd,PhStd,Doppler,SNR,locktime;
+ double Pr,Ph;
+
+ memmove(&prn, &(buffer[32+i*44]), 2);
+ intelToHost(prn);
+ memmove(&reserved, &(buffer[34+i*44]), 2);
+ intelToHost(reserved);
+ memmove(&Pr, &(buffer[36+i*44]), 8);
+ intelToHost(Pr);
+ memmove(&PrStd, &(buffer[44+i*44]), 4);
+ intelToHost(PrStd);
+ memmove(&Ph, &(buffer[48+i*44]), 8);
+ intelToHost(Ph);
+ memmove(&PhStd, &(buffer[56+i*44]), 4);
+ intelToHost(PhStd);
+ memmove(&Doppler, &(buffer[60+i*44]), 4);
+ intelToHost(Doppler);
+ memmove(&SNR, &(buffer[64+i*44]), 4);
+ intelToHost(SNR);
+ memmove(&locktime, &(buffer[68+i*44]), 4);
+ intelToHost(locktime);
+ memmove(&TrackStatus, &(buffer[72+i*44]), 4);
+ intelToHost(TrackStatus);
+
+ // break out the TrackStatus
+ // cf. Table 56, pg 199 of OEM4 manual
+ int TrackState = int( TrackStatus & 0x0000001FL);
+ int Channel = int((TrackStatus & 0x000003E0L) >> 5);
+ bool PhaseLock = bool(TrackStatus & 0x00000400L);
+ bool CodeLock = bool(TrackStatus & 0x00001000L);
+ int Frequency = int((TrackStatus & 0x00600000L) >> 21); // 0:L1 1:L2
+ // CodeType is 0CA 1P 2Pcodeless
+ int CodeType = int((TrackStatus & 0x03800000L) >> 23);
+ bool HalfCycle = bool(TrackStatus & 0x10000000L);
+
+ if(!PhaseLock || !CodeLock) continue; // data is not reliable
+
+ // fill RinexObsData rod
+ sat = SatID(prn,SatID::systemGPS);
+ satit = rod.obs.find(sat); // find the sat
+ if(satit == rod.obs.end()) { // not there - add this sat
+ RinexObsData::RinexObsTypeMap rotm;
+ rod.obs[sat] = rotm;
+ rod.numSvs++;
+ satit = rod.obs.find(sat); // now find it
+ }
+
+ // for convenience, reference the obs data map inside rod
+ RinexObsData::RinexObsTypeMap& obs = satit->second;
+ if(Frequency == 0) { // frequency = L1
+ rd.ssi = rd.lli = 0; rd.data = -Ph;
+ obs[RinexObsHeader::L1] = rd; // L1
+
+ rd.ssi = rd.lli = 0; rd.data = Pr;
+ if(CodeType == 0) obs[RinexObsHeader::C1] = rd; // C1
+ else obs[RinexObsHeader::P1] = rd; // P1
+
+ rd.ssi = rd.lli = 0; rd.data = Doppler;
+ obs[RinexObsHeader::D1] = rd; // D1
+
+ rd.ssi = rd.lli = 0; rd.data = SNR;
+ obs[RinexObsHeader::S1] = rd; // S1
+ }
+ else {
+ rd.ssi = rd.lli = 0; rd.data = -Ph;
+ obs[RinexObsHeader::L2] = rd; // L2
+
+ rd.ssi = rd.lli = 0; rd.data = Pr;
+ obs[RinexObsHeader::P2] = rd; // P2
+
+ rd.ssi = rd.lli = 0; rd.data = Doppler;
+ obs[RinexObsHeader::D2] = rd; // D2
+
+ rd.ssi = rd.lli = 0; rd.data = SNR;
+ obs[RinexObsHeader::S2] = rd; // S2
+ }
+
+ }
+
+ } // end RANGE record
+
+ else if(rectype == RANGECMP) {
+ // Ref OEM4 Manual pg 202-203
+
+ nobs = 0;
+ memmove(&nobs, &(buffer[28]), 4);
+ intelToHost(nobs);
+
+ rod.numSvs = 0;
+ for(i=0; i<nobs; i++) {
+ unsigned long data[6];
+ for(j=0; j<6; j++)
+ memmove(&data[j], &(buffer[32+i*24+j*4]), 4);
+
+ long TrackStatus = data[0];
+ // this is what is in the manual - its wrong
+ //double Doppler = double(data[1] & 0x0FFFFFFFL);
+ // this is not documented in the manual...
+ //double Doppler = double(data[1] & 0x000FFFFFL);
+ //if(data[1] & 0x0FF00000L == 0x0FF00000L) Doppler = -Doppler;
+ // try this - cf the OEM2 manual and implementation above
+ double Doppler = double((data[1] & 0x0FFFFFFFL));
+ if(data[1] & 0x08000000L) // 2s complement
+ Doppler = -double(((data[1] & 0x0FFFFFFFL) ^ 0x0FFFFFFFL) + 1);
+ double Pr = double((data[1] & 0xF0000000L) >> 28)
+ + double(data[2]) * 16.;
+ double Ph = double(data[3]);
+ int SdPrCode = int(data[4] & 0x0000000FL);
+ double SdPh = double((data[4] & 0x000000F0L) >> 4);
+ int prn = int((data[4] & 0x0000FF00L) >> 8);
+ double locktime = double((data[4] & 0xFFFF0000L) >> 16)
+ + double(data[5] & 0x0000001FL);
+ double SNR = double((data[5] & 0x000003E0L) >> 5);
+ // the rest are reserved
+
+ // swap bytes
+ intelToHost(Doppler);
+ intelToHost(Pr);
+ intelToHost(Ph);
+ intelToHost(SdPrCode); // code - see pg 203 of OEM4 manual
+ intelToHost(SdPh);
+ intelToHost(prn);
+ intelToHost(locktime);
+ intelToHost(SNR);
+
+ // convert to physical units
+ Doppler /= 256.; // Hz
+ Pr /= 128.; // m
+ Ph /= 256.; // cycles
+ double SdPr;
+ switch(SdPrCode) { // this is just a code
+ // ref table on pg 203 of OEM4 manual
+ case 0: SdPr = 0.050; break; // m
+ case 1: SdPr = 0.075; break; // m
+ case 2: SdPr = 0.113; break; // m
+ case 3: SdPr = 0.169; break; // m
+ case 4: SdPr = 0.253; break; // m
+ case 5: SdPr = 0.380; break; // m
+ case 6: SdPr = 0.570; break; // m
+ case 7: SdPr = 0.854; break; // m
+ case 8: SdPr = 1.281; break; // m
+ case 9: SdPr = 2.375; break; // m
+ case 10: SdPr = 4.750; break; // m
+ case 11: SdPr = 9.500; break; // m
+ case 12: SdPr = 19.000; break; // m
+ case 13: SdPr = 38.000; break; // m
+ case 14: SdPr = 76.000; break; // m
+ case 15: SdPr = 152.000; break; // m
+ default: SdPr = 0.00; break;
+ }
+ SdPh = (SdPh + 1)/512.; // cycles
+ locktime /= 32.; // seconds
+ SNR += 20.; // dB-Hz
+ // NB SNR 51 means >=51, and 20 means <=20.
+
+ // break out the TrackStatus
+ // cf. Table 56, pg 199 of OEM4 manual
+ int TrackState = int( TrackStatus & 0x0000001FL);
+ int Channel = int((TrackStatus & 0x000003E0L) >> 5);
+ bool PhaseLock = bool(TrackStatus & 0x00000400L);
+ bool CodeLock = bool(TrackStatus & 0x00001000L);
+ int Frequency = int((TrackStatus & 0x00600000L) >> 21); // 0:L1 1:L2
+ // CodeType is 0CA 1P 2Pcodeless
+ int CodeType = int((TrackStatus & 0x03800000L) >> 23);
+ bool HalfCycle = bool(TrackStatus & 0x10000000L);
+
+ if(!PhaseLock || !CodeLock) continue; // data is not reliable
+
+ // correct the phase for rollovers
+ // cf. OEM4 manual pg 203
+ double ADRrolls = ((Pr/(Frequency==0 ? wl1 : wl2)) + Ph)/PhaseRollover;
+ Ph -= long(ADRrolls + (ADRrolls > 0 ? 0.5 : -0.5)) * PhaseRollover;
+
+ // consider debiasing the phase
+
+ // use track status flags to set lli on the phase
+
+ // what to do with HalfCycle?
+
+ // fill RinexObsData rod
+ sat = SatID(prn,SatID::systemGPS);
+ satit = rod.obs.find(sat); // find the sat
+ if(satit == rod.obs.end()) { // not there - add this sat
+ RinexObsData::RinexObsTypeMap rotm;
+ rod.obs[sat] = rotm;
+ rod.numSvs++;
+ satit = rod.obs.find(sat); // now find it
+ }
+
+ // for convenience, reference the obs data map inside rod
+ RinexObsData::RinexObsTypeMap& obs = satit->second;
+ if(Frequency == 0) { // frequency = L1
+ rd.ssi = rd.lli = 0; rd.data = -Ph;
+ obs[RinexObsHeader::L1] = rd; // L1
+
+ rd.ssi = rd.lli = 0; rd.data = Pr;
+ if(CodeType == 0) obs[RinexObsHeader::C1] = rd; // C1
+ else obs[RinexObsHeader::P1] = rd; // P1
+
+ rd.ssi = rd.lli = 0; rd.data = Doppler;
+ obs[RinexObsHeader::D1] = rd; // D1
+
+ rd.ssi = rd.lli = 0; rd.data = SNR;
+ obs[RinexObsHeader::S1] = rd; // S1
+ }
+ else {
+ rd.ssi = rd.lli = 0; rd.data = -Ph;
+ obs[RinexObsHeader::L2] = rd; // L2
+
+ rd.ssi = rd.lli = 0; rd.data = Pr;
+ obs[RinexObsHeader::P2] = rd; // P2
+
+ rd.ssi = rd.lli = 0; rd.data = Doppler;
+ obs[RinexObsHeader::D2] = rd; // D2
+
+ rd.ssi = rd.lli = 0; rd.data = SNR;
+ obs[RinexObsHeader::S2] = rd; // S2
+ }
+
+ } // end loop over obs
+
+ } // end RANGECMP record
+
+ } // end all OEM4 obs records
+
+ return rod;
+
+ } // end NovatelData::operator RinexObsData()
+
+} // end namespace gpstk
diff --git a/dev/apps/converters/NovatelData.hpp b/dev/apps/converters/NovatelData.hpp
new file mode 100644
index 0000000..6cab0bf
--- /dev/null
+++ b/dev/apps/converters/NovatelData.hpp
@@ -0,0 +1,184 @@
+#pragma ident "$Id$"
+
+
+/**
+ * @file NovatelData.hpp
+ * gpstk::NovatelData - container for Novatel data, with methods to convert to Rinex
+ */
+
+#ifndef GPSTK_NOVATEL_DATA_HPP
+#define GPSTK_NOVATEL_DATA_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include <ostream>
+#include "Exception.hpp"
+#include "FFStream.hpp"
+#include "RinexNavData.hpp"
+#include "RinexObsData.hpp"
+#include "NovatelStream.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup NovatelGroup */
+ //@{
+
+ /// Read Novatel binary records and parse into Rinex. Currently supports
+ /// the basic data records of OEM2 and OEM4 files only; others are yet to be
+ /// implemented.
+ /// Ref. (OEM2) 'GPSCard Command Descriptions' Manual (Rev 3)
+ /// Ref. 'OEM4 Family of Receivers,' Users Manual Volume 2 (OM-20000047 Rev 12)
+ class NovatelData : public FFData
+ {
+ public:
+ /// block types implemented here
+ enum RecType
+ {
+ Unknown=0, ///< unknown block type
+ // OEM2 records
+ RGEB, ///< observations -- not implemented
+ RGEC, ///< observations
+ POSB, ///< position solution -- not implemented
+ REPB, ///< ephemeris
+ RCSB, ///< receiver stats -- not implemented
+ // OEM4 records
+ RANGE, ///< range and phase data (synchronous)
+ RANGECMP, ///< range and phase data, compressed (synchronous)
+ RAWEPHEM ///< ephemeris data (asynchronous)
+ };
+
+ /// Names of the record types : RecNames[rectype]
+ static const std::string RecNames[];
+
+ /// Default constructor
+ NovatelData(void) : rectype(Unknown), datasize(0), headersize(0), gpsWeek(-1)
+ {}
+
+ /// Destructor
+ virtual ~NovatelData(void) {}
+
+ /// Return true if this is a valid Novatel record.
+ /// Test the validity of the record with this before further processing.
+ bool isValid(void) const;
+
+ /// This class is not header
+ virtual bool isHeader(void) const { return false; }
+
+ /// This class is data
+ virtual bool isData(void) const { return true; }
+
+ /// True if this record is an ephemeris record
+ /// Test the identity of the record with this before casting into Rinex.
+ bool isNav(void) const;
+
+ /// True if this record is observation data
+ /// Test the identity of the record with this before casting into Rinex.
+ bool isObs(void) const;
+
+ /// True if this record is auxiliary data (not Nav, not Obs)
+ /// (only one of isNav(), isObs() and isAux() is true
+ bool isAux(void) const;
+
+ /// True if this record belongs to OEM2 receivers
+ bool isOEM2(void) const;
+
+ /// True if this record belongs to OEM4 receivers
+ bool isOEM4(void) const;
+
+ /// Dump the contents of the record to the ostream \c str.
+ virtual void dump(std::ostream& str) const;
+
+ /// set the week number of the data, this is required for
+ /// OEM2 nav records that are processed before any obs records
+ void setWeek(long& gpsweek) { gpsWeek = gpsweek; }
+
+ /// cast *this into an gpstk::RinexNavData.
+ /// @throw if the record is invalid or not an ephemeris (isNav()==false)
+ operator RinexNavData() throw(gpstk::Exception);
+
+ /// cast *this into a gpstk::RinexObsData
+ /// @throw if the record is invalid or not an observation (isObs()==false)
+ operator RinexObsData() throw(gpstk::Exception);
+
+ /// public data members
+ RecType rectype; ///< record type (cf. enum RecType)
+ int recnum; ///< record number (byte 4 of record)
+ long datasize; ///< size of data in bytes
+ int headersize; ///< size of header in bytes (=3 for OEM2)
+
+ protected:
+ /// Write this record to the stream \a s.
+ virtual void reallyPutRecord(FFStream& s) const
+ throw(std::exception, gpstk::StringUtils::StringException,
+ gpstk::FFStreamError);
+
+ /**
+ * Read a NovatelData record from the FFStream \c s.
+ * If an error is encountered, the function will
+ * return the stream to its original state and mark its fail-bit.
+ * @throws FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to its pre-read position.
+ */
+ virtual void reallyGetRecord(FFStream& s)
+ throw(std::exception, gpstk::StringUtils::StringException,
+ gpstk::FFStreamError);
+
+ private:
+ /// private data members
+ unsigned char buffer[1024]; ///< buffer for raw data
+
+ /// Reference GPS week, for OEM2, where the nav records require a GPS week,
+ /// but only the obs records have one, and then it is 10-bit.
+ /// This epoch will be used to remove the ambiguity in the 10-bit week
+ /// number of the obs records, and then will provide a week number for
+ /// for the nav records. If not set by the user, it will be set by the
+ /// system time, and then by the first obs record.
+ long gpsWeek;
+
+ }; // end class NovatelData
+
+ //@}
+
+} // end namespace gpstk
+
+#endif
diff --git a/dev/apps/converters/NovatelStream.hpp b/dev/apps/converters/NovatelStream.hpp
new file mode 100644
index 0000000..c4bc919
--- /dev/null
+++ b/dev/apps/converters/NovatelStream.hpp
@@ -0,0 +1,97 @@
+#pragma ident "$Id$"
+
+
+/**
+ * @file NovatelStream.hpp
+ * gpstk::NovatelStream - binary Novatel file stream container.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#ifndef GPSTK_NOVATELSTREAM_HPP
+#define GPSTK_NOVATELSTREAM_HPP
+
+#include <vector>
+#include <map>
+
+#include "FFBinaryStream.hpp"
+
+namespace gpstk
+{
+ /** @defgroup NovatelGroup Novatel receiver utilities */
+ //@{
+
+ /**
+ * The stream used to obtain data from a binary Novatel File.
+ * \sa NovatelData
+ */
+ class NovatelStream : public FFBinaryStream
+ {
+ public:
+ /// default constructor
+ NovatelStream() {}
+
+ /**
+ * Constructor
+ * @param fn the name of the Novatel file to be opened
+ * @param mode the ios::openmode to be used on \a fn
+ */
+ NovatelStream(const char* fn,
+ std::ios::openmode mode=std::ios::in|std::ios::binary)
+ : FFBinaryStream(fn, mode)
+ {}
+
+ /// destructor per the coding standards
+ virtual ~NovatelStream() {}
+
+ /// overrides open
+ virtual void open(const char* fn,
+ std::ios::openmode mode=std::ios::in|std::ios::binary)
+ { FFBinaryStream::open(fn, mode); }
+
+ }; // class NovatelStream
+
+ //@}
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/apps/converters/novaRinex.cpp b/dev/apps/converters/novaRinex.cpp
new file mode 100644
index 0000000..05f6873
--- /dev/null
+++ b/dev/apps/converters/novaRinex.cpp
@@ -0,0 +1,1151 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file novaRinex.cpp
+ * gpstk::novaRinex - convert Novatel binary data files to RINEX format
+ */
+
+#include <iostream>
+#include <iomanip>
+#include <time.h>
+#include <string>
+#include <map>
+
+// GPSTk
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+#include "CommandOption.hpp"
+#include "CommandOptionWithTimeArg.hpp"
+#include "CommandOptionParser.hpp"
+#include "NovatelStream.hpp"
+#include "NovatelData.hpp"
+#include "RinexObsStream.hpp"
+#include "RinexNavStream.hpp"
+#include "RinexObsHeader.hpp"
+#include "Triple.hpp"
+//#include "RinexBinex.hpp"
+
+using namespace std;
+using namespace gpstk;
+using namespace StringUtils;
+
+// -----------------------------------------------------------------------------------
+string Prgm("novaRinex"); // name of this program
+string Vers("v2.0 4/07"); // version - keep to 10 char
+// 1.0 8/05
+// 1.1 2/06 process obs only when datasize > 4 - empty records were setting FirstEpoch
+// 1.2 6/06 catch exceptions, and allow blanks on cmd line and in input file
+// 1.3 7/06 correctly open files in other than current directory, don't print input
+// errors when help is the only option
+// 1.4 7/06 handle exceptions
+// 1.5 7/06 correct handling of header inputs
+// 2.0 4/07 added Binex output -- commented out
+
+// -----------------------------------------------------------------------------------
+// global data, mostly to save information to go in the final RINEX header
+// for computing the data time interval
+int ndt[9];
+double bestdt[9];
+// epochs
+DayTime CurrEpoch,PrevEpoch,FirstEpoch;
+// table of PRN/#obs
+map<SatID,vector<int> > table;
+vector<int> totals;
+// Command line input
+bool help,Debug,verbose;
+DayTime BegTime,EndTime;
+string NovatelFile, RinexObsFile, RinexNavFile; //, BinexFile;
+string InputDirectory;
+// header fields
+bool FillOptionalHeader;
+Triple HDAntPos,HDAntOffset; // TD
+vector<string> HDcomments;
+vector<RinexObsHeader::RinexObsType> OutputTypes;
+long gpsWeek;
+bool debias;
+
+//------------------------------------------------------------------------------------
+// other global data
+string TempFileName; // initial output is here, before header is filled
+NovatelStream instr;
+RinexObsStream rostr;
+RinexNavStream rnstr;
+RinexObsHeader roh; // used in CommandLine
+// indexes for the std obs types in the header
+int inC1,inP1,inL1,inD1,inS1,inP2,inL2,inD2,inS2;
+
+// -----------------------------------------------------------------------------------
+// command line input
+int GetCommandInput(int argc, char **argv) throw(Exception);
+void PreProcessArgs(const char *arg, vector<string>& Args) throw(Exception);
+void DumpCommandLine(ostream& ofs = cout) throw(Exception);
+
+// open input and output files
+int OpenFiles(void) throw(Exception);
+
+// fill header initially
+void InitializeHeaders(RinexObsHeader& roh, RinexNavHeader& rnh) throw(Exception);
+
+// update saved information for revised header
+void UpdateInformation(RinexObsData& rod) throw(Exception);
+
+// final header update, and write out
+int UpdateHeader(string& TempFile, string& OutputFile, RinexObsHeader& rh)
+ throw(Exception);
+
+// final obs output - modify header and write to the real output file name
+string GetTempFileName(void) throw(Exception);
+int FillHeaderAndReplaceFile(string& TempFile,string& OutputFile,RinexObsHeader& rh)
+ throw(Exception);
+
+// -----------------------------------------------------------------------------------
+int main(int argc, char **argv)
+{
+ try {
+
+ int i,n,nobs,nnav;
+ double dt;
+
+ // get the current system time
+ time_t timer;
+ struct tm *tblock;
+ timer = time(NULL);
+ tblock = localtime(&timer);
+ CurrEpoch.setLocalTime();
+
+ i = GetCommandInput(argc, argv);
+ if(i) return 0;
+ if(verbose) {
+ cout << Prgm << " version " << Vers << " run " << CurrEpoch << endl;
+ DumpCommandLine();
+ }
+
+ i = OpenFiles();
+ if(i) return i;
+
+ // declare data objects used for I/O
+ long bytesread=0; // at the end, bytesread should equal the Novatel file size.
+ NovatelData novad;
+ novad.setWeek(gpsWeek);
+
+ RinexNavHeader rnh;
+ RinexNavData rnd;
+ RinexObsData rod;
+
+ // initialize the headers (indexes inC1,etc defined here)
+ InitializeHeaders(roh, rnh);
+
+ // write headers
+ rostr << roh;
+ rnstr << rnh;
+
+ // prep for the I/O loop
+ FirstEpoch = DayTime::BEGINNING_OF_TIME;
+ for(i=0; i<9; i++) ndt[i] = -1;
+
+ // show a counter
+ nobs = nnav = n = 0;
+ // loop over data in the Novatel file
+ try{
+ while(instr >> novad) {
+ if(Debug) cout << "Read " << NovatelData::RecNames[novad.rectype]
+ << " size " << novad.headersize << " + " << novad.datasize
+ << " number " << novad.recnum;
+
+ if(novad.isOEM2()) {
+ if(roh.recVers == string("OEM2/4")) roh.recVers = "OEM2";
+ if(Debug) cout << " OEM2";
+ }
+
+ if(novad.isOEM4()) {
+ if(Debug) cout << " OEM4";
+ if(roh.recVers == string("OEM2/4")) roh.recVers = "OEM4";
+ }
+
+ if(Debug) {
+ if(novad.isObs()) cout << " obs";
+ if(novad.isNav()) cout << " nav";
+ if(novad.isAux()) cout << " aux";
+ cout << endl;
+ }
+
+ bytesread += novad.datasize + novad.headersize;
+ if(novad.isOEM2()) bytesread += 1; // CRC byte
+ if(novad.isOEM4()) bytesread += 4; // CRC bytes
+
+ if(novad.isObs() && novad.datasize > 4) { // obs only, with data
+ rod = RinexObsData(novad); // convert
+ if(rod.time < BegTime) continue;
+ if(rod.time > EndTime) break;
+ if(Debug) rod.dump(cout); // dump
+
+ rostr << rod; // write out
+ nobs++;
+
+ UpdateInformation(rod);
+ }
+ else if(novad.isNav()) { // nav only
+ rnd = RinexNavData(novad); // convert
+ if(Debug) rnd.dump(cout); // dump
+ rnstr << rnd; // write out
+ nnav++;
+ }
+
+ n++;
+ if(verbose && !Debug) {
+ if(n == 100) cout << "Reading Novatel records: (100 per .)\n";
+ if(!(n % 100)) { cout << "."; cout.flush(); }
+ if(!(n % 8000)) cout << endl;
+ }
+
+ } // end while loop over data
+ }
+ catch(Exception& e) { GPSTK_RETHROW(e); }
+
+ if(verbose && !Debug) cout << "\n";
+
+ //instr.clear();
+ instr.close();
+ //rostr.clear();
+ rostr.close();
+ //rnstr.clear();
+ rnstr.close();
+
+ // now update the header and (re)write it to the file
+ i = UpdateHeader(TempFileName, RinexObsFile, roh);
+
+ if(verbose) {
+ cout << "novaRinex read " << n
+ << " records, and wrote " << nobs
+ << " observations and " << nnav << " ephemerides\n";
+ cout << "Total bytes read = " << bytesread << endl;
+ }
+
+ return i;
+ }
+ catch(Exception& e) { cerr << "Caught exception\n" << e << endl; }
+ catch(...) { cerr << "Unknown error." << endl; }
+
+ return -1;
+}
+
+//------------------------------------------------------------------------------------
+int OpenFiles(void) throw(Exception)
+{
+try {
+ string filename;
+ if(InputDirectory.empty())
+ filename = NovatelFile;
+ else
+ filename = InputDirectory + string("/") + NovatelFile;
+ instr.open(filename.c_str(),ios::in | ios::binary);
+ if(!instr) {
+ cerr << "Failed to open input file " << NovatelFile << endl;
+ return -1;
+ }
+ if(verbose) cout << "Opened input file " << NovatelFile << endl;
+ instr.exceptions(fstream::failbit);
+
+ TempFileName = GetTempFileName();
+ rostr.open(TempFileName.c_str(),ios::out);
+ if(!rostr) {
+ cerr << "Failed to open temporary output file " << TempFileName << endl;
+ return -2;
+ }
+ rostr.exceptions(fstream::failbit);
+
+ rnstr.open(RinexNavFile.c_str(),ios::out);
+ if(!rnstr) {
+ cerr << "Failed to open output nav file " << RinexNavFile << endl;
+ return -3;
+ }
+ if(verbose) cout << "Opened output nav file " << RinexNavFile << endl;
+ rnstr.exceptions(fstream::failbit);
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void InitializeHeaders(RinexObsHeader& roh, RinexNavHeader& rnh) throw(Exception)
+{
+try {
+ int i;
+ // observation header
+ roh.version = 2.1;
+ roh.fileType = "Observation";
+ roh.system = RinexSatID();
+ // use same format as writer in RinexObsHeader.cpp uses
+ // old "%04Y/%02m/%02d %02H:%02M:%02S");
+ roh.date = CurrEpoch.printf("%02m/%02d/%04Y %02H:%02M:%02S");
+ roh.antennaPosition = Triple(0.0,0.0,0.0);
+ roh.antennaOffset = Triple(0.0,0.0,0.0);
+ roh.wavelengthFactor[0] = 1;
+ roh.wavelengthFactor[1] = 1;
+
+ // must keep track of indexes - for use in table
+ if(Debug) cout << "Output obs types and indexes:";
+ inC1 = inP1 = inL1 = inD1 = inS1 = inP2 = inL2 = inD2 = inS2 = -1;
+ for(i=0; i<OutputTypes.size(); i++) {
+ if(OutputTypes[i] == RinexObsHeader::C1) inC1=i;
+ if(OutputTypes[i] == RinexObsHeader::P1) inP1=i;
+ if(OutputTypes[i] == RinexObsHeader::L1) inL1=i;
+ if(OutputTypes[i] == RinexObsHeader::D1) inD1=i;
+ if(OutputTypes[i] == RinexObsHeader::S1) inS1=i;
+ if(OutputTypes[i] == RinexObsHeader::P2) inP2=i;
+ if(OutputTypes[i] == RinexObsHeader::L2) inL2=i;
+ if(OutputTypes[i] == RinexObsHeader::D2) inD2=i;
+ if(OutputTypes[i] == RinexObsHeader::S2) inS2=i;
+ if(Debug)
+ cout << " " << RinexObsHeader::convertObsType(OutputTypes[i]) << ":" << i;
+ }
+ if(Debug) cout << endl;
+ roh.obsTypeList = OutputTypes;
+
+ roh.interval = 10.; // defined later by data
+ roh.firstObs = CurrEpoch; // defined later by data
+ roh.firstSystem = RinexSatID();
+ roh.lastObs = CurrEpoch; // defined later by data
+ roh.commentList.push_back("Created by GPSTK program " + Prgm + " " + Vers
+ + CurrEpoch.printf("%04Y/%02m/%02d %02H:%02M:%02S"));
+ for(i=0; i<HDcomments.size(); i++)
+ roh.commentList.push_back(HDcomments[i]);
+
+ roh.valid = RinexObsHeader::allValid21;
+ roh.valid |= RinexObsHeader::commentValid;
+
+ // navigation header
+ rnh.version = 2.1;
+ rnh.fileType = "Observation";
+ rnh.fileProgram = roh.fileProgram;
+ rnh.fileAgency = roh.fileAgency;
+ rnh.date = CurrEpoch.printf("%04Y/%02m/%02d %02H:%02M:%02S");
+ rnh.commentList.push_back("Created by GPSTK program " + Prgm + " " + Vers
+ + CurrEpoch.printf("%04Y/%02m/%02d %02H:%02M:%02S"));
+ for(i=0; i<HDcomments.size(); i++)
+ rnh.commentList.push_back(HDcomments[i]);
+
+ rnh.valid = RinexNavHeader::allValid21;
+ rnh.valid |= RinexNavHeader::commentValid;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void UpdateInformation(RinexObsData& rod) throw(Exception)
+{
+try {
+ int i,j,k;
+ double dt;
+ SatID sat;
+
+ if(fabs(FirstEpoch - DayTime::BEGINNING_OF_TIME) < 1) {
+ PrevEpoch = FirstEpoch = rod.time;
+ if(verbose) cout << "Set First Epoch to "
+ << rod.time.printf("%Y/%m/%d %H:%02M:%6.3f = %F/%10.3g") << endl;
+ }
+ else
+ PrevEpoch = CurrEpoch;
+ CurrEpoch = rod.time;
+
+ // compute the most likely value of dt, the time spacing of the data
+ dt=CurrEpoch-PrevEpoch;
+ if(dt > 0.0) {
+ for(i=0; i<9; i++) {
+ if(ndt[i] <= 0) { bestdt[i]=dt; ndt[i]=1; break; }
+ if(fabs(dt-bestdt[i]) < 0.0001) { ndt[i]++; break; }
+ if(i == 8) {
+ k = 0;
+ int nleast=ndt[k];
+ for(j=1; j<9; j++) if(ndt[j] <= nleast) {
+ k=j; nleast=ndt[j];
+ }
+ ndt[k]=1; bestdt[k]=dt;
+ }
+ }
+ }
+ else if(dt < 0.0)
+ cout << "Warning! observation records out of time order (previous > current) : "
+ << PrevEpoch.printf("%F %.3g") << " > " << CurrEpoch.printf("%F %.3g")
+ << endl;
+
+ RinexObsData::RinexSatMap::iterator jt;
+ map<SatID,vector<int> >::iterator it;
+ for(jt=rod.obs.begin(); jt != rod.obs.end(); jt++) {
+ // find this satellite in the table
+ sat = jt->first;
+ if((it=table.find(sat)) == table.end()) {
+ table[sat] = vector<int>(OutputTypes.size(),0);
+ it = table.find(sat);
+ }
+
+ // increment counter for each obstype found
+ if(inC1 >= 0 &&
+ rod.obs[sat][RinexObsHeader::C1].data != 0.0) {
+ table[sat][inC1]++;
+ totals[inC1]++;
+ }
+ if(inP1 >= 0 &&
+ rod.obs[sat][RinexObsHeader::P1].data != 0.0) {
+ table[sat][inP1]++;
+ totals[inP1]++;
+ }
+ if(inL1 >= 0 &&
+ rod.obs[sat][RinexObsHeader::L1].data != 0.0) {
+ table[sat][inL1]++;
+ totals[inL1]++;
+ }
+ if(inD1 >= 0 &&
+ rod.obs[sat][RinexObsHeader::D1].data != 0.0) {
+ table[sat][inD1]++;
+ totals[inD1]++;
+ }
+ if(inS1 >= 0 &&
+ rod.obs[sat][RinexObsHeader::S1].data != 0.0) {
+ table[sat][inS1]++;
+ totals[inS1]++;
+ }
+ if(inP2 >= 0 &&
+ rod.obs[sat][RinexObsHeader::P2].data != 0.0) {
+ table[sat][inP2]++;
+ totals[inP2]++;
+ }
+ if(inL2 >= 0 &&
+ rod.obs[sat][RinexObsHeader::L2].data != 0.0) {
+ table[sat][inL2]++;
+ totals[inL2]++;
+ }
+ if(inD2 >= 0 &&
+ rod.obs[sat][RinexObsHeader::D2].data != 0.0) {
+ table[sat][inD2]++;
+ totals[inD2]++;
+ }
+ if(inS2 >= 0 &&
+ rod.obs[sat][RinexObsHeader::S2].data != 0.0) {
+ table[sat][inS2]++;
+ totals[inS2]++;
+ }
+ }
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+string GetTempFileName(void) throw(Exception)
+{
+try {
+#ifdef _MSC_VER
+ char newname[L_tmpnam];
+ if(!tmpnam(newname)) {
+#else
+ char newname[]="TempnovaRinex.XXXXXX";
+ if(mkstemp(newname)==-1) {
+#endif
+ return string("");
+ }
+ remove(newname);
+ return string(newname);
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+int UpdateHeader(string& TempFile, string& OutputFile, RinexObsHeader& rh)
+ throw(Exception)
+{
+try {
+ int i,j;
+
+ // update header
+ if(FillOptionalHeader) {
+ for(i=1,j=0; i<9; i++) if(ndt[i]>ndt[j]) j=i;
+ rh.interval = bestdt[j];
+ rh.valid |= RinexObsHeader::intervalValid;
+ rh.firstObs = FirstEpoch;
+ rh.lastObs = CurrEpoch;
+ rh.valid |= RinexObsHeader::lastTimeValid;
+ }
+
+ // edit out obs types that have no data
+ vector<RinexObsHeader::RinexObsType>::iterator it;
+ vector<int> indexes; // indexes is a list of 'good' indexes into table
+ for(i=0, it=rh.obsTypeList.begin(); it != rh.obsTypeList.end(); i++) {
+ if(totals[i] <= 0) {
+ // no data for this obs type
+ if(Debug) cout << " Obs type " << RinexObsHeader::convertObsType(*it)
+ << " had no data - delete" << endl;
+ // delete from header
+ rh.obsTypeList.erase(it);
+ }
+ else {
+ indexes.push_back(i); // this is an index with data
+ it++;
+ }
+ }
+ // now edit the table
+ map<SatID,vector<int> >::iterator jt;
+ for(jt=table.begin(); jt != table.end(); jt++) { // for each sat..
+ for(j=0,i=0; i<indexes.size(); i++,j++)
+ if(j != indexes[i]) jt->second[j] = jt->second[indexes[i]];
+ jt->second.resize(indexes.size());
+ }
+
+
+ // add the PRN/obs table
+ if(FillOptionalHeader && table.size() > 0) {
+ rh.numSVs = table.size();
+ rh.valid |= RinexObsHeader::numSatsValid;
+ rh.numObsForSat.clear();
+ rh.numObsForSat = table;
+ rh.valid |= RinexObsHeader::prnObsValid;
+ }
+
+ // re-open the obs file for reading, and replace the header
+ RinexObsStream InAgain(TempFile.c_str());
+ if(!InAgain) {
+ cerr << "Failed to re-open temp output Rinex obs file " << TempFile << endl;
+ return -3;
+ }
+ InAgain.exceptions(fstream::failbit);
+
+ // open the true output obs file for writing
+ RinexObsStream ROutStr(OutputFile.c_str(), ios::out);
+ if(!ROutStr) {
+ cerr << "Failed to open output Rinex obs file " << OutputFile << endl;
+ return -3;
+ }
+ if(verbose) cout << "Opened file " << OutputFile << " for RINEX output." << endl;
+ ROutStr.exceptions(fstream::failbit);
+
+ // // open a BINEX stream
+ //BinexStream BinexOut;
+ //if(!BinexFile.empty()) {
+ // BinexOut.open(BinexFile.c_str(), std::ios::out | std::ios::binary);
+ // if(!BinexOut) {
+ // cerr << "Failed to open output BINEX file " << BinexFile << endl;
+ // return -3;
+ // }
+ // BinexOut.exceptions(ios_base::failbit | ios_base::badbit);
+ // if(verbose) cout << "Opened file " << BinexFile << " for BINEX output." << endl;
+ //}
+
+ // read preliminary header, ...
+ RinexObsHeader rhjunk;
+ InAgain >> rhjunk;
+ // ...write out the full one
+ ROutStr << rh;
+ // write header to BINEX, also all the nav information
+ //if(!BinexFile.empty()) {
+ // writeBinex(BinexOut, rh, char(4)); // 4 means 'from native receiver format'
+ // // open nav file RinexNavFile, read it all and write it all to Binex
+ // RinexNavStream rns(RinexNavFile.c_str(),ios::in);
+ // if(!rns) {
+ // cerr << "Failed to re-open output nav file " << RinexNavFile << endl;
+ // return -3;
+ // }
+ // rns.exceptions(fstream::failbit);
+ // // ignore the header
+ // RinexNavHeader rnh;
+ // rns >> rnh;
+ // RinexNavData rnd;
+ // while(rns >> rnd) writeBinex(BinexOut, rnd);
+ // rns.close();
+ //}
+
+ RinexObsData robs;
+ while(InAgain >> robs) {
+ ROutStr << robs;
+ //if(!BinexFile.empty()) writeBinex(BinexOut, robs);
+ }
+
+ InAgain.close();
+ ROutStr.close();
+ //if(!BinexFile.empty()) BinexOut.close();
+
+ // delete the temporary
+ if(remove(TempFile.c_str()) != 0) {
+ cerr << "Error: Could not remove existing temp file: " << TempFile << endl;
+ return -1;
+ }
+ else if(Debug) cout << "Deleted temporary file " << TempFile << endl;
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
+int GetCommandInput(int argc, char **argv) throw(Exception)
+{
+try {
+ int i,j;
+ vector<string> values;
+
+ // --------------------------------------------------------------------------------
+ // set all the defaults
+ Debug = help = verbose = false;
+ BegTime = DayTime::BEGINNING_OF_TIME;
+ EndTime = DayTime::END_OF_TIME;
+ //NovatelFile,
+ RinexObsFile = string("RnovaRinex.obs");
+ RinexNavFile = string("RnovaRinex.nav");
+ //BinexFile = string();
+ InputDirectory = string("");
+ // header fields
+ FillOptionalHeader = true;
+ roh.fileProgram = Prgm+" "+Vers;
+ roh.fileAgency = string("ARL:UT/GPSTk");
+ roh.observer = string(" ");
+ roh.agency = string("ARL:UT/GPSTk");
+ roh.markerName = string(" ");
+ roh.markerNumber = string(" ");
+ roh.recNo = " ";
+ roh.recType = "Novatel";
+ roh.recVers = "OEM2/4"; // defined later by data
+ roh.antNo = " ";
+ roh.antType = " ";
+ //string HDRxNo,HDRxType,HDRxVer,HDAntNo,HDAntType; // TD
+ //vector<string> HDcomments; // none
+ //vector<RinexObsHeader::RinexObsType> OutputTypes; // define later
+ gpsWeek = -1;
+ debias = false;
+
+ // --------------------------------------------------------------------------------
+ // Define the options
+
+ // required options:
+ RequiredOption dashinput(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"input"," --input <file> Novatel binary input file");
+ dashinput.setMaxCount(1);
+
+ // optional arguments:
+ // this is here only so it will show up in the help msg...
+ CommandOption dashf(CommandOption::hasArgument, CommandOption::stdType,
+ 'f',""," [-f|--file] <fn> Name of file containing more options"
+ " (ignores '#' to EOL)");
+
+ CommandOption dashdir(CommandOption::hasArgument, CommandOption::stdType,0,"dir",
+ " --dir <dir> Directory in which to find input file (defaults to ./)");
+ dashdir.setMaxCount(1);
+
+ CommandOption dashobs(CommandOption::hasArgument, CommandOption::stdType,0,"obs",
+ " --obs <file> RINEX observation output file (RnovaRinex.obs)");
+ dashobs.setMaxCount(1);
+
+ CommandOption dashnav(CommandOption::hasArgument, CommandOption::stdType,0,"nav",
+ " --nav <file> RINEX navigation output file (RnovaRinex.nav)");
+ dashnav.setMaxCount(1);
+
+ //CommandOption dashbin(CommandOption::hasArgument, CommandOption::stdType,0,"bin",
+ // " --bin <file> BINEX (binary) output file (RnovaRinex.bnx)");
+ //dashbin.setMaxCount(1);
+
+ CommandOption dashNHF(CommandOption::hasArgument, CommandOption::stdType,0,
+ "noHDopt", "\nOutput RINEX header fields:\n --noHDopt If present, "
+ "do not fill optional records in the output RINEX header");
+ dashNHF.setMaxCount(1);
+
+ CommandOption dashHDp(CommandOption::hasArgument, CommandOption::stdType,0,"HDp",
+ " --HDp <program> Set output RINEX header 'program' field ('"
+ + roh.fileProgram + "')");
+ dashHDp.setMaxCount(1);
+
+ CommandOption dashHDr(CommandOption::hasArgument, CommandOption::stdType,0,"HDr",
+ " --HDr <run_by> Set output RINEX header 'run by' field ('"
+ + roh.fileAgency + "')");
+ dashHDr.setMaxCount(1);
+
+ CommandOption dashHDo(CommandOption::hasArgument, CommandOption::stdType,0,"HDo",
+ " --HDo <obser> Set output RINEX header 'observer' field ('"
+ + roh.observer + "')");
+ dashHDo.setMaxCount(1);
+
+ CommandOption dashHDa(CommandOption::hasArgument, CommandOption::stdType,0,"HDa",
+ " --HDa <agency> Set output RINEX header 'agency' field ('"
+ + roh.agency + "')");
+ dashHDa.setMaxCount(1);
+
+ CommandOption dashHDm(CommandOption::hasArgument, CommandOption::stdType,0,"HDm",
+ " --HDm <marker> Set output RINEX header 'marker' field ('"
+ + roh.markerName + "')");
+ dashHDm.setMaxCount(1);
+
+ CommandOption dashHDn(CommandOption::hasArgument, CommandOption::stdType,0,"HDn",
+ " --HDn <number> Set output RINEX header 'number' field ('"
+ + roh.markerNumber + "')");
+ dashHDn.setMaxCount(1);
+
+ CommandOption dashHDrn(CommandOption::hasArgument, CommandOption::stdType,0,"HDrn",
+ " --HDrn <number> Set output RINEX header 'Rx number' field ('"
+ + roh.recNo + "')");
+ dashHDrn.setMaxCount(1);
+
+ CommandOption dashHDrt(CommandOption::hasArgument, CommandOption::stdType,0,"HDrt",
+ " --HDrt <type> Set output RINEX header 'Rx type' field ('"
+ + roh.recType + "')");
+ dashHDrt.setMaxCount(1);
+
+ CommandOption dashHDrv(CommandOption::hasArgument, CommandOption::stdType,0,"HDrv",
+ " --HDrv <vers> Set output RINEX header 'Rx version' field ('"
+ + roh.recVers + "')");
+ dashHDrv.setMaxCount(1);
+
+ CommandOption dashHDan(CommandOption::hasArgument, CommandOption::stdType,0,"HDan",
+ " --HDan <number> Set output RINEX header 'antenna number' field ('"
+ + roh.antNo + "')");
+ dashHDan.setMaxCount(1);
+
+ CommandOption dashHDat(CommandOption::hasArgument, CommandOption::stdType,0,"HDat",
+ " --HDat <type> Set output RINEX header 'antenna type' field ('"
+ + roh.antType + "')");
+ dashHDat.setMaxCount(1);
+
+ CommandOption dashHDc(CommandOption::hasArgument, CommandOption::stdType,0,"HDc",
+ " --HDc <comment> Add comment to output RINEX headers (>1 allowed).");
+ //dashHDc.setMaxCount(1);
+
+ CommandOption dashobstype(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"obstype","\nOutput RINEX observation data:\n"
+ " --obstype <OT> Output this RINEX (standard) obs type (i.e. <OT> is one of\n"
+ " L1,L2,C1,P1,P2,D1,D2,S1,or S2); repeat for each type.\n"
+ " NB default is ALL std. types that have data.");
+ //dashobstype.setMaxCount(1);
+
+
+ // times
+ CommandOptionWithTimeArg dasheb(0,"begin","%Y,%m,%d,%H,%M,%f",
+ "\nOutput configuration:\n --begin <arg> Start time, arg is of the form "
+ "YYYY,MM,DD,HH,Min,Sec");
+ CommandOptionWithTimeArg dashgb(0,"beginGPS","%F,%g",
+ " --beginGPS <arg> Start time, arg is of the form GPSweek,GPSsow");
+
+ CommandOptionWithTimeArg dashee(0,"end","%Y,%m,%d,%H,%M,%f",
+ " --end <arg> End time, arg is of the form YYYY,MM,DD,HH,Min,Sec");
+ CommandOptionWithTimeArg dashge(0,"endGPS","%F,%g",
+ " --endGPS <arg> End time, arg is of the form GPSweek,GPSsow");
+
+ // allow ONLY one start time (use startmutex(true) if one is required)
+ CommandOptionMutex startmutex(false);
+ startmutex.addOption(&dasheb);
+ startmutex.addOption(&dashgb);
+ CommandOptionMutex stopmutex(false);
+ stopmutex.addOption(&dashee);
+ stopmutex.addOption(&dashge);
+
+ CommandOption dashweek(CommandOption::hasArgument, CommandOption::stdType,0,"week",
+ " --week <week> GPS Week number of this data, NB: this is for OEM2;\n"
+ " this command serves two functions, resolving the ambiguity\n"
+ " in the 10-bit week (default uses --begin, --end, or the\n"
+ " current system time) and ensuring that ephemeris records\n"
+ " that precede any obs records are not lost.");
+ dashweek.setMaxCount(1);
+
+ CommandOptionNoArg dashdebias(0,"debias",
+ " --debias Remove an initial bias from the phase");
+ dashdebias.setMaxCount(1);
+
+ CommandOptionNoArg dashhelp('h',"help",
+ " [-h|--help] print this message and quit");
+ dashhelp.setMaxCount(1);
+
+ CommandOptionNoArg dashVerbose('v', "verbose",
+ " --verbose print more information");
+ dashVerbose.setMaxCount(1);
+
+ CommandOptionNoArg dashDebug('d',"debug",
+ " [-d|--debug] print much more information");
+ dashDebug.setMaxCount(1);
+
+ // ... other options
+ CommandOptionRest Rest("");
+
+ // --------------------------------------------------------------------------------
+ // Define the parser here, after the options -- this is the 'prgm description'
+ CommandOptionParser Par(
+" Prgm " + Prgm + " (" + Vers + ") will open and read a binary Novatel file\n"
+" (OEM2 and OEM4 receivers are supported), and convert the data to RINEX format\n"
+" observation and navigation files. The RINEX header is filled using user input\n"
+" (see below), and optional records are filled. Input is on the command line,\n"
+" or of the same format in a file (--file <file>).\n");
+
+ // parse the command line
+ // allow user to put all options in a file
+ // PreProcessArgs pulls out help and Debug
+ vector<string> Args;
+ for(j=1; j<argc; j++) PreProcessArgs(argv[j],Args);
+
+ if(Args.size()==0) help = true;
+
+ // pass the rest
+ argc = Args.size()+1;
+ char **CArgs=new char*[argc];
+ if(!CArgs) { cerr << "Failed to allocate CArgs\n"; return -1; }
+ CArgs[0] = argv[0];
+ for(j=1; j<argc; j++) {
+ CArgs[j] = new char[Args[j-1].size()+1];
+ if(!CArgs[j]) { cerr << "Failed to allocate CArgs[j]\n"; return -1; }
+ strcpy(CArgs[j],Args[j-1].c_str());
+ }
+
+ if(Debug) {
+ cout << "Argument list passed to parser:\n";
+ for(j=0; j<argc; j++) cout << j << " " << CArgs[j] << endl;
+ }
+
+ Par.parseOptions(argc, CArgs);
+ for(j=1; j<argc; j++) delete[] CArgs[j];
+ delete[] CArgs;
+
+ // if help, print usage
+ if(help) {
+ Par.displayUsage(cout,false);
+ cout << endl;
+ if(argc <= 2) return 1;
+ }
+
+ // check for errors on the command line
+ if (Par.hasErrors() || Rest.getCount()) {
+ cerr << "\nErrors found in command line input:\n";
+ if(Par.hasErrors()) Par.dumpErrors(cerr);
+ if(Rest.getCount()) {
+ cerr << "The following command line fields were not recognized:\n";
+ values = Rest.getValue();
+ for(i=0; i<values.size(); i++)
+ cerr << " " << values[i] << endl;
+ }
+ cerr << "...end of Errors. Abort.\n";
+ help = true;
+ }
+
+ if(help && argc > 1)
+ cout << endl << "--------- parsed input:" << endl;
+
+ // --------------------------------------------------------------------------------
+ // pull out the parsed input
+
+ if(dashinput.getCount()) {
+ values = dashinput.getValue();
+ if(help) cout << " Input Novatel file name " << values[0] << endl;
+ NovatelFile = values[0];
+ }
+ if(dashdir.getCount()) {
+ values = dashdir.getValue();
+ if(help) cout << " Input Novatel file directory " << values[0] << endl;
+ InputDirectory = values[0];
+ }
+ if(dashobs.getCount()) {
+ values = dashobs.getValue();
+ if(help) cout << " Input RINEX obs file name " << values[0] << endl;
+ RinexObsFile = values[0];
+ }
+ if(dashnav.getCount()) {
+ values = dashnav.getValue();
+ if(help) cout << " Input RINEX nav file name " << values[0] << endl;
+ RinexNavFile = values[0];
+ }
+ //if(dashbin.getCount()) {
+ // values = dashbin.getValue();
+ // if(help) cout << " Input BINEX file name " << values[0] << endl;
+ // BinexFile = values[0];
+ //}
+ if(dashNHF.getCount()) {
+ values = dashNHF.getValue();
+ if(help) cout << " Turn off filling of optional header" << endl;
+ FillOptionalHeader = false;
+ }
+ if(dashHDp.getCount()) {
+ values = dashHDp.getValue();
+ if(help) cout << " Input header program name " << values[0] << endl;
+ roh.fileProgram = values[0];
+ }
+ if(dashHDr.getCount()) {
+ values = dashHDr.getValue();
+ if(help) cout << " Input header 'run by' field " << values[0] << endl;
+ roh.fileAgency = values[0];
+ }
+ if(dashHDo.getCount()) {
+ values = dashHDo.getValue();
+ if(help) cout << " Input header observer field " << values[0] << endl;
+ roh.observer = values[0];
+ }
+ if(dashHDa.getCount()) {
+ values = dashHDa.getValue();
+ if(help) cout << " Input header agency field " << values[0] << endl;
+ roh.agency = values[0];
+ }
+ if(dashHDm.getCount()) {
+ values = dashHDm.getValue();
+ if(help) cout << " Input header marker field " << values[0] << endl;
+ roh.markerName = values[0];
+ }
+ if(dashHDn.getCount()) {
+ values = dashHDn.getValue();
+ if(help) cout << " Input header marker name " << values[0] << endl;
+ roh.markerNumber = values[0];
+ }
+ if(dashHDrn.getCount()) {
+ values = dashHDrn.getValue();
+ if(help) cout << " Input header receiver number " << values[0] << endl;
+ roh.recNo = values[0];
+ }
+ if(dashHDrt.getCount()) {
+ values = dashHDrt.getValue();
+ if(help) cout << " Input header receiver type " << values[0] << endl;
+ roh.recType = values[0];
+ }
+ if(dashHDrv.getCount()) {
+ values = dashHDrv.getValue();
+ if(help) cout << " Input header receiver version " << values[0] << endl;
+ roh.recVers = values[0];
+ }
+ if(dashHDan.getCount()) {
+ values = dashHDan.getValue();
+ if(help) cout << " Input header antenna number " << values[0] << endl;
+ roh.antNo = values[0];
+ }
+ if(dashHDat.getCount()) {
+ values = dashHDat.getValue();
+ if(help) cout << " Input header antenna type " << values[0] << endl;
+ roh.antType = values[0];
+ }
+ if(dashHDc.getCount()) {
+ values = dashHDc.getValue();
+ for(i=0; i<values.size(); i++) {
+ if(help) cout << " Input comment for headers " << values[i] << endl;
+ HDcomments.push_back(values[i]);
+ }
+ }
+ if(dashobstype.getCount()) {
+ values = dashobstype.getValue();
+ for(i=0; i<values.size(); i++) {
+ RinexObsHeader::RinexObsType rot;
+ rot = RinexObsHeader::convertObsType(values[i]);
+ OutputTypes.push_back(rot);
+ if(help) cout << " Input output RINEX obs type " << values[i] << endl;
+ }
+ }
+ if(dasheb.getCount()) {
+ values = dasheb.getValue();
+ BegTime.setToString(values[0], "%Y,%m,%d,%H,%M,%S");
+ if(help) cout << " Input begin time " << values[0] << " = " << BegTime << endl;
+ if(gpsWeek == -1) gpsWeek = BegTime.GPSfullweek();
+ }
+ if(dashgb.getCount()) {
+ values = dashgb.getValue();
+ BegTime.setToString(values[0], "%F,%g");
+ if(help) cout << " Input begin time " << values[0] << " = " << BegTime << endl;
+ if(gpsWeek == -1) gpsWeek = BegTime.GPSfullweek();
+ }
+ if(dashee.getCount()) {
+ values = dashee.getValue();
+ EndTime.setToString(values[0], "%Y,%m,%d,%H,%M,%S");
+ if(help) cout << " Input end time " << values[0] << " = " << EndTime << endl;
+ if(gpsWeek == -1) gpsWeek = EndTime.GPSfullweek();
+ }
+ if(dashge.getCount()) {
+ values = dashge.getValue();
+ EndTime.setToString(values[0], "%F,%g");
+ if(help) cout << " Input end time " << values[0] << " = " << EndTime << endl;
+ if(gpsWeek == -1) gpsWeek = EndTime.GPSfullweek();
+ }
+ if(dashweek.getCount()) {
+ values = dashweek.getValue();
+ gpsWeek = StringUtils::asInt(values[0]);
+ }
+ if(dashdebias.getCount()) {
+ if(help) cout << " Turn on debiasing of the phase " << endl;
+ debias = true;
+ }
+ // help and Debug are pulled out by PreProcessArgs
+ //if(dashhelp.getCount()) {
+ // help = true;
+ //}
+ //if(dashDebug.getCount()) {
+ // Debug = true;
+ //}
+ if(dashVerbose.getCount() || Debug) verbose = true;
+
+
+ // process input
+ if(gpsWeek == -1) gpsWeek = CurrEpoch.GPSfullweek();
+ if(OutputTypes.size() == 0) { // fill with the standard types
+ OutputTypes.push_back(RinexObsHeader::C1);
+ OutputTypes.push_back(RinexObsHeader::P1);
+ OutputTypes.push_back(RinexObsHeader::L1);
+ OutputTypes.push_back(RinexObsHeader::D1);
+ OutputTypes.push_back(RinexObsHeader::S1);
+ OutputTypes.push_back(RinexObsHeader::P2);
+ OutputTypes.push_back(RinexObsHeader::L2);
+ OutputTypes.push_back(RinexObsHeader::D2);
+ OutputTypes.push_back(RinexObsHeader::S2);
+ }
+ // table will be initialized inside the loop
+ totals = vector<int>(OutputTypes.size(),0);
+
+ if(help) return 1;
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Pull out --debug --help and --file
+void PreProcessArgs(const char *arg, vector<string>& Args) throw(Exception)
+{
+try {
+ static bool found_cfg_file=false;
+
+ if(found_cfg_file || (arg[0]=='-' && arg[1]=='f')) {
+ string filename(arg);
+ if(!found_cfg_file) filename.erase(0,2); else found_cfg_file = false;
+ if(Debug) cout << "Found a file of options: " << filename << endl;
+ ifstream infile(filename.c_str());
+ if(!infile) {
+ cout << "Error: could not open options file " << filename << endl;
+ return;
+ }
+
+ bool again_cfg_file=false;
+ char c;
+ string buffer,word;
+ while(1) {
+ getline(infile,buffer);
+ stripTrailing(buffer,'\r');
+
+ // process the buffer before checking eof or bad b/c there can be
+ // a line at EOF that has no CRLF...
+ while(!buffer.empty()) {
+ word = firstWord(buffer);
+ if(again_cfg_file) {
+ word = "-f" + word;
+ again_cfg_file = false;
+ PreProcessArgs(word.c_str(),Args);
+ }
+ else if(word[0] == '#') { // skip to end of line
+ buffer.clear();
+ }
+ else if(word == "--file" || word == "-f")
+ again_cfg_file = true;
+ else if(word[0] == '"') {
+ word = stripFirstWord(buffer,'"');
+ buffer = "dummy " + buffer; // to be stripped later
+ PreProcessArgs(word.c_str(),Args);
+ }
+ else
+ PreProcessArgs(word.c_str(),Args);
+
+ word = stripFirstWord(buffer); // now remove it from buffer
+ }
+ if(infile.eof() || !infile.good()) break;
+ }
+ }
+ else if((arg[0]=='-' && arg[1]=='d') || string(arg)==string("--debug"))
+ Debug = true;
+ else if((arg[0]=='-' && arg[1]=='h') || string(arg)==string("--help"))
+ help = true;
+ else if(string(arg) == "--file" || string(arg) == "-f")
+ found_cfg_file = true;
+ else Args.push_back(arg);
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+
+//------------------------------------------------------------------------------------
+void DumpCommandLine(ostream& ofs) throw(Exception)
+{
+try {
+ int i;
+
+ ofs << "Summary of command line input:" << endl;
+ ofs << " Debug is " << (Debug ? "on":"off") << endl;
+ ofs << " Verbose is " << (verbose ? "on":"off") << endl;
+ if(!InputDirectory.empty()) ofs << " Path for input Novatel file is "
+ << InputDirectory << endl;
+ ofs << " Input Novatel file is: " << NovatelFile << endl;
+ ofs << " Output RINEX obs file is: " << RinexObsFile << endl;
+ ofs << " Output RINEX nav file is: " << RinexNavFile << endl;
+ //ofs << " Output BINEX (obs/nav) file is: " << BinexFile << endl;
+ ofs << " --------- Header information:\n";
+ if(!FillOptionalHeader) ofs << " Do not";
+ ofs << " Fill optional records in header" << endl;
+ ofs << " Header program: " << roh.fileProgram << endl;
+ ofs << " Header run by: " << roh.fileAgency << endl;
+ ofs << " Header observer: " << roh.observer << endl;
+ ofs << " Header agency: " << roh.agency << endl;
+ ofs << " Header marker name: " << roh.markerName << endl;
+ ofs << " Header marker number: " << roh.markerNumber << endl;
+ if(HDcomments.size() > 0) {
+ ofs << " Header comments:\n";
+ for(i=0; i<HDcomments.size(); i++) ofs << HDcomments[i] << endl;
+ }
+ ofs << " Output RINEX observation types (if found in the data):\n";
+ for(i=0; i<OutputTypes.size(); i++)
+ ofs << " " << RinexObsHeader::convertObsType(OutputTypes[i]);
+ ofs << endl;
+ if(BegTime > DayTime::BEGINNING_OF_TIME) ofs << " Begin time is "
+ << BegTime.printf("%Y/%m/%d %H:%02M:%6.3f = %F/%10.3g") << endl;
+ if(EndTime < DayTime::END_OF_TIME) ofs << " End time is "
+ << EndTime.printf("%Y/%m/%d %H:%02M:%6.3f = %F/%10.3g") << endl;
+ ofs << " Debiasing of phase is turned " << (debias ? "on" : "off") << endl;
+
+ ofs << "End of command line input summary." << endl;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
diff --git a/trunk/apps/differential/Jamfile b/dev/apps/differential/Jamfile
similarity index 100%
rename from trunk/apps/differential/Jamfile
rename to dev/apps/differential/Jamfile
diff --git a/dev/apps/differential/Makefile.am b/dev/apps/differential/Makefile.am
new file mode 100644
index 0000000..8bdd5b9
--- /dev/null
+++ b/dev/apps/differential/Makefile.am
@@ -0,0 +1,7 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../src
+LDADD = ../../src/libgpstk.la
+
+bin_PROGRAMS = vecsol
+
+vecsol_SOURCES = vecsol.cpp
diff --git a/dev/apps/differential/vecsol.1 b/dev/apps/differential/vecsol.1
new file mode 100644
index 0000000..953284b
--- /dev/null
+++ b/dev/apps/differential/vecsol.1
@@ -0,0 +1,118 @@
+.TH VECSOL "1" "September 2005" "vecsol (GPStk) 0.9" "User Commands"
+.SH NAME
+vecsol \- GPS Vector Solver, computes a 3D vector from RINEX input
+.SH SYNOPSIS
+.B vecsol
+[\fIRINEX obs file 1\fR] [\fIRINEX obs file 2\fR]
+.SH DESCRIPTION
+.\" Add any additional description here
+.PP
+Computes a 3D vector solution using dual-frequency carrier phases. A double
+difference algorithm is applied with properly computed weights
+(elevation sine weighting) and correlations. The program iterates to
+convergence and attempts to resolve ambiguities to integer values if
+close enough. Crude outlier rejection is provided based on a
+triple-difference test. Ephemeris used are either broadcast or precise
+(SP3). Alternatively, also P code processing is provided.
+.PP
+The solution is computed using the ionosphere-free linear combination.
+The ionospheric model included in broadcast ephemeris may be used. A
+standard tropospheric correction is applied, or tropospheric parameters
+(zenith delays) may be estimated.
+.SH FILES
+.TP
+\fBRINEX obs files 1 and 2\fR
+contain the observations collected at the two end points 1 and 2 of the
+baseline. They \fImust\fR contain a sufficient set of simultaneous
+observations to the same satellites.
+.TP
+\fBvecsol.conf\fR
+contains the input options for the program, one per line.
+.PP
+.SS Options
+.TP 10
+ \fBphase\fR [1/0]
+Process carrier phase data (instead of P code data)
+.TP
+ \fBtruecov\fR [1/0]
+If 1, use true double difference covariances. If 0, ignore any possible
+correlations
+.TP
+ \fBprecise\fR [1/0]
+If 1, use precise ephemeris, if 0, use broadcast ephemeris
+.TP
+ \fBiono\fR [1/0]
+If 1, use the 8-parameter ionospheric model that comes with the
+broadcast ephemeris (.nav) files
+.TP
+ \fBtropo\fR [1/0]
+Estimate troposphere parameters (zenith delays relative to the standard
+value, which is always applied)
+.TP
+ \fBvecmode\fR [1/0]
+If 1, solve the \fIvector\fR, i.e. the three co-ordinate differences
+between the baseline end points. If 0, solve for the absolute
+co-ordinates of both end points
+.TP
+ \fBdebug\fR [1/0]
+If 1, produce lots of gory debugging output. See the source for what it
+all means
+.TP
+ \fBrefsat_elev\fR
+Minimum elevation of the reference satellite used for computing
+inter-satellite differences. Good initial choice: 30.0
+.TP
+ \fBcutoff_elev\fR
+cut-off elevation. Good initial choice: 10.0 \- 20.0
+.TP
+ \fBPTDRej, CTDRej\fR
+Rejection limits for phase and code observations on triple
+difference level. Good choice: 0.001 0.1
+.TP
+ \fBreduce\fR
+Reduce out dependencies between DD biases
+
+.PP
+.TP
+\fBvecsol.nav\fR
+contains the names of the navigation RINEX files ("nav files", extension .yyN) to be used, one per line.
+.PP
+Good navigation RINEX files that are globally valid can be found from the CORS website at
+.B http://www.ngs.noaa.gov/CORS/
+.
+.TP
+\fBvecsol.eph\fR
+contains the names of the precise ephemeris SP3 files (extension .sp3)
+to be used. These should cover the time span of the observations, with
+time to spare on both ends.
+.PP
+Note that the date in the filenames of the SP3 files is given as GPS
+week + weekday, not year + day of year, as in the observation and nav
+files.
+.PP
+In the .nav and .eph files, comment lines have # in the first position.
+
+.SH AUTHOR
+Written by Martin Vermeer and others.
+.SH BUGS
+Doesn't currently recover \fIat all\fR from cycle slips, so the RINEX
+observation files used have to be fairly clean already.
+.PP
+Report bugs to <gpstk-devel at lists.sourceforge.net>.
+.SH COPYRIGHT
+Copyright \(co 2005 The Authors.
+.br
+This is free software; see the source for copying conditions. There is NO
+warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+.SH "SEE ALSO"
+The full documentation for the
+.B GPStk
+package of which
+.B vecsol
+is a part can be found on the website of
+.B GPStk
+at
+.IP
+.B http://gpstk.sourceforge.net
+.
+
diff --git a/dev/apps/differential/vecsol.conf b/dev/apps/differential/vecsol.conf
new file mode 100644
index 0000000..cbded09
--- /dev/null
+++ b/dev/apps/differential/vecsol.conf
@@ -0,0 +1,11 @@
+1 obsmode
+1 true covariances
+1 precise ephemeris
+0 nav file ionosphere
+1 tropo estimation
+1 vector mode
+1 debug
+30.0 ref sat cut-off
+20.0 cut-off angle
+0.1 0.1 triple diff rejection limits (phase, code)
+1 reduce
diff --git a/dev/apps/differential/vecsol.cpp b/dev/apps/differential/vecsol.cpp
new file mode 100644
index 0000000..1758c24
--- /dev/null
+++ b/dev/apps/differential/vecsol.cpp
@@ -0,0 +1,1303 @@
+/* vim: set cindent shiftwidth=4: */
+#include <string>
+#include <vector>
+#include <map>
+
+#include <limits.h>
+#include <float.h>
+
+#include "geometry.hpp"
+
+#include "Matrix.hpp"
+#include "MatrixOperators.hpp"
+
+#include "RinexObsBase.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsData.hpp"
+#include "RinexObsStream.hpp"
+
+#include "RinexNavBase.hpp"
+#include "RinexNavHeader.hpp"
+#include "RinexNavData.hpp"
+#include "RinexNavStream.hpp"
+
+#include "SP3Base.hpp"
+#include "SP3Header.hpp"
+#include "SP3Data.hpp"
+#include "SP3Stream.hpp"
+
+#include "TropModel.hpp"
+#include "WGS84Geoid.hpp"
+#include "IonoModelStore.hpp"
+
+#include "BCEphemerisStore.hpp"
+#include "SP3EphemerisStore.hpp"
+#include "EphemerisRange.hpp"
+#include "icd_200_constants.hpp"
+
+
+/**
+ * @file vecsol.cpp
+ * Vector solution using dual-frequency carrier phases. Double difference
+ * algorithm with proper weights, iteration with attempted ambiguity
+ * resolution, crude outlier rejection, elevation sine weighting.
+ * Alternatively also code processing provided.
+ * The configuration file is 'vecsol.conf'; broadcast or precise ephemeris
+ * are in files 'vecsol.nav' and 'vecsol.eph', respectively.
+
+ * LGPL (see COPYING). No furry animals were harmed in the coding
+ * of this software.
+
+ * (c) 2005-2006 Martin Vermeer
+
+
+GPS data in RINEX format, as well as precise orbits, can be downloaded
+from the SOPAC site: http://sopac.ucsd.edu/cgi-bin/dbDataByDate.cgi
+
+Site co-ordinates for testing can be had from:
+http://sopac.ucsd.edu/sites/getSiteInfo.html
+
+
+ To Do:
+ - Use of ssi and lli bits?
+ - Remove limitation that unknowns must be same across iterations
+ - Ionosphere models: use IONEX
+ - Satellite center-of-mass correction
+ - Receiver antenna phase delay patterns
+ - Earth tides
+ - Output of vectors to be read by other software
+
+ */
+
+
+using namespace std;
+using namespace gpstk;
+using gpstk::StringUtils::asString;
+using gpstk::transpose;
+
+ void
+stationData(RinexObsData const & rod, bool const phase,
+ vector < SatID > &prnVec,
+ vector < double >&rangeVecL1, vector < double >&rangeVecL2)
+{
+ RinexObsData::RinexSatMap::const_iterator it;
+ for (it = rod.obs.begin(); it != rod.obs.end(); it++) {
+ RinexObsData::RinexObsTypeMap otmap;
+ RinexObsData::RinexObsTypeMap::const_iterator itL1, itL2;
+ otmap = (*it).second;
+ if (phase) {
+ itL1 = otmap.find(RinexObsHeader::L1);
+ itL2 = otmap.find(RinexObsHeader::L2);
+ } else {
+ itL1 = otmap.find(RinexObsHeader::P1);
+ itL2 = otmap.find(RinexObsHeader::P2);
+ }
+ if (itL1 != otmap.end() && itL2 != otmap.end()) {
+ double /* const */ rangeL1 = (*itL1).second.data;
+ double /* const */ rangeL2 = (*itL2).second.data;
+
+ // here we would have Loss of Lock Indicator
+ // and Signal Strength Indicator: =0, >5 are OK
+ // cout << (*itL2).second.lli << endl;
+ // cout << (*itL2).second.ssi << endl;
+
+ // Discard empty data
+ if (rangeL1 != 0.0 && rangeL2 != 0.0) {
+ prnVec.push_back((*it).first);
+ rangeVecL1.push_back(rangeL1);
+ rangeVecL2.push_back(rangeL2);
+ }
+ }
+ }
+}
+
+
+enum FixType {
+ FIX_NONE,
+ FIX_WIDELANE,
+ FIX_BOTH
+};
+
+
+FixType phaseCycles(vector <double> & DDobs,
+ double const lambda1, double const lambda2, double const wt1,
+ double const wt2)
+{
+#define WITHIN_HALF_CYCLE(Lx) Lx = Lx - int(Lx); \
+ (Lx < -0.5 ? Lx += 1.0 : (Lx > 0.5 ? Lx -= 1.0 : Lx = Lx))
+
+ double L1 = DDobs[1] / lambda1;
+ double L2 = DDobs[2] / lambda2;
+ double L5 = L1 - L2;
+
+ WITHIN_HALF_CYCLE(L1);
+ WITHIN_HALF_CYCLE(L2);
+ WITHIN_HALF_CYCLE(L5);
+
+ cout << fixed << setprecision(8) << L1 << " " << L2 << " | " << L5;
+
+ bool const L1fixable = L1 < 0.1 && L1 > -0.1;
+ bool const L2fixable = L2 < 0.1 && L2 > -0.1;
+ bool const L5fixable = L5 < 0.07 && L5 > -0.07;
+ double const L3 = wt1 * lambda1 * L1 + wt2 * lambda2 * L2;
+ // Unit for L3: m
+ bool const L3fixable = L3 < 0.02 && L3 > -0.02;
+
+ if (L1fixable && L2fixable && L5fixable) {
+ DDobs[1] -= L1 * lambda1;
+ DDobs[2] -= L2 * lambda2;
+ cout << " FIX" << endl;
+ return FIX_BOTH;
+ }
+
+ if (L5fixable && L3fixable) {
+ DDobs[1] -= L1 * lambda1;
+ DDobs[2] -= L2 * lambda2;
+ cout << " QIF" << endl;
+ return FIX_BOTH;
+ }
+
+ if (L5fixable) {
+ DDobs[1] -= 0.5 * L5 * lambda1;
+ DDobs[2] += 0.5 * L5 * lambda2;
+ cout << " Widelane" << endl;
+ return FIX_WIDELANE;
+ }
+
+ cout << endl;
+ return FIX_NONE;
+}
+
+
+enum SolveType {
+ SOLVE_AMBS,
+ SOLVE_COORDS
+};
+
+
+void Solve(gpstk::Matrix <double> N, gpstk::Matrix <double> const b,
+ gpstk::Matrix <double> & N2, gpstk::Matrix <double> & b2,
+ SolveType const solveType,
+ gpstk::Vector <FixType> const fixed,
+ int const MaxUnkn, int const unknowns, bool const tropo)
+{
+ if (solveType == SOLVE_COORDS) {
+ // Fix "fixed" unknowns:
+ for (int k = MaxUnkn; k < unknowns; k++) {
+ if (fixed[k] == FIX_BOTH)
+ N(k,k) += 1.0E8; // absolutely fixed
+ // Note: we store separately the bias unknowns (ambiuguities) for L1 and
+ // L2. However, in the normal matrix we have them jointly. This limits
+ // what we can do here with weighting in case of a widelane fix.
+ // Obviously it would be better to have them separately in the normal
+ // matrix also, but then the solution effort would be 8x as expensive
+ // numerically.
+ if (fixed[k] == FIX_WIDELANE)
+ N(k,k) *= 1.25; // upgraded
+ }
+ } else { // SOLVE_AMBS
+ int const endCoords = ( tropo ? MaxUnkn - 2 : MaxUnkn );
+ for (int k = 0; k < endCoords; k++) {
+ N(k,k) += 1.0E8; // Keep only coords fixed (to earlier solved values)
+ }
+ }
+ // Soft-constrain tropo params. This is tricky, as this has to be scaled
+ // with the variance of unit weight for the GPS observations. Use
+ // conservative values:
+ if (tropo) {
+ N(MaxUnkn - 1, MaxUnkn - 1) += 0.01;
+ N(MaxUnkn - 2, MaxUnkn - 2) += 0.01;
+ }
+
+ // Copy over to correctly sized matrices
+ gpstk::Matrix <double> N1(unknowns, unknowns);
+ gpstk::Matrix <double> bb(unknowns, 3);
+ for (int k = 0; k < unknowns; k++) {
+ for (int m = 0; m < unknowns; m++)
+ N1(k,m) = N(k,m);
+ // Suppress unused unknowns, if any
+ if (N1(k,k) == 0.0)
+ N1(k,k) = 1.0;
+ for (int ot = 0; ot < 3; ot++)
+ bb(k,ot) = b(k,ot);
+ }
+
+ N2 = gpstk::inverse(N1);
+ double big, small;
+ cout << setprecision(10) << "Condition number(" << solveType << "):"
+ << condNum(N1, big, small) << endl;
+
+ cout << "Largest, smallest eigenvalue:" << " [" << big << " > "
+ << small << ']' << endl;
+ // Is it my imagination, or does SVD sometimes fail to order the
+ // eigenvalues properly? -- MV 01.03.2006
+ gpstk::SVD<double> svd;
+ svd(N1);
+ double big2 = 0;
+ for (int k = 0; k < unknowns; k++)
+ if (svd.S(k) > big2)
+ big2 = svd.S(k);
+ if (big != big2) {
+ // List all the eigenvalues; this shouldn't happen
+ for (int k = 0; k < unknowns; k++)
+ cout << k << ':' << svd.S(k) << ' ';
+ cout << endl;
+ }
+
+ for (int k = 0; k < unknowns; k++) {
+ if (N2(k,k) < 0.0)
+ cout << "Negative diagonal element "
+ << k << ": " << N2(k,k) << endl;
+ }
+ b2 = bb;
+}
+
+
+bool Reduce(gpstk::Matrix <double> & N, gpstk::Matrix <double> & sol,
+ Matrix <double> x0,
+ int const k, int const j, int const l,
+ int const dir1, int const dir2, int const dir3,
+ int const MaxUnkn, int const unknowns)
+{
+ // Here, the relationships ("closures") that may exist between different
+ // DD real-valued amvbiguities (biases) are used as condition equations
+ // to least-squares adjust (improve) them.
+ // The condition equation coefficient matrix is B, the condition
+ // quantity ("zero variate") is y.
+ gpstk::Matrix <double> B(1, unknowns);
+ gpstk::Matrix <double> BT(unknowns, 1);
+ gpstk::Matrix <double> y, BN, NBT, BNBT, InvBNBT;
+ int m;
+
+ // dir1/2/3 contain the "directions" of Double Diffs used,
+ // i.e., +1 or -1.
+ for (m = 0; m < unknowns; m++) {
+ if (m == k)
+ B(0, m) = dir1;
+ else if (m == j)
+ B(0, m) = dir2;
+ else if (m == l)
+ B(0, m) = dir3;
+ else
+ B(0, m) = 0.0;
+ }
+
+ // Least squares condition eqs. adjustment machinery
+ BT = transpose(B);
+ BN = B * N;
+ NBT = transpose(BN);
+ BNBT = BN * BT;
+ InvBNBT = BNBT; // Make sure size is always right
+ if (BNBT(0, 0) == 0.0) {
+ cout << "Warning: Zero Variance!" << endl;
+ InvBNBT(0, 0) = 0.0;
+ } else
+ InvBNBT(0, 0) = 1.0 / BNBT(0, 0);
+
+ // Create replacement of proper dimensions:
+ gpstk::Matrix <double> x0b(unknowns, 3);
+ for (int i = 0; i < unknowns; i++)
+ for (int m = 0; m < 3; m++)
+ x0b(i, m) = x0(i, m);
+
+ y = B * (sol + x0b);
+
+ if (abs(y(0, 0)) < 0.1) {
+ sol = sol - NBT * InvBNBT * y;
+ N = N - NBT * InvBNBT * BN;
+ cout << "DD ambigs.: " << k << ' ' << j << ' ' << l << endl;
+ cout << "Directions: " << dir1 << ' ' << dir2 << ' ' << dir3 << endl;
+ cout << "Closures: " << y << endl;
+ cout << "(Previous): " << B * x0b << endl;
+ return true;
+ }
+ return false;
+}
+
+
+Triple Rotate(Triple const UEN, Triple const R)
+ {
+ // Rotates an Up-East-North antenna offset to geocentric XYZ
+ // (This should be part of the GPStk library)
+ double const rad = R.mag();
+ double const rho = sqrt(R[0] * R[0] + R[1] * R[1]);
+ double const sf = R[2] / rad;
+ double const cf = rho / rad;
+ double const sl = R[1] / rho;
+ double const cl = R[0] / rho;
+ Triple a;
+ a[0] = cl * cf * UEN[0] - sl * UEN[1] - cl * sf * UEN[2];
+ a[1] = sl * cf * UEN[0] + cl * UEN[1] - sl * sf * UEN[2];
+ a[2] = sf * UEN[0] + cf * UEN[2];
+ return a;
+ }
+
+
+Triple permanentTide(double const phi)
+{
+ // Based on McCarthy (1996). Permanent part of the solid Earth tide,
+ // computed with conventional Love number, as has been the practice.
+ // Note that this is only meant to reduce measured GPS co-ordinates in a
+ // way that makes them comparable to ITRF published co-ordinates.
+ Triple disp;
+ double const c = cos(phi * DEG_TO_RAD);
+ disp [0] = 0.6026 * 0.19844 * (1.5 * c*c - 1.0);
+ disp [1] = 0.0;
+ disp [2] = 0.0831 * 0.19844 * 1.5 * sin(2.0 * phi);
+ return disp;
+}
+
+
+ int main(int argc, char *argv[])
+ {
+#define EPH_RANGE(C,T,X,S) ((precise ? \
+ C.ComputeAtReceiveTime(T.time,X,S,sp3store) : \
+ C.ComputeAtReceiveTime(T.time,X,S,bcestore)))
+
+ BCEphemerisStore bcestore;
+ SP3EphemerisStore sp3store;
+ WGS84Geoid geoid;
+ IonoModelStore ion;
+ CorrectedEphemerisRange CER1, CER2;
+ SimpleTropModel trop;
+
+ if (argc != 3) {
+ cerr << "Usage:" << endl;
+ cerr << " " << argv[0] <<
+ " <RINEX Obs file 1> <RINEX Obs file 2>" <<
+ endl;
+ cerr << "Edit vecsol.conf, vecsol.nav and vecsol.eph for input" <<
+ endl;
+ exit(-1);
+ }
+
+ int obsMode; // 0,2 = code, 1,3 = phase; 0,1 = iono free, 2,3 L1+L2
+ bool phase; // Process carrier phase data (instead of P code data)
+ bool ionoFree; // Compute iono free (instead of L1 + L2)
+ bool truecov; // Use true DD covariances (inst. of no correlations)
+ bool precise; // Use precise ephemeris (inst. of broadcast)
+ bool iono; // Use nav file iono model
+ bool tropo; // Estimate troposphere parameters
+ bool vecmode; // Solve vector (inst. of end point coords)
+ bool debug;
+ double refsat_elev; // Minimum elevation of the reference satellite.
+ // Good value: 30.0
+ double cutoff_elev; // cut-off elevation. Good value: 10.0
+ int MaxUnkn; // The number of std. unknowns. 3 for baseline est.,
+ // 6 for two endpoint positions, 8 for tropo est. too.
+ // rejection criteria, m/s, m
+ double PTDrej, CTDrej, DDrej = 1.0;
+ bool reduce; // Reduce out dependencies between DD biases
+
+ char s[80];
+ std::ifstream conf;
+ conf.open("vecsol.conf", ios::in);
+ conf >> obsMode; conf.getline(s, 80);
+ phase = obsMode == 1 || obsMode == 3;
+ ionoFree = obsMode == 0 || obsMode == 1;
+ conf >> truecov; conf.getline(s, 80);
+ conf >> precise; conf.getline(s, 80);
+ conf >> iono; conf.getline(s, 80);
+ conf >> tropo; conf.getline(s, 80);
+ conf >> vecmode; conf.getline(s, 80);
+ conf >> debug; conf.getline(s, 80);
+ conf >> refsat_elev; conf.getline(s, 80);
+ conf >> cutoff_elev; conf.getline(s, 80);
+ conf >> PTDrej >> CTDrej;
+ conf.getline(s, 80);
+ conf >> reduce; conf.getline(s, 80);
+ conf.close();
+
+ if (vecmode)
+ MaxUnkn = 3;
+ else
+ MaxUnkn = 6;
+ if (tropo)
+ MaxUnkn += 2;
+
+ cout << endl;
+ cout << "Configuration data from vecsol.conf" << endl;
+ cout << "-----------------------------------" << endl;
+ cout << "Use carrier phases: " << phase << endl;
+ cout << "Compute ionosphere-free: " << ionoFree << endl;
+ cout << "Use true correlations: " << truecov << endl;
+ cout << "Use precise ephemeris: " << precise << endl;
+ cout << "Use broadcast iono model: " << iono << endl;
+ cout << "Use tropospheric est.: " << tropo << endl;
+ cout << "Vector mode: " << vecmode << endl;
+ cout << "Debugging mode: " << debug << endl;
+ cout << "Ref sat elevation limit: " << refsat_elev << endl;
+ cout << "Cut-off elevation: " << cutoff_elev << endl;
+ cout << "TD rej. limits (phase, code): " << PTDrej << " "
+ << CTDrej << endl;
+ cout << "Reduce out DD dependencies: " << reduce << endl;
+ cout << endl;
+
+ int const MaxDim(phase ? 1000 : MaxUnkn); // For reserving array space
+ int const MaxSats(30); // Same
+
+ const double gamma((L1_FREQ / L2_FREQ) * (L1_FREQ / L2_FREQ));
+ const double L1_F2(L1_FREQ * L1_FREQ), L2_F2(L2_FREQ * L2_FREQ);
+ const double LDIF_F2(L1_F2 - L2_F2);
+ // Weights for adding L1 and L2 pseudo-ranges into metric iono free
+ const double wt1(L1_F2 / LDIF_F2);
+ const double wt2(-L2_F2 / LDIF_F2);
+ double lambda1, lambda2;
+ if (phase) {
+ lambda1 = C_GPS_M / L1_FREQ;
+ lambda2 = C_GPS_M / L2_FREQ;
+ } else {
+ lambda1 = 1.0; // Already in metres
+ lambda2 = 1.0;
+ }
+
+ try {
+ if (!precise) {
+ try {
+ // Read nav file(s) and store unique list of ephemerides
+ string filename;
+ std::ifstream nav;
+ nav.open("vecsol.nav", ios::in);
+ while (nav >> filename) {
+ cout << "Nav file: " << filename;
+ // Comment:
+ if (filename[0] == '#') {
+ cout << " skipped" << endl;
+ nav.getline(s, 80);
+ } else {
+ cout << endl;
+ RinexNavStream rnffs(filename.c_str());
+ rnffs.exceptions(ios::failbit);
+ RinexNavData rne;
+ RinexNavHeader hdr;
+
+ rnffs >> hdr;
+ if (iono)
+ ion.addIonoModel(DayTime::BEGINNING_OF_TIME,
+ IonoModel(hdr.ionAlpha, hdr.ionBeta));
+ while (rnffs >> rne)
+ bcestore.addEphemeris(rne);
+ }
+ }
+ bcestore.SearchNear();
+ }
+ catch(...) {
+ cerr << "Something wrong with nav files." << endl << endl;
+ exit(-1);
+ }
+ } else {
+ try{
+ // Precise ephemerides:
+ string filename;
+ std::ifstream eph;
+ eph.open("vecsol.eph", ios::in);
+ while (eph >> filename) {
+ cout << "Eph file: " << filename;
+ // Comment:
+ if (filename[0] == '#') {
+ cout << " skipped" << endl;
+ eph.getline(s, 80);
+ } else {
+ cout << endl;
+ sp3store.loadFile(filename.c_str());
+ }
+ }
+ sp3store.dump(1, cout);
+ }
+ catch(...) {
+ cerr << "Something wrong with SP3 files." << endl << endl;
+ exit(-1);
+ }
+ }
+
+ gpstk::Matrix <double> x0(MaxDim, 3, 0.0);
+ gpstk::Vector <FixType> fixed(MaxDim, FIX_NONE);
+ gpstk::Vector <SatID> FromSat(MaxDim), ToSat(MaxDim);
+
+ // Get station positions from RINEX headers:
+ RinexObsHeader roh1, roh2;
+
+ try {
+ RinexObsStream roffs1(argv[1]);
+ RinexObsStream roffs2(argv[2]);
+ roffs1.exceptions(ios::failbit);
+ roffs2.exceptions(ios::failbit);
+
+ roffs1 >> roh1;
+ roffs2 >> roh2;
+ }
+ catch(...) {
+ cerr << "Something wrong with obs files." << endl << endl;
+ exit(-1);
+ }
+ // Here we should input pre-given coordinates (if any) that
+ // will override those from the RINEX header
+ bool coords = true;
+ string const name1(roh1.markerName);
+ string const name2(roh2.markerName);
+ Position XYZ1, XYZ2;
+ std::ifstream coord1, coord2;
+ try {
+ coord1.exceptions(ios::failbit);
+ coord2.exceptions(ios::failbit);
+ coord1.open((name1 + ".crd").c_str(), ios::in);
+ coord2.open((name2 + ".crd").c_str(), ios::in);
+ }
+ catch(...) {
+ cout << endl;
+ cout << "Did not find / cannot open coordinate files." << endl << endl;
+ coords = false;
+ }
+ if (coords) {
+ // Here the given coordinates (of BENCHMARK!) are used if available:
+ coord1 >> XYZ1[0] >> XYZ1[1] >> XYZ1[2];
+ coord2 >> XYZ2[0] >> XYZ2[1] >> XYZ2[2];
+ coord1.close();
+ coord2.close();
+ roh1.antennaPosition = XYZ1;
+ roh2.antennaPosition = XYZ2;
+ cout << "Positions : " << setprecision(12) << Triple(XYZ1) << endl;
+ cout << "From files : " << setprecision(12) << Triple(XYZ2) << endl << endl;
+ }
+ Triple AO1 = Rotate(roh1.antennaOffset, roh1.antennaPosition);
+ Triple AO2 = Rotate(roh2.antennaOffset, roh2.antennaPosition);
+
+ cout << "Geocentric : " << AO1 << endl
+ << "antenna offsets : " << AO2 << endl << endl;
+
+ // Receiver provided offset to be re-subtracted
+ bool apply_clockOffset1(roh1.receiverOffsetValid &&
+ roh1.receiverOffset);
+ bool apply_clockOffset2(roh2.receiverOffsetValid &&
+ roh2.receiverOffset);
+ // However, sometimes the header record is missing and yet the
+ // data contains valid offsets (Huh? Ask Werner).
+ // (WinPrism's Ashtech rinexer seems to need this, and
+ // doesn't seem to harm otherwise)
+ apply_clockOffset1 = true;
+ apply_clockOffset2 = true;
+
+#if 0
+ // Low hanging fruit
+ Triple PT1 =
+ permanentTide(Position(roh1.antennaPosition).geodeticLatitude());
+ Triple PT2 =
+ permanentTide(Position(roh2.antennaPosition).geodeticLatitude());
+ cout << "Tides:" << PT1 << " " << PT2 << endl;
+#else
+ Triple PT1, PT2;
+#endif
+ // t1, t2 represent now antenna (ARP) positions.
+ // (roh1/2.antennaPosition is named wrong, it is benchmark pos!)
+ Position t1(roh1.antennaPosition + AO1, Position::Cartesian);
+ Position t2(roh2.antennaPosition + AO2, Position::Cartesian);
+
+ cout << "Data interval: " << roh1.interval << "," <<
+ roh2.interval << endl;
+ cout << "Generated by: " <<
+ roh1.fileProgram << ", " << roh2.fileProgram << endl;
+
+ // How was this RINEX generated?
+ bool javad1 = roh1.fileProgram.find("Pinnacle") != string::npos;
+ bool javad2 = roh2.fileProgram.find("Pinnacle") != string::npos;
+ // Note: we compute the reduction by comparing L1 with the
+ // computed range. This is only valid if L1, L2 were 'gauged' to
+ // pseudoranges, which is the case for Pinnacle RINEX. If not,
+ // we would have to use one of the code observables instead. See
+ // code further below.
+ if (javad1 || javad2) {
+ cout << "RINEX file was not reduced for clock offset." << endl;
+ cout << "We do the reduction ourselves." << endl << endl;
+ }
+
+ Position const t10(t1); // To keep unknowns invariant
+ Position const t20(t2);
+ Position Pos1, Pos2;
+
+ double crit(1.0);
+ double const limit = (phase ? 0.0001 : 0.001);
+ for (int l = 0; (crit > limit) && l < 25; l++) {
+ // Iteration loop. Important! The unknowns are expected to
+ // remain _identical_ across iterations.
+ cout << "Iteration: " << l << endl;
+
+ // Map pointing from PRN to obs. eq. element position
+ map <SatID, int> CommonSatsPrev;
+
+ SatID OldRefSat;
+
+ map <SatID, vector<double> > DDobsPrev;
+ map <SatID, double> SecsPrev;
+
+ // Open and read the observation files one epoch at a time.
+ // Compute a contribution to normal matrix and right hand
+ // side
+ RinexObsStream roffs1(argv[1]);
+ RinexObsStream roffs2(argv[2]);
+ roffs1.exceptions(ios::failbit);
+ roffs2.exceptions(ios::failbit);
+
+ RinexObsHeader dummy1, dummy2;
+ RinexObsData rod1, rod2;
+
+ // Only skip over header this time:
+ roffs1 >> dummy1;
+ roffs2 >> dummy2;
+
+ // Improve antenna positions from previous iteration:
+ if (l > 0) {
+ t1 = t1 + 0.5 * Pos1;
+ if (!vecmode)
+ t2 = t2 + 0.5 * Pos2;
+ }
+ Geodetic g1(t1, &geoid);
+ Geodetic g2(t2, &geoid);
+
+ // Output bench mark (not: antenna) positions: (Published
+ // GPS positions are always reduced for solid Earth tides)
+ cout << name1 << ": " << Position(Triple(t1) - AO1 - PT1) << endl
+ << name2 << ": " << Position(Triple(t2) - AO2 - PT2) << endl << endl;
+ // Print also geographic coords:
+ Position t1g(Triple(t1) - AO1 - PT1);
+ Position t2g(Triple(t2) - AO2 - PT2);
+ cout << name1 << ": " << t1g.asGeodetic() << endl
+ << name2 << ": " << t2g.asGeodetic() << endl;
+
+ // Update these for output at program end:
+ XYZ1 = t1g.asECEF();
+ XYZ2 = t2g.asECEF();
+
+ gpstk::Matrix <double> N(MaxDim, MaxDim, 0.0);
+ gpstk::Matrix <double> b(MaxDim, 3, 0.0);
+ int observations(0), rejections(0), rej_DD(0);
+ double TD_RMS(0), DD_RMS(0), Iono_RMS(0);
+ // points to _after_ the last unknown
+ int unknowns = MaxUnkn;
+
+ while (roffs1 >> rod1 && roffs2 >> rod2) { // Epoch loop
+ // Make sure we have a common epoch:
+ while (rod1.time > rod2.time + 0.1 && roffs2 >> rod2) { }
+ while (rod1.time + 0.1 < rod2.time && roffs1 >> rod1) { }
+ double sync_err = rod2.time.secOfDay() - rod1.time.secOfDay();
+ if (abs(sync_err) > 0.001) {
+ cout << "Synchronization Error: " <<
+ std::setprecision(6) << sync_err << " sec" << endl;
+ }
+ double Secs = rod1.time.secOfDay();
+
+ // Experimental for WinPrism's RINEX
+ if (apply_clockOffset1)
+ rod1.time -= rod1.clockOffset;
+ if (apply_clockOffset2)
+ rod2.time -= rod2.clockOffset;
+
+ if (rod1.epochFlag < 2 && rod2.epochFlag < 2)
+ // Observations are good
+ {
+ map <SatID, int> CommonSats;
+ CommonSats.clear();
+ vector <SatID> prnVec_1, prnVec_2;
+ vector <double> rangeVecL1_1, rangeVecL2_1;
+ vector <double> rangeVecL1_2, rangeVecL2_2;
+
+ // First station
+ stationData(rod1, phase, prnVec_1, rangeVecL1_1,
+ rangeVecL2_1);
+ // Second station
+ stationData(rod2, phase, prnVec_2, rangeVecL1_2,
+ rangeVecL2_2);
+
+ /// Process station pairs
+
+ // for construction of double diffs
+ SatID RefSat;
+ bool hasRefSat(false);
+
+ double ref_rdiffL1, ref_rdiffL2;
+ vector <double> ref_A(MaxUnkn);
+ gpstk::Matrix <double> A(MaxDim, MaxSats, 0.0);
+ gpstk::Matrix <double> Obs(MaxSats, 3, 0.0);
+ // For var-cov modelling
+ vector <double> Q(MaxSats),
+ Elev10(MaxSats), Elev20(MaxSats);
+ double Qref;
+ int nObs(0);
+
+ // Find out the highest satellite:
+ double best(0.0);
+ int bestIdx(0);
+ bool stickWithOld = false;
+ for (int i = 0; i != prnVec_2.size(); i++)
+ if (prnVec_2[i].id > 0) {
+
+ // Invariant over iterations! Uses t10, t20
+ double dummy = EPH_RANGE(CER2, rod2, t10,
+ prnVec_2[i]);
+ double const riseVel1 = CER2.svPosVel.v.dot(t10);
+ //double const riseVel1 =
+ // -CER2.svPosVel.v.dot(CER2.svPosVel.x);
+ Elev10[i] = CER2.elevation;
+ bool const elev1OK = CER2.elevation > refsat_elev;
+
+ dummy = EPH_RANGE(CER2, rod2, t20,
+ prnVec_2[i]);
+ double const riseVel2 = CER2.svPosVel.v.dot(t20);
+ //double const riseVel2 =
+ // -CER2.svPosVel.v.dot(CER2.svPosVel.x);
+ Elev20[i] = CER2.elevation;
+ bool const elev2OK = CER2.elevation > refsat_elev;
+
+ double const riseVel = 0.5 * (riseVel1 + riseVel2);
+
+ if (elev1OK && elev2OK
+ && riseVel > best
+ && !stickWithOld) {
+ best = riseVel;
+ bestIdx = i;
+ }
+ // Hang on to same ref sat if still high enough
+ if (OldRefSat == prnVec_2[i]
+ && CER2.elevation > refsat_elev) {
+ bestIdx = i;
+ stickWithOld = true;
+ }
+ }
+
+ for (int ii = 0; ii != prnVec_2.size(); ii++) {
+ // Reshuffle...
+ int i = (ii + bestIdx) % prnVec_2.size();
+ if (prnVec_2[i].id > 0
+ && Elev10[i] > cutoff_elev
+ && Elev20[i] > cutoff_elev) {
+ double r2 = EPH_RANGE(CER2, rod2, t2,
+ prnVec_2[i]);
+ double trop2 =
+ trop.correction(t2, CER2.svPosVel.x, rod2.time);
+ r2 += trop2;
+
+ for (int j = 0; j != prnVec_1.size(); j++) {
+ if (prnVec_1[j].id > 0
+ && prnVec_1[j].id == prnVec_2[i].id)
+ {
+ // This sat is visible from both
+ // stations
+ double r1 = EPH_RANGE(CER1, rod1, t1,
+ prnVec_1[j]);
+ double trop1 = trop.correction(t1,
+ CER1.svPosVel.x, rod1.time);
+ r1 += trop1;
+
+ // Between-station diffs to each satellite
+ double diffL1 = rangeVecL1_1[j] - rangeVecL1_2[i];
+ double diffL2 = rangeVecL2_1[j] - rangeVecL2_2[i];
+ // Subtract out approx values; this
+ // value now roughly reflects the
+ // inter-station bias difference and
+ // is thus nearly the same for all
+ // sats
+ double rdiffL1 = lambda1 * diffL1 - (r1 - r2);
+ double rdiffL2 = lambda2 * diffL2 - (r1 - r2);
+
+ // The clock offset problem for
+ // Javad / Pinnacle:
+ double rr1, rr2;
+ // Range rates:
+ if (javad1)
+ rr1 = CER1.svPosVel.v.dot(CER1.cosines);
+ if (javad2)
+ rr2 = CER2.svPosVel.v.dot(CER2.cosines);
+ // Clock corrections:
+ double cc1 = lambda1 * rangeVecL1_1[j] - r1;
+ double cc2 = lambda1 * rangeVecL1_2[i] - r2;
+ rdiffL1 -= (rr1 * cc1 - rr2 * cc2) / C_GPS_M;
+ rdiffL2 -= (rr1 * cc1 - rr2 * cc2) / C_GPS_M;
+
+ if (iono) {
+ // Ionospheric corrections:
+ double const
+ ionoL1_1 = ion.getCorrection(
+ rod1.time, g1, CER1.elevation,
+ CER1.azimuth, IonoModel::L1);
+ double const
+ ionoL2_1 = ion.getCorrection(
+ rod1.time, g1, CER1.elevation,
+ CER1.azimuth, IonoModel::L2);
+ double const
+ ionoL1_2 = ion.getCorrection(
+ rod2.time, g2, CER2.elevation,
+ CER2.azimuth, IonoModel::L1);
+ double const
+ ionoL2_2 = ion.getCorrection(
+ rod2.time, g2, CER2.elevation,
+ CER2.azimuth, IonoModel::L2);
+ // Apply them:
+ if (phase) {
+ rdiffL1 += ionoL1_1 - ionoL1_2;
+ rdiffL2 += ionoL2_1 - ionoL2_2;
+ } else {
+ rdiffL1 -= ionoL1_1 - ionoL1_2;
+ rdiffL2 -= ionoL2_1 - ionoL2_2;
+ }
+ }
+
+ vector <double> A_(MaxDim, 0.0);
+ // Store obs. coefficients for
+ // coordinates
+ for (int k = 0; k < 3; k++)
+ A_[k] = CER1.cosines[k];
+ if (!vecmode) {
+ for (int k = 3; k < 6; k++)
+ A_[k] = -CER2.cosines[k - 3];
+ }
+ // Tropo estimation
+ if (tropo) {
+ A_[MaxUnkn - 2] = trop1;
+ A_[MaxUnkn - 1] = -trop2;
+ }
+
+ // Weight coefficient of this obs:
+ double const q_ = 1.0 /
+ sin(DEG_TO_RAD * CER1.elevation) + 1.0 /
+ sin(DEG_TO_RAD * CER2.elevation);
+ // Build obs. coefs for satellite
+ // ambiguities
+ if (!hasRefSat) {
+ RefSat = prnVec_1[j];
+ hasRefSat = true;
+
+ // Ref sat change; invalidates
+ // unknowns
+ if (RefSat != OldRefSat) {
+ CommonSatsPrev.clear();
+ cout << "New ref sat:" <<
+ RefSat << endl;
+ }
+
+ ref_rdiffL1 = rdiffL1;
+ ref_rdiffL2 = rdiffL2;
+ Qref = q_;
+ for (int k = 0; k < MaxUnkn; k++)
+ ref_A[k] = A_[k];
+ } else {
+ // Construct inter-sat diffs
+ bool reject(false);
+ FixType fix(FIX_NONE);
+ vector <double> DDobs(3);
+ DDobs[1] = rdiffL1 - ref_rdiffL1;
+ DDobs[2] = rdiffL2 - ref_rdiffL2;
+
+ // iono free observable, unit metres
+ DDobs[0] =
+ wt1 * DDobs[1] + wt2 * DDobs[2];
+ for (int k = 0; k < MaxUnkn; k++)
+ A_[k] -= ref_A[k];
+
+ SatID ThisSat = prnVec_1[j];
+ if (CommonSatsPrev.find(ThisSat) ==
+ CommonSatsPrev.end()) {
+ // New satellite
+ CommonSats[ThisSat] = unknowns;
+ if (phase) {
+ FromSat[unknowns] = RefSat;
+ ToSat [unknowns] = ThisSat;
+ cout << endl << "New unknown "
+ << unknowns << " == "
+ << asString(FromSat[unknowns])
+ << " -> "
+ << asString(ToSat[unknowns])
+ << endl;
+
+ // create new DD ambiguity unknown
+ A_[unknowns] = 1.0;
+ // Initial approx. ambiguities
+ if (l == 0)
+ for (int k = 0; k < 3; k++)
+ x0(unknowns,k) =
+ DDobs[k];
+
+ for (int k = 0; k < 3; k++)
+ DDobs[k] -=
+ x0(unknowns,k);
+ unknowns++;
+ } else {
+ // Rough test double diffs
+ reject =
+ (std::abs(DDobs[0]) > DDrej);
+ }
+ // Initialize previous obs for
+ // triple diff comp
+ DDobsPrev[ThisSat] = DDobs;
+ SecsPrev[ThisSat] = Secs;
+ reject = false;
+ } else {
+
+ // Already known sat, copy forward
+ CommonSats[ThisSat] =
+ CommonSatsPrev[ThisSat];
+ if (phase) {
+ A_[CommonSats[ThisSat]] = 1.0;
+ for (int k = 0; k < 3; k++)
+ DDobs[k] -=
+ x0(CommonSats[ThisSat],k);
+ }
+
+ // Triple difference testing
+
+ double timebase
+ = Secs - SecsPrev[ThisSat];
+ timebase =
+ (timebase > 10 * roh1.interval ?
+ 0.000001 : roh1.interval);
+ double res
+ = (DDobs[0] -
+ DDobsPrev[ThisSat][0]) / timebase;
+ // Cycle slips will show up here
+ // over 30 s as 0.0226 and
+ // 0.0131, respectively.
+ reject =
+ (std::abs(res) *
+ sqrt(2.0 / (Qref + q_)) >
+ (phase ? PTDrej : CTDrej));
+
+ // Include rough DD test
+ // too: this occurs esp.
+ // with newly appearing sats
+ if (!reject &&
+ std::abs(DDobs[0]) > DDrej) {
+ if (debug)
+ cout << "DD rej:"
+ << DDobs[0];
+ rej_DD++;
+ reject = true;
+ }
+
+ if (!reject) {
+ // Accumulate statistics
+ TD_RMS += res * res;
+ DD_RMS +=
+ DDobs[0] * DDobs[0];
+ double Iono =
+ (DDobs[2] - DDobs[1])
+ / wt1;
+ Iono_RMS += Iono * Iono;
+
+ }
+ else {
+ rejections++;
+ }
+ if (debug) {
+ cout << ThisSat << ":";
+ if (reject)
+ cout << "REJ [" <<
+ Elev10[i] << ":" <<
+ Elev20[i] << "] ";
+ cout << setprecision(4) << res << " ";
+ }
+ observations++;
+ }
+
+ if (!reject) {
+ // Update "last good" obs
+ DDobsPrev[ThisSat] = DDobs;
+ SecsPrev[ThisSat] = Secs;
+
+ // Collect per-obs quantities
+ // into per-epoch tables
+ for (int k = 0; k < unknowns; k++)
+ A(k, nObs) = A_[k];
+ for (int k = 0; k < 3; k++)
+ Obs(nObs, k) = DDobs[k];
+ Q[nObs] = q_;
+ nObs++;
+ }
+
+ } // end other-than-ref sats processing
+
+ } // end sats visible from both stations
+ }
+ }
+ } // All obs for this epoch processed
+
+ if (nObs > 0) {
+ gpstk::Matrix <double> Qmat(nObs, nObs, 0.0);
+ for (int io = 0; io < nObs; io++) {
+ if (truecov)
+ for (int jo = 0; jo < nObs; jo++)
+ Qmat(io, jo) = Qref;
+ Qmat(io, io) += Q[io];
+ }
+ Qmat = gpstk::inverse(Qmat);
+
+ // Right hand side vector
+ for (int k = 0; k < unknowns; k++)
+ for (int io = 0; io < nObs; io++) {
+ for (int jo = 0; jo < nObs; jo++)
+ for (int ot = 0; ot < 3; ot++)
+ b(k, ot) += A(k, io) * Obs(jo, ot)
+ * Qmat(io, jo);
+
+ }
+
+ // Normal eqs fill-in with full weight matrix per-epoch
+ for (int k = 0; k < unknowns; k++) {
+ for (int io = 0; io < nObs; io++) {
+ if (A(k, io) != 0.0) { // Optimize
+ for (int m = 0; m < unknowns; m++) {
+ for (int jo = 0; jo < nObs; jo++)
+ N(k, m) += A(k, io) * A(m, jo) *
+ Qmat(io, jo);
+ }
+ }
+ }
+ }
+ } // Normals building
+
+ cout << endl;
+ cout << "epoch " << rod1.time;
+ cout << " unkn " << unknowns;
+ cout << " obs " << nObs;
+ cout << " sats " << CommonSats.size() << endl;
+
+ CommonSatsPrev = CommonSats;
+ OldRefSat = RefSat;
+
+ } // End usable data
+
+ } // End loop through each epoch
+
+ cout << endl;
+ cout << "Total unknowns: " << unknowns << endl;
+ cout << "Observations: " << observations << endl;
+ cout << "Rejected: " << rejections;
+ cout << " or " << 100.0 * rejections / observations << "%" << endl;
+ cout << " of which DD-based: " << rej_DD;
+ cout << " or " << 100.0 * rej_DD / observations << "%" << endl;
+ cout << "Triple-diff RMS [m/s]: " << sqrt(TD_RMS /
+ (observations -
+ rejections)) << endl;
+ float const DDrms = sqrt(DD_RMS / (observations - rejections));
+ cout << "Double-diff RMS [m]: " << DDrej << endl;
+ // Three-sigma criterion, generous:
+ DDrej = 2.0 * 3.0 * DDrms;
+ cout << "Iono RMS on L1 [m]: " << sqrt(Iono_RMS /
+ (observations -
+ rejections)) <<
+ endl << endl;
+
+ if (debug) {
+ cout << "Start of b vector:" << setprecision(10) << endl;
+ cout << "b0: " << b(0,0) << " " << b(1,0) << " " << b(2,0)
+ << endl;
+ cout << "b1: " << b(0,1) << " " << b(1,1) << " " << b(2,1)
+ << endl;
+ cout << "b2: " << b(0,2) << " " << b(1,2) << " " << b(2,2)
+ << endl << endl;
+ }
+
+ // Here we solve the normal equations and print solution
+ gpstk::Matrix <double> NN(unknowns, unknowns);
+ gpstk::Matrix <double> bb(unknowns, 3);
+ Solve(N, b, NN, bb, SOLVE_COORDS, fixed, MaxUnkn, unknowns,
+ tropo);
+
+ cout << "Weight coefficient matrix:" << endl;
+ for (int i = 0; i < MaxUnkn; i++) {
+ for (int j = 0; j < MaxUnkn; j++) {
+ cout << setw(10) << NN(i, j) << " ";
+ }
+ cout << endl;
+ }
+ cout << endl;
+
+ // Solution:
+ gpstk::Matrix <double> sol = NN * bb;
+
+ cout << "Solution (correction to inter-station vector):" <<
+ setprecision(5) << endl;
+ Triple PosCorr0 = Triple(sol(0,0), sol(1,0), sol(2,0));
+ Triple PosCorr1 = Triple(sol(0,1), sol(1,1), sol(2,1));
+ Triple PosCorr2 = Triple(sol(0,2), sol(1,2), sol(2,2));
+ if (ionoFree)
+ Pos1 = PosCorr0;
+ else
+ Pos1 = 0.5 * (PosCorr1 + PosCorr2);
+ if (!vecmode) {
+ PosCorr0 = PosCorr0 - Triple(sol(3,0), sol(4,0), sol(5,0));
+ PosCorr1 = PosCorr1 - Triple(sol(3,1), sol(4,1), sol(5,1));
+ PosCorr2 = PosCorr2 - Triple(sol(3,2), sol(4,2), sol(5,2));
+ if (ionoFree)
+ Pos2 = Pos1 - Position(PosCorr0);
+ else
+ Pos2 = Pos1 + 0.5 * Position(PosCorr1 + PosCorr2);
+ }
+ cout << "Iono free: " << PosCorr0 << endl;
+ cout << "Freq. 1: " << PosCorr1 << endl;
+ cout << "Freq. 2: " << PosCorr2 << endl;
+ cout << endl;
+
+ // Manhattan distance for iteration stop (is there a
+ // std method for this?):
+ if (ionoFree)
+ crit = std::abs(PosCorr0[0]) + std::abs(PosCorr0[1])
+ + std::abs(PosCorr0[2]);
+ else
+ crit = 0.5 *
+ (std::abs(PosCorr1[0]) + std::abs(PosCorr1[1])
+ + std::abs(PosCorr1[2]) + std::abs(PosCorr2[0])
+ + std::abs(PosCorr2[1]) + std::abs(PosCorr2[2]));
+
+ cout << "Standard deviations (unscaled):" << endl;
+ for (int k = 0; k < MaxUnkn; k++)
+ cout << sqrt(NN(k, k)) << " ";
+ cout << endl;
+
+ // Again: published vectors must be conventionally
+ // reduced for tide.
+ // And published vector must be inter-benchmark:
+ Position vec = Position(Triple(t1) - AO1 - PT1)
+ - Position(Triple(t2) - AO2 - PT2);
+ cout << "A priori vector:" << endl << vec << endl;
+ cout << "A posteriori vector:" << endl
+ << Position(Triple(vec) + PosCorr0)
+ << " (Iono free)" << endl;
+ Triple PosCorrMean(PosCorr1 + PosCorr2);
+ PosCorrMean = 0.5 * PosCorrMean;
+ cout << Position(Triple(vec) + PosCorrMean)
+ << " (L1 + L2)" << endl;
+ cout << endl;
+
+ if (tropo) {
+ cout <<
+ "Tropospheric corr. parameters (fraction of full effect):"
+ << endl;
+
+ cout << sol(MaxUnkn - 2, 0) << " " << sol(MaxUnkn - 1, 0) << endl;
+ cout << "Standard deviations (unscaled):" << endl;
+ cout << sqrt(NN(MaxUnkn - 2, MaxUnkn - 2)) << " "
+ << sqrt(NN(MaxUnkn - 1, MaxUnkn - 1)) << endl <<
+ endl;
+ }
+
+ // Ambiguity fixing on the unknowns, keeping coords as known:
+ if (phase) {
+ Solve(N, b, NN, bb, SOLVE_AMBS, fixed, MaxUnkn,
+ unknowns, tropo);
+ sol = NN * bb;
+
+ // Here we use the relationships between DD ambiguities,
+ // e.g. (G18-G6) - (G26-G6) - (G26-G18) = 0
+ // for a condition equation adjustment on NN, bb
+ int k, j, l, dir1, dir2, dir3;
+ int closures = 0;
+ SatID Free1, Free2;
+ for (k = MaxUnkn; k < unknowns; k++)
+ for (j = k + 1; j < unknowns; j++) {
+ dir1 = 0;
+ if (FromSat[k] == FromSat[j]) {
+ dir1 = 1;
+ dir2 = -1;
+ Free1 = ToSat[k];
+ Free2 = ToSat[j];
+ }
+ if (ToSat[k] == ToSat[j]) {
+ dir1 = -1;
+ dir2 = 1;
+ Free1 = FromSat[k];
+ Free2 = FromSat[j];
+ }
+ if (FromSat[k] == ToSat[j]) {
+ dir1 = 1;
+ dir2 = 1;
+ Free1 = ToSat[k];
+ Free2 = FromSat[j];
+ }
+ if (ToSat[k] == FromSat[j]) {
+ dir1 = -1;
+ dir2 = -1;
+ Free1 = FromSat[k];
+ Free2 = ToSat[j];
+ }
+
+ if (dir1 != 0)
+ for (l = j + 1; l < unknowns; l++) {
+ dir3 = 0;
+ if (Free1 == FromSat[l] && Free2 == ToSat[l])
+ dir3 = 1;
+ if (Free1 == ToSat[l] && Free2 == FromSat[l])
+ dir3 = -1;
+ if (reduce && dir3 != 0) {
+ if (Reduce(NN, sol, x0, k, j, l,
+ dir1, dir2, dir3,
+ MaxUnkn, unknowns))
+ closures++;
+ }
+ }
+ }
+
+ cout << endl << "No. of closures: " << closures << endl << endl;
+ int fixedunknowns = 0;
+ int widelanes = 0;
+ cout << "DD bias fixes (fractional cycles):" << endl;
+ for (int k = MaxUnkn; k < unknowns; k++) {
+ cout << "[" << setprecision(8) << sqrt(NN(k,k)) << "] ";
+ cout << k << " (";
+ cout << asString(FromSat[k]) << " -> "
+ << asString(ToSat[k]) << "): ";
+ vector <double> x0vec(3);
+ x0vec[1] = x0(k, 1) + sol(k, 1);
+ x0vec[2] = x0(k, 2) + sol(k, 2);
+ FixType f = phaseCycles(x0vec, lambda1, lambda2, wt1, wt2);
+ // remember to correct iono-free too
+ x0(k, 0) = wt1 * x0vec[1] + wt2 * x0vec[2];
+ x0(k, 1) = x0vec[1];
+ x0(k, 2) = x0vec[2];
+ if (f == FIX_BOTH)
+ fixedunknowns++;
+ if (f == FIX_WIDELANE)
+ widelanes++;
+ fixed[k] = f;
+ }
+ cout << endl;
+ cout << "Fixed: " << fixedunknowns << " "
+ << 100.0 * fixedunknowns / (unknowns - MaxUnkn) << "%" << endl;
+ cout << "Widelanes: " << widelanes << " "
+ << 100.0 * widelanes / (unknowns - MaxUnkn) << "%" << endl;
+ cout << endl;
+ }
+
+ } // iteration loop end
+
+ cout << "Writing coordinate(s) to file(s)..." << endl;
+ std::ofstream coord1o, coord2o;
+ try {
+ coord1o.exceptions(ios::failbit);
+ coord1o.open((name1 + ".crd").c_str(), ios::out | ios::trunc);
+ coord1o << setprecision(12) <<
+ XYZ1[0] << ' ' << XYZ1[1] << ' ' << XYZ1[2] << endl;
+ coord1o.close();
+ if (!vecmode || !coords) {
+ coord2o.exceptions(ios::failbit);
+ coord2o.open((name2 + ".crd").c_str(), ios::out | ios::trunc);
+ coord2o << setprecision(12) <<
+ XYZ2[0] << ' ' << XYZ2[1] << ' ' << XYZ2[2] << endl;
+ coord2o.close();
+ }
+ }
+ catch(...) {
+ cerr << "Exception writing coordinate file(s)" << endl;
+ }
+
+ cout << "Finished." << endl;
+ }
+ catch(Exception & e) {
+ cerr << e << endl;
+ }
+ catch(...) {
+ cerr << "Caught an unexpected exception." << endl;
+ }
+
+ exit(0);
+
+ }
+
+
diff --git a/dev/apps/differential/vecsol.eph b/dev/apps/differential/vecsol.eph
new file mode 100644
index 0000000..e8d2581
--- /dev/null
+++ b/dev/apps/differential/vecsol.eph
@@ -0,0 +1,15 @@
+# The sp3 precise ephemeris file. Use # in first pos for comment
+igs11172.sp3
+igs11173.sp3
+igs11174.sp3
+igs11175.sp3
+igs11176.sp3
+# Day 6 of GPS week 1323 is May 21, 2005
+igs13235.sp3
+igs13236.sp3
+#gfz13236.sp3
+igs13240.sp3
+# rapid orbits 7-8 sep 2005
+igr13393.sp3
+igr13394.sp3
+igs13250.sp3
diff --git a/dev/apps/differential/vecsol.nav b/dev/apps/differential/vecsol.nav
new file mode 100644
index 0000000..430ebe5
--- /dev/null
+++ b/dev/apps/differential/vecsol.nav
@@ -0,0 +1,15 @@
+# Broadcast ephemeris file. Use # in first pos for comment
+# day 141 of 2005 is May 21
+brdc1410.05n
+brdc2510.05n
+brdc2500.05n
+# Sep 7
+SAHA2501.05N
+# Sep 8
+KUMP2511.05N
+# Mauri
+0058275h.03N
+6146275g.03N
+#
+kiru1550.05n
+mas11550.05n
diff --git a/trunk/apps/differential/vecsol.pdf b/dev/apps/differential/vecsol.pdf
similarity index 100%
rename from trunk/apps/differential/vecsol.pdf
rename to dev/apps/differential/vecsol.pdf
diff --git a/dev/apps/difftools/DiffFrame.hpp b/dev/apps/difftools/DiffFrame.hpp
new file mode 100644
index 0000000..7caeb27
--- /dev/null
+++ b/dev/apps/difftools/DiffFrame.hpp
@@ -0,0 +1,85 @@
+#pragma ident "$Id$"
+
+
+#ifndef DIFFFRAME_HPP
+#define DIFFFRAME_HPP
+
+#include "CommandOptionWithTimeArg.hpp"
+#include "BasicFramework.hpp"
+
+class DiffFrame : public gpstk::BasicFramework
+{
+public:
+ /**
+ * arg0 is the name of the executable from argv[0].
+ * type is a string with the type of file (i.e. "RINEX Obs").
+ * message is an extra message that gets passed to the
+ * program description.
+ */
+ DiffFrame(char* arg0,
+ const std::string& type,
+ const std::string& message = std::string())
+ : gpstk::BasicFramework(arg0,
+ "Diffs input " + type + " files. " + message),
+ timeOption('t', "time", "Start of time range to compare (default ="
+ " \"beginning of time\")"),
+ eTimeOption('e', "end-time", "End of time range to compare"
+ " (default = \"end of time\")"),
+ inputFileOption("An input " + type + " file.", true),
+ startTime(gpstk::DayTime::BEGINNING_OF_TIME),
+ endTime(gpstk::DayTime::END_OF_TIME)
+ {
+ inputFileOption.setMaxCount(2);
+ timeOption.setMaxCount(1);
+ eTimeOption.setMaxCount(1);
+ timeOptions.addOption(&timeOption);
+ timeOptions.addOption(&eTimeOption);
+ }
+
+ virtual bool initialize(int argc, char* argv[]) throw()
+ {
+ if (!gpstk::BasicFramework::initialize(argc, argv))
+ {
+ return false;
+ }
+
+ if (inputFileOption.getCount() != 2)
+ {
+ std::cerr << "This program requires two input files." << std::endl;
+ return false;
+ }
+
+ if (timeOption.getCount())
+ {
+ startTime = timeOption.getTime()[0];
+ }
+
+ if (eTimeOption.getCount())
+ {
+ endTime = eTimeOption.getTime()[0];
+ }
+
+ if (startTime > endTime)
+ {
+ std::cerr << "End time can't precede start time." << std::endl;
+ return false;
+ }
+ return true;
+ }
+
+protected:
+ virtual void process() = 0;
+
+ /// start time for file record differencing
+ gpstk::CommandOptionWithSimpleTimeArg timeOption;
+ /// end time for file record differencing
+ gpstk::CommandOptionWithSimpleTimeArg eTimeOption;
+ /// if either of the time options are set
+ gpstk::CommandOptionGroupOr timeOptions;
+ gpstk::CommandOptionRest inputFileOption;
+
+ gpstk::DayTime startTime, endTime;
+};
+
+
+#endif
diff --git a/dev/apps/difftools/Jamfile b/dev/apps/difftools/Jamfile
new file mode 100644
index 0000000..1d18d67
--- /dev/null
+++ b/dev/apps/difftools/Jamfile
@@ -0,0 +1,12 @@
+# $Id$
+
+SubDir TOP apps difftools ;
+
+GPSLinkLibraries rowdiff rnwdiff rmwdiff ephdiff ficdiff : gpstk ;
+BonkForte ; # bleah.
+
+GPSMain rowdiff : rowdiff.cpp ;
+GPSMain rnwdiff : rnwdiff.cpp ;
+GPSMain rmwdiff : rmwdiff.cpp ;
+GPSMain ephdiff : ephdiff.cpp ;
+GPSMain ficdiff : ficdiff.cpp ;
diff --git a/dev/apps/difftools/Makefile.am b/dev/apps/difftools/Makefile.am
new file mode 100644
index 0000000..8d63dba
--- /dev/null
+++ b/dev/apps/difftools/Makefile.am
@@ -0,0 +1,11 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../src
+LDADD = ../../src/libgpstk.la
+
+bin_PROGRAMS = rowdiff rnwdiff rmwdiff ephdiff ficdiff
+
+rowdiff_SOURCES = rowdiff.cpp
+rnwdiff_SOURCES = rnwdiff.cpp
+rmwdiff_SOURCES = rmwdiff.cpp
+ephdiff_SOURCES = ephdiff.cpp
+ficdiff_SOURCES = ficdiff.cpp
diff --git a/dev/apps/difftools/ephdiff.cpp b/dev/apps/difftools/ephdiff.cpp
new file mode 100644
index 0000000..198895b
--- /dev/null
+++ b/dev/apps/difftools/ephdiff.cpp
@@ -0,0 +1,360 @@
+#pragma ident "$Id$"
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FICStream.hpp"
+#include "FICData.hpp"
+#include "RinexNavData.hpp"
+#include "RinexNavStream.hpp"
+#include "FileFilterFrame.hpp"
+
+#include "BasicFramework.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+struct EphDiffLessThan :
+ public std::binary_function<EngEphemeris, EngEphemeris, bool>
+{
+public:
+ bool operator() (const EngEphemeris& l, const EngEphemeris& r) const
+ {
+ if (l.getPRNID() < r.getPRNID())
+ return true;
+ else if (l.getPRNID() > r.getPRNID())
+ return false;
+ else if (l.getFullWeek() < r.getFullWeek())
+ return true;
+ else if (l.getFullWeek() > r.getFullWeek())
+ return false;
+ else if (l.getIODC() < r.getIODC())
+ return true;
+ else if (l.getIODC() > r.getIODC())
+ return false;
+ else if (l.getASAlert(1) < r.getASAlert(1))
+ return true;
+ else if (l.getASAlert(1) > r.getASAlert(1))
+ return false;
+ else if (l.getASAlert(2) < r.getASAlert(2))
+ return true;
+ else if (l.getASAlert(2) > r.getASAlert(2))
+ return false;
+ else if (l.getASAlert(3) < r.getASAlert(3))
+ return true;
+ else if (l.getASAlert(3) > r.getASAlert(3))
+ return false;
+
+ return false;
+ }
+};
+
+struct EphDiffEquals :
+ public std::binary_function<EngEphemeris, EngEphemeris, bool>
+{
+public:
+ bool operator() (const EngEphemeris& l, const EngEphemeris& r) const
+ {
+ if ( (l.getPRNID() == r.getPRNID()) &&
+ (l.getIODC() == r.getIODC()) )
+ return true;
+ return false;
+ }
+};
+
+struct EphDiffFinder :
+ public std::unary_function<EngEphemeris, bool>
+{
+public:
+ EphDiffFinder(const EngEphemeris& e)
+ : PRN(e.getPRNID()), IODC(e.getIODC())
+ {}
+
+ bool operator() (const EngEphemeris& l) const
+ {
+ if ( (l.getPRNID() == PRN) && (l.getIODC() == IODC) )
+ return true;
+ return false;
+ }
+
+private:
+ short PRN;
+ double IODC;
+};
+
+class EphDiff : public BasicFramework
+{
+public:
+ EphDiff(char* arg0);
+ virtual bool initialize(int argc, char* argv[]) throw();
+
+protected:
+ virtual void process();
+
+ void fillFIC(FileFilterFrame<FICStream, FICData>& ff,
+ vector<EngEphemeris>& l);
+ void fillRINEX(FileFilterFrame<RinexNavStream, RinexNavData>& ff,
+ vector<EngEphemeris>& l);
+
+private:
+ CommandOptionWithAnyArg ficFileOption;
+ CommandOptionWithAnyArg rinexFileOption;
+
+ string file1, file2;
+
+ vector<EngEphemeris> file1list, file2list;
+};
+
+EphDiff::EphDiff(char* arg0)
+ : BasicFramework(arg0, "Compares the contents of two files with ephemeris data - either file can be RINEX or FIC"),
+ ficFileOption('f',
+ "fic",
+ "Name of an input FIC file.",
+ false),
+ rinexFileOption('r',
+ "rinex",
+ "Name of an input RINEX NAV file",
+ false)
+{
+}
+
+bool EphDiff::initialize(int argc, char* argv[]) throw()
+{
+ if(!BasicFramework::initialize(argc, argv))
+ {
+ return false;
+ }
+
+ // check the command options for 2 input files
+ int ficCount = ficFileOption.getCount();
+ int rinexCount = rinexFileOption.getCount();
+
+ if ( ((ficCount == 2) && (rinexCount != 0)) ||
+ ((ficCount == 1) && (rinexCount != 1)) ||
+ ((ficCount == 0) && (rinexCount != 2)) )
+ {
+ cout << "Exactly two input files must be specified on the command line"
+ << endl
+ << " ephdiff is ending..." << endl
+ << endl;
+ return false;
+ }
+
+ // open the files
+
+ // in the case of 1 FIC and 1 rinex file, make sure the first file
+ // is chosen correctly...
+ if ( (ficCount == 1) && (rinexCount == 1) )
+ {
+ string ficname = ficFileOption.getValue()[0];
+ string rinexname = rinexFileOption.getValue()[0];
+
+ FileFilterFrame<FICStream, FICData> ficdata(ficname);
+ FileFilterFrame<RinexNavStream, RinexNavData> rinexdata(rinexname);
+
+ if (ficFileOption.getOrder() < rinexFileOption.getOrder())
+ {
+ file1 = ficname;
+ file2 = rinexname;
+ fillFIC(ficdata, file1list);
+ fillRINEX(rinexdata, file2list);
+ }
+ else
+ {
+ file1 = rinexname;
+ file2 = ficname;
+ fillRINEX(rinexdata, file1list);
+ fillFIC(ficdata, file2list);
+ }
+
+ }
+ else if (ficCount == 2)
+ {
+ file1 = ficFileOption.getValue()[0];
+ FileFilterFrame<FICStream, FICData> fic1(file1);
+ file2 = ficFileOption.getValue()[1];
+ FileFilterFrame<FICStream, FICData> fic2(file2);
+
+ fillFIC(fic1, file1list);
+ fillFIC(fic2, file2list);
+ }
+ else // if (rinexCount == 2)
+ {
+ file1 = rinexFileOption.getValue()[0];
+ FileFilterFrame<RinexNavStream, RinexNavData> rn1(file1);
+ file2 = rinexFileOption.getValue()[1];
+ FileFilterFrame<RinexNavStream, RinexNavData> rn2(file2);
+
+ fillRINEX(rn1, file1list);
+ fillRINEX(rn2, file2list);
+ }
+
+ return true;
+}
+
+void EphDiff::process()
+{
+ // first sort and filter the lists
+ stable_sort(file1list.begin(), file1list.end(), EphDiffLessThan());
+ stable_sort(file2list.begin(), file2list.end(), EphDiffLessThan());
+
+ vector<EngEphemeris>::iterator listitr;
+
+ listitr = unique(file1list.begin(), file1list.end(), EphDiffEquals());
+ file1list.erase(listitr, file1list.end());
+
+ listitr = unique(file2list.begin(), file2list.end(), EphDiffEquals());
+ file2list.erase(listitr, file2list.end());
+
+ // for each element in the first list, try to find a match in the
+ // second list. if a match is found, compare the data. otherwise
+ // add to the unmatchedData list.
+ vector<EngEphemeris> unmatchedData;
+
+ while (!file1list.empty())
+ {
+ listitr = find_if(file2list.begin(),
+ file2list.end(),
+ EphDiffFinder(file1list[0]));
+
+ if (listitr != file2list.end())
+ {
+ // compare the data
+
+ // delete the data so we don't search for it again
+ file2list.erase(listitr);
+ }
+ else
+ unmatchedData.push_back(file1list[0]);
+
+ file1list.erase(file1list.begin());
+ }
+
+ // that's all the processing... now just write the results
+ cout << "Data in " << file1 << " not found in " << file2 << ": " << endl;
+
+ if (!unmatchedData.empty())
+ {
+ listitr = unmatchedData.begin();
+ while (listitr != unmatchedData.end())
+ {
+ (*listitr).dump(cout << endl);
+ listitr++;
+ }
+ }
+ else
+ cout << " All data in " << file1 << " was found in " << file2 << "."
+ << endl;
+
+ cout << endl;
+ cout << "Data in " << file2 << " not found in " << file1 << ": " << endl;
+
+ if (!file2list.empty())
+ {
+ listitr = file2list.begin();
+ while (listitr != file2list.end())
+ {
+ (*listitr).dump(cout << endl);
+ listitr++;
+ }
+ }
+ else
+ cout << " All data in " << file2 << " was found in " << file1 << "."
+ << endl;
+
+}
+
+void EphDiff::fillFIC(FileFilterFrame<FICStream, FICData>& ff,
+ vector<EngEphemeris>& l)
+{
+ list<FICData>& ficlist = ff.getData();
+
+ list<FICData>::iterator itr = ficlist.begin();
+
+ while (itr != ficlist.end())
+ {
+ if ((*itr).blockNum == 9)
+ l.push_back(*itr);
+ itr++;
+ }
+}
+
+void EphDiff::fillRINEX(FileFilterFrame<RinexNavStream, RinexNavData>& ff,
+ vector<EngEphemeris>& l)
+{
+ list<RinexNavData>& ficlist = ff.getData();
+
+ list<RinexNavData>::iterator itr = ficlist.begin();
+
+ while (itr != ficlist.end())
+ {
+ l.push_back(EngEphemeris(*itr));
+ itr++;
+ }
+}
+
+int main(int argc, char* argv[])
+{
+ try
+ {
+ EphDiff ed(argv[0]);
+ if (!ed.initialize(argc, argv))
+ return 0;
+ if (!ed.run())
+ return 1;
+
+ return 0;
+ }
+ catch(Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(exception& e)
+ {
+ cout << e.what() << endl;
+ }
+ catch(...)
+ {
+ cout << "unknown error" << endl;
+ }
+ return 1;
+}
diff --git a/dev/apps/difftools/ficdiff.cpp b/dev/apps/difftools/ficdiff.cpp
new file mode 100644
index 0000000..d567188
--- /dev/null
+++ b/dev/apps/difftools/ficdiff.cpp
@@ -0,0 +1,104 @@
+#pragma ident "$Id$"
+
+
+#include "FICFilterOperators.hpp"
+#include "FileFilterFrame.hpp"
+
+#include "DiffFrame.hpp"
+#include "FICData.hpp"
+#include "FICStream.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+class FICDiff : public DiffFrame
+{
+public:
+ FICDiff(char* arg0)
+ : DiffFrame(arg0,
+ std::string("binary FIC"))
+ {}
+
+protected:
+ virtual void process();
+};
+
+void FICDiff::process()
+{
+ try
+ {
+ FileFilterFrame<FICStream, FICData> ff1(inputFileOption.getValue()[0]);
+ FileFilterFrame<FICStream, FICData> ff2(inputFileOption.getValue()[1]);
+
+ ff1.sort(FICDataOperatorLessThanFull());
+ ff2.sort(FICDataOperatorLessThanFull());
+
+ pair< list<FICData>, list<FICData> > difflist =
+ ff1.diff(ff2, FICDataOperatorLessThanFull());
+
+ if (difflist.first.empty() && difflist.second.empty())
+ exit(0);
+
+ list<FICData>::iterator itr = difflist.first.begin();
+ while (itr != difflist.first.end())
+ {
+ (*itr).dump(cout << '<');
+ itr++;
+ }
+
+ cout << endl;
+
+ itr = difflist.second.begin();
+ while (itr != difflist.second.end())
+ {
+ (*itr).dump(cout << '>');
+ itr++;
+ }
+
+ }
+ catch(Exception& e)
+ {
+ cout << e << endl
+ << endl
+ << "Terminating.." << endl;
+ }
+ catch(exception& e)
+ {
+ cout << e.what() << endl
+ << endl
+ << "Terminating.." << endl;
+ }
+ catch(...)
+ {
+ cout << "Unknown exception... terminating..." << endl;
+ }
+
+}
+
+
+int main(int argc, char* argv[])
+{
+ try
+ {
+ FICDiff m(argv[0]);
+ if (!m.initialize(argc, argv))
+ return 0;
+ if (!m.run())
+ return 1;
+
+ return 0;
+ }
+ catch(Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(exception& e)
+ {
+ cout << e.what() << endl;
+ }
+ catch(...)
+ {
+ cout << "unknown error" << endl;
+ }
+ return 0;
+}
diff --git a/dev/apps/difftools/rmwdiff.cpp b/dev/apps/difftools/rmwdiff.cpp
new file mode 100644
index 0000000..1c32612
--- /dev/null
+++ b/dev/apps/difftools/rmwdiff.cpp
@@ -0,0 +1,222 @@
+#pragma ident "$Id$"
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FileFilterFrameWithHeader.hpp"
+
+#include "RinexMetData.hpp"
+#include "RinexMetStream.hpp"
+#include "RinexMetFilterOperators.hpp"
+
+#include "DiffFrame.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+class RMWDiff : public DiffFrame
+{
+public:
+ RMWDiff(char* arg0)
+ : DiffFrame(arg0,
+ std::string("RINEX Met"))
+ {}
+
+protected:
+ virtual void process();
+};
+
+
+void RMWDiff::process()
+{
+ try
+ {
+ FileFilterFrameWithHeader<RinexMetStream, RinexMetData, RinexMetHeader>
+ ff1(inputFileOption.getValue()[0]), ff2(inputFileOption.getValue()[1]);
+
+ // find the obs data intersection
+ RinexMetHeaderTouchHeaderMerge merged;
+
+ // no data? FIX make this program faster.. if one file
+ // doesn't exist, there's little point in reading any.
+ if (ff1.emptyHeader())
+ cerr << "No header information for " << inputFileOption.getValue()[0]
+ << endl;
+ if (ff2.emptyHeader())
+ cerr << "No header information for " << inputFileOption.getValue()[1]
+ << endl;
+ if (ff1.emptyHeader() || ff2.emptyHeader())
+ {
+ cerr << "Check that files exist." << endl;
+ cerr << "diff failed." << endl;
+ exit(1);
+ }
+
+ merged(ff1.frontHeader());
+ merged(ff2.frontHeader());
+
+ set<RinexMetHeader::RinexMetType> intersection = merged.obsSet;
+
+ cout << "Comparing the following fields (other header data is ignored):" << endl;
+ set<RinexMetHeader::RinexMetType>::iterator m = intersection.begin();
+ while (m != intersection.end())
+ {
+ cout << RinexMetHeader::convertObsType(*m) << ' ';
+ m++;
+ }
+ cout << endl;
+
+ if (timeOptions.getCount())
+ {
+ ff1.filter(RinexMetDataFilterTime(startTime, endTime));
+ ff2.filter(RinexMetDataFilterTime(startTime, endTime));
+ }
+
+ ff1.sort(RinexMetDataOperatorLessThanFull(intersection));
+ ff2.sort(RinexMetDataOperatorLessThanFull(intersection));
+
+ pair< list<RinexMetData>, list<RinexMetData> > difflist =
+ ff1.diff(ff2, RinexMetDataOperatorLessThanFull(intersection));
+
+ if (difflist.first.empty() && difflist.second.empty())
+ exit(0);
+
+ list<RinexMetData>::iterator firstitr = difflist.first.begin();
+ while (firstitr != difflist.first.end())
+ {
+ bool matched = false;
+ list<RinexMetData>::iterator seconditr = difflist.second.begin();
+ while ((!matched) && (seconditr != difflist.second.end()))
+ {
+ if (firstitr->time == seconditr->time)
+ {
+ cout << setw(3) << firstitr->time.DOYday() << ' '
+ << setw(10) << setprecision(0)
+ << firstitr->time.DOYsecond() << ' '
+ << ff1.frontHeader().markerName << ' '
+ << ff2.frontHeader().markerName << ' ';
+
+ for (m = intersection.begin(); m != intersection.end(); m++)
+ {
+ double diff = firstitr->data[*m];
+ diff -= seconditr->data[*m];
+
+ cout << setw(7) << setprecision(1) << fixed << diff << ' '
+ << RinexMetHeader::convertObsType(*m) << ' ';
+
+ }
+ cout << endl;
+
+ firstitr = difflist.first.erase(firstitr);
+ seconditr = difflist.second.erase(seconditr);
+ matched = true;
+ }
+ else
+ seconditr++;
+ }
+
+ if (!matched)
+ firstitr++;
+ }
+
+ list<RinexMetData>::iterator itr = difflist.first.begin();
+ while (itr != difflist.first.end())
+ {
+ (*itr).dump(cout << '<');
+ itr++;
+ }
+
+ cout << endl;
+
+ itr = difflist.second.begin();
+ while (itr != difflist.second.end())
+ {
+ (*itr).dump(cout << '>');
+ itr++;
+ }
+
+ }
+ catch(Exception& e)
+ {
+ cout << e << endl
+ << endl
+ << "Terminating.." << endl;
+ }
+ catch(exception& e)
+ {
+ cout << e.what() << endl
+ << endl
+ << "Terminating.." << endl;
+ }
+ catch(...)
+ {
+ cout << "Unknown exception... terminating..." << endl;
+ }
+}
+
+
+int main(int argc, char* argv[])
+{
+ try
+ {
+ RMWDiff m(argv[0]);
+ if (!m.initialize(argc, argv))
+ return 0;
+ if (!m.run())
+ return 1;
+
+ return 0;
+ }
+ catch(Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(exception& e)
+ {
+ cout << e.what() << endl;
+ }
+ catch(...)
+ {
+ cout << "unknown error" << endl;
+ }
+ return 1;
+}
diff --git a/dev/apps/difftools/rnwdiff.cpp b/dev/apps/difftools/rnwdiff.cpp
new file mode 100644
index 0000000..294de81
--- /dev/null
+++ b/dev/apps/difftools/rnwdiff.cpp
@@ -0,0 +1,206 @@
+#pragma ident "$Id$"
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FileFilterFrame.hpp"
+
+#include "RinexNavData.hpp"
+#include "RinexNavStream.hpp"
+#include "RinexNavFilterOperators.hpp"
+
+#include "DiffFrame.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+class RNWDiff : public DiffFrame
+{
+public:
+ RNWDiff(char* arg0)
+ : DiffFrame(arg0,
+ std::string("RINEX Nav"))
+ {}
+
+protected:
+ virtual void process();
+};
+
+
+void RNWDiff::process()
+{
+ try
+ {
+ FileFilterFrame<RinexNavStream, RinexNavData> ff1(inputFileOption.getValue()[0]);
+ FileFilterFrame<RinexNavStream, RinexNavData> ff2(inputFileOption.getValue()[1]);
+
+ ff1.sort(RinexNavDataOperatorLessThanFull());
+ ff2.sort(RinexNavDataOperatorLessThanFull());
+
+ pair< list<RinexNavData>, list<RinexNavData> > difflist =
+ ff1.diff(ff2, RinexNavDataOperatorLessThanFull());
+
+ if (difflist.first.empty() && difflist.second.empty())
+ exit(0);
+
+ list<RinexNavData>::iterator firstitr = difflist.first.begin();
+ while (firstitr != difflist.first.end())
+ {
+ bool matched = false;
+ list<RinexNavData>::iterator seconditr = difflist.second.begin();
+ while ((!matched) && (seconditr != difflist.second.end()))
+ {
+ // this will match the exact same nav message in both
+ // files, not just the same ephemeris broadcasted at
+ // different times.
+ if ((firstitr->time == seconditr->time) &&
+ (firstitr->PRNID == seconditr->PRNID) &&
+ (firstitr->HOWtime == seconditr->HOWtime) )
+ {
+ cout << fixed << setw(3) << firstitr->time.DOYday() << ' '
+ << setw(10) << setprecision(0)
+ << firstitr->time.DOYsecond() << ' '
+ << setw(19) << setprecision(12) << scientific
+ << (firstitr->af0 - seconditr->af0) << ' '
+ << (firstitr->af1 - seconditr->af1) << ' '
+ << (firstitr->af2 - seconditr->af2) << ' '
+ << (firstitr->IODE - seconditr->IODE) << ' '
+ << (firstitr->Crs - seconditr->Crs) << ' '
+ << (firstitr->dn - seconditr->dn) << ' '
+ << (firstitr->M0 - seconditr->M0) << ' '
+ << (firstitr->Cuc - seconditr->Cuc) << ' '
+ << (firstitr->ecc - seconditr->ecc) << ' '
+ << (firstitr->Cus - seconditr->Cus) << ' '
+ << (firstitr->Ahalf - seconditr->Ahalf) << ' '
+ << (firstitr->Toe - seconditr->Toe) << ' '
+ << (firstitr->Cic - seconditr->Cic) << ' '
+ << (firstitr->OMEGA0 - seconditr->OMEGA0) << ' '
+ << (firstitr->Cis - seconditr->Cis) << ' '
+ << (firstitr->i0 - seconditr->i0) << ' '
+ << (firstitr->Crc - seconditr->Crc) << ' '
+ << (firstitr->w - seconditr->w) << ' '
+ << (firstitr->OMEGAdot - seconditr->OMEGAdot) << ' '
+ << (firstitr->idot - seconditr->idot) << ' '
+ << (firstitr->codeflgs - seconditr->codeflgs) << ' '
+ << (firstitr->weeknum - seconditr->weeknum) << ' '
+ << (firstitr->L2Pdata - seconditr->L2Pdata) << ' '
+ << (firstitr->accuracy - seconditr->accuracy) << ' '
+ << (firstitr->health - seconditr->health) << ' '
+ << (firstitr->Tgd - seconditr->Tgd) << ' '
+ << (firstitr->IODC - seconditr->IODC) << ' '
+ << (firstitr->HOWtime - seconditr->HOWtime) << ' '
+ << (firstitr->fitint - seconditr->fitint)
+ << endl;
+
+ firstitr = difflist.first.erase(firstitr);
+ seconditr = difflist.second.erase(seconditr);
+ matched = true;
+ }
+ else
+ seconditr++;
+ }
+
+ if (!matched)
+ firstitr++;
+ }
+
+ list<RinexNavData>::iterator itr = difflist.first.begin();
+ while (itr != difflist.first.end())
+ {
+ (*itr).dump(cout << '<');
+ itr++;
+ }
+
+ cout << endl;
+
+ itr = difflist.second.begin();
+ while (itr != difflist.second.end())
+ {
+ (*itr).dump(cout << '>');
+ itr++;
+ }
+
+ }
+ catch(Exception& e)
+ {
+ cout << e << endl
+ << endl
+ << "Terminating.." << endl;
+ }
+ catch(exception& e)
+ {
+ cout << e.what() << endl
+ << endl
+ << "Terminating.." << endl;
+ }
+ catch(...)
+ {
+ cout << "Unknown exception... terminating..." << endl;
+ }
+}
+
+int main(int argc, char* argv[])
+{
+ try
+ {
+ RNWDiff m(argv[0]);
+ if (!m.initialize(argc, argv))
+ return 0;
+ if (!m.run())
+ return 1;
+
+ return 0;
+ }
+ catch(Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(exception& e)
+ {
+ cout << e.what() << endl;
+ }
+ catch(...)
+ {
+ cout << "unknown error" << endl;
+ }
+ return 1;
+}
diff --git a/dev/apps/difftools/rowdiff.cpp b/dev/apps/difftools/rowdiff.cpp
new file mode 100644
index 0000000..2035c88
--- /dev/null
+++ b/dev/apps/difftools/rowdiff.cpp
@@ -0,0 +1,204 @@
+#pragma ident "$Id$"
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FileFilterFrameWithHeader.hpp"
+
+#include "RinexObsData.hpp"
+#include "RinexObsStream.hpp"
+#include "RinexObsFilterOperators.hpp"
+
+#include "DiffFrame.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+class ROWDiff : public DiffFrame
+{
+public:
+ ROWDiff(char* arg0)
+ : DiffFrame(arg0,
+ std::string("RINEX Obs"))
+ {}
+
+protected:
+ virtual void process();
+};
+
+void ROWDiff::process()
+{
+ gpstk::FileFilterFrameWithHeader<RinexObsStream, RinexObsData, RinexObsHeader>
+ ff1(inputFileOption.getValue()[0]), ff2(inputFileOption.getValue()[1]);
+
+ // find the obs data intersection
+ RinexObsHeaderTouchHeaderMerge merged;
+
+ // no data? FIX make this program faster.. if one file
+ // doesn't exist, there's little point in reading any.
+ if (ff1.emptyHeader())
+ cerr << "No header information for " << inputFileOption.getValue()[0]
+ << endl;
+ if (ff2.emptyHeader())
+ cerr << "No header information for " << inputFileOption.getValue()[1]
+ << endl;
+ if (ff1.emptyHeader() || ff2.emptyHeader())
+ {
+ cerr << "Check that files exist." << endl;
+ cerr << "diff failed." << endl;
+ exit(1);
+ }
+
+ merged(ff1.frontHeader());
+ merged(ff2.frontHeader());
+
+ cout << "Comparing the following fields (other header data is ignored):"
+ << endl;
+ set<RinexObsHeader::RinexObsType> intersection = merged.obsSet;
+ set<RinexObsHeader::RinexObsType>::iterator m = intersection.begin();
+ while (m != intersection.end())
+ {
+ cout << gpstk::RinexObsHeader::convertObsType(*m) << ' ';
+ m++;
+ }
+ cout << endl;
+
+ ff1.sort(RinexObsDataOperatorLessThanFull(intersection));
+ ff2.sort(RinexObsDataOperatorLessThanFull(intersection));
+
+ pair< list<RinexObsData>, list<RinexObsData> > difflist =
+ ff1.diff(ff2, RinexObsDataOperatorLessThanFull(intersection));
+
+ if (difflist.first.empty() && difflist.second.empty())
+ exit(0);
+
+ list<RinexObsData>::iterator firstitr = difflist.first.begin();
+ while (firstitr != difflist.first.end())
+ {
+ bool matched = false;
+ list<RinexObsData>::iterator seconditr = difflist.second.begin();
+ while ((!matched) && (seconditr != difflist.second.end()))
+ {
+ if (firstitr->time == seconditr->time)
+ {
+ RinexObsData::RinexSatMap::iterator fpoi, spoi;
+ for (fpoi = firstitr->obs.begin(); fpoi != firstitr->obs.end();
+ fpoi++)
+ {
+ cout << setw(3) << firstitr->time.DOYday() << ' '
+ << setw(10) << setprecision(0)
+ << firstitr->time.DOYsecond() << ' '
+ << ff1.frontHeader().markerName << ' '
+ << ff2.frontHeader().markerName << ' '
+ << setw(2) << fpoi->first << ' ';
+ spoi = seconditr->obs.find(fpoi->first);
+ for (m = intersection.begin(); m != intersection.end(); m++)
+ {
+ // no need to do a find, we're using the merged
+ // set of obses which guarantees that we have the
+ // obs in this record
+ double diff = (fpoi->second[*m]).data;
+ if (spoi != seconditr->obs.end())
+ diff -= (spoi->second[*m]).data;
+
+ cout << setw(14) << setprecision(3) << fixed << diff << ' '
+ << RinexObsHeader::convertObsType(*m) << ' ';
+
+ }
+ cout << endl;
+ }
+ firstitr = difflist.first.erase(firstitr);
+ seconditr = difflist.second.erase(seconditr);
+ matched = true;
+ }
+ else
+ seconditr++;
+ }
+
+ if (!matched)
+ firstitr++;
+ }
+
+ list<RinexObsData>::iterator itr = difflist.first.begin();
+ while (itr != difflist.first.end())
+ {
+ (*itr).dump(cout << '<');
+ itr++;
+ }
+
+ cout << endl;
+
+ itr = difflist.second.begin();
+ while (itr != difflist.second.end())
+ {
+ (*itr).dump(cout << '>');
+ itr++;
+ }
+}
+
+int main(int argc, char* argv[])
+{
+ try
+ {
+ ROWDiff m(argv[0]);
+ if (!m.initialize(argc, argv))
+ return 0;
+ if (!m.run())
+ return 1;
+
+ return 0;
+ }
+ catch(Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(exception& e)
+ {
+ cout << e.what() << endl;
+ }
+ catch(...)
+ {
+ cout << "unknown error" << endl;
+ }
+ return 1;
+}
+
diff --git a/dev/apps/filetools/Jamfile b/dev/apps/filetools/Jamfile
new file mode 100644
index 0000000..d93e8b3
--- /dev/null
+++ b/dev/apps/filetools/Jamfile
@@ -0,0 +1,17 @@
+#
+# $Id$
+#
+
+SubDir TOP apps filetools ;
+
+GPSLinkLibraries ficafic ficfica navdmp fic2rin rinexthin sp3version bc2sp3 : gpstk ;
+
+GPSMain navdmp : navdmp.cpp ;
+GPSMain ficfica : ficfica.cpp ;
+GPSMain ficafic : ficafic.cpp ;
+GPSMain fic2rin : fic2rin.cpp ;
+GPSMain rinexthin : RinexThin.cpp ;
+GPSMain sp3version : sp3version.cpp ;
+GPSMain bc2sp3 : bc2sp3.cpp ;
+#GPSMain sp32bc : sp32bc.cpp ;
+
diff --git a/dev/apps/filetools/Makefile.am b/dev/apps/filetools/Makefile.am
new file mode 100644
index 0000000..f9d2a46
--- /dev/null
+++ b/dev/apps/filetools/Makefile.am
@@ -0,0 +1,13 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../src
+LDADD = ../../src/libgpstk.la
+
+bin_PROGRAMS = ficafic ficfica navdmp fic2rin rinexthin sp3version bc2sp3
+
+ficfica_SOURCES = ficfica.cpp
+ficafic_SOURCES = ficafic.cpp
+fic2rin_SOURCES = fic2rin.cpp
+navdmp_SOURCES = navdmp.cpp
+rinexthin_SOURCES = RinexThin.cpp
+sp3version_SOURCES = sp3version.cpp
+bc2sp3_SOURCES = bc2sp3.cpp
diff --git a/trunk/apps/filetools/RinexThin.cpp b/dev/apps/filetools/RinexThin.cpp
similarity index 100%
rename from trunk/apps/filetools/RinexThin.cpp
rename to dev/apps/filetools/RinexThin.cpp
diff --git a/dev/apps/filetools/bc2sp3.cpp b/dev/apps/filetools/bc2sp3.cpp
new file mode 100644
index 0000000..b3f6150
--- /dev/null
+++ b/dev/apps/filetools/bc2sp3.cpp
@@ -0,0 +1,323 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file bc2sp3.cpp
+ * Read RINEX format navigation file(s) and write the data out to an SP3 format file.
+ * Potential problems related to discontinuities at change of BCE are ignored.
+ */
+
+#include <iostream>
+#include <iomanip>
+#include <string>
+#include <vector>
+
+#include "RinexNavStream.hpp"
+#include "RinexNavHeader.hpp"
+#include "RinexNavData.hpp"
+#include "EphemerisStore.hpp"
+#include "BCEphemerisStore.hpp"
+#include "SP3Stream.hpp"
+#include "SP3Header.hpp"
+#include "SP3Data.hpp"
+#include "DayTime.hpp"
+#include "SatID.hpp"
+#include "StringUtils.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+int main(int argc, char *argv[])
+{
+ string Usage(
+ "Usage: bc2sp3 <RINEX nav file(s)> [options]\n"
+ " Read RINEX nav file(s) and write to SP3(a or c) file.\n"
+ " Options (defaults):\n"
+ " --in <file> Read the input file <file> (--in is optional, repeatable) ()\n"
+ " --out <file> Name the output file <file> (sp3.out)\n"
+ " --tb <time> Output beginning epoch; <time> = week,sec-of-week (earliest in input)\n"
+ " --te <time> Output ending epoch; <time> = week,sec-of-week (latest in input)\n"
+ " --outputC Output version c (no correlation) (otherwise a)\n"
+ " --msg \"...\" Add ... as a comment to the output header (repeatable)\n"
+ " --verbose Output to screen: dump headers, data, etc\n"
+ " --help Print this message and quit\n"
+ );
+ if(argc < 2) { cout << Usage; return -1; }
+
+ try
+ {
+ bool verbose=false;
+ char version_out='a';
+ int i,j,nrec,nfile;
+ string fileout("sp3.out");
+ vector<string> inputFiles;
+ vector<string> comments;
+ map<SatID,long> IODEmap;
+ DayTime begTime=DayTime::BEGINNING_OF_TIME;
+ DayTime endTime=DayTime::END_OF_TIME;
+ DayTime tt;
+ BCEphemerisStore BCEph;
+ SP3Header sp3header;
+ SP3Data sp3data;
+
+ for(i=1; i<argc; i++) {
+ if(argv[i][0] == '-') {
+ string arg(argv[i]);
+ if(arg == string("--outputC")) {
+ version_out = 'c';
+ if(verbose) cout << " Output version c\n";
+ }
+ else if(arg == string("--in")) {
+ inputFiles.push_back(string(argv[++i]));
+ if(verbose) cout << " Input file name "
+ << inputFiles[inputFiles.size()-1] << endl;
+ }
+ else if(arg == string("--out")) {
+ fileout = string(argv[++i]);
+ if(verbose) cout << " Output file name " << fileout << endl;
+ }
+ else if(arg == string("--tb")) {
+ arg = string(argv[++i]);
+ int wk=StringUtils::asInt(StringUtils::stripFirstWord(arg,','));
+ double sow=StringUtils::asDouble(StringUtils::stripFirstWord(arg,','));
+ begTime.setGPSfullweek(wk,sow);
+ if(verbose) cout << " Begin time "
+ << begTime.printf("%Y/%02m/%02d %2H:%02M:%06.3f = %F/%10.3g")
+ << endl;
+ }
+ else if(arg == string("--te")) {
+ arg = string(argv[++i]);
+ int wk=StringUtils::asInt(StringUtils::stripFirstWord(arg,','));
+ double sow=StringUtils::asDouble(StringUtils::stripFirstWord(arg,','));
+ endTime.setGPSfullweek(wk,sow);
+ if(verbose) cout << " End time "
+ << endTime.printf("%Y/%02m/%02d %2H:%02M:%06.3f = %F/%10.3g")
+ << endl;
+ }
+ else if(arg == string("--msg")) {
+ comments.push_back(string(argv[++i]));
+ if(verbose) cout << " Add comment " << comments[comments.size()-1]
+ << endl;
+ }
+ else if(arg == string("--help")) {
+ cout << Usage;
+ return -1;
+ }
+ else if(arg == string("--verbose"))
+ verbose = true;
+ else
+ cout << "Ignore unknown option: " << arg << endl;
+ }
+ else {
+ inputFiles.push_back(string(argv[i]));
+ if(verbose) cout << " Input file name "
+ << inputFiles[inputFiles.size()-1] << endl;
+ }
+ }
+
+ if(inputFiles.size() == 0) {
+ cout << "Error - no input filename specified. Abort.\n";
+ return -1;
+ }
+
+ // open the output SP3 file
+ SP3Stream outstrm(fileout.c_str(),ios::out);
+ outstrm.exceptions(ifstream::failbit);
+
+ for(nfile=0; nfile<inputFiles.size(); nfile++) {
+ RinexNavHeader rnh;
+ RinexNavData rnd;
+
+ RinexNavStream rns(inputFiles[nfile].c_str());
+ if(!rns) {
+ cout << "Could not open input file " << inputFiles[nfile] << endl;
+ continue;
+ }
+ rns.exceptions(ifstream::failbit);
+
+ if(verbose) cout << "Reading file " << inputFiles[nfile] << endl;
+
+ rns >> rnh;
+ if(verbose) {
+ cout << "Input";
+ rnh.dump(cout);
+ }
+
+ while(rns >> rnd)
+ if(rnd.health == 0) BCEph.addEphemeris(rnd);
+
+ }
+
+ // time limits, if not given by user
+ if(begTime == DayTime::BEGINNING_OF_TIME)
+ begTime = BCEph.getInitialTime();
+ if(endTime == DayTime::END_OF_TIME)
+ endTime = BCEph.getFinalTime();
+
+ // define the data version and the header info
+ if(version_out == 'c') {
+ // data and header must have the correct version
+ sp3data.version = sp3header.version = 'c';
+
+ sp3header.system = SP3SatID();
+ sp3header.timeSystem = SP3Header::timeGPS;
+ sp3header.basePV = 0.0;
+ sp3header.baseClk = 0.0;
+ }
+ else {
+ sp3data.version = sp3header.version = 'a';
+ }
+
+ // fill the header
+ sp3header.pvFlag = 'V';
+ sp3header.time = DayTime::END_OF_TIME;
+ sp3header.epochInterval = 900.0; // hardcoded here only
+ sp3header.dataUsed = "BCE";
+ sp3header.coordSystem = "WGS84";
+ sp3header.orbitType = " ";
+ sp3header.agency = "ARL";
+
+ // determine which SVs, with accuracy, start time, epoch interval,
+ // number of epochs, for header
+ // this is a pain....
+ sp3header.numberOfEpochs = 0;
+ tt = begTime;
+ while(tt < endTime) {
+ bool foundSome = false;
+ for(i=1; i<33; i++) { // for each PRN ...
+ SatID sat(i,SatID::systemGPS);
+ try { EngEphemeris ee = BCEph.findEphemeris(sat, tt); }
+ catch(EphemerisStore::NoEphemerisFound& nef) { continue; }
+
+ if(sp3header.satList.find(sat) == sp3header.satList.end()) {
+ sp3header.satList[sat] = 0; // sat accuracy = ?
+ IODEmap[sat] = -1;
+ }
+
+ if(!foundSome) {
+ sp3header.numberOfEpochs++;
+ foundSome = true;
+ if(tt < sp3header.time) sp3header.time = tt;
+ }
+ }
+ tt += sp3header.epochInterval;
+ }
+
+ // add comments
+ if(comments.size() > 0) {
+ // try to keep existing comments
+ for(i=0; i<comments.size(); i++) {
+ if(i > 3) {
+ cout << "Warning - only 4 comments are allowed in SP3 header.\n";
+ break;
+ }
+ sp3header.comments.push_back(comments[i]);
+ }
+ }
+
+ // dump the SP3 header
+ if(verbose) sp3header.dump(cout);
+
+ // write the header
+ outstrm << sp3header;
+
+ // sigmas to output (version c)
+ for(j=0; j<4; j++) sp3data.sig[j]=0; // sigma = ?
+
+ tt = begTime;
+ while(tt < endTime) {
+ bool epochOut=false;
+
+ for(i=1; i<33; i++) {
+ long iode;
+ SatID sat(i,SatID::systemGPS);
+ Xvt xvt;
+ EngEphemeris ee;
+
+ try { ee = BCEph.findEphemeris(sat, tt); }
+ catch(EphemerisStore::NoEphemerisFound& nef) { continue; }
+
+ sp3data.sat = sat;
+ xvt = BCEph.getSatXvt(sat, tt);
+
+ // epoch
+ if(!epochOut) {
+ sp3data.time = tt;
+ sp3data.flag = '*';
+ outstrm << sp3data;
+ if(verbose) sp3data.dump(cout);
+ epochOut = true;
+ }
+
+ // Position
+ sp3data.flag = 'P';
+ for(j=0; j<3; j++) sp3data.x[j] = xvt.x[j]/1000.0; // km
+ // must remove the relativity correction from Xvt::dtime
+ // see EngEphemeris::svXvt() - also convert to microsec
+ sp3data.clk = (xvt.dtime - ee.svRelativity(tt)) * 1000000.0;
+
+ //if(version_out == 'c') for(j=0; j<4; j++) sp3data.sig[j]=...
+ iode = ee.getIODE();
+ if(IODEmap[sat] == -1) IODEmap[sat] = iode;
+ if(IODEmap[sat] != iode) {
+ sp3data.orbitManeuverFlag = true;
+ IODEmap[sat] = iode;
+ }
+ else sp3data.orbitManeuverFlag = false;
+
+ outstrm << sp3data;
+ if(verbose) sp3data.dump(cout);
+
+ // Velocity
+ sp3data.flag = 'V';
+ for(j=0; j<3; j++) sp3data.x[j] = xvt.v[j]/10.0; // dm/s
+ sp3data.clk = xvt.ddtime; // s/s
+ //if(version_out == 'c') for(j=0; j<4; j++) sp3data.sig[j]=...
+
+ outstrm << sp3data;
+ if(verbose) sp3data.dump(cout);
+ }
+
+ tt += sp3header.epochInterval;
+ }
+ // don't forget this
+ outstrm << "EOF" << endl;
+
+ outstrm.close();
+
+ if(verbose) cout << "Wrote " << sp3header.numberOfEpochs << " records" << endl;
+ }
+ catch (Exception& e)
+ {
+ cout << e;
+ return -1;
+ }
+ catch (...)
+ {
+ cout << "Caught an unknown exception" << endl;
+ return -1;
+ }
+
+ return 0;
+}
diff --git a/dev/apps/filetools/fic2rin.cpp b/dev/apps/filetools/fic2rin.cpp
new file mode 100644
index 0000000..720546b
--- /dev/null
+++ b/dev/apps/filetools/fic2rin.cpp
@@ -0,0 +1,126 @@
+#pragma ident "$Id$"
+
+
+/**
+ * @file fic2rin.cpp Convert FIC files to RINEX.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FICStream.hpp"
+#include "FICHeader.hpp"
+#include "FICData.hpp"
+#include "RinexNavStream.hpp"
+#include "RinexNavData.hpp"
+#include "FICFilterOperators.hpp"
+#include "RinexNavFilterOperators.hpp"
+#include "FileFilterFrame.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+int main(int argc, char* argv[])
+{
+ if (argc != 3)
+ {
+ cout << "fic2rin" << endl
+ << " converts a binary FIC file to a Rinex Nav file" << endl
+ << endl
+ << "usage:" << endl
+ << " fic2rin inputfile outputfile" << endl
+ << endl
+ << "where:" << endl
+ << " inputfile: an input binary FIC file name" << endl
+ << " outputfile: an output Rinex Nav file name" << endl;
+ return 0;
+ }
+ // What is up
+ FileFilterFrame<FICStream, FICData> input(argv[1]);
+ list<FICData> alist = input.getData();
+
+ // write the header info
+ RinexNavStream rns(argv[2], ios::out|ios::trunc);
+ RinexNavHeader rnh;
+ rnh.fileType = "Navigation";
+ rnh.fileProgram = "fic2rin";
+ rnh.fileAgency = "";
+ ostringstream ostr;
+ ostr << DayTime();
+ rnh.date = ostr.str();
+ rnh.version = 2.1;
+ rnh.valid |= RinexNavHeader::versionValid;
+ rnh.valid |= RinexNavHeader::runByValid;
+ rnh.valid |= RinexNavHeader::endValid;
+ rns.header = rnh;
+ rnh.putRecord(rns);
+ rns.close();
+
+ // filter the FIC data for block 9
+ list<long> blockList;
+ blockList.push_back(9);
+ input.filter(FICDataFilterBlock(blockList));
+ input.sort(FICDataOperatorLessThanBlock9());
+ input.unique(FICDataUniqueBlock9());
+
+ // some hand waving for the data conversion
+ list<RinexNavData> rndList;
+ list<FICData>& ficList = input.getData();
+ list<FICData>::iterator itr = ficList.begin();
+ while (itr != ficList.end())
+ {
+ // use TOE and transmit week number to determine time
+ DayTime time;
+ time.setGPSfullweek(short((*itr).f[5]), (double)(*itr).f[33]);
+ // this station number is bogus, but it's unused so it should be ok
+ EngEphemeris ee(*itr);
+ rndList.push_back(RinexNavData(ee));
+ itr++;
+ }
+
+ // write the file data
+ FileFilterFrame<RinexNavStream, RinexNavData> output;
+ output.addData(rndList);
+ output.sort(RinexNavDataOperatorLessThanFull());
+ output.writeFile(argv[2], true);
+
+ return 0;
+}
diff --git a/dev/apps/filetools/ficafic.cpp b/dev/apps/filetools/ficafic.cpp
new file mode 100644
index 0000000..80f4bc2
--- /dev/null
+++ b/dev/apps/filetools/ficafic.cpp
@@ -0,0 +1,90 @@
+#pragma ident "$Id$"
+
+
+/**
+ * @file ficafic.cpp Convert FICA files to FIC.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FICStream.hpp"
+#include "FICAStream.hpp"
+#include "FICHeader.hpp"
+#include "FICData.hpp"
+#include "FileFilterFrame.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+int main(int argc, char* argv[])
+{
+ if (argc != 3)
+ {
+ cout << "FICAFIC" << endl
+ << " converts an ASCII FIC file to a binary FIC file" << endl
+ << endl
+ << "usage:" << endl
+ << " ficfica inputfile outputfile" << endl
+ << endl
+ << "where:" << endl
+ << " inputfile: an input ASCII FIC file name" << endl
+ << " outputfile: an output binary FIC file name" << endl;
+ return 0;
+ }
+
+ FICAStream fics(argv[1]);
+ FICHeader header;
+ header.getRecord(fics);
+ fics.close();
+
+ FICStream out(argv[2], ios::out);
+ out << header;
+ out.close();
+
+ FileFilterFrame<FICAStream, FICData> input(argv[1]);
+ FileFilterFrame<FICStream, FICData> output;
+ list<FICData> alist = input.getData();
+ output.addData(alist);
+ output.writeFile(argv[2], true);
+
+ return 0;
+}
diff --git a/dev/apps/filetools/ficfica.cpp b/dev/apps/filetools/ficfica.cpp
new file mode 100644
index 0000000..59096bc
--- /dev/null
+++ b/dev/apps/filetools/ficfica.cpp
@@ -0,0 +1,90 @@
+#pragma ident "$Id$"
+
+
+/**
+ * @file ficfica.cpp Convert FIC files to FICA.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FICStream.hpp"
+#include "FICAStream.hpp"
+#include "FICHeader.hpp"
+#include "FICData.hpp"
+#include "FileFilterFrame.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+int main(int argc, char* argv[])
+{
+ if (argc != 3)
+ {
+ cout << "FICFICA" << endl
+ << " converts a binary FIC file to an ASCII FIC file" << endl
+ << endl
+ << "usage:" << endl
+ << " ficfica inputfile outputfile" << endl
+ << endl
+ << "where:" << endl
+ << " inputfile: an input binary FIC file name" << endl
+ << " outputfile: an output ASCII FIC file name" << endl;
+ return 0;
+ }
+
+ FICStream fics(argv[1]);
+ FICHeader header;
+ header.getRecord(fics);
+ fics.close();
+
+ FICAStream out(argv[2], ios::out);
+ out << header;
+ out.close();
+
+ FileFilterFrame<FICStream, FICData> input(argv[1]);
+ FileFilterFrame<FICAStream, FICData> output;
+ list<FICData> alist = input.getData();
+ output.addData(alist);
+ output.writeFile(argv[2], true);
+
+ return 0;
+}
diff --git a/dev/apps/filetools/navdmp.cpp b/dev/apps/filetools/navdmp.cpp
new file mode 100644
index 0000000..8b3b52b
--- /dev/null
+++ b/dev/apps/filetools/navdmp.cpp
@@ -0,0 +1,430 @@
+#pragma ident "$Id$"
+
+
+/**
+ * @file navdmp.cpp - print a human readable file from a binary FIC file
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "CommandOptionWithTimeArg.hpp"
+#include "FileFilterFrame.hpp"
+#include "BasicFramework.hpp"
+#include "FICData.hpp"
+#include "FICStream.hpp"
+#include "FICFilterOperators.hpp"
+#include "RinexNavStream.hpp"
+#include "RinexNavData.hpp"
+#include "RinexNavHeader.hpp"
+#include "RinexNavFilterOperators.hpp"
+
+#include "gps_constants.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+class NavDump : public BasicFramework
+{
+public:
+ NavDump(char* arg0);
+ bool initialize(int argc, char* argv[]) throw();
+
+protected:
+ virtual void process();
+ // additional setup will get filtering options from the user
+ virtual void additionalSetup();
+
+private:
+ void printCurrentFilter();
+ void getNewTime(DayTime& dt);
+ void getFICBlocks();
+ void getSVs();
+
+ CommandOptionWithAnyArg inputFileOption;
+ CommandOptionWithAnyArg outputFileOption;
+ /// command option to use default values (i.e. no prompting)
+ CommandOptionNoArg defaultsOption;
+ /// command option for start time for matching
+ CommandOptionWithSimpleTimeArg timeOption;
+ /// command option for end time for matching
+ CommandOptionWithSimpleTimeArg eTimeOption;
+ /// meta-option for grouping time options
+ CommandOptionGroupAnd seTimeOptions;
+ /// command option for PRNs
+ CommandOptionWithNumberArg prnOption;
+ /// command option for FIC blocks
+ CommandOptionWithNumberArg blockOption;
+ /// command option for using a RINEX navigation message file (vice FIC)
+ CommandOptionNoArg rinexOption;
+
+ DayTime startTime, endTime;
+ list<long> prnFilterList;
+ list<long> blockFilterList;
+
+ bool isRinexInput;
+};
+
+NavDump::NavDump(char* arg0)
+ : BasicFramework(arg0, "Prints the contents of an FIC or RINEX file into a human readable file and allows filtering of the data."),
+ inputFileOption('i',
+ "input",
+ "Name of an input navigation message file",
+ true),
+ outputFileOption('o',
+ "output",
+ "Name of an output file",
+ true),
+ timeOption('t', "time", "Start time (of data) for processing"),
+ eTimeOption('e', "end-time", "End time (of data) for processing"),
+ prnOption('p', "prn", "PRN(s) to include"),
+ blockOption('b', "block", "FIC block number(s) to process ((9)109"
+ " (Engineering) ephemerides, (62)162 (engineering)"
+ " almanacs)"),
+ defaultsOption('a', "all-records", "Unless otherwise specified, use"
+ " default values for record filtration"),
+ rinexOption('r',"RINEX", "Assume input file is a RINEX navigation"
+ " message file"),
+ startTime(0,0.0),
+ endTime(DayTime::END_OF_TIME)
+{
+ seTimeOptions.addOption(&timeOption);
+ seTimeOptions.addOption(&eTimeOption);
+ inputFileOption.setMaxCount(1);
+ outputFileOption.setMaxCount(1);
+ timeOption.setMaxCount(1);
+ eTimeOption.setMaxCount(1);
+ isRinexInput = false;
+}
+
+void NavDump::printCurrentFilter()
+{
+ cout << "Current filtering options:" << endl
+ << "\tStart time:\t" << startTime << endl
+ << "\tEnd time:\t" << endTime << endl
+ << "\tPRNs:\t\t";
+ if (prnFilterList.empty())
+ cout << "using all PRNs";
+ else
+ copy(prnFilterList.begin(), prnFilterList.end(),
+ ostream_iterator<long>(cout, " "));
+ if (!isRinexInput)
+ {
+ cout << endl
+ << "\tFIC blocks:\t";
+ if (blockFilterList.empty())
+ cout << "using all blocks";
+ else
+ copy(blockFilterList.begin(), blockFilterList.end(),
+ ostream_iterator<long>(cout, " "));
+ }
+ cout << endl;
+}
+
+bool NavDump::initialize(int argc, char* argv[]) throw()
+{
+ using gpstk::StringUtils::asInt;
+
+ if (!BasicFramework::initialize(argc, argv))
+ return false;
+
+ if (prnOption.getCount())
+ {
+ for (int i = 0; i < prnOption.getCount(); i++)
+ prnFilterList.push_back(asInt(prnOption.getValue()[i]));
+ }
+
+ if (blockOption.getCount())
+ {
+ for (int i = 0; i < blockOption.getCount(); i++)
+ blockFilterList.push_back(asInt(blockOption.getValue()[i]));
+ }
+
+ if (timeOption.getCount())
+ startTime = timeOption.getTime()[0];
+ if (eTimeOption.getCount())
+ endTime = eTimeOption.getTime()[0];
+
+ if (rinexOption.getCount())
+ isRinexInput = true;
+
+ return true;
+}
+
+void NavDump::additionalSetup()
+{
+ int option = 0;
+ string line;
+
+ if (defaultsOption.getCount() ||
+ (seTimeOptions.getCount() && blockOption.getCount() &&
+ prnOption.getCount()))
+ return;
+
+ while (option != 5)
+ {
+ cout << endl;
+ printCurrentFilter();
+
+ cout << endl
+ << "Choose an option by number then push enter:" << endl
+ << "\t1) Change the start time" << endl
+ << "\t2) Change the end time" << endl
+ << "\t3) Select specific PRNs" << endl;
+ if (!isRinexInput)
+ {
+ cout << "\t4) Select specific FIC block numbers" << endl;
+ }
+ cout << "\t5) Process the file" << endl
+ << "use ctrl-c to exit" << endl
+ << "? ";
+
+ getline(cin, line);
+ istringstream optionstr(line);
+ optionstr >> option;
+ cout << endl;
+
+ switch(option)
+ {
+ case 1:
+ cout << "Entering a new start time..." << endl;
+ getNewTime(startTime);
+ option = 0;
+ break;
+ case 2:
+ cout << "Entering a new end time..." << endl;
+ getNewTime(endTime);
+ option = 0;
+ break;
+ case 3:
+ getSVs();
+ option = 0;
+ break;
+ case 4:
+ if (!isRinexInput) getFICBlocks();
+ option = 0;
+ break;
+ case 5:
+ break;
+ default:
+ cout << '\"' << line << "\" is an invalid option" << endl;
+ option = 0;
+ break;
+ }
+
+ if (startTime > endTime)
+ cout << endl
+ << "Please check the start and end times because all the data will be filtered" << endl
+ << "with this setting (startTime > endTime)." << endl;
+ }
+
+ cout << "processing..." << endl;
+}
+
+void NavDump::getFICBlocks()
+{
+ int block;
+ string line;
+ cout << "Enter a list of FIC blocks to search for separated by spaces." << endl
+ << "The old list will be discarded." << endl
+ << " 9 : Ephemeris - engineering units." << endl
+ << " 109 : Ephemeris - as broadcast." << endl
+ << " 62 : Almanac - engineering units." << endl
+ << " 162 : Almanac - as broadcast." << endl
+ << "Enter '0' for all blocks - any other blocks entered will be ignored." << endl
+ << "? ";
+ getline(cin, line);
+ istringstream is(line);
+ while (is >> block)
+ if (block == 0)
+ {
+ blockFilterList.clear();
+ return;
+ }
+ else
+ switch(block)
+ {
+ case 9:
+ case 109:
+ case 62:
+ case 162:
+ blockFilterList.push_back(block);
+ break;
+ default:
+ break;
+ }
+}
+
+void NavDump::getSVs()
+{
+ int prn;
+ string line;
+ cout << "Enter a list of PRNs separated by spaces to search for." << endl
+ << "The old list will be discarded." << endl
+ << "Enter '0' for all PRNs - any other PRNs listed will be ignored." << endl
+ << "? ";
+ getline(cin, line);
+ istringstream is(line);
+ while (is >> prn)
+ if (prn == 0)
+ {
+ prnFilterList.clear();
+ return;
+ }
+ else if ( (prn > 0) && (prn <= MAX_PRN) )
+ {
+ prnFilterList.push_back(prn);
+ }
+}
+
+void NavDump::getNewTime(DayTime& dt)
+{
+ short week = -1;
+ double SOW;
+ string buf;
+ short done = 0;
+
+ while (!done)
+ {
+ cout << " Enter full GPS week: ";
+ getline(cin, buf);
+ istringstream instr(buf);
+ instr >> week;
+ if (week != -1)
+ done = 1;
+ else
+ cout << " Error entering week. Please try again." << endl;
+ }
+
+ // Now reset flag and get SOW
+ done = 0;
+ while (!done)
+ {
+ cout << " Enter GPS seconds of week: ";
+ getline(cin,buf);
+ istringstream instr(buf);
+ instr >> SOW;
+ if ((SOW >= 0.0L) && (SOW < 604800.0L) )
+ done = 1;
+ else
+ cout << " Error entering SOW. Please try again." << endl;
+ }
+ dt.setGPSfullweek(week, SOW);
+}
+
+void NavDump::process()
+{
+
+ ofstream out;
+ out.open(outputFileOption.getValue()[0].c_str());
+ if (out.fail())
+ {
+ cout << "Opening output file " << outputFileOption.getValue()[0]
+ << " failed." << endl
+ << " navdump is ending..." << endl
+ << endl;
+ return;
+ }
+
+ if (!isRinexInput)
+ {
+ // filter the data... first by block number, then by PRN
+ FileFilterFrame<FICStream, FICData> data(inputFileOption.getValue()[0]);
+ if (!blockFilterList.empty())
+ data.filter(FICDataFilterBlock(blockFilterList));
+ if (!prnFilterList.empty())
+ data.filter(FICDataFilterPRN(prnFilterList));
+
+ list<FICData>& ficlist = data.getData();
+ list<FICData>::iterator itr = ficlist.begin();
+ while (itr != ficlist.end())
+ {
+ (*itr).prettyDump(out);
+ itr++;
+ }
+ }
+ else // Rinex navigation message data
+ {
+ FileFilterFrame<RinexNavStream, RinexNavData>
+ data(inputFileOption.getValue()[0]);
+ if (!prnFilterList.empty())
+ data.filter(RinexNavDataFilterPRN(prnFilterList));
+
+ list<RinexNavData>& rnavlist = data.getData();
+ list<RinexNavData>::iterator itr = rnavlist.begin();
+ while (itr!=rnavlist.end())
+ {
+ RinexNavData& r = *itr;
+ EngEphemeris ee(r);
+ ee.dump(out);
+ itr++;
+ }
+ }
+}
+
+int main(int argc, char* argv[])
+{
+ try
+ {
+ NavDump nd(argv[0]);
+ if (!nd.initialize(argc, argv))
+ return 0;
+ if (!nd.run())
+ return 1;
+
+ return 0;
+ }
+ catch(Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(std::exception& e)
+ {
+ cout << "Caught std::exception " << e.what() << endl;
+ }
+ catch(...)
+ {
+ cout << "Caught unknown exception" << endl;
+ }
+
+ return 1;
+}
+
diff --git a/dev/apps/filetools/sp32bc.cpp b/dev/apps/filetools/sp32bc.cpp
new file mode 100644
index 0000000..294d4a7
--- /dev/null
+++ b/dev/apps/filetools/sp32bc.cpp
@@ -0,0 +1,83 @@
+#pragma ident "$Id: bc2sp3.cpp 208 2006-10-11 16:35:25Z btolman $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file sp32bc.cpp
+ * Reads SP3 format precise ephemeris file, outputs a series of RINEX ephemeris * One ephemeris is generated for each satellite and epoch.
+ */
+
+#include <iostream>
+#include <iomanip>
+#include <string>
+#include <vector>
+
+#include "RinexNavStream.hpp"
+#include "RinexNavHeader.hpp"
+#include "RinexNavData.hpp"
+#include "EphemerisStore.hpp"
+#include "BCEphemerisStore.hpp"
+#include "SP3Stream.hpp"
+#include "SP3Header.hpp"
+#include "SP3Data.hpp"
+#include "DayTime.hpp"
+#include "SatID.hpp"
+#include "StringUtils.hpp"
+#include "CommandOptionParser.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+int main(int argc, char *argv[])
+{
+ try {
+ CommandOptionNoArg helpOption('h',"help","Display argument list.",false);
+ CommandOptionWithStringArg sp3input('p',"pe","Input precise ephemeris");
+ CommandOptionWithNumberArg rate('r', "output-rate", "Rate of broadcast ephemeris output (seconds)");
+ CommandOptionParser cop("GPSTk SP3 to RINEX NAV Conversion");
+ cop.parseOptions(argc, argv);
+
+ if (cop.hasErrors())
+ {
+ cop.dumpErrors(cout);
+ cop.displayUsage(cout);
+ return 1;
+ }
+
+ if(helpOption.getCount())
+ {
+ cop.displayUsage(cout);
+ return 0;
+ }
+
+
+ }
+ catch( Exception error)
+ {
+ cout << error << endl;
+ exit(-1);
+ }
+
+ exit(0);
+
+}
diff --git a/dev/apps/filetools/sp3version.cpp b/dev/apps/filetools/sp3version.cpp
new file mode 100644
index 0000000..50588eb
--- /dev/null
+++ b/dev/apps/filetools/sp3version.cpp
@@ -0,0 +1,239 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file sp3version.cpp
+ * Read an SP3 format file (any version) and write the data out to another,
+ * specifying the SP3 version. This code is intended for testing and as a pattern
+ * for SP3 I/O and analysis programs; currently in converting SP3a to SP3c it
+ * inserts random data.
+ */
+
+#include <iostream>
+#include <iomanip>
+#include <string>
+#include <vector>
+
+#include "SP3Stream.hpp"
+#include "SP3Header.hpp"
+#include "SP3Data.hpp"
+#include "DayTime.hpp"
+#include "SatID.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+double unitrand(void) { return double(rand())/RAND_MAX; }
+
+int main(int argc, char *argv[])
+{
+ if(argc < 2)
+ {
+ cout << "Usage: sp3version <SP3 file> [options]\n";
+ cout << " Read an SP3 file (either a or c format) and write it to another\n";
+ cout << " file, also in either a or c format.\n";
+ cout << " Options:\n";
+ cout << " --in <file> Read the input file <file> ()\n";
+ cout << " --out <file> Name the output file <file> (sp3.out)\n";
+ cout << " --outputC Output version c (otherwise a)\n";
+ cout << " NB. for a->c, generate random correlations\n";
+ cout << " --msg \"...\" Add ... as a comment to the output header\n";
+ cout << " --verbose Output to screen: dump headers, data, etc\n";
+ return -1;
+ }
+
+ try
+ {
+ bool verbose=false;
+ char version_out='a',version_in;
+ int i,n;
+ string filein,fileout("sp3.out");
+ DayTime currentTime=DayTime::BEGINNING_OF_TIME;
+ SP3Header sp3header;
+ SP3Data sp3data;
+ vector<string> comments;
+
+ for(i=1; i<argc; i++) {
+ if(argv[i][0] == '-') {
+ string arg(argv[i]);
+ if(arg == string("--outputC"))
+ version_out = 'c';
+ else if(arg == string("--in"))
+ filein = string(argv[++i]);
+ else if(arg == string("--out"))
+ fileout = string(argv[++i]);
+ else if(arg == string("--msg"))
+ comments.push_back(string(argv[++i]));
+ else if(arg == string("--verbose"))
+ verbose = true;
+ else
+ cout << "Ignore unknown option: " << arg << endl;
+ }
+ else {
+ filein = string(argv[i]);
+ }
+ }
+
+ if(filein.empty()) {
+ cout << "Error - no filename specified. Abort.\n";
+ return -1;
+ }
+ if(verbose) cout << "Reading file " << filein << endl;
+
+ SP3Stream instrm(filein.c_str());
+ instrm.exceptions(ifstream::failbit);
+
+ SP3Stream outstrm(fileout.c_str(),ios::out);
+ outstrm.exceptions(ifstream::failbit);
+
+ // read the header
+ instrm >> sp3header;
+ if(verbose) {
+ cout << "Input ";
+ sp3header.dump(cout);
+ cout << endl;
+ }
+ version_in = sp3header.version;
+
+ // add comments
+ if(comments.size() > 0) {
+ // try to keep existing comments
+ for(i=0; i<4-comments.size(); i++)
+ comments.push_back(sp3header.comments[i]);
+ sp3header.comments.clear();
+ for(i=0; i<comments.size(); i++) {
+ sp3header.comments.push_back(comments[i]);
+ }
+ }
+
+ // prepare to write the header
+ if(version_out == 'c') {
+ sp3header.version = 'c';
+ sp3header.system = SP3SatID();
+ sp3header.timeSystem = SP3Header::timeGPS;
+ sp3header.basePV = 1.25; // make these up ... a real app would
+ sp3header.baseClk = 1.025; // assign them based on what SP3Data will hold
+ }
+ if(verbose) {
+ cout << "Output ";
+ sp3header.dump(cout);
+ cout << endl;
+ }
+
+ // write the header
+ outstrm << sp3header;
+
+ // for reading and writing, sp3data MUST have the version of the header;
+ // this is crucial for version 'c'
+ sp3data.version = version_in; // for input
+
+ n = 0; // count records
+ while(instrm >> sp3data) {
+ // data has now been read in
+ // ...handle the data
+ if(verbose) { cout << "Input:\n"; sp3data.dump(cout); }
+ // if correlationFlag has been set, there is new correlation data
+ if(sp3data.correlationFlag) {
+ cout << "Input sdev";
+ for(i=0; i<4; i++) cout << " " << sp3data.sdev[i];
+ cout << endl;
+ cout << "Input correl";
+ for(i=0; i<6; i++) cout << " " << sp3data.correlation[i];
+ cout << endl;
+ }
+
+ // output
+ sp3data.version = version_out; // for output
+
+ // write the epoch record
+ if(sp3data.time > currentTime) {
+ char saveFlag = sp3data.flag;
+ sp3data.flag = '*';
+ outstrm << sp3data;
+ sp3data.flag = saveFlag;
+ currentTime = sp3data.time;
+ }
+
+ // make up some data...a real app would have this data
+ if(version_in == 'a' && version_out == 'c') {
+ // sigmas on the P|V rec
+ for(i=0; i<4; i++) sp3data.sig[i] = int(99*unitrand());
+ // flags on the P line
+ if(sp3data.flag == 'P') {
+ sp3data.clockEventFlag = (unitrand() > 0.5);
+ sp3data.clockPredFlag = (unitrand() > 0.5);
+ sp3data.orbitManeuverFlag = (unitrand() > 0.5);
+ sp3data.orbitPredFlag = (unitrand() > 0.5);
+ }
+ // write out the correlation records ... maybe
+ if(unitrand() > 0.5) {
+ // set the flag for output
+ sp3data.correlationFlag = true;
+ for(i=0; i<4; i++) sp3data.sdev[i] = int(9999*unitrand());
+ for(i=0; i<6; i++) sp3data.correlation[i] = int(99999999*unitrand());
+ cout << "Output sdev";
+ for(i=0; i<4; i++) cout << " " << sp3data.sdev[i];
+ cout << endl;
+ cout << "Output correl";
+ for(i=0; i<6; i++) cout << " " << sp3data.correlation[i];
+ cout << endl;
+ }
+ else sp3data.correlationFlag = false;
+ }
+
+ // write the data P|V record, and if correlationFlag, the EP|EV record
+ if(verbose) { cout << "Output:\n"; sp3data.dump(cout); }
+ outstrm << sp3data;
+
+ // count records
+ n++;
+
+ // prepare for the next read
+ sp3data.version = version_in;
+ // must reset before input, since same sp3data is for input and output
+ sp3data.correlationFlag = false;
+ }
+
+ // don't forget this
+ outstrm << "EOF" << endl;
+
+ instrm.close();
+ outstrm.close();
+
+ if(verbose) cout << "Read " << n << " records" << endl;
+ }
+ catch (Exception& e)
+ {
+ cout << e;
+ return -1;
+ }
+ catch (...)
+ {
+ cout << "Caught an unknown exception" << endl;
+ return -1;
+ }
+
+ cout << "Done." << endl;
+ return 0;
+}
diff --git a/dev/apps/geomatics/Jamfile b/dev/apps/geomatics/Jamfile
new file mode 100644
index 0000000..eb037b8
--- /dev/null
+++ b/dev/apps/geomatics/Jamfile
@@ -0,0 +1,12 @@
+#
+# $Id: Jamfile 71 2006-08-01 18:46:39Z ehagen $
+#
+
+SubDir TOP apps geomatics ;
+
+SubInclude TOP apps geomatics lib ;
+
+SubInclude TOP apps geomatics cycleslips ;
+SubInclude TOP apps geomatics kalman ;
+SubInclude TOP apps geomatics relposition ;
+SubInclude TOP apps geomatics robust ;
diff --git a/dev/apps/geomatics/Makefile.am b/dev/apps/geomatics/Makefile.am
new file mode 100644
index 0000000..6468441
--- /dev/null
+++ b/dev/apps/geomatics/Makefile.am
@@ -0,0 +1,2 @@
+# $Id$
+SUBDIRS = lib cycleslips kalman relposition robust
diff --git a/dev/apps/geomatics/cycleslips/DiscFix.cpp b/dev/apps/geomatics/cycleslips/DiscFix.cpp
new file mode 100644
index 0000000..b59b35d
--- /dev/null
+++ b/dev/apps/geomatics/cycleslips/DiscFix.cpp
@@ -0,0 +1,1511 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//------------------------------------------------------------------------------------
+// DiscFix.cpp Read a RINEX observation file containing dual frequency
+// pseudorange and phase, separate the data into satellite passes, and then
+// find and estimate discontinuities in the phase (using the GPSTk Discontinuity
+// Corrector (GDC) in DiscCorr.hpp).
+// The corrected data can be written out to another RINEX file, plus there is the
+// option to smooth the pseudorange and/or debias the phase (SatPass::smooth()).
+//
+// This program is useful as a way to process RINEX data by satellite pass.
+// It reads an entire RINEX obs file, breaking it into satellite passes (SatPass)
+// and processing it (ProcessSatPass()), then writes it out again from the
+// SatPass data. It was designed so that all the input data gets into one SatPass
+// and is altered only by the routine(s) called in ProcessSatPass(). Thus by
+// modifying just that routine, this program could be used to do something else
+// to the satellite passes. Also note that there is a choice of when to write out
+// the data, either as soon as possible, or only at the end: cf. bool WriteASAP.
+//------------------------------------------------------------------------------------
+
+/**
+ * @file DiscFix.cpp
+ * Correct phase discontinuities (cycle slips) in dual frequency data in a RINEX
+ * observation file, plus optionally smooth the pseudoranges and/or debias the phases.
+ */
+
+#include "MathBase.hpp"
+#include "RinexObsBase.hpp"
+#include "RinexObsData.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsStream.hpp"
+#include "DayTime.hpp"
+#include "StringUtils.hpp"
+
+#include "SatPass.hpp"
+#include "DiscCorr.hpp"
+
+#include <time.h>
+#include <string>
+#include <vector>
+#include <iostream>
+#include <fstream>
+#include <algorithm>
+
+using namespace std;
+using namespace gpstk;
+using namespace StringUtils;
+
+//------------------------------------------------------------------------------------
+// prgm data
+string PrgmName("DiscFix");
+string PrgmVers("4.1 4/07/06");
+
+typedef struct configuration {
+ // input
+ string Directory;
+ vector<string> InputObsName;
+ // data flow
+ double ith;
+ DayTime begTime, endTime;
+ double MaxGap;
+ //int MinPts;
+ // processing
+ double dt;
+ bool UseCA;
+ vector<GSatID> ExSV;
+ GSatID SVonly;
+ // output files
+ string LogFile,OutFile;
+ ofstream oflog,ofout;
+ string format;
+ // output
+ string OutRinexObs;
+ string HDPrgm; // header of output RINEX file
+ string HDRunby;
+ string HDObs;
+ string HDAgency;
+ string HDMarker;
+ string HDNumber;
+ int NrecOut;
+ DayTime FirstEpoch,LastEpoch;
+ bool smoothPR,smoothPH,smooth;
+ //bool CAOut;
+ //bool DopOut;
+ bool verbose;
+ // estimate dt from data
+ double estdt[9];
+ int ndt[9];
+} DFConfig;
+
+//------------------------------------------------------------------------------------
+// data input from command line
+DFConfig config; // for DiscFix
+GDCconfiguration GDConfig; // the discontinuity corrector configuration
+
+// if true, write to RINEX only after ALL data has been processed (by ProcessSatPass)
+// (I can't see why DiscFix would want to set this false, so it is not in the input.)
+bool WriteASAP=true;
+
+// data used in program
+clock_t totaltime;
+string Title;
+DayTime CurrEpoch, PrgmEpoch;
+
+RinexObsStream irfstr, orfstr; // input and output RINEX files
+RinexObsHeader rhead;
+int inC1,inP1,inP2,inL1,inL2; // indexes in rhead of C1, C1/P1, P2, L1 and L2
+bool UsingCA;
+
+// Data for an entire pass is stored in SatPass object
+// this contains all the SatPass's defined so far
+// the parallel vector holds an iterator for use in writing out the data
+vector<SatPass> SPList;
+vector<unsigned int> SPIndexList;
+// this is a map relating a satellite to the index in SVPList of the current pass
+map<GSatID,int> SatToCurrentIndexMap;
+
+//------------------------------------------------------------------------------------
+// prototypes
+int ReadFile(int nfile) throw(Exception);
+int ProcessOneEntireEpoch(RinexObsData& ro) throw(Exception);
+int ProcessOneSatOneEpoch(GSatID, DayTime, SatPassData& ) throw(Exception);
+
+void ProcessSatPass(int index) throw(Exception);
+int AfterReadingFiles(void) throw(Exception);
+void WriteToRINEXfile(void) throw(Exception);
+void WriteRINEXheader(void) throw(Exception);
+void WriteRINEXdata(DayTime& WriteEpoch, const DayTime targetTime) throw(Exception);
+
+void PrintSPList(ostream&, string, const vector<SatPass>&, bool printTime);
+int GetCommandLine(int argc, char **argv) throw(Exception);
+void PreProcessArgs(const char *arg, vector<string>& Args) throw(Exception);
+
+//------------------------------------------------------------------------------------
+int main(int argc, char **argv)
+{
+ try {
+ totaltime = clock();
+ int iret;
+
+ // Title and description
+ //cout << "Name " << string(argv[0]) << endl;
+ Title = PrgmName + ", part of the GPS ToolKit, Ver " + PrgmVers + ", Run ";
+ PrgmEpoch.setLocalTime();
+ Title += PrgmEpoch.printf("%04Y/%02m/%02d %02H:%02M:%02S\n");
+ cout << Title;
+
+ // set fill char in GSatID
+ config.SVonly.setfill('0');
+ config.FirstEpoch = DayTime::BEGINNING_OF_TIME;
+ config.LastEpoch = DayTime::BEGINNING_OF_TIME;
+ CurrEpoch = DayTime::BEGINNING_OF_TIME;
+
+ // get command line
+ iret = GetCommandLine(argc, argv);
+ if(iret) return iret;
+
+ // configure SatPass
+ {
+ SatPass dummy(config.SVonly,config.dt);
+ dummy.setMaxGap(config.MaxGap);
+ dummy.setOutputFormat(config.format);
+ }
+
+ // open output files
+ // output for editing commands - write to this in ProcessSatPass()
+ config.ofout.open(config.OutFile.c_str());
+ if(config.oflog.fail()) {
+ config.oflog << "Error: " << PrgmName << " failed to open output file "
+ << config.OutFile << endl;
+ }
+ else
+ cout << PrgmName << " is writing to output file " << config.OutFile << endl;
+ // RINEX output
+ orfstr.open(config.OutRinexObs.c_str(), ios::out);
+ if(!config.OutRinexObs.empty()) {
+ if(orfstr.fail()) {
+ config.oflog << "Failed to open output file " << config.OutRinexObs
+ << ". Abort.\n";
+ cout << "Failed to open output file " << config.OutRinexObs
+ << ". Abort.\n";
+ irfstr.close();
+ return 1;
+ }
+ else cout << PrgmName << " is writing to RINEX file "
+ << config.OutRinexObs << endl;
+ orfstr.exceptions(ios::failbit);
+ }
+
+ // loop over input files
+ for(int nfile=0; nfile<config.InputObsName.size(); nfile++) {
+ iret = ReadFile(nfile);
+ if(iret < 0) break;
+ } // end loop over input files
+
+ iret = AfterReadingFiles();
+
+ // clean up
+ orfstr.close();
+ config.ofout.close();
+ SatToCurrentIndexMap.clear();
+ SPList.clear();
+ SPIndexList.clear();
+
+ totaltime = clock()-totaltime;
+ config.oflog << PrgmName << " timing: " << fixed << setprecision(3)
+ << double(totaltime)/double(CLOCKS_PER_SEC) << " seconds.\n";
+ cout << PrgmName << " timing: " << fixed << setprecision(3)
+ << double(totaltime)/double(CLOCKS_PER_SEC) << " seconds.\n";
+
+ config.oflog.close();
+
+ return iret;
+ }
+ catch(Exception& e) {
+ config.oflog << e;
+ }
+ catch (...) {
+ config.oflog << PrgmName << ": Unknown error. Abort." << endl;
+ cout << PrgmName << ": Unknown error. Abort." << endl;
+ }
+
+ return -1;
+
+} // end main()
+
+//------------------------------------------------------------------------------------
+// open the file, read header and check for data; then loop over the epochs
+// Return 0 ok, <0 fatal error, >0 non-fatal error (ie skip this file)
+// 0 ok, 1 couldn't open file, 2 file doesn't have required data
+int ReadFile(int nfile) throw(Exception)
+{
+ try {
+ string name;
+ // open input file
+ name = config.InputObsName[nfile];
+ if(!config.Directory.empty() && config.Directory != string("."))
+ name = config.Directory + string("/") + name;
+ irfstr.open(name.c_str(),ios::in);
+ if(irfstr.fail()) {
+ config.oflog << "Failed to open input file " << name << ". Abort.\n";
+ cout << "Failed to open input file " << name << ". Abort.\n";
+ return 1;
+ }
+ else if(config.verbose)
+ config.oflog << "Opened input file " << name << endl;
+ irfstr.exceptions(ios::failbit);
+
+ // read the header
+ irfstr >> rhead;
+ if(config.verbose) {
+ config.oflog << "\nHere is the input header for file " << name << endl;
+ rhead.dump(config.oflog);
+ config.oflog << endl;
+ }
+
+ // check that file contains C1/P1,P2,L1,L2
+ inC1 = inP1 = inP2 = inL1 = inL2 = -1;
+ for(int j=0; j<rhead.obsTypeList.size(); j++) {
+ if(rhead.obsTypeList[j] == RinexObsHeader::convertObsType("C1")) inC1=j;
+ if(rhead.obsTypeList[j] == RinexObsHeader::convertObsType("L1")) inL1=j;
+ if(rhead.obsTypeList[j] == RinexObsHeader::convertObsType("L2")) inL2=j;
+ if(rhead.obsTypeList[j] == RinexObsHeader::convertObsType("P1")) inP1=j;
+ if(rhead.obsTypeList[j] == RinexObsHeader::convertObsType("P2")) inP2=j;
+ }
+
+ if((inC1 == -1 && config.UseCA) || // no C1, but user wants C1
+ (inP1 == -1 && inC1 == -1) || // no C1 and no P1
+ inP2 == -1 || inL1 == -1 || inL2 == -1)
+ {
+ config.oflog << "Error: file " << name << " does not contain";
+ if(inC1 == -1) config.oflog
+ << " C1 (--forceCA was" << (config.UseCA ? "" : " not") << " found)";
+ if(inL1 == -1) config.oflog << " L1";
+ if(inL2 == -1) config.oflog << " L2";
+ if(inP1 == -1) config.oflog << " P1";
+ if(inP2 == -1) config.oflog << " P2";
+ config.oflog << " .. abort." << endl;
+ irfstr.clear();
+ irfstr.close();
+ return 2;
+ }
+ else if(inP1==-1) {
+ inP1 = inC1;
+ }
+
+ if(config.UseCA) inP1 = inC1;
+ if(inP1 == inC1) UsingCA = true; else UsingCA = false;
+
+ // loop over epochs in the file
+ bool first=true;
+ int iret;
+ RinexObsData rodata;
+ while(1) {
+ irfstr >> rodata;
+ if(irfstr.eof()) break;
+ if(irfstr.bad()) {
+ config.oflog << "input RINEX stream is bad" << endl;
+ break;
+ }
+ iret = ProcessOneEntireEpoch(rodata);
+ if(iret < -1) break;
+ if(iret == -1) { iret=0; break; } // end of file
+ }
+
+ irfstr.clear();
+ irfstr.close();
+
+ return iret;
+ }
+ catch(Exception& e) { GPSTK_RETHROW(e); }
+ catch(exception& e)
+ { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+ catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Return :
+// <-1 fatal error,
+// -1 end of file (or past end time limit),
+// 0 ok,
+// 1 skip this epoch : before begin time
+// 2 skip this epoch : comment block,
+// 3 skip this epoch : decimated
+int ProcessOneEntireEpoch(RinexObsData& roe) throw(Exception)
+{
+ try {
+ bool ok;
+ int i,j,k;
+ double dt;
+ string str,datastr;
+ GSatID sat;
+ SatPassData spd;
+ RinexObsData::RinexObsTypeMap otmap;
+ RinexObsData::RinexSatMap::iterator it;
+ RinexObsData::RinexObsTypeMap::const_iterator jt;
+
+ // stay within time limits
+ if(roe.time < config.begTime) return 1;
+ if(roe.time > config.endTime) return -1;
+
+ // ignore comment blocks ...
+ if(roe.epochFlag != 0 && roe.epochFlag != 1) return 2;
+
+ // decimate data
+ // if begTime is still undefined, set it to begin of week
+ if(config.ith > 0.0) {
+ if(fabs(config.begTime-DayTime(DayTime::BEGINNING_OF_TIME)) < 1.e-8)
+ config.begTime =
+ config.begTime.setGPSfullweek(roe.time.GPSfullweek(),0.0);
+ double dt=fabs(roe.time - config.begTime);
+ dt -= config.ith*long(0.5+dt/config.ith);
+ if(fabs(dt) > 0.25) return 3; // TD set tolerance? clock bias?
+ }
+
+ // save current time
+ CurrEpoch = roe.time;
+
+ // loop over sat=it->first, ObsTypeMap=it->second
+ for(it=roe.obs.begin(); it != roe.obs.end(); ++it) {
+
+ // Is this satellite excluded ?
+ sat = it->first;
+ if(sat.system != SatID::systemGPS) continue; // ignore non-GPS satellites
+ for(k=-1,i=0; i<config.ExSV.size(); i++) // ignore input sat (--exSat)
+ if(config.ExSV[i] == sat) { k = i; break; }
+ if(k > -1) continue;
+
+ // if only one satellite is included, skip all the rest
+ if(config.SVonly.id != -1 && !(sat == config.SVonly)) continue;
+
+ // pull out the data and the SSI and LLI (indicators)
+ // put all the indicators together in a string, then make it a long
+ // order of the indicators: P1P2L1L2*ls AaBbCcDd
+ str = string("00000000");
+ otmap = it->second;
+ if( (jt = otmap.find(rhead.obsTypeList[inP1])) != otmap.end()) {
+ spd.P1 = jt->second.data;
+ str[0] = (asString(jt->second.lli))[0];
+ str[1] = (asString(jt->second.ssi))[0];
+ }
+ if( (jt = otmap.find(rhead.obsTypeList[inP2])) != otmap.end()) {
+ spd.P2 = jt->second.data;
+ str[2] = (asString(jt->second.lli))[0];
+ str[3] = (asString(jt->second.ssi))[0];
+ }
+ if( (jt = otmap.find(rhead.obsTypeList[inL1])) != otmap.end()) {
+ spd.L1 = jt->second.data;
+ str[4] = (asString(jt->second.lli))[0];
+ str[5] = (asString(jt->second.ssi))[0];
+ }
+ if( (jt = otmap.find(rhead.obsTypeList[inL2])) != otmap.end()) {
+ spd.L2 = jt->second.data;
+ str[6] = (asString(jt->second.lli))[0];
+ str[7] = (asString(jt->second.ssi))[0];
+ }
+ spd.indicators = asUnsigned(str);
+
+ // is it good?
+ ok = true;
+ if(spd.P1 < 1000.0 || spd.P2 < 1000.0) ok = false;
+ if(fabs(spd.L1) <= 0.001 || fabs(spd.L2) <= 0.001) ok = false;
+ spd.flag = (ok ? SatPass::OK : SatPass::BAD);
+
+ // process this sat
+ try { ProcessOneSatOneEpoch(sat, CurrEpoch, spd); }
+ catch(Exception& e) {
+ config.oflog << "Error: time tags are out of order. Abort.\n";
+ return -3;
+ }
+
+ } // end loop over sats
+
+ // update LastEpoch and estimate of config.dt
+ if(config.LastEpoch > DayTime(DayTime::BEGINNING_OF_TIME)) {
+ double dt = CurrEpoch-config.LastEpoch;
+ for(i=0; i<9; i++) {
+ if(config.ndt[i] <=0 ) { config.estdt[i]=dt; config.ndt[i]=1; break; }
+ if(fabs(dt-config.estdt[i]) < 0.0001) { config.ndt[i]++; break; }
+ if(i == 8) {
+ k = 0;
+ int nl=config.ndt[k];
+ for(j=1; j<9; j++) if(config.ndt[j] <= nl) {
+ k = j;
+ nl = config.ndt[j];
+ }
+ config.ndt[k] = 1;
+ config.estdt[k] = dt;
+ }
+ }
+ }
+ config.LastEpoch = CurrEpoch;
+
+ // check times looking for passes that ought to be processed
+ for(i=0; i<SPList.size(); i++) {
+ if(SPList[i].status > 1)
+ continue; // already processed
+ if(SPList[i].includesTime(CurrEpoch))
+ continue; // don't process yet
+
+ ProcessSatPass(i); // ok, process this pass
+ if(!orfstr) SPList[i].status = 99; // status == 99 means 'written out'
+ }
+
+ // try writing more data to output RINEX file
+ if(WriteASAP) {
+ WriteToRINEXfile();
+ // gut passes that have 99
+ //for(i=0; i<SPList.size(); i++) {
+ // if(SPList[i].status != 99) continue;
+ // SPList[i].resize(0);
+ //}
+ }
+
+ return 0;
+ }
+ catch(Exception& e) { GPSTK_RETHROW(e); }
+ catch(exception& e)
+ { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+ catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+int ProcessOneSatOneEpoch(GSatID sat, DayTime tt, SatPassData& spd)
+ throw(Exception)
+{
+ try {
+ int index;
+ map<GSatID,int>::const_iterator kt;
+
+ // find the current SatPass for this sat
+ kt = SatToCurrentIndexMap.find(sat);
+ // if there is not one, create one
+ if(kt == SatToCurrentIndexMap.end()) {
+ SatPass newSP(sat,config.dt);
+ SPList.push_back(newSP);
+ SPIndexList.push_back(99999); // keep parallel
+ SatToCurrentIndexMap[sat] = SPList.size()-1;
+ kt = SatToCurrentIndexMap.find(sat);
+ }
+
+ // update the first epoch
+ if(config.FirstEpoch == DayTime::BEGINNING_OF_TIME)
+ config.FirstEpoch = CurrEpoch;
+
+ // get the index of this SatPass in the SPList vector
+ // and add the data to that SatPass
+ index = kt->second;
+ SPList[index].status = 1; // status == 1 means 'fill'
+ if( SPList[index].push_back(tt,spd) )
+ return 0;
+
+ // --- need to create a new pass ---
+
+ // first process the old one
+ ProcessSatPass(index);
+ if(!orfstr) // not writing to RINEX
+ SPList[index].status = 99; // status == 99 means 'written out'
+ else if(WriteASAP)
+ WriteToRINEXfile(); // try writing out
+
+ // create a new SatPass for this sat
+ SatPass newSP(sat,config.dt);
+ // add it to the list
+ SPList.push_back(newSP);
+ SPIndexList.push_back(99999); // keep parallel
+ // get the new index
+ index = SPList.size()-1;
+ // and add it to the map
+ SatToCurrentIndexMap[sat] = index;
+ // add the data
+ SPList[index].status = 1; // status == 1 means 'fill'
+ SPList[index].push_back(tt,spd); // cannot fail
+
+ return 0;
+
+ }
+ catch(Exception& e) { GPSTK_RETHROW(e); }
+ catch(exception& e)
+ { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+ catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Process the pass (call DC); if there is an output file, try writing to it.
+void ProcessSatPass(int in) throw(Exception)
+{
+ try {
+ config.oflog << "Proc " << SPList[in]
+ << " at " << CurrEpoch.printf(config.format) << endl;
+ //SPList[in].dump(config.oflog,"RAW");
+
+ // remove this SatPass from the SatToCurrentIndexMap map
+ SatToCurrentIndexMap.erase(SPList[in].getSat());
+
+ // --------- call DC on this pass -------------------
+ vector<string> EditCmds;
+ int iret = DiscontinuityCorrector(SPList[in], GDConfig, EditCmds);
+ if(iret != 0) {
+ SPList[in].status = 100; // status == 100 means 'failed'
+ return;
+ }
+ SPList[in].status = 2; // status == 2 means 'processed'.
+
+ // --------- output editing commands ----------------
+ for(int i=0; i<EditCmds.size(); i++)
+ config.ofout << EditCmds[i] << endl;
+
+ // --------- smooth pseudorange and debias phase ----
+ if(config.smooth) {
+ SPList[in].smooth(config.smoothPR,config.smoothPH,config.oflog);
+ SPList[in].status = 3; // status == 3 means 'smoothed'.
+ }
+
+ // status == 0 means 'new'
+ // status == 1 means 'still being filled', so status MUST be set to >1 here
+ // status == 2 means 'processed'
+ // status == 3 means 'smoothed'
+ // status == 98 means 'writing out'
+ // status == 99 means 'written out'
+ // status == 100 means 'failed'
+ }
+ catch(Exception& e) { GPSTK_RETHROW(e); }
+ catch(exception& e)
+ { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+ catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+int AfterReadingFiles(void) throw(Exception)
+{
+ try {
+ config.oflog << "After reading files" << endl;
+
+ // compute the estimated data interval and write it out
+ for(int i=1; i<9; i++) if(config.ndt[i] > config.ndt[0]) {
+ int j = config.ndt[i]; double est = config.estdt[i];
+ config.ndt[i] = config.ndt[0]; config.estdt[i] = config.estdt[0];
+ config.ndt[0] = j; config.estdt[0] = est;
+ }
+ if(config.verbose)
+ config.oflog << "Data interval estimated from the data is "
+ << config.estdt[0] << " seconds." << endl;
+
+ // process all the passes that have not been processed yet
+ for(int i=0; i<SPList.size(); i++) {
+ if(SPList[i].status <= 1) {
+ ProcessSatPass(i);
+ if(!orfstr) // not writing out to RINEX
+ SPList[i].status = 99; // status == 99 means 'written out'
+ }
+ }
+
+ // write out all the (processed) data that has not already been written
+ WriteToRINEXfile();
+
+ // print a summary
+ PrintSPList(config.oflog,"Fine",SPList,false);
+
+ return 0;
+ }
+ catch(Exception& e) { GPSTK_RETHROW(e); }
+ catch(exception& e)
+ { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+ catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// this will only write out passes for which ProcessSatPass() has been called. It
+// could be called anytime, particularly after each call to ProcessSatPass.
+void WriteToRINEXfile(void) throw(Exception)
+{
+ try {
+ int in,n;
+ DayTime targetTime=DayTime::END_OF_TIME;
+ static DayTime WriteEpoch(DayTime::BEGINNING_OF_TIME);
+
+ // find all passes that have been newly processed (status > 1 but < 98)
+ // mark these passes 'being written out' and initialize the iterator
+ for(in=0; in<SPList.size(); in++) {
+ if(SPList[in].status > 1 && SPList[in].status < 98) {
+ SPList[in].status = 98; // status == 98 means 'being written out'
+ SPIndexList[in] = 0; // initialize iteration over the data array
+ }
+ }
+
+ // find the earliest FirstTime of 'non-processed' (status==1) passes
+ for(in=0; in<SPList.size(); in++) {
+ if(SPList[in].status == 1 && SPList[in].getFirstTime() < targetTime)
+ targetTime = SPList[in].getFirstTime();
+ }
+ // targetTime will == END_OF_TIME, when all passes have been processed
+
+ if(targetTime < DayTime::END_OF_TIME
+ && WriteEpoch == DayTime::BEGINNING_OF_TIME) {
+ WriteRINEXheader();
+ WriteEpoch = config.FirstEpoch;
+ }
+
+ // nothing to do
+ if(targetTime <= WriteEpoch)
+ return;
+
+ WriteRINEXdata(WriteEpoch,targetTime);
+ }
+ catch(Exception& e) { GPSTK_RETHROW(e); }
+ catch(exception& e)
+ { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+ catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void WriteRINEXheader(void) throw(Exception)
+{
+ try {
+ RinexObsHeader rheadout;
+
+ config.oflog << "Write the output header at "
+ << CurrEpoch.printf(config.format) << endl;
+
+ // copy input
+ rheadout = rhead;
+
+ // change the obs type list to include only P1(C1) P2 L1 L2
+ rheadout.obsTypeList.clear();
+
+ rheadout.obsTypeList.push_back(RinexObsHeader::L1);
+ rheadout.obsTypeList.push_back(RinexObsHeader::L2);
+ if(UsingCA)
+ rheadout.obsTypeList.push_back(RinexObsHeader::C1);
+ else
+ rheadout.obsTypeList.push_back(RinexObsHeader::P1);
+ rheadout.obsTypeList.push_back(RinexObsHeader::P2);
+
+ // fill records in output header
+ rheadout.date = PrgmEpoch.printf("%04Y/%02m/%02d %02H:%02M:%02S");
+ rheadout.fileProgram = PrgmName;
+ if(!config.HDRunby.empty()) rheadout.fileAgency = config.HDRunby;
+ if(!config.HDObs.empty()) rheadout.observer = config.HDObs;
+ if(!config.HDAgency.empty()) rheadout.agency = config.HDAgency;
+ if(!config.HDMarker.empty()) rheadout.markerName = config.HDMarker;
+ if(!config.HDNumber.empty()) rheadout.markerNumber = config.HDNumber;
+ rheadout.version = 2.1; rheadout.valid |= RinexObsHeader::versionValid;
+ rheadout.firstObs = config.FirstEpoch; rheadout.valid
+ |= RinexObsHeader::firstTimeValid;
+ rheadout.interval = config.dt; rheadout.valid |= RinexObsHeader::intervalValid;
+ if(!WriteASAP) {
+ rheadout.interval = config.estdt[0];
+ rheadout.valid |= RinexObsHeader::intervalValid;
+ rheadout.lastObs = config.LastEpoch;
+ rheadout.valid |= RinexObsHeader::lastTimeValid;
+ }
+ if(config.smoothPR)
+ rheadout.commentList.push_back(string("Ranges smoothed by ") +
+ PrgmName + string(" v.") + PrgmVers.substr(0,4) + string(" ") +
+ rheadout.date);
+ if(config.smoothPH)
+ rheadout.commentList.push_back(string("Phases debiased by ") +
+ PrgmName + string(" v.") + PrgmVers.substr(0,4) + string(" ") +
+ rheadout.date);
+ if(config.smoothPR || config.smoothPH)
+ rheadout.valid |= RinexObsHeader::commentValid;
+ // invalidate the table
+ if(rheadout.valid & RinexObsHeader::numSatsValid)
+ rheadout.valid ^= RinexObsHeader::numSatsValid;
+ if(rheadout.valid & RinexObsHeader::prnObsValid)
+ rheadout.valid ^= RinexObsHeader::prnObsValid;
+
+ orfstr << rheadout;
+ }
+ catch(Exception& e) { GPSTK_RETHROW(e); }
+ catch(exception& e)
+ { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+ catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void WriteRINEXdata(DayTime& WriteEpoch, const DayTime targetTime) throw(Exception)
+{
+ try {
+ bool first;
+ int in,n;
+ string str;
+ GSatID sat;
+ RinexObsData roe;
+ SatPassData spd;
+
+ // loop over epochs, up to just before targetTime
+ do {
+ // find the next WriteEpoch = earliest iterator time among the status==98
+ first = true;
+ for(in=0; in<SPList.size(); in++) {
+ if(SPList[in].status != 98) // status == 98 means 'being written out'
+ continue;
+
+ n = SPIndexList[in]; // current iterator index
+ if(first || SPList[in].time(n) < WriteEpoch) {
+ WriteEpoch = SPList[in].time(n);
+ first = false;
+ }
+ }
+ if(first) break;
+
+ // quit if reached the target
+ if(WriteEpoch >= targetTime) break;
+ // prepare the RINEX obs data
+ roe.epochFlag = 0;
+ roe.time = WriteEpoch;
+ roe.clockOffset = 0.0; // TD save from input?
+ roe.numSvs = 0; // will be incremented below
+ roe.obs.clear();
+
+ // output all data at this WriteEpoch
+ for(in=0; in<SPList.size(); in++) {
+ if(SPList[in].status != 98) continue;
+
+ sat = SPList[in].getSat();
+ n = SPIndexList[in]; // current iterator index
+
+ if(fabs(SPList[in].time(n) - WriteEpoch) < 0.00001) {
+ // get the data for this epoch
+ spd = SPList[in].getData(SPIndexList[in]);
+ str = asString(spd.indicators); // P1P2L1L2*ls AaBbCcDd
+ str = rightJustify(str,8,'0');
+
+ if(spd.flag > 0) { // data is good
+ // add sat to RinexObs
+ RinexObsData::RinexObsTypeMap rotm;
+ roe.obs[sat] = rotm;
+ roe.numSvs++;
+
+ // build the RINEX data object
+ RinexObsData::RinexDatum rd;
+
+ rd.lli = asInt(asString<char>(str[0]));
+ rd.ssi = asInt(asString<char>(str[1]));
+ rd.data = spd.P1;
+ if(UsingCA)
+ roe.obs[sat][RinexObsHeader::C1] = rd;
+ else
+ roe.obs[sat][RinexObsHeader::P1] = rd;
+
+ rd.lli = asInt(asString<char>(str[2]));
+ rd.ssi = asInt(asString<char>(str[3]));
+ rd.data = spd.P2;
+ roe.obs[sat][RinexObsHeader::P2] = rd;
+
+ //rd.lli = asInt(asString<char>(str[4]));
+ // TD ought to set the low bit
+ rd.lli = (spd.flag & SatPass::LL1)!=0 ? 1 : 0;
+ rd.ssi = asInt(asString<char>(str[5]));
+ rd.data = spd.L1;
+ roe.obs[sat][RinexObsHeader::L1] = rd;
+
+ //rd.lli = asInt(asString<char>(str[6]));
+ rd.lli = (spd.flag & SatPass::LL2)!=0 ? 1 : 0;
+ rd.ssi = asInt(asString<char>(str[7]));
+ rd.data = spd.L2;
+ roe.obs[sat][RinexObsHeader::L2] = rd;
+
+ config.oflog << "Out "
+ << WriteEpoch.printf(config.format)
+ << " " << roe.time.printf(config.format)
+ << " " << sat
+ << " " << spd.flag
+ << " " << setw(3) << spd.ndt // count
+ << fixed << setprecision(3)
+ << " " << setw(13) << spd.P1
+ << " " << setw(13) << spd.P2
+ << " " << setw(13) << spd.L1
+ << " " << setw(13) << spd.L2
+ << endl;
+ }
+
+ // go to next point
+ SPIndexList[in]++;
+
+ // end of data?
+ if(SPIndexList[in] >= SPList[in].size())
+ SPList[in].status = 99; // status == 99 means 'written out'
+ }
+ }
+
+ // actually write to RINEX
+ if(roe.numSvs > 0) {
+ config.SVonly.setfill(' '); // just for the hell of it
+ orfstr << roe;
+ config.SVonly.setfill('0');
+ }
+
+ } while(1); // end while loop over all epochs up to targetTime
+
+ }
+ catch(Exception& e) { GPSTK_RETHROW(e); }
+ catch(exception& e)
+ { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+ catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void PrintSPList(ostream& os, string msg, const vector<SatPass>& v, bool printTime)
+{
+ int i,j,gap;
+ GSatID sat;
+ map<GSatID,int> lastSP;
+ map<GSatID,int>::const_iterator kt;
+
+ os << "#" << leftJustify(msg,4)
+ << " gap tot sat ok s start time end time dt\n";
+
+ for(i=0; i<v.size(); i++) {
+ os << msg;
+ sat = v[i].getSat();
+ kt = lastSP.find(sat);
+ if(kt == lastSP.end())
+ gap = 0;
+ else {
+ j = kt->second;
+ gap = int((v[i].getFirstTime() - v[j].getLastTime()) / v[i].getDT() + 0.5);
+ lastSP.erase(sat);
+ }
+ lastSP[sat] = i;
+ os << " " << setw(4) << gap;
+
+ os << " " << v[i]; // sat,length,ngood,firstTime,lastTime
+ if(printTime)
+ os << " at " << CurrEpoch.printf(config.format);
+//"%04Y/%02m/%02d %02H:%02M:%6.3f"
+ os << endl;
+ }
+}
+
+//------------------------------------------------------------------------------------
+#include "CommandOption.hpp"
+#include "CommandOptionParser.hpp"
+int GetCommandLine(int argc, char **argv) throw(Exception)
+{
+ try {
+ bool help=false,DChelp=false,DChelpall=false;
+ int i,j;
+ // defaults
+ config.verbose = false;
+ config.ith = 0.0;
+ config.begTime = DayTime(DayTime::BEGINNING_OF_TIME);
+ config.endTime = DayTime(DayTime::END_OF_TIME);
+ config.MaxGap = 600.0;
+ //config.MinPts = 10;
+
+ config.LogFile = string("df.log");
+ config.OutFile = string("df.out");
+ config.format = string("%4F %10.3g");
+
+ config.UseCA = false; // meaning use P1 unless its absent, then C1
+ // true would mean use C1 only
+ config.dt = -1.0;
+
+ config.HDPrgm = PrgmName + string(" v.") + PrgmVers.substr(0,4);
+ config.HDRunby = string("ARL:UT/SGL/GPSTk");
+
+ config.smoothPR = false;
+ config.smoothPH = false;
+ config.smooth = false;
+ //config.CAOut = false;
+ //config.DopOut = false;
+
+ for(i=0; i<9; i++) config.ndt[i]=-1;
+
+ config.Directory = string(".");
+
+ // -------------------------------------------------
+ // required options
+ RequiredOption dashi(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"inputfile",
+ " --inputfile <file> Input (RINEX obs) file - more than one may be given");
+
+ RequiredOption dashDT(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"dt"," --dt <dt> Time spacing (sec) of the data. "
+ "[NB this defines DT\n in the GDC, hence "
+ + PrgmName + " ignores --DCDT=<dt> ]");
+ dashDT.setMaxCount(1);
+
+ // optional options
+ // this only so it will show up in help page...
+ CommandOption dashf(CommandOption::hasArgument, CommandOption::stdType,
+ 'f',""," [-f|--file] <file> file containing more options");
+
+ CommandOption dashd(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"inputdir"," --inputdir <dir> Directory of input file(s)");
+ dashd.setMaxCount(1);
+
+ // time
+ CommandOption dashbt(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"beginTime", "# Time limits:"
+ " args are of the form GPSweek,sow OR YYYY,MM,DD,HH,Min,Sec\n"
+ " --beginTime <arg> Start time of processing (BOF)");
+ dashbt.setMaxCount(1);
+
+ CommandOption dashet(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"endTime", " --endTime <arg> End time of processing (EOF)");
+ dashet.setMaxCount(1);
+
+ CommandOption dashith(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"decimate","# Data configuration\n"
+ " --decimate <dt> Decimate data to time interval (sec) dt");
+ dashith.setMaxCount(1);
+
+ CommandOptionNoArg dashCA(0,"forceCA", " --forceCA "
+ "Use C/A code range, NOT P code (default: only if P absent)");
+ dashCA.setMaxCount(1);
+
+ CommandOption dashGap(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"gap"," --gap <t> Minimum data gap (sec) separating "
+ "satellite passes (" + asString(int(config.MaxGap)) + ")");
+ dashGap.setMaxCount(1);
+
+ //CommandOption dashPts(CommandOption::hasArgument, CommandOption::stdType,
+ //0,"Points"," --Points <n> Minimum number of points needed to "
+ //"process a pass");
+ //dashPts.setMaxCount(1);
+
+ CommandOption dashSV(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"onlySat"," --onlySat <sat> Process only satellite <sat> "
+ "(a GPS SatID, e.g. G21)");
+ dashSV.setMaxCount(1);
+
+ CommandOption dashXsat(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"exSat"," --exSat <sat> Exclude satellite(s) [e.g. --exSat G22]");
+
+ CommandOptionNoArg dashSmoothPR(0,"smoothPR",
+ "# Smoothing: [NB smoothed " "pseudorange and debiased phase are not identical.]\n"
+ " --smoothPR Smooth pseudorange and output in place of raw pseudorange");
+ dashSmoothPR.setMaxCount(1);
+
+ CommandOptionNoArg dashSmoothPH(0,"smoothPH",
+ " --smoothPH Debias phase and output in place of raw phase");
+ dashSmoothPH.setMaxCount(1);
+
+ // last smooth option - tack on a 'vapor-option'
+ CommandOptionNoArg dashSmooth(0,"smooth",
+ " --smooth Same as (--smoothPR AND --smoothPH)\n"
+ "# Discontinuity Corrector (DC) configuration:\n"
+ " --DClabel=value Set Discontinuity Corrector parameter 'label' to 'value'\n"
+ " [e.g. --DCWLSigma=1.5 or --DCDebug:7 " "or --DCMinPts,6]\n"
+ " --DChelp Print a list of GDC parameters and their defaults, then quit"
+ );
+ dashSmooth.setMaxCount(1);
+
+ CommandOption dashLog(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"logOut","# Output:\n --logOut <file> Output log file name ("
+ + config.LogFile + ")");
+ //dashLog.setMaxCount(1);
+
+ CommandOption dashOut(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"cmdOut"," --cmdOut <file> Output file name (for editing commands) ("
+ + config.OutFile + ")");
+ dashOut.setMaxCount(1);
+
+ CommandOption dashFormat(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"format"," --format \"<format>\" Output time format (cf. gpstk::"
+ "DayTime) (" + config.format + ")");
+ dashFormat.setMaxCount(1);
+
+ CommandOption dashRfile(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"RinexFile","# RINEX output:\n"
+ " --RinexFile <file> RINEX (obs) file name for output of corrected data");
+ //dashRfile.setMaxCount(1);
+
+ CommandOption dashRrun(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"RunBy"," --RunBy <string> RINEX header 'RUN BY' string for output");
+ dashRrun.setMaxCount(1);
+
+ CommandOption dashRobs(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Observer"," --Observer <string> RINEX header 'OBSERVER' string for output");
+ dashRobs.setMaxCount(1);
+
+ CommandOption dashRag(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Agency"," --Agency <string> RINEX header 'AGENCY' string for output");
+ dashRag.setMaxCount(1);
+
+ CommandOption dashRmark(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Marker"," --Marker <string> RINEX header 'MARKER' string for output");
+ dashRmark.setMaxCount(1);
+
+ CommandOption dashRnumb(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Number"," --Number <string> RINEX header 'NUMBER' string for output");
+ dashRnumb.setMaxCount(1);
+
+ // TD? pass-through 'other' data found in input RINEX file - requires buffering?
+ //CommandOptionNoArg dashCAOut(0,"CAOut",
+ // " --CAOut Output C/A code in RINEX");
+ //dashCAOut.setMaxCount(1);
+
+ //CommandOptionNoArg dashDOut(0,"DOut",
+ // " --DOut Output Doppler in RINEX");
+ //dashDOut.setMaxCount(1);
+
+ CommandOptionNoArg dashh('h', "help",
+ "# Help:\n"
+ " [-h|--help] print this syntax page and quit."
+ "\n --DChelp Print a list of GDC parameters and "
+ "their defaults, and quit");
+ dashh.setMaxCount(1);
+
+ CommandOptionNoArg dashVerb(0,"verbose",
+ " --verbose print extended output to the log file");
+ dashVerb.setMaxCount(1);
+
+ // ... other options
+ CommandOptionRest Rest("");
+
+ CommandOptionParser Par("Prgm " + PrgmName +
+ " reads a RINEX observation data file containing GPS dual-frequency\n"
+ " pseudorange and carrier phase measurements, divides the data into 'satellite\n"
+ " passes', and finds and fixes discontinuities in the phases for each pass.\n"
+ " Output is a list of editing commands for use with program RinexEdit.\n"
+ " " + PrgmName
+ + " will (optionally) write the corrected pseudorange and phase data\n"
+ " to a new RINEX observation file. Other options will also smooth the\n"
+ " pseudorange and/or debias the corrected phase.\n"
+ " "+PrgmName+" calls the GPSTk Discontinuity Corrector (GDC vers "
+ + GDConfig.Version() + ").\n");
+
+ // -------------------------------------------------
+ // allow user to put all options in a file
+ // could also scan for debug here
+ vector<string> Args;
+ for(j=1; j<argc; j++) PreProcessArgs(argv[j],Args);
+
+ if(Args.size()==0) Args.push_back(string("-h"));
+
+ // strip out the DCcmds
+ vector<string> DCcmds;
+ vector<string>::iterator it=Args.begin();
+ while(it != Args.end()) {
+ if(it->substr(0,4) == string("--DC")) {
+ if(*it == "--DChelp") DChelp=true;
+ else if(*it == "--DChelpall" || *it == "--DCall") DChelp=DChelpall=true;
+ else DCcmds.push_back(*it);
+ it = Args.erase(it);
+ }
+ else it++;
+ }
+
+ // pass the rest
+ argc = Args.size()+1;
+ char **CArgs=new char*[argc];
+ if(!CArgs) { cout << "Failed to allocate CArgs\n"; return -1; }
+ CArgs[0] = argv[0];
+ for(j=1; j<argc; j++) {
+ CArgs[j] = new char[Args[j-1].size()+1];
+ if(!CArgs[j]) { cout << "Failed to allocate CArgs[j]\n"; return -1; }
+ strcpy(CArgs[j],Args[j-1].c_str());
+ }
+ Par.parseOptions(argc, CArgs);
+ delete[] CArgs;
+
+ // -------------------------------------------------
+ if(dashh.getCount() > 0) help = true;
+ if(Par.hasErrors()) {
+ if(!help && !DChelp) {
+ cout << "\nErrors found in command line input:\n";
+ Par.dumpErrors(cout);
+ cout << "...end of Errors. For help run with option --help\n\n";
+ }
+ help = true;
+ }
+
+ // -------------------------------------------------
+ // get values found on command line
+ string msg;
+ vector<string> field;
+ vector<string> values;
+
+ // f never appears because we intercept it above
+ //if(dashf.getCount()) { cout << "Option f "; dashf.dumpValue(cout); }
+
+ // do help first
+ if(dashh.getCount()) help=true;
+
+ // now get the rest of the options
+ if(dashVerb.getCount()) config.verbose=true;
+ if(dashi.getCount()) {
+ values = dashi.getValue();
+ if(help) cout << "Input RINEX obs files are:\n";
+ for(i=0; i<values.size(); i++) {
+ config.InputObsName.push_back(values[i]);
+ if(help) cout << " " << values[i] << endl;
+ }
+ }
+ if(dashd.getCount()) {
+ values = dashd.getValue();
+ config.Directory = values[0];
+ if(help) cout << "Input Directory is " << config.Directory << endl;
+ }
+ if(dashith.getCount()) {
+ values = dashith.getValue();
+ config.ith = asDouble(values[0]);
+ if(help) cout << "Decimate value is " << config.ith << endl;
+ }
+
+ // TD put try {} around setToString and catch invalid formats...
+ if(dashbt.getCount()) {
+ values = dashbt.getValue();
+ msg = values[0];
+ field.clear();
+ while(msg.size() > 0)
+ field.push_back(stripFirstWord(msg,','));
+ if(field.size() == 2)
+ config.begTime.setToString(field[0]+","+field[1], "%F,%g");
+ else if(field.size() == 6)
+ config.begTime.setToString(field[0]+","+field[1]+","+field[2]+","
+ +field[3]+","+field[4]+","+field[5], "%Y,%m,%d,%H,%M,%S");
+ else {
+ cout << "Error: invalid --beginTime input: " << values[0] << endl;
+ }
+ if(help) cout << " Input: begin time " << values[0] << " = "
+ << config.begTime.printf("%Y/%02m/%02d %2H:%02M:%06.3f = %F/%10.3g") << endl;
+ }
+ if(dashet.getCount()) {
+ values = dashet.getValue();
+ msg = values[0];
+ field.clear();
+ while(msg.size() > 0)
+ field.push_back(stripFirstWord(msg,','));
+ if(field.size() == 2)
+ config.endTime.setToString(field[0]+","+field[1], "%F,%g");
+ else if(field.size() == 6)
+ config.endTime.setToString(field[0]+","+field[1]+","+field[2]
+ +","+field[3]+","+field[4]+","+field[5], "%Y,%m,%d,%H,%M,%S");
+ else {
+ cout << "Error: invalid --endTime input: " << values[0] << endl;
+ }
+ if(help) cout << " Input: end time " << values[0] << " = "
+ << config.endTime.printf("%Y/%02m/%02d %2H:%02M:%06.3f = %F/%10.3g") << endl;
+ }
+
+ if(dashCA.getCount()) {
+ config.UseCA = true;
+ if(help) cout << "Input: Set the 'Use C/A code range' flag\n";
+ }
+ if(dashDT.getCount()) {
+ values = dashDT.getValue();
+ config.dt = asDouble(values[0]);
+ if(help) cout << "dt is set to " << config.dt << " seconds." << endl;
+ }
+ if(dashGap.getCount()) {
+ values = dashGap.getValue();
+ config.MaxGap = asDouble(values[0]);
+ if(help) cout << "Max gap is " << config.MaxGap << " seconds which is "
+ << int(config.MaxGap/config.dt) << " points." << endl;
+ }
+ //if(dashPts.getCount()) {
+ //values = dashPts.getValue();
+ //config.MinPts = asInt(values[0]);
+ //if(help) cout << "Minimum points is " << config.MinPts << endl;
+ //}
+ if(dashXsat.getCount()) {
+ values = dashXsat.getValue();
+ for(i=0; i<values.size(); i++) {
+ GSatID p(values[i]);
+ if(help) cout << "Exclude satellite " << p << endl;
+ config.ExSV.push_back(p);
+ }
+ }
+ if(dashSV.getCount()) {
+ values = dashSV.getValue();
+ GSatID p(values[0]);
+ config.SVonly = p;
+ if(help) cout << "Process only satellite : " << p << endl;
+ }
+ if(dashFormat.getCount()) {
+ values = dashFormat.getValue();
+ config.format = values[0];
+ if(help) cout << "Output times with format: " << config.format << endl;
+ }
+ if(dashOut.getCount()) {
+ values = dashOut.getValue();
+ config.OutFile = values[0];
+ if(help) cout << "Command output file is " << config.OutFile << endl;
+ }
+ if(dashRfile.getCount()) {
+ values = dashRfile.getValue();
+ // pick the last one entered
+ config.OutRinexObs = values[values.size()-1];
+ if(help) cout << "Output RINEX file name is "
+ << config.OutRinexObs << endl;
+ }
+ if(dashRrun.getCount()) {
+ values = dashRrun.getValue();
+ config.HDRunby = values[0];
+ if(help) cout << "Output RINEX 'RUN BY' is " << config.HDRunby << endl;
+ }
+ if(dashRobs.getCount()) {
+ values = dashRobs.getValue();
+ config.HDObs = values[0];
+ if(help) cout << "Output RINEX 'OBSERVER' is " << config.HDObs << endl;
+ }
+ if(dashRag.getCount()) {
+ values = dashRag.getValue();
+ config.HDAgency = values[0];
+ if(help) cout << "Output RINEX 'AGENCY' is " << config.HDAgency << endl;
+ }
+ if(dashRmark.getCount()) {
+ values = dashRmark.getValue();
+ config.HDMarker = values[0];
+ if(help) cout << "Output RINEX 'MARKER' is " << config.HDMarker << endl;
+ }
+ if(dashRnumb.getCount()) {
+ values = dashRnumb.getValue();
+ config.HDNumber = values[0];
+ if(help) cout << "Output RINEX 'NUMBER' is " << config.HDNumber << endl;
+ }
+ if(dashSmooth.getCount()) {
+ config.smoothPH = config.smoothPR = true;
+ if(help) cout << "'smooth both' option is on\n";
+ }
+ if(dashSmoothPR.getCount()) {
+ config.smoothPR = true;
+ if(help) cout << "smooth the pseudorange\n";
+ }
+ if(dashSmoothPH.getCount()) {
+ config.smoothPH = true;
+ if(help) cout << "debias the phase\n";
+ }
+ //if(dashCAOut.getCount()) {
+ // config.CAOut = true;
+ // if(help) cout << "Output the C/A code to RINEX\n";
+ //}
+ //if(dashDOut.getCount()) {
+ // config.DopOut = true;
+ // if(help) cout << "Output the doppler to RINEX\n";
+ //}
+
+ if(Rest.getCount() && help) {
+ cout << "Remaining options:" << endl;
+ values = Rest.getValue();
+ for (i=0; i<values.size(); i++) cout << values[i] << endl;
+ }
+ //if(config.verbose && help) {
+ // cout << "\nTokens on command line (" << Args.size() << ") are:"
+ // << endl;
+ // for(j=0; j<Args.size(); j++) cout << Args[j] << endl;
+ //}
+
+ //if(config.verbose) { // if GDCorrector::Debug is not set higher, set to 2
+ //GDCorrector.SetParameter(string("Debug=2"));
+ //}
+
+ // if help, print usage and quit
+ if(help || DChelp) {
+ if(help) Par.displayUsage(cout,false);
+ if(DChelp) {
+ GDConfig.DisplayParameterUsage(cout,DChelpall);
+ cout << "For " << PrgmName
+ << ", GDC commands are of the form --DC<GDCcmd>,"
+ << " e.g. --DCWLSigma=1.5\n" << endl;
+ }
+ return 1;
+ }
+
+ // get the log file name
+ if(dashLog.getCount()) {
+ values = dashLog.getValue();
+ // pick the last one entered
+ config.LogFile = values[values.size()-1];
+ //if(help) cout << "Log file is " << config.LogFile << endl;
+ }
+ // open the log file
+ config.oflog.open(config.LogFile.c_str(),ios::out);
+ if(config.oflog.fail()) {
+ cout << PrgmName << " failed to open log file "
+ << config.LogFile << ". Abort.\n";
+ return -1;
+ }
+ else {
+ cout << PrgmName << " is writing to log file " << config.LogFile << endl;
+ // output first stuff to log file
+ config.oflog << Title;
+ // allow GDC to output to log file
+ GDConfig.setDebugStream(config.oflog);
+ }
+
+ if(config.dt <= 0.0) {
+ config.oflog << PrgmName << ": dt must be positive" << endl;
+ return -1;
+ }
+
+ if(!config.smooth) config.smooth = (config.smoothPR || config.smoothPH);
+
+ // set the commands now (setParameter may write to log file)
+ for(i=0; i<DCcmds.size(); i++)
+ GDConfig.setParameter(DCcmds[i]);
+ // also, use the dt in SatPass to define the dt in GDC
+ // NB this means --DCDT on the DiscFix command line is ignored!
+ GDConfig.setParameter("DT",config.dt);
+
+ // print config to log, first DF
+ config.oflog << "\nHere is the " << PrgmName << " configuration:\n";
+ config.oflog << " Input RINEX obs files are:\n";
+ for(i=0; i<config.InputObsName.size(); i++) {
+ config.oflog << " " << config.InputObsName[i] << endl;
+ }
+ config.oflog << " Input Directory is " << config.Directory << endl;
+ config.oflog << " Ithing time interval is " << config.ith << endl;
+ if(config.begTime > DayTime(DayTime::BEGINNING_OF_TIME))
+ config.oflog << " Begin time is "
+ << config.begTime.printf("%04Y/%02m/%02d %02H:%02M:%.3f")
+ << " = " << config.begTime.printf("%04F/%10.3g") << endl;
+ if(config.endTime < DayTime(DayTime::END_OF_TIME))
+ config.oflog << " End time is "
+ << config.endTime.printf("%04Y/%02m/%02d %02H:%02M:%.3f")
+ << " = " << config.endTime.printf("%04F/%10.3g") << endl;
+ if(config.UseCA) config.oflog << " 'Use the C/A pseudorange' flag is set\n";
+ else config.oflog << "Do not use C/A code range (C1) unless P1 is absent\n";
+ config.oflog << " dt is set to " << config.dt << " seconds." << endl;
+ config.oflog << " Max gap is " << config.MaxGap << " seconds which is "
+ << int(config.MaxGap/config.dt) << " points." << endl;
+ //config.oflog << " Minimum points is " << config.MinPts << endl;
+ if(config.ExSV.size()) {
+ config.oflog << " Exclude satellites";
+ for(i=0; i<config.ExSV.size(); i++) {
+ if(config.ExSV[i].id == -1) config.oflog << " (all "
+ << config.ExSV[i].systemString() << ")" << endl;
+ else config.oflog << " " << config.ExSV[i];
+ }
+ config.oflog << endl;
+ }
+ if(config.SVonly.id > 0)
+ config.oflog << " Process only satellite : " << config.SVonly << endl;
+ config.oflog << " Log file is " << config.LogFile << endl;
+ config.oflog << " Out file is " << config.OutFile << endl;
+ config.oflog << " Output times in this format " << config.format << endl;
+ if(!config.OutRinexObs.empty())
+ config.oflog << " Output RINEX file name is " << config.OutRinexObs << endl;
+ if(!config.HDRunby.empty())
+ config.oflog << " Output RINEX 'RUN BY' is " << config.HDRunby << endl;
+ if(!config.HDObs.empty())
+ config.oflog << " Output RINEX 'OBSERVER' is " << config.HDObs << endl;
+ if(!config.HDAgency.empty())
+ config.oflog << " Output RINEX 'AGENCY' is " << config.HDAgency << endl;
+ if(!config.HDMarker.empty())
+ config.oflog << " Output RINEX 'MARKER' is " << config.HDMarker << endl;
+ if(!config.HDNumber.empty())
+ config.oflog << " Output RINEX 'NUMBER' is " << config.HDNumber << endl;
+ if(config.smoothPR) config.oflog << " 'Smoothed range' option is on\n";
+ if(config.smoothPH) config.oflog << " 'Smoothed phase' option is on\n";
+ if(!config.smooth) config.oflog << " No smoothing.\n";
+ //if(config.CAOut) config.oflog << " 'C/A output' option is on\n";
+ //if(config.DopOut) config.oflog << " 'Doppler output' option is on\n";
+
+ // print config to log, second GDC
+ config.oflog << "\nHere is the GPSTk DC configuration:\n";
+ GDConfig.DisplayParameterUsage(config.oflog,DChelpall);
+ config.oflog << endl;
+
+ return 0;
+
+ } // end try
+ catch(Exception& e) { GPSTK_RETHROW(e); }
+ catch(exception& e)
+ { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+ catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void PreProcessArgs(const char *arg, vector<string>& Args) throw(Exception)
+{
+ try {
+ static bool found_cfg_file=false;
+
+ if(string(arg) == string()) return;
+
+ if(found_cfg_file || (arg[0]=='-' && arg[1]=='f')) {
+ string filename(arg);
+ if(!found_cfg_file) filename.erase(0,2); else found_cfg_file = false;
+ ifstream infile(filename.c_str());
+ if(!infile) {
+ cout << "Error: could not open options file " << filename << endl;
+ return;
+ }
+
+ bool again_cfg_file=false;
+ char c;
+ string buffer,word;
+ while(1) {
+ getline(infile,buffer);
+ stripTrailing(buffer,'\r');
+
+ while(!buffer.empty()) {
+ word = firstWord(buffer);
+ if(again_cfg_file) {
+ word = "-f" + word;
+ again_cfg_file = false;
+ PreProcessArgs(word.c_str(),Args);
+ }
+ else if(word[0] == '#') { // skip this line
+ buffer.clear();
+ }
+ else if(word == "--file" || word == "-f")
+ again_cfg_file = true;
+ else if(word[0] == '"') {
+ word = stripFirstWord(buffer,'"');
+ buffer = "dummy " + buffer;
+ PreProcessArgs(word.c_str(),Args);
+ }
+ else
+ PreProcessArgs(word.c_str(),Args);
+
+ word = stripFirstWord(buffer); // this simply removes it from buffer
+ }
+ // break on EOF here b/c there can be a line w/o LF at EOF
+ if(infile.eof() || !infile.good()) break;
+ }
+ }
+ else if(string(arg) == "--file" || string(arg) == "-f")
+ found_cfg_file = true;
+ // -v or --verbose
+ else if((arg[0]=='-' && arg[1]=='v') || string(arg)==string("--verbose")) {
+ config.verbose = true;
+ }
+ // old versions of args -- deprecated
+ else if(string(arg)==string("--directory")) { Args.push_back("--inputdir"); }
+ else if(string(arg)==string("--EpochBeg")) { Args.push_back("--beginTime"); }
+ else if(string(arg)==string("--EpochEnd")) { Args.push_back("--endTime"); }
+ else if(string(arg)==string("--GPSBeg")) { Args.push_back("--beginTime"); }
+ else if(string(arg)==string("--GPSEnd")) { Args.push_back("--endTime"); }
+ else if(string(arg)==string("--CA")) { Args.push_back("--forceCA"); }
+ else if(string(arg)==string("--useCA")) { Args.push_back("--forceCA"); }
+ else if(string(arg)==string("--DT")) { Args.push_back("--dt"); }
+ else if(string(arg)==string("--Gap")) { Args.push_back("--gap"); }
+ else if(string(arg)==string("--Smooth")) { Args.push_back("--smooth"); }
+ else if(string(arg)==string("--SmoothPR")) { Args.push_back("--smoothPR"); }
+ else if(string(arg)==string("--SmoothPH")) { Args.push_back("--smoothPH"); }
+ else if(string(arg)==string("--XPRN")) { Args.push_back("--exSat"); }
+ else if(string(arg)==string("--SVonly")) { Args.push_back("--onlySat"); }
+ else if(string(arg)==string("--Log")) { Args.push_back("--logOut"); }
+ else if(string(arg)==string("--Out")) { Args.push_back("--cmdOut"); }
+ // else its a regular command
+ else Args.push_back(arg);
+ //if(debug) cout << "arg " << string(arg) << endl;
+ }
+ catch(Exception& e) { GPSTK_RETHROW(e); }
+ catch(exception& e)
+ { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+ catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/cycleslips/Jamfile b/dev/apps/geomatics/cycleslips/Jamfile
new file mode 100644
index 0000000..e10b178
--- /dev/null
+++ b/dev/apps/geomatics/cycleslips/Jamfile
@@ -0,0 +1,16 @@
+#
+# $Id: Jamfile 71 2006-08-01 18:46:39Z ehagen $
+#
+
+SubDir TOP apps geomatics cycleslips ;
+
+SEARCH_SOURCE += $(TOP)/src ;
+SEARCH_SOURCE += $(TOP)/apps/geomatics/lib ;
+
+# link apps to libraries
+# must have the prefix here ... why, and why not with others?
+LinkLibraries DiscFix : $(LIBPREFIX)geomatic ;
+# gpstk must be last
+GPSLinkLibraries DiscFix : gpstk ;
+
+GPSMain DiscFix : DiscFix.cpp ;
diff --git a/dev/apps/geomatics/cycleslips/Makefile.am b/dev/apps/geomatics/cycleslips/Makefile.am
new file mode 100644
index 0000000..c91c3d7
--- /dev/null
+++ b/dev/apps/geomatics/cycleslips/Makefile.am
@@ -0,0 +1,7 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../../src -I$(srcdir)/../lib
+LDADD = ../../../src/libgpstk.la ../lib/libgeomatic.la
+
+bin_PROGRAMS = DiscFix
+
+DiscFix_SOURCES = DiscFix.cpp
diff --git a/trunk/apps/cycleslips/examples/GFP2.gp b/dev/apps/geomatics/cycleslips/examples/GFP2.gp
similarity index 100%
rename from trunk/apps/cycleslips/examples/GFP2.gp
rename to dev/apps/geomatics/cycleslips/examples/GFP2.gp
diff --git a/trunk/apps/cycleslips/examples/GFP2_Win.gp b/dev/apps/geomatics/cycleslips/examples/GFP2_Win.gp
similarity index 100%
rename from trunk/apps/cycleslips/examples/GFP2_Win.gp
rename to dev/apps/geomatics/cycleslips/examples/GFP2_Win.gp
diff --git a/trunk/apps/cycleslips/examples/GFP3.gp b/dev/apps/geomatics/cycleslips/examples/GFP3.gp
similarity index 100%
rename from trunk/apps/cycleslips/examples/GFP3.gp
rename to dev/apps/geomatics/cycleslips/examples/GFP3.gp
diff --git a/trunk/apps/cycleslips/examples/GFP3_Win.gp b/dev/apps/geomatics/cycleslips/examples/GFP3_Win.gp
similarity index 100%
rename from trunk/apps/cycleslips/examples/GFP3_Win.gp
rename to dev/apps/geomatics/cycleslips/examples/GFP3_Win.gp
diff --git a/trunk/apps/cycleslips/examples/GFP6.gp b/dev/apps/geomatics/cycleslips/examples/GFP6.gp
similarity index 100%
rename from trunk/apps/cycleslips/examples/GFP6.gp
rename to dev/apps/geomatics/cycleslips/examples/GFP6.gp
diff --git a/trunk/apps/cycleslips/examples/GFP6_Win.gp b/dev/apps/geomatics/cycleslips/examples/GFP6_Win.gp
similarity index 100%
rename from trunk/apps/cycleslips/examples/GFP6_Win.gp
rename to dev/apps/geomatics/cycleslips/examples/GFP6_Win.gp
diff --git a/trunk/apps/cycleslips/examples/GFRF2G17.jpg b/dev/apps/geomatics/cycleslips/examples/GFRF2G17.jpg
similarity index 100%
rename from trunk/apps/cycleslips/examples/GFRF2G17.jpg
rename to dev/apps/geomatics/cycleslips/examples/GFRF2G17.jpg
diff --git a/trunk/apps/cycleslips/examples/GFRF3G17.jpg b/dev/apps/geomatics/cycleslips/examples/GFRF3G17.jpg
similarity index 100%
rename from trunk/apps/cycleslips/examples/GFRF3G17.jpg
rename to dev/apps/geomatics/cycleslips/examples/GFRF3G17.jpg
diff --git a/trunk/apps/cycleslips/examples/GFRF6G31.jpg b/dev/apps/geomatics/cycleslips/examples/GFRF6G31.jpg
similarity index 100%
rename from trunk/apps/cycleslips/examples/GFRF6G31.jpg
rename to dev/apps/geomatics/cycleslips/examples/GFRF6G31.jpg
diff --git a/trunk/apps/cycleslips/examples/WLSS2.gp b/dev/apps/geomatics/cycleslips/examples/WLSS2.gp
similarity index 100%
rename from trunk/apps/cycleslips/examples/WLSS2.gp
rename to dev/apps/geomatics/cycleslips/examples/WLSS2.gp
diff --git a/trunk/apps/cycleslips/examples/WLSS2G17.jpg b/dev/apps/geomatics/cycleslips/examples/WLSS2G17.jpg
similarity index 100%
rename from trunk/apps/cycleslips/examples/WLSS2G17.jpg
rename to dev/apps/geomatics/cycleslips/examples/WLSS2G17.jpg
diff --git a/trunk/apps/cycleslips/examples/WLSS2_Win.gp b/dev/apps/geomatics/cycleslips/examples/WLSS2_Win.gp
similarity index 100%
rename from trunk/apps/cycleslips/examples/WLSS2_Win.gp
rename to dev/apps/geomatics/cycleslips/examples/WLSS2_Win.gp
diff --git a/trunk/apps/cycleslips/examples/WLSS3.gp b/dev/apps/geomatics/cycleslips/examples/WLSS3.gp
similarity index 100%
rename from trunk/apps/cycleslips/examples/WLSS3.gp
rename to dev/apps/geomatics/cycleslips/examples/WLSS3.gp
diff --git a/trunk/apps/cycleslips/examples/WLSS3G17.jpg b/dev/apps/geomatics/cycleslips/examples/WLSS3G17.jpg
similarity index 100%
rename from trunk/apps/cycleslips/examples/WLSS3G17.jpg
rename to dev/apps/geomatics/cycleslips/examples/WLSS3G17.jpg
diff --git a/trunk/apps/cycleslips/examples/WLSS3_Win.gp b/dev/apps/geomatics/cycleslips/examples/WLSS3_Win.gp
similarity index 100%
rename from trunk/apps/cycleslips/examples/WLSS3_Win.gp
rename to dev/apps/geomatics/cycleslips/examples/WLSS3_Win.gp
diff --git a/trunk/apps/cycleslips/examples/WLSS6.gp b/dev/apps/geomatics/cycleslips/examples/WLSS6.gp
similarity index 100%
rename from trunk/apps/cycleslips/examples/WLSS6.gp
rename to dev/apps/geomatics/cycleslips/examples/WLSS6.gp
diff --git a/trunk/apps/cycleslips/examples/WLSS6G31.jpg b/dev/apps/geomatics/cycleslips/examples/WLSS6G31.jpg
similarity index 100%
rename from trunk/apps/cycleslips/examples/WLSS6G31.jpg
rename to dev/apps/geomatics/cycleslips/examples/WLSS6G31.jpg
diff --git a/trunk/apps/cycleslips/examples/WLSS6_Win.gp b/dev/apps/geomatics/cycleslips/examples/WLSS6_Win.gp
similarity index 100%
rename from trunk/apps/cycleslips/examples/WLSS6_Win.gp
rename to dev/apps/geomatics/cycleslips/examples/WLSS6_Win.gp
diff --git a/trunk/apps/cycleslips/examples/chmp0110.02o.G31 b/dev/apps/geomatics/cycleslips/examples/chmp0110.02o.G31
similarity index 100%
rename from trunk/apps/cycleslips/examples/chmp0110.02o.G31
rename to dev/apps/geomatics/cycleslips/examples/chmp0110.02o.G31
diff --git a/trunk/apps/cycleslips/examples/df.inp b/dev/apps/geomatics/cycleslips/examples/df.inp
similarity index 100%
rename from trunk/apps/cycleslips/examples/df.inp
rename to dev/apps/geomatics/cycleslips/examples/df.inp
diff --git a/trunk/apps/cycleslips/examples/df_occult.inp b/dev/apps/geomatics/cycleslips/examples/df_occult.inp
similarity index 100%
rename from trunk/apps/cycleslips/examples/df_occult.inp
rename to dev/apps/geomatics/cycleslips/examples/df_occult.inp
diff --git a/trunk/apps/cycleslips/examples/eusk2950.01o.G17 b/dev/apps/geomatics/cycleslips/examples/eusk2950.01o.G17
similarity index 100%
rename from trunk/apps/cycleslips/examples/eusk2950.01o.G17
rename to dev/apps/geomatics/cycleslips/examples/eusk2950.01o.G17
diff --git a/trunk/apps/cycleslips/examples/euskCorrected.jpg b/dev/apps/geomatics/cycleslips/examples/euskCorrected.jpg
similarity index 100%
rename from trunk/apps/cycleslips/examples/euskCorrected.jpg
rename to dev/apps/geomatics/cycleslips/examples/euskCorrected.jpg
diff --git a/trunk/apps/cycleslips/examples/goDF1 b/dev/apps/geomatics/cycleslips/examples/goDF1
similarity index 100%
rename from trunk/apps/cycleslips/examples/goDF1
rename to dev/apps/geomatics/cycleslips/examples/goDF1
diff --git a/trunk/apps/cycleslips/examples/goDF1.bat b/dev/apps/geomatics/cycleslips/examples/goDF1.bat
similarity index 100%
rename from trunk/apps/cycleslips/examples/goDF1.bat
rename to dev/apps/geomatics/cycleslips/examples/goDF1.bat
diff --git a/trunk/apps/cycleslips/examples/goDF2 b/dev/apps/geomatics/cycleslips/examples/goDF2
similarity index 100%
rename from trunk/apps/cycleslips/examples/goDF2
rename to dev/apps/geomatics/cycleslips/examples/goDF2
diff --git a/trunk/apps/cycleslips/examples/goDF2.bat b/dev/apps/geomatics/cycleslips/examples/goDF2.bat
similarity index 100%
rename from trunk/apps/cycleslips/examples/goDF2.bat
rename to dev/apps/geomatics/cycleslips/examples/goDF2.bat
diff --git a/trunk/apps/cycleslips/examples/mjd2gps.awk b/dev/apps/geomatics/cycleslips/examples/mjd2gps.awk
similarity index 100%
rename from trunk/apps/cycleslips/examples/mjd2gps.awk
rename to dev/apps/geomatics/cycleslips/examples/mjd2gps.awk
diff --git a/dev/apps/geomatics/kalman/Jamfile b/dev/apps/geomatics/kalman/Jamfile
new file mode 100644
index 0000000..a646308
--- /dev/null
+++ b/dev/apps/geomatics/kalman/Jamfile
@@ -0,0 +1,20 @@
+#
+# $Id: Jamfile 71 2006-08-01 18:46:39Z ehagen $
+#
+
+SubDir TOP apps geomatics kalman ;
+
+SEARCH_SOURCE += $(TOP)/src ;
+SEARCH_SOURCE += $(TOP)/apps/geomatics/lib ;
+
+#link prgms to libraries
+# must have the prefix here ... why, and why not with others?
+LinkLibraries tnl tsrif tsrifsu tsriftu mergeSRI : $(LIBPREFIX)geomatic ;
+# gpstk must be last
+GPSLinkLibraries tnl tsrif tsrifsu tsriftu mergeSRI : gpstk ;
+
+GPSMain tnl : tnl.cpp ;
+GPSMain tsrif : tsrif.cpp ;
+GPSMain tsrifsu : tsrifsu.cpp ;
+GPSMain tsriftu : tsriftu.cpp ;
+GPSMain mergeSRI : mergeSRI.cpp ;
diff --git a/dev/apps/geomatics/kalman/Makefile.am b/dev/apps/geomatics/kalman/Makefile.am
new file mode 100644
index 0000000..8558bc7
--- /dev/null
+++ b/dev/apps/geomatics/kalman/Makefile.am
@@ -0,0 +1,12 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../../src -I$(srcdir)/../lib
+# In this order!
+LDADD = ../lib/libgeomatic.la ../../../src/libgpstk.la
+
+bin_PROGRAMS = tnl tsrif tsrifsu tsriftu mergeSRI
+
+mergeSRI_SOURCES = mergeSRI.cpp
+tnl_SOURCES = tnl.cpp
+tsrif_SOURCES = tsrif.cpp
+tsrifsu_SOURCES = tsrifsu.cpp
+tsriftu_SOURCES = tsriftu.cpp
diff --git a/dev/apps/geomatics/kalman/mergeSRI.cpp b/dev/apps/geomatics/kalman/mergeSRI.cpp
new file mode 100644
index 0000000..c91488d
--- /dev/null
+++ b/dev/apps/geomatics/kalman/mergeSRI.cpp
@@ -0,0 +1,180 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file mergeSRI.cpp
+ * Read files containing SRIs with labels, merge into a single SRI.
+ */
+
+//------------------------------------------------------------------------------------
+#include <iostream>
+#include <iostream>
+#include <iomanip>
+#include <fstream>
+#include <string>
+#include <vector>
+#include "StringUtils.hpp"
+#include "SRI.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+// Read all the files on the command line, they should contain covariance and state
+// with labels. Merge all these SRIs and output the final covariance and state.
+int main(int argc, char **argv)
+{
+ try {
+ bool verbose=false;
+ int i,n,N,nfile,nline,nword;
+ string line,word;
+ Matrix<double> cov;
+ Vector<double> state;
+ Namelist name;
+ SRI S;
+
+ if(argc <= 1) {
+ cout << "Prgm mergeSRI combines solution and covariance results from "
+ << "different sources\n into a single result. Each file named on the "
+ << "command line consists of lines,\n one per row of the covariance "
+ << "matrix, of the form\n label(i) cov(i,0) cov(i,1) ... cov(i,n) "
+ << "solution(i)\n where there are n lines in the file (i.e. the "
+ << "covariance matrix is square)\n and labels are used consistently "
+ << "among all the results in all the files.\n Results are output as "
+ << "a single combined namelist, covariance and solution.\n";
+ return 0;
+ }
+
+ nfile = 0;
+ for(i=1; i<argc; i++) {
+ if(string(argv[i]) == string("-v") ||
+ string(argv[i]) == string("--verbose")) {
+ verbose = true;
+ continue;
+ }
+
+ ifstream ifs(argv[i]);
+ if(!ifs) {
+ cout << "Could not open file " << argv[i] << endl;
+ continue;
+ }
+ if(verbose) cout << "Opened file " << argv[i] << endl;
+
+ // read the file
+ N = nline = 0; // N is the dimension of cov and state and name
+ while(!ifs.eof() && ifs.good()) {
+ getline(ifs,line);
+ StringUtils::stripTrailing(line,'\r');
+ if(ifs.bad()) break;
+ StringUtils::stripLeading(line);
+ if(line.empty()) break;
+ n = StringUtils::numWords(line);
+ if(N == 0) {
+ N = n-2;
+ cov = Matrix<double>(N,N,0.0);
+ state = Vector<double>(N,0.0);
+ name.clear();
+ }
+ else if(n-2 != N) {
+ cerr << "Warning - dimensions are wrong in file " << argv[i]
+ << " : " << n-2 << " != " << N << endl;
+ }
+ nword = 0;
+ while(1) {
+ word = StringUtils::stripFirstWord(line);
+ if(word.empty()) break;
+ if(nword == 0) {
+ name += word;
+ }
+ else if(nword < N+1) {
+ cov(nline,nword-1) = StringUtils::asDouble(word);
+ }
+ else if(nword == N+1) {
+ state(nline) = StringUtils::asDouble(word);
+ }
+ nword++;
+ };
+ nline++;
+ if(nline > N) break;
+ }
+ ifs.close();
+
+ if(N <= 0 || name.size() <= 0) {
+ cout << "Empty file - ignore : " << argv[i] << endl;
+ continue;
+ }
+
+ name.resize(N);
+ cout << "Add file " << argv[i] << " : state names " << name << endl;
+ if(verbose) {
+ LabelledVector Lstate(name,state);
+ Lstate.fixed().setw(16).setprecision(6);
+ cout << "State" << endl << Lstate << endl;
+ LabelledMatrix Lcov(name,cov);
+ Lcov.scientific().setw(16).setprecision(6);
+ cout << "Covariance" << endl << Lcov << endl;
+ }
+
+ SRI S1(name);
+ S1.addAPriori(cov,state);
+ S += S1;
+
+ nfile++;
+ }
+
+ if(nfile <= 0) {
+ cout << "No files!\n";
+ return 0;
+ }
+
+ double small,big;
+ S.getStateAndCovariance(state,cov,&small,&big);
+ cout << endl;
+ LabelledVector Ls(name,state);
+ Ls.fixed().setw(16).setprecision(6);
+ cout << "Final state" << endl << Ls << endl;
+ LabelledMatrix Lc(name,cov);
+ Lc.scientific().setw(16).setprecision(6);
+ cout << endl << "Final covariance" << endl << Lc << endl;
+ }
+ catch(MatrixException& me) {
+ cerr << "Exception: " << me << endl;
+ return -1;
+ }
+ return 0;
+}
diff --git a/dev/apps/geomatics/kalman/tnl.cpp b/dev/apps/geomatics/kalman/tnl.cpp
new file mode 100644
index 0000000..0f7aef8
--- /dev/null
+++ b/dev/apps/geomatics/kalman/tnl.cpp
@@ -0,0 +1,105 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file tnl.cpp
+ * Test the namelist class.
+ */
+
+#include <iostream>
+#include <iomanip>
+#include <string>
+#include <vector>
+#include "Namelist.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+int main(void)
+{
+ vector<string> vs;
+ Namelist N,N1,N2,N3;
+
+ N1 += string("Fred");
+ N1 += string("Millie");
+ N1 += string("Constipation");
+ N1 += string("Serendipity");
+ N1 += string("Harmony");
+ vs.push_back(string("X comp"));
+ vs.push_back(string("Y bias"));
+ vs.push_back(string("Harmony"));
+ vs.push_back(string("Z res"));
+ N2 = Namelist(vs);
+ N3 = N1 | N2;
+
+ cout << " Namelist 1: " << N1 << endl;
+ cout << " Namelist 2: " << N2 << endl;
+ cout << " Namelist 3: " << N3 << endl;
+
+ N = N1 ^ N2;
+ cout << " N1 xor N2: " << N << endl;
+ N = N1 | N2;
+ cout << " N1 or N2: " << N << endl;
+ N = N1 & N3;
+ cout << " N1 and N3: " << N << endl;
+ N -= (string("Fred"));
+ cout << " N1 and N3 without Fred: " << N << endl;
+ N.resize(6);
+ cout << " Prev NL resized to 6: " << N << endl;
+ N -= string("Millie");
+ N -= string("Harmony");
+ N -= string("Constipation");
+ cout << " Prev NL without Millie and Harmony and Constipation\n " << N << endl;
+ N.resize(6);
+ cout << " Prev NL resized to 6: " << N << endl;
+ N.resize(7);
+ N.setName(5,string("Twenty"));
+ cout << " Prev NL resized to 7: " << N << endl;
+ N.sort();
+ cout << " Prev NL sorted: " << N << endl;
+ cout << " print the elements of N2 using get : ";
+ for(int i=0; i<N2.size(); i++) cout << " / " << N2.getName(i);
+ cout << endl;
+
+ cout << "End test prgm" << endl;
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
+
diff --git a/dev/apps/geomatics/kalman/tsrif.cpp b/dev/apps/geomatics/kalman/tsrif.cpp
new file mode 100644
index 0000000..9f4f3ed
--- /dev/null
+++ b/dev/apps/geomatics/kalman/tsrif.cpp
@@ -0,0 +1,1430 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file tsrif.cpp
+ * Test class measurement update of SRIFilter
+ */
+
+//------------------------------------------------------------------------------------
+#include <iostream>
+#include <iomanip>
+
+#include "SRIFilter.hpp"
+#include "StringUtils.hpp"
+#include "random.hpp"
+#include "DayTime.hpp"
+#include "Stats.hpp"
+#include "PolyFit.hpp"
+#include "RobustStats.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+// convenience
+void LSFunc(Vector<double>& X, Vector<double>& f, Matrix<double>& P);
+void doIt(Vector<double>& data, Vector<double>& sol, Matrix<double>& cov);
+
+//------------------------------------------------------------------------------------
+// prints inside SRIFilter
+bool verbose=false;
+// data for the various tests
+int test,batch,batchsize,batchlen;
+// fake satellites
+// (X,Y,Z)(t) = RSV*(st*sp,st*cp,ct)
+// where t=Theta+OmegaTheta*t, p=Phi+OmegaPhi*t, s=sin(), c=cos()
+double RSV[4]={22.123, 20.984, 21.873, 22.749},
+ OmegaPhi[4]={ 0.222, 0.128, -0.209, 0.399},
+OmegaTheta[4]={ 0.199, -0.233, 0.212, -0.274},
+ Phi[4]={-5.000, 3.209, 0.000, -1.230},
+ Theta[4]={ 0.000, 6.123, -1.237, 4.003},
+ Bias[4]={18.239, 83.928, -2.489, 45.209},
+ Drift[4]={ 0.238, -0.983, 0.703, 0.834};
+Matrix<double> P6; // for test 6,7
+Vector<double> D6; // for test 6,7
+Vector<double> D4; // for test 4,5
+// test 8,9
+// n is the number of turns
+// w is the wire width (microm)
+// d is the inner diameter (microm)
+// D is the outer diameter (microm)
+// L is the measured inductance (nH)
+double n8[50] = {
+ 3.7500, 4.2500, 9.2500, 4.5000, 5.7500, 12.0000, 7.0000, 6.0000, 8.0000, 4.0000,
+ 11.0000, 8.0000, 6.0000, 3.0000, 5.0000, 9.0000, 16.0000, 6.0000, 3.0000, 4.0000,
+ 2.0000, 2.0000, 3.0000, 9.2500, 4.0000, 8.0000, 6.0000, 3.5000, 4.5000, 5.5000,
+ 6.5000, 7.5000, 9.2500, 6.7500, 2.5000, 4.2500, 7.0000, 3.0000, 9.0000, 8.0000,
+ 5.0000, 9.0000, 3.2500, 4.5000, 3.0000, 5.7500, 3.0000, 4.0000, 6.0000, 8.0000
+};
+double w8[50] = {
+ 22.4000, 21.0000, 6.0000, 17.6000, 12.0000, 3.2000, 13.0000, 24.0000, 5.0000,
+ 5.0000, 9.0000, 14.0000, 19.0000, 19.0000, 24.0000, 6.5000, 5.0000, 9.0000,
+ 9.0000, 14.0000, 14.0000, 19.0000, 24.0000, 5.2000, 16.0000, 10.0000, 15.0000,
+ 10.0000, 10.0000, 10.0000, 10.0000, 10.0000, 5.2000, 13.0000, 13.0000, 13.0000,
+ 15.0000, 20.0000, 6.5000, 6.0000, 7.0000, 7.0000, 25.0000, 23.0000, 18.0000,
+ 9.5000, 90.0000, 16.0000, 16.0000, 16.0000
+};
+double d8[50] = {
+ 165.4500, 132.8500, 64.3500, 221.9000, 82.0500, 57.0000, 34.0000, 42.0000,
+ 164.0000, 236.0000, 22.0000, 20.0000, 32.0000, 170.0000, 28.0000, 25.0000,
+ 20.0000, 152.0000, 230.0000, 164.0000, 236.0000, 216.0000, 140.0000, 15.8000,
+ 38.0000, 80.0000, 75.0000, 177.5000, 115.5000, 75.5000, 44.5000, 20.5000,
+ 15.8000, 34.0000, 204.0000, 34.0000, 30.0000, 210.0000, 5.0000, 46.0000,
+ 44.0000, 44.0000, 150.5000, 51.0000, 168.0000, 23.7500, 136.0000, 74.0000,
+ 100.0000, 136.0000
+};
+double D8[50] = {
+ 345, 325, 210, 395, 240, 180, 300, 400, 300, 300,
+ 300, 300, 300, 300, 300, 230, 300, 300, 300, 300,
+ 300, 300, 300, 145, 226, 310, 285, 255, 216, 199,
+ 191, 190, 145, 290, 290, 190, 300, 410, 210, 226,
+ 154, 250, 340, 300, 300, 190, 700, 262, 392, 532
+};
+double L8[50] = {
+ 5.2000, 5.5000, 13.7000, 10.2000, 6.5000, 20.1000, 7.6000, 7.3000, 23.5000,
+ 9.7000, 17.3000, 9.0000, 5.5000, 3.5000, 3.7000, 9.6000, 36.6000, 12.3000,
+ 5.2000, 5.9000, 2.4000, 2.1000, 2.8000, 6.4000, 2.1000, 13.9000, 7.2000,
+ 5.2000, 5.3000, 5.3000, 5.3000, 5.5000, 6.2000, 7.0000, 3.1000, 2.1000,
+ 7.4000, 4.3000, 7.5000, 9.1000, 2.8000, 12.1000, 3.6000, 3.5000, 3.4000,
+ 3.4000, 3.9000, 3.1000, 9.8000, 23.8000
+};
+double x10[5]={ 1.5, 1.5, 1.8, 2.0, 2.5 };
+//double x10[5]={ 1.5, 1.5, 1.0, 2.0, 2.5 }; // sats in line -> clear double well
+double y10[5]={ 1.5, 2.0, 2.5, 1.75, 1.5 };
+// 150 data - actually 149, 2005 is made up
+int years11[] = {1856,1857,1858,1859,1860,1861,1862,1863,1864,1865,1866,1867,
+ 1868,1869,1870,1871,1872,1873,1874,1875,1876,1877,1878,1879,1880,1881,
+ 1882,1883,1884,1885,1886,1887,1888,1889,1890,1891,1892,1893,1894,1895,
+ 1896,1897,1898,1899,1900,1901,1902,1903,1904,1905,1906,1907,1908,1909,
+ 1910,1911,1912,1913,1914,1915,1916,1917,1918,1919,1920,1921,1922,1923,
+ 1924,1925,1926,1927,1928,1929,1930,1931,1932,1933,1934,1935,1936,1937,
+ 1938,1939,1940,1941,1942,1943,1944,1945,1946,1947,1948,1949,1950,1951,
+ 1952,1953,1954,1955,1956,1957,1958,1959,1960,1961,1962,1963,1964,1965,
+ 1966,1967,1968,1969,1970,1971,1972,1973,1974,1975,1976,1977,1978,1979,
+ 1980,1981,1982,1983,1984,1985,1986,1987,1988,1989,1990,1991,1992,1993,
+ 1994,1995,1996,1997,1998,1999,2000,2001,2002,2003,2004,2005
+};
+double temps11[] = {-0.379,-0.462,-0.416,-0.225,-0.372,-0.404,-0.527,-0.273,
+ -0.474,-0.267,-0.223,-0.291,-0.225,-0.305,-0.296,-0.351,-0.266,-0.327,
+ -0.376,-0.424,-0.452,-0.211,-0.057,-0.287,-0.296,-0.246,-0.262,-0.318,
+ -0.349,-0.350,-0.254,-0.343,-0.311,-0.200,-0.413,-0.353,-0.407,-0.449,
+ -0.414,-0.362,-0.199,-0.186,-0.339,-0.250,-0.192,-0.256,-0.349,-0.445,
+ -0.443,-0.371,-0.292,-0.505,-0.477,-0.447,-0.442,-0.465,-0.406,-0.393,
+ -0.248,-0.159,-0.373,-0.495,-0.410,-0.292,-0.293,-0.217,-0.323,-0.299,
+ -0.347,-0.246,-0.116,-0.218,-0.227,-0.361,-0.152,-0.099,-0.137,-0.239,
+ -0.139,-0.172,-0.121,-0.024,0.076,-0.038,-0.083,0.028,-0.020,0.001,
+ 0.158,0.039,-0.120,-0.105,-0.093,-0.097,-0.210,-0.093,-0.025,0.045,
+ -0.170,-0.189,-0.272,-0.006,0.061,0.014,-0.028,0.015,0.008,0.039,-0.233,
+ -0.166,-0.084,-0.093,-0.105,0.040,-0.031,-0.187,-0.041,0.093,-0.171,
+ -0.123,-0.200,0.057,-0.036,0.067,0.102,0.133,0.019,0.226,0.031,0.014,
+ 0.096,0.253,0.240,0.163,0.310,0.251,0.116,0.179,0.232,0.373,0.227,0.411,
+ 0.579,0.340,0.289,0.422,0.474,0.474,0.459,0.5
+};
+
+const int M151=72;
+string msg1(" (from DDBase T202B ASWA CTRA G11 G14)");
+int n151[] = {
+ 213, 214, 215, 216, 217, 218, 228, 229, 237, 238, 239, 240, 241, 242, 243, 244,
+ 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 256, 257, 258, 259, 260,
+ 261, 262, 263, 264, 265, 266, 267, 268, 269, 270, 271, 272, 273, 274, 275, 276,
+ 277, 278, 279, 280, 281, 282, 283, 284, 285, 286, 287, 288, 289, 290, 291, 292,
+ 293, 294, 295, 296, 297, 298, 299, 300
+};
+double y151[] = {
+ 0.021, -0.012, -0.027, -0.068, -0.024, -0.043, -0.064, -0.023, -0.114, -0.030,
+ 0.009, 0.095, 0.108, 0.088, 0.126, 0.195, 0.295, 0.305, 0.303, 0.305, 0.310,
+ 0.312, 0.310, 0.309, 0.316, 0.313, 0.319, 0.321, 0.322, 0.319, 0.320, 0.320,
+ 0.319, 0.323, 0.326, 0.325, 0.330, 0.328, 0.329, 0.330, 0.339, 0.337, 0.336,
+ 0.344, 0.343, 0.343, 0.347, 0.346, 0.345, 0.344, 0.339, 0.345, 0.352, 0.349,
+ 0.355, 0.357, 0.360, 0.360, 0.359, 0.363, 0.361, 0.357, 0.359, 0.362, 0.363,
+ 0.364, 0.366, 0.366, 0.367, 0.374, 0.374, 0.375
+};
+
+const int M152=276;
+string msg2(" (from DDBase T202D ASWA CTRA G16 G25)");
+int n152[] = {
+25, 26, 27, 28, 29, 30, 31, 32, 33, 34,
+35, 36, 37, 38, 39, 40, 41, 42, 43, 44,
+45, 46, 47, 48, 49, 50, 51, 52, 53, 54,
+55, 56, 57, 58, 59, 60, 61, 62, 63, 64,
+65, 66, 67, 68, 69, 70, 71, 72, 73, 74,
+75, 76, 77, 78, 79, 80, 81, 82, 83, 84,
+85, 86, 87, 88, 89, 90, 91, 92, 93, 94,
+95, 96, 97, 98, 99, 100, 101, 102, 103, 104,
+105, 106, 107, 108, 109, 110, 111, 112, 113, 114,
+115, 116, 117, 118, 119, 120, 121, 122, 123, 124,
+125, 126, 127, 128, 129, 130, 131, 132, 133, 134,
+135, 136, 137, 138, 139, 140, 141, 142, 143, 144,
+145, 146, 147, 148, 149, 150, 151, 152, 153, 154,
+155, 156, 157, 158, 159, 160, 161, 162, 163, 164,
+165, 166, 167, 168, 169, 170, 171, 172, 173, 174,
+175, 176, 177, 178, 179, 180, 181, 182, 183, 184,
+185, 186, 187, 188, 189, 190, 191, 192, 193, 194,
+195, 196, 197, 198, 199, 200, 201, 202, 203, 204,
+205, 206, 207, 208, 209, 210, 211, 212, 213, 214,
+215, 216, 217, 218, 219, 220, 221, 222, 223, 224,
+225, 226, 227, 228, 229, 230, 231, 232, 233, 234,
+235, 236, 237, 238, 239, 240, 241, 242, 243, 244,
+245, 246, 247, 248, 249, 250, 251, 252, 253, 254,
+255, 256, 257, 258, 259, 260, 261, 262, 263, 264,
+265, 266, 267, 268, 269, 270, 271, 272, 273, 274,
+275, 276, 277, 278, 279, 280, 281, 282, 283, 284,
+285, 286, 287, 288, 289, 290, 291, 292, 293, 294,
+295, 296, 297, 298, 299, 300
+};
+double y152[] = {
+0.173, 0.189, 0.175, 0.126, 0.044, -0.081, -0.076, -0.079, -0.079, -0.081,
+-0.077, -0.079, -0.074, -0.070, -0.073, -0.072, -0.066, -0.067, -0.060, -0.059,
+-0.059, -0.054, -0.055, -0.049, -0.052, -0.052, -0.046, -0.044, -0.044, -0.038,
+-0.037, -0.033, -0.036, -0.031, -0.040, -0.036, -0.035, -0.031, -0.035, -0.031,
+-0.030, -0.031, -0.030, -0.030, -0.028, -0.025, -0.024, -0.026, -0.027, -0.025,
+-0.014, -0.014, -0.012, -0.012, -0.011, -0.005, 0.000, -0.004, 0.001, -0.004,
+0.002, 0.001, 0.003, 0.004, 0.002, 0.009, 0.012, 0.011, 0.012, 0.012,
+0.011, 0.007, 0.009, 0.011, 0.010, 0.012, 0.010, 0.010, 0.017, 0.018,
+0.019, 0.026, 0.024, 0.024, 0.031, 0.034, 0.037, 0.038, 0.040, 0.045,
+0.047, 0.045, 0.046, 0.046, 0.044, 0.048, 0.048, 0.046, 0.046, 0.049,
+0.046, 0.047, 0.050, 0.044, 0.047, 0.049, 0.050, 0.055, 0.057, 0.056,
+0.056, 0.064, 0.066, 0.072, 0.072, 0.072, 0.071, 0.073, 0.075, 0.075,
+0.077, 0.076, 0.072, 0.071, 0.081, 0.081, 0.082, 0.086, 0.086, 0.088,
+0.083, 0.090, 0.089, 0.094, 0.091, 0.092, 0.095, 0.097, 0.093, 0.095,
+0.098, 0.098, 0.099, 0.098, 0.098, 0.103, 0.100, 0.102, 0.101, 0.106,
+0.104, 0.107, 0.108, 0.112, 0.112, 0.112, 0.116, 0.117, 0.118, 0.119,
+0.125, 0.124, 0.127, 0.127, 0.126, 0.127, 0.127, 0.128, 0.128, 0.132,
+0.131, 0.135, 0.131, 0.135, 0.130, 0.131, 0.135, 0.134, 0.136, 0.139,
+0.140, 0.140, 0.140, 0.144, 0.145, 0.147, 0.147, 0.149, 0.152, 0.150,
+0.151, 0.151, 0.154, 0.154, 0.157, 0.161, 0.163, 0.163, 0.161, 0.162,
+0.164, 0.165, 0.165, 0.167, 0.166, 0.166, 0.169, 0.170, 0.171, 0.170,
+0.173, 0.172, 0.173, 0.174, 0.175, 0.175, 0.176, 0.176, 0.179, 0.182,
+0.184, 0.181, 0.180, 0.183, 0.182, 0.188, 0.187, 0.190, 0.192, 0.194,
+0.196, 0.195, 0.196, 0.200, 0.196, 0.201, 0.201, 0.198, 0.199, 0.200,
+0.199, 0.201, 0.202, 0.203, 0.201, 0.204, 0.206, 0.209, 0.207, 0.208,
+0.210, 0.210, 0.209, 0.212, 0.213, 0.215, 0.211, 0.216, 0.215, 0.214,
+0.212, 0.217, 0.216, 0.217, 0.218, 0.219, 0.222, 0.222, 0.223, 0.224,
+0.227, 0.227, 0.226, 0.224, 0.226, 0.227
+};
+
+const int M153=190;
+string msg3(" (from DDBase T202D ASWA CTRA G20 G25)");
+int n153[] = {
+111, 112, 113, 114, 115, 116, 117, 118, 119, 120,
+121, 122, 123, 124, 125, 126, 127, 128, 129, 130,
+131, 132, 133, 134, 135, 136, 137, 138, 139, 140,
+141, 142, 143, 144, 145, 146, 147, 148, 149, 150,
+151, 152, 153, 154, 155, 156, 157, 158, 159, 160,
+161, 162, 163, 164, 165, 166, 167, 168, 169, 170,
+171, 172, 173, 174, 175, 176, 177, 178, 179, 180,
+181, 182, 183, 184, 185, 186, 187, 188, 189, 190,
+191, 192, 193, 194, 195, 196, 197, 198, 199, 200,
+201, 202, 203, 204, 205, 206, 207, 208, 209, 210,
+211, 212, 213, 214, 215, 216, 217, 218, 219, 220,
+221, 222, 223, 224, 225, 226, 227, 228, 229, 230,
+231, 232, 233, 234, 235, 236, 237, 238, 239, 240,
+241, 242, 243, 244, 245, 246, 247, 248, 249, 250,
+251, 252, 253, 254, 255, 256, 257, 258, 259, 260,
+261, 262, 263, 264, 265, 266, 267, 268, 269, 270,
+271, 272, 273, 274, 275, 276, 277, 278, 279, 280,
+281, 282, 283, 284, 285, 286, 287, 288, 289, 290,
+291, 292, 293, 294, 295, 296, 297, 298, 299, 300
+};
+double y153[] = {
+-0.090, -0.100, -0.084, -0.027, 0.070, 0.202, 0.200, 0.204, 0.203, 0.205,
+0.207, 0.208, 0.207, 0.217, 0.212, 0.217, 0.219, 0.221, 0.224, 0.224,
+0.229, 0.228, 0.238, 0.235, 0.232, 0.237, 0.239, 0.242, 0.246, 0.243,
+0.242, 0.248, 0.243, 0.246, 0.248, 0.254, 0.253, 0.253, 0.253, 0.259,
+0.256, 0.259, 0.262, 0.265, 0.267, 0.269, 0.272, 0.274, 0.273, 0.274,
+0.276, 0.275, 0.282, 0.282, 0.287, 0.281, 0.289, 0.290, 0.293, 0.297,
+0.299, 0.301, 0.298, 0.300, 0.302, 0.306, 0.309, 0.310, 0.310, 0.308,
+0.317, 0.316, 0.316, 0.323, 0.326, 0.322, 0.329, 0.327, 0.328, 0.338,
+0.336, 0.332, 0.339, 0.345, 0.343, 0.347, 0.350, 0.353, 0.354, 0.355,
+0.356, 0.361, 0.364, 0.361, 0.364, 0.368, 0.366, 0.370, 0.372, 0.373,
+0.368, 0.374, 0.379, 0.376, 0.374, 0.378, 0.380, 0.384, 0.387, 0.388,
+0.389, 0.394, 0.396, 0.395, 0.399, 0.399, 0.398, 0.400, 0.404, 0.408,
+0.411, 0.413, 0.415, 0.413, 0.418, 0.419, 0.420, 0.424, 0.428, 0.429,
+0.429, 0.429, 0.438, 0.435, 0.438, 0.439, 0.441, 0.440, 0.439, 0.447,
+0.448, 0.452, 0.452, 0.454, 0.456, 0.458, 0.461, 0.462, 0.461, 0.465,
+0.468, 0.470, 0.469, 0.471, 0.471, 0.478, 0.476, 0.480, 0.481, 0.485,
+0.482, 0.492, 0.493, 0.495, 0.493, 0.491, 0.496, 0.501, 0.503, 0.504,
+0.509, 0.509, 0.510, 0.510, 0.512, 0.515, 0.516, 0.514, 0.521, 0.520,
+0.523, 0.524, 0.527, 0.526, 0.532, 0.533, 0.535, 0.540, 0.537, 0.541
+};
+
+const int M154=61;
+string msg4(" (from DDBase T202B ASWA CTRA G11 G14 after edit-resets)");
+int n154[] = {
+240, 241, 242, 243, 244, 245, 246, 247, 248, 249,
+250, 251, 252, 253, 254, 255, 256, 257, 258, 259,
+260, 261, 262, 263, 264, 265, 266, 267, 268, 269,
+270, 271, 272, 273, 274, 275, 276, 277, 278, 279,
+280, 281, 282, 283, 284, 285, 286, 287, 288, 289,
+290, 291, 292, 293, 294, 295, 296, 297, 298, 299,
+300
+};
+double y154[] = {
+0.095, 0.108, 0.088, 0.126, 0.195, 0.295, 0.305, 0.303, 0.305, 0.310,
+0.312, 0.310, 0.309, 0.316, 0.313, 0.319, 0.321, 0.322, 0.319, 0.320,
+0.320, 0.319, 0.323, 0.326, 0.325, 0.330, 0.328, 0.329, 0.330, 0.339,
+0.337, 0.336, 0.344, 0.343, 0.343, 0.347, 0.346, 0.345, 0.344, 0.339,
+0.345, 0.352, 0.349, 0.355, 0.357, 0.360, 0.360, 0.359, 0.363, 0.361,
+0.357, 0.359, 0.362, 0.363, 0.364, 0.366, 0.366, 0.367, 0.374, 0.374,
+0.375
+};
+
+int *n15,M15;
+double *y15,w15[M152];
+string msg;
+
+// formats
+#include "format.hpp"
+format f103(10,3),f103e(10,3,2),f106(10,6),f133(13,3),f63(6,3);
+
+// stuff for doIt
+Vector<double> truth;
+SRIFilter srif;
+
+//------------------------------------------------------------------------------------
+// test least squares using SRIFilter
+int main(int argc, char **argv)
+{
+try {
+ int iterationsLimit = 20;
+ double convergenceLimit = 1.e-14;
+ int i,j,k,M,N,dataset=2;
+ double t,inputsig=-1.,inputtau=-1.;
+ Vector<double> data;
+ Vector<double> sol;
+ Matrix<double> cov,partials;
+ Namelist NL;
+
+ if(argc > 1) {
+ for(i=1; i<argc; i++) {
+ //cout << "arg " << i << " is " << argv[i] << endl;
+ j = atoi(argv[i]);
+ if(j > 0)
+ test = j;
+ else if(argv[i][0] == '-') {
+ if(argv[i][1] == 'v' || argv[i][1]=='V')
+ verbose = true;
+ else if(argv[i][1] == 't' || argv[i][1] == 'T') {
+ i++;
+ inputtau = atof(argv[i]);
+ }
+ else if(argv[i][1] == 's' || argv[i][1] == 'S') {
+ i++;
+ inputsig = atof(argv[i]);
+ }
+ else if(argv[i][1] == 'd' || argv[i][1] == 'D') {
+ i++;
+ dataset = atoi(argv[i]);
+ }
+ }
+ else
+ cout << "Unrecognized option: " << argv[i] << endl;
+ }
+ if(dataset < 1 || dataset > 4) {
+ cout << "Error: -d [1234] only. Abort\n";
+ return -1;
+ }
+ }
+ else {
+ cout << "Test least squares using class SRIFilter\n";
+ cout << " Usage tsrif <n> [-v] [-t tau] [-s sig] [-d n]" << endl;
+ cout << " where -v turns on verbose output inside SRIFilter" << endl;
+ cout << " and -t and -s are for choice 14 (see below)" << endl;
+ cout << " and -d is for choices 15 & 16, n=1,2,3,or4 (see below)" << endl;
+ cout << " and n is:" << endl;
+ cout << " 1 simple 1-d linear problem" << endl;
+ cout << " 2 simple 1-d linearized problem" << endl;
+ cout << " 3 multi-dimensional non-linear problem" << endl;
+ cout << " 4 a non-linear batch test; a ranging problem" << endl;
+ cout << " 5 test 4 done sequentially" << endl;
+ cout << " 6 a batch linear test with random partials and data" << endl;
+ cout << " 7 same as 6, but sequential" << endl;
+ cout << " 8 a very non-linear equation made linear" << endl;
+ cout << " 9 direct linearized solution of test 8" << endl;
+ cout << " 10 a 2-d ranging problem with a false minimum" << endl;
+ cout << " 11 global warming trends - polynomial fit in batchs" << endl;
+ cout << " 12 global warming trends - polynomial fit in one batch" << endl;
+ cout << " 13 global warming trends - piecewise fit in one batch" << endl;
+ cout << " 14 global warming trends - piecewise fit constrained by "
+ << "Gauss-Markov process\n characterized by sigma and tau "
+ << "(input or defaults: tau=50,sig=0.1)." << endl;
+ cout << " 15 weighted LS using DD phase data (for dataset n use -d n)"<< endl;
+ cout << " 16 robust LS using DD phase data of problem 15" << endl;
+ return 0;
+ }
+
+ cout << "\n========================= Test " << test
+ << " =========================" << endl;
+ if(test == 1) {
+ cout << " linear model : \n f(X) = [ x0 + x1*t + x2*t*t]" << endl;
+ cout << " partials : \n = [ 1 , t , t*t]" << endl;
+ cout << " add 0.025 gaussian noise to data" << endl;
+ M=1; batch=10; N=3;
+ data.resize(M*batch);
+ truth.resize(N); truth(0) = 1.0; truth(1) = 2.0; truth(2) = 4.0;
+
+ NL += "x0"; NL += "x1"; NL += "x2";
+ srif = SRIFilter(NL);
+ srif.doLinearize = false;
+ sol.resize(N); sol = 1.5;
+ for(i=0; i<batch; i++) {
+ t = i * 0.32;
+ data(M*i) = RandNorm(0.025) + truth(0) + truth(1)*t + truth(2)*t*t;
+ }
+ doIt(data,sol,cov);
+ }
+ else if(test == 2) {
+ cout << " linearized :\n f(X) = [ x0*sin(t) + sin(x1)*cos(t) ]" << endl;
+ cout << " partials :\n [ sin(t), cos(x1)*cos(t) ]" << endl;
+ cout << " add 0.025 gaussian noise to data" << endl;
+ M=1; batch=20; N=2;
+ data.resize(M*batch);
+ truth.resize(N); truth(0) = 1.0; truth(1) = -0.5;
+
+ NL += "x0"; NL += "x1";
+ srif = SRIFilter(NL);
+ srif.doLinearize = true;
+ sol.resize(N); sol = -1.;
+ for(i=0; i<batch; i++) {
+ t = i * 0.32;
+ data(M*i) = RandNorm(0.025) + truth(0)*sin(t) + sin(truth(1))*cos(t);
+ }
+ doIt(data,sol,cov);
+ }
+ else if(test == 3) {
+ cout << " A multi-dimensional non-linear problem" << endl;
+ cout << " [ cos(x1)*sin(t) - 10*sin(x2)*cos(t) ]" << endl;
+ cout << " f(X) = [ 2*sin(x0)*cos(t) + 4*cos(x3) ]" << endl;
+ cout << " [ x0*sin(x1)*t*t - x2*cos(x3)*tan(t) ]" << endl;
+ cout << " partials = " << endl;
+ cout<<" [0 -sin(x1)*sin(t) -10*cos(x2)*cos(t) 0 ]"
+ << endl;
+ cout<<" [2*cos(x0)*cos(t) 0 0 -4*sin(x3) ]"
+ << endl;
+ cout<<" [sin(x1)*t*t x0*cos(x1)*t*t -cos(x3)*tan(t) x2*sin(x3)*tan(t)]"
+ << endl;
+ M=3; batch=10; N=4;
+ data.resize(M*batch);
+ sol.resize(N);
+ truth.resize(N);
+ truth(0) = 1.0; sol(0) = 1.1;
+ truth(1) = -2.0; sol(1) = -2.1;
+ truth(2) = 3.0; sol(2) = 3.1;
+ truth(3) = -4.0; sol(3) = -4.1;
+ // generate fake data with noise
+ for(i=0; i<batch; i++) {
+ t = i * 0.32;
+ data(M*i) = RandNorm(.005) + cos(truth(1))*sin(t)
+ - 10*sin(truth(2))*cos(t);
+ data(M*i+1) = RandNorm(.025) + 2*sin(truth(0))*cos(t) + 4*cos(truth(3));
+ data(M*i+2) = RandNorm(.015) + truth(0)*sin(truth(1))*t*t
+ - truth(2)*cos(truth(3))*tan(t);
+ }
+
+ NL += "x0"; NL += "x1"; NL += "x2"; NL += "x3";
+ srif = SRIFilter(NL);
+ srif.doLinearize = true;
+
+ doIt(data,sol,cov);
+ }
+ else if(test == 4) {
+ cout << " a non-linear batch test; a ranging problem" << endl;
+ cout << " f(X) = [ sqrt(d0*d0 + d1*d1 + d2*d2) - d3 ]" << endl;
+ cout << " where di = XSV[j][i]-xi for each of 4 sats j" << endl;
+ cout << endl;
+ cout << " partials = [ d0/r d1/r d2/r -1 ]" << endl;
+ cout << " where r = 1/sqrt(d0*d0 + d1*d1 + d2*d2)" << endl;
+ cout << "" << endl;
+ cout << " add gaussian noise at 0.01 to the data" << endl;
+ M=4; batch=5; N=4;
+ data.resize(M*batch);
+ sol.resize(N);
+ truth.resize(N);
+ partials.resize(M*batch,N);
+ truth(0) = 1.0;
+ truth(1) = -2.0;
+ truth(2) = 3.0;
+ truth(3) = -4.0;
+ sol = 0.0;
+ // generate fake data with noise
+ LSFunc(truth,data,partials);
+ for(i=0; i<M*batch; i++) data(i) += RandNorm(0.01);
+
+ NL += "X"; NL += "Y"; NL += "Z"; NL += "cdT";
+ srif = SRIFilter(NL);
+ srif.doLinearize = true;
+
+ doIt(data,sol,cov);
+ }
+ else if(test == 5) {
+ cout << " do test 4 again but sequentially, one batch at a time.\n";
+ //cout << " add normal noise at 0.001 to the data\n";
+ cout << " this problem is very sensitive to the noise on the data\n";
+ cout << endl;
+ cout << " NB doing this is very different than the batch solution when\n";
+ cout << " doLinearize is set. In this case the solution depends strongly on\n";
+ cout << " the initial nominal solution: bad X0 => bad Inf0 => bad X1 => ...\n";
+ cout << " A problem like this is best handled with a very good initial X,\n";
+ cout << " or a big batch for first sequential step.\n";
+ cout << " model\n";
+ cout << " f(X) = [ sqrt(d0*d0 + d1*d1 + d2*d2) - d3 ]\n";
+ cout << " where di = XSV[j][i]-xi for each of 4 sats j\n";
+ cout << " partials = [ d0/r d1/r d2/r -1 ]\n";
+ cout << " where r = 1/sqrt(d0*d0 + d1*d1 + d2*d2)\n";
+ M=4; N=4; batch=5;
+ data.resize(M);
+ sol.resize(N);
+ truth.resize(N);
+ partials.resize(M,N);
+ // true solution
+ truth(0) = 1.0;
+ truth(1) = -2.0;
+ truth(2) = 3.0;
+ truth(3) = -4.0;
+ // need a good starting point - let it be solution from test 4
+ sol(0) = 0.964780;
+ sol(1) = -1.974532;
+ sol(2) = 2.936646;
+ sol(3) = -4.058416;
+
+ NL += "X"; NL += "Y"; NL += "Z"; NL += "cT";
+ srif = SRIFilter(NL);
+ srif.doLinearize = true;
+ srif.doSequential = true;
+
+ for(batch=0; batch<5; batch++) {
+ cout << "\n------ Batch = " << batch << " ------" << endl;
+ // generate fake data with noise
+ LSFunc(truth,data,partials);
+ //for(i=0; i<M; i++) data(i) += RandNorm(0.001);
+ doIt(data,sol,cov);
+ }
+ }
+ else if(test == 6 || test == 7) {
+ batch=5;
+ M=4; N=4;
+ sol.resize(N);
+ truth.resize(N);
+ // true solution - arbitrary: it will be used to generate data
+ truth(0) = 1.0;
+ truth(1) = -2.0;
+ truth(2) = 3.0;
+ truth(3) = -4.0;
+ // P6 is used to generate data
+ P6.resize(M,N);
+ for(i=0; i<M; i++) for(j=0; j<N; j++) P6(i,j)=RandNorm(10.0);
+ cout << " Random partials matrix P6 is\n" << P6 << endl;
+ // generate fake data with noise
+ D6.resize(batch*M);
+ partials.resize(M*batch,N);
+ i = test; test = 6; LSFunc(truth,D6,partials); test = i;
+ for(i=0; i<M*batch; i++) D6(i) += RandNorm(1.0);
+
+ NL += "A"; NL += "B"; NL += "C"; NL += "D";
+ srif = SRIFilter(NL);
+ srif.doLinearize = false;
+ sol = 0.0;
+
+ if(test == 6) {
+ cout << " a batch linear test using random data (same as 7):\n";
+ srif.doSequential = false;
+ data.resize(M*batch);
+ data = D6;
+ doIt(data,sol,cov);
+ }
+ else if(test == 7) {
+ cout << " a sequential linear test using random data (same as 6):\n";
+ srif.doSequential = true;
+ data.resize(M);
+ partials.resize(M,N);
+ for(batch=0; batch<5; batch++) {
+ cout << "\n ------------- Batch = " << batch << " --------------" << endl;
+ for(i=0; i<M; i++) data(i) = D6(batch*M+i);
+ doIt(data,sol,cov);
+ }
+ }
+ }
+ else if(test == 8) {
+ cout << " solve this very non-linear equation:\n";
+ cout << " L = exp(x0) * n^x1 * w^x2 * d^x3 * D^x4\n";
+ cout << " by making it linear:\n";
+ cout << " log(L) = x0 + x1*log(n) + x2*log(w) + x3*log(d) + x4*log(D)\n";
+ cout << " (test 9 will solve the non-linear equation.)\n";
+ cout << endl;
+ M=50; N=5;
+ data.resize(M);
+ partials.resize(M,N);
+ sol.resize(N);
+ truth.resize(N);
+ for(i=0; i<M; i++) data(i) = log(L8[i]);
+ sol = 0.0;
+ // I don't have the real truth...
+ truth(0) = -7.254122;
+ truth(1) = 1.379365;
+ truth(2) = -0.480604;
+ truth(3) = 0.275616;
+ truth(4) = 1.213172;
+
+ NL += "x0"; NL += "x1"; NL += "x2"; NL += "x3"; NL += "x4";
+ srif = SRIFilter(NL);
+ srif.doLinearize = false;
+ srif.doSequential = false;
+
+ doIt(data,sol,cov);
+ }
+ else if(test == 9) {
+ cout << " solve this very non-linear equation:\n";
+ cout << " L = exp(x0) * n^x1 * w^x2 * d^x3 * D^x4\n";
+ cout << " (test 8 solves the log of this equation (linear).)\n";
+ cout << endl;
+ M=50; N=5;
+ partials.resize(M,N);
+ sol.resize(N);
+ truth.resize(N);
+ data.resize(M);
+ data = L8;
+ // I don't have the real truth...
+ truth(0) = -7.254122;
+ truth(1) = 1.379365;
+ truth(2) = -0.480604;
+ truth(3) = 0.275616;
+ truth(4) = 1.213172;
+ sol = truth; // 0.0;
+
+ NL += "x0"; NL += "x1"; NL += "x2"; NL += "x3"; NL += "x4";
+ srif = SRIFilter(NL);
+ srif.doLinearize = true;
+ srif.doSequential = false;
+
+ doIt(data,sol,cov);
+ }
+ else if(test == 10) {
+ cout << " a 2-d ranging problem with a false minimum.\n";
+ cout << " generate data from truth, adding 0.002 gaussian noise.\n";
+ cout << " look at the plot, which is the potential well.\n";
+ cout << " it has a minimum at (1,1), which is the true solution,\n";
+ cout << " but also another local minimum, at (2.81,2.46).\n";
+ cout << " try starting a (0,0), then again starting at (4,4)\n";
+ cout << endl;
+ M=5; N=2;
+ Vector<double> f(M),D(M);
+ data.resize(M);
+ truth.resize(N);
+ sol.resize(N);
+ partials.resize(M,N);
+ truth(0) = truth(1) = 1.0;
+ // generate the data from truth + noise
+ LSFunc(truth,data,partials);
+
+ // generate a contour plot of the data
+ while(1) {
+ double x,y,z,r;
+ ofstream ofs("tsrif10.dat",ios::out);
+ if(!ofs) {
+ cout << " Could not open tsrif10.dat .. abort contour plot\n";
+ break;
+ }
+ for(i=0; i<40; i++) {
+ sol(0) = x = i*0.10;
+ for(j=0; j<40; j++) {
+ sol(1) = y = j*0.10;
+ LSFunc(sol,f,partials);
+ z = norm(f-data); // ie RSS
+ ofs << f63 << x << " " << f63 << y << " " << f63 << z*z << endl;
+ }
+ ofs << " " << endl; // gnuplot wants a blank line
+ }
+ ofs.close();
+ cout << " Created file tsrif10.dat\n";
+
+ ofs.open("tsrif10.gp",ios::out);
+ if(!ofs) {
+ cout << " Could not open tsrif10.gp .. abort contour plot\n";
+ break;
+ }
+ ofs << "set title \"tsrif 10 - ranging problem with false minimum\"\n";
+ ofs << "set xlabel \"X\"\n";
+ ofs << "set ylabel \"Y\"\n";
+ ofs << "set zlabel \"Potential = |f-d|^2\"\n";
+ ofs << "#set xrange [40:60]\n";
+ ofs << "#set yrange [250:290]\n";
+ ofs << "#set zrange [0:12]\n";
+ ofs << "#set cbrange [0:12]\n";
+ ofs << "set pm3d\n";
+#ifndef _WIN32
+ ofs << "set term x11 enhanced font \"luxi sans,17\"\n"; // linux only
+#endif
+ ofs << "unset key\n";
+ ofs << "set data style lines\n";
+ ofs << "set contour base\n";
+ ofs << "set cntrparam levels incremental 0.0,0.25,12.0\n";
+ ofs << "# comment out next two to see only contours\n";
+ ofs << "set hidden3d\n";
+ ofs << "set view 60,45\n";
+ ofs << "# un-comment out next two to see only contours\n";
+ ofs << "#set nosurface\n";
+ ofs << "#set view 0,0\n";
+ ofs << "set label 1 \"potential well - note true minimum at (1,1) "
+ << "and local minimum at (2.81,2.46)\" at screen 0.5,0.88 center\n";
+ ofs << "splot \"tsrif10.dat\" using 1:2:3\n";
+ ofs.close();
+ cout << " Created file tsrif10.gp .. try gnuplot tsrif10.gp\n\n";
+ break;
+ }
+
+ for(k=0; k<5; k++) data(k) += RandNorm(0.002);
+ D = data; // save
+
+ NL += "X"; NL += "Y";
+ srif = SRIFilter(NL);
+ srif.doLinearize = true;
+ srif.doSequential = false;
+
+ // starting value
+ sol(0) = sol(1) = 0.0;
+ doIt(data,sol,cov);
+ cout << endl << " ---------------------------------------------------------\n"
+ << " do it again, starting at (4,4) to get the false minimum.\n";
+ sol(0) = sol(1) = 4.0;
+ data = D;
+ srif.zeroAll();
+ srif.iterationsLimit = 40;
+ doIt(data,sol,cov);
+ }
+ else if(test == 11) {
+ //{
+ // ifstream ifs("globaltemp.data");
+ // if(!ifs) {
+ // cout << "could not open globaltemp.data .. abort\n";
+ // return 0;
+ // }
+ // const int BUFF_SIZE=100;
+ // char buffer[BUFF_SIZE];
+ // int year=0;
+ // double temp;
+ // vector<int> years;
+ // vector<double> temps;
+ // while(ifs.getline(buffer,BUFF_SIZE)) {
+ // if(buffer[0]=='#') continue;
+ // string line=buffer;
+ // StringUtils::stripTrailing(buffer,'\r');
+ // string::size_type p;
+ // vector<string> fs;
+ // while(line.size() > 0) {
+ // p = line.find(" ");
+ // if(p==string::npos) p=line.size();
+ // if(p != 0) fs.push_back(line.substr(0,p));
+ // if(p >= line.size()) break;
+ // line.erase(0,p+1);
+ // }
+ // if(StringUtils::asInt(fs[0]) == year) continue; // percentages line
+ // year = StringUtils::asInt(fs[0]);
+ // temp = StringUtils::asDouble(fs[13]);
+ // years.push_back(year);
+ // temps.push_back(temp);
+ // cout << year << " " << fixed << setprecision(3) << setw(6)
+ // << temp << endl;
+ // }
+ // ifs.close();
+ // for(i=0; i<years.size(); i++) cout << "," << years[i]; cout << endl;
+ // for(i=0; i<temps.size(); i++) cout << "," << temps[i]; cout << endl;
+ //}
+ cout << " a simple but noisy polynomial fit" << endl;
+ cout << " to global temperature anomaly data." << endl;
+ cout << " do it in 8 batches (7 of 20, then 1 of 9) points each." << endl;
+ cout << " cf. www.cru.uea.ac.uk/cru/data/temperature" << endl;
+ NL += "c0"; NL += "c1"; NL += "c2"; NL += "c3"; NL += "c4"; NL += "c5";
+ N = NL.size();
+ M = batchlen = batchsize = 20;
+ Vector<double> f(M);
+ Matrix<double> Coef(8,N); // save the results from each batch
+ data.resize(M);
+ truth.resize(N);
+ sol.resize(N);
+ partials.resize(M,N);
+ truth = 0.0; // don't know it
+
+ srif = SRIFilter(NL);
+ srif.doLinearize = false;
+ srif.doSequential = true;
+
+ sol = 0.0;
+ Coef = 0.0;
+ for(batch=0; batch<8; batch++) {
+ if(batch == 7) {
+ batchlen = 9;
+ data.resize(batchlen); // actually not necessary...
+ }
+ for(i=0; i<batchlen; i++) data(i) = temps11[batch*batchsize+i];
+ cout << "\n -------- Batch " << batch+1 << " --------" << endl;
+ doIt(data,sol,cov);
+ for(i=0; i<N; i++) Coef(batch,i)=sol(i);
+ }
+
+ // print out the results, and generate a plot
+ cout << "\n Coefficients (batch vs coefficients) :\n" << fixed
+ << setw(10) << setprecision(3) << Coef << endl;
+
+ ofstream ofs("tsrif11.dat",ios::out);
+ if(!ofs) {
+ cout << " Could not open tsrif11.dat .. abort plot\n";
+ }
+ else {
+ // print all the data and all the solutions -- do in one big batch
+ batch = 0; // this necessary for LSFunc to operate correctly
+ M = batchlen = batchsize = 149;
+ Matrix<double> F(M,8);
+ f.resize(M);
+ partials.resize(M,N);
+ for(j=0; j<8; j++) {
+ sol = Coef.rowCopy(j); // pick out the jth solution
+ LSFunc(sol,f,partials); // evaluate at all 149 times
+ //for(i=0; i<M; i++) F(i,j)=f(i); // use slice instead
+ // (matrix,col index,slice=(start,length,stride))
+ MatrixColSlice<double> Fcol(F,j,std::slice(0,M,1));
+ Fcol = f; // copy into (the slice of) F
+ //MatrixRowSlice<double> Frow(F,17,std::slice(0,7,1));
+ //cout << "Col slice is\n" << Fcol << endl;
+ //cout << "Row slice is\n" << Frow << endl;
+ }
+ // print all the evaluated polynomials at all the times
+ for(i=0; i<M; i++) {
+ // times and data
+ ofs << setw(4) << years11[i] << " " << f63 << temps11[i];
+ // solutions
+ for(j=0; j<8; j++) ofs << " " << f63 << F(i,j);
+ ofs << endl;
+ }
+ ofs.close();
+ cout << " Created tsrif11.dat" << endl;
+ ofs.open("tsrif11.gp",ios::out);
+ if(!ofs) {
+ cout << " Could not open tsrif11.gp .. abort plot\n";
+ }
+ else {
+ ofs << "set title \"Global temperature anomaly - "
+ << "sequential fits of order " << N-1 << " in 7 batches of 20 points "
+ << "and 1 of 9 ... tsrif(11)\"\n";
+ ofs << "set xlabel \"Year\"\n";
+ ofs << "set ylabel \"Temperature anomaly\"\n";
+ ofs << "unset mouse\n";
+#ifndef _WIN32
+ ofs << "set term x11 enhanced font \"luxi sans,17\"\n"; // linux only
+#endif
+ ofs << "set key left\n";
+ ofs << "#set xrange [40:60]\n";
+ ofs << "set yrange [-0.6:0.6]\n";
+ ofs << "set style line 1 lt 8 lw 2\n";
+ ofs << "plot \"tsrif11.dat\" using 1:2 t \"dT\" with points\n";
+ ofs << "replot \"tsrif11.dat\" using 1:3 t \"fit1\" with lines\n";
+ ofs << "replot \"tsrif11.dat\" using 1:4 t \"fit2\" with lines\n";
+ ofs << "replot \"tsrif11.dat\" using 1:5 t \"fit3\" with lines\n";
+ ofs << "replot \"tsrif11.dat\" using 1:6 t \"fit4\" with lines\n";
+ ofs << "replot \"tsrif11.dat\" using 1:7 t \"fit5\" with lines\n";
+ ofs << "replot \"tsrif11.dat\" using 1:8 t \"fit6\" with lines\n";
+ ofs << "replot \"tsrif11.dat\" using 1:9 t \"fit7\" with lines\n";
+ ofs << "replot \"tsrif11.dat\" using 1:10 t \"fit8\" with lines ls 1\n";
+ ofs.close();
+ cout << " Created file tsrif11.gp .. try gnuplot tsrif11.gp\n";
+ }
+ }
+ }
+ else if(test == 12) {
+ cout << " a simple but noisy polynomial fit";
+ cout << " to global temperature anomaly data." << endl;
+ cout << " do it in one big batch of 149 points,";
+ cout << " and plot the data." << endl;
+ cout << " cf. www.cru.uea.ac.uk/cru/data/temperature" << endl;
+ NL += "c0"; NL += "c1"; NL += "c2"; NL += "c3"; NL += "c4"; NL += "c5";
+ //NL += "c6"; NL += "c7"; NL += "c8";
+ //NL += "c9"; NL += "c10"; NL += "c11";
+ batchlen=batchsize=M=149; N=NL.size();
+ Vector<double> f(M);
+ data.resize(M);
+ truth.resize(N);
+ sol.resize(N);
+ partials.resize(M,N);
+ truth = 0.0; // don't know it
+
+ srif = SRIFilter(NL);
+ srif.doLinearize = false;
+ srif.doSequential = false;
+
+ sol = 0.0;
+ batch = 0; // for LSFunc
+ for(i=0; i<M; i++) data(i) = temps11[i];
+ doIt(data,sol,cov);
+
+ ofstream ofs("tsrif12.dat",ios::out);
+ if(!ofs) {
+ cout << " Could not open tsrif12.dat .. abort plot\n";
+ }
+ else {
+ LSFunc(sol,f,partials);
+ for(i=0; i<M; i++) {
+ ofs << setw(4) << years11[i]
+ << " " << f63 << temps11[i]
+ << " " << f63 << f[i] << endl;
+ }
+ ofs.close();
+ cout << " Created tsrif12.dat" << endl;
+ ofs.open("tsrif12.gp",ios::out);
+ if(!ofs) {
+ cout << " Could not open tsrif12.gp .. abort plot\n";
+ }
+ else {
+ ofs << "set title \"Global temperature anomaly - fit of order "
+ << N-1 << " tsrif(12)\"\n";
+ ofs << "set xlabel \"Year\"\n";
+ ofs << "set ylabel \"Temperature anomaly\"\n";
+ ofs << "unset mouse\n";
+#ifndef _WIN32
+ ofs << "set term x11 enhanced font \"luxi sans,17\"\n"; // linux only
+#endif
+ ofs << "set key left\n";
+ ofs << "#set xrange [40:60]\n";
+ ofs << "#set yrange [250:290]\n";
+ ofs << "plot \"tsrif12.dat\" using 1:2 t \"dT\" with points\n";
+ ofs << "replot \"tsrif12.dat\" using 1:3 t \"fit\" with lines\n";
+ ofs.close();
+ cout << "\n Created file tsrif12.gp .. try gnuplot tsrif12.gp\n";
+ }
+ }
+ }
+ else if(test == 13 || test == 14) {
+ // see discussion below under test == 14
+ double tau=50.0,sig=0.1,B=0.0; // data residuals are about 0.1
+ // input may come from command line
+ if(inputsig > 0) sig=inputsig;
+ if(inputtau > 0) tau=inputtau;
+
+ cout << "Try fitting the global temperature data of options 11 and 12\n";
+ cout << "another way. Divide the timeline into N equal parts. In each part,\n";
+ cout << "fit the data to a constant (13). Then do it again (14), but with\n";
+ cout << "a priori information which correlates the solution elements\n";
+ cout << "using a first order Markov (random walk) process.\n";
+
+ NL += "c0"; NL += "c1"; NL += "c2"; NL += "c3"; NL += "c4"; NL += "c5";
+ NL += "c6"; NL += "c7"; NL += "c8"; NL += "c9";
+ N = NL.size();
+
+ batchlen = batchsize = M = 150;
+ data.resize(M);
+ truth.resize(N);
+ sol.resize(N);
+ partials.resize(M,N);
+ for(i=0; i<N; i++) {
+ truth(i) = 0.0;
+ for(int j=i*(150/N); j<(i+1)*(150/N); j++)
+ truth(i) += temps11[j];
+ truth(i) /= (150/N);
+ }
+
+ srif = SRIFilter(NL);
+ srif.doLinearize = false;
+ srif.doSequential = false;
+
+ sol = 0.0;
+ batch = 0; // for LSFunc
+ for(i=0; i<M; i++) data(i) = temps11[i];
+
+ if(test == 13) cout << " Don't correlate the state elements" << endl;
+ if(test == 14) {
+ cout << " Add correlation to the state elements" << endl;
+ // State = 0
+ // Cov = (sig2,B2=const, e=exp(-dt/tau) where dt is
+ // the time spacing of the state elements....
+ // [ 1 e e^2 ]
+ // [ e 1 e ] * sig2 + B2
+ // [ e^2 e 1 ]
+ // sig2 = variance = (sigma)^2, sigma = uncertainty on state element
+ // tau = time constant => stiffer for larger tau
+ double d,ex;
+ ex = exp(-(M/N)/tau); // dt = M/N years
+ Matrix<double> apCov(N,N);
+ Vector<double> apSt(N,0.0); // apriori state is the 'expected' values
+ ident(apCov);
+ for(i=0; i<N-1; i++) { // row i
+ d = ex;
+ for(j=i+1; j<N; j++) { // col j
+ apCov(i,j) = apCov(j,i) = d;
+ d *= ex;
+ }
+ }
+ apCov *= sig*sig;
+ //apCov += B*B;
+
+ LabelledMatrix LC(NL,apCov);
+ LC.setw(10).setprecision(6);
+ LC.message(" apCov");
+ cout << LC << endl;
+
+ srif.addAPriori(apCov,apSt);
+ }
+
+ doIt(data,sol,cov);
+
+ ofstream ofs("tsrif13.dat",ios::out);
+ if(!ofs) {
+ cout << " Could not open tsrif13.dat .. abort plot\n";
+ }
+ else {
+ for(i=0; i<M; i++) {
+ k = i/(M/N);
+ ofs << setw(4) << years11[i]
+ << " " << f63 << temps11[i]
+ << " " << f63 << sol(k) << endl;
+ }
+ ofs.close();
+ cout << " Created tsrif13.dat" << endl;
+ ofs.open("tsrif13.gp",ios::out);
+ if(!ofs) {
+ cout << " Could not open tsrif13.gp .. abort plot\n";
+ }
+ else {
+ ofs << "set title \"Global temperature anomaly : piecewise";
+ if(test==13) ofs << " fit (13)\"\n";
+ if(test==14) ofs << " constrained fit, tau="
+ << setprecision(1) << tau << "yrs, sig="
+ << setprecision(3) << sig << "C"
+ << " (14)\"\n";
+ ofs << "set xlabel \"Year\"\n";
+ ofs << "set ylabel \"Temperature anomaly (deg C)\"\n";
+ ofs << "unset mouse\n";
+#ifndef _WIN32
+ ofs << "set term x11 enhanced font \"luxi sans,17\"\n"; // linux only
+#endif
+ ofs << "set key left\n";
+ ofs << "#set xrange [40:60]\n";
+ ofs << "#set yrange [250:290]\n";
+ ofs << "plot \"tsrif13.dat\" using 1:2 t \"dT\" with points\n";
+ ofs << "replot \"tsrif13.dat\" using 1:3 t \"fit\" with linespoints\n";
+ ofs.close();
+ cout << "\n Created file tsrif13.gp .. try gnuplot tsrif13.gp\n";
+ }
+ }
+ }
+ else if(test == 15 || test == 16) {
+ cout << "Dataset is " << dataset << endl;
+ if(dataset==1) { msg=msg1; n15 = &n151[0]; y15 = &y151[0]; M15=M151; }
+ if(dataset==2) { msg=msg2; n15 = &n152[0]; y15 = &y152[0]; M15=M152; }
+ if(dataset==3) { msg=msg3; n15 = &n153[0]; y15 = &y153[0]; M15=M153; }
+ if(dataset==4) { msg=msg4; n15 = &n154[0]; y15 = &y154[0]; M15=M154; }
+ NL += "Bias"; NL += "Linear"; NL += "Quad";
+ N=NL.size();
+ batchlen=batchsize=M=M15;
+ if(test == 15) cout << " a weighted polynomial fit";
+ if(test == 16) cout << " a robust polynomial fit";
+ cout << " to " << M << " double difference phase data points." << endl;
+ cout << msg << endl;
+
+ Vector<double> f(M);
+ Vector<double> res,wt(M);
+ Stats<double> stat;
+ PolyFit<double> PF;
+
+ data.resize(M);
+ truth.resize(N);
+ sol.resize(N);
+ partials.resize(M,N);
+ truth = 0.0; // don't know it
+
+ // configure srif
+ srif = SRIFilter(NL);
+ srif.iterationsLimit = 20;
+ srif.doLinearize = false;
+ srif.doSequential = false;
+
+ // ---------- do it robust
+ if(test == 16) {
+ srif.doRobust = true;
+ srif.doWeight = false;
+ srif.convergenceLimit = 1.e-2;
+ }
+ // ---------- OR weight it
+ if(test == 15) {
+ srif.doRobust = false;
+ srif.doWeight = true;
+ // compute mest of y15 to get weights
+ double median,mad,mest;
+ mad = Robust::MAD(y15,M,median,true);
+ mest = Robust::MEstimate(y15,M,median,mad,w15);
+ cov.resize(M,M);
+ ident(cov);
+ for(i=0; i<M; i++) cov(i,i) = 1.0/(w15[i]*w15[i]); // meas. cov.
+ //Robust::StemLeafPlot(cout, y15, M, "raw dd phase data");
+ }
+
+ // initialize for doit()
+ sol = 0.0;
+ batch = 0; // for LSFunc
+ for(i=0; i<M; i++) {
+ f(i) = double(n15[i]); // f used as a temp, for PolyFit PF
+ data(i) = y15[i];
+ }
+
+ // first compute regular polynomial fit to data, and compute statistics
+ PF.Reset(3);
+ PF.Add(data,f);
+ res = data - PF.Evaluate(f);
+ stat.Reset();
+ stat.Add(res);
+ cout << " Initial raw statistics on residuals of fit:\n "
+ << scientific << setprecision(3) << stat << endl;
+
+ // least squares
+ doIt(data,sol,cov);
+
+ // compute final weighted stats on residuals of fit
+ LSFunc(sol,f,partials); // f will be the fit evaluted at each point
+ if(test == 15) {
+ res = data; // leastSquares returns residuals in data Vector
+ for(i=0; i<M; i++) {
+ data(i)=y15[i];
+ wt(i)=w15[i];
+ }
+ }
+ if(test == 16) {
+ wt = data; // leastSquares(robust) returns weights in data Vec
+ for(i=0; i<M; i++) data(i)=y15[i];
+ res = data-f;
+ }
+
+ //cout << "Weights: " << wt << endl;
+ stat.Reset();
+ stat.Add(res,wt);
+ cout << " Final weighted statistics on residuals of fit:\n "
+ << scientific << setprecision(3) << stat << endl;
+
+ // plot
+ string filename;
+ filename = "tsrif" + StringUtils::asString(test) + ".dat";
+ ofstream ofs(filename.c_str(),ios::out);
+ if(!ofs) {
+ cout << " Could not open " << filename << " .. abort plot\n";
+ }
+ else {
+ for(i=0; i<M; i++) {
+ ofs << fixed << setw(4) << n15[i]
+ << " " << f63 << data[i]
+ << " " << f63 << f[i]
+ << " " << f63 << res[i]
+ << " " << f63 << wt[i]
+ << " " << f63 << fabs(res[i])/stat.StdDev()
+ << endl;
+ }
+ ofs.close();
+ cout << " Created " << filename << endl;
+ filename = "tsrif" + StringUtils::asString(test) + ".gp";
+ ofs.open(filename.c_str(),ios::out);
+ if(!ofs) {
+ cout << " Could not open " << filename << " .. abort plot\n";
+ }
+ else {
+ if(test == 15) ofs << "set title \"DD Phase data - wt'd fit of order "
+ << N-1 << " tsrif(15," << dataset << ")\\n(wts from m-est of data)\"\n";
+ if(test == 16) ofs << "set title \"DD Phase data - robust fit of order "
+ << N-1 << " tsrif(16," << dataset << ")\"\n";
+ ofs << "set xlabel \"Count\"\n";
+ ofs << "set ylabel \"DDPhase(m)\"\n";
+ ofs << "unset mouse\n";
+#ifndef _WIN32
+ ofs << "set term x11 enhanced font \"luxi sans,17\"\n"; // linux only
+#endif
+ ofs << "set key bottom right\n";
+ ofs << "set autoscale y2\n";
+ ofs << "set ytics nomirror\n";
+ ofs << "set y2tics\n";
+ if(test == 15) ofs << "set y2label \"Residual (m)\"\n";
+ if(test == 16) ofs << "set y2label \"Weight\"\n";
+ ofs << "#set xrange [40:60]\n";
+ ofs << "#set yrange [250:290]\n";
+ ofs << "plot \"tsrif" << test
+ << ".dat\" using 1:2 t \"DDPh\" with points\n";
+ ofs << "replot \"tsrif" << test
+ << ".dat\" using 1:3 t \"fit\" with lines\n";
+ ofs << "replot \"tsrif" << test
+ << ".dat\" using 1:4 axes x1y2 t \"res\" with linespoints\n";
+ ofs << "replot \"tsrif" << test
+ << ".dat\" using 1:5 axes x1y2 t \"wt\" with linespoints\n";
+ ofs.close();
+ cout << "\n Created file tsrif" << test
+ << ".gp .. try gnuplot tsrif" << test << ".gp\n";
+ }
+ }
+
+ if(test == 16) {
+ QSort(&wt[0],M);
+ Robust::StemLeafPlot(cout, &wt[0], M, "weights");
+ }
+ }
+ else {
+ cout << " ... not implemented\n";
+ }
+
+ return 0;
+}
+catch(gpstk::Exception& e) {
+ cerr << "tsrif caught an exception\n" << e << endl;
+ return 0;
+}
+}
+
+//------------------------------------------------------------------------------------
+void doIt(Vector<double>& data, Vector<double>& sol, Matrix<double>& cov)
+{
+try {
+ int i,pre=6,wid=12;
+ format fmts(wid,pre,2);
+
+ srif.doVerbose = verbose;
+ cout << " Start at x = (" << fixed;
+ for(i=0; i<sol.size(); i++) cout << (i==0 ? "":",") << sol[i];
+ cout << ")" << endl;
+ //cout << " Data is (" << data.size() << "):" << setprecision(pre) << data << endl;
+
+ i = srif.leastSquaresEstimation(data,sol,cov,&LSFunc);
+ if(i) cout << " LS failed (" << i << ") "
+ << (i==-1 ? "Underdetermined" :
+ (i==-2 ? "Singular" :
+ (i==-3 ? "Failed to converge" : "Diverged")))
+ << endl;
+ cout << " SRIFilter is" << (srif.isValid() ? "":" not") << " valid" << endl;
+
+ Namelist NL=srif.getNames();
+ LabelledVector LT(NL,truth);
+ LT.setw(wid).setprecision(pre);
+ LT.message(" Truth:");
+ cout << LT << endl;
+ Vector<double> delta(sol-truth);
+ LabelledVector LR(NL,delta);
+ LR.setw(wid).setprecision(pre);
+ LR.message(" Residuals:");
+ cout << LR << endl;
+ cout << " RMS residuals of fit: " << fmts << RMS(data) << endl;
+ LabelledMatrix LC(NL,cov);
+ LC.setw(wid).setprecision(pre);
+ LC.message(" Covariance:");
+ cout << LC << endl;
+ cout << " Condition number is " << fmts << srif.ConditionNumber() << endl;
+ if(srif.doLinearize || srif.doRobust) {
+ cout << " There were " << srif.Iterations() << " iterations,";
+ cout << " and convergence was " << fmts << srif.Convergence() << endl;
+ }
+ //cout << " Data residuals (" << data.size() << ") : " << scientific
+ //<< setprecision(pre) << data << endl;
+}
+catch(gpstk::Exception& e) { GPSTK_RETHROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void LSFunc(Vector<double>& X, Vector<double>& f, Matrix<double>& P)
+{
+try {
+ double t;
+ if(test == 1) {
+ // f(X) = [ x0 + x1*t + x2*t*t]
+ // partials = [ 1 t t*t ]
+ // t = i * 0.32;
+ int M=1;
+ for(int i=0; i<batch; i++) {
+ t = i * 0.32;
+ f(M*i) = 0.0; // its linear X(0) + X(1)*t + X(2)*t*t;
+ P(M*i,0)=1.0; P(M*i,1)=t; P(M*i,2)=t*t;
+ }
+ }
+ else if(test == 2) {
+ // f(X) = [ x0*sin(t) + sin(x1)*cos(t) ]
+ // partials = [ sin(t) cos(x1)*cos(t) ]
+ // t = i * 0.32;
+ int M=1;
+ for(int i=0; i<batch; i++) {
+ t = i * 0.32;
+ f(M*i) = X(0)*sin(t) + sin(X(1))*cos(t);
+ P(M*i,0)=sin(t); P(M*i,1)=cos(X(1))*cos(t);
+ }
+ }
+ else if(test == 3) {
+ // [ cos(x1)*sin(t) - 10*sin(x2)*cos(t) ]
+ // f(X) = [ 2*sin(x0)*cos(t) + 4*cos(x3) ]
+ // [ x0*sin(x1)*t*t - x2*cos(x3)*tan(t) ]
+ //
+ // partials =
+ // [ 0 -sin(x1)*sin(t) -10*cos(x2)*cos(t) 0 ]
+ // [ 2*cos(x0)*cos(t) 0 0 -4*sin(x3) ]
+ // [ sin(x1)*t*t cos(x1)*t*t -cos(x3)*tan(t) sin(x3)*tan(t) ]
+ //
+ int M=3;
+ for(int i=0; i<batch; i++) { // loop over batch
+ t = i * 0.32;
+ f(M*i) = cos(X(1))*sin(t) - 10*sin(X(2))*cos(t);
+ f(M*i+1) = 2*sin(X(0))*cos(t) + 4*cos(X(3));
+ f(M*i+2) = X(0)*sin(X(1))*t*t - X(2)*cos(X(3))*tan(t);
+
+ P(M*i+0,0)=0.0;
+ P(M*i+0,1)=-sin(X(1))*sin(t);
+ P(M*i+0,2)=-10.0*cos(X(2))*cos(t);
+ P(M*i+0,3)=0.0;
+
+ P(M*i+1,0)=2*cos(X(0))*cos(t);
+ P(M*i+1,1)=0.0;
+ P(M*i+1,2)=0.0;
+ P(M*i+1,3)=4.0;
+
+ P(M*i+2,0)=sin(X(1))*t*t;
+ P(M*i+2,1)=X(0)*cos(X(1))*t*t;
+ P(M*i+2,2)=-cos(X(3))*tan(t);
+ P(M*i+2,3)=X(2)*sin(X(3))*tan(t);
+ }
+ }
+ else if(test == 4) {
+ double x,y,z,r,tb,th,ph;
+ for(int i=0; i<batch; i++) { // loop over batch
+ t = i * 0.32;
+ for(int j=0; j<4; j++) { // loop over satellites
+ th = Theta[j]+OmegaTheta[j]*t;
+ ph = Phi[j]+OmegaPhi[j]*t;
+ x = RSV[j]*sin(th)*sin(ph);
+ y = RSV[j]*sin(th)*cos(ph);
+ z = RSV[j]*cos(th);
+ tb = Bias[j]; //+Drift[j]*t;
+ r = sqrt( (X(0)-x)*(X(0)-x) + (X(1)-y)*(X(1)-y) + (X(2)-z)*(X(2)-z) );
+ f(4*i+j) = r-(tb-X(3));
+ P(4*i+j,0) = (X(0)-x)/r;
+ P(4*i+j,1) = (X(1)-y)/r;
+ P(4*i+j,2) = (X(2)-z)/r;
+ P(4*i+j,3) = 1.0;
+ }
+ }
+ }
+ else if(test == 5) {
+ double x,y,z,r,tb,th,ph;
+ t = batch * 0.32;
+ for(int j=0; j<4; j++) { // loop over satellites
+ th = Theta[j]+OmegaTheta[j]*t;
+ ph = Phi[j]+OmegaPhi[j]*t;
+ x = RSV[j]*sin(th)*sin(ph);
+ y = RSV[j]*sin(th)*cos(ph);
+ z = RSV[j]*cos(th);
+ tb = Bias[j]; //+Drift[j]*t;
+ r = sqrt( (X(0)-x)*(X(0)-x) + (X(1)-y)*(X(1)-y) + (X(2)-z)*(X(2)-z) );
+ f(j) = r-(tb-X(3));
+ P(j,0) = (X(0)-x)/r;
+ P(j,1) = (X(1)-y)/r;
+ P(j,2) = (X(2)-z)/r;
+ P(j,3) = 1.0;
+ }
+ }
+ else if(test == 6) {
+ // P6 is random but fixed
+ Vector<double> f4;
+ f4 = P6*X;
+ for(int i=0; i<batch; i++) {
+ for(int j=0; j<4; j++) {
+ f(4*i+j) = f4(j);
+ for(int k=0; k<4; k++) P(4*i+j,k) = P6(j,k);
+ }
+ }
+ }
+ else if(test == 7) {
+ P = P6;
+ f = P6*X;
+ }
+ else if(test == 8) {
+ // log(L) = log(x0) + x1*log(n) + x2*log(w) + x3*log(d) + x4*log(D)
+ for(int i=0; i<f.size(); i++) {
+ f(i) = 0.0;
+ P(i,0) = 1.0;
+ P(i,1) = log(n8[i]);
+ P(i,2) = log(w8[i]);
+ P(i,3) = log(d8[i]);
+ P(i,4) = log(D8[i]);
+ }
+ }
+ else if(test == 9) {
+ // f(x) = exp( x0 + x1*log(n) + x2*log(w) + x3*log(d) + x4*log(D) ) = L
+ for(int i=0; i<f.size(); i++) {
+ f(i) = exp(X(0) + X(1)*log(n8[i]) + X(2)*log(w8[i]) + X(3)*log(d8[i])
+ + X(4)*log(D8[i]));
+ P(i,0) = f(i);
+ P(i,1) = f(i)*log(n8[i]);
+ P(i,2) = f(i)*log(w8[i]);
+ P(i,3) = f(i)*log(d8[i]);
+ P(i,4) = f(i)*log(D8[i]);
+ }
+ }
+ else if(test == 10) {
+ for(int i=0; i<f.size(); i++) {
+ f(i) = sqrt((X(0)-x10[i])*(X(0)-x10[i]) + (X(1)-y10[i])*(X(1)-y10[i]));
+ P(i,0) = (X(0)-x10[i])/f(i);
+ P(i,1) = (X(1)-y10[i])/f(i);
+ }
+ }
+ else if(test == 11 || test == 12) {
+ double t;
+ for(int i=0; i<batchlen; i++) {
+ t = (years11[batch*batchsize+i] - 1856.0)/144.;
+ P(i,0) = 1.0;
+ for(int j=1; j<X.size(); j++) P(i,j) = P(i,j-1)*t;
+ }
+ f = P * X;
+ }
+ else if(test == 13 || test == 14) {
+ P = 0.0;
+ int n;
+ for(int i=0; i<batchlen; i++) {
+ n = (batch*batchsize+i)/(batchsize/X.size());
+ P(i,n) = 1.0;
+ }
+ f = P * X;
+ }
+ else if(test == 15 || test == 16) {
+ for(int i=0; i<batchlen; i++) {
+ t = n15[batch*batchsize+i] - n15[0];
+ P(i,0) = 1.0;
+ for(int j=1; j<X.size(); j++) P(i,j) = P(i,j-1)*t;
+ }
+ f = P * X;
+ }
+}
+catch(gpstk::Exception& e) { GPSTK_RETHROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/kalman/tsrifsu.cpp b/dev/apps/geomatics/kalman/tsrifsu.cpp
new file mode 100644
index 0000000..5426dfd
--- /dev/null
+++ b/dev/apps/geomatics/kalman/tsrifsu.cpp
@@ -0,0 +1,441 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file tsrifsu.cpp
+ * Test the smoother updates in class SRIFilter
+ */
+
+#include <iostream>
+#include "Exception.hpp"
+#include "Vector.hpp"
+#include "Matrix.hpp"
+#include "SRIFilter.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+int main(int argc, char **argv)
+{
+try {
+ int test=1; // 1 for SRIFSU, 2 for HH, 3 for SRISDM
+ int n=3,ns=3;
+ //ns = 2;
+
+ if(argc > 1) test=atoi(argv[1]);
+
+ Matrix<double> R(n,n,0.0);
+ R(0,0) = -2.825;
+ R(0,1) = 0.9551;
+ R(1,1) = -2.824;
+ R(0,2) = -0.1459;
+ R(1,2) = 0.5276;
+ R(2,2) = -1.930;
+
+ Vector<double> z(n);
+ z(0) = -73.28;
+ z(1) = -4.581;
+ z(2) = 1.567;
+
+ Matrix<double> Phi(n,n,0.0);
+ Phi(0,0) = 1.0;
+ Phi(1,1) = 1.0;
+ Phi(2,2) = 1.0;
+ double dt=5.0;
+ Phi(0,1) = dt;
+ Phi(0,2) = dt*dt;
+ Phi(1,2) = dt;
+
+ Matrix<double> G(n,ns,0.0);
+ G(0,0) = 1.0;
+ G(1,1) = 1.0;
+ if(ns > 2) G(2,2) = 1.0;
+ G(0,1) = 0.05;
+ if(ns > 2) G(0,2) = 0.001667;
+ if(ns > 2) G(1,2) = 0.05;
+
+ Matrix<double> Rw(ns,ns,0.0);
+ Rw(0,0) = 8485.0;
+ Rw(0,1) = 0.0;
+ Rw(1,1) = 109.50;
+ if(ns > 2) Rw(0,2) = 0.0;
+ if(ns > 2) Rw(1,2) = 0.0;
+ if(ns > 2) Rw(2,2) = 3.162;
+
+ Matrix<double> Rwx(ns,n,0.0);
+ Rwx(0,0) = 0.028934;
+ Rwx(0,1) = 5.30428;
+ Rwx(0,2) = 1.667;
+ Rwx(1,0) = 1.2093;
+ Rwx(1,1) = 1.384725;
+ Rwx(1,2) = 2.340;
+ Rwx(0,2) = -1.2039;
+ Rwx(1,2) = 8.9984;
+ if(ns > 2) Rwx(2,2) = 0.0023143;
+
+ Vector<double> zw(ns);
+ zw(0) = 3.28;
+ zw(1) = 2.581;
+ if(ns > 2) zw(2) = -1.567;
+
+ Namelist NL,NLs;
+ NL += "X"; NL += "Y"; NL += "Z";
+ NLs += "Xs"; NLs += "Ys";
+ if(ns > 2) NLs += "Zs";
+ SRIFilter srif(R,z,NL);
+
+ cout << "SRI before SU:\n" << setw(13) << setprecision(7) << srif << endl;
+
+ LabelledMatrix LP(NL,Phi);
+ LP.setw(13).setprecision(7);
+ cout << "Phi before SU:\n" << LP << endl;
+
+ Matrix<double> Phinv;
+ Phinv = inverse(Phi);
+ LabelledMatrix LPi(NL,Phinv);
+ LPi.setw(13).setprecision(7);
+ cout << "Phinv before SU:\n" << LPi << endl;
+
+ LabelledMatrix LG(NL,NLs,G);
+ LG.setw(13).setprecision(7);
+ cout << "G before SU:\n" << LG << endl;
+
+ LabelledMatrix LRw(NLs,NLs,Rw);
+ LRw.setw(13).setprecision(7);
+ cout << "Rw before SU:\n" << LRw << endl;
+
+ LabelledMatrix LRwx(NLs,NL,Rwx);
+ LRwx.setw(13).setprecision(7);
+ cout << "Rwx before SU:\n" << LRwx << endl;
+
+ LabelledVector Lzw(NL,zw);
+ Lzw.setw(13).setprecision(7);
+ cout << "zw before SU:\n" << Lzw << endl;
+
+ Vector<double> X;
+ Matrix<double> C;
+ double small,big;
+ LabelledMatrix LC(NL,NL,C);
+ LabelledVector LX(NL,X);
+ srif.getStateAndCovariance(X,C,&small,&big);
+
+ LC.setw(13).setprecision(7);
+ cout << "Covariance before SU:\n" << LC << endl;
+ LX.setw(13).setprecision(7);
+ cout << "State before SU:\n" << LX << endl;
+
+ if(test==1) {
+ cout << "\nCall smoother update\n\n";
+ srif.smootherUpdate(Phi,Rw,G,zw,Rwx);
+ srif.getStateAndCovariance(X,C,&small,&big);
+ }
+ else if(test==2) {
+ cout << "\nDo the HH manually\n\n";
+ // _ (Ns) (N) (1) _ _ _
+ // (Ns) | Rw+Rwx*G Rwx*Phi zw | ==> | Rw Rwx zw |
+ // (N) | R*G R*Phi z | ==> | 0 R z | .
+ // - - - -
+ Matrix<double> Big;
+ Big = ( (Rw + Rwx*G) || Rwx*Phi || zw )
+ && ( R*G || R*Phi || z );
+
+ Namelist NLB=NLs|NL;
+ NLB += "State";
+ LabelledMatrix LB(NLs|NL,NLB,Big);
+ LB.setw(13).setprecision(7);
+ cout << "Composite Matrix\n" << LB << endl;
+
+ Householder<double> HHB;
+ HHB(Big);
+ LabelledMatrix LBH(NLs|NL,NLB,HHB.A);
+ LBH.setw(13).setprecision(7);
+ cout << "Composite Matrix after HH\n" << LBH << endl;
+ // (matrix,col index,slice=(start,length,stride))
+ MatrixColSlice<double> Zslice(HHB.A,n+ns,std::slice(ns,n,1));
+ //cout << "Zslice is (" << Zslice.rows() << "," << Zslice.cols() << ")\n"
+ //<< Zslice << endl;
+ z = Zslice.colCopy(0);
+ //MatrixSlice<double> Rslice(HHB.A,ns,ns,n,n);
+ //R = Matrix<double>(Rslice);
+ R = Matrix<double>(HHB.A,ns,ns,n,n);
+ // Householder() does this, but just in case....
+ //for(int i=0; i<n; i++) for(int j=0; j<i; j++) R(i,j) = 0.0;
+ srif = SRIFilter(R,z,NL);
+ srif.getStateAndCovariance(X,C,&small,&big);
+ }
+ else if(test==3) {
+ cout << "\nCall the C/X version of the smoother update\n\n";
+ SRIFilter::DMsmootherUpdate(C,X,Phinv,Rw,G,zw,Rwx);
+ Cholesky<double> Ch;
+ Ch(C);
+ R = inverse(Ch.U);
+ z = R * X;
+ srif = SRIFilter(R,z,NL);
+ }
+ cout << "Phinv after SU:\n" << LP << endl; // note LP not LPi
+ cout << "G after SU:\n" << LG << endl;
+ cout << "Rw after SU:\n" << LRw << endl;
+ cout << "Rwx after SU:\n" << LRwx << endl;
+ cout << "zw after SU:\n" << Lzw << endl;
+ cout << "SRI after SU:\n" << setw(13) << setprecision(7) << srif << endl;
+ cout << "Covariance after SU:\n" << LC << endl;
+ cout << "State after SU:\n" << LX << endl;
+
+ return 0;
+}
+catch(Exception& e) {
+ cerr << "Caught exception\n" << e << endl;
+ return -1;
+}
+}
+
+
+/* the output should be equivalent to the following. Note that many quantities
+ (Phi,Phinv,G,Rw,Rwx,zw) are intermediate values and so may differ in the 3 cases.
+-------------------------------------------------------------------------------
+For test==1:
+-------------------------------------------------------------------------------
+Matrix Print (UPT:3,3): SRI Covariance R before SU:
+ -2.8250000 0.9551000 -0.1459000
+ (0) -2.8240000 0.5276000
+ (0) (0) -1.9300000
+Vector (l=3,b=0,e=2): SRI State vector before SU:
+ -73.2800000 -4.5810000 1.5670000
+Matrix Print (SQU:3,3): Phi before SU:
+ 1.0000000 5.0000000 25.0000000
+ 0.0000000 1.0000000 5.0000000
+ 0.0000000 0.0000000 1.0000000
+Matrix Print (SQU:3,3): Phi inverse
+ 1.0000000 -5.0000000 0.0000000
+ 0.0000000 1.0000000 -5.0000000
+ 0.0000000 0.0000000 1.0000000
+Matrix Print (GEN:3,3): G matrix before SU:
+ 1.0000000 0.0500000 0.0016670
+ 0.0000000 1.0000000 0.0500000
+ 0.0000000 0.0000000 1.0000000
+Matrix Print (UPT:3,3): Rw matrix before SU:
+ 8485.0000000 0.0000000 0.0000000
+ (0) 109.5000000 0.0000000
+ (0) (0) 3.1620000
+Matrix Print (SYM:3,3): Covariance before SU:
+ 0.1396719 0.0429714 0.0030922
+ 0.0429714 0.1347628 0.0501563
+ 0.0030922 0.0501563 0.2684636
+Vector (l=3,b=0,e=2): State X before SU:
+ 26.4789073 1.4704789 -0.8119171
+
+Call SrifSU
+
+Matrix Print (SQU:3,3): Phi inverse after SU:
+ 2.8308464 13.2002762 66.1692641
+ 0.0186639 2.7399474 13.1207326
+ 0.0370416 -0.1270013 1.6464965
+Matrix Print (GEN:3,3): G after SU:
+ -2.8250000 0.8156191 -0.1697817
+ 0.0000000 -2.8240000 0.6170483
+ 0.0000000 0.0000000 -1.9300000
+Matrix Print (UPT:3,3): Rw after SU:
+ 8485.0000000 0.0000000 0.0000000
+ (0) 109.5000000 0.0000000
+ (0) (0) 3.1620000
+Matrix Print (GEN:3,3): Rwx after SU:
+ -0.0300469 -5.4543935 -26.0693988
+ -1.1881107 -7.4029263 -45.9955463
+ -0.1329200 -0.1645391 -1.9486389
+Vector (l=3,b=0,e=2): zw vector after SU:
+ -3.3047654 -2.1576620 -0.4445507
+Matrix Print (UPT:3,3): SRI Covariance R after SU:
+ 2.8308464 13.2002762 66.1692641
+ (0) 2.7399474 13.1207326
+ (0) (0) 1.6464965
+Vector (l=3,b=0,e=2): SRI State vector after SU:
+ 73.3032284 4.8851499 -0.5218388
+Matrix Print (SYM:3,3): Covariance after SU:
+ 3.4237044 1.2242346 -0.3853596
+ 1.2242346 8.5920292 -1.7664210
+ -0.3853596 -1.7664210 0.3688743
+Vector (l=3,b=0,e=2): State X after SU:
+ 17.9117060 3.3006549 -0.3169389
+-------------------------------------------------------------------------------
+For test==2:
+-------------------------------------------------------------------------------
+Matrix Print (UPT:3,3): SRI Covariance R before SU:
+ -2.8250000 0.9551000 -0.1459000
+ (0) -2.8240000 0.5276000
+ (0) (0) -1.9300000
+Vector (l=3,b=0,e=2): SRI State vector before SU:
+ -73.2800000 -4.5810000 1.5670000
+Matrix Print (SQU:3,3): Phi before SU:
+ 1.0000000 5.0000000 25.0000000
+ 0.0000000 1.0000000 5.0000000
+ 0.0000000 0.0000000 1.0000000
+Matrix Print (SQU:3,3): Phi inverse
+ 1.0000000 -5.0000000 0.0000000
+ 0.0000000 1.0000000 -5.0000000
+ 0.0000000 0.0000000 1.0000000
+Matrix Print (GEN:3,3): G matrix before SU:
+ 1.0000000 0.0500000 0.0016670
+ 0.0000000 1.0000000 0.0500000
+ 0.0000000 0.0000000 1.0000000
+Matrix Print (UPT:3,3): Rw matrix before SU:
+ 8485.0000000 0.0000000 0.0000000
+ (0) 109.5000000 0.0000000
+ (0) (0) 3.1620000
+Matrix Print (SYM:3,3): Covariance before SU:
+ 0.1396719 0.0429714 0.0030922
+ 0.0429714 0.1347628 0.0501563
+ 0.0030922 0.0501563 0.2684636
+Vector (l=3,b=0,e=2): State X before SU:
+ 26.4789073 1.4704789 -0.8119171
+
+Do the HH manually
+
+Do the SU manually:
+Matrix Print (GEN:6,7): Composite matrix
+ 8485.0289340 5.3057267 -0.9386378 0.0289340 5.4489500 26.0408500 3.2800000
+ 1.2093000 110.9451900 9.0696522 1.2093000 7.4312250 46.1545250 2.5810000
+ 0.0000000 0.0000000 3.1643143 0.0000000 0.0000000 0.0023143 -1.5670000
+ -2.8250000 0.8138500 -0.1028543 -2.8250000 -13.1699000 -65.9954000 -73.2800000
+ 0.0000000 -2.8240000 0.3864000 0.0000000 -2.8240000 -13.5924000 -4.5810000
+ 0.0000000 0.0000000 -1.9300000 0.0000000 0.0000000 -1.9300000 1.5670000
+
+Do HouseHolder
+
+Matrix Print (GEN:6,7): Composite matrix after HH
+ -8485.0294905 -5.3212675 0.9373108 -0.0300469 -5.4543935 -26.0693988 -3.3047654
+ 1.2093000 -110.9833652 -9.0560140 -1.1881107 -7.4029263 -45.9955463 -2.1576620
+ 0.0000000 0.0000000 -3.7612976 -0.1329200 -0.1645391 -1.9486389 -0.4445507
+ -2.8250000 0.8156191 -0.1697817 2.8308464 13.2002762 66.1692641 73.3032284
+ 0.0000000 -2.8240000 0.6170483 0.0186639 2.7399474 13.1207326 4.8851499
+ 0.0000000 0.0000000 -1.9300000 0.0370416 -0.1270013 1.6464965 -0.5218388
+Matrix Print (SQU:3,3): Phi inverse after SU:
+ -2.8250000 -13.1699000 -65.9954000
+ 0.0000000 -2.8240000 -13.5924000
+ 0.0000000 0.0000000 -1.9300000
+Matrix Print (GEN:3,3): G after SU:
+ -2.8250000 0.8138500 -0.1028543
+ 0.0000000 -2.8240000 0.3864000
+ 0.0000000 0.0000000 -1.9300000
+Matrix Print (UPT:3,3): Rw after SU:
+ 8485.0000000 0.0000000 0.0000000
+ (0) 109.5000000 0.0000000
+ (0) (0) 3.1620000
+Matrix Print (GEN:3,3): Rwx after SU:
+ 0.0289340 5.4489500 26.0408500
+ 1.2093000 7.4312250 46.1545250
+ 0.0000000 0.0000000 0.0023143
+Vector (l=3,b=0,e=2): zw vector after SU:
+ 3.2800000 2.5810000 -1.5670000
+Matrix Print (UPT:3,3): SRI Covariance R after SU:
+ 2.8308464 13.2002762 66.1692641
+ (0) 2.7399474 13.1207326
+ (0) (0) 1.6464965
+Vector (l=3,b=0,e=2): SRI State vector after SU:
+ 73.3032284 4.8851499 -0.5218388
+Matrix Print (SYM:3,3): Covariance after SU:
+ 3.4237044 1.2242346 -0.3853596
+ 1.2242346 8.5920292 -1.7664210
+ -0.3853596 -1.7664210 0.3688743
+Vector (l=3,b=0,e=2): State X after SU:
+ 17.9117060 3.3006549 -0.3169389
+-------------------------------------------------------------------------------
+For test==3:
+-------------------------------------------------------------------------------
+Matrix Print (UPT:3,3): SRI Covariance R before SU:
+ -2.8250000 0.9551000 -0.1459000
+ (0) -2.8240000 0.5276000
+ (0) (0) -1.9300000
+Vector (l=3,b=0,e=2): SRI State vector before SU:
+ -73.2800000 -4.5810000 1.5670000
+Matrix Print (SQU:3,3): Phi before SU:
+ 1.0000000 5.0000000 25.0000000
+ 0.0000000 1.0000000 5.0000000
+ 0.0000000 0.0000000 1.0000000
+Matrix Print (SQU:3,3): Phi inverse
+ 1.0000000 -5.0000000 0.0000000
+ 0.0000000 1.0000000 -5.0000000
+ 0.0000000 0.0000000 1.0000000
+Matrix Print (GEN:3,3): G matrix before SU:
+ 1.0000000 0.0500000 0.0016670
+ 0.0000000 1.0000000 0.0500000
+ 0.0000000 0.0000000 1.0000000
+Matrix Print (UPT:3,3): Rw matrix before SU:
+ 8485.0000000 0.0000000 0.0000000
+ (0) 109.5000000 0.0000000
+ (0) (0) 3.1620000
+Matrix Print (SYM:3,3): Covariance before SU:
+ 0.1396719 0.0429714 0.0030922
+ 0.0429714 0.1347628 0.0501563
+ 0.0030922 0.0501563 0.2684636
+Vector (l=3,b=0,e=2): State X before SU:
+ 26.4789073 1.4704789 -0.8119171
+
+Call SrisDM
+
+Matrix Print (SQU:3,3): Phi inverse after SU:
+ 1.0000000 5.0000000 25.0000000
+ 0.0000000 1.0000000 5.0000000
+ 0.0000000 0.0000000 1.0000000
+Matrix Print (GEN:3,3): G after SU:
+ 0.0001179 0.0004566 0.0005272
+ 0.0000000 0.0091324 0.0158128
+ 0.0000000 0.0000000 0.3162555
+Matrix Print (UPT:3,3): Rw after SU:
+ 0.0001179 0.0000000 0.0000000
+ (0) 0.0091324 0.0000000
+ (0) (0) 0.3162555
+Matrix Print (GEN:3,3): Rwx after SU:
+ 0.0289340 5.3042800 -1.2039000
+ 1.2093000 1.3847250 8.9984000
+ 0.0000000 0.0000000 0.0023143
+Vector (l=3,b=0,e=2): zw vector after SU:
+ 3.2800000 2.5810000 -1.5670000
+Matrix Print (UPT:3,3): SRI Covariance R after SU:
+ 2.8308464 13.2002762 66.1692641
+ (0) 2.7399474 13.1207326
+ (0) (0) 1.6464965
+Vector (l=3,b=0,e=2): SRI State vector after SU:
+ 73.3032284 4.8851499 -0.5218388
+Matrix Print (SQU:3,3): Covariance after SU:
+ 3.4237044 1.2242346 -0.3853596
+ 1.2242346 8.5920292 -1.7664210
+ -0.3853596 -1.7664210 0.3688743
+Vector (l=3,b=0,e=2): State X after SU:
+ 17.9117060 3.3006549 -0.3169389
+-------------------------------------------------------------------------------
+*/
diff --git a/dev/apps/geomatics/kalman/tsriftu.cpp b/dev/apps/geomatics/kalman/tsriftu.cpp
new file mode 100644
index 0000000..684606e
--- /dev/null
+++ b/dev/apps/geomatics/kalman/tsriftu.cpp
@@ -0,0 +1,247 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file tsriftu.cpp
+ * Test the time update in class SRIFilter
+ */
+
+#include <iostream>
+#include "Exception.hpp"
+#include "Vector.hpp"
+#include "Matrix.hpp"
+#include "SRIFilter.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+int main(int argc, char **argv)
+{
+try {
+ int N=3,Ns=3;
+ Matrix<double> R(N,N,0.0);
+ R(0,0) = -2.825;
+ R(0,1) = 0.9551;
+ R(1,1) = -2.824;
+ R(0,2) = -0.1459;
+ R(1,2) = 0.5276;
+ R(2,2) = -1.930;
+
+ Vector<double> Z(N);
+ Z(0) = -73.28;
+ Z(1) = -4.581;
+ Z(2) = 1.567;
+
+ Matrix<double> Phinv(N,N);
+ Phinv = 0.0;
+ Phinv(0,0) = 1.0;
+ Phinv(1,1) = 1.0;
+ Phinv(2,2) = 1.0;
+ double dt=-0.1;
+ Phinv(0,1) = dt;
+ Phinv(0,2) = dt*dt;
+ Phinv(1,2) = dt;
+
+ Matrix<double> G(N,Ns);
+ G = 0.0;
+ G(0,0) = 1.0;
+ G(1,1) = 1.0;
+ G(2,2) = 1.0;
+ G(0,1) = 0.05;
+ G(0,2) = 0.001667;
+ G(1,2) = 0.05;
+
+ Matrix<double> Rw(Ns,Ns,0.0);
+ Rw(0,0) = 8485.0;
+ Rw(0,1) = 0.0;
+ Rw(1,1) = 109.50;
+ Rw(0,2) = 0.0;
+ Rw(1,2) = 0.0;
+ Rw(2,2) = 3.162;
+
+ Matrix<double> Rwx(Ns,N,0.0); // Rwx must be 0
+ Vector<double> Zw(Ns);
+ Zw(0) = 1.0;
+ Zw(1) = 1.2;
+ Zw(2) = 1.3;
+
+ Namelist NL,NLs;
+ NL += "X"; NL += "Y"; NL += "Z";
+ NLs += "Xs"; NLs += "Ys";
+ if(Ns > 2) NLs += "Zs";
+ SRIFilter srif(R,Z,NL);
+
+ cout << "SRI before TU:\n" << setw(13) << setprecision(7) << srif << endl;
+
+ LabelledMatrix LP(NL,Phinv);
+ LP.setw(13).setprecision(7);
+ cout << "Phinv before TU:\n" << LP << endl;
+
+ LabelledMatrix LG(NL,NLs,G);
+ LG.setw(13).setprecision(7);
+ cout << "G before TU:\n" << LG << endl;
+
+ LabelledMatrix LRw(NLs,Rw);
+ LRw.setw(13).setprecision(7);
+ cout << "Rw before TU:\n" << LRw << endl;
+
+ LabelledMatrix LRwx(NLs,NL,Rwx);
+ LRwx.setw(13).setprecision(7);
+ cout << "Rwx before TU:\n" << LRwx << endl;
+
+ LabelledVector LZw(NLs,Zw);
+ LZw.setw(13).setprecision(7);
+ cout << "Zw before TU:\n" << LZw << endl;
+
+ // Do the HH manually
+ // _ (Ns) (N) (1) _ _ _
+ // (Ns) | Rw 0 Zw | ==> | Rw Rwx Zw |
+ // (N) | -R*Phinv*G R*Phinv Z | ==> | 0 R Z | .
+ // - - - -
+
+ Matrix<double> Big;
+ Big = ( Rw || Rwx || Zw )
+ && ( -R*Phinv*G || R*Phinv || Z );
+
+ cout << "\nCall SrifTU\n\n";
+ srif.timeUpdate(Phinv,Rw,G,Zw,Rwx);
+
+ cout << "SRI after TU:\n" << setw(13) << setprecision(7) << srif << endl;
+ cout << "Phinv after TU:\n" << LP << endl;
+ cout << "G after TU:\n" << LG << endl;
+ cout << "Rw after TU:\n" << LRw << endl;
+ cout << "Rwx after TU:\n" << LRwx << endl;
+ cout << "Zw after TU:\n" << LZw << endl;
+
+ cout << "\nNow do the TU manually:\n";
+ cout << "\tIf Rd=R*Phinv,\n\t| Rw 0 Zw | --> | Rw Rwx Zw |\n";
+ cout << "\t| -Rd*G Rd Z | --> | 0 R Z |\n\n";
+
+ Namelist NLB=NLs|NL;
+ NLB += "State";
+ LabelledMatrix LBig(NLs|NL,NLB,Big);
+ LBig.setw(13).setprecision(7);
+ cout << "Composite matrix before HH:\n" << LBig << endl;
+
+ Householder<double> HHB;
+ HHB(Big);
+ LabelledMatrix LBH(NLs|NL,NLB,HHB.A);
+ LBH.setw(13).setprecision(7);
+ cout << "Composite matrix after HH:\n" << LBH << endl;
+}
+catch(Exception& e) {
+ cerr << "Caught exception\n" << e << endl;
+ return -1;
+}
+}
+
+/* the output should be:
+SRI before TU:
+ X Y Z State
+ X -2.8250000 0.9551000 -0.1459000 -73.2800000
+ Y 0.0000000 -2.8240000 0.5276000 -4.5810000
+ Z 0.0000000 0.0000000 -1.9300000 1.5670000
+Phinv before TU:
+ X Y Z
+ X 1.0000000 -0.1000000 0.0100000
+ Y 0.0000000 1.0000000 -0.1000000
+ Z 0.0000000 0.0000000 1.0000000
+G before TU:
+ Xs Ys Zs
+ X 1.0000000 0.0500000 0.0016670
+ Y 0.0000000 1.0000000 0.0500000
+ Z 0.0000000 0.0000000 1.0000000
+Rw before TU:
+ Xs Ys Zs
+ Xs 8485.0000000 0.0000000 0.0000000
+ Ys 0.0000000 109.5000000 0.0000000
+ Zs 0.0000000 0.0000000 3.1620000
+
+Call SrifTU
+
+SRI after TU:
+ X Y Z State
+ X 2.8203762 -1.2066130 0.2051914 73.2522809
+ Y 0.0000000 2.7781779 -0.6182688 4.3616701
+ Z 0.0000000 0.0000000 1.6473746 -1.3375316
+Phinv after TU:
+ X Y Z
+ X 2.8203762 -1.2066130 0.2051914
+ Y -0.0157050 2.7781779 -0.6182688
+ Z 0.0442855 -0.1397111 1.6473746
+G after TU:
+ Xs Ys Zs
+ X 2.8250000 -1.0963499 0.2123923
+ Y 0.0000000 2.8240000 -0.6685503
+ Z 0.0000000 0.0000000 1.9300000
+Rw after TU:
+ Xs Ys Zs
+ Xs-8485.0004703 0.0003650 -0.0000707
+ Ys 0.0000000 -109.5418959 0.0193684
+ Zs 0.0000000 0.0000000 -3.7703069
+Rwx after TU:
+ X Y Z
+ Xs 0.0009406 -0.0004120 0.0000898
+ Ys -0.0282740 0.0851895 -0.0235808
+ Zs 0.1590678 -0.5702501 1.1467160
+Zw after TU:
+ Xs Ys Zs
+ 0.0243979 -0.6153242 2.5120533
+
+Now do the TU manually:
+ If Rd=R*Phinv,
+ | Rw 0 Zw | --> | Rw Rwx Zw |
+ | -RdG Rd Zw | --> | 0 R Z |
+
+Composite matrix before HH:
+ Xs Ys Zs X Y Z State
+ Xs 8485.0000000 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000
+ Ys 0.0000000 109.5000000 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000
+ Zs 0.0000000 0.0000000 3.1620000 0.0000000 0.0000000 0.0000000 0.0000000
+ X 2.8250000 -1.0963500 0.2124893 -2.8250000 1.2376000 -0.2696600 -73.2800000
+ Y 0.0000000 2.8240000 -0.6688000 0.0000000 -2.8240000 0.8100000 -4.5810000
+ Z 0.0000000 0.0000000 1.9300000 0.0000000 0.0000000 -1.9300000 1.5670000
+Composite matrix after HH:
+ Xs Ys Zs X Y Z State
+ Xs 8485.0004703 -0.0003650 0.0000707 -0.0009406 0.0004120 -0.0000898 -0.0243979
+ Ys 0.0000000 -109.5418959 0.0193684 -0.0282740 0.0851895 -0.0235808 -0.6153242
+ Zs 0.0000000 0.0000000 3.7703069 -0.1590678 0.5702501 -1.1467160 -2.5120533
+ X 0.0000000 0.0000000 0.0000000 2.8203762 -1.2066130 0.2051914 73.2522809
+ Y 0.0000000 0.0000000 0.0000000 0.0000000 -2.7781779 0.6182688 -4.3616701
+ Z 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000 1.6473746 -1.3375316
+*/
diff --git a/dev/apps/geomatics/lib/DCinternals.hpp b/dev/apps/geomatics/lib/DCinternals.hpp
new file mode 100644
index 0000000..3d418ea
--- /dev/null
+++ b/dev/apps/geomatics/lib/DCinternals.hpp
@@ -0,0 +1,320 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file DCinternals.hpp
+ * Class information used internally in DiscCorr.cpp
+ */
+
+namespace gpstk {
+//------------------------------------------------------------------------------------
+// constants used in linear combinations
+const double CFF=C_GPS_M/OSC_FREQ;
+const double F1=L1_MULT; // 154.0;
+const double F2=L2_MULT; // 120.0;
+ // wavelengths
+const double wl1=CFF/F1; // 19.0cm
+const double wl2=CFF/F2; // 24.4cm
+const double wlwl=CFF/(F1-F2); // 86.2cm, the widelane wavelength
+const double wl21=CFF*(1.0/F2 - 1.0/F1); // 5.4cm, the 'GF' wavelength
+ // for widelane R & Ph
+const double wl1r=F1/(F1+F2);
+const double wl2r=F2/(F1+F2);
+const double wl1p=wl1*F1/(F1-F2);
+const double wl2p=-wl2*F2/(F1-F2);
+ // for geometry-free R and Ph
+const double gf1r=-1;
+const double gf2r=1;
+const double gf1p=wl1;
+const double gf2p=-wl2;
+
+//------------------------------------------------------------------------------------
+// Return values (used by all routines within this module):
+const int NoData=-4;
+const int FatalProblem=-3;
+//const int PrematureEnd=-2;
+const int Singular=-1;
+const int ReturnOK=0;
+// NoData:
+// preprocess
+// fixAllSlips segment list is empty
+// FatalProblem:
+// preprocess DT is not set
+// firstDifferences A1.size is wrong
+// Singular:
+// prepareGFdata polynomial fit to GF range failed
+// no - delete segment instead GFphaseResiduals polynomial fit to GF range failed
+
+//------------------------------------------------------------------------------------
+// Segment - used internally only.
+// An object to hold information about segments = periods of continuous phase.
+// Keep a linked list of these objects, subdivide whenever a discontinuity is
+// detected, and join whenever one is fixed.
+class Segment {
+public:
+ // member data
+ int nbeg,nend; // array indexes of the first and last good points
+ // always maintain these so they point to good data
+ int npts; // number of good points in this Segment
+ int nseg; // segment number - used for data dumps only
+ double bias1; // bias subtracted from WLbias for WLStats - only
+ Stats<double> WLStats; // includes N,min,max,ave,sig
+ double bias2; // bias subtracted from GFP for polynomial fit - only
+ PolyFit<double> PF; // for fit to GF range
+ double RMSROF; // RMS residual of fit of polynomial (PF) to GFR
+ bool WLsweep; // WLstatSweep(this) was called, used by detectWLsmallSlips
+
+ // member functions
+ Segment(void) : nbeg(0),nend(0),npts(0),nseg(0),bias1(0.0),bias2(0.0)
+ { WLStats.Reset(); WLsweep=false; }
+ Segment(const Segment& s)
+ { *this = s; }
+ ~Segment(void) { }
+ Segment& operator=(const Segment& s) {
+ if(this==&s) return *this;
+ nbeg = s.nbeg; nend = s.nend; npts = s.npts; nseg = s.nseg;
+ bias1 = s.bias1; bias2 = s.bias2;
+ WLStats = s.WLStats; PF = s.PF; RMSROF = s.RMSROF; WLsweep = s.WLsweep;
+ return *this;
+ }
+}; // end class Segment
+
+//------------------------------------------------------------------------------------
+// class Slip - used internally only
+class Slip {
+public:
+ int index; // index in arrays where this slip occurs
+ long NWL,N1; // slip fixes for WL (N1-N2) and GF (=N1)
+ string msg; // string to be output after '#' on edit cmds
+ explicit Slip(int in) : index(in),NWL(0),N1(0) { }
+ bool operator<(const Slip &rhs) const { return index < rhs.index; }
+}; // end class Slip
+
+//------------------------------------------------------------------------------------
+class GDCPass : public SatPass, public GDCconfiguration
+{
+public:
+ static const unsigned short DETECT; // both WL and GF
+ static const unsigned short FIX; // both WL and GF
+ static const unsigned short WLDETECT;
+ static const unsigned short WLFIX;
+ static const unsigned short GFDETECT;
+ static const unsigned short GFFIX;
+
+ explicit GDCPass(const SatPass& sp, const GDCconfiguration& gdc)
+ : SatPass(sp.getSat(), sp.getDT())
+ { *((SatPass*)this) = sp; *((GDCconfiguration*)this) = gdc; }
+
+ //~GDCPass(void) { };
+
+ /// initialize the pass - just clear the 'learn' map and create temporary arrays
+ void initialize(void) throw()
+ { learn.clear(); A1.resize(data.size(),0.0); A2.resize(data.size(),0.0); }
+
+ /// edit obvious outliers, divide into segments using MaxGap
+ int preprocess(void) throw(Exception);
+
+ /// compute linear combinations and place the result in the data arrays:
+ /// L1 -> L1; L2 -> GFP(m)
+ /// P1 -> WLB(cyc) P2 -> -GFR(m)
+ int linearCombinations(void) throw(Exception);
+
+ /// detect slips in the wide lane bias
+ int detectWLslips(void) throw(Exception);
+
+ /// detect obvious slips by computing the first difference (of either WL or GFP)
+ /// and looking for outliers. create new segments where there are slips
+ /// which is either 'WL' or 'GF'.
+ int detectObviousSlips(string which) throw(Exception);
+
+ /// compute first differences of data arrays for WL and GF gross slips detection.
+ /// for WL difference the WLbias; for GF, the GFP and the residual GFP-GFR
+ /// Store results in temporary array A1 and A2
+ int firstDifferences(string which) throw(Exception);
+
+ /// for one segment, compute conventional statistics on the
+ /// WL bias and count the number of good points
+ void WLcomputeStats(list<Segment>::iterator& it) throw(Exception);
+
+ /// for one segment mark bad points that lie outside N*sigma
+ /// delete segments that are too small
+ void WLsigmaStrip(list<Segment>::iterator& it) throw(Exception);
+
+ /// for one segment, compute statistics on the WL bias using a
+ /// 'two-paned sliding window', each pane of width 'width' good points.
+ /// store the results in the parallel (to SatPass::data) arrays A1,A2.
+ int WLstatSweep(list<Segment>::iterator& it, int width) throw(Exception);
+
+ /// detect slips in all segments using the results of WLstatSweep()
+ /// if close to either end (< window width), just chop off the small segment
+ /// when a slip is found, create a new segment
+ /// also compute conventional stats for each Segment, store in Segment.WLStats
+ int detectWLsmallSlips(void) throw(Exception);
+
+ /// determine if a slip has been found at index i, in segment nseg (0..)
+ /// which is associated with it.
+ /// conditions for a slip to be detected:
+ /// 1. test must be >~ 0.67 wlwl
+ /// 2. limit must be much smaller than test
+ /// 3. slip must be far (>1/2 window) from either end
+ /// 4. test must be at a local maximum (~ 2 window widths)
+ /// 5. limit must be at a local minimum (")
+ /// also, large limit (esp near end of a pass) means too much noise, and
+ bool foundWLsmallSlip(list<Segment>::iterator& it, int i) throw(Exception);
+
+ /// estimate slips in the WL bias and adjust biases appropriately - ie fix WL slips
+ /// also compute stats for WL for the whole pass
+ int fixAllSlips(string which) throw(Exception);
+
+ /// fix the slip at the beginning of the segment pointed to by kt,
+ /// which is the string 'WL' or 'GF'.
+ void fixOneSlip(list<Segment>::iterator& kt, string which) throw(Exception);
+
+ /// fix the slip between segments pointed to by left and right
+ void WLslipFix(list<Segment>::iterator& left,
+ list<Segment>::iterator& right)
+ throw(Exception);
+
+ /// fit a polynomial to the GF range, and replace P2 (-gfr) with the residual
+ /// gfp+fit(gfr); divide both P1(gfp) and P2(residual) by wl21 to convert to cycles
+ /// also place the residual gfp+gfr(cycles) in L1
+ int prepareGFdata(void) throw(Exception);
+
+ /// detect slips in the geometry-free phase
+ int detectGFslips(void) throw(Exception);
+
+ /// for each segment, fit a polynomial to the gfr, then compute and store the
+ /// residual of fit; at the same time, compute stats on the first difference of GF
+ int GFphaseResiduals(list<Segment>::iterator& it) throw(Exception);
+
+ /// detect small slips in the geometry-free phase using its first difference
+ /// compute statistics in two windows of fixed width on either side of the point
+ /// of interest and use these to find slips and outliers
+ int detectGFsmallSlips(void) throw(Exception);
+
+ /// determine if there is an outlier in the GF phase, using the
+ /// GFP first difference and the statistics computed in detectGFsmallSlips().
+ /// Criteria:
+ /// 1. adjacent first differences have different signs
+ /// 2. they have approximately the same magnitude
+ /// 3. that magnitude is large compared to the noise in the dGFP
+ bool foundGFoutlier(int i,int inew,Stats<double>& pastSt,Stats<double>& futureSt)
+ throw(Exception);
+
+ /// determine if a small GF slip is found, using the first differenced gfp
+ /// and statistics computed in detectGFsmallSlips()
+ /// Criteria:
+ /// 1. slip is non-trivial - at least one wavelength
+ /// 2. the change in the average 1stDiff(GFP) across the slip is small
+ /// 3. the slip itself is large compared to the average on either side
+ /// 4. the slip itself is large compared to the noise
+ /// Declare 'slips' that are very near the ends of the segment as outliers
+ /// Conservatively, ignore small slips that are near the level of the noise,
+ /// unless there was a WL slip at the same epoch.
+ bool foundGFsmallSlip(int i, int nseg, int iend, int ibeg,
+ deque<int>& pastIn, deque<int>& futureIn,
+ Stats<double>& pastSt, Stats<double>& futureSt)
+ throw(Exception);
+
+ /// fix the slip between segments pointed to by left and right
+ void GFslipFix(list<Segment>::iterator& left,
+ list<Segment>::iterator& right)
+ throw(Exception);
+
+ /// estimate the size of the slip between segments left and right,
+ /// using points from indexes nb to ne; n1 is the initial estimate of the slip
+ /// called by GFslipFix()
+ long EstimateGFslipFix(list<Segment>::iterator& left,
+ list<Segment>::iterator& right,
+ int nb, int ne, long n1)
+ throw(Exception);
+
+ /// final check on consistency of WL slip fixes with GF slip detection
+ int WLconsistencyCheck(void) throw(Exception);
+
+ /// last call before returning: copy edited data back into caller's SatPass,
+ /// generate editing commands, and print final summary.
+ void finish(int iret, SatPass& svp, vector<string>& editCmds) throw(Exception);
+
+ /// create a new segment from the given one, starting at index ibeg,
+ /// and insert it after the given iterator.
+ /// Return an iterator pointing to the new segment. String msg is for debug output
+ list<Segment>::iterator createSegment(list<Segment>::iterator sit,
+ int ibeg,
+ string msg=string())
+ throw(Exception);
+
+ /// dump a list of the segments, detail dependent on level
+ /// level=0 one line summary (number of segments)
+ /// level=1 one per line list of segments
+ /// level=2 dump all data, including (if extra) temporary arrays
+ void dumpSegments(string msg, int level=2, bool extra=false)
+ throw(Exception);
+
+ /// delete (set all points bad) segment it, optional message
+ /// is used in debug print
+ void deleteSegment(list<Segment>::iterator& it, string msg=string())
+ throw(Exception);
+
+ /// resize the temporary arrays to zero
+ void clearTempArrays(void) { A1.clear(); A2.clear(); }
+
+private:
+
+ /// define this function so that invalid labels will throw, because
+ /// this fails silently #define cfg(a) CFG[#a] // stringize
+ double cfg_func(string a) throw(Exception)
+ {
+ if(CFGdescription[a] == string()) {
+ Exception e("cfg(UNKNOWN LABEL) : " + a);
+ GPSTK_THROW(e);
+ }
+ return CFG[a];
+ }
+
+ /// list of Segments, always in time order, of segments of
+ /// continuous data within the SVPass.
+ list<Segment> SegList;
+
+ /// list of Slips found; used to generate the editing commands on output
+ list<Slip> SlipList;
+
+ /// temporary storage arrays, parallel to SatPass::data
+ vector<double> A1,A2;
+
+ /// stats on the WL bias after editing for the entire pass
+ Stats<double> WLPassStats;
+
+ /// stats on the first difference of GF after detectObviousSlips(GF)
+ Stats<double> GFPassStats;
+
+ /// polynomial fit to the geometry-free range for the whole pass
+ PolyFit<double> GFPassFit;
+
+ /// keep count of various results: slips, deletions, etc.; print to log in finish()
+ map<string,int> learn;
+
+}; // end class GDCPass
+
+} // end namespace gpstk
diff --git a/dev/apps/geomatics/lib/DDid.cpp b/dev/apps/geomatics/lib/DDid.cpp
new file mode 100644
index 0000000..9a6a58b
--- /dev/null
+++ b/dev/apps/geomatics/lib/DDid.cpp
@@ -0,0 +1,264 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file DDid.cpp
+ * Implement DDid - double difference identification, a class to handle the
+ * bookkeeping of DDs.
+ */
+
+//------------------------------------------------------------------------------------
+// system includes
+#include "DDid.hpp"
+
+//------------------------------------------------------------------------------------
+using namespace gpstk;
+using namespace std;
+
+namespace gpstk {
+//------------------------------------------------------------------------------------
+// empty constructor - sites are empty and sats are GPS,-1
+//DDid::DDid(void)
+//{
+// site1 = site2 = string("");
+// sat1 = sat2 = GSatID(-1,systemGPS);
+// ssat = ssite = 1;
+//}
+
+//------------------------------------------------------------------------------------
+// explicit constructor - may reorder input to standard form
+DDid::DDid(string s1, string s2, GSatID p1, GSatID p2)
+{
+ if(s1 == s2 || p1.id == p2.id || p1.system != p2.system) {
+ Exception e("DDid constructor with identical parts");
+ GPSTK_THROW(e);
+ }
+ if(s1 < s2) ssite=1; else ssite=-1;
+ site1 = (s1 < s2 ? s1 : s2);
+ site2 = (s1 < s2 ? s2 : s1);
+
+ if(p1.id < p2.id) ssat=1; else ssat=-1;
+ sat1 = (p1.id < p2.id ? p1 : p2);
+ sat2 = (p1.id < p2.id ? p2 : p1);
+}
+
+//------------------------------------------------------------------------------------
+// return 0 if either is invalid
+// return +1 if the same, -1 if the same except for one switch
+// return +2 if left is greater than right
+// return -2 if left is less than right
+int DDid::compare(const DDid& left, const DDid& right)
+{
+ if(left.site1 == left.site2 || left.sat1 == left.sat2 ||
+ right.site1 == right.site2 || right.sat1 == right.sat2) return 0;
+ if(left.site1 < right.site1) return -2;
+ if(left.site1 > right.site1) return 2;
+ if(left.site2 < right.site2) return -2;
+ if(left.site2 > right.site2) return 2;
+ if(left.sat1.id < right.sat1.id) return -2;
+ if(left.sat1.id > right.sat1.id) return 2;
+ if(left.sat2.id < right.sat2.id) return -2;
+ if(left.sat2.id > right.sat2.id) return 2;
+ return left.ssite*right.ssite*left.ssat*right.ssat;
+}
+
+//------------------------------------------------------------------------------------
+bool DDid::operator>(const DDid& that) const
+{
+ return (DDid::compare(*this,that) == 2);
+}
+
+//------------------------------------------------------------------------------------
+bool DDid::operator==(const DDid& that) const
+{
+ return (abs(DDid::compare(*this,that)) == 1);
+}
+
+//------------------------------------------------------------------------------------
+bool DDid::operator!=(const DDid& that) const
+{
+ return (abs(DDid::compare(*this,that)) != 1);
+}
+
+//------------------------------------------------------------------------------------
+bool DDid::operator<(const DDid &that) const
+{
+ return (DDid::compare(*this,that) == -2);
+}
+
+//------------------------------------------------------------------------------------
+ostream& operator<<(ostream& s, const DDid& t)
+{
+ if(t.ssite > 0) s << t.site1 << " " << t.site2 << " ";
+ else s << t.site2 << " " << t.site1 << " ";
+ if(t.ssat > 0) s << t.sat1 << " " << t.sat2;
+ else s << t.sat2 << " " << t.sat1;
+ return s;
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
+// empty constructor - sites are empty and sats are GPS,-1
+//SDid::SDid(void)
+//{
+// site1 = site2 = string("");
+// sat = GSatID(-1,systemGPS);
+// ssite = 1;
+//}
+
+//------------------------------------------------------------------------------------
+// explicit constructor - may reorder input to standard form
+SDid::SDid(string s1, string s2, GSatID p)
+{
+ if(s1 == s2) {
+ Exception e("SDid constructor with identical sites");
+ GPSTK_THROW(e);
+ }
+ if(s1 < s2) ssite=1; else ssite=-1;
+ site1 = (s1 < s2 ? s1 : s2);
+ site2 = (s1 < s2 ? s2 : s1);
+ sat = p;
+}
+
+//------------------------------------------------------------------------------------
+// return 0 if either is invalid
+// return +1 if the same, -1 if the same except for one switch
+// return +2 if left is greater than right
+// return -2 if left is less than right
+int SDid::compare(const SDid& left, const SDid& right)
+{
+ if(left.site1 == left.site2 || right.site1 == right.site2) return 0;
+ if(left.site1 < right.site1) return -2;
+ if(left.site1 > right.site1) return 2;
+ if(left.site2 < right.site2) return -2;
+ if(left.site2 > right.site2) return 2;
+ if(left.sat.id < right.sat.id) return -2;
+ if(left.sat.id > right.sat.id) return 2;
+ return left.ssite*right.ssite;
+}
+
+//------------------------------------------------------------------------------------
+bool SDid::operator>(const SDid& that) const
+{
+ return (SDid::compare(*this,that) == 2);
+}
+
+//------------------------------------------------------------------------------------
+bool SDid::operator==(const SDid& that) const
+{
+ return (abs(SDid::compare(*this,that)) == 1);
+}
+
+//------------------------------------------------------------------------------------
+bool SDid::operator<(const SDid &that) const
+{
+ return (SDid::compare(*this,that) == -2);
+}
+
+//------------------------------------------------------------------------------------
+ostream& operator<<(ostream& s, const SDid& t)
+{
+ if(t.ssite > 0) s << t.site1 << " " << t.site2 << " " << t.sat;
+ else s << t.site2 << " " << t.site1 << " " << t.sat;
+ return s;
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
+// empty constructor - sites are empty and sats are GPS,-1
+//OWid::OWid(void)
+//{
+// site = string("");
+// sat = GSatID(-1,systemGPS);
+//}
+
+//------------------------------------------------------------------------------------
+// explicit constructor - may reorder input to standard form
+OWid::OWid(string& s, GSatID& p)
+{
+ site = s;
+ sat = p;
+}
+
+//------------------------------------------------------------------------------------
+// return 0 if either is invalid
+// return +1 if the same, -1 if the same except for one switch
+// return +2 if left is greater than right
+// return -2 if left is less than right
+int OWid::compare(const OWid& left, const OWid& right)
+{
+ int isit=0;
+ if( left.site == right.site) isit=1;
+ else if(left.site < right.site) return -2;
+ else if(left.site > right.site) return 2;
+ int isat=0;
+ if( left.sat.id == right.sat.id) isat=1;
+ else if(left.sat.id < right.sat.id) return -2;
+ else if(left.sat.id > right.sat.id) return 2;
+
+ return isit*isat;
+}
+
+//------------------------------------------------------------------------------------
+bool OWid::operator>(const OWid& that) const
+{
+ return (OWid::compare(*this,that) == 2);
+}
+
+//------------------------------------------------------------------------------------
+bool OWid::operator==(const OWid& that) const
+{
+ return (abs(OWid::compare(*this,that)) == 1);
+}
+
+//------------------------------------------------------------------------------------
+bool OWid::operator<(const OWid &that) const
+{
+ return (OWid::compare(*this,that) == -2);
+}
+
+//------------------------------------------------------------------------------------
+ostream& operator<<(ostream& s, const OWid& t)
+{
+ s << t.site << " " << t.sat;
+ return s;
+}
+
+} // end namespace gpstk
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/lib/DDid.hpp b/dev/apps/geomatics/lib/DDid.hpp
new file mode 100644
index 0000000..9232261
--- /dev/null
+++ b/dev/apps/geomatics/lib/DDid.hpp
@@ -0,0 +1,143 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file DDid.hpp
+ * Include file defining DDid - double difference identification, a class to handle
+ * the bookkeeping of double differences.
+ */
+
+#ifndef CLASS_DOUB_DIFF_ID_INCLUDE
+#define CLASS_DOUB_DIFF_ID_INCLUDE
+
+//------------------------------------------------------------------------------------
+// system includes
+#include <string>
+#include <ostream>
+
+// GPSTk
+#include "Exception.hpp"
+// Geomatics
+#include "GSatID.hpp"
+
+namespace gpstk {
+//------------------------------------------------------------------------------------
+// double difference identification
+class DDid {
+public:
+ std::string site1,site2;
+ gpstk::GSatID sat1,sat2;
+ int ssite,ssat;
+ // empty constructor - sites are empty and sats are GPS,-1
+ //DDid(void);
+ // explicit constructor - do not reorder
+ explicit DDid(std::string s1,
+ std::string s2,
+ gpstk::GSatID p1,
+ gpstk::GSatID p2);
+
+ // 'less than' is required for map<DDid,...>.find(DDid)
+ bool operator<(const DDid& right) const;
+ bool operator>(const DDid& right) const;
+ bool operator==(const DDid& right) const;
+ bool operator!=(const DDid& right) const;
+
+ // return 0 if either is invalid
+ // return +1 if the same, -1 if the same except for one switch
+ // return +2 if left is greater than right
+ // return -2 if left is less than right
+ static int compare(const DDid& left, const DDid& right);
+
+ friend std::ostream& operator<<(std::ostream& s, const DDid& t);
+
+};
+
+//------------------------------------------------------------------------------------
+// single difference id
+class SDid {
+public:
+ std::string site1,site2;
+ gpstk::GSatID sat;
+ int ssite;
+ // empty constructor - sites are empty and sat is GPS,-1
+ //SDid(void);
+ // explicit constructor - do not reorder
+ explicit SDid(std::string s1,
+ std::string s2,
+ gpstk::GSatID p);
+
+ bool operator<(const SDid& right) const;
+ bool operator>(const SDid& right) const;
+ bool operator==(const SDid& right) const;
+
+ // return 0 if either is invalid
+ // return +1 if the same, -1 if the same except for one switch
+ // return +2 if left is greater than right
+ // return -2 if left is less than right
+ static int compare(const SDid& left, const SDid& right);
+
+ friend std::ostream& operator<<(std::ostream& s, const SDid& t);
+};
+
+//------------------------------------------------------------------------------------
+// one-way data id
+class OWid {
+public:
+ std::string site;
+ gpstk::GSatID sat;
+ // empty constructor - site is empty and sat is GPS,-1
+ //OWid(void);
+ // explicit constructor - do not reorder
+ explicit OWid(std::string& s1, gpstk::GSatID& p);
+
+ bool operator<(const OWid& right) const;
+ bool operator>(const OWid& right) const;
+ bool operator==(const OWid& right) const;
+
+ // return 0 if either is invalid
+ // return +1 if the same
+ // return +2 if left is greater than right
+ // return -2 if left is less than right
+ static int compare(const OWid& left, const OWid& right);
+
+ friend std::ostream& operator<<(std::ostream& s, const OWid& t);
+};
+
+} // end namespace gpstk
+//------------------------------------------------------------------------------------
+#endif
diff --git a/dev/apps/geomatics/lib/DiscCorr.cpp b/dev/apps/geomatics/lib/DiscCorr.cpp
new file mode 100644
index 0000000..d6e312c
--- /dev/null
+++ b/dev/apps/geomatics/lib/DiscCorr.cpp
@@ -0,0 +1,2559 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file DiscCorr.cpp
+ * GPS phase discontinuity correction. Given a SatPass object
+ * containing dual-frequency pseudorange and phase for an entire satellite pass,
+ * and a configuration object (as defined herein), detect discontinuities in
+ * the phase and, if possible, estimate their size.
+ * Output is in the form of Rinex editing commands (see class RinexEditor).
+ */
+
+#include <string>
+#include <iostream>
+#include <sstream>
+#include <vector>
+#include <deque>
+#include <list>
+#include <algorithm>
+
+#include "StringUtils.hpp"
+#include "Stats.hpp"
+#include "PolyFit.hpp"
+#include "icd_200_constants.hpp" // PI,C_GPS_M,OSC_FREQ,L1_MULT,L2_MULT
+#include "RobustStats.hpp"
+
+#include "DiscCorr.hpp"
+
+using namespace std;
+using namespace gpstk;
+using namespace StringUtils;
+
+// only to unclutter the top of this file; not included anywhere else...
+#include "DCinternals.hpp"
+
+//------------------------------------------------------------------------------------
+// NB. string giving version of GDC (GDCVersion) is found in GDCconfiguration.cpp
+
+// these are used only to associate a unique number in the log file with each pass
+int GDCUnique=0; // unique number for each call
+int GDCUniqueFix; // unique for each (WL,GF) fix
+
+// conveniences only...
+#define log *(p_oflog)
+#define cfg(a) cfg_func(#a)
+
+//------------------------------------------------------------------------------------
+// These from SatPass.cpp
+//const unsigned short SatPass::BAD = 0; // used by caller and DC to mark bad data
+//const unsigned short SatPass::OK = 1; // good data, no discontinuity
+//const unsigned short SatPass::LL1 = 2; // good data, discontinuity on L1 only
+//const unsigned short SatPass::LL2 = 4; // good data, discontinuity on L2 only
+//const unsigned short SatPass::LL3 = 6; // good data, discontinuity on L1 and L2
+const unsigned short GDCPass::WLDETECT = 2;
+const unsigned short GDCPass::GFDETECT = 4;
+const unsigned short GDCPass::DETECT = 6; // = WLDETECT | GFDETECT
+const unsigned short GDCPass::WLFIX = 8;
+const unsigned short GDCPass::GFFIX = 16;
+const unsigned short GDCPass::FIX = 24; // = WLFIX | GFFIX
+
+// notes on the use of these flags:
+// if(flag & DETECT) is true for EITHER WL or GF or both
+// if(flag & FIX) is true for EITHER WL or GF or both
+// if((flag & WLDETECT) && (flag & GFDETECT)) is true only for both WL and GF
+
+// NB typical slip will have flag = DETECT+OK+FIX = 31
+// typical unfixed slip flag = DETECT+OK = 7
+
+// BAD is used either as flag == BAD (for bad data) or flag != BAD (for good data),
+// thus there are two gotcha's
+// - if a point is marked, but is later set BAD, that info is lost
+// - if a BAD point is marked, it becomes 'good'
+// To avoid this we have to use OK rather than BAD:
+// either !(flag & OK) or (flag ^ OK) for bad data, and (flag & OK) for good data
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
+// yes you need the gpstk::
+int gpstk::DiscontinuityCorrector(SatPass& svp,
+ GDCconfiguration& gdc,
+ vector<string>& editCmds)
+ throw(Exception)
+{
+try {
+ int iret;
+ GDCUnique++;
+
+ // create the GDCPass from the input SatPass and the input GDC configuration
+ GDCPass gp(svp,gdc);
+ gp.initialize();
+
+ // NB search for 'change the arrays' for places where arrays are re-defined
+ // NB search for 'change the data' for places where the data is modified (! biases)
+ // NB search for 'change the bias' for places where the bias is changed
+ for(;;) { // a convenience...
+ // preparation
+ if( (iret = gp.preprocess() )) break;
+ if( (iret = gp.linearCombinations() )) break;
+
+ // WL
+ if( (iret = gp.detectWLslips() )) break;
+ if( (iret = gp.fixAllSlips("WL") )) break;
+
+ // GF
+ if( (iret = gp.prepareGFdata() )) break;
+ if( (iret = gp.detectGFslips() )) break;
+ if( (iret = gp.WLconsistencyCheck() )) break;
+ if( (iret = gp.fixAllSlips("GF") )) break;
+
+ break; // mandatory
+ }
+
+ // generate editing commands for deleted (flagged) data and slips,
+ // use editing command (slips and deletes) to modify the original SatPass data
+ // and print ending summary
+ gp.finish(iret, svp, editCmds);
+
+ // clear the temp arrays
+ gp.clearTempArrays();
+
+ return iret;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
+int GDCPass::preprocess(void) throw(Exception)
+{
+try {
+ int i,ilast,Ngood;
+ double biasL1,biasL2,dbias;
+ list<Segment>::iterator it;
+
+ if(cfg(Debug) >= 2) {
+ DayTime CurrentTime;
+ CurrentTime.setLocalTime();
+ log << "\n======== Beg GPSTK Discontinuity Corrector " << GDCUnique
+ << " ================================================\n";
+ log << "GPSTK Discontinuity Corrector Ver. " << GDCVersion << " Run "
+ << CurrentTime << endl;
+ }
+
+ // check input
+ if(cfg(DT) <= 0) {
+ log << "Error: data time interval is not set...Abort" << endl;
+ return FatalProblem;
+ }
+
+ // create the first segment
+ SegList.clear();
+ {
+ Segment s;
+ s.nseg = 1;
+ SegList.push_back(s);
+ }
+ it = SegList.begin();
+
+ // loop over points in the pass
+ // editing obviously bad data and adding segments where necessary
+ for(ilast=-1,i=0; i<data.size(); i++) {
+
+ if(!(data[i].flag & OK)) continue;
+
+ // just in case the caller has set it to something else...
+ data[i].flag = OK;
+
+ // look for obvious outliers
+ // Don't do this - sometimes the pseudoranges get extreme values b/c the
+ // clock is allowed to run off for long times - perfectly normal
+ //if(data[i].P1 < cfg(MinRange) || data[i].P1 > cfg(MaxRange) ||
+ // data[i].P2 < cfg(MinRange) || data[i].P2 > cfg(MaxRange) )
+ //{
+ // data[i].flag = BAD;
+ // learn["points deleted: obvious outlier"]++;
+ // if(cfg(Debug) > 6)
+ // log << "Obvious outlier " << GDCUnique << " " << sat
+ // << " at " << i << " " << time(i).printf(outFormat) << endl;
+ // continue;
+ //}
+
+ // note first good point
+ if(ilast == -1) ilast = it->nbeg = i;
+
+ // is there a gap here? if yes, create a new segment
+ // TD? do this here? why not allow any gap in the WL, and look for gaps
+ // TD? only in the GF?
+ if(cfg(DT)*(i-ilast) > cfg(MaxGap))
+ it = createSegment(it,i,"initial gap");
+
+ // count good points
+ it->npts++;
+ ilast = i;
+ }
+
+ // note last good point
+ if(ilast == -1) ilast = it->nbeg;
+ it->nend = ilast;
+
+ // 'change the arrays' A1, A2 to be range minus phase for output
+ // do the same at the end ("AFT")
+ // loop over segments, counting the number of non-trivial ones
+ for(Ngood=0,it=SegList.begin(); it != SegList.end(); it++) {
+ biasL1 = biasL2 = 0.0;
+
+ // loop over points in this segment
+ for(i=it->nbeg; i<=it->nend; i++) {
+ if(!(data[i].flag & OK)) continue;
+
+ dbias = fabs(data[i].P1-wl1*data[i].L1-biasL1);
+ if(dbias > cfg(RawBiasLimit)) {
+ if(cfg(Debug) >= 2) log << "BEFresetL1 " << GDCUnique
+ << " " << sat << " " << time(i).printf(outFormat)
+ << " " << fixed << setprecision(3) << biasL1
+ << " " << data[i].P1 - wl1 * data[i].L1 << endl;
+ biasL1 = data[i].P1 - wl1 * data[i].L1;
+ }
+
+ dbias = fabs(data[i].P2-wl2*data[i].L2-biasL2);
+ if(dbias > cfg(RawBiasLimit)) {
+ if(cfg(Debug) >= 2) log << "BEFresetL2 " << GDCUnique
+ << " " << sat << " " << time(i).printf(outFormat)
+ << " " << fixed << setprecision(3) << biasL2
+ << " " << data[i].P2 - wl2 * data[i].L2 << endl;
+ biasL2 = data[i].P2 - wl2 * data[i].L2;
+ }
+
+ A1[i] = data[i].P1 - wl1 * data[i].L1 - biasL1;
+ A2[i] = data[i].P2 - wl2 * data[i].L2 - biasL2;
+
+ } // end loop over points in the segment
+
+ // delete small segments
+ if(it->npts < int(cfg(MinPts)))
+ deleteSegment(it,"insufficient data in segment");
+ else
+ Ngood++;
+ }
+
+ if(cfg(Debug) >= 2) dumpSegments("BEF",2,true);
+
+ if(Ngood == 0) return NoData;
+ return ReturnOK;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
+int GDCPass::linearCombinations(void) throw(Exception)
+{
+try {
+ int i;
+ double wlr,wlp,wlbias,gfr,gfp;
+ list<Segment>::iterator it;
+
+ // iterate over segments
+ for(it=SegList.begin(); it != SegList.end(); it++) {
+ it->npts = 0; // re-compute npts here
+
+ // loop over points in this segment
+ for(i=it->nbeg; i<=it->nend; i++) {
+ if(!(data[i].flag & OK)) continue;
+
+ wlr = wl1r * data[i].P1 + wl2r * data[i].P2; // narrow lane range (m)
+ wlp = wl1p * data[i].L1 + wl2p * data[i].L2; // wide lane phase (m)
+ gfr = data[i].P1 - data[i].P2; // geometry-free range (m)
+ gfp = gf1p * data[i].L1 + gf2p * data[i].L2; // geometry-free phase (m)
+ wlbias = (wlp-wlr)/wlwl; // wide lane bias (cycles)
+
+ // change the bias
+ if(it->npts == 0) { // first good point
+ it->bias1 = wlbias; // WL bias (NWL)
+ it->bias2 = gfp; // GFP bias
+ }
+
+ // change the arrays
+ data[i].L1 = gfp + gfr; // only used in GF
+ data[i].L2 = gfp;
+ data[i].P1 = wlbias;
+ data[i].P2 = - gfr;
+
+ it->npts++;
+ }
+ }
+
+ if(cfg(Debug) >= 2) dumpSegments("LCD");
+
+ return ReturnOK;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
+// detect slips in the wide lane bias
+int GDCPass::detectWLslips(void) throw(Exception)
+{
+try {
+ int iret;
+ list<Segment>::iterator it;
+
+ // look for obvious slips. this will break one segment into many
+ if( (iret = detectObviousSlips("WL"))) return iret;
+
+ for(it=SegList.begin(); it != SegList.end(); it++) {
+
+ // compute stats and delete segments that are too small
+ WLcomputeStats(it);
+
+ // sigma-strip the WL bias, and remove small segments
+ if(it->npts > 0) WLsigmaStrip(it);
+
+ // print this before deleting segments with large sigma
+ if(cfg(Debug) >= 1 && it->npts >= int(cfg(MinPts)))
+ log << "WLSIG " << GDCUnique << " " << sat
+ << " " << it->nseg
+ << " " << time(it->nbeg).printf(outFormat)
+ << fixed << setprecision(3)
+ << " " << it->WLStats.StdDev()
+ << " " << it->WLStats.Average()
+ << " " << it->WLStats.Minimum()
+ << " " << it->WLStats.Maximum()
+ << " " << it->npts
+ << " " << it->nbeg << " - " << it->nend
+ << " " << it->bias1
+ << " " << it->bias2
+ << endl;
+
+ // delete segments if sigma is too high...
+ if(it->WLStats.StdDev() > cfg(WLNSigmaDelete)*cfg(WLSigma))
+ deleteSegment(it,"WL sigma too big");
+
+ // if there are less than about 2.5*cfg(WLWindowWidth) good points, don't bother
+ // to use the sliding window method to look for slips; otherwise
+ // compute stats for each segment using the 'two-paned sliding stats window',
+ // store results in the temporary arrays
+ if(double(it->npts) >= cfg(WLNWindows) * int(cfg(WLWindowWidth))) {
+ iret = WLstatSweep(it,int(cfg(WLWindowWidth)));
+ if(iret) return iret;
+ }
+
+ } // end loop over segments
+
+ // use the temporary arrays filled by WLstatSweep to detect slips in the WL bias
+ // recompute WLstats, and break up the segments where slips are found
+ if( (iret = detectWLsmallSlips())) return iret;
+
+ // delete all segments that are too small
+ for(it=SegList.begin(); it != SegList.end(); it++) {
+ if(it->npts < int(cfg(MinPts)))
+ deleteSegment(it,"insufficient data in segment");
+ }
+
+ if(cfg(Debug) >= 4) dumpSegments("WLD");
+
+ return ReturnOK;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// detect obvious slips by computing the first difference (of either WL or GFP)
+// and looking for outliers. create new segments where there are slips
+// which is either 'WL' or 'GF'.
+int GDCPass::detectObviousSlips(string which) throw(Exception)
+{
+try {
+ // TD determine from range noise // ~ 2*range noise/wl2
+ const double WLobviousNwlLimit=cfg(WLobviousLimit)*cfg(WLSigma);
+ const double GFobviousNwlLimit=cfg(GFobviousLimit)*cfg(GFVariation)/wl21;
+ bool outlier;
+ int i,j,iret,ibad,igood,nok;
+ double limit,wlbias;
+ list<Segment>::iterator it;
+
+ // compute 1st differences of (WL bias, GFP-GFR) as which is (WL,GF)
+ iret = firstDifferences(which);
+ if(iret) return iret;
+
+ if(cfg(Debug) >= 5) dumpSegments(string("D")+which,2,true); // DWL DGF
+
+ // scan the first differences, eliminate outliers and
+ // break into segments where there are WL slips.
+ limit = (which == string("WL") ? WLobviousNwlLimit : GFobviousNwlLimit);
+ it = SegList.begin();
+ nok = 0;
+ igood = -1;
+ outlier = false;
+ for(i=0; i<data.size(); i++) {
+ if(i < it->nbeg) {
+ outlier = false;
+ continue;
+ }
+ if(i > it->nend) { // change segments
+ if(outlier) {
+ if(data[ibad].flag & OK) nok--;
+ data[ibad].flag = BAD;
+ learn[string("points deleted: ") + which + string(" slip outlier")]++;
+ outlier = false;
+ }
+ it->npts = nok;
+ // update nbeg and nend
+ while(it->nbeg < it->nend
+ && it->nbeg < data.size()
+ && !(data[it->nbeg].flag & OK) ) it->nbeg++;
+ while(it->nend > it->nbeg
+ && it->nend > 0
+ && !(data[it->nend].flag & OK) ) it->nend--;
+ it++;
+ if(it == SegList.end())
+ return ReturnOK;
+ nok = 0;
+ }
+
+ if(!(data[i].flag & OK))
+ continue;
+ nok++; // nok = # good points in segment
+
+ if(igood == -1) igood = i; // igood is index of last good point
+
+ if(fabs(A1[i]) > limit) { // found an outlier (1st diff, cycles)
+ outlier = true;
+ ibad = i; // ibad is index of last bad point
+ }
+ else if(outlier) { // this point good, but not past one(s)
+ for(j=igood+1; j<ibad; j++) {
+ if(data[j].flag & OK)
+ nok--;
+ if(data[j].flag & DETECT)
+ log << "Warning - found an obvious slip, "
+ << "but marking BAD a point already marked with slip "
+ << GDCUnique << " " << sat
+ << " " << time(j).printf(outFormat) << " " << j << endl;
+ data[j].flag = BAD; // mark all points between as bad
+ learn[string("points deleted: ") + which + string(" slip outlier")]++;
+ }
+
+ // create a new segment, starting at the last outlier
+ it->npts = nok-2;
+ // WL slip gross OR GF slip gross
+ it = createSegment(it,ibad,which+string(" slip gross"));
+
+ // mark it
+ data[ibad].flag |= (which == string("WL") ? WLDETECT : GFDETECT);
+
+ // change the bias in the new segment
+ if(which == "WL") {
+ wlbias = data[ibad].P1;
+ it->bias1 = long(wlbias+(wlbias > 0 ? 0.5 : -0.5)); // WL bias (NWL)
+ }
+ if(which == "GF")
+ it->bias2 = data[ibad].L2; // GFP bias
+
+ // prep for next point
+ nok = 2;
+ outlier = false;
+ igood = ibad;
+ }
+ else
+ igood = i;
+ }
+ it->npts = nok;
+
+ return ReturnOK;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// compute first differences of data array(s) for WL and GF gross slip detection.
+// for WL difference the WLbias (P1); for GF, the GFP (L2) and the GFR (P2)
+// Store results in A1, and for GF put the range difference in A2
+int GDCPass::firstDifferences(string which) throw(Exception)
+{
+try {
+ if(A1.size() != data.size()) return FatalProblem;
+
+ int i,iprev = -1;
+
+ for(i=0; i<data.size(); i++) {
+ // ignore bad data
+ if(!(data[i].flag & OK)) {
+ A1[i] = A2[i] = 0.0;
+ continue;
+ }
+
+ // compute first differences - 'change the arrays' A1 and A2
+ if(which == string("WL")) {
+ if(iprev == -1)
+ A1[i] = 0.0;
+ else
+ A1[i] = (data[i].P1 - data[iprev].P1) / (data[i].ndt-data[iprev].ndt);
+ }
+ else if(which == string("GF")) {
+ if(iprev == -1) // first difference not defined at first point
+ A1[i] = A2[i] = 0.0;
+ else {
+ // compute first difference of L1 = raw residual GFP-GFR
+ A1[i] = (data[i].L1 - data[iprev].L1) / (data[i].ndt-data[iprev].ndt);
+ // compute first difference of GFP = L2
+ A2[i] = (data[i].L2 - data[iprev].L2) / (data[i].ndt-data[iprev].ndt);
+ }
+ }
+
+ // go to next point
+ iprev = i;
+ }
+
+ return ReturnOK;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// for one segment, compute conventional statistics on the
+// WL bias and count the number of good points
+void GDCPass::WLcomputeStats(list<Segment>::iterator& it) throw(Exception)
+{
+try {
+ // compute WLStats
+ it->WLStats.Reset();
+ it->npts = 0;
+
+ // loop over data, adding to Stats, and counting good points
+ for(int i=it->nbeg; i<=it->nend; i++) {
+ if(!(data[i].flag & OK)) continue;
+ it->WLStats.Add(data[i].P1 - it->bias1);
+ it->npts++;
+ }
+
+ // eliminate segments with too few points
+ if(it->npts < int(cfg(MinPts)))
+ deleteSegment(it,"insufficient data in segment");
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// for one segment, compute conventional statistics on the
+// WL bias, remove small segments, and mark bad points that lie outside N*sigma
+void GDCPass::WLsigmaStrip(list<Segment>::iterator& it) throw(Exception)
+{
+try {
+ bool outlier,haveslip;
+ unsigned short slip;
+ int i,slipindex;
+ double wlbias,nsigma,ave;
+
+ // use robust stats on small segments, for big ones stick with conventional
+ // 'change the arrays' A1 and A2; they will be used again by WLstatSweep
+ if(it->npts < cfg(WLNptsOutlierStats)) { // robust
+ int j;
+ double median,mad;
+ // put wlbias in A1, but without gaps - let j index good points only from nbeg
+ for(j=i=it->nbeg; i<=it->nend; i++) {
+ if(!(data[i].flag & OK)) continue;
+ wlbias = data[i].P1 - it->bias1;
+ A1[j] = wlbias;
+ j++;
+ }
+
+ mad = Robust::MAD(&(A1[it->nbeg]),j-it->nbeg,median,true);
+ nsigma = cfg(WLNSigmaStrip) * mad;
+ // change the array : A1 is wlbias, A2 will contain the weights
+ ave = Robust::MEstimate(&(A1[it->nbeg]),j-it->nbeg,median,mad,&(A2[it->nbeg]));
+
+ haveslip = false;
+ for(j=i=it->nbeg; i<=it->nend; i++) {
+ if(!(data[i].flag & OK)) continue;
+
+ wlbias = data[i].P1 - it->bias1;
+
+ // TD ? use weights at all? they remove a lot of points
+ // TD add absolute limit?
+ if(fabs(wlbias-ave) > nsigma || A2[j] < cfg(WLRobustWeightLimit))
+ outlier = true;
+ else
+ outlier = false;
+
+ // remove points by sigma stripping
+ if(outlier) {
+ if(data[i].flag & DETECT || i == it->nbeg) {
+ haveslip = true;
+ slipindex = i; // mark
+ slip = data[i].flag; // save to put on first good point
+ //log << "Warning - marking a slip point BAD in WL sigma strip "
+ // << GDCUnique << " " << sat
+ // << " " << time(i).printf(outFormat) << " " << i << endl;
+ }
+ data[i].flag = BAD;
+ learn["points deleted: WL sigma stripping"]++;
+ it->npts--;
+ it->WLStats.Subtract(wlbias);
+ }
+ else if(haveslip) {
+ data[i].flag = slip;
+ haveslip = false;
+ }
+
+ if(cfg(Debug) >= 6) {
+ log << "DSCWLR " << GDCUnique << " " << sat
+ << " " << it->nseg
+ << " " << time(i).printf(outFormat)
+ << fixed << setprecision(3)
+ << " " << setw(3) << data[i].flag
+ << " " << setw(13) << A1[j] // wlbias
+ << " " << setw(13) << fabs(wlbias-ave)
+ << " " << setw(5) << A2[j] // 0 <= weight <= 1
+ << " " << setw(3) << i
+ << (outlier ? " outlier" : "");
+ if(i == it->nbeg) log
+ << " " << setw(13) << it->bias1
+ << " " << setw(13) << it->bias2;
+ log << endl;
+ }
+
+ j++;
+ }
+
+ }
+ else { // conventional
+
+ //nsigma = WLsigmaStrippingNsigmaLimit * it->WLStats.StdDev();
+ nsigma = cfg(WLNSigmaStrip) * it->WLStats.StdDev();
+
+ haveslip = false;
+ ave = it->WLStats.Average();
+ for(i=it->nbeg; i<=it->nend; i++) {
+ if(!(data[i].flag & OK)) continue;
+
+ wlbias = data[i].P1 - it->bias1;
+
+ // remove points by sigma stripping
+ if(fabs(wlbias-ave) > nsigma) { // TD add absolute limit?
+ if(data[i].flag & DETECT) {
+ haveslip = true;
+ slipindex = i; // mark
+ slip = data[i].flag; // save to put on first good point
+ //log << "Warning - marking a slip point BAD in WL sigma strip "
+ // << GDCUnique << " " << sat
+ // << " " << time(i).printf(outFormat) << " " << i << endl;
+ }
+ data[i].flag = BAD;
+ learn["points deleted: WL sigma stripping"]++;
+ it->npts--;
+ it->WLStats.Subtract(wlbias);
+ }
+ else if(haveslip) {
+ data[i].flag = slip;
+ haveslip = false;
+ }
+
+ } // loop over points in segment
+ }
+
+ // change nbeg, but don't change the bias
+ if(haveslip) {
+ it->nbeg = slipindex;
+ //wlbias = data[slipindex].P1;
+ //it->bias1 = long(wlbias+(wlbias > 0 ? 0.5 : -0.5));
+ }
+
+ // again
+ if(it->npts < int(cfg(MinPts)))
+ deleteSegment(it,"WL sigma stripping");
+ else {
+ // update nbeg and nend // TD add limit 0 data.size()
+ while(it->nbeg < it->nend && !(data[it->nbeg].flag & OK)) it->nbeg++;
+ while(it->nend > it->nbeg && !(data[it->nend].flag & OK)) it->nend--;
+ }
+
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// in the given segment, compute statistics on the WL bias using a
+// 'two-paned sliding window', each pane of width 'width' good points.
+// store the results in the parallel (to SatPass::data) arrays A1,A2.
+int GDCPass::WLstatSweep(list<Segment>::iterator& it, int width) throw(Exception)
+{
+try {
+ int iminus,i,iplus;
+ double wlbias,test,limit;
+ Stats<double> pastStats, futureStats;
+
+ // ignore empty segments
+ if(it->npts == 0) return ReturnOK;
+ it->WLsweep = true;
+
+ // Cartoon of the 'two-pane moving window'
+ // windows: 'past window' 'future window'
+ // stats : --- pastStats---- ----futureStats--
+ // data : (x x x x x x x x x)(x x x x x x x x x) x ...
+ // | | | |
+ // indexes: iminus i-1 i iplus
+
+ // start with the window 'squashed' to one point - the first one
+ iminus = i = iplus = it->nbeg;
+
+ // fill up the future window to size 'width', but don't go beyond the segment
+ while(futureStats.N() < width && iplus <= it->nend) {
+ if(data[iplus].flag & OK) { // add only good data
+ futureStats.Add(data[iplus].P1 - it->bias1);
+ }
+ iplus++;
+ }
+
+ // now loop over all points in the segment
+ for(i=it->nbeg; i<= it->nend; i++) {
+ if(!(data[i].flag & OK)) // add only good data
+ continue;
+
+ // compute test and limit
+ test = 0;
+ if(pastStats.N() > 0 && futureStats.N() > 0)
+ test = fabs(futureStats.Average()-pastStats.Average());
+ limit = ::sqrt(futureStats.Variance() + pastStats.Variance());
+ // 'change the arrays' A1 and A2
+ A1[i] = test;
+ A2[i] = limit;
+
+ wlbias = data[i].P1 - it->bias1; // debiased WLbias
+
+ // dump the stats
+ if(cfg(Debug) >= 6) log << "WLS " << GDCUnique
+ << " " << sat << " " << it->nseg
+ << " " << time(i).printf(outFormat)
+ << fixed << setprecision(3)
+ << " " << setw(3) << pastStats.N()
+ << " " << setw(7) << pastStats.Average()
+ << " " << setw(7) << pastStats.StdDev()
+ << " " << setw(3) << futureStats.N()
+ << " " << setw(7) << futureStats.Average()
+ << " " << setw(7) << futureStats.StdDev()
+ << " " << setw(9) << A1[i]
+ << " " << setw(9) << A2[i]
+ << " " << setw(9) << wlbias
+ << " " << setw(3) << i
+ << endl;
+
+ // update stats :
+ // move point i from future to past, ...
+ futureStats.Subtract(wlbias);
+ pastStats.Add(wlbias);
+ // ... and move iplus up by one (good) point, ...
+ while(futureStats.N() < width && iplus <= it->nend) {
+ if(data[iplus].flag & OK) {
+ futureStats.Add(data[iplus].P1 - it->bias1);
+ }
+ iplus++;
+ }
+ // ... and move iminus up by one good point
+ while(pastStats.N() > width && iminus <= it->nend) {// <= nend not really nec.
+ if(data[iminus].flag & OK) {
+ pastStats.Subtract(data[iminus].P1 - it->bias1);
+ }
+ iminus++;
+ }
+
+ } // end loop over i=all points in segment
+
+ return ReturnOK;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// look for slips in the WL using the results of WLstatSweep
+// if slip is close to either end (< window width), just chop off the small segment
+// recompute WLstats; when a slip is found, create a new segment
+int GDCPass::detectWLsmallSlips(void) throw(Exception)
+{
+try {
+ int i,k,nok;
+ double wlbias;
+ list<Segment>::iterator it;
+
+ // find first segment for which WLstatSweep was called
+ it = SegList.begin();
+ while(!it->WLsweep) {
+ it++;
+ if(it == SegList.end()) return ReturnOK;
+ }
+ it->WLStats.Reset();
+
+ // loop over the data arrays - all segments
+ i = it->nbeg;
+ nok = 0;
+ while(i < data.size())
+ {
+ // must skip segments for which WLstatSweep was not called
+ while(i > it->nend || !it->WLsweep) {
+ if(i > it->nend) {
+ it->npts = nok;
+ nok = 0;
+ }
+ it++;
+ if(it == SegList.end()) return ReturnOK;
+ i = it->nbeg;
+ if(it->WLsweep) {
+ it->WLStats.Reset();
+ }
+ }
+
+ if(data[i].flag & OK) {
+ nok++; // nok = # good points in segment
+
+ if(nok == 1) { // change the bias, as WLStats reset
+ wlbias = data[i].P1;
+ it->bias1 = long(wlbias+(wlbias > 0 ? 0.5 : -0.5));
+ }
+
+ // condition 3 - near ends of segment?
+ if(nok < 2 || (it->npts - nok) < 2 ) { // TD input 1/2 width
+ // failed test 3 - near ends of segment
+ // consider chopping off this end of segment - large limit?
+ // TD must do something here ...
+ log << "too near end " << GDCUnique
+ << " " << i << " " << nok << " " << it->npts-nok
+ << " " << time(i).printf(outFormat)
+ << " " << A1[i] << " " << A2[i]
+ << endl;
+
+
+
+ }
+ else if(foundWLsmallSlip(it,i)) { // met condition 3
+ // create new segment
+ // TD what if nok < MinPts? -- cf detectGFsmallSlips
+ k = it->npts;
+ it->npts = nok;
+ //log << "create new segment at i = " << i << " " << nok << "pts\n";
+ it = createSegment(it,i,"WL slip small");
+
+ // mark it
+ data[i].flag |= WLDETECT;
+
+ // prep for next segment
+ // biases remain the same in the new segment
+ it->npts = k - nok;
+ nok = 0;
+ it->WLStats.Reset();
+ wlbias = data[i].P1; // change the bias, as WLStats reset
+ it->bias1 = long(wlbias+(wlbias > 0 ? 0.5 : -0.5));
+ }
+
+ it->WLStats.Add(data[i].P1 - it->bias1);
+
+ } // end if good data
+
+ i++;
+
+ } // end loop over points in the pass
+
+ it->npts = nok;
+
+ return ReturnOK;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// determine if a slip has been found at index i, in segment it
+// CONDITIONs for a slip to be detected:
+// 1. test must be >= ~0.67 wlwl
+// 2. limit must be much smaller than test
+// 3. slip must be far (>1/2 window) from either end
+// 4. test must be at a local maximum within ~ window width
+// 5. limit must be at a local minimum (")
+// 6. (test-limit)/limit > 1.2
+// large limit (esp near end of a pass) means too much noise
+bool GDCPass::foundWLsmallSlip(list<Segment>::iterator& it, int i)
+ throw(Exception)
+{
+try {
+ const int minMaxWidth=int(cfg(WLSlipEdge)); // test 4,5, = ~~1/2 WLWindowWidth
+ int j,jp,jm,pass4,pass5,Pass;
+
+ // A1 = test = fabs(futureStats.Average() - pastStats.Average());
+ // A2 = limit = ::sqrt(futureStats.Variance() + pastStats.Variance());
+ // all units WL cycles
+
+ // CONDITION 1 CONDITION 2
+ if(A1[i] <= cfg(WLSlipSize) || A1[i]-A2[i] <= cfg(WLSlipExcess)) {
+ return false;
+ }
+
+ // Debug print
+ if(cfg(Debug) >= 6) log << "WLslip " << GDCUnique
+ << " " << sat << " " << it->nseg
+ << " " << setw(3) << i
+ << " " << time(i).printf(outFormat)
+ //<< " " << it->npts << "pt"
+ << fixed << setprecision(2)
+ << " test " << setw(4) << A1[i] << (A1[i]>0.67?">":"<=") << "0.67"
+ << ", " << setw(4) << A1[i]-A2[i]
+ << (A1[i]-A2[i]>0.1 ? ">" : "<=") << "0.1"
+ << ", lim " << setw(4) << A2[i]
+ << " (" << (A1[i]-A2[i])/A2[i];
+ // no endl
+
+ // CONDITIONs 4 and 5
+ // do for 3 points on each side of point - best score is pass=6
+ j = pass4 = pass5 = 0;
+ jp = jm = i;
+ do {
+ // find next good point in future
+ do { jp++; } while(jp < it->nend && !(data[jp].flag & OK));
+ // CONDITION 4: test(A1) is a local maximum
+ if(A1[i]-A1[jp] > 0) pass4++;
+ // CONDITION 5: limit(A2) is a local maximum
+ if(A2[i]-A2[jp] < 0) pass5++;
+
+ // find next good point in past
+ do { jm--; } while(jm > it->nbeg && !(data[jm].flag & OK));
+ // CONDITION 4: test(A1) is a local maximum
+ if(A1[i]-A1[jp] > 0) pass4++;
+ // CONDITION 5: limit(A2) is a local maximum
+ if(A2[i]-A2[jp] < 0) pass5++;
+
+ } while(++j < minMaxWidth);
+
+ // perfect = 2*minMaxWidth; allow 1 miss...?
+ Pass = 0;
+ if(pass4 >= 2*minMaxWidth-1) { Pass++; if(cfg(Debug) >= 6) log << " tst_max"; }
+ if(pass5 >= 2*minMaxWidth-1) { Pass++; if(cfg(Debug) >= 6) log << " lim_min"; }
+
+ // CONDITION 6
+ if( (A1[i]-A2[i])/A2[i] > cfg(WLSlipSeparation) ) {
+ Pass++;
+ if(cfg(Debug) >= 6) log << " tst_lim_separation";
+ }
+
+ if(cfg(Debug) >= 6) log << ")";
+
+ if(Pass == 3) {
+ if(cfg(Debug) >= 6) log << " possible WL slip" << endl;
+ return true;
+ }
+ if(cfg(Debug) >= 6) log << endl;
+
+ return false;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
+// estimate slips and adjust biases appropriately - ie fix slips - for both WL and GF
+// merge all data into one segment
+int GDCPass::fixAllSlips(string which) throw(Exception)
+{
+try {
+ // find the largest segment and start there, always combine the largest with its
+ // largest neighbor
+ int i,nmax,ifirst;
+ list<Segment>::iterator it, kt;
+
+ // loop over all segments, erasing empty ones
+ it = SegList.begin();
+ while(it != SegList.end()) {
+ if(it->npts == 0)
+ it = SegList.erase(it);
+ else
+ it++;
+ }
+
+ if(SegList.empty())
+ return NoData;
+
+ // find the largest segment
+ for(kt=SegList.end(),nmax=0,it=SegList.begin(); it != SegList.end(); it++) {
+ if(it->npts > nmax) {
+ nmax = it->npts;
+ kt = it;
+ }
+ }
+
+ // fix all the slips, starting with the largest segment
+ // this will merge all segments into one
+ GDCUniqueFix = 0;
+ while(kt != SegList.end()) {
+ fixOneSlip(kt,which);
+ }
+
+ // TD here to return should be a separate call...
+
+ // now compute stats for the WL for the (single segment) whole pass
+ kt = SegList.begin();
+ if(which == string("WL")) { // WL
+ WLPassStats.Reset();
+ for(i=kt->nbeg; i <= kt->nend; i++) {
+ if(!(data[i].flag & OK)) continue;
+ WLPassStats.Add(data[i].P1 - kt->bias1);
+ }
+ // NB Now you have a measure of range noise for the whole pass :
+ // sigma(WLbias) ~ sigma(WLrange) = 0.71*sigma(range), so
+ // range noise = WLPassStats.StdDev() * wlwl / 0.71; // meters
+ // 0.71 / wlwl = 0.83
+
+ // TD mark the first slip 'fixed' - unmark it - or something
+ }
+ // change the biases - reset the GFP bias so that it matches the GFR
+ else { // GF
+//temp
+dumpSegments("GFFbefRebias",2,true);
+ for(ifirst=-1,i=kt->nbeg; i <= kt->nend; i++) {
+ if(!(data[i].flag & OK)) continue;
+ if(ifirst == -1) {
+ ifirst = i;
+ kt->bias2 = data[ifirst].L2 + data[ifirst].P2;
+ kt->bias1 = data[ifirst].P1;
+ }
+ // change the data - recompute GFR-GFP so it has one consistent bias
+ data[i].L1 = data[i].L2 + data[i].P2;
+ }
+ }
+
+ if(cfg(Debug) >= 3) dumpSegments(which + string("F"),2,true); // WLF GFF
+
+ return ReturnOK;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// called by fixAllSlips
+// assume there are no empty segments in the list
+void GDCPass::fixOneSlip(list<Segment>::iterator& kt, string which) throw(Exception)
+{
+try {
+ if(kt->npts == 0) { kt++; return; }
+
+ list<Segment>::iterator left,right,it;
+
+ // kt points to the biggest segment
+ // define left and right to be the two segments on each side of the slip to be
+ // fixed; assume there are no empty segments in the list
+ right = left = kt;
+
+ // choose the next segment on the right of kt
+ right++;
+
+ // choose the next segment on the left of kt
+ if(kt != SegList.begin())
+ left--;
+ else
+ left = SegList.end(); // nothing on the left
+
+ // no segment left of kt and no segment right of kt - nothing to do
+ if(left == SegList.end() && right == SegList.end()) {
+ kt++;
+ return;
+ }
+
+ // Always define kt to == left, as it will be returned and right will be erased.
+ if(left == SegList.end()) { // no segment on left
+ left = kt;
+ }
+ else if(right == SegList.end() // no segment on right
+ || left->npts >= right->npts) { // or left is the bigger segment
+ right = kt;
+ kt = left; // fix between left and kt
+ }
+ else { // left and right exist, and right is bigger
+ left = kt; // fix between kt and right
+ }
+
+ // fix the slip between left and right, making data in 'right' part of 'left'
+ if(which == string("WL"))
+ WLslipFix(left,right);
+ else
+ GFslipFix(left,right);
+
+ left->npts += right->npts;
+ left->nend = right->nend;
+
+ // always delete right, otherwise on return kt(==left) will be invalid
+ // (ignore return value = iterator to first element after the one erased)
+ SegList.erase(right);
+
+ return;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// called by fixOneSlip
+void GDCPass::WLslipFix(list<Segment>::iterator& left,
+ list<Segment>::iterator& right)
+throw(Exception)
+{
+try {
+ int i;
+
+ GDCUniqueFix++;
+
+ // full slip
+ double dwl = right->bias1 + right->WLStats.Average()
+ - (left->bias1 + left->WLStats.Average());
+ long nwl = long(dwl + (dwl > 0 ? 0.5 : -0.5));
+
+ // TD ? test gap size?
+ //if(cfg(DT)*(right->nbeg - left->nend) > cfg(MaxGap)) break;
+
+ // test that total variance is small
+ //if(::sqrt(left->WLStats.Variance() + right->WLStats.Variance())
+ // / (left->WLStats.N() + right->WLStats.N()) < cfg(WLFixSigma)) {
+ // log << "Cannot fix WL slip (noisy) at " << right->nbeg
+ // << " " << time(right->nbeg).printf(outFormat)
+ // << endl;
+ // break;
+ //}
+
+ // TD ? test fractional part of offset fabs
+ //if(fabs(dwl-nwl) > cfg(WLFixFrac)) break;
+
+ if(cfg(Debug) >= 6) log << "Fix " << GDCUnique << " " << sat << " " << GDCUniqueFix
+ << " WL " << time(right->nbeg).printf(outFormat)
+ << " " << left->nseg << "-" << right->nseg
+ << fixed << setprecision(2)
+ << " right: " << right->bias1 << " + " << right->WLStats.Average()
+ << " - left: " << left->bias1 << " + " << left->WLStats.Average()
+ << " = " << dwl << " " << nwl << " "
+ << endl;
+
+ // now do the fixing - change the data in the right segment to match left's
+ for(i=right->nbeg; i<=right->nend; i++) {
+ //if(!(data[i].flag & OK)) continue;
+ data[i].P1 -= nwl; // WLbias
+ data[i].L2 -= nwl * wl2; // GFP
+ // add to WLStats
+ //if(!(data[i].flag & OK)) continue;
+ //left->WLStats.Add(data[i].P1 - left->bias1);
+ }
+
+ // fix the slips beyond the 'right' segment.
+ // change the data in the GFP, and change the both the data and the bias in the WL.
+ // this way, WLStats is still valid, but if we change the GF bias, we will lose
+ // that information before the GF slips get fixed.
+ list<Segment>::iterator it = right;
+ for(it++; it != SegList.end(); it++) {
+ // Use real, not int, nwl b/c rounding error in a pass with many slips
+ // can build up and produce errors.
+ it->bias1 -= dwl;
+ for(i=it->nbeg; i<=it->nend; i++) {
+ //if(!(data[i].flag & OK)) continue; // TD don't?
+ data[i].P1 -= nwl; // WLbias
+ data[i].L2 -= nwl * wl2; // GFP
+ }
+ }
+
+ // Add to slip list
+ Slip newSlip(right->nbeg);
+ newSlip.NWL = nwl;
+ newSlip.msg = "WL";
+ SlipList.push_back(newSlip);
+
+ // mark it
+ data[right->nbeg].flag |= WLFIX;
+
+ return;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// fix one slip in the geometry-free phase
+// called by fixOneSlip
+void GDCPass::GFslipFix(list<Segment>::iterator& left,
+ list<Segment>::iterator& right) throw(Exception)
+{
+try {
+ // use this number of data points on each side of slip
+ const int Npts=int(cfg(GFFixNpts));
+ int i,nb,ne,nl,nr,ilast;
+ long n1,nadj; // slip magnitude (cycles)
+ double dn1,dnGFR;
+ Stats<double> Lstats,Rstats;
+
+ GDCUniqueFix++;
+
+//temp
+log << "GFslipFix " << GDCUniqueFix << " biases L: " << left->bias2 << " R: " << right->bias2 << endl;
+ // find Npts points on each side of slip
+ nb = left->nend;
+ i = 1;
+ nl = 0;
+ ilast = -1; // ilast is last good point before slip
+ while(nb > left->nbeg && i < Npts) {
+ if(data[nb].flag & OK) {
+ if(ilast == -1) ilast = nb;
+ i++; nl++;
+ Lstats.Add(data[nb].L1 - left->bias2);
+log << "LDATA " << nb << " " << data[nb].L1-left->bias2 << endl;
+ }
+ nb--;
+ }
+ ne = right->nbeg;
+ i = 1;
+ nr = 0;
+ while(ne < right->nend && i < Npts) {
+ if(data[ne].flag & OK) {
+ i++; nr++;
+ Rstats.Add(data[ne].L1 - right->bias2);
+log << "RDATA " << ne << " " << data[ne].L1-right->bias2 << endl;
+ }
+ ne++;
+ }
+
+ // first estimate of n1, without biases
+ // need to use the GFR-GFP estimate here, and limit |nadj| to be well within
+ // sigmas on the stats, b/c when ionosphere is very active, GFP and GFR will both
+ // vary sharply, and fitting a polynomial to GFP is a BAD thing to do....
+ // ultimately, GFR-GFP is accurate but noisy.
+ // rms rof should tell you how much weight to put on rof
+ // larger rof -> smaller npts and larger degree
+ dn1 = data[right->nbeg].L2 - right->bias2 - (data[ilast].L2 - left->bias2);
+ // this screws up most fixes
+ //dn1 = Rstats.Average() - right->bias2 - (Lstats.Average() - left->bias2);
+ n1 = long(dn1 + (dn1 > 0 ? 0.5 : -0.5));
+
+ // TD worry about too small pieces - nr or nl too small
+
+ // estimate the slip using polynomial fits - this prints GFE data
+ nadj = EstimateGFslipFix(left,right,nb,ne,n1);
+
+ // adjust the adjustment if it is not consistent with Lstats vs Rstats
+ // dn1+nadj - a. current best estimate
+ // Rstats.Averge()-Lstats.Average - b. estimate from stats on GFR-GFP across slip
+ // difference should be consistent with R/Lstats.StdDev
+ // if not, replace nadj with b. - dn1
+ dnGFR = Rstats.Average() - Lstats.Average();
+// temp add factor 10.*
+ if(fabs(n1+nadj-dnGFR) > 10.*(Rstats.StdDev()+Lstats.StdDev())) {
+ if(cfg(Debug) >= 6)
+ log << "GFRadjust " << GDCUnique << " " << sat << " " << GDCUniqueFix
+ << " GF " << time(right->nbeg).printf(outFormat)
+ << fixed << setprecision(2)
+ << " dbias(GFR): " << dnGFR
+ << " n1+nadj: " << n1+nadj;
+
+ nadj = long(dnGFR+(dnGFR > 0 ? 0.5 : -0.5)) - n1;
+
+ if(cfg(Debug) >= 6)
+ log << " new n1+nadj: " << n1+nadj << endl;
+ }
+
+ // output result
+ if(cfg(Debug) >= 6) {
+ log << "Fix " << GDCUnique << " " << sat << " " << GDCUniqueFix
+ << " GF " << time(right->nbeg).printf(outFormat)
+ << fixed << setprecision(2)
+ << " dbias: " << right->bias2 - left->bias2
+ << ", dn1: " << dn1 << ", n1: " << n1 << ", adj: " << nadj
+ << " indexes " << nb << " " << ne << " " << nl << " " << nr
+ << " segs " << left->nseg << " " << right->nseg
+ << " GFR-GFP:L: "
+ << Lstats.N() << " " << Lstats.Average() << " " << Lstats.StdDev()
+ << " R: "
+ << Rstats.N() << " " << Rstats.Average() << " " << Rstats.StdDev()
+ << " tests " << n1+nadj-dnGFR << " " << Rstats.StdDev()+Lstats.StdDev()
+ << endl;
+ }
+
+ // full slip, including biases
+ dn1 += right->bias2 - left->bias2;
+ n1 = long(dn1 + (dn1 > 0 ? 0.5 : -0.5));
+ n1 += nadj;
+
+ // now do the fixing : 'change the data' within right segment
+ // and through the end of the pass, to fix the slip
+ for(i=right->nbeg; i<data.size(); i++) {
+ //if(!(data[i].flag & OK)) continue; // TD? don't?
+ //data[i].P1 -= nwl; // no change to WLbias
+ data[i].L2 -= n1; // GFP
+ data[i].L1 -= n1; // GFR+GFP
+ }
+// temp add this
+ // 'change the bias' for all segments in the future (although right to be deleted)
+ list<Segment>::iterator kt;
+ for(kt=right; kt != SegList.end(); kt++)
+ kt->bias2 -= n1;
+
+ // Add to slip list, but if one exists with same time tag, use it instead
+ list<Slip>::iterator jt;
+ for(jt=SlipList.begin(); jt != SlipList.end(); jt++)
+ if(jt->index == right->nbeg) break;
+
+ if(jt == SlipList.end()) {
+ Slip newSlip(right->nbeg);
+ newSlip.N1 = -n1;
+ newSlip.msg = "GF only";
+ SlipList.push_back(newSlip);
+ }
+ else {
+ jt->N1 = -n1;
+ jt->msg += string(" GF");
+ }
+
+ // mark it
+ data[right->nbeg].flag |= GFFIX;
+
+ return;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// called by GFslipFix
+// estimate GF slip using polynomial fit to data around it
+long GDCPass::EstimateGFslipFix(list<Segment>::iterator& left,
+ list<Segment>::iterator& right,
+ int nb, int ne, long n1)
+throw(Exception)
+{
+try {
+ bool quit;
+ int i,k,in[3];
+ double rof,rmsrof[3];
+ PolyFit<double> PF[3];
+
+ // start at zero and limit |nadj| to ...TD
+ long nadj = 0;
+
+ // use a little indirect indexing array to avoid having to copy PolyFit objects....
+ for(k=0; k<3; k++) {
+ in[k]=k;
+ PF[in[k]].Reset(int(cfg(GFFixDegree)));
+ }
+
+ while(1) {
+ // compute 3 polynomial fits to this data, with slips of
+ // (nadj-1, nadj and nadj+1) wavelengths added to left segment
+ for(k=0; k<3; k++) {
+ if(PF[in[k]].N() > 0) continue;
+
+ // add all the data
+ for(i=nb; i<=ne; i++) {
+ if(!(data[i].flag & OK)) continue;
+ PF[in[k]].Add(
+ // data - (either left bias - poss. slip : right bias)
+ data[i].L2 - (i < right->nbeg ? left->bias2-n1-(nadj+k-1) : right->bias2),
+ // use debiased count
+ data[i].ndt - data[nb].ndt
+ );
+ }
+
+ // TD check that it not singular
+
+ // compute RMS residual of fit
+ rmsrof[in[k]] = 0.0;
+ for(i=nb; i<=ne; i++) {
+ if(!(data[i].flag & OK)) continue;
+ rof = // data minus fit
+ data[i].L2 - (i < right->nbeg ? left->bias2-n1-(nadj+k-1) : right->bias2)
+ - PF[in[k]].Evaluate(data[i].ndt - data[nb].ndt);
+ rmsrof[in[k]] += rof*rof;
+ }
+ rmsrof[in[k]] = ::sqrt(rmsrof[in[k]]);
+
+ } // end loop over fits
+
+ // the value of this is questionable, b/c with active ionosphere the real
+ // GFP is NOT smooth
+ for(quit=false,k=0; k<3; k++) if(rmsrof[in[k]] > cfg(GFFixMaxRMS)) {
+ log << "Warning - large RMS ROF in GF slip fix at in,k = "
+ << in[k] << " " << k << " " << rmsrof[in[k]] << " abort.\n";
+ quit = true;
+ }
+ if(quit) break;
+
+ //if(cfg(Debug) >= 6) {
+ // log << "Fix GF slip RMSROF : adj: " << nadj;
+ // for(i=0; i<3; i++) log << " " << rmsrof[in[i]];
+ // // below log << endl;
+ //}
+
+ // three cases: (TD - exceptions?) :
+ // rmsrof: 0 > 1 < 2 good
+ // 0 > 1 > 2 shift 0,1,2 to 1,2,3
+ // 0 < 1 < 2 shift 0,1,2 to -1,0,1
+ // 0 < 1 > 2 local max! - ??
+ if(rmsrof[in[0]] > rmsrof[in[1]]) {
+ if(rmsrof[in[1]] < rmsrof[in[2]]) { // local min - done
+ //if(cfg(Debug) >= 6) log << " done." << endl;
+ break;
+ }
+ else { // shift 0,1,2 to 1,2,3
+ k = in[0];
+ in[0] = in[1];
+ in[1] = in[2];
+ in[2] = k;
+ PF[in[2]].Reset();
+ nadj += 1;
+ //if(cfg(Debug) >= 6) log << " shift left" << endl;
+ }
+ }
+ else {
+ if(rmsrof[in[1]] < rmsrof[in[2]]) { // shift 0,1,2 to -1,0,1
+ k = in[2];
+ in[2] = in[1];
+ in[1] = in[0];
+ in[0] = k;
+ PF[in[0]].Reset();
+ nadj -= 1;
+ //if(cfg(Debug) >= 6) log << " shift right" << endl;
+ }
+ else { // local max
+ log << "Warning - local maximum in RMS residuals in EstimateGFslipFix"
+ << endl;
+ // TD do something
+ break;
+ }
+ }
+
+ } // end while loop
+
+ // dump the raw data with all the fits
+ for(i=nb; i<=ne; i++) {
+ if(!(data[i].flag & OK)) continue;
+ log << "GFE " << GDCUnique << " " << sat
+ << " " << GDCUniqueFix
+ << " " << time(i).printf(outFormat)
+ << " " << setw(2) << data[i].flag << fixed << setprecision(3);
+ for(k=0; k<3; k++) log << " "
+ << data[i].L2 - (i < right->nbeg ? left->bias2-n1-(nadj+k-1) : right->bias2)
+ << " " << PF[in[k]].Evaluate(data[i].ndt - data[nb].ndt);
+ log << " " << setw(3) << data[i].ndt << endl;
+ }
+
+ return nadj;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
+// fit a polynomial to the GF range, and change the units of -gfr(P2) and gfp(L2)
+// to cycles of wl21 (=5.4cm)
+int GDCPass::prepareGFdata(void) throw(Exception)
+{
+try {
+ bool first;
+ int i,nbeg,nend;
+ unsigned ndeg;
+
+ // decide on the degree of fit
+ nbeg = SegList.begin()->nbeg;
+ nend = SegList.begin()->nend;
+ ndeg = 2 + int(0.5 + (nend-nbeg+1)*cfg(DT)/3000.0);
+ if(ndeg > 6) ndeg = 6;
+ //if(ndeg > int(cfg(GFPolyMaxDegree))) ndeg = int(cfg(GFPolyMaxDegree));
+ if(ndeg < 2) ndeg = 2;
+
+ // global fit to the gfr
+ GFPassFit.Reset(ndeg);
+
+ for(first=true,i=nbeg; i <= nend; i++) {
+ if(!(data[i].flag & OK)) continue;
+
+ // 'change the bias' (initial bias only) in the GFP by changing units, also
+ // slip fixing in the WL may have changed the values of GFP
+ if(first) {
+//temp uncomment next 3 lines then comment again
+ //if(fabs(data[i].L2 - SegList.begin()->bias2) > 10.*wl21) {
+ // SegList.begin()->bias2 = data[i].L2;
+ //}
+ SegList.begin()->bias2 /= wl21;
+ first = false;
+ }
+
+ // 'change the arrays'
+ // change units on the GFP and the GFR
+ data[i].P2 /= wl21; // gfr (cycles of wl21)
+ data[i].L2 /= wl21; // gfp (cycles of wl21)
+
+ // compute polynomial fit
+ GFPassFit.Add(data[i].P2,data[i].ndt);
+
+ // 'change the data'
+ // save in L1 // gfp+gfr residual (cycles of wl21)
+ // ?? data[i].L1 = data[i].L2 - data[i].P2 - SegList.begin()->bias2;
+// temp add -bias2 then remove it again
+ data[i].L1 = data[i].L2 - data[i].P2; // - SegList.begin()->bias2;
+ }
+
+ if(GFPassFit.isSingular()) {
+ log << "Polynomial fit to GF range is singular! .. abort." << endl;
+ return Singular;
+ }
+
+ return ReturnOK;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
+// detect slips in the geometry-free phase
+int GDCPass::detectGFslips(void) throw(Exception)
+{
+try {
+ int i,iret;
+ //temp double bias;
+ list<Segment>::iterator it;
+
+ // places first difference of GF in A1 - 'change the arrays' A1
+ if( (iret = detectObviousSlips("GF"))) return iret;
+// temp
+if(cfg(Debug) >= 4) dumpSegments("GFobvious",2,true);
+
+ GFPassStats.Reset();
+ //temp bias = 0.0;
+ for(it=SegList.begin(); it != SegList.end(); it++) {
+ // use bias for debiasing below
+ // TD what if this segment deleted?
+ //temp if(it == SegList.begin()) bias += it->bias2;
+
+ // compute stats on dGF/dt
+ for(i=it->nbeg; i <= it->nend; i++) {
+ if(!(data[i].flag & OK)) continue;
+
+ // compute first-diff stats in meters
+ // skip the first point in a segment - it is an obvious GF slip
+ if(i > it->nbeg) GFPassStats.Add(A1[i]*wl21);
+
+ // if a gross GF slip was found, must remove bias in L1=GF(R-P)
+ // in all subsequent segments ; 'change the data' L1
+ //temp if(it != SegList.begin()) data[i].L1 += bias - it->bias2;
+
+ } // end loop over data in segment it
+
+ // delete segments if sigma too high?
+
+ // check number of good points
+ if(it->npts < int(cfg(MinPts))) {
+ deleteSegment(it,"insufficient data in segment");
+ continue;
+ }
+
+ // fit polynomial to GFR in each segment
+ // compute (1stD of) fit residual GFP-fit(GFR) -> A1 - 'change the arrays' A1
+ // delete segment if polynomial is singular - probably due to too little data
+ if( (iret = GFphaseResiduals(it))) {
+ //return iret;
+ deleteSegment(it,"polynomial fit to GF residual failed");
+ continue;
+ }
+ }
+// temp
+if(cfg(Debug) >= 4) dumpSegments("GFrebias",2,true);
+
+ // 'change the arrays'
+ // at this point:
+ // L1 = GFP+GFR in cycles, by prepareGFdata()
+ // L2 = GFP in cycles, by prepareGFdata()
+ // P1 = wlbias
+ // P2 = GFR in cycles, by prepareGFdata()
+ // A1 = GFP-(local fit) OR its 1stD, by GFphaseResiduals()
+ // (was 1stD of GFP+GFR (in L1), by firstDifferences())
+ // A2 = 1stD of GFP (in L2), by firstDifferences()
+ if( (iret = detectGFsmallSlips())) return iret;
+
+ // delete all segments that are too small
+ for(it=SegList.begin(); it != SegList.end(); it++) {
+ if(it->npts < int(cfg(MinPts)))
+ deleteSegment(it,"insufficient data in segment");
+ }
+
+ if(cfg(Debug) >= 4) dumpSegments("GFD",2,true);
+
+ return ReturnOK;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// for each segment, fit a polynomial to the gfr, then compute and store the
+// residual of fit
+int GDCPass::GFphaseResiduals(list<Segment>::iterator& it) throw(Exception)
+{
+try {
+ int i,j,ndeg,nprev;
+ double fit,rbias,prev,tmp;
+ Stats<double> rofStats;
+
+ // decide on the degree of fit
+ ndeg = 2 + int(0.5 + (it->nend-it->nbeg+1)*cfg(DT)/3000.0);
+ //if(ndeg > int(cfg(GFPolyMaxDegree))) ndeg = int(cfg(GFPolyMaxDegree));
+ if(ndeg > 6) ndeg = 6;
+ if(ndeg < 2) ndeg = 2;
+
+ it->PF.Reset(ndeg); // for fit to GF range
+
+ for(i=it->nbeg; i <= it->nend; i++) {
+ if(!(data[i].flag & OK)) continue;
+ it->PF.Add(data[i].P2,data[i].ndt);
+ }
+
+ if(it->PF.isSingular()) { // this should never happen
+ log << "Polynomial fit to GF range is singular in segment " << it->nseg
+ << "! .. abort." << endl;
+ return Singular;
+ }
+
+ // now compute the residual of fit
+ rbias = prev = 0.0;
+ rofStats.Reset();
+ for(i=it->nbeg; i <= it->nend; i++) {
+ if(!(data[i].flag & OK)) continue;
+
+ // TD? Use whole pass for small segments?
+ //fit = GFPassFit.Evaluate(data[i].ndt); // use fit to gfr for whole pass
+ fit = it->PF.Evaluate(data[i].ndt);
+
+ // all (fit, resid, gfr and gfp) are in cycles of wl21 (5.4cm)
+
+ // compute gfp-(fit to gfr), store in A1 - 'change the arrays' A1 and A2
+ // OR let's try first difference of residual of fit
+ A1[i] = data[i].L2 - it->bias2 - fit; // residual: phase - fit to range
+ if(rbias == 0.0) { rbias = A1[i]; nprev = data[i].ndt - 1; }
+ A1[i] -= rbias; // debias residual for plots
+
+ // compute stats on residual of fit
+ rofStats.Add(A1[i]);
+
+ if(1) { // 1stD of residual - remember A1 has just been debiased
+ tmp = A1[i];
+ A1[i] -= prev; // diff with previous epoch's
+ A1[i] /= (data[i].ndt - nprev);
+ prev = tmp; // store residual for next point
+ nprev = data[i].ndt;
+ }
+
+ // store fit in A2
+ //A2[i] = fit; // fit to gfr (cycles of wl21)
+ // store raw residual GFP-GFR (cycles of wl21) in A2
+ //A2[i] = data[i].L2 - it->bias2 - data[i].P2;
+ }
+
+ // TD? need this? use this?
+ //log << "GFDsum " << GDCUnique << " " << sat << " " << it->nseg << " " << ndeg
+ // << " " << it->nbeg << " " << it->npts << " " << it->nend
+ // << " " << rofStats.N() << fixed << setprecision(3)
+ // << " " << rofStats.Minimum()
+ // << " " << rofStats.Maximum()
+ // << " " << rofStats.Average()
+ // << " " << rofStats.StdDev() << endl;
+
+ return ReturnOK;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// detect small slips in the geometry-free phase
+// TD outliers at the beginning or end of the segment....
+int GDCPass::detectGFsmallSlips(void) throw(Exception)
+{
+try {
+ const int width=int(cfg(GFSlipWidth));
+ int i,j,iplus,inew,ifirst,nok;
+ list<Segment>::iterator it;
+ Stats<double> pastStats,futureStats;
+
+ // loop over segments
+ for(it=SegList.begin(); it != SegList.end(); it++) {
+
+ if(it->npts < 2*width+1) continue;
+
+ // Cartoon of the GF 'two-pane moving window'
+ // point of interest:|
+ // windows: 'past window' | 'future window'
+ // stats : pastStats | futureStats (5 pts in each window)
+ // data : ... x (x x x x x) x (x x x x x) x ...
+ // | | |
+ // indexes: j i iplus
+
+ deque<int> pastIndex, futureIndex;
+ pastStats.Reset();
+ futureStats.Reset();
+ i = inew = ifirst = -1;
+ nok = 0; // recount
+
+ // loop over points in the segment
+ for(iplus=it->nbeg; iplus<=it->nend+width; iplus++) {
+
+ // ignore bad points
+ if(iplus <= it->nend && !(data[iplus].flag & OK)) continue;
+ if(ifirst == -1) ifirst = iplus;
+
+ // pop the new i from the future
+ if(futureIndex.size() == width || iplus > it->nend) {
+ inew = futureIndex.front();
+ futureIndex.pop_front();
+ futureStats.Subtract(A1[inew]);
+ nok++;
+ }
+
+ // put iplus into the future deque
+ if(iplus <= it->nend) {
+ futureIndex.push_back(iplus);
+ futureStats.Add(A1[iplus]);
+ }
+ else
+ futureIndex.push_back(-1);
+
+ // check for outliers
+ // we now have:
+ // ( past ) ( future )
+ // data : ... x (x x x x x) x x (x x x x x) x ...
+ // | | |
+ // indexes: i inew iplus
+ // outlier if: (i,inew) = opposite signs but ~= large magnitude
+ // if found, mark i bad and replace A1(inew) = A1(inew)+A1(i)
+ if(foundGFoutlier(i,inew,pastStats,futureStats)) {
+ // check that i was not marked a slip in the last iteration
+ // if so, let inew be the slip and i the outlier
+ if(data[i].flag & DETECT) {
+ //log << "Warning - marking a slip point BAD in GF detect small "
+ // << GDCUnique << " " << sat
+ // << " " << time(i).printf(outFormat) << " " << i << endl;
+ data[inew].flag = data[i].flag;
+ it->nbeg = inew;
+ }
+ data[i].flag = BAD;
+ A1[inew] += A1[i];
+ learn["points deleted: GF outlier"]++;
+ i = inew;
+ nok--;
+ }
+
+ // pop last from past
+ if(pastIndex.size() == width) {
+ j = pastIndex.front();
+ pastIndex.pop_front();
+ pastStats.Subtract(A1[j]);
+ }
+
+ // move i into the past
+ if(i > -1) {
+ pastIndex.push_back(i);
+ pastStats.Add(A1[i]);
+ }
+
+ // return to original state
+ i = inew;
+
+ // test for slip .. foundGF...prints to log
+ if(foundGFsmallSlip(i,it->nseg,it->nend,it->nbeg,
+ pastIndex,futureIndex,pastStats,futureStats)) {
+
+ // create a new segment
+ it->npts = nok-1;
+ it = createSegment(it,i,"GF slip small");
+ nok = 1;
+
+ // mark it
+ data[i].flag |= GFDETECT;
+
+ // TD print the "possible GF slip" and timetag here - see WLS
+ }
+
+ } // end loop over points in the pass
+ it->npts = nok;
+
+ } // end loop over segments
+
+ return ReturnOK;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+bool GDCPass::foundGFoutlier(int i, int inew,
+ Stats<double>& pastSt, Stats<double>& futureSt)
+ throw(Exception)
+{
+try {
+ if(i < 0 || inew < 0) return false;
+ double pmag = A1[i]; // -pastSt.Average();
+ double fmag = A1[inew]; // -futureSt.Average();
+ double var = ::sqrt(pastSt.Variance() + futureSt.Variance());
+
+ if(cfg(Debug) >= 7) log << "GFoutlier " << GDCUnique
+ << " " << sat << " " << setw(3) << inew
+ << " " << time(inew).printf(outFormat)
+ << fixed << setprecision(3)
+ << " mags: " << pmag << " ~=? " << -fmag
+ //<< "; dmag/mag: " << 2*fabs((pmag+fmag)/(pmag-fmag)) << " <? " << 0.3
+ << "; mag/noise: " << fabs(pmag)/var <<" & "<< fabs(fmag)/var << " >? " << 5;
+
+ if(pmag * fmag >= 0) // opposite signs
+ { if(cfg(Debug) >= 7) log << endl; return false; }
+
+ //if(fabs(pmag+fmag) > 0.15*fabs(pmag-fmag)) // approx equal magnitude
+ //{ if(cfg(Debug) >= 7) log << endl; return false; }
+
+ if(fabs(pmag) < cfg(GFSlipOutlier)*var ||
+ fabs(fmag) < cfg(GFSlipOutlier)*var) // and large
+ {
+ if(cfg(Debug) >= 7) log << endl;
+ return false;
+ }
+
+ if(cfg(Debug) >= 7) log << " possible GF outlier" << endl;
+
+ return true;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Better to find too many small ones than to miss them, since the fixing algorithm
+// will most likely refuse to act on the questionable ones.
+bool GDCPass::foundGFsmallSlip(int i,int nseg,int iend,int ibeg,
+ deque<int>& pastIn,deque<int>& futureIn,
+ Stats<double>& pastSt, Stats<double>& futureSt)
+ throw(Exception)
+{
+try {
+ if(i < 0) return false;
+
+ int j,k;
+ double mag,pmag,fmag,pvar,fvar;
+
+ pmag = fmag = pvar = fvar = 0.0;
+ // note when past.N == 1, this is first good point, which has 1stD==0
+ // TD be very careful when N is small
+ if(pastSt.N() > 0) pmag = A1[i]-pastSt.Average();
+ if(futureSt.N() > 0) fmag = A1[i]-futureSt.Average();
+ if(pastSt.N() > 1) pvar = pastSt.Variance();
+ if(futureSt.N() > 1) fvar = futureSt.Variance();
+ mag = (pmag + fmag) / 2.0;
+
+ if(cfg(Debug) >= 6) log << "GFS " << GDCUnique
+ << " " << sat << " " << nseg
+ << " " << time(i).printf(outFormat)
+ //<< " P( " << setw(3) << pastIn[0] // don't print this...
+ //<< " " << setw(3) << pastIn[1]
+ //<< " " << setw(3) << pastIn[2]
+ //<< " " << setw(3) << pastIn[3]
+ //<< " " << setw(3) << pastIn[4]
+ //<< ") " << setw(3) << i
+ //<< " F( " << setw(3) << futureIn[0]
+ //<< " " << setw(3) << futureIn[1]
+ //<< " " << setw(3) << futureIn[2]
+ //<< " " << setw(3) << futureIn[3]
+ //<< " " << setw(3) << futureIn[4] << ")" // ...to here
+ << fixed << setprecision(3)
+ << " " << setw(3) << pastSt.N()
+ << " " << setw(7) << pastSt.Average()
+ << " " << setw(7) << pastSt.StdDev()
+ << " " << setw(3) << futureSt.N()
+ << " " << setw(7) << futureSt.Average()
+ << " " << setw(7) << futureSt.StdDev()
+ << " " << setw(7) << mag
+ << " " << setw(7) << ::sqrt(pvar+fvar)
+ << " " << setw(9) << A1[i]
+ << " " << setw(7) << pmag
+ << " " << setw(7) << pvar
+ << " " << setw(7) << fmag
+ << " " << setw(7) << fvar
+ << " " << setw(3) << i
+ << endl;
+
+ // x -- mag
+ //
+ // x x x x - step
+ // x x x x ---
+ const double minMag=cfg(GFSlipSize); // minimum slip magnitude
+ const double STN=cfg(GFSlipStepToNoise); // step (past->future) to noise ratio
+ const double MTS=cfg(GFSlipToStep); // magnitude to step ratio
+ const double MTN=cfg(GFSlipToNoise); // magnitude to noise ratio
+ const int Edge=int(cfg(GFSlipEdge)); // number of points before edge
+ const double RangeCheckLimit = 2*cfg(WLSigma)/(0.83*wl21);
+ // 2 * range noise in units of wl21
+ // if WL slip here - ...?
+
+ // 1. slip must be non-trivial
+ if(fabs(mag) <= minMag) return false;
+
+ // 2. change in average is small compared to noise
+ if(fabs(pmag-fmag) >= STN*::sqrt(pvar+fvar)) return false;
+
+ if(cfg(Debug) >= 7) log << "GFslip " << GDCUnique
+ << " " << sat << " " << nseg
+ << " " << setw(3) << i
+ << " " << time(i).printf(outFormat)
+ << " mag: " << mag << " > " << minMag
+ << "; step/noise: " << fabs(pmag-fmag)/::sqrt(pvar+fvar) << " < " << STN;
+
+ // 3. slip is large compared to change in average
+ if(fabs(mag) <= MTS*fabs(pmag-fmag)) {
+ if(cfg(Debug) >= 7) log << endl;
+ return false;
+ }
+
+ if(cfg(Debug) >= 7)
+ log << "; mag/step: " << fabs(mag/(pmag-fmag)) << " > " << MTS;
+
+ // 4. magnitude is large compared to noise: a 3-sigma slip
+ if(fabs(mag) <= MTN*::sqrt(pvar+fvar)) {
+ if(cfg(Debug) >= 7) log << endl;
+ return false;
+ }
+
+ if(cfg(Debug) >= 7)
+ log << "; mag/noise: " << fabs(mag)/::sqrt(pvar+fvar) << " > " << MTN;
+
+ // if very close to edge, declare it an outlier
+ if(pastSt.N() < Edge || futureSt.N() < Edge+1) {
+ if(cfg(Debug) >= 7) log << "; too close to edge"; // << endl;
+ //return false; // TD
+ }
+
+ // TD? if slip is within a few epochs of WL slip - skip it
+
+
+ // large slips (compared to range noise): check the GFR-GFP for consistency
+ if(fabs(mag) > RangeCheckLimit) {
+ double magGFR,mtnGFR;
+ Stats<double> pGFRmPh,fGFRmPh;
+ for(j=0; j<pastIn.size(); j++) {
+ if(pastIn[j] > -1) pGFRmPh.Add(data[pastIn[j]].L1);
+ if(futureIn[j] > -1) fGFRmPh.Add(data[futureIn[j]].L1);
+ }
+ magGFR = data[i].L1 - (pGFRmPh.Average()+fGFRmPh.Average())/2.0;
+ mtnGFR = fabs(magGFR)/::sqrt(pGFRmPh.Variance()+fGFRmPh.Variance());
+
+ if(cfg(Debug) >= 7)
+ log << "; GFR-GFP has mag: " << magGFR
+ << ", |dmag|: " << fabs(mag-magGFR)
+ << " and mag/noise " << mtnGFR;
+
+ // TD test - mag must ~= magGFR if magGFR/noiseGFR >> 1
+ // test - metz 54,56,57,58
+ if(fabs(mag-magGFR) > fabs(magGFR)) {
+ if(cfg(Debug) >= 7) log << " - does not match GFR "
+ << fabs(mag-magGFR) << endl;
+ return false;
+ }
+ if(mtnGFR < 3) {
+ if(cfg(Debug) >= 7) log << " - cannot see in GFR " << mtnGFR << endl;
+ return false;
+ }
+ }
+
+ // small slips (compared to variations in dGF): extra careful
+ // TD beware of small slips in the presence of noise >~ 1
+ else { //if(fabs(mag) <= RangeCheckLimit)
+ double magFD;
+ Stats<double> fdStats;
+ j = i-1; k=0;
+ while(j >= ibeg && k < 15) {
+ if(data[j].flag & OK) { fdStats.Add(A2[j]); k++; }
+ j--;
+ }
+ j = i+1; k=0;
+ while(j <= iend && k < 15) {
+ if(data[j].flag & OK) { fdStats.Add(A2[j]); k++; }
+ j++;
+ }
+ magFD = A2[i] - fdStats.Average();
+
+ if(cfg(Debug) >= 7)
+ log << "; 1stD(GFP) has mag: " << magFD
+ << ", noise " << fdStats.StdDev()
+ << " and mag/noise " << fabs(magFD)/fdStats.StdDev()
+ << "; min/max are " << fdStats.Minimum() << "/" << fdStats.Maximum();
+ }
+
+ if(cfg(Debug) >= 7) log << " possible GF slip" << endl;
+
+ return true;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
+// check the consistency of WL slips where a GF slip, but not a WL slip, was detected.
+int GDCPass::WLconsistencyCheck(void) throw(Exception)
+{
+try {
+ int i,k;
+ const int N=2*int(cfg(WLWindowWidth));
+ double mag,absmag,factor=wl2/wl21;
+
+ // loop over the data and look for points with GFDETECT but not WLDETECT or WLFIX
+ for(i=0; i<data.size(); i++) {
+
+ if(!(data[i].flag & OK)) continue; // bad
+ if(!(data[i].flag & DETECT)) continue; // no slips
+ if(data[i].flag & WLDETECT) continue; // WL was detected
+
+ // GF only slip - compute WL stats on both sides
+ Stats<double> futureStats,pastStats;
+ k = i;
+ // fill future
+ while(k < data.size() && futureStats.N() < N) {
+ if(data[k].flag & OK) // data is good
+ futureStats.Add(data[k].P1); // wlbias
+ k++;
+ }
+ // fill past
+ k = i-1;
+ while(k >= 0 && pastStats.N() < N) {
+ if(data[k].flag & OK) // data is good
+ pastStats.Add(data[k].P1); // wlbias
+ k--;
+ }
+
+ // is there a WL slip here?
+ // 1. magnitude of slip > 0.75
+ // 2. magnitude is > stddev on both sides
+ // 3. N() > 10 on both sides TD??
+ mag = futureStats.Average()-pastStats.Average();
+ absmag = fabs(mag);
+
+ if(absmag > cfg(WLSlipSize) && // 0.75 &&
+ absmag > pastStats.StdDev() &&
+ absmag > futureStats.StdDev()) {
+
+ long nwl;
+ nwl = long(mag + (mag > 0 ? 0.5 : -0.5));
+
+ if(nwl == 0) continue;
+
+ // now do the fixing - change the data to the future of the slip
+ for(k=i; k<data.size(); k++) {
+ //if(!(data[i].flag & OK)) continue;
+ data[k].P1 -= nwl; // WLbias
+ data[k].L2 -= nwl * factor; // GFP
+ }
+
+ // Add to slip list
+ Slip newSlip(i);
+ newSlip.NWL = nwl;
+ newSlip.msg = "WL";
+ SlipList.push_back(newSlip);
+
+ // mark it
+ data[i].flag |= (WLDETECT + WLFIX);
+
+ if(cfg(Debug) >= 6) log << "CHECK " << GDCUnique << " " << sat
+ << " " << i
+ << " " << time(i).printf(outFormat)
+ << fixed << setprecision(3)
+ << " " << pastStats.N()
+ //<< " " << pastStats.Average()
+ << " " << pastStats.StdDev()
+ << " " << futureStats.N()
+ //<< " " << futureStats.Average()
+ << " " << futureStats.StdDev()
+ << " " << futureStats.Average() - pastStats.Average()
+ << " " << nwl
+ << endl;
+
+ }
+ }
+
+ return ReturnOK;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
+// last call before returning:
+// generate editing commands for deleted (flagged) data,
+// use editing command (slips and deletes) to modify the original SatPass data
+// and print ending summary
+void GDCPass::finish(int iret, SatPass& svp, vector<string>& editCmds)
+ throw(Exception)
+{
+try {
+ bool ok;
+ int i,ifirst,ilast,npts;
+ long N1,N2,prevN1,prevN2;
+ double slipL1,slipL2,WLbias,GFbias;
+ SatPassData spd;
+ list<Slip>::iterator jt;
+
+ // ---------------------------------------------------------
+ // sort the slips in time
+ SlipList.sort();
+
+ // ---------------------------------------------------------
+ // merge *this GDCPass and the input SatPass...
+ // use this->flag to generate edit commands for data marked bad
+ // use the SlipList to fix slips
+ // 'change the arrays' A1 and A2 - fill with range minus phase for output
+ npts = 0;
+ ilast = -1; // ilast is the index of the last good point
+ ifirst = -1; // ifirst is the index of the first good point
+ WLbias = GFbias = slipL1 = slipL2 = 0.0;
+ prevN1 = prevN2 = 0L;
+ jt = SlipList.begin();
+ for(i=0; i<data.size(); i++) {
+
+ // is this point bad?
+ if(!(data[i].flag & OK)) { // data is bad
+ ok = false;
+ if(i == data.size() - 1) { // but this is the last point
+ i++;
+ ok = true;
+ }
+ }
+ else ok = true; // data is good
+
+ if(ok) {
+ if(ifirst == -1) ifirst = i;
+
+ // generate edit commands: delete from ilast+1 to i-1
+ if(i-ilast > 2 && cfg(OutputDeletes) != 0) {
+ // delete 2, or a range of, points
+ // -DS+<sat>,<time>
+ ostringstream stst1;
+ stst1 << "-DS";
+ if(i-ilast > 3) stst1 << "+";
+ stst1 << sat << ",";
+ if(cfg(OutputGPSTime))
+ stst1 << time(ilast+1).printf("%F,%.3g");
+ else
+ stst1 << time(ilast+1).printf("%Y,%m,%d,%H,%M,%f");
+ if(i-ilast > 3) stst1 << " # begin delete of "
+ << asString(i+1-ilast) << " points";
+ editCmds.push_back(stst1.str());
+
+ // -DS-<sat>,<time>
+ ostringstream stst2;
+ stst2 << "-DS";
+ if(i-ilast > 3) stst2 << "-";
+ stst2 << sat << ",";
+ if(cfg(OutputGPSTime))
+ stst2 << time(i-1).printf("%F,%.3g");
+ else
+ stst2 << time(i-1).printf("%Y,%m,%d,%H,%M,%f");
+ if(i-ilast > 3) stst2 << " # end delete of "
+ << asString(i+1-ilast) << " points";
+ editCmds.push_back(stst2.str());
+ }
+ else if(i-ilast > 1 && cfg(OutputDeletes) != 0) {
+ // delete a single isolated point
+ ostringstream stst;
+ stst << "-DS" << sat << ",";
+ if(cfg(OutputGPSTime))
+ stst << time(i-1).printf("%F,%.3g");
+ else
+ stst << time(i-1).printf("%Y,%m,%d,%H,%M,%f");
+ editCmds.push_back(stst.str());
+ }
+
+ ilast = i;
+ npts++;
+ }
+
+ // keep track of net slip fix
+ if(jt != SlipList.end() && i == jt->index) { // there is a slip here
+ // fix the slip by changing the bias added to phase
+ N1 = jt->N1;
+ N2 = jt->N1 - jt->NWL;
+ slipL1 += double(N1);
+ slipL2 += double(N2);
+
+ // generate edit commands
+ {
+ ostringstream stst;
+ stst << "-BD+" << sat << ",L1,";
+ if(cfg(OutputGPSTime))
+ stst << time(jt->index).printf("%F,%.3g");
+ else
+ stst << time(jt->index).printf("%Y,%m,%d,%H,%M,%f");
+ stst << "," << N1-prevN1;
+ if(!jt->msg.empty()) stst << " # " << jt->msg;
+ //stst << " # WL: " << jt->NWL << " N1: " << jt->N1; //temp
+ editCmds.push_back(stst.str());
+ }
+ {
+ ostringstream stst;
+ stst << "-BD+" << sat << ",L2,";
+ if(cfg(OutputGPSTime))
+ stst << time(jt->index).printf("%F,%.3g");
+ else
+ stst << time(jt->index).printf("%Y,%m,%d,%H,%M,%f");
+ stst << "," << N2-prevN2;
+ if(!jt->msg.empty()) stst << " # " << jt->msg;
+ editCmds.push_back(stst.str());
+ }
+
+ prevN1 = N1;
+ prevN2 = N2;
+ jt++;
+ }
+
+ if(i >= data.size()) break;
+
+ // get the untouched data from the input SatPass
+ spd = svp.getData(i);
+
+ // 'change the data' for the last time
+ data[i].L1 = spd.L1 - slipL1;
+ data[i].L2 = spd.L2 - slipL2;
+ data[i].P1 = spd.P1;
+ data[i].P2 = spd.P2;
+
+ // compute range minus phase for output
+ // do the same at the beginning ("BEG")
+
+ // compute WL and GFP
+ double wlr = wl1r * data[i].P1 + wl2r * data[i].P2; // narrow lane range (m)
+ double wlp = wl1p * data[i].L1 + wl2p * data[i].L2; // wide lane phase (m)
+ double gfr = gf1r * data[i].P1 + gf2r * data[i].P2; // geo-free range (m)
+ double gfp = gf1p * data[i].L1 + gf2p * data[i].L2; // geo-free phase (m)
+ if(i == ifirst) {
+ WLbias = (wlp-wlr)/wlwl;
+ GFbias = gfp;
+ }
+ A1[i] = (wlp-wlr)/wlwl - WLbias; // wide lane bias (cyc)
+ A2[i] = gfp - GFbias; // geo-free phase (m)
+ //A2[i] = gfr - gfp; // geo-free range - phase (m)
+
+ } // end loop over all data
+
+ // first fix the segment for dump - TD? is this necessary?
+ if(SegList.begin() != SegList.end()) {
+ SegList.begin()->bias1 = SegList.begin()->bias2 = 0; // not necessary..
+ SegList.begin()->nbeg = 0;
+ SegList.begin()->nend = data.size()-1;
+ SegList.begin()->npts = npts;
+ }
+ // dump the corrected data
+ if(cfg(Debug) >= 2) dumpSegments("AFT",2,true);
+
+ // dump the edit commands to log
+ for(i=0; i<editCmds.size(); i++)
+ log << "EditCmd: " << GDCUnique << " " << editCmds[i] << endl;
+
+ //if(fixOutput) {
+ for(i=0; i<data.size(); i++) {
+ // change the flag for use by SatPass
+ //const unsigned short SatPass::OK = 1; good data
+ //const unsigned short SatPass::BAD = 0; used by caller and DC to mark bad data
+ //const unsigned short SatPass::LL1 = 2; discontinuity on L1 only
+ //const unsigned short SatPass::LL2 = 4; discontinuity on L2 only
+ //const unsigned short SatPass::LL3 = 6; discontinuity on L1 and L2
+ if(data[i].flag & OK) {
+ if(((data[i].flag & DETECT)==0 && (data[i].flag & FIX)!=0) || i==ifirst)
+ data[i].flag = LL3 + OK;
+ else
+ data[i].flag = OK;
+ }
+ else
+ data[i].flag = BAD;
+ }
+ // svp is the original SatPass
+ svp = (SatPass)(*this);
+ //}
+
+ // ---------------------------------------------------------
+ // print stuff at the end
+ if(cfg(Debug) >= 1) dumpSegments("GDC",1);
+
+ // print WL stats for whole pass
+ if(WLPassStats.N() > 2) {
+ log << "GDC " << GDCUnique << " " << sat
+ << " " << fixed << setprecision(3) << WLPassStats.StdDev()
+ << " WL sigma in cycles"
+ << " N=" << WLPassStats.N()
+ << " Min=" << WLPassStats.Minimum()
+ << " Max=" << WLPassStats.Maximum()
+ << " Ave=" << WLPassStats.Average();
+ if(WLPassStats.StdDev() > cfg(WLSigma))
+ log << " Warning - WL sigma > input (" << cfg(WLSigma) << ")";
+ log << endl;
+ }
+
+ if(GFPassStats.N() > 2) {
+ log << "GDC " << GDCUnique << " " << sat
+ << " " << fixed << setprecision(3) << GFPassStats.StdDev()
+ << " sigma GF variation in meters/DT"
+ << " N=" << GFPassStats.N()
+ << " Min=" << GFPassStats.Minimum()
+ << " Max=" << GFPassStats.Maximum()
+ << " Ave=" << GFPassStats.Average()
+ << endl;
+ log << "GDC " << GDCUnique << " " << sat
+ << " " << fixed << setprecision(3)
+ << (fabs(GFPassStats.Minimum()) > fabs(GFPassStats.Maximum()) ?
+ fabs(GFPassStats.Minimum()) : fabs(GFPassStats.Maximum()))
+ << " maximum GF variation in meters/DT"
+ << " N=" << GFPassStats.N()
+ << " Ave=" << GFPassStats.Average()
+ << " Std=" << GFPassStats.StdDev()
+ << endl;
+ }
+
+ // print 'learn' summary
+ map<string,int>::const_iterator kt;
+ for(kt=learn.begin(); kt != learn.end(); kt++)
+ log << "GDC " << GDCUnique << " " << sat
+ << " " << setw(3) << kt->second << " " << kt->first << endl;
+
+ int n = int((lastTime-firstTime)/cfg(DT)) + 1;
+ double percent = 100*ngood/n;
+ log << "GDC# " << setw(2) << GDCUnique << ", SAT " << sat
+ << ", Pts: " << setw(4) << n << " total " << setw(4) << ngood
+ << " good " << setprecision(1) << setw(5) << percent << "%"
+ << ", start " << firstTime.printf(outFormat)
+ << endl;
+
+ if(iret) {
+ log << "GDC is returning with error code: "
+ << (iret == NoData ? "insufficient data" :
+ (iret == Singular ? "singularity" :
+ (iret == FatalProblem ? "fatal problem" : "unknown problem")
+ //(iret == PrematureEnd ? "premature end" : "unknown problem")
+ ))
+ << endl;
+ }
+
+ log << "======== End GPSTK Discontinuity Corrector " << GDCUnique
+ << " ================================================\n";
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// create, delete and dump Segments
+//------------------------------------------------------------------------------------
+// create a new segment from the given one, starting at index ibeg,
+// and insert it after the given iterator.
+// Return an iterator pointing to the new segment. String msg is for debug output
+list<Segment>::iterator GDCPass::createSegment(list<Segment>::iterator sit,
+ int ibeg, string msg) throw(Exception)
+{
+try {
+ Segment s;
+ s = *sit;
+ s.nbeg = ibeg;
+ s.nend = sit->nend;
+ sit->nend = ibeg-1;
+
+ // 'trim' beg and end indexes
+ while(s.nend > s.nbeg && !(data[s.nend].flag & OK)) s.nend--;
+ while(sit->nend > sit->nbeg && !(data[sit->nend].flag & OK)) sit->nend--;
+
+ // get the segment number right
+ s.nseg++;
+ list<Segment>::iterator skt=sit;
+ for(skt++; skt != SegList.end(); skt++) skt->nseg++;
+
+ if(cfg(Debug) >= 6)
+ log << "SEG " << GDCUnique << " " << sat
+ << " " << msg
+ << " " << time(ibeg).printf(outFormat)
+ << " " << s.nbeg << " - " << s.nend
+ << " biases " << fixed << setprecision(3) << s.bias1 << " " << s.bias2
+ << endl;
+
+ learn["breaks found: " + msg]++;
+
+ return SegList.insert(++sit,s); // insert puts s before ++sit
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// dump a list of the segments
+// level=0 one line summary (number of segments)
+// level=1 one per line list of segments
+// level=2 dump all data, including (if extra) temporary arrays
+void GDCPass::dumpSegments(string label, int level, bool extra) throw(Exception)
+{
+try {
+ int i,ifirst,ilast;
+ list<Segment>::iterator it;
+
+ // summary of SegList
+ log << label << " " << GDCUnique
+ << " list of Segments (" << SegList.size() << "):"
+ << endl;
+
+ if(level < 1) return;
+
+ // one line per segment
+ ilast = -1; // last good point
+ for(it=SegList.begin(); it != SegList.end(); it++) {
+ //if(it->npts > 0) {
+ // biaswl = data[it->nbeg].P1;
+ // biasgf = data[it->nbeg].L2;
+ //}
+ //else biaswl = biasgf = 0.0;
+
+ i = (it->nend - it->nbeg + 1); // total number of points
+
+ log << label << " " << GDCUnique << " " << sat
+ << " #" << setw(2) << it->nseg << ": "
+ << setw(4) << it->npts << "/" << setw(4) << i << " pts, # "
+ << setw(4) << it->nbeg << "-" << setw(4) << it->nend
+ << " (" << time(it->nbeg).printf(outFormat)
+ << " - " << time(it->nend).printf(outFormat)
+ << ")";
+
+ if(it->npts > 0) {
+ log << fixed << setprecision(3)
+ << " bias(wl)=" << setw(13) << it->bias1 //biaswl
+ << " bias(gf)=" << setw(13) << it->bias2; //biasgf;
+ if(ilast > -1) {
+ ifirst = it->nbeg;
+ while(ifirst <= it->nend && !(data[ifirst].flag & OK)) ifirst++;
+ i = data[ifirst].ndt - data[ilast].ndt;
+ log << " Gap " << setprecision(1) << setw(5)
+ << cfg(DT)*i << " s = " << i << " pts.";
+ }
+ ilast = it->nend;
+ while(ilast >= it->nbeg && !(data[ilast].flag & OK)) ilast--;
+ }
+
+ log << endl;
+ }
+
+ if(level < 2) return;
+
+ // dump the data
+ for(it=SegList.begin(); it != SegList.end(); it++) {
+ for(i=it->nbeg; i<=it->nend; i++) {
+ //if(!(data[i].flag & OK)) continue; //dfplot ignores bad data
+
+ log << "DSC" << label << " " << GDCUnique << " " << sat << " " << it->nseg
+ << " " << time(i).printf(outFormat)
+ << " " << setw(3) << data[i].flag
+ << fixed << setprecision(3)
+ << " " << setw(13) << data[i].L1 - it->bias2 //biasgf //temp
+ << " " << setw(13) << data[i].L2 - it->bias2 //biasgf
+ << " " << setw(13) << data[i].P1 - it->bias1 //biaswl
+ << " " << setw(13) << data[i].P2;
+ if(extra) log
+ << " " << setw(13) << A1[i]
+ << " " << setw(13) << A2[i];
+ log << " " << setw(4) << i; // TD? make this data[i].ndt?
+ if(i == it->nbeg) log
+ << " " << setw(13) << it->bias1 //biaswl
+ << " " << setw(13) << it->bias2; //biasgf;
+ log << endl;
+ }
+ }
+
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void GDCPass::deleteSegment(list<Segment>::iterator& it, string msg) throw(Exception)
+{
+try {
+ int i;
+
+ if(cfg(Debug) >= 6) log << "Delete segment "
+ << GDCUnique << " " << sat << " " << it->nseg
+ << " pts " << it->npts
+ << " indexes " << it->nbeg << " - " << it->nend
+ << " start " << firstTime.printf(outFormat)
+ << " : " << msg
+ << endl;
+
+ it->npts = 0;
+ for(i=it->nbeg; i<=it->nend; i++) if(data[i].flag & OK) {
+ // count these : learn
+ learn["points deleted: " + msg]++;
+ data[i].flag = BAD;
+ }
+
+ learn["segments deleted: " + msg]++;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/lib/DiscCorr.hpp b/dev/apps/geomatics/lib/DiscCorr.hpp
new file mode 100644
index 0000000..ddecc8a
--- /dev/null
+++ b/dev/apps/geomatics/lib/DiscCorr.hpp
@@ -0,0 +1,82 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file DiscCorr.hpp
+ * GPS phase discontinuity correction. Given a SatPass object
+ * containing dual-frequency pseudorange and phase for an entire satellite pass,
+ * and a configuration object (as defined herein), detect discontinuities in
+ * the phase and, if possible, estimate their size.
+ * Output is in the form of Rinex editing commands (see class RinexEditor).
+ */
+
+#ifndef GPSTK_DISCONTINUITY_CORRECTOR_INCLUDE
+#define GPSTK_DISCONTINUITY_CORRECTOR_INCLUDE
+
+#include "DayTime.hpp"
+#include "GSatID.hpp"
+#include "RinexObsHeader.hpp"
+#include "SatPass.hpp"
+#include "GDCconfiguration.hpp"
+
+#include <iostream>
+#include <fstream>
+#include <sstream>
+#include <string>
+#include <vector>
+
+namespace gpstk {
+
+ /** @addtogroup rinexutils */
+ //@{
+
+ //* const int PrematureEnd=-2;
+ /** GPSTK Discontinuity Corrector. Find, and fix if possible, discontinuities
+ * in the GPS carrier phase data, given dual-frequency pseudorange and phase
+ * data for an entire satellite pass. Input is the SatPass object holding the
+ * data, and a GDCconfiguration object giving the parameter values for
+ * the corrector. Output is in the form of a list of strings - editing commands
+ * - that can be parsed and applied using the GPSTK Rinex Editor (see Prgm
+ * EditRinex and the RinexEditor class). Also, the L1 and L2 arrays in the input
+ * SatPass are corrected. The routine will mark bad points in the input data
+ * using the SatPass flag.
+ * @param SP SatPass object containing the input data.
+ * @param config GDCconfiguration object.
+ * @param EditCmds vector<string> (output) containing RinexEditor commands.
+ * @return 0 for success, otherwise return an Error code;
+ * codes are defined as follows.
+ * const int NoData = -4 insufficient input data, or all data is bad
+ * const int FatalProblem = -3 DT is not set, or memory problem
+ * const int Singularity = -1 polynomial fit fails
+ * const int ReturnOK = 0 normal return
+ */
+ int DiscontinuityCorrector(SatPass&, GDCconfiguration&, std::vector<std::string>&)
+ throw(Exception);
+
+ //@}
+
+} // end namespace gpstk
+
+//------------------------------------------------------------------------------------
+#endif
diff --git a/dev/apps/geomatics/lib/EarthOrientation.cpp b/dev/apps/geomatics/lib/EarthOrientation.cpp
new file mode 100644
index 0000000..0fbb8de
--- /dev/null
+++ b/dev/apps/geomatics/lib/EarthOrientation.cpp
@@ -0,0 +1,535 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file EarthOrientation.cpp
+ * Implementation of classes to handle earth orientation data:
+ * class gpstk::EarthOrientation encapsulates Earth orientation parameters (EOPs)
+ * class gpstk::EOPPrediction encapsulates formulas to predict EOPs; created from
+ * data obtained by reading NGA 'EOPP###.txt' files.
+ * class gpstk::EOPStore encapsulates input, storage and retreval of EOPs.
+ */
+
+//------------------------------------------------------------------------------------
+// system includes
+#include <fstream>
+// GPSTk
+#include "icd_200_constants.hpp" // for TWO_PI
+#include "EarthOrientation.hpp"
+
+//------------------------------------------------------------------------------------
+using namespace std;
+
+namespace gpstk
+{
+ //---------------------------------------------------------------------------------
+ ostream& operator<<(ostream& os, const EarthOrientation& eo)
+ {
+ os << " " << setw(17) << setprecision(6) << eo.xp
+ << " " << setw(17) << setprecision(6) << eo.yp
+ << " " << setw(17) << setprecision(7) << eo.UT1mUTC;
+ return os;
+ }
+
+ //---------------------------------------------------------------------------------
+ // class EOPPrediction
+ //---------------------------------------------------------------------------------
+ // load the EOPPrediction in the given file
+ // return 0 if ok, -1 if error reading file
+ int EOPPrediction::loadFile(string filename)
+ throw(FileMissingException)
+ {
+ bool ok;
+ int n;
+ string line,word;
+ ifstream inpf(filename.c_str());
+ if(!inpf) {
+ FileMissingException fme("Could not open EOPP file " + filename);
+ GPSTK_THROW(fme);
+ }
+
+ ok = true;
+ n = 0; // n is line number
+ while(!inpf.eof() && inpf.good()) {
+ getline(inpf,line);
+ StringUtils::stripTrailing(line,'\r');
+ if(inpf.bad()) break;
+ if(line.size() > 80) { ok=false; break; }
+ switch(n) {
+ case 0:
+ if(line.size() < 76) { ok=false; break; }
+ word = line.substr( 0,10); ta = StringUtils::asDouble(word);
+ word = line.substr(10,10); A = StringUtils::asDouble(word);
+ word = line.substr(20,10); B = StringUtils::asDouble(word);
+ word = line.substr(30,10); C1 = StringUtils::asDouble(word);
+ word = line.substr(40,10); C2 = StringUtils::asDouble(word);
+ word = line.substr(50,10); D1 = StringUtils::asDouble(word);
+ word = line.substr(60,10); D2 = StringUtils::asDouble(word);
+ word = line.substr(70, 6); P1 = StringUtils::asDouble(word);
+ break;
+ case 1:
+ if(line.size() < 78) { ok=false; break; }
+ word = line.substr( 0, 6); P2 = StringUtils::asDouble(word);
+ word = line.substr( 6,10); E = StringUtils::asDouble(word);
+ word = line.substr(16,10); F = StringUtils::asDouble(word);
+ word = line.substr(26,10); G1 = StringUtils::asDouble(word);
+ word = line.substr(36,10); G2 = StringUtils::asDouble(word);
+ word = line.substr(46,10); H1 = StringUtils::asDouble(word);
+ word = line.substr(56,10); H2 = StringUtils::asDouble(word);
+ word = line.substr(66, 6); Q1 = StringUtils::asDouble(word);
+ word = line.substr(72, 6); Q2 = StringUtils::asDouble(word);
+ break;
+ case 2:
+ if(line.size() < 70) { ok=false; break; }
+ word = line.substr( 0,10); tb = StringUtils::asDouble(word);
+ word = line.substr(10,10); I = StringUtils::asDouble(word);
+ word = line.substr(20,10); J = StringUtils::asDouble(word);
+ word = line.substr(30,10); K1 = StringUtils::asDouble(word);
+ word = line.substr(40,10); K2 = StringUtils::asDouble(word);
+ word = line.substr(50,10); K3 = StringUtils::asDouble(word);
+ word = line.substr(60,10); K4 = StringUtils::asDouble(word);
+ break;
+ case 3:
+ if(line.size() < 76) { ok=false; break; }
+ word = line.substr( 0,10); L1 = StringUtils::asDouble(word);
+ word = line.substr(10,10); L2 = StringUtils::asDouble(word);
+ word = line.substr(20,10); L3 = StringUtils::asDouble(word);
+ word = line.substr(30,10); L4 = StringUtils::asDouble(word);
+ word = line.substr(40, 9); R1 = StringUtils::asDouble(word);
+ word = line.substr(49, 9); R2 = StringUtils::asDouble(word);
+ word = line.substr(58, 9); R3 = StringUtils::asDouble(word);
+ word = line.substr(67, 9); R4 = StringUtils::asDouble(word);
+ break;
+ case 4:
+ if(line.size() < 16) { ok=false; break; }
+ word = line.substr( 0, 4); TAIUTC = StringUtils::asInt(word);
+ word = line.substr( 4, 5); SerialNo = StringUtils::asInt(word);
+ // this actually integer : mjd of begin valid period
+ word = line.substr( 9, 7); tv = StringUtils::asDouble(word);
+ Info = line.substr(16,19);
+ break;
+ } // end switch on n=line number
+ if(!ok) break;
+ n++;
+ };
+ inpf.close();
+ if(!ok) {
+ FileMissingException fme("EOPP File " + filename
+ + " is corrupted or wrong format");
+ GPSTK_THROW(fme);
+ }
+ if(inpf.bad()) return -1;
+ return 0;
+ }
+
+ //---------------------------------------------------------------------------------
+ // generate serial number (NGA files are named EOPP<sn>.txt) from epoch
+ // SN = Year (1 digit) + week of year
+ int EOPPrediction::getSerialNumber(DayTime& t)
+ throw(DayTime::DayTimeException)
+ {
+ int w2 = t.GPSfullweek()-1; // the previous week
+ if(w2 < 0) {
+ using namespace StringUtils;
+ DayTime::DayTimeException dte("Invalid week in EOPP file: "
+ + asString<short>(w2));
+ GPSTK_THROW(dte);
+ }
+
+ int yr,w1;
+ try {
+ DayTime ht;
+ ht.setGPSfullweek(w2,475200.0); // Friday (noon) of previous week
+ yr = ht.year(); // save the year for later
+ ht.setYMDHMS(yr,1,1,0,0,0.0); // first day of that year
+ w1 = ht.GPSfullweek();
+ if(ht.dayOfWeek() == 6) w1++; // GPS week of first Friday in the year
+ yr = yr % 10; // last digit of the year
+ }
+ catch(DayTime::DayTimeException& dte) {
+ GPSTK_RETHROW(dte);
+ }
+ return (100*yr + w2-w1+1); // SN = Year (1 digit) + week of year
+ }
+
+ //---------------------------------------------------------------------------------
+ // Compute the Earth orientation parameters at the given epoch.
+ // TD how to warn if input is outside limits of validity?
+ EarthOrientation EOPPrediction::computeEOP(int& mjd) const
+ throw(DayTime::DayTimeException)
+ {
+ DayTime t;
+ try { t.setMJD(double(mjd)); }
+ catch(DayTime::DayTimeException& dte) { GPSTK_RETHROW(dte); }
+ return computeEOP(t);
+ }
+
+ //---------------------------------------------------------------------------------
+ // 2 2
+ // xp(t)= A + B(t-ta) + SUM(Cj sin[2pi(t-ta)/Pj]) + SUM(Dj cos[2pi(t-ta)/Pj])
+ // j=1 j=1
+ //
+ // 2 2
+ // yp(t)= E + F(t-ta) + SUM(Gk sin[2pi(t-ta)/Qk]) + SUM(Hk cos[2pi(t-ta)/Qk])
+ // k=1 k=1
+ //
+ // 4 4
+ // UT1-UTC(t)= I+J(t-tb) + SUM(Km sin[2pi(t-tb)/Rm]) + SUM(Lm cos[2pi(t-tb)/Rm])
+ // m=1 m=1
+ //---------------------------------------------------------------------------------
+ EarthOrientation EOPPrediction::computeEOP(DayTime& ep) const
+ throw()
+ {
+ double t,dt,arg;
+ EarthOrientation eo;
+
+ t = ep.MJD() + ep.secOfDay()/86400.0;
+ //if(t < tv || t > tv+7) // TD warn - outside valid range
+ //
+ dt = t - ta;
+ arg = TWO_PI*dt;
+ eo.xp = A + B*dt + C1*sin(arg/P1) + D1*cos(arg/P1)
+ + C2*sin(arg/P2) + D2*cos(arg/P2);
+ eo.yp = E + F*dt + G1*sin(arg/Q1) + H1*cos(arg/Q1)
+ + G2*sin(arg/Q2) + H2*cos(arg/Q2);
+
+ dt = t - tb;
+ arg = TWO_PI*dt;
+ eo.UT1mUTC = I + J*dt
+ + K1*sin(arg/R1) + L1*cos(arg/R1)
+ + K2*sin(arg/R2) + L2*cos(arg/R2)
+ + K3*sin(arg/R3) + L3*cos(arg/R3)
+ + K4*sin(arg/R4) + L4*cos(arg/R4);
+
+ return eo;
+ }
+
+ //---------------------------------------------------------------------------------
+ // straight from the doc
+ ostream& operator<<(ostream& os, const EOPPrediction& eopp)
+ {
+ os << fixed
+ << setw(10) << setprecision(2) << eopp.ta
+ << setw(10) << setprecision(6) << eopp.A
+ << setw(10) << setprecision(6) << eopp.B
+ << setw(10) << setprecision(6) << eopp.C1
+ << setw(10) << setprecision(6) << eopp.C2
+ << setw(10) << setprecision(6) << eopp.D1
+ << setw(10) << setprecision(6) << eopp.D2
+ << setw( 6) << setprecision(2) << eopp.P1
+ << " " << endl;
+ os << setw( 6) << setprecision(2) << eopp.P2
+ << setw(10) << setprecision(6) << eopp.E
+ << setw(10) << setprecision(6) << eopp.F
+ << setw(10) << setprecision(6) << eopp.G1
+ << setw(10) << setprecision(6) << eopp.G2
+ << setw(10) << setprecision(6) << eopp.H1
+ << setw(10) << setprecision(6) << eopp.H2
+ << setw( 6) << setprecision(2) << eopp.Q1
+ << setw( 6) << setprecision(2) << eopp.Q2
+ << " " << endl;
+ os << setw(10) << setprecision(2) << eopp.tb
+ << setw(10) << setprecision(6) << eopp.I
+ << setw(10) << setprecision(6) << eopp.J
+ << setw(10) << setprecision(6) << eopp.K1
+ << setw(10) << setprecision(6) << eopp.K2
+ << setw(10) << setprecision(6) << eopp.K3
+ << setw(10) << setprecision(6) << eopp.K4
+ << " " << endl;
+ os << setw(10) << setprecision(6) << eopp.L1
+ << setw(10) << setprecision(6) << eopp.L2
+ << setw(10) << setprecision(6) << eopp.L3
+ << setw(10) << setprecision(6) << eopp.L4
+ << setw( 9) << setprecision(4) << eopp.R1
+ << setw( 9) << setprecision(4) << eopp.R2
+ << setw( 9) << setprecision(4) << eopp.R3
+ << setw( 9) << setprecision(4) << eopp.R4
+ << " " << endl;
+ os << setw(4) << eopp.TAIUTC
+ << setw(5) << eopp.SerialNo
+ << setw(6) << int(eopp.tv+0.5)
+ << " " << eopp.Info
+ << " "
+ << " "
+ << " ";
+ return os;
+ }
+
+ //---------------------------------------------------------------------------------
+ // class EOPStore
+ //---------------------------------------------------------------------------------
+ // Add to the store directly -- not recommended,
+ // use the form that takes EOPPrediction
+ void EOPStore::addEOP(int mjd, EarthOrientation& eop)
+ throw()
+ {
+ mapMJD_EOP[mjd] = eop;
+
+ if(begMJD == -1 || endMJD == -1) {
+ begMJD = endMJD = mjd;
+ }
+ else if(mjd < begMJD) {
+ begMJD = mjd;
+ }
+ else if(mjd > endMJD) {
+ endMJD = mjd;
+ }
+ }
+
+ //---------------------------------------------------------------------------------
+ // Add to the store by computing using an EOPPrediction,
+ // this is the usual way.
+ // @param MJD integer MJD at which to add EOPs
+ // @return non-0 if MJD is outside range
+ int EOPStore::addEOP(int mjd, EOPPrediction& eopp)
+ throw(DayTime::DayTimeException)
+ {
+ EarthOrientation eo;
+ try {
+ eo = eopp.computeEOP(mjd);
+ }
+ catch(DayTime::DayTimeException& dte)
+ {
+ GPSTK_RETHROW(dte);
+ }
+
+ addEOP(mjd,eo);
+
+ return 0;
+ }
+
+ //---------------------------------------------------------------------------------
+ // Add EOPs to the store via an inpu file: either an EOPP file
+ // or a flat file produced by USNO (see http://maia.usno.navy.mil/
+ // and get either file 'finals.data' or finals2000A.data').
+ // @param filename Name of file to read, including path.
+ void EOPStore::addFile(const string& filename)
+ throw(FileMissingException)
+ {
+ try {
+ addEOPPFile(filename);
+ }
+ catch(FileMissingException& fme)
+ {
+ if(StringUtils::matches(fme.getText(),string("wrong format")).empty()) {
+ GPSTK_RETHROW(fme);
+ }
+
+ // try other format
+ try {
+ addIERSFile(filename);
+ }
+ catch(FileMissingException& fme)
+ {
+ GPSTK_RETHROW(fme);
+ }
+ }
+ }
+
+ //---------------------------------------------------------------------------------
+ // Add EOPs to the store via an EOPP file:
+ // read the EOPPrediction from the file and then compute EOPs
+ // for all days within the valid range.
+ // @param filename Name of file to read, including path.
+ void EOPStore::addEOPPFile(const string& filename)
+ throw(FileMissingException)
+ {
+ // read the file into an EOPPrediction
+ EOPPrediction eopp;
+ try {
+ eopp.loadFile(filename);
+ }
+ catch(FileMissingException& fme)
+ {
+ GPSTK_RETHROW(fme);
+ }
+
+ // pull out the beginning of the valid time range
+ int mjd;
+ mjd = eopp.getValidTime();
+ // add all 7 days
+ for(int i=0; i<7; i++) {
+ EarthOrientation eo;
+ eo = eopp.computeEOP(mjd);
+ addEOP(mjd,eo);
+ mjd++;
+ }
+ }
+
+ //---------------------------------------------------------------------------------
+ // see http://maia.usno.navy.mil/readme.finals
+ void EOPStore::addIERSFile(const string& filename)
+ throw(FileMissingException)
+ {
+ bool ok;
+ int n,mjd;
+ double fracmjd;
+ string line,word;
+
+ ifstream inpf(filename.c_str());
+ if(!inpf) {
+ FileMissingException fme("Could not open IERS file " + filename);
+ GPSTK_THROW(fme);
+ }
+
+ ok = true;
+ while(!inpf.eof() && inpf.good()) {
+ getline(inpf,line);
+ StringUtils::stripTrailing(line,'\r');
+ if(inpf.eof()) break;
+ // line length is actually 187
+ if(inpf.bad() || line.size() < 70) { ok = false; break; }
+ EarthOrientation eo;
+ mjd = StringUtils::asInt(line.substr(7,5));
+ eo.xp = StringUtils::asDouble(line.substr(18,9)); // arcseconds
+ eo.yp = StringUtils::asDouble(line.substr(37,9)); // arcseconds
+ eo.UT1mUTC = StringUtils::asDouble(line.substr(58,10)); // seconds
+
+ addEOP(mjd,eo);
+ };
+ inpf.close();
+
+ if(!ok) {
+ FileMissingException fme("IERS File " + filename
+ + " is corrupted or wrong format");
+ GPSTK_THROW(fme);
+ }
+ }
+
+ //---------------------------------------------------------------------------------
+ // Edit the store by deleting all entries before(after)
+ // the given min(max) MJDs. If mjdmin is later than mjdmax,
+ // the two times are switched.
+ // @param mjdmin integer MJD desired earliest store time.
+ // @param mjdmax integer MJD desired latest store time.
+ void EOPStore::edit(int mjdmin, int mjdmax)
+ throw()
+ {
+ if(mjdmin > mjdmax) {
+ int m=mjdmin;
+ mjdmin = mjdmax;
+ mjdmax = m;
+ }
+
+ map<int,EarthOrientation>::iterator it;
+ it = mapMJD_EOP.lower_bound(mjdmin);
+ if(it != mapMJD_EOP.begin())
+ mapMJD_EOP.erase(mapMJD_EOP.begin(), it);
+
+ it = mapMJD_EOP.upper_bound(mjdmax);
+ if(it != mapMJD_EOP.end())
+ mapMJD_EOP.erase(it, mapMJD_EOP.end());
+
+ it = mapMJD_EOP.begin();
+ if(it == mapMJD_EOP.end())
+ begMJD = -1;
+ else
+ begMJD = it->first;
+
+ it = mapMJD_EOP.end();
+ if(--it == mapMJD_EOP.end())
+ endMJD = -1;
+ else
+ endMJD = it->first;
+ }
+
+ //---------------------------------------------------------------------------------
+ // Dump the store to cout.
+ // @param detail determines how much detail to include in the output
+ // 0 start and stop times (MJD), and number of EOPs.
+ // 1 list of all times and EOPs.
+ void EOPStore::dump(short detail, ostream& os) const
+ throw()
+ {
+ DayTime tt;
+ os << "EOPStore dump (" << mapMJD_EOP.size() << " entries):\n";
+ os << " Time limits: [MJD " << begMJD << " - " << endMJD << "]";
+ tt.setMJD(double(begMJD));
+ os << " = [m/d/y " << tt.printf("%m/%d/%Y");
+ tt.setMJD(double(endMJD));
+ os << " - " << tt.printf("%m/%d/%Y") << "]" << endl;
+ if(detail > 0) {
+ int lastmjd=-1;
+ map<int,EarthOrientation>::const_iterator it;
+ for(it=mapMJD_EOP.begin(); it != mapMJD_EOP.end(); it++) {
+ if(lastmjd != -1 && it->first - lastmjd > 1)
+ os << " ....." << endl;
+ os << " " << it->first << " " << it->second
+ << " (" << setfill('0') << setw(3)
+ << EOPPrediction::getSerialNumber(it->first) << setfill(' ') << ")"
+ << endl;
+ lastmjd = it->first;
+ }
+ }
+ }
+
+ //---------------------------------------------------------------------------------
+ // Get the EOP at the given epoch and return it.
+ // @param t DayTime at which to compute the EOPs.
+ // @return EarthOrientation EOPs at time t.
+ // @throw InvalidRequest if the (int) MJDs on either side of t
+ // cannot be found in the map.
+ EarthOrientation EOPStore::getEOP(DayTime& t) const
+ throw(InvalidRequest)
+ {
+ // find the EOs before and after epoch
+ int loMJD = int(t.MJD());
+ int hiMJD = loMJD + 1;
+ // find these EOPs
+ map<int,EarthOrientation>::const_iterator hit,lit;
+ lit = mapMJD_EOP.find(loMJD);
+ hit = mapMJD_EOP.find(hiMJD);
+ if(lit == mapMJD_EOP.end() || hit == mapMJD_EOP.end()) {
+ InvalidRequest ire(string("Time tag (MJD=")
+ + (lit == mapMJD_EOP.end() ?
+ StringUtils::asString(loMJD) : StringUtils::asString(hiMJD))
+ + string(") not found within the EOP store - EOPP files are out-of-date"));
+ GPSTK_THROW(ire);
+ }
+ // linearly interpolate to get EOP at the desired time
+ EarthOrientation eo;
+ double dt=t.MJD()-double(loMJD);
+ eo.xp = (1.0-dt) * lit->second.xp + dt * hit->second.xp;
+ eo.yp = (1.0-dt) * lit->second.yp + dt * hit->second.yp;
+ eo.UT1mUTC = (1.0-dt) * lit->second.UT1mUTC + dt * hit->second.UT1mUTC;
+
+ return eo;
+ }
+
+} // end namespace gpstk
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/lib/EarthOrientation.hpp b/dev/apps/geomatics/lib/EarthOrientation.hpp
new file mode 100644
index 0000000..b6f9471
--- /dev/null
+++ b/dev/apps/geomatics/lib/EarthOrientation.hpp
@@ -0,0 +1,286 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file EarthOrientation.hpp
+ * Include file for classes to handle earth orientation data:
+ * class gpstk::EarthOrientation encapsulates Earth orientation parameters (EOPs)
+ * class gpstk::EOPPrediction encapsulates formulas to predict EOPs; created by
+ * reading NGA 'EOPP###.txt' files.
+ * class gpstk::EOPStore encapsulates input, storage and retreval of EOPs.
+ */
+
+#ifndef CLASS_EARTHORIENT_INCLUDE
+#define CLASS_EARTHORIENT_INCLUDE
+
+//------------------------------------------------------------------------------------
+// system includes
+#include <iostream>
+#include <iomanip>
+#include <string>
+#include <map>
+// GPSTk
+#include "Exception.hpp"
+#include "DayTime.hpp"
+
+//------------------------------------------------------------------------------------
+namespace gpstk {
+
+ /// Earth orientation parameters
+ class EarthOrientation
+ {
+ public:
+ double xp; // arcseconds
+ double yp; // arcseconds
+ double UT1mUTC; // seconds
+
+ /// Constructor
+ EarthOrientation() : xp(0),yp(0),UT1mUTC(0) {}
+
+ /// append to output stream
+ friend std::ostream& operator<<(std::ostream& s, const EarthOrientation&);
+ };
+
+ //---------------------------------------------------------------------------------
+ /** Earth orientation parameter prediction
+ * Read data from EOPP###.txt file, available from NGA. The formulas are:
+ * 2 2
+ * xp(t)= A + B(t-ta) + SUM(Cj sin[2pi(t-ta)/Pj]) + SUM(Dj cos[2pi(t-ta)/Pj])
+ * j=1 j=1
+ *
+ * 2 2
+ * yp(t)= E + F(t-ta) + SUM(Gk sin[2pi(t-ta)/Qk]) + SUM(Hk cos[2pi(t-ta)/Qk])
+ * k=1 k=1
+ *
+ * 4 4
+ * UT1-UTC(t)= I+J(t-tb) + SUM(Km sin[2pi(t-tb)/Rm]) + SUM(Lm cos[2pi(t-tb)/Rm])
+ * m=1 m=1
+ * Ref. NGA document 'Earth Orientation Parameter Prediction (EOPP) Description'
+ * Effective date 08 August 2004
+ * http://earth-info.nga.mil/GandG/sathtml/eoppdoc.html
+ */
+ class EOPPrediction
+ {
+ /// MJD of beginning of times at which this formula is valid; end time of
+ /// validity is tv+7. In EOPP files, this is an integer.
+ double tv;
+ /// reference times (MJD) used in the formulas
+ double ta,tb;
+ /// parameters used in the formulas
+ double A,B,C1,C2,D1,D2,E,F,G1,G2,H1,H2,I,J,K1,K2,K3,K4,L1,L2,L3,L4;
+ /// more parameters used in the formulas
+ double P1,P2,Q1,Q2,R1,R2,R3,R4;
+
+ public:
+ /// the difference between TAI and UTC in seconds - not used in the computation
+ int TAIUTC;
+ /// the number used in the file name 'EOPP<SN>.txt'
+ int SerialNo;
+ /// information, including the MJD of generation of these parameters.
+ std::string Info;
+
+ /** access the time (MJD) of validity of these parameters;
+ * the range of validity is 'this' through 'this'+7.
+ */
+ int getValidTime(void) const
+ throw() { return int(tv+0.5); }
+
+ /** load the EOPPrediction in the given file
+ * @param filename Name of file to read, including path.
+ * @return 0 ok, -1 error reading file.
+ * @throw FileMissingException if filename cannot be opened.
+ */
+ int loadFile(std::string filename)
+ throw(FileMissingException);
+
+ /** Generate serial number (NGA files are named EOPP<SN>.txt) from epoch.
+ * SN (3 digit) = YWW : year (1 digit), week of year (2 digit)
+ * @param DayTime t Time at which to compute the serial number
+ * @return the serial number.
+ */
+ static int getSerialNumber(DayTime& t)
+ throw(DayTime::DayTimeException);
+
+ static int getSerialNumber(int mjd)
+ throw(DayTime::DayTimeException)
+ {
+ DayTime t;
+ t.setMJD(double(mjd));
+ return getSerialNumber(t);
+ }
+
+ /** Compute and return the Earth orientation parameters at the given MJD.
+ * TD how to warn if input is outside limits of validity?
+ * @param int mjd Integer MJD at which to compute the earth orientation
+ * parameters.
+ * @return the EarthOrientation.
+ */
+ EarthOrientation computeEOP(int& mjd) const
+ throw(DayTime::DayTimeException);
+
+ /** Compute and return the Earth orientation parameters at the given epoch.
+ * TD how to warn if input is outside limits of validity?
+ * @param DayTime t Time at which to compute the earth orientation
+ * parameters.
+ * @return the EarthOrientation.
+ */
+ EarthOrientation computeEOP(DayTime& t) const
+ throw();
+
+ /** Stream output for the EOPPrediction, in format of EOPP###.txt files.
+ * @param os stream to append formatted EOPPrediction to.
+ * @return reference to the input stream.
+ */
+ friend std::ostream& operator<<(std::ostream& s, const EOPPrediction&);
+ };
+
+ //---------------------------------------------------------------------------------
+ /** Earth orientation parameter store. Store EarthOrientation objects in a map
+ * with key = integer MJD at which the EOPs are computed. Access the store
+ * with any DayTime, linearly interpolating the stored EOPs to the given epoch.
+ */
+ class EOPStore
+ {
+ /// key is MJD at which the Earth orientation parameters apply
+ std::map<int,EarthOrientation> mapMJD_EOP;
+
+ /// first and last times in the store, -1 if store is empty.
+ int begMJD,endMJD;
+
+ public:
+ /// Constructor
+ EOPStore() : begMJD(-1), endMJD(-1) {}
+
+ /// Add to the store directly -- not recommended,
+ /// use the form that takes EOPPrediction
+ void addEOP(int MJD,
+ EarthOrientation& eop)
+ throw();
+
+ /** Add to the store by computing using an EOPPrediction,
+ * this is the usual way.
+ * @param MJD integer MJD at which to add EOPs
+ * @return non-0 if MJD is outside range
+ */
+ int addEOP(int MJD,
+ EOPPrediction& eopp)
+ throw(DayTime::DayTimeException);
+
+ /** Add EOPs to the store via an inpu file: either an EOPP file
+ * or a flat file produced by the IERS and available at USNO
+ * (see http://maia.usno.navy.mil/ and get either file
+ * 'finals.data' or finals2000A.data').
+ * @param filename Name of file to read, including path.
+ */
+ void addFile(const std::string& filename)
+ throw(FileMissingException);
+
+ /** Add EOPs to the store via an EOPP file:
+ * read the EOPPrediction from the file and then compute EOPs
+ * for all days within the valid range.
+ * @param filename Name of file to read, including path.
+ */
+ void addEOPPFile(const std::string& filename)
+ throw(FileMissingException);
+
+ /** Add EOPs to the store via a flat IERS file.
+ * @param filename Name of file to read, including path.
+ */
+ void addIERSFile(const std::string& filename)
+ throw(FileMissingException);
+
+ /** Edit the store by deleting all entries before(after)
+ * the given min(max) MJDs. If mjdmin is later than mjdmax,
+ * the two are switched.
+ * @param mjdmin integer MJD desired earliest store time.
+ * @param mjdmax integer MJD desired latest store time.
+ */
+ void edit(int mjdmin,
+ int mjdmax)
+ throw();
+
+ /** Edit the store by deleting all entries before(after)
+ * the given min(max) times. If tmin is later than tmax,
+ * the two times are switched.
+ * @param tmin DayTime desired earliest store time.
+ * @param tmax DayTime desired latest store time.
+ */
+ void edit(const DayTime& tmin,
+ const DayTime& tmax)
+ throw()
+ { edit(int(tmin.MJD()+0.5),int(tmax.MJD()+1.5)); }
+
+ /// return the number of entries in the store
+ int size(void)
+ throw() { return mapMJD_EOP.size(); }
+
+ /// clear the store
+ void clear(void)
+ throw() { mapMJD_EOP.clear(); begMJD=endMJD=-1; }
+
+ /** Dump the store to cout.
+ * @param detail determines how much detail to include in the output
+ * 0 start and stop times (MJD), and number of EOPs.
+ * 1 list of all times and EOPs.
+ */
+ void dump(short detail=0,
+ std::ostream& s=std::cout) const
+ throw();
+
+ /// Return first time (MJD) in the store.
+ int getFirstMJD(void) throw()
+ { return begMJD; }
+
+ /// Return last time (MJD) in the store.
+ int getLastMJD(void) throw()
+ { return endMJD; }
+
+ /** Get the EOP at the given epoch and return it.
+ * @param t DayTime at which to compute the EOPs.
+ * @return EarthOrientation EOPs at time t.
+ * @throw InvalidRequest if the (int) MJDs on either side of t
+ * cannot be found in the map.
+ */
+ EarthOrientation getEOP(DayTime& t) const
+ throw(InvalidRequest);
+
+ };
+
+} // end namespace gpstk
+
+#endif // nothing below this
diff --git a/dev/apps/geomatics/lib/GDCconfiguration.cpp b/dev/apps/geomatics/lib/GDCconfiguration.cpp
new file mode 100644
index 0000000..0d7d4b2
--- /dev/null
+++ b/dev/apps/geomatics/lib/GDCconfiguration.cpp
@@ -0,0 +1,204 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file GDCconfiguration.cpp
+ * class GDCconfiguration encapsulates the configuration for input to the
+ * GPSTK Discontinuity Corrector.
+ */
+
+#include "GDCconfiguration.hpp"
+#include "StringUtils.hpp"
+
+using namespace std;
+using namespace gpstk;
+using namespace StringUtils;
+
+//------------------------------------------------------------------------------------
+// version number for the entire gpstk discontinuity corrector code,
+// most convenient to keep it here as GDCpass inherits this
+string GDCconfiguration::GDCVersion = string("5.1 4/07/2007");
+
+//------------------------------------------------------------------------------------
+// Set a parameter in the configuration; the input string 'cmd' is of the form
+// '[--DC]<id><s><value>' : separator s is one of ':=,' and leading --DC is optional.
+void GDCconfiguration::setParameter(string cmd) throw(Exception)
+{
+try {
+ if(cmd.empty()) return;
+ // remove leading --DC
+ while(cmd[0] == '-') cmd.erase(0,1);
+ if(cmd.substr(0,2) == "DC") cmd.erase(0,2);
+
+ string label, value;
+ string::size_type pos=cmd.find_first_of(",=:");
+ if(pos == string::npos) {
+ label = cmd;
+ }
+ else {
+ label = cmd.substr(0,pos);
+ value = cmd;
+ value.erase(0,pos+1);
+ }
+
+ setParameter(label, asDouble(value));
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Set a parameter in the configuration using the label and the value,
+// for booleans use (T,F)=(non-zero,zero).
+void GDCconfiguration::setParameter(string label, double value) throw(Exception)
+{
+try {
+ if(CFG.find(label) == CFG.end())
+ ; // throw
+ else {
+ *(p_oflog) << "GDCconfiguration::setParameter sets "
+ << label << " to " << value << endl;
+ CFG[label] = value;
+ }
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Print help page, including descriptions and current values of all
+// the parameters, to the ostream.
+void GDCconfiguration::DisplayParameterUsage(ostream& os, bool advanced)
+ throw(Exception)
+{
+try {
+ os << "\nGPSTk Discontinuity Corrector (GDC) v." << GDCVersion
+ << " configuration, with current values"
+ //<< "\n [ pass setParameter() a string '<label><sep><value>';"
+ //<< " <sep> is one of ,=: ]"
+ << endl;
+
+ map<string,double>::const_iterator it;
+ for(it=CFG.begin(); it != CFG.end(); it++) {
+ if(CFGdescription[it->first][0] == '*') // advanced options
+ continue;
+ ostringstream stst;
+ stst << it->first // label
+ << "=" << it->second; // value
+ os << " " << leftJustify(stst.str(),18)
+ << " : " << CFGdescription[it->first] // description
+ << endl;
+ }
+ if(advanced) {
+ os << " Advanced options:\n";
+ for(it=CFG.begin(); it != CFG.end(); it++) {
+ if(CFGdescription[it->first][0] != '*') // ordinary options
+ continue;
+ ostringstream stst;
+ stst << it->first // label
+ << "=" << it->second; // value
+ os << " " << leftJustify(stst.str(),25)
+ << " : " << CFGdescription[it->first].substr(2) // description
+ << endl;
+ }
+ }
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+
+//------------------------------------------------------------------------------------
+#define setcfg(a,b,c) { CFG[#a]=b; CFGdescription[#a]=c; }
+// initialize with default values
+void GDCconfiguration::initialize(void)
+{
+try {
+ p_oflog = &cout;
+
+ // use cfg(DT) NOT dt - dt is part of SatPass...
+ setcfg(DT, -1, "nominal timestep of data (seconds) [required - no default!]");
+ setcfg(Debug, 0, "level of diagnostic output to log, from none(0) to extreme(7)");
+ setcfg(MaxGap, 180, "maximum allowed time gap within a segment (seconds)");
+ setcfg(MinPts, 13, "minimum number of good points in phase segment ()");
+ setcfg(WLSigma, 1.5, "expected WL sigma (WL cycle) [NB = ~0.83*p-range noise(m)]");
+ setcfg(GFVariation, 16, // about 300 5.4-cm wavelengths
+ "expected maximum variation in GF phase in time DT (meters)");
+ // output
+ setcfg(OutputGPSTime, 0,
+ "if 0: Y,M,D,H,M,S else: W,SoW (GPS) in editing commands");
+ setcfg(OutputDeletes, 1,
+ "if non-zero, include delete commands in the output cmd list");
+
+ // -------------------------------------------------------------------------
+ // advanced options - ordinary user will most likely NOT change
+ setcfg(RawBiasLimit, 100, "* change in raw R-Ph that triggers bias reset (m)");
+ // WL editing
+ setcfg(WLNSigmaDelete, 2, "* delete segments with sig(WL) > this * WLSigma ()");
+ setcfg(WLWindowWidth, 10, "* sliding window width for WL slip detection (points)");
+ setcfg(WLNWindows, 2.5,
+ "* minimum segment size for WL small slip search (WLWindowWidth)");
+ setcfg(WLobviousLimit, 3,
+ "* minimum delta(WL) that produces an obvious slip (WLSigma)");
+ setcfg(WLNSigmaStrip, 3.5, "* delete points with WL > this * computed sigma ()");
+ setcfg(WLNptsOutlierStats, 200,
+ "* maximum segment size to use robust outlier detection (pts)");
+ setcfg(WLRobustWeightLimit, 0.35,
+ "* minimum good weight in robust outlier detection (0<wt<=1)");
+ // WL small slips
+ setcfg(WLSlipEdge, 3,
+ "* minimum separating WL slips and end of segment, else edit (pts)");
+ setcfg(WLSlipSize, 0.67, "* minimum WL slip size (WL wavelengths)");
+ setcfg(WLSlipExcess, 0.1,
+ "* minimum amount WL slip must exceed noise (WL wavelengths)");
+ setcfg(WLSlipSeparation, 1.2, "* minimum excess/noise ratio of WL slip ()");
+ // GF small slips
+ setcfg(GFSlipWidth, 5,
+ "* minimum segment length for GF small slip detection (pts)");
+ setcfg(GFSlipEdge, 3,
+ "* minimum separating GF slips and end of segment, else edit (pts)");
+ setcfg(GFobviousLimit, 1,
+ "* minimum delta(GF) that produces an obvious slip (GFVariation)");
+ setcfg(GFSlipOutlier, 5, "* minimum GF outlier magnitude/noise ratio ()");
+ setcfg(GFSlipSize, 0.8, "* minimum GF slip size (5.4cm wavelengths)");
+ setcfg(GFSlipStepToNoise, 2, "* maximum GF slip step/noise ratio ()");
+ setcfg(GFSlipToStep, 3, "* minimum GF slip magnitude/step ratio ()");
+ setcfg(GFSlipToNoise, 3, "* minimum GF slip magnitude/noise ratio ()");
+ // GF fix
+ setcfg(GFFixNpts, 15,
+ "* maximum number of points on each side to fix GF slips ()");
+ setcfg(GFFixDegree, 3, "* degree of polynomial used to fix GF slips ()");
+ setcfg(GFFixMaxRMS, 100,
+ "* limit on RMS fit residuals to fix GF slips, else delete (5.4cm)");
+
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/lib/GDCconfiguration.hpp b/dev/apps/geomatics/lib/GDCconfiguration.hpp
new file mode 100644
index 0000000..56dc7ce
--- /dev/null
+++ b/dev/apps/geomatics/lib/GDCconfiguration.hpp
@@ -0,0 +1,94 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file GDCconfiguration.hpp
+ * class GDCconfiguration encapsulates the configuration for input to the
+ * GPSTK Discontinuity Corrector.
+ */
+
+#ifndef GPSTK_DISCONTINUITY_CORRECTOR_CONFIGURATION_INCLUDE
+#define GPSTK_DISCONTINUITY_CORRECTOR_CONFIGURATION_INCLUDE
+
+#include <string>
+#include <map>
+#include <iostream>
+#include <fstream>
+#include "Exception.hpp"
+
+namespace gpstk {
+ /// class GDCconfiguration encapsulates the configuration for input to the
+ /// GPSTK Discontinuity Corrector.
+class GDCconfiguration
+{
+public:
+ /// constructor; this sets a full default set of parameters.
+ GDCconfiguration(void) { initialize(); }
+ // destructor
+ ~GDCconfiguration(void) { CFG.clear(); CFGdescription.clear(); }
+
+ /// Set a parameter in the configuration; the input string 'cmd'
+ /// is of the form '[--DC]<id><s><value>' where the separator s is
+ /// one of (:=,) and leading '-','--', or '--DC' are optional.
+ void setParameter(std::string cmd) throw(gpstk::Exception);
+
+ /// Set a parameter in the configuration using the label and the value,
+ /// for booleans use (T,F)=(non-zero,zero).
+ void setParameter(std::string label, double value) throw(gpstk::Exception);
+
+ /// Get the parameter in the configuration corresponding to label
+ double getParameter(std::string label) throw() { return CFG[label]; }
+
+ /// Tell GDCconfiguration to which stream to send debugging output.
+ void setDebugStream(std::ostream& os) { p_oflog = &os; }
+
+ /// Print help page, including descriptions and current values of all
+ /// the parameters, to the ostream. If 'advanced' is true, also print
+ /// advanced parameters.
+ void DisplayParameterUsage(std::ostream& os, bool advanced=false)
+ throw(gpstk::Exception);
+
+ /// Return version string
+ std::string Version() throw() { return GDCVersion; }
+
+protected:
+
+ /// map containing configuration labels and their values
+ std::map <std::string,double> CFG;
+
+ /// map containing configuration labels and their descriptions
+ std::map <std::string,std::string> CFGdescription;
+
+ /// Stream on which to write debug output.
+ std::ostream *p_oflog;
+
+ void initialize(void);
+
+ static std::string GDCVersion;
+
+}; // end class GDCconfiguration
+
+} // end namespace gpstk
+//------------------------------------------------------------------------------------
+#endif
diff --git a/dev/apps/geomatics/lib/GSatID.cpp b/dev/apps/geomatics/lib/GSatID.cpp
new file mode 100644
index 0000000..2f17a51
--- /dev/null
+++ b/dev/apps/geomatics/lib/GSatID.cpp
@@ -0,0 +1,51 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file GSatID.cpp
+ * Define a satellite id class for geomatic lib, inheriting SatID.
+ */
+
+#include "GSatID.hpp"
+
+namespace gpstk
+{
+ char GSatID::fillchar = '0';
+}
+
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/lib/GSatID.hpp b/dev/apps/geomatics/lib/GSatID.hpp
new file mode 100644
index 0000000..2101b4b
--- /dev/null
+++ b/dev/apps/geomatics/lib/GSatID.hpp
@@ -0,0 +1,197 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file GSatID.hpp
+ * Define a satellite id class for geomatic lib, inheriting SatID.
+ */
+
+#ifndef CLASS_GEOMATIC_SATELLITE_ID_INCLUDE
+#define CLASS_GEOMATIC_SATELLITE_ID_INCLUDE
+
+#include "Exception.hpp"
+#include "SatID.hpp"
+
+namespace gpstk {
+ class GSatID : public SatID
+ {
+ public:
+
+ /// empty constructor, creates an invalid object
+ GSatID() throw() { id=-1; system=systemGPS; }
+
+ /// explicit constructor, no defaults
+ GSatID(int p, SatelliteSystem s) throw()
+ {
+ id = p; system = s;
+ switch(system) {
+ case systemGPS:
+ case systemGalileo:
+ case systemGlonass:
+ case systemGeosync:
+ case systemLEO:
+ case systemTransit: break;
+ default:
+ system = systemGPS;
+ id = -1;
+ }
+ }
+
+ /// constructor from string
+ GSatID(std::string& str) throw(Exception)
+ try { this->fromString(str); }
+ catch(Exception& e) { GPSTK_RETHROW(e); }
+
+ /// cast SatID to GSatID
+ GSatID(const SatID& sat) throw()
+ { *this = GSatID(sat.id,sat.system); }
+
+ /// set the fill character used in output
+ /// return the current fill character
+ char setfill(char c) throw()
+ { char csave=fillchar; fillchar=c; return csave; }
+
+ /// get the fill character used in output
+ char getfill() throw()
+ { return fillchar; }
+
+ // operator=, copy constructor and destructor built by compiler
+
+ /// return the single-character system descriptor
+ char systemChar() const throw()
+ {
+ switch(system) {
+ case systemGPS: return 'G';
+ case systemGalileo: return 'E';
+ case systemGlonass: return 'R';
+ case systemGeosync: return 'S';
+ case systemTransit: return 'T';
+ case systemLEO: return 'L';
+ default: return '?';
+ }
+ };
+
+ /// return string describing system
+ std::string systemString() const throw()
+ {
+ switch(system) {
+ case systemGPS: return "GPS";
+ case systemGalileo: return "Galileo";
+ case systemGlonass: return "Glonass";
+ case systemGeosync: return "Geosync";
+ case systemTransit: return "Transit";
+ case systemLEO: return "LEO";
+ default: return "Unknown";
+ }
+ };
+
+ /// read from string
+ /// @note GPS is default system (no or unknown system char)
+ void fromString(const std::string s) throw(Exception)
+ {
+ char c;
+ std::istringstream iss(s);
+
+ id = -1; system = systemGPS; // default
+ if(s.find_first_not_of(std::string(" \t\n"), 0) == std::string::npos)
+ return; // all whitespace yields the default
+
+ iss >> c; // read one character (non-whitespace)
+ switch(c)
+ {
+ // no leading system character
+ case '0': case '1': case '2': case '3': case '4':
+ case '5': case '6': case '7': case '8': case '9':
+ iss.putback(c);
+ system = SatID::systemGPS;
+ break;
+ case 'R': case 'r':
+ system = SatID::systemGlonass;
+ break;
+ case 'T': case 't':
+ system = SatID::systemTransit;
+ break;
+ case 'S': case 's':
+ system = SatID::systemGeosync;
+ break;
+ case 'E': case 'e':
+ system = SatID::systemGalileo;
+ break;
+ case 'L': case 'l':
+ system = SatID::systemLEO;
+ break;
+ case ' ': case 'G': case 'g':
+ system = SatID::systemGPS;
+ break;
+ default: // invalid system character
+ Exception e(std::string("Invalid system character \"")
+ + c + std::string("\""));
+ GPSTK_THROW(e);
+ }
+ iss >> id;
+ if(id <= 0) id = -1;
+ }
+
+ /// convert to string
+ std::string toString() const throw()
+ {
+ std::ostringstream oss;
+ char savechar=oss.fill(fillchar);
+ oss << systemChar()
+ << std::setw(2) << id
+ << std::setfill(savechar);
+ return oss.str();
+ }
+
+ private:
+
+ static char fillchar; ///< fill character used during stream output
+
+ }; // class GSatID
+
+ /// stream output for GSatID
+ inline std::ostream& operator<<(std::ostream& s, const GSatID& sat) throw()
+ {
+ s << sat.toString();
+ return s;
+ }
+
+} // namespace gpstk
+
+#endif
+// nothing below this
diff --git a/dev/apps/geomatics/lib/GeodeticFrames.cpp b/dev/apps/geomatics/lib/GeodeticFrames.cpp
new file mode 100644
index 0000000..1c28357
--- /dev/null
+++ b/dev/apps/geomatics/lib/GeodeticFrames.cpp
@@ -0,0 +1,2157 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file GeodeticFrames.cpp
+ * Implement geodetic frame computations in the GeodeticFrames class.
+ * class gpstk::GeodeticFrames encapsulates frame transformations between the
+ * conventional terrestrial frame and the conventional inertial frame, as defined
+ * by the reference. It implements models of precession and nutation (IERS 1996) of
+ * Earth's axis, as well as the precise rotation of Earth and its 'wobble'
+ * as given by the Earth orientation parameters (see class EarthOrientation).
+ * Reference: IERS Technical Note 21, IERS Conventions (1996),
+ * by Dennis D. McCarthy, U.S. Naval Observatory.
+ */
+
+//------------------------------------------------------------------------------------
+// GPSTk includes
+#include "StringUtils.hpp"
+#include "geometry.hpp" // for DEG_TO_RAD
+#include "icd_200_constants.hpp" // for PI and TWO_PI
+#include "GeodeticFrames.hpp"
+
+using namespace std;
+
+namespace gpstk
+{
+ //---------------------------------------------------------------------------------
+ //---------------------------------------------------------------------------------
+ // constants
+ // epoch for CoordTransTime
+ const long GeodeticFrames::JulianEpoch=2451545;
+
+ //---------------------------------------------------------------------------------
+ //---------------------------------------------------------------------------------
+ // functions used internally
+
+ //---------------------------------------------------------------------------------
+ // Compute the 'coordinate transformation time' which is the time since
+ // epoch J2000 = January 1 2000 12h UT = 2451545.0JD, divided by 36525 days.
+ // This quantity is used throughout the terrestrial / inertial coordinate
+ // transformations.
+ double GeodeticFrames::CoordTransTime(DayTime t)
+ throw()
+ {
+ double ct = (t.JD()-double(JulianEpoch))/36525.0; // day contribution
+ ct += ((t.secOfDay()-43200.0)/86400.0)/36525.0; // seconds contribution
+ return ct;
+ }
+
+ //---------------------------------------------------------------------------------
+ // Return mean longitude of lunar ascending node, in degrees,
+ // given T, the CoordTransTime at the Epoch of interest. (Ref: F5 pg 23)
+ double GeodeticFrames::Omega(double T)
+ throw()
+ {
+ double om;
+ om = -0.00005939*T; // seconds of arc
+ om = (om + 0.007702)*T;
+ om = (om + 7.4722)*T;
+ om /= 3600.0; // convert to degrees
+ om = (om - 1934.136185139)*T; // 1934.136185139 = 6962890.2665/3600.0
+ om += 125.04455501;
+ //om = fmod(om,360.0);
+ return om;
+ }
+
+ //---------------------------------------------------------------------------------
+ // Return mean longitude of the moon - Omega, in degrees,
+ // given T, the CoordTransTime at the Epoch of interest. (Ref: F3 pg 23)
+ double GeodeticFrames::F(double T)
+ throw()
+ {
+ double f;
+ f = 0.00000417*T; // seconds of arc
+ f = (f - 0.001037)*T;
+ f = (f - 12.7512)*T;
+ f /= 3600.0; // convert to degrees
+ f = (f + 483202.01745772)*T; // 483202.01745772 = 1739527262.8478/3600.0
+ f += 93.27209062;
+ //f = fmod(f,360.0);
+ return 0.0;
+ }
+
+ //---------------------------------------------------------------------------------
+ // Return mean elongation of the moon from the sun, in degrees,
+ // given T, the CoordTransTime at the Epoch of interest. (Ref: F4 pg 23)
+ double GeodeticFrames::D(double T)
+ throw()
+ {
+ double d;
+ d = -0.00003169*T; // seconds of arc
+ d = (d + 0.006593)*T;
+ d = (d - 6.3706)*T;
+ d /= 3600.0; // convert to degrees
+ d = (d + 445267.111446944)*T; // 445267.111446944 = 1602961601.2090 / 3600.0
+ d += 297.85019547;
+ //d = fmod(d,360.0);
+ return d;
+ }
+
+ //---------------------------------------------------------------------------------
+ // Return mean anomaly of the moon, in degrees,
+ // given T, the CoordTransTime at the Epoch of interest. (Ref: F1 pg 23)
+ double GeodeticFrames::L(double T)
+ throw()
+ {
+ double l;
+ l = -0.00024470*T; // seconds of arc
+ l = (l + 0.051635)*T;
+ l = (l + 31.8792)*T;
+ l /= 3600.0; // convert to degrees
+ l = (l + 477198.8675605)*T; // 477198.8675605 = 1717915923.2178 / 3600.0
+ l += 134.96340251;
+ //l = fmod(l,360.0);
+ return l;
+ }
+
+ //---------------------------------------------------------------------------------
+ // Return mean anomaly of the sun, in degrees,
+ // given T, the CoordTransTime at the Epoch of interest. (Ref: F2 pg 23)
+ double GeodeticFrames::Lp(double T)
+ throw()
+ {
+ double lp;
+ lp = -0.00001149*T; // seconds of arc
+ lp = (lp + 0.000136)*T;
+ lp = (lp - 0.5532)*T;
+ lp /= 3600.0; // convert to degrees
+ lp = (lp + 35999.050291139)*T;// 35999.050291139 = 129596581.0481 / 3600.0
+ lp += 357.52910918;
+ //lp = fmod(lp,360.0);
+ return lp;
+ }
+
+ //---------------------------------------------------------------------------------
+ // Compute eps, the obliquity of the ecliptic, in degrees,
+ // given T, the CoordTransTime at the time of interest. IAU76
+ double GeodeticFrames::Obliquity(double T)
+ throw()
+ {
+ double ep;
+ // seconds of arc
+ ep = T*(-46.8150 + T*(-0.00059 + T*0.001813));
+ ep /= 3600.0; // convert to degrees
+ // degrees
+ ep += 23.43929111; // = 84381.448/3600.0
+
+ return ep;
+ }
+
+ //---------------------------------------------------------------------------------
+ // Nutation of the obliquity (deps) and of the longitude (dpsi), IERS 1996
+ // model (ref pg 26), given
+ // @param T, the coordinate transformation time at the time of interest
+ // @param deps, nutation of the obliquity, in arc seconds (output)
+ // @param dpsi, nutation of the longitude, in arc seconds (output)
+ void GeodeticFrames::NutationAngles(double T,
+ double& deps,
+ double& dpsi)
+ throw()
+ {
+ //-----------------------------------------------------------------------
+ // Code to implement Table 5.2 of IERS Conventions 1996 series for
+ // nutation in longitude dpsi and obliquity deps in arc seconds.
+ // (Generated by perl script Table52.pl)
+ double arg;
+ dpsi = deps = 0.0;
+
+ // double T must be defined as time in Julian centuries from epoch J2000.0
+ // Also define (all doubles):
+ double o = Omega(T); // = mean longitude of lunar ascending node, in degrees,
+ double f = F(T) ; // = mean longitude of the moon - Omega, in degrees,
+ double d = D(T) ; // = mean elongation of the moon from the sun, in degrees,
+ double l = L(T) ; // = mean anomaly of the moon, in degrees, and
+ double lp = Lp(T) ; // = mean anomaly of the sun, in degrees.
+ o *= DEG_TO_RAD;
+ f *= DEG_TO_RAD;
+ d *= DEG_TO_RAD;
+ l *= DEG_TO_RAD;
+ lp *= DEG_TO_RAD;
+
+ // line 1 of Table 5.2, period = -6798.38 days
+ arg = o;
+ dpsi += (-17.206277 - 0.017419*T) * ::sin(arg) + 0.003645 * ::cos(arg);
+ deps += (+9.205356 + 0.000886*T) * ::cos(arg) + 0.001553 * ::sin(arg);
+ // line 2 of Table 5.2, period = 182.62 days
+ arg = 2*f-2*d+2*o;
+ dpsi += (-1.317014 - 0.000156*T) * ::sin(arg) - 0.001400 * ::cos(arg);
+ deps += (+0.573058 - 0.000306*T) * ::cos(arg) - 0.000464 * ::sin(arg);
+ // line 3 of Table 5.2, period = 13.66 days
+ arg = 2*f+2*o;
+ dpsi += (-0.227720 - 0.000023*T) * ::sin(arg) + 0.000269 * ::cos(arg);
+ deps += (+0.097864 - 0.000048*T) * ::cos(arg) + 0.000136 * ::sin(arg);
+ // line 4 of Table 5.2, period = -3399.18 days
+ arg = 2*o;
+ dpsi += (+0.207429 + 0.000021*T) * ::sin(arg) - 0.000071 * ::cos(arg);
+ deps += (-0.089747 + 0.000047*T) * ::cos(arg) - 0.000029 * ::sin(arg);
+ // line 5 of Table 5.2, period = -365.26 days
+ arg = -lp;
+ dpsi += (-0.147538 + 0.000364*T) * ::sin(arg) + 0.001121 * ::cos(arg);
+ deps += (+0.007388 - 0.000019*T) * ::cos(arg) + 0.000198 * ::sin(arg);
+ // line 6 of Table 5.2, period = 121.75 days
+ arg = lp+2*f-2*d+2*o;
+ dpsi += (-0.051687 + 0.000123*T) * ::sin(arg) - 0.000054 * ::cos(arg);
+ deps += (+0.022440 - 0.000068*T) * ::cos(arg) - 0.000018 * ::sin(arg);
+ // line 7 of Table 5.2, period = 27.55 days
+ arg = l;
+ dpsi += (+0.071118 + 0.000007*T) * ::sin(arg) - 0.000094 * ::cos(arg);
+ deps -= 0.000687 * ::cos(arg) + 0.000039 * ::sin(arg);
+ // line 8 of Table 5.2, period = 13.63 days
+ arg = 2*f+o;
+ dpsi += (-0.038752 - 0.000037*T) * ::sin(arg) + 0.000034 * ::cos(arg);
+ deps += (+0.020076 + 0.000002*T) * ::cos(arg) + 0.000032 * ::sin(arg);
+ // line 9 of Table 5.2, period = 9.13 days
+ arg = l+2*f+2*o;
+ dpsi += (-0.030137 - 0.000004*T) * ::sin(arg) + 0.000077 * ::cos(arg);
+ deps += (+0.012896 - 0.000006*T) * ::cos(arg) + 0.000035 * ::sin(arg);
+ // line 10 of Table 5.2, period = 365.22 days
+ arg = -lp+2*f-2*d+2*o;
+ dpsi += (+0.021583 - 0.000049*T) * ::sin(arg) + 0.000006 * ::cos(arg);
+ deps += (-0.009591 + 0.000030*T) * ::cos(arg) + 0.000012 * ::sin(arg);
+ // line 11 of Table 5.2, period = 177.84 days
+ arg = 2*f-2*d+o;
+ dpsi += (+0.012820 + 0.000014*T) * ::sin(arg) + 0.000018 * ::cos(arg);
+ deps += (-0.006897 - 0.000001*T) * ::cos(arg) + 0.000004 * ::sin(arg);
+ // line 12 of Table 5.2, period = 27.09 days
+ arg = -l+2*f+2*o;
+ dpsi += (+0.012353 + 0.000001*T) * ::sin(arg) + 0.000002 * ::cos(arg);
+ deps += (-0.005334 + 0.000003*T) * ::cos(arg);
+ // line 13 of Table 5.2, period = 31.81 days
+ arg = -l+2*d;
+ dpsi += (+0.015699 + 0.000001*T) * ::sin(arg) - 0.000018 * ::cos(arg);
+ deps -= 0.000127 * ::cos(arg) + 0.000009 * ::sin(arg);
+ // line 14 of Table 5.2, period = 27.67 days
+ arg = l+o;
+ dpsi += (+0.006314 + 0.000006*T) * ::sin(arg) + 0.000003 * ::cos(arg);
+ deps -= 0.003323 * ::cos(arg) - 0.000001 * ::sin(arg);
+ // line 15 of Table 5.2, period = -27.44 days
+ arg = -l+o;
+ dpsi += (-0.005797 - 0.000006*T) * ::sin(arg) - 0.000019 * ::cos(arg);
+ deps += 0.003141 * ::cos(arg) - 0.000008 * ::sin(arg);
+ // line 16 of Table 5.2, period = 9.56 days
+ arg = -l+2*f+2*d+2*o;
+ dpsi += (-0.005965 - 0.000001*T) * ::sin(arg) + 0.000014 * ::cos(arg);
+ deps += (+0.002554 - 0.000001*T) * ::cos(arg) + 0.000007 * ::sin(arg);
+ // line 17 of Table 5.2, period = 9.12 days
+ arg = l+2*f+o;
+ dpsi += (-0.005163 - 0.000004*T) * ::sin(arg) + 0.000012 * ::cos(arg);
+ deps += 0.002635 * ::cos(arg) + 0.000008 * ::sin(arg);
+ // line 18 of Table 5.2, period = 1305.48 days
+ arg = -2*l+2*f+o;
+ dpsi += (+0.004590 + 0.000005*T) * ::sin(arg) + 0.000001 * ::cos(arg);
+ deps += (-0.002424 - 0.000001*T) * ::cos(arg) + 0.000001 * ::sin(arg);
+ // line 19 of Table 5.2, period = 14.77 days
+ arg = 2*d;
+ dpsi += (+0.006336 + 0.000001*T) * ::sin(arg) - 0.000015 * ::cos(arg);
+ deps -= 0.000125 * ::cos(arg) + 0.000003 * ::sin(arg);
+ // line 20 of Table 5.2, period = 7.10 days
+ arg = 2*f+2*d+2*o;
+ dpsi -= 0.003854 * ::sin(arg) + 0.000015 * ::cos(arg);
+ deps += 0.001643 * ::cos(arg) + 0.000006 * ::sin(arg);
+ // line 21 of Table 5.2, period = -205.89 days
+ arg = -2*l+2*d;
+ dpsi -= 0.004774 * ::sin(arg) - 0.000002 * ::cos(arg);
+ deps += 0.000048 * ::cos(arg) - 0.000003 * ::sin(arg);
+ // line 22 of Table 5.2, period = 6.86 days
+ arg = 2*l+2*f+2*o;
+ dpsi -= 0.003102 * ::sin(arg) + 0.000012 * ::cos(arg);
+ deps += (+0.001323 - 0.000001*T) * ::cos(arg) + 0.000005 * ::sin(arg);
+ // line 23 of Table 5.2, period = 23.94 days
+ arg = l+2*f-2*d+2*o;
+ dpsi += 0.002863 * ::sin(arg);
+ deps += (-0.001235 + 0.000001*T) * ::cos(arg);
+ // line 24 of Table 5.2, period = 26.98 days
+ arg = -l+2*f+o;
+ dpsi += (+0.002044 + 0.000002*T) * ::sin(arg) + 0.000001 * ::cos(arg);
+ deps -= 0.001076 * ::cos(arg);
+ // line 25 of Table 5.2, period = 13.78 days
+ arg = 2*l;
+ dpsi += 0.002923 * ::sin(arg) - 0.000008 * ::cos(arg);
+ deps -= 0.000062 * ::cos(arg) + 0.000001 * ::sin(arg);
+ // line 26 of Table 5.2, period = 13.61 days
+ arg = 2*f;
+ dpsi += 0.002585 * ::sin(arg) - 0.000007 * ::cos(arg);
+ deps -= 0.000056 * ::cos(arg) + 0.000001 * ::sin(arg);
+ // line 27 of Table 5.2, period = 386.00 days
+ arg = lp+o;
+ dpsi += (-0.001406 - 0.000003*T) * ::sin(arg) + 0.000008 * ::cos(arg);
+ deps += 0.000857 * ::cos(arg) - 0.000004 * ::sin(arg);
+ // line 28 of Table 5.2, period = 31.96 days
+ arg = -l+2*d+o;
+ dpsi += (+0.001517 + 0.000001*T) * ::sin(arg) + 0.000001 * ::cos(arg);
+ deps -= 0.000801 * ::cos(arg);
+ // line 29 of Table 5.2, period = 91.31 days
+ arg = 2*lp+2*f-2*d+2*o;
+ dpsi += (-0.001578 + 0.000007*T) * ::sin(arg) - 0.000002 * ::cos(arg);
+ deps += (+0.000685 - 0.000004*T) * ::cos(arg) - 0.000001 * ::sin(arg);
+ // line 30 of Table 5.2, period = -173.31 days
+ arg = -2*f+2*d;
+ dpsi += 0.002178 * ::sin(arg) + 0.000001 * ::cos(arg);
+ deps -= 0.000015 * ::cos(arg) + 0.000001 * ::sin(arg);
+ // line 31 of Table 5.2, period = -31.66 days
+ arg = l-2*d+o;
+ dpsi += (-0.001286 - 0.000001*T) * ::sin(arg) - 0.000004 * ::cos(arg);
+ deps += 0.000694 * ::cos(arg) - 0.000002 * ::sin(arg);
+ // line 32 of Table 5.2, period = -346.64 days
+ arg = -lp+o;
+ dpsi += (-0.001269 + 0.000001*T) * ::sin(arg) + 0.000006 * ::cos(arg);
+ deps += (+0.000642 + 0.000001*T) * ::cos(arg) + 0.000002 * ::sin(arg);
+ // line 33 of Table 5.2, period = 9.54 days
+ arg = -l+2*f+2*d+o;
+ dpsi += (-0.001022 - 0.000001*T) * ::sin(arg) + 0.000002 * ::cos(arg);
+ deps += 0.000522 * ::cos(arg) + 0.000001 * ::sin(arg);
+ // line 34 of Table 5.2, period = -182.63 days
+ arg = -2*lp;
+ dpsi += (-0.001671 + 0.000008*T) * ::sin(arg) - 0.000001 * ::cos(arg);
+ deps += 0.000014 * ::cos(arg) - 0.000001 * ::sin(arg);
+ // line 35 of Table 5.2, period = 5.64 days
+ arg = l+2*f+2*d+2*o;
+ dpsi -= 0.000768 * ::sin(arg) + 0.000004 * ::cos(arg);
+ deps += 0.000325 * ::cos(arg) + 0.000002 * ::sin(arg);
+ // line 36 of Table 5.2, period = 1095.18 days
+ arg = -2*l+2*f;
+ dpsi -= 0.001102 * ::sin(arg) - 0.000001 * ::cos(arg);
+ deps += 0.000010 * ::cos(arg);
+/*
+ // line 37 of Table 5.2, period = 13.17 days
+ arg = lp+2*f+2*o;
+ dpsi += (+0.000757 - 0.000002*T) * ::sin(arg) - 0.000001 * ::cos(arg);
+ deps += (-0.000326 - 0.000002*T) * ::cos(arg);
+ // line 38 of Table 5.2, period = 7.09 days
+ arg = 2*f+2*d+o;
+ dpsi += (-0.000664 - 0.000001*T) * ::sin(arg) + 0.000002 * ::cos(arg);
+ deps += (+0.000335 - 0.000001*T) * ::cos(arg) + 0.000001 * ::sin(arg);
+ // line 39 of Table 5.2, period = 14.19 days
+ arg = -lp+2*f+2*o;
+ dpsi += (-0.000714 + 0.000002*T) * ::sin(arg) + 0.000001 * ::cos(arg);
+ deps += (+0.000307 + 0.000002*T) * ::cos(arg);
+ // line 40 of Table 5.2, period = 14.80 days
+ arg = 2*d+o;
+ dpsi += (-0.000631 - 0.000001*T) * ::sin(arg);
+ deps += 0.000327 * ::cos(arg);
+ // line 41 of Table 5.2, period = 23.86 days
+ arg = l+2*f-2*d+o;
+ dpsi += (+0.000580 + 0.000001*T) * ::sin(arg);
+ deps -= 0.000307 * ::cos(arg);
+ // line 42 of Table 5.2, period = 12.81 days
+ arg = 2*l+2*f-2*d+2*o;
+ dpsi += 0.000643 * ::sin(arg) - 0.000001 * ::cos(arg);
+ deps -= 0.000277 * ::cos(arg);
+ // line 43 of Table 5.2, period = -199.84 days
+ arg = -2*l+2*d+o;
+ dpsi += (-0.000579 - 0.000001*T) * ::sin(arg) - 0.000001 * ::cos(arg);
+ deps += 0.000304 * ::cos(arg);
+ // line 44 of Table 5.2, period = 6.85 days
+ arg = 2*l+2*f+o;
+ dpsi -= 0.000533 * ::sin(arg) + 0.000002 * ::cos(arg);
+ deps += 0.000269 * ::cos(arg) + 0.000001 * ::sin(arg);
+ // line 45 of Table 5.2, period = 346.60 days
+ arg = -lp+2*f-2*d+o;
+ dpsi += (-0.000477 - 0.000001*T) * ::sin(arg);
+ deps += (+0.000271 - 0.000001*T) * ::cos(arg);
+ // line 46 of Table 5.2, period = -14.73 days
+ arg = -2*d+o;
+ dpsi += (-0.000493 - 0.000001*T) * ::sin(arg) - 0.000002 * ::cos(arg);
+ deps += 0.000272 * ::cos(arg) - 0.000001 * ::sin(arg);
+ // line 47 of Table 5.2, period = 34.85 days
+ arg = -l-lp+2*d;
+ dpsi += 0.000735 * ::sin(arg) - 0.000001 * ::cos(arg);
+ deps -= 0.000005 * ::cos(arg);
+ // line 48 of Table 5.2, period = 212.32 days
+ arg = 2*l-2*d+o;
+ dpsi += 0.000405 * ::sin(arg) + 0.000001 * ::cos(arg);
+ deps -= 0.000220 * ::cos(arg);
+ // line 49 of Table 5.2, period = 9.61 days
+ arg = l+2*d;
+ dpsi += 0.000657 * ::sin(arg) - 0.000002 * ::cos(arg);
+ deps -= 0.000020 * ::cos(arg);
+ // line 50 of Table 5.2, period = 119.61 days
+ arg = lp+2*f-2*d+o;
+ dpsi += 0.000361 * ::sin(arg) + 0.000001 * ::cos(arg);
+ deps -= 0.000194 * ::cos(arg);
+ // line 51 of Table 5.2, period = 29.80 days
+ arg = l-lp;
+ dpsi += 0.000471 * ::sin(arg) - 0.000001 * ::cos(arg);
+ deps -= 0.000004 * ::cos(arg);
+ // line 52 of Table 5.2, period = 1615.76 days
+ arg = -2*l+2*f+2*o;
+ dpsi -= 0.000311 * ::sin(arg);
+ deps += 0.000131 * ::cos(arg);
+ // line 53 of Table 5.2, period = 5.49 days
+ arg = 3*l+2*f+2*o;
+ dpsi -= 0.000289 * ::sin(arg) + 0.000002 * ::cos(arg);
+ deps += 0.000124 * ::cos(arg) + 0.000001 * ::sin(arg);
+ // line 54 of Table 5.2, period = 15.39 days
+ arg = -lp+2*d;
+ dpsi += 0.000435 * ::sin(arg) - 0.000001 * ::cos(arg);
+ deps -= 0.000009 * ::cos(arg);
+ // line 55 of Table 5.2, period = 9.37 days
+ arg = l-lp+2*f+2*o;
+ dpsi -= 0.000287 * ::sin(arg) + 0.000001 * ::cos(arg);
+ deps += 0.000123 * ::cos(arg);
+ // line 56 of Table 5.2, period = 9.81 days
+ arg = -l-lp+2*f+2*d+2*o;
+ dpsi -= 0.000282 * ::sin(arg) + 0.000001 * ::cos(arg);
+ deps += 0.000122 * ::cos(arg);
+ // line 57 of Table 5.2, period = 29.53 days
+ arg = d;
+ dpsi -= 0.000422 * ::sin(arg) + 0.000001 * ::cos(arg);
+ deps += 0.000003 * ::cos(arg);
+ // line 58 of Table 5.2, period = 26.88 days
+ arg = -l+2*f;
+ dpsi -= 0.000404 * ::sin(arg) + 0.000001 * ::cos(arg);
+ deps += 0.000004 * ::cos(arg);
+ // line 59 of Table 5.2, period = 7.24 days
+ arg = -lp+2*f+2*d+2*o;
+ dpsi -= 0.000264 * ::sin(arg) + 0.000001 * ::cos(arg);
+ deps += 0.000114 * ::cos(arg);
+ // line 60 of Table 5.2, period = -13.75 days
+ arg = -2*l+o;
+ dpsi -= 0.000228 * ::sin(arg) - 0.000001 * ::cos(arg);
+ deps += 0.000126 * ::cos(arg);
+ // line 61 of Table 5.2, period = 8.91 days
+ arg = l+lp+2*f+2*o;
+ dpsi += 0.000246 * ::sin(arg) - 0.000001 * ::cos(arg);
+ deps -= 0.000106 * ::cos(arg);
+ // line 62 of Table 5.2, period = 13.81 days
+ arg = 2*l+o;
+ dpsi += 0.000218 * ::sin(arg);
+ deps -= 0.000114 * ::cos(arg);
+ // line 63 of Table 5.2, period = 3232.87 days
+ arg = -l+lp+d;
+ dpsi += 0.000327 * ::sin(arg);
+ deps -= 0.000001 * ::cos(arg);
+ // line 64 of Table 5.2, period = 25.62 days
+ arg = l+lp;
+ dpsi -= 0.000338 * ::sin(arg);
+ deps += 0.000004 * ::cos(arg);
+ // line 65 of Table 5.2, period = 9.11 days
+ arg = l+2*f;
+ dpsi += 0.000334 * ::sin(arg) - 0.000001 * ::cos(arg);
+ deps -= 0.000011 * ::cos(arg);
+ // line 66 of Table 5.2, period = -32.61 days
+ arg = -l+2*f-2*d+o;
+ dpsi -= 0.000199 * ::sin(arg) - 0.000001 * ::cos(arg);
+ deps += 0.000107 * ::cos(arg);
+ // line 67 of Table 5.2, period = 27.78 days
+ arg = l+2*o;
+ dpsi -= 0.000197 * ::sin(arg);
+ deps += 0.000085 * ::cos(arg);
+ // line 68 of Table 5.2, period = -411.78 days
+ arg = -l+d;
+ dpsi += 0.000405 * ::sin(arg) - 0.000035 * ::cos(arg);
+ deps -= 0.000055 * ::cos(arg) - 0.000014 * ::sin(arg);
+ // line 69 of Table 5.2, period = 9.34 days
+ arg = 2*f+d+2*o;
+ dpsi += 0.000165 * ::sin(arg);
+ deps -= 0.000072 * ::cos(arg);
+ // line 70 of Table 5.2, period = 5.80 days
+ arg = -l+2*f+4*d+2*o;
+ dpsi -= 0.000151 * ::sin(arg) + 0.000001 * ::cos(arg);
+ deps += 0.000066 * ::cos(arg);
+ // line 71 of Table 5.2, period = 6786.31 days
+ arg = -2*lp+2*f-2*d+o;
+ dpsi -= 0.000130 * ::sin(arg);
+ deps += 0.000069 * ::cos(arg);
+ // line 72 of Table 5.2, period = 6164.17 days
+ arg = -l+lp+d+o;
+ dpsi += 0.000132 * ::sin(arg);
+ deps -= 0.000068 * ::cos(arg);
+ // line 73 of Table 5.2, period = 5.64 days
+ arg = l+2*f+2*d+o;
+ dpsi -= 0.000133 * ::sin(arg) + 0.000001 * ::cos(arg);
+ deps += 0.000066 * ::cos(arg);
+ // line 74 of Table 5.2, period = 14.63 days
+ arg = -2*l+2*f+2*d+2*o;
+ dpsi += 0.000139 * ::sin(arg);
+ deps -= 0.000060 * ::cos(arg);
+ // line 75 of Table 5.2, period = -27.33 days
+ arg = -l+2*o;
+ dpsi += 0.000139 * ::sin(arg);
+ deps -= 0.000060 * ::cos(arg);
+ // line 76 of Table 5.2, period = 22.47 days
+ arg = l+lp+2*f-2*d+2*o;
+ dpsi += 0.000128 * ::sin(arg);
+ deps -= 0.000055 * ::cos(arg);
+ // line 77 of Table 5.2, period = 7.35 days
+ arg = -2*l+2*f+4*d+2*o;
+ dpsi -= 0.000121 * ::sin(arg);
+ deps += 0.000052 * ::cos(arg);
+ // line 78 of Table 5.2, period = 9.06 days
+ arg = -l+4*f+2*o;
+ dpsi += 0.000115 * ::sin(arg);
+ deps -= 0.000049 * ::cos(arg);
+ // line 79 of Table 5.2, period = 12.79 days
+ arg = 2*l+2*f-2*d+o;
+ dpsi += 0.000101 * ::sin(arg);
+ deps -= 0.000054 * ::cos(arg);
+ // line 80 of Table 5.2, period = 4.68 days
+ arg = 2*l+2*f+2*d+2*o;
+ dpsi -= 0.000108 * ::sin(arg) + 0.000001 * ::cos(arg);
+ deps += 0.000047 * ::cos(arg);
+ // line 81 of Table 5.2, period = 9.63 days
+ arg = l+2*d+o;
+ dpsi -= 0.000095 * ::sin(arg);
+ deps += 0.000049 * ::cos(arg);
+ // line 82 of Table 5.2, period = 9.18 days
+ arg = 3*l;
+ dpsi += 0.000157 * ::sin(arg) - 0.000001 * ::cos(arg);
+ deps -= 0.000005 * ::cos(arg);
+ // line 83 of Table 5.2, period = 8.75 days
+ arg = 3*l+2*f-2*d+2*o;
+ dpsi += 0.000094 * ::sin(arg);
+ deps -= 0.000040 * ::cos(arg);
+ // line 84 of Table 5.2, period = 12.66 days
+ arg = 4*f-2*d+2*o;
+ dpsi += 0.000091 * ::sin(arg);
+ deps -= 0.000039 * ::cos(arg);
+ // line 85 of Table 5.2, period = -169.00 days
+ arg = -2*f+2*d+o;
+ dpsi += 0.000087 * ::sin(arg);
+ deps -= 0.000044 * ::cos(arg);
+ // line 86 of Table 5.2, period = 13.14 days
+ arg = lp+2*f+o;
+ dpsi += 0.000081 * ::sin(arg);
+ deps -= 0.000042 * ::cos(arg);
+ // line 87 of Table 5.2, period = 187.66 days
+ arg = 2*f-2*d+3*o;
+ dpsi += 0.000123 * ::sin(arg);
+ deps -= 0.000020 * ::cos(arg);
+ // line 88 of Table 5.2, period = 10.08 days
+ arg = -l+4*d;
+ dpsi += 0.000133 * ::sin(arg);
+ deps -= 0.000004 * ::cos(arg);
+ // line 89 of Table 5.2, period = -943.23 days
+ arg = 2*l-2*f+o;
+ dpsi += 0.000071 * ::sin(arg);
+ deps -= 0.000038 * ::cos(arg);
+ // line 90 of Table 5.2, period = -15.91 days
+ arg = 2*l-4*d;
+ dpsi -= 0.000128 * ::sin(arg);
+ deps += 0.000001 * ::cos(arg);
+ // line 91 of Table 5.2, period = 35.03 days
+ arg = -l-lp+2*d+o;
+ dpsi += 0.000075 * ::sin(arg);
+ deps -= 0.000039 * ::cos(arg);
+ // line 92 of Table 5.2, period = -131.67 days
+ arg = -2*l-lp+2*d;
+ dpsi -= 0.000115 * ::sin(arg);
+ deps += 0.000001 * ::cos(arg);
+ // line 93 of Table 5.2, period = 14.16 days
+ arg = -lp+2*f+o;
+ dpsi -= 0.000066 * ::sin(arg);
+ deps += 0.000035 * ::cos(arg);
+ // line 94 of Table 5.2, period = -388.27 days
+ arg = -l+d+o;
+ dpsi += 0.000101 * ::sin(arg) - 0.000003 * ::cos(arg);
+ deps -= 0.000049 * ::cos(arg) - 0.000001 * ::sin(arg);
+ // line 95 of Table 5.2, period = -13.58 days
+ arg = -2*f+o;
+ dpsi -= 0.000068 * ::sin(arg);
+ deps += 0.000036 * ::cos(arg);
+ // line 96 of Table 5.2, period = 409.23 days
+ arg = lp+2*o;
+ dpsi += 0.000069 * ::sin(arg) - 0.000001 * ::cos(arg);
+ deps -= 0.000033 * ::cos(arg);
+ // line 97 of Table 5.2, period = 25.42 days
+ arg = 2*f-d+2*o;
+ dpsi -= 0.000074 * ::sin(arg);
+ deps += 0.000031 * ::cos(arg);
+ // line 98 of Table 5.2, period = 4.79 days
+ arg = 2*f+4*d+2*o;
+ dpsi -= 0.000069 * ::sin(arg);
+ deps += 0.000029 * ::cos(arg);
+ // line 99 of Table 5.2, period = -34.67 days
+ arg = l+lp-2*d+o;
+ dpsi -= 0.000061 * ::sin(arg);
+ deps += 0.000032 * ::cos(arg);
+ // line 100 of Table 5.2, period = 29.26 days
+ arg = -l+lp+2*d;
+ dpsi -= 0.000094 * ::sin(arg);
+ // line 101 of Table 5.2, period = 5.73 days
+ arg = l-lp+2*f+2*d+2*o;
+ dpsi -= 0.000059 * ::sin(arg);
+ deps += 0.000025 * ::cos(arg);
+ // line 102 of Table 5.2, period = 29.93 days
+ arg = l-lp+o;
+ dpsi += 0.000051 * ::sin(arg);
+ deps -= 0.000027 * ::cos(arg);
+ // line 103 of Table 5.2, period = -329.79 days
+ arg = lp-2*f+2*d;
+ dpsi -= 0.000090 * ::sin(arg);
+ deps += 0.000003 * ::cos(arg);
+ // line 104 of Table 5.2, period = 5.49 days
+ arg = 3*l+2*f+o;
+ dpsi -= 0.000050 * ::sin(arg);
+ deps += 0.000025 * ::cos(arg);
+ // line 105 of Table 5.2, period = 9.31 days
+ arg = -l+lp+2*f+2*d+2*o;
+ dpsi += 0.000056 * ::sin(arg);
+ deps -= 0.000024 * ::cos(arg);
+ // line 106 of Table 5.2, period = 6.96 days
+ arg = lp+2*f+2*d+2*o;
+ dpsi += 0.000054 * ::sin(arg);
+ deps -= 0.000022 * ::cos(arg);
+ // line 107 of Table 5.2, period = -9.60 days
+ arg = -l-2*d+o;
+ dpsi -= 0.000050 * ::sin(arg);
+ deps += 0.000027 * ::cos(arg);
+ // line 108 of Table 5.2, period = 66079.30 days
+ arg = -l+lp+d+2*o;
+ dpsi -= 0.000052 * ::sin(arg);
+ deps += 0.000023 * ::cos(arg);
+ // line 109 of Table 5.2, period = 7.23 days
+ arg = -lp+2*f+2*d+o;
+ dpsi -= 0.000044 * ::sin(arg);
+ deps += 0.000024 * ::cos(arg);
+ // line 110 of Table 5.2, period = -38.74 days
+ arg = l+2*f-4*d+o;
+ dpsi -= 0.000047 * ::sin(arg);
+ deps += 0.000024 * ::cos(arg);
+ // line 111 of Table 5.2, period = -23.77 days
+ arg = -l-2*f+2*d;
+ dpsi += 0.000077 * ::sin(arg);
+ // line 112 of Table 5.2, period = 9.80 days
+ arg = -l-lp+2*f+2*d+o;
+ dpsi -= 0.000046 * ::sin(arg);
+ deps += 0.000024 * ::cos(arg);
+ // line 113 of Table 5.2, period = -329.82 days
+ arg = -lp+2*o;
+ dpsi += 0.000059 * ::sin(arg);
+ deps -= 0.000025 * ::cos(arg);
+ // line 114 of Table 5.2, period = 6.99 days
+ arg = 2*l-lp+2*f+2*o;
+ dpsi -= 0.000048 * ::sin(arg);
+ deps += 0.000021 * ::cos(arg);
+ // line 115 of Table 5.2, period = 9.35 days
+ arg = l-lp+2*f+o;
+ dpsi -= 0.000042 * ::sin(arg);
+ deps += 0.000022 * ::cos(arg);
+ // line 116 of Table 5.2, period = 14.83 days
+ arg = 2*d+2*o;
+ dpsi -= 0.000046 * ::sin(arg);
+ deps += 0.000020 * ::cos(arg);
+ // line 117 of Table 5.2, period = 14.19 days
+ arg = lp+2*d;
+ dpsi -= 0.000067 * ::sin(arg);
+ // line 118 of Table 5.2, period = 25.22 days
+ arg = -l+lp+2*f+2*o;
+ dpsi += 0.000047 * ::sin(arg);
+ deps -= 0.000020 * ::cos(arg);
+ // line 119 of Table 5.2, period = 73.05 days
+ arg = 3*lp+2*f-2*d+2*o;
+ dpsi -= 0.000044 * ::sin(arg);
+ deps += 0.000019 * ::cos(arg);
+ // line 120 of Table 5.2, period = -117.54 days
+ arg = -lp-2*f+2*d;
+ dpsi += 0.000066 * ::sin(arg);
+ // line 121 of Table 5.2, period = 29.66 days
+ arg = d+o;
+ dpsi -= 0.000037 * ::sin(arg);
+ deps += 0.000020 * ::cos(arg);
+ // line 122 of Table 5.2, period = -9.53 days
+ arg = l-2*f-2*d;
+ dpsi -= 0.000064 * ::sin(arg);
+ deps += 0.000001 * ::cos(arg);
+ // line 123 of Table 5.2, period = 8.90 days
+ arg = l+lp+2*f+o;
+ dpsi += 0.000036 * ::sin(arg);
+ deps -= 0.000018 * ::cos(arg);
+ // line 124 of Table 5.2, period = 6.73 days
+ arg = 2*l+lp+2*f+2*o;
+ dpsi += 0.000040 * ::sin(arg);
+ deps -= 0.000017 * ::cos(arg);
+ // line 125 of Table 5.2, period = 27.32 days
+ arg = lp+d;
+ dpsi += 0.000057 * ::sin(arg);
+ // line 126 of Table 5.2, period = 32.76 days
+ arg = l-2*f+2*d;
+ dpsi -= 0.000058 * ::sin(arg);
+ // line 127 of Table 5.2, period = 25.72 days
+ arg = l+lp+o;
+ dpsi -= 0.000034 * ::sin(arg);
+ deps += 0.000019 * ::cos(arg);
+ // line 128 of Table 5.2, period = -7.13 days
+ arg = -2*l-2*d;
+ dpsi -= 0.000059 * ::sin(arg);
+ deps += 0.000001 * ::cos(arg);
+ // line 129 of Table 5.2, period = 32.11 days
+ arg = -l+2*d+2*o;
+ dpsi -= 0.000038 * ::sin(arg);
+ deps += 0.000017 * ::cos(arg);
+ // line 130 of Table 5.2, period = -29.40 days
+ arg = -d+o;
+ dpsi += 0.000033 * ::sin(arg);
+ deps -= 0.000018 * ::cos(arg);
+ // line 131 of Table 5.2, period = -15.35 days
+ arg = lp-2*d+o;
+ dpsi -= 0.000033 * ::sin(arg);
+ deps += 0.000018 * ::cos(arg);
+ // line 132 of Table 5.2, period = -32.45 days
+ arg = -l+2*f-2*d+2*o;
+ dpsi += 0.000036 * ::sin(arg);
+ deps -= 0.000016 * ::cos(arg);
+ // line 133 of Table 5.2, period = -29.67 days
+ arg = -l+lp+o;
+ dpsi -= 0.000031 * ::sin(arg);
+ deps += 0.000017 * ::cos(arg);
+ // line 134 of Table 5.2, period = 6.98 days
+ arg = l+2*f+d+2*o;
+ dpsi += 0.000033 * ::sin(arg);
+ deps -= 0.000014 * ::cos(arg);
+ // line 135 of Table 5.2, period = -7.38 days
+ arg = -4*d;
+ dpsi -= 0.000048 * ::sin(arg);
+ deps += 0.000001 * ::cos(arg);
+ // line 136 of Table 5.2, period = 9.33 days
+ arg = 2*f+d+o;
+ dpsi += 0.000027 * ::sin(arg);
+ deps -= 0.000014 * ::cos(arg);
+ // line 137 of Table 5.2, period = -31.52 days
+ arg = l-2*d+2*o;
+ dpsi += 0.000032 * ::sin(arg);
+ deps -= 0.000014 * ::cos(arg);
+ // line 138 of Table 5.2, period = 13.22 days
+ arg = l+2*f-d+2*o;
+ dpsi -= 0.000033 * ::sin(arg);
+ deps += 0.000013 * ::cos(arg);
+ // line 139 of Table 5.2, period = 9.87 days
+ arg = l-lp+2*d;
+ dpsi += 0.000048 * ::sin(arg);
+ // line 140 of Table 5.2, period = 5.80 days
+ arg = -l+2*f+4*d+o;
+ dpsi -= 0.000026 * ::sin(arg);
+ deps += 0.000013 * ::cos(arg);
+ // line 141 of Table 5.2, period = -7.08 days
+ arg = -2*f-2*d;
+ dpsi -= 0.000041 * ::sin(arg);
+ deps += 0.000001 * ::cos(arg);
+ // line 142 of Table 5.2, period = -26.77 days
+ arg = l-2*f+o;
+ dpsi += 0.000027 * ::sin(arg);
+ deps -= 0.000014 * ::cos(arg);
+ // line 143 of Table 5.2, period = 313.04 days
+ arg = -l+2*f-d+o;
+ dpsi -= 0.000023 * ::sin(arg);
+ deps += 0.000014 * ::cos(arg);
+ // line 144 of Table 5.2, period = 22.40 days
+ arg = l+lp+2*f-2*d+o;
+ dpsi += 0.000023 * ::sin(arg);
+ deps -= 0.000012 * ::cos(arg);
+ // line 145 of Table 5.2, period = 4.58 days
+ arg = 4*l+2*f+2*o;
+ dpsi -= 0.000026 * ::sin(arg);
+ deps += 0.000011 * ::cos(arg);
+ // line 146 of Table 5.2, period = 9.11 days
+ arg = lp+2*f+d+2*o;
+ dpsi -= 0.000024 * ::sin(arg);
+ deps += 0.000010 * ::cos(arg);
+ // line 147 of Table 5.2, period = -6.85 days
+ arg = -2*l-2*f;
+ dpsi -= 0.000036 * ::sin(arg);
+ deps += 0.000001 * ::cos(arg);
+ // line 148 of Table 5.2, period = 12.38 days
+ arg = 2*l+lp+2*f-2*d+2*o;
+ dpsi += 0.000025 * ::sin(arg);
+ deps -= 0.000010 * ::cos(arg);
+ // line 149 of Table 5.2, period = 14.32 days
+ arg = 2*l-lp;
+ dpsi += 0.000038 * ::sin(arg);
+ // line 150 of Table 5.2, period = -25.53 days
+ arg = -l-lp+o;
+ dpsi += 0.000021 * ::sin(arg);
+ deps -= 0.000012 * ::cos(arg);
+ // line 151 of Table 5.2, period = 14.60 days
+ arg = -2*l+2*f+2*d+o;
+ dpsi += 0.000022 * ::sin(arg);
+ deps -= 0.000011 * ::cos(arg);
+ // line 152 of Table 5.2, period = -2266.12 days
+ arg = 3*o;
+ dpsi -= 0.000022 * ::sin(arg);
+ deps += 0.000010 * ::cos(arg);
+ // line 153 of Table 5.2, period = 8.68 days
+ arg = l+4*f-2*d+2*o;
+ dpsi += 0.000023 * ::sin(arg);
+ deps -= 0.000009 * ::cos(arg);
+ // line 154 of Table 5.2, period = 4.68 days
+ arg = 2*l+2*f+2*d+o;
+ dpsi -= 0.000019 * ::sin(arg);
+ deps += 0.000010 * ::cos(arg);
+ // line 155 of Table 5.2, period = 7.34 days
+ arg = -2*l+2*f+4*d+o;
+ dpsi -= 0.000020 * ::sin(arg);
+ deps += 0.000010 * ::cos(arg);
+ // line 156 of Table 5.2, period = 14.22 days
+ arg = lp+2*d+o;
+ dpsi += 0.000018 * ::sin(arg);
+ deps -= 0.000009 * ::cos(arg);
+ // line 157 of Table 5.2, period = 14.25 days
+ arg = l+d;
+ dpsi -= 0.000033 * ::sin(arg);
+ // line 158 of Table 5.2, period = 10.10 days
+ arg = -l+4*d+o;
+ dpsi -= 0.000018 * ::sin(arg);
+ deps += 0.000009 * ::cos(arg);
+ // line 159 of Table 5.2, period = 9.05 days
+ arg = -l+4*f+o;
+ dpsi += 0.000019 * ::sin(arg);
+ deps -= 0.000009 * ::cos(arg);
+ // line 160 of Table 5.2, period = -35.23 days
+ arg = 2*f-3*d+2*o;
+ dpsi -= 0.000020 * ::sin(arg);
+ deps += 0.000008 * ::cos(arg);
+ // line 161 of Table 5.2, period = 6.82 days
+ arg = 4*f+2*o;
+ dpsi += 0.000019 * ::sin(arg);
+ deps -= 0.000008 * ::cos(arg);
+ // line 162 of Table 5.2, period = 13.28 days
+ arg = 2*l+lp;
+ dpsi -= 0.000028 * ::sin(arg);
+ // line 163 of Table 5.2, period = -16.10 days
+ arg = 2*f-4*d+o;
+ dpsi -= 0.000016 * ::sin(arg);
+ deps += 0.000009 * ::cos(arg);
+ // line 164 of Table 5.2, period = 5.90 days
+ arg = -l-lp+2*f+4*d+2*o;
+ dpsi -= 0.000017 * ::sin(arg);
+ deps += 0.000007 * ::cos(arg);
+ // line 165 of Table 5.2, period = 38.52 days
+ arg = -l-2*lp+2*d;
+ dpsi += 0.000027 * ::sin(arg);
+ // line 166 of Table 5.2, period = 7.39 days
+ arg = 4*d+o;
+ dpsi -= 0.000016 * ::sin(arg);
+ deps += 0.000007 * ::cos(arg);
+ // line 167 of Table 5.2, period = 15.42 days
+ arg = -lp+2*d+o;
+ dpsi -= 0.000014 * ::sin(arg);
+ deps += 0.000007 * ::cos(arg);
+ // line 168 of Table 5.2, period = 4.08 days
+ arg = l+2*f+4*d+2*o;
+ dpsi -= 0.000016 * ::sin(arg);
+ deps += 0.000007 * ::cos(arg);
+ // line 169 of Table 5.2, period = -194.13 days
+ arg = -2*l+2*d+2*o;
+ dpsi += 0.000018 * ::sin(arg);
+ deps -= 0.000008 * ::cos(arg);
+ // line 170 of Table 5.2, period = 1616.44 days
+ arg = -2*l+2*lp+2*d;
+ dpsi -= 0.000022 * ::sin(arg);
+ // line 171 of Table 5.2, period = -507.16 days
+ arg = -2*l-lp+2*f+o;
+ dpsi += 0.000009 * ::sin(arg);
+ deps -= 0.000005 * ::cos(arg);
+ // line 172 of Table 5.2, period = -9.17 days
+ arg = -3*l+o;
+ dpsi -= 0.000014 * ::sin(arg);
+ deps += 0.000007 * ::cos(arg);
+ // line 173 of Table 5.2, period = 13.69 days
+ arg = 2*f+3*o;
+ dpsi += 0.000020 * ::sin(arg);
+ // line 174 of Table 5.2, period = 4.79 days
+ arg = 2*f+4*d+o;
+ dpsi -= 0.000012 * ::sin(arg);
+ deps += 0.000006 * ::cos(arg);
+ // line 175 of Table 5.2, period = 12.64 days
+ arg = 4*f-2*d+o;
+ dpsi += 0.000012 * ::sin(arg);
+ deps -= 0.000007 * ::cos(arg);
+ // line 176 of Table 5.2, period = 16.06 days
+ arg = -2*lp+2*d;
+ dpsi += 0.000021 * ::sin(arg);
+ // line 177 of Table 5.2, period = 438.33 days
+ arg = l-d+o;
+ dpsi += 0.000017 * ::sin(arg) - 0.000003 * ::cos(arg);
+ deps -= 0.000005 * ::cos(arg) + 0.000001 * ::sin(arg);
+ // line 178 of Table 5.2, period = 5.56 days
+ arg = l+lp+2*f+2*d+2*o;
+ dpsi += 0.000015 * ::sin(arg);
+ deps -= 0.000006 * ::cos(arg);
+ // line 179 of Table 5.2, period = 8.73 days
+ arg = 3*l+2*f-2*d+o;
+ dpsi += 0.000012 * ::sin(arg);
+ deps -= 0.000007 * ::cos(arg);
+ // line 180 of Table 5.2, period = 29.26 days
+ arg = -l-lp+2*f+2*o;
+ dpsi -= 0.000016 * ::sin(arg);
+ deps += 0.000006 * ::cos(arg);
+ // line 181 of Table 5.2, period = -129.17 days
+ arg = -2*l-lp+2*d+o;
+ dpsi -= 0.000013 * ::sin(arg);
+ deps += 0.000007 * ::cos(arg);
+ // line 182 of Table 5.2, period = -14.70 days
+ arg = -2*d+2*o;
+ dpsi += 0.000013 * ::sin(arg);
+ deps -= 0.000005 * ::cos(arg);
+ // line 183 of Table 5.2, period = 7.38 days
+ arg = -2*lp+2*f+2*d+2*o;
+ dpsi -= 0.000013 * ::sin(arg);
+ deps += 0.000005 * ::cos(arg);
+ // line 184 of Table 5.2, period = -10.07 days
+ arg = l-4*d+o;
+ dpsi -= 0.000012 * ::sin(arg);
+ deps += 0.000006 * ::cos(arg);
+ // line 185 of Table 5.2, period = 29.39 days
+ arg = -l+lp+2*d+o;
+ dpsi -= 0.000010 * ::sin(arg);
+ deps += 0.000006 * ::cos(arg);
+ // line 186 of Table 5.2, period = 15.94 days
+ arg = -2*l+4*d+o;
+ dpsi += 0.000011 * ::sin(arg);
+ deps -= 0.000006 * ::cos(arg);
+ // line 187 of Table 5.2, period = 25.33 days
+ arg = 2*f-d+o;
+ dpsi -= 0.000010 * ::sin(arg);
+ deps += 0.000005 * ::cos(arg);
+ // line 188 of Table 5.2, period = 187.67 days
+ arg = 2*lp+o;
+ dpsi -= 0.000009 * ::sin(arg);
+ deps += 0.000005 * ::cos(arg);
+ // line 189 of Table 5.2, period = 90.10 days
+ arg = 2*lp+2*f-2*d+o;
+ dpsi += 0.000008 * ::sin(arg);
+ deps -= 0.000005 * ::cos(arg);
+ // line 190 of Table 5.2, period = 7.13 days
+ arg = 2*l+2*d+o;
+ dpsi -= 0.000009 * ::sin(arg);
+ deps += 0.000005 * ::cos(arg);
+ // line 191 of Table 5.2, period = -15.87 days
+ arg = 2*l-4*d+o;
+ dpsi -= 0.000011 * ::sin(arg);
+ deps += 0.000005 * ::cos(arg);
+ // line 192 of Table 5.2, period = 95.42 days
+ arg = 2*l+2*f-4*d+o;
+ dpsi += 0.000010 * ::sin(arg);
+ deps -= 0.000005 * ::cos(arg);
+ // line 193 of Table 5.2, period = -9.10 days
+ arg = -l-2*f+o;
+ dpsi -= 0.000010 * ::sin(arg);
+ deps += 0.000005 * ::cos(arg);
+ // line 194 of Table 5.2, period = 25.13 days
+ arg = -l+lp+2*f+o;
+ dpsi += 0.000009 * ::sin(arg);
+ deps -= 0.000005 * ::cos(arg);
+ // line 195 of Table 5.2, period = -35.80 days
+ arg = -l+lp+2*f-2*d+o;
+ dpsi -= 0.000011 * ::sin(arg);
+ deps += 0.000005 * ::cos(arg);
+ // line 196 of Table 5.2, period = 10.37 days
+ arg = -l-lp+4*d;
+ dpsi += 0.000015 * ::sin(arg);
+ // line 197 of Table 5.2, period = 37.63 days
+ arg = -3*l+4*d;
+ dpsi += 0.000016 * ::sin(arg);
+ // line 198 of Table 5.2, period = 4.00 days
+ arg = 3*l+2*f+2*d+2*o;
+ dpsi -= 0.000014 * ::sin(arg);
+ // line 199 of Table 5.2, period = 471.89 days
+ arg = 2*l-lp-2*d;
+ dpsi -= 0.000009 * ::sin(arg) - 0.000001 * ::cos(arg);
+ deps += 0.000001 * ::cos(arg);
+ // line 200 of Table 5.2, period = -3396.16 days
+ arg = 2*lp-2*f+2*d;
+ dpsi -= 0.000009 * ::sin(arg);
+ // line 201 of Table 5.2, period = 4.86 days
+ arg = -lp+2*f+4*d+2*o;
+ dpsi -= 0.000009 * ::sin(arg);
+ // line 202 of Table 5.2, period = 27.32 days
+ arg = -lp+2*f-d+2*o;
+ dpsi += 0.000009 * ::sin(arg);
+ // line 203 of Table 5.2, period = 9.37 days
+ arg = l+lp+2*d;
+ dpsi -= 0.000010 * ::sin(arg);
+ // line 204 of Table 5.2, period = 219.17 days
+ arg = 2*l-2*d+2*o;
+ dpsi -= 0.000011 * ::sin(arg);
+ // line 205 of Table 5.2, period = 4.74 days
+ arg = 2*l-lp+2*f+2*d+2*o;
+ dpsi -= 0.000009 * ::sin(arg);
+ // line 206 of Table 5.2, period = 6.89 days
+ arg = 4*l;
+ dpsi += 0.000009 * ::sin(arg);
+ // line 207 of Table 5.2, period = 6.64 days
+ arg = 4*l+2*f-2*d+2*o;
+ dpsi += 0.000012 * ::sin(arg);
+ // line 208 of Table 5.2, period = 15.31 days
+ arg = -l+3*d;
+ dpsi -= 0.000010 * ::sin(arg);
+ // line 209 of Table 5.2, period = 23.43 days
+ arg = -l+4*f-2*d+2*o;
+ dpsi -= 0.000009 * ::sin(arg);
+ // line 210 of Table 5.2, period = 10.08 days
+ arg = -l-2*lp+2*f+2*d+2*o;
+ dpsi -= 0.000009 * ::sin(arg);
+ // line 211 of Table 5.2, period = 16.63 days
+ arg = -2*l-lp+4*d;
+ dpsi += 0.000012 * ::sin(arg);
+ // line 212 of Table 5.2, period = 7.50 days
+ arg = -2*l-lp+2*f+4*d+2*o;
+ dpsi -= 0.000012 * ::sin(arg);
+ // line 213 of Table 5.2, period = 6.95 days
+ arg = lp+2*f+2*d+o;
+ dpsi += 0.000007 * ::sin(arg);
+ // line 214 of Table 5.2, period = 12.71 days
+ arg = 2*lp+2*f+2*o;
+ dpsi += 0.000007 * ::sin(arg);
+ // line 215 of Table 5.2, period = 14.77 days
+ arg = -2*lp+2*f+2*o;
+ dpsi -= 0.000008 * ::sin(arg);
+ // line 216 of Table 5.2, period = 5.82 days
+ arg = l+4*d;
+ dpsi += 0.000008 * ::sin(arg);
+ // line 217 of Table 5.2, period = 5.63 days
+ arg = l+2*f+2*d;
+ dpsi += 0.000008 * ::sin(arg);
+ // line 218 of Table 5.2, period = -38.52 days
+ arg = l+2*f-4*d+2*o;
+ dpsi += 0.000007 * ::sin(arg);
+ // line 219 of Table 5.2, period = 5.73 days
+ arg = l-lp+2*f+2*d+o;
+ dpsi -= 0.000008 * ::sin(arg);
+ // line 220 of Table 5.2, period = 25.62 days
+ arg = l-lp+2*f-2*d+2*o;
+ dpsi -= 0.000007 * ::sin(arg);
+ // line 221 of Table 5.2, period = 32.45 days
+ arg = l-2*lp;
+ dpsi += 0.000008 * ::sin(arg);
+ // line 222 of Table 5.2, period = 13.83 days
+ arg = 2*l+2*o;
+ dpsi -= 0.000008 * ::sin(arg);
+ // line 223 of Table 5.2, period = 134.27 days
+ arg = 2*l+lp-2*d+o;
+ dpsi += 0.000008 * ::sin(arg);
+ // line 224 of Table 5.2, period = 9.20 days
+ arg = 3*l+o;
+ dpsi += 0.000007 * ::sin(arg);
+ // line 225 of Table 5.2, period = 14.13 days
+ arg = -l+2*f+d+2*o;
+ dpsi += 0.000008 * ::sin(arg);
+ // line 226 of Table 5.2, period = 7.22 days
+ arg = -l+2*f+3*d+2*o;
+ dpsi += 0.000008 * ::sin(arg);
+ // line 227 of Table 5.2, period = 38.96 days
+ arg = -l-2*f+4*d;
+ dpsi -= 0.000007 * ::sin(arg);
+ // line 228 of Table 5.2, period = 9.30 days
+ arg = -l+lp+2*f+2*d+o;
+ dpsi += 0.000007 * ::sin(arg);
+ // line 229 of Table 5.2, period = 27.09 days
+ arg = -l+2*lp+2*d;
+ dpsi -= 0.000008 * ::sin(arg);
+ // line 230 of Table 5.2, period = 2189.73 days
+ arg = -l-lp+2*f-d+o;
+ dpsi += 0.000007 * ::sin(arg);
+ // line 231 of Table 5.2, period = -14.93 days
+ arg = -2*l+2*f-2*d+o;
+ dpsi -= 0.000008 * ::sin(arg);
+ // line 232 of Table 5.2, period = 13.49 days
+ arg = -2*l+4*f+2*o;
+ dpsi -= 0.000007 * ::sin(arg);
+ // line 233 of Table 5.2, period = -12.76 days
+ arg = -2*l-2*f+2*d;
+ dpsi += 0.000008 * ::sin(arg);
+ // line 234 of Table 5.2, period = 285.41 days
+ arg = -2*l+lp+2*f+o;
+ dpsi += 0.000009 * ::sin(arg);
+ // line 235 of Table 5.2, period = -28.15 days
+ arg = -3*l+2*f+o;
+ dpsi -= 0.000008 * ::sin(arg);
+ // line 236 of Table 5.2, period = 27.43 days
+ arg = lp+d+o;
+ dpsi += 0.000005 * ::sin(arg);
+ // line 237 of Table 5.2, period = 7.53 days
+ arg = -lp+4*d;
+ dpsi += 0.000006 * ::sin(arg);
+ // line 238 of Table 5.2, period = -14.16 days
+ arg = -lp-2*d+o;
+ dpsi += 0.000005 * ::sin(arg);
+ // line 239 of Table 5.2, period = -177.85 days
+ arg = -2*lp+o;
+ dpsi -= 0.000006 * ::sin(arg);
+ // line 240 of Table 5.2, period = 6.97 days
+ arg = l+2*f+d+o;
+ dpsi += 0.000005 * ::sin(arg);
+ // line 241 of Table 5.2, period = 126.51 days
+ arg = l+2*f-3*d+2*o;
+ dpsi -= 0.000006 * ::sin(arg);
+ // line 242 of Table 5.2, period = -299.26 days
+ arg = l-2*f+d;
+ dpsi -= 0.000007 * ::sin(arg);
+ // line 243 of Table 5.2, period = 13.72 days
+ arg = l+lp+d;
+ dpsi += 0.000005 * ::sin(arg);
+ // line 244 of Table 5.2, period = -29.14 days
+ arg = l-lp-2*d+o;
+ dpsi += 0.000006 * ::sin(arg);
+ // line 245 of Table 5.2, period = 8.93 days
+ arg = 2*l+2*f-d+2*o;
+ dpsi -= 0.000006 * ::sin(arg);
+ // line 246 of Table 5.2, period = 6.73 days
+ arg = 2*l+lp+2*f+o;
+ dpsi += 0.000005 * ::sin(arg);
+ // line 247 of Table 5.2, period = 6.98 days
+ arg = 2*l-lp+2*f+o;
+ dpsi -= 0.000006 * ::sin(arg);
+ // line 248 of Table 5.2, period = 13.28 days
+ arg = 2*l-lp+2*f-2*d+2*o;
+ dpsi += 0.000005 * ::sin(arg);
+ // line 249 of Table 5.2, period = 5.66 days
+ arg = 3*l+2*d;
+ dpsi += 0.000005 * ::sin(arg);
+ // line 250 of Table 5.2, period = 5.58 days
+ arg = 3*l-lp+2*f+2*o;
+ dpsi -= 0.000005 * ::sin(arg);
+ // line 251 of Table 5.2, period = 29.14 days
+ arg = -l-lp+2*f+o;
+ dpsi -= 0.000006 * ::sin(arg);
+ // line 252 of Table 5.2, period = -13.72 days
+ arg = -2*l+2*o;
+ dpsi += 0.000006 * ::sin(arg);
+ // line 253 of Table 5.2, period = 34.48 days
+ arg = -2*l+3*d;
+ dpsi -= 0.000005 * ::sin(arg);
+ // line 254 of Table 5.2, period = -7.12 days
+ arg = -2*l-2*d+o;
+ dpsi -= 0.000005 * ::sin(arg);
+ // line 255 of Table 5.2, period = 14.57 days
+ arg = -2*l+2*f+2*d;
+ dpsi -= 0.000006 * ::sin(arg);
+ // line 256 of Table 5.2, period = -548.04 days
+ arg = -2*l-lp+2*f;
+ dpsi -= 0.000005 * ::sin(arg);
+ // line 257 of Table 5.2, period = 15.24 days
+ arg = -2*l-lp+2*f+2*d+2*o;
+ dpsi += 0.000006 * ::sin(arg);
+ // line 258 of Table 5.2, period = 27.21 days
+ arg = f;
+ dpsi += 0.000008 * ::cos(arg);
+ // line 259 of Table 5.2, period = 27.32 days
+ arg = f+o;
+ dpsi -= 0.000016 * ::cos(arg);
+ deps -= 0.000014 * ::sin(arg);
+ // line 260 of Table 5.2, period = 2190.35 days
+ arg = -l+f;
+ dpsi += 0.000033 * ::cos(arg);
+ // line 261 of Table 5.2, period = 3231.51 days
+ arg = -l+f+o;
+ dpsi -= 0.000105 * ::cos(arg);
+ deps -= 0.000089 * ::sin(arg);
+ // line 262 of Table 5.2, period = 6159.22 days
+ arg = -l+f+2*o;
+ dpsi += 0.000036 * ::cos(arg);
+ deps += 0.000018 * ::sin(arg);
+ // line 263 of Table 5.2, period = 65514.10 days
+ arg = -l+f+3*o;
+ dpsi -= 0.000006 * ::cos(arg);
+*/
+ //End Code implementing Table 5.2 IERS Conventions 1996 nutation series.
+ //-----------------------------------------------------------------------
+ }
+
+ //------------------------------------------------------------------------------
+ // Zonal tide terms for corrections of UT1mUTC when that quantity does not
+ // include tides (e.g. NGA EOP), ref. IERS 1996 Ch. 8, table 8.1 pg 74.
+ // @param T, the coordinate transformation time at the time of interest
+ // @param UT1mUT1R, the correction to UT1mUTC (seconds)
+ // @param dlodR, the correction to the length of day (seconds)
+ // @param domegaR, the correction to the Earth rotation rate, rad/second.
+ void GeodeticFrames::UT1mUTCTidalCorrections(double T,
+ double& UT1mUT1R,
+ double& dlodR,
+ double& domegaR)
+ throw()
+ {
+ //-----------------------------------------------------------------------
+ // Code to implement Table 8.1 of IERS Conventions 1996 series for
+ // Zonal Tide terms for UT1R, length of the day and omega(Earth).
+ // Units for UT1R, length of the day and omega(Earth) are:
+ // seconds, seconds and radians/sec.
+ // (Generated by perl script Table81.pl)
+ double arg;
+ UT1mUT1R = dlodR = domegaR = 0.0;
+
+ // Define (all doubles) and all in RADIANS:
+ double o = Omega(T); // = mean longitude of lunar ascending node, in degrees,
+ double f = F(T) ; // = mean longitude of the moon - Omega, in degrees,
+ double d = D(T) ; // = mean elongation of the moon from the sun, in degrees,
+ double l = L(T) ; // = mean anomaly of the moon, in degrees, and
+ double lp = Lp(T) ; // = mean anomaly of the sun, in degrees.
+ o *= DEG_TO_RAD;
+ f *= DEG_TO_RAD;
+ d *= DEG_TO_RAD;
+ l *= DEG_TO_RAD;
+ lp *= DEG_TO_RAD;
+
+ // line 1 of Table 8.1, period = 5.64 days
+ arg = l+2*f+2*d+2*o;
+ UT1mUT1R -= 0.02e-4 * ::sin(arg);
+ dlodR += 0.3e-5 * ::cos(arg);
+ domegaR -= 0.2e-14 * ::cos(arg);
+ // line 2 of Table 8.1, period = 6.85 days
+ arg = 2*l+2*f+o;
+ UT1mUT1R -= 0.04e-4 * ::sin(arg);
+ dlodR += 0.4e-5 * ::cos(arg);
+ domegaR -= 0.3e-14 * ::cos(arg);
+ // line 3 of Table 8.1, period = 6.86 days
+ arg = 2*l+2*f+2*o;
+ UT1mUT1R -= 0.10e-4 * ::sin(arg);
+ dlodR += 0.9e-5 * ::cos(arg);
+ domegaR -= 0.8e-14 * ::cos(arg);
+ // line 4 of Table 8.1, period = 7.09 days
+ arg = 2*f+2*d+o;
+ UT1mUT1R -= 0.05e-4 * ::sin(arg);
+ dlodR += 0.4e-5 * ::cos(arg);
+ domegaR -= 0.4e-14 * ::cos(arg);
+ // line 5 of Table 8.1, period = 7.10 days
+ arg = 2*f+2*d+2*o;
+ UT1mUT1R -= 0.12e-4 * ::sin(arg);
+ dlodR += 1.1e-5 * ::cos(arg);
+ domegaR -= 0.9e-14 * ::cos(arg);
+ // line 6 of Table 8.1, period = 9.11 days
+ arg = l+2*f;
+ UT1mUT1R -= 0.04e-4 * ::sin(arg);
+ dlodR += 0.3e-5 * ::cos(arg);
+ domegaR -= 0.2e-14 * ::cos(arg);
+ // line 7 of Table 8.1, period = 9.12 days
+ arg = l+2*f+o;
+ UT1mUT1R -= 0.41e-4 * ::sin(arg);
+ dlodR += 2.8e-5 * ::cos(arg);
+ domegaR -= 2.4e-14 * ::cos(arg);
+ // line 8 of Table 8.1, period = 9.13 days
+ arg = l+2*f+2*o;
+ UT1mUT1R -= 0.99e-4 * ::sin(arg);
+ dlodR += 6.8e-5 * ::cos(arg);
+ domegaR -= 5.8e-14 * ::cos(arg);
+ // line 9 of Table 8.1, period = 9.18 days
+ arg = 3*l;
+ UT1mUT1R -= 0.02e-4 * ::sin(arg);
+ dlodR += 0.1e-5 * ::cos(arg);
+ domegaR -= 0.1e-14 * ::cos(arg);
+ // line 10 of Table 8.1, period = 9.54 days
+ arg = -l+2*f+2*d+o;
+ UT1mUT1R -= 0.08e-4 * ::sin(arg);
+ dlodR += 0.5e-5 * ::cos(arg);
+ domegaR -= 0.5e-14 * ::cos(arg);
+ // line 11 of Table 8.1, period = 9.56 days
+ arg = -l+2*f+2*d+2*o;
+ UT1mUT1R -= 0.20e-4 * ::sin(arg);
+ dlodR += 1.3e-5 * ::cos(arg);
+ domegaR -= 1.1e-14 * ::cos(arg);
+ // line 12 of Table 8.1, period = 9.61 days
+ arg = l+2*d;
+ UT1mUT1R -= 0.08e-4 * ::sin(arg);
+ dlodR += 0.5e-5 * ::cos(arg);
+ domegaR -= 0.4e-14 * ::cos(arg);
+ // line 13 of Table 8.1, period = 12.81 days
+ arg = 2*l+2*f-2*d+2*o;
+ UT1mUT1R += 0.02e-4 * ::sin(arg);
+ dlodR -= 0.1e-5 * ::cos(arg);
+ domegaR += 0.1e-14 * ::cos(arg);
+ // line 14 of Table 8.1, period = 13.17 days
+ arg = lp+2*f+2*o;
+ UT1mUT1R += 0.03e-4 * ::sin(arg);
+ dlodR -= 0.1e-5 * ::cos(arg);
+ domegaR += 0.1e-14 * ::cos(arg);
+ // line 15 of Table 8.1, period = 13.61 days
+ arg = 2*f;
+ UT1mUT1R -= 0.30e-4 * ::sin(arg);
+ dlodR += 1.4e-5 * ::cos(arg);
+ domegaR -= 1.2e-14 * ::cos(arg);
+ // line 16 of Table 8.1, period = 13.63 days
+ arg = 2*f+o;
+ UT1mUT1R -= 3.21e-4 * ::sin(arg);
+ dlodR += 14.8e-5 * ::cos(arg);
+ domegaR -= 12.5e-14 * ::cos(arg);
+ // line 17 of Table 8.1, period = 13.66 days
+ arg = 2*f+2*o;
+ UT1mUT1R -= 7.76e-4 * ::sin(arg);
+ dlodR += 35.7e-5 * ::cos(arg);
+ domegaR -= 30.1e-14 * ::cos(arg);
+ // line 18 of Table 8.1, period = 13.75 days
+ arg = 2*l-o;
+ UT1mUT1R += 0.02e-4 * ::sin(arg);
+ dlodR -= 0.1e-5 * ::cos(arg);
+ domegaR += 0.1e-14 * ::cos(arg);
+ // line 19 of Table 8.1, period = 13.78 days
+ arg = 2*l;
+ UT1mUT1R -= 0.34e-4 * ::sin(arg);
+ dlodR += 1.5e-5 * ::cos(arg);
+ domegaR -= 1.3e-14 * ::cos(arg);
+ // line 20 of Table 8.1, period = 13.81 days
+ arg = 2*l+o;
+ UT1mUT1R += 0.02e-4 * ::sin(arg);
+ dlodR -= 0.1e-5 * ::cos(arg);
+ domegaR += 0.1e-14 * ::cos(arg);
+ // line 21 of Table 8.1, period = 14.19 days
+ arg = -lp+2*f+2*o;
+ UT1mUT1R -= 0.02e-4 * ::sin(arg);
+ dlodR += 0.1e-5 * ::cos(arg);
+ domegaR -= 0.1e-14 * ::cos(arg);
+ // line 22 of Table 8.1, period = 14.73 days
+ arg = 2*d-o;
+ UT1mUT1R += 0.05e-4 * ::sin(arg);
+ dlodR -= 0.2e-5 * ::cos(arg);
+ domegaR += 0.2e-14 * ::cos(arg);
+ // line 23 of Table 8.1, period = 14.77 days
+ arg = 2*d;
+ UT1mUT1R -= 0.73e-4 * ::sin(arg);
+ dlodR += 3.1e-5 * ::cos(arg);
+ domegaR -= 2.6e-14 * ::cos(arg);
+ // line 24 of Table 8.1, period = 14.80 days
+ arg = 2*d+o;
+ UT1mUT1R -= 0.05e-4 * ::sin(arg);
+ dlodR += 0.2e-5 * ::cos(arg);
+ domegaR -= 0.2e-14 * ::cos(arg);
+ // line 25 of Table 8.1, period = 15.39 days
+ arg = -lp+2*d;
+ UT1mUT1R -= 0.05e-4 * ::sin(arg);
+ dlodR += 0.2e-5 * ::cos(arg);
+ domegaR -= 0.2e-14 * ::cos(arg);
+ // line 26 of Table 8.1, period = 23.86 days
+ arg = l+2*f-2*d+o;
+ UT1mUT1R += 0.05e-4 * ::sin(arg);
+ dlodR -= 0.1e-5 * ::cos(arg);
+ domegaR += 0.1e-14 * ::cos(arg);
+ // line 27 of Table 8.1, period = 23.94 days
+ arg = l+2*f-2*d+2*o;
+ UT1mUT1R += 0.10e-4 * ::sin(arg);
+ dlodR -= 0.3e-5 * ::cos(arg);
+ domegaR += 0.2e-14 * ::cos(arg);
+ // line 28 of Table 8.1, period = 25.62 days
+ arg = l+lp;
+ UT1mUT1R += 0.04e-4 * ::sin(arg);
+ dlodR -= 0.1e-5 * ::cos(arg);
+ domegaR += 0.1e-14 * ::cos(arg);
+ // line 29 of Table 8.1, period = 26.88 days
+ arg = -l+2*f;
+ UT1mUT1R += 0.05e-4 * ::sin(arg);
+ dlodR -= 0.1e-5 * ::cos(arg);
+ domegaR += 0.1e-14 * ::cos(arg);
+ // line 30 of Table 8.1, period = 26.98 days
+ arg = -l+2*f+o;
+ UT1mUT1R += 0.18e-4 * ::sin(arg);
+ dlodR -= 0.4e-5 * ::cos(arg);
+ domegaR += 0.3e-14 * ::cos(arg);
+ // line 31 of Table 8.1, period = 27.09 days
+ arg = -l+2*f+2*o;
+ UT1mUT1R += 0.44e-4 * ::sin(arg);
+ dlodR -= 1.0e-5 * ::cos(arg);
+ domegaR += 0.9e-14 * ::cos(arg);
+ // line 32 of Table 8.1, period = 27.44 days
+ arg = l-o;
+ UT1mUT1R += 0.53e-4 * ::sin(arg);
+ dlodR -= 1.2e-5 * ::cos(arg);
+ domegaR += 1.0e-14 * ::cos(arg);
+ // line 33 of Table 8.1, period = 27.56 days
+ arg = l;
+ UT1mUT1R -= 8.26e-4 * ::sin(arg);
+ dlodR += 18.8e-5 * ::cos(arg);
+ domegaR -= 15.9e-14 * ::cos(arg);
+ // line 34 of Table 8.1, period = 27.67 days
+ arg = l+o;
+ UT1mUT1R += 0.54e-4 * ::sin(arg);
+ dlodR -= 1.2e-5 * ::cos(arg);
+ domegaR += 1.0e-14 * ::cos(arg);
+ // line 35 of Table 8.1, period = 29.53 days
+ arg = d;
+ UT1mUT1R += 0.05e-4 * ::sin(arg);
+ dlodR -= 0.1e-5 * ::cos(arg);
+ domegaR += 0.1e-14 * ::cos(arg);
+ // line 36 of Table 8.1, period = 29.80 days
+ arg = l-lp;
+ UT1mUT1R -= 0.06e-4 * ::sin(arg);
+ dlodR += 0.1e-5 * ::cos(arg);
+ domegaR -= 0.1e-14 * ::cos(arg);
+ // line 37 of Table 8.1, period = 31.66 days
+ arg = -l+2*d-o;
+ UT1mUT1R += 0.12e-4 * ::sin(arg);
+ dlodR -= 0.2e-5 * ::cos(arg);
+ domegaR += 0.2e-14 * ::cos(arg);
+ // line 38 of Table 8.1, period = 31.81 days
+ arg = -l+2*d;
+ UT1mUT1R -= 1.82e-4 * ::sin(arg);
+ dlodR += 3.6e-5 * ::cos(arg);
+ domegaR -= 3.0e-14 * ::cos(arg);
+ // line 39 of Table 8.1, period = 31.96 days
+ arg = -l+2*d+o;
+ UT1mUT1R += 0.13e-4 * ::sin(arg);
+ dlodR -= 0.3e-5 * ::cos(arg);
+ domegaR += 0.2e-14 * ::cos(arg);
+ // line 40 of Table 8.1, period = 32.61 days
+ arg = l-2*f+2*d-o;
+ UT1mUT1R += 0.02e-4 * ::sin(arg);
+ // line 41 of Table 8.1, period = 34.85 days
+ arg = -l-lp+2*d;
+ UT1mUT1R -= 0.09e-4 * ::sin(arg);
+ dlodR += 0.2e-5 * ::cos(arg);
+ domegaR -= 0.1e-14 * ::cos(arg);
+
+ //End Code implementing Table 8.1 IERS Conventions 1996 UT1R tide series.
+ //-----------------------------------------------------------------------
+ }
+
+ //---------------------------------------------------------------------------------
+ // Compute the Greenwich hour angle of the true vernal equinox, or
+ // Greenwich Apparent Sidereal Time (GAST) in radians,
+ // given the (UT) time of interest t, and, where T = CoordTransTime(t),
+ // o = Omega(T) = mean longitude of lunar ascending node, in degrees,
+ // eps = the obliquity of the ecliptic, in degrees,
+ // dpsi = nutation in longitude (counted in the ecliptic),
+ // in seconds of arc.
+ //
+ // GAST = Greenwich hour angle of the true vernal equinox
+ // GAST = GMST + dpsi*cos(eps) + 0.00264" * sin(Omega) +0.000063" * sin(2*Omega)
+ // (these terms account for the accumulated precession and nutation in
+ // right ascension and minimize any discontinuity in UT1)
+ //
+ // GMST = Greenwich hour angle of the mean vernal equinox
+ // = Greenwich Mean Sideral Time
+ // = GMST0 + r*[UTC + (UT1-UTC)]
+ // r = is the ratio of universal to sidereal time
+ // = 1.002737909350795 + 5.9006E-11*T' - 5.9e-15*T'^2
+ // T' = days'/36525
+ // days'= number of days elapsed since the Julian Epoch t0 (J2000)
+ // = +/-(integer+0.5)
+ // and
+ // (UT1-UTC) (seconds) is taken from the IERS bulletin
+ //
+ // GMST0 = GMST at 0h UT1
+ // = 6h 41min (50.54841+8640184.812866*T'+0.093104*T'^2-6.2E-6*T'^3)sec
+ //
+ // see pg 21 of the Reference (IERS 1996).
+ double GeodeticFrames::gast(DayTime t,
+ double om,
+ double eps,
+ double dpsi,
+ double UT1mUTC)
+ throw()
+ {
+ double G = GMST(t,UT1mUTC);
+ // add dpsi, eps and Omega terms
+ om *= DEG_TO_RAD;
+ eps *= DEG_TO_RAD;
+ G += ( dpsi * ::cos(eps)
+ + 0.00264 * ::sin(om)
+ + 0.000063 * ::sin(2.0*om) ) * DEG_TO_RAD / 3600.0;
+
+ return G;
+ }
+
+ //---------------------------------------------------------------------------------
+ // Compute the precession matrix, a 3x3 rotation matrix, given T,
+ // the coordinate transformation time at the time of interest
+ Matrix<double> GeodeticFrames::PrecessionMatrix(double T)
+ throw(InvalidRequest)
+ {
+ try {
+ // IAU76 - ref McCarthy - seconds of arc
+ double zeta = T*(2306.2181 + T*(0.30188 + T*0.017998));
+ double theta = T*(2004.3109 - T*(0.42665 + T*0.041833));
+ double z = T*(2306.2181 + T*(1.09468 + T*0.018203));
+
+ // convert to degrees
+ zeta /= 3600.0;
+ theta /= 3600.0;
+ z /= 3600.0;
+
+ Matrix<double> R1 = rotation(-zeta*DEG_TO_RAD, 3);
+ Matrix<double> R2 = rotation(theta*DEG_TO_RAD, 2);
+ Matrix<double> R3 = rotation(-z*DEG_TO_RAD, 3);
+ Matrix<double> P = R3*R2*R1;
+
+ return P;
+ }
+ catch(InvalidRequest& ire) {
+ GPSTK_RETHROW(ire);
+ }
+ }
+
+ //---------------------------------------------------------------------------------
+ // Compute the nutation matrix, given
+ // eps, the obliquity of the ecliptic, in degrees,
+ // dpsi, the nutation in longitude (counted in the ecliptic),
+ // in seconds of arc, and
+ // deps, the nutation in obliquity, in seconds of arc.
+ Matrix<double> GeodeticFrames::NutationMatrix(double eps,
+ double dpsi,
+ double deps)
+ throw(InvalidRequest)
+ {
+ Matrix<double> N;
+ try {
+ Matrix<double> R1 = rotation(-eps*DEG_TO_RAD, 1);
+ Matrix<double> R2 = rotation(dpsi*DEG_TO_RAD/3600.0, 3);
+ Matrix<double> R3 = rotation((eps+deps/3600.0)*DEG_TO_RAD, 1);
+ N = R1*R2*R3;
+ return N;
+ }
+ catch(InvalidRequest& ire) {
+ GPSTK_RETHROW(ire);
+ }
+ }
+
+ //---------------------------------------------------------------------------------
+ // public functions
+
+ //---------------------------------------------------------------------------------
+ // Compute Greenwich Mean Sidereal Time, or the Greenwich hour angle of
+ // the mean vernal equinox, given the coordinate time of interest,
+ // and UT1-UTC (sec), which comes from the IERS bulletin.
+ // @param t DayTime epoch of the rotation.
+ // @param UT1mUTC, UT1-UTC in seconds, as found in the IERS bulletin.
+ // @param reduced, bool true when UT1mUTC is 'reduced', meaning assumes
+ // 'no tides', as is the case with the NGA EOPs (default=F).
+ double GeodeticFrames::GMST(DayTime t,
+ double UT1mUTC,
+ bool reduced)
+ throw()
+ {
+ // days' since epoch = +/-(integer+0.5)
+ double days = double(t.JD() - JulianEpoch) - 1.0 + t.secOfDay()/86400.0;
+ int d=int(days);
+ if(d < 0 && days==double(d)) d++;
+ days = d + (days<0.0 ? -0.5 : 0.5);
+ double Tp = days/36525.0;
+
+ // Compute GMST in radians
+ // First compute GMST0
+ double G;
+ //G = 24060.0 + 50.54841 + 8640184.812866*Tp; // seconds (24060s = 6h 41min)
+ //G /= 86400.0; // instead, divide the above equation by 86400.0 manually...
+ G = 0.27847222 + 0.00058505104167 + 100.0021390378009*Tp;
+ G += (0.093104 - 6.2e-6*Tp)*Tp*Tp/86400.0; // seconds/86400 = circles
+
+ // if reduced, compute tidal terms
+ if(reduced) {
+ double dlodR,domegaR,UT1mUT1R;
+ UT1mUTCTidalCorrections(CoordTransTime(t), UT1mUT1R, dlodR, domegaR);
+ UT1mUTC = UT1mUT1R-UT1mUTC;
+ }
+
+ // now get GMST
+ double r=1.002737909350795 + (5.9006e-11 - 5.9e-15*Tp)*Tp;
+ G += r*(UT1mUTC + t.secOfDay() - 13.0)/86400.0; // circles
+ G *= TWO_PI; // radians
+
+ return G;
+ }
+
+ //---------------------------------------------------------------------------------
+ // Compute Greenwich Apparent Sidereal Time, or the Greenwich hour angle of
+ // the true vernal equinox, given the coordinate time of interest,
+ // and UT1-UTC (sec), which comes from the IERS bulletin.
+ // @param t DayTime epoch of the rotation.
+ // @param UT1mUTC, UT1-UTC in seconds, as found in the IERS bulletin.
+ double GeodeticFrames::GAST(DayTime t,
+ double UT1mUTC,
+ bool reduced)
+ throw()
+ {
+ double T = CoordTransTime(t);
+ double o = Omega(T);
+ double eps = Obliquity(T);
+ double deps,dpsi;
+
+ NutationAngles(T,deps,dpsi); // deps is not used...
+
+ // if reduced (NGA), correct for tides
+ double UT1mUT1R,dlodR,domegaR;
+ if(reduced)
+ UT1mUTCTidalCorrections(T, UT1mUT1R, dlodR, domegaR);
+
+ return gast(t, o, eps, dpsi, reduced ? UT1mUT1R-UT1mUTC : UT1mUTC);
+ }
+
+ //---------------------------------------------------------------------------------
+ // Generate transformation matrix (3X3 rotation) due to polar motion (xp,yp)
+ // xp and yp are in arc seconds, as found in the IERS bulletin
+ Matrix<double> GeodeticFrames::PolarMotion(double xp,
+ double yp)
+ throw(InvalidRequest)
+ {
+ try {
+ xp *= DEG_TO_RAD/3600.0;
+ yp *= DEG_TO_RAD/3600.0;
+ Matrix<double> R1,R2;
+ R1 = rotation(yp,1);
+ R2 = rotation(xp,2);
+ return (R1*R2);
+ }
+ catch(InvalidRequest& ire) {
+ GPSTK_RETHROW(ire);
+ }
+ }
+
+ //---------------------------------------------------------------------------------
+ // Generate precise transformation matrix (3X3 rotation) due to Earth rotation
+ // at Greenwich hour angle of the true vernal equinox and which accounts for
+ // precession and nutation in right ascension, given the UT time of interest
+ // and the UT1-UTC correction (in sec), obtained from the IERS bulletin.
+ Matrix<double> GeodeticFrames::PreciseEarthRotation(DayTime t,
+ double UT1mUTC,
+ bool reduced)
+ throw(InvalidRequest)
+ {
+ try {
+ return (rotation(-GAST(t,UT1mUTC,reduced),3));
+ }
+ catch(InvalidRequest& ire) {
+ GPSTK_RETHROW(ire);
+ }
+ }
+
+ //---------------------------------------------------------------------------------
+ // Generate an Earth Nutation Matrix (3X3 rotation) at the given DayTime.
+ // @param t DayTime epoch of the rotation.
+ Matrix<double> GeodeticFrames::Nutation(DayTime t)
+ throw(InvalidRequest)
+ {
+ try {
+ double T=CoordTransTime(t);
+ double eps=Obliquity(T); // degrees
+ double deps,dpsi;
+
+ NutationAngles(T,deps,dpsi);
+
+ return NutationMatrix(eps,dpsi,deps);
+ }
+ catch(InvalidRequest& ire) {
+ GPSTK_RETHROW(ire);
+ }
+ }
+
+ //---------------------------------------------------------------------------------
+ // Generate the full transformation matrix (3x3 rotation) relating the ECEF
+ // frame to the conventional inertial frame.
+ // throw(); Input is the time of interest,
+ // the polar motion angles xp and yp (arcseconds), and UT1-UTC (seconds)
+ // (xp,yp and UT1-UTC are just as found in the IERS bulletin).
+ Matrix<double> GeodeticFrames::ECEFtoInertial(DayTime t,
+ double xp,
+ double yp,
+ double UT1mUTC,
+ bool reduced)
+ throw(InvalidRequest)
+ {
+ try {
+ Matrix<double> P,N,W,S;
+
+ double T=CoordTransTime(t);
+ P = PrecessionMatrix(T);
+
+ double eps=Obliquity(T); // degrees
+ double deps,dpsi;
+ NutationAngles(T,deps,dpsi);
+ N = NutationMatrix(eps,dpsi,deps);
+
+ // PolarMotion converts xp, yp to radians
+ W = PolarMotion(xp, yp);
+
+ // if reduced (NGA), correct UT1mUTC for tides
+ double UT1mUT1R,dlodR,domegaR;
+ if(reduced)
+ UT1mUTCTidalCorrections(T, UT1mUT1R, dlodR, domegaR);
+
+ double omega = Omega(T);
+ double g = gast(t, omega, eps, dpsi, reduced ? UT1mUT1R-UT1mUTC : UT1mUTC);
+ S = rotation(-g,3);
+
+ return (P*N*W*S);
+ }
+ catch(InvalidRequest& ire) {
+ GPSTK_RETHROW(ire);
+ }
+ }
+
+ //---------------------------------------------------------------------------------
+ // Given a rotation matrix R (3x3), inverse(R)=transpose(R),
+ // find the Euler angles (theta,phi,psi) which produce this rotation,
+ // and also determine the magnitude (alpha) and direction (nhat = unit 3-vector)
+ // of the net rotation.
+ // Throw InvalidRequest if the matrix is not a rotation matrix.
+ //
+ // Euler angles (this is one convention - there are others):
+ // Let R1 = rotation about z through angle phi
+ // R2 = rotation about x through angle theta ( 0 <= theta <= pi)
+ // R3 = rotation about z through angle psi
+ // Any rotation matrix can be expressed as the product of these rotations:
+ // R = R3*R2*R1. In particular, by definition
+ //
+ // [ cos(phi) sin(phi) 0 ]
+ // R1 = [ -sin(phi) cos(phi) 0 ]
+ // [ 0 0 1 ]
+ //
+ // [ cos(theta) 0 -sin(theta) ]
+ // R2 = [ 0 1 0 ]
+ // [ sin(theta) 0 cos(theta) ]
+ //
+ // [ cos(psi) sin(psi) 0 ]
+ // R3 = [ -sin(psi) cos(psi) 0 ]
+ // [ 0 0 1 ]
+ //
+ // and if we define
+ // [ r11 r12 r13 ]
+ // R = [ r21 r22 r23 ]
+ // [ r31 r32 r33 ]
+ //
+ // then
+ // r11 = cos(phi)cos(psi) - cos(theta)sin(phi)sin(psi)
+ // r12 = sin(phi)cos(psi) + cos(theta)cos(phi)sin(psi)
+ // r13 = sin(psi)sin(theta)
+ // r21 = -cos(phi)sin(psi) - cos(theta)sin(phi)cos(psi)
+ // r22 = -sin(phi)sin(psi) + cos(theta)cos(phi)cos(psi)
+ // r23 = cos(psi)sin(theta)
+ // r31 = sin(phi)sin(theta)
+ // r32 = -cos(phi)sin(theta)
+ // r33 = cos(theta)
+ //
+ // This can be inverted to get theta,phi,psi by
+ // cos(theta) = r33
+ // sin(theta) = +sqrt(1-cos^2(theta)) [recall 0 <= theta <= pi]
+ // cos(phi) = -r32/sin(theta) [if sin(theta) != 0]
+ // sin(phi) = r31/sin(theta)
+ // cos(psi) = r23/sin(theta)
+ // sin(psi) = r13/sin(theta)
+ // or better
+ // theta = acos(r33)
+ // phi = atan2(r31,-r32)
+ // psi = atan2(r13,r23)
+ //
+ // If sin(theta) == 0 then cos(theta) = {+1 OR -1}, theta = {0 OR pi},
+ // and (refer to R3*R2*R1 above), R becomes
+ // [ cos(phi+psi) sin(phi+psi) 0 ] OR [ cos(phi-psi) sin(phi-psi) 0 ]
+ // R = [ -sin(phi+psi) cos(phi+psi) 0 ] OR [ sin(phi-psi) -cos(phi-psi) 0 ]
+ // [ 0 0 1 ] OR [ 0 0 -1 ]
+ // and thus
+ // cos(phi+psi) = r11 = r22 OR cos(phi-psi) = r11 = -r22
+ // sin(phi+psi) = r12 = -r21 OR sin(phi-psi) = r12 = r21
+ //
+ // Now let E = e0,e1,e2,e3 = (e0,e) = quaternion [scalar (e0) and 3-vector (e)].
+ // E describes a rotation (through angle alpha) about axis (unit vector) nhat as
+ // cos(alpha) = 2e0^2-1 = e0^2-dot(e,e) = e0^2 - sum_squares(ei,i=1,2,3).
+ // nhat * sin(alpha) = 2e*e0 or
+ // nhat = (e1,e2,e3)/dot(e,e)
+ // [e0^2 + dot(e,e) = sum_squares(ei,i=1,2,3,4) = 1 by identity].
+ // It can be shown that the Euler rotation is equal to the quaternion
+ // e0 = cos[(phi+psi)/2]*cos(theta/2)
+ // e1 = sin[(phi-psi)/2]*sin(theta/2)
+ // e2 = cos[(phi-psi)/2]*sin(theta/2)
+ // e3 = sin[(phi+psi)/2]*cos(theta/2)
+ // and
+ // rij = dij(e0^2-ekek)+2eiej+2(epsijk)e0ek
+ // where dij is the Kroncker delta and epsijk is the permutation symbol;
+ // r11 = e0^2 + e1^2 - e2^2 - e3^2
+ // r12 = 2(e1e2 + e0e3)
+ // r13 = 2(e1e3 - e0e2)
+ // r21 = 2(e1e2 - e0e3)
+ // r22 = e0^2 - e1^2 + e2^2 - e3^2
+ // r23 = 2(e2e3 + e0e1)
+ // r31 = 2(e1e3 + e0e2)
+ // r32 = 2(e2e3 - e0e1)
+ // r33 = e0^2 - e1^2 - e2^2 + e3^2
+ //
+ // If theta=0 this reduces trivially to a simple rotation about z thru phi+psi
+ // e0 = cos[(phi+psi)/2]
+ // e1 = e2 = 0
+ // e3 = sin[(phi+psi)/2]
+ // alpha = phi+psi (phi and psi cannot be separated)
+ // nhat = (0,0,1)
+ // while if theta=pi it reduces to
+ // e0 = e3 = 0
+ // e1 = sin[(phi-psi)/2]
+ // e2 = cos[(phi-psi)/2]
+ // alpha = pi
+ // nhat = (e1,e2,0) (dot(e,e)=1)
+ void GeodeticFrames::ResolveRotation(const Matrix<double>& R,
+ double& theta,
+ double& phi,
+ double& psi,
+ double& alpha,
+ Vector<double>& nhat)
+ throw(InvalidRequest)
+ {
+ if(R.rows() != 3 || R.cols() != 3) {
+ using namespace StringUtils;
+ InvalidRequest ir(string("Input matrix has dimension ")
+ + asString<int>(R.rows()) + string(",")
+ + asString<int>(R.cols()));
+ GPSTK_THROW(ir);
+ }
+
+ const double tol=1.e-12; // tolerance TD use limits
+ Matrix<double> T=transpose(R)*R-ident<double>(3);
+ if(normF(T) > tol) { // RSS of elements
+ InvalidRequest ir(string("Input matrix is not a rotation"));
+ GPSTK_THROW(ir);
+ }
+
+ // first find the Euler angles
+ double st = SQRT(1.0-R(2,2)*R(2,2));
+ if(st < tol) { // theta is 0 or pi
+ if(R(2,2) > 0.0) theta = 0.0;
+ else theta = PI;
+ psi = 0.0; // arbitrary, since only phi +/- psi can be known
+ // tan(phi) = r12/r11 = sin(phi+/-psi) / cos(phi+/-psi)
+ phi = atan2(R(0,1),R(0,0));
+ }
+ else {
+ theta = ::acos(R(2,2));
+ // tan(psi) = r13/r23 = sin(psi)sin(theta)/cos(psi)sin(theta)
+ psi = ::atan2(R(0,2),R(1,2));
+ // tan(phi) = r31/-r32 = sin(phi)sin(theta)/cos(phi)sin(theta)
+ phi = ::atan2(R(2,0),-R(2,1));
+ }
+
+ // now find the rotation angle alpha and the axis of rotation
+ nhat.resize(3);
+ if(theta == 0.0) {
+ alpha = phi;
+ nhat(0) = nhat(1) = 0.0;
+ nhat(2) = 1.0;
+ }
+ else if(theta == PI) {
+ alpha = PI;
+ nhat(0) = ::sin(phi/2.0);
+ nhat(1) = ::cos(phi/2.0);
+ nhat(2) = 0.0;
+ }
+ else {
+ double e0 = ::cos((phi+psi)/2.0) * ::cos(theta/2.0);
+ alpha = ::acos(2.0*e0*e0-1.0);
+ // construct e, then normalize
+ nhat(0) = ::sin((phi-psi)/2.0) * ::sin(theta/2.0);
+ nhat(1) = ::cos((phi-psi)/2.0) * ::sin(theta/2.0);
+ nhat(2) = ::sin((phi+psi)/2.0) * ::cos(theta/2.0);
+ e0 = norm(nhat);
+ nhat /= e0;
+ }
+ }
+
+} // end namespace gpstk
+/*
+# Table 5.2. IERS 1996 series for nutation in longitude Dpsi and obliquity Deps,
+# referred to the mean equator and equinox of date, with t measured in Julian
+# centuries from epoch J2000.0. The signs of the fundamental arguments, periods,
+# and coefficients may differ from the original publication. These
+# have been changed to be consistent with other portions of this chapter.
+# 263
+# Dpsi = sum { (A_i+A'_i*t)*sin(ARGUMENT) + A''_i*cos(ARGUMENT) }
+# i=1
+#
+# 263
+# Deps = sum { (B_i+B'_i*t)*cos(ARGUMENT) + B''_i*sin(ARGUMENT) }
+# i=1
+# LONGITUDE OBLIQUITY
+#MULTIPLIERS OF: PERIOD (0.001 mas) (0.001 mas)
+# l l' F D Om (days) A A' B B' A'' B''
+ 0 0 0 0 1 -6798.38 -17206277 -17419 9205356 886 3645 1553
+ 0 0 2 -2 2 182.62 -1317014 -156 573058 -306 -1400 -464
+ 0 0 2 0 2 13.66 -227720 -23 97864 -48 269 136
+ 0 0 0 0 2 -3399.18 207429 21 -89747 47 -71 -29
+ 0 -1 0 0 0 -365.26 -147538 364 7388 -19 1121 198
+ 0 1 2 -2 2 121.75 -51687 123 22440 -68 -54 -18
+ 1 0 0 0 0 27.55 71118 7 -687 0 -94 39
+ 0 0 2 0 1 13.63 -38752 -37 20076 2 34 32
+ 1 0 2 0 2 9.13 -30137 -4 12896 -6 77 35
+ 0 -1 2 -2 2 365.22 21583 -49 -9591 30 6 12
+ 0 0 2 -2 1 177.84 12820 14 -6897 -1 18 4
+ -1 0 2 0 2 27.09 12353 1 -5334 3 2 0
+ -1 0 0 2 0 31.81 15699 1 -127 0 -18 9
+ 1 0 0 0 1 27.67 6314 6 -3323 0 3 -1
+ -1 0 0 0 1 -27.44 -5797 -6 3141 0 -19 -8
+ -1 0 2 2 2 9.56 -5965 -1 2554 -1 14 7
+ 1 0 2 0 1 9.12 -5163 -4 2635 0 12 8
+ -2 0 2 0 1 1305.48 4590 5 -2424 -1 1 1
+ 0 0 0 2 0 14.77 6336 1 -125 0 -15 3
+ 0 0 2 2 2 7.10 -3854 0 1643 0 15 6
+ -2 0 0 2 0 -205.89 -4774 0 48 0 -2 -3
+ 2 0 2 0 2 6.86 -3102 0 1323 -1 12 5
+ 1 0 2 -2 2 23.94 2863 0 -1235 1 0 0
+ -1 0 2 0 1 26.98 2044 2 -1076 0 1 0
+ 2 0 0 0 0 13.78 2923 0 -62 0 -8 1
+ 0 0 2 0 0 13.61 2585 0 -56 0 -7 1
+ 0 1 0 0 1 386.00 -1406 -3 857 0 8 -4
+ -1 0 0 2 1 31.96 1517 1 -801 0 1 0
+ 0 2 2 -2 2 91.31 -1578 7 685 -4 -2 -1
+ 0 0 -2 2 0 -173.31 2178 0 -15 0 1 1
+ 1 0 0 -2 1 -31.66 -1286 -1 694 0 -4 -2
+ 0 -1 0 0 1 -346.64 -1269 1 642 1 6 2
+ -1 0 2 2 1 9.54 -1022 -1 522 0 2 1
+ 0 -2 0 0 0 -182.63 -1671 8 14 0 -1 -1
+ 1 0 2 2 2 5.64 -768 0 325 0 4 2
+ -2 0 2 0 0 1095.18 -1102 0 10 0 -1 0
+ 0 1 2 0 2 13.17 757 -2 -326 -2 -1 0
+ 0 0 2 2 1 7.09 -664 -1 335 -1 2 1
+ 0 -1 2 0 2 14.19 -714 2 307 2 1 0
+ 0 0 0 2 1 14.80 -631 -1 327 0 0 0
+ 1 0 2 -2 1 23.86 580 1 -307 0 0 0
+ 2 0 2 -2 2 12.81 643 0 -277 0 -1 0
+ -2 0 0 2 1 -199.84 -579 -1 304 0 -1 0
+ 2 0 2 0 1 6.85 -533 0 269 0 2 1
+ 0 -1 2 -2 1 346.60 -477 -1 271 -1 0 0
+ 0 0 0 -2 1 -14.73 -493 -1 272 0 -2 -1
+ -1 -1 0 2 0 34.85 735 0 -5 0 -1 0
+ 2 0 0 -2 1 212.32 405 0 -220 0 1 0
+ 1 0 0 2 0 9.61 657 0 -20 0 -2 0
+ 0 1 2 -2 1 119.61 361 0 -194 0 1 0
+ 1 -1 0 0 0 29.80 471 0 -4 0 -1 0
+ -2 0 2 0 2 1615.76 -311 0 131 0 0 0
+ 3 0 2 0 2 5.49 -289 0 124 0 2 1
+ 0 -1 0 2 0 15.39 435 0 -9 0 -1 0
+ 1 -1 2 0 2 9.37 -287 0 123 0 1 0
+ -1 -1 2 2 2 9.81 -282 0 122 0 1 0
+ 0 0 0 1 0 29.53 -422 0 3 0 1 0
+ -1 0 2 0 0 26.88 -404 0 4 0 1 0
+ 0 -1 2 2 2 7.24 -264 0 114 0 1 0
+ -2 0 0 0 1 -13.75 -228 0 126 0 -1 0
+ 1 1 2 0 2 8.91 246 0 -106 0 -1 0
+ 2 0 0 0 1 13.81 218 0 -114 0 0 0
+ -1 1 0 1 0 3232.87 327 0 -1 0 0 0
+ 1 1 0 0 0 25.62 -338 0 4 0 0 0
+ 1 0 2 0 0 9.11 334 0 -11 0 -1 0
+ -1 0 2 -2 1 -32.61 -199 0 107 0 -1 0
+ 1 0 0 0 2 27.78 -197 0 85 0 0 0
+ -1 0 0 1 0 -411.78 405 0 -55 0 -35 -14
+ 0 0 2 1 2 9.34 165 0 -72 0 0 0
+ -1 0 2 4 2 5.80 -151 0 66 0 1 0
+ 0 -2 2 -2 1 6786.31 -130 0 69 0 0 0
+ -1 1 0 1 1 6164.17 132 0 -68 0 0 0
+ 1 0 2 2 1 5.64 -133 0 66 0 1 0
+ -2 0 2 2 2 14.63 139 0 -60 0 0 0
+ -1 0 0 0 2 -27.33 139 0 -60 0 0 0
+ 1 1 2 -2 2 22.47 128 0 -55 0 0 0
+ -2 0 2 4 2 7.35 -121 0 52 0 0 0
+ -1 0 4 0 2 9.06 115 0 -49 0 0 0
+ 2 0 2 -2 1 12.79 101 0 -54 0 0 0
+ 2 0 2 2 2 4.68 -108 0 47 0 1 0
+ 1 0 0 2 1 9.63 -95 0 49 0 0 0
+ 3 0 0 0 0 9.18 157 0 -5 0 -1 0
+ 3 0 2 -2 2 8.75 94 0 -40 0 0 0
+ 0 0 4 -2 2 12.66 91 0 -39 0 0 0
+ 0 0 -2 2 1 -169.00 87 0 -44 0 0 0
+ 0 1 2 0 1 13.14 81 0 -42 0 0 0
+ 0 0 2 -2 3 187.66 123 0 -20 0 0 0
+ -1 0 0 4 0 10.08 133 0 -4 0 0 0
+ 2 0 -2 0 1 -943.23 71 0 -38 0 0 0
+ 2 0 0 -4 0 -15.91 -128 0 1 0 0 0
+ -1 -1 0 2 1 35.03 75 0 -39 0 0 0
+ -2 -1 0 2 0 -131.67 -115 0 1 0 0 0
+ 0 -1 2 0 1 14.16 -66 0 35 0 0 0
+ -1 0 0 1 1 -388.27 101 0 -49 0 -3 -1
+ 0 0 -2 0 1 -13.58 -68 0 36 0 0 0
+ 0 1 0 0 2 409.23 69 0 -33 0 -1 0
+ 0 0 2 -1 2 25.42 -74 0 31 0 0 0
+ 0 0 2 4 2 4.79 -69 0 29 0 0 0
+ 1 1 0 -2 1 -34.67 -61 0 32 0 0 0
+ -1 1 0 2 0 29.26 -94 0 0 0 0 0
+ 1 -1 2 2 2 5.73 -59 0 25 0 0 0
+ 1 -1 0 0 1 29.93 51 0 -27 0 0 0
+ 0 1 -2 2 0 -329.79 -90 0 3 0 0 0
+ 3 0 2 0 1 5.49 -50 0 25 0 0 0
+ -1 1 2 2 2 9.31 56 0 -24 0 0 0
+ 0 1 2 2 2 6.96 54 0 -22 0 0 0
+ -1 0 0 -2 1 -9.60 -50 0 27 0 0 0
+ -1 1 0 1 2 66079.30 -52 0 23 0 0 0
+ 0 -1 2 2 1 7.23 -44 0 24 0 0 0
+ 1 0 2 -4 1 -38.74 -47 0 24 0 0 0
+ -1 0 -2 2 0 -23.77 77 0 0 0 0 0
+ -1 -1 2 2 1 9.80 -46 0 24 0 0 0
+ 0 -1 0 0 2 -329.82 59 0 -25 0 0 0
+ 2 -1 2 0 2 6.99 -48 0 21 0 0 0
+ 1 -1 2 0 1 9.35 -42 0 22 0 0 0
+ 0 0 0 2 2 14.83 -46 0 20 0 0 0
+ 0 1 0 2 0 14.19 -67 0 0 0 0 0
+ -1 1 2 0 2 25.22 47 0 -20 0 0 0
+ 0 3 2 -2 2 73.05 -44 0 19 0 0 0
+ 0 -1 -2 2 0 -117.54 66 0 0 0 0 0
+ 0 0 0 1 1 29.66 -37 0 20 0 0 0
+ 1 0 -2 -2 0 -9.53 -64 0 1 0 0 0
+ 1 1 2 0 1 8.90 36 0 -18 0 0 0
+ 2 1 2 0 2 6.73 40 0 -17 0 0 0
+ 0 1 0 1 0 27.32 57 0 0 0 0 0
+ 1 0 -2 2 0 32.76 -58 0 0 0 0 0
+ 1 1 0 0 1 25.72 -34 0 19 0 0 0
+ -2 0 0 -2 0 -7.13 -59 0 1 0 0 0
+ -1 0 0 2 2 32.11 -38 0 17 0 0 0
+ 0 0 0 -1 1 -29.40 33 0 -18 0 0 0
+ 0 1 0 -2 1 -15.35 -33 0 18 0 0 0
+ -1 0 2 -2 2 -32.45 36 0 -16 0 0 0
+ -1 1 0 0 1 -29.67 -31 0 17 0 0 0
+ 1 0 2 1 2 6.98 33 0 -14 0 0 0
+ 0 0 0 -4 0 -7.38 -48 0 1 0 0 0
+ 0 0 2 1 1 9.33 27 0 -14 0 0 0
+ 1 0 0 -2 2 -31.52 32 0 -14 0 0 0
+ 1 0 2 -1 2 13.22 -33 0 13 0 0 0
+ 1 -1 0 2 0 9.87 48 0 0 0 0 0
+ -1 0 2 4 1 5.80 -26 0 13 0 0 0
+ 0 0 -2 -2 0 -7.08 -41 0 1 0 0 0
+ 1 0 -2 0 1 -26.77 27 0 -14 0 0 0
+ -1 0 2 -1 1 313.04 -23 0 14 0 0 0
+ 1 1 2 -2 1 22.40 23 0 -12 0 0 0
+ 4 0 2 0 2 4.58 -26 0 11 0 0 0
+ 0 1 2 1 2 9.11 -24 0 10 0 0 0
+ -2 0 -2 0 0 -6.85 -36 0 1 0 0 0
+ 2 1 2 -2 2 12.38 25 0 -10 0 0 0
+ 2 -1 0 0 0 14.32 38 0 0 0 0 0
+ -1 -1 0 0 1 -25.53 21 0 -12 0 0 0
+ -2 0 2 2 1 14.60 22 0 -11 0 0 0
+ 0 0 0 0 3 -2266.12 -22 0 10 0 0 0
+ 1 0 4 -2 2 8.68 23 0 -9 0 0 0
+ 2 0 2 2 1 4.68 -19 0 10 0 0 0
+ -2 0 2 4 1 7.34 -20 0 10 0 0 0
+ 0 1 0 2 1 14.22 18 0 -9 0 0 0
+ 1 0 0 1 0 14.25 -33 0 0 0 0 0
+ -1 0 0 4 1 10.10 -18 0 9 0 0 0
+ -1 0 4 0 1 9.05 19 0 -9 0 0 0
+ 0 0 2 -3 2 -35.23 -20 0 8 0 0 0
+ 0 0 4 0 2 6.82 19 0 -8 0 0 0
+ 2 1 0 0 0 13.28 -28 0 0 0 0 0
+ 0 0 2 -4 1 -16.10 -16 0 9 0 0 0
+ -1 -1 2 4 2 5.90 -17 0 7 0 0 0
+ -1 -2 0 2 0 38.52 27 0 0 0 0 0
+ 0 0 0 4 1 7.39 -16 0 7 0 0 0
+ 0 -1 0 2 1 15.42 -14 0 7 0 0 0
+ 1 0 2 4 2 4.08 -16 0 7 0 0 0
+ -2 0 0 2 2 -194.13 18 0 -8 0 0 0
+ -2 2 0 2 0 1616.44 -22 0 0 0 0 0
+ -2 -1 2 0 1 -507.16 9 0 -5 0 0 0
+ -3 0 0 0 1 -9.17 -14 0 7 0 0 0
+ 0 0 2 0 3 13.69 20 0 0 0 0 0
+ 0 0 2 4 1 4.79 -12 0 6 0 0 0
+ 0 0 4 -2 1 12.64 12 0 -7 0 0 0
+ 0 -2 0 2 0 16.06 21 0 0 0 0 0
+ 1 0 0 -1 1 438.33 17 0 -5 0 -3 1
+ 1 1 2 2 2 5.56 15 0 -6 0 0 0
+ 3 0 2 -2 1 8.73 12 0 -7 0 0 0
+ -1 -1 2 0 2 29.26 -16 0 6 0 0 0
+ -2 -1 0 2 1 -129.17 -13 0 7 0 0 0
+ 0 0 0 -2 2 -14.70 13 0 -5 0 0 0
+ 0 -2 2 2 2 7.38 -13 0 5 0 0 0
+ 1 0 0 -4 1 -10.07 -12 0 6 0 0 0
+ -1 1 0 2 1 29.39 -10 0 6 0 0 0
+ -2 0 0 4 1 15.94 11 0 -6 0 0 0
+ 0 0 2 -1 1 25.33 -10 0 5 0 0 0
+ 0 2 0 0 1 187.67 -9 0 5 0 0 0
+ 0 2 2 -2 1 90.10 8 0 -5 0 0 0
+ 2 0 0 2 1 7.13 -9 0 5 0 0 0
+ 2 0 0 -4 1 -15.87 -11 0 5 0 0 0
+ 2 0 2 -4 1 95.42 10 0 -5 0 0 0
+ -1 0 -2 0 1 -9.10 -10 0 5 0 0 0
+ -1 1 2 0 1 25.13 9 0 -5 0 0 0
+ -1 1 2 -2 1 -35.80 -11 0 5 0 0 0
+ -1 -1 0 4 0 10.37 15 0 0 0 0 0
+ -3 0 0 4 0 37.63 16 0 0 0 0 0
+ 3 0 2 2 2 4.00 -14 0 0 0 0 0
+ 2 -1 0 -2 0 471.89 -9 0 1 0 -1 0
+ 0 2 -2 2 0 -3396.16 -9 0 0 0 0 0
+ 0 -1 2 4 2 4.86 -9 0 0 0 0 0
+ 0 -1 2 -1 2 27.32 9 0 0 0 0 0
+ 1 1 0 2 0 9.37 -10 0 0 0 0 0
+ 2 0 0 -2 2 219.17 -11 0 0 0 0 0
+ 2 -1 2 2 2 4.74 -9 0 0 0 0 0
+ 4 0 0 0 0 6.89 9 0 0 0 0 0
+ 4 0 2 -2 2 6.64 12 0 0 0 0 0
+ -1 0 0 3 0 15.31 -10 0 0 0 0 0
+ -1 0 4 -2 2 23.43 -9 0 0 0 0 0
+ -1 -2 2 2 2 10.08 -9 0 0 0 0 0
+ -2 -1 0 4 0 16.63 12 0 0 0 0 0
+ -2 -1 2 4 2 7.50 -12 0 0 0 0 0
+ 0 1 2 2 1 6.95 7 0 0 0 0 0
+ 0 2 2 0 2 12.71 7 0 0 0 0 0
+ 0 -2 2 0 2 14.77 -8 0 0 0 0 0
+ 1 0 0 4 0 5.82 8 0 0 0 0 0
+ 1 0 2 2 0 5.63 8 0 0 0 0 0
+ 1 0 2 -4 2 -38.52 7 0 0 0 0 0
+ 1 -1 2 2 1 5.73 -8 0 0 0 0 0
+ 1 -1 2 -2 2 25.62 -7 0 0 0 0 0
+ 1 -2 0 0 0 32.45 8 0 0 0 0 0
+ 2 0 0 0 2 13.83 -8 0 0 0 0 0
+ 2 1 0 -2 1 134.27 8 0 0 0 0 0
+ 3 0 0 0 1 9.20 7 0 0 0 0 0
+ -1 0 2 1 2 14.13 8 0 0 0 0 0
+ -1 0 2 3 2 7.22 8 0 0 0 0 0
+ -1 0 -2 4 0 38.96 -7 0 0 0 0 0
+ -1 1 2 2 1 9.30 7 0 0 0 0 0
+ -1 2 0 2 0 27.09 -8 0 0 0 0 0
+ -1 -1 2 -1 1 2189.73 7 0 0 0 0 0
+ -2 0 2 -2 1 -14.93 -8 0 0 0 0 0
+ -2 0 4 0 2 13.49 -7 0 0 0 0 0
+ -2 0 -2 2 0 -12.76 8 0 0 0 0 0
+ -2 1 2 0 1 285.41 9 0 0 0 0 0
+ -3 0 2 0 1 -28.15 -8 0 0 0 0 0
+ 0 1 0 1 1 27.43 5 0 0 0 0 0
+ 0 -1 0 4 0 7.53 6 0 0 0 0 0
+ 0 -1 0 -2 1 -14.16 5 0 0 0 0 0
+ 0 -2 0 0 1 -177.85 -6 0 0 0 0 0
+ 1 0 2 1 1 6.97 5 0 0 0 0 0
+ 1 0 2 -3 2 126.51 -6 0 0 0 0 0
+ 1 0 -2 1 0 -299.26 -7 0 0 0 0 0
+ 1 1 0 1 0 13.72 5 0 0 0 0 0
+ 1 -1 0 -2 1 -29.14 6 0 0 0 0 0
+ 2 0 2 -1 2 8.93 -6 0 0 0 0 0
+ 2 1 2 0 1 6.73 5 0 0 0 0 0
+ 2 -1 2 0 1 6.98 -6 0 0 0 0 0
+ 2 -1 2 -2 2 13.28 5 0 0 0 0 0
+ 3 0 0 2 0 5.66 5 0 0 0 0 0
+ 3 -1 2 0 2 5.58 -5 0 0 0 0 0
+ -1 -1 2 0 1 29.14 -6 0 0 0 0 0
+ -2 0 0 0 2 -13.72 6 0 0 0 0 0
+ -2 0 0 3 0 34.48 -5 0 0 0 0 0
+ -2 0 0 -2 1 -7.12 -5 0 0 0 0 0
+ -2 0 2 2 0 14.57 -6 0 0 0 0 0
+ -2 -1 2 0 0 -548.04 -5 0 0 0 0 0
+ -2 -1 2 2 2 15.24 6 0 0 0 0 0
+ 0 0 1 0 0 27.21 0 0 0 0 8 0
+ 0 0 1 0 1 27.32 0 0 0 0 -16 -14
+ -1 0 1 0 0 2190.35 0 0 0 0 33 0
+ -1 0 1 0 1 3231.51 0 0 0 0 -105 -89
+ -1 0 1 0 2 6159.22 0 0 0 0 36 18
+ -1 0 1 0 3 65514.10 0 0 0 0 -6 0
+# end of table 5.2
+*/
diff --git a/dev/apps/geomatics/lib/GeodeticFrames.hpp b/dev/apps/geomatics/lib/GeodeticFrames.hpp
new file mode 100644
index 0000000..2fad8bf
--- /dev/null
+++ b/dev/apps/geomatics/lib/GeodeticFrames.hpp
@@ -0,0 +1,483 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file GeodeticFrames.hpp
+ * Include file defining the GeodeticFrames class.
+ * class gpstk::GeodeticFrames encapsulates frame transformations between the
+ * conventional terrestrial frame and the conventional inertial frame, as defined
+ * by the reference. It implements models of precession and nutation of
+ * Earth's axis, as well as the precise rotation of Earth and its 'wobble'
+ * as given by the Earth orientation parameters (see class EarthOrientation).
+ * Reference: IERS Technical Note 21, IERS Conventions (1996),
+ * Dennis D. McCarthy, U.S. Naval Observatory, especially Chapter 5.
+ */
+
+//------------------------------------------------------------------------------------
+#ifndef CLASS_GEODETICFRAMES_INCLUDE
+#define CLASS_GEODETICFRAMES_INCLUDE
+
+//------------------------------------------------------------------------------------
+// GPSTk includes
+#include "Exception.hpp"
+#include "DayTime.hpp"
+#include "Matrix.hpp"
+
+//------------------------------------------------------------------------------------
+namespace gpstk
+{
+
+ /** Class GeodeticFrames encapsulates frame transformations between the
+ * conventional terrestrial frame and the conventional inertial frame, as defined
+ * by the reference. It implements models of precession and nutation (IERS 1996)
+ * of Earth's axis, as well as the precise rotation of Earth and its 'wobble'
+ * as given by the Earth orientation parameters (see class EarthOrientation).
+ *
+ * Reference: IERS Technical Note 21, IERS Conventions (1996),
+ * Dennis D. McCarthy, U.S. Naval Observatory.
+ *
+ * The conventional terrestrial system (CTS) or Earth-centered,
+ * Earth-fixed frame (ECEF), is related to the conventional inertial system
+ * (CIS) by four things: a) precession and b) nutation of the Earth and
+ * c) Earth rotation and d) polar motion. The transformation between a vector
+ * X(CTS) in the terrestrial (ECEF) frame and the vector X(CIS) in the inertial
+ * frame is
+ *
+ * <pre>
+ * X(CIS) = P * N * R * W * X(CTS)
+ * where
+ * W is the transformation using Earth Orientation Parameters
+ * xp, yp (pole coordinates obtained from the IERS bulletin),
+ * R is the effect of both Earth rotation and
+ * precession and nutation in the right ascension,
+ * N is the nutation matrix,
+ * P is the precession matrix.
+ *
+ * Reference: IERS Technical Note 21, IERS Conventions (1996), Chapter 5.
+ *
+ * IF
+ * R1(a) = [ 1 0 0 ]
+ * [ 0 cos(a) sin(a) ]
+ * [ 0 -sin(a) cos(a) ]
+ *
+ * R2(b) = [ cos(b) 0 -sin(b) ]
+ * [ 0 1 0 ]
+ * [ sin(b) 0 cos(b) ]
+ *
+ * R3(c) = [ cos(c) sin(c) 0 ]
+ * [ -sin(c) cos(c) 0 ]
+ * [ 0 0 1 ]
+ *
+ * and if
+ *
+ * T = (t-t0)(in days)/36525.0 days
+ * where
+ * t0 = J2000 = January 1 2000 12h UT = 2451545.0JD
+ *
+ * THEN ----------------------------------------------------------------
+ * [PRECESSION IAU76]
+ *
+ * P = R3(zeta)*R2(-theta)*R3(z)
+ * where
+ * zeta = 2306.2181*T + 0.30188*T^2 + 0.017998*T^3 seconds of arc
+ * theta = 2004.3109*T - 0.42665*T^2 - 0.041833*T^3 seconds of arc
+ * z = 2306.2181*T + 1.09468*T^2 + 0.018203*T^3 seconds of arc
+ *
+ * AND -----------------------------------------------------------------
+ * [NUTATION IAU76]
+ *
+ * N = R1(-eps)*R3(dpsi)*R1(eps+deps)
+ * where
+ * eps = obliquity of the ecliptic
+ * deps = nutation in obliquity
+ * dpsi = nutation in longitude (counted in the ecliptic)
+ *
+ * eps = (84381.448 - 46.8150*T - 0.00059*T^2 +0.001813*T^3) seconds of arc
+ *
+ * and the principal terms in the series for the other two parameters are
+ * ( " denotes seconds of arc)
+ *
+ * (IAU76)
+ * deps =
+ * ( 9.205356 + 0.000886*T)*cos(Omega)" + 0.001553*sin(Omega)"
+ * + ( 0.573058 - 0.000306*T)*cos(2F-2D+2Omega)"- 0.000464*sin(2F-2D+2Omega)"
+ * + ( 0.097864 - 0.000048*T)*cos(2F+2Omega)" + 0.000136*sin(2F+2Omega)"
+ * + (-0.089747 + 0.000047*T)*cos(2Omega)" - 0.000029*sin(2Omega)"
+ * + ( 0.007388 - 0.000019*T)*cos(-L')" + 0.000198*sin(-L')"
+ * + ( 0.022440 - 0.000068*T)*cos(Larg)" - 0.000018*sin(Larg)"
+ * + (-0.000687 + 0.000000*T)*cos(L)" - 0.000039*sin(L)"
+ * etc...
+ * dpsi =
+ * (-17.206277- 0.017419*T)*sin(Omega)" + 0.003645*cos(Omega)"
+ * + (-1.317014 - 0.000156*T)*sin(2F-2D+2Omega)"- 0.001400*cos(2F-2D+2Omega)"
+ * + (-0.227720 - 0.000023*T)*sin(2F+2Omega)" + 0.000269*cos(2F+2Omega)"
+ * + ( 0.207429 + 0.000021*T)*sin(2Omega)" - 0.000071*cos(2Omega)"
+ * + (-0.147538 + 0.000364*T)*sin(-L')" + 0.001121*cos(-L')"
+ * + (-0.051687 + 0.000123*T)*sin(Larg)" - 0.000054*cos(Larg)"
+ * + ( 0.071118 + 0.000007*T)*sin(L)" - 0.000094*cos(L)"
+ * etc...
+ * OR
+ *
+ * (IERS 1980)
+ * deps = ( 9.2025 + 0.00089*T)*cos(Omega)"
+ * + ( 0.5736 - 0.00031*T)*cos(2F-2D+2Omega)"
+ * + ( 0.0977 - 0.00005*T)*cos(2F+2Omega)"
+ * + (-0.0895 + 0.00005*T)*cos(2Omega)"
+ * + ( 0.0054 - 0.00001*T)*cos(-L')"
+ * + (-0.0007 + 0.00000*T)*cos(L)"
+ * etc...
+ * dpsi = (-17.1996- 0.01742*T)*sin(Omega)"
+ * + (-1.3187 - 0.00016*T)*sin(2F-2D+2Omega)"
+ * + (-0.2274 - 0.00002*T)*sin(2F+2Omega)"
+ * + ( 0.2062 + 0.00002*T)*sin(2Omega)"
+ * + (-0.1426 + 0.00034*T)*sin(-L')"
+ * + ( 0.0712 + 0.00001*T)*sin(L)"
+ * etc...
+ * with
+ *
+ * Larg = L'+2F-2D+2Omega
+ *
+ * Omega = mean longitude of the lunar ascending node
+ * = 125.04455501 degrees - 6962890.2665"*T + 7.4722"*T^2
+ * + 0.007702"*T^3 - 0.00005939"*T^4
+ *
+ * D = mean elongation of the moon from the sun
+ * = 297.85019547 degrees + 1602961601.2090"*T - 6.3706"*T^2
+ * + 0.006593"*T^3 - 0.00003169"*T^4
+ *
+ * F = mean longitude of the moon - Omega
+ * = 93.27209062 degrees + 1739527262.8478"*T - 12.7512"*T^2
+ * - 0.001037"*T^3 + 0.00000417"*T^4
+ *
+ * L' = mean anomaly of the sun
+ * = 357.52910918 degrees + 129596581.0481"*T - 0.5532"*T^2
+ * + 0.000136"*T^3 - 0.00001149"*T^4
+ *
+ * L = mean anomaly of the moon
+ * = 134.96340251 degrees + 1717915923.2178"*T + 31.8792"*T^2
+ * +0.051635"*T^3 -0.00024470"*T^4
+ *
+ * AND -----------------------------------------------------------------
+ *
+ * R = R3(-GAST)
+ *
+ * GAST = Greenwich hour angle of the true vernal equinox
+ * GAST = Greenwich Apparent Sidereal Time
+ * GAST = GMST + dpsi*cos(eps) + 0.00264"*sin(Omega) +0.000063"*sin(2*Omega)
+ * (these terms account for the accumulated precession and nutation in
+ * right ascension and minimize any discontinuity in UT1)
+ *
+ * GMST = Greenwich hour angle of the mean vernal equinox
+ * = Greenwich Mean Sidereal Time
+ * = GMST0 + r*[(UT1-UTC)+UTC]
+ * r = is the ratio of universal to sidereal time
+ * = 1.002737909350795 + 5.9006E-11*T' - 5.9e-15*T'^2
+ * T' = days'/36525
+ * days'= number of days elapsed since t0 = +/-(integer+0.5)
+ * and
+ * (UT1-UTC) is taken from the IERS bulletin (seconds)
+ *
+ * GMST0 = GMST at 0h UT1
+ * = 6h 41m (50.54841+8640184.812866*T'+0.093104*T'^2-6.2E-6*T'^3)s
+ *
+ * AND -----------------------------------------------------------------
+ *
+ * W = R1(yp)*R2(xp)
+ * where xp and yp are the polar coordinates of the celestial ephemeris pole,
+ * taken from the IERS bulletin. (NB in the bulletin they are in units
+ * of arcseconds, and they must be converted to radians by multiplying
+ * by pi/180/3600.)
+ *
+ * </pre>
+ */
+ class GeodeticFrames
+ {
+ //------------------------------------------------------------------------------
+ // constants
+ /// Epoch for the coordinate transformation time, used throughout the formulas
+ /// = J2000 = January 1 2000 12h UT
+ static const long JulianEpoch;
+
+ //------------------------------------------------------------------------------
+ // functions used internally
+ //------------------------------------------------------------------------------
+ /// Compute the 'coordinate transformation time', which is used throughout the
+ /// class, and is essentially the time since J2000 in centuries.
+ /// @param t DayTime time of interest.
+ /// @return coordinate transformation time at t.
+ static double CoordTransTime(DayTime t)
+ throw();
+
+ //------------------------------------------------------------------------------
+ /// Compute the mean longitude of lunar ascending node, in degrees,
+ /// given T, the CoordTransTime at the time of interest.
+ /// @param T coordinate transformation time.
+ /// @return Omega in degrees.
+ static double Omega(double T)
+ throw();
+
+ //------------------------------------------------------------------------------
+ /// Compute the mean longitude of the moon minus Omega, in degrees,
+ /// given T, the CoordTransTime at the time of interest.
+ /// @param T coordinate transformation time.
+ /// @return F in degrees.
+ static double F(double T)
+ throw();
+
+ //------------------------------------------------------------------------------
+ /// Compute the mean elongation of the moon from the sun, in degrees,
+ /// given T, the CoordTransTime at the time of interest.
+ /// @param T coordinate transformation time.
+ /// @return D in degrees.
+ static double D(double T)
+ throw();
+
+ //------------------------------------------------------------------------------
+ /// Compute the mean anomaly of the moon, in degrees,
+ /// given T, the CoordTransTime at the time of interest.
+ /// @param T coordinate transformation time.
+ /// @return L in degrees.
+ static double L(double T)
+ throw();
+
+ //------------------------------------------------------------------------------
+ /// Compute the mean anomaly of the sun, in degrees,
+ /// given T, the CoordTransTime at the time of interest.
+ /// @param T coordinate transformation time.
+ /// @return Lp in degrees.
+ static double Lp(double T)
+ throw();
+
+ //------------------------------------------------------------------------------
+ /// Compute the obliquity of the ecliptic, in degrees,
+ /// given T, the CoordTransTime at the time of interest.
+ /// @param T coordinate transformation time.
+ /// @return eps in degrees.
+ static double Obliquity(double T)
+ throw();
+
+ //------------------------------------------------------------------------------
+ /// Nutation of the obliquity (deps) and of the longitude (dpsi), IERS 1996
+ /// model (ref pg 26), given
+ /// @param T, the coordinate transformation time at the time of interest
+ /// @param deps, nutation of the obliquity (output)
+ /// @param dpsi, nutation of the longitude (output)
+ static void NutationAngles(double T,
+ double& deps,
+ double& dpsi)
+ throw();
+
+ //------------------------------------------------------------------------------
+ /// Zonal tide terms for corrections of UT1mUTC when that quantity does not
+ /// include tides (e.g. NGA EOP), ref. IERS 1996 Ch. 8, table 8.1 pg 74.
+ /// @param T, the coordinate transformation time at the time of interest
+ /// @param UT1mUT1R, the correction to UT1mUTC (seconds)
+ /// @param dlodR, the correction to the length of day (seconds)
+ /// @param domegaR, the correction to the Earth rotation rate, rad/second.
+ static void UT1mUTCTidalCorrections(double T,
+ double& UT1mUTR,
+ double& dlodR,
+ double& domegaR)
+ throw();
+
+ //------------------------------------------------------------------------------
+ /// Compute the Greenwich hour angle of the true vernal equinox, or
+ /// Greenwich Apparent Sidereal Time, in radians, given the (UT) time of
+ /// interest t, and, where T = CoordTransTime(t),
+ /// om = Omega(T) = mean longitude of lunar ascending node, in degrees,
+ /// ep = Obliquity(T) = the obliquity of the ecliptic, in degrees,
+ /// dp = nutation in longitude (counted in the ecliptic),
+ /// in seconds of arc.
+ ///
+ /// GAST = Greenwich hour angle of the true vernal equinox
+ /// = Greenwich apparent sidereal time
+ /// = GMST + dpsi*cos(eps) + 0.00264"*sin(Omega) + 0.000063"*sin(2*Omega)
+ /// (these terms account for the accumulated precession and nutation in
+ /// right ascension and minimize any discontinuity in UT1)
+ ///
+ /// GMST = Greenwich hour angle of the mean vernal equinox
+ /// = Greenwich mean sidereal time
+ /// = GMST0 + r*[UTC + (UT1-UTC)]
+ /// r = is the ratio of universal to sidereal time
+ /// = 1.002737909350795 + 5.9006E-11*T' - 5.9e-15*T'^2
+ /// T' = days'/36525
+ /// days'= number of days elapsed since t0 = +/-(integer+0.5)
+ /// and
+ /// (UT1-UTC) (seconds) is taken from the IERS bulletin
+ ///
+ /// GMST0 = GMST at 0h UT1
+ /// = 6h 41m (50.54841+8640184.812866*T'+0.093104*T'^2-6.2E-6*T'^3)s
+ ///
+ /// @param t DayTime time of interest.
+ /// @param om, Omega(T), mean longitude of lunar ascending node, in degrees,
+ /// @param eps, Obliquity(T), the obliquity of the ecliptic, in degrees,
+ /// @param dpsi, nutation in longitude (counted in the ecliptic),
+ /// in seconds of arc
+ /// @param UT1mUTC, UT1-UTC in seconds, as found in the IERS bulletin.
+ static double gast(DayTime t,
+ double om,
+ double eps,
+ double dpsi,
+ double UT1mUTC)
+ throw();
+
+ //------------------------------------------------------------------------------
+ /// Compute the precession matrix, a 3x3 rotation matrix, given
+ /// @param T, the coordinate transformation time at the time of interest
+ /// @return precession matrix Matrix<double>(3,3)
+ static Matrix<double> PrecessionMatrix(double T)
+ throw(InvalidRequest);
+
+ //------------------------------------------------------------------------------
+ /// Nutation model IAU76 (ref McCarthy), compute the nutation matrix,
+ /// a 3x3 rotation matrix, given
+ /// @param ep, Obliquity(T), the obliquity of the ecliptic, in degrees,
+ /// @param dp, dpsi(T), the nutation in longitude (counted in the ecliptic),
+ /// in seconds of arc, and
+ /// @param de, the nutation in obliquity, in seconds of arc.
+ /// @return nutation matrix Matrix<double>(3,3)
+ static Matrix<double> NutationMatrix(double eps,
+ double dpsi,
+ double deps)
+ throw(InvalidRequest);
+
+ public:
+
+ //------------------------------------------------------------------------------
+ // public functions
+ //------------------------------------------------------------------------------
+ /// Compute Greenwich Mean Sidereal Time, or the Greenwich hour angle of
+ /// the mean vernal equinox, given the coordinate time of interest,
+ /// and UT1-UTC (sec), which comes from the IERS bulletin.
+ /// @param t DayTime epoch of the rotation.
+ /// @param UT1mUTC, UT1-UTC in seconds, as found in the IERS bulletin.
+ /// @param reduced, bool true when UT1mUTC is 'reduced', meaning assumes
+ /// 'no tides', as is the case with the NGA EOPs (default=F).
+ static double GMST(DayTime t,
+ double UT1mUTC,
+ bool reduced=false)
+ throw();
+
+ //------------------------------------------------------------------------------
+ /// Compute Greenwich Apparent Sidereal Time, or the Greenwich hour angle of
+ /// the true vernal equinox, given the coordinate time of interest,
+ /// and UT1-UTC (sec), which comes from the IERS bulletin.
+ /// @param t DayTime epoch of the rotation.
+ /// @param UT1mUTC, UT1-UTC in seconds, as found in the IERS bulletin.
+ /// @param reduced, bool true when UT1mUTC is 'reduced', meaning assumes
+ /// 'no tides', as is the case with the NGA EOPs (default=F).
+ static double GAST(DayTime t,
+ double UT1mUTC,
+ bool reduced=false)
+ throw();
+
+ //------------------------------------------------------------------------------
+ /// Generate transformation matrix (3X3 rotation) due to the polar motion
+ /// angles xp and yp (arcseconds), as found in the IERS bulletin;
+ /// see class EarthOrientation.
+ /// @param xp, Earth wobble in arcseconds, as found in the IERS bulletin.
+ /// @param yp, Earth wobble in arcseconds, as found in the IERS bulletin.
+ static Matrix<double> PolarMotion(double xp,
+ double yp)
+ throw(InvalidRequest);
+
+ //------------------------------------------------------------------------------
+ /// Generate precise transformation matrix (3X3 rotation) due to Earth rotation
+ /// at Greenwich hour angle of the true vernal equinox and which accounts for
+ /// precession and nutation in right ascension, given the UT time of interest
+ /// and the UT1-UTC correction (in sec), obtained from the IERS bulletin.
+ /// @param t DayTime epoch of the rotation.
+ /// @param UT1mUTC, UT1-UTC in seconds, as found in the IERS bulletin.
+ /// @return 3x3 rotation matrix
+ static Matrix<double> PreciseEarthRotation(DayTime t,
+ double UT1mUTC,
+ bool reduced=false)
+ throw(InvalidRequest);
+
+ //------------------------------------------------------------------------------
+ /// Generate an Earth Precession Matrix (3X3 rotation) at the given DayTime.
+ static Matrix<double> Precession(DayTime t)
+ throw(InvalidRequest)
+ { return PrecessionMatrix(CoordTransTime(t)); }
+
+ //------------------------------------------------------------------------------
+ /// Generate an Earth Nutation Matrix (3X3 rotation) at the given DayTime.
+ /// @param t DayTime epoch of the rotation.
+ /// @return 3x3 rotation matrix
+ static Matrix<double> Nutation(DayTime t)
+ throw(InvalidRequest);
+
+ //------------------------------------------------------------------------------
+ /// Generate the full transformation matrix (3x3 rotation) relating the ECEF
+ /// frame to the conventional inertial frame
+ /// throw(); Input is the time of interest,
+ /// the polar motion angles xp and yp (arcseconds), and UT1-UTC (seconds)
+ /// (xp,yp and UT1-UTC are just as found in the IERS bulletin);
+ /// see class EarthOrientation.
+ /// @param t DayTime epoch of the rotation.
+ /// @param xp, Earth wobble in arcseconds, as found in the IERS bulletin.
+ /// @param yp, Earth wobble in arcseconds, as found in the IERS bulletin.
+ /// @param UT1mUTC, UT1-UTC in seconds, as found in the IERS bulletin.
+ /// @param reduced, bool true when UT1mUTC is 'reduced', meaning assumes
+ /// 'no tides', as is the case with the NGA EOPs (default=F).
+ /// @return 3x3 rotation matrix
+ static Matrix<double> ECEFtoInertial(DayTime t,
+ double xp,
+ double yp,
+ double UT1mUTC,
+ bool reduced=false)
+ throw(InvalidRequest);
+
+ //------------------------------------------------------------------------------
+ /// Given a rotation matrix R (3x3), find the Euler angles (theta,phi,psi) which
+ /// produce this rotation, and also determine the magnitude alpha and direction
+ /// nhat (= unit 3-vector) of the net rotation.
+ /// Throw InvalidRequest if the matrix is not a rotation matrix.
+ static void ResolveRotation(const Matrix<double>& R,
+ double& theta,
+ double& phi,
+ double& psi,
+ double& alpha,
+ Vector<double>& nhat)
+ throw(InvalidRequest);
+
+ }; // end class GeodeticFrames
+
+} // end namespace gpstk
+
+#endif // nothing below this...
diff --git a/dev/apps/geomatics/lib/Jamfile b/dev/apps/geomatics/lib/Jamfile
new file mode 100644
index 0000000..33926e7
--- /dev/null
+++ b/dev/apps/geomatics/lib/Jamfile
@@ -0,0 +1,21 @@
+#
+# $Id$
+#
+
+SubDir TOP apps geomatics lib ;
+
+SEARCH_SOURCE += $(TOP)/src ;
+
+Library $(LIBPREFIX)geomatic :
+ SRI.cpp Namelist.cpp SRIFilter.cpp
+ RobustStats.cpp
+ EarthOrientation.cpp GeodeticFrames.cpp PreciseRange.cpp
+ PhaseWindup.cpp
+ SatPass.cpp
+ DiscCorr.cpp GDCconfiguration.cpp
+ GSatID.cpp DDid.cpp
+ random.cpp format.cpp
+ ;
+
+GPSLinkLibraries : gpstk $(LIBPREVIX)geomatic ;
+
diff --git a/dev/apps/geomatics/lib/Makefile.am b/dev/apps/geomatics/lib/Makefile.am
new file mode 100644
index 0000000..4c93ab6
--- /dev/null
+++ b/dev/apps/geomatics/lib/Makefile.am
@@ -0,0 +1,7 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../../src/
+lib_LTLIBRARIES = libgeomatic.la
+libgeomatic_la_SOURCES = DDid.cpp DiscCorr.cpp EarthOrientation.cpp \
+GDCconfiguration.cpp GSatID.cpp GeodeticFrames.cpp Namelist.cpp \
+PhaseWindup.cpp PreciseRange.cpp RobustStats.cpp SRI.cpp SRIFilter.cpp \
+SatPass.cpp format.cpp random.cpp
diff --git a/dev/apps/geomatics/lib/Namelist.cpp b/dev/apps/geomatics/lib/Namelist.cpp
new file mode 100644
index 0000000..35b05c0
--- /dev/null
+++ b/dev/apps/geomatics/lib/Namelist.cpp
@@ -0,0 +1,472 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file Namelist.cpp
+ * Implementation of class Namelist.
+ * class gpstk::Namelist encapsulates a list of labels for use with classes Matrix,
+ * Vector and SRI.
+ */
+
+//------------------------------------------------------------------------------------
+// system includes
+#include <string>
+#include <vector>
+#include <algorithm>
+#include <ostream>
+#include <fstream> // for copyfmt
+// GPSTk
+#include "Exception.hpp"
+#include "StringUtils.hpp"
+#include "Namelist.hpp"
+
+using namespace std;
+
+namespace gpstk
+{
+
+using namespace StringUtils;
+
+//------------------------------------------------------------------------------------
+// constructor given dimension - creates default labels
+Namelist::Namelist(const unsigned int& n)
+{
+try {
+ if(n == 0) return;
+ string name;
+ for(unsigned int i=0; i<n; i++) {
+ ostringstream oss;
+ oss << "NAME" << setw(2) << setfill('0') << i;
+ name = oss.str();
+ labels.push_back(name);
+ }
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+// explicit constructor - only a unique subset of names will be included.
+Namelist::Namelist(const vector<string>& names)
+{
+try {
+ for(unsigned int i=0; i<names.size(); i++) {
+ bool unique=true;
+ for(unsigned int j=i+1; j<names.size(); j++) {
+ if(names[i] == names[j]) { unique=false; break; }
+ }
+ if(unique) labels.push_back(names[i]);
+ }
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+// add a name to the Namelist; do nothing if the name is not unique.
+Namelist& Namelist::operator+=(const string& name)
+{
+try {
+ if(this->contains(name)) return *this;
+ labels.push_back(name);
+ return *this;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+// remove a name from the Namelist; does nothing if the name is not found.
+Namelist& Namelist::operator-=(const string& name)
+{
+try {
+ vector<string>::iterator it;
+ if((it=find(labels.begin(),labels.end(),name)) == labels.end()) return *this;
+ labels.erase(it);
+ return *this;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+// swap two elements, as given by their indexes; no effect if either index
+// is out of range.
+void Namelist::swap(const unsigned int& i, const unsigned int& j)
+{
+try {
+ if(i == j) return;
+ if(i >= labels.size() || j >= labels.size()) return;
+ string str = labels[i];
+ labels[i] = labels[j];
+ labels[j] = str;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+// reorder the list by sorting
+void Namelist::sort(void)
+{
+try {
+ // compiler tries Namelist::sort() first...
+ std::sort(labels.begin(),labels.end());
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+// resize the list by either truncation or adding default names.
+void Namelist::resize(unsigned int n)
+{
+try {
+ if(n == labels.size()) return;
+ int N=labels.size();
+ while(labels.size() < n) {
+ string s;
+ do {
+ ostringstream oss;
+ oss << "NAME" << setw(2) << setfill('0') << N << setfill(' ');
+ s = oss.str();
+ N++;
+ } while(this->contains(s));
+ labels.push_back(s);
+ }
+ while(labels.size() > n) {
+ labels.pop_back();
+ }
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+// randomize the list
+void Namelist::randomize(long seed)
+{
+try {
+ if(labels.size() <= 1) return;
+ random_shuffle(labels.begin(), labels.end());
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+// is the Namelist valid? checks for repeated names
+bool Namelist::valid(void) const
+{
+try {
+ for(unsigned int i=0; i<labels.size(); i++)
+ for(unsigned int j=i+1; j<labels.size(); j++)
+ if(labels[i] == labels[j]) return false;
+ return true;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+// does the Namelist contain the input name?
+bool Namelist::contains(const string& name) const
+{
+try {
+ for(unsigned int i=0; i<labels.size(); i++)
+ if(labels[i] == name) return true;
+ return false;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+// are two Namelists identical, ignoring a permutation?
+bool operator==(const Namelist& N1, const Namelist& N2)
+{
+try {
+ if(N1.size() != N2.size()) return false;
+ if(N1.size() == 0) return true;
+ for(unsigned int i=0; i<N1.size(); i++) {
+ unsigned int match=0;
+ for(unsigned int j=0; j<N2.size(); j++)
+ if(N1.labels[i] == N2.labels[j]) match++;
+ if(match != 1) return false; // if > 1, N2 is invalid
+ }
+ return true;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+// are two Namelists different, ignoring a permutation?
+bool operator!=(const Namelist& N1, const Namelist& N2)
+{
+try {
+ return !(N1==N2);
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+// are two Namelists exactly identical, even considering permutations?
+bool identical(const Namelist& N1, const Namelist& N2)
+{
+try {
+ if(N1.size() != N2.size()) return false;
+ if(N1.size() == 0) return true;
+ for(unsigned int i=0; i<N1.size(); i++) {
+ if(N1.labels[i] != N2.labels[i]) return false;
+ }
+ return true;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+// construct the subset Namelist which is common to the two input (AND)
+Namelist operator&(const Namelist& N1, const Namelist& N2)
+{
+try {
+ Namelist N(N1);
+ N &= N2;
+ return N;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+// merge two Namelists, i.e. construct a non-redundant combination (OR)
+Namelist operator|(const Namelist& N1, const Namelist& N2)
+{
+try {
+ Namelist N(N1);
+ N |= N2;
+ return N;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+// construct the subset Namelist which is NOT common to two others (XOR)
+Namelist operator^(const Namelist& N1, const Namelist& N2)
+{
+try {
+ Namelist N(N1);
+ N ^= N2;
+ return N;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+// replace this with (this & input) (AND - common to both)
+Namelist& Namelist::operator&=(const Namelist& N)
+{
+try {
+ Namelist NAND;
+ for(unsigned int i=0; i<labels.size(); i++)
+ if(N.contains(labels[i])) NAND += labels[i];
+ *this = NAND;
+ return *this;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+// replace this with (this | input) (OR - merge - superset)
+// NB new elements must be added at the end (for class SRI).
+Namelist& Namelist::operator|=(const Namelist& N)
+{
+try {
+ Namelist NOR(*this);
+ for(unsigned int i=0; i<N.labels.size(); i++)
+ if(!(this->contains(N.labels[i]))) NOR += N.labels[i];
+ *this = NOR;
+ return *this;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+// replace this with (this ^ input) (XOR - not common)
+Namelist& Namelist::operator^=(const Namelist& N)
+{
+try {
+ unsigned int i;
+ Namelist NXOR;
+ for(i=0; i<labels.size(); i++)
+ if(!(N.contains(labels[i]))) NXOR += labels[i];
+ for(i=0; i<N.labels.size(); i++)
+ if(!(this->contains(N.labels[i]))) NXOR += N.labels[i];
+ *this = NXOR;
+ return *this;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+
+// access to a specific name, given its index; may be used as lvalue.
+//string& Namelist::operator[](const unsigned int in)
+//{
+// if(in >= labels.size()) throw ...
+// return labels[in];
+//}
+
+// access to a specific name, given its index.
+// returns 'out-of-range' if the index is out of range.
+string Namelist::getName(const unsigned int in) const
+{
+try {
+ if(in >= labels.size()) return string("out-of-range");
+ return labels[in];
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+// assign a specific name, given its index;
+// no effect if the index is out of range or the name is not unique.
+// return true if successful
+bool Namelist::setName(const unsigned int in, const string& name)
+{
+try {
+ if(in >= labels.size()) return false;
+ if(labels[in] == name) return true; // NB b/c contains(name) would be true..
+ if(contains(name)) return false;
+ labels[in] = name;
+ return true;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+// return the index of the name in the list that matches the input, -1 if not found.
+int Namelist::index(const string& name) const
+{
+try {
+ for(unsigned int i=0; i<labels.size(); i++)
+ if(labels[i] == name) return i;
+ return -1;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+// output operator
+ostream& operator<<(ostream& os, const Namelist& N)
+{
+try {
+ for(unsigned int i=0; i<N.labels.size(); i++) os << " / " << N.labels[i];
+ os << " / ";
+ return os;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+ostream& operator<<(ostream& os, const LabelledVector& nlp)
+{
+try {
+ unsigned int i;
+ string s;
+ //ofstream savefmt;
+ //savefmt.copyfmt(os);
+ //int wid=os.width(),prec=os.precision();
+
+ if(nlp.msg.size() > 0)
+ s = leftJustify(nlp.msg,nlp.wid);
+ else
+ s = rightJustify(string(""),nlp.wid);
+ os << s;
+ for(i=0; i<nlp.NL.size(); i++) {
+ if(nlp.NL.getName(i).size() > nlp.wid)
+ s = leftJustify(nlp.NL.getName(i),nlp.wid);
+ else
+ s = rightJustify(nlp.NL.getName(i),nlp.wid);
+ os << s;
+ }
+ os << endl;
+
+ s = rightJustify(string(""),nlp.wid);
+ os << s;
+ if(nlp.form == 1) os << fixed;
+ if(nlp.form == 2) os << scientific;
+ for(i=0; i<nlp.V.size(); i++) {
+ //os.copyfmt(savefmt);
+ //os << nlp.V(i);
+ os << setw(nlp.wid) << setprecision(nlp.prec) << nlp.V(i);
+ }
+
+ return os;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+ostream& operator<<(ostream& os, const LabelledMatrix& nlp)
+{
+try {
+ unsigned int i,j;
+ string s;
+ const Namelist *pNLcol = &nlp.NLcols;
+ const Namelist *pNLrow = &nlp.NLrows;
+ // first make sure we have both namelists
+ if(nlp.NLrows.size() == 0 && nlp.NLcols.size() == 0) {
+ os << " Error -- Namelists in LabelledMatrix are empty! ";
+ return os;
+ }
+ if(nlp.NLrows.size() == 0) pNLrow = pNLcol;
+ if(nlp.NLcols.size() == 0) pNLcol = pNLrow;
+
+ // on column labels line, add message or space for row labels
+ if(nlp.rc == 0) { // only if printing both column and row labels
+ if(nlp.msg.size() > 0)
+ s = leftJustify(nlp.msg,nlp.wid);
+ else
+ s = rightJustify(string(""),nlp.wid);
+ os << s;
+ }
+ // print column labels
+ if(nlp.rc != 1) { // but not if 'rows only'
+ for(i=0; i<(nlp.M.cols()<pNLcol->size()?nlp.M.cols():pNLcol->size()); i++) {
+ if(pNLcol->getName(i).size() > nlp.wid)
+ s = leftJustify(pNLcol->getName(i),nlp.wid);
+ else
+ s = rightJustify(pNLcol->getName(i),nlp.wid);
+ os << s;
+ }
+ os << endl;
+ }
+
+ if(nlp.form == 1) os << fixed;
+ if(nlp.form == 2) os << scientific;
+
+ for(i=0; i<nlp.M.rows(); i++) {
+ // print row labels
+ if(nlp.rc != 2) { // but not if 'columns only'
+ if(pNLrow->getName(i).size() > nlp.wid)
+ s = leftJustify(pNLrow->getName(i),nlp.wid);
+ else
+ s = rightJustify(pNLrow->getName(i),nlp.wid);
+ os << s;
+ }
+ // finally, print the data
+ for(j=0; j<nlp.M.cols(); j++) {
+ os << setw(nlp.wid) << setprecision(nlp.prec) << nlp.M(i,j);
+ }
+ if(i<nlp.M.rows()-1) os << endl;
+ }
+
+ return os;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+} // end namespace gpstk
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/lib/Namelist.hpp b/dev/apps/geomatics/lib/Namelist.hpp
new file mode 100644
index 0000000..1105431
--- /dev/null
+++ b/dev/apps/geomatics/lib/Namelist.hpp
@@ -0,0 +1,223 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file Namelist.hpp
+ * Include file defining class Namelist.
+ * class gpstk::Namelist encapsulates a list of labels for use with classes Matrix,
+ * Vector and SRI.
+ */
+
+#ifndef CLASS_NAMELIST_INCLUDE
+#define CLASS_NAMELIST_INCLUDE
+
+//------------------------------------------------------------------------------------
+// system includes
+#include <string>
+#include <vector>
+#include <algorithm>
+#include <iomanip>
+#include <ostream>
+#include <sstream>
+// GPSTk
+#include "Matrix.hpp"
+
+namespace gpstk
+{
+
+//------------------------------------------------------------------------------------
+class Namelist;
+/// class LabelledVector. Pretty print a Vector using the labels in a Namelist.
+class LabelledVector {
+public:
+ int wid,prec,form;
+ std::string msg;
+ const Namelist& NL;
+ Vector<double>& V;
+ LabelledVector(const Namelist& nl, Vector<double>& v)
+ : wid(12), prec(5), form(1), NL(nl), V(v) { }
+ LabelledVector& setw(int w) { wid = w; return *this; }
+ LabelledVector& setprecision(int p) { prec = p; return *this; }
+ LabelledVector& fixed(void) { form = 1; return *this; }
+ LabelledVector& scientific(void) { form = 2; return *this; }
+ LabelledVector& message(const std::string& m) { msg=m; return *this; }
+};
+
+/// class LabelledMatrix. Pretty print a Matrix using the labels in a Namelist.
+class LabelledMatrix {
+public:
+ int wid,prec;
+ int form; // format: 1=fixed, 2=scientific
+ int rc; // rows only (1) columns only (2) or both (0)
+ std::string msg;
+ const Namelist& NLrows;
+ const Namelist& NLcols;
+ const Matrix<double>& M;
+ LabelledMatrix(const Namelist& nl, const Matrix<double>& m)
+ : wid(12), prec(5), form(1), rc(0), NLrows(nl), NLcols(nl), M(m) { }
+ LabelledMatrix(const Namelist& nlr, const Namelist& nlc, const Matrix<double>& m)
+ : wid(12), prec(5), form(1), rc(0), NLrows(nlr), NLcols(nlc), M(m) { }
+ LabelledMatrix& setw(int w) { wid = w; return *this; }
+ LabelledMatrix& setprecision(int p) { prec = p; return *this; }
+ LabelledMatrix& fixed(void) { form = 1; return *this; }
+ LabelledMatrix& scientific(void) { form = 2; return *this; }
+ LabelledMatrix& rows(void) { rc=1; return *this; }
+ LabelledMatrix& cols(void) { rc=2; return *this; }
+ LabelledMatrix& message(const std::string& m) { msg=m; return *this; }
+};
+
+std::ostream& operator<<(std::ostream&, const LabelledMatrix&);
+std::ostream& operator<<(std::ostream&, const LabelledVector&);
+
+
+//------------------------------------------------------------------------------------
+/** class Namelist. A Namelist is simply an ordered set of unique strings ('names' or
+ * 'labels') of any length. Namelists are used to label or identify elements of
+ * Vectors or Matrix rows and columns. Namelist is particularly useful in class SRI,
+ * which includes a Matrix and Vector that hold state and covariance information in
+ * an estimation problem; SRI include a Namelist which associates readable labels with
+ * the elements of the state and covariance.
+ */
+
+class Namelist {
+ friend class SRI;
+ friend std::ostream& operator<<(std::ostream&, const LabelledMatrix&);
+ friend std::ostream& operator<<(std::ostream&, const LabelledVector&);
+public:
+ /// empty constructor
+ Namelist(void) {}
+ /// constructor given dimension - creates default labels
+ Namelist(const unsigned int&);
+ /// explicit constructor - only a unique subset of the input will be included.
+ Namelist(const std::vector<std::string>&);
+ /// copy constructor
+ Namelist(const Namelist& names) { labels = names.labels; }
+ /// destructor
+ ~Namelist(void) { labels.clear(); }
+
+ /// operator=
+ Namelist& operator=(const Namelist& right)
+ { labels = right.labels; return *this; }
+ /// add a single name to the Namelist; do nothing if the name is not unique.
+ Namelist& operator+=(const std::string&);
+ /// remove a name from the Namelist; does nothing if the name is not found.
+ Namelist& operator-=(const std::string&);
+
+ /// swap two elements, as given by their indexes; no effect if either index
+ /// is out of range.
+ void swap(const unsigned int&, const unsigned int&);
+ /// reorder the list by sorting
+ void sort(void);
+ /// resize the list by either truncation or adding default names.
+ void resize(unsigned int);
+ /// randomize the list
+ void randomize(long seed=0);
+ /// empty the list
+ void clear(void) { labels.clear(); }
+
+ /// is the Namelist valid? checks for repeated names
+ /// (? not possible to create an invalid Namelist?)
+ bool valid(void) const;
+ /// does the Namelist contain the input name?
+ bool contains(const std::string&) const;
+ /// are two Namelists identical, ignoring permutations?
+ friend bool operator==(const Namelist&, const Namelist&);
+ /// are two Namelists different, ignoring permutations?
+ friend bool operator!=(const Namelist&, const Namelist&);
+ /// are two Namelists exactly identical, even considering permutations?
+ friend bool identical(const Namelist&, const Namelist&);
+
+ /// construct the subset Namelist which is common to the two inputs (AND)
+ friend Namelist operator&(const Namelist&, const Namelist&);
+ /// merge two Namelists, i.e. construct a non-redundant combination (OR)
+ friend Namelist operator|(const Namelist&, const Namelist&);
+ /// construct the subset Namelist which is NOT common to two others (XOR)
+ friend Namelist operator^(const Namelist&, const Namelist&);
+ /// replace this with (this & input)
+ Namelist& operator&=(const Namelist&);
+ /// replace this with (this | input)
+ Namelist& operator|=(const Namelist&);
+ /// replace this with (this ^ input)
+ Namelist& operator^=(const Namelist&);
+
+ /// bind a Namelist to a Matrix<double> before sending it to an output
+ /// stream, to get a 'labelled display' of the matrix.
+ LabelledMatrix operator()(Matrix<double>& m)
+ { return LabelledMatrix(*this,m); }
+
+ /// bind a Namelist to a Vector<double> before sending it to an output
+ /// stream, to get a 'labelled display' of the vector.
+ LabelledVector operator()(Vector<double>& v)
+ { return LabelledVector(*this,v); }
+
+ // member access
+
+ /// return the size of the list.
+ inline unsigned int size(void) const { return labels.size(); }
+
+ //std::string& operator[](const unsigned int);
+ //Don't do this, b/c it means user could create invalid Namelists,
+ //and b/c passing an invalid int would require a throw
+
+ /// access to a specific name, given its index.
+ /// returns 'out-of-range' if the index is out of range.
+ std::string getName(const unsigned int) const;
+
+ /// assign a specific name, given its index;
+ /// no effect if the name is not unique;
+ /// return true if successful.
+ bool setName(const unsigned int, const std::string&);
+
+ /// return the index of the name in the list that matches the input,
+ /// -1 if not found.
+ int index(const std::string&) const;
+
+ /// output operator
+ friend std::ostream& operator<<(std::ostream& s, const Namelist&);
+
+ // member data
+
+ /// vector of names (strings)
+ std::vector<std::string> labels;
+
+//private:
+}; // end class Namelist
+
+} // end of namespace gpstk
+
+#endif
diff --git a/dev/apps/geomatics/lib/PhaseWindup.cpp b/dev/apps/geomatics/lib/PhaseWindup.cpp
new file mode 100644
index 0000000..137fd11
--- /dev/null
+++ b/dev/apps/geomatics/lib/PhaseWindup.cpp
@@ -0,0 +1,407 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file PhaseWindup.cpp
+ * Implement computations of phase windup, solar ephemeris, satellite attitude
+ * and eclipse at the satellite.
+ */
+
+// -----------------------------------------------------------------------------------
+// GPSTk includes
+#include "StringUtils.hpp"
+#include "Position.hpp"
+#include "Matrix.hpp"
+#include "geometry.hpp" // DEG_TO_RAD
+#include "icd_200_constants.hpp" // TWO_PI
+
+using namespace std;
+using namespace gpstk;
+using namespace StringUtils;
+
+// -----------------------------------------------------------------------------------
+namespace gpstk {
+
+// -----------------------------------------------------------------------------------
+void SolarPosition(DayTime t, double& lat, double& lon, double& R, double& AR);
+Matrix<double> SatelliteAttitude(DayTime& tt, Position& SV, double& sf);
+double shadowFactor(double Rearth, double Rsun, double dES);
+static double GMST(DayTime t);
+
+// -----------------------------------------------------------------------------------
+// Given a Position, compute unit (ECEF) vectors in the Up, East and North directions
+// at that position. Use geodetic coordinates, i.e. 'up' is perpendicular to the
+// geoid. Return the vectors in the form of a 3x3 Matrix<double>, this is in fact the
+// rotation matrix that will take an ECEF vector into an 'up-east-north' vector.
+Matrix<double> UpEastNorth(Position& P)
+{
+try {
+ Matrix<double> R(3,3);
+ P.transformTo(Position::Geodetic);
+
+ double lat = P.getGeodeticLatitude() * DEG_TO_RAD; // rad N
+ double lon = P.getLongitude() * DEG_TO_RAD; // rad E
+ double ca = ::cos(lat);
+ double sa = ::sin(lat);
+ double co = ::cos(lon);
+ double so = ::sin(lon);
+
+ // This is the rotation matrix which will take X=(x,y,z) into (R*X)(up,east,north)
+ R(0,0) = ca*co; R(0,1) = ca*so; R(0,2) = sa;
+ R(1,0) = -so; R(1,1) = co; R(1,2) = 0.;
+ R(2,0) = -sa*co; R(2,1) = -sa*so; R(2,2) = ca;
+
+ // The rows of R are also the unit vectors, in ECEF, of up,east,north;
+ // R = (U && E && N) = transpose(U || E || N).
+ //Matrix<double> U = R.rowCopy(0);
+ //Matrix<double> E = R.rowCopy(1);
+ //Matrix<double> N = R.rowCopy(2);
+
+ return R;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+// -----------------------------------------------------------------------------------
+// Generate a 3x3 rotation Matrix, for direct rotations about one axis
+// (for XYZ, axis=123), given the rotation angle in radians;
+// @param angle in radians.
+// @param axis 1,2,3 as rotation about X,Y,Z.
+// @return Rotation matrix (3x3).
+// @throw InvalidInput if axis is anything other than 1, 2 or 3.
+Matrix<double> SingleAxisRotation(double angle,
+ int axis)
+ throw(Exception)
+{
+try {
+ if(axis < 1 || axis > 3) {
+ Exception e(string("Invalid axis (1,2,3 <=> X,Y,Z): ") + asString(axis));
+ GPSTK_THROW(e);
+ }
+ Matrix<double> R(3,3,0.0);
+
+ int i1=axis-1; // axis = 1 : 0,1,2
+ int i2=i1+1; if(i2 == 3) i2=0; // axis = 2 : 1,2,0
+ int i3=i2+1; if(i3 == 3) i3=0; // axis = 3 : 2,0,1
+
+ R(i1,i1) = 1.0;
+ R(i2,i2) = R(i3,i3) = ::cos(angle);
+ R(i3,i2) = -(R(i2,i3) = ::sin(angle));
+
+ return R;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+// -----------------------------------------------------------------------------------
+// Compute the satellite attitude, given the time and the satellite position SV.
+// Return a 3x3 Matrix which contains, as rows, the unit (ECEF) vectors X,Y,Z in the
+// body frame of the satellite, namely
+// Z = along the boresight (i.e. towards Earth center),
+// Y = perpendicular to both Z and the satellite-sun direction, and
+// X completing the orthonormal triad. X will generally point toward the sun.
+// Also return the shadow factor = fraction of the sun's area visible to satellite.
+Matrix<double> SatelliteAttitude(DayTime& tt, Position& SV, double& sf)
+{
+try {
+ int i;
+ double d,svrange,lat,lon,DistSun,Radsun,Radearth,dES;
+ Position X,Y,Z,T;
+ Matrix<double> R(3,3);
+
+ // Z points from satellite to Earth center - along the antenna boresight
+ Z = SV;
+ Z.transformTo(Position::Cartesian);
+ svrange = Z.mag();
+ d = -1.0/Z.mag();
+ Z = d * Z; // reverse and normalize Z
+
+ // T points from satellite to sun
+ SolarPosition(tt, lat, lon, DistSun, Radsun);
+ Radsun *= DEG_TO_RAD; // angular radius of sun at satellite
+ Radearth = ::asin(6378137.0/svrange); // angular radius of earth at sat
+
+ T.setGeocentric(lat,lon,DistSun); // vector earth to sun
+ T.transformTo(Position::Cartesian);
+ T = T - SV; // sat to sun=(E to sun)-(E to sat)
+ d = 1.0/T.mag();
+ T = d * T; // normalize T
+
+ dES = ::acos(Z.dot(T)); // apparent angular distance, earth
+ // to sun, as seen at satellite
+
+ sf = shadowFactor(Radearth, Radsun, dES); // is satellite in eclipse?
+ //if(sf > 0.999) { ; // total eclipse }
+ //else if(sf > 0.0) { ; // partial eclipse }
+ //else { ; // no eclipse }
+
+ // Y is perpendicular to Z and T, such that ...
+ Y = Z.cross(T);
+ d = 1.0/Y.mag();
+ Y = d * Y; // normalize Y
+
+ // ... X points generally in the direction of the sun
+ X = Y.cross(Z); // X will be unit vector
+ if(X.dot(T) < 0) { // need to reverse X, hence Y also
+ X = -1.0 * X;
+ Y = -1.0 * Y;
+ }
+
+ // fill the matrix and return it
+ for(i=0; i<3; i++) {
+ R(0,i) = X[i];
+ R(1,i) = Y[i];
+ R(2,i) = Z[i];
+ }
+
+ return R;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+// -----------------------------------------------------------------------------------
+// Compute the phase windup, in cycles, given the time, the unit vector from receiver
+// to transmitter, and the west and north unit vectors at the receiver, all in ECEF.
+// YR is the West unit vector, XR is the North unit vector, at the receiver.
+// shadow is the fraction of the sun's area visible at the satellite.
+double PhaseWindup(DayTime& tt, // epoch of interest
+ Position& SV, // satellite position
+ Position& Rx2Tx, // unit vector from receiver to satellite
+ Position& YR, // west unit vector at receiver
+ Position& XR, // north unit vector at receiver
+ double& shadow) // fraction of sun visible at satellite
+{
+try {
+ double d,windup=0.0;
+ Position DR,DT;
+ Position TR = -1.0 * Rx2Tx; // transmitter to receiver
+
+ // get satellite attitude
+ Position XT,YT,ZT;
+ Matrix<double> Att = SatelliteAttitude(tt, SV, shadow);
+ XT = Position(Att(0,0),Att(0,1),Att(0,2)); // Cartesian is default
+ YT = Position(Att(1,0),Att(1,1),Att(1,2));
+ ZT = Position(Att(2,0),Att(2,1),Att(2,2));
+
+ // compute effective dipoles at receiver and transmitter
+ DR = XR - TR * TR.dot(XR) + Position(TR.cross(YR));
+ DT = XT - TR * TR.dot(XT) - Position(TR.cross(YT));
+
+ // normalize
+ d = 1.0/DR.mag();
+ DR = d * DR;
+ d = 1.0/DT.mag();
+ DT = d * DT;
+
+ windup = ::acos(DT.dot(DR)) / TWO_PI;
+
+ return windup;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Solar ephemeris, in ECEF coordinates.
+// Accuracy is about 1 arcminute, when t is within 2 centuries of 2000.
+// Ref. Astronomical Almanac pg C24, as presented on USNO web site.
+// input
+// t epoch of interest
+// output
+// lat,lon,R latitude, longitude and distance (deg,deg,m in ECEF) of sun at t.
+// AR apparent angular radius of sun as seen at Earth (deg) at t.
+void SolarPosition(DayTime t, double& lat, double& lon, double& R, double& AR)
+{
+try {
+ //const double mPerAU = 149598.0e6;
+ double D; // days since J2000
+ double g,q;
+ double L; // sun's geocentric apparent ecliptic longitude (deg)
+ //double b=0; // sun's geocentric apparent ecliptic latitude (deg)
+ double e; // mean obliquity of the ecliptic (deg)
+ //double R; // sun's distance from Earth (m)
+ double RA; // sun's right ascension (deg)
+ double DEC; // sun's declination (deg)
+ //double AR; // sun's apparent angular radius as seen at Earth (deg)
+
+ D = t.JD() - 2451545.0;
+ g = (357.529 + 0.98560028 * D) * DEG_TO_RAD;
+ q = 280.459 + 0.98564736 * D;
+ L = (q + 1.915 * ::sin(g) + 0.020 * ::sin(2*g)) * DEG_TO_RAD;
+
+ e = (23.439 - 0.00000036 * D) * DEG_TO_RAD;
+ RA = atan2(::cos(e)*::sin(L),::cos(L)) * RAD_TO_DEG;
+ DEC = ::asin(::sin(e)*::sin(L)) * RAD_TO_DEG;
+
+ //equation of time = apparent solar time minus mean solar time
+ //= [q-RA (deg)]/(15deg/hr)
+
+ // compute the hour angle of the vernal equinox = GMST and convert RA to lon
+ lon = fmod(RA-GMST(t),360.0);
+ if(lon < -180.0) lon += 360.0;
+ if(lon > 180.0) lon -= 360.0;
+
+ lat = DEC;
+
+ // ECEF unit vector in direction Earth to sun
+ //xhat = ::cos(lat*DEG_TO_RAD)*::cos(lon*DEG_TO_RAD);
+ //yhat = ::cos(lat*DEG_TO_RAD)*::sin(lon*DEG_TO_RAD);
+ //zhat = ::sin(lat*DEG_TO_RAD);
+
+ // R in AU
+ R = 1.00014 - 0.01671 * ::cos(g) - 0.00014 * ::cos(2*g);
+ // apparent angular radius in degrees
+ AR = 0.2666/R;
+ // convert to meters
+ R *= 149598.0e6;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Consider the sun and the earth as seen from the satellite. Let the sun be a circle
+// of angular radius r, center in direction s, and the earth be a (larger) circle
+// of angular radius R, center in direction e. The circles overlap if |e-s| < R+r;
+// complete overlap if |e-s| < R-r. The satellite is in penumbra if R-r < |e-s| < R+r,// it is in umbra if |e-s| < R-r.
+// Let L == |e-s|. What is the area of overlap in penumbra : R-r < L < R+r ?
+// Call the two points where the circles intersect p1 and p2. Draw a line from e to s;
+// call the points where this line intersects the two circles r1 and R1, respectively.
+// Draw lines from e to s, e to p1, e to p2, s to p1 and s to p2. Call the angle
+// between e-s and e-p1 alpha, and that between s-e and s-p1, beta.
+// Draw a rectangle with top and bottom parallel to e-s passing through p1 and p2,
+// and with sides passing through s and r1. Similarly for e and R1. Note that the
+// area of intersection lies within the intersection of these two rectangles.
+// Call the area of the rectangle outside the circles A and B. The height H of the
+// rectangles is
+// H = 2Rsin(alpha) = 2rsin(beta)
+// also L = rcos(beta)+Rcos(alpha)
+// The area A will be the area of the rectangle
+// minus the area of the wedge formed by the angle 2*alpha
+// minus the area of the two triangles which meet at s :
+// A = RH - (2alpha/2pi)*pi*R*R - 2*(1/2)*(H/2)Rcos(alpha)
+// Similarly
+// B = rH - (2beta/2pi)*pi*r*r - 2*(1/2)*(H/2)rcos(beta)
+// The area of intersection will be the area of the rectangular intersection
+// minus the area A
+// minus the area B
+// Intersection = H(R+r-L) - A - B
+// = HR+Hr-HL -HR+alpha*R*R+(H/2)Rcos(alpha) -Hr+beta*r*r+(H/2)rcos(beta)
+// Cancel terms, and substitute for L using above equation L = ..
+// = -(H/2)rcos(beta)-(H/2)Rcos(alpha)+alpha*R*R+beta*r*r
+// substitute for H/2
+// = -R*R*sin(alpha)cos(alpha)-r*r*sin(beta)cos(beta)+alpha*R*R+beta*r*r
+// Intersection = R*R*[alpha-sin(alpha)cos(alpha)]+r*r*[beta-sin(beta)cos(beta)]
+// Solve for alpha and beta in terms of R, r and L using the H and L relations above
+// (r/R)cos(beta)=(L/R)-cos(alpha)
+// (r/R)sin(beta)=sin(alpha)
+// so
+// (r/R)^2 = (L/R)^2 - (2L/R)cos(alpha) + 1
+// cos(alpha) = (R/2L)(1+(L/R)^2-(r/R)^2)
+// cos(beta) = (L/r) - (R/r)cos(alpha)
+// and 0 <= alpha or beta <= pi
+//
+// Rearth angular radius of the earth as seen at the satellite
+// Rsun angular radius of the sun as seen at the satellite
+// dES angular distance of the sun from the earth
+// return fraction (0 <= f <= 1) of area of sun covered by earth
+// units only need be consistent
+double shadowFactor(double Rearth, double Rsun, double dES)
+{
+try {
+ if(dES >= Rearth+Rsun) return 0.0;
+ if(dES <= fabs(Rearth-Rsun)) return 1.0;
+ double r=Rsun, R=Rearth, L=dES;
+ if(Rsun > Rearth) { r=Rearth; R=Rsun; }
+ double cosalpha = (R/L)*(1.0+(L/R)*(L/R)-(r/R)*(r/R))/2.0;
+ double cosbeta = (L/r) - (R/r)*cosalpha;
+ double sinalpha = ::sqrt(1-cosalpha*cosalpha);
+ double sinbeta = ::sqrt(1-cosbeta*cosbeta);
+ double alpha = ::asin(sinalpha);
+ double beta = ::asin(sinbeta);
+ double shadow = r*r*(beta-sinbeta*cosbeta)+R*R*(alpha-sinalpha*cosalpha);
+ shadow /= ::acos(-1.0)*Rsun*Rsun;
+ return shadow;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+double GMST(DayTime t)
+{
+try {
+ // days' since epoch = +/-(integer+0.5)
+ double days = t.JD() - 2451545;
+ int d=int(days);
+ if(d < 0 && days==double(d)) d++;
+ days = d + (days<0.0 ? -0.5 : 0.5);
+ double Tp = days/36525.0;
+
+ // Compute GMST
+ double G;
+ //G = 24060.0 + 50.54841 + 8640184.812866*Tp; // seconds (24060s = 6h 41min)
+ //G /= 86400.0; // instead, divide the above equation by 86400.0 manually...
+ G = 0.27847222 + 0.00058505104167 + 100.0021390378009*Tp;
+ G += (0.093104 - 6.2e-6*Tp)*Tp*Tp/86400.0; // seconds/86400 = circles
+ double r=1.002737909350795 + (5.9006e-11 - 5.9e-15*Tp)*Tp;
+ G += r*t.secOfDay()/86400.0; // circles
+ G *= 360.0; // degrees
+ //G = fmod(G,360.0);
+ //if(G < -180.0) G += 360.0;
+ //if(G > 180.0) G -= 360.0;
+
+ return G;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+} // end namespace gpstk
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/lib/PhaseWindup.hpp b/dev/apps/geomatics/lib/PhaseWindup.hpp
new file mode 100644
index 0000000..25ca6b1
--- /dev/null
+++ b/dev/apps/geomatics/lib/PhaseWindup.hpp
@@ -0,0 +1,59 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file PhaseWindup.hpp
+ * Include file for the phase windup routines.
+ */
+
+#ifndef PHASE_WINDUP_INCLUDE
+#define PHASE_WINDUP_INCLUDE
+
+namespace gpstk {
+// -----------------------------------------------------------------------------------
+ Matrix<double> UpEastNorth(Position& P);
+ Matrix<double> SingleAxisRotation(double angle, int axis);
+ double PhaseWindup(DayTime& tt,
+ Position& SV,
+ Position& Rx2Tx,
+ Position& RxW,
+ Position& RxN,
+ double& shadow);
+// -----------------------------------------------------------------------------------
+} // end namespace gpstk
+#endif
diff --git a/dev/apps/geomatics/lib/PreciseRange.cpp b/dev/apps/geomatics/lib/PreciseRange.cpp
new file mode 100644
index 0000000..3575358
--- /dev/null
+++ b/dev/apps/geomatics/lib/PreciseRange.cpp
@@ -0,0 +1,201 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file PreciseRange.cpp
+ * Implement computation of range and associated quantities from EphemerisStore,
+ * including earth orientation corrections, given receiver position and time,
+ * in class PreciseRange.
+ */
+
+// -----------------------------------------------------------------------------------
+// GPSTk includes
+#include "PreciseRange.hpp"
+#include "MiscMath.hpp"
+#include "GPSGeoid.hpp"
+#include "icd_200_constants.hpp"
+#include "geometry.hpp"
+#include "GeodeticFrames.hpp"
+
+// Geomatic lib includes
+#include "GSatID.hpp"
+
+using namespace std;
+
+namespace gpstk
+{
+ double PreciseRange::ComputeAtReceiveTime(const DayTime& tr_nom,
+ const Position& Rx,
+ const int prn,
+ const EphemerisStore& Eph,
+ const EarthOrientation& EO)
+ throw(EphemerisStore::NoEphemerisFound)
+ {
+ try {
+ int nit,i;
+ double tof,tof_old,wt,sx,sy;
+ GPSGeoid geoid;
+ static bool first=false;
+
+ nit = 0;
+ tof = 0.07; // time of flight, initial guess 70ms
+ do {
+ // best estimate of transmit time
+ transmit = tr_nom;
+ transmit -= tof;
+ tof_old = tof;
+
+ // get SV position
+ try {
+ GSatID sat(prn,GSatID::systemGPS);
+ Xvt svPosVel = Eph.getSatXvt(sat,transmit);
+ SVR = Position(svPosVel.x[0],svPosVel.x[1],svPosVel.x[2]);// default is
+ SVV = Position(svPosVel.v[0],svPosVel.v[1],svPosVel.v[2]);// Cartesian
+ SVdtime = svPosVel.dtime;
+ SVdrift = svPosVel.ddtime;
+ }
+ catch(EphemerisStore::NoEphemerisFound& e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(InvalidRequest& ir)
+ {
+ EphemerisStore::NoEphemerisFound nef(ir);
+ GPSTK_THROW(nef);
+ }
+
+ // compute new time of flight
+ tof = range(SVR,Rx);
+ tof /= geoid.c();
+
+ // correct for Earth rotation
+ double rr1,rr2;
+ Matrix<double> Rot1,Rot2;
+ Vector<double> Rterr1(3),Rcel(3),Rterr2(3);
+
+ wt = geoid.angVelocity()*tof;
+ Rot1 = rotation<double>(wt,3);
+ if(first) {
+ cout << "Simple rotation\n"
+ << fixed << setw(13) << setprecision(9) << Rot1 << endl;
+ }
+ Matrix<double> W=GeodeticFrames::PolarMotion(EO.xp,EO.yp);
+ Matrix<double> Srx =
+ rotation<double>(
+ (GeodeticFrames::GMST(transmit,0.0,false)
+ -GeodeticFrames::GMST(tr_nom,EO.UT1mUTC,false)),3);
+ Rot2 = transpose(W)*Srx;
+ if(first) {
+ cout << "Complex rotation\n"
+ << fixed << setw(13) << setprecision(9) << Rot2 << endl;
+ }
+
+ for(i=0; i<3; i++) Rcel(i)=SVR[i];
+ Rterr1 = Rot1*Rcel;
+ Rterr2 = Rot2*Rcel;
+ for(i=0; i<3; i++) SVR[i]=Rterr1(i);
+ //for(i=0; i<3; i++) SVR[i]=Rterr2(i);
+
+ rr1 = range(SVR,Rx);
+ rr2 = range(SVR,Rx);
+
+ if(first) {
+ cout << "Simple result "
+ << fixed << setw(13) << setprecision(9) << Rterr1 << endl;
+ cout << "Complex result "
+ << fixed << setw(13) << setprecision(9) << Rterr2 << endl;
+ cout << "Position difference "
+ << fixed << setw(13) << setprecision(9) << (Rterr1-Rterr2) << endl;
+ cout << "Range difference "
+ << fixed << setw(13) << setprecision(9) << (rr1-rr2) << endl;
+ first = false;
+ }
+
+ // update raw range
+ rawrange = rr1;
+ //rawrange = rr2;
+
+ tof = rawrange/geoid.c();
+
+ // dont forget velocity - used for relativity
+ for(i=0; i<3; i++) Rcel(i)=SVV[i];
+ Rterr1 = Rot1*Rcel;
+ for(i=0; i<3; i++) SVV[i]=Rterr1(i);
+ //Rterr2 = Rot2*Rcel;
+ //for(i=0; i<3; i++) SVV[i]=Rterr2(i);
+
+ } while(ABS(tof-tof_old)>1.e-13 && ++nit<5);
+
+ relativity = PreciseRelativityCorrection(SVR,SVV) * C_GPS_M;
+ // relativity correction is added to dtime by the
+ // EphemerisStore::getPrnXvt routines...
+
+ svclkbias = SVdtime*C_GPS_M - relativity;
+ svclkdrift = SVdrift * C_GPS_M;
+
+ cosines[0] = (Rx.X()-SVR.X())/rawrange;
+ cosines[1] = (Rx.Y()-SVR.Y())/rawrange;
+ cosines[2] = (Rx.Z()-SVR.Z())/rawrange;
+
+ elevation = Rx.elevation(SVR);
+ azimuth = Rx.azimuth(SVR);
+
+ return (rawrange-svclkbias-relativity);
+
+ }
+ catch(gpstk::Exception& e) {
+ GPSTK_RETHROW(e);
+ }
+ } // end PreciseRange::ComputeAtReceiveTime
+
+ double PreciseRelativityCorrection(const Position& R, const Position& V)
+ {
+ // relativity correction is added to dtime by the
+ // EphemerisStore::getPrnXvt routines...
+ // dtr = -2*dot(R,V)/(c*c) = -4.4428e-10(s/sqrt(m)) * ecc * sqrt(A(m)) * sinE
+ // compute it separately here, in units seconds.
+ double dtr = -2*(R.X()/C_GPS_M)*(V.X()/C_GPS_M)
+ -2*(R.Y()/C_GPS_M)*(V.Y()/C_GPS_M)
+ -2*(R.Z()/C_GPS_M)*(V.Z()/C_GPS_M);
+
+ // TD add Sagnac and second order terms
+
+ return dtr;
+ }
+
+} // namespace gpstk
diff --git a/dev/apps/geomatics/lib/PreciseRange.hpp b/dev/apps/geomatics/lib/PreciseRange.hpp
new file mode 100644
index 0000000..b5a83e5
--- /dev/null
+++ b/dev/apps/geomatics/lib/PreciseRange.hpp
@@ -0,0 +1,124 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file PreciseRange.hpp
+ * Include file defining class PreciseRange: computation of range and associated
+ * quantities from EphemerisStore, including earth orientation corrections,
+ * given receiver position and time.
+ */
+
+//------------------------------------------------------------------------------------
+#ifndef EPHEMERIS_RANGE_HPP
+#define EPHEMERIS_RANGE_HPP
+
+//------------------------------------------------------------------------------------
+// GPSTk
+#include "DayTime.hpp"
+#include "Position.hpp"
+#include "EphemerisStore.hpp"
+#include "Matrix.hpp"
+#include "Xvt.hpp"
+
+// DDBase
+#include "EarthOrientation.hpp"
+
+//------------------------------------------------------------------------------------
+namespace gpstk
+{
+ /** @addtogroup ephemcalc */
+ //@{
+
+ /** class PreciseRange. Compute the corrected range from receiver
+ * at position Rx, to the GPS satellite given by PRN prn, as well as azimuth,
+ * elevation, etc., given a nominal timetag (either received or transmitted
+ * time) and an EphemerisStore.
+ */
+ class PreciseRange
+ {
+ public:
+ /// Default constructor.
+ PreciseRange() {}
+
+ /// Compute the corrected range at RECEIVE time, from receiver at
+ /// position Rx, to the GPS satellite given by PRN prn, as well as all
+ /// the CER quantities, given the nominal receive time tr_nom and
+ /// an EphemerisStore.
+ double ComputeAtReceiveTime(const DayTime& tr_nom,
+ const Position& Rx, const int prn, const EphemerisStore& Eph,
+ const EarthOrientation& EO)
+ throw(EphemerisStore::NoEphemerisFound);
+
+ /// Compute the corrected range at TRANSMIT time, from receiver at
+ /// position Rx, to the GPS satellite given by PRN prn, as well as all
+ /// the CER quantities, given the nominal receive time tr_nom and
+ /// an EphemerisStore.
+ double ComputeAtTransmitTime(const DayTime& tr_nom, const double& pr,
+ const Position& Rx, const int prn, const EphemerisStore& Eph,
+ const EarthOrientation& EO);
+
+ /// The computed raw (geometric) range in meters.
+ double rawrange;
+ /// The satellite clock bias in meters.
+ double svclkbias;
+ /// The satellite clock drift in m/s.
+ double svclkdrift;
+ /// The relativity correction in meters.
+ double relativity;
+ /// The satellite elevation, as seen at the receiver, in degrees.
+ double elevation;
+ /// The satellite azimuth, as seen at the receiver, in degrees.
+ double azimuth;
+ /// The computed transmit time of the signal.
+ DayTime transmit;
+ /// The direction cosines of the satellite, as seen at the receiver (XYZ).
+ Triple cosines;
+ /// The satellite position (m) and velocity (m/s) in ECEF coordinates.
+ Position SVR,SVV;
+ double SVdtime,SVdrift;
+
+ }; // end class PreciseRange
+
+ /// Compute relativity correction (meters) from the satellite position and velocity
+ double PreciseRelativityCorrection(const Position& R, const Position& V);
+
+ //@}
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/apps/geomatics/lib/RobustStats.cpp b/dev/apps/geomatics/lib/RobustStats.cpp
new file mode 100644
index 0000000..ed7e4e0
--- /dev/null
+++ b/dev/apps/geomatics/lib/RobustStats.cpp
@@ -0,0 +1,328 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file RobustStats.cpp
+ * Namespace Robust includes basic robust statistical computations, including median,
+ * median average deviation, quartiles and m-estimate, as well as implementation of
+ * of stem-and-leaf plots, quantile plots and robust least squares estimation of a
+ * polynomial.
+ * Reference: Mason, Gunst and Hess, "Statistical Design and
+ * Analysis of Experiments," Wiley, New York, 1989.
+ */
+
+//------------------------------------------------------------------------------------
+// GPSTk includes
+#include "Exception.hpp"
+#include "StringUtils.hpp"
+#include "Matrix.hpp"
+#include "RobustStats.hpp"
+
+//------------------------------------------------------------------------------------
+// moved to RobustStats.hpp as macros
+//const double gpstk::Robust::TuningT=1.5; // or 1.345; // or 1.5
+//const double gpstk::Robust::TuningA=0.778; // or 0.67; // or 0.778
+//const double gpstk::Robust::TuningE=0.6745;
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+using namespace StringUtils;
+
+//------------------------------------------------------------------------------------
+inline long Stem(double x, double& scale) { return (long(x/scale)); }
+
+//------------------------------------------------------------------------------------
+void Robust::StemLeafPlot(ostream& os, double *xd, long nd, string msg)
+ throw(Exception)
+{
+ long stem, l, nout=0, s, sM, sQ1, sQ3, sOH, sOL;
+ int i, sign, pos, k, leaf;
+ unsigned len=0, kk;
+ char c;
+ double x,scale;
+ string buf;
+
+ if(!xd || nd < 2) GPSTK_THROW(Exception("Invalid input"));
+
+ // find range
+ double range = xd[nd-1] - xd[0]; // max - min
+ if(range < 0.0)
+ GPSTK_THROW(Exception("Array is not sorted"));
+ if(range == 0.0)
+ range = xd[0]; //GPSTK_THROW(Exception("Array has zero range"));
+
+ // find scale
+ scale = 0.0;
+ short nscale=0; // scale = 1*10^nscale
+ if(range >= 10.0)
+ sign = 1;
+ else if(range < 1.0)
+ sign = -1;
+ else
+ scale = 1.0;
+
+ if(!scale) do {
+ nscale += sign;
+ } while(range*::pow(10.0,-nscale) < 1.0 || range*::pow(10.0,-nscale) >= 10.0);
+
+ scale = ::pow(10.0,nscale);
+
+ double M=Robust::Median(xd,nd);
+ double Q1,Q3;
+ Robust::Quartiles(xd,nd,Q1,Q3);
+ // outlier limits
+ double OH=2.5*Q3-1.5*Q1; // outlier high limit
+ double OL=2.5*Q1-1.5*Q3; // outlier low limit ('oh L' not 'zero L')
+
+ // starting stem=stem(min=xd[0]), and stem step==scale
+ i = 1+short((range/scale)+0.5); // number of stems
+ if(xd[0]*xd[nd-1] < 0.0) i++; // add one stem for zero
+ if(nd > 8 && i < 8 && xd[nd-1] != xd[0]) { // fudge so #stems is big enough
+ scale /= 10.0;
+ nscale--;
+ }
+
+ // find length of stem for printing
+ buf = asString<long>(::abs(Stem(xd[0],scale)));
+ len = buf.size();
+ buf = asString<long>(::abs(Stem(xd[nd-1],scale)));
+ if(len < buf.size()) len=buf.size();
+ buf = asString<long>(::abs(Stem(M,scale)));
+ if(len < buf.size()) len=buf.size();
+
+ // loop through data, adding stems and leaves to plot
+ bool start=true;
+ if(xd[0] < 0.0) pos=-1; else pos=1;
+ sM = Stem(M,scale);
+ sQ1 = Stem(Q1,scale);
+ sQ3 = Stem(Q3,scale);
+ sOH = Stem(OH,scale);
+ sOL = Stem(OL,scale);
+ for(l=0; l<nd; l++) {
+ // current: stem=s,pos; data=stem,sign(xd[l])
+ if(xd[l]>OH || xd[l]<OL) nout++; // count outliers
+ sign = 1;
+ if(xd[l] < 0.0) sign=-1;
+ stem = Stem(fabs(xd[l]),scale);
+ x = 10*fabs(xd[l]/scale-sign*stem);
+ leaf = short(x + 0.5);
+ if(leaf == 10) {
+ stem++;
+ leaf=0;
+ }
+ stem = sign*stem;
+
+ // print it
+ if(start || s!=stem || (s==0 && pos*sign<0.0)) {
+ // Change of stem -> print
+ if(start) { // first time through
+ os << "Stem and Leaf Plot (scale "; // print scale
+ i=nscale;
+ if(nscale < 0) {
+ os << "0.";
+ i++;
+ k = 1;
+ }
+ else {
+ os << "1";
+ k = -1;
+ }
+ while(i != 0) {
+ os << "0";
+ i += k;
+ }
+ if(nscale < 0)
+ os << "1";
+ else
+ os << ".0";
+ os << ", " << nd << "pts) : "; // print npts
+ if(msg.size() > 0) os << msg; // and message
+ s = stem - 1; // save for later
+ start = false;
+ }
+
+ while(s < stem || (s==0 && pos*sign<0)) { // also print stems without leaves
+ if(s != 0) s++;
+ else if(pos < 0) pos = 1;
+ else s++;
+
+ // print the new line with stem s
+ os << "\n";
+ buf = asString<long>(s < 0 ? -s : s); // abs(stem)
+
+ //for(kk=buf.size(); kk<len; kk++) os << " ";
+ //if(s<0) c='-'; else if(s>0) c='+'; else if(pos>0)c='+'; else c='-';
+ //os << c;
+ //os << buf << " ";
+
+ if(s<0) c='-'; // sign of stem
+ else if(s>0) c='+';
+ else if(pos>0)c='+';
+ else c='-';
+ os << c;
+
+ for(kk=buf.size(); kk<len; kk++) os << " "; // pad out to length
+ os << buf << " "; // stem/axis space
+
+ // now print either |, M (median), Q (quartiles), or >< (outliers)
+ k=0;
+
+ // if s==sM
+ if(s==sM && (s!=0 || pos*M>0.0)) {
+ os << "M"; // marks the median
+ k++;
+ }
+
+ if((s == sQ3 && (s != 0 || pos*Q3 < 0.0)) ||
+ (s == sQ1 && (s != 0 || pos*Q1 < 0.0) )) {
+ os << "Q"; // marks a quartile
+ k++;
+ }
+
+ if((s < sOL || (s == 0 && sOL == 0 && (pos == -1 && OL > 0.0))) ||
+ (s == sOL && (s != 0 || pos*OL > 0.0))) {
+ os << "<"; // marks an outlier (small)
+ k++;
+ }
+ else if((s > sOH || (s == 0 && sOH == 0 && (pos == 1 && OH < 0.0))) ||
+ (s == sOH && (s != 0 || pos*OH > 0.0))) {
+ os << ">"; // marks an outlier (big)
+ k++;
+ }
+
+ if(k == 0) {
+ os << "|"; // marks a regular point
+ k++;
+ }
+
+ while(k < 3) {
+ os << " ";
+ k++;
+ }
+ }
+ } // end change stem
+
+ // print leaf
+ os << leaf;
+ }
+
+ os << "\nEND Stem and Leaf Plot (there are " << nout << " outliers.)\n";
+
+} // end StemLeafPlot
+
+
+void Robust::QuantilePlot(double *yd, long nd, double *xd)
+ throw(Exception)
+{
+ if(!xd || nd<2 || !yd) {
+ Exception e("Invalid input");
+ GPSTK_THROW(e);
+ }
+
+ double f;
+ for(int i=0; i<nd; i++) {
+ f = double(8*i+5)/double(8*nd+2); // f(i) = i-3/8 / n+1/4, i=1,n
+ xd[i] = 4.91*(::pow(f,0.14) - ::pow(1-f,0.14));
+ }
+
+} // end QuantilePlot
+
+
+int Robust::RobustPolyFit(double *xd, const double *td, int nd,
+ int N, double *c, double *w)
+ throw(Exception)
+{
+ try {
+ if(!xd || !td || !c || nd < 2) {
+ Exception e("Invalid input");
+ GPSTK_THROW(e);
+ }
+
+ int i,j,niter;
+ double x0=xd[0],t0=td[0],mad,median,conv,conv_limit=::sqrt(double(nd))*1.e-3;
+ Matrix<double> PT,P(nd,N,1.0),Cov;
+ Vector<double> Wts(nd,1.0), Coeff(N,0.0), D(nd), Res, ResCopy;
+
+ // build the data vector and the (constant) partials matrix
+ for(i=0; i<nd; i++) {
+ D(i) = xd[i]-x0;
+ for(j=1; j<N; j++)
+ P(i,j) = P(i,j-1)*(td[i]-t0);
+ }
+
+ // iterate until weights don't change
+ niter = 0;
+ while(1) {
+ // compute partials transpose multiplied by 'weight matrix'=diag(squared wts)
+ PT = transpose(P);
+ for(i=0; i<N; i++)
+ for(j=0; j<nd; j++)
+ PT(i,j) *= Wts(j)*Wts(j);
+ Cov = PT * P; // information matrix
+
+ // solve
+ try { Cov = inverse(Cov); }
+ catch(Exception& e) { return -1; }
+ Coeff = Cov * PT * D;
+
+ // compute residuals
+ ResCopy = Res = D - P*Coeff;
+
+ // compute median and MAD. NB Median() will sort the vector...
+ mad = MedianAbsoluteDeviation(&(ResCopy[0]),ResCopy.size(),median);
+
+ // recompute weights
+ Vector<double> OldWts(Wts);
+ for(i=0; i<nd; i++) {
+ if(Res(i) < -RobustTuningT*mad)
+ Wts(i) = -RobustTuningT*mad/Res(i);
+ else if(Res(i) > RobustTuningT*mad)
+ Wts(i) = RobustTuningT*mad/Res(i);
+ else
+ Wts(i) = 1.0;
+ }
+
+ // test for convergence
+ if(++niter > 20) return -2;
+ conv = RMS(OldWts - Wts);
+ if(conv > 1.) return -3;
+ if(niter > 2 && conv < conv_limit) break;
+ }
+
+ // copy out weights, residuals and solution
+ for(i=0; i<N; i++) c[i] = Coeff(i);
+ //c[0] += x0;
+ for(i=0; i<nd; i++) {
+ xd[i] = Res(i);
+ if(w) w[i] = Wts(i);
+ }
+
+ return 0;
+ }
+ catch(Exception& e) { GPSTK_RETHROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/lib/RobustStats.hpp b/dev/apps/geomatics/lib/RobustStats.hpp
new file mode 100644
index 0000000..2b7d019
--- /dev/null
+++ b/dev/apps/geomatics/lib/RobustStats.hpp
@@ -0,0 +1,477 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file RobustStats.hpp
+ * Namespace Robust includes basic robust statistical computations, including median,
+ * median average deviation, quartiles and m-estimate, as well as implementation of
+ * of stem-and-leaf plots, quantile plots and robust least squares estimation of a
+ * polynomial.
+ * Reference: Mason, Gunst and Hess, "Statistical Design and
+ * Analysis of Experiments," Wiley, New York, 1989.
+ */
+
+#ifndef GPSTK_ROBUSTSTATS_HPP
+#define GPSTK_ROBUSTSTATS_HPP
+
+//------------------------------------------------------------------------------------
+// system includes
+#include <string>
+
+// GPSTk
+#include "Exception.hpp"
+
+namespace gpstk {
+//------------------------------------------------------------------------------------
+#define ABSOLUTE(x) ((x) < T() ? -(x) : (x))
+/// tuning constant used in M-estimate and Robust least squares (SRIFilter.cpp)
+#define RobustTuningT (1.5) // or 1.345
+/// tuning constant used in robust estimate of variance
+#define RobustTuningA (0.778) // or 0.67
+/// tuning constant used in MAD
+#define RobustTuningE (0.6745)
+
+//------------------------------------------------------------------------------------
+ /** @addtogroup math */
+ //@{
+
+ //--------------------------------------------------------------------------------
+ // quick sort, for use by robust statistics routines
+
+ /// Comparison function for sorting.
+ /// Default comparision function int comp(T a, T b) returns
+ /// 1 if a > b, -1 if a < b, and 0 if a==b. A user defined comparison
+ /// function may be passed as a calling argument to the sort routines.
+ /// @param a and b objects of type T to be compared
+ /// @return 1 if a > b, -1 if a < b, or 0 if a==b.
+ template <typename T>
+ int Qsort_compare(const T& a, const T& b) {
+ if(a > b) return 1;
+ else if(a < b) return -1;
+ else return 0;
+ }
+
+ /// Insert sort. operator>() and operator<() must be defined for T,
+ /// and a user comparison function comp(T,T) may be passed to override
+ /// the default Qsort_compare().
+ /// @param sa is the array of type T to be sorted.
+ /// @param na length of the array to be sorted.
+ template <typename T>
+ void insert(T *sa,
+ int na,
+ int (*comp)(const T&, const T&) = gpstk::Qsort_compare)
+ {
+ int i,j;
+ T stemp;
+ for(i=1; i < na; i=i+1) { // insert the i-th element into the sorted array
+ stemp = sa[i];
+ j = i - 1; // find where it goes
+ while((j >= 0) && (comp(stemp,sa[j]) < 0)) {
+ sa[j+1] = sa[j];
+ j = j - 1;
+ }
+ sa[j+1] = stemp;
+ }
+ } // end insert sort
+
+ /// Quick sort in memory, with insert sort for small arrays.
+ /// operator>() and operator<() must be defined for T,
+ /// and a user comparison function comp(T,T) may be passed to
+ /// override the default Qsort_compare().
+ /// @param sa is the array of type T to be sorted.
+ /// @param na length of the array to be sorted.
+ /// @param comp (optional) the comparison function to be used.
+ template <typename T>
+ void QSort(T *sa,
+ int na,
+ int (*comp)(const T&, const T&) = gpstk::Qsort_compare)
+ {
+ int i,j,nr;
+ T stemp, spart;
+ while(1) {
+ if(na < 8) { // use insert sort for small arrays
+ insert(sa,na,comp);
+ return;
+ }
+ spart = sa[na/2]; // pick middle element as pivot
+ i = -1;
+ j = na;
+ while(1) {
+ do { // find first element to move right
+ i = i + 1;
+ } while(comp(sa[i],spart) < 0);
+ do { // find first element to move left
+ j = j - 1;
+ } while(comp(sa[j], spart) > 0);
+ // if the boundaries have met,
+ // through paritioning,
+ if(i >= j) break;
+ // swap i and j elements
+ stemp = sa[i];
+ sa[i] = sa[j];
+ sa[j] = stemp;
+ }
+ nr = na - i;
+ if(i < (na/2)) { // now sort each partition
+ QSort(sa, i, comp); // sort left side
+ sa = &sa[i]; // sort right side here
+ na = nr; // memsort(&(sa[i]),nr,comp);
+ }
+ else {
+ QSort(&(sa[i]), nr, comp); // sort right side
+ na = i;
+ }
+ }
+ } // end QSort
+
+ /// Insert sort one vector, keeping a second parallel.
+ /// See the single-vector version of insert.
+ /// @param sa is the array of type T to be sorted.
+ /// @param pa is the array of type S to be kept parallel to the first.
+ /// @param na length of the array to be sorted.
+ template <typename T, typename S>
+ void insert(T *sa,
+ S *pa,
+ int na,
+ int (*comp)(const T&, const T&) = gpstk::Qsort_compare)
+ {
+ int i,j;
+ T stemp;
+ S ptemp;
+ for(i=1; i < na; i=i+1) { // insert the i-th element into the sorted array
+ stemp = sa[i];
+ ptemp = pa[i];
+ j = i - 1; // find where it goes
+ while((j >= 0) && (comp(stemp,sa[j]) < 0)) {
+ sa[j+1] = sa[j];
+ pa[j+1] = pa[j];
+ j = j - 1;
+ }
+ sa[j+1] = stemp;
+ pa[j+1] = ptemp;
+ }
+ } // end insert sort
+
+ /// Quick sort of one vector, keeping another parallel.
+ /// See the single-vector version of QSort.
+ /// @param sa is the array of type T to be sorted.
+ /// @param pa is the array of type S to be kept parallel to the first.
+ /// @param na length of the array to be sorted.
+ /// @param comp (optional) the comparison function to be used.
+ template <typename T, typename S>
+ void QSort(T *sa,
+ S *pa,
+ int na,
+ int (*comp)(const T&, const T&) = gpstk::Qsort_compare)
+ {
+ int i,j,nr;
+ T stemp, spart;
+ S ptemp, ppart;
+ while(1) {
+ if(na < 8) { // use insert sort for small arrays
+ insert(sa,pa,na,comp);
+ return;
+ }
+ spart = sa[na/2]; // pick middle element as pivot
+ ppart = pa[na/2];
+ i = -1;
+ j = na;
+ while(1) {
+ do { // find first element to move right
+ i = i + 1;
+ } while(comp(sa[i],spart) < 0);
+ do { // find first element to move left
+ j = j - 1;
+ } while(comp(sa[j], spart) > 0);
+ // if the boundaries have met,
+ // through paritioning,
+ if(i >= j) break;
+ // swap i and j elements
+ stemp = sa[i]; ptemp = pa[i];
+ sa[i] = sa[j]; pa[i] = pa[j];
+ sa[j] = stemp; pa[j] = ptemp;
+ }
+ nr = na - i;
+ if(i < (na/2)) { // now sort each partition
+ QSort(sa, pa, i, comp); // sort left side
+ sa = &sa[i]; // sort right side here
+ pa = &pa[i];
+ na = nr; // memsort(&(sa[i]),nr,comp);
+ }
+ else {
+ QSort(&(sa[i]), &(pa[i]), nr, comp); // sort right side
+ na = i;
+ }
+ }
+ } // end QSort
+
+ //--------------------------------------------------------------------------------
+ /// Robust statistics.
+ namespace Robust
+ {
+ /// Compute median of an array of length nd;
+ /// array xd is returned sorted, unless save_flag is true.
+ /// @param xd array of data.
+ /// @param nd length of array xd.
+ /// @param save_flag if true (default), array xd will NOT be trashed.
+ /// @return median of the data in array xd.
+ template <typename T>
+ T Median(T *xd, const int nd, bool save_flag=true)
+ throw(Exception)
+ {
+ if(!xd || nd < 2) {
+ Exception e("Invalid input");
+ GPSTK_THROW(e);
+ }
+
+ try {
+ int i;
+ T med, *save;
+
+ if(save_flag) {
+ save = new T[nd];
+ if(!save) {
+ Exception e("Could not allocate temporary array");
+ GPSTK_THROW(e);
+ }
+ for(i=0; i<nd; i++) save[i]=xd[i];
+ }
+
+ QSort(xd,nd);
+
+ if(nd%2)
+ med = xd[(nd+1)/2-1];
+ else
+ med = (xd[nd/2-1]+xd[nd/2])/T(2);
+
+ // restore original data from temporary
+ if(save_flag) {
+ for(i=0; i<nd; i++) xd[i]=save[i];
+ delete[] save;
+ }
+
+ return med;
+ }
+ catch(Exception& e) { GPSTK_RETHROW(e); }
+
+ } // end Median
+
+ /// Compute the quartiles Q1 and Q3 of an array of length nd.
+ /// Array is assumed sorted in ascending order.
+ /// Quartile are values such that one fourth of the
+ /// samples are larger (smaller) than Q3(Q1).
+ /// @param xd array of data.
+ /// @param nd length of array xd.
+ /// @param Q1 (output) first quartile of data in array xd.
+ /// @param Q3 (output) third quartile of data in array xd.
+ template <typename T>
+ void Quartiles(const T *xd, const int nd, T& Q1, T& Q3)
+ throw(Exception)
+ {
+ if(!xd || nd < 2) {
+ Exception e("Invalid input");
+ GPSTK_THROW(e);
+ }
+
+ int q;
+ if(nd % 2) q = (nd+1)/2;
+ else q = nd/2;
+
+ if(q % 2) {
+ Q1 = xd[(q+1)/2-1];
+ Q3 = xd[nd-(q+1)/2];
+ }
+ else {
+ Q1 = (xd[q/2-1]+xd[q/2])/T(2);
+ Q3 = (xd[nd-q/2]+xd[nd-q/2-1])/T(2);
+ }
+ } // end Quartiles
+
+ /// Compute the median absolute deviation of a double array of length nd,
+ /// as well as the median (M = Median(xd,nd));
+ /// NB this routine will trash the array xd unless save_flag is true (default).
+ /// @param xd array of data (input).
+ /// @param nd length of array xd (input).
+ /// @param M median of data in array xd (output).
+ /// @param save_flag if true (default), array xd will NOT be trashed.
+ /// @return median absolute deviation of data in array xd.
+ template <typename T>
+ T MedianAbsoluteDeviation(T *xd, int nd, T& M, bool save_flag=true)
+ throw(Exception)
+ {
+ int i;
+ T mad, *save;
+
+ if(!xd || nd < 2) {
+ Exception e("Invalid input");
+ GPSTK_THROW(e);
+ }
+
+ // store data in a temporary array
+ if(save_flag) {
+ save = new T[nd];
+ if(!save) {
+ Exception e("Could not allocate temporary array");
+ GPSTK_THROW(e);
+ }
+ for(i=0; i<nd; i++) save[i]=xd[i];
+ }
+
+ // get the median (don't care if xd gets sorted...)
+ M = Median(xd, nd, false);
+
+ // compute xd=abs(xd-M)
+ for(i=0; i<nd; i++) xd[i] = ABSOLUTE(xd[i]-M);
+
+ // sort xd in ascending order
+ QSort(xd, nd);
+
+ // find median and normalize to get mad
+ mad = Median(xd, nd, false) / T(RobustTuningE);
+
+ // restore original data from temporary
+ if(save_flag) {
+ for(i=0; i<nd; i++) xd[i]=save[i];
+ delete[] save;
+ }
+
+ return mad;
+
+ } // end MedianAbsoluteDeviation
+
+ /// Compute the median absolute deviation of a double array of length nd;
+ /// see MedianAbsoluteDeviation().
+ template <typename T>
+ T MAD(T *xd, int nd, T& M, bool save_flag=true)
+ throw(Exception)
+ { return MedianAbsoluteDeviation(xd,nd,M,save_flag); }
+
+ /// Compute the m-estimate. Iteratively determine the m-estimate, which
+ /// is a measure of mean or median, but is less sensitive to outliers.
+ /// M is the median (M=Median(xd,nd)), and MAD is the
+ /// median absolute deviation (MAD=MedianAbsoluteDeviation(xd,nd,M)).
+ /// Optionally, a pointer to an array, which will contain the weights
+ /// on output, may be provided.
+ /// @param xd input array of data.
+ /// @param nd input length of array xd.
+ /// @param M input median of data in array xd.
+ /// @param MAD input median absolute deviation of data in array xd.
+ /// @param w output array of length nd to contain weights on output.
+ /// @return m-estimate of data in array xd.
+ template <typename T>
+ T MEstimate(T *xd, int nd, const T& M, const T& MAD, T *w=NULL)
+ throw(Exception)
+ {
+ try {
+ T tv, m, mold, sum, sumw, *wt, weight, *t;
+ T tol=0.000001;
+ int i, n, N=10; // N is the max number of iterations
+
+ if(!xd || nd < 2) {
+ Exception e("Invalid input");
+ GPSTK_THROW(e);
+ }
+
+ tv = T(RobustTuningT)*MAD;
+ n = 0;
+ m = M;
+ do {
+ mold = m;
+ n++;
+ sum = sumw = T();
+ for(i=0; i<nd; i++) {
+ if(w) wt=&w[i];
+ else wt=&weight;
+ *wt = T(1);
+ if(xd[i]<m-tv) *wt = -tv/(xd[i]-m);
+ else if(xd[i]>m+tv) *wt = tv/(xd[i]-m);
+ sumw += (*wt);
+ sum += (*wt)*xd[i];
+ }
+ m = sum / sumw;
+
+ } while(T(ABSOLUTE((m-mold)/m)) > tol && n < N);
+
+ return m;
+ }
+ catch(Exception& e) { GPSTK_RETHROW(e); }
+
+ } // end MEstimate
+
+ /// Fit a polynomial of degree n to data xd, with independent variable td,
+ /// using robust techniques. The post-fit residuals are returned in the data
+ /// vector, and the computed weights in the result may be output as well.
+ /// Specifically, the equation describing the fit is
+ /// c0 + c[1]*t(j) + c[2]*t(j)*t(j) + ... c[n-1]*pow(t(j),n-1) = xd[j],
+ /// where the zero-th coefficient and the independent variable are debiased
+ /// by the first value; i.e. c0 = c[0]+xd[0] and t(j) = td[i]-td[0].
+ /// Specifically, to evaluate the polynomial at t, eval = f(t), do the following.
+ /// xd0 = xd[0];
+ /// Robust::RobustPolyFit(xd,td,nd,n,c);
+ /// eval = xd0+c[0]; tt = 1.0;
+ /// for(j=1; j<nd; j++) { tt *= (t-td[0]); eval += c[j]*tt; }
+ /// @param xd (input) array of data, of length nd; contains residuals on output.
+ /// @param td (input) array of independent variable, length nd (parallel to xd).
+ /// @param nd (input) length of arrays xd and td.
+ /// @param n (input) degree of polynomial and dimension of coefficient array.
+ /// @param c (output) array of coefficients (dimension n).
+ /// @param w (output, if non-null) array of length nd to contain weights.
+ /// @return 0 for success, -1 for singular problem, -2 failure to converge.
+ int RobustPolyFit(double *xd, const double *td, int nd,
+ int n, double *c, double *w=NULL)
+ throw(Exception);
+
+ /// Print 'stem and leaf' plot of the data in the double array xd of length nd,
+ /// with an optional message, on the given output ostream. It is assumed that
+ /// the input array xd is sorted in ascending order.
+ /// @param os ostream on which to write output.
+ /// @param xd array of data.
+ /// @param nd length of array xd.
+ /// @param msg string containing optional message for output.
+ void StemLeafPlot(std::ostream& os, double *xd, long nd,
+ std::string msg=std::string(""))
+ throw(Exception);
+
+ /// Generate data for a quantile-quantile plot. Given an array of data yd,
+ /// of length nd (sorted in ascending order), and another array xd of the
+ /// same length, fill the xd array with data such that (xd,yd) give a
+ /// quantile-quantile plot. The distribution of yd is a normal distribution
+ /// to the extent that this plot is a straight line, with y-intercept and
+ /// slope identified with mean and standard deviation, respectively, of the
+ /// distribution.
+ /// @param yd array of data, sorted in ascending order.
+ /// @param nd length of array xd.
+ /// @param xd array of length nd containing quantiles of yd on output.
+ void QuantilePlot(double *yd, long nd, double *xd)
+ throw(Exception);
+
+ } // end Robust namespace
+
+ //@}
+
+} // end namespace gpstk
+
+#undef ABSOLUTE
+
+#endif
diff --git a/dev/apps/geomatics/lib/SRI.cpp b/dev/apps/geomatics/lib/SRI.cpp
new file mode 100644
index 0000000..bd8e641
--- /dev/null
+++ b/dev/apps/geomatics/lib/SRI.cpp
@@ -0,0 +1,951 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file SRI.cpp
+ * Implementation of class SRI.
+ * class SRI implements the square root information methods, used for least squares
+ * estimation and the SRI form of the Kalman filter.
+ *
+ * Reference: "Factorization Methods for Discrete Sequential Estimation,"
+ * by G.J. Bierman, Academic Press, 1977.
+ */
+
+// -----------------------------------------------------------------------------------
+// system
+#include <string>
+#include <vector>
+#include <algorithm>
+#include <ostream>
+// GPSTk
+#include "SRI.hpp"
+#include "StringUtils.hpp"
+
+using namespace std;
+
+namespace gpstk
+{
+using namespace StringUtils;
+
+ // --------------------------------------------------------------------------------
+ // used to mark optional input
+ const Matrix<double> SRINullMatrix;
+
+ //---------------------------------------------------------------------------------
+ // constructor given the dimension N.
+ SRI::SRI(const unsigned int N)
+ throw()
+ {
+ R = Matrix<double>(N,N,0.0);
+ Z = Vector<double>(N,0.0);
+ names = Namelist(N);
+ }
+
+ // --------------------------------------------------------------------------------
+ // constructor given a Namelist, its dimension determines the SRI dimension.
+ SRI::SRI(const Namelist& nl)
+ throw()
+ {
+ if(nl.size() <= 0) return;
+ R = Matrix<double>(nl.size(),nl.size(),0.0);
+ Z = Vector<double>(nl.size(),0.0);
+ names = nl;
+ }
+
+ // --------------------------------------------------------------------------------
+ // explicit constructor - throw if the dimensions are inconsistent.
+ SRI::SRI(const Matrix<double>& r,
+ const Vector<double>& z,
+ const Namelist& nl)
+ throw(MatrixException)
+ {
+ if(r.rows() != r.cols() || r.rows() != z.size() || r.rows() != nl.size()) {
+ MatrixException me("Invalid dimensions in explicit SRI constructor:\n R is "
+ + asString<int>(r.rows()) + "x"
+ + asString<int>(r.cols()) + ", Z has length "
+ + asString<int>(z.size()) + " and NL has length "
+ + asString<int>(nl.size())
+ );
+ GPSTK_THROW(me);
+ }
+ if(r.rows() <= 0) return;
+ R = r;
+ Z = z;
+ names = nl;
+ }
+
+ // --------------------------------------------------------------------------------
+ // copy constructor
+ SRI::SRI(const SRI& s)
+ throw()
+ {
+ R = s.R;
+ Z = s.Z;
+ names = s.names;
+ }
+
+ // --------------------------------------------------------------------------------
+ // operator=
+ SRI& SRI::operator=(const SRI& right)
+ throw()
+ {
+ R = right.R;
+ Z = right.Z;
+ names = right.names;
+ return *this;
+ }
+
+ // ---------------------------------------------------------------------------
+ // modify SRIs
+ // --------------------------------------------------------------------------------
+ // Permute the SRI elements to match the input Namelist, which may differ with
+ // the SRI Namelist by AT MOST A PERMUTATION, throw if this is not true.
+ void SRI::permute(const Namelist& nl)
+ throw(MatrixException,VectorException)
+ {
+ if(identical(names,nl)) return;
+ if(names != nl) {
+ MatrixException me("Invalid input: Namelists must be == to permute");
+ GPSTK_THROW(me);
+ }
+
+ try {
+ unsigned int i,j;
+ // build a permutation matrix
+ Matrix<double> P(R.rows(),R.rows(),0.0);
+ for(i=0; i<R.rows(); i++) {
+ j = nl.index(names.getName(i));
+ P(j,i) = 1;
+ }
+
+ Matrix<double> B;
+ Vector<double> Q;
+ B = P * R * transpose(P);
+ Q = P * Z;
+
+ // re-triangularize
+ R = 0.0;
+ Z = 0.0;
+ SrifMU(R,Z,B,Q);
+ names = nl;
+ }
+ catch(MatrixException& me) {
+ GPSTK_RETHROW(me);
+ }
+ catch(VectorException& ve) {
+ GPSTK_RETHROW(ve);
+ }
+ }
+
+ // --------------------------------------------------------------------------------
+ // Split this SRI (call it S) into two others, S1 and Sleft, where S1 has
+ // a Namelist identical to the input Namelist (NL); set *this = S1 at the
+ // end. NL must be a non-empty subset of names, and (names ^ NL) also must
+ // be non-empty; throw MatrixException if this is not true. The second
+ // output SRI, Sleft, will have the same names as S, but perhaps permuted.
+ //
+ // The routine works by first permuting S so that its Namelist if of the
+ // form {N2,NL}, where N2 = (names ^ NL); this is possible only if NL is
+ // a non-trivial subset of names. Then, the rows of S (rows of R and elements
+ // of Z) naturally separate into the two component SRIs, with zeros in the
+ // elements of the first SRI which correspond to N2, and those in Sleft
+ // which correspond to NL.
+ //
+ // Example: S.name = A B C D E F G and NL = D E F G.
+ // (Obviously, S may be permuted into such an order whenever this is needed.)
+ // Note that here the R,Z pair is written in a format reminiscent of the
+ // set of equations implied by R*X=Z, i.e. 1A+2B+3C+4D+5E+6F+7G=a, etc.
+ //
+ // S (R Z) = S1 + Sleft
+ // with names NL names
+ // A B C D E F G . . . D E F G A B C D E F G
+ // - - - - - - - - - - - - - - - - - - - - - - - -
+ // 1 2 3 4 5 6 7 a = . . . . . . . . + 1 2 3 4 5 6 7 a
+ // 8 9 1 2 3 4 b . . . . . . . 8 9 1 2 3 4 b
+ // 5 6 7 8 9 c . . . . . . 5 6 7 8 9 c
+ // 1 2 3 4 d 1 2 3 4 d . . . . d
+ // 5 6 7 e 5 6 7 e . . . e
+ // 8 9 f 8 9 f . . f
+ // 1 g 1 g . g
+ //
+ // where "." denotes a zero. The split is simply separating the linear
+ // equations which make up R*X=Z into two groups; because of the ordering,
+ // one of the groups of equations (S1) depends only on a particular subset
+ // of the elements of the state vector, i.e. the elements labelled by the
+ // Namelist NL.
+ //
+ // The equation shown here is an information equation; if the two SRIs S1
+ // and Sleft were merged again, none of the information would be lost.
+ // Note that S1 has no dependence on A B C (hence the .'s), and therefore
+ // its size can be reduced. However S2 still depends on the full names
+ // Namelist. Sleft is necessarily singular, but S1 is not.
+ //
+ // Note that the SRI contains information about both the solution and
+ // the covariance, i.e. state and noise, and therefore one must be very careful
+ // in interpreting the results of split and merge (operator+=). [Be especially
+ // careful about the idea that a merge might be reversible with a split() or
+ // vice-versa - strictly this is never possible unless the Namelists are
+ // mutually exclusive - two separate problems.]
+ //
+ // For example, suppose two different SRI's, which have some elements in common,
+ // are merged. The combined SRI will have more information (it can't have less)
+ // about the common elements, and therefore the solution will be 'better'
+ // (assuming the underlying model equations for those elements are identical).
+ // However the noises will also be combined, and the results you get might be
+ // surprising. Also, note that if you then split the combined SRI again, the
+ // solution won't change but the noises will be very different; in particular
+ // the new split part will take all the information with it, so the common states
+ // will have lower noise than they did in the original SRI.
+ // See the test program tsri.cpp
+ //
+ void SRI::split(const Namelist& NL, SRI& Sleft)
+ throw(MatrixException,VectorException)
+ {
+ try {
+ Sleft = SRI(0);
+ unsigned int n,m;
+ n = NL.size();
+ m = names.size();
+ if(n >= m) {
+ MatrixException me("Input Namelist must be a subset of this one");
+ GPSTK_THROW(me);
+ }
+
+ unsigned int i,j;
+ // copy names and permute it so that its end matches NL
+ Namelist N0(names);
+ for(i=1; i<=n; i++) { // loop (backwards) over names in NL
+ for(j=1; j<=m; j++) { // search (backwards) in NO for a match
+ if(NL.labels[n-i] == N0.labels[m-j]) { // if found a match
+ N0.swap(m-i,m-j); // then move matching name to end
+ break; // and go on to next name in NL
+ }
+ }
+ if(j > m) {
+ MatrixException me("Input Namelist is not a non-trivial subset");
+ GPSTK_THROW(me);
+ }
+ }
+
+ // copy *this into Sleft, then do the permutation
+ Sleft = *this;
+ Sleft.permute(N0);
+
+ // copy parts of Sleft into S1, and then zero out those parts of Sleft
+ SRI S1(NL);
+ S1.R = Matrix<double>(Sleft.R,m-n,m-n,n,n);
+ //S1.Z = Vector<double>(Sleft.Z,m-n,n);
+ S1.Z.resize(n);
+ for(i=0; i<n; i++) S1.Z(i) = Sleft.Z(m-n+i);
+ for(i=m-n; i<m; i++) Sleft.zeroOne(i);
+
+ *this = S1;
+ }
+ catch(MatrixException& me) {
+ GPSTK_RETHROW(me);
+ }
+ catch(VectorException& ve) {
+ GPSTK_RETHROW(ve);
+ }
+ }
+
+ // --------------------------------------------------------------------------------
+ // extend this SRI to include the given Namelist, with no added information;
+ // names in the input namelist which are not unique are ignored.
+ SRI& SRI::operator+=(const Namelist& NL)
+ throw(MatrixException,VectorException)
+ {
+ try {
+ Namelist B(names);
+ // NB assume that Namelist::operator|=() adds at the _end_
+ B |= NL;
+ // NB assume that this zeros A.R and A.Z
+ SRI A(B);
+ // should do this with slices..
+ // copy into the new SRI
+ for(unsigned int i=0; i<R.rows(); i++) {
+ A.Z(i) = Z(i);
+ for(unsigned int j=0; j<R.cols(); j++) A.R(i,j) = R(i,j);
+ }
+ *this = A;
+ return *this;
+ }
+ catch(MatrixException& me) {
+ GPSTK_RETHROW(me);
+ }
+ catch(VectorException& ve) {
+ GPSTK_RETHROW(ve);
+ }
+ }
+
+ // --------------------------------------------------------------------------------
+ // reshape this SRI to match the input Namelist, by calling other member
+ // functions, including split(), operator+() and permute()
+ // Given this SRI and a new Namelist NL, if NL does not match names,
+ // transform names to match it, using (1) drop elements (this is probably
+ // optional - you can always keep 'dead' elements), (2) add new elements
+ // (with zero information), and (3) permute to match NL.
+ void SRI::reshape(const Namelist& NL)
+ throw(MatrixException,VectorException)
+ {
+ try {
+ if(names == NL) return;
+ Namelist keep(names);
+ keep &= NL; // keep only those in both names and NL
+ //Namelist drop(names); // (drop is unneeded - split would do it)
+ //drop ^= keep; // lose those in names but not in keep
+ Namelist add(NL);
+ add ^= keep; // add those in NL but not in keep
+ SRI Sdrop; // make a new SRI to hold the losers
+ // would like to allow caller access to Sdrop..
+ split(keep,Sdrop); // split off only the losers
+ // NB names = drop | keep; drop & keep is empty
+ *this += add; // add the new ones
+ this->permute(NL); // permute it to match NL
+ }
+ catch(MatrixException& me) {
+ GPSTK_RETHROW(me);
+ }
+ catch(VectorException& ve) {
+ GPSTK_RETHROW(ve);
+ }
+ }
+
+ // --------------------------------------------------------------------------------
+ // merge this SRI with the given input SRI. ? should this be operator&=() ?
+ // NB may reorder the names in the resulting Namelist.
+ SRI& SRI::operator+=(const SRI& S)
+ throw(MatrixException,VectorException)
+ {
+ try {
+ Namelist all(names);
+ all |= S.names; // assumes Namelist::op|= adds unique S.names to _end_
+
+ //all.sort(); // TEMP - for testing with old version
+
+ // stack the (R|Z)'s from both in one matrix;
+ // all determines the columns, plus last column is for Z
+ unsigned int i,j,k,n,m,sm;
+ n = all.labels.size();
+ m = R.rows();
+ sm = S.R.rows();
+ Matrix<double> A(m+sm,n+1,0.0);
+
+ // copy R into A, permuting columns as names differs from all
+ // loop over columns of R; do Z at the same time using j=row
+ for(j=0; j<m; j++) {
+ // find where this column of R goes in A
+ // (should never throw..)
+ k = all.index(names.labels[j]);
+ if(k == -1) {
+ MatrixException me("Algorithm error 1");
+ GPSTK_THROW(me);
+ }
+
+ // copy this col of R into A (R is UT)
+ for(i=0; i<=j; i++) A(i,k) = R(i,j);
+ // also the jth element of Z
+ A(j,n) = Z(j);
+ }
+ // now do the same for S, but put S.R|S.Z below R|Z
+ for(j=0; j<sm; j++) {
+ k = all.index(S.names.labels[j]);
+ if(k == -1) {
+ MatrixException me("Algorithm error 2");
+ GPSTK_THROW(me);
+ }
+ for(i=0; i<=j; i++) A(m+i,k) = S.R(i,j);
+ A(m+j,n) = S.Z(j);
+ }
+
+ // now triangularize A and pull out the new R and Z
+ Householder<double> HA;
+ HA(A);
+ // submatrix args are matrix,toprow,topcol,numrows,numcols
+ R = Matrix<double>(HA.A,0,0,n,n);
+ Vector<double> T = Vector<double>(HA.A.colCopy(n));
+ Z = Vector<double>(T,0,n);
+ names = all;
+
+ return *this;
+ }
+ catch(MatrixException& me) {
+ GPSTK_RETHROW(me);
+ }
+ catch(VectorException& ve) {
+ GPSTK_RETHROW(ve);
+ }
+ }
+
+ // --------------------------------------------------------------------------------
+ // merge two SRIs to produce a third. ? should this be operator&() ?
+ SRI operator+(const SRI& Sleft,
+ const SRI& Sright)
+ throw(MatrixException,VectorException)
+ {
+ try {
+ SRI S(Sleft);
+ S += Sright;
+ return S;
+ }
+ catch(MatrixException& me) {
+ GPSTK_RETHROW(me);
+ }
+ catch(VectorException& ve) {
+ GPSTK_RETHROW(ve);
+ }
+ }
+
+ // --------------------------------------------------------------------------------
+ // Zero out the nth row of R and the nth element of Z, removing all
+ // information about that element.
+ void SRI::zeroOne(const unsigned int n)
+ throw()
+ {
+ if(n >= R.rows())
+ return;
+
+ //TD this is not right -- you should permute the element
+ //to the first row, then zero
+ for(unsigned int j=n; j<R.cols(); j++)
+ R(n,j) = 0.0;
+ Z(n) = 0.0;
+ }
+
+ // --------------------------------------------------------------------------------
+ // Zero out all the first n rows of R and elements of Z, removing all
+ // information about those elements. Default value of the input is 0,
+ // meaning zero out the entire SRI.
+ void SRI::zeroAll(const int n)
+ throw()
+ {
+ if(n <= 0) {
+ R = 0.0;
+ Z = 0.0;
+ return;
+ }
+
+ if(n >= R.rows())
+ return;
+
+ for(unsigned int i=0; i<n; i++) {
+ for(unsigned int j=i; j<R.cols(); j++)
+ R(i,j) = 0.0;
+ Z(i) = 0.0;
+ }
+ }
+
+ // --------------------------------------------------------------------------------
+ // Shift the state vector by a constant vector X0; does not change information
+ // i.e. let R * X = Z => R * (X-X0) = Z'
+ // throw on invalid input dimension
+ void SRI::shift(const Vector<double>& X0)
+ throw(MatrixException)
+ {
+ if(X0.size() != R.cols()) {
+ MatrixException me("Invalid input dimension: SRI has dimension "
+ + asString<int>(R.rows()) + " while input has length "
+ + asString<int>(X0.size())
+ );
+ GPSTK_THROW(me);
+ }
+ Z = Z - R * X0;
+ }
+
+ // --------------------------------------------------------------------------------
+ // Transform this SRI with the transformation matrix T;
+ // i.e. R -> T * R * inverse(T) and Z -> T * Z. The matrix inverse(T)
+ // may optionally be supplied as input, otherwise it is computed from
+ // T. NB names in this SRI are most likely changed; but this routine does
+ // not change the Namelist. Throw MatrixException if the input has
+ // the wrong dimension or cannot be inverted.
+ void SRI::transform(const Matrix<double>& T,
+ const Matrix<double>& invT)
+ throw(MatrixException,VectorException)
+ {
+ if(T.rows() != R.rows() ||
+ T.cols() != R.cols() ||
+ (&invT != &SRINullMatrix && (invT.rows() != R.rows() ||
+ invT.cols() != R.cols()))) {
+ MatrixException me("Invalid input dimension:\n SRI has dimension "
+ + asString<int>(R.rows()) + " while T has dimension "
+ + asString<int>(T.rows()) + "x"
+ + asString<int>(T.cols()));
+ if(&invT != &SRINullMatrix) me.addText("\n and invT has dimension "
+ + asString<int>(invT.rows()) + "x"
+ + asString<int>(invT.cols()));
+ GPSTK_THROW(me);
+ }
+
+ try {
+ // get the inverse matrix
+ Matrix<double> Ti(T);
+ if(&invT == &SRINullMatrix)
+ Ti = inverseSVD(T);
+ else
+ Ti = invT;
+
+ // transform
+ Matrix<double> B = T * R * Ti;
+ Vector<double> Q = T * Z;
+
+ // re-triangularize
+ R = 0.0;
+ Z = 0.0;
+ SrifMU(R,Z,B,Q);
+ }
+ catch(MatrixException& me) {
+ GPSTK_RETHROW(me);
+ }
+ catch(VectorException& ve) {
+ GPSTK_RETHROW(ve);
+ }
+ }
+
+ // --------------------------------------------------------------------------------
+ // Transform the state by the transformation matrix T; i.e. X -> T*X,
+ // without transforming the SRI; this is done by right multiplying R by
+ // inverse(T), which is the input. Thus R -> R*inverse(T),
+ // so R*inverse(T)*T*X = Z. Input is the _inverse_ of the transformation.
+ // throw MatrixException if input dimensions are wrong.
+ void SRI::transformState(const Matrix<double>& invT)
+ throw(MatrixException)
+ {
+ if(invT.rows() != R.rows() || invT.cols() != R.rows()) {
+ MatrixException me("Invalid input dimension: SRI has dimension "
+ + asString<int>(R.rows()) + " while invT has dimension "
+ + asString<int>(invT.rows()) + "x"
+ + asString<int>(invT.cols()));
+ GPSTK_THROW(me);
+ }
+
+ // transform
+ Matrix<double> A = R * invT;
+ // re-triangularize
+ Householder<double> HA;
+ HA(A);
+ R = HA.A;
+ }
+
+ // --------------------------------------------------------------------------------
+ // Decrease the information in this SRI for, or 'Q bump', the element
+ // with the input index. This means that the uncertainty and the state
+ // element given by the index are divided by the input factor q; the
+ // default input is zero, which means zero out the information (q = infinite).
+ // A Q bump by factor q is equivalent to 'de-weighting' the element by q.
+ // No effect if input index is out of range.
+ //
+ // Use a specialized form of the time update, with Phi=unity, G(N x 1) = 0
+ // except 1 for the element (in) getting bumped, and Rw(1 x 1) = 1 / q.
+ // Note that this bump of the covariance for element k results in
+ // Cov(k,k) += q (plus, not times!).
+ // if q is 0, replace q with 1/q, i.e. lose all information, covariance
+ // goes singular; this is equivalent to (1) permute so that the 'in'
+ // element is first, (2) zero out the first row of R and the first element
+ // of Z, (3) permute the first row back to in.
+ void SRI::Qbump(const unsigned int& in,
+ const double& q)
+ throw(MatrixException,VectorException)
+ {
+ try {
+ if(in >= R.rows()) return;
+ double factor=0.0;
+ if(q != 0.0) factor=1.0/q;
+
+ unsigned int ns=1,i,j,n=R.rows();
+
+ Matrix<double> A(n+ns,n+ns+1,0.0), G(n,ns,0.0);
+ A(0,0) = factor; // Rw, dimension ns x ns = 1 x 1
+ G(in,0) = 1.0;
+ G = R * G; // R*Phi*G
+ for(i=0; i<n; i++) {
+ A(ns+i,0) = -G(i,0); // A = Rw 0 zw=0
+ for(j=0; j<n; j++) // -R*Phi*G R*Phi Z
+ if(i<=j) A(ns+i,ns+j) = R(i,j); //
+ A(ns+i,ns+n) = Z(i);
+ }
+
+ // triangularize and pull out the new R and Z
+ Householder<double> HA; // A = Rw Rwx zw
+ HA(A); // 0 R z
+ R = Matrix<double>(HA.A,ns,ns,n,n);
+ Vector<double> T=HA.A.colCopy(ns+n);
+ Z = Vector<double>(T,ns,n);
+ }
+ catch(MatrixException& me) {
+ GPSTK_RETHROW(me);
+ }
+ catch(VectorException& ve) {
+ GPSTK_RETHROW(ve);
+ }
+ }
+
+ // --------------------------------------------------------------------------------
+ // Fix the state element with the input index to the input value, and
+ // collapse the SRI by removing that element.
+ // No effect if index is out of range.
+ void SRI::biasFix(const unsigned int& in,
+ const double& bias)
+ throw(MatrixException,VectorException)
+ {
+ if(in >= R.rows()) return;
+
+ try {
+ unsigned int i,j,ii,jj,n=R.rows();
+ Vector<double> Znew(n-1,0.0);
+ Matrix<double> Rnew(n-1,n-1,0.0);
+ // move the X(in) terms to the data vector on the RHS
+ for(i=0; i<=in; i++) Z(i) -= R(i,in)*bias;
+ for(i=0,ii=0; i<=n; i++) {
+ if(i == in) continue;
+ Znew(ii) = Z(i);
+ for(j=i,jj=ii; j<n; j++) {
+ if(j == in) continue;
+ Rnew(ii,jj) = R(i,j);
+ jj++;
+ }
+ ii++;
+ }
+ R = Rnew;
+ Z = Znew;
+ names -= names.labels[in];
+ }
+ catch(MatrixException& me) {
+ GPSTK_RETHROW(me);
+ }
+ catch(VectorException& ve) {
+ GPSTK_RETHROW(ve);
+ }
+ }
+
+ //---------------------------------------------------------------------------------
+ // Add a priori or 'constraint' information
+ void SRI::addAPriori(const Matrix<double>& Cov, const Vector<double>& X)
+ throw(MatrixException)
+ {
+ if(Cov.rows() != Cov.cols() || Cov.rows() != R.rows() || X.size() != R.rows()) {
+ MatrixException me("Invalid input dimensions:\n SRI has dimension "
+ + asString<int>(R.rows()) + ",\n while input is Cov("
+ + asString<int>(Cov.rows()) + "x"
+ + asString<int>(Cov.cols()) + ") and X("
+ + asString<int>(X.size()) + ")."
+ );
+ GPSTK_THROW(me);
+ }
+
+ try {
+ Matrix<double> invcovar;
+ Vector<double> zstate;
+
+ invcovar = inverse(Cov);
+ Cholesky<double> Ch;
+ Ch(invcovar);
+ zstate = Ch.U * X; // R = UT(inv(Cov)) and z = R*X
+ SrifMU(R, Z, Ch.U, zstate);
+ }
+ catch(MatrixException& me) {
+ GPSTK_THROW(me);
+ }
+ }
+
+ // --------------------------------------------------------------------------------
+ // get the state X and the covariance matrix C of the state, where
+ // C = transpose(inverse(R))*inverse(R) and X = inverse(R) * Z.
+ // Throws MatrixException if R is singular.
+ // NB this is the most efficient way to invert the SRI problem.
+ void SRI::getStateAndCovariance(Vector<double>& X,
+ Matrix<double>& C,
+ double *ptrSmall,
+ double *ptrBig)
+ throw(MatrixException,VectorException)
+ {
+ try {
+ Matrix<double> invR;
+ invR = inverseUT(R,ptrSmall,ptrBig);
+ C = UTtimesTranspose(invR);
+ X = invR * Z;
+ }
+ catch(MatrixException& me) {
+ GPSTK_RETHROW(me);
+ }
+ catch(VectorException& ve) {
+ GPSTK_RETHROW(ve);
+ }
+ }
+
+ //---------------------------------------------------------------------------------
+ // output operator
+ ostream& operator<<(ostream& os, const SRI& S)
+ {
+ Namelist NL(S.names);
+ NL += string("State");
+ Matrix<double> A;
+ A = S.R || S.Z;
+ LabelledMatrix LM(NL,A);
+
+ LM.setw(os.width());
+ LM.setprecision(os.precision());
+ os << LM;
+ return os;
+ }
+
+ //---------------------------------------------------------------------------------
+ // This routine uses the Householder algorithm to update the SRIFilter
+ // state and covariance.
+ // Input:
+ // R a priori SRI matrix (upper triangular, dimension N)
+ // Z a priori SRI data vector (length N)
+ // A concatentation of H and D : A = H || D, where
+ // H Measurement partials, an M by N matrix.
+ // D Data vector, of length M
+ // H and D may have row dimension > M; then pass M:
+ // M (optional) Row dimension of H and D
+ // Output:
+ // Updated R and Z. H is trashed, but the data vector D
+ // contains the residuals of fit (D - A*state).
+ // Return values:
+ // SrifMU returns void, but throws exceptions if the input matrices
+ // or vectors have incompatible dimensions.
+ //
+ // Measurment noise associated with H and D must be white
+ // with unit covariance. If necessary, the data can be 'whitened'
+ // before calling this routine in order to satisfy this requirement.
+ // This is done as follows. Compute the lower triangular square root
+ // of the covariance matrix, L, and replace H with inverse(L)*H and
+ // D with inverse(L)*D.
+ //
+ // The Householder transformation is simply an orthogonal
+ // transformation designed to make the elements below the diagonal
+ // zero. It works by explicitly performing the transformation, one
+ // column at a time, without actually constructing the transformation
+ // matrix. Let y be column k of the input matrix. y can be zeroed
+ // below the diagonal as follows: let sum=sign(y(k))*sqrt(y*y), and
+ // define vector u(k)=y(k)+sum, u(j)=y(j) (j.gt.k). This defines the
+ // transformation matrix as (1-bu*u), with b=2/u*u=1/sum*u(k).
+ // Redefine y(k)=u(k) and apply the transformation to elements of the
+ // input matrix below and to the right of the (k,k) element. This
+ // algorithm for each column k=0,n-1 in turn is equivalent to a single
+ // orthogonal transformation which triangularizes the matrix.
+ //
+ // Ref: Bierman, G.J. "Factorization Methods for Discrete Sequential
+ // Estimation," Academic Press, 1977.
+ template <class T>
+ void SrifMU(Matrix<T>& R,
+ Vector<T>& Z,
+ Matrix<T>& A,
+ unsigned int M)
+ throw(MatrixException)
+ {
+ if(A.cols() <= 1 || A.cols() != R.cols()+1 || Z.size() < R.rows()) {
+ if(A.cols() > 1 && R.rows() == 0 && Z.size() == 0) {
+ // create R and Z
+ R = Matrix<double>(A.cols()-1,A.cols()-1,0.0);
+ Z = Vector<double>(A.cols()-1,0.0);
+ }
+ else {
+ MatrixException me("Invalid input dimensions:\n R has dimension "
+ + asString<int>(R.rows()) + "x"
+ + asString<int>(R.cols()) + ",\n Z has length "
+ + asString<int>(Z.size()) + ",\n and A has dimension "
+ + asString<int>(A.rows()) + "x"
+ + asString<int>(A.cols()));
+ GPSTK_THROW(me);
+ }
+ }
+
+ const T EPS=-T(1.e-200);
+ unsigned int m=M, n=R.rows();
+ if(m==0 || m > A.rows()) m=A.rows();
+ unsigned int np1=n+1; // if np1 = n, state vector Z is not updated
+ unsigned int i,j,k;
+ T dum, delta, beta;
+
+ for(j=0; j<n; j++) { // loop over columns
+ T sum = T(0);
+ for(i=0; i<m; i++)
+ sum += A(i,j)*A(i,j); // sum squares of elements in this column
+ if(sum <= T(0)) continue;
+
+ dum = R(j,j);
+ sum += dum * dum;
+ sum = (dum > T(0) ? -T(1) : T(1)) * ::sqrt(sum);
+ delta = dum - sum;
+ R(j,j) = sum;
+
+ if(j+1 > np1) break;
+
+ beta = sum*delta;
+ if(beta > EPS) continue;
+ beta = T(1)/beta;
+
+ for(k=j+1; k<np1; k++) { // columns to right of diagonal
+ sum = delta * (k==n ? Z(j) : R(j,k));
+ for(i=0; i<m; i++)
+ sum += A(i,j) * A(i,k);
+ if(sum == T(0)) continue;
+
+ sum *= beta;
+ if(k==n) Z(j) += sum*delta;
+ else R(j,k) += sum*delta;
+
+ for(i=0; i<m; i++)
+ A(i,k) += sum * A(i,j);
+ }
+ }
+ } // end SrifMU
+
+ //---------------------------------------------------------------------------------
+ // This is simply SrifMU(R,Z,A) with H and D passed in rather
+ // than concatenated into a single Matrix A = H || D.
+ template <class T>
+ void SrifMU(Matrix<T>& R,
+ Vector<T>& Z,
+ Matrix<T>& H,
+ Vector<T>& D,
+ unsigned int M)
+ throw(MatrixException)
+ {
+ Matrix<double> A;
+ try { A = H || D; }
+ catch(MatrixException& me) { GPSTK_RETHROW(me); }
+
+ SrifMU(R,Z,A,M);
+
+ // copy residuals out of A into D
+ D = Vector<double>(A.colCopy(A.cols()-1));
+ }
+
+ //---------------------------------------------------------------------------------
+ // Invert the upper triangular matrix stored in the square matrix UT, using a very
+ // efficient algorithm. Throw MatrixException if the matrix is singular.
+ // If the pointers are defined, on exit (but not if an exception is thrown),
+ // they return the smallest and largest eigenvalues of the matrix.
+ template <class T>
+ Matrix<T> inverseUT(const Matrix<T>& UT,
+ T *ptrSmall,
+ T *ptrBig)
+ throw(MatrixException)
+ {
+ if(UT.rows() != UT.cols() || UT.rows() == 0) {
+ MatrixException me("Invalid input dimensions: "
+ + asString<int>(UT.rows()) + "x"
+ + asString<int>(UT.cols()));
+ GPSTK_THROW(me);
+ }
+
+ unsigned int i,j,k,n=UT.rows();
+ T big,small,sum,dum;
+ Matrix<T> Inv(UT);
+
+ // start at the last row,col
+ dum = UT(n-1,n-1);
+ if(dum == T(0))
+ throw SingularMatrixException("Singular matrix");
+
+ big = small = dum;
+ Inv(n-1,n-1) = T(1)/dum;
+ if(n == 1) return Inv; // 1x1 matrix
+ for(i=0; i<n-1; i++) Inv(n-1,i)=0;
+
+ // now move to rows i = n-2 to 0
+ for(i=n-2; i>=0; i--) {
+ if(UT(i,i) == T(0))
+ throw SingularMatrixException("Singular matrix");
+
+ if(fabs(UT(i,i)) > big) big = fabs(UT(i,i));
+ if(fabs(UT(i,i)) < small) small = fabs(UT(i,i));
+ dum = T(1)/UT(i,i);
+ Inv(i,i) = dum; // diagonal element first
+
+ // now do off-diagonal elements (i,i+1) to (i,n-1)
+ for(j=i+1; j<n; j++) {
+ sum = T(0);
+ for(k=i+1; k<=j; k++)
+ sum += Inv(k,j) * UT(i,k);
+ Inv(i,j) = - sum * dum;
+ }
+ for(j=0; j<i; j++) Inv(i,j)=0;
+
+ if(i==0) break; // NB i is unsigned, hence 0-1 = 4294967295!
+ }
+
+ if(ptrSmall) *ptrSmall=small;
+ if(ptrBig) *ptrBig=big;
+
+ return Inv;
+ }
+
+ //---------------------------------------------------------------------------------
+ // Given an upper triangular matrix UT, compute the symmetric matrix
+ // UT * transpose(UT) using a very efficient algorithm.
+ template <class T>
+ Matrix<T> UTtimesTranspose(const Matrix<T>& UT)
+ throw(MatrixException)
+ {
+ unsigned int n=UT.rows();
+ if(n == 0 || UT.cols() != n) {
+ MatrixException me("Invalid input dimensions: "
+ + asString<int>(UT.rows()) + "x"
+ + asString<int>(UT.cols()));
+ GPSTK_THROW(me);
+ }
+
+ unsigned int i,j,k;
+ T sum;
+ Matrix<T> S(n,n);
+
+ for(i=0; i<n-1; i++) { // loop over rows of UT, except the last
+ sum = T(0); // diagonal element (i,i)
+ for(j=i; j<n; j++)
+ sum += UT(i,j)*UT(i,j);
+ S(i,i) = sum;
+ for(j=i+1; j<n; j++) { // loop over columns to right of (i,i)
+ sum = T(0);
+ for(k=j; k<n; k++)
+ sum += UT(i,k) * UT(j,k);
+ S(i,j) = S(j,i) = sum;
+ }
+ }
+ S(n-1,n-1) = UT(n-1,n-1)*UT(n-1,n-1); // the last diagonal element
+
+ return S;
+ }
+
+} // end namespace gpstk
+
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/lib/SRI.hpp b/dev/apps/geomatics/lib/SRI.hpp
new file mode 100644
index 0000000..371615c
--- /dev/null
+++ b/dev/apps/geomatics/lib/SRI.hpp
@@ -0,0 +1,425 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file SRI.hpp
+ * Include file defining class SRI.
+ * class SRI implements the square root information methods, used for least squares
+ * estimation and the SRI form of the Kalman filter.
+ *
+ * Reference: "Factorization Methods for Discrete Sequential Estimation,"
+ * by G.J. Bierman, Academic Press, 1977.
+ */
+
+//------------------------------------------------------------------------------------
+// TD go back thru and add const and throw() everywhere, also in Namelist
+// TD check that names CAN have different length than R and Z -- see zeroAll
+
+//------------------------------------------------------------------------------------
+#ifndef CLASS_SQUAREROOTINFORMATION_INCLUDE
+#define CLASS_SQUAREROOTINFORMATION_INCLUDE
+
+//------------------------------------------------------------------------------------
+// system includes
+#include <string>
+#include <vector>
+#include <algorithm>
+#include <iomanip>
+#include <ostream>
+#include <sstream>
+// GPSTk
+#include "Matrix.hpp"
+#include "Namelist.hpp"
+
+namespace gpstk
+{
+
+//------------------------------------------------------------------------------------
+/// constant (empty) Matrix used for default input arguments
+extern const Matrix<double> SRINullMatrix;
+
+//------------------------------------------------------------------------------------
+// fundamental routines
+/// Compute inverse of uppertriangular matrix, returning smallest and
+/// largest eigenvalues.
+/// @param UT upper triangular matrix to be inverted
+/// @param ptrS pointer to <T> small, on output *ptrS contains smallest eigenvalue.
+/// @param ptrB pointer to <T> small, on output *ptrB contains largest eigenvalue.
+/// @return inverse of input matrix.
+/// @throw MatrixException if input is not square (assumed upper triangular as well).
+/// @throw SingularMatrixException if input is singular.
+template <class T>
+Matrix<T> inverseUT(const Matrix<T>& UT,
+ T *ptrSmall,
+ T *ptrBig)
+ throw(MatrixException);
+
+/// Compute the product of an upper triangular matrix and its transpose.
+/// @param UT upper triangular matrix
+/// @return product UT * transpose(UT)
+/// @throw MatrixException if input is not square (assumed upper triangular as well).
+template <class T>
+Matrix<T> UTtimesTranspose(const Matrix<T>& UT)
+ throw(MatrixException);
+
+/// Square root information measurement update
+template <class T>
+void SrifMU(Matrix<T>& R,
+ Vector<T>& Z,
+ Matrix<T>& H,
+ Vector<T>& D,
+ unsigned int M=0)
+ throw(MatrixException);
+
+/// Square root information measurement update, with new data in the form of a
+/// single matrix of H and D concatenated: A = H || D.
+template <class T>
+void SrifMU(Matrix<T>& R,
+ Vector<T>& Z,
+ Matrix<T>& A,
+ unsigned int M=0)
+ throw(MatrixException);
+
+//------------------------------------------------------------------------------------
+/// class SRI encapsulates all the information associated with the solution of a set
+/// of simultaneous linear equations. It is used in least squares estimation (linear
+/// and linearized) and is the basis of the preferred implementation of Kalman
+/// filtering. An SRI consists of just three things:
+/// (1) 'R', the 'information matrix', which is an upper triangular matrix of
+/// dimension N, equal to the inverse of the square root (or Cholesky decomposition)
+/// of the solution covariance matrix,
+/// (2) 'Z', the 'SRI state vector' of length N (parallels the components of R),
+/// (not to be confused with the regular state vector X), and
+/// (3) 'names', a Namelist used to label the elements of R and Z (parallels and
+/// labels rows and columns of R and elements of Z). A Namelist is part of class SRI
+/// because the manipulations of SRI (see functions below) requires a consistent way
+/// of manipulating the different individual elements of R and Z, in addition it
+/// allows the user to attach 'human-readable' labels to the elements of the state
+/// vector, which is useful in adding, dropping and bumping states, and it makes
+/// printed results more readable (see the LabelledMatrix class in Namelist.hpp).
+///
+/// The set of simultaneous equations represented by an SRI is R * X = Z, where X is
+/// the (unknown) state vector (the conventional solution vector) also of dimension N.
+/// The state X is solved for as X = inverse(R) * Z, and the covariance matrix of the
+/// state X is equal to transpose(inverse(R))*inverse(R).
+///
+/// Least squares estimation via SRI is very simple and efficient; it uses the
+/// Householder transformation to convert the problem to upper triangular form, and
+/// then uses very efficient algorithms to invert the information matrix to find the
+/// solution and its covariance. The usual matrix equation is H * X = D,
+/// where H is the 'design matrix' or the 'partials matrix', of dimension M x N,
+/// X is the (unknown) solution vector of length N, and D is the 'data' or
+/// 'measurement' vector of length M. In the least squares 'update' of the SRI,
+/// this set of information {H,D} is concatenated with the existing SRI {R,Z} to
+/// form an (N+M x N+1) matrix Q which has R in the upper left, Z upper right,
+/// H lower left and D lower right. This extended matrix is then subjected to a
+/// Householder transformation (see class Matrix), which will put (at least the
+/// first N columns of) Q into upper triangular form. The result is a new, updated
+/// SRI (R and Z) in the place of the old, while in place of D are residuals of fit
+/// corresponding to the measurements in D (the H part of Q is trashed). This result,
+/// in fact (see the reference), produces an updated SRI which gives precisely the
+/// usual least squares solution for the combined 'a priori SRI + new data' problem.
+/// This algorithm is called a 'measurement update' of the SRI.
+///
+/// It is most enlightening to think of the SRI and this process in terms of
+/// 'information'. The SRI contains all the 'information' which has come from
+/// updates that have been made to it using (H,D) pairs. Initially, the SRI is all
+/// zeros, which corresponds to 'no information'. This overcomes one serious problem
+/// with conventional least squares and the Kalman algorithm, namely that a
+/// 'zero information' starting value cannot be correctly expressed, because in that
+/// case the covariance matrix is singular and the state vector is indeterminate;
+/// in the SRI method this is perfectly consistent - the covariance matrix is
+/// singular because the information matrix (R) is zero, and thus the state
+/// is entirely indeterminate. As new 'information' (in the form of data D and
+/// partials matrix H pairs) is added to the SRI (via the Householder algorithm),
+/// the 'information' stored in R and Z is increased and they become non-zero.
+/// (By the way note that the number of rows in the {H,D} information is arbitrary -
+/// information can be added in 'batches' - M large - or one - M=1 - piece at a time.)
+/// When there is enough information, R becomes non-singular, and so can be inverted
+/// and the solution and covariance can be computed. As the amount of information
+/// becomes large, elements of R become large, and thus elements of the covariance
+/// (think of covariance as a measure of uncertainty - the opposite or inverse of
+/// information) become small.
+///
+/// The structure of the SRI method allows some powerful techniques to be used in
+/// manipulating, combining and separating state elements and the information
+/// associated with them in SRIs. For example, if the measurement updates have
+/// failed to increase the information about one particular state element, then
+/// that element, and its information, may be removed from the problem by deleting
+/// that element's row and column of R, and its element of Z (and then
+/// re-triangularizing the SRI). In general, any subset of an SRI may be separated,
+/// or the SRI split (see the routine of that name below - note the caveats) into
+/// two separate SRIs. For another example, SRI allows the information of a each
+/// state element to be selectively reduced or even zeroed, simply by multiplying
+/// the corresponding elements of R and Z by a factor; in Kalman filtering this
+/// is called a 'Q bump' of the element and is very important in some filtering
+/// applications. There are methods (see below) consistently to merge (operator+()),
+/// split, and permute elements of, SRIs.
+///
+/// Kalman filtering is an important application of SRI methods (actually it is
+/// called 'square root information filtering' or SRIF - technically the term
+/// 'Kalman filter algorithm' is reserved for the classical algorithm just as
+/// Kalman presented it, in terms of a state vector and its covariance matrix).
+/// The measurment update described above (which is actually just linear least
+/// squares) is half of the SRIF (Kalman filter) - there is a 'time update' that
+/// propagates the SRI (and thus the state and covariance) forward in time using
+/// the dynamical model of the filter. These are algebraically equivalent to the
+/// classical Kalman algorithm, but are more efficient and numerically stable
+/// (actually the Kalman algorithm has been shown to be numerically unstable!).
+/// There are even SRI smoothing algorithms, corresponding to Kalman smoothers,
+/// which consist of a 'backwards' filter, implemented by applying a
+/// 'smoother update' to the SRI at each point in reverse order.
+///
+/// Ref: Bierman, G.J. "Factorization Methods for Discrete Sequential Estimation,"
+/// Academic Press, 1977.
+class SRI {
+public:
+ /// empty constructor
+ SRI(void) throw() { }
+
+ /// constructor given the dimension N.
+ SRI(const unsigned int)
+ throw();
+
+ /// constructor given a Namelist, its dimension determines the SRI dimension.
+ SRI(const Namelist&)
+ throw();
+
+ /// explicit constructor - throw if the dimensions are inconsistent.
+ SRI(const Matrix<double>&,
+ const Vector<double>&,
+ const Namelist&)
+ throw(MatrixException);
+
+ /// copy constructor
+ SRI(const SRI&)
+ throw();
+
+ /// operator=
+ SRI& operator=(const SRI& right)
+ throw();
+
+ // modify SRIs
+
+ /// Permute the SRI elements to match the input Namelist, which may differ with
+ /// the SRI Namelist by AT MOST A PERMUTATION; throw if this is not true.
+ void permute(const Namelist&)
+ throw(MatrixException,VectorException);
+
+ /// split an SRI into two others, this one matching the input Namelist, the
+ /// other containing whatever is left. The input Namelist must be a non-trivial
+ /// subset of this->names; throw MatrixException if it is not. NB. Interpreting
+ /// the results of a split() and merge (operator+()) operations should be done
+ /// very carefully; remember that the SRI contains both solution and noise,
+ /// and that the results of these operations are not always as expected,
+ /// particularly note that split() and operator+() are usually NOT reversible.
+ void split(const Namelist&, SRI&)
+ throw(MatrixException,VectorException);
+
+ /// extend this SRI to include the given Namelist, with no added information;
+ /// names in the input namelist which are not unique are ignored.
+ SRI& operator+=(const Namelist&)
+ throw(MatrixException,VectorException);
+
+ /// reshape this SRI to match the input Namelist, by calling other member
+ /// functions, including split(), operator+() and permute()
+ void reshape(const Namelist&)
+ throw(MatrixException,VectorException);
+
+ /// merge an SRI into this one. NB names may be reordered in the result.
+ void merge(const SRI& S)
+ throw(MatrixException,VectorException)
+ { *this += S; }
+
+ /// merge this SRI with the given input SRI. ? should this be operator&=() ?
+ /// NB may reorder the names in the resulting Namelist.
+ SRI& operator+=(const SRI&)
+ throw(MatrixException,VectorException);
+
+ /// merge two SRIs to produce a third. ? should this be operator&() ?
+ friend SRI operator+(const SRI&,
+ const SRI&)
+ throw(MatrixException,VectorException);
+
+ /// Zero out the nth row of R and the nth element of Z, removing all
+ /// information about that element.
+ void zeroOne(const unsigned int n)
+ throw();
+
+ /// Zero out all the first n rows of R and elements of Z, removing all
+ /// information about those elements. Default value of the input is 0,
+ /// meaning zero out the entire SRI.
+ void zeroAll(const int n=0)
+ throw();
+
+ /// Zero out (set all elements to zero) the Vector Z only.
+ void zeroZ(void)
+ throw()
+ { Z = 0.0; }
+
+ /// Reset the SRI, meaning zero it and optionally change the dimension to n.
+ /// @param n Dimension of the new object (optional).
+ //void reset(int n=0)
+ // throw();
+
+ /// Shift the state vector by a constant vector X0; does not change information
+ /// i.e. let R * X = Z => R' * (X-X0) = Z'
+ /// throw on invalid input dimension
+ void shift(const Vector<double>&)
+ throw(MatrixException);
+
+ /// Transform this SRI with the transformation matrix T;
+ /// i.e. R -> T * R * inverse(T) and Z -> T * Z. The matrix inverse(T)
+ /// may optionally be supplied as input, otherwise it is computed from
+ /// T. NB names in this SRI are most likely changed; but this routine does
+ /// not change the Namelist. Throw MatrixException if the input has
+ /// the wrong dimension or cannot be inverted.
+ void transform(const Matrix<double>& T,
+ const Matrix<double>& invT=SRINullMatrix)
+ throw(MatrixException,VectorException);
+
+ /// Transform the state by the transformation matrix T; i.e. X -> T*X,
+ /// without transforming the SRI; this is done by right multiplying R by
+ /// inverse(T), which is the input. Thus R -> R*inverse(T),
+ /// so R*inverse(T)*T*X = Z. Input is the _inverse_ of the transformation.
+ /// throw MatrixException if input dimensions are wrong.
+ void transformState(const Matrix<double>& invT)
+ throw(MatrixException);
+
+ /// Decrease the information in this SRI for, or 'Q bump', the element
+ /// with the input index. This means that the uncertainty and the state
+ /// element given by the index are divided by the input factor q; the
+ /// default input is zero, which means zero out the information (q = infinite).
+ /// A Q bump by factor q is equivalent to 'de-weighting' the element by q.
+ /// No effect if in is out of range.
+ void Qbump(const unsigned int& in,
+ const double& q=0.0)
+ throw(MatrixException,VectorException);
+
+ /// Fix the state element with the input index to the input value, and
+ /// collapse the SRI by removing that element.
+ /// No effect if index is out of range.
+ void biasFix(const unsigned int&,
+ const double&)
+ throw(MatrixException,VectorException);
+
+ /// Add a priori or constraint information in the form of an ordinary
+ /// state vector and covariance matrix.
+ /// @param Cov Covariance matrix of same dimension as this SRIFilter
+ /// @param X State vector of same dimension as this SRIFilter
+ /// @throw if input is invalid: dimensions are wrong or Cov is singular.
+ void addAPriori(const Matrix<double>& Cov, const Vector<double>& X)
+ throw(MatrixException);
+
+ /// SRIF (Kalman) measurement update, or least squares update
+ void measurementUpdate(Matrix<double>& Partials,
+ Vector<double>& Data)
+ throw(MatrixException)
+ { SrifMU(R, Z, Partials, Data); }
+
+ /// Compute the state X and the covariance matrix C of the state, where
+ /// C = transpose(inverse(R))*inverse(R) and X = inverse(R) * Z.
+ /// Optional pointer arguments will return smallest and largest
+ /// eigenvalues of the R matrix, which is a measure of singularity.
+ /// @param X State vector (output)
+ /// @param C Covariance of the state vector (output)
+ /// @param ptrSmall Pointer to double, on output *ptrSmall set to smallest
+ /// eigenvalue of R
+ /// @param ptrBig Pointer to double, on output *ptrBig set to largest
+ /// eigenvalue of R
+ /// @throw SingularMatrixException if R is singular.
+ /// NB this is the most efficient way to invert the SRI equation.
+ void getStateAndCovariance(Vector<double>& X,
+ Matrix<double>& C,
+ double *ptrSmall=NULL,
+ double *ptrBig=NULL)
+ throw(MatrixException,VectorException);
+
+ // member access
+ /// return the size of the SRI, which is the dimension of R(rows and columns),
+ /// Z and names.
+ unsigned int size(void) const
+ throw()
+ { return R.rows(); }
+
+ /// access the Namelist of the SRI
+ Namelist getNames(void)
+ throw()
+ { return names; }
+
+ /// access the name of a specific state element, given its index.
+ /// returns 'out-of-range' if the index is out of range.
+ std::string getName(const unsigned int in)
+ throw()
+ { return names.getName(in); }
+
+ /// assign the name of a specific state element, given its index;
+ /// no effect, and return false, if the name is not unique;
+ /// return true if successful.
+ bool setName(const unsigned int in,
+ const std::string& name)
+ throw()
+ { return names.setName(in,name); }
+
+ /// return the index of the name in the Namelist that matches the input, or
+ /// -1 if not found.
+ unsigned int index(std::string& name)
+ throw()
+ { return names.index(name); }
+
+ /// output operator
+ friend std::ostream& operator<<(std::ostream& s,
+ const SRI&);
+
+protected:
+ // member data
+ /// Information matrix, an upper triangular (square) matrix
+ Matrix<double> R;
+
+ /// SRI state vector, of length equal to the dimension (row and col) of R.
+ Vector<double> Z;
+
+ /// Namelist parallel to R and Z, labelling the elements of the state vector.
+ Namelist names;
+
+}; // end class SRI
+
+} // end namespace gpstk
+
+//------------------------------------------------------------------------------------
+#endif
diff --git a/dev/apps/geomatics/lib/SRIFilter.cpp b/dev/apps/geomatics/lib/SRIFilter.cpp
new file mode 100644
index 0000000..edc3713
--- /dev/null
+++ b/dev/apps/geomatics/lib/SRIFilter.cpp
@@ -0,0 +1,1200 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file SRIFilter.cpp
+ * Implementation of class SRIFilter.
+ * class SRIFilter implements the square root information matrix form of the
+ * Kalman filter.
+ *
+ * Reference: "Factorization Methods for Discrete Sequential Estimation,"
+ * G.J. Bierman, Academic Press, 1977.
+ */
+
+//------------------------------------------------------------------------------------
+// GPSTk includes
+#include "SRIFilter.hpp"
+#include "RobustStats.hpp"
+#include "StringUtils.hpp"
+
+using namespace std;
+
+namespace gpstk
+{
+
+using namespace StringUtils;
+
+//------------------------------------------------------------------------------------
+// empty constructor
+SRIFilter::SRIFilter(void)
+ throw()
+{
+ defaults();
+}
+
+//------------------------------------------------------------------------------------
+// constructor given the dimension N.
+SRIFilter::SRIFilter(const unsigned int N)
+ throw()
+{
+ defaults();
+ R = Matrix<double>(N,N,0.0);
+ Z = Vector<double>(N,0.0);
+ names = Namelist(N);
+}
+
+//------------------------------------------------------------------------------------
+// constructor given a Namelist, its dimension determines the SRI dimension.
+SRIFilter::SRIFilter(const Namelist& NL)
+ throw()
+{
+ defaults();
+ if(NL.size() <= 0) return;
+ R = Matrix<double>(NL.size(),NL.size(),0.0);
+ Z = Vector<double>(NL.size(),0.0);
+ names = NL;
+}
+
+//------------------------------------------------------------------------------------
+// explicit constructor - throw if the dimensions are inconsistent.
+SRIFilter::SRIFilter(const Matrix<double>& Rin,
+ const Vector<double>& Zin,
+ const Namelist& NLin)
+ throw(MatrixException)
+{
+ defaults();
+ if(Rin.rows() != Rin.cols() ||
+ Rin.rows() != Zin.size() ||
+ Rin.rows() != NLin.size()) {
+ MatrixException me("Invalid input dimensions: R is "
+ + asString<int>(Rin.rows()) + "x"
+ + asString<int>(Rin.cols()) + ", Z has length "
+ + asString<int>(Zin.size()) + ", and NL has length "
+ + asString<int>(NLin.size())
+ );
+ GPSTK_THROW(me);
+ }
+ R = Rin;
+ Z = Zin;
+ names = NLin;
+}
+
+//------------------------------------------------------------------------------------
+// operator=
+SRIFilter& SRIFilter::operator=(const SRIFilter& right)
+ throw()
+{
+ R = right.R;
+ Z = right.Z;
+ names = right.names;
+ iterationsLimit = right.iterationsLimit;
+ convergenceLimit = right.convergenceLimit;
+ divergenceLimit = right.divergenceLimit;
+ doWeight = right.doWeight;
+ doRobust = right.doRobust;
+ doLinearize = right.doLinearize;
+ doSequential = right.doSequential;
+ doVerbose = right.doVerbose;
+ valid = right.valid;
+ number_iterations = right.number_iterations;
+ number_batches = right.number_batches;
+ rms_convergence = right.rms_convergence;
+ condition_number = right.condition_number;
+ Xsave = right.Xsave;
+ return *this;
+}
+
+//------------------------------------------------------------------------------------
+// SRIF (Kalman) measurement update, or least squares update
+// Returns (whitened) residuals in D
+void SRIFilter::measurementUpdate(const Matrix<double>& H,
+ Vector<double>& D,
+ const Matrix<double>& CM)
+ throw(MatrixException,VectorException)
+{
+ if(H.cols() != R.cols() || H.rows() != D.size() ||
+ (&CM != &SRINullMatrix && (CM.rows() != D.size() || CM.cols() != D.size())) ) {
+ MatrixException me("Invalid input dimensions:\n SRI is "
+ + asString<int>(R.rows()) + "x"
+ + asString<int>(R.cols()) + ",\n Partials is "
+ + asString<int>(H.rows()) + "x"
+ + asString<int>(H.cols()) + ",\n Data has length "
+ + asString<int>(D.size())
+ );
+ if(&CM != &SRINullMatrix) me.addText(", and Cov is "
+ + asString<int>(CM.rows()) + "x"
+ + asString<int>(CM.cols()));
+ GPSTK_THROW(me);
+ }
+ try {
+ Matrix<double> P(H);
+ Cholesky<double> Ch;
+
+ // whiten partials and data
+ if(&CM != &SRINullMatrix) {
+ Matrix<double> L;
+ Ch(CM);
+ L = inverse(Ch.L);
+ P = L * P;
+ D = L * D;
+ }
+
+ // update *this with the whitened information
+ SrifMU(R, Z, P, D);
+
+ // un-whiten residuals
+ if(&CM != &SRINullMatrix) {
+ D = Ch.L * D;
+ }
+ }
+ catch(MatrixException& me) { GPSTK_RETHROW(me); }
+ catch(VectorException& ve) { GPSTK_RETHROW(ve); }
+}
+
+//------------------------------------------------------------------------------------
+// SRIF (Kalman) measurement update, or least squares update
+// Given data and measurement covariance, compute a solution and
+// covariance using the appropriate least squares algorithm.
+// @param D Data vector, length M
+// Input: raw data
+// Output: post-fit residuals
+// @param X Solution vector, length N
+// Input: nominal solution X0 (zero when doLinearized is false)
+// Output: final solution
+// @param Cov Covariance matrix, dimension (N,N)
+// Input: (If doWeight is true) inverse measurement covariance
+// or weight matrix(M,M)
+// Output: Solution covariance matrix (N,N)
+// @param LSF Pointer to a function which is used to define the equation to be solved.
+// LSF arguments are:
+// X Nominal solution (input)
+// f Values of the equation f(X) (length M) (output)
+// P Partials matrix df/dX evaluated at X (dimension M,N) (output)
+// When doLinearize is false, LSF should ignore X and return the (constant)
+// partials matrix in P and zero in f.
+//
+// Return values: 0 ok
+// -1 Problem is underdetermined (M<N) // TD -- naturalized sol?
+// -2 Problem is singular
+// -3 Algorithm failed to converge
+// -4 Algorithm diverged
+//
+// Reference for robust least squares: Mason, Gunst and Hess,
+// "Statistical Design and Analysis of Experiments," Wiley, New York, 1989, pg 593.
+//
+// Notes on the algorithm:
+// Least squares, including linearized (iterative) and sequential processing.
+// This class will solve the equation f(X) = D, a vector equation in which the
+// solution vector X is of length N, and the data vector D is of length M.
+// The function f(X) may be linear, in which case it is of the form
+// P*X=D where P is a constant matrix,
+// or non-linear, in which case it will be linearized by expanding about a given
+// nominal solution X0:
+// df |
+// -- | * dX = D - f(X0),
+// dX |X=X0
+// where dX is defined as (X-X0), the new solution is X, and the partials matrix is
+// P=(df/dX)|X=X0. Dimensions are P(M,N)*dX(N) = D(M) - f(X0)(M).
+// Linearized problems are iterated until the solution converges (stops changing).
+//
+// The solution may be weighted by a measurement covariance matrix MCov,
+// or weight matrix W (in which case MCov = inverse(W)). MCov must be non-singular.
+//
+// Options are to make the algorithm linearized (via the boolean input variable
+// doLinearize) and/or sequential (doSequential).
+//
+// - linearized. When doLinearize is true, the algorithm solves the linearized
+// version of the measurement equation (see above), rather than the simple
+// linear version P*X=D. Also when doLinearize is true, the code will iterate
+// (repeat until convergence) the linearized algorithm; if you don't want to
+// iterate, set the limit on the number of iterations to zero.
+// NB In this case, a solution must be found for each nominal solution
+// (i.e. the information matrix must be non-singular); otherwise there can be
+// no iteration.
+//
+// - sequential. When doSequential is true, the class will save the accumulated
+// information from all the calls to Compute() and Add() since the last reset()
+// within the class. This means the resulting solution is determined by ALL the
+// data fed to the class since the last reset(). In this case the data is fed
+// to the algorithm in 'batches', which may be of any size.
+//
+// NB When doLinearize is true, the information stored in the class has a
+// different interpretation than it does in the linear case.
+// Calling Solve(X,Cov) will NOT give the solution vector X, but rather the
+// latest update (X-X0) = (X-Xsave).
+//
+// NB In the linear case, the result you get from sequentially processing
+// a large dataset in many small batches is identical to what you would get
+// by processing all the data in one big batch. This is NOT true in the
+// linearized case, because the information at each batch is dependent on thes
+// nominal state. See the next comment.
+//
+// NB Sequential, linearized LS really makes sense only when the state is
+// changing. It is difficult to get a good solution in this case with small
+// batches, because the stored information is dependent on the (final) state
+// solution at each batch. Start with a good nominal state, or with a large
+// batch of data that will produce one.
+//
+// The general Least Squares algorithm is:
+// 0. set i=0.
+// 1. If non-sequential, or if this is the first call, set R=0=z
+// 2. Let X = X0 = initial nominal solution (input). if(linear, X0==0).
+// 3. Save SRIsave=SRI and X0save=X0
+// 4. start iteration i here.
+// 5. Compute partials matrix P and f(X0) by calling LSF(X0,f,P).
+// if(linear), LSF returns the constant P and f(X0)=0.
+// 6. Set R = SRIsave.R + P(T)*inverse(MCov)*P
+// 7. Set z = SRIsave.Z + P(T)*inverse(MCov)*(D-f(X0))
+// 8. (The measurement equation is now
+// P(X-X0save)=d-F(X0)
+// which is, in the linear case,
+// PX = d )
+// 9. Compute RMS change in X: rms = ||X-X0||/N
+// 10. Solve z=Rx to get
+// Cov = inverse(R)
+// and
+// X = X0save + inverse(R)*z [or in the linear case X = inverse(R)*z]
+// 11. if(linear) goto quit
+// [else linearized]
+// 12. increment the number of iterations
+// 13. If rms > divergence limit, goto quit (failure).
+// 14. If i > 1 and rms < convergence limit, goto quit (success)
+// 15. If i (number of iterations) >= iteration limit, goto quit (failure)
+// 16. Set X0 = X
+// 17. Return to step 4.
+// 18. quit: if(sequential and failed) set SRI=SRIsave.
+//
+int SRIFilter::leastSquaresEstimation(Vector<double>& D,
+ Vector<double>& X,
+ Matrix<double>& Cov,
+ void (LSF)(Vector<double>& X,
+ Vector<double>& f,
+ Matrix<double>& P)
+ )
+ throw(MatrixException)
+{
+ int M = D.size();
+ int N = R.rows();
+ if(doVerbose) cout << "\nSRIFilter::leastSquaresUpdate : M,N are "
+ << M << "," << N << endl;
+
+ // errors
+ if(N == 0) {
+ MatrixException me("Called with zero-sized SRIFilter");
+ GPSTK_THROW(me);
+ }
+ if(doLinearize && M < N) {
+ MatrixException me(
+ string("When linearizing, problem must not be underdetermined:\n")
+ + string(" data dimension is ") + asString(M)
+ + string(" while state dimension is ") + asString(N));
+ GPSTK_THROW(me);
+ }
+ if(doSequential && R.rows() != X.size()) {
+ MatrixException me("Sequential problem has inconsistent dimensions:\n SRI is "
+ + asString<int>(R.rows()) + "x"
+ + asString<int>(R.cols()) + " while X has length "
+ + asString<int>(X.size()));
+ GPSTK_THROW(me);
+ }
+ if(doWeight && doRobust) {
+ MatrixException me("Cannot have doWeight and doRobust both true.");
+ GPSTK_THROW(me);
+ }
+ // TD disallow Robust and Linearized ?
+ // TD disallow Robust and Sequential ?
+
+ int i,j,iret;
+ double big,small;
+ Vector<double> f(M),Xsol(N),NominalX,Res(M),Wts(M,1.0),OldWts(M,1.0);
+ Matrix<double> Partials(M,N),MeasCov(M,M);
+ const Matrix<double> Rapriori(R);
+ const Vector<double> Zapriori(Z);
+
+ // save measurement covariance matrix
+ if(doWeight) MeasCov=Cov;
+
+ // NO ... this prevents you from giving it apriori information...
+ // if the first time, clear the stored information
+ //if(!doSequential || number_batches==0)
+ // zeroAll();
+
+ // if sequential and not the first call, NominalX must be the last solution
+ if(doSequential && number_batches != 0) X = Xsave;
+
+ // nominal solution
+ if(!doLinearize) {
+ if(X.size() != N) X=Vector<double>(N);
+ X = 0.0;
+ }
+ NominalX = X;
+
+ valid = false;
+ condition_number = 0.0;
+ rms_convergence = 0.0;
+ number_iterations = 0;
+ iret = 0;
+
+ // iteration loop
+ do {
+ number_iterations++;
+
+ // call LSF to get f(NominalX) and Partials(NominalX)
+ LSF(NominalX,f,Partials);
+
+ // Res will be both pre- and post-fit data residuals
+ Res = D-f;
+ if(doVerbose) {
+ cout << "\nSRIFilter::leastSquaresUpdate :";
+ if(doLinearize || doRobust)
+ cout << " Iteration " << number_iterations;
+ cout << endl;
+ LabelledVector LNX(names,NominalX);
+ LNX.message(" Nominal X:");
+ cout << LNX << endl;
+ cout << " Pre-fit data residuals: "
+ << fixed << setprecision(6) << Res << endl;
+ }
+
+ // build measurement covariance matrix for robust LS
+ if(doRobust) {
+ MeasCov = 0.0;
+ for(i=0; i<M; i++) MeasCov(i,i) = 1.0 / (Wts(i)*Wts(i));
+ }
+
+ // restore apriori information
+ if(number_iterations > 1) {
+ R = Rapriori;
+ Z = Zapriori;
+ }
+
+ // update information with simple MU
+ if(doVerbose) {
+ cout << " Meas Cov:";
+ for(i=0; i<M; i++) cout << " " << MeasCov(i,i);
+ cout << endl;
+ cout << " Partials:\n" << Partials << endl;
+ }
+ if(doRobust || doWeight)
+ measurementUpdate(Partials,Res,MeasCov);
+ else
+ measurementUpdate(Partials,Res);
+
+ if(doVerbose) {
+ cout << " Updated information matrix\n" << LabelledMatrix(names,R) << endl;
+ cout << " Updated information vector\n" << LabelledVector(names,Z) << endl;
+ }
+
+ // invert
+ try { getStateAndCovariance(Xsol,Cov,&small,&big); }
+ catch(SingularMatrixException& sme) {
+ iret = -2;
+ break;
+ }
+ condition_number = big/small;
+ if(doVerbose) {
+ cout << " Condition number: " << scientific << condition_number
+ << fixed << endl;
+ cout << " Post-fit data residuals: "
+ << fixed << setprecision(6) << Res << endl;
+ }
+
+ // update X: when linearized, solution = dX
+ if(doLinearize) {
+ Xsol += NominalX;
+ }
+ if(doVerbose) {
+ LabelledVector LXsol(names,Xsol);
+ LXsol.message(" Updated X:");
+ cout << LXsol << endl;
+ }
+
+ // linear non-robust is done..
+ if(!doLinearize && !doRobust) break;
+
+ // test for convergence of linearization
+ if(doLinearize) {
+ rms_convergence = RMS(Xsol - NominalX);
+ if(doVerbose) {
+ cout << " RMS convergence : "
+ << scientific << rms_convergence << fixed << endl;
+ }
+ }
+
+ // test for convergence of robust weighting, and compute new weights
+ if(doRobust) {
+ // must de-weight post-fit residuals
+ LSF(Xsol,f,Partials);
+ Res = D-f;
+
+ // compute a new set of weights
+ double mad,median;
+ //for(mad=0.0,i=0; i<M; i++)
+ // mad += Wts(i)*Res(i)*Res(i);
+ //mad = sqrt(mad)/sqrt(Robust::TuningA*(M-1));
+ mad = Robust::MedianAbsoluteDeviation(&(Res[0]),Res.size(),median);
+
+ OldWts = Wts;
+ for(i=0; i<M; i++) {
+ if(Res(i) < -RobustTuningT*mad)
+ Wts(i) = -RobustTuningT*mad/Res(i);
+ else if(Res(i) > RobustTuningT*mad)
+ Wts(i) = RobustTuningT*mad/Res(i);
+ else
+ Wts(i) = 1.0;
+ }
+
+ // test for convergence
+ rms_convergence = RMS(OldWts - Wts);
+ if(doVerbose) cout << " Convergence: "
+ << scientific << setprecision(3) << rms_convergence << endl;
+ }
+
+ // failures
+ if(rms_convergence > divergenceLimit) iret=-4;
+ if(number_iterations >= iterationsLimit) iret=-3;
+ if(iret) {
+ if(doSequential) {
+ R = Rapriori;
+ Z = Zapriori;
+ }
+ break; // return iret;
+ }
+
+ // success
+ if(number_iterations > 1 && rms_convergence < convergenceLimit) break;
+
+ // prepare for another iteration
+ if(doLinearize)
+ NominalX = Xsol;
+ if(doRobust)
+ NominalX = X;
+
+ } while(1); // end iteration loop
+
+ number_batches++;
+ if(doVerbose) cout << "Return from SRIFilter::leastSquaresUpdate\n\n";
+
+ if(iret) return iret;
+
+ // output the solution
+ Xsave = X = Xsol;
+
+ // put residuals of fit into data vector, or weights if Robust
+ if(doRobust)
+ D = OldWts;
+ else
+ D = Res;
+
+ valid = true;
+ return iret;
+}
+
+//------------------------------------------------------------------------------------
+// SRIF (Kalman) time update see SrifTU for doc.
+void SRIFilter::timeUpdate(Matrix<double>& Phi,
+ Matrix<double>& Rw,
+ Matrix<double>& G,
+ Vector<double>& Zw,
+ Matrix<double>& Rwx)
+ throw(MatrixException)
+{
+ try { SrifTU(R, Z, Phi, Rw, G, Zw, Rwx); }
+ catch(MatrixException& me) { GPSTK_RETHROW(me); }
+}
+
+//------------------------------------------------------------------------------------
+// SRIF (Kalman) smoother update see SrifSU for doc.
+void SRIFilter::smootherUpdate(Matrix<double>& Phi,
+ Matrix<double>& Rw,
+ Matrix<double>& G,
+ Vector<double>& Zw,
+ Matrix<double>& Rwx)
+ throw(MatrixException)
+{
+ try { SrifSU(R, Z, Phi, Rw, G, Zw, Rwx); }
+ catch(MatrixException& me) { GPSTK_RETHROW(me); }
+}
+
+//------------------------------------------------------------------------------------
+void SRIFilter::DMsmootherUpdate(Matrix<double>& P,
+ Vector<double>& X,
+ Matrix<double>& Phinv,
+ Matrix<double>& Rw,
+ Matrix<double>& G,
+ Vector<double>& Zw,
+ Matrix<double>& Rwx)
+ throw(MatrixException)
+{
+ try { SrifSU_DM(P, X, Phinv, Rw, G, Zw, Rwx); }
+ catch(MatrixException& me) { GPSTK_RETHROW(me); }
+}
+
+//------------------------------------------------------------------------------------
+// output operator
+ostream& operator<<(ostream& os,
+ const SRIFilter& srif)
+{
+ Namelist NL(srif.names);
+ NL += string("State");
+ Matrix<double> A;
+ A = srif.R || srif.Z;
+ LabelledMatrix LM(NL,A);
+ LM.setw(os.width());
+ LM.setprecision(os.precision());
+ os << LM;
+ return os;
+}
+
+//------------------------------------------------------------------------------------
+// reset the computation, i.e. remove all stored information
+void SRIFilter::zeroAll(void)
+{
+ SRI::zeroAll();
+ Xsave = 0.0;
+ number_batches = 0;
+}
+
+//------------------------------------------------------------------------------------
+// reset the computation, i.e. remove all stored information, and
+// optionally change the dimension. If N is not input, the
+// dimension is not changed.
+// @param N new SRIFilter dimension (optional).
+void SRIFilter::Reset(const int N)
+{
+ if(N > 0 && N != R.rows()) {
+ R.resize(N,N,0.0);
+ Z.resize(N,0.0);
+ }
+ else
+ SRI::zeroAll(N);
+ if(N > 0) Xsave.resize(N);
+ Xsave = 0.0;
+ number_batches = 0;
+}
+
+//------------------------------------------------------------------------------------
+// private beyond this
+//------------------------------------------------------------------------------------
+
+//------------------------------------------------------------------------------------
+// Kalman time update.
+// This routine uses the Householder transformation to propagate the SRIFilter
+// state and covariance through a time step.
+// Input:
+// R A priori square root information (SRI) matrix (an n by n
+// upper triangular matrix)
+// Z a priori SRIF state vector, of length n (state is X, Z = R*X).
+// Phi Inverse of state transition matrix, an n by n matrix.
+// Phi is destroyed on output.
+// Rw a priori square root information matrix for the process
+// noise, an ns by ns upper triangular matrix
+// G The n by ns matrix associated with process noise. The
+// process noise covariance is G*Q*transpose(G) where inverse(Q)
+// is transpose(Rw)*Rw. G is destroyed on output.
+// Zw a priori 'state' associated with the process noise,
+// a vector with ns elements. Usually set to zero by
+// the calling routine (for unbiased process noise).
+// Rwx An ns by n matrix which is set to zero by this routine
+// but is used for output.
+//
+// Output:
+// The updated square root information matrix and SRIF state (R,Z) and
+// the matrices which are used in smoothing: Rw, Zw, Rwx.
+// Note that Phi and G are trashed, and that Rw and Zw are modified.
+//
+// Return values:
+// SrifTU returns void, but throws exceptions if the input matrices
+// or vectors have incompatible dimensions or incorrect types.
+//
+// Method:
+// This SRIF time update method treats the process noise and mapping
+// information as a separate data equation, and applies a Householder
+// transformation to the (appended) equations to solve for an updated
+// state. Thus there is another 'state' variable associated with
+// whatever state variables have process noise. The matrix G relates
+// the process noise variables to the regular state variables, and
+// appears in the term GQG(trans) of the covariance. If all n state
+// variables have process noise, then ns=n and G is an n by n matrix.
+// Since some (or all) of the state variables may not have process
+// noise, ns may be zero. [Bierman ftnt pg 122 seems to indicate that
+// variables with zero process noise can be handled by ns=n & setting a
+// column of G=0. But note that the case of the matrix G=0 is the
+// same as ns=0, because the first ns columns would be zero below the
+// diagonal in that case anyway, so the HH transformation would be
+// null.]
+// For startup, all of the a priori information and state arrays may
+// be zero. That is, "no information" would imply that R and Z are zero,
+// as well as Rw and Zw. A priori information (covariance) and state
+// are handled by setting P = inverse(R)*transpose(inverse((R)), Z = R*X.
+// There are three ways to handle non-zero process noise covariance.
+// (1) If Q is the (known) a priori process noise covariance Q, then
+// set Q=Rw(-1)*Rw(-T), and G=1.
+// (2) Transform process noise covariance matrix to UDU form, Q=UDU,
+// then set G=U and Rw = (D)**-1/2.
+// (3) Take the sqrt of process noise covariance matrix Q, then set
+// G=this sqrt and Rw = 1. [2 and 3 have been tested.]
+// The routine applies a Householder transformation to a large
+// matrix formed by addending the input matricies. Two preliminary
+// steps are to form Rd = R*Phi (stored in Phi) and -Rd*G (stored in
+// G) by matrix multiplication, and to set Rwx to the zero matrix.
+// Then the Householder transformation is applied to the following
+// matrix, dimensions are shown in ():
+// _ (ns) (n) (1) _ _ _
+// (ns) | Rw 0 Zw | ==> | Rw Rwx Zw |
+// (n) | -Rd*G Rd Z | ==> | 0 R Z | .
+// - - - -
+// The SRI matricies R and Rw remain upper triangular.
+//
+// For the programmer: after Rwx is set to zero, G is made into
+// -Rd*G and Phi is made into R*Phi, the transformation is applied
+// to the matrix:
+// _ (ns) (n) (1) _
+// (ns) | Rw Rwx Zw |
+// (n) | G Phi Z |
+// - -
+// then the (upper triangular) matrix R is copied out of Phi into R.
+// -------------------------------------------------------------------
+// The matrix Rwx is related to the sensitivity of the state
+// estimate to the unmodeled parameters in Zw. The sensitivity matrix
+// is Sen = -inverse(Rw)*Rwx,
+// where perturbation in model X =
+// Sen * diagonal(a priori sigmas of parameter uncertainties).
+// -------------------------------------------------------------------
+// The quantities Rw, Rwx and Zw on output are to be saved and used
+// in the sqrt information fixed interval smoother (SRIS), during the
+// backward filter process.
+// -------------------------------------------------------------------
+// Ref: Bierman, G.J. "Factorization Methods for Discrete Sequential
+// Estimation," Academic Press, 1977.
+// -------------------------------------------------------------------
+template <class T>
+void SRIFilter::SrifTU(Matrix<T>& R,
+ Vector<T>& Z,
+ Matrix<T>& Phi,
+ Matrix<T>& Rw,
+ Matrix<T>& G,
+ Vector<T>& Zw,
+ Matrix<T>& Rwx)
+ throw(MatrixException)
+{
+ const T EPS=-T(1.e-200);
+ unsigned int n=R.rows(),ns=Rw.rows();
+ unsigned int i,j,k;
+ T sum, beta, delta, dum;
+
+ if(Phi.rows() < n || Phi.cols() < n ||
+ G.rows() < n || G.cols() < ns ||
+ R.cols() != n ||
+ Rwx.rows() < ns || Rwx.cols() < n ||
+ Z.size() < n || Zw.size() < ns) {
+ MatrixException me("Invalid input dimensions:\n R is "
+ + asString<int>(R.rows()) + "x"
+ + asString<int>(R.cols()) + ", Z has length "
+ + asString<int>(Z.size()) + "\n Phi is "
+ + asString<int>(Phi.rows()) + "x"
+ + asString<int>(Phi.cols()) + "\n Rw is "
+ + asString<int>(Rw.rows()) + "x"
+ + asString<int>(Rw.cols()) + "\n G is "
+ + asString<int>(G.rows()) + "x"
+ + asString<int>(G.cols()) + "\n Zw has length "
+ + asString<int>(Zw.size()) + "\n Rwx is "
+ + asString<int>(Rwx.rows()) + "x"
+ + asString<int>(Rwx.cols())
+ );
+ GPSTK_THROW(me);
+ }
+
+ try {
+ Phi = R * Phi; // set Phi = Rd = R*Phi
+ Rwx = T(0);
+ G = -Phi * G; // set G = -Rd*G
+
+ //---------------------------------------------------------------
+ for(j=0; j<ns; j++) { // loop over first ns columns
+ sum = T(0);
+ for(i=0; i<n; i++) // rows of -Rd*G
+ sum += G(i,j)*G(i,j);
+ dum = Rw(j,j);
+ sum += dum*dum;
+ sum = (dum > T(0) ? -T(1) : T(1)) * ::sqrt(sum);
+ delta = dum - sum;
+ Rw(j,j) = sum;
+
+ beta = sum * delta;
+ if(beta > EPS) continue;
+ beta = T(1)/beta;
+
+ // apply jth Householder transformation
+ // to submatrix below and right of (j,j)
+ if(j+1 < ns) { // apply to G
+ for(k=j+1; k<ns; k++) { // columns to right of diagonal
+ sum = delta * Rw(j,k);
+ for(i=0; i<n; i++) // rows of G
+ sum += G(i,j)*G(i,k);
+ if(sum == T(0)) continue;
+ sum *= beta;
+ Rw(j,k) += sum*delta;
+ for(i=0; i<n; i++) // rows of G again
+ G(i,k) += sum * G(i,j);
+ }
+ }
+
+ // apply jth Householder transformation
+ // to Rwx and Phi
+ for(k=0; k<n; k++) { // columns of Rwx and Phi
+ sum = delta * Rwx(j,k);
+ for(i=0; i<n; i++) // rows of Phi and G
+ sum += Phi(i,k) * G(i,j);
+ if(sum == T(0)) continue;
+ sum *= beta;
+ Rwx(j,k) += sum*delta;
+ for(i=0; i<n; i++) // rows of Phi and G
+ Phi(i,k) += sum * G(i,j);
+ } // end loop over columns of Rwx and Phi
+
+ // apply jth Householder transformation
+ // to Zw and Z
+ sum = delta * Zw(j);
+ for(i=0; i<n; i++) // rows of G and elements of Z
+ sum += Z(i) * G(i,j);
+ if(sum == T(0)) continue;
+ sum *= beta;
+ Zw(j) += sum * delta;
+ for(i=0; i<n; i++) // rows of G and elements of Z
+ Z(i) += sum * G(i,j);
+ } // end loop over first ns columns
+
+ //---------------------------------------------------------------
+ for(j=0; j<n; j++) { // loop over columns of Rwx and Phi
+ sum = T(0);
+ for(i=j+1; i<n; i++) // rows of Phi
+ sum += Phi(i,j)*Phi(i,j);
+ dum = Phi(j,j);
+ sum += dum*dum;
+ sum = (dum > T(0) ? -T(1) : T(1)) * ::sqrt(sum);
+ delta = dum - sum;
+ Phi(j,j) = sum;
+ beta = sum*delta;
+ if(beta > EPS) continue;
+ beta = T(1)/beta;
+
+ // apply jth Householder transformation to columns of Phi on row j
+ for(k=j+1; k<n; k++) { // columns of Phi
+ sum = delta * Phi(j,k);
+ for(i=j+1; i<n; i++)
+ sum += Phi(i,j)*Phi(i,k);
+ if(sum == T(0)) continue;
+ sum *= beta;
+ Phi(j,k) += sum*delta;
+ for(i=j+1; i<n; i++)
+ Phi(i,k) += sum * Phi(i,j);
+ }
+
+ // apply jth Householder transformation to Z
+ sum = delta *Z(j);
+ for(i=j+1; i<n; i++)
+ sum += Z(i) * Phi(i,j);
+ if(sum == T(0)) continue;
+ sum *= beta;
+ Z(j) += sum*delta;
+ for(i=j+1; i<n; i++)
+ Z(i) += sum * Phi(i,j);
+ } // end loop over cols of Rwx and Phi
+
+ // copy transformed R out of Phi
+ for(j=0; j<n; j++)
+ for(i=0; i<=j; i++)
+ R(i,j) = Phi(i,j);
+
+ }
+ catch(MatrixException& me) { GPSTK_RETHROW(me); }
+} // end SrifTU
+
+//------------------------------------------------------------------------------------
+// Kalman smoother update.
+// This routine uses the Householder transformation to propagate the SRIF
+// state and covariance through a smoother (backward filter) step.
+// Input:
+// R A priori square root information (SRI) matrix (an N by N
+// upper triangular matrix)
+// z a priori SRIF state vector, an N vector (state is x, z = R*x).
+// Phi State transition matrix, an N by N matrix. Phi is destroyed on output.
+// Rw A priori square root information matrix for the process
+// noise, an Ns by Ns upper triangular matrix (which has
+// Ns(Ns+1)/2 elements).
+// G The N by Ns matrix associated with process noise. The
+// process noise covariance is GQGtrans where Qinverse
+// is Rw(trans)*Rw.
+// Zw A priori 'state' associated with the process noise,
+// a vector with Ns elements.
+// Rwx An Ns by N matrix.
+//
+// The inputs Rw,Zw,Rwx are the output of the SRIF time update, and these and
+// Phi and G are associated with the same timestep.
+//
+// Output:
+// The updated square root information matrix and SRIF smoothed state (R,z).
+// All other inputs are trashed.
+//
+// Return values:
+// SrifSU returns void, but throws exceptions if the input matrices
+// or vectors have incompatible dimensions or incorrect types.
+//
+// Method:
+// The fixed interval square root information smoother (SRIS) is
+// composed of two Kalman filters, one identical with the square root
+// information filter (SRIF), the other similar but operating on the
+// data in reverse order and combining the current (smoothed) state
+// with elements output by the SRIF in its forward run and saved.
+// Thus a smoother is composed of a forward filter which saves all of
+// its output, followed by a backward filter which makes use of that
+// saved information.
+// This form of the SRIF backward filter algorithm is equivalent to the
+// Dyer-McReynolds SRIS algorithm, which uses less computer resources, but
+// propagates the state and covariance rather than the SRI (R,z). (As always,
+// at any point the state X and covariance P are related to the SRI by
+// X = R^-1 * z , P = R^-1 * R^-T.)
+// For startup of the backward filter, the state after the final
+// measurement update of the SRIF is given another time update, the
+// output of which is identified with the a priori values for the
+// backward filter. Backward filtering proceeds from there, the N+1st
+// point, toward the first point.
+//
+// In this implementation of the backward filter, the Householder
+// transformation is applied to the following matrix
+// (dimensions are shown in ()):
+//
+// _ (Ns) (N) (1) _ _ _
+// (Ns) | Rw+Rwx*G Rwx*Phi Zw | ==> | Rw Rwx Zw |
+// (N) | R*G R*Phi z | ==> | 0 R z | .
+// - - - -
+// The SRI matricies R and Rw remain upper triangular.
+//
+// For the programmer: First create an NsXNs matrix A, then
+// Rw+Rwx*G -> A, Rwx*Phi -> Rwx, R*Phi -> Phi, and R*G -> G, and
+// the transformation is applied to the matrix:
+//
+// _ (Ns) (N) (1) _
+// (Ns) | A Rwx Zw |
+// (N) | G Phi z |
+// - -
+//
+// then the (upper triangular) matrix R is copied out of Phi into R.
+// Ref: Bierman, G.J. "Factorization Methods for Discrete Sequential
+// Estimation," Academic Press, 1977.
+template <class T>
+void SRIFilter::SrifSU(Matrix<T>& R,
+ Vector<T>& Z,
+ Matrix<T>& Phi,
+ Matrix<T>& Rw,
+ Matrix<T>& G,
+ Vector<T>& Zw,
+ Matrix<T>& Rwx)
+ throw(MatrixException)
+{
+ unsigned int N=R.rows(),Ns=Rw.rows();
+
+ if(Phi.rows() < N || Phi.cols() < N ||
+ G.rows() < N || G.cols() < Ns ||
+ R.cols() != N ||
+ Rwx.rows() < Ns || Rwx.cols() < N ||
+ Z.size() < N || Zw.size() < Ns) {
+ MatrixException me("Invalid input dimensions:\n R is "
+ + asString<int>(R.rows()) + "x"
+ + asString<int>(R.cols()) + ", Z has length "
+ + asString<int>(Z.size()) + "\n Phi is "
+ + asString<int>(Phi.rows()) + "x"
+ + asString<int>(Phi.cols()) + "\n Rw is "
+ + asString<int>(Rw.rows()) + "x"
+ + asString<int>(Rw.cols()) + "\n G is "
+ + asString<int>(G.rows()) + "x"
+ + asString<int>(G.cols()) + "\n Zw has length "
+ + asString<int>(Zw.size()) + "\n Rwx is "
+ + asString<int>(Rwx.rows()) + "x"
+ + asString<int>(Rwx.cols())
+ );
+ GPSTK_THROW(me);
+ }
+
+ const T EPS=-T(1.e-200);
+ int i, j, k;
+ T sum, beta, delta, diag;
+
+try {
+ // Rw+Rwx*G -> A
+ Matrix<T> A;
+ A = Rw + Rwx*G;
+ Rwx = Rwx * Phi;
+ Phi = R * Phi;
+ G = R * G;
+
+ //-----------------------------------------
+ // HouseHolder Transformation
+
+ // Loop over first Ns columns
+ for(j=0; j<Ns; j++) { // columns of A
+ sum = T(0);
+ for(i=j+1; i<Ns; i++) { // rows i below diagonal in A
+ sum += A(i,j) * A(i,j);
+ }
+ for(i=0; i<N; i++) { // all rows i in G
+ sum += G(i,j) * G(i,j);
+ }
+
+ diag = A(j,j);
+ sum += diag*diag;
+ sum = (diag > T(0) ? -T(1) : T(1)) * ::sqrt(sum);
+ delta = diag - sum;
+ A(j,j) = sum;
+ beta = sum*delta;
+ if(beta > EPS) continue;
+ beta = T(1)/beta;
+
+ // apply jth HH trans to submatrix below and right of j,j
+ for(k=j+1; k<Ns; k++) { // cols to right of diag
+ sum = delta * A(j,k);
+ for(i=j+1; i<Ns; i++) { // rows of A below diagonal
+ sum += A(i,j)*A(i,k);
+ }
+ for(i=0; i<N; i++) { // all rows of G
+ sum += G(i,j)*G(i,k);
+ }
+ if(sum == T(0)) continue;
+ sum *= beta;
+ //------------------------------------------
+ A(j,k) += sum*delta;
+
+ for(i=j+1; i<Ns; i++) { // rows of A > j (same loops again)
+ A(i,k) += sum * A(i,j);
+ }
+ for(i=0; i<N; i++) { // all rows of G (again)
+ G(i,k) += sum * G(i,j);
+ }
+ }
+
+ // apply jth HH trans to Rwx and Phi sub-matrices
+ for(k=0; k<N; k++) { // all columns of Rwx / Phi
+ sum = delta * Rwx(j,k);
+ for(i=j+1; i<Ns; i++) { // rows of Rwx below j
+ sum += A(i,j) * Rwx(i,k);
+ }
+ for(i=0; i<N; i++) { // all rows of Phi
+ sum += G(i,j) * Phi(i,k);
+ }
+ if(sum == T(0)) continue;
+ sum *= beta;
+ Rwx(j,k) += sum*delta;
+ for(i=j+1; i<Ns; i++) { // rows of Rwx below j (again)
+ Rwx(i,k) += sum * A(i,j);
+ }
+ for(i=0; i<N; i++) { // all rows of Phi (again)
+ Phi(i,k) += sum * G(i,j);
+ }
+ }
+
+ // apply jth HH trans to Zw and Z
+ sum = delta * Zw(j);
+ for(i=j+1; i<Ns; i++) { // rows (elements) of Zw below j
+ sum += A(i,j) * Zw(i);
+ }
+ for(i=0; i<N; i++) { // all rows (elements) of Z
+ sum += Z(i) * G(i,j);
+ }
+ if(sum == T(0)) continue;
+ sum *= beta;
+ Zw(j) += sum*delta;
+ for(i=j+1; i<Ns; i++) { // rows of Zw below j (again)
+ Zw(i) += sum * A(i,j);
+ }
+ for(i=0; i<N; i++) { // all rows of Z (again)
+ Z(i) += sum * G(i,j);
+ }
+ }
+
+ // Loop over columns past the Ns block: all of Rwx and Phi
+ for(j=0; j<N; j++) {
+ sum = T(0);
+ for(i=j+1; i<N; i++) { // rows of Phi at and below j
+ sum += Phi(i,j) * Phi(i,j);
+ }
+ diag = Phi(j,j);
+ sum += diag*diag;
+ sum = (diag > T(0) ? -T(1) : T(1)) * ::sqrt(sum);
+ delta = diag - sum;
+ Phi(j,j) = sum;
+ beta = sum*delta;
+ if(beta > EPS) continue;
+ beta = T(1)/beta;
+
+ // apply HH trans to Phi sub-block below and right of j,j
+ for(k=j+1; k<N; k++) { // columns k > j
+ sum = delta * Phi(j,k);
+ cout << "";//gcc 3.4.4 bug
+ for(i=j+1; i<N; i++) { // rows below j
+ sum += Phi(i,j) * Phi(i,k);
+ }
+ if(sum == T(0)) continue;
+ sum *= beta;
+ Phi(j,k) += sum*delta;
+ for(i=j+1; i<N; i++) { // rows below j (again)
+ Phi(i,k) += sum * Phi(i,j);
+ }
+ }
+ // Now apply to the Z column
+ sum = delta * Z(j);
+ for(i=j+1; i<N; i++) { // rows of Z below j
+ sum += Z(i) * Phi(i,j);
+ }
+ if(sum == T(0)) continue;
+ sum *= beta;
+ Z(j) += sum*delta;
+ for(i=j+1; i<N; i++) { // rows of Z below j (again)
+ Z(i) += sum * Phi(i,j);
+ }
+ }
+ //------------------------------
+ // Transformation finished
+
+ //-------------------------------------
+ // copy transformed R out of Phi into R
+ R = T(0);
+ for(j=0; j<N; j++) {
+ for(i=0; i<=j; i++) {
+ R(i,j) = Phi(i,j);
+ }
+ }
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+} // end SrifSU
+
+//------------------------------------------------------------------------------
+// Covariance/State version of the Kalman smoother update (Dyer-McReynolds).
+// This routine implements the Dyer-McReynolds form of the state and covariance
+// recursions which constitute the backward filter of the Square Root
+// Information Smoother.
+//
+// Input: (assume N and Ns are greater than zero)
+// Vector X(N) A priori state, derived from SRI (R*X=Z)
+// Matrix P(N,N) A priori covariance, derived from SRI (P=R^-1*R^-T)
+// Matrix Rw(Ns,Ns) Process noise covariance (UT), output of SRIF TU
+// Matrix Rwx(Ns,N) PN 'cross term', output of SRIF TU
+// Vector Zw(Ns) Process noise state, output of SRIF TU
+// Matrix Phinv(N,N) Inverse of state transition, saved at SRIF TU
+// Matrix G(N,Ns) Noise coupling matrix, saved at SRIF TU
+// Output:
+// Updated X and P. The other inputs are trashed.
+// Return values:
+// GPSTK::SINGULAR if the Process Noise Matrix (Rw) is singular
+// GPSTK::OK if ok
+//
+// Method:
+// The fixed interval square root information smoother (SRIS) is
+// composed of two Kalman filters, one identical with the square root
+// information filter (SRIF), the other similar but operating on the
+// data in reverse order and combining the current (smoothed) state
+// with elements output by the SRIF in its forward run and saved.
+// Thus a smoother is composed of a forward filter which saves all of
+// its output, followed by a backward filter which makes use of that
+// saved information.
+// This form of the SRIS algorithm is equivalent to the SRIS backward
+// filter Householder transformation algorithm, but uses less computer
+// resources. It is not necessary to update both the state and the
+// covariance, although doing both at once is less expensive than
+// doing them separately. (This routine does both.)
+// For startup of the backward filter, the state after the final
+// measurement update of the SRIF is given another time update, the
+// output of which is identified with the a priori values for the
+// backward filter. Backward filtering proceeds from there, the N+1st
+// point, toward the first point.
+//
+// Ref: Bierman, G.J. "Factorization Methods for Discrete Sequential
+// Estimation," Academic Press, 1977.
+template <class T>
+void SRIFilter::SrifSU_DM(Matrix<T>& P,
+ Vector<T>& X,
+ Matrix<T>& Phinv,
+ Matrix<T>& Rw,
+ Matrix<T>& G,
+ Vector<T>& Zw,
+ Matrix<T>& Rwx)
+ throw(MatrixException)
+{
+ unsigned int N=P.rows(),Ns=Rw.rows();
+
+ if(P.cols() != P.rows() ||
+ X.size() != N ||
+ Rwx.cols() != N ||
+ Zw.size() != Ns ||
+ Rwx.rows() != Ns || Rwx.cols() != N ||
+ Phinv.rows() != N || Phinv.cols() != N ||
+ G.rows() != N || G.cols() != Ns ) {
+ MatrixException me("Invalid input dimensions:\n P is "
+ + asString<int>(P.rows()) + "x"
+ + asString<int>(P.cols()) + ", X has length "
+ + asString<int>(X.size()) + "\n Phinv is "
+ + asString<int>(Phinv.rows()) + "x"
+ + asString<int>(Phinv.cols()) + "\n Rw is "
+ + asString<int>(Rw.rows()) + "x"
+ + asString<int>(Rw.cols()) + "\n G is "
+ + asString<int>(G.rows()) + "x"
+ + asString<int>(G.cols()) + "\n Zw has length "
+ + asString<int>(Zw.size()) + "\n Rwx is "
+ + asString<int>(Rwx.rows()) + "x"
+ + asString<int>(Rwx.cols())
+ );
+ GPSTK_THROW(me);
+ }
+
+try {
+ G = G * inverse(Rw);
+ Matrix<T> F;
+ F = ident<T>(N) + G*Rwx;
+ // update X
+ Vector<T> C;
+ C = F*X - G*Zw;
+ X = Phinv * C;
+ // update P
+ P = F*P*transpose(F) + G*transpose(G);
+ P = Phinv*P*transpose(Phinv);
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+} // end SrifSU_DM
+
+//------------------------------------------------------------------------------------
+} // end namespace gpstk
diff --git a/dev/apps/geomatics/lib/SRIFilter.hpp b/dev/apps/geomatics/lib/SRIFilter.hpp
new file mode 100644
index 0000000..f27b5e2
--- /dev/null
+++ b/dev/apps/geomatics/lib/SRIFilter.hpp
@@ -0,0 +1,519 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file SRIFilter.hpp
+ * Include file defining class SRIFilter.
+ * class SRIFilter implements the square root information matrix form of the
+ * Kalman filter and smoother.
+ *
+ * Reference: "Factorization Methods for Discrete Sequential Estimation,"
+ * G.J. Bierman, Academic Press, 1977.
+ */
+
+//------------------------------------------------------------------------------------
+#ifndef CLASS_SQUAREROOT_INFORMATION_FILTER_INCLUDE
+#define CLASS_SQUAREROOT_INFORMATION_FILTER_INCLUDE
+
+//------------------------------------------------------------------------------------
+// system
+#include <ostream>
+// GPSTk
+#include "Vector.hpp"
+#include "Matrix.hpp"
+#include "SRI.hpp"
+
+namespace gpstk
+{
+
+//------------------------------------------------------------------------------------
+/** class SRIFilter inherits SRI and implements a square root information filter,
+ * which is the square root formulation of the Kalman filter algorithm. SRIFilter may
+ * be used for Kalman filtering, smoothing, or for simple least squares, including
+ * weighted, linear or linearized, robust and/or sequential algorithms.
+ *
+ * At any point the state X and covariance P are related to the SRI by
+ * X = inverse(R) * z , P = inverse(R) * inverse(transpose(R)), or
+ * R = upper triangular square root (Cholesky decomposition) of the inverse of P,
+ * and z = R * X.
+ *
+ * The SRIFilter implements Kalman filter algorithm, which includes sequential least
+ * squares (measurement update), dynamic propagation (time update), and smoothing
+ * (technically the term 'Kalman filter algorithm' is reserved for the classical
+ * algorithm just as Kalman presented it, in terms of a state vector and its
+ * covariance matrix).
+ *
+ * The SRIFilter measurment update (which is actually just linear least squares) is
+ * half of the SRIFilter (Kalman filter) - there is a 'time update' that propagates
+ * the SRI (and thus the state and covariance) forward in time using the dynamical
+ * model of the filter. These are algebraically equivalent to the classical Kalman
+ * algorithm, but are more efficient and numerically stable (actually the Kalman
+ * algorithm has been shown to be numerically unstable!). The SRIFilter smoothing
+ * algorithms consists of a 'backwards' filter, implemented by applying a
+ * 'smoother update' to the SRIFilter at each point in reverse order.
+ *
+ * Ref: Bierman, G.J. "Factorization Methods for Discrete Sequential Estimation,"
+ * Academic Press, 1977.
+ */
+class SRIFilter : public SRI {
+public:
+ /// empty constructor
+ SRIFilter(void) throw();
+
+ /// constructor given the dimension N.
+ /// @param N dimension of the SRIFilter.
+ SRIFilter(const unsigned int N)
+ throw();
+
+ /// constructor given a Namelist; its dimension determines the SRI dimension.
+ /// @param NL Namelist for the SRIFilter.
+ SRIFilter(const Namelist& NL)
+ throw();
+
+ /// explicit constructor - throw if the dimensions are inconsistent.
+ /// @param R Initial information matrix, an upper triangular matrix of dim N.
+ /// @param Z Initial information data vector, of length N.
+ /// @param NL Namelist for the SRIFilter, also of length N.
+ /// @throw MatrixException if dimensions are not consistent.
+ SRIFilter(const Matrix<double>& R,
+ const Vector<double>& Z,
+ const Namelist& NL)
+ throw(MatrixException);
+
+ /// copy constructor
+ /// @param right SRIFilter to be copied
+ SRIFilter(const SRIFilter& right)
+ throw()
+ { *this = right; }
+
+ /// operator=
+ /// @param right SRIFilter to be copied
+ SRIFilter& operator=(const SRIFilter& right)
+ throw();
+
+ /// SRIF (Kalman) simple linear measurement update with optional weight matrix
+ /// @param H Partials matrix, dimension MxN.
+ /// @param D Data vector, length M; on output D is post-fit residuals.
+ /// @param CM Measurement covariance matrix, dimension MxM.
+ /// @throw if dimension N does not match dimension of SRI, or if other
+ /// dimensions are inconsistent, or if CM is singular.
+ void measurementUpdate(const Matrix<double>& H,
+ Vector<double>& D,
+ const Matrix<double>& CM=SRINullMatrix)
+ throw(MatrixException,VectorException);
+
+ /// SRIF (Kalman) measurement update, or least squares update
+ /// Given data and measurement covariance, compute a solution and
+ /// covariance using the appropriate least squares algorithm.
+ /// @param D Data vector, length M
+ /// Input: raw data
+ /// Output: post-fit residuals
+ /// @param X Solution vector, length N
+ /// Input: nominal solution X0 (zero when doLinearized is false)
+ /// Output: final solution
+ /// @param Cov Covariance matrix, dimension (N,N)
+ /// Input: (If doWeight is true) inverse measurement covariance
+ /// or weight matrix(M,M)
+ /// Output: Solution covariance matrix (N,N)
+ /// @param LSF Pointer to a function which is used to define the equation
+ /// to be solved.
+ /// LSF arguments are:
+ /// X Nominal solution (input)
+ /// f Values of the equation f(X) (length M) (output)
+ /// P Partials matrix df/dX evaluated at X (dimension M,N) (output)
+ /// When doLinearize is false, LSF ignores X and returns the (constant)
+ /// partials matrix P and zero for f(X).
+ /// @throw MatrixException if the input is inconsistent
+ /// Return values: 0 ok
+ /// -1 Problem is underdetermined (M<N) // TD -- naturalized sol?
+ /// -2 Problem is singular
+ /// -3 Algorithm failed to converge
+ /// -4 Algorithm diverged
+ int leastSquaresEstimation(Vector<double>& D,
+ Vector<double>& X,
+ Matrix<double>& Cov,
+ void (LSF)(Vector<double>& X,
+ Vector<double>& f,
+ Matrix<double>& P)
+ )
+ throw(MatrixException);
+
+ /// SRIF (Kalman) time update
+ /// This routine uses the Householder transformation to propagate the SRIFilter
+ /// state and covariance through a time step.
+ /// If the existing SRI state is of dimension n, and the number of noise
+ /// parameter is ns, then the inputs must be dimensioned as indicated.
+ /// @param Phi Matrix<double>
+ /// Inverse of state transition matrix, an n by n matrix.
+ /// Phi is destroyed on output.
+ /// @param Rw Matrix<double>
+ /// a priori square root information matrix for the process
+ /// noise, an ns by ns upper triangular matrix
+ /// @param G Matrix<double>
+ /// The n by ns matrix associated with process noise. The
+ /// process noise covariance is G*Q*transpose(G) where inverse(Q)
+ /// is transpose(Rw)*Rw. G is destroyed on output.
+ /// @param Zw Vector<double>
+ /// a priori 'state' associated with the process noise,
+ /// a vector with ns elements. Usually set to zero by
+ /// the calling routine (for unbiased process noise). Used for output.
+ /// @param Rwx Matrix<double>
+ /// An ns by n matrix which is set to zero by this routine
+ /// and used for output.
+ ///
+ /// Output:
+ /// The updated square root information matrix and SRIF state (R,Z) and
+ /// the matrices which are used in smoothing: Rw, Zw, Rwx.
+ ///
+ /// @throw MatrixException if the input is inconsistent
+ /// @return void
+ ///
+ /// Method:
+ /// This SRIF time update method treats the process noise and mapping
+ /// information as a separate data equation, and applies a Householder
+ /// transformation to the (appended) equations to solve for an updated
+ /// state. Thus there is another 'state' variable associated with
+ /// whatever state variables have process noise. The matrix G relates
+ /// the process noise variables to the regular state variables, and
+ /// appears in the term GQtranspose(G) of the covariance. If all n state
+ /// variables have process noise, then ns=n and G is an n by n matrix.
+ /// Since some (or all) of the state variables may not have process
+ /// noise, ns may be zero. [Ref. Bierman ftnt pg 122 seems to indicate that
+ /// variables with zero process noise can be handled by ns=n & setting a
+ /// column of G=0. But note that the case of the matrix G=0 is the
+ /// same as ns=0, because the first ns columns would be zero below the
+ /// diagonal in that case anyway, so the HH transformation would be
+ /// null.]
+ /// For startup, all of the a priori information and state arrays may
+ /// be zero. That is, "no information" would imply that R and Z are zero,
+ /// as well as Zw. A priori information (covariance) and state
+ /// are handled by setting P = inverse(R)*transpose(inverse((R)), Z = R*X.
+ /// There are three ways to handle non-zero process noise covariance.
+ /// (1) If Q is the (known) a priori process noise covariance Q, then
+ /// set Q=Rw(-1)*Rw(-T), and G=1.
+ /// (2) Transform process noise covariance matrix to UDU form, Q=UDU,
+ /// then set G=U and Rw = (D)**-1/2.
+ /// (3) Take the sqrt of process noise covariance matrix Q, then set
+ /// G=this sqrt and Rw = 1. [2 and 3 have been tested.]
+ /// The routine applies a Householder transformation to a large
+ /// matrix formed by addending the input matricies. Two preliminary
+ /// steps are to form Rd = R*Phi (stored in Phi) and -Rd*G (stored in
+ /// G) by matrix multiplication, and to set Rwx to the zero matrix.
+ /// Then the Householder transformation is applied to the following
+ /// matrix, dimensions are shown in ():
+ /// _ (ns) (n) (1) _ _ _
+ /// (ns) | Rw 0 Zw | ==> | Rw Rwx Zw |
+ /// (n) | -Rd*G Rd Z | ==> | 0 R Z | .
+ /// - - - -
+ /// The SRI matricies R and Rw remain upper triangular.
+ ///
+ /// The matrix Rwx is related to the sensitivity of the state
+ /// estimate to the unmodeled parameters in Zw. The sensitivity matrix
+ /// is Sen = -inverse(Rw)*Rwx,
+ /// where perturbation in model X =
+ /// Sen * diagonal(a priori sigmas of parameter uncertainties).
+ ///
+ /// The quantities Rw, Rwx and Zw on output are to be saved and used
+ /// in the sqrt information fixed interval smoother (SRIS), during the
+ /// backward filter process.
+ /// -------------------------------------------------------------------
+ /// Ref: Bierman, G.J. "Factorization Methods for Discrete Sequential
+ /// Estimation," Academic Press, 1977.
+ void timeUpdate(Matrix<double>& Phi,
+ Matrix<double>& Rw,
+ Matrix<double>& G,
+ Vector<double>& zw,
+ Matrix<double>& Rwx)
+ throw(MatrixException);
+
+ /// SRIF (Kalman) smoother update
+ /// This routine uses the Householder transformation to propagate the SRIF
+ /// state and covariance through a smoother (backward filter) step.
+ /// If the existing SRI state is of dimension N, and the number of noise
+ /// parameter is Ns, then the inputs must be dimensioned as indicated.
+ /// @param Phi Matrix<double>
+ /// State transition matrix, an N by N matrix.
+ /// Phi is destroyed on output.
+ /// @param Rw Matrix<double>
+ /// A priori square root information matrix for the process
+ /// noise, an Ns by Ns upper triangular matrix (which has
+ /// Ns(Ns+1)/2 elements), output of the time update.
+ /// @param G Matrix<double>
+ /// The N by Ns matrix associated with process noise. The
+ /// process noise covariance is GQtranspose(G) where inverse(Q)
+ /// is Rw(trans)*Rw, also input to the time update. // TD
+ /// @param zw Vector<double>
+ /// A priori 'state' associated with the process noise,
+ /// a vector with Ns elements, output of the time update.
+ /// @param Rwx Matrix<double> An Ns by N matrix, output of the time update.
+ ///
+ /// The inputs Rw,zw,Rwx are the output of the SRIF time update, and these and
+ /// Phi and G are associated with the same timestep. All the inputs are trashed
+ /// on output.
+ ///
+ /// @throw MatrixException if the input is inconsistent
+ /// @return void
+ ///
+ /// Method:
+ /// The fixed interval square root information smoother (SRIS) is
+ /// composed of two Kalman filters, one identical with the square root
+ /// information filter (SRIF), the other similar but operating on the
+ /// data in reverse order and combining the current (smoothed) state
+ /// with elements output by the SRIF in its forward run and saved.
+ /// Thus a smoother is composed of a forward filter which saves all of
+ /// its output, followed by a backward filter which makes use of that
+ /// saved information.
+ /// This form of the SRIF backward filter algorithm is equivalent to the
+ /// Dyer-McReynolds SRIS algorithm, which uses less computer resources, but
+ /// propagates the state and covariance rather than the SRI (R,z). [As always,
+ /// at any point the state X and covariance P are related to the SRI by
+ /// X = inverse(R) * z , P = inverse(R) * inverse(transpose(R)).]
+ /// For startup of the backward filter, the state after the final
+ /// measurement update of the SRIF is given another time update, the
+ /// output of which is identified with the a priori values for the
+ /// backward filter. Backward filtering proceeds from there, the N+1st
+ /// point, toward the first point.
+ ///
+ /// In this implementation of the backward filter, the Householder
+ /// transformation is applied to the following matrix
+ /// [dimensions are shown in ()]:
+ ///
+ /// _ (Ns) (N) (1) _ _ _
+ /// (Ns) | Rw+Rwx*G Rwx*Phi zw | ==> | Rw Rwx zw |
+ /// (N) | R*G R*Phi z | ==> | 0 R z | .
+ /// - - - -
+ /// The SRI matricies R and Rw remain upper triangular.
+ ///
+ /// Ref: Bierman, G.J. "Factorization Methods for Discrete Sequential
+ /// Estimation," Academic Press, 1977.
+ void smootherUpdate(Matrix<double>& Phi,
+ Matrix<double>& Rw,
+ Matrix<double>& G,
+ Vector<double>& zw,
+ Matrix<double>& Rwx)
+ throw(MatrixException);
+
+ /// Covariance/State version of the Kalman smoother update (Dyer-McReynolds).
+ /// This routine implements the Dyer-McReynolds form of the state and covariance
+ /// recursions which constitute the backward filter of the Square Root
+ /// Information Smoother; it is equivalent to the SRI form implemented in
+ /// SRIFilter::smootherUpdate().
+ ///
+ /// @param X Vector<double> X(N)
+ /// A priori state, derived from SRI (R*X=Z)
+ /// @param P Matrix<double> P(N,N)
+ /// A priori covariance, derived from SRI (P=R^-1*R^-T)
+ /// @param Rw Matrix<double> Rw(Ns,Ns)
+ /// Process noise covariance (UT), output of SRIF TU
+ /// @param Rwx Matrix<double> Rwx(Ns,N)
+ /// PN 'cross term', output of SRIF TU
+ /// @param Zw Vector<double> Zw(Ns)
+ /// Process noise state, output of SRIF TU
+ /// @param Phinv Matrix<double> Phinv(N,N)
+ /// Inverse of state transition, saved at SRIF TU
+ /// @param G Matrix<double> G(N,Ns)
+ /// Noise coupling matrix, saved at SRIF TU
+ /// @throw MatrixException if the input is inconsistent
+ /// @return void
+ /// On return, X and P are the updated state and covariance, and the
+ /// other inputs are trashed.
+ ///
+ /// Method:
+ /// The fixed interval square root information smoother (SRIS) is
+ /// composed of two Kalman filters, one identical with the square root
+ /// information filter (SRIF), the other similar but operating on the
+ /// data in reverse order and combining the current (smoothed) state
+ /// with elements output by the SRIF in its forward run and saved.
+ /// Thus a smoother is composed of a forward filter which saves all of
+ /// its output, followed by a backward filter which makes use of that
+ /// saved information.
+ /// This form of the SRIS algorithm is equivalent to the SRIS backward
+ /// filter Householder transformation algorithm, but uses less computer
+ /// resources. It is not necessary to update both the state and the
+ /// covariance, although doing both at once is less expensive than
+ /// doing them separately. (This routine does both.)
+ /// For startup of the backward filter, the state after the final
+ /// measurement update of the SRIF is given another time update, the
+ /// output of which is identified with the a priori values for the
+ /// backward filter. Backward filtering proceeds from there, the N+1st
+ /// point, toward the first point.
+ ///
+ /// Ref: Bierman, G.J. "Factorization Methods for Discrete Sequential
+ /// Estimation," Academic Press, 1977.
+ static void DMsmootherUpdate(Matrix<double>& P,
+ Vector<double>& X,
+ Matrix<double>& Phinv,
+ Matrix<double>& Rw,
+ Matrix<double>& G,
+ Vector<double>& Zw,
+ Matrix<double>& Rwx)
+ throw(MatrixException);
+
+ /// output operator
+ friend std::ostream& operator<<(std::ostream& s,
+ const SRIFilter& srif);
+
+ /// Get the current solution vector
+ /// @return current solution vector
+ Vector<double> Solution(void) { return Xsave; }
+
+ /// Get the number of iterations used in last call to leastSquaresEstimation()
+ /// @return the number of iterations
+ int Iterations() { return number_iterations; }
+
+ /// Get the convergence value found in last call to leastSquaresEstimation()
+ /// @return the convergence value
+ double Convergence() { return rms_convergence; }
+
+ /// Get the condition number of the covariance matrix from last calls
+ /// to leastSquaresEstimation() (Larger means 'closer to singular' except
+ /// zero means condition number is infinite)
+ double ConditionNumber() { return condition_number; }
+
+ /// Return true if the algorithm succeeded.
+ /// Currently used only by leastSquaresEstimation(). TD - do in TU and SU
+ bool isValid() { return valid; }
+
+ /// remove all stored information by setting the SRI to zero
+ /// (does not re-dimension).
+ void zeroAll(void);
+
+ /// reset the computation, i.e. remove all stored information, and
+ /// optionally change the dimension. If N is not input, the
+ /// dimension is not changed.
+ /// @param N new SRIFilter dimension (optional).
+ void Reset(const int N=0);
+
+ // ------------- member data ---------------
+ /// limit on the number of iterations
+ int iterationsLimit;
+ /// limit on the RSS change in solution which produces success
+ double convergenceLimit;
+ /// upper limit on the RSS change in solution which produces an abort
+ double divergenceLimit;
+ /// if true, weight the equation using the inverse of covariance matrix
+ /// on input - default is false
+ bool doWeight;
+ /// if true, weight the equation using robust statistical techniques
+ /// - default is false
+ bool doRobust;
+ /// if true, save information for a sequential solution - default is false
+ bool doSequential;
+ /// if true, equation F(X)=D is non-linear, the algorithm will be iterated,
+ /// and LSF must return partials matrix and F(X). - default is false
+ bool doLinearize;
+ /// if true, output intermediate results
+ bool doVerbose;
+
+private:
+ /// SRIF time update (non-SRI version); SRIFilter::timeUpdate for doc.
+ template <class T>
+ static void SrifTU(Matrix<T>& R,
+ Vector<T>& Z,
+ Matrix<T>& Phi,
+ Matrix<T>& Rw,
+ Matrix<T>& G,
+ Vector<T>& Zw,
+ Matrix<T>& Rwx)
+ throw(MatrixException);
+
+ /// SRIF smoother update (non-SRI version); SRIFilter::smootherUpdate for doc.
+ template <class T>
+ static void SrifSU(Matrix<T>& R,
+ Vector<T>& Z,
+ Matrix<T>& Phi,
+ Matrix<T>& Rw,
+ Matrix<T>& G,
+ Vector<T>& Zw,
+ Matrix<T>& Rwx)
+ throw(MatrixException);
+
+ /// SRIF smoother update in covariance / state form;
+ /// see SRIFilter::DMsmootherUpdate() for doc.
+ template <class T>
+ static void SrifSU_DM(Matrix<T>& P,
+ Vector<T>& X,
+ Matrix<T>& Phinv,
+ Matrix<T>& Rw,
+ Matrix<T>& G,
+ Vector<T>& Zw,
+ Matrix<T>& Rwx)
+ throw(MatrixException);
+
+ /// initialization used by constructors
+ void defaults(void) throw()
+ {
+ iterationsLimit = 10;
+ convergenceLimit = 1.e-8;
+ divergenceLimit = 1.e10;
+ doWeight = false;
+ doRobust = false;
+ doLinearize = false;
+ doSequential = false;
+ doVerbose = false;
+ valid = false;
+ number_iterations = number_batches = 0;
+ rms_convergence = condition_number = 0.0;
+ }
+
+ // private member data - inherits from SRI
+ // inherit SRI Information matrix, an upper triangular (square) matrix
+ //Matrix<double> R;
+ // inherit SRI state vector, of length equal to dimension (row and col) of R.
+ //Vector<double> Z;
+ // inherit SRI Namelist parallel to R and Z, labelling elements of state vector.
+ //Namelist names;
+ /// indicates if filter is valid - set false when inversion finds singularity.
+ bool valid;
+ /// current number of iterations
+ int number_iterations;
+ /// current number of batches seen
+ int number_batches;
+ /// RMS change in state, used for convergence test
+ double rms_convergence;
+ /// condition number, defined in inversion to get state and covariance
+ double condition_number;
+ /// solution X consistent with current information RX=z
+ Vector<double> Xsave;
+
+}; // end class SRIFilter
+
+} // end namespace gpstk
+
+//------------------------------------------------------------------------------------
+#endif
diff --git a/dev/apps/geomatics/lib/SatPass.cpp b/dev/apps/geomatics/lib/SatPass.cpp
new file mode 100644
index 0000000..6dab8ac
--- /dev/null
+++ b/dev/apps/geomatics/lib/SatPass.cpp
@@ -0,0 +1,292 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file SatPass.cpp
+ * Data for one complete satellite pass overhead.
+ */
+
+//------------------------------------------------------------------------------------
+#include <ostream>
+#include <string>
+#include "SatPass.hpp"
+#include "icd_200_constants.hpp" // OSC_FREQ,L1_MULT,L2_MULT
+#include "Stats.hpp"
+#include "StringUtils.hpp"
+
+using namespace std;
+
+// for use in smooth()
+const double CFF=gpstk::C_GPS_M/gpstk::OSC_FREQ;
+const double F1=gpstk::L1_MULT; // 154.0;
+const double F2=gpstk::L2_MULT; // 120.0;
+// wavelengths
+const double wl1=CFF/F1; // 19.0cm
+const double wl2=CFF/F2; // 24.4cm
+// ionospheric constant
+const double alpha = ((F1/F2)*(F1/F2) - 1.0);
+// transformation matrix
+const double D11 = (alpha+2.)/alpha;
+const double D12 = -2./alpha;
+const double D21 = (2*alpha+2.)/alpha;
+const double D22 = -D11;
+
+//------------------------------------------------------------------------------------
+namespace gpstk {
+
+using namespace StringUtils;
+
+// note that flag & LL1 = true for all L1 discontinuities
+// flag & LL2 = true for all L2 discontinuities
+const unsigned short SatPass::OK = 1; // good data, no discontinuity
+const unsigned short SatPass::BAD = 0; // used by caller and DC to mark bad data
+const unsigned short SatPass::LL1 = 2; // discontinuity on L1 only
+const unsigned short SatPass::LL2 = 4; // discontinuity on L2 only
+const unsigned short SatPass::LL3 = 6; // discontinuity on L1 and L2
+double SatPass::maxGap = 1800; // maximum gap (seconds) allowed within pass
+string SatPass::outFormat = string("%4F %10.3g"); // GPS week, seconds of week
+
+// Default constructor
+SatPassData::SatPassData(void)
+{
+ flag = SatPass::OK;
+ ndt = 0;
+ L1 = L2 = P1 = P2 = 0.0;
+ indicators = 0;
+}
+
+// Destructor
+SatPassData::~SatPassData(void) { }
+
+// Default constructor
+SatPass::SatPass(GSatID insat, double indt)
+{
+ sat = insat;
+ dt = indt;
+ ngood = 0;
+ status = 0;
+}
+
+// Destructor
+SatPass::~SatPass(void) { }
+
+// operator =
+SatPass& SatPass::operator=(const SatPass& sp)
+{
+ sat = sp.sat;
+ dt = sp.dt;
+ ngood = sp.ngood;
+ status = sp.status;
+ firstTime = sp.firstTime;
+ lastTime = sp.lastTime;
+ data.resize(sp.data.size());
+ for(int i=0; i<sp.data.size(); i++) {
+ data[i] = sp.data[i];
+ }
+ return *this;
+}
+
+// add data (P1,P2,L1,L2) to the arrays at timetag tt, optionally flag it BAD
+bool SatPass::push_back(const DayTime tt, SatPassData& spd)
+{
+ int n;
+
+ // if this is the first point, save first time
+ if(data.size() == 0) {
+ firstTime = lastTime = tt;
+ n = 0;
+ }
+ else {
+ if(tt < lastTime) { // TD return false?
+ Exception e("times are out of order");
+ GPSTK_THROW(e);
+ }
+ // compute count for this point
+ n = int((tt-firstTime)/dt + 0.5);
+
+ // test size of gap
+ if( (n - data[data.size()-1].ndt) * dt > maxGap)
+ return false;
+
+ lastTime = tt;
+ }
+
+ // add it
+ if(spd.flag & OK) ngood++;
+ spd.ndt = n;
+ spd.toffset = tt - firstTime - n*dt;
+ data.push_back(spd);
+
+ return true;
+}
+
+// return the time corresponding to the given index in the data array
+DayTime SatPass::time(unsigned int i) const throw(Exception)
+{
+ if(i > data.size()) {
+ Exception e("invalid in time() " + asString(i));
+ GPSTK_THROW(e);
+ }
+ // computing toff first is necessary to avoid a rare bug in DayTime..
+ double toff=data[i].ndt*dt+data[i].toffset;
+ //return (firstTime + data[i].ndt*dt + data[i].toffset);
+ return (firstTime + toff);
+}
+
+// return true if the input time could lie within the pass
+bool SatPass::includesTime(const DayTime& tt) const throw()
+{
+ if(tt < firstTime) {
+ if((firstTime-tt) > maxGap) return false;
+ }
+ else if(tt > lastTime) {
+ if((tt-lastTime) > maxGap) return false;
+ }
+ return true;
+}
+
+// get one element of the data array of this SatPass
+SatPassData SatPass::getData(unsigned int i) const throw(Exception)
+{
+ if(i >= data.size()) {
+ Exception e("invalid in getData() " + asString(i));
+ GPSTK_THROW(e);
+ }
+ return data[i];
+}
+
+// get one element of the count array of this SatPass
+unsigned int SatPass::getCount(unsigned int i) const throw(Exception)
+{
+ if(i >= data.size()) {
+ Exception e("invalid in getCount() " + asString(i));
+ GPSTK_THROW(e);
+ }
+ return data[i].ndt;
+}
+
+// smooth pseudorange and debias phase; replace the data only if the
+// corresponding input flag is 'true'.
+// call this ONLY after cycleslips have been removed.
+void SatPass::smooth(bool smoothPR, bool smoothPH, ostream& os)
+{
+ // PB = D * L - R pure biases = constants for continuous phase
+ // RB = D * PB real biases = wavelength * N
+ // dbL = L - RB debiased phase
+ // smR = D * dbL smoothed range
+ // 1 [ a+2 -2 ]
+ // D = -- [ ]
+ // a [ 2a+2 -(a+2) ]
+
+ int i;
+ double RB1,RB2,dbL1,dbL2;
+ Stats<double> PB1,PB2;
+
+ // get the average pure bias
+ for(i=0; i<data.size(); i++) {
+ if(!(data[i].flag & OK)) continue; // skip bad data
+ PB1.Add(D11*wl1*data[i].L1 + D12*wl2*data[i].L2 - data[i].P1);
+ PB2.Add(D21*wl1*data[i].L1 + D22*wl2*data[i].L2 - data[i].P2);
+ }
+ // real biases / wavelength
+ RB1 = (D11*(PB1.Average()) + D12*(PB2.Average()))/wl1;
+ RB2 = (D21*(PB1.Average()) + D22*(PB2.Average()))/wl2;
+
+ os << "SMT" << fixed << setprecision(2)
+ << " " << sat
+ << " " << firstTime.printf(outFormat)
+ << " " << lastTime.printf(outFormat)
+ << " " << setw(5) << PB1.N()
+ << " " << setw(12) << PB1.Average()
+ << " " << setw(5) << PB1.StdDev()
+ << " " << setw(12) << PB1.Minimum()
+ << " " << setw(12) << PB1.Maximum()
+ << " " << setw(5) << PB2.N()
+ << " " << setw(12) << PB2.Average()
+ << " " << setw(5) << PB2.StdDev()
+ << " " << setw(12) << PB2.Minimum()
+ << " " << setw(12) << PB2.Maximum()
+ << " " << setw(12) << RB1
+ << " " << setw(12) << RB2
+ << endl;
+
+ if(!smoothPH && !smoothPR) return;
+
+ for(i=0; i<data.size(); i++) {
+ if(!(data[i].flag & OK)) continue; // skip bad data
+
+ dbL1 = data[i].L1 - RB1;
+ dbL2 = data[i].L2 - RB2;
+ // debias the phase
+ if(smoothPH) {
+ data[i].L1 = dbL1;
+ data[i].L2 = dbL2;
+ }
+ // smooth the range
+ if(smoothPR) {
+ data[i].P1 = D11*wl1*dbL1 + D12*wl2*dbL2;
+ data[i].P2 = D21*wl1*dbL1 + D22*wl2*dbL2;
+ }
+ }
+}
+
+// dump all the data in the pass, one line per timetag;
+// put message msg at beginning of each line.
+void SatPass::dump(ostream& os, string msg1, string msg2) const throw()
+{
+ os << '#' << msg1 << " " << *this << " " << msg2 << endl;
+
+ DayTime tt;
+ for(int i=0; i<data.size(); i++) {
+ tt = time(i);
+ os << msg1
+ << " " << setw(3) << i
+ << " " << sat
+ << " " << setw(3) << data[i].ndt
+ << " " << setw(2) << data[i].flag
+ << " " << tt.printf(SatPass::outFormat)
+ << fixed << setprecision(3)
+ << " " << setw(13) << data[i].L1
+ << " " << setw(13) << data[i].L2
+ << " " << setw(13) << data[i].P1
+ << " " << setw(13) << data[i].P2
+ << endl;
+ }
+}
+
+// output SatPass to ostream
+ostream& operator<<(ostream& os, const SatPass& sp )
+{
+ os << setw(3) << sp.data.size()
+ << " " << sp.sat
+ << " " << setw(3) << sp.ngood
+ << " " << setw(2) << sp.status
+ << " " << sp.firstTime.printf(SatPass::outFormat)
+ << " " << sp.lastTime.printf(SatPass::outFormat)
+ << " " << fixed << setprecision(1) << sp.dt;
+
+ return os;
+}
+
+} // end namespace gpstk
diff --git a/dev/apps/geomatics/lib/SatPass.hpp b/dev/apps/geomatics/lib/SatPass.hpp
new file mode 100644
index 0000000..d06a695
--- /dev/null
+++ b/dev/apps/geomatics/lib/SatPass.hpp
@@ -0,0 +1,214 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file SatPass.hpp
+ * Data for one complete satellite pass overhead.
+ */
+
+#ifndef GPSTK_SATELLITE_PASS_INCLUDE
+#define GPSTK_SATELLITE_PASS_INCLUDE
+
+#include "DayTime.hpp"
+#include "GSatID.hpp"
+#include "RinexObsHeader.hpp"
+#include "Exception.hpp"
+
+#include <vector>
+
+namespace gpstk {
+
+ /** @addtogroup rinexutils */
+ //@{
+
+/** class SatPassData is used in SatPass to hold the RINEX data. */
+class SatPassData {
+public:
+ /// Constructor
+ SatPassData(void);
+ /// Destructor
+ ~SatPassData(void);
+
+ /// a flag (cf. SatPass::BAD, etc.) that is set to OK or BAD at creation (by the
+ /// caller of SatPass::push_back), then reset by other processing.
+ unsigned short flag;
+ /// time 'count' : time of data[i] = FirstTime + ndt[i] * dt + offset
+ unsigned int ndt;
+ /// offset of time from integer number * dt since FirstTime.
+ double toffset;
+ /// data arrays for dual frequency pseudorange (m) and carrier phase (cycles)
+ double P1,P2,L1,L2;
+ /// loss-of-lock and signal-strength indicators (from RINEX) for the P1,P2,L1,L2
+ /// data, 'merged' together into a single integer. I.e. if the LLI and SSI for
+ /// the data are 2,5,3,6,7,9,3 & 9, then indicators = 25367939.
+ unsigned long indicators;
+
+}; // end class SatPassData
+
+/** class SatPass holds all range and phase data for a full satellite pass.
+ * Constructed and filled by the calling program, it is used to pass data into
+ * and out of the GPSTK discontinuity corrector.
+ */
+class SatPass {
+public:
+ /// flag indicating bad data
+ static const unsigned short BAD;
+ /// flag indicating good data with no phase discontinuity
+ /// NB test for 'good' data using (flag != SatPass::BAD), NOT flag==SatPass::OK
+ static const unsigned short OK;
+ /// flag indicating good data with phase discontinuity on L1 only.
+ static const unsigned short LL1;
+ /// flag indicating good data with phase discontinuity on L2 only.
+ static const unsigned short LL2;
+ /// flag indicating good data with phase discontinuity on both L1 and L2.
+ static const unsigned short LL3;
+ /// size of maximum time gap, in seconds, allowed within SatPass data.
+ static double maxGap;
+ /// format string, as defined in class DayTime, for output of times
+ static std::string outFormat;
+
+ typedef std::vector<SatPassData>::iterator iterator;
+ typedef std::vector<SatPassData>::const_iterator const_iterator;
+
+ // member functions ----------------------------------------------
+ /// Default constructor
+ SatPass(GSatID sat, double dt);
+
+ /// Destructor
+ ~SatPass(void);
+
+ /// Copy constructor
+ SatPass(const SatPass& sp) { *this = sp; }
+
+ /// operator =
+ SatPass& operator=(const SatPass& sp);
+
+ /// add data to the arrays at timetag tt
+ /// Calls must be made in time order
+ /// Caller sets the flag to either BAD or OK; other processing (DC) may reset.
+ bool push_back(const DayTime tt, SatPassData& spd);
+
+ /// smooth pseudorange and debias phase; call this ONLY after cycleslips
+ /// have been removed.
+ void smooth(bool smoothPR, bool smoothPH, std::ostream& os);
+
+ /// change the maximum time gap (in seconds) allowed within any SatPass
+ /// return the input.
+ static double setMaxGap(const double gap)
+ { maxGap = gap; return maxGap; }
+
+ /// set timetag output format
+ void setOutputFormat(std::string fmt) { outFormat = fmt; };
+
+ /// get the max. gap limit size (seconds); for all SatPass objects
+ double getMaxGap(void) const throw() { return maxGap; }
+
+ /// get the timetag of the first data in this SatPass
+ DayTime getFirstTime(void) const throw() { return firstTime; }
+
+ /// get the timetag of the last data in this SatPass
+ DayTime getLastTime(void) const throw() { return lastTime; }
+
+ /// get the satellite of this SatPass
+ GSatID getSat(void) const throw() { return sat; }
+
+ /// get the time interval of this SatPass
+ double getDT(void) const throw() { return dt; }
+
+ /// get the number of good points in this SatPass
+ int getNgood(void) const throw() { return ngood; }
+
+ /// get the size of (the arrays in) this SatPass
+ unsigned int size(void) const throw() { return data.size(); }
+
+ /// resize the arrays in this SatPass
+ void resize(unsigned int n) throw() { data.resize(n); }
+
+ /// get one element of the count array of this SatPass
+ unsigned int getCount(unsigned int i) const throw(Exception);
+
+ /// get one element of the data array of this SatPass
+ SatPassData getData(unsigned int i) const throw(Exception);
+
+ /// compute the timetag associated with index i in the data array
+ DayTime time(unsigned int i) const throw(Exception);
+
+ /// return true if the given timetag is or could be part of this pass
+ bool includesTime(const DayTime& tt) const throw();
+
+ /// dump all the data in the pass, one line per timetag;
+ /// put message msg1 at beginning of each line,
+ /// msg2 at the end of the first (#comment) line.
+ void dump(std::ostream& os, std::string msg1, std::string msg2=std::string())
+ const throw();
+
+ /// STL iterator begin
+ iterator begin() { return data.begin(); }
+ /// STL const iterator begin
+ const_iterator begin() const
+ { return data.begin(); }
+ /// STL iterator end
+ iterator end() { return data.end(); }
+ /// STL const iterator end
+ const_iterator end() const
+ { return data.end(); }
+
+ // other ---------------------------------------------------------
+ friend std::ostream& operator<<(std::ostream& os, const gpstk::SatPass& sp);
+
+ // member data ---------------------------------------------------
+ /// status flag for use by DC, caller, etc.; set to 0 by constructor,
+ /// but otherwise ignored by class SatPass.
+ unsigned int status;
+
+protected:
+ /// nominal time spacing of the data.
+ double dt;
+
+ /// timetags of the first and last data points.
+ DayTime firstTime,lastTime;
+
+ /// Satellite identifier for this data.
+ GSatID sat;
+
+ /// number of timetags with good data in the data arrays.
+ unsigned int ngood;
+
+ /// All data in the pass (good and bad points), stored in SatPassData,
+ /// are stored in this vector.
+ std::vector<SatPassData> data;
+
+}; // end class SatPass
+
+ ///Stream output for SatPass.
+ ///@param os output stream to write to
+ ///@param sp SatPass to write
+ ///@return reference to os.
+std::ostream& operator<<(std::ostream& os, const gpstk::SatPass& sp);
+
+ //@}
+
+} // end namespace gpstk
+
+#endif
diff --git a/dev/apps/geomatics/lib/format.cpp b/dev/apps/geomatics/lib/format.cpp
new file mode 100644
index 0000000..64dd650
--- /dev/null
+++ b/dev/apps/geomatics/lib/format.cpp
@@ -0,0 +1,57 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file format.cpp
+ * Simple class to encapsulate output format
+ */
+
+//-----------------------------------------------------------------------------
+#include "format.hpp"
+#include <iomanip>
+using namespace std;
+ostream& operator<<(ostream& os, const format& f)
+{
+ if(f.form) os << (f.form==1 ? fixed : scientific);
+ if(f.wide > 0) os << setw(f.wide);
+ os << setprecision(f.prec);
+ return os;
+}
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/lib/format.hpp b/dev/apps/geomatics/lib/format.hpp
new file mode 100644
index 0000000..4497284
--- /dev/null
+++ b/dev/apps/geomatics/lib/format.hpp
@@ -0,0 +1,73 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file format.hpp
+ * Simple class to encapsulate output format
+ */
+
+#ifndef CLASS_FORMAT_HELPER_INCLUDE
+#define CLASS_FORMAT_HELPER_INCLUDE
+
+#include <ostream>
+
+//------------------------------------------------------------------------------------
+class format {
+ int form; // 0=general,1=float,2=scientific
+ int wide;
+ int prec;
+public:
+ explicit format(int w, int p, int f=1) : wide(w),prec(p),form(f) {}
+ format& scientific() { form=2; return *this; }
+ format& sci() { form=2; return *this; }
+ format& fixed() { form=1; return *this; }
+ format& fix() { form=1; return *this; }
+ format& general() { form=0; return *this; }
+ format& gen() { form=0; return *this; }
+ format& width(int w) { wide=w; return *this; }
+ format& w(int w) { wide=w; return *this; }
+ format& precision(int p) { prec=p; return *this; }
+ format& p(int p) { prec=p; return *this; }
+ format& wp(int w, int p) { prec=p; wide=w; return *this; }
+
+ friend std::ostream& operator<<(std::ostream& os, const format& f);
+}; // end class format
+
+//------------------------------------------------------------------------------------
+#endif
+// nothing below this..
diff --git a/dev/apps/geomatics/lib/index.hpp b/dev/apps/geomatics/lib/index.hpp
new file mode 100644
index 0000000..f8a1e02
--- /dev/null
+++ b/dev/apps/geomatics/lib/index.hpp
@@ -0,0 +1,87 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file index.hpp
+ * A template function to find the index of a particular element of std::vector
+ */
+
+#ifndef INDEX_ROUTINE_INCLUDE
+#define INDEX_ROUTINE_INCLUDE
+
+//------------------------------------------------------------------------------------
+// find the index of first occurance of item t (of type T) in vector<T> v;
+// i.e. j = index(v,t); implies v[j] == t. Return -1 if t is not found.
+template<class T> int index(const std::vector<T> v, const T& t)
+{
+ for(int i=0; i<v.size(); i++) {
+ if(v[i] == t) return i;
+ }
+ return -1;
+}
+
+/*
+// find the index of first occurance of item t (of type T) in vector<T> v;
+// i.e. j = index(v,t); implies v[j] == t. Return -1 if t is not found.
+// assume that the vector<T> is strictly increasing,
+// that is that J > I strictly implies v[J] > v[I].
+// let istart be a suggested starting point for the search;
+// that is istart+(small) or istart-(small) may very well be the desired index
+template<class T> int index_uniform(const std::vector<T> v, const T& t, int istart=0)
+{
+ if(istart < 0 || istart > v.size()) istart=0;
+ int i=istart,k=0;
+ while(i<v.size() && i>=0) {
+ if(v[i] == t) {
+ return i;
+ }
+ else if(v[i] < t) {
+ if(k == -1) return -1;
+ k = 1; // increasing
+ }
+ else {
+ if(k == 1) return -1;
+ k = -1; // decreasing
+ }
+ i += k;
+ }
+ return -1;
+}
+*/
+
+#endif
diff --git a/dev/apps/geomatics/lib/random.cpp b/dev/apps/geomatics/lib/random.cpp
new file mode 100644
index 0000000..e94c8e0
--- /dev/null
+++ b/dev/apps/geomatics/lib/random.cpp
@@ -0,0 +1,170 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file random.cpp
+ * Simple random number generator.
+ */
+
+// -----------------------------------------------------------------------------
+#include <iostream>
+#include <iomanip>
+#include <cmath>
+#include <ctime>
+
+#include "random.hpp"
+
+using namespace std;
+
+// -----------------------------------------------------------------------------
+// Generate random numbers uniformly distributed from 0.0 to 1.0. Mbig and
+// Mseed are large but arbitrary, but Mbig > Mseed. The 55 is not arbitrary.
+double Rand(long seed)
+{
+#define Mbig 1000000000.
+#define Mseed 161803398.
+#define imod(x,y) ((x)-((x)/(y))*(y))
+ static short iff=0,inext,inextp;
+ static double Ma[55];
+ double mj,mk;
+ short i,ii,k;
+ if(!iff) {
+ if(seed < 0) seed=-seed;
+ mj = Mseed-seed;
+ mj = fmod(mj,Mbig);
+ Ma[54] = mj;
+ mk = 1.0;
+ for(i=0; i<55; i++) {
+ ii = imod(21*(i+1),55);
+ Ma[ii] = mk;
+ mk = mj - mk;
+ if(mk < 0.0) mk += Mbig;
+ mj = Ma[ii];
+ }
+ for(k=0; k<4; k++) {
+ for(i=0; i<55; i++) {
+ Ma[i] -= Ma[imod(i+30,55)];
+ if(Ma[i] < 0.0) Ma[i] += Mbig;
+ }
+ }
+ inext = -1;
+ inextp = 30;
+ iff=1;
+ }
+ inext++; if(inext == 55) inext=0;
+ inextp++; if(inextp == 55) inextp=0;
+ mj = Ma[inext]-Ma[inextp];
+ if(mj < 0.0) mj += Mbig;
+ Ma[inext] = mj;
+ return mj/Mbig;
+#undef Mbig
+#undef Mseed
+#undef imod
+}
+
+// -----------------------------------------------------------------------------
+// Generate normally distributed random numbers, zero mean and
+// sqrt of variance sigma. Uses Box-Muller and Rand() above.
+double RandNorm(double sigma)
+{
+#ifdef RAND_NORM_SAVE
+ static short iset=0;
+ static double saved;
+ double r, v1, v2, fact;
+ if(!iset) {
+ do {
+ v1 = 2.0*Rand(1)-1.0;
+ v2 = 2.0*Rand(1)-1.0;
+ r = v1*v1 + v2*v2;
+ } while( r >= 1.0 || r == 0.0);
+ fact = sigma*sqrt(-2.*log(r)/r);
+ saved = v1*fact;
+ iset = 1;
+ return v2*fact;
+ }
+ iset = 0;
+ return saved;
+#else
+ double r, v1, v2, fact;
+ do {
+ v1 = 2.0*Rand(1)-1.0;
+ v2 = 2.0*Rand(1)-1.0;
+ r = v1*v1 + v2*v2;
+ } while( r >= 1.0 || r == 0.0);
+ fact = sigma*sqrt(-2.*log(r)/r);
+ return v2*fact;
+#endif
+}
+
+// -----------------------------------------------------------------------------
+// Return random integers between low and hi. If you want a different seed,
+// call Rand(seed) before you call this.
+int ARand(int low, int hi)
+{
+ double r=Rand(),d=(double)(hi-low);
+ if(d < 0.0) d = -d;
+ d = r*d;
+ int i=(int)(d+0.5) + low;
+ return i;
+}
+
+// -----------------------------------------------------------------------------
+// Return random doubles between low and hi. If you want a different seed,
+// call Rand(seed) before you call this.
+double ARand(double low, double hi)
+{
+ double r=Rand(),d=(hi-low);
+ if(d < 0.0) d = -d;
+ d = r*d;
+ return (low+d);
+}
+
+// -----------------------------------------------------------------------------
+// Generate a random walk sequence, given sqrt variance sigma, time step dt
+// and previous point xlast.
+//
+double RandomWalk(double dt, double sigma, double xlast)
+{
+ return xlast+RandNorm(sigma)*dt;
+}
+
+// -----------------------------------------------------------------------------
+// Generate an exponentially correlated random sequence, given time step dt,
+// sqrt variance sigma, time constant T and previous point xlast.
+//
+//double RandExpCor(double dt, double sigma, double T, double xlast)
+//{
+ //return exp(-dt/T)*xlast+RandNorm(sigma);
+//}
+
+// -----------------------------------------------------------------------------
+// integer mod function. assume arguments positive.
+//static int imod(int x, int y)
+//{
+ //if(x == 0 || y == 0) return 0;
+ //return (x-(x/y)*y);
+//}
+
+// -----------------------------------------------------------------------------
+// -----------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/lib/random.hpp b/dev/apps/geomatics/lib/random.hpp
new file mode 100644
index 0000000..fec3afb
--- /dev/null
+++ b/dev/apps/geomatics/lib/random.hpp
@@ -0,0 +1,52 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file random.hpp
+ * Simple random number generator.
+ */
+
+#ifndef GPSTK_GEOMATICS_RANDOM_INCLUDE
+#define GPSTK_GEOMATICS_RANDOM_INCLUDE
+
+/// Generate random numbers uniformly distributed from 0 to 1.
+double Rand(long seed=0);
+
+/// Generate normally distributed random numbers, zero mean and
+/// sqrt of variance sigma. Uses Box-Muller and Rand().
+double RandNorm(double sigma);
+
+/// Return random integers between low and hi. Seed the generator by calling
+/// Rand(seed) before this call.
+int ARand(int low, int hi);
+
+/// Return random doubles between low and hi. Seed the generator by calling
+/// Rand(seed) before this call.
+double ARand(double low, double hi);
+
+/// Generate a random walk sequence, given sqrt variance sigma, time step dt
+/// and previous point xlast.
+double RandomWalk(double dt, double sigma, double xlast);
+
+#endif
diff --git a/dev/apps/geomatics/relposition/ClockModel.cpp b/dev/apps/geomatics/relposition/ClockModel.cpp
new file mode 100644
index 0000000..474091b
--- /dev/null
+++ b/dev/apps/geomatics/relposition/ClockModel.cpp
@@ -0,0 +1,77 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file ClockModel.cpp
+ * Implement clock modeling for program DDBase.
+ */
+
+//------------------------------------------------------------------------------------
+// includes
+// system
+
+// GPSTk
+
+// DDBase
+#include "DDBase.hpp"
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+// prototypes -- this module only
+int OutputClockData(void); // DataIO.cpp
+
+//------------------------------------------------------------------------------------
+int ClockModel(void)
+{
+try {
+ if(CI.Verbose) oflog << "BEGIN ClockModel()"; // << endl;
+ oflog << " -- ClockModel() is not yet implemented." << endl;
+
+ OutputClockData(); // may be done in ReadRawData if PRS is far off
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+} // end ClockModel()
+
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/relposition/CommandInput.cpp b/dev/apps/geomatics/relposition/CommandInput.cpp
new file mode 100644
index 0000000..d18f527
--- /dev/null
+++ b/dev/apps/geomatics/relposition/CommandInput.cpp
@@ -0,0 +1,1451 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file CommandInput.cpp
+ * Implement command line input, including defaults and validation for program DDBase.
+ */
+
+//------------------------------------------------------------------------------------
+// TD CommandInput.cpp need baseline identifier to Tight and Loose cmds
+// TD CommandInput.cpp test reasonableness of input station positions
+
+//------------------------------------------------------------------------------------
+// includes
+// system
+
+// GPSTk
+#include "CommandOption.hpp"
+#include "CommandOptionParser.hpp"
+
+// DDBase
+#include "DDBase.hpp"
+// DDBase.hpp includes CommandInput.hpp
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+// local data
+
+//------------------------------------------------------------------------------------
+void CommandInput::SetDefaults()
+{
+try {
+ Debug = false;
+ Verbose = false;
+ Screen = true; // TD user input
+ Validate = false;
+ // log file
+ LogFile = string("ddbase.log");
+ // input data files
+ InputPath = string("");
+ NavPath = string("");
+ NavFileNames.clear();
+ EOPPath = string("");
+ EOPFileNames.clear();
+ // time limits
+ BegTime = DayTime::BEGINNING_OF_TIME;
+ EndTime = DayTime::END_OF_TIME;
+ // process configuration
+ Frequency = 1;
+ // for pseudorange solution
+ PRSrmsLimit = 6.5; // this is the PRSolution() default
+ PRSalgebra = false;
+ PRSnIter = 10;
+ PRSconverge = 1.e-9;
+ PRSMinElevation = 10.0;
+ // for modeling residual zenith delay
+ NRZDintervals = 0;
+ RZDtimeconst = 2.0; // hours
+ RZDsigma = 0.5; // meters
+ //
+ DataInterval = -1.0;
+ // editing
+ MinElevation = 10.0;
+ RotatedAntennaElevation = 0.0;
+ RotatedAntennaAzimuth = 0.0;
+ MaxGap = 10;
+ MinDDSeg = 50;
+ PhaseBiasReset = 10;
+ ExSV.clear();
+ // timetable
+ RefSat = GSatID(-1,SatID::systemGPS);
+ // estimation
+ noEstimate = false; // for Estimation()
+ nIter = 5; // for Estimation()
+ convergence = 5.0e-8; // TD convergence criterion input
+ noRAIM = false; // turn off pseudorange solution (! -> clk?)
+ FixBiases = false;
+ // Don't implement default constraints - this needs more study
+ TightConstraint = 1.e-4; // 1.e-5;
+ LooseConstraint = 1.e-1; // 1.e-1;
+ DefaultTemp = 20.0; // deg C
+ DefaultPress = 1010.0; // mbars at sea level
+ DefaultRHumid = 50.0; // %
+ // output
+ OutputClkFile = string("");
+ OutputDDDFile = string("");
+ OutputTDDFile = string("");
+ OutputRawFile = string("");
+ OutputRawDDFile = string("");
+ OutputPRSFile = string("");
+ OutputDDRFile = string("");
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+int CommandInput::GetCmdInput(int argc, char **argv)
+{
+try {
+ help = false;
+ int i,j;
+ string msg;
+ vector<string> values,field;
+
+ // set all to default
+ SetDefaults();
+
+ // --------------------------------------------------------------------------------
+ // Define the options
+
+ // required options:
+
+ // optional options:
+
+ // this is here only so it will show up in the help msg...
+ CommandOption dashf(CommandOption::hasArgument, CommandOption::stdType,
+ 'f',"","\n -f<file> Name of file containing more options"
+ " ('#' to EOL : comment)");
+
+ // log file
+ CommandOption dashl(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Log"," --Log <file> Name of output log file (" + LogFile + ")");
+ dashl.setMaxCount(1);
+
+ // files
+ // observation
+ CommandOption dashop(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"ObsPath",
+ "\n# Observations:\n --ObsPath <path> Path for input obs file(s) (.)");
+ dashop.setMaxCount(1);
+
+ CommandOption dashof(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"ObsFile"," --ObsFile <name,id> Rinex observation file name(s),"
+ " followed by a station label.");
+
+ // ephemeris
+ CommandOption dashnp(CommandOption::hasArgument, CommandOption::stdType, 0,
+ "NavPath","# Ephemeris and Earth orientation:\n"
+ " --NavPath <dir> Path of navigation file(s) (.)");
+ dashnp.setMaxCount(1);
+
+ CommandOption dashnf(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"NavFile"," --NavFile <file> Navigation (Rinex Nav OR SP3) file(s)");
+
+ // earth orientation
+ CommandOption dashep(CommandOption::hasArgument, CommandOption::stdType, 0,
+ "EOPPath"," --EOPPath <dir> "
+ "Path of earth orientation file(s)");
+ dashep.setMaxCount(1);
+
+ CommandOption dashef(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"EOPFile"," --EOPFile <file> "
+ "Earth orientation parameter (EOPP or IERS format) file(s).\n"
+ " If no EOP file is given, DDBase will search "
+ "for the IERS\n format file 'finals.daily' in the "
+ "current directory.");
+
+ // station configuration
+ CommandOption dashXYZ(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"PosXYZ",
+ "\n# Station configuration [--Pos.. (1 only) MUST be given for each site]:\n"
+ " --PosXYZ <X,Y,Z,id> Station position in ECEF coordinates (m),\n"
+ " followed by a label identifying the station.");
+
+ CommandOption dashLLH(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"PosLLH"," --PosLLH <La,Lo,H,id> Station position in geodetic coordinates:\n"
+ " Latitude(deg),Longitude(E,deg),Height(m),label");
+
+ CommandOption dashPRS(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"PosPRS"," --PosPRS <id> Let position of station labelled <id> be set"
+ " to the computed\n average pseudorange solution"
+ " for that site.");
+
+ CommandOption dashtrop(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"TropModel"," --TropModel <trop,id> Use trop model <trop> for station <id>, "
+ "choices are: 'Zero',\n 'Black','NewB','ModHop',"
+ "'ModHopH','Saas' (Saas) [cf. GPSTk]");
+
+ msg = string(
+ " --Weather <T,P,H,id> Weather parameters: Temperature(degC),Pressure(mbar),\n"
+ " Humidity(%), followed by a label identifying the\n"
+ " station. ("
+ + StringUtils::asString(CI.DefaultTemp,1) + string(",")
+ + StringUtils::asString(CI.DefaultPress,2) + string(",")
+ + StringUtils::asString(CI.DefaultRHumid,1) + string(")")
+ );
+ CommandOption dashWx(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Weather",msg);
+
+ CommandOption dashfix(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Fix"," --Fix <id> Hold the station <id> fixed "
+ "in estimation (don't)");
+
+ //CommandOption dashant(CommandOption::hasArgument, CommandOption::stdType,
+ // 0,"AntAz"," --AntAz <angle,id> "
+ // "Antenna relative azimuth angle (deg) for station <id> (0.0)");
+
+ // configuration
+ CommandOptionNoArg dashnoest(0, "noEstimate", "\n# Configuration:\n"
+ " --noEstimate Quit before performing the estimation.");
+ dashnoest.setMaxCount(1);
+
+ CommandOption dashfreq(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Freq"," --Freq <L1|L2|L3> Process L1, L2 or L3(L1+L2) frequency data"
+ " (L3 not validated)");
+ dashfreq.setMaxCount(1);
+
+ CommandOption dashnit(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"nIter"," --nIter <n> Maximum number of estimation iterations ("
+ + StringUtils::asString(nIter) + ")");
+ dashnit.setMaxCount(1);
+
+ {
+ ostringstream oss;
+ oss << scientific << setprecision(2) << convergence;
+ msg = oss.str();
+ }
+ CommandOption dashconv(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Converge"," --Converge <cl> Convergence limit on RSS change in state ("
+ + msg + " m)");
+ dashconv.setMaxCount(1);
+
+ CommandOptionNoArg dashfixbias(0, "FixBiases", " --FixBiases "
+ "Perform an extra, last iteration that fixes the phase biases");
+ dashfixbias.setMaxCount(1);
+
+ // state model
+ CommandOption dashntrop(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"RZDnIntervals","\n# State model, a priori constraints:\n"
+ " --RZDnIntervals <n> Number of (equal time) residual zenith delay "
+ "intervals (" + StringUtils::asString(NRZDintervals) + ")\n"
+ " (enter 0 to turn off estimation of RZD)");
+ dashntrop.setMaxCount(1);
+
+ CommandOption dashttrop(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"RZDtimeconst",
+ " --RZDtimeconst <tau> Time constant (hours) for multiple RZD intervals ("
+ + StringUtils::asString(RZDtimeconst,2) + ")");
+ dashttrop.setMaxCount(1);
+
+ CommandOption dashstrop(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"RZDsigma",
+ " --RZDsigma <sig> A priori sigma (m) for residual zenith delay ("
+ + StringUtils::asString(RZDsigma,2) + ")");
+ dashstrop.setMaxCount(1);
+
+ // TD need baseline identifier: --Tight <id,id,ppm>. also Loose
+ CommandOption dashtight(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Tight"," --Tight <ppm> Tight a priori constraint, a fraction "
+ "of baseline (" + StringUtils::asString(TightConstraint,4) + ")");
+ dashtight.setMaxCount(1);
+
+ CommandOption dashloose(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Loose"," --Loose <ppm> Loose a priori constraint, a fraction "
+ "of baseline ("+StringUtils::asString(LooseConstraint,1)+")");
+ dashloose.setMaxCount(1);
+
+ // times - don't use CommandOptionWithTimeArg
+ CommandOption dashbt(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"BeginTime",
+ "\n# Time limits:\n --BeginTime <arg> Start time: arg is "
+ "'GPSweek,sow' OR 'YYYY,MM,DD,HH,Min,Sec'");
+ dashbt.setMaxCount(1);
+
+ CommandOption dashet(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"EndTime",
+ " --EndTime <arg> End time: arg is 'GPSweek,sow' OR "
+ "'YYYY,MM,DD,HH,Min,Sec'");
+ dashet.setMaxCount(1);
+
+ // time table(s)
+ CommandOption dashttab(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"TimeTable","\n# Satellite time table:\n"
+ " --TimeTable <file> Time table file name (if this option does not appear"
+ "\n a time table will be computed and output to log"
+ " file)");
+ dashttab.setMaxCount(1);
+
+ CommandOption dashRef(CommandOption::hasArgument, CommandOption::stdType, 0,
+ "Ref", " --Ref <sat> Use <sat> as 'reference' "
+ "in DDs; don't use a timetable");
+ dashRef.setMaxCount(1);
+
+ // data editing
+ CommandOption dashelev(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"MinElev","\n# Data editing:\n --MinElev <elev> Ignore data "
+ "below elevation <elev> degrees, DDs only ("
+ + StringUtils::asString(MinElevation,2) + ")");
+ dashelev.setMaxCount(1);
+
+ CommandOption dashrotelev(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"AntRotElev"," --AntRotElev <elev> Apply MinElev to antenna rotated "
+ "in elevation by <elev> deg.");
+ dashrotelev.setMaxCount(1);
+
+ CommandOption dashrotaz(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"AntRotAz"," --AntRotAz <az> Apply MinElev to antenna rotated "
+ "in azimuth by <az> deg.");
+ dashrotaz.setMaxCount(1);
+
+ CommandOption dashgap(CommandOption::hasArgument, CommandOption::stdType, 0,
+ "MaxGap"," --MaxGap Maximum acceptable gap in data "
+ "[number of --DT intervals] (" + StringUtils::asString(MaxGap) + ")\n"
+ " [Used in raw data editing and synchronization]");
+ dashgap.setMaxCount(1);
+
+ CommandOption dashmindd(CommandOption::hasArgument, CommandOption::stdType, 0,
+ "MinDDSeg"," --MinDDSeg Minimum acceptable length of DD data segment"
+ " (" + StringUtils::asString(MinDDSeg) + ")");
+ dashmindd.setMaxCount(1);
+
+ CommandOption dashphbias(CommandOption::hasArgument, CommandOption::stdType, 0,
+ "PhaseBiasReset"," --PhaseBiasReset Limit on pt-to-pt change in pha"
+ "se without reset, in cycles (" + StringUtils::asString(PhaseBiasReset) + ")");
+ dashphbias.setMaxCount(1);
+
+ CommandOption dashXsat(CommandOption::hasArgument, CommandOption::stdType, 0,
+ "XSat", " --XSat <sat> Exclude this satellite ()");
+
+ CommandOption dashDT(CommandOption::hasArgument, CommandOption::stdType, 0,
+ "DT"," --DT <t> Data time interval in sec [will also decimate"
+ " input data]");
+ dashDT.setMaxCount(1);
+
+ // pseudorange solution
+ CommandOption dashprsnit(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"PRSniter","\n# Pseudorange solution (PRS) configuration:\n"
+ " --PRSniter <n> PRS: Limit on number of iterations ("
+ + StringUtils::asString(PRSnIter) + ")");
+ dashprsnit.setMaxCount(1);
+
+ {
+ ostringstream oss;
+ oss << scientific << setprecision(2) << PRSconverge;
+ msg = oss.str();
+ }
+ CommandOption dashprscon(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"PRSconverge",
+ " --PRSconverge <cl> PRS: Convergence limit (m) (" + msg + ")");
+ dashprscon.setMaxCount(1);
+
+ CommandOption dashprsrms(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"PRSrmsLimit",
+ " --PRSrmsLimit <rms> PRS: RMS residual limit (m) ("
+ + StringUtils::asString(PRSrmsLimit,2) + ")");
+ dashprsrms.setMaxCount(1);
+
+ CommandOption dashprsalg(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"PRSalgebra",
+ " --PRSalgebra PRS: Use algebraic algorithm (don't)");
+ dashprsalg.setMaxCount(1);
+
+ CommandOption dashprselev(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"PRSMinElev"," --PRSMinElev <elev> PRS: Reject data below elevation "
+ "<elev> degrees ("
+ + StringUtils::asString(PRSMinElevation,2) + ")");
+ dashprselev.setMaxCount(1);
+
+ //dont CommandOptionNoArg dashnoprs(0, "noPRS",
+ //dont " --noPRS Skip the pseudorange solution (!)");
+ //dont dashnoprs.setMaxCount(1);
+
+ // output flags
+ CommandOption dashrawout(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"RAWFileOut","\n# Output files:\n --RAWFileOut <file> "
+ "Filename for output of raw data ()");
+ dashrawout.setMaxCount(1);
+
+ CommandOption dashprsout(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"PRSFileOut"," --PRSFileOut <file> "
+ "Filename for output of pseudorange solution ()");
+ dashprsout.setMaxCount(1);
+
+ CommandOption dashclkout(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"CLKFileOut"," --CLKFileOut <file> "
+ "Filename for output of Rx clock bias and model ()");
+ dashclkout.setMaxCount(1);
+
+ CommandOption dashrddout(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"RDDFileOut",
+ " --RDDFileOut <file> Filename for output of raw DD data ()");
+ dashrddout.setMaxCount(1);
+
+ CommandOption dashdddout(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"DDDFileOut"," --DDDFileOut <file> Filename for output of (edited) DD data"
+ " ()");
+ dashdddout.setMaxCount(1);
+
+ CommandOption dashtddout(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"TDDFileOut"," --TDDFileOut <file> Filename for output of triple "
+ "difference data ()");
+ dashtddout.setMaxCount(1);
+
+ CommandOption dashddrout(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"DDRFileOut"," --DDRFileOut <file> Filename for output of DD post-fit "
+ "residuals ()");
+ dashddrout.setMaxCount(1);
+
+ CommandOption dashbaseout(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"BaseOut","\n# Output misc:\n --BaseOut <id-id,x,y,z> Baseline to output;"
+ " <id>s are station labels, '-' is\n "
+ "required, <x,y,z> are optional baseline coordinates.");
+
+ CommandOptionNoArg dashvalid('0', "validate",
+ " --validate Read input and validate it, then quit.");
+ dashvalid.setMaxCount(1);
+
+ CommandOptionNoArg dashv('v', "verbose",
+ " --verbose (also -v) print extended output info.");
+
+ CommandOptionNoArg dashd('d', "debug",
+ " --debug (also -d) print very extended output info "
+ "(for developers).");
+
+ CommandOptionNoArg dashh('h', "help",
+ " --help (also -h) print this help message and quit.");
+
+ // ... other options
+ CommandOptionRest Rest("");
+
+ // --------------------------------------------------------------------------------
+ // Define the parser here: before the options -- this is the "prgm description" ...
+ CommandOptionParser Par(PrgmDesc);
+
+ // parse the command line
+ // allow user to put all options in a file
+ // PreProcessArgs pulls out help, Debug, Verbose
+ vector<string> Args;
+ for(j=1; j<argc; j++) PreProcessArgs(argv[j],Args);
+ argc = Args.size();
+ if(argc==0)
+ help = true;
+
+ // pass the rest
+ argc = Args.size()+1;
+ char **CArgs=new char*[argc];
+ if(!CArgs) { cerr << "Failed to allocate CArgs\n"; return -1; }
+ CArgs[0] = argv[0];
+ for(j=1; j<argc; j++) {
+ CArgs[j] = new char[Args[j-1].size()+1];
+ if(!CArgs[j]) { cerr << "Failed to allocate CArgs[j]\n"; return -1; }
+ strcpy(CArgs[j],Args[j-1].c_str());
+ }
+
+ if(Debug) {
+ cout << "Argument list passed to parser:\n";
+ for(j=0; j<argc; j++) cout << j << " " << CArgs[j] << endl;
+ }
+
+ Par.parseOptions(argc, CArgs);
+ for(j=1; j<argc; j++) delete[] CArgs[j];
+ delete[] CArgs;
+
+ // check for errors on the command line
+ // hasErrors() returns invalid commands
+ // Rest contains things not recognized
+ if (Par.hasErrors() || Rest.getCount()) {
+ cerr << "\nErrors found in command line input:\n";
+ if(Par.hasErrors()) Par.dumpErrors(cerr);
+ if(Rest.getCount()) {
+ cerr << "The following command line fields were not recognized:\n";
+ values = Rest.getValue();
+ for(i=0; i<values.size(); i++) cerr << " " << values[i] << endl;
+ }
+ cerr << "...end of Errors\nAbort.\n";
+ help = true;
+ }
+
+ // if help, print usage
+ if(help) {
+ Par.displayUsage(cout,false);
+ cout << endl;
+ }
+
+ if(help && argc > 1) cout << endl << "--------- parsed input:" << endl;
+
+ // --------------------------------------------------------------------------------
+ // pull out the parsed input
+
+ // these already parsed by PreProcessArgs
+ //if(dashh.getCount()) help
+ //if(dashv.getCount()) verbose
+ //if(dashd.getCount()) debug
+
+ if(help && Verbose) cout << " Input: turn on verbose flag" << endl;
+ if(help && Debug) cout << " Input: turn on debug flag" << endl;
+
+ // open the log file first
+ if(dashl.getCount()) {
+ values = dashl.getValue();
+ LogFile = values[0];
+ if(help) cout << " Input: log file name " << LogFile << endl;
+ }
+ if(Debug) cout << " Log file name is " << LogFile << endl;
+ oflog.open(LogFile.c_str(),ios_base::out);
+ if(!oflog) {
+ cerr << "Failed to open log file " << LogFile << endl;
+ return -1;
+ }
+
+ if(Debug) cout << " Opened log file " << LogFile << endl;
+ oflog << Title << endl;
+ if(Par.hasErrors()) {
+ oflog << "\nErrors found in command line input:\n";
+ Par.dumpErrors(oflog);
+ oflog << "...end of Errors\n\n";
+ }
+
+ // paths
+ if(dashop.getCount()) {
+ values = dashop.getValue();
+ if(help) cout << " Input: obs path name: " << values[0] << endl;
+ InputPath = values[0];
+ }
+ else InputPath = string("");
+ if(dashnp.getCount()) {
+ values = dashnp.getValue();
+ if(help) cout << " Input: nav path name: " << values[0] << endl;
+ NavPath = values[0];
+ }
+ else NavPath = string("");
+ if(dashep.getCount()) {
+ values = dashep.getValue();
+ if(help) cout << " Input: EOP path name: " << values[0] << endl;
+ EOPPath = values[0];
+ }
+ else EOPPath = string("");
+
+ // files
+ // obs
+ if(dashof.getCount()) {
+ values = dashof.getValue();
+ for(i=0; i<values.size(); i++) {
+ field.clear();
+ while(values[i].size() > 0)
+ field.push_back(StringUtils::stripFirstWord(values[i],','));
+ if(field.size() < 2) {
+ oflog << "Error: no label in --obsfile input: " << values[i] << endl;
+ cerr << "Error: no label in --obsfile input: " << values[i] << endl;
+ continue;
+ }
+ Station& st=findStationInList(Stations,field[1]);
+ // create new ObsFile and add to list
+ ObsFile of;
+ of.name = field[0];
+ of.label = field[1];
+ of.nread = -1;
+ of.valid = false;
+ ObsFileList.push_back(of);
+
+ if(help) cout << " Input: Obs file (" << field[1] << ") : "
+ << field[0] << endl;
+ }
+ }
+ // nav
+ if(dashnf.getCount()) {
+ values = dashnf.getValue();
+ NavFileNames = values;
+ if(help) {
+ cout << " Input: Nav files :";
+ for(j=0; j<NavFileNames.size(); j++) cout << " " << NavFileNames[j];
+ cout << endl;
+ }
+ }
+ // eop
+ if(dashef.getCount()) {
+ values = dashef.getValue();
+ EOPFileNames = values;
+ if(help) {
+ cout << " Input: Earth orientation files :";
+ for(j=0; j<EOPFileNames.size(); j++) cout << " " << EOPFileNames[j];
+ cout << endl;
+ }
+ }
+
+ // positions
+ if(dashXYZ.getCount()) {
+ values = dashXYZ.getValue();
+ for(i=0; i<values.size(); i++) {
+ field.clear();
+ while(values[i].size() > 0)
+ field.push_back(StringUtils::stripFirstWord(values[i],','));
+ if(field.size() < 4) {
+ oflog << "Error: less than four fields in --PosXYZ input: "
+ << values[i] << endl;
+ cerr << "Error: less than four fields in --PosXYZ input: "
+ << values[i] << endl;
+ continue;
+ }
+ Station& st=findStationInList(Stations,field[3]);
+ Position p(StringUtils::asDouble(field[0]),
+ StringUtils::asDouble(field[1]),
+ StringUtils::asDouble(field[2]));
+ st.pos = p;
+ if(help) cout << " Input: XYZ for station " << field[3] << ":"
+ << " " << field[0] << " " << field[1] << " " << field[2] << endl;
+ }
+ }
+ if(dashLLH.getCount()) {
+ values = dashLLH.getValue();
+ for(i=0; i<values.size(); i++) {
+ field.clear();
+ while(values[i].size() > 0)
+ field.push_back(StringUtils::stripFirstWord(values[i],','));
+ if(field.size() < 4) {
+ oflog << "Error: less than four fields in --PosLLH input: "
+ << values[i] << endl;
+ cerr << "Error: less than four fields in --PosLLH input: "
+ << values[i] << endl;
+ continue;
+ }
+ Station& st=findStationInList(Stations,field[3]);
+ Position p;
+ p.setGeodetic(StringUtils::asDouble(field[0]),
+ StringUtils::asDouble(field[1]),
+ StringUtils::asDouble(field[2]));
+ st.pos = p;
+ if(help) cout << " Input: LLH for station " << field[3] << ":"
+ << " " << field[0] << " " << field[1] << " " << field[2] << endl;
+ }
+ }
+ if(dashPRS.getCount()) {
+ values = dashPRS.getValue();
+ for(i=0; i<values.size(); i++) {
+ field.clear();
+ field.push_back(StringUtils::stripFirstWord(values[i],','));
+ Station& st=findStationInList(Stations,field[0]);
+ st.usePRS = true;
+ if(help) cout << " Input: pos for station " << field[0]
+ << ": use average PR solution" << endl;
+ }
+ }
+ if(dashtrop.getCount()) {
+ values = dashtrop.getValue();
+ for(i=0; i<values.size(); i++) {
+ field.clear();
+ while(values[i].size() > 0)
+ field.push_back(StringUtils::stripFirstWord(values[i],','));
+ if(field.size() < 2) {
+ oflog << "Error: less than two fields in --TropModel input: "
+ << values[i] << endl;
+ cerr << "Error: less than two fields in --TropModel input: "
+ << values[i] << endl;
+ continue;
+ }
+ Station& st=findStationInList(Stations,field[1]);
+ st.TropType = field[0];
+ if(help) cout << " Input: Trop model " << field[0]
+ << " at Station " << field[1] << endl;
+ }
+ }
+ if(dashWx.getCount()) {
+ values = dashWx.getValue();
+ for(i=0; i<values.size(); i++) {
+ field.clear();
+ while(values[i].size() > 0)
+ field.push_back(StringUtils::stripFirstWord(values[i],','));
+ if(field.size() < 4) {
+ oflog << "Error: less than four fields in --Weather input: "
+ << values[i] << endl;
+ cerr << "Error: less than four fields in --Weather input: "
+ << values[i] << endl;
+ continue;
+ }
+ Station& st=findStationInList(Stations,field[3]);
+ st.temp = StringUtils::asDouble(field[0]);
+ st.press = StringUtils::asDouble(field[1]);
+ st.rhumid = StringUtils::asDouble(field[2]);
+
+ if(help) cout << " Weather input for station " << field[3] << ":"
+ << " " << field[0] << " " << field[1] << " " << field[2] << endl;
+ }
+ }
+ if(dashfix.getCount()) {
+ values = dashfix.getValue();
+ for(i=0; i<values.size(); i++) {
+ Station& st=findStationInList(Stations,values[i]);
+ st.fixed = true;
+ if(help) cout << " Input: Hold Station " << values[i] << " fixed." << endl;
+ }
+ }
+ //if(dashant.getCount()) {
+ // values = dashant.getValue();
+ // for(i=0; i<values.size(); i++) {
+ // field.clear();
+ // while(values[i].size() > 0)
+ // field.push_back(StringUtils::stripFirstWord(values[i],','));
+ // if(field.size() < 2) {
+ // oflog << "Error: invalid AntAz input: " << values[i] << endl;
+ // cerr << "Error: invalid AntAz input: " << values[i] << endl;
+ // continue;
+ // }
+ // Station& st=findStationInList(Stations,field[1]);
+ // st.ant_azimuth = StringUtils::asDouble(field[0]);
+
+ // if(help) cout << " Input: antenna azimuth for station " << field[1] << ": "
+ // << fixed << setprecision(2) << st.ant_azimuth << " degrees" << endl;
+ // }
+ //}
+
+ // configuration
+ if(dashfreq.getCount()) {
+ values = dashfreq.getValue();
+ if(values[0] == string("L1") || values[0] == string("1"))
+ Frequency = 1;
+ else if(values[0] == string("L2") || values[0] == string("2"))
+ Frequency = 2;
+ else if(values[0] == string("L3") || values[0] == string("3"))
+ Frequency = 3;
+ else {
+ cout << "Error: invalid input (" << values[0]
+ << ") --Frequency must be followed by 'L1','L2' or 'L3'" << endl;
+ return -1;
+ }
+ if(help) cout << " Input: process frequency L" << Frequency << endl;
+ }
+ if(dashRef.getCount()) {
+ values = dashRef.getValue();
+ RefSat.fromString(values[0]);
+ if(help) cout << " Input: set satellite " << RefSat << " as reference" << endl;
+ }
+ if(dashnoest.getCount()) {
+ noEstimate = true;
+ if(help) cout << " *** Turn OFF the estimation ***" << endl;
+ }
+ if(dashprsnit.getCount()) {
+ values = dashprsnit.getValue();
+ PRSnIter = StringUtils::asInt(values[0]);
+ if(help) cout << " Input: set PRS iteration limit to " << PRSnIter << endl;
+ }
+ if(dashprsrms.getCount()) {
+ values = dashprsrms.getValue();
+ PRSrmsLimit = StringUtils::asDouble(values[0]);
+ if(help) cout << " Input: set PRS RMS residual limit to "
+ << scientific << setprecision(2) << PRSrmsLimit << endl;
+ }
+ if(dashprscon.getCount()) {
+ values = dashprscon.getValue();
+ PRSconverge = StringUtils::asDouble(values[0]);
+ if(help) cout << " Input: set PRS convergence limit to "
+ << scientific << setprecision(2) << PRSconverge << endl;
+ }
+ if(dashprsalg.getCount()) {
+ PRSalgebra = true;
+ if(help) cout << " Input: use algebraic algorithm in pseudorange solution"
+ << endl;
+ }
+ if(dashprselev.getCount()) {
+ values = dashprselev.getValue();
+ PRSMinElevation = StringUtils::asDouble(values[0]);
+ if(help) cout << " Input: set PRS elevation limit to "
+ << fixed << setprecision(2) << PRSMinElevation << endl;
+ }
+ //dont if(dashnoprs.getCount()) {
+ //dont noRAIM = true;
+ //dont if(help) cout << " *** Turn OFF the pseudorange solution ***" << endl;
+ //dont }
+ if(dashnit.getCount()) {
+ values = dashnit.getValue();
+ nIter = StringUtils::asInt(values[0]);
+ if(help)
+ cout << " Input: number of iterations in Estimation : " << nIter << endl;
+ }
+ if(dashconv.getCount()) {
+ values = dashconv.getValue();
+ convergence = fabs(StringUtils::asDouble(values[0]));
+ if(help)
+ cout << " Input: convergence limit in Estimation : "
+ << scientific << setprecision(3) << convergence << endl;
+ }
+ if(dashfixbias.getCount()) {
+ FixBiases = true;
+ if(help) cout << " Input: Turn ON fixing of biases in last iteration" << endl;
+ }
+ if(dashntrop.getCount()) {
+ values = dashntrop.getValue();
+ NRZDintervals = StringUtils::asInt(values[0]);
+ if(help) cout << " Input: " << NRZDintervals
+ << " residual zenith delay intervals" << endl;
+ }
+ if(dashttrop.getCount()) {
+ values = dashttrop.getValue();
+ RZDtimeconst = StringUtils::asDouble(values[0]);
+ if(help) cout << " Input: RZD time constant " << fixed << setprecision(2)
+ << RZDtimeconst << " hours" << endl;
+ }
+ if(dashstrop.getCount()) {
+ values = dashstrop.getValue();
+ RZDsigma = StringUtils::asDouble(values[0]);
+ if(help) cout << " Input: RZD sigma " << fixed << setprecision(2)
+ << RZDsigma << " meters" << endl;
+ }
+ if(dashtight.getCount()) {
+ values = dashtight.getValue();
+ TightConstraint = StringUtils::asDouble(values[0]);
+ if(help) cout << " Input: tight constraint "
+ << scientific << setprecision(2) << TightConstraint
+ << " (fraction of baseline)" << endl;
+ }
+ if(dashloose.getCount()) {
+ values = dashloose.getValue();
+ LooseConstraint = StringUtils::asDouble(values[0]);
+ if(help) cout << " Input: loose constraint "
+ << scientific << setprecision(2) << LooseConstraint
+ << " (fraction of baseline)" << endl;
+ }
+
+ // times
+ // TD put try {} around setToString and catch invalid formats...
+ if(dashbt.getCount()) {
+ values = dashbt.getValue();
+ msg = values[0];
+ field.clear();
+ while(msg.size() > 0)
+ field.push_back(StringUtils::stripFirstWord(msg,','));
+ if(field.size() == 2)
+ BegTime.setToString(field[0]+","+field[1], "%F,%g");
+ else if(field.size() == 6)
+ BegTime.setToString(field[0]+","+field[1]+","+field[2]+","+field[3]+","
+ +field[4]+","+field[5], "%Y,%m,%d,%H,%M,%S");
+ else {
+ cerr << "Error: invalid --BeginTime input: " << values[0] << endl;
+ oflog << "Error: invalid --BeginTime input: " << values[0] << endl;
+ }
+ if(help) cout << " Input: begin time " << values[0] << " = "
+ << BegTime.printf("%Y/%02m/%02d %2H:%02M:%06.3f = %F/%10.3g") << endl;
+ }
+ if(dashet.getCount()) {
+ values = dashet.getValue();
+ msg = values[0];
+ field.clear();
+ while(msg.size() > 0)
+ field.push_back(StringUtils::stripFirstWord(msg,','));
+ if(field.size() == 2)
+ EndTime.setToString(field[0]+","+field[1], "%F,%g");
+ else if(field.size() == 6)
+ EndTime.setToString(field[0]+","+field[1]+","+field[2]+","+field[3]+","
+ +field[4]+","+field[5], "%Y,%m,%d,%H,%M,%S");
+ else {
+ cerr << "Error: invalid --EndTime input: " << values[0] << endl;
+ oflog << "Error: invalid --EndTime input: " << values[0] << endl;
+ }
+ if(help) cout << " Input: end time " << values[0] << " = "
+ << EndTime.printf("%Y/%02m/%02d %2H:%02M:%06.3f = %F/%10.3g") << endl;
+ }
+
+ // time table
+ if(dashttab.getCount()) {
+ values = dashttab.getValue();
+ TimeTableFile = values[0];
+ if(help) cout << " Input: time table file name " << TimeTableFile << endl;
+ }
+
+ // data editing
+ if(dashelev.getCount()) {
+ values = dashelev.getValue();
+ MinElevation = StringUtils::asDouble(values[0]);
+ if(help) cout << " Input: minimum elevation for phases : "
+ << values[0] << " degrees" << endl;
+ }
+ if(dashrotelev.getCount()) {
+ values = dashrotelev.getValue();
+ RotatedAntennaElevation = StringUtils::asDouble(values[0]);
+ if(help) cout << " Input: rotate antenna in elevation by : "
+ << values[0] << " degrees" << endl;
+ }
+ if(dashrotaz.getCount()) {
+ values = dashrotaz.getValue();
+ RotatedAntennaAzimuth = StringUtils::asDouble(values[0]);
+ if(help) cout << " Input: rotate antenna in azimuth by : "
+ << values[0] << " degrees" << endl;
+ }
+ if(dashgap.getCount()) {
+ values = dashgap.getValue();
+ MaxGap = StringUtils::asInt(values[0]);
+ if(help) cout << " Input: maximum acceptable gap (units DT): "
+ << values[0] << endl;
+ }
+ if(dashmindd.getCount()) {
+ values = dashmindd.getValue();
+ MinDDSeg = StringUtils::asInt(values[0]);
+ if(help) cout << " Input: minimum acceptable double difference segment: "
+ << values[0] << endl;
+ }
+ if(dashphbias.getCount()) {
+ values = dashphbias.getValue();
+ PhaseBiasReset = StringUtils::asInt(values[0]);
+ if(help) cout << " Input: phase bias reset limit (cycles) "
+ << values[0] << endl;
+ }
+ if(dashXsat.getCount()) {
+ values = dashXsat.getValue();
+ for(i=0; i<values.size(); i++) {
+ GSatID p(values[i]);
+ if(help) cout << " Exclude satellite " << p << endl;
+ ExSV.push_back(p);
+ }
+ }
+ if(dashDT.getCount()) {
+ values = dashDT.getValue();
+ DataInterval = StringUtils::asDouble(values[0]);
+ if(DataInterval < 0.0) DataInterval=fabs(DataInterval);
+ if(help) cout << " Input: data interval " << fixed << setprecision(2)
+ << DataInterval << " seconds" << endl;
+ }
+
+ // output
+ if(dashrawout.getCount()) {
+ values = dashrawout.getValue();
+ OutputRawFile = values[0];
+ if(help) cout << " Input: file name for raw data output ............... "
+ << values[0] << endl;
+ }
+ if(dashprsout.getCount()) {
+ values = dashprsout.getValue();
+ OutputPRSFile = values[0];
+ if(help) cout << " Input: file name for PRS output .................... "
+ << values[0] << endl;
+ }
+ if(dashclkout.getCount()) {
+ values = dashclkout.getValue();
+ OutputClkFile = values[0];
+ if(help) cout << " Input: file name for clock output .................. "
+ << values[0] << endl;
+ }
+ if(dashrddout.getCount()) {
+ values = dashrddout.getValue();
+ OutputRawDDFile = values[0];
+ if(help) cout << " Input: file name for raw DD data output ............ "
+ << values[0] << endl;
+ }
+ if(dashdddout.getCount()) {
+ values = dashdddout.getValue();
+ OutputDDDFile = values[0];
+ if(help) cout << " Input: file name for edited DD data output ......... "
+ << values[0] << endl;
+ }
+ if(dashtddout.getCount()) {
+ values = dashtddout.getValue();
+ OutputTDDFile = values[0];
+ if(help) cout << " Input: file name for triple differece data output .. "
+ << values[0] << endl;
+ }
+ if(dashddrout.getCount()) {
+ values = dashddrout.getValue();
+ OutputDDRFile = values[0];
+ if(help) cout << " Input: file name for DD post-fit residuals output .. "
+ << values[0] << endl;
+ }
+ if(dashbaseout.getCount()) {
+ values = dashbaseout.getValue();
+ for(i=0; i<values.size(); i++) {
+ field.clear();
+ field.push_back(StringUtils::stripFirstWord(values[i],'-'));
+ while(values[i].size() > 0)
+ field.push_back(StringUtils::stripFirstWord(values[i],','));
+ if(field.size() != 2 && field.size() != 5) {
+ oflog << "Error: invalid --BaseOut input: " << values[i] << endl;
+ cerr << "Error: invalid --BaseOut input: " << values[i] << endl;
+ continue;
+ }
+
+ CI.OutputBaselines.push_back(field[0] + string("-") + field[1]);
+ if(help) cout << " Input: baseline for output "
+ << field[0] << "-" << field[1];
+
+ Triple trip(0.0,0.0,0.0);
+ if(field.size() == 5) {
+ double x=StringUtils::asDouble(field[2]);
+ double y=StringUtils::asDouble(field[3]);
+ double z=StringUtils::asDouble(field[4]);
+ trip = Triple(x,y,z);
+ if(help) cout << " with offset " << field[2]
+ << "," << field[3] << "," << field[4];
+ }
+ else {
+ if(help) cout << " ... no offset";
+ }
+ CI.OutputBaselineOffsets.push_back(trip);
+
+ if(help) cout << endl;
+ }
+ }
+
+ if(dashvalid.getCount()) {
+ Validate = true;
+ if(help) cout << " Input: validate -- read, test input and quit" << endl;
+ }
+
+ if(help) {
+ if(argc > 1) cout << "--------- end of parsed input, Quit." << endl << endl;
+ return -1;
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void CommandInput::PreProcessArgs(const char *arg, vector<string>& Args)
+{
+try {
+ if(string(arg) == string()) return;
+ if(arg[0]=='-' && arg[1]=='f') {
+ string filename(arg);
+ filename.erase(0,2);
+ if(Debug) cout << "Found a file of options: " << filename << endl;
+ ifstream infile(filename.c_str());
+ if(!infile) {
+ cerr << "Error: could not open options file "
+ << filename << endl;
+ }
+ else {
+ char c;
+ string buffer,word;
+ while(1) {
+ getline(infile,buffer);
+ StringUtils::stripTrailing(buffer,'\r');
+
+ // process the buffer before checking eof or bad b/c there can be
+ // a line at EOF that has no CRLF...
+ while(!buffer.empty()) {
+ word = StringUtils::firstWord(buffer);
+ if(word[0] == '#') { // skip to end of line
+ break;
+ }
+ else if(word[0] == '"') {
+ word = StringUtils::stripFirstWord(buffer,'"');
+ }
+ else {
+ word = StringUtils::stripFirstWord(buffer);
+ }
+ PreProcessArgs(word.c_str(),Args);
+ if(buffer.empty()) break;
+ }
+
+ if(infile.eof() || !infile.good()) break;
+ }
+ }
+ }
+ else if(string(arg)==string("-h") || string(arg)==string("--help")) {
+ help = true;
+ if(Debug) cout << "Found the help switch" << endl;
+ }
+ else if(string(arg)==string("-d") || string(arg)==string("--debug")) {
+ Debug = true;
+ cout << "Found the debug switch" << endl;
+ }
+ else if(string(arg)==string("-v") || string(arg)==string("--verbose")) {
+ Verbose = true;
+ if(Debug) cout << "Found the verbose switch" << endl;
+ }
+ // undocumented shortcut
+ else if(string(arg).substr(0,7)==string("-AllOut")) {
+ string stem=string(arg).substr(7);
+ Args.push_back("--RAWFileOut"); Args.push_back("RAW" + stem);
+ Args.push_back("--PRSFileOut"); Args.push_back("PRS" + stem);
+ Args.push_back("--CLKFileOut"); Args.push_back("CLK" + stem);
+ Args.push_back("--RDDFileOut"); Args.push_back("RDD" + stem);
+ Args.push_back("--DDDFileOut"); Args.push_back("DDD" + stem);
+ Args.push_back("--TDDFileOut"); Args.push_back("TDD" + stem);
+ Args.push_back("--DDRFileOut"); Args.push_back("DDR" + stem);
+ }
+ else Args.push_back(arg);
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+int CommandInput::ValidateCmdInput(void)
+{
+try {
+ bool ok=true,flag;
+ int i,n;
+ string site1,site2,msg;
+ vector<string> fixed,notfixed;
+ map<string,Station>::iterator it;
+
+ // data interval must be given
+ if(DataInterval == -1.0) {
+ cerr << "Input ERROR: data interval must be specified: --DT <t>. Abort.\n";
+ oflog << "Input ERROR: data interval must be specified: --DT <t>. Abort.\n";
+ ok = false;
+ }
+
+ if(BegTime > DayTime::BEGINNING_OF_TIME &&
+ EndTime < DayTime::END_OF_TIME &&
+ BegTime >= EndTime)
+ {
+ cerr << "Input ERROR: end time is at or before begin time. Abort.\n";
+ oflog << "Input ERROR: end time is at or before begin time. Abort.\n";
+ ok = false;
+ }
+
+ if(Frequency == 3 && FixBiases) {
+ msg = string("Input ERROR: Frequency L3 (--Freq L3) and bias fixing "
+ "(--FixBias) are inconsistent. Abort.\n");
+ cerr << msg;
+ oflog << msg;
+ ok = false;
+ }
+
+ if(MinElevation < 0.0 || MinElevation > 90.0) {
+ msg = "Input ERROR: Elevation limit (--MinElevation) is out of bounds: "
+ + StringUtils::asString(MinElevation,2) + " Abort.\n";
+ cerr << msg;
+ oflog << msg;
+ ok = false;
+ }
+
+ if(PRSMinElevation < 0.0 || PRSMinElevation > 90.0) {
+ msg = "Input ERROR: Elevation limit (--PRSMinElevation) is out of bounds: "
+ + StringUtils::asString(PRSMinElevation,2) + " Abort.\n";
+ cerr << msg;
+ oflog << msg;
+ ok = false;
+ }
+
+ // loop over stations
+ // make sure there is at least one fixed station, and one non-fixed.
+ // check weather, create trop model, etc
+ for(it=Stations.begin(); it != Stations.end(); it++) {
+ if(it->second.fixed) {
+ fixed.push_back(it->first);
+ }
+ else {
+ notfixed.push_back(it->first);
+ }
+
+ // check that ids do not contain '-' or '_'
+ if(it->first.find_first_of(string("-_")) != string::npos) {
+ cerr << "Input ERROR: station label " << it->first
+ << " invalid (must not contain '-' or '_'). Abort.\n";
+ oflog << "Input ERROR: station label " << it->first
+ << " invalid (must not contain '-' or '_'). Abort.\n";
+ ok = false;
+ }
+
+ // check that there is 1+ data files
+ for(n=0,i=0; i<ObsFileList.size(); i++)
+ if(ObsFileList[i].label == it->first) n++;
+ if(n==0) {
+ cerr << "Input ERROR: station " << it->first
+ << " has no observation data files. Abort.\n";
+ oflog << "Input ERROR: station " << it->first
+ << " has no observation data files. Abort.\n";
+ ok = false;
+ }
+
+ // check weather
+ if(it->second.temp == 0.0) it->second.temp = CI.DefaultTemp;
+ if(it->second.press == 0.0) it->second.press = CI.DefaultPress;
+ if(it->second.rhumid == 0.0) it->second.rhumid = CI.DefaultRHumid;
+ if(it->second.temp <= 0 || it->second.temp > 40 ||
+ it->second.press < 900. || it->second.press > 1050. ||
+ it->second.rhumid < 0 || it->second.rhumid > 100) {
+ cerr << "Input ERROR: station " << it->first
+ << " has invalid weather parameters. Abort.\n";
+ oflog << "Input ERROR: station " << it->first
+ << " has invalid weather parameters. Abort.\n";
+ ok = false;
+ }
+ // define the trop model for the estimation
+ // see dashtrop above "choices are 'Black','NewB','ModHop','ModHopH','Saas'"
+ // configure in Configure(2)
+ flag = true;
+ if(it->second.TropType == string("Saas")) {
+ it->second.pTropModel = new SaasTropModel;
+ }
+ else if(it->second.TropType == string("ModHop")) {
+ it->second.pTropModel = new GGTropModel;
+ }
+ else if(it->second.TropType == string("ModHopH")) {
+ it->second.pTropModel = new GGHeightTropModel;
+ }
+ else if(it->second.TropType == string("NewB")) {
+ it->second.pTropModel = new NBTropModel;
+ }
+ else if(it->second.TropType == string("Black")) {
+ it->second.pTropModel = new SimpleTropModel;
+ }
+ else if(it->second.TropType == string("Zero")) {
+ it->second.pTropModel = new ZeroTropModel;
+ }
+ else {
+ cerr << "Input ERROR: unknown trop model for station " << it->first
+ << " : " << it->second.TropType
+ << "\n (choices are 'Black','NewB','ModHop','ModHopH','Saas')"
+ << ". Abort.\n";
+ oflog << "Input ERROR: unknown trop model for station " << it->first
+ << " : " << it->second.TropType
+ << "\n (choices are 'Black','NewB','ModHop','ModHopH','Saas')"
+ << ". Abort.\n";
+ ok = flag = false;
+ }
+ if(flag && ! it->second.pTropModel) {
+ cerr << "Input ERROR: failed to allocate Trop model. Abort.\n";
+ oflog << "Input ERROR: failed to allocate Trop model. Abort.\n";
+ ok = false;
+ }
+
+ // test validity of stations -- is everything there?
+
+ // is position valid? TD check geodetic height - warn if not small
+ if(!it->second.usePRS && it->second.pos.getRadius() < 1.) {
+ oflog << "Input ERROR: station " << it->first
+ << " has undefined position. Abort.\n";
+ cerr << "Input ERROR: station " << it->first
+ << " has undefined position. Abort.\n";
+ ok = false;
+ }
+
+ } // end loop over stations
+
+ if(fixed.size() == 0) {
+ cerr << "Input ERROR: at least one station must be fixed. Abort.\n";
+ oflog << "Input ERROR: at least one station must be fixed. Abort.\n";
+ ok = false;
+ }
+ // not true
+ //if(notfixed.size() == 0) {
+ // cerr << "Input ERROR: at least one station must be not fixed. Abort.\n";
+ // oflog << "Input ERROR: at least one station must be not fixed. Abort.\n";
+ // ok = false;
+ //}
+
+ // make up the list of baselines for computation
+ // use first fixed site - all others ... can this matter?
+ for(i=1; i<fixed.size(); i++) {
+ Baselines.push_back(fixed[0] + string("-") + fixed[i]);
+ if(CI.Verbose)
+ oflog << " Compute baseline : " << Baselines[i] << endl;
+ if(CI.Screen)
+ cout << " Compute baseline : " << Baselines[i] << endl;
+ }
+ for(i=0; i<notfixed.size(); i++) {
+ Baselines.push_back(fixed[0] + string("-") + notfixed[i]);
+ if(CI.Verbose)
+ oflog << " Compute baseline : " << Baselines[i] << endl;
+ if(CI.Screen)
+ cout << " Compute baseline : " << Baselines[i] << endl;
+ }
+
+ // check that baselines for output are all valid
+ for(i=0; i<CI.OutputBaselines.size(); i++) {
+ site1 = StringUtils::word(CI.OutputBaselines[i],0,'-');
+ site2 = StringUtils::word(CI.OutputBaselines[i],1,'-');
+ if( Stations.find(site1) == Stations.end()
+ || Stations.find(site2) == Stations.end()) {
+
+ cerr << "Input ERROR: Invalid output baseline : '" << CI.OutputBaselines[i]
+ << "', station not found. Abort.\n";
+ oflog << "Input ERROR: Invalid output baseline : '" << CI.OutputBaselines[i]
+ << "', station not found. Abort.\n";
+ ok = false;
+ }
+ }
+
+ oflog << " ---- Input is " << (ok ? "" : "NOT ") << "valid ----\n";
+ if(CI.Screen) cout << " ---- Input is " << (ok ? "" : "NOT ") << "valid ----\n";
+ return (ok ? 0 : 1);
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void CommandInput::Dump(std::ostream& ofs) const
+{
+try {
+ int i;
+ ofs << "Summary of command line input:" << endl;
+ if(Validate) ofs << " ------------ validate: this run will quit after "
+ << "validating the input ---------" << endl;
+ ofs << " Debug is " << (Debug ? "on":"off") << endl;
+ ofs << " Verbose is " << (Verbose ? "on":"off") << endl;
+ ofs << " Log file name is " << LogFile << endl;
+ if(!InputPath.empty()) ofs << " Path for input obs files is "
+ << InputPath << endl;
+ ofs << " Input Observation files are:\n";
+ for(i=0; i<ObsFileList.size(); i++)
+ ofs << " " << ObsFileList[i].name
+ << " (station " << ObsFileList[i].label << ")" << endl;
+ if(!NavPath.empty()) ofs << " Path for input nav files is "
+ << NavPath << endl;
+ ofs << " Input Navigation files are:\n";
+ for(i=0; i<NavFileNames.size(); i++) ofs << " " << NavFileNames[i]; ofs << endl;
+ if(!EOPPath.empty()) ofs << " Path for input earth orientation files is "
+ << EOPPath << endl;
+ if(EOPFileNames.size() > 0) {
+ ofs << " Input Earth orientation parameter files are:\n";
+ for(i=0; i<EOPFileNames.size(); i++)
+ ofs << " " << EOPFileNames[i]; ofs << endl;
+ }
+ else
+ ofs << " No EOP files - DDBase will search for 'finals.daily'" << endl;
+ ofs << " Station list is:\n";
+ map<string,Station>::const_iterator it;
+ for(it=Stations.begin(); it != Stations.end(); it++) {
+ ofs << " Station " << it->first
+ << " (" << (it->second.fixed ? "":"not ") << "fixed)" << endl;
+ ofs << " Position: " << it->second.pos.printf("%.4x %.4y %.4z m\n");
+ ofs << " Position: " << it->second.pos.printf("%A deg N %L deg E %h m\n");
+ if(it->second.usePRS)
+ ofs << " (NB: use average PR solution to define this position.)\n";
+ ofs << " Trop model: " << it->second.TropType << endl;
+ ofs << " Weather: " << fixed
+ << setprecision(1) << it->second.temp << " degC, "
+ << setprecision(2) << it->second.press << " mbar, "
+ << setprecision(1) << it->second.rhumid << " %" << endl;
+ //if(it->second.ant_azimuth != 0) ofs << " Antenna orientation: "
+ // << setprecision(2) << it->second.ant_azimuth << " deg" << endl;
+ ofs << " Obs files: " << endl;
+ for(i=0; i<ObsFileList.size(); i++)
+ if(it->first == ObsFileList[i].label)
+ ofs << " " << ObsFileList[i].name << endl;
+ }
+ ofs << " End of Station list.\n";
+ if(TimeTableFile.size() > 0)
+ ofs << " Input time table file name " << TimeTableFile << endl;
+ ofs << " Process L" << Frequency << " data." << endl;
+ if(BegTime > DayTime::BEGINNING_OF_TIME) ofs << " Begin time is "
+ << BegTime.printf("%Y/%m/%d %H:%02M:%6.3f = %F/%10.3g") << endl;
+ if(EndTime < DayTime::END_OF_TIME) ofs << " End time is "
+ << EndTime.printf("%Y/%m/%d %H:%02M:%6.3f = %F/%10.3g") << endl;
+ ofs << " Set satellite " << RefSat << " as the reference in DDs" << endl;
+ if(noEstimate) ofs << " ** Estimation is turned OFF **" << endl;
+ if(noRAIM) ofs << " ** Pseudorange solution is turned OFF **" << endl;
+ ofs << " Set the number of iterations to " << nIter << endl;
+ ofs << " Set the convergence limit to "
+ << scientific << setprecision(3) << convergence << endl;
+ ofs << " On last iteration," << (FixBiases ? "" : " do not")
+ << " fix biases" << endl;
+ if(NRZDintervals > 0) {
+ ofs << " Estimate " << NRZDintervals
+ << " residual zenith delay intervals" << endl;
+ ofs << " RZD time constant is " << RZDtimeconst << " hours" << endl;
+ ofs << " RZD sigma is " << RZDsigma << " meters" << endl;
+ }
+ else ofs << " Do not estimate any residual zenith delay" << endl;
+ ofs << " A priori constraints, in ppm of the baseline:" << endl;
+ ofs << " Loose : " << scientific << setprecision(2) << LooseConstraint << endl;
+ ofs << " Tight : " << scientific << setprecision(2) << TightConstraint << endl;
+ ofs << " Pseudorange solution: iterations " << PRSnIter
+ << ", convergence " << scientific << setprecision(2) << PRSconverge
+ << ", " << (PRSalgebra ? "" : "do not ") << "use algebra," << endl
+ << " RMS residual limit " << fixed << PRSrmsLimit
+ << ", elevation mask " << fixed << PRSMinElevation
+ << endl;
+ if(DataInterval != -1)
+ ofs << " Data interval is DT = "
+ << fixed << setprecision(2) << DataInterval << " seconds." << endl;
+ else
+ ofs << " ERROR -- data interval must be specified: --DT <t>" << endl;
+ ofs << " Maximum gap in data = " << MaxGap << " * DT" << endl;
+ ofs << " Minimum DD dataset length = " << MinDDSeg << endl;
+ ofs << " Phase bias reset limit is " << PhaseBiasReset << " cycles" << endl;
+ ofs << " Minimum elevation for DD data is "
+ << fixed << setw(6) << setprecision(2) << MinElevation << " degrees." << endl;
+ if(RotatedAntennaElevation > 0 || RotatedAntennaAzimuth > 0)
+ ofs << " Minimum elevation cutoff for antenna rotated through (el,az) = ("
+ << fixed << setprecision(2) << RotatedAntennaElevation
+ << "," << RotatedAntennaAzimuth << ") degrees." << endl;
+ if(ExSV.size()) {
+ ofs << " Exclude satellites :";
+ for(i=0; i<ExSV.size(); i++) ofs << " " << ExSV[i];
+ ofs << endl;
+ }
+ ofs << " Computed baselines :" << endl;
+ for(i=0; i<Baselines.size(); i++) ofs << " " << Baselines[i] << endl;
+ if(CI.OutputBaselines.size()) {
+ ofs << " Output baselines :" << endl;
+ for(i=0; i<CI.OutputBaselines.size(); i++) {
+ ofs << " " << CI.OutputBaselines[i] << setprecision(5);
+ Triple trip = CI.OutputBaselineOffsets[i];
+ if(trip.mag() < 0.01) ofs << " ...without offset";
+ else ofs << " with offset " << trip[0] << "," << trip[1] << "," << trip[2];
+ ofs << endl;
+ }
+ }
+ if(!OutputRawFile.empty())
+ ofs << " Output file name: " << OutputRawFile << " for raw data." << endl;
+ if(!OutputPRSFile.empty())
+ ofs << " Output file name: " << OutputPRSFile << " for PRS." << endl;
+ if(!OutputClkFile.empty())
+ ofs << " Output file name: " << OutputClkFile << " for clock bias." << endl;
+ if(!OutputRawDDFile.empty())
+ ofs << " Output file name: " << OutputRawDDFile << " for raw DD data." << endl;
+ if(!OutputDDDFile.empty())
+ ofs << " Output file name: " << OutputDDDFile << " for edited DD data." << endl;
+ if(!OutputDDRFile.empty())
+ ofs << " Output file name: " << OutputDDRFile<< " for DD post-fit residuals."
+ << endl;
+ if(!OutputTDDFile.empty())
+ ofs << " Output file name: " << OutputTDDFile << " for triple diff data."
+ << endl;
+
+ ofs << "End of command line input summary." << endl;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/relposition/CommandInput.hpp b/dev/apps/geomatics/relposition/CommandInput.hpp
new file mode 100644
index 0000000..30dd77e
--- /dev/null
+++ b/dev/apps/geomatics/relposition/CommandInput.hpp
@@ -0,0 +1,137 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file CommandInput.hpp
+ * Include file for command line input, including defaults and
+ * validation for program DDBase.
+ */
+
+//------------------------------------------------------------------------------------
+#ifndef CLASS_DDBASE_COMMANDINPUT_INCLUDE
+#define CLASS_DDBASE_COMMANDINPUT_INCLUDE
+
+//------------------------------------------------------------------------------------
+// includes
+// system
+// GPSTk
+// DDBase
+// put '#include this file' at bottom of DDBase.hpp #include "DDBase.hpp"
+
+//------------------------------------------------------------------------------------
+/// Class CommandInput encapsulates all the data input from command line.
+class CommandInput {
+public:
+ // functions
+ int GetCmdInput(int argc, char **argv);
+ int ValidateCmdInput(void);
+ void Dump(std::ostream& s=std::cout) const;
+
+ // member data
+ bool Debug;
+ bool Verbose;
+ bool Screen;
+ bool Validate;
+ std::string LogFile;
+ std::string InputPath;
+ std::string NavPath;
+ std::string EOPPath;
+ std::vector<std::string> NavFileNames;
+ std::vector<std::string> EOPFileNames;
+ std::string TimeTableFile;
+ gpstk::DayTime BegTime;
+ gpstk::DayTime EndTime;
+ int Frequency;
+ // for configuration of pseudorange solution
+ double PRSrmsLimit;
+ //double PRSslopeLimit; // no
+ bool PRSalgebra;
+ //bool PRSresidCrit; // no
+ //bool PRSreturnatonce // no
+ int PRSnIter;
+ double PRSconverge;
+ // for use by pseudorange solution only
+ double PRSMinElevation;
+ gpstk::TropModel *pTropModel; // Station has another for Estimation
+ bool noRAIM; // not implemented right now
+ // for modeling the residual zenith delay (RZD) of the troposphere
+ int NRZDintervals; // 0 for no RZD estimation
+ double RZDtimeconst; // hours
+ double RZDsigma; // meters
+ //
+ double DataInterval;
+ // editing
+ double MinElevation;
+ double RotatedAntennaElevation;
+ double RotatedAntennaAzimuth;
+ int MaxGap;
+ int MinDDSeg;
+ int PhaseBiasReset;
+ std::vector<gpstk::GSatID> ExSV;
+ // timetable
+ gpstk::GSatID RefSat;
+ // Estimation
+ bool noEstimate;
+ int nIter;
+ double convergence;
+ bool FixBiases;
+ double TightConstraint,LooseConstraint;// in ppm (of baseline)
+ double DefaultTemp,DefaultPress,DefaultRHumid;
+ // output
+ std::vector<std::string> OutputBaselines;
+ std::vector<gpstk::Triple> OutputBaselineOffsets;
+ std::string OutputClkFile;
+ std::string OutputRawDDFile;
+ std::string OutputDDDFile;
+ std::string OutputTDDFile;
+ std::string OutputRawFile;
+ std::string OutputPRSFile;
+ std::string OutputDDRFile;
+
+private:
+ bool help;
+ void SetDefaults();
+ void PreProcessArgs(const char *arg, std::vector<std::string>& Args);
+}; // end class CommandInput
+
+//------------------------------------------------------------------------------------
+extern CommandInput CI;
+
+#endif
+// nothing below this
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/relposition/ComputeRAIMSolution.cpp b/dev/apps/geomatics/relposition/ComputeRAIMSolution.cpp
new file mode 100644
index 0000000..019ae30
--- /dev/null
+++ b/dev/apps/geomatics/relposition/ComputeRAIMSolution.cpp
@@ -0,0 +1,212 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file ComputeRAIMSolution.cpp
+ * Compute a pseudorange solution using a RAIM algorithm, and edit data based on
+ * the result, for program DDBase.
+ */
+
+//------------------------------------------------------------------------------------
+// includes
+// system
+#include <fstream>
+
+// GPSTk
+
+// DDBase
+#include "DDBase.hpp"
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+extern ofstream ofprs; // ReadRawData.cpp
+
+//------------------------------------------------------------------------------------
+// called by ProcessRawData
+int ComputeRAIMSolution(ObsFile& of, DayTime& tt, vector<SatID>& Sats)
+{
+try {
+ int nsvs,i,iret;
+ double PR;
+ vector<double> Ranges;
+ format f166(16,6),f62(6,2);
+
+ Sats.clear();
+
+ if(CI.noRAIM) return 0; // this option is commented out in CommandInput
+ if(CI.Debug) oflog << "CRS for file " << of.name << ", site " << of.label << endl;
+
+ // station associated with ObsFile
+ Station& st=Stations[of.label];
+
+ // pull data out of raw data map
+ map<GSatID,DataStruct>::iterator it;
+ for(nsvs=0,it=st.RawDataMap.begin(); it != st.RawDataMap.end(); it++) {
+ //if(CI.Frequency == 1) PR = it->second.P1;
+ //else if(CI.Frequency == 2) PR = it->second.P2;
+ //else if(CI.Frequency == 3) {
+ // if(it->second.P1 == 0 || it->second.P2 == 0) PR = 0.0;
+ // else PR = if1r * it->second.P1 + if2r * it->second.P2;
+ //}
+ // use dual frequency if you have it
+ if(it->second.P1 != 0 && it->second.P2 != 0)
+ PR = if1r * it->second.P1 + if2r * it->second.P2;
+ else if(it->second.P1 == 0 && it->second.P2 == 0) PR = 0.0;
+ else if(it->second.P1 == 0)
+ PR = it->second.P2;
+ else
+ PR = it->second.P1;
+
+ if(PR != 0.0) {
+ Sats.push_back(SatID(it->first));
+ Ranges.push_back(PR);
+ nsvs++;
+ }
+ }
+
+ if(CI.Debug) {
+ oflog << "Satellites and Ranges before Compute:\n";
+ for(i=0; i<Ranges.size(); i++)
+ oflog << " " << setw(2) << GSatID(Sats[i]) << fixed
+ << " " << setw(13) << setprecision(3) << Ranges[i] << endl;
+ }
+
+ // compute a RAIM solution
+ if(nsvs <= 4) {
+ if(CI.Verbose) oflog << "Not enough data to compute RAIM solution for file "
+ << of.name << " at time "
+ << tt.printf("%Y/%02m/%02d %2H:%02M:%6.3f=%F/%10.3g") << endl;
+ return -2;
+ }
+
+ //temp
+//cout << "RAIM Compute for file " << of.name << " at time ";
+//cout << tt.printf("%Y/%02m/%02d %2H:%02M:%6.3f=%F/%10.3g") << endl;
+
+ iret = st.PRS.RAIMCompute(tt, Sats, Ranges, *pEph, CI.pTropModel);
+
+ if(iret < 0) {
+ if(iret == -4)
+ oflog << "RAIM Solution failed to find ephemeris";
+ if(iret == -3)
+ oflog << "Not enough data for a RAIM solution";
+ if(iret == -2)
+ oflog << "Singular RAIM problem";
+ oflog << " for file " << of.name << " at time "
+ << tt.printf("%Y/%02m/%02d %2H:%02M:%6.3f=%F/%10.3g") << endl;
+ return iret;
+ }
+ if(iret > 0) {
+ //oflog << "RAIM solution is suspect (" << iret << ")" << endl;
+ return iret;
+ }
+ if(!st.PRS.isValid()) return -5;
+ for(nsvs=0,i=0; i<Sats.size(); i++) if(Sats[i].id > 0) nsvs++;
+
+ if(iret < 0 || nsvs <= 4) { // did not compute a solution
+ if(CI.Verbose) oflog << "At " << SolutionEpoch
+ << " RAIM returned " << iret << endl;
+ st.PRS.Valid = false;
+ if(iret >= 0) return -3;
+ return iret;
+ }
+
+ if(!CI.OutputPRSFile.empty()) {
+ ofprs << "PRS " << of.label << " " << setw(2) << nsvs
+ << tt.printf(" %4F %10.3g");
+
+ // if a Position is defined for this Station, output residuals
+ if(st.pos.getSystemName() != string("Unknown"))
+ ofprs
+ << " " << f166 << st.PRS.Solution(0)-st.pos.X()
+ << " " << f166 << st.PRS.Solution(1)-st.pos.Y()
+ << " " << f166 << st.PRS.Solution(2)-st.pos.Z();
+ else
+ ofprs
+ << " " << f166 << st.PRS.Solution(0)
+ << " " << f166 << st.PRS.Solution(1)
+ << " " << f166 << st.PRS.Solution(2);
+
+ ofprs
+ << " " << f166 << st.PRS.Solution(3)
+ << " " << f62 << st.PRS.RMSResidual;
+ //<< " " << f51 << st.PRS.MaxSlope
+ //<< " " << st.PRS.NIterations
+ //<< " " << f82s << st.PRS.Convergence;
+ for(i=0; i<Sats.size(); i++) ofprs << " " << setw(3) << Sats[i].id;
+ ofprs << " (" << iret << ")" << (st.PRS.isValid() ? " V" : " NV");
+ ofprs << endl;
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+} // end ComputeRAIMSolution()
+
+//------------------------------------------------------------------------------------
+void RAIMedit(ObsFile& of, vector<SatID>& Sats)
+{
+try {
+ int i;
+ Station& st=Stations[of.label];
+
+ if(!st.PRS.Valid) {
+ st.RawDataMap.clear();
+ return;
+ }
+
+ // delete satellites that were marked by RAIM
+ for(i=0; i<Sats.size(); i++) {
+ if(Sats[i].id > 0) continue;
+ Sats[i].id *= -1;
+ st.RawDataMap.erase(GSatID(Sats[i]));
+ }
+
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/relposition/Configure.cpp b/dev/apps/geomatics/relposition/Configure.cpp
new file mode 100644
index 0000000..ee30f33
--- /dev/null
+++ b/dev/apps/geomatics/relposition/Configure.cpp
@@ -0,0 +1,241 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file Configure.cpp
+ * Manage configuration details, at various points, for program DDBase.
+ */
+
+//------------------------------------------------------------------------------------
+// system includes
+
+// GPSTk
+
+// DDBase
+#include "DDBase.hpp"
+#include "RinexUtilities.hpp"
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+// local data
+BCEphemerisStore BCEphList; // global pEph will point to one of these
+SP3EphemerisStore SP3EphList;
+
+SimpleTropModel TropModelSimple; // CI.pTropModel will point to one of these
+GGTropModel TropModelGG;
+GGHeightTropModel TropModelGGh;
+NBTropModel TropModelNB;
+SaasTropModel TropModelSaas;
+
+//------------------------------------------------------------------------------------
+// prototypes -- this module only
+int Initialize(void);
+int UpdateConfig(void);
+void ReadAllObsHeaders(void); // ReadObsFiles.cpp
+int ConfigureEstimation(void); // Estimation.cpp
+
+//------------------------------------------------------------------------------------
+int Configure(int which)
+{
+try {
+ if(which == 1) return Initialize();
+ if(which == 2) return UpdateConfig();
+ if(which == 3) {
+ if(CI.Verbose) oflog << "BEGIN Configure(3)" << endl;
+ return ConfigureEstimation(); // Estimation.cpp
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+} // end Configure()
+
+//------------------------------------------------------------------------------------
+// Configure(1)
+// open and read navigation files
+// open and read headers of all observation files
+int Initialize(void)
+{
+try {
+ int i,j;
+
+ if(CI.Verbose) oflog << "BEGIN Configure(1)" << endl;
+ if(CI.Frequency == 1) wave = wl1;
+ if(CI.Frequency == 2) wave = wl2;
+ // NB wave should never be used for L3 -- see warning in CommandInput.cpp
+ else if(CI.Frequency == 3) wave = wl1;
+
+ // open nav files and read EphemerisStore
+ if(!CI.NavPath.empty())
+ for(i=0; i<CI.NavFileNames.size(); i++)
+ CI.NavFileNames[i] = CI.NavPath + "/" + CI.NavFileNames[i];
+
+ // fill ephemeris store -- this routine in RinexUtilities.cpp
+ FillEphemerisStore(CI.NavFileNames, SP3EphList, BCEphList);
+
+ // dump SP3 store to log
+ if(SP3EphList.size()) {
+ if(CI.Verbose) SP3EphList.dump(0,oflog);
+ }
+ else if(CI.Verbose) oflog << "SP3 Ephemeris store is empty" << endl;
+
+ // dump BCE store to log
+ if(BCEphList.size()) {
+ // this causes the CorrectedEphemerisRange routines to pick the
+ // closest TOE in either future or past of the epoch, rather
+ // than the closest in the past -- see BCEphemerisStore.hpp
+ BCEphList.SearchNear();
+
+ if(CI.Debug) BCEphList.dump(1,oflog);
+ else if(CI.Verbose) BCEphList.dump(0,oflog);
+ }
+ else if(CI.Verbose) oflog << "BC Ephemeris store is empty" << endl;
+
+ // assign pointer
+ if(SP3EphList.size()) pEph = &SP3EphList;
+ else if(BCEphList.size()) pEph = &BCEphList;
+ else {
+ cerr << "Initialize ERROR: no ephemeris. Abort." << endl;
+ oflog << "Initialize ERROR: no ephemeris. Abort." << endl;
+ return 1;
+ }
+
+ // open all EOP files and fill the EOPstore
+ if(!CI.EOPPath.empty())
+ for(i=0; i<CI.EOPFileNames.size(); i++)
+ CI.EOPFileNames[i] = CI.EOPPath + "/" + CI.EOPFileNames[i];
+
+ if(CI.EOPFileNames.size() > 0) {
+ for(i=0; i<CI.EOPFileNames.size(); i++)
+ EOPList.addFile(CI.EOPFileNames[i]);
+ }
+ else {
+ try {
+ EOPList.addIERSFile("finals.daily");
+ }
+ catch(FileMissingException& fme) {
+ string msg("DDBase was unable to find any Earth Orientation parameters:\n"
+ " either add option --EOPFile <file> or put file 'finals.daily' in the"
+ " current directory.\n (http://maia.usno.navy.mil/ser7/finals.daily)\n");
+ cerr << msg;
+ oflog << msg;
+ GPSTK_RETHROW(fme);
+ }
+ }
+
+ if(EOPList.size()) {
+ if(CI.Debug) EOPList.dump(1,oflog);
+ else if(CI.Verbose) EOPList.dump(0,oflog);
+ }
+ else oflog << "Warning - no Earth Orientation Parameters were input\n";
+
+ // read all headers and store information in Station object
+ ReadAllObsHeaders();
+
+ // assign trop model for RAIM (model for DD est assigned in Configure(2))
+ // NB using another, like Saastamoinen, here, is problematic because it
+ // requires height, latitude and DOY input, [ this because RAIM calls
+ // CI.pTropModel->correction(elevation) ], and that info is different for
+ // different sites and not all available.
+ CI.pTropModel = &TropModelSimple;
+ // TD per site
+ CI.pTropModel->setWeather(CI.DefaultTemp,CI.DefaultPress,CI.DefaultRHumid);
+
+ // Define first and last epochs
+ FirstEpoch = DayTime::BEGINNING_OF_TIME;
+ LastEpoch = DayTime::END_OF_TIME;
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Configure(2)
+int UpdateConfig(void)
+{
+try {
+ if(CI.Verbose) oflog << "BEGIN Configure(2)" << endl;
+
+ // configure trop model for each station
+ // dump height, zenith delays, etc
+ map<string,Station>::iterator it;
+ oflog << "Zenith tropospheric delays and station heights" << endl;
+ for(it=Stations.begin(); it != Stations.end(); it++) {
+ Station& st=it->second;
+ oflog << " Station " << it->first
+ << " (" << (st.fixed ? "":"not ") << "fixed)" << endl;
+ oflog << " Position: " << st.pos.printf("%13.3x m %13.3y m %13.3z m")
+ << endl;
+ oflog << " Position: " << st.pos.printf("%A deg N, %L deg E, %h m")
+ << endl;
+ oflog << " Weather " << setprecision(1) << st.temp << " deg C, "
+ << setprecision(2) << st.press << " mbars, "
+ << setprecision(1) << st.rhumid << "%" << endl;
+
+ st.pTropModel->setWeather(st.temp,st.press,st.rhumid);
+ st.pTropModel->setReceiverHeight(st.pos.getHeight());
+ st.pTropModel->setReceiverLatitude(st.pos.getGeodeticLatitude());
+ st.pTropModel->setDayOfYear(int(FirstEpoch.DOYday()));
+
+ oflog << " Trop (model: " << st.TropType << fixed << ") zenith delays:"
+ << " dry " << setprecision(6) << st.pTropModel->dry_zenith_delay();
+ oflog << " m, wet " << setprecision(6) << st.pTropModel->wet_zenith_delay();
+ oflog << " m, total "
+ << setprecision(6) << st.pTropModel->correction(90.0) << " m";
+ oflog << endl;
+ }
+
+ // check how much data there is
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/relposition/DDBase.cpp b/dev/apps/geomatics/relposition/DDBase.cpp
new file mode 100644
index 0000000..23f240c
--- /dev/null
+++ b/dev/apps/geomatics/relposition/DDBase.cpp
@@ -0,0 +1,278 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file DDBase.cpp
+ * Main program for DDBase - the ARL:UT network precise position estimation
+ * using double differenced GPS carrier phase.
+ */
+
+//------------------------------------------------------------------------------------
+// system includes
+#include <time.h>
+
+// GPSTk
+//#define RANGECHECK // throw on invalid ranges in Vector and Matrix
+
+// DDBase
+#include "DDBase.hpp"
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+string Version("4.0 9/8/06");
+// 4.0 9/08/06 Convert to SatID and new RinexObs* names
+// 3.9 7/27/06 In EditDDs: pts between two combined slips not removed, TD miscomputed
+// 3.8 7/24/06 Remove CR at EOL and read line w/o CRLF at EOF
+// 3.7 6/01/06 Added L3 and checked L2.
+// 3.6 4/01/06 Fixed rotated antenna to work properly.
+// 3.5 3/01/06 Catch std exceptions
+// 3.4 2/27/06 Iterate slip fixing -- see test/Feb20/go15 for justification
+// 3.3 2/22/06 Slip bug introduced in 2.8; revert to slip tolerance 0.5
+// 3.2 2/16/06 Ignore unhealthy BC ephemeris, keep BCE in fit interval, screen output
+// 3.1 2/02/06 Imp. convergence criterion, bias-fix iteration goes beyond nIter
+// 3.0 2/02/06 Fixed: consequences of PosPRS option, MaxGap error
+// 2.9 11/06/05 Added option for 'finals.daily' input for EOP
+// 2.8 10/10/05 Improved EditDDs, incl changed slip tolerance to 0.9
+// 2.7 9/20/05 Added rotated antenna option and ElevationMask routine
+// 2.6 8/30/05 Improved stochastic model -- decreased eps and made cos^2
+// 2.5 8/11/05
+
+//------------------------------------------------------------------------------------
+// TD DDBase -Edit the data within estimation loop..see memo on false slips w/--PosPRS
+// TD DDBase -Add data sequentially, but invert less often (input)
+// TD DDBase -Be careful how bias states are added..they should be added only when
+// TD DDBase they appear in the data. They don't need to be removed even if they
+// TD DDBase don't have any more data .. they can either be left in there (they won't
+// TD DDBase harm the position states) or the biases can be fixed when the data goes
+// TD DDBase away.
+// TD DDBase -When there is no data in the file(s) for a site, it fails by finding PRS
+// TD DDBase equal to (0,0,0)...it should abort more gracefully.
+// TD DDBase -When the time step is large, the test for slips using the triple diff
+// TD DDBase should be modified -- TDs are much larger
+// TD DDBase -When there is a problem with the data often it fails with a 'slip' in
+// TD DDBase the triple difference at every epoch -- it should abort if #slips is big
+
+//------------------------------------------------------------------------------------
+// Global data -- declared extern in DDBase.hpp
+string PrgmName("DDBase"); // program name, used in title, desc., and output
+string Title; // program name and run time, for output
+string PrgmDesc; // program description, used in CommandInput
+ofstream oflog; // output log file stream
+CommandInput CI; // all command line input .. see CommandInput.hpp
+
+std::vector<std::string> Baselines; // *computed* Baselines, (those to output in CI)
+
+DayTime SolutionEpoch; // current solution epoch
+DayTime FirstEpoch,LastEpoch; // first and last solution epoch seen
+DayTime MedianEpoch; // median of first and last, computed in Configure(3)
+int Count; // current number of data intervals since first epoch
+int minCount,maxCount; // minimum and maximum timetag count seen
+int begcount,endcount; // first and last counts of *good* data in buffers
+double wave; // wavelength (m) being processed (see CI.Frequency)
+
+EphemerisStore *pEph; // pointer to ephemeris store (BC or SP3)
+EOPStore EOPList; // store of EarthOrientation parameters
+EarthOrientation eorient; // earth orientation parameters at mean time of dataset
+
+// list of labels, which identify sites, and associated Station objects.
+// label should be 4 char, but .. Don't allow a default b/c this ties inputs together.
+map<string,Station> Stations;
+
+vector<ObsFile> ObsFileList; // list of all observation files
+
+map<DDid,DDData> DDDataMap; // buffered DDs
+
+//------------------------------------------------------------------------------------
+int OutputRawData(void); // DataIO.cpp
+// prototypes -- this module only
+
+//------------------------------------------------------------------------------------
+int main(int argc, char **argv)
+{
+try {
+ // ------------------------------------------------------------------
+ // START
+ clock_t totaltime = clock();
+ int iret;
+ DayTime CurrEpoch;
+
+ // Title title and version
+ Title = PrgmName + ", ARL:UT DD phase estimation processor, Ver " + Version;
+ // PrgmDesc description
+ PrgmDesc = " Prgm " + PrgmName +
+ " will read RINEX obs data from any number of files and process them\n"
+ " in a double-differenced carrier phase estimation algorithm to produce precise\n"
+ " estimates of relative positions. Input is on the command line, or of the same\n"
+ " format in a file (see -f<file> below). DDBase is built on the GPS Toolkit (GPSTk).\n"
+ " NB. Input option --DT <data_interval_(seconds)> is required.\n"
+ " NB. Stations are defined, and many inputs for each are identified, by a label\n"
+ " (called station label or id below), which is case sensitive and must be used\n"
+ " consistently throughout. It cannot be 'X','Y' or 'Z' nor contain '-' or '_';\n"
+ " four characters work best.\n"
+ " NB. There must be at least two stations defined, with observation file(s)\n"
+ " provided for each, and at least one station must be fixed.\n"
+ "\n"
+ " Options may be given in an input file (see -f<file>); the '#' character marks\n"
+ " a comment, to EOL. All input options are shown below, followed by a\n"
+ " description, and the default value, if there is one, in ().\n";
+
+ // get current time
+ time_t timer;
+ struct tm *tblock;
+ timer = time(NULL);
+ tblock = localtime(&timer);
+ CurrEpoch.setYMDHMS(1900+tblock->tm_year,1+tblock->tm_mon,
+ tblock->tm_mday,tblock->tm_hour,tblock->tm_min,tblock->tm_sec);
+ // print title and current time to screen
+ Title += CurrEpoch.printf(", Run %04Y/%02m/%02d %02H:%02M:%02S");
+ cout << Title << endl;
+
+ for(;;) {
+ // ------------------------------------------------------------------
+ // get command line input
+ if((iret = CI.GetCmdInput(argc, argv))) break;
+
+ // ------------------------------------------------------------------
+ // test command input for validity
+ if((iret = CI.ValidateCmdInput())) break;
+
+ // dump command input to log
+ if(CI.Verbose) {
+ cout << "Output is directed to log file " << CI.LogFile << endl;
+ CI.Dump(oflog);
+ }
+
+ // if 'validate' switch is on, quit here
+ if(CI.Validate) break;
+
+ // ------------------------------------------------------------------
+ // Configure #1
+ if((iret = Configure(1))) break;
+
+ // ------------------------------------------------------------------
+ // Open and read all files, compute PR solution, edit and buffer raw data
+ if((iret = ReadRawData())) break;
+
+ // ------------------------------------------------------------------
+ // Edit buffers
+ if((iret = EditRawDataBuffers())) break;
+
+ // ------------------------------------------------------------------
+ // Output raw data buffers
+ if((iret = OutputRawDataBuffers())) break;
+
+ // ------------------------------------------------------------------
+ // Configure #2
+ if((iret = Configure(2))) break;
+
+ // ------------------------------------------------------------------
+ // Orbit processing
+ if((iret = EphemerisImprovement())) break;
+
+ // ------------------------------------------------------------------
+ // clock processing
+ if((iret = ClockModel())) break;
+
+ // ------------------------------------------------------------------
+ // synchronization of data to epoch (SolutionEpoch)
+ if((iret = Synchronization())) break;
+
+ // ------------------------------------------------------------------
+ // correct ephemeris range, elevation, and compute phase windup
+ if((iret = RecomputeFromEphemeris())) break;
+
+ // output data here, as phase and elevation are changed in Recompute...
+ OutputRawData();
+
+ // ------------------------------------------------------------------
+ // Compute or read the timetable
+ if((iret = Timetable())) break;
+
+ // ------------------------------------------------------------------
+ // Compute double differences, and buffer
+ if((iret = DoubleDifference())) break;
+
+ // ------------------------------------------------------------------
+ // Edit double differences
+ if((iret = EditDDs())) break;
+
+ // ------------------------------------------------------------------
+ // Configure #3 : prepare estimation
+ if((iret = Configure(3))) break;
+
+ // ------------------------------------------------------------------
+ // Estimation
+ if((iret = Estimation())) break;
+
+ break;
+ } // end for(;;)
+
+ // END --------------------------------------------------------------
+ // error condition?
+ if(iret) {
+ cerr << PrgmName << " terminating with error code " << iret << endl;
+ oflog << PrgmName << " terminating with error code " << iret << endl;
+ }
+
+ // compute run time
+ totaltime = clock()-totaltime;
+ cout << PrgmName << " timing: " << fixed << setprecision(3)
+ << double(totaltime)/double(CLOCKS_PER_SEC) << " seconds." << endl;
+ oflog << PrgmName << " timing: " << fixed << setprecision(3)
+ << double(totaltime)/double(CLOCKS_PER_SEC) << " seconds." << endl;
+
+ return iret;
+}
+catch(Exception& e) {
+ cerr << "GPSTk Exception : " << e;
+ oflog << "GPSTk Exception : " << e;
+}
+catch (...) {
+ cerr << "Unknown error in DDBase. Abort." << endl;
+ oflog << "Unknown error in DDBase. Abort." << endl;
+}
+
+ // close files
+ oflog.close();
+ return -1;
+} // end main()
+
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/relposition/DDBase.hpp b/dev/apps/geomatics/relposition/DDBase.hpp
new file mode 100644
index 0000000..13f82d9
--- /dev/null
+++ b/dev/apps/geomatics/relposition/DDBase.hpp
@@ -0,0 +1,126 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file DDBase.hpp
+ * Main include file for DDBase - the ARL:UT network precise position estimation
+ * using double differenced GPS carrier phase.
+ */
+
+//------------------------------------------------------------------------------------
+#ifndef CLASS_DDBASE_PROCESSOR_INCLUDE
+#define CLASS_DDBASE_PROCESSOR_INCLUDE
+
+//------------------------------------------------------------------------------------
+// includes
+// system
+#include <iostream>
+#include <iomanip>
+#include <fstream>
+#include <string>
+#include <vector>
+#include <map>
+
+// GPSTk
+//#define RANGECHECK // if defined, Vector and Matrix will throw on invalid index.
+#include "Exception.hpp"
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+#include "TropModel.hpp"
+#include "SP3EphemerisStore.hpp"
+#include "BCEphemerisStore.hpp"
+#include "EarthOrientation.hpp"
+#include "Position.hpp"
+#include "RinexObsBase.hpp"
+#include "RinexObsData.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsStream.hpp"
+
+// DDBase
+#include "GSatID.hpp" // this one first
+#include "DataStructures.hpp"
+#include "DDid.hpp"
+#include "constants.hpp"
+#include "format.hpp"
+
+//------------------------------------------------------------------------------------
+// prototypes
+int Configure(int which); // Configure.cpp
+int ReadRawData(void); // ReadRawData.cpp
+int EditRawDataBuffers(void); // EditRawDataBuffers.cpp
+int OutputRawDataBuffers(void); // EditRawDataBuffers.cpp
+int EphemerisImprovement(void); // EphemerisImprovement.cpp
+int ClockModel(void); // ClockModel.cpp
+int Synchronization(void); // Synchronization.cpp
+int RecomputeFromEphemeris(void); // Synchronization.cpp
+int Timetable(void); // Timetable.cpp
+int QueryTimeTable(gpstk::SDid& sdid, gpstk::DayTime& tt); // Timetable.cpp
+int QueryTimeTable(std::string bl, int& beg, int& end); // Timetable.cpp
+int DoubleDifference(void); // DoubleDifference.cpp
+int EditDDs(void); // EditDDs.cpp
+int Estimation(void); // Estimation.cpp
+
+//------------------------------------------------------------------------------------
+// Global data -- see DDBase.cpp where these are declared and documented
+extern std::string Title;
+extern std::string PrgmDesc;
+extern std::ofstream oflog;
+//extern CommandInput CI; put in CommandInput.hpp
+extern std::vector<std::string> Baselines;
+
+extern gpstk::DayTime SolutionEpoch;
+extern gpstk::DayTime FirstEpoch,LastEpoch,MedianEpoch;
+extern int Count;
+extern int maxCount;
+extern double wave;
+
+extern gpstk::EphemerisStore *pEph;
+extern gpstk::EOPStore EOPList;
+extern gpstk::EarthOrientation eorient;
+
+extern std::map<std::string,Station> Stations;
+extern std::vector<ObsFile> ObsFileList;
+
+extern std::map<gpstk::DDid,DDData> DDDataMap;
+
+#endif
+
+// include the 'command line input configuration' structure
+#include "CommandInput.hpp"
+
+// nothing below this
diff --git a/dev/apps/geomatics/relposition/DataOutput.cpp b/dev/apps/geomatics/relposition/DataOutput.cpp
new file mode 100644
index 0000000..0089ab5
--- /dev/null
+++ b/dev/apps/geomatics/relposition/DataOutput.cpp
@@ -0,0 +1,338 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file DataOutput.cpp
+ * Output intermediate data to files for program DDBase.
+ */
+
+//------------------------------------------------------------------------------------
+// TD DataOutput.cpp error msg for failure to open output files
+// TD DataOutput.cpp add clock polynomial Evaluate(tt) to CLK output
+
+//------------------------------------------------------------------------------------
+// includes
+// system
+#include <fstream>
+
+// GPSTk
+
+// DDBase
+#include "DDBase.hpp"
+#include "CommandInput.hpp"
+#include "format.hpp"
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+// prototypes -- this module only
+
+//------------------------------------------------------------------------------------
+int OutputRawData(void)
+{
+try {
+ if(CI.Verbose) oflog << "BEGIN OutputRawData()" << endl;
+
+ if(CI.OutputRawFile.empty()) return 0;
+
+ int i;
+ DayTime tt;
+ map<string,Station>::const_iterator it;
+ map<GSatID,RawData>::const_iterator jt;
+ format f133(13,3),f52(5,2);
+
+ // open an output file for RAW data
+ ofstream rawofs;
+ rawofs.open(CI.OutputRawFile.c_str(),ios::out);
+ if(rawofs) {
+ oflog << "Opened file " << CI.OutputRawFile << " for raw data output.." << endl;
+ rawofs << "# " << Title << endl;
+ rawofs << "RAW site sat week sec_wk count L1_cyc L2_cyc"
+ << " P1_m P2_m ER_m EL AZ\n";
+ }
+ else {
+ // TD error msg
+ return -1;
+ }
+
+ // loop over stations
+ for(it=Stations.begin(); it != Stations.end(); it++) {
+
+ // loop over satellites
+ for(jt=it->second.RawDataBuffers.begin();
+ jt != it->second.RawDataBuffers.end(); jt++) {
+
+ // loop over epochs
+ for(i=0; i<jt->second.count.size(); i++) {
+
+ tt = FirstEpoch + jt->second.count[i]*CI.DataInterval;
+
+ rawofs << "RAW " << it->first << " " << jt->first << " "
+ << tt.printf("%4F %10.3g")
+ << " " << setw(5) << jt->second.count[i]
+ << " " << f133 << jt->second.L1[i]
+ << " " << f133 << jt->second.L2[i]
+ << " " << f133 << jt->second.P1[i]
+ << " " << f133 << jt->second.P2[i]
+ << " " << f133 << jt->second.ER[i]
+ << " " << f52 << jt->second.elev[i]
+ << " " << f52 << jt->second.az[i]
+ << endl;
+
+ } // end loop over epochs
+
+ } // loop over satellites
+
+ } // loop over stations
+
+ // close output file
+ rawofs.close();
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+} // end OutputRawData()
+
+//------------------------------------------------------------------------------------
+int OutputRawDData(const DDid& ddid, const DDData& dddata, const vector<int>& mark)
+{
+try {
+ bool TripleOut=true; // output triple differences as well
+ if(CI.OutputRawDDFile.empty()) return 0;
+
+ static ofstream rddofs;
+
+ // allow caller to close the file...
+ if(mark.size() == 0) {
+ if(rddofs.is_open()) rddofs.close();
+ return 0;
+ }
+
+ if(!rddofs.is_open()) { // first call : open the file
+ if(CI.Verbose) oflog << "BEGIN OutputRawDData()" << endl;
+ rddofs.open(CI.OutputRawDDFile.c_str(),ios::out);
+ if(rddofs) {
+ oflog << "Opened file " << CI.OutputRawDDFile
+ << " for raw DD data output." << endl;
+ rddofs << "# " << Title << endl;
+ rddofs << "RDD sit1 sit2 sat ref week sec_wk flag DDL1_m"
+ << " "
+ << "DDL2_m DDER_m resL1_m resL2_m";
+ if(CI.Frequency == 3) rddofs << " WLbias_m";
+ rddofs << endl;
+ if(TripleOut) rddofs
+ << "RTD sit1 sit2 sat ref week sec_wk flag TDL1_m"
+ << " TDL2_m TDER_m" << endl;
+ }
+ else {
+ // TD error msg
+ return -1;
+ }
+ }
+
+ int i;
+ double wlb;
+ DayTime tt;
+ format f166(16,6);
+
+ // loop over epochs
+ for(i=0; i<dddata.count.size(); i++) {
+
+ tt = FirstEpoch + dddata.count[i]*CI.DataInterval;
+
+ if(CI.Frequency == 3)
+ wlb = wl1p * dddata.DDL1[i] // wide lane range minus phase
+ + wl2p * dddata.DDL2[i] // = WL phase - NL range
+ - wl1r * dddata.DDP1[i]
+ - wl2r * dddata.DDP2[i];
+
+ rddofs << "RDD " << ddid << " " << tt.printf("%4F %10.3g")
+ << " " << setw(2) << mark[i]
+ << " " << f166 << dddata.DDL1[i]
+ << " " << f166 << dddata.DDL2[i]
+ << " " << f166 << dddata.DDER[i]
+ << " " << f166 << dddata.DDL1[i] - dddata.DDER[i]
+ << " " << f166 << dddata.DDL2[i] - dddata.DDER[i];
+ if(CI.Frequency == 3) rddofs << " " << f166 << wlb;
+ rddofs << endl;
+
+ if(TripleOut && i>0) {
+ // wlb is a dummy here, = delta time for this triple diff
+ wlb = (dddata.count[i]-dddata.count[i-1])*CI.DataInterval;
+ rddofs << "RTD " << ddid << " " << tt.printf("%4F %10.3g")
+ << " " << setw(2) << 10*mark[i]+mark[i-1]
+ << " " << f166 << (dddata.DDL1[i]-dddata.DDL1[i-1])/wlb
+ << " " << f166 << (dddata.DDL2[i]-dddata.DDL2[i-1])/wlb
+ << " " << f166 << (dddata.DDER[i]-dddata.DDER[i-1])/wlb
+ << endl;
+ }
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+} // end OutputRawDData()
+
+//------------------------------------------------------------------------------------
+int OutputDDData(void)
+{
+try {
+ if(CI.Verbose) oflog << "BEGIN OutputDDData()" << endl;
+
+ if(CI.OutputDDDFile.empty()) return 0;
+
+ int i;
+ double wlb;
+ DayTime tt;
+ map<DDid,DDData>::const_iterator it;
+ format f166(16,6);
+
+ // open an output file for DDD data
+ ofstream dddofs;
+ dddofs.open(CI.OutputDDDFile.c_str(),ios::out);
+ if(dddofs) {
+ oflog << "Opened file " << CI.OutputDDDFile << " for DD data output." << endl;
+ dddofs << "# " << Title << endl;
+ dddofs << "DDD sit1 sit2 sat ref week sec_wk DDL1_m "
+ << "DDL2_m DDER_m resL1_m resL2_m";
+ if(CI.Frequency == 3) dddofs << " WLbias_m";
+ dddofs << endl;
+ }
+ else {
+ // TD error msg
+ return -1;
+ }
+
+ // loop over DDids
+ for(it=DDDataMap.begin(); it != DDDataMap.end(); it++) {
+
+ // loop over epochs
+ for(i=0; i<it->second.count.size(); i++) {
+
+ tt = FirstEpoch + it->second.count[i]*CI.DataInterval;
+
+ if(CI.Frequency == 3)
+ wlb = wl1p * it->second.DDL1[i] // wide lane range minus phase
+ + wl2p * it->second.DDL2[i] // = WL phase - NL range
+ - wl1r * it->second.DDP1[i]
+ - wl2r * it->second.DDP2[i];
+
+ dddofs << "DDD " << it->first << " " << tt.printf("%4F %10.3g")
+ << " " << f166 << it->second.DDL1[i]
+ << " " << f166 << it->second.DDL2[i]
+ << " " << f166 << it->second.DDER[i]
+ << " " << f166 << it->second.DDL1[i] - it->second.DDER[i]
+ << " " << f166 << it->second.DDL2[i] - it->second.DDER[i];
+ if(CI.Frequency == 3) dddofs << " " << f166 << wlb;
+ dddofs << endl;
+ }
+
+ }
+
+ dddofs.close();
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+} // end OutputDDData()
+
+//------------------------------------------------------------------------------------
+int OutputClockData(void)
+{
+try {
+ if(CI.Verbose) oflog << "BEGIN OutputClockData()" << endl;
+
+ if(CI.OutputClkFile.empty()) return 0;
+
+ int i;
+ DayTime tt;
+ map<string,Station>::const_iterator it;
+ format f133(13,3),f92(9,2,2),f96(9,6);
+
+ // open an output file for Clk data
+ ofstream clkofs;
+ clkofs.open(CI.OutputClkFile.c_str(),ios::out);
+ if(clkofs) {
+ oflog << "Opened file " << CI.OutputClkFile << " for DD data output." << endl;
+ clkofs << "# " << Title << endl;
+ clkofs << "CLK site week sec_wk Rx_clk_bias(m) Sig(m) TT_off(s)\n";
+ }
+ else {
+ // TD error msg
+ return -1;
+ }
+
+
+ // loop over stations
+ for(it=Stations.begin(); it != Stations.end(); it++) {
+
+ // loop over epochs
+ for(i=0; i<it->second.ClockBuffer.size(); i++) {
+
+ tt = FirstEpoch + it->second.CountBuffer[i]*CI.DataInterval;
+
+ clkofs << "CLK " << it->first << " " << tt.printf("%4F %10.3g")
+ << " " << f133 << it->second.ClockBuffer[i]
+ << " " << f92 << it->second.ClkSigBuffer[i]
+ // TD add clock polynomial Evaluate(tt)
+ << " " << f92 << it->second.RxTimeOffset[i]
+ << endl;
+
+ } // loop over epochs
+
+ } // loop over stations
+
+ clkofs.close();
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+} // end OutputClockData()
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/relposition/DataStructures.cpp b/dev/apps/geomatics/relposition/DataStructures.cpp
new file mode 100644
index 0000000..61f283f
--- /dev/null
+++ b/dev/apps/geomatics/relposition/DataStructures.cpp
@@ -0,0 +1,134 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file DataStructures.cpp
+ * Implement various data containers for program DDBase.
+ */
+
+//------------------------------------------------------------------------------------
+// system includes
+
+// GPSTk
+
+// DDBase
+#include "DDBase.hpp"
+#include "DataStructures.hpp"
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+Station& findStationInList(map<string,Station>& SL, string& label)
+{
+try {
+ map<string,Station>::const_iterator it;
+ it = SL.find(label);
+ if(it == SL.end()) { // create a new Station
+ Station st;
+ SL[label] = st;
+ }
+ return SL[label];
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+Station::Station(void) throw()
+{
+ fixed = usePRS = false;
+ temp = press = rhumid = 0.0;
+ time = DayTime::BEGINNING_OF_TIME;
+ pTropModel = NULL;
+ TropType = "Saas";
+ ant_azimuth = 0.0;
+}
+
+//------------------------------------------------------------------------------------
+Station::~Station(void) throw()
+{
+ delete pTropModel;
+}
+
+//------------------------------------------------------------------------------------
+ObsFile::ObsFile(void) throw()
+{
+ name = string("");
+ label = string("");
+ nread = -1;
+ valid = false;
+ inC1 = -1;
+ inP1 = -1; inP2 = -1;
+ inL1 = -1; inL2 = -1;
+ inD1 = -1; inD2 = -1;
+ inS1 = -1; inS2 = -1;
+}
+
+//------------------------------------------------------------------------------------
+ObsFile& ObsFile::operator=(const ObsFile& of) throw()
+{
+ name = of.name;
+ label = of.label;
+ nread = of.nread; // number of records read (-1=unopened, 0=header read)
+ valid = of.valid;
+ inC1 = of.inC1;
+ inP1 = of.inP1; inP2 = of.inP2;
+ inL1 = of.inL1; inL2 = of.inL2;
+ inD1 = of.inD1; inD2 = of.inD2;
+ inS1 = of.inS1; inS2 = of.inS2;
+ return *this;
+}
+
+//------------------------------------------------------------------------------------
+ObsFile::ObsFile(const ObsFile& of) throw()
+{
+ *this = of;
+}
+
+//------------------------------------------------------------------------------------
+ObsFile::~ObsFile(void)
+{
+ ins.clear();
+ ins.close();
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/relposition/DataStructures.hpp b/dev/apps/geomatics/relposition/DataStructures.hpp
new file mode 100644
index 0000000..5092e30
--- /dev/null
+++ b/dev/apps/geomatics/relposition/DataStructures.hpp
@@ -0,0 +1,176 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file DataStructures.hpp
+ * Include file defining the data containers for program DDBase.
+ */
+
+#ifndef CLASS_DDBASE_DATA_STRUCT_INCLUDE
+#define CLASS_DDBASE_DATA_STRUCT_INCLUDE
+
+//------------------------------------------------------------------------------------
+// system includes
+#include <string>
+#include <vector>
+
+// GPSTk
+#include "PRSolution.hpp"
+#include "Stats.hpp"
+
+// DDBase
+#include "DDBase.hpp"
+
+//------------------------------------------------------------------------------------
+// Data structures
+
+// structure for raw data
+typedef struct data_structure {
+ double L1; // cycles
+ double L2; // cycles
+ double P1; // m
+ double P2; // m
+ double D1; // Hz optional when fit to phase used in synchronization
+ double D2; // Hz
+ double S1; // dB-Hz unused
+ double S2; // dB-Hz unused
+ double ER; // m
+ double elev; // degrees
+ double az; // degrees
+} DataStruct;
+
+// structure for buffered raw good data
+class RawData {
+public:
+ std::vector<double> L1; // cycles
+ std::vector<double> L2; // cycles
+ std::vector<double> P1; // m
+ std::vector<double> P2; // m
+ std::vector<double> ER; // m
+ std::vector<double> elev; // deg
+ std::vector<double> az; // deg
+ std::vector<int> count; // epoch count since FirstEpoch
+};
+
+// structure for computing single differences -- just counts and min,max elevation
+class SDData {
+public:
+ double elevmin,elevmax;
+ std::vector<int> count;
+};
+
+// structure for buffered DDs with biases
+class DDData {
+public:
+ double L1bias,L2bias;
+ double prevL1,prevL2;
+ // these vectors and count must remain parallel
+ std::vector<double> DDL1,DDL2,DDP1,DDP2,DDER; // data for each point
+ std::vector<int> count; // count for each point
+ std::vector<int> resets; // collection of indexes into
+ // count[] where bias is reset
+ //DDData(void) : last_buffer_index(0) {};
+};
+
+// both reference and unknown positions
+class Station {
+public:
+ bool fixed; // if true, hold position fixed, else solve for it
+ bool usePRS; // if true, use ave. PR solution as position
+ gpstk::Position pos; // either known or solution or apriori
+ gpstk::PRSolution PRS; // pseudorange solution, includes clock bias
+ gpstk::Stats<double> PRSXstats; // stats on pseudorange solution
+ gpstk::Stats<double> PRSYstats; // stats on pseudorange solution
+ gpstk::Stats<double> PRSZstats; // stats on pseudorange solution
+
+ double ant_azimuth; // (relative) orientation of the antenna dipole
+
+ std::map<gpstk::GSatID,DataStruct> RawDataMap;
+ // cleaned, raw data at current epoch
+ gpstk::DayTime time; // timetag (SolutionEpoch) of RawDataMap
+
+ // these buffers must remain parallel
+ std::map<gpstk::GSatID,RawData> RawDataBuffers;
+ // buffers of good raw data
+ std::vector<double> ClockBuffer; // buffer of clock solution (m)
+ std::vector<double> ClkSigBuffer;// buffer of clock solution sigma (m)
+ std::vector<double> RxTimeOffset;// SolutionEpoch minus RxTimetag (sec)
+ // TD not used? used in OutputClockData
+ std::vector<int> CountBuffer; // epoch count since FirstEpoch - if data exists
+
+ std::string TropType; // label from input giving type of trop model
+ gpstk::TropModel *pTropModel; // chosen trop model (defined in CommandInput)
+ double temp; // temperature in degrees Celsius
+ double press; // pressure in mbars at sealevel
+ double rhumid; // relative humidity in % (0-100)
+
+ Station(void) throw(); // empty and only constructor
+ ~Station(void) throw(); // destructor - free trop model
+};
+
+Station& findStationInList(std::map<std::string,Station>& SL, std::string& label);
+
+// Rinex observation input files
+class ObsFile {
+public:
+ std::string name; // file name, not including path
+ std::string label; // Station label to which this obs file belongs
+ gpstk::RinexObsStream ins; // stream for reading
+ // TD use pointer -- operator= does not work for
+ // RinexObsStream, yet operator= necessary to form
+ // vector<RinexObsStream>
+ gpstk::RinexObsHeader Rhead;// RINEX header record (for reading)
+ gpstk::RinexObsData Robs; // RINEX observation record (for reading)
+ int nread; // number of records read (-1=unopened, 0=header read)
+ bool valid; // set false if unopened or at EOF
+ bool getNext; // flag used by ReadNextObs to synchronize reading
+ int inC1,inP1,inP2; // indexes in RINEX header for pseudorange
+ int inL1,inL2; // indexes in RINEX header for carrier phase
+ int inD1,inD2,inS1,inS2; // needed or used ??
+ ObsFile(void) throw(); // empty constructor
+ ObsFile(const ObsFile& of) throw(); // copy constructor
+ // (need for vector<ObsFile>)
+ ~ObsFile(void); // destructor
+ ObsFile& operator=(const ObsFile& of) throw(); // assignment operator
+ // (need for copy c'tor)
+};
+
+#endif
+// nothing below this
+//------------------------------------------------------------------------------------
+
diff --git a/dev/apps/geomatics/relposition/DoubleDifference.cpp b/dev/apps/geomatics/relposition/DoubleDifference.cpp
new file mode 100644
index 0000000..0bef58a
--- /dev/null
+++ b/dev/apps/geomatics/relposition/DoubleDifference.cpp
@@ -0,0 +1,426 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file DoubleDifference.cpp
+ * Form double differences and buffer them, for program DDBase.
+ */
+
+//------------------------------------------------------------------------------------
+// TD DoubleDifference.cpp make small limit on DD buff size an input parameter
+// TD DoubleDifference.cpp do we allow 'gaps' in ref sat's data?
+
+//------------------------------------------------------------------------------------
+// system includes
+
+// GPSTk
+
+// DDBase
+#include "DDBase.hpp"
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+// prototypes -- this module only
+void ComputeSingleDifferences(string baseline, map<SDid,RawData>& SDmap);
+int ComputeDoubleDifferences(map<SDid,RawData>& SDmap);
+//int OutputDDData(void); // DataIO.cpp
+
+//------------------------------------------------------------------------------------
+// other prototypes
+bool ElevationMask(double elevation, double azimuth); // ElevationMask.cpp
+
+//------------------------------------------------------------------------------------
+int DoubleDifference(void)
+{
+try {
+ int n,i,j,k;
+ // map to hold all buffered single differences for one baseline
+ map<SDid,RawData> SDmap;
+
+ if(CI.Verbose) oflog << "BEGIN DoubleDifference()" << endl;
+
+ // clear any existing DDs
+ DDDataMap.clear();
+
+ // loop over baselines
+ for(n=0; n<Baselines.size(); n++) {
+
+ // ----------------------------------------------------------
+ // for this baseline, compute all SDs, then DDs, and buffer them
+ if(CI.Verbose) oflog << "DoubleDifference() for baseline "
+ << Baselines[n] << endl;
+
+ // clear the SD map
+ SDmap.clear();
+
+ // ----------------------------------------------------------
+ // compute all single differences for this baseline
+ // give it same ordering as Baseline
+ ComputeSingleDifferences(Baselines[n],SDmap);
+
+ // loop over SD data, edit small ones and dump summary
+ if(CI.Verbose) oflog << "Single difference summary for baseline "
+ << Baselines[n] << endl;
+
+ vector<SDid> Remove; // these will be small dataset to delete later
+
+ map<SDid,RawData>::const_iterator kt;
+ for(k=1,kt=SDmap.begin(); kt != SDmap.end(); k++,kt++) {
+
+ if(CI.Verbose) {
+ oflog << " " << setw(2) << k << " " << kt->first
+ << " " << setw(5) << kt->second.count.size();
+ if(kt->second.count.size() > 0)
+ oflog << " " << setw(5) << kt->second.count.at(0) << " - "
+ << setw(5) << kt->second.count.at(kt->second.count.size()-1);
+ else
+ oflog << " na - na";
+
+ // gaps - (count : number of pts)
+ if(kt->second.count.size() > 0) { // gcc needs this ...
+ for(i=0; i<kt->second.count.size()-1; i++) {
+ j = kt->second.count.at(i+1) - kt->second.count.at(i);
+ if(j > 1) oflog
+ << " (" << kt->second.count.at(i)+1 << ":" << j-1 << ")";
+ }
+ }
+ }
+
+ // ignore small datasets
+ if(kt->second.count.size() < 10) { // TD make input parameter
+ Remove.push_back(kt->first);
+ if(CI.Verbose) oflog << " **Rejected";
+ }
+
+ if(CI.Verbose) oflog << endl;
+
+ } // end summary loop
+
+ // delete marked SD buffers
+ for(i=0; i<Remove.size(); i++) SDmap.erase(Remove[i]);
+
+ // ----------------------------------------------------------
+ // now compute double differences - according to timetable
+ if(ComputeDoubleDifferences(SDmap)) return 1;
+
+ } // end loop over baselines
+
+ // dump buffers to a file
+ // no - do after editing OutputDDData();
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+} // end DoubleDifference()
+
+//------------------------------------------------------------------------------------
+// Compute all single differences 'site1' - 'site2', using the RawDataBuffers in
+// Stations[site], and store the results in the given map<SDid,RawData>.
+void ComputeSingleDifferences(string baseline, map<SDid,RawData>& SDmap)
+{
+try {
+ int i,j,beg,end;
+ GSatID sat;
+
+ // decompose the baseline
+ string site1=StringUtils::word(baseline,0,'-');
+ string site2=StringUtils::word(baseline,1,'-');
+
+ // find the beginning and ending *counts* of good data for this baseline
+ if(QueryTimeTable(baseline,beg,end)) {
+ oflog << "ERROR - baseline " << baseline
+ << " not found in timetable. No single differences computed." << endl;
+ return;
+ }
+
+ // find satellites in common
+ map<GSatID,RawData>::const_iterator it1,it2;
+
+ // loop over satellites at first site
+ for(it1 = Stations[site1].RawDataBuffers.begin();
+ it1 != Stations[site1].RawDataBuffers.end(); it1++) {
+
+ sat = it1->first;
+ // it1->second is RawData={ L1,L2,P1,P2,elev,az,count buffers = vector<> }
+
+ // does this sat have data at the other station?
+ it2 = Stations[site2].RawDataBuffers.find(sat);
+ if(it2 == Stations[site2].RawDataBuffers.end()) continue; // no
+
+ // compute single differences for this satellite
+ // here is where you define the ordering of sites: first(1) - second(2)
+ SDid sdid(site1,site2,sat);
+ RawData sddata;
+
+ // loop over epochs, finding common data. start and stop the loop
+ // at times determined by the timetable, NOT by the raw data buffers.
+ i = j = 0;
+ while(i < it1->second.count.size() && j < it2->second.count.size()) {
+
+ // impose limits from timetable
+ if(it1->second.count[i] > end) break;
+ else if(it2->second.count[j] > end) break;
+ else if(it1->second.count[i] < beg) i++;
+ else if(it2->second.count[j] < beg) j++;
+ // i and j are the same count (epoch)
+ else if(it1->second.count[i] == it2->second.count[j]) {
+ // reject data below MinElevation here
+ //if(it1->second.elev[i] > CI.MinElevation &&
+ //it2->second.elev[j] > CI.MinElevation) {
+ if(ElevationMask(it1->second.elev[i],it1->second.az[i]) &&
+ ElevationMask(it2->second.elev[j],it2->second.az[j])) {
+
+ // buffer the differences
+ sddata.count.push_back(it1->second.count[i]);
+ sddata.L1.push_back(it1->second.L1[i] - it2->second.L1[j]);
+ sddata.L2.push_back(it1->second.L2[i] - it2->second.L2[j]);
+ sddata.P1.push_back(it1->second.P1[i] - it2->second.P1[j]);
+ sddata.P2.push_back(it1->second.P2[i] - it2->second.P2[j]);
+ sddata.ER.push_back(it1->second.ER[i] - it2->second.ER[j]);
+ sddata.elev.push_back(it1->second.elev[i]);
+
+ } // end if elevation is ok
+
+ // next epoch
+ i++;
+ j++;
+ }
+ // i is behind j in time(count)
+ else if(it1->second.count[i] < it2->second.count[j])
+ i++;
+ // i is ahead of j in time(count)
+ else
+ j++;
+
+ } // end while
+
+ // save it in the map
+ SDmap[sdid] = sddata;
+
+ } // end loop over satellites at first site
+
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Assume SDmap is all for the same baseline
+int ComputeDoubleDifferences(map<SDid,RawData>& SDmap)
+{
+try {
+ bool frst,ok;
+ int i,j,k,indx,count,ddsign;
+ long nn1,nn2;
+ double ddL1,ddL2,ddER,ddP1,ddP2,dd,db1,db2;
+ DayTime tt,ttnext; // ttnext is the time of the next reference satellite switch
+ //SDid sid,ref; // SDid of the current satellite and reference satellite
+ map<SDid,int> Inext; // index in count (all) buffers which is to be processed next
+ map<SDid,RawData>::const_iterator it;
+
+ if(SDmap.size() == 0) return 0;
+
+ // initialize the 'next index' map to zero
+ // find the smallest (earliest) count
+ frst = true;
+ for(it=SDmap.begin(); it != SDmap.end(); it++) {
+ int jj=0;
+ Inext[it->first] = jj;
+ if(frst || it->second.count[0] < count) {
+ count = it->second.count[0];
+ frst = false;
+ }
+ }
+
+ // ref will be the SDid for the reference satellite
+ SDid ref = SDmap.begin()->first; // ref.sat is TBD by timetable
+
+ // loop over epochs in the SDs
+ ttnext = DayTime::BEGINNING_OF_TIME;
+ while(1) {
+ // time at this count
+ tt = FirstEpoch + count * CI.DataInterval;
+
+ // get the reference satellite at this time
+ if(tt > ttnext) {
+ ttnext = tt;
+ if(QueryTimeTable(ref, ttnext)) { // error - timetable failed
+ oflog << "DD: Error - failed to find reference from timetable at "
+ << tt.printf("%Y/%02m/%02d %2H:%02M:%6.3f=%F/%10.3g") << " count "
+ << count << " for baseline " << ref.site1 << "-" << ref.site2 << endl;
+ return 1;
+ }
+ if(CI.Verbose) oflog << "DD: reference is set to " << ref << " at "
+ << tt.printf("%Y/%02m/%02d %2H:%02M:%6.3f=%F/%10.3g")
+ << " count " << count << endl;
+ }
+
+ // does reference satellite have data at this count?
+ if(SDmap[ref].count[Inext[ref]] != count) {
+ oflog << "Error - failed to find reference data " << ref << " at "
+ << tt.printf("%Y/%02m/%02d %2H:%02M:%6.3f=%F/%10.3g") << endl;
+ // TD return here, or just skip the epoch?
+ // question is do we allow 'holes' in ref sat's data?
+ return 1;
+ }
+
+ // compute DDs
+ for(it=SDmap.begin(); it != SDmap.end(); it++) {
+
+ // sid is the SDid for the current satellite
+ SDid sid = it->first;
+ indx = Inext[sid];
+
+ // end of buffer has been reached
+ if(Inext[sid] >= SDmap[sid].count.size()) continue;
+
+ if(sid == ref) continue; // ignore the reference
+
+ // no data for this satellite at this count
+ if(SDmap[sid].count[indx] != count) continue;
+
+ // compute DD phases and DD nominal range
+ ddL1 = wl1 * (SDmap[sid].L1[indx] - SDmap[ref].L1[Inext[ref]]);
+ ddL2 = wl2 * (SDmap[sid].L2[indx] - SDmap[ref].L2[Inext[ref]]);
+ ddP1 = SDmap[sid].P1[indx] - SDmap[ref].P1[Inext[ref]];
+ ddP2 = SDmap[sid].P2[indx] - SDmap[ref].P2[Inext[ref]];
+ ddER = (SDmap[sid].ER[indx] - SDmap[ref].ER[Inext[ref]]);
+
+ // get the appropriate DDData from the map, or create a new one
+ map<DDid,DDData>::iterator jt;
+ DDid ddid((ref.ssite == 1 ? ref.site1 : ref.site2),
+ (ref.ssite == 1 ? ref.site2 : ref.site1),sid.sat,ref.sat);
+ if(DDDataMap.find(ddid) == DDDataMap.end()) {
+ // create a new DDData
+ DDData tddb;
+ dd = (-ddL1+ddER)/wl1;
+ nn1 = int(dd + (dd > 0 ? 0.5 : -0.5));
+ tddb.L1bias = wl1 * nn1;
+ dd = (-ddL2+ddER)/wl2;
+ nn2 = int(dd + (dd > 0 ? 0.5 : -0.5));
+ tddb.L2bias = wl2 * nn2;
+ oflog << " Phase bias (initial) on " << ddid
+ << " at " << setw(3) << count << " "
+ << tt.printf("%Y/%02m/%02d %2H:%02M:%6.3f=%F/%10.3g")
+ << " L1: " << setw(14) << nn1 << " L2: " << setw(14) << nn2 << endl;
+ //tddb.lastresetcount = count;
+ tddb.resets.push_back(tddb.count.size()); // always one at beginning
+ tddb.prevL1 = (ddL1-ddER)+tddb.L1bias;
+ tddb.prevL2 = (ddL2-ddER)+tddb.L2bias;
+ DDDataMap[ddid] = tddb;
+ }
+
+ // get the current DDData structure, and relative sign
+ jt = DDDataMap.find(ddid); // never fail...
+ ddsign = DDid::compare(ddid,jt->first);
+ DDData& ddb=jt->second;
+ ok = true; // if ok, buffer this DDData = ddb
+
+ // reset bias?
+ db1 = (ddsign*(ddL1-ddER) + ddb.L1bias - ddb.prevL1)/wl1;
+ db2 = (ddsign*(ddL2-ddER) + ddb.L2bias - ddb.prevL2)/wl2;
+ if((CI.Frequency != 2 && fabs(db1) > CI.PhaseBiasReset) ||
+ (CI.Frequency != 1 && fabs(db2) > CI.PhaseBiasReset)) {
+ long ndb1 = long(db1 + (db1 > 0 ? 0.5 : -0.5));
+ long ndb2 = long(db2 + (db2 > 0 ? 0.5 : -0.5));
+ oflog << " Phase bias (reset ) on " << ddid
+ << " at " << setw(3) << count << " "
+ << tt.printf("%Y/%02m/%02d %2H:%02M:%6.3f=%F/%10.3g")
+ << " L1: " << setw(14) << ndb1 << " L2: " << setw(14) << ndb2 << endl;
+ ddb.L1bias -= wl1 * ndb1;
+ ddb.L2bias -= wl2 * ndb2;
+ //ddb.lastresetcount = count;
+ ddb.resets.push_back(ddb.count.size());
+ }
+
+ // remove the bias from the data
+ ddL1 += ddsign * ddb.L1bias;
+ ddL2 += ddsign * ddb.L2bias;
+
+ // save for next time
+ ddb.prevL1 = ddsign*(ddL1-ddER);
+ ddb.prevL2 = ddsign*(ddL2-ddER);
+
+ // buffer the debiased DDs
+ ddb.DDL1.push_back(ddsign*ddL1);
+ ddb.DDL2.push_back(ddsign*ddL2);
+ ddb.DDP1.push_back(ddsign*ddP1);
+ ddb.DDP2.push_back(ddsign*ddP2);
+ ddb.DDER.push_back(ddsign*ddER);
+ ddb.count.push_back(count);
+
+ // increment Inext
+ Inext[sid]++;
+
+ } // end loop over SD's in SDmap
+
+ Inext[ref]++;
+
+ // find the next count
+ // quit when all Inext are at end
+ frst = true;
+ ok = false;
+ for(it=SDmap.begin(); it != SDmap.end(); it++) {
+ if(Inext[it->first] < SDmap[it->first].count.size()) {
+ if(frst || it->second.count[Inext[it->first]] < count) {
+ count = it->second.count[Inext[it->first]];
+ frst = false;
+ }
+ ok = true;
+ }
+ }
+
+ if(!ok) break;
+
+ } // end while loop over epochs
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/relposition/EditDDs.cpp b/dev/apps/geomatics/relposition/EditDDs.cpp
new file mode 100644
index 0000000..4fbef0c
--- /dev/null
+++ b/dev/apps/geomatics/relposition/EditDDs.cpp
@@ -0,0 +1,788 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file EditDDs.cpp
+ * Edit buffered double differences for outliers, cycle slips and isolated
+ * points for program DDBase.
+ */
+
+//------------------------------------------------------------------------------------
+// TD EditDDs.cpp make various numbers input parameters
+
+//------------------------------------------------------------------------------------
+// includes
+// system
+#include <vector>
+
+// GPSTk
+#include "Matrix.hpp"
+#include "Stats.hpp"
+#include "RobustStats.hpp"
+//#include "SRIFilter.hpp"
+
+// DDBase
+#include "DDBase.hpp"
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+static int ngood,nbad; // number good data, number of data marked bad
+static vector<int> mark; // parallel to count and data vectors, mark bad data
+static ofstream tddofs; // output stream for OutputTDDFile
+
+//------------------------------------------------------------------------------------
+// prototypes -- this module only
+int EditDDResets(const DDid& ddid, DDData& dddata);
+int EditDDIsolatedPoints(const DDid& ddid, DDData& dddata);
+int EditDDSlips(const DDid& ddid, DDData& dddata, int frequency);
+int EditDDOutliers(const DDid& ddid, DDData& dddata, int frequency);
+//void LSPolyFunc(Vector<double>& X, Vector<double>& f, Matrix<double>& P);
+// prototypes -- DataOutput.cpp
+int OutputRawDData(const DDid& ddid, const DDData& dddata, const vector<int>& mark);
+int OutputDDData(void);
+
+//------------------------------------------------------------------------------------
+int EditDDs(void)
+{
+try {
+ if(CI.Verbose) oflog << "BEGIN EditDDs()" << endl;
+
+ if(!CI.OutputTDDFile.empty()) {
+ tddofs.open(CI.OutputTDDFile.c_str(),ios::out);
+ if(tddofs) {
+ oflog << "Opened file " << CI.OutputTDDFile
+ << " for triple difference and cycle slip output." << endl;
+ tddofs << "# " << Title << endl;
+ tddofs << "TDS site site sat sat freq iter cnt week sow "
+ << "dcnt TD(m) slip(cy) frac\n";
+ tddofs << "SED site site sat sat freq iter cnt week sow "
+ << "DDres(m) TDres(m)\n";
+ }
+ else {
+ oflog << "Warning - Failed to open file " << CI.OutputTDDFile << endl;
+ }
+ }
+
+ if(CI.Verbose) {
+ oflog << " TUR site site sat sat iter N Average StdDev SigYX"
+ << " Median M-est MAD\n";
+ oflog << " SUR site site sat sat iter N Average StdDev SigYX"
+ << " Median M-est MAD\n";
+ }
+
+ int i,j,k;
+ map<DDid,DDData>::iterator it;
+
+ // -------------------------------------------------------------------
+ // delete DD buffers that are too small, or that user wants to exclude
+ // also compute maxCount, the largest value of Count seen in all baselines
+ maxCount = 0;
+ vector<DDid> DDdelete;
+ for(it = DDDataMap.begin(); it != DDDataMap.end(); it++) {
+
+ // is it too small?
+ if(it->second.count.size() < CI.MinDDSeg) {
+ DDdelete.push_back(it->first);
+ continue;
+ }
+
+ // prepare 'mark' vector
+ mark.assign(it->second.count.size(),1);
+ ngood = mark.size();
+ nbad = 0;
+
+ // remove points where bias had to be reset multiple times
+ k = EditDDResets(it->first, it->second);
+ if(k || ngood < CI.MinDDSeg) {
+ DDdelete.push_back(it->first);
+ continue;
+ }
+
+ // remove isolated points
+ k = EditDDIsolatedPoints(it->first, it->second);
+ if(k || ngood < CI.MinDDSeg) {
+ DDdelete.push_back(it->first);
+ continue;
+ }
+
+ // find and remove slips
+ if(CI.Frequency != 2) { // L1
+ k = EditDDSlips(it->first, it->second,1);
+ if(k || ngood < CI.MinDDSeg) {
+ DDdelete.push_back(it->first);
+ continue;
+ }
+ }
+ if(CI.Frequency != 1) { // L2
+ k = EditDDSlips(it->first, it->second,2);
+ if(k || ngood < CI.MinDDSeg) {
+ DDdelete.push_back(it->first);
+ continue;
+ }
+ }
+
+ // find and remove outliers
+ if(CI.Frequency != 2) { // L1
+ k = EditDDOutliers(it->first, it->second,1);
+ if(k || ngood < CI.MinDDSeg) {
+ DDdelete.push_back(it->first);
+ continue;
+ }
+ }
+ if(CI.Frequency != 1) { // L2
+ k = EditDDOutliers(it->first, it->second,2);
+ if(k || ngood < CI.MinDDSeg) {
+ DDdelete.push_back(it->first);
+ continue;
+ }
+ }
+
+ // output raw data with mark
+ OutputRawDData(it->first, it->second, mark);
+
+ // use vector 'mark' to delete data
+ if(nbad > 0) {
+ vector<double> nDDL1,nDDL2,nDDP1,nDDP2,nDDER;
+ vector<int> ncount;
+ for(i=0; i<it->second.count.size(); i++) {
+ if(mark[i] == 1) {
+ nDDL1.push_back(it->second.DDL1[i]);
+ nDDL2.push_back(it->second.DDL2[i]);
+ nDDP1.push_back(it->second.DDP1[i]);
+ nDDP2.push_back(it->second.DDP2[i]);
+ nDDER.push_back(it->second.DDER[i]);
+ ncount.push_back(it->second.count[i]);
+ }
+ }
+ it->second.DDL1 = nDDL1;
+ it->second.DDL2 = nDDL2;
+ it->second.DDP1 = nDDP1;
+ it->second.DDP2 = nDDP2;
+ it->second.DDER = nDDER;
+ it->second.count = ncount;
+ // ignore resets from now on...
+ }
+
+ // find the max count
+ if(it->second.count[it->second.count.size()-1] > maxCount)
+ maxCount = it->second.count[it->second.count.size()-1];
+ }
+
+ // close the output file
+ tddofs.close();
+ mark.clear();
+
+ // now delete the ones that were marked
+ for(i=0; i<DDdelete.size(); i++) {
+ if(CI.Verbose) oflog << setw(2) << DDdelete[i]
+ << " total = " << setw(5) << DDDataMap[DDdelete[i]].count.size()
+ << ", count = " << setw(5) << DDDataMap[DDdelete[i]].count[0]
+ << " - " << setw(5)
+ << DDDataMap[DDdelete[i]].count[DDDataMap[DDdelete[i]].count.size()-1]
+ << " -- Delete this DD dataset."
+ << endl;
+ DDDataMap.erase(DDdelete[i]);
+ }
+ DDdelete.clear();
+
+ // -------------------------------------------------------------------
+ // output DD summary
+ if(CI.Screen) {
+ cout << "Double differences summary:" << endl;
+ for(k=1,it=DDDataMap.begin(); it!=DDDataMap.end(); it++,k++) {
+ cout << " " << setw(2) << k << " " << it->first
+ << " " << setw(5) << it->second.count.size()
+ << " " << setw(5) << it->second.count[0]
+ << " - " << setw(5) << it->second.count[it->second.count.size()-1];
+ for(i=0; i<it->second.count.size()-1; i++) {
+ j = it->second.count.at(i+1) - it->second.count.at(i);
+ if(j > 1)
+ cout << " (" << it->second.count.at(i)+1 << ":" << j-1 << ")";
+ }
+ cout << endl;
+ }
+ }
+ if(CI.Verbose) {
+ oflog << "Double differences summary:" << endl;
+ for(k=1,it=DDDataMap.begin(); it!=DDDataMap.end(); it++,k++) {
+ // output
+ oflog << " " << setw(2) << k << " " << it->first
+ << " " << setw(5) << it->second.count.size()
+ << " " << setw(5) << it->second.count[0]
+ << " - " << setw(5) << it->second.count[it->second.count.size()-1];
+ // gaps - (count : number of pts)
+ for(i=0; i<it->second.count.size()-1; i++) {
+ j = it->second.count.at(i+1) - it->second.count.at(i);
+ if(j > 1)
+ oflog << " (" << it->second.count.at(i)+1 << ":" << j-1 << ")";
+ }
+ oflog << endl;
+ }
+ }
+
+ // dump buffers to a file
+ OutputDDData();
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+} // end EditDDs()
+
+//------------------------------------------------------------------------------------
+// There is no provision in DDBase for resetting a bias. This would imply
+// solving for different biases (separated in time) for the same DDid.
+// Therefore, this routine simply deletes all but the largest unbroken segment
+// separated by resets.
+int EditDDResets(const DDid& ddid, DDData& dddata)
+{
+try {
+ int i,j,ibeg,iend;
+
+ // resets[0] will always be the initial count
+ if(dddata.resets.size() <= 1) return 0;
+
+ oflog << " Warning - DD " << ddid << " had " << dddata.resets.size()-1
+ << " resets between " << dddata.count[1]
+ << " and " << dddata.count[dddata.count.size()-1] << " :";
+ for(i=1; i<dddata.resets.size(); i++)
+ oflog << " " << dddata.count[dddata.resets[i]]
+ << "[" << dddata.resets[i] << "]";
+ oflog << endl;
+
+ //for(i=1; i<dddata.resets.size(); i++) {
+ // // difference in index
+ // int di = dddata.resets[i] - dddata.resets[i-1];
+ // // difference in counts
+ // int dc = dddata.count[dddata.resets[i]] - dddata.count[dddata.resets[i-1]];
+ // j = dddata.resets[i];
+ // // mark it bad
+ // if(dc < 12 && mark[j]==1) { // TD make 12 an input parameter
+ // mark[j] = 0;
+ // ngood--;
+ // nbad++;
+ // }
+ //}
+
+ // find the largest segment between resets
+ // NB this assumes nothing yet 'marked'
+ ibeg = 0;
+ iend = dddata.resets[1];
+ for(i=2; i<=dddata.resets.size(); i++) {
+ if(i == dddata.resets.size()) // last point
+ j = dddata.count.size();
+ else
+ j = dddata.resets[i];
+
+ if(j - dddata.resets[i-1] > iend-ibeg) {
+ ibeg = dddata.resets[i-1];
+ iend = j;
+ }
+ }
+
+ if(CI.Verbose) oflog << " Delete data due to reset for DD " << ddid
+ << " in the range " << ibeg << " to " << iend << endl;
+
+ // mark all points from beginning to just before the 'ibeg' reset
+ for(i=0; i<ibeg; i++) if(mark[i]==1) {
+ mark[i] = 0;
+ ngood--;
+ nbad++;
+ }
+
+ // mark all points from 'iend' reset to the end
+ for(i=iend; i<dddata.count.size(); i++) if(mark[i]==1) {
+ mark[i] = 0;
+ ngood--;
+ nbad++;
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+int EditDDIsolatedPoints(const DDid& ddid, DDData& dddata)
+{
+try {
+ int i,j,gappast,gapfuture;
+
+ // loop over all counts
+ // i is current (good) point, j is the next good point
+ i = 0; while(i<dddata.count.size() & mark[i]==0) i++; // find first good pt
+
+ gapfuture = CI.MaxGap;
+ while(i < dddata.count.size()) {
+ gappast = gapfuture;
+
+ j = i+1; while(j<dddata.count.size() & mark[j]==0) j++;// find next good pt
+
+ if(j < dddata.count.size()) gapfuture = dddata.count[j] - dddata.count[i];
+ else gapfuture = CI.MaxGap;
+
+ if(gappast >= CI.MaxGap && gapfuture >= CI.MaxGap) {
+ if(CI.Verbose) oflog << " Mark isolated " << ddid
+ << " " << dddata.count[i] << endl;
+ mark[i] = 0;
+ ngood--;
+ nbad++;
+ }
+
+ i = j;
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+int EditDDSlips(const DDid& ddid, DDData& dddata, int frequency)
+{
+try {
+ int i,j,k,n,m,tdcount,tddt,ii,iter;
+ double slip,fslip,tol;
+ vector<int> slipindex;
+ vector<double> td,slipsize;
+ DayTime tt;
+ TwoSampleStats<double> tsstats;
+
+ // -------------------------------------- define td tolerance for slips
+ const int iter_limit = 3; // this allows iter_limit-1 slips to be fixed
+ const double tolerance = 0.5; // cycles
+ // 3.4 const double tol = 0.5; // cycles -- TD make input
+ // 3.2 revert tol = 0.9; // cycles
+//#define turnoffslips 1
+
+ // iterate
+ for(iter=1; iter<=iter_limit; iter++) {
+ if(iter == 1) tol = tolerance;
+ if(iter > 1) tol = 0.6 * tolerance;
+ td.clear();
+ slipsize.clear();
+ slipindex.clear();
+ tsstats.Reset();
+
+ // -------------------------------------- find slips
+ // compute triple differences
+ // j is the index of the previous good point
+ for(k=0,j=-1,i=0; i<dddata.count.size(); i++) {
+ if(mark[i] == 0) {
+ //oflog << "Data 1 marked at count " << dddata.count[i] << endl;
+ continue;
+ }
+ if(j == -1) { j = i; continue; }
+ //tdcount = dddata.count[i];
+ tt = FirstEpoch + CI.DataInterval * dddata.count[i];
+ tddt = dddata.count[i]-dddata.count[j];
+ td.push_back(
+ (frequency == 1 ? dddata.DDL1[i] - dddata.DDL1[j]
+ : dddata.DDL2[i] - dddata.DDL2[j] )
+ - (dddata.DDER[i] - dddata.DDER[j])
+ );
+ tsstats.Add(dddata.count[i],td[k]);
+ // slip in cycles
+ slip = td[k]/(frequency == 1 ? wl1 : wl2);
+ // fractional part of slip
+ fslip = fabs(fmod(slip,1.0));
+ if(fslip > 0.5) fslip = 1.0-fslip;
+#ifndef turnoffslips
+ // look for slips
+ // if frac > 0.2, call it a slip anyway and hope it will be combined
+ if(fabs(slip) > tol) { // || fslip > 0.2)
+ oflog << " Warning - DD " << ddid << " L" << frequency << fixed
+ << " slip " << setprecision(3) << setw(8) << slip << " cycles, at "
+ << tt.printf(" %4F %10.3g = %Y/%02m/%02d %2H:%02M:%6.3f")
+ << " = count " << dddata.count[i] << " on iteration " << iter
+ << endl;
+
+ // first see if it can be combined with previous slip
+ n = slipindex.size();
+ if(n>0 && dddata.count[i]-dddata.count[slipindex[n-1]] < CI.MaxGap) {
+ // combine these slips
+ slipsize[n-1] += slip;
+ // mark all points from old slip to pt before this as bad
+ for(m=slipindex[n-1]; m<i; m++) {
+ mark[m] = 0;
+ ngood--;
+ nbad++;
+ }
+ slipindex[n-1] = i;
+ oflog << " Warning - DD " << ddid << " L" << frequency << fixed
+ << " last two slips combined (iter " << iter << ")"
+ << endl;
+ }
+ else {
+ slipindex.push_back(i);
+ slipsize.push_back(slip);
+ }
+ }
+#endif
+ if(tddofs) {
+ tddofs << "TDS " << ddid << " L" << frequency << fixed
+ << " " << iter
+ << " " << setw(4) << dddata.count[i]
+ << " " << tt.printf("%4F %10.3g")
+ << " " << setw(3) << tddt << setprecision(6)
+ << " " << setw(11) << td[k]
+ << " " << setw(11) << slip << setprecision(3)
+ << " " << setw(8) << fslip
+ << endl; }
+
+ k++;
+ j = i;
+ } // end for loop over dddata to compute TDs
+
+ // if too small, delete the whole pass
+ if(td.size() < 10) return -1;
+
+ // print stats to log
+ if(CI.Verbose) {
+ double median,mad,mest;
+ vector<double> weights;
+ weights.resize(td.size());
+ mad = Robust::MedianAbsoluteDeviation(&td[0], td.size(), median);
+ mest = Robust::MEstimate(&td[0], td.size(), median, mad, &weights[0]);
+
+ oflog << " TUR " << ddid << " L" << frequency << fixed << setprecision(3)
+ << " " << iter
+ << " " << setw(4) << tsstats.N()
+ << " " << setw(7) << tsstats.AverageY()
+ << " " << setw(7) << tsstats.StdDevY()
+ << " " << setw(7) << tsstats.SigmaYX()
+ << " " << setw(7) << median
+ << " " << setw(7) << mest
+ << " " << setw(7) << mad
+ << endl;
+ }
+
+ // if no slips found, normal return
+ if(slipindex.size() == 0) return 0;
+ // if on last iteration, don't bother to fix...
+ if(iter == iter_limit) break;
+ // TD check for too many slips -> reject the whole pass
+
+ //if(CI.Verbose) for(i=0; i<slipindex.size(); i++)
+ // oflog << "Slip " << " L" << frequency << setprecision(3) << slipsize[i]
+ // << " found at count " << dddata.count[slipindex[i]] << endl;
+
+ // -------------------------------------- remove slips
+ // add a dummy..
+ slipindex.push_back(99999);
+
+ // ii is slip count, k is current correction in cycles,
+ // j is index of previous good point
+ for(k=0,j=-1,ii=0,i=0; i<dddata.count.size(); i++) {
+ if(mark[i] == 0) {
+ //oflog << "Data 2 marked at " << dddata.count[i] << endl;
+ continue;
+ }
+ tt = FirstEpoch + CI.DataInterval * dddata.count[i];
+ // fix
+ if(i == slipindex[ii]) { // new slip on this count
+ k += int(slipsize[ii] + (slipsize[ii]>0 ? 0.5 : -0.5));
+ if(CI.Verbose) oflog << " Fix L" << frequency << " slip at count "
+ << dddata.count[i]
+ << " " << tt.printf("%4F %10.3g")
+ << " total mag " << k << " iteration " << iter
+ << endl;
+ ii++;
+ }
+ // fix double differences using accumulated net slip
+ if(k != 0) {
+ if(frequency == 1) dddata.DDL1[i] -= k * wl1;
+ else dddata.DDL2[i] -= k * wl2;
+ }
+ // output the slip-edited DDs and TDs
+ if(tddofs) {
+ tddofs << "SED " << ddid << fixed
+ << " L" << frequency
+ << " " << iter
+ << " " << setw(4) << dddata.count[i]
+ << " " << tt.printf("%4F %10.3g")
+ << " " << setw(11) << setprecision(6) // DD in m
+ << (frequency == 1 ? dddata.DDL1[i] : dddata.DDL2[i])
+ - dddata.DDER[i]
+ << " " << setw(11)
+ << (j == -1 ? 0.0 : // TD in m
+ (frequency == 1 ? dddata.DDL1[i] - dddata.DDL1[j] :
+ dddata.DDL2[i] - dddata.DDL2[j])
+ - (dddata.DDER[i] - dddata.DDER[j])
+ )
+ << endl;
+
+ j = i;
+
+ } // end output
+
+ } // end for loop over data to fix slips
+
+ } // end for loop over iterations
+
+ // failed - return non-zero to delete the whole segment
+ oflog << " Warning - Delete " << ddid << " L" << frequency
+ << ": unable to fix slips" << endl;
+
+ return -1;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// No - use sigma stripping
+// Process using robust least squares fit to a polynomial
+// TD consider using a straight line if size of the dataset is small.
+// Form vector of data = phase residual = raw DD phase minus DD ephemeris range
+// Compute a robust LS fit to a polynomial, compute statistics on residuals of fit.
+// Use weights and residuals normalized by RMSROF to mark outliers.
+// Data used to test this algorithm come from T202:
+// ASWA CTRA G11 G14 T202B
+// ASWA CTRA G16 G25 T202D
+// ASWA CTRA G20 G25 T202D
+int EditDDOutliers(const DDid& ddid, DDData& dddata, int frequency)
+{
+try {
+ int i,j,n,tol;
+ int N,M; // number of parameters, number of data
+ int len = int(dddata.count.size()); // length of the buffers
+ double median,mad,mest;
+ Vector<double> cnt;
+ Vector<double> dat,residuals,weights;
+ TwoSampleStats<double> tsstats;
+
+ if(len < 10) return -1;
+
+ int tolsigstrip = 10; // limit on ratio of ddph to MAD 10 1000
+ double tolsigyx = 0.02; // limit on conditional sigma 0.02 0.5
+
+ for(int iter=1; iter<=2; iter++) {
+ dat.resize(len);
+ cnt.resize(len);
+
+ // pull out the good data, count it and ...
+ for(M=0,i=0; i<len; i++) {
+ if(mark[i] == 0) continue; // skip the bad points
+
+ if(frequency == 1)
+ dat[M] = dddata.DDL1[i] - dddata.DDER[i];
+ else
+ dat[M] = dddata.DDL2[i] - dddata.DDER[i];
+ // pull out the corresponding counts
+ cnt[M] = double(dddata.count[i]);
+ // count the number of good points
+ M++;
+ }
+ if(M != len) {
+ dat.resize(M);
+ cnt.resize(M); // important -- see LSPolyFunc()
+ }
+
+ // ... compute stats on it
+ tsstats.Reset();
+ tsstats.Add(cnt,dat);
+ mad = Robust::MedianAbsoluteDeviation(&dat[0], dat.size(), median);
+ mest = Robust::MEstimate(&dat[0], dat.size(), median, mad, &weights[0]);
+
+ // print stats to log
+ if(CI.Verbose) {
+ oflog << " SUR " << ddid << " L" << frequency << " " << iter
+ << fixed << setprecision(3)
+ << " " << setw(4) << tsstats.N()
+ << " " << setw(7) << tsstats.AverageY()
+ << " " << setw(7) << tsstats.StdDevY()
+ << " " << setw(7) << tsstats.SigmaYX()
+ << " " << setw(7) << median
+ << " " << setw(7) << mest
+ << " " << setw(7) << mad
+ << endl;
+ }
+
+ // only continue if the conditional sigma is high...
+ if(tsstats.SigmaYX() <= tolsigyx) return 0; // success
+
+ oflog << " Warning - high sigma (" << iter << ") for "
+ << ddid << " L" << frequency << " : " << fixed
+ << setprecision(3) << setw(7) << tsstats.SigmaYX() << endl;
+
+ // if this is the second iteration, failure
+ if(iter == 2) break;
+
+ // sigma stripping ... robust fit to quadratic is too slow...
+ for(n=j=0,i=0; i<len; i++) {
+ if(mark[i] == 0) continue; // skip the bad points
+
+ //oflog << "HIS " << ddid
+ // << " L" << frequency << " " << setw(3) << i
+ // << " " << setw(3) << dddata.count[i]
+ // << fixed << setprecision(3)
+ // << " " << setw(8) << dat[j]
+ // << endl;
+
+ if(fabs(dat[j]) > tolsigstrip*mad) {
+ if(CI.Verbose) oflog << " Warning - mark outlier " << ddid
+ << " L" << frequency << fixed << setprecision(3)
+ << " count " << dddata.count[i]
+ << " ddph " << dat[j]
+ << " res/sig " << fabs(dat[j])/(tolsigstrip*mad)
+ << endl;
+ mark[i] = 0;
+ ngood--;
+ nbad++;
+ n++;
+ }
+ j++;
+ }
+
+ } // end iteration loop
+
+ // failed - return non-zero to delete the whole segment
+ oflog << " Warning - Delete " << ddid << " L" << frequency
+ << " : unable to sigma strip" << endl;
+
+ return -1;
+
+/* this is too slow...
+ // leave LSdata unchanged; SRIFilter will take data input, output weights.
+ weights = LSdata;
+
+ // compute a robust least squares fit to a polynomial
+ N = 3; // degree of polynomial .. TD consider 2 if dataset is small
+ Vector<double> sol(N);
+ Matrix<double> cov(N,N);
+ SRIFilter robfit(N);
+ //robfit.doVerbose = true; // temp
+ robfit.doRobust = true;
+ robfit.doLinearize = false;
+ robfit.doWeight = false;
+ robfit.doSequential = false;
+ robfit.iterationsLimit = 10;
+ robfit.convergenceLimit = 1.e-2;
+ sol = 0.0;
+
+ // robust LS will return weights in data Vector = weights
+ i = robfit.leastSquaresEstimation(weights,sol,cov,&LSPolyFunc);
+ if(i) {
+ oflog << " Warning - outlier check: robust fit for " << ddid
+ << " returned " << i << endl;
+ if(i==-1) return i; // underdetermined
+ if(i==-2) return i; // singular
+ if(i==-3) return i; // failed to converge
+ return i; // ??
+ }
+ //if(!robfit.isValid()) // probably did not converge
+
+ // compute post-fit residual weighted statistics
+ Vector<double> f(M);
+ Matrix<double> partials(M,N);
+ LSPolyFunc(sol,f,partials); // so f = solution evaluated at each point
+
+ residuals = LSdata - f; // residuals of fit
+
+ stats.Reset();
+ stats.Add(residuals,weights); // compute weighted stats
+
+ // Loop over counts (epochs)
+ for(j=0,i=0; i<len; i++) {
+
+ if(mark[i] == 0) continue; // skip the bad points
+
+ double resnorm = fabs(residuals[j]/stats.StdDev());
+
+ if(CI.Verbose) oflog << "FIT " << ddid // TD debug?
+ << " " << setw(3) << i
+ << " " << setw(3) << dddata.count[i]
+ << fixed << setprecision(3)
+ << " " << setw(5) << weights[j]
+ << " " << setw(8) << LSdata[j]
+ << " " << setw(8) << f[j]
+ << " " << setw(8) << residuals[j]
+ << " " << setw(8) << resnorm
+ << endl;
+
+ if(weights[j] <= 0.25 && resnorm > 4.0) {
+ if(CI.Verbose) oflog << " Warning - mark outlier " << ddid
+ << fixed << setprecision(3)
+ << " count " << dddata.count[i]
+ << " weight " << weights[j]
+ << " res/sig " << resnorm
+ << endl;
+ mark[i] = 0;
+ ngood--;
+ nbad++;
+ }
+
+ j++;
+
+ } // end loop over counts
+*/
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+// compute the partials matrix P and the solution at each data point (Vector f),
+// given the solution Vector X. Called by SRIFilter::leastSquaresEstimation()
+//void LSPolyFunc(Vector<double>& X, Vector<double>& f, Matrix<double>& P)
+//{
+// try {
+// for(int i=0; i<LScount.size(); i++) {
+// double t = LScount[i] - LScount[0];
+// P(i,0) = 1.0;
+// for(int j=1; j<X.size(); j++) P(i,j) = P(i,j-1) * t;
+// }
+// f = P * X;
+// }
+// catch(Exception& e) { GPSTK_RETHROW(e); }
+//}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/relposition/EditRawDataBuffers.cpp b/dev/apps/geomatics/relposition/EditRawDataBuffers.cpp
new file mode 100644
index 0000000..fd190a7
--- /dev/null
+++ b/dev/apps/geomatics/relposition/EditRawDataBuffers.cpp
@@ -0,0 +1,216 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file EditRawDataBuffers.cpp
+ * Edit raw data in the buffers, part of program DDBase.
+ */
+
+//------------------------------------------------------------------------------------
+// system includes
+
+// GPSTk
+
+// DDBase
+#include "DDBase.hpp"
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+// prototypes -- this module only
+int OutputRawData(void); // DataIO.cpp
+
+//------------------------------------------------------------------------------------
+int EditRawDataBuffers(void)
+{
+try {
+ int i,j,k;
+ map<string,Station>::iterator kt;
+ map<GSatID,RawData>::iterator it;
+
+ if(CI.Verbose) oflog << "BEGIN EditRawDataBuffers()" << endl;
+
+ // find the largest value of Count seen in the raw data (same will be done for DD)
+ maxCount = 0;
+ for(kt=Stations.begin(); kt != Stations.end(); kt++) {
+ vector<GSatID> Emptys;
+
+ Station& st = kt->second;
+
+ // first find and remove empty RawData's
+ for(it=st.RawDataBuffers.begin(); it != st.RawDataBuffers.end(); it++) {
+ if(it->second.elev.size() == 0)
+ Emptys.push_back(it->first);
+ else { // find the max count
+ if(it->second.count.size() > 0 &&
+ it->second.count[int(it->second.count.size())-1] > maxCount)
+ maxCount = it->second.count[int(it->second.count.size())-1];
+ }
+ }
+ // remove empty buffers
+ for(i=0; i<Emptys.size(); i++)
+ st.RawDataBuffers.erase(Emptys[i]);
+
+ // remove isolated points (single points with gaps > CI.MaxGap on both sides
+ for(it=st.RawDataBuffers.begin(); it != st.RawDataBuffers.end(); it++) {
+ RawData& rd=it->second;
+ vector<int>::iterator cjt,cit=rd.count.begin();
+ vector<double>::iterator ditL1=rd.L1.begin();
+ vector<double>::iterator ditL2=rd.L2.begin();
+ vector<double>::iterator ditP1=rd.P1.begin();
+ vector<double>::iterator ditP2=rd.P2.begin();
+ vector<double>::iterator ditER=rd.ER.begin();
+ vector<double>::iterator ditEL=rd.elev.begin();
+ vector<double>::iterator ditAZ=rd.az.begin();
+ k = CI.MaxGap+1; // k is the gap behind point i
+ while(cit != rd.count.end()) {
+ (cjt = cit)++; // cjt points to the next count
+ // gap or begin before && gap or end after
+ if(k >= CI.MaxGap && (cjt == rd.count.end() || *cjt - *cit > CI.MaxGap)) {
+ // this is an isolated pt
+ k = *cjt - *cit;
+ cit = rd.count.erase(cit); // cit now pts to the following element
+ ditL1 = rd.L1.erase(ditL1);
+ ditL2 = rd.L2.erase(ditL2);
+ ditP1 = rd.P1.erase(ditP1);
+ ditP2 = rd.P2.erase(ditP2);
+ ditER = rd.ER.erase(ditER);
+ ditEL = rd.elev.erase(ditEL);
+ ditAZ = rd.az.erase(ditAZ);
+ }
+ else {
+ k = *cjt - *cit;
+ cit++;
+ ditL1++;
+ ditL2++;
+ ditP1++;
+ ditP2++;
+ ditER++;
+ ditEL++;
+ ditAZ++;
+ }
+ }
+ }
+
+ // find the largest value of count
+ for(it=st.RawDataBuffers.begin(); it != st.RawDataBuffers.end(); it++) {
+ if(it->second.count.size() > 0 &&
+ it->second.count[int(it->second.count.size())-1] > maxCount)
+ maxCount = it->second.count[int(it->second.count.size())-1];
+ }
+
+ }
+
+ if(maxCount <= 0) {
+ oflog << "..No raw data found after EditRawDataBuffers()! Abort." << endl;
+ return 1;
+ }
+ if(CI.Verbose) oflog << "Max count is " << maxCount << endl;
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+int OutputRawDataBuffers(void)
+{
+try {
+ int i,j,k;
+ map<string,Station>::iterator kt;
+ map<GSatID,RawData>::const_iterator it;
+
+ if(CI.Verbose) oflog << "BEGIN OutputRawDataBuffers()" << endl;
+
+ oflog << "Raw buffered data summary : n SITE sat npts span (count,gap size) (..)"
+ << endl;
+ if(CI.Screen)
+ cout << "Raw buffered data summary : n SITE sat npts span (count,gap size) (..)"
+ << endl;
+ //DayTime tt;
+ for(kt=Stations.begin(); kt != Stations.end(); kt++) {
+ Station& st = kt->second;
+ for(k=1,it=st.RawDataBuffers.begin(); it != st.RawDataBuffers.end(); it++,k++) {
+ oflog << " " << setw(2) << k << " " << kt->first
+ << " " << it->first
+ << " " << setw(5) << it->second.count.size();
+ if(CI.Screen)
+ cout << " " << setw(2) << k << " " << kt->first
+ << " " << it->first
+ << " " << setw(5) << it->second.count.size();
+ //tt = FirstEpoch + it->second.count[0]*CI.DataInterval;
+ //oflog << " " << tt;
+ //tt += double(CI.DataInterval*it->second.count[it->second.count.size()-1]);
+ //oflog << " " << tt;
+ if(it->second.count.size() > 0) {
+ oflog << " " << setw(5) << it->second.count[0]
+ << " - " << setw(5) << it->second.count[it->second.count.size()-1];
+ if(CI.Screen)
+ cout << " " << setw(5) << it->second.count[0]
+ << " - " << setw(5) << it->second.count[it->second.count.size()-1];
+ for(i=0; i<it->second.count.size()-1; i++) {
+ j = it->second.count.at(i+1) - it->second.count.at(i);
+ if(j > 1) {
+ oflog << " (" << it->second.count.at(i)+1 << ":" << j-1 << ")";
+ if(CI.Screen)
+ cout << " (" << it->second.count.at(i)+1 << ":" << j-1 << ")";
+ }
+ }
+ }
+ oflog << endl;
+ if(CI.Screen)
+ cout << endl;
+ }
+ }
+
+ // output the raw data itself
+ // move to after Synchronize() OutputRawData();
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/relposition/ElevationMask.cpp b/dev/apps/geomatics/relposition/ElevationMask.cpp
new file mode 100644
index 0000000..36f8d72
--- /dev/null
+++ b/dev/apps/geomatics/relposition/ElevationMask.cpp
@@ -0,0 +1,135 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file ElevationMask.cpp
+ * Implement an elevation mask function for program DDBase.
+ */
+
+//------------------------------------------------------------------------------------
+// system includes
+
+// GPSTk
+#include "geometry.hpp" // for DEG_TO_RAD
+
+// DDBase
+#include "DDBase.hpp"
+#include "PhaseWindup.hpp" // for SingleAxisRotation()
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+// prototypes -- this module only
+bool DefaultElevationMask(double elevation, double azimuth, double ElevCutoff);
+bool RotatedAntennaElevationMask(double elevation, double azimuth, double ElevCutoff);
+double RotatedAntennaElevation(double elevation, double azimuth);
+
+//------------------------------------------------------------------------------------
+// return 'true' if satellite data at elevation and azimuth (both in degrees)
+// is accepted.
+bool ElevationMask(double elevation, double azimuth)
+{
+try {
+ if(DefaultElevationMask(elevation,azimuth,CI.MinElevation))
+ return RotatedAntennaElevationMask(elevation, azimuth,CI.MinElevation);
+ else
+ return false;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+} // end ElevationMask
+
+//------------------------------------------------------------------------------------
+inline bool DefaultElevationMask(double elevation, double azimuth, double ElevCutoff)
+{
+ return (elevation >= ElevCutoff);
+}
+
+//------------------------------------------------------------------------------------
+bool RotatedAntennaElevationMask(double elevation, double azimuth, double ElevCutoff)
+{
+try {
+ return ( RotatedAntennaElevation(elevation, azimuth) >= ElevCutoff );
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Return the elevation of the input direction (elevation and azimuth) in a frame
+// which is rotated by angles RotateElev and RotateAzimuth. All angles in degrees.
+double RotatedAntennaElevation(double elevation, double azimuth)
+{
+try {
+ if(CI.RotatedAntennaElevation > 0.0 || CI.RotatedAntennaAzimuth > 0.0) {
+ Matrix<double> R;
+ Vector<double> rhat(3),rotated_rhat;
+
+ elevation *= DEG_TO_RAD;
+ azimuth *= DEG_TO_RAD;
+ double RotateElev = CI.RotatedAntennaElevation * DEG_TO_RAD;
+ double RotateAzimuth = CI.RotatedAntennaAzimuth * DEG_TO_RAD;
+
+ // construct the rotation matrix
+ R = SingleAxisRotation(-RotateElev,2) * SingleAxisRotation(RotateAzimuth,3);
+
+ // unit vector, Rx to SV, in ordinary geodetic frame
+ rhat(0) = ::cos(azimuth) * ::cos(elevation);
+ rhat(1) = ::sin(azimuth) * ::cos(elevation);
+ rhat(2) = ::sin(elevation);
+
+ // rotate into the frame of the (rotated) antenna
+ rotated_rhat = R * rhat;
+
+ elevation = atan2(rotated_rhat(2),RSS(rotated_rhat(0),rotated_rhat(1)));
+ elevation *= RAD_TO_DEG;
+ }
+
+ return elevation;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+} // end RotatedAntennaElevation
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/relposition/EphemerisImprovement.cpp b/dev/apps/geomatics/relposition/EphemerisImprovement.cpp
new file mode 100644
index 0000000..23e5a90
--- /dev/null
+++ b/dev/apps/geomatics/relposition/EphemerisImprovement.cpp
@@ -0,0 +1,154 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file EphemerisImprovement.cpp
+ * Implement improvements to the input satellite ephemerides, part of program DDBase.
+ */
+
+//------------------------------------------------------------------------------------
+// system includes
+#include <list>
+
+// GPSTk
+
+// DDBase
+#include "DDBase.hpp"
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+// prototypes -- this module only
+
+//------------------------------------------------------------------------------------
+int EphemerisImprovement(void)
+{
+try {
+ if(CI.Verbose) oflog << "BEGIN EphemerisImprovement()" << endl;
+
+ if(dynamic_cast<BCEphemerisStore*>(pEph)) {
+
+ BCEphemerisStore& BCE = dynamic_cast<BCEphemerisStore&>(*pEph);
+ list<EngEphemeris> EphList;
+
+ oflog << "EphemerisStore is broadcast ephemeris" << endl;
+ //BCE.dump(1,oflog);
+
+ long i, neph = BCE.addToList(EphList);
+ //oflog << "There are " << neph << " ephemerides in the list:" << endl;
+
+ GSatID sat;
+ map<GSatID,long> IODEmap;
+ map<GSatID,long>::iterator Imapit;
+ list<EngEphemeris>::const_iterator it;
+ // dump the list of ephemerides, and build a map of sat,IODE
+ for(i=0,it=EphList.begin(); it != EphList.end(); it++,i++) {
+ short prn = it->getPRNID();
+ sat = GSatID(prn,SatID::systemGPS);
+ if(IODEmap.find(sat) == IODEmap.end()) {
+ IODEmap[sat] = -1;
+ }
+ //oflog << " " << setw(2) << i+1
+ // << " " << sat
+ // << " TOE: " << it->getEphemerisEpoch()
+ // << " TOC: " << it->getEpochTime()
+ // << " HOW: " << it->getTransmitTime()
+ // << " IODE: " << it->getIODE()
+ // << endl;
+ }
+
+ //for(Imapit=IODEmap.begin(); Imapit != IODEmap.end(); Imapit++) {
+ // oflog << " IODEmap[" << Imapit->first << "] = " << Imapit->second << endl;
+ //}
+
+ // test change of ephemeris during the time span of the data
+ DayTime tt=FirstEpoch;
+ do {
+
+ for(Imapit=IODEmap.begin(); Imapit != IODEmap.end(); Imapit++) {
+ sat = Imapit->first;
+ try {
+ //const EngEphemeris& eph = BCE.findNearEphemeris(sat.prn,tt);
+ // findNearEphemeris is obsolete b/c when an ephemeris is updated
+ // early, its fit interval is adjusted to start (usually 16 seconds)
+ // BEFORE that of the ephemeris it is replacing.
+ // This means findEphemeris will now always find the 'best' ephemeris,
+ // whereas findNearEphemeris used to fill that purpose.
+ const EngEphemeris& eph = BCE.findEphemeris(sat,tt);
+ i = eph.getIODE();
+ if(IODEmap[sat] == -1) {
+ //oflog << "Satellite " << sat
+ // << " starts with ephemeris IODE " << i
+ // << " at epoch " << tt << endl;
+ IODEmap[sat] = i;
+ }
+ if(IODEmap[sat] != i) {
+ oflog << "Satellite " << sat
+ << " changes ephemeris (" << IODEmap[sat]
+ << " -> " << i << ") at epoch "
+ << tt.printf("%Y/%02m/%02d %2H:%02M:%6.3f=%F/%10.3g") << endl;
+ IODEmap[sat] = i;
+ }
+ }
+ catch(EphemerisStore::NoEphemerisFound& nef) { continue; }
+ }
+
+ tt += CI.DataInterval;
+
+ } while(tt < LastEpoch);
+
+ }
+
+ if(dynamic_cast<SP3EphemerisStore*>(pEph)) {
+
+ SP3EphemerisStore& SP3E = dynamic_cast<SP3EphemerisStore&>(*pEph);
+
+ oflog << "EphemerisStore is SP3 ephemeris" << endl;
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+} // end EphemerisImprovement()
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/relposition/Estimation.cpp b/dev/apps/geomatics/relposition/Estimation.cpp
new file mode 100644
index 0000000..a39bd7f
--- /dev/null
+++ b/dev/apps/geomatics/relposition/Estimation.cpp
@@ -0,0 +1,1611 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file Estimation.cpp
+ * Solve estimation problem using linearized least squares, part of program DDBase.
+ */
+
+//------------------------------------------------------------------------------------
+// TD Estimation.cpp SRIF convergence parameters -> input parameters
+// TD Estimation.cpp For L3 : average DD WL range-phase to solve for widelane bias,
+// TD Estimation.cpp use this to solve for biases, then allow fixing of biases.
+// TD Estimation.cpp Need to account for signs in single diff
+// TD Estimation.cpp Singular problems in Solve
+
+//------------------------------------------------------------------------------------
+// system includes
+
+// GPSTk
+#include "Vector.hpp"
+#include "Matrix.hpp"
+#include "Namelist.hpp"
+#include "SRIFilter.hpp"
+#include "PreciseRange.hpp"
+#include "Stats.hpp"
+#include "RobustStats.hpp"
+#include "geometry.hpp"
+
+// DDBase
+#include "DDBase.hpp"
+#include "index.hpp"
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+// prototypes -- this module only
+ // called by ConfigureEstimation(), which is Configure(3)
+void DefineStateVector(void);
+void DefineLSProblem(void);
+string ComposeName(const string& site1, const string& site2,
+ const GSatID& sat1, const GSatID& sat2);
+string ComposeName(const DDid& ddid);
+void DecomposeName(const string& label, string& site1, string& site2,
+ GSatID& sat1, GSatID& sat2);
+ // called by Estimation() -- inside the loop
+int EditDDdata(int n);
+int ModifyState(int n);
+int InitializeEstimator(void);
+int aPrioriConstraints(void);
+int FillDataVector(int count);
+void StochasticModel(int count, Namelist& DNL, Matrix<double>& MCov);
+void EvaluateLSEquation(Vector<double>& X,Vector<double>& f,Matrix<double>& P);
+int MeasurementUpdate(Matrix<double>& P, Vector<double>& f, Matrix<double>& MC);
+int Solve(void);
+int UpdateNominalState(void);
+void OutputIterationResults(bool final);
+int IterationControl(int iter_n);
+void OutputFinalResults(int iret);
+double RMSResidualOfFit(int N, Vector<double>& dX, bool final=false);
+
+//------------------------------------------------------------------------------------
+// local data
+static int N,M; // lengths of state and data
+static Namelist StateNL; // state vector namelist
+static Vector<double> State; // state vector
+static Vector<double> dX; // update to state vector
+static Matrix<double> Cov; // covariance matrix
+static Namelist DataNL; // data vector namelist
+static Vector<double> Data; // data vector
+static Matrix<double> MeasCov; // measurement covariance matrix
+static Matrix<double> Partials; // partials matrix
+static bool Biasfix; // if true, fix estimated biases and solve for
+ // position states only -- NB used widely!
+static SRIFilter srif; // square root information filter for least squares
+static double small,big; // condition number in inversion = big/small
+static int NEp,nDD; // counters used in LS problem
+static int Mmax; // largest M (data size) encountered
+static int NState; // true length of the state vector
+static Vector<double> BiasState; // save the solution for biases, before bias fixing
+static Matrix<double> BiasCov; // save covariance for biases, before bias fixing
+static Vector<double> NominalState;// save the nominal state to output with solution
+
+//------------------------------------------------------------------------------------
+// currently the estimation problem is designed like this:
+// start with state of length np
+// loop over data epochs
+// fill data vector for this epoch, length nd
+// fill measurement covariance matrix, nd x nd
+// compute partials and nominal data vector, P(nd x np), f(nd)
+// update srif with P(nd x np), data - f (nd), mc(nd x nd)
+// end loop over data epochs
+// invert to get solution
+//
+// inupt batch size : number of epochs / batch (nepb)
+//
+// start with state of length np, nepb
+// loop over data epochs
+// fill a data vector for this epoch, length nd
+// fill a measurement covariance matrix for this epoch, nd x nd
+// compute a partials and a nominal data vector, P(nd x np), f(nd)
+// add to current totals: PP = PP && P ff = ff && f
+// PP = (P1) ff = (f1) MC = (mc1) 0 0
+// (P2) (f2) 0 (mc2) 0
+// (P3) (f3) 0 0 (mc3)
+// (PP grows only in rows, MC grows in rows and columns)
+// also fill in correlation (off-diagonal) parts of MC
+// if(its the end || nepb has been reached)
+// update srif with PP, Data-ff and MC
+// if(its the end) break
+// optional - invert to get solution
+// clear out PP, ff, MC
+// endif
+// end loop over data epochs
+// invert to get solution
+int Estimation(void)
+{
+try {
+ if(CI.Verbose) oflog << "BEGIN Estimation()" << endl;
+ if(CI.noEstimate) {
+ oflog << "Option --noEstimate was chosen .. terminate.\n";
+ return 0;
+ }
+ if(CI.Screen) cout << "BEGIN Estimation..." << endl;
+
+ bool final=false;
+ int iret,n,curr;
+ Vector<double> NomData,RHS;
+
+ // iterative loop for linearized least squares estimation
+ for(n=0; ; n++) {
+
+ if(CI.Verbose) oflog << "BEGIN LLS Iteration #" << n+1
+ << "------------------------------------------------------------------\n";
+ if(CI.Screen) cout << "BEGIN LLS Iteration #" << n+1
+ << "------------------------------------------------------------------\n";
+
+ // edit DD data
+ if((iret = EditDDdata(n))) break;
+
+ // modify state - e.g. fix biases:
+ // if user has chosen to fix biases, Biasfix is set true on last iteration
+ if((iret = ModifyState(n))) break;
+
+ //
+ if((iret = InitializeEstimator())) break;
+
+ //
+ if((iret = aPrioriConstraints())) break;
+
+ // ------------------ loop over epochs in the DD buffers
+ // build the data vector and Namelist
+ // build the measurement covariance matrix
+ // update the SRI filter
+ curr = -1; // current value of count
+ NEp = nDD = 0;
+ while(1) {
+ curr++;
+ if(curr > maxCount) break;
+
+ // this needed by EvaluateLSEquation, and is used in output
+ SolutionEpoch = FirstEpoch + curr*CI.DataInterval;
+
+ // get the data and the data namelist
+ M = FillDataVector(curr);
+ // no data -- but don't assume this implies the last epoch
+ if(M == 0) continue;
+ nDD += M;
+
+ // compute the measurement covariance matrix
+ StochasticModel(curr,DataNL,MeasCov);
+
+ // get nominal data = NomData(nominal state) and partials
+ // NB position components of state not used in here..
+ EvaluateLSEquation(State,NomData,Partials);
+
+ if(CI.Debug)
+ oflog << "EvaluateLSEquation returns vector\n" << fixed
+ << setw(8) << setprecision(3) << NomData
+ << "\n diff with data " << setw(8) << setprecision(3) << (Data-NomData)
+ << "\n partials matrix\n" << setw(8) << setprecision(3) << Partials
+ << "\n State\n" << setw(8) << setprecision(3) << State << endl;
+
+ RHS = Data - NomData; // RHS of linearized LS equation
+
+ // update the SRI filter
+ if((iret = MeasurementUpdate(Partials,RHS,MeasCov))) break;
+
+ NEp++;
+
+ } // end while loop over data epochs
+ if(iret) break;
+
+ if((iret = Solve())) break;
+
+ if((iret = UpdateNominalState())) break;
+
+ // return -1 quit now
+ // 0 go on
+ // 1 reached convergence and don't fix biases
+ // 2 reached last iteration and don't fix biases
+ // 4 1 and/or 2 and fix biases, i.e. fix the biases then quit
+ iret = IterationControl(n+1);
+
+ oflog << endl;
+
+ //if(iret == -1) { // biases have been fixed
+ // iret = 0;
+ // break;
+ //}
+ //else if(iret == 4) // one more, with biases fixed
+ // final = true;
+ //else if(iret) { // quit now
+ // iret = 0;
+ // break;
+ //}
+ if(iret && iret != 4) final = true;
+
+ OutputIterationResults(final);
+
+ if(iret && iret != 4) {
+ iret = 0;
+ break;
+ }
+
+ } // end iterative loop
+
+ // iret is -2 (singular) or 0
+
+ OutputFinalResults(iret);
+
+ return iret;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+} // end Estimation()
+
+//------------------------------------------------------------------------------------
+// called by Configure(3)
+int ConfigureEstimation(void)
+{
+try {
+ if(CI.Verbose) oflog << "BEGIN ConfigureEstimation()" << endl;
+
+ // find the mean time, get Earth orientation parameters
+ MedianEpoch = FirstEpoch;
+ MedianEpoch += (LastEpoch-FirstEpoch)/2.;
+ eorient = EOPList.getEOP(MedianEpoch);
+ if(CI.Verbose) {
+ oflog << "Earth orientation parameters at median time " << MedianEpoch << " :"
+ << endl << " xp, yp, UT1mUTC*Wearth (all radians) =" << fixed
+ << " " << setprecision(9) << eorient.xp*DEG_TO_RAD/3600.0
+ << ", " << setprecision(9) << eorient.yp*DEG_TO_RAD/3600.0
+ << ", " << setprecision(9) << eorient.UT1mUTC * 7.2921151467e-5 << endl;
+ }
+
+ // define the initial State vector
+ DefineStateVector();
+
+ // Configure the SRIF for the estimation
+ DefineLSProblem();
+
+ // initial value
+ Biasfix = false;
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// called by ConfigureEstimation()
+void DefineStateVector(void)
+{
+try {
+ // set up the names of the state vector
+ // set up the initial value of the nominal state
+ // State = offset from nominal position, stored in Stations[].pos
+ // plus offset from nominal biases
+ // NB biases MUST be last, after all other states. This b/c inside
+ // LSIterationLoop(), dX will be State - bias states when Biasfix == true
+
+ int i;
+
+ // add position states for all the non-fixed stations
+ // add residual zenith delay states (per site)
+ map<string,Station>::const_iterator it;
+ for(it=Stations.begin(); it != Stations.end(); it++) {
+ if(!(it->second.fixed)) {
+ StateNL += it->first + string("-X");
+ StateNL += it->first + string("-Y");
+ StateNL += it->first + string("-Z");
+ }
+ if(CI.NRZDintervals > 0) {
+ for(i=0; i<CI.NRZDintervals; i++) {
+ StateNL += it->first + string("-RZD") + StringUtils::asString(i);
+ }
+ }
+ }
+
+ // add bias states
+ map<DDid,DDData>::iterator jt;
+ for(jt=DDDataMap.begin(); jt != DDDataMap.end(); jt++) {
+ // += adds it only if it is unique..
+ StateNL += ComposeName(jt->first);
+ }
+
+ // temp - sanity check
+ for(int i=0; i<StateNL.size(); i++) {
+ string site1,site2;
+ GSatID sat1,sat2;
+ DecomposeName(StateNL.getName(i), site1, site2, sat1, sat2);
+ oflog << "State name (" << setw(2) << i << ") decomposes as "
+ << site1 << " " << site2 << " " << sat1 << " " << sat2;
+
+ // interpret it
+ oflog << " [ " << site1;
+ if(site2 == string("X") || site2 == string("Y") || site2 == string("Z")) {
+ oflog << " : " << site2 << "-component position";
+ }
+ else if(site2.substr(0,3) == "RZD") {
+ oflog << " : trop delay #" << site2.substr(3,site2.size()-3);
+ }
+ else if(Stations.find(site2) != Stations.end() &&
+ sat1.id != -1 &&
+ sat2.id != -1) {
+ oflog << " " << site2 << " " << sat1 << " " << sat2 << " : bias";
+ }
+ else
+ oflog << " : unknown!";
+
+ oflog << " ]" << endl;
+ }
+
+ // dimensions
+ // state N, data M, NState=N but if biases are fixed N=non-bias states only
+ // State and StateNL always has length NState
+ // actual state may shrink to N when biases fixed,
+ // but then LSIterationLoop() uses temporaries
+ NState = StateNL.size();
+ State = Vector<double>(NState,0.0);
+ Mmax = DDDataMap.size(); // the largest M (Data.size()) could be
+
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// called by ConfigureEstimation()
+void DefineLSProblem(void)
+{
+try {
+ // define the least squares processor
+ srif.iterationsLimit = CI.nIter;
+ srif.convergenceLimit = CI.convergence;
+ srif.divergenceLimit = 1.e10; // TD input parameter
+ srif.doWeight = false;
+ srif.doRobust = false;
+ srif.doLinearize = false;
+ srif.doSequential = true;
+
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
+// called by Estimation() - inside the iteration loop
+// currently, n is not used...
+// currently does nothing but print stats on the residuals
+int EditDDdata(int n)
+{
+try {
+ int i,k;
+ double res,median,mad,mest;
+ map<DDid,DDData>::iterator it;
+
+ oflog << " Estimation data summary "
+ << "N M-est MAD Ave Std SigYX Slop_um SigSl_um" << endl;
+
+ // loop over the data
+ for(k=1, it = DDDataMap.begin(); it != DDDataMap.end(); it++) {
+ vector<double> ddres,weights;
+ TwoSampleStats<double> tsstats;
+
+ for(i=0; i<it->second.count.size(); i++) {
+ res = (CI.Frequency == 1 ? it->second.DDL1[i] - it->second.DDER[i] :
+ (CI.Frequency == 2 ? it->second.DDL2[i] - it->second.DDER[i] :
+ if1p*it->second.DDL1[i]+if2p*it->second.DDL2[i]
+ - it->second.DDER[i]));
+ tsstats.Add(it->second.count[i],res);
+ ddres.push_back(res);
+ }
+
+ weights.resize(ddres.size());
+ mad = Robust::MedianAbsoluteDeviation(&ddres[0], ddres.size(), median);
+ mest = Robust::MEstimate(&ddres[0], ddres.size(), median, mad, &weights[0]);
+
+ // output
+ oflog << "EDS " << setw(2) << k << " " << it->first
+ << " " << setw(5) << it->second.count.size()
+ << fixed << setprecision(3)
+ << " " << setw(7) << mest
+ << " " << setw(7) << mad
+ << " " << setw(7) << tsstats.AverageY()
+ << " " << setw(7) << tsstats.StdDevY()
+ << " " << setw(7) << tsstats.SigmaYX()
+ << " " << setw(7) << tsstats.Slope()*1000000.0
+ << " " << setw(7) << tsstats.SigmaSlope()*1000000.0
+ << " " << setw(7) << tsstats.Slope()*1000.0*it->second.count.size()
+ << endl;
+
+ k++;
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// called by Estimation() - inside the iteration loop
+int ModifyState(int niter)
+{
+try {
+ int i,j,k;
+
+ // set the State elements to zero for next iteration
+ map<string,Station>::const_iterator it;
+ for(it=Stations.begin(); it != Stations.end(); it++) {
+
+ // ignore fixed sites
+ if(it->second.fixed) continue;
+
+ // find the position states
+ i = StateNL.index(it->first+string("-X"));
+ j = StateNL.index(it->first+string("-Y"));
+ k = StateNL.index(it->first+string("-Z"));
+ if(i == -1 || j == -1 || k == -1) {
+ Exception e("Position states confused: unable to find for " + it->first);
+ GPSTK_THROW(e);
+ }
+
+ State(i) = State(j) = State(k) = 0.0;
+ }
+
+ // ----------------- fix biases?
+ if(Biasfix) {
+ if(CI.Verbose) oflog << "Fix the biases:\n";
+ // State must have the (fixed) biases still in it
+ for(i=0; i<State.size(); i++) {
+ string site1,site2;
+ GSatID sat1,sat2;
+ DecomposeName(StateNL.getName(i), site1, site2, sat1, sat2);
+ if(site2 == string("X") || site2 == string("Y") || site2 == string("Z"))
+ continue;
+ if(site2 == string("rzd"))
+ continue;
+ if(Stations.find(site2) == Stations.end())
+ continue;
+ if(sat1.id == -1 || sat2.id == -2)
+ continue;
+
+ long bias=long(State[i]/wave + (State[i]/wave > 0 ? 0.5 : -0.5));
+ if(CI.Verbose) oflog << " fix " << StateNL.getName(i)
+ << " to " << bias << " cycles" << endl;
+ State(i) = wave*double(bias);
+ }
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// called by Estimation() - inside the iteration loop
+// actually fixes the biases
+int InitializeEstimator(void)
+{
+try {
+ int i;
+ Namelist NL;
+
+ // ----------------- initialize this iteration
+ // determine length of state, reset the LS
+ // Use N and NL rather than NState and StateNL
+ N = NState;
+ NL = StateNL;
+ if(Biasfix) {
+ // State will still be full length = NState
+ // StateNL will also stay full length, but N and NL will not
+ NL.clear();
+ for(N=0,i=0; i<NState; i++) {
+ string site1,site2;
+ GSatID sat1,sat2;
+ DecomposeName(StateNL.getName(i), site1, site2, sat1, sat2);
+ if(Stations.find(site2) != Stations.end() &&
+ sat1.id != -1 &&
+ sat2.id != -1)
+ break; // quit when first bias state found
+ else { // not a bias state
+ NL += StateNL.getName(i);
+ N++;
+ }
+ }
+ oflog << "Fix biases on this iteration (new State dimension is "
+ << N << ")" << endl;
+ if(CI.Screen) cout << "Fix biases on this iteration (new State dimension is "
+ << N << ")" << endl;
+ }
+ dX.resize(N);
+ srif = SRIFilter(NL);
+
+ // save the nominal state for output with Solution (OutputIterationResults)
+ NominalState = State;
+
+ // dump the nominal state (including biases, even if fixed)
+ //if(CI.Verbose) {
+ // LabelledVector LabSt(StateNL,State);
+ // LabSt.setw(20).setprecision(6);
+ // oflog << "Nominal State :\n" << LabSt << endl;
+ //}
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// called by Estimation() - inside the iteration loop
+int aPrioriConstraints(void)
+{
+try {
+ // add initial constraints
+ Matrix<double> apCov(N,N,0.0);
+ Vector<double> apState(N,0.0); // most states have apriori value = 0
+
+ int i,j,k,n;
+ double ss;
+ Position BL;
+ map<string,Station>::const_iterator it;
+
+ // set apCov = unity
+ //ident(apCov);
+
+ // loop over baselines - to get the position constraints
+ for(n=0; n<Baselines.size(); n++) {
+ string one=StringUtils::word(Baselines[n],0,'-');
+ string two=StringUtils::word(Baselines[n],1,'-');
+ BL = Stations[one].pos - Stations[two].pos;
+
+ // find the position states
+ i = StateNL.index(two+string("-X"));
+ j = StateNL.index(two+string("-Y"));
+ k = StateNL.index(two+string("-Z"));
+ // you may have a baseline where both sites are fixed.
+ if(i == -1 || j == -1 || k == -1) continue;
+
+ if(Biasfix) { // 10ppm of baseline
+ ss = CI.TightConstraint * fabs(BL.X());
+ apCov(i,i) = (ss*ss);
+ ss = CI.TightConstraint * fabs(BL.Y());
+ apCov(j,j) = (ss*ss);
+ ss = CI.TightConstraint * fabs(BL.Z());
+ apCov(k,k) = (ss*ss);
+ // 1 mm v2.6
+ //ss = 1.e-3 ;
+ //apCov(i,i) = (ss*ss);
+ //ss = 1.e-3 ;
+ //apCov(j,j) = (ss*ss);
+ //ss = 1.e-3 ;
+ //apCov(k,k) = (ss*ss);
+ }
+ else { // loose on position
+ ss = CI.LooseConstraint * fabs(BL.X());
+ apCov(i,i) = (ss*ss);
+ ss = CI.LooseConstraint * fabs(BL.Y());
+ apCov(j,j) = (ss*ss);
+ ss = CI.LooseConstraint * fabs(BL.Z());
+ apCov(k,k) = (ss*ss);
+ }
+
+ if(CI.Verbose) {
+ // assume i,j,k are in order:
+ MatrixSlice<double> Rslice(apCov,i,i,3,3);
+ Matrix<double> R(Rslice);
+ Namelist NL;
+ NL += StateNL.getName(i);
+ NL += StateNL.getName(j);
+ NL += StateNL.getName(k);
+ LabelledMatrix Lapc(NL,R);
+ Lapc.setw(20).setprecision(3).scientific();
+ Lapc.message("a priori covariance");
+ oflog << Lapc << endl;
+ }
+ }
+
+ // constrain the residual trop delay
+ if(CI.NRZDintervals > 0) {
+ // RZD in different intervals correlated; first order Gauss-Markov
+ // dt = time between intervals in hours; these unused if N==1
+ double dt = (LastEpoch-FirstEpoch)/(3600.*CI.NRZDintervals);
+ double exn,ex = exp(-dt/CI.RZDtimeconst);
+
+ // do for each site
+ for(it=Stations.begin(); it != Stations.end(); it++) {
+
+ // find indexes in state vector of all RZD states for this site
+ string stname;
+ vector<int> indexes;
+ for(n=0; n<CI.NRZDintervals; n++) {
+ stname = it->first + string("-RZD") + StringUtils::asString(n);
+ i = StateNL.index(stname);
+ if(i == -1) {
+ Exception e("RZD states confused: unable to find state " + stname);
+ GPSTK_THROW(e);
+ }
+ if(CI.Debug) oflog << "RZD state " << stname << " = index " << i << endl;
+ indexes.push_back(i);
+ }
+
+ // fill the matrix
+ for(n=0; n<indexes.size(); n++) {
+ // diagonal element
+ i = indexes[n];
+ apCov(i,i) = CI.RZDsigma * CI.RZDsigma;
+ // off-diagonal elements: rows up and cols to the left
+ exn = ex;
+ for(k=n-1; k>=0; k--) {
+ j = indexes[k];
+ apCov(j,i) = apCov(i,j) = CI.RZDsigma * CI.RZDsigma * exn;
+ exn *= ex;
+ }
+ } // end loop over diagonal matrix elements for this site
+
+ // dump
+ if(CI.Verbose) {
+ if(CI.NRZDintervals > 1) {
+ // assume indexes are in order:
+ MatrixSlice<double> Rslice(apCov,indexes[0],indexes[0],
+ CI.NRZDintervals,CI.NRZDintervals);
+ Matrix<double> R(Rslice);
+ Namelist NL;
+ for(n=0; n<indexes.size(); n++) NL += StateNL.getName(indexes[n]);
+ LabelledMatrix Lapc(NL,R);
+ Lapc.setw(20).setprecision(3).scientific();
+ Lapc.message("a priori covariance");
+ oflog << Lapc << endl;
+ }
+ else
+ oflog << "a priori covariance for RZD at " << it->first
+ << ": " << setprecision(3) << scientific << CI.RZDsigma*CI.RZDsigma
+ << endl;
+ }
+
+ } // end loop over sites
+
+ } // end if there are RZD states..
+
+ // TD need to constrain biases ... what is reasonable?
+ if(!Biasfix) {
+ ss = 0.25 * wave;
+ for(n=0; n<StateNL.size(); n++) {
+ string site1,site2;
+ GSatID sat1,sat2;
+ DecomposeName(StateNL.getName(n), site1, site2, sat1, sat2);
+ if(site2 == string("X") || site2 == string("Y") || site2 == string("Z")) {
+ continue; // oflog << " : " << site2 << "-component position";
+ }
+ else if(site2.substr(0,3) == "RZD") {
+ continue; // oflog << " : trop #" << site2.substr(3,site2.size()-3);
+ }
+ else if(Stations.find(site2) != Stations.end() &&
+ sat1.id != -1 &&
+ sat2.id != -1) {
+ // bias oflog << " " << site2 << " " << sat1 << " " << sat2 << " : bias";
+ apCov(n,n) = ss*ss;
+ }
+ else
+ continue; // oflog << " : unknown!";
+ }
+ oflog << "a priori covariance for biases : " << setprecision(3)
+ << scientific << ss*ss << endl;
+ }
+
+ // dump the whole matrix
+ //if(CI.Verbose) {
+ // LabelledMatrix Lapc(StateNL,apCov);
+ // Lapc.setw(20).setprecision(3).scientific();
+ // Lapc.message("a priori covariance");
+ // oflog << Lapc << endl;
+ //}
+
+ // add it to srif
+ srif.addAPriori(apCov,apState);
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// called by Estimation() - inside the data loop, inside the iteration loop
+int FillDataVector(int count)
+{
+try {
+ int i,j;
+ string lab;
+
+ Data = Vector<double>(Mmax,0.0);
+ DataNL.clear();
+ // loop over the data
+ map<DDid,DDData>::iterator it;
+ for(i=0,it = DDDataMap.begin(); it != DDDataMap.end(); it++) {
+ j = index(it->second.count,count);
+ if(j == -1) continue;
+ if(CI.Frequency == 1) Data(i) = it->second.DDL1[j];
+ if(CI.Frequency == 2) Data(i) = it->second.DDL2[j];
+ if(CI.Frequency == 3) // ionosphere-free phase
+ Data(i) = if1p * it->second.DDL1[j] + if2p * it->second.DDL2[j];
+ lab = ComposeName(it->first);
+ DataNL += lab;
+ i++;
+ }
+
+ if(i > 0) {
+ Data.resize(i);
+ if(CI.Debug) {
+ LabelledVector LD(DataNL,Data);
+ LD.setw(20).setprecision(6);
+ oflog << "At count " << count
+ << " found time " << SolutionEpoch.printf("%F %10.3g")
+ << " and Data\n" << LD << endl;
+ }
+ }
+
+ return i;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// called by Estimation() - inside the data loop, inside the iteration loop
+// Input is Namelist DNL, the double difference data Namelist (DataNL)
+// Output is MCov, the measurement covariance matrix for this data (MeasCov).
+// Let:
+// d = vector of one-way data (one site, one satellite)
+// sd = vector of single difference data (two sites, one satellite)
+// dd = vector of double difference data (two sites, two satellites)
+// DD and SD are matricies with elements 0,1,-1 which transform d to sd to dd:
+// sd = SD * d
+// dd = DD * sd
+// dd = DD * SD * d
+// The covariance matrix will be MC = (DD*SD)*transpose(DD*SD)
+// = DD*SD*transpose(SD)*transpose(DD)
+// If the one-way data has a measurement covariance, then fill the vector d with
+// them; then MC = DD*SD* d * transpose(SD)*transpose(DD).
+// Building DD and SD is just a matter of lists:
+// loop through the dd namelist, keeping lists of:
+// one-way data (site-satellite pairs) (d)
+// single differences (site-site-satellite sets) (sd)
+// and you have a list of double differences (DNL)
+//
+// TD MinElevation here should be a separate parameter, not necessarily the mask angle
+void StochasticModel(int count, Namelist& DNL, Matrix<double>& MCov)
+{
+try {
+ unsigned int m=DNL.size();
+ if(m==0) return;
+
+ int i,j,in,jn,kn;
+ double eps,coselev,d0,sig0;
+ string site1,site2;
+ GSatID sat1,sat2;
+ vector<double> d; // weights of one-way data
+ vector<OWid> ld; // labels of d
+ vector<SDid> sd;
+
+ // eps non-zero avoids blowup at zenith
+ //eps = 0.0000001; seems to have no effect
+ eps = 0.001;
+
+ for(i=0; i<DNL.size(); i++) {
+ // break the label into site1,site2,sat1,sat2
+ DecomposeName(DNL.getName(i), site1, site2, sat1, sat2);
+ if(index(ld,OWid(site1,sat1)) == -1) ld.push_back(OWid(site1,sat1));
+ if(index(ld,OWid(site1,sat2)) == -1) ld.push_back(OWid(site1,sat2));
+ if(index(ld,OWid(site2,sat1)) == -1) ld.push_back(OWid(site2,sat1));
+ if(index(ld,OWid(site2,sat2)) == -1) ld.push_back(OWid(site2,sat2));
+ if(index(sd,SDid(site1,site2,sat1)) == -1) sd.push_back(SDid(site1,site2,sat1));
+ if(index(sd,SDid(site1,site2,sat2)) == -1) sd.push_back(SDid(site1,site2,sat2));
+ }
+
+ // fill d with the weights
+ // d needs to have units meters and be realistic ~ sigma(phase)
+ // =sig0(m) at min elev, smaller at higher elevation
+ sig0 = 1.0e-3; // smaller than e-2, else little effect
+ coselev = eps + cos(CI.MinElevation * DEG_TO_RAD); // TD new input param
+ d0 = sig0 / (coselev*coselev); // cosine squared model
+ //d0 = sig0 / coselev; // cosine model
+ d = vector<double>(ld.size());
+ for(i=0; i<ld.size(); i++) {
+ j = index(Stations[ld[i].site].RawDataBuffers[ld[i].sat].count,count);
+ if(j == -1) {
+ oflog << "Error -- count " << count << " not found in buffer for " << ld[i]
+ << endl;
+ d[i] = d0;
+ }
+ else {
+ coselev = eps + cos(Stations[ld[i].site].RawDataBuffers[ld[i].sat].elev[j]
+ * DEG_TO_RAD);
+ d[i] = d0 * coselev * coselev; // cosine squared model
+ //d[i] = d0 * coselev; // cosine model
+ }
+ }
+
+ // temp
+ //format f113s(11,3,2);
+ //oflog << "DDs are (" << DNL.size() << "):\n" << setw(20) << DNL << endl;
+ //oflog << "SDs are: (" << sd.size() << ")" << fixed << endl;
+ //for(i=0; i<sd.size(); i++) oflog << " / " << sd[i];
+ //oflog << endl;
+ //oflog << "OWs are: (" << ld.size() << ")" << endl;
+ //for(i=0; i<ld.size(); i++) oflog << " / " << ld[i];
+ //oflog << endl;
+ //oflog << "OW wts are: (" << d.size() << ")" << endl;
+ //for(i=0; i<d.size(); i++) oflog << " " << f113s << d[i];
+ //oflog << endl;
+
+ Matrix<double> SD(sd.size(),ld.size(),0.0);
+ Matrix<double> DD(m,sd.size(),0.0);
+ // TD need to account for signs here ... sd[.] may be site2,site1,sat1 ...
+ for(in=0; in<DNL.size(); in++) {
+ DecomposeName(DNL.getName(in), site1, site2, sat1, sat2);
+ jn = index(sd,SDid(site1,site2,sat1)); // site1-site2, sat1
+ DD(in,jn) = 1;
+ kn = index(ld,OWid(site1,sat1)); // site1, sat1
+ SD(jn,kn) = d[kn];
+ kn = index(ld,OWid(site2,sat1)); // site2, sat1
+ SD(jn,kn) = -d[kn];
+
+ jn = index(sd,SDid(site1,site2,sat2)); // site1-site2, sat2
+ DD(in,jn) = -1;
+ kn = index(ld,OWid(site1,sat2)); // site1, sat2
+ SD(jn,kn) = d[kn];
+ kn = index(ld,OWid(site2,sat2)); // site2, sat2
+ SD(jn,kn) = -d[kn];
+ }
+
+ //oflog << " SD is\n" << fixed << setw(3) << SD << endl;
+ //oflog << " DD is\n" << fixed << setw(3) << DD << endl;
+
+ Matrix<double> T;
+ T = DD * SD;
+ MCov = T * transpose(T);
+
+ if(CI.Debug) oflog << "Measurement covariance is\n" << scientific
+ << setw(8) << setprecision(3) << MeasCov << endl;
+
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// called by Estimation() - inside the data loop, inside the iteration loop
+// Given a nominal state vector X, compute the function f(X) and the partials matrix
+// P at X.
+// NB X is not used here ... except that State is used for biases
+void EvaluateLSEquation(Vector<double>& X, Vector<double>& f, Matrix<double>& P)
+{
+try {
+ int i,j,k,n,m,ntrop;
+ double ER,trop,mapf;
+ string site1,site2;
+ GSatID sat1,sat2;
+ PreciseRange CER;
+ //CorrectedEphemerisRange CER;
+
+ //
+ // assume Station.pos has been defined outside this routine... in UpdateNom.St.
+ //
+
+ // find the trop estimation interval for this epoch
+ // trop is a temporary here..
+ if(CI.NRZDintervals > 0) {
+ ntrop = int( (SolutionEpoch-FirstEpoch) /
+ (((LastEpoch-FirstEpoch)+CI.DataInterval)/CI.NRZDintervals) );
+ }
+
+ // loop over the data vector, computing f(X) and filling P
+ f = Vector<double>(M,0.0);
+ P = Matrix<double>(M,N,0.0);
+ for(m=0; m<DataNL.size(); m++) {
+
+ // break name into its parts
+ DecomposeName(DataNL.getName(m), site1, site2, sat1, sat2);
+
+ Station& st1=Stations[site1];
+ Station& st2=Stations[site2];
+
+ // -----------------------------------------------------------
+ // site1 ----------------------------------------------------
+ if(!st1.fixed) {
+ i = StateNL.index(site1 + string("-X"));
+ j = StateNL.index(site1 + string("-Y"));
+ k = StateNL.index(site1 + string("-Z"));
+ if(i == -1 || j == -1 || k == -1) {
+ Exception e("Position states confused: unable to find for " + site1);
+ GPSTK_THROW(e);
+ }
+ }
+ // sat 1 CER.SVR is satellite Position
+ // pos 1 st1.pos is station Position
+
+ // position states
+ // should you use CER.rawrange here?
+ ER = CER.ComputeAtReceiveTime(SolutionEpoch,st1.pos,sat1.id,*pEph,eorient);
+ trop = st1.pTropModel->correction(st1.pos,CER.SVR,SolutionEpoch);
+ f(m) += ER+trop;
+ if(!st1.fixed) {
+ P(m,i) += CER.cosines[0];
+ P(m,j) += CER.cosines[1];
+ P(m,k) += CER.cosines[2];
+ }
+
+ // trop rzd .. depends on site, sat and trop model
+ if(CI.NRZDintervals > 0) {
+ n = StateNL.index(site1 + string("-RZD") + StringUtils::asString(ntrop));
+ if(n == -1) {
+ Exception e("RZD states confused: unable to find state " +
+ site1 + string("-RZD") + StringUtils::asString(ntrop));
+ GPSTK_THROW(e);
+ }
+ mapf = st1.pTropModel->wet_mapping_function(CER.elevation);
+ P(m,n) += mapf;
+ f(m) += mapf * State(n);
+ }
+
+ // sat 2 -----------------------------------------------------
+ ER = CER.ComputeAtReceiveTime(SolutionEpoch,st1.pos,sat2.id,*pEph,eorient);
+ trop = st1.pTropModel->correction(st1.pos,CER.SVR,SolutionEpoch);
+ f(m) -= ER+trop;
+ if(!st1.fixed) {
+ P(m,i) -= CER.cosines[0];
+ P(m,j) -= CER.cosines[1];
+ P(m,k) -= CER.cosines[2];
+ }
+
+ // trop rzd .. depends on site, sat and trop model
+ if(CI.NRZDintervals > 0) {
+ mapf = st1.pTropModel->wet_mapping_function(CER.elevation);
+ P(m,n) += mapf;
+ f(m) += mapf * State(n);
+ }
+
+ // -----------------------------------------------------------
+ // site 2 ----------------------------------------------------
+ if(!st2.fixed) {
+ i = StateNL.index(site2 + string("-X"));
+ j = StateNL.index(site2 + string("-Y"));
+ k = StateNL.index(site2 + string("-Z"));
+ if(i == -1 || j == -1 || k == -1) {
+ Exception e("Position states confused: unable to find for " + site2);
+ GPSTK_THROW(e);
+ }
+ }
+ // sat 1 -----------------------------------------------------
+ ER = CER.ComputeAtReceiveTime(SolutionEpoch,st2.pos,sat1.id,*pEph,eorient);
+ trop = st2.pTropModel->correction(st2.pos,CER.SVR,SolutionEpoch);
+ f(m) -= ER+trop;
+ if(!st2.fixed) {
+ P(m,i) -= CER.cosines[0];
+ P(m,j) -= CER.cosines[1];
+ P(m,k) -= CER.cosines[2];
+ }
+
+ // trop rzd .. depends on site, sat and trop model
+ if(CI.NRZDintervals > 0) {
+ n = StateNL.index(site2 + string("-RZD") + StringUtils::asString(ntrop));
+ if(n == -1) {
+ Exception e("RZD states confused: unable to find state " +
+ site2 + string("-RZD") + StringUtils::asString(ntrop));
+ GPSTK_THROW(e);
+ }
+ mapf = st2.pTropModel->wet_mapping_function(CER.elevation);
+ P(m,n) += mapf;
+ f(m) += mapf * State(n);
+ }
+
+ // sat 2 -----------------------------------------------------
+ ER = CER.ComputeAtReceiveTime(SolutionEpoch,st2.pos,sat2.id,*pEph,eorient);
+ trop = st2.pTropModel->correction(st2.pos,CER.SVR,SolutionEpoch);
+ f(m) += ER+trop;
+ if(!st2.fixed) {
+ P(m,i) += CER.cosines[0];
+ P(m,j) += CER.cosines[1];
+ P(m,k) += CER.cosines[2];
+ }
+
+ // trop rzd .. depends on site, sat and trop model
+ if(CI.NRZDintervals > 0) {
+ mapf = st2.pTropModel->wet_mapping_function(CER.elevation);
+ P(m,n) += mapf;
+ f(m) += mapf * State(n);
+ }
+
+ // -----------------------------------------------------------
+ // bias ------------------------------------------------------
+ j = 1;
+ i = StateNL.index(DataNL.getName(m));
+ if(i == -1) {
+ // but what if the bias is A-B_s-r and the data B-A_r-s?
+ // (Decompose was called at top of loop)
+ j = -1;
+ i = StateNL.index(ComposeName(site1,site2,sat2,sat1)); // most likely
+ if(i == -1) {
+ i = StateNL.index(ComposeName(site2,site1,sat1,sat2));
+ if(i == -1) {
+ j = 1;
+ i = StateNL.index(ComposeName(site2,site1,sat2,sat1));
+ }
+ }
+ }
+ f(m) += j * State(i);
+ if(!Biasfix)
+ P(m,i) = j;
+
+ } // end loop over data
+
+ f.resize(M);
+ P.resize(M,N);
+
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// called by Estimation() - inside the data loop, inside the iteration loop
+int MeasurementUpdate(Matrix<double>& P, Vector<double>& f, Matrix<double>& MC)
+{
+try {
+
+ srif.measurementUpdate(P,f,MC);
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// called by Estimation() - inside the iteration loop
+int Solve(void)
+{
+try {
+
+ try {
+ srif.getStateAndCovariance(dX,Cov,&small,&big);
+ }
+ catch(SingularMatrixException& sme) {
+ oflog << "Problem is singular " << endl;
+ return -2; // TD handle singular problems in Solve()
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// called by Estimation() - inside the iteration loop
+int UpdateNominalState(void)
+{
+try {
+ int n,i,j,k;
+
+ if(Biasfix) {
+ // NB when Biasfix, State has dimension NState buf dX has dimension N>NState
+ // EvaluateLSFunction uses State bias elements even when Biasfix
+ for(i=0; i<N; i++) {
+ State[i] += dX[i];
+ }
+ }
+ else { // regular update, save for when Biasfix is set
+ State += dX;
+ BiasState = State;
+ BiasCov = Cov;
+ }
+ // redefine the nominal position
+ // set all floating position states to zero
+ map<string,Station>::const_iterator it;
+ for(it=Stations.begin(); it != Stations.end(); it++) {
+ if(it->second.fixed) // ignore fixed sites
+ continue;
+
+ // find the position states
+ i = StateNL.index(it->first+string("-X"));
+ j = StateNL.index(it->first+string("-Y"));
+ k = StateNL.index(it->first+string("-Z"));
+ if(i == -1 || j == -1 || k == -1) {
+ Exception e("Position states confused: unable to find for " + it->first);
+ GPSTK_THROW(e);
+ }
+
+ // update the nominal position in Stations[]
+ Stations[it->first].pos.setECEF(
+ Stations[it->first].pos.X()+dX(i),
+ Stations[it->first].pos.Y()+dX(j),
+ Stations[it->first].pos.Z()+dX(k));
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// called by Estimation() - inside the iteration loop
+void OutputIterationResults(bool final)
+{
+try {
+ int i,N=dX.size();
+ format f166(16,6),f206(20,6),f82s(8,2,2);
+
+ oflog << " State label"
+ << " Nominal State"
+ << " State Update"
+ << " New Solution"
+ << " Sigma"
+ << endl;
+ for(i=0; i<N; i++) {
+ oflog << setw(20) << StateNL.getName(i)
+ << " " << f166 << NominalState[i]
+ << " " << f166 << dX[i]
+ << " " << f166 << State[i]
+ << " " << f166 << SQRT(Cov(i,i))
+ << endl;
+ }
+
+ //LabelledVector LSol(StateNL,dX);
+ //LSol.setw(20).setprecision(6);
+ //oflog << "Solution\n" << LSol << endl;
+
+ ////LabelledMatrix LCov(StateNL,Cov);
+ //Vector<double> Sig(N);
+ //for(i=0; i<N; i++) Sig(i)=SQRT(Cov(i,i));
+ //LabelledVector LCov(StateNL,Sig);
+ //LCov.setw(20).setprecision(6);
+ ////oflog << "Covariance\n" << LCov << endl;
+ //oflog << "Sigma\n" << LCov << endl;
+
+ // output baselines
+ Position BL;
+ for(i=0; i<CI.OutputBaselines.size(); i++) {
+ // dependent on the order given in ComputeSingleDifferences()
+ string one=StringUtils::word(CI.OutputBaselines[i],0,'-');
+ string two=StringUtils::word(CI.OutputBaselines[i],1,'-');
+ BL = Stations[one].pos - Stations[two].pos;
+ oflog << "Baseline " << CI.OutputBaselines[i]
+ << " " << BL.printf("%16.6x %16.6y %16.6z")
+ << " " << f166 << BL.getRadius() << endl;
+ if(CI.Screen) cout << "Baseline " << CI.OutputBaselines[i]
+ << " " << BL.printf("%16.6x %16.6y %16.6z")
+ << " " << f166 << BL.getRadius() << endl;
+ // offset - if one was input
+ if(CI.OutputBaselineOffsets[i].mag() >= 0.01) {
+ oflog << " Offset " << CI.OutputBaselines[i]
+ << " " << f166 << BL.X() - CI.OutputBaselineOffsets[i][0]
+ << " " << f166 << BL.Y() - CI.OutputBaselineOffsets[i][1]
+ << " " << f166 << BL.Z() - CI.OutputBaselineOffsets[i][2]
+ << " " << f166 << BL.getRadius() - CI.OutputBaselineOffsets[i].mag()
+ << endl;
+ if(CI.Screen) cout << " Offset " << CI.OutputBaselines[i]
+ << " " << f166 << BL.X() - CI.OutputBaselineOffsets[i][0]
+ << " " << f166 << BL.Y() - CI.OutputBaselineOffsets[i][1]
+ << " " << f166 << BL.Z() - CI.OutputBaselineOffsets[i][2]
+ << " " << f166 << BL.getRadius() - CI.OutputBaselineOffsets[i].mag()
+ << endl;
+ }
+ }
+
+ // compute residuals of fit and output
+ double rmsrof = RMSResidualOfFit(N,dX,final);
+ oflog << "RES " << (final ? "final " : "" ) << "total RMS = "
+ << f82s << rmsrof << endl;
+
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// called by Estimation()
+// return -1 quit now
+// 0 go on
+// 1 reached convergence and don't fix biases
+// 2 reached last iteration and don't fix biases
+// 4 1 and/or 2 and fix biases, i.e. fix the biases then quit
+int IterationControl(int iter_n)
+{
+try {
+ int done=0;
+ double converge;
+
+ // has it converged?
+ converge = norm(dX);
+ if(converge <= CI.convergence) {
+ oflog << "DDBase finds convergence: " << iter_n << " iterations"
+ << ", convergence criterion = " << scientific << setprecision(3)
+ << converge << " m; (" << CI.convergence << " m)" << endl;
+ if(CI.Screen)
+ cout << "DDBase finds convergence: " << iter_n << " iterations"
+ << ", convergence criterion = " << scientific << setprecision(3)
+ << converge << " m; (" << CI.convergence << " m)" << endl;
+ done += 1;
+ }
+
+ // have we reached the last iteration?
+ if(iter_n == CI.nIter) {
+ oflog << "DDBase finds last iteration: " << iter_n << " iterations"
+ << ", convergence criterion = " << scientific << setprecision(3)
+ << converge << " m; (" << CI.convergence << " m)" << endl;
+ if(CI.Screen)
+ cout << "DDBase finds last iteration: " << iter_n << " iterations"
+ << ", convergence criterion = " << scientific << setprecision(3)
+ << converge << " m; (" << CI.convergence << " m)" << endl;
+ done += 2;
+ }
+
+ if(!done && CI.Verbose) {
+ oflog << "DDBase: " << iter_n << " iterations"
+ << ", convergence criterion = " << scientific << setprecision(3)
+ << converge << " m; (" << CI.convergence << " m)" << endl;
+ if(CI.Screen)
+ cout << "DDBase: " << iter_n << " iterations"
+ << ", convergence criterion = " << scientific << setprecision(3)
+ << converge << " m; (" << CI.convergence << " m)" << endl;
+ }
+
+ // if the previous iteration fixed the biases, we are done no matter what
+ if(Biasfix) return 5;
+
+ if(CI.FixBiases && done) {
+ Biasfix = true;
+ return 4; // signals one more iteration
+ }
+
+ return done;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
+// Utilities - use consistently throughout! these three routines must change together.
+string ComposeName(const string& site1,
+ const string& site2,
+ const GSatID& sat1,
+ const GSatID& sat2)
+{
+try {
+ //RinexSatID rsat1=sat2,rsat2=sat2; // use RinexSatID to get the fill char == '0'
+ return ( site1 + string("-") + site2 + string("_")
+ //+ rsat1.toString() + string("-") + rsat2.toString() );
+ //+ sat1.toString() + string("-") + sat2.toString() );
+ + StringUtils::asString(sat1) + string("-") + StringUtils::asString(sat2) );
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+//------------------------------------------------------------------------------------
+string ComposeName(const DDid& ddid)
+{
+try {
+ //ostringstream oss;
+ //if(ddid.ssite > 0) oss << ddid.site1 << "-" << ddid.site2 << "_";
+ //else oss << ddid.site2 << "-" << ddid.site1 << "_";
+ //if(ddid.ssat > 0) oss << ddid.sat1 << "-" << ddid.sat2;
+ //else oss << ddid.sat2 << "-" << ddid.sat1;
+ //return(oss.str());
+ if(ddid.ssite > 0) {
+ if(ddid.ssat > 0)
+ return ComposeName(ddid.site1,ddid.site2,ddid.sat1,ddid.sat2);
+ else
+ return ComposeName(ddid.site1,ddid.site2,ddid.sat2,ddid.sat1);
+ }
+ else {
+ if(ddid.ssat > 0)
+ return ComposeName(ddid.site2,ddid.site1,ddid.sat1,ddid.sat2);
+ else
+ return ComposeName(ddid.site2,ddid.site1,ddid.sat2,ddid.sat1);
+ }
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+//------------------------------------------------------------------------------------
+void DecomposeName(const string& label,
+ string& site1,
+ string& site2,
+ GSatID& sat1,
+ GSatID& sat2)
+{
+try {
+ string copy=label;
+ //oflog << "Decompose found " << label << " = ";
+ site1 = StringUtils::stripFirstWord(copy,'-');
+ //oflog << site1;
+ site2 = StringUtils::stripFirstWord(copy,'_');
+ //oflog << " " << site2;
+ sat1.fromString(StringUtils::stripFirstWord(copy,'-'));
+ //oflog << " " << sat1;
+ sat2.fromString(copy);
+ //oflog << " " << sat2 << endl;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void OutputFinalResults(int iret)
+{
+try {
+ int i,j,len;
+ string site1,site2;
+ GSatID sat1,sat2;
+ format f133(13,3),f166(16,6);
+
+ oflog << "Final Solution:" << endl;
+
+ if(iret != -2) {
+
+ if(CI.NRZDintervals > 0) {
+ oflog << "Residual zenith tropospheric delays (m) with sigma" << endl;
+ for(i=0; i<NState; i++) {
+ DecomposeName(StateNL.getName(i), site1, site2, sat1, sat2);
+ if(site2.substr(0,3) != string("RZD")) continue;
+ oflog << site1 << " : trop delay (m) #" << site2.substr(3,site2.size()-3)
+ << " " << f133 << State(i)
+ << " " << f133 << SQRT(Cov(i,i))
+ << endl;
+ }
+ oflog << endl;
+ }
+
+ oflog << "Biases (cycles) with sigma" << endl;
+ for(i=0; i<NState; i++) {
+ DecomposeName(StateNL.getName(i), site1, site2, sat1, sat2);
+ if(site2.size() ==0 || sat1.id == -1 || sat2.id == -1) continue;
+ oflog << StateNL.getName(i)
+ << " " << f133 << BiasState(i)/wl1
+ << " " << f133 << SQRT(BiasCov(i,i))/wl1
+ << endl;
+ }
+ oflog << endl;
+
+ // output position and covariance for input to later adjustment
+ oflog << "Final covariance and position solutions:\n";
+ for(len=0,j=0; j<NState; j++) {
+ DecomposeName(StateNL.getName(j), site1, site2, sat1, sat2);
+ if(site2 == string("X") || site2 == string("Y") || site2 == string("Z")) {
+ if(len==0) {
+ len = StateNL.getName(j).size();
+ oflog << setw(len) << ' ';
+ if(len < 16) len=16;
+ }
+ oflog << setw(len) << StateNL.getName(j);
+ }
+ }
+ oflog << setw(len) << "Position" << endl;
+ for(i=0; i<NState; i++) {
+ DecomposeName(StateNL.getName(i), site1, site2, sat1, sat2);
+ if(site2!=string("X") && site2!=string("Y") && site2!=string("Z"))
+ continue;
+ oflog << StateNL.getName(i);
+ for(j=0; j<NState; j++) {
+ string site22,site11;
+ GSatID sat11,sat22;
+ DecomposeName(StateNL.getName(j), site11, site22, sat11, sat22);
+ if(site22==string("X") || site22==string("Y") || site22==string("Z"))
+ oflog << scientific << setw(len) << setprecision(6) << Cov(i,j);
+ }
+ if(site2 == string("X")) oflog << fixed << setw(len)
+ << setprecision(6) << Stations[site1].pos.X();
+ if(site2 == string("Y")) oflog << fixed << setw(len)
+ << setprecision(6) << Stations[site1].pos.Y();
+ if(site2 == string("Z")) oflog << fixed << setw(len)
+ << setprecision(6) << Stations[site1].pos.Z();
+ oflog << endl;
+ }
+ oflog << endl;
+
+ // output position and sigmas for all non-fixed positions
+ map<string,Station>::const_iterator it;
+ for(it=Stations.begin(); it != Stations.end(); it++) {
+ oflog << it->first << ": " << (it->second.fixed ? " Fixed" : "Estimated")
+ << " Position "
+ << Stations[it->first].pos.printf("%16.6x %16.6y %16.6z") << endl;
+ if(!(Stations[it->first].fixed)) {
+ oflog << it->first << ": Estimated Sigmas";
+ i = StateNL.index(it->first + string("-X"));
+ oflog << " " << f166 << SQRT(Cov(i,i));
+ i = StateNL.index(it->first + string("-Y"));
+ oflog << " " << f166 << SQRT(Cov(i,i));
+ i = StateNL.index(it->first + string("-Z"));
+ oflog << " " << f166 << SQRT(Cov(i,i));
+ oflog << endl;
+ }
+ }
+
+ // do for all baselines
+ for(i=0; i<CI.OutputBaselines.size(); i++) {
+ string one=StringUtils::word(CI.OutputBaselines[i],0,'-');
+ string two=StringUtils::word(CI.OutputBaselines[i],1,'-');
+ Position BL = Stations[one].pos - Stations[two].pos;
+ oflog << "Final Baseline " << CI.OutputBaselines[i]
+ << " " << BL.printf("%16.6x %16.6y %16.6z")
+ << " " << f166 << BL.getRadius() << endl;
+ if(CI.Screen)
+ cout << "Final Baseline " << CI.OutputBaselines[i]
+ << " " << BL.printf("%16.6x %16.6y %16.6z")
+ << " " << f166 << BL.getRadius() << endl;
+
+ // offset - if one was input
+ if(CI.OutputBaselineOffsets[i].mag() >= 0.01) {
+ oflog << "Final Offset " << CI.OutputBaselines[i]
+ << " " << f166 << BL.X() - CI.OutputBaselineOffsets[i][0]
+ << " " << f166 << BL.Y() - CI.OutputBaselineOffsets[i][1]
+ << " " << f166 << BL.Z() - CI.OutputBaselineOffsets[i][2]
+ << " " << f166 << BL.getRadius() - CI.OutputBaselineOffsets[i].mag()
+ << endl;
+ if(CI.Screen)
+ cout << "Final Offset " << CI.OutputBaselines[i]
+ << " " << f166 << BL.X() - CI.OutputBaselineOffsets[i][0]
+ << " " << f166 << BL.Y() - CI.OutputBaselineOffsets[i][1]
+ << " " << f166 << BL.Z() - CI.OutputBaselineOffsets[i][2]
+ << " " << f166 << BL.getRadius() - CI.OutputBaselineOffsets[i].mag()
+ << endl;
+ }
+ }
+ }
+ oflog << "Data Totals: " << NEp << " epochs, " << nDD << " DDs." << endl;
+ if(CI.Screen)
+ cout << "Data Totals: " << NEp << " epochs, " << nDD << " DDs." << endl;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+double RMSResidualOfFit(int N, Vector<double>& dX, bool final)
+{
+try {
+ int i,j,nd,cnt;
+ double rms;
+ string lab;
+ Vector<double> f,Res;
+ Matrix<double> P;
+ map<DDid,DDData>::iterator it;
+ format f166(16,6),f133(13,3),f82s(8,2,2);
+
+ // open an output file for post fit DD residuals
+ ofstream ddrofs;
+ if(final && !CI.OutputDDRFile.empty()) {
+ ddrofs.open(CI.OutputDDRFile.c_str(),ios::out);
+ if(ddrofs) {
+ oflog << "Opened file " << CI.OutputDDRFile
+ << " for post fit residuals output." << endl;
+ ddrofs << "# " << Title << endl;
+ ddrofs << "RES site site sat sat week sec_wk count"
+ << " Data Estimate Residual" << endl;
+ }
+ else {
+ oflog << "Warning - Failed to open DDR output file " << CI.OutputDDRFile
+ << ". Do not output post fit residuals.\n";
+ }
+ }
+
+ // go all the way back through the data
+ nd= 0;
+ rms = 0.0;
+ cnt = -1;
+ while(1) {
+ cnt++;
+ if(cnt > maxCount) break;
+ Data = Vector<double>(Mmax,0.0);
+ DataNL.clear();
+ for(i=0,it=DDDataMap.begin(); it != DDDataMap.end(); it++) {
+ j = index(it->second.count,cnt);
+ if(j == -1) continue;
+ if(CI.Frequency == 1) Data(i) = it->second.DDL1[j];
+ if(CI.Frequency == 2) Data(i) = it->second.DDL2[j];
+ if(CI.Frequency == 3) // ionosphere-free phase
+ Data(i) = if1p * it->second.DDL1[j] + if2p * it->second.DDL2[j];
+ lab = ComposeName(it->first);
+ DataNL += lab;
+ i++;
+ }
+ if(i==0) continue; // no data -- don't assume this is the end
+ M = i;
+ Data.resize(M);
+
+ // this needed by EvaluateLSEquation
+ SolutionEpoch = FirstEpoch + cnt*CI.DataInterval;
+ EvaluateLSEquation(State,f,P);
+
+ Res = Data - f;
+ if(rms == 0.0) rms = norm(Res);
+ else rms *= sqrt(1.0+norm(Res)/(rms*rms));
+ nd += M;
+
+ if(final && ddrofs) {
+ string site1,site2;
+ GSatID sat1,sat2;
+ for(i=0; i<M; i++) {
+ DecomposeName(DataNL.getName(i), site1, site2, sat1, sat2);
+ ddrofs << "RES " << site1 << " " << site2 << " " << sat1 << " " << sat2
+ << " " << SolutionEpoch.printf("%4F %10.3g")
+ << " " << setw(5) << cnt
+ << " " << f166 << Data[i]
+ << " " << f166 << f[i]
+ << " " << f166 << Res[i]
+ << endl;
+ }
+ }
+
+ } // end loop over data
+
+ if(final && ddrofs) ddrofs.close();
+
+ rms /= sqrt(double(nd));
+
+ return rms;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/relposition/Jamfile b/dev/apps/geomatics/relposition/Jamfile
new file mode 100644
index 0000000..0d61f3f
--- /dev/null
+++ b/dev/apps/geomatics/relposition/Jamfile
@@ -0,0 +1,27 @@
+#
+# $Id: Jamfile 71 2006-08-01 18:46:39Z ehagen $
+#
+
+SubDir TOP apps geomatics relposition ;
+
+SEARCH_SOURCE += $(TOP)/src ;
+SEARCH_SOURCE += $(TOP)/apps/geomatics/lib ;
+
+# this is necessary for Windows b/c the linker command line gets too long!
+Library baselib : DataStructures.cpp CommandInput.cpp Configure.cpp
+ ReadRawData.cpp ReadObsFiles.cpp
+ EphemerisImprovement.cpp ClockModel.cpp Synchronization.cpp
+ DoubleDifference.cpp EditDDs.cpp DataOutput.cpp
+ Estimation.cpp Timetable.cpp ElevationMask.cpp
+ ProcessRawData.cpp ComputeRAIMSolution.cpp EditRawDataBuffers.cpp
+ ;
+
+#link prgms to libraries
+LinkLibraries DDBase : baselib ;
+# must have the prefix here ... why, and why not with others?
+LinkLibraries DDBase dprgm : $(LIBPREFIX)geomatic ;
+# gpstk must be last
+GPSLinkLibraries DDBase ddmerge : gpstk ;
+
+GPSMain DDBase : DDBase.cpp ;
+GPSMain ddmerge : ddmerge.cpp ;
diff --git a/dev/apps/geomatics/relposition/Makefile.am b/dev/apps/geomatics/relposition/Makefile.am
new file mode 100644
index 0000000..28876d1
--- /dev/null
+++ b/dev/apps/geomatics/relposition/Makefile.am
@@ -0,0 +1,17 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../../src -I$(srcdir)/../lib
+
+LDADD = ../lib/libgeomatic.la ../../../src/libgpstk.la
+DDBase_LDADD = ../lib/libgeomatic.la ../../../src/libgpstk.la ./libbase.la
+
+lib_LTLIBRARIES = libbase.la
+libbase_la_SOURCES = ClockModel.cpp CommandInput.cpp ComputeRAIMSolution.cpp \
+Configure.cpp DataOutput.cpp DataStructures.cpp DoubleDifference.cpp \
+EditDDs.cpp EditRawDataBuffers.cpp ElevationMask.cpp EphemerisImprovement.cpp \
+Estimation.cpp ProcessRawData.cpp ReadObsFiles.cpp ReadRawData.cpp \
+Synchronization.cpp Timetable.cpp
+
+bin_PROGRAMS = DDBase ddmerge
+
+DDBase_SOURCES = DDBase.cpp
+ddmerge_SOURCES = ddmerge.cpp
diff --git a/dev/apps/geomatics/relposition/ProcessRawData.cpp b/dev/apps/geomatics/relposition/ProcessRawData.cpp
new file mode 100644
index 0000000..d62019a
--- /dev/null
+++ b/dev/apps/geomatics/relposition/ProcessRawData.cpp
@@ -0,0 +1,371 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file ProcessRawData.cpp
+ * Process raw data, including editing, buffering and computation of a pseudorange
+ * solution using RAIM algorithm, part of program DDBase.
+ */
+
+//------------------------------------------------------------------------------------
+// TD ProcessRawData put back EOP mean of date
+// TD ProcessRawData user input pseudorange limits in EditRawData(ObsFile& obsfile)
+
+//------------------------------------------------------------------------------------
+// system includes
+
+// GPSTk
+#include "EphemerisRange.hpp"
+
+// DDBase
+//#include "PreciseRange.hpp"
+#include "DDBase.hpp"
+#include "index.hpp"
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+// local data
+static vector<SatID> Sats; // used by RAIM, bad ones come back marked (id < 0)
+
+//------------------------------------------------------------------------------------
+
+//------------------------------------------------------------------------------------
+// prototypes -- this module only
+ // ComputeRAIMSolution.cpp
+int ComputeRAIMSolution(ObsFile& of, DayTime& tt, vector<SatID>& Sats);
+void RAIMedit(ObsFile& of, vector<SatID>& Sats);
+ // here
+void FillRawData(ObsFile& of);
+void GetEphemerisRange(ObsFile& obsfile, DayTime& timetag);
+void EditRawData(ObsFile& of);
+int BufferRawData(ObsFile& of);
+
+//------------------------------------------------------------------------------------
+int ProcessRawData(ObsFile& obsfile, DayTime& timetag)
+{
+try {
+ int iret;
+
+ // fill RawDataMap for Station
+ FillRawData(obsfile);
+
+ // compute nominal elevation and ephemeris range; RecomputeFromEphemeris
+ // will re-do after synchronization and before differencing
+ GetEphemerisRange(obsfile,timetag);
+
+ // Edit raw data for this station
+ EditRawData(obsfile);
+
+ // fill RawDataMap for Station, and compute pseudorange solution
+ // return Sats, with bad satellites marked with (id < 0)
+ iret = ComputeRAIMSolution(obsfile,timetag,Sats);
+ if(iret) {
+ if(CI.Verbose) oflog
+ << " Warning - ProcessRawData for station " << obsfile.label
+ << ", at time "
+ << timetag.printf("%Y/%02m/%02d %2H:%02M:%6.3f=%F/%10.3g,")
+ << " failed with code " << iret
+ << (iret == 2 ? " (large RMS residual)" :
+ (iret == 1 ? " (large slope)" :
+ (iret == -1 ? " (no convergence)" :
+ (iret == -2 ? " (singular)" :
+ (iret == -3 ? " (not enough satellites)" :
+ (iret == -4 ? " (no ephemeris)" :
+ (iret == -5 ? " (invalid solution)" :
+ " (unknown)")))))))
+ << endl;
+ // TD change this -- or user input ?
+ //if(iret > 0) iret = 0; // suspect solution
+ if(iret) {
+ Stations[obsfile.label].PRS.Valid = false; // remove data in RAIMedit
+ }
+ }
+
+ // save statistics on PR solution
+ Station& st=Stations[obsfile.label];
+ if(st.PRS.Valid) {
+ st.PRSXstats.Add(st.PRS.Solution(0));
+ st.PRSYstats.Add(st.PRS.Solution(1));
+ st.PRSZstats.Add(st.PRS.Solution(2));
+ }
+
+ // if user wants PRSolution as a priori, update it here so that the
+ // elevation can be computed - this serves to eliminate the low-elevation
+ // data from the raw data buffers and simplifies processing.
+ // it does not seem to affect the final estimation processing at all...
+ if(st.usePRS && st.PRSXstats.N() >= 10) {
+ Position prs;
+ prs.setECEF(st.PRSXstats.Average(),
+ st.PRSYstats.Average(),
+ st.PRSZstats.Average());
+ st.pos = prs;
+
+ if(CI.Debug) oflog << "Update apriori=PR solution for " << obsfile.label
+ << " at " << timetag.printf("%Y/%02m/%02d %2H:%02M:%6.3f=%F/%10.3g")
+ << fixed << setprecision(5)
+ << " " << setw(15) << st.PRSXstats.Average()
+ << " " << setw(15) << st.PRSYstats.Average()
+ << " " << setw(15) << st.PRSZstats.Average()
+ << endl;
+ }
+
+ // edit based on RAIM, using Sats
+ RAIMedit(obsfile,Sats);
+
+ // buffer raw data, including ER(==0), EL and clock
+ iret = BufferRawData(obsfile);
+ if(iret) return iret; // always returns 0
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void FillRawData(ObsFile& of)
+{
+try {
+ //int nsvs;
+ double C1;
+ GSatID sat;
+ RinexObsData::RinexSatMap::const_iterator it;
+ RinexObsData::RinexObsTypeMap otmap;
+ RinexObsData::RinexObsTypeMap::const_iterator jt;
+ Station& st=Stations[of.label];
+ st.RawDataMap.clear(); // assumes one file per site at each epoch
+
+ // loop over sat=it->first, ObsTypeMap=it->second
+ // fill DataStruct
+ //nsvs = 0;
+ for(it=of.Robs.obs.begin(); it != of.Robs.obs.end(); ++it) {
+ sat = it->first;
+ otmap = it->second;
+
+ // ignore non-GPS satellites
+ if(sat.system != SatID::systemGPS) continue;
+
+ // is the satellite excluded?
+ if(index(CI.ExSV,sat) != -1) continue;
+
+ // pull out the data
+ DataStruct D;
+ D.P1 = D.P2 = D.L1 = D.L2 = D.D1 = D.D2 = D.S1 = D.S2 = 0;
+ if(of.inP1>-1 && (jt=otmap.find(of.Rhead.obsTypeList[of.inP1])) != otmap.end())
+ D.P1 = jt->second.data;
+ if(of.inP2>-1 && (jt=otmap.find(of.Rhead.obsTypeList[of.inP2])) != otmap.end())
+ D.P2 = jt->second.data;
+ if(of.inL1>-1 && (jt=otmap.find(of.Rhead.obsTypeList[of.inL1])) != otmap.end())
+ D.L1 = jt->second.data;
+ if(of.inL2>-1 && (jt=otmap.find(of.Rhead.obsTypeList[of.inL2])) != otmap.end())
+ D.L2 = jt->second.data;
+ if(of.inD1>-1 && (jt=otmap.find(of.Rhead.obsTypeList[of.inD1])) != otmap.end())
+ D.D1 = jt->second.data;
+ if(of.inD2>-1 && (jt=otmap.find(of.Rhead.obsTypeList[of.inD2])) != otmap.end())
+ D.D2 = jt->second.data;
+ if(of.inS1>-1 && (jt=otmap.find(of.Rhead.obsTypeList[of.inS1])) != otmap.end())
+ D.S1 = jt->second.data;
+ if(of.inS2>-1 && (jt=otmap.find(of.Rhead.obsTypeList[of.inS2])) != otmap.end())
+ D.S2 = jt->second.data;
+ if(of.inC1>-1 && (jt=otmap.find(of.Rhead.obsTypeList[of.inC1])) != otmap.end())
+ C1 = jt->second.data;
+
+ // if P1 is not available, but C1 is, use C1 in place of P1
+ if((of.inP1 == -1 || D.P1 == 0) && of.inC1 > -1 &&
+ (jt=otmap.find(of.Rhead.obsTypeList[of.inC1])) != otmap.end() )
+ D.P1 = jt->second.data;
+
+ st.RawDataMap[sat] = D;
+ st.time = SolutionEpoch;
+ //nsvs++;
+
+ } // end loop over sats
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+} // end FillRawData()
+
+//------------------------------------------------------------------------------------
+void GetEphemerisRange(ObsFile& obsfile, DayTime& timetag)
+{
+try {
+ CorrectedEphemerisRange CER; // temp
+ //PreciseRange CER;
+
+ Station& st=Stations[obsfile.label];
+
+ map<GSatID,DataStruct>::iterator it;
+ for(it=st.RawDataMap.begin(); it != st.RawDataMap.end(); it++) {
+
+ // ER cannot be used until the a priori positions are computed --
+ // because user may want the PRSolution as the a priori, we must wait.
+ // This will be updated in RecomputeFromEphemeris(), after Synchronization()
+ it->second.ER = 0.0;
+
+ // this will happen when user has chosen to use the PRSolution as the a priori
+ // and the st.pos has not yet been updated
+ if(st.pos.getCoordinateSystem() == Position::Unknown) {
+ it->second.elev = 90.0; // include it in the PRS
+ it->second.az = 0.0;
+ continue;
+ }
+
+ // TD why did PreciseRange not throw here?
+ // catch NoEphemerisFound and set elevation -90 --> edited out later
+ try {
+ //it->second.ER =
+ CER.ComputeAtReceiveTime(timetag, st.pos, it->first, *pEph);
+ it->second.elev = CER.elevation; // this will be compared to PRS elev Limit
+ it->second.az = CER.azimuth;
+ }
+ catch(EphemerisStore::NoEphemerisFound& e) {
+ if(CI.Verbose)
+ oflog << "No ephemeris found for sat " << it->first << " at time "
+ << timetag.printf("%Y/%02m/%02d %2H:%02M:%6.3f=%F/%10.3g") << endl;
+ //it->second.ER = 0.0;
+ it->second.elev = -90.0; // do not include it in the PRS
+ it->second.az = 0.0;
+ }
+
+ }
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void EditRawData(ObsFile& obsfile)
+{
+try {
+ int i;
+
+ Station& st=Stations[obsfile.label];
+
+ vector<GSatID> BadSVs;
+ map<GSatID,DataStruct>::iterator it;
+ for(it=st.RawDataMap.begin(); it != st.RawDataMap.end(); it++) {
+ if(
+ // DON'T DO THIS - clock may get large and negative, leading to negative PR
+ // bad pseudorange
+ // (CI.Frequency != 2 && it->second.P1 < 1000.0) || // TD
+ // (CI.Frequency != 1 && it->second.P2 < 1000.0) ||
+ // below elevation cutoff (for PRS)
+ (it->second.elev < CI.PRSMinElevation)
+ )//end if
+ {
+ BadSVs.push_back(it->first);
+ }
+ }
+
+ // delete the bad satellites
+ for(i=0; i<BadSVs.size(); i++) {
+ st.RawDataMap.erase(BadSVs[i]);
+ }
+
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+} // end EditRawData()
+
+//------------------------------------------------------------------------------------
+// add good raw data in RawDataMap to RawDataBuffers for the appropriate station
+// and satellite. Also buffer the clock solution and sigma.
+// NB these buffers must remain parallel.
+int BufferRawData(ObsFile& obsfile)
+{
+try {
+ int n;
+
+ Station& st=Stations[obsfile.label];
+
+ map<GSatID,DataStruct>::iterator it;
+ map<GSatID,RawData>::iterator jt;
+ // loop over satellites
+ for(n=0,it=st.RawDataMap.begin(); it != st.RawDataMap.end(); it++) {
+
+ // find iterator for this sat in Buffers map
+ jt = st.RawDataBuffers.find(it->first);
+ if(jt == st.RawDataBuffers.end()) {
+ RawData rd;
+ st.RawDataBuffers[it->first] = rd;
+ jt = st.RawDataBuffers.find(it->first);
+ }
+
+ // buffer the data -- keep parallel with count and clock
+ jt->second.count.push_back(Count);
+ jt->second.L1.push_back(it->second.L1);
+ jt->second.L2.push_back(it->second.L2);
+ jt->second.P1.push_back(it->second.P1);
+ jt->second.P2.push_back(it->second.P2);
+ jt->second.ER.push_back(it->second.ER);
+ jt->second.elev.push_back(it->second.elev);
+ jt->second.az.push_back(it->second.az);
+ n++;
+ }
+
+ // now buffer the clock solution and the timetag offset
+ // and buffer the (Station) count if there is some data
+ // NB these are NOT necessarily parallel to raw data buffers
+ if(st.PRS.isValid()) {
+ st.ClockBuffer.push_back(st.PRS.Solution(3));
+ st.ClkSigBuffer.push_back(st.PRS.Covariance(3,3));
+ st.RxTimeOffset.push_back(SolutionEpoch - obsfile.Robs.time);
+ }
+ else {
+ st.ClockBuffer.push_back(0.0);
+ st.ClkSigBuffer.push_back(0.0);
+ st.RxTimeOffset.push_back(0.0);
+ }
+ st.CountBuffer.push_back(Count);
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/relposition/ReadObsFiles.cpp b/dev/apps/geomatics/relposition/ReadObsFiles.cpp
new file mode 100644
index 0000000..5a63a31
--- /dev/null
+++ b/dev/apps/geomatics/relposition/ReadObsFiles.cpp
@@ -0,0 +1,229 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file ReadObsFiles.cpp
+ * Open and read input RINEX observation files; part of program DDBase.
+ */
+
+//------------------------------------------------------------------------------------
+// system includes
+
+// GPSTk
+
+// DDBase
+#include "DDBase.hpp"
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+// prototypes -- this module only
+void ReadAllObsHeaders(void);
+int ReadNextObs(ObsFile& of);
+
+//------------------------------------------------------------------------------------
+void ReadAllObsHeaders(void)
+{
+try {
+ int i,j;
+ if(CI.Verbose) oflog << "BEGIN ReadAllObsHeaders()" << endl;
+
+ // open all obs files and read headers
+ for(i=0; i<ObsFileList.size(); i++) {
+ string filename;
+
+ // initialize -- this will mark unopened file
+ ObsFileList[i].ins.close(); // just in case
+ ObsFileList[i].ins.clear(); // just in case
+ ObsFileList[i].nread = -1;
+ ObsFileList[i].valid = false;
+
+ // filename
+ if(!CI.InputPath.empty()) filename = CI.InputPath + "/";
+ filename += ObsFileList[i].name;
+
+ // open
+ ObsFileList[i].ins.open(filename.c_str(),ios_base::in);
+ if(!ObsFileList[i].ins) {
+ oflog << "Warning: File " << filename
+ << " could not be opened. Ignore." << endl;
+ if(CI.Screen) cout << "Warning: File " << filename
+ << " could not be opened. Ignore." << endl;
+ continue;
+ }
+ ObsFileList[i].ins.exceptions(ios::failbit);
+
+ // read header
+ try {
+ ObsFileList[i].ins >> ObsFileList[i].Rhead;
+ }
+ catch(FFStreamError& e) {
+ cerr << "Caught an FFStreamError while reading header of input obs file "
+ << filename << " :\n" << e.getText(0) << endl;
+ ObsFileList[i].ins.close();
+ continue;
+ }
+ catch(Exception& e) {
+ cerr << "Caught a gpstk exception while reading header of input obs file "
+ << filename << " :\n" << e.getText(0) << endl;
+ ObsFileList[i].ins.close();
+ continue;
+ }
+
+ // check that file contains C1/P1,P2,L1,L2
+ ObsFileList[i].inP1 = -1;
+ ObsFileList[i].inP2 = -1;
+ ObsFileList[i].inL1 = -1;
+ ObsFileList[i].inL2 = -1;
+ ObsFileList[i].inC1 = -1;
+ ObsFileList[i].inD1 = -1;
+ ObsFileList[i].inD2 = -1;
+ ObsFileList[i].inS1 = -1;
+ ObsFileList[i].inS2 = -1;
+ for(j=0; j<ObsFileList[i].Rhead.obsTypeList.size(); j++) {
+ if(ObsFileList[i].Rhead.obsTypeList[j]==RinexObsHeader::convertObsType("C1"))
+ ObsFileList[i].inC1 = j;
+ if(ObsFileList[i].Rhead.obsTypeList[j]==RinexObsHeader::convertObsType("L1"))
+ ObsFileList[i].inL1 = j;
+ if(ObsFileList[i].Rhead.obsTypeList[j]==RinexObsHeader::convertObsType("L2"))
+ ObsFileList[i].inL2 = j;
+ if(ObsFileList[i].Rhead.obsTypeList[j]==RinexObsHeader::convertObsType("P1"))
+ ObsFileList[i].inP1 = j;
+ if(ObsFileList[i].Rhead.obsTypeList[j]==RinexObsHeader::convertObsType("P2"))
+ ObsFileList[i].inP2 = j;
+ if(ObsFileList[i].Rhead.obsTypeList[j]==RinexObsHeader::convertObsType("D1"))
+ ObsFileList[i].inD1 = j;
+ if(ObsFileList[i].Rhead.obsTypeList[j]==RinexObsHeader::convertObsType("D2"))
+ ObsFileList[i].inD2 = j;
+ if(ObsFileList[i].Rhead.obsTypeList[j]==RinexObsHeader::convertObsType("S1"))
+ ObsFileList[i].inS1 = j;
+ if(ObsFileList[i].Rhead.obsTypeList[j]==RinexObsHeader::convertObsType("S2"))
+ ObsFileList[i].inS2 = j;
+ }
+
+ ObsFileList[i].nread = 0;
+ ObsFileList[i].valid = true;
+ ObsFileList[i].getNext = true;
+
+ if(CI.Verbose) oflog << endl;
+ oflog << "Opened and read header of observation file: " << filename << endl;
+ if(CI.Screen)
+ cout << "Opened and read header of observation file: " << filename << endl;
+ if(CI.Verbose) ObsFileList[i].Rhead.dump(oflog);
+
+ // prepare for RAIM solution
+ Stations[ObsFileList[i].label].PRS.RMSLimit = CI.PRSrmsLimit;
+ Stations[ObsFileList[i].label].PRS.Algebraic = CI.PRSalgebra;
+ Stations[ObsFileList[i].label].PRS.MaxNIterations = CI.PRSnIter;
+ Stations[ObsFileList[i].label].PRS.Convergence = CI.PRSconverge;
+ Stations[ObsFileList[i].label].PRS.Solution.resize(4);
+ Stations[ObsFileList[i].label].PRSXstats.Reset();
+ Stations[ObsFileList[i].label].PRSYstats.Reset();
+ Stations[ObsFileList[i].label].PRSZstats.Reset();
+ if(CI.Debug) {
+ Stations[ObsFileList[i].label].PRS.Debug = true;
+ Stations[ObsFileList[i].label].PRS.pDebugStream = &oflog;
+ }
+
+ } // end loop over input observation files
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+int ReadNextObs(ObsFile& of)
+{
+try {
+ // read the next observation epoch
+ // decimate to even multiples of DataInterval
+ while(1) {
+ try {
+ if(CI.Debug) oflog << "ReadNextObs for file " << of.name << endl;
+ if(!of.getNext) return 1;
+ of.ins >> of.Robs;
+ }
+ catch(FFStreamError& e) {
+ if(CI.Verbose)
+ oflog << "ReadNextObs caught an FFStreamError while reading obs in file "
+ << of.name << " :\n" << e << endl;
+ return -2;
+ }
+ catch(Exception& e) {
+ if(CI.Verbose)
+ oflog << "ReadNextObs caught an exception while reading obs in file "
+ << of.name << " :\n" << e << endl;
+ return -3;
+ }
+
+ if(!of.ins) {
+ if(CI.Verbose) oflog << "EOF found on file " << of.name << endl;
+ return -1; // EOF
+ }
+
+ //temp
+ if(CI.Debug) {
+ oflog << "ReadNextObs finds SVs:";
+ RinexObsData::RinexSatMap::const_iterator it;
+ for(it=of.Robs.obs.begin(); it != of.Robs.obs.end(); ++it)
+ oflog << " " << it->first;
+ oflog << endl;
+ }
+
+ // is the timetag an even multiple of DataInterval?
+ double sow = of.Robs.time.GPSsecond();
+ double frac = sow - CI.DataInterval*double(int(sow/CI.DataInterval + 0.5));
+ if(fabs(frac) < 0.5) break;
+ else if(CI.Debug) oflog << "skip epoch "
+ << of.Robs.time.printf("%Y/%02m/%02d %2H:%02M:%6.3f=%F/%10.3g") << endl;
+ }
+
+ of.nread++; // success
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/relposition/ReadRawData.cpp b/dev/apps/geomatics/relposition/ReadRawData.cpp
new file mode 100644
index 0000000..4cf8fe9
--- /dev/null
+++ b/dev/apps/geomatics/relposition/ReadRawData.cpp
@@ -0,0 +1,367 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file ReadRawData.cpp
+ * Read RINEX observation file data, all epochs and all files; part of program DDBase.
+ */
+
+//------------------------------------------------------------------------------------
+// TD ReadRawData.cpp error msg for failure to open output RAW file
+// TD ReadRawData.cpp is LastEpoch ever used?
+
+//------------------------------------------------------------------------------------
+// includes
+// system
+#include <fstream>
+
+// GPSTk
+
+// DDBase
+#include "DDBase.hpp"
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+// local data
+static DayTime EarliestTime;// earliest timetag among newly-input observation epochs
+static int ngood; // number of good data points, this epoch
+static double sow; // GPS seconds of week of current epoch
+ofstream ofprs; // output file for PRS solution - extern in ComputeRAIM..
+
+//------------------------------------------------------------------------------------
+// prototypes -- others
+int OutputClockData(void); // DataIO.cpp
+int ReadNextObs(ObsFile& of); // ReadObsFiles.cpp
+int ProcessRawData(ObsFile& obsfile, DayTime& timetag); // ProcessRawData.cpp
+// prototypes -- this module only
+int FindEarliestTime(void);
+void ComputeSolutionEpoch(void);
+
+//------------------------------------------------------------------------------------
+int ReadRawData(void)
+{
+try {
+ int iret,nfile,ntotal;
+
+ if(CI.Verbose) oflog << "BEGIN ReadRawData()" << endl;
+ if(CI.Screen) cout << "Reading raw data and computing PR solution ..." << endl;
+
+ if(!CI.OutputPRSFile.empty()) {
+ ofprs.open(CI.OutputPRSFile.c_str(),ios::out);
+ if(!ofprs) {
+ // TD error msg
+ CI.OutputPRSFile = string("");
+ }
+ else {
+ oflog << "Opened file " << CI.OutputPRSFile << " for PRS output." << endl;
+ ofprs << "# " << Title << endl;
+ ofprs << "PRS site ns week sec wk dX(m) dY(m)"
+ << " dZ(m) clk(m) rms(m) PRNs..."
+ //<< " (ret) Valid/NotValid"
+ << endl;
+ }
+ }
+
+ // loop over all epochs in all files
+ do {
+
+ // find earliest time among open, active files, and synchronize reading
+ iret = FindEarliestTime();
+ if(iret == 1) {
+ if(CI.Debug) oflog << "End of data reached in ReadRawData." << endl;
+ iret = 0;
+ break;
+ }
+ if(iret == 2) {
+ if(CI.Verbose) oflog << "After end time (quit) : "
+ << EarliestTime.printf("%Y/%02m/%02d %2H:%02M:%6.3f=%F/%10.3g") << endl;
+ iret = 0;
+ break;
+ }
+ if(iret == 3) {
+ if(CI.Debug) oflog << "Before begin time : "
+ << EarliestTime.printf("%Y/%02m/%02d %2H:%02M:%6.3f=%F/%10.3g") << endl;
+ iret = 0;
+ continue;
+ }
+
+ if(CI.Debug) oflog << "Found " << ngood << " stations with data at epoch "
+ << EarliestTime.printf("%Y/%m/%d %H:%M:%6.3f=%F/%10.3g") << endl;
+
+ // round receiver epoch to even multiple of data interval, else even second
+ ComputeSolutionEpoch();
+
+ // preprocess at this epoch
+ for(nfile=0; nfile<ObsFileList.size(); nfile++) {
+
+ // skip files that are 'dead' or out of synch
+ if(!ObsFileList[nfile].valid) continue;
+ if(fabs(ObsFileList[nfile].Robs.time - EarliestTime) >= 0.5) continue;
+
+ // process at the nominal receive time
+ iret = ProcessRawData(ObsFileList[nfile],ObsFileList[nfile].Robs.time);
+ if(iret) break;
+
+ } // end loop over observation files
+
+ } while(iret == 0); // end loop over all epochs
+
+ if(iret) return iret;
+
+ if(CI.Screen) cout << "Last epoch is "
+ << SolutionEpoch.printf("%Y/%02m/%02d %2H:%02M:%6.3f = %F/%10.3g") << endl;
+ if(CI.Verbose) oflog << "Last epoch is "
+ << SolutionEpoch.printf("%Y/%02m/%02d %2H:%02M:%6.3f = %F/%10.3g") << endl;
+
+ // was there any data?
+ for(ntotal=0,nfile=0; nfile<ObsFileList.size(); nfile++) {
+ //if(!ObsFileList[nfile].valid) continue;
+ if(ObsFileList[nfile].nread <= 0)
+ ObsFileList[nfile].valid = false;
+ else
+ ntotal += ObsFileList[nfile].nread;
+ }
+ if(CI.Verbose)
+ oflog << "Total: " << ObsFileList.size() << " files, "
+ << ntotal << " epochs were read." << endl;
+ if(CI.Screen)
+ cout << "Total: " << ObsFileList.size() << " files, "
+ << ntotal << " epochs were read." << endl;
+
+ if(ntotal == 0) {
+ oflog << "No data found. Abort." << endl;
+ if(CI.Screen)
+ cout << "No data found. Abort." << endl;
+ return -3;
+ }
+
+ // average PR solution
+ {
+ bool ok=true;
+ map<string,Station>::const_iterator it;
+ for(it=Stations.begin(); it != Stations.end(); it++) {
+ Position& pos=Stations[it->first].pos;
+
+ if(CI.Verbose)
+ oflog << "For station " << it->first << " read "
+ << it->second.PRSXstats.N() << " good data epochs." << endl;
+
+ if(it->second.PRSXstats.N() <= 0) {
+ oflog << "Warning - No good data found for station " << it->first << endl;
+ ok = false;
+ continue;
+ }
+
+ Position PRsol;
+ PRsol.setECEF(it->second.PRSXstats.Average(),
+ it->second.PRSYstats.Average(),
+ it->second.PRSZstats.Average());
+ if(CI.Verbose) {
+ oflog << "Average PR solution for site " << it->first
+ << fixed << setprecision(5)
+ << " " << setw(15) << it->second.PRSXstats.Average()
+ << " " << setw(15) << it->second.PRSYstats.Average()
+ << " " << setw(15) << it->second.PRSZstats.Average()
+ << endl;
+ oflog << "Std-dev PR solution for site " << it->first
+ << fixed << setprecision(5)
+ << " " << setw(15) << it->second.PRSXstats.StdDev()
+ << " " << setw(15) << it->second.PRSYstats.StdDev()
+ << " " << setw(15) << it->second.PRSZstats.StdDev()
+ << endl;
+ }
+ if(CI.Screen) {
+ cout << "Average PR solution for site " << it->first
+ << fixed << setprecision(5)
+ << " " << setw(15) << it->second.PRSXstats.Average()
+ << " " << setw(15) << it->second.PRSYstats.Average()
+ << " " << setw(15) << it->second.PRSZstats.Average()
+ << endl;
+ cout << "Std-dev PR solution for site " << it->first
+ << fixed << setprecision(5)
+ << " " << setw(15) << it->second.PRSXstats.StdDev()
+ << " " << setw(15) << it->second.PRSYstats.StdDev()
+ << " " << setw(15) << it->second.PRSZstats.StdDev()
+ << endl;
+ }
+
+ // use PR solution if apriori position not given
+ if(it->second.usePRS) {
+ pos = PRsol;
+ oflog << "Adopting average pseudorange solution for "
+ << it->first << " position"
+ //<< pos.printf(" : %.4x %.4y %.4z meters ECEF")
+ << endl;
+ if(CI.Screen)
+ cout << "Adopting average pseudorange solution for "
+ << it->first << " position"
+ //<< pos.printf(" : %.4x %.4y %.4z meters ECEF")
+ << endl;
+ }
+ //else if(pos.getRadius() < 1.) {
+ //}
+ else {
+ // sanity check...
+ // keep this low! large position errors have enduring effects in editing!
+ if(range(pos,PRsol) > 50.0) {
+ oflog << "Warning - Pseudorange solution is far from input "
+ << "position for station " << it->first << " : delta = "
+ << fixed << setprecision(3) << range(pos,PRsol)
+ << " meters. Abort." << endl;
+ cerr << "Warning - Pseudorange solution is far from input "
+ << "position for station " << it->first << " : delta = "
+ << fixed << setprecision(3) << range(pos,PRsol)
+ << " meters. Abort." << endl;
+ iret = -1;
+ OutputClockData(); // usually done in ClockModel() later...
+ }
+ }
+ }
+
+ if(!ok) {
+ oflog << "One or more stations have no data. Abort." << endl;
+ cerr << "One or more stations have no data. Abort." << endl;
+ iret = -3;
+ }
+ }
+
+ return iret;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+} // end ReadRawData()
+
+//------------------------------------------------------------------------------------
+// read the data for the next (earliest in future) observation epoch
+int FindEarliestTime(void)
+{
+try {
+ int iret,nfile;
+
+ EarliestTime = DayTime(DayTime::END_OF_TIME);
+
+ // loop over all (open) obs files
+ for(nfile=0; nfile<ObsFileList.size(); nfile++) {
+
+ // is this a valid, active file?
+ if(!ObsFileList[nfile].valid) continue;
+
+ iret = ReadNextObs(ObsFileList[nfile]);
+ if(iret < 0) { // error or EOF -- set file 'dead'
+ ObsFileList[nfile].valid = false;
+ continue;
+ }
+ // success - file is active
+ else if(ObsFileList[nfile].Robs.time < EarliestTime)
+ EarliestTime = ObsFileList[nfile].Robs.time;
+
+ } // end loop over all obs files
+
+ // if no more data is available, EarliestTime will never get set
+ if(EarliestTime == DayTime(DayTime::END_OF_TIME)) return 1;
+
+ // if past end time, quit
+ if(EarliestTime > CI.EndTime) return 2;
+
+ // synchronize reading at EarliestTime
+ for(ngood=0,nfile=0; nfile<ObsFileList.size(); nfile++) {
+ if(!ObsFileList[nfile].valid) continue;
+ // if this data time == EarliestTime, process and set flag to read again
+ if(fabs(ObsFileList[nfile].Robs.time - EarliestTime) < 1.) {
+ ngood++;
+ ObsFileList[nfile].getNext = true;
+ }
+ else ObsFileList[nfile].getNext = false;
+ }
+
+ // apply time limits
+ if(EarliestTime < CI.BegTime) return 3;
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void ComputeSolutionEpoch(void)
+{
+try {
+ double dt;
+
+ // round receiver epoch to even multiple of data interval, else even second
+ SolutionEpoch = EarliestTime;
+ sow = SolutionEpoch.GPSsecond();
+ sow = CI.DataInterval * double(int(sow/CI.DataInterval + 0.5));
+ SolutionEpoch += (sow - SolutionEpoch.GPSsecond());
+ if(CI.Debug) oflog << "Solution epoch is "
+ << SolutionEpoch.printf("%Y/%02m/%02d %2H:%02M:%6.3f = %F/%10.3g") << endl;
+
+ // save first and last epochs
+ if(fabs(FirstEpoch-DayTime::BEGINNING_OF_TIME) < 0.1) {
+ FirstEpoch = SolutionEpoch;
+ if(CI.Screen)
+ cout << "First epoch is "
+ << FirstEpoch.printf("%Y/%02m/%02d %2H:%02M:%6.3f = %F/%10.3g") << endl;
+ if(CI.Verbose)
+ oflog << "First epoch is "
+ << FirstEpoch.printf("%Y/%02m/%02d %2H:%02M:%6.3f = %F/%10.3g") << endl;
+
+ // compute rotation matrix that corrects for earth orientation
+ //PNS = ident<double>(3);
+ } // end if first epoch
+
+ LastEpoch = SolutionEpoch; // TD use LastEpoch?
+
+ // compute the current count
+ dt = SolutionEpoch-FirstEpoch;
+ Count = int(dt/CI.DataInterval + 0.5);
+
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/relposition/Synchronization.cpp b/dev/apps/geomatics/relposition/Synchronization.cpp
new file mode 100644
index 0000000..4619fe5
--- /dev/null
+++ b/dev/apps/geomatics/relposition/Synchronization.cpp
@@ -0,0 +1,409 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file Synchronization.cpp
+ * Interpolate the phase data to correct for the clock offset, synchronizing the
+ * data at different stations; part of program DDBase.
+ */
+
+//------------------------------------------------------------------------------------
+// TD Synchronization.cpp make number of phase points in fit an input parameter
+// TD Synchronization.cpp make MaxGap=10; an input parameter and
+// TD Synchronization.cpp use this in EditRawDataBuffers() to remove single points
+// TD Synchronization.cpp that have gaps larger than this on each side of them.
+
+//------------------------------------------------------------------------------------
+// includes
+// system
+#include <deque>
+
+// GPSTk
+#include "geometry.hpp" // DEG_TO_RAD
+#include "PolyFit.hpp"
+#include "EphemerisRange.hpp"
+
+// DDBase
+#include "DDBase.hpp"
+#include "PhaseWindup.hpp"
+#include "index.hpp"
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+// prototypes -- this module only -- called by Synchronization()
+void FitPhaseAndMoveData(GSatID& sat, string site, Station& st, RawData& rd);
+
+//------------------------------------------------------------------------------------
+int Synchronization(void)
+{
+try {
+ if(CI.Verbose) oflog << "BEGIN Synchronization()" << endl;
+
+ GSatID sat;
+ map<string,Station>::iterator it;
+ map<GSatID,RawData>::iterator jt;
+
+ // loop over stations
+ for(it=Stations.begin(); it != Stations.end(); it++) {
+ //string label = it->first;
+ Station& st=it->second;
+ // loop over satellites
+ for(jt=st.RawDataBuffers.begin(); jt != st.RawDataBuffers.end(); jt++) {
+ sat = jt->first;
+ RawData& rawdat=jt->second;
+
+ if(rawdat.count.size() == 0) continue;
+
+ // Loop over all points in the buffers, using a sliding window.
+ // For each window, fit a polynomial to the phase data.
+ // At each point, evaluate the polynomial at the true receive time.
+ FitPhaseAndMoveData(sat,it->first,st,rawdat);
+
+ } // loop over sats
+
+ } // loop over stations
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+} // end Synchronization()
+
+//------------------------------------------------------------------------------------
+// Process using a sliding window:
+// loop over all points in the buffers of RawData, using a sliding window of fixed
+// length which is centered (as much as possible) about the buffer point of interest.
+// Process each buffer point using the data in the sliding window.
+void FitPhaseAndMoveData(GSatID& sat, string site, Station& statn, RawData& rawdat)
+{
+try {
+ const int N=11; // size of the window // best odd // TD make input
+ const int D=3; // degree of polynomial to be fit // TD make input
+ bool change; // mark a change in the deques --> fit a new polynomial
+ int nc; // index into the buffer at the current point
+ int nbeg; // index into the buffer at the start of the window
+ int nend; // index into the buffer at the end of the window
+ int nhalf=N/2; // half the window size
+ int len; // length of the buffers
+ int ngap; // number of counts between the end pt (nend) and the next
+ int nsize; // size of the sliding window (deques)
+ int i,j;
+ double x,x0,d10,d20,dx,dph1,dph2;
+ PolyFit<double> PF1,PF2;// fit polynomials to L1 and L2 phase
+ deque<int> dc; // the sliding window : time -- keep the deques
+ deque<double> d1,d2; // the sliding window : data -- parallel
+
+ // starting: nend is before the current point (0)
+ nbeg = 0;
+ nend = -1;
+ change = true;
+ len = int(rawdat.count.size()); // length of the buffers
+
+ // Loop over count (epochs). At each count, fill a 'sliding window' deque
+ // (one for each of count, L1 and L2) with up to N points, including
+ // containing the current count. The points run from index nbeg to nend.
+ for(nc=0; nc<len; nc++) {
+ // -------------------------------------------------------------
+ // the only way this could be true is if the current point is the
+ // first point past a big (>=MaxGap) gap
+//if(CI.Verbose && site=="Aref" && sat.id==29) oflog << "LOOP nc=" << nc << " nbeg=" << nbeg << " nend=" << nend << " ngap=" << (rawdat.count[nend+1]-rawdat.count[nend]) << " len=" << len << endl;
+ if(nc > nend) {
+ // clear window and start again
+ dc.clear();
+ d1.clear();
+ d2.clear();
+ nbeg = nend = nc;
+ ngap = rawdat.count[nend+1]-rawdat.count[nend];
+ if(ngap >= CI.MaxGap) continue; // skip this point if there's a gap
+ dc.push_back(rawdat.count[nend]); // time / DataInterval
+ d1.push_back(rawdat.L1[nend]); // cycles
+ d2.push_back(rawdat.L2[nend]); // cycles
+ change = true;
+//if(CI.Verbose && site=="Aref" && sat.id==29) oflog << "clear" << endl;
+ }
+
+ // -------------------------------------------------------------
+ // advance the end of the window (nend) when all these are true:
+ while( (nend < len-1) // point is not beyond the end of the buffer
+ && (nend-nbeg+1 < N) // & the window is not full
+ // & there is not a big gap
+ && ((ngap = rawdat.count[nend+1]-rawdat.count[nend]) < CI.MaxGap)
+ && (nc >= nbeg) // & the current point will stay in window
+ ) {
+ // expand the window one point into the future
+ nend++;
+ dc.push_back(rawdat.count[nend]); // keep the deques parallel
+ d1.push_back(rawdat.L1[nend]);
+ d2.push_back(rawdat.L2[nend]);
+ change = true;
+//if(CI.Verbose && site=="Aref" && sat.id==29) oflog << "advance" << endl;
+ };
+
+ // -------------------------------------------------------------
+ // is this an isolated point?
+ //if(ngap >= CI.MaxGap) {
+ // nc = nend+1;
+ // continue;
+ //}
+
+ // -------------------------------------------------------------
+ // Process the deques when a change has been made
+ if(change) {
+//if(CI.Verbose && site=="Aref" && sat.id==29) {
+//oflog << "buffer:";
+//for(i=nbeg; i<=nend; i++) oflog << " " << rawdat.count[i];
+//oflog << " end+1: " << rawdat.count[nend+1] << endl;
+//}
+ // size of the sliding window (deques)
+ nsize = dc.size();
+
+ // must not have isolated points
+ // EditRawBuffers should have removed these
+ if(nsize < 2) {
+ Exception e( (nsize == 0 ?
+ string("ERROR - empty window") : string("ERROR - isolated point"))
+ + string(" for station ") + site + string(" and satellite ")
+ + sat.toString()
+ + string(" at count ") + StringUtils::asString(rawdat.count[nc])
+ + string(" = time ")
+ + (FirstEpoch + rawdat.count[nc]*CI.DataInterval).printf(
+ "%Y/%m/%d %H:%02M:%6.3f = %F/%10.3g"));
+ GPSTK_THROW(e);
+ }
+
+ // fit a polynomial of degree D to the points in deques
+ PF1.Reset(D<nsize ? D : nsize);
+ PF2.Reset(D<nsize ? D : nsize);
+
+ // debias using the first point
+ x0 = double(dc[0]);
+ d10 = d1[0];
+ d20 = d2[0];
+
+ // use all the data in the sliding window
+ for(i=0; i<nsize; i++) {
+ // x is nominal receive time in units of count (DataInterval)
+ x = double(dc[i]);
+ // find the same count in the station buffers
+ j = index(statn.CountBuffer,dc[i]);
+ //if(j == -1) ?? TD
+ x -= statn.RxTimeOffset[j]/CI.DataInterval;
+ PF1.Add(d1[i]-d10,x-x0);
+ PF2.Add(d2[i]-d20,x-x0);
+ }
+
+ change = false;
+
+ //if(CI.Debug)
+ // for(i=0; i<nsize; i++) {
+ // x = double(dc[i]); // count
+ // j = index(statn.CountBuffer,dc[i]);
+ // x -= statn.RxTimeOffset[j]/CI.DataInterval;
+ // //PF1.Add(d1[i]-d10,x-x0);
+ // //PF2.Add(d2[i]-d20,x-x0);
+ // oflog << "FIT " << site << " " << sat
+ // << " " << nc << " " << rawdat.count[nc]
+ // << " " << (D<nsize?D:nsize) << " " << nsize
+ // << fixed << setprecision(6)
+ // << " " << nbeg+i << " " << dc[i] << " " << rawdat.count[nbeg+i]
+ // << " " << x-x0 << " " << d1[i]-d10
+ // << " " << PF1.Evaluate(x-x0)
+ // << " " << d1[i]-d10 - PF1.Evaluate(x-x0)
+ // << endl;
+ //}
+ }
+
+ // -------------------------------------------------------------
+ // Process each point in the window/buffer
+ // correct L1,L2,P1,P2 using the polynomials and dt=RxTTOffset+clk/c
+ // statn.ClockBuffer contains clock solution
+ // statn.RxTimeOffset contains SolutionEpoch - Rx timetag
+ //
+ // nominal time for point nc
+ x = double(rawdat.count[nc]);
+ // find the index of the same count in the station buffers
+ j = index(statn.CountBuffer,rawdat.count[nc]);
+ // time difference due to receiver clock, in units of count
+ dx = statn.RxTimeOffset[j]/CI.DataInterval
+ + (statn.ClockBuffer[j]/C_GPS_M)/CI.DataInterval;
+ // change in phase between nominal and true time
+ dph1 = PF1.Evaluate(x-x0) - PF1.Evaluate(x-dx-x0);
+ rawdat.L1[nc] += dph1;
+ rawdat.P1[nc] += dph1 * wl1;
+ dph2 = PF2.Evaluate(x-x0) - PF2.Evaluate(x-dx-x0);
+ rawdat.L2[nc] += dph2;
+ rawdat.P2[nc] += dph2 * wl2;
+
+ //if(CI.Debug) oflog << "FIT " << site << " " << sat
+ // << " " << nc << " " << rawdat.count[nc]
+ // << fixed << setprecision(6)
+ // << " " << x-x0 << " " << dx
+ // << " " << statn.RxTimeOffset[nc]
+ // << " " << statn.ClockBuffer[nc]/C_GPS_M
+ // << " " << dph1
+ // << " " << dph2 << " eval" << endl;
+
+ // -------------------------------------------------------------
+ // remove old point(s) from the deques
+ while( (nend < len-1) // a new end point would not go beyond buffer
+ && (ngap < CI.MaxGap) // & there would not be a big gap
+ && (nend-nbeg+1 > N-1) // & window is full
+ && (nc >= nbeg+nhalf) // & current point is at mid-window or later
+ ) {
+ dc.pop_front(); // keep the deques parallel
+ d1.pop_front();
+ d2.pop_front();
+ nbeg++;
+ change = true;
+ };
+
+ } // loop over counts
+
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+int RecomputeFromEphemeris(void)
+{
+try {
+ if(CI.Verbose) oflog << "BEGIN RecomputeFromEphemeris()" << endl;
+
+ int nc;
+ double angle,pwu,shadow;
+ DayTime tt;
+ GSatID sat;
+ Position SV;
+ Position West,North,Rx2Tx;
+ CorrectedEphemerisRange CER; // TD PreciseRange?
+ map<string,Station>::iterator it;
+ map<GSatID,RawData>::iterator jt;
+
+ // loop over stations
+ for(it=Stations.begin(); it != Stations.end(); it++) {
+ //string label = it->first;
+ Station& statn=it->second;
+
+ //if(CI.Verbose) oflog << " Station " << it->first
+ // << " with " << statn.RawDataBuffers.size() << " raw buffers." << endl;
+
+ // compute W and N unit vectors at this station,
+ // rotated by antenna azimuth angle
+ angle = statn.ant_azimuth * DEG_TO_RAD;
+ if(fabs(angle) > 0.0001) { // also below..
+ Matrix<double> Rot;
+ Rot = SingleAxisRotation(angle,1) * UpEastNorth(statn.pos);
+ West = Position(-Rot(1,0),-Rot(1,1),-Rot(1,2));
+ North = Position(Rot(2,0),Rot(2,1),Rot(2,2));
+ }
+
+ // loop over satellites
+ for(jt=statn.RawDataBuffers.begin(); jt!=statn.RawDataBuffers.end(); jt++) {
+ sat = jt->first;
+ RawData& rawdat=jt->second;
+
+ //if(CI.Verbose) oflog << " Satellite " << sat
+ // << " with buffer size " << rawdat.count.size() << endl;
+
+ if(rawdat.count.size() == 0) continue;
+
+ // Loop over count (epochs). At each count, recompute the ephemeris
+ // range and correct the phase for phase windup.
+ for(nc=0; nc<rawdat.count.size(); nc++) {
+
+ // nominal time is now the actual receive time of the data
+ tt = FirstEpoch + rawdat.count[nc] * CI.DataInterval;
+
+ // try to get the ephemeris info
+ try {
+ // update ephemeris range and elevation
+ rawdat.ER[nc] =
+ CER.ComputeAtReceiveTime(tt, statn.pos, sat, *pEph);
+ rawdat.elev[nc] = CER.elevation;
+ rawdat.az[nc] = CER.azimuth;
+
+ // correct for phase windup
+ if(fabs(angle) > 0.0001) { // also above..
+ // get the receiver-to-transmitter unit vector
+ // and the satellite position
+ Rx2Tx = Position(CER.cosines);
+ SV = Position(CER.svPosVel.x[0],
+ CER.svPosVel.x[1],
+ CER.svPosVel.x[2]);
+
+ // compute phase windup
+ pwu = PhaseWindup(tt,SV,Rx2Tx,West,North,shadow);
+
+ // TD eclipse alert
+ //if(shadow > 0.0) { ... }
+
+ // correct the phase
+ rawdat.L1[nc] += pwu * wl1;
+ rawdat.L2[nc] += pwu * wl2;
+ }
+ }
+ catch(EphemerisStore::NoEphemerisFound& e) {
+ // these should have been caught and removed before...
+ oflog << "Warning - No ephemeris found for sat " << sat
+ << " at time "
+ << tt.printf("%Y/%02m/%02d %2H:%02M:%6.3f=%F/%10.3g")
+ << " in RecomputeFromEphemeris()" << endl;
+ rawdat.ER[nc] = 0.0;
+ rawdat.elev[nc] = -90.0;
+ rawdat.az[nc] = 0.0;
+ }
+ } // end loop over counts
+ } // loop over sats
+
+ } // loop over stations
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/relposition/Timetable.cpp b/dev/apps/geomatics/relposition/Timetable.cpp
new file mode 100644
index 0000000..ec5ec86
--- /dev/null
+++ b/dev/apps/geomatics/relposition/Timetable.cpp
@@ -0,0 +1,845 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file Timetable.cpp
+ * Compute reference satellites time table for program DDBase.
+ */
+
+//------------------------------------------------------------------------------------
+// TD Timetable.cpp handle week rollover in TimeTable() and ReadTimeTable()
+// TD Timetable.cpp check logic
+// TD Timetable.cpp check output messages
+// TD Timetable.cpp add several limits as input parameters
+// TD Timetable.cpp 4. edit TTab, removing segments that do not create gaps
+
+//------------------------------------------------------------------------------------
+// includes
+// system
+
+// GPSTk
+// Geomatics
+#include "DDid.hpp"
+#include "index.hpp"
+// DDBase
+#include "DDBase.hpp"
+
+//------------------------------------------------------------------------------------
+double RotatedAntennaElevation(double elevation, double azimuth); // ElevationMask.cpp
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+// Segment structure used in deducing time table
+// functions implemented in Timetable.cpp
+class TTSegment {
+public:
+ std::string site1,site2;
+ gpstk::GSatID sat;
+ int start,end; // starting and ending counts
+ int first,last; // counts to actually use in timetable
+ int length; // length (in data points)
+ double minelev; // minimum elevation in this segment
+ double maxelev; // maximum elevation in this segment
+
+ TTSegment(void) : start(-1),length(0),minelev(0.0),maxelev(0.0) {}
+
+ double metric(void) const
+ { return (double(length)/100.0 + 100.0*(minelev+maxelev)/90.0); }
+
+ //bool operator<(const TTSegment& right) const
+ //{ return (metric() < right.metric()); }
+
+ //bool operator>(const TTSegment& right) const
+ //{ return (metric() > right.metric()); }
+
+ void findElev(void);
+
+ friend ostream& operator<<(ostream& s, const TTSegment& t);
+
+ friend bool increasingMetricSort(const TTSegment& left, const TTSegment& right);
+ friend bool decreasingMetricSort(const TTSegment& left, const TTSegment& right);
+ friend bool startSort(const TTSegment& left, const TTSegment& right);
+};
+
+//------------------------------------------------------------------------------------
+// local data
+list<TTSegment> TimeTable; // satellite time table
+map<SDid,SDData> SDmap; // map of SD data - not full single differences
+
+//------------------------------------------------------------------------------------
+// prototypes -- this module only
+int ReadTimeTable(void);
+int ComputeBaselineTimeTable(const string& bl);
+int TTComputeSingleDifferences(const string& bl, const double ElevLimit);
+int TimeTableAlgorithm(list<TTSegment>& TTS, list<TTSegment>& TTab);
+bool startSort(const TTSegment& left, const TTSegment& right);
+bool increasingMetricSort(const TTSegment& left, const TTSegment& right);
+bool decreasingMetricSort(const TTSegment& left, const TTSegment& right);
+
+//------------------------------------------------------------------------------------
+// Find the entry in the timetable which applies to the baseline given in sdid and
+// the time tt. Set the satellite in sdid to the reference satellite, and set the
+// time tt to the time (in the future) when the reference will change again.
+// return 0 on success, 1 on failure.
+int QueryTimeTable(SDid& sdid, DayTime& tt)
+{
+try {
+ // loop over the timetable, looking for a match : baseline and time
+ list<TTSegment>::iterator ttit;
+ for(ttit=TimeTable.begin(); ttit != TimeTable.end(); ttit++) {
+ if(((ttit->site1 == sdid.site1 && ttit->site2 == sdid.site2) ||
+ (ttit->site1 == sdid.site2 && ttit->site2 == sdid.site1) ) &&
+ FirstEpoch+CI.DataInterval*ttit->first <= tt &&
+ FirstEpoch+CI.DataInterval*ttit->last >= tt)
+ { // success
+ sdid.sat = ttit->sat;
+ tt = FirstEpoch+CI.DataInterval*ttit->last;
+ return 0;
+ }
+ }
+
+ return 1; // failure
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Find the start and stop counts in the timetable which applies to the given baseline
+int QueryTimeTable(string baseline, int& beg, int& end)
+{
+try {
+ string site1=StringUtils::word(baseline,0,'-');
+ string site2=StringUtils::word(baseline,1,'-');
+ beg = end = -1;
+ // loop over the timetable, looking for a match in baseline
+ list<TTSegment>::iterator ttit;
+ for(ttit=TimeTable.begin(); ttit != TimeTable.end(); ttit++) {
+ if((ttit->site1 == site1 && ttit->site2 == site2) ||
+ (ttit->site1 == site2 && ttit->site2 == site1) )
+ { // success
+ if(beg == -1 || ttit->first < beg) beg = ttit->first;
+ if(end == -1 || ttit->last > end) end = ttit->last;
+ }
+ }
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+int Timetable(void)
+{
+try {
+ if(CI.Verbose) oflog << "BEGIN Timetable()" << endl;
+
+ int ib,iret;
+ list<TTSegment>::iterator ttit;
+
+ if(CI.TimeTableFile.size() > 0) {
+ iret = ReadTimeTable();
+ }
+ else if(CI.RefSat.id != -1) { // user says use this sat only
+ // loop over baselines
+ for(ib=0; ib<Baselines.size(); ib++) {
+ TTSegment ts;
+ ts.site1 = StringUtils::word(Baselines[ib],0,'-');
+ ts.site2 = StringUtils::word(Baselines[ib],1,'-');
+ ts.sat = CI.RefSat;
+ ts.start = ts.first = 0;
+ ts.end = ts.last = maxCount;
+ ts.minelev = ts.maxelev = 0.0;
+ ts.length = ts.end - ts.start + 1;
+ TimeTable.push_back(ts);
+ iret = 0;
+ }
+ }
+ else {
+ // loop over baselines
+ for(ib=0; ib<Baselines.size(); ib++) {
+ iret = ComputeBaselineTimeTable(Baselines[ib]);
+ if(iret) break;
+ } // end loop over baselines
+ }
+
+ if(iret == 0) {
+ // write out timetable to log
+ // REF site site sat week use_first use_last data_start data_end
+ DayTime tt;
+ GSatID sat;
+ oflog << "Here is the time table (" << TimeTable.size() << ")" << endl;
+ if(CI.Screen)
+ cout << "Time table (" << TimeTable.size() << "):" << endl;
+ oflog << "# " << Title << endl;
+ oflog << "# REF site site sat week use_first use_last data_start data_end\n";
+ if(CI.Screen)
+ cout << "# REF site site sat week use_first use_last data_start data_end\n";
+ for(ttit=TimeTable.begin(); ttit != TimeTable.end(); ttit++) {
+ oflog << "REF " << ttit->site1 << " " << ttit->site2 << " " << ttit->sat;
+ if(CI.Screen)
+ cout << "REF " << ttit->site1 << " " << ttit->site2 << " " << ttit->sat;
+ tt = FirstEpoch + CI.DataInterval * ttit->first;
+ oflog << tt.printf(" %4F %10.3g"); // TD week rollover!
+ if(CI.Screen)
+ cout << tt.printf(" %4F %10.3g"); // TD week rollover!
+ tt = FirstEpoch + CI.DataInterval * ttit->last;
+ oflog << tt.printf(" %10.3g");
+ if(CI.Screen)
+ cout << tt.printf(" %10.3g");
+ tt = FirstEpoch + CI.DataInterval * ttit->start;
+ oflog << tt.printf(" %10.3g");
+ if(CI.Screen)
+ cout << tt.printf(" %10.3g");
+ tt = FirstEpoch + CI.DataInterval * ttit->end;
+ oflog << tt.printf(" %10.3g");
+ if(CI.Screen)
+ cout << tt.printf(" %10.3g");
+ // TD? ttit->minelev, ttit->maxelev, ttit->length, ttit->metric()
+ oflog << " " << fixed << setw(4) << setprecision(1) << ttit->minelev;
+ if(CI.Screen)
+ cout << " " << fixed << setw(4) << setprecision(1) << ttit->minelev;
+ oflog << " " << fixed << setw(4) << setprecision(1) << ttit->maxelev;
+ if(CI.Screen)
+ cout << " " << fixed << setw(4) << setprecision(1) << ttit->maxelev;
+ // write the number of counts for this ref
+ oflog << " " << setw(5) << ttit->length;
+ if(CI.Screen)
+ cout << " " << setw(5) << ttit->length;
+ oflog << endl;
+ if(CI.Screen)
+ cout << endl;
+
+ // for next time
+ sat = ttit->sat;
+ }
+ oflog << "End of time table." << endl;
+ if(CI.Screen)
+ cout << "End of time table." << endl;
+ }
+
+ return iret;
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+} // end Timetable()
+
+//------------------------------------------------------------------------------------
+// Input the time table from a file
+int ReadTimeTable(void)
+{
+try {
+ int week;
+ double sow;
+ string line;
+ DayTime tt;
+
+ // open an input file for all timetables
+ if(CI.Debug) oflog << "Try to open time table file " << CI.TimeTableFile << endl;
+ ifstream ttifs(CI.TimeTableFile.c_str());
+ if(!ttifs) {
+ cerr << "Failed to open input time table file " << CI.TimeTableFile << endl;
+ return -3;
+ }
+
+ //REF site site sat week use_first use_last data_start data_end
+ do {
+ getline(ttifs,line);
+ StringUtils::stripTrailing(line,'\r');
+ if(ttifs.eof() || !ttifs.good()) break;
+
+ if(line.size() <= 0) continue; // skip blank lines
+ if(line[0] == '#') continue; // skip comments
+ if(StringUtils::numWords(line) < 9) continue; // TD msg? // skip bad lines
+ if(StringUtils::words(line,0,1) != string("REF")) continue; // only REF lines
+ TTSegment ts;
+ ts.site1 = StringUtils::words(line,1,1);
+ ts.site2 = StringUtils::words(line,2,1);
+ ts.sat.fromString(StringUtils::words(line,3,1));
+
+ week = StringUtils::asInt(StringUtils::words(line,4,1));
+ sow = StringUtils::asInt(StringUtils::words(line,5,1));
+ tt.setGPSfullweek(week,sow); // TD handle week rollover
+ ts.first = int(0.5+(tt-FirstEpoch)/CI.DataInterval);
+
+ sow = StringUtils::asInt(StringUtils::words(line,6,1));
+ tt.setGPSfullweek(week,sow);
+ ts.last = int(0.5+(tt-FirstEpoch)/CI.DataInterval);
+
+ sow = StringUtils::asInt(StringUtils::words(line,7,1));
+ tt.setGPSfullweek(week,sow);
+ ts.start = int(0.5+(tt-FirstEpoch)/CI.DataInterval);
+
+ sow = StringUtils::asInt(StringUtils::words(line,8,1));
+ tt.setGPSfullweek(week,sow);
+ ts.end = int(0.5+(tt-FirstEpoch)/CI.DataInterval);
+
+ //ts.minelev = ts.maxelev = 0.0;
+ ts.length = ts.end - ts.start + 1;
+ ts.findElev();
+ TimeTable.push_back(ts);
+
+ } while(1);
+ // close the output timetable file
+ ttifs.close();
+
+ oflog << "Read time table from file " << CI.TimeTableFile << endl;
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+int ComputeBaselineTimeTable(const string& bl)
+{
+try {
+ int i,j;
+ map<SDid,SDData>::const_iterator it;
+ list<TTSegment> SegList;
+
+ SDmap.clear();
+ i = TTComputeSingleDifferences(bl,40.0);
+ if(i) return i;
+
+ // now compute the timetable based on SDmap
+ for(it=SDmap.begin(); it != SDmap.end(); it++) {
+ TTSegment ts;
+ ts.site1 = it->first.site1;
+ ts.site2 = it->first.site2;
+ ts.sat = it->first.sat;
+ ts.start = it->second.count[0];
+ ts.minelev = ts.maxelev = 0.0;
+ for(i=0; i<it->second.count.size()-1; i++) {
+ j = it->second.count.at(i+1) - it->second.count.at(i);
+ if(j > 1) {
+ TTSegment tts;
+ tts = ts;
+ tts.end = it->second.count.at(i);
+ tts.length = tts.end - tts.start + 1;
+ tts.findElev();
+ SegList.push_back(tts);
+ ts.start = it->second.count.at(i+1);
+ }
+ }
+ ts.end = it->second.count[it->second.count.size()-1];
+ ts.length = ts.end - ts.start + 1;
+ ts.findElev();
+ SegList.push_back(ts);
+ }
+
+ if(SegList.size() == 0) return -2;
+
+ // figure out the time table from the list of segments
+ list<TTSegment> TTable;
+ i = TimeTableAlgorithm(SegList, TTable);
+ if(i) return i;
+
+ // add this timetable to the master timetable.
+ list<TTSegment>::iterator ttit;
+ for(ttit=TTable.begin(); ttit != TTable.end(); ttit++)
+ TimeTable.push_back(*ttit);
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+int TTComputeSingleDifferences(const string& bl, const double ElevLimit)
+{
+try {
+ int i,j,k;
+ double elevi,elevj;
+ GSatID sat;
+ map<GSatID,RawData>::const_iterator it,jt;
+ map<SDid,SDData>::const_iterator kt;
+ ofstream rawofs;
+ format f62(6,2),f133(13,3);
+
+ // loop over buffered raw data of sats common to both
+ string est=StringUtils::word(bl,0,'-');
+ string fix=StringUtils::word(bl,1,'-');
+
+ for(it=Stations[est].RawDataBuffers.begin();
+ it != Stations[est].RawDataBuffers.end(); it++) {
+
+ // consider each satellite
+ sat = it->first;
+ if(CI.Verbose) oflog << "Single difference " << est << " " << fix << " " << sat;
+
+ // is sat also found at fixed site?
+ jt = Stations[fix].RawDataBuffers.find(sat);
+ if(jt == Stations[fix].RawDataBuffers.end()) {
+ if(CI.Verbose) oflog << " not found on both sites" << endl;
+ continue;
+ }
+
+ if(CI.Verbose) oflog << " (raw buffers size: " << it->second.count.size()
+ << " " << jt->second.count.size() << ")";
+
+ // compute continuous segments of SD data
+ // sdd.count is the intersection of the two count vectors
+ SDid sdid(fix,est,sat);
+ SDData sdd;
+ sdd.elevmin = 100.0;
+ sdd.elevmax = -1.0;
+ i = j = 0;
+ do {
+ if(it->second.count[i] == jt->second.count[j]) {
+ elevi = RotatedAntennaElevation(it->second.elev[i],it->second.az[i]);
+ elevj = RotatedAntennaElevation(jt->second.elev[j],jt->second.az[j]);
+ if(elevi >= ElevLimit && elevj >= ElevLimit) {
+ sdd.count.push_back(it->second.count[i]);
+ if(elevi < sdd.elevmin) sdd.elevmin = elevi;
+ if(elevi > sdd.elevmax) sdd.elevmax = elevi;
+ }
+ i++;
+ j++;
+ }
+ else if(it->second.count[i] < jt->second.count[j]) {
+ i++;
+ }
+ else {
+ j++;
+ }
+ } while( i < it->second.count.size() &&
+ j < jt->second.count.size() );
+
+ // TD ?
+ if(sdd.count.size() < 10) {
+ if(CI.Verbose) oflog << " size is too small ("
+ << sdd.count.size() << ")" << endl;
+ continue;
+ }
+
+ // save it in the map
+ SDmap[sdid] = sdd;
+
+ if(CI.Verbose) oflog << endl;
+
+ } // end loop over raw buffered data common to both sites
+
+ // write out a summary of single differences
+ oflog << "Single differences summary :" << endl;
+ for(k=1,kt=SDmap.begin(); kt != SDmap.end(); kt++,k++) {
+ oflog << " " << setw(2) << k << " " << kt->first
+ << " " << setw(5) << kt->second.count.size()
+ << " " << setw(5) << kt->second.count.at(0)
+ << " - " << setw(5) << kt->second.count.at(kt->second.count.size()-1);
+ // elevation
+ oflog << " elev: "
+ << fixed << setw(4) << setprecision(1) << kt->second.elevmin
+ << " - " << setw(4) << setprecision(1) << kt->second.elevmax;
+ // gaps - (count : number of pts)
+ for(i=0; i<kt->second.count.size()-1; i++) {
+ j = kt->second.count.at(i+1) - kt->second.count.at(i);
+ if(j > 1)
+ oflog << " (" << kt->second.count.at(i)+1 << ":" << j-1 << ")";
+ }
+ oflog << endl;
+ }
+
+ if(SDmap.size() == 0) {
+ oflog << "Returning error code -1 from TTComputeSingleDifferences()" << endl;
+ return -1;
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// preprocess the segment list - get first and last counts
+int TimeTableAlgorithm(list<TTSegment>& TTS, list<TTSegment>& TTab)
+{
+try {
+ bool keep;
+ int i,beg,end;
+ int begcount,endcount;
+ list<TTSegment>::iterator ttit,ttjt;
+ typedef pair<int,int> seg;
+ list<seg> Segs;
+ list<seg>::iterator lit,ljt;
+
+ // 0 sort list in order of decreasing metric()
+ // 0.5 delete very small segments
+ // 0.6 run through the list, finding the smallest begin, and largest end, counts;
+ // call these the begin and end counts.
+ // 1. run through the sorted list, starting at largest metric(), and pick out
+ // first segments which have the begin and/or end counts; add these to TTab
+ // and erase from TTS.
+ // 2. run through TTS again, starting at the largest metric(); if a segment
+ // includes some counts that have not been covered before, than add this
+ // to TTab and erase from TTS. Quit when either the entire range from
+ // begcount to endcount is covered, a given minimum metric() is reached,
+ // or when the end of TTS is reached.
+ // 3. if gaps remain in the coverage, these are real gaps in the data and
+ // the estimation will have to reset.
+ // 4. sort TTab in increasing order. Run through TTab looking for
+ // segments which can be removed without generating gaps; remove these.
+
+ // 0. sort in reverse order (largest metric() first)
+ // [ list has its own sort sort(TTS.rbegin(),TTS.rend()); ]
+ TTS.sort(decreasingMetricSort);
+
+ // 0.5 delete very small segments and output the sorted list
+ // 0.6 find begcount and endcount (after deletion)
+ begcount = endcount = -1;
+ oflog << "Here is the sorted list of segments:" << endl;
+ for(i=1,ttit=TTS.begin(); ttit != TTS.end(); i++) {
+ oflog << " " << setw(4) << i << *ttit;
+ if(ttit->length < 10) {
+ oflog << " -- delete this segment: too small";
+ ttit = TTS.erase(ttit); // ttit now points to next seg
+ }
+ else {
+ if(begcount < 0 || ttit->start < begcount)
+ begcount = ttit->start;
+ if(endcount < 0 || ttit->end > endcount)
+ endcount = ttit->end;
+ ttit++;
+ }
+ oflog << endl;
+ }
+ oflog << "End the sorted list; limits : " << begcount << " - " << endcount << endl;
+
+ for(ttit=TTS.begin(); ttit != TTS.end(); ttit++) {
+ if(ttit->length < 10) {
+ }
+ }
+
+ // 1.find the begin point
+ for(ttit=TTS.begin(); ttit != TTS.end(); ttit++) {
+ if(ttit->start == begcount) {
+ oflog << "Found the begin time: " << *ttit << endl;
+ TTab.push_back(*ttit);
+ beg = ttit->end;
+ TTS.erase(ttit);
+ break;
+ }
+ }
+
+ if(beg == endcount) {
+ // one segment covers it all - done!
+ oflog << "One segment covers it all!" << endl;
+ end = endcount;
+ }
+ else {
+ // find the end point
+ for(ttit=TTS.begin(); ttit != TTS.end(); ttit++) {
+ if(ttit->end == endcount) {
+ oflog << "Found the end time: " << *ttit << endl;
+ TTab.push_back(*ttit);
+ end = ttit->start;
+ TTS.erase(ttit);
+ break;
+ }
+ }
+
+ if(TTab.size() != 2) {
+ // error, we didn't find the beg and end -- throw?
+ return -2;
+ }
+ }
+
+ // start list of segs with the ones that contain endpoints
+ ttit = TTab.begin();
+ Segs.push_back(make_pair(ttit->start,ttit->end));
+ ttit++;
+ if(ttit != TTab.end())
+ Segs.push_back(make_pair(ttit->start,ttit->end));
+
+ if(beg >= end) { // two segments cover it all
+ if(Segs.size() > 1) { // TD unsure if the logic is wrong here...
+ ljt = lit = Segs.begin();
+ ljt++;
+ lit->second = ljt->second;
+ if(CI.Debug) oflog << "Two segments cover it all: erase seg ("
+ << ljt->first << "-" << ljt->second << ")" << endl;
+ Segs.erase(ljt);
+ }
+ }
+ else {
+ // 2.
+ // start with
+ // |======1st Seg======| gap |=====last Seg======|
+ //
+ // in general, new segs can be added, so Segs looks like this:
+ // |===1st Seg===| gap |===2nd Seg===| gap |===last Seg===|
+ //
+ // consider 8 cases of new segments from TTS:
+ // 1. |--------------| covers end of seg
+ // 2. |-------| lies entirely w/in gap
+ // 3. |--------| covers beg of seg
+ // 4. |--------------------| covers entire gap
+ // 5. |----------------------| covers entire seg
+ // 6. covers seg and gap |-------------------------------------|
+ // 7. |-------------------------------------| covers gap and seg
+ // 8. |-----| lies entirely w/in seg
+ //
+ // Here is the algorithm:
+ // for each new segment extending from b to e
+ // for each i in list of segments in list (extending bi to ei) {
+ // if(b > ei) skip to the next i
+ // if(e > ei) { // b <= ei and e > ei
+ // mod seg i so that ei -> e // case 1,4,7
+ // if(b < bi) mod seg i so that bi -> b // case 5,6
+ // while (e >= bj) where j > i,
+ // merge segments i and j and delete j // case 4,6,7
+ // keep this segment
+ // }
+ // else { // b <= ei and e <= ei
+ // if(e >= bi) {
+ // if(b < bi) {
+ // mod segment i so bi -> b // case 3
+ // keep this segment
+ // }
+ // //else { ignore this segment } // case 8
+ // }
+ // else {
+ // make a new segment (b,e),
+ // and insert it before segment i // case 2
+ // keep this segment
+ // }
+ // }
+ // } // end of loop over segments i
+ // if(keep) add this segment to the time table
+ //
+ // loop over all segments, in decreasing order of metric()
+ for(i=1,ttit=TTS.begin(); ttit != TTS.end(); i++,ttit++) { // i temp
+
+ if(CI.Debug) { // temp
+ oflog << "Here is the current time table (" << TTab.size() << ")"
+ << endl;
+ for(ttjt=TTab.begin(); ttjt != TTab.end(); ttjt++)
+ oflog << " " << *ttjt << endl;
+ }
+
+ if(CI.Debug) {
+ oflog << "and here is the seg list";
+ for(lit=Segs.begin(); lit != Segs.end(); lit++)
+ oflog << " (" << lit->first << "-" << lit->second << ")";
+ oflog << endl;
+ }
+
+ // done if one segment covers all
+ lit = Segs.begin();
+ if(Segs.size() == 1 && lit->first == begcount && lit->second == endcount)
+ break;
+
+ // keep this? you don't want metric to become very small -> failure
+ if(ttit->metric() <= 100.0) break; // TD input param
+
+ beg = ttit->start;
+ end = ttit->end;
+ if(CI.Debug) oflog << "consider new segment ("
+ << beg << "-" << end << ")" << endl;
+
+ // loop over the segs
+ keep = false;
+ lit = Segs.begin();
+ while(lit != Segs.end()) {
+ if(beg > lit->second) {
+ if(CI.Debug) oflog << " skip seg ("
+ << lit->first << "-" << lit->second << ")" << endl;
+ lit++;
+ continue;
+ }
+ if(end > lit->second) {
+ if(CI.Debug) oflog << " mod 1 seg ("
+ << lit->first << "-" << lit->second << ")";
+ lit->second = end;
+ if(beg < lit->first) lit->first=beg;
+ if(CI.Debug) oflog << " to ("
+ << lit->first << "-" << lit->second << ")" << endl;
+ ljt = lit;
+ while(++ljt != Segs.end() && end >= ljt->first) {
+ // merge i and j
+ if(CI.Debug) oflog << " merge segs ("
+ << lit->first << "-" << lit->second << ") and ("
+ << ljt->first << "-" << ljt->second << ")";
+ lit->second = ljt->second;
+ if(CI.Debug) oflog << " and erase seg ("
+ << ljt->first << "-" << ljt->second << ")" << endl;
+ Segs.erase(ljt);
+ ljt = lit;
+ }
+ keep = true;
+ }
+ else {
+ if(end >= lit->first) {
+ if(beg < lit->first) {
+ if(CI.Debug) oflog << " mod 2 seg ("
+ << lit->first << "-" << lit->second << ")";
+ lit->first = beg;
+ keep = true;
+ if(CI.Debug) oflog << " to ("
+ << lit->first << "-" << lit->second << ")" << endl;
+ }
+ //else { keep=false; ignore -- this seg has nothing new }
+ }
+ else {
+ seg newseg(beg,end);
+ if(CI.Debug) oflog << " add seg ("
+ << newseg.first << "-" << newseg.second << ")" << endl;
+ Segs.insert(lit,newseg);
+ keep = true;
+ }
+ }
+ break;
+ } // end while loop over segs
+
+ if(keep) {
+ TTab.push_back(*ttit);
+ TTab.sort(startSort); // temp
+ }
+
+ if(CI.Debug) if(i > 100) break; // temp
+
+ } // end for loop over segments TTS
+
+ } // end if(initial gap is non-zero)
+
+ // 3. are there gaps?
+ if(Segs.size() != 1) {
+ oflog << "There are real gaps in the data; segments with data:" << endl;
+ for(lit=Segs.begin(); lit != Segs.end(); lit++)
+ oflog << " (" << lit->first << "-" << lit->second << ")";
+ oflog << endl;
+ }
+ else oflog << "There are no gaps in the data" << endl;
+
+ // sort the timetable
+ TTab.sort(startSort);
+
+ // TD 4. edit TTab, removing segments that do not create gaps
+
+ // decide on actual transition times
+ for(ttit=TTab.begin(); ttit != TTab.end(); ttit++) {
+ if(CI.Verbose) oflog << " " << *ttit << endl;
+
+ // compute the count at which to switch
+ if(ttit == TTab.begin()) {
+ ttit->first = ttit->start; // first = start for first segment
+ ttjt = ttit; // initialize ttjt
+ }
+ else {
+ // switch at the mid-point of overlap
+ ttit->first = (ttjt->end + ttit->start)/2;
+ }
+ ttit->last = ttit->end; // change later, except for last segment
+ if(ttit != TTab.begin()) {
+ ttjt->last = ttit->first; // count at the switch point
+ ttjt++; // ttjt lags behind ttit by 1
+ }
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void TTSegment::findElev(void)
+{
+ int i,k;
+ double elevi;
+ RawData& rd=Stations[site1].RawDataBuffers[sat];
+ minelev = 99.0;
+ maxelev = -1.0;
+ k = index(rd.count,start);
+ if(k == -1) return;
+ for(i=k; i<k+length; i++) {
+ elevi = RotatedAntennaElevation(rd.elev.at(i),rd.az.at(i));
+ if(elevi > maxelev) maxelev = elevi;
+ if(elevi < minelev) minelev = elevi;
+ }
+}
+
+//------------------------------------------------------------------------------------
+// friends of TTSegment, defined there
+bool startSort(const TTSegment& left, const TTSegment& right)
+{ return (left.start < right.start); }
+
+bool increasingMetricSort(const TTSegment& left, const TTSegment& right)
+{ return (left.metric() < right.metric()); }
+
+bool decreasingMetricSort(const TTSegment& left, const TTSegment& right)
+{ return (left.metric() > right.metric()); }
+
+//------------------------------------------------------------------------------------
+ostream& operator<<(ostream& os, const TTSegment& t)
+{
+try {
+ os << " " << t.site1
+ << " " << t.site2
+ << " " << t.sat
+ << " " << setw(5) << t.length
+ << " " << setw(5) << t.start
+ << " - " << setw(5) << t.end
+ //<< " (" << t.first << "-" << t.last << ")"
+ << " " << fixed << setw(4) << setprecision(1) << t.minelev
+ << " - " << fixed << setw(4) << setprecision(1) << t.maxelev
+ << " " << setw(7) << setprecision(2) << t.metric();
+ return os;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/relposition/constants.hpp b/dev/apps/geomatics/relposition/constants.hpp
new file mode 100644
index 0000000..99df8e3
--- /dev/null
+++ b/dev/apps/geomatics/relposition/constants.hpp
@@ -0,0 +1,88 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file constants.hpp
+ * Include file for miscellaneous constants for program DDBase.
+ */
+
+#ifndef DDBASE_CONSTANTS_INCLUDE
+#define DDBASE_CONSTANTS_INCLUDE
+
+//------------------------------------------------------------------------------------
+// GPSTk
+#include "icd_200_constants.hpp"
+
+//------------------------------------------------------------------------------------
+const double CFF=gpstk::C_GPS_M/gpstk::OSC_FREQ;
+const double F1=gpstk::L1_MULT; // 154.0;
+const double F2=gpstk::L2_MULT; // 120.0;
+const double f12=F1*F1;
+const double f22=F2*F2;
+/// wavelength L1
+const double wl1=CFF/F1;
+/// wavelength L2
+const double wl2=CFF/F2;
+/// Multiplier for wide lane range(m) : WLR = wl1r * P1 + wl2r * P2
+const double wl1r=F1/(F1+F2);
+const double wl2r=F2/(F1+F2);
+/// Multiplier for wide lane phase(m) : WLP = wl1p * L1 + wl2p * L2 (L1,L2 in meters)
+const double wl1p=F1/(F1-F2);
+const double wl2p=-F2/(F1-F2);
+/// Multiplier for iono-free range(m) : IFR = if1r * P1 + if2r * P2
+const double if1r=f12/(f12-f22);
+const double if2r=-f22/(f12-f22);
+/// Multiplier for iono-free phase(m) : IFP = if1p * L1 + if2p * L2 (L1,L2 in meters)
+const double if1p=f12/(f12-f22);
+const double if2p=-f22/(f12-f22);
+/// Multiplier for geometry-free range(m) : GFR = gf1p * P1 + ff2p * P2
+const double gf1r=-1;
+const double gf2r=1;
+/// Multiplier for geo-free phase(m) : GFP = gf1p * L1 + gf2p * L2 (L1,L2 in meters)
+const double gf1p=wl1;
+const double gf2p=-wl2;
+
+const double beta=f12/f22;
+const double alpha=f12/f22 - 1.0;
+/// Frequency at L1 (Hz)
+const double FL1=F1*10.23e6; // Hz
+/// Conversion factor: TEC Units per meter
+const double TECUperM=FL1*FL1*1.e-16/(alpha*40.28);
+
+#endif
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/relposition/ddmerge.cpp b/dev/apps/geomatics/relposition/ddmerge.cpp
new file mode 100644
index 0000000..dfceae2
--- /dev/null
+++ b/dev/apps/geomatics/relposition/ddmerge.cpp
@@ -0,0 +1,299 @@
+#pragma ident "$Id: $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file ddmerge.cpp
+ * merge two DDBase output data files: DDR and RAW, and write a file just like the
+ * input DDR file but with Az and El appended to each line for each site/sat combo.
+ */
+
+//------------------------------------------------------------------------------------
+// system includes
+#include <time.h>
+#include <iostream>
+#include <fstream>
+#include <iomanip>
+#include <string>
+#include <vector>
+#include <map>
+
+// GPSTk
+#include "DayTime.hpp"
+#include "StringUtils.hpp"
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------------
+string Version("1.0 7/5/06");
+ifstream *filepointer;
+const unsigned BUFF_SIZE=1024;
+char buffer[BUFF_SIZE];
+
+//------------------------------------------------------------------------------------
+class Chunk {
+public:
+ //string id; // 'site sat'
+ string line; // current line
+ long filepos; // current filepos = start of next line
+ int fpindex; // index in filepointer array
+ bool status; // true if good
+ string Update(void) { // return current line after updating to next
+ string tmp;
+ if(!status) return tmp;
+ try {
+ filepointer[fpindex].getline(buffer,BUFF_SIZE);
+ }
+ catch(exception& e) {
+ cout << "std exception: " << e.what() << endl;
+ status = false;
+ }
+ if(filepointer[fpindex].bad()) {
+ cout << "Read error" << endl;
+ status = false;
+ }
+ if(filepointer[fpindex].eof()) {
+ cout << "Reached EOF" << endl;
+ status = false;
+ }
+ if(status) {
+ tmp = line;
+ line = string(buffer);
+ StringUtils::stripTrailing(line,'\r');
+ filepos = filepointer[fpindex].tellg();
+ }
+ //else filepointer[fpindex].close();
+
+ return tmp;
+ }
+ string find(int n) { // update until count in line matches n, return line
+ int count;
+ string tmp;
+ do {
+ //if(!status) break;
+ tmp = StringUtils::word(line,5); // TD will be 4 if MJD is output
+ count = StringUtils::asInt(tmp);
+ if(count >= n) break;
+ Update();
+ } while(1);
+ return line;
+ }
+};
+map<string,Chunk> Chunklist; // key is 'site sat'
+
+//------------------------------------------------------------------------------------
+int main(int argc, char **argv)
+{
+try {
+ int i,n;
+ string line,line2,id,rawfile,ddrfile,outfile,site1,site2,sat1,sat2;
+ ifstream instr;
+ ofstream outstr;
+ DayTime CurrEpoch;
+
+ clock_t totaltime = clock();
+ // print title and current time to screen
+ CurrEpoch.setLocalTime();
+ cout << "ddmerge version " << Version << " run " << CurrEpoch << endl;
+
+ if(argc < 4) {
+ cout << "Usage: ddmerge <RAWfile> <DDRfile> <output_file>" << endl;
+ cout << " where the two input file are output of DDBase" << endl;
+ cout << " ddmerge will take elevation and azimuth data from the RAW" << endl;
+ cout << " file and append it to the appropriate line in the DDR file" << endl;
+ cout << " and output to the output file" << endl;
+ return -1;
+ }
+ rawfile = string(argv[1]);
+ ddrfile = string(argv[2]);
+ outfile = string(argv[3]);
+
+ // this must be binary or you get the wrong answers.
+ instr.open(rawfile.c_str(),ios::in|ios::binary);
+ if(!instr) {
+ cout << "Failed to open input file " << rawfile << endl;
+ return -1;
+ }
+ cout << "Opened input file " << rawfile << endl;
+ instr.exceptions(fstream::failbit);
+
+ n = 0;
+ while(1) {
+ try {
+ //instr.read((char *)p2, 1); // get one char
+ instr.getline(buffer,BUFF_SIZE);
+ }
+ catch(exception& e) {}
+ if(instr.bad()) cout << "Read error" << endl;
+ if(instr.eof()) { cout << "Reached EOF" << endl; break; }
+
+ n++;
+ line = string(buffer);
+ StringUtils::stripTrailing(line,'\r');
+ if(StringUtils::word(line,0) == "RAW") {
+ id = StringUtils::word(line,1);
+ if(id != "site") {
+ id += " " + StringUtils::word(line,2);
+ if(Chunklist.find(id) == Chunklist.end()) {
+ Chunk newchunk;
+ newchunk.filepos = instr.tellg();
+ newchunk.line = line;
+ Chunklist[id] = newchunk;
+ }
+ }
+ }
+ }
+
+ instr.clear();
+ instr.close();
+
+ // you must use pointers to the streams because storing a stream inside an object
+ // that goes into an STL container leads to weird errors...try it.
+ filepointer = new ifstream[Chunklist.size()];
+ if(!filepointer) { cout << "failed to allocate filepointers" << endl; return -1; }
+
+ map<string,Chunk>::iterator it;
+ for(i=0,it=Chunklist.begin(); it != Chunklist.end(); i++,it++) {
+ filepointer[i].open(rawfile.c_str(), ios::in|ios::binary);
+ if(!filepointer[i]) {
+ cout << "Failed to open chunk " << i << endl;
+ break;
+ }
+ filepointer[i].exceptions(fstream::failbit);
+ it->second.fpindex = i;
+ filepointer[i].seekg(it->second.filepos);
+ }
+
+ outstr.open(outfile.c_str(), ios::out);
+ if(!outstr) {
+ cout << "Failed to open output file " << outfile << endl;
+ return -1;
+ }
+ cout << "Opened output file " << outfile << endl;
+ outstr.exceptions(fstream::failbit);
+
+ //for(it=Chunklist.begin(); it != Chunklist.end(); it++) {
+ // if(! it->second.status) continue;
+ // outstr << "Chunk " << it->first << endl;
+ // outstr << it->second.Update() << endl;
+ // outstr << it->second.Update() << endl;
+ // outstr << endl;
+ //}
+
+ instr.open(ddrfile.c_str());
+ if(!instr) {
+ cout << "Failed to open input file " << ddrfile << endl;
+ return -1;
+ }
+ cout << "Opened input file " << ddrfile << endl;
+ instr.exceptions(fstream::failbit);
+
+ n = 0;
+ while(1) {
+ try { instr.getline(buffer,BUFF_SIZE); }
+ catch(exception& e) {} //cout << "exception: " << e.what() << endl;
+ if(instr.bad()) { cout << "Read error" << endl; break; }
+ if(instr.eof()) { cout << "Reached EOF" << endl; break; }
+
+ n++;
+ line = string(buffer);
+ StringUtils::stripTrailing(line,'\r');
+ if(StringUtils::word(line,0) == "RES") {
+ site1 = StringUtils::word(line,1);
+ if(site1 != "site") {
+ site2 = StringUtils::word(line,2);
+ sat1 = StringUtils::word(line,3);
+ sat2 = StringUtils::word(line,4);
+ id = StringUtils::word(line,7); // TD different for MJD
+ n = StringUtils::asInt(id);
+ outstr << line; // endl below
+ // find the corresponding lines in the chunks
+ id = site1 + " " + sat1;
+ line2 = Chunklist[id].find(n);
+ if(Chunklist[id].status) outstr
+ << " " << StringUtils::rightJustify(StringUtils::word(line2,11),5)
+ << " " << StringUtils::rightJustify(StringUtils::word(line2,12),6);
+ id = site1 + " " + sat2;
+ line2 = Chunklist[id].find(n);
+ if(Chunklist[id].status) outstr
+ << " " << StringUtils::rightJustify(StringUtils::word(line2,11),5)
+ << " " << StringUtils::rightJustify(StringUtils::word(line2,12),6);
+ id = site2 + " " + sat1;
+ line2 = Chunklist[id].find(n);
+ if(Chunklist[id].status) outstr
+ << " " << StringUtils::rightJustify(StringUtils::word(line2,11),5)
+ << " " << StringUtils::rightJustify(StringUtils::word(line2,12),6);
+ id = site2 + " " + sat2;
+ line2 = Chunklist[id].find(n);
+ if(Chunklist[id].status) outstr
+ << " " << StringUtils::rightJustify(StringUtils::word(line2,11),5)
+ << " " << StringUtils::rightJustify(StringUtils::word(line2,12),6);
+ }
+ else outstr
+ << line << " EL11 AZ11 EL12 AZ12 EL21 AZ21 EL22 AZ22";
+ }
+ else outstr << line << endl
+ << "# ddmerge (v." << Version << ") " << rawfile
+ << " " << ddrfile << " " << outfile << " Run " << CurrEpoch;
+ outstr << endl;
+ }
+
+ instr.close();
+ delete[] filepointer;
+
+ // compute run time
+ totaltime = clock()-totaltime;
+ cout << "ddmerge timing: " << fixed << setprecision(3)
+ << double(totaltime)/double(CLOCKS_PER_SEC) << " seconds." << endl;
+
+ return 0;
+}
+catch(Exception& e) {
+ cout << "GPSTk Exception : " << e;
+}
+catch (...) {
+ cout << "Unknown error in ddmerge. Abort." << endl;
+}
+
+ // close files
+ return -1;
+} // end main()
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/geomatics/relposition/doc/CodePlan.pdf b/dev/apps/geomatics/relposition/doc/CodePlan.pdf
new file mode 100644
index 0000000..1c6c694
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diff --git a/dev/apps/geomatics/relposition/doc/DDBaseCmdLineRef.pdf b/dev/apps/geomatics/relposition/doc/DDBaseCmdLineRef.pdf
new file mode 100644
index 0000000..d93f61f
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diff --git a/dev/apps/geomatics/relposition/doc/DDBaseDoc.pdf b/dev/apps/geomatics/relposition/doc/DDBaseDoc.pdf
new file mode 100644
index 0000000..4a08674
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diff --git a/dev/apps/geomatics/relposition/doc/SimpleBasePlan.pdf b/dev/apps/geomatics/relposition/doc/SimpleBasePlan.pdf
new file mode 100644
index 0000000..59e6138
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diff --git a/dev/apps/geomatics/robust/Jamfile b/dev/apps/geomatics/robust/Jamfile
new file mode 100644
index 0000000..8bc044b
--- /dev/null
+++ b/dev/apps/geomatics/robust/Jamfile
@@ -0,0 +1,15 @@
+#
+# $Id: Jamfile 71 2006-08-01 18:46:39Z ehagen $
+#
+
+SubDir TOP apps geomatics robust ;
+
+SEARCH_SOURCE += $(TOP)/src ;
+SEARCH_SOURCE += $(TOP)/apps/geomatics/lib ;
+
+# must have the prefix here ... why, and why not with others?
+LinkLibraries rstats qtest : $(LIBPREFIX)geomatic ;
+# gpstk must be last
+GPSLinkLibraries rstats : gpstk ;
+
+GPSMain rstats : rstats.cpp ;
diff --git a/dev/apps/geomatics/robust/Makefile.am b/dev/apps/geomatics/robust/Makefile.am
new file mode 100644
index 0000000..eba846d
--- /dev/null
+++ b/dev/apps/geomatics/robust/Makefile.am
@@ -0,0 +1,7 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../../src -I$(srcdir)/../lib
+LDADD = ../lib/libgeomatic.la ../../../src/libgpstk.la
+
+bin_PROGRAMS = rstats
+
+rstats_SOURCES = rstats.cpp
diff --git a/dev/apps/geomatics/robust/rstats.cpp b/dev/apps/geomatics/robust/rstats.cpp
new file mode 100644
index 0000000..2c20997
--- /dev/null
+++ b/dev/apps/geomatics/robust/rstats.cpp
@@ -0,0 +1,344 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file rstats.cpp
+ * Read the data in one column of a file, and output robust statistics,
+ * two-sample statistics, a stem-and-leaf plot, a quantile-quantile plot,
+ * and a robust polynomial fit.
+ */
+
+#include <iostream>
+
+#include <iostream>
+#include <iomanip>
+#include <fstream>
+#include <string>
+#include <vector>
+
+#include "StringUtils.hpp"
+#include "Stats.hpp"
+#include "PolyFit.hpp"
+
+#include "RobustStats.hpp"
+
+using namespace std;
+using namespace gpstk;
+using namespace StringUtils;
+
+//------------------------------------------------------------------------------------
+int BadOption(string& arg) {
+ cout << "Error: " << arg << " requires argument. Abort.\n";
+ return -1;
+}
+//------------------------------------------------------------------------------------
+// TD add option to filter on data value (string)
+int main(int argc, char **argv)
+{
+ try {
+ bool help,nostats=false,qplot=false;
+ int i,j,col=1,plot=0,xcol=-1,fit=-1;
+ string filename;
+ ostream *pout;
+
+ help = (argc <= 1);
+ for(i=1; i<argc; i++) {
+ if(argv[i][0] == '-') { // && argv[i][1] == '-')
+ string arg(argv[i]);
+ if(arg == string("--help") || arg == string("-h"))
+ help = true;
+ else if(arg == string("--plot") || arg == string("-p"))
+ plot = 1;
+ else if(arg == string("--qplot") || arg == string("-q"))
+ qplot = true;
+ else if(arg == string("--nostats") || arg == string("-n"))
+ nostats = true;
+ else if(arg == string("--col") || arg == string("-c")) {
+ if(i==argc-1) return BadOption(arg);
+ col = atoi(argv[++i]);
+ }
+ else if(arg == string("--xcol") || arg == string("-x")) {
+ if(i==argc-1) return BadOption(arg);
+ xcol = atoi(argv[++i]);
+ }
+ else if(arg == string("--fit") || arg == string("-f")) {
+ if(i==argc-1) return BadOption(arg);
+ fit = atoi(argv[++i]);
+ }
+ else {
+ cout << "Ignore unknown option: " << arg << endl;
+ }
+ }
+ else {
+ filename = string(argv[i]);
+ }
+ }
+
+ if(help) {
+ cout << "Usage: rstats <file> --col <col> --plot "
+ << "--qplot --xcol <xcol> --fit <N> --nostats\n";
+ cout << " Compute standard and robust statistics on numbers "
+ << "in column <col> (default 1)\n"
+ << " of file <file> (or redirect stdin).\n";
+ cout << " If option '--plot' is present, also show a stem-and-leaf plot\n";
+ cout << " Use option --qplot to generate data for a quantile-quantile"
+ << " plot\n" << " (data written to file qplot.out)\n";
+ cout << " Use option --xcol to specify another column, "
+ << "and output 2-sample stats\n";
+ cout << " Use option --fit to specify degree of robust polynomial fit "
+ << "to data,\n"
+ << " using xcol as independent variable,"
+ << " output in rstats.out\n"
+ << " (--nostats to supress stats output to screen)\n";
+ return -1;
+ }
+
+ if(fit > -1 && xcol == -1) {
+ cout << "Error: --fit requires --xcol <xcol>\n";
+ return -1;
+ }
+
+ istream *pin; // do it this way for Windows...
+ if(!filename.empty()) {
+ pin = new ifstream(filename.c_str());
+ if(pin->fail()) {
+ cout << "Could not open file " << filename << " .. abort.\n";
+ return -2;
+ }
+ }
+ else pin = &cin;
+
+ // 1-line message to screen
+ cout << "rstats for ";
+ if(pin == &cin) cout << "data from stdin";
+ else cout << "file: " << filename;
+ cout << ", stats (col " << col << ")";
+ if(xcol > -1) {
+ cout << " and 2-sample stats (x-col " << xcol << ")";
+ if(fit > -1) {
+ cout << ", fit (" << fit << ")";
+ if(nostats) cout << " (but no stats)";
+ }
+ }
+ cout << endl;
+
+ const int BUFF_SIZE=1024;
+ char buffer[BUFF_SIZE];
+ int nd,nxd;
+ double d,xd;
+ string stuff;
+ vector<double> data,wts,xdata;
+ Stats<double> S;
+ TwoSampleStats<double> TSS;
+
+ nd = nxd = 0;
+ while(pin->getline(buffer,BUFF_SIZE)) {
+ //if(buffer[0] == '#') continue;
+ string line = buffer;
+ stripTrailing(line,'\r');
+ // remove leading whitespace
+ line = stripLeading(line,string(" "));
+ // skip comments
+ if(line[0] == '#') continue;
+ //check that column col is there...
+ if(numWords(line) < col) { nd++; continue; }
+ // pull it out
+ stuff = word(line,col-1);
+ // is it a number?
+ if(!(isDecimalString(stuff))) { nd++; continue; }
+ // convert it to double and save it
+ d = asDouble(stuff);
+ data.push_back(d);
+ S.Add(d);
+
+ // do the same for xcol
+ if(xcol > -1) {
+ if(numWords(line) < xcol)
+ { data.pop_back(); nxd++; continue; }
+ stuff = word(line,xcol-1);
+ if(!(isDecimalString(stuff)))
+ { data.pop_back(); nxd++; continue; }
+ xd = asDouble(stuff);
+ TSS.Add(xd, d);
+ xdata.push_back(xd);
+ }
+ }
+
+ if(pin != &cin) {
+ ((ifstream *)pin)->close();
+ delete pin;
+ }
+
+ // check that input was good
+ if(data.size() == 0) {
+ cout << "Abort: no data.";
+ if(nd > 0) cout << " [data(col) not found on " << nd << " lines]";
+ if(nxd > 0) cout << " [data(xcol) not found on " << nxd << " lines]";
+ cout << endl;
+ return -3;
+ }
+ if(nd > data.size()/2)
+ cout << "Warning: data(col) not found on " << nd << " lines" << endl;
+ if(nxd > xdata.size()/2)
+ cout << "Warning: data(xcol) not found on " << nxd << " lines" << endl;
+
+ //cout << "Collected " << data.size() << " data.\n" << fixed;
+ //for(i=0; i<data.size(); i++) {
+ // cout << " " << setprecision(3) << data[i];
+ // if(xcol > -1) cout << " : " << xdata[i] << " ";
+ // if(!((i+1)%(xcol > -1 ? 4 : 10))) cout << endl;
+ //}
+
+ // process fit
+ if(fit > -1) {
+ vector<double> savedata(data);
+ double *coef,eval,tt,t0;
+ wts.resize(data.size());
+
+ coef = new double[fit];
+ if(!coef) {
+ cout << "Abort: allocate coefficients failed.\n";
+ return -4;
+ }
+
+ int iret = Robust::RobustPolyFit(&data[0], &xdata[0], data.size(),
+ fit, &coef[0], &wts[0]);
+
+ cout << "RobustPolyFit returns " << iret << endl;
+ if(iret == 0) {
+ cout << " Coefficients:" << fixed << setprecision(3);
+ for(i=0; i<fit; i++) cout << " " << coef[i];
+ cout << endl;
+
+ // output to file rstats.out
+ pout = new ofstream("rstats.out");
+ if(pout->fail()) {
+ cout << "Unable to open file rstats.out - output to screen\n";
+ pout = &cout;
+ }
+ else {
+ cout << "Output polynomial fit to file rstats.out\n";
+ cout << " try `plot rstats.out -x 1 -y 2,data,points -y 3,fit,lines"
+ << " -y 4,residuals -y2 5,weights --y2range -0.1:1.1 "
+ << "-t \"Robust fit (degree " << fit
+ << "), output of rstats for file " << filename << "\"`" << endl;
+ }
+ t0 = xdata[0];
+ *pout << "#Xdata, Data, fit, resid, weight (" << data.size() << " pts):"
+ << fixed << setprecision(3) << endl;
+ for(i=0; i<data.size(); i++) {
+ eval = savedata[0] + coef[0];
+ tt = xdata[i]-t0;
+ for(j=1; j<fit; j++) { eval += coef[j]*tt; tt *= (xdata[i]-t0); }
+ *pout << fixed << setprecision(3)
+ << xdata[i] << " " << savedata[i]
+ << " " << eval << " " << data[i]
+ << scientific << " " << wts[i] << endl;
+ }
+ if(pout != &cout) ((ofstream *)pout)->close();
+ //QSort(&wts[0],wts.size());
+ //Robust::StemLeafPlot(cout, &wts[0], wts.size(), "weights");
+ }
+ cout << endl;
+ delete[] coef;
+ if(nostats) return 0;
+ }
+
+ double median,mad,mest,Q1,Q3;
+ QSort(&data[0],data.size());
+ Robust::Quartiles(&data[0],data.size(),Q1,Q3);
+ mad = Robust::MedianAbsoluteDeviation(&data[0],data.size(),median);
+ wts = data;
+ mest = Robust::MEstimate(&data[0], data.size(), median, mad, &wts[0]);
+ cout << "Conventional statistics:\n"
+ << fixed << setprecision(8) << S << endl;
+
+ if(xcol > -1)
+ cout << "Two-sample statistics:\n" << setprecision(8) << TSS << endl;
+
+ cout << "Robust statistics:\n";
+ cout << " Number = " << data.size() << endl;
+ cout << " Quartiles = " << setw(11) << setprecision(8) << Q1
+ << " " << setw(11) << setprecision(8) << Q3 << endl;
+ cout << " Median = " << setw(11) << setprecision(8) << median << endl;
+ cout << " MEstimate = " << setw(11) << setprecision(8) << mest << endl;
+ cout << " MAD = " << setw(11) << setprecision(8) << mad << endl;
+
+ if(plot) {
+ try {
+ Robust::StemLeafPlot(cout, &data[0], data.size(),
+ string("Robust stats for column ") + asString(col) +
+ (filename.empty() ? string(" of input")
+ : string(" of file ") + filename)
+ );
+ }
+ catch(Exception& e) {
+ if(e.getText(0) == string("Invalid input") ||
+ e.getText(0) == string("Array has zero range")) {
+ cout << "(No stem and leaf plot; data is trivial)\n";
+ return 0;
+ }
+ //if(e.getText(0) == string("Array is not sorted"))
+ GPSTK_RETHROW(e);
+ }
+ }
+
+ if(qplot) {
+ xdata.resize(data.size());
+ Robust::QuantilePlot(&data[0],data.size(),&xdata[0]);
+ // output to file rstats.out
+ pout = new ofstream("qplot.out");
+ if(pout->fail()) {
+ cout << "Unable to open file qplot.out - output to screen\n";
+ pout = &cout;
+ }
+ else cout << "Output q-q data to file qplot.out (plot column 2 vs 1)\n";
+
+ TSS.Reset(); // use TSS to get slope and intercept of q-q fit to line
+ for(i=0; i<data.size(); i++) TSS.Add(xdata[i],data[i]);
+ for(i=0; i<data.size(); i++)
+ *pout << xdata[i] << " " << data[i]
+ << " " << TSS.Intercept() + TSS.Slope()*xdata[i]
+ << endl;
+
+ if(pout != &cout) ((ofstream *)pout)->close();
+
+ cout << "Q-Q data fit to line yields y-intercept (mean) "
+ << setprecision(3) << TSS.Intercept()
+ << " and slope (std.dev.) " << TSS.Slope() << endl
+ << " try `plot qplot.out -x 1 -y 2,data -y 3,line,lines"
+ << " -xl quantile -yl data -t \"Quantile plot\"`"
+ << endl;
+ }
+
+ return 0;
+ }
+ catch(Exception& e) {
+ cout << "GPSTk Exception : " << e;
+ }
+ catch (...) {
+ cout << "Unknown error. Abort." << endl;
+ }
+ return -1;
+} // end main()
diff --git a/dev/apps/ionosphere/IonoBias.cpp b/dev/apps/ionosphere/IonoBias.cpp
new file mode 100644
index 0000000..c42b23a
--- /dev/null
+++ b/dev/apps/ionosphere/IonoBias.cpp
@@ -0,0 +1,1666 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file IonoBias.cpp
+ * Program IonoBias will estimate satellite and receiver biases and compute
+ * a simple ionospheric model using least squares and slant TEC values
+ * from multiple stations.
+ */
+
+//------------------------------------------------------------------------------------
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+#include "RinexSatID.hpp"
+#include "CommandOption.hpp"
+#include "CommandOptionWithTimeArg.hpp"
+#include "CommandOptionParser.hpp"
+
+#include "RinexObsData.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsStream.hpp"
+
+#include "Vector.hpp"
+#include "Matrix.hpp"
+
+#include "Position.hpp"
+#include "WGS84Geoid.hpp"
+#include "icd_200_constants.hpp" // for TWO_PI
+#include "geometry.hpp" // for DEG_TO_RAD and RAD_TO_DEG
+
+#include "RinexUtilities.hpp"
+
+#include <iostream>
+#include <time.h>
+#include <string>
+#include <vector>
+#include <map>
+#include <utility> // for pair
+
+using namespace std;
+using namespace gpstk;
+using namespace StringUtils;
+
+//------------------------------------------------------------------------------------
+// TD. Robustness!
+// Check for duplicate file names or site names - this makes it singular
+// Check for unreasonable TEC values - this also can make it singular
+// What is the purpose of max and min longitude?
+// look at the german objections
+// I don't understand co-rotating longitude - perhaps I can see making the sun stand
+// still, but why rotate so middle of each pass is aligned?
+//------------------------------------------------------------------------------------
+// Max PRN
+const int MAXPRN=32;
+// data input from command line
+bool verbose,debug;
+ // log file
+string LogFile;
+ofstream oflog;
+string Title;
+ // output file
+string ATFileName,BiasFileName;
+ofstream fout;
+ios::pos_type current_header_pos;
+ // input path
+string InputPath;
+vector<string> Filenames;
+ // excluded satellites
+vector<RinexSatID> ExSV;
+ // ephemeris
+string NavDir;
+vector<string> NavFiles;
+EphemerisStore *pEph;
+ // obs types needed
+RinexObsHeader::RinexObsType ELot,LAot,LOot,SRot,SSot;
+ // geoid
+WGS84Geoid WGS84;
+ // Start and stop times
+DayTime BegTime,EndTime;
+
+ // processing
+int MinPoints;
+double MinTimeSpan; // TD not implemented
+double MinElevation;
+double MinLatitude,MaxLatitude;
+double MinLongitude,MaxLongitude;
+double FoundMinLat,FoundMinLon,FoundMaxLat,FoundMaxLon;
+string TimeSector;
+double TermOffset;
+double IonoHt;
+ //
+double sunrise,sunset; // times in hours of day
+double begintime,endtime; // "
+ // normalizations
+double MJDNorm,LonNorm;
+ // data that goes into output file headers
+long NgoodStations;
+vector<vector<bool> > EstimationFlag;
+vector<bool> BoolVec;
+ // data per station that goes into AT output file
+int nfile; // current file number (0..Filenames.size()-1)
+long NgoodPoints;
+double TotalSpan; // time in days covered by the file
+string StationName;
+Position StationPosition; // station position in geographic lat,lon,radius
+ // least squares
+bool ComputeSatBiases,DoEstimation,SkipPreproc;
+string Model("linear");
+int NIonoParam,NBiasParam,NTotalParam;
+Vector<double> Sol,InfData;
+Matrix<double> Cov;
+int ndata;
+double MaxLat,MinLat,MaxCRLon,MinCRLon,PM[10];
+vector<pair<string,int> > ComponentIDs;
+map<string,int> mapN;
+map<string,string> mapFilename;
+
+//------------------------------------------------------------------------------------
+// prototypes
+void ConfigureAndDefaults(void) throw(Exception);
+int GetCommandLine(int argc, char **argv) throw(Exception);
+void PreProcessArgs(const char *arg, vector<string>& Args) throw(Exception);
+int Initialize(void) throw(Exception);
+int Process(void) throw(Exception);
+int ProcessHeader(RinexObsStream& ins, string& filename, RinexObsHeader& head)
+ throw(Exception);
+void TimeLimits(Position llr, int doy, string& sector, double& begin, double& end)
+ throw(Exception);
+void SolarPosition(int doy, double hod, double& lat, double& lon) throw(Exception);
+void Sunrise(double lat, double lon, double ht, int doy, double& rise, double& set)
+ throw(Exception);
+int ProcessObs(RinexObsStream& ins, string& filename, RinexObsHeader& head)
+ throw(Exception);
+void WriteATHeader(void) throw(Exception);
+void WriteStationHeader(int npts, string sta_name, Position llr) throw(Exception);
+void ParseLine(string& str, vector<string>& wds) throw(Exception);
+int ReadATandCompute(void) throw(Exception);
+double obliquity(double elevation) throw(Exception);
+//void PartialsMatrix(Matrix<double>& P,int index,double lat,double lon,double obq);
+
+//------------------------------------------------------------------------------------
+// utility routines
+//------------------------------------------------------------------------------------
+// find the index of first occurance of item t (of type T) in vector<T> v;
+// i.e. v[index]=t Return -1 if t is not found.
+template<class T> int index(const std::vector<T> v, const T& t)
+{
+ for(int i=v.size()-1; i>=0; i--) {
+ if(v[i] == t) return i;
+ }
+ return -1;
+}
+
+//------------------------------------------------------------------------------------
+int main(int argc, char **argv)
+{
+try {
+ int iret;
+ clock_t totaltime=clock(); // timer
+ DayTime CurrEpoch;
+
+ BegTime = DayTime::BEGINNING_OF_TIME;
+ EndTime = DayTime::END_OF_TIME;
+
+ // Title description and run time
+ CurrEpoch.setLocalTime();
+ Title = "IonoBias, built on the GPSTK ToolKit, Ver 1.0 6/25/04, Run ";
+ Title += CurrEpoch.printf("%04Y/%02m/%02d %02H:%02M:%02S\n");
+ cout << Title;
+
+ // set configuration and default values
+ ConfigureAndDefaults();
+
+ // define extended types
+ iret = RegisterARLUTExtendedTypes();
+ if(iret) goto quit;
+ iret = RegisterExtendedRinexObsType("SS","Slant TEC (Phase smoothed)","TECU",0x1E);
+ if(iret) goto quit;
+
+ // get command line arguments
+ iret = GetCommandLine(argc, argv);
+ if(iret) goto quit;
+
+ if(!SkipPreproc) {
+ // initialize
+ iret = Initialize();
+ if(iret) goto quit;
+
+ // process the data
+ iret = Process();
+ if(iret) goto quit;
+
+ // write the revised header
+ WriteATHeader();
+ fout.close();
+ }
+
+ if(DoEstimation) {
+ // read the AT file and compute biases and model
+ iret = ReadATandCompute();
+ }
+
+quit:
+ // compute run time
+ totaltime = clock()-totaltime;
+ cout << "IonoBias timing: " << fixed << setprecision(3)
+ << double(totaltime)/double(CLOCKS_PER_SEC) << " seconds.\n";
+ oflog << "\nIonoBias timing: " << fixed << setprecision(3)
+ << double(totaltime)/double(CLOCKS_PER_SEC) << " seconds.\n";
+ oflog.close();
+
+ return iret;
+}
+catch(gpstk::Exception& e) {
+ cerr << e;
+ return 1;
+}
+catch (...) {
+ cerr << "Unknown error. Abort." << endl;
+ return 1;
+}
+ return 0;
+} // end main()
+
+//------------------------------------------------------------------------------------
+// set defaults
+void ConfigureAndDefaults(void) throw(Exception)
+{
+try {
+ verbose = false;
+ debug = false;
+ LogFile = string("IonoBias.log");
+ BiasFileName = string(""); // no output
+
+ MinPoints = 0;
+ MinTimeSpan = 0.0; // minutes
+ MinElevation = 0.0;
+ MinLatitude = -90.0;
+ MaxLatitude = 90.0;
+ MinLongitude = 0.0;
+ MaxLongitude = 360.0;
+ TimeSector = string("night");
+ TermOffset = 0.0; // min
+ IonoHt = 350.0; // km
+
+ DoEstimation=true; // if false, quit after writing the AT file
+ SkipPreproc =false; // if true, assume AT file exists and don't generate it
+ ComputeSatBiases=true; // if true, compute Sat+Rx biases, else Rx biases only
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Define, parse and evaluate command line
+int GetCommandLine(int argc, char **argv) throw(Exception)
+{
+try {
+ bool help=false;
+ int i,j;
+ RinexSatID sat;
+ sat.setfill('0');
+
+ // required options
+
+ RequiredOption dashin(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"input"," --input <file> Input Rinex obs file name(s)");
+ //dashin.setMaxCount(1);
+
+ // optional options
+
+ // this only so it will show up in help page...
+ CommandOption dashf(CommandOption::hasArgument, CommandOption::stdType,
+ 'f',""," -f<file> file containing more options");
+
+ CommandOption dashp(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"inputdir"," --inputdir <path> Path for input file(s)");
+ dashp.setMaxCount(1);
+
+ // ephemeris
+ CommandOption dashnd(CommandOption::hasArgument, CommandOption::stdType, 0,
+ "navdir"," Ephemeris input:\n --navdir <dir> Path of navigation file(s)");
+ dashnd.setMaxCount(1);
+
+ CommandOption dashn(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"nav"," --nav <file> Navigation (Rinex Nav OR SP3) file(s)");
+
+ CommandOption dashat(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"datafile",
+ " Output:\n --datafile <file> Data (AT) file name, for output and/or input");
+ dashat.setMaxCount(1);
+
+ CommandOption dashl(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"log"," --log <file> Output log file name");
+ dashl.setMaxCount(1);
+
+ CommandOption dashout(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"biasout"," --biasout <file> Output satellite+receiver biases file name");
+ dashout.setMaxCount(1);
+
+ // time
+ CommandOptionWithTimeArg dasheb(0,"BeginTime","%Y,%m,%d,%H,%M,%f",
+ " Time limits:\n --BeginTime <arg> Start time, arg is of the form "
+ "YYYY,MM,DD,HH,Min,Sec");
+ CommandOptionWithTimeArg dashgb(0,"BeginGPSTime","%F,%g",
+ " --BeginGPSTime <arg> Start time, arg is of the form GPSweek,GPSsow");
+
+ CommandOptionWithTimeArg dashee(0,"EndTime","%Y,%m,%d,%H,%M,%f",
+ " --EndTime <arg> End time, arg is of the form YYYY,MM,DD,HH,Min,Sec");
+ CommandOptionWithTimeArg dashge(0,"EndGPSTime","%F,%g",
+ " --EndGPSTime <arg> End time, arg is of the form GPSweek,GPSsow");
+
+ // allow ONLY one start time (use startmutex(true) if one is required)
+ CommandOptionMutex startmutex(false);
+ startmutex.addOption(&dasheb);
+ startmutex.addOption(&dashgb);
+ CommandOptionMutex stopmutex(false);
+ stopmutex.addOption(&dashee);
+ stopmutex.addOption(&dashge);
+
+ CommandOptionNoArg dashde(0, "NoEstimation"," Processing:\n"
+ " --NoEstimation Do NOT perform the estimation (default=false).");
+
+ CommandOptionNoArg dashwo(0, "NoPreprocess",
+ " --NoPreprocess Skip preprocessing; read (existing) AT file "
+ "(false).");
+
+ CommandOptionNoArg dashsb(0, "NoSatBiases",
+ " --NoSatBiases Compute Receiver biases ONLY (not Rx+Sat biases) "
+ "(false).");
+
+ CommandOption dashmod(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Model"," --Model <type> Ionospheric model: type is linear, "
+ "quadratic or cubic");
+
+ CommandOption dashMinPoints(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"MinPoints",
+ " --MinPoints <n> Minimum points per satellite required");
+ dashMinPoints.setMaxCount(1);
+
+ CommandOption dashMinTimeSpan(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"MinTimeSpan",
+ " --MinTimeSpan <n> Minimum timespan per satellite required (minutes)");
+ dashMinTimeSpan.setMaxCount(1);
+
+ CommandOption dashMinElevation(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"MinElevation", " --MinElevation <n> Minimum elevation angle (degrees)");
+ dashMinElevation.setMaxCount(1);
+
+ CommandOption dashMinLatitude(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"MinLatitude", " --MinLatitude <n> Minimum latitude (degrees)");
+ dashMinLatitude.setMaxCount(1);
+
+ CommandOption dashMaxLatitude(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"MaxLatitude", " --MaxLatitude <n> Maximum latitude (degrees)");
+ dashMaxLatitude.setMaxCount(1);
+
+ CommandOption dashMinLongitude(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"MinLongitude", " --MinLongitude <n> Minimum longitude (degrees)");
+ dashMinLongitude.setMaxCount(1);
+
+ CommandOption dashMaxLongitude(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"MaxLongitude", " --MaxLongitude <n> Maximum longitude (degrees)");
+ dashMaxLongitude.setMaxCount(1);
+
+ CommandOption dashTimeSector(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"TimeSector", " --TimeSector <n> Time sector (day | night | both)");
+ dashTimeSector.setMaxCount(1);
+
+ CommandOption dashTermOffset(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"TerminOffset", " --TerminOffset <n> Terminator offset (minutes)");
+ dashTermOffset.setMaxCount(1);
+
+ CommandOption dashIonoHt(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"IonoHeight", " --IonoHeight <n> Ionosphere height (km)");
+ dashIonoHt.setMaxCount(1);
+
+ CommandOption dashXsat(CommandOption::hasArgument, CommandOption::stdType,
+ '0', "XSat", " Other options:\n --XSat <sat> Exclude this satellite "
+ "(<sat> may be <system> only)");
+
+ // ... other options
+ CommandOptionNoArg dashv('v', "verbose",
+ " Help:\n [-v|--verbose] print extended output info.");
+
+ CommandOptionNoArg dashd('d', "debug",
+ " [-d|--debug] print extended output info.");
+
+ CommandOptionNoArg dashh('h', "help",
+ " [-h|--help] print syntax and quit.");
+
+ // ... rest of the command line
+ CommandOptionRest Rest("");
+
+ CommandOptionParser Par(
+ " Prgm IonoBias will open and read several preprocessed Rinex obs files\n"
+ " (containing obs types EL,LA,LO,SR or SS) and use the data to estimate\n"
+ " satellite and receiver biases and to compute a simple ionospheric model\n"
+ " using least squares and the slant TEC values.\n"
+ " Input is on the command line, or of the same format in a file (-f<file>).\n");
+
+ // allow user to put all options in a file
+ // could also scan for debug here
+ vector<string> Args;
+ for(j=1; j<argc; j++) PreProcessArgs(argv[j],Args);
+
+ if(Args.size()==0) Args.push_back(string("-h"));
+
+ // pass the rest
+ argc = Args.size()+1;
+ char **CArgs=new char*[argc];
+ if(!CArgs) { cerr << "Failed to allocate CArgs\n"; return -1; }
+ CArgs[0] = argv[0];
+ for(j=1; j<argc; j++) {
+ CArgs[j] = new char[Args[j-1].size()+1];
+ if(!CArgs[j]) { cerr << "Failed to allocate CArgs[j]\n"; return -1; }
+ strcpy(CArgs[j],Args[j-1].c_str());
+ }
+
+ if(debug) {
+ cout << "List passed to parse\n";
+ for(i=0; i<argc; i++) cout << i << " " << CArgs[i] << endl;
+ }
+ Par.parseOptions(argc, CArgs);
+ delete[] CArgs;
+
+ if(dashh.getCount() > 0) { help = true; }
+
+ if(Par.hasErrors()) {
+ cerr << "\nErrors found in command line input:\n";
+ Par.dumpErrors(cerr);
+ cerr << "...end of Errors\n\n";
+ help = true;
+ }
+
+ if(help) {
+ Par.displayUsage(cout,false);
+ cout << endl;
+ }
+
+ // get values found on command line
+ vector<string> values;
+
+ // f never appears because we intercept it above
+ //if(dashf.getCount()) { cout << "Option f "; dashf.dumpValue(cout); }
+
+ // open the log file first
+ if(dashl.getCount()) {
+ values = dashl.getValue();
+ if(help) cout << "Input name of output log file: " << values[0] << endl;
+ LogFile = values[0];
+ }
+ oflog.open(LogFile.c_str(),ios_base::out);
+ if(!oflog) {
+ cerr << "Failed to open log file " << LogFile << endl;
+ return -1;
+ }
+ oflog << Title;
+ cout << "IonoBias output directed to log file " << LogFile << endl;
+ if(help) {
+ Par.displayUsage(oflog,false);
+ oflog << endl;
+ if (Par.hasErrors()) {
+ oflog << "\nErrors found in command line input:\n";
+ Par.dumpErrors(oflog);
+ oflog << "...end of Errors\n\n";
+ return -1;
+ }
+ }
+
+ // input path; do path before input file names
+ if(dashp.getCount()) {
+ values = dashp.getValue();
+ if(help) cout << "Input path name: " << values[0] << endl;
+ InputPath = values[0];
+ }
+ else InputPath = string("");
+
+ // input file names
+ if(dashin.getCount()) {
+ values = dashin.getValue();
+ if(help) cout << "Input Rinex obs file names are:\n";
+ string::size_type pos;
+ string fname;
+ for(i=0; i<values.size(); i++) {
+ fname = values[i];
+ // expand filenames of the form @name or name@
+ // into the *contents* (one name per line) of file 'name'.
+ pos = fname.find('@');
+ if(pos == string::npos || (pos != 0 && pos != fname.length()-1)) {
+ // value is a Rinex file name
+ if(InputPath.size() > 0) { fname = InputPath + "/" + fname; }
+ Filenames.push_back(fname);
+ if(help) cout << " " << fname << endl;
+ }
+ else { // value is a file containing Rinex file names
+ fname.erase(pos,1);
+ if(InputPath.size() > 0) { fname = InputPath + "/" + fname; }
+ if(help) cout << " " << "(Open and read file names from: "
+ << fname << ")" << endl;
+ ifstream infile(fname.c_str());
+ if(!infile) {
+ oflog << "Error: could not open file " << fname << endl;
+ }
+ else {
+ while(infile >> fname) {
+ if(fname[0] == '#') { // skip to end of line
+ char c;
+ while(infile.get(c)) { if(c=='\n') break; }
+ }
+ else {
+ Filenames.push_back(fname);
+ if(debug) oflog << " " << fname << endl;
+ }
+ } // end loop over lines in the file
+ infile.close();
+ } // end opened file
+ } // end if value is a file containing file names
+ } // end loop over values on command line
+ } // end dashin
+
+ // ephemeris input
+ if(dashnd.getCount()) {
+ values = dashnd.getValue();
+ NavDir = values[0];
+ if(help) cout << "Input Nav Directory: " << NavDir << endl;
+ }
+ if(dashn.getCount()) {
+ values = dashn.getValue();
+ NavFiles = values;
+ if(help) {
+ cout << "Input Nav files :";
+ for(i=0; i<NavFiles.size(); i++) cout << " " << NavFiles[i];
+ cout << endl;
+ }
+ }
+
+ if(dashat.getCount()) {
+ values = dashat.getValue();
+ if(help) cout << "Input name of AT file: " << values[0] << endl;
+ ATFileName = values[0];
+ }
+ if(dashout.getCount()) {
+ values = dashout.getValue();
+ if(help) cout << "Output biases file name: " << values[0] << endl;
+ BiasFileName = values[0];
+ }
+
+ if(dasheb.getCount()) {
+ values = dasheb.getValue();
+ BegTime.setToString(values[0], "%Y,%m,%d,%H,%M,%S");
+ if(help) cout << "Input BeginTime " << BegTime << endl;
+ }
+ if(dashee.getCount()) {
+ values = dashee.getValue();
+ EndTime.setToString(values[0], "%Y,%m,%d,%H,%M,%S");
+ if(help) cout << "Input EndTime " << EndTime << endl;
+ }
+ if(dashgb.getCount()) {
+ values = dashgb.getValue();
+ BegTime.setToString(values[0], "%F,%g");
+ if(help) cout << "Input BeginGPSTime " << BegTime << endl;
+ }
+ if(dashge.getCount()) {
+ values = dashge.getValue();
+ EndTime.setToString(values[0], "%F,%g");
+ if(help) cout << "Input EndGPSTime " << EndTime << endl;
+ }
+
+ // processing
+ if(dashde.getCount()) {
+ DoEstimation = false;
+ if(help) cout << "Turn OFF estimation of biases and model" << endl;
+ }
+ if(dashwo.getCount()) {
+ SkipPreproc = true;
+ if(help) cout << "Read the existing AT file (skip preprocessing)" << endl;
+ }
+ if(dashsb.getCount()) {
+ ComputeSatBiases = false;
+ if(help) cout << "Compute Rx biases only, not Rx+Sat biases" << endl;
+ }
+ if(dashmod.getCount()) {
+ values = dashmod.getValue();
+ Model = values[0];
+ if(help) cout << "Model input is " << Model << endl;
+ if(Model != string("linear") &&
+ Model != string("quadratic") &&
+ Model != string("cubic")) {
+ cout << "Warning: --Model is invalid -- linear will be used\n";
+ }
+ }
+ if(dashMinPoints.getCount()) {
+ values = dashMinPoints.getValue();
+ MinPoints = asInt(values[0]);
+ if(help) cout << "Minimum points per satellite = " << MinPoints << endl;
+ }
+ if(dashMinTimeSpan.getCount()) {
+ values = dashMinTimeSpan.getValue();
+ MinTimeSpan = asDouble(values[0]);
+ if(help) cout << "Minimum time span = " << MinTimeSpan << " minutes" << endl;
+ }
+ if(dashMinElevation.getCount()) {
+ values = dashMinElevation.getValue();
+ MinElevation = asDouble(values[0]);
+ //if(MinElevation <= 0.0 || MinElevation >= 90.0) {
+ //}
+ if(help) cout << "Minimum elevation = " << MinElevation << "degrees " << endl;
+ }
+ if(dashMinLatitude.getCount()) {
+ values = dashMinLatitude.getValue();
+ MinLatitude = asDouble(values[0]);
+ //if(MinLatitude <= -90.0 || MinLatitude >= 90.0) {
+ //}
+ if(help) cout << "Minimum latitude = " << MinLatitude << " degrees" << endl;
+ }
+ if(dashMaxLatitude.getCount()) {
+ values = dashMaxLatitude.getValue();
+ MaxLatitude = asDouble(values[0]);
+ //if(MaxLatitude <= -90.0 || MaxLatitude >= 90.0) {
+ //}
+ if(help) cout << "Maximum latitude = " << MaxLatitude << " degrees" << endl;
+ }
+ if(dashMinLongitude.getCount()) {
+ values = dashMinLongitude.getValue();
+ MinLongitude = asDouble(values[0]);
+ while(MinLongitude < 0.0) MinLongitude+=360.0;
+ if(help) cout << "Minimum longitude = " << MinLongitude << " degrees" << endl;
+ }
+ if(dashMaxLongitude.getCount()) {
+ values = dashMaxLongitude.getValue();
+ MaxLongitude = asDouble(values[0]);
+ while(MaxLongitude < 0.0) MaxLongitude+=360.0;
+ if(help) cout << "Maximum longitude = " << MaxLongitude << " degrees" << endl;
+ }
+ if(dashTimeSector.getCount()) {
+ values = dashTimeSector.getValue();
+ TimeSector = lowerCase(values[0]);
+ if(help) cout << "Time sector = " << TimeSector << endl;
+ // TD check that it is valid
+ }
+ if(dashTermOffset.getCount()) {
+ values = dashTermOffset.getValue();
+ TermOffset = asDouble(values[0]);
+ if(help) cout << "Terminal offset = " << TermOffset << " minutes" << endl;
+ }
+ if(dashIonoHt.getCount()) {
+ values = dashIonoHt.getValue();
+ IonoHt = asDouble(values[0]);
+ if(help) cout << "Ionosphere height = " << IonoHt << " km" << endl;
+ }
+
+ if(dashXsat.getCount()) {
+ values = dashXsat.getValue();
+ for(i=0; i<values.size(); i++) {
+ sat.fromString(values[i]);
+ if(help) cout << "Input: exclude satellite " << sat << endl;
+ ExSV.push_back(sat);
+ }
+ }
+
+ if(dashh.getCount())
+ oflog << "Option h appears " << dashh.getCount() << " times\n";
+ if(dashv.getCount()) {
+ verbose = true;
+ if(help) cout << "Option v appears " << dashv.getCount() << " times\n";
+ }
+ if(dashd.getCount()) {
+ debug = true;
+ if(help) cout << "Option d appears " << dashd.getCount() << " times\n";
+ }
+
+ if(Rest.getCount() && help) {
+ cout << "Remaining options:" << endl;
+ values = Rest.getValue();
+ for (i=0; i<values.size(); i++) cout << values[i] << endl;
+ }
+ if(verbose && help) {
+ cout << "\nTokens on command line (" << Args.size() << ") are:" << endl;
+ for(j=0; j<Args.size(); j++) cout << Args[j] << endl;
+ cout << endl;
+ }
+ if(help) cout << "Configuration summarized in log file\n";
+
+ // print configuration
+ if(verbose || help || debug) {
+ oflog << "Input configuration for IonoBias:\n";
+ if(!InputPath.empty()) oflog << " Path for input files is "
+ << InputPath << endl;
+ oflog << " Input Rinex obs file names are:\n";
+ for(i=0; i<Filenames.size(); i++)
+ oflog << " " << Filenames[i] << endl;
+ if(!NavDir.empty()) oflog << " Path for input nav files is "
+ << NavDir << endl;
+ if(NavFiles.size() > 0) {
+ oflog << " Input Rinex nav file names are:\n";
+ for(i=0; i<NavFiles.size(); i++)
+ oflog << " " << NavFiles[i] << endl;
+ }
+ //oflog << " Input data interval is: " << fixed << setprecision(2)
+ //<< DataInterval << endl;
+ if(!ATFileName.empty()) oflog << " AT file name is "
+ << ATFileName << endl;
+ if(BegTime > DayTime::BEGINNING_OF_TIME) oflog << " Begin time is "
+ << BegTime.printf("%Y/%m/%d_%H:%M:%6.3f=%F/%10.3g") << endl;
+ if(EndTime < DayTime::END_OF_TIME) oflog << " End time is "
+ << EndTime.printf("%Y/%m/%d_%H:%M:%6.3f=%F/%10.3g") << endl;
+ oflog << " Processing:\n";
+ oflog << " Use a " << Model << " ionospheric model" << endl;
+ oflog << " Minimum points per satellite = " << MinPoints << endl;
+ oflog << " Minimum time span = " << MinTimeSpan << " minutes" << endl;
+ oflog << " Minimum elevation = " << MinElevation << " degrees" << endl;
+ oflog << " Minimum latitude = " << MinLatitude << " degrees" << endl;
+ oflog << " Maximum latitude = " << MaxLatitude << " degrees" << endl;
+ oflog << " Minimum longitude = " << MinLongitude << " degrees" << endl;
+ oflog << " Maximum longitude = " << MaxLongitude << " degrees" << endl;
+ oflog << " Time sector = " << TimeSector << endl;
+ oflog << " Terminal offset = " << TermOffset << " minutes" << endl;
+ oflog << " Ionosphere height = " << IonoHt << " km" << endl;
+ if(ExSV.size() > 0) {
+ oflog << " Exclude these satellites:";
+ for(i=0; i<ExSV.size(); i++) oflog << " " << ExSV[i];
+ oflog << endl;
+ }
+ oflog << " Compute " << (ComputeSatBiases ? "Sat+":"") << "Rx biases" << endl;
+ if(BiasFileName.length() > 0)
+ oflog << " Output biases to file " << BiasFileName << endl;
+ else
+ oflog << " Do not output biases to a file" << endl;
+ oflog << " Do" << (DoEstimation?"":" not do")
+ << " the estimation problem" << endl;
+ oflog << " " << (SkipPreproc?"Skip":"Do not skip") << " the preprocessing"
+ << endl;
+ if(help) oflog << " Help (-h) is set\n";
+ if(debug) oflog << " Debug (-d) is set\n";
+ oflog << "End of input configuration for IonoBias" << endl;
+ }
+
+ if(!DoEstimation && SkipPreproc) {
+ cout << "ERROR: Estimation is turned off and so is preprocessing!\n";
+ cout << "ERROR: Abort: nothing to do.\n";
+ return -1;
+ }
+
+ if(help) return 1;
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Pull out --debug --verbose -f<f> and --file <f> and -l<f> --log <f> options.
+void PreProcessArgs(const char *arg, vector<string>& Args) throw(Exception)
+{
+try {
+ static bool found_cfg_file=false;
+ static bool found_log_file=false;
+
+ if(found_cfg_file || (arg[0]=='-' && arg[1]=='f')) {
+ string filename(arg);
+ if(!found_cfg_file) filename.erase(0,2); else found_cfg_file = false;
+ if(debug) cout << "Found a file of options: " << filename << endl;
+ ifstream infile(filename.c_str());
+ if(!infile) {
+ cout << "Error: could not open options file " << filename << endl;
+ return;
+ }
+
+ bool again_cfg_file=false;
+ bool again_log_file=false;
+ char c;
+ string buffer,word;
+ while(1) {
+ getline(infile,buffer);
+ stripTrailing(buffer,'\r');
+
+ // process the buffer before checking eof or bad b/c there can be
+ // a line at EOF that has no CRLF...
+ while(!buffer.empty()) {
+ word = firstWord(buffer);
+ if(again_cfg_file) {
+ word = "-f" + word;
+ again_cfg_file = false;
+ PreProcessArgs(word.c_str(),Args);
+ }
+ else if(again_log_file) {
+ word = "-l" + word;
+ again_log_file = false;
+ PreProcessArgs(word.c_str(),Args);
+ }
+ else if(word[0] == '#') { // skip to end of line
+ buffer.clear();
+ }
+ else if(word == "--file" || word == "-f")
+ again_cfg_file = true;
+ else if(word == "--log" || word == "-l")
+ again_log_file = true;
+ else if(word[0] == '"') {
+ word = stripFirstWord(buffer,'"');
+ buffer = "dummy " + buffer; // to be stripped later
+ PreProcessArgs(word.c_str(),Args);
+ }
+ else
+ PreProcessArgs(word.c_str(),Args);
+
+ word = stripFirstWord(buffer); // now remove it from buffer
+ }
+ if(infile.eof() || !infile.good()) break;
+ }
+ }
+ else if(found_log_file || (arg[0]=='-' && arg[1]=='l')) {
+ LogFile = string(arg);
+ if(!found_log_file) LogFile.erase(0,2); else found_log_file = false;
+ }
+ else if(string(arg) == "--log")
+ found_log_file = true;
+ else if((arg[0]=='-' && arg[1]=='d') || string(arg)==string("--debug"))
+ debug = true;
+ else if((arg[0]=='-' && arg[1]=='v') || string(arg)==string("--verbose"))
+ verbose = true;
+ else if(string(arg) == "--file" || string(arg) == "-f")
+ found_cfg_file = true;
+ else Args.push_back(arg);
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+
+//------------------------------------------------------------------------------------
+int Initialize(void) throw(Exception)
+{
+try {
+ static SP3EphemerisStore SP3EphList;
+ static BCEphemerisStore BCEphList;
+
+ // open nav files and read EphemerisStore
+ if(!NavDir.empty())
+ for(int i=0; i<NavFiles.size(); i++)
+ NavFiles[i] = NavDir + "/" + NavFiles[i];
+ FillEphemerisStore(NavFiles, SP3EphList, BCEphList);
+ if(SP3EphList.size()) {
+ if(verbose) SP3EphList.dump(0,oflog);
+ }
+ else if(verbose) oflog << "SP3 Ephemeris list is empty\n";
+
+ if(BCEphList.size()) {
+ BCEphList.SearchNear();
+ if(verbose) BCEphList.dump(0,oflog);
+ }
+ else if(verbose) oflog << "BC Ephemeris list is empty\n";
+
+ if(SP3EphList.size()) pEph = &SP3EphList;
+ else if(BCEphList.size()) pEph = &BCEphList;
+ else {
+ cerr << "IonoBias abort -- no ephemeris\n";
+ oflog << "IonoBias abort -- no ephemeris\n";
+ return -1;
+ }
+
+ // create the obs types for later use
+ ELot = RinexObsHeader::convertObsType("EL");
+ LAot = RinexObsHeader::convertObsType("LA");
+ LOot = RinexObsHeader::convertObsType("LO");
+ SRot = RinexObsHeader::convertObsType("SR");
+ SSot = RinexObsHeader::convertObsType("SS");
+
+ // initialize AT header data
+ int i;
+ NgoodStations = 0;
+ for(i=0; i<=MAXPRN; i++) BoolVec.push_back(false);
+ for(i=0; i<Filenames.size(); i++) EstimationFlag.push_back(BoolVec);
+
+ // open output file and write zero-filled header
+ fout.open(ATFileName.c_str(),ios_base::out);
+ if(!fout) {
+ cerr << "IonoBias abort -- failed to open AT file " << ATFileName
+ << " for output." << endl;
+ oflog << "IonoBias abort -- failed to open AT file " << ATFileName
+ << " for output." << endl;
+ return -2;
+ }
+ WriteATHeader();
+
+ FoundMinLat = 90;
+ FoundMinLon = 360;
+ FoundMaxLat = -90;
+ FoundMaxLon = 0;
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Return 0 ok,
+// -2 could not open a file,
+// -3 FFStream exception,
+// -4 gpstk exception,
+// -5 no sunrise
+int Process(void) throw(Exception)
+{
+try {
+ int i,iret;
+ string fname;
+ //RinexObsStream instream;
+ RinexObsHeader header;
+
+ // loop over input file names
+ if(verbose) oflog << "\nProcess " << Filenames.size() << " input files:\n";
+ for(ndata=0,nfile=0; nfile<Filenames.size(); nfile++) {
+ if(verbose) oflog << endl;
+ fname = Filenames[nfile];
+ //instream.clear();
+ //instream.open(fname.c_str(),ios_base::in);
+ RinexObsStream instream(fname.c_str(),ios_base::in);
+ if(!instream) {
+ oflog << " Rinex file " << fname << " could not be opened -- abort.\n";
+ return -2;
+ }
+ instream.exceptions(ios::failbit);
+ if(verbose) oflog << "Opened input file #" << nfile+1 << ": " << fname << endl;
+
+ iret = ProcessHeader(instream,fname,header);
+ if(iret != 0) return iret;
+
+ if(nfile==0) {
+ MJDNorm = header.firstObs.MJD();
+ LonNorm = StationPosition[1]; //.getLongitude();
+ }
+
+ iret = ProcessObs(instream,fname,header);
+ if(iret != 0) return iret;
+
+ instream.close();
+
+ } // end loop over file names
+
+ if(verbose) {
+ oflog << endl << "Processed " << Filenames.size()
+ << " files; " << NgoodStations << " of them had good data.\n";
+ oflog << "Total number of data points = " << ndata << endl;
+ oflog << "Found " << fixed << setprecision(2)
+ << FoundMinLat << " <= raw Lat <= " << FoundMaxLat << " and "
+ << FoundMinLon << " <= raw Lon <= " << FoundMaxLon << endl;
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Return 0 ok, -3 FFStream exception, -4 gpstk exception, -5 no sunrise
+int ProcessHeader(RinexObsStream& ins, string& filename, RinexObsHeader& head)
+ throw(Exception)
+{
+try {
+ // input header
+ try {
+ ins >> head;
+ }
+ catch(gpstk::FFStreamError& e) {
+ cerr << "Caught an FFStreamError while reading header for file "
+ << filename << ":\n" << e.getText(0) << endl;
+ oflog << "Caught an FFStreamError while reading header for file "
+ << filename << ":\n" << e.getText(0) << endl;
+ return -3;
+ }
+ catch(gpstk::Exception& e) {
+ cerr << "Caught a gpstk exception while reading header for file "
+ << filename << ":\n" << e.getText(0) << endl;
+ oflog << "Caught a gpstk exception while reading header for file "
+ << filename << ":\n" << e.getText(0) << endl;
+ return -4;
+ }
+
+ // convert to LLH
+ Position xyz;
+ xyz.setECEF(head.antennaPosition);
+ StationPosition = xyz;
+ StationPosition.transformTo(Position::Geocentric);
+
+ // compute begin and end times
+ TimeLimits(StationPosition, head.firstObs.DOY(), TimeSector, begintime, endtime);
+ if(begintime == -999 || endtime == -999) return -5;
+
+ // save station info
+ StationName = lowerCase(subString(head.markerName,0,4));
+ TotalSpan = head.lastObs.MJD()-head.firstObs.MJD();
+
+ // dump header information
+ if(verbose) {
+ int i;
+ oflog << "File name: " << filename << endl;
+ oflog << "Marker name: " << head.markerName << "\n";
+ oflog << "Position (XYZ,m) : " << fixed
+ << setprecision(3) << head.antennaPosition << "\n";
+ oflog << "Position (LLH ) : ("
+ << setprecision(8) << StationPosition[0] << ", "
+ << setprecision(8) << StationPosition[1] << ", "
+ << setprecision(4)
+ << StationPosition[2] - StationPosition.radiusEarth()
+ << ")\n";
+ oflog << "Observation types (" << head.obsTypeList.size() << ") :";
+ for(i=0; i<head.obsTypeList.size(); i++)
+ oflog << " " << RinexObsHeader::convertObsType(head.obsTypeList[i]);
+ oflog << endl;
+ oflog << "Time of first obs "
+ << head.firstObs.printf("%04Y/%02m/%02d %02H:%02M:%010.7f")
+ << " " << (head.firstSystem.system==RinexSatID::systemGlonass?"GLO":
+ (head.firstSystem.system==RinexSatID::systemGalileo?"GAL":"GPS"))
+ << endl;
+ oflog << "Time of last obs "
+ << head.lastObs.printf("%04Y/%02m/%02d %02H:%02M:%010.7f")
+ << " " << (head.lastSystem.system==RinexSatID::systemGlonass?"GLO":
+ (head.lastSystem.system==RinexSatID::systemGalileo?"GAL":"GPS"))
+ << endl;
+ oflog << "DOY = " << head.firstObs.DOY() << endl;
+ oflog << "Sunrise = " << setprecision(2) << sunrise;
+ oflog << " Sunset = " << setprecision(2) << sunset << endl;
+ oflog << "Begin time = " << setprecision(2) << begintime;
+ oflog << " End time = " << setprecision(2) << endtime << endl;
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Given a position (LLH), day of year, and sector flag (TimeSector),
+// compute the begin and end times (hours of the day) of our data window,
+// which will = sunrise + TermOffset and sunset - TermOffset.
+void TimeLimits(Position llr, int doy, string& sector, double& begin, double& end)
+ throw(Exception)
+{
+try {
+ begin = 0;
+ end = 24.;
+
+ Sunrise(llr[0], llr[1], IonoHt*1000.0, doy, sunrise, sunset);
+ if(sector == string("both")) return;
+ if(sector == string("day")) {
+ begin = sunrise + TermOffset/60.0;
+ end = sunset - TermOffset/60.0;
+ }
+ if(sector == string("night")) {
+ begin = sunset + TermOffset/60.0;
+ end = sunrise - TermOffset/60.0;
+ }
+
+ while(begin < 0) begin += 24;
+ while(begin >= 24) begin -= 24;
+ while(end < 0) end += 24;
+ while(end >= 24) end -= 24;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Compute the position (latitude and longitude, in degrees) of the sun
+// given the day of year and the hour of the day.
+// Adapted from sunpos by D. Coco 12/15/94
+//#include "icd_200_constants.hpp // for TWO_PI
+//#include "geometry.hpp" // for DEG_TO_RAD and RAD_TO_DEG
+void SolarPosition(int doy, double hod, double& lat, double& lon) throw(Exception)
+{
+try {
+ lat = sin(23.5*DEG_TO_RAD)*sin(TWO_PI*double(doy-83)/365.25);
+ lat = lat / ::sqrt(1.0-lat*lat);
+ lat = RAD_TO_DEG*atan(lat);
+ lon = 180.0 - hod*15.0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Compute the time of day of sunrise and sunset (set to -999 if they do not exist),
+// given a geographic position and day of year.
+// Adapted from D. Coco 2/7/96 from equation in Supplement to the Astromonical Almanac
+void Sunrise(double lat, double lon, double ht, int doy, double& rise, double& set)
+ throw(Exception)
+{
+try {
+ const double DEG_TO_HRS=(24.0/360.0); // should this be sidereal day?
+ double sunlat,sunlon,hod;
+
+ // find the position of the sun
+ hod = 0;
+ SolarPosition(doy, hod, sunlat, sunlon);
+
+ double x = -1 * tan(sunlat*DEG_TO_RAD) * tan(lat*DEG_TO_RAD);
+ if(x <= -1.0 || x >= 1.0) {
+ rise = set = -999;
+ return;
+ }
+ x = acos(x) * RAD_TO_DEG;
+
+ rise = DEG_TO_HRS * (sunlon - lon - x);
+ set = DEG_TO_HRS * (sunlon - lon + x);
+
+ // adjust for height above sea level
+ double dht=0,radius=Position::radiusEarth(lat,WGS84.a(),WGS84.eccSquared());
+ dht = 24.0*acos(radius/(radius+ht))/TWO_PI;
+ rise -= dht;
+ set += dht;
+
+ while(rise < 0) rise += 24;
+ while(rise >= 24) rise -= 24;
+ while(set < 0) set += 24;
+ while(set >= 24) set -= 24;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Return 0 ok, -3 FFStream exception, -4 gpstk exception, -6 stream not good
+int ProcessObs(RinexObsStream& ins, string& filename, RinexObsHeader& head)
+ throw(Exception)
+{
+try {
+ int i,j,k,npts[MAXPRN+1];
+ double EL,LA,LO,SR,hours,cr,ob;
+ Position LLI;
+ DayTime begin[MAXPRN+1],end[MAXPRN+1];
+ RinexObsData robs;
+ RinexSatID sat;
+ //RinexObsData::RinexObsTypeMap otmap;
+ RinexObsData::RinexSatMap::const_iterator it;
+ RinexObsData::RinexObsTypeMap::const_iterator jt;
+
+ if(!ins.good()) return -6;
+
+ // initialize for this station
+ fout.seekp(0,ios_base::end); // go to EOF
+ current_header_pos = fout.tellp(); // save for later
+ NgoodPoints = 0;
+ WriteStationHeader(NgoodPoints,StationName,StationPosition); // dummy
+
+ // loop over epochs
+ for(i=1; i<=MAXPRN; i++) npts[i]=0;
+ do {
+ try {
+ ins >> robs;
+ }
+ catch(gpstk::FFStreamError& e) {
+ cerr << "Caught an FFStreamError while reading obs for file "
+ << filename << ":\n" << e.getText(0) << endl;
+ oflog << "Caught an FFStreamError while reading obs for file "
+ << filename << ":\n" << e.getText(0) << endl;
+ return -3;
+ }
+ catch(gpstk::Exception& e) {
+ cerr << "Caught a gpstk exception while reading obs for file "
+ << filename << ":\n" << e.getText(0) << endl;
+ oflog << "Caught a gpstk exception while reading obs for file "
+ << filename << ":\n" << e.getText(0) << endl;
+ return -4;
+ }
+ if(ins.eof()) break;
+ if(!ins.good()) { return -6; }
+
+ //if(verbose) oflog << " Read file " << filename
+ // << " epoch " << robs.time.printf("%Y/%m/%d_%H:%M:%6.3f=%F/%10.3g") << endl;
+
+ hours = robs.time.secOfDay()/3600.0; // hours of the day
+ // compute co-rotating longitude CL = LO + cr
+ cr = (robs.time.MJD()-MJDNorm) * 360.0;
+ cr -= LonNorm + TotalSpan * 180.0;
+
+ // loop over sat=it->first, ObsTypeMap=it->second
+ for(it=robs.obs.begin(); it != robs.obs.end(); ++it) {
+ sat = it->first;
+ if(sat.system != SatID::systemGPS) continue; // ignore non-GPS satellites
+ if(sat.id <= 0 || sat.id > MAXPRN) continue; // just in case...
+ for(i=0,k=-1; i<ExSV.size(); i++) { // Is this satellite excluded ?
+ if( ExSV[i] == sat || // sat is excluded
+ (ExSV[i].id==-1 && ExSV[i].system==sat.system) ) {// system excluded
+ k=i;
+ break;
+ }
+ }
+ if(k != -1) continue;
+
+ // process this sat
+ if( (jt=it->second.find(ELot)) != it->second.end()) {
+ EL = jt->second.data;
+ if(EL < MinElevation) continue;
+ }
+ //else ...
+
+ if( (jt=it->second.find(LAot)) != it->second.end()) {
+ LA = jt->second.data;
+ if(LA < FoundMinLat) FoundMinLat = LA;
+ if(LA > FoundMaxLat) FoundMaxLat = LA;
+ if(LA < MinLatitude || LA > MaxLatitude) continue;
+ }
+
+ if( (jt=it->second.find(LOot)) != it->second.end()) {
+ LO = jt->second.data;
+ while(LO < 0.0) LO+=360.0;
+ if(LO < FoundMinLon) FoundMinLon = LO;
+ if(LO > FoundMaxLon) FoundMaxLon = LO;
+ if(LO < MinLongitude || LO > MaxLongitude) continue;
+ }
+
+ if( (jt=it->second.find(SRot)) != it->second.end()) {
+ SR = jt->second.data;
+ //if(jt->second.ssi == 1) continue; // reject if ssi==1 ?? TD
+ }
+ else if( (jt=it->second.find(SSot)) != it->second.end()) {
+ SR = jt->second.data;
+ }
+
+ LLI = Position(LA,LO,IonoHt*1000.0); // 3rd entry is actually not used.
+ TimeLimits(LLI, robs.time.DOY(), TimeSector, begintime, endtime);
+ if(endtime >= begintime) {
+ if(hours < begintime || hours > endtime) continue;
+ }
+ else {
+ if(hours < begintime && hours > endtime) continue;
+ }
+
+ // compute the obliquity
+ ob = obliquity(EL);
+
+ // write out
+ fout << setw(4) << robs.time.GPSfullweek();
+ fout << " " << setw(8) << setprecision(1) << robs.time.GPSsow();
+ fout << " " << setw(9) << setprecision(5) << LA; // latitude
+ fout << " " << setw(10) << setprecision(5) << LO+cr; // co-rotating longitude
+ fout << " " << setw(4) << setprecision(2) << ob; // 1/obliquity
+ fout << " " << setw(8) << setprecision(3) << SR; // slant TEC
+ fout << " " << setw(6) << setprecision(2) << 1; // sigma ?? TD
+ fout << " " << setw(2) << sat.id; // PRN
+ fout << " " << setw(3) << nfile+1; // file number
+ fout << endl;
+
+ EstimationFlag[nfile][sat.id] = true;
+ NgoodPoints++;
+ npts[sat.id]++; // Npts for this sat
+ if(npts[sat.id]==1) begin[sat.id] = robs.time;
+ end[sat.id] = robs.time;
+
+ } // end for loop over sats
+
+
+ } while(1);
+
+ // revised header
+ WriteStationHeader(NgoodPoints,StationName,StationPosition);
+
+ // revise estimation flags
+ if(verbose) oflog << "PRN Points Timespan Begin End (hrs)\n";
+ for(i=1; i<=MAXPRN; i++) {
+ if(npts[i] > 0) {
+ if(verbose) oflog << "G" << setfill('0') << setw(2) << i << setfill(' ')
+ << setw(6) << npts[i]
+ << setw(10) << setprecision(2) << (end[i]-begin[i])/3600.0
+ << setw(10) << setprecision(2) << begin[i].secOfDay()/3600.0
+ << setw(10) << setprecision(2) << end[i].secOfDay()/3600.0;
+ if((end[i]-begin[i] < MinTimeSpan*60.0 || npts[i] < MinPoints)){
+ if(verbose) {
+ oflog << " reject(";
+ if(end[i]-begin[i] < MinTimeSpan*60.0) oflog << " time ";
+ if(npts[i] < MinPoints) oflog << " pts ";
+ oflog << ")";
+ }
+ EstimationFlag[nfile][i] = false;
+ NgoodPoints -= npts[i];
+ }
+ if(verbose) oflog << endl;
+ }
+ }
+
+ if(NgoodPoints > 0) {
+ NgoodStations++;
+ ndata += NgoodPoints;
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void WriteATHeader(void) throw(Exception)
+{
+try {
+ int i,j;
+ fout.seekp(0);
+ fout << setw(5) << Filenames.size() << " " << setw(5) << NgoodStations
+ << " Number (max, good) stations in this file \n";
+ for(i=0; i<Filenames.size(); i++) {
+ for(j=0; j<MAXPRN+1; j++) fout << (EstimationFlag[i][j] ? '1' : '0');
+ fout << "\n";
+ }
+ fout << fixed;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void WriteStationHeader(int npts, string sta_name, Position llr) throw(Exception)
+{
+try {
+ fout.seekp(current_header_pos);
+ fout << "Npt " << setw(5) << npts;
+ //fout << in_file_s;
+ //fout << sta_id;
+ fout << " Sta " << sta_name;
+ fout << " LLH " << setw(10) << setprecision(4) << llr[0]; //gllh.getLatitude();
+ fout << " " << setw(10) << setprecision(4) << llr[1]; //gllh.getLongitude();
+ fout << " " << setw(10) << setprecision(4)
+ << llr[2]-Position::radiusEarth(llr[0],WGS84.a(),WGS84.eccSquared());
+ //gllh.getAltitude();
+ fout << endl;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void ParseLine(string& str, vector<string>& wds) throw(Exception)
+{
+try {
+ istringstream iss(str);
+ string wd;
+ wds.clear();
+ while(iss >> wd) {
+ wds.push_back(wd);
+ }
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+int ReadATandCompute(void) throw(Exception)
+{
+try {
+ ifstream ifs;
+ ifs.open(ATFileName.c_str()); // output file is now the input
+ if(!ifs) {
+ cerr << "Failed to open AT file " << ATFileName << " for input" << endl;
+ return -1;
+ }
+ else if(verbose) oflog << "\nOpened AT file " << ATFileName << " for input\n";
+
+ // read the AT header
+ int i,j,k,ii,jj;
+ long N,n;
+ string line;
+
+ EstimationFlag.clear();
+ ifs >> N >> n;
+ getline(ifs,line); // read to eol
+ for(i=0; i<N; i++) {
+ getline(ifs,line);
+ for(j=0; j<line.size(); j++) BoolVec[j] = (line[j] == '1');
+ EstimationFlag.push_back(BoolVec);
+ }
+
+ //if(verbose) {
+ // oflog << "Read AT (" <<N<< "," <<n<< "," << EstimationFlag.size() << ")\n";
+ // for(i=0; i<EstimationFlag.size(); i++) {
+ // for(j=0; j<MAXPRN+1; j++) oflog << (EstimationFlag[i][j] ? '1' : '0');
+ // oflog << "\n";
+ // }
+ //}
+
+ if(N != EstimationFlag.size()) { //oops
+ }
+
+ // dimension and initialize the LS problem
+ if(Model == "cubic") {
+ oflog << "Model is cubic\n";
+ NIonoParam = 10;
+ }
+ else if(Model == "quadratic") {
+ oflog << "Model is quadratic\n";
+ NIonoParam = 6;
+ }
+ else { // linear and default
+ oflog << "Model is linear\n";
+ NIonoParam = 3;
+ }
+
+ for(NBiasParam=0,i=0; i<N; i++) {
+ if(!ComputeSatBiases) NBiasParam++;
+ else for(j=0; j<MAXPRN+1; j++) if(EstimationFlag[i][j]) NBiasParam++;
+ }
+ NTotalParam = NIonoParam + NBiasParam;
+
+ Sol.resize(NTotalParam,0.0);
+ Cov.resize(NTotalParam,NTotalParam,0.0);
+ InfData.resize(NTotalParam,0.0);
+
+ // Read the rest of the AT file
+ int wn,prn,nfile,in;
+ double sow,lat,lon,obq,sr,sig,d2=0;
+ string stationID;
+ vector<string> words;
+ pair<string,int> Comp;
+
+ // loop over stations
+ oflog << setw(2) << N << " Number of stations (N data and filename follow).\n";
+ for(ndata=0,i=0; i<N; i++) {
+ // read station header
+ getline(ifs,line);
+ ParseLine(line,words);
+ if(words[0] != string("Npt")) { //oops
+ }
+ n = asInt(words[1]);
+ stationID = words[3];
+
+ if(n > 0 && verbose) {
+ oflog << setw(3) << i+1 << " " << stationID << " " << setw(4) << n << " ";
+ for(j=0; j<=MAXPRN; j++) oflog << (EstimationFlag[i][j] ? '1' : '0');
+ oflog << " " << Filenames[i];
+ oflog << endl;
+ mapN[stationID] = n;
+ mapFilename[stationID] = Filenames[i];
+ }
+
+ // read data
+ for(j=0; j<n; j++) {
+ getline(ifs,line);
+ ParseLine(line,words);
+ wn = asInt(words[0]);
+ sow = asDouble(words[1]);
+ lat = asDouble(words[2]);
+ lon = asDouble(words[3]);
+ obq = asDouble(words[4]);
+ sr = asDouble(words[5]);
+ sig = asDouble(words[6]);
+ prn = asInt(words[7]);
+ nfile = asInt(words[8]);
+
+ // do not include rejected data
+ if(!(EstimationFlag[i][prn])) continue;
+
+ // if NOT computing satellite biases, lump all data together into "PRN 0"
+ if(!ComputeSatBiases) { prn = 0; }
+
+ // find min and max lat and lon
+ if(ndata == 0) {
+ MaxLat = MinLat = lat;
+ MaxCRLon = MinCRLon = lon;
+ }
+ else {
+ if(fabs(lat) > MaxLat) MaxLat=lat;
+ if(fabs(lat) < MinLat) MinLat=lat;
+ if(fabs(lon) > MaxCRLon) MaxCRLon=lon;
+ if(fabs(lon) < MinCRLon) MinCRLon=lon;
+ }
+ ndata++;
+
+ // add this data to the LS
+ //d2 += sr*sr;
+ // find the index in partials matrix for this station-satellite pair
+ Comp = make_pair(stationID,prn);
+ in = index(ComponentIDs,Comp);
+ if(in == -1) {
+ in = ComponentIDs.size();
+ ComponentIDs.push_back(Comp);
+ }
+
+ //PartialsMatrix(Par,in,lat,lon,obq);
+ // note that obq is 1/obliquity
+ // row of partials matrix has [in] = 1 and if nb=NBiasParam
+ PM[0] = obq; // [nb+0] (all models)
+ PM[1] = lat * obq; // [nb+1] (all models)
+ PM[2] = lon * obq; // [nnb2] (all models)
+ if(NIonoParam > 3) {
+ PM[3] = lat * lat * obq; // [nb+3] (quadratic and cubic)
+ PM[4] = lon * lon * obq; // [nb+4] (quadratic and cubic)
+ PM[5] = lat * lon * obq; // [nb+5] (quadratic and cubic)
+ }
+ if(NIonoParam > 6) {
+ PM[6] = lat * lat * lat * obq; // [nb+6] (cubic only)
+ PM[7] = lon * lon * lon * obq; // [nb+7] (cubic only)
+ PM[8] = lat * lat * lon * obq; // [nb+8] (cubic only)
+ PM[9] = lat * lon * lon * obq; // [nb+9] (cubic only)
+ }
+
+ //LS.Add(Par,Dat,Wgt); do the sequential LS by hand for efficiency
+ //
+ // Inf += transpose(partials) * partials (weight = 1)
+ // InfData += transpose(partials) * data
+ //
+ Cov(in,in) += 1.0;
+ InfData(in) += sr;
+ for(ii=0; ii<NIonoParam; ii++) {
+ k = NBiasParam + ii;
+ InfData(k) += sr * PM[ii];
+ Cov(k,in) += PM[ii];
+ Cov(in,k) += PM[ii];
+ for(jj=0; jj<NIonoParam; jj++) {
+ Cov(k,NBiasParam+jj) += PM[ii]*PM[jj];
+ }
+ }
+
+ } // end loop over points for this station
+
+ } // end loop over stations
+
+ ifs.close();
+
+ oflog << setw(9) << setprecision(2) << MinLat << " Minimum Latitude\n";
+ oflog << setw(9) << setprecision(2) << MaxLat << " Maximum Latitude\n";
+ oflog << setw(9) << setprecision(2) << MinCRLon << " Minimum Co-rot lon\n";
+ oflog << setw(9) << setprecision(2) << MaxCRLon << " Maximum Co-rot lon\n";
+ oflog << setw(5) << ndata << " data points used." << endl << endl;
+
+ // solve the LS problem
+ // Cov = inverse(information)
+ // X = Cov * InfData
+ try { Cov = inverse(Cov); }
+ catch(Exception& e) {
+ oflog << "Least squares failed because the problem is singular\n";
+ return -2;
+ }
+
+ // Invert Cov via SVD - also expensive - maybe make option, see SVs and conditionN
+ //SVD<double> svd;
+ //svd(Cov);
+ //oflog << "Singular Values range " << svd.S(0)
+ // << " to " << svd.S(NTotalParam-1) << endl;
+ //for(i=1; i<NIonoParam; i++) {
+ // if(svd.S(i) < 1.e-14 * svd.S(0)) {
+ // oflog << "Edit SingularValue(" << i << ") = " << svd.S(i) << endl;
+ // svd.S(i) = 0;
+ // }
+ //}
+ //Vector<double> T(NIonoParam);
+ //for(j=0; j<NIonoParam; j++) { // loop over columns
+ // T = 0.0;
+ // T(j) = 1.0;
+ // svd.backSub(T);
+ // for(i=0; i<NTotalParam; i++) Cov(i,j)=T(i);
+ //}
+
+ // compute solution
+ Sol = Cov * InfData;
+ //if(verbose) oflog << "Least squares solved successfully.\n";
+
+ // print solution and sigma - remember lat and lon may be scaled by 1/1000
+ bool biasout=false;
+ if(BiasFileName.length() > 0) {
+ fout.open(BiasFileName.c_str(),ios_base::out);
+ if(!fout)
+ cerr << "Failed to open output biases file " << BiasFileName << endl;
+ else {
+ biasout = true;
+ fout << Title;
+ }
+ }
+ oflog << setw(2) << NBiasParam << " Number of SPR biases\n";
+ if(biasout) fout << setw(2) << NBiasParam << " Number of SPR biases\n";
+ for(i=0; i<NBiasParam; i++) {
+ ostringstream oss;
+ oss << "BIAS " << setw(3) << i+1 // number
+ << " " << ComponentIDs[i].first // station id
+ << " G" << setw(2) << setfill('0') << ComponentIDs[i].second // sat G<prn>
+ << setfill(' ') << fixed
+ << " " << setw(4) << mapN[ComponentIDs[i].first]
+ << " " << setw(12) << setprecision(6) << Sol(i) // bias
+ << scientific
+ << " " << setw(10) << setprecision(3) << ::sqrt(Cov(i,i)) // sigma
+ << " " << mapFilename[ComponentIDs[i].first]
+ << endl;
+ oflog << oss.str();
+ if(biasout) fout << oss.str();
+ }
+ oflog << setw(2) << NTotalParam-NBiasParam << " Number of ion model parameters\n";
+ for(i=NBiasParam; i<NTotalParam; i++) {
+ ostringstream oss;
+ oss << setw(3) << i+1-NBiasParam << fixed // number
+ << " " << setw(12) << setprecision(6) << Sol(i) // solution
+ << scientific
+ << " " << setw(10) << setprecision(3) << ::sqrt(Cov(i,i)) // sigma
+ << endl;
+ oflog << oss.str();
+ if(biasout) fout << oss.str();
+ }
+
+ // compute standard error estimates
+ // TBD
+
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// elevation in degrees. Return the inverse of the obliquity factor.
+double obliquity(double elevation) throw(Exception)
+{
+try {
+ double ob;
+ //const double coef[4]={1.02056,0.466332,3.50523,-1.84119};
+ //double x2=(1-elevation/90.)*(1-elevation/90.);
+ //ob = coef[3];
+ //for(int i=2; i>=0; i--) ob = ob*x2 + coef[i];
+
+ ob = WGS84.a()*cos(elevation*DEG_TO_RAD)/(WGS84.a()+IonoHt*1000);
+ ob = ::sqrt(1.0-ob*ob);
+
+ return ob;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/ionosphere/Jamfile b/dev/apps/ionosphere/Jamfile
new file mode 100644
index 0000000..482d249
--- /dev/null
+++ b/dev/apps/ionosphere/Jamfile
@@ -0,0 +1,10 @@
+#
+# $Id$
+#
+
+SubDir TOP apps ionosphere ;
+
+GPSLinkLibraries IonoBias TECMaps : gpstk ;
+
+GPSMain IonoBias : IonoBias.cpp ;
+GPSMain TECMaps : TECMaps.cpp VTECMap.cpp ;
diff --git a/dev/apps/ionosphere/Makefile.am b/dev/apps/ionosphere/Makefile.am
new file mode 100644
index 0000000..8df2346
--- /dev/null
+++ b/dev/apps/ionosphere/Makefile.am
@@ -0,0 +1,8 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../src
+LDADD = ../../src/libgpstk.la
+
+bin_PROGRAMS = IonoBias TECMaps
+
+IonoBias_SOURCES = IonoBias.cpp
+TECMaps_SOURCES = TECMaps.cpp VTECMap.cpp
diff --git a/dev/apps/ionosphere/README b/dev/apps/ionosphere/README
new file mode 100644
index 0000000..2552439
--- /dev/null
+++ b/dev/apps/ionosphere/README
@@ -0,0 +1,15 @@
+apps/ionosphere
+
+ Program IonoBias reads Rinex data files containing extended Rinex
+observation types EL, LA, LO and SR or SS (see preprocessing, below) from
+several sites and estimates biases in the ionospheric total electron content (TEC) measurements imposed by the hardware: either by satellite (the satellite + receiver combined bias) or by receiver alone (average over satellites to get the receiver bias). IonoBias does this by assuming a simple model of the ionosphere and simultaneously estimating biases and model parameters.
+
+ Program TECMaps reads Rinex data files containing extended Rinex observation
+types EL, AZ and SR or VR from several sites and at each epoch fits the ver-
+tical TEC data to a model of the ionosphere on a two-dimensional grid surface.
+Hardware TEC measurement biases are corrected, using input from the program
+IonoBias. The user can specify the type of grid, the type of TEC data and the
+model to be used. Output is in the form of files, one per epoch, which can be
+used to plot the 2D ionospheric TEC surface.
+
+ Run these programs at the command prompt with no options to see a summary of the input options.
diff --git a/dev/apps/ionosphere/TECMaps.cpp b/dev/apps/ionosphere/TECMaps.cpp
new file mode 100644
index 0000000..423b705
--- /dev/null
+++ b/dev/apps/ionosphere/TECMaps.cpp
@@ -0,0 +1,1479 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file TECMaps.cpp
+ * Program TECMaps reads a set of Rinex files containing observation types
+ * EL, AZ, and VR or SR and fits the ionospheric vertical TEC data to a model
+ * of the ionosphere. There are input options for the type of grid, the type of
+ * model, and the type of data (VTEC, MUF or F0F2) to be used. TD ...
+ */
+
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+#include "RinexSatID.hpp"
+#include "CommandOption.hpp"
+#include "CommandOptionWithTimeArg.hpp"
+#include "CommandOptionParser.hpp"
+
+#include "BCEphemerisStore.hpp"
+#include "SP3EphemerisStore.hpp"
+#include "WGS84Geoid.hpp"
+#include "Position.hpp"
+
+#include "VTECMap.hpp"
+#include "RinexUtilities.hpp"
+
+#include <time.h>
+#include <iostream>
+#include <string>
+#include <vector>
+
+//------------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+using namespace StringUtils;
+
+//------------------------------------------------------------------------------------
+// input data
+bool verbose,debug;
+ // log file
+string LogFile;
+ofstream oflog;
+string Title;
+ // input path
+string InputPath;
+string Title1,Title2,BaseName,BiasFile;
+double DecorrelError,ElevThresh,MinAcqTime;
+double BeginLat,DeltaLat,BeginLon,DeltaLon;
+int NumLat,NumLon;
+VTECMap::FitType typefit;
+VTECMap::GridType typegrid;
+bool doVTECmap,doMUFmap,doF0F2map;
+Station refSite;
+string KnownPos; // string holding position x,y,z or l,l,h
+bool KnownLLH; // if true, KnownPos is l,l,h
+bool GridOut; // if true, write grid to file 'basename.LL'
+bool GnuplotFormat; // if true, write grid in format for gnuplot
+ // excluded satellites
+vector<RinexSatID> ExSV;
+ // ephemeris
+string NavDir;
+vector<string> NavFiles;
+EphemerisStore *pEph; // is this used?
+ // obs types needed
+RinexObsHeader::RinexObsType ELot,AZot,VRot,SRot,TPot;
+RinexObsHeader::RinexObsType LAot,LOot; // TEMP
+ // geoid
+WGS84Geoid WGS84;
+ // Start and stop times
+DayTime BegTime,EndTime;
+ // processing
+double IonoHt;
+DayTime EarliestTime;
+VTECMap vtecmap;
+MUFMap mufmap;
+F0F2Map f0f2map;
+ // map of input sat+rx biases
+map<string,map<RinexSatID,double> > BiasMap;
+ // Data structures for all receivers
+vector<Station> Stations;
+RinexObsStream *instream; // array of streams, parallell to Stations
+
+//------------------------------------------------------------------------------------
+// prototypes
+void ConfigureAndDefaults(void);
+int GetCommandLine(int argc, char **argv) throw(Exception);
+void PreProcessArgs(const char *arg, vector<string>& Args) throw(Exception);
+int Initialize(void) throw(Exception);
+int ProcessStations(void) throw(Exception);
+void ProcessObsAndComputeMap(void) throw(Exception);
+void OutputGridToFile(VTECMap& vmap, string filename) throw(Exception);
+void OutputMapToFile(VTECMap& vtmap, string filename, DayTime t, int n)
+ throw(Exception);
+void AddStation(string& filename) throw(Exception);
+int ProcessHeader(Station& S) throw(Exception);
+int ReadNextObs(Station& S) throw(Exception);
+int ProcessObs(Station& S, vector<ObsData>& obsvect) throw(Exception);
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
+int main(int argc, char **argv)
+{
+try {
+ int iret;
+ clock_t totaltime=clock(); // timer
+ DayTime CurrEpoch;
+
+ BegTime = DayTime::BEGINNING_OF_TIME;
+ EndTime = DayTime::END_OF_TIME;
+
+ // Title description and run time
+ CurrEpoch.setLocalTime();
+ Title = "TECMaps, built on the GPSTK ToolKit, Ver 1.0 8/12/04, Run ";
+ Title += CurrEpoch.printf("%04Y/%02m/%02d %02H:%02M:%02S\n");
+ cout << Title;
+
+ // define extended types
+ iret = RegisterARLUTExtendedTypes();
+ if(iret) goto quit;
+ iret = RegisterExtendedRinexObsType("TP","Acquisition time","seconds", 0);
+ if(iret) goto quit;
+
+ // set configuration and default values
+ ConfigureAndDefaults();
+
+ // get command line arguments
+ iret = GetCommandLine(argc, argv);
+ if(iret) goto quit;
+
+ // initialize
+ iret = Initialize();
+ if(iret) goto quit;
+
+ // make the grid
+ if(doVTECmap) {
+ vtecmap.MakeGrid(refSite);
+ if(GridOut) OutputGridToFile(vtecmap, BaseName+string(".LL"));
+ }
+ if(doMUFmap) {
+ mufmap.MakeGrid(refSite);
+ if(GridOut) OutputGridToFile(mufmap, BaseName+string(".MUF.LL"));
+ }
+ if(doF0F2map) {
+ f0f2map.MakeGrid(refSite);
+ if(GridOut) OutputGridToFile(f0f2map, BaseName+string(".F0F2.LL"));
+ }
+
+ // process the headers, filling the Stations array
+ iret = ProcessStations();
+ if(iret) goto quit;
+
+ // process the all the observation data
+ ProcessObsAndComputeMap();
+
+quit:
+ // compute run time
+ totaltime = clock()-totaltime;
+ cout << "TECMaps timing: " << fixed << setprecision(3)
+ << double(totaltime)/double(CLOCKS_PER_SEC) << " seconds.\n";
+ oflog << "TECMaps timing: " << fixed << setprecision(3)
+ << double(totaltime)/double(CLOCKS_PER_SEC) << " seconds.\n";
+ oflog.close();
+
+ return iret;
+}
+catch(gpstk::Exception& e) { cerr << e; }
+catch (...) { cerr << "Unknown error. Abort." << endl; }
+ return 1;
+} // end main()
+
+//------------------------------------------------------------------------------------
+// set defaults
+void ConfigureAndDefaults(void)
+{
+ Title1=string("TECMaps main title");
+ Title2=string("TECMaps sub title");
+ BaseName=string("tecmap_out");
+ DecorrelError = 3.0;
+ BiasFile = string("");
+ ElevThresh = 10.0;
+ MinAcqTime = 0.0;
+ BeginLat = 21.0;
+ DeltaLat = 0.25;
+ BeginLon = 230;
+ DeltaLon = 1.0;
+ NumLat = 40;
+ NumLon = 40;
+ typefit = VTECMap::Constant;
+ typegrid = VTECMap::UniformLatLon;
+ doVTECmap = true;
+ doMUFmap = false;
+ doF0F2map = false;
+ LogFile = string("vtm.log");
+ IonoHt = 350.0; // km
+ verbose = false;
+ debug = false;
+ KnownPos = string("");
+ GridOut = false;
+ GnuplotFormat = false;
+}
+
+//------------------------------------------------------------------------------------
+// Define, parse and evaluate command line
+int GetCommandLine(int argc, char **argv) throw(Exception)
+{
+try {
+ bool help=false;
+ int i,j;
+ RinexSatID sat;
+ sat.setfill('0');
+
+ // required options
+
+ RequiredOption dashin(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"input"," --input <file> Input Rinex obs file name(s)"
+ " \n(Reference site position also required)"
+ );
+ //dashin.setMaxCount(1);
+
+ // optional options
+
+ // this only so it will show up in help page...
+ CommandOption dashf(CommandOption::hasArgument, CommandOption::stdType,
+ 'f',""," -f<file> file containing more options");
+
+ // reference position(s)
+ CommandOption dashllh(CommandOption::hasArgument, CommandOption::stdType,0,"RxLLH",
+ "Reference station position (one required):\n"
+ " --RxLLH <l,l,h> Reference site position in geodetic"
+ " lat, lon (E), ht (deg,deg,m)");
+ dashllh.setMaxCount(1);
+
+ CommandOption dashxyz(CommandOption::hasArgument, CommandOption::stdType,0,"RxXYZ",
+ " --RxXYZ <x,y,z> Reference site position in ECEF coordinates (m)");
+ dashxyz.setMaxCount(1);
+
+ // require one only
+ CommandOptionMutex refmutex(true);
+ refmutex.addOption(&dashllh);
+ refmutex.addOption(&dashxyz);
+
+ CommandOption dashp(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"inputdir"," --inputdir <path> Path for input file(s)");
+ dashp.setMaxCount(1);
+
+ // ephemeris
+ CommandOption dashnd(CommandOption::hasArgument, CommandOption::stdType, 0,
+ "navdir","Ephemeris input:\n --navdir <dir> Path of navigation file(s)");
+ dashnd.setMaxCount(1);
+
+ CommandOption dashn(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"nav"," --nav <file> Navigation (Rinex Nav OR SP3) file(s)");
+
+ CommandOption dashl(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"log","Output:\n --log <file> Output log file name");
+ dashl.setMaxCount(1);
+
+ // time
+ CommandOptionWithTimeArg dasheb(0,"BeginTime","%Y,%m,%d,%H,%M,%f",
+ "Time limits:\n --BeginTime <arg> Start time, arg is of the form "
+ "YYYY,MM,DD,HH,Min,Sec");
+ CommandOptionWithTimeArg dashgb(0,"BeginGPSTime","%F,%g",
+ " --BeginGPSTime <arg> Start time, arg is of the form GPSweek,GPSsow");
+
+ CommandOptionWithTimeArg dashee(0,"EndTime","%Y,%m,%d,%H,%M,%f",
+ " --EndTime <arg> End time, arg is of the form YYYY,MM,DD,HH,Min,Sec");
+ CommandOptionWithTimeArg dashge(0,"EndGPSTime","%F,%g",
+ " --EndGPSTime <arg> End time, arg is of the form GPSweek,GPSsow");
+
+ // allow ONLY one start time (use startmutex(true) if one is required)
+ CommandOptionMutex startmutex(false);
+ startmutex.addOption(&dasheb);
+ startmutex.addOption(&dashgb);
+ CommandOptionMutex stopmutex(false);
+ stopmutex.addOption(&dashee);
+ stopmutex.addOption(&dashge);
+
+ CommandOptionNoArg dashVmap(0, "MUFmap","Processing:\n"
+ " --noVTECmap Do NOT create the VTEC map.");
+
+ CommandOptionNoArg dashMUF(0, "MUFmap",
+ " --MUFmap Create MUF map as well as VTEC map.");
+
+ CommandOptionNoArg dashF0F2(0, "F0F2map",
+ " --F0F2map Create F0F2 map as well as VTEC map.");
+
+ CommandOption dashTitle1(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Title1"," --Title1 <title> Title information");
+ dashTitle1.setMaxCount(1);
+
+ CommandOption dashTitle2(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Title2", " --Title2 <title> Second title information");
+ dashTitle2.setMaxCount(1);
+
+ CommandOption dashBaseName(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"BaseName", " --BaseName <name> Base name for output files (a)");
+ dashBaseName.setMaxCount(1);
+
+ CommandOption dashDecor(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"DecorrError",
+ " --DecorrError <de> Decorrelation error rate in TECU/1000km (3)");
+ dashDecor.setMaxCount(1);
+
+ CommandOption dashBiases(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Biases", " --Biases <file> "
+ "File containing estimated sat+rx biases (Prgm IonoBias)");
+ dashBiases.setMaxCount(1);
+
+ CommandOption dashElevThresh(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"ElevThresh", " --ElevThresh <ele> Minimum elevation (6 deg)");
+ dashElevThresh.setMaxCount(1);
+
+ CommandOption dashMinAcqTime(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"MinAcqTime", " --MinAcqTime <t> Minimum acquisition time (0 sec)");
+ dashMinAcqTime.setMaxCount(1);
+
+ CommandOptionNoArg dashFlatFit(
+ 0, "FlatFit", " --FlatFit Flat fit type (default)");
+
+ CommandOptionNoArg dashLinearFit(
+ 0, "LinearFit", " --LinearFit Linear fit type");
+
+ CommandOption dashIonoHt(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"IonoHeight", " --IonoHeight <n> Ionosphere height (km)");
+ dashIonoHt.setMaxCount(1);
+
+ CommandOptionNoArg dashUniSpace(0, "UniformSpacing",
+ "Grid:\n --UniformSpacing Grid uniform in space (XYZ) (default)");
+
+ CommandOptionNoArg dashUniGrid(0, "UniformGrid",
+ " --UniformGrid Grid uniform in Lat and Lon");
+
+ CommandOptionNoArg dashOutGrid(
+ 0, "OutputGrid", " --OutputGrid Output the grid to file <basename.LL>");
+
+ CommandOptionNoArg dashGnuOut(
+ 0, "GnuplotOutput", " --GnuplotOutput Write the grid file for gnuplot"
+ " (default: for Matlab)");
+
+ CommandOption dashNumLat(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"NumLat", " --NumLat <n> Number of latitude grid points (40)");
+ dashNumLat.setMaxCount(1);
+
+ CommandOption dashNumLon(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"NumLon", " --NumLon <n> Number of longitude grid points (40)");
+ dashNumLon.setMaxCount(1);
+
+ CommandOption dashBeginLat(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"BeginLat", " --BeginLat <lat> Beginning latitude (21 deg)");
+ dashBeginLat.setMaxCount(1);
+
+ CommandOption dashBeginLon(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"BeginLon", " --BeginLon <lon> Beginning longitude (230 deg E)");
+ dashBeginLon.setMaxCount(1);
+
+ CommandOption dashDeltaLat(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"DeltaLat", " --DeltaLat <del> Grid spacing in latitude (0.25 deg)");
+ dashDeltaLat.setMaxCount(1);
+
+ CommandOption dashDeltaLon(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"DeltaLon", " --DeltaLon <del> Grid spacing in longitude (1.0 deg)");
+ dashDeltaLon.setMaxCount(1);
+
+ CommandOption dashXsat(CommandOption::hasArgument, CommandOption::stdType,
+ '0', "XSat", "Other options:\n --XSat <sat> Exclude this satellite "
+ "(<sat> may be <system> only)");
+
+ // ... other options
+ CommandOptionNoArg dashv('v', "verbose",
+ "Help:\n [-v|--verbose] print extended output info.");
+
+ CommandOptionNoArg dashd('d', "debug",
+ " [-d|--debug] print extended output info.");
+
+ CommandOptionNoArg dashh('h', "help",
+ " [-h|--help] print syntax and summary of input, then quit.");
+
+ // ... rest of the command line
+ CommandOptionRest Rest("");
+
+ CommandOptionParser Par(
+ " Prgm TECMaps will open and read several preprocessed Rinex obs files\n"
+ " (containing obs types EL,AZ,VR|SR) and use the data to ...\n"
+ " Input is on the command line, or of the same format in a file (-f<file>).\n");
+
+ // allow user to put all options in a file
+ // could also scan for debug here
+ vector<string> Args;
+ for(j=1; j<argc; j++) PreProcessArgs(argv[j],Args);
+
+ if(Args.size()==0) Args.push_back(string("-h"));
+
+ // pass the rest
+ argc = Args.size()+1;
+ char **CArgs=new char*[argc];
+ if(!CArgs) { cerr << "Failed to allocate CArgs\n"; return -1; }
+ CArgs[0] = argv[0];
+ for(j=1; j<argc; j++) {
+ CArgs[j] = new char[Args[j-1].size()+1];
+ if(!CArgs[j]) { cerr << "Failed to allocate CArgs[j]\n"; return -1; }
+ strcpy(CArgs[j],Args[j-1].c_str());
+ }
+
+ //if(debug) {
+ //cout << "List passed to parse\n";
+ //for(i=0; i<argc; i++) cout << i << " " << CArgs[i] << endl;
+ //}
+ Par.parseOptions(argc, CArgs);
+ delete[] CArgs;
+
+ // help first
+ if(dashh.getCount() > 0) {
+ help = true;
+ }
+
+ // get values found on command line
+ vector<string> values;
+
+ // log file next
+ if(dashl.getCount()) {
+ values = dashl.getValue();
+ if(help) cout << "Input name of output log file: " << values[0] << endl;
+ LogFile = values[0];
+ }
+ oflog.open(LogFile.c_str(),ios_base::out);
+ if(!oflog) {
+ cerr << "Failed to open log file " << LogFile << endl;
+ return -1;
+ }
+ cout << "TECMaps output directed to log file " << LogFile << endl;
+ oflog << Title;
+
+ // print syntax
+ if(help) {
+ Par.displayUsage(oflog,false); oflog << endl;
+ Par.displayUsage(cout,false); cout << endl;
+ }
+
+ // errors on command line
+ if(Par.hasErrors())
+ {
+ cerr << "\nErrors found in command line input:\n";
+ Par.dumpErrors(cerr);
+ cerr << "...end of Errors\n\n";
+ oflog << "\nErrors found in command line input:\n";
+ Par.dumpErrors(oflog);
+ oflog << "...end of Errors\n\n";
+ help = true;
+ }
+
+ // f never appears because we intercept it above
+ //if(dashf.getCount()) { cout << "Option f "; dashf.dumpValue(cout); }
+
+ // input path; do path before input file names
+ if(dashp.getCount()) {
+ values = dashp.getValue();
+ if(help) cout << "Input path name: " << values[0] << endl;
+ InputPath = values[0];
+ }
+ else InputPath = string("");
+
+ // input file names -- create vector of Station here
+ if(dashin.getCount()) {
+ values = dashin.getValue();
+ if(help) cout << "Input Rinex obs file names are:\n";
+ string::size_type pos;
+ string fname;
+ for(i=0; i<values.size(); i++) {
+ fname = values[i];
+ // expand filenames of the form @name or name@
+ // into the *contents* (one name per line) of file 'name'.
+ pos = fname.find('@');
+ if(pos == string::npos || (pos != 0 && pos != fname.length()-1)) {
+ // value is a Rinex file name
+ if(InputPath.size() > 0) { fname = InputPath + "/" + fname; }
+ AddStation(fname);
+ if(help) cout << " " << fname << endl;
+ }
+ else { // value is a file containing Rinex file names
+ fname.erase(pos,1);
+ if(InputPath.size() > 0) { fname = InputPath + "/" + fname; }
+ if(help) cout << " " << "(Open and read file names from: "
+ << fname << ")" << endl;
+ ifstream infile(fname.c_str());
+ if(!infile) {
+ oflog << "Error: could not open file " << fname << endl;
+ }
+ else {
+ while(infile >> fname) {
+ if(fname[0] == '#') { // skip to end of line
+ char c;
+ while(infile.get(c)) { if(c=='\n') break; }
+ }
+ else {
+ AddStation(fname);
+ if(debug) oflog << " " << fname << endl;
+ }
+ } // end loop over lines in the file
+ infile.close();
+ } // end opened file
+ } // end if value is a file containing file names
+ } // end loop over values on command line
+ } // end dashin
+
+ // reference position
+ if(dashllh.getCount()) {
+ values = dashllh.getValue();
+ KnownPos = values[0];
+ KnownLLH = true;
+ if(help) cout << "Get reference position from explicit input (LLH):\n "
+ << KnownPos << endl;
+ }
+ if(dashxyz.getCount()) {
+ values = dashxyz.getValue();
+ KnownPos = values[0];
+ KnownLLH = false;
+ if(help) cout << "Get reference position from explicit input (XYZ):\n "
+ << KnownPos << endl;
+ }
+
+ if(KnownPos != string("")) {
+ ECEF e;
+ string::size_type pos;
+ values.clear();
+ while(KnownPos.size() > 0) {
+ pos = KnownPos.find(",");
+ if(pos==string::npos) pos=KnownPos.size();
+ if(pos==0) values.push_back(" ");
+ else values.push_back(KnownPos.substr(0,pos));
+ if(pos >= KnownPos.size()) break;
+ KnownPos.erase(0,pos+1);
+ };
+ refSite.filename = string("reference");
+ if(values.size() > 3) refSite.filename=values[3];
+ if(KnownLLH) {
+ refSite.llr.setGeodetic(asDouble(values[0]),
+ asDouble(values[1]),
+ asDouble(values[2])); //WGS84 is default
+ refSite.xyz = refSite.llr;
+ try {
+ refSite.llr.transformTo(Position::Geocentric);
+ refSite.xyz.transformTo(Position::Cartesian);
+ }
+ catch(Exception& e) {
+ cerr << "ERROR: Reference site input (geodetic LLH) is invalid\n";
+ oflog << "ERROR: Reference site input (geodetic LLH) is invalid\n";
+ return -2;
+ }
+ }
+ else {
+ refSite.xyz.setECEF(asDouble(values[0]),
+ asDouble(values[1]),
+ asDouble(values[2]));
+ refSite.llr = refSite.xyz;
+ refSite.llr.transformTo(Position::Geocentric);
+ }
+ }
+
+ // ephemeris input
+ if(dashnd.getCount()) {
+ values = dashnd.getValue();
+ NavDir = values[0];
+ if(help) cout << "Input Nav Directory: " << NavDir << endl;
+ }
+ if(dashn.getCount()) {
+ values = dashn.getValue();
+ NavFiles = values;
+ if(help) {
+ cout << "Input Nav files :";
+ for(i=0; i<NavFiles.size(); i++) cout << " " << NavFiles[i];
+ cout << endl;
+ }
+ }
+
+ if(dasheb.getCount()) {
+ values = dasheb.getValue();
+ BegTime.setToString(values[0], "%Y,%m,%d,%H,%M,%S");
+ if(help) cout << "Input BeginTime " << BegTime << endl;
+ }
+ if(dashee.getCount()) {
+ values = dashee.getValue();
+ EndTime.setToString(values[0], "%Y,%m,%d,%H,%M,%S");
+ if(help) cout << "Input EndTime " << EndTime << endl;
+ }
+ if(dashgb.getCount()) {
+ values = dashgb.getValue();
+ BegTime.setToString(values[0], "%F,%g");
+ if(help) cout << "Input BeginGPSTime " << BegTime << endl;
+ }
+ if(dashge.getCount()) {
+ values = dashge.getValue();
+ EndTime.setToString(values[0], "%F,%g");
+ if(help) cout << "Input EndGPSTime " << EndTime << endl;
+ }
+ // processing
+ if(dashVmap.getCount()) {
+ doVTECmap = false;
+ if(help) cout << "Do NOT create VTEC map" << endl;
+ }
+ if(dashMUF.getCount()) {
+ doMUFmap = true;
+ if(help) cout << "Create MUF map" << endl;
+ }
+ if(dashF0F2.getCount()) {
+ doF0F2map = true;
+ if(help) cout << "Create F0F2 map" << endl;
+ }
+ if(dashTitle1.getCount()) {
+ values = dashTitle1.getValue();
+ Title1 = values[0];
+ if(help) cout << "Primary Title is " << Title1 << endl;
+ }
+ if(dashTitle2.getCount()) {
+ values = dashTitle2.getValue();
+ Title2 = values[0];
+ if(help) cout << "Secondary Title is " << Title2 << endl;
+ }
+ if(dashBaseName.getCount()) {
+ values = dashBaseName.getValue();
+ BaseName = values[0];
+ if(help) cout << "Base name for output files is " << BaseName << endl;
+ }
+ if(dashDecor.getCount()) {
+ values = dashDecor.getValue();
+ DecorrelError = asDouble(values[0]);
+ if(help) cout << "Decorrelation error rate (TECU/1000km) is "
+ << DecorrelError << endl;
+ }
+ if(dashNumLat.getCount()) {
+ values = dashNumLat.getValue();
+ NumLat = asInt(values[0]);
+ if(help) cout << "Number of latitude grid points is " << NumLat << endl;
+ }
+ if(dashNumLon.getCount()) {
+ values = dashNumLon.getValue();
+ NumLon = asInt(values[0]);
+ if(help) cout << "Number of longitude grid points is " << NumLon << endl;
+ }
+ if(dashBiases.getCount()) {
+ values = dashBiases.getValue();
+ BiasFile = values[0];
+ if(help) cout << "Input sat+rx biases from file " << BiasFile << endl;
+ }
+ if(dashElevThresh.getCount()) {
+ values = dashElevThresh.getValue();
+ ElevThresh = asDouble(values[0]);
+ if(help) cout << "Minimum elevation (deg) is " << ElevThresh << endl;
+ }
+ if(dashMinAcqTime.getCount()) {
+ values = dashMinAcqTime.getValue();
+ MinAcqTime = asDouble(values[0]);
+ if(help) cout << "Minimum acquisition time (sec) is " << MinAcqTime << endl;
+ }
+ if(dashBeginLat.getCount()) {
+ values = dashBeginLat.getValue();
+ BeginLat = asDouble(values[0]);
+ if(help) cout << "Beginning latitude (deg) is " << BeginLat << endl;
+ }
+ if(dashBeginLon.getCount()) {
+ values = dashBeginLon.getValue();
+ BeginLon = asDouble(values[0]);
+ if(help) cout << "Beginning longitude (deg E) is " << BeginLon << endl;
+ }
+ if(dashDeltaLat.getCount()) {
+ values = dashDeltaLat.getValue();
+ DeltaLat = asDouble(values[0]);
+ if(help) cout << "Grid step in latitude (deg) is " << DeltaLat << endl;
+ }
+ if(dashDeltaLon.getCount()) {
+ values = dashDeltaLon.getValue();
+ DeltaLon = asDouble(values[0]);
+ if(help) cout << "Grid step in longitude (deg) is " << DeltaLon << endl;
+ }
+ if(dashUniSpace.getCount()) {
+ typegrid = VTECMap::UniformSpace;
+ if(help) cout << "Grid type is set to 'uniform spacing': " << typegrid << endl;
+ }
+ if(dashUniGrid.getCount()) {
+ typegrid = VTECMap::UniformLatLon;
+ if(help) cout << "Grid type is set to uniform: " << typegrid << endl;
+ }
+ if(dashOutGrid.getCount()) {
+ GridOut = true;
+ if(help) cout << "Output grid to file " << BaseName << ".LL" << endl;
+ }
+ if(dashGnuOut.getCount()) {
+ GnuplotFormat = true;
+ if(help) cout << "Output grid in gnuplot format" << endl;
+ }
+ if(dashFlatFit.getCount()) {
+ typefit = VTECMap::Constant;
+ if(help) cout << "Set fit type to FLAT" << endl;
+ }
+ if(dashLinearFit.getCount()) {
+ typefit = VTECMap::Linear;
+ if(help) cout << "Set fit type to LINEAR" << endl;
+ }
+ if(dashIonoHt.getCount()) {
+ values = dashIonoHt.getValue();
+ IonoHt = asDouble(values[0]);
+ if(help) cout << "Ionosphere height = " << IonoHt << " km" << endl;
+ }
+ if(dashXsat.getCount()) {
+ values = dashXsat.getValue();
+ for(i=0; i<values.size(); i++) {
+ sat.fromString(values[i]);
+ if(help) cout << "Input: exclude satellite " << sat << endl;
+ ExSV.push_back(sat);
+ }
+ }
+
+ if(dashh.getCount())
+ oflog << "Option h appears " << dashh.getCount() << " times\n";
+ if(dashv.getCount()) {
+ verbose = true;
+ if(help) cout << "Option v appears " << dashv.getCount() << " times\n";
+ }
+ if(dashd.getCount()) {
+ debug = true;
+ if(help) cout << "Option d appears " << dashd.getCount() << " times\n";
+ }
+
+ if(Rest.getCount() && help) {
+ cout << "Remaining options:" << endl;
+ values = Rest.getValue();
+ for (i=0; i<values.size(); i++) cout << values[i] << endl;
+ }
+ if(verbose && help) {
+ cout << "\nTokens on command line (" << Args.size() << ") are:" << endl;
+ for(j=0; j<Args.size(); j++) cout << Args[j] << endl;
+ cout << endl;
+ }
+ if(help) cout << "Configuration summarized in log file\n";
+
+ // print configuration
+ if(verbose || help || debug) {
+ oflog << "\nInput configuration for TECMaps:\n";
+ if(!InputPath.empty()) oflog << " Path for input files is "
+ << InputPath << endl;
+ oflog << " Input Rinex obs file names are:\n";
+ for(i=0; i<Stations.size(); i++)
+ oflog << " " << Stations[i].filename << endl;
+ if(!NavDir.empty()) oflog << " Path for input nav files is "
+ << NavDir << endl;
+ if(NavFiles.size() > 0) {
+ oflog << " Input Rinex nav file names are:\n";
+ for(i=0; i<NavFiles.size(); i++)
+ oflog << " " << NavFiles[i] << endl;
+ }
+ if(BegTime > DayTime::BEGINNING_OF_TIME) oflog << " Begin time is "
+ << BegTime.printf("%Y/%m/%d_%H:%M:%6.3f=%F/%10.3g") << endl;
+ if(EndTime < DayTime::END_OF_TIME) oflog << " End time is "
+ << EndTime.printf("%Y/%m/%d_%H:%M:%6.3f=%F/%10.3g") << endl;
+ oflog << " Processing:\n";
+ oflog << " Primary Title is " << Title1 << endl;
+ oflog << " Secondary Title is " << Title2 << endl;
+ oflog << " Reference " << refSite << endl;
+ oflog << " Do " << (doVTECmap ? "":"not ") << "create VTEC map\n";
+ oflog << " Do " << (doMUFmap ? "":"not ") << "create MUF map\n";
+ oflog << " Do " << (doF0F2map ? "":"not ") << "create F0F2 map\n";
+ oflog << " Grid type is "
+ << (typegrid == VTECMap::UniformLatLon ? "Uniform " : "Uniform Space ")
+ << typegrid << endl;
+ oflog << " Beginning latitude (deg) is " << BeginLat << endl;
+ oflog << " Beginning longitude (deg E) is " << BeginLon << endl;
+ oflog << " Number of latitude grid points is " << NumLat << endl;
+ oflog << " Number of latitude grid points is " << NumLat << endl;
+ oflog << " Grid step in latitude (deg) is " << DeltaLat << endl;
+ oflog << " Grid step in longitude (deg) is " << DeltaLon << endl;
+ oflog << " Minimum elevation (deg) is " << ElevThresh << endl;
+ oflog << " Minimum acquisition time (sec) is " << MinAcqTime << endl;
+ if(BiasFile.length() > 0)
+ oflog << " Receiver biases input from file " << BiasFile << endl;
+ else
+ oflog << " Do not input sat+rx biases" << endl;
+ oflog << " Decorrelation error rate (TECU/1000km) is " << DecorrelError
+ << endl;
+ oflog << " Ionosphere height = " << IonoHt << " km" << endl;
+ oflog << " Base name for output files is " << BaseName << endl;
+ cout << (GridOut ? "O":"Do NOT o") << "utput grid in file named " <<
+ BaseName << ".LL" << endl;
+ if(GridOut) cout << "Output grid in " << (GnuplotFormat ? "gnuplot" : "Matlab")
+ << " format" << endl;
+ if(ExSV.size() > 0) {
+ oflog << " Exclude these satellites:";
+ for(i=0; i<ExSV.size(); i++) oflog << " " << ExSV[i];
+ oflog << endl;
+ }
+ if(help) oflog << " Help (-h) is set\n";
+ if(debug) oflog << " Debug (-d) is set\n";
+ oflog << "End of input configuration for TECMaps" << endl << endl;
+ }
+
+ if(help) return 1;
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Pull out --debug --verbose options.
+void PreProcessArgs(const char *arg, vector<string>& Args) throw(Exception)
+{
+try {
+ static bool found_cfg_file=false;
+
+ if(found_cfg_file || (arg[0]=='-' && arg[1]=='f')) {
+ string filename(arg);
+ if(!found_cfg_file) filename.erase(0,2); else found_cfg_file = false;
+ if(debug) cout << "Found a file of options: " << filename << endl;
+ ifstream infile(filename.c_str());
+ if(!infile) {
+ cout << "Error: could not open options file " << filename << endl;
+ return;
+ }
+
+ bool again_cfg_file=false;
+ char c;
+ string buffer,word;
+ while(1) {
+ getline(infile,buffer);
+ stripTrailing(buffer,'\r');
+
+ // process the buffer before checking eof or bad b/c there can be
+ // a line at EOF that has no CRLF...
+ while(!buffer.empty()) {
+ word = firstWord(buffer);
+ if(again_cfg_file) {
+ word = "-f" + word;
+ again_cfg_file = false;
+ PreProcessArgs(word.c_str(),Args);
+ }
+ else if(word[0] == '#') { // skip to end of line
+ buffer.clear();
+ }
+ else if(word == "--file" || word == "-f")
+ again_cfg_file = true;
+ else if(word[0] == '"') {
+ word = stripFirstWord(buffer,'"');
+ buffer = "dummy " + buffer; // to be stripped later
+ PreProcessArgs(word.c_str(),Args);
+ }
+ else
+ PreProcessArgs(word.c_str(),Args);
+
+ word = stripFirstWord(buffer); // now remove it from buffer
+ }
+ if(infile.eof() || !infile.good()) break;
+ }
+ }
+ else if((arg[0]=='-' && arg[1]=='d') || string(arg)==string("--debug"))
+ debug = true;
+ else if((arg[0]=='-' && arg[1]=='v') || string(arg)==string("--verbose"))
+ verbose = true;
+ else if(string(arg) == "--file" || string(arg) == "-f")
+ found_cfg_file = true;
+ else Args.push_back(arg);
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+int Initialize(void) throw(Exception)
+{
+try {
+ static SP3EphemerisStore SP3EphList;
+ static BCEphemerisStore BCEphList;
+
+ // open nav files and read EphemerisStore
+ if(!NavDir.empty())
+ for(int i=0; i<NavFiles.size(); i++)
+ NavFiles[i] = NavDir + "/" + NavFiles[i];
+ FillEphemerisStore(NavFiles, SP3EphList, BCEphList);
+ if(SP3EphList.size()) {
+ if(verbose) SP3EphList.dump(0,oflog);
+ }
+ else if(verbose) oflog << "SP3 Ephemeris list is empty\n";
+
+ if(BCEphList.size()) {
+ BCEphList.SearchNear();
+ if(verbose) BCEphList.dump(0,oflog);
+ }
+ else if(verbose) oflog << "BC Ephemeris list is empty\n";
+
+ if(SP3EphList.size()) pEph = &SP3EphList;
+ else if(BCEphList.size()) pEph = &BCEphList;
+ else {
+ cerr << "TECMaps abort -- no ephemeris\n";
+ oflog << "TECMaps abort -- no ephemeris\n";
+ return -1;
+ }
+
+ // read the sat+rx biases file and build the map
+ if(BiasFile.length() > 0) {
+ ifstream inf(BiasFile.c_str());
+ if(!inf) {
+ cerr << "Error: could not open biases file " << BiasFile << endl;
+ oflog << "Error: could not open biases file " << BiasFile << endl;
+ return -1;
+ }
+ else {
+ int nbiases,n=0;
+ double bias;
+ RinexSatID sat;
+ string line,station;
+ vector<string> words;
+ while(!inf.eof() && inf.good()) {
+ { // parse line into words
+ istringstream iss(line);
+ string wd;
+ words.clear();
+ while(iss >> wd) { words.push_back(wd); }
+ }
+ while(1) {
+ if(words.size() != 5) break;
+ if(debug) {
+ oflog << "Biases file:";
+ for(int i=0; i<words.size(); i++) oflog << " " << words[i];
+ oflog << endl;
+ }
+ if(words[0] == string("IonoBias,")) break;
+ if(words[1] == string("Number")) {
+ nbiases = asInt(words[0]);
+ break;
+ }
+ station = words[1];
+ sat.fromString(words[2]);
+ bias = asDouble(words[3]);
+ BiasMap[station][sat] = bias;
+ n++;
+ break;
+ }
+ getline(inf,line);
+ }
+ inf.close();
+ if(verbose) {
+ oflog << "Read sat+rx biases file " << BiasFile << ":" << endl;
+ oflog << " Expected " << nbiases << " biases, read " << n << "." << endl;
+ oflog << " Here is the biases map:" << endl;
+ map<string,map<RinexSatID,double> >::const_iterator it;
+ map<RinexSatID,double>::const_iterator jt;
+ for(it=BiasMap.begin(); it!=BiasMap.end(); it++) {
+ for(jt=it->second.begin(); jt!=it->second.end(); jt++) {
+ oflog << " " << it->first
+ << " " << jt->first
+ << " " << setw(12) << setprecision(6) << jt->second << endl;
+ }
+ }
+ }
+ }
+ }
+
+ // create the obs types for later use
+ ELot = RinexObsHeader::convertObsType("EL");
+ AZot = RinexObsHeader::convertObsType("AZ");
+ LAot = RinexObsHeader::convertObsType("LA"); // TEMP
+ LOot = RinexObsHeader::convertObsType("LO"); // TEMP
+ SRot = RinexObsHeader::convertObsType("SR");
+ VRot = RinexObsHeader::convertObsType("VR");
+ TPot = RinexObsHeader::convertObsType("TP");
+
+ // initialize the map(s)
+ // set parameters
+ vtecmap.Decorrelation = DecorrelError;
+ vtecmap.MinElevation = ElevThresh;
+ vtecmap.IonoHeight = IonoHt*1000;
+ vtecmap.gridtype = typegrid;
+ vtecmap.fittype = typefit;
+ vtecmap.BeginLat = BeginLat;
+ vtecmap.DeltaLat = DeltaLat;
+ vtecmap.NumLat = NumLat;
+ vtecmap.BeginLon = BeginLon;
+ vtecmap.DeltaLon = DeltaLon;
+ vtecmap.NumLon = NumLon;
+ if(doMUFmap) mufmap.CopyInputData(vtecmap);
+ if(doF0F2map) f0f2map.CopyInputData(vtecmap);
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Return 0 ok,
+// -1 could not allocate array of RinexObsStream
+// -2 could not open a file,
+// -3 FFStream exception,
+// -4 gpstk exception,
+int ProcessStations(void) throw(Exception)
+{
+try {
+ int iret,nfile;
+
+ if(verbose) oflog << "\nProcess " << Stations.size()
+ << " input files / Stations:\n";
+
+ // create vector of RinexObsStream for use by the files
+ instream = new RinexObsStream[Stations.size()];
+ if(!instream) {
+ oflog << " ERROR: Array of " << Stations.size()
+ << " RinexObsStream's could not be allocated\n";
+ return -1;
+ }
+
+ // loop over input file names
+ // open and read header, define entry in Stations array
+ for(nfile=0; nfile<Stations.size(); nfile++) {
+ instream[nfile].open(Stations[nfile].filename.c_str(),ios_base::in);
+ if(!instream[nfile]) {
+ oflog << " Rinex file " << Stations[nfile].filename
+ << " could not be opened -- abort.\n";
+ Stations[nfile].nfile = -1;
+ Stations[nfile].nread = -1;
+ Stations[nfile].getNext = false;
+ return -2;
+ }
+ oflog << "\nInput file #" << nfile+1 << ": "
+ << Stations[nfile].filename << endl;
+
+ instream[nfile].exceptions(ios::failbit);
+ Stations[nfile].nfile = nfile;
+ Stations[nfile].getNext = true;
+
+ iret = ProcessHeader(Stations[nfile]);
+ if(iret != 0) return iret;
+
+ } // end loop over file names -> stations
+ oflog << "\nEnd of loop over stations to read headers.\n\n";
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void ProcessObsAndComputeMap(void) throw(Exception)
+{
+try {
+ int iret,nfile,ngood,nepochs=0;
+ vector<ObsData> AllObs; // ObsData vector, passed into ProcessObs and Compute
+
+ // loop over all epochs in all files
+ do {
+ // read the data for the next (earliest in future) observation epoch
+ EarliestTime = DayTime(DayTime::END_OF_TIME);
+ for(nfile=0; nfile<Stations.size(); nfile++) {
+ iret = ReadNextObs(Stations[nfile]);
+ if(iret < 0) { // set file 'inactive'
+ Stations[nfile].nread = -1;
+ }
+ else { // iret is 0 or 1 - file is active
+ if(Stations[nfile].robs.time < EarliestTime)
+ EarliestTime = Stations[nfile].robs.time;
+ }
+ }
+
+ // if no more data available, EarliestTime will never get set
+ if(EarliestTime == DayTime(DayTime::END_OF_TIME)) break;
+
+ // time limits
+ if(EarliestTime < BegTime) {
+ oflog << "Before begin time : "
+ << EarliestTime.printf("%Y/%m/%d %H:%M:%6.3f=%F/%10.3g\n");
+ continue;
+ }
+ if(EarliestTime > EndTime) {
+ oflog << "After end time (quit) : "
+ << EarliestTime.printf("%Y/%m/%d %H:%M:%6.3f=%F/%10.3g\n");
+ break;
+ }
+
+ // process at EarliestTime
+ oflog << "Process at time = "
+ << EarliestTime.printf("%Y/%m/%d %H:%M:%6.3f=%F/%10.3g\n");
+ AllObs.clear();
+ for(ngood=0,nfile=0; nfile<Stations.size(); nfile++) {
+ // if this data time == EarliestTime, process and set flag to read again
+ if(ABS(Stations[nfile].robs.time - EarliestTime) < 1.) {
+ iret = ProcessObs(Stations[nfile],AllObs);
+ if(iret > 0) ngood += iret;
+ Stations[nfile].getNext = true;
+ }
+ else Stations[nfile].getNext = false;
+ }
+
+ // compute map(s) and output
+ nepochs++;
+ if(ngood > 0) {
+ oflog << ngood << " data at epoch "
+ << EarliestTime.printf("%Y/%m/%d %H:%M:%6.3f=%F/%10.3g")
+ << ", file #" << nepochs << "." << endl;
+ // compute the map(s)
+ if(doVTECmap) {
+ vtecmap.ComputeMap(EarliestTime,AllObs);
+ OutputMapToFile(vtecmap,BaseName,EarliestTime,nepochs);
+ }
+ if(doMUFmap) {
+ mufmap.ComputeMap(EarliestTime,AllObs);
+ OutputMapToFile(mufmap,BaseName+string(".MUF"),EarliestTime,nepochs);
+ }
+ if(doF0F2map) {
+ f0f2map.ComputeMap(EarliestTime,AllObs);
+ OutputMapToFile(f0f2map,BaseName+string(".F0F2"),EarliestTime,nepochs);
+ }
+ }
+ else oflog << "0 data at epoch "
+ << EarliestTime.printf("%Y/%m/%d %H:%M:%6.3f=%F/%10.3g")
+ << ", file #" << nepochs << "." << endl;
+
+ } while(1);
+
+ // finished...close all files
+ for(nfile=0; nfile<Stations.size(); nfile++) instream[nfile].close();
+
+ if(verbose)
+ oflog << endl << "Processed " << Stations.size() << " stations\n";
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// output the grid to a file
+void OutputGridToFile(VTECMap& vmap, string filename) throw(Exception)
+{
+try {
+ ofstream ofs(filename.c_str());
+ if(!ofs) {
+ cerr << "Failed to open grid output file " << filename << endl;
+ oflog << "Failed to open grid output file " << filename << endl;
+ }
+ else {
+ vmap.OutputGrid(ofs);
+ ofs.close();
+ }
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// output map
+void OutputMapToFile(VTECMap& vtmap, string filename, DayTime t, int n) throw(Exception)
+{
+try {
+ // make this a function, pass it the name MUF etc, map and time
+ ostringstream oss;
+ oss << filename << "." << setw(4) << setfill('0') << n;
+ string fn = oss.str();
+ ofstream ofs(fn.c_str());
+ if(!ofs) {
+ cerr << "Failed to open map output file " << fn << " at epoch "
+ << t.printf("%Y/%m/%d %H:%M:%6.3f=%F/%10.3g") << endl;
+ oflog << "Failed to open map output file " << fn << " at epoch "
+ << t.printf("%Y/%m/%d %H:%M:%6.3f=%F/%10.3g") << endl;
+ }
+ else {
+ oflog << "Output map at epoch "
+ << t.printf("%Y/%m/%d %H:%M:%6.3f=%F/%10.3g")
+ << " to file " << fn << endl;
+ vtmap.OutputMap(ofs,GnuplotFormat);
+ ofs.close();
+ }
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void AddStation(string& name) throw(Exception)
+{
+try {
+ Station s;
+ s.filename = name;
+ for(int i=1; i<33; i++) {
+ RinexSatID p(i,SatID::systemGPS);
+ s.InitTime[p] = DayTime::BEGINNING_OF_TIME;
+ }
+ Stations.push_back(s);
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Return 0 ok,
+// -3 FFStream exception,
+// -4 gpstk exception,
+int ProcessHeader(Station& S) throw(Exception)
+{
+try {
+ // input header
+ try {
+ instream[S.nfile] >> S.header;
+ }
+ catch(gpstk::FFStreamError& e) {
+ cerr << "Caught an FFStreamError while reading header for file "
+ << S.filename << ":\n" << e.getText(0) << endl;
+ oflog << "Caught an FFStreamError while reading header for file "
+ << S.filename << ":\n" << e.getText(0) << endl;
+ return -3;
+ }
+ catch(gpstk::Exception& e) {
+ cerr << "Caught a gpstk exception while reading header for file "
+ << S.filename << ":\n" << e.getText(0) << endl;
+ oflog << "Caught a gpstk exception while reading header for file "
+ << S.filename << ":\n" << e.getText(0) << endl;
+ return -4;
+ }
+ S.nread = 0;
+
+ // convert to geocentric LLH
+ S.xyz.setECEF(S.header.antennaPosition);
+ S.llr = S.xyz;
+ S.llr.transformTo(Position::Geocentric);
+
+ // save station info
+ //StationName = head.markerName;
+ //TotalSpan = head.lastObs.MJD()-head.firstObs.MJD();
+
+ // dump header information
+ if(verbose) {
+ int i;
+ oflog << "File name: " << S.filename << " ";
+ oflog << "Marker name: " << S.header.markerName << "\n";
+ oflog << "Antenna position: " << setprecision(3) << S.header.antennaPosition
+ << endl;
+ oflog << "ECEF Position: " << S.xyz << endl;
+ oflog << "Geocentric Position: " << S.llr << endl;
+ oflog << "Observation types (" << S.header.obsTypeList.size() << ") :";
+ for(i=0; i<S.header.obsTypeList.size(); i++)
+ oflog << " " << RinexObsHeader::convertObsType(S.header.obsTypeList[i]);
+ oflog << endl;
+ oflog << "Time of first obs "
+ << S.header.firstObs.printf("%04Y/%02m/%02d %02H:%02M:%010.7f")
+ << " " << (S.header.firstSystem.system==RinexSatID::systemGlonass?"GLO":
+ (S.header.firstSystem.system==RinexSatID::systemGalileo?"GAL":"GPS"))
+ << endl;
+ oflog << "Time of last obs "
+ << S.header.lastObs.printf("%04Y/%02m/%02d %02H:%02M:%010.7f")
+ << " " << (S.header.lastSystem.system==RinexSatID::systemGlonass?"GLO":
+ (S.header.lastSystem.system==RinexSatID::systemGalileo?"GAL":"GPS"))
+ << endl;
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// return
+// 0 ok
+// 1 ok but no data read
+// -1 EOF or non-existant
+// -3 FFStream exception,
+// -4 gpstk exception,
+// -6 read error
+int ReadNextObs(Station& S) throw(Exception)
+{
+try {
+ if(S.nread == -1) return -1;
+ if(!S.getNext) return 1;
+
+ do {
+ try {
+ instream[S.nfile] >> S.robs;
+ }
+ catch(gpstk::FFStreamError& e) {
+ cerr << "Caught an FFStreamError while reading obs for file "
+ << S.filename << ":\n" << e.getText(0) << endl;
+ oflog << "Caught an FFStreamError while reading obs for file "
+ << S.filename << ":\n" << e.getText(0) << endl;
+ return -3;
+ }
+ catch(gpstk::Exception& e) {
+ cerr << "Caught a gpstk exception while reading obs for file "
+ << S.filename << ":\n" << e.getText(0) << endl;
+ oflog << "Caught a gpstk exception while reading obs for file "
+ << S.filename << ":\n" << e.getText(0) << endl;
+ return -4;
+ }
+ if(instream[S.nfile].eof()) {
+ oflog << "End of file: " << S.filename << endl;
+ return -1;
+ }
+ if(!instream[S.nfile].good()) {
+ oflog << "Read error on file: " << S.filename << endl;
+ return -6;
+ }
+
+ } while(S.robs.epochFlag != 0 && S.robs.epochFlag != 1);
+
+ S.nread++;
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// return 0 if data is good and was accepted
+int ProcessObs(Station& S, vector<ObsData>& obsvec) throw(Exception)
+{
+try {
+ int i,k,n;
+ double EL,AZ,LA,LO,SR,VR,TP,bias,obliq;
+ double la,lo; // TEMP
+ RinexSatID sat;
+ RinexObsData::RinexSatMap::const_iterator it;
+ RinexObsData::RinexObsTypeMap::const_iterator jt;
+ Position IPP;
+
+ //S.robs.dump(oflog);
+ // loop over sat=it->first, ObsTypeMap=it->second
+ for(n=0,it=S.robs.obs.begin(); it!=S.robs.obs.end(); ++it) {
+ ObsData od;
+ sat = it->first;
+ if(sat.system != SatID::systemGPS) continue; // ignore non-GPS satellites
+ k = -1;
+ for(i=0; i<ExSV.size(); i++) { // Is this satellite excluded ?
+ if(ExSV[i] == sat || // sat is excluded
+ (ExSV[i].id==-1 && ExSV[i].system==sat.system) ) {// system excluded
+ k=i;
+ break;
+ }
+ }
+ if(k != -1) continue;
+
+ // save first time
+ if(S.InitTime[sat] == DayTime::BEGINNING_OF_TIME) {
+ S.InitTime[sat] = S.robs.time;
+ }
+
+ // process this sat
+ if((jt=it->second.find(ELot)) != it->second.end())
+ EL = jt->second.data;
+ else continue;
+ if(EL < vtecmap.MinElevation) continue; // here or inside class?
+
+ if((jt=it->second.find(AZot)) != it->second.end())
+ AZ = jt->second.data;
+ else continue;
+
+ //TEMP
+ if((jt=it->second.find(LAot)) != it->second.end())
+ la = jt->second.data;
+ else lo = -999.0;
+
+ //TEMP
+ if((jt=it->second.find(LOot)) != it->second.end())
+ lo = jt->second.data;
+ else lo = -999.0;
+
+ if((jt=it->second.find(SRot)) != it->second.end())
+ SR = jt->second.data;
+ else SR = -1.0;
+
+ if((jt=it->second.find(VRot)) != it->second.end())
+ VR = jt->second.data;
+ else VR = -1.0;
+
+ if(SR == -1.0 && VR == -1.0) continue;
+
+ if((jt=it->second.find(TPot)) != it->second.end())
+ TP = jt->second.data;
+ else TP = -1.0;
+
+ // compute the pierce point
+ if(la == -999.0 || lo == -999.0) {
+ IPP = S.llr.getIonosphericPiercePoint(EL,AZ,IonoHt*1000);
+ LA = IPP.geocentricLatitude();
+ LO = IPP.longitude();
+ }
+ else { LA=la; LO=lo; }
+
+ od.elevation = EL;
+ od.azimuth = AZ;
+ od.latitude = LA;
+ od.longitude = LO;
+
+ if(TP != -1.0) od.AcqTime = TP;
+ else od.AcqTime = S.robs.time - S.InitTime[sat];
+
+ if(od.AcqTime < MinAcqTime) continue;
+
+ // get the bias
+ map<string,map<RinexSatID,double> >::const_iterator jt;
+ jt = BiasMap.find(S.header.markerName);
+ // skip sat+rx for which there are no biases
+ if(jt == BiasMap.end()) continue;
+ map<RinexSatID,double>::const_iterator kt;
+ kt = jt->second.find(sat);
+ if(kt == jt->second.end()) continue;
+ bias = kt->second;
+ if(debug) oflog << "Apply bias for station " << S.header.markerName
+ << " and sat " << sat << " = " << fixed << setw(12) << setprecision(6)
+ << bias << endl;
+
+ // compute the obliquity
+ obliq = WGS84.a()*cos(EL*DEG_TO_RAD)/(WGS84.a()+IonoHt*1000);
+ obliq = SQRT(1.0-obliq*obliq);
+
+ if(VR != -1.0) {
+ od.VTEC = VR - bias*obliq;
+ }
+ else {
+ od.VTEC = (SR - bias)*obliq;
+ }
+
+ // compute the error and save results
+ od.VTECerror = vtecmap.VTECError(od.AcqTime, EL, od.VTEC);
+ n++;
+ obsvec.push_back(od);
+
+ // write out
+ /* */
+ oflog << setw(4) << S.robs.time.GPSfullweek();
+ oflog << " " << setw(8) << setprecision(1) << S.robs.time.GPSsow();
+ oflog << " " << setw(2) << n;
+ oflog << " " << setw(9) << setprecision(5) << LA; // latitude
+ oflog << " " << setw(10) << setprecision(5)<< LO; // longitude
+ oflog << " " << setw(4) << setprecision(2) << obliq; // obliquity
+ oflog << " " << setw(8) << setprecision(3) << od.VTEC; // vertical TEC
+ oflog << " " << setw(8) << setprecision(3) << od.AcqTime; // acquisition time
+ oflog << " " << setw(2) << sat.id; // PRN
+ oflog << " " << setw(3) << S.nfile+1; // file number
+ oflog << endl;
+ /* */
+
+ } // end for loop over sats
+
+ if(n>0) return n;
+ else return -1;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/ionosphere/VTECMap.cpp b/dev/apps/ionosphere/VTECMap.cpp
new file mode 100644
index 0000000..92f3a19
--- /dev/null
+++ b/dev/apps/ionosphere/VTECMap.cpp
@@ -0,0 +1,479 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file VTECMap.cpp
+ * Program VTECMap will TD...
+ * a simple ionospheric model using least squares and slant TEC values
+ * from multiple stations.
+ */
+
+#include "Exception.hpp"
+#include "Position.hpp"
+#include "geometry.hpp" // for DEG_TO_RAD and RAD_TO_DEG
+#include "icd_200_constants.hpp" // for TWO_PI
+#include "MiscMath.hpp"
+
+#include "VTECMap.hpp"
+#include "RinexUtilities.hpp"
+
+using namespace gpstk;
+using namespace std;
+
+//------------------------------------------------------------------------------------
+const double VTECMap::VTECErrorMultipath = 4.0;
+const double VTECMap::VTECErrorSat = 0.9;
+const double VTECMap::VTECErrorCFC[4] = {-0.000045, 0.0096, -0.6755, 15.84};
+const double VTECMap::ObliqCoef[4] = {-4.316e-06, 0.001043, -0.08771, 3.57};
+
+//------------------------------------------------------------------------------------
+void VTECMap::CopyInputData(VTECMap &right)
+{
+ Decorrelation = right.Decorrelation;
+ MinElevation = right.MinElevation;
+ IonoHeight = right.IonoHeight;
+ gridtype = right.gridtype;
+ fittype = right.fittype;
+ BeginLat = right.BeginLat;
+ DeltaLat = right.DeltaLat;
+ NumLat = right.NumLat;
+ BeginLon = right.BeginLon;
+ DeltaLon = right.DeltaLon;
+ NumLon = right.NumLon;
+ RefStation = right.RefStation;
+}
+
+//------------------------------------------------------------------------------------
+void VTECMap::SetDefaults()
+{
+ Decorrelation = 3.0; // TECU/1000km
+ MinElevation = 10.0;
+ gridtype = UniformLatLon;
+ fittype = Constant;
+ BeginLat = 21.0;
+ BeginLon = 230.0;
+ DeltaLat = 0.25;
+ DeltaLon = 1.0;
+ NumLat = NumLon = 40;
+ IonoHeight = 350. * 1000.0; // 350km in meters
+}
+
+//------------------------------------------------------------------------------------
+void VTECMap::reallyMakeGrid(Station& refS, int factor)
+ throw(Exception)
+{
+ RefStation = refS;
+
+ grid = new GridData[NumLat*NumLon];
+ if(!grid) throw Exception("VTECMap::reallyMakeGrid failed to allocate grid");
+
+try {
+ int i,j,ishift,jshift,k;
+
+ if(gridtype == UniformSpace) {
+ int ii;
+ Position ptx1,ptx2,pty1,pty2,pt3,DeltaX,DeltaY;
+
+ // azimuth = 0 : x1
+ ptx1 = refS.llr.getIonosphericPiercePoint(MinElevation, 0.0,IonoHeight);
+ ptx1.transformTo(Position::Cartesian);
+
+ // azimuth = 180 : x2
+ ptx2 = refS.llr.getIonosphericPiercePoint(MinElevation,180.0,IonoHeight);
+ ptx2.transformTo(Position::Cartesian);
+
+ // azimuth = 90 : y1
+ pty1 = refS.llr.getIonosphericPiercePoint(MinElevation, 90.0,IonoHeight);
+ pty1.transformTo(Position::Cartesian);
+
+ // azimuth = 270 : y2
+ pty2 = refS.llr.getIonosphericPiercePoint(MinElevation,270.0,IonoHeight);
+ pty2.transformTo(Position::Cartesian);
+
+ // find the center of the sheet
+ pt3 = (ptx1 + ptx2)*0.5;
+
+ // get orthogonal vectors in the plane, and compute step size info
+ DeltaX = (ptx1 - ptx2)*(1.0/double(NumLon-1));
+ DeltaY = (pty1 - pty2)*(1.0/double(NumLat-1));
+
+ // create the grid
+ for(i=0; i<NumLon; i++) { // i == x == lon
+ ishift = i - (NumLon/2);
+ for(j=0; j<NumLat; j++) { // j == y == lat
+ k = i * NumLat + j; // k is the index in grid array
+ jshift = j - (NumLat/2);
+ grid[k].XYZ = pt3 + (DeltaX*ishift + DeltaY*jshift)*factor;
+ grid[k].LLR = grid[k].XYZ;
+ grid[k].LLR.transformTo(Position::Geocentric);
+ } // end j loop over lon
+ } // end i loop over lat
+ }
+
+ if(gridtype == UniformLatLon) {
+ double LatCenter = BeginLat + NumLat * DeltaLat/2.0;
+ double LonCenter = BeginLon + NumLon * DeltaLon/2.0;
+ double rad;
+ {
+ // this is a trick to get the radius of the ionosphere
+ Position IPP = refS.llr.getIonosphericPiercePoint(90,0,IonoHeight);
+ rad = IPP.radius();
+ }
+ // create the grid
+ for(i=0; i<NumLon; i++) { // i == x == lon
+ ishift = i - (NumLon/2);
+ for(j=0; j<NumLat; j++) { // j == y == lat
+ jshift = j - (NumLat/2);
+ k = i * NumLat + j; // k is the index in grid array
+ grid[k].LLR.setGeocentric(
+ LatCenter + factor * jshift * DeltaLat, // lat (deg)
+ LonCenter + factor * ishift * DeltaLon, // lon (deg)
+ rad); // radius (m)
+ grid[k].XYZ = grid[k].LLR;
+ grid[k].XYZ.transformTo(Position::Cartesian);
+ } // end j loop over lon
+ } // end i loop over lat
+ }
+}
+catch(gpstk::Exception& e) {
+ cerr << "VTECMap:reallyMakeGrid caught an exception\n" << e;
+ GPSTK_RETHROW(e);
+}
+catch (...) {
+ cerr << "VTECMap:reallyMakeGrid caught an unknown exception\n";
+}
+}
+
+//------------------------------------------------------------------------------------
+void VTECMap::OutputGrid(ostream& os)
+{
+ int i,j,k;
+ os << fixed << setprecision(3);
+ for(j=0; j<NumLat; j++) {
+ for(i=0; i<NumLon; i++) {
+ k = i * NumLat + j;
+ os << grid[k].LLR.printf(" %.8a %.8l %.3r");
+ os << grid[k].XYZ.printf(" %.3x %.3y %.3z");
+ os << " " << i << " " << j << endl;
+ }
+ }
+}
+
+//------------------------------------------------------------------------------------
+void VTECMap::ComputeMap(DayTime& epoch, vector<ObsData>& data)
+{
+ int i,j,k,n;
+ // first compute the average value
+ n = 0;
+ ave = 0.0;
+ for(k=0; k<data.size(); k++) {
+ n++;
+ ave *= double(n-1)/double(n);
+ ave += data[k].VTEC/double(n);
+ }
+ // now compute the value at each grid point
+ for(i=0; i<NumLon; i++) {
+ for(j=0; j<NumLat; j++) {
+ k = i * NumLat + j;
+ ComputeGridValue(grid[k],data);
+ }
+ }
+}
+
+//------------------------------------------------------------------------------------
+// Compute the grid values. Called by ComputeMap.
+void VTECMap::ComputeGridValue(GridData& gridpt, vector<ObsData>& data)
+{
+ double gridLat = gridpt.LLR.getGeocentricLatitude() * DEG_TO_RAD;
+ double gridLon = gridpt.LLR.longitude();
+ if(gridLon > 180.0) gridLon -= 360.0;
+ gridLon *= DEG_TO_RAD;
+
+ double destLat, destLon,dLat,dLon;
+ double sg,cg,sd,dist,range,bear,d;
+ vector<double> vtec,xtmp,ytmp,sigma;
+
+ // loop over all data
+ for(int k=0; k<data.size(); k++) {
+ //if(data[k].elevation < MinElevation) continue; // here?
+ destLat = data[k].latitude * DEG_TO_RAD;
+ destLon = data[k].longitude * DEG_TO_RAD;
+ // compute distance in the plane from grid to dest(data)
+ dLon = destLon - gridLon;
+ sg = sin(gridLat);
+ cg = cos(gridLat);
+ sd = sin(destLat);
+ d = sg*sd + cg*cos(destLat)*cos(dLon);
+ dist = acos(d);
+ // TD what is range? where does the 1.852 come from?
+ // TD what are the units of range? assume km, then Decorrelation = TECU/1000km
+ // decor error = range * Decorrelation
+ range = 1.852 * 60 * dist * RAD_TO_DEG; // 1.852 * distance in min of arc
+ if(ABS(dist) < 0.01) dist = 0.01;
+ d = (sd - sg*cos(dist)) / sin(dist)*cg; // d = cos(bearing)
+ if(ABS(d) > 1) {
+ if(d > 0) d = 1.0;
+ else d = -1.0;
+ }
+ bear = acos(d);
+ if(dLon > 0) bear = TWO_PI - bear;
+
+ vtec.push_back(data[k].VTEC);
+ xtmp.push_back(range * d); // this is probably slow
+ ytmp.push_back(range * sin(bear));
+ // sigma = RSS(measurement error, term ~ range = decorrelation)
+ d = data[k].VTECerror * data[k].VTECerror
+ + range * range * (Decorrelation/1000) * (Decorrelation/1000);
+ sigma.push_back(SQRT(d));
+
+ } // end loop over all data
+
+ d = ChiSqPlane(vtec,xtmp,ytmp,sigma);
+ if(d < 0) {
+ //if(d < -0.5) output warning: negative TEC set to 0
+ d = 0.0;
+ }
+
+ gridpt.value = d;
+}
+
+//------------------------------------------------------------------------------------
+// Chi squared calculation ... TD
+// z is VTEC
+double VTECMap::ChiSqPlane(vector<double>& z, vector<double>& x, vector<double>& y,
+ vector<double>& sigma)
+{
+ int k;
+
+ double invSigma,XinvSigma,YinvSigma,ZinvSigma;
+ double s,sx,sy,sz,sxx,sxy,syy,sxz,syz;
+
+ invSigma = 1.0/(sigma[0]*sigma[0]);
+ s = invSigma;
+ ZinvSigma = (z[0]-ave) * invSigma;
+ sz = ZinvSigma;
+ if(fittype == Linear) {
+ XinvSigma = x[0] * invSigma;
+ sx = XinvSigma;
+ YinvSigma = y[0] * invSigma;
+ sy = YinvSigma;
+ sxx = x[0] * XinvSigma;
+ sxy = x[0] * YinvSigma;
+ syy = y[0] * YinvSigma;
+ sxz = x[0] * ZinvSigma;
+ syz = y[0] * ZinvSigma;
+ }
+
+ double invS2,XinvS2,YinvS2,ZinvS2;
+ for(k=1; k<z.size(); k++) {
+ // constant and linear
+ invS2 = 1.0 / (sigma[k]*sigma[k]);
+ s += invS2;
+ ZinvS2 = (z[k]-ave) * invS2;
+ sz += ZinvS2;
+ // linear only
+ if(fittype == Linear) {
+ XinvS2 = x[k] * invS2;
+ YinvS2 = y[k] * invS2;
+ sx += XinvS2;
+ sy += YinvS2;
+ sxx += x[k] * XinvS2;
+ sxy += x[k] * YinvS2;
+ syy += y[k] * YinvS2;
+ sxz += x[k] * ZinvS2;
+ syz += y[k] * ZinvS2;
+ }
+ }
+
+ double value;
+ if(fittype == Linear) {
+ double delta = sxy*(s*sxy-2*sx*sy) + sxx*sy*sy + syy*(sx*sx-s*sxx);
+ value = ( sxz*(sx*syy-sxy*sy) + syz*(sxx*sy-sx*sxy)
+ + sz*(sxy*sxy-sxx*syy) )/delta;
+ }
+ else
+ value = (sz/s);
+ return (ave + value);
+}
+
+//------------------------------------------------------------------------------------
+void VTECMap::OutputMap(ostream& os, bool format)
+{
+ int i,j,k;
+ os << fixed << setprecision(3);
+ for(j=0; j<NumLat; j++) {
+ for(i=0; i<NumLon; i++) {
+ k = i * NumLat + j;
+ if(format) os << grid[k].LLR[0] << " " << grid[k].LLR[1];
+ os << " " << grid[k].value;
+ if(format) os << endl;
+ }
+ os << endl;
+ }
+}
+
+//------------------------------------------------------------------------------------
+void MUFMap::ComputeMap(DayTime& epoch, vector<ObsData>& data)
+{
+ int i,k;
+ double lvect1,lvect2,tmp,cosin;;
+ GridData center,reflect;
+ Position MUFearth;
+
+ for(k=0; k<NumLat*NumLon; k++) {
+ // Comment in the original code is:
+ // "convert the lat/lon from the MUF grid
+ // to XYZ positions on the surface of Earth"
+ // then code uses grid[k].XYZ where MUFearth is here...
+ MUFearth = grid[k].LLR;
+ MUFearth[2] = MUFearth.radiusEarth();
+ MUFearth.transformTo(Position::Cartesian);
+
+ center.XYZ = (MUFearth + RefStation.xyz)*0.5;
+ center.LLR = center.XYZ;
+ center.LLR.transformTo(Position::Geocentric);
+
+ reflect = center;
+ reflect.LLR[2] = reflect.LLR.radiusEarth() + IonoHeight;
+
+ ComputeGridValue(reflect, data);
+
+ reflect.XYZ = reflect.LLR;
+ reflect.XYZ.transformTo(Position::Cartesian);
+
+ lvect1 = lvect2 = 0.0;
+ for(i=0; i<3; i++) {
+ tmp = MUFearth[i] - reflect.XYZ[i];
+ lvect1 += tmp*tmp;
+ tmp = reflect.XYZ[i] - center.XYZ[i];
+ lvect2 += tmp*tmp;
+ }
+ cosin = SQRT(lvect2/lvect1);
+ grid[k].value =
+ VTECtoF0F2(0,reflect.value,epoch,reflect.LLR.longitude()) / cosin;
+ }
+}
+
+//------------------------------------------------------------------------------------
+// First cut at foF2 assuming constant slab thickness of 280 km and
+// TEC = 1.24e10 (foF2)^2 tau / 10^16
+void F0F2Map::ComputeMap(DayTime& epoch, vector<ObsData>& data)
+{
+ int i,j,k;
+ for(i=0; i<NumLon; i++) {
+ for(j=0; j<NumLat; j++) {
+ k = i * NumLat + j;
+ ComputeGridValue(grid[k],data);
+ grid[k].value = VTECtoF0F2(1,grid[k].value,epoch,grid[k].LLR.longitude());
+ }
+ }
+}
+
+//------------------------------------------------------------------------------------
+double VTECMap::VTECtoF0F2(int method, double vtec, DayTime& epoch, double lon)
+{
+try {
+ double fof2,tau,dt;
+ static DayTime computeTime=DayTime::BEGINNING_OF_TIME;
+ const double con[4]={0.019600827088077529, -1.549245071973630372,
+ 29.890989537102175433, 237.467144625490760745};
+
+ if(method == 0) {
+ tau = 280;
+ }
+ else if(method == 1) {
+ if(epoch != computeTime) {
+ computeTime = epoch;
+ dt = epoch.hour()+epoch.minute()/60.;
+ dt += (lon - 262.2743352)/15;
+ if(dt > 24) dt -= 24;
+ if(dt < 0) dt += 24;
+ tau = con[0];
+ for(int i=1; i<4; i++) tau = tau * dt + con[i];
+ }
+ }
+ else {
+ throw Exception("VTECtoF0F2 finds unknown method");
+ }
+
+ fof2 = SQRT(806.4 * vtec / tau);
+
+ return fof2;
+}
+catch(Exception& e) {
+ GPSTK_RETHROW(e);
+}
+}
+
+//------------------------------------------------------------------------------------
+double VTECMap::VTECError(double t, double el, double vtec)
+{
+ double slant = VTECErrorMultipath * VTECErrorMultipath / (1+2*t/3);
+ slant += VTECErrorSat * VTECErrorSat;
+ //slant += BiasError * BiasError;
+ double q = Obliquity(el);
+ double delta = VTECErrorCFC[0];
+ for(int i=1; i<4; i++)
+ delta = delta * el + VTECErrorCFC[i];
+ delta *= 0.01;
+ double vert = slant/(q*q);
+ vert += delta * vtec * delta * vtec;
+ vert = SQRT(vert);
+ return vert;
+}
+
+//------------------------------------------------------------------------------------
+double VTECMap::Obliquity(double el)
+{
+ if(el > 85) return 1.0;
+ double obq = ObliqCoef[0];
+ for(int i=1; i<4; i++)
+ obq = obq * el + ObliqCoef[i];
+ return obq;
+}
+
+//------------------------------------------------------------------------------------
+void gpstk::PlaneCoefficients(double cof[3], double p1[3], double p2[3], double p3[3])
+ throw(Exception)
+{
+ double denom=(p2[0]-p3[0])*p1[1]+(p3[0]-p1[0])*p2[1]+(p1[0]-p2[0])*p3[1];
+ if(denom == 0) throw Exception("PlaneCoefficients finds singular problem");
+ denom = 1.0/denom;
+ cof[0] = ((p3[1]-p2[1])*p1[2]+(p1[1]-p3[1])*p2[2]+(p2[1]-p1[1])*p3[2])*denom;
+ cof[1] = ((p2[0]-p3[0])*p1[2]+(p3[0]-p1[0])*p2[2]+(p1[0]-p2[0])*p3[2])*denom;
+ cof[2] = ((p3[0]*p2[1]-p2[0]*p3[1])*p1[2]+(p1[0]*p3[1]-p3[0]*p1[1])*p2[2]+
+ (p2[0]*p1[1]-p1[0]*p2[1])*p3[2])*denom;
+}
+
+//------------------------------------------------------------------------------------
+ostream& gpstk::operator<<(ostream& os, const Station& s)
+{
+ os << "Station filename: " << s.filename << endl << fixed;
+ os << s.xyz.printf(" %.3x m %.3y m %.3z m (ECEF)\n"
+ " %.9a degN %.9l degE %.3r m (Geocentric)");
+ return os;
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/ionosphere/VTECMap.hpp b/dev/apps/ionosphere/VTECMap.hpp
new file mode 100644
index 0000000..ce9fbe8
--- /dev/null
+++ b/dev/apps/ionosphere/VTECMap.hpp
@@ -0,0 +1,249 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file VTECMap.hpp
+ * VTECMap implements a simple ionospheric model using least squares
+ * and slant TEC values from multiple stations.
+ */
+
+#ifndef GPSTK_VTECMAP_INCLUDE
+#define GPSTK_VTECMAP_INCLUDE
+
+//------------------------------------------------------------------------------------
+#include "Exception.hpp"
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+
+#include "RinexObsData.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsStream.hpp"
+
+#include "WGS84Geoid.hpp"
+#include "Position.hpp"
+#include "icd_200_constants.hpp" // for TWO_PI
+#include "geometry.hpp" // for DEG_TO_RAD and RAD_TO_DEG
+#include "MiscMath.hpp" // for RSS
+
+#include <iostream>
+#include <string>
+#include <vector>
+#include <map>
+
+//------------------------------------------------------------------------------------
+namespace gpstk
+{
+
+//------------------------------------------------------------------------------------
+/// class Station TD document
+class Station {
+public:
+ //string id; use header.markerName
+ int nfile; // this object is Stations[nfile]
+ std::string filename;
+ //RinexObsStream instream; // cannot make vector<Station> for lack of copy c'tor
+ RinexObsHeader header;
+ RinexObsData robs;
+ bool getNext; // if true, ready to read next epoch
+ int nread; // number of obs records read or (-1 = dead, 0=header read)
+ //int inC1,inL1,inL2,inP1,inP2,inD1,inD2,inS1,inS2; // indexes in header
+ Position xyz; // cartesian position (ECEF)
+ Position llr; // geocentric position in LLR
+ std::map<SatID,DayTime> InitTime; // time of start of this (cont) phase seg
+
+ friend std::ostream& operator<<(std::ostream& os, const Station& f);
+};
+
+/// Data collected from each station/satellite pair, used to construct the TEC map
+class ObsData {
+public:
+ double AcqTime; ///< acquisition time: time since start of continuous phase (s)
+ double VTEC; ///< vertical TEC (TECU?)
+ double VTECerror; ///< computed error in the VTEC
+ double elevation; ///< elevation angle (degrees)
+ double azimuth; ///< azimuth angle (degrees)
+ double latitude; ///< latitude of the ionospheric pierce point (degrees)
+ double longitude; ///< longitude of the ionospheric pierce point (degrees E)
+};
+
+/// Data defining the map at each grid point: grid location and TEC value
+class GridData {
+public:
+ Position XYZ; ///< ECEF position (x,y,z) in meters
+ Position LLR; ///< geocentric position (lat,lon,radius) in deg,degE,meters
+ double value; ///< computed map value at this grid point (TECU?)
+};
+
+//------------------------------------------------------------------------------------
+/// class VTECMap stores and computes a grid in latitude and longitude, then given
+/// VTEC data over a network of ground stations, computes the value of VTEC on
+/// the grid.
+class VTECMap {
+public:
+ /// Supported grid types
+ enum GridType
+ {
+ UniformLatLon=1, ///< Grid is uniform in (geocentric) latitude, longitude
+ UniformSpace ///< Grid is uniform in space (constant physical spacing)
+ };
+
+ /// Supported fit types
+ enum FitType
+ {
+ Constant, ///< Model ionospheric TEC as constant
+ Linear ///< Model ionospheric TEC as linear function of lat,lon
+ };
+
+ /// default constructor
+ VTECMap() { grid=NULL; SetDefaults(); }
+
+ /// destructor
+ virtual ~VTECMap() { if(grid) delete[] grid; }
+
+ /// copy input data
+ void CopyInputData(VTECMap &right);
+
+ /// default values of input data
+ void SetDefaults();
+
+ /// build the 2D grid itself
+ /// @param refStation Station object for the reference station
+ virtual void MakeGrid(Station& refStation) throw(Exception)
+ { reallyMakeGrid(refStation,1); }
+
+ /// write grid locations to a file
+ /// @param ostream on which to write
+ void OutputGrid(std::ostream& os);
+
+ /// populate the 2D grid
+ /// @param data vector of ObsData structures for all observed data
+ virtual void ComputeMap(DayTime& epoch, std::vector<ObsData>& data);
+
+ /// write the computed grid values to a file
+ /// @param ostream on which to write
+ /// @param bool gnuplotFormat if true, output for gnuplot,
+ /// otherwise (default) for Matlab (TD right?)
+ void OutputMap(std::ostream& os, bool gnuplotFormat=false);
+
+ // input data
+ double Decorrelation; ///< decorellation error rate in TECU/1000km
+ double MinElevation; ///< minimum elevation in degrees
+ double IonoHeight; ///< Height of the ionosphere in meters
+ GridType gridtype; ///< uniform in space or uniform in lat/lon
+ FitType fittype; ///< constant or linear
+ double BeginLat; ///< beginning latitude (deg)
+ double DeltaLat; ///< step in latitude (deg)
+ int NumLat; ///< number of latitude grids
+ double BeginLon; ///< beginning longitude (deg E)
+ double DeltaLon; ///< step in longitude (deg)
+ int NumLon; ///< number of longitude grids
+ Station RefStation; ///< reference station, input by MakeGrid()
+
+ // grid and map data
+ GridData *grid;
+ double ave;
+
+ // constants needed in computation
+ static const double VTECErrorMultipath; ///< TD doc
+ static const double VTECErrorSat; ///< TD doc
+ static const double VTECErrorCFC[4]; ///< TD doc
+ static const double ObliqCoef[4]; ///< Parameters used in obliquity calc.
+
+ // computation
+
+ /// Convert vertical TEC to foF2 using one of two methods.
+ /// @param method flag giving methods:
+ /// 0 Constant slab of thickness tau=280 km
+ /// 1 Cubic fit to tau from ARL data
+ /// @param vtec Vertical TEC
+ /// @param epoch TD doc
+ /// @param lon Longitude of TD doc
+ double VTECtoF0F2(int method, double vtec, DayTime& epoch, double lon);
+
+ /// Compute the error on the VTEC
+ /// @param t acquisition time in sec ?
+ /// @param el elevation in degrees
+ /// @param vtec vertical TEC (TECU)
+ /// @return error on the VTEC
+ double VTECError(double t, double el, double vtec);
+
+ /// Compute the obliquity at a given elevation
+ /// @param el elevation in degrees
+ /// @return obliquity factor
+ double Obliquity(double el);
+
+protected:
+ /// Allocate the grid array and fill it.
+ /// @param refStation reference station
+ /// @param factor : 1 for VTEC maps, 2 for MUF maps
+ void reallyMakeGrid(Station& refStation, int factor)
+ throw(Exception);
+
+ /// Compute one grid value, using all the data. Called by ComputeMap.
+ void ComputeGridValue(GridData& gridpt, std::vector<ObsData>& data);
+
+ /// Chi squared calculation ... TD
+ double ChiSqPlane(std::vector<double>& vtec, std::vector<double>& x,
+ std::vector<double>& y, std::vector<double>& sigma);
+
+}; // end class VTECMap
+
+/// class MUFMap is a VTECMap that computes MUF on the grid points.
+class MUFMap : public VTECMap {
+public:
+ /// build the 2D grid itself
+ /// @param refStation Station object for the reference station
+ void MakeGrid(Station& refStation) throw(Exception)
+ { reallyMakeGrid(refStation,2); }
+ /// populate the 2D grid
+ /// @param data vector of ObsData structures for all observed data
+ void ComputeMap(DayTime& epoch, std::vector<ObsData>& data);
+};
+
+/// class MUFMap is a VTECMap that computes F0F2 on the grid points.
+class F0F2Map : public VTECMap {
+public:
+ /// populate the 2D grid
+ /// @param data vector of ObsData structures for all observed data
+ void ComputeMap(DayTime& epoch, std::vector<ObsData>& data);
+};
+
+//------------------------------------------------------------------------------------
+// prototypes
+
+/// Compute the coefficients [a,b,c] in the equation z = a*x + b*y + c that describes
+/// a plane, given the cartesian coordinates [x,y,z] of three points p1,p2,p3 that
+/// define the plane.
+/// @param cof double[3] of coefficients (output)
+/// @param p1 double[3] of coordinates
+/// @param p2 double[3] of coordinates
+/// @param p3 double[3] of coordinates
+void PlaneCoefficients(double cof[3], double p1[3], double p2[3], double p3[3])
+ throw(Exception);
+
+//------------------------------------------------------------------------------------
+} // namespace gpstk
+
+//------------------------------------------------------------------------------------
+#endif // GPSTK_VTECMAP_INCLUDE
diff --git a/trunk/apps/ionosphere/example/README b/dev/apps/ionosphere/example/README
similarity index 100%
rename from trunk/apps/ionosphere/example/README
rename to dev/apps/ionosphere/example/README
diff --git a/trunk/apps/ionosphere/example/bias.inp b/dev/apps/ionosphere/example/bias.inp
similarity index 100%
rename from trunk/apps/ionosphere/example/bias.inp
rename to dev/apps/ionosphere/example/bias.inp
diff --git a/trunk/apps/ionosphere/example/getigs b/dev/apps/ionosphere/example/getigs
similarity index 100%
rename from trunk/apps/ionosphere/example/getigs
rename to dev/apps/ionosphere/example/getigs
diff --git a/trunk/apps/ionosphere/example/gobias b/dev/apps/ionosphere/example/gobias
similarity index 100%
rename from trunk/apps/ionosphere/example/gobias
rename to dev/apps/ionosphere/example/gobias
diff --git a/trunk/apps/ionosphere/example/gomaps b/dev/apps/ionosphere/example/gomaps
similarity index 100%
rename from trunk/apps/ionosphere/example/gomaps
rename to dev/apps/ionosphere/example/gomaps
diff --git a/trunk/apps/ionosphere/example/gopre b/dev/apps/ionosphere/example/gopre
similarity index 100%
rename from trunk/apps/ionosphere/example/gopre
rename to dev/apps/ionosphere/example/gopre
diff --git a/trunk/apps/ionosphere/example/list.files b/dev/apps/ionosphere/example/list.files
similarity index 100%
rename from trunk/apps/ionosphere/example/list.files
rename to dev/apps/ionosphere/example/list.files
diff --git a/trunk/apps/ionosphere/example/maps.inp b/dev/apps/ionosphere/example/maps.inp
similarity index 100%
rename from trunk/apps/ionosphere/example/maps.inp
rename to dev/apps/ionosphere/example/maps.inp
diff --git a/trunk/apps/ionosphere/example/plotall.pl b/dev/apps/ionosphere/example/plotall.pl
similarity index 100%
rename from trunk/apps/ionosphere/example/plotall.pl
rename to dev/apps/ionosphere/example/plotall.pl
diff --git a/trunk/apps/ionosphere/example/preprocess.pl b/dev/apps/ionosphere/example/preprocess.pl
similarity index 100%
rename from trunk/apps/ionosphere/example/preprocess.pl
rename to dev/apps/ionosphere/example/preprocess.pl
diff --git a/trunk/apps/ionosphere/example/see b/dev/apps/ionosphere/example/see
similarity index 100%
rename from trunk/apps/ionosphere/example/see
rename to dev/apps/ionosphere/example/see
diff --git a/trunk/apps/mergetools/Jamfile b/dev/apps/mergetools/Jamfile
similarity index 100%
rename from trunk/apps/mergetools/Jamfile
rename to dev/apps/mergetools/Jamfile
diff --git a/dev/apps/mergetools/Makefile.am b/dev/apps/mergetools/Makefile.am
new file mode 100644
index 0000000..946ba94
--- /dev/null
+++ b/dev/apps/mergetools/Makefile.am
@@ -0,0 +1,10 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../src
+LDADD = ../../src/libgpstk.la
+
+bin_PROGRAMS = mergeRinNav mergeRinObs mergeRinMet mergeFIC
+
+mergeRinObs_SOURCES = mergeRinObs.cpp
+mergeRinNav_SOURCES = mergeRinNav.cpp
+mergeRinMet_SOURCES = mergeRinMet.cpp
+mergeFIC_SOURCES = mergeFIC.cpp
diff --git a/dev/apps/mergetools/MergeFrame.hpp b/dev/apps/mergetools/MergeFrame.hpp
new file mode 100644
index 0000000..e410f3a
--- /dev/null
+++ b/dev/apps/mergetools/MergeFrame.hpp
@@ -0,0 +1,94 @@
+#pragma ident "$Id$"
+
+
+#ifndef MERGEFRAME_HPP
+#define MERGEFRAME_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "BasicFramework.hpp"
+
+/// Base class for writing utilities that merge files
+
+class MergeFrame : public gpstk::BasicFramework
+{
+public:
+ /**
+ * arg0 is the name of the executable from argv[0].
+ * type is a string with the type of file (i.e. "RINEX Obs").
+ * message is an extra message that gets passed to the
+ * program description.
+ */
+ MergeFrame(char* arg0,
+ const std::string& type,
+ const std::string& message = std::string())
+ : gpstk::BasicFramework(arg0,
+ "Sorts and merges input " + type +
+ " files into a single file. " + message),
+ inputFileOption('i',
+ "input",
+ "An input " + type +
+ " file, can be repeated as many times as needed.",
+ true),
+ outputFileOption('o',
+ "output",
+ "Name for the merged output " + type + " file. Any "
+ "existing file with that name will be overwritten.",
+ true)
+ {
+ outputFileOption.setMaxCount(1);
+ }
+
+ virtual bool initialize(int argc, char* argv[]) throw()
+ {
+ return gpstk::BasicFramework::initialize(argc, argv);
+ }
+
+protected:
+ virtual void process() = 0;
+
+ gpstk::CommandOptionWithAnyArg inputFileOption;
+ gpstk::CommandOptionWithAnyArg outputFileOption;
+};
+
+
+#endif
diff --git a/dev/apps/mergetools/mergeFIC.cpp b/dev/apps/mergetools/mergeFIC.cpp
new file mode 100644
index 0000000..42e2010
--- /dev/null
+++ b/dev/apps/mergetools/mergeFIC.cpp
@@ -0,0 +1,110 @@
+#pragma ident "$Id$"
+
+
+// mergeFIC
+// Merge and sort FIC files
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FICStream.hpp"
+#include "FICData.hpp"
+#include "FICFilterOperators.hpp"
+#include "FileFilterFrameWithHeader.hpp"
+
+#include "MergeFrame.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+class MergeFIC : public MergeFrame
+{
+public:
+ MergeFIC(char* arg0) :
+ MergeFrame(arg0,
+ std::string("FIC"),
+ std::string("No filtering is performed on FIC merges. The resulting file may have some duplicate data."))
+ {}
+
+protected:
+ virtual void process();
+};
+
+void MergeFIC::process()
+{
+ std::vector<std::string> files = inputFileOption.getValue();
+
+ // FFF will sort and merge the FIC data using a simple time check
+ FileFilterFrameWithHeader<FICStream, FICData, FICHeader>
+ fff(files);
+
+ // arbitrarily take the first FIC header as the header for the merged
+ // file
+ std::string outputFile = outputFileOption.getValue().front();
+ fff.writeFile(outputFile, fff.frontHeader());
+}
+
+int main(int argc, char* argv[])
+{
+ try
+ {
+ MergeFIC m(argv[0]);
+ if (!m.initialize(argc, argv))
+ return 0;
+ if (!m.run())
+ return 1;
+
+ return 0;
+ }
+ catch(gpstk::Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(exception& e)
+ {
+ cout << e.what() << endl;
+ }
+ catch(...)
+ {
+ cout << "unknown error" << endl;
+ }
+ return 1;
+}
diff --git a/dev/apps/mergetools/mergeRinMet.cpp b/dev/apps/mergetools/mergeRinMet.cpp
new file mode 100644
index 0000000..4d6cc45
--- /dev/null
+++ b/dev/apps/mergetools/mergeRinMet.cpp
@@ -0,0 +1,124 @@
+#pragma ident "$Id$"
+
+
+// mergeRinMet
+// Merge and sort rinex metrological files
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "RinexMetStream.hpp"
+#include "RinexMetHeader.hpp"
+#include "RinexMetData.hpp"
+#include "RinexMetFilterOperators.hpp"
+#include "FileFilterFrameWithHeader.hpp"
+
+#include "MergeFrame.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+class MergeRinMet : public MergeFrame
+{
+public:
+ MergeRinMet(char* arg0)
+ : MergeFrame(arg0,
+ std::string("RINEX Met"),
+ std::string("The output will be sorted by time. This program assumes all the input files are from the same station."))
+ {}
+
+protected:
+ virtual void process();
+};
+
+void MergeRinMet::process()
+{
+ std::vector<std::string> files = inputFileOption.getValue();
+
+ // FFF will sort and merge the data using
+ // a simple time check
+ FileFilterFrameWithHeader<RinexMetStream, RinexMetData, RinexMetHeader>
+ fff(files);
+
+ // get the header data
+ RinexMetHeaderTouchHeaderMerge merged;
+ fff.touchHeader(merged);
+
+ // sort and filter the data
+ fff.sort(RinexMetDataOperatorLessThanFull(merged.obsSet));
+ fff.unique(RinexMetDataOperatorEqualsSimple());
+
+ // set the pgm/runby/date field
+ merged.theHeader.fileProgram = std::string("mergeRinMet");
+ merged.theHeader.fileAgency = std::string("gpstk");
+ merged.theHeader.date = DayTime().asString();
+
+ // write the header
+ std::string outputFile = outputFileOption.getValue().front();
+ fff.writeFile(outputFile, merged.theHeader);
+}
+
+int main(int argc, char* argv[])
+{
+ try
+ {
+ MergeRinMet m(argv[0]);
+ if (!m.initialize(argc, argv))
+ return 0;
+ if (!m.run())
+ return 1;
+
+ return 0;
+ }
+ catch(Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(exception& e)
+ {
+ cout << e.what() << endl;
+ }
+ catch(...)
+ {
+ cout << "unknown error" << endl;
+ }
+ return 1;
+}
diff --git a/dev/apps/mergetools/mergeRinNav.cpp b/dev/apps/mergetools/mergeRinNav.cpp
new file mode 100644
index 0000000..5c8f663
--- /dev/null
+++ b/dev/apps/mergetools/mergeRinNav.cpp
@@ -0,0 +1,127 @@
+#pragma ident "$Id$"
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "RinexNavStream.hpp"
+#include "RinexNavHeader.hpp"
+#include "RinexNavData.hpp"
+#include "RinexNavFilterOperators.hpp"
+#include "FileFilterFrameWithHeader.hpp"
+
+#include "MergeFrame.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+class MergeRinNav : public MergeFrame
+{
+public:
+ MergeRinNav(char* arg0)
+ : MergeFrame(arg0,
+ std::string("RINEX Nav"),
+ std::string("Only unique nav subframes will be output and they will be sorted by time."))
+ {}
+
+protected:
+ virtual void process();
+};
+
+void MergeRinNav::process()
+{
+ std::vector<std::string> files = inputFileOption.getValue();
+
+ // FFF will sort and merge the obs data using
+ // a simple time check
+ FileFilterFrameWithHeader<RinexNavStream, RinexNavData, RinexNavHeader>
+ fff(files);
+
+ // get the header data
+ RinexNavHeaderTouchHeaderMerge merged;
+ fff.touchHeader(merged);
+
+ // sort and filter the data
+ fff.sort(RinexNavDataOperatorLessThanFull());
+ fff.unique(RinexNavDataOperatorEqualsFull());
+
+ // set the pgm/runby/date field
+ merged.theHeader.fileType = string("NAVIGATION");
+ merged.theHeader.fileProgram = std::string("mergeRinNav");
+ merged.theHeader.fileAgency = std::string("gpstk");
+ merged.theHeader.date = DayTime().asString();
+ merged.theHeader.version = 2.1;
+ merged.theHeader.valid |= gpstk::RinexNavHeader::versionValid;
+ merged.theHeader.valid |= gpstk::RinexNavHeader::runByValid;
+ merged.theHeader.valid |= gpstk::RinexNavHeader::commentValid;
+ merged.theHeader.valid |= gpstk::RinexNavHeader::endValid;
+
+ // write the header
+ std::string outputFile = outputFileOption.getValue().front();
+ fff.writeFile(outputFile, merged.theHeader);
+}
+
+int main(int argc, char* argv[])
+{
+ try
+ {
+ MergeRinNav m(argv[0]);
+ if (!m.initialize(argc, argv))
+ return 0;
+ if (!m.run())
+ return 1;
+
+ return 0;
+ }
+ catch(Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(exception& e)
+ {
+ cout << e.what() << endl;
+ }
+ catch(...)
+ {
+ cout << "unknown error" << endl;
+ }
+ return 1;
+}
diff --git a/dev/apps/mergetools/mergeRinObs.cpp b/dev/apps/mergetools/mergeRinObs.cpp
new file mode 100644
index 0000000..ef97980
--- /dev/null
+++ b/dev/apps/mergetools/mergeRinObs.cpp
@@ -0,0 +1,127 @@
+#pragma ident "$Id$"
+
+
+// mergeRinObs
+// Merge and sort rinex observation files
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "RinexObsStream.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsData.hpp"
+#include "RinexObsFilterOperators.hpp"
+#include "FileFilterFrameWithHeader.hpp"
+
+#include "MergeFrame.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+class MergeRinObs : public MergeFrame
+{
+public:
+ MergeRinObs(char* arg0)
+ : MergeFrame(arg0,
+ std::string("RINEX Obs"),
+ std::string("The output will be sorted by time. This program assumes all the input files are from the same station."))
+ {}
+
+protected:
+ virtual void process();
+};
+
+void MergeRinObs::process()
+{
+ std::vector<std::string> files = inputFileOption.getValue();
+
+ // FFF will sort and merge the obs data using
+ // a simple time check
+ FileFilterFrameWithHeader<RinexObsStream, RinexObsData, RinexObsHeader>
+ fff(files);
+
+ // get the header data
+ RinexObsHeaderTouchHeaderMerge merged;
+ fff.touchHeader(merged);
+
+ // sort and filter the data using the obs set from the merged header
+ fff.sort(RinexObsDataOperatorLessThanFull(merged.obsSet));
+ fff.unique(RinexObsDataOperatorEqualsSimple());
+
+ // set the time of first obs in the header
+ merged.theHeader.firstObs = fff.front().time;
+
+ // set the pgm/runby/date field
+ merged.theHeader.fileProgram = std::string("mergeRinObs");
+ merged.theHeader.fileAgency = std::string("gpstk");
+ merged.theHeader.date = DayTime().asString();
+
+ // write the file
+ std::string outputFile = outputFileOption.getValue().front();
+ fff.writeFile(outputFile, merged.theHeader);
+}
+
+int main(int argc, char* argv[])
+{
+ try
+ {
+ MergeRinObs m(argv[0]);
+ if (!m.initialize(argc, argv))
+ return 0;
+ if (!m.run())
+ return 1;
+
+ return 0;
+ }
+ catch(Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(exception& e)
+ {
+ cout << e.what() << endl;
+ }
+ catch(...)
+ {
+ cout << "unknown error" << endl;
+ }
+ return 1;
+}
diff --git a/dev/apps/multipath/Jamfile b/dev/apps/multipath/Jamfile
new file mode 100644
index 0000000..9fb10f6
--- /dev/null
+++ b/dev/apps/multipath/Jamfile
@@ -0,0 +1,6 @@
+SubDir TOP apps multipath ;
+
+GPSLinkLibraries mpsolve : gpstk ;
+BonkForte ; # bleah.
+
+GPSMain mpsolve : mpsolve.cpp ObsArray.cpp ;
diff --git a/dev/apps/multipath/Makefile.am b/dev/apps/multipath/Makefile.am
new file mode 100644
index 0000000..0a1879f
--- /dev/null
+++ b/dev/apps/multipath/Makefile.am
@@ -0,0 +1,7 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../src
+LDADD = ../../src/libgpstk.la
+
+bin_PROGRAMS = mpsolve
+
+mpsolve_SOURCES = mpsolve.cpp ObsArray.cpp
diff --git a/dev/apps/multipath/ObsArray.cpp b/dev/apps/multipath/ObsArray.cpp
new file mode 100644
index 0000000..e3371c7
--- /dev/null
+++ b/dev/apps/multipath/ObsArray.cpp
@@ -0,0 +1,390 @@
+#pragma ident "$Id:$"
+
+/**
+ * @file ObsArray.cpp
+ * Provides ability to operate mathematically on large, logical groups of observations
+ * Class definitions.
+ */
+
+#include <vector>
+#include <set>
+
+#include "ValarrayUtils.hpp"
+#include "PRSolution.hpp"
+
+#include "RinexObsStream.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsData.hpp"
+#include "FileUtils.hpp"
+#include "ObsArray.hpp"
+
+namespace gpstk
+{
+
+ ObsArray::ObsArray(void)
+ : numObsTypes(0)
+ {
+ }
+
+ ObsIndex ObsArray::add(RinexObsHeader::RinexObsType type)
+ {
+ isBasic[numObsTypes]=true;
+ basicTypeMap[numObsTypes]=type;
+ return numObsTypes++;
+ }
+
+ ObsIndex ObsArray::add(const std::string& expression)
+ {
+ isBasic[numObsTypes]=false;
+ expressionMap[numObsTypes] = Expression(expression);
+ expressionMap[numObsTypes].setGPSConstants();
+ return numObsTypes++;
+ }
+
+ void ObsArray::load(const std::string& obsfilename,
+ const std::string& navfilename)
+ {
+ std::vector<std::string> obsList(1), navList(1);
+ obsList[0]=obsfilename;
+ navList[0]=navfilename;
+ load(obsList, navList);
+ }
+
+ void ObsArray::load(const std::vector<std::string>& obsList,
+ const std::vector<std::string>& navList)
+ {
+ // First check for existance of input files
+ for (int i=0; i< obsList.size(); i++)
+ if (!FileUtils::fileAccessCheck(obsList[i]))
+ {
+ ObsArrayException oae("Cannot read obs file " + obsList[i]);
+ GPSTK_THROW(oae);
+ }
+
+ for (int i=0; i< navList.size(); i++)
+ {
+
+ if (!FileUtils::fileAccessCheck(navList[i]))
+ {
+ ObsArrayException oae("Cannot read nav file " + navList[i]);
+ GPSTK_THROW(oae);
+ }
+ else
+
+ // Load the ephemeris information from the named NAV file.
+ ephStore.loadFile(navList[i]);
+ }
+
+ for (int i=0; i< obsList.size(); i++)
+ {
+ loadObsFile(obsList[i]);
+ }
+
+ }
+
+
+ void ObsArray::loadObsFile(const std::string& obsfilename)
+ {
+ // Load the obs file header
+ RinexObsStream robs(obsfilename.c_str());
+ RinexObsStream robsAgain(obsfilename.c_str());
+ RinexObsHeader roh;
+
+ robs >> roh;
+
+ // Verify we have a suggested approximate location. If not, note that.
+ bool staticPositionDefined=false;
+ Triple antennaPos;
+
+ if ( (roh.valid & RinexObsHeader::antennaPositionValid) ==
+ RinexObsHeader::antennaPositionValid)
+ {
+ if ( ! ((antennaPos[0]==antennaPos[1]) &&
+ (antennaPos[0]==antennaPos[2]) &&
+ (antennaPos[0]==0)) )
+ {
+ antennaPos = roh.antennaPosition;
+ staticPositionDefined=true;
+ }
+ }
+
+ // Remember the data collection rate. If not available, note that.
+ bool intervalDefined=false;
+
+ if ( (roh.valid & RinexObsHeader::intervalValid) ==
+ RinexObsHeader::intervalValid)
+ {
+ interval = roh.interval;
+ intervalDefined=true;
+ intervalInferred=false;
+ }
+
+ RinexObsData rod;
+ RinexObsData::RinexSatMap::const_iterator it;
+
+ // Read through file the first time.
+ // In this pass, get the "size" of the data
+ // Calculate if needed an approximate user positoin,
+ // and data collection interval.
+
+ numSatEpochs = 0;
+
+ bool firstEpochCompleted = false;
+ DayTime lastEpochValue;
+ std::set<double> intervalDifferences;
+
+ while ( robs >> rod )
+ {
+ // Account for total amount of obs data in this file
+ numSatEpochs += rod.obs.size();
+
+ // Record the interval differences
+ if (!intervalDefined)
+ {
+ if (!firstEpochCompleted)
+ {
+ lastEpochValue = rod.time;
+ firstEpochCompleted = true;
+ }
+ else
+ {
+ intervalDifferences.insert(ceil(rod.time - lastEpochValue));
+ lastEpochValue = rod.time;
+ }
+ }
+
+
+ // If necessary, determine the initial user position
+ if (!staticPositionDefined)
+ {
+ PRSolution prEst;
+ ZeroTropModel nullTropModel;
+
+ std::vector<SatID> sats;
+ std::vector<double> ranges;
+ RinexObsData::RinexSatMap::const_iterator it;
+
+ for (it = rod.obs.begin(); it!= rod.obs.end(); it++)
+ {
+ RinexObsData::RinexObsTypeMap otmap;
+ RinexObsData::RinexObsTypeMap::const_iterator itPR;
+ otmap = it->second;
+ itPR = otmap.find(RinexObsHeader::P1);
+ if (itPR == otmap.end())
+ itPR = otmap.find(RinexObsHeader::C1);
+
+ if (itPR!=otmap.end())
+ {
+ sats.push_back(it->first);
+ ranges.push_back(itPR->second.data);
+ }
+ }
+
+ prEst.RMSLimit = 10000;
+ prEst.RAIMCompute(rod.time, sats, ranges, ephStore,
+ &nullTropModel);
+
+ if (prEst.isValid())
+ {
+ antennaPos[0] = prEst.Solution[0];
+ antennaPos[1] = prEst.Solution[1];
+ antennaPos[2] = prEst.Solution[2];
+ staticPositionDefined = true;
+ }
+ } // End first blush estimate of static or initial position
+
+ } // Finish first run through file
+
+ if (!intervalDefined)
+ {
+
+ using namespace ValarrayUtils;
+ //std::cout << "intervals were: " << intervalDifferences << std::endl;
+ std::set<double>::iterator itEpochDiff = intervalDifferences.begin();
+ interval = *itEpochDiff;
+ intervalDefined = true;
+ intervalInferred = true;
+ }
+
+ if (!intervalDefined)
+ {
+ ObsArrayException oae("Cannot determine data interval for " + obsfilename);
+ GPSTK_THROW(oae);
+ }
+
+ int i=0;
+
+ // Size the storage valarrays.
+ observation.resize(numSatEpochs*numObsTypes);
+ epoch.resize(numSatEpochs);
+ satellite.resize(numSatEpochs);
+ lli.resize(numSatEpochs);
+ azimuth.resize(numSatEpochs);
+ elevation.resize(numSatEpochs);
+ validAzEl.resize(numSatEpochs);
+ pass.resize(numSatEpochs);
+ pass = -1;
+
+ validAzEl = true;
+ size_t satEpochIdx=0;
+
+ std::map<SatID, DayTime> lastObsTime;
+ std::map<SatID, DayTime>::const_iterator it2;
+ std::map<SatID, long> currPass;
+
+ long highestPass = 0;
+ long thisPassNo;
+
+ // Second time through, fill in observations and pass numbers
+ // First step through each epoch of observation
+ while (robsAgain >> rod)
+ {
+ // Second step through the obs for each SV
+
+ for (it = rod.obs.begin(); it!=rod.obs.end(); it++)
+ {
+ it2 = lastObsTime.find((*it).first);
+
+ // Step through obs to see if loss of lock is true
+ bool thislli=false;
+ RinexObsData::RinexObsTypeMap::const_iterator i_rotm;
+ for (i_rotm = it->second.begin();
+ i_rotm!= it->second.end(); i_rotm++)
+ {
+ thislli = thislli || (i_rotm->second.lli > 0);
+ }
+ lli[satEpochIdx]=thislli;
+
+
+ if ( (it2==lastObsTime.end()) || (thislli) ||
+ ( (rod.time-lastObsTime[(*it).first]) > 1.1*interval) )
+ {
+ thisPassNo = highestPass;
+ lastObsTime[(*it).first]=rod.time;
+ currPass[(*it).first]=highestPass++;
+ }
+ else
+ {
+ thisPassNo = currPass[(*it).first];
+ lastObsTime[(*it).first]=rod.time;
+ }
+
+
+ pass[satEpochIdx]=thisPassNo;
+
+ for (int idx=0; idx<numObsTypes; idx++)
+ {
+ if (isBasic[idx])
+ {
+ observation[i] = rod.obs[it->first][basicTypeMap[idx]].data;
+ }
+ else
+ {
+ expressionMap[idx].setRinexObs(rod.obs[it->first]);
+ observation[i] = expressionMap[idx].evaluate();
+ }
+
+ satellite[satEpochIdx] = it->first;
+ i++;
+ } // end of walk through observations to record
+
+ // Get topocentric coords for given sat
+ try
+ {
+ Xvt svPos = ephStore.getPrnXvt(it->first.id, rod.time);
+ elevation[satEpochIdx]= antennaPos.elvAngle(svPos.x);
+ azimuth[satEpochIdx] = antennaPos.azAngle( svPos.x);
+ }
+ catch(EphemerisStore::NoEphemerisFound)
+ {
+ validAzEl[satEpochIdx]=false;
+ }
+ //std::cout << "i: (" << satEpochIdx << ")" << rod.time << std::endl;
+
+
+ epoch[satEpochIdx]=rod.time;
+
+ satEpochIdx++;
+ } // end of walk through prns at this epoch
+ } // end of walk through obs file
+
+
+
+ } // end of ObsArray::loadObsFile(...)
+
+ void ObsArray::edit(const std::valarray<bool> strikeList)
+ throw(ObsArrayException)
+ {
+ using namespace std;
+
+ if (epoch.size() != strikeList.size())
+ {
+ ObsArrayException e("Edit request has wrong size.");
+ GPSTK_THROW(e);
+ }
+
+ valarray<bool> keepList = !strikeList;
+
+ valarray<DayTime> newEpoch = epoch[keepList];
+ size_t newObsEpochCount = newEpoch.size();
+
+ epoch.resize(newObsEpochCount);
+ epoch = newEpoch;
+
+ valarray<SatID> newSatellite = satellite[keepList];
+ satellite.resize(newObsEpochCount);
+ satellite = newSatellite;
+
+ valarray<bool> newLLI = lli[keepList];
+ lli.resize(newObsEpochCount);
+ lli = newLLI;
+
+ valarray<double> newAz = azimuth[keepList];
+ azimuth.resize(newObsEpochCount);
+ azimuth = newAz;
+
+ valarray<double> newEl = elevation[keepList];
+ elevation.resize(newObsEpochCount);
+ elevation = newEl;
+
+ valarray<bool> newValidAzEl = validAzEl[keepList];
+ validAzEl.resize(newObsEpochCount);
+ validAzEl = newValidAzEl;
+
+ valarray<long> newPass = pass[keepList];
+ pass.resize(newObsEpochCount);
+ pass = newPass;
+
+ valarray<bool> keepObs;
+ keepObs.resize(numObsTypes*numSatEpochs);
+ for (size_t i=0; i<(numObsTypes*numSatEpochs); i+=numSatEpochs)
+ {
+ slice thisObsTypeSlice(i,i+numSatEpochs,1);
+ keepObs[thisObsTypeSlice]=keepList;
+ }
+ valarray<double> newObs =observation[keepObs];
+ observation.resize(newObs.size());
+ observation = newObs;
+
+ // Update public attributes
+ numSatEpochs = newObsEpochCount;
+
+ }
+
+ double ObsArray::getPassLength(long passNo)
+ {
+ // TODO: use find_first_of to smartly search over pass number.
+ // it doesn't seem to be working at least in gcc. :-(
+ // Again we must allocate space just to do a search!!
+
+ using namespace std;
+
+ valarray<bool> ptest = (pass==passNo);
+ valarray<DayTime> pepochs = epoch[ptest];
+ double length = pepochs[pepochs.size()-1] - pepochs[0];
+ return length;
+ }
+
+} // end namespace gpstk
+
+
diff --git a/dev/apps/multipath/ObsArray.hpp b/dev/apps/multipath/ObsArray.hpp
new file mode 100644
index 0000000..3433528
--- /dev/null
+++ b/dev/apps/multipath/ObsArray.hpp
@@ -0,0 +1,146 @@
+ #pragma ident "$Id:$"
+
+/**
+ * @file ObsArray.hpp
+ * Provides ability to operate mathematically on large, logical groups of observations
+ * Class declarations.
+ */
+
+#ifndef OBSARRAY_HPP
+#define OBSARRAY_HPP
+
+#include<map>
+#include<vector>
+#include<string>
+#include<valarray>
+
+#include "DayTime.hpp"
+#include "RinexEphemerisStore.hpp"
+#include "Exception.hpp"
+#include "Expression.hpp"
+#include "RinexObsHeader.hpp"
+#include "SatID.hpp"
+
+namespace gpstk
+{
+ typedef int ObsIndex;
+
+ /** @defgroup ObsGroup Storage and manipulation of general observations. */
+ //@{
+
+ /**
+ * This class provides the ability to quickly access and manipulate
+ * logical groups of observations. Observations can be any basic
+ * type, e.g., "P1", or a function of types, e.g., "P1-C1". The
+ * observations can be accessed by pass, by PRN, by time, or via
+ * as user-defined mask.
+ *
+ * Access to observations is provided via std::valarray .
+ * Therefore indexing
+ * can be performed by the user using standard mechanisms: operator[],
+ * slice_array, gslice_array, mask_array and indirect_array. Valarray
+ * which was designed "specifically for speed of the usual numeric
+ * operations." That quote is from p. 662 of Stroustrup's book
+ * "The C++ Programming Language," 3rd edition. That book explains
+ * valarray and how to use it. Such material explains how ObsArray
+ * works internally and how advanced use of ObsArray is accomplished.
+ */
+
+ class ObsArray
+ {
+ public:
+
+ NEW_EXCEPTION_CLASS(ObsArrayException, gpstk::Exception);
+
+ /**
+ * Constructor.
+ */
+ ObsArray(void);
+
+ /**
+ * This function notifies the object to track a particular RINEX
+ * data type. This function must be called before loading
+ * observations from file.
+ */
+ ObsIndex add(RinexObsHeader::RinexObsType type);
+
+ /**
+ * This function notifies the object to track functions of
+ * RINEX data types, e.g., "P1-C1". This function must be called
+ * before loading observations from a file.
+ */
+ ObsIndex add(const std::string& expression);
+
+ ObsIndex getNumObsTypes(void) const
+ { return numObsTypes; }
+
+ size_t getNumSatEpochs(void) const
+ { return numSatEpochs; }
+
+ /**
+ * This functions loads a RINEX obs and nav file. Both files
+ * should be from the same period.
+ */
+ void load(const std::string& obsfilename,
+ const std::string& navfilename);
+ void load(const char* obsfilename,
+ const char* navfilename)
+ {
+ load(std::string(obsfilename),std::string(navfilename));
+ }
+ void load(const std::vector<std::string>& obsList,
+ const std::vector<std::string>& navList);
+
+ /**
+ * This function removes observations which the input
+ * vallarray is "true".
+ */
+ void edit(const std::valarray<bool> strikeList)
+ throw(ObsArrayException);
+
+ double getPassLength(long passNo);
+
+ double& operator() (size_t r, size_t c)
+ { return observation[r*numObsTypes + c]; }
+
+ std::valarray<DayTime> epoch;
+ std::valarray<SatID> satellite;
+ std::valarray<double> observation;
+ std::valarray<bool> lli;
+ std::valarray<double> azimuth;
+ std::valarray<double> elevation;
+ std::valarray<long> pass;
+ std::valarray<bool> validAzEl;
+
+ /// The rate in second which observations were recorded
+ double interval;
+
+ /**
+ * This is true if the interval was not read from the header but
+ * instead calculated from the data.
+ */
+ bool intervalInferred;
+
+ private:
+
+ void loadObsFile(const std::string& obsfilename);
+
+ ObsIndex numObsTypes;
+ std::map<ObsIndex, RinexObsHeader::RinexObsType > basicTypeMap;
+ std::map<ObsIndex, bool> isBasic;
+ std::map<ObsIndex, Expression > expressionMap;
+
+ /**
+ * The number observation sets stored. Each set is derived
+ * from unique combination of satellite and nominal epoch.
+ */
+ size_t numSatEpochs;
+
+ RinexEphemerisStore ephStore;
+
+ }; // End class ObsArray
+
+ //@}
+} // End namespace gpstk
+
+#endif // OBSARRAY_HPP
diff --git a/dev/apps/multipath/SparseBinnedStats.hpp b/dev/apps/multipath/SparseBinnedStats.hpp
new file mode 100644
index 0000000..95fc85b
--- /dev/null
+++ b/dev/apps/multipath/SparseBinnedStats.hpp
@@ -0,0 +1,106 @@
+#pragma ident "$Id:$"
+
+/**
+ * @file SparseBinnedStats.hpp
+ * Generates statistics over a discrete set of conditions.
+ * Class declarations.
+ */
+
+#ifndef SPARSE_BINNED_STATS_HPP
+#define SPARSE_BINNED_STATS_HPP
+
+#include <map>
+
+#include "Stats.hpp"
+#include "Exception.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup math */
+ //@{
+
+ /**
+ * This class provides the ability to compute statistics for
+ * data sorted into one or more bins.
+ */
+
+ template <class T>
+ class SparseBinnedStats
+ {
+ public:
+
+ NEW_EXCEPTION_CLASS(SparseBinnedStatsException, gpstk::Exception);
+
+ struct binLimits
+ {
+ double lowerBound;
+ double upperBound;
+ bool within(double var)
+ {return ((var>=lowerBound)&&(var<upperBound)); }
+ };
+
+ /**
+ * Constructor.
+ * @param boundaryList defines the lower and upper bounds of each bin
+ */
+ SparseBinnedStats(void)
+ : rejectedCount(0), usedCount(0)
+ {}
+
+ size_t addBin( double lower, double upper)
+ {
+ binLimits newBin;
+ newBin.lowerBound = lower;
+ newBin.upperBound = upper;
+ size_t entryNo = bins.size();
+ bins.push_back(newBin);
+ stats.push_back(Stats<T>());
+ return entryNo;
+ }
+
+
+ void addData(const std::valarray<T>& statData,
+ const std::valarray<T> binData)
+ {
+ size_t s = statData.size();
+
+ if (s!=binData.size())
+ {
+ SparseBinnedStatsException e("Input arrays not the same length.");
+ GPSTK_THROW(e);
+ }
+
+ bool thisRejected;
+
+ for (size_t i=0; i<s; i++)
+ {
+ thisRejected=true;
+ for (size_t j=0; j<bins.size(); j++)
+ {
+ if ( bins[j].within(binData[i]) )
+ {
+ stats[j].Add(statData[i]);
+ thisRejected = false;
+ }
+
+ }
+ if (thisRejected)
+ rejectedCount++;
+ else
+ usedCount++;
+ }
+
+
+ };
+
+ int rejectedCount, usedCount;
+
+ std::vector<binLimits> bins;
+ std::vector< Stats< T > > stats;
+
+ }; // End class SparseBinnedStats
+
+ //@}
+} // End namespace gpstk
+
+#endif // SPARSE_BINNED_STATS_HPP
diff --git a/dev/apps/multipath/ValarrayUtils.cpp b/dev/apps/multipath/ValarrayUtils.cpp
new file mode 100644
index 0000000..00a8858
--- /dev/null
+++ b/dev/apps/multipath/ValarrayUtils.cpp
@@ -0,0 +1,15 @@
+#pragma ident "$Id:$"
+
+/**
+ * @file ValarryUtils.cpp
+ * Namespace of functions that work with valarrays.
+ */
+
+#include "ValarrayUtils.hpp"
+
+namespace gpstk::ValarrayUtils
+{
+
+} // end namespace gpstk::ValarrayUtils
+
+
diff --git a/dev/apps/multipath/ValarrayUtils.hpp b/dev/apps/multipath/ValarrayUtils.hpp
new file mode 100644
index 0000000..bf00fee
--- /dev/null
+++ b/dev/apps/multipath/ValarrayUtils.hpp
@@ -0,0 +1,117 @@
+#pragma ident "$Id:$"
+
+/**
+ * @file ValarrayUtils.cpp
+ * Namespace of functions that work with valarrays.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+
+/**
+ * @file ValarrayUtils.hpp
+ * ValarrayUtils namespace and GPSTK valarray utility functions
+ */
+
+#ifndef GPSTK_VALARRAYUTILS_HPP
+#define GPSTK_VALARRAYUTILS_HPP
+
+#include <iostream>
+
+#include <valarray>
+#include <set>
+#include <vector>
+
+#include "Exception.hpp"
+
+namespace gpstk
+{
+ /**
+ * Provides basic operations available in matrix languages to
+ * the valarray template.
+ */
+ namespace ValarrayUtils
+ {
+ /** @defgroup valarrayutilsgroup Valarray Manipulation Tools */
+ //@{
+
+ /// This is thrown instread of a std::exception when a
+ /// gpstk::ValarrayUtils function fails.
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(ValarrayException, Exception);
+ //@}
+
+ template<class T> std::ostream& operator<<(std::ostream& ostr,
+ const std::valarray<T>& x)
+ {
+ for (size_t i=0; i<x.size(); i++)
+ ostr << x[i] << " ";
+ return ostr;
+ // return copy(&x[0], &x[x.size()], std::ostream_iterator<T>(ostr));
+ }
+
+ template<class T> std::ostream& operator<<(std::ostream& ostr,
+ const std::set<T>& x)
+ {
+ using namespace std;
+ for (typename set<T>::const_iterator i = x.begin(); i!=x.end(); i++)
+ ostr << *i << " ";
+ return ostr;
+ // return copy(x.begin(), x.end(), std::ostream_iterator<T>(ostr));
+ }
+
+ template<class T> std::ostream& operator<<(std::ostream& ostr,
+ const std::vector<T>& x)
+ {
+ using namespace std;
+ for (typename vector<T>::const_iterator i = x.begin(); i!=x.end(); i++)
+ ostr << *i << " ";
+ return ostr;
+ // return copy(x.begin(), x.end(), std::ostream_iterator<T>(ostr));
+ }
+
+ template<class T> std::set<T> unique(const std::valarray<T> & rhs)
+ {
+ using namespace std;
+ int i;
+
+ valarray<T> newArray;
+
+ set<T> newSet;
+
+ for (i=0; i<rhs.size(); i++)
+ {
+ //cout << rhs[i] << endl;
+ newSet.insert(rhs[i]);
+ }
+
+ return newSet;
+ }
+
+ } // namespace ValarrayUtils
+
+} // namespace gpstk
+#endif // GPSTK_VALARRAYUTILS_HPP
+
+
+
diff --git a/dev/apps/multipath/mpsolve.cpp b/dev/apps/multipath/mpsolve.cpp
new file mode 100644
index 0000000..8fb7e50
--- /dev/null
+++ b/dev/apps/multipath/mpsolve.cpp
@@ -0,0 +1,343 @@
+#pragma ident "$Id: $"
+
+#include <iostream>
+
+#include "Exception.hpp"
+#include "DayTime.hpp"
+#include "CommandOptionParser.hpp"
+#include "StringUtils.hpp"
+#include "ValarrayUtils.hpp"
+#include "ObsArray.hpp"
+#include "SparseBinnedStats.hpp"
+
+
+void dumpRaw(std::ostream& ostr, const gpstk::ObsArray& oa, bool numeric);
+void writeStats(std::ostream& ostr,
+ const gpstk::SparseBinnedStats<double>& sbs,
+ bool numeric, bool elevation=true);
+
+using namespace std;
+using namespace gpstk;
+using namespace ValarrayUtils;
+
+
+int main(int argc, char *argv[])
+{
+
+ try {
+
+ // Default difference that isolates multipath
+ std::string mp_formula="P1-wl1*L1+2/(1-gamma)*(wl1*L1-wl2*L2)";
+ // Default minimum length for a pass for use solution
+ double minPassLength = 300;
+ double angInterval = 15;
+
+ CommandOptionNoArg helpOption('h',"help","Display argument list.",false);
+ CommandOptionNoArg verboseOption('v',"verbose",
+ "Verbose display of processing status.",false);
+ CommandOptionNoArg rawOption('r',"raw",
+ "Output raw combinations not statistics",false);
+
+ CommandOptionNoArg numericOption('n',"numeric",
+ "Format the output for numerical packages",false);
+ CommandOptionNoArg azimuthOption('a',"azimuth",
+ "Compute statistics binned by azimuth instead of elevation",false);
+ CommandOptionWithAnyArg obsFileOption('o',"obs","RINEX observation file",true);
+ CommandOptionWithAnyArg navFileOption('e',"nav",
+ "RINEX navigation (ephemeris) file",true);
+ CommandOptionWithAnyArg binOption('b',"bin",
+ "Defines a bin. Eliminates the default bins. Repeated use of this option defines additional bins. Value is min,max. Ex.: -b 10,90",false);
+
+ CommandOptionWithAnyArg mpOption('m',"multipath",
+ "Dual frequency multipath combination to use. Default is " +
+ mp_formula,false);
+ mpOption.setMaxCount(1);
+
+ CommandOptionWithNumberArg
+ lengthOption('l',"length",string("Minimum length in seconds for an ")+
+ string("overhead pass to be used. Default value is ") +
+ StringUtils::asString(minPassLength, 1) +
+ string(" seconds."), false);
+ lengthOption.setMaxCount(1);
+
+ CommandOptionWithNumberArg
+ angWidthOption('w',"width",string("Width of angular bins to use.")+
+ string("If used, defines regular, nonoverlapping bins of ") +
+ string("azimuth and/or elevation. Default value is ") +
+ StringUtils::asString(angInterval, 2) +
+ string(" degrees."), false);
+ angWidthOption.setMaxCount(1);
+
+ CommandOptionParser cop("GPSTk Multipath Environment Evaluator. Computes statistical model of a dual frequency multipath combination. The model is a function of azimuth and/or elevation. By default the model presented is second order statistics (std. deviation), sorted into bins of elevation.");
+
+ cop.parseOptions(argc, argv);
+
+ if (cop.hasErrors()) {
+ cop.dumpErrors(cout);
+ cop.displayUsage(cout);
+ return 1;
+ }
+
+ if(helpOption.getCount())
+ {
+ cop.displayUsage(cout);
+ return 0;
+ }
+
+ bool verbose=(verboseOption.getCount()>0);
+ bool numeric=(numericOption.getCount()>0);
+
+ DayTime now;
+
+ if (!numeric)
+ {
+ cout << "Multipath Environment Evaluation Tool, a GPSTk utility"
+ << endl << endl;
+ }
+
+ if ( (verbose) && (!numeric))
+ {
+ cout << "Loading obs file(s): " << obsFileOption.getValue() << endl;
+ cout << "Loading nav file(s): " << navFileOption.getValue() << endl;
+ }
+
+ ObsArray oa;
+
+ if (mpOption.getCount()>0)
+ mp_formula = mpOption.getValue()[0];
+
+ oa.add(mp_formula);
+ oa.load(obsFileOption.getValue(),navFileOption.getValue());
+ size_t originalLength = oa.getNumSatEpochs();
+
+ if ((!numeric)&& (verbose))
+ cout << "Editing points with loss of lock indication and pass with short lengths." << endl;
+
+ std::valarray<bool> removePts = oa.lli;
+ if (lengthOption.getCount()>0)
+ minPassLength = StringUtils::asDouble(lengthOption.getValue()[0]);
+
+ set<long> allpasses = unique(oa.pass);
+ for (set<long>::iterator i=allpasses.begin();
+ i!=allpasses.end(); i++)
+ {
+ if (oa.getPassLength(*i)<minPassLength)
+ {
+ removePts = removePts || (oa.pass==*i);
+ }
+ }
+
+ oa.edit(removePts);
+ allpasses = unique(oa.pass); // TODO: ObsArray should maintain its own pass list.
+
+ size_t editedLength = oa.getNumSatEpochs();
+ if (!numeric)
+ {
+ cout << "Edited " << (originalLength-editedLength) << " points (";
+ cout << setprecision(2)
+ << 100.*(originalLength-editedLength)/originalLength;
+ cout << "%)." << endl;
+ }
+
+ if (!numeric)
+ {
+ cout << "Removing mean of each pass." << endl;
+ }
+
+ for (set<long>::iterator iPass=allpasses.begin();
+ iPass!=allpasses.end() ; iPass++)
+ {
+ valarray<bool> passMask = (oa.pass==*iPass);
+ valarray<double> mpVals = oa.observation[passMask];
+ valarray<double> binVals(mpVals.size());
+ double mean = mpVals.sum() / mpVals.size();
+ mpVals -= mean;
+ oa.observation[passMask]=mpVals;
+ }
+
+ allpasses = unique(oa.pass);
+ if (!numeric)
+ {
+ if (verbose)
+ {
+ cout <<"Using this combination for multipath: " <<mp_formula<<endl;
+ cout << "Data collection interval is " << setprecision(3)
+ << oa.interval << " seconds";
+ if (oa.intervalInferred)
+ cout << ", inferred from data";
+ else
+ cout << ", read from file headers";
+ cout << "." <<endl;
+ }
+ cout << "Overhead passes used: ";
+ cout << allpasses.size() << endl;
+ }
+
+
+ if (rawOption.getCount()>0)
+ {
+ dumpRaw(cout, oa, numeric);
+ }
+ else
+ {
+ bool byAzimuth = (azimuthOption.getCount()>0);
+ if (angWidthOption.getCount()>0)
+ angInterval = StringUtils::asDouble(angWidthOption.getValue()[0]);
+ bool regularIntervals = (byAzimuth || (angWidthOption.getCount()>0));
+
+ SparseBinnedStats<double> sbs;
+ if (binOption.getCount()==0)
+ {
+ if (!byAzimuth)
+ {
+ if (!regularIntervals)
+ {
+ sbs.addBin(0,90);
+ sbs.addBin(10,30);
+ sbs.addBin(20,40);
+ sbs.addBin(40,90);
+ sbs.addBin(10,90);
+ }
+ else
+ {
+ for (double d=0; d<90; d+=angInterval)
+ sbs.addBin(d,d+angInterval);
+ }
+ }
+ else
+ {
+ for (double d=0; d<359; d+=angInterval)
+ sbs.addBin(d,d+angInterval);
+ }
+ }
+ else
+ {
+ for (int k=0; k<binOption.getValue().size(); k++)
+ {
+ string temp = binOption.getValue()[k];
+ string lowerWord = StringUtils::word(temp,0,',');
+ string upperWord = StringUtils::word(temp,1,',');
+ sbs.addBin(StringUtils::asDouble(lowerWord),
+ StringUtils::asDouble(upperWord));
+ }
+ }
+
+ for (set<long>::iterator iPass=allpasses.begin();
+ iPass!=allpasses.end() ; iPass++)
+ {
+ valarray<bool> passMask = (oa.pass==*iPass);
+ valarray<double> mpVals = oa.observation[passMask];
+ valarray<double> binVals(mpVals.size());
+ if (!byAzimuth)
+ binVals = oa.elevation[passMask];
+ else
+ binVals = oa.azimuth[passMask];
+
+ sbs.addData(mpVals, binVals);
+ }
+
+ writeStats(cout, sbs, numeric, !byAzimuth);
+ }
+
+
+ DayTime then;
+
+ if ( (verbose) && (!numeric))
+ cout << "Processing complete in " << then - now << " seconds." << endl;
+
+ }
+ catch (Exception& e)
+ {
+ cerr << e << endl;
+ }
+
+ return 0;
+}
+
+
+void dumpRaw(std::ostream& ostr, const ObsArray& oa, bool numeric)
+{
+
+ if (numeric)
+ {
+ ostr << "# GPS Week, Seconds of week, Sat. id, Sat. system, Pass, ";
+ ostr << "Multipath value, LLI indicator, Azimuth, Elevation " << endl;
+ }
+
+ for (size_t i=0; i<oa.observation.size(); i++)
+ {
+ if (!numeric)
+ {
+ ostr << oa.epoch[i] << " " << oa.satellite[i] << " ";
+ ostr << "Pass " << oa.pass[i] << " ";
+ ostr << setprecision(12) << oa.observation[i];
+ if (oa.validAzEl[i])
+ {
+ ostr << setprecision(5);
+ ostr << " Az " << oa.azimuth[i];
+ ostr << " El " << oa.elevation[i];
+ }
+ if (oa.lli[i])
+ ostr << " <- Loss of lock";
+
+ ostr << std::endl;
+ }
+ else
+ {
+ ostr << setprecision(4) << oa.epoch[i].GPSfullweek() << " ";
+ ostr << setprecision(6) << oa.epoch[i].GPSsow() << " ";
+ ostr << oa.satellite[i].id << " ";
+ ostr << (int) oa.satellite[i].system << " ";
+ ostr << oa.pass[i] << " ";
+ ostr << setprecision(12) << oa.observation[i] << " ";
+ ostr << (int) oa.lli[i];
+ if (oa.validAzEl[i])
+ {
+ ostr << setprecision(5);
+ ostr << " " << oa.azimuth[i];
+ ostr << " " << oa.elevation[i];
+ }
+
+ ostr << std::endl;
+ }
+ }
+}
+
+void writeStats(std::ostream& ostr, const SparseBinnedStats<double>& mstats,
+ bool numeric, bool elevation)
+{
+ std::string angDesc = "elevation";
+ if (!elevation) angDesc = "azimuth";
+
+ if(!numeric)
+ {
+ ostr << endl;
+
+ ostr << "Standard deviation of bins sorted by " << angDesc
+ << "." << endl << endl;
+
+ for (int i=0; i<mstats.stats.size(); i++)
+ {
+ ostr << "From " << setw(3) << mstats.bins[i].lowerBound;
+ ostr << " to " << setw(3) << mstats.bins[i].upperBound;
+ ostr << ": " << setprecision(3) << mstats.stats[i].StdDev() << endl;
+ }
+ ostr << endl;
+
+ ostr << "Total points used: " << mstats.usedCount << endl;
+ ostr << " rejected: " << mstats.rejectedCount << endl;
+ }
+ else
+ {
+ ostr << "# Bins of " << angDesc << " -- columns are min, max, standard deviation " << endl;
+ for (int i=0; i<mstats.stats.size(); i++)
+ {
+ ostr << setw(3) << mstats.bins[i].lowerBound << " ";
+ ostr << setw(3) << mstats.bins[i].upperBound << " ";
+ ostr << setprecision(3) << mstats.stats[i].StdDev() << endl;
+ }
+ }
+
+
+
+}
diff --git a/dev/apps/multipath/testObsArray.cpp b/dev/apps/multipath/testObsArray.cpp
new file mode 100644
index 0000000..ee59c62
--- /dev/null
+++ b/dev/apps/multipath/testObsArray.cpp
@@ -0,0 +1,80 @@
+#include <iostream>
+#include <set>
+
+#include "SatID.hpp"
+#include "DayTime.hpp"
+#include "ObsArray.hpp"
+#include "ValarrayUtils.hpp"
+
+
+using namespace std;
+using namespace gpstk;
+using namespace ValarrayUtils;
+
+int main(int argc, char* argv[])
+{
+ try {
+
+ ObsArray oa;
+
+ cout << oa.add(RinexObsHeader::C1) << endl;
+ cout << oa.add(RinexObsHeader::P2) << endl;
+ cout << oa.add("C1-P2") << endl;
+ cout << oa.add("P1-wl1*L1-1/(1-gamma)*(wl1*L1-wl2*L2)");
+
+ cout << "There are " << oa.getNumObsTypes() << " obs indices." << endl;
+
+ cout << "Reading input files." << endl;
+// oa.load("netrs027.06o.30s","netrs027.06n");
+ oa.load("arl_256.06o","arl_256.06n");
+ cout << "Done reading." << endl;
+
+ cout << "Values directly using operator(size_t, size_t): " << endl;
+ for (int j=0; j <oa.getNumObsTypes(); j++)
+ for (int i=0; i<12; i++)
+ {
+ cout << "(" << i << "," << j << ")";
+ cout << setprecision(12) << oa(i,j) << endl;
+ }
+
+ cout << "Getting values with a slice: " << endl;
+ slice myslice(0,20,1);
+ valarray <double> copyObs = oa.observation[myslice];
+ slice_array <double> obsSample = oa.observation[myslice];
+ cout << "There are " << copyObs.size() << " elements in this slice." << endl;
+ for (int i=0; i<20; i++)
+ cout << copyObs[i] << endl;
+
+ cout << "Operations on a slice: " << endl;
+ cout << "Mean value is: " << copyObs.sum() / copyObs.size() << endl;
+ //cout << "Mean value is: " << oa.observation[myslice].sum() / oa.observation[myslice].size() << endl;
+
+ SatID thisPrn(9,SatID::systemGPS);
+ valarray<bool> prnIdx = (oa.satellite==thisPrn);
+ valarray<double> prnObs = oa.observation[prnIdx];
+ valarray<DayTime> prnTime = oa.epoch[prnIdx];
+ cout << "Data for PRN 9:" << endl;
+ for (int i=0; i<12; i++)
+ {
+ cout << prnTime[i].GPSfullweek() << " ";
+ cout << prnTime[i].GPSsow() << " ";
+ cout << prnObs[i] << endl;
+ }
+
+ set<DayTime> allepochs = unique(oa.epoch);
+ cout << "Unique epochs:" << endl << allepochs << endl;
+
+ set<SatID> allprns = unique(oa.satellite);
+ cout << "Unique satellites: " << endl << allprns << endl;
+
+ set<long> allpasses = unique(oa.pass);
+ cout << "Unique passes: " << endl << allpasses << endl;
+
+ exit(0);
+ }
+ catch(Exception& ex)
+ {
+ cerr << "Exception caught" << endl;
+ cerr << ex << endl;
+ }
+}
diff --git a/dev/apps/multipath/testSparseBinnedStats.cpp b/dev/apps/multipath/testSparseBinnedStats.cpp
new file mode 100644
index 0000000..f48809a
--- /dev/null
+++ b/dev/apps/multipath/testSparseBinnedStats.cpp
@@ -0,0 +1,59 @@
+#include <iostream>
+#include <set>
+
+#include "ValarrayUtils.hpp"
+#include "SparseBinnedStats.hpp"
+
+using namespace std;
+using namespace gpstk;
+using namespace ValarrayUtils;
+
+int main(void)
+{
+ try
+ {
+
+ double mpSrc[]= { 0.9, -1.6, 1.8, -.5,
+ 1.0, 1.1, -.5, -.3,
+ .3, -.25, 0.4, .05 };
+
+ valarray<double> mpVals(mpSrc,12);
+
+ double elSrc[]= { 5, 6, 7, 8,
+ 11, 30, 34, 42,
+ 50, 60, 70, 80 };
+
+ valarray<double> elVals(elSrc,12);
+
+ SparseBinnedStats<double> mstats;
+ mstats.addBin(0,10);
+ mstats.addBin(10,45);
+ mstats.addBin(45, 90);
+ mstats.addBin(10, 90);
+
+ cout << "# bins: " << mstats.bins.size() << endl;
+
+ mstats.addData(mpVals, elVals);
+
+ cout << "MP data: " << endl << mpVals << endl;
+ cout << "Elevation data: " << endl << elVals << endl;
+
+ for (int i=0; i<mstats.stats.size(); i++)
+ {
+ cout << "From " << mstats.bins[i].lowerBound;
+ cout << " to " << mstats.bins[i].upperBound;
+ cout << ": " << mstats.stats[i].StdDev() << endl;
+ }
+ cout << "Total points used: " << mstats.usedCount << endl;
+ cout << " rejected: " << mstats.rejectedCount << endl;
+
+ }
+ catch (Exception& e)
+ {
+ cerr << e << endl;
+ }
+
+ return 0;
+}
+
+
diff --git a/dev/apps/multipath/testValarrayUtils.cpp b/dev/apps/multipath/testValarrayUtils.cpp
new file mode 100644
index 0000000..b877ffc
--- /dev/null
+++ b/dev/apps/multipath/testValarrayUtils.cpp
@@ -0,0 +1,25 @@
+#include "ValarrayUtils.hpp"
+
+#include <iostream>
+#include <set>
+
+using namespace std;
+using namespace gpstk;
+using namespace ValarrayUtils;
+
+int main(void)
+{
+ int theSet[]= { 1, 2, 2, 2, 3, 4, 4, 5};
+ valarray<int> v1(theSet,8);
+
+ cout << "Original: " << endl << v1 << endl;
+
+ set<int> s1=unique(v1);
+
+ cout << "Unique:" << endl << s1 << endl;
+
+ cout << "End of test." << endl;
+ return 0;
+}
+
+
diff --git a/dev/apps/positioning/Jamfile b/dev/apps/positioning/Jamfile
new file mode 100644
index 0000000..6cf9a53
--- /dev/null
+++ b/dev/apps/positioning/Jamfile
@@ -0,0 +1,9 @@
+SubDir TOP apps positioning ;
+
+GPSLinkLibraries rinexpvt poscvt PRSolve posInterp : gpstk ;
+BonkForte ; # bleah.
+
+GPSMain rinexpvt : rinexpvt.cpp ;
+GPSMain poscvt : poscvt.cpp ;
+GPSMain PRSolve : PRSolve.cpp ;
+GPSMain posInterp : posInterp.cpp ;
diff --git a/dev/apps/positioning/Makefile.am b/dev/apps/positioning/Makefile.am
new file mode 100644
index 0000000..a0dad4d
--- /dev/null
+++ b/dev/apps/positioning/Makefile.am
@@ -0,0 +1,10 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../src
+LDADD = ../../src/libgpstk.la
+
+bin_PROGRAMS = poscvt rinexpvt PRSolve posInterp
+
+poscvt_SOURCES = poscvt.cpp
+rinexpvt_SOURCES = rinexpvt.cpp
+PRSolve_SOURCES = PRSolve.cpp
+posInterp_SOURCES = posInterp.cpp
diff --git a/dev/apps/positioning/PRSolve.cpp b/dev/apps/positioning/PRSolve.cpp
new file mode 100644
index 0000000..34d52fe
--- /dev/null
+++ b/dev/apps/positioning/PRSolve.cpp
@@ -0,0 +1,2107 @@
+// $Id$
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file PRSolve.cpp Read a RINEX observation file and compute an autonomous GPS
+ * pseudorange position solution, using a RAIM-like algorithm to eliminate outliers.
+ */
+
+#define RANGECHECK 1 // make Matrix and Vector check limits
+#include "Exception.hpp"
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+#include "RinexSatID.hpp"
+#include "CommandOptionParser.hpp"
+#include "CommandOption.hpp"
+#include "CommandOptionWithTimeArg.hpp"
+
+#include "RinexObsData.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsStream.hpp"
+#include "RinexNavStream.hpp"
+#include "RinexNavData.hpp"
+#include "RinexMetStream.hpp"
+#include "RinexMetHeader.hpp"
+#include "RinexMetData.hpp"
+#include "SP3Stream.hpp"
+#include "BCEphemerisStore.hpp"
+#include "SP3EphemerisStore.hpp"
+#include "TropModel.hpp"
+#include "Position.hpp"
+#include "geometry.hpp" // for DEG_TO_RAD
+
+#include "Matrix.hpp"
+#include "PRSolution.hpp"
+#include "Stats.hpp"
+#include "EphemerisRange.hpp"
+
+#include <time.h>
+#include <string>
+#include <vector>
+#include <iostream>
+#include <fstream>
+#include <sstream>
+
+using namespace std;
+using namespace gpstk;
+using namespace StringUtils;
+
+ // prgm data
+string PrgmName("PRSolve");
+string PrgmVers("2.1 5/07");
+
+// data input from command line
+typedef struct Configuration {
+ // input files
+ string ObsDirectory,NavDirectory,MetDirectory;
+ vector<string> InputObsName;
+ vector<string> InputNavName;
+ vector<string> InputMetName;
+ // configuration
+ double rmsLimit;
+ double SlopeLimit;
+ bool algebra;
+ int nIter;
+ double convLimit;
+ int maxReject;
+ bool residCrit;
+ bool returnatonce;
+ double elevLimit;
+ // output
+ Position knownpos;
+ Matrix<double> Rot;
+ bool APSout;
+ string ordFile;
+ string OutRinexObs;
+ string HDPrgm; // header of output RINEX file
+ string HDRunby;
+ string HDObs;
+ string HDAgency;
+ string HDMarker;
+ string HDNumber;
+ int NrecOut;
+ DayTime FirstEpoch,LastEpoch;
+ string timeFormat;
+ bool Debug,Verbose;
+ // data flow
+ double ith;
+ DayTime Tbeg, Tend;
+ // output files
+ string LogFile;
+ ofstream oflog,oford;
+ // processing
+ double DataInt;
+ int Freq;
+ bool UseCA,ForceCA;
+ vector<SatID> ExSV;
+ string TropType;
+ double defaultT,defaultPr,defaultRH;
+ TropModel *pTropModel;
+ list<RinexMetData> MetStore;
+ // estimate DT from data
+ double estdt[9];
+ int ndt[9];
+} Config;
+
+Config C;
+
+// data used in program
+const double CMPS=299792458.0;
+const double CFF=CMPS/10.23e6;
+const double F1=154.0;
+const double F2=120.0;
+const double wl1=CFF/F1;
+const double wl2=CFF/F2;
+const double F1F2=(F1/F2)*(F1/F2);
+const double alpha=(F1F2 - 1.0);
+const double if1r=1.0/(1.0-(F2/F1)*(F2/F1));
+const double if2r=1.0/(1.0-(F1/F2)*(F1/F2));
+clock_t totaltime;
+string Title,filename;
+DayTime CurrEpoch, PrgmEpoch, PrevEpoch;
+
+// data
+int Nsvs;
+EphemerisStore *pEph;
+ZeroTropModel TMzero;
+SimpleTropModel TMsimple;
+SaasTropModel TMsaas;
+GGTropModel TMgg;
+GGHeightTropModel TMggh;
+NBTropModel TMnb;
+
+// Solution and covariance (prsol for RAIM, Solution and Covariance for AutonPRSol)
+PRSolution prsol; // this will always be the RAIM result
+Vector<double> Solution; // this will always be the AutonPRS result
+Matrix<double> Covariance; // this will always be the AutonPRS result
+
+// Solution and residual statistics:
+// total number of epochs
+long nS,nSS;
+// simple average (S : one file; SS : all files)...
+Stats<double> SA[3],SR[3],SSA[3],SSR[3]; // solution (XYZ) Auto and RAIM
+Stats<double> SAPR[3],SRPR[3],SSAPR[3],SSRPR[3]; // XYZ residuals
+Stats<double> SANE[3],SRNE[3],SSANE[3],SSRNE[3]; // NEU residuals
+// ... and weighted average solution, both Auto and RAIM...
+Matrix<double> PA,PR,PPA,PPR; // inverse covariance
+Vector<double> zA,zR,zzA,zzR; // 'state'=(inverse covariance * state)
+// ... and weighted average residuals APR,RPR.
+Matrix<double> PAPR,PRPR,PANE,PRNE,PPAPR,PPRPR,PPANE,PPRNE;
+Vector<double> zAPR,zRPR,zANE,zRNE,zzAPR,zzRPR,zzANE,zzRNE;
+
+//------------------------------------------------------------------------------------
+// prototypes
+int ReadFile(int nfile) throw(Exception);
+int SolutionAlgorithm(vector<SatID>& Sats,
+ vector<double>& PRanges,
+ double& RMSresid) throw(Exception);
+int AfterReadingFiles(void) throw(Exception);
+void PrintStats(Stats<double> S[3],
+ Matrix<double> &P,
+ Vector<double> &z,
+ long n,
+ string m,
+ char c0='X', char c1='Y', char c2='Z') throw(Exception);
+void setWeather(DayTime& time, TropModel *pTropModel);
+int GetCommandLine(int argc, char **argv) throw(Exception);
+void DumpConfiguration(ostream& os) throw(Exception);
+void PreProcessArgs(const char *arg, vector<string>& Args) throw(Exception);
+int FillEphemerisStore(const vector<string>& files, SP3EphemerisStore& PE,
+ BCEphemerisStore& BCE) throw(Exception);
+
+//------------------------------------------------------------------------------------
+int main(int argc, char **argv)
+{
+try {
+ totaltime = clock();
+ int iret;
+
+ // initialization
+ CurrEpoch = PrevEpoch = DayTime::BEGINNING_OF_TIME;
+ SP3EphemerisStore SP3EphList;
+ BCEphemerisStore BCEphList;
+
+ // Title and description
+ Title = PrgmName + ", part of the GPS ToolKit, Ver " + PrgmVers + ", Run ";
+ time_t timer;
+ struct tm *tblock;
+ timer = time(NULL);
+ tblock = localtime(&timer);
+ PrgmEpoch.setYMDHMS(1900+tblock->tm_year,1+tblock->tm_mon,
+ tblock->tm_mday,tblock->tm_hour,tblock->tm_min,tblock->tm_sec);
+ Title += PrgmEpoch.printf("%04Y/%02m/%02d %02H:%02M:%02S\n");
+ cout << Title;
+
+ // get command line
+ iret=GetCommandLine(argc, argv);
+ if(iret < 0) return iret;
+ // NB save iret until after DumpConfiguration()
+
+ // update configuration of PRSolution
+ if(C.Verbose) {
+ prsol.pDebugStream = &C.oflog;
+ prsol.Debug = true;
+ }
+ prsol.RMSLimit = C.rmsLimit;
+ prsol.SlopeLimit = C.SlopeLimit;
+ prsol.Algebraic = C.algebra;
+ prsol.ResidualCriterion = C.residCrit;
+ prsol.ReturnAtOnce = C.returnatonce;
+ prsol.NSatsReject = C.maxReject;
+ prsol.MaxNIterations = C.nIter;
+ prsol.ConvergenceLimit = C.convLimit;
+
+ // iret comes from GetCommandLine
+ if(iret == 0) DumpConfiguration(C.oflog);
+ else return iret;
+
+ // get nav files and build EphemerisStore
+ int nread = FillEphemerisStore(C.InputNavName, SP3EphList, BCEphList);
+ C.oflog << "Added " << nread << " ephemeris files to store.\n";
+ SP3EphList.dump(0,C.oflog);
+ BCEphList.dump(0,C.oflog);
+ if(SP3EphList.size() > 0) pEph=&SP3EphList;
+ else if(BCEphList.size() > 0) {
+ BCEphList.SearchNear();
+ //BCEphList.SearchPast();
+ pEph=&BCEphList;
+ }
+ else {
+ C.oflog << "Failed to read ephemeris data. Abort." << endl;
+ return -1;
+ }
+
+ // get met files and build MetStore
+ if(C.InputMetName.size() > 0) {
+ for(int i=0; i<C.InputMetName.size(); i++) {
+ RinexMetStream metstrm(C.InputMetName[i].c_str());
+ RinexMetHeader methead;
+ RinexMetData metdata;
+
+ metstrm >> methead;
+
+ while(metstrm >> metdata)
+ C.MetStore.push_back(metdata);
+
+ metstrm.close();
+ } // end loop over InputMetName
+
+ // sort the store on time
+ C.MetStore.sort();
+
+ // dump the met data
+ if(C.Debug) {
+ C.oflog << "Dump of meteorological data store ("
+ << C.MetStore.size() << "):\n";
+ list<RinexMetData>::const_iterator it = C.MetStore.begin();
+ for( ; it != C.MetStore.end(); it++) {
+ //it->dump(C.oflog);
+ C.oflog
+ << it->time.printf("%04Y/%02m/%02d//%02H:%02M:%.3f = %04F %10.3g")
+ << fixed << setprecision(1);
+ RinexMetData::RinexMetMap::const_iterator jt=it->data.begin();
+ for( ; jt != it->data.end(); jt++) {
+ C.oflog << " " << RinexMetHeader::convertObsType(jt->first)
+ << " = " << setw(6) << jt->second;
+ }
+ C.oflog << endl;
+ }
+ C.oflog << "End dump of meteorological data store." << endl;
+ }
+
+ } // end InputMetName processing
+
+ // assign trop model
+ if(C.TropType == string("ZR")) C.pTropModel = &TMzero;
+ if(C.TropType == string("BL")) C.pTropModel = &TMsimple;
+ if(C.TropType == string("SA") || C.TropType == string("NB")) {
+ if(C.TropType == string("SA")) C.pTropModel = &TMsaas;
+ if(C.TropType == string("NB")) C.pTropModel = &TMnb;
+ if(C.knownpos.getCoordinateSystem() != Position::Unknown) {
+ C.pTropModel->setReceiverLatitude(C.knownpos.getGeodeticLatitude());
+ C.pTropModel->setReceiverHeight(C.knownpos.getHeight());
+ }
+ else {
+ C.pTropModel->setReceiverLatitude(0.0);
+ C.pTropModel->setReceiverHeight(0.0);
+ C.oflog << "Warning - Saastamoinen and New B tropospheric models require "
+ << "latitude, height and day of year - guessing." << endl;
+ }
+ if(C.Tbeg > DayTime(DayTime::BEGINNING_OF_TIME))
+ C.pTropModel->setDayOfYear(C.Tbeg.DOY());
+ else if(C.Tend < DayTime(DayTime::END_OF_TIME))
+ C.pTropModel->setDayOfYear(C.Tend.DOY());
+ else
+ C.pTropModel->setDayOfYear(100);
+ }
+ if(C.TropType == string("GG")) C.pTropModel = &TMgg;
+ if(C.TropType == string("GGH")) C.pTropModel = &TMggh;
+ // set the default weather in the model
+ C.pTropModel->setWeather(C.defaultT,C.defaultPr,C.defaultRH);
+
+ // compute rotation XYZ->NEU at known position
+ if(C.knownpos.getCoordinateSystem() != Position::Unknown) {
+ double lat=C.knownpos.geodeticLatitude() * DEG_TO_RAD;
+ double lon=C.knownpos.longitude() * DEG_TO_RAD;
+ double ca = ::cos(lat);
+ double sa = ::sin(lat);
+ double co = ::cos(lon);
+ double so = ::sin(lon);
+ // Rotation matrix (R*XYZ=NEU) :
+ C.Rot = Matrix<double>(3,3);
+ // NEU
+ C.Rot(2,0) = ca*co; C.Rot(2,1) = ca*so; C.Rot(2,2) = sa;
+ C.Rot(1,0) = -so; C.Rot(1,1) = co; C.Rot(1,2) = 0.0;
+ C.Rot(0,0) = -sa*co; C.Rot(0,1) = -sa*so; C.Rot(0,2) = ca;
+ }
+
+ if(!C.ordFile.empty()) {
+ if(C.knownpos.getCoordinateSystem() == Position::Unknown) {
+ C.oflog << "Error - ORD output to file (" << C.ordFile << ") requires "
+ << " --PosXYZ input. Abort output of ORDs." << endl;
+ C.ordFile = string();
+ }
+ else {
+ C.oford.open(C.ordFile.c_str(),ios::out);
+ if(C.oford.fail()) {
+ C.oflog << "Failed to open ORD file " << C.ordFile << endl;
+ C.ordFile = string();
+ }
+ else C.oford
+ << "# sat week seconds_wk ok? elev ORD(C/A) ORD(P)" << endl;
+ }
+ }
+
+ // initialize global solution and residual statistics
+ // not necessary SSA[0].Reset(); SSA[1].Reset(); SSA[2].Reset();
+ // not necessary SSR[0].Reset(); SSR[1].Reset(); SSR[2].Reset();
+ nSS = 0;
+ PPA = Matrix<double>(3,3,0.0);
+ PPR = Matrix<double>(3,3,0.0);
+ zzA = Vector<double>(3,0.0);
+ zzR = Vector<double>(3,0.0);
+ if(C.knownpos.getCoordinateSystem() != Position::Unknown) {
+ if(C.APSout) {
+ // not necessary SSAPR[0].Reset(); SSAPR[1].Reset(); SSAPR[2].Reset();
+ // not necessary SSANE[0].Reset(); SSANE[1].Reset(); SSANE[2].Reset();
+ PPAPR = Matrix<double>(3,3,0.0);
+ PPANE = Matrix<double>(3,3,0.0);
+ zzAPR = Vector<double>(3,0.0);
+ zzANE = Vector<double>(3,0.0);
+ }
+ // not necessary SSRPR[0].Reset(); SSRPR[1].Reset(); SSRPR[2].Reset();
+ // not necessary SSRNE[0].Reset(); SSRNE[1].Reset(); SSRNE[2].Reset();
+ PPRPR = Matrix<double>(3,3,0.0);
+ PPRNE = Matrix<double>(3,3,0.0);
+ zzRPR = Vector<double>(3,0.0);
+ zzRNE = Vector<double>(3,0.0);
+ }
+
+ // loop over input files
+ nread = 0;
+ for(int nfile=0; nfile<C.InputObsName.size(); nfile++) {
+ iret = ReadFile(nfile);
+ if(iret < 0) break;
+ nread++;
+ } // end loop over input files
+
+ if(iret>=0 && nread>0) iret=AfterReadingFiles();
+
+ totaltime = clock()-totaltime;
+ C.oflog << "PRSolve timing: " << fixed << setprecision(3)
+ << double(totaltime)/double(CLOCKS_PER_SEC) << " seconds.\n";
+ cout << "\nPRSolve timing: " << fixed << setprecision(3)
+ << double(totaltime)/double(CLOCKS_PER_SEC) << " seconds.\n";
+
+ C.oflog.close();
+ C.oford.close();
+
+ return iret;
+}
+catch(Exception& e) { cout << e; }
+catch (...) { cerr << C.oflog << "Unknown error. Abort." << endl; }
+ return 1;
+} // end main()
+
+//------------------------------------------------------------------------------------
+// open the file, read header and check for data; then loop over the epochs
+// Return 0 ok, <0 fatal error, >0 non-fatal error (ie skip this file)
+// 0 ok, 1 couldn't open file, 2 file doesn't have required data
+int ReadFile(int nfile) throw(Exception)
+{
+try {
+ bool writeout, first;
+ int i,j,iret;
+ int inC1,inP1,inP2,inL1,inL2,inD1,inD2,inS1,inS2; // indexes in rhead
+ double dt;
+ RinexObsStream ifstr, ofstr; // input and output RINEX files
+ RinexObsHeader rhead, rheadout;
+
+ // open input file
+ filename = C.InputObsName[nfile];
+ ifstr.open(filename.c_str(),ios::in);
+ if(ifstr.fail()) {
+ C.oflog << "Failed to open input file " << filename << ". Abort.\n";
+ return 1;
+ }
+ else C.oflog << "Opened input file " << filename << endl;
+ ifstr.exceptions(ios::failbit);
+
+ // open output file
+ if(!C.OutRinexObs.empty()) {
+ ofstr.open(C.OutRinexObs.c_str(), ios::out);
+ if(ofstr.fail()) {
+ C.oflog << "Failed to open output file " << C.OutRinexObs << " Abort.\n";
+ ifstr.close();
+ return 1;
+ }
+ else C.oflog << "Opened output file " << C.OutRinexObs << endl;
+ ofstr.exceptions(ios::failbit);
+ writeout = true;
+ }
+ else writeout = false;
+
+ // read the header
+ ifstr >> rhead;
+ C.oflog << "Here is the input header for file " << filename << endl;
+ rhead.dump(C.oflog);
+
+ // check that file contains C1/P1,P2,L1,L2,D1,D2,S1,S2
+ inC1 = inP1 = inP2 = inL1 = inL2 = inD1 = inD2 = inS1 = inS2 = -1;
+ for(j=0; j<rhead.obsTypeList.size(); j++) {
+ if(rhead.obsTypeList[j] == RinexObsHeader::convertObsType("C1")) inC1=j;
+ if(rhead.obsTypeList[j] == RinexObsHeader::convertObsType("L1")) inL1=j;
+ if(rhead.obsTypeList[j] == RinexObsHeader::convertObsType("L2")) inL2=j;
+ if(rhead.obsTypeList[j] == RinexObsHeader::convertObsType("P1")) inP1=j;
+ if(rhead.obsTypeList[j] == RinexObsHeader::convertObsType("P2")) inP2=j;
+ if(rhead.obsTypeList[j] == RinexObsHeader::convertObsType("D1")) inD1=j;
+ if(rhead.obsTypeList[j] == RinexObsHeader::convertObsType("D2")) inD2=j;
+ if(rhead.obsTypeList[j] == RinexObsHeader::convertObsType("S1")) inS1=j;
+ if(rhead.obsTypeList[j] == RinexObsHeader::convertObsType("S2")) inS2=j;
+ }
+
+ if( (inP1==-1 && (!C.UseCA || inC1==-1))
+ || (inC1==-1 && C.ForceCA)
+ || inP2==-1 || inL1==-1 || inL2==-1
+ //|| inD1==-1 || inD2==-1 || inS1==-1 || inS2==-1 // why ?
+ ) {
+ C.oflog << "Warning: file " << filename << " does not contain";
+ if(inC1==-1) C.oflog << " C1" << " (forceCA is " << (C.ForceCA?"T":"F") << ")";
+ if(inP1==-1) C.oflog << " P1" << " (useCA is " << (C.UseCA?"T":"F") << ")";
+ if(inP2==-1) C.oflog << " P2";
+ if(inL1==-1) C.oflog << " L1";
+ if(inL2==-1) C.oflog << " L2";
+ //if(inD1==-1) C.oflog << " D1";
+ //if(inD2==-1) C.oflog << " D2";
+ //if(inS1==-1) C.oflog << " S1";
+ //if(inS2==-1) C.oflog << " S2";
+ C.oflog << endl;
+ //ifstr.clear();
+ //ifstr.close();
+ //return 2;
+ }
+ if(C.ForceCA) {
+ if(inC1 != -1) inP1 = inC1;
+ else {
+ C.oflog << "ERROR. Abort. --forceCA was found but C1 data is not found.\n";
+ cerr << "ERROR. Abort. --forceCA was found but C1 data is not found.\n";
+ return -1;
+ }
+ }
+ else if(inP1==-1) {
+ if(C.UseCA && inC1 != -1) inP1 = inC1;
+ else if(C.UseCA && inC1 == -1) {
+ C.oflog << "ERROR. Abort. Neither P1 nor C1 data found (--useCA is set).\n";
+ cerr << "ERROR. Abort. Neither P1 nor C1 data found (--useCA is set).\n";
+ return -1;
+ }
+ else if(!C.UseCA && inC1 != -1) {
+ C.oflog << "ERROR. Abort. P1 data not found (C1 data found: add --useCA)\n";
+ cerr << "ERROR. Abort. P1 data not found (C1 data found: add --useCA)\n";
+ return -1;
+ }
+ else {
+ C.oflog << "ERROR. Abort. Neither P1 nor C1 data found.\n";
+ cerr << "ERROR. Abort. Neither P1 nor C1 data found.\n";
+ return -1;
+ }
+ }
+ if(inP1 > -1) {
+ if(inP2 > -1) C.Freq = 3;
+ else C.Freq = 1;
+ // TD add 2 as an input option
+ }
+ C.oflog << "Process frequency " << C.Freq << endl;
+
+ // initialize file solution and residual statistics
+ nS = 0;
+ SA[0].Reset(); SA[1].Reset(); SA[2].Reset();
+ SR[0].Reset(); SR[1].Reset(); SR[2].Reset();
+ PA = Matrix<double>(3,3,0.0);
+ PR = Matrix<double>(3,3,0.0);
+ zA = Vector<double>(3,0.0);
+ zR = Vector<double>(3,0.0);
+ if(C.knownpos.getCoordinateSystem() != Position::Unknown) {
+ if(C.APSout) {
+ SAPR[0].Reset(); SAPR[1].Reset(); SAPR[2].Reset();
+ SANE[0].Reset(); SANE[1].Reset(); SANE[2].Reset();
+ PAPR = Matrix<double>(3,3,0.0);
+ PANE = Matrix<double>(3,3,0.0);
+ zAPR = Vector<double>(3,0.0);
+ zANE = Vector<double>(3,0.0);
+ }
+ SRPR[0].Reset(); SRPR[1].Reset(); SRPR[2].Reset();
+ SRNE[0].Reset(); SRNE[1].Reset(); SRNE[2].Reset();
+ PRPR = Matrix<double>(3,3,0.0);
+ PRNE = Matrix<double>(3,3,0.0);
+ zRPR = Vector<double>(3,0.0);
+ zRNE = Vector<double>(3,0.0);
+ }
+
+ // loop over epochs in the file
+ first = true;
+ while(1) {
+ // read next obs
+ double RMSrof;
+ vector<SatID> Satellites;
+ vector<double> Ranges,vC1,vP1,vP2;
+ Matrix<double> inform;
+ RinexObsData robsd,auxPosData;
+
+ try {
+ ifstr >> robsd;
+ }
+ catch(FFStreamError& e) {
+ C.oflog << "Reading obs caught FFStreamError exception : " << e << endl;
+ cerr << "Reading obs caught FFStreamError exception : " << e << endl;
+ return -2;
+ }
+ catch(Exception& e) {
+ C.oflog << "Reading obs caught GPSTk exception : " << e << endl;
+ cerr << "Reading obs caught GPSTk exception : " << e << endl;
+ return -2;
+ }
+ catch(exception& e) {
+ C.oflog << "Reading obs caught std exception : " << e.what() << endl;
+ cerr << "Reading obs caught std exception : " << e.what() << endl;
+ return -2;
+ }
+ catch(...) {
+ C.oflog << "Reading obs caught unknown exception : " << endl;
+ cerr << "Reading obs caught unknown exception : " << endl;
+ return -2;
+ }
+
+ // normal end-of-file
+ if(!ifstr.good() || ifstr.eof()) { iret=0; break; }
+
+ for(;;) {
+ iret = 0;
+
+ if(C.Debug) C.oflog << "process: " << robsd.time
+ << ", Flag " << robsd.epochFlag << ", clk " << robsd.clockOffset
+ << endl;
+
+ // stay within time limits
+ if(robsd.time < C.Tbeg) { iret = 1; break; }
+ if(robsd.time > C.Tend) { iret = -1; break; }
+
+ // ignore comment blocks ...
+ if(robsd.epochFlag != 0 && robsd.epochFlag != 1) { iret = 1; break; }
+
+ // decimate data
+ // if Tbeg is still undefined, set it to begin of week
+ if(C.ith > 0.0) {
+ if(fabs(C.Tbeg-DayTime(DayTime::BEGINNING_OF_TIME)) < 1.e-8)
+ C.Tbeg = C.Tbeg.setGPSfullweek(robsd.time.GPSfullweek(),0.0);
+ double dt=fabs(robsd.time - C.Tbeg);
+ dt -= C.ith*long(0.5+dt/C.ith);
+ if(fabs(dt) > 0.25) { iret = 1; break; }
+ }
+
+ // save current time
+ CurrEpoch = robsd.time;
+ if(fabs(C.FirstEpoch-DayTime(DayTime::BEGINNING_OF_TIME)) < 1.e-8)
+ C.FirstEpoch=CurrEpoch;
+
+ // loop over satellites
+ Nsvs = 0;
+ Satellites.clear();
+ Ranges.clear();
+ vC1.clear(); vP1.clear(); vP2.clear();
+ RinexObsData::RinexSatMap::const_iterator it;
+ for(it=robsd.obs.begin(); it != robsd.obs.end(); ++it) {
+ // loop over sat=it->first, ObsTypeMap=it->second
+ int in,n;
+ double C1=0,P1=0,P2=0,L1,L2,D1,D2,S1,S2;
+ SatID sat=it->first;
+ RinexObsData::RinexObsTypeMap otmap=it->second;
+
+ // pull out the data
+ RinexObsData::RinexObsTypeMap::const_iterator jt;
+ if(inC1>-1 && (jt=otmap.find(rhead.obsTypeList[inC1])) != otmap.end())
+ C1=jt->second.data;
+ if(inP1>-1 && (jt=otmap.find(rhead.obsTypeList[inP1])) != otmap.end())
+ P1=jt->second.data;
+ if(inP2>-1 && (jt=otmap.find(rhead.obsTypeList[inP2])) != otmap.end())
+ P2=jt->second.data;
+ if(inL1>-1 && (jt=otmap.find(rhead.obsTypeList[inL1])) != otmap.end())
+ L1=jt->second.data;
+ if(inL2>-1 && (jt=otmap.find(rhead.obsTypeList[inL2])) != otmap.end())
+ L2=jt->second.data;
+ if(inD1>-1 && (jt=otmap.find(rhead.obsTypeList[inD1])) != otmap.end())
+ D1=jt->second.data;
+ if(inD2>-1 && (jt=otmap.find(rhead.obsTypeList[inD2])) != otmap.end())
+ D2=jt->second.data;
+ if(inS1>-1 && (jt=otmap.find(rhead.obsTypeList[inS1])) != otmap.end())
+ S1=jt->second.data;
+ if(inS2>-1 && (jt=otmap.find(rhead.obsTypeList[inS2])) != otmap.end())
+ S2=jt->second.data;
+
+ // is the satellite excluded?
+ if(sat.system != SatID::systemGPS) continue; // GPS only
+ bool ok=true;
+ for(i=0; i<C.ExSV.size(); i++)
+ if(C.ExSV[i] == sat) { ok=false; break; }
+ if(!ok) continue;
+
+ // NB do not exclude negative P, as some clocks can go far
+ if(C.Freq != 2 && P1==0.0) continue;
+ if(C.Freq != 1 && P2==0.0) continue;
+
+ // if position known and elevation limit given, apply elevation mask
+ if(C.knownpos.getCoordinateSystem() != Position::Unknown
+ && C.elevLimit > 0.0) {
+ bool ok=true;
+ CorrectedEphemerisRange CER;
+ try {
+ //double ER =
+ CER.ComputeAtReceiveTime(CurrEpoch, C.knownpos, sat, *pEph);
+ if(CER.elevation < C.elevLimit) ok=false;
+ if(C.Debug) C.oflog << "Ephemeris range is "
+ << setprecision(4) << CER.rawrange << endl;
+ }
+ catch(EphemerisStore::NoEphemerisFound& nef) {
+ // do not exclude the sat here; PRSolution will...
+ if(C.Debug)
+ C.oflog << "CER did not find ephemeris for " << sat << endl;
+ }
+
+ if(!ok) continue;
+ }
+
+ // keep this satellite
+ Satellites.push_back(sat);
+ Ranges.push_back(C.Freq == 3 ? if1r*P1+if2r*P2 :
+ (C.Freq == 2 ? P2 : P1));
+ if(!C.ordFile.empty()) {
+ vC1.push_back(C1);
+ vP1.push_back(P1);
+ vP2.push_back(P2);
+ }
+ Nsvs++;
+
+ } // end loop over sats
+
+ if(Nsvs <= 4) {
+ if(C.Debug) C.oflog << "Too few satellites" << endl;
+ iret = 1;
+ break;
+ }
+
+ nS++; nSS++;
+ iret = SolutionAlgorithm(Satellites, Ranges, RMSrof);
+ if(C.Debug) C.oflog << "SolutionAlgorithm returns " << iret << endl;
+ if(iret) break;
+
+ // update LastEpoch and estimate of DT
+ if(C.LastEpoch > DayTime(DayTime::BEGINNING_OF_TIME)) {
+ dt = CurrEpoch-C.LastEpoch;
+ for(i=0; i<9; i++) {
+ if(C.ndt[i]<=0) { C.estdt[i]=dt; C.ndt[i]=1; break; }
+ if(fabs(dt-C.estdt[i]) < 0.0001) { C.ndt[i]++; break; }
+ if(i == 8) {
+ int k=0,nl=C.ndt[k];
+ for(j=1; j<9; j++) if(C.ndt[j] <= nl) { k=j; nl=C.ndt[j]; }
+ C.ndt[k]=1; C.estdt[k]=dt;
+ }
+ }
+ }
+ C.LastEpoch = CurrEpoch;
+
+ break;
+ } // end for(;;)
+
+ if(C.Debug) C.oflog << "processing returned " << iret << endl;
+ if(iret == -1) { iret=0; break; } // end of file
+ if(iret == -4) continue; // ignore this epoch - no ephemeris
+ if(iret == 1) continue; // ignore this epoch - fatal error
+
+ // write out ORDs
+ if(!C.ordFile.empty()) {
+ for(i=0; i<Satellites.size(); i++) {
+ SatID sat=Satellites[i];
+ // don't allow bad sats b/c it can corrupt TropModel
+ if(sat.id < 0) continue;
+
+ CorrectedEphemerisRange CER;
+ try { CER.ComputeAtReceiveTime(CurrEpoch, C.knownpos, sat, *pEph); }
+ catch(EphemerisStore::NoEphemerisFound& nef) { continue; }
+
+ // compute ionosphere - note that P1-R-RI == P2-R-RI*(F1/F2)**2
+ double RI = (vP2[i]-vP1[i])/alpha;
+ double tc = C.pTropModel->correction(C.knownpos,CER.svPosVel.x,CurrEpoch);
+ double R = CER.rawrange + prsol.Solution(3)
+ - CER.svclkbias - CER.relativity + tc;
+ C.oford << "ORD"
+ << " G" << setw(2) << setfill('0') << abs(sat.id) << setfill(' ')
+ << " " << CurrEpoch.printf(C.timeFormat)
+ << " " << (sat.id < 0 ? "0" : "1")
+ << fixed << setprecision(3)
+ << " " << CER.elevation
+ << " " << setw(13) << vC1[i] - R - RI
+ << " " << setw(13) << vP1[i] - R - RI
+ << endl;
+ }
+ }
+
+ // accumulate simple statistics, Autonomous and RAIM
+ if(C.APSout) {
+ SA[0].Add(Solution(0)); SA[1].Add(Solution(1)); SA[2].Add(Solution(2));
+ SSA[0].Add(Solution(0)); SSA[1].Add(Solution(1)); SSA[2].Add(Solution(2));
+ }
+ SR[0].Add(prsol.Solution(0));
+ SR[1].Add(prsol.Solution(1));
+ SR[2].Add(prsol.Solution(2));
+ SSR[0].Add(prsol.Solution(0));
+ SSR[1].Add(prsol.Solution(1));
+ SSR[2].Add(prsol.Solution(2));
+
+ // accumulate weighted statistics, Auto and RAIM
+ if(C.APSout) {
+ inform = inverseSVD(Matrix<double>(Covariance,0,0,3,3));
+ PA += inform;
+ PPA += inform;
+ zA += inform * Vector<double>(Solution,0,3);
+ zzA += inform * Vector<double>(Solution,0,3);
+ }
+ inform = inverseSVD(Matrix<double>(prsol.Covariance,0,0,3,3));
+ PR += inform;
+ PPR += inform;
+ zR += inform * Vector<double>(prsol.Solution,0,3);
+ zzR += inform * Vector<double>(prsol.Solution,0,3);
+
+ if(!writeout) continue; // go to next epoch
+
+ // output to RINEX
+ if(first) { // edit the output RINEX header
+ rheadout = rhead;
+ rheadout.date = PrgmEpoch.printf("%04Y/%02m/%02d %02H:%02M:%02S");
+ rheadout.fileProgram = PrgmName;
+ if(!C.HDRunby.empty()) rheadout.fileAgency = C.HDRunby;
+ if(!C.HDObs.empty()) rheadout.observer = C.HDObs;
+ if(!C.HDAgency.empty()) rheadout.agency = C.HDAgency;
+ if(!C.HDMarker.empty()) rheadout.markerName = C.HDMarker;
+ if(!C.HDNumber.empty()) {
+ rheadout.markerNumber = C.HDNumber;
+ rheadout.valid |= RinexObsHeader::markerNumberValid;
+ }
+ rheadout.version = 2.1; rheadout.valid |= RinexObsHeader::versionValid;
+ rheadout.firstObs = C.FirstEpoch;
+ rheadout.valid |= RinexObsHeader::firstTimeValid;
+ //rheadout.interval = DT;
+ //rheadout.valid |= RinexObsHeader::intervalValid;
+ //rheadout.lastObs = C.LastEpoch;
+ //rheadout.valid |= RinexObsHeader::lastTimeValid;
+ // invalidate the table
+ if(rheadout.valid & RinexObsHeader::numSatsValid)
+ rheadout.valid ^= RinexObsHeader::numSatsValid;
+ if(rheadout.valid & RinexObsHeader::prnObsValid)
+ rheadout.valid ^= RinexObsHeader::prnObsValid;
+
+ ofstr << rheadout;
+ first=false;
+ }
+ if(iret > 2) { // output position first
+ auxPosData.time = robsd.time;
+ auxPosData.epochFlag = 4;
+ auxPosData.numSvs = 2; // must be sure only 2 lines are written
+ auxPosData.auxHeader.clear();
+ ostringstream stst1,stst2;
+ stst1 << "XYZT";
+ stst1 << fixed << " " << setw(13) << setprecision(3) << prsol.Solution(0);
+ stst1 << fixed << " " << setw(13) << setprecision(3) << prsol.Solution(1);
+ stst1 << fixed << " " << setw(13) << setprecision(3) << prsol.Solution(2);
+ stst1 << fixed << " " << setw(13) << setprecision(3) << prsol.Solution(3);
+ auxPosData.auxHeader.commentList.push_back(stst1.str());
+ double PDOP=RSS(prsol.Covariance(0,0),
+ prsol.Covariance(1,1),
+ prsol.Covariance(2,2));
+ stst2 << "DIAG";
+ stst2 << " " << setw(2) << Nsvs
+ << " " << fixed << setw(5) << setprecision(2) << PDOP
+ << " " << fixed << setw(5) << setprecision(2)
+ << RSS(PDOP,Covariance(3,3))
+ << " " << fixed << setw(9) << setprecision(3) << RMSrof;
+ stst2 << " (N,P-,G-DOP,RMS)";
+ auxPosData.auxHeader.commentList.push_back(stst2.str());
+ auxPosData.auxHeader.valid |= RinexObsHeader::commentValid;
+ ofstr << auxPosData;
+ }
+ ofstr << robsd; // output data to RINEX file
+
+ } // end while loop over epochs
+
+ // only print per file if there is more than one file
+ if(C.InputObsName.size() > 1) {
+ if(C.APSout) PrintStats(SA,PA,zA,nS,"Autonomous solution for file " + filename);
+ PrintStats(SR,PR,zR,nS,"RAIM solution for file " + filename);
+ if(C.knownpos.getCoordinateSystem() != Position::Unknown) {
+ if(C.APSout) {
+ PrintStats(SAPR,PAPR,zAPR,nS,
+ "Autonomous solution residuals for file " + filename);
+ PrintStats(SANE,PANE,zANE,nS,
+ "Autonomous solution residuals (NEU) for file "+ filename,'N','E','U');
+ }
+ PrintStats(SRPR,PRPR,zRPR,nS,"RAIM solution residuals for file " + filename);
+ PrintStats(SRNE,PRNE,zRNE,nS,
+ "RAIM solution residuals (NEU) for file " + filename,'N','E','U');
+ }
+ // print to screen
+ cout << "\nWeighted average RAIM solution for file: "
+ << filename << endl << fixed;
+ cout << " (" << nS << " total epochs, with "
+ << SR[0].N() << " good, " << nS-SR[0].N() << " rejected.)\n";
+ if(SR[0].N() > 0) {
+ Matrix<double> Cov=inverse(PR);
+ Vector<double> Sol = Cov * zR;
+ cout << setw(16) << setprecision(6) << Sol << endl;
+ cout << "Covariance of RAIM solution for file " << filename << endl;
+ cout << setw(16) << setprecision(6) << Cov << endl;
+ }
+ else cout << " No data!" << endl;
+ }
+
+ ifstr.clear();
+ ifstr.close();
+ ofstr.close();
+
+ return iret;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+ return -1;
+}
+
+//------------------------------------------------------------------------------------
+// Return 0 ok,
+// <-1 fatal error: -4 no ephemeris
+// -1 end of file,
+// 1 skip this epoch,
+// 2 output to RINEX,
+// 3 output position also
+int SolutionAlgorithm(vector<SatID>& Sats,
+ vector<double>& PRanges,
+ double& RMSresid) throw(Exception)
+{
+try {
+ int iret,i;
+ Matrix<double> inform;
+
+ // fail if not enough data
+ if(Nsvs < 4) return 1;
+
+ // compute a position solution with this data
+ if(C.Debug) {
+ C.oflog << "Satellites and Ranges before Prepare:\n";
+ for(i=0; i<PRanges.size(); i++)
+ C.oflog << " " << setw(2) << Sats[i] << fixed
+ << " " << setw(13) << setprecision(3) << PRanges[i] << endl;
+ }
+
+ int niter=C.nIter;
+ double conv=C.convLimit;
+ vector<bool> UseSats(Sats.size(),true);
+ Vector<double> Residual,Slope;
+
+ // if met data available, update weather in trop model
+ if(C.InputMetName.size() > 0)
+ setWeather(CurrEpoch,C.pTropModel);
+ // compute using AutonomousSolution - no RAIM algorithm
+ if(C.APSout) {
+ iret = -4;
+ Matrix<double> SVP;
+ iret = PRSolution::PrepareAutonomousSolution(CurrEpoch,Sats,PRanges,*pEph,SVP);
+ if(iret == -4) {
+ C.oflog << "PrepareAutonomousSolution failed to find ANY ephemeris at epoch "
+ << CurrEpoch.printf("%04Y/%02m/%02d %02H:%02M:%.3f") << endl;
+ return iret;
+ }
+
+ if(C.Debug) {
+ C.oflog << "Satellites after Prepare(" << iret << "):";
+ for(i=0; i<Sats.size(); i++)
+ C.oflog << " " << setw(2) << Sats[i].id; C.oflog << endl;
+ C.oflog << "Matrix SVP(" << SVP.rows() << "," << SVP.cols() << "):\n"
+ << fixed << setw(13) << setprecision(3) << SVP << endl;
+ }
+
+ for(i=0; i<Sats.size(); i++) UseSats[i] = (Sats[i].id > 0 ? true : false);
+
+ iret = PRSolution::AutonomousPRSolution(CurrEpoch, UseSats, SVP, C.pTropModel,
+ C.algebra, niter, conv, Solution, Covariance, Residual, Slope,
+ (C.Verbose ? &C.oflog : NULL));
+
+ C.oflog << "APS " << setw(2) << iret
+ << " " << CurrEpoch.printf(C.timeFormat)
+ << " " << setw(2) << Nsvs;
+ if(iret == 0) C.oflog << fixed
+ << " " << setw(16) << setprecision(6) << Solution(0)
+ << " " << setw(16) << setprecision(6) << Solution(1)
+ << " " << setw(16) << setprecision(6) << Solution(2)
+ << " " << setw(14) << setprecision(6) << Solution(3)
+ << " " << setw(12) << setprecision(6) << RMS(Residual)
+ << " " << fixed << setw(5) << setprecision(1) << max(Slope);
+ C.oflog << " " << niter
+ << " " << scientific << setw(8) << setprecision(2) << conv;
+ for(i=0; i<Sats.size(); i++) C.oflog << " " << setw(3) << Sats[i].id;
+ C.oflog << endl;
+
+ // compute residuals using known position, and output
+ if(iret==0 && C.knownpos.getCoordinateSystem() != Position::Unknown) {
+ Matrix<double> Cov;
+ Vector<double> V(3);
+
+ // compute residuals
+ Position pos(Solution(0), Solution(1), Solution(2));
+ Position res=pos-C.knownpos;
+ Cov = Matrix<double>(Covariance,0,0,3,3);
+ V(0) = res.X(); V(1) = res.Y(); V(2) = res.Z();
+
+ C.oflog << "APR " << setw(2) << iret
+ << " " << CurrEpoch.printf(C.timeFormat)
+ << " " << setw(2) << Nsvs << fixed
+ << " " << setw(16) << setprecision(6) << V(0)
+ << " " << setw(16) << setprecision(6) << V(1)
+ << " " << setw(16) << setprecision(6) << V(2)
+ << " " << setw(14) << setprecision(6) << Solution(3)
+ << " " << setw(12) << setprecision(6) << RMS(Residual)
+ << " " << fixed << setw(5) << setprecision(1) << max(Slope)
+ << " " << niter
+ << " " << scientific << setw(8) << setprecision(2) << conv;
+ for(i=0; i<Sats.size(); i++) C.oflog << " " << setw(3) << Sats[i].id;
+ C.oflog << endl;
+
+ // accumulate statistics
+ SAPR[0].Add(V(0)); SAPR[1].Add(V(1)); SAPR[2].Add(V(2));
+ SSAPR[0].Add(V(0)); SSAPR[1].Add(V(1)); SSAPR[2].Add(V(2));
+ inform = inverseSVD(Cov);
+ PAPR += inform;
+ PPAPR += inform;
+ zAPR += inform * V;
+ zzAPR += inform * V;
+
+ // convert to NEU
+ V = C.Rot * V;
+ Cov = C.Rot * Cov * transpose(C.Rot);
+
+ C.oflog << "ANE " << setw(2) << iret
+ << " " << CurrEpoch.printf(C.timeFormat)
+ << " " << setw(2) << Nsvs << fixed
+ << " " << setw(16) << setprecision(6) << V(0)
+ << " " << setw(16) << setprecision(6) << V(1)
+ << " " << setw(16) << setprecision(6) << V(2)
+ << " " << setw(14) << setprecision(6) << Solution(3)
+ << " " << setw(12) << setprecision(6) << RMS(Residual)
+ << " " << fixed << setw(5) << setprecision(1) << max(Slope)
+ << " " << niter
+ << " " << scientific << setw(8) << setprecision(2) << conv;
+ for(i=0; i<Sats.size(); i++) C.oflog << " " << setw(3) << Sats[i].id;
+ C.oflog << endl;
+
+ // accumulate statistis
+ SANE[0].Add(V(0)); SANE[1].Add(V(1)); SANE[2].Add(V(2));
+ SSANE[0].Add(V(0)); SSANE[1].Add(V(1)); SSANE[2].Add(V(2));
+ inform = inverseSVD(Cov);
+ PANE += inform;
+ PPANE += inform;
+ zANE += inform * V;
+ zzANE += inform * V;
+
+ } // end output residuals
+
+ } // end output APS
+
+ // --------------------------------------------------------------
+ // now compute again, using RAIM
+
+ iret = -4;
+ iret = prsol.RAIMCompute(CurrEpoch, Sats, PRanges, *pEph, C.pTropModel);
+ if(iret == -4) {
+ C.oflog << "PRS Sol. failed to find ephemeris\n" << endl;
+ return iret;
+ }
+ for(Nsvs=0,i=0; i<Sats.size(); i++)
+ if(Sats[i].id > 0) Nsvs++;
+ RMSresid = prsol.RMSResidual;
+
+ C.oflog << "RPF " << setw(2) << Sats.size()-Nsvs
+ << " " << CurrEpoch.printf(C.timeFormat)
+ << " " << setw(2) << Nsvs << fixed
+ << " " << setw(16) << setprecision(6) << prsol.Solution(0)
+ << " " << setw(16) << setprecision(6) << prsol.Solution(1)
+ << " " << setw(16) << setprecision(6) << prsol.Solution(2)
+ << " " << setw(14) << setprecision(6) << prsol.Solution(3)
+ << " " << setw(12) << setprecision(6) << prsol.RMSResidual
+ << " " << setw(5) << setprecision(1) << prsol.MaxSlope
+ << " " << prsol.NIterations
+ << " " << scientific << setw(8) << setprecision(2) << prsol.Convergence;
+ for(i=0; i<Sats.size(); i++) C.oflog << " " << setw(3) << Sats[i].id;
+ C.oflog << " (" << iret << ")" << (prsol.isValid() ? " V" : " NV")
+ << endl;
+ //C.oflog << "prsol Sol. returned " << iret << " at " << CurrEpoch << endl;
+
+ // compute residuals using known position, and output
+ if(C.knownpos.getCoordinateSystem() != Position::Unknown && iret >= 0) {
+ Matrix<double> Cov;
+ Vector<double> V(3);
+
+ // compute residuals
+ Position pos(prsol.Solution(0), prsol.Solution(1), prsol.Solution(2));
+ Position res=pos-C.knownpos;
+ Cov = Matrix<double>(prsol.Covariance,0,0,3,3);
+ V(0) = res.X(); V(1) = res.Y(); V(2) = res.Z();
+
+ C.oflog << "RPR " << setw(2) << Sats.size()-Nsvs
+ << " " << CurrEpoch.printf(C.timeFormat)
+ << " " << setw(2) << Nsvs << fixed
+ << " " << setw(16) << setprecision(6) << V(0)
+ << " " << setw(16) << setprecision(6) << V(1)
+ << " " << setw(16) << setprecision(6) << V(2)
+ << " " << setw(14) << setprecision(6) << prsol.Solution(3)
+ << " " << setw(12) << setprecision(6) << prsol.RMSResidual
+ << " " << fixed << setw(5) << setprecision(1) << prsol.MaxSlope
+ << " " << prsol.NIterations
+ << " " << scientific << setw(8) << setprecision(2) << prsol.Convergence;
+ for(i=0; i<Sats.size(); i++) C.oflog << " " << setw(3) << Sats[i].id;
+ C.oflog << " (" << iret << ")" << (prsol.isValid() ? " V" : " NV")
+ << endl;
+
+ // accumulate statistics
+ SRPR[0].Add(V(0)); SRPR[1].Add(V(1)); SRPR[2].Add(V(2));
+ SSRPR[0].Add(V(0)); SSRPR[1].Add(V(1)); SSRPR[2].Add(V(2));
+ inform = inverseSVD(Cov);
+ PRPR += inform;
+ PPRPR += inform;
+ zRPR += inform * V;
+ zzRPR += inform * V;
+
+ // convert to NEU
+ V = C.Rot * V;
+ Cov = C.Rot * Cov * transpose(C.Rot);
+
+ C.oflog << "RNE " << setw(2) << Sats.size()-Nsvs
+ << " " << CurrEpoch.printf(C.timeFormat)
+ << " " << setw(2) << Nsvs << fixed
+ << " " << setw(16) << setprecision(6) << V(0)
+ << " " << setw(16) << setprecision(6) << V(1)
+ << " " << setw(16) << setprecision(6) << V(2)
+ << " " << setw(14) << setprecision(6) << prsol.Solution(3)
+ << " " << setw(12) << setprecision(6) << prsol.RMSResidual
+ << " " << fixed << setw(5) << setprecision(1) << prsol.MaxSlope
+ << " " << prsol.NIterations
+ << " " << scientific << setw(8) << setprecision(2) << prsol.Convergence;
+ for(i=0; i<Sats.size(); i++) C.oflog << " " << setw(3) << Sats[i].id;
+ C.oflog << " (" << iret << ")" << (prsol.isValid() ? " V" : " NV")
+ << endl;
+
+ // accumulate statistics
+ if(iret == 0) {
+ SRNE[0].Add(V(0)); SRNE[1].Add(V(1)); SRNE[2].Add(V(2));
+ SSRNE[0].Add(V(0)); SSRNE[1].Add(V(1)); SSRNE[2].Add(V(2));
+ inform = inverseSVD(Cov);
+ PRNE += inform;
+ PPRNE += inform;
+ zRNE += inform * V;
+ zzRNE += inform * V;
+ }
+ }
+ //C.oflog << endl;
+
+ //
+ if(prsol.isValid() && !C.OutRinexObs.empty()) return 3;
+ if(!prsol.isValid()) return 1;
+
+ if(!C.OutRinexObs.empty()) return 2;
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+ return -1;
+}
+
+//------------------------------------------------------------------------------------
+int AfterReadingFiles(void) throw(Exception)
+{
+try {
+ // only print stats on all files if there is more than one
+ if(C.APSout) {
+ PrintStats(SSA,PPA,zzA,nSS,"Autonomous solution for all files");
+ if(C.knownpos.getCoordinateSystem() != Position::Unknown) {
+ PrintStats(SSAPR,PPAPR,zzAPR,nSS,
+ "Autonomous position residuals for all files");
+ PrintStats(SSANE,PPANE,zzANE,nSS,
+ "Autonomous position residuals (NEU) for all files",'N','E','U');
+ }
+ }
+
+ PrintStats(SSR,PPR,zzR,nSS,"RAIM solution for all files");
+ if(C.knownpos.getCoordinateSystem() != Position::Unknown) {
+ PrintStats(SSRPR,PPRPR,zzRPR,nSS,"RAIM position residuals for all files");
+ PrintStats(SSRNE,PPRNE,zzRNE,nSS,"RAIM position residuals (NEU) for all files",
+ 'N','E','U');
+ }
+
+ // print to screen
+ cout << "\nWeighted average RAIM solution for file: "
+ << (C.InputObsName.size() > 1 ? "all files" : C.InputObsName[0])
+ << endl << fixed;
+ cout << " (" << nSS << " total epochs, with "
+ << SSR[0].N() << " good, " << nSS-SSR[0].N() << " rejected.)\n";
+ if(SSR[0].N() > 0) {
+ Matrix<double> Cov=inverse(PPR);
+ Vector<double> Sol = Cov * zzR;
+ cout << setw(16) << setprecision(6) << Sol << endl;
+ cout << "Covariance of RAIM solution for file: "
+ << (C.InputObsName.size() > 1 ? "all files" : C.InputObsName[0])
+ << endl;
+ cout << setw(16) << setprecision(6) << Cov << endl;
+ }
+ else cout << " No data!" << endl;
+
+ // compute data interval for this file
+ int i,j;
+ double dt;
+ for(j=0,i=1; i<9; i++) { if(C.ndt[i]>C.ndt[j]) j=i; }
+ C.oflog << endl;
+ C.oflog << "Estimated data interval is " << C.estdt[j] << " seconds.\n";
+ C.oflog << "First epoch is "
+ << C.FirstEpoch.printf("%04Y/%02m/%02d %02H:%02M:%.3f = %04F %10.3g") << endl;
+ C.oflog << "Last epoch is "
+ << C.LastEpoch.printf("%04Y/%02m/%02d %02H:%02M:%.3f = %04F %10.3g") << endl;
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+ return -1;
+}
+
+//------------------------------------------------------------------------------------
+void PrintStats(Stats<double> S[3], Matrix<double> &P, Vector<double> &z, long ng,
+ string msg, char c0, char c1, char c2) throw(Exception)
+{
+try {
+ C.oflog << endl;
+ C.oflog << "Simple statistics on " << msg << endl << fixed;
+ C.oflog << c0 << " : " << setw(16) << setprecision(6) << S[0] << endl;
+ C.oflog << c1 << " : " << setw(16) << setprecision(6) << S[1] << endl;
+ C.oflog << c2 << " : " << setw(16) << setprecision(6) << S[2] << endl;
+
+ //C.oflog << endl;
+ C.oflog << "Weighted average " << msg << endl << fixed;
+ if(S[0].N() > 0) {
+ Matrix<double> Cov=inverse(P);
+ Vector<double> Sol=Cov * z;
+ C.oflog << setw(16) << setprecision(6) << Sol << " " << S[0].N() << endl;
+ C.oflog << "Covariance of " << msg << endl;
+ C.oflog << setw(16) << setprecision(6) << Cov << endl;
+ }
+ else C.oflog << " No data!" << endl;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void setWeather(DayTime& time, TropModel *pTropModel)
+{
+ static list<RinexMetData>::iterator it=C.MetStore.begin();
+ static list<RinexMetData>::iterator nextit;
+ static DayTime currentTime = DayTime::BEGINNING_OF_TIME;
+ double dt;
+
+ while(it != C.MetStore.end()) {
+ // point to the next epoch after the current epoch
+ (nextit = it)++; // same as nextit=it; nextit++;
+
+ // is the current epoch (it->time) the right one?
+ if( // time is before next but after current - just right
+ (nextit != C.MetStore.end() && time < nextit->time && time >= it->time)
+ // there is no next, but time is within 15 minutes of the current epoch
+ || (nextit == C.MetStore.end() && (dt=time-it->time) >= 0.0 && dt < 900.0)
+ )
+ {
+ // set the weather - replace default with current value, if it exists
+ // but skip if it has already been done
+ if(it->time == currentTime) break;
+ currentTime = it->time;
+
+ if(C.Debug) C.oflog << "Reset weather at " << time << " to " << it->time
+ << " " << it->data[RinexMetHeader::TD]
+ << " " << it->data[RinexMetHeader::PR]
+ << " " << it->data[RinexMetHeader::HR] << endl;
+
+ // [if 'it' is declared const_iterator, why does this discard qualifier??]
+ if(it->data.count(RinexMetHeader::TD) > 0)
+ C.defaultT = it->data[RinexMetHeader::TD];
+ if(it->data.count(RinexMetHeader::PR) > 0)
+ C.defaultPr = it->data[RinexMetHeader::PR];
+ if(it->data.count(RinexMetHeader::HR) > 0)
+ C.defaultRH = it->data[RinexMetHeader::HR];
+
+ pTropModel->setWeather(C.defaultT, C.defaultPr, C.defaultRH);
+
+ break;
+ }
+
+ // no, this is not the right epoch; but should we increment the iterator ?
+ else if(nextit != C.MetStore.end() && time >= nextit->time)
+ {
+ // yes, time is at or beyond the next epoch
+ it++;
+ }
+
+ // do nothing, because time is before the next epoch
+ else break;
+ }
+}
+
+//------------------------------------------------------------------------------------
+int GetCommandLine(int argc, char **argv) throw(Exception)
+{
+try {
+ bool ok,help=false;
+ int i,j;
+ // defaults
+ C.Debug = C.Verbose = false;
+ C.ith = 0.0;
+ C.Tbeg = C.FirstEpoch = DayTime(DayTime::BEGINNING_OF_TIME);
+ C.Tend = DayTime(DayTime::END_OF_TIME);
+
+ // configuration of PRSolution
+ C.rmsLimit = prsol.RMSLimit;
+ C.SlopeLimit = prsol.SlopeLimit;
+ C.algebra = prsol.Algebraic;
+ C.residCrit = prsol.ResidualCriterion;
+ C.returnatonce = prsol.ReturnAtOnce;
+ C.maxReject = prsol.NSatsReject;
+ C.nIter = prsol.MaxNIterations;
+ C.convLimit = prsol.ConvergenceLimit;
+
+ C.elevLimit = 0.0;
+
+ C.LogFile = string("prs.log");
+ C.ordFile = string();
+
+ C.APSout = false;
+ C.UseCA = false;
+ C.ForceCA = false;
+ C.DataInt = -1.0;
+ C.TropType = string("BL");
+ C.defaultT = 20.0;
+ C.defaultPr = 980.0;
+ C.defaultRH = 50.0;
+
+ C.HDPrgm = PrgmName + string(" v.") + PrgmVers.substr(0,4);
+ C.HDRunby = string("GPSTk");
+
+ C.timeFormat = string("%4F %10.3g");
+
+ for(i=0; i<9; i++) C.ndt[i]=-1;
+
+ C.ObsDirectory = string("");
+ C.NavDirectory = string("");
+ C.MetDirectory = string("");
+
+ // -------------------------------------------------
+ // -------------------------------------------------
+ // required options
+ RequiredOption dashi(CommandOption::hasArgument, CommandOption::stdType,
+ 'o',"obs"," [-o|--obs] <file> Input RINEX observation file(s)");
+
+ RequiredOption dashn(CommandOption::hasArgument, CommandOption::stdType,
+ 'n',"nav"," [-n|--nav] <file> Input navigation file(s) [RINEX or SP3]");
+
+ // optional options
+ // this only so it will show up in help page...
+ CommandOption dashf(CommandOption::hasArgument, CommandOption::stdType,
+ 'f',"","# Input:\n [-f|--file] <file> File containing more options ()");
+
+ CommandOption dashdo(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"obsdir",
+ " --obsdir <dir> Directory of input RINEX observation file(s) (.)");
+ dashdo.setMaxCount(1);
+
+ CommandOption dashdn(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"navdir"," --navdir <dir> Directory of input navigation file(s) (.)");
+ dashdn.setMaxCount(1);
+
+ CommandOption dashdm(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"metdir",
+ " --metdir <dir> Directory of input RINEX meteorological file(s) (.)");
+ dashdm.setMaxCount(1);
+
+ CommandOption dashm(CommandOption::hasArgument, CommandOption::stdType,
+ 'm',"met"," [-m|--met] <file> Input RINEX meteorological file(s) ()");
+
+ CommandOption dashith(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"decimate"," --decimate <dt> Decimate data to time interval dt ()");
+ dashith.setMaxCount(1);
+
+ // time
+ // times - don't use CommandOptionWithTimeArg
+ CommandOption dashbt(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"BeginTime", " --BeginTime <arg> Start time: arg is "
+ "'GPSweek,sow' OR 'YYYY,MM,DD,HH,Min,Sec' ()");
+ dashbt.setMaxCount(1);
+
+ CommandOption dashet(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"EndTime", " --EndTime <arg> End time: arg is 'GPSweek,sow' OR "
+ "'YYYY,MM,DD,HH,Min,Sec' ()");
+ dashet.setMaxCount(1);
+
+ CommandOptionNoArg dashCA(0,"useCA", string(" --useCA ")
+ + string("Use C/A code pseudorange if P1 is not available (")
+ + (C.UseCA ? "true" : "false") + ")");
+ dashCA.setMaxCount(1);
+
+ CommandOptionNoArg dashfCA(0,"forceCA", string(" --forceCA ")
+ + string("Use C/A code pseudorange regardless of P1 availability (")
+ + (C.ForceCA ? "true" : "false") + ")");
+ dashfCA.setMaxCount(1);
+
+ // --------------------------------------------------------------------------------
+
+ CommandOption dashElev(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"MinElev", "# Configuration:\n"
+ " --MinElev <el> Minimum elevation angle (deg) [only if --PosXYZ] ("
+ + asString(C.elevLimit,2) + ")");
+ dashElev.setMaxCount(1);
+
+ CommandOption dashXsat(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"exSat"," --exSat <sat> Exclude this satellite ()");
+
+ CommandOption dashTrop(CommandOption::hasArgument, CommandOption::stdType,0,"Trop",
+ " --Trop <model,T,P,H> Trop model [one of ZR,BL,SA,NB,GG,GGH "
+ "(cf. gpstk::TropModel)],\n with optional "
+ "weather [T(C),P(mb),RH(%)] ("
+ + C.TropType + "," + asString(C.defaultT,0)
+ + "," + asString(C.defaultPr,0) + "," + asString(C.defaultRH,0) + ")");
+ dashTrop.setMaxCount(1);
+
+ CommandOption dashrms(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"RMSlimit", "# PRSolution configuration:\n --RMSlimit <rms> "
+ "Upper limit on RMS post-fit residuals (m) ("
+ + asString(prsol.RMSLimit,2) + ")");
+ dashrms.setMaxCount(1);
+
+ CommandOption dashslop(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"SlopeLimit",
+ " --SlopeLimit <s> Upper limit on RAIM 'slope' ("
+ + asString(int(prsol.SlopeLimit)) + ")");
+ dashslop.setMaxCount(1);
+
+ CommandOptionNoArg dashAlge(0,"Algebra",
+ string(" --Algebra ")
+ + string("Use algebraic algorithm, else linearized least squares ()"));
+ dashAlge.setMaxCount(1);
+
+ CommandOptionNoArg dashrcrt(0,"DistanceCriterion", string(" --DistanceCriterion ")
+ +string("Use distance from given position (--PosXYZ) as convergence\n")
+ +string(" criterion, else RMS residual-of-fit ()"));
+ dashrcrt.setMaxCount(1);
+
+ CommandOptionNoArg dashrone(0,"ReturnAtOnce",string(" --ReturnAtOnce ")
+ +string("Return as soon as a good solution is found (")
+ +(prsol.ReturnAtOnce ? string("true") : string("false")) + string(")") );
+ dashrone.setMaxCount(1);
+
+ CommandOption dashnrej(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"NReject", " --NReject <n> Maximum number of satellites to reject ("
+ + (prsol.NSatsReject == -1 ? "no limit" : asString(prsol.NSatsReject))
+ + ")");
+ dashnrej.setMaxCount(1);
+
+ CommandOption dashNit(CommandOption::hasArgument, CommandOption::stdType,0,"NIter",
+ " --NIter <n> Maximum iteration count in linearized LS ("
+ + asString(prsol.MaxNIterations) + ")");
+ dashNit.setMaxCount(1);
+
+ CommandOption dashConv(CommandOption::hasArgument, CommandOption::stdType,0,"Conv",
+ " --Conv <c> "
+ "Minimum convergence criterion in estimation ("
+ + doub2sci(prsol.ConvergenceLimit,8,2,false) + ")");
+ dashConv.setMaxCount(1);
+
+ // --------------------------------------------------------------------------------
+
+ CommandOption dashLog(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Log","# Output:\n --Log <file> Output log file name ("
+ + C.LogFile + ")");
+ dashLog.setMaxCount(1);
+
+ CommandOption dashXYZ(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"PosXYZ", " --PosXYZ <X,Y,Z> "
+ "Known position (ECEF,m), for computing residuals and ORDs ()");
+ dashXYZ.setMaxCount(1);
+
+ CommandOptionNoArg dashAPSout(0,"APSout", string(" --APSout ")
+ + string("Output autonomous pseudorange solution [tag APS, no RAIM] ()"));
+ dashAPSout.setMaxCount(1);
+
+ CommandOption dashORDs(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"ORDs", " --ORDs <file> "
+ "ORDs (Observed Range Deviations) output file [PosXYZ req'd] ("
+ + C.ordFile + ")");
+ dashORDs.setMaxCount(1);
+
+ CommandOption dashForm(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"TimeFormat", " --TimeFormat <fmt> "
+ "Format for time tags in output (cf gpstk::DayTime) (" + C.timeFormat + ")");
+ dashForm.setMaxCount(1);
+
+ CommandOption dashRfile(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"outRinex","# RINEX output:\n"
+ " --outRinex <file> Output RINEX observation file name ()");
+ dashRfile.setMaxCount(1);
+
+ CommandOption dashRrun(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"RunBy"," --RunBy <string> Output RINEX header 'RUN BY' string ("
+ + C.HDRunby + ")");
+ dashRrun.setMaxCount(1);
+
+ CommandOption dashRobs(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Observer"," --Observer <string> Output RINEX header 'OBSERVER' string ()");
+ dashRobs.setMaxCount(1);
+
+ CommandOption dashRag(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Agency"," --Agency <string> Output RINEX header 'AGENCY' string ()");
+ dashRag.setMaxCount(1);
+
+ CommandOption dashRmark(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Marker"," --Marker <string> Output RINEX header 'MARKER' string ()");
+ dashRmark.setMaxCount(1);
+
+ CommandOption dashRnumb(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Number"," --Number <string> Output RINEX header 'NUMBER' string ()");
+ dashRnumb.setMaxCount(1);
+
+ CommandOptionNoArg dashVerb(0,"verbose",
+ "# Help:\n --verbose Print extended output (don't)");
+ dashVerb.setMaxCount(1);
+
+ CommandOptionNoArg dashDebug(0,"debug",
+ " --debug Print very extended output (don't)");
+ dashDebug.setMaxCount(1);
+
+ CommandOptionNoArg dashh('h', "help",
+ " [-h|--help] Print syntax and quit (don't)");
+
+ // ... other options
+ CommandOptionRest Rest("");
+
+ CommandOptionParser Par(
+ "Prgm PRSolve reads one or more RINEX observation files, plus one or more\n"
+ " navigation (ephemeris) files, and computes an autonomous GPS pseudorange\n"
+ " position solution, using a RAIM-like algorithm to eliminate outliers.\n"
+ " Output is to a log file, and also optionally to a RINEX obs file with\n"
+ " the position solutions in comments in auxiliary header blocks.\n"
+ " In the log file, results appear one epoch per line with the format:\n"
+ " TAG Nrej week sow Nsat X Y Z T RMS slope nit conv sat sat .. (code) [N]V\n"
+ " TAG denotes solution (X Y Z T) type:\n"
+ " RPF Final RAIM ECEF XYZ solution\n"
+ " RPR Final RAIM ECEF XYZ solution residuals [only if --PosXYZ given]\n"
+ " RNE Final RAIM North-East-Up solution residuals [only if --PosXYZ]\n"
+ " APS Autonomous ECEF XYZ solution [only if --APSout given]\n"
+ " APR Autonomous ECEF XYZ solution residuals [only if both --APS & --Pos]\n"
+ " ANE Autonomous North-East-Up solution residuals [only if --APS & --Pos]\n"
+ " and where Nrej = number of rejected sats, (week,sow) = GPS time tag,\n"
+ " Nsat = # sats used, XYZT = position+time solution(or residuals),\n"
+ " RMS = RMS residual of fit, slope = RAIM slope, nit = # of iterations,\n"
+ " conv = convergence factor, 'sat sat ...' lists all sat. PRNs (- : rejected),\n"
+ " code = return value from PRSolution::RAIMCompute(), and NV means NOT valid.\n"
+ " NB. Default values appear in () after optional arguments below.\n"
+ );
+
+ // -------------------------------------------------
+ // allow user to put all options in a file
+ // could also scan for debug here
+ vector<string> Args;
+ for(j=1; j<argc; j++) PreProcessArgs(argv[j],Args);
+
+ if(Args.size()==0)
+ Args.push_back(string("-h"));
+ //cout << "List after PreProcessArgs\n";
+ //for(i=0; i<Args.size(); i++) cout << i << " " << Args[i] << endl;
+
+ // pass the rest
+ argc = Args.size()+1;
+ char **CArgs=new char*[argc];
+ if(!CArgs) { cout << "Failed to allocate CArgs\n"; return -1; }
+ CArgs[0] = argv[0];
+ for(j=1; j<argc; j++) {
+ CArgs[j] = new char[Args[j-1].size()+1];
+ if(!CArgs[j]) { cout << "Failed to allocate CArgs[j]\n"; return -1; }
+ strcpy(CArgs[j],Args[j-1].c_str());
+ }
+ //cout << "List passed to parser\n";
+ //for(i=0; i<argc; i++) cout << i << " " << CArgs[i] << endl;
+
+ Par.parseOptions(argc, CArgs);
+
+ // -------------------------------------------------
+ if(dashh.getCount() > 0) {
+ Par.displayUsage(cout,false);
+ help = true;
+ }
+
+ if(!help && Par.hasErrors())
+ {
+ cout << "\nErrors found in command line input:\n";
+ Par.dumpErrors(cout);
+ cout << "...end of Errors\n\n";
+ help = true;
+ }
+
+ // -------------------------------------------------
+ // get values found on command line
+ string stemp;
+ vector<string> values,field;
+ // f never appears because we intercept it above
+ //if(dashf.getCount()) { cout << "Option f "; dashf.dumpValue(cout); }
+ // do help first
+ if(dashh.getCount()) help=true;
+ if(dashDebug.getCount()) C.Debug=C.Verbose=true;
+ if(dashVerb.getCount()) C.Verbose=true;
+
+ if(dashdo.getCount()) {
+ values = dashdo.getValue();
+ C.ObsDirectory = values[0];
+ if(help) cout << "Input obs directory is " << C.ObsDirectory << endl;
+ }
+ if(dashdn.getCount()) {
+ values = dashdn.getValue();
+ C.NavDirectory = values[0];
+ if(help) cout << "Input nav directory is " << C.NavDirectory << endl;
+ }
+ if(dashdm.getCount()) {
+ values = dashdm.getValue();
+ C.MetDirectory = values[0];
+ if(help) cout << "Input met directory is " << C.MetDirectory << endl;
+ }
+ if(dashi.getCount()) {
+ values = dashi.getValue();
+ if(help) cout << "Input RINEX obs files are:\n";
+ for(i=0; i<values.size(); i++) {
+ if(!C.ObsDirectory.empty())
+ C.InputObsName.push_back(C.ObsDirectory + string("/") + values[i]);
+ else
+ C.InputObsName.push_back(values[i]);
+ if(help) cout << " " << C.ObsDirectory + string("/") + values[i] << endl;
+ }
+ }
+ if(dashn.getCount()) {
+ values = dashn.getValue();
+ if(help) cout << "Input RINEX nav files are:\n";
+ for(i=0; i<values.size(); i++) {
+ if(!C.NavDirectory.empty())
+ C.InputNavName.push_back(C.NavDirectory + string("/") + values[i]);
+ else
+ C.InputNavName.push_back(values[i]);
+ if(help) cout << " " << C.NavDirectory + string("/") + values[i] << endl;
+ }
+ }
+ if(dashm.getCount()) {
+ values = dashm.getValue();
+ if(help) cout << "Input RINEX met files are:\n";
+ for(i=0; i<values.size(); i++) {
+ if(!C.MetDirectory.empty())
+ C.InputMetName.push_back(C.MetDirectory + string("/") + values[i]);
+ else
+ C.InputMetName.push_back(values[i]);
+ if(help) cout << " " << C.MetDirectory + string("/") + values[i] << endl;
+ }
+ }
+
+ if(dashith.getCount()) {
+ values = dashith.getValue();
+ C.ith = asDouble(values[0]);
+ if(help) cout << "Ithing values is " << C.ith << endl;
+ }
+ // times
+ // TD put try {} around setToString and catch invalid formats...
+ if(dashbt.getCount()) {
+ ok = true;
+ values = dashbt.getValue();
+ stemp = values[0];
+ field.clear();
+ while(stemp.size() > 0)
+ field.push_back(stripFirstWord(stemp,','));
+ if(field.size() == 2) {
+ try { C.Tbeg.setToString(field[0]+","+field[1], "%F,%g"); }
+ catch(Exception& e) { ok=false; }
+ }
+ else if(field.size() == 6) {
+ try {
+ C.Tbeg.setToString(field[0]+","+field[1]+","+field[2]+","+field[3]+","
+ +field[4]+","+field[5], "%Y,%m,%d,%H,%M,%S");
+ }
+ catch(Exception& e) { ok=false; }
+ }
+ else { ok = false; }
+ if(!ok) {
+ cerr << "Error: invalid --BeginTime input: " << values[0] << endl;
+ }
+ else if(help) cout << " Input: begin time " << values[0] << " = "
+ << C.Tbeg.printf("%Y/%02m/%02d %2H:%02M:%06.3f = %F/%10.3g") << endl;
+ }
+ if(dashet.getCount()) {
+ ok = true;
+ values = dashet.getValue();
+ field.clear();
+ stemp = values[0];
+ while(stemp.size() > 0)
+ field.push_back(stripFirstWord(stemp,','));
+ if(field.size() == 2) {
+ try { C.Tend.setToString(field[0]+","+field[1], "%F,%g"); }
+ catch(Exception& e) { ok=false; }
+ }
+ else if(field.size() == 6) {
+ try {
+ C.Tend.setToString(field[0]+","+field[1]+","+field[2]+","+field[3]+","
+ +field[4]+","+field[5], "%Y,%m,%d,%H,%M,%S");
+ }
+ catch(Exception& e) { ok=false; }
+ }
+ else { ok = false; }
+ if(!ok) {
+ cerr << "Error: invalid --EndTime input: " << values[0] << endl;
+ }
+ else if(help) cout << " Input: end time " << values[0] << " = "
+ << C.Tend.printf("%Y/%02m/%02d %2H:%02M:%06.3f = %F/%10.3g") << endl;
+ }
+ if(dashCA.getCount()) {
+ C.UseCA = true;
+ if(help) cout << "'Use C/A' flag is set\n";
+ }
+ if(dashfCA.getCount()) {
+ C.ForceCA = true;
+ if(help) cout << "'Force C/A' flag is set\n";
+ }
+
+ if(dashrms.getCount()) {
+ values = dashrms.getValue();
+ C.rmsLimit = asDouble(values[0]);
+ if(help) cout << "RMS limit is set to " << C.rmsLimit << endl;
+ }
+ if(dashslop.getCount()) {
+ values = dashslop.getValue();
+ C.SlopeLimit = asDouble(values[0]);
+ if(help) cout << "Slope limit is set to " << C.SlopeLimit << endl;
+ }
+ if(dashAlge.getCount()) {
+ C.algebra = true;
+ if(help) cout << "'Algebraic' option is on\n";
+ }
+ if(dashrcrt.getCount()) {
+ C.residCrit = false;
+ if(help) cout << "'ResidualCriterion' option is false\n";
+ }
+ if(dashrone.getCount()) {
+ C.returnatonce = true;
+ if(help) cout << "'Return at once' option is true\n";
+ }
+ if(dashnrej.getCount()) {
+ values = dashnrej.getValue();
+ C.maxReject = asInt(values[0]);
+ if(help) cout << "Max N rejected satellites is set to " << C.maxReject << endl;
+ }
+ if(dashNit.getCount()) {
+ values = dashNit.getValue();
+ C.nIter = asInt(values[0]);
+ if(help) cout << "Max N Iterations is set to " << C.nIter << endl;
+ }
+ if(dashElev.getCount()) {
+ values = dashElev.getValue();
+ C.elevLimit = asDouble(values[0]);
+ if(help) cout << "Elevation limit is set to " << C.convLimit << " deg" << endl;
+ }
+ if(dashConv.getCount()) {
+ values = dashConv.getValue();
+ C.convLimit = asDouble(values[0]);
+ if(help) cout << "Convergence limit is set to " << C.convLimit << endl;
+ }
+
+ if(dashXYZ.getCount()) {
+ values = dashXYZ.getValue();
+ for(i=0; i<values.size(); i++) {
+ field.clear();
+ while(values[i].size() > 0)
+ field.push_back(stripFirstWord(values[i],','));
+ if(field.size() < 3) {
+ cerr << "Error: less than four fields in --PosXYZ input: "
+ << values[i] << endl;
+ continue;
+ }
+ Position p(asDouble(field[0]), asDouble(field[1]), asDouble(field[2]));
+ C.knownpos = p;
+ if(help) cout << " Input: known XYZ position "
+ << field[0] << " " << field[1] << " " << field[2] << endl;
+ }
+ }
+ if(dashAPSout.getCount()) C.APSout=true;
+ if(dashForm.getCount()) {
+ values = dashForm.getValue();
+ C.timeFormat = values[0];
+ if(help) cout << " Input: time format " << C.timeFormat << endl;
+ }
+ if(dashORDs.getCount()) {
+ values = dashORDs.getValue();
+ C.ordFile = values[0];
+ if(help) cout << " Input: output ORDs to file " << C.ordFile << endl;
+ }
+ if(dashXsat.getCount()) {
+ values = dashXsat.getValue();
+ for(i=0; i<values.size(); i++) {
+ RinexSatID p(values[i]);
+ C.ExSV.push_back(SatID(p));
+ if(help) cout << "Exclude satellite " << p << endl;
+ }
+ }
+ if(dashTrop.getCount()) {
+ values = dashTrop.getValue();
+ field.clear();
+ while(values[0].size() > 0)
+ field.push_back(stripFirstWord(values[0],','));
+ if(field.size() != 1 && field.size() != 4) {
+ cerr << "Error: invalid fields after --Trop input: "
+ << values[0] << endl;
+ }
+ else {
+ field[0] = upperCase(field[0]);
+ C.TropType = field[0];
+ if(help) cout << " Input: trop model: " << C.TropType;
+ if(field.size() == 4) {
+ C.defaultT = asDouble(field[1]);
+ C.defaultPr = asDouble(field[2]);
+ C.defaultRH = asDouble(field[3]);
+ if(help) cout << " and weather (T,P,RH): "
+ << C.defaultT << "," << C.defaultPr << "," << C.defaultRH;
+ }
+ if(help) cout << endl;
+ }
+ }
+ if(dashLog.getCount()) {
+ values = dashLog.getValue();
+ C.LogFile = values[0];
+ if(help) cout << "Log file is " << C.LogFile << endl;
+ }
+ if(dashRfile.getCount()) {
+ values = dashRfile.getValue();
+ C.OutRinexObs = values[0];
+ if(help) cout << "Output RINEX file name is " << C.OutRinexObs << endl;
+ }
+ if(dashRrun.getCount()) {
+ values = dashRrun.getValue();
+ C.HDRunby = values[0];
+ if(help) cout << "Output RINEX 'RUN BY' is " << C.HDRunby << endl;
+ }
+ if(dashRobs.getCount()) {
+ values = dashRobs.getValue();
+ C.HDObs = values[0];
+ if(help) cout << "Output RINEX 'OBSERVER' is " << C.HDObs << endl;
+ }
+ if(dashRag.getCount()) {
+ values = dashRag.getValue();
+ C.HDAgency = values[0];
+ if(help) cout << "Output RINEX 'AGENCY' is " << C.HDAgency << endl;
+ }
+ if(dashRmark.getCount()) {
+ values = dashRmark.getValue();
+ C.HDMarker = values[0];
+ if(help) cout << "Output RINEX 'MARKER' is " << C.HDMarker << endl;
+ }
+ if(dashRnumb.getCount()) {
+ values = dashRnumb.getValue();
+ C.HDNumber = values[0];
+ if(help) cout << "Output RINEX 'NUMBER' is " << C.HDNumber << endl;
+ }
+
+ if(Rest.getCount()) {
+ if(help) cout << "Remaining options:" << endl;
+ values = Rest.getValue();
+ for (i=0; i<values.size(); i++) {
+ if(help) cout << values[i] << endl;
+ //C.InputObsName.push_back(values[i]);
+ }
+ }
+ //if(C.Verbose && help) {
+ // cout << "\nTokens on command line (" << Args.size() << ") are:" << endl;
+ // for(unsigned j=0; j<Args.size(); j++) cout << Args[j] << endl;
+ //}
+
+ if(help) return 1;
+
+ C.oflog.open(C.LogFile.c_str(),ios::out);
+ if(C.oflog.fail()) {
+ cout << "Failed to open log file " << C.LogFile << endl;
+ return -2;
+ }
+ else {
+ cout << "Opened log file " << C.LogFile << endl;
+ C.oflog << Title;
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+ return -1;
+}
+
+//------------------------------------------------------------------------------------
+void DumpConfiguration(ostream& os) throw(Exception)
+{
+try {
+ int i;
+ // print config to log
+ os << "\nHere is the PRSolve configuration:\n";
+ os << " # Input:\n";
+ os << " Obs directory is '" << C.ObsDirectory << "'" << endl;
+ os << " RINEX observation files are:\n";
+ for(i=0; i<C.InputObsName.size(); i++) {
+ os << " " << C.InputObsName[i] << endl;
+ }
+ os << " Nav directory is '" << C.NavDirectory << "'" << endl;
+ os << " navigation files are:\n";
+ for(i=0; i<C.InputNavName.size(); i++) {
+ os << " " << C.InputNavName[i] << endl;
+ }
+ if(C.InputMetName.size() > 0) {
+ os << " Met directory is '" << C.MetDirectory << "'" << endl;
+ os << " RINEX meteorological files are:\n";
+ for(i=0; i<C.InputMetName.size(); i++) {
+ os << " " << C.InputMetName[i] << endl;
+ }
+ }
+ else os << " No input meteorological data\n";
+ os << " Ithing time interval is " << C.ith << endl;
+ if(C.Tbeg > DayTime(DayTime::BEGINNING_OF_TIME)) os << " Begin time is "
+ << C.Tbeg.printf("%04Y/%02m/%02d %02H:%02M:%.3f")
+ << " = " << C.Tbeg.printf("%04F/%10.3g") << endl;
+ if(C.Tend < DayTime(DayTime::END_OF_TIME)) os << " End time is "
+ << C.Tend.printf("%04Y/%02m/%02d %02H:%02M:%.3f")
+ << " = " << C.Tend.printf("%04F/%10.3g") << endl;
+ if(C.UseCA) os << " 'Use C/A' flag is set\n";
+ if(C.ForceCA) os << " 'Force C/A' flag is set\n";
+
+ os << " # Configuration:\n";
+ os << " Minimum elevation angle is " << C.elevLimit << " degrees." << endl;
+ if(C.ExSV.size()) {
+ RinexSatID p;
+ p.setfill('0');
+ os << " Exclude satellites";
+ for(i=0; i<C.ExSV.size(); i++) {
+ p = C.ExSV[i];
+ os << " " << p;
+ }
+ os << endl;
+ }
+ os << " Trop model: " << C.TropType << " and weather (T,P,RH): "
+ << C.defaultT << "," << C.defaultPr << "," << C.defaultRH << endl;
+ os << " ------ PRSolution configuration:" << endl;
+ os << " Limit on RMS solution residual (m) = " << prsol.RMSLimit << endl;
+ os << " Limit on RAIM 'slope' = " << prsol.SlopeLimit << endl;
+ os << " Use algebraic algorithm is "
+ << (prsol.Algebraic ? "true" : "false") << endl;
+ os << " Residual criterion is "
+ << (prsol.ResidualCriterion ? "RMS residuals":"distance from apriori") << endl;
+ os << " Return-at-once option is "
+ << (prsol.ReturnAtOnce ? "on" : "off") << endl;
+ os << " Maximum number of rejected satellites is "
+ << (prsol.NSatsReject == -1 ? "unlimited" : asString(prsol.NSatsReject))
+ << endl;
+ os << " Maximum iterations in linearized least squares (LLS) is "
+ << prsol.MaxNIterations << endl;
+ os << " RSS convergence criterion (meters) in LLS is "
+ << prsol.ConvergenceLimit << endl;
+ os << " ------ End of PRSolution configuration." << endl;
+
+ os << " # Output:\n";
+ os << " Log file is " << C.LogFile << endl;
+ if(C.knownpos.getCoordinateSystem() != Position::Unknown)
+ os << " Output residuals: known position is\n " << C.knownpos.printf(
+ "ECEF(m) %.4x %.4y %.4z\n = %A deg N %L deg E %h m\n");
+ if(!C.ordFile.empty())
+ os << " Output ORDs to file " << C.ordFile << endl;
+ os << " Output tags RPF";
+ if(C.knownpos.getCoordinateSystem() != Position::Unknown) os << " RPR RNE";
+ if(C.APSout) os << " APS";
+ if(C.APSout && C.knownpos.getCoordinateSystem() != Position::Unknown)
+ os << " APR ANE";
+ os << endl;
+ os << " Output format for time tags (cf. class DayTime) is "
+ << C.timeFormat << endl;
+
+ os << " # RINEX output:\n";
+ if(!C.OutRinexObs.empty()) os << " Output RINEX file name is "
+ << C.OutRinexObs << endl;
+ if(!C.HDRunby.empty()) os << " Output RINEX 'RUN BY' is "
+ << C.HDRunby << endl;
+ if(!C.HDObs.empty()) os << " Output RINEX 'OBSERVER' is "
+ << C.HDObs << endl;
+ if(!C.HDAgency.empty()) os << " Output RINEX 'AGENCY' is "
+ << C.HDAgency << endl;
+ if(!C.HDMarker.empty()) os << " Output RINEX 'MARKER' is "
+ << C.HDMarker << endl;
+ if(!C.HDNumber.empty()) os << " Output RINEX 'NUMBER' is "
+ << C.HDNumber << endl;
+
+ os << "End of PRSolve configuration summary" << endl << endl;
+
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Pull out --verbose -f<f> and --file <f> options
+void PreProcessArgs(const char *arg, vector<string>& Args) throw(Exception)
+{
+try {
+ static bool found_cfg_file=false;
+
+ if(found_cfg_file || (arg[0]=='-' && arg[1]=='f')) {
+ string filename(arg);
+ if(!found_cfg_file) filename.erase(0,2); else found_cfg_file = false;
+ ifstream infile(filename.c_str());
+ if(!infile) {
+ cout << "Error: could not open options file " << filename << endl;
+ return;
+ }
+
+ bool again_cfg_file=false;
+ char c;
+ string buffer,word;
+ while(1) {
+ getline(infile,buffer);
+ stripTrailing(buffer,'\r');
+
+ // process the buffer before checking eof or bad b/c there can be
+ // a line at EOF that has no CRLF...
+ while(!buffer.empty()) {
+ word = firstWord(buffer);
+ if(again_cfg_file) {
+ word = "-f" + word;
+ again_cfg_file = false;
+ PreProcessArgs(word.c_str(),Args);
+ }
+ else if(word[0] == '#') { // skip to end of line
+ buffer = "";
+ }
+ else if(word == "--file" || word == "-f")
+ again_cfg_file = true;
+ else if(word[0] == '"') {
+ word = stripFirstWord(buffer,'"');
+ buffer = "dummy " + buffer; // to be stripped later
+ PreProcessArgs(word.c_str(),Args);
+ }
+ else
+ PreProcessArgs(word.c_str(),Args);
+
+ word = stripFirstWord(buffer); // now remove it from buffer
+ }
+ if(infile.eof() || !infile.good()) break;
+ }
+ }
+ else if((arg[0]=='-' && arg[1]=='v') || string(arg)==string("--verbose")) {
+ C.Verbose = true;
+ cout << "Found the verbose switch" << endl;
+ }
+ else if(string(arg) == "--file" || string(arg) == "-f")
+ found_cfg_file = true;
+ // deprecated args
+ else if(string(arg)==string("--EpochBeg")) { Args.push_back("--BeginTime"); }
+ else if(string(arg)==string("--GPSBeg")) { Args.push_back("--BeginTime"); }
+ else if(string(arg)==string("--EpochEnd")) { Args.push_back("--EndTime"); }
+ else if(string(arg)==string("--GPSEnd")) { Args.push_back("--EndTime"); }
+ else if(string(arg)==string("--RinexFile")) { Args.push_back("--outRinex"); }
+ else if(string(arg)==string("--XPRN")) { Args.push_back("--exSat"); }
+ // regular arg
+ else Args.push_back(arg);
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+bool isSP3File(const string& file)
+{
+ SP3Header header;
+ SP3Stream strm(file.c_str());
+ strm.exceptions(fstream::failbit);
+ try { strm >> header; } catch(gpstk::Exception& e) { return false; }
+ strm.close();
+ return true;
+}
+bool isRinexNavFile(const string& file)
+{
+ RinexNavHeader header;
+ RinexNavStream rnstream(file.c_str());
+ rnstream.exceptions(fstream::failbit);
+ try { rnstream >> header; } catch(gpstk::Exception& e) { return false; }
+ rnstream.close();
+ return true;
+}
+int FillEphemerisStore(const vector<string>& files, SP3EphemerisStore& PE,
+ BCEphemerisStore& BCE) throw(Exception)
+{
+try {
+ int nread=0;
+ RinexNavHeader rnh;
+ RinexNavData rne;
+ for(int i=0; i<files.size(); i++) {
+ if(files[i].empty()) throw Exception("File name is empty");
+ RinexNavStream strm(files[i].c_str());
+ if(!strm) throw Exception("Could not open file " + files[i]);
+ strm.close();
+ if(isRinexNavFile(files[i])) {
+ RinexNavStream RNFileIn(files[i].c_str());
+ RNFileIn.exceptions(fstream::failbit);
+ try {
+ RNFileIn >> rnh;
+ while (RNFileIn >> rne)
+ {
+ if(rne.health == 0)
+ BCE.addEphemeris(rne);
+ }
+ nread++;
+ }
+ catch(gpstk::Exception& e) {
+ cerr << "Caught Exception while reading RINEX Nav file " << files[i]
+ << " : " << e << endl;
+ continue;
+ }
+ }
+ else if(isSP3File(files[i])) {
+ try {
+ PE.loadFile(files[i]);
+ }
+ catch(gpstk::Exception& e) {
+ cerr << "Caught Exception while reading SP3 Nav file " << files[i]
+ << " : " << e << endl;
+ continue;
+ }
+ nread++;
+ }
+ else throw Exception("File " + files[i] + " is neither BCE nor PE file.");
+ }
+ return nread;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+return -1;
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/trunk/apps/positioning/doc/brdc0200.05n b/dev/apps/positioning/doc/brdc0200.05n
similarity index 100%
rename from trunk/apps/positioning/doc/brdc0200.05n
rename to dev/apps/positioning/doc/brdc0200.05n
diff --git a/trunk/apps/positioning/doc/nga13063.apc b/dev/apps/positioning/doc/nga13063.apc
similarity index 100%
rename from trunk/apps/positioning/doc/nga13063.apc
rename to dev/apps/positioning/doc/nga13063.apc
diff --git a/trunk/apps/positioning/doc/nga13064.apc b/dev/apps/positioning/doc/nga13064.apc
similarity index 100%
rename from trunk/apps/positioning/doc/nga13064.apc
rename to dev/apps/positioning/doc/nga13064.apc
diff --git a/trunk/apps/positioning/doc/nga13065.apc b/dev/apps/positioning/doc/nga13065.apc
similarity index 100%
rename from trunk/apps/positioning/doc/nga13065.apc
rename to dev/apps/positioning/doc/nga13065.apc
diff --git a/trunk/apps/positioning/doc/rinexpvt-manual.pdf b/dev/apps/positioning/doc/rinexpvt-manual.pdf
similarity index 100%
rename from trunk/apps/positioning/doc/rinexpvt-manual.pdf
rename to dev/apps/positioning/doc/rinexpvt-manual.pdf
diff --git a/trunk/apps/positioning/doc/rinexpvt-manual.tm b/dev/apps/positioning/doc/rinexpvt-manual.tm
similarity index 100%
rename from trunk/apps/positioning/doc/rinexpvt-manual.tm
rename to dev/apps/positioning/doc/rinexpvt-manual.tm
diff --git a/trunk/apps/positioning/doc/usno0200.05m b/dev/apps/positioning/doc/usno0200.05m
similarity index 100%
rename from trunk/apps/positioning/doc/usno0200.05m
rename to dev/apps/positioning/doc/usno0200.05m
diff --git a/trunk/apps/positioning/doc/usno0200.05o b/dev/apps/positioning/doc/usno0200.05o
similarity index 100%
rename from trunk/apps/positioning/doc/usno0200.05o
rename to dev/apps/positioning/doc/usno0200.05o
diff --git a/dev/apps/positioning/examples/brdc3040.03n b/dev/apps/positioning/examples/brdc3040.03n
new file mode 100644
index 0000000..7648f38
--- /dev/null
+++ b/dev/apps/positioning/examples/brdc3040.03n
@@ -0,0 +1,2992 @@
+ 2 NAVIGATION DATA RINEX VERSION / TYPE
+CCRINEXN V1.6.0 UX CDDIS 31-OCT-00 23:49 PGM / RUN BY / DATE
+IGS BROADCAST EPHEMERIS FILE COMMENT
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+ 0.1516D+06 -0.4915D+05 -0.1311D+06 -0.1966D+06 ION BETA
+ 0.558793544769D-08 0.000000000000D+00 61440 1243 DELTA-UTC: A0,A1,T,W
+ 13 LEAP SECONDS
+ END OF HEADER
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diff --git a/dev/apps/positioning/examples/grca304a.03o b/dev/apps/positioning/examples/grca304a.03o
new file mode 100644
index 0000000..9a049d7
--- /dev/null
+++ b/dev/apps/positioning/examples/grca304a.03o
@@ -0,0 +1,6522 @@
+ 2.10 Observation G (GPS) RINEX VERSION / TYPE
+gps1x2rnx engb 08/31/2006 11:51:40 PGM / RUN BY / DATE
+GRACE A MARKER NAME
+GRACE A NASA OBSERVER / AGENCY
+RECNUM RECTYPE RECVERS REC # / TYPE / VERS
+ANTNUM ANTTYPE ANT # / TYPE
+ 0.0000 0.0000 0.0000 APPROX POSITION XYZ
+ 0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N
+ 1 1 WAVELENGTH FACT L1/2
+ 9 L1 L2 C1 P1 P2 LA UN S1 S2# / TYPES OF OBSERV
+ 10.000 INTERVAL
+ 2003 10 31 0 0 0.0000000 GPS TIME OF FIRST OBS
+SNR is mapped to signal strength [0,1,2-9] COMMENT
+SNR: >500 >100 >50 >10 >5 >3 >1 >0 bad n/a COMMENT
+sig: 9 8 7 6 5 4 3 2 1 0 COMMENT
+Loss of Lock Indicator is set for all phase observations COMMENT
+in case a phase break/cycle slip is detected. COMMENT
+Loss of Lock Indicator is also set at acquisition of a PRN COMMENT
+Undetected cycle slips may remain in this file. COMMENT
+Edited by GPSTK Rinex Editor ver 3.0 9/8/2003 on 2006/08/31 COMMENT
+ END OF HEADER
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diff --git a/dev/apps/positioning/examples/positions.PRSolve.jpg b/dev/apps/positioning/examples/positions.PRSolve.jpg
new file mode 100644
index 0000000..614b76c
Binary files /dev/null and b/dev/apps/positioning/examples/positions.PRSolve.jpg differ
diff --git a/dev/apps/positioning/examples/positions.posInterp.jpg b/dev/apps/positioning/examples/positions.posInterp.jpg
new file mode 100644
index 0000000..106ce38
Binary files /dev/null and b/dev/apps/positioning/examples/positions.posInterp.jpg differ
diff --git a/dev/apps/positioning/examples/rd.pi.gp b/dev/apps/positioning/examples/rd.pi.gp
new file mode 100644
index 0000000..4b5ca7f
--- /dev/null
+++ b/dev/apps/positioning/examples/rd.pi.gp
@@ -0,0 +1,7 @@
+set title "GRACE satellite positions, interpolated to 1 sec (gpstk::posInterp)"
+set xlabel 'GPS seconds of week 1242'
+set ylabel 'ECEF position components (m)'
+unset mouse
+set term x11 enhanced font 'luxi sans,17'
+set key outside
+plot 'rd.pi.out' using 2:4 t '' with points, '' using 2:5 t '' with points, '' using 2:6 t '' with points
diff --git a/dev/apps/positioning/examples/rd.prs.gp b/dev/apps/positioning/examples/rd.prs.gp
new file mode 100644
index 0000000..63a793a
--- /dev/null
+++ b/dev/apps/positioning/examples/rd.prs.gp
@@ -0,0 +1,7 @@
+set title "GRACE satellite positions, interpolated to 1 sec (gpstk::posInterp)"
+set xlabel 'GPS seconds of week 1242'
+set ylabel 'ECEF position components (m)'
+unset mouse
+set term x11 enhanced font 'luxi sans,17'
+set key outside
+plot 'rd.prs.out' using 2:4 t '' with points, '' using 2:5 t '' with points, '' using 2:6 t '' with points
diff --git a/dev/apps/positioning/examples/testpi b/dev/apps/positioning/examples/testpi
new file mode 100755
index 0000000..b9977ee
--- /dev/null
+++ b/dev/apps/positioning/examples/testpi
@@ -0,0 +1,18 @@
+#!/bin/bash
+# $Id: $
+# compute positions with GPS data from the GRACE satellite
+../PRSolve --obs grca304a.03o --nav brdc3040.03n --outRinex grca304a.prs.03o
+#
+# dump the position data using RinexDump and plot it, results in positions.PRSolve.jpg
+#../../Rinextools/RinexDump grca304a.prs.03o pos | plot -g 920x480 -x 2 -y 4 -y 5 -y 6 -xl "GPS seconds of week 1242" -yl "ECEF position components (m)" --Title "GRACE satellite positions, 10sec interval (gpstk::PRSolve)"
+../../Rinextools/RinexDump grca304a.prs.03o pos > rd.prs.out
+gnuplot -persist -geometry 920x480 rd.prs.gp
+#
+# dump the interpolated data using RinexDump and plot it, results in positions.posInterp.jpg
+../posInterp --obs grca304a.prs.03o --mult 10 --outRinex grca304a.pi.03o
+#../../Rinextools/RinexDump grca304a.pi.03o pos | plot -g 920x480 -x 2 -y 4 -y 5 -y 6 -xl "GPS seconds of week 1242" -yl "ECEF position components (m)" --Title "GRACE satellite positions, interpolated to 1 sec (gpstk::posInterp)"
+../../Rinextools/RinexDump grca304a.pi.03o pos > rd.pi.out
+gnuplot -persist -geometry 920x480 rd.pi.gp
+#
+# clean up
+#rm *.log *.out grca304a.p*
diff --git a/dev/apps/positioning/posInterp.cpp b/dev/apps/positioning/posInterp.cpp
new file mode 100644
index 0000000..dea1f11
--- /dev/null
+++ b/dev/apps/positioning/posInterp.cpp
@@ -0,0 +1,1119 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file posInterp.cpp
+ * Read a RINEX observation file which has receiver position information in auxiliary
+ * header comments (e.g. the output of PRSolve), and interpolate these positions to
+ * a new (higher) rate, a multiple of the nominal data rate of the input file.
+ * Output the input data (unchanged) and the interpolated position information
+ * to an output RINEX observation file.
+ */
+
+#include "DayTime.hpp"
+#include "CommandOptionParser.hpp"
+#include "CommandOption.hpp"
+#include "CommandOptionWithTimeArg.hpp"
+#include "RinexObsData.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsStream.hpp"
+#include "MiscMath.hpp" // LagrangeIterpolation()
+#include "icd_200_constants.hpp"
+#include "StringUtils.hpp"
+
+#include <time.h>
+#include <string>
+#include <vector>
+#include <iostream>
+#include <fstream>
+#include <sstream>
+
+using namespace std;
+using namespace gpstk;
+using namespace StringUtils;
+
+//------------------------------------------------------------------------------------
+string PrgmName("posInterp");
+string PrgmVers("2.1 8/31/06");
+
+//------------------------------------------------------------------------------------
+typedef struct posInterpConfiguration {
+ // input
+ string ObsDirectory;
+ vector<string> InputObsName;
+ // output
+ // header information for the output RINEX file
+ string HDPrgm;
+ string HDRunby;
+ string HDObs;
+ string HDAgency;
+ string HDMarker;
+ string HDNumber;
+ int NrecOut;
+ DayTime FirstEpoch,LastEpoch;
+ double DT;
+ bool Debug,Verbose,DumpMap;
+ // data flow
+ double ith;
+ DayTime Tbeg, Tend;
+ // output files
+ string LogFile,OutRinexObs;
+ ofstream oflog;
+ // processing
+ int irate; // number of points to interpolate between epochs + 1;
+ // output has irate times as many position epochs
+ double DataInt;
+ // estimate DT from the data on the first reading
+ double estdt[9];
+ int ndt[9];
+} PIConfig;
+
+//------------------------------------------------------------------------------------
+// data input from command line
+PIConfig PIC;
+// data used in program
+const double F1=L1_MULT;
+const double F2=L2_MULT;
+const double if1r=1.0/(1.0-(F2/F1)*(F2/F1));
+const double if2r=1.0/(1.0-(F1/F2)*(F1/F2));
+clock_t totaltime;
+string Title;
+RinexObsStream ofstr; // output Rinex files
+RinexObsHeader rhead, rheadout;
+int inC1,inP1,inP2,inL1,inL2,inD1,inD2,inS1,inS2; // indexes in rhead
+DayTime CurrEpoch,PrgmEpoch,PrevEpoch;
+
+// map of <epoch,position>
+typedef struct pos_info_struct {
+ double X,Y,Z,T;
+ double PDOP,GDOP,rms;
+ int N;
+} PosInfo;
+map<DayTime,PosInfo> TimePositionMap;
+DayTime LastInterpolated;
+int Ninterps;
+
+//------------------------------------------------------------------------------------
+// prototypes
+int ReadFile(int nfile, int reading) throw(Exception);
+int ProcessHeader(RinexObsStream& ifs, int nfile, int reading) throw(Exception);
+int ProcessOneEntireEpoch(RinexObsData& ro, int reading) throw(Exception);
+int InterpolateAndOutput(void) throw(Exception);
+int AfterReadingFiles(int reading) throw(Exception);
+
+int GetCommandLine(int argc, char **argv) throw(Exception);
+void PreProcessArgs(const char *arg, vector<string>& Args) throw(Exception);
+
+//------------------------------------------------------------------------------------
+int main(int argc, char **argv)
+{
+try {
+ totaltime = clock();
+ int iret,nfile,reading,nread;
+
+ // Title and description
+ Title = PrgmName + ", part of the GPS ToolKit, Ver " + PrgmVers + ", Run ";
+ PrgmEpoch.setLocalTime();
+ Title += PrgmEpoch.printf("%04Y/%02m/%02d %02H:%02M:%02S");
+ Title += "\n";
+ cout << Title;
+
+ // get command line
+ iret=GetCommandLine(argc, argv);
+ if(iret) return iret;
+
+ PrevEpoch = DayTime::BEGINNING_OF_TIME;
+
+ // loop over input files - reading them twice
+ Ninterps = 0;
+ for(reading=1; reading <= 2; reading++) {
+ nread = 0;
+ for(nfile=0; nfile<PIC.InputObsName.size(); nfile++) {
+ iret = ReadFile(nfile,reading);
+ if(iret < 0) break;
+ nread++;
+ }
+ // quit if error
+ if(iret < 0) break;
+
+ if(nread>0) {
+ iret = AfterReadingFiles(reading);
+ if(iret < 0) break;
+ }
+
+ CurrEpoch = DayTime::BEGINNING_OF_TIME;
+ }
+
+ PIC.oflog << PrgmName << " did " << Ninterps << " interpolations" << endl;
+ totaltime = clock()-totaltime;
+ PIC.oflog << PrgmName << " timing: " << fixed << setprecision(3)
+ << double(totaltime)/double(CLOCKS_PER_SEC) << " seconds.\n";
+ cout << PrgmName << " timing: " << fixed << setprecision(3)
+ << double(totaltime)/double(CLOCKS_PER_SEC) << " seconds.\n";
+
+ PIC.oflog.close();
+
+ return iret;
+}
+catch(FFStreamError& e) { cout << "FFStream exception:\n" << e << endl; }
+catch(Exception& e) { cout << "GPSTK exception:\n" << e << endl; }
+catch (...) { cout << "Unknown exception in main." << endl; }
+} // end main()
+
+//------------------------------------------------------------------------------------
+// open the file, read header and check for data; then loop over the epochs
+// Return 0 ok, <0 fatal error, >0 non-fatal error (ie skip this file)
+// 0 ok, 1 couldn't open file, 2 file doesn't have required data
+int ReadFile(int nfile, int reading) throw(Exception)
+{
+try {
+ int i,iret;
+ RinexObsData rodata;
+ RinexObsStream ifstr;
+
+ // open input file
+ ifstr.open(PIC.InputObsName[nfile].c_str(),ios::in);
+ if(ifstr.fail()) {
+ PIC.oflog << "(" << reading << ") Failed to open input file "
+ << PIC.InputObsName[nfile] << ". Abort.\n";
+ return 1;
+ }
+ else PIC.oflog << "(" << reading << ") Opened input file "
+ << PIC.InputObsName[nfile] << endl;
+ ifstr.exceptions(ios::failbit);
+
+ // read header and (on 2nd reading) output
+ iret = ProcessHeader(ifstr, nfile, reading);
+ if(iret) return iret;
+
+ // loop over epochs in the file
+ if(reading == 2)
+ LastInterpolated = DayTime::BEGINNING_OF_TIME;
+
+ while(1) {
+ try {
+ ifstr >> rodata;
+ }
+ catch(Exception& e) {
+ GPSTK_RETHROW(e);
+ }
+ catch(...) {
+ Exception e("Unknown exception in ReadFile() from operator>>");
+ GPSTK_THROW(e);
+ break;
+ }
+ if(ifstr.eof()) break;
+ if(ifstr.bad()) {
+ Exception e("Bad read in ReadFile() from operator>>");
+ GPSTK_THROW(e);
+ }
+ iret = ProcessOneEntireEpoch(rodata,reading);
+ if(iret < -1) break;
+ if(iret == -1) { iret=0; break; } // end of file
+ if(iret == 1) continue; // ignore this epoch
+ }
+
+ ifstr.clear();
+ ifstr.close();
+
+ PIC.oflog << endl << "Finished reading (" << reading
+ << ") file " << PIC.InputObsName[nfile] << endl;
+
+ return iret;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+int ProcessHeader(RinexObsStream& ifs, int nfile, int reading) throw(Exception)
+{
+try {
+ // read the header
+ try {
+ ifs >> rhead;
+ }
+ catch(Exception& e) { GPSTK_RETHROW(e); }
+ catch(...) {
+ Exception e("Unknown exception");
+ GPSTK_THROW(e);
+ }
+
+ if(reading==1) { // dump the input header
+ if(PIC.Verbose) {
+ PIC.oflog << "Input header from file " << PIC.InputObsName[nfile]
+ << " follows:" << endl;
+ rhead.dump(PIC.oflog);
+ }
+ }
+
+ if(reading == 2) { // edit the output Rinex header
+ rheadout = rhead;
+ // the writer does this
+ // rheadout.date = PrgmEpoch.printf("%04Y/%02m/%02d %02H:%02M:%02S");
+ rheadout.fileProgram = PIC.HDPrgm;
+ if(!PIC.HDRunby.empty()) rheadout.fileAgency = PIC.HDRunby;
+ if(!PIC.HDObs.empty()) rheadout.observer = PIC.HDObs;
+ if(!PIC.HDAgency.empty()) rheadout.agency = PIC.HDAgency;
+ if(!PIC.HDMarker.empty()) rheadout.markerName = PIC.HDMarker;
+ if(!PIC.HDNumber.empty()) {
+ rheadout.markerNumber = PIC.HDNumber;
+ rheadout.valid |= RinexObsHeader::markerNumberValid;
+ }
+ rheadout.version = 2.1;
+ rheadout.valid |= RinexObsHeader::versionValid;
+ rheadout.firstObs = PIC.FirstEpoch;
+ rheadout.valid |= RinexObsHeader::firstTimeValid;
+ //rheadout.interval = PIC.DT;
+ //rheadout.valid |= RinexObsHeader::intervalValid;
+ //rheadout.lastObs = PIC.LastEpoch;
+ //rheadout.valid |= RinexObsHeader::lastTimeValid;
+ // invalidate the table
+ if(rheadout.valid & RinexObsHeader::numSatsValid)
+ rheadout.valid ^= RinexObsHeader::numSatsValid;
+ if(rheadout.valid & RinexObsHeader::prnObsValid)
+ rheadout.valid ^= RinexObsHeader::prnObsValid;
+
+ ofstr << rheadout;
+
+ // dump it
+ if(PIC.Verbose) {
+ PIC.oflog << "Output header: " << endl;
+ rheadout.dump(PIC.oflog);
+ PIC.oflog << endl;
+ }
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Return 0 ok,
+// <-1 fatal error,
+// -1 end of file,
+// 1 skip this epoch,
+// 2 output to Rinex,
+// 3 output position also
+int ProcessOneEntireEpoch(RinexObsData& roe, int reading) throw(Exception)
+{
+try {
+ int i,j;
+ double dt;
+
+ // stay within time limits
+ if(roe.time < PIC.Tbeg) return 1;
+ if(roe.time > PIC.Tend) return -1;
+
+ // ignore comment blocks on second reading
+ //if(roe.epochFlag != 0 && roe.epochFlag != 1) return 1;
+
+ // decimate data and positions (aux header info)
+ if(PIC.ith > 0.0) {
+ // if Tbeg is still undefined, set it to begin of week
+ if(PIC.Tbeg == DayTime::BEGINNING_OF_TIME)
+ PIC.Tbeg = PIC.Tbeg.setGPSfullweek(roe.time.GPSfullweek(),0.0);
+
+ dt = fabs(roe.time - PIC.Tbeg);
+ dt -= PIC.ith*long(0.5+dt/PIC.ith);
+
+ if(fabs(dt) > 0.25) return 1; // TD set tolerance? clock bias?
+ }
+
+ // save current time
+ PrevEpoch = CurrEpoch;
+ CurrEpoch = roe.time;
+ if(PIC.FirstEpoch == DayTime::BEGINNING_OF_TIME) { // used in output header
+ PIC.FirstEpoch = CurrEpoch;
+ PIC.oflog << "First data epoch is "
+ << PIC.FirstEpoch.printf("%04Y/%02m/%02d %02H:%02M:%6.3f = %4F %.3g")
+ << endl;
+ }
+
+ if(reading == 1) { // read positions and add to map
+
+ // look for auxiliary header records only
+ if(roe.epochFlag != 4) return 0;
+
+ // pull the info out of the comments
+ PosInfo PI;
+ for(j=0,i=0; i<roe.auxHeader.commentList.size(); i++) {
+ string line = StringUtils::stripTrailing(roe.auxHeader.commentList[i],
+ string("COMMENT"),1);
+ string word = StringUtils::stripFirstWord(line);
+ if(word == "XYZT") {
+ PI.X = StringUtils::asDouble(StringUtils::stripFirstWord(line));
+ PI.Y = StringUtils::asDouble(StringUtils::stripFirstWord(line));
+ PI.Z = StringUtils::asDouble(StringUtils::stripFirstWord(line));
+ PI.T = StringUtils::asDouble(StringUtils::stripFirstWord(line));
+ j++;
+ }
+ else if(word == "DIAG") {
+ PI.N = StringUtils::asInt(StringUtils::stripFirstWord(line));
+ PI.PDOP = StringUtils::asDouble(StringUtils::stripFirstWord(line));
+ PI.GDOP = StringUtils::asDouble(StringUtils::stripFirstWord(line));
+ PI.rms = StringUtils::asDouble(StringUtils::stripFirstWord(line));
+ j++;
+ }
+ else { // ignore
+ }
+ }
+
+ // add to map<DayTime,PosInfo> TimePositionMap;
+ TimePositionMap[CurrEpoch] = PI;
+
+ // update LastEpoch and estimate of PIC.DT
+ if(PIC.LastEpoch > DayTime::BEGINNING_OF_TIME) {
+ double dt = CurrEpoch-PIC.LastEpoch;
+ for(i=0; i<9; i++) {
+ if(PIC.ndt[i]<=0) { PIC.estdt[i]=dt; PIC.ndt[i]=1; break; }
+ if(ABS(dt-PIC.estdt[i]) < 0.0001) { PIC.ndt[i]++; break; }
+ if(i == 8) {
+ int k=0,nl=PIC.ndt[k];
+ for(int j=1; j<9; j++) if(PIC.ndt[j] <= nl) { k=j; nl=PIC.ndt[j]; }
+ PIC.ndt[k]=1; PIC.estdt[k]=dt;
+ }
+ }
+ }
+ PIC.LastEpoch = CurrEpoch;
+ }
+
+ // reading 2 - interpolate and output positions, and output data
+ else {
+ if(roe.epochFlag == 4)
+ // do nothing - InterpolateAndOutput will write this position from the map
+ ;
+ else {
+ InterpolateAndOutput(); // interpolate
+ ofstr << roe; // output data
+ }
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void RinexPositionComments(RinexObsData& psdata, DayTime& tt, int N,
+ double& X, double& Y, double& Z, double& T,
+ double& PDOP, double& GDOP, double& RMS) throw(Exception)
+{
+try {
+ ostringstream stst1,stst2;
+
+ psdata.auxHeader.clear();
+ psdata.time = tt;
+ psdata.epochFlag = 4; // mark it as in-line header info
+ psdata.numSvs = 2; // number of comments
+ stst1 << "XYZT";
+ stst1 << fixed << " " << setw(13) << setprecision(3) << X;
+ stst1 << fixed << " " << setw(13) << setprecision(3) << Y;
+ stst1 << fixed << " " << setw(13) << setprecision(3) << Z;
+ stst1 << fixed << " " << setw(13) << setprecision(3) << T;
+ psdata.auxHeader.commentList.push_back(stst1.str());
+
+ stst2 << "DIAG";
+ stst2 << " " << setw(2) << N
+ << " " << fixed << setw(5) << setprecision(2) << PDOP
+ << " " << fixed << setw(5) << setprecision(2) << GDOP
+ << " " << fixed << setw(9) << setprecision(3) << RMS
+ << " (N,P-,G-Dop,RMS)";
+
+ if(PIC.Debug)
+ PIC.oflog << psdata.time.printf("%02M:%04.1f ") << stst1.str()
+ << " " << stst2.str() << endl;
+
+ psdata.auxHeader.commentList.push_back(stst2.str());
+ psdata.auxHeader.valid |= RinexObsHeader::commentValid;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+int InterpolateAndOutput(void) throw(Exception)
+{ // interpolate positions and output to rinex
+try {
+ bool Lagrange;
+ int i,ipts;
+ double PDOP,GDOP,rms,err,dt,Dt,delt,xx,yy,zz,tt;
+ DayTime t0,ttag;
+ RinexObsData psdata;
+ vector<double> times,X,Y,Z,T;
+ map<DayTime,PosInfo>::iterator itb,ite,itB,itE,itr;
+
+ // if no previous epoch, nothing to do
+ if(PrevEpoch==DayTime::BEGINNING_OF_TIME)
+ return 0;
+
+ // find 4 positions on each side of CurrEpoch-1/2dt
+ ite = TimePositionMap.lower_bound(CurrEpoch);
+ if(ite == TimePositionMap.end())
+ return 0; // no position; get it next time
+ if(ite->first - LastInterpolated < 0)
+ return 0; // already done
+
+ itb = ite;
+ if(itb == TimePositionMap.begin()) {
+ //PIC.oflog << "Warning: cannot interpolate at " << CurrEpoch
+ //<< ": before beginning of data" << endl;
+ PIC.oflog << "Echo position at first epoch "
+ << CurrEpoch.printf("%04Y/%02m/%02d %02H:%02M:%6.3f = %4F %.3g")
+ << endl;
+
+ // create the aux header
+ // use data from the begin time
+ RinexPositionComments(psdata,CurrEpoch,
+ itb->second.N,
+ itb->second.X,
+ itb->second.Y,
+ itb->second.Z,
+ itb->second.T,
+ itb->second.PDOP,
+ itb->second.GDOP,
+ itb->second.rms);
+
+ // write it out
+ ofstr << psdata;
+
+ return 0;
+ }
+ itb--;
+
+ // itb and ite are now on either side of the times at which to interpolate
+ if(PIC.Debug) PIC.oflog << "Interpolate : "
+ << itb->first.printf("%02H:%02M:%04.1f") << " to "
+ << ite->first.printf("%02H:%02M:%04.1f")
+ << " : (" << (ite->first - itb->first) << " sec)" << endl;
+
+ // now expand them out, up to 3 more epochs, watching for gaps TD: 3*DT input
+ itB = itb;
+ itE = ite;
+ for(i=0; i<3; i++) {
+ if(itB == TimePositionMap.begin() || (i==0 && itE->first-itB->first > 3*PIC.DT))
+ break;
+
+ // increase the end time
+ ttag = itE->first;
+ itE++;
+ if(itE == TimePositionMap.end() || itE->first-ttag > 3*PIC.DT) { itE--; break; }
+
+ // decrease the begin time
+ ttag = itB->first;
+ itB--;
+ if(ttag-itB->first > 3*PIC.DT) { itE--; itB++; break; }
+
+ }
+
+ // fill the arrays for interpolation
+ t0 = itB->first;
+ ipts = 1;
+ itr = itB;
+ if(PIC.Debug) PIC.oflog << "Data for interpolation:\n";
+
+ while(1) {
+ if(PIC.Debug) PIC.oflog << " " << ipts
+ << " " << itr->first.printf("%02M:%04.1f")
+ << fixed << setprecision(3)
+ << " " << setw(6) << (itr->first-t0)
+ << " " << setw(13) << itr->second.X
+ << " " << setw(13) << itr->second.Y
+ << " " << setw(13) << itr->second.Z
+ << ((itr==itb || itr==ite) ? " *":"")
+ << endl;
+
+ times.push_back(itr->first - t0); // sec
+ X.push_back(itr->second.X); // m
+ Y.push_back(itr->second.Y);
+ Z.push_back(itr->second.Z);
+ T.push_back(itr->second.T);
+ if(itr == itE) break;
+ itr++;
+ ipts++;
+ }
+
+ // compute the time intervals involved
+ ttag = itb->first;
+ Dt = ite->first - ttag; // time interval over which interpolating
+ if(Dt > 3*PIC.DT) {
+ PIC.oflog << "Warning: cannot interpolate at " << CurrEpoch
+ << ": large gap = " << Dt << " seconds." << endl;
+ return 0;
+ }
+ dt = PIC.DT/double(PIC.irate);
+
+ // is there enough data to do Lagrange interpolation?
+ // fall back to linear interpolation if have to, but not over long periods
+ if(ipts < 2 || (ipts==2 && Dt>3*PIC.DT)) {
+ PIC.oflog << "Warning: cannot interpolate at " << CurrEpoch
+ << ": not enough data" << endl;
+ return 0; // not enough data
+ }
+ Lagrange = (ipts == 2 ? false : true);
+
+ // number of interpolations needed to cover Dt, plus 1 endpt
+ ipts = int(0.5+Dt/dt);
+ PIC.oflog << "Dt dt and ipts are " << Dt << " " << dt << " " << ipts
+ << CurrEpoch.printf(" at %04Y/%02m/%02d %02H:%02M:%6.3f = %4F %.3g") << endl;
+
+ // loop over the interpolation times you want
+ delt = itb->first - t0; // time since first data point
+ for(i=0; i<ipts; i++) {
+ ttag += dt; // itb->first was done last epoch
+ delt += dt;
+
+ // use 1. known position if i==ipts-1 (last epoch, ite)
+ // 2. Lagrange if you have more than 1 data on each side
+ // 3. linear interpolation
+ xx = (i==ipts-1 ?
+ ite->second.X :
+ (Lagrange ?
+ LagrangeInterpolation(times,X,delt,err) :
+ X[0]+(X[1]-X[0])*delt/Dt));
+ yy = (i==ipts-1 ?
+ ite->second.Y :
+ (Lagrange ?
+ LagrangeInterpolation(times,Y,delt,err) :
+ Y[0]+(Y[1]-Y[0])*delt/Dt));
+ zz = (i==ipts-1 ?
+ ite->second.Z :
+ (Lagrange ?
+ LagrangeInterpolation(times,Z,delt,err) :
+ Z[0]+(Z[1]-Z[0])*delt/Dt));
+ tt = (i==ipts-1 ?
+ ite->second.T :
+ (Lagrange ?
+ LagrangeInterpolation(times,T,delt,err) :
+ T[0]+(T[1]-T[0])*delt/Dt));
+
+ // create the aux header
+ // use N,DOPs,RMS of _end_ time for all interpolated times
+ RinexPositionComments(psdata,ttag,
+ ite->second.N,
+ xx,yy,zz,tt,
+ ite->second.PDOP,
+ ite->second.GDOP,
+ ite->second.rms);
+
+ // write it out
+ ofstr << psdata;
+
+ if(i != ipts-1) Ninterps++;
+ LastInterpolated = ttag;
+ }
+
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+int AfterReadingFiles(int reading) throw(Exception)
+{
+try {
+ int i,j,iret=0;
+ double dt;
+
+ if(reading == 1) {
+
+ // compute data interval for this file
+ for(j=0,i=1; i<9; i++) { if(PIC.ndt[i]>PIC.ndt[j]) j=i; }
+ PIC.DT = PIC.estdt[j];
+ PIC.oflog << endl;
+ PIC.oflog << "Estimated data interval is " << PIC.DT << " seconds.\n";
+ PIC.oflog << "Interpolate to " << PIC.irate << " times the input data rate\n";
+ PIC.oflog << "Last data epoch is "
+ << PIC.LastEpoch.printf("%04Y/%02m/%02d %02H:%02M:%06.3f = %4F %.3g") << endl;
+
+ if(TimePositionMap.size() == 0) {
+ cout << "No position information was found in the input file! Abort.\n";
+ PIC.oflog << "No position information was found in the input file! Abort.\n";
+ return -1;
+ }
+ PIC.oflog << endl;
+
+ // dump the map of positions
+ if(PIC.DumpMap) {
+ PIC.oflog << "Here is all the Time/Position information:\n";
+ map<DayTime,PosInfo>::const_iterator itr;
+ itr = TimePositionMap.begin();
+ i = 0;
+ while(itr != TimePositionMap.end()) {
+ PIC.oflog << setw(4) << i << " "
+ << itr->first.printf("%04Y/%02m/%02d %02H:%02M:%6.3f %4F %10.3g")
+ << fixed << setprecision(3)
+ << " " << setw(2) << itr->second.N
+ << " " << setw(13) << itr->second.X
+ << " " << setw(13) << itr->second.Y
+ << " " << setw(13) << itr->second.Z
+ << " " << setw(13) << itr->second.T
+ << " " << setw(7) << itr->second.rms
+ << endl;
+ itr++;
+ i++;
+ }
+ PIC.oflog << "End of the Time/Position information.\n\n";
+ }
+
+ // open output file
+ if(!PIC.OutRinexObs.empty()) {
+ ofstr.open(PIC.OutRinexObs.c_str(), ios::out);
+ if(ofstr.fail()) {
+ PIC.oflog << "Failed to open output file " << PIC.OutRinexObs
+ << ". Abort.\n";
+ return 1;
+ }
+ else PIC.oflog << "Opened output file " << PIC.OutRinexObs << endl;
+ ofstr.exceptions(ios::failbit);
+ }
+ }
+ else if(reading==2) {
+ PIC.oflog << "Close the output file\n";
+ ofstr.close();
+ }
+
+ return iret;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+int GetCommandLine(int argc, char **argv) throw(Exception)
+{
+try {
+ bool help=false;
+ int i,j;
+ // defaults
+ PIC.Debug = false;
+ PIC.DumpMap = false;
+ PIC.ith = 0.0;
+ PIC.Tbeg = PIC.FirstEpoch = DayTime::BEGINNING_OF_TIME;
+ PIC.Tend = DayTime::END_OF_TIME;
+ PIC.DT = 0;
+
+ PIC.LogFile = string("pi.log");
+
+ PIC.irate = 4;
+ PIC.DataInt = -1.0;
+
+ PIC.HDPrgm = PrgmName + string(" v.") + PrgmVers.substr(0,4);
+ PIC.HDRunby = string("ARL:UT/SGL/GPSTK");
+
+ for(i=0; i<9; i++) PIC.ndt[i]=-1;
+
+ PIC.ObsDirectory = string(".");
+
+ // -------------------------------------------------
+ // required options
+ RequiredOption dashi(CommandOption::hasArgument, CommandOption::stdType,
+ 'o',"obs"," [-o|--obs] <file> Input Rinex observation file(s)"
+ " (e.g. output of PRSolve)");
+
+ RequiredOption dashirate(CommandOption::hasArgument, CommandOption::stdType,
+ 'm',"mult", " [-m|--mult] <M> "
+ "Interpolation: output has M times as many epochs as input");
+
+ // optional options
+ // this is here only so it will show up in help page...
+ CommandOption dashf(CommandOption::hasArgument, CommandOption::stdType,
+ 'f',""," [-f|--file] <file> File containing more options");
+
+ CommandOption dashdo(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"obsdir"," --obsdir <dir> Directory of input observation file(s)");
+ dashdo.setMaxCount(1);
+
+ CommandOption dashith(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"decimate"," --decimate <dt> "
+ "Decimate data and positions to time interval dt");
+ dashith.setMaxCount(1);
+
+ // time
+ CommandOption dashbt(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"BeginTime", " --BeginTime <arg> "
+ "Start time: arg is 'GPSwk,sow' OR 'YYYY,MM,DD,HH,Min,Sec'");
+ dashbt.setMaxCount(1);
+
+ CommandOption dashet(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"EndTime", " --EndTime <arg> "
+ "End time: arg is 'GPSwk,sow' OR 'YYYY,MM,DD,HH,Min,Sec'");
+ dashet.setMaxCount(1);
+
+ //CommandOption dashDT(CommandOption::hasArgument, CommandOption::stdType,
+ //0,"DT"," --DT <dt> Time interval (sec) of data points");
+ //dashDT.setMaxCount(1);
+
+ CommandOption dashLog(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Log"," --Log <file> Output log file name (pi.log)");
+ dashLog.setMaxCount(1);
+
+ CommandOption dashRfile(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"outRinex"," --outRinex <file> Output Rinex obs file name");
+ dashRfile.setMaxCount(1);
+
+ CommandOption dashRrun(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"RunBy"," --RunBy <string> Output Rinex header 'RUN BY' string");
+ dashRrun.setMaxCount(1);
+
+ CommandOption dashRobs(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Observer"," --Observer <string> Output Rinex header 'OBSERVER' string");
+ dashRobs.setMaxCount(1);
+
+ CommandOption dashRag(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Agency"," --Agency <string> Output Rinex header 'AGENCY' string");
+ dashRag.setMaxCount(1);
+
+ CommandOption dashRmark(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Marker"," --Marker <string> Output Rinex header 'MARKER' string");
+ dashRmark.setMaxCount(1);
+
+ CommandOption dashRnumb(CommandOption::hasArgument, CommandOption::stdType,
+ 0,"Number"," --Number <string> Output Rinex header 'NUMBER' string");
+ dashRnumb.setMaxCount(1);
+
+ CommandOptionNoArg dashdmap(0,"dumpMap",
+ " --dumpMap Dump the Time/Position map to the log file.");
+
+ CommandOptionNoArg dashVerb(0,"verbose",
+ " --verbose Print extended output");
+ dashVerb.setMaxCount(1);
+
+ CommandOptionNoArg dashDebug('d',"debug",
+ " --debug Print even more extended output.");
+ dashDebug.setMaxCount(1);
+
+ CommandOptionNoArg dashh('h', "help",
+ " [-h|--help] Print syntax and quit.");
+
+ // ... other options
+ CommandOptionRest Rest("");
+
+ CommandOptionParser Par("Prgm " + PrgmName +
+ " reads a RINEX observation file which has position information\n"
+ " in auxiliary header comments (e.g. the output of PRSolve), and interpolates\n"
+ " these positions to produce positions at a new (higher) rate, which is a\n"
+ " multiple of the nominal data rate of the input file. It then outputs the\n"
+ " input data (unchanged) and the interpolated position information to an\n"
+ " output RINEX observation file.\n");
+
+ // -------------------------------------------------
+ // allow user to put all options in a file
+ // could also scan for debug here
+ vector<string> Args;
+ for(j=1; j<argc; j++) PreProcessArgs(argv[j],Args);
+
+ if(Args.size()==0)
+ Args.push_back(string("-h"));
+
+ // pass the rest
+ argc = Args.size()+1;
+ char **CArgs=new char*[argc];
+ if(!CArgs) { cout << "Failed to allocate CArgs\n"; return -1; }
+ CArgs[0] = argv[0];
+ for(j=1; j<argc; j++) {
+ CArgs[j] = new char[Args[j-1].size()+1];
+ if(!CArgs[j]) { cout << "Failed to allocate CArgs[j]\n"; return -1; }
+ strcpy(CArgs[j],Args[j-1].c_str());
+ }
+ Par.parseOptions(argc, CArgs);
+ delete[] CArgs;
+
+ // -------------------------------------------------
+ if(dashh.getCount() > 0) {
+ Par.displayUsage(cout,false);
+ help = true;
+ }
+
+ if (Par.hasErrors())
+ {
+ cout << "\nErrors found in command line input:\n";
+ Par.dumpErrors(cout);
+ cout << "...end of Errors\n\n";
+ help = true;
+ }
+
+ // -------------------------------------------------
+ // get values found on command line
+ vector<string> values,field;
+
+ // f never appears because we intercept it above
+ //if(dashf.getCount()) { cout << "Option f "; dashf.dumpValue(cout); }
+
+ // do help first
+ if(dashh.getCount()) help=true;
+ if(dashDebug.getCount()) {
+ PIC.Debug=true;
+ }
+ if(dashVerb.getCount()) {
+ PIC.Verbose=true;
+ }
+ if(dashdmap.getCount()) {
+ PIC.DumpMap=true;
+ }
+ if(dashdo.getCount()) {
+ values = dashdo.getValue();
+ PIC.ObsDirectory = values[0];
+ if(help) cout << "Input obs directory is " << PIC.ObsDirectory << endl;
+ }
+ if(dashi.getCount()) {
+ values = dashi.getValue();
+ if(help) cout << "Input Rinex obs files are:\n";
+ for(i=0; i<values.size(); i++) {
+ PIC.InputObsName.push_back(PIC.ObsDirectory + string("/") + values[i]);
+ if(help) cout << " " << PIC.ObsDirectory + string("/") + values[i] << endl;
+ }
+ }
+ if(dashirate.getCount()) {
+ values = dashirate.getValue();
+ PIC.irate = StringUtils::asInt(values[0]);
+ if(PIC.irate < 0) PIC.irate *= -1;
+ if(PIC.irate == 0) {
+ cout << "ERROR: Interpolation rate must be positive (-m<M>)\n";
+ help = true;
+ }
+ if(PIC.irate == 1) {
+ cout << "WARNING: Interpolation rate must > 1\n";
+ }
+ }
+ if(dashith.getCount()) {
+ values = dashith.getValue();
+ PIC.ith = StringUtils::asDouble(values[0]);
+ if(help) cout << "Ithing values is " << PIC.ith << endl;
+ }
+ if(dashbt.getCount()) {
+ values = dashbt.getValue();
+ field.clear();
+ while(values[0].size() > 0)
+ field.push_back(StringUtils::stripFirstWord(values[0],','));
+ if(field.size() == 2)
+ PIC.Tbeg.setToString(field[0]+","+field[1], "%F,%g");
+ else if(field.size() == 6)
+ PIC.Tbeg.setToString(field[0]+","+field[1]+","+field[2]+","+field[3]+","
+ +field[4]+","+field[5], "%Y,%m,%d,%H,%M,%S");
+ else {
+ cout << "Error: invalid --BeginTime input: " << values[0] << endl;
+ }
+ if(help) cout << "Begin time is " << values[0] << " = "
+ << PIC.Tbeg.printf("%Y/%02m/%02d %2H:%02M:%06.3f = %F/%10.3g") << endl;
+ }
+ if(dashet.getCount()) {
+ values = dashet.getValue();
+ field.clear();
+ while(values[0].size() > 0)
+ field.push_back(StringUtils::stripFirstWord(values[0],','));
+ if(field.size() == 2)
+ PIC.Tend.setToString(field[0]+","+field[1], "%F,%g");
+ else if(field.size() == 6)
+ PIC.Tend.setToString(field[0]+","+field[1]+","+field[2]+","+field[3]+","
+ +field[4]+","+field[5], "%Y,%m,%d,%H,%M,%S");
+ else {
+ cout << "Error: invalid --EndTime input: " << values[0] << endl;
+ }
+ if(help) cout << "End time is " << values[0] << " = "
+ << PIC.Tend.printf("%Y/%02m/%02d %2H:%02M:%06.3f = %F/%10.3g") << endl;
+ }
+ //if(dashDT.getCount()) {
+ //values = dashDT.getValue();
+ //PIC.DT = StringUtils::asDouble(values[0]);
+ //if(help) cout << "DT is set to " << PIC.DT << endl;
+ //}
+ if(dashLog.getCount()) {
+ values = dashLog.getValue();
+ PIC.LogFile = values[0];
+ if(help) cout << "Log file is " << PIC.LogFile << endl;
+ }
+ if(dashRfile.getCount()) {
+ values = dashRfile.getValue();
+ PIC.OutRinexObs = values[0];
+ if(help) cout << "Output Rinex file name is " << PIC.OutRinexObs << endl;
+ }
+ if(dashRrun.getCount()) {
+ values = dashRrun.getValue();
+ PIC.HDRunby = values[0];
+ if(help) cout << "Output Rinex 'RUN BY' is " << PIC.HDRunby << endl;
+ }
+ if(dashRobs.getCount()) {
+ values = dashRobs.getValue();
+ PIC.HDObs = values[0];
+ if(help) cout << "Output Rinex 'OBSERVER' is " << PIC.HDObs << endl;
+ }
+ if(dashRag.getCount()) {
+ values = dashRag.getValue();
+ PIC.HDAgency = values[0];
+ if(help) cout << "Output Rinex 'AGENCY' is " << PIC.HDAgency << endl;
+ }
+ if(dashRmark.getCount()) {
+ values = dashRmark.getValue();
+ PIC.HDMarker = values[0];
+ if(help) cout << "Output Rinex 'MARKER' is " << PIC.HDMarker << endl;
+ }
+ if(dashRnumb.getCount()) {
+ values = dashRnumb.getValue();
+ PIC.HDNumber = values[0];
+ if(help) cout << "Output Rinex 'NUMBER' is " << PIC.HDNumber << endl;
+ }
+
+ if(Rest.getCount()) {
+ if(help) cout << "Remaining options:" << endl;
+ values = Rest.getValue();
+ for (i=0; i<values.size(); i++) {
+ if(help) cout << values[i] << endl;
+ }
+ }
+
+ PIC.oflog.open(PIC.LogFile.c_str(),ios::out);
+ if(PIC.oflog.fail()) {
+ cout << "Failed to open log file " << PIC.LogFile << endl;
+ }
+ else {
+ cout << "Opened log file " << PIC.LogFile << endl;
+ PIC.oflog << Title;
+ }
+
+ // print config to log
+ if(help || PIC.Verbose) {
+ PIC.oflog << "Input configuration:\n";
+ PIC.oflog << " Obs directory is " << PIC.ObsDirectory << endl;
+ PIC.oflog << " Input Rinex obs files are:\n";
+ for(i=0; i<PIC.InputObsName.size(); i++)
+ PIC.oflog << " " << PIC.InputObsName[i] << endl;
+ PIC.oflog << " Interpolate to " << PIC.irate << " times the input data rate"
+ << endl;
+ if(PIC.ith > 0) PIC.oflog << " Ithing time interval is " << PIC.ith << endl;
+ if(PIC.Tbeg > DayTime::BEGINNING_OF_TIME)
+ PIC.oflog << " Begin time is "
+ << PIC.Tbeg.printf("%04Y/%02m/%02d %02H:%02M:%.3f")
+ << " = " << PIC.Tbeg.printf("%04F/%10.3g") << endl;
+ if(PIC.Tend < DayTime::END_OF_TIME)
+ PIC.oflog << " End time is "
+ << PIC.Tend.printf("%04Y/%02m/%02d %02H:%02M:%.3f")
+ << " = " << PIC.Tend.printf("%04F/%10.3g") << endl;
+ //PIC.oflog << "DT is set to " << PIC.DT << endl;
+ PIC.oflog << " Log file is " << PIC.LogFile << endl;
+ if(!PIC.OutRinexObs.empty())
+ PIC.oflog << " Output Rinex file name is " << PIC.OutRinexObs << endl;
+ if(!PIC.HDRunby.empty())
+ PIC.oflog << " Output Rinex 'RUN BY' is " << PIC.HDRunby << endl;
+ if(!PIC.HDObs.empty())
+ PIC.oflog << " Output Rinex 'OBSERVER' is " << PIC.HDObs << endl;
+ if(!PIC.HDAgency.empty())
+ PIC.oflog << " Output Rinex 'AGENCY' is " << PIC.HDAgency << endl;
+ if(!PIC.HDMarker.empty())
+ PIC.oflog << " Output Rinex 'MARKER' is " << PIC.HDMarker << endl;
+ if(!PIC.HDNumber.empty())
+ PIC.oflog << " Output Rinex 'NUMBER' is " << PIC.HDNumber << endl;
+ if(PIC.Verbose) PIC.oflog << " 'Verbose' option is on\n";
+ if(PIC.Debug) PIC.oflog << " 'Debug' option is on\n";
+ PIC.oflog << "End of the input configuration.\n\n";
+ }
+
+ if(help) return 1;
+ if(PIC.Debug) PIC.Verbose=true;
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+// Pull out -f<f> and --file <f> and deprecated options
+void PreProcessArgs(const char *arg, vector<string>& Args) throw(Exception)
+{
+try {
+ static bool found_cfg_file=false;
+
+ if(found_cfg_file || (arg[0]=='-' && arg[1]=='f')) {
+ string filename(arg);
+ if(!found_cfg_file) filename.erase(0,2); else found_cfg_file = false;
+ ifstream infile(filename.c_str());
+ if(!infile) {
+ cout << "Error: could not open options file " << filename << endl;
+ return;
+ }
+
+ bool again_cfg_file=false;
+ char c;
+ string buffer,word;
+ while(1) {
+ getline(infile,buffer);
+ stripTrailing(buffer,'\r');
+
+ // process the buffer before checking eof or bad b/c there can be
+ // a line at EOF that has no CRLF...
+ while(!buffer.empty()) {
+ word = firstWord(buffer);
+ if(again_cfg_file) {
+ word = "-f" + word;
+ again_cfg_file = false;
+ PreProcessArgs(word.c_str(),Args);
+ }
+ else if(word[0] == '#') { // skip to end of line
+ buffer = "";
+ }
+ else if(word == "--file" || word == "-f")
+ again_cfg_file = true;
+ else if(word[0] == '"') {
+ word = stripFirstWord(buffer,'"');
+ buffer = "dummy " + buffer; // to be stripped later
+ PreProcessArgs(word.c_str(),Args);
+ }
+ else
+ PreProcessArgs(word.c_str(),Args);
+
+ word = stripFirstWord(buffer); // now remove it from buffer
+ }
+ if(infile.eof() || !infile.good()) break;
+ }
+ }
+ else if(string(arg) == "--file" || string(arg) == "-f")
+ found_cfg_file = true;
+ // old versions of args -- deprecated
+ else if(string(arg)=="--input") { Args.push_back("--obs"); }
+ else if(string(arg)=="--EpochBeg") { Args.push_back("--BeginTime"); }
+ else if(string(arg)=="--GPSBeg") { Args.push_back("--BeginTime"); }
+ else if(string(arg)=="--EpochEnd") { Args.push_back("--EndTime"); }
+ else if(string(arg)=="--GPSEnd") { Args.push_back("--EndTime"); }
+ else if(string(arg)=="--output") { Args.push_back("--outRinex"); }
+ // regular arg
+ else Args.push_back(arg);
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/apps/positioning/poscvt.cpp b/dev/apps/positioning/poscvt.cpp
new file mode 100644
index 0000000..65494be
--- /dev/null
+++ b/dev/apps/positioning/poscvt.cpp
@@ -0,0 +1,216 @@
+#pragma ident "$Id$"
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "BasicFramework.hpp"
+#include "Position.hpp"
+#include "CommandOptionWithPositionArg.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+class PosCvt : public BasicFramework
+{
+public:
+ PosCvt(char* arg0);
+ virtual bool initialize(int argc, char *argv[])
+ throw();
+
+protected:
+ virtual void process();
+
+private:
+ CommandOptionWithPositionArg ecefOption;
+ CommandOptionWithPositionArg geodeticOption;
+ CommandOptionWithPositionArg geocentricOption;
+ CommandOptionWithPositionArg sphericalOption;
+ CommandOptionNoArg listFormatsOption;
+ CommandOptionWithAnyArg outputFormatOption;
+ CommandOptionMutex mutexOption;
+
+ string stringToParse;
+ string posSpec;
+};
+
+PosCvt::PosCvt(char* arg0)
+ : BasicFramework(arg0, "Converts from a given input position "
+ "specification to other position formats. Include the "
+ "quotation marks."),
+ ecefOption('\0', "ecef", "%x %y %z", "ECEF \"X Y Z\" in meters"),
+ geodeticOption('\0', "geodetic", "%A %L %h",
+ "Geodetic \"lat lon alt\" in deg, deg, meters"),
+ geocentricOption('\0', "geocentric", "%a %l %r",
+ "Geocentric \"lat lon radius\" in deg, deg, meters"),
+ sphericalOption('\0', "spherical", "%t %p %r",
+ "Spherical \"theta, phi, radius\" in deg, deg, meters"),
+ listFormatsOption('l', "list-formats", "List the available format codes"
+ " for use by the input and output format options."),
+ outputFormatOption('F', "output-format", "Write the position with the"
+ " given format.")
+{
+ ecefOption.setMaxCount(1);
+ geodeticOption.setMaxCount(1);
+ geocentricOption.setMaxCount(1);
+ sphericalOption.setMaxCount(1);
+ listFormatsOption.setMaxCount(1);
+ outputFormatOption.setMaxCount(1);
+
+ mutexOption.addOption(&ecefOption);
+ mutexOption.addOption(&geodeticOption);
+ mutexOption.addOption(&geocentricOption);
+ mutexOption.addOption(&sphericalOption);
+}
+
+bool PosCvt::initialize(int argc, char *argv[])
+ throw()
+{
+ if(!BasicFramework::initialize(argc, argv))
+ return false;
+
+ if(listFormatsOption.getCount())
+ {
+ cout << " %X %Y %Z (cartesian or ECEF in kilometers)" << endl
+ << " %x %y %z (cartesian or ECEF in meters)" << endl
+ << " %a %l %r (geocentric lat,lon,radius, longitude E, "
+ "radius in meters)" << endl
+ << " %A %L %h (geodetic lat,lon,height, longitude E, "
+ "height in meters)" << endl
+ << " %a %w %R (geocentric lat,lon,radius, longitude W, "
+ "radius in kilometers)" << endl
+ << " %A %W %H (geodetic lat,lon,height, longitude W, "
+ "height in kilometers)" << endl
+ << " %t %p %r (spherical theta, phi, radius, "
+ "degrees and meters)" << endl
+ << " %T %P %R (spherical theta, phi, radius, "
+ "radians and kilometers)" << endl;
+
+ return false;
+ }
+
+ return true;
+}
+
+void PosCvt::process()
+{
+ try
+ {
+ Position pos;
+
+ CommandOptionWithPositionArg *whichOpt =
+ dynamic_cast<CommandOptionWithPositionArg *>(mutexOption.whichOne());
+
+ if (whichOpt != NULL)
+ {
+ pos = whichOpt->getPosition().front();
+ }
+
+ if (outputFormatOption.getCount())
+ {
+ cout << pos.printf(outputFormatOption.getValue()[0]) << endl;
+ }
+ else
+ {
+ using StringUtils::leftJustify;
+ string four(4, ' '); // four spaces!
+
+ Position foo = pos.asECEF();
+
+ cout << endl
+ << four << leftJustify("ECEF (x,y,z) in meters", 36)
+ << foo.printf("%.4x %.4y %.4z") << endl;
+
+ foo = pos.asGeodetic();
+
+ cout << four << leftJustify("Geodetic (llh) in deg, deg, m", 36)
+ << foo.printf("%.8A %.8L %.4h") << endl;
+
+ // no Position::asGeocentric() available
+ foo = pos.transformTo(Position::Geocentric);
+
+ cout << four << leftJustify("Geocentric (llr) in deg, deg, m", 36)
+ << pos.printf("%.8a %.8L %.4r") << endl;
+
+ foo = pos.transformTo(Position::Spherical);
+
+ cout << four << leftJustify("Spherical (tpr) in deg, deg, m", 36)
+ << pos.printf("%.8t %.8p %.4r") << endl
+
+ << endl << endl;
+ }
+
+ }
+ catch(GeometryException& ge)
+ {
+ cout << ge << endl;
+ }
+}
+
+int main(int argc, char* argv[])
+{
+ try
+ {
+ PosCvt pc(argv[0]);
+
+ if (!pc.initialize(argc, argv))
+ return 0;
+
+ if(!pc.run())
+ return 1;
+
+ return 0;
+ }
+ catch(Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(exception& e)
+ {
+ cout << e.what() << endl;
+ }
+ catch(...)
+ {
+ cout << "Caught an unknown exception." << endl;
+ }
+
+ return 1;
+}
diff --git a/dev/apps/positioning/rinexpvt.cpp b/dev/apps/positioning/rinexpvt.cpp
new file mode 100644
index 0000000..12d81e1
--- /dev/null
+++ b/dev/apps/positioning/rinexpvt.cpp
@@ -0,0 +1,563 @@
+#include "rinexpvt.hpp"
+#include "icd_200_constants.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+double carrierPhaseSmooth(SatID sat, double range, double phase,
+ DayTime t, double maxAge=86400,
+ double datarate=30)
+{
+ static map<SatID,double> smoothedRange;
+ static map<SatID,DayTime> lastEpoch;
+ static map<SatID,double> lastPhase;
+ static map<SatID,DayTime> firstEpoch;
+
+ bool debug = true;
+ const double teps = .1; // fudge factor for missed epochs
+ const int k = 10;
+
+ // Should this smoother be (re)started?
+ bool initialize = false;
+
+ // Record why the smoother is restarted, if necessary
+ enum smootherState { NORMAL=0, NODATA, SKIPPEDEPOCH, AGE, SLIP};
+ smootherState thisState = NORMAL;
+
+ // Yes, if we are just beginning to see data for this PRN
+ map<SatID,double>::iterator i, j;
+ i = smoothedRange.find(sat);
+ j = lastPhase.find(sat);
+
+ initialize = ((i==smoothedRange.end())||(j==lastPhase.end()));
+ if (initialize) thisState = NODATA;
+
+ // Yes, if we skipped an epoch
+ if (!initialize)
+ {
+ if (initialize = ( fabs(t - lastEpoch[sat] - datarate) > teps ))
+ thisState = SKIPPEDEPOCH;
+ }
+
+ // Yes, if the filter is too old
+ if (!initialize)
+ {
+ if (initialize = ( fabs( t - firstEpoch[sat]) > maxAge))
+ thisState = AGE;
+ }
+
+ if (initialize)
+ {
+ smoothedRange[sat]=range;
+ firstEpoch[sat]=t;
+ }
+ else
+ smoothedRange[sat] =
+ (range + (k-1)*(smoothedRange[sat] + phase - lastPhase[sat]))/k;
+
+ if (fabs((smoothedRange[sat] - range)) > 20)
+ {
+ initialize = true;
+ smoothedRange[sat]=range;
+ firstEpoch[sat]=t;
+ thisState = SLIP;
+ }
+
+ lastPhase[sat] = phase;
+ lastEpoch[sat] = t;
+
+ if (debug)
+ {
+ static ofstream debugStream("smootherdebug.txt");
+ debugStream << t.printf("%F %g ");
+ //debugStream << t.printf("%Y %m %d %02H %02M %f ");
+ debugStream << sat.id << " ";
+ debugStream << setprecision(12) << smoothedRange[sat] << " ";
+ debugStream << range << " " << phase << " ";
+ debugStream << thisState << " ";
+// debugStream << lastPhase[sat];
+ debugStream << endl;
+ }
+
+ return smoothedRange[sat];
+
+}
+
+RINEXPVTSolution::RINEXPVTSolution(char *arg0)
+ : BasicFramework(arg0, "GPSTk PVT Generator\n\nThis application generates user positions based on RINEX observations.\n\nNOTE: Although the -n and -p arguments appear as optional below, one of the two must be used. An ephemeris source must be specified."),
+ obsOption('o', "obs-file", "RINEX Obs File.", true),
+ navOption('n', "nav-file", "RINEX Nav File. Required for single frequency ionosphere correction.", false),
+ peOption('p', "pe-file", "SP3 Precise Ephemeris File. Repeat this for each input file.", false),
+ metOption('m', "met-file", "RINEX Met File.", false),
+ spsOption('s', "single-frequency", "Use only C1 (SPS)"),
+ ppsOption('f', "dual-frequency", "Use only P1 and P2 (PPS)"),
+ timeFormatOption('t',"time-format","Alternate time format string."),
+ ionoOption('i',"no-ionosphere", "Do NOT correct for ionosphere delay."),
+ enuOption('e', "enu", "Use the following as origin to solve for East/North/Up coordinates, formatted as a string: \"X Y Z\" "),
+ elevationMaskOption('l',"elevation-mask","Elevation mask (degrees)."),
+ searchNearOption('x',"no-closest-ephemeris","Allow ephemeris use outside of fit interval."),
+ smootherOption('c',"no-carrier-smoothing","Do NOT use carrier phase smoothing."),
+ logfileOption('g',"logfile","Write logfile to this file." ),
+ rateOption('r',"rate","Observation interval (default=30s or Rinex Header specification",false),
+ hasBCEstore(false)
+ {
+ obsOption.setMaxCount(1);
+ navOption.setMaxCount(1);
+ metOption.setMaxCount(1);
+ spsOption.setMaxCount(1);
+ ppsOption.setMaxCount(1);
+ searchNearOption.setMaxCount(1);
+ elevationMaskOption.setMaxCount(1);
+ rateOption.setMaxCount(1);
+
+ enuOption.setMaxCount(1);
+ timeFormatOption.setMaxCount(1);
+ ionoOption.setMaxCount(1);
+ smootherOption.setMaxCount(1);
+ logfileOption.setMaxCount(1);
+
+ gotMet = false;
+ spsSolution = false;
+ ppsSolution = false;
+ aprioriPositionDefined = false;
+ transformENU = false;
+ removeIonosphere = true;
+ searchNear = false;
+ useSmoother = true;
+ logfileOn = false;
+
+ elevationMask = 0;
+
+ logFileName = obsFileName = metFileName = "";
+ }
+
+
+bool RINEXPVTSolution::initialize(int argc, char *argv[])
+ throw()
+ {
+ if(!BasicFramework::initialize(argc, argv))
+ return false;
+
+ obsFileName = obsOption.getValue().front();
+
+ if(metOption.getCount())
+ {
+ gotMet = true;
+ metFileName = metOption.getValue().front();
+ }
+
+ spsSolution = (spsOption.getCount()>0);
+ ppsSolution = (ppsOption.getCount()>0);
+
+ if (enuOption.getCount())
+ {
+ double x, y, z;
+ sscanf(enuOption.getValue().front().c_str(),"%lf %lf %lf",
+ &x, &y, &z);
+ enuOrigin=Triple(x,y,z);
+ double mag = enuOrigin.mag();
+ upVector = Triple( enuOrigin[0] / mag, enuOrigin[1]/mag, enuOrigin[2]/mag);
+ Triple poleVector(0,0,1.);
+ if (enuOrigin[2]<0) poleVector[2]=-1.;
+ eastVector = upVector.cross(poleVector);
+ northVector = upVector.cross(eastVector);
+
+ transformENU = true;
+
+ }
+
+ if (timeFormatOption.getCount()>0)
+ {
+ epochFormat = timeFormatOption.getValue().front();
+ }
+ else
+ epochFormat = string("%Y %m %d %02H %02M %02S");
+
+ if (elevationMaskOption.getCount()>0)
+ {
+ elevationMask =
+ StringUtils::asFloat(elevationMaskOption.getValue().front());
+ }
+
+ searchNear = (searchNearOption.getCount()>0);
+ removeIonosphere = (ionoOption.getCount()==0);
+ useSmoother = (smootherOption.getCount()==0);
+
+ if (logfileOption.getCount()>0)
+ {
+ logFileName = StringUtils::asString(logfileOption.getValue().front());
+ logStream.open( logFileName.c_str() );
+ if (logStream.is_open())
+ {
+ logfileOn = true;
+ logStream << "! rinexpvt log file" << endl;
+ DayTime nowTime;
+ logStream << "! Executed at: " << nowTime.printf(epochFormat) << endl;
+ logStream << "! Obs file name: " << obsFileName << endl;
+ logStream << "! Met file name: ";
+ if (gotMet) logStream << metFileName << endl;
+ else logStream << "none" << endl;
+ logStream << "! ENU Transform :";
+ if (!transformENU) logStream << " No " << endl;
+ else
+ {
+ logStream << "Yes. Reference Position (m) = ";
+ logStream.setf(ios_base::fixed, ios_base::floatfield);
+ logStream.width(12);
+ logStream.precision(3);
+ logStream << enuOrigin.theArray[0] << ", "
+ << enuOrigin.theArray[1] << ", "
+ << enuOrigin.theArray[2] << endl;
+ logStream.setf(ios_base::fmtflags(0), ios_base::floatfield); // reset to default
+ }
+ logStream << "! Search near? ";
+ if (searchNear) logStream << "yes" << endl;
+ else logStream << "no" << endl;
+ logStream << "! Remove iono? ";
+ if (removeIonosphere) logStream << "yes" << endl;
+ else logStream << "no" << endl;
+ logStream << "! Use smoother? ";
+ if (useSmoother) logStream << "yes" << endl;
+ else logStream << "no" << endl;
+
+ logStream << "! " << endl;
+ }
+ }
+
+ return true;
+ }
+
+
+void RINEXPVTSolution::process()
+{
+ IonoModel spsIonoCorr;
+
+ // Read nav file and store unique list of ephemeredes
+ if (navOption.getCount()>0)
+ {
+ RinexNavStream rnffs(navOption.getValue().front().c_str());
+ RinexNavData rne;
+ RinexNavHeader hdr;
+ rnffs >> hdr;
+ spsIonoCorr = IonoModel(hdr.ionAlpha, hdr.ionBeta);
+ while (rnffs >> rne) bcestore.addEphemeris(rne);
+ if (searchNear) bcestore.SearchNear();
+ virtualEphStore = &bcestore;
+ hasBCEstore = true;
+ if (logfileOn)
+ {
+ logStream << "! Rinex nav file : " << navOption.getValue().front() << endl;
+ }
+ }
+
+ //
+ if (peOption.getCount()>0)
+ {
+ for (int i=0; i<peOption.getCount(); i++)
+ {
+ sp3store.loadFile(peOption.getValue()[i].c_str());
+ if (logfileOn)
+ {
+ logStream << "! Precise ephemeris file : " << peOption.getValue()[i] << endl;
+ }
+ }
+ virtualEphStore = &sp3store;
+ }
+
+
+ // If provided, open and store met file into a linked list.
+ list<RinexMetData> rml;
+ if (metFileName != "")
+ {
+ RinexMetStream rms(metFileName.c_str());
+ RinexMetHeader rmh;
+ rms >> rmh;
+
+ RinexMetData rmd;
+ while (rms >> rmd) rml.push_back(rmd);
+ }
+
+ // Open and read the observation file one epoch at a time.
+ // For each epoch, compute and print a position solution
+ RinexObsStream roffs(obsFileName.c_str());
+ roffs.exceptions(ios::failbit);
+
+ RinexObsHeader roh;
+ RinexObsData rod;
+
+ roffs >> roh;
+
+ if ((!aprioriPositionDefined) && (roh.valid & RinexObsHeader::antennaPositionValid) )
+ {
+ aprioriPosition = roh.antennaPosition;
+ aprioriPositionDefined = true;
+ }
+
+ double obsInterval = 30.0;
+ bool intervalDefined = false;
+ if (roh.valid & RinexObsHeader::intervalValid)
+ {
+ obsInterval = roh.interval;
+ intervalDefined = true;
+ }
+
+ if (rateOption.getCount()>0)
+ {
+ obsInterval =
+ StringUtils::asFloat(rateOption.getValue().front());
+ if (logfileOn)
+ {
+ logStream << "! Observation Interval set to " << obsInterval << "s" << endl;
+ }
+ }
+
+ // Determine if we can have access to dual frequency measurements.
+ bool p1Found(false), p2Found(false), caFound(false);
+ std::vector<RinexObsHeader::RinexObsType>::iterator i;
+ for (i = roh.obsTypeList.begin(); i != roh.obsTypeList.end(); i++)
+ {
+ if ((*i)== RinexObsHeader::P1) p1Found = true;
+ if ((*i)== RinexObsHeader::P2) p2Found = true;
+ if ((*i)== RinexObsHeader::C1) caFound = true;
+ }
+
+ if ( !p1Found || !p2Found )
+ spsSolution = true;
+
+ if ((spsOption) && !caFound)
+ {
+ // Should probably use a throw here
+ cerr << "RINEX header claims CA observations cannot be found." << endl;
+ exit(-1);
+ }
+
+ // Tweaking the PRSolution object
+ prSolver.RMSLimit = 400;
+ //prSolver.Debug = true;
+
+ // Engage default weather model. Start weather data list at the beginning.
+ ggTropModel.setWeather(20., 1000., 50.);
+ list<RinexMetData>::iterator mi=rml.begin();
+
+ while (roffs >> rod)
+ {
+ double T, P, H;
+
+ // Find a weather point.
+ while ( (gotMet) &&
+ (!rml.empty()) &&
+ (mi != rml.end()) &&
+ ((*mi).time < rod.time) )
+ {
+ ggTropModel.setWeather((*mi).data[RinexMetHeader::TD],
+ (*mi).data[RinexMetHeader::PR],
+ (*mi).data[RinexMetHeader::HR]);
+ mi++;
+ }
+
+
+ // Apply editing criteria
+ if (rod.epochFlag == 0 || rod.epochFlag == 1) // Begin usable data
+ {
+ vector<SatID> satVec;
+ vector<double> rangeVec;
+ Xvt svpos;
+ double ionocorr;
+
+ try
+ {
+ RinexObsData::RinexSatMap::const_iterator it;
+ for (it = rod.obs.begin(); it!= rod.obs.end(); it++)
+ {
+ RinexObsData::RinexObsTypeMap otmap = (*it).second;
+
+ svpos = virtualEphStore->getSatXvt((*it).first,rod.time);
+ double elevation = aprioriPosition.elvAngle(svpos.x);
+ double azimuth = aprioriPosition.azAngle(svpos.x);
+
+ bool healthy=true;
+ if (hasBCEstore)
+ {
+ if (bcestore.getSatHealth((*it).first,rod.time)!=0)
+ healthy=false;
+ }
+
+ // Editing criteria
+ if ( (elevation >= elevationMask) &&
+ (healthy) )
+ {
+
+ if ((spsSolution) && (!ppsSolution))
+ {
+ RinexObsData::RinexObsTypeMap::const_iterator itCA =
+ otmap.find(RinexObsHeader::C1);
+ RinexObsData::RinexObsTypeMap::const_iterator itL1 =
+ otmap.find(RinexObsHeader::L1);
+
+ ionocorr = 0;
+
+ if ((aprioriPositionDefined) && (removeIonosphere))
+ ionocorr = spsIonoCorr.getCorrection(rod.time,
+ aprioriPosition,
+ elevation, azimuth);
+ satVec.push_back((*it).first);
+ double range = (*itCA).second.data-ionocorr;
+
+ if ((useSmoother) && (itL1 != otmap.end()))
+ {
+ double phase = ((*itL1).second.data)*C_GPS_M / L1_FREQ
+ + ionocorr;
+ range = carrierPhaseSmooth( (*it).first, range, phase,
+ rod.time, 300.0, obsInterval);
+ }
+
+ rangeVec.push_back(range);
+ }
+ else
+ {
+ ionocorr = 0;
+
+ RinexObsData::RinexObsTypeMap::const_iterator itP1, itP2, itL1, itL2;
+ itP1 = otmap.find(RinexObsHeader::P1);
+ itP2 = otmap.find(RinexObsHeader::P2);
+ itL1 = otmap.find(RinexObsHeader::L1);
+ itL2 = otmap.find(RinexObsHeader::L2);
+
+ if ((removeIonosphere) &&
+ (itP1!=otmap.end()) && (itP2!=otmap.end()))
+ ionocorr = 1./(1.-gamma)*((*itP1).second.data-(*itP2).second.data);
+
+ if (fabs(ionocorr) < maxIonoDelay)
+ {
+ satVec.push_back((*it).first);
+ double range = (*itP1).second.data-ionocorr;
+
+ if ( (useSmoother) && (itL1!=otmap.end()) && (itL2!=otmap.end()) )
+ {
+ double ionocorrPhase = -1./(1.-gamma)*((*itL1).second.data*C_GPS_M / L1_FREQ-(*itL2).second.data*C_GPS_M / L2_FREQ);
+ double phase = (*itL1).second.data * C_GPS_M / L1_FREQ - ionocorrPhase;
+ range = carrierPhaseSmooth( (*it).first, range, phase,
+ rod.time, 86400.0, obsInterval);
+ }
+ rangeVec.push_back(range);
+ }
+
+ }
+ } // If above elevation mask
+
+ }
+
+ // Log file output
+ // epoch time #Obs : <list of PRN IDs> : #GoodSVs [V}NV]
+ if (logfileOn)
+ {
+ logStream << rod.time.printf(epochFormat) << " ";
+ logStream << rod.obs.size() << " ! ";
+ RinexObsData::RinexSatMap::const_iterator it;
+ vector<SatID>::const_iterator itSol;
+ itSol = satVec.begin();
+ SatID solID = (SatID) (*itSol);
+ for (it = rod.obs.begin(); it!= rod.obs.end(); it++)
+ {
+ const SatID& satID = (SatID) (*it).first;
+ // cerr << "satID, solID : " << satID << ", " << solID << endl;
+ if (satID.id==solID.id)
+ {
+ logStream << satID.id << " ";
+ itSol++;
+ solID = (SatID) (*itSol);
+ // cerr << "incrementing itSol." << endl;
+ }
+ else
+ {
+ logStream << "(" << satID.id << ") ";
+ }
+ }
+ logStream << "! ";
+ if (prSolver.isValid())
+ logStream << prSolver.Nsvs << " " << "V" << endl;
+ else
+ logStream << "0 NV" << endl;
+ }
+
+ prSolver.RAIMCompute(rod.time,satVec,rangeVec, *virtualEphStore, \
+ &ggTropModel);
+ }
+ catch (Exception e) {
+ cerr << e << endl;
+ }
+ catch (...) {
+ cerr << "Unknown exception occured." << endl;
+ }
+
+ if (prSolver.isValid())
+ {
+ // Output epoch tag
+ cout << rod.time.printf(epochFormat) << " ";
+
+ if (!transformENU)
+ {
+ cout << setprecision(12) << prSolver.Solution[0] << " " ;
+ cout << prSolver.Solution[1] << " " ;
+ cout << prSolver.Solution[2] << " " ;
+ cout << prSolver.Solution[3];
+ cout << endl ;
+ }
+ else
+ {
+ Triple x(prSolver.Solution[0] - enuOrigin[0],
+ prSolver.Solution[1] - enuOrigin[1],
+ prSolver.Solution[2] - enuOrigin[2]);
+
+ cout << setprecision(12) << x.dot(eastVector) << " " ;
+ cout << x.dot(northVector) << " " ;
+ cout << x.dot(upVector) << " ";
+ cout << prSolver.Solution[3];
+
+ cout << endl;
+ }
+
+ if (!aprioriPositionDefined)
+ aprioriPosition = Triple(prSolver.Solution[0],
+ prSolver.Solution[1],
+ prSolver.Solution[2]);
+ }
+
+ } // End usable data
+
+ } // End loop through each epoch
+}
+
+const double RINEXPVTSolution::gamma = (L1_FREQ / L2_FREQ)*(L1_FREQ / L2_FREQ);
+const double RINEXPVTSolution::maxIonoDelay = 1000;
+
+int main(int argc, char *argv[])
+{
+ try
+ {
+ RINEXPVTSolution rinexpvt(argv[0]);
+
+ if(!rinexpvt.initialize(argc, argv))
+ return 0;
+
+ if(!rinexpvt.run())
+ return 1;
+
+ return 0;
+ }
+ catch(Exception& exc)
+ {
+ cout << exc << endl;
+ }
+ catch(...)
+ {
+ cout << "Caught an unknown exception." << endl;
+ }
+ return 1;
+}
+
+
+
+
+
+
diff --git a/dev/apps/positioning/rinexpvt.hpp b/dev/apps/positioning/rinexpvt.hpp
new file mode 100644
index 0000000..20c21da
--- /dev/null
+++ b/dev/apps/positioning/rinexpvt.hpp
@@ -0,0 +1,118 @@
+#ifndef RINEXPVT_HPP
+#define RINEXPVT_HPP
+
+#include <string>
+#include <cstring>
+#include <vector>
+
+#include "icd_200_constants.hpp"
+#include "RinexSatID.hpp"
+
+#include "RinexObsBase.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsData.hpp"
+#include "RinexObsStream.hpp"
+
+#include "RinexNavBase.hpp"
+#include "RinexNavHeader.hpp"
+#include "RinexNavData.hpp"
+#include "RinexNavStream.hpp"
+#include "BCEphemerisStore.hpp"
+
+#include "RinexMetBase.hpp"
+#include "RinexMetData.hpp"
+#include "RinexMetHeader.hpp"
+#include "RinexMetStream.hpp"
+#include "TropModel.hpp"
+
+#include "SP3EphemerisStore.hpp"
+
+#include "PRSolution.hpp"
+
+#include "IonoModel.hpp"
+
+#include "BasicFramework.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+class RINEXPVTSolution : public BasicFramework
+{
+public:
+
+ // Linear relation between iono delay on L1 and L2.
+ static const double gamma;
+
+ // Maximum sane value of the ionosphere delay
+ static const double maxIonoDelay;
+
+
+ RINEXPVTSolution(char *arg0);
+
+ virtual bool initialize(int argc, char *argv[]) throw();
+
+
+protected:
+ virtual void process();
+
+
+ EphemerisStore *virtualEphStore;
+ BCEphemerisStore bcestore;
+ SP3EphemerisStore sp3store;
+ PRSolution prSolver;
+ GGTropModel ggTropModel;
+
+ bool gotMet;
+ bool spsSolution;
+ bool ppsSolution;
+ bool transformENU;
+ bool removeIonosphere;
+ bool hasBCEstore;
+
+ double elevationMask;
+
+ Geodetic aprioriPosition, enuOrigin;
+ Triple eastVector, upVector, northVector;
+
+ bool aprioriPositionDefined;
+
+ string obsFileName;
+ string metFileName;
+ string logFileName;
+
+ string epochFormat;
+
+ bool searchNear;
+ bool useSmoother;
+ bool logfileOn;
+
+ CommandOptionWithAnyArg obsOption;
+ CommandOptionWithAnyArg navOption;
+ CommandOptionWithAnyArg peOption;
+ CommandOptionWithAnyArg metOption;
+ CommandOptionWithAnyArg timeFormatOption;
+ CommandOptionWithAnyArg enuOption;
+ CommandOptionWithAnyArg elevationMaskOption;
+ CommandOptionWithAnyArg logfileOption;
+ CommandOptionWithAnyArg rateOption;
+
+ CommandOptionNoArg spsOption;
+ CommandOptionNoArg ppsOption;
+ CommandOptionNoArg ionoOption;
+ CommandOptionNoArg searchNearOption;
+ CommandOptionNoArg smootherOption;
+
+ ofstream logStream;
+};
+
+#endif
+
+
+
+
+
+
+
+
+
+
diff --git a/dev/apps/qa/Expression.cpp b/dev/apps/qa/Expression.cpp
new file mode 100644
index 0000000..d177622
--- /dev/null
+++ b/dev/apps/qa/Expression.cpp
@@ -0,0 +1,459 @@
+#pragma ident "$Id$"
+
+
+/**
+ * @file Expression.cpp
+ * Provides ability to resolve mathematical functions at runtime.
+ * Class definitions.
+ */
+
+#include <sstream>
+#include <map>
+#include <list>
+#include <vector>
+#include <string>
+#include <ctype.h>
+#include <math.h>
+
+#include "StringUtils.hpp"
+#include "Expression.hpp"
+
+namespace gpstk
+{
+
+ double Expression::BinOpNode::getValue()
+ throw (gpstk::Expression::ExpressionException)
+ {
+
+ // To get the value, compute the value of the left and
+ // right operands, and combine them with the operator.
+ double leftVal = left->getValue();
+ double rightVal = right->getValue();
+
+ if (op=="+") return leftVal + rightVal;
+ if (op=="-") return leftVal - rightVal;
+ if (op=="*") return leftVal * rightVal;
+ if (op=="//") return leftVal / rightVal;
+
+ }
+
+ double Expression::FuncOpNode::getValue()
+ throw (gpstk::Expression::ExpressionException)
+ {
+ // To get the value, compute the value of the right first
+ double rightVal = right->getValue();
+
+ if (op=="cos") return cos(rightVal);
+ if (op=="sin") return sin(rightVal);
+ if (op=="tan") return tan(rightVal);
+ if (op=="acos") return acos(rightVal);
+ if (op=="asin") return asin(rightVal);
+ if (op=="atan") return atan(rightVal);
+ if (op=="exp") return exp(rightVal);
+ if (op=="abs") return fabs(rightVal);
+ if (op=="sqrt") return sqrt(rightVal);
+ if (op=="log") return log(rightVal);
+ if (op=="log10") return log10(rightVal);
+// else THROW exception
+ }
+
+ std::ostream& Expression::FuncOpNode::print(std::ostream& ostr) {
+ ostr << op;
+ right->print(ostr);
+
+ return ostr;
+ }
+
+ std::ostream& Expression::BinOpNode::print(std::ostream& ostr) {
+ ostr << "(";
+ left->print(ostr);
+ ostr << op;
+ right->print(ostr);
+ ostr << ")";
+
+ return ostr;
+ }
+
+ void Expression::VarNode::setValue(double newValue)
+ {
+ value=newValue;
+ hasValue=true;
+ };
+
+ double Expression::VarNode::getValue(void)
+ throw (gpstk::Expression::ExpressionException)
+ {
+ if (!hasValue)
+ {
+ Expression::ExpressionException
+ ee("Variable " + name + " undefined.");
+ GPSTK_THROW(ee);
+ }
+
+ return value;
+ }
+
+ Expression::Token::Token(std::string iValue, int iPriority,
+ bool isOp=false)
+ :
+ value(iValue), priority(iPriority), used(false), resolved(false),
+ expNode(0), isOperator(isOp)
+ {
+ }
+
+ void Expression::Token::print(std::ostream& ostr)
+ {
+ ostr <<" Value '" << value;
+ ostr << "', operation priority " << priority << ", ";
+
+ if (isOperator) ostr << "operator";
+ else ostr << "not operator";
+
+ ostr << ", ";
+
+ if (used) ostr << "used,";
+ else ostr << "not used,";
+
+ if (resolved) ostr << "resolved";
+ else ostr << "not resolved ";
+
+ return;
+ }
+
+
+ Expression::Expression(const std::string& istr)
+ : root(0)
+ {
+ operatorMap["+"]=1;
+ operatorMap["-"]=1;
+ operatorMap["*"]=2;
+ operatorMap["/"]=2;
+ operatorMap["^"]=3;
+ operatorMap["cos"]=4;
+ operatorMap["sin"]=4;
+ operatorMap["tan"]=4;
+ operatorMap["acos"]=4;
+ operatorMap["asin"]=4;
+ operatorMap["atan"]=4;
+ operatorMap["exp"]=4;
+ operatorMap["abs"]=4;
+ operatorMap["sqrt"]=4;
+ operatorMap["log"]=4;
+ operatorMap["log10"]=4;
+
+ argumentPatternMap["+"]="RL";
+ argumentPatternMap["-"]="RL";
+ argumentPatternMap["*"]="RL";
+ argumentPatternMap["/"]="RL";
+ argumentPatternMap["^"]="RL";
+ argumentPatternMap["cos"]="R";
+ argumentPatternMap["sin"]="R";
+ argumentPatternMap["tan"]="R";
+ argumentPatternMap["acos"]="R";
+ argumentPatternMap["asin"]="R";
+ argumentPatternMap["atan"]="R";
+ argumentPatternMap["exp"]="R";
+ argumentPatternMap["abs"]="R";
+ argumentPatternMap["sqrt"]="R";
+ argumentPatternMap["log"]="R";
+ argumentPatternMap["log10"]="R";
+
+ tokenize(istr);
+ buildExpressionTree();
+ }
+
+ Expression::~Expression(void)
+ {
+ std::list<ExpNode *>::iterator i;
+ for (i=eList.begin(); i!=eList.end(); i++)
+ delete (*i);
+ }
+
+ void Expression::tokenize(const std::string& istr)
+ {
+ using namespace std;
+
+ // Remove spaces and parenthesis from the input string
+ // Must store informatin from parenthesis in another list
+ stringstream ss(istr);
+ string str;
+ char tempc;
+ vector<int> baseOrder;
+ int currentOrder = 0;
+
+ while (ss >> skipws >> tempc)
+ {
+ bool strip=false;
+
+ if (tempc == '(')
+ {
+ currentOrder+=10;
+ strip=true;
+ }
+
+ if (tempc == ')')
+ {
+ currentOrder-=10;
+ strip=true;
+ }
+
+ if (!strip)
+ {
+ baseOrder.push_back(currentOrder);
+ str.append(&tempc,1);
+ }
+ }
+
+ map<string, int>::iterator it;
+ list<int> breaks;
+ breaks.push_back(0);
+
+ // Break the expression into candidates for tokens. First known
+ // operators and functions
+ // are found and marked with as a "break" in the the string.
+ // Note the location and compute the order of operation of each.
+ // key is location in string. value is ord. of op.
+ map<int,int> breakPriority;
+
+ // Note when the breaks are due to an operator or to an operand.
+ // Each break can become a token but not all othem do.
+ // Key is location in the string, value is boolean, true for operators and functions.
+ map<int, bool> breakType;
+
+ for (it=operatorMap.begin(); it!=operatorMap.end(); it++)
+ {
+ int position = 0;
+ while ((position=str.find(it->first,position+1))!=string::npos)
+ {
+ // Account for scientific notation
+ bool sciNotation=false;
+ if ((it->first=="+") || (it->first=="-"))
+ {
+ sciNotation =
+ ( ( (str.substr(position-1,1)=="E") ||
+ (str.substr(position-1,1)=="e") ) &&
+ (isdigit(str.substr(position-2,1).c_str()[0])) &&
+ (isdigit(str.substr(position+1,1).c_str()[0])) );
+ }
+
+ if (!sciNotation)
+ {
+ breaks.push_back(position);
+ breakPriority[position] = it->second + baseOrder[position];
+ breakType[position] = true;
+
+ int operandPos = position+(it->first.size());
+ breaks.push_back(operandPos);
+ breakPriority[operandPos] = baseOrder[operandPos];
+ breakType[operandPos] = false;
+ }
+ }
+
+ }
+ breaks.push_back(str.size());
+
+ // Sort the breaks into a list
+ // Please note that sorting a linked list is expensive compared to
+ // sorting a vector or map, as the search cost is high (lists are not sorted).
+ // This should be revisited IF large expressions are handled by the GPSTk.
+ breaks.sort();
+
+ list<string> tokens;
+ list<int>::iterator ls = breaks.begin(), rs = ls; // used to identify token string
+
+ for (rs++ ;rs!=breaks.end(); rs++, ls++)
+ {
+ if (*rs!=*ls) // If not two operators in a row
+ {
+ string thisToken = str.substr(*ls,(*rs)-(*ls));
+ int thisOop = breakPriority[*ls];
+ bool isOp = breakType[*ls];
+
+ // Create the token
+ Token tok(thisToken,thisOop, isOp);
+
+ if ( tok.getOperator() )
+ tok.setArgumentPattern( argumentPatternMap[thisToken] );
+
+ // Create an expression node, save it, and link it to the token
+ ExpNode *expNode;
+
+
+ if (!isOp)
+ {
+ char testChar = thisToken.c_str()[0];
+ if (isalpha(testChar))
+ expNode = new VarNode(thisToken);
+ else
+ expNode = new ConstNode(StringUtils::asDouble(thisToken));
+ eList.push_back(expNode);
+ tok.setNode(expNode);
+ tok.setResolved(true);
+ }
+
+ // Now that the token has the best possible state, save it
+ tList.push_back(tok);
+ }
+ }
+ } // end tokenize function
+
+
+ int Expression::countResolvedTokens(void)
+ {
+ using namespace std;
+
+ list<Token>::iterator itt;
+
+ // How many have already been processed? Are we done yet?
+ int totalResolved=0;
+ for (itt = tList.begin(); itt!=tList.end(); itt++)
+ {
+ if (itt->getResolved()) totalResolved++;
+ }
+ return totalResolved;
+ }
+
+
+ void Expression::buildExpressionTree(void)
+ {
+ using namespace std;
+
+ list<Token>::iterator itt, targetToken;
+
+ if ((tList.size()==1)&&(tList.begin()->getResolved()))
+ {
+ root = tList.begin()->getNode();
+ return;
+ }
+
+ int totalResolved = countResolvedTokens();
+
+ while (totalResolved<tList.size())
+ {
+
+ //
+ // Step through tokens to find the value for the highest priority
+ // that doesn not yet have an expression node ExpNode assigned to it.
+ // A subtle but important sideeffect of this traversal is taht
+ // operators with the same priority get evaluated from right to
+ // left.
+ itt=tList.begin();
+ int highestP = -1;
+
+ for (itt = tList.begin(); itt !=tList.end(); itt++)
+ {
+ if ( itt->getOperator() && !itt->getResolved() )
+ {
+ if (itt->getPriority()>highestP)
+ {
+ targetToken = itt;
+ highestP=itt->getPriority();
+ }
+ }
+ }
+
+ if ( targetToken->getOperator() )
+ {
+ // Find the arg(s) for this operator.
+ list<Token>::iterator leftArg=targetToken, rightArg=leftArg;
+
+ stringstream argstr(targetToken->getArgumentPattern());
+ char thisArg;
+ bool searching;
+
+ while (argstr >> thisArg)
+ {
+ switch (thisArg) {
+ case 'R':
+ searching = true;
+
+ while (searching)
+ {
+ if (rightArg==tList.end())// TODO throw exception
+ cout << "Mistake, no right arg for " << targetToken->getValue() << endl;
+ else
+ rightArg++;
+
+ searching = (rightArg->getUsed());
+ }
+
+ break;
+
+ case 'L':
+
+ // Resolve left arg
+ searching=true;
+
+ while (searching)
+ {
+ if (leftArg == tList.begin()) // TODO throw
+ cout << "Mistake - no right argument for operator?!" << endl;
+ else
+ leftArg--;
+
+ searching = (leftArg->getUsed());
+ }
+
+ break;
+ } // end of argumentPattern cases
+ } // done processing argument list
+
+
+ if (targetToken->getArgumentPattern()=="RL")
+ {
+ ExpNode *opNode =
+ new BinOpNode(targetToken->getValue(),leftArg->getNode(), rightArg->getNode());
+ targetToken->setNode(opNode);
+ eList.push_back(opNode);
+
+ targetToken->setResolved(true);
+ root = targetToken->getNode();
+
+ leftArg->setUsed();
+ rightArg->setUsed();
+ }
+
+ if (targetToken->getArgumentPattern()=="R")
+ {
+ ExpNode *opNode =
+ new FuncOpNode(targetToken->getValue(),rightArg->getNode());
+ targetToken->setNode(opNode);
+
+ eList.push_back(opNode);
+
+ targetToken->setResolved(true);
+ root = targetToken->getNode();
+
+ rightArg->setUsed();
+ }
+
+ } // If this is an operator
+
+ // Are we done yet?
+ totalResolved = countResolvedTokens();
+ }
+
+ } // end buildExpressionTree
+
+
+ void Expression::set(const std::string name, double value)
+ {
+ using namespace std;
+
+ std::list<ExpNode *>::iterator i;
+ int t;
+
+ for (t=0, i=eList.begin(); i!=eList.end(); t++, i++)
+ {
+ VarNode *vnode = dynamic_cast<VarNode *> (*i);
+ if (vnode!=0)
+ {
+ if (vnode->name == name)
+ vnode->setValue(value);
+ }
+ }
+ }
+
+
+} // end namespace gpstk
+
diff --git a/dev/apps/qa/Expression.hpp b/dev/apps/qa/Expression.hpp
new file mode 100644
index 0000000..2c9171c
--- /dev/null
+++ b/dev/apps/qa/Expression.hpp
@@ -0,0 +1,245 @@
+#pragma ident "$Id$"
+
+
+/**
+ * @file Expression.hpp
+ * Provides ability to resolve mathematical functions at runtime.
+ * Class declarations.
+ */
+
+#ifndef EXPRESSION__HPP
+#define EXPRESSION__HPP
+
+#include <iostream>
+#include <string>
+#include <list>
+#include <map>
+
+#include "Exception.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup math */
+ //@{
+
+ /**
+ * This class provides the ability to resolve general mathematical
+ * expressions at run time. The goal is to allow the end user the
+ * ability to specify arbitrary observation transformations.
+ *
+ * The expression is input as a string in the constructor of the class.
+ * The expression is first broken up into tokens. Those tokens are
+ * prioritized according to operator precedence and the number of
+ * parentheses surrounding them. This list of prioritized combinations
+ * is then converted into a 'classic" binary expression tree. All this
+ * happens during construction, hidden to the user.
+ *
+ * The design of the expression node classes is based on
+ * material by David Eck and Scotty Orr found at
+ *
+ * http://math.hws.edu/orr/s04/cpsc225/btrees/index.html
+ *
+ * After the expression is instantiated, it can be evaluated. If the
+ * expression contains variables, those must be set using the set
+ * operation for the expression to successfully evaluate.
+ *
+ */
+
+ class Expression
+ {
+ public:
+
+ NEW_EXCEPTION_CLASS(ExpressionException, gpstk::Exception);
+
+ // Represents a node of any type in an expression tree.
+ class ExpNode {
+ public:
+
+ virtual ~ExpNode() {}
+
+ // Compute and return the numerical value of this node
+ virtual double getValue()
+ throw (gpstk::Expression::ExpressionException) =0;
+
+
+ // Write out this node to a stream
+ virtual std::ostream& print(std::ostream& ostr) =0;
+
+ }; // end class ExpNode
+
+
+ // Represents a node that holds a number.
+ class ConstNode : public ExpNode {
+ public:
+ // Constructor. Create a node to hold val.
+ ConstNode( double theNum ): number(theNum) {}
+
+ double getValue() throw (gpstk::Expression::ExpressionException)
+ { return number; }
+
+ std::ostream& print(std::ostream& ostr) {
+ ostr << number;
+ return ostr;
+ }
+
+ double number; // The number in the node.
+ }; // end class ConstNode
+
+ // Represents a node that holds a variable
+ class VarNode : public ExpNode {
+ public:
+ // Constructor.
+
+ VarNode(std::string theName ): name(theName), hasValue(false)
+ {}
+
+ double getValue() throw (gpstk::Expression::ExpressionException);
+
+ std::ostream& print(std::ostream& ostr) {
+ ostr << name;
+ return ostr;
+ }
+
+ std::string name; // The name of the varaible
+ bool hasValue;
+
+ void setValue(double newValue);
+
+ private:
+ double value;
+
+
+ }; // end class VarNode
+
+ // Represents a node that holds an operator.
+ class BinOpNode : public ExpNode {
+ public:
+
+ // Constructor. Create a node to hold the given data.
+ BinOpNode( const std::string& theOp, ExpNode *theLeft, ExpNode *theRight ):
+ op(theOp), left(theLeft), right(theRight){}
+
+ double getValue()
+ throw (gpstk::Expression::ExpressionException);
+
+ std::ostream& print(std::ostream& ostr);
+
+ std::string op; // The operator.
+ ExpNode *left; // The left operand.
+ ExpNode *right; // The right operand.
+
+ }; // end class BinOpNode
+
+ // Represents a node that holds a function of a signle variable
+ class FuncOpNode : public ExpNode {
+ public:
+
+ // Constructor. Create a node to hold the given data.
+ FuncOpNode( const std::string& theOp, ExpNode *theRight ):
+ op(theOp), right(theRight){}
+
+ double getValue()
+ throw (gpstk::Expression::ExpressionException);
+
+ std::ostream& print(std::ostream& ostr);
+
+ std::string op; // The operator.
+ ExpNode *right; // The right operand.
+
+ }; // end class FuncOpNode
+
+ // This class is used internally, during construction of an Expression,
+ // to generate ExpNodes.
+ class Token
+ {
+ public:
+
+ Token(std::string value, int relPriority,
+ bool isOperator);
+
+ std::string getValue(void) {return value;}
+
+ int getPriority(void) {return priority;}
+
+ void setUsed(void) {used=true;}
+ bool getUsed(void) {return used;}
+
+ ExpNode * getNode(void) {return expNode;}
+ void setNode(ExpNode *newNode) {expNode = newNode; }
+
+ void setResolved(bool value) {resolved=value;}
+ bool getResolved(void) {return resolved;}
+
+ bool getOperator(void) {return isOperator;}
+ void setOperator(bool value) {isOperator = value;}
+
+ std::string getArgumentPattern(void) {return argumentPattern;}
+ void setArgumentPattern(std::string value) {argumentPattern = value;}
+
+ void print(std::ostream& ostr);
+
+ private:
+ std::string value;
+ bool isOperator;
+ bool resolved;
+
+ int priority;
+ ExpNode *expNode;
+ bool used; // has the node of this token been used (linked to?)
+
+ std::string argumentPattern;
+ };
+
+ /**
+ * Constructor.
+ * @param str Expression to be evaluated.
+ */
+ Expression(const std::string& str);
+
+ /// Destructor
+ ~Expression(void);
+
+ /**
+ * Sets a variable in the expression to the input value.
+ * All instances of the variable are set to this value.
+ * This is required before an expression can be evaluated, if
+ * the expression contains variables.
+ * @param name Name of the variable to set
+ * @param name Value to set the variable to.
+ */
+ void set(const std::string name, double value);
+ void set(const char* name, double value)
+ { set (std::string(name),value); }
+
+ /**
+ * Returns the numerical value of the expression. Note that
+ * if the expression contains variables, those variables must
+ * be set.
+ */
+ double evaluate(void) throw (gpstk::Expression::ExpressionException)
+ { return root->getValue(); }
+
+ /**
+ * Writes the expression out to a stream.
+ */
+ void print(std::ostream& ostr) {root->print(ostr);}
+
+ private:
+
+ void tokenize(const std::string& str);
+ void buildExpressionTree(void);
+
+ int countResolvedTokens(void);
+
+ std::map<std::string,int> operatorMap;
+ std::map<std::string,std::string> argumentPatternMap;
+
+ std::list<Token> tList;
+ std::list<ExpNode *> eList;
+ ExpNode *root;
+ }; // End class expression
+
+
+} // End namespace gpstk
+
+#endif // EXPRESSION_HPP
diff --git a/dev/apps/qa/Jamfile b/dev/apps/qa/Jamfile
new file mode 100644
index 0000000..4bbf767
--- /dev/null
+++ b/dev/apps/qa/Jamfile
@@ -0,0 +1,8 @@
+SubDir TOP apps qa ;
+
+GPSLinkLibraries obsrip testexpr : gpstk ;
+BonkForte ; # bleah.
+
+GPSMain obsrip : obsrip.cpp LinearCombination.cpp ;
+GPSMain testexpr : testExpression.cpp Expression.cpp ;
+
diff --git a/dev/apps/qa/LinearCombination.cpp b/dev/apps/qa/LinearCombination.cpp
new file mode 100644
index 0000000..83cf90b
--- /dev/null
+++ b/dev/apps/qa/LinearCombination.cpp
@@ -0,0 +1,94 @@
+#pragma ident "$Id$"
+
+
+/**
+ * @file LinearCombination.cpp
+ * Interprets an expression of linear combinations of RINEX observables.
+ * Class definitions.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <iomanip>
+#include <fstream>
+#include <string>
+#include <map>
+
+#include "LinearCombination.hpp"
+
+namespace gpstk
+{
+
+ LinearCombination::LinearCombination(const std::string& expr)
+ {
+ }
+
+ LinearCombination::~LinearCombination(void)
+ {
+ }
+
+ EpochCombination LinearCombination::evaluate(const RinexObsData& rod)
+ {
+ EpochCombination result;
+
+ RinexObsData::RinexSatMap::const_iterator it;
+ for (it = rod.obs.begin(); it!= rod.obs.end(); it++)
+ {
+ RinexObsData::RinexObsTypeMap otmap = it->second;
+ RinexObsData::RinexObsTypeMap::const_iterator
+ itObs;
+
+ std::map<RinexObsHeader::RinexObsType, double>::iterator itCoeff;
+ double sum=0;
+
+ for (itCoeff=coeffList.begin(); itCoeff!=coeffList.end(); itCoeff++)
+ {
+ bool valid= ((itObs=otmap.find(itCoeff->first))!=otmap.end());
+ sum += itObs->second.data * itCoeff->second;
+ }
+
+ result[it->first] = sum;
+
+ }
+
+
+ return (result);
+ }
+
+
+} // namespace gpstk
+
diff --git a/dev/apps/qa/LinearCombination.hpp b/dev/apps/qa/LinearCombination.hpp
new file mode 100644
index 0000000..d0e2f49
--- /dev/null
+++ b/dev/apps/qa/LinearCombination.hpp
@@ -0,0 +1,100 @@
+#pragma ident "$Id$"
+
+
+/**
+ * @file LinearCombination.hpp
+ * Interprets an expression of linear combinations of RINEX observables.
+ * Class declarations.
+ */
+
+#ifndef GPSTK_LINEAR_COMBINATION_HPP
+#define GPSTK_LINEAR_COMBINATION_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <ostream>
+#include <fstream>
+#include <string>
+#include <map>
+
+#include "RinexObsData.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsStream.hpp"
+#include "Exception.hpp"
+#include "DayTime.hpp"
+
+namespace gpstk
+{
+ /** @defgroup MeasurementQuality */
+ //@{
+
+ typedef std::map<SatID,double> EpochCombination;
+
+ class LinearCombination
+ {
+ public:
+
+ /// Constructor
+ LinearCombination(const std::string& expression );
+
+ /// Destructor
+ virtual ~LinearCombination(void);
+
+ /**
+ * Applies the linear combination to an epoch's worth of observations.
+ */
+ EpochCombination evaluate(const RinexObsData& rod);
+
+ void addCoefficient(RinexObsHeader::RinexObsType index,
+ double coefficient)
+ {
+ coeffList[index]=coefficient;
+ };
+
+ protected:
+
+ private:
+
+ std::map<RinexObsHeader::RinexObsType, double> coeffList;
+
+ }; // end class LinearCombination
+
+ //@}
+
+} // end namespace gpstk
+
+#endif // GPSTK_LINEAR_COMBINATION_HPP
diff --git a/dev/apps/qa/Makefile.am b/dev/apps/qa/Makefile.am
new file mode 100644
index 0000000..38341eb
--- /dev/null
+++ b/dev/apps/qa/Makefile.am
@@ -0,0 +1,8 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../src
+LDADD = ../../src/libgpstk.la
+
+bin_PROGRAMS = obsrip testexpr
+
+obsrip_SOURCES = obsrip.cpp LinearCombination.cpp
+testexpr_SOURCES = testExpression.cpp Expression.cpp
diff --git a/dev/apps/qa/obsrip.cpp b/dev/apps/qa/obsrip.cpp
new file mode 100644
index 0000000..b63d8ec
--- /dev/null
+++ b/dev/apps/qa/obsrip.cpp
@@ -0,0 +1,45 @@
+#include <iostream>
+#include "LinearCombination.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+int main(int argc, char* argv[])
+{
+ if (argc !=2)
+ {
+ cerr << "Usage: " << endl;
+ cerr << " " << argv[0] << " <RINEX obs filename> " << endl;
+ exit(-1);
+ }
+
+ RinexObsStream ros(argv[1]);
+ RinexObsData rod;
+
+ while (ros >> rod)
+ {
+
+ LinearCombination lc1("P1-P2");
+
+ lc1.addCoefficient(RinexObsHeader::P1, 1);
+ lc1.addCoefficient(RinexObsHeader::P2, -1);
+
+ EpochCombination c=lc1.evaluate(rod);
+
+ RinexObsData::RinexSatMap::const_iterator it;
+
+ for (it = rod.obs.begin(); it!= rod.obs.end(); it++)
+ {
+ RinexObsData::RinexObsTypeMap otmap;
+
+ cout << rod.time.printf("%F %g ");
+ cout << it->first << " ";
+ cout << setprecision(5) << c[it->first];
+ cout << endl;
+ }
+
+ } // Loop through observations
+
+
+ exit(0);
+}
diff --git a/dev/apps/receiver/AshtechMessage.cpp b/dev/apps/receiver/AshtechMessage.cpp
new file mode 100644
index 0000000..8b32bcf
--- /dev/null
+++ b/dev/apps/receiver/AshtechMessage.cpp
@@ -0,0 +1,434 @@
+#pragma ident "$Id$"
+
+
+/**
+ * @file AshtechMessage.cpp
+ * Containers for Ashtech data, conversions to RINEX - definitions.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <string>
+#include <iostream>
+#include <iomanip>
+#include <string.h>
+
+#include "BinUtils.hpp"
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+#include "EngEphemeris.hpp"
+#include "RinexObsHeader.hpp"
+#include "icd_200_constants.hpp"
+#include "AshtechMessage.hpp"
+
+static bool debug=false;
+
+namespace gpstk
+{
+
+ static const double CFF=C_GPS_M/OSC_FREQ;
+ static const double wl1=CFF/L1_MULT;
+ static const double wl2=CFF/L2_MULT;
+
+ AshtechMessage::AshtechMessage(const std::string& ibuff, ObsSource src,
+ ObsFormat fmt)
+ : msgSource(src), msgFormat(fmt), buffer(ibuff)
+ {
+ using namespace std;
+
+ // Determine the type of observation
+ string label=buffer.substr(0,3);
+ if (label=="MCA") msgType = MCA;
+ if (label=="MCL") msgType = MCL;
+ if (label=="MP1") msgType = MP1;
+ if (label=="MP2") msgType = MP2;
+ if (label=="MPC") msgType = MPC;
+ if (label=="PBN") msgType = PBEN;
+ if (label=="SNV") msgType = SNAV;
+ if (label=="EPB") msgType = EPB;
+ if (label=="SAL") msgType = SALM;
+ if (label=="ALB") msgType = ALB;
+ if (label=="ION") msgType = ION;
+ }
+
+ bool AshtechMessage::isObs(void) const
+ {
+ return ( (msgType==MCA) || (msgType==MCL) || (msgType==MP1) ||
+ (msgType==MP2) || (msgType==MPC) );
+ }
+
+ int AshtechMessage::getSequence(void) const
+ {
+ int result=-1;
+
+ if ((msgType == MPC) && (msgFormat == ASCII))
+ {
+ result=
+ StringUtils::asInt(StringUtils::word(buffer,1,','));
+ }
+
+ return result;
+ }
+
+ int AshtechMessage::getPRN(void) const
+ {
+ int result=-1;
+
+ if ((msgType == MPC) && (msgFormat == ASCII))
+ {
+ result=
+ StringUtils::asInt(StringUtils::word(buffer,3,','));
+ }
+
+ if (msgType==EPB)
+ {
+ result=StringUtils::asInt(buffer.substr(4,5));
+ }
+
+ return result;
+ }
+
+ int AshtechMessage::getTracker(void) const
+ {
+ int result=-1;
+
+ if ((msgType == MPC) && (msgFormat == ASCII))
+ {
+ result=
+ StringUtils::asInt(StringUtils::word(buffer,6,','));
+ }
+
+ return result;
+ }
+
+ DayTime AshtechMessage::getEpoch(const DayTime& prevTime) const
+ {
+ short oldweek = prevTime.GPSfullweek();
+ short newweek = oldweek;
+
+ double oldsow = prevTime.GPSsecond();
+ double newsow;
+
+ DayTime thisTime(prevTime);
+
+ if ((msgType == PBEN)&&(msgFormat == ASCII))
+ {
+ newsow =
+ StringUtils::asDouble(StringUtils::word(buffer,1,','));
+
+ // A test for week rollover
+ if ((newsow+6*DayTime::SEC_DAY)<oldsow)
+ newweek++;
+
+ thisTime = DayTime(newweek, newsow);
+ }
+
+ if ((msgType == MPC)&&(msgFormat == ASCII))
+ {
+ int seqDiff = getSequence() - calculateSequenceNumber(prevTime);
+ // Nominally seqDiff should be small. Check if there is a rollover
+ // between the two inputs sequences numbers.
+ while (seqDiff > (1800*50/2))
+ seqDiff -= 1800*50;
+
+ thisTime.addMilliSeconds(50 * seqDiff);
+ }
+
+ return thisTime;
+ }
+
+ float AshtechMessage::engSNR(short value, float equivalentNoiseBW)
+ {
+ const int n = 20000; // number of samples in 1 ms
+ const float m = 4.14; // magnitude of the carrier estimate;
+
+ const float d = gpstk::PI/(n*n*m*m*4.0);
+ float snr;
+
+ if (value)
+ {
+ snr = exp(((float)value)/25.0);
+ snr = snr*snr*equivalentNoiseBW*d;
+ snr = 10 * log10(snr);
+ }
+ else
+ snr = 0;
+
+ return snr;
+ }
+
+
+ RinexObsData
+ AshtechMessage::convertToRinexObsData(
+ const std::list<AshtechMessage> obsMsgs,
+ const DayTime& recentEpoch)
+ throw(gpstk::Exception)
+ {
+ RinexObsData rod;
+ // TODO: Should check to make sure this is really a PBEN
+ DayTime epoch;
+ std::list<AshtechMessage>::const_iterator first = obsMsgs.begin();
+ epoch = (*first).getEpoch(recentEpoch);
+
+ rod.time = epoch;
+ rod.numSvs = 0;
+ rod.epochFlag = 0;
+
+ std::list<AshtechMessage>::const_iterator i;
+ for (i=obsMsgs.begin(); i!=obsMsgs.end(); i++)
+ {
+ if ((i->msgType == MPC)&&(i->msgFormat == ASCII))
+ {
+
+ int prn = StringUtils::asInt( StringUtils::word(i->buffer,3,','));
+ double C1 = StringUtils::asDouble( StringUtils::word(i->buffer,13,',')) * C_GPS_M / 1000.0;
+ double P1 = StringUtils::asDouble( StringUtils::word(i->buffer,23,',')) * C_GPS_M / 1000.0;
+ double P2 = StringUtils::asDouble( StringUtils::word(i->buffer,33,',')) * C_GPS_M / 1000.0;
+ double L1 = StringUtils::asDouble( StringUtils::word(i->buffer,22,','));
+ double L2 = StringUtils::asDouble( StringUtils::word(i->buffer,32,','));
+ double D1 = StringUtils::asDouble( StringUtils::word(i->buffer,24,','));
+ double D2 = StringUtils::asDouble( StringUtils::word(i->buffer,34,','));
+ int snrL1 = StringUtils::asInt( StringUtils::word(i->buffer,20,','));
+ int snrL2 = StringUtils::asInt( StringUtils::word(i->buffer,30,','));
+
+ int warning = StringUtils::asInt( StringUtils::word(i->buffer,27,','));
+
+ double S1 = engSNR(snrL1, 9.21e6);
+ double S2 = engSNR(snrL2, 9.21e6);
+
+ // Debug check
+ // std::cout << prn << " " << D1 << " " << D2 << " " << L1 << " " << L2 << std::endl;
+ // exit(0);
+
+ SatID thisSat(prn, SatID::systemGPS);
+ RinexObsData::RinexObsTypeMap datamap;
+
+ datamap[RinexObsHeader::C1].data = C1;
+ datamap[RinexObsHeader::P1].data = P1;
+ datamap[RinexObsHeader::P2].data = P2;
+ datamap[RinexObsHeader::L1].data = L1;
+ datamap[RinexObsHeader::L2].data = L2;
+ datamap[RinexObsHeader::D1].data = -D1; // Note sign convention for Doppler is opposite that of RINEX.
+ datamap[RinexObsHeader::D2].data = -D2;
+ datamap[RinexObsHeader::S1].data = S1;
+ datamap[RinexObsHeader::S2].data = S2;
+
+ datamap[RinexObsHeader::L1].lli = 0;
+ datamap[RinexObsHeader::L2].lli = 0;
+ if (warning & 128)
+ {
+ datamap[RinexObsHeader::L1].lli = 1;
+ datamap[RinexObsHeader::L2].lli = 1;
+ }
+
+ datamap[RinexObsHeader::L1].ssi = mapSNRtoSSI(snrL1);
+ datamap[RinexObsHeader::L2].ssi = mapSNRtoSSI(snrL2);
+
+ rod.obs[thisSat]=datamap;
+ rod.numSvs++;
+ }
+
+ }
+
+ return rod;
+ }
+
+ int AshtechMessage::calculateSequenceNumber(const DayTime& t)
+ {
+ // TODO: Throw if not a MBEN
+ double secondsOfHour = t.minute()*60+t.second();
+ double secondsOfSequence = secondsOfHour;
+ while (secondsOfSequence >= 1800.)
+ secondsOfSequence -= 1800.;
+ double milliSecondsOfSequence = secondsOfSequence*1000.;
+ // There is sequence tick every 50 milliseconds
+ return (int)(milliSecondsOfSequence / 50.);
+ }
+
+ short AshtechMessage::mapSNRtoSSI(float snr)
+ {
+ if (snr>34) return 9;
+ if (snr>29) return 8;
+ if (snr>20) return 5;
+ if (snr>10) return 1;
+ return 0;
+ }
+
+ RinexNavData AshtechMessage::convertToRinexNavData(const AshtechMessage& msg, const DayTime& epoch)
+ {
+ // TODO: throw if not an EPB type
+ using namespace BinUtils;
+
+ int offset=5;
+ const char *dptr = msg.buffer.data();
+
+ EngEphemeris eph;
+ short PRN = StringUtils::asInt(msg.buffer.substr(4,2));
+
+ long subframe[30];
+
+ //using namespace std;
+
+ for (int i=0;i<30;i++)
+ {
+ subframe[i]=*((long *)(dptr+7+i*4));
+#if BYTE_ORDER == LITTLE_ENDIAN
+ BinUtils::twiddle(subframe[i]);
+#endif
+ // cout << "Word " << dec << i << ": 0x" << hex << subframe[i] << endl << flush << dec;
+ }
+
+// TODO: throw an exception if these calls fail
+ eph.addSubframe(subframe, epoch.GPSfullweek(), PRN, 0);
+ // cout << "sf1" << endl << flush;
+
+ eph.addSubframe(subframe+10, epoch.GPSfullweek(), PRN, 0);
+ // cout << "sf2" << endl << flush;
+
+ eph.addSubframe(subframe+20, epoch.GPSfullweek(), PRN, 0);
+ // cout << "sf3" << endl << flush;
+
+ // eph.dump(std::cout);
+
+ // exit(0);
+
+ return eph;
+ //return RinexNavData();
+ }
+
+ void AshtechMessage::updateNavHeader(const AshtechMessage& ionMsg, RinexNavHeader& hdr)
+ {
+ // TODO: the ION message interpreter is broken. Make it work. Then have the main programm
+ // regularly request an ION msg.
+
+
+ // TODO: Throw if not an ION type... hmm, need an ASSERT macro for types
+ using namespace BinUtils;
+ using namespace std;
+
+ // Offset between location in the buffer and the location defined in the
+ // Ashtech document ZFamily.pdf -- ZFamily GPS Receivers, Technical Ref. Manual, dated 2002
+ int offset=5;
+ const char *dptr = ionMsg.buffer.data();
+
+ // Alpha parameters of Klobuchar model-------------------------------------------------
+ float alpha0, alpha1, alpha2, alpha3;
+
+ memmove(&alpha0, dptr+offset+0, 4);
+ memmove(&alpha1, dptr+offset+4, 4);
+ memmove(&alpha2, dptr+offset+8, 4);
+ memmove(&alpha3, dptr+offset+12, 4);
+
+#if BYTE_ORDER == LITTLE_ENDIAN
+ twiddle(alpha0);
+ twiddle(alpha1);
+ twiddle(alpha2);
+ twiddle(alpha3);
+#endif
+
+ hdr.ionAlpha[0] = alpha0;
+ hdr.ionAlpha[1] = alpha1;
+ hdr.ionAlpha[2] = alpha2;
+ hdr.ionAlpha[3] = alpha3;
+
+ hdr.valid |= RinexNavHeader::ionAlphaValid;
+
+ // Beta parameters of Klobuchar model-------------------------------------------------
+ float beta0, beta1, beta2, beta3;
+
+ memmove(&beta0, dptr+offset+16, 4);
+ memmove(&beta1, dptr+offset+20, 4);
+ memmove(&beta2, dptr+offset+24, 4);
+ memmove(&beta3, dptr+offset+28, 4);
+
+#if BYTE_ORDER == LITTLE_ENDIAN
+ twiddle(beta0);
+ twiddle(beta1);
+ twiddle(beta2);
+ twiddle(beta3);
+#endif
+
+ hdr.ionBeta[0] = beta0;
+ hdr.ionBeta[1] = beta1;
+ hdr.ionBeta[2] = beta2;
+ hdr.ionBeta[3] = beta3;
+
+ hdr.valid |= RinexNavHeader::ionBetaValid;
+
+ // Ref time parameters of Klobuchar model-------------------------------------------------
+
+ double A0, A1;
+ long UTCseconds;
+ short UTCweek;
+
+ memmove(&A1, dptr+offset+32, 8);
+ memmove(&A0, dptr+offset+40, 8);
+ memmove(&UTCseconds, dptr+offset+48, 4);
+ memmove(&UTCweek, dptr+offset+52, 2);
+
+#if BYTE_ORDER == LITTLE_ENDIAN
+ twiddle(A1);
+ twiddle(A0);
+ twiddle(UTCseconds);
+ twiddle(UTCweek);
+#endif
+
+ hdr.A0 = A0;
+ hdr.A1 = A1;
+ hdr.UTCRefWeek = UTCweek;
+ hdr.UTCRefTime = UTCseconds;
+
+ hdr.valid |= RinexNavHeader::deltaUTCValid;
+
+ // Leap seconds --------------------------------------------------------------------------
+
+ short leapSeconds;
+
+ memmove(&leapSeconds, dptr+52, 2);
+
+#if BYTE_ORDER == LITTLE_ENDIAN
+ twiddle(leapSeconds);
+#endif
+
+ hdr.leapSeconds = leapSeconds;
+
+ hdr.valid |= RinexNavHeader::leapSecondsValid;
+
+ return;
+ }
+
+} // End namespace
diff --git a/dev/apps/receiver/AshtechMessage.hpp b/dev/apps/receiver/AshtechMessage.hpp
new file mode 100644
index 0000000..6a4761e
--- /dev/null
+++ b/dev/apps/receiver/AshtechMessage.hpp
@@ -0,0 +1,193 @@
+#pragma ident "$Id$"
+
+
+/**
+ * @file AshtechMessage.hpp
+ * Containers for Ashtech data, conversions to RINEX - declarations.
+ */
+
+#ifndef GPSTK_ASHTECH_MESSAGE_HPP
+#define GPSTK_ASHTECH_MESSAGE_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <list>
+#include <ostream>
+#include "Exception.hpp"
+#include "RinexNavData.hpp"
+#include "RinexNavHeader.hpp"
+#include "RinexObsData.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup AshtechReceiver */
+ //@{
+
+ /// Read Ashtech binary and ASCII messages and parse into Rinex.
+ /// Ref. Ashtech XII GPS Receiver Operating Manual
+
+ class AshtechMessage
+ {
+ public:
+
+ /// Types of observations are categorized here
+ enum ObsType
+ {
+ UnknownType=0, ///< Unknown observation type
+ MCA, ///< CA only observation (not implemented)
+ MCL, ///< C/A and L2 codeless observations
+ MP1, ///< P code L1 only (not implemented)
+ MP2, ///< P code L2 only (not implemented)
+ MPC, ///< P code on L1 and L2
+ PBEN, ///< Navigation solution
+ SNAV, ///< Ephemeris data
+ EPB, ///< Ephemeris data
+ SALM, ///< Almanac data
+ ALB, ///< Almanac data
+ ION ///< Ionosphere model and UTC offset data
+ };
+
+ /// The source of a message affects its format
+ enum ObsSource
+ {
+ UnknownSource=0, ///< Unknown source of observations
+ DATAFILE, ///< This data comes from a B- or E- file.
+ STREAM ///< This data comes from the serial port.
+ };
+
+ /// Some messages can be formatted in ASCII or in binary.
+ enum ObsFormat
+ {
+ UnknownFormat=0, ///< Unknown format of observations
+ BINARY, ///< This data is packed, and little endian
+ ASCII ///< This data is comma separated
+ };
+
+ /// Default constructor
+ AshtechMessage(void) : msgType(UnknownType),
+ msgSource(UnknownSource),
+ msgFormat(UnknownFormat)
+ {}
+
+ /// Created from a input stream of characters.
+ AshtechMessage(const std::string& ibuff, ObsSource src,
+ ObsFormat fmt);
+
+ /// Destructor
+ virtual ~AshtechMessage(void) {}
+
+ /// Access the type of this message
+ ObsType getType(void) const {return msgType;}
+
+ /// Access the epoch associated with the message
+ DayTime getEpoch(const DayTime& priorEpoch) const;
+
+ /// Access the sequence number (if applicable)
+ int getSequence(void) const;
+
+ /// Access the PRN number (if applicable)
+ int getPRN(void) const;
+
+ /// Access the tracker number (if applicable)
+ int getTracker(void) const;
+
+ /// True if this record is an ephemeris record
+ bool isAlm(void) const;
+
+ /// True if this record is an ephemeris record
+ bool isEph(void) const;
+
+ /// True if this record is observation data
+ bool isObs(void) const;
+
+ /// True if this record is has ionosphere and time offset data
+ bool isIon(void) const
+ { return (msgType==ION); }
+
+ int getSize(void) const
+ { return buffer.size();}
+
+ /// Dump the contents of the record to the ostream \c str.
+// virtual void dump(std::ostream& str) const;
+
+ /**
+ * Convert a list of AshtechMessages into a gpstk::RinexObsData. One record must
+ * be a PBEN record.
+ * @throw if the record is invalid or not an observation (isObs()==false)
+ */
+ static RinexObsData
+ convertToRinexObsData(
+ const std::list<AshtechMessage> obsMsgs,
+ const DayTime& recentEpoch)
+ throw(gpstk::Exception);
+
+ static int calculateSequenceNumber(const DayTime& t);
+
+ static RinexNavData convertToRinexNavData(const AshtechMessage& msg, const DayTime& epoch=DayTime());
+
+ static void updateNavHeader(const AshtechMessage& ionMsg, RinexNavHeader& hdr);
+ /**
+ * Maps SNR to SSI.
+ * The RINEX 2.1 standard allows us to choose whatever mapping is
+ * appropriate, so long as "9" is "strongest" and "5" is usable.
+ */
+ static short mapSNRtoSSI(float snrL1);
+
+ protected:
+
+ private:
+
+ /// private data members
+ std::string buffer;
+
+ ObsSource msgSource; ///< Does this come from a data file or was it streamed off of a serial port?
+ ObsFormat msgFormat; ///< Is this an ASCII or a binary message?
+ /// public data members
+ ObsType msgType; ///< What kind of observations are in this message?
+
+ /// Epoch time - may need to be set by the user
+ DayTime time;
+
+ static float engSNR(short cnt, float nominalbw);
+
+ }; // end class AshtechData
+
+ //@}
+
+} // end namespace gpstk
+
+#endif // GPSTK_ASHTECH_MESSAGE_HPP
diff --git a/dev/apps/receiver/Jamfile b/dev/apps/receiver/Jamfile
new file mode 100644
index 0000000..58ec545
--- /dev/null
+++ b/dev/apps/receiver/Jamfile
@@ -0,0 +1,13 @@
+# $Id$
+
+SubDir TOP apps receiver ;
+
+GPSLinkLibraries rtAshtech rfw ash2mdp : gpstk rxio ;
+
+BonkForte ; # bleah.
+
+GPSMain rtAshtech : AshtechMessage.cpp rtAshtech.cpp ScreenControl.cpp ;
+
+GPSMain rfw : rfw.cpp ;
+
+GPSMain ash2mdp : ash2mdp.cpp ;
diff --git a/dev/apps/receiver/Makefile.am b/dev/apps/receiver/Makefile.am
new file mode 100644
index 0000000..e955312
--- /dev/null
+++ b/dev/apps/receiver/Makefile.am
@@ -0,0 +1,9 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../src -I$(srcdir)/../../lib/rxio
+LDADD = ../../src/libgpstk.la ../../lib/rxio/librxio.la
+
+bin_PROGRAMS = rfw rtAshtech ash2mdp
+
+rfw_SOURCES = rfw.cpp
+rtAshtech_SOURCES = AshtechMessage.cpp rtAshtech.cpp ScreenControl.cpp
+ash2mdp_SOURCES = ash2mdp.cpp
diff --git a/dev/apps/receiver/ScreenControl.cpp b/dev/apps/receiver/ScreenControl.cpp
new file mode 100644
index 0000000..a70eed4
--- /dev/null
+++ b/dev/apps/receiver/ScreenControl.cpp
@@ -0,0 +1,19 @@
+#include "ScreenControl.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+namespace gpstk
+{
+
+ void clearScreen(void)
+ {
+ cout << "[H[J";
+ }
+
+ void printTitle(void)
+ {
+ cout << "GPSTk Real-Time Data Collection for the Ashtech Z-XII ver. 1.0" << endl;
+ }
+
+} // namespace gpstk
diff --git a/dev/apps/receiver/ScreenControl.hpp b/dev/apps/receiver/ScreenControl.hpp
new file mode 100644
index 0000000..ac1a846
--- /dev/null
+++ b/dev/apps/receiver/ScreenControl.hpp
@@ -0,0 +1,20 @@
+#pragma ident "$Id$"
+
+
+#ifndef GPSTK_SCREEN_CONTROL_HPP
+#define GPSTK_SCREEN_CONTROL_HPP
+
+/**
+ * @file ScreenControl.hpp
+ * Clearing, updating and printing to a display.
+ */
+
+#include "DayTime.hpp"
+
+namespace gpstk
+{
+ void clearScreen(void);
+ void printTitle(void);
+} // end namespace gpstk
+
+#endif //GPSTK_SCREEN_CONTROL_HPP
diff --git a/dev/apps/receiver/TODO.txt b/dev/apps/receiver/TODO.txt
new file mode 100644
index 0000000..8524c47
--- /dev/null
+++ b/dev/apps/receiver/TODO.txt
@@ -0,0 +1,23 @@
+Lots of changes should be made to this code. Here are the big ones:
+
+2. Add CRC checking.
+
+3. Port this to Windows. This should only require adding a new serial port class
+ and finding a terminal call to clear the screen. But of course
+ there could be compiler issues.
+
+4. Add code to understand binary MPC and PBENs.
+
+5. Consider adding code to configure the receiver.
+
+6. Consider adding a config file.
+
+8. Add text output for nav files. One row per ephemeris, one column per element. For lack of any
+ better idea, use the column definitions from the Strang and Borre GPS book.
+
+Done:
+1. The Rolling* classes are clearly copy and paste... but not entirely.
+ Collapse these into one flexible template.
+
+7. It *should* be easy to accommodate reprocessing the raw file, pretending it's a serial port.
+
diff --git a/dev/apps/receiver/ash2mdp.cpp b/dev/apps/receiver/ash2mdp.cpp
new file mode 100644
index 0000000..fab1fea
--- /dev/null
+++ b/dev/apps/receiver/ash2mdp.cpp
@@ -0,0 +1,273 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <string>
+#include <sstream>
+
+#include <list>
+#include <map>
+
+#include "DayTime.hpp"
+#include "GPSWeekSecond.hpp"
+#include "TimeConstants.hpp"
+#include "Exception.hpp"
+#include "CommandOption.hpp"
+#include "CommandOptionParser.hpp"
+#include "DeviceStream.hpp"
+
+#include "StringUtils.hpp"
+#include "LoopedFramework.hpp"
+
+#include "MDPStream.hpp"
+#include "MDPNavSubframe.hpp"
+#include "MDPObsEpoch.hpp"
+
+#include "AshtechStream.hpp"
+#include "AshtechMBEN.hpp"
+#include "AshtechPBEN.hpp"
+#include "AshtechALB.hpp"
+#include "AshtechEPB.hpp"
+
+#include "ObsUtils.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+template<class IType, class OType>
+class DeviceFramework : public LoopedFramework
+{
+public:
+ DeviceFramework(const string& applName, const string& applDesc)
+ throw()
+ : LoopedFramework(applName, applDesc),
+ inputOption('i', "input", "Where to take the input from. Can be a "
+ "regular file, a serial device (ser:/dev/ttyS0), a tcp "
+ "port (tcp:hostname:port), or standard input. The default "
+ " is stdin."),
+ outputOption('o', "output", "Where to send the output. Same options "
+ "as input. The default is stdout.")
+ {
+ inputOption.setMaxCount(1);
+ outputOption.setMaxCount(1);
+ }
+
+
+ bool initialize(int argc, char *argv[]) throw()
+ {
+ if (!LoopedFramework::initialize(argc,argv))
+ return false;
+
+ string ifn;
+ if (inputOption.getCount())
+ ifn = inputOption.getValue()[0];
+ input.open(ifn, ios::in);
+
+ string ofn;
+ if (outputOption.getCount())
+ ofn = outputOption.getValue()[0];
+ output.open(ofn, ios::out);
+
+ if (input && output)
+ {
+ if (debugLevel)
+ cout << "Sending output to " << output.getTarget() << endl
+ << "Reading input from " << input.getTarget() << endl;
+ return true;
+ }
+ else
+ return false;
+ }
+
+protected:
+ DeviceStream<IType> input;
+ DeviceStream<OType> output;
+
+private:
+ CommandOptionWithAnyArg inputOption, outputOption;
+};
+
+typedef DeviceFramework<AshtechStream, MDPStream> AshDevFrame;
+
+class Ashtech2MDP : public DeviceFramework<AshtechStream, MDPStream>
+{
+public:
+ Ashtech2MDP(const string& applName)
+ throw()
+ : DeviceFramework<AshtechStream,MDPStream>(applName, "Converts Ashtech Z(Y)-12 data to MDP.")
+ {}
+
+ bool initialize(int argc, char *argv[]) throw()
+ {
+ CommandOptionWithNumberArg weekOption(
+ 'w', "week",
+ "The full GPS week in which this data starts");
+
+ if (!DeviceFramework<AshtechStream, MDPStream>::initialize(argc,argv))
+ return false;
+
+ DayTime now;
+ time.week = now.GPSfullweek();
+ time.sow = now.GPSsecond();
+
+ if (weekOption.getCount())
+ {
+ time.week = StringUtils::asInt(weekOption.getValue()[0]);
+ time.sow = HALFWEEK;
+ }
+
+
+ AshtechData::debugLevel = debugLevel;
+ if (debugLevel>3)
+ AshtechData::hexDump = true;
+
+ if (debugLevel>3)
+ MDPHeader::hexDump = true;
+
+ if (debugLevel)
+ cout << "Initial time: " << time.printf("%F %.1g") << endl;
+
+ return true;
+ }
+
+protected:
+ virtual void spinUp()
+ {}
+
+ virtual void process()
+ {
+ bool firstPBEN = false;
+
+ AshtechData hdr;
+ AshtechPBEN pben;
+ AshtechMBEN mben;
+ AshtechEPB epb;
+ AshtechALB alb;
+ unsigned short fc=0;
+ vector<MDPObsEpoch> hint(33);
+ short svCount = 0;
+
+ // allow for file stream exceptions to be thrown
+ input.exceptions(std::fstream::failbit);
+
+ while (input >> hdr)
+ {
+ if (pben.checkId(hdr.id) && (input >> pben) && pben)
+ {
+ if (debugLevel>1)
+ pben.dump(cout);
+
+ double dt = pben.sow - time.sow;
+ time.sow = pben.sow;
+ svCount = 0;
+
+ if (std::abs(dt) > HALFWEEK && !firstPBEN)
+ time.week++;
+
+ firstPBEN = true;
+
+ MDPPVTSolution pvt = makeMDPPVTSolution(pben, time.week);
+ pvt.freshnessCount = fc++;
+ output << pvt << flush;
+ if (debugLevel>1)
+ pvt.dump(cout);
+ }
+ else if (mben.checkId(hdr.id) && (input >> mben) && mben)
+ {
+ if (debugLevel>1)
+ mben.dump(cout);
+ if (svCount==0)
+ svCount = mben.left+1;
+
+ if (firstPBEN == true)
+ {
+ hint[mben.svprn].time = DayTime(time.week, time.sow);
+ hint[mben.svprn].numSVs = svCount;
+ MDPObsEpoch moe = makeMDPObsEpoch(mben, hint[mben.svprn]);
+ moe.freshnessCount = fc++;
+ hint[mben.svprn] = moe;
+ output << moe << flush;
+ if (debugLevel>1)
+ moe.dump(cout);
+ }
+ }
+ else if (epb.checkId(hdr.id) && (input >> epb))
+ {
+ if (debugLevel>1)
+ epb.dump(cout);
+ MDPNavSubframe sf[3];
+
+ }
+ else if (alb.checkId(hdr.id) && (input >> alb))
+ {
+ if (debugLevel>1)
+ alb.dump(cout);
+ MDPNavSubframe sf;
+ }
+ }
+
+ timeToDie = true;
+ }
+
+ virtual void shutDown()
+ {}
+
+ GPSWeekSecond time;
+};
+
+
+int main(int argc, char *argv[])
+{
+ try
+ {
+ Ashtech2MDP crap(argv[0]);
+
+ if (!crap.initialize(argc, argv))
+ exit(0);
+
+ crap.run();
+ }
+ catch (gpstk::Exception &exc)
+ { cout << exc << endl; }
+ catch (std::exception &exc)
+ { cout << "Caught std::exception " << exc.what() << endl; }
+ catch (...)
+ { cout << "Caught unknown exception" << endl; }
+}
+
+
+
diff --git a/dev/apps/receiver/getUnixSerialInfo.cpp b/dev/apps/receiver/getUnixSerialInfo.cpp
new file mode 100644
index 0000000..e1f5b38
--- /dev/null
+++ b/dev/apps/receiver/getUnixSerialInfo.cpp
@@ -0,0 +1,24 @@
+#include <iostream>
+#include <iomanip>
+
+#include <fcntl.h> /* File control definitions */
+#include <termios.h>
+#include <unistd.h>
+
+using namespace std;
+
+int main(void)
+{
+ struct termios options;
+
+ int fd = open("/dev/ttyS0", O_RDWR | O_NOCTTY | O_NDELAY);
+ tcgetattr(fd, &options);
+
+ cout << "c_iflag " << hex << options.c_iflag << endl;
+ cout << "c_oflag " << hex << options.c_oflag << endl;
+ cout << "c_cflag " << hex << options.c_cflag << endl;
+ cout << "c_cc[VMIN] " << options.c_cc[VMIN] << endl;
+ cout << "c_cc[VTIME] " << options.c_cc[VTIME] << endl;
+
+ return 0;
+}
diff --git a/dev/apps/receiver/rfw.cpp b/dev/apps/receiver/rfw.cpp
new file mode 100644
index 0000000..d47d162
--- /dev/null
+++ b/dev/apps/receiver/rfw.cpp
@@ -0,0 +1,156 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/** @file reads a stream and writes it to file(s) with names derived from
+ system time.
+ */
+
+#include <fstream>
+
+#include <unistd.h>
+#include <fcntl.h> /* File control definitions */
+#include <errno.h> /* Error number definitions */
+#include <termios.h> /* POSIX terminal control definitions */
+
+#include <StringUtils.hpp>
+#include <LoopedFramework.hpp>
+#include <CommandOption.hpp>
+#include <TimeNamedFileStream.hpp>
+
+#include "DeviceStream.hpp"
+
+using namespace std;
+using namespace gpstk;
+class RollingFileWriter : public gpstk::BasicFramework
+{
+public:
+ RollingFileWriter(const std::string& applName) throw()
+ : BasicFramework(applName,
+ "Reads data from a stream and writes the data out to a TimeNamedFileStream."),
+ output("tmp%03j_%04Y.raw", std::ios::app|std::ios::out)
+ {}
+
+
+ bool initialize(int argc, char *argv[]) throw()
+ {
+ CommandOptionWithAnyArg inputOpt(
+ 'i', "input",
+ "Where to get the data from. Can be a regular file, a serial "
+ "device (ser:/dev/ttyS0), a tcp port (tcp:hostname:port), or "
+ "standard input. The default is just to take standard input.");
+
+ CommandOptionWithAnyArg outputSpecOpt(
+ 'o', "output",
+ "The file spec for writing the files.");
+
+ outputSpecOpt.setMaxCount(1);
+ inputOpt.setMaxCount(1);
+
+ if (!BasicFramework::initialize(argc,argv)) return false;
+
+ if (debugLevel)
+ cout << "debugLevel: " << debugLevel << endl
+ << "verboseLevel: " << verboseLevel << endl;
+
+ string fn;
+ if (inputOpt.getCount())
+ fn = inputOpt.getValue()[0];
+ input.open(fn, ios::in);
+
+ if (debugLevel)
+ cout << "Taking input from " << input.getTarget() << endl;
+
+
+ if (outputSpecOpt.getCount())
+ {
+ string spec = outputSpecOpt.getValue()[0];
+ output.setFilespec(spec);
+ }
+
+ output.debugLevel = debugLevel;
+
+ if (debugLevel)
+ cout << "Using " << output.getFilespec()
+ << " for output files" << endl;
+
+ return true;
+ }
+
+protected:
+ virtual void spinUp()
+ {}
+
+ virtual void process()
+ {
+ const size_t max_len=512;
+ char data[max_len];
+ while (input)
+ {
+ input.read(data, max_len);
+ output.updateFileName();
+ output.write(data, input.gcount());
+ output.flush();
+ }
+ }
+
+ virtual void shutDown()
+ {}
+
+private:
+ DeviceStream<std::ifstream> input;
+
+ TimeNamedFileStream<ofstream> output;
+};
+
+
+int main(int argc, char *argv[])
+{
+ try
+ {
+ RollingFileWriter crap(argv[0]);
+ if (!crap.initialize(argc, argv))
+ exit(0);
+ crap.run();
+ }
+ catch (gpstk::Exception &exc)
+ { cout << exc << endl; }
+ catch (std::exception &exc)
+ { cout << "Caught std::exception " << exc.what() << endl; }
+ catch (...)
+ { cout << "Caught unknown exception" << endl; }
+}
diff --git a/dev/apps/receiver/rinex.nav.template b/dev/apps/receiver/rinex.nav.template
new file mode 100644
index 0000000..0a0edb5
--- /dev/null
+++ b/dev/apps/receiver/rinex.nav.template
@@ -0,0 +1,3 @@
+ 2.10 NAVIGATION RINEX VERSION / TYPE
+rtAshtech/GPSTk Dataflow Processing 03/09/2006 00:00:27 PGM / RUN BY / DATE
+ END OF HEADER
diff --git a/dev/apps/receiver/rinex.obs.template b/dev/apps/receiver/rinex.obs.template
new file mode 100644
index 0000000..615d929
--- /dev/null
+++ b/dev/apps/receiver/rinex.obs.template
@@ -0,0 +1,14 @@
+ 2.10 Observation GPS RINEX VERSION / TYPE
+rtAshtech/GPSTk UT Aerospace Dept. 03/31/2004 23:59:49 PGM / RUN BY / DATE
+Here is a comment. COMMENT
+UTWRW MARKER NAME
+1 MARKER NUMBER
+Nobody UT Aerospace Dept. OBSERVER / AGENCY
+1 ZY12 REC # / TYPE / VERS
+1 AshTech Geodetic 3 ANT # / TYPE
+ -740289.835 -5457071.7414 3207245.6211 APPROX POSITION XYZ
+ 0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N
+ 1 1 0 WAVELENGTH FACT L1/2
+ 9 L1 L2 C1 P1 P2 D1 D2 S1 S2# / TYPES OF OBSERV
+ 2004 4 1 0 0 0.0000000 TIME OF FIRST OBS
+ END OF HEADER
diff --git a/dev/apps/receiver/rtAshtech.cpp b/dev/apps/receiver/rtAshtech.cpp
new file mode 100644
index 0000000..e6c675c
--- /dev/null
+++ b/dev/apps/receiver/rtAshtech.cpp
@@ -0,0 +1,502 @@
+#include <fstream>
+#include <string>
+#include <sstream>
+
+#include <list>
+#include <map>
+
+#include "DayTime.hpp"
+#include "Exception.hpp"
+#include "CommandOption.hpp"
+#include "CommandOptionParser.hpp"
+#include "TimeNamedFileStream.hpp"
+#include "AshtechMessage.hpp"
+#include "ScreenControl.hpp"
+#include "RinexObsData.hpp"
+#include "RinexObsStream.hpp"
+#include "RinexNavData.hpp"
+#include "RinexNavStream.hpp"
+#include "DeviceStream.hpp"
+#include <unistd.h>
+
+using namespace std;
+using namespace gpstk;
+
+bool saveLogMessages=true;
+list<string> logList;
+
+
+TimeNamedFileStream<ofstream> logFile;
+TimeNamedFileStream<ofstream> matlabObs;
+
+void log(const string& message)
+{
+ DayTime currentEpoch;
+ string entry = currentEpoch.printf(" %02m/%02d/%04Y %02H:%02M:%04.1f - ") +
+ message;
+ logList.push_back(entry);
+ if (saveLogMessages)
+ {
+ logFile.updateFileName();
+ logFile << entry << endl;
+ }
+}
+
+void matlabify(const RinexObsData& rod)
+{
+ RinexObsData::RinexSatMap::const_iterator i_sat;
+ RinexObsData::RinexObsTypeMap::const_iterator i_obs;
+
+ for (i_sat=rod.obs.begin(); i_sat!=rod.obs.end(); i_sat++)
+ {
+ if (matlabObs.updateFileName(rod.time))
+ log("Opened output file: " + matlabObs.getCurrentFilename());
+
+ short PRNID = i_sat->first.id;
+
+ i_obs = i_sat->second.find(RinexObsHeader::C1);
+ double C1 = i_obs->second.data;
+
+ i_obs = i_sat->second.find(RinexObsHeader::P1);
+ double P1 = i_obs->second.data;
+
+ i_obs = i_sat->second.find(RinexObsHeader::P2);
+ double P2 = i_obs->second.data;
+
+ i_obs = i_sat->second.find(RinexObsHeader::L1);
+ double L1 = i_obs->second.data;
+
+ i_obs = i_sat->second.find(RinexObsHeader::L2);
+ double L2 = i_obs->second.data;
+
+ i_obs = i_sat->second.find(RinexObsHeader::D1);
+ double D1 = i_obs->second.data;
+
+ i_obs = i_sat->second.find(RinexObsHeader::D2);
+ double D2 = i_obs->second.data;
+
+ i_obs = i_sat->second.find(RinexObsHeader::S1);
+ double S1 = i_obs->second.data;
+
+ i_obs = i_sat->second.find(RinexObsHeader::S2);
+ double S2 = i_obs->second.data;
+
+ using gpstk::StringUtils::asString;
+ matlabObs << rod.time.printf("%F %9.2g ") << " "
+ << asString(PRNID) << " "
+ << asString(C1,3) << " "
+ << asString(P1,3) << " "
+ << asString(P2,3) << " "
+ << asString(L1,3) << " "
+ << asString(L2,3) << " "
+ << asString(D1,3) << " "
+ << asString(D2,3) << " "
+ << asString(S1,1) << " "
+ << asString(S2,1)
+ << endl;
+ }
+
+ return;
+}
+
+void printLog(const int num2show=10)
+{
+ list<string>::iterator i = logList.end();
+ for (int k=0; k<num2show; k++)
+ if (i!=logList.begin()) i--;
+
+ cout << "Log Messages" << endl;
+ cout << "-----------------------------------------------------------------------------" << endl;
+
+ int lines2go=num2show;
+ for (;i!=logList.end();i++,lines2go--)
+ cout << (*i) << endl;
+ while ((lines2go--)>0) cout << endl;
+ cout << "-----------------------------------------------------------------------------" << endl;
+
+}
+
+RinexObsHeader defineObsHeader(void)
+{
+ using namespace std;
+ string hdrTemplateFile("rinex.obs.template");
+
+ RinexObsHeader hdr;
+
+ gpstk::RinexObsStream instrm(hdrTemplateFile.c_str(), ios::in);
+ if (instrm >> hdr)
+ log("Read obs header template: "+hdrTemplateFile);
+ else
+ log("Could not use obs header template from "+hdrTemplateFile);
+
+ return hdr;
+}
+
+RinexNavHeader defineNavHeader(void)
+{
+ using namespace std;
+ string hdrTemplateFile("rinex.nav.template");
+
+ RinexNavHeader hdr;
+
+ gpstk::RinexNavStream instrm(hdrTemplateFile.c_str(), ios::in);
+ if (instrm >> hdr)
+ log("Read nav header template: "+hdrTemplateFile);
+ else
+ log("Could not use nav header template from "+hdrTemplateFile);
+
+ return hdr;
+}
+
+int main(int argc, char *argv[])
+{
+ try
+ {
+
+ logFile.open("ash%03j%02y.log");
+
+ // Define default variables here *********************************************
+ // TO DO: Read default variables from an initialization (say, .INI) file
+
+ bool verbose=false;
+ bool saveRawMessages=false;
+ bool saveMatlabObs=false;
+
+ bool queryRx=false;
+
+ saveLogMessages=true;
+
+ string rawMessageFileSpec("ash%03j%02y.raw");
+ string rinexObsFileSpec("site%03j.%02yo");
+ string rinexNavFileSpec("site%03j.%02yn");
+ string matlabObsFileSpec("obs%03j%02y.txt");
+ string defaultPort("/dev/ttyS0");
+
+ DayTime currentEpoch;
+ bool gotGPSEpoch = false;
+
+ // Process user options********************************************************
+
+ CommandOptionNoArg helpOption('h', "help", "Print help usage");
+ CommandOptionNoArg verboseOption('v', "verbose", "Increased diagnostic messages");
+ CommandOptionNoArg rawOption('r', "raw", "Record raw observations");
+ CommandOptionNoArg logOption('l', "log", "Record log entries");
+ CommandOptionNoArg matlabOption('t', "text", "Record observations as simple text files");
+ CommandOptionWithAnyArg rinexObsFileSpecOption('o',"rinex-obs","Naming convention for RINEX obs files");
+ CommandOptionWithAnyArg rinexNavFileSpecOption('n',"rinex-nav","Naming convention for RINEX nav message files");
+ CommandOptionWithAnyArg textObsFileSpecOption('T',"text-obs","Naming convention for obs in simple text files");
+ CommandOptionWithAnyArg inputOption('i', "input", "Where to read the ashtech data from. Can be a file, a serial device (ser:/dev/ttyS0), a tcp port (tcp:hostname:port), or standard input (the default).");
+
+ // TO DO. Limit the number of times the options can be called as appropriate.
+
+ CommandOptionParser cop("Records observations from an Ashtech Z-XII receiver.");
+ cop.parseOptions(argc, argv);
+
+ if (helpOption.getCount() || cop.hasErrors())
+ {
+ if (cop.hasErrors())
+ cop.dumpErrors(cout);
+ cop.displayUsage(cout);
+ exit(0);
+ }
+
+ saveRawMessages=(rawOption.getCount()>0);
+ saveLogMessages=(logOption.getCount()>0);
+ verbose=(verboseOption.getCount()>0);
+
+ if(rinexObsFileSpecOption.getCount()>0)
+ rinexObsFileSpec = rinexObsFileSpecOption.getValue()[0];
+
+ if(rinexNavFileSpecOption.getCount()>0)
+ rinexNavFileSpec = rinexNavFileSpecOption.getValue()[0];
+
+ saveMatlabObs=(matlabOption.getCount()>0) ||
+ (textObsFileSpecOption.getCount()>0) ;
+
+ if(textObsFileSpecOption.getCount()>0)
+ matlabObsFileSpec = textObsFileSpecOption.getValue()[0];
+
+ TimeNamedFileStream<ofstream> rawFile(rawMessageFileSpec, ios::out|ios::app);
+ matlabObs.open(matlabObsFileSpec.c_str(), ios::out|ios::app);
+
+ TimeNamedFileStream<RinexObsStream> obsFile(rinexObsFileSpec, ios::out|ios::app);
+ TimeNamedFileStream<RinexNavStream> navFile(rinexNavFileSpec, ios::out|ios::app);
+
+ RinexNavHeader rinexNavHeader=defineNavHeader();
+ RinexObsHeader rinexObsHeader=defineObsHeader();
+
+ // Acquire the port *****************************************************
+ string fn="/dev/ttyS0";
+ if (inputOption.getCount())
+ fn = inputOption.getValue()[0];
+ DeviceStream<std::ifstream> input(fn);
+ DeviceStream<std::ofstream> rxOut(fn);
+
+ log("Reading data from " + input.getTarget());
+
+ // Setup the receiver ***************************************************
+ if (queryRx)
+ {
+ log("Requesting iono, trop info");
+ rxOut.write("$PASHQ,ION\r\n",12);
+ }
+
+
+ // Define loop variables *********************************************
+ ssize_t readSize=-333;
+ const size_t buffSize=1400;
+ char buff[buffSize];
+ const size_t buff2size=400;
+ char buff2[buff2size];
+ string msgBuffer;
+ DayTime pollEphTime;
+ bool firstPollDone=false;
+
+ bool readStream=true;
+ ssize_t count=0;
+ int mnum = 0;
+ short currentDoy = currentEpoch.DOY(), lastDoy = -1;
+
+ // Queues
+ list<AshtechMessage> obsQ, emptyObsQ; // Observations
+ AshtechMessage ionMessage; // last ION message (iono constants + UTC info)
+ bool gotION=false; // Have we received an ION message?
+
+ // Storage to remember which PRN is on which tracker
+ map<int,int> trackerMap, lastTrackerMap, emptyTrackerMap;
+
+ bool gotObsData = false;
+ int currentSequence = -1;
+ long totalCharsRead=0;
+ long totalMsgLengthsProcessed=0;
+
+ log("Collection program started");
+
+ // Infinite loop, polling the port **********************************
+ while (readStream)
+ {
+ input.read(buff, buffSize-1);
+ readSize = input.gcount();
+ totalCharsRead += readSize;
+
+ msgBuffer.append(buff,readSize);
+
+ // Output to the user *****************************************
+ clearScreen();
+ printTitle();
+ cout << endl;
+
+ // Display channel numbers ************************************
+ cout << "Channel ";
+ for (int kk=1; kk<=12; kk++)
+ cout << setw(3) << kk << " ";
+ cout << endl << "PRN ";
+ for (int kk=1; kk<=12; kk++)
+ if (lastTrackerMap[kk])
+ cout << setw(3) << lastTrackerMap[kk] << " ";
+ else
+ cout << " -- ";
+ cout << endl << endl;
+
+ // Display comm status *****************************************
+ if (verbose)
+ {
+ cout << "Number characters just read on serial port: ";
+ cout << readSize;
+ cout << endl;
+
+ cout << "Total number of characters ever read: ";
+ cout << totalCharsRead;
+ cout << endl;
+
+ cout << "Total length of msgs processed: ";
+ cout << totalMsgLengthsProcessed;
+ cout << endl;
+ }
+
+ cout << "Number of unprocessed characters in buffer: ";
+ cout << msgBuffer.size() << endl;
+
+ cout << "Today's message count: ";
+ cout << mnum << endl;
+
+ cout << "Number of unproceseed obs: ";
+ cout << obsQ.size() << endl;
+
+ cout << endl;
+
+ if (verbose)
+ printLog(15);
+ else printLog(10);
+
+ int actualReadCount;
+ size_t loc;
+
+ /* Remove whole messages from the buffer ***************************/
+ while ((loc=msgBuffer.find("$PASHR,",0))!=string::npos)
+ {
+ string temp=msgBuffer.substr(0,loc);
+ totalMsgLengthsProcessed += temp.size();
+
+ AshtechMessage msg(temp,
+ AshtechMessage::STREAM,
+ AshtechMessage::ASCII);
+ msgBuffer.erase(0,loc+7);
+ mnum++;
+
+ // Classify
+ AshtechMessage::ObsType thisType = msg.getType();
+
+ // Possibly write out old data
+ if (msg.isObs())
+ {
+ trackerMap[msg.getTracker()]=msg.getPRN();
+
+ int thisSequence = msg.getSequence();
+
+ // Trigger dumping the data to files
+ if ((thisSequence !=currentSequence) && gotObsData)
+ {
+ // First write out the RINEX obs data
+ RinexObsData rod;
+ rod =
+ AshtechMessage::convertToRinexObsData(obsQ,currentEpoch);
+
+ if (rod.obs.empty())
+ log("Empty obs");
+
+ if (obsFile.updateFileName(rod.time))
+ {
+ log("Opened output file: " +
+ obsFile.getCurrentFilename());
+ obsFile << rinexObsHeader;
+ }
+
+ obsFile << rod;
+
+
+ // Second write obs to the MATLAB/Octave matrix format
+ if (saveMatlabObs)
+ matlabify(rod);
+
+ // Last, delete these observations
+ // TODO Find cleaner way to empty these data structures
+ // delete() is likely the answer but it's tricky.
+ obsQ = emptyObsQ;
+ lastTrackerMap = trackerMap;
+ trackerMap = emptyTrackerMap;
+ }
+
+ }
+
+
+ // Stuff away data for later
+ switch (thisType)
+ {
+ case AshtechMessage::PBEN :
+ break;
+
+ case AshtechMessage::MPC :
+ case AshtechMessage::MCA :
+ case AshtechMessage::MCL :
+ case AshtechMessage::MP1 :
+ case AshtechMessage::MP2 :
+ obsQ.push_back(msg);
+ currentSequence = msg.getSequence();
+ gotObsData = true;
+ break;
+
+ case AshtechMessage::SNAV :
+ case AshtechMessage::EPB :
+ log("Got ephemeris for PRN " +
+ StringUtils::asString(msg.getPRN()));
+ break;
+
+ case AshtechMessage::SALM :
+ case AshtechMessage::ALB :
+ break;
+
+ case AshtechMessage::ION :
+ ionMessage = msg;
+ gotION=true;
+ log("Got iono, UTC info from RX");
+ //AshtechMessage::updateNavHeader(msg,rinexNavHeader);
+ //log("Length:"+StringUtils::asString(temp.size()));
+ //navFiles.setRinexNavHeader(rinexNavHeader);
+ break;
+
+ } // End of case
+
+ if (thisType==AshtechMessage::PBEN)
+ {
+ currentEpoch = msg.getEpoch(currentEpoch);
+ gotGPSEpoch= true;
+ }
+
+ if ((!firstPollDone)||(currentEpoch>pollEphTime))
+ {
+ if (queryRx)
+ {
+ log("Requesting ephemeris from all PRNs in track.");
+ rxOut.write("$PASHQ,EPB\r\n",12);
+ firstPollDone=true;
+ pollEphTime = currentEpoch+30*60; // Wait 30 minutes
+ }
+ }
+
+
+ // Trigger the writing of nav data
+ if ((thisType==AshtechMessage::EPB)&&(gotION))
+ {
+ try{
+ RinexNavData rnd = AshtechMessage::convertToRinexNavData(msg, currentEpoch);
+ log("Converted a nav message");
+ if (navFile.updateFileName(currentEpoch))
+ {
+ log("Opened output file: " + navFile.getCurrentFilename());
+ navFile << rinexNavHeader;
+ }
+ navFile << rnd;
+
+ log("Wrote nav message");
+ }
+ catch(...)
+ {
+ log("Error converting nav message.");
+ }
+ }
+
+ if (saveRawMessages)
+ {
+ if (rawFile.updateFileName())
+ {
+ log("Opened output file: " + rawFile.getCurrentFilename());
+ }
+ rawFile << temp;
+ }
+
+ } // Remove each whole message from the buffer
+
+ // Has the day of year rolled over?
+ currentDoy = currentEpoch.DOY();
+
+ if (lastDoy!=currentDoy)
+ {
+ mnum=0;
+ }
+
+ lastDoy = currentDoy;
+
+ usleep(1*1024);
+ }
+
+ }
+ catch(const gpstk::Exception& x)
+ {
+ cerr << "Caught exception! " << endl;
+ cerr << x << endl;
+ }
+
+ exit(0);
+
+}
diff --git a/dev/apps/reszilla/CycleSlipList.cpp b/dev/apps/reszilla/CycleSlipList.cpp
new file mode 100644
index 0000000..6be7aa6
--- /dev/null
+++ b/dev/apps/reszilla/CycleSlipList.cpp
@@ -0,0 +1,87 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include "CycleSlipList.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+// ---------------------------------------------------------------------
+// ---------------------------------------------------------------------
+void dump(std::ostream& s, const CycleSlipList& csl)
+{
+ s << "# Total Cycle slips: " << csl.size() << endl;
+
+ CycleSlipList::const_iterator i;
+ long l1=0, l2=0;
+
+ for (i=csl.begin(); i!=csl.end(); i++)
+ if (i->oid.band == ObsID::cbL1)
+ l1++;
+ else if (i->oid.band == ObsID::cbL2)
+ l2++;
+
+ s << "# Cycle slips on L1: " << l1 << endl;
+ s << "# Cycle slips on L2: " << l2 << endl;
+
+ if (csl.size() == 0)
+ return;
+
+ s << endl
+ << "# time prn obs type cyles elev pre post gap mstr " << endl;
+
+ s.setf(ios::fixed, ios::floatfield);
+
+ for (i=csl.begin(); i!=csl.end(); i++)
+ {
+ const CycleSlipRecord& cs=*i;
+ string time=cs.t.printf("%4Y %3j %02H:%02M:%04.1f");
+
+ s << ">c " << left << setw(20) << time
+ << " " << right << setw(2) << cs.prn.id
+ << " " << cs.oid
+ << " " << setprecision(3) << setw(14) << cs.cycles
+ << " " << std::setprecision(2) << setw(5) << cs.elevation
+ << " " << setw(5) << cs.preCount
+ << " " << setw(5) << cs.postCount
+ << " " << setw(5) << setprecision(1) << cs.preGap
+ << " " << setw(2) << cs.masterPrn.id
+ << endl;
+ }
+ s << endl;
+}
diff --git a/dev/apps/reszilla/CycleSlipList.hpp b/dev/apps/reszilla/CycleSlipList.hpp
new file mode 100644
index 0000000..f0475c6
--- /dev/null
+++ b/dev/apps/reszilla/CycleSlipList.hpp
@@ -0,0 +1,64 @@
+#pragma ident "$Id$"
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef CYCLESLIPLIST_HPP
+#define CYCLESLIPLIST_HPP
+
+#include <DayTime.hpp>
+#include <ObsID.hpp>
+#include <SatID.hpp>
+
+struct CycleSlipRecord
+{
+ gpstk::DayTime t;
+ double cycles;
+ gpstk::SatID prn, masterPrn;
+ gpstk::ObsID oid;
+ double elevation;
+ long preCount; // for How many epochs had the bias been stable
+ double preGap; // time between the end of the previous arc and this point
+ long postCount; // how long the arc after the slip is
+
+ bool operator<(const CycleSlipRecord& right)
+ { return t < right.t; }
+};
+
+typedef std::list<CycleSlipRecord> CycleSlipList;
+
+void dump(std::ostream& s, const CycleSlipList& sl);
+
+#endif
diff --git a/dev/apps/reszilla/DDEpoch.cpp b/dev/apps/reszilla/DDEpoch.cpp
new file mode 100644
index 0000000..1fa9226
--- /dev/null
+++ b/dev/apps/reszilla/DDEpoch.cpp
@@ -0,0 +1,830 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <limits>
+#include <set>
+
+#include <StringUtils.hpp>
+#include <Stats.hpp>
+
+#include "DDEpoch.hpp"
+#include "ObsID.hpp"
+
+using namespace std;
+using namespace gpstk;
+using namespace gpstk::StringUtils;
+
+unsigned DDEpoch::debugLevel;
+unsigned DDEpochMap::debugLevel;
+bool DDEpochMap::useMasterSV;
+
+// ---------------------------------------------------------------------------
+// Computes a single difference between two sets of obs
+// ---------------------------------------------------------------------------
+OIDM DDEpoch::singleDifference(
+ const SvObsEpoch& rx1obs,
+ const SvObsEpoch& rx2obs,
+ double rangeRate)
+{
+ OIDM diff;
+
+ // clock offset correction
+ double coc = clockOffset * rangeRate;
+ SvObsEpoch::const_iterator roti1, roti2;
+ for (roti1 = rx1obs.begin(); roti1 != rx1obs.end(); roti1++)
+ {
+ const ObsID& oid = roti1->first;
+
+ // only compute double differences for range, phase, and doppler
+ if (!(oid.type == ObsID::otRange
+ || oid.type == ObsID::otPhase
+ || oid.type == ObsID::otDoppler))
+ continue;
+
+ // Make sure we have an obs from the other receiver
+ roti2 = rx2obs.find(oid);
+ if (roti2 == rx2obs.end())
+ continue;
+
+ // Compute the first difference
+ diff[oid] = roti1->second - roti2->second;
+
+ // Need to convert the phase/doppler observables to meters
+ if (oid.type == ObsID::otPhase || oid.type == ObsID::otDoppler)
+ {
+ if (oid.band == ObsID::cbL1)
+ diff[oid] *= C_GPS_M/L1_FREQ;
+ else
+ diff[oid] *= C_GPS_M/L2_FREQ;
+ }
+ // Then pull off the clock correction
+ diff[oid] -= coc;
+ }
+
+ return diff;
+} // end of DDEpoch::singleDifference()
+
+// ---------------------------------------------------------------------------
+// Sets the valid flag true if successfull
+// also sets the masterPrn to the one actually used
+// ---------------------------------------------------------------------------
+void DDEpoch::doubleDifference(
+ const ObsEpoch& rx1,
+ const ObsEpoch& rx2)
+{
+ valid = false;
+
+ if (DDEpochMap::useMasterSV)
+ ddSvOIDM.clear();
+ else
+ ddPrOIDM.clear();
+
+ if (DDEpochMap::useMasterSV && (masterPrn.id < 0))
+ {
+ if (debugLevel>1)
+ cout << "# " << rx1.time
+ << " No master SV selected. Skipping epoch." << endl;
+ return;
+ }
+
+ double c1 = rx1.rxClock;
+ double c2 = rx2.rxClock;
+ clockOffset = c1 - c2;
+ double eps = 10*std::numeric_limits<double>().epsilon();
+ if (std::abs(clockOffset) > 2.1e-3 ||
+ std::abs(c1) < eps || std::abs(c2) < eps)
+ {
+ if (debugLevel)
+ cout << "# " << rx1.time
+ << " Insane clock offset (" << 1e3*clockOffset
+ << " ms). Skipping epoch." << endl;
+ return;
+ }
+
+ if (DDEpochMap::useMasterSV)
+ {
+ ObsEpoch::const_iterator oi1, oi2;
+ oi1 = rx1.find(masterPrn);
+ oi2 = rx2.find(masterPrn);
+
+ if (oi1 == rx1.end() || oi2 == rx2.end())
+ return;
+
+ const SvObsEpoch& rx1obs = oi1->second;
+ const SvObsEpoch& rx2obs = oi2->second;
+
+ OIDM masterDiff = singleDifference(rx1obs, rx2obs, rangeRate[masterPrn]);
+ if (masterDiff.size() == 0)
+ {
+ if (debugLevel)
+ cout << "# No masterDiff" << endl;
+ return;
+ }
+
+ // Now walk through all prns in track
+ for (oi1=rx1.begin(); oi1!=rx1.end(); oi1++)
+ {
+ SatID prn = oi1->first;
+ oi2 = rx2.find(prn);
+ if (oi2 == rx2.end())
+ continue;
+
+ if (prn == masterPrn)
+ continue;
+
+ OIDM otherDiff = singleDifference( oi1->second, oi2->second,
+ rangeRate[prn]);
+
+ // Now compute the double differences
+ // Note that for the master this will be a single diff
+ OIDM::const_iterator i_masterDiff, i_otherDiff;
+ for (i_masterDiff = masterDiff.begin();
+ i_masterDiff != masterDiff.end(); i_masterDiff++)
+ {
+ ObsID oid1 = i_masterDiff->first;
+ i_otherDiff = otherDiff.find(oid1);
+ ObsID oid2 = i_otherDiff->first;
+
+ // make sure that both obs data came from same tracking code
+ if (oid1.code != oid2.code)
+ {
+ if (debugLevel)
+ cout << "# DDEpoch::doubleDifferece(): oid1.code "
+ << "!= oid2.code\n";
+ continue;
+ }
+
+ ddSvOIDM[prn][oid1] = i_masterDiff->second - otherDiff[oid1];
+ }
+ }
+ valid = true;
+ }
+ else
+ {
+ for (ObsEpoch::const_iterator oi0 = rx1.begin(); oi0 != rx1.end(); oi0++)
+ {
+ const SatID sv1 = oi0->first;
+ ObsEpoch::const_iterator oi2 = rx2.find(sv1);
+ if (oi2 == rx2.end())
+ continue;
+
+ const SvObsEpoch& rx1obs = oi0->second;
+ const SvObsEpoch& rx2obs = oi2->second;
+
+ OIDM d1 = singleDifference(rx1obs, rx2obs, rangeRate[sv1]);
+ if (d1.size() == 0)
+ {
+ if (debugLevel)
+ cout << "# DDEpoch::doubleDifferece(): empty d1" << endl;
+ continue;
+ }
+
+ // Now walk through all other SVs in track
+ for (ObsEpoch::const_iterator oi1=oi0; oi1!=rx1.end(); oi1++)
+ {
+ SatID sv2 = oi1->first;
+
+ if (sv1 == sv2)
+ continue;
+
+ oi2 = rx2.find(sv2);
+ if (oi2 == rx2.end())
+ continue;
+
+ OIDM d2 = singleDifference( oi1->second, oi2->second,
+ rangeRate[sv2]);
+
+ // Now compute the double differences
+ SatIdPair pr(sv1, sv2);
+ OIDM::const_iterator i;
+ for (i = d1.begin(); i != d1.end(); i++)
+ ddPrOIDM[pr][i->first] = i->second - d2[i->first];
+ }
+ }
+ valid = true;
+ }
+} // end of DDEpoch::doubleDifference()
+
+// ---------------------------------------------------------------------------
+// Criteria for the masterPrn:
+// it has an elevation > the min,
+// it it on the way up (i.e. doppler>0),
+// t4 is a record for it on the other receiver
+// ---------------------------------------------------------------------------
+void DDEpoch::selectMasterPrn(
+ const ObsEpoch& rx1,
+ const ObsEpoch& rx2)
+{
+ const double minElevation = 15.0;
+
+ // If there is already one selected, try to keep using that one...
+ if (masterPrn.id >0)
+ {
+ ObsEpoch::const_iterator i = rx1.find(masterPrn);
+ ObsEpoch::const_iterator j = rx2.find(masterPrn);
+ if (i != rx1.end() && j != rx2.end() &&
+ elevation[masterPrn] > minElevation)
+ return;
+ }
+
+ SatID prn;
+ ObsEpoch::const_iterator i;
+ for (i=rx1.begin(); i != rx1.end(); i++)
+ {
+ prn = i->first;
+ ObsEpoch::const_iterator j = rx2.find(prn);
+ SvObsEpoch obs = i->second;
+ if (j != rx2.end() && rangeRate[prn] >= 0 &&
+ elevation[i->first] > minElevation)
+ {
+ masterPrn = prn;
+ break;
+ }
+ }
+} // end of DDEpoch::selectMasterPrn()
+
+
+//----------------------------------------------------------------------------
+// compute the double difference of all common epochs
+//----------------------------------------------------------------------------
+void DDEpochMap::compute(
+ const ObsEpochMap& rx1,
+ const ObsEpochMap& rx2,
+ SvElevationMap& pem)
+{
+ DDEpoch prev;
+
+ DDEpochMap& ddem=*this;
+ DDEpoch::debugLevel = debugLevel;
+
+ if (debugLevel)
+ cout << "# DDEpochMap::compute(" << rx1.size()
+ << ", " << rx2.size() << " epochs)" << endl;
+
+ // We use the data from rx1 walk us through the data
+ // loop over all epochs for this station
+ ObsEpochMap::const_iterator ei1;
+ for (ei1=rx1.begin(); ei1!=rx1.end(); ei1++)
+ {
+ // first make sure we have data from the other receiver for this epoch...
+ DayTime t = ei1->first;
+ ObsEpochMap::const_iterator ei2 = rx2.find(t);
+ if (ei2 == rx2.end())
+ {
+ if (debugLevel>1)
+ cout << "# Epoch with no match" << endl;
+ continue;
+ }
+ const ObsEpoch& e1 = ei1->second;
+ const ObsEpoch& e2 = ei2->second;
+
+ DDEpoch curr;
+
+ // We need to have a range rate but it doesn't really matter where from.
+ // So here we find a doppler for each of the SVs
+ // Also we fill in the elevation while we are walking through
+ // the SVs.
+ for (ObsEpoch::const_iterator i=e1.begin(); i != e1.end(); i++)
+ {
+ const SatID& prn = i->first;
+ const SvObsEpoch& obs = i->second;
+ for(SvObsEpoch::const_iterator j=obs.begin(); j != obs.end(); j++)
+ if (j->first.type == ObsID::otDoppler &&
+ j->first.band == ObsID::cbL1)
+ {
+ curr.rangeRate[prn] = j->second * C_GPS_M/L1_FREQ;
+ break;
+ }
+ curr.elevation[prn] = pem[t][prn];
+ }
+
+ if (useMasterSV)
+ {
+ // Try to keep using the previous master PRN
+ if (prev.valid)
+ curr.masterPrn = prev.masterPrn;
+
+ curr.selectMasterPrn(e1, e2);
+ }
+
+ curr.doubleDifference(e1, e2);
+
+ if (curr.valid)
+ {
+ ddem[t] = curr;
+ prev = curr;
+ }
+ else if (debugLevel)
+ cout << "# Invalid DDEpoch" << endl;
+ } // end of looping over all epochs in the first set.
+
+ if (useMasterSV)
+ {
+ // Here we need to remove the double differences for the master PRN
+ for (DDEpochMap::iterator i = ddem.begin(); i != ddem.end(); i++)
+ {
+ DDEpoch& dde = i->second;
+ SvOIDM::iterator j = dde.ddSvOIDM.find(dde.masterPrn);
+ if (j != dde.ddSvOIDM.end())
+ dde.ddSvOIDM.erase(j);
+ }
+ }
+} // end of DDEpochMap::compute()
+
+// ---------------------------------------------------------------------------
+// ---------------------------------------------------------------------------
+void DDEpochMap::dump(std::ostream& s) const
+{
+ const DDEpochMap& ddem=*this;
+
+ s.setf(ios::fixed, ios::floatfield);
+ s << "# time obs type SV1 SV2 EL1 EL2"
+ << " ddr(m) h1h2"
+ << endl;
+
+ DDEpochMap::const_iterator ei;
+ for (ei = ddem.begin(); ei != ddem.end(); ei++)
+ {
+ const DayTime& t = ei->first;
+ const DDEpoch& dde = ei->second;
+
+ string time=t.printf("%4Y %3j %02H:%02M:%04.1f");
+
+ if (useMasterSV)
+ {
+ const SatID& masterPrn = dde.masterPrn;
+
+ SvOIDM::const_iterator pi;
+ for (pi = dde.ddSvOIDM.begin(); pi != dde.ddSvOIDM.end(); pi++)
+ {
+ const SatID& prn = pi->first;
+ const OIDM& ddr = pi->second;
+ for (OIDM::const_iterator ti = ddr.begin(); ti != ddr.end(); ti++)
+ {
+ string rot = StringUtils::asString(ti->first);
+ double dd = ti->second;
+
+ // don't output single differnce b/w master and itself.
+ // this is excluded from the stats computation as well
+ if (masterPrn.id != prn.id)
+ {
+ s << left << setw(20) << time << right
+ << setfill(' ') << setprecision(2)
+ << " " << left << setw(14) << rot << right
+ << " " << setw(3) << masterPrn.id
+ << " " << setw(3) << prn.id
+ << " " << setw(5) << dde.elevation[masterPrn] << " "
+ << " " << setw(5) << dde.elevation[prn]
+ << " " << setprecision(6) << setw(14) << dd
+ << hex
+ << " " << setw(2) << dde.health[masterPrn]
+ << dde.health[prn]
+ << dec
+ << endl;
+ }
+
+ if (debugLevel && (dde.health[masterPrn] || dde.health[prn]))
+ cout << "# Unhealthy SV. Master/SV2: " << hex << setw(2)
+ << dde.health[masterPrn] << dde.health[prn] << dec
+ << endl;
+ }
+ }
+ }
+ else
+ {
+ PrOIDM::const_iterator pi;
+ for (pi = dde.ddPrOIDM.begin(); pi != dde.ddPrOIDM.end(); pi++)
+ {
+ const SatIdPair& pr = pi->first;
+ const SatID& sv1 = pr.first;
+ const SatID& sv2 = pr.second;
+ const OIDM& ddr = pi->second;
+ for (OIDM::const_iterator ti = ddr.begin(); ti != ddr.end(); ti++)
+ {
+ string rot = StringUtils::asString(ti->first);
+ double dd = ti->second;
+
+ s << left << setw(20) << time << right
+ << setfill(' ') << setprecision(2)
+ << " " << left << setw(14) << rot << right
+ << " " << setw(3) << sv1.id
+ << " " << setw(3) << sv2.id
+ << " " << setw(5) << dde.elevation[sv1] << " "
+ << " " << setw(5) << dde.elevation[sv2]
+ << " " << setprecision(6) << setw(14) << dd
+ << hex
+ << " " << setw(2) << dde.health[sv1] << dde.health[sv2]
+ << dec
+ << endl;
+ }
+ }
+ }
+ }
+} // end of DDEpochMap::dump()
+
+
+//----------------------------------------------------------------------------
+// Returns a string containing a statistical summary of the double difference
+// residuals for the specified obs type within the given elevation range.
+//----------------------------------------------------------------------------
+string DDEpochMap::computeStats(
+ const gpstk::ObsID oid,
+ const ElevationRange& er) const
+{
+ ostringstream oss;
+ float minElevation = er.first;
+ float maxElevation = er.second;
+ double strip=1000;
+ int zeroCount=0;
+
+ gpstk::Stats<double> good, bad;
+ for (const_iterator ei = begin(); ei != end(); ei++)
+ {
+ const gpstk::DayTime& t = ei->first;
+ SvOIDM::const_iterator pi;
+ const DDEpoch& dde = ei->second;
+ for (pi = dde.ddSvOIDM.begin(); pi != dde.ddSvOIDM.end(); pi++)
+ {
+ const gpstk::SatID& prn = pi->first;
+ const OIDM& ddr = pi->second;
+
+ if (prn == dde.masterPrn)
+ continue;
+
+ if (dde.elevation[prn]<minElevation ||
+ dde.elevation[prn]>maxElevation)
+ continue;
+
+ OIDM::const_iterator ddi = ddr.find(oid);
+ if (ddi == ddr.end())
+ zeroCount++;
+ else
+ {
+ double dd = ddi->second;
+ if (std::abs(dd) < strip)
+ good.Add(dd);
+ else
+ bad.Add(dd);
+ }
+ }
+ }
+
+ char b1[200];
+ char zero = good.Average() < good.StdDev()/sqrt((float)good.N())?'0':' ';
+ double maxDD = std::max(std::abs(good.Minimum()), std::abs(good.Maximum()));
+ sprintf(b1, "%2d-%2d %8.5f %8.3f %7d %6d %6d %6.2f",
+ (int)minElevation, (int)maxElevation,
+ good.StdDev()/sqrt((float)2), good.Average(),
+ good.N(), bad.N(), zeroCount, maxDD);
+
+ oss << setw(14) << left << asString(oid) << right << b1 << endl;
+ return oss.str();
+} // end of DDEpochMap::computeStats()
+
+
+//----------------------------------------------------------------------------
+// Returns a string containing a statistical summary of the double difference
+// residuals for the specified obs type within the given elevation range.
+//----------------------------------------------------------------------------
+string DDEpochMap::computeStatsForAllCombos(
+ const ObsID oid,
+ const ElevationRange& er) const
+{
+ float minElevation = er.first;
+ float maxElevation = er.second;
+ double strip=1000;
+ int zeroCount=0;
+
+ gpstk::Stats<double> good, bad;
+ for (const_iterator ei = begin(); ei != end(); ei++)
+ {
+ const gpstk::DayTime& t = ei->first;
+ PrOIDM::const_iterator pi;
+ SvDoubleMap& elevation = ei->second.elevation;
+ for (pi = ei->second.ddPrOIDM.begin();
+ pi != ei->second.ddPrOIDM.end(); pi++)
+ {
+ const SatIdPair& pr = pi->first;
+ const gpstk::SatID& sv1 = pr.first;
+ const gpstk::SatID& sv2 = pr.second;
+ const OIDM& ddr = pi->second;
+
+ if (elevation[sv1]<minElevation || elevation[sv1]>maxElevation ||
+ elevation[sv2]<minElevation || elevation[sv2]>maxElevation)
+ continue;
+
+ OIDM::const_iterator ddi = ddr.find(oid);
+ if (ddi == ddr.end())
+ zeroCount++;
+ else
+ {
+ double dd = ddi->second;
+ if (std::abs(dd) < strip)
+ good.Add(dd);
+ else
+ bad.Add(dd);
+ }
+ }
+ }
+
+ ostringstream oss;
+ if (good.N() > 0 || bad.N() >0)
+ {
+ char b1[200];
+ char zero = good.Average() < good.StdDev()/sqrt((float)good.N())?'0':' ';
+ double maxDD = std::max(std::abs(good.Minimum()),
+ std::abs(good.Maximum()));
+ sprintf(b1, "%2d-%2d %8.5f %8.3f %7d %6d %6d %6.2f",
+ (int)minElevation, (int)maxElevation,
+ good.StdDev()/sqrt((float)2), good.Average(),
+ good.N(), bad.N(), zeroCount, maxDD);
+ oss << setw(14) << left << asString(oid) << right << b1 << endl;
+ }
+
+ return oss.str();
+} // end of DDEpochMap::computeStatsForAllCombos()
+
+//----------------------------------------------------------------------------
+//----------------------------------------------------------------------------
+void DDEpochMap::outputStats(ostream& s, const ElevationRangeList elr) const
+{
+ // First figure out what obs types we have to work with
+ if (debugLevel)
+ cout << "# Computing obsSet" << endl;
+
+ set<ObsID> obsSet;
+ for (const_iterator ei = begin(); ei != end(); ei++)
+ {
+ const DDEpoch& dde = ei->second;
+ for (SvOIDM::const_iterator pi = dde.ddSvOIDM.begin();
+ pi != dde.ddSvOIDM.end(); pi++)
+ {
+ const OIDM& ddr = pi->second;
+ for (OIDM::const_iterator ti = ddr.begin(); ti != ddr.end(); ti++)
+ obsSet.insert(ti->first);
+ }
+ }
+
+ s << endl
+ << "ObsID elev stddev mean # obs # bad "
+ << "# unk max good slips"
+ << endl
+ << "------------- ----- -------- -------- ------- ------ "
+ << "------ -------- -----"
+ << endl;
+
+ // For convience, group these into L1
+ for (ElevationRangeList::const_iterator i = elr.begin();
+ i != elr.end(); i++)
+ {
+ for (set<ObsID>::const_iterator j = obsSet.begin();
+ j != obsSet.end(); j++)
+ if (j->band == ObsID::cbL1)
+ s << computeStats(*j, *i);
+ s << endl;
+ }
+ s << "------------------------------------"
+ << "------------------------------------"
+ << endl << endl;
+
+ // and L2
+ for (ElevationRangeList::const_iterator i = elr.begin();
+ i != elr.end(); i++)
+ {
+ for (set<ObsID>::const_iterator j = obsSet.begin();
+ j != obsSet.end(); j++)
+ if (j->band == ObsID::cbL2)
+ s << computeStats(*j, *i);
+ s << endl;
+ }
+ s << "------------------------------------"
+ << "------------------------------------"
+ << endl << endl;
+
+} // end of DDEpochMap::outputStats()
+
+
+//----------------------------------------------------------------------------
+//----------------------------------------------------------------------------
+void DDEpochMap::outputStatsForAllCombos(ostream& s,
+ const ElevationRangeList elr) const
+{
+ // First figure out what obs types we have to work with
+ if (debugLevel)
+ cout << "# Computing obsSet" << endl;
+
+ set<ObsID> obsSet;
+ for (const_iterator ei = begin(); ei != end(); ei++)
+ {
+ const DDEpoch& dde = ei->second;
+ for (PrOIDM::const_iterator pi = dde.ddPrOIDM.begin();
+ pi != dde.ddPrOIDM.end(); pi++)
+ {
+ const OIDM& ddr = pi->second;
+ for (OIDM::const_iterator ti = ddr.begin(); ti != ddr.end(); ti++)
+ obsSet.insert(ti->first);
+ }
+ }
+
+ s << endl
+ << "ObsID elev stddev mean # obs # bad "
+ << "# unk max good slips" << endl
+ << "------------- ----- -------- -------- ------- ------ "
+ << "------ -------- -----"
+ << endl;
+
+ // For convience, group these into L1
+ for (ElevationRangeList::const_iterator i = elr.begin();
+ i != elr.end(); i++)
+ {
+ for (set<ObsID>::const_iterator j = obsSet.begin();
+ j != obsSet.end(); j++)
+ if (j->band == ObsID::cbL1)
+ s << computeStatsForAllCombos(*j, *i);
+ s << endl;
+ }
+
+ s << "------------------------------------"
+ << "------------------------------------"
+ << endl;
+
+ // and L2
+ for (ElevationRangeList::const_iterator i = elr.begin();
+ i != elr.end(); i++)
+ {
+ for (set<ObsID>::const_iterator j = obsSet.begin();
+ j != obsSet.end(); j++)
+ if (j->band == ObsID::cbL2)
+ s << computeStatsForAllCombos(*j, *i);
+ s << endl;
+ }
+
+ s << "------------------------------------"
+ << "------------------------------------"
+ << endl << endl;
+
+} // end of DDEpochMap::outputStatsForAllCombos()
+
+
+void DDEpochMap::outputAverages(ostream& s) const
+{
+ if (debugLevel)
+ cout << "# Computing averages\n";
+
+ s << "# window end time obs type # points mean ddr(m)\n";
+
+ // only going to compute averages for range, phase, and doppler
+ gpstk::Stats<double> l1CArange,l1Prange,l1Phase,l1Doppler;
+ gpstk::Stats<double> l2Prange,l2Phase,l2Doppler;
+
+ gpstk::DayTime windowTempDT;
+
+ const_iterator ei = begin();
+ const gpstk::DayTime& dataStartDT = ei->first;
+ gpstk::DayTime windowEndDT = dataStartDT + windowLength;
+
+ for (const_iterator ei = begin(); ei != end(); ei++)
+ {
+ const gpstk::DayTime& t = ei->first;
+ const DDEpoch& dde = ei->second;
+
+ // the time for this DDEpoch
+ windowTempDT = t;
+
+ if (windowTempDT < windowEndDT)
+ {
+ // record data for this epoch
+ SvOIDM::const_iterator pi;
+ for (pi = dde.ddSvOIDM.begin(); pi != dde.ddSvOIDM.end(); pi++)
+ {
+ const OIDM& ddr = pi->second;
+ for (OIDM::const_iterator ti = ddr.begin(); ti != ddr.end(); ti++)
+ {
+ gpstk::ObsID obsID = ti->first;
+ double dd = ti->second;
+
+ if ((obsID.band == ObsID::cbL1) &&
+ (obsID.type == ObsID::otRange) &&
+ (obsID.code == ObsID::tcCA))
+ l1CArange.Add(dd);
+ else if ((obsID.band == ObsID::cbL1) &&
+ (obsID.type == ObsID::otRange))
+ l1Prange.Add(dd);
+ else if ((obsID.band == ObsID::cbL1) &&
+ (obsID.type == ObsID::otPhase))
+ l1Phase.Add(dd);
+ else if ((obsID.band == ObsID::cbL1) &&
+ (obsID.type == ObsID::otDoppler))
+ l1Doppler.Add(dd);
+ else if ((obsID.band == ObsID::cbL2) &&
+ (obsID.type == ObsID::otRange))
+ l2Prange.Add(dd);
+ else if ((obsID.band == ObsID::cbL2) &&
+ (obsID.type == ObsID::otPhase))
+ l2Phase.Add(dd);
+ else if ((obsID.band == ObsID::cbL2) &&
+ (obsID.type == ObsID::otDoppler))
+ l2Doppler.Add(dd);
+ }
+ }
+ }
+ else
+ {
+ // reset window end time
+ windowEndDT = windowTempDT + windowLength;
+
+ // compute and output stats for previous window
+ string time = windowTempDT.printf("%4Y %3j %02H:%02M:%04.1f");
+
+ s << ">a " << left << setw(20) << time
+ << setfill(' ') << setprecision(2) << " " << setw(16)
+ << "L1 C/A range" << setw(6) << l1CArange.N()
+ << " " << right << setprecision(6) << setw(14)
+ << l1CArange.Average() << endl;
+
+ s << ">a " << left << setw(20) << time
+ << setfill(' ') << setprecision(2) << " " << setw(16)
+ << "L1 P/Y range" << setw(6) << l1Prange.N()
+ << " " << right << setprecision(6) << setw(14)
+ << l1Prange.Average() << endl;
+
+ s << ">a " << left << setw(20) << time
+ << setfill(' ') << setprecision(2) << " " << setw(16)
+ << "L1 P/Y phase" << setw(6) << l1Phase.N()
+ << " " << right << setprecision(6) << setw(14)
+ << l1Phase.Average() << endl;
+
+ s << ">a " << left << setw(20) << time
+ << setfill(' ') << setprecision(2) << " " << setw(16)
+ << "L1 P/Y doppl" << setw(6) << l1Doppler.N()
+ << " " << right << setprecision(6) << setw(14)
+ << l1Doppler.Average() << endl;
+
+ s << ">a " << left << setw(20) << time
+ << setfill(' ') << setprecision(2) << " " << setw(16)
+ << "L2 P/Y range" << setw(6) << l2Prange.N()
+ << " " << right << setprecision(6) << setw(14)
+ << l2Prange.Average() << endl;
+
+ s << ">a " << left << setw(20) << time
+ << setfill(' ') << setprecision(2) << " " << setw(16)
+ << "L2 P/Y phase" << setw(6) << l2Phase.N()
+ << " " << right << setprecision(6) << setw(14)
+ << l2Phase.Average() << endl;
+
+ s << ">a " << left << setw(20) << time
+ << setfill(' ') << setprecision(2) << " " << setw(16)
+ << "L2 P/Y doppl" << setw(6) << l2Doppler.N()
+ << " " << right << setprecision(6) << setw(14)
+ << l2Doppler.Average() << endl;
+
+
+ // reset objects to clear them and start recording data
+ // for this new window
+ l1CArange.Reset();
+ l1Prange.Reset();
+ l1Phase.Reset();
+ l1Doppler.Reset();
+ l2Prange.Reset();
+ l2Phase.Reset();
+ l2Doppler.Reset();
+ }
+
+ }
+} // end of DDEpochMap::outputAverages()
+
diff --git a/dev/apps/reszilla/DDEpoch.hpp b/dev/apps/reszilla/DDEpoch.hpp
new file mode 100644
index 0000000..80e0239
--- /dev/null
+++ b/dev/apps/reszilla/DDEpoch.hpp
@@ -0,0 +1,126 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef DDEPOCH_HPP
+#define DDEPOCH_HPP
+
+#include <DayTime.hpp>
+#include <stl_helpers.hpp>
+#include <icd_200_constants.hpp>
+
+#include "ElevationRange.hpp"
+#include "SvElevationMap.hpp"
+
+typedef std::map<gpstk::ObsID, double> OIDM;
+typedef std::map<gpstk::SatID, OIDM > SvOIDM;
+typedef std::map<gpstk::SatID, short > SvShortMap;
+typedef std::map<gpstk::SatID, double > SvDoubleMap;
+typedef std::pair<gpstk::SatID, gpstk::SatID > SatIdPair;
+typedef std::map<SatIdPair, OIDM > PrOIDM;
+
+struct DDEpoch
+{
+ DDEpoch() : valid(false){};
+
+ SvOIDM ddSvOIDM;
+ PrOIDM ddPrOIDM;
+
+ mutable SvShortMap health;
+ mutable SvDoubleMap rangeRate;
+ mutable SvDoubleMap elevation;
+
+ double clockOffset;
+ gpstk::SatID masterPrn;
+ bool valid;
+ static unsigned debugLevel;
+
+ // Computes a single difference between two sets of obs
+ OIDM singleDifference(
+ const gpstk::SvObsEpoch& rx1obs,
+ const gpstk::SvObsEpoch& rx2obs,
+ double rangeRate);
+
+ // Sets the valid flag true if successfull
+ // also sets the masterPrn to the one actually used
+ void doubleDifference(
+ const gpstk::ObsEpoch& rx1,
+ const gpstk::ObsEpoch& rx2);
+
+ // Criteria for the masterPrn:
+ // it has an elevation > the min,
+ // it it on the way up (i.e. doppler>0),
+ // there is a record for it on the other receiver
+ void selectMasterPrn(
+ const gpstk::ObsEpoch& rx1,
+ const gpstk::ObsEpoch& rx2);
+
+};
+
+
+struct DDEpochMap : public std::map<gpstk::DayTime, DDEpoch>
+{
+
+ // compute the double difference of all common epochs
+ void compute(
+ const gpstk::ObsEpochMap& rx1,
+ const gpstk::ObsEpochMap& rx2,
+ SvElevationMap& pem);
+
+ // Returns a string containing a statistical summary of the double difference
+ // residuals for the specified obs type within the given elevation range.
+ std::string computeStats(
+ const gpstk::ObsID oid,
+ const ElevationRange& er) const;
+ std::string computeStatsForAllCombos(
+ const gpstk::ObsID oid,
+ const ElevationRange& er) const;
+
+ void outputStats(std::ostream& s, const ElevationRangeList elr) const;
+ void outputStatsForAllCombos(std::ostream& s, const ElevationRangeList elr) const;
+
+ void outputAverages(std::ostream& s) const;
+ void dump(std::ostream& s) const;
+
+ static unsigned debugLevel;
+ static bool useMasterSV;
+ unsigned long windowLength; // seconds
+ //unsigned long minimumSNR; // dB
+};
+
+
+#endif
diff --git a/dev/apps/reszilla/ElevationRange.hpp b/dev/apps/reszilla/ElevationRange.hpp
new file mode 100644
index 0000000..36ed71a
--- /dev/null
+++ b/dev/apps/reszilla/ElevationRange.hpp
@@ -0,0 +1,72 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef ELEVATIONRANGE_HPP
+#define ELEVATIONRANGE_HPP
+
+#include <iostream>
+#include <list>
+
+typedef std::pair<float, float> ElevationRange;
+typedef std::list< ElevationRange > ElevationRangeList;
+
+inline void dump(std::ostream& s, const ElevationRange& er)
+{
+ s << er.first << "-" << er.second;
+};
+
+inline std::ostream& operator<<(std::ostream& s, const ElevationRange& er)
+{
+ dump(s, er);
+ return s;
+};
+
+inline void dump(std::ostream& s, const ElevationRangeList& erl)
+{
+ for (ElevationRangeList::const_iterator i=erl.begin(); i != erl.end(); i++)
+ s << *i << " ";
+ s << std::endl;
+};
+
+inline std::ostream& operator<<(std::ostream& s, const ElevationRangeList& erl)
+{
+ dump(s, erl);
+ return s;
+};
+
+#endif
diff --git a/dev/apps/reszilla/Jamfile b/dev/apps/reszilla/Jamfile
new file mode 100644
index 0000000..369830e
--- /dev/null
+++ b/dev/apps/reszilla/Jamfile
@@ -0,0 +1,36 @@
+# $Id$
+
+SubDir TOP apps reszilla ;
+
+
+# Note that the local library needs to be declaired and built prior to anything
+# else is done.
+GPSLinkLibraries rlib : rxio gpstk ;
+Library rlib : DDEpoch.cpp PhaseCleaner.cpp PhaseResidual.cpp
+ RobustLinearEstimator.cpp SvElevationMap.cpp CycleSlipList.cpp
+ OrdApp.cpp OrdEngine.cpp ;
+
+
+# Now we can set up the things that depend upon the local library. Note that
+# the LinkLibraries rule for mdplib must preceede the GPSLinkLibraries rule
+# for things to build properly
+LinkLibraries ordGen ordClock ordEdit ordStats ordLinEst ddGen : rlib ;
+GPSLinkLibraries ordGen ordClock ordEdit ordStats ordLinEst ddGen : rxio gpstk ;
+
+
+GPSMain ordGen : ordGen.cpp ;
+
+GPSMain ordClock : ordClock.cpp ;
+
+GPSMain ordLinEst : ordLinEst.cpp ;
+
+GPSMain ordEdit : ordEdit.cpp ;
+
+GPSMain ordStats : ordStats.cpp ;
+
+GPSMain ddGen : ddGen.cpp ;
+
+InstallBin $(BINDIR) : ordPlot ;
+
+InstallBin $(BINDIR) : ddPlot ;
+
diff --git a/dev/apps/reszilla/Makefile.am b/dev/apps/reszilla/Makefile.am
new file mode 100644
index 0000000..fce44c3
--- /dev/null
+++ b/dev/apps/reszilla/Makefile.am
@@ -0,0 +1,7 @@
+INCLUDES = -I$(srcdir)/../../src -I$(srcdir)/../MDPtools
+LDADD = ./librlib.la ./libdatalib.la ../../src/libgpstk.la ../MDPtools/libmdplib.la
+
+lib_LTLIBRARIES = librlib.la libdatalib.la
+libdatalib_la_SOURCES = OrdApp.cpp OrdEngine.cpp
+librlib_la_SOURCES = DDEpoch.cpp PhaseCleaner.cpp PhaseResidual.cpp \
+ RobustLinearEstimator.cpp SvElevationMap.cpp CycleSlipList.cpp
diff --git a/dev/apps/reszilla/OrdApp.cpp b/dev/apps/reszilla/OrdApp.cpp
new file mode 100644
index 0000000..0ccb6c6
--- /dev/null
+++ b/dev/apps/reszilla/OrdApp.cpp
@@ -0,0 +1,267 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <iostream>
+
+#include "OrdApp.hpp"
+#include "CommandOption.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+
+//-----------------------------------------------------------------------------
+// The constructor basically just sets up all the command line options
+//-----------------------------------------------------------------------------
+OrdApp::OrdApp(
+ const string& applName,
+ const string& appDesc)
+ throw()
+ : BasicFramework(applName, appDesc),
+ timeFormat("%4Y %3j %02H:%02M:%04.1f"),
+ headerWritten(false)
+{}
+
+
+//-----------------------------------------------------------------------------
+// Here the command line options parsed and used to configure the program
+//-----------------------------------------------------------------------------
+bool OrdApp::initialize(int argc, char *argv[]) throw()
+{
+ CommandOptionWithAnyArg
+ inputOpt('i', "input",
+ "Where to read the ord data. The default is stdin."),
+ outputOpt('r', "output",
+ "Where to write the output. The default is stdout."),
+ timeFormatOpt('t', "time-format", "Daytime format specifier used for "
+ "times in the output. "
+ "The default is \""+timeFormat + "\".");
+
+ if (!BasicFramework::initialize(argc,argv))
+ return false;
+
+ if (debugLevel)
+ cout << "# program:" << argv0 << endl
+ << "# debugLevel: " << debugLevel << endl
+ << "# verboseLevel: " << verboseLevel << endl;
+
+ if (outputOpt.getCount())
+ {
+ const string fn=outputOpt.getValue()[0];
+ output.open(fn.c_str(), ios::out);
+ if (debugLevel)
+ cout << "# Sending output to" << fn << endl;
+ }
+ else
+ {
+ if (debugLevel)
+ cout << "# Sending output to stdout" << endl;
+ output.copyfmt(cout);
+ output.clear(cout.rdstate());
+ output.basic_ios<char>::rdbuf(cout.rdbuf());
+ }
+
+ if (inputOpt.getCount())
+ {
+ const string fn = inputOpt.getValue()[0];
+ input.open(fn.c_str(), ios::in);
+ if (debugLevel)
+ cout << "# Reading ords from" << fn << endl;
+ }
+ else
+ {
+ if (debugLevel)
+ cout << "# Reading ords from stdin" << endl;
+ input.copyfmt(cin);
+ input.clear(cin.rdstate());
+ input.basic_ios<char>::rdbuf(cin.rdbuf());
+ }
+
+ if (timeFormatOpt.getCount())
+ timeFormat = timeFormatOpt.getValue()[0];
+
+ return true;
+}
+
+
+void OrdApp::write(ofstream& s, const ORDEpoch& ordEpoch) throw()
+{
+ if (!headerWritten)
+ {
+ s << "# Time Type PRN Elev ORD(m) wonky" << endl;
+ headerWritten=true;
+ }
+
+ s.setf(ios::fixed, ios::floatfield);
+ s << setfill(' ') << right;
+
+ string time = ordEpoch.time.printf(timeFormat);
+ ORDEpoch::ORDMap::const_iterator pi;
+ for (pi = ordEpoch.ords.begin(); pi != ordEpoch.ords.end(); pi++)
+ {
+ const SatID& svid = pi->first;
+ const ObsRngDev& ord = pi->second;
+
+ int type = 0;
+ s << time << " " << setw(4) << type
+ << " " << setw(3) << svid.id
+ << " " << setprecision(1) << setw(5) << ord.getElevation()
+ << " " << setprecision(5) << setw(14) << ord.getORD()
+ << " " << hex << setw(5) << ord.wonky << dec
+ << endl;
+ }
+
+ if (ordEpoch.clockResidual.is_valid())
+ {
+ int type = 1;
+ int wart = 0;
+ if (ordEpoch.wonky)
+ wart = 1;
+ s << time << " " << setw(4) << type
+ << " " << setprecision(5) << setw(24) << ordEpoch.clockResidual
+ << setw(6) << wart << endl;
+ }
+
+ if (ordEpoch.clockOffset.is_valid())
+ {
+ int type = 50;
+ int wart = 0;
+ if (ordEpoch.wonky)
+ wart = 1;
+ s << time << " " << setw(4) << type
+ << " " << setprecision(5) << setw(24) << ordEpoch.clockOffset
+ << setw(6) << wart << endl;
+ }
+}
+
+ORDEpoch OrdApp::read(std::ifstream& s) throw()
+{
+ ORDEpoch ordEpoch;
+ ordEpoch.time = DayTime(DayTime::BEGINNING_OF_TIME);
+ using namespace StringUtils;
+ while (s)
+ {
+ try
+ {
+ if (readBuffer.size() == 0)
+ {
+ getline(s, readBuffer);
+ strip(readBuffer);
+ }
+
+ if ((readBuffer.size() < 24) ||
+ (readBuffer=="# Time Type PRN Elev ORD(m) wonky"))
+ {
+ readBuffer.erase(0, string::npos);
+ continue;
+ }
+ else if ((readBuffer[0] == '#') ||(readBuffer[0] == '>'))
+ {
+ output << readBuffer << endl;
+ readBuffer.erase(0, string::npos);
+ continue;
+ }
+
+ DayTime time;
+ time.setToString(readBuffer.substr(0,19), timeFormat);
+
+ // This means that we have a complete epoch. Note that the most
+ // recently read line is left in readBuffer
+ if (ordEpoch.time != time && ordEpoch.ords.size() > 0)
+ break;
+
+ ordEpoch.time = time;
+
+ istringstream iss(readBuffer.substr(20, string::npos));
+ int type;
+ iss >> type;
+
+ if (type == 0)
+ {
+ if (readBuffer.size() < 46)
+ {
+ cout << "# Line too short" << endl;
+ continue;
+ }
+
+ ObsRngDev ord;
+ ord.obstime = time;
+
+ int prn;
+ double elev, res;
+ unsigned wonky;
+
+ iss >> prn >> elev >> res >> hex >> wonky >> dec;
+
+ SatID svid(prn, SatID::systemGPS);
+ ord.svid = svid;
+ ord.elevation = elev;
+ ord.ord = res;
+ ord.wonky = wonky;
+
+ ordEpoch.ords[svid] = ord;
+ }
+ else if (type == 1)
+ {
+ double c;
+ unsigned wonky;
+ iss >> c >> wonky;
+ ordEpoch.clockResidual = c;
+ if (wonky == 1)
+ ordEpoch.wonky = true;
+ }
+ else if (type == 50)
+ {
+ double c;
+ unsigned wonky;
+ iss >> c >> wonky;
+ ordEpoch.clockOffset = c;
+ if (wonky == 1)
+ ordEpoch.wonky = true;
+ }
+
+ readBuffer.erase(0, string::npos);
+ }
+ catch (Exception& e)
+ {
+ cout << "# Error reading ord file " << e << endl;
+ }
+ }
+
+ return ordEpoch;
+}
diff --git a/dev/apps/reszilla/OrdApp.hpp b/dev/apps/reszilla/OrdApp.hpp
new file mode 100644
index 0000000..0d351aa
--- /dev/null
+++ b/dev/apps/reszilla/OrdApp.hpp
@@ -0,0 +1,69 @@
+#pragma ident "$Id: DataAvailabilityAnalyzer.hpp 192 2006-10-06 15:18:53Z ocibu $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef ORDAPP_HPP
+#define ORDAPP_HPP
+
+#include <fstream>
+#include <string>
+
+#include "BasicFramework.hpp"
+#include "Exception.hpp"
+#include "ORDEpoch.hpp"
+
+class OrdApp : public gpstk::BasicFramework
+{
+public:
+ OrdApp(
+ const std::string& applName,
+ const std::string& appDesc) throw();
+
+ bool initialize(int argc, char *argv[]) throw();
+
+ void write(std::ofstream& ofs, const gpstk::ORDEpoch& ordEpoch) throw();
+ gpstk::ORDEpoch read(std::ifstream& ifs) throw();
+
+ std::ifstream input;
+ std::ofstream output;
+ std::string timeFormat;
+
+private:
+ bool headerWritten;
+ std::string readBuffer;
+};
+#endif
diff --git a/dev/apps/reszilla/OrdEngine.cpp b/dev/apps/reszilla/OrdEngine.cpp
new file mode 100644
index 0000000..0b1ab9a
--- /dev/null
+++ b/dev/apps/reszilla/OrdEngine.cpp
@@ -0,0 +1,268 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include "OrdEngine.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+
+// ---------------------------------------------------------------------
+OrdEngine::OrdEngine(
+ const EphemerisStore& e,
+ const WxObsData& w,
+ const Triple& p,
+ const string& mode,
+ TropModel& t)
+ : eph(e), wod(w), antennaPos(p), tm(t), mode(mode),
+ oidSet(false),
+ svTime(false), keepWarts(false), keepUnhealthy(false),
+ wartCount(0), verboseLevel(0), debugLevel(0), dualFreq(false)
+{
+ if (RSS(antennaPos[0], antennaPos[1], antennaPos[2]) < 1)
+ {
+ cerr << "Warning! The antenna antennaPospears to be within one meter of the" << endl
+ << "center of the geoid. This program is not cantennaPosable of" << endl
+ << "accurately estimating the propigation of GNSS signals" << endl
+ << "through solids such as a planetary crust or magma. Also," << endl
+ << "if this location is correct, your antenna is probably" << endl
+ << "no longer in the best of operating condition." << endl;
+ exit(-1);
+ }
+
+ ECEF ecef(antennaPos);
+ Geodetic geo(ecef, &gm);
+ tm.setReceiverHeight(geo.getAltitude());
+ tm.setReceiverLatitude(geo.getLatitude());
+}
+
+void OrdEngine::setMode(const ObsEpoch& obs)
+{
+ if (mode=="p1p2")
+ {
+ oid1 = ObsID(ObsID::otRange, ObsID::cbL1, ObsID::tcP);
+ oid2 = ObsID(ObsID::otRange, ObsID::cbL2, ObsID::tcP);
+ dualFreq = true;
+ }
+ else if (mode=="c1p2")
+ {
+ oid1 = ObsID(ObsID::otRange, ObsID::cbL1, ObsID::tcCA);
+ oid2 = ObsID(ObsID::otRange, ObsID::cbL2, ObsID::tcP);
+ dualFreq = true;
+ }
+ else if (mode=="y1y2")
+ {
+ oid1 = ObsID(ObsID::otRange, ObsID::cbL1, ObsID::tcY);
+ oid2 = ObsID(ObsID::otRange, ObsID::cbL2, ObsID::tcY);
+ dualFreq = true;
+ }
+ else if (mode=="c1")
+ {
+ oid1 = ObsID(ObsID::otRange, ObsID::cbL1, ObsID::tcCA);
+ }
+ else if (mode=="p1")
+ {
+ oid1 = ObsID(ObsID::otRange, ObsID::cbL1, ObsID::tcP);
+ }
+ else if (mode=="c2")
+ {
+ oid1 = ObsID(ObsID::otRange, ObsID::cbL2, ObsID::tcC2LM);
+ }
+ else if (mode=="p2")
+ {
+ oid1 = ObsID(ObsID::otRange, ObsID::cbL2, ObsID::tcP);
+ }
+ else if (mode=="smo")
+ {
+ oid1 = ObsID(ObsID::otRange, ObsID::cbL1L2, ObsID::tcP);
+ svTime = true;
+ }
+ else if (mode=="smart")
+ {
+ const SvObsEpoch& soe = obs.begin()->second;
+ SvObsEpoch::const_iterator itr;
+ for (itr = soe.begin(); itr != soe.end(); itr++)
+ {
+ const ObsID& oid = itr->first;
+ if (oid.type != ObsID::otRange)
+ continue;
+ if (oid.band == ObsID::cbL1)
+ oid1 = oid;
+ if (oid.band == ObsID::cbL2)
+ {
+ oid2 = oid;
+ dualFreq = true;
+ }
+ if (oid.band == ObsID::cbL1L2)
+ {
+ oid1 = oid;
+ dualFreq = false;
+ svTime = true;
+ }
+ }
+ }
+ else
+ {
+ cerr << "Unknown ORD computation requested, mode=" << mode << endl;
+ exit(-1);
+ }
+
+ oidSet = true;
+
+ if (verboseLevel)
+ {
+ cout << "# OrdEngine using " << mode << " mode" << endl;
+ cout << "# OrdEngine using " << oid1;
+ if (dualFreq)
+ cout << " and " << oid2;
+ cout << endl;
+ if (svTime)
+ cout << "# OrdEngine using SV time" << endl;
+ }
+}
+
+// ---------------------------------------------------------------------
+gpstk::ORDEpoch OrdEngine::operator()(const gpstk::ObsEpoch& obs)
+{
+ if (!oidSet)
+ setMode(obs);
+
+ const DayTime& t = obs.time;
+ const ObsEpoch& obsEpoch = obs;
+
+ ORDEpoch ordEpoch;
+ ordEpoch.time = t;
+
+ if (debugLevel>2)
+ cout << " obs: " << obsEpoch.time << endl << obsEpoch;
+
+ try
+ {
+ // Now set up our trop model for this epoch
+ const WxObservation wx = wod.getMostRecent(t);
+ tm.setDayOfYear(t.DOYday());
+ if (wx.isAllValid())
+ {
+ if (debugLevel > 2)
+ cout << " wx: " << wx << endl;
+ tm.setWeather(wx.temperature, wx.pressure, wx.humidity);
+ }
+
+ // Walk over all prns in this epoch
+ ObsEpoch::const_iterator j;
+ for (j=obsEpoch.begin(); j != obsEpoch.end(); j++)
+ {
+ const SatID svid = j->first;
+ const SvObsEpoch& svObsEpoch = j->second;
+
+ SvObsEpoch::const_iterator k;
+ double obs1, obs2;
+
+ // first we need to make sure the observation has the data we require.
+ k = svObsEpoch.find(oid1);
+ if (k == svObsEpoch.end())
+ continue;
+ else
+ obs1 = k->second;
+
+ if (dualFreq)
+ {
+ k = svObsEpoch.find(oid2);
+ if (k == svObsEpoch.end())
+ continue;
+ else
+ obs2 = k->second;
+ }
+
+ try
+ {
+ if (dualFreq)
+ ordEpoch.ords[svid] = ObsRngDev(
+ obs1, obs2, svid, t, antennaPos, eph, gm, tm, svTime);
+ else
+ ordEpoch.ords[svid] = ObsRngDev(
+ obs1, svid, t, antennaPos, eph, gm, tm, svTime);
+
+ ObsRngDev& ord = ordEpoch.ords[svid];
+
+ // A gross check on the pseudorange
+ const double rhoMin = 1e6; // Minimum reasonable pseudorange
+ if (obs1 < rhoMin || (dualFreq && obs2 < rhoMin))
+ ord.wonky |= 0x0001;
+
+ // Any LLI indicator makes the data suspect
+ for (k=svObsEpoch.begin(); k != svObsEpoch.end(); k++)
+ if (k->first.type == ObsID::otLLI && k->second == 1)
+ ord.wonky |= 0x0002;
+
+ // Make sure we have a valid C/A pseudorange unless we are a mixed
+ // frequency
+ if (oid1.band != ObsID::cbL1L2)
+ {
+ const ObsID C1(ObsID::otRange, ObsID::cbL1, ObsID::tcCA);
+ k = svObsEpoch.find(C1);
+ if (k == svObsEpoch.end() || k->second < rhoMin)
+ ord.wonky |= 0x0004;
+ }
+
+ if (!keepUnhealthy && ord.getHealth().is_valid() && ord.getHealth())
+ ord.wonky |= 0x0008;
+
+ if (std::abs(ord.getTrop()) > 100)
+ ord.wonky |= 0x0010;
+
+ if (ord.getElevation() <= 0.05)
+ ord.wonky |= 0x0020;
+ }
+ catch (gpstk::Exception& e)
+ {
+ ordEpoch.ords.erase(svid);
+ if (verboseLevel>2)
+ cout << "#" << e << endl;
+ }
+ } // end looping over each SV in this epoch
+
+ }
+ catch (gpstk::Exception& e)
+ {
+ if (verboseLevel)
+ cout << "#" << e;
+ }
+
+ return ordEpoch;
+}
diff --git a/dev/apps/reszilla/OrdEngine.hpp b/dev/apps/reszilla/OrdEngine.hpp
new file mode 100644
index 0000000..bb259d7
--- /dev/null
+++ b/dev/apps/reszilla/OrdEngine.hpp
@@ -0,0 +1,83 @@
+#pragma ident "$Id: ordUtils.hpp 203 2006-10-10 16:12:03Z ocibu $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef ORDENGINE_HPP
+#define ORDENGINE_HPP
+
+#include "ObsEpochMap.hpp"
+#include "WxObsMap.hpp"
+#include "ORDEpoch.hpp"
+#include "EphemerisStore.hpp"
+#include "TropModel.hpp"
+
+class OrdEngine
+{
+public:
+ OrdEngine(
+ const gpstk::EphemerisStore& e,
+ const gpstk::WxObsData& w,
+ const gpstk::Triple& p,
+ const std::string& mode,
+ gpstk::TropModel& t);
+
+ void setMode(const gpstk::ObsEpoch& obs);
+
+ // The crank for this engine. Input an ObsEpoch, get back an ORDEpoch.
+ gpstk::ORDEpoch operator()(const gpstk::ObsEpoch& obs);
+
+ const gpstk::Triple& antennaPos;
+ const gpstk::EphemerisStore& eph;
+ const gpstk::WxObsData& wod;
+ gpstk::TropModel& tm;
+
+ bool svTime;
+ bool keepWarts;
+ bool keepUnhealthy;
+ unsigned long wartCount;
+ std::string mode;
+ int verboseLevel;
+ int debugLevel;
+
+private:
+ bool dualFreq;
+ bool oidSet;
+ gpstk::ObsID oid1, oid2;
+ gpstk::GPSGeoid gm;
+};
+
+#endif
diff --git a/dev/apps/reszilla/PhaseCleaner.cpp b/dev/apps/reszilla/PhaseCleaner.cpp
new file mode 100644
index 0000000..97e1891
--- /dev/null
+++ b/dev/apps/reszilla/PhaseCleaner.cpp
@@ -0,0 +1,806 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <algorithm>
+
+#include "ObsID.hpp"
+
+#include "PhaseCleaner.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+
+unsigned PhaseCleaner::debugLevel;
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+PhaseCleaner::PhaseCleaner(long al, double at, double gt)
+ : minArcLen(al), minArcTime(at), maxGapTime(gt)
+{
+ lamda[ObsID::cbL1] = gpstk::C_GPS_M/gpstk::L1_FREQ;
+ lamda[ObsID::cbL2] = gpstk::C_GPS_M/gpstk::L2_FREQ;
+}
+
+
+//-----------------------------------------------------------------------------
+// Pulls the phase data data into arcs. Only data that exists on both receivers
+// is included
+//-----------------------------------------------------------------------------
+void PhaseCleaner::addData(const gpstk::ObsEpochMap& rx1,
+ const gpstk::ObsEpochMap& rx2,
+ const unsigned long minimumSNR)
+{
+ if (debugLevel)
+ cout << "PhaseCleaner::addData(), "
+ << rx1.size() << ", " << rx2.size() << " epochs" << endl;
+
+ // Now loop over all the epochs, pulling the data into the arcs
+ for (gpstk::ObsEpochMap::const_iterator ei1=rx1.begin(); ei1!=rx1.end(); ei1++)
+ {
+ gpstk::DayTime t = ei1->first;
+ const gpstk::ObsEpoch& rod1 = ei1->second;
+ gpstk::ObsEpochMap::const_iterator ei2 = rx2.find(t);
+
+ // Gotta have data from the other receiver
+ if (ei2 == rx2.end())
+ continue;
+ const gpstk::ObsEpoch& rod2 = ei2->second;
+
+ clockOffset[t] = rod1.rxClock - rod2.rxClock;
+
+ for (gpstk::ObsEpoch::const_iterator pi1=rod1.begin(); pi1 != rod1.end(); pi1++)
+ {
+ const gpstk::SatID& prn = pi1->first;
+ const gpstk::SvObsEpoch& rotm1 = pi1->second;
+
+ // Make sure the other receiver saw this SV
+ const gpstk::ObsEpoch::const_iterator pi2 = rod2.find(prn);
+ if (pi2 == rod2.end())
+ continue;
+ const gpstk::SvObsEpoch& rotm2 = pi2->second;
+
+ // We need a doppler, and any one will do
+ gpstk::SvObsEpoch::const_iterator d;
+ for (d = rotm1.begin(); d != rotm1.end(); d++)
+ if (d->first.type == ObsID::otDoppler)
+ break;
+
+ // No doppler, no phase double difference. sorry
+ if (d == rotm1.end())
+ continue;
+
+ double freq = d->first.band == ObsID::cbL2 ? gpstk::L2_FREQ : gpstk::L1_FREQ;
+ rangeRate[prn][t] = d->second * gpstk::C_GPS_M/freq;
+
+ gpstk::SvObsEpoch::const_iterator phase1;
+ for (phase1 = rotm1.begin(); phase1 != rotm1.end(); phase1++)
+ {
+ const gpstk::ObsID& rot = phase1->first;
+ if (rot.type != ObsID::otPhase)
+ continue;
+
+ gpstk::SvObsEpoch::const_iterator phase2 = rotm2.find(rot);
+ if (phase2 == rotm2.end())
+ continue;
+
+ // Don't use the data if we have an SN in the data and it looks
+ // bogus.
+ double snr=-1;
+ gpstk::ObsID srot = rot;
+ srot.type = ObsID::otSNR;
+ gpstk::SvObsEpoch::const_iterator snr1_itr = rotm1.find(srot);
+ gpstk::SvObsEpoch::const_iterator snr2_itr = rotm2.find(srot);
+
+ if (snr1_itr != rotm1.end() && snr2_itr != rotm2.end() )
+ {
+ snr = snr1_itr->second;
+ if (std::abs(snr) < minimumSNR ||
+ std::abs(snr2_itr->second) < minimumSNR )
+ continue;
+ }
+
+ // Note that we need the phase in cycles to make the PhaseResidual
+ // class work right.
+ PhaseResidual::Arc& arc = pot[rot][prn].front();
+ arc[t].phase11 = phase1->second;
+ arc[t].phase12 = phase2->second;
+ arc[t].snr1 = snr;
+ }
+ }
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+// This is intended to be a predicated for the for_each generic algorithm
+// find the SV above indicated elevation with the lowest elevation, that is
+// rising, and not equal to prn (the 'current' SV)
+//-----------------------------------------------------------------------------
+bool PhaseCleaner::goodMaster::operator()(const SvDoubleMap::value_type& pdm)
+{
+ bool good = (pdm.second > minVal)
+ && (pdm.first != prn)
+ && (rangeRate[pdm.first][time] >0);
+
+ if (!good)
+ return false;
+
+ if (bestPrn.id < 1 || pdm.second < bestElev)
+ {
+ bestPrn = pdm.first;
+ bestElev = pdm.second;
+ }
+ return true;
+}
+
+
+//-----------------------------------------------------------------------------
+// This function can't be moved to PhaseResidual since it needs access to all
+// the other PRN's data. Not that this should guarantee that the data exists
+// from both the SVs.
+//-----------------------------------------------------------------------------
+void PhaseCleaner::selectMasters(
+ const gpstk::ObsID& rot,
+ const gpstk::SatID& prn,
+ SvElevationMap& pem)
+{
+ PhaseResidual::ArcList& pral = pot[rot][prn];
+
+ for (PhaseResidual::ArcList::iterator arc = pral.begin(); arc != pral.end(); arc++)
+ {
+ for (PhaseResidual::Arc::iterator i = arc->begin(); i != arc->end(); i++)
+ {
+ const gpstk::DayTime& t = i->first;
+ PhaseResidual::Obs& obs = i->second;
+
+ SvElevationMap::iterator j = pem.find(t);
+ if (j == pem.end())
+ {
+ cout << "No elevation available. Returning." << t << endl;
+ return;
+ }
+ SvDoubleMap& pdm = j->second;
+
+ bool haveMasterObs = false;
+
+ if (arc->master.id > 0)
+ {
+ PhaseResidual::Arc::const_iterator k;
+ if (pot[rot][arc->master].findObs(t, k))
+ haveMasterObs = true;
+ }
+
+ // See if we need a new master...
+ if (!haveMasterObs || pdm[arc->master] < 10)
+ {
+ gpstk::SatID newMaster;
+ goodMaster gm = for_each(pdm.begin(), pdm.end(),
+ goodMaster(15, prn, t, rangeRate));
+ if (gm.bestPrn.id > 0)
+ newMaster = gm.bestPrn;
+ else
+ {
+ if (debugLevel)
+ {
+ cout << "Could not find a suitable master for prn " << prn.id
+ << " " << rot.type
+ << " at " << t
+ << endl;
+ SvDoubleMap::const_iterator e;
+ for (e = pdm.begin(); e != pdm.end(); e++)
+ cout << " prn: " << e->first.id
+ << ", elev:" << e->second
+ << ", rate:" << rangeRate[e->first][t]
+ << endl;
+ }
+ return;
+ }
+
+ PhaseResidual::Arc::const_iterator k;
+ if (!pot[rot][newMaster].findObs(t, k))
+ {
+ if (debugLevel)
+ cout << t << " rot:" << rot << " newMaster:" << newMaster
+ << " Selected an invalid master." << endl;
+ return;
+ }
+
+ if (debugLevel)
+ cout << t << " prn " << newMaster.id << " as master. (" << rot
+ << ")" << endl;
+
+ if (arc->master.id < 1)
+ {
+ arc->master = newMaster;
+ }
+ else
+ {
+ PhaseResidual::ArcList::iterator nextArc = arc; nextArc++;
+ nextArc = pral.insert(nextArc, PhaseResidual::Arc());
+ nextArc->master = newMaster;
+ nextArc->insert(i, arc->end());
+ arc->erase(i, arc->end());
+ break;
+ }
+ }
+ }
+ }
+} // PhaseCleaner::splitMaster()
+
+
+//-----------------------------------------------------------------------------
+// This function can't be moved to PhaseResidual since it needs access to all
+// the other PRN's data. Note that this function assumes that there is data
+// for the master SV.
+//-----------------------------------------------------------------------------
+void PhaseCleaner::doubleDifference(
+ const gpstk::ObsID& rot,
+ const gpstk::SatID& prn,
+ SvElevationMap& pem)
+{
+ PhaseResidual::ArcList& pral = pot[rot][prn];
+
+ for (PhaseResidual::ArcList::iterator arc = pral.begin(); arc != pral.end(); arc++)
+ {
+ if (arc->master.id <1)
+ continue;
+
+ for (PhaseResidual::Arc::iterator i = arc->begin(); i != arc->end(); i++)
+ {
+ const gpstk::DayTime& t = i->first;
+ PhaseResidual::Obs& obs = i->second;
+
+ PhaseResidual::Arc::const_iterator k;
+ if (!pot[rot][arc->master].findObs(t, k))
+ continue;
+
+ const PhaseResidual::Obs& masterObs = k->second;
+
+ // Now compute the dd for this epoch
+ double masterDiff = masterObs.phase11 - masterObs.phase12;
+ double coc = (clockOffset[t]) * (rangeRate[arc->master][t]) / lamda[rot.band];
+ masterDiff -= coc;
+
+ double myDiff = obs.phase11 - obs.phase12;
+ coc = clockOffset[t] * rangeRate[prn][t] / lamda[rot.band];
+ myDiff -= coc;
+
+ obs.dd = masterDiff - myDiff;
+ }
+ }
+} // PhaseCleaner::doubleDifference()
+
+
+//-----------------------------------------------------------------------------
+// This is one call to do all the work. All the other functions should be
+// call by this one.
+//-----------------------------------------------------------------------------
+void PhaseCleaner::debias(SvElevationMap& pem)
+{
+ if (debugLevel)
+ cout << "PhaseCleaner::debias()" << endl;
+
+ // At this point, the pot has only phase1 & phase2 set.
+ // Also only one arc exists for each prn; and that arc doesn't even
+ // have the master prn set.
+ for (PraPrnOt::iterator i = pot.begin(); i != pot.end(); i++)
+ {
+ const gpstk::ObsID& rot = i->first;
+ PraPrn& praPrn = i->second;
+ for (PraPrn::iterator j = praPrn.begin(); j != praPrn.end(); j++)
+ {
+ const gpstk::SatID& prn = j->first;
+ PhaseResidual::ArcList& pral = j->second;
+
+ pral.splitOnGaps(maxGapTime);
+ selectMasters(rot, prn, pem);
+ doubleDifference(rot, prn, pem);
+
+ pral.computeTD();
+ pral.splitOnTD();
+ pral.debiasDD();
+ pral.computeTD();
+ pral.splitOnTD();
+ pral.debiasDD();
+ pral.mergeArcs(minArcLen, minArcTime, maxGapTime);
+
+ if (debugLevel>1)
+ cout << "Done cleaning " << prn.id << " on " << rot.type << endl
+ << pral;
+ }
+ }
+} // end of debias()
+
+
+//-----------------------------------------------------------------------------
+// Gets the double differences and puts them back into the DDEpochMap
+//-----------------------------------------------------------------------------
+void PhaseCleaner::getPhaseDD(DDEpochMap& ddem) const
+{
+ if (debugLevel)
+ cout << "putting phases back into ddem" << endl;
+
+ // Really should use pot to walk through the data...
+ for (PraPrnOt::const_iterator i = pot.begin(); i != pot.end(); i++)
+ {
+ const gpstk::ObsID& rot = i->first;
+ const PraPrn& pp = i->second;
+
+ for (PraPrn::const_iterator j = pp.begin(); j != pp.end(); j++)
+ {
+ const gpstk::SatID& prn = j->first;
+ const PhaseResidual::ArcList& al = j->second;
+
+ for (PhaseResidual::ArcList::const_iterator k = al.begin(); k != al.end(); k++)
+ {
+ const PhaseResidual::Arc& arc = *k;
+
+ for (PhaseResidual::Arc::const_iterator l = arc.begin(); l != arc.end(); l++)
+ {
+ const gpstk::DayTime& t = l->first;
+ const PhaseResidual::Obs& obs = l->second;
+
+ // Whew! thats deep. Now to stuff the dd back in to the ddem
+ // remember that ddem has it's values in meters
+ if (arc.garbage)
+ ddem[t].ddSvOIDM[prn][rot] = 0;
+ else
+ ddem[t].ddSvOIDM[prn][rot] = obs.dd * lamda[rot.band];
+ }
+ }
+ }
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+// Make a list of "real" cycle slips
+//-----------------------------------------------------------------------------
+void PhaseCleaner::getSlips(
+ CycleSlipList& csl,
+ SvElevationMap& pem) const
+{
+ for (PraPrnOt::const_iterator i = pot.begin(); i != pot.end(); i++)
+ {
+ const gpstk::ObsID& rot = i->first;
+ const PraPrn& praPrn = i->second;
+
+ for (PraPrn::const_iterator j = praPrn.begin(); j != praPrn.end(); j++)
+ {
+ const gpstk::SatID& prn = j->first;
+ const PhaseResidual::ArcList& al = j->second;
+
+ PhaseResidual::ArcList::const_iterator k = al.begin();
+ while (k != al.end())
+ {
+ const PhaseResidual::Arc& arc0 = *k;
+ k++;
+ if (k == al.end())
+ break;
+
+ const PhaseResidual::Arc& arc1 = *k;
+
+ if (arc0.garbage || arc1.garbage ||
+ arc0.master != arc1.master)
+ continue;
+
+ const gpstk::DayTime& t1Begin = arc1.begin()->first;
+ PhaseResidual::Arc::const_iterator l = arc0.end(); l--;
+ const gpstk::DayTime& t0End = l->first;
+
+ if (std::abs(t1Begin-t0End) > maxGapTime)
+ continue;
+
+ l = arc1.end(); l--;
+ const gpstk::DayTime& t1End = l->first;
+ const gpstk::DayTime& t0Begin = arc0.begin()->first;
+
+ double t0Len = t0End - t0Begin;
+ double t1Len = t1End - t1Begin;
+ if (t0Len < minArcTime || t1Len < minArcTime)
+ continue;
+
+ CycleSlipRecord cs;
+ cs.t = t1Begin;
+ cs.cycles = (arc1.ddBias - arc0.ddBias);
+ cs.oid = rot;
+ cs.prn = prn;
+ cs.elevation = pem[t1Begin][prn];
+ cs.masterPrn = arc1.master;
+ cs.postCount = arc1.size();
+ cs.preCount = arc0.size();
+ cs.preGap = t1Begin - t0End;
+ csl.push_back(cs);
+ }
+ }
+ }
+
+ // Now to sort these on time.
+ csl.sort();
+}
+
+
+//-----------------------------------------------------------------------------
+// Dump the maps to the standard table format...
+//-----------------------------------------------------------------------------
+void PhaseCleaner::dump(std::ostream& s) const
+{
+ s << "# time PRN type elev clk(m)"
+ << " 2nd diff(m)"
+ << endl;
+
+ for (PraPrnOt::const_iterator i = pot.begin(); i != pot.end(); i++)
+ {
+ const gpstk::ObsID& rot = i->first;
+ const PraPrn& pp = i->second;
+
+ for (PraPrn::const_iterator j = pp.begin(); j != pp.end(); j++)
+ {
+ const gpstk::SatID& prn = j->first;
+ const PhaseResidual::ArcList& al = j->second;
+
+ for (PhaseResidual::ArcList::const_iterator k = al.begin(); k != al.end(); k++)
+ {
+ const PhaseResidual::Arc& arc = *k;
+
+ for (PhaseResidual::Arc::const_iterator l = arc.begin(); l != arc.end(); l++)
+ {
+ const gpstk::DayTime& t = l->first;
+ const PhaseResidual::Obs& obs = l->second;
+
+ s.setf(ios::fixed, ios::floatfield);
+ s << left << setw(20) << t << right
+ << setfill(' ')
+ << " " << setw(2) << prn.id
+ << " " << ObsID::cbStrings[rot.band]
+ << " " << setprecision(1) << setw(5) << 0 // elevation
+ << " " << setprecision(3) << setw(12) << 0 // clock
+ << " " << setprecision(6) << setw(14) << obs.dd * lamda[rot.band]
+ << endl;
+ }
+ }
+ }
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+
+unsigned PhaseCleanerA::debugLevel;
+
+//-----------------------------------------------------------------------------
+// Pulls the phase data data into arcs. Only data that exists on both receivers
+// is included
+//-----------------------------------------------------------------------------
+void PhaseCleanerA::addData(const ObsEpochMap& rx1,
+ const ObsEpochMap& rx2,
+ const unsigned long minimumSNR)
+{
+ if (debugLevel)
+ cout << "PhaseCleanerA::addData(), "
+ << rx1.size() << ", " << rx2.size() << " epochs" << endl;
+
+
+ // Now loop over all the epochs, pulling the data into the arcs
+ for (ObsEpochMap::const_iterator ei1=rx1.begin(); ei1!=rx1.end(); ei1++)
+ {
+ DayTime t = ei1->first;
+ const ObsEpoch& oe1 = ei1->second;
+ ObsEpochMap::const_iterator ei2 = rx2.find(t);
+
+ // Gotta have data from the other receiver
+ if (ei2 == rx2.end())
+ continue;
+ const ObsEpoch& oe2 = ei2->second;
+
+ double clockOffset = oe1.rxClock - oe2.rxClock;
+
+ // SV line-of-sight motion, in meters/second
+ map<gpstk::SatID, double> rangeRate;
+
+ // First we need to get a range rates for all SVs
+ for (ObsEpoch::const_iterator i=oe1.begin(); i != oe1.end(); i++)
+ {
+ const SatID& sv = i->first;
+ const SvObsEpoch& soe = i->second;
+
+ // We need a doppler, and any one will do
+ SvObsEpoch::const_iterator d;
+ for (d = soe.begin(); d != soe.end(); d++)
+ if (d->first.type == ObsID::otDoppler)
+ break;
+
+ if (d == soe.end())
+ continue;
+
+ double freq = d->first.band == ObsID::cbL2 ? L2_FREQ : L1_FREQ;
+ rangeRate[sv] = d->second * C_GPS_M/freq;
+ }
+
+ // Loop over all SVs in track on reciever #1
+ for (ObsEpoch::const_iterator pi11=oe1.begin(); pi11 != oe1.end(); pi11++)
+ {
+ const SatID& sv1 = pi11->first;
+ const SvObsEpoch& soe11 = pi11->second; // SV #1, Rx #1
+
+ // Make sure receiver #2 saw SV #1
+ const ObsEpoch::const_iterator pi12 = oe2.find(sv1);
+ if (pi12 == oe2.end())
+ continue;
+ const SvObsEpoch& soe12 = pi12->second; // SV #1, Rx #2
+
+ // Here we loop over all the 'other' SVs in track on receiver #1
+ for (ObsEpoch::const_iterator pi21=pi11; pi21 != oe1.end(); pi21++)
+ {
+ if (pi21 == pi11)
+ continue;
+
+ const SatID& sv2 = pi21->first;
+ const SvObsEpoch& soe21 = pi21->second; // SV #2, Rx #1
+
+ // Make sure receiver #2 saw SV #2
+ ObsEpoch::const_iterator pi22 = oe2.find(sv2);
+ if (pi22 == oe2.end())
+ continue;
+ const SvObsEpoch& soe22 = pi22->second; // SV #2, Rx #2
+
+ SatIdPair svPair(sv1, sv2);
+
+ if (debugLevel>2)
+ cout << t << " " << sv1 << "-" << sv2 << endl;
+
+ // Now go throgh all phase observations from SV #1, Rx #1
+ SvObsEpoch::const_iterator phase11;
+ for (phase11 = soe11.begin(); phase11 != soe11.end(); phase11++)
+ {
+ const ObsID& rot = phase11->first;
+ if (rot.type != ObsID::otPhase)
+ continue;
+
+ // Make sure that we have phase data from SV #1, Rx #2
+ SvObsEpoch::const_iterator phase12 = soe12.find(rot);
+ if (phase12 == soe12.end())
+ continue;
+
+ // Make sure that we have phase data from SV #2, Rx #1
+ SvObsEpoch::const_iterator phase21 = soe21.find(rot);
+ if (phase21 == soe21.end())
+ continue;
+
+ // Make sure that we have phase data from SV #2, Rx #2
+ SvObsEpoch::const_iterator phase22 = soe22.find(rot);
+ if (phase22 == soe22.end())
+ continue;
+
+ // Don't use the data if we have an SNR in the data and it looks
+ // bogus.
+ double snr=-1;
+ ObsID srot = rot;
+ srot.type = ObsID::otSNR;
+ SvObsEpoch::const_iterator snr_itr = soe11.find(srot);
+
+ if (snr_itr != soe11.end())
+ {
+ snr = snr_itr->second;
+ if (std::abs(snr) < minimumSNR )
+ continue;
+ }
+
+ // And we can't compute our clock correction without the
+ // doppler
+ if (rangeRate[sv1] == 0 || rangeRate[sv2] ==0)
+ continue;
+
+ // Note that we need the phase in cycles to make the PhaseResidual
+ // class work right.
+ PhaseResidual::Arc& arc = pot[rot][svPair].front();
+ PhaseResidual::Obs& obs = arc[t];
+ obs.phase11 = phase11->second;
+ obs.phase12 = phase12->second;
+ obs.phase21 = phase21->second;
+ obs.phase22 = phase22->second;
+ obs.snr1 = snr;
+
+ double lamdaInv;
+ if (rot.band == ObsID::cbL1)
+ lamdaInv = L1_FREQ/C_GPS_M;
+ else if (rot.band == ObsID::cbL2)
+ lamdaInv = L2_FREQ/C_GPS_M;
+ else
+ continue;
+
+ // Now compute the dd for this epoch
+ double sd1 = obs.phase11 - obs.phase12;
+ double coc = clockOffset * rangeRate[sv1] * lamdaInv;
+ sd1 -= coc;
+
+ double sd2 = obs.phase21 - obs.phase22;
+ coc = clockOffset * rangeRate[sv2] * lamdaInv;
+ sd2 -= coc;
+
+ obs.dd = sd1 - sd2;
+ }
+ }
+ }
+ }
+}
+
+
+
+//-----------------------------------------------------------------------------
+// This is one call to do all the work. All the other functions should be
+// call by this one.
+//-----------------------------------------------------------------------------
+void PhaseCleanerA::debias(SvElevationMap& pem)
+{
+ if (debugLevel)
+ cout << "PhaseCleanerA::debias()" << endl;
+
+ // At this point, the pot has all phases set and the double difference
+ // computed. Only one arc exists for each prn pair.
+ for (PraSvPrOt::iterator i = pot.begin(); i != pot.end(); i++)
+ {
+ const ObsID& rot = i->first;
+ PraSvPair& praSv = i->second;
+ for (PraSvPair::iterator j = praSv.begin(); j != praSv.end(); j++)
+ {
+ const SatIdPair& svPair = j->first;
+ PhaseResidual::ArcList& pral = j->second;
+
+ pral.splitOnGaps(maxGapTime);
+
+ pral.computeTD();
+ pral.splitOnTD();
+ pral.debiasDD();
+
+ pral.mergeArcs(minArcLen, minArcTime, maxGapTime);
+
+ if (debugLevel>1)
+ cout << "Done cleaning " << svPair.first
+ << ":" << svPair.second
+ << " on " << rot.type << endl
+ << pral;
+ }
+ }
+} // end of debias()
+
+
+//-----------------------------------------------------------------------------
+// Gets the double differences and puts them back into the DDEpochMap
+//-----------------------------------------------------------------------------
+void PhaseCleanerA::getPhaseDD(DDEpochMap& ddem) const
+{
+ if (debugLevel)
+ cout << "putting phases back into ddem" << endl;
+
+ // Really should use pot to walk through the data...
+ for (PraSvPrOt::const_iterator i = pot.begin(); i != pot.end(); i++)
+ {
+ const ObsID& rot = i->first;
+ const PraSvPair& pp = i->second;
+
+ double lamda;
+ if (rot.band == ObsID::cbL1)
+ lamda = C_GPS_M/L1_FREQ;
+ else if (rot.band == ObsID::cbL2)
+ lamda = C_GPS_M/L2_FREQ;
+ else
+ continue;
+
+ for (PraSvPair::const_iterator j = pp.begin(); j != pp.end(); j++)
+ {
+ const SatIdPair& svPair = j->first;
+ const PhaseResidual::ArcList& al = j->second;
+
+ for (PhaseResidual::ArcList::const_iterator k = al.begin(); k != al.end(); k++)
+ {
+ const PhaseResidual::Arc& arc = *k;
+
+ for (PhaseResidual::Arc::const_iterator l = arc.begin(); l != arc.end(); l++)
+ {
+ const DayTime& t = l->first;
+ const PhaseResidual::Obs& obs = l->second;
+
+ // Whew! thats deep. Now to stuff the dd back in to the ddem
+ // remember that ddem has it's values in meters
+ if (arc.garbage)
+ ddem[t].ddPrOIDM[svPair][rot] = 0;
+ else
+ ddem[t].ddPrOIDM[svPair][rot] = obs.dd * lamda;
+ }
+ }
+ }
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+// Dump the maps to the standard table format...
+//-----------------------------------------------------------------------------
+void PhaseCleanerA::dump(std::ostream& s) const
+{
+ s << "# time PRN type elev clk(m)"
+ << " 2nd diff(m)"
+ << endl;
+
+ for (PraSvPrOt::const_iterator i = pot.begin(); i != pot.end(); i++)
+ {
+ const ObsID& rot = i->first;
+ const PraSvPair& pp = i->second;
+
+ double lamda;
+ if (rot.band == ObsID::cbL1)
+ lamda = C_GPS_M/L1_FREQ;
+ else if (rot.band == ObsID::cbL2)
+ lamda = C_GPS_M/L2_FREQ;
+ else
+ continue;
+
+ for (PraSvPair::const_iterator j = pp.begin(); j != pp.end(); j++)
+ {
+ const SatIdPair& svPair = j->first;
+ const PhaseResidual::ArcList& al = j->second;
+
+ for (PhaseResidual::ArcList::const_iterator k = al.begin(); k != al.end(); k++)
+ {
+ const PhaseResidual::Arc& arc = *k;
+
+ for (PhaseResidual::Arc::const_iterator l = arc.begin(); l != arc.end(); l++)
+ {
+ const DayTime& t = l->first;
+ const PhaseResidual::Obs& obs = l->second;
+
+ s.setf(ios::fixed, ios::floatfield);
+ s << left << setw(20) << t << right
+ << setfill(' ')
+ << " " << setw(2) << svPair.first.id
+ << " " << setw(2) << svPair.second.id
+ << " " << ObsID::cbStrings[rot.band]
+ << " " << setprecision(1) << setw(5) << 0 // elevation
+ << " " << setprecision(3) << setw(12) << 0 // clock
+ << " " << setprecision(6) << setw(14) << obs.dd * lamda
+ << endl;
+ }
+ }
+ }
+ }
+}
diff --git a/dev/apps/reszilla/PhaseCleaner.hpp b/dev/apps/reszilla/PhaseCleaner.hpp
new file mode 100644
index 0000000..b540e62
--- /dev/null
+++ b/dev/apps/reszilla/PhaseCleaner.hpp
@@ -0,0 +1,159 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef PHASECLEANER_HPP
+#define PHASECLEANER_HPP
+
+#include <set>
+
+#include "DDEpoch.hpp"
+#include "PhaseResidual.hpp"
+
+typedef std::map<gpstk::DayTime, double> TimeDoubleMap;
+
+class PhaseCleaner
+{
+public:
+ PhaseCleaner(long al, double at, double gt);
+
+ void addData(
+ const gpstk::ObsEpochMap& rx1,
+ const gpstk::ObsEpochMap& rx2,
+ const unsigned long minimumSNR);
+
+ void debias(SvElevationMap& pem);
+
+ void selectMasters(
+ const gpstk::ObsID& oid,
+ const gpstk::SatID& prn,
+ SvElevationMap& pem);
+
+ void doubleDifference(
+ const gpstk::ObsID& oid,
+ const gpstk::SatID& prn,
+ SvElevationMap& pem);
+
+ void getSlips(
+ CycleSlipList& csl,
+ SvElevationMap& pem) const;
+
+ void getPhaseDD(DDEpochMap& ddem) const;
+
+ void dump(std::ostream& s) const;
+
+ mutable std::map<gpstk::ObsID::CarrierBand, double> lamda;
+
+ // And an set of arcs for each PRN
+ typedef std::map<gpstk::SatID, PhaseResidual::ArcList> PraPrn;
+
+ // And a set of those for each obs type
+ typedef std::map<gpstk::ObsID, PraPrn> PraPrnOt;
+ PraPrnOt pot;
+
+ // Rx1 - Rx2 clock, in meters.
+ TimeDoubleMap clockOffset;
+
+ // SV line-of-sight motion, in meters/second
+ typedef std::map<gpstk::SatID, TimeDoubleMap> PrnTimeDoubleMap;
+ PrnTimeDoubleMap rangeRate;
+
+ long minArcLen;
+ double minArcTime, maxGapTime;
+
+ static unsigned debugLevel;
+
+ typedef std::map<gpstk::DayTime, gpstk::SatID> TimePrnMap;
+
+ class goodMaster
+ {
+ public:
+ goodMaster(double v,
+ const gpstk::SatID& p,
+ const gpstk::DayTime& t,
+ PrnTimeDoubleMap& rr)
+ : minVal(v), prn(p), time(t), rangeRate(rr){};
+
+ const double minVal; // Above this elevation
+ const gpstk::SatID& prn; // Not this prn
+ const gpstk::DayTime& time; // time to evaluate range rate
+ PrnTimeDoubleMap& rangeRate;
+
+ double bestElev;
+ gpstk::SatID bestPrn;
+ bool operator()(const SvDoubleMap::value_type& pdm);
+ };
+};
+
+
+class PhaseCleanerA
+{
+public:
+ PhaseCleanerA(long al, double at, double gt)
+ : minArcLen(al), minArcTime(at), maxGapTime(gt)
+ {}
+
+ void addData(
+ const gpstk::ObsEpochMap& rx1,
+ const gpstk::ObsEpochMap& rx2,
+ const unsigned long minimumSNR);
+
+ void debias(SvElevationMap& pem);
+
+ void getSlips(
+ CycleSlipList& csl,
+ SvElevationMap& pem) const;
+
+ void getPhaseDD(DDEpochMap& ddem) const;
+
+ void dump(std::ostream& s) const;
+
+ // And an set of arcs for each pair of SVs
+ typedef std::map<SatIdPair, PhaseResidual::ArcList> PraSvPair;
+
+ // And a set of those for each obs type
+ typedef std::map<gpstk::ObsID, PraSvPair> PraSvPrOt;
+ PraSvPrOt pot;
+
+ long minArcLen;
+ double minArcTime, maxGapTime;
+
+ static unsigned debugLevel;
+};
+
+#endif
+
diff --git a/dev/apps/reszilla/PhaseResidual.cpp b/dev/apps/reszilla/PhaseResidual.cpp
new file mode 100644
index 0000000..11721a2
--- /dev/null
+++ b/dev/apps/reszilla/PhaseResidual.cpp
@@ -0,0 +1,341 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <algorithm>
+
+#include "Stats.hpp"
+
+#include "PhaseResidual.hpp"
+
+namespace PhaseResidual
+{
+//------------------------------------------------------------------------------
+//------------------------------------------------------------------------------
+ void Obs::dump(std::ostream& s) const
+ {
+ s << "phase:" << phase11
+ << " dd:" << dd
+ << " td:" << td;
+ }
+
+ std::ostream& operator << (std::ostream& s, const Obs& pr)
+ { pr.dump(s); return s; }
+
+
+//------------------------------------------------------------------------------
+//------------------------------------------------------------------------------
+ void Arc::computeTD(void)
+ {
+ iterator i = begin();
+ while (i != end())
+ {
+ Obs& prev = i->second;
+ i++;
+ if (i == end())
+ break;
+ Obs& curr = i->second;
+ curr.td = curr.dd - prev.dd;
+ }
+ }
+
+//------------------------------------------------------------------------------
+//------------------------------------------------------------------------------
+ void Arc::debiasDD(double bias)
+ {
+ ddBias += bias;
+ for (iterator i = begin(); i != end(); i++)
+ i->second.dd -= bias;
+ }
+
+//------------------------------------------------------------------------------
+//------------------------------------------------------------------------------
+ gpstk::Stats<double> Arc::statsDD(void) const
+ {
+ gpstk::Stats<double> stats;
+
+ for (const_iterator i = begin(); i != end(); i++)
+ stats.Add(i->second.dd);
+
+ return stats;
+ }
+
+//------------------------------------------------------------------------------
+//------------------------------------------------------------------------------
+ void Arc::dump(std::ostream& s) const
+ {
+ gpstk::Stats<double> stats = statsDD();
+ const_iterator i=begin();
+ const gpstk::DayTime& t0=i->first;
+ i = end();
+
+ if (i != begin())
+ {
+ i--;
+ const gpstk::DayTime& t1=i->first;
+ s << std::left
+ << "Arc: " << t0.printf("%02H:%02M:%04.1f")
+ << " - " << t1.printf("%02H:%02M:%04.1f")
+ << " N:" << std::setw(5) << stats.N();
+ }
+
+
+ if (!garbage)
+ {
+ s << " master:" << std::setw(2) << master.id
+ << " sdev:" << std::setprecision(3) << std::setw(8) << stats.StdDev()
+ << " ddBias:" << std::setprecision(12) << ddBias;
+ if (stats.Average() > stats.StdDev()/sqrt((float)stats.N()))
+ s << " avg:" << std::setprecision(4) << stats.Average();
+ if (stats.StdDev() == 0)
+ s << " Suspect!";
+ }
+ else
+ s << " Garbage.";
+ s << std::endl;
+ }
+
+//------------------------------------------------------------------------------
+//------------------------------------------------------------------------------
+ std::ostream& operator <<(std::ostream& s, const Arc& arc)
+ { arc.dump(s); return s; }
+
+
+//------------------------------------------------------------------------------
+//------------------------------------------------------------------------------
+ class timeGap
+ {
+ public:
+ timeGap(double len):minGap(len){};
+ double minGap;
+ bool operator()(Arc::value_type& obs0, Arc::value_type& obs1)
+ {
+ return std::abs(obs0.first - obs1.first) > minGap;
+ }
+ };
+
+
+//------------------------------------------------------------------------------
+// Break the arc up in sections that are separated by the indicated number
+// of seconds.
+//------------------------------------------------------------------------------
+ void ArcList::splitOnGaps(double gapSize)
+ {
+ for (iterator arc = begin(); arc != end(); arc++)
+ {
+ Arc::iterator i = adjacent_find(arc->begin(), arc->end(), timeGap(gapSize));
+ if (i == arc->end())
+ continue;
+
+ // Make a new empty arc immedietly after the current arc and
+ // move all the data from here to the end of the current arc into
+ // the new arc.
+ iterator nextArc = arc;
+ nextArc++;
+ nextArc = insert(nextArc, Arc());
+ nextArc->master = arc->master;
+ nextArc->ddBias = arc->ddBias;
+ nextArc->insert(++i, arc->end());
+ arc->erase(i, arc->end());
+ arc = nextArc;
+ }
+ }
+
+
+//------------------------------------------------------------------------------
+// Just compute the triple difference for all arcs
+//------------------------------------------------------------------------------
+ void ArcList::computeTD(void)
+ {
+ for (iterator i=begin(); i!=end(); i++)
+ i->computeTD();
+ }
+
+
+//------------------------------------------------------------------------------
+// Break the arc on big triple differences
+//------------------------------------------------------------------------------
+ void ArcList::splitOnTD(void)
+ {
+ for (iterator arc = begin(); arc != end(); arc++)
+ {
+ for (Arc::iterator i = arc->begin(); i != arc->end(); i++)
+ {
+ Obs& pr = i->second;
+ bool jump = std::abs(pr.td) > 0.45;
+
+ // If this followed by a equal and oppisite jump, it is an outlier,
+ // not a real jump.
+ if (jump)
+ {
+ Arc::iterator j = i; j++;
+ if (j != arc->end() && std::abs(pr.td + j->second.td) < 0.45)
+ jump = false;
+ }
+
+ if (jump)
+ {
+ // Make a new empty arc immedietly after the current arc and
+ // move all the data from here to the end of the current arc into
+ // the new arc.
+ pr.td = 0;
+ iterator nextArc = arc;
+ nextArc++;
+ nextArc = insert(nextArc, Arc());
+
+ nextArc->master = arc->master;
+ nextArc->ddBias = arc->ddBias;
+ nextArc->insert(i, arc->end());
+ arc->erase(i, arc->end());
+ arc = nextArc;
+ i = arc->begin();
+ }
+ }
+ }
+ }
+
+
+//------------------------------------------------------------------------------
+//------------------------------------------------------------------------------
+ void ArcList::debiasDD(void)
+ {
+ for (iterator i = begin(); i != end(); i++)
+ i->debiasDD(i->statsDD().Average());
+ }
+
+
+//------------------------------------------------------------------------------
+// Find the specified obs
+//------------------------------------------------------------------------------
+ bool ArcList::findObs(const gpstk::DayTime& t, Arc::const_iterator& obs)
+ {
+ for (iterator i = begin(); i != end(); i++)
+ {
+ obs = i->find(t);
+ if (obs != i->end())
+ return true;
+ }
+ return false;
+ }
+
+
+//------------------------------------------------------------------------------
+//------------------------------------------------------------------------------
+ void ArcList::mergeArcs(long arcLen, double arcTime, double gapTime)
+ {
+ // First mark arcs as garbage as appropriate
+ for (iterator i = begin(); i != end(); i++)
+ {
+ Arc::iterator end_of_prev=i->end();
+ if (end_of_prev == i->begin())
+ i->garbage = true;
+ else
+ end_of_prev--;
+ Arc::iterator beg_of_curr=i->begin();
+
+ double dt = end_of_prev->first - beg_of_curr->first;
+
+ if (i->size() < arcLen || dt < arcTime)
+ i->garbage = true;
+ }
+
+ iterator i = begin();
+ while (i != end() )
+ {
+ Arc& prev = *i;
+ i++;
+ if (i == end())
+ break;
+ Arc& curr = *i;
+ bool merge=false;
+
+ if (std::abs(curr.ddBias - prev.ddBias) < 0.45 &&
+ curr.master == prev.master && !prev.garbage && !curr.garbage)
+ merge = true;
+ else if (prev.garbage && curr.garbage &&
+ (curr.begin()->first - prev.rbegin()->first) < gapTime)
+ merge = true;
+
+ if (merge)
+ {
+ // First make the biases exactly the same
+ curr.debiasDD(prev.ddBias - curr.ddBias);
+ // Then put the data from the current arc into the previous
+ prev.insert(curr.begin(), curr.end());
+ // and kill the current arc
+ i = erase(i);
+ i--;
+ }
+ }
+ }
+
+
+//------------------------------------------------------------------------------
+ void ArcList::dump(std::ostream& s) const
+ {
+ for (const_iterator i = begin(); i != end(); i++)
+ {
+ i->dump(s);
+ const_iterator j = i;
+ if (++j != end())
+ {
+ // Yes, this is the dark side of the STL
+ double gap = j->begin()->first - i->rbegin()->first;
+ if (gap > 3)
+ s << "Gap: " << gap << " seconds" << std::endl;
+ }
+ }
+
+ gpstk::Stats<double> stats;
+ for (const_iterator i = begin(); i != end(); i++)
+ if (!i->garbage)
+ for (Arc::const_iterator j = (i->begin())++; j != i->end(); j++)
+ stats.Add(j->second.dd);
+
+ s << "ArcList N:" << stats.N()
+ << " sdev:" << std::setprecision(4) << stats.StdDev();
+
+ if (stats.Average() > stats.StdDev()/sqrt((float)stats.N()))
+ s << " avg:" << std::setprecision(4) << stats.Average();
+
+ s << std::endl;
+ }
+
+ std::ostream& operator <<(std::ostream& s, const ArcList& al)
+ { al.dump(s); return s; }
+
+} // end of PhaseResidual namespace
diff --git a/dev/apps/reszilla/PhaseResidual.hpp b/dev/apps/reszilla/PhaseResidual.hpp
new file mode 100644
index 0000000..2df6d58
--- /dev/null
+++ b/dev/apps/reszilla/PhaseResidual.hpp
@@ -0,0 +1,134 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef PHASERESIDUAL_HPP
+#define PHASERESIDUAL_HPP
+
+#include <map>
+#include <iostream>
+
+#include "DayTime.hpp"
+#include "Stats.hpp"
+#include "CycleSlipList.hpp"
+
+
+// This namespace is just to keep the identifiers meaninfull and short...
+namespace PhaseResidual
+{
+ // The value of phase, double difference, triple difference for a single
+ // sv observable at a point in time.
+ class Obs
+ {
+ public:
+ double phase11; // original phase in cycles Sv1, Rx1
+ double phase12; // ditto for Sv1, Rx2
+ double phase21; // ditto for Sv2, Rx1
+ double phase22; // ditto for Sv2, Rx2
+ double dd; // the double difference in cycles
+ double td; // the triple difference in cycles
+ double snr1;
+
+ Obs() : phase11(0), phase12(0), phase21(0), phase22(0),
+ dd(0), td(0), snr1(0)
+ {};
+
+ void dump(std::ostream& s) const;
+ };
+
+ std::ostream& operator << (std::ostream& s, const Obs& pr);
+
+
+ // This is a set of observations over time plus a bias that has been
+ // removed from the double difference
+ class Arc : public std::map<gpstk::DayTime, Obs>
+ {
+ public:
+ Arc():ddBias(0), garbage(false){};
+ void dump(std::ostream& s) const;
+
+ double ddBias;
+ gpstk::SatID master;
+
+ bool garbage;
+
+ void computeTD();
+ void debiasDD(double bias);
+
+ gpstk::Stats<double> statsDD(void) const;
+
+ bool operator<(const Arc& right) const
+ { return (--end())->first < right.begin()->first;}
+ };
+
+ std::ostream& operator << (std::ostream& s, const Arc& arc);
+
+
+ // This is a set of arcs. While this class doesn't enforce it, the will
+ // be all from the same SV/observation type
+ class ArcList : public std::list<Arc>
+ {
+ public:
+ ArcList() {push_back(Arc());};
+
+ // Split the arcs on data gaps
+ void splitOnGaps(double gap);
+
+ // Compute triple differences in the arcs,
+ void computeTD();
+
+ // Split arcs based upon jumps in the triple differences.
+ void splitOnTD();
+
+ // Search all arcs and find the first obs that matches the specified time.
+ bool findObs(const gpstk::DayTime& t, Arc::const_iterator& obs);
+
+ // Recombine adjcent arcs (that are seperated by less than maxGapTime
+ // seconds) that have the same bias and master or are both shorter
+ // than the specified arcLen/arcTime. The later will get marked
+ // as garbage in the process.
+ void mergeArcs(long arcLen, double arcTime, double maxGapTime);
+
+ // make each arc have a zero mean
+ void debiasDD();
+
+ void dump(std::ostream& s) const;
+ };
+
+ std::ostream& operator << (std::ostream& s, const ArcList& pral);
+}
+#endif
diff --git a/dev/apps/reszilla/RobustLinearEstimator.cpp b/dev/apps/reszilla/RobustLinearEstimator.cpp
new file mode 100644
index 0000000..7b075c9
--- /dev/null
+++ b/dev/apps/reszilla/RobustLinearEstimator.cpp
@@ -0,0 +1,218 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <math.h>
+#include <algorithm>
+#include <limits>
+
+#include "RobustLinearEstimator.hpp"
+
+// A little bit of syntatical sugar...
+typedef DoubleDoubleVec::const_iterator DDVci;
+#define SIGN(a,b) ((b) >= 0.0 ? std::abs(a) : -std::abs(a))
+
+using namespace std;
+
+
+double median(vector<double>& vec)
+{
+ size_t N=vec.size();
+ double m=vec[N/2];
+ if (! (N & 1))
+ m = 0.5 * (m + vec[N/2-1]);
+ return m;
+}
+
+double medTail(vector<double>& vec, double f)
+{
+ size_t N=vec.size();
+ size_t M=std::max(static_cast<int>(N*(1-f)), 0);
+ double med = median(vec);
+ double ml = std::abs(vec[M]-med);
+ double mh = std::abs(vec[N-M]-med);
+ return std::max(ml, mh);
+}
+
+
+void RobustLinearEstimator::process(
+ DoubleDoubleVec::const_iterator b,
+ DoubleDoubleVec::const_iterator e)
+{
+ // Yea, we could probably find a more efficient way to do this but...
+ process(DoubleDoubleVec(b,e));
+}
+
+
+void RobustLinearEstimator::process(const DoubleDoubleVec& d)
+{
+ std::vector<double> y(d.size());
+ size_t j=0;
+ for (DDVci i=d.begin(); i!=d.end(); i++,j++)
+ y[j] = i->second;
+
+ sort(y.begin(), y.end());
+ stripY=medTail(y, stripPercent);
+ medianY=median(y);
+
+ // As a first guess for a and b, find the least-squares fit
+ for (DDVci i=d.begin(); i!=d.end(); i++)
+ {
+ if (std::abs(i->second - medianY) > stripY)
+ continue;
+ data.push_back(*i);
+ double x = i->first;
+ double y = i->second;
+ sumX += x;
+ sumY += y;
+ sumXY += x*y;
+ sumXX += x*x;
+ }
+
+ if (data.size()<3)
+ return;
+ double n = static_cast<double>(data.size());
+ double del = n*sumXX - sumX*sumX;
+ a = (sumXX*sumY - sumX*sumXY) / del;
+ b = (n*sumXY - sumX*sumY) / del;
+
+ // Now compute the chi^2 for the LR computed a, b
+ double chisq=0;
+ for (DDVci i=data.begin(); i!=data.end(); i++)
+ {
+ double x = i->first;
+ double y = i->second;
+ double tmp = y - (a + b*x);
+ chisq += tmp*tmp;
+ }
+
+ // The standard deviation will give some idea of how big an iteration
+ // step to take.
+ double sig_b = std::sqrt(chisq/del);
+ double b1 = b;
+
+ if (debugLevel)
+ cout << setprecision(3) << fixed
+ << "n=" << (int)n << " sig_b=" << sig_b << " chisq=" << chisq << endl
+ << "a="<< a << " b=" << b << endl;
+
+ double f1 = rofunc(b1);
+
+ valid = true;
+ // If the sigma on b is already zero, then the current values of a & b are
+ // perfect. This should never happen with N>3, I think.
+ if (sig_b == 0.0)
+ return;
+
+ double b2 = b + SIGN(1*sig_b, f1);
+ double f2 = rofunc(b2);
+
+ if (b2 == b1)
+ return;
+
+ while (f1*f2 > 0)
+ {
+ b = b2 + 1.6*(b2-b1);
+ b1 = b2;
+ f1 = f2;
+ b2 = b;
+ f2 = rofunc(b2);
+ }
+ sig_b *= 0.01;
+
+ // Refine until the error is a negligible number of standard deviations
+ while (std::abs(b2-b1) > sig_b)
+ {
+ b = b1 + 0.5 * (b2-b1);
+ if (b == b1 || b == b2)
+ break;
+ double f = rofunc(b);
+ if (f*f1 >= 0)
+ {
+ f1=f;
+ b1=b;
+ }
+ else
+ {
+ f2=f;
+ b2=b;
+ }
+ }
+}
+
+// Evaluates the right-hand side of equation (15.7.16) of Numerical Recipes
+// for a given value of b.
+// Note that this function updates a, and abdev
+double RobustLinearEstimator::rofunc(const double b_est)
+{
+ vector<double> abxVec(data.size());
+
+ size_t j=0;
+ for (DDVci i=data.begin(); i!=data.end(); i++)
+ {
+ double x = i->first;
+ double y = i->second;
+ abxVec[j++] = y - b_est * x;
+ }
+
+ sort(abxVec.begin(), abxVec.end());
+ a = median(abxVec);
+
+ std::numeric_limits<double> dl;
+ const double eps=dl.epsilon();
+ abdev=0;
+ double sum=0;
+ for (DDVci i=data.begin(); i != data.end(); i++)
+ {
+ double x=i->first;
+ double y=i->second;
+ double d = y - (b_est * x + a);
+ abdev += std::abs(d);
+ if (y != 0)
+ d /= std::abs(y);
+ if (std::abs(d) > eps)
+ sum += (d >= 0 ? x : -x);
+ }
+
+ abdev /= data.size();
+
+ if (debugLevel)
+ cout <<"a="<< a << " b=" << b << " b_est=" << b_est
+ << " f=" << sum << " abdev=" << abdev << endl;
+
+ return sum;
+}
diff --git a/dev/apps/reszilla/RobustLinearEstimator.hpp b/dev/apps/reszilla/RobustLinearEstimator.hpp
new file mode 100644
index 0000000..c3b05f6
--- /dev/null
+++ b/dev/apps/reszilla/RobustLinearEstimator.hpp
@@ -0,0 +1,85 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef ROBUSTLINEARESTIMATOR_HPP
+#define ROBUSTLINEARESTIMATOR_HPP
+
+#include <map>
+#include <vector>
+#include <iostream>
+
+#include <DayTime.hpp>
+
+typedef std::pair<double, double> DoubleDouble;
+typedef std::vector< DoubleDouble > DoubleDoubleVec;
+
+// An object to compute a robust estimate of a linear fit to the
+// series data given. It fits y = a + bx by the criterion of least absolute
+// deviations. The fitted parameters a and b are output, along with abdev, which
+// is the mean absolute deviation (in y) of the experimental points from the
+// fitted line.
+class RobustLinearEstimator
+{
+public:
+
+ RobustLinearEstimator()
+ :a(0), b(0), abdev(0), stripPercent(0.995),
+ sumX(0), sumY(0), sumXX(0), sumXY(0),
+ medianY(0), stripY(0), debugLevel(0),
+ valid(false)
+ {};
+
+ void process(const DoubleDoubleVec& d);
+ void process(DoubleDoubleVec::const_iterator b,
+ DoubleDoubleVec::const_iterator e);
+
+ double a, b, abdev;
+ double medianY, stripY;
+ int debugLevel;
+ double stripPercent;
+ bool valid;
+ double eval(const double x) const {return a+b*x;};
+
+private:
+ DoubleDoubleVec data;
+ double sumX, sumY, sumXX, sumXY;
+
+ double rofunc(const double b_est);
+};
+
+#endif
diff --git a/dev/apps/reszilla/SvElevationMap.cpp b/dev/apps/reszilla/SvElevationMap.cpp
new file mode 100644
index 0000000..0ef49c0
--- /dev/null
+++ b/dev/apps/reszilla/SvElevationMap.cpp
@@ -0,0 +1,72 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include "SvElevationMap.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+// ---------------------------------------------------------------------
+// ---------------------------------------------------------------------
+SvElevationMap elevation_map(const ObsEpochMap& oem,
+ const Triple& ap,
+ const EphemerisStore& eph)
+{
+ SvElevationMap pem;
+
+ ECEF rxpos(ap);
+
+ ObsEpochMap::const_iterator oem_itr;
+ for (oem_itr=oem.begin(); oem_itr!=oem.end(); oem_itr++)
+ {
+ const DayTime& t = oem_itr->first;
+ const ObsEpoch& oe = oem_itr->second;
+ ObsEpoch::const_iterator oe_itr;
+ for (oe_itr=oe.begin(); oe_itr!=oe.end(); oe_itr++)
+ try
+ {
+ SatID prn = oe_itr->first;
+ Xvt svpos = eph.getPrnXvt(prn.id, t);
+ pem[t][prn] = rxpos.elvAngle(svpos.x);
+ }
+ catch (EphemerisStore::NoEphemerisFound& e)
+ {
+ }
+ }
+ return pem;
+}
diff --git a/dev/apps/reszilla/SvElevationMap.hpp b/dev/apps/reszilla/SvElevationMap.hpp
new file mode 100644
index 0000000..79c504c
--- /dev/null
+++ b/dev/apps/reszilla/SvElevationMap.hpp
@@ -0,0 +1,57 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef SVELEVATIONMAP_HPP
+#define SVELEVATIONMAP_HPP
+
+// gpstk crud
+#include "DayTime.hpp"
+#include "EphemerisStore.hpp"
+#include "ObsEpochMap.hpp"
+
+// The key for this map is the prn of the SV
+// PrnElevationMap pem;
+// pem[time][prn] = elevation;
+
+typedef std::map<gpstk::SatID, double> SvDoubleMap;
+typedef std::map<gpstk::DayTime, SvDoubleMap > SvElevationMap;
+
+SvElevationMap elevation_map(const gpstk::ObsEpochMap& obs,
+ const gpstk::Triple& ap,
+ const gpstk::EphemerisStore& bce);
+#endif
diff --git a/dev/apps/reszilla/ddGen.cpp b/dev/apps/reszilla/ddGen.cpp
new file mode 100644
index 0000000..4be0eee
--- /dev/null
+++ b/dev/apps/reszilla/ddGen.cpp
@@ -0,0 +1,510 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <fstream>
+#include <string>
+
+#include <BasicFramework.hpp>
+#include <MSCData.hpp>
+#include <MSCStream.hpp>
+#include <EpochClockModel.hpp>
+
+#include "OrdEngine.hpp"
+#include "ObsReader.hpp"
+#include "EphReader.hpp"
+
+#include "DDEpoch.hpp"
+#include "PhaseCleaner.hpp"
+#include "CycleSlipList.hpp"
+#include "SvElevationMap.hpp"
+#include "ElevationRange.hpp"
+#include "BCEphemerisStore.hpp"
+
+using namespace std;
+using namespace gpstk;
+using namespace gpstk::StringUtils;
+
+
+class DDGen : public gpstk::BasicFramework
+{
+public:
+ DDGen() throw();
+
+ bool initialize(int argc, char *argv[]) throw();
+
+protected:
+ virtual void spinUp();
+ virtual void process();
+
+private:
+
+ string ddMode;
+ double minArcGap; // seconds
+ double minArcTime; // seconds
+ unsigned long minArcLen; // epochs
+ unsigned long msid;
+ unsigned long window; // seconds
+ unsigned long minSNR; // dB
+ Triple antennaPos;
+
+ ObsEpochMap obs1, obs2;
+ CommandOptionWithAnyArg obs1FileOption, obs2FileOption, ephFileOption;
+ ElevationRangeList elr;
+ bool computeStats, computeAll, removeUnhealthy;
+ EphReader healthSrcER;
+
+ void readObsFile(const CommandOptionWithAnyArg& obsFileOption,
+ const EphemerisStore& eph,
+ ObsEpochMap &oem);
+
+ void filterUnhealthyObs(const EphemerisStore& eph,
+ ObsEpochMap &oem);
+
+};
+
+//-----------------------------------------------------------------------------
+// The constructor basically just sets up all the command line options
+//-----------------------------------------------------------------------------
+DDGen::DDGen() throw()
+ : BasicFramework("ddGen", "Computes double-difference residuals from raw observations."),
+ ddMode("all"), minArcGap(60), minArcTime(60), minArcLen(5), msid(0), window(0), minSNR(20),
+ computeStats(false), computeAll(false), removeUnhealthy(false),
+
+ obs1FileOption('1', "obs1",
+ "Where to get the first receiver's obs data.", true),
+ obs2FileOption('2', "obs2",
+ "Where to get the second receiver's obs data.", true),
+ ephFileOption('e', "eph", "Where to get the ephemeris data. Can be "
+ "RINEX, FIC, or SP3.", true)
+{}
+
+//-----------------------------------------------------------------------------
+// Here the command line options parsed and used to configure the program
+//-----------------------------------------------------------------------------
+bool DDGen::initialize(int argc, char *argv[]) throw()
+{
+ CommandOptionWithAnyArg
+ ddModeOption('\0', "ddmode", "Specifies what observations are used to "
+ "compute the double difference residuals. Valid values are:"
+ " all. The default is " + ddMode),
+ minArcTimeOption('\0', "min-arc-time", "The minimum length of time "
+ "(in seconds) that a sequence of observations must "
+ "span to be considered as an arc. The default "
+ "value is " + asString(minArcTime, 1) + " seconds."),
+ minArcGapOption('\0', "min-arc-gap", "The minimum length of time "
+ "(in seconds) between two arcs for them to be "
+ "considered separate arcs. The default value "
+ "is " + asString(minArcGap, 1) + " seconds."),
+ minArcLenOption('\0', "min-arc-length", "The minimum number of "
+ "epochs that can be considered an arc. The "
+ "default value is " + asString(minArcLen) +
+ " epochs."),
+ elevBinsOption('b', "elev-bin",
+ "A range of elevations, used in computing"
+ " the statistical summaries. Repeat to specify multiple "
+ "bins. The default is \"-b 0-10 -b 10-20 -b 20-60 -b "
+ "10-90\"."),
+ mscFileOption('c', "msc", "Station coordinate file."),
+ antennaPosOption('p', "pos", "Location of the antenna in meters ECEF."),
+ ephHealthSource('E',"health-src","Do not use data from unhealthy SVs "
+ "as determined using this ephemeris source. Can be "
+ "RINEX navigation or FIC file(s). ");
+
+ CommandOptionWithNumberArg
+ msidOption('m', "msid", "Station to process data for. Used to "
+ "select a station position from the msc file or data "
+ "from a SMODF file."),
+
+ timeSpanOption('w',"window","Compute mean values of the double "
+ "differences over this time span (seconds). (15 min = 900)"),
+ SNRoption('S',"SNR","Only included observables with a raw signal strength, "
+ "or SNR, of at least this value, in dB. The default is 20 dB.");
+
+ CommandOptionNoArg
+ statsOption('s', "stats", "Compute stats on the double differences."),
+ allComboOption('a', "all-combos", "Compute all combinations, don't just "
+ "use one master SV."),
+ cycleSlipOption('\0', "cycle-slips", "Output a list of cycle slips");
+
+ if (!BasicFramework::initialize(argc,argv))
+ return false;
+
+ if (timeSpanOption.getCount() && allComboOption.getCount())
+ {
+ cerr << "\n\n You cannot set up the tool to compute averages while computing all\n "
+ << "SV combos. It doesn't make sense to do so because the arcs are so\n "
+ << "small. Sorry. Exiting....\n\n";
+ return false;
+ }
+
+ if (mscFileOption.getCount() && !msidOption.getCount())
+ {
+ cerr << "\n\n You gave a station coordinate file but didn't specify\n "
+ << "the station ID. Exiting....\n\n";
+ return false;
+ }
+
+ if (timeSpanOption.getCount() && (asDouble(timeSpanOption.getValue()[0])<= 0 ))
+ {
+ cerr << "\n\n Please enter a positive value for the time span window.\n "
+ << "Exiting....\n\n";
+ return false;
+ }
+
+ if ((SNRoption.getCount() && asDouble(SNRoption.getValue()[0])<= 0 ))
+ {
+ cerr << "\n\n Please enter a SNR value >= 0 dB.\n "
+ << "Exiting....\n\n";
+ return false;
+ }
+
+ if (msidOption.getCount())
+ msid = asUnsigned(msidOption.getValue().front());
+
+ // Get the station position
+ if (antennaPosOption.getCount())
+ {
+ string aps = antennaPosOption.getValue()[0];
+ if (numWords(aps) != 3)
+ {
+ cerr << "Please specify three coordinates in the antenna postion.\n"
+ << "Exiting....\n\n";
+ return false;
+ }
+ else
+ for (int i=0; i<3; i++)
+ antennaPos[i] = asDouble(word(aps, i));
+ }
+ else if (msid && mscFileOption.getCount())
+ {
+ string mscfn = (mscFileOption.getValue())[0];
+ MSCStream msc(mscfn.c_str(), ios::in);
+ MSCData mscd;
+ while (msc >> mscd && mscd.station != msid)
+ ;
+ if (mscd.station == msid)
+ antennaPos = mscd.coordinates;
+ }
+ else
+ {
+ string fn = (obs1FileOption.getValue())[0];
+ ObsReader obsReader(fn, verboseLevel);
+ if (obsReader.inputType == FFIdentifier::tRinexObs)
+ antennaPos = obsReader.roh.antennaPosition;
+ }
+
+ if (RSS(antennaPos[0], antennaPos[1], antennaPos[2]) < 1)
+ {
+ cerr << "Warning! The antenna appears to be within one meter of the" << endl
+ << "center of the geoid. This program is not capable of" << endl
+ << "accurately estimating the propigation of GNSS signals" << endl
+ << "through solids such as a planetary crust or magma. Also," << endl
+ << "if this location is correct, your antenna is probably" << endl
+ << "no longer in the best of operating condition." << endl;
+ return false;
+ }
+
+ // get elevation ranges, if specified
+ if (elevBinsOption.getCount())
+ {
+ for (int i=0; i<elevBinsOption.getCount(); i++)
+ {
+ string pr = elevBinsOption.getValue()[i];
+ float minElev = asFloat(pr);
+ stripFirstWord(pr, '-');
+ float maxElev = asFloat(pr);
+ elr.push_back( ElevationRange(minElev, maxElev) );
+ }
+ }
+ else
+ {
+ elr.push_back( ElevationRange( 0, 10) );
+ elr.push_back( ElevationRange(10, 20) );
+ elr.push_back( ElevationRange(20, 60) );
+ elr.push_back( ElevationRange(60, 90) );
+ elr.push_back( ElevationRange(10, 90) );
+ }
+
+ if (ephHealthSource.getCount())
+ {
+ healthSrcER.verboseLevel = verboseLevel;
+ for (int i=0; i<ephHealthSource.getCount(); i++)
+ healthSrcER.read(ephHealthSource.getValue()[i]);
+ gpstk::EphemerisStore& ephStoreTemp = *healthSrcER.eph;
+ if (typeid(ephStoreTemp)!=typeid(BCEphemerisStore))
+ {
+ cerr << "You provided an eph source that was not broadcast ephemeris.\n"
+ "(Precise ephemeris does not contain health info and can't be \n"
+ " used with the \"-E\" option.) Exiting... \n";
+ return false;
+ }
+ removeUnhealthy = true;
+ }
+
+ if (ddModeOption.getCount())
+ ddMode = lowerCase(ddModeOption.getValue()[0]);
+
+ if (minArcTimeOption.getCount())
+ minArcTime = asDouble(minArcTimeOption.getValue().front());
+
+ if (minArcLenOption.getCount())
+ minArcLen = asUnsigned(minArcLenOption.getValue().front());
+
+ if (minArcGapOption.getCount())
+ minArcGap = asDouble(minArcGapOption.getValue().front());
+
+ if (statsOption.getCount())
+ computeStats = true;
+
+ if (allComboOption.getCount())
+ computeAll = true;
+
+ if (timeSpanOption.getCount())
+ window = asUnsigned(timeSpanOption.getValue().front());
+
+ if (SNRoption.getCount())
+ minSNR = asUnsigned(SNRoption.getValue().front());
+
+ return true;
+}
+
+//-----------------------------------------------------------------------------
+// General program setup
+//-----------------------------------------------------------------------------
+void DDGen::spinUp()
+{
+ if (verboseLevel)
+ {
+ cout << "# Double difference mode: " << ddMode << endl
+ << "# Minimum arc time: " << minArcTime << " seconds" << endl
+ << "# Minimum arc length: " << minArcLen << " epochs" << endl
+ << "# Minimum gap length: " << minArcGap << " seconds" << endl
+ << "# Antenna Position: " << setprecision(8) << antennaPos << endl;
+ if (msid)
+ cout << "# msid: " << msid << endl;
+
+ if (computeAll)
+ cout << "# Using all SV combinations." << endl;
+ else
+ cout << "# Using one master SV combinations." << endl;
+
+ if (window)
+ cout << "# Computing mean values for " << window << " second windows" << endl;
+ }
+}
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+void DDGen::process()
+{
+ EphReader ephReader;
+ ephReader.verboseLevel = verboseLevel;
+ for (int i=0; i<ephFileOption.getCount(); i++)
+ ephReader.read(ephFileOption.getValue()[i]);
+
+ ObsEpochMap oem1, oem2;
+
+ if (debugLevel)
+ cout << "# Reading obs from Rx1" << endl;
+ readObsFile(obs1FileOption, *ephReader.eph, oem1);
+
+ if (removeUnhealthy)
+ filterUnhealthyObs(*healthSrcER.eph, oem1);
+
+ if (verboseLevel)
+ cout << "# Reading obs from Rx2" << endl;
+ readObsFile(obs2FileOption, *ephReader.eph, oem2);
+
+ if (removeUnhealthy)
+ filterUnhealthyObs(*healthSrcER.eph, oem2);
+
+ SvElevationMap pem = elevation_map(oem1, antennaPos, *ephReader.eph);
+ DDEpochMap ddem;
+ ddem.debugLevel = debugLevel;
+ ddem.windowLength = window;
+
+ if (computeAll)
+ ddem.useMasterSV = false;
+ else
+ ddem.useMasterSV = true;
+
+ ddem.compute(oem1, oem2, pem);
+
+ // Here we compute a phase double difference that is Better(TM)
+ if (computeAll)
+ {
+ PhaseCleanerA pc(minArcLen, minArcTime, minArcGap);
+ pc.debugLevel = debugLevel;
+ pc.addData(oem1, oem2, minSNR);
+ pc.debias(pem);
+ pc.getPhaseDD(ddem);
+ }
+ else
+ {
+ PhaseCleaner pc(minArcLen, minArcTime, minArcGap);
+ pc.debugLevel = debugLevel;
+ pc.addData(oem1, oem2, minSNR);
+ pc.debias(pem);
+ pc.getPhaseDD(ddem);
+ CycleSlipList sl;
+ pc.getSlips(sl, pem);
+ dump(cout, sl);
+ }
+
+ if (window)
+ {
+ // this option was only allowed for the master SV method, i.e. !computeAll
+ if (verboseLevel)
+ cout << "# Computing averages for windows of " << window << " seconds.\n";
+ ddem.outputAverages(cout);
+ }
+
+ if (computeAll && computeStats)
+ ddem.outputStatsForAllCombos(cout, elr);
+ else if (computeStats)
+ ddem.outputStats(cout, elr);
+ else
+ ddem.dump(cout);
+}
+
+//-----------------------------------------------------------------------------
+// Read a single file of observation data, computing receiver clock offsets along
+// the way.
+//-----------------------------------------------------------------------------
+void DDGen::readObsFile(
+ const CommandOptionWithAnyArg& obsFileOption,
+ const EphemerisStore& eph,
+ ObsEpochMap &oem)
+{
+ // Just a placeholder
+ gpstk::WxObsData wod;
+
+ // Use a New Brunswick trop model.
+ NBTropModel tm;
+
+ // Now set up the function object that is used to compute the ords.
+ OrdEngine ordEngine(eph, wod, antennaPos, "smart", tm);
+ ordEngine.verboseLevel = verboseLevel;
+ ordEngine.debugLevel = debugLevel;
+
+ // Set up a simple epoch clock model.
+ EpochClockModel cm(1.5, 10, ObsClockModel::HEALTHY);
+ const GPSGeoid gm;
+
+ // Walk through each obs file, reading and computing ords along the way.
+ for (int i=0; i<obsFileOption.getCount(); i++)
+ {
+ string fn = (obsFileOption.getValue())[i];
+ ObsReader obsReader(fn, verboseLevel);
+ obsReader.msid = msid;
+
+ while (obsReader())
+ {
+ ObsEpoch obs(obsReader.getObsEpoch());
+ if (!obsReader())
+ break;
+
+ ORDEpoch oe = ordEngine(obs);
+
+ cm.addEpoch(oe);
+
+ if (cm.isOffsetValid())
+ {
+ // Need to keep clock offset in seconds
+ obs.rxClock = cm.getOffset() / gm.c();
+ oem[obs.time] = obs;
+ }
+ else
+ {
+ if (verboseLevel>2)
+ cout << "# Could not estimate clock for epoch at " << obs.time << endl;
+ }
+ }
+ }
+}
+
+void DDGen::filterUnhealthyObs( const EphemerisStore& eph, ObsEpochMap &oem)
+{
+ ObsEpochMap::iterator oemIter;
+ for (oemIter=oem.begin(); oemIter!=oem.end(); oemIter++)
+ {
+ const BCEphemerisStore& bce = dynamic_cast<const BCEphemerisStore&>(eph);
+ const DayTime& t = oemIter->first;
+ ObsEpoch& obsEpoch = oemIter->second;
+
+ ObsEpoch::iterator oeIter;
+ for(oeIter=obsEpoch.begin(); oeIter!=obsEpoch.end();)
+ {
+ const SatID& svid = oeIter ->first;
+
+ try
+ {
+ EngEphemeris ephTemp = bce.findEphemeris(svid, t);
+ short health = ephTemp.getHealth();
+ if (health != 0)
+ obsEpoch.erase(oeIter++);
+ else
+ oeIter++;
+ }
+ catch (gpstk::Exception &exc)
+ {
+ if (verboseLevel || debugLevel)
+ cout << "# DDGen::filterUnhealthyObs - probably missing eph data\n";
+ }
+ }
+ }
+}
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+int main(int argc, char *argv[])
+{
+ try
+ {
+ DDGen crap;
+ if (!crap.initialize(argc, argv))
+ exit(0);
+ crap.run();
+ }
+ catch (gpstk::Exception &exc)
+ { cerr << exc << endl; }
+ catch (std::exception &exc)
+ { cerr << "Caught std::exception " << exc.what() << endl; }
+ catch (...)
+ { cerr << "Caught unknown exception" << endl; }
+}
diff --git a/dev/apps/reszilla/ddPlot b/dev/apps/reszilla/ddPlot
new file mode 100755
index 0000000..f162824
--- /dev/null
+++ b/dev/apps/reszilla/ddPlot
@@ -0,0 +1,400 @@
+#!/usr/bin/env python
+# $Id$
+# A routine to plot the output of ddGen.
+
+
+import sys, string, time, datetime, numpy, matplotlib, pylab
+
+def main():
+
+ from optparse import OptionParser
+
+ parser = OptionParser()
+
+ usageString = "ddPlot [option]\n\n A routine to plot the output of ddGen.\n\n All double differences will be plotted by default, or\n you may specify plotting criteria using the command\n line options."
+
+ parser =OptionParser(usage=usageString)
+
+ parser.add_option("-d", "--debug", default=0, dest="debugLevel", action="count",
+ help="Increase the debugLevel.")
+
+ parser.add_option("-l", "--legend", dest="legend", action="count",
+ help="Include a legend.")
+
+ parser.add_option("-a","--averages", action="count", dest="plotAverages",
+ help="Plot the averages using the same plotting criteria. Use twice and only averages will be plotted.")
+
+ parser.add_option("-u","--no-unhlthy", dest="noUnhealthy",action="count",
+ help="Do not plot data from unhealthy SVs.")
+
+ parser.add_option("-r", "--range", dest="range", action="count",
+ help="Plot range double difference values.")
+
+ parser.add_option("-D", "--doppler", dest="doppler", action="count",
+ help="Plot Doppler double difference values.")
+
+ parser.add_option("-p", "--phase", dest="phase", action="count",
+ help="Plot phase double difference values.")
+
+ parser.add_option("-1", "--L1", dest="L1", action="count",
+ help="Plot data from L1 freq band.")
+
+ parser.add_option("-2", "--L2", dest="L2", action="count",
+ help="Plot data from L2 freq band.")
+
+ parser.add_option("-i", help="Input data file, defaults to stdin.", \
+ dest="inputFile", type="string", action="store")
+
+ parser.add_option("-t", help="Specify a title for the plot. "+\
+ "Defaults to the name of the input stream.", \
+ dest="title", type="string", action="store")
+
+ parser.add_option("-f", dest="saveFig", action="store", type="string",\
+ help="Save the figure to the indicated file")
+
+ parser.add_option("-y", dest="yRange", action="store", type="float",\
+ help="Fix the y range on the ords to be +- this value.")
+
+ parser.add_option("-s", dest="tStart", action="store",\
+ help="Start time. Format as \"YYYY DOY HH:MM:SS.S\" (Note\
+ the trailing decimal place).")
+
+ parser.add_option("-e", dest="tEnd", action="store",\
+ help="End time. Format as \"YYYY DOY HH:MM:SS.S\" (Note\
+ the trailing decimal place).")
+
+ (options, args) = parser.parse_args()
+
+ if (len(args) and options.inputFile == None):
+ options.inputFile = args[0]
+
+ inputFile = sys.stdin
+ if (options.inputFile):
+ inputFile = open(options.inputFile)
+
+ if (options.title == None):
+ options.title = inputFile.name
+
+ plotAvg = False
+ if (options.plotAverages):
+ plotAvg = True
+
+ plotUnhealthy = True
+ if (options.noUnhealthy):
+ plotUnhealthy = False
+
+ plotRange = True
+ plotPhase = True
+ plotDoppl = True
+ plotL1 = True
+ plotL2 = True
+
+ if (options.range or options.doppler or options.phase):
+ if (not options.range):
+ plotRange = False
+ if (not options.phase):
+ plotPhase = False
+ if (not options.doppler):
+ plotDoppl = False
+ if (options.L1 or options.L2):
+ if (not options.L1):
+ plotL1 = False
+ if (not options.L2):
+ plotL2 = False
+
+ if (options.debugLevel):
+ print "Processing: %s" % inputFile.name
+ print "Debug level: %d" % options.debugLevel
+ print "Title: %s" % options.title
+ if options.yRange:
+ print "Fixing y axis to +/- %4.4f meters" % options.yRange
+ if plotRange:
+ print "Plotting range double differences"
+ else:
+ print "Excluding range double differences from plot"
+ if plotPhase:
+ print "Plotting phase double differences"
+ else:
+ print "Excluding phase double differences from plot"
+ if plotDoppl:
+ print "Plotting doppler double differences"
+ else:
+ print "Excluding doppler double differences from plot"
+ if plotL1:
+ print "Plotting double differences from data collected on L1"
+ else:
+ print "Excluding double differences from data collected on L1"
+ if plotL2:
+ print "Plotting double differences from data collected on L2"
+ else:
+ print "Excluding double differences from data collected on L2"
+ if plotAvg:
+ print "Plotting double differnce averages"
+ else:
+ print "Not plotting averages"
+
+ # read in data.
+ # Not using SV or elevation data yet, but we may want to do
+ # something cool with it later
+
+ dataListL1 = ([],[],[],[],[],[],[],[],[]) # time, C/A range dd, P/Y range, phase dd, doppler dd, PRN1, el1, PRN2, el2
+ dataListL2 = ([],[],[],[],[],[],[],[]) # time, range dd, phase dd, doppler dd, PRN1, el1, PRN2, el2
+ avergsList = ([],[],[],[],[],[],[],[]) # time, C/A rng avg, L1 P/Y rng avg, L1 phs dd avg, L1 dopp dd avg...
+ # ...L2 rng dd avg, L2 phs dd avg, L2 dopp dd avg
+ #cycleSlips = # not quite sure how to work these in yet
+
+ for line in inputFile:
+ line = line.strip()
+ if options.debugLevel>1:
+ print line
+ if len(line)==0: continue
+
+ if line[0] == "#": continue
+ if line[0] == '>':
+ if line[1] == "c":
+ continue # we'll do something nifty with these later
+ if (line[1]=="a" and plotAvg):
+ words=line.split()
+ t = parse_time(words[1:4])
+ ordType = "%s %s %s"%(words[4], words[5], words[6])
+ mean = float(words[8])
+ if ordType[0:2] == "L1":
+ if ordType[3:6] == "C/A":
+ avergsList[0].append(t) # time
+ avergsList[1].append(mean) # C/A range dd mean
+ elif ordType[7:14] == "range":
+ avergsList[2].append(mean) # L1 P/Y/W range dd mean
+ elif ordType[7:14] == "phase":
+ avergsList[3].append(mean) # L1 P/Y/W phase dd mean
+ elif ordType[7:14] == "doppl":
+ avergsList[4].append(mean) # L1 P/Y/W Doppler dd mean
+ else:
+ if (options.debugLevel):
+ print "Didn't understand this line:"
+ print line
+
+ elif ordType[0:2] == "L2":
+ if ordType[7:14] == "range":
+ avergsList[5].append(mean) # L1 P/Y/W range dd mean
+ elif ordType[7:14] == "phase":
+ avergsList[6].append(mean) # L1 P/Y/W phase dd mean
+ elif ordType[7:14] == "doppl":
+ avergsList[7].append(mean) # L1 P/Y/W Doppler dd mean
+ else:
+ if (options.debugLevel):
+ print "Didn't understand this line:"
+ print line
+ else:
+ words=line.split()
+ t = parse_time(words[0:3])
+ ordType = "%s %s %s"%(words[3], words[4], words[5])
+ if (words[11] != "00" and (not plotUnhealthy)):
+ if options.debugLevel:
+ print "Not plotting data from unhealthy SV(s):"
+ print line
+ continue
+
+ # parse the line
+ sv1 = int(words[6])
+ sv2 = int(words[7])
+ elev1 = float(words[8])
+ elev2 = float(words[9])
+ ddr = float(words[10])
+ h = int(words[11],16)
+ # not adding health to the dataLists, this can be changed though
+
+ if ordType[0:2] == "L1":
+ # get all of this general epoch info from the C/A line only
+ if ordType[3:6] == "C/A":
+ dataListL1[0].append(t)
+ dataListL1[1].append(ddr)
+ dataListL1[5].append(sv1)
+ dataListL1[6].append(elev1)
+ dataListL1[7].append(sv2)
+ dataListL1[8].append(elev2)
+ elif ordType[5:12] == "range": #this will be the L1 P/Y/W range
+ dataListL1[2].append(ddr)
+ elif ordType[5:12] == "phase":
+ dataListL1[3].append(ddr)
+ elif ordType[5:12] == "doppler":
+ dataListL1[4].append(ddr)
+ else:
+ if (options.debugLevel):
+ print "Didn't understand this line:"
+ print line
+ elif ordType[0:2] == "L2":
+ # get all of the general epoch info from the range line only
+ if ordType[5:12] == "range":
+ dataListL2[0].append(t)
+ dataListL2[1].append(ddr)
+ dataListL2[4].append(sv1)
+ dataListL2[5].append(elev1)
+ dataListL2[6].append(sv2)
+ dataListL2[7].append(elev2)
+ elif ordType[5:12] == "phase":
+ dataListL2[2].append(ddr)
+ elif ordType[5:12] == "doppler":
+ dataListL2[3].append(ddr)
+ else:
+ if (options.debugLevel):
+ print "Didn't understand this line:"
+ print line
+
+ dataL1 = numpy.array(dataListL1)
+ dataL2 = numpy.array(dataListL2)
+ avergs = numpy.array(avergsList)
+
+ del dataListL1, dataListL2, avergsList
+
+ # make sure that there is some data to plot
+ if (plotL1 and dataL1.shape[1] < 1):
+ print "\n No L1 data to plot. Exiting...\n"
+ exit;
+ if (plotL2 and dataL2.shape[1] < 1):
+ print "\n No L2 data to plot. Exiting...\n"
+ exit;
+ if (plotAvg and avergs.shape[1] < 1):
+ print "\n No averages to plot. Exiting...\n"
+ exit;
+
+ # done reading in the ord file
+
+ # A key handler for matplotlib
+ def press(event):
+ if event.key=='q' or event.key==' ':
+ pylab.close()
+
+ # Here we start generating the plots
+ fig = pylab.figure()
+ pylab.connect('key_press_event', press)
+ yprops = dict(rotation=90, horizontalalignment='right', verticalalignment='center', family='monospace', x=-0.01)
+ scale_props = dict(horizontalalignment="right", verticalalignment="bottom", size=8, family="sans-serif")
+
+ xMajorFmt=pylab.DateFormatter("%02H:%02M\n%03j")
+ xMinorFmt=pylab.NullFormatter()
+ xMajorLoc=matplotlib.dates.DayLocator()
+ xMinorLoc=matplotlib.dates.HourLocator()
+
+ rExtent=0.89
+ if options.legend:
+ rExtent=0.80
+
+ ax1 = fig.add_axes([0.08, 0.10, rExtent, 0.85])
+ # experimented with alpha blending on the plot, but couldn't find anything that really helped
+
+ # i know this looks rediculous, just trying to control the plotting order
+ if plotL1:
+ if plotRange:
+ if (options.plotAverages < 2):
+ ax1.plot_date(dataL1[0], dataL1[1], ',', color="r", label="C/A range")
+ ax2=fig.add_axes(ax1.get_position())
+ ax2.plot_date(dataL1[0], dataL1[2], ',', color="purple", label="L1 P/Y range")
+
+ if plotPhase:
+ if (options.plotAverages < 2):
+ ax3=fig.add_axes(ax1.get_position())
+ ax3.plot_date(dataL1[0], dataL1[3], ',', color="#FF6600", label="L1 P/Y phase")
+
+ if plotDoppl:
+ if (options.plotAverages < 2):
+ ax4=fig.add_axes(ax1.get_position())
+ ax4.plot_date(dataL1[0], dataL1[4], ',', color="navy", label="L1 P/Y doppler")
+
+ if plotL2:
+ if plotRange:
+ if (options.plotAverages < 2):
+ ax4=fig.add_axes(ax1.get_position())
+ ax4.plot_date(dataL2[0], dataL2[1], ',', color="forestgreen", label="L2 P/Y range")
+ if plotPhase:
+ if (options.plotAverages < 2):
+ ax5=fig.add_axes(ax1.get_position())
+ ax5.plot_date(dataL2[0], dataL2[2], ',', color="darkslategray", label="L2 P/Y phase")
+ if plotDoppl:
+ if (options.plotAverages < 2):
+ ax6=fig.add_axes(ax1.get_position())
+ ax6.plot_date(dataL2[0], dataL2[3], ',', color="teal", label="L2 P/Y doppler")
+
+
+ if plotL1 and plotAvg:
+ if plotRange:
+ ax7=fig.add_axes(ax1.get_position())
+ ax7.plot_date(avergs[0], avergs[1], 'o', color="r", label="C/A rng avg")
+ ax8=fig.add_axes(ax1.get_position())
+ ax8.plot_date(avergs[0], avergs[2], 'o', color="purple", label="L1 P/Y rng avg")
+ if plotPhase:
+ ax9=fig.add_axes(ax1.get_position())
+ ax9.plot_date(avergs[0], avergs[3], 'o', color="#FF6600", label="L1 P/Y ph avg")
+ if plotDoppl:
+ ax10=fig.add_axes(ax1.get_position())
+ ax10.plot_date(avergs[0], avergs[4], 'o', color="navy", label="L1 P/Y dop avg")
+
+ if plotL2 and plotAvg:
+ if plotRange:
+ ax11=fig.add_axes(ax1.get_position())
+ ax11.plot_date(avergs[0], avergs[5], 'o', color="forestgreen", label="L2 P/Y rng avg")
+ if plotPhase:
+ ax12=fig.add_axes(ax1.get_position())
+ ax12.plot_date(avergs[0], avergs[6], 'o', color="darkslategray", label="L2 P/Y ph avg")
+ if plotDoppl:
+ ax13=fig.add_axes(ax1.get_position())
+ ax13.plot_date(dataL2[0], dataL2[7], 'o', color="teal", label="L2 P/Y dop avg")
+
+
+ if options.legend:
+ ax1.legend(numpoints=2, pad=0.1, labelsep = 0, handlelen=0.005, handletextsep=0.01, axespad=0.0, loc=(1,0))
+ leg = pylab.gca().get_legend()
+ ltext = leg.get_texts()
+ llines = leg.get_lines()
+ lframe = leg.get_frame()
+ lframe.set_facecolor('0.4')
+ pylab.setp(ltext, size=8, family="sans-serif")
+ pylab.setp(llines, linewidth=2)
+ leg.draw_frame(False)
+
+ ax1.set_ylabel('Double Difference (meters)', **yprops)
+ ax1.grid(True)
+ if options.yRange:
+ ax1.set_ylim(ymin=-options.yRange, ymax=options.yRange)
+ else:
+ pylab.figtext(rExtent+.08, 0.95, "y range autoscaled", **scale_props)
+ ax1.xaxis.set_major_formatter(xMajorFmt)
+ xlabels=ax1.get_xticklabels()
+ ylabels=ax1.get_yticklabels()
+ pylab.setp(xlabels, fontsize=10, family='sans-serif')
+ pylab.setp(ylabels, fontsize=10, family='sans-serif')
+ ax1.xaxis.set_minor_formatter(xMinorFmt)
+
+ # set x axis range
+ if options.tStart:
+ tMin = parse_time(options.tStart.split()[0:3])
+ else:
+ tMin = min(dataL1[0])
+
+ if options.tEnd:
+ tMax = parse_time(options.tEnd.split()[0:3])
+ else:
+ tMax = max(dataL1[0])
+
+ ax1.set_xlim(xmin=tMin, xmax=tMax)
+ ax1.set_title(options.title)
+
+ if (options.saveFig == None):
+ pylab.show()
+ else:
+ pylab.savefig(options.saveFig)
+# end of main
+
+
+def parse_time(words):
+ fsec = float(words[2][8:10])
+ ydhms = words[0]+" "+words[1]+" "+words[2][0:8]
+ utime = time.strptime(ydhms, "%Y %j %H:%M:%S")
+ dtime = datetime.datetime(utime[0], utime[1], utime[2],
+ utime[3], utime[4], utime[5], int(fsec*1e6))
+ t0 = matplotlib.dates.date2num(dtime)
+ return t0
+# end of parse_time()
+
+
+if __name__ == "__main__":
+ main()
diff --git a/dev/apps/reszilla/ordClock.cpp b/dev/apps/reszilla/ordClock.cpp
new file mode 100644
index 0000000..a2d7b11
--- /dev/null
+++ b/dev/apps/reszilla/ordClock.cpp
@@ -0,0 +1,176 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <EpochClockModel.hpp>
+
+#include "OrdApp.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+class OrdClock : public OrdApp
+{
+public:
+ OrdClock() throw();
+
+ bool initialize(int argc, char *argv[]) throw();
+
+protected:
+ virtual void process();
+
+private:
+ CommandOptionNoArg useWartsOption, estimateOnlyOption;
+ CommandOptionWithAnyArg clockSource;
+};
+
+
+//-----------------------------------------------------------------------------
+// The constructor basically just sets up all the command line options
+//-----------------------------------------------------------------------------
+OrdClock::OrdClock() throw()
+ : OrdApp("ordClock", "Generates clock estimates for each epoch of ords."),
+ useWartsOption('w', "use-warts",
+ "Use warts in the clock solution. The default is "
+ "to not use warts."),
+ estimateOnlyOption('e', "estimate-only",
+ "Only compute the receiver clock bias. Don't remove"
+ " this bias from the ords. The default is to both estimate"
+ " the bias and remove the it from the ords."),
+ clockSource('c', "clock-source",
+ "An ord file to read the receiver clock offsets from.")
+{}
+
+
+//-----------------------------------------------------------------------------
+bool OrdClock::initialize(int argc, char *argv[]) throw()
+{
+ return OrdApp::initialize(argc,argv);
+}
+
+
+//-----------------------------------------------------------------------------
+void OrdClock::process()
+{
+ // Set up our clock model
+ gpstk::EpochClockModel cm;
+ cm.setSigmaMultiplier(1.5);
+ cm.setElevationMask(15);
+ cm.setSvMode(ObsClockModel::ALWAYS);
+
+ if (useWartsOption.getCount())
+ cm.setUseWonkyData(true);
+
+ bool estimate=true;
+ bool debias=true;
+ if (estimateOnlyOption.getCount())
+ debias = false;
+
+ map<DayTime, double> clocks;
+ if (clockSource.getCount())
+ {
+ string fn = clockSource.getValue()[0];
+ if (debugLevel)
+ cout << "# Reading clocks from " << fn << endl;
+ std::ifstream clkStream(fn.c_str(), ios::in);
+ ORDEpoch epoch;
+ while (clkStream)
+ {
+ epoch = read(clkStream);
+ clocks[epoch.time] = epoch.clockOffset;
+ }
+ estimate = false;
+ }
+
+ while (input)
+ {
+ ORDEpoch ordEpoch = read(input);
+
+ if (estimate)
+ {
+ cm.addEpoch(ordEpoch);
+ if (cm.isOffsetValid())
+ ordEpoch.clockOffset = cm.getOffset();
+ }
+ else
+ {
+ map<DayTime, double>::const_iterator o=clocks.find(ordEpoch.time);
+ if (o != clocks.end())
+ ordEpoch.clockOffset = o->second;
+ }
+
+ if (debias && ordEpoch.clockOffset.is_valid())
+ ordEpoch.removeOffset(ordEpoch.clockOffset);
+
+ if (ordEpoch.clockOffset.is_valid())
+ {
+ double clk_mag = std::abs(ordEpoch.clockOffset);
+ if (clk_mag > 1e6 || clk_mag < 1e-5)
+ ordEpoch.wonky = true;
+ }
+ else
+ ordEpoch.wonky = true;
+
+ if (ordEpoch.wonky)
+ {
+ ORDEpoch::ORDMap::iterator i;
+ for (i = ordEpoch.ords.begin(); i != ordEpoch.ords.end(); i++)
+ i->second.wonky |= 0x0040;
+ }
+
+ write(output, ordEpoch);
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+int main(int argc, char *argv[])
+{
+ try
+ {
+ OrdClock crap;
+ if (!crap.initialize(argc, argv))
+ exit(0);
+ crap.run();
+ }
+ catch (gpstk::Exception &exc)
+ { cout << exc << endl; }
+ catch (std::exception &exc)
+ { cerr << "Caught std::exception " << exc.what() << endl; }
+ catch (...)
+ { cerr << "Caught unknown exception" << endl; }
+}
diff --git a/dev/apps/reszilla/ordEdit.cpp b/dev/apps/reszilla/ordEdit.cpp
new file mode 100644
index 0000000..f7a9b5d
--- /dev/null
+++ b/dev/apps/reszilla/ordEdit.cpp
@@ -0,0 +1,379 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <EpochClockModel.hpp>
+#include <vector>
+#include <set>
+#include "gps_constants.hpp"
+#include "OrdApp.hpp"
+#include "OrdApp.cpp"
+#include "EphReader.hpp"
+#include "BCEphemerisStore.hpp"
+
+using namespace std;
+using namespace gpstk;
+using namespace gpstk::StringUtils;
+
+class OrdEdit : public OrdApp
+{
+public:
+ OrdEdit() throw();
+
+ bool initialize(int argc, char *argv[]) throw();
+
+protected:
+ virtual void process();
+
+private:
+ CommandOptionNoArg clkOpt, noClockOpt;
+ CommandOptionWithNumberArg elvOpt, prnOpt, wartsOpt;
+ CommandOptionWithAnyArg ephSourceOpt, startOpt, endOpt, clkResOpt, ordLimitOpt;
+
+ double elMask, clkResidLimit, ordLimit;
+ set<int> prnSet, wartSet; // prns to exclude from analysis
+ vector<string> ephFilesVector;
+ DayTime tStart, tEnd;
+};
+
+
+//-----------------------------------------------------------------------------
+// The constructor basically just sets up all the command line options
+//-----------------------------------------------------------------------------
+OrdEdit::OrdEdit() throw()
+ : OrdApp("ordEdit", "Edits an ord file based on various criteria."),
+ elMask(0),clkResidLimit(0),
+ ephSourceOpt('e',"be-file","Remove data for unhealthy SVs by "
+ "providing broadcast ephemeris source: RINEX nav or "
+ "FIC file." ),
+ elvOpt('m',"elev","Remove data for SVs below a given elevation mask."),
+ clkOpt('k',"clock-est", "Remove ords that do not have corresponding "
+ "clock estimates."),
+ clkResOpt('s',"size","Remove clock residuals with absolute values "
+ "greater than this size (meters)."),
+ ordLimitOpt('l',"ord-limit","Remove ords with absolute valies "
+ "greater than this size (meters)."),
+ prnOpt('p',"PRN","Add/Remove data from given PRN. Repeat option for multiple"
+ " PRNs. Negative numbers remove, Postive numbers all, Zero removes all."),
+ noClockOpt('c',"no-clock", "Remove all clock offset estimate warts. Give"
+ " this option twice to remove all clock data. "),
+ wartsOpt('w', "warts", "Include/Exclude warts from the indicated PRN. "
+ "Repeat option for multiple PRNs. Negative numbers exclude, "
+ "positive numbers include, zero excludes warts from all PRNs. "
+ "The default is to include all warts."),
+ startOpt('\0',"start","Throw out data before this time. Format as "
+ "string: \"MO/DD/YYYY HH:MM:SS\" "),
+ endOpt('\0',"end","Throw out data after this time. Format as string:"
+ " \"MO/DD/YYYY HH:MM:SS\" ")
+
+{}
+
+//-----------------------------------------------------------------------------
+bool OrdEdit::initialize(int argc, char *argv[]) throw()
+{
+ return OrdApp::initialize(argc,argv);
+}
+
+//-----------------------------------------------------------------------------
+void OrdEdit::process()
+{
+ //-- Get ephemeris data
+ EphReader ephReader;
+ ephReader.verboseLevel = verboseLevel;
+ for (int i=0; i<ephSourceOpt.getCount(); i++)
+ ephReader.read(ephSourceOpt.getValue()[i]);
+ gpstk::EphemerisStore& eph = *ephReader.eph;
+
+ //-- Make sure that the eph data provided is broadcast eph
+ if (ephSourceOpt.getCount()&&(typeid(eph)!=typeid(BCEphemerisStore)))
+ {
+ cout << "You provided an eph source that was not broadcast ephemeris.\n"
+ "(Precise ephemeris does not contain health info and can't be \n"
+ " used with this program.) Exiting... \n";
+ exit(0);
+ }
+
+ //-- get which PRNs to be excluded
+ for (int index = 0; index < prnOpt.getCount(); index++)
+ {
+ int prn = asInt(prnOpt.getValue()[index]);
+ if (prn < 0)
+ prnSet.insert(-prn);
+ else if (prn > 0)
+ prnSet.erase(prn);
+ else
+ {
+ prnSet.clear();
+ for (int i=1; i<=gpstk::MAX_PRN; i++)
+ prnSet.insert(i);
+ }
+ }
+
+ //-- get which PRNs from which to ignore warts
+ for (int i=0; i < wartsOpt.getCount(); i++)
+ {
+ int prn = asInt(wartsOpt.getValue()[i]);
+ if (prn < 0)
+ wartSet.insert(-prn);
+ else if (prn > 0)
+ wartSet.erase(prn);
+ else
+ {
+ wartSet.clear();
+ for (int i=1; i<=gpstk::MAX_PRN; i++)
+ wartSet.insert(i);
+ }
+ }
+
+ //-- get ephemeris sources, if given
+ int numBEFiles = ephSourceOpt.getCount();
+ for (int index = 0; index < numBEFiles; index++)
+ ephFilesVector.push_back(asString(ephSourceOpt.getValue()[index]));
+
+ //-- remove data below a given elevation mask?
+ if (elvOpt.getCount())
+ elMask = asDouble(elvOpt.getValue().front());
+
+ //-- discard clock residuals that are too large?
+ if (clkResOpt.getCount())
+ clkResidLimit = asDouble(clkResOpt.getValue().front());
+
+ //-- discard ords that are too large?
+ if (ordLimitOpt.getCount())
+ ordLimit = asDouble(ordLimitOpt.getValue().front());
+
+ //-- if a time span was specified, get it
+ double ss;
+ int mm,dd,yy,hh,minu;
+ if (startOpt.getCount())
+ {
+ sscanf(startOpt.getValue().front().c_str(),"%i/%i/%i %i:%i:%lf",
+ &mm,&dd,&yy,&hh,&minu,&ss);
+ tStart.setYMDHMS((short)yy,(short)mm,(short)dd,(short)hh,
+ (short)minu,(double)ss);
+ }
+ if (endOpt.getCount())
+ {
+ sscanf(endOpt.getValue().front().c_str(), "%i/%i/%i %i:%i:%lf",
+ &mm,&dd,&yy,&hh,&minu,&ss);
+ tEnd.setYMDHMS((short)yy,(short)mm,(short)dd,(short)hh,
+ (short)minu, (double)ss);
+ }
+
+ //-- too lazy?
+ if (verboseLevel || debugLevel)
+ {
+ cout << "# So, according to you, ordEdit should be... \n";
+ if (clkOpt.getCount())
+ cout << "# Removing ords that do not have corresponding "
+ << "clock estimates.\n";
+ else
+ cout << "# Leaving in ords without corresponding clock "
+ << "estimates.\n";
+ if (elMask)
+ cout << "# Elevation mask set to " << elMask << " deg.\n";
+ else
+ cout << "# Keeping data for all SVs above the horizon. \n";
+ if (startOpt.getCount())
+ cout << "# Tossing data before " << tStart << endl;
+ else
+ cout << "# Start time is beginning of file. \n";
+ if (endOpt.getCount())
+ cout << "# Tossing data after " << tEnd << endl;
+ else
+ cout << "# End time is end of file. \n";
+ if (prnSet.size())
+ {
+ cout << "# Ignoring ords from PRNs: ";
+ set<int>::const_iterator i;
+ if (prnSet.size() == gpstk::MAX_PRN)
+ cout << "all";
+ else
+ for (i = prnSet.begin(); i != prnSet.end(); i++)
+ cout << *i << " ";
+ cout << endl;
+ }
+ if (wartSet.size())
+ {
+ cout << "# Ignoring warts from PRNs: ";
+ set<int>::const_iterator i;
+ if (wartSet.size() == gpstk::MAX_PRN)
+ cout << "all";
+ else
+ for (i = wartSet.begin(); i != wartSet.end(); i++)
+ cout << *i << " ";
+ cout << endl;
+ }
+
+ if (clkResidLimit)
+ cout << "# Tossing clk resids > " << clkResidLimit << " m.\n";
+ else
+ cout << "# Keeping all clock residuals.\n";
+
+ if (ordLimit)
+ cout << "# Tossing ords > " << ordLimit << " m.\n";
+ else
+ cout << "# No ORD limit given.\n";
+
+ if (numBEFiles)
+ {
+ for (int index = 0; index < numBEFiles; index++)
+ cout << "# Eph source: " << ephSourceOpt.getValue()[index]
+ << endl;
+ }
+ if (noClockOpt.getCount() == 1)
+ cout << "# Removing clock offset warts from ord file.\n";
+ else if (noClockOpt.getCount() > 1)
+ cout << "# Removing all clock data from ord file.\n";
+ }
+
+ while (input)
+ {
+ ORDEpoch ordEpoch = read(input);
+ if (clkOpt.getCount() && !(ordEpoch.clockOffset.is_valid()))
+ continue;
+ else if (startOpt.getCount() && (ordEpoch.time < tStart))
+ continue;
+ else if (endOpt.getCount() && (ordEpoch.time > tEnd))
+ continue;
+
+ if (numBEFiles)
+ {
+ const BCEphemerisStore& bce = dynamic_cast<const BCEphemerisStore&>(eph);
+ ORDEpoch::ORDMap::iterator iter = ordEpoch.ords.begin();
+ while (iter!= ordEpoch.ords.end())
+ {
+ const SatID& satId = iter->first;
+ ObsRngDev& ord = iter->second;
+ iter++;
+ try
+ {
+ const EngEphemeris& eph = bce.findEphemeris(satId, ordEpoch.time);
+ ord.health = eph.getHealth();
+ if (ord.health.is_valid() && ord.health != 0)
+ ordEpoch.removeORD(satId);
+ }
+ catch (gpstk::Exception &exc)
+ { cout << " # Error caught in ordEdit - probably missing eph data\n"; }
+ // I would include the exception catch below, but the exc spans
+ // multiple lines...
+ //catch (gpstk::Exception &exc)
+ //{ cerr << "# Error in ordEdit: " << exc << endl; }
+ }
+ }
+
+ if (elMask)
+ {
+ ORDEpoch::ORDMap::const_iterator iter = ordEpoch.ords.begin();
+ while (iter!= ordEpoch.ords.end())
+ {
+ const SatID& satId = iter->first;
+ const ObsRngDev& ord = iter->second;
+ iter++;
+ if ((ord.getElevation()< elMask))
+ ordEpoch.removeORD(satId);
+ }
+ }
+
+ if (noClockOpt.getCount() == 1)
+ {
+ // removing receiver clock offset estimate warts (type 70 lines)
+ if (ordEpoch.clockOffset.is_valid() && ordEpoch.wonky)
+ ordEpoch.clockOffset.set_valid(false);
+ }
+ else if (noClockOpt.getCount() > 1)
+ {
+ // removing all clock data (line types 50, 51, and 70)
+ ordEpoch.clockOffset.set_valid(false);
+ ordEpoch.clockResidual.set_valid(false);
+ }
+ if (prnSet.size() || wartSet.size())
+ {
+ // removing good obs (the type 0 lines)
+ ORDEpoch::ORDMap::const_iterator iter = ordEpoch.ords.begin();
+ while (iter!= ordEpoch.ords.end())
+ {
+ const SatID& satId = iter->first;
+ const ObsRngDev& ord = iter->second;
+ iter++;
+ if ((!ord.wonky && prnSet.count(satId.id)) ||
+ (ord.wonky && wartSet.count(satId.id)))
+ ordEpoch.removeORD(satId);
+ }
+ }
+
+ if (clkResOpt.getCount() &&
+ (std::abs(ordEpoch.clockResidual)>clkResidLimit))
+ ordEpoch.clockResidual.set_valid(false);
+
+ if (ordLimitOpt.getCount())
+ {
+ ORDEpoch::ORDMap::const_iterator iter = ordEpoch.ords.begin();
+ while (iter!= ordEpoch.ords.end())
+ {
+ const SatID& satId = iter->first;
+ const ObsRngDev& ord = iter->second;
+ iter++;
+ if (ord.getORD() < ordLimit)
+ ordEpoch.removeORD(satId);
+ }
+ }
+
+ write(output, ordEpoch);
+ }
+ if (verboseLevel || debugLevel)
+ cout << "# Doneskies.\n";
+}
+
+//-----------------------------------------------------------------------------
+int main(int argc, char *argv[])
+{
+ try
+ {
+ OrdEdit crap;
+ if (!crap.initialize(argc, argv))
+ exit(0);
+ crap.run();
+ }
+ catch (gpstk::Exception &exc)
+ { cout << exc << endl; }
+ catch (std::exception &exc)
+ { cerr << "Caught std::exception " << exc.what() << endl; }
+ catch (...)
+ { cerr << "Caught unknown exception" << endl; }
+}
+
diff --git a/dev/apps/reszilla/ordGen.cpp b/dev/apps/reszilla/ordGen.cpp
new file mode 100644
index 0000000..3a958cf
--- /dev/null
+++ b/dev/apps/reszilla/ordGen.cpp
@@ -0,0 +1,263 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+#include <MSCData.hpp>
+#include <MSCStream.hpp>
+#include <BCEphemerisStore.hpp>
+
+
+#include "OrdApp.hpp"
+#include "OrdEngine.hpp"
+#include "ObsReader.hpp"
+#include "EphReader.hpp"
+#include "MetReader.hpp"
+
+using namespace std;
+using namespace gpstk;
+using namespace gpstk::StringUtils;
+
+class OrdGen : public OrdApp
+{
+public:
+ OrdGen() throw();
+
+ bool initialize(int argc, char *argv[]) throw();
+
+protected:
+ virtual void spinUp();
+ virtual void process();
+
+private:
+ string ordMode;
+ Triple antennaPos;
+ unsigned msid;
+
+ bool useNear;
+
+ CommandOptionWithAnyArg obsFileOption, ephFileOption, metFileOption;
+};
+
+//-----------------------------------------------------------------------------
+// The constructor basically just sets up all the defaults
+//-----------------------------------------------------------------------------
+OrdGen::OrdGen() throw()
+ : OrdApp("ordGen", "Generates observed range deviations."),
+ ordMode("smart"), useNear(false),
+ msid(0),
+ obsFileOption('o', "obs", "Where to get the obs data.", true),
+
+ ephFileOption('e', "eph", "Where to get the ephemeris data. Can be "
+ " rinex, fic, or sp3", true),
+
+ metFileOption('w', "weather", "Weather data file name (RINEX met "
+ "format only).")
+{}
+
+
+//-----------------------------------------------------------------------------
+// Here the command line options are set up, parsed, and used to configure
+// the program.
+//-----------------------------------------------------------------------------
+bool OrdGen::initialize(int argc, char *argv[]) throw()
+{
+ CommandOptionWithAnyArg
+ mscFileOption('c', "msc", "Station coordinate file."),
+
+ ordModeOption('\0', "omode", "Specifies what observations are used to "
+ "compute the ORDs. Valid values are:"
+ "p1p2, c1p2, y1y2, c1, p1, c2, p2, smo, and smart. "
+ "The default is " + ordMode),
+
+ antennaPosOption('p', "pos", "Location of the antenna in meters ECEF.");
+
+ CommandOptionWithNumberArg
+ msidOption('m', "msid", "Station to process data for. Used to "
+ "select a station position from the msc file or data "
+ "from a SMODF file.");
+
+ CommandOptionNoArg
+ useNearOption('n', "near", "Allows the program to select an ephemeris that "
+ "is not strictly in the future. Only affects the selection of which broadcast "
+ "ephemeris to use. Use a close ephemeris");
+
+ if (!OrdApp::initialize(argc,argv)) return false;
+
+ if (ordModeOption.getCount())
+ ordMode = lowerCase(ordModeOption.getValue()[0]);
+
+ if (msidOption.getCount())
+ msid = asUnsigned(msidOption.getValue().front());
+
+ // Get the station position
+ if (antennaPosOption.getCount())
+ {
+ string aps = antennaPosOption.getValue()[0];
+ if (numWords(aps) != 3)
+ {
+ cerr << "Please specify three coordinates in the antenna postion." << endl;
+ return false;
+ }
+ else
+ for (int i=0; i<3; i++)
+ antennaPos[i] = asDouble(word(aps, i));
+ }
+ else if (msid && mscFileOption.getCount() > 0)
+ {
+ string mscfn = (mscFileOption.getValue())[0];
+ MSCStream msc(mscfn.c_str(), ios::in);
+ MSCData mscd;
+ while (msc >> mscd && mscd.station != msid)
+ ;
+ if (mscd.station == msid)
+ antennaPos = mscd.coordinates;
+ }
+ else
+ {
+ string fn = (obsFileOption.getValue())[0];
+ ObsReader obsReader(fn, verboseLevel);
+ if (obsReader.inputType == FFIdentifier::tRinexObs)
+ antennaPos = obsReader.roh.antennaPosition;
+ }
+
+ useNear = useNearOption.getCount();
+
+ if (RSS(antennaPos[0], antennaPos[1], antennaPos[2]) < 1)
+ {
+ cerr << "Warning! The antenna appears to be within one meter of the" << endl
+ << "center of the geoid. This program is not capable of" << endl
+ << "accurately estimating the propigation of GNSS signals" << endl
+ << "through solids such as a planetary crust or magma. Also," << endl
+ << "if this location is correct, your antenna is probably" << endl
+ << "no longer in the best of operating condition." << endl;
+ return false;
+ }
+
+ return true;
+}
+
+
+//-----------------------------------------------------------------------------
+// General program setup
+//-----------------------------------------------------------------------------
+void OrdGen::spinUp()
+{
+ if (verboseLevel)
+ {
+ if (msid)
+ cout << "# msid: " << msid << endl;
+ cout << "# Antenna Position: " << setprecision(8) << antennaPos << endl;
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+void OrdGen::process()
+{
+ // This is only needed to help debug the FFIdentifer class
+ FFIdentifier::debugLevel = debugLevel;
+
+ // Get the ephemeris data
+ EphReader ephReader;
+ ephReader.verboseLevel = verboseLevel;
+ for (int i=0; i<ephFileOption.getCount(); i++)
+ ephReader.read(ephFileOption.getValue()[i]);
+ gpstk::EphemerisStore& eph = *ephReader.eph;
+
+ if (useNear && typeid(eph) == typeid(BCEphemerisStore))
+ {
+ BCEphemerisStore& bce = dynamic_cast<BCEphemerisStore&>(eph);
+ bce.SearchNear();
+ }
+
+
+ // Get the weather data...
+ MetReader metReader;
+ metReader.verboseLevel = verboseLevel;
+ for (int i=0; i<metFileOption.getCount(); i++)
+ metReader.read(metFileOption.getValue()[i]);
+ WxObsData& wod = metReader.wx;
+
+ // Use a New Brunswick trop model.
+ NBTropModel tm;
+
+ // Now set up the function object that is used to compute the ords.
+ OrdEngine ordEngine(eph, wod, antennaPos, ordMode, tm);
+ ordEngine.verboseLevel = verboseLevel;
+ ordEngine.debugLevel = debugLevel;
+ ORDEpochMap ordEpochMap;
+
+ // Walk through each obs file, reading and computing ords along the way.
+ for (int i=0; i<obsFileOption.getCount(); i++)
+ {
+ string fn = (obsFileOption.getValue())[i];
+ ObsReader obsReader(fn, verboseLevel);
+ obsReader.msid = msid;
+
+ while (obsReader())
+ {
+ ObsEpoch obs(obsReader.getObsEpoch());
+
+ if (!obsReader())
+ break;
+
+ ORDEpoch oe = ordEngine(obs);
+
+ write(output, oe);
+ }
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+int main(int argc, char *argv[])
+{
+ try
+ {
+ OrdGen crap;
+ if (!crap.initialize(argc, argv))
+ exit(0);
+ crap.run();
+ }
+ catch (gpstk::Exception &exc)
+ { cerr << exc << endl; }
+ catch (std::exception &exc)
+ { cerr << "Caught std::exception " << exc.what() << endl; }
+ catch (...)
+ { cerr << "Caught unknown exception" << endl; }
+}
diff --git a/dev/apps/reszilla/ordLinEst.cpp b/dev/apps/reszilla/ordLinEst.cpp
new file mode 100644
index 0000000..a47390a
--- /dev/null
+++ b/dev/apps/reszilla/ordLinEst.cpp
@@ -0,0 +1,228 @@
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <algorithm>
+
+#include "OrdApp.hpp"
+#include "RobustLinearEstimator.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+
+// This is a function object that is intended to look for discontinuities
+// in a series of pairs.
+struct BigRateOperator :
+ public std::binary_function<DoubleDouble, DoubleDouble, bool>
+{
+ BigRateOperator(double r)
+ : maxRate(std::abs(r))
+ {}
+
+ bool operator() (const DoubleDouble& l, const DoubleDouble& r) const
+ {
+ double dt = l.first - r.first;
+ double dy = l.second - r.second;
+ double rate = 0;
+ if (dt != 0.0)
+ rate = dy/dt;
+ return abs(rate) > maxRate;
+ }
+
+ const double maxRate;
+};
+
+
+struct ClockSegment: public RobustLinearEstimator
+{
+ DayTime startTime, endTime;
+};
+
+
+struct ClockSegmentList : public list<ClockSegment>
+{
+ vdouble eval(const DayTime& t)
+ {
+ vdouble offset;
+ for (const_iterator k=begin(); k != end(); k++)
+ {
+ const ClockSegment& cs = *k;
+ if ((t - cs.startTime) > -0.01 && (cs.endTime - t) > -0.01)
+ {
+ double mjd = t.MJDdate();
+ if (cs.valid)
+ offset = cs.eval(mjd);
+ break;
+ }
+ }
+ return offset;
+ }
+
+ void dump(ostream& output, string timeFormat) const
+ {
+ output << "# t0 t1 t0 offset(m)"
+ << " t1 offset(m) slope(m/d) abdev(m)" << endl;
+ output << "# ------------------- ------------------- "
+ << "------------ ------------ ---------- --------" << endl;
+ for (const_iterator k=begin(); k != end(); k++)
+ {
+ const ClockSegment& cs = *k;
+ double t0 = cs.startTime.MJDdate();
+ double tf = cs.endTime.MJDdate();
+ output << ">c " << cs.startTime.printf(timeFormat)
+ << " " << cs.endTime.printf(timeFormat)
+ << fixed
+ << " " << setprecision(3) << setw(12) << cs.eval(t0)
+ << " " << setprecision(3) << setw(12) << cs.eval(tf)
+ << " " << setprecision(3) << setw(12) << cs.b
+ << " " << setprecision(3) << setw(10) << cs.abdev
+ << endl;
+ }
+ output << "#" << endl;
+ }
+};
+
+
+class OrdLinEst : public OrdApp
+{
+public:
+ OrdLinEst() throw();
+
+ bool initialize(int argc, char *argv[]) throw();
+
+protected:
+ virtual void process();
+ CommandOptionWithAnyArg maxRateOption;
+
+};
+
+//-----------------------------------------------------------------------------
+// The constructor basically just sets up all the command line options
+//-----------------------------------------------------------------------------
+OrdLinEst::OrdLinEst() throw()
+ : OrdApp("ordLinEst", "Computes a linear clock estimate. "),
+ maxRateOption('m', "max-rate",
+ "Rate used to detect a clock jump. default is 10,000 m/day")
+
+{}
+
+//-----------------------------------------------------------------------------
+bool OrdLinEst::initialize(int argc, char *argv[]) throw()
+{
+ return OrdApp::initialize(argc,argv);
+}
+
+
+//-----------------------------------------------------------------------------
+void OrdLinEst::process()
+{
+ gpstk::ORDEpochMap oem;
+ // read in data from the ord file to map of ORDEpochs
+ while (input)
+ {
+ ORDEpoch ordEpoch = read(input);
+ oem[ordEpoch.time] = ordEpoch;
+ }
+
+ DoubleDoubleVec clocks;
+ ORDEpochMap::const_iterator ei;
+ for (ei = oem.begin(); ei != oem.end(); ei++)
+ {
+ double mjd = ei->first.MJDdate();
+ vdouble clk = ei->second.clockOffset;
+ if (!clk.is_valid() || std::abs(clk) < 1e-6)
+ continue;
+ clocks.push_back(DoubleDouble(mjd, clk));
+ }
+
+ // An emperically determied maximum clock drift rate, in meters per day
+ double maxRate=10000;
+ if (maxRateOption.getCount())
+ maxRate = StringUtils::asDouble(maxRateOption.getValue().front());
+ BigRateOperator bro(maxRate);
+
+ DoubleDoubleVec::iterator i,j;
+ ClockSegmentList csl;
+ for (i=clocks.begin(); i != clocks.end(); i++)
+ {
+ j = adjacent_find( i, clocks.end(), bro);
+ ClockSegment seg;
+ seg.startTime = DayTime(i->first+1e-9);
+ if (j != clocks.end())
+ seg.endTime = DayTime(j->first+1e-9);
+ else
+ seg.endTime = DayTime(clocks.rbegin()->first+1e-9);
+ seg.process(i, j);
+ csl.push_back(seg);
+ if (j == clocks.end())
+ break;
+ i = j;
+ }
+
+ csl.dump(output, timeFormat);
+
+ ORDEpochMap::iterator l;
+ for (l=oem.begin(); l != oem.end(); l++)
+ {
+ const DayTime& t = l->first;
+ ORDEpoch& ord = l->second;
+ vdouble offset = csl.eval(t);
+ if (offset.is_valid() && ord.clockOffset.is_valid())
+ ord.clockResidual = ord.clockOffset - offset;
+
+ write(output, l->second);
+ }
+}
+
+//-----------------------------------------------------------------------------
+int main(int argc, char *argv[])
+{
+ try
+ {
+ OrdLinEst crap;
+ if (!crap.initialize(argc, argv))
+ exit(0);
+ crap.run();
+ }
+ catch (gpstk::Exception &exc)
+ { cout << exc << endl; }
+ catch (std::exception &exc)
+ { cerr << "Caught std::exception " << exc.what() << endl; }
+ catch (...)
+ { cerr << "Caught unknown exception" << endl; }
+}
+
diff --git a/dev/apps/reszilla/ordPlot b/dev/apps/reszilla/ordPlot
new file mode 100755
index 0000000..f7688dd
--- /dev/null
+++ b/dev/apps/reszilla/ordPlot
@@ -0,0 +1,329 @@
+#!/usr/bin/env python
+# $Id$
+# A routine to plot the output of the ord apps.
+#
+
+import sys, string, time, datetime, numpy, matplotlib, pylab
+
+def main():
+ from optparse import OptionParser
+ parser = OptionParser()
+ parser.add_option("-d", "--debug", help="Increase the debugLevel", \
+ default=0, dest="debugLevel", action="count")
+
+ parser.add_option("-i", help="Input data file, defaults to stdin.", \
+ dest="inputFile", type="string", action="store")
+
+ parser.add_option("-t", help="Specify a title for the plot. "+\
+ "Defaults to the name of the input stream.", \
+ dest="title", type="string", action="store")
+
+ parser.add_option("-l", "--legend", dest="legend", action="count",
+ help="Include a legend.")
+
+ parser.add_option("-o", "--ords-only", help="Only plot the ords (types 0 & 1).", \
+ dest="ordsOnly", default=0, action="count")
+
+ parser.add_option("-c", "--clocks-only", help="Only plot the clocks.",\
+ dest="clocksOnly", default=0, action="count")
+
+ parser.add_option("-s", dest="saveFig", action="store", type="string",\
+ help="Save the figure to the indicated file")
+
+ parser.add_option("-y", dest="yRange", action="store", type="float",\
+ help="Fix the y range on the ords to be +- this value.")
+
+ parser.add_option("--start-time",\
+ dest="tStart", action="store",\
+ help="Start time. Format as \"YYYY DOY HH:MM:SS.S\" (Note\
+ the trailing decimal place).")
+ parser.add_option("--end-time",\
+ dest="tEnd", action="store",\
+ help="End time. Format as \"YYYY DOY HH:MM:SS.S\" (Note\
+ the trailing decimal place).")
+
+ parser.add_option("-w", "--warts",\
+ dest="wartiness", action="count",\
+ help="Increase the importants of warts on the plot.\
+ Zero (the default) means don't even plot them. One\
+ means plot them but don't autoscale to show them all\
+ (just show all the ords). Two means autoscale to show\
+ all the warts. Three means only show the warts and\
+ don't show any ords. Only zero and 2 have been\
+ implimented.")
+
+ (options, args) = parser.parse_args()
+
+ if (len(args) and options.inputFile == None):
+ options.inputFile = args[0]
+
+ inputFile = sys.stdin
+ if (options.inputFile):
+ inputFile = open(options.inputFile)
+
+ if (options.title == None):
+ options.title = inputFile.name
+
+ if (options.debugLevel):
+ print "Processing: %s" % inputFile.name
+ print "Debug level: %d" % options.debugLevel
+ print "Title: %s" % options.title
+ if options.yRange:
+ print "Fixing y axis to +/- %.f meters" % options.yRange
+
+ # ------------------------------------------------------------------
+ # Here we start reading in the ord file
+ ordList=([],[],[],[]) # time, prn, ord, elevation
+ wartList=([],[],[],[]) # time, prn, ord, elevation
+ clockList=([],[]) # time, offset
+ ocdList=([],[])
+
+ rleClockList=[]
+
+ for line in inputFile:
+ line = line.strip()
+ if options.debugLevel>1:
+ print line
+ if len(line)==0: continue
+
+ if line[0] == "#": continue
+ if line[0] == '>':
+ if line[1] == "c":
+ words=line.split()
+ if len(words) < 9:
+ print "bad rle line"
+ else:
+ t0 = parse_time(words[1:4])
+ t1 = parse_time(words[4:7])
+ offset = float(words[7])
+ slope = float(words[9])
+ abdev = float(words[10])
+ rleClockList.append( (t0, t1, offset, slope, abdev) )
+ continue
+
+ words=line.split()
+ t = parse_time(words[0:3])
+
+ ordType = int(words[3])
+ if ordType == 0:
+ if len(words) < 7:
+ print "bad ord line"
+ continue
+
+ prn = int(words[4])
+ ord = float(words[6])
+ elev = float(words[5])
+ wart = int(words[7],16)
+ if wart==0:
+ ordList[0].append(t)
+ ordList[1].append(prn)
+ ordList[2].append(ord)
+ ordList[3].append(elev)
+ else:
+ wartList[0].append(t)
+ wartList[1].append(prn)
+ wartList[2].append(ord)
+ wartList[3].append(elev)
+ elif ordType == 1:
+ if len(words) < 2: print "bad clock residual line"
+ ocdList[0].append(t)
+ ocdList[1].append(float(words[4]))
+ elif ordType == 50:
+ if len(words) < 5: print "bad clk line"
+ clockList[0].append(t)
+ clockList[1].append(float(words[4])) #offset
+
+ if options.debugLevel>2 and len(clockList[0]) >= 200: break
+
+ ords = numpy.array(ordList)
+ warts = numpy.array(wartList)
+ clocks = numpy.array(clockList)
+ ocds = numpy.array(ocdList)
+
+ # Since these are now in numpy arrays, delete the source to save some memory
+ del ordList, clockList, wartList, ocdList
+ # done reading in the ord file
+ # ------------------------------------------------------------------
+
+
+ # Now figure out how many axes we need to use
+ plotOrds = True
+ plotClocks = True
+
+ if len(clocks[0]) == 0 or options.ordsOnly: plotClocks = False
+ if (len(ords[0]) == 0 and len(warts[0]) == 0) or options.clocksOnly: plotOrds = False
+ axesCount=0;
+ if plotOrds: axesCount+=1
+ if plotClocks: axesCount+=1
+
+ if options.debugLevel:
+ print "Read %d ords, %d clocks, %d ocds %d warts %d rle" %\
+ (len(ords[0]), len(clocks[0]), len(ocds[0]), len(warts[0]),
+ len(rleClockList))
+
+ if axesCount == 0:
+ print "No data to plot. Exiting"
+ sys.exit()
+
+ # A key handler for matplotlib
+ def press(event):
+ if event.key=='q' or event.key==' ':
+ pylab.close()
+
+ # Here we start generating the plots
+ fig = pylab.figure()
+ pylab.connect('key_press_event', press)
+ yprops = dict(rotation=90,
+ horizontalalignment='right',
+ verticalalignment='center',
+ family='monospace',
+ x=-0.01)
+
+ scale_props = dict(horizontalalignment="right",
+ verticalalignment="bottom",
+ size=8, family="sans-serif")
+
+ xMajorFmt=pylab.DateFormatter("%02H:%02M\n%03j\n%4Y")
+ xMinorFmt=pylab.NullFormatter()
+ xMajorLoc=matplotlib.dates.DayLocator()
+ xMinorLoc=matplotlib.dates.HourLocator()
+
+ rExtent=0.89
+ if options.legend:
+ rExtent=0.82
+
+ if axesCount == 2:
+ ax1 = fig.add_axes([0.08, 0.52, rExtent, 0.42])
+ elif axesCount == 1:
+ ax1 = fig.add_axes([0.08, 0.10, rExtent, 0.85])
+
+ if plotOrds:
+ if True:
+ if len(ords[0]):
+ ax1.plot_date(ords[0], ords[2], 'g,', label="ords")
+ if len(warts[0]) and options.wartiness:
+ ax1.plot_date(warts[0], warts[2], 'r,', label="warts")
+ else:
+ for prn in pylab.arange(1,33):
+ onePrn = pylab.compress(pylab.equal(ords[1], prn), ords)
+ if len(onePrn[0]):
+ ax1.plot_date(onePrn[0], onePrn[2], '.', label="prn %2d"%prn)
+ for prn in pylab.arange(1,33):
+ onePrn = pylab.compress(pylab.equal(warts[1], prn), warts)
+ if len(onePrn[0]):
+ ax1.plot_date(onePrn[0], onePrn[2], '.', label="prn %2dW"%prn)
+
+ if len(ocds[0]):
+ ax3=fig.add_axes(ax1.get_position())
+ ax3.set_alpha(0.25) #This doesn't seem to affect the plot
+ ax3.plot_date(ocds[0], ocds[1], 'b-,', label="clk res")
+
+ # If there are rle clocks, draw a vertical line where each new model
+ # starts
+ for t0, t1, y0, m, d in rleClockList:
+ ax1.axvline(t0, label='_nolegend_')
+
+ if options.legend:
+ ax1.legend(numpoints=2, pad=0.1, labelsep = 0, handlelen=0.005,
+ handletextsep=0.01, axespad=0.0, loc=(1,0))
+ leg = pylab.gca().get_legend()
+ ltext = leg.get_texts()
+ llines = leg.get_lines()
+ lframe = leg.get_frame()
+ lframe.set_facecolor('0.4')
+ pylab.setp(ltext, size=8, family="sans-serif")
+ pylab.setp(llines, linewidth=2)
+ leg.draw_frame(False)
+ ax1.set_ylabel('ord (meters)', **yprops)
+ ax1.grid(True)
+ if options.yRange:
+ ax1.set_ylim(ymin=-options.yRange, ymax=options.yRange)
+ pylab.figtext(rExtent+.08, 0.95, "y range +/- %.f m" % options.yRange,
+ **scale_props)
+ else:
+ if (options.wartiness<2):
+ ax1.set_ylim(ymin=min(ords[2]), ymax=max(ords[2]))
+ pylab.figtext(rExtent+.08, 0.95, "y range autoscaled",
+ **scale_props)
+
+ # This allows the creation of futher axes that will share the x axis
+ # with the first plot.
+ axprops = dict()
+ axprops['sharex'] = ax1
+
+ if axesCount == 2:
+ ax2 = fig.add_axes([0.08, 0.10, rExtent, 0.38], **axprops)
+ elif axesCount == 1:
+ ax2 = ax1
+
+ if plotClocks:
+ ax2.plot_date(clocks[0], clocks[1], 'g.', label="offset")
+ ax2.grid(True)
+ ax2.set_ylabel('clock (meters)', **yprops)
+
+ # Only plot the linear clock estimate if there is data for it...
+ for t0, t1, y0, m, d in rleClockList:
+ y1 = y0 + m * (t1 - t0)
+ t = numpy.array([t0, t1])
+ y = numpy.array([y0, y1])
+ ax2.plot_date(t, y, 'b-', linewidth=1, label='_nolegend_')
+ yu = y + d
+ yl = y - d
+ yy = pylab.concatenate( (yu, yl[::-1]) )
+ tt = pylab.concatenate( (t, t[::-1]) )
+ ax2.fill(tt, yy, facecolor='b', alpha=0.4, label='_nolegend_')
+
+ if options.legend:
+ ax2.legend(numpoints=2, pad=0.1, labelsep = 0, handlelen=0.005,
+ handletextsep=0.01, axespad=0.0, loc=(1,0))
+ leg = pylab.gca().get_legend()
+ leg.draw_frame(False)
+
+
+ ax2.xaxis.set_major_formatter(xMajorFmt)
+ xlabels=ax2.get_xticklabels()
+ ylabels=ax2.get_yticklabels()
+ pylab.setp(xlabels, fontsize=10, family='sans-serif')
+ pylab.setp(ylabels, fontsize=10, family='sans-serif')
+
+ ax2.xaxis.set_minor_formatter(xMinorFmt)
+
+ # set x axis range
+ if options.tStart:
+ tMin = parse_time(options.tStart.split()[0:3])
+ else:
+ tMin = min(ords[0])
+
+ if options.tEnd:
+ tMax = parse_time(options.tEnd.split()[0:3])
+ else:
+ tMax = max(ords[0])
+
+ ax2.set_xlim(xmin=tMin, xmax=tMax)
+
+ # Axis labels on the upper plot would be bad since they would be
+ # drawn over the upper part of the lower plot
+ if axesCount > 1:
+ pylab.setp(ax1.get_xticklabels(), visible=False)
+ ax1.set_title(options.title)
+
+ if (options.saveFig == None):
+ pylab.show()
+ else:
+ pylab.savefig(options.saveFig)
+# end of main
+
+
+def parse_time(words):
+ fsec = float(words[2][8:10])
+ ydhms = words[0]+" "+words[1]+" "+words[2][0:8]
+ utime = time.strptime(ydhms, "%Y %j %H:%M:%S")
+ dtime = datetime.datetime(utime[0], utime[1], utime[2],
+ utime[3], utime[4], utime[5], int(fsec*1e6))
+ t0 = matplotlib.dates.date2num(dtime)
+ return t0
+# end of parse_time()
+
+
+if __name__ == "__main__":
+ main()
diff --git a/dev/apps/reszilla/ordStats.cpp b/dev/apps/reszilla/ordStats.cpp
new file mode 100644
index 0000000..48cac98
--- /dev/null
+++ b/dev/apps/reszilla/ordStats.cpp
@@ -0,0 +1,329 @@
+#pragma ident "$Id$"
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include "OrdApp.hpp"
+#include "OrdApp.cpp"
+#include "icd_200_constants.hpp"
+//#include "util.hpp"
+#include <iostream>
+#include <list>
+
+#include "OrdApp.hpp"
+#include "ElevationRange.hpp"
+#include "Stats.hpp"
+
+using namespace std;
+using namespace gpstk;
+using namespace gpstk::StringUtils;
+
+class OrdStats : public OrdApp
+{
+public:
+ OrdStats() throw();
+
+ bool initialize(int argc, char *argv[]) throw();
+
+protected:
+ virtual void process();
+
+private:
+ CommandOptionWithAnyArg elevBinsOption, statsFileOption;
+ CommandOptionWithNumberArg sigmaOption;
+ CommandOptionNoArg wonkyOption;
+ ElevationRangeList elr;
+ double sigmaMult;
+ bool useWonky;
+
+};
+
+
+//-----------------------------------------------------------------------------
+// The constructor basically just sets up all the command line options
+//-----------------------------------------------------------------------------
+OrdStats::OrdStats() throw()
+ : OrdApp("ordStats", "Computes ords statistics. "),
+ elevBinsOption('b', "elev-bin", "A range of elevations, used in "
+ " computing the statistical summaries. Repeat to specify"
+ " multiple bins. The default is \"-b 0-10 -b 10-20 -b"
+ " 20-60 -b 10-90\"."),
+ sigmaOption('s',"sigma","Multiplier for sigma stripping used in "
+ "statistical computations. The default value is 6."),
+ statsFileOption('o',"statsFile","Filename for output of stats only. Stats"
+ " will still be included at the end of the ord file."),
+ wonkyOption('w',"wonky","Use wonky data in stats computation. The"
+ " default is to not use such data.")
+{}
+
+//-----------------------------------------------------------------------------
+bool OrdStats::initialize(int argc, char *argv[]) throw()
+{
+ return OrdApp::initialize(argc,argv);
+}
+
+//-----------------------------------------------------------------------------
+void OrdStats::process()
+{
+ // get elevation ranges, if specified
+ if (elevBinsOption.getCount())
+ {
+ for (int i=0; i<elevBinsOption.getCount(); i++)
+ {
+ string pr = elevBinsOption.getValue()[i];
+ float minElev = asFloat(pr);
+ stripFirstWord(pr, '-');
+ float maxElev = asFloat(pr);
+ elr.push_back( ElevationRange(minElev, maxElev) );
+ }
+ }
+ else
+ {
+ elr.push_back( ElevationRange( 0, 10) );
+ elr.push_back( ElevationRange(10, 20) );
+ elr.push_back( ElevationRange(20, 60) );
+ elr.push_back( ElevationRange(60, 90) );
+ elr.push_back( ElevationRange(10, 90) );
+ }
+ if (sigmaOption.getCount())
+ sigmaMult = asDouble(sigmaOption.getValue().front());
+ else
+ sigmaMult = 6;
+ std::ofstream extraOutput;
+ if (statsFileOption.getCount())
+ {
+ const string fn = statsFileOption.getValue()[0];
+ extraOutput.open(fn.c_str(), ios::out);
+ }
+
+ if (wonkyOption.getCount())
+ useWonky = true;
+ else
+ useWonky = false;
+
+ // initialize some counters
+ float totalEpochCount = 0; // cnt of total # of epochs from input
+ float totalORDCount = 0; // cnt of total # ord ORDs
+ float wonkyEpochCount = 0; // cnt of entire epochs that are wonky
+ float wonkyORDCount = 0; // cnt of individual ords that are wonky
+
+ // read in data from the ord file to map of ORDEpochs
+ ORDEpochMap oem;
+ while (input)
+ {
+ ORDEpoch ordEpoch = read(input);
+
+ // increment wonky counters accordingly
+ if (ordEpoch.wonky)
+ wonkyEpochCount++;
+ totalEpochCount++;
+ oem[ordEpoch.time] = ordEpoch;
+ write(output, ordEpoch);
+ }
+
+ // output clock offsets greater than 1ms
+ output << "# Time \t\t\tOffsets > 1ms\n"
+ << "# ------\t\t\t-------------\n";
+ if (statsFileOption.getCount())
+ extraOutput << "Time \t\t\tOffsets > 1ms\n"
+ << "------\t\t\t-------------\n";
+ bool foundBigOffset = false;
+ // find offsets > 1ms and get one more wonky count
+ ORDEpochMap::iterator iter;
+ for (iter = oem.begin(); iter != oem.end(); iter++)
+ {
+ try
+ {
+ const double offset = iter->second.clockOffset;
+ if (abs(offset) > (C_GPS_M/1000))
+ {
+ foundBigOffset = true;
+ output << ">b " << iter->second.time << "\t\t"
+ << setprecision(5) << setw(12)
+ << iter->second.clockOffset << endl;
+ if (statsFileOption.getCount())
+ extraOutput << iter->second.time << "\t"
+ << setprecision(5) << setw(12)
+ << iter->second.clockOffset << endl;
+ }
+
+ ORDEpoch::ORDMap::const_iterator pi;
+ for (pi = iter->second.ords.begin();
+ pi != iter->second.ords.end(); pi++)
+ {
+ totalORDCount++;
+ const unsigned wonk = pi->second.wonky;
+ if (wonk)
+ wonkyORDCount++;
+ }
+ }
+ catch (gpstk::Exception &exc)
+ { cout << "# Error caught in ordStats - probably missing clock offset data\n"; }
+ }
+
+
+ if (!foundBigOffset)
+ output << "# No offsets greater than 1 millisecond found.\n";
+ if ((!foundBigOffset) && statsFileOption.getCount())
+ extraOutput << " No offsets greater than 1 millisecond found.\n";
+
+ // output wonky stats
+ output << "# wonky epochs total % wonky epochs # wonky ords total "
+ << "ords % wonky ords\n"
+ << "# ------------ ----- -------------- ------------"
+ << " ---------- ------------\n";
+ char b1[200];
+ // the high # after % symbol is just kinda lazy formatting...
+ sprintf(b1, ">w %8.0f %9.0f %12.2f %12.0f %12.0f %12.2f",
+ wonkyEpochCount, totalEpochCount,
+ (100*(wonkyEpochCount/totalEpochCount)),
+ wonkyORDCount,totalORDCount,
+ (100*(wonkyORDCount/totalORDCount)));
+ output << b1 << endl;
+
+ if (statsFileOption.getCount())
+ {
+ extraOutput << "wonky epochs total % wonky epochs # wonky ords"
+ << " total ords % wonky ords\n"
+ << "------------ ----- -------------- ------------ "
+ << " ---------- ------------\n";
+ sprintf(b1, "%8.0f %9.0f %12.2f %12.0f %12.0f %12.2f",
+ wonkyEpochCount,
+ totalEpochCount, (100*(wonkyEpochCount/totalEpochCount)),
+ wonkyORDCount,totalORDCount,
+ (100*(wonkyORDCount/totalORDCount)));
+ extraOutput << b1 << endl;
+ }
+
+ // print some header info
+ output << "# elev\t stddev mean # obs # bad"
+ << " max strip\n"
+ << "# ----\t ------ ---- ----- -----"
+ << " ----- -----\n";
+ if (statsFileOption.getCount())
+ {
+ extraOutput << "elev\t stddev mean # obs # bad"
+ << " max strip\n"
+ << "----\t ------ ---- ----- -----"
+ << " ----- -----\n";
+ }
+
+ // compute stats for each elevation range
+ for (ElevationRangeList::const_iterator i = elr.begin();
+ i != elr.end(); i++)
+ {
+ ElevationRange er = *i;
+ float minElevation = er.first;
+ float maxElevation = er.second;
+
+ Stats<double> fp;
+ ORDEpochMap::iterator iter;
+ for (iter = oem.begin(); iter != oem.end(); iter++)
+ {
+ const DayTime& t = iter->first;
+ ORDEpoch::ORDMap::const_iterator pi;
+ for (pi = iter->second.ords.begin();
+ pi != iter->second.ords.end(); pi++)
+ {
+ const float el = pi->second.getElevation();
+ const double ord = pi->second.getORD();
+ if (el>minElevation && el<maxElevation)
+ fp.Add(ord);
+ }
+ }
+ double strip = sigmaMult * fp.StdDev();
+ Stats<double> good, bad;
+ for (iter = oem.begin(); iter != oem.end(); iter++)
+ {
+ const DayTime& t = iter->first;
+ ORDEpoch::ORDMap::const_iterator pi;
+ for (pi = iter->second.ords.begin();
+ pi != iter->second.ords.end(); pi++)
+ {
+ const float el = pi->second.getElevation();
+ const double ord = pi->second.getORD();
+ const unsigned wonk = pi->second.wonky;
+ if (el>minElevation && el<maxElevation)
+ {
+ double mag=std::abs(ord);
+ if (wonk && !useWonky)
+ bad.Add(ord);
+ else if (mag < strip)
+ good.Add(ord);
+ else
+ bad.Add(ord);
+ }
+ }
+ }
+
+ char b1[200];
+ char zero = good.Average() < good.StdDev()/sqrt((float)good.N())?'0':' ';
+ double max = std::max(std::abs(good.Maximum()),
+ std::abs(good.Minimum()));
+ sprintf(b1, ">r %2d-%2d %8.5f %8.3f %7d %6d %6.2f %6.2f",
+ (int)minElevation, (int)maxElevation,
+ good.StdDev()/sqrt((float)2), good.Average(),
+ good.N(), bad.N(), max, strip);
+ output << b1 << endl;
+
+ if (statsFileOption.getCount())
+ {
+ sprintf(b1, "%2d-%2d %8.5f %8.3f %7d %6d %6.2f %6.2f",
+ (int)minElevation, (int)maxElevation,
+ good.StdDev()/sqrt((float)2), good.Average(),
+ good.N(), bad.N(), max, strip);
+ extraOutput << b1 << endl;
+ }
+ }
+}
+
+//-----------------------------------------------------------------------------
+int main(int argc, char *argv[])
+{
+ try
+ {
+ OrdStats crap;
+ if (!crap.initialize(argc, argv))
+ exit(0);
+ crap.run();
+ }
+ catch (gpstk::Exception &exc)
+ { cout << exc << endl; }
+ catch (std::exception &exc)
+ { cerr << "Caught std::exception " << exc.what() << endl; }
+ catch (...)
+ { cerr << "Caught unknown exception" << endl; }
+}
+
diff --git a/dev/apps/swrx/CACodeGenerator.hpp b/dev/apps/swrx/CACodeGenerator.hpp
new file mode 100644
index 0000000..a3210bc
--- /dev/null
+++ b/dev/apps/swrx/CACodeGenerator.hpp
@@ -0,0 +1,74 @@
+#pragma ident "$Id$"
+
+#ifndef CACODEGENERATOR_HPP
+#define CACODEGENERATOR_HPP
+
+#include <iostream>
+
+#include "CodeGenerator.hpp"
+#include "ConstLinearRecurrentSequence.hpp"
+
+namespace gpstk
+{
+ class CACodeGenerator : public CodeGenerator
+ {
+ public:
+ CACodeGenerator(int prn)
+ : CodeGenerator(ObsID::tcCA, SatID(prn, SatID::systemGPS)),
+ g2Offset(getG2Delay(prn))
+ {setIndex(0);}
+
+ bool operator*() const { return (*G1)^(*G2); }
+
+ CodeIndex operator++() { ++G1; ++G2; ++chipCount; return getIndex(); }
+
+ CodeIndex setIndex(CodeIndex new_index)
+ {
+ G1.setIndex(new_index);
+ G2.setIndex(new_index + codeLen - g2Offset);
+ chipCount = 0;
+ return getIndex();
+ }
+
+ CodeIndex getIndex() const
+ { return G1.getIndex(); }
+
+ bool isLastInSequence() const
+ { return G1.isLastInSequence(); }
+
+ CodeIndex getSyncIndex() const {return codeLen;}
+
+ CodeIndex getChipCount() const {return chipCount;}
+
+ void reset() {setIndex(0);}
+
+ private:
+ const static int G1_InitialVector=0x3FF;
+ const static int G2_InitialVector=0x3FF;
+
+ const static int G1_Polynomial=(1<<10)|(1<<3);
+ const static int G2_Polynomial=(1<<10)|(1<<9)|(1<<8)|(1<<6)|(1<<3)|(1<<2);
+
+ const static int codeLen = 1023;
+
+ CodeIndex chipCount;
+
+ ConstLinearRecurrentSequence<codeLen, G1_InitialVector, G1_Polynomial> G1;
+
+ ConstLinearRecurrentSequence<codeLen, G2_InitialVector, G2_Polynomial> G2;
+
+ const CodeIndex g2Offset;
+
+ static CodeIndex getG2Delay(int prn)
+ {
+ const CodeIndex G2DelayTable[]={
+ 0,5,6,7,8,17,18,139,140,141,251,252,254,255,256,
+ 257,258,469,470,471,472,473,474,509,512,513,514,
+ 515,516,859,860,861,862,863,950,947,948,950
+ };
+ return G2DelayTable[prn];
+ }
+ };
+}
+
+#endif
diff --git a/dev/apps/swrx/CCReplica.cpp b/dev/apps/swrx/CCReplica.cpp
new file mode 100644
index 0000000..ab554b7
--- /dev/null
+++ b/dev/apps/swrx/CCReplica.cpp
@@ -0,0 +1,174 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "CCReplica.hpp"
+
+#include "complex_math.h"
+
+using namespace gpstk;
+using namespace std;
+
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+void CCReplica::dump(std::ostream& s) const
+{
+ s << "# " << codeGenPtr->sv << " " << ObsID::tcStrings[codeGenPtr->code]
+ << ":" << endl
+ << setprecision(4)
+ << "# -- tickSize: " << tickSize * 1e6 << " us"
+ << ", codeChipLen: " << codeChipLen * 1e6 << " us"
+ << ", chipsPerTick:" << chipsPerTick
+ << endl << setprecision(7)
+ << "# -- LO carrierFreq: " << carrierFreq * 1e-3 << " kHz"
+ << ", cyclesPerTick: " << cyclesPerTick
+ << endl
+ << "# -- localTime: " << localTime * 1e6 << " us"
+ << ", codePhase: " << codePhase << " chips"
+ << endl
+ << "# -- codePhaseOffset: " << codePhaseOffset << " chips"
+ << ", codeFreqOffset: " << codeFreqOffset << " chips/tick"
+ << endl
+ << "# -- carrierPhase: " << carrierPhase
+ << ", carrierFreqOffset: " << carrierFreqOffset << " cycles/tick"
+ << endl;
+}
+
+
+void CCReplica::reset()
+{
+ codePhase = 0;
+ codePhaseOffset = 0;
+ codeFreqOffset = 0;
+ carrierPhase = 0;
+ carrierPhaseOffset = 0;
+ carrierFreqOffset = 0;
+ carrierAccum = 0;
+ localTime = 0;
+ codeGenPtr->reset();
+}
+
+complex<double> CCReplica::getCarrier()
+{
+ return sincos(2*gpstk::PI*carrierPhase);
+}
+
+
+void CCReplica::moveCodePhase(double chips) throw()
+{
+ codePhase += chips;
+ codePhaseOffset += chips;
+ wrapCode();
+}
+
+
+void CCReplica::moveCarrierPhase(double cycles) throw()
+{
+ carrierPhase += cycles;
+ carrierPhaseOffset += cycles;
+ wrapCarrier();
+}
+
+
+void CCReplica::setCodeFreqOffsetHz(double freq)
+{
+ // Yea, my code offset calculation is fscked
+ codeFreqOffset = 0 * (freq * codeChipLen) * tickSize / codeChipLen;
+}
+
+
+double CCReplica::getCodeFreqOffsetHz() const
+{
+ return codeFreqOffset / tickSize;
+}
+
+
+double CCReplica::getCodePhaseOffsetSec() const
+{
+ return codePhaseOffset * codeChipLen;
+}
+
+
+void CCReplica::setCarrierFreqOffsetHz(double freq)
+{
+ carrierFreqOffset = freq * tickSize;
+}
+
+
+double CCReplica::getCarrierFreqOffsetHz() const
+{
+ return carrierFreqOffset / tickSize;
+}
+
+
+void CCReplica::tick() throw()
+{
+ localTime += tickSize;
+
+ double codePhaseDelta = chipsPerTick + codeFreqOffset;
+ codePhase += codePhaseDelta;
+ codePhaseOffset += codeFreqOffset;
+ wrapCode();
+
+ double carrierUpdate = cyclesPerTick + carrierFreqOffset;
+ carrierPhase += carrierUpdate;
+ carrierPhaseOffset += carrierFreqOffset;
+ wrapCarrier();
+}
+
+
+void CCReplica::wrapCode()
+{
+ if (codePhase<1)
+ return;
+ if (codePhase<2)
+ {
+ codePhase -= 1;
+ ++(*codeGenPtr);
+ }
+ else
+ {
+ long dc = static_cast<long>(codePhase);
+ codeGenPtr->setIndex(codeGenPtr->getIndex() + dc);
+ codePhase -= static_cast<CodeIndex>(codePhase);
+ }
+}
+
+
+void CCReplica::wrapCarrier()
+{
+ if (codePhase<1)
+ return;
+ else if (codePhase<2)
+ {
+ carrierPhase--;
+ carrierAccum++;
+ }
+ else
+ {
+ long dc = static_cast<long>(carrierPhase);
+ carrierPhase -= dc;
+ carrierAccum += dc;
+ }
+}
diff --git a/dev/apps/swrx/CCReplica.hpp b/dev/apps/swrx/CCReplica.hpp
new file mode 100644
index 0000000..9fc560d
--- /dev/null
+++ b/dev/apps/swrx/CCReplica.hpp
@@ -0,0 +1,121 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#ifndef CCREPLICA_HPP
+#define CCREPLICA_HPP
+
+#include <complex>
+#include <iostream>
+
+#include "icd_200_constants.hpp"
+
+#include "CodeGenerator.hpp"
+
+//-----------------------------------------------------------------------------
+// This is a intended to generate a local replica of a single code/carrier
+//-----------------------------------------------------------------------------
+class CCReplica
+{
+public:
+
+ // Note that this object is responsible for destroying the codeGenPtr
+ // object
+ CCReplica(double tickSize, double codeFreq, double carrierFreq, gpstk::CodeGenerator* code)
+ : tickSize(tickSize),
+ codeChipLen(1/codeFreq),
+ carrierFreq(carrierFreq),
+ localTime(0),
+ codePhase(0), codePhaseOffset(0), codeFreqOffset(0),
+ chipsPerTick(tickSize * codeFreq),
+ carrierPhase(0), carrierFreqOffset(0), carrierPhaseOffset(0),
+ carrierAccum(0),
+ cyclesPerTick(tickSize * carrierFreq),
+ codeGenPtr(code)
+ {};
+
+ ~CCReplica()
+ { if (codeGenPtr) delete codeGenPtr;}
+
+ // This is used to move the local time forward by the specified
+ // tick size
+ virtual void tick() throw();
+
+ // get the current code & carrier state
+ virtual int getCode() {return **codeGenPtr;}; // zero or one
+ virtual std::complex<double> getCarrier(); //value between -1 and 1
+
+ // These are used to change the code/carrier by the specified ammount
+ virtual void moveCodePhase(double chips) throw();
+ virtual void moveCarrierPhase(double cycles) throw();
+ virtual void wrapCode();
+ virtual void wrapCarrier();
+
+ // Get and set routines that work in engineering units
+ virtual void setCodeFreqOffsetHz(double freq);
+ virtual double getCodeFreqOffsetHz() const;
+
+ virtual void setCarrierFreqOffsetHz(double freq);
+ virtual double getCarrierFreqOffsetHz() const;
+
+ virtual double getCodePhaseOffsetSec() const;
+
+ virtual void reset();
+
+ // These are defining parameters for any code since they are const
+ // there is no reason to wrapper them in a call or make them
+ // private.
+ const double tickSize; // units: sec
+ const double codeChipLen; // units: sec
+ const double carrierFreq; // units Hz
+ const double chipsPerTick; // units: chips
+ const double cyclesPerTick; // units: cycles
+
+ virtual void dump(std::ostream& s) const;
+
+ // fractional phase of the local code, units are chips
+ double codePhase;
+
+ // code time relative to localTime, units of chips
+ double codePhaseOffset;
+
+ // The code rate relative to the localTime, units of chips / tick
+ double codeFreqOffset;
+
+ // The fractional phase of the local carrier, units are cycles of the IF
+ double carrierPhase;
+
+ double carrierPhaseOffset;
+
+ // The carrier frequency offset
+ double carrierFreqOffset;
+
+ unsigned long carrierAccum;
+
+ // The local clock, units are in sec
+ double localTime;
+
+ gpstk::CodeGenerator* codeGenPtr;
+};
+
+#endif
diff --git a/dev/apps/swrx/CodeGenerator.hpp b/dev/apps/swrx/CodeGenerator.hpp
new file mode 100644
index 0000000..8908643
--- /dev/null
+++ b/dev/apps/swrx/CodeGenerator.hpp
@@ -0,0 +1,64 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#ifndef CODEGENERATOR_HPP
+#define CODEGENERATOR_HPP
+
+#include "ObsID.hpp"
+#include "SatID.hpp"
+
+namespace gpstk
+{
+ typedef unsigned long CodeIndex;
+
+ class CodeGenerator
+ {
+ public:
+
+ CodeGenerator(const ObsID::TrackingCode code, const SatID& sv)
+ : code(code), sv(sv)
+ {}
+
+ // Returns the current chip
+ virtual bool operator*() const = 0;
+ virtual CodeIndex operator++() = 0;
+
+ virtual CodeIndex setIndex(CodeIndex new_index) = 0;
+ virtual CodeIndex getIndex() const = 0;
+
+ // This returns the total chips generated since the last set/reset;
+ virtual CodeIndex getChipCount() const = 0;
+
+ // This is used to get a clue as to where in the code the integrate
+ // and dump interval should be alligned
+ virtual CodeIndex getSyncIndex() const = 0;
+
+ virtual void reset() {setIndex(0);}
+
+ const ObsID::TrackingCode code;
+ const SatID sv;
+ };
+
+}
+#endif
diff --git a/dev/apps/swrx/ConstLinearRecurrentSequence.cpp b/dev/apps/swrx/ConstLinearRecurrentSequence.cpp
new file mode 100644
index 0000000..6593973
--- /dev/null
+++ b/dev/apps/swrx/ConstLinearRecurrentSequence.cpp
@@ -0,0 +1,50 @@
+#include "ConstLinearRecurrentSequence.hpp"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#ifdef SIMPLE_DEMO
+
+#include <stdio.h>
+#include <bitset>
+
+typedef ConstLinearRecurrentSequence<1023,0x3FF,(1<<10)|(1<<3),std::bitset<1023> > CA_G1_Sequence;
+
+typedef ConstLinearRecurrentSequence<1023,0x3FF,(1<<10)|(1<<9)|(1<<8)|(1<<6)|(1<<3)|(1<<2),std::bitset<1023> > CA_G2_Sequence;
+
+
+template <> CA_G1_Sequence::StoreType CA_G1_Sequence::store(0);
+template <> CA_G2_Sequence::StoreType CA_G2_Sequence::store(0);
+
+
+
+int
+main(int argc, char *argv[])
+{
+
+ printf("C/A G2 sequence is:\n");
+ for(CA_G2_Sequence::iterator i;!i.isLastInSequence();++i) {
+ printf("%u",*i);
+ }
+ printf("\n");
+}
+#endif
diff --git a/dev/apps/swrx/ConstLinearRecurrentSequence.hpp b/dev/apps/swrx/ConstLinearRecurrentSequence.hpp
new file mode 100644
index 0000000..9bb6bc6
--- /dev/null
+++ b/dev/apps/swrx/ConstLinearRecurrentSequence.hpp
@@ -0,0 +1,71 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#ifndef CONSTLINEARRECURRENTSEQUENCE_HPP
+#define CONSTLINEARRECURRENTSEQUENCE_HPP
+
+#include <bitset>
+
+template < int Length, int Initial, int Polynomial >
+class ConstLinearRecurrentSequence : public std::bitset<Length>
+{
+public:
+ ConstLinearRecurrentSequence(int start_index=0)
+ : index(start_index % Length)
+ {
+ int reg=Initial;
+ int outputmask=1;
+
+ /* First compute outputmask by finding highest value bit in Polynomial */
+ for(int temp=(Polynomial>>1); temp; temp>>=1)
+ outputmask<<=1;
+
+ /* Now compute the sequence */
+ for(int i=0; i<Length; i++)
+ {
+ int accum=0;
+ (*this)[i]=reg&1;
+ for(int j=0;j<31;j++)
+ if(Polynomial&(1<<j)) /* WARNING: Assumes int is 32 bits */
+ accum^=(reg<<j);
+
+ reg=(reg|(accum&outputmask))>>1;
+ }
+ }
+
+ bool operator*() const {return (*this)[index];}
+
+ int operator++() { if((++index)==Length) index=0; }
+
+ int setIndex(int new_index) { index=new_index%Length; return getIndex();}
+ int getIndex() const { return index; }
+
+ bool isLastInSequence() const { return index==(Length-1); }
+
+private:
+ int index;
+ std::bitset<Length> store;
+};
+
+#endif
diff --git a/dev/apps/swrx/EMLTracker.cpp b/dev/apps/swrx/EMLTracker.cpp
new file mode 100644
index 0000000..75a8265
--- /dev/null
+++ b/dev/apps/swrx/EMLTracker.cpp
@@ -0,0 +1,247 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "EMLTracker.hpp"
+
+using namespace gpstk;
+using namespace std;
+
+/// param localReplica the code/carrier that this object is to track
+/// param codeSpacing the correlator spacing (in sec) that will be used for
+/// the code. This class will quantize this value to the closest number
+/// of ticks.
+EMLTracker::EMLTracker(CCReplica& localReplica, double codeSpacing) :
+ GenericTracker(localReplica),
+ ticksPerChip(static_cast<unsigned>(1.0/localReplica.chipsPerTick)),
+ eplSpacing(static_cast<unsigned>((codeSpacing / localReplica.tickSize))),
+ pllError(0), pllAlpha(0.2), pllBeta(0.05),
+ dllError(0), dllAlpha(6), dllBeta(0.01),
+ iadCount(0), nav(false), baseGain(1.0/(0.1767*1.404)),
+ inSumSq(0), lrSumSq(0),iadThreshold(0.02),
+ dllMode(dmFar), pllMode(pmUnlocked)
+{
+ early.setDelay(2*eplSpacing);
+ prompt.setDelay(eplSpacing);
+ late.setDelay(0);
+
+ // Since our 'prompt' code is really a late code we should really advance
+ // our local replica by this amount but not have it count as part of our
+ // code phase offset.
+ correlatorBias = eplSpacing * localReplica.chipsPerTick;
+ localReplica.moveCodePhase(correlatorBias);
+ localReplica.codePhaseOffset -= correlatorBias;
+
+ // Walk the code by the correlator spacing
+ searchSize = eplSpacing * localReplica.tickSize/localReplica.codeChipLen;
+
+ iadCountMax = static_cast<unsigned long>(
+ localReplica.codeGenPtr->getSyncIndex() / localReplica.chipsPerTick);
+ iadCountDefault = iadCountMax;
+};
+
+
+bool EMLTracker::process(complex<double> in)
+{
+ integrate(in);
+
+ if (++iadCount == iadCountMax)
+ {
+ updateLoop();
+ // and dump our accumulators
+ early.dump();
+ prompt.dump();
+ late.dump();
+ inSumSq = 0;
+ lrSumSq = 0;
+ iadCount=0;
+ return true;
+ }
+
+ return false;
+}
+
+
+void EMLTracker::integrate(complex<double> in)
+{
+ localReplica.tick();
+
+ // First bring the signal level of the input to the same as the
+ // local replicas
+ in *= baseGain;
+
+ complex<double> carrier = localReplica.getCarrier();
+ complex<double> code = localReplica.getCode() ? plusOne : minusOne;
+
+ // mix in the carrier local replica
+ complex<double> m0 = in * conj(carrier);
+
+ // and sum them up.. (yea, the conj of the codes should be a NoOp)
+ code = conj(code);
+ early.process(m0, code);
+ prompt.process(m0, code);
+ late.process(m0, code);
+
+ // Update our sums for normailzing things...
+ complex<double> lr = conj(carrier) * code;
+ inSumSq += in.real()*in.real() + in.imag()*in.imag();
+ lrSumSq += lr.real()*lr.real() + lr.imag()*lr.imag();
+}
+
+
+void EMLTracker::updateLoop()
+{
+ sqrtSumSq = sqrt(inSumSq*lrSumSq);
+
+ emag = abs(early()) / sqrtSumSq;
+ pmag = abs(prompt()) / sqrtSumSq;
+ lmag = abs(late()) / sqrtSumSq;
+
+ pI = prompt().real();
+ pQ = prompt().imag();
+
+ snr= 10*log10(pmag*pmag/localReplica.tickSize);
+
+ dllError = lmag - emag;
+ pllError = atan(prompt().imag() / prompt().real()) / PI;
+
+ promptPhase =atan2(prompt().imag(), prompt().real()) / PI;
+
+ DllMode oldDllMode=dllMode;
+ // Do we have any idea where the peak may lie?
+ if (//min(emag,lmag) > iadThreshold/2 &&
+ pmag > iadThreshold &&
+ pmag > max(emag,lmag))
+ dllMode = dmOnTop;
+ else if (emag > iadThreshold || pmag > iadThreshold || lmag > iadThreshold)
+ dllMode = dmClose;
+ else
+ dllMode = dmFar;
+
+ if (dllMode != oldDllMode && debugLevel)
+ cout << "# t:"
+ << fixed << setprecision(1) << localReplica.localTime * 1e3
+ << " ms, dll:" << asString(dllMode) << endl;
+
+ // At this point all that is left on the inphase is the nav data
+ nav = prompt().real() > 0;
+
+ // Close the loop on the dll
+ if (dllMode == dmOnTop || dllMode == dmClose)
+ {
+ localReplica.moveCodePhase(dllAlpha * dllError);
+ localReplica.codeFreqOffset += dllBeta * dllError/iadCount;
+ }
+ else
+ {
+ localReplica.moveCodePhase(searchSize);
+ }
+
+ // Close up the pll
+ if (dllMode == dmOnTop)
+ {
+ localReplica.moveCarrierPhase(pllAlpha * pllError);
+ localReplica.carrierFreqOffset += pllBeta * pllError/iadCount;
+ }
+
+ if (dllMode == dmOnTop && pllError < 0.3)
+ pllMode = pmLocked;
+ else
+ pllMode = pmUnlocked;
+
+ // Determine how many ticks until we hit the sync index again
+ iadCountPrev = iadCountMax;
+ CodeIndex sync = localReplica.codeGenPtr->getSyncIndex();
+ CodeIndex indx = localReplica.codeGenPtr->getIndex() % sync;
+ unsigned chips =sync - indx;
+ iadCountMax = static_cast<unsigned long>(chips / localReplica.chipsPerTick);
+ if (iadCountMax < 10000)
+ iadCountMax += 20000;
+}
+
+
+void EMLTracker::dump(std::ostream& s, int detail) const
+{
+ if (detail>0)
+ {
+ localReplica.dump(s);
+ s << "# Tracker:" << endl
+ << "# -- bias: " << correlatorBias * localReplica.codeChipLen * 1e6 << " us" << endl
+ << "# -- spacing: " << eplSpacing << " tick(s)" << endl
+ << "# -- iadThreshold: " << iadThreshold << endl
+ << "# -- ticksPerChip: " << ticksPerChip << endl
+ << "# -- iadCountMax: " << iadCountMax << endl
+ << "# -- searchSize: " << searchSize << " chips" << endl
+ << "# -- dll: alpha=" << dllAlpha << " beta=" << dllBeta << endl
+ << "# -- pll: alpha=" << pllAlpha << " beta=" << pllBeta << endl
+ << "#" << endl
+ << "#h time dllErr codePO codeFO pllErr carrPO carrFO nav cp iad ely pmt lat pmtI pmtQ" << endl
+ << "#u ms % us Hz cyc cyc Hz - -- cnt % % % cnt cnt";
+ }
+
+ if (detail==0)
+ {
+ s << left << fixed
+ << setprecision(1) << setw(8) << localReplica.localTime * 1e3
+ << setprecision(2) << right
+ << " " << setw(6) << getDllError() * 100
+ << setprecision(3)
+ << " " << setw(11) << localReplica.getCodePhaseOffsetSec() * 1e6
+ << setprecision(2)
+ << " " << setw(6) << localReplica.getCodeFreqOffsetHz()
+ << " "
+ << setprecision(3)
+ << " " << setw(6) << getPromptPhase()
+ << setprecision(1)
+ << " " << setw(8) << localReplica.carrierPhaseOffset
+ << setprecision(2)
+ << " " << setw(8) << localReplica.getCarrierFreqOffsetHz()
+ << setprecision(0)
+ << " " << getNav()
+ << " " << dllMode << pllMode
+ << " " << iadCountPrev;
+ if (true)
+ s << setprecision(2)
+ << " " << setw(5) << emag * 100
+ << " " << setw(5) << pmag * 100
+ << " " << setw(5) << lmag * 100;
+ if (true)
+ s << setprecision(0)
+ << " " << setw(6) << pI
+ << " " << setw(6) << pQ;
+ }
+
+ s << endl;
+};
+
+
+string EMLTracker::asString(DllMode mode) const
+{
+ switch (mode)
+ {
+ case dmFar: return "f";
+ case dmClose: return "n";
+ case dmOnTop: return "o";
+ }
+ return "?";
+};
diff --git a/dev/apps/swrx/EMLTracker.hpp b/dev/apps/swrx/EMLTracker.hpp
new file mode 100644
index 0000000..426b530
--- /dev/null
+++ b/dev/apps/swrx/EMLTracker.hpp
@@ -0,0 +1,139 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#ifndef EMLTRACKER_HPP
+#define EMLTRACKER_HPP
+
+#include <math.h>
+#include <complex>
+#include <iostream>
+#include <list>
+
+#include "icd_200_constants.hpp"
+
+#include "CCReplica.hpp"
+#include "SimpleCorrelator.hpp"
+#include "complex_math.h"
+
+
+//-----------------------------------------------------------------------------
+// Defines the interface to a tracker. A tracker tracks a single code+carrier
+// combination as specified with the CCReplica object. Most of the observables
+// will be in the CCReplica object, not the tracker.
+//-----------------------------------------------------------------------------
+class GenericTracker
+{
+public:
+ GenericTracker(CCReplica& localReplica) :
+ localReplica(localReplica)
+ {};
+
+ // This needs to be called to process every sample
+ // It returns true when a dump was performed
+ virtual bool process(std::complex<double> s) = 0;
+
+ CCReplica& localReplica;
+};
+
+
+//-----------------------------------------------------------------------------
+// This is a textbook early minus late code tracker and a Costas carrier tracker.
+// The code localReplica is used as the early version of the code. This class
+// generates a prompt and late from this.
+//-----------------------------------------------------------------------------
+class EMLTracker : public GenericTracker
+{
+public:
+
+ /// param localReplica the code/carrier that this object is to track
+ /// param codeSpacing the correlator spacing (in sec) that will be used for
+ /// the code. This class will quantize this value to the closest number
+ /// of ticks.
+ EMLTracker(CCReplica& localReplica, double codeSpacing);
+
+ virtual bool process(std::complex<double> in);
+
+ void dump(std::ostream& s, int detail=0) const;
+
+ double pllAlpha, pllBeta, dllAlpha, dllBeta;
+
+ enum DllMode {dmFar, dmClose, dmOnTop};
+ enum PllMode {pmUnlocked, pmLocked};
+
+ int debugLevel;
+
+ std::string asString(DllMode mode) const;
+
+ // Accessors to get the current state of this tracker
+ DllMode getDllMode() const {return dllMode;}
+ PllMode getPllMode() const {return pllMode;}
+ bool getNav() const {return nav;}
+ double getPllError() const {return pllError;}
+ double getDllError() const {return dllError;}
+ double getPmag() const {return pmag;}
+ double getPromptPhase() const {return promptPhase;}
+ double getSNR() const {return snr;}
+ double getSqrtSumSq() const {return sqrtSumSq;}
+ unsigned getIntegrateCount() const {return iadCount;}
+
+private:
+ void integrate(std::complex<double> in);
+ void updateLoop();
+
+ double pllError, dllError, promptPhase;
+
+ DllMode dllMode;
+ PllMode pllMode;
+
+ bool nav;
+
+ SimpleCorrelator<double> early, prompt, late;
+ double emag, pmag, lmag, pI, pQ;
+
+ // These are used to normalize the correlator counts
+ double inSumSq, lrSumSq, sqrtSumSq, snr;
+
+ // Integrate and dump count and limit. When the count equals the max
+ // its time to close the loop and then dump the sums.
+ unsigned iadCount, iadCountMax, iadCountDefault, iadCountPrev;
+
+ // Used to detect whether the peak is close.
+ double iadThreshold;
+
+ const unsigned ticksPerChip;
+
+ // correlator spacing, in units of ticks
+ unsigned eplSpacing;
+
+ // How much to walk the code when we aren't on a peak
+ double searchSize;
+
+ // A constant bias in the code offset due to the way we generate our
+ // early, prompt, and late replicas
+ double correlatorBias;
+
+ const double baseGain;
+};
+
+#endif
diff --git a/dev/apps/swrx/IQStream.cpp b/dev/apps/swrx/IQStream.cpp
new file mode 100644
index 0000000..2d9f2a6
--- /dev/null
+++ b/dev/apps/swrx/IQStream.cpp
@@ -0,0 +1,324 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "IQStream.hpp"
+
+using namespace std;
+
+namespace gpstk
+{
+ void IQStream::init(void)
+ {
+ frameBuffer = new char[frameLength];
+ readPtr = frameLength;
+ writePtr = 0;
+ sampleCounter = 0;
+ metaPtr = frameLength - 4;
+ }
+
+ void IQStream::readBuffer(void)
+ {
+ if (sampleCounter & 0x1)
+ cerr << "Uh, we have a problem " << sampleCounter << endl;
+ read(frameBuffer, frameLength);
+ if (gcount() != frameLength)
+ return;
+ if (debugLevel>1)
+ cout << "Filled frame buffer" << endl;
+ readPtr = 0;
+
+ unsigned char sum=0;
+ for (int i=0; i<frameLength-1; i++)
+ sum+=static_cast<unsigned char>(frameBuffer[i]);
+ if (sum != 0x5a)
+ cerr << "IQStream::readComplex() checksum error "
+ << hex << sum << dec << endl;
+
+ uint16_t fc = frameBuffer[frameLength-3] & 0x00ff |
+ frameBuffer[frameLength-4]<<8 & 0xff00;
+ int16_t deltaFc = fc - frameCounter;
+
+ if (sampleCounter && deltaFc != 1)
+ cerr << "IQStream::readComplex() frame count error, delta:"
+ << deltaFc << endl;
+ frameCounter = fc;
+
+ if (debugLevel>1)
+ gpstk::StringUtils::hexDumpData(
+ cout, string(frameBuffer, frameLength));
+ }
+
+
+ void IQStream::writeBuffer(void)
+ {
+ frameBuffer[frameLength-3] = frameCounter & 0xff;
+ frameBuffer[frameLength-4] = frameCounter>>8 & 0xff;
+
+ unsigned char sum=0;
+ for (int i=0; i<frameLength-2; i++)
+ sum+=static_cast<unsigned char>(frameBuffer[i]);
+ frameBuffer[frameLength-2] = 0x5a-sum;
+ frameBuffer[frameLength-1] = 0;
+
+ if (debugLevel>1)
+ cout << "Writing frameBuffer" << endl;
+ if (debugLevel>1)
+ gpstk::StringUtils::hexDumpData(
+ cout, string(frameBuffer, frameLength));
+
+ write(frameBuffer, frameLength);
+ writePtr = 0;
+ frameCounter++;
+ }
+
+
+ //-----------------------------------------------------------------------------
+ //-----------------------------------------------------------------------------
+ void IQ1Stream::readComplex(complex<short>& v)
+ {
+ if (readPtr == frameLength)
+ readBuffer();
+
+ uint8_t byte;
+ if (readPtr < metaPtr)
+ byte = frameBuffer[readPtr];
+ else
+ byte = 0;
+
+ if (sampleCounter & 0x1)
+ {
+ byte = byte >> 4;
+ readPtr++;
+ }
+ sampleCounter++;
+
+ int i,q;
+ q = (byte & 1) ? +1 : -1;
+ i = (byte & 4) ? +1 : -1;
+
+ v = complex<short>(i, q);
+ }
+
+
+ //-----------------------------------------------------------------------------
+ void IQ1Stream::readComplex(complex<float>& v)
+ {
+ complex<short> s;
+ readComplex(s);
+ v = complex<float>(static_cast<float>(s.real()),
+ static_cast<float>(s.imag()));
+ }
+
+
+ //-----------------------------------------------------------------------------
+ void IQ1Stream::writeComplex(const complex<short>& v)
+ {
+ uint8_t i = v.real()>0 ? 1 : 0;
+ uint8_t q = v.imag()>0 ? 1 : 0;
+ uint8_t nibble = (q & 0x3) | ((i<<2) & 0xc);
+
+ if (sampleCounter & 0x1)
+ frameBuffer[writePtr] = frameBuffer[writePtr] | nibble << 4;
+ else
+ frameBuffer[writePtr] = nibble;
+
+ if (sampleCounter & 0x1)
+ writePtr++;
+
+ sampleCounter++;
+
+ if (writePtr == frameLength)
+ writeBuffer();
+ }
+
+
+ //-----------------------------------------------------------------------------
+ void IQ1Stream::writeComplex(const complex<float>& v)
+ {
+ complex<short> s(static_cast<short>(v.real()),
+ static_cast<short>(v.imag()));
+ writeComplex(s);
+ }
+
+
+
+ //-----------------------------------------------------------------------------
+ //-----------------------------------------------------------------------------
+ void IQ2Stream::init(void)
+ {
+ sample2Level.resize(4);
+ sample2Level[0] = -1;
+ sample2Level[1] = -3;
+ sample2Level[2] = 1;
+ sample2Level[3] = 3;
+ }
+
+
+ //-----------------------------------------------------------------------------
+ void IQ2Stream::readComplex(complex<short>& v)
+ {
+ if (readPtr == frameLength)
+ readBuffer();
+
+ uint8_t byte;
+ if (readPtr < metaPtr)
+ byte = frameBuffer[readPtr];
+ else
+ byte = 0;
+
+ if (sampleCounter & 0x1)
+ {
+ byte = byte >> 4;
+ readPtr++;
+ }
+ sampleCounter++;
+
+ int i,q;
+ q = (byte & 0x3);
+ i = ((byte >> 2) & 0x3);
+
+ v = complex<short>(sample2Level[i], sample2Level[q]);
+ }
+
+
+ //-----------------------------------------------------------------------------
+ void IQ2Stream::readComplex(complex<float>& v)
+ {
+ complex<short> s;
+ readComplex(s);
+ v = complex<float>(static_cast<float>(s.real()),
+ static_cast<float>(s.imag()));
+ }
+
+
+ //-----------------------------------------------------------------------------
+ template<class T>
+ uint8_t IQ2Stream::l2s(T v)
+ {
+ uint8_t s=0;
+ if (v>0)
+ s |= 2;
+ else
+ v *= -1;
+
+ if (v>1)
+ s |=1;
+
+ return s;
+ }
+
+
+ //-----------------------------------------------------------------------------
+ void IQ2Stream::writeNibble(uint8_t i, uint8_t q)
+ {
+ uint8_t nibble = (q & 0x3) | ((i<<2) & 0xc);
+ if (sampleCounter & 0x1)
+ frameBuffer[writePtr] = frameBuffer[writePtr] | nibble << 4;
+ else
+ frameBuffer[writePtr] = nibble;
+
+ if (sampleCounter & 0x1)
+ writePtr++;
+
+ sampleCounter++;
+
+ if (writePtr == frameLength)
+ writeBuffer();
+
+ }
+
+
+ //-----------------------------------------------------------------------------
+ void IQ2Stream::writeComplex(const complex<short>& v)
+ {
+ uint8_t i = l2s(v.real());
+ uint8_t q = l2s(v.imag());
+ writeNibble(i, q);
+ }
+
+
+ //-----------------------------------------------------------------------------
+ void IQ2Stream::writeComplex(const complex<float>& v)
+ {
+ uint8_t i = l2s(v.real());
+ uint8_t q = l2s(v.imag());
+ writeNibble(i, q);
+ }
+
+
+
+ //-----------------------------------------------------------------------------
+ //-----------------------------------------------------------------------------
+ void IQFloatStream::readComplex(complex<float>& v)
+ {
+ const size_t size = 2*sizeof(float);
+
+ if (readPtr + size >metaPtr)
+ readBuffer();
+
+ float i = *(reinterpret_cast<float*>(&frameBuffer[readPtr]));
+ readPtr += sizeof(float);
+
+ float q = *(reinterpret_cast<float*>(&frameBuffer[readPtr]));
+ readPtr += sizeof(float);
+ sampleCounter++;
+
+ v = complex<float>(i, q);
+ }
+
+ //-----------------------------------------------------------------------------
+ void IQFloatStream::readComplex(complex<short>& v)
+ {
+ complex<float> s;
+ readComplex(s);
+ v = complex<short>(static_cast<short>(s.real()),
+ static_cast<short>(s.imag()));
+ }
+
+
+ //-----------------------------------------------------------------------------
+ void IQFloatStream::writeComplex(const complex<float>& v)
+ {
+ const size_t size = 2*sizeof(float);
+
+ if (writePtr + size > metaPtr)
+ writeBuffer();
+
+ *(reinterpret_cast<float*>(&frameBuffer[writePtr])) = v.real();
+ writePtr += sizeof(float);
+
+ *(reinterpret_cast<float*>(&frameBuffer[writePtr])) = v.imag();
+ writePtr += sizeof(float);
+
+ sampleCounter++;
+ }
+
+ //-----------------------------------------------------------------------------
+ void IQFloatStream::writeComplex(const complex<short>& v)
+ {
+ complex<float> s(static_cast<float>(v.real()),
+ static_cast<float>(v.imag()));
+ writeComplex(s);
+ }
+} // namespace gpstk
diff --git a/dev/apps/swrx/IQStream.hpp b/dev/apps/swrx/IQStream.hpp
new file mode 100644
index 0000000..edd6382
--- /dev/null
+++ b/dev/apps/swrx/IQStream.hpp
@@ -0,0 +1,219 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#ifndef IQSTREAM_HPP
+#define IQSTREAM_HPP
+
+#include <vector>
+#include <map>
+#include <complex>
+
+#include <gpstkplatform.h>
+#include <FFBinaryStream.hpp>
+
+namespace gpstk
+{
+ /**
+ * This is a stream used to parse an IQ data file
+ */
+ class IQStream : public FFBinaryStream
+ {
+ public:
+ IQStream()
+ : debugLevel(0),
+ frameCounter(0),
+ sampleCounter(0),
+ frameLength(500),
+ bands(1),
+ frameBuffer(NULL)
+ { init(); }
+
+
+ IQStream(const char* fn, std::ios::openmode mode = std::ios::in)
+ : FFBinaryStream(fn, mode),
+ debugLevel(0),
+ frameCounter(0),
+ sampleCounter(0),
+ frameLength(500),
+ bands(1),
+ frameBuffer(NULL)
+ { init(); }
+
+
+ /// destructor per the coding standards
+ virtual ~IQStream()
+ { delete frameBuffer; }
+
+ /// Just a common place to set up a default object
+ virtual void init(void);
+
+ /// overrides open to reset the header
+ virtual void open(const char* fn, std::ios::openmode mode = std::ios::in)
+ {
+ FFBinaryStream::open(fn, mode);
+ readPtr = frameLength;
+ writePtr = 0;
+ frameCounter = 0;
+ sampleCounter = 0;
+ }
+
+ unsigned frameLength;
+
+ /// The frame count that is at the end of each block
+ unsigned frameCounter;
+
+ /// The current frame of data
+ char* frameBuffer;
+
+ /// Used to keep track of where we are in the frame
+ unsigned readPtr;
+ unsigned writePtr;
+
+ /// used to figure out which nibble of readPtr we are in...
+ unsigned long sampleCounter;
+
+ /// This is where the meta data of the frame starts
+ unsigned metaPtr;
+
+ int debugLevel;
+
+ std::string desc;
+
+ /// The number of bands of data in this file.
+ /// This can't be determined from the input stream at the moment
+ int bands;
+
+ /// These are used to read and write the buffer
+ void readBuffer(void);
+ void writeBuffer(void);
+
+ /// Returns single complex sample
+ virtual void readComplex(std::complex<short>& v) = 0;
+ virtual void readComplex(std::complex<float>& v) = 0;
+
+ /// Writes a single complex sample,
+ virtual void writeComplex(const std::complex<short>& v) = 0;
+ virtual void writeComplex(const std::complex<float>& v) = 0;
+ }; // class IQStream
+
+
+ inline IQStream& operator>>(IQStream& s, std::complex<short>& v)
+ { s.readComplex(v); return s; };
+
+ inline IQStream& operator>>(IQStream& s, std::complex<float>& v)
+ { s.readComplex(v); return s; };
+
+ inline IQStream& operator<<(IQStream& s, const std::complex<short>& v)
+ { s.writeComplex(v); return s; };
+
+ inline IQStream& operator<<(IQStream& s, const std::complex<float>& v)
+ { s.writeComplex(v); return s; };
+
+
+ class IQ1Stream : public IQStream
+ {
+ public:
+ IQ1Stream() : IQStream() {init();}
+
+ IQ1Stream(const char* fn, std::ios::openmode mode = std::ios::in)
+ : IQStream(fn, mode)
+ {init(); desc="1 bit";}
+
+ /// destructor per the coding standards
+ virtual ~IQ1Stream() {};
+
+ /// Just a common place to set up a default object
+ virtual void init(void) {};
+
+ /// Returns single complex sample
+ virtual void readComplex(std::complex<short>& v);
+ virtual void readComplex(std::complex<float>& v);
+
+ /// Writes a single complex sample,
+ virtual void writeComplex(const std::complex<short>& v);
+ virtual void writeComplex(const std::complex<float>& v);
+ }; // class IQ1Stream
+
+
+ class IQ2Stream : public IQStream
+ {
+ public:
+ IQ2Stream() : IQStream() {init();desc="2 bit";}
+
+ IQ2Stream(const char* fn, std::ios::openmode mode = std::ios::in)
+ : IQStream(fn, mode)
+ {init();desc="2 bit";}
+
+ /// destructor per the coding standards
+ virtual ~IQ2Stream() {};
+
+ /// Just a common place to set up a default object
+ virtual void init(void);
+
+ /// Maps the bits of each sample to the actual levels
+ std::vector<short> sample2Level;
+
+ /// Encodes levels into the appropriate bits
+ template<class T>
+ uint8_t l2s(T v);
+
+ /// Returns single complex sample
+ virtual void readComplex(std::complex<short>& v);
+ virtual void readComplex(std::complex<float>& v);
+
+ /// Writes a single complex sample,
+ virtual void writeComplex(const std::complex<short>& v);
+ virtual void writeComplex(const std::complex<float>& v);
+ private:
+ void writeNibble(uint8_t i, uint8_t q);
+ }; // class IQ2Stream
+
+
+ class IQFloatStream : public IQStream
+ {
+ public:
+ IQFloatStream() : IQStream() {init();desc="float";}
+
+ IQFloatStream(const char* fn, std::ios::openmode mode = std::ios::in)
+ : IQStream(fn, mode)
+ {init();desc="float";}
+
+ /// destructor per the coding standards
+ virtual ~IQFloatStream() {};
+
+ /// Just a common place to set up a default object
+ virtual void init(void) {};
+
+ /// Returns single complex sample
+ virtual void readComplex(std::complex<short>& v);
+ virtual void readComplex(std::complex<float>& v);
+
+ /// Writes a single complex sample,
+ virtual void writeComplex(const std::complex<short>& v);
+ virtual void writeComplex(const std::complex<float>& v);
+ }; // class IQ2Stream
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/apps/swrx/Jamfile b/dev/apps/swrx/Jamfile
new file mode 100644
index 0000000..407fdd7
--- /dev/null
+++ b/dev/apps/swrx/Jamfile
@@ -0,0 +1,23 @@
+# $Id$
+
+SubDir TOP apps swrx ;
+
+GPSLinkLibraries simlib : gpstk ;
+
+Library simlib : normal.cpp CCReplica.cpp IQStream.cpp EMLTracker.cpp
+ NavFramer.cpp ;
+
+LinkLibraries gpsSim tracker corltr iqdump codeDump : simlib ;
+GPSLinkLibraries gpsSim tracker corltr iqdump codeDump simpleNav : gpstk ;
+
+Main gpsSim : gpsSim.cpp ;
+
+Main tracker : tracker.cpp ;
+
+Main corltr : corltr.cpp ;
+
+Main simpleNav : simpleNav.cpp ;
+
+Main iqdump : iqdump.cpp ;
+
+Main codeDump : codeDump.cpp ;
diff --git a/dev/apps/swrx/NAVCodeGenerator.hpp b/dev/apps/swrx/NAVCodeGenerator.hpp
new file mode 100644
index 0000000..8d12c22
--- /dev/null
+++ b/dev/apps/swrx/NAVCodeGenerator.hpp
@@ -0,0 +1,42 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#ifndef NAVCODEGENERATOR_HPP
+#define NAVCODEGENERATOR_HPP
+
+class NAVCodeGenerator
+{
+public:
+
+ NAVCodeGenerator() : bit(0) { }
+
+ int operator*() const { return bit; }
+ void operator++() { bit^=1; }
+
+ void setIndex(int new_index) { bit=new_index&1; }
+
+private:
+ int bit;
+};
+#endif
diff --git a/dev/apps/swrx/NavFramer.cpp b/dev/apps/swrx/NavFramer.cpp
new file mode 100644
index 0000000..567cb68
--- /dev/null
+++ b/dev/apps/swrx/NavFramer.cpp
@@ -0,0 +1,190 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "EngNav.hpp"
+#include "NavFramer.hpp"
+
+
+using namespace gpstk;
+using namespace std;
+
+
+void NavFramer::Subframe::dump(std::ostream& s, int detail) const
+{
+ if (detail==0)
+ {
+ s << "t:" << fixed << setprecision(1) << t * 1e3
+ << ", ni:" << ni
+ << ", ci:" << ci
+ << ", inv:" << inverted
+ << ", prevD30:" << prevD30;
+
+ if (!complete)
+ return;
+ if (checkParity())
+ s << ", SFID:" << EngNav::getSFID(words[1])
+ << ", Z:" << EngNav::getHOWTime(words[1]);
+ else
+ s << ", Parity:" << checkWords();
+ }
+ else
+ {
+ for (int w=0; w<10; w++)
+ s << "# w[" << w << "]:" << bitset<30>(words[w]) << endl;
+ }
+}
+
+std::ostream& operator<<(std::ostream& s, const NavFramer::Subframe& sf)
+{
+ sf.dump(s,0);
+}
+
+
+
+bool NavFramer::Subframe::checkParity(bool knownUpright) const
+{
+ return EngNav::checkParity(words, false);
+}
+
+
+void NavFramer::Subframe::load(const std::bitset<5 * 300> bs)
+{
+ bitset<30> word;
+ for (int w=0; w<10; w++)
+ {
+ for(int b=0; b<30; b++)
+ word[29-b] = bs[(ni + w*30 + b)%1500];
+
+ if (inverted)
+ word = ~word;
+
+ words[w] = word.to_ulong();
+ }
+ complete = true;
+}
+
+
+const char* NavFramer::Subframe::checkWords() const
+{
+ if (!complete)
+ return string("??????????").c_str();
+
+ string good;
+ for (int w=0; w<10; w++)
+ {
+ uint32_t prev=0;
+ if (w)
+ prev = words[w-1];
+ uint32_t par = EngNav::computeParity(words[w], prev, false);
+ if (par == (words[w] & 0x3f))
+ good.append("1");
+ else
+ good.append("0");
+ }
+ return good.c_str();
+}
+
+
+NavFramer::NavFramer()
+ : prevNavCount(0), navIndex(0), howCurrent(false),inSync(false),
+ codeIndex(5*300), eightBaker(0x8b), bitLength(20e-3)
+{}
+
+
+bool NavFramer::process(const EMLTracker& tr)
+{
+ // number of code chips that go into each bit
+ const unsigned long chipsPerBit =
+ static_cast<unsigned long>(bitLength / tr.localReplica.codeChipLen);
+ const CodeIndex now = tr.localReplica.codeGenPtr->getChipCount();
+ const unsigned navCount = now/chipsPerBit;
+
+ if (navCount == prevNavCount)
+ return howCurrent;
+
+ prevNavCount = navCount;
+ navBuffer[navIndex] = tr.getNav();
+ codeIndex[navIndex] = now;
+ navIndex++;
+ navIndex %= navBuffer.size();
+ lastEight <<= 1;
+ lastEight[0] = tr.getNav();
+
+ if (debugLevel>2)
+ cout << "# t:" << fixed << setprecision(2)
+ << tr.localReplica.localTime *1e3
+ << " ms, n:" << tr.getNav() << endl;
+
+ if (lastEight == eightBaker || ~lastEight == eightBaker)
+ {
+ Subframe sf;
+ sf.ni = (navIndex-8) % 1500;
+ sf.ci = codeIndex[sf.ni];
+ sf.prevD30 = navBuffer[(navIndex-9)%1500];
+ sf.t = tr.localReplica.localTime;
+ sf.inverted = lastEight != eightBaker;
+ if (debugLevel>1)
+ cout << "# " << sf << endl;
+ candidates.push_back(sf);
+ }
+
+ list<Subframe>::iterator sf;
+ for (sf = candidates.begin(); sf != candidates.end(); )
+ {
+ if (navIndex - sf->ni >= 300)
+ {
+ sf->load(navBuffer);
+ if (sf->checkParity())
+ {
+ subframes.push_back(*sf);
+ howCurrent = true;
+ how = sf->words[1];
+ if (debugLevel)
+ cout << "# " << *sf << endl;
+ if (debugLevel>1)
+ sf->dump(cout,1);
+ }
+ else
+ {
+ howCurrent = false;
+ if (debugLevel>1)
+ {
+ cout << "# " << *sf << endl;
+ sf->dump(cout, 1);
+ }
+ }
+ candidates.erase(sf++);
+ }
+ else
+ sf++;
+ }
+ return howCurrent;
+}
+
+
+void NavFramer::dump(std::ostream& s, int detail) const
+{
+ if (detail>1)
+ s << "# NavDump lastEight:" << lastEight << endl;
+};
diff --git a/dev/apps/swrx/NavFramer.hpp b/dev/apps/swrx/NavFramer.hpp
new file mode 100644
index 0000000..209a874
--- /dev/null
+++ b/dev/apps/swrx/NavFramer.hpp
@@ -0,0 +1,94 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#ifndef NAVFRAMER_HPP
+#define NAVFRAMER_HPP
+
+#include <iostream>
+#include <bitset>
+
+#include "EMLTracker.hpp"
+
+//-----------------------------------------------------------------------------
+// This is intended to use a generic tracker and frame up the nav data.
+//-----------------------------------------------------------------------------
+class NavFramer
+{
+
+public:
+ NavFramer();
+
+ // This takes a tracker, just after it has been dumped and
+ // accumulates the nav bit from it. It returns true when there is a
+ // current HOW
+ virtual bool process(const EMLTracker& tr);
+
+ void dump(std::ostream& s, int detail=0) const;
+
+ int debugLevel;
+
+ // A subclass to help keep track of the subframes found
+ struct Subframe
+ {
+ Subframe() : words(10), complete(false) {}
+ double t;
+ size_t ni;
+ gpstk::CodeIndex ci;
+ bool inverted;
+ bool prevD30;
+ bool complete;
+ std::vector<uint32_t> words;
+ void dump(std::ostream& s, int detail=0) const;
+ bool checkParity(bool knownUpright=false) const;
+ void load(const std::bitset<5 * 300> bs);
+ const char* checkWords() const;
+ };
+
+private:
+ // This buffer holds 5 300 bit subframes of nav data
+ std::bitset<5 * 300> navBuffer;
+ std::vector<gpstk::CodeIndex> codeIndex;
+ std::bitset<8> eightBaker, lastEight;
+ size_t navIndex;
+ gpstk::CodeIndex prevNavCount;
+
+ // length of each bit
+ double bitLength;
+
+ std::list<Subframe> candidates;
+ std::list<Subframe> subframes;
+
+ // This is used to indicate that we have found a TLM and HOW
+ // that have passed parity
+ bool inSync;
+
+ // Most recent how
+ bool howCurrent;
+ gpstk::CodeIndex tlmIndex;
+ uint32_t how;
+};
+
+std::ostream& operator<<(std::ostream& s, const NavFramer::Subframe& sf);
+
+#endif
diff --git a/dev/apps/swrx/P0CodeGenerator.hpp b/dev/apps/swrx/P0CodeGenerator.hpp
new file mode 100644
index 0000000..daabc28
--- /dev/null
+++ b/dev/apps/swrx/P0CodeGenerator.hpp
@@ -0,0 +1,70 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#ifndef P0CODEGENERATOR_H
+#define P0CODEGENERATOR_H
+
+#include "SVPCodeGen.hpp"
+#include "CodeBuffer.hpp"
+#include "DayTime.hpp"
+
+#include "CodeGenerator.hpp"
+
+namespace gpstk
+{
+ class P0CodeGenerator : public CodeGenerator
+ {
+ public:
+ P0CodeGenerator(const int prn)
+ : CodeGenerator(ObsID::tcP, SatID(prn, SatID::systemGPS))
+ {setIndex(0);}
+
+ bool operator*() const { return false; }
+
+ CodeIndex operator++() { return getIndex(); }
+
+ CodeIndex setIndex(CodeIndex new_index)
+ {
+ return getIndex();
+ }
+
+ CodeIndex getIndex() const
+ {
+ return 0;
+ }
+
+ CodeIndex getSyncIndex() const
+ {
+ return 0;
+ }
+
+ CodeIndex getChipCount() const {return getIndex();}
+
+ void reset() { setIndex(0);}
+
+ private:
+
+ };
+}
+#endif
diff --git a/dev/apps/swrx/PCodeGenerator.hpp b/dev/apps/swrx/PCodeGenerator.hpp
new file mode 100644
index 0000000..a50bb60
--- /dev/null
+++ b/dev/apps/swrx/PCodeGenerator.hpp
@@ -0,0 +1,108 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#ifndef PCODEGENERATOR_HPP
+#define PCODEGENERATOR_HPP
+
+#include "SVPCodeGen.hpp"
+#include "CodeBuffer.hpp"
+#include "DayTime.hpp"
+
+#include "CodeGenerator.hpp"
+
+namespace gpstk
+{
+ class PCodeGenerator : public CodeGenerator
+ {
+ public:
+ PCodeGenerator(const int prn)
+ : CodeGenerator(ObsID::tcP, SatID(prn, SatID::systemGPS)),
+ cb(prn), svp(prn, gpstk::GPSZcount(0)), index(0)
+ {
+ svp.getCurrentSixSeconds(cb);
+ }
+
+ bool operator*() const { return cb.getBit(index) & 0x1; }
+
+ CodeIndex operator++() { index++; handleWrap(); return getIndex(); }
+
+ CodeIndex setIndex(CodeIndex new_index)
+ {
+ unsigned long z = new_index / (15345000*4);
+ z *= 4;
+ if (svp.getCurrentZCount().fullZcountFloor() != z)
+ {
+ std::cerr << "Regen cb" << std::endl;
+ svp.setCurrentZCount(z);
+ svp.getCurrentSixSeconds(cb);
+ }
+ index = new_index % (15345000*4);
+ return getIndex();
+ }
+
+ CodeIndex getIndex() const
+ {
+ unsigned long z = svp.getCurrentZCount().fullZcountFloor();
+ return index + z * 15345000;
+ }
+
+ bool isLastChipofX1Sequence() const
+ { return (index%15345000)==15344999; }
+
+
+ CodeIndex getSyncIndex() const {return 10230;}
+
+ CodeIndex getChipCount() const {return getIndex();}
+
+ void reset() { setIndex(0);}
+
+ private:
+
+ inline int handleWrap()
+ {
+ while(index>=15345000*4)
+ {
+ index-=15345000*4;
+ svp.increment4ZCounts();
+ svp.getCurrentSixSeconds(cb);
+ }
+ }
+
+ inline static void initXSeq() __attribute__ ((constructor))
+ {
+ try
+ {
+ gpstk::X1Sequence::allocateMemory();
+ gpstk::X2Sequence::allocateMemory();
+ }
+ catch (...)
+ {}
+ }
+
+ CodeBuffer cb;
+ SVPCodeGen svp;
+ CodeIndex index;
+ };
+}
+#endif
diff --git a/dev/apps/swrx/SVSource.hpp b/dev/apps/swrx/SVSource.hpp
new file mode 100644
index 0000000..43b6b78
--- /dev/null
+++ b/dev/apps/swrx/SVSource.hpp
@@ -0,0 +1,183 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#ifndef SVSOURCE_HPP
+#define SVSOURCE_HPP
+
+#include "PCodeGenerator.hpp"
+#include "CACodeGenerator.hpp"
+#include "NAVCodeGenerator.hpp"
+
+#include <math.h>
+#include <complex>
+#include <iostream>
+
+#include "complex_math.h"
+
+/*
+ * I normally don't like to put all these meaty functions in an include file,
+ * but I really want the compiler to be able to inline getSample(), handleWrap(), and incrementState()
+ * since they all fall in our inner-most loop.
+ * How long will it take until compilers can do cross-module optimization?
+ */
+
+// A class to generate samples from a single SV
+class SVSource
+{
+public:
+
+ SVSource (int SVPRNID, int band) :
+ zchips_per_sample(1),
+ doppler(0),
+ zchip_fraction_accum(0),
+ p_codegen(SVPRNID),
+ ca_codegen(SVPRNID),
+ ca_amplitude(1),
+ p_amplitude(1),
+ carrier_amplitude(1),
+ code_only(false),
+ zchip_counter(0),
+ prn(SVPRNID),
+ band(band),
+ p_modulation(true),
+ ca_modulation(true),
+ p_nav(true),
+ ca_nav(true),
+ carrier_multiplier(0)
+ {
+ switch(band)
+ {
+ case 1: carrier_multiplier = gpstk::L1_MULT; break;
+ case 2: carrier_multiplier = gpstk::L2_MULT; break;
+ }
+ }
+
+
+ std::complex<double> getSample() const
+ {
+ double phase = zchip_fraction_accum*carrier_multiplier*2*gpstk::PI;
+ std::complex<double> carrier = sincos(phase);
+
+ int nav_bit=(*nav_codegen);
+ int p_bit=p_modulation?((*p_codegen)^(p_nav?nav_bit:0)):0;
+ int ca_bit=ca_modulation?((*ca_codegen)^(ca_nav?nav_bit:0)):0;
+
+ // Must follow guidelines in Table 3-IV of IS-GPS-200D
+ std::complex<double> sample(
+ ca_bit?(ca_amplitude):(-ca_amplitude),
+ p_bit ?(p_amplitude):(-p_amplitude));
+
+ if (!code_only)
+ sample *= carrier_amplitude * carrier;
+
+ return sample;
+ }
+
+ void incrementState()
+ {
+ /* Increment internal state to prepare for the next call */
+ zchip_fraction_accum += zchips_per_sample + doppler;
+ handleWrap();
+ }
+
+ void setZChipsPerSample(double val)
+ { zchips_per_sample=val; }
+
+ void slewZChipFraction(double val)
+ {
+ zchip_fraction_accum+=val;
+ handleWrap();
+ }
+
+ void dump(std::ostream& s) const
+ {
+ s << "# " << std::setprecision(3)
+ << "prn:" << prn << " L" << band
+ << " Z:" << zchip_fraction_accum+p_codegen.getIndex() << " chips";
+ if (ca_modulation)
+ s << " (C/A nav:" << ca_nav << " amp:" << ca_amplitude << ")";
+ if (p_modulation)
+ s << " (P nav:" << p_nav << " amp:" << p_amplitude << ")";
+ s << std::endl;
+ s << "# doppler = " << doppler << " chips/sample" << std::endl
+ << "# zchips_per_sample: " << zchips_per_sample << " chips/sample" << std::endl;
+ }
+
+private:
+
+ void handleWrap()
+ {
+ while (zchip_fraction_accum>1.0)
+ {
+ if(zchip_counter==9)
+ {
+ if(ca_codegen.isLastInSequence())
+ {
+ if(ca_epoch_counter==19)
+ {
+ ++nav_codegen;
+ ca_epoch_counter=0;
+ } else ++ca_epoch_counter;
+ }
+ ++ca_codegen;
+ zchip_counter=0;
+ }
+ else
+ ++zchip_counter;
+
+ ++p_codegen;
+ zchip_fraction_accum-=1.0;
+ }
+ }
+
+public:
+ // yea, this is klunky to expose all these but we aren't checking
+ // for an invariants so...
+ bool p_modulation;
+ bool ca_modulation;
+ bool p_nav;
+ bool ca_nav;
+
+ double ca_amplitude;
+ double p_amplitude;
+ double carrier_amplitude;
+
+ double doppler;
+ double zchips_per_sample;
+ double zchip_fraction_accum;
+
+ double carrier_multiplier;
+ bool code_only;
+
+ gpstk::PCodeGenerator p_codegen;
+ gpstk::CACodeGenerator ca_codegen;
+ NAVCodeGenerator nav_codegen;
+
+ int band;
+ int prn;
+ int zchip_counter; // Counts 0-9 to tell us when to move to the next C/A chip
+ int ca_epoch_counter; // Counts 0-19 to tell us when to move to the next NAV data bit
+};
+
+#endif
diff --git a/dev/apps/swrx/SimpleCorrelator.hpp b/dev/apps/swrx/SimpleCorrelator.hpp
new file mode 100644
index 0000000..5ae87f6
--- /dev/null
+++ b/dev/apps/swrx/SimpleCorrelator.hpp
@@ -0,0 +1,67 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#ifndef SIMPLECORRELATOR_HPP
+#define SIMPLECORRELATOR_HPP
+
+#include <complex>
+#include <queue>
+#include <iostream>
+
+//-----------------------------------------------------------------------------
+// A correlator with a built in delay line to offset the incomming code.
+//-----------------------------------------------------------------------------
+template <class C>
+class SimpleCorrelator
+{
+public:
+
+ typedef std::complex<C> Ctype;
+
+ /// param d this is the number of samples to delay the code by
+ SimpleCorrelator(unsigned d=0) : delay(d+1), sum(0)
+ {}
+
+ inline void process(std::complex<C> in, Ctype code) throw()
+ {
+ shiftReg.push(code);
+ sum += in * shiftReg.front();
+ while (shiftReg.size() > delay)
+ shiftReg.pop();
+ }
+
+ inline void dump() throw() {sum=Ctype(0,0);}
+
+ inline Ctype operator()() const throw() {return sum;}
+
+ void setDelay(unsigned d) throw() {delay=d+1;}
+ unsigned getDelay() const throw() {return delay-1;}
+
+private:
+ unsigned delay;
+ std::queue< Ctype > shiftReg;
+ Ctype sum;
+};
+
+#endif
diff --git a/dev/apps/swrx/codeDump.cpp b/dev/apps/swrx/codeDump.cpp
new file mode 100644
index 0000000..ff520dc
--- /dev/null
+++ b/dev/apps/swrx/codeDump.cpp
@@ -0,0 +1,163 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include <iostream>
+#include <list>
+
+#include "BasicFramework.hpp"
+#include "CommandOption.hpp"
+#include "StringUtils.hpp"
+#include "icd_200_constants.hpp"
+
+#include "CACodeGenerator.hpp"
+#include "PCodeGenerator.hpp"
+#include "P0CodeGenerator.hpp"
+
+using namespace gpstk;
+using namespace std;
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+class CodeDump : public BasicFramework
+{
+public:
+ CodeDump() throw();
+
+ bool initialize(int argc, char *argv[]) throw();
+
+private:
+ virtual void process();
+
+ long long chips;
+ int truncate;
+
+ CodeGenerator *codeGen;
+};
+
+
+//-----------------------------------------------------------------------------
+CodeDump::CodeDump() throw() :
+ BasicFramework("codeDump", "A program to output the chips from a the code generators."),
+ chips(1023), truncate(0)
+{}
+
+
+bool CodeDump::initialize(int argc, char *argv[]) throw()
+{
+ using namespace gpstk::StringUtils;
+
+ CommandOptionWithAnyArg
+ lengthOpt('l', "length",
+ "Specifies how many chips to output. The default "
+ "is 1023 chips."),
+
+ truncateOpt('t', "truncate",
+ "Just output this many chips from the beginning and the end of the sequence. The default is to output all chips."),
+
+ codeOpt('c', "code",
+ "The code to generate. ARG takes the form of "
+ "code:prn:offset. Code is either c or p. "
+ "Prn is an integer between 1 and 32. "
+ "Offset is a number in chips. For example, to generate P code "
+ "for PRN 3, with no initial time offset, "
+ "specify -c p:3:0");
+
+ if (!BasicFramework::initialize(argc,argv))
+ return false;
+
+ if (!codeOpt.getCount())
+ {
+ cout << "Must specify a code to generate. Bye." << endl;
+ return false;
+ }
+
+ string val=codeOpt.getValue()[0];
+ const char delim(':');
+ if (numWords(val, delim) != 3)
+ {
+ cout << "Error in code parameter:" << val << endl;
+ return false;
+ }
+
+ string code = lowerCase(word(val, 0, delim));
+ int prn = asInt(word(val, 1, delim));
+ long offset = asInt(word(val, 2, delim));
+
+ switch (code[0])
+ {
+ case 'c': codeGen = new CACodeGenerator(prn); break;
+ case 'p': codeGen = new PCodeGenerator(prn); break;
+ case 'q': codeGen = new P0CodeGenerator(prn); break;
+ default:
+ cout << "Unsupported code: " << code << endl;
+ return false;
+ }
+
+ if (offset != 0)
+ codeGen->setIndex(offset);
+
+ if (lengthOpt.getCount())
+ chips = asInt(lengthOpt.getValue()[0]);
+
+ if (truncateOpt.getCount())
+ truncate = asInt(truncateOpt.getValue()[0]);
+
+ return true;
+}
+
+
+//-----------------------------------------------------------------------------
+void CodeDump::process()
+{
+ for (long long i = 0; i<chips; i++)
+ {
+ bool bit = **codeGen;
+ ++(*codeGen);
+ if (!truncate || i<truncate || i>chips-1-truncate)
+ cout << bit << flush;
+ if (truncate>0 && i==truncate)
+ cout << " ... ";
+ }
+ cout << endl;
+}
+
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+int main(int argc, char *argv[])
+{
+ try
+ {
+ CodeDump crap;
+ if (!crap.initialize(argc, argv))
+ exit(0);
+ crap.run();
+ }
+ catch (gpstk::Exception &exc)
+ { cerr << exc << endl; }
+ catch (std::exception &exc)
+ { cerr << "Caught std::exception " << exc.what() << endl; }
+ catch (...)
+ { cerr << "Caught unknown exception" << endl; }
+}
diff --git a/dev/apps/swrx/complex_math.h b/dev/apps/swrx/complex_math.h
new file mode 100644
index 0000000..4a884da
--- /dev/null
+++ b/dev/apps/swrx/complex_math.h
@@ -0,0 +1,73 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#ifndef COMPLEXMATH_H
+#define COMPLEXMATH_H
+
+#include <complex>
+
+static inline std::complex<double> sincos(double radians)
+{
+ std::complex<double> ret;
+ sincos(radians,&(ret.imag()),&(ret.real()));
+ return ret;
+}
+
+static inline std::complex<int> quantize(const std::complex<double> x)
+{
+ return std::complex<int>(
+ static_cast<int>(::round(x.real())),
+ static_cast<int>(::round(x.imag()))
+ );
+}
+
+const std::complex<double> zero(0,0);
+const std::complex<double> plusOne(1,0);
+const std::complex<double> minusOne(-1,0);
+
+
+//-----------------------------------------------------------------------------
+// An function object that implements a second order filter for the PLL
+// Specifically the filter in figure 8.2 of Tsui's book
+//-----------------------------------------------------------------------------
+template <class C>
+class LoopFilter
+{
+public:
+ LoopFilter() : c1(1), c2(1), z1(0) {};
+
+ std::complex<C> operator()(std::complex<C> in) throw()
+ {
+ std::complex <C> out,z;
+ z = in*c2+z1;
+ out = in * c1 + z;
+ z1 = z;
+ return out;
+ };
+
+ C c1, c2;
+ std::complex<C> z1;
+};
+
+#endif
diff --git a/dev/apps/swrx/corltr.cpp b/dev/apps/swrx/corltr.cpp
new file mode 100644
index 0000000..698977b
--- /dev/null
+++ b/dev/apps/swrx/corltr.cpp
@@ -0,0 +1,338 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include <math.h>
+#include <complex>
+#include <iostream>
+#include <list>
+
+#include "BasicFramework.hpp"
+#include "CommandOption.hpp"
+#include "StringUtils.hpp"
+#include "icd_200_constants.hpp"
+
+#include "complex_math.h"
+#include "SimpleCorrelator.hpp"
+#include "CCReplica.hpp"
+#include "CACodeGenerator.hpp"
+#include "PCodeGenerator.hpp"
+
+#include "IQStream.hpp"
+
+using namespace gpstk;
+using namespace std;
+
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+class Corltr : public BasicFramework
+{
+public:
+ Corltr() throw();
+
+ bool initialize(int argc, char *argv[]) throw();
+
+private:
+ virtual void process();
+
+ double window; // data window length, in ms
+
+ // number of seconds between samples
+ double timeStep;
+
+ CCReplica* cc;
+
+ IQStream *input;
+
+ unsigned steps;
+
+ double offset; // Time to offset the local code by
+ double doppler;
+
+ double freqErr; // A receiver frequency error
+
+ int bands;
+
+ bool peakOnly;
+};
+
+
+//-----------------------------------------------------------------------------
+Corltr::Corltr() throw() :
+ BasicFramework("corltr", "A program to test out local replica generation and correlation."),
+ timeStep(50e-9), bands(2), steps(4092), peakOnly(false)
+{}
+
+
+bool Corltr::initialize(int argc, char *argv[]) throw()
+{
+ using namespace gpstk::StringUtils;
+
+ CommandOptionWithAnyArg
+ windowOpt('w', "window",
+ "Specifies how wide a window to use, in us. The default "
+ "is 1023 us."),
+
+ timeStepOpt('t', "time-step",
+ "Specifies the nominal interval between samples, in us. "
+ "The default is 0.05 us."),
+
+ quantizationOpt('q', "quantization",
+ "They quantization applied to the data. 1, 2 or f. "
+ "The default is f."),
+
+ codeOpt('c', "code",
+ "The code/carrier to track. ARG takes the form of "
+ "code:carrier:prn:offset:doppler. Code is either c or p. "
+ "Carrier is either 1 or 2. Prn is an integer between 1 and 32. "
+ "Offset is a number in us, Doppler is a number in Hz. Currently, "
+ "only one signal can be specified. For example, to track P code "
+ "on L2 for PRN 3, with no initial time or doppler offset, "
+ "specify -c p:2:3:0:0"),
+
+ freqErrOpt('f', "freq-err",
+ "Specify the frequency error on the local receiver's "
+ "oscilator, in ppm. The default is 0 ppm"),
+
+ inputOpt('i', "input",
+ "Where to get the IQ samples from. The default is to use "
+ "standard input.");
+
+ CommandOptionWithNumberArg
+ stepsOpt('s', "steps",
+ "The number of 1/4 chip steps to take. Defaults to 4092."),
+
+ bandsOpt('b', "bands",
+ "The number of complex samples per epoch. The default is 2.");
+
+ CommandOptionNoArg
+ peakOnlyOpt('p', "peak",
+ "Only output the peak correlation/snr values.");
+
+ if (!BasicFramework::initialize(argc,argv))
+ return false;
+
+ peakOnly = peakOnlyOpt.getCount()>0;
+
+ if (timeStepOpt.getCount())
+ timeStep = asDouble(timeStepOpt.getValue().front()) * 1e-6;
+ else
+
+ if (windowOpt.getCount())
+ window = asDouble(windowOpt.getValue().front()) * 1e-6;
+ else
+ window = 1.023e-3;
+
+ if (freqErrOpt.getCount())
+ freqErr = StringUtils::asDouble(freqErrOpt.getValue()[0]) * 1e-6;
+ else
+ freqErr = 0;
+
+ char quantization='f';
+ if (quantizationOpt.getCount())
+ quantization = quantizationOpt.getValue()[0][0];
+
+ switch (quantization)
+ {
+ case '1': input = new IQ1Stream(); break;
+ case '2': input = new IQ2Stream(); break;
+ case 'f':
+ default: input = new IQFloatStream(); break;
+ }
+
+ if (inputOpt.getCount())
+ {
+ input->open(inputOpt.getValue()[0].c_str());
+ }
+ else
+ {
+ input->copyfmt(std::cin);
+ input->clear(std::cin.rdstate());
+ input->std::basic_ios<char>::rdbuf(std::cin.rdbuf());
+ input->filename = "<stdin>";
+ }
+ if (verboseLevel)
+ cout << "# IQStream type: " << input->desc << endl;
+
+ if (bandsOpt.getCount())
+ bands = asInt(bandsOpt.getValue()[0]);
+
+ if (stepsOpt.getCount())
+ steps = asInt(stepsOpt.getValue()[0]);
+
+ if (!codeOpt.getCount())
+ {
+ cout << "Must specify a code/carrier to track. Bye." << endl;
+ return false;
+ }
+
+ string val=codeOpt.getValue()[0];
+ const char delim(':');
+ if (numWords(val, delim) != 5)
+ {
+ cout << "Error in code parameter:" << val << endl;
+ return false;
+ }
+
+ string code = lowerCase(word(val, 0, delim));
+ int band = asInt(word(val, 1, delim));
+ int prn = asInt(word(val, 2, delim));
+ offset = asDouble(word(val, 3, delim)) * 1e-6;
+ doppler = asDouble(word(val, 4, delim));
+
+ double interFreq;
+ switch (band)
+ {
+ case 1: interFreq = gpstk::L1_FREQ - 1575e6; break;
+ case 2: interFreq = gpstk::L2_FREQ - 1228e6; break;
+ default:
+ cout << "Unsupported band: " << band << endl;
+ return false;
+ }
+
+ CodeGenerator* codeGenPtr;
+ double chipFreq;
+ switch (code[0])
+ {
+ case 'c':
+ codeGenPtr = new CACodeGenerator(prn);
+ chipFreq = CA_CHIP_FREQ;
+ break;
+ case 'p':
+ codeGenPtr = new PCodeGenerator(prn);
+ chipFreq = PY_CHIP_FREQ;
+ break;
+ default:
+ cout << "Unsupported code: " << code << endl;
+ return false;
+ }
+ cc = new CCReplica(timeStep, chipFreq, interFreq, codeGenPtr);
+
+ return true;
+}
+
+
+//-----------------------------------------------------------------------------
+void Corltr::process()
+{
+ const unsigned windowTicks = static_cast<unsigned>(window / timeStep);
+ const unsigned maxSamp=windowTicks+1;
+ const double stepSize = cc->codeChipLen/4;
+ vector< complex<double> > in(maxSamp);
+ unsigned numSamp = 0;
+ complex<float> s;
+ double sumSq;
+ while (*input >> s && numSamp < maxSamp)
+ {
+ in[numSamp] = s;
+ sumSq += s.real()*s.real() + s.imag()*s.imag();
+ for (int i=1; i<bands; i++)
+ *input >> s;
+ numSamp++;
+ }
+
+ if (numSamp != maxSamp)
+ {
+ cout << "Insufficient samples for specified window size. Exiting." << endl;
+ exit(-1);
+ }
+
+ if (verboseLevel)
+ cout << "# numSamp:" << numSamp << endl
+ << "# timeStep:" << timeStep * 1e9 << " nsec" << endl
+ << "# window:" << windowTicks << " samples" << endl
+ << "# doppler:" << doppler << " Hz" << endl
+ << "# freqErr:" << freqErr * 1e6 << " ppm" << endl
+ << "# offset:" << offset*1e6 << " usec" << endl
+ << "# Input sumSq: " << sumSq << endl;
+
+ cc->setCodeFreqOffsetHz(doppler);
+ cc->setCarrierFreqOffsetHz(doppler);
+
+ if (verboseLevel)
+ cc->dump(cout);
+
+ if (verboseLevel)
+ cout << "#h delay sum r snr " << endl
+ << "#u us cnt cnt dBc-Hz" << endl;
+
+ double maxSnr=0, maxR=0, maxDelay=0;
+
+ for (int i=0; i<steps; i++)
+ {
+ double delay = i * stepSize + offset;
+ cc->reset();
+ cc->moveCodePhase(delay / cc->codeChipLen);
+ cc->setCodeFreqOffsetHz(doppler);
+ cc->setCarrierFreqOffsetHz(doppler);
+
+ SimpleCorrelator<double> sum;
+ double mySumSq=0;
+ for (int j=0; j<windowTicks; j++)
+ {
+ cc->tick();
+ complex<double> carrier = cc->getCarrier();
+ complex<double> m0 = in[j] * conj(carrier);
+ complex<double> code = cc->getCode() ? plusOne : minusOne;
+ complex<double> cc = conj(carrier) * conj(code);
+ mySumSq += cc.real()*cc.real() + cc.imag()*cc.imag();
+ sum.process(m0, conj(code));
+ }
+ double r = abs(sum()) / sqrt(sumSq)/sqrt(mySumSq);
+ double snr= 10*log10(r*r/timeStep);
+ if (snr>maxSnr)
+ {
+ maxSnr = snr;
+ maxR=r;
+ maxDelay=delay;
+ }
+ if (!peakOnly)
+ cout << setprecision(9) << delay*1e6
+ << " " << setprecision(4) << abs(sum())
+ << " " << r << " " << snr << endl;
+ }
+ if (peakOnly)
+ cout << setprecision(9) << maxDelay*1e6
+ << setprecision(4) << " " << maxR << " " << maxSnr << endl;
+}
+
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+int main(int argc, char *argv[])
+{
+ try
+ {
+ Corltr crap;
+ if (!crap.initialize(argc, argv))
+ exit(0);
+ crap.run();
+ }
+ catch (gpstk::Exception &exc)
+ { cerr << exc << endl; }
+ catch (std::exception &exc)
+ { cerr << "Caught std::exception " << exc.what() << endl; }
+ catch (...)
+ { cerr << "Caught unknown exception" << endl; }
+}
diff --git a/dev/apps/swrx/gpsSim.cpp b/dev/apps/swrx/gpsSim.cpp
new file mode 100644
index 0000000..14d1313
--- /dev/null
+++ b/dev/apps/swrx/gpsSim.cpp
@@ -0,0 +1,387 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ A simple GPS signal simulator. Based upon code from Johnathan York.
+
+ See http://sglwiki/cgi-bin/twiki/view/SGL/SwRxSignalPathDesign for the
+ derivation of the several of the values below.
+
+ Needs to support the following modes to support receiver development:
+ carrier w/o noise
+ carrier w noise
+ C/A w/o noise
+ C/A w noise
+ C/A + nav + noise
+ P + nav + noise
+ P + C/A + nav + noise
+ L1 + L2 P, C/A + nav + noise
+*/
+
+#include <math.h>
+#include <complex>
+#include <iostream>
+#include <list>
+
+#include "BasicFramework.hpp"
+#include "CommandOption.hpp"
+#include "StringUtils.hpp"
+#include "icd_200_constants.hpp"
+
+#include "SVSource.hpp"
+#include "normal.hpp"
+#include "IQStream.hpp"
+
+using namespace gpstk;
+using namespace std;
+
+class GpsSim : public BasicFramework
+{
+public:
+ GpsSim() throw();
+
+ bool initialize(int argc, char *argv[]) throw();
+
+ // Base frequency of receiver (in Hz)
+ const double RX_BASE_FREQ;
+
+ // How many samples are taken in one base period
+ const int RX_SAMPLE_RATE_MULTIPLIER;
+
+ // The multipliers applied to the base frequency to get the local
+ // oscilator for the mixers.
+ const int RX_L1_LO_MULTIPLIER;
+ const int RX_L2_LO_MULTIPLIER;
+
+ // Number of local oscilators
+ const int LO_COUNT;
+
+ // The units of these are counts of the ADC
+ double noise_amplitude, p_amplitude, ca_amplitude;
+
+ // A gain to apply to the 'final' signal
+ double gain;
+
+ // number of seconds between samples
+ double time_step;
+
+ // One period is a tick of the RX_BASE_FREQ clock
+ unsigned long periods_to_generate;
+
+ bool codeOnly;
+
+ list<SVSource*> sv_sources;
+
+ vector<double> omega_lo;
+
+ double freqErr;
+
+ IQStream *output;
+
+protected:
+ virtual void process();
+};
+
+
+GpsSim::GpsSim() throw() :
+ BasicFramework("gpsSim", "A simple simulation of a the GPS signal."),
+ periods_to_generate(4096),
+ LO_COUNT(2),
+ RX_BASE_FREQ(1.0e6),
+ RX_SAMPLE_RATE_MULTIPLIER(20),
+ RX_L1_LO_MULTIPLIER(1575),
+ RX_L2_LO_MULTIPLIER(1228),
+ time_step(1.0/(RX_BASE_FREQ*RX_SAMPLE_RATE_MULTIPLIER)),
+ p_amplitude(0.1250*M_SQRT2),
+ ca_amplitude(0.1767*M_SQRT2),
+ noise_amplitude(2.805),
+ codeOnly(false),
+ gain(1)
+{}
+
+
+bool GpsSim::initialize(int argc, char *argv[]) throw()
+{
+ CommandOptionWithAnyArg
+ codeOpt('c', "code",
+ "Generate the signal defined by the argument. ARG takes "
+ "the form of code:carrier:prn:offset:doppler:nav. Code is either "
+ "c, p, or cp. Carrier is either 1 or 2. Prn is an integer between 1 "
+ "and 32. Offset is a number in microseconds. Doppler is a number "
+ "in Hz. Nav is 0, c, p, or cp. For example, to generate C/A on L1 for "
+ "PRN 15 with zero time-offset, zero doppler, a dummy nav signal "
+ "on both C/A and P, then specify -c c:1:15:0:p. This option "
+ "may be repeated to simulate multiple signals.");
+
+ CommandOptionNoArg
+ codeOnlyOpt('\0', "code-only",
+ "Only generate the codes. No carrier, no hetrodyning.");
+
+ CommandOptionWithAnyArg
+ quantizationOpt('q', "quantization",
+ "What type of IQ stream; 1, 2 or f. The default is f.");
+
+ CommandOptionWithAnyArg
+ gainOpt('g', "gain",
+ "Gain to apply to the if prior to digitization, in dB. Default is 0.");
+
+ CommandOptionWithAnyArg
+ noiseGainOpt('n', "noise",
+ "Specify the gain (in dB) for the receiver's noise. The "
+ "default is 0 dB");
+
+ CommandOptionWithAnyArg
+ freqErrOpt('f', "freq-err",
+ "Specify the frequency error on the local receiver's "
+ "oscilator, in ppm. The default is 0 ppm");
+
+ CommandOptionWithAnyArg
+ runTimeOpt('t', "run-time",
+ "How long (in ms) to run the simulation for. The default is 20 ms");
+
+ CommandOptionWithAnyArg
+ outputOpt('o', "output",
+ "Where to write the output. The default is stdout");
+
+ if (!BasicFramework::initialize(argc,argv))
+ return false;
+
+ using namespace gpstk::StringUtils;
+
+ char quantization='f';
+ if (quantizationOpt.getCount())
+ quantization = quantizationOpt.getValue()[0][0];
+
+ switch (quantization)
+ {
+ case '1': output = new IQ1Stream(); break;
+ case '2': output = new IQ2Stream(); break;
+ case 'f':
+ default: output = new IQFloatStream(); break;
+ }
+
+ if (outputOpt.getCount())
+ {
+ output->open(outputOpt.getValue()[0].c_str(), ios::out);
+ }
+ else
+ {
+ output->copyfmt(std::cout);
+ output->clear(std::cout.rdstate());
+ output->std::basic_ios<char>::rdbuf(std::cout.rdbuf());
+ output->filename = "<stdout>";
+ }
+ if (debugLevel)
+ cout << "Writing data to " << output->filename << endl;
+
+ if (gainOpt.getCount())
+ {
+ double gainDb = StringUtils::asDouble(gainOpt.getValue()[0]);
+ gain = exp10(gainDb/10);
+ if (debugLevel)
+ cout << "# Rx gain level: " << gainDb << " db ("
+ << gain << ")" << endl;
+ }
+
+ if (noiseGainOpt.getCount())
+ {
+ double gain = StringUtils::asDouble(noiseGainOpt.getValue()[0]);
+ noise_amplitude *= exp10(gain/10);
+ if (debugLevel)
+ cout << "# Noise level: " << gain << " db" << endl;
+ }
+
+ if (codeOnlyOpt.getCount())
+ codeOnly = true;
+
+ if (freqErrOpt.getCount())
+ freqErr = StringUtils::asDouble(freqErrOpt.getValue()[0]) * 1e-6;
+ else
+ freqErr = 0;
+
+ if (debugLevel)
+ cout << "# Receiver frequency error: " << freqErr * 1e6 << " ppm" << endl;
+
+ if (runTimeOpt.getCount())
+ {
+ double rt = asDouble(runTimeOpt.getValue()[0]);
+ periods_to_generate = static_cast<long unsigned>(rt*RX_BASE_FREQ);
+ }
+
+ if (debugLevel)
+ cout << "# Running for : " << periods_to_generate
+ << " periods (" << 1e3 * periods_to_generate/RX_BASE_FREQ
+ << " msec)" << endl;
+
+ // Compute the local oscilator frequencies, units seem to be radians/sample
+ omega_lo.resize(LO_COUNT);
+ omega_lo[0] = 2.0*PI*RX_L1_LO_MULTIPLIER/RX_SAMPLE_RATE_MULTIPLIER;
+ omega_lo[1] = 2.0*PI*RX_L2_LO_MULTIPLIER/RX_SAMPLE_RATE_MULTIPLIER;
+
+ vector<double> lo(LO_COUNT);
+ lo[0] = omega_lo[0]/time_step / 2 /PI;
+ lo[1] = omega_lo[1]/time_step / 2 /PI;
+
+ if (debugLevel)
+ cout << "# LO 1: " << setw(7) << lo[0] * 1e-6<< " MHz"
+ << " 2: " << setw(7) << lo[1] * 1e-6<< " MHz"
+ << endl
+ << "# IF 1: " << setw(7) << (L1_FREQ - lo[0]) * 1e-3<< " kHz"
+ << " 2: " << setw(7) << (L2_FREQ - lo[1]) * 1e-3<< " kHz"
+ << endl;
+
+ for (int i=0; i < codeOpt.getCount(); i++)
+ {
+ string val=codeOpt.getValue()[i];
+ const char delim(':');
+ if (numWords(val, delim) != 6)
+ {
+ cout << "Error in code parameter:" << val << endl;
+ exit(-1);
+ }
+
+ string code = lowerCase(word(val, 0, delim));
+ int band = asInt(word(val, 1, delim));
+ int prn = asInt(word(val, 2, delim));
+ double offset = asDouble(word(val, 3, delim));
+ double doppler = asDouble(word(val, 4, delim));
+ string nav = lowerCase(word(val, 5, delim));
+
+ if (code.size() > 2 || nav.size() > 2 || band <1 || band > LO_COUNT ||
+ prn < 1 || prn >32)
+ {
+ cout << "code:" << code << " band:" << band << " prn:" << prn
+ << " offset:" << offset << " nav:" << nav << endl
+ << "Error in specifying code. Ignoring this code." << endl;
+ exit(-1);
+ }
+
+ // This is the number of P code chips in one sample. If this
+ // is not around or less than 1/2, we have a problem
+ double sampleRate = 1/(RX_SAMPLE_RATE_MULTIPLIER*RX_BASE_FREQ); //sec
+ double chips_per_sample_base = gpstk::PY_CHIP_FREQ * sampleRate;
+
+ switch(band)
+ {
+ case 1: doppler *= sampleRate / L1_MULT; break;
+ case 2: doppler *= sampleRate / L2_MULT; break;
+ }
+
+ doppler *= 1-freqErr;
+ chips_per_sample_base *= 1-freqErr;
+
+ // Create and configure the SV source
+ SVSource* src = new SVSource(prn, band);
+ src->zchips_per_sample = chips_per_sample_base;
+ src->doppler = doppler;
+ src->ca_modulation = isLike(code, "c");
+ src->p_modulation = isLike(code, "p");
+ src->ca_nav = isLike(nav, "c") && src->ca_modulation;
+ src->p_nav = isLike(nav, "p") && src->p_modulation;
+ src->p_amplitude = p_amplitude;
+ src->ca_amplitude = ca_amplitude;
+ // offset needs to be provided to the SVSource in units of P chips
+ src->slewZChipFraction(offset * gpstk::PY_CHIP_FREQ * 1e-6);
+
+ if (codeOnlyOpt.getCount())
+ src->code_only = true;
+
+ if (debugLevel)
+ src->dump(cout);
+
+ sv_sources.push_back(src);
+ }
+
+ return true;
+}
+
+void GpsSim::process()
+{
+ // Used to accumulate up the samples
+ complex<float> accum[LO_COUNT];
+
+ // simulation time, in seconds
+ double rx_time = 0;
+
+ for(int period=0; period<periods_to_generate; ++period)
+ {
+ for(int sample=0; sample<RX_SAMPLE_RATE_MULTIPLIER; ++sample)
+ {
+ rx_time += time_step;
+
+ // Clear out our accumulators
+ for (int i=0; i < LO_COUNT; i++)
+ accum[i] = (0,0);
+
+ // Sum the signals from each SV
+ list<SVSource*>::iterator i;
+ for(i = sv_sources.begin(); i != sv_sources.end(); i++)
+ {
+ SVSource* src = *i;
+ int band=src->band-1;
+ accum[band] += src->getSample();
+ src->incrementState();
+ }
+
+ // For each local oscilator frequency...
+ for (int i=0; i<LO_COUNT; i++)
+ {
+ // Compute the local oscilator and the sample noise
+ complex<double> lo = sincos(omega_lo[i] * sample);
+ complex<double> noise(generate_normal_rv()*noise_amplitude,
+ generate_normal_rv()*noise_amplitude);
+
+ // Heterodyne the signals
+ if (!codeOnly)
+ accum[i] *= conj(lo);
+
+ // and add the noise
+ accum[i] += noise;
+
+ // Apply receiver gain
+ accum[i] *= gain;
+
+ // And output the samples
+ *output << accum[i];
+ }
+ }
+ }
+}
+
+int main(int argc, char *argv[])
+{
+ try
+ {
+ GpsSim crap;
+ if (!crap.initialize(argc, argv))
+ exit(0);
+ crap.run();
+ }
+ catch (gpstk::Exception &exc)
+ { cerr << exc << endl; }
+ catch (std::exception &exc)
+ { cerr << "Caught std::exception " << exc.what() << endl; }
+ catch (...)
+ { cerr << "Caught unknown exception" << endl; }
+}
diff --git a/dev/apps/swrx/iqdump.cpp b/dev/apps/swrx/iqdump.cpp
new file mode 100644
index 0000000..1b25d85
--- /dev/null
+++ b/dev/apps/swrx/iqdump.cpp
@@ -0,0 +1,192 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include <math.h>
+#include <complex>
+#include <map>
+
+#include "BasicFramework.hpp"
+#include "CommandOption.hpp"
+
+#include <IQStream.hpp>
+
+using namespace gpstk;
+using namespace std;
+
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+class IQDump : public BasicFramework
+{
+public:
+ IQDump() throw();
+
+ bool initialize(int argc, char *argv[]) throw();
+
+protected:
+ virtual void process();
+
+private:
+ IQStream *input;
+ int bands;
+ bool stats;
+};
+
+
+//-----------------------------------------------------------------------------
+IQDump::IQDump() throw() :
+ BasicFramework("rxSim", "A simulation of a gps receiver."),
+ bands(2), stats(false)
+{}
+
+
+bool IQDump::initialize(int argc, char *argv[]) throw()
+{
+ using namespace gpstk::StringUtils;
+
+ CommandOptionWithAnyArg
+ inputOpt('i', "input",
+ "Where to get the IQ input from. The default is stdin."),
+
+ quantizationOpt('q', "quantization",
+ "What type of IQ stream; 1, 2 or f. The default is f."),
+
+ bandsOpt('b', "bands",
+ "The number of complex samples per epoch. The default is 2.");
+
+ CommandOptionNoArg
+ statsOpt('s', "stats", "Compute stats on values.");
+
+ if (!BasicFramework::initialize(argc,argv))
+ return false;
+
+ stats = statsOpt.getCount()>0;
+
+ char quantization='f';
+ if (quantizationOpt.getCount())
+ quantization = quantizationOpt.getValue()[0][0];
+
+ switch (quantization)
+ {
+ case '1': input = new IQ1Stream(); break;
+ case '2': input = new IQ2Stream(); break;
+ case 'f':
+ default: input = new IQFloatStream(); break;
+ }
+
+ if (inputOpt.getCount())
+ {
+ input->open(inputOpt.getValue()[0].c_str());
+ }
+ else
+ {
+ input->copyfmt(std::cin);
+ input->clear(std::cin.rdstate());
+ input->std::basic_ios<char>::rdbuf(std::cin.rdbuf());
+ input->filename = "<stdin>";
+ }
+ if (debugLevel)
+ cout << "Taking input from: " << input->filename << endl
+ << "IQStream type: " << input->desc << endl;
+
+ input->debugLevel = debugLevel;
+
+ if (bandsOpt.getCount())
+ bands = asInt(bandsOpt.getValue()[0]);
+
+ return true;
+}
+
+
+//-----------------------------------------------------------------------------
+void IQDump::process()
+{
+ complex<float> s;
+ int band=1;
+ unsigned long N=0;
+ typedef map<float, unsigned long> HistMap;
+ HistMap hist;
+ while (*input >> s)
+ {
+ if (!stats)
+ cout << s.real() << " " << s.imag() << " ";
+ else
+ {
+ if (band==1)
+ {
+ N++;
+ ++hist[s.real()];
+ ++hist[s.imag()];
+ }
+ }
+ if (band == bands)
+ {
+ band=1;
+ if (!stats)
+ cout << endl;
+ }
+ else
+ band++;
+ }
+
+ if (stats)
+ {
+ N*=2; // I & Q each count as a separate sample
+ cout << "# " << N << " samples" << endl
+ << "# value frac" << endl;
+ for (HistMap::const_iterator i = hist.begin(); i != hist.end(); i++)
+ cout << "# " << setw(4) << i->first << " : " << (float)i->second/N << endl;
+
+ unsigned long pos(0),neg(0);
+ for (HistMap::const_iterator i = hist.begin(); i != hist.end(); i++)
+ if (i->first > 0)
+ pos += i->second;
+ else
+ neg += i->second;
+
+ cout << endl
+ << "# >0 : " << (float)pos/N << endl
+ << "# <=0 : " << (float)neg/N << endl;
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+int main(int argc, char *argv[])
+{
+ try
+ {
+ IQDump crap;
+ if (!crap.initialize(argc, argv))
+ exit(0);
+ crap.run();
+ }
+ catch (gpstk::Exception &exc)
+ { cerr << exc << endl; }
+ catch (std::exception &exc)
+ { cerr << "Caught std::exception " << exc.what() << endl; }
+ catch (...)
+ { cerr << "Caught unknown exception" << endl; }
+}
diff --git a/dev/apps/swrx/normal.cpp b/dev/apps/swrx/normal.cpp
new file mode 100644
index 0000000..db155a5
--- /dev/null
+++ b/dev/apps/swrx/normal.cpp
@@ -0,0 +1,67 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include <stdlib.h>
+#include <math.h>
+
+#include "normal.hpp"
+
+const int log_two_of_sum_count=4; // Higher number means better approximation
+const double scaling_factor=sqrt(1<<log_two_of_sum_count)/((double)RAND_MAX*sqrt(1.0/12.0));
+
+double
+generate_normal_rv(void) {
+ /* Generate a (mean=0, var=1) Gaussian RV approximation using central limit theorem */
+ int i;
+ int accum=0;
+
+ for(i=0;i<(1<<log_two_of_sum_count);i++)
+ accum+=rand()>>log_two_of_sum_count;
+
+ return ((double)accum - (double)(RAND_MAX>>1))*scaling_factor;
+}
+
+
+#ifdef UNIT_TEST
+#include <stdlib.h>
+#include <stdio.h>
+
+int
+main(int argc, char *argv[]) {
+ int i;
+ double moment_1=0.0;
+ double moment_2=0.0;
+
+ for(i=0;i<100000;i++) {
+ double x=generate_normal_rv();
+ moment_1+=x;
+ moment_2+=x*x;
+ }
+
+ printf("1st moment: %lf (should be near 0.0)\n",moment_1/100000.0);
+ printf("2nd moment: %lf (should be near 1.0)\n",moment_2/100000.0);
+
+ return 0;
+}
+#endif
diff --git a/dev/apps/swrx/normal.hpp b/dev/apps/swrx/normal.hpp
new file mode 100644
index 0000000..96ba321
--- /dev/null
+++ b/dev/apps/swrx/normal.hpp
@@ -0,0 +1,28 @@
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#ifndef NORMAL_HPP
+#define NORMAL_HPP
+
+extern double generate_normal_rv();
+
+#endif
diff --git a/dev/apps/swrx/plot b/dev/apps/swrx/plot
new file mode 100755
index 0000000..801fd51
--- /dev/null
+++ b/dev/apps/swrx/plot
@@ -0,0 +1,161 @@
+#!/usr/bin/env python
+# $Id$
+
+##============================================================================
+##
+## This file is part of GPSTk, the GPS Toolkit.
+##
+## The GPSTk is free software; you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published
+## by the Free Software Foundation; either version 2.1 of the License, or
+## any later version.
+##
+## The GPSTk is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public
+## License along with GPSTk; if not, write to the Free Software Foundation,
+## Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+##
+## Copyright 2004, The University of Texas at Austin
+##
+##============================================================================
+
+import sys, string, time, datetime, numpy, matplotlib, pylab
+
+from optparse import OptionParser
+parser = OptionParser(usage="usage: %prog [options]\nA program to plot the output of the receiver simulator")
+parser.set_description
+parser.add_option("-d", "--debug", default=0, dest="debugLevel", action="count",
+ help="Increase the debugLevel")
+
+parser.add_option("-i", "--input", dest="inputFile", type="string", action="store",
+ help="Input data file, defaults to stdin.")
+
+parser.add_option("-t", "--title", dest="title", type="string", action="store",
+ help="Specify a title for the plot. Defaults ot the stream name.")
+
+parser.add_option("-s", "--save-figure", dest="saveFig", action="store", type="string",
+ help="Save the figure to the indicated file")
+
+parser.add_option("-l", "--line-style", dest="lineStyle", action="store", type="string",
+ help="Line style to use in the plots. See matplotlib docs.")
+
+parser.add_option("", "--height", dest="height", action="store", type="string",
+ help="Height of plot, in inches.")
+
+parser.add_option("-c", "--columns", dest="cols", action="append", type="string",
+ help="Specify what columns to plot.")
+
+parser.add_option("-x", "--x-col", dest="xcol", action="store", type="string",
+ help="Specify what column to use as the x axis. The default is 0 (time)")
+
+(options, args) = parser.parse_args()
+
+if len(args) and options.inputFile == None:
+ options.inputFile = args[0]
+
+inputFile = sys.stdin
+if (options.inputFile):
+ inputFile = open(options.inputFile)
+
+if (not options.lineStyle):
+ options.lineStyle = "-";
+
+if options.title == None:
+ options.title = inputFile.name
+
+cols = 0;
+data=[]
+labels=[]
+units=[]
+
+for line in inputFile:
+ line = line.strip()
+
+ if len(line)==0: continue
+
+ words=line.split()
+
+ if line[0] == "#":
+ if len(line) < 2:
+ continue
+ if line[1] == "h":
+ labels = [w for w in words[1:]]
+ if line[1] == "u":
+ units = [w for w in words[1:]]
+ continue
+
+ if cols == 0:
+ cols = len(words)
+ elif cols != len(words):
+ print "change in cols"
+ continue
+
+ row = [float(w) for w in words]
+ data.append(row)
+
+# A key handler for matplotlib
+def press(event):
+ if event.key=='q' or event.key==' ':
+ pylab.close()
+
+d2 = numpy.array(data)
+del data
+
+(rows,cols) = d2.shape
+if len(labels)<cols:
+ labels = ['time']
+ labels += ['%d'%c for c in xrange(1,cols)]
+
+if len(units)<cols:
+ units = ['' for c in xrange(0,cols)]
+else:
+ units = [' (%s)'%c for c in units]
+
+if not options.cols:
+ options.cols = labels;
+
+xcol=0
+if options.xcol:
+ if options.xcol in labels:
+ xcol = labels.index(options.xcol)
+ else:
+ xcol=int(options.xcol)
+
+if xcol < 0 or xcol > cols:
+ print "xcol out of range"
+
+time = d2[:,xcol]
+
+
+# Here we start generating the plots
+if options.height:
+ pylab.figure(figsize=(5.5,int(options.height)))
+pylab.connect('key_press_event', press)
+
+for c in xrange(1,cols):
+ if len(options.cols)==0 or labels[c] in options.cols:
+ pylab.plot(time, d2[:,c], options.lineStyle, label="%s%s"%(labels[c],units[c]))
+
+pylab.xlabel("%s%s"%(labels[xcol],units[xcol]))
+pylab.grid()
+
+pylab.legend(numpoints=2, pad=.1, labelsep=0.001,
+ handlelen=0.01, axespad=0.0, loc='upper left')
+leg = pylab.gca().get_legend()
+ltext = leg.get_texts()
+llines = leg.get_lines()
+lframe = leg.get_frame()
+lframe.set_facecolor('0.90')
+pylab.setp(ltext, size=8, family="sans-serif")
+pylab.setp(llines, linewidth=2)
+
+pylab.title(options.title, fontsize='small')
+
+if (options.saveFig == None):
+ pylab.show()
+else:
+ pylab.savefig(options.saveFig)
diff --git a/dev/apps/swrx/simpleNav.cpp b/dev/apps/swrx/simpleNav.cpp
new file mode 100644
index 0000000..38f0ff2
--- /dev/null
+++ b/dev/apps/swrx/simpleNav.cpp
@@ -0,0 +1,179 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/*
+The start of a program that takes correlation delays, a rough estimate of
+time, a rough estimate of receiver position, and an SV ephemeris. It then
+tries to estimate the pseudoranges from the correlation delays.
+*/
+
+#include <iostream>
+
+#include <DayTime.hpp>
+#include <CommandOption.hpp>
+#include <CommandOptionWithTimeArg.hpp>
+#include <CommandOptionParser.hpp>
+
+#include <BCEphemerisStore.hpp>
+#include <RinexNavStream.hpp>
+#include <RinexNavData.hpp>
+#include <TropModel.hpp>
+#include <IonoModel.hpp>
+#include <GPSGeoid.hpp>
+#include <PRSolution.hpp>
+
+using namespace gpstk;
+using namespace std;
+using namespace gpstk::StringUtils;
+
+int main(int argc, char *argv[])
+{
+ int verbosity = 1;
+ Triple antennaPos;
+
+ CommandOptionWithAnyArg
+ ephFileOption('e', "ephemeris", "Rinex Ephemeris data file name.", true);
+
+ CommandOptionNoArg
+ helpOption('h', "help", "Print usage. Repeat for more info. "),
+
+ verbosityOption('v', "verbosity", "Increase the verbosity level. The default is 0.");
+
+ CommandOptionWithAnyArg
+ antennaPosOption('p', "position", "Initial estimate of the antenna position in ECEF. Only needs to be good to the km level.");
+
+ CommandOptionWithTimeArg
+ timeOption('t', "time", "%m/%d/%Y %H:%M:%S",
+ "Time estimate for start of data (MM/DD/YYYY HH:MM:SS).");
+
+ string appDesc("Performs a simple nav solution from correlation delays.");
+ CommandOptionParser cop(appDesc);
+ cop.parseOptions(argc, argv);
+
+ if (helpOption.getCount() || cop.hasErrors())
+ {
+ if (cop.hasErrors() && helpOption.getCount()==0)
+ {
+ cop.dumpErrors(cout);
+ cout << "Use -h for help." << endl;
+ }
+ else
+ {
+ cop.displayUsage(cout);
+ }
+ exit(0);
+ }
+
+ if (verbosityOption.getCount())
+ verbosity = asInt(verbosityOption.getValue()[0]);
+
+
+ if (antennaPosOption.getCount())
+ {
+ string aps = antennaPosOption.getValue()[0];
+ if (numWords(aps) != 3)
+ {
+ cout << "Please specify three coordinates in the antenna postion." << endl;
+ exit(-1);
+ }
+ else
+ for (int i=0; i<3; i++)
+ antennaPos[i] = asDouble(word(aps, i));
+ }
+
+ BCEphemerisStore bce;
+ IonoModel iono;
+ for (int i=0; i < ephFileOption.getCount(); i++)
+ {
+ string fn = ephFileOption.getValue()[i];
+ RinexNavStream rns(fn.c_str(), ios::in);
+ rns.exceptions(ifstream::failbit);
+
+ RinexNavHeader hdr;
+ rns >> hdr;
+ iono = IonoModel(hdr.ionAlpha, hdr.ionBeta);
+
+ RinexNavData rnd;
+ while (rns >> rnd)
+ bce.addEphemeris(rnd);
+
+ if (verbosity)
+ cout << "Read " << fn << " as RINEX nav. " << endl;
+ }
+
+ if (verbosity>1)
+ cout << "Have ephemeris data from " << bce.getInitialTime()
+ << " through " << bce.getFinalTime() << endl;
+
+ DayTime time = timeOption.getTime()[0];
+ if (verbosity)
+ cout << "Initial time estimate: " << time << endl;
+
+ if (time < bce.getInitialTime() || time > bce.getFinalTime())
+ cout << "Warning: Initial time does not appear to be within the provided ephemeris data." << endl;
+
+
+ GPSGeoid gm;
+ ECEF ecef(antennaPos);
+ map<SatID, double> range;
+ vector<SatID> svVec;
+ vector<double> expVec, ionoVec;
+ for (int i=1; i<=32; i++)
+ {
+ SatID sv(i, SatID::systemGPS);
+ try
+ {
+ Xvt svpos = bce.getSatXvt(sv, time);
+ double el = antennaPos.elvAngle(svpos.x);
+ double az = antennaPos.azAngle(svpos.x);
+
+ double pr = svpos.preciseRho(ecef, gm, 0);
+ double ic = iono.getCorrection(time, ecef, el, az);
+
+ expVec.push_back(pr);
+ svVec.push_back(sv);
+ ionoVec.push_back(ic);
+ }
+ catch (Exception& e)
+ {}
+ }
+
+ // Replace this with the observed delays...
+ vector<double> obsVec(expVec);
+
+ try
+ {
+ GGTropModel gg;
+ gg.setWeather(20., 1000., 50.);
+ PRSolution prSolver;
+ prSolver.RMSLimit = 400;
+ prSolver.RAIMCompute(time, svVec, obsVec, bce, &gg);
+ Vector<double> sol = prSolver.Solution;
+ cout << "solution:" << fixed << sol << endl;
+ }
+ catch (Exception& e)
+ {
+ cout << "Caught exception:" << e << endl;
+ }
+}
diff --git a/dev/apps/swrx/tracker.cpp b/dev/apps/swrx/tracker.cpp
new file mode 100644
index 0000000..c570386
--- /dev/null
+++ b/dev/apps/swrx/tracker.cpp
@@ -0,0 +1,309 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/*
+ The first cut at an object-oriented receiver simulator. This is intended
+ to accept the output from gpsSim and produce neat stuff.
+*/
+
+#include <math.h>
+#include <complex>
+#include <iostream>
+#include <list>
+
+#include "BasicFramework.hpp"
+#include "CommandOption.hpp"
+#include "StringUtils.hpp"
+#include "icd_200_constants.hpp"
+
+#include "EMLTracker.hpp"
+#include "CCReplica.hpp"
+#include "CACodeGenerator.hpp"
+#include "PCodeGenerator.hpp"
+#include "complex_math.h"
+#include "IQStream.hpp"
+#include "NavFramer.hpp"
+
+using namespace gpstk;
+using namespace std;
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+class RxSim : public BasicFramework
+{
+public:
+ RxSim() throw();
+
+ bool initialize(int argc, char *argv[]) throw();
+
+protected:
+ virtual void process();
+
+private:
+ CCReplica* cc;
+ EMLTracker* tr;
+ int band;
+ double gain;
+ bool fakeL2;
+
+ double timeLimit;
+ IQStream *input;
+ unsigned iadMax;
+};
+
+
+//-----------------------------------------------------------------------------
+RxSim::RxSim() throw() :
+ BasicFramework("rxSim", "A simulation of a gps receiver."),
+ cc(NULL), tr(NULL), band(1), fakeL2(false), gain(1), timeLimit(9e99),
+ iadMax(20460)
+{}
+
+
+bool RxSim::initialize(int argc, char *argv[]) throw()
+{
+ using namespace gpstk::StringUtils;
+
+ CommandOptionWithAnyArg
+ codeOpt('c', "code",
+ "The code/carrier to track. ARG takes the form of "
+ "code:carrier:prn:offset:doppler. Code is either c or p. "
+ "Carrier is either 1 or 2. Prn is an integer between 1 and 32. "
+ "Offset is a number in us, Doppler is a number in Hz. Currently, "
+ "only one signal can be specified. For example, to track P code "
+ "on L2 for PRN 3, with no initial time or doppler offset, "
+ "specify -c p:2:3:0:0"),
+
+ dllAlphaOpt('\0', "dllAlpha",
+ "The gain on the phase update for the code tracker. The "
+ "default is 1e-5 chips/tick"),
+
+ dllBetaOpt('\0', "dllBeta",
+ "The gain on the frequency update for the code tracker. The "
+ "default is 1e-12 chips/tick"),
+
+ pllAlphaOpt('\0', "pllAlpha",
+ "The gain on the phase update for the carrier tracker. The "
+ "default is 0.4 cycles/tick"),
+
+ pllBetaOpt('\0', "pllBeta",
+ "The gain on the frequency update for the carrier tracker. "
+ "The default is 0.1 cycles / iad_period"),
+
+ quantizationOpt('q', "quantization",
+ "They quantization applied to the data. 1, 2 or f. "
+ "The default is f."),
+
+ gainOpt('g', "gain",
+ "Gain to apply to the if prior to digitization, in dB. Default is 0."),
+
+ timeLimitOpt('t', "time-limit",
+ "Limit the amount of data to process. Specify time in ms. Defaults to all data."),
+
+ inputOpt('i', "input",
+ "Where to get the IQ samples from. The default is to use stdin.");
+
+ CommandOptionWithNumberArg
+ bandsOpt('b', "bands",
+ "The number of complex samples per epoch. The default is 2.");
+
+ if (!BasicFramework::initialize(argc,argv))
+ return false;
+
+ // Basic tick of the reciever, assumed to also be the sample rate
+ const double timeStep = 1/20e6;
+
+ if (timeLimitOpt.getCount())
+ timeLimit = asDouble(timeLimitOpt.getValue()[0]) * 1e-3;
+
+ if (!codeOpt.getCount())
+ {
+ cout << "Must specify a code/carrier to track. Bye." << endl;
+ return false;
+ }
+
+ string val=codeOpt.getValue()[0];
+ const char delim(':');
+ if (numWords(val, delim) != 5)
+ {
+ cout << "Error in code parameter:" << val << endl;
+ return false;
+ }
+
+ string code = lowerCase(word(val, 0, delim));
+ band = asInt(word(val, 1, delim));
+ int prn = asInt(word(val, 2, delim));
+ double offset = asDouble(word(val, 3, delim)) * 1e-6;
+ double doppler = asDouble(word(val, 4, delim));
+
+ double interFreq;
+ switch (band)
+ {
+ case 1: interFreq = gpstk::L1_FREQ - 1575e6; break;
+ case 2: interFreq = gpstk::L2_FREQ - 1228e6; break;
+ default:
+ cout << "Unsupported band: " << band << endl;
+ return false;
+ }
+
+ CodeGenerator* codeGenPtr;
+ double chipFreq;
+ switch (code[0])
+ {
+ case 'c':
+ codeGenPtr = new CACodeGenerator(prn);
+ chipFreq = CA_CHIP_FREQ;
+ break;
+ case 'p':
+ codeGenPtr = new PCodeGenerator(prn);
+ chipFreq = PY_CHIP_FREQ;
+ break;
+ default:
+ cout << "Unsupported code: " << code << endl;
+ return false;
+ }
+
+ // Note that this object is responsible for destroying
+ // the codeGenPtr object
+ cc = new CCReplica(timeStep, chipFreq, interFreq, codeGenPtr);
+
+ double chips = offset / cc->codeChipLen;
+ cc->moveCodePhase(chips);
+
+ cc->setCodeFreqOffsetHz(doppler);
+ cc->setCarrierFreqOffsetHz(doppler);
+
+ double spacing = 0.5 * cc->codeChipLen;
+ if (spacing < timeStep)
+ spacing = timeStep;
+
+ tr = new EMLTracker(*cc, spacing);
+
+ if (dllAlphaOpt.getCount())
+ tr->dllAlpha = asDouble(dllAlphaOpt.getValue()[0]);
+
+ if (dllBetaOpt.getCount())
+ tr->dllBeta = asDouble(dllBetaOpt.getValue()[0]);
+
+ if (pllAlphaOpt.getCount())
+ tr->pllAlpha = asDouble(pllAlphaOpt.getValue()[0]);
+
+ if (pllBetaOpt.getCount())
+ tr->pllBeta = asDouble(pllBetaOpt.getValue()[0]);
+
+ tr->debugLevel = debugLevel;
+
+ char quantization='f';
+ if (quantizationOpt.getCount())
+ quantization = quantizationOpt.getValue()[0][0];
+
+ switch (quantization)
+ {
+ case '1': input = new IQ1Stream(); break;
+ case '2': input = new IQ2Stream(); break;
+ case 'f':
+ default: input = new IQFloatStream(); break;
+ }
+
+ if (inputOpt.getCount())
+ {
+ input->open(inputOpt.getValue()[0].c_str());
+ }
+ else
+ {
+ input->copyfmt(std::cin);
+ input->clear(std::cin.rdstate());
+ input->std::basic_ios<char>::rdbuf(std::cin.rdbuf());
+ input->filename = "<stdin>";
+ }
+
+ if (bandsOpt.getCount())
+ input->bands = asInt(bandsOpt.getValue()[0]);
+
+ if (gainOpt.getCount())
+ {
+ double gainDb = StringUtils::asDouble(gainOpt.getValue()[0]);
+ gain = exp10(gainDb/10);
+ }
+
+ if (verboseLevel)
+ {
+ cout << "# Taking input from " << input->filename
+ << " (" << input->bands << " samples/epoch)" << endl
+ << "# Rx gain level: " << gain << endl;
+ tr->dump(cout, 1);
+ }
+
+ return true;
+}
+
+
+//-----------------------------------------------------------------------------
+void RxSim::process()
+{
+ NavFramer nf;
+ nf.debugLevel = debugLevel;
+ nf.dump(cout);
+
+ complex<float> s;
+ int b=0;
+ while (*input >> s)
+ {
+ if (b == band-1 || input->bands==1)
+ {
+ s *= gain;
+ if (tr->process(s))
+ {
+ if (verboseLevel)
+ tr->dump(cout);
+ nf.process(*tr);
+ }
+ }
+ b++;
+ b %= input->bands;
+
+ if (cc->localTime > timeLimit)
+ break;
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+int main(int argc, char *argv[])
+{
+ try
+ {
+ RxSim crap;
+ if (!crap.initialize(argc, argv))
+ exit(0);
+ crap.run();
+ }
+ catch (gpstk::Exception &exc)
+ { cerr << exc << endl; }
+ catch (std::exception &exc)
+ { cerr << "Caught std::exception " << exc.what() << endl; }
+ catch (...)
+ { cerr << "Caught unknown exception" << endl; }
+}
diff --git a/dev/apps/time/Jamfile b/dev/apps/time/Jamfile
new file mode 100644
index 0000000..b386655
--- /dev/null
+++ b/dev/apps/time/Jamfile
@@ -0,0 +1,7 @@
+SubDir TOP apps time ;
+
+GPSLinkLibraries timeconvert calgps : gpstk ;
+BonkForte ; # bleah.
+
+GPSMain timeconvert : timeconvert.cpp ;
+GPSMain calgps : calgps.cpp ;
diff --git a/dev/apps/time/Makefile.am b/dev/apps/time/Makefile.am
new file mode 100644
index 0000000..4bc0e14
--- /dev/null
+++ b/dev/apps/time/Makefile.am
@@ -0,0 +1,8 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../src
+LDADD = ../../src/libgpstk.la
+
+bin_PROGRAMS = timeconvert calgps
+
+timeconvert_SOURCES = timeconvert.cpp
+calgps_SOURCES = calgps.cpp
diff --git a/dev/apps/time/README.txt b/dev/apps/time/README.txt
new file mode 100644
index 0000000..688a0c7
--- /dev/null
+++ b/dev/apps/time/README.txt
@@ -0,0 +1,94 @@
+Application: timcvt.exe
+Purpose: To convert time between different time specifications
+Usage: timcvt {option} "{time specification}"
+Help: timcvt -h
+Notes: 1) timcvt must be invoked from the command line.
+ 2) All years are 4 digits.
+ 3) Time specifications should be enclosed in quotes.
+
+Optional arguments:
+ -d, --debug Increase debug level
+ -v, --verbose Increase verbosity
+ -h, --help Print help usage
+ -c, --calendar=TIME "Month(numeric) DayOfMonth Year"
+ -r, --rinex=TIME "Month(numeric) DayOfMonth Year Hour:Minute:Second"
+ -R, --rinex-file=TIME "Year(2-digit) Month(numeric) DayOfMonth Hour Minute Second"
+ -y, --doy=TIME "Year DayOfYear SecondsOfDay"
+ -m, --mjd=TIME "ModifiedJulianDate"
+ -o, --shortweekandsow=TIME "10bitGPSweek SecondsOfWeek Year"
+ -z, --shortweekandzcounts=TIME "10bitGPSweek ZCounts Year"
+ -f, --fullweekandsow=TIME "FullGPSweek SecondsOfWeek"
+ -w, --fullweekandzcounts=TIME "FullGPSweek ZCounts"
+ -u, --unixtime=TIME "UnixSeconds UnixMicroseconds"
+ -Z, --fullZcounts=TIME "fullZcounts"
+ -F, --format=ARG Time format to use on output
+ -a, --add-offset=NUM add NUM seconds to specified time
+ -s, --sub-offset=NUM subtract NUM seconds from specified time
+
+Examples:
+c:\time> timcvt -y "2004 9 9"
+
+ Month/Day/Year 1/9/2004
+ Hour:Min:Sec 00:00:09
+ Modified Julian Date 53013.0001041666
+ GPSweek DayOfWeek SecOfWeek 228 5 432009.000000
+ FullGPSweek Zcount 1252 288006
+ Year DayOfYear SecondOfDay 2004 9 9.000000
+ Unix_sec Unix_usec 1073606409 0
+ FullZcount 119825670
+
+c:\time>timcvt -m "54327.65"
+
+ Month/Day/Year 8/15/2007
+ Hour:Min:Sec 15:36:00
+ Modified Julian Date 54327.6499999999
+ GPSweek DayOfWeek SecOfWeek 416 3 315360.000000
+ FullGPSweek Zcount 1440 210240
+ Year DayOfYear SecondOfDay 2007 227 56160.000000
+ Unix_sec Unix_usec 1187192160 0
+ FullZcount 218314048
+
+
+c:\time>timcvt -c "9 9 2004" -a 86510
+
+ Month/Day/Year 9/10/2004
+ Hour:Min:Sec 00:01:50
+ Modified Julian Date 53258.0012731482
+ GPSweek DayOfWeek SecOfWeek 263 5 432110.000000
+ FullGPSweek Zcount 1287 288074
+ Year DayOfYear SecondOfDay 2004 254 110.000000
+ Unix_sec Unix_usec 1094774510 0
+ FullZcount 138175818
+
+
+
+---------------------------------------------------------------
+
+Application: calgps (UNIX), calgps.exe (Windows)
+Purpose: To print a simple GPS calendar to the command line
+Usage: calgps (options)
+Help: calgps -h
+Notes: Calgps uses the system's current time to determine
+ which months to print.
+
+The program calgps behave much like the UNIX utility cal. It prints
+one month of Julian days and GPS week numbers. The user can also
+print a full year, either the current year or a given year.
+
+The arguments are:
+ -h, --help Display argument list.
+ -3, --three-months Display last, this and next months.
+ -y, --year Display all months for the current year
+ -Y, --specific-year=NUM Display all months for a given year
+
+Examples:
+
+c:\gpstk\apps\time\> calgps -3
+
+user at server:/home/user/gpstk/apps/time% ./calgps -Y 2004
+
+
+timcvt and calgps are provided as part of the GPSTk open source project (www.gpstk.org).
+GPSTk has been developed by Applied Research Laboratories, The University of
+Texas at Austin, and is released under the LGPL.
+
diff --git a/dev/apps/time/calgps.cpp b/dev/apps/time/calgps.cpp
new file mode 100644
index 0000000..f6683d3
--- /dev/null
+++ b/dev/apps/time/calgps.cpp
@@ -0,0 +1,150 @@
+#pragma ident "$Id$"
+
+#include <iostream>
+#include <iomanip>
+#include "CommonTime.hpp"
+#include "CivilTime.hpp"
+#include "GPSWeekSecond.hpp"
+#include "TimeConstants.hpp"
+#include "TimeString.hpp"
+#include "SystemTime.hpp"
+#include "CommandOptionParser.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+void printMonth(short month, short year)
+{
+ CivilTime ct(year, month, 1, 0, 0, 0.0);
+ CommonTime thisDay(ct);
+ GPSWeekSecond gws(thisDay);
+ int gpsweek = gws.week;
+ short dow = static_cast<long>(gws.sow) / SEC_PER_DAY;
+
+ cout << endl << ct.printf("%26b %4Y") << endl;
+
+ bool done = false;
+ do
+ {
+ cout << setw(4) << gpsweek << " ";
+ short thisDow=0;
+
+ while (thisDow < 7)
+ {
+ thisDay = GPSWeekSecond(gpsweek, thisDow*SEC_PER_DAY ).convertToCommonTime();
+ CivilTime ct(thisDay);
+ int thisMonth = ct.month;
+ if (thisMonth==month)
+ cout << printTime(thisDay, "%2d-%03j ");
+ else
+ cout << " ";
+
+ // Iterate
+ thisDow++;
+ }
+ cout << endl;
+
+ gpsweek++;
+ thisDay = GPSWeekSecond(gpsweek, 0.0).convertToCommonTime();
+ CivilTime ct(thisDay);
+
+ done = ( (ct.month > month) ||
+ (ct.year > year) );
+ } while (!done);
+
+ return;
+}
+
+int main(int argc, char* argv[])
+{
+
+ try {
+
+ CommandOptionNoArg helpOption('h',"help","Display argument list.",false);
+ CommandOptionNoArg threeOption('3',"three-months","Display last, this and next months.",false);
+ CommandOptionNoArg thisYearOption('y',"year","Display all months for the current year");
+ CommandOptionWithNumberArg givenYearOption('Y',"specific-year","Display all months for a given year");
+ CommandOptionParser cop("GPSTk GPS Calendar Generator");
+ cop.parseOptions(argc, argv);
+
+ if (cop.hasErrors())
+ {
+ cop.dumpErrors(cout);
+ cop.displayUsage(cout);
+ return 1;
+ }
+
+ if(helpOption.getCount())
+ {
+ cop.displayUsage(cout);
+ return 0;
+ }
+
+ // Default condition is to just print this month
+ SystemTime st;
+ CivilTime now(st);
+ int firstMonth = now.month;
+ int lastMonth = now.month;
+ int firstYear = now.year;
+ int lastYear = now.year;
+
+ if (thisYearOption.getCount())
+ {
+ firstMonth =1;
+ lastMonth =12;
+ }
+
+ if (givenYearOption.getCount())
+ {
+ firstMonth =1;
+ lastMonth =12;
+
+ firstYear = gpstk::StringUtils::asInt((givenYearOption.getValue())[0]);
+ lastYear = firstYear;
+
+ }
+
+ if (threeOption.getCount())
+ {
+ firstMonth--;
+ if (firstMonth==0)
+ {
+ firstMonth = 12;
+ firstYear--;
+ }
+
+ lastMonth++;
+ if (lastMonth==13)
+ {
+ lastMonth = 1;
+ lastYear++;
+ }
+ }
+
+ //cout << "first month " << firstMonth << " " << firstYear << endl;
+ //cout << "last month " << lastMonth << " " << lastYear << endl;
+
+ for (short m=firstMonth, y=firstYear;
+ (y<lastYear) || ((m<=lastMonth) && (y==lastYear));
+ m++)
+ {
+ if (m==13)
+ {
+ m=1;
+ y++;
+ }
+
+ printMonth(m, y);
+ }
+
+ cout << endl;
+
+ }
+ catch( Exception error)
+ {
+ cout << error << endl;
+ exit(-1);
+ }
+
+ exit(0);
+}
diff --git a/dev/apps/time/timeconvert.cpp b/dev/apps/time/timeconvert.cpp
new file mode 100644
index 0000000..18c1a3f
--- /dev/null
+++ b/dev/apps/time/timeconvert.cpp
@@ -0,0 +1,229 @@
+//lgpl-license START
+//lgpl-license END
+
+//dod-release-statement START
+//dod-release-statement END
+
+#include "BasicFramework.hpp"
+
+#include "TimeString.hpp"
+#include "TimeConstants.hpp"
+
+#include "ANSITime.hpp"
+#include "CivilTime.hpp"
+#include "GPSEpochWeekSecond.hpp"
+#include "GPSWeekSecond.hpp"
+#include "GPSWeekZcount.hpp"
+#include "GPSZcount29.hpp"
+#include "GPSZcount32.hpp"
+#include "JulianDate.hpp"
+#include "MJD.hpp"
+#include "UnixTime.hpp"
+#include "YDSTime.hpp"
+#include "SystemTime.hpp"
+
+#include "CommandOptionWithCommonTimeArg.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+class TimCvt : public BasicFramework
+{
+public:
+ TimCvt(char* arg0);
+
+protected:
+ virtual void process();
+
+private:
+ CommandOptionWithCommonTimeArg ANSITimeOption;
+ CommandOptionWithCommonTimeArg CivilTimeOption;
+ CommandOptionWithCommonTimeArg RinexFileTimeOption;
+ CommandOptionWithCommonTimeArg GPSEWSOption;
+ CommandOptionWithCommonTimeArg GPSWSOption;
+ CommandOptionWithCommonTimeArg GPSWZOption;
+ CommandOptionWithCommonTimeArg GPSZ29Option;
+ CommandOptionWithCommonTimeArg GPSZ32Option;
+ CommandOptionWithCommonTimeArg JDOption;
+ CommandOptionWithCommonTimeArg MJDOption;
+ CommandOptionWithCommonTimeArg UnixTimeOption;
+ CommandOptionWithCommonTimeArg YDSTimeOption;
+
+ CommandOptionWithAnyArg inputFormatOption;
+ CommandOptionWithAnyArg inputTimeOption;
+ CommandOptionAllOf inputFormatAndTimeOption;
+
+ CommandOptionWithAnyArg formatOption;
+ CommandOptionWithNumberArg addOption;
+ CommandOptionWithNumberArg subOption;
+ CommandOptionMutex mutexOption;
+
+ string stringToParse;
+ string timeSpec;
+};
+
+TimCvt::TimCvt(char* arg0)
+ : BasicFramework(arg0, "Converts from a given input time specification"
+ " to other time formats. Include the quotation marks."
+ " All year values are four digit years."),
+ ANSITimeOption('A', "ansi", "%K", "\"ANSI-Second\""),
+ CivilTimeOption('c', "civil", "%m %d %Y %H:%M:%f",
+ "\"Month(numeric) DayOfMonth Year Hour:Minute:Second\""),
+ RinexFileTimeOption('R', "rinex-file", "%y %m %d %H %M %S",
+ "\"Year(2-digit) Month(numeric) DayOfMonth Hour Minute Second\""),
+ GPSEWSOption('o', "ews", "%E %G %g",
+ "\"GPSEpoch 10bitGPSweek SecondOfWeek\""),
+ GPSWSOption('f', "ws", "%F %g", "\"FullGPSWeek SecondOfWeek\""),
+ GPSWZOption('w', "wz", "%F %Z", "\"FullGPSWeek Zcount\""),
+ GPSZ29Option(0, "z29", "%E %c", "\"29bitZcount\""),
+ GPSZ32Option('Z', "z32", "%C", "\"32bitZcount\""),
+ JDOption('j', "julian", "%J", "\"JulianDate\""),
+ MJDOption('m', "mjd", "%Q", "\"ModifiedJulianDate\""),
+ UnixTimeOption('u',"unixtime", "%U %u",
+ "\"UnixSeconds UnixMicroseconds\""),
+ YDSTimeOption('y', "doy", "%Y %j %s",
+ "\"Year DayOfYear SecondsOfDay\""),
+ inputFormatOption(0, "input-format", "Time format to use on input"),
+ inputTimeOption(0, "input-time",
+ "Time to be parsed by \"input-format\" option"),
+ formatOption('F', "format", "Time format to use on output"),
+ addOption('a', "add-offset", "add NUM seconds to specified time"),
+ subOption('s', "sub-offset",
+ "subtract NUM seconds from specified time")
+{
+ ANSITimeOption.setMaxCount(1);
+ CivilTimeOption.setMaxCount(1);
+ RinexFileTimeOption.setMaxCount(1);
+ GPSEWSOption.setMaxCount(1);
+ GPSWSOption.setMaxCount(1);
+ GPSWZOption.setMaxCount(1);
+ GPSZ29Option.setMaxCount(1);
+ GPSZ32Option.setMaxCount(1);
+ JDOption.setMaxCount(1);
+ MJDOption.setMaxCount(1);
+ UnixTimeOption.setMaxCount(1);
+ YDSTimeOption.setMaxCount(1);
+ formatOption.setMaxCount(1);
+
+ inputFormatOption.setMaxCount(1);
+ inputTimeOption.setMaxCount(1);
+ inputFormatAndTimeOption.addOption(&inputFormatOption);
+ inputFormatAndTimeOption.addOption(&inputTimeOption);
+
+ mutexOption.addOption(&ANSITimeOption);
+ mutexOption.addOption(&CivilTimeOption);
+ mutexOption.addOption(&RinexFileTimeOption);
+ mutexOption.addOption(&GPSEWSOption);
+ mutexOption.addOption(&GPSWSOption);
+ mutexOption.addOption(&GPSWZOption);
+ mutexOption.addOption(&GPSZ29Option);
+ mutexOption.addOption(&GPSZ32Option);
+ mutexOption.addOption(&JDOption);
+ mutexOption.addOption(&MJDOption);
+ mutexOption.addOption(&UnixTimeOption);
+ mutexOption.addOption(&YDSTimeOption);
+ mutexOption.addOption(&inputFormatAndTimeOption);
+}
+
+void TimCvt::process()
+{
+ CommonTime ct;
+ CommandOption *whichOpt = mutexOption.whichOne();
+
+ if (whichOpt)
+ {
+ CommandOptionWithCommonTimeArg *cta =
+ dynamic_cast<CommandOptionWithCommonTimeArg *>(whichOpt);
+ if (cta)
+ {
+ ct = cta->getTime().front();
+ }
+ else // whichOpt == &inputFormatAndTimeOption
+ {
+ mixedScanTime( ct,
+ inputTimeOption.getValue().front(),
+ inputFormatOption.getValue().front() );
+ }
+ }
+ else
+ {
+ ct = SystemTime();
+ }
+
+ int i;
+ int addOptions = addOption.getCount();
+ int subOptions = subOption.getCount();
+ for (i = 0; i < addOptions; i++)
+ ct += StringUtils::asDouble(addOption.getValue()[i]);
+ for (i = 0; i < subOptions; i++)
+ ct -= StringUtils::asDouble(subOption.getValue()[i]);
+
+ if (formatOption.getCount())
+ {
+ cout << printTime(ct, formatOption.getValue()[0]) << endl;
+ }
+ else
+ {
+ using StringUtils::leftJustify;
+ string eight(8, ' '); // eight spaces
+
+ CivilTime civ(ct);
+
+ cout << endl
+ << eight << leftJustify("Month/Day/Year", 32)
+ << civ.printf("%m/%d/%Y") << endl
+
+ << eight << leftJustify("Hour:Min:Sec", 32)
+ << civ.printf("%02H:%02M:%02S") << endl
+
+ << eight << leftJustify("Modified Julian Date", 32)
+ << setprecision(15) << MJD(ct) << endl
+
+ << eight << leftJustify("GPSweek DayOfWeek SecOfWeek", 32)
+ << GPSEpochWeekSecond(ct).printf("%G %w %g") << endl
+
+ << eight << leftJustify("FullGPSweek Zcount", 32)
+ << GPSWeekZcount(ct).printf("%F %z") << endl
+
+ << eight << leftJustify("Year DayOfYear SecondOfDay", 32)
+ << YDSTime(ct).printf("%Y %j %s") << endl
+
+ << eight << leftJustify("Unix_sec Unix_usec", 32)
+ << UnixTime(ct).printf("%U %u") << endl
+
+ << eight << leftJustify("Zcount: 29-bit (32-bit)", 32)
+ << GPSZcount29(ct).printf("%c")
+ << GPSZcount32(ct).printf(" (%C)") << endl
+
+ << endl << endl;
+ }
+
+ return;
+}
+
+int main(int argc, char* argv[])
+{
+ try
+ {
+ TimCvt tc(argv[0]);
+ if (!tc.initialize(argc, argv))
+ return 0;
+ if (!tc.run())
+ return 1;
+
+ return 0;
+ }
+ catch(Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(exception& e)
+ {
+ cout << e.what() << endl;
+ }
+ catch(...)
+ {
+ cout << "unknown error" << endl;
+ }
+ return 0;
+}
diff --git a/dev/apps/visibility/Jamfile b/dev/apps/visibility/Jamfile
new file mode 100644
index 0000000..f158f5c
--- /dev/null
+++ b/dev/apps/visibility/Jamfile
@@ -0,0 +1,13 @@
+SubDir TOP apps visibility ;
+
+GPSLinkLibraries wheresat : rxio gpstk ;
+BonkForte ;
+
+GPSMain wheresat : WhereSat.cpp ;
+
+GPSLinkLibraries findMoreThan12 : rxio gpstk ;
+BonkForte ;
+
+GPSMain findMoreThan12 : findMoreThan12.cpp ;
+
+
diff --git a/dev/apps/visibility/Makefile.am b/dev/apps/visibility/Makefile.am
new file mode 100644
index 0000000..f7342c0
--- /dev/null
+++ b/dev/apps/visibility/Makefile.am
@@ -0,0 +1,8 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../src -I$(srcdir)/../../lib/rxio
+LDADD = ../../src/libgpstk.la ../../lib/rxio/librxio.la
+
+bin_PROGRAMS = wheresat findMoreThan12
+
+wheresat_SOURCES = WhereSat.cpp
+findMoreThan12_SOURCES = findMoreThan12.cpp
diff --git a/trunk/apps/visibility/UsingWhereSat.doc b/dev/apps/visibility/UsingWhereSat.doc
similarity index 100%
rename from trunk/apps/visibility/UsingWhereSat.doc
rename to dev/apps/visibility/UsingWhereSat.doc
diff --git a/dev/apps/visibility/WhereSat.cpp b/dev/apps/visibility/WhereSat.cpp
new file mode 100644
index 0000000..903c74c
--- /dev/null
+++ b/dev/apps/visibility/WhereSat.cpp
@@ -0,0 +1,286 @@
+#pragma ident "$Id$"
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+//
+// Computes SV position (Earth-fixed) and SV clock
+// correction. If given a user position, computes
+// azimuth, elevation and range to SV.
+//
+
+#include <iostream>
+#include <iomanip>
+#include <fstream>
+
+#include "DayTime.hpp"
+#include "CommandOption.hpp"
+#include "CommandOptionParser.hpp"
+#include "WGS84Geoid.hpp"
+#include "EphReader.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+
+int main(int argc, char *argv[])
+{
+ CommandOptionNoArg
+ helpOption('h',"help", "Print help usage.");
+
+ CommandOptionWithAnyArg
+ ephFiles('e',"eph-files","Ephemeris source file(s). Can be RINEX nav, SP3, or FIC.",true),
+ PositionOption('u',"position","Antenna position in ECEF (x,y,z) coordinates. Format as a string: "
+ "\"X Y Z\". Used to give user-centered data (SV range, azimuth & elevation)."),
+ StartTimeOption('s',"start","Starting time for analysis. Format as string: \"MO/DD/YYYY HH:MM:SS\"."
+ " If no start time is specified, the default is end of file."),
+ EndTimeOption('f',"end", "End time for analysis. Format as string: \"MO/DD/YYYY HH:MM:SS\". If no"
+ " end time is specified, the default is beginning of file."),
+ MatlabOption('o',"output-filename", "Filename for results to be output in MATLAB suitable file.");
+
+ CommandOptionWithNumberArg
+ MyPrnOption('p',"prn","Which SV to analyze.",true),
+ TimeIncrementOption('t',"time","Time increment for ephemeris calculation. Enter increment in "
+ "seconds. Default is 900 (15 min).");
+
+ CommandOptionParser cop("Computes the ephemeris data for a single prn.");
+ cop.parseOptions(argc, argv);
+
+ if (helpOption.getCount())
+ {
+ cop.displayUsage(cout);
+ exit(0);
+ }
+
+ if (cop.hasErrors())
+ {
+ cop.dumpErrors(cout);
+ cop.displayUsage(cout);
+ exit(0);
+ }
+
+ short myprn = StringUtils::asInt((MyPrnOption.getValue())[0]);
+ if ((myprn > gpstk::MAX_PRN) || (myprn < 1))
+ {
+ cerr << "Enter a valid PRN number.\n\n";
+ exit(0);
+ }
+
+ std::ofstream ofs;
+ if (MatlabOption.getCount())
+ {
+ const string fn=MatlabOption.getValue()[0];
+ ofs.open(fn.c_str(), ios::out);
+ if (PositionOption.getCount())
+ ofs << "#10-bit GPS week, GPS seconds of week,X,Y,Z(m),Clock Corr.(sec), azimuth (deg), "
+ << "elevation (deg), range (m)" << endl;
+ }
+ else
+ ofs << "#10-bit GPS week, GPS seconds of week,X,Y,Z(m),Clock Corr.(sec)" << endl;
+
+ int incr=900;
+ if (TimeIncrementOption.getCount())
+ incr = gpstk::StringUtils::asInt((TimeIncrementOption.getValue())[0]);
+
+ Xvt ANTPVT;
+ if (PositionOption.getCount())
+ {
+ double x, y, z;
+ sscanf(PositionOption.getValue().front().c_str(),"%lf %lf %lf", &x, &y, &z);
+ ANTPVT.x[0] = x; ANTPVT.x[1] = y; ANTPVT.x[2] = z;
+ cout << endl << endl << setw(20) << left << " Antenna Position: " << ANTPVT.x[0]
+ << " " << ANTPVT.x[1] << " " << ANTPVT.x[2] << endl;
+ }
+
+ // get the ephemeris source(s)
+ EphReader ephReader;
+ for (int i=0; i<ephFiles.getCount(); i++)
+ ephReader.read(ephFiles.getValue()[i]);
+
+ gpstk::EphemerisStore& ephStore = *ephReader.eph;
+
+ DayTime tStart,tEnd;
+ if (StartTimeOption.getCount())
+ {
+ double ss;
+ int mm,dd,yy,hh,minu;
+ sscanf(StartTimeOption.getValue().front().c_str(), "%i/%i/%i %i:%i:%lf",&mm,&dd,&yy,&hh,&minu,&ss);
+ tStart.setYMDHMS((short)yy, (short)mm, (short)dd, (short)hh, (short)minu, (double)ss);
+ }
+ else
+ {
+ DayTime tFile(ephStore.getInitialTime()); //extra code b/c sscanf reads in int's but setYMDHMS needs shorts
+ short year = tFile.year();
+ short month = tFile.month();
+ short day = tFile.day();
+ short hour = tFile.hour();
+ short minute = tFile.minute();
+ double ss = tFile.second();
+ tStart.setYMDHMS(year,month,day,hour,minute,ss);
+ }
+
+ if (EndTimeOption.getCount())
+ {
+ double ss;
+ int mm,dd,yy,hh,minu;
+ sscanf(EndTimeOption.getValue().front().c_str(), "%i/%i/%i %i:%i:%lf",&mm,&dd,&yy,&hh,&minu,&ss);
+ tEnd.setYMDHMS((short)yy, (short)mm, (short)dd, (short)hh, (short)minu, (double)ss);
+ }
+ else
+ {
+ DayTime tFile(ephStore.getFinalTime()); //extra code b/c sscanf reads in int's but setYMDHMS needs shorts
+ short year = tFile.year();
+ short month = tFile.month();
+ short day = tFile.day();
+ short hour = tFile.hour();
+ short minute = tFile.minute();
+ double ss = tFile.second();
+ tEnd.setYMDHMS(year,month,day,hour,minute,ss);
+ }
+
+ cout << setw(20) << left << " Start Time: "
+ << tStart << endl;
+ cout << setw(20) << left << " End Time: "
+ << tEnd << endl;
+ cout << setw(20) << left << " PRN: "
+ << myprn << endl << endl;
+ cout << " Prn " << myprn
+ << " Earth-fixed position and clock information:"
+ << endl << endl;
+ cout << setw(20) << left << " Date Time(UTC) "
+ << setw(20) << " X (meters)"
+ << setw(20) << " Y (meters)"
+ << setw(20) << " Z (meters)"
+ << setw(20) << " Clock Correc (s)"
+ << endl;
+ cout << setw(98) << setfill('=') << " =" << endl;
+ cout.width(0);
+ cout.fill(' ');
+
+ DayTime t = tStart;
+
+ SatID sat(myprn,SatID::systemGPS);
+
+ int count = 0;
+ while (t < tEnd)
+ {
+ try
+ {
+ Xvt BCPVT = ephStore.getSatXvt(sat, t);
+ cout << " " << left << setw(20) << t
+ << fixed
+ << " " << left << setw(20) << BCPVT.x[0]
+ << " " << left << setw(20) << BCPVT.x[1]
+ << " " << left << setw(20) << BCPVT.x[2]
+ << " " << left << setw(20) << BCPVT.dtime << endl;
+ count++;
+ }
+ catch (gpstk::EphemerisStore::NoEphemerisFound& e) { ; }
+ t += incr;
+ }
+ if (PositionOption.getCount())
+ {
+ ECEF rxPos = Triple(ANTPVT.x);
+ cout << endl << endl;
+ cout << " Data for user reference frame:" << endl << endl;;
+ cout << setw(20) << left << " Date Time(UTC) "
+ << setw(15) << " Azimuth"
+ << setw(15) << " Elevation"
+ << setw(15) << " Range to SV (m)"
+ << endl;
+ cout << setw(70) << setfill('=') << " =" << endl;
+ cout.width(0);
+ cout.fill(' ');
+ t = tStart;
+
+ while (t < tEnd)
+ {
+ try
+ {
+ Xvt BCPVT = ephStore.getSatXvt(sat, t);
+ WGS84Geoid geoid;
+ double correction = (BCPVT.dtime) * (geoid.c());
+ cout << fixed
+ << " " << left << setw(20) <<t
+ << " " << left << setw(15) << ANTPVT.x.azAngle(BCPVT.x)
+ << " " << left << setw(15) << ANTPVT.x.elvAngle(BCPVT.x)
+ << " " << left << setw(15) << BCPVT.preciseRho(rxPos, geoid, correction)
+ << endl;
+ }
+ catch (gpstk::Exception& e) {;}
+ t += incr;
+ }
+ }
+
+ if (MatlabOption.getCount())
+ {
+ t = tStart;
+ while (t < tEnd)
+ {
+ try
+ {
+ Xvt BCPVT = ephStore.getSatXvt(sat, t);
+ WGS84Geoid geoid;
+ double correction = (BCPVT.dtime) * (geoid.c());
+
+ ofs << fixed
+ << left << setw(6) <<t.GPSfullweek()
+ << " " << left << setw(8) << t.GPSsecond()
+ << " " << left << setw(20) << BCPVT.x[0]
+ << " " << left << setw(20) << BCPVT.x[1]
+ << " " << left << setw(20) << BCPVT.x[2]
+ << " " << left << setw(10) << BCPVT.dtime;
+ if (PositionOption.getCount())
+ {
+ ofs << fixed
+ << " " << left << setw(15) << ANTPVT.x.azAngle(BCPVT.x)
+ << " " << left << setw(15) << ANTPVT.x.elvAngle(BCPVT.x)
+ << " " << left << setw(15) << BCPVT.preciseRho(Triple(ANTPVT.x), geoid, correction);
+ }
+ ofs << endl;
+ }
+ catch (gpstk::Exception& e) { ; }
+ t += incr;
+ }
+ }
+
+ if (count==0) { cout << endl << endl << " No epochs for prn " << myprn << "!" << endl << endl; }
+ else { cout << endl << " Calculated " << count << " increments for prn " << myprn << " ." << endl<< endl << endl; }
+
+ ofs.close();
+ exit(0);
+
+}
+
diff --git a/dev/apps/visibility/findMoreThan12.cpp b/dev/apps/visibility/findMoreThan12.cpp
new file mode 100644
index 0000000..637c866
--- /dev/null
+++ b/dev/apps/visibility/findMoreThan12.cpp
@@ -0,0 +1,189 @@
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <iostream>
+#include <iomanip>
+
+#include "DayTime.hpp"
+#include "CommandOption.hpp"
+#include "CommandOptionParser.hpp"
+#include "EphReader.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+int main(int argc, char *argv[])
+{
+ CommandOptionNoArg
+ helpOption('h',"help", "Print help usage."),
+ verboseOption('v',"verbose","Increase verbosity.");
+
+ CommandOptionWithAnyArg
+ ephFiles('e',"eph-files","Ephemeris source file(s). Can be RINEX nav, SP3, or FIC.",true),
+ antennaPosition('p',"position","Antenna position in ECEF (x,y,z) coordinates. Format as a string: \"X Y Z\".",true);
+
+ CommandOptionWithNumberArg
+ minElev('m',"min-elev","Give an integer for the elevation (degrees) above which you want to find more than 12 SVs at a given time.", true);
+
+ CommandOptionParser cop("Find when there are simultaneously more than 12 SVs above a given elevation.");
+ cop.parseOptions(argc, argv);
+
+ // verify that the correct input was given
+ if (helpOption.getCount())
+ {
+ cop.displayUsage(cout);
+ exit(0);
+ }
+
+ if (cop.hasErrors())
+ {
+ cop.dumpErrors(cout);
+ cop.displayUsage(cout);
+ exit(0);
+ }
+
+ // output intermediate info?
+ bool verbose = false;
+ if (verboseOption.getCount()) { verbose = true; }
+
+ // get the minimum elevation
+ int minEl = gpstk::StringUtils::asInt((minElev.getValue())[0]);
+ if (minEl < 0 )
+ {
+ cout << "Please enter a positive elevation. " << endl;
+ exit(0);
+ }
+
+ // get the ephemeris source(s)
+ EphReader ephReader;
+ ephReader.verboseLevel = verbose;
+ for (int i=0; i<ephFiles.getCount(); i++)
+ ephReader.read(ephFiles.getValue()[i]);
+
+ gpstk::EphemerisStore& ephStore = *ephReader.eph;
+
+ // get the antenna position
+ Xvt antPVT;
+ double x,y,z;
+ sscanf(antennaPosition.getValue().front().c_str(),"%lf %lf %lf", &x, &y, &z);
+ antPVT.x[0] = x; antPVT.x[1] = y; antPVT.x[2] = z;
+ ECEF antPos = Triple(antPVT.x);
+
+ // get initial and final times for analysis. extra code b/c sscanf reads in int's but setYMDHMS needs shorts
+ short year, month, day, hour, minute;
+ double seconds;
+
+ DayTime tStartDT = ephStore.getInitialTime();
+ year = tStartDT.year();
+ month = tStartDT.month();
+ day = tStartDT.day();
+ hour = tStartDT.hour();
+ minute = tStartDT.minute();
+ seconds = tStartDT.second();
+ DayTime tstart;
+ tstart.setYMDHMS(year,month,day,hour,minute,seconds);
+
+ DayTime tEndDT = ephStore.getFinalTime();
+ year = tEndDT.year();
+ month = tEndDT.month();
+ day = tEndDT.day();
+ hour = tEndDT.hour();
+ minute = tEndDT.minute();
+ seconds = tEndDT.second();
+ DayTime tend;
+ tend.setYMDHMS(year,month,day,hour,minute,seconds);
+
+ DayTime t = tstart;
+
+ cout << "Start Time: " << tstart << " End Time: " << tend << endl;
+
+ while (t < tend)
+ {
+ short numSVsAboveElv = 0;
+ short prn = 1;
+ while (prn <= gpstk::MAX_PRN)
+ {
+ Xvt peXVT;
+ bool NoEph = false;
+ try
+ {
+ peXVT = ephStore.getPrnXvt(prn,t);
+ }
+ catch(gpstk::Exception& e)
+ {
+ if (verbose) {cout << e << endl;}
+ NoEph = true;
+ }
+ double elvAngle = 0;
+ if (!NoEph)
+ {
+ try {elvAngle = antPVT.x.elvAngle(peXVT.x);}
+ catch(gpstk::Exception& e) {if (verbose) {cout << e << endl;}}
+ if ( elvAngle > minEl ) { numSVsAboveElv++; }
+ }
+ prn++;
+ }
+ if (numSVsAboveElv > 12)
+ {
+ cout << "Found " << numSVsAboveElv << " SVs above " << minEl << " degrees at " << t << endl;
+ prn = 1;
+ while (prn < gpstk::MAX_PRN)
+ {
+ bool NoEph = false;
+ Xvt peXVT;
+ try
+ {
+ peXVT = ephStore.getPrnXvt(prn,t);
+ }
+ catch(gpstk::Exception& e) {NoEph = true;}
+ double elvAngle = 0;
+ if (!NoEph)
+ {
+ try {elvAngle = antPVT.x.elvAngle(peXVT.x);}
+ catch(gpstk::Exception& e) {if (verbose) {cout << e << endl;}}
+ if ( elvAngle > 0 ) { cout << t << " - PRN " << prn << " at " << elvAngle << " degrees elevation. " << endl; }
+ }
+ prn++;
+ }
+ }
+ t += 10;
+ }
+ exit(0);
+}
+
+
+
+
diff --git a/dev/autogen.sh b/dev/autogen.sh
new file mode 100755
index 0000000..5b41a09
--- /dev/null
+++ b/dev/autogen.sh
@@ -0,0 +1,7 @@
+#!/bin/sh
+
+export AUTOCONF_VERSION=2.60
+export AUTOMAKE_VERSION=1.9
+
+autoreconf
+
diff --git a/dev/config.guess b/dev/config.guess
new file mode 100755
index 0000000..892833f
--- /dev/null
+++ b/dev/config.guess
@@ -0,0 +1,1459 @@
+#! /bin/sh
+# Attempt to guess a canonical system name.
+# Copyright (C) 1992, 1993, 1994, 1995, 1996, 1997, 1998, 1999,
+# 2000, 2001, 2002, 2003, 2004, 2005 Free Software Foundation, Inc.
+
+timestamp='2005-02-10'
+
+# This file is free software; you can redistribute it and/or modify it
+# under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful, but
+# WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+# General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+#
+# As a special exception to the GNU General Public License, if you
+# distribute this file as part of a program that contains a
+# configuration script generated by Autoconf, you may include it under
+# the same distribution terms that you use for the rest of that program.
+
+# Originally written by Per Bothner <per at bothner.com>.
+# Please send patches to <config-patches at gnu.org>. Submit a context
+# diff and a properly formatted ChangeLog entry.
+#
+# This script attempts to guess a canonical system name similar to
+# config.sub. If it succeeds, it prints the system name on stdout, and
+# exits with 0. Otherwise, it exits with 1.
+#
+# The plan is that this can be called by configure scripts if you
+# don't specify an explicit build system type.
+
+me=`echo "$0" | sed -e 's,.*/,,'`
+
+usage="\
+Usage: $0 [OPTION]
+
+Output the configuration name of the system \`$me' is run on.
+
+Operation modes:
+ -h, --help print this help, then exit
+ -t, --time-stamp print date of last modification, then exit
+ -v, --version print version number, then exit
+
+Report bugs and patches to <config-patches at gnu.org>."
+
+version="\
+GNU config.guess ($timestamp)
+
+Originally written by Per Bothner.
+Copyright (C) 1992, 1993, 1994, 1995, 1996, 1997, 1998, 1999, 2000, 2001, 2002, 2003, 2004, 2005
+Free Software Foundation, Inc.
+
+This is free software; see the source for copying conditions. There is NO
+warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE."
+
+help="
+Try \`$me --help' for more information."
+
+# Parse command line
+while test $# -gt 0 ; do
+ case $1 in
+ --time-stamp | --time* | -t )
+ echo "$timestamp" ; exit 0 ;;
+ --version | -v )
+ echo "$version" ; exit 0 ;;
+ --help | --h* | -h )
+ echo "$usage"; exit 0 ;;
+ -- ) # Stop option processing
+ shift; break ;;
+ - ) # Use stdin as input.
+ break ;;
+ -* )
+ echo "$me: invalid option $1$help" >&2
+ exit 1 ;;
+ * )
+ break ;;
+ esac
+done
+
+if test $# != 0; then
+ echo "$me: too many arguments$help" >&2
+ exit 1
+fi
+
+trap 'exit 1' 1 2 15
+
+# CC_FOR_BUILD -- compiler used by this script. Note that the use of a
+# compiler to aid in system detection is discouraged as it requires
+# temporary files to be created and, as you can see below, it is a
+# headache to deal with in a portable fashion.
+
+# Historically, `CC_FOR_BUILD' used to be named `HOST_CC'. We still
+# use `HOST_CC' if defined, but it is deprecated.
+
+# Portable tmp directory creation inspired by the Autoconf team.
+
+set_cc_for_build='
+trap "exitcode=\$?; (rm -f \$tmpfiles 2>/dev/null; rmdir \$tmp 2>/dev/null) && exit \$exitcode" 0 ;
+trap "rm -f \$tmpfiles 2>/dev/null; rmdir \$tmp 2>/dev/null; exit 1" 1 2 13 15 ;
+: ${TMPDIR=/tmp} ;
+ { tmp=`(umask 077 && mktemp -d -q "$TMPDIR/cgXXXXXX") 2>/dev/null` && test -n "$tmp" && test -d "$tmp" ; } ||
+ { test -n "$RANDOM" && tmp=$TMPDIR/cg$$-$RANDOM && (umask 077 && mkdir $tmp) ; } ||
+ { tmp=$TMPDIR/cg-$$ && (umask 077 && mkdir $tmp) && echo "Warning: creating insecure temp directory" >&2 ; } ||
+ { echo "$me: cannot create a temporary directory in $TMPDIR" >&2 ; exit 1 ; } ;
+dummy=$tmp/dummy ;
+tmpfiles="$dummy.c $dummy.o $dummy.rel $dummy" ;
+case $CC_FOR_BUILD,$HOST_CC,$CC in
+ ,,) echo "int x;" > $dummy.c ;
+ for c in cc gcc c89 c99 ; do
+ if ($c -c -o $dummy.o $dummy.c) >/dev/null 2>&1 ; then
+ CC_FOR_BUILD="$c"; break ;
+ fi ;
+ done ;
+ if test x"$CC_FOR_BUILD" = x ; then
+ CC_FOR_BUILD=no_compiler_found ;
+ fi
+ ;;
+ ,,*) CC_FOR_BUILD=$CC ;;
+ ,*,*) CC_FOR_BUILD=$HOST_CC ;;
+esac ;'
+
+# This is needed to find uname on a Pyramid OSx when run in the BSD universe.
+# (ghazi at noc.rutgers.edu 1994-08-24)
+if (test -f /.attbin/uname) >/dev/null 2>&1 ; then
+ PATH=$PATH:/.attbin ; export PATH
+fi
+
+UNAME_MACHINE=`(uname -m) 2>/dev/null` || UNAME_MACHINE=unknown
+UNAME_RELEASE=`(uname -r) 2>/dev/null` || UNAME_RELEASE=unknown
+UNAME_SYSTEM=`(uname -s) 2>/dev/null` || UNAME_SYSTEM=unknown
+UNAME_VERSION=`(uname -v) 2>/dev/null` || UNAME_VERSION=unknown
+
+# Note: order is significant - the case branches are not exclusive.
+
+case "${UNAME_MACHINE}:${UNAME_SYSTEM}:${UNAME_RELEASE}:${UNAME_VERSION}" in
+ *:NetBSD:*:*)
+ # NetBSD (nbsd) targets should (where applicable) match one or
+ # more of the tupples: *-*-netbsdelf*, *-*-netbsdaout*,
+ # *-*-netbsdecoff* and *-*-netbsd*. For targets that recently
+ # switched to ELF, *-*-netbsd* would select the old
+ # object file format. This provides both forward
+ # compatibility and a consistent mechanism for selecting the
+ # object file format.
+ #
+ # Note: NetBSD doesn't particularly care about the vendor
+ # portion of the name. We always set it to "unknown".
+ sysctl="sysctl -n hw.machine_arch"
+ UNAME_MACHINE_ARCH=`(/sbin/$sysctl 2>/dev/null || \
+ /usr/sbin/$sysctl 2>/dev/null || echo unknown)`
+ case "${UNAME_MACHINE_ARCH}" in
+ armeb) machine=armeb-unknown ;;
+ arm*) machine=arm-unknown ;;
+ sh3el) machine=shl-unknown ;;
+ sh3eb) machine=sh-unknown ;;
+ *) machine=${UNAME_MACHINE_ARCH}-unknown ;;
+ esac
+ # The Operating System including object format, if it has switched
+ # to ELF recently, or will in the future.
+ case "${UNAME_MACHINE_ARCH}" in
+ arm*|i386|m68k|ns32k|sh3*|sparc|vax)
+ eval $set_cc_for_build
+ if echo __ELF__ | $CC_FOR_BUILD -E - 2>/dev/null \
+ | grep __ELF__ >/dev/null
+ then
+ # Once all utilities can be ECOFF (netbsdecoff) or a.out (netbsdaout).
+ # Return netbsd for either. FIX?
+ os=netbsd
+ else
+ os=netbsdelf
+ fi
+ ;;
+ *)
+ os=netbsd
+ ;;
+ esac
+ # The OS release
+ # Debian GNU/NetBSD machines have a different userland, and
+ # thus, need a distinct triplet. However, they do not need
+ # kernel version information, so it can be replaced with a
+ # suitable tag, in the style of linux-gnu.
+ case "${UNAME_VERSION}" in
+ Debian*)
+ release='-gnu'
+ ;;
+ *)
+ release=`echo ${UNAME_RELEASE}|sed -e 's/[-_].*/\./'`
+ ;;
+ esac
+ # Since CPU_TYPE-MANUFACTURER-KERNEL-OPERATING_SYSTEM:
+ # contains redundant information, the shorter form:
+ # CPU_TYPE-MANUFACTURER-OPERATING_SYSTEM is used.
+ echo "${machine}-${os}${release}"
+ exit 0 ;;
+ amd64:OpenBSD:*:*)
+ echo x86_64-unknown-openbsd${UNAME_RELEASE}
+ exit 0 ;;
+ amiga:OpenBSD:*:*)
+ echo m68k-unknown-openbsd${UNAME_RELEASE}
+ exit 0 ;;
+ cats:OpenBSD:*:*)
+ echo arm-unknown-openbsd${UNAME_RELEASE}
+ exit 0 ;;
+ hp300:OpenBSD:*:*)
+ echo m68k-unknown-openbsd${UNAME_RELEASE}
+ exit 0 ;;
+ luna88k:OpenBSD:*:*)
+ echo m88k-unknown-openbsd${UNAME_RELEASE}
+ exit 0 ;;
+ mac68k:OpenBSD:*:*)
+ echo m68k-unknown-openbsd${UNAME_RELEASE}
+ exit 0 ;;
+ macppc:OpenBSD:*:*)
+ echo powerpc-unknown-openbsd${UNAME_RELEASE}
+ exit 0 ;;
+ mvme68k:OpenBSD:*:*)
+ echo m68k-unknown-openbsd${UNAME_RELEASE}
+ exit 0 ;;
+ mvme88k:OpenBSD:*:*)
+ echo m88k-unknown-openbsd${UNAME_RELEASE}
+ exit 0 ;;
+ mvmeppc:OpenBSD:*:*)
+ echo powerpc-unknown-openbsd${UNAME_RELEASE}
+ exit 0 ;;
+ sgi:OpenBSD:*:*)
+ echo mips64-unknown-openbsd${UNAME_RELEASE}
+ exit 0 ;;
+ sun3:OpenBSD:*:*)
+ echo m68k-unknown-openbsd${UNAME_RELEASE}
+ exit 0 ;;
+ *:OpenBSD:*:*)
+ echo ${UNAME_MACHINE}-unknown-openbsd${UNAME_RELEASE}
+ exit 0 ;;
+ *:ekkoBSD:*:*)
+ echo ${UNAME_MACHINE}-unknown-ekkobsd${UNAME_RELEASE}
+ exit 0 ;;
+ macppc:MirBSD:*:*)
+ echo powerppc-unknown-mirbsd${UNAME_RELEASE}
+ exit 0 ;;
+ *:MirBSD:*:*)
+ echo ${UNAME_MACHINE}-unknown-mirbsd${UNAME_RELEASE}
+ exit 0 ;;
+ alpha:OSF1:*:*)
+ case $UNAME_RELEASE in
+ *4.0)
+ UNAME_RELEASE=`/usr/sbin/sizer -v | awk '{print $3}'`
+ ;;
+ *5.*)
+ UNAME_RELEASE=`/usr/sbin/sizer -v | awk '{print $4}'`
+ ;;
+ esac
+ # According to Compaq, /usr/sbin/psrinfo has been available on
+ # OSF/1 and Tru64 systems produced since 1995. I hope that
+ # covers most systems running today. This code pipes the CPU
+ # types through head -n 1, so we only detect the type of CPU 0.
+ ALPHA_CPU_TYPE=`/usr/sbin/psrinfo -v | sed -n -e 's/^ The alpha \(.*\) processor.*$/\1/p' | head -n 1`
+ case "$ALPHA_CPU_TYPE" in
+ "EV4 (21064)")
+ UNAME_MACHINE="alpha" ;;
+ "EV4.5 (21064)")
+ UNAME_MACHINE="alpha" ;;
+ "LCA4 (21066/21068)")
+ UNAME_MACHINE="alpha" ;;
+ "EV5 (21164)")
+ UNAME_MACHINE="alphaev5" ;;
+ "EV5.6 (21164A)")
+ UNAME_MACHINE="alphaev56" ;;
+ "EV5.6 (21164PC)")
+ UNAME_MACHINE="alphapca56" ;;
+ "EV5.7 (21164PC)")
+ UNAME_MACHINE="alphapca57" ;;
+ "EV6 (21264)")
+ UNAME_MACHINE="alphaev6" ;;
+ "EV6.7 (21264A)")
+ UNAME_MACHINE="alphaev67" ;;
+ "EV6.8CB (21264C)")
+ UNAME_MACHINE="alphaev68" ;;
+ "EV6.8AL (21264B)")
+ UNAME_MACHINE="alphaev68" ;;
+ "EV6.8CX (21264D)")
+ UNAME_MACHINE="alphaev68" ;;
+ "EV6.9A (21264/EV69A)")
+ UNAME_MACHINE="alphaev69" ;;
+ "EV7 (21364)")
+ UNAME_MACHINE="alphaev7" ;;
+ "EV7.9 (21364A)")
+ UNAME_MACHINE="alphaev79" ;;
+ esac
+ # A Pn.n version is a patched version.
+ # A Vn.n version is a released version.
+ # A Tn.n version is a released field test version.
+ # A Xn.n version is an unreleased experimental baselevel.
+ # 1.2 uses "1.2" for uname -r.
+ echo ${UNAME_MACHINE}-dec-osf`echo ${UNAME_RELEASE} | sed -e 's/^[PVTX]//' | tr 'ABCDEFGHIJKLMNOPQRSTUVWXYZ' 'abcdefghijklmnopqrstuvwxyz'`
+ exit 0 ;;
+ Alpha\ *:Windows_NT*:*)
+ # How do we know it's Interix rather than the generic POSIX subsystem?
+ # Should we change UNAME_MACHINE based on the output of uname instead
+ # of the specific Alpha model?
+ echo alpha-pc-interix
+ exit 0 ;;
+ 21064:Windows_NT:50:3)
+ echo alpha-dec-winnt3.5
+ exit 0 ;;
+ Amiga*:UNIX_System_V:4.0:*)
+ echo m68k-unknown-sysv4
+ exit 0;;
+ *:[Aa]miga[Oo][Ss]:*:*)
+ echo ${UNAME_MACHINE}-unknown-amigaos
+ exit 0 ;;
+ *:[Mm]orph[Oo][Ss]:*:*)
+ echo ${UNAME_MACHINE}-unknown-morphos
+ exit 0 ;;
+ *:OS/390:*:*)
+ echo i370-ibm-openedition
+ exit 0 ;;
+ *:z/VM:*:*)
+ echo s390-ibm-zvmoe
+ exit 0 ;;
+ *:OS400:*:*)
+ echo powerpc-ibm-os400
+ exit 0 ;;
+ arm:RISC*:1.[012]*:*|arm:riscix:1.[012]*:*)
+ echo arm-acorn-riscix${UNAME_RELEASE}
+ exit 0;;
+ SR2?01:HI-UX/MPP:*:* | SR8000:HI-UX/MPP:*:*)
+ echo hppa1.1-hitachi-hiuxmpp
+ exit 0;;
+ Pyramid*:OSx*:*:* | MIS*:OSx*:*:* | MIS*:SMP_DC-OSx*:*:*)
+ # akee at wpdis03.wpafb.af.mil (Earle F. Ake) contributed MIS and NILE.
+ if test "`(/bin/universe) 2>/dev/null`" = att ; then
+ echo pyramid-pyramid-sysv3
+ else
+ echo pyramid-pyramid-bsd
+ fi
+ exit 0 ;;
+ NILE*:*:*:dcosx)
+ echo pyramid-pyramid-svr4
+ exit 0 ;;
+ DRS?6000:unix:4.0:6*)
+ echo sparc-icl-nx6
+ exit 0 ;;
+ DRS?6000:UNIX_SV:4.2*:7* | DRS?6000:isis:4.2*:7*)
+ case `/usr/bin/uname -p` in
+ sparc) echo sparc-icl-nx7 && exit 0 ;;
+ esac ;;
+ sun4H:SunOS:5.*:*)
+ echo sparc-hal-solaris2`echo ${UNAME_RELEASE}|sed -e 's/[^.]*//'`
+ exit 0 ;;
+ sun4*:SunOS:5.*:* | tadpole*:SunOS:5.*:*)
+ echo sparc-sun-solaris2`echo ${UNAME_RELEASE}|sed -e 's/[^.]*//'`
+ exit 0 ;;
+ i86pc:SunOS:5.*:*)
+ echo i386-pc-solaris2`echo ${UNAME_RELEASE}|sed -e 's/[^.]*//'`
+ exit 0 ;;
+ sun4*:SunOS:6*:*)
+ # According to config.sub, this is the proper way to canonicalize
+ # SunOS6. Hard to guess exactly what SunOS6 will be like, but
+ # it's likely to be more like Solaris than SunOS4.
+ echo sparc-sun-solaris3`echo ${UNAME_RELEASE}|sed -e 's/[^.]*//'`
+ exit 0 ;;
+ sun4*:SunOS:*:*)
+ case "`/usr/bin/arch -k`" in
+ Series*|S4*)
+ UNAME_RELEASE=`uname -v`
+ ;;
+ esac
+ # Japanese Language versions have a version number like `4.1.3-JL'.
+ echo sparc-sun-sunos`echo ${UNAME_RELEASE}|sed -e 's/-/_/'`
+ exit 0 ;;
+ sun3*:SunOS:*:*)
+ echo m68k-sun-sunos${UNAME_RELEASE}
+ exit 0 ;;
+ sun*:*:4.2BSD:*)
+ UNAME_RELEASE=`(sed 1q /etc/motd | awk '{print substr($5,1,3)}') 2>/dev/null`
+ test "x${UNAME_RELEASE}" = "x" && UNAME_RELEASE=3
+ case "`/bin/arch`" in
+ sun3)
+ echo m68k-sun-sunos${UNAME_RELEASE}
+ ;;
+ sun4)
+ echo sparc-sun-sunos${UNAME_RELEASE}
+ ;;
+ esac
+ exit 0 ;;
+ aushp:SunOS:*:*)
+ echo sparc-auspex-sunos${UNAME_RELEASE}
+ exit 0 ;;
+ # The situation for MiNT is a little confusing. The machine name
+ # can be virtually everything (everything which is not
+ # "atarist" or "atariste" at least should have a processor
+ # > m68000). The system name ranges from "MiNT" over "FreeMiNT"
+ # to the lowercase version "mint" (or "freemint"). Finally
+ # the system name "TOS" denotes a system which is actually not
+ # MiNT. But MiNT is downward compatible to TOS, so this should
+ # be no problem.
+ atarist[e]:*MiNT:*:* | atarist[e]:*mint:*:* | atarist[e]:*TOS:*:*)
+ echo m68k-atari-mint${UNAME_RELEASE}
+ exit 0 ;;
+ atari*:*MiNT:*:* | atari*:*mint:*:* | atarist[e]:*TOS:*:*)
+ echo m68k-atari-mint${UNAME_RELEASE}
+ exit 0 ;;
+ *falcon*:*MiNT:*:* | *falcon*:*mint:*:* | *falcon*:*TOS:*:*)
+ echo m68k-atari-mint${UNAME_RELEASE}
+ exit 0 ;;
+ milan*:*MiNT:*:* | milan*:*mint:*:* | *milan*:*TOS:*:*)
+ echo m68k-milan-mint${UNAME_RELEASE}
+ exit 0 ;;
+ hades*:*MiNT:*:* | hades*:*mint:*:* | *hades*:*TOS:*:*)
+ echo m68k-hades-mint${UNAME_RELEASE}
+ exit 0 ;;
+ *:*MiNT:*:* | *:*mint:*:* | *:*TOS:*:*)
+ echo m68k-unknown-mint${UNAME_RELEASE}
+ exit 0 ;;
+ m68k:machten:*:*)
+ echo m68k-apple-machten${UNAME_RELEASE}
+ exit 0 ;;
+ powerpc:machten:*:*)
+ echo powerpc-apple-machten${UNAME_RELEASE}
+ exit 0 ;;
+ RISC*:Mach:*:*)
+ echo mips-dec-mach_bsd4.3
+ exit 0 ;;
+ RISC*:ULTRIX:*:*)
+ echo mips-dec-ultrix${UNAME_RELEASE}
+ exit 0 ;;
+ VAX*:ULTRIX*:*:*)
+ echo vax-dec-ultrix${UNAME_RELEASE}
+ exit 0 ;;
+ 2020:CLIX:*:* | 2430:CLIX:*:*)
+ echo clipper-intergraph-clix${UNAME_RELEASE}
+ exit 0 ;;
+ mips:*:*:UMIPS | mips:*:*:RISCos)
+ eval $set_cc_for_build
+ sed 's/^ //' << EOF >$dummy.c
+#ifdef __cplusplus
+#include <stdio.h> /* for printf() prototype */
+ int main (int argc, char *argv[]) {
+#else
+ int main (argc, argv) int argc; char *argv[]; {
+#endif
+ #if defined (host_mips) && defined (MIPSEB)
+ #if defined (SYSTYPE_SYSV)
+ printf ("mips-mips-riscos%ssysv\n", argv[1]); exit (0);
+ #endif
+ #if defined (SYSTYPE_SVR4)
+ printf ("mips-mips-riscos%ssvr4\n", argv[1]); exit (0);
+ #endif
+ #if defined (SYSTYPE_BSD43) || defined(SYSTYPE_BSD)
+ printf ("mips-mips-riscos%sbsd\n", argv[1]); exit (0);
+ #endif
+ #endif
+ exit (-1);
+ }
+EOF
+ $CC_FOR_BUILD -o $dummy $dummy.c \
+ && $dummy `echo "${UNAME_RELEASE}" | sed -n 's/\([0-9]*\).*/\1/p'` \
+ && exit 0
+ echo mips-mips-riscos${UNAME_RELEASE}
+ exit 0 ;;
+ Motorola:PowerMAX_OS:*:*)
+ echo powerpc-motorola-powermax
+ exit 0 ;;
+ Motorola:*:4.3:PL8-*)
+ echo powerpc-harris-powermax
+ exit 0 ;;
+ Night_Hawk:*:*:PowerMAX_OS | Synergy:PowerMAX_OS:*:*)
+ echo powerpc-harris-powermax
+ exit 0 ;;
+ Night_Hawk:Power_UNIX:*:*)
+ echo powerpc-harris-powerunix
+ exit 0 ;;
+ m88k:CX/UX:7*:*)
+ echo m88k-harris-cxux7
+ exit 0 ;;
+ m88k:*:4*:R4*)
+ echo m88k-motorola-sysv4
+ exit 0 ;;
+ m88k:*:3*:R3*)
+ echo m88k-motorola-sysv3
+ exit 0 ;;
+ AViiON:dgux:*:*)
+ # DG/UX returns AViiON for all architectures
+ UNAME_PROCESSOR=`/usr/bin/uname -p`
+ if [ $UNAME_PROCESSOR = mc88100 ] || [ $UNAME_PROCESSOR = mc88110 ]
+ then
+ if [ ${TARGET_BINARY_INTERFACE}x = m88kdguxelfx ] || \
+ [ ${TARGET_BINARY_INTERFACE}x = x ]
+ then
+ echo m88k-dg-dgux${UNAME_RELEASE}
+ else
+ echo m88k-dg-dguxbcs${UNAME_RELEASE}
+ fi
+ else
+ echo i586-dg-dgux${UNAME_RELEASE}
+ fi
+ exit 0 ;;
+ M88*:DolphinOS:*:*) # DolphinOS (SVR3)
+ echo m88k-dolphin-sysv3
+ exit 0 ;;
+ M88*:*:R3*:*)
+ # Delta 88k system running SVR3
+ echo m88k-motorola-sysv3
+ exit 0 ;;
+ XD88*:*:*:*) # Tektronix XD88 system running UTekV (SVR3)
+ echo m88k-tektronix-sysv3
+ exit 0 ;;
+ Tek43[0-9][0-9]:UTek:*:*) # Tektronix 4300 system running UTek (BSD)
+ echo m68k-tektronix-bsd
+ exit 0 ;;
+ *:IRIX*:*:*)
+ echo mips-sgi-irix`echo ${UNAME_RELEASE}|sed -e 's/-/_/g'`
+ exit 0 ;;
+ ????????:AIX?:[12].1:2) # AIX 2.2.1 or AIX 2.1.1 is RT/PC AIX.
+ echo romp-ibm-aix # uname -m gives an 8 hex-code CPU id
+ exit 0 ;; # Note that: echo "'`uname -s`'" gives 'AIX '
+ i*86:AIX:*:*)
+ echo i386-ibm-aix
+ exit 0 ;;
+ ia64:AIX:*:*)
+ if [ -x /usr/bin/oslevel ] ; then
+ IBM_REV=`/usr/bin/oslevel`
+ else
+ IBM_REV=${UNAME_VERSION}.${UNAME_RELEASE}
+ fi
+ echo ${UNAME_MACHINE}-ibm-aix${IBM_REV}
+ exit 0 ;;
+ *:AIX:2:3)
+ if grep bos325 /usr/include/stdio.h >/dev/null 2>&1; then
+ eval $set_cc_for_build
+ sed 's/^ //' << EOF >$dummy.c
+ #include <sys/systemcfg.h>
+
+ main()
+ {
+ if (!__power_pc())
+ exit(1);
+ puts("powerpc-ibm-aix3.2.5");
+ exit(0);
+ }
+EOF
+ $CC_FOR_BUILD -o $dummy $dummy.c && $dummy && exit 0
+ echo rs6000-ibm-aix3.2.5
+ elif grep bos324 /usr/include/stdio.h >/dev/null 2>&1; then
+ echo rs6000-ibm-aix3.2.4
+ else
+ echo rs6000-ibm-aix3.2
+ fi
+ exit 0 ;;
+ *:AIX:*:[45])
+ IBM_CPU_ID=`/usr/sbin/lsdev -C -c processor -S available | sed 1q | awk '{ print $1 }'`
+ if /usr/sbin/lsattr -El ${IBM_CPU_ID} | grep ' POWER' >/dev/null 2>&1; then
+ IBM_ARCH=rs6000
+ else
+ IBM_ARCH=powerpc
+ fi
+ if [ -x /usr/bin/oslevel ] ; then
+ IBM_REV=`/usr/bin/oslevel`
+ else
+ IBM_REV=${UNAME_VERSION}.${UNAME_RELEASE}
+ fi
+ echo ${IBM_ARCH}-ibm-aix${IBM_REV}
+ exit 0 ;;
+ *:AIX:*:*)
+ echo rs6000-ibm-aix
+ exit 0 ;;
+ ibmrt:4.4BSD:*|romp-ibm:BSD:*)
+ echo romp-ibm-bsd4.4
+ exit 0 ;;
+ ibmrt:*BSD:*|romp-ibm:BSD:*) # covers RT/PC BSD and
+ echo romp-ibm-bsd${UNAME_RELEASE} # 4.3 with uname added to
+ exit 0 ;; # report: romp-ibm BSD 4.3
+ *:BOSX:*:*)
+ echo rs6000-bull-bosx
+ exit 0 ;;
+ DPX/2?00:B.O.S.:*:*)
+ echo m68k-bull-sysv3
+ exit 0 ;;
+ 9000/[34]??:4.3bsd:1.*:*)
+ echo m68k-hp-bsd
+ exit 0 ;;
+ hp300:4.4BSD:*:* | 9000/[34]??:4.3bsd:2.*:*)
+ echo m68k-hp-bsd4.4
+ exit 0 ;;
+ 9000/[34678]??:HP-UX:*:*)
+ HPUX_REV=`echo ${UNAME_RELEASE}|sed -e 's/[^.]*.[0B]*//'`
+ case "${UNAME_MACHINE}" in
+ 9000/31? ) HP_ARCH=m68000 ;;
+ 9000/[34]?? ) HP_ARCH=m68k ;;
+ 9000/[678][0-9][0-9])
+ if [ -x /usr/bin/getconf ]; then
+ sc_cpu_version=`/usr/bin/getconf SC_CPU_VERSION 2>/dev/null`
+ sc_kernel_bits=`/usr/bin/getconf SC_KERNEL_BITS 2>/dev/null`
+ case "${sc_cpu_version}" in
+ 523) HP_ARCH="hppa1.0" ;; # CPU_PA_RISC1_0
+ 528) HP_ARCH="hppa1.1" ;; # CPU_PA_RISC1_1
+ 532) # CPU_PA_RISC2_0
+ case "${sc_kernel_bits}" in
+ 32) HP_ARCH="hppa2.0n" ;;
+ 64) HP_ARCH="hppa2.0w" ;;
+ '') HP_ARCH="hppa2.0" ;; # HP-UX 10.20
+ esac ;;
+ esac
+ fi
+ if [ "${HP_ARCH}" = "" ]; then
+ eval $set_cc_for_build
+ sed 's/^ //' << EOF >$dummy.c
+
+ #define _HPUX_SOURCE
+ #include <stdlib.h>
+ #include <unistd.h>
+
+ int main ()
+ {
+ #if defined(_SC_KERNEL_BITS)
+ long bits = sysconf(_SC_KERNEL_BITS);
+ #endif
+ long cpu = sysconf (_SC_CPU_VERSION);
+
+ switch (cpu)
+ {
+ case CPU_PA_RISC1_0: puts ("hppa1.0"); break;
+ case CPU_PA_RISC1_1: puts ("hppa1.1"); break;
+ case CPU_PA_RISC2_0:
+ #if defined(_SC_KERNEL_BITS)
+ switch (bits)
+ {
+ case 64: puts ("hppa2.0w"); break;
+ case 32: puts ("hppa2.0n"); break;
+ default: puts ("hppa2.0"); break;
+ } break;
+ #else /* !defined(_SC_KERNEL_BITS) */
+ puts ("hppa2.0"); break;
+ #endif
+ default: puts ("hppa1.0"); break;
+ }
+ exit (0);
+ }
+EOF
+ (CCOPTS= $CC_FOR_BUILD -o $dummy $dummy.c 2>/dev/null) && HP_ARCH=`$dummy`
+ test -z "$HP_ARCH" && HP_ARCH=hppa
+ fi ;;
+ esac
+ if [ ${HP_ARCH} = "hppa2.0w" ]
+ then
+ # avoid double evaluation of $set_cc_for_build
+ test -n "$CC_FOR_BUILD" || eval $set_cc_for_build
+ if echo __LP64__ | (CCOPTS= $CC_FOR_BUILD -E -) | grep __LP64__ >/dev/null
+ then
+ HP_ARCH="hppa2.0w"
+ else
+ HP_ARCH="hppa64"
+ fi
+ fi
+ echo ${HP_ARCH}-hp-hpux${HPUX_REV}
+ exit 0 ;;
+ ia64:HP-UX:*:*)
+ HPUX_REV=`echo ${UNAME_RELEASE}|sed -e 's/[^.]*.[0B]*//'`
+ echo ia64-hp-hpux${HPUX_REV}
+ exit 0 ;;
+ 3050*:HI-UX:*:*)
+ eval $set_cc_for_build
+ sed 's/^ //' << EOF >$dummy.c
+ #include <unistd.h>
+ int
+ main ()
+ {
+ long cpu = sysconf (_SC_CPU_VERSION);
+ /* The order matters, because CPU_IS_HP_MC68K erroneously returns
+ true for CPU_PA_RISC1_0. CPU_IS_PA_RISC returns correct
+ results, however. */
+ if (CPU_IS_PA_RISC (cpu))
+ {
+ switch (cpu)
+ {
+ case CPU_PA_RISC1_0: puts ("hppa1.0-hitachi-hiuxwe2"); break;
+ case CPU_PA_RISC1_1: puts ("hppa1.1-hitachi-hiuxwe2"); break;
+ case CPU_PA_RISC2_0: puts ("hppa2.0-hitachi-hiuxwe2"); break;
+ default: puts ("hppa-hitachi-hiuxwe2"); break;
+ }
+ }
+ else if (CPU_IS_HP_MC68K (cpu))
+ puts ("m68k-hitachi-hiuxwe2");
+ else puts ("unknown-hitachi-hiuxwe2");
+ exit (0);
+ }
+EOF
+ $CC_FOR_BUILD -o $dummy $dummy.c && $dummy && exit 0
+ echo unknown-hitachi-hiuxwe2
+ exit 0 ;;
+ 9000/7??:4.3bsd:*:* | 9000/8?[79]:4.3bsd:*:* )
+ echo hppa1.1-hp-bsd
+ exit 0 ;;
+ 9000/8??:4.3bsd:*:*)
+ echo hppa1.0-hp-bsd
+ exit 0 ;;
+ *9??*:MPE/iX:*:* | *3000*:MPE/iX:*:*)
+ echo hppa1.0-hp-mpeix
+ exit 0 ;;
+ hp7??:OSF1:*:* | hp8?[79]:OSF1:*:* )
+ echo hppa1.1-hp-osf
+ exit 0 ;;
+ hp8??:OSF1:*:*)
+ echo hppa1.0-hp-osf
+ exit 0 ;;
+ i*86:OSF1:*:*)
+ if [ -x /usr/sbin/sysversion ] ; then
+ echo ${UNAME_MACHINE}-unknown-osf1mk
+ else
+ echo ${UNAME_MACHINE}-unknown-osf1
+ fi
+ exit 0 ;;
+ parisc*:Lites*:*:*)
+ echo hppa1.1-hp-lites
+ exit 0 ;;
+ C1*:ConvexOS:*:* | convex:ConvexOS:C1*:*)
+ echo c1-convex-bsd
+ exit 0 ;;
+ C2*:ConvexOS:*:* | convex:ConvexOS:C2*:*)
+ if getsysinfo -f scalar_acc
+ then echo c32-convex-bsd
+ else echo c2-convex-bsd
+ fi
+ exit 0 ;;
+ C34*:ConvexOS:*:* | convex:ConvexOS:C34*:*)
+ echo c34-convex-bsd
+ exit 0 ;;
+ C38*:ConvexOS:*:* | convex:ConvexOS:C38*:*)
+ echo c38-convex-bsd
+ exit 0 ;;
+ C4*:ConvexOS:*:* | convex:ConvexOS:C4*:*)
+ echo c4-convex-bsd
+ exit 0 ;;
+ CRAY*Y-MP:*:*:*)
+ echo ymp-cray-unicos${UNAME_RELEASE} | sed -e 's/\.[^.]*$/.X/'
+ exit 0 ;;
+ CRAY*[A-Z]90:*:*:*)
+ echo ${UNAME_MACHINE}-cray-unicos${UNAME_RELEASE} \
+ | sed -e 's/CRAY.*\([A-Z]90\)/\1/' \
+ -e y/ABCDEFGHIJKLMNOPQRSTUVWXYZ/abcdefghijklmnopqrstuvwxyz/ \
+ -e 's/\.[^.]*$/.X/'
+ exit 0 ;;
+ CRAY*TS:*:*:*)
+ echo t90-cray-unicos${UNAME_RELEASE} | sed -e 's/\.[^.]*$/.X/'
+ exit 0 ;;
+ CRAY*T3E:*:*:*)
+ echo alphaev5-cray-unicosmk${UNAME_RELEASE} | sed -e 's/\.[^.]*$/.X/'
+ exit 0 ;;
+ CRAY*SV1:*:*:*)
+ echo sv1-cray-unicos${UNAME_RELEASE} | sed -e 's/\.[^.]*$/.X/'
+ exit 0 ;;
+ *:UNICOS/mp:*:*)
+ echo craynv-cray-unicosmp${UNAME_RELEASE} | sed -e 's/\.[^.]*$/.X/'
+ exit 0 ;;
+ F30[01]:UNIX_System_V:*:* | F700:UNIX_System_V:*:*)
+ FUJITSU_PROC=`uname -m | tr 'ABCDEFGHIJKLMNOPQRSTUVWXYZ' 'abcdefghijklmnopqrstuvwxyz'`
+ FUJITSU_SYS=`uname -p | tr 'ABCDEFGHIJKLMNOPQRSTUVWXYZ' 'abcdefghijklmnopqrstuvwxyz' | sed -e 's/\///'`
+ FUJITSU_REL=`echo ${UNAME_RELEASE} | sed -e 's/ /_/'`
+ echo "${FUJITSU_PROC}-fujitsu-${FUJITSU_SYS}${FUJITSU_REL}"
+ exit 0 ;;
+ 5000:UNIX_System_V:4.*:*)
+ FUJITSU_SYS=`uname -p | tr 'ABCDEFGHIJKLMNOPQRSTUVWXYZ' 'abcdefghijklmnopqrstuvwxyz' | sed -e 's/\///'`
+ FUJITSU_REL=`echo ${UNAME_RELEASE} | tr 'ABCDEFGHIJKLMNOPQRSTUVWXYZ' 'abcdefghijklmnopqrstuvwxyz' | sed -e 's/ /_/'`
+ echo "sparc-fujitsu-${FUJITSU_SYS}${FUJITSU_REL}"
+ exit 0 ;;
+ i*86:BSD/386:*:* | i*86:BSD/OS:*:* | *:Ascend\ Embedded/OS:*:*)
+ echo ${UNAME_MACHINE}-pc-bsdi${UNAME_RELEASE}
+ exit 0 ;;
+ sparc*:BSD/OS:*:*)
+ echo sparc-unknown-bsdi${UNAME_RELEASE}
+ exit 0 ;;
+ *:BSD/OS:*:*)
+ echo ${UNAME_MACHINE}-unknown-bsdi${UNAME_RELEASE}
+ exit 0 ;;
+ *:FreeBSD:*:*)
+ echo ${UNAME_MACHINE}-unknown-freebsd`echo ${UNAME_RELEASE}|sed -e 's/[-(].*//'`
+ exit 0 ;;
+ i*:CYGWIN*:*)
+ echo ${UNAME_MACHINE}-pc-cygwin
+ exit 0 ;;
+ i*:MINGW*:*)
+ echo ${UNAME_MACHINE}-pc-mingw32
+ exit 0 ;;
+ i*:PW*:*)
+ echo ${UNAME_MACHINE}-pc-pw32
+ exit 0 ;;
+ x86:Interix*:[34]*)
+ echo i586-pc-interix${UNAME_RELEASE}|sed -e 's/\..*//'
+ exit 0 ;;
+ [345]86:Windows_95:* | [345]86:Windows_98:* | [345]86:Windows_NT:*)
+ echo i${UNAME_MACHINE}-pc-mks
+ exit 0 ;;
+ i*:Windows_NT*:* | Pentium*:Windows_NT*:*)
+ # How do we know it's Interix rather than the generic POSIX subsystem?
+ # It also conflicts with pre-2.0 versions of AT&T UWIN. Should we
+ # UNAME_MACHINE based on the output of uname instead of i386?
+ echo i586-pc-interix
+ exit 0 ;;
+ i*:UWIN*:*)
+ echo ${UNAME_MACHINE}-pc-uwin
+ exit 0 ;;
+ amd64:CYGWIN*:*:*)
+ echo x86_64-unknown-cygwin
+ exit 0 ;;
+ p*:CYGWIN*:*)
+ echo powerpcle-unknown-cygwin
+ exit 0 ;;
+ prep*:SunOS:5.*:*)
+ echo powerpcle-unknown-solaris2`echo ${UNAME_RELEASE}|sed -e 's/[^.]*//'`
+ exit 0 ;;
+ *:GNU:*:*)
+ # the GNU system
+ echo `echo ${UNAME_MACHINE}|sed -e 's,[-/].*$,,'`-unknown-gnu`echo ${UNAME_RELEASE}|sed -e 's,/.*$,,'`
+ exit 0 ;;
+ *:GNU/*:*:*)
+ # other systems with GNU libc and userland
+ echo ${UNAME_MACHINE}-unknown-`echo ${UNAME_SYSTEM} | sed 's,^[^/]*/,,' | tr '[A-Z]' '[a-z]'``echo ${UNAME_RELEASE}|sed -e 's/[-(].*//'`-gnu
+ exit 0 ;;
+ i*86:Minix:*:*)
+ echo ${UNAME_MACHINE}-pc-minix
+ exit 0 ;;
+ arm*:Linux:*:*)
+ echo ${UNAME_MACHINE}-unknown-linux-gnu
+ exit 0 ;;
+ cris:Linux:*:*)
+ echo cris-axis-linux-gnu
+ exit 0 ;;
+ crisv32:Linux:*:*)
+ echo crisv32-axis-linux-gnu
+ exit 0 ;;
+ frv:Linux:*:*)
+ echo frv-unknown-linux-gnu
+ exit 0 ;;
+ ia64:Linux:*:*)
+ echo ${UNAME_MACHINE}-unknown-linux-gnu
+ exit 0 ;;
+ m32r*:Linux:*:*)
+ echo ${UNAME_MACHINE}-unknown-linux-gnu
+ exit 0 ;;
+ m68*:Linux:*:*)
+ echo ${UNAME_MACHINE}-unknown-linux-gnu
+ exit 0 ;;
+ mips:Linux:*:*)
+ eval $set_cc_for_build
+ sed 's/^ //' << EOF >$dummy.c
+ #undef CPU
+ #undef mips
+ #undef mipsel
+ #if defined(__MIPSEL__) || defined(__MIPSEL) || defined(_MIPSEL) || defined(MIPSEL)
+ CPU=mipsel
+ #else
+ #if defined(__MIPSEB__) || defined(__MIPSEB) || defined(_MIPSEB) || defined(MIPSEB)
+ CPU=mips
+ #else
+ CPU=
+ #endif
+ #endif
+EOF
+ eval `$CC_FOR_BUILD -E $dummy.c 2>/dev/null | grep ^CPU=`
+ test x"${CPU}" != x && echo "${CPU}-unknown-linux-gnu" && exit 0
+ ;;
+ mips64:Linux:*:*)
+ eval $set_cc_for_build
+ sed 's/^ //' << EOF >$dummy.c
+ #undef CPU
+ #undef mips64
+ #undef mips64el
+ #if defined(__MIPSEL__) || defined(__MIPSEL) || defined(_MIPSEL) || defined(MIPSEL)
+ CPU=mips64el
+ #else
+ #if defined(__MIPSEB__) || defined(__MIPSEB) || defined(_MIPSEB) || defined(MIPSEB)
+ CPU=mips64
+ #else
+ CPU=
+ #endif
+ #endif
+EOF
+ eval `$CC_FOR_BUILD -E $dummy.c 2>/dev/null | grep ^CPU=`
+ test x"${CPU}" != x && echo "${CPU}-unknown-linux-gnu" && exit 0
+ ;;
+ ppc:Linux:*:*)
+ echo powerpc-unknown-linux-gnu
+ exit 0 ;;
+ ppc64:Linux:*:*)
+ echo powerpc64-unknown-linux-gnu
+ exit 0 ;;
+ alpha:Linux:*:*)
+ case `sed -n '/^cpu model/s/^.*: \(.*\)/\1/p' < /proc/cpuinfo` in
+ EV5) UNAME_MACHINE=alphaev5 ;;
+ EV56) UNAME_MACHINE=alphaev56 ;;
+ PCA56) UNAME_MACHINE=alphapca56 ;;
+ PCA57) UNAME_MACHINE=alphapca56 ;;
+ EV6) UNAME_MACHINE=alphaev6 ;;
+ EV67) UNAME_MACHINE=alphaev67 ;;
+ EV68*) UNAME_MACHINE=alphaev68 ;;
+ esac
+ objdump --private-headers /bin/sh | grep ld.so.1 >/dev/null
+ if test "$?" = 0 ; then LIBC="libc1" ; else LIBC="" ; fi
+ echo ${UNAME_MACHINE}-unknown-linux-gnu${LIBC}
+ exit 0 ;;
+ parisc:Linux:*:* | hppa:Linux:*:*)
+ # Look for CPU level
+ case `grep '^cpu[^a-z]*:' /proc/cpuinfo 2>/dev/null | cut -d' ' -f2` in
+ PA7*) echo hppa1.1-unknown-linux-gnu ;;
+ PA8*) echo hppa2.0-unknown-linux-gnu ;;
+ *) echo hppa-unknown-linux-gnu ;;
+ esac
+ exit 0 ;;
+ parisc64:Linux:*:* | hppa64:Linux:*:*)
+ echo hppa64-unknown-linux-gnu
+ exit 0 ;;
+ s390:Linux:*:* | s390x:Linux:*:*)
+ echo ${UNAME_MACHINE}-ibm-linux
+ exit 0 ;;
+ sh64*:Linux:*:*)
+ echo ${UNAME_MACHINE}-unknown-linux-gnu
+ exit 0 ;;
+ sh*:Linux:*:*)
+ echo ${UNAME_MACHINE}-unknown-linux-gnu
+ exit 0 ;;
+ sparc:Linux:*:* | sparc64:Linux:*:*)
+ echo ${UNAME_MACHINE}-unknown-linux-gnu
+ exit 0 ;;
+ x86_64:Linux:*:*)
+ echo x86_64-unknown-linux-gnu
+ exit 0 ;;
+ i*86:Linux:*:*)
+ # The BFD linker knows what the default object file format is, so
+ # first see if it will tell us. cd to the root directory to prevent
+ # problems with other programs or directories called `ld' in the path.
+ # Set LC_ALL=C to ensure ld outputs messages in English.
+ ld_supported_targets=`cd /; LC_ALL=C ld --help 2>&1 \
+ | sed -ne '/supported targets:/!d
+ s/[ ][ ]*/ /g
+ s/.*supported targets: *//
+ s/ .*//
+ p'`
+ case "$ld_supported_targets" in
+ elf32-i386)
+ TENTATIVE="${UNAME_MACHINE}-pc-linux-gnu"
+ ;;
+ a.out-i386-linux)
+ echo "${UNAME_MACHINE}-pc-linux-gnuaout"
+ exit 0 ;;
+ coff-i386)
+ echo "${UNAME_MACHINE}-pc-linux-gnucoff"
+ exit 0 ;;
+ "")
+ # Either a pre-BFD a.out linker (linux-gnuoldld) or
+ # one that does not give us useful --help.
+ echo "${UNAME_MACHINE}-pc-linux-gnuoldld"
+ exit 0 ;;
+ esac
+ # Determine whether the default compiler is a.out or elf
+ eval $set_cc_for_build
+ sed 's/^ //' << EOF >$dummy.c
+ #include <features.h>
+ #ifdef __ELF__
+ # ifdef __GLIBC__
+ # if __GLIBC__ >= 2
+ LIBC=gnu
+ # else
+ LIBC=gnulibc1
+ # endif
+ # else
+ LIBC=gnulibc1
+ # endif
+ #else
+ #ifdef __INTEL_COMPILER
+ LIBC=gnu
+ #else
+ LIBC=gnuaout
+ #endif
+ #endif
+ #ifdef __dietlibc__
+ LIBC=dietlibc
+ #endif
+EOF
+ eval `$CC_FOR_BUILD -E $dummy.c 2>/dev/null | grep ^LIBC=`
+ test x"${LIBC}" != x && echo "${UNAME_MACHINE}-pc-linux-${LIBC}" && exit 0
+ test x"${TENTATIVE}" != x && echo "${TENTATIVE}" && exit 0
+ ;;
+ i*86:DYNIX/ptx:4*:*)
+ # ptx 4.0 does uname -s correctly, with DYNIX/ptx in there.
+ # earlier versions are messed up and put the nodename in both
+ # sysname and nodename.
+ echo i386-sequent-sysv4
+ exit 0 ;;
+ i*86:UNIX_SV:4.2MP:2.*)
+ # Unixware is an offshoot of SVR4, but it has its own version
+ # number series starting with 2...
+ # I am not positive that other SVR4 systems won't match this,
+ # I just have to hope. -- rms.
+ # Use sysv4.2uw... so that sysv4* matches it.
+ echo ${UNAME_MACHINE}-pc-sysv4.2uw${UNAME_VERSION}
+ exit 0 ;;
+ i*86:OS/2:*:*)
+ # If we were able to find `uname', then EMX Unix compatibility
+ # is probably installed.
+ echo ${UNAME_MACHINE}-pc-os2-emx
+ exit 0 ;;
+ i*86:XTS-300:*:STOP)
+ echo ${UNAME_MACHINE}-unknown-stop
+ exit 0 ;;
+ i*86:atheos:*:*)
+ echo ${UNAME_MACHINE}-unknown-atheos
+ exit 0 ;;
+ i*86:syllable:*:*)
+ echo ${UNAME_MACHINE}-pc-syllable
+ exit 0 ;;
+ i*86:LynxOS:2.*:* | i*86:LynxOS:3.[01]*:* | i*86:LynxOS:4.0*:*)
+ echo i386-unknown-lynxos${UNAME_RELEASE}
+ exit 0 ;;
+ i*86:*DOS:*:*)
+ echo ${UNAME_MACHINE}-pc-msdosdjgpp
+ exit 0 ;;
+ i*86:*:4.*:* | i*86:SYSTEM_V:4.*:*)
+ UNAME_REL=`echo ${UNAME_RELEASE} | sed 's/\/MP$//'`
+ if grep Novell /usr/include/link.h >/dev/null 2>/dev/null; then
+ echo ${UNAME_MACHINE}-univel-sysv${UNAME_REL}
+ else
+ echo ${UNAME_MACHINE}-pc-sysv${UNAME_REL}
+ fi
+ exit 0 ;;
+ i*86:*:5:[78]*)
+ case `/bin/uname -X | grep "^Machine"` in
+ *486*) UNAME_MACHINE=i486 ;;
+ *Pentium) UNAME_MACHINE=i586 ;;
+ *Pent*|*Celeron) UNAME_MACHINE=i686 ;;
+ esac
+ echo ${UNAME_MACHINE}-unknown-sysv${UNAME_RELEASE}${UNAME_SYSTEM}${UNAME_VERSION}
+ exit 0 ;;
+ i*86:*:3.2:*)
+ if test -f /usr/options/cb.name; then
+ UNAME_REL=`sed -n 's/.*Version //p' </usr/options/cb.name`
+ echo ${UNAME_MACHINE}-pc-isc$UNAME_REL
+ elif /bin/uname -X 2>/dev/null >/dev/null ; then
+ UNAME_REL=`(/bin/uname -X|grep Release|sed -e 's/.*= //')`
+ (/bin/uname -X|grep i80486 >/dev/null) && UNAME_MACHINE=i486
+ (/bin/uname -X|grep '^Machine.*Pentium' >/dev/null) \
+ && UNAME_MACHINE=i586
+ (/bin/uname -X|grep '^Machine.*Pent *II' >/dev/null) \
+ && UNAME_MACHINE=i686
+ (/bin/uname -X|grep '^Machine.*Pentium Pro' >/dev/null) \
+ && UNAME_MACHINE=i686
+ echo ${UNAME_MACHINE}-pc-sco$UNAME_REL
+ else
+ echo ${UNAME_MACHINE}-pc-sysv32
+ fi
+ exit 0 ;;
+ pc:*:*:*)
+ # Left here for compatibility:
+ # uname -m prints for DJGPP always 'pc', but it prints nothing about
+ # the processor, so we play safe by assuming i386.
+ echo i386-pc-msdosdjgpp
+ exit 0 ;;
+ Intel:Mach:3*:*)
+ echo i386-pc-mach3
+ exit 0 ;;
+ paragon:*:*:*)
+ echo i860-intel-osf1
+ exit 0 ;;
+ i860:*:4.*:*) # i860-SVR4
+ if grep Stardent /usr/include/sys/uadmin.h >/dev/null 2>&1 ; then
+ echo i860-stardent-sysv${UNAME_RELEASE} # Stardent Vistra i860-SVR4
+ else # Add other i860-SVR4 vendors below as they are discovered.
+ echo i860-unknown-sysv${UNAME_RELEASE} # Unknown i860-SVR4
+ fi
+ exit 0 ;;
+ mini*:CTIX:SYS*5:*)
+ # "miniframe"
+ echo m68010-convergent-sysv
+ exit 0 ;;
+ mc68k:UNIX:SYSTEM5:3.51m)
+ echo m68k-convergent-sysv
+ exit 0 ;;
+ M680?0:D-NIX:5.3:*)
+ echo m68k-diab-dnix
+ exit 0 ;;
+ M68*:*:R3V[5678]*:*)
+ test -r /sysV68 && echo 'm68k-motorola-sysv' && exit 0 ;;
+ 3[345]??:*:4.0:3.0 | 3[34]??A:*:4.0:3.0 | 3[34]??,*:*:4.0:3.0 | 3[34]??/*:*:4.0:3.0 | 4400:*:4.0:3.0 | 4850:*:4.0:3.0 | SKA40:*:4.0:3.0 | SDS2:*:4.0:3.0 | SHG2:*:4.0:3.0 | S7501*:*:4.0:3.0)
+ OS_REL=''
+ test -r /etc/.relid \
+ && OS_REL=.`sed -n 's/[^ ]* [^ ]* \([0-9][0-9]\).*/\1/p' < /etc/.relid`
+ /bin/uname -p 2>/dev/null | grep 86 >/dev/null \
+ && echo i486-ncr-sysv4.3${OS_REL} && exit 0
+ /bin/uname -p 2>/dev/null | /bin/grep entium >/dev/null \
+ && echo i586-ncr-sysv4.3${OS_REL} && exit 0 ;;
+ 3[34]??:*:4.0:* | 3[34]??,*:*:4.0:*)
+ /bin/uname -p 2>/dev/null | grep 86 >/dev/null \
+ && echo i486-ncr-sysv4 && exit 0 ;;
+ m68*:LynxOS:2.*:* | m68*:LynxOS:3.0*:*)
+ echo m68k-unknown-lynxos${UNAME_RELEASE}
+ exit 0 ;;
+ mc68030:UNIX_System_V:4.*:*)
+ echo m68k-atari-sysv4
+ exit 0 ;;
+ TSUNAMI:LynxOS:2.*:*)
+ echo sparc-unknown-lynxos${UNAME_RELEASE}
+ exit 0 ;;
+ rs6000:LynxOS:2.*:*)
+ echo rs6000-unknown-lynxos${UNAME_RELEASE}
+ exit 0 ;;
+ PowerPC:LynxOS:2.*:* | PowerPC:LynxOS:3.[01]*:* | PowerPC:LynxOS:4.0*:*)
+ echo powerpc-unknown-lynxos${UNAME_RELEASE}
+ exit 0 ;;
+ SM[BE]S:UNIX_SV:*:*)
+ echo mips-dde-sysv${UNAME_RELEASE}
+ exit 0 ;;
+ RM*:ReliantUNIX-*:*:*)
+ echo mips-sni-sysv4
+ exit 0 ;;
+ RM*:SINIX-*:*:*)
+ echo mips-sni-sysv4
+ exit 0 ;;
+ *:SINIX-*:*:*)
+ if uname -p 2>/dev/null >/dev/null ; then
+ UNAME_MACHINE=`(uname -p) 2>/dev/null`
+ echo ${UNAME_MACHINE}-sni-sysv4
+ else
+ echo ns32k-sni-sysv
+ fi
+ exit 0 ;;
+ PENTIUM:*:4.0*:*) # Unisys `ClearPath HMP IX 4000' SVR4/MP effort
+ # says <Richard.M.Bartel at ccMail.Census.GOV>
+ echo i586-unisys-sysv4
+ exit 0 ;;
+ *:UNIX_System_V:4*:FTX*)
+ # From Gerald Hewes <hewes at openmarket.com>.
+ # How about differentiating between stratus architectures? -djm
+ echo hppa1.1-stratus-sysv4
+ exit 0 ;;
+ *:*:*:FTX*)
+ # From seanf at swdc.stratus.com.
+ echo i860-stratus-sysv4
+ exit 0 ;;
+ *:VOS:*:*)
+ # From Paul.Green at stratus.com.
+ echo hppa1.1-stratus-vos
+ exit 0 ;;
+ mc68*:A/UX:*:*)
+ echo m68k-apple-aux${UNAME_RELEASE}
+ exit 0 ;;
+ news*:NEWS-OS:6*:*)
+ echo mips-sony-newsos6
+ exit 0 ;;
+ R[34]000:*System_V*:*:* | R4000:UNIX_SYSV:*:* | R*000:UNIX_SV:*:*)
+ if [ -d /usr/nec ]; then
+ echo mips-nec-sysv${UNAME_RELEASE}
+ else
+ echo mips-unknown-sysv${UNAME_RELEASE}
+ fi
+ exit 0 ;;
+ BeBox:BeOS:*:*) # BeOS running on hardware made by Be, PPC only.
+ echo powerpc-be-beos
+ exit 0 ;;
+ BeMac:BeOS:*:*) # BeOS running on Mac or Mac clone, PPC only.
+ echo powerpc-apple-beos
+ exit 0 ;;
+ BePC:BeOS:*:*) # BeOS running on Intel PC compatible.
+ echo i586-pc-beos
+ exit 0 ;;
+ SX-4:SUPER-UX:*:*)
+ echo sx4-nec-superux${UNAME_RELEASE}
+ exit 0 ;;
+ SX-5:SUPER-UX:*:*)
+ echo sx5-nec-superux${UNAME_RELEASE}
+ exit 0 ;;
+ SX-6:SUPER-UX:*:*)
+ echo sx6-nec-superux${UNAME_RELEASE}
+ exit 0 ;;
+ Power*:Rhapsody:*:*)
+ echo powerpc-apple-rhapsody${UNAME_RELEASE}
+ exit 0 ;;
+ *:Rhapsody:*:*)
+ echo ${UNAME_MACHINE}-apple-rhapsody${UNAME_RELEASE}
+ exit 0 ;;
+ *:Darwin:*:*)
+ UNAME_PROCESSOR=`uname -p` || UNAME_PROCESSOR=unknown
+ case $UNAME_PROCESSOR in
+ *86) UNAME_PROCESSOR=i686 ;;
+ unknown) UNAME_PROCESSOR=powerpc ;;
+ esac
+ echo ${UNAME_PROCESSOR}-apple-darwin${UNAME_RELEASE}
+ exit 0 ;;
+ *:procnto*:*:* | *:QNX:[0123456789]*:*)
+ UNAME_PROCESSOR=`uname -p`
+ if test "$UNAME_PROCESSOR" = "x86"; then
+ UNAME_PROCESSOR=i386
+ UNAME_MACHINE=pc
+ fi
+ echo ${UNAME_PROCESSOR}-${UNAME_MACHINE}-nto-qnx${UNAME_RELEASE}
+ exit 0 ;;
+ *:QNX:*:4*)
+ echo i386-pc-qnx
+ exit 0 ;;
+ NSE-?:NONSTOP_KERNEL:*:*)
+ echo nse-tandem-nsk${UNAME_RELEASE}
+ exit 0 ;;
+ NSR-?:NONSTOP_KERNEL:*:*)
+ echo nsr-tandem-nsk${UNAME_RELEASE}
+ exit 0 ;;
+ *:NonStop-UX:*:*)
+ echo mips-compaq-nonstopux
+ exit 0 ;;
+ BS2000:POSIX*:*:*)
+ echo bs2000-siemens-sysv
+ exit 0 ;;
+ DS/*:UNIX_System_V:*:*)
+ echo ${UNAME_MACHINE}-${UNAME_SYSTEM}-${UNAME_RELEASE}
+ exit 0 ;;
+ *:Plan9:*:*)
+ # "uname -m" is not consistent, so use $cputype instead. 386
+ # is converted to i386 for consistency with other x86
+ # operating systems.
+ if test "$cputype" = "386"; then
+ UNAME_MACHINE=i386
+ else
+ UNAME_MACHINE="$cputype"
+ fi
+ echo ${UNAME_MACHINE}-unknown-plan9
+ exit 0 ;;
+ *:TOPS-10:*:*)
+ echo pdp10-unknown-tops10
+ exit 0 ;;
+ *:TENEX:*:*)
+ echo pdp10-unknown-tenex
+ exit 0 ;;
+ KS10:TOPS-20:*:* | KL10:TOPS-20:*:* | TYPE4:TOPS-20:*:*)
+ echo pdp10-dec-tops20
+ exit 0 ;;
+ XKL-1:TOPS-20:*:* | TYPE5:TOPS-20:*:*)
+ echo pdp10-xkl-tops20
+ exit 0 ;;
+ *:TOPS-20:*:*)
+ echo pdp10-unknown-tops20
+ exit 0 ;;
+ *:ITS:*:*)
+ echo pdp10-unknown-its
+ exit 0 ;;
+ SEI:*:*:SEIUX)
+ echo mips-sei-seiux${UNAME_RELEASE}
+ exit 0 ;;
+ *:DragonFly:*:*)
+ echo ${UNAME_MACHINE}-unknown-dragonfly`echo ${UNAME_RELEASE}|sed -e 's/[-(].*//'`
+ exit 0 ;;
+ *:*VMS:*:*)
+ UNAME_MACHINE=`(uname -p) 2>/dev/null`
+ case "${UNAME_MACHINE}" in
+ A*) echo alpha-dec-vms && exit 0 ;;
+ I*) echo ia64-dec-vms && exit 0 ;;
+ V*) echo vax-dec-vms && exit 0 ;;
+ esac ;;
+ *:XENIX:*:SysV)
+ echo i386-pc-xenix
+ exit 0 ;;
+esac
+
+#echo '(No uname command or uname output not recognized.)' 1>&2
+#echo "${UNAME_MACHINE}:${UNAME_SYSTEM}:${UNAME_RELEASE}:${UNAME_VERSION}" 1>&2
+
+eval $set_cc_for_build
+cat >$dummy.c <<EOF
+#ifdef _SEQUENT_
+# include <sys/types.h>
+# include <sys/utsname.h>
+#endif
+main ()
+{
+#if defined (sony)
+#if defined (MIPSEB)
+ /* BFD wants "bsd" instead of "newsos". Perhaps BFD should be changed,
+ I don't know.... */
+ printf ("mips-sony-bsd\n"); exit (0);
+#else
+#include <sys/param.h>
+ printf ("m68k-sony-newsos%s\n",
+#ifdef NEWSOS4
+ "4"
+#else
+ ""
+#endif
+ ); exit (0);
+#endif
+#endif
+
+#if defined (__arm) && defined (__acorn) && defined (__unix)
+ printf ("arm-acorn-riscix"); exit (0);
+#endif
+
+#if defined (hp300) && !defined (hpux)
+ printf ("m68k-hp-bsd\n"); exit (0);
+#endif
+
+#if defined (NeXT)
+#if !defined (__ARCHITECTURE__)
+#define __ARCHITECTURE__ "m68k"
+#endif
+ int version;
+ version=`(hostinfo | sed -n 's/.*NeXT Mach \([0-9]*\).*/\1/p') 2>/dev/null`;
+ if (version < 4)
+ printf ("%s-next-nextstep%d\n", __ARCHITECTURE__, version);
+ else
+ printf ("%s-next-openstep%d\n", __ARCHITECTURE__, version);
+ exit (0);
+#endif
+
+#if defined (MULTIMAX) || defined (n16)
+#if defined (UMAXV)
+ printf ("ns32k-encore-sysv\n"); exit (0);
+#else
+#if defined (CMU)
+ printf ("ns32k-encore-mach\n"); exit (0);
+#else
+ printf ("ns32k-encore-bsd\n"); exit (0);
+#endif
+#endif
+#endif
+
+#if defined (__386BSD__)
+ printf ("i386-pc-bsd\n"); exit (0);
+#endif
+
+#if defined (sequent)
+#if defined (i386)
+ printf ("i386-sequent-dynix\n"); exit (0);
+#endif
+#if defined (ns32000)
+ printf ("ns32k-sequent-dynix\n"); exit (0);
+#endif
+#endif
+
+#if defined (_SEQUENT_)
+ struct utsname un;
+
+ uname(&un);
+
+ if (strncmp(un.version, "V2", 2) == 0) {
+ printf ("i386-sequent-ptx2\n"); exit (0);
+ }
+ if (strncmp(un.version, "V1", 2) == 0) { /* XXX is V1 correct? */
+ printf ("i386-sequent-ptx1\n"); exit (0);
+ }
+ printf ("i386-sequent-ptx\n"); exit (0);
+
+#endif
+
+#if defined (vax)
+# if !defined (ultrix)
+# include <sys/param.h>
+# if defined (BSD)
+# if BSD == 43
+ printf ("vax-dec-bsd4.3\n"); exit (0);
+# else
+# if BSD == 199006
+ printf ("vax-dec-bsd4.3reno\n"); exit (0);
+# else
+ printf ("vax-dec-bsd\n"); exit (0);
+# endif
+# endif
+# else
+ printf ("vax-dec-bsd\n"); exit (0);
+# endif
+# else
+ printf ("vax-dec-ultrix\n"); exit (0);
+# endif
+#endif
+
+#if defined (alliant) && defined (i860)
+ printf ("i860-alliant-bsd\n"); exit (0);
+#endif
+
+ exit (1);
+}
+EOF
+
+$CC_FOR_BUILD -o $dummy $dummy.c 2>/dev/null && $dummy && exit 0
+
+# Apollos put the system type in the environment.
+
+test -d /usr/apollo && { echo ${ISP}-apollo-${SYSTYPE}; exit 0; }
+
+# Convex versions that predate uname can use getsysinfo(1)
+
+if [ -x /usr/convex/getsysinfo ]
+then
+ case `getsysinfo -f cpu_type` in
+ c1*)
+ echo c1-convex-bsd
+ exit 0 ;;
+ c2*)
+ if getsysinfo -f scalar_acc
+ then echo c32-convex-bsd
+ else echo c2-convex-bsd
+ fi
+ exit 0 ;;
+ c34*)
+ echo c34-convex-bsd
+ exit 0 ;;
+ c38*)
+ echo c38-convex-bsd
+ exit 0 ;;
+ c4*)
+ echo c4-convex-bsd
+ exit 0 ;;
+ esac
+fi
+
+cat >&2 <<EOF
+$0: unable to guess system type
+
+This script, last modified $timestamp, has failed to recognize
+the operating system you are using. It is advised that you
+download the most up to date version of the config scripts from
+
+ ftp://ftp.gnu.org/pub/gnu/config/
+
+If the version you run ($0) is already up to date, please
+send the following data and any information you think might be
+pertinent to <config-patches at gnu.org> in order to provide the needed
+information to handle your system.
+
+config.guess timestamp = $timestamp
+
+uname -m = `(uname -m) 2>/dev/null || echo unknown`
+uname -r = `(uname -r) 2>/dev/null || echo unknown`
+uname -s = `(uname -s) 2>/dev/null || echo unknown`
+uname -v = `(uname -v) 2>/dev/null || echo unknown`
+
+/usr/bin/uname -p = `(/usr/bin/uname -p) 2>/dev/null`
+/bin/uname -X = `(/bin/uname -X) 2>/dev/null`
+
+hostinfo = `(hostinfo) 2>/dev/null`
+/bin/universe = `(/bin/universe) 2>/dev/null`
+/usr/bin/arch -k = `(/usr/bin/arch -k) 2>/dev/null`
+/bin/arch = `(/bin/arch) 2>/dev/null`
+/usr/bin/oslevel = `(/usr/bin/oslevel) 2>/dev/null`
+/usr/convex/getsysinfo = `(/usr/convex/getsysinfo) 2>/dev/null`
+
+UNAME_MACHINE = ${UNAME_MACHINE}
+UNAME_RELEASE = ${UNAME_RELEASE}
+UNAME_SYSTEM = ${UNAME_SYSTEM}
+UNAME_VERSION = ${UNAME_VERSION}
+EOF
+
+exit 1
+
+# Local variables:
+# eval: (add-hook 'write-file-hooks 'time-stamp)
+# time-stamp-start: "timestamp='"
+# time-stamp-format: "%:y-%02m-%02d"
+# time-stamp-end: "'"
+# End:
diff --git a/dev/config.sub b/dev/config.sub
new file mode 100755
index 0000000..d8fd2f8
--- /dev/null
+++ b/dev/config.sub
@@ -0,0 +1,1566 @@
+#! /bin/sh
+# Configuration validation subroutine script.
+# Copyright (C) 1992, 1993, 1994, 1995, 1996, 1997, 1998, 1999,
+# 2000, 2001, 2002, 2003, 2004, 2005 Free Software Foundation, Inc.
+
+timestamp='2005-02-10'
+
+# This file is (in principle) common to ALL GNU software.
+# The presence of a machine in this file suggests that SOME GNU software
+# can handle that machine. It does not imply ALL GNU software can.
+#
+# This file is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+
+# As a special exception to the GNU General Public License, if you
+# distribute this file as part of a program that contains a
+# configuration script generated by Autoconf, you may include it under
+# the same distribution terms that you use for the rest of that program.
+
+# Please send patches to <config-patches at gnu.org>. Submit a context
+# diff and a properly formatted ChangeLog entry.
+#
+# Configuration subroutine to validate and canonicalize a configuration type.
+# Supply the specified configuration type as an argument.
+# If it is invalid, we print an error message on stderr and exit with code 1.
+# Otherwise, we print the canonical config type on stdout and succeed.
+
+# This file is supposed to be the same for all GNU packages
+# and recognize all the CPU types, system types and aliases
+# that are meaningful with *any* GNU software.
+# Each package is responsible for reporting which valid configurations
+# it does not support. The user should be able to distinguish
+# a failure to support a valid configuration from a meaningless
+# configuration.
+
+# The goal of this file is to map all the various variations of a given
+# machine specification into a single specification in the form:
+# CPU_TYPE-MANUFACTURER-OPERATING_SYSTEM
+# or in some cases, the newer four-part form:
+# CPU_TYPE-MANUFACTURER-KERNEL-OPERATING_SYSTEM
+# It is wrong to echo any other type of specification.
+
+me=`echo "$0" | sed -e 's,.*/,,'`
+
+usage="\
+Usage: $0 [OPTION] CPU-MFR-OPSYS
+ $0 [OPTION] ALIAS
+
+Canonicalize a configuration name.
+
+Operation modes:
+ -h, --help print this help, then exit
+ -t, --time-stamp print date of last modification, then exit
+ -v, --version print version number, then exit
+
+Report bugs and patches to <config-patches at gnu.org>."
+
+version="\
+GNU config.sub ($timestamp)
+
+Copyright (C) 1992, 1993, 1994, 1995, 1996, 1997, 1998, 1999, 2000, 2001, 2002, 2003, 2004, 2005
+Free Software Foundation, Inc.
+
+This is free software; see the source for copying conditions. There is NO
+warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE."
+
+help="
+Try \`$me --help' for more information."
+
+# Parse command line
+while test $# -gt 0 ; do
+ case $1 in
+ --time-stamp | --time* | -t )
+ echo "$timestamp" ; exit 0 ;;
+ --version | -v )
+ echo "$version" ; exit 0 ;;
+ --help | --h* | -h )
+ echo "$usage"; exit 0 ;;
+ -- ) # Stop option processing
+ shift; break ;;
+ - ) # Use stdin as input.
+ break ;;
+ -* )
+ echo "$me: invalid option $1$help"
+ exit 1 ;;
+
+ *local*)
+ # First pass through any local machine types.
+ echo $1
+ exit 0;;
+
+ * )
+ break ;;
+ esac
+done
+
+case $# in
+ 0) echo "$me: missing argument$help" >&2
+ exit 1;;
+ 1) ;;
+ *) echo "$me: too many arguments$help" >&2
+ exit 1;;
+esac
+
+# Separate what the user gave into CPU-COMPANY and OS or KERNEL-OS (if any).
+# Here we must recognize all the valid KERNEL-OS combinations.
+maybe_os=`echo $1 | sed 's/^\(.*\)-\([^-]*-[^-]*\)$/\2/'`
+case $maybe_os in
+ nto-qnx* | linux-gnu* | linux-dietlibc | linux-uclibc* | uclinux-uclibc* | uclinux-gnu* | \
+ kfreebsd*-gnu* | knetbsd*-gnu* | netbsd*-gnu* | storm-chaos* | os2-emx* | rtmk-nova*)
+ os=-$maybe_os
+ basic_machine=`echo $1 | sed 's/^\(.*\)-\([^-]*-[^-]*\)$/\1/'`
+ ;;
+ *)
+ basic_machine=`echo $1 | sed 's/-[^-]*$//'`
+ if [ $basic_machine != $1 ]
+ then os=`echo $1 | sed 's/.*-/-/'`
+ else os=; fi
+ ;;
+esac
+
+### Let's recognize common machines as not being operating systems so
+### that things like config.sub decstation-3100 work. We also
+### recognize some manufacturers as not being operating systems, so we
+### can provide default operating systems below.
+case $os in
+ -sun*os*)
+ # Prevent following clause from handling this invalid input.
+ ;;
+ -dec* | -mips* | -sequent* | -encore* | -pc532* | -sgi* | -sony* | \
+ -att* | -7300* | -3300* | -delta* | -motorola* | -sun[234]* | \
+ -unicom* | -ibm* | -next | -hp | -isi* | -apollo | -altos* | \
+ -convergent* | -ncr* | -news | -32* | -3600* | -3100* | -hitachi* |\
+ -c[123]* | -convex* | -sun | -crds | -omron* | -dg | -ultra | -tti* | \
+ -harris | -dolphin | -highlevel | -gould | -cbm | -ns | -masscomp | \
+ -apple | -axis | -knuth | -cray)
+ os=
+ basic_machine=$1
+ ;;
+ -sim | -cisco | -oki | -wec | -winbond)
+ os=
+ basic_machine=$1
+ ;;
+ -scout)
+ ;;
+ -wrs)
+ os=-vxworks
+ basic_machine=$1
+ ;;
+ -chorusos*)
+ os=-chorusos
+ basic_machine=$1
+ ;;
+ -chorusrdb)
+ os=-chorusrdb
+ basic_machine=$1
+ ;;
+ -hiux*)
+ os=-hiuxwe2
+ ;;
+ -sco5)
+ os=-sco3.2v5
+ basic_machine=`echo $1 | sed -e 's/86-.*/86-pc/'`
+ ;;
+ -sco4)
+ os=-sco3.2v4
+ basic_machine=`echo $1 | sed -e 's/86-.*/86-pc/'`
+ ;;
+ -sco3.2.[4-9]*)
+ os=`echo $os | sed -e 's/sco3.2./sco3.2v/'`
+ basic_machine=`echo $1 | sed -e 's/86-.*/86-pc/'`
+ ;;
+ -sco3.2v[4-9]*)
+ # Don't forget version if it is 3.2v4 or newer.
+ basic_machine=`echo $1 | sed -e 's/86-.*/86-pc/'`
+ ;;
+ -sco*)
+ os=-sco3.2v2
+ basic_machine=`echo $1 | sed -e 's/86-.*/86-pc/'`
+ ;;
+ -udk*)
+ basic_machine=`echo $1 | sed -e 's/86-.*/86-pc/'`
+ ;;
+ -isc)
+ os=-isc2.2
+ basic_machine=`echo $1 | sed -e 's/86-.*/86-pc/'`
+ ;;
+ -clix*)
+ basic_machine=clipper-intergraph
+ ;;
+ -isc*)
+ basic_machine=`echo $1 | sed -e 's/86-.*/86-pc/'`
+ ;;
+ -lynx*)
+ os=-lynxos
+ ;;
+ -ptx*)
+ basic_machine=`echo $1 | sed -e 's/86-.*/86-sequent/'`
+ ;;
+ -windowsnt*)
+ os=`echo $os | sed -e 's/windowsnt/winnt/'`
+ ;;
+ -psos*)
+ os=-psos
+ ;;
+ -mint | -mint[0-9]*)
+ basic_machine=m68k-atari
+ os=-mint
+ ;;
+esac
+
+# Decode aliases for certain CPU-COMPANY combinations.
+case $basic_machine in
+ # Recognize the basic CPU types without company name.
+ # Some are omitted here because they have special meanings below.
+ 1750a | 580 \
+ | a29k \
+ | alpha | alphaev[4-8] | alphaev56 | alphaev6[78] | alphapca5[67] \
+ | alpha64 | alpha64ev[4-8] | alpha64ev56 | alpha64ev6[78] | alpha64pca5[67] \
+ | am33_2.0 \
+ | arc | arm | arm[bl]e | arme[lb] | armv[2345] | armv[345][lb] | avr \
+ | c4x | clipper \
+ | d10v | d30v | dlx | dsp16xx \
+ | fr30 | frv \
+ | h8300 | h8500 | hppa | hppa1.[01] | hppa2.0 | hppa2.0[nw] | hppa64 \
+ | i370 | i860 | i960 | ia64 \
+ | ip2k | iq2000 \
+ | m32r | m32rle | m68000 | m68k | m88k | maxq | mcore \
+ | mips | mipsbe | mipseb | mipsel | mipsle \
+ | mips16 \
+ | mips64 | mips64el \
+ | mips64vr | mips64vrel \
+ | mips64orion | mips64orionel \
+ | mips64vr4100 | mips64vr4100el \
+ | mips64vr4300 | mips64vr4300el \
+ | mips64vr5000 | mips64vr5000el \
+ | mipsisa32 | mipsisa32el \
+ | mipsisa32r2 | mipsisa32r2el \
+ | mipsisa64 | mipsisa64el \
+ | mipsisa64r2 | mipsisa64r2el \
+ | mipsisa64sb1 | mipsisa64sb1el \
+ | mipsisa64sr71k | mipsisa64sr71kel \
+ | mipstx39 | mipstx39el \
+ | mn10200 | mn10300 \
+ | msp430 \
+ | ns16k | ns32k \
+ | openrisc | or32 \
+ | pdp10 | pdp11 | pj | pjl \
+ | powerpc | powerpc64 | powerpc64le | powerpcle | ppcbe \
+ | pyramid \
+ | sh | sh[1234] | sh[23]e | sh[34]eb | shbe | shle | sh[1234]le | sh3ele \
+ | sh64 | sh64le \
+ | sparc | sparc64 | sparc86x | sparclet | sparclite | sparcv8 | sparcv9 | sparcv9b \
+ | strongarm \
+ | tahoe | thumb | tic4x | tic80 | tron \
+ | v850 | v850e \
+ | we32k \
+ | x86 | xscale | xscalee[bl] | xstormy16 | xtensa \
+ | z8k)
+ basic_machine=$basic_machine-unknown
+ ;;
+ m6811 | m68hc11 | m6812 | m68hc12)
+ # Motorola 68HC11/12.
+ basic_machine=$basic_machine-unknown
+ os=-none
+ ;;
+ m88110 | m680[12346]0 | m683?2 | m68360 | m5200 | v70 | w65 | z8k)
+ ;;
+
+ # We use `pc' rather than `unknown'
+ # because (1) that's what they normally are, and
+ # (2) the word "unknown" tends to confuse beginning users.
+ i*86 | x86_64)
+ basic_machine=$basic_machine-pc
+ ;;
+ # Object if more than one company name word.
+ *-*-*)
+ echo Invalid configuration \`$1\': machine \`$basic_machine\' not recognized 1>&2
+ exit 1
+ ;;
+ # Recognize the basic CPU types with company name.
+ 580-* \
+ | a29k-* \
+ | alpha-* | alphaev[4-8]-* | alphaev56-* | alphaev6[78]-* \
+ | alpha64-* | alpha64ev[4-8]-* | alpha64ev56-* | alpha64ev6[78]-* \
+ | alphapca5[67]-* | alpha64pca5[67]-* | arc-* \
+ | arm-* | armbe-* | armle-* | armeb-* | armv*-* \
+ | avr-* \
+ | bs2000-* \
+ | c[123]* | c30-* | [cjt]90-* | c4x-* | c54x-* | c55x-* | c6x-* \
+ | clipper-* | craynv-* | cydra-* \
+ | d10v-* | d30v-* | dlx-* \
+ | elxsi-* \
+ | f30[01]-* | f700-* | fr30-* | frv-* | fx80-* \
+ | h8300-* | h8500-* \
+ | hppa-* | hppa1.[01]-* | hppa2.0-* | hppa2.0[nw]-* | hppa64-* \
+ | i*86-* | i860-* | i960-* | ia64-* \
+ | ip2k-* | iq2000-* \
+ | m32r-* | m32rle-* \
+ | m68000-* | m680[012346]0-* | m68360-* | m683?2-* | m68k-* \
+ | m88110-* | m88k-* | maxq-* | mcore-* \
+ | mips-* | mipsbe-* | mipseb-* | mipsel-* | mipsle-* \
+ | mips16-* \
+ | mips64-* | mips64el-* \
+ | mips64vr-* | mips64vrel-* \
+ | mips64orion-* | mips64orionel-* \
+ | mips64vr4100-* | mips64vr4100el-* \
+ | mips64vr4300-* | mips64vr4300el-* \
+ | mips64vr5000-* | mips64vr5000el-* \
+ | mipsisa32-* | mipsisa32el-* \
+ | mipsisa32r2-* | mipsisa32r2el-* \
+ | mipsisa64-* | mipsisa64el-* \
+ | mipsisa64r2-* | mipsisa64r2el-* \
+ | mipsisa64sb1-* | mipsisa64sb1el-* \
+ | mipsisa64sr71k-* | mipsisa64sr71kel-* \
+ | mipstx39-* | mipstx39el-* \
+ | mmix-* \
+ | msp430-* \
+ | none-* | np1-* | ns16k-* | ns32k-* \
+ | orion-* \
+ | pdp10-* | pdp11-* | pj-* | pjl-* | pn-* | power-* \
+ | powerpc-* | powerpc64-* | powerpc64le-* | powerpcle-* | ppcbe-* \
+ | pyramid-* \
+ | romp-* | rs6000-* \
+ | sh-* | sh[1234]-* | sh[23]e-* | sh[34]eb-* | shbe-* \
+ | shle-* | sh[1234]le-* | sh3ele-* | sh64-* | sh64le-* \
+ | sparc-* | sparc64-* | sparc86x-* | sparclet-* | sparclite-* \
+ | sparcv8-* | sparcv9-* | sparcv9b-* | strongarm-* | sv1-* | sx?-* \
+ | tahoe-* | thumb-* \
+ | tic30-* | tic4x-* | tic54x-* | tic55x-* | tic6x-* | tic80-* \
+ | tron-* \
+ | v850-* | v850e-* | vax-* \
+ | we32k-* \
+ | x86-* | x86_64-* | xps100-* | xscale-* | xscalee[bl]-* \
+ | xstormy16-* | xtensa-* \
+ | ymp-* \
+ | z8k-*)
+ ;;
+ # Recognize the various machine names and aliases which stand
+ # for a CPU type and a company and sometimes even an OS.
+ 386bsd)
+ basic_machine=i386-unknown
+ os=-bsd
+ ;;
+ 3b1 | 7300 | 7300-att | att-7300 | pc7300 | safari | unixpc)
+ basic_machine=m68000-att
+ ;;
+ 3b*)
+ basic_machine=we32k-att
+ ;;
+ a29khif)
+ basic_machine=a29k-amd
+ os=-udi
+ ;;
+ abacus)
+ basic_machine=abacus-unknown
+ ;;
+ adobe68k)
+ basic_machine=m68010-adobe
+ os=-scout
+ ;;
+ alliant | fx80)
+ basic_machine=fx80-alliant
+ ;;
+ altos | altos3068)
+ basic_machine=m68k-altos
+ ;;
+ am29k)
+ basic_machine=a29k-none
+ os=-bsd
+ ;;
+ amd64)
+ basic_machine=x86_64-pc
+ ;;
+ amd64-*)
+ basic_machine=x86_64-`echo $basic_machine | sed 's/^[^-]*-//'`
+ ;;
+ amdahl)
+ basic_machine=580-amdahl
+ os=-sysv
+ ;;
+ amiga | amiga-*)
+ basic_machine=m68k-unknown
+ ;;
+ amigaos | amigados)
+ basic_machine=m68k-unknown
+ os=-amigaos
+ ;;
+ amigaunix | amix)
+ basic_machine=m68k-unknown
+ os=-sysv4
+ ;;
+ apollo68)
+ basic_machine=m68k-apollo
+ os=-sysv
+ ;;
+ apollo68bsd)
+ basic_machine=m68k-apollo
+ os=-bsd
+ ;;
+ aux)
+ basic_machine=m68k-apple
+ os=-aux
+ ;;
+ balance)
+ basic_machine=ns32k-sequent
+ os=-dynix
+ ;;
+ c90)
+ basic_machine=c90-cray
+ os=-unicos
+ ;;
+ convex-c1)
+ basic_machine=c1-convex
+ os=-bsd
+ ;;
+ convex-c2)
+ basic_machine=c2-convex
+ os=-bsd
+ ;;
+ convex-c32)
+ basic_machine=c32-convex
+ os=-bsd
+ ;;
+ convex-c34)
+ basic_machine=c34-convex
+ os=-bsd
+ ;;
+ convex-c38)
+ basic_machine=c38-convex
+ os=-bsd
+ ;;
+ cray | j90)
+ basic_machine=j90-cray
+ os=-unicos
+ ;;
+ craynv)
+ basic_machine=craynv-cray
+ os=-unicosmp
+ ;;
+ cr16c)
+ basic_machine=cr16c-unknown
+ os=-elf
+ ;;
+ crds | unos)
+ basic_machine=m68k-crds
+ ;;
+ crisv32 | crisv32-* | etraxfs*)
+ basic_machine=crisv32-axis
+ ;;
+ cris | cris-* | etrax*)
+ basic_machine=cris-axis
+ ;;
+ crx)
+ basic_machine=crx-unknown
+ os=-elf
+ ;;
+ da30 | da30-*)
+ basic_machine=m68k-da30
+ ;;
+ decstation | decstation-3100 | pmax | pmax-* | pmin | dec3100 | decstatn)
+ basic_machine=mips-dec
+ ;;
+ decsystem10* | dec10*)
+ basic_machine=pdp10-dec
+ os=-tops10
+ ;;
+ decsystem20* | dec20*)
+ basic_machine=pdp10-dec
+ os=-tops20
+ ;;
+ delta | 3300 | motorola-3300 | motorola-delta \
+ | 3300-motorola | delta-motorola)
+ basic_machine=m68k-motorola
+ ;;
+ delta88)
+ basic_machine=m88k-motorola
+ os=-sysv3
+ ;;
+ djgpp)
+ basic_machine=i586-pc
+ os=-msdosdjgpp
+ ;;
+ dpx20 | dpx20-*)
+ basic_machine=rs6000-bull
+ os=-bosx
+ ;;
+ dpx2* | dpx2*-bull)
+ basic_machine=m68k-bull
+ os=-sysv3
+ ;;
+ ebmon29k)
+ basic_machine=a29k-amd
+ os=-ebmon
+ ;;
+ elxsi)
+ basic_machine=elxsi-elxsi
+ os=-bsd
+ ;;
+ encore | umax | mmax)
+ basic_machine=ns32k-encore
+ ;;
+ es1800 | OSE68k | ose68k | ose | OSE)
+ basic_machine=m68k-ericsson
+ os=-ose
+ ;;
+ fx2800)
+ basic_machine=i860-alliant
+ ;;
+ genix)
+ basic_machine=ns32k-ns
+ ;;
+ gmicro)
+ basic_machine=tron-gmicro
+ os=-sysv
+ ;;
+ go32)
+ basic_machine=i386-pc
+ os=-go32
+ ;;
+ h3050r* | hiux*)
+ basic_machine=hppa1.1-hitachi
+ os=-hiuxwe2
+ ;;
+ h8300hms)
+ basic_machine=h8300-hitachi
+ os=-hms
+ ;;
+ h8300xray)
+ basic_machine=h8300-hitachi
+ os=-xray
+ ;;
+ h8500hms)
+ basic_machine=h8500-hitachi
+ os=-hms
+ ;;
+ harris)
+ basic_machine=m88k-harris
+ os=-sysv3
+ ;;
+ hp300-*)
+ basic_machine=m68k-hp
+ ;;
+ hp300bsd)
+ basic_machine=m68k-hp
+ os=-bsd
+ ;;
+ hp300hpux)
+ basic_machine=m68k-hp
+ os=-hpux
+ ;;
+ hp3k9[0-9][0-9] | hp9[0-9][0-9])
+ basic_machine=hppa1.0-hp
+ ;;
+ hp9k2[0-9][0-9] | hp9k31[0-9])
+ basic_machine=m68000-hp
+ ;;
+ hp9k3[2-9][0-9])
+ basic_machine=m68k-hp
+ ;;
+ hp9k6[0-9][0-9] | hp6[0-9][0-9])
+ basic_machine=hppa1.0-hp
+ ;;
+ hp9k7[0-79][0-9] | hp7[0-79][0-9])
+ basic_machine=hppa1.1-hp
+ ;;
+ hp9k78[0-9] | hp78[0-9])
+ # FIXME: really hppa2.0-hp
+ basic_machine=hppa1.1-hp
+ ;;
+ hp9k8[67]1 | hp8[67]1 | hp9k80[24] | hp80[24] | hp9k8[78]9 | hp8[78]9 | hp9k893 | hp893)
+ # FIXME: really hppa2.0-hp
+ basic_machine=hppa1.1-hp
+ ;;
+ hp9k8[0-9][13679] | hp8[0-9][13679])
+ basic_machine=hppa1.1-hp
+ ;;
+ hp9k8[0-9][0-9] | hp8[0-9][0-9])
+ basic_machine=hppa1.0-hp
+ ;;
+ hppa-next)
+ os=-nextstep3
+ ;;
+ hppaosf)
+ basic_machine=hppa1.1-hp
+ os=-osf
+ ;;
+ hppro)
+ basic_machine=hppa1.1-hp
+ os=-proelf
+ ;;
+ i370-ibm* | ibm*)
+ basic_machine=i370-ibm
+ ;;
+# I'm not sure what "Sysv32" means. Should this be sysv3.2?
+ i*86v32)
+ basic_machine=`echo $1 | sed -e 's/86.*/86-pc/'`
+ os=-sysv32
+ ;;
+ i*86v4*)
+ basic_machine=`echo $1 | sed -e 's/86.*/86-pc/'`
+ os=-sysv4
+ ;;
+ i*86v)
+ basic_machine=`echo $1 | sed -e 's/86.*/86-pc/'`
+ os=-sysv
+ ;;
+ i*86sol2)
+ basic_machine=`echo $1 | sed -e 's/86.*/86-pc/'`
+ os=-solaris2
+ ;;
+ i386mach)
+ basic_machine=i386-mach
+ os=-mach
+ ;;
+ i386-vsta | vsta)
+ basic_machine=i386-unknown
+ os=-vsta
+ ;;
+ iris | iris4d)
+ basic_machine=mips-sgi
+ case $os in
+ -irix*)
+ ;;
+ *)
+ os=-irix4
+ ;;
+ esac
+ ;;
+ isi68 | isi)
+ basic_machine=m68k-isi
+ os=-sysv
+ ;;
+ m88k-omron*)
+ basic_machine=m88k-omron
+ ;;
+ magnum | m3230)
+ basic_machine=mips-mips
+ os=-sysv
+ ;;
+ merlin)
+ basic_machine=ns32k-utek
+ os=-sysv
+ ;;
+ mingw32)
+ basic_machine=i386-pc
+ os=-mingw32
+ ;;
+ miniframe)
+ basic_machine=m68000-convergent
+ ;;
+ *mint | -mint[0-9]* | *MiNT | *MiNT[0-9]*)
+ basic_machine=m68k-atari
+ os=-mint
+ ;;
+ mips3*-*)
+ basic_machine=`echo $basic_machine | sed -e 's/mips3/mips64/'`
+ ;;
+ mips3*)
+ basic_machine=`echo $basic_machine | sed -e 's/mips3/mips64/'`-unknown
+ ;;
+ monitor)
+ basic_machine=m68k-rom68k
+ os=-coff
+ ;;
+ morphos)
+ basic_machine=powerpc-unknown
+ os=-morphos
+ ;;
+ msdos)
+ basic_machine=i386-pc
+ os=-msdos
+ ;;
+ mvs)
+ basic_machine=i370-ibm
+ os=-mvs
+ ;;
+ ncr3000)
+ basic_machine=i486-ncr
+ os=-sysv4
+ ;;
+ netbsd386)
+ basic_machine=i386-unknown
+ os=-netbsd
+ ;;
+ netwinder)
+ basic_machine=armv4l-rebel
+ os=-linux
+ ;;
+ news | news700 | news800 | news900)
+ basic_machine=m68k-sony
+ os=-newsos
+ ;;
+ news1000)
+ basic_machine=m68030-sony
+ os=-newsos
+ ;;
+ news-3600 | risc-news)
+ basic_machine=mips-sony
+ os=-newsos
+ ;;
+ necv70)
+ basic_machine=v70-nec
+ os=-sysv
+ ;;
+ next | m*-next )
+ basic_machine=m68k-next
+ case $os in
+ -nextstep* )
+ ;;
+ -ns2*)
+ os=-nextstep2
+ ;;
+ *)
+ os=-nextstep3
+ ;;
+ esac
+ ;;
+ nh3000)
+ basic_machine=m68k-harris
+ os=-cxux
+ ;;
+ nh[45]000)
+ basic_machine=m88k-harris
+ os=-cxux
+ ;;
+ nindy960)
+ basic_machine=i960-intel
+ os=-nindy
+ ;;
+ mon960)
+ basic_machine=i960-intel
+ os=-mon960
+ ;;
+ nonstopux)
+ basic_machine=mips-compaq
+ os=-nonstopux
+ ;;
+ np1)
+ basic_machine=np1-gould
+ ;;
+ nsr-tandem)
+ basic_machine=nsr-tandem
+ ;;
+ op50n-* | op60c-*)
+ basic_machine=hppa1.1-oki
+ os=-proelf
+ ;;
+ or32 | or32-*)
+ basic_machine=or32-unknown
+ os=-coff
+ ;;
+ os400)
+ basic_machine=powerpc-ibm
+ os=-os400
+ ;;
+ OSE68000 | ose68000)
+ basic_machine=m68000-ericsson
+ os=-ose
+ ;;
+ os68k)
+ basic_machine=m68k-none
+ os=-os68k
+ ;;
+ pa-hitachi)
+ basic_machine=hppa1.1-hitachi
+ os=-hiuxwe2
+ ;;
+ paragon)
+ basic_machine=i860-intel
+ os=-osf
+ ;;
+ pbd)
+ basic_machine=sparc-tti
+ ;;
+ pbb)
+ basic_machine=m68k-tti
+ ;;
+ pc532 | pc532-*)
+ basic_machine=ns32k-pc532
+ ;;
+ pentium | p5 | k5 | k6 | nexgen | viac3)
+ basic_machine=i586-pc
+ ;;
+ pentiumpro | p6 | 6x86 | athlon | athlon_*)
+ basic_machine=i686-pc
+ ;;
+ pentiumii | pentium2 | pentiumiii | pentium3)
+ basic_machine=i686-pc
+ ;;
+ pentium4)
+ basic_machine=i786-pc
+ ;;
+ pentium-* | p5-* | k5-* | k6-* | nexgen-* | viac3-*)
+ basic_machine=i586-`echo $basic_machine | sed 's/^[^-]*-//'`
+ ;;
+ pentiumpro-* | p6-* | 6x86-* | athlon-*)
+ basic_machine=i686-`echo $basic_machine | sed 's/^[^-]*-//'`
+ ;;
+ pentiumii-* | pentium2-* | pentiumiii-* | pentium3-*)
+ basic_machine=i686-`echo $basic_machine | sed 's/^[^-]*-//'`
+ ;;
+ pentium4-*)
+ basic_machine=i786-`echo $basic_machine | sed 's/^[^-]*-//'`
+ ;;
+ pn)
+ basic_machine=pn-gould
+ ;;
+ power) basic_machine=power-ibm
+ ;;
+ ppc) basic_machine=powerpc-unknown
+ ;;
+ ppc-*) basic_machine=powerpc-`echo $basic_machine | sed 's/^[^-]*-//'`
+ ;;
+ ppcle | powerpclittle | ppc-le | powerpc-little)
+ basic_machine=powerpcle-unknown
+ ;;
+ ppcle-* | powerpclittle-*)
+ basic_machine=powerpcle-`echo $basic_machine | sed 's/^[^-]*-//'`
+ ;;
+ ppc64) basic_machine=powerpc64-unknown
+ ;;
+ ppc64-*) basic_machine=powerpc64-`echo $basic_machine | sed 's/^[^-]*-//'`
+ ;;
+ ppc64le | powerpc64little | ppc64-le | powerpc64-little)
+ basic_machine=powerpc64le-unknown
+ ;;
+ ppc64le-* | powerpc64little-*)
+ basic_machine=powerpc64le-`echo $basic_machine | sed 's/^[^-]*-//'`
+ ;;
+ ps2)
+ basic_machine=i386-ibm
+ ;;
+ pw32)
+ basic_machine=i586-unknown
+ os=-pw32
+ ;;
+ rom68k)
+ basic_machine=m68k-rom68k
+ os=-coff
+ ;;
+ rm[46]00)
+ basic_machine=mips-siemens
+ ;;
+ rtpc | rtpc-*)
+ basic_machine=romp-ibm
+ ;;
+ s390 | s390-*)
+ basic_machine=s390-ibm
+ ;;
+ s390x | s390x-*)
+ basic_machine=s390x-ibm
+ ;;
+ sa29200)
+ basic_machine=a29k-amd
+ os=-udi
+ ;;
+ sb1)
+ basic_machine=mipsisa64sb1-unknown
+ ;;
+ sb1el)
+ basic_machine=mipsisa64sb1el-unknown
+ ;;
+ sei)
+ basic_machine=mips-sei
+ os=-seiux
+ ;;
+ sequent)
+ basic_machine=i386-sequent
+ ;;
+ sh)
+ basic_machine=sh-hitachi
+ os=-hms
+ ;;
+ sh64)
+ basic_machine=sh64-unknown
+ ;;
+ sparclite-wrs | simso-wrs)
+ basic_machine=sparclite-wrs
+ os=-vxworks
+ ;;
+ sps7)
+ basic_machine=m68k-bull
+ os=-sysv2
+ ;;
+ spur)
+ basic_machine=spur-unknown
+ ;;
+ st2000)
+ basic_machine=m68k-tandem
+ ;;
+ stratus)
+ basic_machine=i860-stratus
+ os=-sysv4
+ ;;
+ sun2)
+ basic_machine=m68000-sun
+ ;;
+ sun2os3)
+ basic_machine=m68000-sun
+ os=-sunos3
+ ;;
+ sun2os4)
+ basic_machine=m68000-sun
+ os=-sunos4
+ ;;
+ sun3os3)
+ basic_machine=m68k-sun
+ os=-sunos3
+ ;;
+ sun3os4)
+ basic_machine=m68k-sun
+ os=-sunos4
+ ;;
+ sun4os3)
+ basic_machine=sparc-sun
+ os=-sunos3
+ ;;
+ sun4os4)
+ basic_machine=sparc-sun
+ os=-sunos4
+ ;;
+ sun4sol2)
+ basic_machine=sparc-sun
+ os=-solaris2
+ ;;
+ sun3 | sun3-*)
+ basic_machine=m68k-sun
+ ;;
+ sun4)
+ basic_machine=sparc-sun
+ ;;
+ sun386 | sun386i | roadrunner)
+ basic_machine=i386-sun
+ ;;
+ sv1)
+ basic_machine=sv1-cray
+ os=-unicos
+ ;;
+ symmetry)
+ basic_machine=i386-sequent
+ os=-dynix
+ ;;
+ t3e)
+ basic_machine=alphaev5-cray
+ os=-unicos
+ ;;
+ t90)
+ basic_machine=t90-cray
+ os=-unicos
+ ;;
+ tic54x | c54x*)
+ basic_machine=tic54x-unknown
+ os=-coff
+ ;;
+ tic55x | c55x*)
+ basic_machine=tic55x-unknown
+ os=-coff
+ ;;
+ tic6x | c6x*)
+ basic_machine=tic6x-unknown
+ os=-coff
+ ;;
+ tx39)
+ basic_machine=mipstx39-unknown
+ ;;
+ tx39el)
+ basic_machine=mipstx39el-unknown
+ ;;
+ toad1)
+ basic_machine=pdp10-xkl
+ os=-tops20
+ ;;
+ tower | tower-32)
+ basic_machine=m68k-ncr
+ ;;
+ tpf)
+ basic_machine=s390x-ibm
+ os=-tpf
+ ;;
+ udi29k)
+ basic_machine=a29k-amd
+ os=-udi
+ ;;
+ ultra3)
+ basic_machine=a29k-nyu
+ os=-sym1
+ ;;
+ v810 | necv810)
+ basic_machine=v810-nec
+ os=-none
+ ;;
+ vaxv)
+ basic_machine=vax-dec
+ os=-sysv
+ ;;
+ vms)
+ basic_machine=vax-dec
+ os=-vms
+ ;;
+ vpp*|vx|vx-*)
+ basic_machine=f301-fujitsu
+ ;;
+ vxworks960)
+ basic_machine=i960-wrs
+ os=-vxworks
+ ;;
+ vxworks68)
+ basic_machine=m68k-wrs
+ os=-vxworks
+ ;;
+ vxworks29k)
+ basic_machine=a29k-wrs
+ os=-vxworks
+ ;;
+ w65*)
+ basic_machine=w65-wdc
+ os=-none
+ ;;
+ w89k-*)
+ basic_machine=hppa1.1-winbond
+ os=-proelf
+ ;;
+ xbox)
+ basic_machine=i686-pc
+ os=-mingw32
+ ;;
+ xps | xps100)
+ basic_machine=xps100-honeywell
+ ;;
+ ymp)
+ basic_machine=ymp-cray
+ os=-unicos
+ ;;
+ z8k-*-coff)
+ basic_machine=z8k-unknown
+ os=-sim
+ ;;
+ none)
+ basic_machine=none-none
+ os=-none
+ ;;
+
+# Here we handle the default manufacturer of certain CPU types. It is in
+# some cases the only manufacturer, in others, it is the most popular.
+ w89k)
+ basic_machine=hppa1.1-winbond
+ ;;
+ op50n)
+ basic_machine=hppa1.1-oki
+ ;;
+ op60c)
+ basic_machine=hppa1.1-oki
+ ;;
+ romp)
+ basic_machine=romp-ibm
+ ;;
+ mmix)
+ basic_machine=mmix-knuth
+ ;;
+ rs6000)
+ basic_machine=rs6000-ibm
+ ;;
+ vax)
+ basic_machine=vax-dec
+ ;;
+ pdp10)
+ # there are many clones, so DEC is not a safe bet
+ basic_machine=pdp10-unknown
+ ;;
+ pdp11)
+ basic_machine=pdp11-dec
+ ;;
+ we32k)
+ basic_machine=we32k-att
+ ;;
+ sh3 | sh4 | sh[34]eb | sh[1234]le | sh[23]ele)
+ basic_machine=sh-unknown
+ ;;
+ sh64)
+ basic_machine=sh64-unknown
+ ;;
+ sparc | sparcv8 | sparcv9 | sparcv9b)
+ basic_machine=sparc-sun
+ ;;
+ cydra)
+ basic_machine=cydra-cydrome
+ ;;
+ orion)
+ basic_machine=orion-highlevel
+ ;;
+ orion105)
+ basic_machine=clipper-highlevel
+ ;;
+ mac | mpw | mac-mpw)
+ basic_machine=m68k-apple
+ ;;
+ pmac | pmac-mpw)
+ basic_machine=powerpc-apple
+ ;;
+ *-unknown)
+ # Make sure to match an already-canonicalized machine name.
+ ;;
+ *)
+ echo Invalid configuration \`$1\': machine \`$basic_machine\' not recognized 1>&2
+ exit 1
+ ;;
+esac
+
+# Here we canonicalize certain aliases for manufacturers.
+case $basic_machine in
+ *-digital*)
+ basic_machine=`echo $basic_machine | sed 's/digital.*/dec/'`
+ ;;
+ *-commodore*)
+ basic_machine=`echo $basic_machine | sed 's/commodore.*/cbm/'`
+ ;;
+ *)
+ ;;
+esac
+
+# Decode manufacturer-specific aliases for certain operating systems.
+
+if [ x"$os" != x"" ]
+then
+case $os in
+ # First match some system type aliases
+ # that might get confused with valid system types.
+ # -solaris* is a basic system type, with this one exception.
+ -solaris1 | -solaris1.*)
+ os=`echo $os | sed -e 's|solaris1|sunos4|'`
+ ;;
+ -solaris)
+ os=-solaris2
+ ;;
+ -svr4*)
+ os=-sysv4
+ ;;
+ -unixware*)
+ os=-sysv4.2uw
+ ;;
+ -gnu/linux*)
+ os=`echo $os | sed -e 's|gnu/linux|linux-gnu|'`
+ ;;
+ # First accept the basic system types.
+ # The portable systems comes first.
+ # Each alternative MUST END IN A *, to match a version number.
+ # -sysv* is not here because it comes later, after sysvr4.
+ -gnu* | -bsd* | -mach* | -minix* | -genix* | -ultrix* | -irix* \
+ | -*vms* | -sco* | -esix* | -isc* | -aix* | -sunos | -sunos[34]*\
+ | -hpux* | -unos* | -osf* | -luna* | -dgux* | -solaris* | -sym* \
+ | -amigaos* | -amigados* | -msdos* | -newsos* | -unicos* | -aof* \
+ | -aos* \
+ | -nindy* | -vxsim* | -vxworks* | -ebmon* | -hms* | -mvs* \
+ | -clix* | -riscos* | -uniplus* | -iris* | -rtu* | -xenix* \
+ | -hiux* | -386bsd* | -knetbsd* | -mirbsd* | -netbsd* | -openbsd* \
+ | -ekkobsd* | -kfreebsd* | -freebsd* | -riscix* | -lynxos* \
+ | -bosx* | -nextstep* | -cxux* | -aout* | -elf* | -oabi* \
+ | -ptx* | -coff* | -ecoff* | -winnt* | -domain* | -vsta* \
+ | -udi* | -eabi* | -lites* | -ieee* | -go32* | -aux* \
+ | -chorusos* | -chorusrdb* \
+ | -cygwin* | -pe* | -psos* | -moss* | -proelf* | -rtems* \
+ | -mingw32* | -linux-gnu* | -linux-uclibc* | -uxpv* | -beos* | -mpeix* | -udk* \
+ | -interix* | -uwin* | -mks* | -rhapsody* | -darwin* | -opened* \
+ | -openstep* | -oskit* | -conix* | -pw32* | -nonstopux* \
+ | -storm-chaos* | -tops10* | -tenex* | -tops20* | -its* \
+ | -os2* | -vos* | -palmos* | -uclinux* | -nucleus* \
+ | -morphos* | -superux* | -rtmk* | -rtmk-nova* | -windiss* \
+ | -powermax* | -dnix* | -nx6 | -nx7 | -sei* | -dragonfly*)
+ # Remember, each alternative MUST END IN *, to match a version number.
+ ;;
+ -qnx*)
+ case $basic_machine in
+ x86-* | i*86-*)
+ ;;
+ *)
+ os=-nto$os
+ ;;
+ esac
+ ;;
+ -nto-qnx*)
+ ;;
+ -nto*)
+ os=`echo $os | sed -e 's|nto|nto-qnx|'`
+ ;;
+ -sim | -es1800* | -hms* | -xray | -os68k* | -none* | -v88r* \
+ | -windows* | -osx | -abug | -netware* | -os9* | -beos* \
+ | -macos* | -mpw* | -magic* | -mmixware* | -mon960* | -lnews*)
+ ;;
+ -mac*)
+ os=`echo $os | sed -e 's|mac|macos|'`
+ ;;
+ -linux-dietlibc)
+ os=-linux-dietlibc
+ ;;
+ -linux*)
+ os=`echo $os | sed -e 's|linux|linux-gnu|'`
+ ;;
+ -sunos5*)
+ os=`echo $os | sed -e 's|sunos5|solaris2|'`
+ ;;
+ -sunos6*)
+ os=`echo $os | sed -e 's|sunos6|solaris3|'`
+ ;;
+ -opened*)
+ os=-openedition
+ ;;
+ -os400*)
+ os=-os400
+ ;;
+ -wince*)
+ os=-wince
+ ;;
+ -osfrose*)
+ os=-osfrose
+ ;;
+ -osf*)
+ os=-osf
+ ;;
+ -utek*)
+ os=-bsd
+ ;;
+ -dynix*)
+ os=-bsd
+ ;;
+ -acis*)
+ os=-aos
+ ;;
+ -atheos*)
+ os=-atheos
+ ;;
+ -syllable*)
+ os=-syllable
+ ;;
+ -386bsd)
+ os=-bsd
+ ;;
+ -ctix* | -uts*)
+ os=-sysv
+ ;;
+ -nova*)
+ os=-rtmk-nova
+ ;;
+ -ns2 )
+ os=-nextstep2
+ ;;
+ -nsk*)
+ os=-nsk
+ ;;
+ # Preserve the version number of sinix5.
+ -sinix5.*)
+ os=`echo $os | sed -e 's|sinix|sysv|'`
+ ;;
+ -sinix*)
+ os=-sysv4
+ ;;
+ -tpf*)
+ os=-tpf
+ ;;
+ -triton*)
+ os=-sysv3
+ ;;
+ -oss*)
+ os=-sysv3
+ ;;
+ -svr4)
+ os=-sysv4
+ ;;
+ -svr3)
+ os=-sysv3
+ ;;
+ -sysvr4)
+ os=-sysv4
+ ;;
+ # This must come after -sysvr4.
+ -sysv*)
+ ;;
+ -ose*)
+ os=-ose
+ ;;
+ -es1800*)
+ os=-ose
+ ;;
+ -xenix)
+ os=-xenix
+ ;;
+ -*mint | -mint[0-9]* | -*MiNT | -MiNT[0-9]*)
+ os=-mint
+ ;;
+ -aros*)
+ os=-aros
+ ;;
+ -kaos*)
+ os=-kaos
+ ;;
+ -zvmoe)
+ os=-zvmoe
+ ;;
+ -none)
+ ;;
+ *)
+ # Get rid of the `-' at the beginning of $os.
+ os=`echo $os | sed 's/[^-]*-//'`
+ echo Invalid configuration \`$1\': system \`$os\' not recognized 1>&2
+ exit 1
+ ;;
+esac
+else
+
+# Here we handle the default operating systems that come with various machines.
+# The value should be what the vendor currently ships out the door with their
+# machine or put another way, the most popular os provided with the machine.
+
+# Note that if you're going to try to match "-MANUFACTURER" here (say,
+# "-sun"), then you have to tell the case statement up towards the top
+# that MANUFACTURER isn't an operating system. Otherwise, code above
+# will signal an error saying that MANUFACTURER isn't an operating
+# system, and we'll never get to this point.
+
+case $basic_machine in
+ *-acorn)
+ os=-riscix1.2
+ ;;
+ arm*-rebel)
+ os=-linux
+ ;;
+ arm*-semi)
+ os=-aout
+ ;;
+ c4x-* | tic4x-*)
+ os=-coff
+ ;;
+ # This must come before the *-dec entry.
+ pdp10-*)
+ os=-tops20
+ ;;
+ pdp11-*)
+ os=-none
+ ;;
+ *-dec | vax-*)
+ os=-ultrix4.2
+ ;;
+ m68*-apollo)
+ os=-domain
+ ;;
+ i386-sun)
+ os=-sunos4.0.2
+ ;;
+ m68000-sun)
+ os=-sunos3
+ # This also exists in the configure program, but was not the
+ # default.
+ # os=-sunos4
+ ;;
+ m68*-cisco)
+ os=-aout
+ ;;
+ mips*-cisco)
+ os=-elf
+ ;;
+ mips*-*)
+ os=-elf
+ ;;
+ or32-*)
+ os=-coff
+ ;;
+ *-tti) # must be before sparc entry or we get the wrong os.
+ os=-sysv3
+ ;;
+ sparc-* | *-sun)
+ os=-sunos4.1.1
+ ;;
+ *-be)
+ os=-beos
+ ;;
+ *-ibm)
+ os=-aix
+ ;;
+ *-knuth)
+ os=-mmixware
+ ;;
+ *-wec)
+ os=-proelf
+ ;;
+ *-winbond)
+ os=-proelf
+ ;;
+ *-oki)
+ os=-proelf
+ ;;
+ *-hp)
+ os=-hpux
+ ;;
+ *-hitachi)
+ os=-hiux
+ ;;
+ i860-* | *-att | *-ncr | *-altos | *-motorola | *-convergent)
+ os=-sysv
+ ;;
+ *-cbm)
+ os=-amigaos
+ ;;
+ *-dg)
+ os=-dgux
+ ;;
+ *-dolphin)
+ os=-sysv3
+ ;;
+ m68k-ccur)
+ os=-rtu
+ ;;
+ m88k-omron*)
+ os=-luna
+ ;;
+ *-next )
+ os=-nextstep
+ ;;
+ *-sequent)
+ os=-ptx
+ ;;
+ *-crds)
+ os=-unos
+ ;;
+ *-ns)
+ os=-genix
+ ;;
+ i370-*)
+ os=-mvs
+ ;;
+ *-next)
+ os=-nextstep3
+ ;;
+ *-gould)
+ os=-sysv
+ ;;
+ *-highlevel)
+ os=-bsd
+ ;;
+ *-encore)
+ os=-bsd
+ ;;
+ *-sgi)
+ os=-irix
+ ;;
+ *-siemens)
+ os=-sysv4
+ ;;
+ *-masscomp)
+ os=-rtu
+ ;;
+ f30[01]-fujitsu | f700-fujitsu)
+ os=-uxpv
+ ;;
+ *-rom68k)
+ os=-coff
+ ;;
+ *-*bug)
+ os=-coff
+ ;;
+ *-apple)
+ os=-macos
+ ;;
+ *-atari*)
+ os=-mint
+ ;;
+ *)
+ os=-none
+ ;;
+esac
+fi
+
+# Here we handle the case where we know the os, and the CPU type, but not the
+# manufacturer. We pick the logical manufacturer.
+vendor=unknown
+case $basic_machine in
+ *-unknown)
+ case $os in
+ -riscix*)
+ vendor=acorn
+ ;;
+ -sunos*)
+ vendor=sun
+ ;;
+ -aix*)
+ vendor=ibm
+ ;;
+ -beos*)
+ vendor=be
+ ;;
+ -hpux*)
+ vendor=hp
+ ;;
+ -mpeix*)
+ vendor=hp
+ ;;
+ -hiux*)
+ vendor=hitachi
+ ;;
+ -unos*)
+ vendor=crds
+ ;;
+ -dgux*)
+ vendor=dg
+ ;;
+ -luna*)
+ vendor=omron
+ ;;
+ -genix*)
+ vendor=ns
+ ;;
+ -mvs* | -opened*)
+ vendor=ibm
+ ;;
+ -os400*)
+ vendor=ibm
+ ;;
+ -ptx*)
+ vendor=sequent
+ ;;
+ -tpf*)
+ vendor=ibm
+ ;;
+ -vxsim* | -vxworks* | -windiss*)
+ vendor=wrs
+ ;;
+ -aux*)
+ vendor=apple
+ ;;
+ -hms*)
+ vendor=hitachi
+ ;;
+ -mpw* | -macos*)
+ vendor=apple
+ ;;
+ -*mint | -mint[0-9]* | -*MiNT | -MiNT[0-9]*)
+ vendor=atari
+ ;;
+ -vos*)
+ vendor=stratus
+ ;;
+ esac
+ basic_machine=`echo $basic_machine | sed "s/unknown/$vendor/"`
+ ;;
+esac
+
+echo $basic_machine$os
+exit 0
+
+# Local variables:
+# eval: (add-hook 'write-file-hooks 'time-stamp)
+# time-stamp-start: "timestamp='"
+# time-stamp-format: "%:y-%02m-%02d"
+# time-stamp-end: "'"
+# End:
diff --git a/dev/configure.ac b/dev/configure.ac
new file mode 100644
index 0000000..b1ba048
--- /dev/null
+++ b/dev/configure.ac
@@ -0,0 +1,69 @@
+# -*- Autoconf -*-
+# Process this file with autoconf to produce a configure script.
+
+AC_PREREQ(2.59)
+AC_INIT([GPSTK], [1.2], [http://www.gpstk.org/], [gpstk])
+AM_INIT_AUTOMAKE([1.7.6 foreign])
+AC_CONFIG_SRCDIR([src/DayTime.hpp])
+
+# Checks for programs.
+AC_LANG([C++])
+AC_PROG_CXX
+AC_PROG_CC
+
+# Checks for libraries.
+AC_PROG_LIBTOOL
+
+# Checks for header files.
+AC_FUNC_ALLOCA
+AC_HEADER_DIRENT
+AC_HEADER_STDC
+AC_CHECK_HEADERS([libintl.h stddef.h stdlib.h string.h strings.h sys/param.h sys/time.h sys/timeb.h unistd.h])
+
+# Checks for typedefs, structures, and compiler characteristics.
+AC_HEADER_STDBOOL
+AC_C_CONST
+AC_C_INLINE
+AC_TYPE_SIZE_T
+AC_HEADER_TIME
+AC_STRUCT_TM
+
+# Checks for library functions.
+AC_FUNC_CLOSEDIR_VOID
+AC_FUNC_ERROR_AT_LINE
+AC_FUNC_MALLOC
+AC_FUNC_REALLOC
+AC_FUNC_STAT
+AC_FUNC_STRTOD
+AC_CHECK_FUNCS([bzero floor ftime getcwd gettimeofday memset mkdir modf pow re_comp regcomp sqrt strstr strtol strtoul])
+
+AC_CONFIG_FILES([Makefile
+ lib/Makefile
+ lib/rxio/Makefile
+ src/Makefile
+ apps/Makefile
+ apps/DataAvailability/Makefile
+ apps/MDPtools/Makefile
+ apps/Rinextools/Makefile
+ apps/checktools/Makefile
+ apps/converters/Makefile
+ apps/differential/Makefile
+ apps/difftools/Makefile
+ apps/filetools/Makefile
+ apps/geomatics/Makefile
+ apps/geomatics/cycleslips/Makefile
+ apps/geomatics/kalman/Makefile
+ apps/geomatics/lib/Makefile
+ apps/geomatics/relposition/Makefile
+ apps/geomatics/robust/Makefile
+ apps/ionosphere/Makefile
+ apps/mergetools/Makefile
+ apps/multipath/Makefile
+ apps/positioning/Makefile
+ apps/receiver/Makefile
+ apps/reszilla/Makefile
+ apps/time/Makefile
+ apps/visibility/Makefile
+ tests/Makefile
+ examples/Makefile])
+AC_OUTPUT
diff --git a/dev/depcomp b/dev/depcomp
new file mode 100755
index 0000000..ffcd540
--- /dev/null
+++ b/dev/depcomp
@@ -0,0 +1,529 @@
+#! /bin/sh
+# depcomp - compile a program generating dependencies as side-effects
+
+scriptversion=2005-02-09.22
+
+# Copyright (C) 1999, 2000, 2003, 2004, 2005 Free Software Foundation, Inc.
+
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
+# 02111-1307, USA.
+
+# As a special exception to the GNU General Public License, if you
+# distribute this file as part of a program that contains a
+# configuration script generated by Autoconf, you may include it under
+# the same distribution terms that you use for the rest of that program.
+
+# Originally written by Alexandre Oliva <oliva at dcc.unicamp.br>.
+
+case $1 in
+ '')
+ echo "$0: No command. Try \`$0 --help' for more information." 1>&2
+ exit 1;
+ ;;
+ -h | --h*)
+ cat <<\EOF
+Usage: depcomp [--help] [--version] PROGRAM [ARGS]
+
+Run PROGRAMS ARGS to compile a file, generating dependencies
+as side-effects.
+
+Environment variables:
+ depmode Dependency tracking mode.
+ source Source file read by `PROGRAMS ARGS'.
+ object Object file output by `PROGRAMS ARGS'.
+ DEPDIR directory where to store dependencies.
+ depfile Dependency file to output.
+ tmpdepfile Temporary file to use when outputing dependencies.
+ libtool Whether libtool is used (yes/no).
+
+Report bugs to <bug-automake at gnu.org>.
+EOF
+ exit $?
+ ;;
+ -v | --v*)
+ echo "depcomp $scriptversion"
+ exit $?
+ ;;
+esac
+
+if test -z "$depmode" || test -z "$source" || test -z "$object"; then
+ echo "depcomp: Variables source, object and depmode must be set" 1>&2
+ exit 1
+fi
+
+# Dependencies for sub/bar.o or sub/bar.obj go into sub/.deps/bar.Po.
+depfile=${depfile-`echo "$object" |
+ sed 's|[^\\/]*$|'${DEPDIR-.deps}'/&|;s|\.\([^.]*\)$|.P\1|;s|Pobj$|Po|'`}
+tmpdepfile=${tmpdepfile-`echo "$depfile" | sed 's/\.\([^.]*\)$/.T\1/'`}
+
+rm -f "$tmpdepfile"
+
+# Some modes work just like other modes, but use different flags. We
+# parameterize here, but still list the modes in the big case below,
+# to make depend.m4 easier to write. Note that we *cannot* use a case
+# here, because this file can only contain one case statement.
+if test "$depmode" = hp; then
+ # HP compiler uses -M and no extra arg.
+ gccflag=-M
+ depmode=gcc
+fi
+
+if test "$depmode" = dashXmstdout; then
+ # This is just like dashmstdout with a different argument.
+ dashmflag=-xM
+ depmode=dashmstdout
+fi
+
+case "$depmode" in
+gcc3)
+## gcc 3 implements dependency tracking that does exactly what
+## we want. Yay! Note: for some reason libtool 1.4 doesn't like
+## it if -MD -MP comes after the -MF stuff. Hmm.
+ "$@" -MT "$object" -MD -MP -MF "$tmpdepfile"
+ stat=$?
+ if test $stat -eq 0; then :
+ else
+ rm -f "$tmpdepfile"
+ exit $stat
+ fi
+ mv "$tmpdepfile" "$depfile"
+ ;;
+
+gcc)
+## There are various ways to get dependency output from gcc. Here's
+## why we pick this rather obscure method:
+## - Don't want to use -MD because we'd like the dependencies to end
+## up in a subdir. Having to rename by hand is ugly.
+## (We might end up doing this anyway to support other compilers.)
+## - The DEPENDENCIES_OUTPUT environment variable makes gcc act like
+## -MM, not -M (despite what the docs say).
+## - Using -M directly means running the compiler twice (even worse
+## than renaming).
+ if test -z "$gccflag"; then
+ gccflag=-MD,
+ fi
+ "$@" -Wp,"$gccflag$tmpdepfile"
+ stat=$?
+ if test $stat -eq 0; then :
+ else
+ rm -f "$tmpdepfile"
+ exit $stat
+ fi
+ rm -f "$depfile"
+ echo "$object : \\" > "$depfile"
+ alpha=ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz
+## The second -e expression handles DOS-style file names with drive letters.
+ sed -e 's/^[^:]*: / /' \
+ -e 's/^['$alpha']:\/[^:]*: / /' < "$tmpdepfile" >> "$depfile"
+## This next piece of magic avoids the `deleted header file' problem.
+## The problem is that when a header file which appears in a .P file
+## is deleted, the dependency causes make to die (because there is
+## typically no way to rebuild the header). We avoid this by adding
+## dummy dependencies for each header file. Too bad gcc doesn't do
+## this for us directly.
+ tr ' ' '
+' < "$tmpdepfile" |
+## Some versions of gcc put a space before the `:'. On the theory
+## that the space means something, we add a space to the output as
+## well.
+## Some versions of the HPUX 10.20 sed can't process this invocation
+## correctly. Breaking it into two sed invocations is a workaround.
+ sed -e 's/^\\$//' -e '/^$/d' -e '/:$/d' | sed -e 's/$/ :/' >> "$depfile"
+ rm -f "$tmpdepfile"
+ ;;
+
+hp)
+ # This case exists only to let depend.m4 do its work. It works by
+ # looking at the text of this script. This case will never be run,
+ # since it is checked for above.
+ exit 1
+ ;;
+
+sgi)
+ if test "$libtool" = yes; then
+ "$@" "-Wp,-MDupdate,$tmpdepfile"
+ else
+ "$@" -MDupdate "$tmpdepfile"
+ fi
+ stat=$?
+ if test $stat -eq 0; then :
+ else
+ rm -f "$tmpdepfile"
+ exit $stat
+ fi
+ rm -f "$depfile"
+
+ if test -f "$tmpdepfile"; then # yes, the sourcefile depend on other files
+ echo "$object : \\" > "$depfile"
+
+ # Clip off the initial element (the dependent). Don't try to be
+ # clever and replace this with sed code, as IRIX sed won't handle
+ # lines with more than a fixed number of characters (4096 in
+ # IRIX 6.2 sed, 8192 in IRIX 6.5). We also remove comment lines;
+ # the IRIX cc adds comments like `#:fec' to the end of the
+ # dependency line.
+ tr ' ' '
+' < "$tmpdepfile" \
+ | sed -e 's/^.*\.o://' -e 's/#.*$//' -e '/^$/ d' | \
+ tr '
+' ' ' >> $depfile
+ echo >> $depfile
+
+ # The second pass generates a dummy entry for each header file.
+ tr ' ' '
+' < "$tmpdepfile" \
+ | sed -e 's/^.*\.o://' -e 's/#.*$//' -e '/^$/ d' -e 's/$/:/' \
+ >> $depfile
+ else
+ # The sourcefile does not contain any dependencies, so just
+ # store a dummy comment line, to avoid errors with the Makefile
+ # "include basename.Plo" scheme.
+ echo "#dummy" > "$depfile"
+ fi
+ rm -f "$tmpdepfile"
+ ;;
+
+aix)
+ # The C for AIX Compiler uses -M and outputs the dependencies
+ # in a .u file. In older versions, this file always lives in the
+ # current directory. Also, the AIX compiler puts `$object:' at the
+ # start of each line; $object doesn't have directory information.
+ # Version 6 uses the directory in both cases.
+ stripped=`echo "$object" | sed 's/\(.*\)\..*$/\1/'`
+ tmpdepfile="$stripped.u"
+ if test "$libtool" = yes; then
+ "$@" -Wc,-M
+ else
+ "$@" -M
+ fi
+ stat=$?
+
+ if test -f "$tmpdepfile"; then :
+ else
+ stripped=`echo "$stripped" | sed 's,^.*/,,'`
+ tmpdepfile="$stripped.u"
+ fi
+
+ if test $stat -eq 0; then :
+ else
+ rm -f "$tmpdepfile"
+ exit $stat
+ fi
+
+ if test -f "$tmpdepfile"; then
+ outname="$stripped.o"
+ # Each line is of the form `foo.o: dependent.h'.
+ # Do two passes, one to just change these to
+ # `$object: dependent.h' and one to simply `dependent.h:'.
+ sed -e "s,^$outname:,$object :," < "$tmpdepfile" > "$depfile"
+ sed -e "s,^$outname: \(.*\)$,\1:," < "$tmpdepfile" >> "$depfile"
+ else
+ # The sourcefile does not contain any dependencies, so just
+ # store a dummy comment line, to avoid errors with the Makefile
+ # "include basename.Plo" scheme.
+ echo "#dummy" > "$depfile"
+ fi
+ rm -f "$tmpdepfile"
+ ;;
+
+icc)
+ # Intel's C compiler understands `-MD -MF file'. However on
+ # icc -MD -MF foo.d -c -o sub/foo.o sub/foo.c
+ # ICC 7.0 will fill foo.d with something like
+ # foo.o: sub/foo.c
+ # foo.o: sub/foo.h
+ # which is wrong. We want:
+ # sub/foo.o: sub/foo.c
+ # sub/foo.o: sub/foo.h
+ # sub/foo.c:
+ # sub/foo.h:
+ # ICC 7.1 will output
+ # foo.o: sub/foo.c sub/foo.h
+ # and will wrap long lines using \ :
+ # foo.o: sub/foo.c ... \
+ # sub/foo.h ... \
+ # ...
+
+ "$@" -MD -MF "$tmpdepfile"
+ stat=$?
+ if test $stat -eq 0; then :
+ else
+ rm -f "$tmpdepfile"
+ exit $stat
+ fi
+ rm -f "$depfile"
+ # Each line is of the form `foo.o: dependent.h',
+ # or `foo.o: dep1.h dep2.h \', or ` dep3.h dep4.h \'.
+ # Do two passes, one to just change these to
+ # `$object: dependent.h' and one to simply `dependent.h:'.
+ sed "s,^[^:]*:,$object :," < "$tmpdepfile" > "$depfile"
+ # Some versions of the HPUX 10.20 sed can't process this invocation
+ # correctly. Breaking it into two sed invocations is a workaround.
+ sed 's,^[^:]*: \(.*\)$,\1,;s/^\\$//;/^$/d;/:$/d' < "$tmpdepfile" |
+ sed -e 's/$/ :/' >> "$depfile"
+ rm -f "$tmpdepfile"
+ ;;
+
+tru64)
+ # The Tru64 compiler uses -MD to generate dependencies as a side
+ # effect. `cc -MD -o foo.o ...' puts the dependencies into `foo.o.d'.
+ # At least on Alpha/Redhat 6.1, Compaq CCC V6.2-504 seems to put
+ # dependencies in `foo.d' instead, so we check for that too.
+ # Subdirectories are respected.
+ dir=`echo "$object" | sed -e 's|/[^/]*$|/|'`
+ test "x$dir" = "x$object" && dir=
+ base=`echo "$object" | sed -e 's|^.*/||' -e 's/\.o$//' -e 's/\.lo$//'`
+
+ if test "$libtool" = yes; then
+ # With Tru64 cc, shared objects can also be used to make a
+ # static library. This mecanism is used in libtool 1.4 series to
+ # handle both shared and static libraries in a single compilation.
+ # With libtool 1.4, dependencies were output in $dir.libs/$base.lo.d.
+ #
+ # With libtool 1.5 this exception was removed, and libtool now
+ # generates 2 separate objects for the 2 libraries. These two
+ # compilations output dependencies in in $dir.libs/$base.o.d and
+ # in $dir$base.o.d. We have to check for both files, because
+ # one of the two compilations can be disabled. We should prefer
+ # $dir$base.o.d over $dir.libs/$base.o.d because the latter is
+ # automatically cleaned when .libs/ is deleted, while ignoring
+ # the former would cause a distcleancheck panic.
+ tmpdepfile1=$dir.libs/$base.lo.d # libtool 1.4
+ tmpdepfile2=$dir$base.o.d # libtool 1.5
+ tmpdepfile3=$dir.libs/$base.o.d # libtool 1.5
+ tmpdepfile4=$dir.libs/$base.d # Compaq CCC V6.2-504
+ "$@" -Wc,-MD
+ else
+ tmpdepfile1=$dir$base.o.d
+ tmpdepfile2=$dir$base.d
+ tmpdepfile3=$dir$base.d
+ tmpdepfile4=$dir$base.d
+ "$@" -MD
+ fi
+
+ stat=$?
+ if test $stat -eq 0; then :
+ else
+ rm -f "$tmpdepfile1" "$tmpdepfile2" "$tmpdepfile3" "$tmpdepfile4"
+ exit $stat
+ fi
+
+ for tmpdepfile in "$tmpdepfile1" "$tmpdepfile2" "$tmpdepfile3" "$tmpdepfile4"
+ do
+ test -f "$tmpdepfile" && break
+ done
+ if test -f "$tmpdepfile"; then
+ sed -e "s,^.*\.[a-z]*:,$object:," < "$tmpdepfile" > "$depfile"
+ # That's a tab and a space in the [].
+ sed -e 's,^.*\.[a-z]*:[ ]*,,' -e 's,$,:,' < "$tmpdepfile" >> "$depfile"
+ else
+ echo "#dummy" > "$depfile"
+ fi
+ rm -f "$tmpdepfile"
+ ;;
+
+#nosideeffect)
+ # This comment above is used by automake to tell side-effect
+ # dependency tracking mechanisms from slower ones.
+
+dashmstdout)
+ # Important note: in order to support this mode, a compiler *must*
+ # always write the preprocessed file to stdout, regardless of -o.
+ "$@" || exit $?
+
+ # Remove the call to Libtool.
+ if test "$libtool" = yes; then
+ while test $1 != '--mode=compile'; do
+ shift
+ done
+ shift
+ fi
+
+ # Remove `-o $object'.
+ IFS=" "
+ for arg
+ do
+ case $arg in
+ -o)
+ shift
+ ;;
+ $object)
+ shift
+ ;;
+ *)
+ set fnord "$@" "$arg"
+ shift # fnord
+ shift # $arg
+ ;;
+ esac
+ done
+
+ test -z "$dashmflag" && dashmflag=-M
+ # Require at least two characters before searching for `:'
+ # in the target name. This is to cope with DOS-style filenames:
+ # a dependency such as `c:/foo/bar' could be seen as target `c' otherwise.
+ "$@" $dashmflag |
+ sed 's:^[ ]*[^: ][^:][^:]*\:[ ]*:'"$object"'\: :' > "$tmpdepfile"
+ rm -f "$depfile"
+ cat < "$tmpdepfile" > "$depfile"
+ tr ' ' '
+' < "$tmpdepfile" | \
+## Some versions of the HPUX 10.20 sed can't process this invocation
+## correctly. Breaking it into two sed invocations is a workaround.
+ sed -e 's/^\\$//' -e '/^$/d' -e '/:$/d' | sed -e 's/$/ :/' >> "$depfile"
+ rm -f "$tmpdepfile"
+ ;;
+
+dashXmstdout)
+ # This case only exists to satisfy depend.m4. It is never actually
+ # run, as this mode is specially recognized in the preamble.
+ exit 1
+ ;;
+
+makedepend)
+ "$@" || exit $?
+ # Remove any Libtool call
+ if test "$libtool" = yes; then
+ while test $1 != '--mode=compile'; do
+ shift
+ done
+ shift
+ fi
+ # X makedepend
+ shift
+ cleared=no
+ for arg in "$@"; do
+ case $cleared in
+ no)
+ set ""; shift
+ cleared=yes ;;
+ esac
+ case "$arg" in
+ -D*|-I*)
+ set fnord "$@" "$arg"; shift ;;
+ # Strip any option that makedepend may not understand. Remove
+ # the object too, otherwise makedepend will parse it as a source file.
+ -*|$object)
+ ;;
+ *)
+ set fnord "$@" "$arg"; shift ;;
+ esac
+ done
+ obj_suffix="`echo $object | sed 's/^.*\././'`"
+ touch "$tmpdepfile"
+ ${MAKEDEPEND-makedepend} -o"$obj_suffix" -f"$tmpdepfile" "$@"
+ rm -f "$depfile"
+ cat < "$tmpdepfile" > "$depfile"
+ sed '1,2d' "$tmpdepfile" | tr ' ' '
+' | \
+## Some versions of the HPUX 10.20 sed can't process this invocation
+## correctly. Breaking it into two sed invocations is a workaround.
+ sed -e 's/^\\$//' -e '/^$/d' -e '/:$/d' | sed -e 's/$/ :/' >> "$depfile"
+ rm -f "$tmpdepfile" "$tmpdepfile".bak
+ ;;
+
+cpp)
+ # Important note: in order to support this mode, a compiler *must*
+ # always write the preprocessed file to stdout.
+ "$@" || exit $?
+
+ # Remove the call to Libtool.
+ if test "$libtool" = yes; then
+ while test $1 != '--mode=compile'; do
+ shift
+ done
+ shift
+ fi
+
+ # Remove `-o $object'.
+ IFS=" "
+ for arg
+ do
+ case $arg in
+ -o)
+ shift
+ ;;
+ $object)
+ shift
+ ;;
+ *)
+ set fnord "$@" "$arg"
+ shift # fnord
+ shift # $arg
+ ;;
+ esac
+ done
+
+ "$@" -E |
+ sed -n '/^# [0-9][0-9]* "\([^"]*\)".*/ s:: \1 \\:p' |
+ sed '$ s: \\$::' > "$tmpdepfile"
+ rm -f "$depfile"
+ echo "$object : \\" > "$depfile"
+ cat < "$tmpdepfile" >> "$depfile"
+ sed < "$tmpdepfile" '/^$/d;s/^ //;s/ \\$//;s/$/ :/' >> "$depfile"
+ rm -f "$tmpdepfile"
+ ;;
+
+msvisualcpp)
+ # Important note: in order to support this mode, a compiler *must*
+ # always write the preprocessed file to stdout, regardless of -o,
+ # because we must use -o when running libtool.
+ "$@" || exit $?
+ IFS=" "
+ for arg
+ do
+ case "$arg" in
+ "-Gm"|"/Gm"|"-Gi"|"/Gi"|"-ZI"|"/ZI")
+ set fnord "$@"
+ shift
+ shift
+ ;;
+ *)
+ set fnord "$@" "$arg"
+ shift
+ shift
+ ;;
+ esac
+ done
+ "$@" -E |
+ sed -n '/^#line [0-9][0-9]* "\([^"]*\)"/ s::echo "`cygpath -u \\"\1\\"`":p' | sort | uniq > "$tmpdepfile"
+ rm -f "$depfile"
+ echo "$object : \\" > "$depfile"
+ . "$tmpdepfile" | sed 's% %\\ %g' | sed -n '/^\(.*\)$/ s:: \1 \\:p' >> "$depfile"
+ echo " " >> "$depfile"
+ . "$tmpdepfile" | sed 's% %\\ %g' | sed -n '/^\(.*\)$/ s::\1\::p' >> "$depfile"
+ rm -f "$tmpdepfile"
+ ;;
+
+none)
+ exec "$@"
+ ;;
+
+*)
+ echo "Unknown depmode $depmode" 1>&2
+ exit 1
+ ;;
+esac
+
+exit 0
+
+# Local Variables:
+# mode: shell-script
+# sh-indentation: 2
+# eval: (add-hook 'write-file-hooks 'time-stamp)
+# time-stamp-start: "scriptversion="
+# time-stamp-format: "%:y-%02m-%02d.%02H"
+# time-stamp-end: "$"
+# End:
diff --git a/dev/examples/Jamfile b/dev/examples/Jamfile
new file mode 100644
index 0000000..3012f08
--- /dev/null
+++ b/dev/examples/Jamfile
@@ -0,0 +1,21 @@
+#
+# $Id: //depot/sgl/gpstk/dev/examples/Jamfile#1 $
+#
+
+SubDir TOP examples ;
+
+GPSLinkLibraries RungeKuttaTest example1 example2 example3 example4 example5 example6 example7 : gpstk ;
+
+# Note that we use the Main rule here as opposed to the GPSMain rule. That is
+# to prevent these binaries from getting installed as part of the Jam install
+# commnad
+Main example1 : example1.cpp ;
+Main example2 : example2.cpp ;
+Main example3 : example3.cpp ;
+Main example4 : example4.cpp ;
+Main example5 : example5.cpp ;
+Main example6 : example6.cpp ;
+Main example7 : example7.cpp ;
+
+# SubInclude TOP examples foo ;
+
diff --git a/dev/examples/Makefile.am b/dev/examples/Makefile.am
new file mode 100644
index 0000000..adbe5fa
--- /dev/null
+++ b/dev/examples/Makefile.am
@@ -0,0 +1,14 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../src
+LDADD = ../src/libgpstk.la
+
+bin_PROGRAMS = example1 example2 example3 example4 example5 example6 example7
+example1_SOURCES = example1.cpp
+example2_SOURCES = example2.cpp
+example3_SOURCES = example3.cpp
+example4_SOURCES = example4.cpp
+example5_SOURCES = example5.cpp
+example6_SOURCES = example6.cpp
+example7_SOURCES = example7.cpp
+
+EXTRA_DIST = bahr1620.04m bahr1620.04o bahr1620.04n ebre030a.02o bell030a.02o brdc0300.02n
diff --git a/trunk/examples/bahr1620.04m b/dev/examples/bahr1620.04m
similarity index 100%
rename from trunk/examples/bahr1620.04m
rename to dev/examples/bahr1620.04m
diff --git a/trunk/examples/bahr1620.04n b/dev/examples/bahr1620.04n
similarity index 100%
rename from trunk/examples/bahr1620.04n
rename to dev/examples/bahr1620.04n
diff --git a/trunk/examples/bahr1620.04o b/dev/examples/bahr1620.04o
similarity index 100%
rename from trunk/examples/bahr1620.04o
rename to dev/examples/bahr1620.04o
diff --git a/dev/examples/bell030a.02o b/dev/examples/bell030a.02o
new file mode 100644
index 0000000..2f24289
--- /dev/null
+++ b/dev/examples/bell030a.02o
@@ -0,0 +1,3185 @@
+ 2.00 Observation G (GPS) RINEX VERSION / TYPE
+TRRINEXO V2.9.7 LHm ICC 07/12/2007 18:08:36 PGM / RUN BY / DATE
+BELL MARKER NAME
+ICC ICC OBSERVER / AGENCY
+18091 TRIMBLE 4000SSI 7.29 / 3.07 REC # / TYPE / VERS
+0220080346 TRM29659.00 ANT # / TYPE
+ 4775849.6200 116814.1000 4213018.7100 APPROX POSITION XYZ
+ 0.0540 0.0000 0.0000 ANTENNA: DELTA H/E/N
+ 1 1 WAVELENGTH FACT L1/2
+ 5 C1 L1 L2 P2 P1 # / TYPES OF OBSERV
+ 30.000 INTERVAL
+ 2002 1 30 11 0 29.9950000 GPS TIME OF FIRST OBS
+13431M001 MARKER NUMBER
+Edited by GPSTK Rinex Editor ver 3.0 9/8/2003 on 2007/07/12 COMMENT
+ END OF HEADER
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diff --git a/dev/examples/brdc0300.02n b/dev/examples/brdc0300.02n
new file mode 100644
index 0000000..1ea5eea
--- /dev/null
+++ b/dev/examples/brdc0300.02n
@@ -0,0 +1,2960 @@
+ 2 NAVIGATION DATA RINEX VERSION / TYPE
+CCRINEXN V1.6.0 UX CDDIS 30-JAN-00 20:26 PGM / RUN BY / DATE
+IGS BROADCAST EPHEMERIS FILE COMMENT
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+ 0.186264514923D-08-0.355271367880D-14 503808 1151 DELTA-UTC: A0,A1,T,W
+ 13 LEAP SECONDS
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diff --git a/dev/examples/ebre030a.02o b/dev/examples/ebre030a.02o
new file mode 100644
index 0000000..e8ae5b6
--- /dev/null
+++ b/dev/examples/ebre030a.02o
@@ -0,0 +1,3071 @@
+ 2.00 Observation G (GPS) RINEX VERSION / TYPE
+TRRINEXO V2.9.7 LHm ICC 07/12/2007 18:07:54 PGM / RUN BY / DATE
+EBRE MARKER NAME
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+ 0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N
+ 1 1 WAVELENGTH FACT L1/2
+ 5 C1 L1 L2 P2 P1 # / TYPES OF OBSERV
+ 30.000 INTERVAL
+ 2002 1 30 11 0 0.0090000 GPS TIME OF FIRST OBS
+13410M001 MARKER NUMBER
+Edited by GPSTK Rinex Editor ver 3.0 9/8/2003 on 2007/07/12 COMMENT
+ END OF HEADER
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diff --git a/trunk/examples/example1.cpp b/dev/examples/example1.cpp
similarity index 100%
rename from trunk/examples/example1.cpp
rename to dev/examples/example1.cpp
diff --git a/trunk/examples/example2.cpp b/dev/examples/example2.cpp
similarity index 100%
rename from trunk/examples/example2.cpp
rename to dev/examples/example2.cpp
diff --git a/dev/examples/example3.cpp b/dev/examples/example3.cpp
new file mode 100644
index 0000000..1a33bc5
--- /dev/null
+++ b/dev/examples/example3.cpp
@@ -0,0 +1,122 @@
+#include "RinexObsBase.hpp"
+#include "RinexObsData.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsStream.hpp"
+#include "icd_200_constants.hpp"
+#include <iostream>
+
+using namespace std;
+using namespace gpstk;
+
+// ISO C++ forbids declaration of `main' with no type
+int main(int argc, char *argv[])
+{
+ int myprn;
+
+ if (argc<2)
+ {
+ cout << "Required argument is a RINEX obs file." << endl;
+ exit(-1);
+ }
+
+ cout << "Name your PRN of interest (by number: 1 through 32): ";
+ cin >> myprn;
+
+ double gamma = (L1_FREQ / L2_FREQ)*(L1_FREQ / L2_FREQ);
+
+ try
+ {
+ cout << "Reading " << argv[1] << "." << endl;
+
+//Declare RINEX observation file streams and data objects
+//-------------------------------------------------------
+ RinexObsStream roffs(argv[1]);
+ // It is necessary to set the failbit in order to throw exceptions
+ roffs.exceptions(ios::failbit);
+ RinexObsHeader roh;
+ RinexObsData roe;
+ RinexObsData::RinexDatum dataobj;
+
+//Read the RINEX header (this could be skipped).
+//--------------------------------------------
+ roffs >> roh;
+
+//Print RINEX header to terminal screen
+//-------------------------------
+ roh.dump(cout);
+
+//Loop through epochs and process data for each.
+//----------------------------------------------
+ while (roffs >> roe)
+ {
+
+ cout << roe.time << " ";
+
+//Make a GPSTK SatID object for your PRN so you can search for it.
+//-----------------------------------------------------------------
+ SatID prn(myprn, SatID::systemGPS);
+
+//Check to see if your PRN is in view at this epoch (ie. search for the PRN).
+//-------------------------------------------------------------------------
+ RinexObsData::RinexSatMap::iterator pointer = roe.obs.find(prn);
+ if( pointer == roe.obs.end() ) cout << "PRN " << myprn << " not in view " << endl;
+ else
+ {
+
+//Get P1 pseudorange code.
+//Here are two equivalent ways to get the RinexDatum from the RinexObsData object
+//-------------------------------------------------------------------------------
+ dataobj = roe.obs[prn][RinexObsHeader::P1]; //The intuitive way
+
+ RinexObsData::RinexDatum dataobj2 = (*pointer).second[RinexObsHeader::P1]; //The more efficient STL way
+
+ // Another way to do the same that above
+ //RinexObsData::RinexDatum dataobj2 = pointer->second[RinexObsHeader::P1];
+
+ if( dataobj.data != dataobj2.data) cout << "STL has a bug! (Type crtl-C now or else orcs will crawl from you ears!)" << endl;
+
+ double P1 = dataobj.data;
+
+//Get P2 pseudorange and L1 phase measurement.
+//We will stick with the intuitive way.
+//-------------------------------------
+ dataobj = roe.obs[prn][RinexObsHeader::P2];
+ double P2 = dataobj.data;
+
+ dataobj = roe.obs[prn][RinexObsHeader::L1];
+ double L1 = dataobj.data;
+
+//Compute multipath
+//-----------------
+ double mu = P1 -L1*(C_GPS_M/L1_FREQ) -2*(P1 -P2)/(1-gamma);
+
+ // The following line makes sure that you get a proper output format
+ // The line above with "roh.dump" sets this, but just in case...
+ cout << fixed << setw(7) << setprecision(3);
+
+ cout << " PRN " << myprn << " biased multipath " << mu << endl;
+ }
+
+ }
+
+ cout << "Read " << roffs.recordNumber << " epochs. Cheers." << endl;
+ exit(0);
+ }
+ catch(FFStreamError& e)
+ {
+ cout << e;
+ exit(1);
+ }
+ catch(Exception& e)
+ {
+ cout << e;
+ exit(1);
+ }
+ catch (...)
+ {
+ cout << "unknown error. I don't feel so well..." << endl;
+ exit(1);
+ }
+
+ exit(0);
+ }
diff --git a/dev/examples/example4.cpp b/dev/examples/example4.cpp
new file mode 100644
index 0000000..313f64d
--- /dev/null
+++ b/dev/examples/example4.cpp
@@ -0,0 +1,276 @@
+// GPSTk example program #4
+
+// First, let's include Standard Template Library classes
+#include <string>
+#include <vector>
+
+// Classes for handling observations RINEX files (data)
+#include "RinexObsBase.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsData.hpp"
+#include "RinexObsStream.hpp"
+
+// Classes for handling satellite navigation parameters RINEX files (ephemerides)
+#include "RinexNavBase.hpp"
+#include "RinexNavHeader.hpp"
+#include "RinexNavData.hpp"
+#include "RinexNavStream.hpp"
+
+// Classes for handling RINEX files with meteorological parameters
+#include "RinexMetBase.hpp"
+#include "RinexMetData.hpp"
+#include "RinexMetHeader.hpp"
+#include "RinexMetStream.hpp"
+
+// Class for handling tropospheric models
+#include "TropModel.hpp"
+
+// Class for storing "broadcast-type" ephemerides
+#include "BCEphemerisStore.hpp"
+
+// Class for handling RAIM
+#include "PRSolution.hpp"
+
+// File defining GPS system constants
+#include "icd_200_constants.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+int main(int argc, char *argv[])
+{
+ // Declaration of objects for storing ephemerides and handling RAIM
+ BCEphemerisStore bcestore;
+ PRSolution raimSolver;
+
+ // Object for void-type tropospheric model (in case no meteorological RINEX
+ // is available)
+ ZeroTropModel noTropModel;
+
+ // Object for GG-type tropospheric model (Goad and Goodman, 1974)
+ GGTropModel ggTropModel; // Default constructor => default values for model
+ // Pointer to one of the two available tropospheric models. It points to
+ // the void model by default
+ TropModel *tropModelPtr=&noTropModel;
+
+
+ // This verifies the ammount of command-line parameters given and prints a help
+ // message, if necessary
+ if ((argc < 3) || (argc>4))
+ {
+ cerr << "Usage:" << endl;
+ cerr << " " << argv[0] << " <RINEX Obs file> <RINEX Nav file> [<RINEX Met file>]" << endl;
+ exit (-1);
+ }
+
+ // Let's compute an useful constant (also found in "icd_200_constants.hpp")
+ const double gamma = (L1_FREQ / L2_FREQ)*(L1_FREQ / L2_FREQ);
+
+ try
+ {
+ // Read nav file and store unique list of ephemeredes
+ RinexNavStream rnffs(argv[2]); // Open ephemerides data file
+ RinexNavData rne;
+ RinexNavHeader hdr;
+
+ // Let's read the header (may be skipped)
+ rnffs >> hdr;
+
+ // Storing the ephemeris in "bcstore"
+ while (rnffs >> rne) bcestore.addEphemeris(rne);
+ // Setting the criteria for looking up ephemeris
+ bcestore.SearchNear();
+
+ // If provided, open and store met file into a linked list.
+ list<RinexMetData> rml;
+ if (argc==4)
+ {
+ RinexMetStream rms(argv[3]); // Open meteorological data file
+ RinexMetHeader rmh;
+ // Let's read the header (may be skipped)
+ rms >> rmh;
+
+ RinexMetData rmd;
+ // If meteorological data is provided, let's change pointer to
+ // a GG-model object
+ tropModelPtr=&ggTropModel;
+ // All data is read into "rml", a meteorological data linked list
+ while (rms >> rmd) rml.push_back(rmd);
+ }
+
+ // Open and read the observation file one epoch at a time.
+ // For each epoch, compute and print a position solution
+ RinexObsStream roffs(argv[1]); // Open observations data file
+ // In order to throw exceptions, it is necessary to set the failbit
+ roffs.exceptions(ios::failbit);
+
+ RinexObsHeader roh;
+ RinexObsData rod;
+
+ // Let's read the header (may be skipped)
+ roffs >> roh;
+
+ // Defining iterator "mi" for meteorological data linked list "rml", and
+ // set it to the beginning
+ list<RinexMetData>::iterator mi=rml.begin();
+
+
+ // Let's process all lines of observation data, one by one
+ while (roffs >> rod)
+ {
+
+ // Find a weather point. Only if a meteorological RINEX file was
+ // provided, the meteorological data linked list "rml" is neither empty
+ // or at its end, and the time of meteorological records are below
+ // observation data epoch.
+ while ( (argc==4) &&
+ (!rml.empty()) &&
+ (mi!=rml.end()) &&
+ ((*mi).time < rod.time) )
+ {
+ mi++; // Read next item in list
+
+ // Feed GG tropospheric model object with meteorological parameters
+ // Take into account, however, that setWeather is not accumulative,
+ // i.e., only the last fed set of data will be used for computation
+ ggTropModel.setWeather((*mi).data[RinexMetHeader::TD],
+ (*mi).data[RinexMetHeader::PR],
+ (*mi).data[RinexMetHeader::HR]);
+ }
+
+
+ // Apply editing criteria
+ if (rod.epochFlag == 0 || rod.epochFlag == 1) // Begin usable data
+ {
+ vector<SatID> prnVec;
+ vector<double> rangeVec;
+
+ // Let's define the "it" iterator to visit the observations PRN map
+ // RinexSatMap is a map from SatID to RinexObsTypeMap:
+ // std::map<SatID, RinexObsTypeMap>
+ RinexObsData::RinexSatMap::const_iterator it;
+
+ // This part gets the PRN numbers and ionosphere-corrected
+ // pseudoranges for the current epoch. They are correspondly fed
+ // into "prnVec" and "rangeVec"
+ // "obs" is a public attribute of RinexObsData to get the map
+ // of observations
+ for (it = rod.obs.begin(); it!= rod.obs.end(); it++)
+ {
+ // RinexObsTypeMap is a map from RinexObsType to RinexDatum:
+ // std::map<RinexObsHeader::RinexObsType, RinexDatum>
+ RinexObsData::RinexObsTypeMap otmap;
+
+ // Let's define two iterators to visit the observations type map
+ RinexObsData::RinexObsTypeMap::const_iterator itP1, itP2;
+
+ /////////////////////////////////////////////////
+ //
+ // What did we do in the former code lines?:
+ //
+ // For each observation data epoch (rod), if valid
+ // (rod.epochFlag = 0 or 1):
+ // - use "it" iterator to visit the RinexObsTypeMap of each
+ // satellite,
+ // - and then use "itP1" and "itP2" iterators to visit the
+ // observation data (RinexDatum) according to their type
+ // (RinexObsType)
+ //
+ /////////////////////////////////////////////////
+
+
+ // The "second" field of a RinexPrnMap (it) is a
+ // RinexObsTypeMap (otmap)
+ otmap = (*it).second;
+
+ // Let's find a P1 observation inside the RinexObsTypeMap that
+ // is "otmap"
+ itP1 = otmap.find(RinexObsHeader::P1);
+
+ // If "itP1" is not the last type of observation, there may be
+ // a P2 observation and the double-frequency ionospheric
+ // corrections may be applied
+ if (itP1!=otmap.end())
+ {
+ double ionocorr = 0;
+
+ // Now, let's find a P2 observation inside the
+ // RinexObsTypeMap that is "otmap"
+ itP2 = otmap.find(RinexObsHeader::P2);
+ // If we indeed found a P2 observation, let's apply the
+ // ionospheric corrections
+ if (itP2!=otmap.end())
+ // The "second" part of a RinexObsTypeMap is a RinexDatum,
+ // whose public attribute "data" indeed holds the actual
+ // data point
+ ionocorr = 1./(1.-gamma)*((*itP1).second.data-(*itP2).second.data);
+ // Now, we include the current PRN number in the first part
+ // of "it" (a RinexPrnMap) into the vector holding PRN numbers.
+ // All satellites in view at this epoch that also have P1 and
+ // P2 observations will be included
+ prnVec.push_back((*it).first);
+ // The same is done for the vector of doubles holding the
+ // corrected ranges
+ rangeVec.push_back((*itP1).second.data-ionocorr);
+
+ // WARNING: Please note that so far no further correction is
+ // done on data: Relativistic effects, tropospheric correction,
+ // instrumental delays, etc.
+ }
+
+ }
+
+ // The default constructor for PRSolution objects (like "raimSolver")
+ // is to set a RMSLimit of 6.5. We change that here. With this value
+ // of 3e6 the solution will have a lot more dispersion
+ raimSolver.RMSLimit = 3e6;
+
+ // In order to compute positions we need the current time, the
+ // vector of visible satellites, the vector of corresponding ranges,
+ // the object containing satellite ephemerides and a pointer to the
+ // tropospheric model to be applied
+ raimSolver.RAIMCompute(rod.time,prnVec,rangeVec, bcestore, tropModelPtr);
+
+ // Note: Given that the default constructor sets public attribute
+ // "Algebraic" to FALSE, a linearized least squares algorithm will
+ // be used to get the solutions.
+ // Also, the default constructor sets ResidualCriterion to true, so
+ // the rejection criterion is based on RMS residual of fit, instead
+ // of RMS distance from an a priori position.
+
+ // If we got a valid solution, let's print it
+
+ if (raimSolver.isValid())
+ {
+ // Vector "Solution" holds the coordinates, expressed in meters
+ // in an Earth Centered, Earth Fixed (ECEF) reference frame. The
+ // order is x, y, z (as all ECEF objects)
+ cout << setprecision(12) << raimSolver.Solution[0] << " " ;
+ cout << raimSolver.Solution[1] << " " ;
+ cout << raimSolver.Solution[2];
+ cout << endl ;
+ }
+
+
+ } // End usable data
+
+ } // End loop through each epoch
+ }
+ catch(Exception& e)
+ {
+ cerr << e << endl;
+ }
+ catch (...)
+ {
+ cerr << "Caught an unexpected exception." << endl;
+ }
+
+
+ exit(0);
+
+}
+
+
+
+
+
diff --git a/dev/examples/example5.cpp b/dev/examples/example5.cpp
new file mode 100644
index 0000000..c7d289c
--- /dev/null
+++ b/dev/examples/example5.cpp
@@ -0,0 +1,295 @@
+// Example program Nro 5 for GPSTk
+// This program shows how to use some high-level GPSTk classes
+// Dagoberto Salazar - gAGE. 2006
+
+// Basic input/output C++ class
+#include <iostream>
+
+// Classes for handling observations RINEX files (data)
+#include "RinexObsBase.hpp"
+#include "RinexObsData.hpp"
+#include "RinexObsStream.hpp"
+
+// Class to extract C1 data from RinexObsData objects
+#include "ExtractC1.hpp"
+
+// Classes for handling satellite navigation parameters RINEX files (Broadcast ephemerides)
+#include "RinexNavBase.hpp"
+#include "RinexNavHeader.hpp"
+#include "RinexNavData.hpp"
+#include "RinexNavStream.hpp"
+
+// Class to store satellite broadcast navigation data
+#include "BCEphemerisStore.hpp"
+
+// Class to model GPS data for a mobile receiver
+#include "ModeledPR.hpp"
+
+// Class to model the tropospheric delays
+#include "TropModel.hpp"
+
+// Classes to model ans store ionospheric delays
+#include "IonoModel.hpp"
+#include "IonoModelStore.hpp"
+
+// Class to solve the equations system using a Weighted Least Mean Square method
+#include "SolverWMS.hpp"
+
+// Class to compute the weights to be used for each satellite
+#include "MOPSWeight.hpp"
+
+// Basic framework for programs in the GPSTk. process() method MUST be implemented
+#include "BasicFramework.hpp"
+
+#include "geometry.hpp" // DEG_TO_RAD
+
+
+
+using namespace std;
+using namespace gpstk;
+
+
+// A new class is declared that will handle program behaviour
+// This class inherits from BasicFramework
+class example5 : public BasicFramework
+{
+public:
+ // Constructor declaration
+ example5(char* arg0);
+
+protected:
+ // Method that will take care of processing
+ virtual void process();
+
+ // Method that hold code to be run BEFORE processing
+ virtual void spinUp();
+
+private:
+ // These field represent options at command line interface (CLI)
+ CommandOptionWithArg dataFile;
+ CommandOptionWithArg navFile;
+
+ // If you want to share objects and variables among methods, you'd better declare them here
+ RinexObsStream rObsFile; // Object to read Rinex observation data files
+ RinexObsData rData; // Object to store Rinex observation data
+ RinexNavStream rNavFile; // Object to read Rinex navigation data files
+ RinexNavData rNavData; // Object to store Rinex navigation data
+ RinexNavHeader rNavHeader; // Object to read the header of Rinex navigation data files
+ IonoModelStore ionoStore; // Object to store ionospheric models
+ BCEphemerisStore bceStore; // Object to store ephemeris
+ ModeledPR modelPR; // Declare a ModeledReferencePR object
+ MOPSTropModel mopsTM; // Declare a MOPSTropModel object
+ ExtractC1 obsC1; // Declare an ExtractData object
+ bool useFormerPos; // Flag indicating if we have an a priori position
+ Position formerPosition; // Object to store the former position
+ IonoModel ioModel; // Declare a Ionospheric Model object
+ SolverWMS solver; // Declare an object to apply WMS method
+ MOPSWeight mopsWeights; // Object to compute satellites' weights
+
+};
+
+
+// Let's implement constructor details
+example5::example5(char* arg0)
+ : BasicFramework(arg0, "\nProgram to print the position solution in ECEF and longitude,"
+ " latitude, height, based in C1 and given a RINEX observations file"
+ " and a RINEX broadcast navigation file.\n\n"
+ "The output is: \n"
+ " Time(sec) X(m) Y(m) Z(m) Lon(deg) "
+ " Lat(deg) Height(m)\n"),
+ // Option initialization. "true" means a mandatory option
+ dataFile(CommandOption::stdType, 'i', "datainput",
+ " [-i|--datainput] Name of RINEX observations file.", true),
+ navFile(CommandOption::stdType, 'n', "navinput",
+ " [-n|--navinput] Name of RINEX broadcast navigation file.", true)
+{
+ // These options may appear just once at CLI
+ dataFile.setMaxCount(1);
+ navFile.setMaxCount(1);
+} // End of constructor details
+
+
+// Method that will be executed AFTER initialization but BEFORE processing
+void example5::spinUp()
+{
+
+ // From now on, some parts may look similar to example3.cpp and example4.cpp
+ // Activate failbit to enable exceptions
+ rObsFile.exceptions(ios::failbit);
+ // First, data RINEX reading object
+ try
+ {
+ rObsFile.open(dataFile.getValue()[0].c_str(), std::ios::in);
+ }
+ catch(...)
+ {
+ cerr << "Problem opening file " << dataFile.getValue()[0].c_str() << endl;
+ cerr << "Maybe it doesn't exist or you don't have proper read permissions." << endl;
+ exit (-1);
+ }
+
+
+ // Activate failbit to enable exceptions
+ rNavFile.exceptions(ios::failbit);
+ // Read nav file and store unique list of ephemerides
+ try
+ {
+ rNavFile.open(navFile.getValue()[0].c_str(), std::ios::in);
+ }
+ catch(...)
+ {
+ cerr << "Problem opening file " << navFile.getValue()[0].c_str() << endl;
+ cerr << "Maybe it doesn't exist or you don't have proper read permissions." << endl;
+ exit (-1);
+ }
+
+
+ // We will need to read ionospheric parameters (Klobuchar model) from header
+ rNavFile >> rNavHeader;
+
+ // Let's feed the ionospheric model (Klobuchar type) from data in the Navigation file header
+ ioModel.setModel(rNavHeader.ionAlpha, rNavHeader.ionBeta);
+ // WARNING-WARNING-WARNING: In this case, the same model will be used for the full data span
+ ionoStore.addIonoModel(DayTime::BEGINNING_OF_TIME, ioModel);
+
+ // Storing the ephemeris in "bceStore"
+ while (rNavFile >> rNavData) bceStore.addEphemeris(rNavData);
+ // Setting the criteria for looking up ephemeris
+ bceStore.SearchPast(); // This is the default
+
+ // This is set to true if the former computed positon will be used as a priori position
+ useFormerPos = false; // At first, we don't have an a priori position
+
+ // Prepare for printing later on
+ cout << fixed << setprecision(8);
+
+}// End of example5::spinUp()
+
+
+// Method that will really process information
+void example5::process()
+{
+
+ // Let's read the observations RINEX, epoch by epoch
+ while (rObsFile >> rData)
+ {
+ if ( (rData.epochFlag == 0 || rData.epochFlag == 1) && (rData.numSvs > 3) ) // Begin usable data with enough number of satellites
+ {
+ int validSats = 0; // Number of satellites with valid data in this epoch
+ int prepareResult;
+ double rxAltitude; // Receiver altitude for tropospheric model
+ double rxLatitude; // Receiver latitude for tropospheric model
+
+ // We need extract C1 data from this epoch. Skip epoch if not enough data (4 SV at least)
+ if ( obsC1.getData(rData) < 4) {
+ useFormerPos = false; // The former position will not be valid next time
+ continue;
+ }
+
+
+ if (useFormerPos) { // If possible, use former position as a priori
+ prepareResult = modelPR.Prepare(formerPosition);
+ // We need to seed this kind of tropospheric model with receiver altitude
+ rxAltitude = formerPosition.getAltitude();
+ rxLatitude = formerPosition.getGeodeticLatitude();
+ }
+ else { // Use Bancroft method is no a priori position is available
+ cerr << "Bancroft method was used at epoch " << rData.time.DOYsecond() << endl;
+ prepareResult = modelPR.Prepare(rData.time, obsC1.availableSV, obsC1.obsData, bceStore);
+ // We need to seed this kind of tropospheric model with receiver altitude
+ rxAltitude = modelPR.rxPos.getAltitude();
+ rxLatitude = modelPR.rxPos.getGeodeticLatitude();
+ }
+
+ if (prepareResult) { // If there were problems with Prepare(), skip this epoch
+ useFormerPos = false; // The former position will not be valid next time
+ continue;
+ }
+ // If there were no problems, let's feed the tropospheric model
+ mopsTM.setReceiverHeight(rxAltitude);
+ mopsTM.setReceiverLatitude(rxLatitude);
+ mopsTM.setDayOfYear(rData.time.DOY());
+
+
+ // Now, let's compute the GPS model for our observable (C1)
+ validSats = modelPR.Compute(rData.time, obsC1.availableSV, obsC1.obsData, bceStore, &mopsTM, &ionoStore);
+
+
+ // Only get into further computations if there are enough satellites
+ if (validSats >= 4) {
+
+ // Now, let's solve the navigation equations using the WMS method
+ try {
+ // First, compute the satellites' weights
+ int goodSv = mopsWeights.getWeights(rData.time, modelPR.availableSV, bceStore, modelPR.ionoCorrections, modelPR.elevationSV, modelPR.azimuthSV, modelPR.rxPos);
+
+ // Some minimum checking is in order
+ if ( goodSv != (int)modelPR.prefitResiduals.size() ) continue;
+
+ // Then, solve the system
+ solver.Compute(modelPR.prefitResiduals, modelPR.geoMatrix, mopsWeights.weightsVector);
+ }
+ catch(InvalidSolver& e) {
+ cerr << "Couldn't solve equations system at epoch " << rData.time.DOYsecond() << endl;
+ cerr << e << endl;
+ useFormerPos = false; // The former position will not be valid next time
+ continue;
+ }
+
+ // With "solver", we got the difference vector between a priori position and
+ // real position. Then, let's convert the solution to a Position object
+ Position solPos( (modelPR.rxPos.X() + solver.solution[0]), (modelPR.rxPos.Y() + solver.solution[1]), (modelPR.rxPos.Z() + solver.solution[2]) );
+
+ // Print results
+ cout << rData.time.DOYsecond() << " "; // Output field #1
+ cout << solPos.X() << " "; // Output field #2
+ cout << solPos.Y() << " "; // Output field #3
+ cout << solPos.Z() << " "; // Output field #4
+ cout << solPos.longitude() << " "; // Output field #5
+ cout << solPos.geodeticLatitude() << " "; // Output field #6
+ cout << solPos.height() << " "; // Output field #7
+ cout << endl;
+
+ formerPosition = solPos;
+ useFormerPos = true; // Next time, former position will be used as a priori
+
+ } // End of if (validSats...
+ else {
+ useFormerPos = false; // The former position will not be valid next time
+ }
+ } // End of "if" for usable data
+ else {
+ useFormerPos = false; // The former position will not be valid next time
+ }
+ } // End of while
+
+ return;
+
+}// End of example5::process()
+
+
+// Main function
+int main(int argc, char* argv[])
+{
+ try
+ {
+ example5 program(argv[0]);
+ if (!program.initialize(argc, argv))
+ return 0;
+ if (!program.run())
+ return 1;
+
+ return 0;
+ }
+ catch(Exception& e)
+ {
+ cout << "Problem: " << e << endl;
+ return 1;
+ }
+ catch(...)
+ {
+ cout << "Unknown error." << endl;
+ return 1;
+ }
+ return 0;
+}
diff --git a/dev/examples/example6.cpp b/dev/examples/example6.cpp
new file mode 100644
index 0000000..8a4035a
--- /dev/null
+++ b/dev/examples/example6.cpp
@@ -0,0 +1,124 @@
+// Example program Nro 6 for GPSTk
+// This program shows a minimalist way to process GPS data
+// using GNSS Data Structures (DataStructures.hpp).
+// Dagoberto Salazar - gAGE. 2007
+
+#include <iostream>
+#include <iomanip>
+
+// Class for handling satellite observation parameters RINEX files
+#include "RinexObsStream.hpp"
+
+// Classes for handling satellite navigation parameters RINEX files (Broadcast ephemerides)
+#include "RinexNavStream.hpp"
+#include "RinexNavHeader.hpp"
+#include "RinexNavData.hpp"
+
+// Class in charge of the GPS signal modelling
+#include "ModeledPR.hpp"
+
+// Class to store satellite broadcast navigation data
+#include "BCEphemerisStore.hpp"
+
+// Class to model the tropospheric delays
+#include "TropModel.hpp"
+
+// Classes to model ans store ionospheric delays
+#include "IonoModel.hpp"
+#include "IonoModelStore.hpp"
+
+// Class to solve the equation system using Least Mean Squares
+#include "SolverLMS.hpp"
+
+// Class defining the GNSS data structures
+#include "DataStructures.hpp"
+
+// Class to filter out observables grossly out of limits
+#include "SimpleFilter.hpp"
+
+
+using namespace std;
+using namespace gpstk;
+
+int main(void)
+{
+
+ cout << fixed << setprecision(8); // Set a proper output format
+
+ RinexNavData rNavData; // Object to store Rinex navigation data
+ BCEphemerisStore bceStore; // Object to store satellites ephemeris
+ RinexNavHeader rNavHeader; // Object to read the header of Rinex navigation data files
+ IonoModelStore ionoStore; // Object to store ionospheric models
+ IonoModel ioModel; // Declare a Ionospheric Model object
+
+ // Create the input observation file stream
+ RinexObsStream rin("bahr1620.04o");
+
+ // Create the input navigation file stream
+ RinexNavStream rnavin("bahr1620.04n");
+
+ // We will need to read ionospheric parameters (Klobuchar model) from header
+ rnavin >> rNavHeader;
+
+ // Let's feed the ionospheric model (Klobuchar type) from data in the Navigation file header
+ ioModel.setModel(rNavHeader.ionAlpha, rNavHeader.ionBeta);
+ // Beware: In this case, the same model will be used for the full data span
+ ionoStore.addIonoModel(DayTime::BEGINNING_OF_TIME, ioModel);
+
+ // Storing the ephemeris in "bceStore"
+ while (rnavin >> rNavData) bceStore.addEphemeris(rNavData);
+ bceStore.SearchPast(); // This is the default
+
+ Position nominalPos(3633909.1016, 4425275.5033, 2799861.2736); // BAHR station nominal position
+
+ // Declare a MOPSTropModel object, setting the defaults
+ MOPSTropModel mopsTM(nominalPos.getAltitude(), nominalPos.getGeodeticLatitude(), 162);
+
+ // Declare the modeler object, setting all the parameters in one pass
+ ModeledPR modelRef(nominalPos, ionoStore, mopsTM, bceStore, TypeID::C1);
+
+ // Declare SolverLMS object
+ SolverLMS solver;
+
+ // Declare a simple filter object. By default, it filters C1
+ SimpleFilter myFilter;
+
+ // This is the GNSS data structure that will hold all the GNSS-related information
+ gnssRinex gRin;
+
+
+ // Loop over all data epochs
+ while(rin >> gRin) {
+ try
+ {
+
+ // This is the line that will process all the GPS data
+ gRin.keepOnlyTypeID(TypeID::C1) >> myFilter >> modelRef >> solver;
+ // First: Wipe off all the data that we will not use (may be skipped)
+ // Second: Filter out observables way out of bounds (may be skipped)
+ // Third: The resulting data structure will feed the modeler object
+ // Fourth: The resulting structure from third step will feed the solver object
+
+ }
+ catch(...)
+ {
+ cerr << "Exception at epoch: " << gRin.header.epoch << endl;
+ }
+
+ // Fifth: Get your results out of the solver object and print them. That is all
+ Position solPos( (modelRef.rxPos.X() + solver.solution[0]), (modelRef.rxPos.Y() + solver.solution[1]), (modelRef.rxPos.Z() + solver.solution[2]) );
+
+ cout << gRin.header.epoch.DOYsecond() << " "; // Output field #1
+ cout << solPos.X() << " "; // Output field #2
+ cout << solPos.Y() << " "; // Output field #3
+ cout << solPos.Z() << " "; // Output field #4
+ cout << solPos.longitude() << " "; // Output field #5
+ cout << solPos.geodeticLatitude() << " "; // Output field #6
+ cout << solPos.height() << " "; // Output field #7
+
+ cout << endl;
+
+ }
+
+ exit(0);
+}
diff --git a/dev/examples/example7.cpp b/dev/examples/example7.cpp
new file mode 100644
index 0000000..141c21e
--- /dev/null
+++ b/dev/examples/example7.cpp
@@ -0,0 +1,741 @@
+// Example program Nro 7 for GPSTk
+// This program shows several different ways to process GPS data
+// using GNSS Data Structures (DataStructures.hpp).
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2007
+
+#include <iostream>
+#include <iomanip>
+
+// Class for handling satellite observation parameters RINEX files
+#include "RinexObsStream.hpp"
+
+// Classes for handling satellite navigation parameters RINEX files (Broadcast ephemerides)
+#include "RinexNavStream.hpp"
+#include "RinexNavHeader.hpp"
+#include "RinexNavData.hpp"
+
+// Class in charge of the GPS signal modelling
+#include "ModeledPR.hpp"
+
+// Class to store satellite broadcast navigation data
+#include "BCEphemerisStore.hpp"
+
+// Class to model the tropospheric delays
+#include "TropModel.hpp"
+
+// Classes to model ans store ionospheric delays
+#include "IonoModel.hpp"
+#include "IonoModelStore.hpp"
+
+// Class to solve the equation system using Least Mean Squares
+#include "SolverLMS.hpp"
+
+// Class to solve the equation system using Weighted-Least Mean Squares
+#include "SolverWMS.hpp"
+
+// Class defining the GNSS data structures
+#include "DataStructures.hpp"
+
+// Class to filter out observables grossly out of limits
+#include "SimpleFilter.hpp"
+
+// Class for easily changing reference base from ECEF to NEU
+#include "XYZ2NEU.hpp"
+
+// Class to detect cycle slips using just one frequency
+#include "OneFreqCSDetector.hpp"
+
+// Class to detect cycle slips using LI combination
+#include "LICSDetector.hpp"
+
+// Class to detect cycle slips using the Melbourne-Wubbena combination
+#include "MWCSDetector.hpp"
+
+// Class to compute weights according to Appendix J of MOPS C (RTCA/DO-229C)
+#include "ComputeMOPSWeights.hpp"
+
+// Class to smooth code observables (by default, C1)
+#include "CodeSmoother.hpp"
+
+// Class to smooth the PC combination
+#include "PCSmoother.hpp"
+
+// Classes to compute several combinations
+#include "ComputePC.hpp"
+#include "ComputeLC.hpp"
+#include "ComputeLI.hpp"
+#include "ComputeMelbourneWubbena.hpp"
+
+// Classes to compute single differences between receiver stations
+#include "DeltaOp.hpp"
+
+#include "geometry.hpp" // DEG_TO_RAD
+
+
+using namespace std;
+using namespace gpstk;
+
+int main(void)
+{
+
+ //////////// COMMON OBJECTS ////////////
+
+ cout << fixed << setprecision(3); // Set a proper output format
+
+ RinexNavData rNavData; // Object to store Rinex navigation data
+ BCEphemerisStore bceStore; // Object to store satellites ephemeris
+ RinexNavHeader rNavHeader; // Object to read the header of Rinex navigation data files
+ IonoModelStore ionoStore; // Object to store ionospheric models
+ IonoModel ioModel; // Declare a Ionospheric Model object
+
+ // Create the input observation file stream
+ // This is a fixed station, but here it will play as "rover"
+ RinexObsStream rin("ebre030a.02o");
+ // Please note that data was collected in year 2002, when the Sun was very active
+
+ // Create the input navigation file stream
+ RinexNavStream rnavin("brdc0300.02n");
+
+ // We will need to read ionospheric parameters (Klobuchar model) from header
+ rnavin >> rNavHeader;
+
+ // Let's feed the ionospheric model (Klobuchar type) from data in the Navigation file header
+ ioModel.setModel(rNavHeader.ionAlpha, rNavHeader.ionBeta);
+ // Beware: In this case, the same model will be used for the full data span
+ ionoStore.addIonoModel(DayTime::BEGINNING_OF_TIME, ioModel);
+
+ // Storing the ephemeris in "bceStore"
+ while (rnavin >> rNavData) bceStore.addEphemeris(rNavData);
+ bceStore.SearchPast(); // This is the default
+
+ // EBRE station nominal position
+ Position nominalPos(4833520.3800, 41536.8300, 4147461.2800);
+
+ // Declare a MOPSTropModel object, setting the defaults
+ MOPSTropModel mopsTM(nominalPos.getAltitude(), nominalPos.getGeodeticLatitude(), 30);
+
+ // Declare the modeler object, setting all the parameters in one pass
+ // Given that in this example we are using a fixed GPS station with known
+ // coordinates, you could have used the "ModeledReferencePR" class, which is
+ // a little bit simpler.
+ // However, for a rover is more appropriate to use a "ModeledPR" object because
+ // it allows to update the apriori position more easily (and it may automatically
+ // compute one, if needed, using Bancroft's method)
+ ModeledPR model(nominalPos, ionoStore, mopsTM, bceStore, TypeID::C1);
+
+ // On the other hand, the usual way to use "ModeledPR" is setting just the models
+ // in the constructor, and calling method "Prepare()" later, like in the following
+ // lines:
+ // ModeledPR model(ionoStore, mopsTM, bceStore, TypeID::C1);
+ // model.Prepare(nominalPos); // Set the reference position
+
+ // Declare a simple filter object. By default, it filters C1 with default limits
+ SimpleFilter myFilter;
+
+ // This is the GNSS data structure that will hold all the GNSS-related information
+ gnssRinex gOriginal;
+
+ ////////////////////////////////////////
+
+
+
+ //////////// CASE #1 OBJECTS ////////////
+
+ // Declare SolverLMS object
+ SolverLMS solver;
+
+ ////////////////////////////////////////
+
+
+
+ //////////// CASE #2 OBJECTS ////////////
+
+ // Declare a base-changing object: From ECEF to North-East-Up (NEU)
+ XYZ2NEU baseChange(nominalPos);
+
+ // For some examples we need to reconfigure the solver to use a NEU system
+ TypeIDSet typeSet;
+ typeSet.insert(TypeID::dLat);
+ typeSet.insert(TypeID::dLon);
+ typeSet.insert(TypeID::dH);
+ typeSet.insert(TypeID::cdt);
+
+ // This is the proper equation structure to use with a NEU system
+ gnssEquationDefinition newEq(TypeID::prefitC, typeSet);
+
+ // Declare another SolverLMS object, but configure it to use a
+ // topocentric reference system (North-East-Up: NEU)
+ SolverLMS solverNEU;
+ solverNEU.setDefaultEqDefinition(newEq); // NEU reconfiguration
+
+ ////////////////////////////////////////
+
+
+
+ //////////// CASE #3 OBJECTS ////////////
+
+ // This object will compute the appropriate MOPS weights
+ ComputeMOPSWeights mopsW(nominalPos, bceStore);
+
+ // Declare a solver object using Weighted-Least-Mean-Squares and
+ // a topocentric reference system (NEU)
+ SolverWMS solverWMS;
+ solverWMS.setDefaultEqDefinition(newEq); // NEU reconfiguration
+
+ ////////////////////////////////////////
+
+
+
+ //////////// CASE #4 OBJECTS ////////////
+
+ // Let's declare a cycle slip detector using just one frequency
+ OneFreqCSDetector markCSC1;
+
+ // Declare an object to smooth code (C1 by default)
+ CodeSmoother smoothC1;
+ smoothC1.setMaxWindowSize(8); // Configure smoother for 30 s sampling data
+
+ ////////////////////////////////////////
+
+
+
+ //////////// CASE #5 OBJECTS ////////////
+
+ // Let's declare a cycle slip detector using just one frequency
+ OneFreqCSDetector markCSC1case5;
+
+ // Declare an object to smooth code (C1 by default)
+ CodeSmoother smoothC1case5;
+ smoothC1case5.setMaxWindowSize(8); // Configure for 30 s sampling data
+
+ // The core of this case is to add a new equation to the equation system
+ // Such equation states that there are NO changes in height for the rover.
+ // dH = 0
+
+ // Add a "fake" satellite to identify the new equation: Sat #1 of system "mixed"
+ SatID satEq(1,SatID::systemMixed);
+
+ // Declare and fill a "typeValueMap" object that will hold the equation data
+ typeValueMap equTVMap;
+ equTVMap[TypeID::prefitC] = 0.0; // Code prefit residual is zero
+ equTVMap[TypeID::dLat] = 0.0; // Geometry matrix dLat coefficient is zero
+ equTVMap[TypeID::dLon] = 0.0; // Geometry matrix dLon coefficient is zero
+ equTVMap[TypeID::dH] = 1.0; // Geometry matrix dH coefficient is 1.0 !!!
+ equTVMap[TypeID::cdt] = 0.0; // Geometry matrix cdt coefficient is zero
+
+ // Assign a relatively high weight to this information (typical MOPS weights
+ // range from 0.01 to 0.04)
+ // This means that this equation is very important for us, but it is
+ // NOT ABSOLUTELY TRUE. Some variation is allowed
+ equTVMap[TypeID::weight] = 0.2; // About 10 times bigger than typical MOPS weights
+
+ ////////////////////////////////////////
+
+
+
+ //////////// CASE #6 OBJECTS ////////////
+
+ // Object to compute the PC (ionosphere-free) combination.
+ ComputePC getPC;
+ // Use C1 instead of P1. P1 observables are declared in available RINEX files, but
+ // often they are indeed missing (like in this case). When that happens, this step
+ // is mandatory
+ getPC.useC1();
+
+ // Declare a simple filter object to screen PC
+ SimpleFilter pcFilter;
+ pcFilter.setFilteredType(TypeID::PC);
+
+ // Declare the modeler object for PC, setting all the parameters in one pass
+ ModeledPR modelPC(nominalPos, mopsTM, bceStore, TypeID::PC, false);
+ // Take notice that PC combination doesn't use ionosphere modelling, nor
+ // TGD computation
+ // WARNING: When using C1 instead of P1 to compute PC combination, be aware
+ // that instrumental errors will NOT cancel, introducing a bias that must be
+ // taken into account by other means. This will not work out in this example.
+
+
+ ////////////////////////////////////////
+
+
+
+ //////////// CASE #7 OBJECTS ////////////
+
+ // Objects to compute several common combinations.
+ ComputeLC getLC;
+ ComputeLI getLI;
+ ComputeMelbourneWubbena getMW;
+ getMW.useC1(); // Use C1 instead of P1
+
+ // Objects to mark cycle slips
+ LICSDetector markCSLI; // Checks LI cycle slips
+ MWCSDetector markCSMW; // Checks Merbourne-Wubbena cycle slips
+
+ // Object to smooth the PC combination. Defaults are usually fine
+ PCSmoother smoothPC;
+
+ ////////////////////////////////////////
+
+
+
+ //////////// CASE #8 OBJECTS ////////////
+
+ // Objects to mark cycle slips
+ LICSDetector markCSLIcase8; // Checks LI cycle slips
+ MWCSDetector markCSMWcase8; // Checks Merbourne-Wubbena cycle slips
+
+ // Object to smooth the PC combination. Defaults are usually fine
+ PCSmoother smoothPCcase8;
+
+ ////////////////////////////////////////
+
+
+
+ //////////// CASE #9 OBJECTS ////////////
+
+ // This is the GNSS data structure that will hold the reference station data
+ gnssRinex gRef;
+
+ // Create the input observation file stream for REFERENCE STATION
+ RinexObsStream rinRef("bell030a.02o");
+
+ // BELL reference station nominal position
+ Position nominalPosRef(4775849.6200, 116814.1000, 4213018.7100);
+
+ // Declare a MOPSTropModel object for the reference station, setting the defaults
+ MOPSTropModel mopsTMRef(nominalPosRef.getAltitude(), nominalPosRef.getGeodeticLatitude(), 30);
+
+ // Declare the appropriate modeler object for a reference station
+ ModeledReferencePR modelRef(nominalPosRef, ionoStore, mopsTMRef, bceStore, TypeID::C1);
+
+ // Create an object to compute the single differences of prefit residuals
+ DeltaOp delta; // By default, it will work on code prefit residuals
+
+ // Flag for synchronization issues
+ bool firstTime(true);
+
+ // Allowed desynchronization between rover and reference data streams, in seconds
+ double timeTolerance(15.0);
+
+ ////////////////////////////////////////
+
+
+
+
+ // Loop over all data epochs
+ while(rin >> gOriginal) {
+
+
+
+ // Let's output the time stamp (in seconds of day)
+ cout << gOriginal.header.epoch.DOYsecond() << " "; // Output field #1
+
+
+
+//////////////////////////// CASE #1 ////////////////////////////
+
+ // This case is a common C1 + Least Mean Squares solver (LMS) processing
+
+ // Let's make a working copy
+ gnssRinex gRin1(gOriginal);
+
+ try
+ {
+
+ // This is the line that will process all the GPS data
+ gRin1 >> myFilter >> model >> solver;
+ // First, a basic filter to screen out very bad observables
+ // Second, apply a model to the observables (ionosphere, troposphere, relativity, etc.)
+ // Third, solve the equations using a simple Least-Mean-Squares solver
+ }
+ catch(...)
+ {
+ cerr << "Exception at epoch: " << gRin1.header.epoch << endl;
+ }
+
+
+ // Get your results out of the solver object. In ECEF system by default
+ Position solPos( (model.rxPos.X() + solver.solution[0]), (model.rxPos.Y() + solver.solution[1]), (model.rxPos.Z() + solver.solution[2]) );
+
+ // Let's change results to a North-East-Up (NEU) reference frame
+ // Compute the difference regarding the nominal position
+ Position diffPos;
+ diffPos = solPos - nominalPos;
+ double azimuth = nominalPos.azimuthGeodetic(solPos);
+ double elev = nominalPos.elevationGeodetic(solPos);
+ double magnitude = RSS(diffPos.X(), diffPos.Y(), diffPos.Z());
+
+ // Print results of case #1 in a topocentrical, North-East-Up reference frame
+ // Latitude change, output field #2
+ cout << magnitude*cos(azimuth*DEG_TO_RAD)*cos(elev*DEG_TO_RAD) << " ";
+ // Longitude change, output field #3
+ cout << magnitude*sin(azimuth*DEG_TO_RAD)*cos(elev*DEG_TO_RAD) << " ";
+ // Altitude change, output field #4
+ cout << magnitude*sin(elev*DEG_TO_RAD) << " ";
+
+////////////////////////// END OF CASE #1 //////////////////////////
+
+
+
+//////////////////////////// CASE #2 ////////////////////////////
+
+ // This is exactly the same as CASE #1, but using a nice class
+ // to change reference frame: ECEF -> NEU
+
+ // Let's make a working copy
+ gnssRinex gRin2(gOriginal);
+
+ try
+ {
+
+ gRin2 >> myFilter >> model >> baseChange >> solverNEU;
+
+ }
+ catch(...)
+ {
+ cerr << "Exception at epoch: " << gRin2.header.epoch << endl;
+ }
+
+ cout << solverNEU.solution[0] << " "; // dLat - Output field #5
+ cout << solverNEU.solution[1] << " "; // dLon - Output field #6
+ cout << solverNEU.solution[2] << " "; // dH - Output field #7
+
+
+ // Quite easier with respect to CASE #1, isn't it? ;-)
+
+ // - "baseChange" object changes reference frame from ECEF to NEU
+ // - "solverNEU" is a simple Least-Mean-Squares solver, but reconfigured
+ // to solve the dLat, dLon, dH, cdt (NEU) system instead of the
+ // dx, dy, dz, cdt (ECEF) system
+ // - The other steps are exactly the same as case #1, and results MUST match
+
+ // By the way, if you want to inspect what is inside the body of a
+ // given GNSS data structure, you may write something like:
+ //
+ // gRin2.body.dump(cout, 1);
+
+////////////////////////// END OF CASE #2 //////////////////////////
+
+
+
+//////////////////////////// CASE #3 ////////////////////////////
+
+ // In this case we process data using C1 + Weighted Least Mean Squares
+ // solver (WMS)
+
+ // Let's make a working copy
+ gnssRinex gRin3(gOriginal);
+
+ try
+ {
+
+ gRin3 >> myFilter >> model >> mopsW >> baseChange >> solverWMS;
+ // The "mopsW" object computes weights based on MOPS algorithm
+ // The "solverWMS" object solves the system using Weighted Least
+ // Mean Squares. It is already configured to work with NEU system.
+ }
+ catch(...)
+ {
+ cerr << "Exception at epoch: " << gRin3.header.epoch << endl;
+ }
+
+ cout << solverWMS.solution[0] << " "; // dLat - Output field #8
+ cout << solverWMS.solution[1] << " "; // dLon - Output field #9
+ cout << solverWMS.solution[2] << " "; // dH - Output field #10
+
+////////////////////////// END OF CASE #3 //////////////////////////
+
+
+
+//////////////////////////// CASE #4 ////////////////////////////
+
+ // This case does about the same as a modern GPS aircraft receiver,
+ // except for SBAS corrections and RAIM: C1smoothed + MOPS weights + WMS
+
+ // Let's make a working copy
+ gnssRinex gRin4(gOriginal);
+
+ try
+ {
+
+ gRin4 >> myFilter >> markCSC1 >> smoothC1 >> model >> mopsW >> baseChange >> solverWMS;
+ // The "markCSC1" object will try to detect cycle slips using just
+ // one frequency data (C1 and L1 observables), marking the CS flags
+ // Then, "smoothC1" will use the former information to smooth C1
+ // observations using phase data (L1)
+
+ // BEWARE: Both cycle slip detectors and "smoothers" are objects
+ // that store their internal state, so you MUST NOT use the SAME object
+ // to process OTHER data streams
+ }
+ catch(...)
+ {
+ cerr << "Exception at epoch: " << gRin4.header.epoch << endl;
+ }
+
+ cout << solverWMS.solution[0] << " "; // dLat - Output field #11
+ cout << solverWMS.solution[1] << " "; // dLon - Output field #12
+ cout << solverWMS.solution[2] << " "; // dH - Output field #13
+
+////////////////////////// END OF CASE #4 //////////////////////////
+
+
+
+//////////////////////////// CASE #5 ////////////////////////////
+
+ // This case is like the former, but now let's suppose that one of
+ // the unknowns is indeed known: In this case dH is constant an equal
+ // to zero (i.e.: the "rover" doesn't change altitude), and we assign
+ // a high "weight" to this information.
+
+ // Let's make a working copy
+ gnssRinex gRin5(gOriginal);
+
+ try
+ {
+ // First, the typical processing up to the change of reference frame
+ // Please note that all changes are stored in gRin5 GNSS data structure
+ gRin5 >> myFilter >> markCSC1case5 >> smoothC1case5 >> model >> mopsW >> baseChange;
+ // Remember that both cycle slip detectors and "smoothers" are objects
+ // that store their internal state, so you MUST NOT use the SAME object
+ // to process OTHER data streams (please compare with case #4)
+
+ // Now, let's insert the new equation data, including its corresponding weight
+ gRin5.body[satEq] = equTVMap;
+
+ // Let's continue processing data as usual
+ gRin5 >> solverWMS;
+ }
+ catch(...)
+ {
+ cerr << "Exception at epoch: " << gRin5.header.epoch << endl;
+ }
+
+ cout << solverWMS.solution[0] << " "; // dLat - Output field #14
+ cout << solverWMS.solution[1] << " "; // dLon - Output field #15
+ cout << solverWMS.solution[2] << " "; // dH - Output field #16
+
+////////////////////////// END OF CASE #5 //////////////////////////
+
+
+
+//////////////////////////// CASE #6 ////////////////////////////
+
+ // This case uses de PC combination plus a WMS solver
+
+ // Let's make a working copy
+ gnssRinex gRin6(gOriginal);
+
+ try
+ {
+
+ gRin6 >> getPC >> pcFilter >> modelPC >> mopsW >> baseChange >> solverWMS;
+ // First, we need to compute the PC combination with "getPC" and insert
+ // it into the "gRin6" data structure.
+ // Then, use "pcFilter" to take out grossly out of range results in PC.
+ // After that, use an specific model ("modelPC") for this combination. It
+ // doesn't use ionospheric model nor TGD.
+ // The remaining steps are similar to the other cases.
+ }
+ catch(...)
+ {
+ cerr << "Exception at epoch: " << gRin6.header.epoch << endl;
+ }
+
+ cout << solverWMS.solution[0] << " "; // dLat - Output field #17
+ cout << solverWMS.solution[1] << " "; // dLon - Output field #18
+ cout << solverWMS.solution[2] << " "; // dH - Output field #19
+
+////////////////////////// END OF CASE #6 //////////////////////////
+
+
+
+//////////////////////////// CASE #7 ////////////////////////////
+
+ // This case uses the smoothed-PC combination plus WMS
+
+ // Let's make a working copy
+ gnssRinex gRin7(gOriginal);
+
+ try
+ {
+
+ gRin7 >> getPC >> getLC >> getLI >> getMW >> markCSLI >> markCSMW >> smoothPC >> pcFilter >> modelPC >> mopsW >> baseChange >> solverWMS;
+ // In addition to PC, we will also neet LC ("getLC"), LI ("getLI")
+ // and MW ("getMW") combinations:
+ //
+ // - LC (as well as PC) is needed by "smoothPC" in order to smooth
+ // PC data. Also, the smoother works better with cycle slip
+ // information, and therefore:
+ //
+ // - LI feeds "markCSLI": The LI-based cycle slip detector
+ // - MW feeds "markCSMW": The MW-based cycle slip detector
+ //
+ // - The remaining steps are essentially the same
+ }
+ catch(...)
+ {
+ cerr << "Exception at epoch: " << gRin7.header.epoch << endl;
+ }
+
+ cout << solverWMS.solution[0] << " "; // dLat - Output field #20
+ cout << solverWMS.solution[1] << " "; // dLon - Output field #21
+ cout << solverWMS.solution[2] << " "; // dH - Output field #22
+
+////////////////////////// END OF CASE #7 //////////////////////////
+
+
+
+//////////////////////////// CASE #8 ////////////////////////////
+
+ // This case uses the smoothed-PC combination + WMS + information
+ // about dH (constant and equal to zero with a high confidence).
+ // It is a mix of the former case (#7) and case #5.
+
+ // Let's make a working copy
+ gnssRinex gRin8(gOriginal);
+
+ try
+ {
+ // First, let's process data up to the change of reference frame
+ gRin8 >> getPC >> getLC >> getLI >> getMW >> markCSLIcase8 >> markCSMWcase8 >> smoothPCcase8 >> pcFilter >> modelPC >> mopsW >> baseChange;
+ // Remember that both cycle slip detectors and "smoothers" are objects
+ // that store their internal state, so you MUST NOT use the SAME object
+ // to process OTHER data streams (compare with case #7).
+
+ // Now, let's insert the new equation data, including its weight.
+ // It is the same equation as case #5.
+ gRin8.body[satEq] = equTVMap;
+
+ // Let's continue processing data as usual
+ gRin8 >> solverWMS;
+ }
+ catch(...)
+ {
+ cerr << "Exception at epoch: " << gRin7.header.epoch << endl;
+ }
+
+ cout << solverWMS.solution[0] << " "; // dLat - Output field #23
+ cout << solverWMS.solution[1] << " "; // dLon - Output field #24
+ cout << solverWMS.solution[2] << " "; // dH - Output field #25
+
+////////////////////////// END OF CASE #7 //////////////////////////
+
+
+
+//////////////////////////// CASE #9 ////////////////////////////
+
+
+ // This is like cases #1 and #2, but using DGPS techniques instead.
+
+ // Let's make a working copy of rover data
+ gnssRinex gRin9(gOriginal);
+
+
+ //// The following code makes sure the data streams are synchronized
+ if (firstTime)
+ {
+ rinRef >> gRef; // Get data out of reference station RINEX file
+ firstTime = false; // Mark that the first data batch was read
+ }
+
+ // Check that the reference data time stamp is not less than rover data's,
+ // and that tolerance is within limits. If not, keep reeding.
+ // Note that if reference data time stamp is bigger, it will not enter
+ // here, "waiting" for rover data to catch up.
+ while ( (gRef.header.epoch < gRin9.header.epoch) && ( std::abs(gRef.header.epoch - gRin9.header.epoch) > timeTolerance ) )
+ {
+ rinRef >> gRef;
+ }
+ //// End of synchronization code
+
+
+ // If we couldn't synchronize data streams (i.e.: "timeTolerance" is
+ // not met), skip this epoch (no DGPS data processing will be carried out).
+ if (std::abs(gRef.header.epoch - gRin9.header.epoch) > timeTolerance )
+ {
+ cout << endl;
+ continue;
+ }
+
+
+ // If everything is OK, let's process reference station data
+ try
+ {
+ gRef >> myFilter >> modelRef;
+ // Remember that in simple DGPS, the differences are computed on code
+ // prefit residuals, so "modelRef" object is mandatory.
+
+ // The "delta" object will take care of proper differencing. We must
+ // tell it which GNSS data structure will be used as reference
+ delta.setRefData(gRef.body);
+
+ }
+ catch(...)
+ {
+ cerr << "Case 9. Exception when processing reference station data at epoch: " << gRef.header.epoch << endl;
+ }
+
+
+ // The rover data processing is done here:
+ try
+ {
+
+ gRin9 >> myFilter >> model >> delta >> baseChange >> solverNEU;
+ // This is very similar to cases #1 and #2, but we insert a "delta"
+ // object that will adjust code prefit residuals BEFORE solving the
+ // system of equations.
+ }
+ catch(...)
+ {
+ cerr << "Case 9. Exception at epoch: " << gRin9.header.epoch << endl;
+ }
+
+
+ cout << solverNEU.solution[0] << " "; // dLat - Output field #26
+ cout << solverNEU.solution[1] << " "; // dLon - Output field #27
+ cout << solverNEU.solution[2] << " "; // dH - Output field #28
+
+////////////////////////// END OF CASE #9 //////////////////////////
+
+
+
+//////////////////////////// CASE #10 ////////////////////////////
+
+
+ // This is like case #9 (DGPS), but now let's apply a WMS solver on data
+
+ // Let's make a working copy
+ gnssRinex gRin10(gOriginal);
+
+
+ // Please note that data streams are already synchronized, and "delta" object
+ // may be reused with the same reference data obtained from Case #9.
+
+ try
+ {
+
+ gRin10 >> myFilter >> model >> delta >> mopsW >> baseChange >> solverWMS;
+ // Like case #9, but now with "mopsW" and "solverWMS"
+ }
+ catch(...)
+ {
+ cerr << "Case 10. Exception at epoch: " << gRin10.header.epoch << endl;
+ }
+
+
+ cout << solverWMS.solution[0] << " "; // dLat - Output field #29
+ cout << solverWMS.solution[1] << " "; // dLon - Output field #30
+ cout << solverWMS.solution[2] << " "; // dH - Output field #31
+
+////////////////////////// END OF CASE #10 //////////////////////////
+
+
+ // End of data processing for this epoch
+ cout << endl;
+
+ }
+
+
+ exit(0);
+}
diff --git a/dev/install-sh b/dev/install-sh
new file mode 100755
index 0000000..1a83534
--- /dev/null
+++ b/dev/install-sh
@@ -0,0 +1,323 @@
+#!/bin/sh
+# install - install a program, script, or datafile
+
+scriptversion=2005-02-02.21
+
+# This originates from X11R5 (mit/util/scripts/install.sh), which was
+# later released in X11R6 (xc/config/util/install.sh) with the
+# following copyright and license.
+#
+# Copyright (C) 1994 X Consortium
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to
+# deal in the Software without restriction, including without limitation the
+# rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+# sell copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# X CONSORTIUM BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN
+# AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNEC-
+# TION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# Except as contained in this notice, the name of the X Consortium shall not
+# be used in advertising or otherwise to promote the sale, use or other deal-
+# ings in this Software without prior written authorization from the X Consor-
+# tium.
+#
+#
+# FSF changes to this file are in the public domain.
+#
+# Calling this script install-sh is preferred over install.sh, to prevent
+# `make' implicit rules from creating a file called install from it
+# when there is no Makefile.
+#
+# This script is compatible with the BSD install script, but was written
+# from scratch. It can only install one file at a time, a restriction
+# shared with many OS's install programs.
+
+# set DOITPROG to echo to test this script
+
+# Don't use :- since 4.3BSD and earlier shells don't like it.
+doit="${DOITPROG-}"
+
+# put in absolute paths if you don't have them in your path; or use env. vars.
+
+mvprog="${MVPROG-mv}"
+cpprog="${CPPROG-cp}"
+chmodprog="${CHMODPROG-chmod}"
+chownprog="${CHOWNPROG-chown}"
+chgrpprog="${CHGRPPROG-chgrp}"
+stripprog="${STRIPPROG-strip}"
+rmprog="${RMPROG-rm}"
+mkdirprog="${MKDIRPROG-mkdir}"
+
+chmodcmd="$chmodprog 0755"
+chowncmd=
+chgrpcmd=
+stripcmd=
+rmcmd="$rmprog -f"
+mvcmd="$mvprog"
+src=
+dst=
+dir_arg=
+dstarg=
+no_target_directory=
+
+usage="Usage: $0 [OPTION]... [-T] SRCFILE DSTFILE
+ or: $0 [OPTION]... SRCFILES... DIRECTORY
+ or: $0 [OPTION]... -t DIRECTORY SRCFILES...
+ or: $0 [OPTION]... -d DIRECTORIES...
+
+In the 1st form, copy SRCFILE to DSTFILE.
+In the 2nd and 3rd, copy all SRCFILES to DIRECTORY.
+In the 4th, create DIRECTORIES.
+
+Options:
+-c (ignored)
+-d create directories instead of installing files.
+-g GROUP $chgrpprog installed files to GROUP.
+-m MODE $chmodprog installed files to MODE.
+-o USER $chownprog installed files to USER.
+-s $stripprog installed files.
+-t DIRECTORY install into DIRECTORY.
+-T report an error if DSTFILE is a directory.
+--help display this help and exit.
+--version display version info and exit.
+
+Environment variables override the default commands:
+ CHGRPPROG CHMODPROG CHOWNPROG CPPROG MKDIRPROG MVPROG RMPROG STRIPPROG
+"
+
+while test -n "$1"; do
+ case $1 in
+ -c) shift
+ continue;;
+
+ -d) dir_arg=true
+ shift
+ continue;;
+
+ -g) chgrpcmd="$chgrpprog $2"
+ shift
+ shift
+ continue;;
+
+ --help) echo "$usage"; exit $?;;
+
+ -m) chmodcmd="$chmodprog $2"
+ shift
+ shift
+ continue;;
+
+ -o) chowncmd="$chownprog $2"
+ shift
+ shift
+ continue;;
+
+ -s) stripcmd=$stripprog
+ shift
+ continue;;
+
+ -t) dstarg=$2
+ shift
+ shift
+ continue;;
+
+ -T) no_target_directory=true
+ shift
+ continue;;
+
+ --version) echo "$0 $scriptversion"; exit $?;;
+
+ *) # When -d is used, all remaining arguments are directories to create.
+ # When -t is used, the destination is already specified.
+ test -n "$dir_arg$dstarg" && break
+ # Otherwise, the last argument is the destination. Remove it from $@.
+ for arg
+ do
+ if test -n "$dstarg"; then
+ # $@ is not empty: it contains at least $arg.
+ set fnord "$@" "$dstarg"
+ shift # fnord
+ fi
+ shift # arg
+ dstarg=$arg
+ done
+ break;;
+ esac
+done
+
+if test -z "$1"; then
+ if test -z "$dir_arg"; then
+ echo "$0: no input file specified." >&2
+ exit 1
+ fi
+ # It's OK to call `install-sh -d' without argument.
+ # This can happen when creating conditional directories.
+ exit 0
+fi
+
+for src
+do
+ # Protect names starting with `-'.
+ case $src in
+ -*) src=./$src ;;
+ esac
+
+ if test -n "$dir_arg"; then
+ dst=$src
+ src=
+
+ if test -d "$dst"; then
+ mkdircmd=:
+ chmodcmd=
+ else
+ mkdircmd=$mkdirprog
+ fi
+ else
+ # Waiting for this to be detected by the "$cpprog $src $dsttmp" command
+ # might cause directories to be created, which would be especially bad
+ # if $src (and thus $dsttmp) contains '*'.
+ if test ! -f "$src" && test ! -d "$src"; then
+ echo "$0: $src does not exist." >&2
+ exit 1
+ fi
+
+ if test -z "$dstarg"; then
+ echo "$0: no destination specified." >&2
+ exit 1
+ fi
+
+ dst=$dstarg
+ # Protect names starting with `-'.
+ case $dst in
+ -*) dst=./$dst ;;
+ esac
+
+ # If destination is a directory, append the input filename; won't work
+ # if double slashes aren't ignored.
+ if test -d "$dst"; then
+ if test -n "$no_target_directory"; then
+ echo "$0: $dstarg: Is a directory" >&2
+ exit 1
+ fi
+ dst=$dst/`basename "$src"`
+ fi
+ fi
+
+ # This sed command emulates the dirname command.
+ dstdir=`echo "$dst" | sed -e 's,/*$,,;s,[^/]*$,,;s,/*$,,;s,^$,.,'`
+
+ # Make sure that the destination directory exists.
+
+ # Skip lots of stat calls in the usual case.
+ if test ! -d "$dstdir"; then
+ defaultIFS='
+ '
+ IFS="${IFS-$defaultIFS}"
+
+ oIFS=$IFS
+ # Some sh's can't handle IFS=/ for some reason.
+ IFS='%'
+ set x `echo "$dstdir" | sed -e 's@/@%@g' -e 's@^%@/@'`
+ shift
+ IFS=$oIFS
+
+ pathcomp=
+
+ while test $# -ne 0 ; do
+ pathcomp=$pathcomp$1
+ shift
+ if test ! -d "$pathcomp"; then
+ $mkdirprog "$pathcomp"
+ # mkdir can fail with a `File exist' error in case several
+ # install-sh are creating the directory concurrently. This
+ # is OK.
+ test -d "$pathcomp" || exit
+ fi
+ pathcomp=$pathcomp/
+ done
+ fi
+
+ if test -n "$dir_arg"; then
+ $doit $mkdircmd "$dst" \
+ && { test -z "$chowncmd" || $doit $chowncmd "$dst"; } \
+ && { test -z "$chgrpcmd" || $doit $chgrpcmd "$dst"; } \
+ && { test -z "$stripcmd" || $doit $stripcmd "$dst"; } \
+ && { test -z "$chmodcmd" || $doit $chmodcmd "$dst"; }
+
+ else
+ dstfile=`basename "$dst"`
+
+ # Make a couple of temp file names in the proper directory.
+ dsttmp=$dstdir/_inst.$$_
+ rmtmp=$dstdir/_rm.$$_
+
+ # Trap to clean up those temp files at exit.
+ trap 'ret=$?; rm -f "$dsttmp" "$rmtmp" && exit $ret' 0
+ trap '(exit $?); exit' 1 2 13 15
+
+ # Copy the file name to the temp name.
+ $doit $cpprog "$src" "$dsttmp" &&
+
+ # and set any options; do chmod last to preserve setuid bits.
+ #
+ # If any of these fail, we abort the whole thing. If we want to
+ # ignore errors from any of these, just make sure not to ignore
+ # errors from the above "$doit $cpprog $src $dsttmp" command.
+ #
+ { test -z "$chowncmd" || $doit $chowncmd "$dsttmp"; } \
+ && { test -z "$chgrpcmd" || $doit $chgrpcmd "$dsttmp"; } \
+ && { test -z "$stripcmd" || $doit $stripcmd "$dsttmp"; } \
+ && { test -z "$chmodcmd" || $doit $chmodcmd "$dsttmp"; } &&
+
+ # Now rename the file to the real destination.
+ { $doit $mvcmd -f "$dsttmp" "$dstdir/$dstfile" 2>/dev/null \
+ || {
+ # The rename failed, perhaps because mv can't rename something else
+ # to itself, or perhaps because mv is so ancient that it does not
+ # support -f.
+
+ # Now remove or move aside any old file at destination location.
+ # We try this two ways since rm can't unlink itself on some
+ # systems and the destination file might be busy for other
+ # reasons. In this case, the final cleanup might fail but the new
+ # file should still install successfully.
+ {
+ if test -f "$dstdir/$dstfile"; then
+ $doit $rmcmd -f "$dstdir/$dstfile" 2>/dev/null \
+ || $doit $mvcmd -f "$dstdir/$dstfile" "$rmtmp" 2>/dev/null \
+ || {
+ echo "$0: cannot unlink or rename $dstdir/$dstfile" >&2
+ (exit 1); exit 1
+ }
+ else
+ :
+ fi
+ } &&
+
+ # Now rename the file to the real destination.
+ $doit $mvcmd "$dsttmp" "$dstdir/$dstfile"
+ }
+ }
+ fi || { (exit 1); exit 1; }
+done
+
+# The final little trick to "correctly" pass the exit status to the exit trap.
+{
+ (exit 0); exit 0
+}
+
+# Local variables:
+# eval: (add-hook 'write-file-hooks 'time-stamp)
+# time-stamp-start: "scriptversion="
+# time-stamp-format: "%:y-%02m-%02d.%02H"
+# time-stamp-end: "$"
+# End:
diff --git a/dev/lib/Jamfile b/dev/lib/Jamfile
new file mode 100644
index 0000000..32733de
--- /dev/null
+++ b/dev/lib/Jamfile
@@ -0,0 +1,5 @@
+# $Id$
+
+SubDir TOP lib ;
+
+SubInclude TOP lib rxio ;
diff --git a/dev/lib/Makefile.am b/dev/lib/Makefile.am
new file mode 100644
index 0000000..2737aa9
--- /dev/null
+++ b/dev/lib/Makefile.am
@@ -0,0 +1,3 @@
+# $Id$
+EXTRA_DIST = README
+SUBDIRS = rxio
diff --git a/dev/lib/rxio/AshtechALB.cpp b/dev/lib/rxio/AshtechALB.cpp
new file mode 100644
index 0000000..5b800cd
--- /dev/null
+++ b/dev/lib/rxio/AshtechALB.cpp
@@ -0,0 +1,115 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include "StringUtils.hpp"
+#include "BinUtils.hpp"
+
+#include "AshtechALB.hpp"
+#include "AshtechStream.hpp"
+
+using namespace std;
+
+namespace gpstk
+ {
+ const char* AshtechALB::myId = "ALB";
+
+ //---------------------------------------------------------------------------
+ void AshtechALB::reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError, EndOfFile)
+ {
+ AshtechStream& stream=dynamic_cast<AshtechStream&>(ffs);
+
+ // make sure the object is reset before starting the search
+ clear(fmtbit | lenbit | crcbit);
+ string& rawData = stream.rawData;
+
+ // If this object doesn't have an id set yet, assume that the streams
+ // most recent read id is what we need to be
+ if (id == "" && rawData.size()>=11 &&
+ rawData.substr(0,7) == preamble &&
+ rawData[10]==',')
+ id = rawData.substr(7,3);
+
+ // If that didn't work, or this is object is not of the right type,
+ // then give up.
+ if (id == "" || !checkId(id))
+ return;
+
+ readBody(stream);
+ }
+
+ //---------------------------------------------------------------------------
+ void AshtechALB::decode(const std::string& data)
+ throw(std::exception, FFStreamError)
+ {
+ using BinUtils::decodeVar;
+
+ string str(data);
+ if (debugLevel>1)
+ cout << "ALB " << str.length() << " " << endl;
+ if (str.length() == 138)
+ {
+ ascii=false;
+ header = str.substr(0,11); str.erase(0,11);
+ svid = decodeVar<uint16_t>(str);
+ str.erase(0,1);
+
+ for (int w=0; w<10; w++)
+ word[w] = decodeVar<uint32_t>(str);
+
+ unsigned cksum = decodeVar<uint16_t>(str);
+ clear(ios_base::goodbit);
+ }
+ }
+
+ //---------------------------------------------------------------------------
+ void AshtechALB::dump(ostream& out) const throw()
+ {
+ ostringstream oss;
+ using gpstk::StringUtils::asString;
+ using gpstk::StringUtils::leftJustify;
+
+ AshtechData::dump(out);
+ oss << getName() << "1:"
+ << " svid:" << svid
+ << " S0W0: ..."
+ << endl;
+ out << oss.str() << flush;
+ }
+
+} // namespace gpstk
diff --git a/dev/lib/rxio/AshtechALB.hpp b/dev/lib/rxio/AshtechALB.hpp
new file mode 100644
index 0000000..94d2614
--- /dev/null
+++ b/dev/lib/rxio/AshtechALB.hpp
@@ -0,0 +1,79 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef ASHTECHALB_HPP
+#define ASHTECHALB_HPP
+
+/**
+ * @file AshtechALB.hpp
+ * gpstk::AshtechALB - class to hold an Ashtech ALB message
+ */
+
+#include <AshtechData.hpp>
+
+namespace gpstk
+{
+ class AshtechALB : public AshtechData
+ {
+ public:
+
+ AshtechALB() {};
+
+ std::string header; // 11 characters exactly
+
+ unsigned svid;
+ long word[10];
+
+ static const char* myId;
+
+ virtual std::string getName() const {return "epb";}
+
+ bool checkId(std::string hdrId) const {return hdrId==myId;}
+
+ void dump(std::ostream& out) const throw();
+
+ virtual void decode(const std::string& data)
+ throw(std::exception, FFStreamError);
+
+ protected:
+ virtual void reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError, EndOfFile);
+ };
+} // namespace gpstk
+
+#endif
diff --git a/dev/lib/rxio/AshtechData.cpp b/dev/lib/rxio/AshtechData.cpp
new file mode 100644
index 0000000..b66b01f
--- /dev/null
+++ b/dev/lib/rxio/AshtechData.cpp
@@ -0,0 +1,169 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include "StringUtils.hpp"
+#include "BinUtils.hpp"
+
+#include "AshtechData.hpp"
+#include "AshtechStream.hpp"
+
+using namespace std;
+
+namespace gpstk
+ {
+ //---------------------------------------------------------------------------
+ //---------------------------------------------------------------------------
+ // This is the string that preceeds every message from the receiver.
+ const char* AshtechData::preamble = "$PASHR,";
+
+ // Set to zero for no debugging output
+ // set to 1 to output text messages about decode/format/range errors
+ // set to 2 to add a hex dump of those messages
+ // set to 3+ to add the tossed bytes whether or not they are bad
+ int AshtechData::debugLevel = 0;
+
+ // set true to print a hex dump of every message to cout
+ bool AshtechData::hexDump = false;
+
+
+ //---------------------------------------------------------------------------
+ // Compute the CRC of the string and set the crcbit appropriately.
+ void AshtechData::checkCRC(string str)
+ throw()
+ {
+ // Nope, we don't do this. for now
+ if (false)
+ {
+ clearstate(crcbit);
+ return;
+ }
+ } // AshtechData::checkCRC()
+
+
+ //---------------------------------------------------------------------------
+ void AshtechData::reallyGetRecord(FFStream& ffs)
+ throw(exception, FFStreamError, EndOfFile)
+ {
+ // Note that this will generate a bad_cast exception if it doesn't work.
+ AshtechStream& stream=dynamic_cast<AshtechStream&>(ffs);
+
+ // make sure the object is reset before starting the search
+ clear(fmtbit | lenbit | crcbit);
+ id.clear();
+ stream.rawData.erase();
+
+ readHeader(stream);
+ } // AshtechData::reallyGetRecord()
+
+
+ //---------------------------------------------------------------------------
+ void AshtechData::readHeader(AshtechStream& stream)
+ throw(FFStreamError, EndOfFile)
+ {
+ char buff[12];
+ string& rawData = stream.rawData;
+
+ while (stream.read(buff, sizeof(buff)) && id == "")
+ {
+ rawData.append(buff, stream.gcount());
+ if (rawData.size()>=11 &&
+ rawData.substr(0,7) == preamble &&
+ (rawData[10]==',' ||
+ rawData.substr(7,3)=="EPB"))
+ {
+ id = rawData.substr(7,3);
+ break;
+ }
+
+ if (rawData.find(preamble[0]))
+ rawData.erase(0, rawData.find(preamble[0]));
+ else
+ {
+ if (debugLevel>1)
+ cout << "Couldn't find preamble. rawData: " << rawData << endl;
+ break;
+ }
+ }
+ }
+
+ //---------------------------------------------------------------------------
+ void AshtechData::readBody(AshtechStream& stream)
+ throw(FFStreamError, EndOfFile)
+ {
+ string& rawData = stream.rawData;
+ const string term("\015\012");
+
+ while (rawData.substr(rawData.length()-2,2) != term)
+ {
+ string buff;
+ getline(stream, buff, term[1]);
+ rawData.append(buff);
+ rawData.append(term.substr(1,1));
+ }
+ if (debugLevel>2)
+ StringUtils::hexDumpData(cout, rawData);
+
+ decode(rawData);
+ if (!good() && debugLevel>1)
+ cout << "bad decode" << endl;
+
+ if (hexDump || (debugLevel>1 && rdstate()))
+ {
+ cout << "Record Number:" << stream.recordNumber << endl;
+ StringUtils::hexDumpData(cout, rawData);
+ }
+ }
+
+
+ //---------------------------------------------------------------------------
+ void AshtechData::dump(ostream& out) const throw()
+ {
+ ostringstream oss;
+ oss << getName() << " : id:" << id << " rdstate:" << rdstate();
+ if (crcerr())
+ oss << "-crc";
+ if (fmterr())
+ oss << "-fmt";
+ if (lenerr())
+ oss << "-len";
+ if (parerr())
+ oss << "-par";
+
+ out << oss.str() << endl;
+ } // AshtechData::dump()
+} // namespace gpstk
diff --git a/dev/lib/rxio/AshtechData.hpp b/dev/lib/rxio/AshtechData.hpp
new file mode 100644
index 0000000..b8d62f9
--- /dev/null
+++ b/dev/lib/rxio/AshtechData.hpp
@@ -0,0 +1,134 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef ASHTECHDATA_HPP
+#define ASHTECHDATA_HPP
+
+/**
+ * @file AshtechData.hpp
+ * gpstk::AshtechData - base cass for Ashtech formatted data.
+ */
+
+#include <map>
+#include <iostream>
+
+#include <Exception.hpp>
+#include <DayTime.hpp>
+#include <StringUtils.hpp>
+#include <BinUtils.hpp>
+
+#include <FFData.hpp>
+#include <FFStream.hpp>
+#include <DataStatus.hpp>
+
+namespace gpstk
+{
+
+ class AshtechStream;
+
+ class AshtechData : public FFData, public CRCDataStatus
+ {
+ public:
+ AshtechData() throw() {}
+
+ // Returns whether or not this AshtechData is valid.
+ bool isValid() const {return good();}
+
+ //! This class is "data" so this function always returns "true".
+ virtual bool isData() const {return true;}
+
+ /** Encode this object to a string.
+ * @return this object as a string.
+ */
+ virtual std::string encode() const throw() { return std::string(); }
+
+ /** Decode this object from a string.
+ * @param str the string to read from.
+ */
+ virtual void decode(const std::string& str)
+ throw(std::exception, FFStreamError)
+ {std::cout<<"AshtechData::decode()"<<std::endl;}
+
+ /// Simple accessors for various static thangs.
+ virtual std::string getName() const {return "hdr";}
+
+ /// Returns true when the provided id is valid for this message
+ virtual bool checkId(std::string hdrId) const {return false;}
+
+ /** Dump some debugging information to the given ostream.
+ * @param out the ostream to write to
+ */
+ void dump(std::ostream& out) const throw();
+
+ /// Compute the CRC over the string and set the CRC in that
+ /// string and in the header.
+ void setCRC(std::string& str) const throw() {}
+
+ /// Checks the crc of the message and set crc_err if it fails.
+ void checkCRC(std::string str) throw();
+
+ static int debugLevel;
+ static bool hexDump;
+
+ std::string id;
+ bool ascii;
+
+ static const char* preamble;
+
+ protected:
+ virtual void reallyPutRecord(FFStream& ffs) const
+ throw(std::exception, StringUtils::StringException,
+ FFStreamError)
+ {
+ gpstk::FFStreamError e("Writing of AshtecData is not supported.");
+ GPSTK_THROW(e);
+ }
+
+ virtual void reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError, EndOfFile);
+
+ virtual void readHeader(AshtechStream& stream)
+ throw(FFStreamError, EndOfFile);
+
+ virtual void readBody(AshtechStream& stream)
+ throw(FFStreamError, EndOfFile);
+
+ }; // class AshtechData
+} // namespace gpstk
+
+#endif
diff --git a/dev/lib/rxio/AshtechEPB.cpp b/dev/lib/rxio/AshtechEPB.cpp
new file mode 100644
index 0000000..e06a48d
--- /dev/null
+++ b/dev/lib/rxio/AshtechEPB.cpp
@@ -0,0 +1,115 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include "StringUtils.hpp"
+#include "BinUtils.hpp"
+
+#include "AshtechEPB.hpp"
+#include "AshtechStream.hpp"
+
+using namespace std;
+
+namespace gpstk
+{
+ const char* AshtechEPB::myId = "EPB";
+
+ //---------------------------------------------------------------------------
+ void AshtechEPB::reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError, EndOfFile)
+ {
+ AshtechStream& stream=dynamic_cast<AshtechStream&>(ffs);
+
+ // make sure the object is reset before starting the search
+ clear(fmtbit | lenbit | crcbit);
+ string& rawData = stream.rawData;
+
+ // If this object doesn't have an id set yet, assume that the streams
+ // most recent read id is what we need to be
+ if (id == "" && rawData.size()>=11 &&
+ rawData.substr(0,7) == preamble &&
+ rawData[10]==',')
+ id = rawData.substr(7,3);
+
+ // If that didn't work, or this is object is not of the right type,
+ // then give up.
+ if (id == "" || !checkId(id))
+ return;
+
+ readBody(stream);
+ }
+
+ //---------------------------------------------------------------------------
+ void AshtechEPB::decode(const std::string& data)
+ throw(std::exception, FFStreamError)
+ {
+ using BinUtils::decodeVar;
+
+ string str(data);
+ if (debugLevel>1)
+ cout << "EPB " << str.length() << " " << endl;
+ if (str.length() == 138)
+ {
+ ascii=false;
+ header = str.substr(0,11); str.erase(0,11);
+ prn = decodeVar<uint16_t>(str);
+ str.erase(0,1);
+
+ for (int s=0; s<3; s++)
+ for (int w=0; w<10; w++)
+ word[s][w] = decodeVar<uint32_t>(str);
+
+ unsigned cksum = decodeVar<uint16_t>(str);
+ clear(ios_base::goodbit);
+ }
+ }
+
+ //---------------------------------------------------------------------------
+ void AshtechEPB::dump(ostream& out) const throw()
+ {
+ ostringstream oss;
+ using gpstk::StringUtils::asString;
+ using gpstk::StringUtils::leftJustify;
+
+ AshtechData::dump(out);
+ oss << getName() << "1:"
+ << " prn:" << prn
+ << " S0W0: ..."
+ << endl;
+ out << oss.str() << flush;
+ }
+} // namespace gpstk
diff --git a/dev/lib/rxio/AshtechEPB.hpp b/dev/lib/rxio/AshtechEPB.hpp
new file mode 100644
index 0000000..02e09fb
--- /dev/null
+++ b/dev/lib/rxio/AshtechEPB.hpp
@@ -0,0 +1,80 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef ASHTECHEPB_HPP
+#define ASHTECHEPB_HPP
+
+/**
+ * @file AshtechEPB.hpp
+ * gpstk::AshtechEPB - Class to hold an Ashtech EPB message
+ */
+
+#include "AshtechData.hpp"
+
+namespace gpstk
+{
+ class AshtechEPB : public AshtechData
+ {
+ public:
+
+ AshtechEPB() {};
+
+ std::string header; // 11 characters exactly
+
+ unsigned prn;
+ long word[3][10];
+
+ static const char* myId;
+
+ virtual std::string getName() const {return "epb";}
+
+ bool checkId(std::string hdrId) const {return hdrId==myId;}
+
+ void dump(std::ostream& out) const throw();
+
+ virtual void decode(const std::string& data)
+ throw(std::exception, FFStreamError);
+
+ protected:
+ virtual void reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError, EndOfFile);
+ };
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/lib/rxio/AshtechMBEN.cpp b/dev/lib/rxio/AshtechMBEN.cpp
new file mode 100644
index 0000000..b25b1f8
--- /dev/null
+++ b/dev/lib/rxio/AshtechMBEN.cpp
@@ -0,0 +1,252 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include "AshtechMBEN.hpp"
+#include "AshtechStream.hpp"
+#include "icd_200_constants.hpp"
+
+using namespace std;
+
+namespace gpstk
+ {
+ const char* AshtechMBEN::mpcId = "MPC";
+ const char* AshtechMBEN::mcaId = "MCA";
+
+
+ //---------------------------------------------------------------------------
+ void AshtechMBEN::reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError, EndOfFile)
+ {
+ AshtechStream& stream=dynamic_cast<AshtechStream&>(ffs);
+
+ // make sure the object is reset before starting the search
+ clear(fmtbit | lenbit | crcbit);
+ string& rawData = stream.rawData;
+
+ // If this object doesn't have an id set yet, assume that the streams
+ // most recent read id is what we need to be
+ if (id == "" && rawData.size()>=11 &&
+ rawData.substr(0,7) == preamble &&
+ rawData[10]==',')
+ id = rawData.substr(7,3);
+
+ // If that didn't work, or this is object is not of the right type,
+ // then give up.
+ if (id == "" || !checkId(id))
+ return;
+
+ readBody(stream);
+ }
+
+
+ //---------------------------------------------------------------------------
+ void AshtechMBEN::decode(const std::string& data)
+ throw(std::exception, FFStreamError)
+ {
+ using gpstk::BinUtils::decodeVar;
+
+ string str(data);
+ if (debugLevel>2)
+ cout << "MBEN " << str.length() << " " << endl;
+
+ if (str.length() == 108 || str.length()==52)
+ {
+ ascii=false;
+ header = str.substr(0,11); str.erase(0,11);
+
+ seq = decodeVar<uint16_t>(str);
+ left = decodeVar<uint8_t>(str);
+ svprn = decodeVar<uint8_t>(str);
+ el = decodeVar<uint8_t>(str);
+ az = decodeVar<uint8_t>(str);
+ chid = decodeVar<uint8_t>(str);
+
+ ca.decodeBIN(str);
+
+ if (id == mpcId)
+ {
+ p1.decodeBIN(str);
+ p2.decodeBIN(str);
+ }
+
+ clear();
+ }
+ else
+ {
+ ascii=true;
+ header = str.substr(0,11); str.erase(0,11);
+ stringstream iss(str);
+ char c;
+ iss >> seq >> c
+ >> left >> c
+ >> svprn >> c
+ >> el >> c
+ >> az >> c
+ >> chid >> c;
+
+ ca.decodeASCII(iss);
+
+ if (id == mpcId)
+ {
+ p1.decodeASCII(iss);
+ p2.decodeASCII(iss);
+ }
+
+ clear();
+ }
+
+ if (seq>36000)
+ setstate(fmtbit);
+ }
+
+
+ //---------------------------------------------------------------------------
+ void AshtechMBEN::code_block::decodeASCII(stringstream& str)
+ throw(std::exception, FFStreamError)
+ {
+ char c;
+ str >> warning >> c
+ >> goodbad >> c
+ >> polarity_known>> c
+ >> ireg >> c
+ >> qa_phase >> c
+ >> full_phase >> c
+ >> raw_range >> c
+ >> doppler >> c
+ >> smoothing >> c
+ >> smooth_cnt >> c;
+
+ // The ashtech docs say this field should be in 1e-4 Hz
+ // The data sure doesn't look like it, however
+ //doppler *= 1e-4;
+ raw_range *= 1e-3; //convert ms to sec
+ }
+
+
+ //---------------------------------------------------------------------------
+ void AshtechMBEN::code_block::decodeBIN(string& str)
+ throw(std::exception, FFStreamError)
+ {
+ using gpstk::BinUtils::decodeVar;
+ uint32_t smo;
+ warning = decodeVar<uint8_t>(str);
+ goodbad = decodeVar<uint8_t>(str);
+ polarity_known = decodeVar<uint8_t>(str);
+ ireg = decodeVar<uint8_t>(str);
+ qa_phase = decodeVar<uint8_t>(str);
+ full_phase = decodeVar<double>(str);
+ raw_range = decodeVar<double>(str);
+ doppler = decodeVar<int32_t>(str);
+ smo = decodeVar<uint32_t>(str);
+
+ doppler *= 1e-4;
+ smoothing = (smo & 0x800000 ? -1e-3 : 1e-3) * (smo & 0x7fffff);
+ smooth_cnt = (smo >> 24) & 0xff;
+ }
+
+
+ //---------------------------------------------------------------------------
+ void AshtechMBEN::code_block::dump(ostream& out) const
+ {
+ using gpstk::StringUtils::asString;
+ out << hex
+ << "warn:" << (int)warning
+ << " gb:" << (int)goodbad
+ << " pol:" << (int)polarity_known
+ << " qa:" << (int)qa_phase
+ << dec
+ << " phase:" << asString(full_phase, 1)
+ << " range:" << asString(raw_range*1e3, 3)
+ << " doppler:" << doppler
+ << " smo:" << smoothing;
+ }
+
+
+ //---------------------------------------------------------------------------
+ float AshtechMBEN::code_block::snr(float chipRate) const throw()
+ {
+ const int n = 20000; // number of samples in 1 ms
+ const float m = 4.14; // magnitude of the carrier estimate;
+ float bw = 0.9 * chipRate; // equivalent noise bandwidth (Hz)
+
+ const float d = PI/(n*n*m*m*4.0);
+ float snr=0;
+
+ if (ireg)
+ {
+ snr = exp(((float)ireg)/25.0);
+ snr = snr*snr*bw*d;
+ snr = 10 * log10(snr);
+ }
+
+ return snr;
+ }
+
+ //---------------------------------------------------------------------------
+ void AshtechMBEN::dump(ostream& out) const throw()
+ {
+ ostringstream oss;
+ using gpstk::StringUtils::asString;
+
+ AshtechData::dump(oss);
+ oss << getName() << "1:"
+ << " seq:" << 0.05 * seq
+ << " left:" << (int)left
+ << " prn:" << (int)svprn
+ << " el:" << (int)el
+ << " az:" << (int)az
+ << " chid:" << (int)chid
+ << " " << (ascii?"ascii":"bin")
+ << endl;
+
+ oss << getName() << "2: ca";
+ ca.dump(oss);
+ oss << endl;
+
+ if (id == mpcId)
+ {
+ oss << getName() << "3: p1";
+ p1.dump(oss);
+ oss << endl;
+ oss << getName() << "4: p2";
+ p2.dump(oss);
+ oss << endl;
+ }
+ out << oss.str() << flush;
+ }
+} // namespace gpstk
diff --git a/dev/lib/rxio/AshtechMBEN.hpp b/dev/lib/rxio/AshtechMBEN.hpp
new file mode 100644
index 0000000..b95f788
--- /dev/null
+++ b/dev/lib/rxio/AshtechMBEN.hpp
@@ -0,0 +1,113 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef ASHTECHMBEN_HPP
+#define ASHTECHMBEN_HPP
+
+/**
+ * @file AshtechMBEN.hpp
+ * gpstk::AshtechMBEN - class for Ashtech raw measurement data
+ */
+
+#include <map>
+#include <iostream>
+
+#include "AshtechData.hpp"
+
+namespace gpstk
+{
+ class AshtechMBEN : public AshtechData
+ {
+ public:
+
+ AshtechMBEN() {};
+
+ std::string header; // 11 characters exactly
+ unsigned seq; // sow in units of 50 ms, modulo 36,000
+ // (36,000 * 50 ms = 30 minutes)
+ unsigned left;
+ unsigned svprn; // the PRN of the tracked satellite
+ unsigned el; // degrees
+ unsigned az; // degrees
+ unsigned chid; // 1..12
+
+ struct code_block
+ {
+ unsigned warning; // field is bit packed, see code
+ unsigned goodbad; // 'position' quality
+ unsigned polarity_known; // 'spare' in the ashtech docs
+ unsigned ireg; // SNR in custom units
+ unsigned qa_phase; // phase quality 0..5 and 95..100 are good
+ double full_phase; // cycles
+ double raw_range; // seconds
+ double doppler; // Hz
+ double smoothing; // meters
+ unsigned smooth_cnt; //
+
+ virtual void decodeASCII(std::stringstream& str)
+ throw(std::exception, FFStreamError);
+ virtual void decodeBIN(std::string& str)
+ throw(std::exception, FFStreamError);
+ float snr(float chipRate) const throw();
+ void dump(std::ostream& out) const;
+ };
+
+ // The remaining block is repeated repeated three times for an MPC but
+ // only appears once for an MCA
+ code_block ca;
+ code_block p1;
+ code_block p2;
+
+ static const char *mpcId, *mcaId;
+
+ virtual std::string getName() const {return "mben";}
+
+ virtual bool checkId(std::string hdrId) const
+ {return hdrId==mpcId || hdrId==mcaId;}
+
+ void dump(std::ostream& out) const throw();
+ virtual void decode(const std::string& data)
+ throw(std::exception, FFStreamError);
+
+ protected:
+ virtual void reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError, EndOfFile);
+ };
+} // namespace gpstk
+
+#endif
diff --git a/dev/lib/rxio/AshtechPBEN.cpp b/dev/lib/rxio/AshtechPBEN.cpp
new file mode 100644
index 0000000..f9ef748
--- /dev/null
+++ b/dev/lib/rxio/AshtechPBEN.cpp
@@ -0,0 +1,157 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include "StringUtils.hpp"
+#include "BinUtils.hpp"
+
+#include "AshtechPBEN.hpp"
+#include "AshtechStream.hpp"
+#include "TimeConstants.hpp"
+
+using namespace std;
+
+namespace gpstk
+ {
+ const char* AshtechPBEN::myId = "PBN";
+
+ //---------------------------------------------------------------------------
+ void AshtechPBEN::reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError, EndOfFile)
+ {
+ AshtechStream& stream=dynamic_cast<AshtechStream&>(ffs);
+
+ // make sure the object is reset before starting the search
+ clear(fmtbit | lenbit | crcbit);
+ string& rawData = stream.rawData;
+
+ // If this object doesn't have an id set yet, assume that the streams
+ // most recent read id is what we need to be
+ if (id == "" && rawData.size()>=11 &&
+ rawData.substr(0,7) == preamble &&
+ rawData[10]==',')
+ id = rawData.substr(7,3);
+
+ // If that didn't work, or this is object is not of the right type,
+ // then give up.
+ if (id == "" || !checkId(id))
+ return;
+
+ readBody(stream);
+ }
+
+ //---------------------------------------------------------------------------
+ void AshtechPBEN::decode(const std::string& data)
+ throw(std::exception, FFStreamError)
+ {
+ using gpstk::BinUtils::decodeVar;
+
+ string str(data);
+ if (debugLevel>2)
+ cout << "PBEN " << str.length() << " " << endl;
+ if (str.length() == 69)
+ {
+ ascii=false;
+ header = str.substr(0,11); str.erase(0,11);
+ sow = 1e-3 * decodeVar<int32_t>(str);
+ sitename = str.substr(0,4); str.erase(0,4);
+ navx = decodeVar<double>(str);
+ navy = decodeVar<double>(str);
+ navz = decodeVar<double>(str);
+ navt = decodeVar<float>(str);
+ navxdot = decodeVar<float>(str);
+ navydot = decodeVar<float>(str);
+ navzdot = decodeVar<float>(str);
+ navtdot = decodeVar<float>(str);
+ pdop = decodeVar<uint16_t>(str);
+ lat = lon = alt = numSV = hdop = vdop = tdop = 0;
+ clear();
+ }
+ else
+ {
+ ascii=true;
+ header = str.substr(0,11); str.erase(0,11);
+ stringstream iss(str);
+ double latMin,lonMin;
+ char c;
+ iss >> sow >> c
+ >> navx>> c >> navy >> c >> navz >> c
+ >> lat >> c >> latMin >> c >> lon >> c >> lonMin >> c >> alt >> c
+ >> navxdot>> c >> navydot>> c >> navzdot >> c
+ >> numSV >> c;
+ getline(iss, sitename, ',');
+ iss >> pdop>> c >> hdop>> c >> vdop>> c >> tdop;
+
+ lat += latMin / 60;
+ lon += lonMin / 60;
+ navt = navtdot = 0;
+ if (iss)
+ clear();
+ }
+
+ if (sow>FULLWEEK)
+ setstate(fmtbit);
+ }
+
+ //---------------------------------------------------------------------------
+ void AshtechPBEN::dump(ostream& out) const throw()
+ {
+ ostringstream oss;
+ using gpstk::StringUtils::asString;
+ using gpstk::StringUtils::leftJustify;
+
+ AshtechData::dump(out);
+ oss << getName() << "1:"
+ << " SOW:" << asString(sow, 1)
+ << " #SV:" << (int)numSV
+ << " PDOP:" << (int)pdop
+ << " ClkOff:" << asString(navt, 3)
+ << " ClkDft:" << asString(navtdot, 3)
+ << " sitename:" << sitename
+ << " " << (ascii?"ascii":"bin")
+ << endl
+ << getName() << "2:"
+ << " X:" << asString(navx, 1)
+ << " Y:" << asString(navy, 1)
+ << " Z:" << asString(navz, 1)
+ << " Vx:" << asString(navxdot, 3)
+ << " Vy:" << asString(navydot, 3)
+ << " Vz:" << asString(navzdot, 3)
+ << endl;
+ out << oss.str() << flush;
+ }
+} // namespace gpstk
diff --git a/dev/lib/rxio/AshtechPBEN.hpp b/dev/lib/rxio/AshtechPBEN.hpp
new file mode 100644
index 0000000..c61c279
--- /dev/null
+++ b/dev/lib/rxio/AshtechPBEN.hpp
@@ -0,0 +1,92 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef ASHTECHPBEN_HPP
+#define ASHTECHPBEN_HPP
+
+/**
+ * @file AshtechPBEN.hpp
+ * gpstk::AshtechPBEN - class for storing ashtech nav solution record
+ */
+
+#include "AshtechData.hpp"
+
+namespace gpstk
+{
+ class AshtechPBEN : public AshtechData
+ {
+ public:
+
+ AshtechPBEN() {};
+
+ std::string header; // 11 characters exactly
+
+ double sow;
+ std::string sitename; // 4 characters exactly
+ double navx; // meters
+ double navy; // meters
+ double navz; // meters
+ float navt; // meters
+ float navxdot; // meters/sec
+ float navydot; // meters/sec
+ float navzdot; // meters/sec
+ float navtdot; // meters/sec
+ unsigned pdop;
+
+ // These items are not part of the binary output and only exist in the
+ // ascii output
+ float lat, lon, alt, numSV, hdop, vdop, tdop;
+
+ static const char* myId;
+
+ virtual std::string getName() const {return "pben";}
+
+ bool checkId(std::string hdrId) const {return hdrId==myId;}
+
+ void dump(std::ostream& out) const throw();
+
+ virtual void decode(const std::string& data)
+ throw(std::exception, FFStreamError);
+
+ protected:
+ virtual void reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError, EndOfFile);
+ };
+} // namespace gpstk
+
+#endif
diff --git a/dev/lib/rxio/AshtechStream.hpp b/dev/lib/rxio/AshtechStream.hpp
new file mode 100644
index 0000000..bdb461a
--- /dev/null
+++ b/dev/lib/rxio/AshtechStream.hpp
@@ -0,0 +1,82 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef ASHTECHSTREAM_HPP
+#define ASHTECHSTREAM_HPP
+
+/**
+ * @file AshtechStream.hpp
+ * gpstk::AshtechStream - Decode data from Ashtech Z(Y)-12 recerivers.
+ */
+
+#include "FFBinaryStream.hpp"
+
+namespace gpstk
+{
+ /**
+ * This is a stream used to decode data in the Ashtech format.
+ */
+ class AshtechStream : public FFBinaryStream
+ {
+ public:
+ AshtechStream() {}
+
+ /**
+ * @param fn the name of the Ashtech file to be opened
+ * @param mode the ios::openmode to be used on \a fn
+ */
+ AshtechStream(const char* fn, std::ios::openmode mode = std::ios::in)
+ : FFBinaryStream(fn, mode)
+ {}
+
+ /// destructor per the coding standards
+ virtual ~AshtechStream()
+ {}
+
+ /// overrides open to reset the header
+ virtual void open(const char* fn, std::ios::openmode mode = std::ios::in)
+ {
+ FFBinaryStream::open(fn, mode);
+ }
+
+ /// The raw bytes of the most recent message above message
+ std::string rawData;
+ }; // class AshtechStream
+} // namespace gpstk
+
+#endif
diff --git a/dev/lib/rxio/DataStatus.hpp b/dev/lib/rxio/DataStatus.hpp
new file mode 100644
index 0000000..2255a3d
--- /dev/null
+++ b/dev/lib/rxio/DataStatus.hpp
@@ -0,0 +1,69 @@
+#pragma ident "$Id$"
+
+
+/**
+ * @file DataStatus.hpp
+ * gpstk::DataStatus - This class is intended to provide an interface
+ similiar to the iostream status bits (good, eof, bad, & fail) for
+ the data. This is to support 'soft' errors such as a format or crc error.
+ */
+
+//lgpl-license START
+//lgpl-license END
+
+#ifndef DATASTATUS_HPP
+#define DATASTATUS_HPP
+
+#include <iostream>
+
+namespace gpstk
+{
+ class DataStatus
+ {
+ std::ios_base::iostate state;
+
+ public:
+
+ DataStatus() : state(std::ios_base::goodbit) {};
+
+ /// Note that the goodbit isn't really a bit, it is just the lack
+ /// of any bits being set.
+ bool good() const
+ {return rdstate() == std::ios_base::goodbit;}
+
+ std::ios_base::iostate rdstate() const
+ {return state;}
+
+ void clear(std::ios_base::iostate s = std::ios_base::goodbit)
+ {state=s;}
+
+ void setstate(std::ios_base::iostate s)
+ {clear(rdstate() | s);}
+
+ void clearstate(std::ios_base::iostate s)
+ {state &= ~s;}
+
+ bool operator()() const
+ {return good();}
+
+ operator void*() const
+ {return good() ? const_cast<DataStatus*>(this) : 0;}
+ };
+
+ /// Define additional/other bits are the data requires
+ static const std::ios_base::iostate crcbit = std::ios_base::iostate(0x01);
+ static const std::ios_base::iostate fmtbit = std::ios_base::iostate(0x02);
+ static const std::ios_base::iostate lenbit = std::ios_base::iostate(0x04);
+ static const std::ios_base::iostate parbit = std::ios_base::iostate(0x08);
+
+ class CRCDataStatus : public DataStatus
+ {
+ public:
+ bool crcerr() const {return (rdstate() & crcbit) != 0;}
+ bool fmterr() const {return (rdstate() & fmtbit) != 0;}
+ bool lenerr() const {return (rdstate() & lenbit) != 0;}
+ bool parerr() const {return (rdstate() & parbit) != 0;}
+ };
+} // namespace gpstk
+
+#endif // DATASTATUS_HPP
diff --git a/dev/lib/rxio/DeviceStream.hpp b/dev/lib/rxio/DeviceStream.hpp
new file mode 100644
index 0000000..a7a52a7
--- /dev/null
+++ b/dev/lib/rxio/DeviceStream.hpp
@@ -0,0 +1,230 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef DEVICESTREAM_HPP
+#define DEVICESTREAM_HPP
+
+#include <string>
+#include <termios.h> // POSIX terminal control definitions
+
+#include "FDStreamBuff.hpp"
+#include "TCPStreamBuff.hpp"
+
+namespace gpstk
+{
+ // A class to hid the details of setting up an iostream to take data from
+ // write data to one of several sources:
+ // standard input/output
+ // a file
+ // a tcp socket
+ // a serial port
+ // See the open() function for how to specify these targets
+ // Note that the base type needs to be a decendant of an fstream for this class to work.
+ template<class T>
+ class DeviceStream : public T
+ {
+ public:
+ DeviceStream(void);
+
+ DeviceStream(const std::string& target,
+ std::ios::openmode mode = std::ios::in);
+
+ void open(const std::string& target,
+ std::ios::openmode mode = std::ios::in);
+
+ void open(const char* p,
+ std::ios::openmode mode = std::ios::in);
+
+ virtual ~DeviceStream();
+
+ bool is_open() const;
+
+ enum DeviceType {dtStdio, dtFile, dtTCP, dtSerial};
+
+ DeviceType getDeviceType() {return deviceType;}
+
+ std::string getTarget() const {return target;}
+
+ private:
+ mutable FDStreamBuff *fdbuff; // mutable so rdbuf() can be const
+ std::string target;
+ DeviceType deviceType;
+ };
+
+
+ template<class T>
+ DeviceStream<T>::DeviceStream(void)
+ : fdbuff(NULL)
+ {
+ open("");
+ }
+
+
+ template<class T>
+ DeviceStream<T>::DeviceStream(const std::string& target, std::ios::openmode mode)
+ : fdbuff(NULL),
+ target(target)
+ {
+ open(target, mode);
+ };
+
+
+ template<class T>
+ DeviceStream<T>::~DeviceStream()
+ {
+ if (fdbuff)
+ delete fdbuff;
+ }
+
+
+ template<class T>
+ void DeviceStream<T>::open(const char* p, std::ios::openmode mode)
+ {
+ open(std::string(p), mode);
+ }
+
+ template<class T>
+ bool DeviceStream<T>::is_open() const
+ {
+ if (deviceType == dtStdio)
+ return true;
+ if (fdbuff != NULL)
+ return fdbuff->is_open();
+ }
+
+ template<class T>
+ void DeviceStream<T>::open(const std::string& target, std::ios::openmode mode)
+ {
+ using namespace std;
+ this->target = target;
+ if (target != "")
+ {
+ if (target.substr(0, 4) == "tcp:")
+ {
+ string ifn=target;
+ int port = 25;
+ ifn.erase(0,4);
+ string::size_type i = ifn.find(":");
+ if (i<ifn.size())
+ {
+ port = StringUtils::asInt(ifn.substr(i+1));
+ ifn.erase(i);
+ }
+
+ TCPStreamBuff *tcpbuff = new TCPStreamBuff();
+
+ SocketAddr client(ifn, port);
+ if (tcpbuff->connect(client))
+ {
+ cerr << "Could not connect to " << ifn << endl;
+ exit(-1);
+ }
+
+ deviceType = dtTCP;
+ fdbuff = tcpbuff;
+ basic_ios<char>::rdbuf(fdbuff);
+ }
+ else if (target.substr(0, 4) == "ser:") // A serial port
+ {
+ string ifn=target;
+ ifn.erase(0,4);
+ int fd = ::open(ifn.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
+
+ if (fd<0)
+ return;
+
+ int rtn = fcntl(fd, F_SETFL, 0);
+
+ struct termios options;
+
+ options.c_iflag = 0x00 | IGNBRK;// | IGNPAR; // 0x1;
+ options.c_lflag = 0x00;
+ options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
+ options.c_oflag = 0x00;
+ options.c_cflag = 0x00 | CS8 | CSIZE | CREAD | HUPCL | CLOCAL; // 0x1cb2;
+ cfsetispeed(&options, B115200);
+
+ // Final step... apply them
+ tcsetattr(fd, TCSANOW, &options);
+
+ deviceType = dtSerial;
+ fdbuff = new FDStreamBuff(fd);
+ basic_ios<char>::rdbuf(fdbuff);
+ }
+ else // a regular file
+ {
+ int flags=O_RDONLY;
+ if (mode & ios::out)
+ flags=O_WRONLY|O_CREAT;
+ if (mode & ios::app) flags |= O_APPEND;
+ if (mode & ios::trunc) flags |= O_TRUNC;
+
+ int fd = ::open(target.c_str(), flags, 0666);
+ if (fd<0)
+ {
+ cerr << "Could not open: " << target.c_str() << endl;
+ return;
+ }
+ fdbuff = new FDStreamBuff(fd);
+ basic_ios<char>::rdbuf(fdbuff);
+
+ deviceType = dtFile;
+ }
+ }
+ else // Use standard input/output
+ {
+ if (mode && ios::out)
+ {
+ T::copyfmt(cout);
+ T::clear(cin.rdstate());
+ basic_ios<char>::rdbuf(cout.rdbuf());
+ this->target = "<stdout>";
+ }
+ else
+ {
+ T::copyfmt(cin);
+ T::clear(cin.rdstate());
+ basic_ios<char>::rdbuf(cin.rdbuf());
+ this->target = "<stdin>";
+ }
+ deviceType = dtStdio;
+ }
+ }
+
+} // end of namespace
+#endif
diff --git a/dev/lib/rxio/EphReader.cpp b/dev/lib/rxio/EphReader.cpp
new file mode 100644
index 0000000..19b3e76
--- /dev/null
+++ b/dev/lib/rxio/EphReader.cpp
@@ -0,0 +1,170 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include "SP3EphemerisStore.hpp"
+#include "BCEphemerisStore.hpp"
+
+#include "RinexNavStream.hpp"
+#include "RinexNavData.hpp"
+
+#include "FICStream.hpp"
+#include "FICData.hpp"
+
+#include "EphReader.hpp"
+#include "FFIdentifier.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+// ---------------------------------------------------------------------
+// ---------------------------------------------------------------------
+void EphReader::read(const std::string& fn)
+{
+ FFIdentifier ffid(fn);
+
+ switch (ffid)
+ {
+ case FFIdentifier::tRinexNav: read_rinex_nav_data(fn); break;
+ case FFIdentifier::tFIC: read_fic_data(fn); break;
+ case FFIdentifier::tSP3: read_sp3_data(fn); break;
+ default:
+ if (verboseLevel)
+ cout << "# Could not determine the format of " << fn << endl;
+ }
+
+ filesRead.push_back(fn);
+ if (verboseLevel>1)
+ cout << "# Ephemeris initial time: " << eph->getInitialTime()
+ << ", final time: " << eph->getFinalTime() << endl;
+} // end of read()
+
+
+// ---------------------------------------------------------------------
+// Read in ephemeris data in rinex format
+// ---------------------------------------------------------------------
+void EphReader::read_rinex_nav_data(const string& fn)
+{
+ BCEphemerisStore* bce;
+ if (eph == NULL)
+ {
+ bce = new(BCEphemerisStore);
+ eph = dynamic_cast<EphemerisStore*>(bce);
+ }
+ else
+ {
+ if (typeid(*eph) != typeid(BCEphemerisStore))
+ throw(FFStreamError("Don't mix nav data types..."));
+ bce = dynamic_cast<BCEphemerisStore*>(eph);
+ }
+ if (verboseLevel>2)
+ cout << "# Reading " << fn << " as RINEX nav."<< endl;
+
+ RinexNavStream rns(fn.c_str(), ios::in);
+ rns.exceptions(ifstream::failbit);
+ RinexNavData rnd;
+ while (rns >> rnd)
+ bce->addEphemeris(rnd);
+
+ if (verboseLevel>1)
+ cout << "# Read " << fn << " as RINEX nav. " << endl;
+} // end of read_rinex_nav_data()
+
+
+void EphReader::read_fic_data(const string& fn)
+{
+ BCEphemerisStore* bce;
+
+ if (eph == NULL)
+ {
+ bce = new(BCEphemerisStore);
+ eph = dynamic_cast<EphemerisStore*>(bce);
+ }
+ else
+ {
+ if (typeid(*eph) != typeid(BCEphemerisStore))
+ throw(FFStreamError("Don't mix nav data types..."));
+ bce = dynamic_cast<BCEphemerisStore*>(eph);
+ }
+ if (verboseLevel>2)
+ cout << "# Reading " << fn << " as FIC nav."<< endl;
+
+ FICStream fs(fn.c_str(), ios::in);
+ FICHeader header;
+ fs >> header;
+
+ FICData data;
+ while(fs >> data)
+ if (data.blockNum==9) // Only look at the eng ephemeris
+ bce->addEphemeris(data);
+
+ if (verboseLevel>1)
+ cout << "# Read " << fn << " as FIC nav."<< endl;
+} // end of read_fic_data()
+
+
+void EphReader::read_sp3_data(const string& fn)
+{
+ SP3EphemerisStore* pe;
+
+ if (eph == NULL)
+ {
+ pe = new(SP3EphemerisStore);
+ eph = dynamic_cast<EphemerisStore*>(pe);
+ }
+ else
+ {
+ if (typeid(*eph) != typeid(SP3EphemerisStore))
+ throw(FFStreamError("Don't mix nav data types..."));
+ pe = dynamic_cast<SP3EphemerisStore*>(eph);
+ }
+ if (verboseLevel>2)
+ cout << "# Reading " << fn << " as SP3 ephemeris."<< endl;
+
+ SP3Stream pefile(fn.c_str(),ios::in);
+ pefile.exceptions(ifstream::failbit);
+
+ SP3Header header;
+ pefile >> header;
+
+ SP3Data data;
+ while(pefile >> data)
+ pe->addEphemeris(data);
+
+ if (verboseLevel>1)
+ cout << "# Read " << fn << " as SP3 ephemeris."<< endl;
+} // end of read_sp3_data()
diff --git a/dev/lib/rxio/EphReader.hpp b/dev/lib/rxio/EphReader.hpp
new file mode 100644
index 0000000..a2122f2
--- /dev/null
+++ b/dev/lib/rxio/EphReader.hpp
@@ -0,0 +1,75 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef EPHREADER_HPP
+#define EPHREADER_HPP
+
+/** @file This is a class that reads in ephemeris data without the
+ caller needing to know the format the data is suppllied in. The
+ navigation data formats that are (to be) supported: rinex nav, fic,
+ sp3, mdp. Unlike the ObsReader, this reads in the entire file at once.
+**/
+
+#include <string>
+#include <vector>
+
+#include "EphemerisStore.hpp"
+
+class EphReader
+{
+public:
+ EphReader()
+ : verboseLevel(0), eph(NULL) {};
+
+ EphReader(const std::string& fn)
+ : verboseLevel(0), eph(NULL) { read(fn); };
+
+ int verboseLevel;
+
+ void read(const std::string& fn);
+
+ std::vector<std::string> filesRead;
+
+ gpstk::EphemerisStore* eph;
+
+private:
+ void read_rinex_nav_data(const std::string& fn);
+ void read_fic_data(const std::string& fn);
+ void read_sp3_data(const std::string& fn);
+};
+#endif
diff --git a/dev/lib/rxio/FDStreamBuff.cpp b/dev/lib/rxio/FDStreamBuff.cpp
new file mode 100644
index 0000000..f35ac6f
--- /dev/null
+++ b/dev/lib/rxio/FDStreamBuff.cpp
@@ -0,0 +1,181 @@
+#pragma ident "$Id$"
+
+#include <sstream>
+#include <errno.h>
+#include <stdlib.h>
+
+#include <unistd.h>
+#include <netdb.h>
+#include <fcntl.h>
+#include <sys/file.h>
+
+#include "FDStreamBuff.hpp"
+
+#define BSIZE 4096
+
+using namespace std;
+
+namespace gpstk
+{
+ // Close the file descriptor
+ void FDStreamBuff::close(void)
+ {
+ if (is_open())
+ {
+ ::close(handle);
+ handle = -1;
+ }
+ }
+
+ // Write characters to the stream, giving time. Return the number of
+ // characters actually written (which is always n, or EOF in case of error).
+ int FDStreamBuff::write(const char * buffer, const int n)
+ {
+ if( !is_open() )
+ return EOF;
+ if( n == 0 )
+ return 0;
+
+ const char * const buffer_end = buffer + n;
+ while( buffer < buffer_end )
+ {
+ const int char_written = ::write(handle, buffer, buffer_end-buffer);
+ if( char_written > 0 )
+ buffer += char_written;
+ else
+ if (char_written < 0 && !(errno == EAGAIN || errno == EINTR ))
+ return EOF;
+ else
+ cout << "to be implimented" << endl;
+ }
+ return n;
+ }
+
+ // Read characters from the stream into a given buffer (of given size n)
+ // If there is nothing to read, yield and keep trying. Return the number
+ // of characters actually read, or 0 (in the case of EOF) or EOF on error.
+ int FDStreamBuff::read(char * buffer, const int n)
+ {
+ if( !is_open() )
+ return EOF;
+ if( n == 0 )
+ return 0;
+
+ for(;;)
+ {
+ const int char_read = ::read(handle, buffer, n);
+ if( char_read >= 0 )
+ return char_read;
+ if( errno == EAGAIN || errno == EINTR )
+ cout << "to be implimented" << endl;
+ else
+ return EOF;
+ }
+ }
+
+
+ // See libg++-2.7.2/libio/iostream.info-1 for some nice words on how this
+ // stuff should work.
+ // Flush (write out) the put area, resetting pptr if the write was successful
+ // Return 0, or EOF on error
+ int FDStreamBuff::sync(void)
+ {
+ const int n = pptr() - pbase();
+ if( n == 0 )
+ return 0;
+ return write(pbase(), n) == n ? (pbump(-n), 0) : EOF;
+ }
+
+
+ // Write out the buffer into the communication channel After that, put a
+ // character c (unless it's EOF) Return 0, or EOF on error. This method
+ // allocates a buffer if there wasn't any, and switches it to the "put mode"
+ // (discarding all data that may have been in the buffer)
+ int FDStreamBuff::overflow(int ch)
+ {
+ if (sync() == EOF)
+ return EOF;
+
+ if (base() == 0) // If there wasn't any buffer,
+ doallocate(); // ... make one
+
+ setg(base(),base(),base()); // Make the get area completely empty
+ setp(base(),ebuf()); // Give all the buffer to the put area
+
+ if (pptr() == 0)
+ cout << "Throw an exception here or something bad." << endl;
+
+ if (ch != EOF)
+ *pptr() = ch, pbump(1);
+
+ return 0;
+ }
+
+
+ // Fill in the get area, and return its first character. Actually read into
+ // the main buffer from the beginning (syncing pending output if was any)
+ // and set the get area to that part of the buffer. Also set pptr() = eptr()
+ // so that the first write would call overflow() (which would discard the
+ // read data)
+ int FDStreamBuff::underflow(void)
+ {
+ if( gptr() < egptr() )
+ return *(unsigned char*)gptr();
+
+ if( sync() == EOF ) // commit all pending output first
+ return EOF; // libg++ uses switch_to_get_mode() in here
+
+ if( base() == 0 ) // If there wasn't any buffer, make one first
+ doallocate();
+
+ //assert( base() );
+ base();
+ const int count = read(base(),ebuf() - base());
+ setg(base(),base(),base() + (count <= 0 ? 0 : count));
+ setp(base(),base()); // no put area - do overflow on the first put
+ return count <= 0 ? EOF : *(unsigned char*)gptr();
+ }
+
+
+ // Allocate a new buffer
+ int FDStreamBuff::doallocate(void)
+ {
+ const int size = BSIZE;
+ // have to do malloc() as ~streambuf() does free() on the buffer
+ char *p = (char *)malloc(size);
+
+ if (p == NULL)
+ cout << "throw an exception here?" << endl;
+
+ setb(p, p+size, true);
+ return 1;
+ }
+
+
+ // Associate a user buffer with the FDStreamBuff
+ FDStreamBuff* FDStreamBuff::setbuf(char* p, const int len)
+ {
+ if( streambuf::setbuf(p,len) == 0 )
+ return 0;
+
+ setp(base(),base());
+ setg(base(),base(),base());
+ return this;
+ }
+
+
+ void FDStreamBuff::dump(std::ostream& out) const
+ {
+ std::ostringstream ost;
+ ost << "FDStreamBuff: "
+ << " H:" << handle << std::endl
+ << " put: " << std::hex << pbase() << " - " << epptr()
+ << " curr:" << pptr() - pbase() << std::endl
+ << " get:" << eback() << " - " << egptr()
+ << " curr:" << gptr() - eback() << std::endl
+ << " buff:" << base() << " - " << ebuf()
+ << std::endl;
+ out << ost.str();
+ }
+
+} // end of namespace
diff --git a/dev/lib/rxio/FDStreamBuff.hpp b/dev/lib/rxio/FDStreamBuff.hpp
new file mode 100644
index 0000000..bab721e
--- /dev/null
+++ b/dev/lib/rxio/FDStreamBuff.hpp
@@ -0,0 +1,78 @@
+#pragma ident "$Id$"
+
+#ifndef FDSTREAMBUFF_HPP
+#define FDSTREAMBUFF_HPP
+
+#include <iostream>
+
+namespace gpstk
+{
+
+ // This is just a stream buffer that attaches to a file descriptor.
+ // All buffering is done by streambuf. This class only does the filling and
+ // flushing.
+ class FDStreamBuff : public std::streambuf
+ {
+ public:
+
+ FDStreamBuff() : handle(-1), bufferSize(4096)
+ {}
+
+ FDStreamBuff(int fd) : handle(fd), bufferSize(4096)
+ {}
+
+ ~FDStreamBuff()
+ {close();}
+
+ // These are the functions that actually read/write from the socket to/from
+ // a given buffer. They return the number of bytes transmitted (or
+ // EOF on error)
+ int write(const char * buffer, const int n);
+ int read(char * buffer, const int n);
+
+ bool is_open() const { return handle >= 0; }
+ void close();
+ virtual FDStreamBuff* setbuf(char* p, const int len);
+
+ // We limit this stream to be sequential
+ std::streampos seekoff(std::streamoff, std::ios::seekdir, int)
+ { return EOF; }
+
+ void dump(std::ostream& out) const;
+
+ struct Buffer
+ {
+ char * start;
+ char * end;
+ bool do_dispose;
+ void dispose()
+ {
+ if (!do_dispose) return;
+ free(start); start = end = 0; do_dispose = false;
+ }
+ Buffer(void) : start(0), end(0), do_dispose(false) {}
+ ~Buffer(void) { dispose(); }
+ };
+
+ Buffer buffer;
+ int handle;
+ unsigned bufferSize;
+
+ protected:
+ // Standard streambuf functions we have to
+ // provide an implementation for
+ virtual int overflow(int c = EOF); // Write out a "put area"
+ virtual int underflow(void); // Fill in a "get area"
+ virtual int sync(void); // Commit all uncommitted writes
+ virtual int doallocate(void); // Allocate a new buffer
+
+ // we use the same buffer for get and put areas
+ char * base(void) const { return buffer.start; }
+ char * ebuf(void) const { return buffer.end; }
+ void setb(char * buffer_beg, char * buffer_end, bool do_dispose)
+ { buffer.start = buffer_beg; buffer.end = buffer_end;
+ buffer.do_dispose = do_dispose;}
+ };
+
+} // end of namespace
+#endif
diff --git a/dev/lib/rxio/FFIdentifier.cpp b/dev/lib/rxio/FFIdentifier.cpp
new file mode 100644
index 0000000..87b01c4
--- /dev/null
+++ b/dev/lib/rxio/FFIdentifier.cpp
@@ -0,0 +1,223 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <string>
+#include <iostream>
+#include <iomanip>
+
+#include "FFIdentifier.hpp"
+
+#include "SP3EphemerisStore.hpp"
+#include "RinexEphemerisStore.hpp"
+#include "GPSGeoid.hpp"
+
+#include "RinexObsStream.hpp"
+#include "RinexObsData.hpp"
+
+#include "RinexNavStream.hpp"
+#include "RinexNavData.hpp"
+#include "RinexMetStream.hpp"
+#include "RinexMetData.hpp"
+
+#include "FICStream.hpp"
+#include "FICData.hpp"
+
+#include "SMODFStream.hpp"
+#include "SMODFData.hpp"
+
+#include "MSCData.hpp"
+#include "MSCStream.hpp"
+
+#include "MDPObsEpoch.hpp"
+#include "MDPPVTSolution.hpp"
+#include "MDPNavSubframe.hpp"
+#include "MDPSelftestStatus.hpp"
+#include "MDPStream.hpp"
+
+namespace gpstk
+{
+
+ int FFIdentifier::debugLevel = 0;
+
+ FFIdentifier::FFIdentifier(const std::string& fn)
+ {
+ const int recCount = 2;
+ fileType=tUnknown;
+
+ while (true)
+ {
+ try
+ {
+ if (debugLevel>2)
+ std::cout << "Trying " << fn << " as RINEX obs."<< std::endl;
+ RinexObsStream ros(fn.c_str(), std::ios::in);
+ ros.exceptions(std::fstream::failbit);
+
+ RinexObsHeader temp_roh;
+ ros >> temp_roh;
+ RinexObsData rod;
+ ros >> rod;
+ fileType = tRinexObs;
+ break;
+ }
+ catch (FFStreamError& e)
+ {
+ if (debugLevel > 3)
+ std::cout << e << std::endl;
+ }
+
+ try
+ {
+ if (debugLevel>2)
+ std::cout << "Trying " << fn << " as SMODF."<< std::endl;
+ SMODFStream smo(fn.c_str(), std::ios::in);
+ smo.exceptions(std::fstream::failbit);
+
+ SMODFData smodata;
+ smo >> smodata;
+ smo >> smodata;
+ fileType = tSMODF;
+ break;
+ }
+ catch (FFStreamError& e)
+ {
+ if (debugLevel > 3)
+ std::cout << e << std::endl;
+ }
+
+ try
+ {
+ if (debugLevel>2)
+ std::cout << "Trying " << fn << " as MDP."<< std::endl;
+ MDPStream mdps(fn.c_str(), std::ios::in);
+ mdps.exceptions(std::fstream::failbit);
+
+ MDPHeader header;
+ mdps >> header;
+ mdps >> header;
+ fileType = tMDP;
+ break;
+ }
+ catch (FFStreamError& e)
+ {
+ if (debugLevel > 3)
+ std::cout << e << std::endl;
+ }
+
+ try
+ {
+ if (debugLevel>2)
+ std::cout << "Trying " << fn << " as RINEX nav."<< std::endl;
+ RinexNavStream rns(fn.c_str(), std::ios::in);
+ rns.exceptions(std::ifstream::failbit);
+
+ RinexNavData rnd;
+ RinexNavHeader rnh;
+ rns >> rnh;
+ rns >> rnd;
+ fileType = tRinexNav;
+ break;
+ }
+ catch (FFStreamError& e)
+ {
+ if (debugLevel > 3)
+ std::cout << e << std::endl;
+ }
+
+ try
+ {
+ if (debugLevel>2)
+ std::cout << "Trying " << fn << " as FIC nav."<< std::endl;
+ FICStream fs(fn.c_str(), std::ios::in);
+ fs.exceptions(std::ifstream::failbit);
+
+ FICData data;
+ fs >> data;
+ fileType = tFIC;
+
+ break;
+ }
+ catch (FFStreamError& e)
+ {
+ if (debugLevel > 3)
+ std::cout << e <<std:: endl;
+ }
+
+ try
+ {
+ if (debugLevel>2)
+ std::cout << "Trying " << fn << " as SP3 ephemeris."<<std:: endl;
+ SP3Stream pefile(fn.c_str(), std::ios::in);
+ pefile.exceptions(std::ifstream::failbit);
+
+ SP3Header header;
+ pefile >> header;
+ SP3Data data;
+ pefile >> data;
+ fileType = tSP3;
+ break;
+ }
+ catch (FFStreamError& e)
+ {
+ if (debugLevel > 3)
+ std::cout << e << std::endl;
+ }
+
+ try
+ {
+ if (debugLevel>2)
+ std::cout << "Trying " << fn << " as MSC."<<std:: endl;
+ MSCStream msc(fn.c_str(), std::ios::in);
+ msc.exceptions(std::ifstream::failbit);
+
+ MSCData mscd;
+ msc >> mscd;
+ fileType = tMSC;
+ break;
+ }
+ catch (FFStreamError& e)
+ {
+ if (debugLevel > 3)
+ std::cout << e << std::endl;
+ }
+
+ break;
+ } // end of while (true)
+ }
+
+}
diff --git a/dev/lib/rxio/FFIdentifier.hpp b/dev/lib/rxio/FFIdentifier.hpp
new file mode 100644
index 0000000..3bdc0f3
--- /dev/null
+++ b/dev/lib/rxio/FFIdentifier.hpp
@@ -0,0 +1,79 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef FFIDENTIFIER_HPP
+#define FFIDENTIFIER_HPP
+
+/** @file This is a class that iteratively tries each of the FormattedFile
+ classes to see what format a file is in.
+*/
+
+#include <string>
+
+namespace gpstk
+{
+ // A function object to figure out what format a file is
+ class FFIdentifier
+ {
+ public:
+ enum FFType
+ {
+ tUnknown,
+ tRinexObs,
+ tRinexNav,
+ tRinexMet,
+ tSMODF,
+ tFIC,
+ tMDP,
+ tSP3,
+ tMSC
+ };
+
+ FFIdentifier()
+ : fileType(tUnknown) {};
+ FFIdentifier(const std::string& fn);
+ FFIdentifier(const FFIdentifier& right)
+ : fileType(right.fileType) {};
+
+ FFType fileType;
+ operator FFType() {return fileType;}
+
+ static int debugLevel;
+ };
+}
+#endif
diff --git a/dev/lib/rxio/Jamfile b/dev/lib/rxio/Jamfile
new file mode 100644
index 0000000..95aff3b
--- /dev/null
+++ b/dev/lib/rxio/Jamfile
@@ -0,0 +1,27 @@
+# $Id$
+
+SubDir TOP lib rxio ;
+
+if $(PREPROCESSING)
+{
+ GPSSetupLibrary rxio : gpstk ;
+}
+else
+{
+ GPSBuildLibrary rxio : AshtechData.cpp AshtechMBEN.cpp AshtechPBEN.cpp
+ AshtechEPB.cpp AshtechALB.cpp
+ EphReader.cpp FDStreamBuff.cpp FFIdentifier.cpp MDPHeader.cpp
+ MDPNavSubframe.cpp MDPObsEpoch.cpp MDPPVTSolution.cpp
+ MDPSelftestStatus.cpp MetReader.cpp ObsReader.cpp ObsUtils.cpp
+ RinexConverters.cpp TCPStreamBuff.cpp
+ ;
+
+ InstallFile $(INCDIR) : AshtechData.hpp AshtechMBEN.hpp AshtechPBEN.hpp
+ AshtechEPB.hpp AshtechALB.hpp
+ AshtechStream.hpp DataStatus.hpp DeviceStream.hpp EphReader.hpp
+ FDStreamBuff.hpp FFIdentifier.hpp MDPHeader.hpp MDPNavSubframe.hpp
+ MDPObsEpoch.hpp MDPPVTSolution.hpp MDPSelftestStatus.hpp MetReader.hpp
+ ObsReader.hpp ObsUtils.hpp RinexConverters.hpp TCPStream.hpp
+ TCPStreamBuff.hpp miscenum.hpp
+ ;
+}
diff --git a/dev/lib/rxio/MDPHeader.cpp b/dev/lib/rxio/MDPHeader.cpp
new file mode 100644
index 0000000..afe014a
--- /dev/null
+++ b/dev/lib/rxio/MDPHeader.cpp
@@ -0,0 +1,405 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include "StringUtils.hpp"
+#include "BinUtils.hpp"
+
+#include "MDPHeader.hpp"
+#include "MDPStream.hpp"
+
+using namespace std;
+
+using gpstk::BinUtils::computeCRC;
+using gpstk::StringUtils::asString;
+using gpstk::StringUtils::d2x;
+using gpstk::StringUtils::int2x;
+using gpstk::BinUtils::netToHost;
+using gpstk::BinUtils::hostToNet;
+using gpstk::BinUtils::encodeVar;
+using gpstk::BinUtils::decodeVar;
+
+
+namespace gpstk
+{
+ const unsigned MDPHeader::myLength = 16;
+ const unsigned MDPHeader::frameWord = 0x9c9c;
+
+ // Set to zero for no debugging output
+ // set to 1 to output text messages about decode/format/range errors
+ // set to 2 to add a hex dump of those messages
+ // set to 3+ to add the tossed bytes whether or not they are bad
+ int MDPHeader::debugLevel = 0;
+
+ // set true to print a hex dump of every message to cout
+ bool MDPHeader::hexDump = false;
+
+ //---------------------------------------------------------------------------
+ string MDPHeader::encode() const
+ throw()
+ {
+ short week=time.GPSfullweek();
+ unsigned long sow100=static_cast<unsigned long>(
+ 0.5 + time.GPSsecond() * 100);
+ if (sow100==60480000)
+ {
+ sow100=0;
+ week++;
+ }
+
+ string str;
+ str += encodeVar<uint16_t>(frameWord);
+ str += encodeVar<uint16_t>(id);
+ str += encodeVar<uint16_t>(length);
+ str += encodeVar<uint16_t>(week);
+ str += encodeVar<uint32_t>(sow100);
+ str += encodeVar<uint16_t>(freshnessCount);
+ str += encodeVar<uint16_t>(0); // placeholder for the CRC
+
+ // No, the CRC is not computed here. That needs to be done after
+ // the body of the message has been encoded.
+ return str;
+ }
+
+
+ //---------------------------------------------------------------------------
+ void MDPHeader::decode(string str)
+ throw()
+ {
+ if (str.length() != myLength)
+ return;
+
+ clearstate(lenbit);
+
+ unsigned short fw = decodeVar<uint16_t>(str);
+ id = decodeVar<uint16_t>(str);
+ length = decodeVar<uint16_t>(str);
+ unsigned short week = decodeVar<uint16_t>(str);
+ unsigned long sow100 = decodeVar<uint32_t>(str);
+ freshnessCount = decodeVar<uint16_t>(str);
+ crc = decodeVar<uint16_t>(str);
+
+ if (fw != frameWord)
+ return;
+
+ const unsigned long MaxSOW=604800;
+ if (sow100 == MaxSOW*100)
+ {
+ week += 1;
+ sow100 = 0;
+ }
+ if (sow100 > MaxSOW*100 || week>5000)
+ return;
+
+ time.setGPSfullweek(week, double(sow100)/100);
+
+ // only clear the these bits if this object isn't a leaf data member
+ if (id==0)
+ clearstate(fmtbit & crcbit);
+ }
+
+
+ //---------------------------------------------------------------------------
+ // Compute and set the CRC in an encoded representation of this
+ // object
+ void MDPHeader::setCRC(string& str) const
+ throw()
+ {
+ // Here we make sure that the length of the string matches
+ // the length in the header.
+ if(str.length() != length)
+ {
+ FFStreamError e("Message Length should be >= " +
+ asString(length) + ". Was: " +
+ asString(str.length()));
+ GPSTK_THROW(e);
+ }
+
+ // clear out the spot for the crc
+ str.replace(14, 2, 2, (char)0);
+
+ // calculate the crc on the string
+ crc = computeCRC((const unsigned char*)str.c_str(),
+ length, gpstk::BinUtils::CRCCCITT);
+
+ // and place that value in the string
+ unsigned short tmp = hostToNet(crc);
+ str.replace(14, 2, (char*)&tmp, 2);
+ } // MDPHeader::encode()
+
+
+ //---------------------------------------------------------------------------
+ // Compute the CRC of the string and set the crcbit appropriately.
+ void MDPHeader::checkCRC(string str)
+ throw()
+ {
+ // zero the CRC in the incoming string
+ str.replace(14, 2, 2, (char)0);
+
+ unsigned short ccrc1 = computeCRC((const unsigned char*)str.c_str(),
+ length, gpstk::BinUtils::CRCCCITT);
+ if (ccrc1 == crc)
+ {
+ clearstate(crcbit);
+ return;
+ }
+
+ // This crc will also be accepted until such time as it is no longer needed
+ uint16_t ccrc2 = computeCRC((const unsigned char*)str.c_str(),
+ length, gpstk::BinUtils::CRC16);
+ if (ccrc2 == crc)
+ {
+ clearstate(crcbit);
+ return;
+ }
+
+ if (debugLevel)
+ cout << "Bad CRC. Received " << hex << crc
+ << " computed " << ccrc1
+ << " and " << ccrc2
+ << ". Message ID=" << dec << id << endl;
+ } // MDPHeader::checkCRC()
+
+
+ //---------------------------------------------------------------------------
+ void MDPHeader::reallyPutRecord(FFStream& ffs) const
+ throw(std::exception, gpstk::StringUtils::StringException,
+ gpstk::FFStreamError)
+ {
+ if (typeid(*this) == typeid(MDPHeader))
+ {
+ gpstk::FFStreamError e("Directly writing an MDPHeader object to an"
+ " FFStream is not supported.");
+ GPSTK_THROW(e);
+ }
+
+ MDPStream& stream = dynamic_cast<MDPStream&>(ffs);
+
+ string body = encode();
+ length = body.length() + MDPHeader::myLength;
+
+ string str = MDPHeader::encode() + body;
+ setCRC(str);
+
+ stream << str;
+
+ if (hexDump)
+ {
+ cout << endl;
+ StringUtils::hexDumpData(cout, str);
+ }
+ } // MDPHeader::reallyPutRecord()
+
+
+ //---------------------------------------------------------------------------
+ void MDPHeader::readHeader(MDPStream& ffs)
+ throw(FFStreamError, EndOfFile)
+ {
+ // first reset the data status
+ setstate(fmtbit | lenbit);
+
+ // If a header has been read in but the corresponding body hasn't been
+ // read, read and toss the body
+ if (ffs.streamState == MDPStream::gotHeader)
+ {
+ unsigned bodyLen = length-myLength;
+ char *trash = new char[bodyLen];
+ if (debugLevel>2)
+ cout << "Reading to toss " << bodyLen << endl;
+ ffs.getData(trash, bodyLen);
+ string body(trash, ffs.gcount());
+ delete trash;
+
+ if (ffs.fail())
+ return;
+
+ ffs.streamState = MDPStream::gotBody;
+ if (hexDump || debugLevel>3)
+ {
+ cout << "Tossing Record Number:" << ffs.recordNumber << endl;
+ StringUtils::hexDumpData(cout, ffs.rawHeader+body);
+ }
+ }
+
+ char buff[myLength];
+ if (ffs.streamState == MDPStream::outOfSync ||
+ ffs.streamState == MDPStream::gotBody)
+ {
+ ffs.streamState = MDPStream::outOfSync;
+
+ if (debugLevel>2)
+ cout << "Reading frame word" << endl;;
+ uint16_t fw=0;
+ for (int i=0; i<128; i++)
+ {
+ fw = ffs.getData<uint16_t>();
+ fw = netToHost(fw);
+ memcpy(buff, &fw, sizeof(fw));
+ if (fw==frameWord)
+ break;
+ }
+
+ if (fw!=frameWord)
+ {
+ FFStreamError err("Failed to find frame word.");
+ GPSTK_THROW(err);
+ }
+ else
+ {
+ if (debugLevel>2)
+ cout << "Reading header" << endl;
+ // then read in the rest of a header
+ ffs.getData(buff+2, myLength-2);
+ if (ffs.fail())
+ return;
+
+ ffs.rawHeader = string(buff, myLength);
+ MDPHeader::decode(ffs.rawHeader);
+ ffs.streamState = MDPStream::gotHeader;
+ ffs.header = *this;
+ if (debugLevel>2)
+ cout << "Got header for id " << id << " body, length=" << length << endl;
+ }
+ }
+ }
+
+
+ //---------------------------------------------------------------------------
+ string MDPHeader::readBody(MDPStream& ffs)
+ throw(FFStreamError, EndOfFile)
+ {
+ // Note that this will generate a bad_cast exception if it doesn't work.
+ const unsigned myLen = length - MDPHeader::myLength;
+
+ // Read in the body of the message
+ char *buff = new char[myLen];
+ if (debugLevel>2)
+ cout << "Reading " << myLen
+ << " bytes for message id " << id
+ << " body." << endl;
+ ffs.getData(buff, myLen);
+ if (ffs.gcount() == myLen)
+ ffs.streamState = MDPStream::gotBody;
+
+ string str(buff, ffs.gcount());
+ delete buff;
+ return str;
+ }
+
+
+ //---------------------------------------------------------------------------
+ void MDPHeader::reallyGetRecord(FFStream& ffs)
+ throw(std::exception, gpstk::StringUtils::StringException,
+ gpstk::FFStreamError, gpstk::EndOfFile)
+ {
+ // Note that this will generate a bad_cast exception if it doesn't work.
+ MDPStream& stream=dynamic_cast<MDPStream&>(ffs);
+
+ // first, make sure the data is flagged bad.
+ clear(fmtbit | lenbit | crcbit);
+
+ // If this object is a header, just read in a new header
+ if (typeid(*this) == typeid(MDPHeader))
+ {
+ readHeader(stream);
+ return;
+ }
+
+ unsigned reqId = id;
+
+ // Get a new header if the last read was a body
+ if (stream.streamState == MDPStream::gotBody)
+ readHeader(stream);
+ if (!stream)
+ return;
+
+ // Make sure that we have a header for this correct message.
+ while (stream.header.id != reqId) // && stream) // && stream is invalid C++
+ readHeader(stream);
+
+ // Now get the header values from the most recently read header
+ MDPHeader& myHeader = dynamic_cast<MDPHeader&>(*this);
+ myHeader = stream.header;
+
+ // read in the message body
+ string body = readBody(stream);
+
+ if (stream.fail())
+ return;
+
+ setstate(crcbit);
+ checkCRC(stream.rawHeader+body);
+
+ decode(body);
+
+ if (debugLevel && (rdstate() || stream.rdstate()))
+ MDPHeader::dump(cout);
+
+ if (hexDump || (debugLevel>1 && rdstate()))
+ {
+ cout << "Record Number:" << stream.recordNumber << endl;
+ StringUtils::hexDumpData(cout, stream.rawHeader+body);
+ }
+ } // MDPHeader::reallyGetRecord()
+
+
+ //---------------------------------------------------------------------------
+ void MDPHeader::dump(ostream& out) const
+ throw()
+ {
+ ostringstream oss;
+ oss << getName() << " :"
+ << " ID:" << id
+ << " Len:" << length
+ << " Time:" << time.printf("%4Y/%03j/%02H:%02M:%05.2f")
+ << " FC:" << hex << setfill('0') << setw(4) << freshnessCount
+ << " crc:" << setw(4) << crc
+ << " rdstate:" << rdstate();
+
+ if (crcerr())
+ oss << "-crc";
+ if (fmterr())
+ oss << "-fmt";
+ if (lenerr())
+ oss << "-len";
+ if (parerr())
+ oss << "-par";
+
+ out << oss.str() << endl;
+ } // MDPHeader::dump()
+
+} // namespace gpstk
diff --git a/dev/lib/rxio/MDPHeader.hpp b/dev/lib/rxio/MDPHeader.hpp
new file mode 100644
index 0000000..c6db232
--- /dev/null
+++ b/dev/lib/rxio/MDPHeader.hpp
@@ -0,0 +1,142 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef MDPHEADER_HPP
+#define MDPHEADER_HPP
+
+/**
+ * @file MDPHeader.hpp
+ * gpstk::MDPHeader - base cass for MDP formatted data. Includes the MDP header.
+ */
+
+#include <map>
+#include <iostream>
+
+#include <Exception.hpp>
+#include <DayTime.hpp>
+#include <StringUtils.hpp>
+#include <BinUtils.hpp>
+
+#include <FFData.hpp>
+#include <FFStream.hpp>
+#include <DataStatus.hpp>
+
+#include <RinexObsData.hpp>
+
+#if !defined( __SUNPRO_CC ) && !defined( _MSC_VER )
+#include <stdint.h>
+#endif
+
+
+namespace gpstk
+{
+
+ class MDPStream;
+
+ /// This class contains header information for all data types
+ /// transmitted by receiver meeting the MDP specification.
+ class MDPHeader : public FFData, public CRCDataStatus
+ {
+ public:
+ MDPHeader() throw() : id(0) {}
+
+ // Returns whether or not this MDPData is valid.
+ bool isValid() const {return good();}
+
+ //! This class is "data" so this function always returns "true".
+ virtual bool isData() const {return true;}
+
+ /** Encode this object to a string.
+ * @return this object as a string.
+ */
+ virtual std::string encode() const throw();
+
+ /** Decode this object from a string.
+ * @param str the string to read from.
+ * @note Decoded data is *NOT* removed from the string.
+ */
+ virtual void decode(std::string str) throw();
+
+ /// Simple accessors for various static thangs.
+ virtual std::string getName() const {return "hdr";}
+
+ /** Dump some debugging information to the given ostream.
+ * @param out the ostream to write to
+ */
+ void dump(std::ostream& out) const throw();
+
+ /// Compute the CRC over the string and set the CRC in that
+ /// string and in the header.
+ void setCRC(std::string& str) const throw();
+
+ /// Checks the crc of the message and set crc_err if it fails.
+ void checkCRC(std::string str) throw();
+
+ unsigned short id; ///< Identifies this data's type.
+ gpstk::DayTime time; ///< The time associated with this message
+ unsigned short freshnessCount; ///< A message counter
+
+ // These items need to be mutable so they can be set when an object
+ // is sent to a stream.
+ mutable unsigned short length; ///< number of bytes in this message (includes the length of the header)
+ mutable unsigned short crc; ///< the 16 bit CCITT crc covering the header and body of the message
+
+ static const unsigned myLength; ///< = 16
+ static const unsigned frameWord; ///< = 0x9c9c
+ static int debugLevel;
+ static bool hexDump;
+
+ void readHeader(MDPStream& s)
+ throw(FFStreamError, EndOfFile);
+
+ std::string readBody(MDPStream& s)
+ throw(FFStreamError, EndOfFile);
+
+ protected:
+ virtual void reallyPutRecord(FFStream& s) const
+ throw(std::exception, StringUtils::StringException,
+ FFStreamError);
+
+ virtual void reallyGetRecord(FFStream& s)
+ throw(std::exception, StringUtils::StringException,
+ FFStreamError, EndOfFile);
+ }; // class MDPHeader
+
+} // namespace gpstk
+
+#endif // MDPHEADER_HPP
diff --git a/dev/lib/rxio/MDPNavSubframe.cpp b/dev/lib/rxio/MDPNavSubframe.cpp
new file mode 100644
index 0000000..513f084
--- /dev/null
+++ b/dev/lib/rxio/MDPNavSubframe.cpp
@@ -0,0 +1,312 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <sstream>
+#include <BinUtils.hpp>
+#include <StringUtils.hpp>
+#include <gps_constants.hpp>
+#include <EngNav.hpp>
+
+#include "miscenum.hpp"
+#include "MDPNavSubframe.hpp"
+#include "MDPStream.hpp"
+
+using gpstk::StringUtils::asString;
+using gpstk::BinUtils::netToHost;
+using gpstk::BinUtils::hostToNet;
+using gpstk::BinUtils::encodeVar;
+using gpstk::BinUtils::decodeVar;
+using namespace std;
+
+namespace gpstk
+{
+ //--------------------------------------------------------------------------
+ MDPNavSubframe::MDPNavSubframe()
+ throw()
+ : subframe(11), cooked(false), inverted(false)
+ {
+ id = myId;
+ }
+
+
+ //--------------------------------------------------------------------------
+ string MDPNavSubframe::encode() const
+ throw()
+ {
+ string str;
+ str += encodeVar<int8_t>(prn);
+ str += encodeVar<int8_t>(carrier);
+ str += encodeVar<int8_t>(range);
+ str += encodeVar<int8_t>(nav);
+
+ for(int i=1; i<11; i++)
+ str += encodeVar<uint32_t>(subframe[i]);
+
+ return str;
+ } // MDPNavSubframe::encode()
+
+
+ //--------------------------------------------------------------------------
+ void MDPNavSubframe::decode(string str)
+ throw()
+ {
+ if (str.length() != myLength)
+ return;
+
+ clearstate(lenbit);
+
+ prn = static_cast<int> (decodeVar<int8_t>(str));
+ carrier = static_cast<CarrierCode>(decodeVar<int8_t>(str));
+ range = static_cast<RangeCode> (decodeVar<int8_t>(str));
+ nav = static_cast<NavCode> (decodeVar<int8_t>(str));
+
+ for (int i=1; i<11; i++)
+ subframe[i] = decodeVar<uint32_t>(str);
+
+ if (prn > gpstk::MAX_PRN ||
+ carrier >= ccMax ||
+ range >= rcMax ||
+ nav >= ncMax)
+ return;
+
+ clearstate(fmtbit);
+ } // MDPNavSubframe::decode()
+
+
+ //---------------------------------------------------------------------------
+ // This cracks the sow from the handover word
+ unsigned long MDPNavSubframe::getHOWTime() const throw()
+ {
+ uint32_t itemp,iret;
+ itemp = subframe[2];
+ itemp >>= 13;
+ itemp &= 0x0001FFFFL;
+ iret = itemp;
+ iret = iret * 6;
+
+ return iret;
+ }
+
+ //---------------------------------------------------------------------------
+ // This cracks the subframe ID from the handover word
+ unsigned int MDPNavSubframe::getSFID() const throw()
+ {
+ uint32_t itemp;
+ short iret;
+ itemp = subframe[2];
+ itemp >>= 8;
+ itemp &= 0x00000007L;
+ iret = ( short) itemp;
+ return iret;
+ }
+
+ //---------------------------------------------------------------------------
+ // This cracks the SV (page) ID from an almanac subframe
+ unsigned int MDPNavSubframe::getSVID() const throw()
+ {
+ if (getSFID() <4)
+ return 0;
+ else
+ return (subframe[3] >> 22) & 0x3F;
+ }
+
+ /// Get bit 30 from the given subframe word
+ inline uint32_t getd30(uint32_t sfword)
+ {
+ return (sfword & 0x01);
+ }
+
+ /// Get bit 29 from the given subframe word
+ inline uint32_t getd29(uint32_t sfword)
+ {
+ return ((sfword & 0x02) >> 1);
+ }
+
+
+ //--------------------------------------------------------------------------
+ void MDPNavSubframe::cookSubframe() throw()
+ {
+ if (cooked)
+ return;
+
+ uint32_t preamble = subframe[1] >> 22;
+ if (preamble == 0x74)
+ {
+ for (int i = 1; i<=10; i++)
+ subframe[i] = ~subframe[i] & 0x3fffffff;
+ inverted = true;
+ }
+
+ preamble = subframe[1] >> 22;
+ if (preamble != 0x8b)
+ return;
+
+ // note that this routine assumes that D30 from the previous subframe
+ // is zero. That is why we start with the second word in the array
+ for (int i=2; i<=10; i++)
+ if (getd30(subframe[i-1]))
+ subframe[i] = (~subframe[i] & 0x3fffffc0) | (subframe[i] & 0x3f);
+
+ cooked = true;
+ }
+
+ // Print as a string of 1/0
+ string asBin(unsigned v, const unsigned n)
+ {
+ char *s = new char[n+1];
+ for (int i=0; i<n; i++,v=v>>1)
+ if (v&1)
+ s[i] = '1';
+ else
+ s[i] = '0';
+ s[n] = 0;
+ string ns(s);
+ delete[] s;
+ return ns;
+ }
+
+ //--------------------------------------------------------------------------
+ bool MDPNavSubframe::checkParity() const throw()
+ {
+ uint32_t preamble = subframe[1] >> 22;
+ bool needsInversion = (preamble == 0x74);
+ if (debugLevel>1)
+ cout << "preamble:" << hex << preamble << dec
+ << " cooked:" << cooked
+ << " inverted:" << inverted
+ << " needsInversion:" << needsInversion
+ << " parities:"
+ << endl;
+
+ bool goodParity = true;
+ for (int i=1; i<=10; i++)
+ {
+ uint32_t prev = i==1 ? 0 : subframe[i-1];
+ uint32_t curr = subframe[i];
+ if (needsInversion)
+ {
+ if (i>1)
+ prev = ~prev & 0x3fffffff;
+ curr = ~curr & 0x3fffffff;
+ }
+ bool D30 = getd30(prev);
+ unsigned receivedParity = curr & 0x3f;
+ unsigned computedParity = EngNav::computeParity(curr, prev, cooked);
+ if (debugLevel>1)
+ cout << i << ":" << asBin(receivedParity,6)
+ << "-" << asBin(computedParity,6) << " ";
+ if (i==5 && debugLevel>1)
+ cout << endl;
+ if (receivedParity != computedParity)
+ goodParity = false;
+
+ // This seems to be required for pre-cooked bits but I don't understand
+ // why...
+ if (i == 1 && receivedParity == (~computedParity & 0x3f))
+ goodParity = true;
+ }
+ if (debugLevel>1)
+ cout << endl;
+ return goodParity;
+ }
+
+
+ //--------------------------------------------------------------------------
+ void MDPNavSubframe::dump(ostream& out) const
+ throw()
+ {
+ ostringstream oss;
+ MDPHeader::dump(oss);
+
+ short page = getSFID() > 3 ? ((getHOWTime()-6) / 30) % 25 + 1 : 0;
+
+ oss << getName() << 0 <<":"
+ << " PRN:" << prn
+ << " CC:" << static_cast<int>(carrier)
+ << " RC:" << static_cast<int>(range)
+ << " NC:" << static_cast<int>(nav)
+ << " SF:" << getSFID()
+ << " PG:" << page
+ << " I:" << inverted
+ << " C:" << cooked
+ << endl;
+
+ oss << setfill('0') << hex;
+ for(int i = 1; i < subframe.size(); i++)
+ {
+ if ((i % 5) == 1)
+ oss << getName() << i << ": ";
+ oss << setw(8) << uppercase << subframe[i] << " ";
+ if ((i % 5) == 0)
+ oss << endl;
+ }
+ out << oss.str() << flush;
+ }
+
+
+ //--------------------------------------------------------------------------
+ void dump(std::ostream& out, const EphemerisPages& pages) throw()
+ {
+ for (int sf=1; sf<=3; sf++)
+ {
+ EphemerisPages::const_iterator i = pages.find(sf);
+ if (i == pages.end())
+ out << "Missing subframe " << sf << endl;
+ else
+ i->second.dump(out);
+ }
+ }
+
+
+ //--------------------------------------------------------------------------
+ void dump(std::ostream& out, const AlmanacPages& pages) throw()
+ {
+ for (int p=1; p<=25; p++)
+ {
+ for (int sf=4; sf<=5; sf++)
+ {
+ AlmanacPages::const_iterator i = pages.find(SubframePage(sf, p));
+ if (i == pages.end())
+ out << "Missing subframe " << sf << " page " << p << endl;
+ else
+ i->second.dump(out);
+
+ }
+ }
+ }
+} // namespace gpstk
diff --git a/dev/lib/rxio/MDPNavSubframe.hpp b/dev/lib/rxio/MDPNavSubframe.hpp
new file mode 100644
index 0000000..e219aaf
--- /dev/null
+++ b/dev/lib/rxio/MDPNavSubframe.hpp
@@ -0,0 +1,135 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef MDPNAVSUBFRAME_HPP
+#define MDPNAVSUBFRAME_HPP
+
+#include <vector>
+
+#include "miscenum.hpp"
+#include "MDPHeader.hpp"
+
+namespace gpstk
+{
+ /// This class represents a Navigation Subframe Message.
+ class MDPNavSubframe : public MDPHeader
+ {
+ public:
+ MDPNavSubframe() throw();
+
+ /** Encode this object to a string.
+ * @return this object as a string.
+ */
+ virtual std::string encode() const throw();
+
+ /** Decode this object from a string.
+ * @param str the string to read from.
+ * @note This is a non-destructive decode.
+ */
+ virtual void decode(std::string str)
+ throw();
+
+ // Return the seconds of week computed from the HOW
+ unsigned long getHOWTime() const throw();
+
+ // extract the SFID from the HOW
+ unsigned int getSFID() const throw();
+
+ // extract the SVID from word 3 of an almanac page
+ unsigned int getSVID() const throw();
+
+ void fillArray(long out[10]) const
+ { for(int i=1; i<=10; i++) out[i-1]=subframe[i];};
+
+ void fillArray(uint32_t out[10]) const
+ { for(int i=1; i<=10; i++) out[i-1]=subframe[i];};
+
+ // This is an experiment. It inverts words based upon the D30
+ // of the previous word. Don't do this unless there is some reason
+ // to believe that the D30 bits are accurate. Like the subframe
+ // has passed its parity check.
+ void cookSubframe() throw();
+
+ /** Check the parity of the subframe.
+ * @return true if the parity check passes
+ **/
+ bool checkParity() const throw();
+
+ virtual std::string getName() const {return "nav";}
+
+ /** Dump some debugging information to the given ostream.
+ * @param out the ostream to write to (default: cout)
+ * @param level the level of debugging to provide (default: 0)
+ */
+ void dump(std::ostream& out) const throw();
+
+ int prn; ///< The SV's PRN.
+ CarrierCode carrier; ///< This NavSubframe's carrier frequency code.
+ RangeCode range; ///< This NavSubframe's range code.
+ NavCode nav; ///< This NavSubframe's nav code.
+
+ /** The Navigation Subframe. 10 4-byte words. There are 11
+ * elements to facilitate access to elements 1-10. */
+ std::vector<uint32_t> subframe;
+
+
+ // These are not actually encoded in the message but are used
+ // in the parity checking
+ bool cooked; ///< true if the bits have been set upright
+ bool inverted; ///< true when entire subframe has been inverted
+
+ static const unsigned myLength = 44;
+ static const unsigned myId = 310;
+
+ }; // class MDPNavSubframe
+
+ // These used to group together a set of nav subframes, indexed by the
+ // subframe number. It is used in building up a complete a complete
+ // ephemeris from an SV.
+ typedef std::map<short, MDPNavSubframe> EphemerisPages;
+ void dump(std::ostream& out, const EphemerisPages& pages) throw();
+
+ // First element is the page number, as determined from the HOW TOW
+ // i.e. page = tow % 750
+ typedef std::pair<short, short> SubframePage;
+ typedef std::map<SubframePage, MDPNavSubframe> AlmanacPages;
+ void dump(std::ostream& out, const AlmanacPages& pages) throw();
+
+} // namespace gpstk
+
+#endif // MDPNAVSUBFRAME_HPP
diff --git a/dev/lib/rxio/MDPObsEpoch.cpp b/dev/lib/rxio/MDPObsEpoch.cpp
new file mode 100644
index 0000000..eda05e9
--- /dev/null
+++ b/dev/lib/rxio/MDPObsEpoch.cpp
@@ -0,0 +1,320 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <sstream>
+#include <StringUtils.hpp>
+#include <StringUtils.hpp>
+#include <BinUtils.hpp>
+#include <gps_constants.hpp>
+
+#include "MDPObsEpoch.hpp"
+#include "MDPStream.hpp"
+
+using gpstk::StringUtils::asString;
+using gpstk::BinUtils::hostToNet;
+using gpstk::BinUtils::netToHost;
+using gpstk::BinUtils::encodeVar;
+using gpstk::BinUtils::decodeVar;
+using namespace std;
+
+namespace gpstk
+{
+ //---------------------------------------------------------------------------
+ MDPObsEpoch::MDPObsEpoch()
+ throw()
+ {
+ id = myId;
+ } // MDPObsEpoch::MDPObsEpoch()
+
+
+ //---------------------------------------------------------------------------
+ string MDPObsEpoch::encode() const
+ throw()
+ {
+ string str;
+ unsigned short ustemp;
+ unsigned char svsobs = (numSVs & 0x0f);
+ svsobs <<= 4;
+ svsobs |= ((unsigned char)obs.size() & 0x0f);
+
+ str += encodeVar( static_cast<uint8_t>(svsobs));
+ str += encodeVar( static_cast<uint8_t>(channel));
+ str += encodeVar( static_cast<uint8_t>(prn));
+ str += encodeVar( static_cast<uint8_t>(status & 0x3f));
+ str += encodeVar( static_cast<uint16_t>(elevation * 100));
+ str += encodeVar( static_cast<uint16_t>(azimuth * 100));
+
+ for(ObsMap::const_iterator oli = obs.begin();
+ oli != obs.end(); oli++)
+ {
+ MDPObsEpoch::Observation mdpobs(oli->second);
+ str += mdpobs.encode();
+ }
+ return str;
+ } // MDPObsEpoch::encode()
+
+
+ //---------------------------------------------------------------------------
+ void MDPObsEpoch::decode(string str)
+ throw()
+ {
+ if (str.length() < myLength)
+ return;
+
+ clearstate(lenbit);
+
+ unsigned obsSVs;
+ obsSVs = decodeVar<uint8_t>(str);
+ channel = decodeVar<uint8_t>(str);
+ prn = decodeVar<uint8_t>(str);
+ status = decodeVar<uint8_t>(str);
+ elevation = decodeVar<uint16_t>(str) * 0.01 ;
+ azimuth = decodeVar<uint16_t>(str) * 0.01;
+
+ numSVs = obsSVs >> 4;
+ numSVs &= 0x0f;
+ obsSVs &= 0x0f;
+
+ bool obsError=false;
+
+ obs.erase(obs.begin(), obs.end());
+ for(int j=0; j<obsSVs; j++)
+ {
+ if (str.length() < myObsLength)
+ {
+ clear(lenbit);
+ if (debugLevel)
+ cout << "MDP Obs block decode requires at least " << myObsLength
+ << " bytes. Received " << str.length() << " bytes" << endl;
+ return;
+ }
+ MDPObsEpoch::Observation o;
+ o.decode(str);
+
+ if (o.carrier >= ccMax || o.range >= rcMax || o.snr > 65 || o.bw > 100)
+ obsError=true;
+
+ if (obsError && debugLevel)
+ {
+ if (o.carrier >= ccMax)
+ cout << "Carrier code out of range: " << o.carrier << endl;
+ if (o.range >= rcMax)
+ cout << "Range code out of range: " << o.range << endl;
+ if (o.snr > 65)
+ cout << "SNR out of range: " << o.snr << endl;
+ if (o.bw > 100)
+ cout << "BW out of range: " << o.snr << endl;
+ }
+
+ if (o.carrier < ccMax && o.range < rcMax)
+ {
+ ObsKey key(o.carrier, o.range);
+ obs[key] = o;
+ }
+ }
+
+ if (prn > gpstk::MAX_PRN || elevation>90 || azimuth > 360 || obsError)
+ {
+ if (debugLevel)
+ {
+ if (prn > gpstk::MAX_PRN)
+ cout << "PRN out of range: " << prn << endl;
+ if (elevation > 90)
+ cout << "Elevation out of range: " << elevation << endl;
+ if (azimuth > 360)
+ cout << "Azimuth out of range: " << azimuth << endl;
+ }
+ return;
+ }
+
+ clearstate(fmtbit);
+ } // MDPObsEpoch::decode()
+
+
+ //---------------------------------------------------------------------------
+ std::string MDPObsEpoch::Observation::encode() const
+ throw()
+ {
+ string str;
+
+ uint8_t ccrc = carrier & 0x0f;
+ ccrc <<= 4;
+ ccrc |= range & 0x0f;
+
+ str += encodeVar( (uint8_t) ccrc);
+ str += encodeVar( (uint8_t) bw);
+ str += encodeVar( (uint16_t) std::max(static_cast<int>(snr*100),0));
+ str += encodeVar( (uint32_t) lockCount);
+ str += encodeVar( (double) pseudorange);
+ str += encodeVar( (double) phase);
+ str += encodeVar( (double) doppler);
+ return str;
+ } // MDPObservation::encode()
+
+
+ //---------------------------------------------------------------------------
+ void MDPObsEpoch::Observation::decode(std::string& str)
+ throw()
+ {
+ unsigned char ccrc;
+
+ ccrc = decodeVar<uint8_t>(str);
+ bw = decodeVar<uint8_t>(str);
+ snr = decodeVar<uint16_t>(str) * 0.01;
+ lockCount = decodeVar<uint32_t>(str);
+ pseudorange = decodeVar<double>(str);
+ phase = decodeVar<double>(str);
+ doppler = decodeVar<double>(str);
+
+ range = RangeCode(ccrc & 0x0f);
+ ccrc >>= 4;
+ carrier = CarrierCode(ccrc & 0x0f);
+ } // MDPObservation::decode()
+
+
+ //---------------------------------------------------------------------------
+ bool MDPObsEpoch::haveObservation(
+ const CarrierCode cc,
+ const RangeCode rc) const
+ {
+ return (obs.find(ObsKey(cc,rc)) != obs.end());
+ }
+
+
+ //---------------------------------------------------------------------------
+ MDPObsEpoch::Observation MDPObsEpoch::getObservation(
+ const CarrierCode cc,
+ const RangeCode rc) const
+ {
+ if (haveObservation(cc, rc))
+ return obs.find(ObsKey(cc,rc))->second;
+ else
+ return Observation();
+ }
+
+
+ //---------------------------------------------------------------------------
+ FFStream& operator>>(FFStream& s, MDPEpoch& oe)
+ {
+ MDPStream& mdps = dynamic_cast<MDPStream&>(s);
+ MDPObsEpoch me;
+ DayTime t;
+ int i=0;
+ for (int i=0; i<10000 && mdps >> me; i++)
+ {
+ i++;
+ if (me.time != t)
+ {
+ if (oe.size() > 0 && MDPHeader::debugLevel>2)
+ cout << "Tossing partial epoch at " << me.time
+ << ". Expected " << me.numSVs
+ << " SVs but received only " << oe.size()
+ << endl;
+ oe.clear();
+ }
+ oe[me.prn] = me;
+ t = me.time;
+
+ if (me.numSVs == oe.size())
+ break;
+ }
+ if (i>1000)
+ cout << "didn't find an obs epoch after 10000 reads." << endl;
+ return s;
+ }
+
+
+ //---------------------------------------------------------------------------
+ FFStream& operator<<(FFStream& s, const MDPEpoch& oe)
+ {
+ MDPStream& mdps = dynamic_cast<MDPStream&>(s);
+ MDPEpoch::const_iterator i;
+ for (i=oe.begin(); i != oe.end(); i++)
+ mdps << i->second;
+ return s;
+ }
+
+
+ //---------------------------------------------------------------------------
+ void MDPObsEpoch::dump(ostream& out) const
+ throw()
+ {
+ ostringstream oss;
+
+ MDPHeader::dump(oss);
+
+ oss << getName() << "0:"
+ << " #SV:" << (int)numSVs
+ << " Ch:" << (int)channel
+ << " PRN:" << (int)prn
+ << " El:" << fixed << setprecision(2) <<elevation
+ << " Az:" << azimuth
+ << " H:0x" << hex << (int)status
+ << dec << endl;
+
+ int j=1;
+ for (ObsMap::const_iterator i = obs.begin(); i != obs.end(); i++)
+ {
+ oss << getName() << j++ << ":";
+ i->second.dump(oss);
+ oss << endl;
+ }
+
+ out << oss.str();
+ } // MDPObsEpoch::dump()
+
+
+ //---------------------------------------------------------------------------
+ void MDPObsEpoch::Observation::dump(std::ostream& out) const
+ throw()
+ {
+ using gpstk::StringUtils::asString;
+
+ ostringstream oss;
+ oss << " " << asString(carrier)
+ << " " << asString(range)
+ << " BW:" << bw
+ << " SNR:" << snr
+ << " LC:" << lockCount
+ << " PR:" << asString(pseudorange, 3)
+ << " PH:" << asString(phase, 3)
+ << " Dop:" << asString(doppler, 3);
+ out << oss.str();
+ } // MDPObsEpoch::Observation::dump()
+
+}
diff --git a/dev/lib/rxio/MDPObsEpoch.hpp b/dev/lib/rxio/MDPObsEpoch.hpp
new file mode 100644
index 0000000..51827bd
--- /dev/null
+++ b/dev/lib/rxio/MDPObsEpoch.hpp
@@ -0,0 +1,125 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef MDPOBSEPOCH_HPP
+#define MDPOBSEPOCH_HPP
+
+#include <map>
+
+#include "MDPHeader.hpp"
+#include "miscenum.hpp"
+
+namespace gpstk
+{
+ /// This class represents a set of observations from a single SV at a
+ /// single point in time
+ class MDPObsEpoch : public MDPHeader
+ {
+ public:
+ // A helper class to hold a single code/carrier block of observations
+ class Observation
+ {
+ public:
+ void dump(std::ostream& out) const throw();
+ std::string encode() const throw();
+
+ // Note that this is a destructive decode, unlike the others in this set
+ // of classes.
+ void decode(std::string& str) throw();
+
+ CarrierCode carrier; ///< This observation's carrier frequency code.
+ RangeCode range; ///< This observation's range code.
+ unsigned bw; ///< The Effective Tracking Loop Bandwidth. (Hz)
+ double snr; ///< The Signal-to-Noise Ratio. (dB-Hz)
+ unsigned long lockCount; ///< The number of consecutive observations (0 implies a cycle slip or beginning of track).
+ double pseudorange; ///< Pseudorange Measurement (meters)
+ double phase; ///< Phase Measurement (cycles)
+ double doppler; ///< Doppler Measurement (Hz, positive for approaching satellites)
+ };
+
+ MDPObsEpoch() throw();
+
+ /** Encode this object to a string.
+ * @return this object as a string.
+ */
+ virtual std::string encode() const
+ throw();
+
+ /** Decode this object from a string.
+ * @param str the string to read from.
+ * @note This is a non-destructive decode.
+ */
+ virtual void decode(std::string str)
+ throw();
+
+ virtual std::string getName() const {return "obs";};
+
+ /** Dump some debugging information to the given ostream.
+ * @param out the ostream to write to
+ */
+ void dump(std::ostream& out) const throw();
+
+ typedef std::pair<CarrierCode, RangeCode> ObsKey;
+ typedef std::map<ObsKey, Observation> ObsMap;
+
+ unsigned numSVs; ///< The number of SVs in track for this epoch.
+ unsigned channel; ///< The channel this SV is tracked on.
+ unsigned prn; ///< The SV's PRN.
+ unsigned status; ///< SV Health status.
+ double elevation; ///< The SV's elevation in degrees.
+ double azimuth; ///< The SV's azimuth in degrees.
+
+ ObsMap obs; ///< The list of Observations made at this Epoch.
+ bool haveObservation(const CarrierCode cc, const RangeCode rc) const;
+ Observation getObservation(const CarrierCode cc, const RangeCode rc) const;
+
+ static const unsigned myId = 300;
+ static const unsigned myLength = 8; // This is just the pre obs_block stuff
+ static const unsigned myObsLength=32; // This is the size of a single obs_block
+
+ }; // class MDPObsEpoch
+
+ // The key is intended to the PRN of the MDPObsEpoch
+ typedef std::map<int, gpstk::MDPObsEpoch> MDPEpoch;
+
+ FFStream& operator>>(FFStream& s, MDPEpoch& oe);
+ FFStream& operator<<(FFStream& s, const MDPEpoch& oe);
+
+} // namespace gpstk
+
+#endif //MDPOBSEPOCH_HPP
diff --git a/dev/lib/rxio/MDPPVTSolution.cpp b/dev/lib/rxio/MDPPVTSolution.cpp
new file mode 100644
index 0000000..420317e
--- /dev/null
+++ b/dev/lib/rxio/MDPPVTSolution.cpp
@@ -0,0 +1,152 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <sstream>
+
+#include "StringUtils.hpp"
+#include "BinUtils.hpp"
+
+#include "MDPPVTSolution.hpp"
+#include "MDPStream.hpp"
+
+using gpstk::StringUtils::asString;
+using gpstk::BinUtils::hostToNet;
+using gpstk::BinUtils::netToHost;
+using gpstk::BinUtils::encodeVar;
+using gpstk::BinUtils::decodeVar;
+using namespace std;
+
+namespace gpstk
+{
+ //---------------------------------------------------------------------------
+ MDPPVTSolution::MDPPVTSolution()
+ throw()
+ {
+ id = myId;
+ timep = gpstk::DayTime::BEGINNING_OF_TIME;
+ x[0] = x[1] = x[2] = 0;
+ v[0] = v[1] = v[2] = 0;
+ dtime = ddtime = 0;
+ numSVs = fom = pvtMode = corrections = 0;
+ } // MDPPVTSolution::MDPPVTSolution()
+
+
+ //---------------------------------------------------------------------------
+ string MDPPVTSolution::encode() const
+ throw()
+ {
+ string str;
+ str += encodeVar<double>(x[0]);
+ str += encodeVar<double>(x[1]);
+ str += encodeVar<double>(x[2]);
+ str += encodeVar<float>(v[0]);
+ str += encodeVar<float>(v[1]);
+ str += encodeVar<float>(v[2]);
+ str += encodeVar<uint8_t>(numSVs);
+ str += encodeVar<int8_t>(fom);
+ str += encodeVar<uint16_t>(time.GPSfullweek());
+ str += encodeVar<double>(time.GPSsecond());
+ str += encodeVar<double>(dtime);
+ str += encodeVar<double>(ddtime);
+ str += encodeVar<uint8_t>(pvtMode);
+ str += encodeVar<uint8_t>(corrections);
+ return str;
+ } // MDPPVTSolution::encode()
+
+
+ //---------------------------------------------------------------------------
+ void MDPPVTSolution::decode(string str)
+ throw()
+ {
+ if (str.length() != myLength)
+ return;
+
+ clearstate(lenbit);
+
+ x[0] = decodeVar<double>(str);
+ x[1] = decodeVar<double>(str);
+ x[2] = decodeVar<double>(str);
+ v[0] = decodeVar<float>(str);
+ v[1] = decodeVar<float>(str);
+ v[2] = decodeVar<float>(str);
+ numSVs = decodeVar<uint8_t>(str);
+ fom = decodeVar<int8_t>(str);
+ int week = decodeVar<uint16_t>(str);
+ double sow = decodeVar<double>(str);
+ dtime = decodeVar<double>(str);
+ ddtime = decodeVar<double>(str);
+ pvtMode = decodeVar<uint8_t>(str);
+ corrections = decodeVar<uint8_t>(str);
+
+ if (week < 0 || week > 5000 || sow < 0 || sow > 604800)
+ return;
+
+ timep.setGPS(week, sow);
+
+ clearstate(fmtbit);
+ } // MDPPVTSolution::decode()
+
+
+ //---------------------------------------------------------------------------
+ void MDPPVTSolution::dump(ostream& out) const
+ throw()
+ {
+ ostringstream oss;
+ using gpstk::StringUtils::asString;
+ using gpstk::StringUtils::leftJustify;
+
+ MDPHeader::dump(oss);
+ oss << getName() << "1:"
+ << " #SV:" << (int)numSVs
+ << " FoM:" << (int)fom
+ << " ClkOff:" << asString(dtime*1e9, 3)
+ << " ClkDft:" << asString(ddtime*86400*1e6, 3)
+ << " PVTMode:" << (int)pvtMode
+ << " Corr:" << hex << (int)corrections << dec
+ << endl
+ << getName() << "2:"
+ << " X:" << asString(x[0], 3)
+ << " Y:" << asString(x[1], 3)
+ << " Z:" << asString(x[2], 3)
+ << " Vx:" << asString(v[0], 3)
+ << " Vy:" << asString(v[1], 3)
+ << " Vz:" << asString(v[2], 3)
+ << endl;
+ out << oss.str() << flush;
+ } // MDPPVTSolution::dump()
+}
diff --git a/dev/lib/rxio/MDPPVTSolution.hpp b/dev/lib/rxio/MDPPVTSolution.hpp
new file mode 100644
index 0000000..11bf69d
--- /dev/null
+++ b/dev/lib/rxio/MDPPVTSolution.hpp
@@ -0,0 +1,91 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef MDPPVTSOLUTION_HPP
+#define MDPPVTSOLUTION_HPP
+
+#include "Xvt.hpp"
+
+#include "MDPHeader.hpp"
+
+namespace gpstk
+{
+ /// This class represents a Position-Velocity-Time Solution.
+ class MDPPVTSolution : public MDPHeader
+ {
+ public:
+ MDPPVTSolution() throw();
+
+ /** Encode this object to a string.
+ * @return this object as a string.
+ */
+ virtual std::string encode() const
+ throw();
+
+ /** Decode this object from a string.
+ * @param str the string to read from.
+ * @note This is a non-destructive decode.
+ */
+ virtual void decode(std::string str)
+ throw();
+
+ virtual std::string getName() const {return "pvt";};
+
+ /** Dump some debugging information to the given ostream.
+ * @param out the ostream to write to
+ */
+ void dump(std::ostream& out) const throw();
+
+ gpstk::ECEF x; ///< receiver position (x,y,z), earth fixed, in meters
+ gpstk::Triple v; ///< receiver velocity, Earth-fixed, including rotation, in meters/sec
+ double dtime; ///< receiver clock offset from GPS in sec
+ double ddtime; ///< receiver clock drift rate in sec/sec
+ gpstk::DayTime timep; ///< PVT time: dtime = timep - time.
+ unsigned char numSVs; ///< Number of SVs in track.
+ unsigned char fom; ///< Figure of Merit (receiver dependent).
+ unsigned char pvtMode; ///< Type of PVT solution (receiver dependent).
+ unsigned char corrections; ///< Corrections (also receiver dependent).
+
+ static const unsigned myLength = 66;
+ static const unsigned myId = 301;
+
+ }; // class MDPPVTSolution
+
+} // namespace gpstk
+
+#endif //MDPPVTSOLUTION_HPP
diff --git a/dev/lib/rxio/MDPSelftestStatus.cpp b/dev/lib/rxio/MDPSelftestStatus.cpp
new file mode 100644
index 0000000..03eaac5
--- /dev/null
+++ b/dev/lib/rxio/MDPSelftestStatus.cpp
@@ -0,0 +1,136 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <sstream>
+
+#include "StringUtils.hpp"
+#include "BinUtils.hpp"
+
+#include "MDPSelftestStatus.hpp"
+#include "MDPStream.hpp"
+
+using gpstk::StringUtils::asString;
+using gpstk::BinUtils::encodeVar;
+using gpstk::BinUtils::decodeVar;
+using namespace std;
+
+namespace gpstk
+{
+ //---------------------------------------------------------------------------
+ MDPSelftestStatus::MDPSelftestStatus()
+ throw() :
+ selfTestTime(gpstk::DayTime::BEGINNING_OF_TIME),
+ firstPVTTime(gpstk::DayTime::BEGINNING_OF_TIME),
+ antennaTemp(0), receiverTemp(0), status(0xffffffff),
+ cpuLoad(0), extFreqStatus(0)
+ {
+ id = myId;
+ } // MDPSelftestStatus::MDPSelftestStatus()
+
+
+ //---------------------------------------------------------------------------
+ string MDPSelftestStatus::encode() const
+ throw()
+ {
+ string str;
+ str += encodeVar( (float) antennaTemp);
+ str += encodeVar( (float) receiverTemp);
+ str += encodeVar( (uint32_t) status);
+ str += encodeVar( (float) cpuLoad);
+ str += encodeVar( (uint32_t) 100*selfTestTime.GPSsecond());
+ str += encodeVar( (uint16_t) selfTestTime.GPSfullweek());
+ str += encodeVar( (uint16_t) firstPVTTime.GPSfullweek());
+ str += encodeVar( (uint32_t) 100*firstPVTTime.GPSsecond());
+ str += encodeVar( (uint16_t) extFreqStatus);
+ return str;
+ } // MDPSelftestStatus::encode()
+
+
+ //---------------------------------------------------------------------------
+ void MDPSelftestStatus::decode(string str)
+ throw()
+ {
+ if (str.length() != myLength)
+ return;
+
+ clearstate(lenbit);
+
+
+ long sow100;
+ int week;
+
+ antennaTemp = decodeVar<float>(str);
+ receiverTemp = decodeVar<float>(str);
+ status = decodeVar<uint32_t>(str);
+ cpuLoad = decodeVar<float>(str);
+ sow100 = decodeVar<uint32_t>(str);
+ week = decodeVar<uint16_t>(str);
+ selfTestTime.setGPSfullweek(week, double(sow100)*0.01);
+ week = decodeVar<uint16_t>(str);
+ sow100 = decodeVar<uint32_t>(str);
+ firstPVTTime.setGPSfullweek(week, double(sow100)*0.01);
+ extFreqStatus = decodeVar<uint16_t>(str);
+ saasmStatusWord = decodeVar<uint16_t>(str);
+
+ clearstate(fmtbit);
+ } // MDPSelftestStatus::decode()
+
+
+ //---------------------------------------------------------------------------
+ void MDPSelftestStatus::dump(ostream& out) const
+ throw()
+ {
+ ostringstream oss;
+ using gpstk::StringUtils::asString;
+ using gpstk::StringUtils::leftJustify;
+
+ MDPHeader::dump(oss);
+ oss << getName() << "1:"
+ << " Tst:" << selfTestTime.printf("%4F/%9.2g")
+ << " Tpvt:" << firstPVTTime.printf("%4F/%9.2g")
+ << " Ant. Temp:" << antennaTemp
+ << " Rx. Temp:" << receiverTemp
+ << " status:" << hex << status << dec
+ << " cpuLoad:" << cpuLoad
+ << " extFreq:" << hex << extFreqStatus << dec
+ << " ssw:" << hex << saasmStatusWord << dec
+ << endl;
+ out << oss.str() << flush;
+ } // MDPSelftestStatus::dump()
+
+}
diff --git a/dev/lib/rxio/MDPSelftestStatus.hpp b/dev/lib/rxio/MDPSelftestStatus.hpp
new file mode 100644
index 0000000..fc5db06
--- /dev/null
+++ b/dev/lib/rxio/MDPSelftestStatus.hpp
@@ -0,0 +1,90 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef MDPSELFTESTSTATUS_HPP
+#define MDPSELFTESTSTATUS_HPP
+
+#include "Xvt.hpp"
+
+#include "MDPHeader.hpp"
+
+namespace gpstk
+{
+ /// This class represents a runtime selftest status message
+ class MDPSelftestStatus : public MDPHeader
+ {
+ public:
+ MDPSelftestStatus() throw();
+
+ /** Encode this object to a string.
+ * @return this object as a string.
+ */
+ virtual std::string encode() const
+ throw();
+
+ /** Decode this object from a string.
+ * @param str the string to read from.
+ * @note This is a non-destructive decode.
+ */
+ virtual void decode(std::string str)
+ throw();
+
+ virtual std::string getName() const {return "sts";};
+
+ /** Dump some debugging information to the given ostream.
+ * @param out the ostream to write to
+ */
+ void dump(std::ostream& out) const throw();
+
+ float antennaTemp;
+ float receiverTemp;
+ long status;
+ float cpuLoad;
+ gpstk::DayTime selfTestTime; ///< SelfTest SOW & week
+ gpstk::DayTime firstPVTTime; ///< First PVT SOW & week
+ short extFreqStatus;
+ short saasmStatusWord;
+
+ static const unsigned myLength = 32;
+ static const unsigned myId = 400;
+
+ }; // class MDPSelftestStatus
+
+} // namespace gpstk
+
+#endif //MDPSELFTESTSTATUS_HPP
diff --git a/dev/lib/rxio/MDPStream.hpp b/dev/lib/rxio/MDPStream.hpp
new file mode 100644
index 0000000..f662769
--- /dev/null
+++ b/dev/lib/rxio/MDPStream.hpp
@@ -0,0 +1,93 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef MDPSTREAM_HPP
+#define MDPSTREAM_HPP
+
+/**
+ * @file MDPStream.hpp
+ * gpstk::MDPStream - binary MDP file stream container.
+ */
+
+#include "FFBinaryStream.hpp"
+#include "MDPHeader.hpp"
+
+namespace gpstk
+{
+ /**
+ * This is a stream used to decode data in the MDP format.
+ */
+ class MDPStream : public FFBinaryStream
+ {
+ public:
+ MDPStream() : streamState(outOfSync)
+ {}
+
+ /**
+ * @param fn the name of the MDP file to be opened
+ * @param mode the ios::openmode to be used on \a fn
+ */
+ MDPStream(const char* fn,
+ std::ios::openmode mode = std::ios::in)
+ : FFBinaryStream(fn, mode),
+ streamState(outOfSync)
+ {}
+
+ /// destructor per the coding standards
+ virtual ~MDPStream()
+ {}
+
+ /// overrides open to reset the header
+ virtual void open(const char* fn, std::ios::openmode mode = std::ios::in)
+ {
+ FFBinaryStream::open(fn, mode);
+ streamState = outOfSync;
+ }
+
+ /// Used to track what has been retrieved from the stream
+ enum {outOfSync, gotHeader, gotBody} streamState;
+
+ /// A copy of the most recent header read
+ MDPHeader header;
+
+ /// The raw bytes of the above header
+ std::string rawHeader;
+ }; // class MDPStream
+} // namespace gpstk
+
+#endif
diff --git a/dev/lib/rxio/Makefile.am b/dev/lib/rxio/Makefile.am
new file mode 100644
index 0000000..cfc2028
--- /dev/null
+++ b/dev/lib/rxio/Makefile.am
@@ -0,0 +1,17 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../../src
+lib_LTLIBRARIES = librxio.la
+librxio_la_SOURCES = AshtechData.cpp AshtechMBEN.cpp AshtechPBEN.cpp \
+AshtechEPB.cpp AshtechALB.cpp EphReader.cpp FDStreamBuff.cpp FFIdentifier.cpp \
+MDPHeader.cpp MDPNavSubframe.cpp MDPObsEpoch.cpp MDPPVTSolution.cpp \
+MDPSelftestStatus.cpp MetReader.cpp ObsReader.cpp ObsUtils.cpp \
+RinexConverters.cpp TCPStreamBuff.cpp
+
+incldir = $(includedir)/gpstk
+incl_HEADERS = AshtechData.hpp AshtechMBEN.hpp AshtechPBEN.hpp \
+AshtechStream.hpp DataStatus.hpp DeviceStream.hpp EphReader.hpp \
+FDStreamBuff.hpp FFIdentifier.hpp MDPHeader.hpp MDPNavSubframe.hpp \
+MDPObsEpoch.hpp MDPPVTSolution.hpp MDPSelftestStatus.hpp MetReader.hpp \
+ObsReader.hpp ObsUtils.hpp RinexConverters.hpp TCPStream.hpp \
+TCPStreamBuff.hpp miscenum.hpp
+
diff --git a/dev/lib/rxio/MetReader.cpp b/dev/lib/rxio/MetReader.cpp
new file mode 100644
index 0000000..27bc1b3
--- /dev/null
+++ b/dev/lib/rxio/MetReader.cpp
@@ -0,0 +1,73 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <iostream>
+#include <iomanip>
+#include <string>
+#include <map>
+
+#include "MetReader.hpp"
+#include "RinexMetStream.hpp"
+#include "RinexMetData.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+
+// ---------------------------------------------------------------------
+// ---------------------------------------------------------------------
+void MetReader::read(const std::string& fn)
+{
+ RinexMetStream rms;
+ try { rms.open(fn.c_str(), ios::in); }
+ catch (...) {
+ cerr << "Error reading weather data from file " << fn << endl;
+ exit(-1);
+ }
+
+ RinexMetData rmd;
+ while (rms >> rmd)
+ {
+ WxObservation wob(
+ rmd.time,
+ rmd.data[RinexMetHeader::TD],
+ rmd.data[RinexMetHeader::PR],
+ rmd.data[RinexMetHeader::HR]);
+ wx.insertObservation(wob);
+ }
+} // end of read()
diff --git a/dev/lib/rxio/MetReader.hpp b/dev/lib/rxio/MetReader.hpp
new file mode 100644
index 0000000..e7e2f5d
--- /dev/null
+++ b/dev/lib/rxio/MetReader.hpp
@@ -0,0 +1,68 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef METREADER_HPP
+#define METREADER_HPP
+
+#include <string>
+
+#include "CommandOption.hpp"
+#include "WxObsMap.hpp"
+
+class MetReader
+{
+public:
+ MetReader()
+ : verboseLevel(0)
+ {};
+
+ MetReader(const std::string& fn)
+ : verboseLevel(0)
+ { read(fn); };
+
+ int verboseLevel;
+
+ void read(const std::string& fn);
+
+ std::vector<std::string> filesRead;
+
+ gpstk::WxObsData wx;
+
+};
+
+#endif
diff --git a/dev/lib/rxio/ObsReader.cpp b/dev/lib/rxio/ObsReader.cpp
new file mode 100644
index 0000000..b24e484
--- /dev/null
+++ b/dev/lib/rxio/ObsReader.cpp
@@ -0,0 +1,169 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+/** @file Read various file formats and output a stream of ObsEpoch objects.
+*/
+
+#include "ObsUtils.hpp"
+
+#include "RinexObsData.hpp"
+#include "SMODFData.hpp"
+#include "MDPObsEpoch.hpp"
+#include "ObsReader.hpp"
+
+using namespace std;
+
+namespace gpstk
+{
+ //----------------------------------------------------------------------
+ ObsReader::ObsReader(const string& str, int verbose)
+ : fn(str), inputType(str), verboseLevel(verbose), epochCount(0), msid(0),
+ usePrevSMOD(false)
+ {
+ if (inputType == FFIdentifier::tRinexObs)
+ {
+ if (verboseLevel)
+ cout << "# Reading " << fn << " as RINEX obs data." << endl;
+ ros.open(fn.c_str(), ios::in);
+ ros.exceptions(fstream::failbit);
+ ros >> roh;
+ }
+ else if (inputType == FFIdentifier::tMDP)
+ {
+ if (verboseLevel)
+ cout << "# Reading " << fn << " as MDP data." << endl;
+ mdps.open(fn.c_str(), ios::in);
+ mdps.exceptions(fstream::failbit);
+ }
+ else if (inputType == FFIdentifier::tSMODF)
+ {
+ if (verboseLevel)
+ cout << "# Reading " << fn << " as SMODF data." << endl;
+ smos.open(fn.c_str(), ios::in);
+ smos.exceptions(fstream::failbit);
+ }
+ };
+
+
+ //----------------------------------------------------------------------
+ ObsEpoch ObsReader::getObsEpoch()
+ {
+ ObsEpoch oe;
+ if (inputType == FFIdentifier::tRinexObs)
+ {
+ RinexObsData rod;
+ ros >> rod;
+ oe = makeObsEpoch(rod);
+ epochCount++;
+ }
+ else if (inputType == FFIdentifier::tMDP)
+ {
+ MDPEpoch moe;
+ mdps >> moe;
+ oe = makeObsEpoch(moe);
+ epochCount++;
+ }
+ else if (inputType == FFIdentifier::tSMODF)
+ {
+ if (msid==0)
+ {
+ cerr << "SMODF data requires an msid to be specified. Exiting." << endl;
+ exit(-1);
+ }
+
+ SMODFData smod;
+ while (smos)
+ {
+ if (usePrevSMOD)
+ {
+ smod = prevSMOD;
+ usePrevSMOD = false;
+ }
+ else
+ {
+ while (smos >> smod)
+ if (smod.station == msid) break;
+ }
+
+ if (smod.station != msid)
+ break;
+
+ if (smod.time != oe.time && oe.size())
+ {
+ usePrevSMOD = true;
+ prevSMOD = smod;
+ epochCount++;
+ break;
+ }
+
+ oe.time = smod.time;
+
+ SatID svid(smod.PRNID, SatID::systemGPS);
+ SvObsEpoch& soe = oe[svid];
+ soe.svid=svid;
+
+ if (smod.type==0)
+ {
+ ObsID oid(ObsID::otRange, ObsID::cbL1L2, ObsID::tcP);
+ soe[oid] = smod.obs * 1000;
+ }
+ else if (smod.type==9)
+ {
+ ObsID oid(ObsID::otPhase, ObsID::cbL1L2, ObsID::tcP);
+ soe[oid] = smod.obs;
+ }
+ }
+ }
+
+ return oe;
+ }
+
+
+ //----------------------------------------------------------------------
+ bool ObsReader::operator()()
+ {
+ if (inputType == FFIdentifier::tRinexObs)
+ return ros;
+ else if (inputType == FFIdentifier::tMDP)
+ return mdps;
+ else if (inputType == FFIdentifier::tSMODF)
+ return smos;
+ return false;
+ }
+} // end of namespace gpstk
diff --git a/dev/lib/rxio/ObsReader.hpp b/dev/lib/rxio/ObsReader.hpp
new file mode 100644
index 0000000..f89405f
--- /dev/null
+++ b/dev/lib/rxio/ObsReader.hpp
@@ -0,0 +1,81 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/** @file Read various file formats and output a stream of ObsEpoch objects.
+*/
+
+#ifndef OBSREADER_HPP
+#define OBSREADER_HPP
+
+#include "ObsEpochMap.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsStream.hpp"
+#include "MDPStream.hpp"
+#include "SMODFStream.hpp"
+#include "SMODFData.hpp"
+#include "FFIdentifier.hpp"
+
+namespace gpstk
+{
+ class ObsReader
+ {
+ public:
+ const std::string fn;
+ gpstk::FFIdentifier inputType;
+
+ gpstk::RinexObsStream ros;
+ gpstk::MDPStream mdps;
+ gpstk::SMODFStream smos;
+
+ unsigned msid;
+ gpstk::RinexObsHeader roh;
+ int verboseLevel;
+ unsigned long epochCount;
+
+ ObsReader(const std::string& str, int verbose=0);
+
+ ObsEpoch getObsEpoch();
+
+ bool operator()();
+
+ private:
+ gpstk::SMODFData prevSMOD;
+ bool usePrevSMOD;
+ };
+} // end of namespace gpstk
+#endif
diff --git a/dev/lib/rxio/ObsUtils.cpp b/dev/lib/rxio/ObsUtils.cpp
new file mode 100644
index 0000000..8376115
--- /dev/null
+++ b/dev/lib/rxio/ObsUtils.cpp
@@ -0,0 +1,301 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/** @file Translates between various similiar objects */
+
+#include "StringUtils.hpp"
+#include "RinexObsID.hpp"
+#include "icd_200_constants.hpp"
+
+#include "ObsUtils.hpp"
+
+using namespace std;
+
+namespace gpstk
+{
+ //---------------------------------------------------------------------------
+ SvObsEpoch makeSvObsEpoch(const MDPObsEpoch& mdp) throw()
+ {
+ SvObsEpoch obs;
+ MDPObsEpoch::ObsMap::const_iterator i;
+ for (i=mdp.obs.begin(); i!=mdp.obs.end(); i++)
+ {
+ CarrierCode cc = i->first.first;
+ RangeCode rc = i->first.second;
+ const MDPObsEpoch::Observation& mdp_obs = i->second;
+
+ ObsID::CarrierBand cb;
+ ObsID::TrackingCode tc;
+
+ switch(cc)
+ {
+ case ccL1: cb = ObsID::cbL1; break;
+ case ccL2: cb = ObsID::cbL2; break;
+ case ccL5: cb = ObsID::cbL5; break;
+ default: cb = ObsID::cbUnknown;
+ }
+
+ switch (rc)
+ {
+ case rcCA: tc = ObsID::tcCA; break;
+ case rcPcode: tc = ObsID::tcP; break;
+ case rcYcode: tc = ObsID::tcY; break;
+ case rcCodeless: tc = ObsID::tcW; break;
+ case rcCM: tc = ObsID::tcC2M; break;
+ case rcCL: tc = ObsID::tcC2L; break;
+ case rcMcode1: tc = ObsID::tcM; break;
+ case rcMcode2: tc = ObsID::tcM; break;
+ case rcCMCL: tc = ObsID::tcC2LM; break;
+ default: tc = ObsID::tcUnknown;
+ }
+
+ obs[ObsID(ObsID::otRange, cb, tc)] = mdp_obs.pseudorange;
+ obs[ObsID(ObsID::otPhase, cb, tc)] = mdp_obs.phase;
+ obs[ObsID(ObsID::otDoppler, cb, tc)] = mdp_obs.doppler;
+ obs[ObsID(ObsID::otSNR, cb, tc)] = mdp_obs.snr;
+ obs[ObsID(ObsID::otLLI, cb, tc)] = mdp_obs.lockCount;
+ }
+ return obs;
+ }
+
+
+ //---------------------------------------------------------------------------
+ SvObsEpoch makeSvObsEpoch(const RinexObsData::RinexObsTypeMap& rotm) throw()
+ {
+ SvObsEpoch soe;
+
+ RinexObsData::RinexObsTypeMap::const_iterator rotm_itr;
+ for (rotm_itr = rotm.begin(); rotm_itr != rotm.end(); rotm_itr++)
+ {
+ const RinexObsHeader::RinexObsType& rot = rotm_itr->first;
+ const RinexObsData::RinexDatum& rd = rotm_itr->second;
+ RinexObsID oid(rot);
+ soe[oid] = rd.data;
+ if (rd.ssi>0)
+ {
+ oid.type = ObsID::otSSI;
+ soe[oid] = rd.ssi;
+ }
+ if (rd.lli>0)
+ {
+ oid.type = ObsID::otLLI;
+ soe[oid] = -1;
+ }
+ }
+
+ return soe;
+ }
+
+
+ //---------------------------------------------------------------------------
+ ObsEpoch makeObsEpoch(const RinexObsData& rod) throw()
+ {
+ ObsEpoch oe;
+ oe.time = rod.time;
+
+ RinexObsData::RinexSatMap::const_iterator rsm_itr;
+ for (rsm_itr = rod.obs.begin(); rsm_itr != rod.obs.end(); rsm_itr++)
+ {
+ const SatID svid(rsm_itr->first);
+ const RinexObsData::RinexObsTypeMap& rotm = rsm_itr->second;
+ oe[svid] = makeSvObsEpoch(rotm);
+ }
+
+ return oe;
+ }
+
+
+ //---------------------------------------------------------------------------
+ ObsEpoch makeObsEpoch(const MDPEpoch& mdp) throw()
+ {
+ ObsEpoch oe;
+ oe.time = mdp.begin()->second.time;
+
+ for (MDPEpoch::const_iterator i=mdp.begin(); i!=mdp.end(); i++)
+ {
+ const MDPObsEpoch& moe = i->second;
+ SatID svid(moe.prn, SatID::systemGPS);
+ oe[svid] = makeSvObsEpoch(moe);
+ }
+ return oe;
+ }
+
+
+ //---------------------------------------------------------------------------
+ WxObservation makeWxObs(const SMODFData& smod) throw()
+ {
+ WxObservation wx;
+
+ wx.t = smod.time;
+
+ if (smod.tempSource)
+ {
+ wx.temperature = smod.temp;
+ wx.temperatureSource = WxObservation::obsWx;
+ }
+ else
+ wx.temperatureSource = WxObservation::noWx;;
+
+ if (smod.pressSource)
+ {
+ wx.pressure = smod.pressure;
+ wx.pressureSource = WxObservation::obsWx;
+ }
+ else
+ wx.pressureSource = WxObservation::noWx;;
+
+ if (smod.humidSource)
+ {
+ wx.humidity = smod.humidity;
+ wx.humiditySource = WxObservation::obsWx;
+ }
+ else
+ wx.humiditySource = WxObservation::noWx;
+
+ return wx;
+ }
+
+
+ //---------------------------------------------------------------------------
+ void addMDPObservation(MDPObsEpoch& moe,
+ const AshtechMBEN::code_block& cb,
+ CarrierCode cc,
+ RangeCode rc,
+ const MDPObsEpoch& moe_hint) throw()
+ {
+ // fixup the range code to match what is indicated by the goodbad flag
+ if (rc != rcCA)
+ switch (cb.goodbad)
+ {
+ case 22: rc = rcPcode; break;
+ case 24: rc = rcYcode; break;
+ case 25: rc = rcCodeless; break;
+ }
+
+ float chipRate=PY_CHIP_FREQ;
+ if (rc == rcCA)
+ chipRate = CA_CHIP_FREQ;
+
+ MDPObsEpoch::Observation obs;
+ obs.carrier = cc;
+ obs.range = rc;
+ obs.snr = cb.snr(chipRate);
+ obs.pseudorange = cb.raw_range * C_GPS_M;
+ obs.phase = cb.full_phase;
+ obs.doppler = -cb.doppler; // yea, the Ashtech sign is backwards
+
+ if (moe_hint.haveObservation(cc, rc))
+ {
+ MDPObsEpoch::Observation obs_hint = moe_hint.getObservation(cc, rc);
+ obs.bw = obs_hint.bw;
+ obs.lockCount = obs_hint.lockCount++;
+ }
+ else
+ {
+ obs.bw=1;
+ obs.lockCount = 0;
+ }
+
+ moe.obs[MDPObsEpoch::ObsKey(cc, rc)] = obs;
+ }
+
+
+ //---------------------------------------------------------------------------
+ MDPObsEpoch makeMDPObsEpoch(
+ const AshtechMBEN& mben,
+ const MDPObsEpoch& hint) throw()
+ {
+ MDPObsEpoch moe;
+
+ // Get the full time from the hint and make the sow match the MBEN
+ moe.time = hint.time;
+ double sow1 = moe.time.GPSsecond();
+ int sow2 = static_cast<int>(sow1/1800);
+ double sow3 = static_cast<double>(sow2 * 1800);
+ double sow_mben = 0.05 * mben.seq;
+ double sow4 = sow3 + sow_mben;
+ if (sow4 < sow1) // Assume that time only moves forward
+ sow4 += 1800;
+ moe.time.setGPS(moe.time.GPSfullweek(), sow4);
+
+ moe.numSVs = hint.numSVs;
+ moe.channel = mben.chid;
+ moe.prn = mben.svprn;
+ moe.status = hint.status;
+ moe.elevation = mben.el;
+ moe.azimuth = mben.az;
+
+ addMDPObservation(moe, mben.ca, ccL1, rcCA, hint);
+
+ if (mben.id == AshtechMBEN::mpcId)
+ {
+ addMDPObservation(moe, mben.p1, ccL1, rcPcode, hint);
+ addMDPObservation(moe, mben.p2, ccL2, rcPcode, hint);
+ }
+ return moe;
+ }
+
+
+ //---------------------------------------------------------------------------
+ MDPPVTSolution makeMDPPVTSolution(
+ const AshtechPBEN& pben,
+ const unsigned week) throw()
+ {
+ MDPPVTSolution pvt;
+
+ pvt.x[0] = pben.navx;
+ pvt.x[1] = pben.navy;
+ pvt.x[2] = pben.navz;
+ pvt.dtime = pben.navt / C_GPS_M;
+ pvt.v[0] = pben.navxdot;
+ pvt.v[1] = pben.navydot;
+ pvt.v[2] = pben.navzdot;
+ pvt.ddtime = pben.navtdot / C_GPS_M;
+
+ pvt.time.setGPS(week, pben.sow);
+ pvt.timep = pvt.time + pvt.dtime;
+
+ pvt.fom = pben.pdop;
+ pvt.numSVs = (int)pben.numSV;
+ pvt.pvtMode = 0;
+ pvt.corrections = 0;
+
+ return pvt;
+ }
+
+}
diff --git a/dev/lib/rxio/ObsUtils.hpp b/dev/lib/rxio/ObsUtils.hpp
new file mode 100644
index 0000000..87610f4
--- /dev/null
+++ b/dev/lib/rxio/ObsUtils.hpp
@@ -0,0 +1,96 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef OBSUTILS_HPP
+#define OBSUTILS_HPP
+
+#include "RinexObsData.hpp"
+#include "RinexNavData.hpp"
+#include "RinexMetData.hpp"
+
+#include "EngAlmanac.hpp"
+#include "ObsEpochMap.hpp"
+#include "WxObsMap.hpp"
+#include "SMODFData.hpp"
+
+#include "MDPNavSubframe.hpp"
+#include "MDPObsEpoch.hpp"
+#include "MDPPVTSolution.hpp"
+
+#include "AshtechMBEN.hpp"
+#include "AshtechPBEN.hpp"
+
+namespace gpstk
+{
+ /// Conversion Function from MDP data
+ SvObsEpoch makeSvObsEpoch(const MDPObsEpoch& mdp) throw();
+
+ ObsEpoch makeObsEpoch(const MDPEpoch& mdp) throw();
+
+ MDPObsEpoch makeMDPObsEpoch(const SvObsEpoch& soe) throw();
+
+ /// Conversion functions from Rinex data
+ SvObsEpoch makeSvObsEpoch(const RinexObsData::RinexObsTypeMap& rotm) throw();
+
+ ObsEpoch makeObsEpoch(const RinexObsData& rod) throw();
+
+ WxObservation makeWxObs(const RinexMetData& rmd) throw();
+
+ /// Conversion functions from SMODFData objects
+ /// Note that there is no makeObsEpoch since each SMODFData object just
+ /// has a single observation to a single sv.
+ WxObservation makeWxObs(const SMODFData& smod) throw();
+
+ /// Conversion functions from AshtechData
+ /// hint is used to provide the data that is not natively in the MBEN data
+ MDPObsEpoch makeMDPObsEpoch(
+ const AshtechMBEN& mben,
+ const MDPObsEpoch& hint) throw();
+
+ void addMDPObservation(
+ MDPObsEpoch& moe,
+ const AshtechMBEN::code_block& cb,
+ CarrierCode cc,
+ RangeCode rc,
+ const MDPObsEpoch& moe_hint) throw();
+
+ MDPPVTSolution makeMDPPVTSolution(
+ const AshtechPBEN& pben,
+ const unsigned week) throw();
+}
+#endif
diff --git a/dev/lib/rxio/RinexConverters.cpp b/dev/lib/rxio/RinexConverters.cpp
new file mode 100644
index 0000000..dabc26b
--- /dev/null
+++ b/dev/lib/rxio/RinexConverters.cpp
@@ -0,0 +1,283 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/** @file Translates between various similiar objects */
+
+#include "StringUtils.hpp"
+#include "RinexObsID.hpp"
+
+#include "RinexConverters.hpp"
+
+using namespace std;
+
+namespace gpstk
+{
+ short snr2ssi(float x)
+ {
+ // These values were obtained from the comments in a RINEX obs file that was
+ // generated from a TurboBinary file recorded on an AOA Benchmark receiver
+ if (x>316) return 9;
+ if (x>100) return 8;
+ if (x>31.6) return 7;
+ if (x>10) return 6;
+ if (x>3.2) return 5;
+ if (x>0) return 4;
+ return 0;
+ }
+
+ RinexObsData::RinexObsTypeMap makeRinexObsTypeMap(const MDPObsEpoch& moe) throw()
+ {
+ gpstk::RinexObsData::RinexObsTypeMap rotm;
+ MDPObsEpoch::ObsMap ol=moe.obs;
+ MDPObsEpoch::ObsMap::const_iterator j;
+
+ // The C1 Rinex obs is easy
+ j = ol.find(MDPObsEpoch::ObsKey(ccL1,rcCA));
+ if (j!=ol.end())
+ {
+ rotm[gpstk::RinexObsHeader::C1].data = j->second.pseudorange;
+ rotm[gpstk::RinexObsHeader::C1].lli = j->second.lockCount ? 1 : 0;
+ rotm[gpstk::RinexObsHeader::C1].ssi = snr2ssi(j->second.snr);
+
+ rotm[gpstk::RinexObsHeader::L1].data = j->second.phase;
+ rotm[gpstk::RinexObsHeader::L1].lli = j->second.lockCount ? 1 : 0;
+ rotm[gpstk::RinexObsHeader::L1].ssi = snr2ssi(j->second.snr);
+
+ rotm[gpstk::RinexObsHeader::D1].data = j->second.doppler;
+ rotm[gpstk::RinexObsHeader::D1].lli = j->second.lockCount ? 1 : 0;
+ rotm[gpstk::RinexObsHeader::D1].ssi = snr2ssi(j->second.snr);
+
+ rotm[gpstk::RinexObsHeader::S1].data = j->second.snr;
+ }
+
+ // Now get the P1, L1, D1, S1 obs
+ j = ol.find(MDPObsEpoch::ObsKey(ccL1, rcYcode));
+ if (j == ol.end())
+ j = ol.find(MDPObsEpoch::ObsKey(ccL1, rcPcode));
+ if (j == ol.end())
+ j = ol.find(MDPObsEpoch::ObsKey(ccL1, rcCodeless));
+ if (j != ol.end())
+ {
+ rotm[gpstk::RinexObsHeader::P1].data = j->second.pseudorange;
+ rotm[gpstk::RinexObsHeader::P1].lli = j->second.lockCount ? 1 : 0;
+ rotm[gpstk::RinexObsHeader::P1].ssi = snr2ssi(j->second.snr);
+
+ rotm[gpstk::RinexObsHeader::L1].data = j->second.phase;
+ rotm[gpstk::RinexObsHeader::L1].lli = j->second.lockCount ? 1 : 0;
+ rotm[gpstk::RinexObsHeader::L1].ssi = snr2ssi(j->second.snr);
+
+ rotm[gpstk::RinexObsHeader::D1].data = j->second.doppler;
+ rotm[gpstk::RinexObsHeader::D1].lli = j->second.lockCount ? 1 : 0;
+ rotm[gpstk::RinexObsHeader::D1].ssi = snr2ssi(j->second.snr);
+
+ rotm[gpstk::RinexObsHeader::S1].data = j->second.snr;
+ }
+
+ // Now get the P2, L2, D2, S2 obs
+ j = ol.find(MDPObsEpoch::ObsKey(ccL2, rcYcode));
+ if (j == ol.end())
+ j = ol.find(MDPObsEpoch::ObsKey(ccL2, rcPcode));
+ if (j == ol.end())
+ j = ol.find(MDPObsEpoch::ObsKey(ccL2, rcCodeless));
+ if (j != ol.end())
+ {
+ rotm[gpstk::RinexObsHeader::P2].data = j->second.pseudorange;
+ rotm[gpstk::RinexObsHeader::P2].lli = j->second.lockCount ? 1 : 0;
+ rotm[gpstk::RinexObsHeader::P2].ssi = snr2ssi(j->second.snr);
+
+ rotm[gpstk::RinexObsHeader::L2].data = j->second.phase;
+ rotm[gpstk::RinexObsHeader::L2].lli = j->second.lockCount ? 1 : 0;
+ rotm[gpstk::RinexObsHeader::L2].ssi = snr2ssi(j->second.snr);
+
+ rotm[gpstk::RinexObsHeader::D2].data = j->second.doppler;
+ rotm[gpstk::RinexObsHeader::D2].lli = j->second.lockCount ? 1 : 0;
+ rotm[gpstk::RinexObsHeader::D2].ssi = snr2ssi(j->second.snr);
+
+ rotm[gpstk::RinexObsHeader::S2].data = j->second.snr;
+ }
+
+ // Now get the C2
+ j = ol.find(MDPObsEpoch::ObsKey(ccL2, rcCM));
+ if (j == ol.end())
+ j = ol.find(MDPObsEpoch::ObsKey(ccL2, rcCL));
+ if (j == ol.end())
+ j = ol.find(MDPObsEpoch::ObsKey(ccL2, rcCMCL));
+ if (j != ol.end())
+ {
+ rotm[gpstk::RinexObsHeader::C2].data = j->second.pseudorange;
+ rotm[gpstk::RinexObsHeader::C2].lli = j->second.lockCount ? 1 : 0;
+ rotm[gpstk::RinexObsHeader::C2].ssi = snr2ssi(j->second.snr);
+ }
+ return rotm;
+ }
+
+ RinexObsData makeRinexObsData(const gpstk::MDPEpoch& mdp)
+ {
+ RinexObsData rod;
+
+ rod.clockOffset=0;
+ rod.numSvs = mdp.size();
+ rod.epochFlag = 0;
+ rod.time = mdp.begin()->second.time;
+
+ for (MDPEpoch::const_iterator i=mdp.begin(); i!=mdp.end(); i++)
+ {
+ const MDPObsEpoch& moe = i->second;
+ gpstk::SatID svid(moe.prn, gpstk::SatID::systemGPS);
+ rod.obs[svid] = makeRinexObsTypeMap(moe);
+ }
+ return rod;
+ }
+
+ // Try to convert the given pages into an EngAlmanc object. Returns true
+ // upon success. This routine is tuned for two different types of nav data.
+ //
+ // The first is for a receiver that outputs all 4/5 subframes from a given
+ // code/carrier. Basically it looks for a 12.5 minute cycle that starts
+ // with page 1 from subframe 4. It makes sure that there hasn't been a
+ // cutover during it by checking that all sv pages (i.e. svid 1-32) have
+ // the same toa as the last page 25 (svid 51). This mode is the default and
+ // is set with the requireFull parameter.
+ //
+ // The second is for a receiver that only puts out a set of 4/5 subframes
+ // that "should" be a complete almanac. Note that it doesn't output pages
+ // for SVs that are set to the default data.
+ //
+ // The only receiver that this has been tested on is the Ashtech Z(Y)12.
+ //
+ // In the IS-GPS-200D, see pages 72-79, 82, 105
+ bool makeEngAlmanac(EngAlmanac& alm,
+ const AlmanacPages& pages,
+ bool requireFull) throw()
+ {
+ AlmanacPages::const_iterator sf4p1 = pages.find(SubframePage(4, 1));
+ AlmanacPages::const_iterator sf4p18 = pages.find(SubframePage(4, 18));
+ AlmanacPages::const_iterator sf4p25 = pages.find(SubframePage(4, 25));
+ AlmanacPages::const_iterator sf5p25 = pages.find(SubframePage(5, 25));
+
+ // These pages are required for a reasonable alm
+ if (sf4p18==pages.end() || sf4p25==pages.end() || sf5p25==pages.end())
+ return false;
+
+ long sf4p1sow=0;
+ if (requireFull)
+ {
+ if (sf4p1==pages.end())
+ return false;
+ else
+ sf4p1sow = sf4p1->second.getHOWTime();
+ }
+
+ int week=sf4p18->second.time.GPSfullweek();
+
+ for (int p=1; p<=25; p++)
+ {
+ for (int sf=4; sf<=5; sf++)
+ {
+ AlmanacPages::const_iterator i = pages.find(SubframePage(sf, p));
+ if (i == pages.end())
+ {
+ if (requireFull)
+ return false;
+ else
+ continue;
+ }
+
+ // All pages have to be contingious for the full alm mode.
+ if (requireFull)
+ {
+ long sow = i->second.getHOWTime();
+ if (sow != sf4p1sow + (sf-4)*6 + (p-1)*30)
+ return false;
+ }
+
+ long sfa[10];
+ long long_sfa[10];
+ i->second.fillArray(sfa);
+ copy( &sfa[0], &sfa[10], long_sfa);
+ if (!alm.addSubframe(long_sfa, week))
+ return false;
+ }
+ }
+ return true;
+ }
+
+ // Try to convert the given pages into an EngEphemeris object. Returns true
+ // upon success.
+ bool makeEngEphemeris(EngEphemeris& eph, const EphemerisPages& pages)
+ {
+ EphemerisPages::const_iterator sf[4];
+
+ sf[1] = pages.find(1);
+ if (sf[1] == pages.end())
+ return false;
+
+ sf[2] = pages.find(2);
+ if (sf[2] == pages.end())
+ return false;
+
+ sf[3] = pages.find(3);
+ if (sf[3] == pages.end())
+ return false;
+
+ long t1 = sf[1]->second.getHOWTime();
+ long t2 = sf[2]->second.getHOWTime();
+ long t3 = sf[3]->second.getHOWTime();
+ if (t2 != t1+6 || t3 != t1+12)
+ return false;
+
+ int prn = sf[1]->second.prn;
+ int week = sf[1]->second.time.GPSfullweek();
+ long sfa[10];
+ long long_sfa[10];
+
+ for (int i=1; i<=3; i++)
+ {
+ sf[i]->second.fillArray(sfa);
+ for( int j = 0; j < 10; j++ )
+ long_sfa[j] = static_cast<long>( sfa[j] );
+ if (!eph.addSubframe(long_sfa, week, prn, 0))
+ return false;
+ }
+
+ if (eph.isData(1) && eph.isData(2) && eph.isData(3))
+ return true;
+
+ return false;
+ }
+} // end of namespace gpstk
diff --git a/dev/lib/rxio/RinexConverters.hpp b/dev/lib/rxio/RinexConverters.hpp
new file mode 100644
index 0000000..888c6a0
--- /dev/null
+++ b/dev/lib/rxio/RinexConverters.hpp
@@ -0,0 +1,70 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef RINEXCONVERTERS_HPP
+#define RINEXCONVERTERS_HPP
+
+/** @file Translates between various similiar objects */
+
+#include "RinexObsData.hpp"
+#include "RinexNavData.hpp"
+
+#include "EngAlmanac.hpp"
+
+#include "MDPNavSubframe.hpp"
+#include "MDPObsEpoch.hpp"
+
+namespace gpstk
+{
+ /// A translation from SNR in dB-Hz to the rinex signal strength indicator
+ /// values were taken from a header written by teqc
+ short snr2ssi(float x);
+
+ /// Convert the given pages to an EngAlmanac. Returns true upon success.
+ bool makeEngAlmanac(EngAlmanac& alm,
+ const AlmanacPages& pages,
+ bool requireFull=true) throw();
+
+ /// Convert the given pages to an EngEphemeris. Returns true upon success.
+ bool makeEngEphemeris(EngEphemeris& eph, const EphemerisPages& pages);
+
+ /// Conversion Function from MDP data
+ RinexObsData::RinexObsTypeMap makeRinexObsTypeMap(const MDPObsEpoch& moe) throw();
+ RinexObsData makeRinexObsData(const MDPEpoch& me);
+}
+#endif
diff --git a/dev/lib/rxio/TCPStream.hpp b/dev/lib/rxio/TCPStream.hpp
new file mode 100644
index 0000000..1a39cf4
--- /dev/null
+++ b/dev/lib/rxio/TCPStream.hpp
@@ -0,0 +1,81 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef TCPSTREAM_HPP
+#define TCPSTREAM_HPP
+
+#include <fstream>
+
+#include "TCPStreamBuff.hpp"
+
+namespace gpstk
+{
+ class TCPStream : public std::fstream
+ {
+ mutable TCPStreamBuff tcp_buffer; // mutable so rdbuf() can be const
+
+ public:
+ TCPStream(void)
+ {
+ init(&tcp_buffer);
+ }
+
+ void connect(const SocketAddr target_address)
+ {
+ clear();
+ if (!rdbuf()->connect(target_address))
+ setstate(std::ios::badbit);
+ }
+
+ TCPStreamBuff* rdbuf(void) const
+ {
+ return &tcp_buffer;
+ }
+
+ bool is_open() const
+ {
+ return rdbuf()->is_open();
+ }
+
+ void close(void)
+ {
+ rdbuf()->close();
+ }
+ };
+} // end of namespace
+#endif
diff --git a/dev/lib/rxio/TCPStreamBuff.cpp b/dev/lib/rxio/TCPStreamBuff.cpp
new file mode 100644
index 0000000..37892ac
--- /dev/null
+++ b/dev/lib/rxio/TCPStreamBuff.cpp
@@ -0,0 +1,145 @@
+#pragma ident "$Id$"
+
+#include <sstream>
+#include <errno.h>
+#include <stdlib.h>
+
+#include <unistd.h>
+#include <netdb.h>
+#include <fcntl.h>
+#include <sys/file.h>
+
+#include <stdio.h>
+#if !defined(unix) && !defined(__unix__)
+#include <winsock.h>
+#else
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <netinet/tcp.h>
+#endif
+
+#include <arpa/inet.h>
+
+#include "TCPStreamBuff.hpp"
+
+using namespace std;
+
+namespace gpstk
+{
+//------------------------------------------------------------------------
+ IPaddress::IPaddress(const string& host_name)
+ {
+ // If the address is in dotted quad notation, this will work.
+ address = inet_addr(host_name.c_str());
+ if ( address != (uint32_t)(-1) )
+ return;
+
+ struct hostent *host_ptr = ::gethostbyname(host_name.c_str());
+ if( host_ptr == 0 )
+ {
+ cout << "Host name '" << host_name << "' cannot be resolved";
+ return;
+ }
+ if( host_ptr->h_addrtype != AF_INET )
+ {
+ cout << "Host name '" << host_name
+ << "' isn't an AF_INET address" << endl;
+ return;
+ }
+
+ memcpy(&address, host_ptr->h_addr, sizeof(address));
+ }
+
+
+//------------------------------------------------------------------------
+ ostream& operator<<(ostream& os, const IPaddress addr)
+ {
+ struct hostent * const host_ptr =
+ ::gethostbyaddr((char *)&addr.address,
+ sizeof(addr.address), AF_INET);
+ if( host_ptr != 0 )
+ return os << host_ptr->h_name;
+
+ // Reverse DNS failed, print in the dot notation
+ char buffer[80];
+ const unsigned int native_addr = ntohl(addr.address);
+ sprintf(buffer,"%0d.%0d.%0d.%0d", (native_addr >> 24) & 0xff,
+ (native_addr >> 16) & 0xff, (native_addr >> 8) & 0xff,
+ native_addr & 0xff);
+ return os << buffer;
+ }
+
+//------------------------------------------------------------------------
+ SocketAddr::SocketAddr(const IPaddress host, const short port_no)
+ {
+ sin_family = AF_INET;
+ sin_port = htons((short)port_no);
+ sin_addr.s_addr = host.net_addr();
+ }
+
+ ostream& operator<<(ostream& os, const SocketAddr& addr)
+ {
+ return os << IPaddress(addr.sin_addr.s_addr) << ':'
+ << (unsigned short)ntohs((short)addr.sin_port);
+ }
+
+
+//------------------------------------------------------------------------
+ int TCPStreamBuff::connect(const SocketAddr target_address)
+ {
+ if (is_open())
+ return 0;
+
+ handle = socket(AF_INET,SOCK_STREAM,0);
+ if (!handle)
+ return -1;
+
+ // set_blocking_io(false);
+
+ int connect_status = -1;
+ for (int i=0; i<5 && connect_status != 0; i++)
+ {
+ connect_status = ::connect(handle, (sockaddr *)target_address,
+ sizeof(target_address));
+ }
+ if (connect_status !=0)
+ return connect_status;
+
+ // We do our own buffering...
+ char off=0;
+ ::setsockopt(handle, IPPROTO_TCP, TCP_NODELAY, &off, sizeof(off));
+ return 0;
+ }
+
+
+//------------------------------------------------------------------------
+// Take a file handle (which is supposed to be a listening socket), accept
+// a connection if any, and return a TCPStreamBuff for that connection. On exit,
+// peeraddr would be an addr of the connected peer.
+ int TCPStreamBuff::accept(int listening_socket, SocketAddr& peeraddr)
+ {
+ // do nothing if we are already connected
+ if (is_open())
+ return 0;
+
+ for(;;)
+ {
+ socklen_t target_addr_size = sizeof(peeraddr);
+ handle = ::accept(listening_socket,(sockaddr *)peeraddr,
+ &target_addr_size);
+ if (handle >= 0)
+ break; // Successfully accepted the connection
+ if (errno == EAGAIN || errno == EINTR)
+ cout << "to be implimented" << endl;
+ else
+ return 0;
+ }
+
+ // We do our own buffering...
+ char off=0;
+ ::setsockopt(handle, IPPROTO_TCP, TCP_NODELAY, &off, sizeof(off));
+ return 0;
+ }
+
+} // end of namespace
diff --git a/dev/lib/rxio/TCPStreamBuff.hpp b/dev/lib/rxio/TCPStreamBuff.hpp
new file mode 100644
index 0000000..5adef82
--- /dev/null
+++ b/dev/lib/rxio/TCPStreamBuff.hpp
@@ -0,0 +1,71 @@
+#pragma ident "$Id$"
+
+#ifndef TCPSTREAMBUFF_HPP
+#define TCPSTREAMBUFF_HPP
+
+#include <sstream>
+#include <errno.h>
+#include <stdlib.h>
+
+#include <unistd.h>
+#include <netdb.h>
+#include <fcntl.h>
+#include <sys/file.h>
+#include <netinet/in.h>
+#include <netinet/tcp.h>
+#include <arpa/inet.h>
+
+#include "FDStreamBuff.hpp"
+
+namespace gpstk
+{
+ class SocketAddr;
+
+ class IPaddress
+ {
+ friend class SocketAddr;
+
+ unsigned long address; // Address: 4 bytes in the network byte order
+ IPaddress(const unsigned int netaddr) : address(netaddr) {}
+
+ public:
+ IPaddress() : address(INADDR_ANY) {} // Wildcard address
+ IPaddress(const std::string& name); // Involves the name resolution
+ unsigned long net_addr() const { return address; }
+
+ friend std::ostream& operator <<(std::ostream& os, const IPaddress addr);
+ friend std::ostream& operator <<(std::ostream& os, const SocketAddr& addr);
+ };
+
+ class SocketAddr : sockaddr_in
+ {
+ friend class StreamSocket;
+ friend class UDPsocketIn;
+ SocketAddr() {}
+
+ public:
+ SocketAddr(const IPaddress host, const short port_no);
+ operator sockaddr * () const { return (sockaddr *)this; }
+ friend std::ostream& operator <<(std::ostream& os, const SocketAddr& addr);
+ };
+
+
+ class TCPStreamBuff : public FDStreamBuff
+ {
+ public:
+ TCPStreamBuff() : FDStreamBuff(-1) {}
+
+ ~TCPStreamBuff() {close();}
+
+ int connect(const SocketAddr target_address);
+
+ // Take a file handle (which is supposed to be a listening socket),
+ // accept a connection if any, and return the corresponding TCPbuf
+ // for that connection. On exit, peeraddr would be an addr of the
+ // connected peer
+ int accept(int listening_socket, SocketAddr& peeraddr);
+
+ };
+
+} // end of namespace
+#endif
diff --git a/dev/lib/rxio/miscdefs.hpp b/dev/lib/rxio/miscdefs.hpp
new file mode 100644
index 0000000..defc6e3
--- /dev/null
+++ b/dev/lib/rxio/miscdefs.hpp
@@ -0,0 +1,22 @@
+#pragma ident "$Id$"
+
+
+/**
+ * @file miscdefs.hpp
+ * This file contains miscellaneous definitions that potentially have
+ * global significance (as opposed to being relevant only to one class).
+ */
+
+#ifndef MISCDEFS_HPP
+#define MISCDEFS_HPP
+
+#include <map>
+#include "miscenum.hpp"
+
+namespace gpstk
+{
+ typedef std::pair<gpstk::RangeCode, gpstk::CarrierCode> RangeCarrierPair;
+ typedef std::pair<RangeCarrierPair, short> NavIndex;
+} // namespace gpstk
+
+#endif // MISCDEFS_HPP
diff --git a/dev/lib/rxio/miscenum.hpp b/dev/lib/rxio/miscenum.hpp
new file mode 100644
index 0000000..7ab5112
--- /dev/null
+++ b/dev/lib/rxio/miscenum.hpp
@@ -0,0 +1,134 @@
+#pragma ident "$Id$"
+
+
+/**
+ * @file miscenum.hpp
+ * This file contains miscellaneous enumerations that potentially have
+ * global significance (as opposed to being relevant only to one class).
+ */
+
+#ifndef MISCENUM_HPP
+#define MISCENUM_HPP
+
+#include <string>
+
+namespace gpstk
+{
+ /// An enumeration of the various Carrier Codes.
+ enum CarrierCode
+ {
+ ccUnknown = 0,
+ ccL1 = 1,
+ ccL2 = 2,
+ ccL5 = 5,
+ ccMax
+ };
+
+ /// An enumeration of the various Range Codes.
+ enum RangeCode
+ {
+ rcUnknown = 0,
+ rcCA = 1,
+ rcPcode = 2,
+ rcYcode = 3,
+ rcCodeless = 4,
+ rcCM = 5,
+ rcCL = 6,
+ rcMcode1 = 7,
+ rcMcode2 = 8,
+ rcCMCL = 9,
+ rcMax
+ };
+
+ /// An enumeration of the various Navigation Message Codes.
+ enum NavCode
+ {
+ ncUnknown = 0, ///< Unknown or uninitialized navigation message code.
+ ncICD_200_2 = 1, ///< ICD-GPS-200 Data ID No 2.
+ ncICD_700_M = 2, ///< ICD-GPS-700 M-code.
+ ncICD_705_L5 = 3, ///< ICD-GPS-705 L5 nav.
+ ncICD_200_4 = 4, ///< ICD-GPS-200 Data ID No 4.
+ ncMax
+ };
+
+ /** An enumeration of the External Frequency Status. Relevant
+ * to receivers using external timing sources. */
+ enum ExternalFrequencyStatus
+ {
+ efsUnknown = -1,
+ efsNotLocked = 0,
+ efsLocked = 1
+ };
+
+ namespace StringUtils
+ {
+ /** Decode Carrier Code to a string.
+ * @param cc the Carrier Code to convert.
+ * @return the Carrier Code as a string.
+ */
+ inline std::string asString(const CarrierCode& cc) throw()
+ {
+ switch(cc)
+ {
+ case ccL1: return "L1";
+ case ccL2: return "L2";
+ case ccL5: return "L5";
+ }
+ return "BadCarrierCode";
+ }
+
+ /** Decode Range Code to a string.
+ * @param rc the Range Code to convert.
+ * @return the Range Code as a string.
+ */
+ inline std::string asString(const RangeCode& rc) throw()
+ {
+ switch(rc)
+ {
+ case rcCA: return "CA";
+ case rcPcode: return "P";
+ case rcYcode: return "Y";
+ case rcCodeless: return "Z";
+ case rcCM: return "CM";
+ case rcCL: return "CL";
+ case rcMcode1: return "M1";
+ case rcMcode2: return "M2";
+ case rcCMCL: return "CMCL";
+ }
+ return "BadRangeCode";
+ }
+
+ /** Decode Navigation Message Code to a string.
+ * @param nc the Navigation Code to convert.
+ * @return the Navigation Code as a string.
+ */
+ inline std::string asString(const NavCode& nc) throw()
+ {
+ switch(nc)
+ {
+ case ncICD_200_2: return "ICD-GPS-200 Data ID No. 2";
+ case ncICD_700_M: return "ICD-GPS-700 M-code";
+ case ncICD_705_L5: return "ICD-GPS-705 L5 nav";
+ case ncICD_200_4: return "ICD-GPS-200 Data ID No. 4";
+ }
+ return "BadNavCode";
+ }
+
+ /** Decode external frequency status to a string.
+ * @param e the external frequency status to convert.
+ * @return the Carrier Code as a string.
+ */
+ inline std::string asString(const ExternalFrequencyStatus& e)
+ throw()
+ {
+ switch(e)
+ {
+ case efsNotLocked: return "NotLocked";
+ case efsLocked: return "Locked";
+ }
+ return "BadEFS";
+ }
+ } // namespace StringUtils
+
+}
+#endif // MISCENUM_HPP
diff --git a/dev/ltmain.sh b/dev/ltmain.sh
new file mode 100644
index 0000000..9be0eb1
--- /dev/null
+++ b/dev/ltmain.sh
@@ -0,0 +1,6496 @@
+# ltmain.sh - Provide generalized library-building support services.
+# NOTE: Changing this file will not affect anything until you rerun configure.
+#
+# Copyright (C) 1996, 1997, 1998, 1999, 2000, 2001, 2003, 2004, 2005
+# Free Software Foundation, Inc.
+# Originally by Gordon Matzigkeit <gord at gnu.ai.mit.edu>, 1996
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful, but
+# WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+# General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+#
+# As a special exception to the GNU General Public License, if you
+# distribute this file as part of a program that contains a
+# configuration script generated by Autoconf, you may include it under
+# the same distribution terms that you use for the rest of that program.
+
+basename="s,^.*/,,g"
+
+# Work around backward compatibility issue on IRIX 6.5. On IRIX 6.4+, sh
+# is ksh but when the shell is invoked as "sh" and the current value of
+# the _XPG environment variable is not equal to 1 (one), the special
+# positional parameter $0, within a function call, is the name of the
+# function.
+progpath="$0"
+
+# The name of this program:
+progname=`echo "$progpath" | $SED $basename`
+modename="$progname"
+
+# Global variables:
+EXIT_SUCCESS=0
+EXIT_FAILURE=1
+
+PROGRAM=ltmain.sh
+PACKAGE=libtool
+VERSION=1.5.16
+TIMESTAMP=" (1.1220.2.235 2005/04/25 18:13:26)"
+
+# See if we are running on zsh, and set the options which allow our
+# commands through without removal of \ escapes.
+if test -n "${ZSH_VERSION+set}" ; then
+ setopt NO_GLOB_SUBST
+fi
+
+# Check that we have a working $echo.
+if test "X$1" = X--no-reexec; then
+ # Discard the --no-reexec flag, and continue.
+ shift
+elif test "X$1" = X--fallback-echo; then
+ # Avoid inline document here, it may be left over
+ :
+elif test "X`($echo '\t') 2>/dev/null`" = 'X\t'; then
+ # Yippee, $echo works!
+ :
+else
+ # Restart under the correct shell, and then maybe $echo will work.
+ exec $SHELL "$progpath" --no-reexec ${1+"$@"}
+fi
+
+if test "X$1" = X--fallback-echo; then
+ # used as fallback echo
+ shift
+ cat <<EOF
+$*
+EOF
+ exit $EXIT_SUCCESS
+fi
+
+default_mode=
+help="Try \`$progname --help' for more information."
+magic="%%%MAGIC variable%%%"
+mkdir="mkdir"
+mv="mv -f"
+rm="rm -f"
+
+# Sed substitution that helps us do robust quoting. It backslashifies
+# metacharacters that are still active within double-quoted strings.
+Xsed="${SED}"' -e 1s/^X//'
+sed_quote_subst='s/\([\\`\\"$\\\\]\)/\\\1/g'
+# test EBCDIC or ASCII
+case `echo A|tr A '\301'` in
+ A) # EBCDIC based system
+ SP2NL="tr '\100' '\n'"
+ NL2SP="tr '\r\n' '\100\100'"
+ ;;
+ *) # Assume ASCII based system
+ SP2NL="tr '\040' '\012'"
+ NL2SP="tr '\015\012' '\040\040'"
+ ;;
+esac
+
+# NLS nuisances.
+# Only set LANG and LC_ALL to C if already set.
+# These must not be set unconditionally because not all systems understand
+# e.g. LANG=C (notably SCO).
+# We save the old values to restore during execute mode.
+if test "${LC_ALL+set}" = set; then
+ save_LC_ALL="$LC_ALL"; LC_ALL=C; export LC_ALL
+fi
+if test "${LANG+set}" = set; then
+ save_LANG="$LANG"; LANG=C; export LANG
+fi
+
+# Make sure IFS has a sensible default
+lt_nl='
+'
+IFS=" $lt_nl"
+
+if test "$build_libtool_libs" != yes && test "$build_old_libs" != yes; then
+ $echo "$modename: not configured to build any kind of library" 1>&2
+ $echo "Fatal configuration error. See the $PACKAGE docs for more information." 1>&2
+ exit $EXIT_FAILURE
+fi
+
+# Global variables.
+mode=$default_mode
+nonopt=
+prev=
+prevopt=
+run=
+show="$echo"
+show_help=
+execute_dlfiles=
+lo2o="s/\\.lo\$/.${objext}/"
+o2lo="s/\\.${objext}\$/.lo/"
+quote_scanset='[[~#^*{};<>?'"'"' ]'
+
+#####################################
+# Shell function definitions:
+# This seems to be the best place for them
+
+# func_win32_libid arg
+# return the library type of file 'arg'
+#
+# Need a lot of goo to handle *both* DLLs and import libs
+# Has to be a shell function in order to 'eat' the argument
+# that is supplied when $file_magic_command is called.
+func_win32_libid ()
+{
+ win32_libid_type="unknown"
+ win32_fileres=`file -L $1 2>/dev/null`
+ case $win32_fileres in
+ *ar\ archive\ import\ library*) # definitely import
+ win32_libid_type="x86 archive import"
+ ;;
+ *ar\ archive*) # could be an import, or static
+ if eval $OBJDUMP -f $1 | $SED -e '10q' 2>/dev/null | \
+ $EGREP -e 'file format pe-i386(.*architecture: i386)?' >/dev/null ; then
+ win32_nmres=`eval $NM -f posix -A $1 | \
+ sed -n -e '1,100{/ I /{x;/import/!{s/^/import/;h;p;};x;};}'`
+ if test "X$win32_nmres" = "Ximport" ; then
+ win32_libid_type="x86 archive import"
+ else
+ win32_libid_type="x86 archive static"
+ fi
+ fi
+ ;;
+ *DLL*)
+ win32_libid_type="x86 DLL"
+ ;;
+ *executable*) # but shell scripts are "executable" too...
+ case $win32_fileres in
+ *MS\ Windows\ PE\ Intel*)
+ win32_libid_type="x86 DLL"
+ ;;
+ esac
+ ;;
+ esac
+ $echo $win32_libid_type
+}
+
+
+# func_infer_tag arg
+# Infer tagged configuration to use if any are available and
+# if one wasn't chosen via the "--tag" command line option.
+# Only attempt this if the compiler in the base compile
+# command doesn't match the default compiler.
+# arg is usually of the form 'gcc ...'
+func_infer_tag ()
+{
+ if test -n "$available_tags" && test -z "$tagname"; then
+ CC_quoted=
+ for arg in $CC; do
+ case $arg in
+ *$quote_scanset* | *]* | *\|* | *\&* | *\(* | *\)* | "")
+ arg="\"$arg\""
+ ;;
+ esac
+ CC_quoted="$CC_quoted $arg"
+ done
+ case $@ in
+ # Blanks in the command may have been stripped by the calling shell,
+ # but not from the CC environment variable when configure was run.
+ " $CC "* | "$CC "* | " `$echo $CC` "* | "`$echo $CC` "* | " $CC_quoted"* | "$CC_quoted "* | " `$echo $CC_quoted` "* | "`$echo $CC_quoted` "*) ;;
+ # Blanks at the start of $base_compile will cause this to fail
+ # if we don't check for them as well.
+ *)
+ for z in $available_tags; do
+ if grep "^# ### BEGIN LIBTOOL TAG CONFIG: $z$" < "$progpath" > /dev/null; then
+ # Evaluate the configuration.
+ eval "`${SED} -n -e '/^# ### BEGIN LIBTOOL TAG CONFIG: '$z'$/,/^# ### END LIBTOOL TAG CONFIG: '$z'$/p' < $progpath`"
+ CC_quoted=
+ for arg in $CC; do
+ # Double-quote args containing other shell metacharacters.
+ case $arg in
+ *$quote_scanset* | *]* | *\|* | *\&* | *\(* | *\)* | "")
+ arg="\"$arg\""
+ ;;
+ esac
+ CC_quoted="$CC_quoted $arg"
+ done
+ case "$@ " in
+ " $CC "* | "$CC "* | " `$echo $CC` "* | "`$echo $CC` "* | " $CC_quoted"* | "$CC_quoted "* | " `$echo $CC_quoted` "* | "`$echo $CC_quoted` "*)
+ # The compiler in the base compile command matches
+ # the one in the tagged configuration.
+ # Assume this is the tagged configuration we want.
+ tagname=$z
+ break
+ ;;
+ esac
+ fi
+ done
+ # If $tagname still isn't set, then no tagged configuration
+ # was found and let the user know that the "--tag" command
+ # line option must be used.
+ if test -z "$tagname"; then
+ $echo "$modename: unable to infer tagged configuration"
+ $echo "$modename: specify a tag with \`--tag'" 1>&2
+ exit $EXIT_FAILURE
+# else
+# $echo "$modename: using $tagname tagged configuration"
+ fi
+ ;;
+ esac
+ fi
+}
+
+
+# func_extract_an_archive dir oldlib
+func_extract_an_archive ()
+{
+ f_ex_an_ar_dir="$1"; shift
+ f_ex_an_ar_oldlib="$1"
+
+ $show "(cd $f_ex_an_ar_dir && $AR x $f_ex_an_ar_oldlib)"
+ $run eval "(cd \$f_ex_an_ar_dir && $AR x \$f_ex_an_ar_oldlib)" || exit $?
+ if ($AR t "$f_ex_an_ar_oldlib" | sort | sort -uc >/dev/null 2>&1); then
+ :
+ else
+ $echo "$modename: ERROR: object name conflicts: $f_ex_an_ar_dir/$f_ex_an_ar_oldlib" 1>&2
+ exit $EXIT_FAILURE
+ fi
+}
+
+# func_extract_archives gentop oldlib ...
+func_extract_archives ()
+{
+ my_gentop="$1"; shift
+ my_oldlibs=${1+"$@"}
+ my_oldobjs=""
+ my_xlib=""
+ my_xabs=""
+ my_xdir=""
+ my_status=""
+
+ $show "${rm}r $my_gentop"
+ $run ${rm}r "$my_gentop"
+ $show "$mkdir $my_gentop"
+ $run $mkdir "$my_gentop"
+ my_status=$?
+ if test "$my_status" -ne 0 && test ! -d "$my_gentop"; then
+ exit $my_status
+ fi
+
+ for my_xlib in $my_oldlibs; do
+ # Extract the objects.
+ case $my_xlib in
+ [\\/]* | [A-Za-z]:[\\/]*) my_xabs="$my_xlib" ;;
+ *) my_xabs=`pwd`"/$my_xlib" ;;
+ esac
+ my_xlib=`$echo "X$my_xlib" | $Xsed -e 's%^.*/%%'`
+ my_xdir="$my_gentop/$my_xlib"
+
+ $show "${rm}r $my_xdir"
+ $run ${rm}r "$my_xdir"
+ $show "$mkdir $my_xdir"
+ $run $mkdir "$my_xdir"
+ status=$?
+ if test "$status" -ne 0 && test ! -d "$my_xdir"; then
+ exit $status
+ fi
+ case $host in
+ *-darwin*)
+ $show "Extracting $my_xabs"
+ # Do not bother doing anything if just a dry run
+ if test -z "$run"; then
+ darwin_orig_dir=`pwd`
+ cd $my_xdir || exit $?
+ darwin_archive=$my_xabs
+ darwin_curdir=`pwd`
+ darwin_base_archive=`$echo "X$darwin_archive" | $Xsed -e 's%^.*/%%'`
+ darwin_arches=`lipo -info "$darwin_archive" 2>/dev/null | $EGREP Architectures 2>/dev/null`
+ if test -n "$darwin_arches"; then
+ darwin_arches=`echo "$darwin_arches" | $SED -e 's/.*are://'`
+ darwin_arch=
+ $show "$darwin_base_archive has multiple architectures $darwin_arches"
+ for darwin_arch in $darwin_arches ; do
+ mkdir -p "unfat-$$/${darwin_base_archive}-${darwin_arch}"
+ lipo -thin $darwin_arch -output "unfat-$$/${darwin_base_archive}-${darwin_arch}/${darwin_base_archive}" "${darwin_archive}"
+ cd "unfat-$$/${darwin_base_archive}-${darwin_arch}"
+ func_extract_an_archive "`pwd`" "${darwin_base_archive}"
+ cd "$darwin_curdir"
+ $rm "unfat-$$/${darwin_base_archive}-${darwin_arch}/${darwin_base_archive}"
+ done # $darwin_arches
+ ## Okay now we have a bunch of thin objects, gotta fatten them up :)
+ darwin_filelist=`find unfat-$$ -type f -name \*.o -print -o -name \*.lo -print| xargs basename | sort -u | $NL2SP`
+ darwin_file=
+ darwin_files=
+ for darwin_file in $darwin_filelist; do
+ darwin_files=`find unfat-$$ -name $darwin_file -print | $NL2SP`
+ lipo -create -output "$darwin_file" $darwin_files
+ done # $darwin_filelist
+ ${rm}r unfat-$$
+ cd "$darwin_orig_dir"
+ else
+ cd "$darwin_orig_dir"
+ func_extract_an_archive "$my_xdir" "$my_xabs"
+ fi # $darwin_arches
+ fi # $run
+ ;;
+ *)
+ func_extract_an_archive "$my_xdir" "$my_xabs"
+ ;;
+ esac
+ my_oldobjs="$my_oldobjs "`find $my_xdir -name \*.$objext -print -o -name \*.lo -print | $NL2SP`
+ done
+ func_extract_archives_result="$my_oldobjs"
+}
+# End of Shell function definitions
+#####################################
+
+# Darwin sucks
+eval std_shrext=\"$shrext_cmds\"
+
+# Parse our command line options once, thoroughly.
+while test "$#" -gt 0
+do
+ arg="$1"
+ shift
+
+ case $arg in
+ -*=*) optarg=`$echo "X$arg" | $Xsed -e 's/[-_a-zA-Z0-9]*=//'` ;;
+ *) optarg= ;;
+ esac
+
+ # If the previous option needs an argument, assign it.
+ if test -n "$prev"; then
+ case $prev in
+ execute_dlfiles)
+ execute_dlfiles="$execute_dlfiles $arg"
+ ;;
+ tag)
+ tagname="$arg"
+ preserve_args="${preserve_args}=$arg"
+
+ # Check whether tagname contains only valid characters
+ case $tagname in
+ *[!-_A-Za-z0-9,/]*)
+ $echo "$progname: invalid tag name: $tagname" 1>&2
+ exit $EXIT_FAILURE
+ ;;
+ esac
+
+ case $tagname in
+ CC)
+ # Don't test for the "default" C tag, as we know, it's there, but
+ # not specially marked.
+ ;;
+ *)
+ if grep "^# ### BEGIN LIBTOOL TAG CONFIG: $tagname$" < "$progpath" > /dev/null; then
+ taglist="$taglist $tagname"
+ # Evaluate the configuration.
+ eval "`${SED} -n -e '/^# ### BEGIN LIBTOOL TAG CONFIG: '$tagname'$/,/^# ### END LIBTOOL TAG CONFIG: '$tagname'$/p' < $progpath`"
+ else
+ $echo "$progname: ignoring unknown tag $tagname" 1>&2
+ fi
+ ;;
+ esac
+ ;;
+ *)
+ eval "$prev=\$arg"
+ ;;
+ esac
+
+ prev=
+ prevopt=
+ continue
+ fi
+
+ # Have we seen a non-optional argument yet?
+ case $arg in
+ --help)
+ show_help=yes
+ ;;
+
+ --version)
+ $echo "$PROGRAM (GNU $PACKAGE) $VERSION$TIMESTAMP"
+ $echo
+ $echo "Copyright (C) 2005 Free Software Foundation, Inc."
+ $echo "This is free software; see the source for copying conditions. There is NO"
+ $echo "warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE."
+ exit $?
+ ;;
+
+ --config)
+ ${SED} -e '1,/^# ### BEGIN LIBTOOL CONFIG/d' -e '/^# ### END LIBTOOL CONFIG/,$d' $progpath
+ # Now print the configurations for the tags.
+ for tagname in $taglist; do
+ ${SED} -n -e "/^# ### BEGIN LIBTOOL TAG CONFIG: $tagname$/,/^# ### END LIBTOOL TAG CONFIG: $tagname$/p" < "$progpath"
+ done
+ exit $?
+ ;;
+
+ --debug)
+ $echo "$progname: enabling shell trace mode"
+ set -x
+ preserve_args="$preserve_args $arg"
+ ;;
+
+ --dry-run | -n)
+ run=:
+ ;;
+
+ --features)
+ $echo "host: $host"
+ if test "$build_libtool_libs" = yes; then
+ $echo "enable shared libraries"
+ else
+ $echo "disable shared libraries"
+ fi
+ if test "$build_old_libs" = yes; then
+ $echo "enable static libraries"
+ else
+ $echo "disable static libraries"
+ fi
+ exit $?
+ ;;
+
+ --finish) mode="finish" ;;
+
+ --mode) prevopt="--mode" prev=mode ;;
+ --mode=*) mode="$optarg" ;;
+
+ --preserve-dup-deps) duplicate_deps="yes" ;;
+
+ --quiet | --silent)
+ show=:
+ preserve_args="$preserve_args $arg"
+ ;;
+
+ --tag) prevopt="--tag" prev=tag ;;
+ --tag=*)
+ set tag "$optarg" ${1+"$@"}
+ shift
+ prev=tag
+ preserve_args="$preserve_args --tag"
+ ;;
+
+ -dlopen)
+ prevopt="-dlopen"
+ prev=execute_dlfiles
+ ;;
+
+ -*)
+ $echo "$modename: unrecognized option \`$arg'" 1>&2
+ $echo "$help" 1>&2
+ exit $EXIT_FAILURE
+ ;;
+
+ *)
+ nonopt="$arg"
+ break
+ ;;
+ esac
+done
+
+if test -n "$prevopt"; then
+ $echo "$modename: option \`$prevopt' requires an argument" 1>&2
+ $echo "$help" 1>&2
+ exit $EXIT_FAILURE
+fi
+
+# If this variable is set in any of the actions, the command in it
+# will be execed at the end. This prevents here-documents from being
+# left over by shells.
+exec_cmd=
+
+if test -z "$show_help"; then
+
+ # Infer the operation mode.
+ if test -z "$mode"; then
+ $echo "*** Warning: inferring the mode of operation is deprecated." 1>&2
+ $echo "*** Future versions of Libtool will require --mode=MODE be specified." 1>&2
+ case $nonopt in
+ *cc | cc* | *++ | gcc* | *-gcc* | g++* | xlc*)
+ mode=link
+ for arg
+ do
+ case $arg in
+ -c)
+ mode=compile
+ break
+ ;;
+ esac
+ done
+ ;;
+ *db | *dbx | *strace | *truss)
+ mode=execute
+ ;;
+ *install*|cp|mv)
+ mode=install
+ ;;
+ *rm)
+ mode=uninstall
+ ;;
+ *)
+ # If we have no mode, but dlfiles were specified, then do execute mode.
+ test -n "$execute_dlfiles" && mode=execute
+
+ # Just use the default operation mode.
+ if test -z "$mode"; then
+ if test -n "$nonopt"; then
+ $echo "$modename: warning: cannot infer operation mode from \`$nonopt'" 1>&2
+ else
+ $echo "$modename: warning: cannot infer operation mode without MODE-ARGS" 1>&2
+ fi
+ fi
+ ;;
+ esac
+ fi
+
+ # Only execute mode is allowed to have -dlopen flags.
+ if test -n "$execute_dlfiles" && test "$mode" != execute; then
+ $echo "$modename: unrecognized option \`-dlopen'" 1>&2
+ $echo "$help" 1>&2
+ exit $EXIT_FAILURE
+ fi
+
+ # Change the help message to a mode-specific one.
+ generic_help="$help"
+ help="Try \`$modename --help --mode=$mode' for more information."
+
+ # These modes are in order of execution frequency so that they run quickly.
+ case $mode in
+ # libtool compile mode
+ compile)
+ modename="$modename: compile"
+ # Get the compilation command and the source file.
+ base_compile=
+ srcfile="$nonopt" # always keep a non-empty value in "srcfile"
+ suppress_opt=yes
+ suppress_output=
+ arg_mode=normal
+ libobj=
+ later=
+
+ for arg
+ do
+ case "$arg_mode" in
+ arg )
+ # do not "continue". Instead, add this to base_compile
+ lastarg="$arg"
+ arg_mode=normal
+ ;;
+
+ target )
+ libobj="$arg"
+ arg_mode=normal
+ continue
+ ;;
+
+ normal )
+ # Accept any command-line options.
+ case $arg in
+ -o)
+ if test -n "$libobj" ; then
+ $echo "$modename: you cannot specify \`-o' more than once" 1>&2
+ exit $EXIT_FAILURE
+ fi
+ arg_mode=target
+ continue
+ ;;
+
+ -static | -prefer-pic | -prefer-non-pic)
+ later="$later $arg"
+ continue
+ ;;
+
+ -no-suppress)
+ suppress_opt=no
+ continue
+ ;;
+
+ -Xcompiler)
+ arg_mode=arg # the next one goes into the "base_compile" arg list
+ continue # The current "srcfile" will either be retained or
+ ;; # replaced later. I would guess that would be a bug.
+
+ -Wc,*)
+ args=`$echo "X$arg" | $Xsed -e "s/^-Wc,//"`
+ lastarg=
+ save_ifs="$IFS"; IFS=','
+ for arg in $args; do
+ IFS="$save_ifs"
+
+ # Double-quote args containing other shell metacharacters.
+ # Many Bourne shells cannot handle close brackets correctly
+ # in scan sets, so we specify it separately.
+ case $arg in
+ *$quote_scanset* | *]* | *\|* | *\&* | *\(* | *\)* | "")
+ arg="\"$arg\""
+ ;;
+ esac
+ lastarg="$lastarg $arg"
+ done
+ IFS="$save_ifs"
+ lastarg=`$echo "X$lastarg" | $Xsed -e "s/^ //"`
+
+ # Add the arguments to base_compile.
+ base_compile="$base_compile $lastarg"
+ continue
+ ;;
+
+ * )
+ # Accept the current argument as the source file.
+ # The previous "srcfile" becomes the current argument.
+ #
+ lastarg="$srcfile"
+ srcfile="$arg"
+ ;;
+ esac # case $arg
+ ;;
+ esac # case $arg_mode
+
+ # Aesthetically quote the previous argument.
+ lastarg=`$echo "X$lastarg" | $Xsed -e "$sed_quote_subst"`
+
+ case $lastarg in
+ # Double-quote args containing other shell metacharacters.
+ # Many Bourne shells cannot handle close brackets correctly
+ # in scan sets, and some SunOS ksh mistreat backslash-escaping
+ # in scan sets (worked around with variable expansion),
+ # and furthermore cannot handle '|' '&' '(' ')' in scan sets
+ # at all, so we specify them separately.
+ *$quote_scanset* | *]* | *\|* | *\&* | *\(* | *\)* | "")
+ lastarg="\"$lastarg\""
+ ;;
+ esac
+
+ base_compile="$base_compile $lastarg"
+ done # for arg
+
+ case $arg_mode in
+ arg)
+ $echo "$modename: you must specify an argument for -Xcompile"
+ exit $EXIT_FAILURE
+ ;;
+ target)
+ $echo "$modename: you must specify a target with \`-o'" 1>&2
+ exit $EXIT_FAILURE
+ ;;
+ *)
+ # Get the name of the library object.
+ [ -z "$libobj" ] && libobj=`$echo "X$srcfile" | $Xsed -e 's%^.*/%%'`
+ ;;
+ esac
+
+ # Recognize several different file suffixes.
+ # If the user specifies -o file.o, it is replaced with file.lo
+ xform='[cCFSifmso]'
+ case $libobj in
+ *.ada) xform=ada ;;
+ *.adb) xform=adb ;;
+ *.ads) xform=ads ;;
+ *.asm) xform=asm ;;
+ *.c++) xform=c++ ;;
+ *.cc) xform=cc ;;
+ *.ii) xform=ii ;;
+ *.class) xform=class ;;
+ *.cpp) xform=cpp ;;
+ *.cxx) xform=cxx ;;
+ *.f90) xform=f90 ;;
+ *.for) xform=for ;;
+ *.java) xform=java ;;
+ esac
+
+ libobj=`$echo "X$libobj" | $Xsed -e "s/\.$xform$/.lo/"`
+
+ case $libobj in
+ *.lo) obj=`$echo "X$libobj" | $Xsed -e "$lo2o"` ;;
+ *)
+ $echo "$modename: cannot determine name of library object from \`$libobj'" 1>&2
+ exit $EXIT_FAILURE
+ ;;
+ esac
+
+ func_infer_tag $base_compile
+
+ for arg in $later; do
+ case $arg in
+ -static)
+ build_old_libs=yes
+ continue
+ ;;
+
+ -prefer-pic)
+ pic_mode=yes
+ continue
+ ;;
+
+ -prefer-non-pic)
+ pic_mode=no
+ continue
+ ;;
+ esac
+ done
+
+ qlibobj=`$echo "X$libobj" | $Xsed -e "$sed_quote_subst"`
+ case $qlibobj in
+ *$quote_scanset* | *]* | *\|* | *\&* | *\(* | *\)* | "")
+ qlibobj="\"$qlibobj\"" ;;
+ esac
+ if test "X$libobj" != "X$qlibobj"; then
+ $echo "$modename: libobj name \`$libobj' may not contain shell special characters."
+ exit $EXIT_FAILURE
+ fi
+ objname=`$echo "X$obj" | $Xsed -e 's%^.*/%%'`
+ xdir=`$echo "X$obj" | $Xsed -e 's%/[^/]*$%%'`
+ if test "X$xdir" = "X$obj"; then
+ xdir=
+ else
+ xdir=$xdir/
+ fi
+ lobj=${xdir}$objdir/$objname
+
+ if test -z "$base_compile"; then
+ $echo "$modename: you must specify a compilation command" 1>&2
+ $echo "$help" 1>&2
+ exit $EXIT_FAILURE
+ fi
+
+ # Delete any leftover library objects.
+ if test "$build_old_libs" = yes; then
+ removelist="$obj $lobj $libobj ${libobj}T"
+ else
+ removelist="$lobj $libobj ${libobj}T"
+ fi
+
+ $run $rm $removelist
+ trap "$run $rm $removelist; exit $EXIT_FAILURE" 1 2 15
+
+ # On Cygwin there's no "real" PIC flag so we must build both object types
+ case $host_os in
+ cygwin* | mingw* | pw32* | os2*)
+ pic_mode=default
+ ;;
+ esac
+ if test "$pic_mode" = no && test "$deplibs_check_method" != pass_all; then
+ # non-PIC code in shared libraries is not supported
+ pic_mode=default
+ fi
+
+ # Calculate the filename of the output object if compiler does
+ # not support -o with -c
+ if test "$compiler_c_o" = no; then
+ output_obj=`$echo "X$srcfile" | $Xsed -e 's%^.*/%%' -e 's%\.[^.]*$%%'`.${objext}
+ lockfile="$output_obj.lock"
+ removelist="$removelist $output_obj $lockfile"
+ trap "$run $rm $removelist; exit $EXIT_FAILURE" 1 2 15
+ else
+ output_obj=
+ need_locks=no
+ lockfile=
+ fi
+
+ # Lock this critical section if it is needed
+ # We use this script file to make the link, it avoids creating a new file
+ if test "$need_locks" = yes; then
+ until $run ln "$progpath" "$lockfile" 2>/dev/null; do
+ $show "Waiting for $lockfile to be removed"
+ sleep 2
+ done
+ elif test "$need_locks" = warn; then
+ if test -f "$lockfile"; then
+ $echo "\
+*** ERROR, $lockfile exists and contains:
+`cat $lockfile 2>/dev/null`
+
+This indicates that another process is trying to use the same
+temporary object file, and libtool could not work around it because
+your compiler does not support \`-c' and \`-o' together. If you
+repeat this compilation, it may succeed, by chance, but you had better
+avoid parallel builds (make -j) in this platform, or get a better
+compiler."
+
+ $run $rm $removelist
+ exit $EXIT_FAILURE
+ fi
+ $echo "$srcfile" > "$lockfile"
+ fi
+
+ if test -n "$fix_srcfile_path"; then
+ eval srcfile=\"$fix_srcfile_path\"
+ fi
+ qsrcfile=`$echo "X$srcfile" | $Xsed -e "$sed_quote_subst"`
+ case $qsrcfile in
+ *$quote_scanset* | *]* | *\|* | *\&* | *\(* | *\)* | "")
+ qsrcfile="\"$qsrcfile\"" ;;
+ esac
+
+ $run $rm "$libobj" "${libobj}T"
+
+ # Create a libtool object file (analogous to a ".la" file),
+ # but don't create it if we're doing a dry run.
+ test -z "$run" && cat > ${libobj}T <<EOF
+# $libobj - a libtool object file
+# Generated by $PROGRAM - GNU $PACKAGE $VERSION$TIMESTAMP
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# Name of the PIC object.
+EOF
+
+ # Only build a PIC object if we are building libtool libraries.
+ if test "$build_libtool_libs" = yes; then
+ # Without this assignment, base_compile gets emptied.
+ fbsd_hideous_sh_bug=$base_compile
+
+ if test "$pic_mode" != no; then
+ command="$base_compile $qsrcfile $pic_flag"
+ else
+ # Don't build PIC code
+ command="$base_compile $qsrcfile"
+ fi
+
+ if test ! -d "${xdir}$objdir"; then
+ $show "$mkdir ${xdir}$objdir"
+ $run $mkdir ${xdir}$objdir
+ status=$?
+ if test "$status" -ne 0 && test ! -d "${xdir}$objdir"; then
+ exit $status
+ fi
+ fi
+
+ if test -z "$output_obj"; then
+ # Place PIC objects in $objdir
+ command="$command -o $lobj"
+ fi
+
+ $run $rm "$lobj" "$output_obj"
+
+ $show "$command"
+ if $run eval "$command"; then :
+ else
+ test -n "$output_obj" && $run $rm $removelist
+ exit $EXIT_FAILURE
+ fi
+
+ if test "$need_locks" = warn &&
+ test "X`cat $lockfile 2>/dev/null`" != "X$srcfile"; then
+ $echo "\
+*** ERROR, $lockfile contains:
+`cat $lockfile 2>/dev/null`
+
+but it should contain:
+$srcfile
+
+This indicates that another process is trying to use the same
+temporary object file, and libtool could not work around it because
+your compiler does not support \`-c' and \`-o' together. If you
+repeat this compilation, it may succeed, by chance, but you had better
+avoid parallel builds (make -j) in this platform, or get a better
+compiler."
+
+ $run $rm $removelist
+ exit $EXIT_FAILURE
+ fi
+
+ # Just move the object if needed, then go on to compile the next one
+ if test -n "$output_obj" && test "X$output_obj" != "X$lobj"; then
+ $show "$mv $output_obj $lobj"
+ if $run $mv $output_obj $lobj; then :
+ else
+ error=$?
+ $run $rm $removelist
+ exit $error
+ fi
+ fi
+
+ # Append the name of the PIC object to the libtool object file.
+ test -z "$run" && cat >> ${libobj}T <<EOF
+pic_object='$objdir/$objname'
+
+EOF
+
+ # Allow error messages only from the first compilation.
+ if test "$suppress_opt" = yes; then
+ suppress_output=' >/dev/null 2>&1'
+ fi
+ else
+ # No PIC object so indicate it doesn't exist in the libtool
+ # object file.
+ test -z "$run" && cat >> ${libobj}T <<EOF
+pic_object=none
+
+EOF
+ fi
+
+ # Only build a position-dependent object if we build old libraries.
+ if test "$build_old_libs" = yes; then
+ if test "$pic_mode" != yes; then
+ # Don't build PIC code
+ command="$base_compile $qsrcfile"
+ else
+ command="$base_compile $qsrcfile $pic_flag"
+ fi
+ if test "$compiler_c_o" = yes; then
+ command="$command -o $obj"
+ fi
+
+ # Suppress compiler output if we already did a PIC compilation.
+ command="$command$suppress_output"
+ $run $rm "$obj" "$output_obj"
+ $show "$command"
+ if $run eval "$command"; then :
+ else
+ $run $rm $removelist
+ exit $EXIT_FAILURE
+ fi
+
+ if test "$need_locks" = warn &&
+ test "X`cat $lockfile 2>/dev/null`" != "X$srcfile"; then
+ $echo "\
+*** ERROR, $lockfile contains:
+`cat $lockfile 2>/dev/null`
+
+but it should contain:
+$srcfile
+
+This indicates that another process is trying to use the same
+temporary object file, and libtool could not work around it because
+your compiler does not support \`-c' and \`-o' together. If you
+repeat this compilation, it may succeed, by chance, but you had better
+avoid parallel builds (make -j) in this platform, or get a better
+compiler."
+
+ $run $rm $removelist
+ exit $EXIT_FAILURE
+ fi
+
+ # Just move the object if needed
+ if test -n "$output_obj" && test "X$output_obj" != "X$obj"; then
+ $show "$mv $output_obj $obj"
+ if $run $mv $output_obj $obj; then :
+ else
+ error=$?
+ $run $rm $removelist
+ exit $error
+ fi
+ fi
+
+ # Append the name of the non-PIC object the libtool object file.
+ # Only append if the libtool object file exists.
+ test -z "$run" && cat >> ${libobj}T <<EOF
+# Name of the non-PIC object.
+non_pic_object='$objname'
+
+EOF
+ else
+ # Append the name of the non-PIC object the libtool object file.
+ # Only append if the libtool object file exists.
+ test -z "$run" && cat >> ${libobj}T <<EOF
+# Name of the non-PIC object.
+non_pic_object=none
+
+EOF
+ fi
+
+ $run $mv "${libobj}T" "${libobj}"
+
+ # Unlock the critical section if it was locked
+ if test "$need_locks" != no; then
+ $run $rm "$lockfile"
+ fi
+
+ exit $EXIT_SUCCESS
+ ;;
+
+ # libtool link mode
+ link | relink)
+ modename="$modename: link"
+ case $host in
+ *-*-cygwin* | *-*-mingw* | *-*-pw32* | *-*-os2*)
+ # It is impossible to link a dll without this setting, and
+ # we shouldn't force the makefile maintainer to figure out
+ # which system we are compiling for in order to pass an extra
+ # flag for every libtool invocation.
+ # allow_undefined=no
+
+ # FIXME: Unfortunately, there are problems with the above when trying
+ # to make a dll which has undefined symbols, in which case not
+ # even a static library is built. For now, we need to specify
+ # -no-undefined on the libtool link line when we can be certain
+ # that all symbols are satisfied, otherwise we get a static library.
+ allow_undefined=yes
+ ;;
+ *)
+ allow_undefined=yes
+ ;;
+ esac
+ libtool_args="$nonopt"
+ base_compile="$nonopt $@"
+ compile_command="$nonopt"
+ finalize_command="$nonopt"
+
+ compile_rpath=
+ finalize_rpath=
+ compile_shlibpath=
+ finalize_shlibpath=
+ convenience=
+ old_convenience=
+ deplibs=
+ old_deplibs=
+ compiler_flags=
+ linker_flags=
+ dllsearchpath=
+ lib_search_path=`pwd`
+ inst_prefix_dir=
+
+ avoid_version=no
+ dlfiles=
+ dlprefiles=
+ dlself=no
+ export_dynamic=no
+ export_symbols=
+ export_symbols_regex=
+ generated=
+ libobjs=
+ ltlibs=
+ module=no
+ no_install=no
+ objs=
+ non_pic_objects=
+ precious_files_regex=
+ prefer_static_libs=no
+ preload=no
+ prev=
+ prevarg=
+ release=
+ rpath=
+ xrpath=
+ perm_rpath=
+ temp_rpath=
+ thread_safe=no
+ vinfo=
+ vinfo_number=no
+
+ func_infer_tag $base_compile
+
+ # We need to know -static, to get the right output filenames.
+ for arg
+ do
+ case $arg in
+ -all-static | -static)
+ if test "X$arg" = "X-all-static"; then
+ if test "$build_libtool_libs" = yes && test -z "$link_static_flag"; then
+ $echo "$modename: warning: complete static linking is impossible in this configuration" 1>&2
+ fi
+ if test -n "$link_static_flag"; then
+ dlopen_self=$dlopen_self_static
+ fi
+ else
+ if test -z "$pic_flag" && test -n "$link_static_flag"; then
+ dlopen_self=$dlopen_self_static
+ fi
+ fi
+ build_libtool_libs=no
+ build_old_libs=yes
+ prefer_static_libs=yes
+ break
+ ;;
+ esac
+ done
+
+ # See if our shared archives depend on static archives.
+ test -n "$old_archive_from_new_cmds" && build_old_libs=yes
+
+ # Go through the arguments, transforming them on the way.
+ while test "$#" -gt 0; do
+ arg="$1"
+ shift
+ case $arg in
+ *$quote_scanset* | *]* | *\|* | *\&* | *\(* | *\)* | "")
+ qarg=\"`$echo "X$arg" | $Xsed -e "$sed_quote_subst"`\" ### testsuite: skip nested quoting test
+ ;;
+ *) qarg=$arg ;;
+ esac
+ libtool_args="$libtool_args $qarg"
+
+ # If the previous option needs an argument, assign it.
+ if test -n "$prev"; then
+ case $prev in
+ output)
+ compile_command="$compile_command @OUTPUT@"
+ finalize_command="$finalize_command @OUTPUT@"
+ ;;
+ esac
+
+ case $prev in
+ dlfiles|dlprefiles)
+ if test "$preload" = no; then
+ # Add the symbol object into the linking commands.
+ compile_command="$compile_command @SYMFILE@"
+ finalize_command="$finalize_command @SYMFILE@"
+ preload=yes
+ fi
+ case $arg in
+ *.la | *.lo) ;; # We handle these cases below.
+ force)
+ if test "$dlself" = no; then
+ dlself=needless
+ export_dynamic=yes
+ fi
+ prev=
+ continue
+ ;;
+ self)
+ if test "$prev" = dlprefiles; then
+ dlself=yes
+ elif test "$prev" = dlfiles && test "$dlopen_self" != yes; then
+ dlself=yes
+ else
+ dlself=needless
+ export_dynamic=yes
+ fi
+ prev=
+ continue
+ ;;
+ *)
+ if test "$prev" = dlfiles; then
+ dlfiles="$dlfiles $arg"
+ else
+ dlprefiles="$dlprefiles $arg"
+ fi
+ prev=
+ continue
+ ;;
+ esac
+ ;;
+ expsyms)
+ export_symbols="$arg"
+ if test ! -f "$arg"; then
+ $echo "$modename: symbol file \`$arg' does not exist"
+ exit $EXIT_FAILURE
+ fi
+ prev=
+ continue
+ ;;
+ expsyms_regex)
+ export_symbols_regex="$arg"
+ prev=
+ continue
+ ;;
+ inst_prefix)
+ inst_prefix_dir="$arg"
+ prev=
+ continue
+ ;;
+ precious_regex)
+ precious_files_regex="$arg"
+ prev=
+ continue
+ ;;
+ release)
+ release="-$arg"
+ prev=
+ continue
+ ;;
+ objectlist)
+ if test -f "$arg"; then
+ save_arg=$arg
+ moreargs=
+ for fil in `cat $save_arg`
+ do
+# moreargs="$moreargs $fil"
+ arg=$fil
+ # A libtool-controlled object.
+
+ # Check to see that this really is a libtool object.
+ if (${SED} -e '2q' $arg | grep "^# Generated by .*$PACKAGE") >/dev/null 2>&1; then
+ pic_object=
+ non_pic_object=
+
+ # Read the .lo file
+ # If there is no directory component, then add one.
+ case $arg in
+ */* | *\\*) . $arg ;;
+ *) . ./$arg ;;
+ esac
+
+ if test -z "$pic_object" || \
+ test -z "$non_pic_object" ||
+ test "$pic_object" = none && \
+ test "$non_pic_object" = none; then
+ $echo "$modename: cannot find name of object for \`$arg'" 1>&2
+ exit $EXIT_FAILURE
+ fi
+
+ # Extract subdirectory from the argument.
+ xdir=`$echo "X$arg" | $Xsed -e 's%/[^/]*$%%'`
+ if test "X$xdir" = "X$arg"; then
+ xdir=
+ else
+ xdir="$xdir/"
+ fi
+
+ if test "$pic_object" != none; then
+ # Prepend the subdirectory the object is found in.
+ pic_object="$xdir$pic_object"
+
+ if test "$prev" = dlfiles; then
+ if test "$build_libtool_libs" = yes && test "$dlopen_support" = yes; then
+ dlfiles="$dlfiles $pic_object"
+ prev=
+ continue
+ else
+ # If libtool objects are unsupported, then we need to preload.
+ prev=dlprefiles
+ fi
+ fi
+
+ # CHECK ME: I think I busted this. -Ossama
+ if test "$prev" = dlprefiles; then
+ # Preload the old-style object.
+ dlprefiles="$dlprefiles $pic_object"
+ prev=
+ fi
+
+ # A PIC object.
+ libobjs="$libobjs $pic_object"
+ arg="$pic_object"
+ fi
+
+ # Non-PIC object.
+ if test "$non_pic_object" != none; then
+ # Prepend the subdirectory the object is found in.
+ non_pic_object="$xdir$non_pic_object"
+
+ # A standard non-PIC object
+ non_pic_objects="$non_pic_objects $non_pic_object"
+ if test -z "$pic_object" || test "$pic_object" = none ; then
+ arg="$non_pic_object"
+ fi
+ fi
+ else
+ # Only an error if not doing a dry-run.
+ if test -z "$run"; then
+ $echo "$modename: \`$arg' is not a valid libtool object" 1>&2
+ exit $EXIT_FAILURE
+ else
+ # Dry-run case.
+
+ # Extract subdirectory from the argument.
+ xdir=`$echo "X$arg" | $Xsed -e 's%/[^/]*$%%'`
+ if test "X$xdir" = "X$arg"; then
+ xdir=
+ else
+ xdir="$xdir/"
+ fi
+
+ pic_object=`$echo "X${xdir}${objdir}/${arg}" | $Xsed -e "$lo2o"`
+ non_pic_object=`$echo "X${xdir}${arg}" | $Xsed -e "$lo2o"`
+ libobjs="$libobjs $pic_object"
+ non_pic_objects="$non_pic_objects $non_pic_object"
+ fi
+ fi
+ done
+ else
+ $echo "$modename: link input file \`$save_arg' does not exist"
+ exit $EXIT_FAILURE
+ fi
+ arg=$save_arg
+ prev=
+ continue
+ ;;
+ rpath | xrpath)
+ # We need an absolute path.
+ case $arg in
+ [\\/]* | [A-Za-z]:[\\/]*) ;;
+ *)
+ $echo "$modename: only absolute run-paths are allowed" 1>&2
+ exit $EXIT_FAILURE
+ ;;
+ esac
+ if test "$prev" = rpath; then
+ case "$rpath " in
+ *" $arg "*) ;;
+ *) rpath="$rpath $arg" ;;
+ esac
+ else
+ case "$xrpath " in
+ *" $arg "*) ;;
+ *) xrpath="$xrpath $arg" ;;
+ esac
+ fi
+ prev=
+ continue
+ ;;
+ xcompiler)
+ compiler_flags="$compiler_flags $qarg"
+ prev=
+ compile_command="$compile_command $qarg"
+ finalize_command="$finalize_command $qarg"
+ continue
+ ;;
+ xlinker)
+ linker_flags="$linker_flags $qarg"
+ compiler_flags="$compiler_flags $wl$qarg"
+ prev=
+ compile_command="$compile_command $wl$qarg"
+ finalize_command="$finalize_command $wl$qarg"
+ continue
+ ;;
+ xcclinker)
+ linker_flags="$linker_flags $qarg"
+ compiler_flags="$compiler_flags $qarg"
+ prev=
+ compile_command="$compile_command $qarg"
+ finalize_command="$finalize_command $qarg"
+ continue
+ ;;
+ shrext)
+ shrext_cmds="$arg"
+ prev=
+ continue
+ ;;
+ darwin_framework)
+ compiler_flags="$compiler_flags $arg"
+ prev=
+ continue
+ ;;
+ *)
+ eval "$prev=\"\$arg\""
+ prev=
+ continue
+ ;;
+ esac
+ fi # test -n "$prev"
+
+ prevarg="$arg"
+
+ case $arg in
+ -all-static)
+ if test -n "$link_static_flag"; then
+ compile_command="$compile_command $link_static_flag"
+ finalize_command="$finalize_command $link_static_flag"
+ fi
+ continue
+ ;;
+
+ -allow-undefined)
+ # FIXME: remove this flag sometime in the future.
+ $echo "$modename: \`-allow-undefined' is deprecated because it is the default" 1>&2
+ continue
+ ;;
+
+ -avoid-version)
+ avoid_version=yes
+ continue
+ ;;
+
+ -dlopen)
+ prev=dlfiles
+ continue
+ ;;
+
+ -dlpreopen)
+ prev=dlprefiles
+ continue
+ ;;
+
+ -export-dynamic)
+ export_dynamic=yes
+ continue
+ ;;
+
+ -export-symbols | -export-symbols-regex)
+ if test -n "$export_symbols" || test -n "$export_symbols_regex"; then
+ $echo "$modename: more than one -exported-symbols argument is not allowed"
+ exit $EXIT_FAILURE
+ fi
+ if test "X$arg" = "X-export-symbols"; then
+ prev=expsyms
+ else
+ prev=expsyms_regex
+ fi
+ continue
+ ;;
+
+ -framework)
+ prev=darwin_framework
+ compiler_flags="$compiler_flags $arg"
+ continue
+ ;;
+
+ -inst-prefix-dir)
+ prev=inst_prefix
+ continue
+ ;;
+
+ # The native IRIX linker understands -LANG:*, -LIST:* and -LNO:*
+ # so, if we see these flags be careful not to treat them like -L
+ -L[A-Z][A-Z]*:*)
+ case $with_gcc/$host in
+ no/*-*-irix* | /*-*-irix*)
+ compile_command="$compile_command $arg"
+ finalize_command="$finalize_command $arg"
+ ;;
+ esac
+ continue
+ ;;
+
+ -L*)
+ dir=`$echo "X$arg" | $Xsed -e 's/^-L//'`
+ # We need an absolute path.
+ case $dir in
+ [\\/]* | [A-Za-z]:[\\/]*) ;;
+ *)
+ absdir=`cd "$dir" && pwd`
+ if test -z "$absdir"; then
+ $echo "$modename: cannot determine absolute directory name of \`$dir'" 1>&2
+ exit $EXIT_FAILURE
+ fi
+ dir="$absdir"
+ ;;
+ esac
+ case "$deplibs " in
+ *" -L$dir "*) ;;
+ *)
+ deplibs="$deplibs -L$dir"
+ lib_search_path="$lib_search_path $dir"
+ ;;
+ esac
+ case $host in
+ *-*-cygwin* | *-*-mingw* | *-*-pw32* | *-*-os2*)
+ case :$dllsearchpath: in
+ *":$dir:"*) ;;
+ *) dllsearchpath="$dllsearchpath:$dir";;
+ esac
+ ;;
+ esac
+ continue
+ ;;
+
+ -l*)
+ if test "X$arg" = "X-lc" || test "X$arg" = "X-lm"; then
+ case $host in
+ *-*-cygwin* | *-*-pw32* | *-*-beos*)
+ # These systems don't actually have a C or math library (as such)
+ continue
+ ;;
+ *-*-mingw* | *-*-os2*)
+ # These systems don't actually have a C library (as such)
+ test "X$arg" = "X-lc" && continue
+ ;;
+ *-*-openbsd* | *-*-freebsd* | *-*-dragonfly*)
+ # Do not include libc due to us having libc/libc_r.
+ test "X$arg" = "X-lc" && continue
+ ;;
+ *-*-rhapsody* | *-*-darwin1.[012])
+ # Rhapsody C and math libraries are in the System framework
+ deplibs="$deplibs -framework System"
+ continue
+ esac
+ elif test "X$arg" = "X-lc_r"; then
+ case $host in
+ *-*-openbsd* | *-*-freebsd* | *-*-dragonfly*)
+ # Do not include libc_r directly, use -pthread flag.
+ continue
+ ;;
+ esac
+ fi
+ deplibs="$deplibs $arg"
+ continue
+ ;;
+
+ # Tru64 UNIX uses -model [arg] to determine the layout of C++
+ # classes, name mangling, and exception handling.
+ -model)
+ compile_command="$compile_command $arg"
+ compiler_flags="$compiler_flags $arg"
+ finalize_command="$finalize_command $arg"
+ prev=xcompiler
+ continue
+ ;;
+
+ -mt|-mthreads|-kthread|-Kthread|-pthread|-pthreads|--thread-safe)
+ compiler_flags="$compiler_flags $arg"
+ compile_command="$compile_command $arg"
+ finalize_command="$finalize_command $arg"
+ continue
+ ;;
+
+ -module)
+ module=yes
+ continue
+ ;;
+
+ # -64, -mips[0-9] enable 64-bit mode on the SGI compiler
+ # -r[0-9][0-9]* specifies the processor on the SGI compiler
+ # -xarch=*, -xtarget=* enable 64-bit mode on the Sun compiler
+ # +DA*, +DD* enable 64-bit mode on the HP compiler
+ # -q* pass through compiler args for the IBM compiler
+ # -m* pass through architecture-specific compiler args for GCC
+ -64|-mips[0-9]|-r[0-9][0-9]*|-xarch=*|-xtarget=*|+DA*|+DD*|-q*|-m*)
+
+ # Unknown arguments in both finalize_command and compile_command need
+ # to be aesthetically quoted because they are evaled later.
+ arg=`$echo "X$arg" | $Xsed -e "$sed_quote_subst"`
+ case $arg in
+ *$quote_scanset* | *]* | *\|* | *\&* | *\(* | *\)* | "")
+ arg="\"$arg\""
+ ;;
+ esac
+ compile_command="$compile_command $arg"
+ finalize_command="$finalize_command $arg"
+ if test "$with_gcc" = "yes" ; then
+ compiler_flags="$compiler_flags $arg"
+ fi
+ continue
+ ;;
+
+ -shrext)
+ prev=shrext
+ continue
+ ;;
+
+ -no-fast-install)
+ fast_install=no
+ continue
+ ;;
+
+ -no-install)
+ case $host in
+ *-*-cygwin* | *-*-mingw* | *-*-pw32* | *-*-os2*)
+ # The PATH hackery in wrapper scripts is required on Windows
+ # in order for the loader to find any dlls it needs.
+ $echo "$modename: warning: \`-no-install' is ignored for $host" 1>&2
+ $echo "$modename: warning: assuming \`-no-fast-install' instead" 1>&2
+ fast_install=no
+ ;;
+ *) no_install=yes ;;
+ esac
+ continue
+ ;;
+
+ -no-undefined)
+ allow_undefined=no
+ continue
+ ;;
+
+ -objectlist)
+ prev=objectlist
+ continue
+ ;;
+
+ -o) prev=output ;;
+
+ -precious-files-regex)
+ prev=precious_regex
+ continue
+ ;;
+
+ -release)
+ prev=release
+ continue
+ ;;
+
+ -rpath)
+ prev=rpath
+ continue
+ ;;
+
+ -R)
+ prev=xrpath
+ continue
+ ;;
+
+ -R*)
+ dir=`$echo "X$arg" | $Xsed -e 's/^-R//'`
+ # We need an absolute path.
+ case $dir in
+ [\\/]* | [A-Za-z]:[\\/]*) ;;
+ *)
+ $echo "$modename: only absolute run-paths are allowed" 1>&2
+ exit $EXIT_FAILURE
+ ;;
+ esac
+ case "$xrpath " in
+ *" $dir "*) ;;
+ *) xrpath="$xrpath $dir" ;;
+ esac
+ continue
+ ;;
+
+ -static)
+ # The effects of -static are defined in a previous loop.
+ # We used to do the same as -all-static on platforms that
+ # didn't have a PIC flag, but the assumption that the effects
+ # would be equivalent was wrong. It would break on at least
+ # Digital Unix and AIX.
+ continue
+ ;;
+
+ -thread-safe)
+ thread_safe=yes
+ continue
+ ;;
+
+ -version-info)
+ prev=vinfo
+ continue
+ ;;
+ -version-number)
+ prev=vinfo
+ vinfo_number=yes
+ continue
+ ;;
+
+ -Wc,*)
+ args=`$echo "X$arg" | $Xsed -e "$sed_quote_subst" -e 's/^-Wc,//'`
+ arg=
+ save_ifs="$IFS"; IFS=','
+ for flag in $args; do
+ IFS="$save_ifs"
+ case $flag in
+ *$quote_scanset* | *]* | *\|* | *\&* | *\(* | *\)* | "")
+ flag="\"$flag\""
+ ;;
+ esac
+ arg="$arg $wl$flag"
+ compiler_flags="$compiler_flags $flag"
+ done
+ IFS="$save_ifs"
+ arg=`$echo "X$arg" | $Xsed -e "s/^ //"`
+ ;;
+
+ -Wl,*)
+ args=`$echo "X$arg" | $Xsed -e "$sed_quote_subst" -e 's/^-Wl,//'`
+ arg=
+ save_ifs="$IFS"; IFS=','
+ for flag in $args; do
+ IFS="$save_ifs"
+ case $flag in
+ *$quote_scanset* | *]* | *\|* | *\&* | *\(* | *\)* | "")
+ flag="\"$flag\""
+ ;;
+ esac
+ arg="$arg $wl$flag"
+ compiler_flags="$compiler_flags $wl$flag"
+ linker_flags="$linker_flags $flag"
+ done
+ IFS="$save_ifs"
+ arg=`$echo "X$arg" | $Xsed -e "s/^ //"`
+ ;;
+
+ -Xcompiler)
+ prev=xcompiler
+ continue
+ ;;
+
+ -Xlinker)
+ prev=xlinker
+ continue
+ ;;
+
+ -XCClinker)
+ prev=xcclinker
+ continue
+ ;;
+
+ # Some other compiler flag.
+ -* | +*)
+ # Unknown arguments in both finalize_command and compile_command need
+ # to be aesthetically quoted because they are evaled later.
+ arg=`$echo "X$arg" | $Xsed -e "$sed_quote_subst"`
+ case $arg in
+ *$quote_scanset* | *]* | *\|* | *\&* | *\(* | *\)* | "")
+ arg="\"$arg\""
+ ;;
+ esac
+ ;;
+
+ *.$objext)
+ # A standard object.
+ objs="$objs $arg"
+ ;;
+
+ *.lo)
+ # A libtool-controlled object.
+
+ # Check to see that this really is a libtool object.
+ if (${SED} -e '2q' $arg | grep "^# Generated by .*$PACKAGE") >/dev/null 2>&1; then
+ pic_object=
+ non_pic_object=
+
+ # Read the .lo file
+ # If there is no directory component, then add one.
+ case $arg in
+ */* | *\\*) . $arg ;;
+ *) . ./$arg ;;
+ esac
+
+ if test -z "$pic_object" || \
+ test -z "$non_pic_object" ||
+ test "$pic_object" = none && \
+ test "$non_pic_object" = none; then
+ $echo "$modename: cannot find name of object for \`$arg'" 1>&2
+ exit $EXIT_FAILURE
+ fi
+
+ # Extract subdirectory from the argument.
+ xdir=`$echo "X$arg" | $Xsed -e 's%/[^/]*$%%'`
+ if test "X$xdir" = "X$arg"; then
+ xdir=
+ else
+ xdir="$xdir/"
+ fi
+
+ if test "$pic_object" != none; then
+ # Prepend the subdirectory the object is found in.
+ pic_object="$xdir$pic_object"
+
+ if test "$prev" = dlfiles; then
+ if test "$build_libtool_libs" = yes && test "$dlopen_support" = yes; then
+ dlfiles="$dlfiles $pic_object"
+ prev=
+ continue
+ else
+ # If libtool objects are unsupported, then we need to preload.
+ prev=dlprefiles
+ fi
+ fi
+
+ # CHECK ME: I think I busted this. -Ossama
+ if test "$prev" = dlprefiles; then
+ # Preload the old-style object.
+ dlprefiles="$dlprefiles $pic_object"
+ prev=
+ fi
+
+ # A PIC object.
+ libobjs="$libobjs $pic_object"
+ arg="$pic_object"
+ fi
+
+ # Non-PIC object.
+ if test "$non_pic_object" != none; then
+ # Prepend the subdirectory the object is found in.
+ non_pic_object="$xdir$non_pic_object"
+
+ # A standard non-PIC object
+ non_pic_objects="$non_pic_objects $non_pic_object"
+ if test -z "$pic_object" || test "$pic_object" = none ; then
+ arg="$non_pic_object"
+ fi
+ fi
+ else
+ # Only an error if not doing a dry-run.
+ if test -z "$run"; then
+ $echo "$modename: \`$arg' is not a valid libtool object" 1>&2
+ exit $EXIT_FAILURE
+ else
+ # Dry-run case.
+
+ # Extract subdirectory from the argument.
+ xdir=`$echo "X$arg" | $Xsed -e 's%/[^/]*$%%'`
+ if test "X$xdir" = "X$arg"; then
+ xdir=
+ else
+ xdir="$xdir/"
+ fi
+
+ pic_object=`$echo "X${xdir}${objdir}/${arg}" | $Xsed -e "$lo2o"`
+ non_pic_object=`$echo "X${xdir}${arg}" | $Xsed -e "$lo2o"`
+ libobjs="$libobjs $pic_object"
+ non_pic_objects="$non_pic_objects $non_pic_object"
+ fi
+ fi
+ ;;
+
+ *.$libext)
+ # An archive.
+ deplibs="$deplibs $arg"
+ old_deplibs="$old_deplibs $arg"
+ continue
+ ;;
+
+ *.la)
+ # A libtool-controlled library.
+
+ if test "$prev" = dlfiles; then
+ # This library was specified with -dlopen.
+ dlfiles="$dlfiles $arg"
+ prev=
+ elif test "$prev" = dlprefiles; then
+ # The library was specified with -dlpreopen.
+ dlprefiles="$dlprefiles $arg"
+ prev=
+ else
+ deplibs="$deplibs $arg"
+ fi
+ continue
+ ;;
+
+ # Some other compiler argument.
+ *)
+ # Unknown arguments in both finalize_command and compile_command need
+ # to be aesthetically quoted because they are evaled later.
+ arg=`$echo "X$arg" | $Xsed -e "$sed_quote_subst"`
+ case $arg in
+ *$quote_scanset* | *]* | *\|* | *\&* | *\(* | *\)* | "")
+ arg="\"$arg\""
+ ;;
+ esac
+ ;;
+ esac # arg
+
+ # Now actually substitute the argument into the commands.
+ if test -n "$arg"; then
+ compile_command="$compile_command $arg"
+ finalize_command="$finalize_command $arg"
+ fi
+ done # argument parsing loop
+
+ if test -n "$prev"; then
+ $echo "$modename: the \`$prevarg' option requires an argument" 1>&2
+ $echo "$help" 1>&2
+ exit $EXIT_FAILURE
+ fi
+
+ if test "$export_dynamic" = yes && test -n "$export_dynamic_flag_spec"; then
+ eval arg=\"$export_dynamic_flag_spec\"
+ compile_command="$compile_command $arg"
+ finalize_command="$finalize_command $arg"
+ fi
+
+ oldlibs=
+ # calculate the name of the file, without its directory
+ outputname=`$echo "X$output" | $Xsed -e 's%^.*/%%'`
+ libobjs_save="$libobjs"
+
+ if test -n "$shlibpath_var"; then
+ # get the directories listed in $shlibpath_var
+ eval shlib_search_path=\`\$echo \"X\${$shlibpath_var}\" \| \$Xsed -e \'s/:/ /g\'\`
+ else
+ shlib_search_path=
+ fi
+ eval sys_lib_search_path=\"$sys_lib_search_path_spec\"
+ eval sys_lib_dlsearch_path=\"$sys_lib_dlsearch_path_spec\"
+
+ output_objdir=`$echo "X$output" | $Xsed -e 's%/[^/]*$%%'`
+ if test "X$output_objdir" = "X$output"; then
+ output_objdir="$objdir"
+ else
+ output_objdir="$output_objdir/$objdir"
+ fi
+ # Create the object directory.
+ if test ! -d "$output_objdir"; then
+ $show "$mkdir $output_objdir"
+ $run $mkdir $output_objdir
+ status=$?
+ if test "$status" -ne 0 && test ! -d "$output_objdir"; then
+ exit $status
+ fi
+ fi
+
+ # Determine the type of output
+ case $output in
+ "")
+ $echo "$modename: you must specify an output file" 1>&2
+ $echo "$help" 1>&2
+ exit $EXIT_FAILURE
+ ;;
+ *.$libext) linkmode=oldlib ;;
+ *.lo | *.$objext) linkmode=obj ;;
+ *.la) linkmode=lib ;;
+ *) linkmode=prog ;; # Anything else should be a program.
+ esac
+
+ case $host in
+ *cygwin* | *mingw* | *pw32*)
+ # don't eliminate duplications in $postdeps and $predeps
+ duplicate_compiler_generated_deps=yes
+ ;;
+ *)
+ duplicate_compiler_generated_deps=$duplicate_deps
+ ;;
+ esac
+ specialdeplibs=
+
+ libs=
+ # Find all interdependent deplibs by searching for libraries
+ # that are linked more than once (e.g. -la -lb -la)
+ for deplib in $deplibs; do
+ if test "X$duplicate_deps" = "Xyes" ; then
+ case "$libs " in
+ *" $deplib "*) specialdeplibs="$specialdeplibs $deplib" ;;
+ esac
+ fi
+ libs="$libs $deplib"
+ done
+
+ if test "$linkmode" = lib; then
+ libs="$predeps $libs $compiler_lib_search_path $postdeps"
+
+ # Compute libraries that are listed more than once in $predeps
+ # $postdeps and mark them as special (i.e., whose duplicates are
+ # not to be eliminated).
+ pre_post_deps=
+ if test "X$duplicate_compiler_generated_deps" = "Xyes" ; then
+ for pre_post_dep in $predeps $postdeps; do
+ case "$pre_post_deps " in
+ *" $pre_post_dep "*) specialdeplibs="$specialdeplibs $pre_post_deps" ;;
+ esac
+ pre_post_deps="$pre_post_deps $pre_post_dep"
+ done
+ fi
+ pre_post_deps=
+ fi
+
+ deplibs=
+ newdependency_libs=
+ newlib_search_path=
+ need_relink=no # whether we're linking any uninstalled libtool libraries
+ notinst_deplibs= # not-installed libtool libraries
+ notinst_path= # paths that contain not-installed libtool libraries
+ case $linkmode in
+ lib)
+ passes="conv link"
+ for file in $dlfiles $dlprefiles; do
+ case $file in
+ *.la) ;;
+ *)
+ $echo "$modename: libraries can \`-dlopen' only libtool libraries: $file" 1>&2
+ exit $EXIT_FAILURE
+ ;;
+ esac
+ done
+ ;;
+ prog)
+ compile_deplibs=
+ finalize_deplibs=
+ alldeplibs=no
+ newdlfiles=
+ newdlprefiles=
+ passes="conv scan dlopen dlpreopen link"
+ ;;
+ *) passes="conv"
+ ;;
+ esac
+ for pass in $passes; do
+ if test "$linkmode,$pass" = "lib,link" ||
+ test "$linkmode,$pass" = "prog,scan"; then
+ libs="$deplibs"
+ deplibs=
+ fi
+ if test "$linkmode" = prog; then
+ case $pass in
+ dlopen) libs="$dlfiles" ;;
+ dlpreopen) libs="$dlprefiles" ;;
+ link) libs="$deplibs %DEPLIBS% $dependency_libs" ;;
+ esac
+ fi
+ if test "$pass" = dlopen; then
+ # Collect dlpreopened libraries
+ save_deplibs="$deplibs"
+ deplibs=
+ fi
+ for deplib in $libs; do
+ lib=
+ found=no
+ case $deplib in
+ -mt|-mthreads|-kthread|-Kthread|-pthread|-pthreads|--thread-safe)
+ if test "$linkmode,$pass" = "prog,link"; then
+ compile_deplibs="$deplib $compile_deplibs"
+ finalize_deplibs="$deplib $finalize_deplibs"
+ else
+ compiler_flags="$compiler_flags $deplib"
+ fi
+ continue
+ ;;
+ -l*)
+ if test "$linkmode" != lib && test "$linkmode" != prog; then
+ $echo "$modename: warning: \`-l' is ignored for archives/objects" 1>&2
+ continue
+ fi
+ name=`$echo "X$deplib" | $Xsed -e 's/^-l//'`
+ for searchdir in $newlib_search_path $lib_search_path $sys_lib_search_path $shlib_search_path; do
+ for search_ext in .la $std_shrext .so .a; do
+ # Search the libtool library
+ lib="$searchdir/lib${name}${search_ext}"
+ if test -f "$lib"; then
+ if test "$search_ext" = ".la"; then
+ found=yes
+ else
+ found=no
+ fi
+ break 2
+ fi
+ done
+ done
+ if test "$found" != yes; then
+ # deplib doesn't seem to be a libtool library
+ if test "$linkmode,$pass" = "prog,link"; then
+ compile_deplibs="$deplib $compile_deplibs"
+ finalize_deplibs="$deplib $finalize_deplibs"
+ else
+ deplibs="$deplib $deplibs"
+ test "$linkmode" = lib && newdependency_libs="$deplib $newdependency_libs"
+ fi
+ continue
+ else # deplib is a libtool library
+ # If $allow_libtool_libs_with_static_runtimes && $deplib is a stdlib,
+ # We need to do some special things here, and not later.
+ if test "X$allow_libtool_libs_with_static_runtimes" = "Xyes" ; then
+ case " $predeps $postdeps " in
+ *" $deplib "*)
+ if (${SED} -e '2q' $lib |
+ grep "^# Generated by .*$PACKAGE") >/dev/null 2>&1; then
+ library_names=
+ old_library=
+ case $lib in
+ */* | *\\*) . $lib ;;
+ *) . ./$lib ;;
+ esac
+ for l in $old_library $library_names; do
+ ll="$l"
+ done
+ if test "X$ll" = "X$old_library" ; then # only static version available
+ found=no
+ ladir=`$echo "X$lib" | $Xsed -e 's%/[^/]*$%%'`
+ test "X$ladir" = "X$lib" && ladir="."
+ lib=$ladir/$old_library
+ if test "$linkmode,$pass" = "prog,link"; then
+ compile_deplibs="$deplib $compile_deplibs"
+ finalize_deplibs="$deplib $finalize_deplibs"
+ else
+ deplibs="$deplib $deplibs"
+ test "$linkmode" = lib && newdependency_libs="$deplib $newdependency_libs"
+ fi
+ continue
+ fi
+ fi
+ ;;
+ *) ;;
+ esac
+ fi
+ fi
+ ;; # -l
+ -L*)
+ case $linkmode in
+ lib)
+ deplibs="$deplib $deplibs"
+ test "$pass" = conv && continue
+ newdependency_libs="$deplib $newdependency_libs"
+ newlib_search_path="$newlib_search_path "`$echo "X$deplib" | $Xsed -e 's/^-L//'`
+ ;;
+ prog)
+ if test "$pass" = conv; then
+ deplibs="$deplib $deplibs"
+ continue
+ fi
+ if test "$pass" = scan; then
+ deplibs="$deplib $deplibs"
+ else
+ compile_deplibs="$deplib $compile_deplibs"
+ finalize_deplibs="$deplib $finalize_deplibs"
+ fi
+ newlib_search_path="$newlib_search_path "`$echo "X$deplib" | $Xsed -e 's/^-L//'`
+ ;;
+ *)
+ $echo "$modename: warning: \`-L' is ignored for archives/objects" 1>&2
+ ;;
+ esac # linkmode
+ continue
+ ;; # -L
+ -R*)
+ if test "$pass" = link; then
+ dir=`$echo "X$deplib" | $Xsed -e 's/^-R//'`
+ # Make sure the xrpath contains only unique directories.
+ case "$xrpath " in
+ *" $dir "*) ;;
+ *) xrpath="$xrpath $dir" ;;
+ esac
+ fi
+ deplibs="$deplib $deplibs"
+ continue
+ ;;
+ *.la) lib="$deplib" ;;
+ *.$libext)
+ if test "$pass" = conv; then
+ deplibs="$deplib $deplibs"
+ continue
+ fi
+ case $linkmode in
+ lib)
+ valid_a_lib=no
+ case $deplibs_check_method in
+ match_pattern*)
+ set dummy $deplibs_check_method
+ match_pattern_regex=`expr "$deplibs_check_method" : "$2 \(.*\)"`
+ if eval $echo \"$deplib\" 2>/dev/null \
+ | $SED 10q \
+ | $EGREP "$match_pattern_regex" > /dev/null; then
+ valid_a_lib=yes
+ fi
+ ;;
+ pass_all)
+ valid_a_lib=yes
+ ;;
+ esac
+ if test "$valid_a_lib" != yes; then
+ $echo
+ $echo "*** Warning: Trying to link with static lib archive $deplib."
+ $echo "*** I have the capability to make that library automatically link in when"
+ $echo "*** you link to this library. But I can only do this if you have a"
+ $echo "*** shared version of the library, which you do not appear to have"
+ $echo "*** because the file extensions .$libext of this argument makes me believe"
+ $echo "*** that it is just a static archive that I should not used here."
+ else
+ $echo
+ $echo "*** Warning: Linking the shared library $output against the"
+ $echo "*** static library $deplib is not portable!"
+ deplibs="$deplib $deplibs"
+ fi
+ continue
+ ;;
+ prog)
+ if test "$pass" != link; then
+ deplibs="$deplib $deplibs"
+ else
+ compile_deplibs="$deplib $compile_deplibs"
+ finalize_deplibs="$deplib $finalize_deplibs"
+ fi
+ continue
+ ;;
+ esac # linkmode
+ ;; # *.$libext
+ *.lo | *.$objext)
+ if test "$pass" = conv; then
+ deplibs="$deplib $deplibs"
+ elif test "$linkmode" = prog; then
+ if test "$pass" = dlpreopen || test "$dlopen_support" != yes || test "$build_libtool_libs" = no; then
+ # If there is no dlopen support or we're linking statically,
+ # we need to preload.
+ newdlprefiles="$newdlprefiles $deplib"
+ compile_deplibs="$deplib $compile_deplibs"
+ finalize_deplibs="$deplib $finalize_deplibs"
+ else
+ newdlfiles="$newdlfiles $deplib"
+ fi
+ fi
+ continue
+ ;;
+ %DEPLIBS%)
+ alldeplibs=yes
+ continue
+ ;;
+ esac # case $deplib
+ if test "$found" = yes || test -f "$lib"; then :
+ else
+ $echo "$modename: cannot find the library \`$lib'" 1>&2
+ exit $EXIT_FAILURE
+ fi
+
+ # Check to see that this really is a libtool archive.
+ if (${SED} -e '2q' $lib | grep "^# Generated by .*$PACKAGE") >/dev/null 2>&1; then :
+ else
+ $echo "$modename: \`$lib' is not a valid libtool archive" 1>&2
+ exit $EXIT_FAILURE
+ fi
+
+ ladir=`$echo "X$lib" | $Xsed -e 's%/[^/]*$%%'`
+ test "X$ladir" = "X$lib" && ladir="."
+
+ dlname=
+ dlopen=
+ dlpreopen=
+ libdir=
+ library_names=
+ old_library=
+ # If the library was installed with an old release of libtool,
+ # it will not redefine variables installed, or shouldnotlink
+ installed=yes
+ shouldnotlink=no
+ avoidtemprpath=
+
+
+ # Read the .la file
+ case $lib in
+ */* | *\\*) . $lib ;;
+ *) . ./$lib ;;
+ esac
+
+ if test "$linkmode,$pass" = "lib,link" ||
+ test "$linkmode,$pass" = "prog,scan" ||
+ { test "$linkmode" != prog && test "$linkmode" != lib; }; then
+ test -n "$dlopen" && dlfiles="$dlfiles $dlopen"
+ test -n "$dlpreopen" && dlprefiles="$dlprefiles $dlpreopen"
+ fi
+
+ if test "$pass" = conv; then
+ # Only check for convenience libraries
+ deplibs="$lib $deplibs"
+ if test -z "$libdir"; then
+ if test -z "$old_library"; then
+ $echo "$modename: cannot find name of link library for \`$lib'" 1>&2
+ exit $EXIT_FAILURE
+ fi
+ # It is a libtool convenience library, so add in its objects.
+ convenience="$convenience $ladir/$objdir/$old_library"
+ old_convenience="$old_convenience $ladir/$objdir/$old_library"
+ tmp_libs=
+ for deplib in $dependency_libs; do
+ deplibs="$deplib $deplibs"
+ if test "X$duplicate_deps" = "Xyes" ; then
+ case "$tmp_libs " in
+ *" $deplib "*) specialdeplibs="$specialdeplibs $deplib" ;;
+ esac
+ fi
+ tmp_libs="$tmp_libs $deplib"
+ done
+ elif test "$linkmode" != prog && test "$linkmode" != lib; then
+ $echo "$modename: \`$lib' is not a convenience library" 1>&2
+ exit $EXIT_FAILURE
+ fi
+ continue
+ fi # $pass = conv
+
+
+ # Get the name of the library we link against.
+ linklib=
+ for l in $old_library $library_names; do
+ linklib="$l"
+ done
+ if test -z "$linklib"; then
+ $echo "$modename: cannot find name of link library for \`$lib'" 1>&2
+ exit $EXIT_FAILURE
+ fi
+
+ # This library was specified with -dlopen.
+ if test "$pass" = dlopen; then
+ if test -z "$libdir"; then
+ $echo "$modename: cannot -dlopen a convenience library: \`$lib'" 1>&2
+ exit $EXIT_FAILURE
+ fi
+ if test -z "$dlname" ||
+ test "$dlopen_support" != yes ||
+ test "$build_libtool_libs" = no; then
+ # If there is no dlname, no dlopen support or we're linking
+ # statically, we need to preload. We also need to preload any
+ # dependent libraries so libltdl's deplib preloader doesn't
+ # bomb out in the load deplibs phase.
+ dlprefiles="$dlprefiles $lib $dependency_libs"
+ else
+ newdlfiles="$newdlfiles $lib"
+ fi
+ continue
+ fi # $pass = dlopen
+
+ # We need an absolute path.
+ case $ladir in
+ [\\/]* | [A-Za-z]:[\\/]*) abs_ladir="$ladir" ;;
+ *)
+ abs_ladir=`cd "$ladir" && pwd`
+ if test -z "$abs_ladir"; then
+ $echo "$modename: warning: cannot determine absolute directory name of \`$ladir'" 1>&2
+ $echo "$modename: passing it literally to the linker, although it might fail" 1>&2
+ abs_ladir="$ladir"
+ fi
+ ;;
+ esac
+ laname=`$echo "X$lib" | $Xsed -e 's%^.*/%%'`
+
+ # Find the relevant object directory and library name.
+ if test "X$installed" = Xyes; then
+ if test ! -f "$libdir/$linklib" && test -f "$abs_ladir/$linklib"; then
+ $echo "$modename: warning: library \`$lib' was moved." 1>&2
+ dir="$ladir"
+ absdir="$abs_ladir"
+ libdir="$abs_ladir"
+ else
+ dir="$libdir"
+ absdir="$libdir"
+ fi
+ test "X$hardcode_automatic" = Xyes && avoidtemprpath=yes
+ else
+ if test ! -f "$ladir/$objdir/$linklib" && test -f "$abs_ladir/$linklib"; then
+ dir="$ladir"
+ absdir="$abs_ladir"
+ # Remove this search path later
+ notinst_path="$notinst_path $abs_ladir"
+ else
+ dir="$ladir/$objdir"
+ absdir="$abs_ladir/$objdir"
+ # Remove this search path later
+ notinst_path="$notinst_path $abs_ladir"
+ fi
+ fi # $installed = yes
+ name=`$echo "X$laname" | $Xsed -e 's/\.la$//' -e 's/^lib//'`
+
+ # This library was specified with -dlpreopen.
+ if test "$pass" = dlpreopen; then
+ if test -z "$libdir"; then
+ $echo "$modename: cannot -dlpreopen a convenience library: \`$lib'" 1>&2
+ exit $EXIT_FAILURE
+ fi
+ # Prefer using a static library (so that no silly _DYNAMIC symbols
+ # are required to link).
+ if test -n "$old_library"; then
+ newdlprefiles="$newdlprefiles $dir/$old_library"
+ # Otherwise, use the dlname, so that lt_dlopen finds it.
+ elif test -n "$dlname"; then
+ newdlprefiles="$newdlprefiles $dir/$dlname"
+ else
+ newdlprefiles="$newdlprefiles $dir/$linklib"
+ fi
+ fi # $pass = dlpreopen
+
+ if test -z "$libdir"; then
+ # Link the convenience library
+ if test "$linkmode" = lib; then
+ deplibs="$dir/$old_library $deplibs"
+ elif test "$linkmode,$pass" = "prog,link"; then
+ compile_deplibs="$dir/$old_library $compile_deplibs"
+ finalize_deplibs="$dir/$old_library $finalize_deplibs"
+ else
+ deplibs="$lib $deplibs" # used for prog,scan pass
+ fi
+ continue
+ fi
+
+
+ if test "$linkmode" = prog && test "$pass" != link; then
+ newlib_search_path="$newlib_search_path $ladir"
+ deplibs="$lib $deplibs"
+
+ linkalldeplibs=no
+ if test "$link_all_deplibs" != no || test -z "$library_names" ||
+ test "$build_libtool_libs" = no; then
+ linkalldeplibs=yes
+ fi
+
+ tmp_libs=
+ for deplib in $dependency_libs; do
+ case $deplib in
+ -L*) newlib_search_path="$newlib_search_path "`$echo "X$deplib" | $Xsed -e 's/^-L//'`;; ### testsuite: skip nested quoting test
+ esac
+ # Need to link against all dependency_libs?
+ if test "$linkalldeplibs" = yes; then
+ deplibs="$deplib $deplibs"
+ else
+ # Need to hardcode shared library paths
+ # or/and link against static libraries
+ newdependency_libs="$deplib $newdependency_libs"
+ fi
+ if test "X$duplicate_deps" = "Xyes" ; then
+ case "$tmp_libs " in
+ *" $deplib "*) specialdeplibs="$specialdeplibs $deplib" ;;
+ esac
+ fi
+ tmp_libs="$tmp_libs $deplib"
+ done # for deplib
+ continue
+ fi # $linkmode = prog...
+
+ if test "$linkmode,$pass" = "prog,link"; then
+ if test -n "$library_names" &&
+ { test "$prefer_static_libs" = no || test -z "$old_library"; }; then
+ # We need to hardcode the library path
+ if test -n "$shlibpath_var" && test -z "$avoidtemprpath" ; then
+ # Make sure the rpath contains only unique directories.
+ case "$temp_rpath " in
+ *" $dir "*) ;;
+ *" $absdir "*) ;;
+ *) temp_rpath="$temp_rpath $dir" ;;
+ esac
+ fi
+
+ # Hardcode the library path.
+ # Skip directories that are in the system default run-time
+ # search path.
+ case " $sys_lib_dlsearch_path " in
+ *" $absdir "*) ;;
+ *)
+ case "$compile_rpath " in
+ *" $absdir "*) ;;
+ *) compile_rpath="$compile_rpath $absdir"
+ esac
+ ;;
+ esac
+ case " $sys_lib_dlsearch_path " in
+ *" $libdir "*) ;;
+ *)
+ case "$finalize_rpath " in
+ *" $libdir "*) ;;
+ *) finalize_rpath="$finalize_rpath $libdir"
+ esac
+ ;;
+ esac
+ fi # $linkmode,$pass = prog,link...
+
+ if test "$alldeplibs" = yes &&
+ { test "$deplibs_check_method" = pass_all ||
+ { test "$build_libtool_libs" = yes &&
+ test -n "$library_names"; }; }; then
+ # We only need to search for static libraries
+ continue
+ fi
+ fi
+
+ link_static=no # Whether the deplib will be linked statically
+ if test -n "$library_names" &&
+ { test "$prefer_static_libs" = no || test -z "$old_library"; }; then
+ if test "$installed" = no; then
+ notinst_deplibs="$notinst_deplibs $lib"
+ need_relink=yes
+ fi
+ # This is a shared library
+
+ # Warn about portability, can't link against -module's on
+ # some systems (darwin)
+ if test "$shouldnotlink" = yes && test "$pass" = link ; then
+ $echo
+ if test "$linkmode" = prog; then
+ $echo "*** Warning: Linking the executable $output against the loadable module"
+ else
+ $echo "*** Warning: Linking the shared library $output against the loadable module"
+ fi
+ $echo "*** $linklib is not portable!"
+ fi
+ if test "$linkmode" = lib &&
+ test "$hardcode_into_libs" = yes; then
+ # Hardcode the library path.
+ # Skip directories that are in the system default run-time
+ # search path.
+ case " $sys_lib_dlsearch_path " in
+ *" $absdir "*) ;;
+ *)
+ case "$compile_rpath " in
+ *" $absdir "*) ;;
+ *) compile_rpath="$compile_rpath $absdir"
+ esac
+ ;;
+ esac
+ case " $sys_lib_dlsearch_path " in
+ *" $libdir "*) ;;
+ *)
+ case "$finalize_rpath " in
+ *" $libdir "*) ;;
+ *) finalize_rpath="$finalize_rpath $libdir"
+ esac
+ ;;
+ esac
+ fi
+
+ if test -n "$old_archive_from_expsyms_cmds"; then
+ # figure out the soname
+ set dummy $library_names
+ realname="$2"
+ shift; shift
+ libname=`eval \\$echo \"$libname_spec\"`
+ # use dlname if we got it. it's perfectly good, no?
+ if test -n "$dlname"; then
+ soname="$dlname"
+ elif test -n "$soname_spec"; then
+ # bleh windows
+ case $host in
+ *cygwin* | mingw*)
+ major=`expr $current - $age`
+ versuffix="-$major"
+ ;;
+ esac
+ eval soname=\"$soname_spec\"
+ else
+ soname="$realname"
+ fi
+
+ # Make a new name for the extract_expsyms_cmds to use
+ soroot="$soname"
+ soname=`$echo $soroot | ${SED} -e 's/^.*\///'`
+ newlib="libimp-`$echo $soname | ${SED} 's/^lib//;s/\.dll$//'`.a"
+
+ # If the library has no export list, then create one now
+ if test -f "$output_objdir/$soname-def"; then :
+ else
+ $show "extracting exported symbol list from \`$soname'"
+ save_ifs="$IFS"; IFS='~'
+ cmds=$extract_expsyms_cmds
+ for cmd in $cmds; do
+ IFS="$save_ifs"
+ eval cmd=\"$cmd\"
+ $show "$cmd"
+ $run eval "$cmd" || exit $?
+ done
+ IFS="$save_ifs"
+ fi
+
+ # Create $newlib
+ if test -f "$output_objdir/$newlib"; then :; else
+ $show "generating import library for \`$soname'"
+ save_ifs="$IFS"; IFS='~'
+ cmds=$old_archive_from_expsyms_cmds
+ for cmd in $cmds; do
+ IFS="$save_ifs"
+ eval cmd=\"$cmd\"
+ $show "$cmd"
+ $run eval "$cmd" || exit $?
+ done
+ IFS="$save_ifs"
+ fi
+ # make sure the library variables are pointing to the new library
+ dir=$output_objdir
+ linklib=$newlib
+ fi # test -n "$old_archive_from_expsyms_cmds"
+
+ if test "$linkmode" = prog || test "$mode" != relink; then
+ add_shlibpath=
+ add_dir=
+ add=
+ lib_linked=yes
+ case $hardcode_action in
+ immediate | unsupported)
+ if test "$hardcode_direct" = no; then
+ add="$dir/$linklib"
+ case $host in
+ *-*-sco3.2v5* ) add_dir="-L$dir" ;;
+ *-*-darwin* )
+ # if the lib is a module then we can not link against
+ # it, someone is ignoring the new warnings I added
+ if /usr/bin/file -L $add 2> /dev/null | $EGREP "bundle" >/dev/null ; then
+ $echo "** Warning, lib $linklib is a module, not a shared library"
+ if test -z "$old_library" ; then
+ $echo
+ $echo "** And there doesn't seem to be a static archive available"
+ $echo "** The link will probably fail, sorry"
+ else
+ add="$dir/$old_library"
+ fi
+ fi
+ esac
+ elif test "$hardcode_minus_L" = no; then
+ case $host in
+ *-*-sunos*) add_shlibpath="$dir" ;;
+ esac
+ add_dir="-L$dir"
+ add="-l$name"
+ elif test "$hardcode_shlibpath_var" = no; then
+ add_shlibpath="$dir"
+ add="-l$name"
+ else
+ lib_linked=no
+ fi
+ ;;
+ relink)
+ if test "$hardcode_direct" = yes; then
+ add="$dir/$linklib"
+ elif test "$hardcode_minus_L" = yes; then
+ add_dir="-L$dir"
+ # Try looking first in the location we're being installed to.
+ if test -n "$inst_prefix_dir"; then
+ case "$libdir" in
+ [\\/]*)
+ add_dir="$add_dir -L$inst_prefix_dir$libdir"
+ ;;
+ esac
+ fi
+ add="-l$name"
+ elif test "$hardcode_shlibpath_var" = yes; then
+ add_shlibpath="$dir"
+ add="-l$name"
+ else
+ lib_linked=no
+ fi
+ ;;
+ *) lib_linked=no ;;
+ esac
+
+ if test "$lib_linked" != yes; then
+ $echo "$modename: configuration error: unsupported hardcode properties"
+ exit $EXIT_FAILURE
+ fi
+
+ if test -n "$add_shlibpath"; then
+ case :$compile_shlibpath: in
+ *":$add_shlibpath:"*) ;;
+ *) compile_shlibpath="$compile_shlibpath$add_shlibpath:" ;;
+ esac
+ fi
+ if test "$linkmode" = prog; then
+ test -n "$add_dir" && compile_deplibs="$add_dir $compile_deplibs"
+ test -n "$add" && compile_deplibs="$add $compile_deplibs"
+ else
+ test -n "$add_dir" && deplibs="$add_dir $deplibs"
+ test -n "$add" && deplibs="$add $deplibs"
+ if test "$hardcode_direct" != yes && \
+ test "$hardcode_minus_L" != yes && \
+ test "$hardcode_shlibpath_var" = yes; then
+ case :$finalize_shlibpath: in
+ *":$libdir:"*) ;;
+ *) finalize_shlibpath="$finalize_shlibpath$libdir:" ;;
+ esac
+ fi
+ fi
+ fi
+
+ if test "$linkmode" = prog || test "$mode" = relink; then
+ add_shlibpath=
+ add_dir=
+ add=
+ # Finalize command for both is simple: just hardcode it.
+ if test "$hardcode_direct" = yes; then
+ add="$libdir/$linklib"
+ elif test "$hardcode_minus_L" = yes; then
+ add_dir="-L$libdir"
+ add="-l$name"
+ elif test "$hardcode_shlibpath_var" = yes; then
+ case :$finalize_shlibpath: in
+ *":$libdir:"*) ;;
+ *) finalize_shlibpath="$finalize_shlibpath$libdir:" ;;
+ esac
+ add="-l$name"
+ elif test "$hardcode_automatic" = yes; then
+ if test -n "$inst_prefix_dir" &&
+ test -f "$inst_prefix_dir$libdir/$linklib" ; then
+ add="$inst_prefix_dir$libdir/$linklib"
+ else
+ add="$libdir/$linklib"
+ fi
+ else
+ # We cannot seem to hardcode it, guess we'll fake it.
+ add_dir="-L$libdir"
+ # Try looking first in the location we're being installed to.
+ if test -n "$inst_prefix_dir"; then
+ case "$libdir" in
+ [\\/]*)
+ add_dir="$add_dir -L$inst_prefix_dir$libdir"
+ ;;
+ esac
+ fi
+ add="-l$name"
+ fi
+
+ if test "$linkmode" = prog; then
+ test -n "$add_dir" && finalize_deplibs="$add_dir $finalize_deplibs"
+ test -n "$add" && finalize_deplibs="$add $finalize_deplibs"
+ else
+ test -n "$add_dir" && deplibs="$add_dir $deplibs"
+ test -n "$add" && deplibs="$add $deplibs"
+ fi
+ fi
+ elif test "$linkmode" = prog; then
+ # Here we assume that one of hardcode_direct or hardcode_minus_L
+ # is not unsupported. This is valid on all known static and
+ # shared platforms.
+ if test "$hardcode_direct" != unsupported; then
+ test -n "$old_library" && linklib="$old_library"
+ compile_deplibs="$dir/$linklib $compile_deplibs"
+ finalize_deplibs="$dir/$linklib $finalize_deplibs"
+ else
+ compile_deplibs="-l$name -L$dir $compile_deplibs"
+ finalize_deplibs="-l$name -L$dir $finalize_deplibs"
+ fi
+ elif test "$build_libtool_libs" = yes; then
+ # Not a shared library
+ if test "$deplibs_check_method" != pass_all; then
+ # We're trying link a shared library against a static one
+ # but the system doesn't support it.
+
+ # Just print a warning and add the library to dependency_libs so
+ # that the program can be linked against the static library.
+ $echo
+ $echo "*** Warning: This system can not link to static lib archive $lib."
+ $echo "*** I have the capability to make that library automatically link in when"
+ $echo "*** you link to this library. But I can only do this if you have a"
+ $echo "*** shared version of the library, which you do not appear to have."
+ if test "$module" = yes; then
+ $echo "*** But as you try to build a module library, libtool will still create "
+ $echo "*** a static module, that should work as long as the dlopening application"
+ $echo "*** is linked with the -dlopen flag to resolve symbols at runtime."
+ if test -z "$global_symbol_pipe"; then
+ $echo
+ $echo "*** However, this would only work if libtool was able to extract symbol"
+ $echo "*** lists from a program, using \`nm' or equivalent, but libtool could"
+ $echo "*** not find such a program. So, this module is probably useless."
+ $echo "*** \`nm' from GNU binutils and a full rebuild may help."
+ fi
+ if test "$build_old_libs" = no; then
+ build_libtool_libs=module
+ build_old_libs=yes
+ else
+ build_libtool_libs=no
+ fi
+ fi
+ else
+ convenience="$convenience $dir/$old_library"
+ old_convenience="$old_convenience $dir/$old_library"
+ deplibs="$dir/$old_library $deplibs"
+ link_static=yes
+ fi
+ fi # link shared/static library?
+
+ if test "$linkmode" = lib; then
+ if test -n "$dependency_libs" &&
+ { test "$hardcode_into_libs" != yes ||
+ test "$build_old_libs" = yes ||
+ test "$link_static" = yes; }; then
+ # Extract -R from dependency_libs
+ temp_deplibs=
+ for libdir in $dependency_libs; do
+ case $libdir in
+ -R*) temp_xrpath=`$echo "X$libdir" | $Xsed -e 's/^-R//'`
+ case " $xrpath " in
+ *" $temp_xrpath "*) ;;
+ *) xrpath="$xrpath $temp_xrpath";;
+ esac;;
+ *) temp_deplibs="$temp_deplibs $libdir";;
+ esac
+ done
+ dependency_libs="$temp_deplibs"
+ fi
+
+ newlib_search_path="$newlib_search_path $absdir"
+ # Link against this library
+ test "$link_static" = no && newdependency_libs="$abs_ladir/$laname $newdependency_libs"
+ # ... and its dependency_libs
+ tmp_libs=
+ for deplib in $dependency_libs; do
+ newdependency_libs="$deplib $newdependency_libs"
+ if test "X$duplicate_deps" = "Xyes" ; then
+ case "$tmp_libs " in
+ *" $deplib "*) specialdeplibs="$specialdeplibs $deplib" ;;
+ esac
+ fi
+ tmp_libs="$tmp_libs $deplib"
+ done
+
+ if test "$link_all_deplibs" != no; then
+ # Add the search paths of all dependency libraries
+ for deplib in $dependency_libs; do
+ case $deplib in
+ -L*) path="$deplib" ;;
+ *.la)
+ dir=`$echo "X$deplib" | $Xsed -e 's%/[^/]*$%%'`
+ test "X$dir" = "X$deplib" && dir="."
+ # We need an absolute path.
+ case $dir in
+ [\\/]* | [A-Za-z]:[\\/]*) absdir="$dir" ;;
+ *)
+ absdir=`cd "$dir" && pwd`
+ if test -z "$absdir"; then
+ $echo "$modename: warning: cannot determine absolute directory name of \`$dir'" 1>&2
+ absdir="$dir"
+ fi
+ ;;
+ esac
+ if grep "^installed=no" $deplib > /dev/null; then
+ path="$absdir/$objdir"
+ else
+ eval libdir=`${SED} -n -e 's/^libdir=\(.*\)$/\1/p' $deplib`
+ if test -z "$libdir"; then
+ $echo "$modename: \`$deplib' is not a valid libtool archive" 1>&2
+ exit $EXIT_FAILURE
+ fi
+ if test "$absdir" != "$libdir"; then
+ $echo "$modename: warning: \`$deplib' seems to be moved" 1>&2
+ fi
+ path="$absdir"
+ fi
+ depdepl=
+ case $host in
+ *-*-darwin*)
+ # we do not want to link against static libs,
+ # but need to link against shared
+ eval deplibrary_names=`${SED} -n -e 's/^library_names=\(.*\)$/\1/p' $deplib`
+ if test -n "$deplibrary_names" ; then
+ for tmp in $deplibrary_names ; do
+ depdepl=$tmp
+ done
+ if test -f "$path/$depdepl" ; then
+ depdepl="$path/$depdepl"
+ fi
+ # do not add paths which are already there
+ case " $newlib_search_path " in
+ *" $path "*) ;;
+ *) newlib_search_path="$newlib_search_path $path";;
+ esac
+ fi
+ path=""
+ ;;
+ *)
+ path="-L$path"
+ ;;
+ esac
+ ;;
+ -l*)
+ case $host in
+ *-*-darwin*)
+ # Again, we only want to link against shared libraries
+ eval tmp_libs=`$echo "X$deplib" | $Xsed -e "s,^\-l,,"`
+ for tmp in $newlib_search_path ; do
+ if test -f "$tmp/lib$tmp_libs.dylib" ; then
+ eval depdepl="$tmp/lib$tmp_libs.dylib"
+ break
+ fi
+ done
+ path=""
+ ;;
+ *) continue ;;
+ esac
+ ;;
+ *) continue ;;
+ esac
+ case " $deplibs " in
+ *" $path "*) ;;
+ *) deplibs="$path $deplibs" ;;
+ esac
+ case " $deplibs " in
+ *" $depdepl "*) ;;
+ *) deplibs="$depdepl $deplibs" ;;
+ esac
+ done
+ fi # link_all_deplibs != no
+ fi # linkmode = lib
+ done # for deplib in $libs
+ dependency_libs="$newdependency_libs"
+ if test "$pass" = dlpreopen; then
+ # Link the dlpreopened libraries before other libraries
+ for deplib in $save_deplibs; do
+ deplibs="$deplib $deplibs"
+ done
+ fi
+ if test "$pass" != dlopen; then
+ if test "$pass" != conv; then
+ # Make sure lib_search_path contains only unique directories.
+ lib_search_path=
+ for dir in $newlib_search_path; do
+ case "$lib_search_path " in
+ *" $dir "*) ;;
+ *) lib_search_path="$lib_search_path $dir" ;;
+ esac
+ done
+ newlib_search_path=
+ fi
+
+ if test "$linkmode,$pass" != "prog,link"; then
+ vars="deplibs"
+ else
+ vars="compile_deplibs finalize_deplibs"
+ fi
+ for var in $vars dependency_libs; do
+ # Add libraries to $var in reverse order
+ eval tmp_libs=\"\$$var\"
+ new_libs=
+ for deplib in $tmp_libs; do
+ # FIXME: Pedantically, this is the right thing to do, so
+ # that some nasty dependency loop isn't accidentally
+ # broken:
+ #new_libs="$deplib $new_libs"
+ # Pragmatically, this seems to cause very few problems in
+ # practice:
+ case $deplib in
+ -L*) new_libs="$deplib $new_libs" ;;
+ -R*) ;;
+ *)
+ # And here is the reason: when a library appears more
+ # than once as an explicit dependence of a library, or
+ # is implicitly linked in more than once by the
+ # compiler, it is considered special, and multiple
+ # occurrences thereof are not removed. Compare this
+ # with having the same library being listed as a
+ # dependency of multiple other libraries: in this case,
+ # we know (pedantically, we assume) the library does not
+ # need to be listed more than once, so we keep only the
+ # last copy. This is not always right, but it is rare
+ # enough that we require users that really mean to play
+ # such unportable linking tricks to link the library
+ # using -Wl,-lname, so that libtool does not consider it
+ # for duplicate removal.
+ case " $specialdeplibs " in
+ *" $deplib "*) new_libs="$deplib $new_libs" ;;
+ *)
+ case " $new_libs " in
+ *" $deplib "*) ;;
+ *) new_libs="$deplib $new_libs" ;;
+ esac
+ ;;
+ esac
+ ;;
+ esac
+ done
+ tmp_libs=
+ for deplib in $new_libs; do
+ case $deplib in
+ -L*)
+ case " $tmp_libs " in
+ *" $deplib "*) ;;
+ *) tmp_libs="$tmp_libs $deplib" ;;
+ esac
+ ;;
+ *) tmp_libs="$tmp_libs $deplib" ;;
+ esac
+ done
+ eval $var=\"$tmp_libs\"
+ done # for var
+ fi
+ # Last step: remove runtime libs from dependency_libs
+ # (they stay in deplibs)
+ tmp_libs=
+ for i in $dependency_libs ; do
+ case " $predeps $postdeps $compiler_lib_search_path " in
+ *" $i "*)
+ i=""
+ ;;
+ esac
+ if test -n "$i" ; then
+ tmp_libs="$tmp_libs $i"
+ fi
+ done
+ dependency_libs=$tmp_libs
+ done # for pass
+ if test "$linkmode" = prog; then
+ dlfiles="$newdlfiles"
+ dlprefiles="$newdlprefiles"
+ fi
+
+ case $linkmode in
+ oldlib)
+ if test -n "$deplibs"; then
+ $echo "$modename: warning: \`-l' and \`-L' are ignored for archives" 1>&2
+ fi
+
+ if test -n "$dlfiles$dlprefiles" || test "$dlself" != no; then
+ $echo "$modename: warning: \`-dlopen' is ignored for archives" 1>&2
+ fi
+
+ if test -n "$rpath"; then
+ $echo "$modename: warning: \`-rpath' is ignored for archives" 1>&2
+ fi
+
+ if test -n "$xrpath"; then
+ $echo "$modename: warning: \`-R' is ignored for archives" 1>&2
+ fi
+
+ if test -n "$vinfo"; then
+ $echo "$modename: warning: \`-version-info/-version-number' is ignored for archives" 1>&2
+ fi
+
+ if test -n "$release"; then
+ $echo "$modename: warning: \`-release' is ignored for archives" 1>&2
+ fi
+
+ if test -n "$export_symbols" || test -n "$export_symbols_regex"; then
+ $echo "$modename: warning: \`-export-symbols' is ignored for archives" 1>&2
+ fi
+
+ # Now set the variables for building old libraries.
+ build_libtool_libs=no
+ oldlibs="$output"
+ objs="$objs$old_deplibs"
+ ;;
+
+ lib)
+ # Make sure we only generate libraries of the form `libNAME.la'.
+ case $outputname in
+ lib*)
+ name=`$echo "X$outputname" | $Xsed -e 's/\.la$//' -e 's/^lib//'`
+ eval shared_ext=\"$shrext_cmds\"
+ eval libname=\"$libname_spec\"
+ ;;
+ *)
+ if test "$module" = no; then
+ $echo "$modename: libtool library \`$output' must begin with \`lib'" 1>&2
+ $echo "$help" 1>&2
+ exit $EXIT_FAILURE
+ fi
+ if test "$need_lib_prefix" != no; then
+ # Add the "lib" prefix for modules if required
+ name=`$echo "X$outputname" | $Xsed -e 's/\.la$//'`
+ eval shared_ext=\"$shrext_cmds\"
+ eval libname=\"$libname_spec\"
+ else
+ libname=`$echo "X$outputname" | $Xsed -e 's/\.la$//'`
+ fi
+ ;;
+ esac
+
+ if test -n "$objs"; then
+ if test "$deplibs_check_method" != pass_all; then
+ $echo "$modename: cannot build libtool library \`$output' from non-libtool objects on this host:$objs" 2>&1
+ exit $EXIT_FAILURE
+ else
+ $echo
+ $echo "*** Warning: Linking the shared library $output against the non-libtool"
+ $echo "*** objects $objs is not portable!"
+ libobjs="$libobjs $objs"
+ fi
+ fi
+
+ if test "$dlself" != no; then
+ $echo "$modename: warning: \`-dlopen self' is ignored for libtool libraries" 1>&2
+ fi
+
+ set dummy $rpath
+ if test "$#" -gt 2; then
+ $echo "$modename: warning: ignoring multiple \`-rpath's for a libtool library" 1>&2
+ fi
+ install_libdir="$2"
+
+ oldlibs=
+ if test -z "$rpath"; then
+ if test "$build_libtool_libs" = yes; then
+ # Building a libtool convenience library.
+ # Some compilers have problems with a `.al' extension so
+ # convenience libraries should have the same extension an
+ # archive normally would.
+ oldlibs="$output_objdir/$libname.$libext $oldlibs"
+ build_libtool_libs=convenience
+ build_old_libs=yes
+ fi
+
+ if test -n "$vinfo"; then
+ $echo "$modename: warning: \`-version-info/-version-number' is ignored for convenience libraries" 1>&2
+ fi
+
+ if test -n "$release"; then
+ $echo "$modename: warning: \`-release' is ignored for convenience libraries" 1>&2
+ fi
+ else
+
+ # Parse the version information argument.
+ save_ifs="$IFS"; IFS=':'
+ set dummy $vinfo 0 0 0
+ IFS="$save_ifs"
+
+ if test -n "$8"; then
+ $echo "$modename: too many parameters to \`-version-info'" 1>&2
+ $echo "$help" 1>&2
+ exit $EXIT_FAILURE
+ fi
+
+ # convert absolute version numbers to libtool ages
+ # this retains compatibility with .la files and attempts
+ # to make the code below a bit more comprehensible
+
+ case $vinfo_number in
+ yes)
+ number_major="$2"
+ number_minor="$3"
+ number_revision="$4"
+ #
+ # There are really only two kinds -- those that
+ # use the current revision as the major version
+ # and those that subtract age and use age as
+ # a minor version. But, then there is irix
+ # which has an extra 1 added just for fun
+ #
+ case $version_type in
+ darwin|linux|osf|windows)
+ current=`expr $number_major + $number_minor`
+ age="$number_minor"
+ revision="$number_revision"
+ ;;
+ freebsd-aout|freebsd-elf|sunos)
+ current="$number_major"
+ revision="$number_minor"
+ age="0"
+ ;;
+ irix|nonstopux)
+ current=`expr $number_major + $number_minor - 1`
+ age="$number_minor"
+ revision="$number_minor"
+ ;;
+ esac
+ ;;
+ no)
+ current="$2"
+ revision="$3"
+ age="$4"
+ ;;
+ esac
+
+ # Check that each of the things are valid numbers.
+ case $current in
+ 0|[1-9]|[1-9][0-9]|[1-9][0-9][0-9]|[1-9][0-9][0-9][0-9]|[1-9][0-9][0-9][0-9][0-9]) ;;
+ *)
+ $echo "$modename: CURRENT \`$current' must be a nonnegative integer" 1>&2
+ $echo "$modename: \`$vinfo' is not valid version information" 1>&2
+ exit $EXIT_FAILURE
+ ;;
+ esac
+
+ case $revision in
+ 0|[1-9]|[1-9][0-9]|[1-9][0-9][0-9]|[1-9][0-9][0-9][0-9]|[1-9][0-9][0-9][0-9][0-9]) ;;
+ *)
+ $echo "$modename: REVISION \`$revision' must be a nonnegative integer" 1>&2
+ $echo "$modename: \`$vinfo' is not valid version information" 1>&2
+ exit $EXIT_FAILURE
+ ;;
+ esac
+
+ case $age in
+ 0|[1-9]|[1-9][0-9]|[1-9][0-9][0-9]|[1-9][0-9][0-9][0-9]|[1-9][0-9][0-9][0-9][0-9]) ;;
+ *)
+ $echo "$modename: AGE \`$age' must be a nonnegative integer" 1>&2
+ $echo "$modename: \`$vinfo' is not valid version information" 1>&2
+ exit $EXIT_FAILURE
+ ;;
+ esac
+
+ if test "$age" -gt "$current"; then
+ $echo "$modename: AGE \`$age' is greater than the current interface number \`$current'" 1>&2
+ $echo "$modename: \`$vinfo' is not valid version information" 1>&2
+ exit $EXIT_FAILURE
+ fi
+
+ # Calculate the version variables.
+ major=
+ versuffix=
+ verstring=
+ case $version_type in
+ none) ;;
+
+ darwin)
+ # Like Linux, but with the current version available in
+ # verstring for coding it into the library header
+ major=.`expr $current - $age`
+ versuffix="$major.$age.$revision"
+ # Darwin ld doesn't like 0 for these options...
+ minor_current=`expr $current + 1`
+ verstring="${wl}-compatibility_version ${wl}$minor_current ${wl}-current_version ${wl}$minor_current.$revision"
+ ;;
+
+ freebsd-aout)
+ major=".$current"
+ versuffix=".$current.$revision";
+ ;;
+
+ freebsd-elf)
+ major=".$current"
+ versuffix=".$current";
+ ;;
+
+ irix | nonstopux)
+ major=`expr $current - $age + 1`
+
+ case $version_type in
+ nonstopux) verstring_prefix=nonstopux ;;
+ *) verstring_prefix=sgi ;;
+ esac
+ verstring="$verstring_prefix$major.$revision"
+
+ # Add in all the interfaces that we are compatible with.
+ loop=$revision
+ while test "$loop" -ne 0; do
+ iface=`expr $revision - $loop`
+ loop=`expr $loop - 1`
+ verstring="$verstring_prefix$major.$iface:$verstring"
+ done
+
+ # Before this point, $major must not contain `.'.
+ major=.$major
+ versuffix="$major.$revision"
+ ;;
+
+ linux)
+ major=.`expr $current - $age`
+ versuffix="$major.$age.$revision"
+ ;;
+
+ osf)
+ major=.`expr $current - $age`
+ versuffix=".$current.$age.$revision"
+ verstring="$current.$age.$revision"
+
+ # Add in all the interfaces that we are compatible with.
+ loop=$age
+ while test "$loop" -ne 0; do
+ iface=`expr $current - $loop`
+ loop=`expr $loop - 1`
+ verstring="$verstring:${iface}.0"
+ done
+
+ # Make executables depend on our current version.
+ verstring="$verstring:${current}.0"
+ ;;
+
+ sunos)
+ major=".$current"
+ versuffix=".$current.$revision"
+ ;;
+
+ windows)
+ # Use '-' rather than '.', since we only want one
+ # extension on DOS 8.3 filesystems.
+ major=`expr $current - $age`
+ versuffix="-$major"
+ ;;
+
+ *)
+ $echo "$modename: unknown library version type \`$version_type'" 1>&2
+ $echo "Fatal configuration error. See the $PACKAGE docs for more information." 1>&2
+ exit $EXIT_FAILURE
+ ;;
+ esac
+
+ # Clear the version info if we defaulted, and they specified a release.
+ if test -z "$vinfo" && test -n "$release"; then
+ major=
+ case $version_type in
+ darwin)
+ # we can't check for "0.0" in archive_cmds due to quoting
+ # problems, so we reset it completely
+ verstring=
+ ;;
+ *)
+ verstring="0.0"
+ ;;
+ esac
+ if test "$need_version" = no; then
+ versuffix=
+ else
+ versuffix=".0.0"
+ fi
+ fi
+
+ # Remove version info from name if versioning should be avoided
+ if test "$avoid_version" = yes && test "$need_version" = no; then
+ major=
+ versuffix=
+ verstring=""
+ fi
+
+ # Check to see if the archive will have undefined symbols.
+ if test "$allow_undefined" = yes; then
+ if test "$allow_undefined_flag" = unsupported; then
+ $echo "$modename: warning: undefined symbols not allowed in $host shared libraries" 1>&2
+ build_libtool_libs=no
+ build_old_libs=yes
+ fi
+ else
+ # Don't allow undefined symbols.
+ allow_undefined_flag="$no_undefined_flag"
+ fi
+ fi
+
+ if test "$mode" != relink; then
+ # Remove our outputs, but don't remove object files since they
+ # may have been created when compiling PIC objects.
+ removelist=
+ tempremovelist=`$echo "$output_objdir/*"`
+ for p in $tempremovelist; do
+ case $p in
+ *.$objext)
+ ;;
+ $output_objdir/$outputname | $output_objdir/$libname.* | $output_objdir/${libname}${release}.*)
+ if test "X$precious_files_regex" != "X"; then
+ if echo $p | $EGREP -e "$precious_files_regex" >/dev/null 2>&1
+ then
+ continue
+ fi
+ fi
+ removelist="$removelist $p"
+ ;;
+ *) ;;
+ esac
+ done
+ if test -n "$removelist"; then
+ $show "${rm}r $removelist"
+ $run ${rm}r $removelist
+ fi
+ fi
+
+ # Now set the variables for building old libraries.
+ if test "$build_old_libs" = yes && test "$build_libtool_libs" != convenience ; then
+ oldlibs="$oldlibs $output_objdir/$libname.$libext"
+
+ # Transform .lo files to .o files.
+ oldobjs="$objs "`$echo "X$libobjs" | $SP2NL | $Xsed -e '/\.'${libext}'$/d' -e "$lo2o" | $NL2SP`
+ fi
+
+ # Eliminate all temporary directories.
+ for path in $notinst_path; do
+ lib_search_path=`$echo "$lib_search_path " | ${SED} -e 's% $path % %g'`
+ deplibs=`$echo "$deplibs " | ${SED} -e 's% -L$path % %g'`
+ dependency_libs=`$echo "$dependency_libs " | ${SED} -e 's% -L$path % %g'`
+ done
+
+ if test -n "$xrpath"; then
+ # If the user specified any rpath flags, then add them.
+ temp_xrpath=
+ for libdir in $xrpath; do
+ temp_xrpath="$temp_xrpath -R$libdir"
+ case "$finalize_rpath " in
+ *" $libdir "*) ;;
+ *) finalize_rpath="$finalize_rpath $libdir" ;;
+ esac
+ done
+ if test "$hardcode_into_libs" != yes || test "$build_old_libs" = yes; then
+ dependency_libs="$temp_xrpath $dependency_libs"
+ fi
+ fi
+
+ # Make sure dlfiles contains only unique files that won't be dlpreopened
+ old_dlfiles="$dlfiles"
+ dlfiles=
+ for lib in $old_dlfiles; do
+ case " $dlprefiles $dlfiles " in
+ *" $lib "*) ;;
+ *) dlfiles="$dlfiles $lib" ;;
+ esac
+ done
+
+ # Make sure dlprefiles contains only unique files
+ old_dlprefiles="$dlprefiles"
+ dlprefiles=
+ for lib in $old_dlprefiles; do
+ case "$dlprefiles " in
+ *" $lib "*) ;;
+ *) dlprefiles="$dlprefiles $lib" ;;
+ esac
+ done
+
+ if test "$build_libtool_libs" = yes; then
+ if test -n "$rpath"; then
+ case $host in
+ *-*-cygwin* | *-*-mingw* | *-*-pw32* | *-*-os2* | *-*-beos*)
+ # these systems don't actually have a c library (as such)!
+ ;;
+ *-*-rhapsody* | *-*-darwin1.[012])
+ # Rhapsody C library is in the System framework
+ deplibs="$deplibs -framework System"
+ ;;
+ *-*-netbsd*)
+ # Don't link with libc until the a.out ld.so is fixed.
+ ;;
+ *-*-openbsd* | *-*-freebsd* | *-*-dragonfly*)
+ # Do not include libc due to us having libc/libc_r.
+ test "X$arg" = "X-lc" && continue
+ ;;
+ *)
+ # Add libc to deplibs on all other systems if necessary.
+ if test "$build_libtool_need_lc" = "yes"; then
+ deplibs="$deplibs -lc"
+ fi
+ ;;
+ esac
+ fi
+
+ # Transform deplibs into only deplibs that can be linked in shared.
+ name_save=$name
+ libname_save=$libname
+ release_save=$release
+ versuffix_save=$versuffix
+ major_save=$major
+ # I'm not sure if I'm treating the release correctly. I think
+ # release should show up in the -l (ie -lgmp5) so we don't want to
+ # add it in twice. Is that correct?
+ release=""
+ versuffix=""
+ major=""
+ newdeplibs=
+ droppeddeps=no
+ case $deplibs_check_method in
+ pass_all)
+ # Don't check for shared/static. Everything works.
+ # This might be a little naive. We might want to check
+ # whether the library exists or not. But this is on
+ # osf3 & osf4 and I'm not really sure... Just
+ # implementing what was already the behavior.
+ newdeplibs=$deplibs
+ ;;
+ test_compile)
+ # This code stresses the "libraries are programs" paradigm to its
+ # limits. Maybe even breaks it. We compile a program, linking it
+ # against the deplibs as a proxy for the library. Then we can check
+ # whether they linked in statically or dynamically with ldd.
+ $rm conftest.c
+ cat > conftest.c <<EOF
+ int main() { return 0; }
+EOF
+ $rm conftest
+ $LTCC -o conftest conftest.c $deplibs
+ if test "$?" -eq 0 ; then
+ ldd_output=`ldd conftest`
+ for i in $deplibs; do
+ name="`expr $i : '-l\(.*\)'`"
+ # If $name is empty we are operating on a -L argument.
+ if test "$name" != "" && test "$name" -ne "0"; then
+ if test "X$allow_libtool_libs_with_static_runtimes" = "Xyes" ; then
+ case " $predeps $postdeps " in
+ *" $i "*)
+ newdeplibs="$newdeplibs $i"
+ i=""
+ ;;
+ esac
+ fi
+ if test -n "$i" ; then
+ libname=`eval \\$echo \"$libname_spec\"`
+ deplib_matches=`eval \\$echo \"$library_names_spec\"`
+ set dummy $deplib_matches
+ deplib_match=$2
+ if test `expr "$ldd_output" : ".*$deplib_match"` -ne 0 ; then
+ newdeplibs="$newdeplibs $i"
+ else
+ droppeddeps=yes
+ $echo
+ $echo "*** Warning: dynamic linker does not accept needed library $i."
+ $echo "*** I have the capability to make that library automatically link in when"
+ $echo "*** you link to this library. But I can only do this if you have a"
+ $echo "*** shared version of the library, which I believe you do not have"
+ $echo "*** because a test_compile did reveal that the linker did not use it for"
+ $echo "*** its dynamic dependency list that programs get resolved with at runtime."
+ fi
+ fi
+ else
+ newdeplibs="$newdeplibs $i"
+ fi
+ done
+ else
+ # Error occurred in the first compile. Let's try to salvage
+ # the situation: Compile a separate program for each library.
+ for i in $deplibs; do
+ name="`expr $i : '-l\(.*\)'`"
+ # If $name is empty we are operating on a -L argument.
+ if test "$name" != "" && test "$name" != "0"; then
+ $rm conftest
+ $LTCC -o conftest conftest.c $i
+ # Did it work?
+ if test "$?" -eq 0 ; then
+ ldd_output=`ldd conftest`
+ if test "X$allow_libtool_libs_with_static_runtimes" = "Xyes" ; then
+ case " $predeps $postdeps " in
+ *" $i "*)
+ newdeplibs="$newdeplibs $i"
+ i=""
+ ;;
+ esac
+ fi
+ if test -n "$i" ; then
+ libname=`eval \\$echo \"$libname_spec\"`
+ deplib_matches=`eval \\$echo \"$library_names_spec\"`
+ set dummy $deplib_matches
+ deplib_match=$2
+ if test `expr "$ldd_output" : ".*$deplib_match"` -ne 0 ; then
+ newdeplibs="$newdeplibs $i"
+ else
+ droppeddeps=yes
+ $echo
+ $echo "*** Warning: dynamic linker does not accept needed library $i."
+ $echo "*** I have the capability to make that library automatically link in when"
+ $echo "*** you link to this library. But I can only do this if you have a"
+ $echo "*** shared version of the library, which you do not appear to have"
+ $echo "*** because a test_compile did reveal that the linker did not use this one"
+ $echo "*** as a dynamic dependency that programs can get resolved with at runtime."
+ fi
+ fi
+ else
+ droppeddeps=yes
+ $echo
+ $echo "*** Warning! Library $i is needed by this library but I was not able to"
+ $echo "*** make it link in! You will probably need to install it or some"
+ $echo "*** library that it depends on before this library will be fully"
+ $echo "*** functional. Installing it before continuing would be even better."
+ fi
+ else
+ newdeplibs="$newdeplibs $i"
+ fi
+ done
+ fi
+ ;;
+ file_magic*)
+ set dummy $deplibs_check_method
+ file_magic_regex=`expr "$deplibs_check_method" : "$2 \(.*\)"`
+ for a_deplib in $deplibs; do
+ name="`expr $a_deplib : '-l\(.*\)'`"
+ # If $name is empty we are operating on a -L argument.
+ if test "$name" != "" && test "$name" != "0"; then
+ if test "X$allow_libtool_libs_with_static_runtimes" = "Xyes" ; then
+ case " $predeps $postdeps " in
+ *" $a_deplib "*)
+ newdeplibs="$newdeplibs $a_deplib"
+ a_deplib=""
+ ;;
+ esac
+ fi
+ if test -n "$a_deplib" ; then
+ libname=`eval \\$echo \"$libname_spec\"`
+ for i in $lib_search_path $sys_lib_search_path $shlib_search_path; do
+ potential_libs=`ls $i/$libname[.-]* 2>/dev/null`
+ for potent_lib in $potential_libs; do
+ # Follow soft links.
+ if ls -lLd "$potent_lib" 2>/dev/null \
+ | grep " -> " >/dev/null; then
+ continue
+ fi
+ # The statement above tries to avoid entering an
+ # endless loop below, in case of cyclic links.
+ # We might still enter an endless loop, since a link
+ # loop can be closed while we follow links,
+ # but so what?
+ potlib="$potent_lib"
+ while test -h "$potlib" 2>/dev/null; do
+ potliblink=`ls -ld $potlib | ${SED} 's/.* -> //'`
+ case $potliblink in
+ [\\/]* | [A-Za-z]:[\\/]*) potlib="$potliblink";;
+ *) potlib=`$echo "X$potlib" | $Xsed -e 's,[^/]*$,,'`"$potliblink";;
+ esac
+ done
+ if eval $file_magic_cmd \"\$potlib\" 2>/dev/null \
+ | ${SED} 10q \
+ | $EGREP "$file_magic_regex" > /dev/null; then
+ newdeplibs="$newdeplibs $a_deplib"
+ a_deplib=""
+ break 2
+ fi
+ done
+ done
+ fi
+ if test -n "$a_deplib" ; then
+ droppeddeps=yes
+ $echo
+ $echo "*** Warning: linker path does not have real file for library $a_deplib."
+ $echo "*** I have the capability to make that library automatically link in when"
+ $echo "*** you link to this library. But I can only do this if you have a"
+ $echo "*** shared version of the library, which you do not appear to have"
+ $echo "*** because I did check the linker path looking for a file starting"
+ if test -z "$potlib" ; then
+ $echo "*** with $libname but no candidates were found. (...for file magic test)"
+ else
+ $echo "*** with $libname and none of the candidates passed a file format test"
+ $echo "*** using a file magic. Last file checked: $potlib"
+ fi
+ fi
+ else
+ # Add a -L argument.
+ newdeplibs="$newdeplibs $a_deplib"
+ fi
+ done # Gone through all deplibs.
+ ;;
+ match_pattern*)
+ set dummy $deplibs_check_method
+ match_pattern_regex=`expr "$deplibs_check_method" : "$2 \(.*\)"`
+ for a_deplib in $deplibs; do
+ name="`expr $a_deplib : '-l\(.*\)'`"
+ # If $name is empty we are operating on a -L argument.
+ if test -n "$name" && test "$name" != "0"; then
+ if test "X$allow_libtool_libs_with_static_runtimes" = "Xyes" ; then
+ case " $predeps $postdeps " in
+ *" $a_deplib "*)
+ newdeplibs="$newdeplibs $a_deplib"
+ a_deplib=""
+ ;;
+ esac
+ fi
+ if test -n "$a_deplib" ; then
+ libname=`eval \\$echo \"$libname_spec\"`
+ for i in $lib_search_path $sys_lib_search_path $shlib_search_path; do
+ potential_libs=`ls $i/$libname[.-]* 2>/dev/null`
+ for potent_lib in $potential_libs; do
+ potlib="$potent_lib" # see symlink-check above in file_magic test
+ if eval $echo \"$potent_lib\" 2>/dev/null \
+ | ${SED} 10q \
+ | $EGREP "$match_pattern_regex" > /dev/null; then
+ newdeplibs="$newdeplibs $a_deplib"
+ a_deplib=""
+ break 2
+ fi
+ done
+ done
+ fi
+ if test -n "$a_deplib" ; then
+ droppeddeps=yes
+ $echo
+ $echo "*** Warning: linker path does not have real file for library $a_deplib."
+ $echo "*** I have the capability to make that library automatically link in when"
+ $echo "*** you link to this library. But I can only do this if you have a"
+ $echo "*** shared version of the library, which you do not appear to have"
+ $echo "*** because I did check the linker path looking for a file starting"
+ if test -z "$potlib" ; then
+ $echo "*** with $libname but no candidates were found. (...for regex pattern test)"
+ else
+ $echo "*** with $libname and none of the candidates passed a file format test"
+ $echo "*** using a regex pattern. Last file checked: $potlib"
+ fi
+ fi
+ else
+ # Add a -L argument.
+ newdeplibs="$newdeplibs $a_deplib"
+ fi
+ done # Gone through all deplibs.
+ ;;
+ none | unknown | *)
+ newdeplibs=""
+ tmp_deplibs=`$echo "X $deplibs" | $Xsed -e 's/ -lc$//' \
+ -e 's/ -[LR][^ ]*//g'`
+ if test "X$allow_libtool_libs_with_static_runtimes" = "Xyes" ; then
+ for i in $predeps $postdeps ; do
+ # can't use Xsed below, because $i might contain '/'
+ tmp_deplibs=`$echo "X $tmp_deplibs" | ${SED} -e "1s,^X,," -e "s,$i,,"`
+ done
+ fi
+ if $echo "X $tmp_deplibs" | $Xsed -e 's/[ ]//g' \
+ | grep . >/dev/null; then
+ $echo
+ if test "X$deplibs_check_method" = "Xnone"; then
+ $echo "*** Warning: inter-library dependencies are not supported in this platform."
+ else
+ $echo "*** Warning: inter-library dependencies are not known to be supported."
+ fi
+ $echo "*** All declared inter-library dependencies are being dropped."
+ droppeddeps=yes
+ fi
+ ;;
+ esac
+ versuffix=$versuffix_save
+ major=$major_save
+ release=$release_save
+ libname=$libname_save
+ name=$name_save
+
+ case $host in
+ *-*-rhapsody* | *-*-darwin1.[012])
+ # On Rhapsody replace the C library is the System framework
+ newdeplibs=`$echo "X $newdeplibs" | $Xsed -e 's/ -lc / -framework System /'`
+ ;;
+ esac
+
+ if test "$droppeddeps" = yes; then
+ if test "$module" = yes; then
+ $echo
+ $echo "*** Warning: libtool could not satisfy all declared inter-library"
+ $echo "*** dependencies of module $libname. Therefore, libtool will create"
+ $echo "*** a static module, that should work as long as the dlopening"
+ $echo "*** application is linked with the -dlopen flag."
+ if test -z "$global_symbol_pipe"; then
+ $echo
+ $echo "*** However, this would only work if libtool was able to extract symbol"
+ $echo "*** lists from a program, using \`nm' or equivalent, but libtool could"
+ $echo "*** not find such a program. So, this module is probably useless."
+ $echo "*** \`nm' from GNU binutils and a full rebuild may help."
+ fi
+ if test "$build_old_libs" = no; then
+ oldlibs="$output_objdir/$libname.$libext"
+ build_libtool_libs=module
+ build_old_libs=yes
+ else
+ build_libtool_libs=no
+ fi
+ else
+ $echo "*** The inter-library dependencies that have been dropped here will be"
+ $echo "*** automatically added whenever a program is linked with this library"
+ $echo "*** or is declared to -dlopen it."
+
+ if test "$allow_undefined" = no; then
+ $echo
+ $echo "*** Since this library must not contain undefined symbols,"
+ $echo "*** because either the platform does not support them or"
+ $echo "*** it was explicitly requested with -no-undefined,"
+ $echo "*** libtool will only create a static version of it."
+ if test "$build_old_libs" = no; then
+ oldlibs="$output_objdir/$libname.$libext"
+ build_libtool_libs=module
+ build_old_libs=yes
+ else
+ build_libtool_libs=no
+ fi
+ fi
+ fi
+ fi
+ # Done checking deplibs!
+ deplibs=$newdeplibs
+ fi
+
+ # All the library-specific variables (install_libdir is set above).
+ library_names=
+ old_library=
+ dlname=
+
+ # Test again, we may have decided not to build it any more
+ if test "$build_libtool_libs" = yes; then
+ if test "$hardcode_into_libs" = yes; then
+ # Hardcode the library paths
+ hardcode_libdirs=
+ dep_rpath=
+ rpath="$finalize_rpath"
+ test "$mode" != relink && rpath="$compile_rpath$rpath"
+ for libdir in $rpath; do
+ if test -n "$hardcode_libdir_flag_spec"; then
+ if test -n "$hardcode_libdir_separator"; then
+ if test -z "$hardcode_libdirs"; then
+ hardcode_libdirs="$libdir"
+ else
+ # Just accumulate the unique libdirs.
+ case $hardcode_libdir_separator$hardcode_libdirs$hardcode_libdir_separator in
+ *"$hardcode_libdir_separator$libdir$hardcode_libdir_separator"*)
+ ;;
+ *)
+ hardcode_libdirs="$hardcode_libdirs$hardcode_libdir_separator$libdir"
+ ;;
+ esac
+ fi
+ else
+ eval flag=\"$hardcode_libdir_flag_spec\"
+ dep_rpath="$dep_rpath $flag"
+ fi
+ elif test -n "$runpath_var"; then
+ case "$perm_rpath " in
+ *" $libdir "*) ;;
+ *) perm_rpath="$perm_rpath $libdir" ;;
+ esac
+ fi
+ done
+ # Substitute the hardcoded libdirs into the rpath.
+ if test -n "$hardcode_libdir_separator" &&
+ test -n "$hardcode_libdirs"; then
+ libdir="$hardcode_libdirs"
+ if test -n "$hardcode_libdir_flag_spec_ld"; then
+ eval dep_rpath=\"$hardcode_libdir_flag_spec_ld\"
+ else
+ eval dep_rpath=\"$hardcode_libdir_flag_spec\"
+ fi
+ fi
+ if test -n "$runpath_var" && test -n "$perm_rpath"; then
+ # We should set the runpath_var.
+ rpath=
+ for dir in $perm_rpath; do
+ rpath="$rpath$dir:"
+ done
+ eval "$runpath_var='$rpath\$$runpath_var'; export $runpath_var"
+ fi
+ test -n "$dep_rpath" && deplibs="$dep_rpath $deplibs"
+ fi
+
+ shlibpath="$finalize_shlibpath"
+ test "$mode" != relink && shlibpath="$compile_shlibpath$shlibpath"
+ if test -n "$shlibpath"; then
+ eval "$shlibpath_var='$shlibpath\$$shlibpath_var'; export $shlibpath_var"
+ fi
+
+ # Get the real and link names of the library.
+ eval shared_ext=\"$shrext_cmds\"
+ eval library_names=\"$library_names_spec\"
+ set dummy $library_names
+ realname="$2"
+ shift; shift
+
+ if test -n "$soname_spec"; then
+ eval soname=\"$soname_spec\"
+ else
+ soname="$realname"
+ fi
+ if test -z "$dlname"; then
+ dlname=$soname
+ fi
+
+ lib="$output_objdir/$realname"
+ for link
+ do
+ linknames="$linknames $link"
+ done
+
+ # Use standard objects if they are pic
+ test -z "$pic_flag" && libobjs=`$echo "X$libobjs" | $SP2NL | $Xsed -e "$lo2o" | $NL2SP`
+
+ # Prepare the list of exported symbols
+ if test -z "$export_symbols"; then
+ if test "$always_export_symbols" = yes || test -n "$export_symbols_regex"; then
+ $show "generating symbol list for \`$libname.la'"
+ export_symbols="$output_objdir/$libname.exp"
+ $run $rm $export_symbols
+ cmds=$export_symbols_cmds
+ save_ifs="$IFS"; IFS='~'
+ for cmd in $cmds; do
+ IFS="$save_ifs"
+ eval cmd=\"$cmd\"
+ if len=`expr "X$cmd" : ".*"` &&
+ test "$len" -le "$max_cmd_len" || test "$max_cmd_len" -le -1; then
+ $show "$cmd"
+ $run eval "$cmd" || exit $?
+ skipped_export=false
+ else
+ # The command line is too long to execute in one step.
+ $show "using reloadable object file for export list..."
+ skipped_export=:
+ fi
+ done
+ IFS="$save_ifs"
+ if test -n "$export_symbols_regex"; then
+ $show "$EGREP -e \"$export_symbols_regex\" \"$export_symbols\" > \"${export_symbols}T\""
+ $run eval '$EGREP -e "$export_symbols_regex" "$export_symbols" > "${export_symbols}T"'
+ $show "$mv \"${export_symbols}T\" \"$export_symbols\""
+ $run eval '$mv "${export_symbols}T" "$export_symbols"'
+ fi
+ fi
+ fi
+
+ if test -n "$export_symbols" && test -n "$include_expsyms"; then
+ $run eval '$echo "X$include_expsyms" | $SP2NL >> "$export_symbols"'
+ fi
+
+ tmp_deplibs=
+ for test_deplib in $deplibs; do
+ case " $convenience " in
+ *" $test_deplib "*) ;;
+ *)
+ tmp_deplibs="$tmp_deplibs $test_deplib"
+ ;;
+ esac
+ done
+ deplibs="$tmp_deplibs"
+
+ if test -n "$convenience"; then
+ if test -n "$whole_archive_flag_spec"; then
+ save_libobjs=$libobjs
+ eval libobjs=\"\$libobjs $whole_archive_flag_spec\"
+ else
+ gentop="$output_objdir/${outputname}x"
+ generated="$generated $gentop"
+
+ func_extract_archives $gentop $convenience
+ libobjs="$libobjs $func_extract_archives_result"
+ fi
+ fi
+
+ if test "$thread_safe" = yes && test -n "$thread_safe_flag_spec"; then
+ eval flag=\"$thread_safe_flag_spec\"
+ linker_flags="$linker_flags $flag"
+ fi
+
+ # Make a backup of the uninstalled library when relinking
+ if test "$mode" = relink; then
+ $run eval '(cd $output_objdir && $rm ${realname}U && $mv $realname ${realname}U)' || exit $?
+ fi
+
+ # Do each of the archive commands.
+ if test "$module" = yes && test -n "$module_cmds" ; then
+ if test -n "$export_symbols" && test -n "$module_expsym_cmds"; then
+ eval test_cmds=\"$module_expsym_cmds\"
+ cmds=$module_expsym_cmds
+ else
+ eval test_cmds=\"$module_cmds\"
+ cmds=$module_cmds
+ fi
+ else
+ if test -n "$export_symbols" && test -n "$archive_expsym_cmds"; then
+ eval test_cmds=\"$archive_expsym_cmds\"
+ cmds=$archive_expsym_cmds
+ else
+ eval test_cmds=\"$archive_cmds\"
+ cmds=$archive_cmds
+ fi
+ fi
+
+ if test "X$skipped_export" != "X:" && len=`expr "X$test_cmds" : ".*"` &&
+ test "$len" -le "$max_cmd_len" || test "$max_cmd_len" -le -1; then
+ :
+ else
+ # The command line is too long to link in one step, link piecewise.
+ $echo "creating reloadable object files..."
+
+ # Save the value of $output and $libobjs because we want to
+ # use them later. If we have whole_archive_flag_spec, we
+ # want to use save_libobjs as it was before
+ # whole_archive_flag_spec was expanded, because we can't
+ # assume the linker understands whole_archive_flag_spec.
+ # This may have to be revisited, in case too many
+ # convenience libraries get linked in and end up exceeding
+ # the spec.
+ if test -z "$convenience" || test -z "$whole_archive_flag_spec"; then
+ save_libobjs=$libobjs
+ fi
+ save_output=$output
+ output_la=`$echo "X$output" | $Xsed -e "$basename"`
+
+ # Clear the reloadable object creation command queue and
+ # initialize k to one.
+ test_cmds=
+ concat_cmds=
+ objlist=
+ delfiles=
+ last_robj=
+ k=1
+ output=$output_objdir/$output_la-${k}.$objext
+ # Loop over the list of objects to be linked.
+ for obj in $save_libobjs
+ do
+ eval test_cmds=\"$reload_cmds $objlist $last_robj\"
+ if test "X$objlist" = X ||
+ { len=`expr "X$test_cmds" : ".*"` &&
+ test "$len" -le "$max_cmd_len"; }; then
+ objlist="$objlist $obj"
+ else
+ # The command $test_cmds is almost too long, add a
+ # command to the queue.
+ if test "$k" -eq 1 ; then
+ # The first file doesn't have a previous command to add.
+ eval concat_cmds=\"$reload_cmds $objlist $last_robj\"
+ else
+ # All subsequent reloadable object files will link in
+ # the last one created.
+ eval concat_cmds=\"\$concat_cmds~$reload_cmds $objlist $last_robj\"
+ fi
+ last_robj=$output_objdir/$output_la-${k}.$objext
+ k=`expr $k + 1`
+ output=$output_objdir/$output_la-${k}.$objext
+ objlist=$obj
+ len=1
+ fi
+ done
+ # Handle the remaining objects by creating one last
+ # reloadable object file. All subsequent reloadable object
+ # files will link in the last one created.
+ test -z "$concat_cmds" || concat_cmds=$concat_cmds~
+ eval concat_cmds=\"\${concat_cmds}$reload_cmds $objlist $last_robj\"
+
+ if ${skipped_export-false}; then
+ $show "generating symbol list for \`$libname.la'"
+ export_symbols="$output_objdir/$libname.exp"
+ $run $rm $export_symbols
+ libobjs=$output
+ # Append the command to create the export file.
+ eval concat_cmds=\"\$concat_cmds~$export_symbols_cmds\"
+ fi
+
+ # Set up a command to remove the reloadable object files
+ # after they are used.
+ i=0
+ while test "$i" -lt "$k"
+ do
+ i=`expr $i + 1`
+ delfiles="$delfiles $output_objdir/$output_la-${i}.$objext"
+ done
+
+ $echo "creating a temporary reloadable object file: $output"
+
+ # Loop through the commands generated above and execute them.
+ save_ifs="$IFS"; IFS='~'
+ for cmd in $concat_cmds; do
+ IFS="$save_ifs"
+ $show "$cmd"
+ $run eval "$cmd" || exit $?
+ done
+ IFS="$save_ifs"
+
+ libobjs=$output
+ # Restore the value of output.
+ output=$save_output
+
+ if test -n "$convenience" && test -n "$whole_archive_flag_spec"; then
+ eval libobjs=\"\$libobjs $whole_archive_flag_spec\"
+ fi
+ # Expand the library linking commands again to reset the
+ # value of $libobjs for piecewise linking.
+
+ # Do each of the archive commands.
+ if test "$module" = yes && test -n "$module_cmds" ; then
+ if test -n "$export_symbols" && test -n "$module_expsym_cmds"; then
+ cmds=$module_expsym_cmds
+ else
+ cmds=$module_cmds
+ fi
+ else
+ if test -n "$export_symbols" && test -n "$archive_expsym_cmds"; then
+ cmds=$archive_expsym_cmds
+ else
+ cmds=$archive_cmds
+ fi
+ fi
+
+ # Append the command to remove the reloadable object files
+ # to the just-reset $cmds.
+ eval cmds=\"\$cmds~\$rm $delfiles\"
+ fi
+ save_ifs="$IFS"; IFS='~'
+ for cmd in $cmds; do
+ IFS="$save_ifs"
+ eval cmd=\"$cmd\"
+ $show "$cmd"
+ $run eval "$cmd" || exit $?
+ done
+ IFS="$save_ifs"
+
+ # Restore the uninstalled library and exit
+ if test "$mode" = relink; then
+ $run eval '(cd $output_objdir && $rm ${realname}T && $mv $realname ${realname}T && $mv "$realname"U $realname)' || exit $?
+ exit $EXIT_SUCCESS
+ fi
+
+ # Create links to the real library.
+ for linkname in $linknames; do
+ if test "$realname" != "$linkname"; then
+ $show "(cd $output_objdir && $rm $linkname && $LN_S $realname $linkname)"
+ $run eval '(cd $output_objdir && $rm $linkname && $LN_S $realname $linkname)' || exit $?
+ fi
+ done
+
+ # If -module or -export-dynamic was specified, set the dlname.
+ if test "$module" = yes || test "$export_dynamic" = yes; then
+ # On all known operating systems, these are identical.
+ dlname="$soname"
+ fi
+ fi
+ ;;
+
+ obj)
+ if test -n "$deplibs"; then
+ $echo "$modename: warning: \`-l' and \`-L' are ignored for objects" 1>&2
+ fi
+
+ if test -n "$dlfiles$dlprefiles" || test "$dlself" != no; then
+ $echo "$modename: warning: \`-dlopen' is ignored for objects" 1>&2
+ fi
+
+ if test -n "$rpath"; then
+ $echo "$modename: warning: \`-rpath' is ignored for objects" 1>&2
+ fi
+
+ if test -n "$xrpath"; then
+ $echo "$modename: warning: \`-R' is ignored for objects" 1>&2
+ fi
+
+ if test -n "$vinfo"; then
+ $echo "$modename: warning: \`-version-info' is ignored for objects" 1>&2
+ fi
+
+ if test -n "$release"; then
+ $echo "$modename: warning: \`-release' is ignored for objects" 1>&2
+ fi
+
+ case $output in
+ *.lo)
+ if test -n "$objs$old_deplibs"; then
+ $echo "$modename: cannot build library object \`$output' from non-libtool objects" 1>&2
+ exit $EXIT_FAILURE
+ fi
+ libobj="$output"
+ obj=`$echo "X$output" | $Xsed -e "$lo2o"`
+ ;;
+ *)
+ libobj=
+ obj="$output"
+ ;;
+ esac
+
+ # Delete the old objects.
+ $run $rm $obj $libobj
+
+ # Objects from convenience libraries. This assumes
+ # single-version convenience libraries. Whenever we create
+ # different ones for PIC/non-PIC, this we'll have to duplicate
+ # the extraction.
+ reload_conv_objs=
+ gentop=
+ # reload_cmds runs $LD directly, so let us get rid of
+ # -Wl from whole_archive_flag_spec
+ wl=
+
+ if test -n "$convenience"; then
+ if test -n "$whole_archive_flag_spec"; then
+ eval reload_conv_objs=\"\$reload_objs $whole_archive_flag_spec\"
+ else
+ gentop="$output_objdir/${obj}x"
+ generated="$generated $gentop"
+
+ func_extract_archives $gentop $convenience
+ reload_conv_objs="$reload_objs $func_extract_archives_result"
+ fi
+ fi
+
+ # Create the old-style object.
+ reload_objs="$objs$old_deplibs "`$echo "X$libobjs" | $SP2NL | $Xsed -e '/\.'${libext}$'/d' -e '/\.lib$/d' -e "$lo2o" | $NL2SP`" $reload_conv_objs" ### testsuite: skip nested quoting test
+
+ output="$obj"
+ cmds=$reload_cmds
+ save_ifs="$IFS"; IFS='~'
+ for cmd in $cmds; do
+ IFS="$save_ifs"
+ eval cmd=\"$cmd\"
+ $show "$cmd"
+ $run eval "$cmd" || exit $?
+ done
+ IFS="$save_ifs"
+
+ # Exit if we aren't doing a library object file.
+ if test -z "$libobj"; then
+ if test -n "$gentop"; then
+ $show "${rm}r $gentop"
+ $run ${rm}r $gentop
+ fi
+
+ exit $EXIT_SUCCESS
+ fi
+
+ if test "$build_libtool_libs" != yes; then
+ if test -n "$gentop"; then
+ $show "${rm}r $gentop"
+ $run ${rm}r $gentop
+ fi
+
+ # Create an invalid libtool object if no PIC, so that we don't
+ # accidentally link it into a program.
+ # $show "echo timestamp > $libobj"
+ # $run eval "echo timestamp > $libobj" || exit $?
+ exit $EXIT_SUCCESS
+ fi
+
+ if test -n "$pic_flag" || test "$pic_mode" != default; then
+ # Only do commands if we really have different PIC objects.
+ reload_objs="$libobjs $reload_conv_objs"
+ output="$libobj"
+ cmds=$reload_cmds
+ save_ifs="$IFS"; IFS='~'
+ for cmd in $cmds; do
+ IFS="$save_ifs"
+ eval cmd=\"$cmd\"
+ $show "$cmd"
+ $run eval "$cmd" || exit $?
+ done
+ IFS="$save_ifs"
+ fi
+
+ if test -n "$gentop"; then
+ $show "${rm}r $gentop"
+ $run ${rm}r $gentop
+ fi
+
+ exit $EXIT_SUCCESS
+ ;;
+
+ prog)
+ case $host in
+ *cygwin*) output=`$echo $output | ${SED} -e 's,.exe$,,;s,$,.exe,'` ;;
+ esac
+ if test -n "$vinfo"; then
+ $echo "$modename: warning: \`-version-info' is ignored for programs" 1>&2
+ fi
+
+ if test -n "$release"; then
+ $echo "$modename: warning: \`-release' is ignored for programs" 1>&2
+ fi
+
+ if test "$preload" = yes; then
+ if test "$dlopen_support" = unknown && test "$dlopen_self" = unknown &&
+ test "$dlopen_self_static" = unknown; then
+ $echo "$modename: warning: \`AC_LIBTOOL_DLOPEN' not used. Assuming no dlopen support."
+ fi
+ fi
+
+ case $host in
+ *-*-rhapsody* | *-*-darwin1.[012])
+ # On Rhapsody replace the C library is the System framework
+ compile_deplibs=`$echo "X $compile_deplibs" | $Xsed -e 's/ -lc / -framework System /'`
+ finalize_deplibs=`$echo "X $finalize_deplibs" | $Xsed -e 's/ -lc / -framework System /'`
+ ;;
+ esac
+
+ case $host in
+ *darwin*)
+ # Don't allow lazy linking, it breaks C++ global constructors
+ if test "$tagname" = CXX ; then
+ compile_command="$compile_command ${wl}-bind_at_load"
+ finalize_command="$finalize_command ${wl}-bind_at_load"
+ fi
+ ;;
+ esac
+
+ compile_command="$compile_command $compile_deplibs"
+ finalize_command="$finalize_command $finalize_deplibs"
+
+ if test -n "$rpath$xrpath"; then
+ # If the user specified any rpath flags, then add them.
+ for libdir in $rpath $xrpath; do
+ # This is the magic to use -rpath.
+ case "$finalize_rpath " in
+ *" $libdir "*) ;;
+ *) finalize_rpath="$finalize_rpath $libdir" ;;
+ esac
+ done
+ fi
+
+ # Now hardcode the library paths
+ rpath=
+ hardcode_libdirs=
+ for libdir in $compile_rpath $finalize_rpath; do
+ if test -n "$hardcode_libdir_flag_spec"; then
+ if test -n "$hardcode_libdir_separator"; then
+ if test -z "$hardcode_libdirs"; then
+ hardcode_libdirs="$libdir"
+ else
+ # Just accumulate the unique libdirs.
+ case $hardcode_libdir_separator$hardcode_libdirs$hardcode_libdir_separator in
+ *"$hardcode_libdir_separator$libdir$hardcode_libdir_separator"*)
+ ;;
+ *)
+ hardcode_libdirs="$hardcode_libdirs$hardcode_libdir_separator$libdir"
+ ;;
+ esac
+ fi
+ else
+ eval flag=\"$hardcode_libdir_flag_spec\"
+ rpath="$rpath $flag"
+ fi
+ elif test -n "$runpath_var"; then
+ case "$perm_rpath " in
+ *" $libdir "*) ;;
+ *) perm_rpath="$perm_rpath $libdir" ;;
+ esac
+ fi
+ case $host in
+ *-*-cygwin* | *-*-mingw* | *-*-pw32* | *-*-os2*)
+ case :$dllsearchpath: in
+ *":$libdir:"*) ;;
+ *) dllsearchpath="$dllsearchpath:$libdir";;
+ esac
+ ;;
+ esac
+ done
+ # Substitute the hardcoded libdirs into the rpath.
+ if test -n "$hardcode_libdir_separator" &&
+ test -n "$hardcode_libdirs"; then
+ libdir="$hardcode_libdirs"
+ eval rpath=\" $hardcode_libdir_flag_spec\"
+ fi
+ compile_rpath="$rpath"
+
+ rpath=
+ hardcode_libdirs=
+ for libdir in $finalize_rpath; do
+ if test -n "$hardcode_libdir_flag_spec"; then
+ if test -n "$hardcode_libdir_separator"; then
+ if test -z "$hardcode_libdirs"; then
+ hardcode_libdirs="$libdir"
+ else
+ # Just accumulate the unique libdirs.
+ case $hardcode_libdir_separator$hardcode_libdirs$hardcode_libdir_separator in
+ *"$hardcode_libdir_separator$libdir$hardcode_libdir_separator"*)
+ ;;
+ *)
+ hardcode_libdirs="$hardcode_libdirs$hardcode_libdir_separator$libdir"
+ ;;
+ esac
+ fi
+ else
+ eval flag=\"$hardcode_libdir_flag_spec\"
+ rpath="$rpath $flag"
+ fi
+ elif test -n "$runpath_var"; then
+ case "$finalize_perm_rpath " in
+ *" $libdir "*) ;;
+ *) finalize_perm_rpath="$finalize_perm_rpath $libdir" ;;
+ esac
+ fi
+ done
+ # Substitute the hardcoded libdirs into the rpath.
+ if test -n "$hardcode_libdir_separator" &&
+ test -n "$hardcode_libdirs"; then
+ libdir="$hardcode_libdirs"
+ eval rpath=\" $hardcode_libdir_flag_spec\"
+ fi
+ finalize_rpath="$rpath"
+
+ if test -n "$libobjs" && test "$build_old_libs" = yes; then
+ # Transform all the library objects into standard objects.
+ compile_command=`$echo "X$compile_command" | $SP2NL | $Xsed -e "$lo2o" | $NL2SP`
+ finalize_command=`$echo "X$finalize_command" | $SP2NL | $Xsed -e "$lo2o" | $NL2SP`
+ fi
+
+ dlsyms=
+ if test -n "$dlfiles$dlprefiles" || test "$dlself" != no; then
+ if test -n "$NM" && test -n "$global_symbol_pipe"; then
+ dlsyms="${outputname}S.c"
+ else
+ $echo "$modename: not configured to extract global symbols from dlpreopened files" 1>&2
+ fi
+ fi
+
+ if test -n "$dlsyms"; then
+ case $dlsyms in
+ "") ;;
+ *.c)
+ # Discover the nlist of each of the dlfiles.
+ nlist="$output_objdir/${outputname}.nm"
+
+ $show "$rm $nlist ${nlist}S ${nlist}T"
+ $run $rm "$nlist" "${nlist}S" "${nlist}T"
+
+ # Parse the name list into a source file.
+ $show "creating $output_objdir/$dlsyms"
+
+ test -z "$run" && $echo > "$output_objdir/$dlsyms" "\
+/* $dlsyms - symbol resolution table for \`$outputname' dlsym emulation. */
+/* Generated by $PROGRAM - GNU $PACKAGE $VERSION$TIMESTAMP */
+
+#ifdef __cplusplus
+extern \"C\" {
+#endif
+
+/* Prevent the only kind of declaration conflicts we can make. */
+#define lt_preloaded_symbols some_other_symbol
+
+/* External symbol declarations for the compiler. */\
+"
+
+ if test "$dlself" = yes; then
+ $show "generating symbol list for \`$output'"
+
+ test -z "$run" && $echo ': @PROGRAM@ ' > "$nlist"
+
+ # Add our own program objects to the symbol list.
+ progfiles=`$echo "X$objs$old_deplibs" | $SP2NL | $Xsed -e "$lo2o" | $NL2SP`
+ for arg in $progfiles; do
+ $show "extracting global C symbols from \`$arg'"
+ $run eval "$NM $arg | $global_symbol_pipe >> '$nlist'"
+ done
+
+ if test -n "$exclude_expsyms"; then
+ $run eval '$EGREP -v " ($exclude_expsyms)$" "$nlist" > "$nlist"T'
+ $run eval '$mv "$nlist"T "$nlist"'
+ fi
+
+ if test -n "$export_symbols_regex"; then
+ $run eval '$EGREP -e "$export_symbols_regex" "$nlist" > "$nlist"T'
+ $run eval '$mv "$nlist"T "$nlist"'
+ fi
+
+ # Prepare the list of exported symbols
+ if test -z "$export_symbols"; then
+ export_symbols="$output_objdir/$outputname.exp"
+ $run $rm $export_symbols
+ $run eval "${SED} -n -e '/^: @PROGRAM@$/d' -e 's/^.* \(.*\)$/\1/p' "'< "$nlist" > "$export_symbols"'
+ else
+ $run eval "${SED} -e 's/\([ ][.*^$]\)/\\\1/g' -e 's/^/ /' -e 's/$/$/'"' < "$export_symbols" > "$output_objdir/$outputname.exp"'
+ $run eval 'grep -f "$output_objdir/$outputname.exp" < "$nlist" > "$nlist"T'
+ $run eval 'mv "$nlist"T "$nlist"'
+ fi
+ fi
+
+ for arg in $dlprefiles; do
+ $show "extracting global C symbols from \`$arg'"
+ name=`$echo "$arg" | ${SED} -e 's%^.*/%%'`
+ $run eval '$echo ": $name " >> "$nlist"'
+ $run eval "$NM $arg | $global_symbol_pipe >> '$nlist'"
+ done
+
+ if test -z "$run"; then
+ # Make sure we have at least an empty file.
+ test -f "$nlist" || : > "$nlist"
+
+ if test -n "$exclude_expsyms"; then
+ $EGREP -v " ($exclude_expsyms)$" "$nlist" > "$nlist"T
+ $mv "$nlist"T "$nlist"
+ fi
+
+ # Try sorting and uniquifying the output.
+ if grep -v "^: " < "$nlist" |
+ if sort -k 3 </dev/null >/dev/null 2>&1; then
+ sort -k 3
+ else
+ sort +2
+ fi |
+ uniq > "$nlist"S; then
+ :
+ else
+ grep -v "^: " < "$nlist" > "$nlist"S
+ fi
+
+ if test -f "$nlist"S; then
+ eval "$global_symbol_to_cdecl"' < "$nlist"S >> "$output_objdir/$dlsyms"'
+ else
+ $echo '/* NONE */' >> "$output_objdir/$dlsyms"
+ fi
+
+ $echo >> "$output_objdir/$dlsyms" "\
+
+#undef lt_preloaded_symbols
+
+#if defined (__STDC__) && __STDC__
+# define lt_ptr void *
+#else
+# define lt_ptr char *
+# define const
+#endif
+
+/* The mapping between symbol names and symbols. */
+"
+
+ case $host in
+ *cygwin* | *mingw* )
+ $echo >> "$output_objdir/$dlsyms" "\
+/* DATA imports from DLLs on WIN32 can't be const, because
+ runtime relocations are performed -- see ld's documentation
+ on pseudo-relocs */
+struct {
+"
+ ;;
+ * )
+ $echo >> "$output_objdir/$dlsyms" "\
+const struct {
+"
+ ;;
+ esac
+
+
+ $echo >> "$output_objdir/$dlsyms" "\
+ const char *name;
+ lt_ptr address;
+}
+lt_preloaded_symbols[] =
+{\
+"
+
+ eval "$global_symbol_to_c_name_address" < "$nlist" >> "$output_objdir/$dlsyms"
+
+ $echo >> "$output_objdir/$dlsyms" "\
+ {0, (lt_ptr) 0}
+};
+
+/* This works around a problem in FreeBSD linker */
+#ifdef FREEBSD_WORKAROUND
+static const void *lt_preloaded_setup() {
+ return lt_preloaded_symbols;
+}
+#endif
+
+#ifdef __cplusplus
+}
+#endif\
+"
+ fi
+
+ pic_flag_for_symtable=
+ case $host in
+ # compiling the symbol table file with pic_flag works around
+ # a FreeBSD bug that causes programs to crash when -lm is
+ # linked before any other PIC object. But we must not use
+ # pic_flag when linking with -static. The problem exists in
+ # FreeBSD 2.2.6 and is fixed in FreeBSD 3.1.
+ *-*-freebsd2*|*-*-freebsd3.0*|*-*-freebsdelf3.0*)
+ case "$compile_command " in
+ *" -static "*) ;;
+ *) pic_flag_for_symtable=" $pic_flag -DFREEBSD_WORKAROUND";;
+ esac;;
+ *-*-hpux*)
+ case "$compile_command " in
+ *" -static "*) ;;
+ *) pic_flag_for_symtable=" $pic_flag";;
+ esac
+ esac
+
+ # Now compile the dynamic symbol file.
+ $show "(cd $output_objdir && $LTCC -c$no_builtin_flag$pic_flag_for_symtable \"$dlsyms\")"
+ $run eval '(cd $output_objdir && $LTCC -c$no_builtin_flag$pic_flag_for_symtable "$dlsyms")' || exit $?
+
+ # Clean up the generated files.
+ $show "$rm $output_objdir/$dlsyms $nlist ${nlist}S ${nlist}T"
+ $run $rm "$output_objdir/$dlsyms" "$nlist" "${nlist}S" "${nlist}T"
+
+ # Transform the symbol file into the correct name.
+ compile_command=`$echo "X$compile_command" | $Xsed -e "s%@SYMFILE@%$output_objdir/${outputname}S.${objext}%"`
+ finalize_command=`$echo "X$finalize_command" | $Xsed -e "s%@SYMFILE@%$output_objdir/${outputname}S.${objext}%"`
+ ;;
+ *)
+ $echo "$modename: unknown suffix for \`$dlsyms'" 1>&2
+ exit $EXIT_FAILURE
+ ;;
+ esac
+ else
+ # We keep going just in case the user didn't refer to
+ # lt_preloaded_symbols. The linker will fail if global_symbol_pipe
+ # really was required.
+
+ # Nullify the symbol file.
+ compile_command=`$echo "X$compile_command" | $Xsed -e "s% @SYMFILE@%%"`
+ finalize_command=`$echo "X$finalize_command" | $Xsed -e "s% @SYMFILE@%%"`
+ fi
+
+ if test "$need_relink" = no || test "$build_libtool_libs" != yes; then
+ # Replace the output file specification.
+ compile_command=`$echo "X$compile_command" | $Xsed -e 's%@OUTPUT@%'"$output"'%g'`
+ link_command="$compile_command$compile_rpath"
+
+ # We have no uninstalled library dependencies, so finalize right now.
+ $show "$link_command"
+ $run eval "$link_command"
+ status=$?
+
+ # Delete the generated files.
+ if test -n "$dlsyms"; then
+ $show "$rm $output_objdir/${outputname}S.${objext}"
+ $run $rm "$output_objdir/${outputname}S.${objext}"
+ fi
+
+ exit $status
+ fi
+
+ if test -n "$shlibpath_var"; then
+ # We should set the shlibpath_var
+ rpath=
+ for dir in $temp_rpath; do
+ case $dir in
+ [\\/]* | [A-Za-z]:[\\/]*)
+ # Absolute path.
+ rpath="$rpath$dir:"
+ ;;
+ *)
+ # Relative path: add a thisdir entry.
+ rpath="$rpath\$thisdir/$dir:"
+ ;;
+ esac
+ done
+ temp_rpath="$rpath"
+ fi
+
+ if test -n "$compile_shlibpath$finalize_shlibpath"; then
+ compile_command="$shlibpath_var=\"$compile_shlibpath$finalize_shlibpath\$$shlibpath_var\" $compile_command"
+ fi
+ if test -n "$finalize_shlibpath"; then
+ finalize_command="$shlibpath_var=\"$finalize_shlibpath\$$shlibpath_var\" $finalize_command"
+ fi
+
+ compile_var=
+ finalize_var=
+ if test -n "$runpath_var"; then
+ if test -n "$perm_rpath"; then
+ # We should set the runpath_var.
+ rpath=
+ for dir in $perm_rpath; do
+ rpath="$rpath$dir:"
+ done
+ compile_var="$runpath_var=\"$rpath\$$runpath_var\" "
+ fi
+ if test -n "$finalize_perm_rpath"; then
+ # We should set the runpath_var.
+ rpath=
+ for dir in $finalize_perm_rpath; do
+ rpath="$rpath$dir:"
+ done
+ finalize_var="$runpath_var=\"$rpath\$$runpath_var\" "
+ fi
+ fi
+
+ if test "$no_install" = yes; then
+ # We don't need to create a wrapper script.
+ link_command="$compile_var$compile_command$compile_rpath"
+ # Replace the output file specification.
+ link_command=`$echo "X$link_command" | $Xsed -e 's%@OUTPUT@%'"$output"'%g'`
+ # Delete the old output file.
+ $run $rm $output
+ # Link the executable and exit
+ $show "$link_command"
+ $run eval "$link_command" || exit $?
+ exit $EXIT_SUCCESS
+ fi
+
+ if test "$hardcode_action" = relink; then
+ # Fast installation is not supported
+ link_command="$compile_var$compile_command$compile_rpath"
+ relink_command="$finalize_var$finalize_command$finalize_rpath"
+
+ $echo "$modename: warning: this platform does not like uninstalled shared libraries" 1>&2
+ $echo "$modename: \`$output' will be relinked during installation" 1>&2
+ else
+ if test "$fast_install" != no; then
+ link_command="$finalize_var$compile_command$finalize_rpath"
+ if test "$fast_install" = yes; then
+ relink_command=`$echo "X$compile_var$compile_command$compile_rpath" | $Xsed -e 's%@OUTPUT@%\$progdir/\$file%g'`
+ else
+ # fast_install is set to needless
+ relink_command=
+ fi
+ else
+ link_command="$compile_var$compile_command$compile_rpath"
+ relink_command="$finalize_var$finalize_command$finalize_rpath"
+ fi
+ fi
+
+ # Replace the output file specification.
+ link_command=`$echo "X$link_command" | $Xsed -e 's%@OUTPUT@%'"$output_objdir/$outputname"'%g'`
+
+ # Delete the old output files.
+ $run $rm $output $output_objdir/$outputname $output_objdir/lt-$outputname
+
+ $show "$link_command"
+ $run eval "$link_command" || exit $?
+
+ # Now create the wrapper script.
+ $show "creating $output"
+
+ # Quote the relink command for shipping.
+ if test -n "$relink_command"; then
+ # Preserve any variables that may affect compiler behavior
+ for var in $variables_saved_for_relink; do
+ if eval test -z \"\${$var+set}\"; then
+ relink_command="{ test -z \"\${$var+set}\" || unset $var || { $var=; export $var; }; }; $relink_command"
+ elif eval var_value=\$$var; test -z "$var_value"; then
+ relink_command="$var=; export $var; $relink_command"
+ else
+ var_value=`$echo "X$var_value" | $Xsed -e "$sed_quote_subst"`
+ relink_command="$var=\"$var_value\"; export $var; $relink_command"
+ fi
+ done
+ relink_command="(cd `pwd`; $relink_command)"
+ relink_command=`$echo "X$relink_command" | $Xsed -e "$sed_quote_subst"`
+ fi
+
+ # Quote $echo for shipping.
+ if test "X$echo" = "X$SHELL $progpath --fallback-echo"; then
+ case $progpath in
+ [\\/]* | [A-Za-z]:[\\/]*) qecho="$SHELL $progpath --fallback-echo";;
+ *) qecho="$SHELL `pwd`/$progpath --fallback-echo";;
+ esac
+ qecho=`$echo "X$qecho" | $Xsed -e "$sed_quote_subst"`
+ else
+ qecho=`$echo "X$echo" | $Xsed -e "$sed_quote_subst"`
+ fi
+
+ # Only actually do things if our run command is non-null.
+ if test -z "$run"; then
+ # win32 will think the script is a binary if it has
+ # a .exe suffix, so we strip it off here.
+ case $output in
+ *.exe) output=`$echo $output|${SED} 's,.exe$,,'` ;;
+ esac
+ # test for cygwin because mv fails w/o .exe extensions
+ case $host in
+ *cygwin*)
+ exeext=.exe
+ outputname=`$echo $outputname|${SED} 's,.exe$,,'` ;;
+ *) exeext= ;;
+ esac
+ case $host in
+ *cygwin* | *mingw* )
+ cwrappersource=`$echo ${objdir}/lt-${outputname}.c`
+ cwrapper=`$echo ${output}.exe`
+ $rm $cwrappersource $cwrapper
+ trap "$rm $cwrappersource $cwrapper; exit $EXIT_FAILURE" 1 2 15
+
+ cat > $cwrappersource <<EOF
+
+/* $cwrappersource - temporary wrapper executable for $objdir/$outputname
+ Generated by $PROGRAM - GNU $PACKAGE $VERSION$TIMESTAMP
+
+ The $output program cannot be directly executed until all the libtool
+ libraries that it depends on are installed.
+
+ This wrapper executable should never be moved out of the build directory.
+ If it is, it will not operate correctly.
+
+ Currently, it simply execs the wrapper *script* "/bin/sh $output",
+ but could eventually absorb all of the scripts functionality and
+ exec $objdir/$outputname directly.
+*/
+EOF
+ cat >> $cwrappersource<<"EOF"
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <malloc.h>
+#include <stdarg.h>
+#include <assert.h>
+
+#if defined(PATH_MAX)
+# define LT_PATHMAX PATH_MAX
+#elif defined(MAXPATHLEN)
+# define LT_PATHMAX MAXPATHLEN
+#else
+# define LT_PATHMAX 1024
+#endif
+
+#ifndef DIR_SEPARATOR
+#define DIR_SEPARATOR '/'
+#endif
+
+#if defined (_WIN32) || defined (__MSDOS__) || defined (__DJGPP__) || \
+ defined (__OS2__)
+#define HAVE_DOS_BASED_FILE_SYSTEM
+#ifndef DIR_SEPARATOR_2
+#define DIR_SEPARATOR_2 '\\'
+#endif
+#endif
+
+#ifndef DIR_SEPARATOR_2
+# define IS_DIR_SEPARATOR(ch) ((ch) == DIR_SEPARATOR)
+#else /* DIR_SEPARATOR_2 */
+# define IS_DIR_SEPARATOR(ch) \
+ (((ch) == DIR_SEPARATOR) || ((ch) == DIR_SEPARATOR_2))
+#endif /* DIR_SEPARATOR_2 */
+
+#define XMALLOC(type, num) ((type *) xmalloc ((num) * sizeof(type)))
+#define XFREE(stale) do { \
+ if (stale) { free ((void *) stale); stale = 0; } \
+} while (0)
+
+const char *program_name = NULL;
+
+void * xmalloc (size_t num);
+char * xstrdup (const char *string);
+char * basename (const char *name);
+char * fnqualify(const char *path);
+char * strendzap(char *str, const char *pat);
+void lt_fatal (const char *message, ...);
+
+int
+main (int argc, char *argv[])
+{
+ char **newargz;
+ int i;
+
+ program_name = (char *) xstrdup ((char *) basename (argv[0]));
+ newargz = XMALLOC(char *, argc+2);
+EOF
+
+ cat >> $cwrappersource <<EOF
+ newargz[0] = "$SHELL";
+EOF
+
+ cat >> $cwrappersource <<"EOF"
+ newargz[1] = fnqualify(argv[0]);
+ /* we know the script has the same name, without the .exe */
+ /* so make sure newargz[1] doesn't end in .exe */
+ strendzap(newargz[1],".exe");
+ for (i = 1; i < argc; i++)
+ newargz[i+1] = xstrdup(argv[i]);
+ newargz[argc+1] = NULL;
+EOF
+
+ cat >> $cwrappersource <<EOF
+ execv("$SHELL",newargz);
+EOF
+
+ cat >> $cwrappersource <<"EOF"
+}
+
+void *
+xmalloc (size_t num)
+{
+ void * p = (void *) malloc (num);
+ if (!p)
+ lt_fatal ("Memory exhausted");
+
+ return p;
+}
+
+char *
+xstrdup (const char *string)
+{
+ return string ? strcpy ((char *) xmalloc (strlen (string) + 1), string) : NULL
+;
+}
+
+char *
+basename (const char *name)
+{
+ const char *base;
+
+#if defined (HAVE_DOS_BASED_FILE_SYSTEM)
+ /* Skip over the disk name in MSDOS pathnames. */
+ if (isalpha (name[0]) && name[1] == ':')
+ name += 2;
+#endif
+
+ for (base = name; *name; name++)
+ if (IS_DIR_SEPARATOR (*name))
+ base = name + 1;
+ return (char *) base;
+}
+
+char *
+fnqualify(const char *path)
+{
+ size_t size;
+ char *p;
+ char tmp[LT_PATHMAX + 1];
+
+ assert(path != NULL);
+
+ /* Is it qualified already? */
+#if defined (HAVE_DOS_BASED_FILE_SYSTEM)
+ if (isalpha (path[0]) && path[1] == ':')
+ return xstrdup (path);
+#endif
+ if (IS_DIR_SEPARATOR (path[0]))
+ return xstrdup (path);
+
+ /* prepend the current directory */
+ /* doesn't handle '~' */
+ if (getcwd (tmp, LT_PATHMAX) == NULL)
+ lt_fatal ("getcwd failed");
+ size = strlen(tmp) + 1 + strlen(path) + 1; /* +2 for '/' and '\0' */
+ p = XMALLOC(char, size);
+ sprintf(p, "%s%c%s", tmp, DIR_SEPARATOR, path);
+ return p;
+}
+
+char *
+strendzap(char *str, const char *pat)
+{
+ size_t len, patlen;
+
+ assert(str != NULL);
+ assert(pat != NULL);
+
+ len = strlen(str);
+ patlen = strlen(pat);
+
+ if (patlen <= len)
+ {
+ str += len - patlen;
+ if (strcmp(str, pat) == 0)
+ *str = '\0';
+ }
+ return str;
+}
+
+static void
+lt_error_core (int exit_status, const char * mode,
+ const char * message, va_list ap)
+{
+ fprintf (stderr, "%s: %s: ", program_name, mode);
+ vfprintf (stderr, message, ap);
+ fprintf (stderr, ".\n");
+
+ if (exit_status >= 0)
+ exit (exit_status);
+}
+
+void
+lt_fatal (const char *message, ...)
+{
+ va_list ap;
+ va_start (ap, message);
+ lt_error_core (EXIT_FAILURE, "FATAL", message, ap);
+ va_end (ap);
+}
+EOF
+ # we should really use a build-platform specific compiler
+ # here, but OTOH, the wrappers (shell script and this C one)
+ # are only useful if you want to execute the "real" binary.
+ # Since the "real" binary is built for $host, then this
+ # wrapper might as well be built for $host, too.
+ $run $LTCC -s -o $cwrapper $cwrappersource
+ ;;
+ esac
+ $rm $output
+ trap "$rm $output; exit $EXIT_FAILURE" 1 2 15
+
+ $echo > $output "\
+#! $SHELL
+
+# $output - temporary wrapper script for $objdir/$outputname
+# Generated by $PROGRAM - GNU $PACKAGE $VERSION$TIMESTAMP
+#
+# The $output program cannot be directly executed until all the libtool
+# libraries that it depends on are installed.
+#
+# This wrapper script should never be moved out of the build directory.
+# If it is, it will not operate correctly.
+
+# Sed substitution that helps us do robust quoting. It backslashifies
+# metacharacters that are still active within double-quoted strings.
+Xsed='${SED} -e 1s/^X//'
+sed_quote_subst='$sed_quote_subst'
+
+# The HP-UX ksh and POSIX shell print the target directory to stdout
+# if CDPATH is set.
+(unset CDPATH) >/dev/null 2>&1 && unset CDPATH
+
+relink_command=\"$relink_command\"
+
+# This environment variable determines our operation mode.
+if test \"\$libtool_install_magic\" = \"$magic\"; then
+ # install mode needs the following variable:
+ notinst_deplibs='$notinst_deplibs'
+else
+ # When we are sourced in execute mode, \$file and \$echo are already set.
+ if test \"\$libtool_execute_magic\" != \"$magic\"; then
+ echo=\"$qecho\"
+ file=\"\$0\"
+ # Make sure echo works.
+ if test \"X\$1\" = X--no-reexec; then
+ # Discard the --no-reexec flag, and continue.
+ shift
+ elif test \"X\`(\$echo '\t') 2>/dev/null\`\" = 'X\t'; then
+ # Yippee, \$echo works!
+ :
+ else
+ # Restart under the correct shell, and then maybe \$echo will work.
+ exec $SHELL \"\$0\" --no-reexec \${1+\"\$@\"}
+ fi
+ fi\
+"
+ $echo >> $output "\
+
+ # Find the directory that this script lives in.
+ thisdir=\`\$echo \"X\$file\" | \$Xsed -e 's%/[^/]*$%%'\`
+ test \"x\$thisdir\" = \"x\$file\" && thisdir=.
+
+ # Follow symbolic links until we get to the real thisdir.
+ file=\`ls -ld \"\$file\" | ${SED} -n 's/.*-> //p'\`
+ while test -n \"\$file\"; do
+ destdir=\`\$echo \"X\$file\" | \$Xsed -e 's%/[^/]*\$%%'\`
+
+ # If there was a directory component, then change thisdir.
+ if test \"x\$destdir\" != \"x\$file\"; then
+ case \"\$destdir\" in
+ [\\\\/]* | [A-Za-z]:[\\\\/]*) thisdir=\"\$destdir\" ;;
+ *) thisdir=\"\$thisdir/\$destdir\" ;;
+ esac
+ fi
+
+ file=\`\$echo \"X\$file\" | \$Xsed -e 's%^.*/%%'\`
+ file=\`ls -ld \"\$thisdir/\$file\" | ${SED} -n 's/.*-> //p'\`
+ done
+
+ # Try to get the absolute directory name.
+ absdir=\`cd \"\$thisdir\" && pwd\`
+ test -n \"\$absdir\" && thisdir=\"\$absdir\"
+"
+
+ if test "$fast_install" = yes; then
+ $echo >> $output "\
+ program=lt-'$outputname'$exeext
+ progdir=\"\$thisdir/$objdir\"
+
+ if test ! -f \"\$progdir/\$program\" || \\
+ { file=\`ls -1dt \"\$progdir/\$program\" \"\$progdir/../\$program\" 2>/dev/null | ${SED} 1q\`; \\
+ test \"X\$file\" != \"X\$progdir/\$program\"; }; then
+
+ file=\"\$\$-\$program\"
+
+ if test ! -d \"\$progdir\"; then
+ $mkdir \"\$progdir\"
+ else
+ $rm \"\$progdir/\$file\"
+ fi"
+
+ $echo >> $output "\
+
+ # relink executable if necessary
+ if test -n \"\$relink_command\"; then
+ if relink_command_output=\`eval \$relink_command 2>&1\`; then :
+ else
+ $echo \"\$relink_command_output\" >&2
+ $rm \"\$progdir/\$file\"
+ exit $EXIT_FAILURE
+ fi
+ fi
+
+ $mv \"\$progdir/\$file\" \"\$progdir/\$program\" 2>/dev/null ||
+ { $rm \"\$progdir/\$program\";
+ $mv \"\$progdir/\$file\" \"\$progdir/\$program\"; }
+ $rm \"\$progdir/\$file\"
+ fi"
+ else
+ $echo >> $output "\
+ program='$outputname'
+ progdir=\"\$thisdir/$objdir\"
+"
+ fi
+
+ $echo >> $output "\
+
+ if test -f \"\$progdir/\$program\"; then"
+
+ # Export our shlibpath_var if we have one.
+ if test "$shlibpath_overrides_runpath" = yes && test -n "$shlibpath_var" && test -n "$temp_rpath"; then
+ $echo >> $output "\
+ # Add our own library path to $shlibpath_var
+ $shlibpath_var=\"$temp_rpath\$$shlibpath_var\"
+
+ # Some systems cannot cope with colon-terminated $shlibpath_var
+ # The second colon is a workaround for a bug in BeOS R4 sed
+ $shlibpath_var=\`\$echo \"X\$$shlibpath_var\" | \$Xsed -e 's/::*\$//'\`
+
+ export $shlibpath_var
+"
+ fi
+
+ # fixup the dll searchpath if we need to.
+ if test -n "$dllsearchpath"; then
+ $echo >> $output "\
+ # Add the dll search path components to the executable PATH
+ PATH=$dllsearchpath:\$PATH
+"
+ fi
+
+ $echo >> $output "\
+ if test \"\$libtool_execute_magic\" != \"$magic\"; then
+ # Run the actual program with our arguments.
+"
+ case $host in
+ # Backslashes separate directories on plain windows
+ *-*-mingw | *-*-os2*)
+ $echo >> $output "\
+ exec \$progdir\\\\\$program \${1+\"\$@\"}
+"
+ ;;
+
+ *)
+ $echo >> $output "\
+ exec \$progdir/\$program \${1+\"\$@\"}
+"
+ ;;
+ esac
+ $echo >> $output "\
+ \$echo \"\$0: cannot exec \$program \${1+\"\$@\"}\"
+ exit $EXIT_FAILURE
+ fi
+ else
+ # The program doesn't exist.
+ \$echo \"\$0: error: \$progdir/\$program does not exist\" 1>&2
+ \$echo \"This script is just a wrapper for \$program.\" 1>&2
+ $echo \"See the $PACKAGE documentation for more information.\" 1>&2
+ exit $EXIT_FAILURE
+ fi
+fi\
+"
+ chmod +x $output
+ fi
+ exit $EXIT_SUCCESS
+ ;;
+ esac
+
+ # See if we need to build an old-fashioned archive.
+ for oldlib in $oldlibs; do
+
+ if test "$build_libtool_libs" = convenience; then
+ oldobjs="$libobjs_save"
+ addlibs="$convenience"
+ build_libtool_libs=no
+ else
+ if test "$build_libtool_libs" = module; then
+ oldobjs="$libobjs_save"
+ build_libtool_libs=no
+ else
+ oldobjs="$old_deplibs $non_pic_objects"
+ fi
+ addlibs="$old_convenience"
+ fi
+
+ if test -n "$addlibs"; then
+ gentop="$output_objdir/${outputname}x"
+ generated="$generated $gentop"
+
+ func_extract_archives $gentop $addlibs
+ oldobjs="$oldobjs $func_extract_archives_result"
+ fi
+
+ # Do each command in the archive commands.
+ if test -n "$old_archive_from_new_cmds" && test "$build_libtool_libs" = yes; then
+ cmds=$old_archive_from_new_cmds
+ else
+ # POSIX demands no paths to be encoded in archives. We have
+ # to avoid creating archives with duplicate basenames if we
+ # might have to extract them afterwards, e.g., when creating a
+ # static archive out of a convenience library, or when linking
+ # the entirety of a libtool archive into another (currently
+ # not supported by libtool).
+ if (for obj in $oldobjs
+ do
+ $echo "X$obj" | $Xsed -e 's%^.*/%%'
+ done | sort | sort -uc >/dev/null 2>&1); then
+ :
+ else
+ $echo "copying selected object files to avoid basename conflicts..."
+
+ if test -z "$gentop"; then
+ gentop="$output_objdir/${outputname}x"
+ generated="$generated $gentop"
+
+ $show "${rm}r $gentop"
+ $run ${rm}r "$gentop"
+ $show "$mkdir $gentop"
+ $run $mkdir "$gentop"
+ status=$?
+ if test "$status" -ne 0 && test ! -d "$gentop"; then
+ exit $status
+ fi
+ fi
+
+ save_oldobjs=$oldobjs
+ oldobjs=
+ counter=1
+ for obj in $save_oldobjs
+ do
+ objbase=`$echo "X$obj" | $Xsed -e 's%^.*/%%'`
+ case " $oldobjs " in
+ " ") oldobjs=$obj ;;
+ *[\ /]"$objbase "*)
+ while :; do
+ # Make sure we don't pick an alternate name that also
+ # overlaps.
+ newobj=lt$counter-$objbase
+ counter=`expr $counter + 1`
+ case " $oldobjs " in
+ *[\ /]"$newobj "*) ;;
+ *) if test ! -f "$gentop/$newobj"; then break; fi ;;
+ esac
+ done
+ $show "ln $obj $gentop/$newobj || cp $obj $gentop/$newobj"
+ $run ln "$obj" "$gentop/$newobj" ||
+ $run cp "$obj" "$gentop/$newobj"
+ oldobjs="$oldobjs $gentop/$newobj"
+ ;;
+ *) oldobjs="$oldobjs $obj" ;;
+ esac
+ done
+ fi
+
+ eval cmds=\"$old_archive_cmds\"
+
+ if len=`expr "X$cmds" : ".*"` &&
+ test "$len" -le "$max_cmd_len" || test "$max_cmd_len" -le -1; then
+ cmds=$old_archive_cmds
+ else
+ # the command line is too long to link in one step, link in parts
+ $echo "using piecewise archive linking..."
+ save_RANLIB=$RANLIB
+ RANLIB=:
+ objlist=
+ concat_cmds=
+ save_oldobjs=$oldobjs
+
+ # Is there a better way of finding the last object in the list?
+ for obj in $save_oldobjs
+ do
+ last_oldobj=$obj
+ done
+ for obj in $save_oldobjs
+ do
+ oldobjs="$objlist $obj"
+ objlist="$objlist $obj"
+ eval test_cmds=\"$old_archive_cmds\"
+ if len=`expr "X$test_cmds" : ".*"` &&
+ test "$len" -le "$max_cmd_len"; then
+ :
+ else
+ # the above command should be used before it gets too long
+ oldobjs=$objlist
+ if test "$obj" = "$last_oldobj" ; then
+ RANLIB=$save_RANLIB
+ fi
+ test -z "$concat_cmds" || concat_cmds=$concat_cmds~
+ eval concat_cmds=\"\${concat_cmds}$old_archive_cmds\"
+ objlist=
+ fi
+ done
+ RANLIB=$save_RANLIB
+ oldobjs=$objlist
+ if test "X$oldobjs" = "X" ; then
+ eval cmds=\"\$concat_cmds\"
+ else
+ eval cmds=\"\$concat_cmds~\$old_archive_cmds\"
+ fi
+ fi
+ fi
+ save_ifs="$IFS"; IFS='~'
+ for cmd in $cmds; do
+ eval cmd=\"$cmd\"
+ IFS="$save_ifs"
+ $show "$cmd"
+ $run eval "$cmd" || exit $?
+ done
+ IFS="$save_ifs"
+ done
+
+ if test -n "$generated"; then
+ $show "${rm}r$generated"
+ $run ${rm}r$generated
+ fi
+
+ # Now create the libtool archive.
+ case $output in
+ *.la)
+ old_library=
+ test "$build_old_libs" = yes && old_library="$libname.$libext"
+ $show "creating $output"
+
+ # Preserve any variables that may affect compiler behavior
+ for var in $variables_saved_for_relink; do
+ if eval test -z \"\${$var+set}\"; then
+ relink_command="{ test -z \"\${$var+set}\" || unset $var || { $var=; export $var; }; }; $relink_command"
+ elif eval var_value=\$$var; test -z "$var_value"; then
+ relink_command="$var=; export $var; $relink_command"
+ else
+ var_value=`$echo "X$var_value" | $Xsed -e "$sed_quote_subst"`
+ relink_command="$var=\"$var_value\"; export $var; $relink_command"
+ fi
+ done
+ # Quote the link command for shipping.
+ relink_command="(cd `pwd`; $SHELL $progpath $preserve_args --mode=relink $libtool_args @inst_prefix_dir@)"
+ relink_command=`$echo "X$relink_command" | $Xsed -e "$sed_quote_subst"`
+ if test "$hardcode_automatic" = yes ; then
+ relink_command=
+ fi
+
+
+ # Only create the output if not a dry run.
+ if test -z "$run"; then
+ for installed in no yes; do
+ if test "$installed" = yes; then
+ if test -z "$install_libdir"; then
+ break
+ fi
+ output="$output_objdir/$outputname"i
+ # Replace all uninstalled libtool libraries with the installed ones
+ newdependency_libs=
+ for deplib in $dependency_libs; do
+ case $deplib in
+ *.la)
+ name=`$echo "X$deplib" | $Xsed -e 's%^.*/%%'`
+ eval libdir=`${SED} -n -e 's/^libdir=\(.*\)$/\1/p' $deplib`
+ if test -z "$libdir"; then
+ $echo "$modename: \`$deplib' is not a valid libtool archive" 1>&2
+ exit $EXIT_FAILURE
+ fi
+ newdependency_libs="$newdependency_libs $libdir/$name"
+ ;;
+ *) newdependency_libs="$newdependency_libs $deplib" ;;
+ esac
+ done
+ dependency_libs="$newdependency_libs"
+ newdlfiles=
+ for lib in $dlfiles; do
+ name=`$echo "X$lib" | $Xsed -e 's%^.*/%%'`
+ eval libdir=`${SED} -n -e 's/^libdir=\(.*\)$/\1/p' $lib`
+ if test -z "$libdir"; then
+ $echo "$modename: \`$lib' is not a valid libtool archive" 1>&2
+ exit $EXIT_FAILURE
+ fi
+ newdlfiles="$newdlfiles $libdir/$name"
+ done
+ dlfiles="$newdlfiles"
+ newdlprefiles=
+ for lib in $dlprefiles; do
+ name=`$echo "X$lib" | $Xsed -e 's%^.*/%%'`
+ eval libdir=`${SED} -n -e 's/^libdir=\(.*\)$/\1/p' $lib`
+ if test -z "$libdir"; then
+ $echo "$modename: \`$lib' is not a valid libtool archive" 1>&2
+ exit $EXIT_FAILURE
+ fi
+ newdlprefiles="$newdlprefiles $libdir/$name"
+ done
+ dlprefiles="$newdlprefiles"
+ else
+ newdlfiles=
+ for lib in $dlfiles; do
+ case $lib in
+ [\\/]* | [A-Za-z]:[\\/]*) abs="$lib" ;;
+ *) abs=`pwd`"/$lib" ;;
+ esac
+ newdlfiles="$newdlfiles $abs"
+ done
+ dlfiles="$newdlfiles"
+ newdlprefiles=
+ for lib in $dlprefiles; do
+ case $lib in
+ [\\/]* | [A-Za-z]:[\\/]*) abs="$lib" ;;
+ *) abs=`pwd`"/$lib" ;;
+ esac
+ newdlprefiles="$newdlprefiles $abs"
+ done
+ dlprefiles="$newdlprefiles"
+ fi
+ $rm $output
+ # place dlname in correct position for cygwin
+ tdlname=$dlname
+ case $host,$output,$installed,$module,$dlname in
+ *cygwin*,*lai,yes,no,*.dll | *mingw*,*lai,yes,no,*.dll) tdlname=../bin/$dlname ;;
+ esac
+ $echo > $output "\
+# $outputname - a libtool library file
+# Generated by $PROGRAM - GNU $PACKAGE $VERSION$TIMESTAMP
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# The name that we can dlopen(3).
+dlname='$tdlname'
+
+# Names of this library.
+library_names='$library_names'
+
+# The name of the static archive.
+old_library='$old_library'
+
+# Libraries that this one depends upon.
+dependency_libs='$dependency_libs'
+
+# Version information for $libname.
+current=$current
+age=$age
+revision=$revision
+
+# Is this an already installed library?
+installed=$installed
+
+# Should we warn about portability when linking against -modules?
+shouldnotlink=$module
+
+# Files to dlopen/dlpreopen
+dlopen='$dlfiles'
+dlpreopen='$dlprefiles'
+
+# Directory that this library needs to be installed in:
+libdir='$install_libdir'"
+ if test "$installed" = no && test "$need_relink" = yes; then
+ $echo >> $output "\
+relink_command=\"$relink_command\""
+ fi
+ done
+ fi
+
+ # Do a symbolic link so that the libtool archive can be found in
+ # LD_LIBRARY_PATH before the program is installed.
+ $show "(cd $output_objdir && $rm $outputname && $LN_S ../$outputname $outputname)"
+ $run eval '(cd $output_objdir && $rm $outputname && $LN_S ../$outputname $outputname)' || exit $?
+ ;;
+ esac
+ exit $EXIT_SUCCESS
+ ;;
+
+ # libtool install mode
+ install)
+ modename="$modename: install"
+
+ # There may be an optional sh(1) argument at the beginning of
+ # install_prog (especially on Windows NT).
+ if test "$nonopt" = "$SHELL" || test "$nonopt" = /bin/sh ||
+ # Allow the use of GNU shtool's install command.
+ $echo "X$nonopt" | $Xsed | grep shtool > /dev/null; then
+ # Aesthetically quote it.
+ arg=`$echo "X$nonopt" | $Xsed -e "$sed_quote_subst"`
+ case $arg in
+ *$quote_scanset* | *]* | *\|* | *\&* | *\(* | *\)* | "")
+ arg="\"$arg\""
+ ;;
+ esac
+ install_prog="$arg "
+ arg="$1"
+ shift
+ else
+ install_prog=
+ arg="$nonopt"
+ fi
+
+ # The real first argument should be the name of the installation program.
+ # Aesthetically quote it.
+ arg=`$echo "X$arg" | $Xsed -e "$sed_quote_subst"`
+ case $arg in
+ *$quote_scanset* | *]* | *\|* | *\&* | *\(* | *\)* | "")
+ arg="\"$arg\""
+ ;;
+ esac
+ install_prog="$install_prog$arg"
+
+ # We need to accept at least all the BSD install flags.
+ dest=
+ files=
+ opts=
+ prev=
+ install_type=
+ isdir=no
+ stripme=
+ for arg
+ do
+ if test -n "$dest"; then
+ files="$files $dest"
+ dest="$arg"
+ continue
+ fi
+
+ case $arg in
+ -d) isdir=yes ;;
+ -f) prev="-f" ;;
+ -g) prev="-g" ;;
+ -m) prev="-m" ;;
+ -o) prev="-o" ;;
+ -s)
+ stripme=" -s"
+ continue
+ ;;
+ -*) ;;
+
+ *)
+ # If the previous option needed an argument, then skip it.
+ if test -n "$prev"; then
+ prev=
+ else
+ dest="$arg"
+ continue
+ fi
+ ;;
+ esac
+
+ # Aesthetically quote the argument.
+ arg=`$echo "X$arg" | $Xsed -e "$sed_quote_subst"`
+ case $arg in
+ *$quote_scanset* | *]* | *\|* | *\&* | *\(* | *\)* | "")
+ arg="\"$arg\""
+ ;;
+ esac
+ install_prog="$install_prog $arg"
+ done
+
+ if test -z "$install_prog"; then
+ $echo "$modename: you must specify an install program" 1>&2
+ $echo "$help" 1>&2
+ exit $EXIT_FAILURE
+ fi
+
+ if test -n "$prev"; then
+ $echo "$modename: the \`$prev' option requires an argument" 1>&2
+ $echo "$help" 1>&2
+ exit $EXIT_FAILURE
+ fi
+
+ if test -z "$files"; then
+ if test -z "$dest"; then
+ $echo "$modename: no file or destination specified" 1>&2
+ else
+ $echo "$modename: you must specify a destination" 1>&2
+ fi
+ $echo "$help" 1>&2
+ exit $EXIT_FAILURE
+ fi
+
+ # Strip any trailing slash from the destination.
+ dest=`$echo "X$dest" | $Xsed -e 's%/$%%'`
+
+ # Check to see that the destination is a directory.
+ test -d "$dest" && isdir=yes
+ if test "$isdir" = yes; then
+ destdir="$dest"
+ destname=
+ else
+ destdir=`$echo "X$dest" | $Xsed -e 's%/[^/]*$%%'`
+ test "X$destdir" = "X$dest" && destdir=.
+ destname=`$echo "X$dest" | $Xsed -e 's%^.*/%%'`
+
+ # Not a directory, so check to see that there is only one file specified.
+ set dummy $files
+ if test "$#" -gt 2; then
+ $echo "$modename: \`$dest' is not a directory" 1>&2
+ $echo "$help" 1>&2
+ exit $EXIT_FAILURE
+ fi
+ fi
+ case $destdir in
+ [\\/]* | [A-Za-z]:[\\/]*) ;;
+ *)
+ for file in $files; do
+ case $file in
+ *.lo) ;;
+ *)
+ $echo "$modename: \`$destdir' must be an absolute directory name" 1>&2
+ $echo "$help" 1>&2
+ exit $EXIT_FAILURE
+ ;;
+ esac
+ done
+ ;;
+ esac
+
+ # This variable tells wrapper scripts just to set variables rather
+ # than running their programs.
+ libtool_install_magic="$magic"
+
+ staticlibs=
+ future_libdirs=
+ current_libdirs=
+ for file in $files; do
+
+ # Do each installation.
+ case $file in
+ *.$libext)
+ # Do the static libraries later.
+ staticlibs="$staticlibs $file"
+ ;;
+
+ *.la)
+ # Check to see that this really is a libtool archive.
+ if (${SED} -e '2q' $file | grep "^# Generated by .*$PACKAGE") >/dev/null 2>&1; then :
+ else
+ $echo "$modename: \`$file' is not a valid libtool archive" 1>&2
+ $echo "$help" 1>&2
+ exit $EXIT_FAILURE
+ fi
+
+ library_names=
+ old_library=
+ relink_command=
+ # If there is no directory component, then add one.
+ case $file in
+ */* | *\\*) . $file ;;
+ *) . ./$file ;;
+ esac
+
+ # Add the libdir to current_libdirs if it is the destination.
+ if test "X$destdir" = "X$libdir"; then
+ case "$current_libdirs " in
+ *" $libdir "*) ;;
+ *) current_libdirs="$current_libdirs $libdir" ;;
+ esac
+ else
+ # Note the libdir as a future libdir.
+ case "$future_libdirs " in
+ *" $libdir "*) ;;
+ *) future_libdirs="$future_libdirs $libdir" ;;
+ esac
+ fi
+
+ dir=`$echo "X$file" | $Xsed -e 's%/[^/]*$%%'`/
+ test "X$dir" = "X$file/" && dir=
+ dir="$dir$objdir"
+
+ if test -n "$relink_command"; then
+ # Determine the prefix the user has applied to our future dir.
+ inst_prefix_dir=`$echo "$destdir" | $SED "s%$libdir\$%%"`
+
+ # Don't allow the user to place us outside of our expected
+ # location b/c this prevents finding dependent libraries that
+ # are installed to the same prefix.
+ # At present, this check doesn't affect windows .dll's that
+ # are installed into $libdir/../bin (currently, that works fine)
+ # but it's something to keep an eye on.
+ if test "$inst_prefix_dir" = "$destdir"; then
+ $echo "$modename: error: cannot install \`$file' to a directory not ending in $libdir" 1>&2
+ exit $EXIT_FAILURE
+ fi
+
+ if test -n "$inst_prefix_dir"; then
+ # Stick the inst_prefix_dir data into the link command.
+ relink_command=`$echo "$relink_command" | $SED "s%@inst_prefix_dir@%-inst-prefix-dir $inst_prefix_dir%"`
+ else
+ relink_command=`$echo "$relink_command" | $SED "s%@inst_prefix_dir@%%"`
+ fi
+
+ $echo "$modename: warning: relinking \`$file'" 1>&2
+ $show "$relink_command"
+ if $run eval "$relink_command"; then :
+ else
+ $echo "$modename: error: relink \`$file' with the above command before installing it" 1>&2
+ exit $EXIT_FAILURE
+ fi
+ fi
+
+ # See the names of the shared library.
+ set dummy $library_names
+ if test -n "$2"; then
+ realname="$2"
+ shift
+ shift
+
+ srcname="$realname"
+ test -n "$relink_command" && srcname="$realname"T
+
+ # Install the shared library and build the symlinks.
+ $show "$install_prog $dir/$srcname $destdir/$realname"
+ $run eval "$install_prog $dir/$srcname $destdir/$realname" || exit $?
+ if test -n "$stripme" && test -n "$striplib"; then
+ $show "$striplib $destdir/$realname"
+ $run eval "$striplib $destdir/$realname" || exit $?
+ fi
+
+ if test "$#" -gt 0; then
+ # Delete the old symlinks, and create new ones.
+ for linkname
+ do
+ if test "$linkname" != "$realname"; then
+ $show "(cd $destdir && $rm $linkname && $LN_S $realname $linkname)"
+ $run eval "(cd $destdir && $rm $linkname && $LN_S $realname $linkname)"
+ fi
+ done
+ fi
+
+ # Do each command in the postinstall commands.
+ lib="$destdir/$realname"
+ cmds=$postinstall_cmds
+ save_ifs="$IFS"; IFS='~'
+ for cmd in $cmds; do
+ IFS="$save_ifs"
+ eval cmd=\"$cmd\"
+ $show "$cmd"
+ $run eval "$cmd" || exit $?
+ done
+ IFS="$save_ifs"
+ fi
+
+ # Install the pseudo-library for information purposes.
+ name=`$echo "X$file" | $Xsed -e 's%^.*/%%'`
+ instname="$dir/$name"i
+ $show "$install_prog $instname $destdir/$name"
+ $run eval "$install_prog $instname $destdir/$name" || exit $?
+
+ # Maybe install the static library, too.
+ test -n "$old_library" && staticlibs="$staticlibs $dir/$old_library"
+ ;;
+
+ *.lo)
+ # Install (i.e. copy) a libtool object.
+
+ # Figure out destination file name, if it wasn't already specified.
+ if test -n "$destname"; then
+ destfile="$destdir/$destname"
+ else
+ destfile=`$echo "X$file" | $Xsed -e 's%^.*/%%'`
+ destfile="$destdir/$destfile"
+ fi
+
+ # Deduce the name of the destination old-style object file.
+ case $destfile in
+ *.lo)
+ staticdest=`$echo "X$destfile" | $Xsed -e "$lo2o"`
+ ;;
+ *.$objext)
+ staticdest="$destfile"
+ destfile=
+ ;;
+ *)
+ $echo "$modename: cannot copy a libtool object to \`$destfile'" 1>&2
+ $echo "$help" 1>&2
+ exit $EXIT_FAILURE
+ ;;
+ esac
+
+ # Install the libtool object if requested.
+ if test -n "$destfile"; then
+ $show "$install_prog $file $destfile"
+ $run eval "$install_prog $file $destfile" || exit $?
+ fi
+
+ # Install the old object if enabled.
+ if test "$build_old_libs" = yes; then
+ # Deduce the name of the old-style object file.
+ staticobj=`$echo "X$file" | $Xsed -e "$lo2o"`
+
+ $show "$install_prog $staticobj $staticdest"
+ $run eval "$install_prog \$staticobj \$staticdest" || exit $?
+ fi
+ exit $EXIT_SUCCESS
+ ;;
+
+ *)
+ # Figure out destination file name, if it wasn't already specified.
+ if test -n "$destname"; then
+ destfile="$destdir/$destname"
+ else
+ destfile=`$echo "X$file" | $Xsed -e 's%^.*/%%'`
+ destfile="$destdir/$destfile"
+ fi
+
+ # If the file is missing, and there is a .exe on the end, strip it
+ # because it is most likely a libtool script we actually want to
+ # install
+ stripped_ext=""
+ case $file in
+ *.exe)
+ if test ! -f "$file"; then
+ file=`$echo $file|${SED} 's,.exe$,,'`
+ stripped_ext=".exe"
+ fi
+ ;;
+ esac
+
+ # Do a test to see if this is really a libtool program.
+ case $host in
+ *cygwin*|*mingw*)
+ wrapper=`$echo $file | ${SED} -e 's,.exe$,,'`
+ ;;
+ *)
+ wrapper=$file
+ ;;
+ esac
+ if (${SED} -e '4q' $wrapper | grep "^# Generated by .*$PACKAGE")>/dev/null 2>&1; then
+ notinst_deplibs=
+ relink_command=
+
+ # To insure that "foo" is sourced, and not "foo.exe",
+ # finese the cygwin/MSYS system by explicitly sourcing "foo."
+ # which disallows the automatic-append-.exe behavior.
+ case $build in
+ *cygwin* | *mingw*) wrapperdot=${wrapper}. ;;
+ *) wrapperdot=${wrapper} ;;
+ esac
+ # If there is no directory component, then add one.
+ case $file in
+ */* | *\\*) . ${wrapperdot} ;;
+ *) . ./${wrapperdot} ;;
+ esac
+
+ # Check the variables that should have been set.
+ if test -z "$notinst_deplibs"; then
+ $echo "$modename: invalid libtool wrapper script \`$wrapper'" 1>&2
+ exit $EXIT_FAILURE
+ fi
+
+ finalize=yes
+ for lib in $notinst_deplibs; do
+ # Check to see that each library is installed.
+ libdir=
+ if test -f "$lib"; then
+ # If there is no directory component, then add one.
+ case $lib in
+ */* | *\\*) . $lib ;;
+ *) . ./$lib ;;
+ esac
+ fi
+ libfile="$libdir/"`$echo "X$lib" | $Xsed -e 's%^.*/%%g'` ### testsuite: skip nested quoting test
+ if test -n "$libdir" && test ! -f "$libfile"; then
+ $echo "$modename: warning: \`$lib' has not been installed in \`$libdir'" 1>&2
+ finalize=no
+ fi
+ done
+
+ relink_command=
+ # To insure that "foo" is sourced, and not "foo.exe",
+ # finese the cygwin/MSYS system by explicitly sourcing "foo."
+ # which disallows the automatic-append-.exe behavior.
+ case $build in
+ *cygwin* | *mingw*) wrapperdot=${wrapper}. ;;
+ *) wrapperdot=${wrapper} ;;
+ esac
+ # If there is no directory component, then add one.
+ case $file in
+ */* | *\\*) . ${wrapperdot} ;;
+ *) . ./${wrapperdot} ;;
+ esac
+
+ outputname=
+ if test "$fast_install" = no && test -n "$relink_command"; then
+ if test "$finalize" = yes && test -z "$run"; then
+ tmpdir="/tmp"
+ test -n "$TMPDIR" && tmpdir="$TMPDIR"
+ tmpdir="$tmpdir/libtool-$$"
+ save_umask=`umask`
+ umask 0077
+ if $mkdir "$tmpdir"; then
+ umask $save_umask
+ else
+ umask $save_umask
+ $echo "$modename: error: cannot create temporary directory \`$tmpdir'" 1>&2
+ continue
+ fi
+ file=`$echo "X$file$stripped_ext" | $Xsed -e 's%^.*/%%'`
+ outputname="$tmpdir/$file"
+ # Replace the output file specification.
+ relink_command=`$echo "X$relink_command" | $Xsed -e 's%@OUTPUT@%'"$outputname"'%g'`
+
+ $show "$relink_command"
+ if $run eval "$relink_command"; then :
+ else
+ $echo "$modename: error: relink \`$file' with the above command before installing it" 1>&2
+ ${rm}r "$tmpdir"
+ continue
+ fi
+ file="$outputname"
+ else
+ $echo "$modename: warning: cannot relink \`$file'" 1>&2
+ fi
+ else
+ # Install the binary that we compiled earlier.
+ file=`$echo "X$file$stripped_ext" | $Xsed -e "s%\([^/]*\)$%$objdir/\1%"`
+ fi
+ fi
+
+ # remove .exe since cygwin /usr/bin/install will append another
+ # one anyways
+ case $install_prog,$host in
+ */usr/bin/install*,*cygwin*)
+ case $file:$destfile in
+ *.exe:*.exe)
+ # this is ok
+ ;;
+ *.exe:*)
+ destfile=$destfile.exe
+ ;;
+ *:*.exe)
+ destfile=`$echo $destfile | ${SED} -e 's,.exe$,,'`
+ ;;
+ esac
+ ;;
+ esac
+ $show "$install_prog$stripme $file $destfile"
+ $run eval "$install_prog\$stripme \$file \$destfile" || exit $?
+ test -n "$outputname" && ${rm}r "$tmpdir"
+ ;;
+ esac
+ done
+
+ for file in $staticlibs; do
+ name=`$echo "X$file" | $Xsed -e 's%^.*/%%'`
+
+ # Set up the ranlib parameters.
+ oldlib="$destdir/$name"
+
+ $show "$install_prog $file $oldlib"
+ $run eval "$install_prog \$file \$oldlib" || exit $?
+
+ if test -n "$stripme" && test -n "$old_striplib"; then
+ $show "$old_striplib $oldlib"
+ $run eval "$old_striplib $oldlib" || exit $?
+ fi
+
+ # Do each command in the postinstall commands.
+ cmds=$old_postinstall_cmds
+ save_ifs="$IFS"; IFS='~'
+ for cmd in $cmds; do
+ IFS="$save_ifs"
+ eval cmd=\"$cmd\"
+ $show "$cmd"
+ $run eval "$cmd" || exit $?
+ done
+ IFS="$save_ifs"
+ done
+
+ if test -n "$future_libdirs"; then
+ $echo "$modename: warning: remember to run \`$progname --finish$future_libdirs'" 1>&2
+ fi
+
+ if test -n "$current_libdirs"; then
+ # Maybe just do a dry run.
+ test -n "$run" && current_libdirs=" -n$current_libdirs"
+ exec_cmd='$SHELL $progpath $preserve_args --finish$current_libdirs'
+ else
+ exit $EXIT_SUCCESS
+ fi
+ ;;
+
+ # libtool finish mode
+ finish)
+ modename="$modename: finish"
+ libdirs="$nonopt"
+ admincmds=
+
+ if test -n "$finish_cmds$finish_eval" && test -n "$libdirs"; then
+ for dir
+ do
+ libdirs="$libdirs $dir"
+ done
+
+ for libdir in $libdirs; do
+ if test -n "$finish_cmds"; then
+ # Do each command in the finish commands.
+ cmds=$finish_cmds
+ save_ifs="$IFS"; IFS='~'
+ for cmd in $cmds; do
+ IFS="$save_ifs"
+ eval cmd=\"$cmd\"
+ $show "$cmd"
+ $run eval "$cmd" || admincmds="$admincmds
+ $cmd"
+ done
+ IFS="$save_ifs"
+ fi
+ if test -n "$finish_eval"; then
+ # Do the single finish_eval.
+ eval cmds=\"$finish_eval\"
+ $run eval "$cmds" || admincmds="$admincmds
+ $cmds"
+ fi
+ done
+ fi
+
+ # Exit here if they wanted silent mode.
+ test "$show" = : && exit $EXIT_SUCCESS
+
+ $echo "----------------------------------------------------------------------"
+ $echo "Libraries have been installed in:"
+ for libdir in $libdirs; do
+ $echo " $libdir"
+ done
+ $echo
+ $echo "If you ever happen to want to link against installed libraries"
+ $echo "in a given directory, LIBDIR, you must either use libtool, and"
+ $echo "specify the full pathname of the library, or use the \`-LLIBDIR'"
+ $echo "flag during linking and do at least one of the following:"
+ if test -n "$shlibpath_var"; then
+ $echo " - add LIBDIR to the \`$shlibpath_var' environment variable"
+ $echo " during execution"
+ fi
+ if test -n "$runpath_var"; then
+ $echo " - add LIBDIR to the \`$runpath_var' environment variable"
+ $echo " during linking"
+ fi
+ if test -n "$hardcode_libdir_flag_spec"; then
+ libdir=LIBDIR
+ eval flag=\"$hardcode_libdir_flag_spec\"
+
+ $echo " - use the \`$flag' linker flag"
+ fi
+ if test -n "$admincmds"; then
+ $echo " - have your system administrator run these commands:$admincmds"
+ fi
+ if test -f /etc/ld.so.conf; then
+ $echo " - have your system administrator add LIBDIR to \`/etc/ld.so.conf'"
+ fi
+ $echo
+ $echo "See any operating system documentation about shared libraries for"
+ $echo "more information, such as the ld(1) and ld.so(8) manual pages."
+ $echo "----------------------------------------------------------------------"
+ exit $EXIT_SUCCESS
+ ;;
+
+ # libtool execute mode
+ execute)
+ modename="$modename: execute"
+
+ # The first argument is the command name.
+ cmd="$nonopt"
+ if test -z "$cmd"; then
+ $echo "$modename: you must specify a COMMAND" 1>&2
+ $echo "$help"
+ exit $EXIT_FAILURE
+ fi
+
+ # Handle -dlopen flags immediately.
+ for file in $execute_dlfiles; do
+ if test ! -f "$file"; then
+ $echo "$modename: \`$file' is not a file" 1>&2
+ $echo "$help" 1>&2
+ exit $EXIT_FAILURE
+ fi
+
+ dir=
+ case $file in
+ *.la)
+ # Check to see that this really is a libtool archive.
+ if (${SED} -e '2q' $file | grep "^# Generated by .*$PACKAGE") >/dev/null 2>&1; then :
+ else
+ $echo "$modename: \`$lib' is not a valid libtool archive" 1>&2
+ $echo "$help" 1>&2
+ exit $EXIT_FAILURE
+ fi
+
+ # Read the libtool library.
+ dlname=
+ library_names=
+
+ # If there is no directory component, then add one.
+ case $file in
+ */* | *\\*) . $file ;;
+ *) . ./$file ;;
+ esac
+
+ # Skip this library if it cannot be dlopened.
+ if test -z "$dlname"; then
+ # Warn if it was a shared library.
+ test -n "$library_names" && $echo "$modename: warning: \`$file' was not linked with \`-export-dynamic'"
+ continue
+ fi
+
+ dir=`$echo "X$file" | $Xsed -e 's%/[^/]*$%%'`
+ test "X$dir" = "X$file" && dir=.
+
+ if test -f "$dir/$objdir/$dlname"; then
+ dir="$dir/$objdir"
+ else
+ $echo "$modename: cannot find \`$dlname' in \`$dir' or \`$dir/$objdir'" 1>&2
+ exit $EXIT_FAILURE
+ fi
+ ;;
+
+ *.lo)
+ # Just add the directory containing the .lo file.
+ dir=`$echo "X$file" | $Xsed -e 's%/[^/]*$%%'`
+ test "X$dir" = "X$file" && dir=.
+ ;;
+
+ *)
+ $echo "$modename: warning \`-dlopen' is ignored for non-libtool libraries and objects" 1>&2
+ continue
+ ;;
+ esac
+
+ # Get the absolute pathname.
+ absdir=`cd "$dir" && pwd`
+ test -n "$absdir" && dir="$absdir"
+
+ # Now add the directory to shlibpath_var.
+ if eval "test -z \"\$$shlibpath_var\""; then
+ eval "$shlibpath_var=\"\$dir\""
+ else
+ eval "$shlibpath_var=\"\$dir:\$$shlibpath_var\""
+ fi
+ done
+
+ # This variable tells wrapper scripts just to set shlibpath_var
+ # rather than running their programs.
+ libtool_execute_magic="$magic"
+
+ # Check if any of the arguments is a wrapper script.
+ args=
+ for file
+ do
+ case $file in
+ -*) ;;
+ *)
+ # Do a test to see if this is really a libtool program.
+ if (${SED} -e '4q' $file | grep "^# Generated by .*$PACKAGE") >/dev/null 2>&1; then
+ # If there is no directory component, then add one.
+ case $file in
+ */* | *\\*) . $file ;;
+ *) . ./$file ;;
+ esac
+
+ # Transform arg to wrapped name.
+ file="$progdir/$program"
+ fi
+ ;;
+ esac
+ # Quote arguments (to preserve shell metacharacters).
+ file=`$echo "X$file" | $Xsed -e "$sed_quote_subst"`
+ args="$args \"$file\""
+ done
+
+ if test -z "$run"; then
+ if test -n "$shlibpath_var"; then
+ # Export the shlibpath_var.
+ eval "export $shlibpath_var"
+ fi
+
+ # Restore saved environment variables
+ if test "${save_LC_ALL+set}" = set; then
+ LC_ALL="$save_LC_ALL"; export LC_ALL
+ fi
+ if test "${save_LANG+set}" = set; then
+ LANG="$save_LANG"; export LANG
+ fi
+
+ # Now prepare to actually exec the command.
+ exec_cmd="\$cmd$args"
+ else
+ # Display what would be done.
+ if test -n "$shlibpath_var"; then
+ eval "\$echo \"\$shlibpath_var=\$$shlibpath_var\""
+ $echo "export $shlibpath_var"
+ fi
+ $echo "$cmd$args"
+ exit $EXIT_SUCCESS
+ fi
+ ;;
+
+ # libtool clean and uninstall mode
+ clean | uninstall)
+ modename="$modename: $mode"
+ rm="$nonopt"
+ files=
+ rmforce=
+ exit_status=0
+
+ # This variable tells wrapper scripts just to set variables rather
+ # than running their programs.
+ libtool_install_magic="$magic"
+
+ for arg
+ do
+ case $arg in
+ -f) rm="$rm $arg"; rmforce=yes ;;
+ -*) rm="$rm $arg" ;;
+ *) files="$files $arg" ;;
+ esac
+ done
+
+ if test -z "$rm"; then
+ $echo "$modename: you must specify an RM program" 1>&2
+ $echo "$help" 1>&2
+ exit $EXIT_FAILURE
+ fi
+
+ rmdirs=
+
+ origobjdir="$objdir"
+ for file in $files; do
+ dir=`$echo "X$file" | $Xsed -e 's%/[^/]*$%%'`
+ if test "X$dir" = "X$file"; then
+ dir=.
+ objdir="$origobjdir"
+ else
+ objdir="$dir/$origobjdir"
+ fi
+ name=`$echo "X$file" | $Xsed -e 's%^.*/%%'`
+ test "$mode" = uninstall && objdir="$dir"
+
+ # Remember objdir for removal later, being careful to avoid duplicates
+ if test "$mode" = clean; then
+ case " $rmdirs " in
+ *" $objdir "*) ;;
+ *) rmdirs="$rmdirs $objdir" ;;
+ esac
+ fi
+
+ # Don't error if the file doesn't exist and rm -f was used.
+ if (test -L "$file") >/dev/null 2>&1 \
+ || (test -h "$file") >/dev/null 2>&1 \
+ || test -f "$file"; then
+ :
+ elif test -d "$file"; then
+ exit_status=1
+ continue
+ elif test "$rmforce" = yes; then
+ continue
+ fi
+
+ rmfiles="$file"
+
+ case $name in
+ *.la)
+ # Possibly a libtool archive, so verify it.
+ if (${SED} -e '2q' $file | grep "^# Generated by .*$PACKAGE") >/dev/null 2>&1; then
+ . $dir/$name
+
+ # Delete the libtool libraries and symlinks.
+ for n in $library_names; do
+ rmfiles="$rmfiles $objdir/$n"
+ done
+ test -n "$old_library" && rmfiles="$rmfiles $objdir/$old_library"
+ test "$mode" = clean && rmfiles="$rmfiles $objdir/$name $objdir/${name}i"
+
+ if test "$mode" = uninstall; then
+ if test -n "$library_names"; then
+ # Do each command in the postuninstall commands.
+ cmds=$postuninstall_cmds
+ save_ifs="$IFS"; IFS='~'
+ for cmd in $cmds; do
+ IFS="$save_ifs"
+ eval cmd=\"$cmd\"
+ $show "$cmd"
+ $run eval "$cmd"
+ if test "$?" -ne 0 && test "$rmforce" != yes; then
+ exit_status=1
+ fi
+ done
+ IFS="$save_ifs"
+ fi
+
+ if test -n "$old_library"; then
+ # Do each command in the old_postuninstall commands.
+ cmds=$old_postuninstall_cmds
+ save_ifs="$IFS"; IFS='~'
+ for cmd in $cmds; do
+ IFS="$save_ifs"
+ eval cmd=\"$cmd\"
+ $show "$cmd"
+ $run eval "$cmd"
+ if test "$?" -ne 0 && test "$rmforce" != yes; then
+ exit_status=1
+ fi
+ done
+ IFS="$save_ifs"
+ fi
+ # FIXME: should reinstall the best remaining shared library.
+ fi
+ fi
+ ;;
+
+ *.lo)
+ # Possibly a libtool object, so verify it.
+ if (${SED} -e '2q' $file | grep "^# Generated by .*$PACKAGE") >/dev/null 2>&1; then
+
+ # Read the .lo file
+ . $dir/$name
+
+ # Add PIC object to the list of files to remove.
+ if test -n "$pic_object" \
+ && test "$pic_object" != none; then
+ rmfiles="$rmfiles $dir/$pic_object"
+ fi
+
+ # Add non-PIC object to the list of files to remove.
+ if test -n "$non_pic_object" \
+ && test "$non_pic_object" != none; then
+ rmfiles="$rmfiles $dir/$non_pic_object"
+ fi
+ fi
+ ;;
+
+ *)
+ if test "$mode" = clean ; then
+ noexename=$name
+ case $file in
+ *.exe)
+ file=`$echo $file|${SED} 's,.exe$,,'`
+ noexename=`$echo $name|${SED} 's,.exe$,,'`
+ # $file with .exe has already been added to rmfiles,
+ # add $file without .exe
+ rmfiles="$rmfiles $file"
+ ;;
+ esac
+ # Do a test to see if this is a libtool program.
+ if (${SED} -e '4q' $file | grep "^# Generated by .*$PACKAGE") >/dev/null 2>&1; then
+ relink_command=
+ . $dir/$noexename
+
+ # note $name still contains .exe if it was in $file originally
+ # as does the version of $file that was added into $rmfiles
+ rmfiles="$rmfiles $objdir/$name $objdir/${name}S.${objext}"
+ if test "$fast_install" = yes && test -n "$relink_command"; then
+ rmfiles="$rmfiles $objdir/lt-$name"
+ fi
+ if test "X$noexename" != "X$name" ; then
+ rmfiles="$rmfiles $objdir/lt-${noexename}.c"
+ fi
+ fi
+ fi
+ ;;
+ esac
+ $show "$rm $rmfiles"
+ $run $rm $rmfiles || exit_status=1
+ done
+ objdir="$origobjdir"
+
+ # Try to remove the ${objdir}s in the directories where we deleted files
+ for dir in $rmdirs; do
+ if test -d "$dir"; then
+ $show "rmdir $dir"
+ $run rmdir $dir >/dev/null 2>&1
+ fi
+ done
+
+ exit $exit_status
+ ;;
+
+ "")
+ $echo "$modename: you must specify a MODE" 1>&2
+ $echo "$generic_help" 1>&2
+ exit $EXIT_FAILURE
+ ;;
+ esac
+
+ if test -z "$exec_cmd"; then
+ $echo "$modename: invalid operation mode \`$mode'" 1>&2
+ $echo "$generic_help" 1>&2
+ exit $EXIT_FAILURE
+ fi
+fi # test -z "$show_help"
+
+if test -n "$exec_cmd"; then
+ eval exec $exec_cmd
+ exit $EXIT_FAILURE
+fi
+
+# We need to display help for each of the modes.
+case $mode in
+"") $echo \
+"Usage: $modename [OPTION]... [MODE-ARG]...
+
+Provide generalized library-building support services.
+
+ --config show all configuration variables
+ --debug enable verbose shell tracing
+-n, --dry-run display commands without modifying any files
+ --features display basic configuration information and exit
+ --finish same as \`--mode=finish'
+ --help display this help message and exit
+ --mode=MODE use operation mode MODE [default=inferred from MODE-ARGS]
+ --quiet same as \`--silent'
+ --silent don't print informational messages
+ --tag=TAG use configuration variables from tag TAG
+ --version print version information
+
+MODE must be one of the following:
+
+ clean remove files from the build directory
+ compile compile a source file into a libtool object
+ execute automatically set library path, then run a program
+ finish complete the installation of libtool libraries
+ install install libraries or executables
+ link create a library or an executable
+ uninstall remove libraries from an installed directory
+
+MODE-ARGS vary depending on the MODE. Try \`$modename --help --mode=MODE' for
+a more detailed description of MODE.
+
+Report bugs to <bug-libtool at gnu.org>."
+ exit $EXIT_SUCCESS
+ ;;
+
+clean)
+ $echo \
+"Usage: $modename [OPTION]... --mode=clean RM [RM-OPTION]... FILE...
+
+Remove files from the build directory.
+
+RM is the name of the program to use to delete files associated with each FILE
+(typically \`/bin/rm'). RM-OPTIONS are options (such as \`-f') to be passed
+to RM.
+
+If FILE is a libtool library, object or program, all the files associated
+with it are deleted. Otherwise, only FILE itself is deleted using RM."
+ ;;
+
+compile)
+ $echo \
+"Usage: $modename [OPTION]... --mode=compile COMPILE-COMMAND... SOURCEFILE
+
+Compile a source file into a libtool library object.
+
+This mode accepts the following additional options:
+
+ -o OUTPUT-FILE set the output file name to OUTPUT-FILE
+ -prefer-pic try to building PIC objects only
+ -prefer-non-pic try to building non-PIC objects only
+ -static always build a \`.o' file suitable for static linking
+
+COMPILE-COMMAND is a command to be used in creating a \`standard' object file
+from the given SOURCEFILE.
+
+The output file name is determined by removing the directory component from
+SOURCEFILE, then substituting the C source code suffix \`.c' with the
+library object suffix, \`.lo'."
+ ;;
+
+execute)
+ $echo \
+"Usage: $modename [OPTION]... --mode=execute COMMAND [ARGS]...
+
+Automatically set library path, then run a program.
+
+This mode accepts the following additional options:
+
+ -dlopen FILE add the directory containing FILE to the library path
+
+This mode sets the library path environment variable according to \`-dlopen'
+flags.
+
+If any of the ARGS are libtool executable wrappers, then they are translated
+into their corresponding uninstalled binary, and any of their required library
+directories are added to the library path.
+
+Then, COMMAND is executed, with ARGS as arguments."
+ ;;
+
+finish)
+ $echo \
+"Usage: $modename [OPTION]... --mode=finish [LIBDIR]...
+
+Complete the installation of libtool libraries.
+
+Each LIBDIR is a directory that contains libtool libraries.
+
+The commands that this mode executes may require superuser privileges. Use
+the \`--dry-run' option if you just want to see what would be executed."
+ ;;
+
+install)
+ $echo \
+"Usage: $modename [OPTION]... --mode=install INSTALL-COMMAND...
+
+Install executables or libraries.
+
+INSTALL-COMMAND is the installation command. The first component should be
+either the \`install' or \`cp' program.
+
+The rest of the components are interpreted as arguments to that command (only
+BSD-compatible install options are recognized)."
+ ;;
+
+link)
+ $echo \
+"Usage: $modename [OPTION]... --mode=link LINK-COMMAND...
+
+Link object files or libraries together to form another library, or to
+create an executable program.
+
+LINK-COMMAND is a command using the C compiler that you would use to create
+a program from several object files.
+
+The following components of LINK-COMMAND are treated specially:
+
+ -all-static do not do any dynamic linking at all
+ -avoid-version do not add a version suffix if possible
+ -dlopen FILE \`-dlpreopen' FILE if it cannot be dlopened at runtime
+ -dlpreopen FILE link in FILE and add its symbols to lt_preloaded_symbols
+ -export-dynamic allow symbols from OUTPUT-FILE to be resolved with dlsym(3)
+ -export-symbols SYMFILE
+ try to export only the symbols listed in SYMFILE
+ -export-symbols-regex REGEX
+ try to export only the symbols matching REGEX
+ -LLIBDIR search LIBDIR for required installed libraries
+ -lNAME OUTPUT-FILE requires the installed library libNAME
+ -module build a library that can dlopened
+ -no-fast-install disable the fast-install mode
+ -no-install link a not-installable executable
+ -no-undefined declare that a library does not refer to external symbols
+ -o OUTPUT-FILE create OUTPUT-FILE from the specified objects
+ -objectlist FILE Use a list of object files found in FILE to specify objects
+ -precious-files-regex REGEX
+ don't remove output files matching REGEX
+ -release RELEASE specify package release information
+ -rpath LIBDIR the created library will eventually be installed in LIBDIR
+ -R[ ]LIBDIR add LIBDIR to the runtime path of programs and libraries
+ -static do not do any dynamic linking of libtool libraries
+ -version-info CURRENT[:REVISION[:AGE]]
+ specify library version info [each variable defaults to 0]
+
+All other options (arguments beginning with \`-') are ignored.
+
+Every other argument is treated as a filename. Files ending in \`.la' are
+treated as uninstalled libtool libraries, other files are standard or library
+object files.
+
+If the OUTPUT-FILE ends in \`.la', then a libtool library is created,
+only library objects (\`.lo' files) may be specified, and \`-rpath' is
+required, except when creating a convenience library.
+
+If OUTPUT-FILE ends in \`.a' or \`.lib', then a standard library is created
+using \`ar' and \`ranlib', or on Windows using \`lib'.
+
+If OUTPUT-FILE ends in \`.lo' or \`.${objext}', then a reloadable object file
+is created, otherwise an executable program is created."
+ ;;
+
+uninstall)
+ $echo \
+"Usage: $modename [OPTION]... --mode=uninstall RM [RM-OPTION]... FILE...
+
+Remove libraries from an installation directory.
+
+RM is the name of the program to use to delete files associated with each FILE
+(typically \`/bin/rm'). RM-OPTIONS are options (such as \`-f') to be passed
+to RM.
+
+If FILE is a libtool library, all the files associated with it are deleted.
+Otherwise, only FILE itself is deleted using RM."
+ ;;
+
+*)
+ $echo "$modename: invalid operation mode \`$mode'" 1>&2
+ $echo "$help" 1>&2
+ exit $EXIT_FAILURE
+ ;;
+esac
+
+$echo
+$echo "Try \`$modename --help' for more information about other modes."
+
+exit $?
+
+# The TAGs below are defined such that we never get into a situation
+# in which we disable both kinds of libraries. Given conflicting
+# choices, we go for a static library, that is the most portable,
+# since we can't tell whether shared libraries were disabled because
+# the user asked for that or because the platform doesn't support
+# them. This is particularly important on AIX, because we don't
+# support having both static and shared libraries enabled at the same
+# time on that platform, so we default to a shared-only configuration.
+# If a disable-shared tag is given, we'll fallback to a static-only
+# configuration. But we'll never go from static-only to shared-only.
+
+# ### BEGIN LIBTOOL TAG CONFIG: disable-shared
+build_libtool_libs=no
+build_old_libs=yes
+# ### END LIBTOOL TAG CONFIG: disable-shared
+
+# ### BEGIN LIBTOOL TAG CONFIG: disable-static
+build_old_libs=`case $build_libtool_libs in yes) $echo no;; *) $echo yes;; esac`
+# ### END LIBTOOL TAG CONFIG: disable-static
+
+# Local Variables:
+# mode:shell-script
+# sh-indentation:2
+# End:
diff --git a/dev/missing b/dev/missing
new file mode 100755
index 0000000..09edd88
--- /dev/null
+++ b/dev/missing
@@ -0,0 +1,357 @@
+#! /bin/sh
+# Common stub for a few missing GNU programs while installing.
+
+scriptversion=2005-02-08.22
+
+# Copyright (C) 1996, 1997, 1999, 2000, 2002, 2003, 2004, 2005
+# Free Software Foundation, Inc.
+# Originally by Fran,cois Pinard <pinard at iro.umontreal.ca>, 1996.
+
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
+# 02111-1307, USA.
+
+# As a special exception to the GNU General Public License, if you
+# distribute this file as part of a program that contains a
+# configuration script generated by Autoconf, you may include it under
+# the same distribution terms that you use for the rest of that program.
+
+if test $# -eq 0; then
+ echo 1>&2 "Try \`$0 --help' for more information"
+ exit 1
+fi
+
+run=:
+
+# In the cases where this matters, `missing' is being run in the
+# srcdir already.
+if test -f configure.ac; then
+ configure_ac=configure.ac
+else
+ configure_ac=configure.in
+fi
+
+msg="missing on your system"
+
+case "$1" in
+--run)
+ # Try to run requested program, and just exit if it succeeds.
+ run=
+ shift
+ "$@" && exit 0
+ # Exit code 63 means version mismatch. This often happens
+ # when the user try to use an ancient version of a tool on
+ # a file that requires a minimum version. In this case we
+ # we should proceed has if the program had been absent, or
+ # if --run hadn't been passed.
+ if test $? = 63; then
+ run=:
+ msg="probably too old"
+ fi
+ ;;
+
+ -h|--h|--he|--hel|--help)
+ echo "\
+$0 [OPTION]... PROGRAM [ARGUMENT]...
+
+Handle \`PROGRAM [ARGUMENT]...' for when PROGRAM is missing, or return an
+error status if there is no known handling for PROGRAM.
+
+Options:
+ -h, --help display this help and exit
+ -v, --version output version information and exit
+ --run try to run the given command, and emulate it if it fails
+
+Supported PROGRAM values:
+ aclocal touch file \`aclocal.m4'
+ autoconf touch file \`configure'
+ autoheader touch file \`config.h.in'
+ automake touch all \`Makefile.in' files
+ bison create \`y.tab.[ch]', if possible, from existing .[ch]
+ flex create \`lex.yy.c', if possible, from existing .c
+ help2man touch the output file
+ lex create \`lex.yy.c', if possible, from existing .c
+ makeinfo touch the output file
+ tar try tar, gnutar, gtar, then tar without non-portable flags
+ yacc create \`y.tab.[ch]', if possible, from existing .[ch]
+
+Send bug reports to <bug-automake at gnu.org>."
+ exit $?
+ ;;
+
+ -v|--v|--ve|--ver|--vers|--versi|--versio|--version)
+ echo "missing $scriptversion (GNU Automake)"
+ exit $?
+ ;;
+
+ -*)
+ echo 1>&2 "$0: Unknown \`$1' option"
+ echo 1>&2 "Try \`$0 --help' for more information"
+ exit 1
+ ;;
+
+esac
+
+# Now exit if we have it, but it failed. Also exit now if we
+# don't have it and --version was passed (most likely to detect
+# the program).
+case "$1" in
+ lex|yacc)
+ # Not GNU programs, they don't have --version.
+ ;;
+
+ tar)
+ if test -n "$run"; then
+ echo 1>&2 "ERROR: \`tar' requires --run"
+ exit 1
+ elif test "x$2" = "x--version" || test "x$2" = "x--help"; then
+ exit 1
+ fi
+ ;;
+
+ *)
+ if test -z "$run" && ($1 --version) > /dev/null 2>&1; then
+ # We have it, but it failed.
+ exit 1
+ elif test "x$2" = "x--version" || test "x$2" = "x--help"; then
+ # Could not run --version or --help. This is probably someone
+ # running `$TOOL --version' or `$TOOL --help' to check whether
+ # $TOOL exists and not knowing $TOOL uses missing.
+ exit 1
+ fi
+ ;;
+esac
+
+# If it does not exist, or fails to run (possibly an outdated version),
+# try to emulate it.
+case "$1" in
+ aclocal*)
+ echo 1>&2 "\
+WARNING: \`$1' is $msg. You should only need it if
+ you modified \`acinclude.m4' or \`${configure_ac}'. You might want
+ to install the \`Automake' and \`Perl' packages. Grab them from
+ any GNU archive site."
+ touch aclocal.m4
+ ;;
+
+ autoconf)
+ echo 1>&2 "\
+WARNING: \`$1' is $msg. You should only need it if
+ you modified \`${configure_ac}'. You might want to install the
+ \`Autoconf' and \`GNU m4' packages. Grab them from any GNU
+ archive site."
+ touch configure
+ ;;
+
+ autoheader)
+ echo 1>&2 "\
+WARNING: \`$1' is $msg. You should only need it if
+ you modified \`acconfig.h' or \`${configure_ac}'. You might want
+ to install the \`Autoconf' and \`GNU m4' packages. Grab them
+ from any GNU archive site."
+ files=`sed -n 's/^[ ]*A[CM]_CONFIG_HEADER(\([^)]*\)).*/\1/p' ${configure_ac}`
+ test -z "$files" && files="config.h"
+ touch_files=
+ for f in $files; do
+ case "$f" in
+ *:*) touch_files="$touch_files "`echo "$f" |
+ sed -e 's/^[^:]*://' -e 's/:.*//'`;;
+ *) touch_files="$touch_files $f.in";;
+ esac
+ done
+ touch $touch_files
+ ;;
+
+ automake*)
+ echo 1>&2 "\
+WARNING: \`$1' is $msg. You should only need it if
+ you modified \`Makefile.am', \`acinclude.m4' or \`${configure_ac}'.
+ You might want to install the \`Automake' and \`Perl' packages.
+ Grab them from any GNU archive site."
+ find . -type f -name Makefile.am -print |
+ sed 's/\.am$/.in/' |
+ while read f; do touch "$f"; done
+ ;;
+
+ autom4te)
+ echo 1>&2 "\
+WARNING: \`$1' is needed, but is $msg.
+ You might have modified some files without having the
+ proper tools for further handling them.
+ You can get \`$1' as part of \`Autoconf' from any GNU
+ archive site."
+
+ file=`echo "$*" | sed -n 's/.*--output[ =]*\([^ ]*\).*/\1/p'`
+ test -z "$file" && file=`echo "$*" | sed -n 's/.*-o[ ]*\([^ ]*\).*/\1/p'`
+ if test -f "$file"; then
+ touch $file
+ else
+ test -z "$file" || exec >$file
+ echo "#! /bin/sh"
+ echo "# Created by GNU Automake missing as a replacement of"
+ echo "# $ $@"
+ echo "exit 0"
+ chmod +x $file
+ exit 1
+ fi
+ ;;
+
+ bison|yacc)
+ echo 1>&2 "\
+WARNING: \`$1' $msg. You should only need it if
+ you modified a \`.y' file. You may need the \`Bison' package
+ in order for those modifications to take effect. You can get
+ \`Bison' from any GNU archive site."
+ rm -f y.tab.c y.tab.h
+ if [ $# -ne 1 ]; then
+ eval LASTARG="\${$#}"
+ case "$LASTARG" in
+ *.y)
+ SRCFILE=`echo "$LASTARG" | sed 's/y$/c/'`
+ if [ -f "$SRCFILE" ]; then
+ cp "$SRCFILE" y.tab.c
+ fi
+ SRCFILE=`echo "$LASTARG" | sed 's/y$/h/'`
+ if [ -f "$SRCFILE" ]; then
+ cp "$SRCFILE" y.tab.h
+ fi
+ ;;
+ esac
+ fi
+ if [ ! -f y.tab.h ]; then
+ echo >y.tab.h
+ fi
+ if [ ! -f y.tab.c ]; then
+ echo 'main() { return 0; }' >y.tab.c
+ fi
+ ;;
+
+ lex|flex)
+ echo 1>&2 "\
+WARNING: \`$1' is $msg. You should only need it if
+ you modified a \`.l' file. You may need the \`Flex' package
+ in order for those modifications to take effect. You can get
+ \`Flex' from any GNU archive site."
+ rm -f lex.yy.c
+ if [ $# -ne 1 ]; then
+ eval LASTARG="\${$#}"
+ case "$LASTARG" in
+ *.l)
+ SRCFILE=`echo "$LASTARG" | sed 's/l$/c/'`
+ if [ -f "$SRCFILE" ]; then
+ cp "$SRCFILE" lex.yy.c
+ fi
+ ;;
+ esac
+ fi
+ if [ ! -f lex.yy.c ]; then
+ echo 'main() { return 0; }' >lex.yy.c
+ fi
+ ;;
+
+ help2man)
+ echo 1>&2 "\
+WARNING: \`$1' is $msg. You should only need it if
+ you modified a dependency of a manual page. You may need the
+ \`Help2man' package in order for those modifications to take
+ effect. You can get \`Help2man' from any GNU archive site."
+
+ file=`echo "$*" | sed -n 's/.*-o \([^ ]*\).*/\1/p'`
+ if test -z "$file"; then
+ file=`echo "$*" | sed -n 's/.*--output=\([^ ]*\).*/\1/p'`
+ fi
+ if [ -f "$file" ]; then
+ touch $file
+ else
+ test -z "$file" || exec >$file
+ echo ".ab help2man is required to generate this page"
+ exit 1
+ fi
+ ;;
+
+ makeinfo)
+ echo 1>&2 "\
+WARNING: \`$1' is $msg. You should only need it if
+ you modified a \`.texi' or \`.texinfo' file, or any other file
+ indirectly affecting the aspect of the manual. The spurious
+ call might also be the consequence of using a buggy \`make' (AIX,
+ DU, IRIX). You might want to install the \`Texinfo' package or
+ the \`GNU make' package. Grab either from any GNU archive site."
+ # The file to touch is that specified with -o ...
+ file=`echo "$*" | sed -n 's/.*-o \([^ ]*\).*/\1/p'`
+ if test -z "$file"; then
+ # ... or it is the one specified with @setfilename ...
+ infile=`echo "$*" | sed 's/.* \([^ ]*\) *$/\1/'`
+ file=`sed -n '/^@setfilename/ { s/.* \([^ ]*\) *$/\1/; p; q; }' $infile`
+ # ... or it is derived from the source name (dir/f.texi becomes f.info)
+ test -z "$file" && file=`echo "$infile" | sed 's,.*/,,;s,.[^.]*$,,'`.info
+ fi
+ touch $file
+ ;;
+
+ tar)
+ shift
+
+ # We have already tried tar in the generic part.
+ # Look for gnutar/gtar before invocation to avoid ugly error
+ # messages.
+ if (gnutar --version > /dev/null 2>&1); then
+ gnutar "$@" && exit 0
+ fi
+ if (gtar --version > /dev/null 2>&1); then
+ gtar "$@" && exit 0
+ fi
+ firstarg="$1"
+ if shift; then
+ case "$firstarg" in
+ *o*)
+ firstarg=`echo "$firstarg" | sed s/o//`
+ tar "$firstarg" "$@" && exit 0
+ ;;
+ esac
+ case "$firstarg" in
+ *h*)
+ firstarg=`echo "$firstarg" | sed s/h//`
+ tar "$firstarg" "$@" && exit 0
+ ;;
+ esac
+ fi
+
+ echo 1>&2 "\
+WARNING: I can't seem to be able to run \`tar' with the given arguments.
+ You may want to install GNU tar or Free paxutils, or check the
+ command line arguments."
+ exit 1
+ ;;
+
+ *)
+ echo 1>&2 "\
+WARNING: \`$1' is needed, and is $msg.
+ You might have modified some files without having the
+ proper tools for further handling them. Check the \`README' file,
+ it often tells you about the needed prerequisites for installing
+ this package. You may also peek at any GNU archive site, in case
+ some other package would contain this missing \`$1' program."
+ exit 1
+ ;;
+esac
+
+exit 0
+
+# Local variables:
+# eval: (add-hook 'write-file-hooks 'time-stamp)
+# time-stamp-start: "scriptversion="
+# time-stamp-format: "%:y-%02m-%02d.%02H"
+# time-stamp-end: "$"
+# End:
diff --git a/dev/oldtests/AnotherFileFilterTest.cpp b/dev/oldtests/AnotherFileFilterTest.cpp
new file mode 100755
index 0000000..aa53b8c
--- /dev/null
+++ b/dev/oldtests/AnotherFileFilterTest.cpp
@@ -0,0 +1,151 @@
+#pragma ident "$Id$"
+
+
+
+#include "FileFilter.hpp"
+#include "FFData.hpp"
+#include "FFStream.hpp"
+
+/**
+ * @file AnotherFileFilterTest.cpp
+ * Here's another test of the FileFilter class
+ */
+
+using namespace gpstk;
+using namespace std;
+
+// an FFData with just an int
+class TestFFData : public FFData
+{
+public:
+ TestFFData(int i = 0) : val(i) {}
+
+ virtual ~TestFFData() {}
+
+ void reallyPutRecord(FFStream& s) const
+ throw(FFStreamError, gpstk::StringUtils::StringException)
+ {}
+
+
+ void reallyGetRecord(FFStream& s)
+ throw(FFStreamError, gpstk::StringUtils::StringException)
+ {}
+
+
+ virtual void dump(std::ostream& s) const {s << val;}
+
+ int val;
+};
+
+
+// an operator < for TestFFData
+struct TestOperatorLessThan :
+ public binary_function<TestFFData, TestFFData, bool>
+{
+public:
+ bool operator() (TestFFData l, TestFFData r) const
+ {
+ return (l.val < r.val);
+ }
+};
+
+// an operator == for TestFFData
+struct TestOperatorEquals :
+ binary_function<TestFFData, TestFFData, bool>
+{
+public:
+ bool operator() (TestFFData l, TestFFData r) const
+ {
+ return (l.val == r.val);
+ }
+};
+
+// a filter for a range of values for TestFFData
+struct TestRangeFilter :
+ public unary_function<TestFFData, bool>
+{
+public:
+ TestRangeFilter(const int b, const int e)
+ : begin(b), end(e)
+ {}
+
+ bool operator() (TestFFData l) const
+ {
+ if ( (l.val < begin) ||
+ (l.val > end) )
+ return true;
+ return false;
+ }
+
+private:
+ int begin, end;
+
+};
+
+
+// a removing filter for a single value
+struct TestValueFilter :
+ public unary_function<TestFFData, bool>
+{
+public:
+ TestValueFilter(const int val)
+ : value(val)
+ {}
+
+ bool operator() (TestFFData l) const
+ {
+ if (value == l.val)
+ return true;
+ return false;
+ }
+
+private:
+ int value;
+};
+
+
+
+main (int argc, char *argv[])
+{
+ FileFilter<TestFFData> ff;
+
+ // add data to the filter
+ ff.addData(TestFFData(1));
+ ff.addData(TestFFData(2));
+ ff.addData(TestFFData(2));
+ ff.addData(TestFFData(2));
+ ff.addData(TestFFData(4));
+ ff.addData(TestFFData(4));
+ ff.addData(TestFFData(5));
+ ff.addData(TestFFData(3));
+ ff.addData(TestFFData(3));
+ ff.addData(TestFFData(1));
+
+ // do various operations on the data
+
+ list<TestFFData>::iterator itr;
+
+ cout << "unsorted" << endl;
+ for(itr = ff.begin(); itr != ff.end(); itr++)
+ (*itr).dump(cout << ' '); cout << endl;
+
+ cout << "sorted" << endl;
+ ff.sort(TestOperatorLessThan());
+ for(itr = ff.begin(); itr != ff.end(); itr++)
+ (*itr).dump(cout << ' '); cout << endl;
+
+ cout << "filter out values > 3" << endl;
+ ff.filter(TestRangeFilter(1,3));
+ for(itr = ff.begin(); itr != ff.end(); itr++)
+ (*itr).dump(cout << ' '); cout << endl;
+
+ cout << "filter out 2" << endl;
+ ff.filter(TestValueFilter(2));
+ for(itr = ff.begin(); itr != ff.end(); itr++)
+ (*itr).dump(cout << ' '); cout << endl;
+
+ cout << "unique only" << endl;
+ ff.unique(TestOperatorEquals());
+ for(itr = ff.begin(); itr != ff.end(); itr++)
+ (*itr).dump(cout << ' '); cout << endl;
+}
diff --git a/dev/oldtests/DayTimeConversionTest.cpp b/dev/oldtests/DayTimeConversionTest.cpp
new file mode 100644
index 0000000..4ae5920
--- /dev/null
+++ b/dev/oldtests/DayTimeConversionTest.cpp
@@ -0,0 +1,260 @@
+#pragma ident "$Id$"
+
+
+
+/* \example DayTimeToleranceTest.cpp
+ * This test evaluates user defined comparison tolerance feature of DayTime.
+ */
+
+#include <iostream>
+#include <stdlib.h>
+
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+bool testConstructors(short year, short month, short dom,
+ short hour, short minute, double seconds,
+ short week, double sow, long zcount,
+ short hintYear,
+ double MJD)
+{
+ bool cumulativeResult = true;
+
+ gpstk::DayTime case1(year,month,dom,
+ hour, minute, seconds); // Calendar constructor
+ gpstk::DayTime case2(week%1024, sow, hintYear); // 10 bit GPS+SOW wk w/hint
+ gpstk::DayTime case3(week%1024,zcount, hintYear); // 10 bit GPS+Z count w/hint
+ gpstk::DayTime case4(MJD); // JD converted to MJD inline
+
+ cout << case1.printf(" %-9B %02d, %Y %02H:%02M:%018.15f ");
+
+ cumulativeResult = cumulativeResult &&
+ (case1==case2) && (case1==case3) && (case1==case4);
+
+ if (cumulativeResult)
+ cout << "PASS" << endl;
+ else
+ {
+ cout << " FAIL" << endl << " Conversion results were: " << endl;
+ cout << case1.printf(" %-10B %02d, %Y %02H:%02M:%02S ") << endl;
+ cout << case2.printf(" %-10B %02d, %Y %02H:%02M:%02S ") << endl;
+ cout << case3.printf(" %-10B %02d, %Y %02H:%02M:%02S ") << endl;
+ cout << case4.printf(" %-10B %02d, %Y %02H:%02M:%02S ") << endl;
+ }
+
+ return (cumulativeResult);
+}
+
+
+bool testMutators(short year, short month, short dom,
+ short hour, short minute, double seconds,
+ short doy, double sod,
+ short week, double sow, long zcount,
+ short hintYear,
+ double MJD)
+{
+ bool cumulativeResult = true;
+
+ gpstk::DayTime case1, case2, case3, case4, case5, case6;
+
+ case1.setYMD(year, month, dom);
+ case1.setHMS(hour, minute, seconds);
+
+ case2.setYMDHMS(year, month, dom, hour, minute, seconds);
+
+ case3.setYDoy(year, doy);
+ case3.setSecOfDay(sod);
+
+ case4.setGPS(week%1024, sow, hintYear);
+
+ case5.setGPS(week%1024, zcount, hintYear);
+
+ case6.setMJD(MJD);
+
+ cout << case1.printf(" %-9B %02d, %Y %02H:%02M:%018.15f ");
+
+ cumulativeResult = cumulativeResult &&
+ (case1==case2) && (case1==case3) && (case1==case4) &&
+ (case1.GPSzcount()==case5.GPSzcount()) &&
+ (fabs(case1.MJD()-case6.MJD())<.001/DayTime::SEC_DAY);
+
+ if (cumulativeResult)
+ cout << "PASS" << endl;
+ else
+ {
+ cout << "FAIL" << endl << " Conversion results were: " << endl;
+ cout << case1.printf(" %-10B %02d, %Y %02H:%02M:%018.15f using setYMD, setHMS ") << endl;
+ cout << case2.printf(" %-10B %02d, %Y %02H:%02M:%018.15f using setYMDHMS ") << endl;
+ cout << case3.printf(" %-10B %02d, %Y %02H:%02M:%018.15f using setYDoy, setSecOfDay ") << endl;
+ cout << case4.printf(" %-10B %02d, %Y %02H:%02M:%018.15f using setGPS(wk, sow, hintYr) ") << endl;
+ cout << case5.printf(" %-10B %02d, %Y %02H:%02M:%018.15f using setGPS(wk, zcount, hintYr) ") << endl;
+ cout << case6.printf(" %-10B %02d, %Y %02H:%02M:%018.15f using setMJD ") << endl;
+ }
+
+ return (cumulativeResult);
+}
+
+bool testRandomAccessors(DayTime &dtb, DayTime &dte, long ndates)
+{
+ bool cumulativeResult=true;
+
+ // Seed the random number generator
+ gpstk::DayTime dt;
+ unsigned int seed= (unsigned int) dt.GPSsow();
+ srand(seed);
+
+ unsigned long dayDiff = (unsigned long)
+ ceil(dte.MJD() - dtb.MJD());
+
+ for (int j=0;j<ndates;++j) // Loop through set of random days
+ {
+ double dayDelta = floor( rand()*1./ RAND_MAX * dayDiff);
+ double sodDelta = rand()*1./RAND_MAX;
+ gpstk::DayTime testDate;
+
+ testDate.setMJD(dtb.MJD()+dayDelta+sodDelta);
+
+ short year = testDate.year();
+ short month = testDate.month();
+ short dom = testDate.day();
+ short hour = testDate.hour();
+ short minute = testDate.minute();
+ double seconds = testDate.second();
+ short doy = testDate.DOY();
+ double sod = testDate.DOYsecond();
+ short week = testDate.GPSfullweek()%1024;
+ double sow = testDate.GPSsow();
+ long zcount = testDate.GPSzcount();
+ short hintYear = testDate.year();
+ double MJD = testDate.MJD();
+ cumulativeResult = cumulativeResult &&
+ testMutators( year, month, dom, hour, minute, seconds,
+ doy, sod,
+ week, sow, zcount, hintYear,
+ MJD );
+ } // End loop over random dates
+
+ return cumulativeResult;
+}
+
+/// returns 0 if all tests pass
+int main()
+{
+ using gpstk::DayTime;
+
+ try
+ {
+ DayTime::setDayTimeTolerance(DayTime::DAYTIME_TOLERANCE); // microsecond tolerance
+
+ cout << endl;
+ cout << "DayTime conversion tests." << endl << endl;
+
+ cout << "All comparisons accurate to " << DayTime::DAYTIME_TOLERANCE;
+ cout << " seconds." << endl << endl;
+
+
+ bool cumulativeResult = true;
+
+
+ cout << "Testing constructors using documented dates." << endl;
+ cout << endl;
+
+
+ // Directly from ICD-GPS-200
+ // Beginning of GPS Time, as defined by ICD-GPS-200
+ cumulativeResult = cumulativeResult &&
+ testConstructors(1980,1,6,0,0,0,
+ 0, 0., 0,
+ 1981,
+ 44244.);
+
+ // From GPS Signals and Performan, Misra and Enge, p. 91
+ // GPS 10 bit week rollover epoch
+ cumulativeResult = cumulativeResult &&
+ testConstructors(1999,8,22,0,0,0,
+ 0, 0., 0,
+ 2000,
+ 51412.);
+
+ // From Hoffman-Wellenhof, et al.
+ // The J2000 standard epoch
+ cumulativeResult = cumulativeResult &&
+ testConstructors(2000,1,1,12,0,0,
+ 1042, 561600., 374400,
+ 2000,
+ 2451545 - 2400000.5);
+
+
+ cout << endl << "Testing mutators using documented dates." << endl << endl;
+
+ // Directly from ICD-GPS-200
+ // Beginning of GPS Time, as defined by ICD-GPS-200
+ cumulativeResult = cumulativeResult &&
+ testMutators(1980,1,6,0,0,0,
+ 6, 0.,
+ 0, 0., 0,
+ 1981,
+ 44244.);
+
+ // From GPS Signals and Performan, Misra and Enge, p. 91
+ // GPS 10 bit week rollover epoch
+ cumulativeResult = cumulativeResult &&
+ testMutators(1999,8,22,0,0,0,
+ 234, 0.,
+ 0, 0., 0,
+ 2000,
+ 51412.);
+
+ // From Hoffman-Wellenhof, et al.
+ // The J2000 standard epoch
+ cumulativeResult = cumulativeResult &&
+ testMutators(2000,1,1,12,0,0,
+ 1, 43200.,
+ 1042, 561600., 374400,
+ 2000,
+ 2451545 - 2400000.5);
+
+ // Random accessor/mutator tests
+ cout << endl;
+ cout << "Testing accessors and mutators using randomly generated dates.";
+ cout << endl << endl;
+
+ gpstk::DayTime dtBegin(1995,1,1,0,0,0), dtEnd(2015,1,1,0,0,0);
+ cumulativeResult = cumulativeResult &&
+ testRandomAccessors( dtBegin, dtEnd, 20);
+
+
+ // Wrap it up, folks
+ cout << endl;
+ cout << setw(34);
+ cout << DayTime().printf("Completed on %B %d, %Y %H:%02M:%02S");
+ cout << endl << endl;
+
+ int ret = 0;
+ if (cumulativeResult)
+ cout << "All comparison tests PASSED." << endl;
+ else
+ {
+ cout << "One ore more comparison tests FAILED." << endl;
+ ret = 1;
+ }
+
+ return ret;
+ }
+ catch(gpstk::Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(...)
+ {
+ cout << "Some other exception thrown..." << endl;
+ }
+
+ cout << "Exiting with exceptions." << endl;
+ return -1;
+}
+
+
diff --git a/dev/oldtests/DayTimeIncrementTest.cpp b/dev/oldtests/DayTimeIncrementTest.cpp
new file mode 100644
index 0000000..05225b0
--- /dev/null
+++ b/dev/oldtests/DayTimeIncrementTest.cpp
@@ -0,0 +1,131 @@
+#pragma ident "$Id$"
+
+
+
+/* \example DayTimeToleranceTest.cpp
+ * This test evaluates user defined comparison tolerance feature of DayTime.
+ * It merely increments then decrements DayTime in different ways, then
+ * reports to the user the estimate of machine error.
+ */
+
+#include <iostream>
+#include <iomanip>
+
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+#include "icd_200_constants.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+#define TEST_METHOD(method, incCount, incValue, diffTolerance) \
+ dtcopy = dtorig; \
+ totalIncrements=0; \
+ incCountUse = incCount/2; \
+ for (long j=0; j<incCountUse; ++j) \
+ { \
+ dtcopy.method(incValue); \
+ totalIncrements++; \
+ } \
+ for (long j=0; j<incCountUse; ++j) \
+ { \
+ dtcopy.method(-incValue); \
+ totalIncrements++; \
+ } \
+ tdiff = dtcopy-dtorig; \
+ cout << setw(18) << #method; \
+ cout << setw(18) << totalIncrements; \
+ cout << setw(22) << setprecision(10) << tdiff; \
+ cout << setw(21) << setprecision(8) << tdiff * C_GPS_M; \
+ cout << setw(23) << setprecision(5) << diffTolerance; \
+ cout << endl; \
+ cumulativeResult = cumulativeResult && \
+ ( fabs(tdiff)<diffTolerance );
+
+
+/// returns 0 if all tests pass
+int main()
+{
+ try
+ {
+ cout << endl << "Testing DayTime increment safety." << endl << endl;
+
+ // Set the DayTimes using Year, Month, Day, Hour, Minute, Second.
+ gpstk::DayTime dtorig(2000,12,1,0,0,0.0), dtcopy;
+
+ // Used to time the test.
+ DayTime startTime;
+ bool cumulativeResult = true;
+ double tdiff;
+ long totalIncrements=0;
+ long incCountUse;
+
+ cout << setw(18) << "Increment operator";
+ cout << setw(18) << "# of increments";
+ cout << setw(22) << "Difference (seconds)";
+ cout << setw(21) << "Difference (meters)";
+ cout << setw(23) << "Acceptable Diff (sec)";
+
+
+ cout << endl;
+
+ cout << setw(18) << "------------------";
+ cout << setw(18) << "---------------";
+ cout << setw(22) << "--------------------";
+ cout << setw(21) << "-------------------";
+ cout << setw(23) << "--------------------";
+ cout << endl;
+
+ TEST_METHOD(operator+=, 60, 1, 1e-15)
+ TEST_METHOD(operator+=, 3600, 1, 1e-15)
+ TEST_METHOD(operator+=, 86400, 1, 1e-15)
+ TEST_METHOD(operator+=, 7*86400, 1, 1e-15)
+ cout << endl;
+
+
+ TEST_METHOD(addMilliSeconds, 1000, 1, 1e-15)
+ TEST_METHOD(addMilliSeconds, 60*1000, 1, 1e-15)
+ TEST_METHOD(addMilliSeconds, 3600*1000, 1, 1e-15)
+ TEST_METHOD(addMilliSeconds, 86400*1000, 1, 1e-15)
+ TEST_METHOD(addMilliSeconds, 86400*2*1000, 1, 1e-15)
+ TEST_METHOD(addMilliSeconds, 86400*7*1000, 1, 1e-15)
+ cout << endl;
+
+ TEST_METHOD(addMicroSeconds, 1000*1000, 1, 1e-3)
+ TEST_METHOD(addMicroSeconds, 60*1000*1000, 1, 1e-3)
+ TEST_METHOD(addMicroSeconds, 5*60*1000*1000, 1, 1e-3)
+ cout << endl;
+
+ DayTime endTime;
+
+
+ cout << endl << setprecision(4);
+ cout << endTime.printf("Completed on %B %d, %Y %H:%02M:%02S") << endl;
+ cout << "Processing time " << endTime-startTime << " seconds." << endl;
+ cout << endl;
+
+ int ret = 0;
+ if (cumulativeResult)
+ cout << "All comparison tests PASSED." << endl;
+ else
+ {
+ cout << "One ore more comparison tests FAILED." << endl;
+ ret = 1;
+ }
+
+ cout << endl;
+
+ return ret;
+ }
+ catch(gpstk::Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(...)
+ {
+ cout << "Some other exception thrown..." << endl;
+ }
+
+ cout << "Exiting with exceptions." << endl;
+ return -1;
+}
diff --git a/dev/oldtests/DayTimeIncrementTest2.cpp b/dev/oldtests/DayTimeIncrementTest2.cpp
new file mode 100644
index 0000000..e9eaed4
--- /dev/null
+++ b/dev/oldtests/DayTimeIncrementTest2.cpp
@@ -0,0 +1,104 @@
+#pragma ident "$Id$"
+
+
+
+#include <iostream>
+#include <iomanip>
+#include <limits>
+
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+#include "icd_200_constants.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+template<class T>
+void testmeth(unsigned long incCount, T incValue)
+{
+ gpstk::DayTime dtorig(2000,12,1,0,0,0.0), dtcopy;
+ double tdiff;
+ long totalIncrements=0;
+ long incCountUse;
+
+ dtcopy = dtorig;
+ incCountUse = incCount/2;
+ for (long j=0; j<incCountUse; ++j)
+ {
+ dtcopy.addSeconds(incValue);
+ totalIncrements++;
+ }
+
+ for (long j=0; j<incCountUse; ++j)
+ {
+ dtcopy.addSeconds(-incValue);
+ totalIncrements++;
+ }
+
+ tdiff = dtcopy-dtorig;
+ cout << setw(8) << std::numeric_limits<T>::digits10
+ << setw(10) << incValue
+ << setw(15) << totalIncrements
+ << setw(20) << setprecision(10) << tdiff
+ << endl;
+}
+
+/// returns 0 if all tests pass
+int main()
+{
+ try
+ {
+ cout << "Testing DayTime addSeconds accuracy & speed." << endl;
+
+
+ cout << setw(8) << "digits"
+ << setw(10) << "incr"
+ << setw(15) << "count"
+ << setw(20) << "dt (sec)"
+ << endl;
+
+ DayTime startTime;
+ testmeth(60, (long)1);
+ testmeth(3600, (long)1);
+ testmeth(86400, (long)1);
+ testmeth(7*86400, (long)1);
+ cout << endl;
+
+ testmeth(1000, 1e-3);
+ testmeth(60*1000, 1e-3);
+ testmeth(3600*1000, 1e-3);
+ testmeth(86400*1000, 1e-3);
+ testmeth(86400*2*1000, 1e-3);
+ testmeth(86400*7*1000, 1e-3);
+ cout << endl;
+
+ testmeth(1000*1000, 1e-6);
+ testmeth(60*1000*1000, 1e-6);
+ testmeth(5*60*1000*1000, 1e-6);
+ cout << endl;
+
+ testmeth(1000*1000, 1e-9);
+ testmeth(100*1000*1000, 1e-9);
+ cout << endl;
+
+ testmeth(1000*1000, 1e-11);
+ testmeth(100*1000*1000, 1e-11);
+ cout << endl;
+
+ DayTime endTime;
+
+ cout << endl
+ << "Processing time "
+ << setprecision(4) << endTime-startTime
+ << " seconds."
+ << endl;
+ }
+ catch(gpstk::Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(...)
+ {
+ cout << "Some other exception thrown..." << endl;
+ }
+}
diff --git a/dev/oldtests/DayTimeToleranceTest.cpp b/dev/oldtests/DayTimeToleranceTest.cpp
new file mode 100644
index 0000000..d01f659
--- /dev/null
+++ b/dev/oldtests/DayTimeToleranceTest.cpp
@@ -0,0 +1,103 @@
+#pragma ident "$Id$"
+
+
+
+/* \example DayTimeToleranceTest.cpp
+ * This test evaluates user defined comparison tolerance feature of DayTime.
+ */
+
+#include <iostream>
+
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+
+using namespace std;
+
+/// returns 0 if all tests pass
+int main()
+{
+ using gpstk::DayTime;
+
+ try
+ {
+ cout << "Testing DayTime tolerances." << endl;
+
+ // Set the DayTimes using Year, Month, Day, Hour, Minute, Second.
+ gpstk::DayTime dt1(2000,12,1,0,0,0.0),
+ dt2(2000,12,1,0,0,0.0);
+
+ int nCases = 11;
+ double secDiff[]=
+ { 1.01, 1.0, .99, .5, .25, .0, -.25, -.5, -.99, -1.0, - 1.01 };
+
+ bool oneSecTolPass[]=
+ { false, true, true, true, true, true, true, true, true, true, false};
+
+ bool halfSecTolPass[]=
+ { false, false, false, true, true, true, true, true, false, false, false};
+ // column widths: 24 24 5 7 7 7 7
+ cout << " Time 1 Time 2 "
+ " diff 1 sec 0.5 sec" << endl;
+
+ string equal( " Equal");
+ string inequal(" Inequal");
+
+ bool cumulativeResult = true;
+
+ for (int i=0; i<nCases; i++)
+ {
+ dt2 = dt1 + secDiff[i];
+ string fmt("%m/%d/%Y %02H:%02M:%07.4f");
+ cout << setw(24) << dt1.printf(fmt) << " "
+ << setw(24) << dt2.printf(fmt) << " "
+ << setw(5) << dt2 - dt1 << " ";
+
+ // Set dt1 and dt2 to one second tolerance.
+ dt1.setTolerance(gpstk::DayTime::ONE_SEC_TOLERANCE);
+ dt2.setTolerance(gpstk::DayTime::ONE_SEC_TOLERANCE);
+
+ cout << (oneSecTolPass[i] ? equal : inequal)
+ << ((dt1 == dt2) ? equal : inequal) ;
+
+ cumulativeResult = cumulativeResult && (oneSecTolPass[i]==(dt1==dt2));
+
+ // Set dt1 and dt2 to half second tolerance.
+ dt1.setTolerance(gpstk::DayTime::ONE_SEC_TOLERANCE * 0.5);
+ dt2.setTolerance(gpstk::DayTime::ONE_SEC_TOLERANCE * 0.5);
+
+ cout << (halfSecTolPass[i] ? equal : inequal)
+ << ((dt1 == dt2) ? equal : inequal)
+ << endl ;
+
+ cumulativeResult = cumulativeResult &&
+ (halfSecTolPass[i]==(dt1==dt2));
+
+ }
+
+ cout << endl;
+ cout << DayTime().printf("Completed on %B %d, %Y %H:%02M:%02S");
+ cout << endl << endl;
+
+ int ret = 0;
+ if (cumulativeResult)
+ cout << "All comparison tests PASSED." << endl;
+ else
+ {
+ cout << "One ore more comparison tests FAILED." << endl;
+ ret = 1;
+ }
+
+ return ret;
+ }
+ catch(gpstk::Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(...)
+ {
+ cout << "Some other exception thrown..." << endl;
+ }
+
+ cout << "Exiting with exceptions." << endl;
+ return -1;
+}
diff --git a/dev/oldtests/EphComp.cpp b/dev/oldtests/EphComp.cpp
new file mode 100755
index 0000000..a67b309
--- /dev/null
+++ b/dev/oldtests/EphComp.cpp
@@ -0,0 +1,107 @@
+// EphComp.cpp compare BC and SP3 ephemerides
+//
+#include <iostream>
+#include <iomanip>
+#include <string>
+#include <map>
+
+#include "DayTime.hpp"
+
+#include "RinexEphemerisStore.hpp"
+#include "SP3EphemerisStore.hpp"
+
+#include "CommandOption.hpp"
+#include "CommandOptionParser.hpp"
+
+/**
+ * @file Ephcomp.cpp
+ *
+ */
+using namespace std;
+
+int main(int argc, char *argv[])
+{
+ try
+ {
+ gpstk::CommandOptionNoArg
+ helpOption('h', "help", "Print help usage");
+ gpstk::CommandOptionWithNumberArg
+ prnOption('s', "prn", "Which SV to compare");
+ gpstk::CommandOptionWithAnyArg
+ sp3Files('p', "precise", "SP3 file",true),
+ bceFiles('b', "broadcast", "RINEX nav file",true);
+
+ string appDesc("Computes diferences between broadcast and precise ephemerides.");
+ gpstk::CommandOptionParser cop(appDesc);
+ cop.parseOptions(argc, argv);
+
+ if (helpOption.getCount() || cop.hasErrors())
+ {
+ if (cop.hasErrors())
+ cop.dumpErrors(cout);
+ cop.displayUsage(cout);
+ exit(0);
+ }
+
+ // load all the SP3 ephemerides files
+ gpstk::SP3EphemerisStore SP3EphList;
+ SP3EphList.loadFiles(sp3Files.getValue());
+
+ // load the BC ephemerides
+ gpstk::RinexEphemerisStore BCEphList;
+ BCEphList.loadFiles(bceFiles.getValue());
+
+ int prn=13;
+ if (prnOption.getCount())
+ prn = gpstk::StringUtils::asInt((prnOption.getValue())[0]);
+
+ // choose a time range within the data....
+ gpstk::DayTime te(BCEphList.getFinalTime());
+ gpstk::DayTime t(BCEphList.getInitialTime());
+ //BCEphList.SearchNear();
+ gpstk::Xvt SP3PVT,BCPVT;
+ while (t < te)
+ {
+ t += 15.0;
+ try
+ {
+ // get the SP3 & BCE PVT
+ SP3PVT = SP3EphList.getPrnXvt(prn,t);
+ BCPVT = BCEphList.getPrnXvt(prn,t);
+ cout << fixed << t
+ << " " << setw(2) << prn
+ << setprecision(6)
+ << " " << setw(13) << BCPVT.x[0]-SP3PVT.x[0]
+ << " " << setw(13) << BCPVT.x[1]-SP3PVT.x[1]
+ << " " << setw(13) << BCPVT.x[2]-SP3PVT.x[2]
+ << scientific
+ << " " << setw(13) << BCPVT.dtime-SP3PVT.dtime
+ << fixed
+ << " " << setw(13) << BCPVT.v[0]-SP3PVT.v[0]
+ << " " << setw(13) << BCPVT.v[1]-SP3PVT.v[1]
+ << " " << setw(13) << BCPVT.v[2]-SP3PVT.v[2]
+ << scientific
+ << " " << setw(13) << BCPVT.ddtime-SP3PVT.ddtime
+ << endl;
+ }
+ catch (gpstk::EphemerisStore::NoEphemerisFound& e)
+ {
+ cerr << t << " " << e << endl;
+ continue;
+ }
+
+ }
+ }
+ catch (gpstk::Exception& e)
+ {
+ cout << e;
+ exit(-1);
+ }
+ catch (...)
+ {
+ cout << "Caught an unknown exception" << endl;
+ exit(-1);
+ }
+
+ return 0;
+}
diff --git a/trunk/tests/EphComp.gp b/dev/oldtests/EphComp.gp
similarity index 100%
rename from trunk/tests/EphComp.gp
rename to dev/oldtests/EphComp.gp
diff --git a/trunk/tests/EphCompWin.gp b/dev/oldtests/EphCompWin.gp
similarity index 100%
rename from trunk/tests/EphCompWin.gp
rename to dev/oldtests/EphCompWin.gp
diff --git a/dev/oldtests/FileSpecTest.cpp b/dev/oldtests/FileSpecTest.cpp
new file mode 100755
index 0000000..6221826
--- /dev/null
+++ b/dev/oldtests/FileSpecTest.cpp
@@ -0,0 +1,116 @@
+#pragma ident "$Id$"
+
+
+
+#include <iostream>
+#include <cstdio>
+
+#include "FileSpec.hpp"
+#include "FileHunter.hpp"
+#include "DayTime.hpp"
+
+/**
+ * @file FileSpecTest.cpp
+ *
+ */
+
+using namespace std;
+
+main()
+{
+ try
+ {
+ cout << "Please make sure you've run genFileSpecTestDirs.pl before beginning." << endl;
+ cout << "push enter to continue" << endl;
+ getchar();
+
+ int i;
+#ifndef _WIN32
+ gpstk::FileHunter moo("fstest/ADMS%3n/RINEXOBS/S%2n%t%03jA.%02yO");
+#else
+ gpstk::FileHunter moo("fstest\\ADMS%3n\\RINEXOBS\\S%2n%t%03jA.%02yO");
+#endif
+ moo.dump(cout);
+
+ gpstk::DayTime start = gpstk::DayTime(2001, 51, (double)0);
+ gpstk::DayTime end = gpstk::DayTime(2001, 53, (double)0);
+ cout << "All files should be between " << start << " and " << end << " ascending. " << endl;
+ vector<string> vs = moo.find(start,
+ end,
+ gpstk::FileSpec::ascending);
+ for(i = 0; i < vs.size(); i++)
+ {
+ cout << "search1 " << vs[i] << endl;
+ }
+
+ cout << endl;
+ cout << "All files should be between " << start << " and " << end << " descending. " << endl;
+ vs = moo.find(start,
+ end,
+ gpstk::FileSpec::descending);
+ for(i = 0; i < vs.size(); i++)
+ {
+ cout << "2 " << vs[i] << endl;
+ }
+
+ cout << endl;
+ cout << "All files ascending order" << endl;
+ vs = moo.find(gpstk::DayTime::BEGINNING_OF_TIME,
+ gpstk::DayTime::END_OF_TIME,
+ gpstk::FileSpec::ascending);
+ for(i = 0; i < vs.size(); i++)
+ {
+ cout << "search3 " << vs[i] << endl;
+ }
+
+ cout << endl;
+ vector<string> stationFilter;
+ stationFilter.push_back("85402");
+ moo.setFilter(gpstk::FileSpec::station, stationFilter);
+ cout << "All files from 85402 descending order" << endl;
+ vs = moo.find(gpstk::DayTime::BEGINNING_OF_TIME,
+ gpstk::DayTime::END_OF_TIME,
+ gpstk::FileSpec::descending);
+ for(i = 0; i < vs.size(); i++)
+ {
+ cout << "search4 " << vs[i] << endl;
+ }
+
+ // this tests the version filtering of file hunter
+ cout << " version search shoudl return the highest number " << endl;
+ moo.newHunt("%1v");
+ moo.dump(cout);
+ vs = moo.find();
+ for(i = 0; i < vs.size(); i++)
+ {
+ cout << "version search " << vs[i] << endl;
+ }
+ cout << endl;
+ }
+ catch (gpstk::Exception& e)
+ {
+ cout << e << endl;
+ return -1;
+ }
+
+ // this tests the FileSpec finctions for extracting and setting
+ // file information
+
+ cout << "testing FileSpec extraction functions" << endl;
+ gpstk::FileSpec boo("ADMS%3n/RINEXOBS/S%2n%t%03jA.%02yO");
+ boo.dump(cout);
+ gpstk::DayTime now;
+ gpstk::FileSpec::FSTStringMap fstsMap;
+ fstsMap[gpstk::FileSpec::station] = string("85408");
+ fstsMap[gpstk::FileSpec::selected] = string("1");
+ string filename = boo.toString(now, fstsMap);
+ cout << filename << endl;
+ cout << "station " << boo.extractField(filename, gpstk::FileSpec::station) << endl;
+ cout << "daytime " << boo.extractDayTime(filename) << endl;
+
+ boo.newSpec("ADMS402/RINEXOBS/S%2n%t%03jA.%02yO");
+ boo.dump(cout);
+
+ return 0;
+
+}
diff --git a/dev/oldtests/FileSpecTest.pl b/dev/oldtests/FileSpecTest.pl
new file mode 100755
index 0000000..e437310
--- /dev/null
+++ b/dev/oldtests/FileSpecTest.pl
@@ -0,0 +1,15 @@
+#!/usr/bin/perl
+# $Id$
+#
+#
+#
+#
+#
+#
+#
+#
+
+$exedir=$ARGV[0];
+system "$exedir/genFileSpecTestDirs";
+system "$exedir/FileSpecTest";
+system "$exedir/delFileSpecTestDirs";
diff --git a/dev/oldtests/Jamfile b/dev/oldtests/Jamfile
new file mode 100644
index 0000000..c035694
--- /dev/null
+++ b/dev/oldtests/Jamfile
@@ -0,0 +1,64 @@
+#
+# $Id$
+#
+
+SubDir TOP tests ;
+
+GPSLinkLibraries rinex_obs_test rinex_met_test rinex_met_read_write
+ rinex_nav_read_write rinex_obs_read_write rinex_nav_test
+ EphComp AnotherFileFilterTest FileSpecTest MatrixTest
+ exceptiontest petest stringutiltest daytimetest rktest gpszcounttest
+ positiontest DayTimeToleranceTest DayTimeIncrementTest
+ DayTimeConversionTest DayTimeIncrementTest2 MinSfTest TimeTest
+ Xbegweek Xendweek
+ testExpression
+
+ : gpstk ;
+
+Main rinex_obs_test : rinex_obs_test.cpp ;
+Main rinex_nav_test : rinex_nav_test.cpp ;
+Main rinex_met_test : rinex_met_test.cpp ;
+
+Main rinex_met_read_write : rinex_met_read_write.cpp ;
+Main rinex_nav_read_write : rinex_nav_read_write.cpp ;
+Main rinex_obs_read_write : rinex_obs_read_write.cpp ;
+
+Main AnotherFileFilterTest : AnotherFileFilterTest.cpp ;
+
+Main EphComp : EphComp.cpp ;
+
+Main FileSpecTest : FileSpecTest.cpp ;
+
+Main MatrixTest : MatrixTest.cpp ;
+
+Main exceptiontest : exceptiontest.cpp ;
+
+Main petest : petest.cpp ;
+
+Main stringutiltest : stringutiltest.cpp ;
+
+Main daytimetest : daytimetest.cpp ;
+
+Main rktest : RungeKuttaTest.cpp ;
+
+Main gpszcounttest : gpszcounttest.cpp ;
+
+Main positiontest : positiontest.cpp ;
+
+Main DayTimeToleranceTest : DayTimeToleranceTest.cpp ;
+
+Main DayTimeIncrementTest : DayTimeIncrementTest.cpp ;
+
+Main DayTimeIncrementTest2 : DayTimeIncrementTest2.cpp ;
+
+Main DayTimeConversionTest : DayTimeConversionTest.cpp ;
+
+Main TimeTest : TimeTest.cpp ;
+
+Main MinSfTest : MinSfTest.cpp ;
+
+Main Xbegweek : Xbegweek.cpp ;
+
+Main Xendweek : Xendweek.cpp ;
+
+Main testExpression : testExpression.cpp ;
diff --git a/dev/oldtests/Makefile.am b/dev/oldtests/Makefile.am
new file mode 100644
index 0000000..34037e5
--- /dev/null
+++ b/dev/oldtests/Makefile.am
@@ -0,0 +1,37 @@
+# $Id$
+INCLUDES = -I$(srcdir)/../src
+LDADD = ../src/libgpstk.la
+
+bin_PROGRAMS = rinex_obs_test rinex_nav_test rinex_met_test rinex_met_read_write rinex_nav_read_write rinex_obs_read_write EphComp AnotherFileFilterTest FileSpecTest MatrixTest exceptiontest petest stringutiltest daytimetest rktest gpszcounttest positiontest testExpression
+
+rinex_obs_test_SOURCES = rinex_obs_test.cpp
+rinex_nav_test_SOURCES = rinex_nav_test.cpp
+rinex_met_test_SOURCES = rinex_met_test.cpp
+
+rinex_met_read_write_SOURCES = rinex_met_read_write.cpp
+rinex_nav_read_write_SOURCES = rinex_nav_read_write.cpp
+rinex_obs_read_write_SOURCES = rinex_obs_read_write.cpp
+
+AnotherFileFilterTest_SOURCES = AnotherFileFilterTest.cpp
+
+EphComp_SOURCES = EphComp.cpp
+
+FileSpecTest_SOURCES = FileSpecTest.cpp
+
+MatrixTest_SOURCES = MatrixTest.cpp
+
+exceptiontest_SOURCES = exceptiontest.cpp
+
+petest_SOURCES = petest.cpp
+
+stringutiltest_SOURCES = stringutiltest.cpp
+
+daytimetest_SOURCES = daytimetest.cpp
+
+rktest_SOURCES = RungeKuttaTest.cpp
+
+gpszcounttest_SOURCES = gpszcounttest.cpp
+
+positiontest_SOURCES = positiontest.cpp
+
+testExpression_SOURCES = testExpression.cpp
diff --git a/trunk/tests/MatrixTest.cpp b/dev/oldtests/MatrixTest.cpp
similarity index 100%
rename from trunk/tests/MatrixTest.cpp
rename to dev/oldtests/MatrixTest.cpp
diff --git a/dev/oldtests/MinSfTest.cpp b/dev/oldtests/MinSfTest.cpp
new file mode 100644
index 0000000..ad26f40
--- /dev/null
+++ b/dev/oldtests/MinSfTest.cpp
@@ -0,0 +1,309 @@
+#pragma ident "$Id$"
+
+
+
+// gpstk
+#include "FileFilterFrame.hpp"
+#include "BasicFramework.hpp"
+#include "StringUtils.hpp"
+#include "FICStream.hpp"
+#include "FICHeader.hpp"
+#include "FICData.hpp"
+#include "FICFilterOperators.hpp"
+#include "BCEphemerisStore.hpp"
+#include "EngEphemeris.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+class MinSfTest : public gpstk::BasicFramework
+{
+public:
+ MinSfTest(const std::string& applName,
+ const std::string& applDesc) throw();
+ ~MinSfTest() {}
+ virtual bool initialize(int argc, char *argv[]) throw();
+protected:
+ virtual void process();
+ gpstk::CommandOptionWithAnyArg inputOption;
+ gpstk::CommandOptionWithAnyArg outputOption;
+ std::list<long> blocklist;
+
+ BCEphemerisStore bc109;
+ BCEphemerisStore minRaw;
+ std::ofstream fp;
+
+ void testXvt( short PRN, gpstk::DayTime dt );
+};
+
+int main( int argc, char*argv[] )
+{
+ try
+ {
+ MinSfTest fc("MinSfTest", "Process one (or more) FIC files.");
+ if (!fc.initialize(argc, argv)) return(false);
+ fc.run();
+ }
+ catch(gpstk::Exception& exc)
+ {
+ cout << exc << endl;
+ return 1;
+ }
+ catch(...)
+ {
+ cout << "Caught an unnamed exception. Exiting.";
+ return 1;
+ }
+ return 0;
+}
+
+MinSfTest::MinSfTest(const std::string& applName,
+ const std::string& applDesc) throw()
+ :BasicFramework(applName, applDesc),
+ inputOption('i', "input-file", "The name of the FIC file to raead.", true),
+ outputOption('o', "output-file", "The name of the output file to write.", true)
+{
+ inputOption.setMaxCount(1);
+ outputOption.setMaxCount(1);
+}
+
+bool MinSfTest::initialize(int argc, char *argv[])
+ throw()
+{
+ if (!BasicFramework::initialize(argc, argv)) return false;
+ if (debugLevel)
+ {
+ cout << "Input File: " << inputOption.getValue().front() << endl;
+ cout << "Output File: " << outputOption.getValue().front() << endl;
+ }
+ return true;
+}
+
+void MinSfTest::process()
+{
+ if (debugLevel)
+ cout << "Setting up input file: "
+ << inputOption.getValue().front() << endl;
+ FileFilterFrame<FICStream, FICData>
+ input(inputOption.getValue().front());
+
+ printf(" input.getDataCount() after init: %d\n", input.getDataCount());
+ if(debugLevel)
+ cout << "Setting up output file: "
+ << outputOption.getValue().front() << endl;
+
+ fp.open( outputOption.getValue().front().c_str() );
+ if ( !fp.is_open() )
+ {
+ printf(" Failed to open output file.\n");
+ exit(1);
+ }
+
+ // filter the FIC data for the requested vlock(s)
+ std::list<long> blockList;
+ blockList.push_back(109);
+ input.filter(FICDataFilterBlock(blockList));
+ input.sort(FICDataOperatorLessThanBlock109());
+ input.unique(FICDataUniqueBlock109());
+
+ //some hand waving for the data conversion
+ if(debugLevel)
+ cout << "Reading the input data." << endl;
+ list<FICData>& ficList = input.getData();
+ list<FICData>::iterator itr = ficList.begin();
+
+ DayTime earliest( DayTime::END_OF_TIME );
+ DayTime latest( DayTime::BEGINNING_OF_TIME );
+ int count = 0;
+ int numMismatches = 0;
+ int numMismatchEph = 0;
+ while (itr != ficList.end())
+ {
+ EngEphemeris ee(*itr);
+
+ bc109.addEphemeris( ee );
+
+ DayTime ct = ee.getEpochTime();
+ if (ct>latest) latest = ct;
+ if (ct<earliest) earliest = ct;
+
+ // Following code simulates a situation where only words 3-10
+ // and the estimated time of receipt are available.
+ DayTime timeOfReceipt = ee.getTransmitTime();
+ FICData& fic = *itr;
+ long sf1min[8];
+ long sf2min[8];
+ long sf3min[8];
+ int wrdCnt = 8;
+ int i;
+ for (i=0; i<wrdCnt; ++i) sf1min[i] = fic.i[4+i];
+ for (i=0; i<wrdCnt; ++i) sf2min[i] = fic.i[14+i];
+ for (i=0; i<wrdCnt; ++i) sf3min[i] = fic.i[24+i];
+
+ EngEphemeris eeMin;
+ short PRNID = (short) fic.i[1];
+ eeMin.addIncompleteSF1Thru3( sf1min, sf2min, sf3min,
+ (long) timeOfReceipt.GPSsecond(), timeOfReceipt.GPSfullweek(),
+ PRNID, 0 );
+ minRaw.addEphemeris( eeMin );
+
+ // Compare non-orbit portions of the two objects
+ bool mismatch = false;
+ for (int i=1; i<=3; ++i)
+ {
+ if (!ee.isData(i) || !eeMin.isData(i))
+ {
+ mismatch = true;
+ fp << "ERROR: not all subframes are claimed available.";
+ }
+ }
+
+ if (ee.getIODC()!=eeMin.getIODC())
+ {
+ mismatch = true;
+ fp << "ERROR: IODCs do not match.";
+ }
+ if (ee.getIODE()!=eeMin.getIODE())
+ {
+ mismatch = true;
+ fp << "ERROR: IODCs do not match.";
+ }
+ if (ee.getFitInterval() != eeMin.getFitInterval() )
+ {
+ mismatch = true;
+ fp << "ERROR: fit intervals do not match.";
+ }
+ if (ee.getCodeFlags()!=eeMin.getCodeFlags() )
+ {
+ mismatch = true;
+ fp << "ERROR: code flags do not match.";
+ }
+ if (ee.getL2Pdata()!=eeMin.getL2Pdata() )
+ {
+ mismatch = true;
+ fp << "ERROR: L2P data flags do not match.";
+ }
+ if (ee.getAccuracy()!=eeMin.getAccuracy() )
+ {
+ mismatch = true;
+ fp << "ERROR: accuracy values do not match.";
+ }
+ if (ee.getAccFlag()!=eeMin.getAccFlag() )
+ {
+ mismatch = true;
+ fp << "ERROR: accuracy flags do not match.";
+ }
+ if (ee.getHealth()!=eeMin.getHealth() )
+ {
+ mismatch = true;
+ fp << "ERROR: health values do not match.";
+ }
+ if (ee.getFitInt()!=eeMin.getFitInt() )
+ {
+ mismatch = true;
+ fp << "ERROR: Fit interval values do not match.";
+ }
+
+ if (mismatch)
+ {
+ fp << " PRNID: " << PRNID << ", IODC: 0x " << hex << ee.getIODC() << dec << endl;
+ numMismatches++;
+ }
+
+ itr++;
+ count++;
+ }
+ cout << "Number of Block 109 records read: " << count << endl;
+ if (numMismatches!=0)
+ {
+ printf("Errors detected. Some ephemerides did not match in both forms.\n");
+ printf("Number of mismatches: %d\n",numMismatches);
+ }
+ fp << "Number of mismatches detected: " << numMismatches << endl;
+ if (debugLevel) cout << "done." << endl;
+
+
+ // Generate test positions for PRN 1 and PRN 31 at
+ // earliest epoch, latest epoch, and middle of the time span.
+ try
+ {
+ double timeDuration = latest - earliest;
+ DayTime middle( earliest );
+ middle += (timeDuration/2);
+
+ short IODC109 = -1;
+ short IODCMin = -1;
+ short PRNID = 1;
+ printf("--- PRN 1 Examples ---\n");
+ printf("\nEarliest time\n");
+ fp << "--- PRN 1 Examples ---" << endl;
+ fp << endl << "Earliest time" << endl;
+ testXvt( PRNID, earliest );
+ printf("\nMiddle time\n");
+ fp << endl << "Middle time" << endl;
+ testXvt( PRNID, middle );
+ printf("\nLatest time\n");
+ fp << endl << "Latest time" << endl;
+ testXvt( PRNID, latest );
+
+ PRNID = 31;
+ printf("\n--- PRN 31 Examples ---\n");
+ printf("\nEarliest time\n");
+ fp << endl << "--- PRN 31 Examples ---" << endl;
+ fp << endl << "Earliest time" << endl;
+ testXvt( PRNID, earliest );
+ printf("\nMiddle time\n");
+ fp << endl << "Middle time" << endl;
+ testXvt( PRNID, middle );
+ printf("\nLatest time\n");
+ fp << endl << "Latest time" << endl;
+ testXvt( PRNID, latest );
+ }
+ catch (gpstk::Exception& e)
+ {
+ cout << e << endl;
+ }
+
+ printf("\nBCEphemerisStore directly from existing FIC handlers.\n");
+ fp << endl << "BCEphemerisStore directly from existing FIC handlers." << endl;
+ bc109.dump(1, fp);
+ printf("BCEphemerisStore from new method.\n");
+ fp << endl << "BCEphemerisStore from new method." << endl;
+ minRaw.dump(1, fp);
+
+ // write the file data
+ if (debugLevel) cout << "Conversion complete." << endl;
+}
+
+void MinSfTest::testXvt( short PRN, gpstk::DayTime dt )
+{
+ short IODC109;
+ short IODCMin;
+ Xvt xvt109 = bc109.getPrnXvt( PRN, dt, IODC109 );
+ Xvt xvtMin = minRaw.getPrnXvt( PRN, dt, IODCMin );
+ printf(" X(m) Y(m) Z(m) IODC\n");
+ printf(" 109 %15.3lf %15.3lf %15.3lf 0x%03X\n",
+ xvt109.x[0],xvt109.x[1],xvt109.x[2],IODC109);
+ printf(" Min %15.3lf %15.3lf %15.3lf 0x%03X\n",
+ xvtMin.x[0],xvtMin.x[1],xvtMin.x[2],IODCMin);
+
+
+ fp << " X(m) Y(m) Z(m) IODC" << endl;
+ fp << " 109 ";
+ fp << setprecision(3) << fixed;
+ fp << setw(15) << xvt109.x[0];
+ fp << setw(15) << xvt109.x[1];
+ fp << setw(15) << xvt109.x[2];
+ fp << " 0x" << setw(3) << setfill('0') << uppercase << hex << IODC109;
+ fp << setfill(' ') << endl;
+ fp << " Min ";
+ fp << setprecision(3) << fixed;
+ fp << setw(15) << xvtMin.x[0];
+ fp << setw(15) << xvtMin.x[1];
+ fp << setw(15) << xvtMin.x[2];
+ fp << " 0x" << setw(3) << setfill('0') << uppercase << hex << IODCMin << dec;
+ fp << setfill(' ') << endl;
+}
+
+
+
diff --git a/dev/oldtests/Rinex_dl.pl b/dev/oldtests/Rinex_dl.pl
new file mode 100755
index 0000000..ae88d84
--- /dev/null
+++ b/dev/oldtests/Rinex_dl.pl
@@ -0,0 +1,111 @@
+#!/usr/bin/perl
+# $Id$
+
+# Ryan Mire ARL SGL
+# July 2005
+# last saved: July 27 10:00am
+#
+# The purpose of this script is to have as close to a live test as possible of the rinex_met read and write functions
+# the live quality of this test will be created through the downloading of all the IGS gathered and posted data from
+# "yesterday"
+#
+# >>Rinex_dl.pl <first letter of met obs or nav> [<download directory>]
+#
+#
+
+use Net::FTP;
+#use strict;
+#use warnings;
+
+$filetype=$ARGV[0];
+$filetype =~ s/^-//;
+chomp($filetype);
+#print "!".$filetype."!\n";
+#chomp($filetype);
+die "\nThe Given File Type is invalid, obs, met and nav are the three filetypes accepted. Try using lowercase 'o','m' or 'n' respectively. \n >>Rinex.dl <firstletter of filetype> [<download directory>]\n"
+ if(($filetype ne 'n') && ($filetype ne 'o') && ($filetype ne 'm'));
+
+
+$filedir="05".$filetype;
+
+if($ARGV[1])
+{
+$downdir=$ARGV[1];
+die "\nThe given download directory does not exist or is invalid, try again\n"
+ if((-e $downdir)==0);
+}
+
+$date = `date`;
+chomp($day = `date +"%j"`);
+$day-=1;
+print "HELLO \t $day\n";
+ at date=split /\s/, $date;
+
+chomp($year=@date[5]);
+
+
+my $host="cddis.gsfc.nasa.gov";
+my $directory="/gps/data/daily/$year/$day/$filedir";
+
+$ftp=Net::FTP->new($host,Timeout=>240) or $newerr=1;
+ push @ERRORS, "Can't ftp to $host: $!\n" if $newerr;
+ myerr() if $newerr;
+print "Connected\n";
+
+$ftp->login("Anonymous","GPSTK at arlut.utexas.edu") or $newerr=1;
+print "Getting file list\n";
+ push @ERRORS, "Can't login to $host: $!\n" if $newerr;
+ $ftp->quit if $newerr;
+ myerr() if $newerr;
+print "Logged in\n";
+
+$ftp->cwd($directory) or $newerr=1;
+ push @ERRORS, "Can't cd $!\n" if $newerr;
+ myerr() if $newerr;
+ $ftp->quit if $newerr;
+
+ at files=$ftp->dir or $newerr=1;
+ push @ERRORS, "Can't get file list $!\n" if $newerr;
+ myerr() if $newerr;
+print "Got file list\n";
+
+$n=0;
+
+if($ARGV[1])
+{
+ $newdir=$downdir."/NewRinexData-".$filetype;
+}
+else
+{
+ $newdir="/NewRinexData-".$filetype;
+}
+die "Oops!!, $newdir already exist \t Try Again "
+ if((-e $newdir)!=0);
+
+mkdir "$newdir";
+chdir "$newdir";
+
+
+foreach(@files)
+{
+ @line=split/\s/, @files[$n];
+ $file=pop(@line);
+ $n+=1;
+ $ftp->get("/gps/data/daily/$year/$day/$filedir/$file") or $newerr=1;
+ if($newerr!=1)
+ {
+ print "Downloaded $file\n";
+ }
+ push @ERRORS, "Can't get $_ $!\n" if $newerr;
+}
+print " $directory\n ";
+$ftp->quit;
+
+print "Youre now in the new subdirectory $newdir,\n filled with your data \n";
+
+sub myerr
+{
+ print "Error: \n";
+ print @ERRORS;
+ exit 0;
+}
diff --git a/trunk/tests/RungeKuttaTest.cpp b/dev/oldtests/RungeKuttaTest.cpp
similarity index 100%
rename from trunk/tests/RungeKuttaTest.cpp
rename to dev/oldtests/RungeKuttaTest.cpp
diff --git a/dev/oldtests/TimeTest.cpp b/dev/oldtests/TimeTest.cpp
new file mode 100644
index 0000000..d669e9c
--- /dev/null
+++ b/dev/oldtests/TimeTest.cpp
@@ -0,0 +1,446 @@
+#pragma ident "$Id$"
+
+
+
+#include <iostream>
+
+#include <BasicFramework.hpp>
+
+#include <TimeString.hpp>
+#include <TimeConstants.hpp>
+
+#include <ANSITime.hpp>
+#include <CivilTime.hpp>
+#include <GPSEpochWeekSecond.hpp>
+#include <GPSWeekSecond.hpp>
+#include <GPSWeekZcount.hpp>
+#include <GPSZcount29.hpp>
+#include <GPSZcount32.hpp>
+#include <JulianDate.hpp>
+#include <MJD.hpp>
+#include <UnixTime.hpp>
+#include <YDSTime.hpp>
+#include <SystemTime.hpp>
+
+using namespace std;
+using namespace gpstk;
+using namespace gpstk::StringUtils;
+
+
+ // The following constants are as captured from the timcvt program output.
+ //
+ // Month/Day/Year 7/26/2005
+ // Hour:Min:Sec 17:59:42
+ // Modified Julian Date 53577.7497975392
+ // GPSweek DayOfWeek SecOfWeek 309 2 237582.507390
+ // FullGPSweek Zcount 1333 158388
+ // Year DayOfYear SecondOfDay 2005 207 64782.507390
+ // Unix_sec Unix_usec 1122400782 507390
+ // FullZcount 162163380
+
+const int defaultMonth = 7;
+const int defaultDay = 26;
+const int defaultYear = 2005;
+const int defaultHour = 17;
+const int defaultMinute = 59;
+const int defaultSecond = 42;
+const double defaultSecondD = 42.507390;
+
+const long double defaultMJD = 53577.7497975392;
+const long double defaultJD = (defaultMJD + MJD_TO_JD);
+
+const int defaultWeek = 309;
+const int defaultDow = 2;
+const double defaultSow = 237582.507390;
+
+const int defaultFullWeek = 1333;
+const int defaultZcount = 158388;
+
+const int defaultDoy = 207;
+const double defaultSod = 64782.507390;
+
+const int defaultUnixSec = 1122400782;
+const int defaultUnixUsec = 507390;
+const int defaultFullZcount = 162163380;
+
+const int defaultEpoch = 1;
+const int defaultFullZcount32 = ( defaultEpoch << 29 ) | defaultFullZcount;
+
+class Test : public BasicFramework
+{
+public:
+ Test( const string& progName )
+ : BasicFramework( progName, "Test the New Time Classes!" ),
+ ansi( defaultUnixSec ),
+ civil( defaultYear, defaultMonth, defaultDay, defaultHour,
+ defaultMinute, defaultSecondD ),
+ gews( defaultEpoch, defaultWeek, defaultSow ),
+ gws( defaultFullWeek, defaultSow ),
+ gwz( defaultFullWeek, defaultZcount ),
+ gz29( defaultEpoch, defaultFullZcount ),
+ gz32( defaultFullZcount32 ),
+ jd( defaultJD ),
+ mjd( defaultMJD ),
+ ut( defaultUnixSec, defaultUnixUsec ),
+ yds( defaultYear, defaultDoy, defaultSod )
+ {}
+
+ ANSITime ansi;
+ CivilTime civil;
+ GPSEpochWeekSecond gews;
+ GPSWeekSecond gws;
+ GPSWeekZcount gwz;
+ GPSZcount29 gz29;
+ GPSZcount32 gz32;
+ JulianDate jd;
+ MJD mjd;
+ UnixTime ut;
+ YDSTime yds;
+ SystemTime st;
+
+protected:
+ virtual void process();
+
+ void dumpCommonTime( const TimeTag& t );
+
+ bool simpleCopyTest();
+ template<class T>
+ bool isCopySuccess( T& t );
+
+ bool conversionTest();
+ template<class T>
+ bool toCommonAndBack( T& t );
+
+ bool simpleEqualityTest();
+ template<class T>
+ bool isEqual( T& t );
+
+ bool systemTimeTest();
+
+ bool simpleLessThanTest();
+
+ bool otherTest();
+
+};
+
+void Test::process()
+{
+ simpleCopyTest();
+ simpleEqualityTest();
+ conversionTest();
+ systemTimeTest();
+ simpleLessThanTest();
+// otherTest();
+
+ cout << "Test Processing Complete." << endl;
+}
+
+void Test::dumpCommonTime( const TimeTag& t )
+{
+ long day, sod;
+ double fsod;
+
+ CommonTime( t.convertToCommonTime() ).get( day, sod, fsod );
+
+ cout << t << " -> " << day << "d " << sod << "s "
+ << setprecision(15) << fsod << "f" << endl;
+}
+
+bool Test::simpleCopyTest()
+{
+ cout << "Simple Copy Test:" << endl;
+ cout << "ANSI: " << ( isCopySuccess( ansi ) ? "PASS" : "FAIL" ) << endl;
+ cout << "Civil: " << ( isCopySuccess( civil ) ? "PASS" : "FAIL" ) << endl;
+ cout << "GPSEWS: " << ( isCopySuccess( gews ) ? "PASS" : "FAIL" ) << endl;
+ cout << "GPSWS: " << ( isCopySuccess( gws ) ? "PASS" : "FAIL" ) << endl;
+ cout << "GPSWZ: " << ( isCopySuccess( gwz ) ? "PASS" : "FAIL" ) << endl;
+ cout << "GZ29: " << ( isCopySuccess( gz29 ) ? "PASS" : "FAIL" ) << endl;
+ cout << "GZ32: " << ( isCopySuccess( gz32 ) ? "PASS" : "FAIL" ) << endl;
+ cout << "JD: " << ( isCopySuccess( jd ) ? "PASS" : "FAIL" ) << endl;
+ cout << "MJD: " << ( isCopySuccess( mjd ) ? "PASS" : "FAIL" ) << endl;
+ cout << "Unix: " << ( isCopySuccess( ut ) ? "PASS" : "FAIL" ) << endl;
+ cout << "YDS: " << ( isCopySuccess( yds ) ? "PASS" : "FAIL" ) << endl;
+ cout << endl;
+
+ return true;
+}
+
+template<class T>
+bool Test::isCopySuccess( T& t )
+{
+ T t1( t );
+ if( t == t1 )
+ {
+ return true;
+ }
+ return false;
+}
+
+bool Test::conversionTest()
+{
+ cout << "Conversion Test:" << endl;
+ cout << "ANSI: " << ( toCommonAndBack( ansi ) ? "PASS" : "FAIL" ) << endl;
+ cout << "Civil: " << ( toCommonAndBack( civil ) ? "PASS" : "FAIL" ) << endl;
+ cout << "GPSEWS: " << ( toCommonAndBack( gews ) ? "PASS" : "FAIL" ) << endl;
+ cout << "GPSWS: " << ( toCommonAndBack( gws ) ? "PASS" : "FAIL" ) << endl;
+ cout << "GPSWZ: " << ( toCommonAndBack( gwz ) ? "PASS" : "FAIL" ) << endl;
+ cout << "GZ29: " << ( toCommonAndBack( gz29 ) ? "PASS" : "FAIL" ) << endl;
+ cout << "GZ32: " << ( toCommonAndBack( gz32 ) ? "PASS" : "FAIL" ) << endl;
+ cout << "JD: " << ( toCommonAndBack( jd ) ? "PASS" : "FAIL" ) << endl;
+ cout << "MJD: " << ( toCommonAndBack( mjd ) ? "PASS" : "FAIL" ) << endl;
+ cout << "Unix: " << ( toCommonAndBack( ut ) ? "PASS" : "FAIL" ) << endl;
+ cout << "YDS: " << ( toCommonAndBack( yds ) ? "PASS" : "FAIL" ) << endl;
+ cout << endl;
+
+ if( verboseLevel )
+ {
+ dumpCommonTime( ansi );
+ dumpCommonTime( civil );
+ dumpCommonTime( gews );
+ dumpCommonTime( gws );
+ dumpCommonTime( gwz );
+ dumpCommonTime( gz29 );
+ dumpCommonTime( gz32 );
+ dumpCommonTime( jd );
+ dumpCommonTime( mjd );
+ dumpCommonTime( ut );
+ dumpCommonTime( yds );
+ cout << endl;
+ }
+
+ return true;
+}
+
+template<class T>
+bool Test::toCommonAndBack( T& t )
+{
+ if( verboseLevel )
+ {
+ cout << "myval: " << t << endl;
+ }
+
+ T t1;
+ t1.convertFromCommonTime( t.convertToCommonTime() );
+ if( t != t1 )
+ {
+ cout << t << " != " << t1 << endl;
+ return false;
+ }
+ return true;
+}
+
+bool Test::simpleEqualityTest()
+{
+ cout << "Simple Equality Test" << endl;
+ cout << "ANSI: " << endl; isEqual( ansi );
+ cout << "Civil: " << endl; isEqual( civil );
+ cout << "GPSEWS: " << endl; isEqual( gews );
+ cout << "GPSWS: " << endl; isEqual( gws );
+ cout << "GPSWZ: " << endl; isEqual( gwz );
+ cout << "GZ29: " << endl; isEqual( gz29 );
+ cout << "GZ32: " << endl; isEqual( gz32 );
+ cout << "JD: " << endl; isEqual( jd );
+ cout << "MJD: " << endl; isEqual( mjd );
+ cout << "Unix: " << endl; isEqual( ut );
+ cout << "YDS: " << endl; isEqual( yds );
+ cout << endl;
+
+}
+
+template<class T>
+bool Test::isEqual( T& t )
+{
+ cout << " to ANSI: " << ( t == ANSITime( t ) ? "PASS" : "FAIL" )
+ << endl;
+ cout << " to Civil: " << ( t == CivilTime( t ) ? "PASS" : "FAIL" )
+ << endl;
+ cout << " to GPSEWS: " << ( t == GPSEpochWeekSecond( t ) ? "PASS" : "FAIL" )
+ << endl;
+ cout << " to GPSWS: " << ( t == GPSWeekSecond( t ) ? "PASS" : "FAIL" )
+ << endl;
+ cout << " to GPSWZ: " << ( t == GPSWeekZcount( t ) ? "PASS" : "FAIL" )
+ << endl;
+ cout << " to GZ29: " << ( t == GPSZcount29( t ) ? "PASS" : "FAIL" )
+ << endl;
+ cout << " to GZ32: " << ( t == GPSZcount32( t ) ? "PASS" : "FAIL" )
+ << endl;
+ cout << " to JD: " << ( t == JulianDate( t ) ? "PASS" : "FAIL" )
+ << endl;
+ cout << " to MJD: " << ( t == MJD( t ) ? "PASS" : "FAIL" )
+ << endl;
+ cout << " to Unix: " << ( t == UnixTime( t ) ? "PASS" : "FAIL" )
+ << endl;
+ cout << " to YDS: " << ( t == YDSTime( t ) ? "PASS" : "FAIL" )
+ << endl;
+ cout << endl;
+
+ return true;
+}
+
+bool Test::systemTimeTest()
+{
+ cout << "SystemTime: " << st << endl
+ << " to ANSI: " << ANSITime( st ) << endl
+ << " to Civil: " << CivilTime( st ) << endl
+ << " to GPSEWS: " << GPSEpochWeekSecond( st ) << endl
+ << " to GPSWS: " << GPSWeekSecond( st ) << endl
+ << " to GPSWZ: " << GPSWeekZcount( st ) << endl
+ << " to GZ29: " << GPSZcount29( st ) << endl
+ << " to GZ32: " << GPSZcount32( st ) << endl
+ << " to JD: " << JulianDate( st ) << endl
+ << " to MJD: " << MJD( st ) << endl
+ << " to Unix: " << UnixTime( st ) << endl
+ << " to YDS: " << YDSTime( st ) << endl;
+
+}
+
+bool Test::simpleLessThanTest()
+{
+ ansi = ANSITime( st );
+ civil = CivilTime( st );
+ gews = GPSEpochWeekSecond( st );
+ gws = GPSWeekSecond( st );
+ gwz = GPSWeekZcount( st );
+ gz29 = GPSZcount29( st );
+ gz32 = GPSZcount32( st );
+ jd = JulianDate( st );
+ mjd = MJD( st );
+ ut = UnixTime( st );
+ yds = YDSTime( st );
+
+ CommonTime ct( st );
+ ct += 5.0; // add five seconds
+
+ cout << "SimpleLessThanTest: " << endl
+ << " ANSI: " << ( ansi < ct ? "PASS" : "FAIL" ) << endl
+ << " Civil: " << ( civil < ct ? "PASS" : "FAIL" ) << endl
+ << " GPSEWS: " << ( gews < ct ? "PASS" : "FAIL" ) << endl
+ << " GPSWS: " << ( gws < ct ? "PASS" : "FAIL" ) << endl
+ << " GPSWZ: " << ( gwz < ct ? "PASS" : "FAIL" ) << endl
+ << " GZ29: " << ( gz29 < ct ? "PASS" : "FAIL" ) << endl
+ << " GZ32: " << ( gz32 < ct ? "PASS" : "FAIL" ) << endl
+ << " JD: " << ( jd < ct ? "PASS" : "FAIL" ) << endl
+ << " MJD: " << ( mjd < ct ? "PASS" : "FAIL" ) << endl
+ << " Unix: " << ( ut < ct ? "PASS" : "FAIL" ) << endl
+ << " YDS: " << ( yds < ct ? "PASS" : "FAIL" ) << endl;
+}
+
+bool Test::otherTest()
+{
+ try
+ {
+ YDSTime one( 2005, 1, 0 ), two( 2005, 234, 5648.09 );
+
+ cout << "one: " << one << endl
+ << "two: " << two << endl;
+
+ YDSTime tre( one );
+
+ cout << "tre: " << tre << endl;
+
+ if( one == tre )
+ {
+ cout << " one == tre " << endl;
+ }
+ else
+ {
+ cout << " one != tre " << endl;
+ }
+
+ cout << endl
+ << "--- scanf test ---" << endl;
+
+ string str( "2005 234 5648.09" );
+ string fmt( "%Y %j %s" );
+
+ cout << "str: " << str << endl
+ << "fmt: " << fmt << endl;
+
+ TimeTag::IdToValue info;
+ TimeTag::getInfo( str, fmt, info );
+ cout << "parsed info:" << endl;
+
+ for( TimeTag::IdToValue::iterator i = info.begin();
+ i != info.end(); i++ )
+ {
+ cout << "info[" << i->first << "] = <" << i->second << ">" << endl
+ << " asInt() -> " << asInt( i->second ) << endl;
+ }
+
+ if( tre.setFromInfo( info ) )
+ {
+ cout << "setFromInfo() ok" << endl;
+ }
+ else
+ {
+ cout << "setFromInfo() failed" << endl;
+ }
+ cout << "tre: " << tre << endl;
+
+ cout << "Altogether in one scanf() call: " << endl;
+ two = one;
+ cout << "two = one -> two: " << two << endl;
+ two.scanf( str, fmt );
+ cout << "two.scanf( str, fmt ) -> two: " << two << endl;
+
+ cout << "two " << ( (two == tre) ? "==" : "!=" ) << " tre" << endl;
+
+ cout << endl
+ << "--- scanTime test ---" << endl;
+
+ string str2( "1337 92048.09" );
+ string fmt2( "%F %g" );
+
+ cout << "two: " << two << endl
+ << "tre: " << tre << endl
+ << "str: " << str2 << endl
+ << "fmt: " << fmt2 << endl;
+
+ scanTime( tre, str, fmt );
+
+ cout << "scanTime( tre, str, fmt);" << endl
+ << "tre: " << tre << endl;
+
+ return true;
+ }
+ catch( gpstk::Exception& exc )
+ {
+ cout << exc << endl;
+ }
+
+ return false;
+}
+
+int main (int argc, char *argv[])
+{
+ try
+ {
+ Test t( argv[0] );
+
+ if( !t.initialize( argc, argv ) )
+ {
+ return 0;
+ }
+
+ if( !t.run() )
+ {
+ return 1;
+ }
+
+ return 0;
+ }
+ catch( Exception& exc )
+ {
+ cout << exc << endl;
+ }
+ catch( exception& e )
+ {
+ cout << e.what() << endl;
+ }
+ catch( ... )
+ {
+ cout << "Caught an unknown exception." << endl;
+ }
+ return 1;
+}
+
diff --git a/dev/oldtests/Xbegweek.cpp b/dev/oldtests/Xbegweek.cpp
new file mode 100755
index 0000000..38ad0b6
--- /dev/null
+++ b/dev/oldtests/Xbegweek.cpp
@@ -0,0 +1,135 @@
+/* $Id$
+* Xbegweek.cpp - Test scaffold for demonstrating correctness of the
+* SVPCodeGen class.
+*
+* February 2004
+* Applied Reserach Laboratories, The University of Texas at Austin
+*/
+ // Language headers
+#include <stdlib.h>
+#include <stdio.h>
+#include <map>
+
+ // Project headers
+#include "PCodeConst.hpp"
+#include "SVPCodeGen.hpp"
+#include "CodeBuffer.hpp"
+#include "X1Sequence.hpp"
+#include "X2Sequence.hpp"
+
+/**
+ * @file Xbegweek.cpp
+ *
+ */
+using namespace std; // for map and pair access
+using namespace gpstk;
+
+ // Convenience structure for grouping all the data objects associated
+ // with a single SV. These structs are commonly placed in maps for
+ // processing.
+struct SVData
+{
+ SVPCodeGen * PCodeGen;
+ CodeBuffer * PCodeBuf;
+ codeType cType;
+ SVData( SVPCodeGen * a1,
+ CodeBuffer * a2,
+ codeType c )
+ {
+ PCodeGen = a1;
+ PCodeBuf = a2;
+ cType = c;
+ };
+};
+
+const int NUM_SATS = 38;
+
+int main(int argc, char* argv[])
+{
+ printf("Ryan's Xbegweek\n");
+
+ if (argc < 2)
+ {
+ printf("Usage: >Xbegweek <outputfile>\n");
+ exit(1);
+ }
+ // Open an output file.
+ printf(" Opening output file.\n");
+ FILE *outFile = fopen( argv[1], "wt" );
+ if (outFile==NULL)
+ {
+ printf(" Cannot open xbegweek.out for output.\n");
+ exit(-1);
+ }
+ fprintf(outFile," Xbegweek.out - Demonstrating P-Code Beginnging of Week Generation..\n");
+ fprintf(outFile," Reproducing ICD-GPS-200, Table 3-I\n");
+
+ // Set time to beginning of week
+ printf(" Setting time to beginning of week.\n");
+ //DayTime dt( 1233, 0.0, 2003 ); // Beginning of week 1233
+ DayTime dt( 1233, 0.0 ); // Beginning of week 1233
+
+ // NOTE: The P-code generator works in 6-second "chunks". This implies
+ // that there are 6 seconds of X1 bitstream and 6 seconds of X2 bitstreams
+ // held in memory. To mimimize the memory footprint, these bitstreams
+ // are shared between all coders and are located in dynamically allocated
+ // buffers referenced through static pointers. THEREFORE, before any
+ // SVPCodeGen objects are instantiated, these buffers must be allocated
+ // and initialized via the following two calls. Failure to do so will
+ // resort in abnormal program termination (unless the exceptions are
+ // trapped).
+ try
+ {
+ X1Sequence::allocateMemory();
+ X2Sequence::allocateMemory();
+ }
+ catch (gpstk::Exception e)
+ {
+ printf(" Memory allocation failure.\n");
+ printf(" Xbegweek will terminate.\n");
+ return(1);
+ }
+
+ // Instantiate a map to hold SVPCodeGen and CodeBuffer objects
+ printf(" Instantiating the PRN arrays.\n");
+ map<int, SVData>svdMap;
+ typedef map<int, SVData>::iterator SVDataI;
+
+ SVPCodeGen * svp[NUM_SATS];
+ CodeBuffer * pcb[NUM_SATS];
+ for (int n=0;n<NUM_SATS;++n)
+ {
+ svp[n] = 0;
+ pcb[n] = 0;
+ }
+
+ for (int PRNndx=0;PRNndx<NUM_SATS;PRNndx++)
+ {
+ svp[PRNndx] = new SVPCodeGen( PRNndx, dt );
+ pcb[PRNndx] = new CodeBuffer( PRNndx );
+ SVData svd ( svp[PRNndx], pcb[PRNndx], P_CODE );
+ pair<int,SVData> ps( PRNndx, svd );
+ svdMap.insert( ps );
+ }
+
+ fprintf(outFile," PRN 12-bits of code (octal)\n");
+
+ int PRNID;
+ unsigned long temp;
+ for ( SVDataI p=svdMap.begin(); p!=svdMap.end(); ++p)
+ {
+ PRNID = p->first;
+ SVData& rsvd = p->second;
+ SVPCodeGen& rsvp = *(rsvd.PCodeGen);
+ CodeBuffer& rcb = *(rsvd.PCodeBuf);
+ rsvp.getCurrentSixSeconds( rcb );
+ temp = rcb[0] >> 20;
+ fprintf( outFile," %02d %04o\n",PRNID,temp);
+ }
+
+ // Close the output files and exit gracefully.
+ printf(" Closing files.\n");
+ fflush( outFile );
+ fclose( outFile );
+ return(0);
+}
diff --git a/dev/oldtests/Xendweek.cpp b/dev/oldtests/Xendweek.cpp
new file mode 100755
index 0000000..e841b46
--- /dev/null
+++ b/dev/oldtests/Xendweek.cpp
@@ -0,0 +1,158 @@
+/* $Id$
+* Xendweek.c - Test scaffold for demonstrating correctness of the
+* SVPCodeGen class. In this case, the test is to correctly generate
+* the P-code for the last 6 seconds of the week for each possible
+* GPS PRN.
+*
+* August 2003
+* Applied Reserach Laboratories, The University of Texas at Austin
+*/
+ // Language headers
+#include <stdlib.h>
+#include <stdio.h>
+#include <map>
+
+ // Project headers
+#include "PCodeConst.hpp"
+#include "SVPCodeGen.hpp"
+#include "CodeBuffer.hpp"
+#include "X1Sequence.hpp"
+#include "X2Sequence.hpp"
+
+/**
+ * @file Xendweek.cpp
+ *
+ */
+
+using namespace std; // for map and pair access
+using namespace gpstk;
+
+ // Convenience structure for grouping all the data objects associated
+ // with a single SV. These structs are commonly placed in maps for
+ // processing.
+struct SVData
+{
+ SVPCodeGen * PCodeGen;
+ CodeBuffer * PCodeBuf;
+ codeType cType;
+ SVData( SVPCodeGen * a1,
+ CodeBuffer * a2,
+ codeType c )
+ {
+ PCodeGen = a1;
+ PCodeBuf = a2;
+ cType = c;
+ };
+};
+
+const int NUM_SATS = 38;
+
+int main(int argc, char* argv[] )
+{
+ printf("Ryan's Xendweek\n");
+
+ if (argc < 2)
+ {
+ printf("Usage: >>Xendweek <outputfile>\n");
+ exit(1);
+ }
+ // Open an output file.
+ printf(" Opening output file.\n");
+ FILE *outFile = fopen( argv[1], "wt" );
+ if (outFile==NULL)
+ {
+ printf(" Cannot open Xendweek.out for output.\n");
+ exit(-1);
+ }
+ fprintf(outFile," XENDWEEK.OUT - Demonstrating P-Code End of Week Generation..\n");
+ fprintf(outFile," Reproducing ICD-GPS-200, Table 3-IV\n");
+
+ // Set time to end of week minus six seconds
+ printf(" Setting time to end of week.\n");
+ //DayTime dt( 1233, 604794.0, 2003 );
+ DayTime dt( 1233, 604794.0 );
+
+ // NOTE: The P-code generator works in 6-second "chunks". This implies
+ // that there are 6 seconds of X1 bitstream and 6 seconds of X2 bitstreams
+ // held in memory. To mimimize the memory footprint, these bitstreams
+ // are shared between all coders and are located in dynamically allocated
+ // buffers referenced through static pointers. THEREFORE, before any
+ // SVPCodeGen objects are instantiated, these buffers must be allocated
+ // and initialized via the following two calls. Failure to do so will
+ // resort in abnormal program termination (unless the exceptions are
+ // trapped).
+ try
+ {
+ X1Sequence::allocateMemory();
+ X2Sequence::allocateMemory();
+ }
+ catch (gpstk::Exception e)
+ {
+ printf(" Memory allocation failure.\n");
+ printf(" Xbegweek will terminate.\n");
+ return(1);
+ }
+
+ // Instantiate a map to hold SVPCodeGen and CodeBuffer objects
+ printf(" Instantiating the PRN map.\n");
+ map<int, SVData>svdMap;
+ typedef map<int, SVData>::iterator SVDataI;
+
+ // Instantiate and initialize the P-coder objects
+ SVPCodeGen * svp[NUM_SATS];
+ CodeBuffer * pcb[NUM_SATS];
+ for (int n=0;n<NUM_SATS;++n) { svp[n]=0; pcb[n]=0; };
+
+ for (int PRNndx=0; PRNndx<NUM_SATS; ++PRNndx)
+ {
+ svp[PRNndx] = new SVPCodeGen( PRNndx, dt );
+ pcb[PRNndx] = new CodeBuffer( PRNndx );
+
+ SVData svd( svp[PRNndx], pcb[PRNndx], P_CODE );
+ pair<int,SVData> ps( PRNndx, svd );
+ svdMap.insert( ps );
+ }
+
+ fprintf(outFile," PRN Last word ");
+
+ // Calculate X1count where X2 starts to transition to end of week "hold"
+ long EndOfWeekTestCount =
+ 3 * (XA_COUNT * XA_MAX_EPOCH) + (XA_COUNT * (XA_MAX_EPOCH-1)) + 3023;
+ long EndOfWeekTestWord = (EndOfWeekTestCount / MAX_BIT);
+ long EndOfWeekTestEnd = EndOfWeekTestWord+(XA_EPOCH_DELAY+104)/MAX_BIT+3;
+
+ long chip = EndOfWeekTestWord * MAX_BIT -
+ 3 * (XA_COUNT * XA_MAX_EPOCH) - (XA_COUNT * (XA_MAX_EPOCH-1));
+ for (long j=EndOfWeekTestWord;j<EndOfWeekTestEnd;j++)
+ {
+ fprintf(outFile,"%4d ",chip);
+ chip+=32;
+ }
+ fprintf(outFile,"\n");
+
+ int PRNID;
+ unsigned long temp;
+ for ( SVDataI p=svdMap.begin(); p!=svdMap.end(); ++p )
+ {
+ PRNID = p->first;
+ SVData& rsvd = p->second;
+ SVPCodeGen& rsvp = *(rsvd.PCodeGen);
+ CodeBuffer& rcb = *(rsvd.PCodeBuf);
+ rsvp.getCurrentSixSeconds( rcb );
+ temp = rcb[NUM_6SEC_WORDS-1];
+ fprintf( outFile," %02d x%08X",PRNID,temp);
+ for (long n=EndOfWeekTestWord;n<EndOfWeekTestEnd;n++)
+ {
+ fprintf(outFile," x%08X",rcb[n]);
+ }
+ fprintf(outFile,"\n");
+ }
+
+ /*
+ Close the output files and exit gracefully.
+ */
+ printf(" Closing files.\n");
+ fflush( outFile );
+ fclose( outFile );
+ return(0);
+}
diff --git a/dev/oldtests/configfile.txt b/dev/oldtests/configfile.txt
new file mode 100755
index 0000000..cdd2143
--- /dev/null
+++ b/dev/oldtests/configfile.txt
@@ -0,0 +1,52 @@
+# $Id$
+# Configuration file for GPSTk regression test script
+#
+AnotherFileFilterTest;
+#
+DayTimeConversionTest;
+#
+DayTimeIncrementTest;
+#
+DayTimeIncrementTest2;
+#
+daytimetest;
+#
+DayTimeToleranceTest;
+#
+EphComp -p $datdir/nga12600.apc -p $datdir/nga12601.apc -b $datdir/merge.n
+#
+exceptiontest;
+#
+FileSpecTest.pl $exedir
+#
+gpszcounttest;
+#
+MatrixTest $datdir/anotsym.dat $datdir/cov.dat $datdir/dia.dat $datdir/lt.dat\
+ $datdir/partials.dat $datdir/squ.dat $datdir/sym.dat $datdir/tmatrix.dat\
+ $datdir/ut.dat, MatrixTest.scr:MatrixTest.ref;
+#
+petest $datdir/nga12600.apc;
+#
+positiontest, positiontest.scr:positiontest.ref;
+#
+rinex_met_read_write $datdir/405_077A.02M $outdir/rinex_met.out;
+#
+rinex_met_test $datdir/405_077A.02M;
+#
+rinex_nav_read_write $datdir/suwn0770.02n.Z $outdir/rinex_nav.out;
+#
+rinex_nav_test $datdir/suwn0770.02n.Z;
+#
+rinex_obs_read_write $datdir/s1110770.02o.Z $outdir/rinex_obs.out;
+#
+rinex_obs_test $datdir/s1110770.02o.Z
+#
+RungeKuttaTest, RungeKuttaTest.scr:rktest.ref;
+#
+stringutiltest, stringutiltest.scr:stringutiltest.ref;
+#
+Xbegweek $outdir/Xbegweek.out, Xbegweek.out:Xbegweek.can;
+#
+Xendweek $outdir/Xendweek.out, Xendweek.out:Xendweek.can;
+#
+# End of File
diff --git a/trunk/tests/configfile_readme.txt b/dev/oldtests/configfile_readme.txt
similarity index 100%
rename from trunk/tests/configfile_readme.txt
rename to dev/oldtests/configfile_readme.txt
diff --git a/dev/oldtests/data/405_077A.02M b/dev/oldtests/data/405_077A.02M
new file mode 100644
index 0000000..fd0e286
--- /dev/null
+++ b/dev/oldtests/data/405_077A.02M
@@ -0,0 +1,108 @@
+ 2.10 Meteorological RINEX VERSION / TYPE
+RinexMetWriter NIMA 3-19-02 0:04:03 PGM / RUN BY / DATE
+NOTE: 0 records omitted due to a missing datum COMMENT
+NOTE: Some of the weather values may be corrected. COMMENT
+85405 MARKER NAME
+85405 MARKER NUMBER
+ 3 PR TD HR # / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HR SENSOR MOD/TYPE/ACC
+ 3633910.8759 4425277.6639 2799862.7878 -13.8530 PR SENSOR POS XYZ/H
+ END OF HEADER
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diff --git a/trunk/tests/data/MatrixTest.ref b/dev/oldtests/data/MatrixTest.ref
similarity index 100%
rename from trunk/tests/data/MatrixTest.ref
rename to dev/oldtests/data/MatrixTest.ref
diff --git a/trunk/tests/data/MatrixTest.ref.Win32 b/dev/oldtests/data/MatrixTest.ref.Win32
similarity index 100%
rename from trunk/tests/data/MatrixTest.ref.Win32
rename to dev/oldtests/data/MatrixTest.ref.Win32
diff --git a/trunk/tests/data/Xbegweek.can b/dev/oldtests/data/Xbegweek.can
similarity index 100%
rename from trunk/tests/data/Xbegweek.can
rename to dev/oldtests/data/Xbegweek.can
diff --git a/trunk/tests/data/Xendweek.can b/dev/oldtests/data/Xendweek.can
similarity index 100%
rename from trunk/tests/data/Xendweek.can
rename to dev/oldtests/data/Xendweek.can
diff --git a/trunk/tests/data/anotsym.dat b/dev/oldtests/data/anotsym.dat
similarity index 100%
rename from trunk/tests/data/anotsym.dat
rename to dev/oldtests/data/anotsym.dat
diff --git a/trunk/tests/data/cov.dat b/dev/oldtests/data/cov.dat
similarity index 100%
rename from trunk/tests/data/cov.dat
rename to dev/oldtests/data/cov.dat
diff --git a/trunk/tests/data/dia.dat b/dev/oldtests/data/dia.dat
similarity index 100%
rename from trunk/tests/data/dia.dat
rename to dev/oldtests/data/dia.dat
diff --git a/trunk/tests/data/lt.dat b/dev/oldtests/data/lt.dat
similarity index 100%
rename from trunk/tests/data/lt.dat
rename to dev/oldtests/data/lt.dat
diff --git a/dev/oldtests/data/nga12600.apc b/dev/oldtests/data/nga12600.apc
new file mode 100644
index 0000000..28d79cc
--- /dev/null
+++ b/dev/oldtests/data/nga12600.apc
@@ -0,0 +1,5303 @@
+#aV2004 2 29 0 0 .00000000 96 DD+AD WGS84 FIT NGA
+## 1260 .00000000 900.00000000 53064 .0000000000000
++ 27 1 3 4 5 6 7 8 9 10 11 13 14 15 16 17 18 20
++ 21 22 24 25 26 27 28 29 30 31 0 0 0 0 0 0 0
++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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+++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
+++ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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+%c cc cc ccc ccc cccc cccc cccc cccc ccccc ccccc ccccc ccccc
+%f 0.0000000 0.000000000 0.00000000000 0.000000000000000
+%f 0.0000000 0.000000000 0.00000000000 0.000000000000000
+%i 0 0 0 0 0 0 0 0 0
+%i 0 0 0 0 0 0 0 0 0
+/* NGA, ST. LOUIS,MO.
+/* EPHEMERIS COMPUTED FROM 3 DAYS OF DATA
+/* CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC
+/* CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC
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diff --git a/dev/oldtests/data/nga12601.apc b/dev/oldtests/data/nga12601.apc
new file mode 100644
index 0000000..53d65c6
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+EOF
diff --git a/trunk/tests/data/partials.dat b/dev/oldtests/data/partials.dat
similarity index 100%
rename from trunk/tests/data/partials.dat
rename to dev/oldtests/data/partials.dat
diff --git a/trunk/tests/data/positiontest.ref b/dev/oldtests/data/positiontest.ref
similarity index 100%
rename from trunk/tests/data/positiontest.ref
rename to dev/oldtests/data/positiontest.ref
diff --git a/trunk/tests/data/squ.dat b/dev/oldtests/data/squ.dat
similarity index 100%
rename from trunk/tests/data/squ.dat
rename to dev/oldtests/data/squ.dat
diff --git a/trunk/tests/data/stringutiltest.ref b/dev/oldtests/data/stringutiltest.ref
similarity index 100%
rename from trunk/tests/data/stringutiltest.ref
rename to dev/oldtests/data/stringutiltest.ref
diff --git a/trunk/tests/data/sym.dat b/dev/oldtests/data/sym.dat
similarity index 100%
rename from trunk/tests/data/sym.dat
rename to dev/oldtests/data/sym.dat
diff --git a/trunk/tests/data/tmatrix.dat b/dev/oldtests/data/tmatrix.dat
similarity index 100%
rename from trunk/tests/data/tmatrix.dat
rename to dev/oldtests/data/tmatrix.dat
diff --git a/trunk/tests/data/ut.dat b/dev/oldtests/data/ut.dat
similarity index 100%
rename from trunk/tests/data/ut.dat
rename to dev/oldtests/data/ut.dat
diff --git a/dev/oldtests/daytimetest.cpp b/dev/oldtests/daytimetest.cpp
new file mode 100644
index 0000000..851dd05
--- /dev/null
+++ b/dev/oldtests/daytimetest.cpp
@@ -0,0 +1,80 @@
+#pragma ident "$Id$"
+
+
+//
+// test the daytime implementation
+//
+
+#include <iostream>
+
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+#include "GPSZcount.hpp"
+
+using namespace std;
+using namespace gpstk::StringUtils;
+
+/// prints the given daytime with the given format
+void dtft(ostream& s, const gpstk::DayTime& t, const string& fmt)
+{
+ string fs = fmt;
+ string p = t.printf(fmt.c_str());
+
+ s << leftJustify(fs, 30) << " "
+ << p << endl;
+}
+
+/// returns 0 if all tests pass
+int main()
+{
+ using gpstk::DayTime;
+
+ try
+ {
+ cout << "BOT:" << DayTime(gpstk::DayTime::BEGINNING_OF_TIME) << endl;
+ cout << "EOT:" << DayTime(gpstk::DayTime::END_OF_TIME) << endl;
+
+ DayTime dt;
+ dt.setSystemTime();
+ cout << "Check that the output matches the current UTC time." << endl
+ << "string printf()" << endl;
+
+ dtft(cout, dt, "mjd: %Q (%.0Q)");
+ dtft(cout, dt, "mjd: %5.3Q");
+ dtft(cout, dt, "mdy: %02m/%02d/%04Y");
+ dtft(cout, dt, "hms: %02H:%02M:%02S");
+ dtft(cout, dt, "hms: %02H:%02M:%06.3f");
+ dtft(cout, dt, "cal: %A, %B %d, %Y");
+ dtft(cout, dt, "week: %F(%G)");
+ dtft(cout, dt, "sow: %g");
+ dtft(cout, dt, "sow: %06.3g");
+ dtft(cout, dt, "doy: %j:%s");
+ dtft(cout, dt, "dow: %w");
+ dtft(cout, dt, "z: %Z (%z)");
+ dtft(cout, dt, "unix: %U.%06u");
+
+ cout << endl
+ << "The following functions use DayTime::setToString()" << endl;
+
+ string format = "%02m/%02d/%04Y %02H:%02M:%02S";
+ string st = dt.printf(format);
+
+ DayTime q;
+ q.setToString(st, format);
+ dtft(cout, q, format);
+
+ cout << "Tests complete." << endl;
+ return 0;
+ }
+ catch(gpstk::Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(...)
+ {
+ cout << "Some other exception thrown..." << endl;
+ }
+
+ cout << "Exiting with exceptions." << endl;
+ return -1;
+}
diff --git a/dev/oldtests/delFileSpecTestDirs.pl b/dev/oldtests/delFileSpecTestDirs.pl
new file mode 100755
index 0000000..d3532a5
--- /dev/null
+++ b/dev/oldtests/delFileSpecTestDirs.pl
@@ -0,0 +1,25 @@
+#!/usr/bin/perl -w
+# $Id$
+#
+#
+# This script eliminates the set of dummy files and directories created
+# by genFileSpecTestDirs. The dummy files/directories are used while
+# running FileSpecTest but are unnecessary afterwards.
+#
+
+for ($stn = 401; $stn <= 403; $stn++)
+{
+ $stnDir = sprintf("fstest/ADMS%03i/RINEXOBS", $stn);
+
+ for ($year = 1; $year <= 2; $year++)
+ {
+
+ for ($day = 50; $day <= 53; $day++)
+ {
+ $stnFile = $stnDir . sprintf("/S%02i1%03iA.%02iO", substr($stn,1,2), $day, $year);
+ # print "$stnFile\n";
+ `rm $stnFile`;
+ }
+ }
+ `rmdir -p $stnDir`;
+}
diff --git a/dev/oldtests/exceptiontest.cpp b/dev/oldtests/exceptiontest.cpp
new file mode 100755
index 0000000..d5893da
--- /dev/null
+++ b/dev/oldtests/exceptiontest.cpp
@@ -0,0 +1,52 @@
+#pragma ident "$Id$"
+
+
+
+#include <iostream>
+#include <string>
+
+#include "Exception.hpp"
+
+/**
+ * @file exceptiontest.cpp
+ * tests gpslib::Exception
+ */
+
+using namespace std;
+
+class TestException
+{
+public:
+ NEW_EXCEPTION_CLASS(TE, gpstk::Exception);
+
+ int foo;
+
+ void funcie() throw(TE)
+ {
+ try {
+ foo=1;
+ if (foo-1==0)
+ {
+ TE e("Blarfo");
+ e.addLocation(FILE_LOCATION);
+ throw e;
+ }
+ foo=4;
+ } catch (TE& e) {
+ e.addText("Ja mon");
+ e.addLocation(FILE_LOCATION);
+ throw;
+ }
+ }
+};
+
+// returns 0 if all tests pass
+int main()
+{
+ TestException a;
+ try {
+ a.funcie();
+ } catch (gpstk::Exception& e) {
+ cout << "main " << e;
+ }
+}
diff --git a/dev/oldtests/genFileSpecTestDirs.pl b/dev/oldtests/genFileSpecTestDirs.pl
new file mode 100755
index 0000000..836c4f7
--- /dev/null
+++ b/dev/oldtests/genFileSpecTestDirs.pl
@@ -0,0 +1,32 @@
+#!/usr/bin/perl -w
+#
+# "$Id$"
+
+
+#
+# This script generates a set of dummy files and directories for
+# running FileSpecTest. They are in the form of
+# fstest/ADMS###/RINEXOBS/S##1###A.##O
+
+for($stn = 401; $stn <= 403; $stn++)
+{
+ $stnDir = sprintf("fstest/ADMS%03i", $stn);
+ `mkdir -p $stnDir`;
+ $stnDir .= "/RINEXOBS";
+ `mkdir $stnDir`;
+ $stnDir .= sprintf("/S%02i1", substr($stn,1,2));
+ for ($year = 1; $year <= 2; $year++)
+ {
+ for ($day = 50; $day <= 53; $day++)
+ {
+ $thisFile = $stnDir . sprintf("%03iA.%02iO", $day, $year);
+ print "$thisFile\n";
+ `touch $thisFile`;
+ }
+ }
+
+# for ($num = 1; $num <= 5; $num++)
+# {
+# `touch $num`;
+# }
+}
diff --git a/dev/oldtests/gpszcounttest.cpp b/dev/oldtests/gpszcounttest.cpp
new file mode 100755
index 0000000..6145a8a
--- /dev/null
+++ b/dev/oldtests/gpszcounttest.cpp
@@ -0,0 +1,184 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file gpszcounttest.cpp
+ * A set of tests for the GPSZcount class.
+ * tests gpslib::GPSZcount
+ */
+
+#include <limits>
+#include "GPSZcount.hpp"
+#include "CommandOptionParser.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+bool failure = false;
+int verboseLevel = 0;
+void say(const string& foo);
+void process(bool result);
+
+//
+// returns zero if all tests pass
+//
+int main (int argc, char *argv[])
+{
+ // take care of command line options
+ CommandOptionNoArg hOption('h', "help", "Display this helpful information.",
+ false);
+ CommandOptionNoArg vOption('v', "verbose", "Increase the verbosity.",
+ false);
+ CommandOptionNoArg qOption('q', "quiet", "Only issue a return code.",
+ false);
+ CommandOptionParser cop("GPSZcount Test Suite");
+ cop.parseOptions(argc, argv);
+ if (cop.hasErrors())
+ {
+ cop.dumpErrors(cout);
+ cop.displayUsage(cout);
+ return 1;
+ }
+
+ if(hOption.getCount())
+ {
+ cop.displayUsage(cout);
+ return 0;
+ }
+
+ verboseLevel = vOption.getCount();
+
+ try
+ {
+ // Proceed with testing
+ GPSZcount one, two;
+
+ say("Equality Test: ");
+ process (one == two);
+
+ say("Assignment Test 1: ");
+ one = GPSZcount(1000, 5);
+ process(one.getWeek() == 1000 &&
+ one.getZcount() == 5);
+
+ say("Assignment Test 2: ");
+ try
+ {
+ // this should throw an exception
+ one.setZcount(GPSZcount::ZCOUNT_WEEK);
+ // if we get here, it failed
+ process(false);
+ }
+ catch (InvalidParameter& ip)
+ {
+ process(true);
+ }
+
+ say("Addition Test: ");
+ one += GPSZcount::ZCOUNT_WEEK + 5 ;
+ process(one.getWeek() == 1001 &&
+ one.getZcount() == 10) ;
+
+ say("Subtraction Test: ");
+ one -= GPSZcount::ZCOUNT_WEEK + 5 ;
+ process(one.getWeek() == 1000 &&
+ one.getZcount() == 5) ;
+
+ say("Invalid Week Test 1: ");
+ one.setWeek(numeric_limits<short>::max());
+ try
+ {
+ // this should throw an exception
+ one += GPSZcount::ZCOUNT_WEEK;
+ // if we get here, it failed
+ process(false);
+ }
+ catch (InvalidRequest& ir)
+ {
+ process(true);
+ }
+
+ say("Invalid Week Test 2: " );
+ one.setWeek(0);
+ try
+ {
+ // this should throw an exception
+ one -= GPSZcount::ZCOUNT_WEEK;
+ // if we get here, it failed
+ process(false);
+ }
+ catch (InvalidRequest& ir)
+ {
+ process(true);
+ }
+
+ say("Less-Than Test: ");
+ one.setWeek(1000).setZcount(GPSZcount::ZCOUNT_WEEK / 2) ;
+ two = one + 5 ;
+ process(two >= one) ;
+
+ say("Greater-Than Test: ") ;
+ two = one - 5 ;
+ process(two <= one) ;
+
+ say("SameTimeBlock Test 1: ") ;
+ // set one to be at 4:20 and two at 4:00
+ one.setWeek(1200).setZcount(4 * GPSZcount::ZCOUNT_HOUR
+ + 20 * GPSZcount::ZCOUNT_MINUTE) ;
+ two.setWeek(1200).setZcount(4 * GPSZcount::ZCOUNT_HOUR) ;
+ // test if one and two are between 4:00 and 5:00
+ process(one.inSameTimeBlock(two, GPSZcount::ZCOUNT_HOUR)) ;
+
+ say("SameTimeBlock Test 2: ") ;
+ // test if one and two are NOT between 4:20 and 4:21
+ process(! one.inSameTimeBlock(two, GPSZcount::ZCOUNT_MINUTE)) ;
+
+ say("SameTimeBlock Test 3: ") ;
+ // test if one and two are NOT between 4:15 and 5:15
+ process(! one.inSameTimeBlock(two, GPSZcount::ZCOUNT_HOUR,
+ 15 * GPSZcount::ZCOUNT_MINUTE)) ;
+
+ say("Dump Test: ") ;
+ if (verboseLevel)
+ {
+ cout << endl << one << endl;
+ one.dump(cout, 1);
+ }
+
+ say("String Test: ");
+ one.setWeek(1200).setZcount(123456);
+ process(string(one) == string("1200w123456z"));
+
+ if (qOption.getCount() == 0)
+ {
+ // Display the overall results
+ cout << "GPSZcount Overall results: "
+ << (failure ? "Fail" : "Pass") << endl;
+ }
+
+ return failure ? 1 : 0 ;
+ }
+ catch(gpstk::Exception& exc)
+ {
+ cout << endl << endl << "Caught a " << exc.getName() << " exception:"
+ << endl << exc << endl ;
+ return 1 ;
+ }
+}
+
+void say(const string& foo)
+{
+ if (verboseLevel)
+ cout << foo << flush;
+}
+
+void process(bool result)
+{
+ failure |= !result;
+
+ if(verboseLevel)
+ {
+ cout << (result ? "Pass" : "Fail") << endl;
+ }
+}
diff --git a/trunk/tests/petest.cpp b/dev/oldtests/petest.cpp
similarity index 100%
rename from trunk/tests/petest.cpp
rename to dev/oldtests/petest.cpp
diff --git a/dev/oldtests/positiontest.cpp b/dev/oldtests/positiontest.cpp
new file mode 100755
index 0000000..d28bad1
--- /dev/null
+++ b/dev/oldtests/positiontest.cpp
@@ -0,0 +1,234 @@
+#pragma ident "$Id$"
+
+
+/**
+ * @file positiontest.cpp Test the Position module
+ *
+ */
+
+#include <iostream>
+#include <iomanip>
+#include "Position.hpp"
+
+using namespace std;
+using namespace gpstk;
+using namespace gpstk::StringUtils;
+
+int main()
+{
+ try
+ {
+ int i;
+ Position c,s,d,g;
+ cout << "Position() " << c << endl;
+
+ // test transformTo
+ cout << "Test set...() and transformTo\n";
+ {
+ c.setECEF(-1575232.0141,-4707872.2332, 3993198.4383);
+ cout << "Position.set to Cartesian " << c << endl;
+ Position t(c);
+ t.transformTo(Position::Geodetic);
+ cout << "Transform Cartesian to Geodetic " << t;
+ cout << " Error : " << range(t,c) << " m" << endl;
+ t = c;
+ t.transformTo(Position::Geocentric);
+ cout << "Transform Cartesian to Geocentric " << t;
+ cout << " Error : " << range(t,c) << " m" << endl;
+ t = c;
+ t.transformTo(Position::Spherical);
+ cout << "Transform Cartesian to Spherical " << t;
+ cout << " Error : " << range(t,c) << " m" << endl;
+ }
+ {
+ d.setGeodetic(39.000004186778,251.499999999370,1400.009066903964);
+ cout << "Position.set to Geodetic " << d << endl;
+ Position t(d);
+ t.transformTo(Position::Cartesian);
+ cout << "Transform Geodetic to Cartesian " << t;
+ cout << " Error : " << range(t,d) << " m" << endl;
+ t = d;
+ t.transformTo(Position::Geocentric);
+ cout << "Transform Geodetic to Geocentric " << t;
+ cout << " Error : " << range(t,d) << " m" << endl;
+ t = d;
+ t.transformTo(Position::Spherical);
+ cout << "Transform Geodetic to Spherical " << t;
+ cout << " Error : " << range(t,d) << " m" << endl;
+ }
+ {
+ g.setGeocentric(38.811958506159,251.499999999370,6371110.627671023800);
+ cout << "Position.set to Geocentric " << g << endl;
+ Position t(g);
+ t.transformTo(Position::Cartesian);
+ cout << "Transform Geocentric to Cartesian " << t;
+ cout << " Error : " << range(t,g) << " m" << endl;
+ t = g;
+ t.transformTo(Position::Geodetic);
+ cout << "Transform Geocentric to Geodetic " << t;
+ cout << " Error : " << range(t,g) << " m" << endl;
+ t = g;
+ t.transformTo(Position::Spherical);
+ cout << "Transform Geocentric to Spherical " << t;
+ cout << " Error : " << range(t,g) << " m" << endl;
+ }
+ {
+ s.setSpherical(51.188041493841,251.499999999370,6371110.627671023800);
+ cout << "Position.set to Spherical " << s << endl;
+ Position t(s);
+ t.transformTo(Position::Cartesian);
+ cout << "Transform Spherical to Cartesian " << t;
+ cout << " Error : " << range(t,s) << " m" << endl;
+ t = s;
+ t.transformTo(Position::Geocentric);
+ cout << "Transform Spherical to Geocentric " << t;
+ cout << " Error : " << range(t,s) << " m" << endl;
+ t = s;
+ t.transformTo(Position::Geodetic);
+ cout << "Transform Spherical to Geodetic " << t;
+ cout << " Error : " << range(t,s) << " m" << endl;
+ }
+
+ // test printf
+ cout << "\nTest printf and the indicated 'get()' functions\n";
+ cout << c.printf("%13.4x X() (meters)") << endl;
+ cout << c.printf("%13.4y Y() (meters)") << endl;
+ cout << c.printf("%13.4z Z() (meters)") << endl;
+ cout << c.printf("%13.4X X()/1000 (kilometers)") << endl;
+ cout << c.printf("%13.4Y Y()/1000 (kilometers)") << endl;
+ cout << c.printf("%13.4Z Z()/1000 (kilometers)") << endl;
+ cout << c.printf("%15.6A geodeticLatitude() (degrees North)") << endl;
+ cout << c.printf("%15.6a geocentricLatitude() (degrees North)") << endl;
+ cout << c.printf("%15.6L longitude() (degrees East)") << endl;
+ cout << c.printf("%15.6l longitude() (degrees East)") << endl;
+ cout << c.printf("%15.6w longitude() (degrees West)") << endl;
+ cout << c.printf("%15.6W longitude() (degrees West)") << endl;
+ cout << c.printf("%15.6t theta() (degrees)") << endl;
+ cout << c.printf("%15.6T theta() (radians)") << endl;
+ cout << c.printf("%15.6p phi() (degrees)") << endl;
+ cout << c.printf("%15.6P phi() (radians)") << endl;
+ cout << c.printf("%13.4r radius() meters") << endl;
+ cout << c.printf("%13.4R radius()/1000 kilometers") << endl;
+ cout << c.printf("%13.4h height() meters") << endl;
+ cout << c.printf("%13.4H height()/1000 kilometers") << endl;
+
+ // test setToString
+ cout << "\nTest setToString and equality operators\n";
+ string fmt[5]={
+ "",
+ "%A degN %L degE %h m",
+ "%a degN %L degE %r m",
+ "%x m %y m %z m",
+ "%t deg %p deg %r M"};
+ for(i=1; i<5; i++) {
+ string str;
+ Position t(c),tt;
+ t.transformTo(static_cast<Position::CoordinateSystem>(i));
+ {
+ ostringstream o;
+ o << t;
+ str = o.str();
+ }
+ tt.setToString(str,fmt[i]);
+ cout << "System: " << t.getSystemName() << endl;
+ cout << "Original " << t << endl;
+ cout << "string " << str << endl;
+ cout << "setToString " << tt
+ << " Error " << range(tt,t) << " m" << endl;
+ cout << " equality: " << (t==tt ? "==" : "not ==");
+ cout << " but " << (t!=tt ? "!=" : "not !=") << endl;
+ cout << endl;
+ }
+
+ // test elevation and azimuth
+ cout << "Elevation and azimth" << fixed << endl;
+ c.setECEF(-1575232.0141,-4707872.2332, 3993198.4383);
+ s.setECEF(3*6371110.62767,0,0);
+ cout << setw(6) << setprecision(2) << c.elevation(s)
+ << " " << setw(6) << setprecision(2) << c.azimuth(s) << endl;
+ // compare with functions from Triple::
+ cout << setw(6) << setprecision(2) << c.elvAngle(s)
+ << " " << setw(6) << setprecision(2) << c.azAngle(s) << endl;
+ cout << endl;
+
+ // test IPP
+ cout << "The IPP at " << g << " (90,0,350000) is\n"
+ << " " << g.getIonosphericPiercePoint(90,0,350000)
+ << " " << g.getSystemName() << endl << endl;
+
+ // test ALL transforms with pole
+ // X -> D -> C -> S -> X -> C -> D -> X -> S -> D -> S -> C -> X
+ cout << "Try to break it at the pole\n";
+ c.setECEF(0,0,6371110.6277);
+ //c.setECEF(0,0,0.0001); // this will break it
+ cout << "Set to the pole in cartesian : " << c << endl;
+ c.transformTo(Position::Geodetic);
+ cout << "The pole in geodetic " << c << endl;
+ c.transformTo(Position::Geocentric);
+ cout << "The pole in geocentric " << c << endl;
+ c.transformTo(Position::Spherical);
+ cout << "The pole in spherical " << c << endl;
+ c.transformTo(Position::Cartesian);
+ cout << "The pole in cartesian " << c << endl;
+ c.transformTo(Position::Geocentric);
+ cout << "The pole in geocentric " << c << endl;
+ c.transformTo(Position::Geodetic);
+ cout << "The pole in geodetic " << c << endl;
+ c.transformTo(Position::Cartesian);
+ cout << "The pole in cartesian " << c << endl;
+ c.transformTo(Position::Spherical);
+ cout << "The pole in spherical " << c << endl;
+ c.transformTo(Position::Geodetic);
+ cout << "The pole in geodetic " << c << endl;
+ c.transformTo(Position::Spherical);
+ cout << "The pole in spherical " << c << endl;
+ c.transformTo(Position::Geocentric);
+ cout << "The pole in geocentric " << c << endl;
+ c.transformTo(Position::Cartesian);
+ cout << "The pole in cartesian " << c << endl;
+
+ // test ALL transforms with origin
+ // X -> D -> C -> S -> X -> C -> D -> X -> S -> D -> S -> C -> X
+ cout << endl << "Try to break it at the origin\n";
+ c.setECEF(0,0,0);
+ cout << "Set to the origin in cartesian : " << c << endl;
+ c.transformTo(Position::Geodetic);
+ cout << "The origin in geodetic " << c << endl;
+ c.transformTo(Position::Geocentric);
+ cout << "The origin in geocentric " << c << endl;
+ c.transformTo(Position::Spherical);
+ cout << "The origin in spherical " << c << endl;
+ c.transformTo(Position::Cartesian);
+ cout << "The origin in cartesian " << c << endl;
+ c.transformTo(Position::Geocentric);
+ cout << "The origin in geocentric " << c << endl;
+ c.transformTo(Position::Geodetic);
+ cout << "The origin in geodetic " << c << endl;
+ c.transformTo(Position::Cartesian);
+ cout << "The origin in cartesian " << c << endl;
+ c.transformTo(Position::Spherical);
+ cout << "The origin in spherical " << c << endl;
+ c.transformTo(Position::Geodetic);
+ cout << "The origin in geodetic " << c << endl;
+ c.transformTo(Position::Spherical);
+ cout << "The origin in spherical " << c << endl;
+ c.transformTo(Position::Geocentric);
+ cout << "The origin in geocentric " << c << endl;
+ c.transformTo(Position::Cartesian);
+ cout << "The origin in cartesian " << c << endl;
+
+ cout << "Tests complete." << endl;
+ return 0;
+ }
+ catch(gpstk::Exception& e)
+ {
+ cout << e << endl;
+ }
+ catch(...)
+ {
+ cout << "Some other exception thrown..." << endl;
+ }
+
+ cout << "Exiting with exceptions." << endl;
+ return -1;
+}
diff --git a/trunk/tests/rinex_met_livetest.pl b/dev/oldtests/rinex_met_livetest.pl
similarity index 100%
rename from trunk/tests/rinex_met_livetest.pl
rename to dev/oldtests/rinex_met_livetest.pl
diff --git a/dev/oldtests/rinex_met_read_write.cpp b/dev/oldtests/rinex_met_read_write.cpp
new file mode 100644
index 0000000..2a7c3a3
--- /dev/null
+++ b/dev/oldtests/rinex_met_read_write.cpp
@@ -0,0 +1,63 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file rinex_met_read_write.cpp
+ * tests gpslib::RinexMetData, gpslib::RinexMetHeader and gpslib::RinexMetStream.
+ */
+
+#include "RinexMetBase.hpp"
+#include "RinexMetData.hpp"
+#include "RinexMetHeader.hpp"
+#include "RinexMetStream.hpp"
+
+using namespace std;
+
+/// Returns 0 on success. The input file and output file should diff
+/// without errors.
+main(int argc, char *argv[])
+{
+ if (argc<3)
+ {
+ cout << "rinex_met_read_write inputfile outputfile" << endl;
+ exit(-1);
+ }
+
+ try
+ {
+ cout << "Reading " << argv[1] << endl;
+ gpstk::RinexMetStream roffs(argv[1]);
+ cout << "Writing " << argv[2] << endl;
+ gpstk::RinexMetStream out(argv[2],ios::out);
+// out.exceptions(fstream::failbit);
+ gpstk::RinexMetHeader roh;
+ gpstk::RinexMetData roe;
+
+
+
+ roffs >> roh;
+ out << roh;
+ roh.dump(cout);
+
+ while (roffs >> roe)
+ {
+ out << roe;
+ }
+
+ cout << "done" << endl;
+ exit(0);
+ }
+ catch(gpstk::Exception& e)
+ {
+ cout << e;
+ exit(1);
+ }
+ catch (...)
+ {
+ cout << "unknown error. Done." << endl;
+ exit(1);
+ }
+
+ exit(0);
+} // main()
diff --git a/dev/oldtests/rinex_met_test.cpp b/dev/oldtests/rinex_met_test.cpp
new file mode 100644
index 0000000..02cb56e
--- /dev/null
+++ b/dev/oldtests/rinex_met_test.cpp
@@ -0,0 +1,59 @@
+#pragma ident "$Id$"
+
+
+
+#include "RinexMetBase.hpp"
+#include "RinexMetData.hpp"
+#include "RinexMetHeader.hpp"
+#include "RinexMetStream.hpp"
+
+/**
+ * @file rinex_met_test.cpp
+ * Tests gpslib::RinexMetStream, gpslib::RinexMetData, gpslib::RinexMetHeader.
+ */
+
+using namespace std;
+
+/// returns 0 if successful.
+main(int argc, char *argv[])
+{
+ if (argc<2)
+ {
+ cout << "Gimme a rinex obs to chew on! Exiting." << endl;
+ exit(-1);
+ }
+
+ try
+ {
+ cout << "Reading " << argv[1] << "." << endl;
+
+ gpstk::RinexMetStream roffs(argv[1]);
+
+ // reading the header data isn't necessary
+// gpstk::RinexMetHeader roh;
+ gpstk::RinexMetData roe;
+
+ roffs.exceptions(fstream::failbit);
+
+// roffs >> roh;
+// roh.dump(cout);
+
+ while (roffs >> roe)
+ {}
+
+ cout << "done" << endl;
+ exit(0);
+ }
+ catch(gpstk::Exception& e)
+ {
+ cout << e;
+ exit(1);
+ }
+ catch (...)
+ {
+ cout << "unknown error. Done." << endl;
+ exit(1);
+ }
+
+ exit(0);
+} // main()
diff --git a/dev/oldtests/rinex_nav_read_write.cpp b/dev/oldtests/rinex_nav_read_write.cpp
new file mode 100644
index 0000000..bf727bc
--- /dev/null
+++ b/dev/oldtests/rinex_nav_read_write.cpp
@@ -0,0 +1,61 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file rinex_nav_read_write.cpp
+ * tests gpslib::RinexNavStream, gpslib::RinexNavData, gpslib::RinexNavHeader.
+ */
+
+#include "RinexNavBase.hpp"
+#include "RinexNavData.hpp"
+#include "RinexNavHeader.hpp"
+#include "RinexNavStream.hpp"
+
+using namespace std;
+
+/// Returns 0 on success, and input and output files should diff without error.
+main(int argc, char *argv[])
+{
+ if (argc<2)
+ {
+ cout << "rinex_nav_read_write inputfile outputfile" << endl;
+ exit(-1);
+ }
+
+ try
+ {
+ cout << "Reading " << argv[1] << endl;
+ gpstk::RinexNavStream rnffs(argv[1]);
+ cout << "Writing " << argv[2] << endl;
+ gpstk::RinexNavStream out(argv[2], ios::out);
+ gpstk::RinexNavHeader rnh;
+ gpstk::RinexNavData rne;
+
+ rnffs >> rnh;
+ out << rnh;
+ rnh.dump(cout);
+
+ int i = 0;
+ while (rnffs >> rne)
+ {
+ out << rne;
+ i++;
+ }
+
+ cout << "Read " << i << " records. Done." << endl;
+ exit(0);
+ }
+ catch(gpstk::Exception& e)
+ {
+ cout << e;
+ exit(1);
+ }
+ catch (...)
+ {
+ cout << "unknown error. Done." << endl;
+ exit(1);
+ }
+
+ exit(0);
+} // main()
diff --git a/dev/oldtests/rinex_nav_test.cpp b/dev/oldtests/rinex_nav_test.cpp
new file mode 100644
index 0000000..0d8b03d
--- /dev/null
+++ b/dev/oldtests/rinex_nav_test.cpp
@@ -0,0 +1,60 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file rinex_nav_test.cpp
+ * tests gpslib::RinexNavStream, gpslib::RinexNavData, gpslib::RinexNavHeader.
+ */
+
+//#include "RinexNavBase.hpp"
+#include "RinexNavStream.hpp"
+#include "RinexNavData.hpp"
+#include "RinexMetStream.hpp"
+
+using namespace std;
+
+/// Returns 0 when successful.
+main(int argc, char *argv[])
+{
+ if (argc<2)
+ {
+ cout << "Gimme a rinex nav to chew on! Exiting." << endl;
+ exit(-1);
+ }
+
+ try
+ {
+ cout << "Reading " << argv[1] << "." << endl;
+
+ gpstk::RinexNavStream rnffs(argv[1]);
+ gpstk::RinexNavHeader rnh;
+ gpstk::RinexNavData rne;
+
+ rnffs.exceptions(fstream::failbit);
+
+ rnffs >> rnh;
+ rnh.dump(cout);
+
+ int i = 0;
+ while (rnffs >> rne)
+ {
+ i++;
+ }
+
+ cout << "Read " << i << " records. Done." << endl;
+ exit(0);
+ }
+ catch(gpstk::Exception& e)
+ {
+ cout << e;
+ exit(1);
+ }
+ catch (...)
+ {
+ cout << "unknown error. Done." << endl;
+ exit(1);
+ }
+
+ exit(0);
+} // main()
diff --git a/dev/oldtests/rinex_obs_read_write.cpp b/dev/oldtests/rinex_obs_read_write.cpp
new file mode 100644
index 0000000..64f97ea
--- /dev/null
+++ b/dev/oldtests/rinex_obs_read_write.cpp
@@ -0,0 +1,65 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file rinex_obs_read_write.cpp
+ * tests gpslib::RinexObsData, gpslib::RinexObsStream, gpslib::RinexObsHeader.
+ */
+#include "RinexObsBase.hpp"
+#include "RinexObsData.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsStream.hpp"
+
+using namespace std;
+
+/// Returns 0 on success. Input and output files should diff wihtout error.
+main(int argc, char *argv[])
+{
+
+ if (argc<2)
+ {
+ cout << "rinex_obs_read_write inputfile outputfile" << endl;
+ exit(-1);
+ }
+
+ try
+ {
+ cout << "Reading " << argv[1] << endl;
+ gpstk::RinexObsStream roffs(argv[1]);
+ cout << "Writing " << argv[2] << endl;
+ gpstk::RinexObsStream out(argv[2], ios::out);
+ roffs.exceptions(ios::failbit);
+ gpstk::RinexObsHeader roh;
+ gpstk::RinexObsData roe;
+
+ roffs >> roh;
+ out << roh;
+ roh.dump(cout);
+
+ while (roffs >> roe)
+ {
+ out << roe;
+ }
+
+ cout << "Read " << roffs.recordNumber << " epochs. Done." << endl;
+ exit(0);
+ }
+ catch(gpstk::FFStreamError& e)
+ {
+ cout << e;
+ exit(1);
+ }
+ catch(gpstk::Exception& e)
+ {
+ cout << e;
+ exit(1);
+ }
+ catch (...)
+ {
+ cout << "unknown error. Done." << endl;
+ exit(1);
+ }
+
+ exit(0);
+} // main()
diff --git a/dev/oldtests/rinex_obs_test.cpp b/dev/oldtests/rinex_obs_test.cpp
new file mode 100644
index 0000000..bcf717b
--- /dev/null
+++ b/dev/oldtests/rinex_obs_test.cpp
@@ -0,0 +1,61 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file rinex_obs_test.cpp
+ * tests gpslib::RinexObsData, gpslib::RinexObsStream, gpslib::RinexObsHeader.
+ */
+
+#include "RinexObsBase.hpp"
+#include "RinexObsData.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsStream.hpp"
+
+using namespace std;
+
+/// Returns 0 on success.
+main(int argc, char *argv[])
+{
+ if (argc<2)
+ {
+ cout << "Gimme a rinex obs to chew on! Exiting." << endl;
+ exit(-1);
+ }
+
+ try
+ {
+ cout << "Reading " << argv[1] << "." << endl;
+
+ gpstk::RinexObsStream roffs(argv[1]);
+ roffs.exceptions(ios::failbit);
+ gpstk::RinexObsHeader roh;
+ gpstk::RinexObsData roe;
+
+ roffs >> roh;
+ roh.dump(cout);
+
+ while (roffs >> roe)
+ {}
+
+ cout << "Read " << roffs.recordNumber << " epochs. Done." << endl;
+ exit(0);
+ }
+ catch(gpstk::FFStreamError& e)
+ {
+ cout << e;
+ exit(1);
+ }
+ catch(gpstk::Exception& e)
+ {
+ cout << e;
+ exit(1);
+ }
+ catch (...)
+ {
+ cout << "unknown error. Done." << endl;
+ exit(1);
+ }
+
+ exit(0);
+} // main()
diff --git a/trunk/tests/runAllTests b/dev/oldtests/runAllTests
similarity index 100%
rename from trunk/tests/runAllTests
rename to dev/oldtests/runAllTests
diff --git a/dev/oldtests/runAllTests.bat b/dev/oldtests/runAllTests.bat
new file mode 100755
index 0000000..a330a1d
--- /dev/null
+++ b/dev/oldtests/runAllTests.bat
@@ -0,0 +1,72 @@
+echo off
+REM Run all tests in the tests directory
+REM $Id$
+
+echo.
+echo.
+echo rinex_met_test
+echo -------------------------------------------------------------------------
+rinex_met_test data/405_077A.02M
+
+echo.
+echo.
+echo daytimetest:
+echo -------------------------------------------------------------------------
+daytimetest
+
+echo.
+echo.
+echo exceptiontest:
+echo -------------------------------------------------------------------------
+exceptiontest
+
+echo.
+echo.
+echo petest:
+echo -------------------------------------------------------------------------
+petest data/nga12600.apc
+
+echo.
+echo.
+echo stringutiltest:
+echo -------------------------------------------------------------------------
+stringutiltest >stringutiltest.out
+diff stringutiltest.out data/stringutiltest.ref
+echo Look in stringutiltest.out
+
+echo.
+echo.
+echo MatrixTest
+echo -------------------------------------------------------------------------
+MatrixTest data/anotsym.dat data/cov.dat data/dia.dat data/lt.dat data/partials.dat data/squ.dat data/sym.dat data/tmatrix.dat data/ut.dat > MatrixTest.out
+echo Look in MatrixTest.out
+echo Here is a 'diff' with what MatrixTest.out should be:
+diff MatrixTest.out data/MatrixTest.ref.Win32
+
+echo.
+echo.
+echo Generating directory for FileSpecTest
+echo -------------------------------------------------------------------------
+perl genFileSpecTestDirs.pl
+FileSpecTest
+
+echo.
+echo.
+echo PositionTest
+echo -------------------------------------------------------------------------
+positiontest > positiontest.out
+diff positiontest.out data/positiontest.ref
+echo Look in positiontest.out
+
+echo.
+echo.
+echo EphComp:
+echo -------------------------------------------------------------------------
+echo first merge three RINEX navigation files to create merged.n
+..\apps\Rinextools\NavMerge -omerged.n data\s011061a.04n data\s021061a.04n data\s031061a.04n
+echo EphComp will throw an exception when it can't find PRN 13 here --
+echo that's ok, its part of the test:
+EphComp -p data/nga12600.apc -p data/nga12601.apc -b merged.n > EphComp.out
+echo ...end of EphComp. Look in EphComp.out -- here's the plot:
+gnuplot EphCompWin.gp
+
diff --git a/dev/oldtests/stringutiltest.cpp b/dev/oldtests/stringutiltest.cpp
new file mode 100755
index 0000000..93e658f
--- /dev/null
+++ b/dev/oldtests/stringutiltest.cpp
@@ -0,0 +1,470 @@
+#pragma ident "$Id$"
+
+
+
+#include <iostream>
+#include <string>
+#include "StringUtils.hpp"
+
+using namespace gpstk::StringUtils;
+using namespace std;
+
+/**
+ * @file stringutiltest.cpp
+ * A test of the gpslib::StringUtils functions
+ *
+ */
+
+// must be big enough to show hex digits in index
+char hexDumpMess[] =
+{ 0x00, 0x10, 0x30, 0x33, 0x30, 0x31, 0x30, 0x35,
+ 0x3A, 0x65, 0x70, 0x68, 0x20, 0x3A, 0x30, 0x3A,
+ 0x35, 0x32, 0x36, 0x34, 0x30, 0x2E, 0x33, 0x33,
+ 0x33, 0x34, 0x30, 0x32, 0x37, 0x37, 0x37, 0x37,
+ 0x37, 0x37, 0x37, 0x38, 0x42, 0x72, 0x69, 0x61,
+ 0x6e, 0x20, 0x69, 0x73, 0x20, 0x61, 0x20, 0x68,
+ 0x6f, 0x73, 0x65, 0x72, 0x32, 0x35, 0x39, 0x32,
+ 0x35, 0x39, 0x32, 0x34, 0x20, 0x32, 0x20, 0x35,
+ 0x32, 0x36, 0x34, 0x30, 0x2E, 0x33, 0x33, 0x38,
+ 0x38, 0x33, 0x36, 0x33, 0x34, 0x32, 0x35, 0x39,
+ 0x32, 0x35, 0x39, 0x33, 0x20, 0x32, 0x20, 0x38,
+ 0x35, 0x34, 0x31, 0x32, 0x20, 0x31, 0x20, 0x31,
+ 0x20, 0x30, 0x20, 0x31, 0x20, 0x31, 0x20, 0x34,
+ 0x20, 0x32, 0x20, 0x34, 0x20, 0x30, 0x20, 0x30,
+ 0x20, 0x33, 0x20, 0x31, 0x31, 0x39, 0x39, 0x20,
+ 0x32, 0x32, 0x63, 0x30, 0x61, 0x66, 0x30, 0x33,
+ 0x20, 0x31, 0x37, 0x37, 0x30, 0x32, 0x39, 0x65,
+ 0x34, 0x20, 0x61, 0x66, 0x34, 0x30, 0x30, 0x31,
+ 0x66, 0x20, 0x65, 0x36, 0x31, 0x62, 0x35, 0x38,
+ 0x61, 0x20, 0x35, 0x35, 0x66, 0x33, 0x37, 0x35,
+ 0x30, 0x20, 0x34, 0x63, 0x63, 0x61, 0x38, 0x38,
+ 0x37, 0x20, 0x31, 0x31, 0x35, 0x64, 0x37, 0x63,
+ 0x66, 0x63, 0x20, 0x33, 0x61, 0x64, 0x32, 0x30,
+ 0x34, 0x38, 0x61, 0x20, 0x63, 0x65, 0x61, 0x20,
+ 0x33, 0x36, 0x32, 0x63, 0x34, 0x38, 0x20, 0x31,
+ 0x31, 0x39, 0x39, 0x20, 0x32, 0x32, 0x63, 0x30,
+ 0x61, 0x66, 0x30, 0x33, 0x20, 0x31, 0x37, 0x37,
+ 0x30, 0x34, 0x61, 0x37, 0x34, 0x20, 0x33, 0x61,
+ 0x63, 0x34, 0x36, 0x36, 0x63, 0x31, 0x20, 0x62,
+ 0x64, 0x30, 0x63, 0x36, 0x64, 0x63, 0x20, 0x33,
+ 0x39, 0x31, 0x62, 0x33, 0x37, 0x38, 0x33, 0x20,
+ 0x33, 0x65, 0x30, 0x34, 0x30, 0x63, 0x66, 0x85 };
+
+/// This returns 0 if all tests pass.
+int main()
+{
+ try
+ {
+ int rc = 0;
+ string result, ref;
+ string a = "1234567890", b = "456";
+ string aa = "---1234567890---";
+ char c = '-';
+ string d = "--";
+ string hexDumpString(hexDumpMess, sizeof(hexDumpMess));
+
+ // Someone may want to do this to a string stream and do some
+ // comparisons and what-not... for now, I'm only testing to
+ // make sure it doesn't crash...
+ cout << "Standard hex dump:" << endl;
+ hexDumpData(cout, hexDumpString);
+ cout << endl << "Alternate hex dump:" << endl;
+ HexDumpDataConfig hdcfg(true, true, true, 8, 2, 2, 1, 0, 0, 16, true,
+ '\'', 1);
+ hexDumpData(cout, hexDumpString, 6, hdcfg);
+
+ cout << endl << "Above using printable():" << endl;
+ cout << printable(hexDumpString) << endl;
+
+
+ //#############################
+ // Justification tests
+
+ cout << "Original: " << a << endl;
+ ref = a;
+ result = string(3,c) + a;
+ a = rightJustify(a, a.length() + 3, c);
+ if(a != result)
+ {
+ cout << "rightJustify failed: " << a << endl
+ << "Should be: " << result << endl;
+ }
+
+ a = ref;
+ result = a + string(3,c);
+ a = leftJustify(a, a.length()+3, c);
+ if(a != result)
+ {
+ cout << "leftJustify failed: " << a << endl
+ << "Should be: " << result << endl;
+ }
+
+ a = ref;
+ result = string(3,c) + a + string(3,c);
+ a = center(a, a.length()+6, c);
+ if(a != result)
+ {
+ cout << "center failed: " << a << endl
+ << "Should be: " << result << endl;
+ }
+
+ a = ref;
+
+ //#############################
+ // Strip Tests
+
+ //######## Leading
+ ref = aa;
+ result = aa.substr(1,string::npos);
+ aa = stripLeading(aa, c, 1);
+ if(aa != result)
+ {
+ cout << "stripLeading(string, char, 1) failed: " << aa << endl
+ << "Should be: " << result << endl;
+ }
+
+ aa = ref;
+ result = aa.substr(2,string::npos);
+ aa = stripLeading(aa, d, 1);
+ if(aa != result)
+ {
+ cout << "stripLeading(string, char *, 1) failed: " << aa << endl
+ << "Should be: " << result << endl;
+ }
+
+ aa = ref;
+ result = aa.substr(3,string::npos);
+ aa = stripLeading(aa, c);
+ if(aa != result)
+ {
+ cout << "stripLeading(string, char) failed: " << aa << endl
+ << "Should be: " << result << endl;
+ }
+
+ aa = ref;
+ result = aa.substr(2,string::npos);
+ aa = stripLeading(aa, d);
+ if(aa != result)
+ {
+ cout << "stripLeading(string, char *) failed: " << aa << endl
+ << "Should be: " << result << endl;
+ }
+
+ //######## Trailing
+ aa = ref;
+ result = aa.substr(0, aa.length()-1);
+ aa = stripTrailing(aa, c, 1);
+ if(aa != result)
+ {
+ cout << "stripTrailing(string, char, 1) failed: " << aa << endl
+ << "Should be: " << result << endl;
+ }
+
+ aa = ref;
+ result = aa.substr(0, aa.length()-2);
+ aa = stripTrailing(aa, d, 1);
+ if(aa != result)
+ {
+ cout << "stripTrailing(string, char *, 1) failed: " << aa << endl
+ << "Should be: " << result << endl;
+ }
+
+ aa = ref;
+ result = aa.substr(0, aa.length()-3);
+ aa = stripTrailing(aa, c);
+ if(aa != result)
+ {
+ cout << "stripTrailing(string, char) failed: " << aa << endl
+ << "Should be: " << result << endl;
+ }
+
+ aa = ref;
+ result = aa.substr(0, aa.length()-2);
+ aa = stripTrailing(aa, d);
+ if(aa != result)
+ {
+ cout << "stripTrailing(string, char *) failed: " << aa << endl
+ << "Should be: " << result << endl;
+ }
+
+ //######## Both Leading & Trailing
+ aa = ref;
+ result = aa.substr(1,aa.length()-2);
+ aa = strip(aa, c, 1);
+ if(aa != result)
+ {
+ cout << "strip(string, char, 1) failed: " << aa << endl
+ << "Should be: " << result << endl;
+ }
+
+ aa = ref;
+ result = aa.substr(2,aa.length()-4);
+ aa = strip(aa, d, 1);
+ if(aa != result)
+ {
+ cout << "strip(string, char *, 1) failed: " << aa << endl
+ << "Should be: " << result << endl;
+ }
+
+ aa = ref;
+ result = aa.substr(3, aa.length()-6);
+ aa = strip(aa,c);
+ if(aa != result)
+ {
+ cout << "strip(string, char) failed: " << aa << endl
+ << "Should be: " << result << endl;
+ }
+
+ aa = ref;
+ result = aa.substr(2, aa.length()-4);
+ aa = strip(aa,d);
+ if(aa != result)
+ {
+ cout << "strip(string, char *) failed: " << aa << endl
+ << "Should be: " << result << endl;
+ }
+
+ //################################
+ //translation
+ string xlat = "The Hoopy Ford Prefect Boffs the Eccentrica Gallumbits";
+ string xlati1 = "sdfgDFG";
+ string xlato1 = "!)#%#)%";
+ string xlata1 = "The Hoopy )or) Pre#ect Bo##! the Eccentrica %allumbit!";
+ string xlati2 = "sdfgDFG";
+ string xlato2 = "!)#%";
+ string xlata2 = "The Hoopy or) Pre#ect Bo##! the Eccentrica allumbit!";
+ string xlati3 = "sdfgDFG";
+ string xlato3 = "sdfgDFG";
+ string xlata3 = "The Hoopy Ford Prefect Boffs the Eccentrica Gallumbits";
+ aa = translate(xlat, xlati1, xlato1);
+ if (aa != xlata1)
+ {
+ cout << "translate(const string&,const string&,const string&,char) "
+ << "failed: " << aa << endl
+ << "should be " << xlata1 << endl;
+ }
+ aa = translate(xlat, xlati2, xlato2);
+ if (aa != xlata2)
+ {
+ cout << "translate(const string&,const string&,const string&,char) "
+ << "failed: " << aa << endl
+ << "should be " << xlata2 << endl;
+ }
+ aa = translate(xlat, xlati3, xlato3);
+ if (aa != xlata3)
+ {
+ cout << "translate(const string&,const string&,const string&,char) "
+ << "failed: " << aa << endl
+ << "should be " << xlata3 << endl;
+ }
+
+ //################################
+ //String to number
+ int res = asInt(a);
+ if (1234567890 != res)
+ {
+ cout << "asInt(string&) failed: " << res << endl
+ << "should be 1234567890" << endl;
+ }
+
+ a = "12345.67890";
+ double res2 = asDouble(a);
+ if ( (double)(12345.67890) != res2)
+ {
+ cout << "asDouble(string&) failed: " << setprecision(15) << res2 << endl
+ << "should be 12345.67890 " << endl;
+ }
+
+ float res25 = asFloat(a);
+ if( (float)(12345.67890) != res25)
+ {
+ cout << "asFloat(string&) failed: " << setprecision(15) << res25 << endl
+ << "should be 12345.67890 " << endl;
+ }
+
+ long double lda = 12345.67890L;
+ long double res3 = asLongDouble(a);
+ if (lda != res3)
+ {
+ cout << "asLongDouble(string&) failed: " << setprecision(21) << res3
+ << endl << "should be 12345.67890 " << endl;
+ }
+
+ //#####################################33
+ // Number as string
+
+ res2 = 12345.6789; // double
+ res3 = 12345.6789L; // long double
+ res = 1234567890; // int
+
+ aa = asString(res2);
+ if(asDouble(aa) != res2)
+ {
+ cout << "asString(double) failed: " << aa << endl
+ << "should be 12345.6789" << endl;
+ }
+
+ aa = asString(res3);
+ if(asLongDouble(aa) != res3)
+ {
+ cout << "asString(long double) failed: " << aa << endl
+ << "should be 12345.6789" << endl;
+ }
+
+ aa = asString(res);
+ if(asInt(aa) != res)
+ {
+ cout << "asString(X) failed: " << aa << endl
+ << "should be " << res << endl;
+ }
+
+ // ##############################3
+ // Hex tests
+
+ string q="0x100 bleh";
+ string z="100 moo";
+
+ result = x2d(q);
+ if (result != string("256 bleh"))
+ {
+ cout << "x2d failed: " << result << endl
+ << "Should be: '256 bleh'"<< endl;
+ }
+
+ result = d2x(z);
+ if (result != string("64 moo"))
+ {
+ cout << "x2d failed: " << result << endl
+ << "Should be: '64 moo'"<< endl;
+ }
+
+ //##############################3
+ // String replacement
+
+ a = "010101000111010";
+ aa = "0-0-0-000---0-0";
+ string aaa = "0abc0abc0abc000abcabcabc0abc0";
+
+ ref = a;
+ a = replaceAll(a, string("1"), string("-"));
+ if(a != aa)
+ {
+ cout << "replaceAll() failed: " << a << endl
+ << "should be " << aa << endl;
+ }
+
+ a = ref;
+ a = replaceAll(a, string("1"), string("abc"));
+ if(a != aaa)
+ {
+ cout << "replaceAll() failed: " << a << endl
+ << "should be " << aaa << endl;
+ }
+
+ a = ref;
+ aaa = "01230123012300012312312301230";
+ a = replaceAll(a, string("1"), string("123"));
+ if(a != aaa)
+ {
+ cout << "replaceAll() failed: " << a << endl
+ << "should be " << aaa << endl;
+ }
+
+ //##############################################
+ // Word Tests
+ a = " The Quick Brown Fox Jumps Over The Lazy Dog. ";
+
+ aa = firstWord(a);
+ if(aa != string("The"))
+ {
+ cout << "firstWord() failed: " << aa << endl
+ << "should be 'The'" << endl;
+ }
+
+ res = numWords(a);
+ if(res != 9)
+ {
+ cout << "numWords() failed: " << res << endl
+ << "should be 9" << endl;
+ }
+
+ aa = word(a, 4);
+ if(aa != string("Jumps"))
+ {
+ cout << "word() failed: " << aa << endl
+ << "should be 'Jumps'" << endl;
+ }
+
+ removeWords(a, 3, 2);
+ result = " The Quick Brown Over The Lazy Dog. ";
+ if(a != result)
+ {
+ cout << "removeWords() failed: " << a << endl
+ << "should be '" << result << "'" << endl;
+ }
+
+ aa = stripFirstWord(a);
+ result = "Quick Brown Over The Lazy Dog. ";
+ if ((aa != string("The")) ||
+ (a != result))
+ {
+ cout << "stripFirstWord() failed: " << aa << endl
+ << "should be 'The'" << endl
+ << "and: " << a << endl
+ << "should be '" << result << "'" << endl;
+ }
+
+ removeWords(a, 5);
+ result = "Quick Brown Over The Lazy";
+ if (a != result)
+ {
+ cout << "removeWords failed: " << a << endl
+ << "should be '" << result << "'" << endl;
+ }
+
+ aa = words(a, 3);
+ result = "The Lazy";
+ if (aa != result)
+ {
+ cout << "words failed: \'" << aa << "' (" << a << ")" << endl
+ << "should be '" << result << "'" << endl;
+ }
+
+ //####################
+ // regular expressions
+
+ rc = isLike(a, "Br.*Over.*");
+ if (rc != 1)
+ {
+ cout << "isLike (Br.*Over.*) failed: " << rc << endl
+ << "should be: 1" << endl;
+ }
+
+ rc = isLike(a, "Br.Over.*");
+ if (rc != 0)
+ {
+ cout << "isLike (Br.Over.*) failed: " << rc << endl
+ << "should be: 0" << endl;
+ }
+
+ aa = matches(a, "Br.*Over.*");
+ result = "Brown Over The Lazy";
+ if (aa != result)
+ {
+ cout << "matches failed: " << aa << endl
+ << "should be: '" << result << "'" << endl;
+ }
+
+ string prettyPrintThis("This is a very long sentence that will get cut up into lines with a maximum length of 40 characters, each line indented by a few spaces.");
+ prettyPrint(prettyPrintThis, "\n", " ", " ", 40);
+ cout << prettyPrintThis << endl;
+
+ cout << "All other Tests Passed." << endl;
+
+ return 0;
+ }
+ catch (gpstk::Exception& e)
+ {
+ cout << e << endl;
+ }
+}
diff --git a/dev/oldtests/svnKeyWordTest.txt b/dev/oldtests/svnKeyWordTest.txt
new file mode 100644
index 0000000..1a6debc
--- /dev/null
+++ b/dev/oldtests/svnKeyWordTest.txt
@@ -0,0 +1,8 @@
+This is meaningless text.
+$LastChangedDate$
+$LastChangedRevision$
+$LastChangedBy$
+$HeadURL$
+$Id$
+This is more meaningless text.
+This text was added after the above line and should form revision 66.
diff --git a/dev/oldtests/testExpression.cpp b/dev/oldtests/testExpression.cpp
new file mode 100644
index 0000000..49e863b
--- /dev/null
+++ b/dev/oldtests/testExpression.cpp
@@ -0,0 +1,117 @@
+#include <iostream>
+#include <iomanip>
+
+#include "RinexObsStream.hpp"
+#include "Expression.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+int main(int argc, char* argv[])
+{
+ short test=1;
+
+ cout << endl << "Unit Test #" << setw(2) << test++ << " -----------------------------------" << endl;
+ {
+ string istr(" 1 + (6 - 2 ) * 3.2");
+ Expression xpr(istr);
+ cout << "Input string: \"" << istr << "\"" << endl;
+ xpr.print(cout);
+ cout << "=" << xpr.evaluate() << endl;
+ }
+
+ cout << endl << "Unit Test #" << setw(2) << test++ << " -----------------------------------" << endl;
+ try {
+ string istr(" 1 + (6 - gamma ) * 3.2");
+ Expression xpr(istr);
+ cout << "Input string: \"" << istr << "\"" << endl;
+ xpr.print(cout);
+ cout << "=" << xpr.evaluate() << endl;
+ }
+ catch (gpstk::Expression::ExpressionException ee)
+ {
+ cout << endl << "The expected exception was generated: " << endl;
+ cout << ee << endl;
+ }
+
+ cout << endl << "Unit Test #" << setw(2) << test++ << " -----------------------------------" << endl;
+ {
+ string istr(" 1 + 2*(3 + 1)");
+ Expression xpr(istr);
+ cout << "Input string: \"" << istr << "\"" << endl;
+ xpr.print(cout);
+ cout << "=" << xpr.evaluate() << endl;
+ }
+
+ cout << endl << "Unit Test #" << setw(2) << test++ << " -----------------------------------" << endl;
+ {
+ try {
+ string istr(" 1 + 2*( beta + 1)");
+ Expression xpr(istr);
+ cout << "Input string: \"" << istr << "\"" << endl;
+ xpr.print(cout);
+ xpr.set("beta",1);
+ cout << "=" << xpr.evaluate() << endl;
+ }
+ catch (...)
+ {
+ cout << "An unexpected exception was generated: ";
+ }
+ }
+
+ cout << endl << "Unit Test #" << setw(2) << test++ << " -----------------------------------" << endl;
+ {
+ string istr(" 1 + 2*cos(3.141592647)");
+ Expression xpr(istr);
+ cout << "Input string: \"" << istr << "\"" << endl;
+ xpr.print(cout);
+ cout << "=" << xpr.evaluate() << endl;
+ }
+
+ cout << endl << "Unit Test #" << setw(2) << test++ << " -----------------------------------" << endl;
+ {
+ string istr(" 1E+1 + 4* 2E-2");
+ Expression xpr(istr);
+ cout << "Input string: \"" << istr << "\"" << endl;
+ xpr.print(cout);
+ cout << "=" << xpr.evaluate() << endl;
+ }
+
+ cout << endl << "Unit Test #" << setw(2) << test++ << " -----------------------------------" << endl;
+ {
+ string istr("C/L1");
+ Expression xpr(istr);
+ xpr.setGPSConstants();
+ cout << "Input string: \"" << istr << "\"" << endl;
+ xpr.print(cout);
+ cout << "=" << xpr.evaluate() << endl;
+ }
+
+ cout << endl << "Unit Test #" << setw(2) << test++ << " -----------------------------------" << endl;
+ {
+ string istr("1/(1-gamma)*(P1 - P2)");
+ cout << "Input string: \"" << istr << "\"" << endl;
+ Expression xpr(istr);
+ xpr.print(cout);
+ cout << endl;
+ xpr.setGPSConstants();
+
+ RinexObsStream ros("../examples/bahr1620.04o");
+ RinexObsData rod;
+ for (int i=0;i<3;i++)
+ //while (ros >> rod)
+ {
+ ros >> rod;
+
+ RinexObsData::RinexPrnMap::const_iterator it;
+ for (it = rod.obs.begin(); it!= rod.obs.end(); it++)
+ {
+ xpr.setRinexObs(it->second);
+ cout << rod.time << " " << it->first.prn << " ";
+ cout << xpr.evaluate() << endl;
+ } // end step through PRNs in an epoch
+ } // end step through input obs file epoch by epoch
+ }
+
+ exit(0);
+}
diff --git a/dev/oldtests/testscript.pl b/dev/oldtests/testscript.pl
new file mode 100755
index 0000000..0f4d3e2
--- /dev/null
+++ b/dev/oldtests/testscript.pl
@@ -0,0 +1,184 @@
+#!/usr/bin/perl
+# $Id$
+
+# Ryan Mire ARL SGL
+# June 2005
+# last saved: July 25 1:50pm
+#
+#
+# Test Script created for the purpose of automating the testing of the GPStk Toolkit
+# Proper Command Line Syntax:
+# >>test script terminated\n testscript <home directory> <configfile> <output directory> [<html file and directory path>]
+#
+
+
+$homedir=$ARGV[0];
+die "\nThe given output directory, $homedir, is not found or does not exist.\n Try......>>test script terminated\n testscript <home directory> <configfile> <output directory> [<html file name>]\n"
+ if((-e $homedir)==0);
+
+$configfile=$ARGV[1];
+
+$outdir=$ARGV[2];
+mkdir "$outdir"
+ if((-e $outdir)==0);
+
+$html=$ARGV[3];
+
+$exedir=$homedir."/gpstk/dev/tests";
+die "\nThe test directory, $exedir, is not found or does not exist.......test script terminated"
+ if((-e $exedir)==0);
+
+$datdir=$exedir."/data";
+die "\nThe data directory, $datdir, is not found or does not exist......test script terminated"
+ if((-e $datdir)==0);
+
+$passfail="All Tests Passed";
+
+
+$n=0;
+
+open(CONFIG, $configfile);
+$testspec="";
+$mainlog="$outdir/testscript.log";
+open(LOG,">".$mainlog);
+open(HTML,">".$html);
+
+if($html)
+{
+ chomp($kernel =`uname -s`);
+ chomp($processor = `uname -p`);
+ print HTML "<tr class=\"alt\">\n";
+ print HTML "<td> $kernel</td>\n"; #Name of Kernel
+ print HTML "<td> $processor</td>\n"; #Name of Processor
+}
+
+while(<CONFIG>)
+{
+ # print "N = $n\n";
+ next if /^(#|!)/; #Skips lines beginning with "!"
+ s/^\s+//; #Substitute any space at the beginning of the line with nothing
+
+ if (/\\$/) #If the line contains a "\" at the end
+ {
+ s/\\$//; #Substitute the endline character "\" with nothing
+ s/\n/ /; #Substitute the newline character with a space
+ $testspec=$testspec.$_;
+ next;
+ }
+ else
+ {
+ $testspec=$testspec.$_;
+ }
+
+ $n+=1; #Counts up through all the executed tests
+
+ $testspec=~ s/;\s*$//; #Substitue the colon and space endline character with nothing
+ $testspec=~ s/\$outdir/$outdir/; #Replace the word $outdir with the true local value of $outdir
+ $testspec=~ s/\$datdir/$datdir/g; #Replace the word $datdir with the true local value of $datdir
+ # print "\nOriginal: $testspec\n";
+
+ @Cmdline=split /,/, $testspec; #Split the line at any commas and create the command line array
+ @Cmdname=split /(\s+|,|;)/, $testspec; #Split the line at any comas or whitespace or colons and create the command name array
+
+ $Cmdline="$exedir/@Cmdline[0]"; #Add on the proper local directory $exedir to begin the building of the command line
+ $Cmdname="@Cmdname[0]";
+ $scrfile="$outdir/$Cmdname.scr"; #Creates the generic screen output file in the proper $outdir local directory
+
+ # print "Command Line: $Cmdline\n";
+ print "Executing: $Cmdname\n";
+ # print "File Spec for Screen Capture: $scrfile\n";
+
+ $ret_val="Success";
+
+ if (system "$Cmdline>$scrfile")
+ {
+ $ret_val="Failure";
+ }
+
+ $diff_val="Success";
+ $diffline=@Cmdline[1]; #If there are any pieces after the first space/comma/colon diffline gets them
+
+ # print "DIFFLINE: $diffline\n";
+
+ if ($diffline)
+ {
+
+
+ $diffline=~ s/^\s//; #Takes off the beginning whitespace
+ @diffline=split /:/, $diffline; #Splits at any colon
+ $output=@diffline[0]; #Text before the colon
+ $golden=@diffline[1]; #Text after the colon
+ $diff_file="$outdir/$Cmdname.dif";
+
+ system "sdiff -s -I File $outdir/$output $datdir/$golden>$diff_file"; #executes Unix Bash Shell command
+
+
+ if (!-z $diff_file) #If the diff file is non-empty
+ {
+ $diff_val="False";
+ }
+ }
+
+ if(-z $diff_file)
+ {
+ system "rm $diff_file"
+ }
+
+ print "\t\tTest Run: $ret_val\n";
+ print "\t\tDiff Value: $diff_val\n";
+# print "$kernel \t $processor \n";
+
+
+ if ($ret_val eq 'Success' && $diff_val eq 'Success')
+ {
+ print LOG "$Cmdname......Success\n";
+ }
+ else
+ {
+ print LOG "$Cmdname......Failure -see $Cmdname.dif and $Cmdname.scr\n";
+ $passfail="One or More Tests Failed";
+ chomp($n);
+ chomp($Cmdname);
+ $failed[$n]="\t $n \t $Cmdname \n"; #Adds failed test to Failed Test list
+ }
+
+ if ($html)
+ {
+ if($ret_val eq 'Success' && $diff_val eq 'Success')
+ {
+ $colorcode="pass";
+ }
+ else
+ {
+ $colorcode="fail";
+ }
+ print HTML "<td> class=\"$colorcode\"> $ret_val </td>\n";
+ }
+
+ $testspec="";
+}
+ print LOG "\n Failed Test List :\n";
+ print LOG "\n @failed";
+
+if($html)
+{
+ print HTML "</tr>\n";
+}
+
+ close(HTML);
+ close(LOG);
+ close(CONFIG);
+
+ print "\n Main Directory: $homedir\n";
+ print " Configuration File: $configfile\n";
+ print " Output Directory: $outdir\n";
+ print " Test Directory: $exedir\n";
+ print " Data directory: $datdir\n";
+ print "\nRan $n tests\n";
+ print "$passfail\n";
+
+if(@failed!=0)
+{
+ print "Failed Test List:\n";
+ print "@failed";
+}
diff --git a/trunk/tests/testscript_readme.txt b/dev/oldtests/testscript_readme.txt
similarity index 100%
rename from trunk/tests/testscript_readme.txt
rename to dev/oldtests/testscript_readme.txt
diff --git a/dev/src/ANSITime.cpp b/dev/src/ANSITime.cpp
new file mode 100644
index 0000000..e1cc3a4
--- /dev/null
+++ b/dev/src/ANSITime.cpp
@@ -0,0 +1,148 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "ANSITime.hpp"
+#include "TimeConstants.hpp"
+
+namespace gpstk
+{
+ ANSITime& ANSITime::operator=( const ANSITime& right )
+ throw()
+ {
+ time = right.time;
+ return *this;
+ }
+
+ CommonTime ANSITime::convertToCommonTime() const
+ {
+ return CommonTime( ( MJD_JDAY + UNIX_MJD + time / SEC_PER_DAY ),
+ ( time % SEC_PER_DAY ),
+ 0 );
+ }
+
+ void ANSITime::convertFromCommonTime( const CommonTime& ct )
+ {
+ long jday, sod;
+ double fsod;
+ ct.get( jday, sod, fsod );
+
+ time =
+ static_cast<time_t>((jday - MJD_JDAY - UNIX_MJD) * SEC_PER_DAY + sod);
+ }
+
+ std::string ANSITime::printf( const std::string& fmt ) const
+ throw( gpstk::StringUtils::StringException )
+ {
+ try
+ {
+ using gpstk::StringUtils::formattedPrint;
+ std::string rv( fmt );
+
+ rv = formattedPrint( rv, getFormatPrefixInt() + "K",
+ "Kd", time );
+
+ return rv;
+ }
+ catch( gpstk::StringUtils::StringException& se )
+ {
+ GPSTK_RETHROW( se );
+ }
+ }
+
+ bool ANSITime::setFromInfo( const IdToValue& info )
+ throw()
+ {
+ using namespace gpstk::StringUtils;
+
+ IdToValue::const_iterator i = info.find('K');
+ if( i != info.end() )
+ {
+ time = asInt( i->second );
+ }
+
+ return true;
+ }
+
+ bool ANSITime::isValid() const
+ throw()
+ {
+ ANSITime temp;
+ temp.convertFromCommonTime( convertToCommonTime() );
+ if( *this == temp )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ void ANSITime::reset()
+ throw()
+ {
+ time = 0;
+ }
+
+ bool ANSITime::operator==( const ANSITime& right ) const
+ throw()
+ {
+ if( time == right.time )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool ANSITime::operator!=( const ANSITime& right ) const
+ throw()
+ {
+ return ( !operator==( right ) );
+ }
+
+ bool ANSITime::operator<( const ANSITime& right ) const
+ throw()
+ {
+ return ( time < right.time );
+ }
+
+ bool ANSITime::operator>( const ANSITime& right ) const
+ throw()
+ {
+ return ( !operator<=( right ) );
+ }
+
+ bool ANSITime::operator<=( const ANSITime& right ) const
+ throw()
+ {
+ return ( operator<( right ) ||
+ operator==( right ) );
+ }
+
+ bool ANSITime::operator>=( const ANSITime& right ) const
+ throw()
+ {
+ return ( !operator<( right ) );
+ }
+
+} // namespace
diff --git a/dev/src/ANSITime.hpp b/dev/src/ANSITime.hpp
new file mode 100644
index 0000000..e05466c
--- /dev/null
+++ b/dev/src/ANSITime.hpp
@@ -0,0 +1,174 @@
+#pragma ident "$Id$"
+
+
+
+#ifndef GPSTK_ANSITIME_HPP
+#define GPSTK_ANSITIME_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "TimeTag.hpp"
+#include <time.h> // for time_t
+
+namespace gpstk
+{
+ /**
+ * This class encapsulates the "ANSITime (seconds since Unix epoch)" time
+ * representation.
+ */
+ class ANSITime : public TimeTag
+ {
+ public:
+ /**
+ * @defgroup utbo ANSITime Basic Operations
+ * Default and Copy Constructors, Assignment Operator and Destructor.
+ */
+ //@{
+
+ /**
+ * Default Constructor.
+ * All elements are initialized to zero.
+ */
+ ANSITime( time_t t = 0 )
+ throw()
+ {
+ time = t;
+ }
+
+ /**
+ * Copy Constructor.
+ * @param right a reference to the ANSITime object to copy
+ */
+ ANSITime( const ANSITime& right )
+ throw()
+ : time( right.time )
+ {}
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const TimeTag reference and copies its contents via
+ * conversion to CommonTime.
+ * @param right a const reference to the BasicTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ ANSITime( const TimeTag& right )
+ throw( gpstk::InvalidRequest )
+ {
+ convertFromCommonTime( right.convertToCommonTime() );
+ }
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const CommonTime reference and copies its contents via
+ * the convertFromCommonTime method.
+ * @param right a const reference to the CommonTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ ANSITime( const CommonTime& right )
+ throw( InvalidRequest )
+ {
+ convertFromCommonTime( right );
+ }
+
+ /**
+ * Assignment Operator.
+ * @param right a const reference to the ANSITime to copy
+ * @return a reference to this ANSITime
+ */
+ ANSITime& operator=( const ANSITime& right )
+ throw();
+
+ /// Virtual Destructor.
+ virtual ~ANSITime()
+ throw()
+ {}
+ //@}
+
+ // The following functions are required by TimeTag.
+ virtual CommonTime convertToCommonTime() const;
+
+ virtual void convertFromCommonTime( const CommonTime& ct ) ;
+
+ /// This function formats this time to a string. The exceptions
+ /// thrown would only be due to problems parsing the fmt string.
+ virtual std::string printf( const std::string& fmt ) const
+ throw( gpstk::StringUtils::StringException );
+
+ /**
+ * Set this object using the information provided in \a info.
+ * @param info the IdToValue object to which this object shall be set.
+ * @return true if this object was successfully set using the
+ * data in \a info, false if not.
+ */
+ virtual bool setFromInfo( const IdToValue& info )
+ throw();
+
+ /// Return a string containing the characters that this class
+ /// understands when printing times.
+ virtual std::string getPrintChars() const
+ throw()
+ {
+ return "K";
+ }
+
+ /// Return a string containing the default format to use in printing.
+ virtual std::string getDefaultFormat() const
+ throw()
+ {
+ return "%K";
+ }
+
+ virtual bool isValid() const
+ throw();
+
+ virtual void reset()
+ throw();
+
+ /**
+ * @defgroup utco ANSITime Comparison Operators
+ * All comparison operators have a parameter "right" which corresponds
+ * to the ANSITime object to the right of the symbol.
+ * All comparison operators are const and return true on success
+ * and false on failure.
+ */
+ //@{
+ bool operator==( const ANSITime& right ) const
+ throw();
+ bool operator!=( const ANSITime& right ) const
+ throw();
+ bool operator<( const ANSITime& right ) const
+ throw();
+ bool operator>( const ANSITime& right ) const
+ throw();
+ bool operator<=( const ANSITime& right ) const
+ throw();
+ bool operator>=( const ANSITime& right ) const
+ throw();
+ //@}
+
+ time_t time;
+ };
+
+} // namespace
+
+#endif // GPSTK_ANSITIME_HPP
diff --git a/dev/src/AlmOrbit.cpp b/dev/src/AlmOrbit.cpp
new file mode 100644
index 0000000..35724f5
--- /dev/null
+++ b/dev/src/AlmOrbit.cpp
@@ -0,0 +1,284 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file AlmOrbit.cpp
+ * Encapsulate almanac data, and compute satellite orbit, etc.
+ */
+
+#include "icd_200_constants.hpp"
+#include "GPSGeoid.hpp"
+#include "AlmOrbit.hpp"
+#include <cmath>
+
+namespace gpstk
+{
+ AlmOrbit :: AlmOrbit() throw()
+ {
+ ecc = i_offset = OMEGAdot = Ahalf = OMEGA0 = w = M0 = AF0 = AF1 = 0.0;
+
+ Toa = xmit_time = 0;
+
+ week = SV_health = 0;
+ }
+
+ AlmOrbit :: AlmOrbit(short prn, double aEcc, double ai_offset,
+ double aOMEGAdot, double aAhalf, double aOMEGA0,
+ double aw, double aM0, double aAF0, double aAF1,
+ long aToa, long axmit_time, short aweek,
+ short aSV_health)
+ : ecc(aEcc), i_offset(ai_offset), OMEGAdot(aOMEGAdot), Ahalf(aAhalf),
+ OMEGA0(aOMEGA0), w(aw), M0(aM0), AF0(aAF0), AF1(aAF1), Toa(aToa),
+ xmit_time(axmit_time), week(aweek), SV_health(aSV_health), PRN(prn)
+ {
+ }
+
+ Xvt AlmOrbit :: svXvt(const DayTime& t) const
+ throw()
+ {
+ Xvt sv;
+ GPSGeoid geoid;
+
+ double elapt; /* elapsed time since Toa */
+ double A; /* semi-major axis */
+ double n; /* mean motion */
+ double meana; /* mean anomoly */
+ double ea; /* eccentric anomoly */
+ short loop; /* counter */
+ double f,g,delea,q,gsta,gcta; /* temp. variables */
+ double dtc; /* corrected time */
+ double ta; /* true anomoly */
+ double sinea,cosea,sinu,cosu;
+ double alat; /* arguement of latitude */
+ double ualat; /* corrected arguement of latitude */
+ double r; /* radius */
+ double i; /* inclination */
+ double anlon; /* corrected longitue of ascending node */
+ double xip,yip,can,san,cinc,sinc,xef,yef,zef,dek,dlk,div,domk,duv,
+ drv,dxp,dyp,vxef,vyef,vzef;
+ double sqrtgm = ::sqrt(geoid.gm());
+
+/* Compute time since Almanac epoch (Toa) including week change */
+ elapt = t - getToaTime();
+
+ /* compute mean motion from semi-major axis */
+ A = Ahalf * Ahalf;
+ n = sqrtgm / (Ahalf * A);
+
+ /* compute the mean anomaly */
+ meana = M0 + elapt * n;
+ meana = fmod(meana, 2.0 * PI);
+
+ /* compute eccentric anomaly by iteration */
+
+ ea = meana + ecc * sin(meana);
+ loop = 1;
+
+ do {
+ f = meana - (ea - ecc * sin(ea));
+ g = 1.0 - ecc * ::cos(ea);
+ delea = f / g;
+ ea += delea;
+ loop++;
+ } while ( fabs(delea) > 1.0e-11 && (loop <= 20));
+
+ /* compute clock corrections (no relativistic correction computed) */
+ dtc = AF0 + elapt * AF1;
+ sv.dtime = dtc;
+
+ /* compute the true anomaly */
+ q = sqrt (1.0e0 - ecc * ecc);
+ sinea = ::sin(ea);
+ cosea = ::cos(ea);
+ gsta = q * sinea;
+ gcta = cosea - ecc;
+ ta = ::atan2(gsta,gcta);
+
+ /* compute argument of latitude for orbit */
+ alat = ta + w;
+
+ /* compute correction terms ( no pertubation ) */
+ ualat = alat;
+ r = A * (1.0 - ecc * cosea);
+ i = i_offset + 0.3e0 * PI;
+
+ /* compute corrected longitude of ascending node */
+ anlon = OMEGA0 +
+ (OMEGAdot - geoid.angVelocity()) * elapt -
+ geoid.angVelocity() * (double)Toa;
+
+ /* compute positions in orbital plane */
+ cosu = ::cos(ualat);
+ sinu = ::sin(ualat);
+ xip = r * cosu;
+ yip = r * sinu;
+
+ /* compute earch fixed coordinates (in meters) */
+ can = ::cos (anlon);
+ san = ::sin (anlon);
+ cinc = ::cos(i);
+ sinc = ::sin(i);
+
+ xef = xip * can - yip * cinc * san;
+ yef = xip * san + yip * cinc * can;
+ zef = yip * sinc;
+
+ sv.x[0] = xef;
+ sv.x[1] = yef;
+ sv.x[2] = zef;
+
+ /* compute velocity of rotation coordinates & velocity of sat. */
+ dek = n * A / r;
+ dlk = sqrtgm * Ahalf * q / (r * r);
+ div = 0.0e0;
+ domk = OMEGAdot - geoid.angVelocity();
+ duv = dlk;
+ drv = A * ecc * dek * sinea;
+
+ dxp = drv * cosu - r * sinu * duv;
+ dyp = drv * sinu + r * cosu * duv;
+
+ vxef = dxp * can - xip * san * domk - dyp * cinc * san
+ + yip * (sinc * san * div - cinc * can * domk);
+ vyef = dxp * san + xip * can * domk + dyp * cinc * can
+ - yip * (sinc * can * div + cinc * san * domk);
+ vzef = dyp * sinc + yip * cinc * div;
+
+ sv.v[0] = vxef;
+ sv.v[1] = vyef;
+ sv.v[2] = vzef;
+
+ return sv;
+ }
+
+ DayTime AlmOrbit::getTransmitTime() const throw()
+ {
+ DayTime transmitTime(0.L);
+ transmitTime.setGPSfullweek(getFullWeek(), (double)xmit_time);
+ return transmitTime;
+ }
+
+ short AlmOrbit::getFullWeek() const throw()
+ {
+ // return value of the transmit week for the given PRN
+ short xmit_week = week;
+ double sow_diff = (double)(Toa - xmit_time);
+ if (sow_diff < -DayTime::HALFWEEK)
+ xmit_week--;
+ else if (sow_diff > DayTime::HALFWEEK)
+ xmit_week++;
+
+ return xmit_week;
+ }
+
+ DayTime AlmOrbit::getToaTime() const throw()
+ {
+ DayTime toaTime(0.L);
+ toaTime.setGPSfullweek(week, (double)Toa);
+ return toaTime;
+ }
+
+ void AlmOrbit::dump(std::ostream& s, int verbosity) const
+ {
+ using std::endl;
+ using std::setw;
+ switch (verbosity)
+ {
+ case 0:
+ s << PRN << ", "
+ << Toa << ", "
+ << std::hex
+ << SV_health << ", "
+ << std::dec
+ << AF0 << ", "
+ << AF1 << ", "
+ << ecc << ", "
+ << w << ", "
+ << M0 << ", "
+ << OMEGA0 << ", "
+ << OMEGAdot << ", "
+ << i_offset
+ << endl;
+ break;
+
+ case 1:
+ s << "PRN:" << PRN
+ << " Toa:" << Toa
+ << " H:" << SV_health
+ << " AFO:" << AF0
+ << " AF1:" <<AF1
+ << " Ecc:" << ecc
+ << endl
+ << " " << w
+ << " M0:" << M0
+ << " OMEGA0:" << OMEGA0
+ << " OMEGAdot:" << OMEGAdot
+ << " Ioff:" << i_offset
+ << endl;
+ break;
+
+ default:
+ s << "PRN: " << PRN << endl
+ << "Toa: " << Toa << endl
+ << "xmit_time: " << xmit_time << endl
+ << "week: " << week << endl
+ << "SV_health: " << SV_health << endl
+ << "AFO: " << setw(12) << AF0 << " sec" << endl
+ << "AF1: " << setw(12) << AF1 << " sec/sec" << endl
+ << "Eccentricity: " << setw(12) << ecc << endl
+ << "Arg of perigee: " << setw(12) << w << " rad" << endl
+ << "Mean anomaly at epoch: " << setw(12) << M0 << " rad" << endl
+ << "Right ascension: " << setw(12) << OMEGA0 << " rad " << setw(16) << OMEGAdot << " rad/sec" << endl
+ << "Inclination offset: " << setw(12) << i_offset << " rad " << endl;
+ }
+ }
+
+ std::ostream& operator<<(std::ostream& s, const AlmOrbit& ao)
+ {
+ ao.dump(s);
+ return s;
+ }
+
+} // namespace
diff --git a/dev/src/AlmOrbit.hpp b/dev/src/AlmOrbit.hpp
new file mode 100644
index 0000000..ee5642e
--- /dev/null
+++ b/dev/src/AlmOrbit.hpp
@@ -0,0 +1,142 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef GPSTK_ALMORBIT_HPP
+#define GPSTK_ALMORBIT_HPP
+
+/**
+ * @file AlmOrbit.hpp
+ * Encapsulate almanac data, and compute satellite orbit, etc.
+ */
+
+#include <map>
+#include "DayTime.hpp"
+#include "SatID.hpp"
+#include "Xvt.hpp"
+
+namespace gpstk
+{
+ /** @defgroup ephemcalc Ephemeris calculations */
+ //@{
+
+ /** Encapsulation of almanac SV orbital parameters (page 5,
+ * subframes 1-24). */
+ class AlmOrbit
+ {
+ public:
+ /// Default constructor, initialize to 0.
+ AlmOrbit() throw();
+
+ /// Fill constructor for all fields.
+ AlmOrbit(short prn, double aEcc, double ai_offset, double aOMEGAdot,
+ double aAhalf, double aOMEGA0, double aw, double aM0,
+ double aAF0, double aAF1, long aToa, long axmit_time,
+ short aweek, short aSV_health);
+
+ Xvt svXvt(const DayTime& t) const throw();
+
+ short getPRNID() const throw()
+ { return PRN; }
+
+ /// returns full week of TRANSMIT TIME
+ short getFullWeek() const throw();
+ DayTime getTransmitTime() const throw();
+ DayTime getToaTime() const throw();
+ DayTime getTimestamp() const throw() { return getToaTime(); }
+ short getSVHealth() const throw() { return SV_health; }
+
+ void dump(std::ostream& s = std::cout, int verbosity=1) const;
+
+ short getPRN() const;
+ double getecc() const;
+ double geti_offset() const;
+ double getOMEGAdot() const;
+ double getAhalf() const;
+ double getOMEGA0() const;
+ double getw() const;
+ double getM0() const;
+ double getAF0() const;
+ double getAF1() const;
+ long getToaSOW() const;
+ long getxmit_time() const;
+ short getToaWeek() const;
+
+ protected:
+ short PRN; /**< PRN identifier for this SV */
+ double ecc; /**< eccentricity */
+ double i_offset; /**< i offset from 54 deg. in rads. */
+ double OMEGAdot; /**< Right Ascention rate in rad/sec */
+ double Ahalf; /**< sqrt of semi-major axis in m**1/2 */
+ double OMEGA0; /**< Right Asc. of Ascending node in rads. */
+ double w; /**< arguement of perigee in rads. */
+ double M0; /**< mean anomoly in rads */
+ double AF0; /**< clock model coeff in sec */
+ double AF1; /**< clock model coeff in sec/sec */
+ long Toa; /**< Time of epoch in GPS sec */
+ long xmit_time; /**< Transmission time */
+ short week; /**< week of Toa (full week) */
+ short SV_health; /**< health of SV */
+
+ private:
+ friend class EngAlmanac;
+ }; // class AlmOrbit
+
+ /// Map from SatID to AlmOrbit.
+ typedef std::map<SatID, AlmOrbit> AlmOrbits;
+
+ std::ostream& operator<<(std::ostream& s, const AlmOrbit& ao);
+
+ inline short AlmOrbit::getPRN() const {return(PRN);}
+ inline double AlmOrbit::getecc() const {return(ecc);}
+ inline double AlmOrbit::geti_offset() const {return(i_offset);}
+ inline double AlmOrbit::getOMEGAdot() const {return(OMEGAdot);}
+ inline double AlmOrbit::getAhalf() const {return(Ahalf);}
+ inline double AlmOrbit::getOMEGA0() const {return(OMEGA0);}
+ inline double AlmOrbit::getw() const {return(w);}
+ inline double AlmOrbit::getM0() const {return(M0);}
+ inline double AlmOrbit::getAF0() const {return(AF0);}
+ inline double AlmOrbit::getAF1() const {return(AF1);}
+ inline long AlmOrbit::getToaSOW() const {return(Toa);}
+ inline long AlmOrbit::getxmit_time() const {return(xmit_time);}
+ inline short AlmOrbit::getToaWeek() const {return(week);}
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/AlmanacStore.cpp b/dev/src/AlmanacStore.cpp
new file mode 100644
index 0000000..4e0d29c
--- /dev/null
+++ b/dev/src/AlmanacStore.cpp
@@ -0,0 +1,186 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file AlmanacStore.cpp
+ * Store almanac information, and access by satellite and time
+ */
+
+#include "AlmanacStore.hpp"
+#include "StringUtils.hpp"
+#include "EngAlmanac.hpp"
+#include "gps_constants.hpp"
+
+namespace gpstk
+{
+ Xvt AlmanacStore::getSatXvt(SatID sat, const gpstk::DayTime& t)
+ const throw(AlmanacStore::NoAlmanacFound)
+ {
+ AlmOrbit a = findAlmanac(sat, t);
+ return a.svXvt(t);
+ }
+
+ short AlmanacStore::getSatHealth(SatID sat, const gpstk::DayTime& t)
+ const throw(AlmanacStore::NoAlmanacFound)
+ {
+ AlmOrbit a = findAlmanac(sat, t);
+ return a.getSVHealth();
+ }
+
+ bool AlmanacStore::addAlmanac(const AlmOrbit& alm) throw()
+ {
+ if ((alm.getPRNID() >= 1) && (alm.getPRNID() <= MAX_PRN))
+ {
+ SatID sat(alm.getPRNID(),SatID::systemGPS);
+ uba[sat][alm.getToaTime()] = alm;
+ return true;
+ }
+ return false;
+ }
+
+ bool AlmanacStore::addAlmanac(const EngAlmanac& alm) throw()
+ {
+ AlmOrbits ao = alm.getAlmOrbElems();
+ AlmOrbits::const_iterator oci;
+ for (oci = ao.begin();
+ oci != ao.end();
+ oci++)
+ {
+ addAlmanac((*oci).second);
+ }
+ return true;
+ }
+
+ /// gets the closest almanac for the given time and satellite,
+ /// closest being in the past or future.
+ AlmOrbit AlmanacStore::findAlmanac(SatID sat, const gpstk::DayTime& t)
+ const throw(AlmanacStore::NoAlmanacFound)
+ {
+ UBAMap::const_iterator satItr = uba.find(sat);
+ if (satItr == uba.end())
+ {
+ NoAlmanacFound nef("No almanacs for satellite " + StringUtils::asString(sat));
+ GPSTK_THROW(nef);
+ }
+
+ const EngAlmMap& eam = (*satItr).second;
+
+ // find the closest almanac BEFORE t, if any.
+ EngAlmMap::const_iterator nextItr = eam.begin(),
+ almItr = eam.end();
+
+ while ( (nextItr != eam.end()) &&
+ ((*nextItr).first < t) )
+ {
+ almItr = nextItr;
+ nextItr++;
+ }
+
+ if (almItr == eam.end())
+ {
+ if (nextItr == eam.end())
+ {
+ NoAlmanacFound nef("No almanacs for time " + t.asString());
+ GPSTK_THROW(nef);
+ }
+ else
+ {
+ almItr = nextItr;
+ }
+ }
+
+ // check the next almanac (the first one after t's time)
+ // to see if it's closer than the one before t
+ if (nextItr != eam.end())
+ {
+ if ( ((*nextItr).first - t) < (t - (*almItr).first))
+ almItr = nextItr;
+ }
+ return (*almItr).second;
+ }
+
+
+ AlmOrbits AlmanacStore::findAlmanacs(const gpstk::DayTime& t)
+ const
+ {
+ AlmOrbits ao;
+ UBAMap::const_iterator satItr = uba.begin();
+ while (satItr != uba.end())
+ {
+ try
+ {
+ AlmOrbit a = findAlmanac((*satItr).first, t);
+ ao[(*satItr).first] = a;
+ }
+ /// who cares about exceptions - the map will
+ /// be empty if there are no alms...
+ catch(...)
+ {}
+
+ satItr++;
+ }
+ return ao;
+ }
+
+ gpstk::DayTime AlmanacStore::getInitialTime()
+ const
+ {
+ DayTime retDT = DayTime::END_OF_TIME;
+ UBAMap::const_iterator satItr = uba.begin();
+ while (satItr != uba.end())
+ {
+ const EngAlmMap& eam = (*satItr).second;
+
+ EngAlmMap::const_iterator nextItr;
+ for (nextItr=eam.begin(); nextItr!=eam.end(); ++nextItr)
+ {
+ const AlmOrbit& ao = (*nextItr).second;
+ try
+ {
+ DayTime testT = ao.getToaTime();
+ if (testT<retDT) retDT = testT;
+ }
+ // Not to worry, worst case method return 'END_OF_TIME'
+ catch(...)
+ {}
+ }
+ satItr++;
+ }
+ return(retDT);
+ }
+
+}
diff --git a/dev/src/AlmanacStore.hpp b/dev/src/AlmanacStore.hpp
new file mode 100644
index 0000000..a0703cd
--- /dev/null
+++ b/dev/src/AlmanacStore.hpp
@@ -0,0 +1,135 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file AlmanacStore.hpp
+ * Store almanac information, and access by satellite and time
+ */
+
+#ifndef GPSTK_ALMANACSTORE_HPP
+#define GPSTK_ALMANACSTORE_HPP
+
+#include <iostream>
+#include <string>
+#include <map>
+
+#include "Exception.hpp"
+#include "DayTime.hpp"
+#include "SatID.hpp"
+#include "AlmOrbit.hpp"
+#include "EngAlmanac.hpp"
+
+namespace gpstk
+{
+ /** @defgroup ephemstore Ephemeris I/O and Storage */
+ //@{
+
+ /// This class defines an interface to hide how we are getting an SV's
+ /// position at some point in time using almanac data.
+ class AlmanacStore
+ {
+ public:
+ /// Thrown when attempting to read an almanac that isn't stored.
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(NoAlmanacFound, gpstk::Exception);
+
+ /// return the PVT of the satellite in ECEF coordinates
+ /// @param sat the satellite's SatID
+ /// @param t the time of interest
+ Xvt getSatXvt(SatID sat, const gpstk::DayTime& t)
+ const throw(NoAlmanacFound);
+
+ /// \deprecated use the SatID version
+ Xvt getPrnXvt(short prn, const gpstk::DayTime& t)
+ const throw(NoAlmanacFound)
+ { SatID sat(prn,SatID::systemGPS); return getSatXvt(sat,t); }
+
+ /// return the health of the satellite at a particular time
+ /// @param sat the satellite's SatID
+ /// @param t the time of interest
+ short getSatHealth(SatID sat, const gpstk::DayTime& t)
+ const throw(NoAlmanacFound);
+
+ /// \deprecated use the SatID version
+ short getPrnHealth(short prn, const gpstk::DayTime& t)
+ const throw(NoAlmanacFound)
+ { SatID sat(prn,SatID::systemGPS); return getSatHealth(sat,t); }
+
+ bool addAlmanac(const AlmOrbit& alm) throw();
+ bool addAlmanac(const EngAlmanac& alm) throw();
+
+ /// gets the closest almanac for the given time and satellite id,
+ /// closest being in the past or future.
+ /// @param sat the satellite's SatID
+ /// @param t the time of interest
+ AlmOrbit findAlmanac(SatID sat, const DayTime& t)
+ const throw(NoAlmanacFound);
+
+ /// \deprecated use the SatID version
+ AlmOrbit findAlmanac(short prn, const DayTime& t)
+ const throw(NoAlmanacFound)
+ { SatID sat(prn,SatID::systemGPS); return findAlmanac(sat,t); }
+
+ /// returns all almanacs closest to t for all satellites
+ AlmOrbits findAlmanacs(const DayTime& t) const;
+
+ /// returns earliest Toa found in the set
+ gpstk::DayTime getInitialTime() const;
+
+ /// this isn't accurate, but the 0 case is all that's really important
+ size_t size() const { return uba.size(); }
+
+ protected:
+ /** This is intended to just store weekly sets of unique EngAlmanacs
+ * for a single SV. The key is ToA
+ */
+ typedef std::map<gpstk::DayTime, AlmOrbit> EngAlmMap;
+
+ /** This is intended to hold all unique EngEphemerises for each SV
+ * The key is the SatID of the SV.
+ */
+ typedef std::map<SatID, EngAlmMap> UBAMap;
+
+ /// The map where all EngAlmanacs are stored.
+ UBAMap uba;
+ };
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/BCEphemerisStore.cpp b/dev/src/BCEphemerisStore.cpp
new file mode 100644
index 0000000..cc5faea
--- /dev/null
+++ b/dev/src/BCEphemerisStore.cpp
@@ -0,0 +1,489 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file BCEphemerisStore.cpp
+ * Store GPS broadcast ephemeris information, and access by satellite and time
+ */
+
+#include <iostream>
+#include <fstream>
+#include <iomanip>
+
+#include "StringUtils.hpp"
+#include "BCEphemerisStore.hpp"
+#include "MathBase.hpp"
+
+using namespace std;
+using namespace gpstk;
+using gpstk::StringUtils::asString;
+
+namespace gpstk
+{
+ //--------------------------------------------------------------------------
+ //--------------------------------------------------------------------------
+ const EngEphemeris&
+ BCEphemerisStore::findEphemeris(SatID sat, const DayTime& t)
+ const throw(EphemerisStore::NoEphemerisFound)
+ {
+ try
+ {
+ const EngEphemeris& eph
+ = (method==0 ? findUserEphemeris(sat, t) : findNearEphemeris(sat,t) );
+ return eph;
+ }
+ catch(NoEphemerisFound& nef)
+ {
+ GPSTK_RETHROW(nef);
+ }
+ catch(InvalidRequest& ir)
+ {
+ NoEphemerisFound nef(ir);
+ GPSTK_THROW(nef);
+ }
+ }
+
+
+ Xvt BCEphemerisStore::getSatXvt(SatID sat, const DayTime& t)
+ const throw(EphemerisStore::NoEphemerisFound)
+ {
+ short ref;
+ return getSatXvt(sat, t, ref);
+ } // end of BCEphemerisStore::getSatXvt()
+
+
+ Xvt BCEphemerisStore::getSatXvt(SatID sat, const DayTime& t, short& ref)
+ const throw(EphemerisStore::NoEphemerisFound)
+ {
+ try
+ {
+ // test for GPS satellite system in sat?
+ const EngEphemeris& eph = findEphemeris(sat,t);
+ ref = eph.getIODC();
+ Xvt sv = eph.svXvt(t);
+ return sv;
+ }
+ catch(NoEphemerisFound& nef)
+ {
+ GPSTK_RETHROW(nef);
+ }
+ catch(InvalidRequest& ir)
+ {
+ NoEphemerisFound nef(ir);
+ GPSTK_THROW(nef);
+ }
+ } // end of BCEphemerisStore::getSatXvt()
+
+
+ //--------------------------------------------------------------------------
+ //--------------------------------------------------------------------------
+ double BCEphemerisStore::getTGD(SatID sat, const DayTime& t)
+ const throw(EphemerisStore::NoTGDFound)
+ {
+ try
+ {
+ double tgdValue;
+ const EngEphemeris& eph
+ = ( method==0 ? findEphemeris(sat,t) : findNearEphemeris(sat,t) );
+ tgdValue = eph.getTgd() * C_GPS_M;
+ return tgdValue;
+ }
+ catch(NoTGDFound& nef)
+ {
+ GPSTK_RETHROW(nef);
+ }
+ catch(InvalidRequest& ir)
+ {
+ NoTGDFound nef(ir);
+ GPSTK_THROW(nef);
+ }
+ } // end of BCEphemerisStore::getTGD()
+
+
+ //--------------------------------------------------------------------------
+ //--------------------------------------------------------------------------
+ short BCEphemerisStore::getSatHealth(SatID sat, const DayTime& t)
+ const throw(EphemerisStore::NoEphemerisFound)
+ {
+ try
+ {
+ // test for GPS satellite system in sat?
+ const EngEphemeris& eph = findEphemeris(sat, t);
+ short health = eph.getHealth();
+ return health;
+ }
+ catch(NoEphemerisFound& nef)
+ {
+ GPSTK_RETHROW(nef);
+ }
+ catch(InvalidRequest& ir)
+ {
+ NoEphemerisFound nef(ir);
+ GPSTK_THROW(nef);
+ }
+ } // end of BCEphemerisStore::getHealth()
+
+ //--------------------------------------------------------------------------
+ //--------------------------------------------------------------------------
+ void BCEphemerisStore::dump(short detail, std::ostream& s) const
+ {
+ UBEMap::const_iterator it;
+
+ s << "Dump of BCEphemerisStore:\n";
+ if (detail==0)
+ {
+ unsigned bce_count=0;
+ for (it = ube.begin(); it != ube.end(); it++)
+ bce_count += it->second.size();
+
+ s << " Span is " << initialTime
+ << " to " << finalTime
+ << " with " << bce_count << " entries."
+ << std::endl;
+ }
+ else
+ {
+ for (it = ube.begin(); it != ube.end(); it++)
+ {
+ const EngEphMap& em = it->second;
+ s << " BCE map for satellite " << it->first
+ << " has " << em.size() << " entries." << std::endl;
+
+ EngEphMap::const_iterator ei;
+ for (ei=em.begin(); ei != em.end(); ei++)
+ if (detail==1)
+ s << "PRN " << setw(2) << it->first
+ << " TOE " << ei->second.getEpochTime()
+ << " TOC " << fixed << setw(10) << setprecision(3) << ei->second.getToc()
+ << " HOW " << setw(10) << ei->second.getHOWTime(2)
+ << " KEY " << ei->first
+ << std::endl;
+ else
+ ei->second.dump();
+ }
+
+ s << " End of BCE maps." << std::endl << std::endl;
+ }
+ } // end of BCEphemerisStore::dump()
+
+
+ //--------------------------------------------------------------------------
+ // Only keeps one ephemeris with a given IODC/time
+ // It should keep the one with the latest transmit time
+ //--------------------------------------------------------------------------
+ bool BCEphemerisStore::addEphemeris(const EngEphemeris& eph)
+ throw(InvalidRequest)
+ {
+ bool rc = false;
+ DayTime t(0.L);
+ t = eph.getEphemerisEpoch();
+ t -= 0.5*3600.0*eph.getFitInterval();
+
+ EngEphMap& eem = ube[eph.getPRNID()];
+ EngEphMap::iterator sfi = eem.find(t);
+ if ( sfi == eem.end())
+ {
+ eem[t] = eph;
+ rc = true;
+ }
+ else
+ {
+ // Store the new eph only if it has a later transmit time
+ EngEphemeris& current = sfi->second;
+ DayTime ephTot, currentTot;
+ ephTot = eph.getTransmitTime();
+ currentTot = current.getTransmitTime();
+
+ if (ephTot > currentTot)
+ {
+ //if (eph.getIODC() != current.getIODC())
+ //cerr << "Wierd: prn:" << setw(2) << eph.getPRNID()
+ //<< ", Toe:" << eph.getToe()
+ //<< ", New IODC:" << eph.getIODC()
+ //<< ", New TTx:" << eph.getTot()
+ //<< ", Old IODC:" << current.getIODC()
+ //<< ", Old TTx:" << current.getTot()
+ //<< endl;
+
+ current = eph;
+ rc = true;
+ }
+ }
+
+ // In any case, update the initial and final times
+ if (t<initialTime)
+ initialTime = t;
+ else if (t>finalTime)
+ finalTime = t;
+
+ return rc;
+ }
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+ unsigned BCEphemerisStore::wiper(const DayTime& t) throw(InvalidRequest)
+ {
+ unsigned counter = 0;
+ DayTime test;
+ for(UBEMap::iterator i = ube.begin(); i != ube.end(); i++)
+ {
+ EngEphMap& thisPRN = i->second;
+ EngEphMap::size_type mapSize = i->second.size();
+ bool done = (i->second.size() == 0);
+ while(!done)
+ {
+ EngEphemeris& foo = thisPRN.begin()->second;
+ try
+ {
+ test = foo.getEphemerisEpoch();
+ }
+ catch (InvalidRequest& exc)
+ {
+ exc.addText("In wiping ephemerides for PRN " +
+ asString(i->first));
+ exc.addText("Map had " + asString(mapSize) + " elements in"
+ " it to begin with");
+ //foo.dump(exc);
+ ostringstream oss;
+ foo.dump(oss);
+ exc.addText(oss.str());
+ GPSTK_RETHROW(exc);
+ }
+ if( test < t )
+ {
+ thisPRN.erase(thisPRN.begin());
+ ++counter;
+ done = (i->second.size() == 0);
+ }
+ else
+ {
+ done = true;
+ }
+ }
+ }
+ // update initialTime
+ initialTime = t;
+
+ return counter;
+ }
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+ void BCEphemerisStore::edit(const DayTime& tmin, const DayTime& tmax)
+ {
+ DayTime test;
+ for(UBEMap::iterator i = ube.begin(); i != ube.end(); i++)
+ {
+ EngEphMap& eMap = i->second;
+
+ EngEphMap::iterator lower = eMap.lower_bound(tmin);
+ if (lower != eMap.begin())
+ eMap.erase(eMap.begin(), --lower);
+
+ EngEphMap::iterator upper = eMap.upper_bound(tmax);
+ if (upper != eMap.end())
+ eMap.erase(upper, eMap.end());
+ }
+
+ initialTime = tmin;
+ finalTime = tmax;
+ }
+
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+ void BCEphemerisStore::clear() throw()
+ {
+ ube.clear();
+ initialTime = DayTime::END_OF_TIME;
+ finalTime = DayTime::BEGINNING_OF_TIME;
+ }
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+ unsigned BCEphemerisStore::ubeSize() const throw()
+ {
+ unsigned counter = 0;
+ for(UBEMap::const_iterator i = ube.begin(); i != ube.end(); i++)
+ counter += i->second.size();
+ return counter;
+ }
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+ const EngEphemeris&
+ BCEphemerisStore::findUserEphemeris(SatID sat, const DayTime& t)
+ const throw(EphemerisStore::NoEphemerisFound)
+ {
+ DayTime test;
+ UBEMap::const_iterator prn_i = ube.find(sat.id);
+ if (prn_i == ube.end())
+ {
+ NoEphemerisFound nef("No ephemeris for satellite " + asString(sat));
+ GPSTK_THROW(nef);
+ }
+
+ const EngEphMap& em = prn_i->second;
+ DayTime t1(0.0L), t2(0.0L), Tot = DayTime::BEGINNING_OF_TIME;
+ EngEphMap::const_iterator it = em.end();
+
+ // Find eph with (Toe-(fitint/2)) > t - 4 hours
+ // Use 4 hours b/c it's the default fit interval.
+ // Backup one ephemeris to make sure you get the
+ // correct one in case of fit intervals greater
+ // than 4 hours.
+ EngEphMap::const_iterator ei = em.upper_bound(t - 4 * 3600);
+ if (!em.empty() && ei != em.begin() )
+ {
+ ei--;
+ }
+
+ for (; ei != em.end(); ei++)
+ {
+ const EngEphemeris& current = ei->second;
+ // t1 = Toe-(fitint / 2)
+ t1 = ei->first;
+ // t2 = HOW time
+ t2 = current.getTransmitTime();
+
+ // Ephemeredes are ordered by fit interval.
+ // If the start of the fit interval is in the future,
+ // this and any more ephemerides are not the one you are
+ // looking for.
+ if( t1 > t )
+ {
+ break;
+ }
+
+ double dt1 = t - t1;
+ double dt2 = t - t2;
+
+ if (dt1 >= 0 && // t is after start of fit interval
+ dt1 < current.getFitInterval() * 3600 && // t is within the fit interval
+ dt2 >= 0 && // t is after Tot
+ t2 > Tot ) // this eph has the latest Tot
+ {
+ it = ei;
+ Tot = t2;
+ }
+ }
+
+ if (it == em.end())
+ {
+ string mess = "No eph found for satellite "
+ + asString(sat) + " at " + t.printf("%03j %02H:%02M:%02S");
+ NoEphemerisFound e(mess);
+ GPSTK_THROW(e);
+ }
+
+ return it->second;
+ } // end of BCEphemerisStore::findEphemeris()
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+ const EngEphemeris&
+ BCEphemerisStore::findNearEphemeris(SatID sat, const DayTime& t)
+ const throw(EphemerisStore::NoEphemerisFound)
+ {
+ DayTime test;
+ UBEMap::const_iterator prn_i = ube.find(sat.id);
+ if (prn_i == ube.end())
+ {
+ NoEphemerisFound nef("No ephemeris for satellite " + asString(sat));
+ GPSTK_THROW(nef);
+ }
+
+ const EngEphMap& em = prn_i->second;
+ double dt2min = -1;
+ DayTime tstart, how;
+ EngEphMap::const_iterator it = em.end();
+
+ // Find eph with (Toe-(fitint/2)) > t - 4 hours
+ // Use 4 hours b/c it's the default fit interval.
+ // Backup one ephemeris to make sure you get the
+ // correct one in case of fit intervals greater
+ // than 4 hours.
+ EngEphMap::const_iterator ei = em.upper_bound(t - 4 * 3600);
+ if (!em.empty() && ei != em.begin() )
+ {
+ ei--;
+ }
+
+ for (; ei != em.end(); ei++)
+ {
+ const EngEphemeris& current = ei->second;
+ // tstart = Toe-(fitint / 2)
+ tstart = ei->first;
+ // how = HOW time
+ how = current.getTransmitTime();
+
+ // Ephemerides are ordered by time of start of fit interval.
+ // If the start of the fit interval is in the future,
+ // this and any more ephemerides are not the one you are
+ // looking for.
+ if( tstart > t ) break;
+
+ double dt1 = t - tstart;
+ double dt2 = t - how;
+
+ if (dt1 >= 0 && // t is after start of fit interval
+ dt1 <= current.getFitInterval()*3600 && // t is within the fit interval
+ (dt2min == -1 || fabs(dt2) < dt2min)) // t is closest to HOW
+ {
+ it = ei;
+ dt2min = fabs(dt2);
+ }
+ }
+
+ if (it == em.end())
+ {
+ string mess = "No eph found for satellite "
+ + asString(sat) + " at " + t.printf("%03j %02H:%02M:%02S");
+ NoEphemerisFound e(mess);
+ GPSTK_THROW(e);
+ }
+
+ return it->second;
+ } // end of BCEphemerisStore::findNearEphemeris()
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+ int BCEphemerisStore::addToList(std::list<EngEphemeris>& v) const throw()
+ {
+ int n=0;
+ UBEMap::const_iterator prn_i;
+ for (prn_i = ube.begin(); prn_i != ube.end(); prn_i++)
+ {
+ const EngEphMap& em = prn_i->second;
+ EngEphMap::const_iterator ei;
+ for (ei=em.begin(); ei != em.end(); ei++)
+ {
+ v.push_back(ei->second);
+ n++;
+ }
+ }
+ return n;
+ } // end of BCEphemerisStore::addToList(list<EngEphemeris>&)
+
+} // namespace
diff --git a/dev/src/BCEphemerisStore.hpp b/dev/src/BCEphemerisStore.hpp
new file mode 100644
index 0000000..7f6e158
--- /dev/null
+++ b/dev/src/BCEphemerisStore.hpp
@@ -0,0 +1,285 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file BCEphemerisStore.hpp
+ * Store GPS broadcast ephemeris information, and access by satellite and time
+ */
+
+#ifndef GPSTK_BCEPHEMERISSTORE_HPP
+#define GPSTK_BCEPHEMERISSTORE_HPP
+
+#include <iostream>
+#include <string>
+#include <list>
+#include <map>
+
+#include "EphemerisStore.hpp"
+#include "EngEphemeris.hpp"
+#include "icd_200_constants.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup ephemstore */
+ //@{
+
+ /// Broadcast Ephemeris Store. In this variation of the EphemerisStore,
+ /// all ephemerides are broadcast from a satellite.
+ class BCEphemerisStore : public EphemerisStore
+ {
+ public:
+
+ /// Constructor.
+ BCEphemerisStore()
+ throw()
+ : initialTime(DayTime::END_OF_TIME),
+ finalTime(DayTime::BEGINNING_OF_TIME),
+ method(0) {};
+
+ /// Destructor.
+ virtual ~BCEphemerisStore() {}
+
+ /// \deprecated use the SatID version
+ virtual Xvt getPrnXvt(short prn,
+ const gpstk::DayTime& t) const
+ throw(NoEphemerisFound)
+ { SatID sat(prn,SatID::systemGPS); return getSatXvt(sat,t); }
+
+ /** This returns the pvt of the sv in ecef coordinates
+ * (units m, s, m/s, s/s) at the indicated time.
+ * @param sat the satellite's SatID
+ * @param t the time to look up
+ * @return the Xvt of the SV at time t
+ */
+ virtual Xvt getSatXvt(SatID sat,
+ const gpstk::DayTime& t) const
+ throw(NoEphemerisFound);
+
+ /** This method returns the Total Group Delay of the SV (in meters) at the
+ * indicated time.
+ * @param sat the satellite's SatID
+ * @param t the time to look up
+ * @return the TGD (in meters) of the SV at time t
+ */
+ virtual double getTGD(SatID sat, const gpstk::DayTime& t) const
+ throw(NoTGDFound);
+
+ /// \deprecated use the SatID version
+ virtual short getPrnHealth(short prn,
+ const gpstk::DayTime& t) const
+ throw(NoEphemerisFound)
+ { SatID sat(prn,SatID::systemGPS); return getSatHealth(sat,t); }
+
+ /** Return the health of an SV for a particular time
+ * @param sat the satellite's SatID
+ * @param t the time to look up
+ * @return the SV health bits
+ * @throw NoEphemerisFound no matching ephemeris found in the store
+ */
+ virtual short getSatHealth(SatID sat,
+ const gpstk::DayTime& t) const
+ throw(NoEphemerisFound);
+
+ /** Dumps all the ephemeris data stored in this object.
+ * @param detail the level of detail to provide
+ */
+ void dump(short detail = 0,
+ std::ostream& s = std::cout) const ;
+
+ /** Return the time of the first ephemeris in the object.
+ * @return the time of the first ephemeris in the object
+ */
+ virtual gpstk::DayTime getInitialTime() const
+ { return initialTime; }
+
+ /** Return the time of the last ephemeris in the object.
+ * @return the time of the last ephemeris in the object
+ */
+ virtual gpstk::DayTime getFinalTime() const
+ { return finalTime; }
+
+ /** Add an EngEphemeris object to this collection.
+ * @param eph the EngEphemeris to add
+ * @return true if ephemeris was added, false otherwise
+ */
+ bool addEphemeris(const EngEphemeris& eph)
+ throw(gpstk::InvalidRequest);
+
+ /** Remove EngEphemeris objects older than t.
+ * @param t remove EngEphemeris objects older than this
+ * @return number of Engephemeris objects removed
+ */
+ unsigned wiper(const DayTime& t)
+ throw(gpstk::InvalidRequest);
+
+ /// Edit the dataset, removing data outside this time interval
+ virtual void edit(const DayTime& tmin,
+ const DayTime& tmax) ;
+
+ /// Remove all data from this collection.
+ void clear() throw();
+
+
+ //---------------------------------------------------------------
+ // Below are interfaces that are unique to this class (i.e. not
+ // in the parent class)
+ //---------------------------------------------------------------
+
+ /// \deprecated use the SatID version.
+ Xvt getPrnXvt(short prn,
+ const gpstk::DayTime& t,
+ short& ref) const
+ throw(NoEphemerisFound)
+ { SatID sat(prn,SatID::systemGPS); return getSatXvt(sat,t,ref); }
+
+ /** This returns the pvt of the sv in ecef coordinates
+ * (units m, s, m/s, s/s) at the indicated time.
+ * @param sat the satellite's SatID
+ * @param t the time to look up
+ * @param ref a place to return the IODC for future reference.
+ * @return the Xvt of the SV at time t
+ */
+ Xvt getSatXvt(SatID sat,
+ const gpstk::DayTime& t,
+ short& ref) const
+ throw(NoEphemerisFound);
+
+ /** Get the number of EngEphemeris objects in this collection.
+ * @return the number of EngEphemeris records in the map
+ */
+ unsigned ubeSize() const
+ throw();
+
+ unsigned size() const
+ { return ubeSize(); };
+
+ /// \deprecated use the SatID version.
+ const EngEphemeris& findEphemeris(short prn,
+ const gpstk::DayTime& t) const
+ throw(NoEphemerisFound)
+ { SatID sat(prn,SatID::systemGPS); return findEphemeris(sat,t); }
+
+ /** Find an ephemeris based upon the search method configured
+ * by SearchNear/SearchPast
+ * @param sat SatID of satellite of interest
+ * @param t time with which to search for ephemeris
+ */
+ const EngEphemeris& findEphemeris(SatID sat,
+ const gpstk::DayTime& t) const
+ throw(NoEphemerisFound);
+
+ /// \deprecated use the SatID version.
+ const EngEphemeris& findUserEphemeris(short prn,
+ const gpstk::DayTime& t) const
+ throw(NoEphemerisFound)
+ { SatID sat(prn,SatID::systemGPS); return findUserEphemeris(sat,t); }
+
+ /** Find the EngEphemeris for prn at time t. The ephemeris
+ * is chosen to be the one that 1) is within the fit interval
+ * for the given time of interest, and 2) is the last
+ * ephemeris transmitted before the time of interest
+ * (i.e. min(toi - HOW time)).
+ *
+ * @param prn the SV's PRN of interest
+ * @param t the time of interest
+ * @return a reference to the EngEphemeris for prn at time t
+ */
+ const EngEphemeris& findUserEphemeris(SatID sat,
+ const gpstk::DayTime& t) const
+ throw(NoEphemerisFound);
+
+ /// \deprecated use the SatID version.
+ const EngEphemeris& findNearEphemeris(short prn,
+ const gpstk::DayTime& t) const
+ throw(NoEphemerisFound)
+ { SatID sat(prn,SatID::systemGPS); return findNearEphemeris(sat,t); }
+
+ /** Find the EngEphemeris for satellite prn at time t. The
+ * ephemeris chosen is the one with HOW time closest to the
+ * time t, i.e. with smallest fabs(t-HOW), but still within
+ * the fit interval.
+ *
+ * @param prn the SV's PRN of interest
+ * @param t the time of interest
+ * @return a reference to the EngEphemeris for prn at time t
+ */
+ const EngEphemeris& findNearEphemeris(SatID sat,
+ const gpstk::DayTime& t) const
+ throw(NoEphemerisFound);
+
+ /** Add all ephemerides to an existing list<EngEphemeris>.
+ * Return the number of ephemerides added.
+ */
+ int addToList(std::list<EngEphemeris>& v) const
+ throw();
+
+ /// use findNearEphemeris() in the getSat...() routines
+ void SearchNear(void)
+ { method = 1; }
+
+ /// use findEphemeris() in the getSat...() routines (the default)
+ void SearchPast(void)
+ { method = 0; }
+
+ private:
+ /** This is intended to just store weekly sets of unique EngEphemerides
+ * for a single SV. The key is the Toe - 1/2 the fit interval.
+ */
+ typedef std::map<gpstk::DayTime, EngEphemeris> EngEphMap;
+
+ /** This is intended to hold all unique EngEphemerides for each SV
+ * The key is the prn of the SV.
+ */
+ typedef std::map<short, EngEphMap> UBEMap;
+
+ /// The map where all EngEphemerides are stored.
+ UBEMap ube;
+
+ gpstk::DayTime initialTime; //< Time of the first EngEphemeris
+ gpstk::DayTime finalTime; //< Time of the last EngEphemeris
+
+ /// flag indicating search method (find...Eph) to use in getSatXvt
+ /// and getSatHealth
+ int method;
+
+ }; // end class BCEphemerisStore
+
+ //@}
+
+} // namespace gpstk
+
+#endif // GPSTK_BCEPHEMERISSTORE_HPP
diff --git a/dev/src/Bancroft.cpp b/dev/src/Bancroft.cpp
new file mode 100644
index 0000000..e6dff55
--- /dev/null
+++ b/dev/src/Bancroft.cpp
@@ -0,0 +1,169 @@
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+/**
+ * @file Bancroft.cpp
+ * Use Bancroft method to get an initial guess of GPS receiver's position
+ */
+
+#include <cstdlib> // for std::abs()
+#include "Bancroft.hpp"
+#include "MiscMath.hpp"
+#include "Matrix.hpp"
+#include "Vector.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+namespace gpstk
+{
+ /* 'Data' Matrix of data containing observation data in rows, one
+ * row per observation and complying with this format:
+ * x y z P
+ * Where x,y,z are satellite coordinates in an ECEF system
+ * and P is pseudorange (corrected as much as possible,
+ * specially from satellite clock errors), all expresed
+ * in meters
+ * 'X' Vector of position solution, in meters. There may be
+ * another solution, that may be accessed with vector
+ * "SecondSolution" if "ChooseOne" is set to "false".
+ *
+ * Return values:
+ * 0 Ok
+ * -1 Not enough good data
+ * -2 Singular problem
+ */
+ int Bancroft::Compute(Matrix<double>& Data, Vector<double>& X) throw(Exception)
+ {
+ try {
+
+ int N = Data.rows();
+ Matrix<double> B(0,4); // Working matrix
+
+ // Let's test the input data
+ if (testInput) {
+ double satRadius = 0.0;
+ // Check each row of B Matrix
+ for(int i=0; i < N; i++) {
+ // If Data(i,3) -> Pseudorange NOT between the allowed range, drop line immediately
+ if( !( Data(i,3)>=minPRange && Data(i,3)<=maxPRange ) ) continue;
+ // Let's compute distance between Earth center and satellite position
+ satRadius = RSS(Data(i,0), Data(i,1) , Data(i,2));
+ // If satRadius NOT between the allowed range, drop line immediately
+ if( !( satRadius>=minRadius && satRadius<=maxRadius ) ) continue;
+ // If everything is ok so far, then extract the good data row and add it to working matrix
+ MatrixRowSlice<double> goodRow(Data,i);
+ B = B && goodRow;
+ }
+ // Let's redefine "N" and check if we have enough data rows left in a single step
+ if ( (N = B.rows()) < 4 ) return -1; // We need at least 4 data rows
+ } else {
+ // No input filtering. Working matrix (B) and input matrix (Data) are equal
+ B = Data;
+ }
+
+
+ Matrix<double> BT=transpose(B);
+ Matrix<double> BTBI(4,4), M(4,4,0.0);
+ Vector<double> aux(4), alpha(N), solution1(4), solution2(4);
+
+ // Temporary storage for BT*B. It will be inverted later
+ BTBI = BT * B;
+
+ // Let's try to invert BTB matrix
+ try {
+ BTBI = inverseChol( BTBI );
+ }
+ catch(...) {
+ return -2;
+ }
+
+ // Now, let's compute alpha vector
+ for(int i=0; i < N; i++) {
+ // First, fill auxiliar vector with corresponding satellite position and pseudorange
+ aux(0) = B(i,0);
+ aux(1) = B(i,1);
+ aux(2) = B(i,2);
+ aux(3) = B(i,3);
+ alpha(i) = 0.5 * Minkowski(aux, aux);
+ }
+
+ Vector<double> tau(N,1.0), BTBIBTtau(4), BTBIBTalpha(4);
+
+ BTBIBTtau = BTBI * BT * tau;
+ BTBIBTalpha = BTBI * BT * alpha;
+
+ // Now, let's find the coeficients of the second order-equation
+ double a = Minkowski(BTBIBTtau, BTBIBTtau);
+ double b = 2.0 * (Minkowski(BTBIBTtau, BTBIBTalpha) - 1.0);
+ double c = Minkowski(BTBIBTalpha, BTBIBTalpha);
+
+ // Calculate discriminant and exit if negative
+ double discriminant = b*b - 4.0 * a * c;
+ if (discriminant < 0.0) return -2;
+
+ // Find possible DELTA values
+ double DELTA1 = ( -b + SQRT(discriminant) ) / ( 2.0 * a );
+ double DELTA2 = ( -b - SQRT(discriminant) ) / ( 2.0 * a );
+
+ // We need to define M matrix
+ M(0,0) = 1.0;
+ M(1,1) = 1.0;
+ M(2,2) = 1.0;
+ M(3,3) = - 1.0;
+
+ // Find possible position solutions with their implicit radii
+ solution1 = M * BTBI * ( BT * DELTA1 * tau + BT * alpha );
+ double radius1 = RSS(solution1(0), solution1(1), solution1(2));
+
+ solution2 = M * BTBI * ( BT * DELTA2 * tau + BT * alpha );
+ double radius2 = RSS(solution2(0), solution2(1), solution2(2));
+
+ // Let's choose the right solution
+ if ( ChooseOne ) {
+ if ( ABS(CloseTo-radius1) < ABS(CloseTo-radius2) ) {
+ X = solution1;
+ } else {
+ X = solution2;
+ }
+ } else { // Both solutions will be reported
+ X = solution1;
+ SecondSolution = solution2;
+ }
+
+ return 0;
+
+ } // end of first "try"
+ catch(Exception& e) {
+ GPSTK_RETHROW(e);
+ }
+ } // end Bancroft::Compute()
+
+ /// Another version of Compute method to allow calling it with const Matrix B.
+ int Bancroft::Compute(const Matrix<double>& Data, Vector<double>& X) throw(Exception)
+ {
+ Matrix<double> Datanoconst(Data);
+ return Bancroft::Compute(Datanoconst, X);
+ }
+
+
+} // namespace gpstk
diff --git a/dev/src/Bancroft.hpp b/dev/src/Bancroft.hpp
new file mode 100644
index 0000000..cbcf5fb
--- /dev/null
+++ b/dev/src/Bancroft.hpp
@@ -0,0 +1,135 @@
+/**
+ * @file Bancroft.hpp
+ * Use Bancroft method to get an initial guess of GPS receiver's position
+ */
+
+#ifndef BANCROFT_HPP
+#define BANCROFT_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+#include <vector>
+#include "Matrix.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+namespace gpstk
+{
+ /** @defgroup GPSsolutions GPS solution algorithms and Tropospheric models */
+ //@{
+
+ /** This class defines an algebraic algorithm to get an initial guess of
+ * GPS receiver's position given satellites' positions and pseudoranges.
+ * The algorithm is based on Bancroft's Method as presented in: YANG, Ming &
+ * Kuo-Hwa CHEN. ``Performance Assessment of a Noniterative Algorithm for
+ * Global Positioning System (GPS) Absolute Positioning''. Proc. Natl. Sci.
+ * Counc. ROC(A). Vol. 25, No. 2, 2001. pp. 102-106.
+ */
+ class Bancroft
+ {
+ public:
+ /// Constructor
+ Bancroft() throw(Exception) : SecondSolution(4,0.0) {
+ testInput= true;
+ ChooseOne = true;
+ CloseTo = 6378137.0;
+ minPRange = 15000000.0;
+ maxPRange = 30000000.0;
+ minRadius = 23000000.0;
+ maxRadius = 29000000.0;
+ };
+
+ /** Compute an initial guess of GPS receiver's position , given satellites'
+ * positions and pseudoranges.
+ * @param Data Matrix of data containing observation data in rows, one
+ * row per observation and complying with this format:
+ *
+ * x y z P
+ *
+ * Where x,y,z are satellite coordinates in an ECEF system
+ * and P is pseudorange (corrected as much as possible,
+ * specially from satellite clock errors), all expresed
+ * in meters.
+ * @param X Vector of position solution, in meters. There may be
+ * another solution that may be accessed with vector
+ * "SecondSolution" if "ChooseOne" is set to "false".
+ *
+ * @return
+ * 0 Ok,
+ * -1 Not enough good data
+ * -2 Singular problem
+ */
+ int Compute(Matrix<double>& Data, Vector<double>& X) throw(Exception);
+
+ /// Another version of Compute method allowing calls with Matrix B being const.
+ int Compute(const Matrix<double>& Data, Vector<double>& X) throw(Exception);
+
+ // input:
+
+ /** If true, the solution closest to CloseTo criterion will be chosen. If false,
+ * both posible solutions will be provided.
+ */
+ bool ChooseOne;
+
+ /** Criterion to decide which solution to choose. The algorithm will choose the
+ * solution closer to this value. By default, it is set to earth radius, in meters.
+ */
+ double CloseTo;
+
+ /** If true (the default), the B input Matrix will be screened to get out suspicious data.
+ * It works with minPRange, maxPRange, minRadius and maxRadius to pick up a set of "clean
+ * data". However, don't be too picky with these parameters in order to leave room for
+ * different GNSS systems and configurations. Anyway, Bancroft will give you just an
+ * approximate position.
+ */
+ bool testInput;
+
+ /// Minimum pseudorange value allowed for input data (in meters).
+ double minPRange;
+
+ /// Maximum pseudorange value allowed for input data (in meters).
+ double maxPRange;
+
+ /// Minimum allowed distance between Earth center and satellite position for input data (in meters).
+ double minRadius;
+
+ /// Maximum allowed distance between Earth center and satellite position for input data (in meters).
+ double maxRadius;
+
+ /** Vector<double> containing the estimated second position solution (ECEF, meter),
+ * if ChooseOne is set to "false".
+ */
+ Vector<double> SecondSolution;
+
+ /// Destructor.
+ virtual ~Bancroft() throw() {};
+
+
+ }; // end class Bancroft
+
+ //@}
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/BasicFramework.cpp b/dev/src/BasicFramework.cpp
new file mode 100644
index 0000000..d02691e
--- /dev/null
+++ b/dev/src/BasicFramework.cpp
@@ -0,0 +1,132 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file BasicFramework.cpp
+ * Basic framework for programs in the GPS toolkit
+ */
+
+#include "Exception.hpp"
+#include "BasicFramework.hpp"
+
+namespace gpstk
+{
+ using namespace std;
+
+ BasicFramework :: BasicFramework(const string& applName,
+ const string& applDesc)
+ throw()
+ : debugLevel(0),
+ verboseLevel(0),
+ argv0(applName),
+ appDesc(applDesc),
+ debugOption('d', "debug", "Increase debug level"),
+ verboseOption('v', "verbose", "Increase verbosity"),
+ helpOption('h', "help", "Print help usage")
+ {
+ }
+
+ bool BasicFramework :: initialize(int argc, char *argv[])
+ throw()
+ {
+ // Making this a pointer and moving it here ensures that the
+ // constructor will not occur until all the command line
+ // option objects are constructed in the sub-classes.
+ CommandOptionParser cop(appDesc);
+
+ cop.parseOptions(argc, argv);
+
+ if (helpOption.getCount())
+ {
+ cop.displayUsage(cerr);
+ return false;
+ }
+
+ if (cop.hasErrors())
+ {
+ cop.dumpErrors(cerr);
+ cop.displayUsage(cerr);
+ return false;
+ }
+
+ debugLevel = debugOption.getCount();
+ verboseLevel = verboseOption.getCount();
+
+ return true;
+ }
+
+ bool BasicFramework :: run()
+ throw()
+ {
+ try
+ {
+ completeProcessing();
+ }
+ catch (Exception& exc)
+ {
+ cerr << exc;
+ return false;
+ }
+ catch (...)
+ {
+ cerr << "Caught unknown exception" << endl;
+ return false;
+ }
+
+ shutDown();
+
+ return true;
+ } // BasicFramework::run()
+
+ void BasicFramework :: completeProcessing()
+ {
+ additionalSetup();
+
+ spinUp();
+
+ process();
+ }
+
+} // namespace
diff --git a/dev/src/BasicFramework.hpp b/dev/src/BasicFramework.hpp
new file mode 100644
index 0000000..30d4688
--- /dev/null
+++ b/dev/src/BasicFramework.hpp
@@ -0,0 +1,184 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file BasicFramework.hpp
+ * Basic framework for programs in the GPS toolkit
+ */
+
+#ifndef GPSTK_BASICFRAMEWORK_HPP
+#define GPSTK_BASICFRAMEWORK_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "CommandOptionParser.hpp"
+
+namespace gpstk
+{
+ /** @defgroup appframegroup Framework for Applications
+ *
+ * The application frameworks provide a set of classes that
+ * perform the basic functions of applications within the GPS
+ * toolkit. That is, they provide a framework for applications
+ * so that the applications only have to implement those
+ * features which are unique to that application.
+ *
+ * The classes are defined in a tree of increasing capability,
+ * that is, the BasicFramework class at the root of the tree
+ * does very little and implements only those functions which
+ * are common to all programs within the toolkit. Each
+ * subsequent subclass adds additional layers to these basic
+ * capabilities.
+ *
+ * The end user is expected to create a class, which inherits
+ * from one of these frameworks, and override the appropriate
+ * methods in order to perform the necessary function of that
+ * program. The methods to be overridden depend on the
+ * framework being used and what the program is intended to
+ * do.
+ */
+ //@{
+
+ /**
+ * This is a (very) basic framework for programs in the GPS
+ * toolkit. It is meant to be used by programs that start up,
+ * do some processing, and quit.
+ *
+ * The end user should define subclasses of this class,
+ * implementing those methods described as being meant to be
+ * overridden. When implementing these virtual functions in
+ * subclasses, do not forget to call the parent class'
+ * implementation of that virtual function first.
+ *
+ * In use, the user will construct an object of the class
+ * derived from this, then call the initialize() and run()
+ * methods in that order.
+ */
+ class BasicFramework
+ {
+ public:
+ /**
+ * Constructor for BasicFramework.
+ * @param applName name of the program (argv[0]).
+ * @param applDesc text description of program's function
+ * (used by CommandOption help).
+ */
+ BasicFramework(const std::string& applName, const std::string& applDesc)
+ throw();
+
+ /// Destructor.
+ virtual ~BasicFramework() {}
+
+ /**
+ * Process command line arguments.
+ * @param argc same as main() argc.
+ * @param argv same as main() argv.
+ * @return true if normal processing should proceed (i.e. no
+ * command line errors or help requests).
+ */
+ virtual bool initialize(int argc, char *argv[]) throw();
+
+ /**
+ * Run the program. Processes only once (refer to subclasses
+ * for looped processing).
+ * @return false if an exception occurred
+ */
+ bool run() throw();
+
+ protected:
+ int debugLevel; ///< Debug level for this run of the program.
+ int verboseLevel; ///< Verbose level for this run of the program.
+ std::string argv0; ///< Name of the program.
+ std::string appDesc; ///< Description of program's function.
+
+ /// Command-line options.
+ //@{
+ CommandOptionNoArg debugOption; ///< Enable debugging output and syslog message cloning to stdout.
+ CommandOptionNoArg verboseOption;
+ CommandOptionNoArg helpOption;
+ //@}
+
+ /**
+ * Called by the run() method; calls additionalSetup(),
+ * spinUp(), and process(), in that order. Generally should
+ * not be overridden.
+ */
+ virtual void completeProcessing();
+
+ /**
+ * Additional set-up to be performed before starting
+ * processing. This generally involves things that are
+ * necessary for either the spinUp processing or main
+ * processing.
+ */
+ virtual void additionalSetup() { }
+
+ /**
+ * Code to be executed AFTER initialization. This method
+ * should be implemeneted by the end-user.
+ */
+ virtual void spinUp() { }
+
+ /**
+ * Processing to be performed. This method should be
+ * implemeneted by the end-user.
+ */
+ virtual void process() { }
+
+ /**
+ * Clean-up processing to be done before the program ends.
+ * This method is executed outside of a try block and should
+ * be implemeneted by the end-user.
+ */
+ virtual void shutDown() { }
+
+ private:
+ // Do not allow the use of the default constructor.
+ BasicFramework();
+ }; // class BasicFramework
+
+ //@}
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/BinUtils.cpp b/dev/src/BinUtils.cpp
new file mode 100644
index 0000000..3ab64fd
--- /dev/null
+++ b/dev/src/BinUtils.cpp
@@ -0,0 +1,61 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file BinUtils.cpp
+ * Binary manipulation functions
+ */
+
+#include "BinUtils.hpp"
+
+namespace gpstk
+{
+ namespace BinUtils
+ {
+ const CRCParam CRCCCITT(16, 0x1021, 0xffff, 0, true, false, false);
+ const CRCParam CRC16(16, 0x8005, 0, 0, true, true, true);
+ const CRCParam CRC32(32, 0x4c11db7, 0xffffffff, 0xffffffff, true, true, true);
+ }
+}
diff --git a/dev/src/BinUtils.hpp b/dev/src/BinUtils.hpp
new file mode 100644
index 0000000..a6bae0e
--- /dev/null
+++ b/dev/src/BinUtils.hpp
@@ -0,0 +1,417 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file BinUtils.hpp
+ * Binary manipulation functions
+ */
+
+#ifndef BINUTILS_HPP
+#define BINUTILS_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "gpstkplatform.h"
+
+#ifdef __sun
+#include <arpa/nameser_compat.h>
+#elif defined (__CYGWIN__)
+#include <sys/param.h>
+#elif defined (_AIX)
+#include <sys/machine.h>
+#endif
+
+#include "Exception.hpp"
+
+#ifndef BYTE_ORDER
+#ifdef _MSC_VER
+#define LITTLE_ENDIAN 1
+#define BIG_ENDIAN 0
+#define BYTE_ORDER LITTLE_ENDIAN
+#else
+#error "Platform doesn't support BYTE_ORDER?"
+#endif
+#endif
+
+namespace gpstk
+{
+ /**
+ * Binary data utilities.
+ *
+ * These functions and macros are to be used for manipulating
+ * binary data.
+ */
+ namespace BinUtils
+ {
+ /** @defgroup binutilsgroup Binary Data Manipulation Tools */
+ //@{
+
+ /**
+ * Reverse bytes.
+ * This function will reverse the bytes in any type, though it
+ * is typically meant to be used in atomic types like int and
+ * double.
+ * @param p object whose bytes are to be reversed.
+ */
+ template <class T> void twiddle(T& p)
+ throw()
+ {
+ unsigned char *front = (unsigned char*)&p;
+ unsigned char *end = front + sizeof(p) - 1;
+ unsigned char temp;
+
+ while (front<end)
+ {
+ temp = *front;
+ *front = *end;
+ *end = temp;
+ front++;
+ end--;
+ }
+ }
+
+ /**
+ * Converts Intel little-endian to host byte order, const version.
+ * @param p the object whose bytes are to be modified.
+ * @return a new object which is in Intel byte ordering.
+ */
+ template <class T> T intelToHost(const T& p)
+ throw()
+ {
+ T temp(p);
+#if BYTE_ORDER == BIG_ENDIAN
+ twiddle(temp);
+#endif
+ return temp;
+ }
+
+ /**
+ * Converts host byte order to Intel little-endian, const version
+ * @param p the object whose bytes are to be modified
+ * @return a new object which is in host byte ordering.
+ */
+ template <class T> T hostToIntel(const T& p)
+ throw()
+ {
+ T temp(p);
+#if BYTE_ORDER == BIG_ENDIAN
+ twiddle(temp);
+#endif
+ return temp;
+ }
+
+ /**
+ * Converts host byte order to network order, const version.
+ * @param p the object whose bytes are to be modified.
+ * @return a new object which is in network byte order.
+ */
+ template <class T> T netToHost(const T& p)
+ throw()
+ {
+ T temp(p);
+#if BYTE_ORDER == LITTLE_ENDIAN
+ twiddle(temp);
+#endif
+ return temp;
+ }
+
+ /**
+ * Converts network byte order to host order, const version.
+ * @param p the object whose bytes are to be modified.
+ * @return a new object which is in host byte order.
+ */
+ template <class T> T hostToNet(const T& p)
+ throw()
+ {
+ T temp(p);
+#if BYTE_ORDER == LITTLE_ENDIAN
+ twiddle(temp);
+#endif
+ return temp;
+ }
+
+ /**
+ * Remove (optinally) the item specified from the string and convert it
+ * from network byte order to host byte order.
+ * @param str the string from which to obtain data.
+ * @param pos an offset into the string to pull the data from. If this
+ * value is specified, the item is not removed from the string.
+ * @warn This function does not check for appropriate string length.
+ */
+ template <class T>
+ T decodeVar( std::string& str, std::string::size_type pos = std::string::npos)
+ {
+ T t;
+ char *cp = reinterpret_cast<char*>( &t );
+
+ if (pos == std::string::npos)
+ {
+ str.copy( cp, sizeof(T) );
+ t = gpstk::BinUtils::netToHost( t );
+ str.erase( 0, sizeof(T) );
+ }
+ else
+ {
+ str.copy( cp, sizeof(T) , pos);
+ t = gpstk::BinUtils::netToHost( t );
+ }
+ return t;
+ }
+
+ /**
+ * Add the network ordered binary representation of a var to the
+ * the given string.
+ * @param v the object of type T to convert to a string.
+ */
+ template<class T>
+ std::string encodeVar( const T& v )
+ {
+ T tmp = v;
+ tmp = gpstk::BinUtils::hostToNet( v );
+ return std::string( reinterpret_cast<char*>( &tmp ), sizeof( tmp ) );
+ }
+
+ /// This is thrown when there is an error processing a CRC
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(CRCException, Exception);
+
+ /// Reflects the lower \a bitnum bits of \a crc
+ inline unsigned long reflect (unsigned long crc,
+ int bitnum)
+ {
+ unsigned long i, j = 1, crcout = 0;
+
+ for (i = (unsigned long)1 << (bitnum - 1); i; i >>= 1)
+ {
+ if (crc & i)
+ {
+ crcout |= j;
+ }
+ j <<= 1;
+ }
+ return (crcout);
+ }
+
+ /// Encapsulate parameters for CRC computation
+ class CRCParam
+ {
+ public:
+ /// Constructor
+ CRCParam(int o,
+ unsigned long p,
+ unsigned long i,
+ unsigned long f,
+ bool d,
+ bool ri,
+ bool ro)
+ : order(o), polynom(p), initial(i), final(f), direct(d),
+ refin(ri), refout(ro)
+ {}
+
+ int order; ///< CRC polynomial order (without leading '1' bit).
+ unsigned long polynom; ///< CRC polynomial without the leading '1' bit.
+ unsigned long initial; ///< initial CRC initial value.
+ unsigned long final; ///< final final XOR value.
+ bool direct; ///< kind of algorithm, true = no augmented zero bits.
+ bool refin; ///< reflect the data bytes before processing.
+ bool refout; ///< reflect the CRC result before final XOR.
+ };
+
+ extern const CRCParam CRCCCITT;
+ extern const CRCParam CRC16;
+ extern const CRCParam CRC32;
+
+
+ /**
+ * Compute CRC (suitable for polynomial orders from 1 to 32).
+ * Does bit-by-bit computation (brute-force, no look-up
+ * tables). Default parameters are for CRC16.
+ * \p
+ * The following table lists parameters for common CRC
+ * algorithms (order is decimal, the other parameters are
+ * hex):
+ * \li CRC-CCITT order=16 polynom=1021 initial=ffff final=0 direct=true refin=false refout=false
+ * \li CRC-16 order=16 polynom=8005 initial=0 final=0 direct=true refin=true refout=true
+ * \li CRC-32 order=32 polynom=4c11db7 initial=ffffffff final=ffffffff direct=true refin=true refout=true
+ * @param data data to process CRC on.
+ * @param len length of data to process.
+ * @param params see documentation of CRCParam:w
+ * @return the CRC value
+ */
+ // This code "stolen" from Sven Reifegerste (zorci at gmx.de).
+ // Found at http://rcswww.urz.tu-dresden.de/~sr21/crctester.c
+ // from link at http://rcswww.urz.tu-dresden.de/~sr21/crc.html
+ inline unsigned long computeCRC(const unsigned char *data,
+ unsigned long len,
+ const CRCParam& params)
+ {
+ unsigned long i, j, c, bit;
+ unsigned long crc = params.initial;
+
+ // at first, compute constant bit masks for whole CRC and
+ // CRC high bit
+ unsigned long crcmask =
+ ((((unsigned long)1 << (params.order - 1)) - 1) << 1) | 1;
+ unsigned long crchighbit = (unsigned long)1 << (params.order - 1);
+
+ if (crc && params.direct)
+ {
+ for (i = 0; i < (unsigned long)params.order; i++)
+ {
+ bit = crc & 1;
+ if (bit)
+ {
+ crc ^= params.polynom;
+ }
+ crc >>= 1;
+ if (bit)
+ {
+ crc |= crchighbit;
+ }
+ }
+ }
+
+
+ for (i = 0; i < len; i++)
+ {
+ c = (unsigned long) * data++;
+ if (params.refin)
+ {
+ c = reflect(c, 8);
+ }
+
+ for (j = 0x80; j; j >>= 1)
+ {
+ bit = crc & crchighbit;
+ crc <<= 1;
+ if (c & j)
+ {
+ crc |= 1;
+ }
+ if (bit)
+ {
+ crc ^= params.polynom;
+ }
+ }
+ }
+
+ for (i = 0; i < (unsigned long)params.order; i++)
+ {
+ bit = crc & crchighbit;
+ crc <<= 1;
+ if (bit)
+ {
+ crc ^= params.polynom;
+ }
+ }
+
+ if (params.refout)
+ {
+ crc = reflect(crc, params.order);
+ }
+ crc ^= params.final;
+ crc &= crcmask;
+
+ return crc;
+ }
+
+ /**
+ * Calculate an Exclusive-OR Checksum on the string /a str.
+ * @return the calculated checksum.
+ * @throws gpstk::InvalidParameter if there is a partial word at
+ * the end of /a str.
+ */
+ template<class X>
+ X xorChecksum(const std::string& str)
+ throw(gpstk::InvalidParameter)
+ {
+ short wordSize = sizeof(X);
+ short strSize = str.size();
+
+ if(strSize % wordSize != 0)
+ {
+ gpstk::Exception ip("Incomplete word in string.");
+ GPSTK_THROW(ip);
+ }
+
+ X temp, xc = 0;
+
+ for(short i = 0; (i + wordSize - 1) < strSize; i += wordSize)
+ {
+ memcpy(&temp, &str[i], wordSize);
+ xc ^= temp;
+ }
+
+ return xc;
+ }
+ //@}
+
+ /**
+ * Count the set bits in an 32-bit unsigned integer.
+ * Originated due to need in EngNav::checkParity
+ */
+ static unsigned short countBits(uint32_t v)
+ {
+ // Stolen from http://graphics.stanford.edu/~seander/bithacks.html#CountBitsSetParallel
+ uint32_t c; // store the total here
+ const int S[] = {1, 2, 4, 8, 16}; // Magic Binary Numbers
+ const uint32_t B[] = {0x55555555, 0x33333333, 0x0F0F0F0F, 0x00FF00FF,
+ 0x0000FFFF};
+
+ // ...and if we were to turn this into a loop, it would
+ // totally defeat the purpose. The point here is to be
+ // FAST.
+ c = v;
+ c = ((c >> S[0]) & B[0]) + (c & B[0]);
+ c = ((c >> S[1]) & B[1]) + (c & B[1]);
+ c = ((c >> S[2]) & B[2]) + (c & B[2]);
+ c = ((c >> S[3]) & B[3]) + (c & B[3]);
+ c = ((c >> S[4]) & B[4]) + (c & B[4]);
+
+ return c;
+ }
+
+ } // end namespace BinUtils
+} // end namespace gpstk
+
+#endif
diff --git a/dev/src/BinexData.cpp b/dev/src/BinexData.cpp
new file mode 100644
index 0000000..df06561
--- /dev/null
+++ b/dev/src/BinexData.cpp
@@ -0,0 +1,1689 @@
+#pragma ident "$Id: //depot/msn/main/code/shared/gpstk/BinexData.cpp#1 $"
+
+
+/**
+ * @file BinexData.cpp
+ * Encapsulate BINEX file data, including I/O
+ */
+
+#include "DayTime.hpp"
+#include "BinexData.hpp"
+#include "BinexStream.hpp"
+
+using namespace std;
+
+namespace gpstk
+{
+ // =========================================================================
+ // BinexData::UBNXI Methods
+ // =========================================================================
+
+ // -------------------------------------------------------------------------
+ BinexData::UBNXI::UBNXI()
+ {
+ value = 0;
+ size = 1;
+ }
+
+ // -------------------------------------------------------------------------
+ BinexData::UBNXI::UBNXI(unsigned long ul)
+ throw(FFStreamError)
+ {
+ if (ul < 128)
+ {
+ size = 1;
+ }
+ else if (ul < 16384)
+ {
+ size = 2;
+ }
+ else if (ul < 2097152)
+ {
+ size = 3;
+ }
+ else if (ul < 536870912)
+ {
+ size = 4;
+ }
+ else
+ {
+ value = 0;
+ size = 0;
+
+ std::ostringstream errStrm;
+ errStrm << "BINEX UBNXI overflow: " << ul;
+ FFStreamError err(errStrm.str() );
+ GPSTK_THROW(err);
+ }
+
+ value = ul;
+ }
+
+
+ // -------------------------------------------------------------------------
+ size_t
+ BinexData::UBNXI::decode(
+ const std::string& inBuffer,
+ size_t offset,
+ bool littleEndian)
+ throw(FFStreamError)
+ {
+ if (offset > inBuffer.size() )
+ {
+ std::ostringstream errStrm;
+ errStrm << "Invalid offset into BINEX UBNXI input buffer: " << offset;
+ FFStreamError err(errStrm.str() );
+ GPSTK_THROW(err);
+ }
+ bool more = true;
+ for (size = 0, value = 0L; (size < MAX_BYTES) && more; size++)
+ {
+ unsigned char mask = (size < 3) ? 0x7f : 0xff;
+ if (littleEndian)
+ {
+ value |= ( (unsigned long)inBuffer[offset + size] & mask) << (7 * size);
+ }
+ else
+ {
+ value <<= (size < 3) ? 7 : 8;
+ value |= ( (unsigned long)inBuffer[offset + size] & mask);
+ }
+ if ( (inBuffer[offset + size] & 0x80) != 0x80)
+ {
+ more = false;
+ }
+ }
+ return size;
+ }
+
+
+ // -------------------------------------------------------------------------
+ size_t
+ BinexData::UBNXI::encode(
+ std::string& outBuffer,
+ size_t offset,
+ bool littleEndian) const
+ {
+ unsigned char uc;
+ unsigned short us, us1;
+ unsigned long ul, ul1, ul2, ul3;
+
+ if (offset > outBuffer.size() )
+ {
+ std::ostringstream errStrm;
+ errStrm << "Invalid offset into BINEX UBNXI output buffer: " << offset;
+ FFStreamError err(errStrm.str() );
+ GPSTK_THROW(err);
+ }
+ switch (size)
+ {
+ case 1:
+ uc = (unsigned char)value;
+ outBuffer.replace(offset, size, reinterpret_cast<char*>(&uc), size);
+ break;
+
+ case 2:
+ us = (unsigned short)value;
+ us1 = 0x7f00 & (us << 1);
+ us &= 0x007f;
+ us |= us1;
+
+ if (littleEndian != nativeLittleEndian)
+ {
+ // Allow encoding to non-native byte ordering
+ reverseBuffer((unsigned char*)&us, 2);
+ }
+ us |= nativeLittleEndian ? 0x0080 : 0x8000;
+
+ outBuffer.replace(offset, size, reinterpret_cast<char*>(&us), size);
+ break;
+
+ case 3:
+ ul = (unsigned long)value;
+ ul2 = 0x007f0000 & (ul << 2);
+ ul1 = 0x00007f00 & (ul << 1);
+ ul &= 0x0000007f;
+ ul |= ul1 | ul2;
+
+ if (littleEndian != nativeLittleEndian)
+ {
+ // Allow encoding to non-native byte ordering
+ reverseBuffer((unsigned char*)&ul, 4);
+ ul >>= 8;
+ }
+ if (nativeLittleEndian)
+ {
+ ul |= 0x00008080;
+ }
+ else
+ {
+ ul |= 0x00808000;
+ ul <<= 8;
+ }
+
+ outBuffer.replace(offset, size, reinterpret_cast<char*>(&ul), size);
+ break;
+
+ case 4:
+ if (littleEndian)
+ {
+ ul = (unsigned long)value;
+ ul3 = 0xff000000 & (ul << 3);
+ ul2 = 0x007f0000 & (ul << 2);
+ ul1 = 0x00007f00 & (ul << 1);
+ ul &= 0x0000007f;
+ ul |= ul1 | ul2 | ul3;
+
+ if (!nativeLittleEndian)
+ {
+ // Allow encoding to non-native byte ordering
+ reverseBuffer((unsigned char*)&ul, 4);
+ }
+ }
+ else
+ {
+ ul = (unsigned long)value;
+ ul2 = 0x7f000000 & (ul << 2);
+ ul1 = 0x007f0000 & (ul << 1);
+ ul &= 0x00007fff;
+ ul |= ul1 | ul2;
+
+ if (nativeLittleEndian)
+ {
+ // Allow encoding to non-native byte ordering
+ reverseBuffer((unsigned char*)&ul, 4);
+ }
+ }
+ ul |= nativeLittleEndian ? 0x00808080 : 0x80808000;
+
+ outBuffer.replace(offset, size, reinterpret_cast<char*>(&ul), size);
+ break;
+
+ default:
+ std::ostringstream errStrm;
+ errStrm << "BINEX UBNXI invalid size: " << size;
+ FFStreamError err(errStrm.str() );
+ GPSTK_THROW(err);
+ break;
+ }
+ return size;
+ }
+
+
+ // -------------------------------------------------------------------------
+ size_t
+ BinexData::UBNXI::read(
+ istream& strm,
+ std::string *outBuffer,
+ size_t offset,
+ bool reverseBytes,
+ bool littleEndian)
+ throw(FFStreamError)
+ {
+ unsigned char mask = 0;
+ char buffer [MAX_BYTES];
+
+ if (reverseBytes)
+ {
+ /// @TODO
+ }
+ else
+ {
+ bool more = true;
+ for (size = 0, value = 0L; (size < MAX_BYTES) && more; size++)
+ {
+ mask = (size < 3) ? 0x7f : 0xff;
+
+ strm.read(&buffer[size], 1);
+ if (!strm.good() )
+ {
+ FFStreamError err("Error reading BINEX UBNXI");
+ GPSTK_THROW(err);
+ }
+ if (littleEndian)
+ {
+ value |= ( (unsigned long)buffer[size] & mask) << (size * 7);
+ }
+ else
+ {
+ value <<= (size < 3) ? 7 : 8;
+ value |= (unsigned long)buffer[size] & mask;
+ }
+ if ( (buffer[size] & 0x80) != 0x80)
+ {
+ more = false; // End of UBNXI detected - exit loop
+ }
+ }
+ if (outBuffer)
+ {
+ // Store the as-read bytes
+ if (offset <= outBuffer->size() )
+ {
+ outBuffer->replace(offset, size, buffer, size);
+ }
+ else
+ {
+ std::ostringstream errStrm;
+ errStrm << "Invalid offset into BINEX UBNXI output buffer: " << offset;
+ FFStreamError err(errStrm.str() );
+ GPSTK_THROW(err);
+ }
+ }
+ }
+ return size;
+ }
+
+
+ // -------------------------------------------------------------------------
+ size_t
+ BinexData::UBNXI::write(
+ ostream& strm,
+ std::string *outBuffer,
+ size_t offset,
+ bool reverseBytes,
+ bool littleEndian) const
+ throw(FFStreamError)
+ {
+ std::string buffer;
+ encode(buffer, 0, littleEndian);
+ if (outBuffer)
+ {
+ if (offset <= outBuffer->size() )
+ {
+ // Store the as written bytes
+ outBuffer->replace(offset, size, buffer);
+ }
+ else
+ {
+ std::ostringstream errStrm;
+ errStrm << "Invalid offset into BINEX UBNXI output buffer: " << offset;
+ FFStreamError err(errStrm.str() );
+ GPSTK_THROW(err);
+ }
+ }
+ if (reverseBytes)
+ {
+ reverseBuffer(buffer);
+ }
+ strm.write(buffer.data(), size);
+ if (!strm.good() )
+ {
+ FFStreamError err("Error writing BINEX UBNXI");
+ GPSTK_THROW(err);
+ }
+ return size;
+ }
+
+ // =========================================================================
+ // BinexData::MGFZI Methods
+ // =========================================================================
+
+ // -------------------------------------------------------------------------
+ BinexData::MGFZI::MGFZI()
+ {
+ value = 0;
+ size = 1;
+ }
+
+
+ // -------------------------------------------------------------------------
+ BinexData::MGFZI::MGFZI(long long ll)
+ throw(FFStreamError)
+ {
+
+ value = ll;
+ long long absValue = value;
+ if (absValue < 0)
+ {
+ absValue = absValue*(-1);
+ }
+
+
+ if (absValue < 16LL)
+ {
+ size = 1;
+ }
+ else if (absValue < 4110LL)
+ {
+ size = 2;
+ }
+ else if (absValue < 1052685LL)
+ {
+ size = 3;
+ }
+ else if (absValue < 269488140LL)
+ {
+ size = 4;
+ }
+ else if (absValue < 68988964875LL)
+ {
+ size = 5;
+ }
+ else if (absValue < 17661175009290LL)
+ {
+ size = 6;
+ }
+ else if (absValue < 4521260802379785LL)
+ {
+ size = 7;
+ }
+ else if (absValue <= BinexData::MGFZI::MAX_VALUE)
+ {
+ size = 8;
+ }
+ else
+ {
+ value = 0LL;
+ size = 0;
+
+ std::ostringstream errStrm;
+ errStrm << "BINEX MGFZI overflow: " << ll;
+ FFStreamError err(errStrm.str() );
+ GPSTK_THROW(err);
+ }
+ }
+
+
+ // -------------------------------------------------------------------------
+ size_t
+ BinexData::MGFZI::decode(
+ const std::string& inBuffer,
+ size_t offset,
+ bool littleEndian)
+ throw(FFStreamError)
+ {
+ long long absValue = 0;
+ unsigned char flags;
+ unsigned long long ull;
+ short sign;
+
+ if (offset > inBuffer.size() )
+ {
+ std::ostringstream errStrm;
+ errStrm << "Invalid offset into BINEX MGFZI input buffer: " << offset;
+ FFStreamError err(errStrm.str() );
+ GPSTK_THROW(err);
+ }
+
+ if (inBuffer.size() == 0)
+ {
+ // Nothing to decode
+ size = 0;
+ value = 0;
+ return 0;
+ }
+ // Isolate sign and byte-length flags
+ flags = littleEndian
+ ? inBuffer[offset] & 0x0f
+ : (inBuffer[offset] >> 4) & 0x0f;
+
+ // Determine whether the final value is positive or negative.
+ sign = (flags & 0x08) ? -1 : 1;
+
+ // Handle varying byte lengths
+ size = (flags & 0x07) + 1;
+ if (size > inBuffer.size() )
+ {
+ std::ostringstream errStrm;
+ errStrm << "BINEX MGFZI is too large for the supplied decode buffer: "
+ << "MGFZI size = " << size << " , buffer size = " << inBuffer.size();
+ FFStreamError err(errStrm.str() );
+ GPSTK_THROW(err);
+ }
+
+ switch (size)
+ {
+ case 0x01:
+ // Use 1 byte:
+ //
+ ull = parseBuffer(inBuffer, offset, 1);
+ absValue = littleEndian
+ ? ull >> 4
+ : ull & 0x0000000fULL;
+ if (sign == -1 && absValue == 0)
+ {
+ // "-0" reserved for "no data" indicator
+ size = 0;
+ // TODO - throw
+ }
+ else
+ {
+ value = sign * absValue;
+ }
+ break;
+
+ case 0x02:
+ // Use 2 bytes:
+ //
+ ull = parseBuffer(inBuffer, offset, 2);
+ if (littleEndian != nativeLittleEndian)
+ {
+ reverseBuffer( (unsigned char*)&ull, 8);
+ ull >>= 48;
+ }
+ absValue = littleEndian
+ ? ull >> 4
+ : ull & 0x0000000000000fffULL;
+ value = sign * (14ULL + absValue);
+ break;
+
+ case 0x03:
+ // Use 3 bytes:
+ //
+ ull = parseBuffer(inBuffer, offset, 3);
+ if (littleEndian != nativeLittleEndian)
+ {
+ reverseBuffer( (unsigned char*)&ull, 8);
+ ull >>= 40;
+ }
+ absValue = littleEndian
+ ? ull >> 4
+ : ull & 0x00000000000fffffULL;
+ value = sign * (4109ULL + absValue);
+ break;
+
+ case 0x04:
+ // Use 4 bytes:
+ //
+ ull = parseBuffer(inBuffer, offset, 4);
+ if (littleEndian != nativeLittleEndian)
+ {
+ reverseBuffer( (unsigned char*)&ull, 8);
+ ull >>= 32;
+ }
+ absValue = littleEndian
+ ? ull >> 4
+ : ull & 0x000000000fffffffULL;
+ value = sign * (1052684ULL + absValue);
+ break;
+
+ case 0x05:
+ // Use 5 bytes:
+ //
+ ull = parseBuffer(inBuffer, offset, 5);
+ if (littleEndian != nativeLittleEndian)
+ {
+ reverseBuffer( (unsigned char*)&ull, 8);
+ ull >>= 24;
+ }
+ absValue = littleEndian
+ ? ull >> 4
+ : ull & 0x0000000fffffffffULL;
+ value = sign * (269488139ULL + absValue);
+ break;
+
+ case 0x06:
+ // Use 6 bytes:
+ //
+ ull = parseBuffer(inBuffer, offset, 6);
+ if (littleEndian != nativeLittleEndian)
+ {
+ reverseBuffer( (unsigned char*)&ull, 8);
+ ull >>= 16;
+ }
+ absValue = littleEndian
+ ? ull >> 4
+ : ull & 0x00000fffffffffffULL;
+ value = sign * (68988964874ULL + absValue);
+ break;
+
+ case 0x07:
+ // Use 7 bytes:
+ //
+ ull = parseBuffer(inBuffer, offset, 7);
+ if (littleEndian != nativeLittleEndian)
+ {
+ reverseBuffer( (unsigned char*)&ull, 8);
+ ull >>= 8;
+ }
+ absValue = littleEndian
+ ? ull >> 4
+ : ull & 0x000fffffffffffffULL;
+ value = sign * (17661175009289ULL + absValue);
+ break;
+
+ case 0x08:
+ // Use 8 bytes:
+ //
+ ull = parseBuffer(inBuffer, offset, 8);
+ if (littleEndian != nativeLittleEndian)
+ {
+ reverseBuffer( (unsigned char*)&ull, 8);
+ }
+ absValue = littleEndian
+ ? ull >> 4
+ : ull & 0x0fffffffffffffffULL;
+ value = sign * (4521260802379784ULL + absValue);
+ break;
+
+ default:
+ // Internal error
+ std::ostringstream errStrm;
+ errStrm << "BINEX MGFZI invalid size: " << size;
+ FFStreamError err(errStrm.str() );
+ size = 0;
+ GPSTK_THROW(err);
+ break;
+
+ } // switch (flag)
+ return size;
+ }
+
+
+ // -------------------------------------------------------------------------
+ size_t
+ BinexData::MGFZI::encode(
+ std::string& outBuffer,
+ size_t offset,
+ bool littleEndian) const
+ {
+ char buffer[MAX_BYTES];
+ unsigned char uc;
+ unsigned short us;
+ unsigned long ul;
+ unsigned long long ull;
+
+ if (offset > outBuffer.size() )
+ {
+ std::ostringstream errStrm;
+ errStrm << "Invalid offset into BINEX MGFZI output buffer: " << offset;
+ FFStreamError err(errStrm.str() );
+ GPSTK_THROW(err);
+ }
+
+ long long absValue = value;
+ if (absValue < 0)
+ {
+ absValue = absValue*(-1);
+ }
+
+ unsigned char signBit = (value < 0) ? 0x01 : 0x00;
+
+ size_t result = size; // Default
+ switch (size)
+ {
+ case 1:
+ if (!littleEndian)
+ {
+ uc = (signBit << 7) | (0x0f & (unsigned char)absValue);
+ }
+ else
+ {
+ uc = (signBit << 3) | (0xf0 & ( (unsigned char)absValue << 4) );
+ }
+ if (uc == 0x08)
+ {
+ // A valid value has been rounded to "-0"; convert to "+0".
+ uc = 0x00;
+ }
+ buffer[0] = uc;
+ break;
+
+ case 2:
+ absValue -= 14LL;
+ if (littleEndian)
+ {
+ us = ( (unsigned short)signBit << 3) | 0xfff1
+ & (0x0001 | (unsigned short)absValue << 4);
+ }
+ else
+ {
+ us = ((unsigned short)signBit << 15) | 0x1fff
+ & (0x1000 | (unsigned short)absValue);
+ }
+ if (littleEndian != nativeLittleEndian)
+ {
+ reverseBuffer( (unsigned char*)&us, 2);
+ }
+ memcpy((void*)buffer, (const void*)&us, 2);
+ break;
+
+ case 3:
+ absValue -= 4109LL;
+ if (littleEndian)
+ {
+ ul = ((unsigned long)signBit << 3) | 0x00fffff2
+ & (0x00000002 | (unsigned long)absValue << 4);
+ }
+ else
+ {
+ ul = ((unsigned long)signBit << 31) | 0x2fffff00
+ & (0x20000000 | (unsigned long)absValue << 8);
+ }
+ if (littleEndian != nativeLittleEndian)
+ {
+ reverseBuffer( (unsigned char*)&ul, 4);
+ }
+ memcpy((void*)buffer, (const void*)&ul, 3);
+ break;
+
+ case 4:
+ absValue -= 1052684LL;
+ if (littleEndian)
+ {
+ ul = ((unsigned long)signBit << 3) | 0xfffffff3
+ & (0x00000003 | (unsigned long)absValue << 4);
+ }
+ else
+ {
+ ul = ((unsigned long)signBit << 31) | 0x3fffffff
+ & (0x30000000 | (unsigned long)absValue);
+ }
+ if (littleEndian != nativeLittleEndian)
+ {
+ reverseBuffer( (unsigned char*)&ul, 4);
+ }
+ memcpy((void*)buffer, (const void*)&ul, 4);
+ break;
+
+ case 5:
+ absValue -= 269488139LL;
+ if (littleEndian)
+ {
+ ull = ((unsigned long long)signBit << 3) | 0x000000fffffffff4ULL
+ & (0x0000000000000004ULL | (unsigned long long)absValue << 4);
+ }
+ else
+ {
+ ull = ((unsigned long long)signBit << 63) | 0x4fffffffff000000ULL
+ & (0x4000000000000000ULL | (unsigned long long)absValue << 24);
+ }
+ if (littleEndian != nativeLittleEndian)
+ {
+ reverseBuffer( (unsigned char*)&ull, 8);
+ }
+ memcpy((void*)buffer, (const void*)&ull, 5);
+ break;
+
+ case 6:
+ absValue -= 68988964874LL;
+ if (littleEndian)
+ {
+ ull = ((unsigned long long)signBit << 3) | 0x0000fffffffffff5ULL
+ & (0x0000000000000005ULL| (unsigned long long)absValue << 4);
+ }
+ else
+ {
+ ull = ((unsigned long long)signBit << 63) | 0x5fffffffffff0000ULL
+ & (0x5000000000000000ULL | (unsigned long long)absValue << 16);
+ }
+ if (littleEndian != nativeLittleEndian)
+ {
+ reverseBuffer( (unsigned char*)&ull, 8);
+ }
+ memcpy((void*)buffer, (const void*)&ull, 6);
+ break;
+
+ case 7:
+ absValue -= 17661175009289LL;
+ if (littleEndian)
+ {
+ ull = ((unsigned long long)signBit << 3) | 0x00fffffffffffff6ULL
+ & (0x0000000000000006ULL | (unsigned long long)absValue << 4);
+ }
+ else
+ {
+ ull = ((unsigned long long)signBit << 63) | 0x6fffffffffffff00ULL
+ & (0x6000000000000000ULL | (unsigned long long)absValue << 8);
+ }
+ if (littleEndian != nativeLittleEndian)
+ {
+ reverseBuffer( (unsigned char*)&ull, 8);
+ }
+ memcpy((void*)buffer, (const void*)&ull, 7);
+ break;
+
+ case 8:
+ absValue -= 4521260802379784LL;
+ if (littleEndian)
+ {
+ ull = ((unsigned long long)signBit << 3) | 0xfffffffffffffff7ULL
+ & (0x0000000000000007ULL | (unsigned long long)absValue << 4);
+ }
+ else
+ {
+ ull = ((unsigned long long)signBit << 63) | 0x7fffffffffffffffULL
+ & (0x7000000000000000ULL | (unsigned long long)absValue);
+ }
+ if (littleEndian != nativeLittleEndian)
+ {
+ reverseBuffer( (unsigned char*)&ull, 8);
+ }
+ memcpy((void*)buffer, (const void*)&ull, 8);
+ break;
+
+ default:
+ // If the byte count is 0, store "no value"
+ result = 1;
+ buffer[0] = 0x80;
+
+ } // switch
+ outBuffer.replace(offset, size, buffer, size);
+ return result;
+ }
+
+
+ // -------------------------------------------------------------------------
+ size_t
+ BinexData::MGFZI::read(
+ istream& strm,
+ std::string *outBuffer,
+ size_t offset,
+ bool reverseBytes,
+ bool littleEndian)
+ throw(FFStreamError)
+ {
+ unsigned char buffer [MAX_BYTES];
+ unsigned char flags;
+ short sign;
+
+ // Read the flags byte
+ strm.read((char*)&buffer[0], 1);
+
+ // Isolate sign and byte-length flags
+ flags = reverseBytes
+ ? buffer[0] & 0x0f
+ : (buffer[0] >> 4) & 0x0f;
+
+ // Determine whether the final value is positive or negative
+ // and determine the number of bytes comprising the MGFZI.
+ sign = (flags & 0x08) ? -1 : 1;
+ size = (flags & 0x07) + 1;
+
+ if (size > 1)
+ {
+ strm.read((char*)&buffer[1], size - 1);
+ if (!strm.good() || strm.gcount() != size - 1)
+ {
+ FFStreamError err("Error reading BINEX MGFZI");
+ GPSTK_THROW(err);
+ }
+ }
+ if (reverseBytes)
+ {
+ reverseBuffer(buffer, size);
+ }
+ if (outBuffer)
+ {
+ // Store the as-read bytes
+ if (offset <= outBuffer->size() )
+ {
+ outBuffer->replace(offset, size, (char*)&buffer[0], size);
+ }
+ else
+ {
+ std::ostringstream errStrm;
+ errStrm << "Invalid offset into BINEX MGFZI output buffer: " << offset;
+ FFStreamError err(errStrm.str() );
+ GPSTK_THROW(err);
+ }
+ }
+
+ // Decode the entire buffer
+ std::string tmp((const char*)&buffer[0], size);
+ decode(tmp, size, littleEndian);
+
+ return size;
+ }
+
+
+ // -------------------------------------------------------------------------
+ size_t
+ BinexData::MGFZI::write(
+ ostream& strm,
+ std::string *outBuffer,
+ size_t offset,
+ bool reverseBytes,
+ bool littleEndian) const
+ throw(FFStreamError)
+ {
+ std::string buffer;
+ encode(buffer, 0, littleEndian);
+ if (outBuffer)
+ {
+ // Store the as-written bytes
+ //memcpy(outBuffer, buffer, bufferSize);
+ if (offset <= outBuffer->size() )
+ {
+ outBuffer->replace(offset, size, buffer);
+ }
+ else
+ {
+ std::ostringstream errStrm;
+ errStrm << "Invalid offset into BINEX MGFZI output buffer: " << offset;
+ FFStreamError err(errStrm.str() );
+ GPSTK_THROW(err);
+ }
+ }
+ if (reverseBytes)
+ {
+ reverseBuffer(buffer);
+ }
+ strm.write(buffer.data(), size);
+ if (!strm.good() )
+ {
+ FFStreamError err("Error writing BINEX MGFZI");
+ GPSTK_THROW(err);
+ }
+ return size;
+ }
+
+
+ // =========================================================================
+ // BinexData Methods
+ // =========================================================================
+
+ // -------------------------------------------------------------------------
+ BinexData::BinexData()
+ {
+ setRecordFlags(); // Establish defaults
+ recID = INVALID_RECORD_ID;
+ }
+
+
+ // -------------------------------------------------------------------------
+ BinexData::BinexData(const BinexData& other)
+ {
+ *this = other;
+ }
+
+
+ // -------------------------------------------------------------------------
+ BinexData::BinexData(unsigned long recordID,
+ unsigned char recordFlags)
+ throw()
+ {
+ setRecordFlags(recordFlags);
+ setRecordID(recordID);
+ }
+
+
+ // -------------------------------------------------------------------------
+ BinexData&
+ BinexData::operator=(const BinexData& right)
+ {
+ recID = right.recID;
+ syncByte = right.syncByte;
+ msg = right.msg;
+ return *this;
+ }
+
+ // -------------------------------------------------------------------------
+ bool BinexData::operator==(const BinexData& b) const
+ {
+ return ( (recID == b.recID)
+ && (syncByte == b.syncByte)
+ && (msg.compare(b.msg) == 0) );
+ }
+
+
+ // -------------------------------------------------------------------------
+ BinexData&
+ BinexData::setRecordID(unsigned long id)
+ throw(FFStreamError)
+ {
+ if (id > UBNXI::MAX_VALUE)
+ {
+ FFStreamError err("BINEX record ID overflow");
+ GPSTK_THROW(err);
+ }
+
+ recID = id;
+ return *this;
+
+ } // BinexData::setRecordID()
+
+
+ // -------------------------------------------------------------------------
+ BinexData&
+ BinexData::setRecordFlags(unsigned char flags)
+ {
+ // Set all unsupported bits to 0.
+ syncByte = flags & VALID_RECORD_FLAGS;
+
+ // Set "regular CRC" bit (0x02) to the opposite of the enhanced CRC bit
+ // and set the two leading always-on bits (0xC0).
+ syncByte |= (flags & eEnhancedCRC) ? 0xC0 : 0xC2;
+
+ return *this;
+ }
+
+
+ // -------------------------------------------------------------------------
+ size_t
+ BinexData::getRecordSize() const
+ {
+ size_t recSize = 1; // Start with sync byte
+
+ UBNXI r(recID); // Add record ID
+ recSize += r.getSize();
+ UBNXI m(msg.size() ); // Add message length
+ recSize += m.getSize();
+ recSize += msg.size(); // Add message
+
+ size_t crcLen = getCRCLength(recSize - 1);
+
+ recSize += crcLen; // Add CRC length
+
+ if (syncByte & eReverseReadable)
+ {
+ UBNXI t(1 + r.getSize() + m.getSize() + msg.size() + crcLen);
+
+ recSize += t.getSize(); // Add total reverse length
+
+ recSize += 1; // Add sync byte
+ }
+
+ return recSize;
+ }
+
+
+ // -------------------------------------------------------------------------
+ BinexData&
+ BinexData::clearMessage()
+ {
+ msg.resize(0);
+ return *this;
+
+ } // BinexData::clearMessage()
+
+ // -------------------------------------------------------------------------
+ BinexData&
+ BinexData::ensureMessageCapacity(size_t cap)
+ throw(FFStreamError)
+ {
+ if (cap > UBNXI::MAX_VALUE)
+ {
+ std::ostringstream errStrm;
+ errStrm << "Requested message length exceeds allowable maximum: " << cap;
+ InvalidParameter ip(errStrm.str() );
+ GPSTK_THROW(ip);
+ }
+ msg.reserve(cap);
+ return *this;
+
+ } // BinexData::ensureMessageCapacity()
+
+ // -------------------------------------------------------------------------
+ BinexData&
+ BinexData::updateMessageData(
+ size_t& offset,
+ const UBNXI& data)
+ throw(FFStreamError, InvalidParameter)
+ {
+ bool littleEndian = ( (syncByte & eBigEndian) == 0) ? true : false;
+ ensureMessageCapacity(offset + data.getSize() );
+ offset += data.encode(msg, offset, littleEndian);
+ return *this;
+
+ } // BinexData::updateMessageData()
+
+ // -------------------------------------------------------------------------
+ BinexData&
+ BinexData::updateMessageData(
+ size_t& offset,
+ const MGFZI& data)
+ throw(FFStreamError, InvalidParameter)
+ {
+ bool littleEndian = ( (syncByte & eBigEndian) == 0) ? true : false;
+ ensureMessageCapacity(offset + data.getSize() );
+ offset += data.encode(msg, offset, littleEndian);
+ return *this;
+
+ } // BinexData::updateMessageData()
+
+ // -------------------------------------------------------------------------
+ BinexData&
+ BinexData::updateMessageData(
+ size_t& offset,
+ const std::string& data,
+ size_t size)
+ throw(FFStreamError, InvalidParameter)
+ {
+ ensureMessageCapacity(offset + size);
+ if (size > data.size() )
+ {
+ std::ostringstream errStrm;
+ errStrm << "Invalid data size: " << size;
+ InvalidParameter ip(errStrm.str() );
+ GPSTK_THROW(ip);
+ }
+ msg.replace(offset, size, data, 0, size);
+ offset += size;
+ return *this;
+
+ } // BinexData::updateMessageData()
+
+ // -------------------------------------------------------------------------
+ BinexData&
+ BinexData::updateMessageData(
+ size_t& offset,
+ const char *data,
+ size_t size)
+ throw(FFStreamError, InvalidParameter)
+ {
+ ensureMessageCapacity(offset + size);
+ msg.replace(offset, size, data, size);
+ offset += size;
+ return *this;
+ }
+
+ // -------------------------------------------------------------------------
+ void
+ BinexData::extractMessageData(
+ size_t& offset,
+ UBNXI& data)
+ throw(FFStreamError, InvalidParameter)
+ {
+ if (offset > msg.size() )
+ {
+ std::ostringstream errStrm;
+ errStrm << "Message buffer offset invalid: " << offset;
+ InvalidParameter ip(errStrm.str() );
+ GPSTK_THROW(ip);
+ }
+ bool littleEndian = ( (syncByte & eBigEndian) == 0) ? true : false;
+ offset += data.decode(msg, offset, littleEndian);
+
+ } // BinexData::extractMessageData()
+
+ // -------------------------------------------------------------------------
+ void
+ BinexData::extractMessageData(
+ size_t& offset,
+ MGFZI& data)
+ throw(FFStreamError, InvalidParameter)
+ {
+ if (offset > msg.size() )
+ {
+ std::ostringstream errStrm;
+ errStrm << "Message buffer offset invalid: " << offset;
+ InvalidParameter ip(errStrm.str() );
+ GPSTK_THROW(ip);
+ }
+ bool littleEndian = ( (syncByte & eBigEndian) == 0) ? true : false;
+ offset += data.decode(msg, offset, littleEndian);
+
+ } // BinexData::extractMessageData()
+
+ // -------------------------------------------------------------------------
+ void
+ BinexData::extractMessageData(
+ size_t& offset,
+ std::string& data,
+ size_t size) const
+ throw(InvalidParameter)
+ {
+ if (offset + size > msg.size() )
+ {
+ std::ostringstream errStrm;
+ errStrm << "Message buffer offset invalid: " << offset;
+ InvalidParameter ip(errStrm.str() );
+ GPSTK_THROW(ip);
+ }
+ data.assign(msg, offset, size);
+ offset += size;
+
+ } // BinexData::extractMessageData()
+
+ // -------------------------------------------------------------------------
+ void
+ BinexData::reallyPutRecord(FFStream& ffs) const
+ throw(std::exception, FFStreamError,
+ StringUtils::StringException)
+ {
+ //std::cout << "BinexData::reallyPutRecord: ENTER" << std::endl;
+
+ BinexStream* strm = dynamic_cast<BinexStream*>(&ffs);
+ if (NULL == strm)
+ {
+ FFStreamError e("Attempt to read a BinexData object"
+ " from a non-BinexStream FFStream.");
+ GPSTK_THROW(e);
+ }
+
+ try
+ {
+ unsigned char syncTail;
+ if (!isHeadSyncByteValid(syncByte, syncTail) )
+ {
+ std::ostringstream errStrm;
+ errStrm << "Invalid BINEX synchronization byte: "
+ << static_cast<uint16_t>(syncByte);
+ FFStreamError err(errStrm.str() );
+ GPSTK_THROW(err);
+ }
+ // Buffer, etc. for non-msg data
+ std::string headBuf;
+ size_t bufLen = 0; // Total buffer data length
+ size_t crcLen = 0; // Length of calculated CRC
+
+ bool littleEndian = (syncByte&eBigEndian)==0 ? true : false;
+
+ headBuf.reserve(9); // 1+4+4
+
+ // Copy sync byte to header buffer
+ headBuf.append(1, syncByte);
+ bufLen += 1;
+
+ // Copy record ID to header buffer
+ UBNXI r(recID);
+ bufLen += r.encode(headBuf, bufLen, littleEndian);
+
+ // Copy message length to header buffer
+ UBNXI m(msg.size() );
+ bufLen += m.encode(headBuf, bufLen, littleEndian);
+
+ // Write header buffer and message to the output stream
+ strm->write(headBuf.data(), headBuf.size() );
+ strm->write(msg.data(), msg.size() );
+
+ // Calculate CRC and store it in the tail buffer
+ std::string tailBuf;
+ tailBuf.reserve(21); // 16+4+1
+ headBuf.erase(0, 1); // Exclude sync byte from CRC calculation
+ getCRC(headBuf, msg, tailBuf);
+ crcLen = tailBuf.size();
+
+ // Copy enhanced CRC record items into the tail buffer
+ if (syncByte & eReverseReadable)
+ {
+ UBNXI recLen(1 + r.getSize() + m.getSize() + msg.size() + crcLen);
+ recLen.encode(tailBuf, crcLen, littleEndian);
+ reverseBuffer(tailBuf, crcLen);
+ tailBuf.append(1, syncTail);
+ }
+
+ // Write the tail buffer to the output stream.
+ strm->write(tailBuf.data(), tailBuf.size() );
+ }
+ catch(std::exception& exc)
+ {
+ FFStreamError err(exc.what());
+ GPSTK_THROW(err);
+ }
+ catch(...)
+ {
+ FFStreamError err("Unknown exception");
+ GPSTK_THROW(err);
+ }
+
+ if (strm->fail() || strm->bad())
+ {
+ FFStreamError err("Error writing data");
+ GPSTK_THROW(err);
+ }
+
+ //std::cout << "BinexData::reallyPutRecord: EXIT" << std::endl;
+ }
+
+ // -------------------------------------------------------------------------
+ void BinexData::reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError, StringUtils::StringException)
+ {
+ //std::cout << "BinexData::reallyGetRecord: ENTER" << std::endl;
+
+ BinexStream* strm = dynamic_cast<BinexStream*>(&ffs);
+ if (NULL == strm)
+ {
+ FFStreamError e("Attempt to read a BinexData object"
+ " from a non-BinexStream FFStream.");
+ GPSTK_THROW(e);
+ }
+
+ size_t offset = 0;
+
+ std::string crcBuf;
+ size_t crcBufLen = 0;
+
+ unsigned char expectedSyncByte;
+ std::string expectedCrc;
+ unsigned char crc [16];
+ size_t crcLen = 0;
+ unsigned char syncBuf;
+
+ try
+ {
+ strm->read((char*)&syncBuf, 1); // Read synchronization byte
+ }
+ catch (std::exception &e)
+ {
+ if ( (strm->gcount() == 0) && strm->eof() )
+ {
+ // Process as EOF
+ EndOfFile err("EOF encountered");
+ GPSTK_THROW(err);
+ }
+ else
+ {
+ // Rethrow if not EOF
+ FFStreamError err(e.what() );
+ GPSTK_THROW(err);
+ }
+ }
+
+ try
+ {
+ if (isHeadSyncByteValid(syncBuf, expectedSyncByte) )
+ {
+ syncByte = syncBuf;
+
+ // Process the BINEX record forward (not in reverse)
+ bool littleEndian = (syncByte & eBigEndian) == 0 ? true : false;
+
+ UBNXI uRecID;
+ crcBufLen += uRecID.read(*strm, &crcBuf, crcBufLen, false, littleEndian);
+ setRecordID((unsigned long)uRecID);
+
+ UBNXI uMsgLen;
+ crcBufLen += uMsgLen.read(*strm, &crcBuf, crcBufLen, false, littleEndian);
+
+ unsigned long msgLen = (unsigned long)uMsgLen;
+
+ // Read directly into the memory buffer of a vector. This is OK
+ // because, unlike a string, a vector is stored contiguously.
+ // The vector's memory will be reclaimed in all exit conditions
+ // since the vector is allocated on the stack.
+ std::vector<char> msgBuf(msgLen);
+ strm->read((char*)&msgBuf[0], msgLen);
+ if (!strm->good() || (strm->gcount() != msgLen) )
+ {
+ FFStreamError err("Incomplete BINEX record message");
+ GPSTK_THROW(err);
+ }
+ msg.assign((char*)&msgBuf[0], msgLen);
+
+ // Check CRC - first calculate expected, then read actual,
+ // then compare.
+ getCRC(crcBuf, msg, expectedCrc);
+ crcLen = expectedCrc.size();
+
+ strm->read( (char*)crc, crcLen);
+ if (!strm->good() || (strm->gcount() != crcLen) )
+ {
+ FFStreamError err("Error reading BINEX CRC");
+ GPSTK_THROW(err);
+ }
+ if (memcmp(crc, expectedCrc.data(), crcLen) )
+ {
+ FFStreamError err("Bad BINEX CRC");
+ GPSTK_THROW(err);
+ }
+ }
+ else if (isTailSyncByteValid(syncBuf, expectedSyncByte) )
+ {
+ // Process the BINEX record in reverse
+ bool littleEndian = (expectedSyncByte & eBigEndian) == 0 ? true : false;
+
+ UBNXI r, m, b;
+ b.read(*strm, NULL, 0, false, littleEndian);
+ unsigned long revRecSize = (unsigned long)b;
+
+ // Read the entire remainder of the record into memory
+ std::vector<char> revRecVec(revRecSize);
+ strm->read( (char*)&revRecVec[0], revRecSize);
+ if (!strm->good() || (strm->gcount() != revRecSize) )
+ {
+ FFStreamError err("Incomplete BINEX record message");
+ GPSTK_THROW(err);
+ }
+ std::string revRecBuf( (char*)&revRecVec[0], revRecSize);
+ reverseBuffer(revRecBuf, revRecSize);
+
+ if (revRecBuf[0] != expectedSyncByte)
+ {
+ FFStreamError err("BINEX head/tail synchronization byte mismatch");
+ GPSTK_THROW(err);
+ }
+ syncByte = expectedSyncByte;
+ offset += 1;
+
+ offset += r.decode(revRecBuf, offset, littleEndian);
+ setRecordID((unsigned long)r);
+ // @TODO - Check against revRecSize
+ offset += m.decode(revRecBuf, offset, littleEndian);
+ // @TODO - Check against revRecSize
+
+ msg.assign(revRecBuf, offset, (unsigned long)m);
+ offset += msg.size();
+
+ // Check CRC - first calculate expected, then compare to actual.
+ getCRC(revRecBuf.substr(1, r.getSize() + m.getSize() ), msg, expectedCrc);
+ crcLen = expectedCrc.size();
+
+ if ( (offset + crcLen != revRecSize)
+ || expectedCrc.compare(revRecBuf.substr(offset, crcLen) ) )
+ {
+ FFStreamError err("Bad BINEX CRC");
+ GPSTK_THROW(err);
+ }
+ }
+ else
+ {
+ std::ostringstream errStrm;
+ errStrm << "Invalid BINEX synchronization byte: "
+ << static_cast<uint16_t>(syncBuf);
+ FFStreamError err(errStrm.str() );
+ GPSTK_THROW(err);
+ }
+
+ }
+ catch(FFStreamError& exc)
+ {
+ GPSTK_RETHROW(exc);
+ }
+ catch(std::exception& exc)
+ {
+ FFStreamError err(exc.what() );
+ GPSTK_THROW(err);
+ }
+ catch(...)
+ {
+ FFStreamError err("Unknown exception");
+ GPSTK_THROW(err);
+ }
+
+ //std::cout << "BinexData::reallyGetRecord: EXIT" << std::endl;
+ }
+
+ void
+ BinexData::getCRC(const std::string& head,
+ const std::string& message,
+ std::string& crc) const
+ {
+ size_t crcDataLen = head.size() + message.size();
+ size_t crcLen = 0;
+ unsigned long crcTmp = 0;
+
+ if (crcDataLen >= 1048576)
+ {
+ // @TODO - Use 16-byte CRC (128-bit MD5 checksum)
+ crcLen = 16;
+ }
+ else // (crcLen < 1048576)
+ {
+ if (syncByte & eEnhancedCRC)
+ {
+ if (crcDataLen < 128)
+ {
+ // Use 2-byte CRC (CRC16)
+ BinUtils::CRCParam params(BinUtils::CRC16);
+ crcTmp = BinUtils::computeCRC((const unsigned char*)head.data(),
+ head.size(),
+ params);
+ params.initial = crcTmp;
+ crcTmp = BinUtils::computeCRC((const unsigned char*)message.data(),
+ message.size(),
+ params);
+ crcLen = 2;
+ }
+ else
+ {
+ // Use 4-byte CRC (CRC32)
+ BinUtils::CRCParam params(BinUtils::CRC32);
+ crcTmp = BinUtils::computeCRC((const unsigned char*)head.data(),
+ head.size(),
+ params);
+ params.initial = crcTmp;
+ crcTmp = BinUtils::computeCRC((const unsigned char*)message.data(),
+ message.size(),
+ params);
+ crcLen = 4;
+ }
+ }
+ else // Regular CRC
+ {
+ if (crcDataLen < 128)
+ {
+ // Use 1-byte checksum: 8-bit XOR of all bytes
+ size_t b;
+ const char *ptr;
+ ptr = head.data();
+ for (b = head.size(); b > 0 ; b--, ptr++)
+ {
+ crcTmp ^= *ptr;
+ }
+ ptr = message.data();
+ for (b = message.size(); b > 0 ; b--, ptr++)
+ {
+ crcTmp ^= *ptr;
+ }
+ crcLen = 1;
+ }
+ else if (crcDataLen < 4096)
+ {
+ // Use 2-byte CRC (CRC16)
+ BinUtils::CRCParam params(BinUtils::CRC16);
+ crcTmp = BinUtils::computeCRC((const unsigned char*)head.data(),
+ head.size(),
+ params);
+ params.initial = crcTmp;
+ crcTmp = BinUtils::computeCRC((const unsigned char*)message.data(),
+ message.size(),
+ params);
+ crcLen = 2;
+ }
+ else
+ {
+ // Use 4-byte CRC (CRC32)
+ BinUtils::CRCParam params(BinUtils::CRC32);
+ crcTmp = BinUtils::computeCRC((const unsigned char*)head.data(),
+ head.size(),
+ params);
+ params.initial = crcTmp;
+ crcTmp = BinUtils::computeCRC((const unsigned char*)message.data(),
+ message.size(),
+ params);
+ crcLen = 4;
+ }
+ } // Regular CRC
+
+ // Copy the CRC into the output
+ if (!nativeLittleEndian)
+ {
+ BinUtils::twiddle(crcTmp);
+ }
+ crc.assign( (const char*)&crcTmp, crcLen);
+
+ } // (crcLen < 1048576)
+
+ } // BinexData::getCRC()
+
+ // -------------------------------------------------------------------------
+ size_t
+ BinexData::getCRCLength(size_t crcDataLen) const
+ {
+ size_t crcLen = 0;
+
+ if (crcDataLen >= 1048576)
+ {
+ crcLen = 16;
+ }
+ else // (crcLen < 1048576)
+ {
+ if (syncByte & eEnhancedCRC)
+ {
+ if (crcDataLen < 128)
+ {
+ crcLen = 2;
+ }
+ else
+ {
+ crcLen = 4;
+ }
+ }
+ else // Regular CRC
+ {
+ if (crcDataLen < 128)
+ {
+ crcLen = 1;
+ }
+ else if (crcDataLen < 4096)
+ {
+ crcLen = 2;
+ }
+ else
+ {
+ crcLen = 4;
+ }
+
+ } // Regular CRC
+
+ } // (crcLen < 1048576)
+
+ return crcLen;
+ }
+
+ // -------------------------------------------------------------------------
+ bool
+ BinexData::isHeadSyncByteValid(unsigned char headSync,
+ unsigned char& expectedTailSync) const
+ {
+ switch (headSync)
+ {
+ case 0xC2: // Fall through ...
+ case 0xE2: // Fall through ...
+ case 0xC8: // Fall through ...
+ case 0xE8:
+ expectedTailSync = 0x00; // No tail sync byte
+ break;
+
+ case 0xD2:
+ expectedTailSync = 0xB4;
+ break;
+
+ case 0xF2:
+ expectedTailSync = 0xB0;
+ break;
+
+ case 0xD8:
+ expectedTailSync = 0xE4;
+ break;
+
+ case 0xF8:
+ expectedTailSync = 0xE0;
+ break;
+
+ default:
+ return false; // Invalid head synchronization byte
+ }
+ return true;
+ }
+
+ // -------------------------------------------------------------------------
+ bool
+ BinexData::isTailSyncByteValid(unsigned char tailSync,
+ unsigned char& expectedHeadSync) const
+ {
+ switch (tailSync)
+ {
+ case 0xB4:
+ expectedHeadSync = 0xD2;
+ break;
+
+ case 0xB0:
+ expectedHeadSync = 0xF2;
+ break;
+
+ case 0xE4:
+ expectedHeadSync = 0xD8;
+ break;
+
+ case 0xE0:
+ expectedHeadSync = 0xF8;
+ break;
+
+ default:
+ return false; // Invalid tail synchronization byte
+ }
+ return true;
+ }
+
+ // -------------------------------------------------------------------------
+ unsigned long long
+ BinexData::parseBuffer(const std::string& buffer,
+ size_t offset,
+ size_t size)
+ throw(FFStreamError)
+ {
+ unsigned long long value = 0;
+ if (size > sizeof(value) )
+ {
+ FFStreamError err("Invalid data size parsing BINEX data buffer");
+ GPSTK_THROW(err);
+ }
+ if (offset + size > buffer.size() )
+ {
+ FFStreamError err("Invalid offset parsing BINEX data buffer");
+ GPSTK_THROW(err);
+ }
+ char* valp = (char*)&value;
+ for (size_t i = 0; i < size; i++, valp++)
+ {
+ *valp = buffer[offset + i];
+ }
+ if (!nativeLittleEndian)
+ {
+ value >>= ( (sizeof(value) - size) << 3);
+ }
+ return value;
+ }
+
+ // -------------------------------------------------------------------------
+ void
+ BinexData::reverseBuffer(unsigned char *buffer,
+ size_t bufferLength)
+ {
+ unsigned char tmp;
+ for (size_t i = 1; i <= (bufferLength >> 1); i++)
+ {
+ tmp = buffer[i - 1];
+ buffer[i - 1] = buffer[bufferLength - i];
+ buffer[bufferLength - i] = tmp;
+ }
+ }
+
+ // -------------------------------------------------------------------------
+ void
+ BinexData::reverseBuffer(std::string& buffer, size_t offset, size_t n)
+ {
+ if ( (offset < 0) || (offset > buffer.size() ) )
+ {
+ FFStreamError err("Invalid offset reversing BINEX data buffer");
+ GPSTK_THROW(err);
+ }
+ size_t back = (n == std::string::npos) ? buffer.size() : offset + n;
+ if ( (back < 0) || (back > buffer.size() ) )
+ {
+ FFStreamError err("Invalid size reversing BINEX data buffer");
+ GPSTK_THROW(err);
+ }
+ --back;
+ unsigned char tmp;
+ while (offset < back)
+ {
+ tmp = buffer[offset];
+ buffer[offset] = buffer[back];
+ buffer[back] = tmp;
+ ++offset;
+ --back;
+ }
+ }
+
+ // -------------------------------------------------------------------------
+ void BinexData::dump(ostream& s) const
+ {
+ std::cout << "RecordID: " << recID << std::endl;
+ std::cout << "SyncByte: " << (unsigned short)syncByte << std::endl;
+ std::cout << "MessageLen: " << msg.size() << std::endl;
+ std::cout << "MessageData: " << std::endl;
+ for (size_t i = 0; i < msg.size(); i++)
+ {
+ unsigned short s = msg[i];
+ std::cout << s << " ";
+ }
+ std::cout << std::endl;
+ }
+
+
+} // namespace gpstk
diff --git a/dev/src/BinexData.hpp b/dev/src/BinexData.hpp
new file mode 100644
index 0000000..04944c3
--- /dev/null
+++ b/dev/src/BinexData.hpp
@@ -0,0 +1,933 @@
+#pragma ident "$Id: //depot/msn/main/code/shared/gpstk/BinexData.hpp#1 $"
+
+/**
+ * @file BinexData.hpp
+ * Encapsulate BINEX file data, including I/O
+ */
+
+#ifndef GPSTK_BINEXDATA_HPP
+#define GPSTK_BINEXDATA_HPP
+
+#include "gpstkplatform.h"
+
+#include "BinUtils.hpp"
+#include "FFData.hpp"
+#include "FFStream.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup Binex */
+
+ //@{
+
+ /**
+ * This class stores, reads, and writes BINEX records.
+ *
+ * @sa binex_read_write.cpp for an example.
+ * @sa binex_test.cpp for an example.
+ * @sa BinexStream.
+ */
+ class BinexData : public FFData
+ {
+ public:
+
+ // Establish the endianness of the native platform
+ #if BYTE_ORDER == LITTLE_ENDIAN
+ static const bool nativeLittleEndian = true;
+ #else
+ static const bool nativeLittleEndian = false;
+ #endif
+
+ static const unsigned long INVALID_RECORD_ID = 0xFFFFFFFF;
+
+ static const unsigned char DEFAULT_RECORD_FLAGS = 0x20;
+ static const unsigned char VALID_RECORD_FLAGS = 0x38;
+
+ // Flags indicating whether a record is reversed, whether a record
+ // is big endian, and whether a record contains an enhanced CRC.
+ // Combining these flags (via bitwise-or) helps create the
+ // synchronization byte(s) for a BINEX record.
+ enum recordFlagsEnum
+ {
+ eReverseReadable = 0x10,
+ eBigEndian = 0x20,
+ eEnhancedCRC = 0x08
+ };
+
+ /// BINEX data types
+ //@{
+
+ /**
+ * An unsigned integer stored using 1, 2, 3, or 4 bytes to represent
+ * integers from 0 to 536870911; used to represent BINEX record IDs,
+ * subrecord IDs, field IDs, and so on.
+ */
+ class UBNXI
+ {
+ public:
+
+ static const unsigned long MIN_VALUE = 0;
+ static const unsigned long MAX_VALUE = 536870911;
+ static const unsigned char MAX_BYTES = 4;
+
+ /**
+ * Default constructor - sets value to 0.
+ */
+ UBNXI();
+
+ /**
+ * Copy constructor.
+ */
+ UBNXI(const UBNXI& other)
+ {
+ *this = other;
+ };
+
+ /**
+ * Constructor with unsigned long initialization value.
+ */
+ UBNXI(unsigned long ul)
+ throw(FFStreamError);
+
+ /**
+ * Copies another UBNXI.
+ */
+ inline UBNXI&
+ operator=(const UBNXI& right)
+ {
+ value = right.value;
+ size = right.size;
+ return *this;
+ };
+
+ /**
+ * Compares two UBNXI's for equality.
+ */
+ inline bool
+ operator==(const UBNXI& other) const
+ {
+ return (value == other.value);
+ };
+
+ /**
+ * Compares two UBNXI's for inequality.
+ */
+ inline bool
+ operator!=(const UBNXI& other) const
+ {
+ return (value != other.value);
+ };
+
+ /**
+ * Returns whether this UBNXI is less than the other.
+ */
+ inline bool
+ operator<(const UBNXI& other) const
+ {
+ return (value < other.value);
+ };
+
+ /**
+ * Returns whether this UBNXI is less than or equal to the other.
+ */
+ inline bool
+ operator<=(const UBNXI& other) const
+ {
+ return (value <= other.value);
+ };
+
+ /**
+ * Returns whether this UBNXI is greater than the other.
+ */
+ inline bool
+ operator>(const UBNXI& other) const
+ {
+ return (value > other.value);
+ };
+
+ /**
+ * Returns whether this UBNXI is greater than or equal to the other.
+ */
+ inline bool
+ operator>=(const UBNXI& other) const
+ {
+ return (value >= other.value);
+ };
+
+ /**
+ * Returns the value of the UBNXI as an unsigned long.
+ */
+ inline
+ operator unsigned long() const
+ {
+ return value;
+ };
+
+ /**
+ * Returns the number of bytes required to represent the UBNXI.
+ * A size of 0 indicates an invalid or uninitialized UBNXI.
+ */
+ inline size_t
+ getSize() const
+ {
+ return size;
+ };
+
+ /**
+ * Attempts to decode a valid UBNXI from the contents of inBuffer.
+ * The contents of inBuffer are assumed to be in normal order
+ * (i.e. not reversed) but may be either big or little endian.
+ * @param inBuffer Sequence of bytes to decode
+ * @param offset Offset into inBuffer at which to decode
+ * @param littleEndian Byte order of the encoded bytes
+ * @return Number of bytes decoded
+ */
+ size_t
+ decode(const std::string& inBuffer,
+ size_t offset = 0,
+ bool littleEndian = false)
+ throw(FFStreamError);
+
+ /**
+ * Converts the UBNXI to a series of bytes placed in outBuffer.
+ * The bytes are output in normal order (i.e. not reversed) but
+ * may encode in either big or little endian format.
+ * @param outBuffer Sequence of encoded bytes
+ * @param offset Offset into outBuffer at which to encode
+ * @param littleEndian Optional flag indicating byte order of
+ * the encoded bytes
+ * @return Number of bytes used to encode
+ */
+ size_t
+ encode(std::string& outBuffer,
+ size_t offset = 0,
+ bool littleEndian = false) const;
+
+ /**
+ * Attempts to read a valid UBNXI from the specified input stream.
+ * The stream can be in reverse order and can be
+ * big or little endian. If the method succeeds, the number
+ * of bytes used to contruct the UBNXI can be determined
+ * by calling the getSize() method.
+ * @param strm Stream from which to read
+ * @param outBuffer Optional buffer to receive copy of raw input
+ * @param offset Offset into outBuffer at which to copy input
+ * @param reverseBytes Optional flag indicating whether
+ * the input bytes are reversed
+ * @param littleEndian Optional flag indicating byte order of input
+ * @return Number of bytes removed from the input stream
+ */
+ size_t
+ read(std::istream& strm,
+ std::string *outBuffer = NULL,
+ size_t offset = 0,
+ bool reverseBytes = false,
+ bool littleEndian = false)
+ throw(FFStreamError);
+
+ /**
+ * Attempts to write the UBNXI to the specified output stream.
+ * The stream can be output in reverse order and can be
+ * big or little endian. The method fails if the entire
+ * UBNXI cannot be written to the stream.
+ * @param strm Stream in which to write
+ * @param outBuffer Optional buffer to receive copy of raw ouput
+ * @param offset Offset into outBuffer at which to copy output
+ * @param reverseBytes Optional flag indicating whether
+ * the ouput bytes should be reversed
+ * @param littleEndian Optional flag indicating byte order of output
+ * @return Number of bytes added to the output stream
+ */
+ size_t
+ write(std::ostream& strm,
+ std::string *outBuffer = NULL,
+ size_t offset = 0,
+ bool reverseBytes = false,
+ bool littleEndian = false) const
+ throw(FFStreamError);
+
+ protected:
+
+ unsigned long value;
+ size_t size;
+ };
+
+ /**
+ * A signed integer stored using 1, 2, 3, 4, 5, 6, 7, or 8 bytes to
+ * represent integers from about -1.15292e18 to +1.15292e18 using a
+ * modified version of a compression scheme developed by GFZ, plus
+ * using "special" numbers to flag certain conditions, such as using
+ * the 1-byte MFGZI to store "-0" to indicate "no value."
+ */
+ class MGFZI
+ {
+ public:
+
+ static const long long MIN_VALUE = -1157442765409226759LL;
+ static const long long MAX_VALUE = 1157442765409226759LL;
+ static const unsigned char MAX_BYTES = 8;
+
+ /**
+ * Default constructor - sets value to 0.
+ */
+ MGFZI();
+
+ /**
+ * Copy constructor.
+ */
+ MGFZI(const MGFZI& other)
+ {
+ *this = other;
+ };
+
+ /**
+ * Constructor with a long long initialization value.
+ */
+ MGFZI(long long ll)
+ throw(FFStreamError);
+
+ /**
+ * Copies another MGFZI.
+ */
+ inline MGFZI&
+ operator=(const MGFZI& right)
+ {
+ value = right.value;
+ size = right.size;
+ return *this;
+ };
+
+ /**
+ * Compares two MGFZI's for equality.
+ */
+ inline bool
+ operator==(const MGFZI& other) const
+ {
+ return (value == other.value);
+ };
+
+ /**
+ * Compares two MGFZI's for inequality.
+ */
+ inline bool
+ operator!=(const MGFZI& other) const
+ {
+ return (value != other.value);
+ };
+
+ /**
+ * Returns whether this MGFZI is less than the other.
+ */
+ inline bool
+ operator<(const MGFZI& other) const
+ {
+ return (value < other.value);
+ };
+
+ /**
+ * Returns whether this MGFZI is less than or equal to the other.
+ */
+ inline bool
+ operator<=(const MGFZI& other) const
+ {
+ return (value <= other.value);
+ };
+
+ /**
+ * Returns whether this MGFZI is greater than the other.
+ */
+ inline bool
+ operator>(const MGFZI& other) const
+ {
+ return (value > other.value);
+ };
+
+ /**
+ * Returns whether this MGFZI is greater than or equal to the other.
+ */
+ inline bool
+ operator>=(const MGFZI& other) const
+ {
+ return (value >= other.value);
+ };
+
+ /**
+ * Returns the value of the MGFZI as a long long.
+ */
+ inline
+ operator long long() const
+ {
+ return value;
+ };
+
+ /**
+ * Returns the number of bytes required to represent the MGFZI.
+ * A size of 0 indicates an invalid or uninitialized MGFZI.
+ */
+ inline size_t
+ getSize() const
+ {
+ return size;
+ };
+
+ /**
+ * Attempts to decode a valid MGFZI from the contents of inBuffer.
+ * The contents of inBuffer are assumed to be in normal order
+ * (i.e. not reversed) but may be either big or little endian.
+ * @param inBuffer Sequence of bytes to decode
+ * @param offset Offset into inBuffer at which to decode
+ * @param littleEndian Byte order of the encoded bytes
+ * @return Number of bytes decoded
+ */
+ size_t
+ decode(const std::string& inBuffer,
+ size_t offset = 0,
+ bool littleEndian = false)
+ throw(FFStreamError);
+
+ /**
+ * Converts the MGFZI to a series of bytes placed in outBuffer.
+ * The bytes are output in normal order (i.e. not reversed) but
+ * may encode in either big or little endian format.
+ * @param outBuffer Sequence of encoded bytes
+ * @param offset Offset into outBuffer at which to encode
+ * @param littleEndian Byte order of the encoded bytes
+ * @return Number of bytes used to encode
+ */
+ size_t
+ encode(std::string& outBuffer,
+ size_t offset = 0,
+ bool littleEndian = false) const;
+
+ /**
+ * Attempts to read a valid MGFZI from the specified input stream.
+ * The stream can be in reverse order and can be
+ * big or little endian. If the method succeeds, the number
+ * of bytes used to contruct the MGFZI can be determined
+ * by calling the getSize() method.
+ * @param strm Stream from which to read
+ * @param outBuffer Optional buffer to receive copy of raw input
+ * @param reverseBytes Optional flag indicating whether
+ * the input bytes are reversed
+ * @param littleEndian Optional flag indicating byte order of input
+ */
+ size_t
+ read(std::istream& strm,
+ std::string *outBuffer = NULL,
+ size_t offset = 0,
+ bool reverseBytes = false,
+ bool littleEndian = false)
+ throw(FFStreamError);
+
+ /**
+ * Attempts to write the MGFZI to the specified output stream.
+ * The stream can be output in reverse order and can be
+ * big or little endian. The method fails if the entire
+ * MGFZI cannot be written to the stream.
+ * @param strm Stream in which to write
+ * @param outBuffer Optional buffer to receive copy of raw ouput
+ * @param reverseBytes Optional flag indicating whether
+ * the ouput bytes should be reversed
+ * @param littleEndian Optional flag indicating byte order of output
+ */
+ size_t
+ write(std::ostream& strm,
+ std::string *outBuffer = NULL,
+ size_t offset = 0,
+ bool reverseBytes = false,
+ bool littleEndian = false) const
+ throw(FFStreamError);
+
+ protected:
+
+ long long value;
+ size_t size;
+ };
+
+ //@}
+
+
+ /**
+ * Default constructor
+ */
+ BinexData();
+
+ /**
+ * Copy constructor
+ */
+ BinexData(const BinexData& other);
+
+ /**
+ * Convenience constructor
+ */
+ BinexData(unsigned long recordID,
+ unsigned char recordFlags = DEFAULT_RECORD_FLAGS)
+ throw();
+
+ /**
+ * Copies another BinexData object.
+ */
+ BinexData&
+ operator=(const BinexData& right);
+
+ /**
+ * Destructor
+ */
+ virtual
+ ~BinexData() {};
+
+ /**
+ * BinexData is "data" so this function always returns true.
+ */
+ virtual bool
+ isData(void) const
+ {
+ return true;
+ }
+
+ /**
+ * A debug output function.
+ */
+ virtual void
+ dump(std::ostream& s) const;
+
+ /**
+ * Compares two BinexData objects.
+ *
+ * @param b BinexData object to compare to this object
+ */
+ bool
+ operator==(const BinexData& b) const;
+
+ /**
+ * Returns flags indicating endianness, reversability, and CRC-mode
+ * of the current record. The individual flags can be extracted from
+ * the returned value by AND-ing with values from recordFlagsEnum.
+ */
+ inline unsigned char
+ getRecordFlags() const
+ {
+ // Return only essential, valid flag bits listed in recordFlagMask
+ return syncByte & VALID_RECORD_FLAGS;
+ };
+
+ /**
+ * Sets the endianness, reversability, and CRC-mode of the record.
+ * The "flags" paramater should be set by OR-ing together values
+ * from recordFlagsEnum enumeration. Invalid bits in "flag" are
+ * silently ignored.
+ *
+ * WARNING: Since the record flags determine how data is stored in
+ * the record message buffer, altering the record flags
+ * after data has been placed in the message buffer
+ * could result in misinterpretation of that data.
+ * Doing so is therefore highly discouraged.
+ */
+ BinexData&
+ setRecordFlags(unsigned char flags = DEFAULT_RECORD_FLAGS);
+
+ /**
+ * Returns the ID of this BINEX record.
+ */
+ inline unsigned long
+ getRecordID() const
+ {
+ return recID;
+ };
+
+ /**
+ * Sets the ID of this BINEX record.
+ */
+ BinexData&
+ setRecordID(unsigned long id)
+ throw(FFStreamError);
+
+ /**
+ * Returns the number of bytes required to represent the entire record
+ * (based on the record's current contents).
+ */
+ size_t
+ getRecordSize() const;
+
+ /**
+ * Remove all data from the record message buffer.
+ */
+ BinexData&
+ clearMessage();
+
+ /**
+ * Reserves a number of bytes for storage of the record message.
+ * This number can grow as data is added to the message, but an
+ * adequate initial number results in greater efficiency. The
+ * actual length of the data in the message buffer is a separate
+ * and strictly smaller amount.
+ */
+ BinexData&
+ ensureMessageCapacity(size_t cap)
+ throw(FFStreamError);
+
+ /**
+ * Returns the length of the data in the record message buffer
+ * (which is separate from the record message buffer's capacity).
+ *
+ * @return Record message data length in bytes
+ */
+ inline size_t
+ getMessageLength() const
+ {
+ return msg.size();
+ };
+
+ /**
+ * Returns the capacity of the record message buffer (which is
+ * separate from the lenth of the data in the buffer).
+ *
+ * @return Record message capacity in bytes
+ */
+ inline size_t
+ getMessageCapacity() const
+ {
+ return msg.capacity();
+ };
+
+ /**
+ * Returns a pointer to the raw message data. Note that the format
+ * of the data is dependent upon the record flags at the time the
+ * data was added to the message.
+ */
+ //inline const char*
+ inline const std::string&
+ getMessageData() const
+ {
+ //return msg.data();
+ return msg;
+ };
+
+ /**
+ * Updates the message buffer with the specified UBNXI. The location
+ * within the message buffer is set by the offset parameter.
+ * This method checks to ensure that all data fits within
+ * the message buffer. After updating the message buffer, the
+ * value of the offset parameter is updated by size to reference
+ * the next available byte in the message buffer.
+ *
+ * @param offset Location within the message buffer at which to update
+ * @param data Data with which to update the message buffer
+ */
+ BinexData&
+ updateMessageData(
+ size_t& offset,
+ const UBNXI& data)
+ throw(FFStreamError, InvalidParameter);
+
+ /**
+ * Updates the message buffer with the specified MGFZI. The location
+ * within the message buffer is set by the offset parameter.
+ * This method checks to ensure that all data fits within
+ * the message buffer. After updating the message buffer, the
+ * value of the offset parameter is updated by size to reference
+ * the next available byte in the message buffer.
+ *
+ * @param offset Location within the message buffer at which to update
+ * @param data Data with which to update the message buffer
+ */
+ BinexData&
+ updateMessageData(
+ size_t& offset,
+ const MGFZI& data)
+ throw(FFStreamError, InvalidParameter);
+
+ /**
+ * Updates the message buffer with the specified raw data. The
+ * location within the message buffer is set by the offset parameter,
+ * and the size of the data to copy is set by the size parameter.
+ * After updating the message buffer, the value of the offset
+ * parameter is updated by size to reference the next available byte
+ * in the message buffer.
+ *
+ * @param offset Location within the message buffer at which to update
+ * @param data Raw data with which to update the message buffer
+ * @param size Number of bytes of data to be copied
+ */
+ BinexData&
+ updateMessageData(
+ size_t& offset,
+ const std::string& data,
+ size_t size)
+ throw(FFStreamError, InvalidParameter);
+
+ /**
+ * Updates the message buffer with the specified raw data. The
+ * location within the message buffer is set by the offset parameter,
+ * and the size of the data to copy is set by the size parameter.
+ * After updating the message buffer, the value of the offset
+ * parameter is updated by size to reference the next available byte
+ * in the message buffer.
+ *
+ * @param offset Location within the message buffer at which to update
+ * @param data Raw data with which to update the message buffer
+ * @param size Number of bytes of data to be copied
+ */
+ BinexData&
+ updateMessageData(
+ size_t& offset,
+ const char *data,
+ size_t size)
+ throw(FFStreamError, InvalidParameter);
+
+ /**
+ * Updates the message buffer with the specified data. The location
+ * within the message buffer is set by the offset parameter,
+ * and the size of the data to copy is set by the size parameter.
+ * This method checks to ensure that the value of the size parameter
+ * does not exceed sizeof(T) and that all data fits within
+ * the message buffer. After updating the message buffer, the
+ * value of the offset parameter is updated by size to reference
+ * the next available byte in the message buffer.
+ *
+ * @param offset Location within the message buffer at which to update
+ * @param data Data with which to update the message buffer
+ * @param size Number of bytes of data to be copied
+ */
+ template<class T>
+ BinexData&
+ updateMessageData(
+ size_t& offset,
+ const T& data,
+ size_t size)
+ throw(FFStreamError, InvalidParameter)
+ {
+ if (size > sizeof(T) )
+ {
+ std::ostringstream errStrm;
+ errStrm << "Invalid data size: " << size;
+ InvalidParameter ip(errStrm.str() );
+ GPSTK_THROW(ip);
+ }
+ bool littleEndian = ( (syncByte & eBigEndian) == 0) ? true : false;
+ if (littleEndian == nativeLittleEndian)
+ {
+ msg.replace(offset, size, reinterpret_cast<const char*>(&data), size);
+ }
+ else
+ {
+ T tmpData(data);
+ BinUtils::twiddle(tmpData);
+ msg.replace(offset, size, reinterpret_cast<const char*>(&tmpData), size);
+ }
+ offset += size;
+ return *this;
+
+ } // BinexData::updateMessageData()
+
+ /**
+ * Extacts a UBNXI from the message buffer. The location within the
+ * message buffer is set by the offset parameter. After extracting
+ * the UBNXI from the message buffer, the value of the offset parameter
+ * is updated by the UBNXI's size to reference the next available byte
+ * in the message buffer.
+ *
+ * @param offset Location within the message buffer at which to extract
+ * @param data Location to store the extracted data
+ */
+ void
+ extractMessageData(
+ size_t& offset,
+ UBNXI& data)
+ throw(FFStreamError, InvalidParameter);
+
+ /**
+ * Extacts a MGFZI from the message buffer. The location within the
+ * message buffer is set by the offset parameter. After extracting
+ * the MGFZI from the message buffer, the value of the offset parameter
+ * is updated by the MGFZI's size to reference the next available byte
+ * in the message buffer.
+ *
+ * @param offset Location within the message buffer at which to extract
+ * @param data Location to store the extracted data
+ */
+ void
+ extractMessageData(
+ size_t& offset,
+ MGFZI& data)
+ throw(FFStreamError, InvalidParameter);
+
+ /**
+ * Extacts raw data from the message buffer. The location within the
+ * message buffer is set by the offset parameter, and the size of the
+ * data to extract is set by the size parameter. This method checks
+ * to ensure that all data is extracted from within the message
+ * buffer. After extracting data from the message buffer,
+ * the value of the offset parameter is updated by size to reference
+ * the next available byte in the message buffer.
+ *
+ * @param offset Location within the message buffer at which to extract
+ * @param data Location to store the extracted data
+ * @param size Number of bytes of data to be extracted
+ */
+ void
+ extractMessageData(
+ size_t& offset,
+ std::string& data,
+ size_t size) const
+ throw(InvalidParameter);
+
+ /**
+ * Extacts data from the message buffer. The location within the
+ * message buffer is set by the offset parameter, and the size of the
+ * data to extract is set by the size parameter. This method checks
+ * to ensure that the value of the size parameter does not exceed
+ * sizeof(T) and that all data is extracted from within the
+ * message buffer. After extracting data from the message buffer,
+ * the value of the offset parameter is updated by size to reference
+ * the next available byte in the message buffer.
+ *
+ * @param offset Location within the message buffer at which to extract
+ * @param data Location to store the extracted data
+ * @param size Number of bytes of data to be extracted
+ */
+ template<class T>
+ void
+ extractMessageData(
+ size_t& offset,
+ T& data,
+ size_t size) const
+ throw(FFStreamError, InvalidParameter)
+ {
+ if (size > sizeof(T) )
+ {
+ std::ostringstream errStrm;
+ errStrm << "Data size invalid: " << size;
+ InvalidParameter ip(errStrm.str() );
+ GPSTK_THROW(ip);
+ }
+ if (offset + size > msg.size() )
+ {
+ std::ostringstream errStrm;
+ errStrm << "Message buffer offset invalid: " << offset;
+ InvalidParameter ip(errStrm.str() );
+ GPSTK_THROW(ip);
+ }
+ bool littleEndian = ( (syncByte & eBigEndian) == 0) ? true : false;
+ msg.copy(reinterpret_cast<char*>(&data), size, offset);
+ if (littleEndian != nativeLittleEndian)
+ {
+ BinUtils::twiddle(data);
+ }
+ offset += size;
+
+ } // BinexData::extractMessageData()
+
+
+ protected:
+
+ /**
+ * Writes the BINEX data to the file stream formatted correctly.
+ */
+ virtual void
+ reallyPutRecord(FFStream& s) const
+ throw(std::exception, FFStreamError,
+ StringUtils::StringException);
+
+ /**
+ * This function retrieves a BINEX record from the given FFStream.
+ * If an error is encountered in reading from the stream, the stream
+ * is returned to its original position and its fail-bit is set.
+ * @throws StringException when a StringUtils function fails
+ * @throws FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to its pre-read position.
+ */
+ virtual void
+ reallyGetRecord(FFStream& s)
+ throw(std::exception, FFStreamError,
+ StringUtils::StringException);
+
+ /**
+ * @param bufs A NULL-terminated list of pointers to byte buffers
+ * @param bufLens A list of lengths for the buffers specified by bufs
+ * @param crc A pointer to the buffer in which to store the CRC
+ * @param crcLen The number of bytes used to store the CRC
+ */
+ void getCRC(const std::string& head,
+ const std::string& message,
+ std::string& crc) const;
+
+ /**
+ * Returns the number of bytes required to store the record's CRC
+ * based on the record's current contents.
+ */
+ size_t
+ getCRCLength(size_t crcDataLen) const;
+
+ /**
+ * Determines whether the supplied head sync byte is valid an returns
+ * an expected correosponding tail sync byte if appropriate.
+ */
+ bool
+ isHeadSyncByteValid(unsigned char headSync,
+ unsigned char& expectedTailSync) const;
+
+ /**
+ * Determines whether the supplied tail sync byte is valid an returns
+ * an expected correosponding head sync byte.
+ */
+ bool
+ isTailSyncByteValid(unsigned char tailSync,
+ unsigned char& expectedHeadSync) const;
+ /**
+ * Converts a raw sequence of bytes into an unsigned long long integer.
+ *
+ * @param buffer Raw bytes to convert
+ * @param offset Position at which to begin conversion
+ * @param size Number of bytes to convert
+ * @return Result of converting raw bytes to an unsigned integer
+ */
+ static unsigned long long
+ parseBuffer(const std::string& buffer,
+ size_t offset,
+ size_t size)
+ throw(FFStreamError);
+
+ /**
+ * Reverses the order of the first bufferLength bytes in the
+ * specified buffer.
+ *
+ * @param buffer Pointer to the bytes
+ * @param bufferLength Number of bytes to reverse
+ */
+ static void
+ reverseBuffer(unsigned char *buffer,
+ size_t bufferLength);
+
+ /**
+ * Reverses the order of the first bufferLength bytes in the
+ * specified buffer.
+ *
+ * @param buffer String containing bytes to reverse
+ * @param offset Starting position of bytes to reverse
+ * @param n Number of bytes to reverse
+ */
+ static void
+ reverseBuffer(std::string& buffer,
+ size_t offset = 0,
+ size_t n = std::string::npos);
+
+ /** @name Attributes
+ */
+ //@{
+ unsigned char syncByte; ///< Flags for endianness, CRC, etc.
+ unsigned long recID; ///< Record ID
+ std::string msg; ///< Record message (opaque)
+ //@}
+
+ private:
+
+ }; // class BinexData
+
+ //@}
+
+} // namespace gpstk
+
+
+#endif // GPSTK_BINEXDATA_HPP
diff --git a/dev/src/BinexFilterOperators.hpp b/dev/src/BinexFilterOperators.hpp
new file mode 100644
index 0000000..cd089e8
--- /dev/null
+++ b/dev/src/BinexFilterOperators.hpp
@@ -0,0 +1,41 @@
+#pragma ident "$Id: //depot/msn/main/code/shared/gpstk/BinexFilterOperators.hpp#1 $"
+
+/**
+ * @file BinexFilterOperators.hpp
+ * Operators for FileFilter using Binex data
+ */
+
+#ifndef GPSTK_BINEXFILTEROPERATORS_HPP
+#define GPSTK_BINEXFILTEROPERATORS_HPP
+
+#include "DayTime.hpp"
+#include "FileFilter.hpp"
+#include "BinexData.hpp"
+
+#include <set>
+
+namespace gpstk
+{
+ /** @addtogroup Binex */
+ //@{
+
+ typedef std::binary_function<BinexData, BinexData, bool> BinexDataBinaryOperator;
+
+
+ /// Determine if two BinexData objects are equal.
+ struct BinexDataOperatorEquals :
+ public BinexDataBinaryOperator
+ {
+ public:
+ bool operator()(const BinexData& l,
+ const BinexData& r) const
+ {
+ return (l == r);
+ }
+ };
+
+ //@}
+
+}
+
+#endif // GPSTK_BINEXFILTEROPERATORS_HPP
diff --git a/dev/src/BinexStream.hpp b/dev/src/BinexStream.hpp
new file mode 100644
index 0000000..65db139
--- /dev/null
+++ b/dev/src/BinexStream.hpp
@@ -0,0 +1,55 @@
+#pragma ident "$Id: //depot/msn/main/code/shared/gpstk/BinexStream.hpp#1 $"
+
+/**
+ * @file BinexStream.hpp
+ * File stream for RINEX meteorological files
+ */
+
+#ifndef GPSTK_BINEXSTREAM_HPP
+#define GPSTK_BINEXSTREAM_HPP
+
+#include "FFBinaryStream.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup Binex */
+ //@{
+
+ /**
+ * This class performs file i/o on a BINEX file for the
+ * BinexData classes.
+ *
+ * @sa binex_read_write.cpp for an example.
+ * @sa binex_test.cpp for an example.
+ * @sa BinexData.
+ *
+ */
+ class BinexStream : public FFBinaryStream
+ {
+ public:
+ /// Destructor
+ virtual ~BinexStream() {}
+
+ /// Default constructor
+ BinexStream() {}
+
+ /** Constructor
+ * Opens a file named \a fn using ios::openmode \a mode.
+ */
+ BinexStream(const char* fn,
+ std::ios::openmode mode=std::ios::in | std::ios::binary)
+ : FFBinaryStream(fn, mode) {};
+
+ /// Opens a file named \a fn using ios::openmode \a mode.
+ virtual void
+ open(const char* fn, std::ios::openmode mode)
+ {
+ FFBinaryStream::open(fn, mode);
+ }
+ };
+
+ //@}
+
+} // namespace gpstk
+
+#endif // GPSTK_BINEXSTREAM_HPP
diff --git a/dev/src/BivarStats.hpp b/dev/src/BivarStats.hpp
new file mode 100644
index 0000000..322d398
--- /dev/null
+++ b/dev/src/BivarStats.hpp
@@ -0,0 +1,435 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file BivarStats.hpp
+ * Bivariate Statistics
+ */
+
+#ifndef INCLUDE_GPSTK_BIVARSTATS_HPP
+#define INCLUDE_GPSTK_BIVARSTATS_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "MiscMath.hpp"
+#include "Vector.hpp"
+#include "Exception.hpp"
+#include "Stats.hpp"
+
+namespace gpstk
+{
+
+ /** @addtogroup math */
+ /** @{ */
+
+ /** Conventional statistics for two samples. Constructor does the same as
+ * clear(); use this when starting a new series of input samples.
+ */
+ template <class T>
+ class BivarStats
+ {
+ public:
+ /** @name Constructors.
+ * Various ways to construct a BivarStats object.
+ * @param x the data to use for the independent variable
+ * @param y the data to use for the dependent variable
+ * @param scale whether data is scaled internally (default: false) */
+ /** @{ */
+ BivarStats(bool scale=false);
+ BivarStats(const T& x, const T&, bool scale=false);
+ BivarStats(const std::vector<T>& x, const std::vector<T>& y,
+ bool scale=false);
+ BivarStats(const std::vector< std::pair<T, T> >& d, bool scale=false);
+ BivarStats(const Vector<T>& x, const Vector<T>& y, bool scale=false);
+ /** @} */
+
+ /** @name Addition Functions
+ * Add data to the statistics. */
+ /** @{ */
+ void add(const T& x, const T& y);
+ void add(const std::vector<T>& x, const std::vector<T>& y);
+ void add(const std::vector< std::pair<T, T> >& d);
+ void add(const Vector<T>& x, const Vector<T>& y);
+ /** @} */
+
+ /** @name Subtraction Functions
+ * Subtract data from the statistics. */
+ /** @{ */
+ void subtract(const T& x, const T& y);
+ void subtract(const std::vector<T>& x, const std::vector<T>& y);
+ void subtract(const std::vector< std::pair<T, T> >& d);
+ void subtract(const Vector<T>& x, const Vector<T>& y);
+ /** @} */
+
+ void clear(void); ///< Remove all data and start over.
+ size_t n(void) const; ///< Return the sample size.
+
+ T minimumX(void) const;
+ T maximumX(void) const;
+ T minimumY(void) const;
+ T maximumY(void) const;
+
+ T averageX(void) const;
+ T averageY(void) const;
+
+ T varianceX(void) const;
+ T varianceY(void) const;
+ T stdDevX(void) const;
+ T stdDevY(void) const;
+
+ /// Return slope of best-fit line Y=slope*X + intercept.
+ T slope(void) const;
+ /// Return intercept of best-fit line Y=slope*X + intercept
+ T intercept(void) const;
+ /// Return uncertainty in slope.
+ T sigmaSlope(void) const;
+
+ T correlation(void) const;
+
+ /// return conditional uncertainty = uncertainty y given x
+ T sigmaYX(void) const;
+
+ /// compute intercept + x * slope
+ T eval(const T& x) const {return intercept() + x * slope();};
+
+ /// Combine two BivarStats (assumed to be taken from the same or
+ /// equivalent samples).
+ BivarStats<T>& operator+=(BivarStats<T>& S);
+
+ Stats<T> estimateDeviation(const std::vector< std::pair<T, T> >& d) const;
+
+ private:
+
+ /// Number of samples added to the statistics so far.
+ size_t ns;
+
+ T xMin, xMax, yMin, yMax;
+ T scaleX, scaleY;
+ bool scaled;
+ T sumX, sumY, sumX2, sumY2, sumXY;
+ }; // end class BivarStats
+
+ /// Output operator for BivarStats class
+ template <class T>
+ std::ostream& operator<<(std::ostream& s, const BivarStats<T>& BVS)
+ {
+ s << " N = " << BVS.n() << std::endl
+ << " Minimum: X = " << BVS.minimumX()
+ << " Y = " << BVS.minimumY()
+ << " Maximum: X = " << BVS.maximumX()
+ << " Y = " << BVS.maximumY() << std::endl
+ << " Average: X = " << BVS.averageX()
+ << " Y = " << BVS.averageY()
+ << " Std Dev: X = " << BVS.stdDevX()
+ << " Y = " << BVS.stdDevY() << std::endl
+ << " Intercept = " << BVS.intercept()
+ << " Slope = " << BVS.slope()
+ << " with uncertainty = " << BVS.sigmaSlope() << std::endl
+ << " Conditional uncertainty (sigma y given x) = " << BVS.sigmaYX()
+ << " Correlation = " << BVS.correlation() << std::endl;
+ return s;
+ }
+
+ template<class T>
+ BivarStats<T>::BivarStats(bool s)
+ :ns(0), scaled(s)
+ {}
+
+ template<class T>
+ BivarStats<T>::BivarStats(const T& x, const T& y, bool s)
+ :ns(0), scaled(s)
+ {
+ add(x,y);
+ }
+
+ template<class T>
+ BivarStats<T>::BivarStats(const std::vector<T>& x, const std::vector<T>& y,
+ bool s )
+ :ns(0), scaled(s)
+ {
+ add(x,y);
+ }
+
+ template<class T>
+ BivarStats<T>::BivarStats(const std::vector< std::pair<T, T> >& d, bool s)
+ :ns(0), scaled(s)
+ {
+ add(d);
+ }
+
+ template<class T>
+ BivarStats<T>::BivarStats(const Vector<T>& x, const Vector<T>& y, bool s)
+ :ns(0), scaled(s)
+ {
+ add(x,y);
+ }
+
+ template<class T>
+ void BivarStats<T>::add(const T& x, const T& y)
+ {
+ if (ns == 0)
+ {
+ sumX = sumY = sumX2 = sumY2 = sumXY = T(0);
+ xMin = xMax = x;
+ yMin = yMax = y;
+ scaleX = scaleY = T(1);
+ }
+
+ if (scaled)
+ {
+ if (scaleX==T(1) && x!=T()) scaleX=ABS(x);
+ if (scaleY==T(1) && y!=T()) scaleY=ABS(y);
+ T tx(x/scaleX);
+ T ty(y/scaleY);
+ sumX += tx;
+ sumY += ty;
+ sumX2 += tx*tx;
+ sumY2 += ty*ty;
+ sumXY += tx*ty;
+ }
+ else
+ {
+ sumX += x;
+ sumY += y;
+ sumX2 += x*x;
+ sumY2 += y*y;
+ sumXY += x*y;
+ }
+
+ if(x < xMin) xMin=x;
+ if(x > xMax) xMax=x;
+ if(y < yMin) yMin=y;
+ if(y > yMax) yMax=y;
+ ns++;
+ }
+
+ template<class T>
+ void BivarStats<T>::add(const std::vector<T>& x, const std::vector<T>& y)
+ {
+ size_t m = x.size() < y.size() ? x.size() : y.size();
+ if(m==0)
+ return;
+ for (size_t i=0; i<m; i++)
+ add(x[i], y[i]);
+ }
+
+ template<class T>
+ void BivarStats<T>::add(const std::vector< std::pair<T, T> >& d)
+ {
+ size_t max( d.size() );
+ for (size_t i=0; i<max; i++)
+ add(d[i].first, d[i].second);
+ }
+
+ template<class T>
+ void BivarStats<T>::add(const Vector<T>& x, const Vector<T>& y)
+ {
+ size_t m = x.size() < y.size() ? x.size() : y.size();
+ if (m==0)
+ return;
+ for (size_t i=0; i<m; i++)
+ add(x(i), y(i));
+ }
+
+ template<class T>
+ void BivarStats<T>::subtract(const T& x, const T& y)
+ {
+ if (ns < 2)
+ {
+ ns = 0;
+ return;
+ }
+
+ if (scaled)
+ {
+ T tx(x/scaleX);
+ T ty(y/scaleY);
+ sumX -= tx;
+ sumY -= ty;
+ sumX2 -= tx*tx;
+ sumY2 -= ty*ty;
+ sumXY -= tx*ty;
+ }
+ else
+ {
+ sumX -= x;
+ sumY -= y;
+ sumX2 -= x*x;
+ sumY2 -= y*y;
+ sumXY -= x*y;
+ }
+
+ ns--;
+ }
+
+ template<class T>
+ void BivarStats<T>::subtract(const std::vector<T>& x, const std::vector<T>& y)
+ {
+ size_t m = x.size()<y.size() ? x.size() : y.size();
+ if(m==0)
+ return;
+ for (size_t i=0; i<m; i++)
+ subtract(x[i], y[i]);
+ }
+
+ template<class T>
+ void BivarStats<T>::subtract(const std::vector< std::pair<T, T> >& d)
+ {
+ size_t max( d.size() );
+ for (size_t i=0; i<max; d++)
+ subtract(d[i].first, d[i].second);
+ }
+
+ template<class T>
+ void BivarStats<T>::subtract(const Vector<T>& x, const Vector<T>& y)
+ {
+ size_t m = x.size()<y.size() ? x.size() : y.size();
+ if (m==0)
+ return;
+ for (size_t i=0; i<m; i++)
+ subtract(x(i), y(i));
+ }
+
+ /// This assumes that the accessors will check for n>0, which they do.
+ template<class T>
+ void BivarStats<T>::clear(void) { ns=0; }
+
+ template<class T>
+ inline size_t BivarStats<T>::n(void) const { return ns; }
+
+ template<class T>
+ T BivarStats<T>::minimumX(void) const { return ns>0 ? xMin : T(0); }
+ template<class T>
+ T BivarStats<T>::maximumX(void) const { return ns>0 ? xMax : T(0); }
+ template<class T>
+ T BivarStats<T>::minimumY(void) const { return ns>0 ? yMin : T(0); }
+ template<class T>
+ T BivarStats<T>::maximumY(void) const { return ns>0 ? yMax : T(0); }
+
+ template<class T>
+ T BivarStats<T>::averageX(void) const
+ { return ns>0 ? scaleX*sumX/T(ns) : T(0); }
+ template<class T>
+ T BivarStats<T>::averageY(void) const
+ { return ns>0 ? scaleY*sumY/T(ns) : T(0); }
+
+
+ template<class T>
+ T BivarStats<T>::varianceX(void) const
+ {
+ return (ns>1) ? scaleX*scaleX * (sumX2 - sumX*sumX/T(ns)) / T(ns-1) : T(0);
+ }
+
+ template<class T>
+ T BivarStats<T>::varianceY(void) const
+ {
+ return (ns>1) ? scaleY*scaleY * (sumY2 - sumY*sumY/T(ns)) / T(ns-1) : T(0);
+ }
+
+ template<class T>
+ T BivarStats<T>::stdDevX(void) const { return SQRT(varianceX()); }
+ template<class T>
+ T BivarStats<T>::stdDevY(void) const { return SQRT(varianceY()); }
+
+ template<class T>
+ T BivarStats<T>::slope(void) const
+ {
+ if (ns>0)
+ return (scaleY/scaleX) * (sumXY - sumX*sumY/T(ns)) /
+ (sumX2 - sumX*sumX/T(ns));
+ else
+ return T();
+ }
+
+ template<class T>
+ T BivarStats<T>::intercept(void) const
+ {
+ if (ns>0)
+ return averageY() - slope() * averageX();
+ else
+ return T();
+ }
+
+ template<class T>
+ T BivarStats<T>::sigmaSlope(void) const
+ {
+ if (ns>2)
+ return sigmaYX() / (stdDevX() * SQRT(T(ns-1)));
+ else
+ return T();
+ }
+
+ template<class T>
+ T BivarStats<T>::correlation(void) const
+ {
+ if (ns>1)
+ return scaleX*scaleY * (sumXY - sumX*sumY/T(ns)) /
+ (stdDevX() * stdDevY() * T(ns-1));
+ else
+ return T();
+ }
+
+ template<class T>
+ T BivarStats<T>::sigmaYX(void) const
+ {
+ if (ns>2)
+ return (stdDevY() * SQRT(T(ns-1) / T(ns-2))
+ * SQRT(T(1) - correlation() * correlation()) );
+ else return T();
+ }
+
+ /// combine two BivarStats (assumed to be taken from the same or
+ /// equivalent samples)
+ template<class T>
+ BivarStats<T>& BivarStats<T>::operator+=(BivarStats<T>& S)
+ {
+ if(ns + S.ns == 0) return *this;
+ xMin = std::min(xMin, S.xMin);
+ xMax = std::max(xMax, S.xMax);
+ yMin = std::min(yMin, S.yMin);
+ yMax = std::max(yMax, S.yMax);
+ T xscaler( S.scaleX/scaleX ), yscaler( S.scaleY/scaleY );
+ sumX += xscaler * S.sumX;
+ sumY += yscaler * S.sumY;
+ sumX2 += xscaler * xscaler * S.sumX2;
+ sumY2 += yscaler * yscaler * S.sumY2;
+ sumXY += xscaler * yscaler * S.sumXY;
+ ns += S.ns;
+ return *this;
+ }
+ /** @} */ // end of @addtogroup math
+
+ template<class T>
+ Stats<T> BivarStats<T>::estimateDeviation(const std::vector< std::pair<T, T> >& d) const
+ {
+ Stats<T> estats;
+ size_t max( d.size() );
+ for (size_t i=0; i<max; i++)
+ estats.Add(std::abs(d[i].second - eval(d[i].first)));
+ return estats;
+ }
+
+} // namespace
+
+#endif
diff --git a/dev/src/CheckPRData.hpp b/dev/src/CheckPRData.hpp
new file mode 100644
index 0000000..3e58fb4
--- /dev/null
+++ b/dev/src/CheckPRData.hpp
@@ -0,0 +1,100 @@
+
+/**
+ * @file CheckPRData.hpp
+ * This class checks that pseudorange data is between reasonable values.
+ */
+
+#ifndef CheckPRData_GPSTK
+#define CheckPRData_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+
+namespace gpstk
+{
+
+ /** @addtogroup RinexObs */
+ //@{
+
+
+ /// This class checks that pseudorange data is between reasonable values.
+ class CheckPRData
+ {
+ public:
+
+ /// Default constructor
+ CheckPRData() : minPRange(15000000.0), maxPRange(30000000.0) {};
+
+
+ /// Constructor that allows to set the data span values
+ CheckPRData(const double& min, const double& max) : minPRange(min), maxPRange(max) {};
+
+
+ /** Checks that the given pseudorange data is between the limits
+ * @param prange The pseudorange data to be tested
+ *
+ * @return
+ * True if check was OK.
+ */
+ virtual bool check(const double& prange) const
+ {
+ return ( prange>=minPRange && prange<=maxPRange );
+ }; // end CheckPRData::check()
+
+
+ /// Set the minimum pseudorange value allowed for data (in meters).
+ virtual void setMinPRange(const double& minPR) { minPRange = minPR; };
+
+ /// Get the minimum pseudorange value allowed for data (in meters).
+ virtual double getMinPRange(void) const { return minPRange; };
+
+ /// Set the maximum pseudorange value allowed for data (in meters).
+ virtual void setMaxPRange(const double& maxPR) { maxPRange = maxPR; };
+
+ /// Get the maximum pseudorange value allowed for data (in meters).
+ virtual double getMaxPRange(void) const { return maxPRange; };
+
+
+ /// Destructor
+ virtual ~CheckPRData() {};
+
+
+ protected:
+
+ /// Minimum pseudorange value allowed for input data (in meters).
+ double minPRange;
+
+ /// Maximum pseudorange value allowed for input data (in meters).
+ double maxPRange;
+
+
+
+ }; // end class CheckPRData
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/CivilTime.cpp b/dev/src/CivilTime.cpp
new file mode 100644
index 0000000..d4d1436
--- /dev/null
+++ b/dev/src/CivilTime.cpp
@@ -0,0 +1,322 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include <cmath>
+#include "CivilTime.hpp"
+#include "TimeConverters.hpp"
+
+namespace gpstk
+{
+ /// Long month names for converstion from numbers to strings
+ const char * CivilTime::MonthNames[] =
+ {
+ "Error",
+ "January","February", "March", "April",
+ "May", "June","July", "August",
+ "September", "October", "November", "December"
+ };
+
+ /// Short month names for converstion from numbers to strings
+ const char * CivilTime::MonthAbbrevNames[] =
+ {
+ "err", "Jan", "Feb", "Mar", "Apr", "May", "Jun","Jul",
+ "Aug", "Sep", "Oct", "Nov", "Dec"
+ };
+
+ CivilTime& CivilTime::operator=( const CivilTime& right )
+ throw()
+ {
+ year = right.year;
+ month = right.month;
+ day = right.day;
+ hour = right.hour;
+ minute = right.minute;
+ second = right.second;
+ return *this;
+ }
+
+ CommonTime CivilTime::convertToCommonTime() const
+ {
+ // get the julian day
+ long jday = convertCalendarToJD( year, month, day );
+ // get the second of day
+ double sod = convertTimeToSOD( hour, minute, second );
+ // make a CommonTime with jd, whole sod, and fractional second of day
+ return CommonTime( jday, static_cast<long>( sod ),
+ ( sod - static_cast<long>( sod ) ) );
+ }
+
+ void CivilTime::convertFromCommonTime( const CommonTime& ct )
+ {
+ long jday, sod;
+ double fsod;
+ // get the julian day, second of day, and fractional second of day
+ ct.get( jday, sod, fsod );
+ // convert the julian day to calendar "year/month/day of month"
+ convertJDtoCalendar( jday, year, month, day );
+ // convert the (whole) second of day to "hour/minute/second"
+ convertSODtoTime( static_cast<double>( sod ), hour, minute, second );
+ // add the fractional second of day to "second"
+ second += fsod;
+ }
+
+ std::string CivilTime::printf(const std::string& fmt) const
+ throw( gpstk::StringUtils::StringException )
+ {
+ try
+ {
+ using gpstk::StringUtils::formattedPrint;
+ std::string rv = fmt;
+
+ rv = formattedPrint( rv, getFormatPrefixInt() + "Y",
+ "Yd", year );
+ rv = formattedPrint( rv, getFormatPrefixInt() + "y",
+ "yd", static_cast<short>( year % 100 ) );
+ rv = formattedPrint( rv, getFormatPrefixInt() + "m",
+ "md", month );
+ rv = formattedPrint( rv, getFormatPrefixInt() + "b",
+ "bs", MonthAbbrevNames[month] );
+ rv = formattedPrint( rv, getFormatPrefixInt() + "B",
+ "Bs", MonthNames[month] );
+ rv = formattedPrint( rv, getFormatPrefixInt() + "d",
+ "dd", day );
+ rv = formattedPrint( rv, getFormatPrefixInt() + "H",
+ "Hd", hour );
+ rv = formattedPrint( rv, getFormatPrefixInt() + "M",
+ "Md", minute );
+ rv = formattedPrint( rv, getFormatPrefixInt() + "S",
+ "Sd", static_cast<short>( second ) );
+ rv = formattedPrint( rv, getFormatPrefixFloat() + "f",
+ "ff", second );
+ return rv;
+ }
+ catch( gpstk::StringUtils::StringException& exc )
+ {
+ GPSTK_RETHROW( exc );
+ }
+ }
+
+ bool CivilTime::setFromInfo( const IdToValue& info )
+ throw()
+ {
+ using namespace gpstk::StringUtils;
+
+ for( IdToValue::const_iterator i = info.begin(); i != info.end(); i++ )
+ {
+ switch( i->first )
+ {
+ case 'Y':
+ year = asInt( i->second );
+ break;
+
+ case 'y':
+ switch( i->second.length() )
+ {
+ case 2:
+ year = asInt( i->second ) + 1900;
+ if( year < 1980 )
+ year += 100;
+ break;
+ case 3:
+ year = asInt( i->second ) + 1000;
+ if( year < 1980 )
+ year += 100;
+ break;
+ default:
+ year = asInt( i->second );
+ break;
+ };
+ break;
+
+ case 'm':
+ month = asInt( i->second );
+ break;
+
+ case 'b':
+ case 'B':
+ {
+ std::string thisMonth( i->second );
+ lowerCase(thisMonth);
+
+ if (isLike(thisMonth, "jan.*")) month = 1;
+ else if (isLike(thisMonth, "feb.*")) month = 2;
+ else if (isLike(thisMonth, "mar.*")) month = 3;
+ else if (isLike(thisMonth, "apr.*")) month = 4;
+ else if (isLike(thisMonth, "may.*")) month = 5;
+ else if (isLike(thisMonth, "jun.*")) month = 6;
+ else if (isLike(thisMonth, "jul.*")) month = 7;
+ else if (isLike(thisMonth, "aug.*")) month = 8;
+ else if (isLike(thisMonth, "sep.*")) month = 9;
+ else if (isLike(thisMonth, "oct.*")) month = 10;
+ else if (isLike(thisMonth, "nov.*")) month = 11;
+ else if (isLike(thisMonth, "dec.*")) month = 12;
+ else
+ {
+ return false;
+ }
+ }
+ break;
+
+ case 'd':
+ day = asInt( i->second );
+ break;
+
+ case 'H':
+ hour = asInt( i->second );
+ break;
+
+ case 'M':
+ minute = asInt( i->second );
+ break;
+
+ case 'S':
+ case 'f':
+ second = asDouble( i->second );
+ if (i->first == 'S')
+ second = floor(second);
+ break;
+
+ default:
+ // do nothing
+ break;
+ };
+ }
+
+ return true;
+ }
+
+ bool CivilTime::isValid() const
+ throw()
+ {
+ CivilTime temp;
+ temp.convertFromCommonTime( convertToCommonTime() );
+ if( *this == temp )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ void CivilTime::reset()
+ throw()
+ {
+ year = 0;
+ month = day = 1;
+ hour = minute = 0;
+ second = 0.0;
+ }
+
+ bool CivilTime::operator==( const CivilTime& right ) const
+ throw()
+ {
+ if( year == right.year &&
+ month == right.month &&
+ day == right.day &&
+ hour == right.hour &&
+ minute == right.minute &&
+ second == right.second )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool CivilTime::operator!=( const CivilTime& right ) const
+ throw()
+ {
+ return (! operator==( right ) );
+ }
+
+ bool CivilTime::operator<( const CivilTime& right ) const
+ throw()
+ {
+ if( year < right.year )
+ {
+ return true;
+ }
+ if( year > right.year )
+ {
+ return false;
+ }
+ if( month < right.month )
+ {
+ return true;
+ }
+ if( month > right.month )
+ {
+ return false;
+ }
+ if( day < right.day )
+ {
+ return true;
+ }
+ if( day > right.day )
+ {
+ return false;
+ }
+ if( hour < right.hour )
+ {
+ return true;
+ }
+ if( hour > right.hour )
+ {
+ return false;
+ }
+ if( minute < right.minute )
+ {
+ return true;
+ }
+ if( minute > right.minute )
+ {
+ return false;
+ }
+ if( second < right.second )
+ {
+ return true;
+ }
+
+ return false;
+ }
+
+ bool CivilTime::operator>( const CivilTime& right ) const
+ throw()
+ {
+ return (! operator<=( right ) );
+ }
+
+ bool CivilTime::operator<=( const CivilTime& right ) const
+ throw()
+ {
+ return ( operator<( right ) || operator==( right ) );
+ }
+
+ bool CivilTime::operator>=( const CivilTime& right ) const
+ throw()
+ {
+ return (! operator<( right ) );
+ }
+
+} // namespace
diff --git a/dev/src/CivilTime.hpp b/dev/src/CivilTime.hpp
new file mode 100644
index 0000000..cab7eb5
--- /dev/null
+++ b/dev/src/CivilTime.hpp
@@ -0,0 +1,191 @@
+#pragma ident "$Id$"
+
+
+
+#ifndef GPSTK_CIVILTIME_HPP
+#define GPSTK_CIVILTIME_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "TimeTag.hpp"
+
+namespace gpstk
+{
+ /**
+ * This class encapsulates the representation of time consisting of
+ * year, month, day (of month), hour (of day), minute (of hour), and
+ * second (of minute).
+ */
+ class CivilTime : public TimeTag
+ {
+ public:
+ /**
+ * @defgroup caltbo CivilTime Basic Operations
+ * Default and Copy Constructors, Assignment Operator and Destructor.
+ */
+ //@{
+ /**
+ * Default Constructor.
+ * All elements default to zero.
+ */
+ CivilTime( int yr = 0,
+ int mo = 0,
+ int dy = 0,
+ int hr = 0,
+ int mn = 0,
+ double s = 0.0 )
+ throw()
+ : year(yr), month(mo), day(dy), hour(hr), minute(mn), second(s)
+ {}
+
+ /**
+ * Copy Constructor.
+ * @param right a const reference to the CivilTime object to copy
+ */
+ CivilTime( const CivilTime& right )
+ throw()
+ : year( right.year ), month( right.month ), day( right.day ),
+ hour( right.hour ), minute( right.minute ),
+ second( right.second )
+ {}
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const TimeTag reference and copies its contents via
+ * conversion to CommonTime.
+ * @param right a const reference to the TimeTag-based object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ CivilTime( const TimeTag& right )
+ throw( InvalidRequest )
+ {
+ convertFromCommonTime( right.convertToCommonTime() );
+ }
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const CommonTime reference and copies its contents via
+ * the convertFromCommonTime method.
+ * @param right a const reference to the CommonTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ CivilTime( const CommonTime& right )
+ throw( InvalidRequest )
+ {
+ convertFromCommonTime( right );
+ }
+
+ /**
+ * Assignment Operator.
+ * @param right a const reference to the CivilTime object to copy
+ * @return a reference to this CivilTime object
+ */
+ CivilTime& operator=( const CivilTime& right )
+ throw();
+
+ /// Virtual Destructor.
+ virtual ~CivilTime()
+ throw()
+ {}
+ //@}
+
+ /// Long month names for converstion from numbers to strings
+ static const char *MonthNames[];
+
+ /// Short month names for converstion from numbers to strings
+ static const char *MonthAbbrevNames[];
+
+ // The following functions are required by TimeTag.
+ virtual CommonTime convertToCommonTime() const;
+
+ virtual void convertFromCommonTime( const CommonTime& ct ) ;
+
+ /// This function formats this time to a string. The exceptions
+ /// thrown would only be due to problems parsing the fmt string.
+ virtual std::string printf(const std::string& fmt) const
+ throw( gpstk::StringUtils::StringException );
+
+ /**
+ * Set this object using the information provided in \a info.
+ * @param info the IdToValue object to which this object shall be set.
+ * @return true if this object was successfully set using the
+ * data in \a info, false if not.
+ */
+ virtual bool setFromInfo( const IdToValue& info )
+ throw();
+
+ /// Return a string containing the characters that this class
+ /// understands when printing times.
+ virtual std::string getPrintChars() const
+ throw()
+ {
+ return "YymbBdHMSf";
+ }
+
+ /// Return a string containing the default format to use in printing.
+ virtual std::string getDefaultFormat() const
+ throw()
+ {
+ return "%02m/%02d/%04Y %02H:%02M:%02.9f";
+ }
+
+ virtual bool isValid() const
+ throw();
+
+ virtual void reset()
+ throw();
+
+ /**
+ * @defgroup ctco CivilTime Comparison Operators
+ * All comparison operators have a parameter "right" which corresponds
+ * to the CivilTime object to the right of the symbol.
+ * All comparison operators are const and return true on success
+ * and false on failure.
+ */
+ //@{
+ bool operator==( const CivilTime& right ) const
+ throw();
+ bool operator!=( const CivilTime& right ) const
+ throw();
+ bool operator<( const CivilTime& right ) const
+ throw();
+ bool operator>( const CivilTime& right ) const
+ throw();
+ bool operator<=( const CivilTime& right ) const
+ throw();
+ bool operator>=( const CivilTime& right ) const
+ throw();
+ //@}
+
+ int year;
+ int month;
+ int day;
+ int hour;
+ int minute;
+ double second;
+
+ };
+
+} // namespace
+
+#endif // GPSTK_CIVILTIME_HPP
diff --git a/dev/src/ClockModel.hpp b/dev/src/ClockModel.hpp
new file mode 100644
index 0000000..9fe544c
--- /dev/null
+++ b/dev/src/ClockModel.hpp
@@ -0,0 +1,77 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file ClockModel.hpp
+ * An abstract class to provide an interface to a model of a clock offset.
+ * The model neds to be able to return an offset value at an indicated
+ * point in time.
+ */
+
+#ifndef CLOCKMODEL_HPP
+#define CLOCKMODEL_HPP
+
+#include <map>
+#include "Exception.hpp"
+#include "DayTime.hpp"
+
+/**
+ * This is a abstract base class for a clock model
+ */
+
+namespace gpstk
+{
+ class ClockModel
+ {
+ public:
+ ClockModel() throw() {};
+
+ virtual double getOffset(const gpstk::DayTime& t) const = 0;
+
+ virtual bool isOffsetValid(const gpstk::DayTime& t) const = 0;
+
+ };
+}
+#endif
diff --git a/dev/src/CodeBuffer.cpp b/dev/src/CodeBuffer.cpp
new file mode 100644
index 0000000..80c1620
--- /dev/null
+++ b/dev/src/CodeBuffer.cpp
@@ -0,0 +1,70 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include "CodeBuffer.hpp"
+
+namespace gpstk
+{
+ CodeBuffer::CodeBuffer( const int SVPRNID )
+ {
+ PRNID = SVPRNID;
+ POrYCode = P_CODE;
+ currentTime = gpstk::DayTime();
+ buffer = new unsigned long[NUM_6SEC_WORDS];
+ }
+
+ // Assignment
+ CodeBuffer& CodeBuffer::operator=( const CodeBuffer& c )
+ {
+ if (this!=&c)
+ {
+ PRNID = c.PRNID;
+ POrYCode = c.POrYCode;
+ currentTime = c.currentTime;
+ for (long i=0;i<NUM_6SEC_WORDS;++i) buffer[i] = c.buffer[i];
+ }
+ return( *this );
+ }
+
+ void CodeBuffer::updateBufferStatus( const gpstk::DayTime& dt, const codeType PYFlag )
+ {
+ currentTime = dt;
+ POrYCode = PYFlag;
+ }
+
+} // end of namespace
diff --git a/dev/src/CodeBuffer.hpp b/dev/src/CodeBuffer.hpp
new file mode 100644
index 0000000..5ea6a87
--- /dev/null
+++ b/dev/src/CodeBuffer.hpp
@@ -0,0 +1,175 @@
+#pragma ident "$Id$"
+
+
+// CodeBuffer.hpp
+
+#ifndef CODEBUFFER_HPP
+#define CODEBUFFER_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+ // Library headers
+#include "DayTime.hpp"
+
+ // Project headers
+#include "PCodeConst.hpp"
+
+namespace gpstk
+{
+/** @addtogroup code */
+//@{
+ /** P(Y)-code Buffer class.
+ * Applied Research Laboratories, The University of Texas at Austin
+ * August 2003
+ *
+ * CodeBuffer is a helper class designed to store P-code information.
+ * Six seconds of code for a particular satellite is stored in each
+ * object. The satellite is identified by PRNID and the beginning
+ * time is specified in a DayTime object. The code is stored in an
+ * array of unsigned long (assumed 32-bit) integers. The time order
+ * started with the MSB of first word of the buffer ([0]) and runs
+ * through the LSB of the last word of the buffer.
+ *
+ * The size of the buffer is probably the most notable feature of
+ * this class. 1.5s (one Z-count) of P(Y)-code is 15,345,000 bits.
+ * Therefore, 6 seconds is equal to 4 Z-counts or 4 * 15,345,000 bits
+ * = 61,380,000 bits. These bits are stored in 1,918,125 unsigned
+ * long integers. The fact that 61,380,000 is evenly divisble by 32
+ * is not a coincidence, but part of the design. The constant
+ * NUM_6SEC_WORDS is used to hold the value 1,918,125 and located in
+ * PCodeConst.h.
+ */
+ class CodeBuffer
+ {
+ public:
+ /// Defines the type of code held in the buffer
+ //enum codeType { P_CODE, Y_CODE, BOTH };
+
+ /**
+ * Instantiate and initialize a code buffer for a particular
+ * satellite.
+ */
+ CodeBuffer( const int SVPRNID );
+ ~CodeBuffer( );
+ CodeBuffer& operator=( const CodeBuffer& c );
+
+ /**
+ * Update the time associated with the buffer and the designation
+ * of the data contained in the buffer as P-code or Y-code.
+ */
+ void updateBufferStatus( const gpstk::DayTime& dt,
+ const codeType PYFlag );
+
+ /**
+ * Update the time associated with the buffer and the designation
+ * of the data contained in the buffer as P-code or Y-code. In this
+ * case, the time is not being changed, but the code flag may be
+ * changed.
+ */
+ void updateBufferStatus( const codeType PYFlag ) { POrYCode = PYFlag; }
+
+ /// Accessor returning the current time.
+ const gpstk::DayTime& getCurrentTime( ) { return(currentTime); }
+
+ /// Accessor returning the type of code in the buffer (P or Y)
+ codeType getPYFlag( ) { return(POrYCode); }
+
+ /// Accessor returing the PRN ID of the buffer
+ int getPRNID( ) { return(PRNID); }
+
+ /// Set or return the designated word of the code buffer.
+ unsigned long& operator[]( int i );
+ const unsigned long& operator[]( const int i ) const;
+
+ /** Given a bit number between 0 and (NUM_6SEC_WORDS * MAX_BIT) - 1,
+ * return the value of the bit as a right justified unsigned
+ * long word (0x00000000 or 0x00000001)..
+ */
+ unsigned long getBit( const long i ) const;
+
+ /** Perform an exclusive-or operation on the bits contained in
+ * this instance of CodeBuffer and the instance referenced by cb.
+ */
+ CodeBuffer& operator^=( const CodeBuffer& cb );
+
+ protected:
+ CodeBuffer( const CodeBuffer& c );
+ unsigned long * buffer;
+ int PRNID;
+ gpstk::DayTime currentTime;
+ codeType POrYCode;
+ };
+
+ inline CodeBuffer::~CodeBuffer( ) { delete [] buffer; }
+ inline CodeBuffer& CodeBuffer::operator^=( const CodeBuffer& cb )
+ {
+ for (long i=0;i<NUM_6SEC_WORDS;++i) buffer[i] ^= cb.buffer[i];
+ return( *this );
+ }
+
+ inline unsigned long& CodeBuffer::operator[]( int i )
+ {
+ return(buffer[i]);
+ }
+
+ inline const unsigned long& CodeBuffer::operator[]( int i ) const
+ {
+ return(buffer[i]);
+ }
+
+ inline unsigned long CodeBuffer::getBit( const long i ) const
+ {
+ unsigned long iret;
+ long bNdx = i / MAX_BIT;
+ long bitNum = i - (bNdx * MAX_BIT);
+ iret = buffer[bNdx];
+
+ // Shift LEFT to clear off msbs
+ iret <<= bitNum;
+ // Then shift RIGHT to clear off lsbs
+ iret >>= (MAX_BIT-1);
+
+ return iret;
+ }
+ //@}
+} // end of namespace
+#endif // CODEBUFFER_HPP
diff --git a/dev/src/CodeSmoother.hpp b/dev/src/CodeSmoother.hpp
new file mode 100644
index 0000000..6a6de44
--- /dev/null
+++ b/dev/src/CodeSmoother.hpp
@@ -0,0 +1,415 @@
+
+/**
+ * @file CodeSmoother.hpp
+ * This class smoothes a given code observable using the corresponding phase observable.
+ */
+
+#ifndef CODE_SMOOTHER_GPSTK
+#define CODE_SMOOTHER_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2007
+//
+//============================================================================
+
+
+
+#include "DataStructures.hpp"
+
+
+namespace gpstk
+{
+
+ /** @addtogroup DataStructures */
+ //@{
+
+
+ /** This class smoothes a given code observable using the corresponding phase observable.
+ * This class is meant to be used with the GNSS data structures objects
+ * found in "DataStructures" class.
+ *
+ * A typical way to use this class follows:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o");
+ *
+ * gnssRinex gRin;
+ * OneFreqCSDetector markCSC1; // We MUST mark cycle slips
+ * CodeSmoother smoothC1;
+ *
+ * while(rin >> gRin) {
+ * gRin >> markCSC1 >> smoothC1;
+ * }
+ * @endcode
+ *
+ * The "CodeSmoother" object will visit every satellite in the GNSS data
+ * structure that is "gRin" and will smooth the given code observation using
+ * the corresponding phase observation.
+ *
+ * By default, the algorithm will use C1 and L1 observables, and the CSL1 index
+ * will be consulted for cycle slip information. You can change these settings
+ * with the appropriate set methods.
+ *
+ * When used with the ">>" operator, this class returns the same incoming
+ * data structure with the code observation smoothed (unless the resultType
+ * field is changed). Be warned that if a given satellite does not have the
+ * observations required, it will be summarily deleted from the data
+ * structure.
+ *
+ * Another important parameter is the maxWindowSize field. By default, it is
+ * set to 100 samples (you may adjust that with the setMaxWindowSize() method).
+ *
+ * A window of 100 samples is typical and appropriate when working with data
+ * sampled at 1 Hz, because then the full window will last at most 100 seconds.
+ *
+ * However, if for instance your samples are taken at 30 seconds (and you are
+ * working with C1/L1 or other ionosphere-affected observation pair), then a
+ * window of 50 minutes will be used and you will get badly distorted data
+ * because of ionosphere drift, among other effects.
+ *
+ * A good rule here is to make sure that the filter window lasts at most 5 minutes.
+ * Therefore, for a 30 s sampling data set you should set your smoother object like
+ * this:
+ *
+ * @code
+ * CodeSmoother smoothC1;
+ * smoothC1.setMaxWindowSize(8);
+ * @endcode
+ *
+ * Resulting in a 4 minutes filter window.
+ *
+ * \warning Code smoothers are objets that store their internal state,
+ * so you MUST NOT use the SAME object to process DIFFERENT data streams.
+ *
+ */
+ class CodeSmoother
+ {
+ public:
+
+ /// Default constructor, setting default parameters and C1 and L1 as observables.
+ CodeSmoother() : codeType(TypeID::C1), phaseType(TypeID::L1), resultType(TypeID::C1), maxWindowSize(100), csFlag(TypeID::CSL1) { };
+
+
+ /** Common constructor
+ *
+ * @param codeT Type of code to be smoothed.
+ * @param mwSize Maximum size of filter window, in samples.
+ */
+ CodeSmoother(const TypeID& codeT, const int& mwSize = 100) : codeType(codeT)
+ {
+ // Don't allow window sizes less than 1
+ if (mwSize > 1) maxWindowSize = mwSize; else maxWindowSize = 1;
+
+ switch ( codeT.type )
+ {
+ case TypeID::C1:
+ phaseType = TypeID::L1;
+ csFlag = TypeID::CSL1;
+ resultType = TypeID::C1;
+ break;
+ case TypeID::C2:
+ phaseType = TypeID::L2;
+ csFlag = TypeID::CSL2;
+ resultType = TypeID::C2;
+ break;
+ case TypeID::P1:
+ phaseType = TypeID::L1;
+ csFlag = TypeID::CSL1;
+ resultType = TypeID::P1;
+ break;
+ case TypeID::P2:
+ phaseType = TypeID::L2;
+ csFlag = TypeID::CSL2;
+ resultType = TypeID::P2;
+ break;
+ case TypeID::C5:
+ phaseType = TypeID::L5;
+ csFlag = TypeID::CSL5;
+ resultType = TypeID::C5;
+ break;
+ case TypeID::C6:
+ phaseType = TypeID::L6;
+ csFlag = TypeID::CSL6;
+ resultType = TypeID::C6;
+ break;
+ case TypeID::C7:
+ phaseType = TypeID::L7;
+ csFlag = TypeID::CSL7;
+ resultType = TypeID::C7;
+ break;
+ case TypeID::C8:
+ phaseType = TypeID::L8;
+ csFlag = TypeID::CSL8;
+ resultType = TypeID::C8;
+ break;
+ default:
+ phaseType = TypeID::L1;
+ csFlag = TypeID::CSL1;
+ resultType = TypeID::C1;
+ };
+ };
+
+
+ /** Returns a satTypeValueMap object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual satTypeValueMap& Smooth(satTypeValueMap& gData)
+ {
+ double codeObs(0.0);
+ double phaseObs(0.0);
+ double flagObs(0.0);
+
+ SatIDSet satRejectedSet;
+
+ // Loop through all the satellites
+ satTypeValueMap::iterator it;
+ for (it = gData.begin(); it != gData.end(); ++it)
+ {
+ try
+ {
+ // Try to extract the values
+ codeObs = (*it).second(codeType);
+ phaseObs = (*it).second(phaseType);
+ flagObs = (*it).second(csFlag);
+ }
+ catch(...)
+ {
+ // If some value is missing, then schedule this satellite for removal
+ satRejectedSet.insert( (*it).first );
+ continue;
+ }
+ // If everything is OK, then process according if there is a cycle slip or not.
+ (*it).second[resultType] = getSmoothing((*it).first, codeObs, phaseObs, flagObs);
+ }
+ // Remove satellites with missing data
+ gData.removeSatID(satRejectedSet);
+
+ return gData;
+ };
+
+
+ /** Returns a gnnsSatTypeValue object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssSatTypeValue& Smooth(gnssSatTypeValue& gData)
+ {
+ (*this).Smooth(gData.body);
+ return gData;
+ };
+
+
+ /** Returns a gnnsRinex object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssRinex& Smooth(gnssRinex& gData)
+ {
+ (*this).Smooth(gData.body);
+ return gData;
+ };
+
+
+ /** Method to set the default code type to be used.
+ * @param codeT TypeID of code to be used
+ */
+ virtual void setCodeType(const TypeID& codeT)
+ {
+ codeType = codeT;
+ };
+
+
+ /// Method to get the default code type being used.
+ virtual TypeID getCodeType() const
+ {
+ return codeType;
+ };
+
+
+ /** Method to set the default phase type to be used.
+ * @param phaseT TypeID of phase to be used
+ */
+ virtual void setPhaseType(const TypeID& phaseT)
+ {
+ phaseType = phaseT;
+ };
+
+
+ /// Method to get the default phase type being used.
+ virtual TypeID getPhaseType() const
+ {
+ return phaseType;
+ };
+
+
+ /** Method to set the default cycle slip type to be used.
+ * @param csT Cycle slip type to be used
+ */
+ virtual void setCSFlag(const TypeID& csT)
+ {
+ csFlag = csT;
+ };
+
+
+ /// Method to get the default cycle slip type being used.
+ virtual TypeID getCSFlag() const
+ {
+ return csFlag;
+ };
+
+
+ /** Method to set the default return type to be used.
+ * @param returnT TypeID to be returned
+ */
+ virtual void setResultType(const TypeID& resultT)
+ {
+ resultType = resultT;
+ };
+
+
+ /// Method to get the default return type being used.
+ virtual TypeID getResultType() const
+ {
+ return resultType;
+ };
+
+
+ /** Method to set the maximum size of filter window, in samples.
+ * @param maxSize Maximum size of filter window, in samples.
+ */
+ virtual void setMaxWindowSize(const int& maxSize)
+ {
+ // Don't allow window sizes less than 1
+ if (maxSize > 1) maxWindowSize = maxSize; else maxWindowSize = 1;
+ };
+
+
+ /// Method to get the maximum size of filter window, in samples.
+ virtual int getMaxWindowSize() const
+ {
+ return maxWindowSize;
+ };
+
+
+ /// Destructor
+ virtual ~CodeSmoother() {};
+
+
+ private:
+
+ /// Type of code observation to be used.
+ TypeID codeType;
+
+
+ /// Type of phase observation to be used.
+ TypeID phaseType;
+
+
+ /// Type assigned to the resulting smoothed code.
+ TypeID resultType;
+
+
+ /// Maximum size of filter window, in samples.
+ int maxWindowSize;
+
+
+ /// Cycle slip flag. It MUST be present. @sa OneFreqCSDetector.hpp class.
+ TypeID csFlag;
+
+
+ /// A structure used to store filter data for a SV.
+ struct filterData
+ {
+ // Default constructor initializing the data in the structure
+ filterData() : windowSize(1), previousCode(0.0), previousPhase(0.0) {};
+
+ int windowSize; ///< The filter window size.
+ double previousCode; ///< Accumulated mean bias (pseudorange - phase).
+ double previousPhase; ///< Accumulated mean bias sigma squared.
+ };
+
+
+ /// Map holding the information regarding every satellite
+ std::map<SatID, filterData> SmoothingData;
+
+
+
+ /// Compute the combination of observables.
+ virtual double getSmoothing(const SatID& sat, const double& code, const double& phase, const double& flag)
+ {
+ if ( flag!=0.0 ) // In case we have a cycle slip
+ {
+ // Prepare the structure for the next iteration
+ SmoothingData[sat].previousCode = code;
+ SmoothingData[sat].previousPhase = phase;
+ SmoothingData[sat].windowSize = 1;
+ return code; // We don't need any further processing
+ }
+
+ // In case we didn't have cycle slip
+ double smoothedCode(0.0);
+
+ // Increment size of window and check limit
+ ++SmoothingData[sat].windowSize;
+ if (SmoothingData[sat].windowSize > maxWindowSize) SmoothingData[sat].windowSize = maxWindowSize;
+
+ // The formula used is the following:
+ //
+ // CSn = (1/n)*Cn + ((n-1)/n)*(CSn-1 + Ln - Ln-1)
+ //
+ // As window size "n" increases, the former formula gives more
+ // weight to the previous smoothed code CSn-1 plus the phase bias
+ // (Ln - Ln-1), and less weight to the current code observation Cn
+ smoothedCode = ( code + ((static_cast<double>(SmoothingData[sat].windowSize)) - 1.0) * (SmoothingData[sat].previousCode + (phase - SmoothingData[sat].previousPhase) ) ) / (static_cast<double>(SmoothingData[sat].windowSize));
+
+ // Store results for next iteration
+ SmoothingData[sat].previousCode = smoothedCode;
+ SmoothingData[sat].previousPhase = phase;
+
+ return smoothedCode;
+ };
+
+
+ }; // end class CodeSmoother
+
+
+ /// Input operator from gnssSatTypeValue to CodeSmoother.
+ inline gnssSatTypeValue& operator>>(gnssSatTypeValue& gData, CodeSmoother& codeS)
+ {
+ codeS.Smooth(gData);
+ return gData;
+ }
+
+
+ /// Input operator from gnssRinex to CodeSmoother.
+ inline gnssRinex& operator>>(gnssRinex& gData, CodeSmoother& codeS)
+ {
+ codeS.Smooth(gData);
+ return gData;
+ }
+
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/CommandOption.cpp b/dev/src/CommandOption.cpp
new file mode 100644
index 0000000..84d2383
--- /dev/null
+++ b/dev/src/CommandOption.cpp
@@ -0,0 +1,396 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file CommandOption.cpp
+ * Command line options
+ */
+
+#include "CommandOption.hpp"
+#include "StringUtils.hpp"
+
+#include <sstream>
+
+using namespace std;
+using namespace gpstk::StringUtils;
+
+namespace gpstk
+{
+ CommandOptionVec defaultCommandOptionList;
+
+ // Prints out short options with a leading '-' and long ones with '--'.
+ // Puts a '|' between them if it has both.
+ string CommandOption::getOptionString() const
+ {
+ string toReturn;
+ if (shortOpt != 0)
+ {
+ toReturn += string("-") + string(1, shortOpt);
+ if (!longOpt.empty())
+ toReturn += string(" | --") + longOpt;
+ }
+ else
+ {
+ toReturn += string("--") + longOpt;
+ }
+ return toReturn;
+ }
+
+ // Prints out short options with a leading '-' and long ones with '--'.
+ // Puts a ',' between them if it has both.
+ string CommandOption::getFullOptionString() const
+ {
+ string toReturn(" ");
+ if (shortOpt != 0)
+ {
+ toReturn += string("-") + string(1, shortOpt);
+ if (!longOpt.empty())
+ {
+ toReturn += string(", --") + longOpt;
+ if (optFlag == hasArgument)
+ toReturn += "=" + getArgString();
+ }
+ }
+ else
+ {
+ toReturn += string(" --") + longOpt;
+ if (optFlag == hasArgument)
+ toReturn += "=" + getArgString();
+ }
+ return toReturn;
+ }
+
+ // creates the struct option for getopt_long
+ struct option CommandOption::toGetoptLongOption() const
+ {
+ struct option o = {longOpt.c_str(), optFlag, NULL, 0};
+ return o;
+ }
+
+ // makes the string for getopt
+ std::string CommandOption::toGetoptShortOption() const
+ {
+ std::string opt(1, shortOpt);
+ if (optFlag == hasArgument) opt += ":";
+ return opt;
+ }
+
+ // writes out the vector of values for this command option
+ std::ostream& CommandOption::dumpValue(std::ostream& out) const
+ {
+ std::vector<std::string>::const_iterator itr = value.begin();
+ while(itr != value.end())
+ {
+ out << *itr << std::endl;
+ itr++;
+ }
+ return out;
+ }
+
+ // returns a string like this:
+ //
+ // -f | --foo <arg>
+ // this is the description
+ //
+ std::string CommandOption::getDescription() const
+ {
+ ostringstream out;
+ // do the option itself first
+ out << '\t';
+ if (shortOpt != 0)
+ {
+ out << '-' << shortOpt;
+ if (!longOpt.empty())
+ out << " | ";
+ else
+ out << '\t';
+ }
+ if (! longOpt.empty())
+ {
+ out << "--" << longOpt;
+ }
+ if (optFlag == hasArgument)
+ {
+ out << " " << getArgString();
+ }
+ // and the description goes on a new line
+ out << endl << prettyPrint(description,
+ "\n",
+ " ",
+ " ");
+ if (maxCount != 0)
+ {
+ out << "\t\tUp to " << maxCount << " may be used on the command line."
+ << endl;
+ }
+ return out.str();
+ }
+
+ // this checks if it expects number or string type arguments.
+ // it returns a string describing the error, if any.
+ string CommandOption::checkArguments()
+ {
+ if (required && (count == 0))
+ return "Required option " + getOptionString() + " was not found.";
+
+ return string();
+ }
+
+ string CommandOptionRest::checkArguments()
+ {
+ if (required && (count == 0))
+ return "Required trailing argument was not found.";
+
+ return string();
+ }
+
+ string CommandOptionWithNumberArg::checkArguments()
+ {
+ string errstr = CommandOption::checkArguments();
+
+ if (!errstr.empty())
+ return errstr;
+
+ vector<string>::size_type vecindex;
+ for(vecindex = 0; vecindex < value.size(); vecindex++)
+ {
+ if (!isDigitString(value[vecindex]))
+ {
+ string errstr("Argument for ");
+ errstr += getOptionString();
+ errstr += string(" should be a digit string.");
+ return errstr;
+ }
+ }
+
+ return string();
+ }
+
+ string CommandOptionWithStringArg::checkArguments()
+ {
+ string errstr = CommandOption::checkArguments();
+
+ if (!errstr.empty())
+ return errstr;
+
+ vector<string>::size_type vecindex;
+ for(vecindex = 0; vecindex < value.size(); vecindex++)
+ {
+ if (!isAlphaString(value[vecindex]))
+ {
+ string errstr("Argument for ");
+ errstr += getOptionString();
+ errstr += string(" should be an alphabetic string.");
+ return errstr;
+ }
+ }
+ return errstr;
+ }
+
+ string CommandOptionMutex::checkArguments()
+ {
+ if (doOneOfChecking)
+ {
+ string oo = CommandOptionOneOf::checkArguments();
+ if (oo != string())
+ return oo;
+ }
+
+ // mutex doesn't call CommandOption::checkArguments because
+ // it uses "required" differently
+ string errstr("Only one of the following options may be specified: ");
+ int firstSpec = -1;
+ bool touched = false;
+
+ for (int i = 0; i < optionVec.size(); i++)
+ {
+ CommandOption *opt = optionVec[i];
+
+ if (i)
+ errstr += ", ";
+ errstr += opt->getOptionString();
+ if (opt->getCount())
+ {
+ if (firstSpec != -1)
+ touched = true;
+ else
+ firstSpec = i;
+ }
+ }
+
+ if (touched)
+ return errstr;
+
+ return string();
+ }
+
+ string CommandOptionOneOf::checkArguments()
+ {
+ // one-of doesn't call CommandOption::checkArguments because
+ // it doesn't use "required"
+ string errstr("One of the following options must be specified: ");
+ bool found = false;
+
+ for (int i = 0; i < optionVec.size(); i++)
+ {
+ if (optionVec[i]->getCount())
+ found = true;
+ if (i > 0)
+ errstr += ", ";
+ errstr += optionVec[i]->getOptionString();
+ }
+
+ if (!found)
+ return errstr;
+
+ return string();
+ }
+
+ CommandOption* CommandOptionOneOf::whichOne() const
+ {
+ CommandOption *rv = NULL;
+
+ for (int i = 0; i < optionVec.size(); i++)
+ {
+ if (optionVec[i]->getCount())
+ {
+ rv = optionVec[i];
+ break;
+ }
+ }
+
+ return rv;
+ }
+
+ string CommandOptionAllOf::checkArguments()
+ {
+ string errstr("The following options must be used together: ");
+ bool found = false, notFound = false;
+
+ for (int i = 0; i < optionVec.size(); i++)
+ {
+ if (optionVec[i]->getCount())
+ found = true;
+ else
+ notFound = true;
+ if (i > 0)
+ errstr += ", ";
+ errstr += optionVec[i]->getOptionString();
+ }
+
+ if (found && notFound)
+ return errstr;
+
+ return string();
+ }
+
+ unsigned long CommandOptionAllOf::getCount() const
+ {
+ unsigned long rv = 0;
+ for (int i = 0; i < optionVec.size(); i++)
+ {
+ if (optionVec[i]->getCount() == 0)
+ return 0;
+ rv += optionVec[i]->getCount();
+ }
+ return rv;
+ }
+
+ string CommandOptionDependent::checkArguments()
+ {
+ // dependent doesn't call CommandOption::checkArguments because
+ // it doesn't use "required"
+ string errstr;
+
+ if (!requiree)
+ errstr = "Null requiree (parent) for CommandOptionDependent";
+ if (!requirer)
+ errstr = "Null requirer (child) for CommandOptionDependent";
+
+ if (requirer->getCount() && !requiree->getCount())
+ errstr = "Option " + requirer->getOptionString() + " requires " +
+ requiree->getOptionString();
+
+ return errstr;
+ }
+
+ string CommandOptionGroupOr::getOptionString() const
+ {
+ string rv;
+ if (optionVec.size() > 1)
+ rv += "(";
+ for (int i = 0; i < optionVec.size(); i++)
+ {
+ if (i) rv += ",";
+ rv += optionVec[i]->getOptionString();
+ }
+ if (optionVec.size() > 1)
+ rv += ")";
+
+ return rv;
+ }
+
+ unsigned long CommandOptionGroupOr::getCount() const
+ {
+ unsigned long rv = 0;
+ for (int i = 0; i < optionVec.size(); i++)
+ rv += optionVec[i]->getCount();
+
+ return rv;
+ }
+
+ unsigned long CommandOptionGroupAnd::getCount() const
+ {
+ unsigned long rv = 0;
+ for (int i = 0; i < optionVec.size(); i++)
+ {
+ if (optionVec[i]->getCount() == 0)
+ return 0;
+ rv += optionVec[i]->getCount();
+ }
+ return rv;
+ }
+
+} // namespace gpstk
diff --git a/dev/src/CommandOption.hpp b/dev/src/CommandOption.hpp
new file mode 100644
index 0000000..fb7d364
--- /dev/null
+++ b/dev/src/CommandOption.hpp
@@ -0,0 +1,631 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file CommandOption.hpp
+ * Command line options
+ */
+
+#ifndef COMMANDOPTION_HPP
+#define COMMANDOPTION_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#ifdef __SUNPRO_CC
+#include "getopt.h"
+#elif defined (_AIX)
+#include "getopt.h"
+#else
+#include <getopt.h>
+#endif
+
+#include <string>
+#include <vector>
+
+namespace gpstk
+{
+ /** @defgroup commandoptiongroup Command-Line Options */
+ //@{
+
+ // forward declaration
+ class CommandOption;
+ typedef std::vector<CommandOption*> CommandOptionVec;
+
+ /// The default command option list used by CommandOption and
+ /// gpstk::CommandOptionParser
+ extern CommandOptionVec defaultCommandOptionList;
+
+ /**
+ * This class is part of a replacement for getopt.
+ *
+ * Each CommandOption
+ * represents an option you would enter at a command line. You can
+ * specify whether the option does or does not require an argument,
+ * if the option is of a certain type (string or number), then the
+ * short option (i.e. '-f') and long option ('--foo'), whether it's
+ * a required option or not, then a short description for a help display.
+ * By default, options can appear an unlimited number of times on a
+ * command line. Use setMaxCount() to set a maximum limit to this.
+ * In that case, additional appearances of that option will trigger
+ * an error once parsed.
+ *
+ * When a CommandOption is created (not using the default
+ * constructor), it automatically adds itself to a list that will
+ * be used by gpstk::CommandOptionParser. If you want to manage your
+ * own list, pass in your own std::vector<gpstk::CommandOptionParser>
+ * with the CommandOption constructor. After parsing the command
+ * line, you can use the getValue() and
+ * getCount() methods to see what arguments
+ * the options had and how many times the option was listed on
+ * the command line.
+ *
+ * This class is strongly connected to gpstk::CommandOptionParser, so
+ * if you change anything here, make sure you don't side affect
+ * the other.
+ *
+ * @sa getopttest.cpp in the test directory for some examples.
+ *
+ * @warning DO NOT USE THE DEFAULT CONSTRUCTOR FOR THIS CLASS.
+ * That's for the STL use requirements only.
+ * @warning Do not repeat characters or strings used in the short
+ * or long command options. Doing so will cause one of them not to work.
+ * @warning Do not reuse the CommandOption objects. Make a separate
+ * one for each option you want on the command line.
+ * @warning Make the description an understandable, grammatically
+ * correct sentence.
+ * @warning The resulting behavior of not heeding the above advice
+ * is undefined, and I take no responsibility for the results of you
+ * not taking appropriate action in light of this warning.
+ */
+ class CommandOption
+ {
+ public:
+ /// let's the CommandOptionParser see it's private parts =)
+ friend class CommandOptionParser;
+
+ /// Every option must either have or not have an argument.
+ /// There are no optional arguments because Solaris doesn't support it.
+ enum CommandOptionFlag
+ {
+ noArgument = 0, ///< option requires no arguments
+ hasArgument = 1 ///< option requires an argument
+ };
+
+ /// This is so you can limit what type or argument an option can have.
+ /// If specified, it will be checked when the argument is encountered.
+ /// Errors will get set appropriately if there are any.
+ enum CommandOptionType
+ {
+ trailingType, ///< Special case, no option, just the remaining args.
+ stdType, ///< The argument of this option can be any type.
+ metaType ///< A meta-option that has its own special validation.
+ };
+
+ /**
+ * Constructor.
+ * @param of Whether or not this command requires an argument
+ * @param ot The type of option (string, number, any, etc.)
+ * @param shOpt The one character command line option. Set to 0
+ * if unused.
+ * @param loOpt The long command option. Set to std::string()
+ * if unused.
+ * @param desc A string describing what this option does.
+ * @param req Set to true if this is a required option.
+ * @param optVectorList Use this to create your own
+ * command option list if you want to use an alternate method
+ * of parsing the command options.
+ */
+ CommandOption(const CommandOptionFlag of,
+ const CommandOptionType ot,
+ const char shOpt,
+ const std::string& loOpt,
+ const std::string& desc,
+ const bool req = false,
+ CommandOptionVec& optVectorList =
+ defaultCommandOptionList)
+ : optFlag(of), optType(ot),
+ shortOpt(shOpt), longOpt(loOpt), description(desc),
+ required(req), count(0), maxCount(0), order(0)
+ {optVectorList.push_back(this);}
+
+ /// Sets the maximum number of times this should appear on the
+ /// command line.
+ CommandOption& setMaxCount(const unsigned long l)
+ {maxCount = l; return *this;}
+
+ /// Returns a string with the flags for this CommandOption.
+ /// (i.e. "-f | --foo")
+ virtual std::string getOptionString() const;
+
+ /// Returns a formatted string with the flags for this CommandOption.
+ /// (i.e. " -f, --foo=ARG")
+ std::string getFullOptionString() const;
+
+ /// Returns a string with the argument format.
+ virtual std::string getArgString() const
+ { return "ARG"; }
+
+ /// Returns a struct option for use with getopt_long.
+ struct option toGetoptLongOption() const;
+ /// Returns a string for use with getopt.
+ std::string toGetoptShortOption() const;
+
+ /**
+ * Returns the number of times this option was found on the
+ * command line.
+ */
+ virtual unsigned long getCount() const { return count; }
+
+ /**
+ * Returns the arguments this option had passed in from the
+ * command line.
+ */
+ std::vector<std::string> getValue() const { return value; }
+
+ /// Returns the order which this command option was seen on the
+ /// command line, with 1 being the first option.
+ // If it can be repeated, this order represents the order of
+ /// the last occurance of this option.
+ unsigned int getOrder() const { return order; }
+
+ /// Displays this->value to the stream \c out.
+ std::ostream& dumpValue(std::ostream& out) const;
+
+ /// Returns a formatted string with the description of this option.
+ std::string getDescription() const;
+
+ /**
+ * If you specified a format for the arguments (for example, digit or
+ * string), this function checks them to see if they match.
+ * If they don't, an error string is returned. If they do, an
+ * empty string is returned.
+ * @param optVec complete set of processed command line options
+ * being processed (used by some option types).
+ */
+ virtual std::string checkArguments();
+
+ /// Destructor
+ virtual ~CommandOption() {}
+
+ protected:
+ /// Flag for determining whether this option has an argument or not.
+ CommandOptionFlag optFlag;
+ /// Flag for determining whether this option has a specific
+ /// argument type.
+ CommandOptionType optType;
+ /// The character for the short option (for example, '-f').
+ char shortOpt;
+ /// The string for the long option (for example, "--foo").
+ std::string longOpt;
+ /// The description for the help text.
+ std::string description;
+ /// Any arguments passed with this option get put in here.
+ std::vector<std::string> value;
+ /// Whether or not this is a required command line option.
+ bool required;
+ /// The number of times this option was encountered on the
+ /// command line.
+ unsigned long count;
+ /// The maximum number of times this can appear on the command line.
+ /// If it's 0, then it's unlimited.
+ unsigned long maxCount;
+ /// The order in which this option was encountered on the command line
+ unsigned long order;
+
+ /// Default Constructor
+ CommandOption() {}
+ };
+
+ /// A subclass of CommandOption that is a required command line option.
+ class RequiredOption : public CommandOption
+ {
+ public:
+ /// Constructor
+ RequiredOption(const CommandOptionFlag of,
+ const CommandOptionType ot,
+ const char shOpt,
+ const std::string& loOpt,
+ const std::string& desc)
+ : CommandOption(of, ot, shOpt, loOpt, desc, true)
+ {}
+
+ /// Destructor
+ virtual ~RequiredOption() {}
+
+ protected:
+ /// default constructor
+ RequiredOption() {}
+ };
+
+ /// A subclass of CommandOption that has no arguments
+ class CommandOptionNoArg : public CommandOption
+ {
+ public:
+ /// Constructor
+ CommandOptionNoArg(const char shOpt,
+ const std::string& loOpt,
+ const std::string& desc,
+ const bool required = false)
+ : CommandOption(noArgument, stdType, shOpt, loOpt, desc, required)
+ {}
+
+ /// Destructor
+ virtual ~CommandOptionNoArg() {}
+ /// Returns true if this option was found on the command line
+ operator bool() const throw() { return (getCount() != 0); }
+
+ protected:
+ /// Default Constructor
+ CommandOptionNoArg() {}
+ };
+
+ /// A subclass of CommandOption that has an argument.
+ class CommandOptionWithArg : public CommandOption
+ {
+ public:
+ /// Constructor
+ CommandOptionWithArg(const CommandOptionType ot,
+ const char shOpt,
+ const std::string& loOpt,
+ const std::string& desc,
+ const bool required = false)
+ : CommandOption(hasArgument, ot, shOpt, loOpt, desc, required)
+ {}
+
+ /// Destructor
+ virtual ~CommandOptionWithArg() {}
+
+ protected:
+ /// Default Constructor
+ CommandOptionWithArg() {}
+ };
+
+ /// A CommandOption that requires a string argument.
+ class CommandOptionWithAnyArg : public CommandOptionWithArg
+ {
+ public:
+ /// Constructor
+ CommandOptionWithAnyArg(const char shOpt,
+ const std::string& loOpt,
+ const std::string& desc,
+ const bool required = false)
+ : CommandOptionWithArg(stdType, shOpt, loOpt, desc, required)
+ {}
+
+ /// Destructor
+ virtual ~CommandOptionWithAnyArg() {}
+
+ protected:
+ /// Default Constructor
+ CommandOptionWithAnyArg() {}
+ };
+
+ /// A CommandOption that requires a string argument.
+ class CommandOptionWithStringArg : public CommandOptionWithArg
+ {
+ public:
+ /// Constructor
+ CommandOptionWithStringArg(const char shOpt,
+ const std::string& loOpt,
+ const std::string& desc,
+ const bool required = false)
+ : CommandOptionWithArg(stdType, shOpt, loOpt, desc, required)
+ {}
+
+ /// Destructor
+ virtual ~CommandOptionWithStringArg() {}
+
+ virtual std::string checkArguments();
+
+ /// Returns a string with the argument format.
+ virtual std::string getArgString() const
+ { return "<alpha>"; }
+
+ protected:
+ /// Default Constructor
+ CommandOptionWithStringArg() {}
+ };
+
+ /// A CommandOption that requires a numeric argument.
+ class CommandOptionWithNumberArg : public CommandOptionWithArg
+ {
+ public:
+ /// Constructor
+ CommandOptionWithNumberArg(const char shOpt,
+ const std::string& loOpt,
+ const std::string& desc,
+ const bool required = false)
+ : CommandOptionWithArg(stdType, shOpt, loOpt, desc, required)
+ {}
+
+ /// Destructor
+ virtual ~CommandOptionWithNumberArg() {}
+
+ virtual std::string checkArguments();
+
+ /// Returns a string with the argument format.
+ virtual std::string getArgString() const
+ { return "NUM"; }
+
+ protected:
+ /// Default Constructor
+ CommandOptionWithNumberArg() {}
+ };
+
+ /**
+ * It only makes sense to have a single one of these set. It is
+ * the option that takes the rest of the command line options
+ * that are not part of any other options. e.g. "strace -ofile
+ * command arg1 arg2". The "command arg1 arg2" part is placed in
+ * objects of this class.
+ *
+ * @short CommandOption to take the rest of the command line
+ */
+ class CommandOptionRest : public CommandOptionWithArg
+ {
+ public:
+ /**
+ * CommandOptionRest contructor. This sets the CommandOptionType
+ * for this object to trailingType.
+ *
+ * @param desc short description of the option
+ * @param required true if option is required
+ */
+ CommandOptionRest(const std::string& desc,
+ const bool required = false)
+ : CommandOptionWithArg(trailingType, 0, "", desc, required)
+ {}
+
+ /// Destructor
+ virtual ~CommandOptionRest() {}
+
+ virtual std::string checkArguments();
+
+ protected:
+ /// Default Constructor
+ CommandOptionRest() {}
+ };
+
+ /**
+ * This is a special "command option" which is really a
+ * meta-option to make sure at least one of a set of real
+ * options has been used.
+ * \warning There's nothing to prevent you from, say, adding
+ * another meta-option to the list of mutually exclusive options
+ * contained in a CommandOptionOneOf instance (or even itself),
+ * but the behavior if you try this is undefined.
+ */
+ class CommandOptionOneOf : public CommandOption
+ {
+ public:
+ /**
+ * CommandOptionOneOf contructor. This sets the CommandOptionType
+ * for this object to metaType.
+ */
+ CommandOptionOneOf()
+ : CommandOption(noArgument, metaType, 0, "", "")
+ {}
+
+ /// Destructor
+ virtual ~CommandOptionOneOf() {}
+
+ virtual std::string checkArguments();
+
+ /// Add an option to the list of mutually exclusive options
+ void addOption(CommandOption* opt)
+ { optionVec.push_back(opt); }
+
+ /// @return the command option that was used (NULL if none).
+ CommandOption* whichOne() const;
+
+ protected:
+ CommandOptionVec optionVec;
+ };
+
+ /**
+ * This is a special "command option" which is really a
+ * meta-option to make sure that if one of a set of real options
+ * has been used, all of the set are used.
+ * \warning There's nothing to prevent you from, say, adding
+ * another meta-option to the list of mutually exclusive options
+ * contained in a CommandOptionAllOf instance (or even itself),
+ * but the behavior if you try this is undefined.
+ */
+ class CommandOptionAllOf : public CommandOptionOneOf
+ {
+ public:
+ /**
+ * CommandOptionAllOf contructor. This sets the CommandOptionType
+ * for this object to metaType.
+ */
+ CommandOptionAllOf()
+ {}
+
+ /// Destructor
+ virtual ~CommandOptionAllOf() {}
+
+ virtual std::string checkArguments();
+
+ /// returns the sum of all encapsulated option counts if all are in use, zero otherwise.
+ virtual unsigned long getCount() const;
+
+ private:
+ // hide this as it doesn't make sense for this class
+ CommandOption* whichOne() const;
+ };
+
+ /**
+ * This is a special "command option" which is really a
+ * meta-option to enforce mutual exclusion between a set of real
+ * options.
+ * \warning There's nothing to prevent you from, say, adding
+ * another mutex to the list of mutually exclusive options
+ * contained in a CommandOptionMutex instance (or even itself),
+ * but the behavior if you try this is undefined.
+ */
+ class CommandOptionMutex : public CommandOptionOneOf
+ {
+ public:
+ /**
+ * CommandOptionMutex contructor. This sets the CommandOptionType
+ * for this object to metaType.
+ *
+ * @param required true if option is required. This makes
+ * CommandOptionMutex do CommandOptionOneOf-type checking in
+ * addition to the exclusion (i.e. it checks to make sure at
+ * least one option was specified).
+ */
+ CommandOptionMutex(const bool required = false)
+ : doOneOfChecking(required)
+ {}
+
+ /// Destructor
+ virtual ~CommandOptionMutex() {}
+
+ virtual std::string checkArguments();
+
+ protected:
+ bool doOneOfChecking;
+ };
+
+ /**
+ * This is a special "command option" which is really a
+ * meta-option to make sure that a required option is set where
+ * the requirement is based on another option (that is, if you
+ * specify one, you must have specified another).
+ * \warning There's nothing to prevent you from using other meta
+ * options as requirements, but the behavior if you try this is
+ * undefined.
+ */
+ class CommandOptionDependent : public CommandOption
+ {
+ public:
+ /**
+ * CommandOptionDependent contructor. This sets the
+ * CommandOptionType for this object to metaType. During
+ * command line option validation, if \c child is set, \c
+ * parent is checked to make sure it is also set.
+ *
+ * @param parent Command option that must be used if...
+ * @param child ...is used.
+ */
+ CommandOptionDependent(const CommandOption* parent,
+ const CommandOption* child)
+ : CommandOption(noArgument, metaType, 0, "", ""),
+ requiree(parent), requirer(child)
+ {}
+
+ /// Destructor
+ virtual ~CommandOptionDependent() {}
+
+ virtual std::string checkArguments();
+
+ protected:
+ /// Default Constructor
+ CommandOptionDependent() {}
+
+ const CommandOption *requiree, *requirer;
+ };
+
+ /**
+ * This is a special "command option" which is really a
+ * meta-option to group other options together for use in other
+ * meta-options. This particular meta-option allows a group of
+ * options to be specified in other meta-options. This option
+ * is considered "set" if any of the member options are set.
+ * This class and CommandOptionGroupAnd are designed to make up
+ * for the fact that the verification meta-options are not
+ * designed to work in other verification meta-options.
+ */
+ class CommandOptionGroupOr : public CommandOptionOneOf
+ {
+ public:
+ /**
+ * CommandOptionGroupOr contructor. Does nothing explicitly.
+ */
+ CommandOptionGroupOr()
+ {}
+
+ /// Destructor.
+ virtual ~CommandOptionGroupOr() {}
+
+ /// Do not do any checking.
+ virtual std::string checkArguments() { return std::string(); }
+
+ /// returns the sum of all encapsulated option counts.
+ virtual unsigned long getCount() const;
+
+ /// return a string containing the aggregated option strings
+ virtual std::string getOptionString() const;
+ };
+
+ /**
+ * This is a special "command option" which is really a
+ * meta-option to group other options together for use in other
+ * meta-options. This particular meta-option allows a group of
+ * options to be specified in other meta-options. This option
+ * is considered "set" iff all of the member options are set.
+ * This class and CommandOptionGroupAnd are designed to make up
+ * for the fact that the verification meta-options are not
+ * designed to work in other verification meta-options.
+ */
+ class CommandOptionGroupAnd : public CommandOptionGroupOr
+ {
+ public:
+ /**
+ * CommandOptionGroupAnd contructor. Does nothing explicitly.
+ */
+ CommandOptionGroupAnd()
+ {}
+
+ /// Destructor.
+ virtual ~CommandOptionGroupAnd() {}
+
+ /// returns the sum of all encapsulated option counts if all are in use, zero otherwise.
+ virtual unsigned long getCount() const;
+ };
+
+ //@}
+
+} // namespace gpstk
+#endif
diff --git a/dev/src/CommandOptionParser.cpp b/dev/src/CommandOptionParser.cpp
new file mode 100644
index 0000000..8b6c5d7
--- /dev/null
+++ b/dev/src/CommandOptionParser.cpp
@@ -0,0 +1,360 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file CommandOptionParser.cpp
+ * Parse command line options.
+ */
+
+#include "CommandOptionParser.hpp"
+
+#include "StringUtils.hpp"
+
+using namespace std;
+using namespace gpstk::StringUtils;
+
+#ifdef _MSC_VER
+#define min(VAL1, VAL2) _cpp_min(VAL1, VAL2)
+#define max(VAL1, VAL2) _cpp_max(VAL1, VAL2)
+#endif
+
+namespace gpstk
+{
+
+ // parses the command line input
+ void
+ CommandOptionParser::parseOptions(int argc,
+ char* argv[])
+ {
+ // this maps the index of optionVec to the command line options
+ CommandOptionMap com;
+
+ // keep track of the order of command options
+ unsigned int order = 0;
+
+ // get the program name. If there's a / in it, take the part
+ // after the last / as the program name
+ progName = string(argv[0]);
+ string::size_type slashPos = progName.rfind('/');
+ if (slashPos != string::npos)
+ progName = progName.substr(slashPos + 1);
+
+ string shortOptString;
+ struct option* optArray = NULL;
+ unsigned long optArraySize = 0;
+
+ CommandOption *trailing = NULL;
+
+ // build the getopt and getopt_long inputs
+ CommandOptionVec::size_type index;
+ for(index = 0; index < optionVec.size(); index++)
+ {
+ // add short options
+ switch (optionVec[index]->optType)
+ {
+ case CommandOption::trailingType:
+ if (trailing)
+ errorStrings.push_back("More than one trailing argument"
+ " object used (programming error");
+ else
+ trailing = optionVec[index];
+ break;
+ case CommandOption::stdType:
+ if (optionVec[index]->shortOpt != 0)
+ {
+ shortOptString += optionVec[index]->toGetoptShortOption();
+ com[string(1,optionVec[index]->shortOpt)] = optionVec[index];
+ }
+
+ // add long options
+ if (!optionVec[index]->longOpt.empty())
+ {
+ resizeOptionArray(optArray, optArraySize);
+ optArray[optArraySize - 1] =
+ optionVec[index]->toGetoptLongOption();
+ com[optionVec[index]->longOpt] = optionVec[index];
+ }
+
+ // keep track of whether or not there are required or
+ // optional arguments
+ if (optionVec[index]->required)
+ hasRequiredArguments = true;
+ else
+ hasOptionalArguments = true;
+ break;
+ default:
+ // do nothing
+ break;
+ }
+ }
+
+ // add the getopt_long terminator value
+ resizeOptionArray(optArray, optArraySize);
+ struct option lastOption = {0,0,0,0};
+ optArray[optArraySize - 1] = lastOption;
+
+ // use '+' to make getopt not mangle the inputs (if i remember right)
+ shortOptString.insert((string::size_type)0, (string::size_type)1, '+');
+
+ int cha;
+ int optionIndex;
+
+ // disable internal error messages
+ opterr = 0;
+
+ while (optind < argc)
+ {
+ if ((cha = getopt_long(argc, argv, shortOptString.c_str(),
+ optArray, &optionIndex)) == -1)
+ {
+ if (!trailing)
+ errorStrings.push_back("Excess arguments");
+ break;
+ }
+
+ order++;
+
+ // Solaris uses '?' for all getopt errors. Linux uses '?'
+ // for unknown options and ':' for options that require
+ // arguments but don't have then. That's why the error
+ // message is "option error" cause we can't differentiate
+ // what the REAL error is...
+ if ((cha == '?') || (cha == ':'))
+ {
+ // get the argument that had the error and write an
+ // error string
+ string errorArg;
+ // for a character option error
+ if (optopt != 0)
+ errorArg = string(1, (char)optopt);
+ // for a getopt_long error
+ else
+ errorArg = argv[optind - 1];
+ errorStrings.push_back(string("Option error: " + errorArg));
+ }
+ // otherwise this is probably a found option
+ else
+ {
+ string thisOption;
+
+ // determine whether it found the short or long version
+ if (cha != 0)
+ thisOption = string(1,(char)cha);
+ else
+ thisOption = string(optArray[optionIndex].name);
+
+ // try to find the option in our option map
+ map<string, CommandOption*>::iterator itr = com.find(thisOption);
+
+ if (itr != com.end())
+ {
+ CommandOption* pickedOption = (*itr).second;
+ // if there is an value for this option...
+ if (optarg)
+ {
+ if (pickedOption->optFlag == CommandOption::noArgument)
+ {
+ errorStrings.push_back(string("Option ") +
+ thisOption +
+ string(" has an argument but it shouldn't."));
+ }
+ // add this argument to the picked option and
+ // increment the count
+ else if (pickedOption->optFlag == CommandOption::hasArgument)
+ {
+ pickedOption->value.push_back(string(optarg));
+ pickedOption->count++;
+ pickedOption->order = order;
+ }
+
+ }
+ // no value for option...
+ else
+ {
+ if (pickedOption->optFlag == CommandOption::hasArgument)
+ {
+ errorStrings.push_back(string("Option ") +
+ thisOption +
+ string(" has no argument when it should."));
+ }
+ // increment the picked option's count
+ else if (pickedOption->optFlag == CommandOption::noArgument)
+ {
+ pickedOption->count++;
+ pickedOption->order = order;
+ }
+ }
+ } // itr != end()
+ else
+ {
+ errorStrings.push_back("Unknown option error");
+ }
+ } // else cha ==
+ } // getopt_long
+
+ // check for remaining arguments
+ if (optind < argc)
+ {
+ if (trailing)
+ {
+ int i;
+ for(i = optind; i < argc; i++)
+ {
+ trailing->value.push_back(string(argv[i]));
+ trailing->count++;
+ }
+ }
+ // the case where trailing==null is handled above
+ }
+
+ for(index = 0; index < optionVec.size(); index++)
+ {
+ string retVal = optionVec[index]->checkArguments();
+ if (!retVal.empty())
+ errorStrings.push_back(retVal);
+
+ // check max count
+ if (optionVec[index]->maxCount != 0)
+ {
+ if (optionVec[index]->count > optionVec[index]->maxCount)
+ {
+ string errstr("Option ");
+ errstr += optionVec[index]->getOptionString();
+ errstr += string(" appeared more times than allowed.");
+ errorStrings.push_back(errstr);
+ }
+ }
+ }
+
+ delete [] optArray;
+ }
+
+ ostream& CommandOptionParser::dumpErrors(ostream& out)
+ {
+ vector<string>::size_type index;
+ for(index = 0; index < errorStrings.size(); index++)
+ out << errorStrings[index] << endl;
+ return out;
+ }
+
+ // prints the required arguments first (if any) then the optional
+ // ones (if any)
+ ostream& CommandOptionParser::displayUsage(ostream& out, bool doPretty)
+ {
+ CommandOptionVec::size_type index;
+ CommandOption *trailing = NULL;
+
+ char *colch = getenv("COLUMNS");
+ int columns = 80;
+ unsigned maxlen = 0;
+ if (colch)
+ {
+ string colStr(colch);
+ columns = asInt(colStr);
+ }
+
+ // find the trailing argument if any, and max option string length
+ for (index = 0; index < optionVec.size(); index++)
+ {
+ if (optionVec[index]->optType == CommandOption::trailingType)
+ trailing = optionVec[index];
+ else if (optionVec[index]->optType == CommandOption::stdType)
+ maxlen = std::max(maxlen,
+ unsigned(optionVec[index]->getFullOptionString().length()));
+ }
+
+ out << "Usage: " << progName;
+ if (hasRequiredArguments || hasOptionalArguments)
+ out << " [OPTION] ...";
+ if (trailing)
+ out << " " << trailing->description;
+ out << endl
+ << (doPretty ? prettyPrint(text,"\n","","",columns) : text);
+// << endl
+// << endl
+// << "Command options:" << endl;
+
+ for(int required = 1; required >= 0; required--)
+ {
+ if (required==1 && hasRequiredArguments)
+ out << endl << "Required arguments:" << endl;
+ else if (required==0 && hasOptionalArguments)
+ out << endl << "Optional arguments:" << endl;
+
+ for(index = 0; index < optionVec.size(); index++)
+ {
+ if ((optionVec[index]->required == (required==1)) &&
+ (optionVec[index]->optType == CommandOption::stdType))
+ {
+ string optstr(optionVec[index]->getFullOptionString());
+ string desc(optionVec[index]->description);
+ string indent(maxlen, ' ');
+
+ if(doPretty) {
+ leftJustify(optstr, maxlen);
+ prettyPrint(desc, "\n", indent, optstr, columns);
+ }
+ out << desc;
+ if(!doPretty) out << endl;
+ }
+ }
+ }
+
+ return out;
+ }
+
+ // resizes the array for getopt_long
+ void CommandOptionParser::resizeOptionArray(struct option *&oldArray,
+ unsigned long& oldSize)
+ {
+ struct option* newArray = new struct option[1 + oldSize];
+ memcpy(newArray, oldArray, oldSize * sizeof(struct option));
+ delete [] oldArray;
+ oldArray = newArray;
+ newArray = NULL;
+ oldSize += 1;
+ }
+
+} // end namespace gpstk
diff --git a/dev/src/CommandOptionParser.hpp b/dev/src/CommandOptionParser.hpp
new file mode 100644
index 0000000..10f07d1
--- /dev/null
+++ b/dev/src/CommandOptionParser.hpp
@@ -0,0 +1,156 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file CommandOptionParser.hpp
+ * Parse command line options
+ */
+
+#ifndef COMMANDOPTIONPARSER_HPP
+#define COMMANDOPTIONPARSER_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "CommandOption.hpp"
+
+#include <vector>
+#include <map>
+#include <ostream>
+
+namespace gpstk
+{
+ /** @addtogroup commandoptiongroup Command-Line Options */
+ //@{
+
+ /**
+ * This class parses the command line options and modifies the
+ * corresponding CommandOptions. By default, any CommandOptions you
+ * create will be put on a static vector<CommandOption> which is used
+ * by CommandOptionParser. You can make your own as well but that
+ * isn't necessary. You can also use addOption() to add individual
+ * CommandOptions to the parser, but again this isn't necessary as the
+ * default list is usually sufficient.
+ *
+ * Call parseOptions() to process the command line, then
+ * call hasErrors() to see if there
+ * were any problems parsing the string. Errors can occur when
+ * a required option isn't found on the command line, when an option
+ * requiring an argument doesn't have one, or when an argument appers
+ * more than its maxCount number of times among other errors.
+ * If so, use dumpErrors() to
+ * display the errors to an output stream, then use
+ * displayUsage() to display a well formatted list of the correct
+ * command line options. Of
+ * course, you can just as well ignore any command line
+ * errors. After hitting an error (which most often happens when
+ * it hits an argument that has no CommandOption), you can use
+ * CommandOptionRest to get the unprocessed command line
+ * options.
+ *
+ * @sa the getopttest.cpp file in the test code for some examples.
+ */
+ class CommandOptionParser
+ {
+ public:
+ /// Typedef for a map between the command line option (-f) and the
+ /// associated CommandOption.
+ typedef std::map<std::string, gpstk::CommandOption*> CommandOptionMap;
+
+ /**
+ * Constructor given a text description of the program.
+ * @param description a short description of this program
+ * @param optList a CommandOptionVec with the list of
+ * CommandOptions for this parser.
+ */
+ CommandOptionParser(const std::string& description,
+ const CommandOptionVec optList =
+ defaultCommandOptionList)
+ : optionVec(optList), hasRequiredArguments(false),
+ hasOptionalArguments(false), text(description)
+
+ {}
+
+ /// Adds the CommandOption to the list for parsing.
+ CommandOptionParser& addOption(gpstk::CommandOption& co)
+ { optionVec.push_back(&co); return *this; }
+
+ /// Parses the command line.
+ void parseOptions(int argc, char* argv[]);
+
+ /// Returns true if any processing errors occurred.
+ bool hasErrors() { return !errorStrings.empty(); }
+ /// Writes the errors to \c out.
+ std::ostream& dumpErrors(std::ostream& out);
+
+ /** Writes the arguments nicely to the output.
+ * @param out ostream on which to write
+ * @param doPretty if true (the default), 'pretty print' descriptions
+ */
+ std::ostream& displayUsage(std::ostream& out, bool doPretty=true);
+
+ private:
+ /// changes the size of the option array for getopt_long.
+ void resizeOptionArray(struct option* &oldArray, unsigned long& oldSize);
+
+ /// The vector of CommandOptions for the parser
+ CommandOptionVec optionVec;
+ /// The vector of error strings for displaying to the user.
+ std::vector<std::string> errorStrings;
+ /// The vector of unprocessed command line arguments.
+ //std::vector<std::string> remainingArguments;
+
+ /// whether or not this command line has any rrequired options
+ bool hasRequiredArguments;
+ /// whether or not this command line has optional options
+ bool hasOptionalArguments;
+
+ /// the description of this program
+ std::string text;
+
+ /// the name of this program
+ std::string progName;
+ };
+ //@}
+}
+
+#endif
diff --git a/dev/src/CommandOptionWithCommonTimeArg.cpp b/dev/src/CommandOptionWithCommonTimeArg.cpp
new file mode 100644
index 0000000..ead373f
--- /dev/null
+++ b/dev/src/CommandOptionWithCommonTimeArg.cpp
@@ -0,0 +1,82 @@
+#pragma ident "$Id: CommandOptionWithCommonTimeArg.cpp 274 2006-10-27 14:24:35Z rickmach $"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file CommandOptionWithCommonTimeArg.cpp
+ * Command line options with time arguments
+ */
+
+#include "StringUtils.hpp"
+#include "TimeString.hpp"
+#include "CommandOptionWithCommonTimeArg.hpp"
+
+using namespace std;
+
+namespace gpstk
+{
+ string CommandOptionWithCommonTimeArg :: checkArguments()
+ {
+ string errstr = CommandOptionWithAnyArg::checkArguments();
+
+ if (errstr != string())
+ return errstr;
+
+ vector<string>::size_type vecindex;
+ for(vecindex = 0; vecindex < value.size(); vecindex++)
+ {
+ if (timeSpec != string())
+ {
+ try
+ {
+ CommonTime t;
+ scanTime(t, value[vecindex], timeSpec);
+ times.push_back(t);
+ }
+ catch (...)
+ {
+ errstr += "\"" + value[vecindex] + "\" is not a valid time.";
+ }
+ }
+ else
+ errstr += "\"" + value[vecindex] + "\" is not a valid time.";
+ }
+
+ return errstr;
+ }
+
+} // namespace gpstk
diff --git a/dev/src/CommandOptionWithCommonTimeArg.hpp b/dev/src/CommandOptionWithCommonTimeArg.hpp
new file mode 100644
index 0000000..a2b7665
--- /dev/null
+++ b/dev/src/CommandOptionWithCommonTimeArg.hpp
@@ -0,0 +1,113 @@
+#pragma ident "$Id: CommandOptionWithCommonTimeArg.hpp 70 2006-08-01 18:36:21Z ehagen $"
+
+/**
+ * @file CommandOptionWithCommonTimeArg.hpp
+ * Command line options with time arguments
+ */
+
+#ifndef COMMANDOPTIONWITHTIMEARG_HPP
+#define COMMANDOPTIONWITHTIMEARG_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include "CommandOption.hpp"
+#include "CommonTime.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup commandoptiongroup */
+ //@{
+
+ /** @ingroup timegroup
+ * @brief Command-line option class for processing time strings.
+ * This class is allows the programmer to add command-line
+ * options to an application that can parse strings containing
+ * representations of time. The programmer must specify the
+ * format to be accepted. Refer to each TimeTag class' getDefaultFormat() for
+ * details on the formatting specifications. */
+ class CommandOptionWithCommonTimeArg : public gpstk::CommandOptionWithAnyArg
+ {
+ public:
+ /** Constructor
+ * @param shOpt The one character command line option. Set to 0
+ * if unused.
+ * @param loOpt The long command option. Set to std::string()
+ * if unused.
+ * @param timeFormat format for scanning argument into a CommonTime
+ * (\see scanTime() in TimeString.hpp and TimeString.cpp for details).
+ * @param desc A string describing what this option does.
+ * @param required Set to true if this is a required option.
+ */
+ CommandOptionWithCommonTimeArg(const char shOpt,
+ const std::string& loOpt,
+ const std::string& timeFormat,
+ const std::string& desc,
+ const bool required = false)
+ : gpstk::CommandOptionWithAnyArg(shOpt, loOpt, desc, required),
+ timeSpec(timeFormat)
+ {}
+
+ /// Destructor
+ virtual ~CommandOptionWithCommonTimeArg() {}
+
+ /** Returns a string with the argument format (just "TIME",
+ * not scanning format). */
+ virtual std::string getArgString() const
+ { return "TIME"; }
+
+ /// Validate arguments passed using this option (and store them).
+ virtual std::string checkArguments();
+
+ /// Return the times scanned in from the command line.
+ std::vector<CommonTime> getTime() const { return times; }
+
+ protected:
+ /// Collection of times scanned in from the command line.
+ std::vector<CommonTime> times;
+ /// Format used to scan times in.
+ std::string timeSpec;
+
+ /// Default Constructor
+ CommandOptionWithCommonTimeArg() {}
+
+ }; // class CommandOptionWithCommonTimeArg
+
+ //@}
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/CommandOptionWithPositionArg.cpp b/dev/src/CommandOptionWithPositionArg.cpp
new file mode 100644
index 0000000..9add53b
--- /dev/null
+++ b/dev/src/CommandOptionWithPositionArg.cpp
@@ -0,0 +1,91 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file CommandOptionWithPositionArg.cpp
+ * Command line options with position (class Position) arguments
+ */
+
+#include "StringUtils.hpp"
+#include "CommandOptionWithPositionArg.hpp"
+
+using namespace std;
+
+namespace gpstk
+{
+ string CommandOptionWithPositionArg :: checkArguments()
+ {
+ string errstr = CommandOptionWithAnyArg::checkArguments();
+
+ if( errstr != string() )
+ return errstr;
+
+ vector<string>::size_type vecIndex;
+ for( vecIndex = 0; vecIndex < value.size(); vecIndex++ )
+ {
+ string thisPosSpec = getPositionSpec( vecIndex );
+ if( thisPosSpec != string() )
+ {
+ try
+ {
+ Position pos;
+ pos.setToString( value[vecIndex], thisPosSpec );
+ positions.push_back( pos );
+ }
+ catch (...)
+ {
+ errstr += "\"" + value[vecIndex] + "\" is not a valid position.";
+ }
+ }
+ else
+ {
+ errstr += "\"" + value[vecIndex] + "\" is not a valid position.";
+ }
+ }
+
+ return errstr;
+ } // end of checkArguments()
+
+}
diff --git a/dev/src/CommandOptionWithPositionArg.hpp b/dev/src/CommandOptionWithPositionArg.hpp
new file mode 100644
index 0000000..bfe725d
--- /dev/null
+++ b/dev/src/CommandOptionWithPositionArg.hpp
@@ -0,0 +1,131 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file CommandOptionWithPositionArg.hpp
+ * Command line options with position (class Position) arguments.
+ */
+
+#ifndef COMMANDOPTIONWITHPOSITIONARG_HPP
+#define COMMANDOPTIONWITHPOSITIONARG_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "CommandOption.hpp"
+#include "Position.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup commandoptiongroup */
+ //@{
+
+ /** @ingroup positiongroup
+ * @brief Command-line option class for processing position strings.
+ * This class allows the programmer to add command-line options
+ * to an application that can parse strings containing representations
+ * of position. The programmer must specify the format to be
+ * accepted. Refer to Position::printf() for details on the formatting
+ * specifications.
+ */
+ class CommandOptionWithPositionArg : public gpstk::CommandOptionWithAnyArg
+ {
+ public:
+ /** Constructor
+ * @param shOpt The one character command line option. Set to 0
+ * if unused.
+ * @param loOpt The long command option. Set to std::string()
+ * if unused.
+ * @param posFormat format for scanning argument into a Position
+ * (\see Position::setToString() for details).
+ * @param desc A string describing what this option does.
+ * @param required Set to true if this is a required option.
+ */
+ CommandOptionWithPositionArg(const char shOpt,
+ const std::string& loOpt,
+ const std::string& posFormat,
+ const std::string& desc,
+ const bool required = false)
+ : gpstk::CommandOptionWithAnyArg(shOpt, loOpt, desc, required),
+ posSpec(posFormat)
+ {}
+
+ /// Destructor
+ virtual ~CommandOptionWithPositionArg()
+ {}
+
+ /** Returns a string with the argument format (just "POSITION",
+ * not scanning format).
+ */
+ virtual std::string getArgString() const
+ { return "POSITION"; }
+
+ /// Validate arguments passed using this option (and store them).
+ virtual std::string checkArguments();
+
+ /// Return the positions scanned in from the command line.
+ std::vector<Position> getPosition() const
+ { return positions; }
+
+ protected:
+ /// Collection of positions scanned in from the command line.
+ std::vector<Position> positions;
+
+ /// Format used to scan positions in.
+ std::string posSpec;
+
+ /// Default Constructor
+ CommandOptionWithPositionArg()
+ {}
+
+ /// Return the appropriate position scanning format for value[index].
+ virtual std::string
+ getPositionSpec(std::vector<std::string>::size_type index) const
+ { return posSpec; }
+
+ }; // end of class CommandOptionWithPositionArg
+
+ //@}
+
+}
+
+#endif // COMMANDOPTIONWITHPOSITIONARG_HPP
diff --git a/dev/src/CommandOptionWithTimeArg.cpp b/dev/src/CommandOptionWithTimeArg.cpp
new file mode 100644
index 0000000..c7732cc
--- /dev/null
+++ b/dev/src/CommandOptionWithTimeArg.cpp
@@ -0,0 +1,109 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file CommandOptionWithTimeArg.cpp
+ * Command line options with time (class DayTime) arguments
+ */
+
+#include "StringUtils.hpp"
+#include "CommandOptionWithTimeArg.hpp"
+
+using namespace std;
+
+namespace gpstk
+{
+ string CommandOptionWithTimeArg :: checkArguments()
+ {
+ string errstr = CommandOptionWithAnyArg::checkArguments();
+
+ if (errstr != string())
+ return errstr;
+
+ vector<string>::size_type vecindex;
+ for(vecindex = 0; vecindex < value.size(); vecindex++)
+ {
+ string thisTimeSpec = getTimeSpec(vecindex);
+ if (thisTimeSpec != string())
+ {
+ try {
+ DayTime dt;
+ dt.setToString(value[vecindex], thisTimeSpec);
+ times.push_back(dt);
+ }
+ catch (...)
+ {
+ errstr += "\"" + value[vecindex] + "\" is not a valid time.";
+ }
+ }
+ else
+ errstr += "\"" + value[vecindex] + "\" is not a valid time.";
+ }
+
+ return errstr;
+ }
+
+ string CommandOptionWithSimpleTimeArg :: getTimeSpec
+ (vector<string>::size_type index) const
+ {
+ int numwords = gpstk::StringUtils::numWords(value[index]);
+ string thisTimeSpec;
+ switch (numwords)
+ {
+ case 1:
+ thisTimeSpec = "%m/%d/%Y";
+ break;
+ case 2:
+ thisTimeSpec = "%Y %j";
+ break;
+ case 3:
+ thisTimeSpec = "%Y %j %s";
+ break;
+ }
+
+ return thisTimeSpec;
+ }
+
+} // namespace gpstk
diff --git a/dev/src/CommandOptionWithTimeArg.hpp b/dev/src/CommandOptionWithTimeArg.hpp
new file mode 100644
index 0000000..47827ae
--- /dev/null
+++ b/dev/src/CommandOptionWithTimeArg.hpp
@@ -0,0 +1,162 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file CommandOptionWithTimeArg.hpp
+ * Command line options with time (class DayTime) arguments
+ */
+
+#ifndef COMMANDOPTIONWITHTIMEARG_HPP
+#define COMMANDOPTIONWITHTIMEARG_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "CommandOption.hpp"
+#include "DayTime.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup commandoptiongroup */
+ //@{
+
+ /** @ingroup timegroup
+ * @brief Command-line option class for processing time strings.
+ * This class is allows the programmer to add command-line
+ * options to an application that can parse strings containing
+ * representations of time. The programmer must specify the
+ * format to be accepted. Refer to DayTime::printf() for
+ * details on the formatting specifications. */
+ class CommandOptionWithTimeArg : public gpstk::CommandOptionWithAnyArg
+ {
+ public:
+ /** Constructor
+ * @param shOpt The one character command line option. Set to 0
+ * if unused.
+ * @param loOpt The long command option. Set to std::string()
+ * if unused.
+ * @param timeFormat format for scanning argument into a DayTime
+ * (\see DayTime::setToString() for details).
+ * @param desc A string describing what this option does.
+ * @param required Set to true if this is a required option.
+ */
+ CommandOptionWithTimeArg(const char shOpt,
+ const std::string& loOpt,
+ const std::string& timeFormat,
+ const std::string& desc,
+ const bool required = false)
+ : gpstk::CommandOptionWithAnyArg(shOpt, loOpt, desc, required),
+ timeSpec(timeFormat)
+ {}
+
+ /// Destructor
+ virtual ~CommandOptionWithTimeArg() {}
+
+ /** Returns a string with the argument format (just "TIME",
+ * not scanning format). */
+ virtual std::string getArgString() const
+ { return "TIME"; }
+
+ /// Validate arguments passed using this option (and store them).
+ virtual std::string checkArguments();
+
+ /// Return the times scanned in from the command line.
+ std::vector<DayTime> getTime() const { return times; }
+
+ protected:
+ /// Collection of times scanned in from the command line.
+ std::vector<DayTime> times;
+ /// Format used to scan times in.
+ std::string timeSpec;
+
+ /// Default Constructor
+ CommandOptionWithTimeArg() {}
+
+ /// Return the appropriate time scanning format for value[index].
+ virtual std::string getTimeSpec(std::vector<std::string>::size_type index) const
+ { return timeSpec; }
+ }; // class CommandOptionWithTimeArg
+
+
+ /** @ingroup timegroup
+ * This class is similar to CommandOptionWithTimeArg, but
+ * accepts several different time formats simultaneously.
+ * The user can use any of the following time formats with this
+ * option:
+ * - month/day/year
+ * - year day-of-year
+ * - year day-of-year seconds-of-day
+ */
+ class CommandOptionWithSimpleTimeArg : public CommandOptionWithTimeArg
+ {
+ public:
+ /** Constructor
+ * @param shOpt The one character command line option. Set to 0
+ * if unused.
+ * @param loOpt The long command option. Set to std::string()
+ * if unused.
+ * @param desc A string describing what this option does.
+ * @param required Set to true if this is a required option.
+ */
+ CommandOptionWithSimpleTimeArg(const char shOpt,
+ const std::string& loOpt,
+ const std::string& desc,
+ const bool required = false)
+ : CommandOptionWithTimeArg(shOpt, loOpt, "", desc, required)
+ {}
+
+ /// Destructor
+ virtual ~CommandOptionWithSimpleTimeArg() {}
+
+ protected:
+ /// Default Constructor
+ CommandOptionWithSimpleTimeArg() {}
+
+ /// Return the appropriate time scanning format for value[index].
+ virtual std::string getTimeSpec(std::vector<std::string>::size_type index) const;
+ }; // class CommandOptionWithSimpleTimeArg
+
+ //@}
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/CommonTime.cpp b/dev/src/CommonTime.cpp
new file mode 100644
index 0000000..87ba144
--- /dev/null
+++ b/dev/src/CommonTime.cpp
@@ -0,0 +1,338 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "CommonTime.hpp"
+#include "TimeConstants.hpp"
+
+#include "MathBase.hpp"
+#include "StringUtils.hpp"
+
+namespace gpstk
+{
+ // 'julian day' of earliest epoch expressible by CommonTime; 1/1/4713 B.C.
+ const long CommonTime::BEGIN_LIMIT_JDAY = 0;
+ // 'julian day' of latest 'julian day' expressible by CommonTime,
+ // 1/1/4713 A.D.
+ const long CommonTime::END_LIMIT_JDAY = 3442448;
+
+ // earliest representable CommonTime
+ const CommonTime
+ CommonTime::BEGINNING_OF_TIME( CommonTime::BEGIN_LIMIT_JDAY, 0, 0.0 );
+ // latest representable CommonTime
+ const CommonTime
+ CommonTime::END_OF_TIME( CommonTime::END_LIMIT_JDAY, 0, 0.0 ) ;
+
+ CommonTime::CommonTime( const CommonTime& right )
+ throw()
+ : m_day( right.m_day ), m_msod( right.m_msod ), m_fsod( right.m_fsod )
+ {}
+
+ CommonTime& CommonTime::operator=( const CommonTime& right )
+ throw()
+ {
+ m_day = right.m_day;
+ m_msod = right.m_msod;
+ m_fsod = right.m_fsod;
+ return *this;
+ }
+
+ CommonTime& CommonTime::set( long day,
+ long sod,
+ double fsod )
+ throw( gpstk::InvalidParameter )
+ {
+ // Use temp variables so that we don't modify our
+ // data members until we know these values are good.
+ if( day < BEGIN_LIMIT_JDAY || day > END_LIMIT_JDAY )
+ {
+ gpstk::InvalidParameter ip( "Invalid day: "
+ + gpstk::StringUtils::asString( day ) );
+ GPSTK_THROW( ip );
+ }
+
+ if( sod < 0 || sod >= SEC_PER_DAY )
+ {
+ gpstk::InvalidParameter ip( "Invalid seconds of day: "
+ + gpstk::StringUtils::asString( sod ) );
+ GPSTK_THROW( ip );
+ }
+
+ if( fsod < 0.0 || fsod >= 1 )
+ {
+ gpstk::InvalidParameter ip( "Invalid fractional-seconds: "
+ + gpstk::StringUtils::asString( fsod ) );
+ GPSTK_THROW( ip );
+ }
+
+ // get the number of milliseconds in the fractional seconds argument
+ long msec = static_cast<long>( fsod * MS_PER_SEC );
+
+ // subtract whole milliseconds to obtain the "fractional milliseconds"
+ fsod -= static_cast<double>( msec ) * SEC_PER_MS;
+
+ m_day = day;
+ m_msod = sod * MS_PER_SEC + msec;
+ m_fsod = fsod;
+
+ return *this;
+ }
+
+ CommonTime& CommonTime::set( long day,
+ double sod )
+ throw( gpstk::InvalidParameter )
+ {
+ // separate whole and fractional seconds, then use set()
+ long sec = static_cast<long>( sod );
+ sod -= sec;
+
+ return set( day, sec, sod );
+ }
+
+ CommonTime& CommonTime::set( double day = 0.0 )
+ throw( gpstk::InvalidParameter )
+ {
+ // separate whole and fractional days
+ long lday = static_cast<long>( day );
+ double sec = ( day - lday ) * SEC_PER_DAY;
+ return set( lday, sec );
+ }
+
+ CommonTime& CommonTime::setInternal( long day,
+ long msod,
+ double fsod )
+ throw( gpstk::InvalidParameter )
+ {
+ if( day < BEGIN_LIMIT_JDAY || day > END_LIMIT_JDAY )
+ {
+ gpstk::InvalidParameter ip( "Invalid day: "
+ + gpstk::StringUtils::asString( day ) );
+ GPSTK_THROW( ip );
+ }
+
+ if( msod < 0 || msod >= MS_PER_DAY )
+ {
+ gpstk::InvalidParameter ip( "Invalid milliseconds of day: "
+ + gpstk::StringUtils::asString( msod ) );
+ GPSTK_THROW( ip );
+ }
+
+ if( fsod < 0.0 || fsod >= SEC_PER_MS )
+ {
+ gpstk::InvalidParameter ip( "Invalid fractional-milliseconds: "
+ + gpstk::StringUtils::asString( fsod ) );
+ GPSTK_THROW( ip );
+ }
+
+ m_day = day;
+ m_msod = msod;
+ m_fsod = fsod;
+
+ return *this;
+ }
+
+ void CommonTime::get( long& day,
+ long& sod,
+ double& fsod ) const
+ throw()
+ {
+ day = m_day;
+ sod = m_msod / MS_PER_SEC;
+ long msec = m_msod - sod * MS_PER_SEC; // m_msod % MS_PER_SEC
+ fsod = static_cast<double>( msec ) * SEC_PER_MS + m_fsod;
+ }
+
+ void CommonTime::get( long& day,
+ double& sod ) const
+ throw()
+ {
+ day = m_day;
+ sod = m_msod / MS_PER_SEC + m_fsod;
+ }
+
+ void CommonTime::get( double& day ) const
+ throw()
+ {
+ // convert everything to days
+ day = static_cast<double>( m_day ) +
+ static_cast<double>( m_msod ) * MS_PER_DAY +
+ m_fsod * SEC_PER_DAY;
+ }
+
+ double CommonTime::getDays() const
+ throw()
+ {
+ double day;
+ get( day );
+ return day;
+ }
+
+ double CommonTime::getSecondOfDay() const
+ throw()
+ {
+ long day;
+ double sod;
+ get( day, sod );
+ return sod;
+ }
+
+ double CommonTime::operator-( const CommonTime& right ) const
+ throw()
+ {
+ return ( SEC_PER_DAY * static_cast<double>( m_day - right.m_day ) +
+ SEC_PER_MS * static_cast<double>( m_msod - right.m_msod ) +
+ m_fsod - right.m_fsod ) ;
+ }
+
+ CommonTime CommonTime::operator+( double sec ) const
+ throw( gpstk::InvalidRequest )
+ {
+ return CommonTime( *this ).addSeconds( sec );
+ }
+
+ CommonTime CommonTime::operator-( double sec ) const
+ throw( gpstk::InvalidRequest )
+ {
+ return CommonTime( *this ).addSeconds( -sec );
+ }
+
+ CommonTime& CommonTime::operator+=( double sec )
+ throw( gpstk::InvalidRequest )
+ {
+ addSeconds( sec );
+ return *this;
+ }
+
+ CommonTime& CommonTime::operator-=( double sec )
+ throw( gpstk::InvalidRequest )
+ {
+ addSeconds( -sec );
+ return *this;
+ }
+
+ CommonTime& CommonTime::addSeconds( double seconds )
+ throw( InvalidRequest )
+ {
+ long days=0, ms=0;
+ if ( ABS(seconds) >= SEC_PER_DAY )
+ {
+ days = static_cast<long>( seconds * DAY_PER_SEC );
+ seconds -= days * SEC_PER_DAY;
+ }
+
+ if ( ABS(seconds) >= SEC_PER_MS )
+ {
+ ms = static_cast<long>( seconds * MS_PER_SEC );
+ seconds -= static_cast<double>( ms ) * SEC_PER_MS;
+ }
+
+ add(days, ms, seconds);
+ return *this;
+ }
+
+ CommonTime& CommonTime::addSeconds( long seconds )
+ throw( gpstk::InvalidRequest )
+ {
+ long days( 0 );
+ if( ABS( seconds ) > SEC_PER_DAY )
+ {
+ days = seconds / SEC_PER_DAY;
+ seconds -= days * SEC_PER_DAY; // seconds %= SEC_PER_DAY
+ }
+ add( days, seconds * MS_PER_SEC, 0. );
+
+ // How about this?
+ // add( seconds / SEC_PER_DAY,
+ // seconds % SEC_PER_DAY * MS_PER_SEC,
+ // 0 );
+
+ return *this;
+ }
+
+ CommonTime& CommonTime::addDays( long days )
+ throw( gpstk::InvalidRequest )
+ {
+ add( days, 0, 0.0 );
+ return *this;
+ }
+
+ CommonTime& CommonTime::addMilliseconds( long msec )
+ throw( InvalidRequest )
+ {
+ add( 0, msec, 0.0 );
+ return *this;
+ }
+
+ /// protected functions
+ bool CommonTime::add( long days,
+ long msod,
+ double fsod )
+ throw()
+ {
+ m_day += days;
+ m_msod += msod;
+ m_fsod += fsod;
+ return normalize();
+ }
+
+ bool CommonTime::normalize()
+ throw()
+ {
+ if( ABS( m_fsod ) >= SEC_PER_MS )
+ {
+ long ms = static_cast<long>( m_fsod * MS_PER_SEC );
+ m_msod += ms;
+ m_fsod -= static_cast<double>( ms ) * SEC_PER_MS;
+ }
+
+ if( ABS( m_msod ) >= MS_PER_DAY )
+ {
+ long day = m_msod / MS_PER_DAY;
+ m_day += day;
+ m_msod -= day * MS_PER_DAY;
+ }
+
+ if( ABS(m_fsod) < 1e-15 )
+ {
+ m_fsod = 0.0;
+ }
+
+ if( m_fsod < 0 )
+ {
+ m_fsod += 1;
+ --m_msod;
+ }
+
+ if( m_msod < 0 )
+ {
+ m_msod = m_msod + MS_PER_DAY;
+ --m_day;
+ }
+
+ return ( ( m_day >= BEGIN_LIMIT_JDAY ) &&
+ ( m_day < END_LIMIT_JDAY ) );
+ }
+
+} // namespace
diff --git a/dev/src/CommonTime.hpp b/dev/src/CommonTime.hpp
new file mode 100644
index 0000000..11b9abc
--- /dev/null
+++ b/dev/src/CommonTime.hpp
@@ -0,0 +1,356 @@
+#pragma ident "$Id$"
+
+
+
+#ifndef GPSTK_COMMONTIME_HPP
+#define GPSTK_COMMONTIME_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "Exception.hpp"
+
+namespace gpstk
+{
+ /**
+ * This is the common time format that all time formats convert to when
+ * converting between themselves. This allows the decoupling of
+ * inter-format conversions.
+ *
+ * The interface is based on three quantites: days, seconds of day, and
+ * fractional seconds of day. The internal representation, however, is
+ * slightly different. It consists of a day, milliseconds of day, and
+ * fractional seconds of day. Their valid ranges are shown below:
+ *
+ * Quantity >= <
+ * -------- --- ---
+ * day 0 2^31
+ * msod 0 86400000
+ * fsod 0 0.001
+ *
+ * The above is somewhat difficult to grasp at first, but the reason for
+ * keeping the fractional part of time in units of seconds is due to the
+ * fact that the time formats usually break at seconds and partial seconds
+ * not at milliseconds and partial milliseconds. By keeping the value in
+ * seconds, we save ourselves additional work and loss of precision
+ * through conversion of fractional seconds to fractional milliseconds.
+ */
+ class CommonTime
+ {
+ public:
+ /**
+ * @defgroup ctc CommonTime Constants
+ */
+ //@{
+ /// 'julian day' of earliest epoch expressible by CommonTime:
+ /// 1/1/4713 B.C.
+ static const long BEGIN_LIMIT_JDAY;
+ /// 'julian day' of latest epoch expressible by CommonTime:
+ /// 1/1/4713 A.D.
+ static const long END_LIMIT_JDAY;
+ /// earliest representable CommonTime
+ static const CommonTime BEGINNING_OF_TIME;
+ /// latest representable CommonTime
+ static const CommonTime END_OF_TIME;
+
+ //@}
+
+ /**
+ * @defgroup ctbo CommonTime Basic Operations
+ * Default and Copy Constructors, Assignment Operator and Destructor.
+ */
+ //@{
+ /**
+ * Default Constructor.
+ * All elements default to zero.
+ * @see CommonTime::set()
+ */
+ CommonTime( long day = 0,
+ long sod = 0,
+ double fsod = 0.0 )
+ throw( gpstk::InvalidParameter )
+ { set( day, sod, fsod ); }
+
+ /**
+ * Constructor that accepts days and second of day.
+ * All elements default to zero.
+ */
+ CommonTime( long day,
+ double sod )
+ throw( gpstk::InvalidParameter )
+ { set( day, sod ); }
+
+ /**
+ * Constructor that accepts days only.
+ * All elements default to zero.
+ */
+ CommonTime( double day )
+ throw( gpstk::InvalidParameter )
+ { set( day ); }
+
+ /**
+ * Copy Constructor.
+ * @param right a const reference to the CommonTime object to copy.
+ */
+ CommonTime( const CommonTime& right )
+ throw();
+
+ /**
+ * Assignment Operator.
+ * @param right a const reference to the CommonTime object to copy.
+ * @return a reference to this CommonTime object.
+ */
+ CommonTime& operator=( const CommonTime& right )
+ throw();
+
+ /// Destructor.
+ ~CommonTime()
+ throw()
+ {}
+ //@}
+
+ /**
+ * @defgroup ctam CommonTime Accessor Methods
+ */
+ //@{
+ /**
+ * Set method that accepts values for day, seconds of day and
+ * fractional seconds of day. It also checks the validity of the
+ * arguments and throws an exception if any values are out of bounds.
+ */
+ CommonTime& set( long day,
+ long sod,
+ double fsod = 0.0 )
+ throw( gpstk::InvalidParameter );
+
+ /**
+ * Set method that accepts values for day and seconds of day. It also
+ * checks the validity of the arguments and throws an exception if any
+ * values are out of bounds.
+ */
+ CommonTime& set( long day,
+ double sod = 0.0 )
+ throw( gpstk::InvalidParameter );
+
+ /**
+ * Set method that accepts a value for day. It also checks the
+ * validity of the argument and throws an exception if its value is
+ * out of bounds.
+ */
+ CommonTime& set( double day )
+ throw( gpstk::InvalidParameter );
+
+ /**
+ * Set internal values method. Set the data members of this object
+ * directly. Checks the validity of the given time representation
+ * and throws an exception if any values are out of bounds.
+ */
+ CommonTime& setInternal( long day = 0,
+ long msod = 0,
+ double fsod = 0.0 )
+ throw( gpstk::InvalidParameter );
+
+ /**
+ * Get method. Obtain values in days, second of day and fractional
+ * second of day.
+ */
+ void get( long& day,
+ long& sod,
+ double& fsod ) const
+ throw();
+
+ /**
+ * Get method through which one may obtain values for day and
+ * second of day which includes the fractional second of day.
+ */
+ void get( long& day,
+ double& sod ) const
+ throw();
+
+ /**
+ * Get method through which one may obtain a value for day which
+ * includes the fraction of a day.
+ */
+ void get( double& day ) const
+ throw();
+
+ /**
+ * Get internal values method. Obtain the values stored within this
+ * object.
+ */
+ void getInternal( long& day,
+ long& msod,
+ double& fsod ) const
+ throw()
+ { day = m_day; msod = m_msod; fsod = m_fsod; }
+
+ /// Obtain the time, in days, including the fraction of a day.
+ double getDays() const
+ throw();
+
+ /// Obtain the seconds of day ( ignoring the day ).
+ double getSecondOfDay() const
+ throw();
+
+ //@}
+
+ /**
+ * @defgroup ctao CommonTime Arithmetic Operations
+ */
+ //@{
+ /**
+ * Difference two Common Time objects.
+ * @param right CommonTime to subtract from this one
+ * @param reutrn difference in seconds
+ */
+ double operator-( const CommonTime& right ) const
+ throw();
+
+ /**
+ * Add seconds to a copy of this CommonTime.
+ * @param sec the number of seconds to add to a copy of this CommonTime
+ * @return the new CommonTime object
+ * @throws InvalidRequest on over-/under-flow
+ */
+ CommonTime operator+( double seconds ) const
+ throw( InvalidRequest );
+
+ /**
+ * Subtract seconds from a copy of this CommonTime.
+ * @param sec the number of seconds to subtract from a copy of this
+ * CommonTime
+ * @return the new CommonTime object
+ * @throws InvalidRequest on over-/under-flow
+ */
+ CommonTime operator-( double seconds ) const
+ throw( InvalidRequest );
+
+ /**
+ * Add seconds to this CommonTime.
+ * @param sec the number of seconds to add to this CommonTime.
+ * @return a reference to this CommonTime
+ * @throws InvalidRequest on over-/under-flow
+ */
+ CommonTime& operator+=( double seconds )
+ throw( InvalidRequest );
+
+ /**
+ * Subtract seconds from this CommonTime.
+ * @param sec the number of seconds to subtract from this CommonTime
+ * @return a reference to this CommonTime object
+ * @throws InvalidRequest on over-/under-flow
+ */
+ CommonTime& operator-=( double seconds )
+ throw( InvalidRequest );
+
+ /**
+ * Add seconds to this CommonTime object.
+ * This is the workhorse for the addition/subtraction operators.
+ * @param sec the number of seconds to add to this CommonTime
+ * @return a reference to this CommonTime object
+ * @throws InvalidRequest on over-/under-flow
+ */
+ CommonTime& addSeconds( double seconds )
+ throw( InvalidRequest );
+
+ /**
+ * Add integer days to this CommonTime object.
+ * param days the number of days to add to this CommonTime
+ * @return a reference to this CommonTime object
+ * @throws InvalidRequest on over-/under-flow
+ */
+ CommonTime& addDays( long days )
+ throw( InvalidRequest );
+
+ /**
+ * Add integer seconds to this CommonTime object.
+ * @param sec the number of seconds to add to this CommonTime
+ * @return a reference to this CommonTime object
+ * @throws InvalidRequest on over-/under-flow
+ */
+ CommonTime& addSeconds( long seconds )
+ throw( InvalidRequest );
+
+ /**
+ * Add integer milliseconds to this CommonTime object.
+ * @param ms the number of milliseconds to add to this CommonTime
+ * @return a reference to this CommonTime object
+ * @throws InvalidRequest on over-/under-flow
+ */
+ CommonTime& addMilliseconds( long ms )
+ throw( InvalidRequest );
+ //@}
+
+ /**
+ * @defgroup ctco CommonTime Comparison Operators
+ * All comparison operators have a parameter "right" which corresponds
+ * to the CommonTime object to the right of the symbol.
+ * All comparison operators are const and return true on success
+ * and false on failure.
+ */
+ //@{
+ bool operator==( const CommonTime& right ) const
+ throw();
+ bool operator!=( const CommonTime& right ) const
+ throw();
+ bool operator<( const CommonTime& right ) const
+ throw();
+ bool operator>( const CommonTime& right ) const
+ throw();
+ bool operator<=( const CommonTime& right ) const
+ throw();
+ bool operator>=( const CommonTime& right ) const
+ throw();
+ //@}
+
+ void reset()
+ throw()
+ { m_day = m_msod = 0; m_fsod = 0.0; }
+
+ protected:
+
+ /**
+ * Add the following quantities to this CommonTime object.
+ * @param days the number of days to add
+ * @param msod the number of milliseconds to add
+ * @param fsod the number of fractional seconds to add
+ * @return the result of calling the normalize() function
+ */
+ bool add( long days,
+ long msod,
+ double fsod )
+ throw();
+
+ /// Normalize the values. This takes out of bounds values and rolls
+ /// other values appropriately.
+ /// @return true if m_day is valid, false otherwise
+ bool normalize()
+ throw();
+
+ long m_day; //< days (as a Julian Day) 0 <= val < 2^31
+ long m_msod; //< milliseconds-of-day 0 <= val < 86400000
+ double m_fsod; //< fractional seconds-of-day 0 <= val < 0.001
+ };
+
+} // namespace
+
+#endif // GPSTK_COMMONTIME_HPP
diff --git a/dev/src/ComputeCombination.hpp b/dev/src/ComputeCombination.hpp
new file mode 100644
index 0000000..c77393c
--- /dev/null
+++ b/dev/src/ComputeCombination.hpp
@@ -0,0 +1,154 @@
+
+/**
+ * @file ComputeCombination.hpp
+ * This is the base class to ease computing combination of data for GNSS data structures.
+ */
+
+#ifndef Compute_Combination_GPSTK
+#define Compute_Combination_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2007
+//
+//============================================================================
+
+
+
+#include "DataStructures.hpp"
+
+
+namespace gpstk
+{
+
+ /** @addtogroup DataStructures */
+ //@{
+
+
+ /// This class eases computing combination of data for GNSS data structures.
+ class ComputeCombination
+ {
+ public:
+
+ /// Default constructor
+ ComputeCombination() {};
+
+
+ /** Returns a satTypeValueMap object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual satTypeValueMap& Combine(satTypeValueMap& gData)
+ {
+ double value1(0.0);
+ double value2(0.0);
+
+ SatIDSet satRejectedSet;
+
+ // Loop through all the satellites
+ satTypeValueMap::iterator it;
+ for (it = gData.begin(); it != gData.end(); ++it)
+ {
+ try
+ {
+ // Try to extract the values
+ value1 = (*it).second(type1);
+ value2 = (*it).second(type2);
+ }
+ catch(...)
+ {
+ // If some value is missing, then schedule this satellite for removal
+ satRejectedSet.insert( (*it).first );
+ continue;
+ }
+ // If everything is OK, then get the new value inside the structure
+ (*it).second[resultType] = getCombination(value1, value2);
+ }
+ // Remove satellites with missing data
+ gData.removeSatID(satRejectedSet);
+
+ return gData;
+ };
+
+
+ /** Returns a gnnsSatTypeValue object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssSatTypeValue& Combine(gnssSatTypeValue& gData)
+ {
+ (*this).Combine(gData.body);
+ return gData;
+ };
+
+
+ /** Returns a gnnsRinex object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssRinex& Combine(gnssRinex& gData)
+ {
+ (*this).Combine(gData.body);
+ return gData;
+ };
+
+
+ /// Destructor
+ virtual ~ComputeCombination() {};
+
+
+ protected:
+ /// Compute the combination of observables. You must define this method according to your specific combination.
+ virtual double getCombination(const double& obs1, const double& obs2) = 0;
+
+ /// Type of observation to be combined. Nro 1.
+ TypeID type1;
+
+ /// Type of observation to be combined. Nro 2.
+ TypeID type2;
+
+ /// Type assigned to the resulting combination.
+ TypeID resultType;
+
+
+ }; // end class ComputeCombination
+
+
+ /// Input operator from gnssSatTypeValue to ComputeCombination.
+ inline gnssSatTypeValue& operator>>(gnssSatTypeValue& gData, ComputeCombination& compComb)
+ {
+ compComb.Combine(gData);
+ return gData;
+ }
+
+
+ /// Input operator from gnssRinex to ComputeCombination.
+ inline gnssRinex& operator>>(gnssRinex& gData, ComputeCombination& compComb)
+ {
+ compComb.Combine(gData);
+ return gData;
+ }
+
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/ComputeIURAWeights.hpp b/dev/src/ComputeIURAWeights.hpp
new file mode 100644
index 0000000..e911864
--- /dev/null
+++ b/dev/src/ComputeIURAWeights.hpp
@@ -0,0 +1,304 @@
+
+/**
+ * @file ComputeIURAWeights.hpp
+ * This class computes satellites weights based on URA Index and is meant to be used with GNSS data structures.
+ */
+
+#ifndef Compute_IURA_WEIGHTS_GPSTK
+#define Compute_IURA_WEIGHTS_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2006, 2007
+//
+//============================================================================
+
+
+
+#include "WeightBase.hpp"
+#include "EngEphemeris.hpp"
+#include "TabularEphemerisStore.hpp"
+#include "BCEphemerisStore.hpp"
+#include "DataStructures.hpp"
+
+
+namespace gpstk
+{
+
+ /** @addtogroup DataStructures */
+ //@{
+
+
+ /** This class computes satellites weights based on URA Index.
+ * This class is meant to be used with the GNSS data structures objects
+ * found in "DataStructures" class.
+ *
+ * A typical way to use this class follows:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o");
+ * RinexNavStream rnavin("brdc0300.02n");
+ * RinexNavData rNavData;
+ * BCEphemerisStore bceStore;
+ * while (rnavin >> rNavData) bceStore.addEphemeris(rNavData);
+ * bceStore.SearchPast(); // This is the default
+ *
+ * gnssRinex gRin;
+ * ComputeIURAWeights iuraW(bceStore);
+ *
+ * while(rin >> gRin) {
+ * gRin >> iuraW;
+ * }
+ * @endcode
+ *
+ * The "ComputeIURAWeights" object will visit every satellite in the
+ * GNSS data structure that is "gRin" and will try to compute its weight
+ * based on the corresponding IURA. For precise ephemeris, a fixed value
+ * of IURA = 0.1 m will be set, returning a weight of 100.
+ *
+ * When used with the ">>" operator, this class returns the same incoming
+ * data structure with the weights inserted along their corresponding
+ * satellites. Be warned that if it is not possible to compute the weight
+ * for a given satellite, it will be summarily deleted from the data
+ * structure.
+ *
+ */
+
+ class ComputeIURAWeights : public WeightBase
+ {
+ public:
+
+ /// Default constructor
+ ComputeIURAWeights() : pBCEphemeris(NULL), pTabEphemeris(NULL) {};
+
+
+ /** Common constructor
+ *
+ * @param bcephem BCEphemerisStore object holding the ephemeris.
+ */
+ ComputeIURAWeights(BCEphemerisStore& bcephem) : pBCEphemeris(&bcephem), pTabEphemeris(NULL) {};
+
+
+ /** Common constructor
+ *
+ * @param tabephem TabularEphemerisStore object holding the ephemeris.
+ */
+ ComputeIURAWeights(TabularEphemerisStore& tabephem) : pBCEphemeris(NULL), pTabEphemeris(&tabephem) {};
+
+
+ /** Common constructor
+ *
+ * @param ephem EphemerisStore object holding the ephemeris.
+ */
+ ComputeIURAWeights(EphemerisStore& ephem)
+ {
+ setDefaultEphemeris(ephem);
+ };
+
+
+ /** Returns a satTypeValueMap object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual satTypeValueMap& ComputeWeight(const DayTime& time, satTypeValueMap& gData)
+ {
+ double weight(0.000001); // By default a very small value
+ SatIDSet satRejectedSet;
+
+ // Loop through all the satellites
+ satTypeValueMap::iterator it;
+ for (it = gData.begin(); it != gData.end(); ++it)
+ {
+ try
+ {
+ // Try to extract the weight value
+ if (pBCEphemeris != NULL)
+ {
+ weight = getWeight( ((*it).first), time, pBCEphemeris );
+ } else {
+ if (pTabEphemeris != NULL) weight = getWeight( ((*it).first), time, pTabEphemeris );
+ }
+ }
+ catch(...)
+ {
+ // If some value is missing, then schedule this satellite for removal
+ satRejectedSet.insert( (*it).first );
+ continue;
+ }
+ // If everything is OK, then get the new value inside the structure
+ (*it).second[TypeID::weight] = weight;
+ }
+ // Remove satellites with missing data
+ gData.removeSatID(satRejectedSet);
+
+ return gData;
+ };
+
+
+ /** Returns a gnnsSatTypeValue object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssSatTypeValue& ComputeWeight(gnssSatTypeValue& gData)
+ {
+ (*this).ComputeWeight(gData.header.epoch, gData.body);
+ return gData;
+ };
+
+
+ /** Returns a gnnsRinex object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssRinex& ComputeWeight(gnssRinex& gData)
+ {
+ (*this).ComputeWeight(gData.header.epoch, gData.body);
+ return gData;
+ };
+
+
+ /** Method to set the default ephemeris to be used with GNSS data structures.
+ * @param ephem EphemerisStore object to be used
+ */
+ virtual void setDefaultEphemeris(EphemerisStore& ephem)
+ {
+ // Let's check what type ephem belongs to
+ if (dynamic_cast<BCEphemerisStore*>(&ephem))
+ {
+ pBCEphemeris = dynamic_cast<BCEphemerisStore*>(&ephem);
+ pTabEphemeris = NULL;
+ } else {
+ pBCEphemeris = NULL;
+ pTabEphemeris = dynamic_cast<TabularEphemerisStore*>(&ephem);
+ }
+ };
+
+
+ /** Method to set the default ephemeris to be used with GNSS data structures.
+ * @param ephem BCEphemerisStore object to be used
+ */
+ virtual void setDefaultEphemeris(BCEphemerisStore& ephem)
+ {
+ pBCEphemeris = &ephem;
+ pTabEphemeris = NULL;
+ };
+
+
+ /** Method to set the default ephemeris to be used with GNSS data structures.
+ * @param ephem TabularEphemerisStore object to be used
+ */
+ virtual void setDefaultEphemeris(TabularEphemerisStore& ephem)
+ {
+ pBCEphemeris = NULL;
+ pTabEphemeris = &ephem;
+ };
+
+
+ /// Destructor
+ virtual ~ComputeIURAWeights() {};
+
+
+ protected:
+
+ /// Pointer to default broadcast ephemeris to be used.
+ BCEphemerisStore* pBCEphemeris;
+
+
+ /// Pointer to default precise ephemeris to be used.
+ TabularEphemerisStore* pTabEphemeris;
+
+
+ /** Method to really get the weight of a given satellite.
+ *
+ * @param sat Satellite
+ * @param time Epoch
+ * @param preciseEph Precise ephemerisStore object to be used
+ */
+ virtual double getWeight(const SatID& sat, const DayTime& time, const TabularEphemerisStore* preciseEph) throw(InvalidWeights)
+ {
+ try
+ {
+ // Look if this satellite is present in ephemeris
+ preciseEph->getSatXvt(sat, time);
+ }
+ catch(...)
+ {
+ InvalidWeights eWeight("Satellite not found.");
+ GPSTK_THROW(eWeight);
+ }
+ // An URA of 0.1 m is assumed for all satellites, so sigma=0.1*0.1= 0.01 m^2
+ return 100.0;
+ };
+
+
+ /** Method to really get the weight of a given satellite.
+ *
+ * @param sat Satellite
+ * @param time Epoch
+ * @param bcEph Broadcast EphemerisStore object to be used
+ */
+ virtual double getWeight(const SatID& sat, const DayTime& time, const BCEphemerisStore* bcEph) throw(InvalidWeights)
+ {
+ int iura(1000000); // By default a very big value
+ double sigma(1000000.0);
+ EngEphemeris engEph;
+
+ try
+ {
+ // Look if this satellite is present in ephemeris
+ engEph = bcEph->findEphemeris(sat, time);
+ // If so, wet the IURA
+ iura = engEph.getAccFlag();
+ }
+ catch(...)
+ {
+ InvalidWeights eWeight("Satellite not found.");
+ GPSTK_THROW(eWeight);
+ }
+ // Compute and return the weight
+ sigma = gpstk::ura2nominalAccuracy(iura);
+ return ( 1.0 / (sigma*sigma) );
+ };
+
+
+ }; // end class ComputeIURAWeights
+
+
+ /// Input operator from gnssSatTypeValue to ComputeIURAWeights.
+ inline gnssSatTypeValue& operator>>(gnssSatTypeValue& gData, ComputeIURAWeights& right)
+ {
+ right.ComputeWeight(gData);
+ return gData;
+ }
+
+
+ /// Input operator from gnssRinex to ComputeIURAWeights.
+ inline gnssRinex& operator>>(gnssRinex& gData, ComputeIURAWeights& right)
+ {
+ right.ComputeWeight(gData);
+ return gData;
+ }
+
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/ComputeLC.hpp b/dev/src/ComputeLC.hpp
new file mode 100644
index 0000000..9ce5b67
--- /dev/null
+++ b/dev/src/ComputeLC.hpp
@@ -0,0 +1,120 @@
+
+/**
+ * @file ComputeLC.hpp
+ * This class eases computing LC combination for GNSS data structures.
+ */
+
+#ifndef Compute_LC_GPSTK
+#define Compute_LC_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2007
+//
+//============================================================================
+
+
+
+#include "ComputeCombination.hpp"
+
+
+namespace gpstk
+{
+
+ /** @addtogroup DataStructures */
+ //@{
+
+
+ /** This class eases computing LC combination for GNSS data structures.
+ * This class is meant to be used with the GNSS data structures objects
+ * found in "DataStructures" class.
+ *
+ * A typical way to use this class follows:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o");
+ *
+ * gnssRinex gRin;
+ * ComputeLC getLC;
+ *
+ * while(rin >> gRin) {
+ * gRin >> getLC;
+ * }
+ * @endcode
+ *
+ * The "ComputeLC" object will visit every satellite in the GNSS data
+ * structure that is "gRin" and will try to compute its LC combination.
+ *
+ * When used with the ">>" operator, this class returns the same incoming
+ * data structure with the LC inserted along their corresponding
+ * satellites. Be warned that if a given satellite does not have the
+ * observations required, it will be summarily deleted from the data
+ * structure.
+ *
+ * All observations are in meters.
+ *
+ */
+ class ComputeLC : public ComputeCombination
+ {
+ public:
+
+ /// Default constructor
+ ComputeLC() : DEN(0.646944444)
+ {
+ type1 = TypeID::L1;
+ type2 = TypeID::L2;
+ resultType = TypeID::LC;
+ };
+
+
+ /** Returns a satTypeValueMap object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual satTypeValueMap& Combine(satTypeValueMap& gData)
+ {
+ ComputeCombination::Combine(gData);
+
+ return gData;
+ }
+
+
+ /// Destructor
+ virtual ~ComputeLC() {};
+
+
+ protected:
+ /// Compute the combination of observables.
+ virtual double getCombination(const double& obs1, const double& obs2)
+ {
+ return ( (GAMMA_GPS*obs1 - obs2)/(DEN) );
+ };
+
+ private:
+
+ const double DEN; // DEN = GAMMA_GPS - 1
+
+ }; // end class ComputeLC
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/ComputeLI.hpp b/dev/src/ComputeLI.hpp
new file mode 100644
index 0000000..761714a
--- /dev/null
+++ b/dev/src/ComputeLI.hpp
@@ -0,0 +1,116 @@
+
+/**
+ * @file ComputeLI.hpp
+ * This class eases computing LI combination for GNSS data structures.
+ */
+
+#ifndef Compute_LI_GPSTK
+#define Compute_LI_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2007
+//
+//============================================================================
+
+
+
+#include "ComputeCombination.hpp"
+
+
+namespace gpstk
+{
+
+ /** @addtogroup DataStructures */
+ //@{
+
+
+ /** This class eases computing LI combination for GNSS data structures.
+ * This class is meant to be used with the GNSS data structures objects
+ * found in "DataStructures" class.
+ *
+ * A typical way to use this class follows:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o");
+ *
+ * gnssRinex gRin;
+ * ComputeLI getLI;
+ *
+ * while(rin >> gRin) {
+ * gRin >> getLI;
+ * }
+ * @endcode
+ *
+ * The "ComputeLI" object will visit every satellite in the GNSS data
+ * structure that is "gRin" and will try to compute its LI combination.
+ *
+ * When used with the ">>" operator, this class returns the same incoming
+ * data structure with the LI inserted along their corresponding
+ * satellites. Be warned that if a given satellite does not have the
+ * observations required, it will be summarily deleted from the data
+ * structure.
+ *
+ * All observations are in meters.
+ *
+ */
+ class ComputeLI : public ComputeCombination
+ {
+ public:
+
+ /// Default constructor
+ ComputeLI()
+ {
+ type1 = TypeID::L1;
+ type2 = TypeID::L2;
+ resultType = TypeID::LI;
+ };
+
+
+ /** Returns a satTypeValueMap object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual satTypeValueMap& Combine(satTypeValueMap& gData)
+ {
+ ComputeCombination::Combine(gData);
+
+ return gData;
+ }
+
+
+ /// Destructor
+ virtual ~ComputeLI() {};
+
+
+ protected:
+ /// Compute the combination of observables.
+ virtual double getCombination(const double& obs1, const double& obs2)
+ {
+ return ( obs1 - obs2 );
+ };
+
+ }; // end class ComputeLI
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/ComputeLdelta.hpp b/dev/src/ComputeLdelta.hpp
new file mode 100644
index 0000000..5d2a52d
--- /dev/null
+++ b/dev/src/ComputeLdelta.hpp
@@ -0,0 +1,120 @@
+
+/**
+ * @file ComputeLdelta.hpp
+ * This class eases computing Ldelta combination for GNSS data structures.
+ */
+
+#ifndef Compute_LDELTA_GPSTK
+#define Compute_LDELTA_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2007
+//
+//============================================================================
+
+
+
+#include "ComputeCombination.hpp"
+
+
+namespace gpstk
+{
+
+ /** @addtogroup DataStructures */
+ //@{
+
+
+ /** This class eases computing Ldelta combination for GNSS data structures.
+ * This class is meant to be used with the GNSS data structures objects
+ * found in "DataStructures" class.
+ *
+ * A typical way to use this class follows:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o");
+ *
+ * gnssRinex gRin;
+ * ComputeLdelta getLdelta;
+ *
+ * while(rin >> gRin) {
+ * gRin >> getLdelta;
+ * }
+ * @endcode
+ *
+ * The "ComputeLdelta" object will visit every satellite in the GNSS data
+ * structure that is "gRin" and will try to compute its Ldelta combination.
+ *
+ * When used with the ">>" operator, this class returns the same incoming
+ * data structure with the Ldelta inserted along their corresponding
+ * satellites. Be warned that if a given satellite does not have the
+ * observations required, it will be summarily deleted from the data
+ * structure.
+ *
+ * All observations are in meters.
+ *
+ */
+ class ComputeLdelta : public ComputeCombination
+ {
+ public:
+
+ /// Default constructor
+ ComputeLdelta() : DEN(L1_FREQ - L2_FREQ)
+ {
+ type1 = TypeID::L1;
+ type2 = TypeID::L2;
+ resultType = TypeID::Ldelta;
+ };
+
+
+ /** Returns a satTypeValueMap object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual satTypeValueMap& Combine(satTypeValueMap& gData)
+ {
+ ComputeCombination::Combine(gData);
+
+ return gData;
+ }
+
+
+ /// Destructor
+ virtual ~ComputeLdelta() {};
+
+
+ protected:
+ /// Compute the combination of observables.
+ virtual double getCombination(const double& obs1, const double& obs2)
+ {
+ return ( ( L1_FREQ*obs1 - L2_FREQ*obs2 ) / ( DEN ) );
+ };
+
+ private:
+
+ const double DEN; // DEN = L1_FREQ - L2_FREQ
+
+ }; // end class ComputeLdelta
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/ComputeMOPSWeights.hpp b/dev/src/ComputeMOPSWeights.hpp
new file mode 100644
index 0000000..8d67d08
--- /dev/null
+++ b/dev/src/ComputeMOPSWeights.hpp
@@ -0,0 +1,317 @@
+
+/**
+ * @file ComputeMOPSWeights.hpp
+ * This class computes satellites weights based on the Appendix J of MOPS C, and is meant to be used with GNSS data structures.
+ */
+
+#ifndef Compute_MOPS_WEIGHTS_GPSTK
+#define Compute_MOPS_WEIGHTS_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2006, 2007
+//
+//============================================================================
+
+
+
+#include "WeightBase.hpp"
+#include "EngEphemeris.hpp"
+#include "TabularEphemerisStore.hpp"
+#include "BCEphemerisStore.hpp"
+#include "ComputeIURAWeights.hpp"
+#include "TropModel.hpp"
+#include "DataStructures.hpp"
+#include "geometry.hpp" // DEG_TO_RAD
+
+namespace gpstk
+{
+
+ /** @addtogroup DataStructures */
+ //@{
+
+
+ /** This class computes satellites weights based on the Appendix J of MOPS C.
+ * It is meant to be used with the GNSS data structures objects
+ * found in "DataStructures" class.
+ *
+ * A typical way to use this class follows:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o");
+ * RinexNavStream rnavin("brdc0300.02n");
+ * RinexNavData rNavData;
+ * BCEphemerisStore bceStore;
+ * while (rnavin >> rNavData) bceStore.addEphemeris(rNavData);
+ * bceStore.SearchPast(); // This is the default
+ *
+ * RinexNavHeader rNavHeader;
+ * IonoModelStore ionoStore;
+ * IonoModel ioModel;
+ * rnavin >> rNavHeader;
+ * ioModel.setModel(rNavHeader.ionAlpha, rNavHeader.ionBeta);
+ * ionoStore.addIonoModel(DayTime::BEGINNING_OF_TIME, ioModel);
+ *
+ * Position nominalPos(4833520.2269, 41537.00768, 4147461.489);
+ *
+ * MOPSTropModel mopsTM;
+ * mopsTM.setReceiverHeight(nominalPos.getAltitude());
+ * mopsTM.setReceiverLatitude(nominalPos.getGeodeticLatitude());
+ * mopsTM.setDayOfYear(30); // Day of the year
+ *
+ * ModeledPR modelRef(nominalPos, ionoStore, mopsTM, bceStore, TypeID::C1, true);
+ *
+ * gnssRinex gRin;
+ * ComputeMOPSWeights mopsW(nominalPos, bceStore);
+ *
+ * while(rin >> gRin) {
+ * gRin >> modelRef >> mopsW;
+ * }
+ * @endcode
+ *
+ * The "ComputeMOPSWeights" object will visit every satellite in the
+ * GNSS data structure that is "gRin" and will try to compute its weight
+ * based on the MOPS algorithm.
+ *
+ * It is very important to note that MOPS algorithm demands a proper
+ * modeling of the observable before starting, otherwise it won't work.
+ * That is the reason of the long initialization phase, where the ionospheric
+ * model (ionoStore), the MOPS tropospheric model (mopsTM) and the general
+ * model (modelRef) objects are set up.
+ *
+ * When used with the ">>" operator, this class returns the same incoming
+ * data structure with the weights inserted along their corresponding
+ * satellites. Be warned that if it is not possible to compute the weight
+ * for a given satellite, it will be summarily deleted from the data
+ * structure.
+ *
+ */
+
+ class ComputeMOPSWeights : public ComputeIURAWeights
+ {
+ public:
+
+ /// Default constructor. Generates an invalid object.
+ ComputeMOPSWeights() : receiverClass(2)
+ {
+ pBCEphemeris = NULL;
+ pTabEphemeris = NULL;
+ }
+
+
+
+ /** Common constructor
+ *
+ * @param pos Reference position.
+ * @param bcephem BCEphemerisStore object holding the ephemeris.
+ * @param rxClass Receiver class. By default, it is 2.
+ */
+ ComputeMOPSWeights(const Position& pos, BCEphemerisStore& bcephem, int rxClass = 2) : receiverClass(rxClass), nominalPos(pos)
+ {
+ setDefaultEphemeris(bcephem);
+ };
+
+
+ /** Common constructor
+ *
+ * @param pos Reference position.
+ * @param tabephem TabularEphemerisStore object holding the ephemeris.
+ * @param rxClass Receiver class. By default, it is 2.
+ */
+ ComputeMOPSWeights(const Position& pos, TabularEphemerisStore& tabephem, int rxClass = 2) : receiverClass(rxClass), nominalPos(pos)
+ {
+ setDefaultEphemeris(tabephem);
+ };
+
+
+ /** Returns a satTypeValueMap object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual satTypeValueMap& ComputeWeight(const DayTime& time, satTypeValueMap& gData)
+ {
+ // IURA weights are needed
+ ComputeIURAWeights::ComputeWeight(time, gData);
+
+ double weight(0.000001); // By default a very small value
+ SatIDSet satRejectedSet;
+
+ // Loop through all the satellites
+ satTypeValueMap::iterator it;
+ for (it = gData.begin(); it != gData.end(); ++it)
+ {
+ try
+ {
+ weight = getWeight( ((*it).first), ((*it).second) );
+ }
+ catch(...)
+ {
+ // If some value is missing, then schedule this satellite for removal
+ satRejectedSet.insert( (*it).first );
+ continue;
+ }
+ // If everything is OK, then get the new value inside the structure
+ (*it).second[TypeID::weight] = weight;
+ }
+ // Remove satellites with missing data
+ gData.removeSatID(satRejectedSet);
+
+ return gData;
+ };
+
+
+ /** Returns a gnnsSatTypeValue object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssSatTypeValue& ComputeWeight(gnssSatTypeValue& gData)
+ {
+ (*this).ComputeWeight(gData.header.epoch, gData.body);
+ return gData;
+ };
+
+
+ /** Returns a gnnsRinex object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssRinex& ComputeWeight(gnssRinex& gData)
+ {
+ (*this).ComputeWeight(gData.header.epoch, gData.body);
+ return gData;
+ };
+
+
+ /** Method to set the default ephemeris to be used with GNSS data structures.
+ * @param ephem TabularEphemerisStore object to be used
+ */
+ virtual void setPosition(const Position& pos)
+ {
+ nominalPos = pos;
+ };
+
+
+ /// Destructor
+ virtual ~ComputeMOPSWeights() {};
+
+
+ private:
+
+ /// Default receiver class (the usual value is 2).
+ int receiverClass;
+
+
+ /// Nominal position used for computing weights.
+ Position nominalPos;
+
+
+ /** Method to really get the MOPS weight of a given satellite.
+ *
+ * @param sat Satellite
+ *
+ */
+ virtual double getWeight(const SatID& sat, typeValueMap& tvMap) throw(InvalidWeights)
+ {
+ double weight(0.000001); // Receiver noise sigma^2 in meters^2, by default a very big value
+
+ double sigma2rx(1000000.0); // Receiver noise sigma^2 in meters^2, by default a very big value
+ if (receiverClass==1) sigma2rx = 0.25; else sigma2rx = 0.36;
+
+ // Some extra variables. By default a very big value
+ double sigma2ura(1000000.0), sigma2multipath(1000000.0), sigma2trop(1000000.0), sigma2uire(1000000.0);
+
+ try
+ {
+ // We need a MOPSTropModel object. Parameters must be valid but they have no importance
+ MOPSTropModel mopsTrop(0.0, 0.0, 1);
+ // At first, the weight type have just the IURA weight
+ sigma2ura = (1.0 / tvMap(TypeID::weight) );
+
+ sigma2multipath = 0.13 + (0.53 * std::exp( - (tvMap(TypeID::elevation)) / 10.0));
+ sigma2trop = mopsTrop.MOPSsigma2(tvMap(TypeID::elevation));
+ sigma2uire = sigma2iono(tvMap(TypeID::ionoSlant), tvMap(TypeID::elevation), tvMap(TypeID::azimuth), nominalPos);
+ weight = 1.0 / (sigma2rx + sigma2ura + sigma2multipath + sigma2trop + sigma2uire);
+ }
+ catch(...)
+ {
+ InvalidWeights eWeight("Problem when computing weights. Did you call a modeler class?.");
+ GPSTK_THROW(eWeight);
+ }
+
+ return weight;
+ };
+
+
+ // Compute ionospheric sigma^2 according to Appendix J.2.3 and Appendix A.4.4.10.4 in MOPS-C
+ double sigma2iono(const double& ionoCorrection, const double& elevation, const double& azimuth, const Position& rxPosition) throw(InvalidWeights)
+ {
+ // First, let's found magnetic latitude according to ICD-GPS-200, section 20.3.3.5.2.6
+ double azRad = azimuth * DEG_TO_RAD;
+ double elevRad = elevation * DEG_TO_RAD;
+ double cosElev = std::cos(elevRad);
+ double svE = elevation / 180.0; // Semi-circles
+
+ double phi_u = rxPosition.getGeodeticLatitude() / 180.0; // Semi-circles
+ double lambda_u = rxPosition.getLongitude() / 180.0; // Semi-circles
+
+ double psi = (0.0137 / (svE + 0.11)) - 0.022; // Semi-circles
+
+ double phi_i = phi_u + psi * std::cos(azRad); // Semi-circles
+ if (phi_i > 0.416)
+ phi_i = 0.416;
+ if (phi_i < -0.416)
+ phi_i = -0.416;
+
+ double lambda_i = lambda_u + ( psi * std::sin(azRad) / std::cos(phi_i*PI) ); // Semi-circles
+
+ double phi_m = phi_i + 0.064 * std::cos((lambda_i - 1.617)*PI); // Semi-circles
+
+ // Convert magnetic latitude to degrees
+ phi_m = std::abs(phi_m * 180.0);
+
+ // Estimate vertical ionospheric delay according to MOPS-C
+ double tau_vert;
+ if ( (phi_m >= 0.0) && (phi_m <= 20.0) ) { tau_vert = 9.0; }
+ else
+ {
+ if ( (phi_m > 20.0) && (phi_m <= 55.0) ) { tau_vert = 4.5; }
+ else tau_vert = 6.0;
+ }
+
+ // Compute obliquity factor
+ double fpp = ( 1.0 / (std::sqrt(1.0 - 0.898665418 * cosElev * cosElev)) );
+
+ double sigma2uire = ( (ionoCorrection*ionoCorrection) / 25.0 );
+
+ double fact = ( (fpp*tau_vert) * (fpp*tau_vert) );
+
+ if (fact > sigma2uire) sigma2uire = fact;
+
+ return sigma2uire;
+
+ } // End of sigma2iono()
+
+ }; // end class ComputeMOPSWeights
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/ComputeMelbourneWubbena.hpp b/dev/src/ComputeMelbourneWubbena.hpp
new file mode 100644
index 0000000..d26816f
--- /dev/null
+++ b/dev/src/ComputeMelbourneWubbena.hpp
@@ -0,0 +1,165 @@
+
+/**
+ * @file ComputeMelbourneWubbena.hpp
+ * This class eases computing Melbourne-Wubbena combination for GNSS data structures.
+ */
+
+#ifndef Compute_MELBOURNEWUBBENA_GPSTK
+#define Compute_MELBOURNEWUBBENA_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2007
+//
+//============================================================================
+
+
+
+#include "ComputeCombination.hpp"
+
+
+namespace gpstk
+{
+
+ /** @addtogroup DataStructures */
+ //@{
+
+
+ /** This class eases computing Melbourne-Wubbena combination for GNSS data structures.
+ * This class is meant to be used with the GNSS data structures objects
+ * found in "DataStructures" class.
+ *
+ * A typical way to use this class follows:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o");
+ *
+ * gnssRinex gRin;
+ * ComputeMelbourneWubbena getMW;
+ *
+ * while(rin >> gRin) {
+ * gRin >> getMW;
+ * }
+ * @endcode
+ *
+ * The "ComputeMelbourne-Wubbena" object will visit every satellite in the
+ * GNSS data structure that is "gRin" and will try to compute its
+ * Melbourne-Wubbena combination.
+ *
+ * When used with the ">>" operator, this class returns the same incoming
+ * data structure with the Melbourne-Wubbena combinations inserted along their
+ * corresponding satellites. Be warned that if a given satellite does not
+ * have the observations required, it will be summarily deleted from the data
+ * structure.
+ *
+ * Sometimes, the Rinex observations file does not have P1, but provides C1
+ * instead. In such cases, you must use the useC1() method.
+ *
+ */
+ class ComputeMelbourneWubbena : public ComputeCombination
+ {
+ public:
+
+ /// Default constructor
+ ComputeMelbourneWubbena() : type3(TypeID::L1), type4(TypeID::L2), DEN1(L1_FREQ + L2_FREQ), DEN2(L1_FREQ - L2_FREQ)
+ {
+ type1 = TypeID::P1;
+ type2 = TypeID::P2;
+ resultType = TypeID::MWubbena;
+ };
+
+
+ /** Returns a satTypeValueMap object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual satTypeValueMap& Combine(satTypeValueMap& gData)
+ {
+ double value1(0.0);
+ double value2(0.0);
+ double value3(0.0);
+ double value4(0.0);
+
+ SatIDSet satRejectedSet;
+
+ // Loop through all the satellites
+ satTypeValueMap::iterator it;
+ for (it = gData.begin(); it != gData.end(); ++it)
+ {
+ try
+ {
+ // Try to extract the values
+ value1 = (*it).second(type1);
+ value2 = (*it).second(type2);
+ value3 = (*it).second(type3);
+ value4 = (*it).second(type4);
+ }
+ catch(...)
+ {
+ // If some value is missing, then schedule this satellite for removal
+ satRejectedSet.insert( (*it).first );
+ continue;
+ }
+ // If everything is OK, then get the new value inside the structure
+ (*it).second[resultType] = getCombination(value1, value2, value3, value4);
+ }
+ // Remove satellites with missing data
+ gData.removeSatID(satRejectedSet);
+
+ return gData;
+ };
+
+
+ /// Some Rinex data files provide C1 instead of P1. Use this method in those cases.
+ void useC1() { type1 = TypeID::C1; };
+
+
+ /// Destructor
+ virtual ~ComputeMelbourneWubbena() {};
+
+
+ protected:
+ /// Compute the combination of observables.
+ virtual double getCombination(const double& p1, const double& p2, const double& l1, const double& l2)
+ {
+ return ( ( L1_FREQ*l1 - L2_FREQ*l2 ) / ( DEN2 ) - ( L1_FREQ*p1 + L2_FREQ*p2 ) / ( DEN1 ) );
+ };
+
+ /// Dummy function.
+ virtual double getCombination(const double& obs1, const double& obs2) { return 0.0; };
+
+ private:
+
+ /// Type of observation to be combined. Nro 3.
+ TypeID type3;
+
+ /// Type of observation to be combined. Nro 4.
+ TypeID type4;
+
+ const double DEN1; // DEN1 = L1_FREQ + L2_FREQ
+ const double DEN2; // DEN2 = L1_FREQ - L2_FREQ
+
+ }; // end class ComputeMelbourneWubbena
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/ComputePC.hpp b/dev/src/ComputePC.hpp
new file mode 100644
index 0000000..2b14eee
--- /dev/null
+++ b/dev/src/ComputePC.hpp
@@ -0,0 +1,129 @@
+
+/**
+ * @file ComputePC.hpp
+ * This class eases computing PC combination for GNSS data structures.
+ */
+
+#ifndef Compute_PC_GPSTK
+#define Compute_PC_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2007
+//
+//============================================================================
+
+
+
+#include "ComputeCombination.hpp"
+
+
+namespace gpstk
+{
+
+ /** @addtogroup DataStructures */
+ //@{
+
+
+ /** This class eases computing PC combination for GNSS data structures.
+ * This class is meant to be used with the GNSS data structures objects
+ * found in "DataStructures" class.
+ *
+ * A typical way to use this class follows:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o");
+ *
+ * gnssRinex gRin;
+ * ComputePC getPC;
+ *
+ * while(rin >> gRin) {
+ * gRin >> getPC;
+ * }
+ * @endcode
+ *
+ * The "ComputePC" object will visit every satellite in the GNSS data
+ * structure that is "gRin" and will try to compute its PC combination.
+ *
+ * When used with the ">>" operator, this class returns the same incoming
+ * data structure with the PC inserted along their corresponding
+ * satellites. Be warned that if a given satellite does not have the
+ * observations required, it will be summarily deleted from the data
+ * structure.
+ *
+ * Sometimes, the Rinex observations file does not have P1, but provides C1
+ * instead. In such cases, you must use the useC1() method.
+ *
+ * @warning When using C1 instead of P1 to compute this combination, be aware
+ * that instrumental errors will NOT cancel, introducing a bias that must be
+ * taken into account by other means.
+ *
+ */
+ class ComputePC : public ComputeCombination
+ {
+ public:
+
+ /// Default constructor
+ ComputePC() : DEN(0.646944444)
+ {
+ type1 = TypeID::P1;
+ type2 = TypeID::P2;
+ resultType = TypeID::PC;
+ };
+
+
+ /** Returns a satTypeValueMap object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual satTypeValueMap& Combine(satTypeValueMap& gData)
+ {
+ ComputeCombination::Combine(gData);
+
+ return gData;
+ }
+
+
+ /// Some Rinex data files provide C1 instead of P1. Use this method in those cases.
+ void useC1() { type1 = TypeID::C1; };
+
+
+ /// Destructor
+ virtual ~ComputePC() {};
+
+
+ protected:
+ /// Compute the combination of observables.
+ virtual double getCombination(const double& obs1, const double& obs2)
+ {
+ return ( (GAMMA_GPS*obs1 - obs2)/(DEN) );
+ };
+
+ private:
+
+ const double DEN; // DEN = GAMMA_GPS - 1
+
+ }; // end class ComputePC
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/ComputePI.hpp b/dev/src/ComputePI.hpp
new file mode 100644
index 0000000..b09c605
--- /dev/null
+++ b/dev/src/ComputePI.hpp
@@ -0,0 +1,121 @@
+
+/**
+ * @file ComputePI.hpp
+ * This class eases computing PI combination for GNSS data structures.
+ */
+
+#ifndef Compute_PI_GPSTK
+#define Compute_PI_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2007
+//
+//============================================================================
+
+
+
+#include "ComputeCombination.hpp"
+
+
+namespace gpstk
+{
+
+ /** @addtogroup DataStructures */
+ //@{
+
+
+ /** This class eases computing PI combination for GNSS data structures.
+ * This class is meant to be used with the GNSS data structures objects
+ * found in "DataStructures" class.
+ *
+ * A typical way to use this class follows:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o");
+ *
+ * gnssRinex gRin;
+ * ComputePI getPI;
+ *
+ * while(rin >> gRin) {
+ * gRin >> getPI;
+ * }
+ * @endcode
+ *
+ * The "ComputePI" object will visit every satellite in the GNSS data
+ * structure that is "gRin" and will try to compute its PI combination.
+ *
+ * When used with the ">>" operator, this class returns the same incoming
+ * data structure with the PI inserted along their corresponding
+ * satellites. Be warned that if a given satellite does not have the
+ * observations required, it will be summarily deleted from the data
+ * structure.
+ *
+ * Sometimes, the Rinex observations file does not have P1, but provides C1
+ * instead. In such cases, you must use the useC1() method.
+ *
+ */
+ class ComputePI : public ComputeCombination
+ {
+ public:
+
+ /// Default constructor
+ ComputePI()
+ {
+ type1 = TypeID::P1;
+ type2 = TypeID::P2;
+ resultType = TypeID::PI;
+ };
+
+
+ /** Returns a satTypeValueMap object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual satTypeValueMap& Combine(satTypeValueMap& gData)
+ {
+ ComputeCombination::Combine(gData);
+
+ return gData;
+ }
+
+
+ /// Some Rinex data files provide C1 instead of P1. Use this method in those cases.
+ void useC1() { type1 = TypeID::C1; };
+
+
+ /// Destructor
+ virtual ~ComputePI() {};
+
+
+ protected:
+ /// Compute the combination of observables.
+ virtual double getCombination(const double& obs1, const double& obs2)
+ {
+ return ( obs2 - obs1 );
+ };
+
+ }; // end class ComputePI
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/ComputePdelta.hpp b/dev/src/ComputePdelta.hpp
new file mode 100644
index 0000000..1306d82
--- /dev/null
+++ b/dev/src/ComputePdelta.hpp
@@ -0,0 +1,125 @@
+
+/**
+ * @file ComputePdelta.hpp
+ * This class eases computing Pdelta combination for GNSS data structures.
+ */
+
+#ifndef Compute_PDELTA_GPSTK
+#define Compute_PDELTA_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2007
+//
+//============================================================================
+
+
+
+#include "ComputeCombination.hpp"
+
+
+namespace gpstk
+{
+
+ /** @addtogroup DataStructures */
+ //@{
+
+
+ /** This class eases computing Pdelta combination for GNSS data structures.
+ * This class is meant to be used with the GNSS data structures objects
+ * found in "DataStructures" class.
+ *
+ * A typical way to use this class follows:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o");
+ *
+ * gnssRinex gRin;
+ * ComputePdelta getPdelta;
+ *
+ * while(rin >> gRin) {
+ * gRin >> getPdelta;
+ * }
+ * @endcode
+ *
+ * The "ComputePdelta" object will visit every satellite in the GNSS data
+ * structure that is "gRin" and will try to compute its Pdelta combination.
+ *
+ * When used with the ">>" operator, this class returns the same incoming
+ * data structure with the Pdelta inserted along their corresponding
+ * satellites. Be warned that if a given satellite does not have the
+ * observations required, it will be summarily deleted from the data
+ * structure.
+ *
+ * Sometimes, the Rinex observations file does not have P1, but provides C1
+ * instead. In such cases, you must use the useC1() method.
+ *
+ */
+ class ComputePdelta : public ComputeCombination
+ {
+ public:
+
+ /// Default constructor
+ ComputePdelta() : DEN(L1_FREQ + L2_FREQ)
+ {
+ type1 = TypeID::P1;
+ type2 = TypeID::P2;
+ resultType = TypeID::Pdelta;
+ };
+
+
+ /** Returns a satTypeValueMap object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual satTypeValueMap& Combine(satTypeValueMap& gData)
+ {
+ ComputeCombination::Combine(gData);
+
+ return gData;
+ }
+
+
+ /// Some Rinex data files provide C1 instead of P1. Use this method in those cases.
+ void useC1() { type1 = TypeID::C1; };
+
+
+ /// Destructor
+ virtual ~ComputePdelta() {};
+
+
+ protected:
+ /// Compute the combination of observables.
+ virtual double getCombination(const double& obs1, const double& obs2)
+ {
+ return ( ( L1_FREQ*obs1 + L2_FREQ*obs2 ) / ( DEN ) );
+ };
+
+ private:
+
+ const double DEN; // DEN = L1_FREQ + L2_FREQ
+
+ }; // end class ComputePdelta
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/DOP.cpp b/dev/src/DOP.cpp
new file mode 100644
index 0000000..488d0d3
--- /dev/null
+++ b/dev/src/DOP.cpp
@@ -0,0 +1,71 @@
+
+/**
+ * @file DOP.cpp
+ * Class encapsulating the computation of DOP.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+#include "DOP.hpp"
+
+
+namespace gpstk
+{
+
+ // Compute the DOP values associated with the given Covariance Matrix
+ // @param covarianceMatrix Covariance matrix for the equation system
+ //
+ // @return
+ // 0 if OK
+ // -1 if problems arose
+ //
+ int DOP::Compute(const Matrix<double>& covarianceMatrix) throw(InvalidDOP)
+ {
+ int covCol = (int) covarianceMatrix.cols();
+ int covRow = (int) covarianceMatrix.rows();
+ if (!(covRow==covCol)) {
+ InvalidDOP e("covarianceMatrix is not square");
+ GPSTK_THROW(e);
+ }
+
+ try {
+ GDOP = RSS(covarianceMatrix(0,0), covarianceMatrix(1,1), covarianceMatrix(2,2), covarianceMatrix(3,3));
+ PDOP = RSS(covarianceMatrix(0,0), covarianceMatrix(1,1), covarianceMatrix(2,2));
+ TDOP = SQRT(covarianceMatrix(3,3));
+ }
+ catch(...) {
+ InvalidDOP e("Unable to compute RSS of covarianceMatrix values.");
+ GPSTK_THROW(e);
+ }
+
+
+ // If everything is fine so far, then the results should be valid
+ valid = true;
+
+ return 0;
+
+ } // end DOP::Compute()
+
+
+} // end namespace gpstk
diff --git a/dev/src/DOP.hpp b/dev/src/DOP.hpp
new file mode 100644
index 0000000..149a525
--- /dev/null
+++ b/dev/src/DOP.hpp
@@ -0,0 +1,97 @@
+
+/**
+ * @file DOP.hpp
+ * Class encapsulating the computation of DOP.
+ */
+
+#ifndef DOP_GPSTK
+#define DOP_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+
+#include "Exception.hpp"
+#include "Matrix.hpp"
+#include "MiscMath.hpp"
+
+
+namespace gpstk
+{
+ /// Thrown when some problem appeared when computing DOP
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(InvalidDOP, gpstk::Exception);
+
+
+ /** @addtogroup GPSsolutions */
+ //@{
+
+
+ /** This class encapsulates the computation of DOP, given the Covariance matrix
+ * of an equation system.
+ */
+ class DOP
+ {
+ public:
+ /// Return validity of results
+ bool isValid(void)
+ { return valid; }
+
+ /// Geometric Dilution of Precision
+ double GDOP;
+
+ /// Position Dilution of Precision
+ double PDOP;
+
+ /// Time Dilution of Precision
+ double TDOP;
+
+ /// Implicit constructor
+ DOP() throw(InvalidDOP) { valid = false; };
+
+
+ /** Compute the DOP values associated with the given Covariance Matrix
+ * @param covarianceMatrix Covariance matrix for the equation system
+ *
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ virtual int Compute(const Matrix<double>& covarianceMatrix) throw(InvalidDOP);
+
+
+ /// Destructor
+ virtual ~DOP() {};
+
+
+ protected:
+ bool valid; // true only if results are valid
+
+ }; // end class SolverBase
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/DataHeaders.cpp b/dev/src/DataHeaders.cpp
new file mode 100644
index 0000000..cd2be2b
--- /dev/null
+++ b/dev/src/DataHeaders.cpp
@@ -0,0 +1,152 @@
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2007
+//
+//============================================================================
+
+#include "DataHeaders.hpp"
+
+
+/**
+ * @file DataHeaders.cpp
+ * gpstk::DataHeaders: Set of several headers to be used by data structures.
+ */
+
+//using namespace gpstk::StringUtils;
+using namespace std;
+
+
+namespace gpstk
+{
+
+ // Convenience output method for sourceHeader
+ std::ostream& sourceHeader::dump(std::ostream& s) const
+ {
+ s << source;
+ return s;
+ } // sourceHeader::dump()
+
+
+ // stream output for sourceHeader
+ std::ostream& operator<<(std::ostream& s, const sourceHeader& sh)
+ {
+ sh.dump(s);
+ return s;
+ }
+
+
+ // Convenience output method for sourceEpochHeader
+ std::ostream& sourceEpochHeader::dump(std::ostream& s) const
+ {
+ s << source << " " << epoch;
+ return s;
+ } // sourceEpochHeader::dump()
+
+
+ // stream output for sourceEpochHeader
+ std::ostream& operator<<(std::ostream& s, const sourceEpochHeader& seh)
+ {
+ seh.dump(s);
+ return s;
+ }
+
+
+ // Convenience output method for sourceEpochRinexHeader
+ std::ostream& sourceEpochRinexHeader::dump(std::ostream& s) const
+ {
+ s << source << " " << epoch << " " << antennaType << " " << antennaPosition << " " << epochFlag;
+ return s;
+ } // sourceEpochRinexHeader::dump()
+
+
+ // stream output for sourceEpochRinexHeader
+ std::ostream& operator<<(std::ostream& s, const sourceEpochRinexHeader& serh)
+ {
+ serh.dump(s);
+ return s;
+ }
+
+
+ // Convenience output method for sourceTypeHeader
+ std::ostream& sourceTypeHeader::dump(std::ostream& s) const
+ {
+ s << source << " " << type;
+ return s;
+ } // sourceTypeHeader::dump()
+
+
+ // stream output for sourceTypeHeader
+ std::ostream& operator<<(std::ostream& s, const sourceTypeHeader& sth)
+ {
+ sth.dump(s);
+ return s;
+ }
+
+
+ // Convenience output method for sourceSatHeader
+ std::ostream& sourceSatHeader::dump(std::ostream& s) const
+ {
+ s << source << " " << satellite;
+ return s;
+ } // sourceSatHeader::dump()
+
+
+ // stream output for sourceSatHeader
+ std::ostream& operator<<(std::ostream& s, const sourceSatHeader& ssh)
+ {
+ ssh.dump(s);
+ return s;
+ }
+
+
+ // Convenience output method for sourceEpochSatHeader
+ std::ostream& sourceEpochSatHeader::dump(std::ostream& s) const
+ {
+ s << source << " " << epoch << " " << satellite;
+ return s;
+ } // sourceEpochSatHeader::dump()
+
+
+ // stream output for sourceEpochSatHeader
+ std::ostream& operator<<(std::ostream& s, const sourceEpochSatHeader& sesh)
+ {
+ sesh.dump(s);
+ return s;
+ }
+
+
+ // Convenience output method for sourceEpochTypeHeader
+ std::ostream& sourceEpochTypeHeader::dump(std::ostream& s) const
+ {
+ s << source << " " << epoch << " " << type;
+ return s;
+ } // sourceEpochTypeHeader::dump()
+
+
+ // stream output for sourceEpochTypeHeader
+ std::ostream& operator<<(std::ostream& s, const sourceEpochTypeHeader& seth)
+ {
+ seth.dump(s);
+ return s;
+ }
+
+
+
+}
diff --git a/dev/src/DataHeaders.hpp b/dev/src/DataHeaders.hpp
new file mode 100644
index 0000000..c7cf906
--- /dev/null
+++ b/dev/src/DataHeaders.hpp
@@ -0,0 +1,542 @@
+/**
+ * @file DataHeaders.hpp
+ * Set of several headers to be used with data structures.
+ */
+
+#ifndef DATA_HEADERS_GPSTK
+#define DATA_HEADERS_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2007
+//
+//============================================================================
+
+
+#include <string>
+#include "SatID.hpp"
+#include "TypeID.hpp"
+#include "SourceID.hpp"
+#include "DayTime.hpp"
+#include "Triple.hpp"
+
+
+
+namespace gpstk
+{
+ /** @addtogroup DataStructures */
+ //@{
+
+ /** Set of several headers to be used with data structures.
+ */
+
+
+
+ /// Defines a header containing just the source of data
+ struct sourceHeader
+ {
+ /// The only field is a SourceID object
+ SourceID source;
+
+ /// Default constructor
+ sourceHeader() {};
+
+ /// Explicit constructor
+ sourceHeader(const SourceID::SourceType& st, const std::string& name)
+ {
+ source.type = st;
+ source.sourceName = name;
+ };
+
+ /// Explicit constructor
+ sourceHeader(const SourceID& sI) : source(sI) {};
+
+ /// Copy constructor
+ sourceHeader(const sourceHeader& sH) { source = sH.source; };
+
+ /// Assignment operator
+ virtual sourceHeader& operator=(const sourceHeader& right)
+ {
+ if ( this == &right ) return (*this);
+ (*this).source = right.source;
+ return *this;
+ }
+
+ /// Assignment operator from a SourceID
+ virtual sourceHeader& operator=(const SourceID& right)
+ {
+ (*this).source = right;
+ return *this;
+ }
+
+ /// Convenience output method for sourceHeader
+ virtual std::ostream& dump(std::ostream& s) const;
+
+ /// Destructor
+ virtual ~sourceHeader() {};
+
+ };
+
+
+ /// stream output for sourceHeader
+ std::ostream& operator<<(std::ostream& s, const sourceHeader& sh);
+
+
+
+
+ /// Defines a header containing the source and epoch of data
+ struct sourceEpochHeader : public sourceHeader
+ {
+ /// Field containing the epoch of data
+ DayTime epoch;
+
+ /// Default constructor
+ sourceEpochHeader() {};
+
+ /// Explicit constructor
+ sourceEpochHeader(const SourceID::SourceType& st, const std::string& sourcename, const DayTime& time) : epoch(time)
+ {
+ source.type = st;
+ source.sourceName = sourcename;
+ };
+
+ /// Explicit constructor
+ sourceEpochHeader(const SourceID& sI, const DayTime& time) : epoch(time) { source = sI; };
+
+ /// Explicit constructor from parent class
+ sourceEpochHeader(const sourceHeader& sh, const DayTime& time) : sourceHeader(sh), epoch(time) {};
+
+ /// Copy constructor
+ sourceEpochHeader(const sourceEpochHeader& seh) : epoch(seh.epoch) { source = seh.source; };
+
+ /// Assignment operator
+ virtual sourceEpochHeader& operator=(const sourceEpochHeader& right)
+ {
+ if ( this == &right ) return (*this);
+ (*this).source = right.source;
+ (*this).epoch = right.epoch;
+ return *this;
+ }
+
+ /// Assignment operator from a sourceHeader
+ virtual sourceEpochHeader& operator=(const sourceHeader& right)
+ {
+ (*this).source = right.source;
+ return *this;
+ }
+
+ /// Assignment operator from a SourceID
+ virtual sourceEpochHeader& operator=(const SourceID& right)
+ {
+ (*this).source = right;
+ return *this;
+ }
+
+ /// Convenience output method for sourceEpochHeader
+ virtual std::ostream& dump(std::ostream& s) const;
+
+ /// Destructor
+ virtual ~sourceEpochHeader() {};
+
+ };
+
+
+ /// stream output for sourceEpochHeader
+ std::ostream& operator<<(std::ostream& s, const sourceEpochHeader& seh);
+
+
+
+
+ /// Defines a header containing the source and epoch of data, plus extra data extracted from a Rinex file
+ struct sourceEpochRinexHeader : public sourceEpochHeader
+ {
+ /// String describing the antenna type
+ std::string antennaType;
+
+ /// Triple holding the antenna position
+ Triple antennaPosition;
+
+ /// The RINEX epoch flag assigned to this epoch
+ short epochFlag;
+
+ /// Default constructor
+ sourceEpochRinexHeader() {};
+
+ /// Explicit constructor
+ sourceEpochRinexHeader(const SourceID::SourceType& st, const std::string& sourcename, const DayTime& time, const std::string& antType, const Triple& antPos, const short& flag) : antennaType(antType), antennaPosition(antPos), epochFlag(flag)
+ {
+ source.type = st;
+ source.sourceName = sourcename;
+ epoch = time;
+ };
+
+ /// Explicit constructor
+ sourceEpochRinexHeader(const SourceID& sI, const DayTime& time, const std::string& antType, const Triple& antPos, const short& flag) : antennaType(antType), antennaPosition(antPos), epochFlag(flag)
+ {
+ source = sI;
+ epoch = time;
+ };
+
+ /// Explicit constructor
+ sourceEpochRinexHeader(const sourceHeader& sh, const DayTime& time, const std::string& antType, const Triple& antPos, const short& flag) : antennaType(antType), antennaPosition(antPos), epochFlag(flag)
+ {
+ source.sourceName = sh.source.sourceName;
+ source.type = sh.source.type;
+ epoch = time;
+ };
+
+ /// Explicit constructor from parent class sourceEpochHeader
+ sourceEpochRinexHeader(const sourceEpochHeader& seh) : sourceEpochHeader(seh) {};
+
+ /// Explicit constructor from parent class plus extra parameters
+ sourceEpochRinexHeader(const sourceEpochHeader& seh, const std::string& antType, const Triple& antPos, const short& flag) : sourceEpochHeader(seh), antennaType(antType), antennaPosition(antPos), epochFlag(flag) {};
+
+ /// Copy constructor
+ sourceEpochRinexHeader(const sourceEpochRinexHeader& serh) : antennaType(serh.antennaType), antennaPosition(serh.antennaPosition), epochFlag(serh.epochFlag) { source = serh.source; epoch = serh.epoch; };
+
+ /// Assignment operator
+ virtual sourceEpochRinexHeader& operator=(const sourceEpochRinexHeader& right)
+ {
+ if ( this == &right ) return (*this);
+ (*this).source = right.source;
+ (*this).epoch = right.epoch;
+ (*this).antennaType = right.antennaType;
+ (*this).antennaPosition = right.antennaPosition;
+ (*this).epochFlag = right.epochFlag;
+ return *this;
+ }
+
+ /// Assignment operator from a sourceEpochHeader
+ virtual sourceEpochRinexHeader& operator=(const sourceEpochHeader& right)
+ {
+ (*this).source = right.source;
+ (*this).epoch = right.epoch;
+ return *this;
+ }
+
+ /// Assignment operator from a sourceHeader
+ virtual sourceEpochRinexHeader& operator=(const sourceHeader& right)
+ {
+ (*this).source = right.source;
+ return *this;
+ }
+
+ /// Assignment operator from a SourceID
+ virtual sourceEpochRinexHeader& operator=(const SourceID& right)
+ {
+ (*this).source = right;
+ return *this;
+ }
+
+ /// Convenience output method for sourceEpochRinexHeader
+ virtual std::ostream& dump(std::ostream& s) const;
+
+ /// Destructor
+ virtual ~sourceEpochRinexHeader() {};
+
+ };
+
+
+ /// stream output for sourceEpochRinexHeader
+ std::ostream& operator<<(std::ostream& s, const sourceEpochRinexHeader& serh);
+
+
+
+
+ /// Defines a header containing the source and type of data
+ struct sourceTypeHeader : public sourceHeader
+ {
+ /// Field describing the type of data being held
+ TypeID type;
+
+ /// Default constructor
+ sourceTypeHeader() {};
+
+ /// Explicit constructor
+ sourceTypeHeader(const SourceID::SourceType& st, const std::string& sourcename, const TypeID& datatype) : type(datatype)
+ {
+ source.type = st;
+ source.sourceName = sourcename;
+ };
+
+ /// Explicit constructor
+ sourceTypeHeader(const SourceID& sI, const TypeID& datatype) : type(datatype) { source = sI; };
+
+ /// Explicit constructor from parent class
+ sourceTypeHeader(const sourceHeader& sh, const TypeID& datatype) : sourceHeader(sh), type(datatype) {};
+
+ /// Copy constructor
+ sourceTypeHeader(const sourceTypeHeader& sth) : type(sth.type) { source = sth.source; };
+
+ /// Assignment operator from a sourceTypeHeader
+ virtual sourceTypeHeader& operator=(const sourceTypeHeader& right)
+ {
+ if ( this == &right ) return (*this);
+ (*this).source = right.source;
+ (*this).type = right.type;
+ return *this;
+ }
+
+ /// Assignment operator from a sourceHeader
+ virtual sourceTypeHeader& operator=(const sourceHeader& right)
+ {
+ (*this).source = right.source;
+ return *this;
+ }
+
+ /// Assignment operator from a SourceID
+ virtual sourceTypeHeader& operator=(const SourceID& right)
+ {
+ (*this).source = right;
+ return *this;
+ }
+
+ /// Convenience output method for sourceTypeHeader
+ virtual std::ostream& dump(std::ostream& s) const;
+
+ /// Destructor
+ virtual ~sourceTypeHeader() {};
+
+ };
+
+
+ /// stream output for sourceTypeHeader
+ std::ostream& operator<<(std::ostream& s, const sourceTypeHeader& sth);
+
+
+
+
+ /// Defines a header containing the source and satellite ID of data
+ struct sourceSatHeader : public sourceHeader
+ {
+ /// Field holding the satellite ID this data belongs to
+ SatID satellite;
+
+ /// Default constructor
+ sourceSatHeader() {};
+
+ /// Explicit constructor
+ sourceSatHeader(const SourceID::SourceType& st, const std::string& sourcename, const SatID& sat) : satellite(sat)
+ {
+ source.type = st;
+ source.sourceName = sourcename;
+ };
+
+ /// Explicit constructor
+ sourceSatHeader(const SourceID& sI, const SatID& sat) : satellite(sat) { source = sI; };
+
+ /// Explicit constructor from parent class
+ sourceSatHeader(const sourceHeader& sh, const SatID& sat) : sourceHeader(sh), satellite(sat) {};
+
+ /// Copy constructor
+ sourceSatHeader(const sourceSatHeader& ssh) : satellite(ssh.satellite) { source = ssh.source; };
+
+ /// Assignment operator from a sourceSatHeader
+ virtual sourceSatHeader& operator=(const sourceSatHeader& right)
+ {
+ if ( this == &right ) return (*this);
+ (*this).source = right.source;
+ (*this).satellite = right.satellite;
+ return *this;
+ }
+
+ /// Assignment operator from a sourceHeader
+ virtual sourceSatHeader& operator=(const sourceHeader& right)
+ {
+ (*this).source = right.source;
+ return *this;
+ }
+
+ /// Assignment operator from a SourceID
+ virtual sourceSatHeader& operator=(const SourceID& right)
+ {
+ (*this).source = right;
+ return *this;
+ }
+
+ /// Convenience output method for sourceSatHeader
+ virtual std::ostream& dump(std::ostream& s) const;
+
+ /// Destructor
+ virtual ~sourceSatHeader() {};
+
+ };
+
+
+ /// stream output for sourceSatHeader
+ std::ostream& operator<<(std::ostream& s, const sourceSatHeader& ssh);
+
+
+
+
+ /// Defines a header containing the source, satellite ID and epoch of data
+ struct sourceEpochSatHeader : public sourceEpochHeader
+ {
+ /// Field holding the satellite ID this data belongs to
+ SatID satellite;
+
+ /// Default constructor
+ sourceEpochSatHeader() {};
+
+ /// Explicit constructor
+ sourceEpochSatHeader(const SourceID::SourceType& st, const std::string& sourcename, const DayTime& time, const SatID& sat) : satellite(sat)
+ {
+ source.type = st;
+ source.sourceName = sourcename;
+ epoch = time;
+ };
+
+ /// Explicit constructor
+ sourceEpochSatHeader(const SourceID& sI, const DayTime& time, const SatID& sat) : satellite(sat) { source = sI; epoch = time; };
+
+ /// Explicit constructor
+ sourceEpochSatHeader(const sourceHeader& sh, const DayTime& time, const SatID& sat) : satellite(sat) { source = sh.source; epoch = time; };
+
+ /// Explicit constructor from parent class
+ sourceEpochSatHeader(const sourceEpochHeader& seh, const SatID& sat) : satellite(sat) { source = seh.source; epoch = seh.epoch; };
+
+ /// Copy constructor
+ sourceEpochSatHeader(const sourceEpochSatHeader& sesh) : satellite(sesh.satellite) { source = sesh.source; epoch = sesh.epoch; };
+
+ /// Assignment operator from a sourceEpochSatHeader
+ virtual sourceEpochSatHeader& operator=(const sourceEpochSatHeader& right)
+ {
+ if ( this == &right ) return (*this);
+ (*this).source = right.source;
+ (*this).epoch = right.epoch;
+ (*this).satellite = right.satellite;
+ return *this;
+ }
+
+ /// Assignment operator from a sourceEpochHeader
+ virtual sourceEpochSatHeader& operator=(const sourceEpochHeader& right)
+ {
+ (*this).source = right.source;
+ (*this).epoch = right.epoch;
+ return *this;
+ }
+
+ /// Assignment operator from a sourceHeader
+ virtual sourceEpochSatHeader& operator=(const sourceHeader& right)
+ {
+ (*this).source = right.source;
+ return *this;
+ }
+
+ /// Assignment operator from a SourceID
+ virtual sourceEpochSatHeader& operator=(const SourceID& right)
+ {
+ (*this).source = right;
+ return *this;
+ }
+
+ /// Convenience output method for sourceEpochSatHeader
+ virtual std::ostream& dump(std::ostream& s) const;
+
+ /// Destructor
+ virtual ~sourceEpochSatHeader() {};
+
+ };
+
+
+ /// stream output for sourceEpochSatHeader
+ std::ostream& operator<<(std::ostream& s, const sourceEpochSatHeader& sesh);
+
+
+
+
+ /// Defines a header containing the source, type and epoch of data
+ struct sourceEpochTypeHeader : public sourceEpochHeader
+ {
+ /// Field describing the type of data being held
+ TypeID type;
+
+ /// Default constructor
+ sourceEpochTypeHeader() {};
+
+ /// Explicit constructor
+ sourceEpochTypeHeader(const SourceID::SourceType& st, const std::string& sourcename, const DayTime& time, const TypeID& datatype) : type(datatype)
+ {
+ source.type = st;
+ source.sourceName = sourcename;
+ epoch = time;
+ };
+
+ /// Explicit constructor
+ sourceEpochTypeHeader(const SourceID& sI, const DayTime& time, const TypeID& datatype) : type(datatype) { source = sI; epoch = time; };
+
+ /// Explicit constructor
+ sourceEpochTypeHeader(const sourceHeader& sh, const DayTime& time, const TypeID& datatype) : type(datatype) { source = sh.source; epoch = time; };
+
+ /// Explicit constructor from parent class
+ sourceEpochTypeHeader(const sourceEpochHeader& seh, const TypeID& datatype) : type(datatype) { source = seh.source; epoch = seh.epoch; };
+
+ /// Copy constructor
+ sourceEpochTypeHeader(const sourceEpochTypeHeader& sesh) : type(sesh.type) { source = sesh.source; epoch = sesh.epoch; };
+
+ /// Assignment operator from a sourceEpochTypeHeader
+ virtual sourceEpochTypeHeader& operator=(const sourceEpochTypeHeader& right)
+ {
+ if ( this == &right ) return (*this);
+ (*this).source = right.source;
+ (*this).epoch = right.epoch;
+ (*this).type = right.type;
+ return *this;
+ }
+
+ /// Assignment operator from a sourceEpochHeader
+ virtual sourceEpochTypeHeader& operator=(const sourceEpochHeader& right)
+ {
+ (*this).source = right.source;
+ (*this).epoch = right.epoch;
+ return *this;
+ }
+
+ /// Assignment operator from a sourceHeader
+ virtual sourceEpochTypeHeader& operator=(const sourceHeader& right)
+ {
+ (*this).source = right.source;
+ return *this;
+ }
+
+ /// Assignment operator from a SourceID
+ virtual sourceEpochTypeHeader& operator=(const SourceID& right)
+ {
+ (*this).source = right;
+ return *this;
+ }
+
+ /// Convenience output method for sourceEpochTypeHeader
+ virtual std::ostream& dump(std::ostream& s) const;
+
+ /// Destructor
+ virtual ~sourceEpochTypeHeader() {};
+
+ };
+
+
+ /// stream output for sourceEpochTypeHeader
+ std::ostream& operator<<(std::ostream& s, const sourceEpochTypeHeader& seth);
+
+
+ //@}
+
+
+} // namespace gpstk
+#endif
diff --git a/dev/src/DataStructures.cpp b/dev/src/DataStructures.cpp
new file mode 100644
index 0000000..ee88e01
--- /dev/null
+++ b/dev/src/DataStructures.cpp
@@ -0,0 +1,399 @@
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2007
+//
+//============================================================================
+
+#include "DataStructures.hpp"
+//#include "DataHeaders.hpp"
+//#include "StringUtils.hpp"
+//#include "TypeID.hpp"
+
+
+/**
+ * @file DataStructures.cpp
+ * gpstk::DataStructures: Set of several data structures to be used by other GPSTk classes.
+ */
+
+using namespace gpstk::StringUtils;
+using namespace std;
+
+
+namespace gpstk
+{
+
+ // Convenience output method for structure satTypeValueMap
+ std::ostream& satTypeValueMap::dump(std::ostream& s, int mode) const
+ {
+ satTypeValueMap::const_iterator it;
+ for (it = (*this).begin(); it!= (*this).end(); it++)
+ {
+ // First, print satellite (system and PRN)
+ s << (*it).first << " ";
+
+ typeValueMap::const_iterator itObs;
+ for (itObs = (*it).second.begin(); itObs != (*it).second.end(); itObs++)
+ {
+ if (mode==1) s << (*itObs).first << " ";
+ s << (*itObs).second << " ";
+ }
+
+ s << endl;
+
+ }
+
+ return s;
+ } // satTypeValueMap::dump()
+
+
+
+ // stream output for satTypeValueMap
+ std::ostream& operator<<(std::ostream& s, const satTypeValueMap& stvMap)
+ {
+ stvMap.dump(s);
+ return s;
+ }
+
+
+
+
+ // Input for gnssSatTypeValue from RinexObsHeader
+ gnssSatTypeValue& operator>>(const RinexObsHeader& roh, gnssSatTypeValue& f)
+ {
+
+ // First, select the right system the data came from
+ f.header.source.type = SatIDsystem2SourceIDtype(roh.system);
+
+ // Set the proper name for the receiver
+ f.header.source.sourceName = roh.markerName;
+
+ return f;
+ }
+
+
+ // Input for gnssRinex from RinexObsHeader
+ gnssRinex& operator>>(const RinexObsHeader& roh, gnssRinex& f)
+ {
+
+ // First, select the right system the data came from
+ f.header.source.type = SatIDsystem2SourceIDtype(roh.system);
+
+ // Set the proper name for the receiver
+ f.header.source.sourceName = roh.markerName;
+
+ // Set the proper antenna type for the receiver
+ f.header.antennaType = roh.antType;
+
+ // Set the proper antenna position
+ f.header.antennaPosition = roh.antennaPosition;
+
+ return f;
+ }
+
+
+ // Input for gnssSatTypeValue from RinexObsData
+ gnssSatTypeValue& operator>>(const RinexObsData& rod, gnssSatTypeValue& f)
+ {
+
+ // Fill header epoch with the proper value
+ f.header.epoch = rod.time;
+
+ // Extract the observations map and store it in the body
+ f.body = FillsatTypeValueMapwithRinexObsData(rod);
+
+ return f;
+ }
+
+
+ // Input for gnssRinex from RinexObsData
+ gnssRinex& operator>>(const RinexObsData& rod, gnssRinex& f)
+ {
+
+ // Fill header epoch with the proper value
+ f.header.epoch = rod.time;
+
+ // Fill header epoch with the proper value
+ f.header.epochFlag = rod.epochFlag;
+
+ // Extract the observations map and store it in the body
+ f.body = FillsatTypeValueMapwithRinexObsData(rod);
+
+ return f;
+ }
+
+
+
+ // Stream input for gnssSatTypeValue
+ std::istream& operator>>(std::istream& i, gnssSatTypeValue& f)
+ throw(FFStreamError, gpstk::StringUtils::StringException)
+ {
+ FFStream* ffs = dynamic_cast<FFStream*>(&i);
+ if (ffs)
+ {
+ try
+ {
+ RinexObsStream& strm = dynamic_cast<RinexObsStream&>(*ffs);
+
+ // If the header hasn't been read, read it...
+ if(!strm.headerRead) strm >> strm.header;
+
+ // Clear out this object
+ RinexObsHeader& hdr = strm.header;
+
+ hdr >> f;
+
+ std::string line;
+
+ strm.formattedGetLine(line, true);
+
+ if (line.size()>80 || line[0] != ' ' || line[3] != ' ' || line[6] != ' ')
+ {
+ FFStreamError e("Bad epoch line");
+ GPSTK_THROW(e);
+ }
+
+ // process the epoch line, including SV list and clock bias
+ short epochFlag = asInt(line.substr(28,1));
+ if ((epochFlag < 0) || (epochFlag > 6))
+ {
+ FFStreamError e("Invalid epoch flag: " + asString(epochFlag));
+ GPSTK_THROW(e);
+ }
+
+ f.header.epoch = parseTime(line, hdr);
+
+ short numSvs = asInt(line.substr(29,3));
+
+ RinexObsData rod;
+
+ // Now read the observations ...
+ if(epochFlag==0 || epochFlag==1 || epochFlag==6) {
+ int isv, ndx, line_ndx;
+ vector<SatID> satIndex(numSvs);
+ int col=30;
+ for (isv=1, ndx=0; ndx<numSvs; isv++, ndx++) {
+ if(! (isv % 13)) {
+ strm.formattedGetLine(line);
+ isv = 1;
+ if(line.size() > 80) {
+ FFStreamError err("Invalid line size:" + asString(line.size()));
+ GPSTK_THROW(err);
+ }
+ }
+ try {
+ satIndex[ndx] = RinexSatID(line.substr(col+isv*3-1, 3));
+ }
+ catch (Exception& e)
+ {
+ FFStreamError ffse(e);
+ GPSTK_THROW(ffse);
+ }
+ }
+
+ for (isv=0; isv < numSvs; isv++)
+ {
+ short numObs = hdr.obsTypeList.size();
+ for (ndx=0, line_ndx=0; ndx < numObs; ndx++, line_ndx++)
+ {
+ SatID sat = satIndex[isv];
+ RinexObsHeader::RinexObsType obs_type = hdr.obsTypeList[ndx];
+ if (! (line_ndx % 5))
+ {
+ strm.formattedGetLine(line);
+ line_ndx = 0;
+ if (line.size() > 80)
+ {
+ FFStreamError err("Invalid line size:" + asString(line.size()));
+ GPSTK_THROW(err);
+ }
+ }
+
+ line.resize(80, ' ');
+
+ rod.obs[sat][obs_type].data = asDouble(line.substr(line_ndx*16, 14));
+ rod.obs[sat][obs_type].lli = asInt( line.substr(line_ndx*16+14, 1));
+ rod.obs[sat][obs_type].ssi = asInt( line.substr(line_ndx*16+15, 1));
+ }
+ }
+
+
+ }
+
+ f.body = FillsatTypeValueMapwithRinexObsData(rod);
+
+ return i;
+ } // End of "try" block
+ ////
+ //// ATENTION: This part is VERY UGLY
+ //// Help from the guys who wrote FFStream::tryFFStreamGet(FFData& rec)
+ //// will be very appreciated
+ ////
+ // EOF - do nothing - eof causes fail() to be set which
+ // is handled by std::fstream
+ catch (EndOfFile& e)
+ {
+ return i;
+ }
+ catch (...)
+ {
+ return i;
+ }
+
+ } // End of block: "if (ffs)..."
+ else
+ {
+ FFStreamError e("operator<< stream argument must be an FFStream");
+ GPSTK_THROW(e);
+ }
+
+ } // End of stream input for gnssSatTypeValue
+
+
+
+
+ // Stream input for gnssRinex
+ std::istream& operator>>(std::istream& i, gnssRinex& f)
+ throw(FFStreamError, gpstk::StringUtils::StringException)
+ {
+ FFStream* ffs = dynamic_cast<FFStream*>(&i);
+ if (ffs)
+ {
+ try
+ {
+ RinexObsStream& strm = dynamic_cast<RinexObsStream&>(*ffs);
+
+ // If the header hasn't been read, read it...
+ if(!strm.headerRead) strm >> strm.header;
+
+ // Clear out this object
+ RinexObsHeader& hdr = strm.header;
+
+ hdr >> f;
+
+ std::string line;
+
+ strm.formattedGetLine(line, true);
+
+ if (line.size()>80 || line[0] != ' ' || line[3] != ' ' || line[6] != ' ')
+ {
+ FFStreamError e("Bad epoch line");
+ GPSTK_THROW(e);
+ }
+
+ // process the epoch line, including SV list and clock bias
+ short epochFlag = asInt(line.substr(28,1));
+ if ((epochFlag < 0) || (epochFlag > 6))
+ {
+ FFStreamError e("Invalid epoch flag: " + asString(epochFlag));
+ GPSTK_THROW(e);
+ }
+
+ f.header.epochFlag = epochFlag;
+
+ f.header.epoch = parseTime(line, hdr);
+
+ short numSvs = asInt(line.substr(29,3));
+
+ RinexObsData rod;
+
+ // Now read the observations ...
+ if(epochFlag==0 || epochFlag==1 || epochFlag==6) {
+ int isv, ndx, line_ndx;
+ vector<SatID> satIndex(numSvs);
+ int col=30;
+ for (isv=1, ndx=0; ndx<numSvs; isv++, ndx++) {
+ if(! (isv % 13)) {
+ strm.formattedGetLine(line);
+ isv = 1;
+ if(line.size() > 80) {
+ FFStreamError err("Invalid line size:" + asString(line.size()));
+ GPSTK_THROW(err);
+ }
+ }
+ try {
+ satIndex[ndx] = RinexSatID(line.substr(col+isv*3-1, 3));
+ }
+ catch (Exception& e)
+ {
+ FFStreamError ffse(e);
+ GPSTK_THROW(ffse);
+ }
+ }
+
+ for (isv=0; isv < numSvs; isv++)
+ {
+ short numObs = hdr.obsTypeList.size();
+ for (ndx=0, line_ndx=0; ndx < numObs; ndx++, line_ndx++)
+ {
+ SatID sat = satIndex[isv];
+ RinexObsHeader::RinexObsType obs_type = hdr.obsTypeList[ndx];
+ if (! (line_ndx % 5))
+ {
+ strm.formattedGetLine(line);
+ line_ndx = 0;
+ if (line.size() > 80)
+ {
+ FFStreamError err("Invalid line size:" + asString(line.size()));
+ GPSTK_THROW(err);
+ }
+ }
+
+ line.resize(80, ' ');
+
+ rod.obs[sat][obs_type].data = asDouble(line.substr(line_ndx*16, 14));
+ rod.obs[sat][obs_type].lli = asInt( line.substr(line_ndx*16+14, 1));
+ rod.obs[sat][obs_type].ssi = asInt( line.substr(line_ndx*16+15, 1));
+ }
+ }
+
+
+ }
+
+ f.body = FillsatTypeValueMapwithRinexObsData(rod);
+
+ return i;
+ } // End of "try" block
+ ////
+ //// ATENTION: This part is VERY UGLY
+ //// Help from the guys who wrote FFStream::tryFFStreamGet(FFData& rec)
+ //// will be very appreciated
+ ////
+ // EOF - do nothing - eof causes fail() to be set which
+ // is handled by std::fstream
+ catch (EndOfFile& e)
+ {
+ return i;
+ }
+ catch (...)
+ {
+ return i;
+ }
+
+ } // End of block: "if (ffs)..."
+ else
+ {
+ FFStreamError e("operator<< stream argument must be an FFStream");
+ GPSTK_THROW(e);
+ }
+
+ } // End of stream input for gnssRinex
+
+
+
+}
diff --git a/dev/src/DataStructures.hpp b/dev/src/DataStructures.hpp
new file mode 100644
index 0000000..1bc03e8
--- /dev/null
+++ b/dev/src/DataStructures.hpp
@@ -0,0 +1,1608 @@
+/**
+ * @file DataStructures.hpp
+ * Set of several data structures to be used by other GPSTk classes.
+ */
+
+#ifndef DATA_STRUCTURES_GPSTK
+#define DATA_STRUCTURES_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2007
+//
+//============================================================================
+
+
+#include <utility>
+#include <vector>
+#include <set>
+#include <map>
+#include <string>
+
+#include "DataHeaders.hpp"
+#include "FFData.hpp"
+#include "RinexObsStream.hpp"
+#include "RinexObsData.hpp"
+#include "StringUtils.hpp"
+#include "Vector.hpp"
+#include "Matrix.hpp"
+#include "icd_200_constants.hpp"
+
+
+
+namespace gpstk
+{
+ /** @defgroup DataStructures GPSTk data structures
+ *
+ * This is a set of several data structures to be used by other
+ * GPSTk classes.
+ *
+ * Each data structure is composed of a header and a body. The header
+ * contains the information that is common to all the data stored in
+ * the structure, and the body contains the data themselves along with
+ * the information (indexes) necessary to access them.
+ *
+ * In this regard, four basic indexes are considered enough to completely
+ * identify any GNSS value:
+ *
+ * - Receiver/Source (SourceID)
+ * - Epoch (DayTime)
+ * - Satellite (SatID)
+ * - Type of value (TypeID)
+ *
+ * Moreover, all the GNSS data structures have two main parts:
+ *
+ * - Header: Containing the indexes that are common to all the values (sometimes
+ * with some extra information).
+ *
+ * - Body: Containing the GNSS values themselves, organized in std::maps.
+ *
+ * The general idea is to use the GNSS data structures like WHITE BOXES that
+ * are able to carry all the important data around in an easy way, in order to
+ * do something like the following to process GNSS data:
+ *
+ * @code
+ * RinexObsStream rin("bahr1620.04o"); // Create the input file stream
+ * gnssRinex gRin; // Declare a gnssRinex object
+ * ModeledPR modelPR; // Declare a ModeledReferencePR object
+ * SolverLMS solver; // Declare an object to apply LMS method
+ * Position refPosition(3633909.1016, 4425275.5033, 2799861.2736); // Initial position
+ * Position solPosition; // Solution
+ *
+ * // Feed the gRin data structure
+ * while(rin >> gRin) {
+ * gRin.keepOnlyTypeID(TypeID::C1) >> modelPR >> solver >> solPosition;
+ * cout << solPosition;
+ * }
+ * @endcode
+ *
+ */
+
+ //@{
+
+
+ // First, we must declare some important exception objects
+
+
+ /// Thrown when attempting to access a value and the corresponding TypeID
+ /// does not exist in the map.
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(TypeIDNotFound, gpstk::Exception);
+
+ /// Thrown when attempting to access a value and the corresponding SatID
+ /// does not exist in the map.
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(SatIDNotFound, gpstk::Exception);
+
+
+ /// Thrown when the number of data values and the number of corresponding
+ /// types does not match.
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(NumberOfTypesMismatch, gpstk::Exception);
+
+
+ /// Thrown when the number of data values and the number of corresponding
+ /// satellites does not match.
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(NumberOfSatsMismatch, gpstk::Exception);
+
+
+ // Now, some useful type definitions
+
+ /// Set containing TypeID objects.
+ typedef std::set<TypeID> TypeIDSet;
+
+ /// Set containing SatID objects.
+ typedef std::set<SatID> SatIDSet;
+
+
+ /// Map holding TypeID with corresponding numeric value.
+ struct typeValueMap : std::map<TypeID, double>
+ {
+
+ /// Returns the number of different types available.
+ inline size_t numTypes() const { return (*this).size(); }
+
+ /// Returns a TypeIDSet with all the data types present in this object.
+ inline TypeIDSet getTypeID() const
+ {
+ TypeIDSet typeSet;
+ typeValueMap::const_iterator pos;
+ for (pos = (*this).begin(); pos != (*this).end(); ++pos)
+ {
+ typeSet.insert( (*pos).first );
+ }
+ return typeSet;
+ }
+
+ /// Returns a typeValueMap with only this type of data.
+ /// @param type Type of value to be extracted.
+ inline typeValueMap extractTypeID(const TypeID& type) const
+ {
+ TypeIDSet typeSet;
+ typeSet.insert(type);
+ return (*this).extractTypeID(typeSet);
+ }
+
+ /// Returns a typeValueMap with only these types of data.
+ /// @param typeSet Set (TypeIDSet) containing the types of data to be extracted.
+ inline typeValueMap extractTypeID(const TypeIDSet& typeSet) const
+ {
+ typeValueMap tvMap;
+ TypeIDSet::const_iterator pos;
+ for (pos = typeSet.begin(); pos != typeSet.end(); ++pos)
+ {
+ typeValueMap::const_iterator itObs;
+ itObs = (*this).find(*pos);
+ if ( itObs != (*this).end() )
+ {
+ tvMap[ (*itObs).first ] = (*itObs).second;
+ };
+ }
+ return tvMap;
+ }
+
+ /// Modifies this object, keeping only this type of data.
+ /// @param type Type of value to be kept.
+ inline typeValueMap& keepOnlyTypeID(const TypeID& type)
+ {
+ TypeIDSet typeSet;
+ typeSet.insert(type);
+ return (*this).keepOnlyTypeID(typeSet);
+ }
+
+ /// Modifies this object, keeping only these types of data.
+ /// @param typeSet Set (TypeIDSet) containing the types of data to be kept.
+ inline typeValueMap& keepOnlyTypeID(const TypeIDSet& typeSet)
+ {
+ typeValueMap tvMap = (*this).extractTypeID(typeSet);
+ (*this) = tvMap;
+ return (*this);
+ }
+
+ /// Modifies this object, removing this type of data.
+ /// @param type Type of value to be removed.
+ inline typeValueMap& removeTypeID(const TypeID& type)
+ {
+ (*this).erase(type);
+ return (*this);
+ }
+
+ /// Modifies this object, removing these types of data.
+ /// @param typeSet Set (TypeIDSet) containing the types of data to be kept.
+ inline typeValueMap& removeTypeID(const TypeIDSet& typeSet)
+ {
+ TypeIDSet::const_iterator pos;
+ for (pos = typeSet.begin(); pos != typeSet.end(); ++pos)
+ {
+ (*this).erase(*pos);
+ }
+ return (*this);
+ }
+
+ /// Returns a reference to the data value (double) with corresponding type.
+ /// @param type Type of value to be look for.
+ inline double& operator()(const TypeID& type) throw(TypeIDNotFound)
+ {
+ typeValueMap::iterator itObs;
+ itObs = (*this).find(type);
+ if ( itObs != (*this).end() )
+ {
+ return (*itObs).second;
+ } else GPSTK_THROW(TypeIDNotFound("TypeID not found in map"));
+ }
+
+ /// Destructor.
+ virtual ~typeValueMap() {};
+
+ }; // End typeValueMap
+
+
+ /// Map holding SatID with corresponding numeric value.
+ struct satValueMap : std::map<SatID, double>
+ {
+
+ /// Returns the number of satellites available.
+ inline size_t numSats() const { return (*this).size(); }
+
+ /// Returns a SatIDSet with all the satellites present in this object.
+ inline SatIDSet getSatID() const
+ {
+ SatIDSet satSet;
+ satValueMap::const_iterator pos;
+ for (pos = (*this).begin(); pos != (*this).end(); ++pos)
+ {
+ satSet.insert( (*pos).first );
+ }
+ return satSet;
+ }
+
+ /// Returns a Vector with all the satellites present in this object.
+ inline Vector<SatID> getVectorOfSatID() const
+ {
+ std::vector<SatID> temp;
+ satValueMap::const_iterator pos;
+ for (pos = (*this).begin(); pos != (*this).end(); ++pos)
+ {
+ temp.push_back( (*pos).first );
+ }
+ Vector<SatID> result;
+ result = temp;
+ return result;
+ }
+
+ /// Returns a satValueMap with only this satellite.
+ /// @param satellite Satellite to be extracted.
+ inline satValueMap extractSatID(const SatID& satellite) const
+ {
+ SatIDSet satSet;
+ satSet.insert(satellite);
+ return (*this).extractSatID(satSet);
+ }
+
+ /// Returns a satValueMap with only one satellite, identified by the given parameters.
+ /// @param p Satellite PRN number.
+ /// @param p System the satellite belongs to.
+ inline satValueMap extractSatID(const int& p, const SatID::SatelliteSystem& s) const
+ {
+ SatID tempSatellite(p, s); // We build a temporary SatID object
+ return (*this).extractSatID(tempSatellite);
+ }
+
+ /// Returns a satValueMap with only these satellites.
+ /// @param satSet Set (SatIDSet) containing the satellites to be extracted.
+ inline satValueMap extractSatID(const SatIDSet& satSet) const
+ {
+ satValueMap svMap;
+ SatIDSet::const_iterator pos;
+ for (pos = satSet.begin(); pos != satSet.end(); ++pos)
+ {
+ satValueMap::const_iterator itObs;
+ itObs = (*this).find(*pos);
+ if ( itObs != (*this).end() )
+ {
+ svMap[ (*itObs).first ] = (*itObs).second;
+ };
+ }
+ return svMap;
+ }
+
+ /// Modifies this object, keeping only this satellite.
+ /// @param satellite Satellite to be kept.
+ inline satValueMap& keepOnlySatID(const SatID& satellite)
+ {
+ SatIDSet satSet;
+ satSet.insert(satellite);
+ return (*this).keepOnlySatID(satSet);
+ }
+
+ /// Modifies this object, keeping only this satellite.
+ /// @param p Satellite PRN number.
+ /// @param p System the satellite belongs to.
+ inline satValueMap& keepOnlySatID(const int& p, const SatID::SatelliteSystem& s)
+ {
+ SatID tempSatellite(p, s); // We build a temporary SatID object
+ return (*this).keepOnlySatID(tempSatellite);
+ }
+
+ /// Modifies this object, keeping only these satellites.
+ /// @param satSet Set (SatIDSet) containing the satellites to be kept.
+ inline satValueMap& keepOnlySatID(const SatIDSet& satSet)
+ {
+ satValueMap svMap = (*this).extractSatID(satSet);
+ (*this) = svMap;
+ return (*this);
+ }
+
+ /// Modifies this object, removing this satellite.
+ /// @param satellite Satellite to be removed.
+ inline satValueMap& removeSatID(const SatID& satellite)
+ {
+ (*this).erase(satellite);
+ return (*this);
+ }
+
+ /// Modifies this object, removing these satellites.
+ /// @param satSet Set (SatIDSet) containing the satellites to be removed.
+ inline satValueMap& removeSatID(const SatIDSet& satSet)
+ {
+ SatIDSet::const_iterator pos;
+ for (pos = satSet.begin(); pos != satSet.end(); ++pos)
+ {
+ (*this).erase(*pos);
+ }
+ return (*this);
+ }
+
+ /// Returns a reference to the data value (double) with corresponding SatID.
+ /// @param satellite Satellite to be look for.
+ inline double& operator()(const SatID& satellite) throw(SatIDNotFound)
+ {
+ satValueMap::iterator itObs;
+ itObs = (*this).find(satellite);
+ if ( itObs != (*this).end() )
+ {
+ return (*itObs).second;
+ } else GPSTK_THROW(SatIDNotFound("SatID not found in map"));
+ }
+
+ /// Destructor.
+ virtual ~satValueMap() {};
+
+ }; // End of satValueMap
+
+
+ /// Map holding SatID with corresponding typeValueMap.
+ struct satTypeValueMap : std::map<SatID, typeValueMap>
+ {
+
+ /// Returns the number of available satellites.
+ inline size_t numSats() const { return (*this).size(); }
+
+ /** Returns the total number of data elements in the map.
+ * This method DOES NOT suppose that all the satellites have
+ * the same number of type values.
+ */
+ inline size_t numElements() const
+ {
+ size_t numEle(0);
+ satTypeValueMap::const_iterator it;
+ for (it = (*this).begin(); it != (*this).end(); ++it)
+ {
+ numEle = numEle + (*it).second.size();
+ }
+ return numEle;
+ }
+
+ /// Returns a SatIDSet with all the satellites present in this object.
+ inline SatIDSet getSatID() const
+ {
+ SatIDSet satSet;
+ satTypeValueMap::const_iterator pos;
+ for (pos = (*this).begin(); pos != (*this).end(); ++pos)
+ {
+ satSet.insert( (*pos).first );
+ }
+ return satSet;
+ }
+
+ /// Returns a Vector with all the satellites present in this object.
+ inline Vector<SatID> getVectorOfSatID() const
+ {
+ std::vector<SatID> temp;
+ satTypeValueMap::const_iterator pos;
+ for (pos = (*this).begin(); pos != (*this).end(); ++pos)
+ {
+ temp.push_back( (*pos).first );
+ }
+ Vector<SatID> result;
+ result = temp;
+ return result;
+ }
+
+ /// Returns a TypeIDSet with all the data types present in this object.
+ inline TypeIDSet getTypeID() const
+ {
+ TypeIDSet typeSet;
+ satTypeValueMap::const_iterator pos;
+ for (pos = (*this).begin(); pos != (*this).end(); ++pos)
+ {
+ typeValueMap::const_iterator it;
+ for (it = (*pos).second.begin(); it != (*pos).second.end(); ++it)
+ {
+ typeSet.insert( (*it).first );
+ }
+ }
+ return typeSet;
+ }
+
+ /// Returns a satTypeValueMap with only this satellite.
+ /// @param satellite Satellite to be extracted.
+ inline satTypeValueMap extractSatID(const SatID& satellite) const
+ {
+ SatIDSet satSet;
+ satSet.insert(satellite);
+ return (*this).extractSatID(satSet);
+ };
+
+ /// Returns a satTypeValueMap with only one satellite, identified by the given parameters.
+ /// @param p Satellite PRN number.
+ /// @param p System the satellite belongs to.
+ inline satTypeValueMap extractSatID(const int& p, const SatID::SatelliteSystem& s) const
+ {
+ SatID tempSatellite(p, s); // We build a temporary SatID object
+ return (*this).extractSatID(tempSatellite);
+ }
+
+ /// Returns a satTypeValueMap with only these satellites.
+ /// @param satSet Set (SatIDSet) containing the satellites to be extracted.
+ inline satTypeValueMap extractSatID(const SatIDSet& satSet) const
+ {
+ satTypeValueMap stvMap;
+ SatIDSet::const_iterator pos;
+ for (pos = satSet.begin(); pos != satSet.end(); ++pos)
+ {
+ satTypeValueMap::const_iterator itObs;
+ itObs = (*this).find(*pos);
+ if ( itObs != (*this).end() )
+ {
+ stvMap[ (*itObs).first ] = (*itObs).second;
+ };
+ }
+ return stvMap;
+ }
+
+ /// Modifies this object, keeping only this satellite.
+ /// @param satellite Satellite to be kept.
+ inline satTypeValueMap& keepOnlySatID(const SatID& satellite)
+ {
+ SatIDSet satSet;
+ satSet.insert(satellite);
+ return (*this).keepOnlySatID(satSet);
+ }
+
+ /// Modifies this object, keeping only this satellite.
+ /// @param p Satellite PRN number.
+ /// @param p System the satellite belongs to.
+ inline satTypeValueMap& keepOnlySatID(const int& p, const SatID::SatelliteSystem& s)
+ {
+ SatID tempSatellite(p, s); // We build a temporary SatID object
+ return (*this).keepOnlySatID(tempSatellite);
+ }
+
+ /// Modifies this object, keeping only these satellites.
+ /// @param satSet Set (SatIDSet) containing the satellites to be kept.
+ inline satTypeValueMap& keepOnlySatID(const SatIDSet& satSet)
+ {
+ satTypeValueMap stvMap( (*this).extractSatID(satSet) );
+ (*this) = stvMap;
+ return (*this);
+ }
+
+ /// Returns a satTypeValueMap with only this type of value.
+ /// @param type Type of value to be extracted.
+ inline satTypeValueMap extractTypeID(const TypeID& type) const
+ {
+ TypeIDSet typeSet;
+ typeSet.insert(type);
+ return (*this).extractTypeID(typeSet);
+ };
+
+ /// Returns a satTypeValueMap with only these types of data.
+ /// @param typeSet Set (TypeIDSet) containing the types of data to be extracted.
+ inline satTypeValueMap extractTypeID(const TypeIDSet& typeSet) const
+ {
+ satTypeValueMap theMap;
+ satTypeValueMap::const_iterator it;
+ for (it = (*this).begin(); it != (*this).end(); ++it)
+ {
+ typeValueMap tvMap = (*it).second.extractTypeID(typeSet);
+ if( tvMap.size() > 0 ) { theMap[(*it).first] = tvMap; };
+ };
+ return theMap;
+ };
+
+ /// Modifies this object, keeping only this type of data.
+ /// @param type Type of value to be kept.
+ inline satTypeValueMap& keepOnlyTypeID(const TypeID& type)
+ {
+ TypeIDSet typeSet;
+ typeSet.insert(type);
+ return (*this).keepOnlyTypeID(typeSet);
+ }
+
+ /// Modifies this object, keeping only these types of data.
+ /// @param typeSet Set (TypeIDSet) containing the types of data to be kept.
+ inline satTypeValueMap& keepOnlyTypeID(const TypeIDSet& typeSet)
+ {
+ satTypeValueMap stvMap( (*this).extractTypeID(typeSet) );
+ (*this) = stvMap;
+ return (*this);
+ }
+
+ /// Modifies this object, removing this satellite.
+ /// @param satellite Satellite to be removed.
+ inline satTypeValueMap& removeSatID(const SatID& satellite)
+ {
+ (*this).erase(satellite);
+ return (*this);
+ }
+
+ /// Modifies this object, removing these satellites.
+ /// @param satSet Set (SatIDSet) containing the satellites to be removed.
+ inline satTypeValueMap& removeSatID(const SatIDSet& satSet)
+ {
+ SatIDSet::const_iterator pos;
+ for (pos = satSet.begin(); pos != satSet.end(); ++pos)
+ {
+ (*this).erase(*pos);
+ }
+ return (*this);
+ }
+
+ /// Modifies this object, removing this type of data.
+ /// @param type Type of value to be removed.
+ inline satTypeValueMap& removeTypeID(const TypeID& type)
+ {
+ satTypeValueMap::iterator it;
+ for (it = (*this).begin(); it != (*this).end(); ++it)
+ {
+ (*it).second.removeTypeID(type);
+ }
+ return (*this);
+ }
+
+ /// Modifies this object, removing these types of data.
+ /// @param typeSet Set (TypeIDSet) containing the types of data to be kept.
+ inline satTypeValueMap& removeTypeID(const TypeIDSet& typeSet)
+ {
+ TypeIDSet::const_iterator pos;
+ for (pos = typeSet.begin(); pos != typeSet.end(); ++pos)
+ {
+ (*this).removeTypeID(*pos);
+ }
+ return (*this);
+ }
+
+ /// Returns a GPSTk::Vector containing the data values with this type.
+ /// @param type Type of value to be returned.
+ inline Vector<double> getVectorOfTypeID(const TypeID& type) const
+ {
+ std::vector<double> temp;
+ typeValueMap::const_iterator itObs;
+ satTypeValueMap::const_iterator it;
+ for (it = (*this).begin(); it != (*this).end(); ++it)
+ {
+ itObs = (*it).second.find(type);
+ if ( itObs != (*it).second.end() )
+ temp.push_back( (*itObs).second );
+ else
+ temp.push_back( 0.0 );
+ }
+ Vector<double> result;
+ result = temp;
+ return result;
+ }
+
+ /// Returns a GPSTk::Matrix containing the data values in this set.
+ /// @param typeSet TypeIDSet of values to be returned.
+ inline Matrix<double> getMatrixOfTypes(const TypeIDSet& typeSet) const
+ {
+ // First, let's create a Matrix<double> of the proper size
+ Matrix<double> tempMat( (*this).numSats(), typeSet.size(), 0.0 );
+
+ size_t numRow(0), numCol(0);
+
+ satTypeValueMap::const_iterator it;
+ for (it = (*this).begin(); it != (*this).end(); ++it)
+ {
+ numCol=0;
+ typeValueMap::const_iterator itObs;
+ TypeIDSet::const_iterator pos;
+ for (pos = typeSet.begin(); pos != typeSet.end(); ++pos)
+ {
+ itObs = (*it).second.find(*pos);
+ if ( itObs != (*it).second.end() )
+ tempMat(numRow, numCol) = (*itObs).second;
+ ++numCol;
+ }
+ ++numRow;
+ }
+
+ return tempMat;
+ } // End getMatrixOfTypes(const TypeIDSet& typeSet)
+
+
+ /** Modifies this object, adding one vector of data with this type, one value
+ * per satellite.
+ *
+ * If type already exists, data is overwritten. If the number of values does not
+ * match with the number of satellites, a NumberOfSatsMismatch exception is thrown.
+ *
+ * Given that dataVector does not store information about the satellites the
+ * values correspond to, the user is held responsible for having the data values
+ * stored in dataVector in the proper order regarding the SatIDs in this object.
+ *
+ * @param type Type of data to be added.
+ * @param dataVector GPSTk Vector containing the data to be added.
+ */
+ inline satTypeValueMap& insertTypeIDVector(const TypeID& type, const Vector<double> dataVector) throw(NumberOfSatsMismatch)
+ {
+ if ( dataVector.size() == (*this).numSats() )
+ {
+ size_t pos = 0;
+ satTypeValueMap::iterator it;
+ for (it = (*this).begin(); it != (*this).end(); ++it)
+ {
+ (*it).second[type] = dataVector[pos];
+ ++pos;
+ }
+ return (*this);
+ } else GPSTK_THROW(NumberOfSatsMismatch("Number of data values in vector and number of satellites do not match"));
+ }
+
+ /** Modifies this object, adding a matrix of data, one vector per satellite.
+ *
+ * If types already exists, data is overwritten. If the number of rows in matrix does not
+ * match with the number of satellites, a NumberOfSatsMismatch exception is thrown. If the
+ * number of columns in matrix does not match with the number of types in typeSet, a
+ * NumberOfTypesMismatch exception is thrown.
+ *
+ * Given that dataMatrix does not store information about the satellites and types the
+ * values correspond to, the user is held responsible for having those data values
+ * stored in dataMatrix in the proper order regarding the SatIDs in this object and the
+ * provided typeSet.
+ *
+ * @param typeSet Set (TypeIDSet) containing the types of data to be added.
+ * @param dataMatrix GPSTk Matrix containing the data to be added.
+ */
+ inline satTypeValueMap& insertMatrix(const TypeIDSet& typeSet, const Matrix<double> dataMatrix) throw(NumberOfSatsMismatch, NumberOfTypesMismatch)
+ {
+ if ( dataMatrix.rows() != (*this).numSats() ) GPSTK_THROW(NumberOfSatsMismatch("Number of rows in matrix and number of satellites do not match"));
+ if ( dataMatrix.cols() == typeSet.size() )
+ {
+ size_t pos(0);
+ satTypeValueMap::iterator it;
+ for (it = (*this).begin(); it != (*this).end(); ++it)
+ {
+ size_t idx(0);
+ TypeIDSet::const_iterator itSet;
+ for (itSet = typeSet.begin(); itSet != typeSet.end(); ++itSet)
+ {
+ (*it).second[(*itSet)] = dataMatrix(pos,idx);
+ ++idx;
+ }
+ ++pos;
+ }
+ return (*this);
+ } else GPSTK_THROW(NumberOfTypesMismatch("Number of data values per row in matrix and number of types do not match"));
+ }
+
+
+ /// Returns a reference to the typeValueMap with corresponding SatID.
+ /// @param type Type of value to be look for.
+ inline typeValueMap& operator()(const SatID& satellite) throw(SatIDNotFound)
+ {
+ satTypeValueMap::iterator itObs;
+ itObs = (*this).find(satellite);
+ if ( itObs != (*this).end() )
+ {
+ return (*itObs).second;
+ } else GPSTK_THROW(SatIDNotFound("SatID not found in map"));
+ }
+
+
+ /// Convenience output method
+ virtual std::ostream& dump(std::ostream& s, int mode = 0) const;
+
+
+ /// Destructor.
+ virtual ~satTypeValueMap() {};
+
+ }; // End of satTypeValueMap
+
+
+
+ /// stream output for satTypeValueMap
+ std::ostream& operator<<(std::ostream& s, const satTypeValueMap& stvMap);
+
+
+
+ /// Map holding epoch with corresponding satTypeValueMap.
+ typedef std::map<DayTime, satTypeValueMap> epochSatTypeValueMap;
+
+ /// Map holding epoch with corresponding satValueMap.
+ typedef std::map<DayTime, satValueMap> epochSatValueMap;
+
+ /// Map holding epoch with corresponding typeValueMap.
+ typedef std::map<DayTime, typeValueMap> epochTypeValueMap;
+
+
+
+
+ /// Basic gnssData structure.
+ template <class HEADER_CLASS, class BODY_CLASS>
+ struct gnssData
+ {
+
+ /// Header.
+ HEADER_CLASS header;
+
+ /// Body.
+ BODY_CLASS body;
+
+
+ /// Default constructor.
+ gnssData() {}
+
+ /// Common constructor.
+ gnssData(const HEADER_CLASS& h, const BODY_CLASS& b)
+ {
+ header = h;
+ body = b;
+ }
+
+ /// Copy constructor.
+ template<class H, class B>
+ gnssData(const gnssData<H,B>& g)
+ {
+ header = g.header;
+ body = g.body;
+ }
+
+
+ /// Destructor.
+ virtual ~gnssData() {};
+
+ }; // End of gnssData
+
+
+
+
+ // Further type definitions
+
+ /// GNSS data structure with source, epoch and data type as header (common indexes) and satValueMap as body.
+ struct gnssSatValue : gnssData<sourceEpochTypeHeader, satValueMap>
+ {
+
+ /// Returns the number of satellites available in the body (a satValueMap).
+ inline size_t numSats() const { return body.numSats(); };
+
+ /// Returns a SatIDSet with all the satellites present in this object.
+ inline SatIDSet getSatID() const
+ {
+ return (*this).body.getSatID();
+ }
+
+ /// Returns a Vector with all the satellites present in this object.
+ inline Vector<SatID> getVectorOfSatID() const
+ {
+ return (*this).body.getVectorOfSatID();
+ }
+
+ /// Returns a gnssSatValue with only this satellite.
+ /// @param satellite Satellite to be extracted.
+ inline gnssSatValue extractSatID(const SatID& satellite) const
+ {
+ gnssSatValue result;
+ result.header = (*this).header;
+ result.body = (*this).body.extractSatID(satellite);
+ return result;
+ };
+
+ /// Returns a gnssSatValue with only one satellite, identified by the given parameters.
+ /// @param p Satellite PRN number.
+ /// @param p System the satellite belongs to.
+ inline gnssSatValue extractSatID(const int& p, const SatID::SatelliteSystem& s) const
+ {
+ SatID tempSatellite(p, s); // We build a temporary SatID object
+ return (*this).extractSatID(tempSatellite);
+ };
+
+ /// Returns a gnssSatValue with only these satellites.
+ /// @param satSet Set (SatIDSet) containing the satellites to be extracted.
+ inline gnssSatValue extractSatID(const SatIDSet& satSet) const
+ {
+ gnssSatValue result;
+ result.header = (*this).header;
+ result.body = (*this).body.extractSatID(satSet);
+ return result;
+ }
+
+ /// Modifies this object, keeping only this satellite.
+ /// @param satellite Satellite to be kept.
+ inline gnssSatValue& keepOnlySatID(const SatID& satellite)
+ {
+ SatIDSet satSet;
+ satSet.insert(satellite);
+ return (*this).keepOnlySatID(satSet);
+ }
+
+ /// Modifies this object, keeping only this satellite.
+ /// @param p Satellite PRN number.
+ /// @param p System the satellite belongs to.
+ inline gnssSatValue& keepOnlySatID(const int& p, const SatID::SatelliteSystem& s)
+ {
+ SatID tempSatellite(p, s); // We build a temporary SatID object
+ return (*this).keepOnlySatID(tempSatellite);
+ }
+
+ /// Modifies this object, keeping only these satellites.
+ /// @param satSet Set (SatIDSet) containing the satellites to be kept.
+ inline gnssSatValue& keepOnlySatID(const SatIDSet& satSet)
+ {
+ satValueMap svMap ( (*this).body.extractSatID(satSet) );
+ (*this).body = svMap;
+ return (*this);
+ }
+
+ /// Modifies this object, removing this satellite.
+ /// @param satellite Satellite to be removed.
+ inline gnssSatValue& removeSatID(const SatID& satellite)
+ {
+ (*this).body.erase(satellite);
+ return (*this);
+ }
+
+ /// Modifies this object, removing these satellites.
+ /// @param satSet Set (SatIDSet) containing the satellites to be removed.
+ inline gnssSatValue& removeSatID(const SatIDSet& satSet)
+ {
+ SatIDSet::const_iterator pos;
+ for (pos = satSet.begin(); pos != satSet.end(); ++pos)
+ {
+ (*this).body.erase(*pos);
+ }
+ return (*this);
+ }
+
+ /// Returns a reference to the value (double) with corresponding satellite.
+ /// @param satellite Satellite to be look for.
+ inline double& operator()(const SatID& satellite) throw(SatIDNotFound)
+ {
+ return (*this).body(satellite);
+ }
+
+
+
+ /// Destructor.
+ virtual ~gnssSatValue() {};
+
+ }; // End of gnssSatValue
+
+
+
+ /// GNSS data structure with source, epoch and satellite as header (common indexes) and typeValueMap as body.
+ struct gnssTypeValue : gnssData<sourceEpochSatHeader, typeValueMap>
+ {
+
+ /// Returns the number of types available in the body (a typeValueMap).
+ inline size_t numTypes() const { return body.numTypes(); };
+
+ /// Returns a TypeIDSet with all the data types present in this object.
+ inline TypeIDSet getTypeID() const
+ {
+ return (*this).body.getTypeID();
+ }
+
+ /// Returns a gnssTypeValue with only this type of data.
+ /// @param type Type of value to be extracted.
+ inline gnssTypeValue extractTypeID(const TypeID& type) const
+ {
+ gnssTypeValue result;
+ result.header = (*this).header;
+ result.body = (*this).body.extractTypeID(type);
+ return result;
+ };
+
+ /// Returns a gnssTypeValue with only these types of data.
+ /// @param typeSet Set (TypeIDSet) containing the types of data to be extracted.
+ inline gnssTypeValue extractTypeID(const TypeIDSet& typeSet) const
+ {
+ gnssTypeValue result;
+ result.header = (*this).header;
+ result.body = (*this).body.extractTypeID(typeSet);
+ return result;
+ };
+
+ /// Modifies this object, keeping only this type of data.
+ /// @param type Type of value to be kept.
+ inline gnssTypeValue& keepOnlyTypeID(const TypeID& type)
+ {
+ TypeIDSet typeSet;
+ typeSet.insert(type);
+ return (*this).keepOnlyTypeID(typeSet);
+ }
+
+ /// Modifies this object, keeping only these types of data.
+ /// @param typeSet Set (TypeIDSet) containing the types of data to be kept.
+ inline gnssTypeValue& keepOnlyTypeID(const TypeIDSet& typeSet)
+ {
+ typeValueMap tvMap( (*this).body.extractTypeID(typeSet) );
+ (*this).body = tvMap;
+ return (*this);
+ }
+
+ /// Modifies this object, removing this type of data.
+ /// @param type Type of value to be removed.
+ inline gnssTypeValue& removeTypeID(const TypeID& type)
+ {
+ (*this).body.erase(type);
+ return (*this);
+ }
+
+ /// Modifies this object, removing these types of data.
+ /// @param typeSet Set (TypeIDSet) containing the types of data to be kept.
+ inline gnssTypeValue& removeTypeID(const TypeIDSet& typeSet)
+ {
+ TypeIDSet::const_iterator pos;
+ for (pos = typeSet.begin(); pos != typeSet.end(); ++pos)
+ {
+ (*this).body.erase(*pos);
+ }
+ return (*this);
+ }
+
+ /// Returns a reference to the value (double) with corresponding type.
+ /// @param type TypeID to be look for.
+ inline double& operator()(const TypeID& type) throw(TypeIDNotFound)
+ {
+ return (*this).body(type);
+ }
+
+
+ /// Destructor.
+ virtual ~gnssTypeValue() {};
+
+ }; // End of gnssTypeValue
+
+
+
+ /// GNSS data structure with source and epoch as header (common indexes) and satTypeValueMap as body.
+ struct gnssSatTypeValue : gnssData<sourceEpochHeader, satTypeValueMap>
+ {
+
+ /// Returns the number of satellites available in the body (a satTypeValueMap).
+ inline size_t numSats() const { return body.numSats(); };
+
+ /// Returns a TypeIDSet with all the data types present in this object.
+ inline TypeIDSet getTypeID() const
+ {
+ return (*this).body.getTypeID();
+ }
+
+ /// Returns a SatIDSet with all the satellites present in this object.
+ inline SatIDSet getSatID() const
+ {
+ return (*this).body.getSatID();
+ }
+
+ /// Returns a Vector with all the satellites present in this object.
+ inline Vector<SatID> getVectorOfSatID() const
+ {
+ return (*this).body.getVectorOfSatID();
+ }
+
+ /** Returns the total number of data elements in the body.
+ * This method DOES NOT suppose that all the satellites have
+ * the same number of type values.
+ */
+ inline size_t numElements() const { return body.numElements(); };
+
+ /// Returns a gnssSatTypeValue with only this satellite.
+ /// @param satellite Satellite to be extracted.
+ inline gnssSatTypeValue extractSatID(const SatID& satellite) const
+ {
+ gnssSatTypeValue result;
+ result.header = (*this).header;
+ result.body = (*this).body.extractSatID(satellite);
+ return result;
+ };
+
+ /// Returns a gnssSatTypeValue with only one satellite, identified by the given parameters.
+ /// @param p Satellite PRN number.
+ /// @param p System the satellite belongs to.
+ inline gnssSatTypeValue extractSatID(const int& p, const SatID::SatelliteSystem& s) const
+ {
+ SatID tempSatellite(p, s); // We build a temporary SatID object
+ return (*this).extractSatID(tempSatellite);
+ };
+
+ /// Returns a gnssSatTypeValue with only these satellites.
+ /// @param satSet Set (SatIDSet) containing the satellites to be extracted.
+ inline gnssSatTypeValue extractSatID(const SatIDSet& satSet) const
+ {
+ gnssSatTypeValue result;
+ result.header = (*this).header;
+ result.body = (*this).body.extractSatID(satSet);
+ return result;
+ }
+
+ /// Modifies this object, keeping only this satellite.
+ /// @param satellite Satellite to be kept.
+ inline gnssSatTypeValue& keepOnlySatID(const SatID& satellite)
+ {
+ SatIDSet satSet;
+ satSet.insert(satellite);
+ return (*this).keepOnlySatID(satSet);
+ }
+
+ /// Modifies this object, keeping only this satellite.
+ /// @param p Satellite PRN number.
+ /// @param p System the satellite belongs to.
+ inline gnssSatTypeValue& keepOnlySatID(const int& p, const SatID::SatelliteSystem& s)
+ {
+ SatID tempSatellite(p, s); // We build a temporary SatID object
+ return (*this).keepOnlySatID(tempSatellite);
+ }
+
+ /// Modifies this object, keeping only these satellites.
+ /// @param satSet Set (SatIDSet) containing the satellites to be kept.
+ inline gnssSatTypeValue& keepOnlySatID(const SatIDSet& satSet)
+ {
+ satTypeValueMap stvMap( (*this).body.extractSatID(satSet) );
+ (*this).body = stvMap;
+ return (*this);
+ }
+
+ /// Returns a gnssSatTypeValue with only this type of data.
+ /// @param type Type of value to be extracted.
+ inline gnssSatTypeValue extractTypeID(const TypeID& type) const
+ {
+ gnssSatTypeValue result;
+ result.header = (*this).header;
+ result.body = (*this).body.extractTypeID(type);
+ return result;
+ };
+
+ /// Returns a gnssSatTypeValue with only these types of data.
+ /// @param typeSet Set (TypeIDSet) containing the types of data to be extracted.
+ inline gnssSatTypeValue extractTypeID(const TypeIDSet& typeSet) const
+ {
+ gnssSatTypeValue result;
+ result.header = (*this).header;
+ result.body = (*this).body.extractTypeID(typeSet);
+ return result;
+ };
+
+ /// Modifies this object, keeping only this type of data.
+ /// @param type Type of value to be kept.
+ inline gnssSatTypeValue& keepOnlyTypeID(const TypeID& type)
+ {
+ TypeIDSet typeSet;
+ typeSet.insert(type);
+ return (*this).keepOnlyTypeID(typeSet);
+ }
+
+ /// Modifies this object, keeping only these types of data.
+ /// @param typeSet Set (TypeIDSet) containing the types of data to be kept.
+ inline gnssSatTypeValue& keepOnlyTypeID(const TypeIDSet& typeSet)
+ {
+ satTypeValueMap stvMap( (*this).body.extractTypeID(typeSet) );
+ (*this).body = stvMap;
+ return (*this);
+ }
+
+ /// Modifies this object, removing this satellite.
+ /// @param satellite Satellite to be removed.
+ inline gnssSatTypeValue& removeSatID(const SatID& satellite)
+ {
+ (*this).body.erase(satellite);
+ return (*this);
+ }
+
+ /// Modifies this object, removing these satellites.
+ /// @param satSet Set (SatIDSet) containing the satellites to be removed.
+ inline gnssSatTypeValue& removeSatID(const SatIDSet& satSet)
+ {
+ SatIDSet::const_iterator pos;
+ for (pos = satSet.begin(); pos != satSet.end(); ++pos)
+ {
+ (*this).body.erase(*pos);
+ }
+ return (*this);
+ }
+
+ /// Modifies this object, removing this type of data.
+ /// @param type Type of value to be kept.
+ inline gnssSatTypeValue& removeTypeID(const TypeID& type)
+ {
+ (*this).body.removeTypeID(type);
+ return (*this);
+ }
+
+ /// Modifies this object, removing these types of data
+ /// @param typeSet Set (TypeIDSet) containing the types of data to be kept.
+ inline gnssSatTypeValue& removeTypeID(const TypeIDSet& typeSet)
+ {
+ TypeIDSet::const_iterator pos;
+ for (pos = typeSet.begin(); pos != typeSet.end(); ++pos)
+ {
+ (*this).body.removeTypeID(*pos);
+ }
+ return (*this);
+ }
+
+ /// Returns a GPSTk::Vector containing the data values with this type.
+ /// @param type Type of value to be returned.
+ inline Vector<double> getVectorOfTypeID(const TypeID& type) const
+ {
+ return ( (*this).body.getVectorOfTypeID(type) );
+ }
+
+
+ /** Modifies this object, adding one vector of data with this type, one value
+ * per satellite.
+ *
+ * If type already exists, data is overwritten. If the number of values does not
+ * match with the number of satellites, a NumberOfSatsMismatch exception is thrown.
+ *
+ * Given that dataVector does not store information about the satellites the
+ * values correspond to, the user is held responsible for having the data values
+ * stored in dataVector in the proper order regarding the SatIDs in this object.
+ *
+ * @param type Type of data to be added.
+ * @param dataVector GPSTk Vector containing the data to be added.
+ */
+ inline gnssSatTypeValue& insertTypeIDVector(const TypeID& type, const Vector<double> dataVector) throw(NumberOfSatsMismatch)
+ {
+ (*this).body.insertTypeIDVector(type, dataVector);
+ return (*this);
+ }
+
+
+ /** Modifies this object, adding a matrix of data, one vector per satellite.
+ *
+ * If types already exists, data is overwritten. If the number of rows in matrix does not
+ * match with the number of satellites, a NumberOfSatsMismatch exception is thrown. If the
+ * number of columns in matrix does not match with the number of types in typeSet, a
+ * NumberOfTypesMismatch exception is thrown.
+ *
+ * Given that dataMatrix does not store information about the satellites and types the
+ * values correspond to, the user is held responsible for having those data values
+ * stored in dataMatrix in the proper order regarding the SatIDs in this object and the
+ * provided typeSet.
+ *
+ * @param typeSet Set (TypeIDSet) containing the types of data to be added.
+ * @param dataMatrix GPSTk Matrix containing the data to be added.
+ */
+ inline gnssSatTypeValue& insertMatrix(const TypeIDSet& typeSet, const Matrix<double> dataMatrix) throw(NumberOfSatsMismatch, NumberOfTypesMismatch)
+ {
+ (*this).body.insertMatrix(typeSet, dataMatrix);
+ return (*this);
+ }
+
+
+ /** Returns a reference to the typeValueMap with corresponding satellite.
+ * This operator allows direct access to data values when chained with the
+ * typeValueMap::operator() like this: gRin(sat21)(TypeID::C1).
+ *
+ * Example:
+ *
+ * @code
+ * RinexObsStream rin("bahr1620.04o"); // Create the input file stream
+ * gnssRinex gRin; // Declare a gnssRinex object
+ * SatID sat21(21,SatID::systemGPS); // Create a satellite object
+ *
+ * // Feed the gRin data structure
+ * while(rin >> gRin)
+ * {
+ * try
+ * {
+ * if (gRin(sat21)(TypeID::C1) == 0.0) gRin(sat21)(TypeID::C1) = 123.456;
+ * cout << "C1 value for satellite G21: " << gRin(sat21)(TypeID::C1) << endl;
+ * }
+ * catch (SatIDNotFound& e)
+ * {
+ * cout << endl << "Satellite G21 not found." << endl;
+ * };
+ * }
+ * @endcode
+ *
+ * @param satellite Satellite to be looked for.
+ */
+ inline typeValueMap& operator()(const SatID& satellite) throw(SatIDNotFound)
+ {
+ return (*this).body(satellite);
+ }
+
+
+ /// Destructor.
+ virtual ~gnssSatTypeValue() {};
+
+ }; // End of gnssSatTypeValue
+
+
+
+ /// GNSS data structure with source, epoch and extra Rinex data as header (common indexes) and satTypeValueMap as body.
+ struct gnssRinex : gnssSatTypeValue
+ {
+
+ /// Header.
+ sourceEpochRinexHeader header;
+
+ /// Returns a gnssRinex with only this satellite.
+ /// @param satellite Satellite to be extracted.
+ inline gnssRinex extractSatID(const SatID& satellite) const
+ {
+ gnssRinex result;
+ result.header = (*this).header;
+ result.body = (*this).body.extractSatID(satellite);
+ return result;
+
+ };
+
+ /// Returns a gnssRinex with only one satellite, identified by the given parameters.
+ /// @param p Satellite PRN number.
+ /// @param p System the satellite belongs to.
+ inline gnssRinex extractSatID(const int& p, const SatID::SatelliteSystem& s) const
+ {
+ SatID tempSatellite(p, s); // We build a temporary SatID object
+ return (*this).extractSatID(tempSatellite);
+ };
+
+ /// Returns a gnssRinex with only these satellites.
+ /// @param satSet Set (SatIDSet) containing the satellites to be extracted.
+ inline gnssRinex extractSatID(const SatIDSet& satSet) const
+ {
+ gnssRinex result;
+ result.header = (*this).header;
+ result.body = (*this).body.extractSatID(satSet);
+ return result;
+ }
+
+ /// Modifies this object, keeping only this satellite.
+ /// @param satellite Satellite to be kept.
+ inline gnssRinex& keepOnlySatID(const SatID& satellite)
+ {
+ SatIDSet satSet;
+ satSet.insert(satellite);
+ return (*this).keepOnlySatID(satSet);
+ }
+
+ /// Modifies this object, keeping only this satellite.
+ /// @param p Satellite PRN number.
+ /// @param p System the satellite belongs to.
+ inline gnssRinex& keepOnlySatID(const int& p, const SatID::SatelliteSystem& s)
+ {
+ SatID tempSatellite(p, s); // We build a temporary SatID object
+ return (*this).keepOnlySatID(tempSatellite);
+ }
+
+ /// Modifies this object, keeping only these satellites.
+ /// @param satSet Set (SatIDSet) containing the satellites to be kept.
+ inline gnssRinex& keepOnlySatID(const SatIDSet& satSet)
+ {
+ satTypeValueMap stvMap( (*this).body.extractSatID(satSet) );
+ (*this).body = stvMap;
+ return (*this);
+ }
+
+ /// Returns a gnssRinex with only this type of data.
+ /// @param type Type of value to be extracted.
+ inline gnssRinex extractTypeID(const TypeID& type) const
+ {
+ gnssRinex result;
+ result.header = (*this).header;
+ result.body = (*this).body.extractTypeID(type);
+ return result;
+ };
+
+ /// Returns a gnssRinex with only these types of data.
+ /// @param typeSet Set (TypeIDSet) containing the types of data to be extracted.
+ inline gnssRinex extractTypeID(const TypeIDSet& typeSet) const
+ {
+ gnssRinex result;
+ result.header = (*this).header;
+ result.body = (*this).body.extractTypeID(typeSet);
+ return result;
+
+ };
+
+ /// Modifies this object, keeping only this type of data.
+ /// @param type Type of value to be kept.
+ inline gnssRinex& keepOnlyTypeID(const TypeID& type)
+ {
+ TypeIDSet typeSet;
+ typeSet.insert(type);
+ return (*this).keepOnlyTypeID(typeSet);
+ }
+
+ /// Modifies this object, keeping only these types of data.
+ /// @param typeSet Set (TypeIDSet) containing the types of data to be kept.
+ inline gnssRinex& keepOnlyTypeID(const TypeIDSet& typeSet)
+ {
+ satTypeValueMap stvMap( (*this).body.extractTypeID(typeSet) );
+ (*this).body = stvMap;
+ return (*this);
+ }
+
+
+ /// Destructor.
+ virtual ~gnssRinex() {};
+
+ }; // End of gnssRinex
+
+
+
+ /// Object defining the structure of GNSS equation. The header is the prefit and the body is a TypeIDSet containing
+ /// the unknowns.
+ struct gnssEquationDefinition : gnssData<TypeID, TypeIDSet>
+ {
+
+ /// Default constructor.
+ gnssEquationDefinition() {};
+
+
+ /// Common constructor.
+ gnssEquationDefinition(const TypeID& h, const TypeIDSet& b)
+ {
+ header = h;
+ body = b;
+ }
+
+
+ /// Destructor.
+ virtual ~gnssEquationDefinition() {};
+
+
+ }; // End of gnssEquationDefinition
+
+
+
+
+ /// Stream input for gnssSatTypeValue.
+ /// @param i Input stream.
+ /// @param f gnssSatTypeValue receiving the data.
+ std::istream& operator>>(std::istream& i, gnssSatTypeValue& f)
+ throw(FFStreamError, gpstk::StringUtils::StringException);
+
+
+ /// Input for gnssSatTypeValue from RinexObsHeader.
+ /// @param roh RinexObsHeader holding the data.
+ /// @param f gnssSatTypeValue receiving the data.
+ gnssSatTypeValue& operator>>(const RinexObsHeader& roh, gnssSatTypeValue& f);
+
+ /// Input for gnssSatTypeValue from RinexObsData.
+ /// @param rod RinexObsData holding the data.
+ /// @param f gnssSatTypeValue receiving the data.
+ gnssSatTypeValue& operator>>(const RinexObsData& rod, gnssSatTypeValue& f);
+
+ /// Input for gnssRinex from RinexObsHeader.
+ /// @param roh RinexObsHeader holding the data.
+ /// @param f gnssRinex receiving the data.
+ gnssRinex& operator>>(const RinexObsHeader& roh, gnssRinex& f);
+
+ /// Input for gnssRinex from RinexObsData.
+ /// @param rod RinexObsData holding the data.
+ /// @param f gnssRinex receiving the data.
+ gnssRinex& operator>>(const RinexObsData& rod, gnssRinex& f);
+
+
+ /// Convenience function to convert from SatID system to SourceID type.
+ /// @param sid Satellite ID.
+ inline SourceID::SourceType SatIDsystem2SourceIDtype(const SatID& sid)
+ {
+ // Select the right system the data came from
+ switch(sid.system)
+ {
+ case SatID::systemGPS:
+ return SourceID::GPS;
+ break;
+ case SatID::systemGalileo:
+ return SourceID::Galileo;
+ break;
+ case SatID::systemGlonass:
+ return SourceID::Glonass;
+ break;
+ case SatID::systemGeosync:
+ return SourceID::Geosync;
+ break;
+ case SatID::systemLEO:
+ return SourceID::LEO;
+ break;
+ case SatID::systemTransit:
+ return SourceID::Transit;
+ break;
+ case SatID::systemMixed:
+ return SourceID::Mixed;
+ break;
+ default:
+ return SourceID::Unknown;
+ }
+ } // End SatIDsystem2SourceIDtype(const SatID& sid)
+
+
+ /// Convenience function to fill a typeValueMap with data from RinexObsTypeMap.
+ inline typeValueMap FilltypeValueMapwithRinexObsTypeMap(const RinexObsData::RinexObsTypeMap& otmap)
+ {
+ // RinexObsTypeMap is a map from RinexObsType to RinexDatum:
+ // std::map<RinexObsHeader::RinexObsType, RinexDatum>
+ // Let's define a iterator to visit the observations type map
+ RinexObsData::RinexObsTypeMap::const_iterator itObs;
+
+ // We will need a typeValueMap
+ typeValueMap tvMap;
+
+ // Let's visit the RinexObsTypeMap (RinexObsType -> RinexDatum)
+ for (itObs = otmap.begin(); itObs!= otmap.end(); ++itObs)
+ {
+
+ TypeID type( RinexType2TypeID( (*itObs).first ) );
+ tvMap[ type ] = (*itObs).second.data;
+
+ // If this is a phase measurement, let's store corresponding LLI and SSI for this SV and frequency
+ // Also, the values for phase measurements will be given in meters
+ if (type == TypeID::L1)
+ {
+ tvMap[TypeID::LLI1] = (*itObs).second.lli;
+ tvMap[TypeID::SSI1] = (*itObs).second.ssi;
+ tvMap[ type ] = tvMap[ type ] * L1_WAVELENGTH;
+ }
+ if (type == TypeID::L2)
+ {
+ tvMap[TypeID::LLI2] = (*itObs).second.lli;
+ tvMap[TypeID::SSI2] = (*itObs).second.ssi;
+ tvMap[ type ] = tvMap[ type ] * L2_WAVELENGTH;
+ }
+ if (type == TypeID::L5)
+ {
+ tvMap[TypeID::LLI5] = (*itObs).second.lli;
+ tvMap[TypeID::SSI5] = (*itObs).second.ssi;
+ tvMap[ type ] = tvMap[ type ] * L5_WAVELENGTH;
+ }
+ if (type == TypeID::L6)
+ {
+ tvMap[TypeID::LLI6] = (*itObs).second.lli;
+ tvMap[TypeID::SSI6] = (*itObs).second.ssi;
+ tvMap[ type ] = tvMap[ type ] * L6_WAVELENGTH;
+ }
+ if (type == TypeID::L7)
+ {
+ tvMap[TypeID::LLI7] = (*itObs).second.lli;
+ tvMap[TypeID::SSI7] = (*itObs).second.ssi;
+ tvMap[ type ] = tvMap[ type ] * L7_WAVELENGTH;
+ }
+ if (type == TypeID::L8)
+ {
+ tvMap[TypeID::LLI8] = (*itObs).second.lli;
+ tvMap[TypeID::SSI8] = (*itObs).second.ssi;
+ tvMap[ type ] = tvMap[ type ] * L8_WAVELENGTH;
+ }
+ }
+
+ return tvMap;
+
+ } // End FilltypeValueMapwithRinexObsTypeMap(const RinexObsData::RinexObsTypeMap& otmap)
+
+
+ /// Convenience function to fill a satTypeValueMap with data from RinexObsData.
+ /// @param rod RinexObsData holding the data.
+ inline satTypeValueMap FillsatTypeValueMapwithRinexObsData(const RinexObsData& rod)
+ {
+
+ // We need to declare a satTypeValueMap
+ satTypeValueMap theMap;
+
+ // Let's define the "it" iterator to visit the observations PRN map
+ // RinexSatMap is a map from SatID to RinexObsTypeMap:
+ // std::map<SatID, RinexObsTypeMap>
+ RinexObsData::RinexSatMap::const_iterator it;
+ for (it = rod.obs.begin(); it!= rod.obs.end(); ++it)
+ {
+ // RinexObsTypeMap is a map from RinexObsType to RinexDatum:
+ // std::map<RinexObsHeader::RinexObsType, RinexDatum>
+ // The "second" field of a RinexSatMap (it) is a RinexObsTypeMap (otmap)
+ RinexObsData::RinexObsTypeMap otmap = (*it).second;
+
+ theMap[(*it).first] = FilltypeValueMapwithRinexObsTypeMap(otmap);
+
+ }
+
+ return theMap;
+
+ } // End FillsatTypeValueMapwithRinexObsData(const RinexObsData& rod)
+
+
+ /** Stream input for gnssRinex.
+ * This handy operator allows to fed a gnssRinex data structure directly from
+ * an input stream such a RinexObsStream object. For example:
+ *
+ * @code
+ * RinexObsStream rin("bahr1620.04o"); // Create the input file stream
+ * gnssRinex gRin; // Declare a gnssRinex object
+ *
+ * // Feed the gRin data structure
+ * while(rin >> gRin) {
+ * // Lots of stuff here...
+ * }
+ * @endcode
+ */
+ std::istream& operator>>(std::istream& i, gnssRinex& f)
+ throw(FFStreamError, gpstk::StringUtils::StringException);
+
+ /**
+ * This function constructs a DayTime object from the given parameters.
+ * @param line the encoded time string found in the RINEX record.
+ * @param hdr the RINEX Observation Header object for the current RINEX file.
+ */
+ inline DayTime parseTime(const std::string& line, const RinexObsHeader& hdr) throw(FFStreamError)
+ {
+ try
+ {
+ // check if the spaces are in the right place - an easy
+ // way to check if there's corruption in the file
+ if ( (line[0] != ' ') ||
+ (line[3] != ' ') ||
+ (line[6] != ' ') ||
+ (line[9] != ' ') ||
+ (line[12] != ' ') ||
+ (line[15] != ' '))
+ {
+ FFStreamError e("Invalid time format");
+ GPSTK_THROW(e);
+ }
+
+ // if there's no time, just return a bad time
+ if (line.substr(0,26) == std::string(26, ' '))
+ {
+ return DayTime(DayTime::BEGINNING_OF_TIME);
+ }
+
+ int year, month, day, hour, min;
+ double sec;
+ int yy = hdr.firstObs.year()/100;
+ yy *= 100;
+
+ year = StringUtils::asInt( line.substr(1, 2 ));
+ month = StringUtils::asInt( line.substr(4, 2 ));
+ day = StringUtils::asInt( line.substr(7, 2 ));
+ hour = StringUtils::asInt( line.substr(10, 2 ));
+ min = StringUtils::asInt( line.substr(13, 2 ));
+ sec = StringUtils::asDouble(line.substr(15, 11));
+
+ // Real Rinex has epochs 'yy mm dd hr 59 60.0' surprisingly often....
+ double ds=0;
+ if(sec >= 60.) { ds=sec; sec=0.0; }
+ DayTime rv(yy+year, month, day, hour, min, sec);
+ if(ds != 0) rv += ds;
+
+ return rv;
+ }
+ // string exceptions for substr are caught here
+ catch (std::exception &e)
+ {
+ FFStreamError err("std::exception: " + std::string(e.what()));
+ GPSTK_THROW(err);
+ }
+ catch (gpstk::Exception& e)
+ {
+ std::string text;
+ for(int i=0; i<(int)e.getTextCount(); i++) text += e.getText(i);
+ FFStreamError err("gpstk::Exception in parseTime(): " + text);
+ GPSTK_THROW(err);
+ }
+
+ }
+
+
+ //@}
+
+} // namespace gpstk
+#endif
diff --git a/dev/src/DayTime.cpp b/dev/src/DayTime.cpp
new file mode 100644
index 0000000..15b9d7f
--- /dev/null
+++ b/dev/src/DayTime.cpp
@@ -0,0 +1,1922 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file DayTime.cpp
+ * gpstk::DayTime - encapsulates date and time-of-day in many formats
+ */
+
+#include <iostream>
+#include <iomanip>
+#include <string>
+#include <ctime>
+
+#include "gpstkplatform.h"
+#include "DayTime.hpp"
+
+namespace gpstk
+{
+ using namespace std;
+ using namespace gpstk::StringUtils;
+
+ // ----------- Part 0: month and day labels -------------------
+ //
+ /// Long month names for converstion from numbers to strings
+ static const char *MonthNames[] = {
+ "Error",
+ "January","February", "March", "April",
+ "May", "June","July", "August",
+ "September", "October", "November", "December"
+ };
+
+ /// Short month names for converstion from numbers to strings
+ static const char *MonthAbbrevNames[] = {
+ "err", "Jan", "Feb", "Mar", "Apr", "May", "Jun","Jul",
+ "Aug", "Sep", "Oct", "Nov", "Dec"
+ };
+
+ /// Long day of week names for converstion from numbers to strings
+ static const char *DayOfWeekNames[] = {
+ "Sunday", "Monday", "Tuesday", "Wednesday", "Thursday",
+ "Friday", "Saturday"
+ };
+
+ /// Short day of week names for converstion from numbers to strings
+ static const char *DayOfWeekAbbrevNames[] = {
+ "Sun", "Mon", "Tue", "Wed", "Thu", "Fri", "Sat"
+ };
+
+ // ----------- Part 1: exceptions and constants ---------------
+ //
+
+ // mSod is sod*FACTOR and mSec is seconds*FACTOR
+ // NB FACTOR must be <, and a factor of, 1,000,000
+ const long DayTime::FACTOR = 1000;
+
+ // Seconds per half a GPS week.
+ const long DayTime::HALFWEEK = 302400;
+ // Seconds per whole GPS week.
+ const long DayTime::FULLWEEK = 604800;
+ // Seconds per day.
+ const long DayTime::SEC_DAY = 86400;
+ // Milliseconds in a day.
+ const long DayTime::MS_PER_DAY = SEC_DAY*1000;
+
+ // Conversion offset, Julian Date to Modified Julian Date.
+ const double DayTime::JD_TO_MJD = 2400000.5;
+ // 'Julian day' offset from MJD
+ const long DayTime::MJD_JDAY = 2400001;
+ // 'Julian day' of GPS epoch (Jan. 1, 1980).
+ const long DayTime::GPS_EPOCH_JDAY = 2444245L;
+ // Modified Julian Date of GPS epoch (Jan. 1, 1980).
+ const long DayTime::GPS_EPOCH_MJD = 44244L;
+ // Modified Julian Date of UNIX epoch (Jan. 1, 1970).
+ const long DayTime::UNIX_MJD = 40587L;
+
+ // One nanosecond tolerance.
+ const double DayTime::ONE_NSEC_TOLERANCE = 1e-9;
+ // One microsecond tolerance.
+ const double DayTime::ONE_USEC_TOLERANCE = 1e-6;
+ // One millisecond tolerance.
+ const double DayTime::ONE_MSEC_TOLERANCE = 1e-3;
+ // One second tolerance.
+ const double DayTime::ONE_SEC_TOLERANCE = 1;
+ // One minute tolerance.
+ const double DayTime::ONE_MIN_TOLERANCE = 60;
+ // One hour tolerance.
+ const double DayTime::ONE_HOUR_TOLERANCE = 3600;
+
+ // Tolerance for time equality.
+#ifdef _WIN32
+ double DayTime::DAYTIME_TOLERANCE = ONE_USEC_TOLERANCE;
+#else
+ double DayTime::DAYTIME_TOLERANCE = ONE_NSEC_TOLERANCE;
+#endif
+
+ // 'julian day' of earliest epoch expressible by DayTime; 1/1/4713 B.C.
+ const long DayTime::BEGIN_LIMIT_JDAY=0;
+ // 'julian day' of latest 'julian day' expressible by DayTime,
+ // 1/1/4713 A.D.
+ const long DayTime::END_LIMIT_JDAY=3442448;
+ // earliest representable DayTime
+ const DayTime DayTime::BEGINNING_OF_TIME =
+ DayTime(DayTime::BEGIN_LIMIT_JDAY, 0, 0.0, DayTime::DAYTIME_TOLERANCE);
+ // latest representable DayTime
+ const DayTime DayTime::END_OF_TIME =
+ DayTime(DayTime::END_LIMIT_JDAY, 0, 0.0, DayTime::DAYTIME_TOLERANCE);
+
+ // If true, check the validity of inputs and throw DayTimeException
+ // on failure.
+ bool DayTime::DAYTIME_TEST_VALID = true;
+
+ // ----------- Part 2: member functions: tolerance -------------
+ //
+ DayTime& DayTime::setTolerance(const double tol)
+ throw()
+ {
+ tolerance = tol;
+ return *this;
+ }
+
+ // ----------- Part 3: member functions: constructors ----------
+ //
+ // Default constructor; initializes to current system time.
+ DayTime::DayTime()
+ throw(DayTime::DayTimeException)
+ {
+ init();
+ setSystemTime();
+ }
+
+ // GPS time with full week constructor.
+ // @param GPSWeek full week number
+ // @param GPSSecond seconds of week.
+ // @param f Time frame (see #TimeFrame)
+ DayTime::DayTime(short GPSWeek,
+ double GPSSecond,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ init();
+ setGPSfullweek(GPSWeek, GPSSecond, f);
+ }
+
+ // GPS time constructor.
+ // @param GPSWeek 10 bit week number.
+ // @param GPSSecond Seconds of week.
+ // @param year Four-digit year.
+ // @param f Time frame (see #TimeFrame)
+ DayTime::DayTime(short GPSWeek,
+ double GPSSecond,
+ short ayear,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ init();
+ setGPS(GPSWeek, GPSSecond, ayear, f);
+ }
+
+ // GPS time constructor.
+ // @param GPSWeek GPS 10 bit week number.
+ // @param zcount Z-count (seconds of week / 1.5)
+ // @param year Four-digit year.
+ // @param f Time frame (see #TimeFrame)
+ DayTime::DayTime(short GPSWeek,
+ long zcount,
+ short ayear,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ init();
+ setGPS(GPSWeek, zcount, ayear, f);
+ }
+
+ // GPS time constructor.
+ // @param fullZcount Full z-count (3 MSB unused, mid 10 bits -
+ // week number, 19 LSB "normal" z-count).
+ // @param f Time frame (see #TimeFrame)
+ DayTime::DayTime(unsigned long fullZcount,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ init();
+ setGPS(fullZcount, f);
+ }
+
+ // GPS Zcount constructor.
+ // @param z GPSZcount object to set to
+ // @param f Time frame (see #TimeFrame)
+ DayTime::DayTime(const GPSZcount& z,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ init();
+ setGPSZcount(z, f);
+ }
+
+ // CommonTime constructor.
+ // @param c CommonTime object to set to
+ // @param f Time frame (see #TimeFrame)
+ DayTime::DayTime(const CommonTime& c,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ init();
+ setCommonTime(c, f);
+ }
+
+ // Calendar time constructor.
+ // @param yy four-digit year.
+ // @param mm month of year (1-based).
+ // @param dd day of month (1-based).
+ // @param hh hour of day.
+ // @param min minutes of hour.
+ // @param sec seconds of minute.
+ // @param f Time frame (see #TimeFrame)
+ DayTime::DayTime(short yy,
+ short mm,
+ short dd,
+ short hh,
+ short min,
+ double sec,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ init();
+ setYMDHMS(yy, mm, dd, hh, min, sec, f);
+ }
+
+ // Modified Julian date time constructor.
+ // @param julian Modified Julian date.
+ // @param f Time frame (see #TimeFrame)
+ DayTime::DayTime(long double mjd,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ init();
+ setMJD(mjd, f);
+ }
+
+ // Modified Julian date time constructor.
+ // @param MJD Modified Julian date as double.
+ // @param f Time frame (see #TimeFrame)
+ DayTime::DayTime(double mjd,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ init();
+ setMJD((long double)(mjd), f);
+ }
+
+ // Day of year time constructor.
+ // @param year Four-digit year.
+ // @param DOY Day of year.
+ // @param SOD Seconds of day.
+ // @param f Time frame (see #TimeFrame)
+ DayTime::DayTime(short year,
+ short doy,
+ double sod,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ init();
+ setYDoySod(year,doy,sod,f);
+ }
+
+ // UNIX time constructor.
+ // @param t timeval structure (typically from gettimeofday()).
+ // @param f Time frame (see #TimeFrame)
+ DayTime::DayTime(const struct timeval& t,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ init();
+ setUnix(t,f);
+ timeFrame = f;
+ }
+
+ // ----------- Part 4: member functions: assignment and copy ----------
+ //
+ // Copy constructor
+ DayTime::DayTime(const DayTime &right)
+ throw(DayTime::DayTimeException)
+ {
+ init();
+ *this = right;
+ }
+
+ // Assignment operator.
+ DayTime& DayTime::operator=(const DayTime& right)
+ throw()
+ {
+ jday = right.jday;
+ mSod = right.mSod;
+ mSec = right.mSec;
+ timeFrame = right.timeFrame;
+ tolerance = right.tolerance;
+ return *this;
+ }
+
+ // ----------- Part 5: member functions: arithmetic ------------
+ //
+ // DayTime difference function.
+ // @param right DayTime to subtract from this one.
+ // @return difference in seconds.
+ double DayTime::operator-(const DayTime& right) const
+ throw()
+ {
+ return ( SEC_DAY * double(jday - right.jday)
+ + (double(mSod - right.mSod) + mSec - right.mSec) / FACTOR );
+ }
+
+ // Add seconds to this time.
+ // @param seconds Number of seconds to increase this time by.
+ // @return The new time incremented by \c seconds.
+ DayTime DayTime::operator+(double seconds) const
+ throw()
+ {
+ return DayTime(*this).addSeconds(seconds);
+ }
+
+ // Subtract seconds from this time.
+ // @param seconds Number of seconds to decrease this time by.
+ // @return The new time decremented by \c seconds.
+ DayTime DayTime::operator-(double seconds) const
+ throw()
+ {
+ return DayTime(*this).addSeconds(-seconds);
+ }
+
+ // Add seconds to this time.
+ // @param seconds Number of seconds to increase this time by.
+ DayTime& DayTime::operator+=(double seconds)
+ throw(DayTime::DayTimeException)
+ {
+ addSeconds(seconds);
+ return *this;
+ }
+
+ // Subtract seconds from this time.
+ // @param sec Number of seconds to decrease this time by.
+ DayTime& DayTime::operator-=(double seconds)
+ throw(DayTime::DayTimeException)
+ {
+ addSeconds(-seconds);
+ return *this;
+ }
+
+ // Add seconds to this object.
+ // @param seconds Number of seconds to add
+ DayTime& DayTime::addSeconds(double seconds)
+ throw(DayTime::DayTimeException)
+ {
+ addLongDeltaTime(0, 0, seconds * FACTOR);
+ return *this;
+ }
+
+ // Add (integer) seconds to this object.
+ // @param seconds Number of seconds to add.
+ DayTime& DayTime::addSeconds(long seconds)
+ throw(DayTime::DayTimeException)
+ {
+ long ldd, lds ;
+ ldd = seconds / SEC_DAY ; // days
+ seconds %= SEC_DAY ; // seconds-of-day
+ lds = seconds * FACTOR ;
+ addLongDeltaTime(ldd, lds, 0) ;
+ return *this ;
+ }
+
+ // Add (integer) milliseconds to this object.
+ // @param msec Number of milliseconds to add.
+ DayTime& DayTime::addMilliSeconds(long msec)
+ throw(DayTime::DayTimeException)
+ {
+ long ldd, lds ;
+ ldd = msec / MS_PER_DAY ; // days
+ msec %= MS_PER_DAY ; // milliseconds-of-day
+ lds = msec * FACTOR / 1000 ;
+ addLongDeltaTime(ldd, lds, 0) ;
+ return *this;
+ }
+
+ // Add (integer) microseconds to this object.
+ // @param usec Number of microseconds to add.
+ DayTime& DayTime::addMicroSeconds(long usec)
+ throw(DayTime::DayTimeException)
+ {
+ // NB FACTOR must be <, and a factor of, 1000000 :
+ long ldd, lds, mult = (1000000 / FACTOR);
+ double ds;
+ ldd = usec / (1000000 * SEC_DAY) ; // days
+ usec %= (1000000 * SEC_DAY) ; // usec-of-day
+ lds = usec / mult; // long sec/FACTOR's
+ ds = double(usec % mult) / mult; // frac sec/FACTOR's
+ addLongDeltaTime(ldd, lds, ds);
+ return *this;
+ }
+
+ // ----------- Part 6: member functions: comparisons ------------
+ //
+ // Equality operator.
+ bool DayTime::operator==(const DayTime &right) const
+ throw()
+ {
+ // use the smaller of the two tolerances for comparison
+ return (ABS(operator-(right)) <=
+ ((tolerance > right.tolerance) ? right.tolerance : tolerance));
+ }
+ // Inequality operator.
+ bool DayTime::operator!=(const DayTime &right) const
+ throw()
+ {
+ return !(operator==(right));
+ }
+ // Comparison operator (less-than).
+ bool DayTime::operator<(const DayTime &right) const
+ throw()
+ {
+ return (operator-(right) <
+ -((tolerance > right.tolerance) ? right.tolerance : tolerance));
+ }
+ // Comparison operator (greater-than).
+ bool DayTime::operator>(const DayTime &right) const
+ throw()
+ {
+ return (operator-(right) >
+ ((tolerance > right.tolerance) ? right.tolerance : tolerance));
+ }
+ // Comparison operator (less-than or equal-to).
+ bool DayTime::operator<=(const DayTime &right) const
+ throw()
+ {
+ return !(operator>(right));
+ }
+ // Comparison operator (greater-than or equal-to).
+ bool DayTime::operator>=(const DayTime &right) const
+ throw()
+ {
+ return !(operator<(right));
+ }
+
+ // ----------- Part 7: member functions: time frame-----------------------
+ //
+ DayTime& DayTime::setAllButTimeFrame(const DayTime& right)
+ throw(DayTime::DayTimeException)
+ {
+ TimeFrame t = timeFrame;
+ *this = right;
+ timeFrame = t;
+ return *this;
+ }
+
+ // ----------- Part 8: member functions: get -----------------------------
+ //
+ //
+ // These routines let you retrieve the time stored in this object.
+ //
+ // Get Julian Date JD
+ double DayTime::JD() const throw()
+ {
+ return (double(jday) + secOfDay() / SEC_DAY - 0.5);
+ }
+
+ // Get Modified Julian Date MJD
+ double DayTime::MJD() const
+ throw()
+ {
+ return JD() - JD_TO_MJD ;
+ }
+
+ // Get year.
+ short DayTime::year() const
+ throw()
+ {
+ int yy, mm, dd;
+ convertJDtoCalendar(jday, yy, mm, dd);
+ return yy;
+ }
+
+ // Get month of year.
+ short DayTime::month() const
+ throw()
+ {
+ int yy, mm, dd;
+ convertJDtoCalendar(jday, yy, mm, dd);
+ return mm;
+ }
+
+ // Get day of month.
+ short DayTime::day() const
+ throw()
+ {
+ int yy,mm,dd;
+ convertJDtoCalendar(jday, yy, mm, dd);
+ return dd;
+ }
+
+ // Get day of week
+ short DayTime::dayOfWeek() const
+ throw()
+ {
+ return (((jday % 7) + 1) % 7) ;
+ }
+
+ // Get hour of day.
+ short DayTime::hour() const
+ throw()
+ {
+ int hh, mm ;
+ double sec ;
+ convertSODtoTime(secOfDay(), hh, mm, sec);
+ return hh;
+ }
+
+ // Get minutes of hour.
+ short DayTime::minute() const
+ throw()
+ {
+ int hh, mm ;
+ double sec ;
+ convertSODtoTime(secOfDay(), hh, mm, sec);
+ return mm;
+ }
+
+ // Get seconds of minute.
+ double DayTime::second() const
+ throw()
+ {
+ int hh, mm ;
+ double sec ;
+ convertSODtoTime(secOfDay(), hh, mm, sec) ;
+ return sec;
+ }
+
+ // Get 10-bit GPS week.
+ short DayTime::GPS10bitweek() const
+ throw()
+ {
+ return (GPSfullweek() % 1024);
+ }
+
+ // Get normal (19 bit) zcount.
+ long DayTime::GPSzcount() const
+ throw()
+ {
+ return (long)((GPSsow() / 1.5) + .5);
+ }
+
+ // Same as GPSzcount() but without rounding to nearest zcount.
+ long DayTime::GPSzcountFloor() const
+ throw()
+ {
+ return (long)(GPSsow() / 1.5);
+ }
+
+ // Get seconds of week.
+ double DayTime::GPSsow() const
+ throw()
+ {
+ return double(GPSday() * SEC_DAY) + secOfDay() ;
+ }
+
+ // Get full (>10 bits) week
+ short DayTime::GPSfullweek() const
+ throw()
+ {
+ return short(double(jday - GPS_EPOCH_JDAY) / 7) ;
+ }
+
+ // Get day of year.
+ short DayTime::DOY() const
+ throw()
+ {
+ int yy, mm, dd;
+ convertJDtoCalendar(jday, yy, mm, dd);
+ return (jday - convertCalendarToJD(yy, 1, 1) + 1) ;
+ }
+
+ // Get object time as a modified Julian date.
+ long double DayTime::getMJDasLongDouble() const
+ throw()
+ {
+ return ( (long double)(jday)
+ + (long double)(secOfDay() / SEC_DAY - 0.5)
+ - (long double)(JD_TO_MJD) );
+ }
+
+ // Get object time in UNIX timeval structure.
+ struct timeval DayTime::unixTime() const
+ throw(DayTime::DayTimeException)
+ {
+ struct timeval t;
+
+ t.tv_sec = mSod / FACTOR
+ + long(jday - MJD_JDAY - UNIX_MJD) * SEC_DAY ;
+
+ t.tv_usec = (mSod % FACTOR) * (1000000 / FACTOR)
+ + long(mSec * (1000000 / FACTOR) + 0.5) ;
+
+ if (t.tv_usec >= 1000000)
+ {
+ t.tv_usec -= 1000000;
+ ++t.tv_sec;
+ }
+
+ return t;
+ }
+
+ // Get time as 32 bit Z count.
+ // The 13 MSBs are week modulo 1024, 19 LSBs are seconds of
+ // week in Zcounts.
+ unsigned long DayTime::fullZcount() const
+ throw()
+ {
+ return ((long(GPS10bitweek()) << 19) + GPSzcount()) ;
+ }
+
+ // Same as fullZcount() but without rounding to nearest zcount.
+ unsigned long DayTime::fullZcountFloor() const
+ throw()
+ {
+ return ((long(GPS10bitweek()) << 19) + GPSzcountFloor()) ;
+ }
+
+ DayTime::operator GPSZcount() const
+ throw(DayTime::DayTimeException)
+ {
+ try
+ {
+ // account for rounding error in GPSzcount()
+ if(GPSzcount() == GPSZcount::ZCOUNT_WEEK)
+ {
+ return GPSZcount(GPSfullweek() + 1, 0);
+ }
+ else
+ {
+ return GPSZcount(GPSfullweek(), GPSzcount());
+ }
+ }
+ catch (gpstk::InvalidParameter& ip)
+ {
+ DayTime::DayTimeException de(ip);
+ GPSTK_THROW(de);
+ }
+ }
+
+ DayTime::operator CommonTime() const
+ throw(DayTime::DayTimeException)
+ {
+ try
+ {
+ // Multiply by 1/FACTOR to convert mSec from milliseconds to seconds.
+ return CommonTime().setInternal(jday, mSod, mSec / FACTOR);
+ }
+ catch (gpstk::InvalidParameter& ip)
+ {
+ DayTime::DayTimeException de(ip);
+ GPSTK_THROW(de);
+ }
+ }
+
+ // ----------- Part 9: member functions: set -------------
+ //
+ // Set the object's time using calendar (Y/M/D) date and ordinary (H:M:S)
+ // time.
+ // @param yy four-digit year.
+ // @param month month of year (1-based).
+ // @param day day of month (1-based).
+ // @param hour hour of day.
+ // @param min minutes of hour.
+ // @param sec seconds of minute.
+ // @param f Time frame (see #TimeFrame)
+ // @return a reference to this object.
+ DayTime& DayTime::setYMDHMS(short yy,
+ short month,
+ short day,
+ short hour,
+ short min,
+ double sec,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ setYMD(yy, month, day, f);
+ return setHMS(hour, min, sec, f);
+ }
+
+ // Set the object time using GPS time. If the GPS week is
+ // 10 bit, the full week is determined from the system clock.
+ // @param week Week number (can be 10 bit).
+ // @param sow Seconds of week.
+ // @param f Time frame (see #TimeFrame)
+ // @return a reference to this object.
+ DayTime& DayTime::setGPS(short week,
+ double sow,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ short fullweek=week;
+ if(week < 1024) {
+ DayTime ndt;
+ ndt.setSystemTime();
+ fullweek = 1024*(ndt.GPSfullweek()/1024) + week;
+ }
+ return setGPSfullweek(fullweek,sow,f);
+ }
+
+ // Set the object's time using GPS time. If the GPS week
+ // is 10 bit, the full week is determined from the system clock.
+ // @param week GPS 10 bit week number.
+ // @param zcount Z-count (seconds of week / 1.5)
+ // @param f Time frame (see #TimeFrame)
+ // @return a reference to this object.
+ DayTime& DayTime::setGPS(short week,
+ long zcount,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ return setGPS(week, double(zcount) * 1.5, f);
+ }
+
+ // Set the object's time using GPS time.
+ // @param week GPS 10 bit week number.
+ // @param zcount Z-count (seconds of week / 1.5)
+ // @param year Four-digit year.
+ // @param f Time frame (see #TimeFrame)
+ // @return a reference to this object.
+ DayTime& DayTime::setGPS(short week,
+ long zcount,
+ short year,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ return setGPS(week, double(zcount) * 1.5, year, f);
+ }
+
+ // Set the object's time using input GPS 10-bit
+ // week and seconds of week; determine the number
+ // of GPS week rollovers by deducing it from the input year and week.
+ // @param week 10 bit week number.
+ // @param sow Seconds of week.
+ // @param year Four-digit year.
+ // @param f Time frame (see #TimeFrame)
+ // @return a reference to this object.
+ DayTime& DayTime::setGPS(short week,
+ double sow,
+ short year,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ bool valid = true;
+
+ if (DAYTIME_TEST_VALID)
+ {
+ if ((year < 1980) || (week < 0))
+ valid = false;
+ }
+
+ if (valid)
+ {
+ DayTime dt;
+
+ // In case the user supplies the full GPS week number.
+ week %= 1024;
+
+ dt.setYMD(year, 1, 1);
+ // z1 is the number of GPS 10-bit-week roll-overs at the beginning
+ // of the year.
+ short z1 = dt.GPSfullweek() / 1024;
+
+ dt.setYMD(year, 12, 31);
+ // z2 is the number of GPS 10-bit-week roll-overs at the end
+ // of the year.
+ short z2 = dt.GPSfullweek() / 1024;
+
+ // GPS 10-bit-week *does not* roll-over during the year.
+ if (z1 == z2)
+ {
+ return setGPSfullweek(week + z1 * 1024, sow, f);
+ }
+ // GPS 10-bit-week *does* roll-over during the year.
+ else
+ {
+ if (week <= 512) // roll-over happened before week ... use z2
+ {
+ return setGPSfullweek(week + z2 * 1024, sow, f);
+ }
+ else if (week > 512) // roll-over happened after week ... use z1
+ {
+ return setGPSfullweek(week + z1 * 1024, sow, f);
+ }
+ }
+ }
+
+ // If we get here, valid is false.
+ if(DAYTIME_TEST_VALID)
+ {
+ using gpstk::StringUtils::asString ;
+ DayTimeException dte("Input inconsistent: year "
+ + asString<int>(year)
+ + " cannot contain 10-bit GPS week "
+ + asString<short>(week));
+ GPSTK_THROW(dte);
+ }
+
+ return *this;
+ }
+
+ // Set the object's time using GPS time. System time
+ // is used to determine which 'zone' of 1024 weeks is assigned.
+ // @param Zcount Full z-count (3 MSB unused, mid 10 bits -
+ // week number, 19 LSB "normal" z-count).
+ // @param f Time frame (see #TimeFrame)
+ // @return a reference to this object.
+ DayTime& DayTime::setGPS(unsigned long Zcount,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ short cweek = (Zcount >> 19) & 0x3FF ;
+ long zcount = Zcount & 0x7FFFFL ;
+ if(DAYTIME_TEST_VALID)
+ {
+ if(cweek < 0 || cweek > 1023 || // Is this is a necessary check?
+ zcount < 0 || zcount > 403199 )
+ {
+ using gpstk::StringUtils::asString ;
+ DayTimeException dte("Invalid Full GPS Z-count: "
+ + asString<unsigned long>(Zcount));
+ GPSTK_THROW(dte);
+ }
+ }
+ return setGPS(cweek, zcount, f);
+ }
+
+ // Set the object's time using GPS time.
+ // @param fullweek Full (i.e. >10bits) GPS week number.
+ // @param sow Seconds of week.
+ // @param f Time frame (see #TimeFrame)
+ // @return a reference to this object.
+ DayTime& DayTime::setGPSfullweek(short fullweek,
+ double sow,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ if(DAYTIME_TEST_VALID)
+ {
+ if(fullweek < 0 ||
+ sow < 0.0 ||
+ sow >= double(FULLWEEK))
+ {
+ using gpstk::StringUtils::asString ;
+ DayTimeException dte("Invalid week/seconds-of-week: "
+ + asString<short>(fullweek)+ "/"
+ + asString(sow));
+ GPSTK_THROW(dte);
+ }
+ }
+ jday = GPS_EPOCH_JDAY + 7 * long(fullweek) + long(sow / SEC_DAY);
+ double sod = sow - SEC_DAY * long(sow / SEC_DAY);
+ return setSecOfDay(sod, f);
+ }
+
+ // Set the object's time using the given GPSZcount.
+ // System time is used to disambiguate which 1024 week 'zone'
+ // is appropriate.
+ // @param z the GPSZcount object to set to
+ // @param f Time frame (see #TimeFrame)
+ // @return a reference to this object.
+ DayTime& DayTime::setGPSZcount(const GPSZcount& z,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ setGPS(z.getWeek(), z.getZcount(), f) ;
+ return *this ;
+ }
+
+ // Set the object's time using the give CommonTime.
+ // @param c the CommonTime object to set to
+ // @param f Time frame (see #TimeFrame))
+ // @return a reference to this object.
+ DayTime& DayTime::setCommonTime(const CommonTime& c,
+ TimeFrame f)
+ throw()
+ {
+ c.get(jday, mSod, mSec);
+ // Convert mSec from seconds to milliseconds by multiplying by 1000.
+ mSec *= FACTOR;
+ timeFrame = f;
+ return *this;
+ }
+
+ // Set the object's time using day of year.
+ // @param year Four-digit year.
+ // @param day_of_year Day of year.
+ // @param sec_of_day Seconds of day.
+ // @param f Time frame (see #TimeFrame)
+ // @return a reference to this object.
+ DayTime& DayTime::setYDoySod(short year,
+ short doy,
+ double sod,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ setYDoy(year, doy, f);
+ return setSecOfDay(sod, f);
+ }
+
+ // Set the object's time using Modified Julian date.
+ // This just sets the time to the indicated modified Julian date.
+ // @param mjd the MJD of the date & time to set
+ // @param f Time frame (see #TimeFrame)
+ // @return a reference to this object.
+ DayTime& DayTime::setMJD(long double mjd,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ if(DAYTIME_TEST_VALID)
+ {
+ if(mjd < (long double)(BEGIN_LIMIT_JDAY-MJD_JDAY) ||
+ mjd > (long double)(END_LIMIT_JDAY-MJD_JDAY))
+ {
+ DayTimeException dte("Invalid MJD: "
+ + gpstk::StringUtils::asString(mjd)) ;
+ GPSTK_THROW(dte) ;
+ }
+ }
+ jday = long(mjd + 1.0) ; // int part of JD contributed by MJD
+ long double sod = SEC_DAY * (mjd + 1.0 - double(jday)) ;
+ jday += MJD_JDAY - 1 ;
+ mSod = long(FACTOR * sod) ;
+ mSec = FACTOR * double(sod) - double(mSod) ;
+ realignInternals();
+ timeFrame = f ;
+ return *this ;
+ }
+
+ // set using unix timeval struct
+ DayTime& DayTime::setUnix(const struct timeval& t,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ long sec = t.tv_sec ;
+ double dt = double(sec) + (t.tv_usec * 1.e-6) ;
+ jday = MJD_JDAY + UNIX_MJD + long(dt / SEC_DAY) ;
+ sec -= long(dt / SEC_DAY) * SEC_DAY ;
+ dt = double(sec) + (t.tv_usec * 1.e-6) ;
+ return setSecOfDay(dt);
+ }
+
+ // set using ANSI
+ DayTime& DayTime::setANSI(const time_t& t,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ long double dt = (long double)(t);
+ dt /= SEC_DAY;
+ dt += UNIX_MJD;
+ return setMJD(dt, f);
+ }
+
+ // set using system time
+ DayTime& DayTime::setSystemTime()
+ throw(DayTime::DayTimeException)
+ {
+#if defined(ANSI_ONLY)
+ time_t t;
+ time(&t);
+ setANSI(t, LocalSystem);
+#elif defined(WIN32)
+ _timeb t;
+ _ftime(&t);
+ timeval tv;
+ tv.tv_sec = t.time;
+ tv.tv_usec = t.millitm*1000;
+ setUnix(tv, LocalSystem);
+#else
+ timeval t;
+ gettimeofday(&t, NULL);
+ setUnix(t, LocalSystem);
+#endif
+ return *this;
+ }
+
+ // set using local time
+ DayTime& DayTime::setLocalTime()
+ throw(DayTime::DayTimeException)
+ {
+ time_t t;
+ time(&t);
+ struct tm *ltod;
+ ltod = localtime(&t);
+ setYMDHMS(1900 + ltod->tm_year, ltod->tm_mon + 1, ltod->tm_mday,
+ ltod->tm_hour, ltod->tm_min, ltod->tm_sec);
+ return *this;
+ }
+
+ // end of set...() that set Day and Time
+ // add set...() that set only Day or only Time
+ //
+ // Set the object using calendar (Y/M/D) date only (time is unchanged)
+ DayTime& DayTime::setYMD(int yy,
+ int mm,
+ int dd,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ long tempDay = convertCalendarToJD(yy, mm, dd);
+ if(DAYTIME_TEST_VALID)
+ {
+ int y, m, d;
+ convertJDtoCalendar(tempDay, y, m, d);
+ if(y != yy || m != mm || d != dd)
+ {
+ using gpstk::StringUtils::asString ;
+ DayTimeException dte("Invalid yy/mm/dd: " + asString<int>(yy) + "/"
+ + asString<int>(mm) + "/" + asString<int>(dd)
+ + " != " + asString<int>(y) + "/"
+ + asString<int>(m) + "/" + asString<int>(d));
+ GPSTK_THROW(dte);
+ }
+ }
+ jday = tempDay;
+ timeFrame = f;
+ return *this;
+ }
+
+ // Set the object using ordinary (H:M:S) time only (day is unchanged)
+ DayTime& DayTime::setHMS(int hh,
+ int mm,
+ double sec,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ double sod = convertTimeToSOD(hh, mm, sec);
+ if(DAYTIME_TEST_VALID)
+ {
+ int h, m;
+ double s;
+ convertSODtoTime(sod, h, m, s);
+ if(h != hh || m != mm || ABS(s - sec) > tolerance)
+ {
+ using gpstk::StringUtils::asString ;
+ DayTimeException dte("Invalid hh:mm:ss: " + asString<int>(hh)
+ + ":" + asString<int>(mm)
+ + ":" + asString(sec));
+ GPSTK_THROW(dte);
+ }
+ }
+ return setSecOfDay(sod,f);
+ }
+
+ // Set the object using seconds of day only (day is unchanged)
+ DayTime& DayTime::setSecOfDay(double sod,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ if(DAYTIME_TEST_VALID)
+ {
+ if(sod < 0.0 || sod >= double(SEC_DAY))
+ {
+ DayTimeException dte("Invalid seconds-of-day: "
+ + gpstk::StringUtils::asString(sod));
+ GPSTK_THROW(dte);
+ }
+ }
+ mSod = long(FACTOR * sod);
+ mSec = FACTOR * sod - double(mSod);
+ realignInternals();
+ timeFrame = f;
+ return *this;
+ }
+
+ // Set the object using year and day of year only (time is unchanged)
+ DayTime& DayTime::setYDoy(int yy,
+ int doy,
+ TimeFrame f)
+ throw(DayTime::DayTimeException)
+ {
+ jday = convertCalendarToJD(yy, 1, 1) + doy - 1;
+ if(DAYTIME_TEST_VALID)
+ {
+ int y,m,d;
+ convertJDtoCalendar(jday, y, m, d);
+ if(y != yy)
+ {
+ DayTimeException dte("Invalid Year/Day-of-Year: "
+ + gpstk::StringUtils::asString(yy)
+ + "/" + gpstk::StringUtils::asString(doy));
+ GPSTK_THROW(dte);
+ }
+ }
+ timeFrame = f;
+ return *this;
+ }
+
+ // ----------- Part 10: member functions: setToString, printf ---------
+ //
+ DayTime& DayTime::setToString(const string& str,
+ const string& fmt)
+ throw(DayTime::DayTimeException, DayTime::FormatException,
+ StringException)
+ {
+ try
+ {
+ // make an object to return
+ DayTime toReturn(*this);
+
+ // test completeness of specification given by input
+ bool hmjd = false, hsow = false, hweek = false, hfullWeek = false,
+ hdow = false, hyear = false, hmonth = false, hday= false,
+ hzcount = false, hdoy = false, hfullzcount = false,
+ hhour = false, hmin = false, hsec = false, hsod = false,
+ hunixsec = false, hunixusec = false;
+
+ double imjd, isow;
+ short iweek, ifullWeek, idow, imonth, iday;
+ long izcount, idoy;
+ long ifullzcount;
+
+ short iyear, ihour, imin;
+ double isec, isod;
+
+ // unix time
+ long unixsec, unixusec;
+
+ // set the year in case it is not in the input -- for week input
+ iyear = toReturn.year();
+
+ string f = fmt;
+ string s = str;
+
+ // parse strings... As we process each part, it's removed from
+ // both strings so when we reach 0, we're done
+ while ( (s.size() > 0) && (f.size() > 0) )
+ {
+ // remove everything in f and s up to the first % in f
+ // (these parts of the strings must be identical or this will
+ // break after it tries to remove it!)
+ while ( (s.length() != 0) && (f.length() != 0) && (f[0] != '%') )
+ {
+ // remove that character now and other whitespace
+ s.erase(0,1);
+ f.erase(0,1);
+ }
+
+ // check just in case we hit the end of either string...
+ if ( (s.length() == 0) || (f.length() == 0) )
+ break;
+
+ // lose the '%' in f...
+ f.erase(0,1);
+
+ // if the format string is like %03f, get '3' as the field length.
+ string::size_type fieldLength = string::npos;
+
+ if (!isalpha(f[0]))
+ {
+ // This is where we have a specified field length so we should
+ // not throw away any more characters
+ fieldLength = asInt(f);
+
+ // remove everything else up to the next character
+ // (in "%03f", that would be 'f')
+ while ((!f.empty()) && (!isalpha(f[0])))
+ f.erase(0,1);
+ if (f.empty())
+ break;
+ }
+ else
+ {
+ // finally, get the character that should end this field, if any
+ char delimiter = 0;
+ if (f.size() > 1)
+ {
+ if (f[1] != '%')
+ {
+ delimiter = f[1];
+
+ stripLeading(s);
+ fieldLength = s.find(delimiter,0);
+ }
+
+ // if the there is no delimiter character and the next field
+ // is another part of the time to parse, assume the length
+ // of this field is 1
+ else if (fieldLength == string::npos)
+ {
+ fieldLength = 1;
+ }
+ }
+ }
+
+ // figure out the next string to be removed. if there is a
+ // field length, use that first
+ string toBeRemoved = s.substr(0, fieldLength);
+
+ // based on char at f[0], convert input to temporary variable
+ switch (f[0])
+ {
+ case 'Q':
+ {
+ imjd = asDouble(toBeRemoved);
+ hmjd = true;
+ }
+ break;
+
+ case 'Z':
+ {
+ izcount = asInt(toBeRemoved);
+ hzcount = true;
+ }
+ break;
+
+ case 's':
+ {
+ isod = asDouble(toBeRemoved);
+ hsod = true;
+ }
+ break;
+
+ case 'g':
+ {
+ isow = asDouble(toBeRemoved);
+ hsow = true;
+ }
+ break;
+
+ case 'w':
+ {
+ idow = asInt(toBeRemoved);
+ hdow = true;
+ }
+ break;
+
+ case 'G':
+ {
+ iweek = asInt(toBeRemoved);
+ hweek = true;
+ }
+ break;
+
+ case 'F':
+ {
+ ifullWeek = asInt(toBeRemoved);
+ hfullWeek = true;
+ }
+ break;
+
+ case 'j':
+ {
+ idoy = asInt(toBeRemoved);
+ hdoy = true;
+ }
+ break;
+
+ case 'b':
+ case 'B':
+ {
+ string thisMonth(toBeRemoved);
+ lowerCase(thisMonth);
+
+ if (isLike(thisMonth, "jan.*")) imonth = 1;
+ else if (isLike(thisMonth, "feb.*")) imonth = 2;
+ else if (isLike(thisMonth, "mar.*")) imonth = 3;
+ else if (isLike(thisMonth, "apr.*")) imonth = 4;
+ else if (isLike(thisMonth, "may.*")) imonth = 5;
+ else if (isLike(thisMonth, "jun.*")) imonth = 6;
+ else if (isLike(thisMonth, "jul.*")) imonth = 7;
+ else if (isLike(thisMonth, "aug.*")) imonth = 8;
+ else if (isLike(thisMonth, "sep.*")) imonth = 9;
+ else if (isLike(thisMonth, "oct.*")) imonth = 10;
+ else if (isLike(thisMonth, "nov.*")) imonth = 11;
+ else if (isLike(thisMonth, "dec.*")) imonth = 12;
+ else
+ {
+ FormatException fe("Invalid month entry for setToString");
+ GPSTK_THROW(fe);
+ }
+ hmonth = true;
+ }
+ break;
+
+ case 'Y':
+ {
+ iyear = asInt(toBeRemoved);
+ hyear = true;
+ }
+ break;
+
+ case 'y':
+ {
+ if (fieldLength == 2)
+ {
+ iyear = asInt(toBeRemoved) + 1900;
+ if (iyear < 1980)
+ iyear += 100;
+ }
+ else if (fieldLength == 3)
+ {
+ iyear = asInt(toBeRemoved) + 1000;
+ if (iyear < 1980)
+ iyear += 100;
+ }
+ else
+ iyear = asInt(toBeRemoved);
+
+ hyear = true;
+ }
+ break;
+
+ case 'a':
+ case 'A':
+ {
+ string thisDay = firstWord(toBeRemoved);
+ lowerCase(thisDay);
+ if (isLike(thisDay, "sun.*")) idow = 0;
+ else if (isLike(thisDay, "mon.*")) idow = 1;
+ else if (isLike(thisDay, "tue.*")) idow = 2;
+ else if (isLike(thisDay, "wed.*")) idow = 3;
+ else if (isLike(thisDay, "thu.*")) idow = 4;
+ else if (isLike(thisDay, "fri.*")) idow = 5;
+ else if (isLike(thisDay, "sat.*")) idow = 6;
+ else
+ {
+ FormatException fe("Invalid day of week for setTostring");
+ GPSTK_THROW(fe);
+ }
+ hdow = true;
+ }
+ break;
+
+ case 'm':
+ {
+ imonth = asInt(toBeRemoved);
+ hmonth = true;
+ }
+ break;
+
+ case 'd':
+ {
+ iday = asInt(toBeRemoved);
+ hday = true;
+ }
+ break;
+
+ case 'H':
+ {
+ ihour = asInt(toBeRemoved);
+ hhour = true;
+ }
+ break;
+
+ case 'M':
+ {
+ imin = asInt(toBeRemoved);
+ hmin = true;
+ }
+ break;
+
+ case 'S':
+ {
+ isec = asDouble(toBeRemoved);
+ isec = double(short(isec));
+ hsec = true;
+ }
+ break;
+
+ case 'f':
+ {
+ isec = asDouble(toBeRemoved);
+ hsec = true;
+ }
+ break;
+
+ case 'U':
+ {
+ unixsec = asInt(toBeRemoved);
+ hunixsec = true;
+ }
+ break;
+
+ case 'u':
+ {
+ unixusec = asInt(toBeRemoved);
+ hunixusec = true;
+ }
+ break;
+
+ case 'C':
+ {
+ ifullzcount = asInt(toBeRemoved);
+ hfullzcount = true;
+ }
+
+ default:
+ {
+ // do nothing
+ }
+ break;
+ }
+ // remove the part of s that we processed
+ stripLeading(s,toBeRemoved,1);
+
+ // remove the character we processed from f
+ f.erase(0,1);
+ }
+
+ if ( s.length() != 0 )
+ {
+ // throw an error - something didn't get processed in the strings
+ FormatException fe(
+ "Processing error - parts of strings left unread - " + s);
+ GPSTK_THROW(fe);
+ }
+
+ if (f.length() != 0)
+ {
+ // throw an error - something didn't get processed in the strings
+ FormatException fe(
+ "Processing error - parts of strings left unread - " + f);
+ GPSTK_THROW(fe);
+ }
+
+ if (!hmjd && !hsow && !hweek && !hfullWeek && !hdow && !hmonth &&
+ !hday&& !hzcount && !hdoy && !hfullzcount && !hhour && !hmin &&
+ !hsec && !hsod && !hunixsec && !hunixusec)
+ {
+ FormatException fe("Incomplete time specification for setToString");
+ GPSTK_THROW(fe);
+ }
+
+ // GPS time formats
+ if (hsow)
+ toReturn.setGPSfullweek(0, isow);
+ if (hdow && !hsow)
+ toReturn.setGPSfullweek(0, idow * double(SEC_DAY));
+ if (hzcount)
+ toReturn.setGPSfullweek(0, izcount);
+ if (hfullzcount)
+ toReturn.setGPS(ifullzcount);
+ if (hfullWeek)
+ toReturn.setGPSfullweek(ifullWeek, toReturn.GPSsow());
+ if (hweek) // iyear has been set in any case
+ toReturn.setGPS(iweek, toReturn.GPSsow(), iyear);
+
+ // Calendar time formats
+ /*
+ * Due to inconsistency in number of days/month and
+ * number of days/year, the call to setYMDHMS() needs
+ * to be performed as an atomic call. Changing the pieces
+ * individually can lead to inconsistencies in the
+ * transient states.
+ */
+ if (hyear || hmonth || hday || hhour || hmin || hsec )
+ {
+ int nyear = toReturn.year();
+ int nmonth = toReturn.month();
+ int nday = toReturn.day();
+ int nhour = toReturn.hour();
+ int nmin = toReturn.minute();
+ double dsec = toReturn.second();
+
+ if (hyear) nyear = iyear;
+ if (hmonth) nmonth = imonth;
+ if (hday) nday = iday;
+ if (hhour) nhour = ihour;
+ if (hmin) nmin = imin;
+ if (hmin) dsec = isec;
+ toReturn.setYMDHMS(nyear, nmonth, nday,
+ nhour, nmin, dsec);
+ }
+
+ // DOY time formats
+ if (hdoy)
+ toReturn.setYDoySod(toReturn.year(), idoy, toReturn.DOYsecond());
+ if (hsod)
+ toReturn.setYDoySod(toReturn.year(), toReturn.DOY(), isod);
+
+ // MJD time format
+ if (hmjd)
+ toReturn.setMJD(imjd);
+
+ // unix time formats
+ if (hunixsec || hunixusec)
+ {
+ struct timeval tv = toReturn.unixTime();
+ if (hunixsec) tv.tv_sec = unixsec;
+ if (hunixusec) tv.tv_usec = unixusec;
+
+ toReturn.setUnix(tv);
+ }
+
+ *this = toReturn;
+ return *this;
+ }
+ catch(gpstk::Exception& exc)
+ {
+ DayTime::DayTimeException dte(exc);
+ dte.addText("Cannot generate time");
+ GPSTK_THROW(dte);
+ }
+ catch(std::exception& exc)
+ {
+ DayTime::DayTimeException dte(exc.what());
+ dte.addText("Cannot generate time");
+ GPSTK_THROW(dte);
+ }
+ }
+
+ // Format this time into a string.
+ string DayTime::printf(const char *fmt) const
+ throw(gpstk::StringUtils::StringException)
+ {
+ string rv = fmt;
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*S"),
+ string("Sd"), (short)second());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?f"),
+ string("ff"), second());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*G"),
+ string("Ghd"), GPS10bitweek());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*F"),
+ string("Fhd"), GPSfullweek());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?g"),
+ string("gf"), GPSsow());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?s"),
+ string("sf"), DOYsecond());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?Q"),
+ string("QLf"), getMJDasLongDouble());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*Y"),
+ string("Yhd"), year());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*y"),
+ string("yhd"), (short)(year() % 100));
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*m"),
+ string("mhd"), month());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*b"),
+ string("bs"), MonthAbbrevNames[month()]);
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*B"),
+ string("Bs"), MonthNames[month()]);
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*d"),
+ string("dhd"), day());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*H"),
+ string("Hhd"), hour());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*M"),
+ string("Mhd"), minute());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*w"),
+ string("whd"), dayOfWeek());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*a"),
+ string("as"), DayOfWeekAbbrevNames[dayOfWeek()]);
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*A"),
+ string("As"), DayOfWeekNames[dayOfWeek()]);
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*z"),
+ string("zd"), GPSzcountFloor());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*Z"),
+ string("Zd"), GPSzcount());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*U"),
+ string("Ud"), unixTime().tv_sec);
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*u"),
+ string("ud"), unixTime().tv_usec);
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*j"),
+ string("jhd"), DOY());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*C"),
+ string("Cd"), fullZcount());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*c"),
+ string("cd"), fullZcountFloor());
+
+ return rv;
+ }
+
+ // Format this time into a string.
+ std::string DayTime::asString() const
+ throw(gpstk::StringUtils::StringException)
+ {
+ ostringstream o;
+ o << *this;
+ return o.str();
+ }
+
+ // Dump everything possible, using every get() TD: keep?
+ void DayTime::dump(std::ostream& s) const
+ throw(DayTime::DayTimeException)
+ {
+ // warning: the internal representation, even for objects that are equal
+ // within the tolerance, may be very different
+
+ s << " internal: jday " << jday << endl;
+ s << " internal: mSod " << mSod << endl;
+ s << " internal: mSec " << fixed << setprecision(15) << mSec << endl;
+ s << " internal: tolerance " << fixed << setprecision(15) << tolerance << endl;
+ s << " double JD(): " << fixed << setprecision(6) << JD() << endl;
+ s << " double MJD(): " << fixed << setprecision(6) << MJD() << endl;
+ s << " short year(): " << year() << endl;
+ s << " short month(): " << month() << endl;
+ s << " short day(): " << day() << endl;
+ s << " short dayOfWeek(): " << dayOfWeek() << endl;
+ int yy,mm,dd;
+ getYMD(yy, mm, dd);
+ s << " void getYMD(int& yy, int& mm, int& dd): " << yy << " " << mm
+ << " " << dd << endl;
+ s << " short hour(): " << hour() << endl;
+ s << " short minute(): " << minute() << endl;
+ s << " double second(): " << fixed << setprecision(6) << second()
+ << endl;
+ s << " double secOfDay(): " << fixed << setprecision(6) << secOfDay()
+ << endl;
+ s << " short GPS10bitweek(): " << GPS10bitweek() << endl;
+ s << " long GPSzcount(): " << GPSzcount() << endl;
+ s << " long GPSzcountFloor(): " << GPSzcountFloor() << endl;
+ s << " double GPSsecond(): " << fixed << setprecision(6) << GPSsecond()
+ << endl;
+ s << " double GPSsow(): " << fixed << setprecision(6) << GPSsow()
+ << endl;
+ s << " short GPSday(): " << GPSday() << endl;
+ s << " short GPSfullweek(): " << GPSfullweek() << endl;
+ s << " short GPSyear(): " << GPSyear() << endl;
+ s << " short DOYyear(): " << DOYyear() << endl;
+ s << " short DOYday(): " << DOYday() << endl;
+ s << " short DOY(): " << DOY() << endl;
+ s << " double DOYsecond(): "<< fixed << setprecision(6) << DOYsecond()
+ << endl;
+ s << " double MJDdate(): " << fixed << setprecision(6) << MJDdate()
+ << endl;
+ s << " long double getMJDasLongDouble(): "
+ << fixed << setprecision(6) << getMJDasLongDouble() << endl;
+ struct timeval tv=unixTime();
+ s << " struct timeval unixTime(): " << tv.tv_sec << " " << tv.tv_usec
+ << endl;
+ s << " unsigned long fullZcount(): " << fullZcount() << endl;
+ s << " unsigned long fullZcountFloor(): " << fullZcountFloor() << endl;
+ }
+
+ // ----------- Part 11: functions: fundamental conversions -----------
+ //
+ // These two routines convert 'integer JD' and calendar time; they were
+ // derived from Sinnott, R. W. "Bits and Bytes" Sky & Telescope Magazine,
+ // Vol 82, p. 183, August 1991, and The Astronomical Almanac, published
+ // by the U.S. Naval Observatory.
+ // NB range of applicability of this routine is from 0JD (4713BC)
+ // to approx 3442448JD (4713AD).
+ void DayTime::convertJDtoCalendar(long jd,
+ int& iyear,
+ int& imonth,
+ int& iday)
+ throw()
+ {
+ long L, M, N, P, Q;
+ if(jd > 2299160) // after Oct 4, 1582
+ {
+ L = jd + 68569;
+ M = (4 * L) / 146097;
+ L = L - ((146097 * M + 3) / 4);
+ N = (4000 * (L + 1)) / 1461001;
+ L = L - ((1461 * N) / 4) + 31;
+ P = (80 * L) / 2447;
+ iday = int(L - (2447 * P) / 80);
+ L = P / 11;
+ imonth = int(P + 2 - 12 * L);
+ iyear = int(100 * (M - 49) + N + L);
+ }
+ else
+ {
+ P = jd + 1402;
+ Q = (P - 1) / 1461;
+ L = P - 1461 * Q;
+ M = (L - 1) / 365 - L / 1461;
+ N = L - 365 * M + 30;
+ P = (80 * N) / 2447;
+ iday = int(N - (2447 * P) / 80);
+ N = P / 11;
+ imonth = int(P + 2 - 12 * N);
+ iyear = int(4 * Q + M + N - 4716);
+ if(iyear <= 0)
+ {
+ --iyear;
+ }
+ }
+ // catch century/non-400 non-leap years
+ if(iyear > 1599 &&
+ !(iyear % 100) &&
+ (iyear % 400) &&
+ imonth == 2 &&
+ iday == 29)
+ {
+ imonth = 3;
+ iday = 1;
+ }
+ }
+
+ long DayTime::convertCalendarToJD(int yy,
+ int mm,
+ int dd)
+ throw()
+ {
+ if(yy == 0)
+ --yy; // there is no year 0
+
+ if(yy < 0)
+ ++yy;
+
+ long jd;
+ double y = double(yy), m = double(mm), d = double(dd);
+
+ // In the conversion from the Julian Calendar to the Gregorian
+ // Calendar the day after October 4, 1582 was October 15, 1582.
+ //
+ // if the date is before October 15, 1582
+ if(yy < 1582 || (yy == 1582 && (mm < 10 || (mm == 10 && dd < 15))))
+ {
+ jd = 1729777 + dd + 367 * yy
+ - long(7 * ( y + 5001 + long((m - 9) / 7)) / 4)
+ + long(275 * m / 9);
+ }
+ else // after Oct 4, 1582
+ {
+ jd = 1721029 + dd + 367 * yy
+ - long(7 * (y + long((m + 9) / 12)) / 4)
+ - long(3 * (long((y + (m - 9) / 7) / 100) + 1) / 4)
+ + long(275 * m / 9);
+
+ // catch century/non-400 non-leap years
+ if( (! (yy % 100) &&
+ (yy % 400) &&
+ mm > 2 &&
+ mm < 9) ||
+ (!((yy - 1) % 100) &&
+ ((yy - 1) % 400) &&
+ mm == 1))
+ {
+ --jd;
+ }
+ }
+ return jd;
+ }
+
+ void DayTime::convertSODtoTime(double sod,
+ int& hh,
+ int& mm,
+ double& sec)
+ throw()
+ {
+ // Get us to within one day.
+ if (sod < 0)
+ {
+ sod += (1 + (unsigned long)(sod / SEC_DAY)) * SEC_DAY ;
+ }
+ else if (sod >= SEC_DAY)
+ {
+ sod -= (unsigned long)(sod / SEC_DAY) * SEC_DAY ;
+ }
+
+ double temp; // variable to hold the integer part of sod
+ sod = modf(sod, &temp); // sod holds the fraction, temp the integer
+ long seconds = long(temp); // get temp into a real integer
+
+ hh = seconds / 3600 ;
+ mm = (seconds % 3600) / 60 ;
+ sec = double(seconds % 60) + sod ;
+
+ }
+
+ double DayTime::convertTimeToSOD(int hh,
+ int mm,
+ double sec)
+ throw()
+ {
+ return (sec + 60. * (mm + 60. * hh));
+ }
+
+ // ----------- Part 12: private functions and member data -----------
+ //
+ void DayTime::init()
+ throw()
+ {
+ timeFrame = Unknown;
+ tolerance = DAYTIME_TOLERANCE;
+ jday = 0;
+ mSod = 0;
+ mSec = 0.0;
+ }
+
+ // ldd is days, lds is milliseconds, and ds is milliseconds
+ void DayTime::addLongDeltaTime(long ldd,
+ long lds,
+ double ds)
+ throw(DayTime::DayTimeException)
+ {
+ // Use temp variables so that we don't modify our
+ // data members until we know these values are good.
+ long workingJday(jday), workingMsod(mSod) ;
+ double workingMsec(mSec), temp(0) ;
+
+ workingMsec += ds ;
+ // check that workingMsod is not out of bounds
+ if (workingMsec < 0.)
+ {
+ // split workingMsec into integer and fraction parts
+ // workingMsec gets the fraction and temp gets the integer
+ workingMsec = 1 + modf(workingMsec, &temp);
+ // add the (negative) integer milliseconds to lds
+ if(workingMsec == 1) {
+ workingMsec = 0;
+ lds += long(temp);
+ }
+ else
+ lds += long(temp) - 1;
+ }
+ else if (workingMsec >= 1.0)
+ {
+ // same as above
+ workingMsec = modf(workingMsec, &temp) ;
+ // add the integer milliseconds to lds
+ lds += long(temp) ;
+ }
+
+ workingMsod += lds ;
+ // add any full days to ldd
+ ldd += workingMsod / (SEC_DAY * FACTOR) ;
+
+ // this will get us here:
+ // -(SEC_DAY * FACTOR) < workingMsod < (SEC_DAY * FACTOR)
+ workingMsod %= (SEC_DAY * FACTOR) ;
+
+ // this will get us here: 0 <= workingMsod < (SEC_DAY * FACTOR)
+ if (workingMsod < 0)
+ {
+ workingMsod += (SEC_DAY * FACTOR) ;
+ --ldd ;
+ }
+
+ workingJday += ldd ;
+ // check that workingJday is not out of bounds
+ if(workingJday < BEGIN_LIMIT_JDAY)
+ {
+ DayTime::DayTimeException dte("DayTime underflow") ;
+ GPSTK_THROW(dte) ;
+ }
+ if(workingJday > END_LIMIT_JDAY)
+ {
+ DayTime::DayTimeException dte("DayTime overflow") ;
+ GPSTK_THROW(dte) ;
+ }
+
+ // everything's OK, so set the data members
+ jday = workingJday ;
+ mSod = workingMsod ;
+ mSec = workingMsec ;
+
+ realignInternals();
+ }
+
+ // Helper routine to realign the internal representation in order to
+ // avoid incorrect output (printf) when mSec is within tolerance of 1
+ void DayTime::realignInternals(void)
+ throw()
+ {
+ if(fabs(mSec-1)/FACTOR < tolerance) {
+ // decrement mSec, except mSec must not be negative
+ // alternately, set mSec = 0, but perhaps this contributes numerical noise?
+ mSec = (mSec-1 < 0 ? 0 : mSec-1);
+ mSod += 1;
+ }
+ if(mSod >= SEC_DAY*FACTOR) {
+ mSod -= SEC_DAY*FACTOR;
+ jday += 1;
+ }
+ }
+
+ // ----------- Part 13: operator<< --------------
+ //
+ // Stream output for DayTime objects. Typically used for debugging.
+ // @param s stream to append formatted DayTime to.
+ // @param t DayTime to append to stream \c s.
+ // @return reference to \c s.
+ ostream& operator<<( ostream& s,
+ const DayTime& t )
+ {
+ s << t.printf("%02m/%02d/%04Y %02H:%02M:%02S");
+ return s;
+ }
+
+} // end namespace gpstk
+
diff --git a/dev/src/DayTime.hpp b/dev/src/DayTime.hpp
new file mode 100644
index 0000000..b62d988
--- /dev/null
+++ b/dev/src/DayTime.hpp
@@ -0,0 +1,1217 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file DayTime.hpp
+ * gpstk::DayTime - encapsulates date and time-of-day in many formats
+ */
+
+#ifndef GPSTK_DAYTIME_HPP
+#define GPSTK_DAYTIME_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include <string>
+#ifdef _MSC_VER
+// timeval is defined in winsock.h, which we don't want to include
+// because it breaks lots of this code
+struct timeval {
+ long tv_sec; /* seconds */
+ long tv_usec; /* and microseconds */
+};
+#else
+#include <sys/time.h>
+#endif
+
+#include "MathBase.hpp"
+#include "Exception.hpp"
+#include "StringUtils.hpp"
+#include "GPSZcount.hpp"
+#include "CommonTime.hpp"
+
+namespace gpstk
+{
+ /** @defgroup timegroup GPStk Time Group */
+ //@{
+
+ /**
+ * A time representation class for all common time formats, including
+ * GPS. There is a seamless conversion between dates, times, and both,
+ * as well as the ability to input and output the stored day-time in
+ * formatted strings (printf() and setToString()).
+ *
+ * Internally, the representation of day and time uses three quantities,
+ * (1) jday, an integer representation of Julian Date, specifically
+ * jday = int(JD+0.5) or jday=int(MJD+2400001). [Recall that JD = MJD +
+ * 2400000.5 and MJD is an integer when second-of-day==0. N.B. jday is
+ * NOT == JD or Julian Date, but DayTime::JD() does return JD.]
+ * (2) mSod, the integer part of milliseconds of the day, and
+ * (3) mSec, the (double) fractional part of milliseconds of the day.
+ *
+ * In addition, the representation includes a tolerance value (see below)
+ * and a time frame. The time frame is a simple way of denoting the
+ * origin or type of day-time which is stored in the object. See
+ * #TimeFrame for the list of possible values. The time frame of an
+ * object is determined in the call to a constructor (default is
+ * timeFrame=Unknown), and carried forward into other objects. It may be
+ * read or changed using member functions setAllButTimeFrame(),
+ * setTimeFrame(), and getTimeFrame().
+ *
+ * The member datum 'double tolerance' is used in DayTime comparisons.
+ * It defaults to the value of the static
+ * gpstk::DayTime::DAYTIME_TOLERANCE, but this can be modified with the
+ * static method setDayTimeTolerance(). Several different default
+ * tolerances have been defined and are in the DayTime-Specific
+ * Definitions section. The tolerance can also be changed on a per object
+ * basis with the setTolerance() member function. All comparisons are
+ * done using the tolerance as a range for the comparison.
+ * So, for example, operator==() returns true if the times are within
+ * 'tolerance' seconds. Once set for each object, the tolerance is
+ * appropriately "carried forward" to new objects through the copy
+ * operator (DayTime::operator=), the copy constructor, and elsewhere.
+ *
+ * The internal representation is manipulated using four fundamental
+ * routines, two that convert between 'jday' (the integer
+ * representation of JD) and calendar date: year/month/day-of-month,
+ * and two that convert between seconds-of-day and hour/minute/second.
+ * The range of validity of the jday--calendar routines is approximately
+ * 4317 B.C. to 4317 A.D.; these limits are incorporated into constants
+ * DayTime::BEGINNING_OF_TIME and DayTime::END_OF_TIME.
+ *
+ * * All DayTime objects that lie outside these limits are disallowed. *
+ *
+ * This internal representation allows close to the maximum precision
+ * possible in the time-of-day. Although, note that the code uses
+ * FACTOR=1000 everywhere to compute milliseconds, via e.g.
+ * mSec=seconds/FACTOR, and thus FACTOR could be changed to give a
+ * different precision. (This has not been tested.)
+ *
+ * This representation separates day and time-of-day cleanly.
+ * Because day and time are logically separated, it is possible to use
+ * DayTime for day only, or for time only. Thus, for example, one
+ * could instantiate a DayTime object and only manipulate the date,
+ * without reference to time-of-day; or vice-versa. [However in this
+ * regard note that the default constructor for DayTime sets the
+ * data, not to zero, but to the current (system) time; because there
+ * is no year 0, a DayTime object with all zero data is invalid!]
+ *
+ * When constructing DayTime objects from GPS time values -- such as
+ * GPS week and seconds of weeks, or GPS week and z count -- there
+ * may be ambiguity associated with the GPS week. Many receivers
+ * and receiver processing software store the GPS week as it appears
+ * in the NAV message, as a 10 bit number. This leads to a 1024 week
+ * ambiguity when 10 bit GPS weeks are used to specify a DayTime.
+ * In general, DayTime uses the system time to disambiguate which
+ * 1024 week period to use. This is a good assumption except when
+ * processing binary data from before GPS week rollover, which
+ * occured on August 22, 1999.
+ *
+ */
+ class DayTime
+ {
+ public:
+ // ----------- Part 1: exceptions and constants --------------
+ /**
+ * @ingroup exceptionclass
+ * DayTime basic exception class.
+ */
+ NEW_EXCEPTION_CLASS(DayTimeException, gpstk::Exception);
+
+ /**
+ * @ingroup exceptionclass
+ * DayTime formatting ("printing") error exception class.
+ */
+ NEW_EXCEPTION_CLASS(FormatException, gpstk::Exception);
+
+ /// The various time frames
+ enum TimeFrame
+ {
+ Unknown, /**< unknown time frame */
+ UTC, /**< Coordinated Universal Time (e.g., from NTP) */
+ LocalSystem,/**< time from a local system clock */
+ GPS_Tx, /**< GPS transmit Time (paper clock) (e.g., 15 smooth) */
+ GPS_Rx, /**< GPS receive time (paper clock) */
+ // (e.g., rx data if clock bias is applied)
+ GPS_SV, /**< SV time frame (e.g., 211 1.5s/6packs) */
+ GPS_Receiver/**< Receiver time (e.g., 30s, raw 1.5s) */
+ };
+
+ /**
+ * @name DayTime-Specific Definitions
+ * All of these tolerances are 1/2 of the tolerance they specify.
+ * So one nsec tolerance is actually 1/2 an ns added to the time
+ * in units of days.
+ */
+ //@{
+
+ /// time-of-day is stored as long (seconds-of-day)*FACTOR
+ /// plus double (remaining seconds)/FACTOR
+ static const long FACTOR;
+
+ /// Conversion offset, Julian Date to Modified Julian Date.
+ static const double JD_TO_MJD;
+ /// 'Julian day' offset from MJD
+ static const long MJD_JDAY;
+ /// 'Julian day' of GPS epoch (Jan. 1, 1980).
+ static const long GPS_EPOCH_JDAY;
+ /// Modified Julian Date of GPS epoch (Jan. 1, 1980).
+ static const long GPS_EPOCH_MJD;
+ /// Modified Julian Date of UNIX epoch (Jan. 1, 1970).
+ static const long UNIX_MJD;
+ /// Seconds per half a GPS week.
+ static const long HALFWEEK;
+ /// Seconds per whole GPS week.
+ static const long FULLWEEK;
+ /// Seconds per day.
+ static const long SEC_DAY;
+ /// Milliseconds in a day.
+ static const long MS_PER_DAY;
+
+ /// One nanosecond tolerance.
+ static const double ONE_NSEC_TOLERANCE;
+ /// One microsecond tolerance.
+ static const double ONE_USEC_TOLERANCE;
+ /// One millisecond tolerance.
+ static const double ONE_MSEC_TOLERANCE;
+ /// One second tolerance.
+ static const double ONE_SEC_TOLERANCE;
+ /// One minute tolerance.
+ static const double ONE_MIN_TOLERANCE;
+ /// One hour tolerance.
+ static const double ONE_HOUR_TOLERANCE;
+
+ /// Default tolerance for time equality in days.
+ static double DAYTIME_TOLERANCE;
+
+ /// 'julian day' of earliest epoch expressible by DayTime:
+ /// 1/1/4713 B.C.
+ static const long BEGIN_LIMIT_JDAY;
+ /// 'julian day' of latest epoch expressible by DayTime:
+ /// 1/1/4713 A.D.
+ static const long END_LIMIT_JDAY;
+ /// earliest representable DayTime
+ static const DayTime BEGINNING_OF_TIME;
+ /// latest representable DayTime
+ static const DayTime END_OF_TIME;
+
+ /// If true, check the validity of inputs.
+ /// Throw DayTimeException on failure.
+ static bool DAYTIME_TEST_VALID;
+
+ //@}
+
+ // ----------- Part 2: member functions: tolerance ------------
+ //
+ /// Changes the DAYTIME_TOLERANCE for all DayTime objects
+ static double setDayTimeTolerance(const double tol)
+ throw()
+ { DAYTIME_TOLERANCE = tol; return DAYTIME_TOLERANCE; }
+
+ /// Returns the current DAYTIME_TOLERANCE.
+ static double getDayTimeTolerance()
+ throw()
+ { return DAYTIME_TOLERANCE; }
+
+ /**
+ * Sets the tolerance for output and comparisons on this object only.
+ * See the constants in this file (e.g. ONE_NSEC_TOLERANCE)
+ * for some easy to use tolerance values.
+ * @param tol Tolerance in days to be used by comparison operators.
+ * @sa DayTime-Specific Definitions
+ */
+ DayTime& setTolerance(const double tol) throw();
+
+ /**
+ * Return the tolerance value currently in use by this object.
+ * @return the current tolerance value (in seconds, of course)
+ */
+ double getTolerance() throw()
+ { return tolerance; }
+
+
+ // ----------- Part 3: member functions: constructors ------------
+ //
+ /**
+ * Default constructor.
+ * Initializes to current system time.
+ */
+ DayTime()
+ throw(DayTimeException);
+
+ /**
+ * GPS time with full week constructor.
+ * @param GPSWeek full week number
+ * @param GPSSecond seconds of week.
+ * @param f Time frame (see #TimeFrame)
+ */
+ DayTime(short GPSWeek,
+ double GPSSecond,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * GPS time constructor. In the case of 10-bit week input,
+ * the year and week are used to deduce the number of GPS
+ * week rollovers and thus the full GPS week.
+ * @param GPSWeek week number.
+ * @param GPSSecond Seconds of week.
+ * @param year Four-digit year consistent with GPS input.
+ * @param f Time frame (see #TimeFrame)
+ */
+ DayTime(short GPSWeek,
+ double GPSSecond,
+ short year,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * GPS time constructor. In the case of 10-bit week input,
+ * the year and week are used to deduce the number of GPS
+ * week rollovers and thus the full GPS week.
+ * @param GPSWeek GPS week number.
+ * @param zcount Z-count (seconds of week / 1.5)
+ * @param year Four-digit year consistent with GPS input.
+ * @param f Time frame (see #TimeFrame)
+ */
+ DayTime(short GPSWeek,
+ long zcount,
+ short year,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * GPS time constructor given the full Z count.
+ * @warn The number of GPS week rollovers, and therefore the
+ * full GPS week, is determined from the current system time.
+ * @param fullZcount Full z-count (3 MSB unused, mid 10 bits -
+ * week number, 19 LSB "normal" z-count).
+ * @param f Time frame (see #TimeFrame)
+ */
+ DayTime(unsigned long fullZcount,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * GPS Zcount constructor.
+ * @warn The number of GPS week rollovers, and therefore the
+ * full GPS week, is determined from the current system time.
+ * @param z GPSZcount object to set to
+ * @param f Time frame (see #TimeFrame)
+ */
+ DayTime(const GPSZcount& z,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * CommonTime constructor.
+ * @param c CommonTime object to set to
+ * @param f Time frame (see #TimeFrame)
+ */
+ DayTime(const CommonTime& c,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * Calendar time constructor.
+ * @param year four-digit year.
+ * @param month month of year (1-based).
+ * @param day day of month (1-based).
+ * @param hour hour of day.
+ * @param minute minutes of hour.
+ * @param second seconds of minute.
+ * @param f Time frame (see #TimeFrame)
+ */
+ DayTime(short year,
+ short month,
+ short day,
+ short hour,
+ short minute,
+ double second,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * Modified Julian date time constructor.
+ * @warn For some compilers, this result may have diminished accuracy.
+ * @param MJD Modified Julian date as long double.
+ * @param f Time frame (see #TimeFrame)
+ */
+ DayTime(long double MJD,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * Modified Julian date time constructor.
+ * @warn For some compilers, this result may have diminished accuracy.
+ * @param MJD Modified Julian date as double.
+ * @param f Time frame (see #TimeFrame)
+ */
+ DayTime(double MJD,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * Day of year time constructor.
+ * @param year Four-digit year.
+ * @param DOY Day of year.
+ * @param SOD Seconds of day.
+ * @param f Time frame (see #TimeFrame)
+ */
+ DayTime(short year,
+ short doy,
+ double sod,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * UNIX time constructor.
+ * @param t timeval structure (typically from gettimeofday()).
+ * @param f Time frame (see #TimeFrame)
+ */
+ DayTime(const struct timeval& t,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /// Destructor.
+ ~DayTime()
+ throw()
+ {}
+
+ // --------- Part 4: member functions: assignment and copy ----------
+ //
+ /// Copy constructor.
+ DayTime(const DayTime &right)
+ throw(DayTimeException);
+
+ /// Assignment operator.
+ DayTime& operator=(const DayTime& right)
+ throw();
+
+ // ----------- Part 5: member functions: arithmetic ------------
+ //
+ /**
+ * DayTime difference function.
+ * @param right DayTime to subtract from this one.
+ * @return difference in seconds.
+ */
+ double operator-(const DayTime& right) const
+ throw();
+
+ /**
+ * Add seconds to this time.
+ * @param sec Number of seconds to increase this time by.
+ * @return The new time incremented by \c sec.
+ */
+ DayTime operator+(double sec) const
+ throw();
+
+ /**
+ * Subtract seconds from this time.
+ * @param sec Number of seconds to decrease this time by.
+ * @return The new time decremented by \c sec.
+ */
+ DayTime operator-(double sec) const
+ throw();
+
+ /**
+ * Add seconds to this time.
+ * @param sec Number of seconds to increase this time by.
+ * @throws DayTimeException on over/under-flow
+ */
+ DayTime& operator+=(double sec)
+ throw(DayTimeException);
+
+ /**
+ * Subtract seconds from this time.
+ * @param sec Number of seconds to decrease this time by.
+ * @throws DayTimeException on over/under-flow
+ */
+ DayTime& operator-=(double sec)
+ throw(DayTimeException);
+
+ /**
+ * Add (double) seconds to this time.
+ * @param seconds Number of seconds to increase this time by.
+ * @throws DayTimeException on over/under-flow
+ */
+ DayTime& addSeconds(double seconds)
+ throw(DayTimeException);
+
+ /**
+ * Add (integer) seconds to this time.
+ * @param seconds Number of seconds to increase this time by.
+ * @throws DayTimeException on over/under-flow
+ */
+ DayTime& addSeconds(long seconds)
+ throw(DayTimeException);
+
+ /**
+ * Add (integer) milliseconds to this time.
+ * @param msec Number of milliseconds to increase this time by.
+ * @throws DayTimeException on over/under-flow
+ */
+ DayTime& addMilliSeconds(long msec)
+ throw(DayTimeException);
+
+ /**
+ * Add (integer) microseconds to this time.
+ * @param usec Number of microseconds to increase this time by.
+ * @throws DayTimeException on over/under-flow
+ */
+ DayTime& addMicroSeconds(long usec)
+ throw(DayTimeException);
+
+ // ----------- Part 6: member functions: comparisons ------------
+ //
+ /// Equality operator.
+ /// @return true if ABS(*this - right) <= lesser of tolerance
+ /// and right.tolerance; false otherwise
+ bool operator==(const DayTime &right) const
+ throw();
+ /// Inequality operator.
+ bool operator!=(const DayTime &right) const
+ throw();
+ /// Comparison operator (less-than).
+ bool operator<(const DayTime &right) const
+ throw();
+ /// Comparison operator (greater-than).
+ bool operator>(const DayTime &right) const
+ throw();
+ /// Comparison operator (less-than or equal-to).
+ bool operator<=(const DayTime &right) const
+ throw();
+ /// Comparison operator (greater-than or equal-to).
+ bool operator>=(const DayTime &right) const
+ throw();
+
+ // ----------- Part 7: member functions: time frame ------------
+ //
+ /**
+ * Change time frames via pseudo-copy method.
+ * Copies all of \c right except the time frame,
+ * which remains unchanged.
+ * @param right DayTime object to copy time from.
+ * @throws DayTimeException
+ */
+ DayTime& setAllButTimeFrame(const DayTime& right)
+ throw(DayTimeException);
+
+ /// Set the time frame for this time.
+ DayTime& setTimeFrame(TimeFrame f)
+ throw()
+ { timeFrame = f ; return *this ; }
+
+ /// Get the time frame for this time.
+ TimeFrame getTimeFrame() const
+ throw()
+ { return timeFrame ; }
+
+ // ----------- Part 8: member functions: get --------------
+ //
+ // These routines retrieve elements of day, time or both.
+ //
+ /// Get Julian Date JD
+ double JD() const
+ throw();
+
+ /// Get Modified Julian Date MJD
+ /// @warning For some compilers, this result may have diminished
+ /// accuracy.
+ double MJD() const
+ throw();
+
+ /// Get year.
+ short year() const
+ throw();
+
+ /// Get month of year.
+ short month() const
+ throw();
+
+ /// Get day of month.
+ short day() const
+ throw();
+
+ /// Get day of week
+ short dayOfWeek() const
+ throw();
+
+ /// Get year, month and day of month
+ void getYMD(int& yy, int& mm, int& dd) const
+ throw()
+ { convertJDtoCalendar(jday, yy, mm, dd) ; }
+
+ /// Get hour of day.
+ short hour() const
+ throw();
+
+ /// Get minutes of hour.
+ short minute() const
+ throw();
+
+ /// Get seconds of minute.
+ double second() const
+ throw();
+
+ /// Get seconds of day.
+ double secOfDay() const
+ throw()
+ { return (double(mSod) + mSec) / FACTOR ; }
+
+ /// Get 10-bit GPS week.
+ short GPS10bitweek() const
+ throw();
+
+ /// Get normal (19 bit) zcount.
+ long GPSzcount() const
+ throw();
+
+ /// Same as GPSzcount() but without rounding to nearest zcount.
+ long GPSzcountFloor() const
+ throw();
+
+ /// Get seconds of week.
+ double GPSsecond() const
+ throw()
+ { return GPSsow(); }
+
+ /// Get GPS second of week.
+ double GPSsow() const
+ throw();
+
+ /// Get day of week.
+ short GPSday() const
+ throw()
+ { return dayOfWeek(); }
+
+ /// Get full (>10 bits) week
+ short GPSfullweek() const
+ throw();
+
+ /// Get year.
+ short GPSyear() const
+ throw()
+ { return year(); }
+
+ /// Get year.
+ short DOYyear() const
+ throw()
+ { return year(); }
+
+ /// Get day of year.
+ short DOYday() const
+ throw()
+ { return DOY(); }
+
+ /// Get day of year.
+ short DOY() const
+ throw();
+
+ /// Get seconds of day.
+ double DOYsecond() const
+ throw()
+ { return secOfDay(); }
+
+ /// Get object time as a modified Julian date.
+ /// @warning For some compilers, this result may have diminished
+ /// accuracy.
+ double MJDdate() const
+ throw()
+ { return double(getMJDasLongDouble()) ; }
+
+ /// Get object time as a (long double) modified Julian date.
+ /// @Warning For some compilers, this result may have diminished
+ /// accuracy.
+ long double getMJDasLongDouble() const
+ throw();
+
+ /// Get object time in UNIX timeval structure.
+ struct timeval unixTime() const
+ throw(DayTimeException);
+
+ /**
+ * Get time as 32 bit Z count.
+ * The 13 MSBs are week modulo 1024, 19 LSBs are seconds of
+ * week in Zcounts.
+ */
+ unsigned long fullZcount() const
+ throw();
+
+ /// Same as fullZcount() but without rounding to nearest zcount.
+ unsigned long fullZcountFloor() const
+ throw();
+
+ /// Convert this object to a GPSZcount object.
+ /// @throws DayTimeException if this DayTime's current state
+ /// doesn't constitute a valid GPS Z-count.
+ operator GPSZcount() const
+ throw(DayTimeException) ;
+
+ /// Convert this object to a CommonTime object.
+ /// @throws DayTimeException if this DayTime's current state
+ /// doesn't constitute a valid CommonTime.
+ operator CommonTime() const
+ throw(DayTimeException);
+
+ // ----------- Part 9: member functions: set ------------
+ //
+ /**
+ * Set the object's time using calendar (Y/M/D) date
+ * and ordinary (H:M:S) time
+ * @param year four-digit year.
+ * @param month month of year (1-based).
+ * @param day day of month (1-based).
+ * @param hour hour of day.
+ * @param min minutes of hour.
+ * @param sec seconds of minute.
+ * @param f Time frame (see #TimeFrame)
+ * @return a reference to this object.
+ */
+ DayTime& setYMDHMS(short year,
+ short month,
+ short day,
+ short hour,
+ short min,
+ double sec,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * Set the object's time using GPS time.
+ * @warn In the case of 10-bit week input, the number of
+ * GPS week rollovers, and therefore the full GPS week,
+ * is determined from the current system time.
+ * @param week GPS week number.
+ * @param sow GPS seconds of week.
+ * @param f Time frame (see #TimeFrame)
+ * @return a reference to this object.
+ */
+ DayTime& setGPS(short week,
+ double sow,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * Set the object's time using GPS time (week and Z count).
+ * @warn In the case of 10-bit week input, the number of
+ * GPS week rollovers, and therefore the full GPS week,
+ * is determined from the current system time; prefer setGPSfullweek().
+ * @param week GPS week number.
+ * @param zcount Z-count (seconds of week / 1.5)
+ * @param f Time frame (see #TimeFrame)
+ * @return a reference to this object.
+ */
+ DayTime& setGPS(short week,
+ long zcount,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * Set the object's time using GPS time. In case of 10-bit
+ * week input, the year and week are used to deduce the number
+ * of GPS week rollovers and thus the full GPS week;
+ * prefer setGPSfullweek().
+ * @param week GPS week number.
+ * @param zcount GPS Z-count (seconds of week / 1.5)
+ * @param year Four-digit year consistent with GPS input.
+ * @param f Time frame (see #TimeFrame)
+ * @return a reference to this object.
+ */
+ DayTime& setGPS(short week,
+ long zcount,
+ short year,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * Set the object's time using GPS time. In case of 10-bit
+ * week input, the year and week are used to deduce the number
+ * of GPS week rollovers and thus the full GPS week;
+ * prefer setGPSfullweek().
+ * @param week GPS week number.
+ * @param sow GPS seconds of week.
+ * @param year Four-digit year consistent with GPS input.
+ * @param f Time frame (see #TimeFrame)
+ * @return a reference to this object.
+ */
+ DayTime& setGPS(short week,
+ double sow,
+ short year,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * Set the object's time using GPS time (full Z count).
+ * @warn The number of GPS week rollovers, and therefore the
+ * full GPS week, is determined from the current system time.
+ * @param Zcount Full z-count (3 MSB unused, mid 10 bits -
+ * week number, 19 LSB "normal" z-count).
+ * @param f Time frame (see #TimeFrame)
+ * @return a reference to this object.
+ */
+ DayTime& setGPS(unsigned long Zcount,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * Set the object's time using GPS time.
+ * @param fullweek Full (i.e. >10bits) GPS week number.
+ * @param sow Seconds of week.
+ * @param f Time frame (see #TimeFrame)
+ * @return a reference to this object.
+ */
+ DayTime& setGPSfullweek(short fullweek,
+ double sow,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * Set the object's time using GPS time.
+ * @param fullweek Full (i.e. >10bits) GPS week number.
+ * @param zcount Z-count (seconds of week / 1.5)
+ * @param f Time frame (see #TimeFrame)
+ * @return a reference to this object.
+ */
+ DayTime& setGPSfullweek(short fullweek,
+ long zcount,
+ TimeFrame f = Unknown)
+ throw(DayTimeException)
+ { return setGPSfullweek(fullweek, double(zcount) * 1.5, f) ; }
+
+ /**
+ * Set the object's time using the given GPSZcount.
+ * @warn The number of GPS week rollovers, and therefore the
+ * full GPS week, is determined from the current system time.
+ * @param z the GPSZcount object to set to
+ * @param f Time frame (see #TimeFrame)
+ * @return a reference to this object.
+ */
+ DayTime& setGPSZcount(const GPSZcount& z,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * Set the object's time using the give CommonTime.
+ * @param c the CommonTime object to set to
+ * @param f Time frame (see #TimeFrame))
+ * @return a reference to this object.
+ */
+ DayTime& setCommonTime(const CommonTime& c,
+ TimeFrame f = Unknown)
+ throw();
+
+ /**
+ * Set the object's time using day of year.
+ * @param year Four-digit year.
+ * @param day_of_year Day of year.
+ * @param sec_of_day Seconds of day.
+ * @param f Time frame (see #TimeFrame)
+ * @return a reference to this object.
+ */
+ DayTime& setYDoySod(short year,
+ short day_of_year,
+ double sec_of_day,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * Set the object's time using (long double) Modified Julian date.
+ * This just sets the time to the indicated modified Julian date.
+ * @param mjd date/time to set, in MJD.
+ * @param f Time frame (see #TimeFrame)
+ * @return a reference to this object.
+ */
+ DayTime& setMJD(long double mjd,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /// Same as setMJD
+ DayTime& setMJDdate(long double mjd,
+ TimeFrame f = Unknown)
+ throw(DayTimeException)
+ { return setMJD(mjd, f); }
+
+ /// Same as setMJD but with input of type double
+ DayTime& setMJD(double mjd,
+ TimeFrame f = Unknown)
+ throw(DayTimeException)
+ { return setMJD((long double)(mjd), f) ; }
+
+ /// Same as setMJD but with input of type double
+ DayTime& setMJDdate(double mjd,
+ TimeFrame f = Unknown)
+ throw(DayTimeException)
+ { return setMJD((long double)(mjd), f) ; }
+
+ /**
+ * Set the object's time using POSIX structures.
+ * This uses the POSIX timeval struct to set the time. This
+ * structure represents the time with a resolution of
+ * microseconds.
+ * @param t time to set
+ * @param f Time frame (see #TimeFrame)
+ * @return a reference to this object.
+ */
+ DayTime& setUnix(const struct timeval& t,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * Set the object's time using ANSI structures. This uses
+ * the ANSI C/C++ time_t struct to set the time. This
+ * structure represents the time with a resolution of
+ * seconds.
+ * @param t time to set
+ * @param f Time frame (see #TimeFrame)
+ * @return a reference to this object.
+ */
+ DayTime& setANSI(const time_t& t,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * Set the object's time to the current system time.
+ * If the POSIX gettimeofday() system call is available, it
+ * is used to determine system time. If the gettimeofday()
+ * call is not available, the ANSI time() system call is used
+ * to determine system time.
+ * @return a reference to this object.
+ */
+ DayTime& setSystemTime()
+ throw(DayTimeException);
+
+ /**
+ * Set the object time to the current local time.
+ */
+ DayTime& setLocalTime()
+ throw(DayTimeException);
+
+ /**
+ * Set the object using calendar (Y/M/D) date only (time is unchanged)
+ * @param yy four-digit year.
+ * @param mm month of year (1-based).
+ * @param dd day of month (1-based).
+ * @param f Time frame (see #TimeFrame)
+ * @return a reference to this object.
+ */
+ DayTime& setYMD(int yy,
+ int mm,
+ int dd,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * Set the object using ordinary (H:M:S) time only (day is unchanged)
+ * @param hh hour of day.
+ * @param mm minutes of hour.
+ * @param sec seconds of minute.
+ * @param f Time frame (see #TimeFrame)
+ * @return a reference to this object.
+ */
+ DayTime& setHMS(int hh,
+ int mm,
+ double sec,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * Set the object using seconds of day only (day is unchanged)
+ * @param sod seconds of day.
+ */
+ DayTime& setSecOfDay(double sod,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ /**
+ * Set the object using year and day of year only (time is unchanged)
+ * @param sod seconds of day.
+ */
+ DayTime& setYDoy(int yy,
+ int doy,
+ TimeFrame f = Unknown)
+ throw(DayTimeException);
+
+ // ----------- Part 10: member functions: setToString, printf --------
+ //
+ // FIX someone figure out how to make the table below show up
+ // nice in doxygen.
+ /**
+ * Similar to scanf, this function takes a string and a
+ * format describing string in order to read in daytime
+ * values. The parameters it can take are listed below and
+ * described above with the printf() function.
+ *
+ * The specification must resolve to a day at a minimum
+ * level. The following table lists combinations that give valid
+ * times. Anything more or other combinations will give
+ * unknown (read as: "bad") results so don't try it. Anything
+ * less will throw an exception. If nothing changes the time
+ * of day, it will default to midnight. Also, the year
+ * defaults to the current year if a year isn't specified
+ * or can't be determined.
+ *
+ * @code
+ * 1 of... and 1 of.... optional...
+ * %C
+ * %G %w %g %Z %Y %y
+ * %F %w %g %Z
+ * %m %B %b %a %A %d %Y %y %H %M %S
+ * %Q
+ * %j %Y %y %s
+ * @endcode
+ *
+ * So
+ * @code
+ * time.setToString("Aug 1, 2000 20:20:20", "%b %d, %Y %H:%M:%S")
+ * @endcode
+ * works but
+ * @code
+ * time.setToString("Aug 2000", "%b %Y")
+ * @endcode
+ * doesn't work (incomplete specification because it doesn't specify
+ * a day).
+ *
+ * Don't worry about counting whitespace - this function will
+ * take care of that. Just make sure that the extra stuff in
+ * the format string (ie '.' ',') are in the same relative
+ * location as they are in the actual string. (see in the
+ * example above))
+ *
+ * @param str string to get date/time from.
+ * @param fmt format to use to parse \c str.
+ * @throw DayTimeException if \c fmt is an incomplete specification
+ * @throw FormatException if unable to scan \c str.
+ * @throw StringException if an error occurs manipulating the
+ * \c str or \c fmt strings.
+ * @return a reference to this object.
+ */
+ DayTime& setToString(const std::string& str,
+ const std::string& fmt)
+ throw(DayTimeException, FormatException,
+ gpstk::StringUtils::StringException);
+
+
+ // if you can see this, ignore the \'s below, as they are for
+ // the nasty html-ifying of doxygen. Browsers try and
+ // interpret the % and they get all messed up.
+ /**
+ * Format this time into a string.
+ *
+ * Generate and return a string containing a formatted
+ * date, formatted by the specification \c fmt.
+ *
+ * \li \%Y year()
+ * \li \%y year() % 100
+ * \li \%m month()
+ * \li \%d day()
+ * \li \%H hour()
+ * \li \%M minute()
+ * \li \%S (short)second()
+ * \li \%f second()
+ * \li \%G GPS10bitweek()
+ * \li \%F GPSfullweek()
+ * \li \%g GPSsecond() or GPSsow()
+ * \li \%s DOYsecond()
+ * \li \%Q MJDdate()
+ * \li \%w dayOfWeek() or GPSday()
+ * \li \%b MonthAbbrevName[month()]
+ * \li \%B MonthName[month()]
+ * \li \%a DayOfWeekAbbrevName[dayOfWeek()]
+ * \li \%A DayOfWeekName[dayOfWeek()]
+ * \li \%j DOYday() or DOY()
+ * \li \%Z GPSzcount()
+ * \li \%z GPSzcountFloor()
+ * \li \%U unixTime().tv_sec
+ * \li \%u unixTime().tv_usec
+ * \li \%C fullZcount()
+ * \li \%c fullZcountFloor()
+ *
+ * @param fmt format to use for this time.
+ * @return a string containing this time in the
+ * representation specified by \c fmt.
+ */
+ std::string printf(const char *fmt) const
+ throw(gpstk::StringUtils::StringException);
+
+ /// Format this time into a string. @see printf(const char*)
+ std::string printf(const std::string& fmt) const
+ throw(gpstk::StringUtils::StringException)
+ { return printf(fmt.c_str()) ; }
+
+ /// Returns the string that operator<<() would print.
+ std::string asString() const
+ throw(gpstk::StringUtils::StringException);
+
+ /// Dump everything possible, using every get() TD: keep?
+ void dump(std::ostream& s) const
+ throw(DayTimeException);
+
+ // ----------- Part 11: functions: fundamental conversions ----------
+ //
+ /** Fundamental routine to convert from "Julian day" (= JD + 0.5)
+ * to calendar day.
+ * @param jd long integer "Julian day" = JD+0.5
+ * @param iyear reference to integer year
+ * @param imonth reference to integer month (January == 1)
+ * @param iday reference to integer day of month
+ * (1st day of month == 1)
+ * @note range of applicability of this routine is from 0JD (4713BC)
+ * to approx 3442448JD (4713AD).
+ * Algorithm references: Sinnott, R. W. "Bits and Bytes,"
+ * Sky & Telescope Magazine, Vol 82, p. 183, August 1991, and
+ * The Astronomical Almanac, published by the U.S. Naval Observatory.
+ */
+ static void convertJDtoCalendar(long jd,
+ int& iyear,
+ int& imonth,
+ int& iday)
+ throw();
+
+ /** Fundamental routine to convert from calendar day to "Julian day"
+ * (= JD + 0.5)
+ * @param iyear reference to integer year
+ * @param imonth reference to integer month (January == 1)
+ * @param iday reference to integer day of month
+ * (1st day of month == 1)
+ * @return jd long integer "Julian day" = JD+0.5
+ * @note range of applicability of this routine is from 0JD (4713BC)
+ * to approx 3442448JD (4713AD).
+ * Algorithm references: Sinnott, R. W. "Bits and Bytes,"
+ * Sky & Telescope Magazine, Vol 82, p. 183, August 1991, and
+ * The Astronomical Almanac, published by the U.S. Naval Observatory.
+ */
+ static long convertCalendarToJD(int iyear,
+ int imonth,
+ int iday)
+ throw();
+
+ /** Fundamental routine to convert seconds of day to H:M:S
+ * @param sod seconds of day (input)
+ * @param hh reference to integer hour (0 <= hh < 24) (output)
+ * @param mm reference to integer minutes (0 <= mm < 60) (output)
+ * @param sec reference to double seconds (0 <= sec < 60.0) (output)
+ */
+ static void convertSODtoTime(double sod,
+ int& hh,
+ int& mm,
+ double& sec)
+ throw();
+
+ /** Fundamental routine to convert H:M:S to seconds of day
+ * @param hh integer hour (0 <= hh < 24) (input)
+ * @param mm integer minutes (0 <= mm < 60) (input)
+ * @param sec double seconds (0 <= sec < 60.0) (input)
+ * @return sod seconds of day (input)
+ */
+ static double convertTimeToSOD(int hh,
+ int mm,
+ double sec)
+ throw();
+
+ // ----------- Part 12: private functions and member data ----------
+ //
+ private:
+ /// Initialization method. Used by the constructors.
+ void init()
+ throw();
+
+ /// Constructor with direct member data input.
+ DayTime(long jd,
+ long sod,
+ double ms,
+ double tol,
+ TimeFrame f = Unknown)
+ throw()
+ : jday(jd), mSod(sod), mSec(ms), tolerance(tol), timeFrame(f)
+ {}
+
+ /** Helper routine for add...() functions
+ * @param ldd the number of days to add to jday
+ * @param lds the number of milliseconds to add to mSod
+ * @param ds the number of partial milliseconds to add to mSec
+ * @throws DayTimeException if adding these values causes an overflow
+ * of the jday value
+ */
+ void addLongDeltaTime(long ldd,
+ long lds,
+ double ds)
+ throw(DayTimeException);
+
+ /// Helper routine to realign the internal representation in order to
+ /// avoid incorrect output (printf) when mSec is within tolerance of 1
+ void realignInternals(void)
+ throw();
+
+ /// integer 'Julian day', = JD+0.5 (0 <= jday <= 3442448)
+ long jday;
+
+ /// integer milliseconds of the day (0 <= mSod <= 86400000)
+ long mSod;
+
+ /// double fractional milliseconds (mSec < 1.0)
+ double mSec;
+
+ /// double tolerance used in comparisons (seconds)
+ double tolerance;
+
+ /// @sa TimeFrame
+ TimeFrame timeFrame;
+
+ }; // end class DayTime
+
+ // ----------- Part 13: operator<< -----------
+ //
+ /**
+ * Stream output for DayTime objects. Typically used for debugging.
+ * @param s stream to append formatted DayTime to.
+ * @param t DayTime to append to stream \c s.
+ * @return reference to \c s.
+ */
+ std::ostream& operator<<( std::ostream& s,
+ const gpstk::DayTime& t );
+
+ //@}
+
+} // namespace gpstk
+
+#endif // GPSTK_DAYTIME_HPP
diff --git a/dev/src/DeltaOp.cpp b/dev/src/DeltaOp.cpp
new file mode 100644
index 0000000..5265cd9
--- /dev/null
+++ b/dev/src/DeltaOp.cpp
@@ -0,0 +1,96 @@
+
+/**
+ * @file DeltaOp.cpp
+ * This is a class to apply the Delta operator (differences on ground-related data) to GNSS data structures.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2007
+//
+//============================================================================
+
+
+#include "DeltaOp.hpp"
+
+
+namespace gpstk
+{
+
+ // Returns a reference to a gnssSatTypeValue object after differencing the
+ // data type values given in the diffTypes field with respect to reference
+ // station data in refData field.
+ //
+ // @param gData Data object holding the data.
+ //
+ satTypeValueMap& DeltaOp::Difference(satTypeValueMap& gData)
+ {
+ SatIDSet satRejectedSet;
+
+ // Loop through all the satellites in the station data set
+ satTypeValueMap::iterator it;
+ for (it = gData.begin(); it != gData.end(); ++it)
+ {
+ satTypeValueMap::const_iterator itref;
+ // Let's find if the same satellite is present in refData
+ itref = refData.find((*it).first);
+
+ // If we found the satellite, let's proceed with the differences
+ if (itref != refData.end())
+ {
+ // We must compute the difference for all the types in diffTypes set
+ TypeIDSet::const_iterator itType;
+ for (itType = diffTypes.begin(); itType != diffTypes.end(); ++itType)
+ {
+
+ double value1(0.0);
+ double value2(0.0);
+
+ try
+ {
+ // Let's try to compute the difference
+ value1 = gData((*it).first)(*itType);
+ value2 = refData((*it).first)(*itType);
+
+ gData((*it).first)((*itType)) = value1 - value2;
+ }
+ catch(...)
+ {
+ // If some value is missing, then schedule this satellite for removal
+ satRejectedSet.insert( (*it).first );
+ continue; // Skip this value if problems arise
+ }
+ }
+
+ } else {
+ // If we didn't find the same satellite in both sets, mark it for deletion
+ satRejectedSet.insert( (*it).first );
+ continue;
+ };
+ }
+
+ // If ordered so, delete the missing satellites
+ if (deleteMissingSats) gData.removeSatID(satRejectedSet);
+
+ return gData;
+
+ } // end DeltaOp::Difference()
+
+
+} // end namespace gpstk
diff --git a/dev/src/DeltaOp.hpp b/dev/src/DeltaOp.hpp
new file mode 100644
index 0000000..f6f45cd
--- /dev/null
+++ b/dev/src/DeltaOp.hpp
@@ -0,0 +1,375 @@
+
+/**
+ * @file DeltaOp.hpp
+ * This is a class to apply the Delta operator (differences on ground-related data) to GNSS data structures.
+ */
+
+#ifndef DELTAOP_HPP
+#define DELTAOP_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2007
+//
+//============================================================================
+
+
+
+#include "TypeID.hpp"
+#include "DataStructures.hpp"
+
+
+namespace gpstk
+{
+ /** @addtogroup GPSsolutions */
+ //@{
+
+ /**
+ * This class applies the Delta operator (differences on ground-related data)
+ * to GNSS data structures.
+ *
+ *
+ * A typical way to use this class follows:
+ *
+ * @code
+ * // Input observation file stream for ROVER
+ * RinexObsStream rin("ebre0300.02o");
+ * // Reference position of receiver station
+ * Position nominalPos(4833520.2269, 41537.00768, 4147461.489);
+ *
+ * // Input observation file stream for REFERENCE STATION
+ * RinexObsStream rinRef("garr1900.07o");
+ * // Reference station nominal position
+ * Position nominalPosRef(4796983.7690, 160308.7500, 4187339.9860);
+ *
+ * // Some more code and definitions here...
+ *
+ * gnssRinex gRin; // GNSS data structure for rover data
+ * gnssRinex gRef; // GNSS data structure for reference station data
+ *
+ * // Set defaults of models. A typical C1-based modeling is used
+ * ModeledPR model(nominalPos, ionoStore, mopsTM, bceStore, TypeID::C1, true);
+ * ModeledReferencePR modelRef(nominalPosRef, ionoStore, mopsTM, bceStore, TypeID::C1, true);
+ *
+ * // Create an object to compute the single differences of prefit residuals
+ * DeltaOp delta;
+ *
+ *
+ * while(rin >> gRin) {
+ *
+ * rinRef >> gRef; // Be sure that data streams ARE synchronized!!!
+ * delta.setRefData(gRef.body); // Set the reference data to be differenced
+ *
+ * gRef >> modelRef; // Apply model to reference data
+ *
+ * // By default, difference is applied on code prefit residuals
+ * gRin >> model >> delta >> solver;
+ * }
+ *
+ * @endcode
+ *
+ * The "DeltaOp" object will visit every satellite in the GNSS data structure that
+ * is "gRin" and will substract from the specified type or types (code prefit
+ * residuals by default) the corresponding data in the "gRef" data structure.
+ *
+ * Take notice that in the default case the code prefit residuals were computed by
+ * the "ModeledPR" and "ModeledReferencePR" objects, so those steps are mandatory.
+ *
+ * Be warned that, by default, if a given satellite does not have in "gRin" the data
+ * required to be differenced, it will be summarily deleted from the data structure.
+ *
+ * @sa NablaOp.hpp for differences on satellite-related data.
+ *
+ */
+ class DeltaOp
+ {
+ public:
+
+ /// Default constructor. By default it will difference prefitC data and will delete satellites present in reference station data but missing in input data.
+ DeltaOp() : deleteMissingSats(true)
+ {
+ diffTypes.insert(TypeID::prefitC);
+ };
+
+
+ /** Common constructor taking a satTypeValueMap as reference station data.
+ * By default it will difference prefitC data and will delete satellites
+ * present in reference station data but missing in input data.
+ *
+ * @param gData satTypeValueMap data object holding the reference station data.
+ * @param delSats Boolean value setting if satellites present in reference station data but missing in input data will be deleted from the later (this is the default).
+ */
+ DeltaOp(const satTypeValueMap& gData, const bool& delSats=true) : refData(gData), deleteMissingSats(delSats)
+ {
+ diffTypes.insert(TypeID::prefitC);
+ }
+
+
+ /** Common constructor taking a satTypeValueMap as reference station data.
+ * By default it will delete satellites present in reference station data
+ * but missing in input data.
+ *
+ * @param gData satTypeValueMap data object holding the reference station data.
+ * @param difftype TypeID of data values to be differenced.
+ * @param delSats Boolean value setting if satellites present in reference station data but missing in input data will be deleted from the later (this is the default).
+ */
+ DeltaOp(const satTypeValueMap& gData, const TypeID& difftype, const bool& delSats=true) : refData(gData), deleteMissingSats(delSats)
+ {
+ diffTypes.insert(difftype);
+ }
+
+
+ /** Common constructor taking a satTypeValueMap as reference station data.
+ * By default it will delete satellites present in reference station data
+ * but missing in input data.
+ *
+ * @param gData satTypeValueMap data object holding the reference station data.
+ * @param diffSet TypeIDSet of data values to be differenced.
+ * @param delSats Boolean value setting if satellites present in reference station data but missing in input data will be deleted from the later (this is the default).
+ */
+ DeltaOp(const satTypeValueMap& gData, const TypeIDSet& diffSet, const bool& delSats=true) : refData(gData), deleteMissingSats(delSats), diffTypes(diffSet) {}
+
+
+ /** Common constructor taking a gnssSatTypeValue as reference station data.
+ * By default it will difference prefitC data and will delete satellites
+ * present in reference station data but missing in input data.
+ *
+ * @param gData gnssSatTypeValue data object holding the reference station data.
+ * @param delSats Boolean value setting if satellites present in reference station data but missing in input data will be deleted from the later (this is the default).
+ */
+ DeltaOp(const gnssSatTypeValue& gData, const bool& delSats=true) : refData(gData.body), deleteMissingSats(delSats)
+ {
+ diffTypes.insert(TypeID::prefitC);
+ }
+
+
+ /** Common constructor taking a gnssSatTypeValue as reference station data.
+ * By default it will delete satellites present in reference station data
+ * but missing in input data.
+ *
+ * @param gData gnssSatTypeValue data object holding the reference station data.
+ * @param difftype TypeID of data values to be differenced.
+ * @param delSats Boolean value setting if satellites present in reference station data but missing in input data will be deleted from the later (this is the default).
+ */
+ DeltaOp(const gnssSatTypeValue& gData, const TypeID& difftype, const bool& delSats=true) : refData(gData.body), deleteMissingSats(delSats)
+ {
+ diffTypes.insert(difftype);
+ }
+
+
+ /** Common constructor taking a gnssSatTypeValue as reference station data.
+ * By default it will delete satellites present in reference station data
+ * but missing in input data.
+ *
+ * @param gData gnssSatTypeValue data object holding the reference station data.
+ * @param diffSet TypeIDSet of data values to be differenced.
+ * @param delSats Boolean value setting if satellites present in reference station data but missing in input data will be deleted from the later (this is the default).
+ */
+ DeltaOp(const gnssSatTypeValue& gData, const TypeIDSet& diffSet, const bool& delSats=true) : refData(gData.body), deleteMissingSats(delSats), diffTypes(diffSet) {}
+
+
+ /** Common constructor taking a gnssRinex as reference station data.
+ * By default it will difference prefitC data and will delete satellites
+ * present in reference station data but missing in input data.
+ *
+ * @param gData gnssRinex data object holding the reference station data.
+ * @param delSats Boolean value setting if satellites present in reference station data but missing in input data will be deleted from the later (this is the default).
+ */
+ DeltaOp(const gnssRinex& gData, const bool& delSats=true) : refData(gData.body), deleteMissingSats(delSats)
+ {
+ diffTypes.insert(TypeID::prefitC);
+ }
+
+
+ /** Common constructor taking a gnssRinex as reference station data.
+ * By default it will delete satellites present in reference station data
+ * but missing in input data.
+ *
+ * @param gData gnssRinex data object holding the reference station data.
+ * @param difftype TypeID of data values to be differenced.
+ * @param delSats Boolean value setting if satellites present in reference station data but missing in input data will be deleted from the later (this is the default).
+ */
+ DeltaOp(const gnssRinex& gData, const TypeID& difftype, const bool& delSats=true) : refData(gData.body), deleteMissingSats(delSats)
+ {
+ diffTypes.insert(difftype);
+ }
+
+
+ /** Common constructor taking a gnssRinex as reference station data.
+ * By default it will delete satellites present in reference station data
+ * but missing in input data.
+ *
+ * @param gData gnssRinex data object holding the reference station data.
+ * @param diffSet TypeIDSet of data values to be differenced.
+ * @param delSats Boolean value setting if satellites present in reference station data but missing in input data will be deleted from the later (this is the default).
+ */
+ DeltaOp(const gnssRinex& gData, const TypeIDSet& diffSet, const bool& delSats=true) : refData(gData.body), deleteMissingSats(delSats), diffTypes(diffSet) {}
+
+
+
+ /** Method to set the satTypeValueMap data object holding the reference station data.
+ * @param gData satTypeValueMap data object holding the reference station data.
+ */
+ virtual void setRefData(const satTypeValueMap& gData)
+ {
+ refData = gData;
+ };
+
+
+ /// Method to get the satTypeValueMap data object holding the reference station data.
+ virtual satTypeValueMap getRefData() const
+ {
+ return refData;
+ };
+
+
+ /** Method to set if satellites present in reference station data but missing in input data will be deleted from the later (this is the default).
+ * @param deleteSats Boolean stating if satellites will be deleted or not.
+ */
+ virtual void setDeleteMissingSats(const bool& deleteSats)
+ {
+ deleteMissingSats = deleteSats;
+ };
+
+
+ /// Method to get the deleteMissingSats field value (i.e., if missing satellites will be deleted or not).
+ virtual bool getDeleteMissingSats() const
+ {
+ return deleteMissingSats;
+ };
+
+
+ /** Method to set the data values to be differenced. The previous type values will be deleted. If this is not what you want, see method addDiffType.
+ * @param difftype TypeID of data values to be differenced.
+ */
+ virtual void setDiffType(const TypeID& difftype)
+ {
+ diffTypes.clear(); // Delete the previous types
+ diffTypes.insert(difftype);
+ };
+
+
+ /** Method to add a data value type to be differenced.
+ * @param difftype TypeID of data values to be added to the ones being differenced.
+ */
+ virtual void addDiffType(const TypeID& difftype)
+ {
+ diffTypes.insert(difftype);
+ };
+
+
+ /** Method to set the data values to be differenced. The previous type values will be deleted. If this is not what you want, see method addDiffType.
+ * @param diffSet TypeIDSet of data values to be differenced.
+ */
+ virtual void setDiffTypeSet(const TypeIDSet& diffSet)
+ {
+ diffTypes.clear(); // Delete the previous types
+ diffTypes = diffSet;
+ };
+
+
+ /** Method to add a set of data value types to be differenced.
+ * @param diffSet TypeIDSet of data values to be added to the ones being differenced.
+ */
+ virtual void addDiffTypeSet(const TypeIDSet& diffSet)
+ {
+ TypeIDSet::const_iterator pos;
+ for (pos = diffSet.begin(); pos != diffSet.end(); ++pos) diffTypes.insert(*pos);
+ };
+
+
+ /// Method to get the set of data value types to be differenced.
+ virtual TypeIDSet getDiffTypeSet() const
+ {
+ return diffTypes;
+ };
+
+
+ /** Returns a reference to a satTypeValueMap object after differencing the data type values given in the diffTypes field with respect to reference station data in refData field.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual satTypeValueMap& Difference(satTypeValueMap& gData);
+
+
+ /** Returns a reference to a gnssSatTypeValue object after differencing the data type values given in the diffTypes field with respect to reference station data in refData field.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssSatTypeValue& Difference(gnssSatTypeValue& gData)
+ {
+ (*this).Difference(gData.body);
+ return gData;
+ };
+
+
+ /** Returns a reference to a gnnsRinex object after differencing the data type values given in the diffTypes field with respect to reference station data in refData field.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssRinex& Difference(gnssRinex& gData)
+ {
+ (*this).Difference(gData.body);
+ return gData;
+ };
+
+
+ /// Destructor.
+ virtual ~DeltaOp() {};
+
+
+ private:
+
+
+ /// satTypeValueMap data structure containing reference station data.
+ satTypeValueMap refData;
+
+
+ /// Flag indicating if satellites present in reference station data but missing in input data will be deleted.
+ bool deleteMissingSats;
+
+
+
+ /// Set (TypeIDSet) containing the types of data to be differenced.
+ TypeIDSet diffTypes;
+
+
+ }; // class DeltaOp
+
+
+ /// Input operator from gnssSatTypeValue to DeltaOp.
+ inline gnssSatTypeValue& operator>>(gnssSatTypeValue& gData, DeltaOp& delta)
+ {
+ delta.Difference(gData);
+ return gData;
+ }
+
+
+ /// Input operator from gnssRinex to DeltaOp.
+ inline gnssRinex& operator>>(gnssRinex& gData, DeltaOp& delta)
+ {
+ delta.Difference(gData);
+ return gData;
+ }
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/ECEF.cpp b/dev/src/ECEF.cpp
new file mode 100644
index 0000000..0749318
--- /dev/null
+++ b/dev/src/ECEF.cpp
@@ -0,0 +1,104 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file ECEF.cpp
+ * Encapsulate Earth-centered, Earth-fixed Cartesian coordinates
+ */
+
+#include "geometry.hpp"
+#include "ECEF.hpp"
+#include "Geodetic.hpp"
+#include "MiscMath.hpp"
+
+namespace gpstk
+{
+ using namespace std;
+
+ ECEF :: ECEF()
+ : Triple()
+ {
+ }
+
+ ECEF :: ECEF(const ECEF& right)
+ : Triple(right)
+ {
+ }
+
+ ECEF& ECEF :: operator=(const ECEF& right)
+ {
+ Triple::operator=(right);
+ return *this;
+ }
+
+ // Convert Earth-centered, Earth-fixed XYZ coordinates (m)
+ // to Geodetic coordinates (lat,lon(E),ht) (deg,degE,m).
+ Geodetic ECEF::asGeodetic(GeoidModel* geoid)
+ {
+ double X = this->operator[](0); //ecef[0]; // m
+ double Y = this->operator[](1); //ecef[1]; // m
+ double Z = this->operator[](2); //ecef[2]; // m
+ double p = RSS(X,Y);
+ double latd = atan2(Z,p*(1.0-geoid->eccSquared()));
+ double ht = 0.0, slatd, N, htold, latdold;
+ for(int i=0; i<5; i++) {
+ slatd = sin(latd);
+ N = geoid->a() / SQRT(1.0-geoid->eccSquared()*slatd*slatd);
+ htold = ht;
+ ht = p/cos(latd) - N;
+ latdold = latd;
+ latd = atan2(Z,p*(1.0-geoid->eccSquared()*(N/(N+ht))));
+ if(ABS(latd-latdold) < 1.0e-9 &&
+ ABS(ht-htold) < (1.0e-9*geoid->a())) break;
+ }
+ double lon = atan2(Y,X);
+ if(lon < 0.0) lon += 6.2831853071796;
+
+ Geodetic g(latd*RAD_TO_DEG,lon*RAD_TO_DEG,ht,geoid); // deg,deg E,m
+ return g;
+
+ } // end asGeodetic(geoid)
+
+} // namespace gpstk
diff --git a/dev/src/ECEF.hpp b/dev/src/ECEF.hpp
new file mode 100644
index 0000000..9ed6fae
--- /dev/null
+++ b/dev/src/ECEF.hpp
@@ -0,0 +1,110 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file ECEF.hpp
+ * Encapsulate Earth-centered, Earth-fixed Cartesian coordinates
+ */
+
+#ifndef GPSTK_ECEF_HPP
+#define GPSTK_ECEF_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "Triple.hpp"
+#include "Exception.hpp"
+#include "GeoidModel.hpp"
+
+namespace gpstk
+{
+ class Geodetic;
+
+ /** @addtogroup geodeticgroup */
+ //@{
+
+ /**
+ * Earth centered, earth fixed geodetic coordinates in meters.
+ */
+ class ECEF : public Triple
+ {
+ public:
+ /// Default constructor.
+ ECEF();
+
+ /// Copy constructor.
+ ECEF(const ECEF& right);
+
+ /// Construct from three doubles.
+ /// @param x x coordinate in meters
+ /// @param y y coordinate in meters
+ /// @param z z coordinate in meters
+ ECEF(const double& x, const double& y, const double& z)
+ : Triple(x, y, z)
+ { }
+
+ /// Construct from a Triple. The Triple consists of the x coordinate,
+ /// the y coordinate, and the z coordinate. All in meters.
+ /// @param t the Triple to copy from.
+ ECEF(const Triple& t)
+ : Triple(t)
+ { }
+
+ /// destructor
+ virtual ~ECEF() {}
+
+ /// Assignment operator.
+ ECEF& operator=(const ECEF& right);
+
+ /** \deprecated Convert to Geodetic
+ * Geodetic has a constructor that takes an ECEF and GeoidModel.
+ * \sa Geodetic, GeoidModel
+ */
+ Geodetic asGeodetic(GeoidModel *g);
+
+ }; // class ECEF
+
+ //@}
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/EngAlmanac.cpp b/dev/src/EngAlmanac.cpp
new file mode 100644
index 0000000..6056dd1
--- /dev/null
+++ b/dev/src/EngAlmanac.cpp
@@ -0,0 +1,540 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file EngAlmanac.cpp
+ * Almanac data encapsulated in engineering terms
+ */
+
+#include "gps_constants.hpp"
+#include "DayTime.hpp"
+#include "EngAlmanac.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+// This is a macro in order to retain useful location information in the exc
+#define CHECK_SV_HERE(itty, prn) \
+if (itty == almPRN.end()) \
+{ \
+ SVNotPresentException \
+ exc("Attempt to get data from EngAlmanac from a SV that is not" \
+ " present."); \
+ GPSTK_THROW(exc); \
+}
+
+namespace gpstk
+{
+ EngAlmanac :: EngAlmanac()
+ throw()
+ {
+ for (int n = 0; n < 4; n++)
+ {
+ alpha[n] = beta[n] = 0.0;
+ }
+
+ A0 = A1 = dt_ls = dt_lsf = 0.0;
+
+ t_ot = t_oa = 0;
+
+ wn_t = wn_lsf = 0;
+
+ alm_wk = 0;
+
+ dn = 0;
+
+ haveUTC = false;
+ }
+
+ bool EngAlmanac::addSubframe(const long subframe[10],
+ const int gpsWeek)
+ throw(InvalidParameter)
+ {
+ double ficked[60];
+
+ if (!subframeConvert(subframe, gpsWeek, ficked))
+ return false;
+
+ short pat = getSubframePattern(subframe);
+
+ // check tlm preamble, subframe id and format #
+ if ((ficked[0] != 0x8b) || ((ficked[4] != 4) && (ficked [4] != 5))
+ || (pat < 4) || (pat > 10))
+ {
+ InvalidParameter
+ exc("EngAlmanac::addSubframe: Not a valid almanac page.");
+ GPSTK_THROW(exc);
+ }
+
+ short svid = (subframe[3] >> 22) & 0x3F;
+ short sfid = (subframe[2] >> 8) & 0x7;
+ long tow = ((subframe[2] >> 13) & 0x1ffff) * 6;
+
+ switch(pat)
+ {
+ case 4:
+ /* Page with Orbital Elements */
+ /*check PRN */
+ if ((ficked[19] < 0) || (ficked[19] > MAX_PRN))
+ {
+ InvalidParameter exc("EngAlmanac::addSubframe, PRN out of range "
+ + StringUtils::asString(ficked[19]));
+ GPSTK_THROW(exc);
+ }
+ {
+ int prn = static_cast<short>( ficked[19] );
+ if (prn) {
+ SatID sat(prn,SatID::systemGPS);
+ almPRN[sat] = AlmOrbit(prn, ficked[7], ficked[9], ficked[10],
+ ficked[12], ficked[13], ficked[14],
+ ficked[15], ficked[16], ficked[17],
+ static_cast<long>( ficked[8] ),
+ static_cast<long>( ficked[2] ), gpsWeek,
+ static_cast<short>( ficked[11] ));
+ }
+ }
+ break;
+
+ case 5: /* Page with Satellite health information 1-24 */
+ for (int i=1; i <=24; i++)
+ health[i] = static_cast<char>( ficked[7 + i] );
+ // manually crack the t_oa and WNa
+ t_oa = ((subframe[2] >> 14) & 0xFF) * 4096;
+ convert8bit(gpsWeek, &ficked[7]);
+ alm_wk = static_cast<int>(ficked[7]);
+ break;
+
+ case 6:
+ case 7:
+ /* ignore page becase no data for our structure */
+ return true;
+
+ case 8: /* Page with UTC and ionosphere parameters */
+ alpha[0] = ficked[7];
+ alpha[1] = ficked[8];
+ alpha[2] = ficked[9];
+ alpha[3] = ficked[10];
+ beta[0] = ficked[11];
+ beta[1] = ficked[12];
+ beta[2] = ficked[13];
+ beta[3] = ficked[14];
+ A0 = ficked[15];
+ A1 = ficked[16];
+ dt_ls = ficked[19];
+ t_ot = static_cast<long>( ficked[17] );
+ wn_t = static_cast<int>( ficked[18] );
+ wn_lsf = static_cast<int>( ficked[20] );
+ dn = static_cast<char>( ficked[21] );
+ dt_lsf = ficked[22];
+ haveUTC = true;
+ break;
+
+ case 9: /* Page with Health for 25-32 and AS/SV config */
+ for (int i=1; i<=MAX_PRN; i++)
+ SV_config[i] = static_cast<char>( ficked[6 + i] );
+
+ for (int i=25; i<=MAX_PRN; i++)
+ health[i] = static_cast<char>( ficked[14 + i] );
+ break;
+
+ case 10:/* Page with Special Message */
+ special_msg = "";
+ for (int i=0; i<22; i++)
+ special_msg += static_cast<char>( ficked[7 + i] );
+ break;
+
+ default:
+ // never reached, see if statement prior to this switch
+ break;
+ }
+ return true;
+ }
+
+ double EngAlmanac::getEcc(SatID sat) const
+ throw(EngAlmanac::SVNotPresentException)
+ {
+ AlmOrbits::const_iterator i = almPRN.find(sat);
+ CHECK_SV_HERE(i, sat);
+
+ // return value of the ecc for the given PRN
+ return (*i).second.ecc;
+ }
+
+ double EngAlmanac::getIOffset(SatID sat) const
+ throw(EngAlmanac::SVNotPresentException)
+ {
+ AlmOrbits::const_iterator i = almPRN.find(sat);
+ CHECK_SV_HERE(i, sat);
+
+ // return value of the iOffset for the given PRN
+ return (*i).second.i_offset;
+ }
+
+ double EngAlmanac::getOmegadot(SatID sat) const
+ throw(EngAlmanac::SVNotPresentException)
+ {
+
+ AlmOrbits::const_iterator i = almPRN.find(sat);
+ CHECK_SV_HERE(i, sat);
+
+ // return value of OMEGAdot for the given PRN
+ return (*i).second.OMEGAdot;
+ }
+
+ short EngAlmanac::getSVHealth(SatID sat) const
+ throw(EngAlmanac::SVNotPresentException)
+ {
+ AlmOrbits::const_iterator i = almPRN.find(sat);
+ CHECK_SV_HERE(i, sat);
+
+ // return value of SV_health for the given PRN
+ return (*i).second.SV_health;
+ }
+
+ double EngAlmanac::getAhalf(SatID sat) const
+ throw(EngAlmanac::SVNotPresentException)
+ {
+ AlmOrbits::const_iterator i = almPRN.find(sat);
+ CHECK_SV_HERE(i, sat);
+
+ // return value of Ahalf for the given PRN
+ return (*i).second.Ahalf;
+ }
+
+ double EngAlmanac::getA(SatID sat) const
+ throw(EngAlmanac::SVNotPresentException)
+ {
+ AlmOrbits::const_iterator i = almPRN.find(sat);
+ CHECK_SV_HERE(i, sat);
+
+ // return value of A for the given PRN
+ return (*i).second.Ahalf * (*i).second.Ahalf;
+ }
+
+ double EngAlmanac::getOmega0(SatID sat) const
+ throw(EngAlmanac::SVNotPresentException)
+ {
+
+ AlmOrbits::const_iterator i = almPRN.find(sat);
+ CHECK_SV_HERE(i, sat);
+
+ // return value of OMEGA0 for the given PRN
+ return (*i).second.OMEGA0;
+ }
+
+ double EngAlmanac::getW(SatID sat) const
+ throw(EngAlmanac::SVNotPresentException)
+ {
+ AlmOrbits::const_iterator i = almPRN.find(sat);
+ CHECK_SV_HERE(i, sat);
+
+ // return value of w for the given PRN
+ return (*i).second.w;
+ }
+
+ double EngAlmanac::getM0(SatID sat) const
+ throw(EngAlmanac::SVNotPresentException)
+ {
+ AlmOrbits::const_iterator i = almPRN.find(sat);
+ CHECK_SV_HERE(i, sat);
+
+ // return value of M0 for the given PRN
+ return (*i).second.M0;
+ }
+
+ double EngAlmanac::getAf0(SatID sat) const
+ throw(EngAlmanac::SVNotPresentException)
+ {
+ AlmOrbits::const_iterator i = almPRN.find(sat);
+ CHECK_SV_HERE(i, sat);
+
+ // return value of the af0 for the given PRN
+ return (*i).second.AF0;
+ }
+
+
+ double EngAlmanac::getAf1(SatID sat) const
+ throw(EngAlmanac::SVNotPresentException)
+ {
+ AlmOrbits::const_iterator i = almPRN.find(sat);
+ CHECK_SV_HERE(i, sat);
+
+ // return value of af1 for the given PRN
+ return (*i).second.AF1;
+ }
+
+
+ double EngAlmanac::getToa() const throw()
+ {
+ return static_cast<double>( t_oa );
+ }
+
+ double EngAlmanac::getToa(SatID sat) const
+ throw(EngAlmanac::SVNotPresentException)
+ {
+ AlmOrbits::const_iterator i = almPRN.find(sat);
+ CHECK_SV_HERE(i, sat);
+
+ // return value of the Toa for the given PRN
+ return static_cast<double>( (*i).second.Toa );
+ }
+
+
+ double EngAlmanac::getXmitTime(SatID sat) const
+ throw(EngAlmanac::SVNotPresentException)
+ {
+ AlmOrbits::const_iterator i = almPRN.find(sat);
+ CHECK_SV_HERE(i, sat);
+
+ // return value of the xmit_time for the given PRN
+ return static_cast<double>( (*i).second.xmit_time );
+ }
+
+
+ short EngAlmanac::getFullWeek(SatID sat) const
+ throw(EngAlmanac::SVNotPresentException)
+ {
+ AlmOrbits::const_iterator i = almPRN.find(sat);
+ CHECK_SV_HERE(i, sat);
+
+ return (*i).second.getFullWeek();
+ }
+
+ void EngAlmanac::getIon(double a[4], double b[4]) const
+ throw(InvalidRequest)
+ {
+ if (!haveUTC)
+ {
+ InvalidRequest
+ exc("UTC offset (subframe 4, page 18) is not present.");
+ GPSTK_THROW(exc);
+ }
+ for (int n = 0; n < 4; n++)
+ {
+ a[n] = alpha[n];
+ b[n] = beta[n];
+ }
+ }
+
+ void EngAlmanac::getUTC(double& a0, double& a1, double& deltaTLS,
+ long& tot, int& WNt, int& WNLSF,
+ int& DN, double& deltaTLSF) const
+ throw(InvalidRequest)
+ {
+ if (!haveUTC)
+ {
+ InvalidRequest
+ exc("UTC offset (subframe 4, page 18) is not present.");
+ GPSTK_THROW(exc);
+ }
+ a0 = A0;
+ a1 = A1;
+ deltaTLS = dt_ls;
+ tot = t_ot;
+ WNt = wn_t;
+ WNLSF = wn_lsf;
+ DN = static_cast<int>( dn );
+ deltaTLSF = dt_lsf;
+ }
+
+ short EngAlmanac::getAlmWeek() const throw()
+ {
+ return alm_wk;
+ }
+
+ AlmOrbit EngAlmanac::getAlmOrbElem(SatID sat) const
+ throw(EngAlmanac::SVNotPresentException)
+ {
+ AlmOrbits::const_iterator i = almPRN.find(sat);
+ CHECK_SV_HERE(i, sat);
+
+ // return value of the orbit elm. for the given PRN
+ return (*i).second;
+ }
+
+ Xvt EngAlmanac::svXvt(SatID sat, const DayTime& t) const
+ throw(EngAlmanac::SVNotPresentException)
+ {
+ AlmOrbits::const_iterator i = almPRN.find(sat);
+ CHECK_SV_HERE(i, sat);
+
+ // return value of the orbit elm. for the given PRN
+ return (*i).second.svXvt(t);
+ }
+
+ bool EngAlmanac::isData(SatID sat) const throw()
+ {
+ return (almPRN.find(sat) != almPRN.end());
+ }
+
+ string int2bin(unsigned int v, int len=8)
+ {
+ string s;
+ for (int i = 0; i < len; i++)
+ {
+ if (v & 1)
+ s = "1" + s;
+ else
+ s = "0" + s;
+ v = v >> 1;
+ }
+ return s;
+ }
+
+
+ bool EngAlmanac::check(ostream& s) const
+ {
+ bool good = false;
+
+ if (!haveUTC)
+ s << "UTC offset (subframe 4, page 18) is not present." << endl;
+
+ double p51Toa=getToa();
+ for (int prn=1; prn<=32; prn++)
+ {
+ try
+ {
+ double svToa = getToa(gpstk::SatID(prn, SatID::systemGPS));
+ if (svToa != p51Toa)
+ {
+ s << "Toa mis-match on prn " << prn
+ << " page 51 Toa=" << p51Toa
+ << ", SV Toa=" << svToa << endl;
+ good = false;
+ }
+ }
+ catch (SVNotPresentException& e)
+ {
+ cout << "No page for prn " << prn << endl;
+ }
+ }
+ return good;
+ }
+
+
+ void EngAlmanac::dump(ostream& s, bool checkFlag) const
+ {
+ ios::fmtflags oldFlags = s.flags();
+
+ s.fill(' ');
+
+ s << "****************************************************************"
+ << "***************" << endl
+ << "Broadcast Almanac (Engineering Units)" << endl
+ << endl;
+
+ s << endl << " Iono Parameters" << endl << endl;
+ s << "Alpha: ";
+ for (int i=0; i<4; i++)
+ s << setw(12) << alpha[i] << " ";
+ s << " various" << endl;
+ s << " Beta: ";
+ for (int i=0; i<4; i++)
+ s << setw(12) << beta[i] << " ";
+ s << " various" << endl;
+
+ s << endl << " UTC Paramters" << endl << endl;
+ s << "A0: " << setw(12) << A0 << " sec" << endl
+ << "A1: " << setw(12) << A1 << " sec/sec" << endl
+ << "dt_ls: " << setw(12) << dt_ls << " sec" << endl
+ << "t_ot: " << setw(12) << t_ot << " sec" << endl
+ << "wn_t: " << setw(12) << wn_t << " week" << endl
+ << "wn_lsf " << setw(12) << wn_lsf << " week" << endl
+ << "dn: " << setw(12) << (int)dn << " days" << endl
+ << "dt_lsf: " << setw(12) << dt_lsf << " sec" << endl;
+
+ s << endl << " Orbit Parameters" << endl << endl;
+ for (AlmOrbits::const_iterator i = almPRN.begin(); i != almPRN.end(); i++)
+ s << (*i).second;
+
+ s << endl << " Special Message" << endl << endl;
+ StringUtils::hexDumpData(s, special_msg);
+
+
+ s << endl << " Page 25 Health, AS, & SV config" << endl << endl;
+
+ s << "Toa: " << setfill(' ') << setw(8) << t_oa
+ << ", week: " << setw(5) << alm_wk << endl << endl
+ << "PRN health AS cfg PRN health AS cfg" << endl;
+ string bits[33];
+
+ for (SVBitsMap::const_iterator i = health.begin(); i != health.end(); i++)
+ {
+ int prn = i->first;
+ if (prn >= 1 && prn <= 32)
+ bits[prn] = int2bin(i->second, 6);
+ }
+
+ for (SVBitsMap::const_iterator i = SV_config.begin(); i != SV_config.end(); i++)
+ {
+ int prn = i->first;
+ if (prn >= 1 && prn <= 32)
+ {
+ bits[prn] += " " + int2bin(i->second, 4);
+ bits[prn].insert(9, " ");
+ }
+ }
+
+ for (int i=1; i<=16; i++)
+ s << setw(2) << i << " " << bits[i] << " "
+ << setw(2) << i+16 << " " << bits[i+16] << endl;
+
+ s << endl;
+
+ if (checkFlag)
+ check(s);
+
+ s << endl;
+
+ s.flags(oldFlags);
+ } // end of dump()
+
+ std::ostream& operator<<(std::ostream& s, const EngAlmanac& alm)
+ {
+ alm.dump(s);
+ return s;
+ }
+
+} // namespace
diff --git a/dev/src/EngAlmanac.hpp b/dev/src/EngAlmanac.hpp
new file mode 100644
index 0000000..4f00647
--- /dev/null
+++ b/dev/src/EngAlmanac.hpp
@@ -0,0 +1,321 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file EngAlmanac.hpp
+ * Almanac data encapsulated in engineering terms
+ */
+
+#ifndef GPSTK_ENGALMANAC_HPP
+#define GPSTK_ENGALMANAC_HPP
+
+#include "Exception.hpp"
+#include "EngNav.hpp"
+#include "AlmOrbit.hpp"
+#include "Xvt.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup ephemcalc */
+ //@{
+
+ /**
+ * Almanac information for the GPS constellation. This class
+ * encapsulates the almanac navigation message (subframes 4 & 5)
+ * and provides functions to decode the as-broadcast almanac.
+ * It is possible for an EngAlmanac to not contain a complete
+ * set of pages.
+ */
+ class EngAlmanac : public EngNav
+ {
+ public:
+ /// Exception - requested almanac page that wasn't present.
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(SVNotPresentException, gpstk::InvalidRequest);
+
+ /// Map PRN to bits (e.g. health bits).
+ typedef std::map<short, unsigned char, std::less<short> > SVBitsMap;
+
+ /// Default constructor, blank almanac.
+ EngAlmanac() throw();
+
+ /// Destructor
+ virtual ~EngAlmanac() {}
+
+ /**
+ * Store a subframe in this object.
+ * @param subframe ten word navigation subframe stored in the
+ * 30 least-significant bits of each array index.
+ * @param gpsWeek full GPS week number.
+ * @return true if successful.
+ * @throw InvalidParameter if subframe is valid but not subframe 4-5.
+ */
+ bool addSubframe(const long subframe[10], const int gpsWeek)
+ throw(gpstk::InvalidParameter);
+
+ /** This function returns true if data is available for a given
+ * PRN. This data is accessed by the below accesser methods
+ */
+ bool isData(SatID sat) const throw();
+
+ /** This function returns the value of the eccentricity for
+ * the given PRN.
+ * @throw SVNotPresentException if almanac page for the given
+ * PRN isn't present.
+ */
+ double getEcc(SatID sat) const throw(SVNotPresentException);
+
+ /** This function returns the value of the offset of the
+ * inclination from 54 degrees in radians for the given PRN.
+ * @throw SVNotPresentException if almanac page for the given
+ * PRN isn't present.
+ */
+ double getIOffset(SatID sat) const throw(SVNotPresentException);
+
+ /** This function returns the value of the rate of the right
+ * ascension of the ascending node in radians/second for the
+ * given PRN.
+ * @throw SVNotPresentException if almanac page for the given
+ * PRN isn't present.
+ */
+ double getOmegadot(SatID sat) const throw(SVNotPresentException);
+
+ /** This function returns the value of the health of the given
+ * PRN from the general pages in the almanac. It return the
+ * shortened 6 bit health that is in those pages.
+ * @throw SVNotPresentException if almanac page for the given
+ * PRN isn't present.
+ */
+ short get6bitHealth(SatID sat) const throw();
+
+ /** This function returns the value of the health of the given
+ * PRN from the PRN specific page which might not be present.
+ * This is the full 8 bit health
+ * @throw SVNotPresentException if almanac page for the given
+ * PRN isn't present.
+ */
+ short getSVHealth(SatID sat) const throw(SVNotPresentException);
+
+ /** This function returns the value of the square root of the
+ * semi-major axis in square root of meters for the given
+ * PRN.
+ * @throw SVNotPresentException if almanac page for the given
+ * PRN isn't present.
+ */
+ double getAhalf(SatID sat) const throw(SVNotPresentException);
+
+ /** This function returns the value of the semi-major axis in
+ * meters for the specified PRN.
+ * @throw SVNotPresentException if almanac page for the given
+ * PRN isn't present.
+ */
+ double getA(SatID sat) const throw(SVNotPresentException);
+
+ /** This function returns the value of the right ascension of
+ * the ascending node in radians for the given PRN.
+ * @throw SVNotPresentException if almanac page for the given
+ * PRN isn't present.
+ */
+ double getOmega0(SatID sat) const throw(SVNotPresentException);
+
+ /** This function returns the value of the argument of perigee
+ * in radians for the given PRN.
+ * @throw SVNotPresentException if almanac page for the given
+ * PRN isn't present.
+ */
+ double getW(SatID sat) const throw(SVNotPresentException);
+
+ /** This function returns the value of the mean anomaly in
+ * radians for the given PRN.
+ * @throw SVNotPresentException if almanac page for the given
+ * PRN isn't present.
+ */
+ double getM0(SatID sat) const throw(SVNotPresentException);
+
+ /** This function returns the SV clock error in seconds for
+ * the given PRN.
+ * @throw SVNotPresentException if almanac page for the given
+ * PRN isn't present.
+ */
+ double getAf0(SatID sat) const throw(SVNotPresentException);
+
+ /** This function returns the SV clock drift in
+ * seconds/seconds for the given PRN.
+ * @throw SVNotPresentException if almanac page for the given
+ * PRN isn't present.
+ */
+ double getAf1(SatID sat) const throw(SVNotPresentException);
+
+ /** This function returns the value of the time of the almanac
+ * (from page 51) in GPS seconds of week.
+ * @throw SVNotPresentException if almanac page for the given
+ * PRN isn't present.
+ */
+ double getToa() const throw();
+
+ /** This function returns the value of the time of the almanac
+ * in GPS seconds of week for the given PRN.
+ * @throw SVNotPresentException if almanac page for the given
+ * PRN isn't present.
+ */
+ double getToa(SatID sat) const throw(SVNotPresentException);
+
+ /** This function returns the value of the transmit time for
+ * this almanac data in seconds of week for the given PRN.
+ * @throw SVNotPresentException if almanac page for the given
+ * PRN isn't present.
+ */
+ double getXmitTime(SatID sat) const throw(SVNotPresentException);
+
+ /** This function returns the value of the week of the page
+ * transmission for the given PRN.
+ * @throw SVNotPresentException if almanac page for the given
+ * PRN isn't present.
+ */
+ short getFullWeek(SatID sat) const throw(SVNotPresentException);
+
+ /**
+ * Get the ionospheric parameters.
+ * @throw InvalidRequest if the almanac page isn't present
+ */
+ void getIon(double a[4], double b[4]) const
+ throw(InvalidRequest);
+
+ /**
+ * Get the UTC offset parameters.
+ * @throw InvalidRequest if the almanac page isn't present
+ */
+ void getUTC(double& a0, double& a1, double& deltaTLS, long& tot,
+ int& WNt, int& WNLSF, int& DN, double& deltaTLSF) const
+ throw(InvalidRequest);
+
+ /** This function gets the week number for the almanac stored
+ * in this object. It is replaced when an almanac is
+ * converted to engineering units with the almWeek from the
+ * data. It also is replaced by the week number in the FIC
+ * data (if it is non zero) when addSF is used to add FIC
+ * data to the almanac. This is a full GPS week number (ie >
+ * 10 bits)
+ */
+ short getAlmWeek() const throw();
+
+ /** This function returns an object containing all of the
+ * almanac orbit elements for the given PRN.
+ * @throw SVNotPresentException if almanac page for the given
+ * PRN isn't present.
+ */
+ AlmOrbit getAlmOrbElem(SatID sat) const
+ throw(SVNotPresentException);
+
+ /** This function returns an object containing all of the
+ * almanac orbit elements.
+ */
+ AlmOrbits getAlmOrbElems() const
+ { return almPRN; }
+
+ /** Compute satellite velocity/position at the given time
+ * using this almanac.
+ * @param sat SatID of satellite to get velocity/position of.
+ * @param t time at which to compute SV position.
+ * @throw InvalidRequest if a required subframe has not been stored.
+ */
+ Xvt svXvt(SatID sat, const DayTime& t) const
+ throw(SVNotPresentException);
+
+ /// \deprecated use the SatID version
+ Xvt svXvt(short prn, const DayTime& t) const
+ throw(SVNotPresentException)
+ { SatID sat(prn,SatID::systemGPS); return svXvt(sat,t); }
+
+ void dump(std::ostream& s = std::cout, bool checkFlag=true) const;
+
+ bool check(std::ostream& s) const;
+
+ protected:
+ /** This function is used to make sure data is present before
+ * accessing it.
+ */
+ void checkSVHere(SatID sat) const throw(SVNotPresentException);
+
+
+ /** ionosphere parameters */
+ //@{
+ double alpha[4];
+ double beta[4];
+ //@}
+
+ /** UTC Parameters */
+ //@{
+ double A0; /**< Bias term of difference polynomial */
+ double A1; /**< Drift term of difference polynomial */
+ double dt_ls; /**< time increment due to leap seconds */
+ double dt_lsf; /**< scheduled future time increment due to
+ leap seconds */
+ long t_ot; /**< reference time */
+ long t_oa; /**< Toa from page id 51 (subframe 5,
+ pg 25) */
+ int wn_t; /**< reference week of current leap
+ second */
+ int wn_lsf; /**< week number of last/next leap
+ second */
+ short alm_wk; /**< GPS Week of the Almanac from the last
+ page of orbital data */
+ unsigned char dn; /**< reference day # of future leap
+ second */
+ SVBitsMap health; /**< satellite health array */
+ std::string special_msg; /**< Special message from GPS */
+
+ SVBitsMap SV_config; /**< 4 bit anti-spoofing/SV config sats. */
+ //@}
+
+ AlmOrbits almPRN;
+ bool haveUTC;
+
+ private:
+ bool operator==(const EngAlmanac&);
+ bool operator!=(const EngAlmanac&);
+ bool operator<(const EngAlmanac&);
+ bool operator>(const EngAlmanac&);
+ }; // class EngAlmanac
+
+
+ std::ostream& operator<<(std::ostream& s, const EngAlmanac& alm);
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/EngEphemeris.cpp b/dev/src/EngEphemeris.cpp
new file mode 100644
index 0000000..84693d5
--- /dev/null
+++ b/dev/src/EngEphemeris.cpp
@@ -0,0 +1,1386 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file EngEphemeris.cpp
+ * Ephemeris data encapsulated in engineering terms
+ */
+
+#include "StringUtils.hpp"
+#include "icd_200_constants.hpp"
+#include "GPSGeoid.hpp"
+#include "EngEphemeris.hpp"
+
+#include <cmath>
+
+namespace gpstk
+{
+ using namespace std;
+ using namespace gpstk;
+
+ EngEphemeris::EngEphemeris()
+ throw()
+ {
+ haveSubframe[0] = haveSubframe[1] = haveSubframe[2] = false;
+
+ tlm_message[0] = tlm_message[1] = tlm_message[2] = 0;
+
+ PRNID = tracker = ASalert[0] = ASalert[1] = ASalert[2] = weeknum =
+ codeflags = accFlag = health = L2Pdata = 0;
+
+ HOWtime[0] = HOWtime[1] = HOWtime[2] = 0;
+
+ IODC = IODE = 0;
+ Toc = af0 = af1 = af2 = Tgd = Cuc = Cus = Crc = Crs =
+ Cic = Cis = Toe = M0 = dn = ecc = Ahalf = OMEGA0 = i0 = w =
+ OMEGAdot = idot = accuracy = 0.0;
+
+ fitint = 0;
+ }
+
+ bool EngEphemeris::addSubframe(const long subframe[10], const int gpsWeek,
+ short PRN, short track)
+ throw(InvalidParameter)
+ {
+ double ficked[60];
+
+ if (!subframeConvert(subframe, gpsWeek, ficked))
+ return false;
+
+ int sfnum = static_cast<int>( ficked[4] );
+ InvalidParameter exc("Subframe "+StringUtils::asString(sfnum)+
+ " not ephemeris subframe.");
+
+ switch (sfnum)
+ {
+ case 1:
+ tlm_message[0] = (subframe[0] >> 8) & 0x3fff;
+ HOWtime[0] = static_cast<long>( ficked[2] );
+ ASalert[0] = static_cast<short>( ficked[3] );
+ weeknum = static_cast<short>( ficked[5] );
+ codeflags = static_cast<short>( ficked[6] );
+ accFlag = static_cast<short>( ficked[7] );
+ health = static_cast<short>( ficked[8] );
+ IODC = static_cast<short>( ldexp( ficked[9], -11 ) );
+ L2Pdata = static_cast<short>( ficked[10] );
+ Tgd = ficked[11];
+ Toc = ficked[12];
+ af2 = ficked[13];
+ af1 = ficked[14];
+ af0 = ficked[15];
+ tracker = track;
+ PRNID = PRN;
+ haveSubframe[0] = true;
+ // convert the accuracy flag to a value...
+ accuracy = gpstk::ura2accuracy(accFlag);
+ break;
+
+ case 2:
+ tlm_message[1] = (subframe[0] >> 8) & 0x3fff;
+ HOWtime[1] = static_cast<long>( ficked[2] );
+ ASalert[1] = static_cast<short>( ficked[3] );
+ IODE = static_cast<short>( ldexp( ficked[5], -11 ) );
+ Crs = ficked[6];
+ dn = ficked[7];
+ M0 = ficked[8];
+ Cuc = ficked[9];
+ ecc = ficked[10];
+ Cus = ficked[11];
+ Ahalf = ficked[12];
+ Toe = ficked[13];
+ fitint = static_cast<short>( ficked[14] );
+ haveSubframe[1] = true;
+ break;
+
+ case 3:
+ tlm_message[2] = (subframe[0] >> 8) & 0x3fff;
+ HOWtime[2] = static_cast<long>( ficked[2] );
+ ASalert[2] = static_cast<short>( ficked[3] );
+ Cic = ficked[5];
+ OMEGA0 = ficked[6];
+ Cis = ficked[7];
+ i0 = ficked[8];
+ Crc = ficked[9];
+ w = ficked[10];
+ OMEGAdot = ficked[11];
+ idot = ficked[13];
+ haveSubframe[2] = true;
+ break;
+
+ default:
+ GPSTK_THROW(exc);
+ break;
+ } // switch (sfnum)
+
+ return true;
+ }
+
+ bool EngEphemeris::addSubframeNoParity(const long subframe[10],
+ const long gpsWeek,
+ const short PRN,
+ const short track)
+ throw(InvalidParameter)
+ {
+ long paddedSF[10];
+ short PRNArg;
+ short trackArg;
+
+ for (int i=0;i<10;++i)
+ {
+ paddedSF[i] = subframe[i];
+ paddedSF[i] <<= 6;
+ paddedSF[i] &= 0x3FFFFFC0; // Guarantee 2 msb and 6 lsb are zeroes
+ }
+ PRNArg = PRN;
+ trackArg = track;
+ return( addSubframe( paddedSF, gpsWeek, PRNArg, trackArg ));
+ }
+
+ bool EngEphemeris::addIncompleteSF1Thru3(
+ const long sf1[8], const long sf2[8], const long sf3[8],
+ const long sf1TransmitSOW, const int gpsWeek,
+ const short PRN, const short track)
+ {
+ double ficked[60];
+
+ // Need to provide a valid subframe number in the handover word.
+ // While we're at it, we'll fake the A-S bit such that it
+ // appears A-S is ON, even though we warn the user NOT to trust
+ // returns from the getASAlert() method.
+ const long sf1Lead[2] = { 0x00000000, 0x00000900 };
+ const long sf2Lead[2] = { 0x00000000, 0x00000A00 };
+ const long sf3Lead[2] = { 0x00000000, 0x00000B00 };
+ long subframe[10];
+
+ // Handover word times represent the time of the leading edge of the
+ // NEXT subframe. Therefore, HOW should always correspond to
+ // :06/:36 for SF 1
+ // :12/:42 for SF 2
+ // :18/:48 for SF 3
+ // This method hasn't a clue about the accuracy of the SOW input by the
+ // user, but it WILL enforce this relationship.
+ long frameCount = sf1TransmitSOW / 30;
+ long SF1HOWTime = (frameCount * 30) + 6;
+
+ // Convert subframe 1 parameters
+ subframe[0] = sf1Lead[0];
+ subframe[1] = sf1Lead[1];
+ int i;
+ for (i=0; i<8; ++i) subframe[i+2] = sf1[i];
+
+ if (!subframeConvert(subframe, gpsWeek, ficked))
+ return false;
+
+ tlm_message[0] = 0;
+ HOWtime[0] = SF1HOWTime;
+ ASalert[0] = (short)ficked[3];
+ weeknum = (short)ficked[5];
+ codeflags = (short)ficked[6];
+ accFlag = (short)ficked[7];
+ health = (short)ficked[8];
+ IODC = (short)ldexp(ficked[9],-11);
+ L2Pdata = (short)ficked[10];
+ Tgd = ficked[11];
+ Toc = ficked[12];
+ af2 = ficked[13];
+ af1 = ficked[14];
+ af0 = ficked[15];
+ tracker = track;
+ PRNID = PRN;
+ haveSubframe[0] = true;
+ // convert the accuracy flag to a value...
+ accuracy = gpstk::ura2accuracy(accFlag);
+
+
+ // Convert subframe 2 parameters
+ subframe[0] = sf2Lead[0];
+ subframe[1] = sf2Lead[1];
+ for (i=0; i<8; ++i) subframe[i+2] = sf2[i];
+
+ if (!subframeConvert(subframe, gpsWeek, ficked))
+ return false;
+
+ tlm_message[1] = 0;
+ HOWtime[1] = SF1HOWTime + 6;
+ ASalert[1] = (short)ficked[3];
+ IODE = (short)ldexp(ficked[5],-11);
+ Crs = ficked[6];
+ dn = ficked[7];
+ M0 = ficked[8];
+ Cuc = ficked[9];
+ ecc = ficked[10];
+ Cus = ficked[11];
+ Ahalf = ficked[12];
+ Toe = ficked[13];
+ fitint = (short)ficked[14];
+ haveSubframe[1] = true;
+
+ // Convert subframe 3 parameters
+ subframe[0] = sf3Lead[0];
+ subframe[1] = sf3Lead[1];
+ for (i=0; i<8; ++i) subframe[i+2] = sf3[i];
+
+ if (!subframeConvert(subframe, gpsWeek, ficked))
+ return false;
+
+ tlm_message[2] = 0;
+ HOWtime[2] = SF1HOWTime + 12;
+ ASalert[2] = (short)ficked[3];
+ Cic = ficked[5];
+ OMEGA0 = ficked[6];
+ Cis = ficked[7];
+ i0 = ficked[8];
+ Crc = ficked[9];
+ w = ficked[10];
+ OMEGAdot = ficked[11];
+ idot = ficked[13];
+ haveSubframe[2] = true;
+
+ return true;
+ }
+
+ bool EngEphemeris :: isData(short subframe) const
+ throw(gpstk::InvalidRequest)
+ {
+ if ((subframe < 1) || (subframe > 3))
+ {
+ InvalidRequest exc("Subframe "+StringUtils::asString(subframe)+
+ " is not a valid ephemeris subframe.");
+ GPSTK_THROW(exc);
+ }
+
+ return haveSubframe[subframe-1];
+ }
+
+ void EngEphemeris :: setAccuracy(const double& acc)
+ throw(gpstk::InvalidParameter)
+ {
+ if( acc < 0 )
+ {
+ InvalidParameter exc("SV Accuracy of " + StringUtils::asString(acc) +
+ " meters is invalid.");
+ GPSTK_THROW(exc);
+ }
+ accuracy = acc;
+ accFlag = gpstk::accuracy2ura(acc);
+ }
+
+ Xvt EngEphemeris :: svXvt(const DayTime& t) const
+ throw(InvalidRequest)
+ {
+ Xvt sv;
+
+ double ea; /* eccentric anomaly */
+ double delea; /* delta eccentric anomaly during iteration */
+ double elapte; /* elapsed time since Toe */
+ double elaptc; /* elapsed time since Toc */
+ double dtc,dtr,q,sinea,cosea;
+ double GSTA,GCTA;
+ double A; /* semi-major axis */
+ double amm;
+ double meana; /* mean anomaly */
+ double F,G; /* temporary real variables */
+ double alat,talat,c2al,s2al,du,dr,di,U,R,truea,AINC;
+ double ANLON,cosu,sinu,xip,yip,can,san,cinc,sinc;
+ double xef,yef,zef,dek,dlk,div,domk,duv,drv;
+ double dxp,dyp,vxef,vyef,vzef;
+ GPSGeoid geoid;
+
+ double sqrtgm = sqrt(geoid.gm());
+
+ // Check for ground transmitter
+ double twoPI = 2.0e0 * PI;
+ bool igtran; // ground transmitter flag
+ double lecc; // eccentricity
+ double tdrinc; // dt inclination
+ if (getAhalf() < 2550.0e0 )
+ {
+ igtran = true;
+ lecc = 0.0e0;
+ tdrinc = 0.0e0;
+ }
+ else
+ {
+ igtran = false;
+ lecc = getEcc();
+ tdrinc = getIDot();
+ }
+
+ // Compute time since ephemeris & clock epochs
+ elapte = t - getEphemerisEpoch();
+ elaptc = t - getEpochTime();
+
+
+ // Compute mean motion
+ A = getA();
+ amm = (sqrtgm / (A*getAhalf())) + getDn();
+
+
+ // In-plane angles
+ // meana - Mean anomaly
+ // ea - Eccentric anomaly
+ // truea - True anomaly
+ if (!igtran)
+ meana = getM0() + elapte * amm;
+ else
+ meana = getM0();
+ meana = fmod(meana, twoPI);
+
+ ea = meana + lecc * sin(meana);
+
+ int loop_cnt = 1;
+ do {
+ F = meana - ( ea - lecc * sin(ea));
+ G = 1.0 - lecc * cos(ea);
+ delea = F/G;
+ ea = ea + delea;
+ loop_cnt++;
+ } while ( (fabs(delea) > 1.0e-11 ) && (loop_cnt <= 20) );
+
+ // Compute clock corrections
+ sv.ddtime = getAf1() + elaptc * getAf2();
+ dtc = getAf0() + elaptc * ( sv.ddtime );
+ dtr = REL_CONST * lecc * getAhalf() * sin(ea);
+ sv.dtime = dtc + dtr;
+
+ // Compute true anomaly
+ q = sqrt ( 1.0e0 - lecc*lecc);
+ sinea = sin(ea);
+ cosea = cos(ea);
+ G = 1.0e0 - lecc * cosea;
+
+ // G*SIN(TA) AND G*COS(TA)
+ GSTA = q * sinea;
+ GCTA = cosea - lecc;
+
+ // True anomaly
+ truea = atan2 ( GSTA, GCTA );
+
+ // Argument of lat and correction terms (2nd harmonic)
+ alat = truea + getW();
+ talat = 2.0e0 * alat;
+ c2al = cos( talat );
+ s2al = sin( talat );
+
+ du = c2al * getCuc() + s2al * getCus();
+ dr = c2al * getCrc() + s2al * getCrs();
+ di = c2al * getCic() + s2al * getCis();
+
+ // U = updated argument of lat, R = radius, AINC = inclination
+ U = alat + du;
+ R = getA()*G + dr;
+ AINC = getI0() + tdrinc * elapte + di;
+
+ // Longitude of ascending node (ANLON)
+ if (!igtran)
+ ANLON = getOmega0() + (getOmegaDot() - geoid.angVelocity()) *
+ elapte - geoid.angVelocity() * getToe();
+ else
+ ANLON = getOmega0() - getOmegaDot() * getToe();
+
+ // In plane location
+ cosu = cos( U );
+ sinu = sin( U );
+
+ xip = R * cosu;
+ yip = R * sinu;
+
+ // Angles for rotation to earth fixed
+ can = cos( ANLON );
+ san = sin( ANLON );
+ cinc = cos( AINC );
+ sinc = sin( AINC );
+
+ // Earth fixed - meters
+ xef = xip*can - yip*cinc*san;
+ yef = xip*san + yip*cinc*can;
+ zef = yip*sinc;
+
+ sv.x[0] = xef;
+ sv.x[1] = yef;
+ sv.x[2] = zef;
+
+ // Compute velocity of rotation coordinates
+ dek = amm * A / R;
+ dlk = getAhalf() * q * sqrtgm / (R*R);
+ div = tdrinc - 2.0e0 * dlk *
+ ( getCic() * s2al - getCis() * c2al );
+ domk = getOmegaDot() - geoid.angVelocity();
+ duv = dlk*(1.e0+ 2.e0 * (getCus()*c2al - getCuc()*s2al) );
+ drv = A * lecc * dek * sinea - 2.e0 * dlk *
+ ( getCrc() * s2al - getCrs() * c2al );
+
+ dxp = drv*cosu - R*sinu*duv;
+ dyp = drv*sinu + R*cosu*duv;
+
+ // Calculate velocities
+ vxef = dxp*can - xip*san*domk - dyp*cinc*san
+ + yip*( sinc*san*div - cinc*can*domk);
+ vyef = dxp*san + xip*can*domk + dyp*cinc*can
+ - yip*( sinc*can*div + cinc*san*domk);
+ vzef = dyp*sinc + yip*cinc*div;
+
+ // Move results into output variables
+ sv.v[0] = vxef;
+ sv.v[1] = vyef;
+ sv.v[2] = vzef;
+
+ return sv;
+ }
+
+ double EngEphemeris::svRelativity(const DayTime& t) const
+ throw(gpstk::InvalidRequest)
+ {
+ GPSGeoid geoid;
+ double twoPI = 2.0e0 * PI;
+ double sqrtgm = sqrt(geoid.gm());
+ double elapte = t - getEphemerisEpoch();
+ double elaptc = t - getEpochTime();
+ double A = getA();
+ double amm = (sqrtgm / (A*getAhalf())) + getDn();
+ double meana,lecc,F,G,delea;
+
+ if (getAhalf() < 2550.0e0 ) { lecc = 0.0e0; meana = getM0(); }
+ else { lecc = getEcc(); meana = getM0() + elapte * amm; }
+ meana = fmod(meana, twoPI);
+ double ea = meana + lecc * sin(meana);
+
+ int loop_cnt = 1;
+ do {
+ F = meana - ( ea - lecc * sin(ea));
+ G = 1.0 - lecc * cos(ea);
+ delea = F/G;
+ ea = ea + delea;
+ loop_cnt++;
+ } while ( (fabs(delea) > 1.0e-11 ) && (loop_cnt <= 20) );
+ double dtr = REL_CONST * lecc * getAhalf() * sin(ea);
+ return dtr;
+ }
+
+ double EngEphemeris::svClockBias(const DayTime& t) const
+ throw(gpstk::InvalidRequest)
+ {
+ double dtc,elaptc;
+ elaptc = t - getEpochTime();
+ dtc = getAf0() + elaptc * ( getAf1() + elaptc * getAf2() );
+
+ return dtc;
+ }
+
+ double EngEphemeris::svClockDrift(const DayTime& t) const
+ throw(gpstk::InvalidRequest)
+ {
+ double drift,elaptc;
+ elaptc = t - getEpochTime();
+ drift = getAf1() + elaptc * getAf2();
+ return drift;
+ }
+
+ short EngEphemeris :: getFitInterval() const
+ throw(InvalidRequest)
+ {
+ short iodc = getIODC();
+ short fiti = getFitInt();
+
+ /* check the IODC */
+ if (iodc < 0 || iodc > 1023)
+ {
+ /* error in iodc, return minimum fit */
+ return 4;
+ }
+
+ if (((fiti == 0) &&
+ (iodc & 0xFF) < 240 || (iodc & 0xFF) > 255 ))
+ {
+ /* fit interval of 4 hours */
+ return 4;
+ }
+ else if (fiti == 1)
+ {
+ if( ((iodc & 0xFF) < 240 || (iodc & 0xFF) > 255))
+ {
+ /* fit interval of 6 hours */
+ return 6;
+ }
+ else if(iodc >=240 && iodc <=247)
+ {
+ /* fit interval of 8 hours */
+ return 8;
+ }
+ else if(iodc >= 248 && iodc <= 255 || iodc == 496)
+ {
+ /* fit interval of 14 hours */
+ return 14;
+ }
+ else if(iodc >= 497 && iodc <=503)
+ {
+ /* fit interval of 26 hours */
+ return 26;
+ }
+ else if(iodc >= 504 && iodc <=510)
+ {
+ /* fit interval of 50 hours */
+ return 50;
+ }
+ else if(iodc == 511 || iodc >= 752 && iodc <= 756)
+ {
+ /* fit interval of 74 hours */
+ return 74;
+ }
+ else if(iodc >= 757 && iodc <= 763)
+ {
+ /* fit interval of 98 hours */
+ return 98;
+ }
+ else if(iodc >= 764 && iodc <=767 || iodc >=1008 && iodc <=1010)
+ {
+ /* fit interval of 122 hours */
+ return 122;
+ }
+ else if(iodc >= 1011 && iodc <=1020)
+ {
+ /* fit interval of 146 hours */
+ return 146;
+ }
+ else
+ {
+ /* error in the iodc or ephemeris, return minimum
+ fit */
+ return 4;
+ }
+ }
+ else
+ {
+ /* error in ephemeris/iodc, return minimum fit */
+ return 4;
+ }
+
+ return 0; // never reached
+ }
+
+ unsigned EngEphemeris::getTLMMessage(short subframe) const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[subframe-1])
+ {
+ InvalidRequest exc("Subframe "+StringUtils::asString(subframe)+
+ " not stored.");
+ GPSTK_THROW(exc);
+ }
+ return tlm_message[subframe-1];
+ }
+
+ DayTime EngEphemeris::getTransmitTime() const
+ throw(InvalidRequest)
+ {
+ DayTime toReturn(0.L);
+ toReturn.setGPSfullweek(getFullWeek(), (double)getTot());
+ return toReturn;
+ }
+
+ DayTime EngEphemeris::getEpochTime() const
+ throw(InvalidRequest)
+ {
+ DayTime toReturn(0.L);
+ if ( (getToc() - getHOWTime(1)) < -DayTime::HALFWEEK)
+ toReturn.setGPSfullweek(getFullWeek() + 1, getToc());
+ else if ( (getToc() - getHOWTime(1)) > DayTime::HALFWEEK)
+ toReturn.setGPSfullweek(getFullWeek() - 1, getToc());
+ else
+ toReturn.setGPSfullweek(getFullWeek(), getToc());
+ return toReturn;
+ }
+
+ DayTime EngEphemeris::getEphemerisEpoch() const
+ throw(InvalidRequest)
+ {
+ DayTime toReturn(0.L);
+ if ( (getToe() - getHOWTime(1)) < -DayTime::HALFWEEK)
+ toReturn.setGPSfullweek(getFullWeek() + 1, getToe());
+ else if ( (getToe() - getHOWTime(1)) > DayTime::HALFWEEK)
+ toReturn.setGPSfullweek(getFullWeek() - 1, getToe());
+ else
+ toReturn.setGPSfullweek(getFullWeek(), getToe());
+ return toReturn;
+ }
+
+ short EngEphemeris::getPRNID() const
+ throw(InvalidRequest)
+ {
+ if(!haveSubframe[0])
+ {
+ InvalidRequest exc("Required subframe 1 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return PRNID;
+ }
+
+ short EngEphemeris::getTracker() const
+ throw(InvalidRequest)
+ {
+ if(!haveSubframe[0])
+ {
+ InvalidRequest exc("Required subframe 1 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return tracker;
+ }
+
+ double EngEphemeris::getHOWTime(short subframe) const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[subframe-1])
+ {
+ InvalidRequest exc("Subframe "+StringUtils::asString(subframe)+
+ " not stored.");
+ GPSTK_THROW(exc);
+ }
+ // this return as a double is necessary for sets into DayTime
+ // to not get confused. Ints are Zcounts whereas doubles are seconds
+ return (double) HOWtime[subframe-1];
+ }
+
+ short EngEphemeris::getASAlert(short subframe) const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[subframe-1])
+ {
+ InvalidRequest exc("Subframe "+StringUtils::asString(subframe)+
+ " not stored.");
+ GPSTK_THROW(exc);
+ }
+ return ASalert[subframe-1];
+ }
+
+ short EngEphemeris::getFullWeek() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[0])
+ {
+ InvalidRequest exc("Required subframe 1 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return weeknum;
+ }
+
+ short EngEphemeris::getCodeFlags() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[0])
+ {
+ InvalidRequest exc("Required subframe 1 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return codeflags;
+ }
+
+ double EngEphemeris::getAccuracy() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[0])
+ {
+ InvalidRequest exc("Required subframe 1 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return accuracy;
+ }
+
+ short EngEphemeris::getAccFlag() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[0])
+ {
+ InvalidRequest exc("Required subframe 1 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return accFlag;
+ }
+
+ short EngEphemeris::getHealth() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[0])
+ {
+ InvalidRequest exc("Required subframe 1 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return health;
+ }
+
+ short EngEphemeris::getL2Pdata() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[0])
+ {
+ InvalidRequest exc("Required subframe 1 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return L2Pdata;
+ }
+
+ short EngEphemeris::getIODC() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[0])
+ {
+ InvalidRequest exc("Required subframe 1 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return (short)IODC;
+ }
+
+ short EngEphemeris::getIODE() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[1])
+ {
+ InvalidRequest exc("Required subframe 2 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return (short)IODE;
+ }
+
+ double EngEphemeris::getToc() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[0])
+ {
+ InvalidRequest exc("Required subframe 1 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return Toc;
+ }
+
+ double EngEphemeris::getAf0() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[0])
+ {
+ InvalidRequest exc("Required subframe 1 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return af0;
+ }
+
+ double EngEphemeris::getAf1() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[0])
+ {
+ InvalidRequest exc("Required subframe 1 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return af1;
+ }
+
+ double EngEphemeris::getAf2() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[0])
+ {
+ InvalidRequest exc("Required subframe 1 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return af2;
+ }
+
+ double EngEphemeris::getTgd() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[0])
+ {
+ InvalidRequest exc("Required subframe 1 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return Tgd;
+ }
+
+ double EngEphemeris::getCus() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[1])
+ {
+ InvalidRequest exc("Required subframe 2 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return Cus;
+ }
+
+ double EngEphemeris::getCrs() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[1])
+ {
+ InvalidRequest exc("Required subframe 2 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return Crs;
+ }
+
+ double EngEphemeris::getCis() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[2])
+ {
+ InvalidRequest exc("Required subframe 3 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return Cis;
+ }
+
+ double EngEphemeris::getCrc() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[2])
+ {
+ InvalidRequest exc("Required subframe 3 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return Crc;
+ }
+
+ double EngEphemeris::getCuc() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[1])
+ {
+ InvalidRequest exc("Required subframe 2 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return Cuc;
+ }
+
+ double EngEphemeris::getCic() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[2])
+ {
+ InvalidRequest exc("Required subframe 3 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return Cic;
+ }
+
+ double EngEphemeris::getToe() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[1])
+ {
+ InvalidRequest exc("Required subframe 2 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return Toe;
+ }
+
+ double EngEphemeris::getM0() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[1])
+ {
+ InvalidRequest exc("Required subframe 2 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return M0;
+ }
+
+ double EngEphemeris::getDn() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[1])
+ {
+ InvalidRequest exc("Required subframe 2 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return dn;
+ }
+
+ double EngEphemeris::getEcc() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[1])
+ {
+ InvalidRequest exc("Required subframe 2 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return ecc;
+ }
+
+ double EngEphemeris::getAhalf() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[1])
+ {
+ InvalidRequest exc("Required subframe 2 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return Ahalf;
+ }
+
+ double EngEphemeris::getA() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[1])
+ {
+ InvalidRequest exc("Required subframe 2 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return Ahalf * Ahalf;
+ }
+
+ double EngEphemeris::getOmega0() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[2])
+ {
+ InvalidRequest exc("Required subframe 3 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return OMEGA0;
+ }
+
+ double EngEphemeris::getI0() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[2])
+ {
+ InvalidRequest exc("Required subframe 3 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return i0;
+ }
+
+ double EngEphemeris::getW() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[2])
+ {
+ InvalidRequest exc("Required subframe 3 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return w;
+ }
+
+ double EngEphemeris::getOmegaDot() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[2])
+ {
+ InvalidRequest exc("Required subframe 3 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return OMEGAdot;
+ }
+
+ double EngEphemeris::getIDot() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[2])
+ {
+ InvalidRequest exc("Required subframe 3 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return idot;
+ }
+
+ short EngEphemeris::getFitInt() const
+ throw(InvalidRequest)
+ {
+ if (!haveSubframe[1])
+ {
+ InvalidRequest exc("Required subframe 2 not stored.");
+ GPSTK_THROW(exc);
+ }
+ return fitint;
+ }
+
+ long EngEphemeris::getTot() const
+ throw(InvalidRequest)
+ {
+ if(!haveSubframe[0])
+ {
+ InvalidRequest exc("Required subframe 1 not stored.");
+ GPSTK_THROW(exc);
+ }
+ if(!haveSubframe[1])
+ {
+ InvalidRequest exc("Required subframe 2 not stored.");
+ GPSTK_THROW(exc);
+ }
+ if(!haveSubframe[2])
+ {
+ InvalidRequest exc("Required subframe 3 not stored.");
+ GPSTK_THROW(exc);
+ }
+
+ // MSVC
+#ifdef _MSC_VER
+ long foo = static_cast<long>( getHOWTime(1) < getHOWTime(2) ) ? getHOWTime(1) : getHOWTime(2);
+ foo = ( foo < getHOWTime(3) ) ? foo : getHOWTime(3) ;
+#else
+ long foo =
+ static_cast<long>( min( getHOWTime(1),
+ min( getHOWTime(2), getHOWTime(3) ) ) );
+#endif
+ // The ephemeris comes on 30 second boundaries, so...
+ foo/=30;
+ foo*=30;
+ return foo;
+ }
+
+ EngEphemeris& EngEphemeris::setSF1( unsigned tlm, double how, short asalert,
+ short fullweek, short cflags, short acc,
+ short svhealth, short iodc, short l2pdata,
+ double tgd, double toc, double Af2,
+ double Af1, double Af0, short Tracker,
+ short prn )
+ throw()
+ {
+
+ tlm_message[0] = tlm;
+ HOWtime[0] = static_cast<long>( how );
+ ASalert[0] = asalert;
+ weeknum = fullweek;
+ codeflags = cflags;
+ accFlag = acc;
+ health = svhealth;
+ IODC = iodc;
+ L2Pdata = l2pdata;
+ Tgd = tgd;
+ Toc = toc;
+ af2 = Af2;
+ af1 = Af1;
+ af0 = Af0;
+ tracker = Tracker;
+ PRNID = prn;
+ haveSubframe[0] = true;
+ // convert the accuracy flag to a value...
+ accuracy = gpstk::ura2accuracy(accFlag);
+ return *this;
+ }
+
+ EngEphemeris& EngEphemeris::setSF2( unsigned tlm, double how, short asalert,
+ short iode, double crs, double Dn,
+ double m0, double cuc, double Ecc,
+ double cus, double ahalf, double toe,
+ short fitInt )
+ throw()
+ {
+ tlm_message[1] = tlm;
+ HOWtime[1] = static_cast<long>( how );
+ ASalert[1] = asalert;
+ IODE = iode;
+ Crs = crs;
+ dn = Dn;
+ M0 = m0;
+ Cuc = cuc;
+ ecc = Ecc;
+ Cus = cus;
+ Ahalf = ahalf;
+ Toe = toe;
+ fitint = fitInt;
+ haveSubframe[1] = true;
+ return *this;
+ }
+
+
+ EngEphemeris& EngEphemeris::setSF3( unsigned tlm, double how, short asalert,
+ double cic, double Omega0, double cis,
+ double I0, double crc, double W,
+ double OmegaDot, double IDot )
+ throw()
+ {
+ tlm_message[2] = tlm;
+ HOWtime[2] = static_cast<long>( how );
+ ASalert[2] = asalert;
+ Cic = cic;
+ OMEGA0 = Omega0;
+ Cis = cis;
+ i0 = I0;
+ Crc = crc;
+ w = W;
+ OMEGAdot = OmegaDot;
+ idot = IDot;
+ haveSubframe[2] = true;
+ return *this;
+ }
+
+ static void timeDisplay( ostream & os, const gpstk::DayTime& t)
+ {
+ // Convert to daytime struct from GPS wk,SOW to M/D/Y, H:M:S.
+ os << setw(4) << t.GPSfullweek() << "(";
+ os << setw(4) << t.GPS10bitweek() << ") ";
+ os << setw(6) << setfill(' ') << t.GPSsecond() << " ";
+
+ switch (t.GPSday())
+ {
+ case 0: os << "Sun-0"; break;
+ case 1: os << "Mon-1"; break;
+ case 2: os << "Tue-2"; break;
+ case 3: os << "Wed-3"; break;
+ case 4: os << "Thu-4"; break;
+ case 5: os << "Fri-5"; break;
+ case 6: os << "Sat-6"; break;
+ default: break;
+ }
+ os << " " << t.printf("%3j %5.0s %02m/%02d/%04Y %02H:%02M:%02S");
+ }
+
+
+ static void shortcut(ostream & os, const long HOW )
+ {
+ short DOW, hour, min, sec;
+ long SOD, SOW;
+ short SOH;
+
+ SOW = static_cast<long>( HOW );
+ DOW = static_cast<short>( SOW / DayTime::SEC_DAY );
+ SOD = SOW - static_cast<long>( DOW * DayTime::SEC_DAY );
+ hour = static_cast<short>( SOD/3600 );
+
+ SOH = static_cast<short>( SOD - (hour*3600) );
+ min = SOH/60;
+
+ sec = SOH - min * 60;
+ switch (DOW)
+ {
+ case 0: os << "Sun-0"; break;
+ case 1: os << "Mon-1"; break;
+ case 2: os << "Tue-2"; break;
+ case 3: os << "Wed-3"; break;
+ case 4: os << "Thu-4"; break;
+ case 5: os << "Fri-5"; break;
+ case 6: os << "Sat-6"; break;
+ default: break;
+ }
+
+ os << ":" << setfill('0')
+ << setw(2) << hour
+ << ":" << setw(2) << min
+ << ":" << setw(2) << sec
+ << setfill(' ');
+ }
+
+ void EngEphemeris :: dump(ostream& s) const
+ {
+ ios::fmtflags oldFlags = s.flags();
+
+ s.setf(ios::fixed, ios::floatfield);
+ s.setf(ios::right, ios::adjustfield);
+ s.setf(ios::uppercase);
+ s.precision(0);
+ s.fill(' ');
+
+ s << "****************************************************************"
+ << "************" << endl
+ << "Broadcast Ephemeris (Engineering Units)" << endl
+ << endl
+ << "PRN : " << setw(2) << PRNID << endl
+ << endl;
+
+
+ s << " Week(10bt) SOW DOW UTD SOD"
+ << " MM/DD/YYYY HH:MM:SS\n";
+ s << "Clock Epoch: ";
+ timeDisplay(s, getEpochTime());
+ s << endl;
+ s << "Eph Epoch: ";
+ timeDisplay(s, getEphemerisEpoch());
+ s << endl;
+
+#if 0
+ // FIX when moved from sf123, the tot got zapped.. because in
+ // order for engephemeris to be able to use such a thing, it
+ // needs to be pulled out of as-broadcast bits somehow.
+ s << "Transmit time:" << setw(4) << weeknum << ", sow=" << Tot.GPSsecond() << endl
+ << "Fit interval flag : " << setw(2) << fitint
+ << " (" << fitintlen << " hours)" << endl;
+#elsif 0
+ s << "Transmit time:" << setw(4) << weeknum << endl
+ << "Fit interval flag : " << setw(2) << fitint
+ << " (" << getFitInt() << " hours)" << endl;
+#endif
+ // nuts to the above, let's just make it look like navdump output
+ s << "Transmit Week:" << setw(4) << weeknum << endl
+ << "Fit interval flag : " << fitint << endl;
+
+ s << endl
+ << " SUBFRAME OVERHEAD"
+ << endl
+ << endl
+ << " SOW DOW:HH:MM:SS IOD ALERT A-S\n";
+ for (int i=0;i<3;i++)
+ {
+ s << "SF" << setw(1) << (i+1)
+ << " HOW: " << setw(7) << HOWtime[i]
+ << " ";
+
+ shortcut( s, HOWtime[i]);
+ if (i==0)
+ s << " ";
+ else
+ s << " ";
+
+ s << "0x" << setfill('0') << hex;
+
+ if (i==0)
+ s << setw(3) << IODC;
+ else
+ s << setw(2) << IODE;
+
+ s << dec << " " << setfill(' ');
+
+ if (ASalert[i] & 0x0002) // "Alert" bit handling
+ s << "1 ";
+ else
+ s << "0 ";
+
+ if (ASalert[i] & 0x0001) // A-S flag handling
+ s << " on";
+ else
+ s << "off";
+ s << endl;
+ }
+
+ s.setf(ios::scientific, ios::floatfield);
+ s.precision(8);
+
+ s << endl
+ << " CLOCK"
+ << endl
+ << endl
+ << "Bias T0: " << setw(16) << af0 << " sec" << endl
+ << "Drift: " << setw(16) << af1 << " sec/sec" << endl
+ << "Drift rate: " << setw(16) << af2 << " sec/(sec**2)" << endl
+ << "Group delay: " << setw(16) << Tgd << " sec" << endl;
+
+ s << endl
+ << " ORBIT PARAMETERS"
+ << endl
+ << endl
+ << "Semi-major axis: " << setw(16) << Ahalf << " m**.5" << endl
+ << "Motion correction: " << setw(16) << dn << " rad/sec"
+ << endl
+ << "Eccentricity: " << setw(16) << ecc << endl
+ << "Arg of perigee: " << setw(16) << w << " rad" << endl
+ << "Mean anomaly at epoch: " << setw(16) << M0 << " rad" << endl
+ << "Right ascension: " << setw(16) << OMEGA0 << " rad "
+ << setw(16) << OMEGAdot << " rad/sec" << endl
+ << "Inclination: " << setw(16) << i0 << " rad "
+ << setw(16) << idot << " rad/sec" << endl;
+
+ s << endl
+ << " HARMONIC CORRECTIONS"
+ << endl
+ << endl
+ << "Radial Sine: " << setw(16) << Crs << " m Cosine: "
+ << setw(16) << Crc << " m" << endl
+ << "Inclination Sine: " << setw(16) << Cis << " rad Cosine: "
+ << setw(16) << Cic << " rad" << endl
+ << "In-track Sine: " << setw(16) << Cus << " rad Cosine: "
+ << setw(16) << Cuc << " rad" << endl;
+
+ s << endl
+ << " SV STATUS"
+ << endl
+ << endl
+ << "Health bits: 0x" << setfill('0') << setw(2) << health
+ << " URA index: " << setfill(' ') << setw(4) << accFlag << endl
+ << "Code on L2: ";
+
+ switch (codeflags)
+ {
+ case 0:
+ s << "reserved ";
+ break;
+
+ case 1:
+ s << " P only ";
+ break;
+
+ case 2:
+ s << " C/A only";
+ break;
+
+ case 3:
+ s << " P & C/A ";
+ break;
+
+ default:
+ break;
+
+ }
+
+ s << " L2 P Nav data: ";
+ if (L2Pdata!=0)
+ s << "off";
+ else
+ s << "on";
+
+ s << endl
+ << endl;
+ s.flags(oldFlags);
+
+ } // end of SF123::dump()
+
+ ostream& operator<<(ostream& s, const EngEphemeris& eph)
+ {
+ eph.dump(s);
+ return s;
+
+/* this appears to be more like the dump_eph_table routine of gappc
+ * which dumped the bce table.
+
+ s.setf(ios::right);
+ s << "prn:" << setw(2) << eph.PRNID
+ << ", HOW[0]:" << hex << setfill('0') << setw(5) << eph.getHOWTime(1)
+ << ", IODC:" << hex << setw(3) << eph.getIODC()
+ << dec << setfill(' ') << setw(0)
+ << ", Toe: [" << eph.getToc()-1800*eph.getFitInt()
+ << "..." << eph.getToc()+1800*eph.getFitInt()
+ << ")";
+*/
+ } // end of operator<<
+
+} // namespace
diff --git a/dev/src/EngEphemeris.hpp b/dev/src/EngEphemeris.hpp
new file mode 100644
index 0000000..8270066
--- /dev/null
+++ b/dev/src/EngEphemeris.hpp
@@ -0,0 +1,496 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file EngEphemeris.hpp
+ * Ephemeris data encapsulated in engineering terms
+ */
+
+#ifndef GPSTK_ENGEPHEMERIS_HPP
+#define GPSTK_ENGEPHEMERIS_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "EngNav.hpp"
+#include "Exception.hpp"
+#include "DayTime.hpp"
+#include "Xvt.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup ephemcalc */
+ //@{
+
+ /**
+ * Ephemeris information for a single satellite. This class
+ * encapsulates the ephemeris navigation message (subframes 1-3)
+ * and provides functions to decode the as-broadcast
+ * ephemerides.
+ */
+ class EngEphemeris : public EngNav
+ {
+ public:
+ /// Default constructor
+ EngEphemeris() throw();
+
+ /// Destructor
+ virtual ~EngEphemeris() {}
+
+ /**
+ * Store a subframe in this object.
+ * @param subframe ten word navigation subframe stored in the
+ * 30 least-significant bits of each array index.
+ * @param gpsWeek full GPS week number.
+ * @param PRN PRN ID of source satellite.
+ * @param track tracking number (typically receiver channel number).
+ * @return true if successful.
+ * @throw InvalidParameter if subframe is valid but not subframe 1-3.
+ */
+ bool addSubframe(const long subframe[10], const int gpsWeek,
+ short PRN, short track)
+ throw(gpstk::InvalidParameter);
+
+ /**
+ * Store a subframe in this object. This method is provided in
+ * order to allow construction of an EngEphemeris object for
+ * cases where a receiver only provides the 24 msb of each
+ * word and strips the parity.l
+ * @param subframe ten word navigation subframe (minus the six
+ * parity bits) stored in the 24 least-significant bits of
+ * each array index.
+ * @param gpsWeek full GPS week number.
+ * @param PRN PRN ID of source satellite.
+ * @param track tracking number (typically receiver channel number).
+ * @return true if successful.
+ * @throw InvalidParameter if subframe is valid but not subframe 1-3.
+ */
+ bool addSubframeNoParity(const long subframe[10],
+ const long gpsWeek,
+ const short PRN,
+ const short track)
+ throw(gpstk::InvalidParameter);
+
+ /**
+ * Store a subframe in this object. This method is provided in
+ * order to provide a path to a EngEphemeris object for cases
+ * where a receiver only provides words 3-10 of subframes 1-3.
+ * @note: It is important to appropriately determine the transmit
+ * time of the data. The parameters sf1TransmitSOW and gpsWeek
+ * should be consistent and should represent the time when the
+ * data in sf1, sf2, and sf3 were received. As a general rule,
+ * the transmit time should be somewhere in the range of 0-2 hours
+ * BEFORE the epoch time of the ephemeris.
+ * @note: EngEphemeris objects built via this method will not
+ * contain valid TLM message data, A-S flags, and "Alert" bits.
+ * Methods getTLMMesage() and getASAlert() should not be used.
+ * @param sf1 words 3-10 of navigation subframe1 stored in the
+ * 30 least-significant bits of each array index.
+ * @param sf2 words 3-10 of navigation subframe 2
+ * @param sf3 words 3-10 of navigation subframe 3
+ * @param sf1TransmitSOW time (in GPS seconds of week) corresponding
+ * to leading edge of first bit of subframe 1
+ * @param gpsWeek full GPS week number.
+ * @param PRN PRN ID of source satellite.
+ * @param track tracker number (typically receiver channel number).
+ * @return true if successful.
+ */
+ bool addIncompleteSF1Thru3(
+ const long sf1[8], const long sf2[8], const long sf3[8],
+ const long sf1TransmitSOW, const int gpsWeek,
+ const short PRN, const short track);
+
+ /**
+ * Query presence of subframe in this object.
+ * @param subframe subframe ID (1-3) to check.
+ * @return true if the given subframe is present in this object.
+ * @throw InvalidParameter if subframe is not a valid
+ * ephemeris subframe number.
+ */
+ bool isData(short subframe) const throw(gpstk::InvalidRequest);
+
+ /**
+ * Set the value of the SV accuracy (in meters). This is the only
+ * "set" method and is provided so that one can set the SV
+ * accuracy directly and thereby override the conversion of the
+ * SV accuracy flag to meters. This is usually used when entering
+ * data from some source other than an SV nav message.
+ * @note Subsequent use of the addSubframe(), with subframe 1 info,
+ * or the setSF1() methods will overwrite any value set using this
+ * method.
+ * @note This function converts the given accuracy to the appropriate
+ * SV accuracy flag and stores it in the accFlag data member.
+ * @param acc the new value of SV accuracy in meters.
+ * @throw InvalidParameter if the given accuracy value is invalid.
+ */
+ void setAccuracy(const double& acc) throw(gpstk::InvalidParameter);
+
+ /**
+ * This computes and returns the fit interval for the
+ * satellite ephemeris from the IODC and the fit interval
+ * flag. This fit interval is centered around the Toe (time
+ * of ephemeris) for the ephemeris. See Table 20-XIA in the
+ * ICD-GPS-200 and section 20.3.3.4.3.1 for more information.
+ * @return the fit interval in hours (0 = failure).
+ * @throw InvalidRequest if data is missing.
+ */
+ short getFitInterval() const throw(gpstk::InvalidRequest);
+
+ /// Return 0x8b, the upper 5 bits of the 22-bit TLM word.
+ // kinda pointless, huh?
+ unsigned char getTLMPreamble() const throw() { return 0x8b; }
+
+ /// Return the lower 16 bits of the TLM word for the given subframe.
+ unsigned getTLMMessage(short subframe) const
+ throw(gpstk::InvalidRequest);
+
+ /// Extracts the epoch time from this ephemeris, correcting
+ /// for half weeks and HOW time
+ DayTime getEphemerisEpoch() const throw(InvalidRequest);
+
+ /// Extracts the epoch time (time of clock) from this ephemeris, correcting
+ /// for half weeks and HOW time
+ DayTime getEpochTime() const throw(gpstk::InvalidRequest);
+
+ /// Extracts the transmit time from the ephemeris using the Tot
+ DayTime getTransmitTime() const throw(gpstk::InvalidRequest);
+
+ /// used for template functions
+ DayTime getTimestamp() const throw(gpstk::InvalidRequest)
+ { return getEpochTime(); }
+
+ /** This function returns the PRN ID of the SV. */
+ short getPRNID() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the tracker number. */
+ short getTracker() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the time of the HOW in subframe
+ * 1 or 2 or 3 in seconds of week. */
+ double getHOWTime(short subframe) const throw(gpstk::InvalidRequest);
+
+ /** This function returns the A-S alert flag for either
+ * subframe 1 or 2 or 3. */
+ short getASAlert(short subframe) const throw(gpstk::InvalidRequest);
+
+ /** This function return the GPS week number for the
+ * ephemeris. this is the full GPS week (ie > 10 bits). */
+ short getFullWeek() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the values of the L2 codes. */
+ short getCodeFlags() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the SV accuracy (m)
+ * computed from the accuracy flag in the nav message, or
+ * as set by the setAccuracy() method. */
+ double getAccuracy() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the flag based on the SV accuracy
+ * flag as it appears in the nav message. */
+ short getAccFlag() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the SV health flag. */
+ short getHealth() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the L2 P-code data
+ * flag. */
+ short getL2Pdata() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the IODC for the given PRN. */
+ short getIODC() const throw(gpstk::InvalidRequest);
+
+ /** This function return the IODE for the ephemeris. */
+ short getIODE() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the clock epoch in GPS seconds of
+ * week. */
+ double getToc() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the SV clock error in seconds. */
+ double getAf0() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the SV clock drift in
+ * seconds/seconds. */
+ double getAf1() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the SV clock rate of change of the
+ * drift in seconds/(seconds*seconds). */
+ double getAf2() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the group delay
+ * differential in seconds. */
+ double getTgd() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the sine latitude
+ * harmonic perturbation in radians. */
+ double getCus() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the sine radius
+ * harmonic perturbation in meters. */
+ double getCrs() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the sine inclination
+ * harmonic perturbation in radians. */
+ double getCis() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the cosine radius
+ * harmonic perturbation in meters. */
+ double getCrc() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the cosine latitude
+ * harmonic perturbation in radians. */
+ double getCuc() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the cosine inclination
+ * harmonic perturbation in radians. */
+ double getCic() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the time of ephemeris
+ * in GPS seconds of week. */
+ double getToe() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the mean anomaly in
+ * radians. */
+ double getM0() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the correction to the
+ * mean motion in radians/second. */
+ double getDn() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the eccentricity. */
+ double getEcc() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the square root of the
+ * semi-major axis in square root of meters. */
+ double getAhalf() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the semi-major axis in
+ * meters. */
+ double getA() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the right ascension of
+ * the ascending node in radians. */
+ double getOmega0() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the inclination in
+ * radians. */
+ double getI0() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the argument of
+ * perigee in radians. */
+ double getW() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the rate of the right
+ * ascension of the ascending node in radians/second. */
+ double getOmegaDot() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the rate of the
+ * inclination in radians/second. */
+ double getIDot() const throw(gpstk::InvalidRequest);
+
+ /** Compute satellite velocity/position at the given time
+ * using this ephemeris.
+ * @throw InvalidRequest if a required subframe has not been stored.
+ */
+ Xvt svXvt(const DayTime& t) const throw(gpstk::InvalidRequest);
+
+ /** Compute satellite relativity correction (sec) at the given time
+ * @throw InvalidRequest if a required subframe has not been stored.
+ */
+ double svRelativity(const DayTime& t) const throw(gpstk::InvalidRequest);
+
+ /** Compute the satellite clock bias (sec) at the given time
+ * @throw InvalidRequest if a required subframe has not been stored.
+ */
+ double svClockBias(const DayTime& t) const throw(gpstk::InvalidRequest);
+
+ /** Compute the satellite clock drift (sec/sec) at the given time
+ * @throw InvalidRequest if a required subframe has not been stored.
+ */
+ double svClockDrift(const DayTime& t) const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the fit interval
+ * flag. */
+ short getFitInt() const throw(gpstk::InvalidRequest);
+
+ /** This function returns the value of the ephemeris key that
+ * is used to sort the ephemerides when they are stored in
+ * the bcetable. */
+ double getEphkey() const throw(gpstk::InvalidRequest);
+
+ /** This function returnst the value of the Time of Transmit.
+ * Basically just the earliest of the HOWs. */
+ long getTot() const throw(gpstk::InvalidRequest);
+
+ /** Set the values contained in SubFrame 1.
+ * @param tlm the new value for the TLM word
+ * @param how the new value for the HOW
+ * @param asalert the new falue for the A-S alert flag
+ * @param fullweek the new value for the full GPS week
+ * @param cflags the nve values for the L2 code flags
+ * @param acc the new value for the SV accuracy flag
+ * @param svhealth the new value for the SV health
+ * @param iodc the new value for the IODC
+ * @param l2pdata the new value for the L2 P-code data flag
+ * @param tgd the new value for the Tgd
+ * @param toc the new value for the clock epoch
+ * @param Af2 the new value for Af2
+ * @param Af1 the new value for Af1
+ * @param Af0 the new value for Af0
+ * @param Tracker the new value of the tracker number
+ * @param prn the new value of the PRN ID
+ * @return a reference to the modified EngEphemeris object
+ */
+ EngEphemeris& setSF1( unsigned tlm, double how, short asalert, short fullweek,
+ short cflags, short acc, short svhealth, short iodc,
+ short l2pdata, double tgd, double toc, double Af2,
+ double Af1, double Af0, short Tracker, short prn )
+ throw();
+
+
+ /** Set the values contained in SubFrame 2.
+ * @param tlm the new value for the TLM word
+ * @param how the new value for the HOW
+ * @param asalert the new falue for the A-S alert flag
+ * @param iode the new value for the IODE
+ * @param crs the new value for the Crs
+ * @param m0 the new value for M0
+ * @param Dn the new value for Dn
+ * @param cuc the new value for the Cuc
+ * @param Ecc the new value for the Ecc
+ * @param cus the new value for the Cus
+ * @param ahalf the new value for Ahalf
+ * @param toe the new value for the Toe
+ * @param fitInt the new value for the fit interval flag
+ * @return a reference to the modified EngEphemeris object
+ */
+ EngEphemeris& setSF2( unsigned tlm, double how, short asalert, short iode,
+ double crs, double Dn, double m0, double cuc, double Ecc,
+ double cus, double ahalf, double toe, short fitInt )
+ throw();
+
+ /** Set the values contained in SubFrame 2.
+ * @param tlm the new value for the TLM word
+ * @param how the new value for the HOW
+ * @param asalert the new falue for the A-S alert flag
+ * @param cic the new value for the Cic
+ * @param Omega0 the enw value for Omega0
+ * @param cis the new value for the Cis
+ * @param I0 the new value for I0
+ * @param crc the new value for the Crc
+ * @param W the new value for W
+ * @param OmegaDot the new value for OmegaDot
+ * @param IDot the new value for IDot
+ * @return a reference to the modified EngEphemeris object
+ */
+ EngEphemeris& setSF3( unsigned tlm, double how, short asalert, double cic,
+ double Omega0, double cis, double I0, double crc,
+ double W, double OmegaDot, double IDot )
+ throw();
+
+ /// Output the contents of this ephemeris to the given stream.
+ void dump(std::ostream& s = std::cout) const;
+
+ protected:
+ bool haveSubframe[3];/**< flags indicating presence of a subframe */
+
+ /// Ephemeris overhead information
+ //@{
+ unsigned short tlm_message[3];
+ short PRNID; /**< SV PRN ID */
+ short tracker; /**< Tracker number */
+ long HOWtime[3]; /**< Time of subframe 1-3 (sec of week) */
+ short ASalert[3]; /**< A-S and "alert" flags for each subframe */
+ short weeknum; /**< GPS full week number that corresponds to the HOWtime of SF1 */
+ short codeflags; /**< L2 codes */
+ double accuracy; /**< SV accuracy (m)*/
+ short accFlag; /**< User Range Accuracy (URA) the accuracy flag */
+ short health; /**< SV health */
+ short L2Pdata; /**< L2 P data flag */
+ short IODC; /**< Index of data-clock */
+ short IODE; /**< Index of data-eph */
+ //@}
+
+ /// Clock information
+ //@{
+ double Toc; /**< Clock epoch (sec of week) */
+ double af0; /**< SV clock error (sec) */
+ double af1; /**< SV clock drift (sec/sec) */
+ double af2; /**< SV clock drift rate (sec/sec**2) */
+ double Tgd; /**< Group delay differential (sec) */
+ //@}
+
+ /// Harmonic perturbations
+ //@{
+ double Cuc; /**< Cosine latitude (rad) */
+ double Cus; /**< Sine latitude (rad) */
+ double Crc; /**< Cosine radius (m) */
+ double Crs; /**< Sine radius (m) */
+ double Cic; /**< Cosine inclination (rad) */
+ double Cis; /**< Sine inclination (rad) */
+ //@}
+
+ /// Major ephemeris parameters
+ //@{
+ double Toe; /**< Ephemeris epoch (sec of week) */
+ double M0; /**< Mean anomaly (rad) */
+ double dn; /**< Correction to mean motion (rad/sec) */
+ double ecc; /**< Eccentricity */
+ double Ahalf; /**< SQRT of semi-major axis (m**1/2) */
+ double OMEGA0; /**< Rt ascension of ascending node (rad) */
+ double i0; /**< Inclination (rad) */
+ double w; /**< Argument of perigee (rad) */
+ double OMEGAdot; /**< Rate of Rt ascension (rad/sec) */
+ double idot; /**< Rate of inclination angle (rad/sec) */
+ short fitint; /**< Fit interval flag */
+ //@}
+
+ friend std::ostream& operator<<(std::ostream& s,
+ const EngEphemeris& eph);
+
+ }; // class EngEphemeris
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/EngNav.cpp b/dev/src/EngNav.cpp
new file mode 100644
index 0000000..2e3be91
--- /dev/null
+++ b/dev/src/EngNav.cpp
@@ -0,0 +1,686 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file EngNav.cpp
+ * Engineering units navigation message abstraction.
+ */
+
+#include <cstdlib>
+#include <iostream>
+#include <cmath>
+#include "EngNav.hpp"
+#include "icd_200_constants.hpp"
+
+#ifdef _MSC_VER
+#define LDEXP(x,y) ldexp(x,y)
+#else
+#define LDEXP(x,y) std::ldexp(x,y)
+#endif
+
+namespace gpstk
+{
+ /// DecodeBits .
+ struct DecodeBits
+ {
+ short startBit;
+ short numBits;
+ };
+
+ /** DecodeQuant contains the information necessary to decode
+ * a given quantity for a particular navigation message
+ * subframe. */
+ struct DecodeQuant
+ {
+ short outIndex; ///< Output array index (0-19)
+ short pow2; ///< Power of 2 to scale factor
+ short powPI; ///< Power of PI scale factor
+ double scale; ///< Scalar scale factor
+ short signq; ///< 0 = unsigned, 1 = signed
+ DecodeBits fmt[2]; ///< start bit, #bits for up to 2 sections
+ DecodeQuant *nxtq; ///< Pointer to next structure in list
+ };
+
+ /** Pointers to list of subframe conversions. There are ten
+ * formats numbered 1-10. Index 0 is unused. */
+ static DecodeQuant *subframeList[11];
+
+ /// Table of powers of PI, initialized in EngNav().
+ static double PItab[7] = {0,0,0,0,0,0,0};
+
+ static DecodeQuant formats[] = {
+ { 0, 0, 0, 1.0L, 0,{ { 1, 8} , { 0, 0} }, 0 }, /* Preamble */
+ { 1, 0, 0, 1.0L, 0,{ { 9, 14}, { 0, 0} }, 0 }, /* Message */
+ { 2, 0, 0, 6.0L, 0,{ { 31,17}, { 0, 0} }, 0 }, /* HOW */
+ { 3, 0, 0, 1.0L, 0,{ { 48, 2}, { 0, 0} }, 0 }, /* "alert" */
+ { 4, 0, 0, 1.0L, 0,{ { 50, 3}, { 0, 0} }, 0 }, /* SF ID */
+ { 5, 0, 0, 1.0L, 0,{ { 61, 10},{ 0, 0} }, 0 }, /* week # */
+ { 6, 0, 0, 1.0L, 0,{ { 71, 2},{ 0, 0} }, 0}, /* L2 code */
+ { 7, 0, 0, 1.0L, 0,{ { 73, 4},{ 0, 0} }, 0}, /* accuracy */
+ { 8, 0, 0, 1.0L, 0,{ { 77, 6},{ 0, 0} }, 0}, /* health */
+ { 9, 11, 0, 1.0L, 0,{ { 83, 2},{ 211,8}}, 0}, /* AODC */
+ { 10, 0, 0, 1.0L, 0,{ { 91, 1},{ 0, 0}}, 0}, /* L2 P */
+ { 11, -31, 0, 1.0L, 1,{ {197, 8},{ 0, 0}}, 0}, /* Tgd */
+ { 12, 4, 0, 1.0L, 0,{ {219, 16},{ 0, 0}}, 0}, /* Toc */
+ { 13, -55, 0, 1.0L, 1,{ {241, 8},{ 0, 0}}, 0}, /* Af2 */
+ { 14, -43, 0, 1.0L, 1,{ {249, 16},{ 0, 0}}, 0}, /* Af1 */
+ { 15, -31, 0, 1.0L, 1,{ {271, 22}, {0, 0}}, 0}, /* Af0 */
+ /* Pattern 2 */
+ {0, 0, 0, 1.0L, 0,{ { 1 , 8}, {0, 0 }}, 0 }, /* Preamble */
+ {1, 0, 0, 1.0L, 0,{ { 9, 14}, { 0, 0 }}, 0 }, /* Message */
+ {2, 0, 0, 6.0L, 0,{ { 31,17}, { 0, 0 }}, 0 }, /* HOW */
+ {3, 0, 0, 1.0L, 0,{ { 48, 2}, { 0, 0 }}, 0 }, /* "alert" */
+ {4, 0, 0, 1.0L, 0,{ { 50, 3}, { 0, 0 }}, 0 }, /* SF ID */
+ {5, 11, 0, 1.0L, 0,{ { 61, 8 }, { 0, 0 }}, 0 }, /* AODE */
+ {6, -5, 0, 1.0L, 1,{ { 69, 16 }, { 0, 0 }}, 0 }, /* Crs */
+ {7, -43, 1, 1.0L, 1,{ { 91,16 }, { 0, 0 }}, 0 }, /* delta n */
+ {8, -31, 1, 1.0L, 1,{ { 107, 8 }, {121,24 }}, 0 }, /* M0 */
+ {9, -29, 0, 1.0L, 1,{ { 151, 16}, { 0, 0 }}, 0}, /* Cuc */
+ {10, -33, 0, 1.0L, 0,{ { 167, 8}, {181,24 }}, 0}, /* ecc */
+ {11, -29, 0, 1.0L, 1,{ { 211,16}, { 0, 0 }}, 0}, /* Cus */
+ {12, -19, 0, 1.0L, 0,{ { 227, 8}, {241, 24 }}, 0}, /* sqrt(A) */
+ {13, 4, 0, 1.0L, 0,{ { 271,16}, { 0, 0 }}, 0}, /* Toe */
+ {14, 0, 0, 1.0L, 0,{ { 287, 1}, { 0, 0 }}, 0}, /* fit init */
+ /* Pattern 3 */
+ {0, 0, 0, 1.0L, 0,{ { 1, 8}, { 0, 0 }}, 0}, /* Preamble */
+ {1, 0, 0, 1.0L, 0,{ { 9, 14}, { 0, 0 }}, 0}, /* Message */
+ {2, 0, 0, 6.0L, 0,{ { 31,17}, { 0, 0 }}, 0}, /* HOW */
+ {3, 0, 0, 1.0L, 0,{ { 48, 2}, { 0, 0 }}, 0}, /* "alert" */
+ {4, 0, 0, 1.0L, 0,{ { 50, 3}, { 0, 0 }}, 0}, /* SF ID */
+ {5, -29, 0, 1.0L, 1,{ { 61,16}, { 0, 0 }}, 0}, /* Cic */
+ {6, -31, 1, 1.0L, 1,{ { 77,8}, { 91, 24}}, 0}, /* OMEGA0 */
+ {7, -29, 0, 1.0L, 1,{ { 121,16}, { 0, 0 }}, 0}, /* Cis */
+ {8, -31, 1, 1.0L, 1,{ { 137, 8}, {151, 24}}, 0}, /* i0 */
+ {9, -5, 0, 1.0L, 1,{ { 181,16}, { 0, 0 }}, 0}, /* Crc */
+ {10, -31, 1, 1.0L, 1,{ { 197, 8}, {211, 24}}, 0}, /* w */
+ {11, -43, 1, 1.0L, 1,{ { 241,24}, { 0, 0 }}, 0}, /* OMEGAdot */
+ {12, 11, 0, 1.0L, 0,{ { 271, 8}, { 0, 0 }}, 0}, /* AODE */
+ {13, -43, 1, 1.0L, 1,{ { 279,14}, { 0, 0 }}, 0}, /* idot */
+ /* Pattern 4 */
+ {0, 0, 0, 1.0L, 0,{ { 1, 8}, { 0, 0}}, 0 }, /* Preamble */
+ {1, 0, 0, 1.0L, 0,{ { 9, 14}, { 0, 0}}, 0}, /* Message */
+ {2, 0, 0, 6.0L, 0,{ { 31,17}, { 0, 0}}, 0}, /* HOW */
+ {3, 0, 0, 1.0L, 0,{ { 48, 2}, { 0, 0}}, 0}, /* "alert" */
+ {4, 0, 0, 1.0L, 0,{ { 50, 3}, { 0, 0}}, 0}, /* SF ID */
+ {5, 0, 0, 1.0L, 0,{ { 61, 2}, { 0, 0}}, 0}, /* Dataflag */
+ {6, 0, 0, 1.0L, 0,{ { 63, 6}, { 0, 0}}, 0}, /* Page ID */
+ {7, -21, 0, 1.0L, 0,{ { 69,16}, { 0, 0}}, 0}, /* e */
+ {8, 12, 0, 1.0L, 0,{ { 91, 8}, { 0, 0}}, 0}, /* time ep */
+ {9, -19, 1, 1.0L, 1,{ { 99,16}, { 0, 0}}, 0}, /* i offset */
+ {10, -38, 1, 1.0L, 1,{ {121,16}, { 0, 0}}, 0}, /* OMEGADOT */
+ {11, 0, 0, 1.0L, 0,{ {137, 8}, { 0, 0}}, 0}, /* Health */
+ {12, -11, 0, 1.0L, 0,{ {151,24}, { 0, 0}}, 0}, /* SQRT(a) */
+ {13, -23, 1, 1.0L, 1,{ {181,24}, { 0, 0}}, 0}, /* OMEGA */
+ {14, -23, 1, 1.0L, 1,{ {211,24}, { 0, 0}}, 0}, /* w */
+ {15, -23, 1, 1.0L, 1,{ {241,24}, { 0, 0}}, 0}, /* Mean Ano */
+ {16, -20, 0, 1.0L, 1,{ {271, 8}, {290, 3}}, 0}, /* AF0 */
+ {17, -38, 0, 1.0L, 1,{ {279,11}, { 0, 0}}, 0}, /* AF1 */
+ {18, 0, 0, 1.0L, 0,{ { 0, 0}, { 0, 0}}, 0}, /* REF WEEK */
+ {19, 0, 0, 1.0L, 0,{ { 63, 6}, { 0, 0}}, 0}, /* PRN # */
+
+ /* Pattern 5 */
+ {0, 0, 0, 1.0L, 0,{ { 1, 8}, { 0, 0}}, 0}, /* Preamble */
+ {1, 0, 0, 1.0L, 0,{ { 9, 14}, { 0, 0}}, 0}, /* Message */
+ {2, 0, 0, 6.0L, 0,{ {31, 17}, { 0, 0}}, 0}, /* HOW */
+ {3, 0, 0, 1.0L, 0,{ {48, 2}, { 0, 0}}, 0}, /* "alert" */
+ {4, 0, 0, 1.0L, 0,{ {50, 3}, { 0, 0}}, 0}, /* SF ID */
+ {5, 0, 0, 1.0L, 0,{ { 61, 2}, { 0, 0}}, 0}, /* Dataflag */
+ {6, 0, 0, 1.0L, 0,{ { 63, 6}, { 0, 0}}, 0}, /* Page ID */
+ {7, 0, 0, 1.0L, 0,{ { 77, 8}, { 0, 0}}, 0}, /* Refweek */
+ {8, 0, 0, 1.0L, 0,{ { 91, 6}, { 0, 0}}, 0}, /* SV1 Hlth */
+ {9, 0, 0, 1.0L, 0,{ { 97, 6}, { 0, 0}}, 0}, /* SV2 Hlth */
+ {10, 0, 0, 1.0L, 0,{ { 103,6}, { 0, 0}}, 0}, /* SV3 Hlth */
+ {11, 0, 0, 1.0L, 0,{ { 109,6}, { 0, 0}}, 0}, /* SV4 Hlth */
+ {12, 0, 0, 1.0L, 0,{ { 121,6}, { 0, 0}}, 0}, /* SV5 Hlth */
+ {13, 0, 0, 1.0L, 0,{ { 127,6}, { 0, 0}}, 0}, /* SV6 Hlth */
+ {14, 0, 0, 1.0L, 0,{ { 133,6}, { 0, 0}}, 0}, /* SV7 Hlth */
+ {15, 0, 0, 1.0L, 0,{ { 139,6}, { 0, 0}}, 0}, /* SV8 Hlth */
+ {16, 0, 0, 1.0L, 0,{ { 151,6}, { 0, 0}}, 0}, /* SV9 Hlth */
+ {17, 0, 0, 1.0L, 0,{ { 157,6}, { 0, 0}}, 0}, /* SV10 Hlth*/
+ {18, 0, 0, 1.0L, 0,{ { 163,6}, { 0, 0}}, 0}, /* SV11 Hlth*/
+ {19, 0, 0, 1.0L, 0,{ { 169,6}, { 0, 0}}, 0}, /* SV12 Hlth*/
+ {20, 0, 0, 1.0L, 0,{ { 181,6}, { 0, 0}}, 0}, /* SV13 Hlth*/
+ {21, 0, 0, 1.0L, 0,{ { 187,6}, { 0, 0}}, 0}, /* SV14 Hlth*/
+ {22, 0, 0, 1.0L, 0,{ { 193,6}, { 0, 0}}, 0}, /* SV15 Hlth*/
+ {23, 0, 0, 1.0L, 0,{ { 199,6}, { 0, 0}}, 0}, /* SV16 Hlth*/
+ {24, 0, 0, 1.0L, 0,{ { 211,6}, { 0, 0}}, 0}, /* SV17 Hlth*/
+ {25, 0, 0, 1.0L, 0,{ { 217,6}, { 0, 0}}, 0}, /* SV18 Hlth*/
+ {26, 0, 0, 1.0L, 0,{ { 223,6}, { 0, 0}}, 0}, /* SV19 Hlth*/
+ {27, 0, 0, 1.0L, 0,{ { 229,6}, { 0, 0}}, 0}, /* SV20 Hlth*/
+ {28, 0, 0, 1.0L, 0,{ { 241,6}, { 0, 0}}, 0}, /* SV21 Hlth*/
+ {29, 0, 0, 1.0L, 0,{ { 247,6}, { 0, 0}}, 0}, /* SV22 Hlth*/
+ {30, 0, 0, 1.0L, 0,{ { 253,6}, { 0, 0}}, 0}, /* SV23 Hlth*/
+ {31, 0, 0, 1.0L, 0,{ { 259,6}, { 0, 0}}, 0}, /* SV24 Hlth*/
+ /* Pattern 6 */
+ {0, 0, 0, 1.0L, 0, { { 1, 8},{ 0, 0}}, 0}, /* Preamble */
+ {1, 0, 0, 1.0L, 0, { { 9, 14},{ 0, 0}}, 0}, /* Message */
+ {2, 0, 0, 6.0L, 0, { { 31, 17},{ 0, 0}}, 0}, /* HOW */
+ {3, 0, 0, 1.0L, 0, { { 48, 2},{ 0, 0}}, 0}, /* "alert" */
+ {4, 0, 0, 1.0L, 0, { { 50, 3},{ 0, 0}}, 0}, /* SF ID */
+ {5, 0, 0, 1.0L, 0, { { 61, 2},{ 0, 0}}, 0}, /* Dataflag */
+ {6, 0, 0, 1.0L, 0, { { 63, 6},{ 0, 0}}, 0}, /* Page ID */
+ {7, 0, 0, 1.0L, 0, { { 69, 16},{ 0, 0}}, 0}, /* Reserved */
+ {8, 0, 0, 1.0L, 0, { { 91, 24},{ 0, 0}}, 0}, /* Reserved */
+ {9, 0, 0, 1.0L, 0, { { 121, 24},{ 0, 0}}, 0}, /* Reserved */
+ {10, 0, 0, 1.0L, 0, { { 151, 24},{ 0, 0}}, 0}, /* Reserved */
+ {11, 0, 0, 1.0L, 0, { { 181, 24},{ 0, 0}}, 0}, /* Reserved */
+ {12, 0, 0, 1.0L, 0, { { 211, 24},{ 0, 0}}, 0}, /* Reserved */
+ {13, 0, 0, 1.0L, 0, { { 241, 8},{ 0, 0}}, 0}, /* Reserved */
+ {14, 0, 0, 1.0L, 0, { { 249,16},{ 0, 0}}, 0}, /* Reserved */
+ /* Pattern 7 */
+ {0, 0, 0, 1.0L, 0, { { 1, 8}, { 0, 0} }, 0}, /* Preamble */
+ {1, 0, 0, 1.0L, 0, { { 9, 14}, { 0, 0} }, 0}, /* Message */
+ {2, 0, 0, 6.0L, 0, { { 31, 17}, { 0, 0} }, 0}, /* HOW */
+ {3, 0, 0, 1.0L, 0, { { 48, 2}, { 0, 0} }, 0}, /* "alert" */
+ {4, 0, 0, 1.0L, 0, { { 50, 3}, { 0, 0} }, 0}, /* SF ID */
+ {5, 0, 0, 1.0L, 0, { { 61, 2}, { 0, 0} }, 0}, /* Dataflag */
+ {6, 0, 0, 1.0L, 0, { { 63, 6}, { 0, 0} }, 0}, /* Page ID */
+ {7, 0, 0, 1.0L, 0, { { 69, 16}, { 0, 0} }, 0}, /* Reserved */
+ {8, 0, 0, 1.0L, 0, { { 91, 24}, { 0, 0} }, 0}, /* Reserved */
+ {9, 0, 0, 1.0L, 0, { {121, 24}, { 0, 0} }, 0}, /* Reserved */
+ {10, 0, 0, 1.0L, 0, { {151, 24}, { 0, 0} }, 0}, /* Reserved */
+ {11, 0, 0, 1.0L, 0, { {181, 24}, { 0, 0} }, 0}, /* Reserved */
+ {12, 0, 0, 1.0L, 0, { {211, 24}, { 0, 0} }, 0}, /* Reserved */
+ {13, 0, 0, 1.0L, 0, { {241, 8}, { 0, 0} }, 0}, /* Reserved */
+ {14, 0, 0, 1.0L, 0, { {249, 16}, { 0, 0} }, 0}, /* Reserved */
+ /* Pattern 8 */
+ {0, 0, 0, 1.0L, 0,{ { 1, 8},{ 0, 0}}, 0}, /* Preamble */
+ {1, 0, 0, 1.0L, 0,{ { 9, 14},{ 0, 0}}, 0}, /* Message */
+ {2, 0, 0, 6.0L, 0,{ { 31, 17},{ 0, 0}}, 0}, /* HOW */
+ {3, 0, 0, 1.0L, 0,{ { 48, 2},{ 0, 0}}, 0}, /* "alert" */
+ {4, 0, 0, 1.0L, 0,{ { 50, 3},{ 0, 0}}, 0}, /* SF ID */
+ {5, 0, 0, 1.0L, 0,{ { 61, 2},{ 0, 0}}, 0}, /* Dataflag */
+ {6, 0, 0, 1.0L, 0,{ { 63, 6},{ 0, 0}}, 0}, /* Page ID */
+ {7, -30, 0, 1.0L, 1,{ { 69, 8},{ 0, 0}}, 0}, /* ALPHA0 */
+ {8, -27, -1, 1.0L, 1,{ { 77, 8},{ 0, 0}}, 0}, /* ALPHA1 */
+ {9, -24, -2, 1.0L, 1,{ { 91, 8},{ 0, 0}}, 0}, /* ALPHA2 */
+ {10, -24, -3, 1.0L, 1,{ { 99, 8},{ 0, 0}}, 0}, /* ALPHA3 */
+ {11, 11, 0, 1.0L, 1,{ { 107, 8},{ 0, 0}}, 0}, /* BETA0 */
+ {12, 14, -1, 1.0L, 1,{ { 121, 8},{ 0, 0}}, 0}, /* BETA1 */
+ {13, 16, -2, 1.0L, 1,{ { 129, 8},{ 0, 0}}, 0}, /* BETA2 */
+ {14, 16, -3, 1.0L, 1,{ { 137, 8},{ 0, 0}}, 0}, /* BETA3 */
+ {15, -30, 0, 1.0L, 1,{ { 181,24},{211, 8}}, 0}, /* A0 */
+ {16, -50, 0, 1.0L, 1,{ { 151,24},{ 0, 0}}, 0}, /* A1 */
+ {17, 12, 0, 1.0L, 0,{ { 219, 8},{ 0, 0}}, 0}, /* Tot */
+ {18, 0, 0, 1.0L, 0,{ { 227, 8},{ 0, 0}}, 0}, /* wnt */
+ {19, 0, 0, 1.0L, 1,{ { 241, 8},{ 0, 0}}, 0}, /* DELTATLS */
+ {20, 0, 0, 1.0L, 0,{ { 249, 8},{ 0, 0}}, 0}, /* WN LSF */
+ {21, 0, 0, 1.0L, 0,{ { 257, 8},{ 0, 0}}, 0}, /* DN */
+ {22, 0, 0, 1.0L, 1,{ { 271, 8},{ 0, 0}}, 0}, /* DELTALSF */
+ /* Pattern 9 */
+ {0, 0, 0, 1.0L, 0, { { 1, 8}, { 0, 0}}, 0}, /* Preamble */
+ {1, 0, 0, 1.0L, 0, { { 9, 14}, { 0, 0}}, 0}, /* Message */
+ {2, 0, 0, 6.0L, 0, { { 31, 17}, { 0, 0}}, 0}, /* HOW */
+ {3, 0, 0, 1.0L, 0, { { 48, 2}, { 0, 0}}, 0}, /* "alert" */
+ {4, 0, 0, 1.0L, 0, { { 50, 3}, { 0, 0}}, 0}, /* SF ID */
+ {5, 0, 0, 1.0L, 0, { { 61, 2}, { 0, 0}}, 0}, /* Dataflag */
+ {6, 0, 0, 1.0L, 0, { { 63, 6}, { 0, 0}}, 0}, /* Page ID */
+ {7, 0, 0, 1.0L, 0, { { 69, 4}, { 0, 0}}, 0}, /* SV1 cnfig*/
+ {8, 0, 0, 1.0L, 0, { { 73, 4}, { 0, 0}}, 0}, /* SV2 cnfig*/
+ {9, 0, 0, 1.0L, 0, { { 77, 4}, { 0, 0}}, 0}, /* SV3 cnfig*/
+ {10, 0, 0, 1.0L, 0, { { 81, 4}, { 0, 0}}, 0}, /* SV4 cnfig*/
+ {11, 0, 0, 1.0L, 0, { { 91, 4}, { 0, 0}}, 0}, /* SV5 cnfig*/
+ {12, 0, 0, 1.0L, 0, { { 95, 4}, { 0, 0}}, 0}, /* SV6 cnfig*/
+ {13, 0, 0, 1.0L, 0, { { 99, 4}, { 0, 0}}, 0}, /* SV7 cnfig*/
+ {14, 0, 0, 1.0L, 0, { { 103, 4}, { 0, 0}}, 0}, /* SV8 cnfig*/
+ {15, 0, 0, 1.0L, 0, { { 107, 4}, { 0, 0}}, 0}, /* SV9 cnfig*/
+ {16, 0, 0, 1.0L, 0, { { 111, 4}, { 0, 0}}, 0}, /* SV10 cnfig*/
+ {17, 0, 0, 1.0L, 0, { { 121, 4}, { 0, 0}}, 0}, /* SV11 cnfig*/
+ {18, 0, 0, 1.0L, 0, { { 125, 4}, { 0, 0}}, 0}, /* SV12 cnfig*/
+ {19, 0, 0, 1.0L, 0, { { 129, 4}, { 0, 0}}, 0}, /* SV13 cnfig*/
+ {20, 0, 0, 1.0L, 0, { { 133, 4}, { 0, 0}}, 0}, /* SV14 cnfig*/
+ {21, 0, 0, 1.0L, 0, { { 137, 4}, { 0, 0}}, 0}, /* SV15 cnfig*/
+ {22, 0, 0, 1.0L, 0, { { 141, 4}, { 0, 0}}, 0}, /* SV16 cnfig*/
+ {23, 0, 0, 1.0L, 0, { { 151, 4}, { 0, 0}}, 0}, /* SV17 cnfig*/
+ {24, 0, 0, 1.0L, 0, { { 155, 4}, { 0, 0}}, 0}, /* SV18 cnfig*/
+ {25, 0, 0, 1.0L, 0, { { 159, 4}, { 0, 0}}, 0}, /* SV19 cnfig*/
+ {26, 0, 0, 1.0L, 0, { { 163, 4}, { 0, 0}}, 0}, /* SV20 cnfig*/
+ {27, 0, 0, 1.0L, 0, { { 167, 4}, { 0, 0}}, 0}, /* SV21 cnfig*/
+ {28, 0, 0, 1.0L, 0, { { 171, 4}, { 0, 0}}, 0}, /* SV22 cnfig*/
+ {29, 0, 0, 1.0L, 0, { { 181, 4}, { 0, 0}}, 0}, /* SV23 cnfig*/
+ {30, 0, 0, 1.0L, 0, { { 185, 4}, { 0, 0}}, 0}, /* SV24 cnfig*/
+ {31, 0, 0, 1.0L, 0, { { 189, 4}, { 0, 0}}, 0}, /* SV25 cnfig*/
+ {32, 0, 0, 1.0L, 0, { { 193, 4}, { 0, 0}}, 0}, /* SV26 cnfig*/
+ {33, 0, 0, 1.0L, 0, { { 197, 4}, { 0, 0}}, 0}, /* SV27 cnfig*/
+ {34, 0, 0, 1.0L, 0, { { 201, 4}, { 0, 0}}, 0}, /* SV28 cnfig*/
+ {35, 0, 0, 1.0L, 0, { { 211, 4}, { 0, 0}}, 0}, /* SV29 cnfig*/
+ {36, 0, 0, 1.0L, 0, { { 215, 4}, { 0, 0}}, 0}, /* SV30 cnfig*/
+ {37, 0, 0, 1.0L, 0, { { 219, 4}, { 0, 0}}, 0}, /* SV31 cnfig*/
+ {38, 0, 0, 1.0L, 0, { { 223, 4}, { 0, 0}}, 0}, /* SV32 cnfig*/
+ {39, 0, 0, 1.0L, 0, { { 229, 6}, { 0, 0}}, 0}, /* SV25 Hlth */
+ {40, 0, 0, 1.0L, 0, { { 241, 6}, { 0, 0}}, 0}, /* SV26 Hlth */
+ {41, 0, 0, 1.0L, 0, { { 247, 6}, { 0, 0}}, 0}, /* SV27 Hlth */
+ {42, 0, 0, 1.0L, 0, { { 253, 6}, { 0, 0}}, 0}, /* SV28 Hlth */
+ {43, 0, 0, 1.0L, 0, { { 259, 6}, { 0, 0}}, 0}, /* SV29 Hlth */
+ {44, 0, 0, 1.0L, 0, { { 271, 6}, { 0, 0}}, 0}, /* SV30 Hlth */
+ {45, 0, 0, 1.0L, 0, { { 277, 6}, { 0, 0}}, 0}, /* SV31 Hlth */
+ {46, 0, 0, 1.0L, 0, { { 283, 6}, { 0, 0}}, 0}, /* SV32 Hlth */
+ /* Pattern 10 */
+ {0, 0, 0, 1.0L, 0,{ { 1, 8}, { 0, 0}}, 0}, /* Preamble */
+ {1, 0, 0, 1.0L, 0,{ { 9, 14}, { 0, 0}}, 0}, /* Message */
+ {2, 0, 0, 6.0L, 0,{ { 31, 17}, { 0, 0}}, 0}, /* HOW */
+ {3, 0, 0, 1.0L, 0,{ { 48, 2}, { 0, 0}}, 0}, /* "alert" */
+ {4, 0, 0, 1.0L, 0,{ { 50, 3}, { 0, 0}}, 0}, /* SF ID */
+ {5, 0, 0, 1.0L, 0,{ { 61, 2}, { 0, 0}}, 0}, /* Dataflag */
+ {6, 0, 0, 1.0L, 0,{ { 63, 6}, { 0, 0}}, 0}, /* Page ID */
+ {7, 0, 0, 1.0L, 0,{ { 69, 8}, { 0, 0}}, 0}, /* ASCII */
+ {8, 0, 0, 1.0L, 0,{ { 77, 8}, { 0, 0}}, 0}, /* ASCII */
+ {9, 0, 0, 1.0L, 0,{ { 91, 8}, { 0, 0}}, 0}, /* ASCII */
+ {10, 0, 0, 1.0L, 0,{ { 99, 8}, { 0, 0}}, 0}, /* ASCII */
+ {11, 0, 0, 1.0L, 0,{ { 107, 8}, { 0, 0}}, 0}, /* ASCII */
+ {12, 0, 0, 1.0L, 0,{ { 121, 8}, { 0, 0}}, 0}, /* ASCII */
+ {13, 0, 0, 1.0L, 0,{ { 129, 8}, { 0, 0}}, 0}, /* ASCII */
+ {14, 0, 0, 1.0L, 0,{ { 137, 8}, { 0, 0}}, 0}, /* ASCII */
+ {15, 0, 0, 1.0L, 0,{ { 151, 8}, { 0, 0}}, 0}, /* ASCII */
+ {16, 0, 0, 1.0L, 0,{ { 159, 8}, { 0, 0}}, 0}, /* ASCII */
+ {17, 0, 0, 1.0L, 0,{ { 167, 8}, { 0, 0}}, 0}, /* ASCII */
+ {18, 0, 0, 1.0L, 0,{ { 181, 8}, { 0, 0}}, 0}, /* ASCII */
+ {19, 0, 0, 1.0L, 0,{ { 189, 8}, { 0, 0}}, 0}, /* ASCII */
+ {20, 0, 0, 1.0L, 0,{ { 197, 8}, { 0, 0}}, 0}, /* ASCII */
+ {21, 0, 0, 1.0L, 0,{ { 211, 8}, { 0, 0}}, 0}, /* ASCII */
+ {22, 0, 0, 1.0L, 0,{ { 219, 8}, { 0, 0}}, 0}, /* ASCII */
+ {23, 0, 0, 1.0L, 0,{ { 227, 8}, { 0, 0}}, 0}, /* ASCII */
+ {24, 0, 0, 1.0L, 0,{ { 241, 8}, { 0, 0}}, 0}, /* ASCII */
+ {25, 0, 0, 1.0L, 0,{ { 249, 8}, { 0, 0}}, 0}, /* ASCII */
+ {26, 0, 0, 1.0L, 0,{ { 257, 8}, { 0, 0}}, 0}, /* ASCII */
+ {27, 0, 0, 1.0L, 0,{ { 271, 8}, { 0, 0}}, 0}, /* ASCII */
+ {28, 0, 0, 1.0L, 0,{ { 279, 8}, { 0, 0}}, 0}, /* ASCII */
+ /* Dummy pattern for constructor */
+ {0, 0, 0, 1.0L, 0,{{ 0, 0}, { 0, 0}}, 0}
+ };
+
+
+ EngNav::EngNav()
+ throw()
+ {
+ short i=0, n=0;
+ static short initialized = 0;
+
+ if (initialized)
+ return;
+
+ // Set up pointers within subframe format structure.
+ for (i=1; i<=10; i++)
+ {
+ subframeList[i] = &formats[n];
+ while (formats[n+1].outIndex != 0)
+ {
+ formats[n].nxtq = &formats[n+1];
+ n++;
+ }
+ formats[n].nxtq = NULL;
+ n++;
+ }
+
+ // Calculate powers of PI table.
+ PItab[3] = 1.0L;
+ for (i=0;i<=2;i++)
+ {
+ PItab[4+i] = PItab[3+i] * PI;
+ PItab[2-i] = PItab[3-i] / PI;
+ }
+
+ initialized = 1;
+ }
+
+ // Retained for backward compatibility
+ bool EngNav :: subframeConvert(const long input[10],
+ int gpsWeek,
+ double output[60])
+ throw()
+ {
+ uint32_t tinput[10];
+ for (int n=0;n<10;++n)
+ tinput[n] = static_cast<uint32_t>( input[n] );
+ short tgpsWeek = gpsWeek;
+ return( subframeConvert( tinput, tgpsWeek, output ));
+ }
+
+ bool EngNav :: subframeConvert(const uint32_t input[10],
+ short gpsWeek,
+ double output[60])
+ throw()
+ {
+ short patId = -2, i = 2;
+ struct DecodeQuant *p=NULL;
+
+ for (i=0; i< 20; i++)
+ output[i] = 0.0L;
+
+ // Get subframe and page id and derive pattern number.
+ if ((patId = getSubframePattern(input)) == 0)
+ return false;
+
+ // convert each quantity in the list
+ p = subframeList[patId];
+ while (p != NULL)
+ {
+ convertQuant(input, output, p);
+ if(p->nxtq)
+ p = p->nxtq;
+ else
+ p = NULL;
+ }
+
+ // Almanac does not contain a reference week
+ // However we need to put one in the FIC version of the Almanac
+ if (patId==4)
+ {
+ output[18]= static_cast<double>( gpsWeek );
+ }
+
+ // Modify the 8-bit week numbers to be the full week numbers
+ if (patId == 8)
+ {
+ if (!convert8bit(gpsWeek, &output[18]))
+ return false;
+
+ if (!convert8bit(gpsWeek, &output[20]))
+ return false;
+ }
+
+ // Change the 10 bit week number in subframe 1 to full weeks
+ if (patId == 1)
+ {
+ short week10Bit = static_cast<uint32_t>( output[5] );
+ output[5] =
+ static_cast<double>( convertXBit(gpsWeek, week10Bit, BITS10) );
+ }
+ return true;
+ }
+
+ // Retained for backward compatibility
+ bool EngNav :: convert8bit(int gpsWeek, double *output)
+ throw()
+ {
+ short tgpsWeek = static_cast<short>( gpsWeek );
+ short toutput = static_cast<short> ( *output );
+ short retArg = convertXBit( tgpsWeek, toutput, BITS8 );
+ *output = static_cast<double>(retArg);
+
+ return true;
+ }
+
+ // Retained for backward compatibility
+ bool EngNav :: convert10bit(int gpsWeek, double *output)
+ throw()
+ {
+ short tgpsWeek = static_cast<short>( gpsWeek );
+ short toutput = static_cast<short> ( *output );
+ short retArg = convertXBit( tgpsWeek, toutput, BITS10 );
+ *output = static_cast<double>(retArg);
+ return true;
+ }
+
+ static short LIMIT[] = { 127, 511 };
+ static short RANGE[] = { 256, 1024 };
+
+ short EngNav :: convertXBit(short fullGPSWeek,
+ short incompleteGPSWeek,
+ BitConvertType type)
+ {
+ short extension = fullGPSWeek - (fullGPSWeek % RANGE[type]);
+ short target = extension + incompleteGPSWeek;
+
+ short diff = target - fullGPSWeek;
+ if (diff>LIMIT[type])
+ target -= RANGE[type];
+ else if (diff< -LIMIT[type])
+ target += RANGE[type];
+
+ return( target );
+ }
+
+ // Retained for backward compatibility
+ short EngNav :: getSubframePattern(const long input[10])
+ throw()
+ {
+ uint32_t tinput[10];
+ for (int n=0;n<10;++n)
+ tinput[n] = static_cast<uint32_t>( input[n] );
+ return( getSubframePattern( tinput ));
+ }
+
+ short EngNav :: getSubframePattern(const uint32_t input[10])
+ throw()
+ {
+ short iret, svid;
+ long itemp;
+
+ short patId[]
+ = { 5, 6, 6, 6, 10, 8, 6, 7, 7, 7, 7, 7, 9 };
+ /*SVid 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63 */
+
+ // Get subframe id. If 1-3 return as patId.
+
+ itemp = input[1]; /* move HOW to temp storage */
+ itemp >>= 8; /* shift so subframe id is in 3 lsb */
+ itemp &= 0x00000007L; /* and mask off msbs */
+ iret = static_cast<short>( itemp );
+ /* Not a valid sf id */
+ if ( iret < 1 || iret > 5 )
+ return(0);
+ if ( iret < 4 )
+ return(iret);
+
+
+ /* If subframe 1-5, get page id and look up patId */
+ itemp = input[2]; /* move word 3 into temp storage */
+ itemp >>= 22; /* shift so SV ID is in 6 lsbs */
+ itemp &= 0x0000003FL; /* and mask off msbs */
+ svid = static_cast<short>( itemp );
+ if ( svid <= 32 )
+ iret = 4; /* PRN orbit data */
+ else
+ iret = patId[svid-51]; /* look up pat id for almanac overhead
+ information */
+ return iret;
+ }
+
+ uint32_t EngNav :: computeParity(uint32_t sfword,
+ uint32_t psfword,
+ bool knownUpright)
+ {
+ /*
+ This function is somewhat table-driven. There is one
+ element in bmask for each of the six parity bits. Each
+ element is a bit mask with bits set corresponding to the
+ bits which are to be exclusive-OR'd together to form the
+ parity check bit. The following bit maps define the bmask
+ array. They were drawn from table 20-XIV of ICD-GPS-200C
+ (10 OCT 1993).
+
+ Bit in navigation message
+ bit1 bit 30
+ bit 12 3456 789. 1234 5678 9.12 3456 789.
+ --- -------------------------------------
+ D25 11 1011 0001 1111 0011 0100 1000 0000
+ D26 01 1101 1000 1111 1001 1010 0100 0000
+ D27 10 1110 1100 0111 1100 1101 0000 0000
+ D28 01 0111 0110 0011 1110 0110 1000 0000
+ D29 10 1011 1011 0001 1111 0011 0100 0000
+ D30 00 1011 0111 1010 1000 1001 1100 0000
+ */
+ uint32_t bmask[6] = { 0x3B1F3480L, 0x1D8F9A40L, 0x2EC7CD00L,
+ 0x1763E680L, 0x2BB1F340L, 0x0B7A89C0L };
+
+ uint32_t D = 0;
+ uint32_t d = sfword;
+ uint32_t D29 = getd29(psfword);
+ uint32_t D30 = getd30(psfword);
+
+ // If D30 of the previous subframe was set, complement the word
+ // to get the source data bits. This will also complement the
+ // parity, but we don't need the original parity to compute the
+ // new.
+ if (D30 && !knownUpright)
+ d = ~d;
+ D |= ((D29 + BinUtils::countBits(bmask[0] & d)) % 2) << 5;
+ D |= ((D30 + BinUtils::countBits(bmask[1] & d)) % 2) << 4;
+ D |= ((D29 + BinUtils::countBits(bmask[2] & d)) % 2) << 3;
+ D |= ((D30 + BinUtils::countBits(bmask[3] & d)) % 2) << 2;
+ D |= ((D30 + BinUtils::countBits(bmask[4] & d)) % 2) << 1;
+ D |= ((D29 + BinUtils::countBits(bmask[5] & d)) % 2);
+
+ return D;
+ }
+
+ uint32_t EngNav :: fixParity(uint32_t sfword,
+ uint32_t psfword,
+ bool nib)
+ {
+ uint32_t bmask[6] = { 0x3B1F3480L, 0x1D8F9A40L, 0x2EC7CD00L,
+ 0x1763E680L, 0x2BB1F340L, 0x0B7A89C0L };
+
+ uint32_t D = 0;
+ uint32_t d = sfword;
+ uint32_t D29 = getd29(psfword);
+ uint32_t D30 = getd30(psfword);
+
+ if (nib)
+ {
+ // make sure the non-information bits are zero to start with.
+ d &= 0xffffff00;
+ if ((D30 + BinUtils::countBits(bmask[4] & d)) % 2)
+ d |= 0x00000040;
+ if ((D29 + BinUtils::countBits(bmask[5] & d)) % 2)
+ d |= 0x00000080;
+ }
+
+ D = computeParity(d, psfword);
+
+ return D | d;
+ }
+
+ /// This is the OLD GPSTk method, left here for compatibility
+ bool EngNav :: subframeParity(const long input[10])
+ {
+ uint32_t temp[10];
+ for (int n=0;n<10;++n) temp[n] = input[n];
+ return(checkParity( temp ));
+ }
+
+
+ bool EngNav :: checkParity(const std::vector<uint32_t>& sf, bool knownUpright)
+ {
+ return (((sf[0] & 0x0000003f) == computeParity(sf[0], 0, knownUpright)) &&
+ ((sf[1] & 0x0000003f) == computeParity(sf[1], sf[0], knownUpright)) &&
+ ((sf[2] & 0x0000003f) == computeParity(sf[2], sf[1], knownUpright)) &&
+ ((sf[3] & 0x0000003f) == computeParity(sf[3], sf[2], knownUpright)) &&
+ ((sf[4] & 0x0000003f) == computeParity(sf[4], sf[3], knownUpright)) &&
+ ((sf[5] & 0x0000003f) == computeParity(sf[5], sf[4], knownUpright)) &&
+ ((sf[6] & 0x0000003f) == computeParity(sf[6], sf[5], knownUpright)) &&
+ ((sf[7] & 0x0000003f) == computeParity(sf[7], sf[6], knownUpright)) &&
+ ((sf[8] & 0x0000003f) == computeParity(sf[8], sf[7], knownUpright)) &&
+ ((sf[9] & 0x0000003f) == computeParity(sf[9], sf[8], knownUpright)));
+ }
+
+ bool EngNav :: checkParity(const uint32_t sf[10], bool knownUpright)
+ {
+ std::vector<uint32_t> temp(10);
+ for (size_t n=0; n<10; ++n)
+ temp[n] = sf[n];
+ return checkParity(temp, knownUpright);
+ }
+
+ void EngNav :: convertQuant(const uint32_t input[10],
+ double output[60],
+ DecodeQuant *p)
+ throw()
+ {
+ double dval;
+ short i, n, bit1, nword, nbit, lsb;
+ union equ
+ {
+ uint32_t u;
+ int32_t s;
+ } temp;
+ uint32_t *b;
+ uint32_t mask;
+
+ // Convert starting bit number to word/bit pair
+ temp.u = 0x0L;
+ for (n=0; n<=1; n++)
+ {
+ if (p->fmt[n].startBit == 0)
+ break;
+ bit1 = p->fmt[n].startBit;
+ nword = (bit1-1) / 30;
+ nbit = (bit1 % 30) + 1;
+
+ b = const_cast<uint32_t *>( input ) + nword;
+ for (i=0;i<p->fmt[n].numBits;i++)
+ {
+ temp.u <<= 1;
+ mask = 0x80000000L >> nbit++;
+ if (*b & mask)
+ temp.u++;
+ if (nbit>=32)
+ {
+ b++;
+ nbit = 0;
+ }
+ }
+ }
+
+ // Convert to double and scale
+ if (p->signq)
+ {
+ nbit = 32 - (p->fmt[0].numBits + p->fmt[1].numBits);
+ temp.u <<= nbit; // Move sign bit to msb
+ temp.s >>= nbit; // Move lsb back to right spot with sign extend
+ dval = temp.s;
+ }
+ else
+ {
+ dval = temp.u; // msb = 0
+ }
+ dval = dval * p->scale; // Scale by scalar
+ dval = dval * PItab[ p->powPI+3 ]; // Scale by power of PI
+ dval = LDEXP(dval,p->pow2); // Scale by power of 2
+ output[p->outIndex] = dval; // Store result in output array
+ }
+
+} // namespace
diff --git a/dev/src/EngNav.hpp b/dev/src/EngNav.hpp
new file mode 100644
index 0000000..93b9c9d
--- /dev/null
+++ b/dev/src/EngNav.hpp
@@ -0,0 +1,284 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file EngNav.hpp
+ * Engineering units navigation message abstraction.
+ */
+
+#ifndef GPSTK_ENGNAV_HPP
+#define GPSTK_ENGNAV_HPP
+
+
+#include <sys/types.h>
+
+#include "gpstkplatform.h"
+#include "BinUtils.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup ephemcalc */
+ //@{
+
+ struct DecodeQuant;
+
+ /**
+ * Base class for ICD-GPS-200 navigation messages. This class
+ * provides functions for decoding the bits in navigation
+ * message, and is the base class for all "engineering units"
+ * types.
+ */
+ class EngNav
+ {
+ public:
+ /// This enumeration is used by the convertXBit() method.
+ enum BitConvertType
+ {
+ BITS8 = 0,
+ BITS10 = 1
+ };
+
+ /// default constructor
+ EngNav() throw();
+
+ /// destructor
+ virtual ~EngNav() {}
+
+
+ /**
+ * Compute and return the parity of the given subframe word,
+ * based on the algorihm defined in Section 20.3.5 of
+ * IS-GPS-200D.
+ * @param sfword The subframe word to compute the parity of.
+ * @param psfword The previous word in the subframe (use 0
+ * when sfword is word 1)
+ * @param knownUpright When this is set, the data is assumed to be upright
+ * and no D30 inversion is performed
+ * @return the 6-bit parity (or, if zeroBits is set, the
+ * 6-bit parity along with the two t-bits, the
+ * non-information bits used for parity computation).
+ */
+ static uint32_t computeParity(uint32_t sfword,
+ uint32_t psfword,
+ bool knownUpright=true);
+
+ /**
+ * Compute the parity for the given subframe using the prior
+ * subframe and a flag to handle the "non-information bits"
+ * that appear in certain words of each subframe.
+ * @param sfword The subframe word to compute the parity of.
+ * @param psfword The previous word in the subframe (use 0
+ * when sfword is word 1)
+ * @param nib if true, sfword is one of the words with the
+ * non-information bearing bits (word 2 or 10), and the
+ * parity will be computed as appropriate for that situation.
+ * @return sfword with the proper parity bits.
+ */
+ static uint32_t fixParity(uint32_t sfword,
+ uint32_t psfword,
+ bool nib);
+
+ /**
+ * Perform a parity check on a navigation message subframe.
+ * @return true if the parity check is successful.
+ */
+ static bool checkParity(const uint32_t input[10], bool knownUpright=true);
+ static bool checkParity(const std::vector<uint32_t>& v, bool knownUpright=true);
+
+
+ /// This is the old routine only left around for compatibility
+ static bool subframeParity(const long input[10]);
+
+
+ /// Following two used by checkParity
+ /// Get bit 30 from the given subframe word
+ static inline uint32_t getd30(uint32_t sfword)
+ {
+ return (sfword & 0x01);
+ }
+
+ /// Get bit 29 from the given subframe word
+ static inline uint32_t getd29(uint32_t sfword)
+ {
+ return ((sfword & 0x02) >> 1);
+ }
+
+ /// Get the HOW time from the provided HOW
+ static inline unsigned long getHOWTime(uint32_t word2)
+ {
+ word2 >>= 13;
+ word2 &= 0x0001FFFFL;
+ return word2 * 6;
+ }
+
+ /// Get the subframe ID from the provided HOW
+ static inline short getSFID(uint32_t word2)
+ {
+ word2 >>= 8;
+ word2 &= 0x00000007L;
+ return word2 ;
+ }
+
+
+ /**
+ * Given 10 words of a navigation message subframe (as
+ * defined in ICD-GPS-200), convert to the "appropriate" 60
+ * FIC floating point values.
+ * @param input array of ten 30-bit words (stored in the 30
+ * least-significant bits of each long.
+ * @param gpsWeek full (>10 bits) GPS week number associated
+ * with almanac reference time.
+ * @param output 60 FIC floating point values as defined in
+ * the documentation for FIC blocks 9 and 62.
+ * @return true if successful.
+ */
+ static bool subframeConvert(const long input[10],
+ int gpsWeek,
+ double output[60])
+ throw();
+
+ /**
+ * Given 10 words of a navigation message subframe (as
+ * defined in ICD-GPS-200), convert to the "appropriate" 60
+ * FIC floating point values.
+ * @param input array of ten 30-bit words (stored in the 30
+ * least-significant bits of each long.
+ * @param gpsWeek full (>10 bits) GPS week number associated
+ * with almanac reference time.
+ * @param output 60 FIC floating point values as defined in
+ * the documentation for FIC blocks 9 and 62.
+ * @return true if successful.
+ */
+ static bool subframeConvert(const uint32_t input[10],
+ short gpsWeek,
+ double output[60])
+ throw();
+
+ /** Convert the week number in \c out from 8-bit to full
+ * using the full week number \c gpsWeek.
+ * @param gpsWeek source full week number.
+ * @param out 8-bit week number to convert to full
+ * @return true if source and target are within 127 weeks of
+ * each other.
+ */
+ static bool convert8bit(int gpsWeek, double *out)
+ throw();
+
+ /** Convert the week number in \c out from 10-bit to full
+ * using the full week number \c gpsWeek.
+ * @param gpsWeek source full week number.
+ * @param out 10-bit week number to convert to full
+ * @return true if source and target are within 511 weeks of
+ * each other.
+ */
+ static bool convert10bit(int gpsWeek, double *out)
+ throw();
+
+ /** Convert the week number in \c out from 8 or 10-bit to full
+ * using the full week number \c fullGPSWeek.
+ * @param fullGPSWeek source full week number.
+ * @param incompleteGPSWeek week number to convert to full
+ * @param type BITS8 (0) or BITS10 (1)
+ * @return Full GPS week corresponding to incompleteGPSWeek
+ * assuming incompleteGPSWeek is within half the 8/10 bit
+ * distance from fullGPSWeek.
+ */
+ static short convertXBit( short fullGPSWeek,
+ short incompleteGPSWeek,
+ BitConvertType type);
+
+ /**
+ * Given a navigation message subframe, return the
+ * pattern number to be used in converting the
+ * subframe to engineering units. The patterns are
+ * defined in the following table. The numbers correspond
+ * to the ordering of the bit definitions in ICD-GPS-200
+ * Figure 20-1.
+ *
+ * Subframe # SV_id Pattern #
+ * 1 n/a 1
+ * 2 n/a 2
+ * 3 n/a 3
+ * 4 1-24 4
+ * 4 25 5
+ * 5 57 6
+ * 5 58-62 7
+ * 5 56 8
+ * 5 63 9
+ * 5 52-55 10
+ *
+ * @param input 10 long integers containing the ten words of
+ * the navigation message subframe.
+ * @return the pattern ID as defined in the above table.
+ */
+ static short getSubframePattern(const long input[10])
+ throw();
+ static short getSubframePattern(const uint32_t input[10])
+ throw();
+
+ private:
+
+ /**
+ * Given 10 words of a navigation message subframe, in, and a
+ * structure, p, defining a particular conversion, perform
+ * the conversion and store the results in the appropriate
+ * location in the FIC F array, out.
+ *
+ * @param input words of navigation message subframe. Each
+ * nav message word is in the 30 lsbs of the corresponding
+ * input[i].
+ *
+ * @param output array of 60 double which correspond to the
+ * section of a FIC F array. The converted output will be
+ * placed in the output array at the location specified in
+ * the conversion specification.
+ *
+ * @param p pointer to structure defining conversion to be
+ * performed.
+ */
+ static void convertQuant(const uint32_t input[10],
+ double output[60],
+ DecodeQuant *p)
+ throw();
+ }; // class EngNav
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/EphemerisRange.cpp b/dev/src/EphemerisRange.cpp
new file mode 100644
index 0000000..92f5c3b
--- /dev/null
+++ b/dev/src/EphemerisRange.cpp
@@ -0,0 +1,227 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file EphemerisRange.cpp
+ * Computation of range and associated quantities from EphemerisStore,
+ * given receiver position and time.
+ */
+
+#include "EphemerisRange.hpp"
+#include "MiscMath.hpp"
+#include "GPSGeoid.hpp"
+#include "icd_200_constants.hpp"
+#include "geometry.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+namespace gpstk
+{
+ // Compute the corrected range at RECEIVE time, from receiver at position Rx,
+ // to the GPS satellite given by SatID sat, as well as all the CER quantities,
+ // given the nominal receive time tr_nom and an EphemerisStore.
+ double CorrectedEphemerisRange::ComputeAtReceiveTime(const DayTime& tr_nom,
+ const Position& Rx,
+ const SatID sat,
+ const EphemerisStore& Eph)
+ {
+ try {
+ int nit;
+ double tof,tof_old,wt,sx,sy;
+ GPSGeoid geoid;
+
+ nit = 0;
+ tof = 0.07; // initial guess 70ms
+ do {
+ // best estimate of transmit time
+ transmit = tr_nom;
+ transmit -= tof;
+ tof_old = tof;
+ // get SV position
+ try {
+ svPosVel = Eph.getSatXvt(sat,transmit);
+ }
+ catch(EphemerisStore::NoEphemerisFound& e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(InvalidRequest& ir)
+ {
+ EphemerisStore::NoEphemerisFound nef(ir);
+ GPSTK_THROW(nef);
+ }
+ // compute new time of flight
+ tof = RSS(svPosVel.x[0]-Rx.X(),
+ svPosVel.x[1]-Rx.Y(),
+ svPosVel.x[2]-Rx.Z());
+ tof /= geoid.c();
+ // correct for Earth rotation
+ wt = geoid.angVelocity()*tof;
+ sx = cos(wt)*svPosVel.x[0] + sin(wt)*svPosVel.x[1];
+ sy = -sin(wt)*svPosVel.x[0] + cos(wt)*svPosVel.x[1];
+ svPosVel.x[0] = sx;
+ svPosVel.x[1] = sy;
+ sx = cos(wt)*svPosVel.v[0] + sin(wt)*svPosVel.v[1];
+ sy = -sin(wt)*svPosVel.v[0] + cos(wt)*svPosVel.v[1];
+ svPosVel.v[0] = sx;
+ svPosVel.v[1] = sy;
+ // update raw range and time of flight
+ rawrange = RSS(svPosVel.x[0]-Rx.X(),
+ svPosVel.x[1]-Rx.Y(),
+ svPosVel.x[2]-Rx.Z());
+ tof = rawrange/geoid.c();
+
+ } while(ABS(tof-tof_old)>1.e-13 && ++nit<5);
+
+ relativity = RelativityCorrection(svPosVel) * C_GPS_M;
+ // relativity correction is added to dtime by the
+ // EphemerisStore::getSatXvt routines...
+
+ svclkbias = svPosVel.dtime*C_GPS_M - relativity;
+ svclkdrift = svPosVel.ddtime * C_GPS_M;
+
+ cosines[0] = (Rx.X()-svPosVel.x[0])/rawrange;
+ cosines[1] = (Rx.Y()-svPosVel.x[1])/rawrange;
+ cosines[2] = (Rx.Z()-svPosVel.x[2])/rawrange;
+
+ Position SV(svPosVel);
+ elevation = Rx.elevation(SV);
+ azimuth = Rx.azimuth(SV);
+ elevationGeodetic = Rx.elevationGeodetic(SV);
+ azimuthGeodetic = Rx.azimuthGeodetic(SV);
+
+ return (rawrange-svclkbias-relativity);
+ }
+ catch(gpstk::Exception& e) {
+ GPSTK_RETHROW(e);
+ }
+ } // end CorrectedEphemerisRange::ComputeAtReceiveTime
+
+ // Compute the corrected range at TRANSMIT time, from receiver at position Rx,
+ // to the GPS satellite given by SatID sat, as well as all the CER quantities,
+ // given the nominal receive time tr_nom and an EphemerisStore, as well as
+ // the raw measured pseudorange.
+ double CorrectedEphemerisRange::ComputeAtTransmitTime(const DayTime& tr_nom,
+ const double& pr,
+ const Position& Rx,
+ const SatID sat,
+ const EphemerisStore& Eph)
+ {
+ try {
+ DayTime tt;
+ GPSGeoid geoid;
+
+ // 0-th order estimate of transmit time = receiver - pseudorange/c
+ transmit = tr_nom;
+ transmit -= pr/C_GPS_M;
+ tt = transmit;
+
+ // correct for SV clock
+ for(int i=0; i<2; i++) {
+ // get SV position
+ try {
+ svPosVel = Eph.getSatXvt(sat,tt);
+ }
+ catch(EphemerisStore::NoEphemerisFound& e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(InvalidRequest& ir)
+ {
+ EphemerisStore::NoEphemerisFound nef(ir);
+ GPSTK_THROW(nef);
+ }
+ tt = transmit;
+ tt -= svPosVel.dtime; // clock and relativity
+ }
+
+ // correct for Earth rotation
+ double tof = RSS(svPosVel.x[0]-Rx.X(),
+ svPosVel.x[1]-Rx.Y(),
+ svPosVel.x[2]-Rx.Z())/geoid.c();
+ double wt = geoid.angVelocity()*tof;
+ double sx = cos(wt)*svPosVel.x[0] + sin(wt)*svPosVel.x[1];
+ double sy = -sin(wt)*svPosVel.x[0] + cos(wt)*svPosVel.x[1];
+ svPosVel.x[0] = sx;
+ svPosVel.x[1] = sy;
+ sx = cos(wt)*svPosVel.v[0] + sin(wt)*svPosVel.v[1];
+ sy = -sin(wt)*svPosVel.v[0] + cos(wt)*svPosVel.v[1];
+ svPosVel.v[0] = sx;
+ svPosVel.v[1] = sy;
+ // raw range
+ rawrange = RSS(svPosVel.x[0]-Rx.X(),
+ svPosVel.x[1]-Rx.Y(),
+ svPosVel.x[2]-Rx.Z());
+
+ relativity = RelativityCorrection(svPosVel) * C_GPS_M;
+ // relativity correction is added to dtime by the
+ // EphemerisStore::getSatXvt routines...
+
+ svclkbias = svPosVel.dtime*C_GPS_M - relativity;
+ svclkdrift = svPosVel.ddtime * C_GPS_M;
+
+ cosines[0] = (Rx.X()-svPosVel.x[0])/rawrange;
+ cosines[1] = (Rx.Y()-svPosVel.x[1])/rawrange;
+ cosines[2] = (Rx.Z()-svPosVel.x[2])/rawrange;
+
+ Position SV(svPosVel);
+ elevation = Rx.elevation(SV);
+ azimuth = Rx.azimuth(SV);
+ elevationGeodetic = Rx.elevationGeodetic(SV);
+ azimuthGeodetic = Rx.azimuthGeodetic(SV);
+
+ return (rawrange-svclkbias-relativity);
+ }
+ catch(gpstk::Exception& e) {
+ GPSTK_RETHROW(e);
+ }
+ } // end CorrectedEphemerisRange::ComputeAtTransmitTime
+
+ double RelativityCorrection(const Xvt& svPosVel)
+ {
+ // relativity correction is added to dtime by the
+ // EphemerisStore::getSatXvt routines...
+ // dtr = -2*dot(R,V)/(c*c) = -4.4428e-10(s/sqrt(m)) * ecc * sqrt(A(m)) * sinE
+ // compute it separately here, in units seconds.
+ double dtr = ( -2.0 *( svPosVel.x[0] * svPosVel.v[0]
+ + svPosVel.x[1] * svPosVel.v[1]
+ + svPosVel.x[2] * svPosVel.v[2] ) / C_GPS_M ) / C_GPS_M;
+ return dtr;
+ }
+
+} // namespace gpstk
diff --git a/dev/src/EphemerisRange.hpp b/dev/src/EphemerisRange.hpp
new file mode 100644
index 0000000..d2327d7
--- /dev/null
+++ b/dev/src/EphemerisRange.hpp
@@ -0,0 +1,114 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file EphemerisRange.hpp
+ * Computation of range and associated quantities from EphemerisStore
+ */
+
+#ifndef EPHEMERIS_RANGE_HPP
+#define EPHEMERIS_RANGE_HPP
+
+#include "DayTime.hpp"
+#include "SatID.hpp"
+#include "Position.hpp"
+#include "EphemerisStore.hpp"
+#include "Xvt.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup ephemcalc */
+ //@{
+
+ /** class CorrectedEphemerisRange. Compute the corrected range from receiver
+ * at position Rx, to the GPS satellite given by SatID sat, as well as azimuth,
+ * elevation, etc., given a nominal timetag (either received or transmitted
+ * time) and an EphemerisStore.
+ */
+ class CorrectedEphemerisRange
+ {
+ public:
+ /// Default constructor.
+ CorrectedEphemerisRange() {}
+
+ /// Compute the corrected range at RECEIVE time, from receiver at
+ /// position Rx, to the GPS satellite given by SatID sat, as well as all
+ /// the CER quantities, given the nominal receive time tr_nom and
+ /// an EphemerisStore.
+ double ComputeAtReceiveTime(const DayTime& tr_nom,
+ const Position& Rx, const SatID sat, const EphemerisStore& Eph);
+
+ /// Compute the corrected range at TRANSMIT time, from receiver at
+ /// position Rx, to the GPS satellite given by SatID sat, as well as all
+ /// the CER quantities, given the nominal receive time tr_nom and
+ /// an EphemerisStore.
+ double ComputeAtTransmitTime(const DayTime& tr_nom, const double& pr,
+ const Position& Rx, const SatID sat, const EphemerisStore& Eph);
+
+ /// The computed raw (geometric) range in meters.
+ double rawrange;
+ /// The satellite clock bias in meters.
+ double svclkbias;
+ /// The satellite clock drift in m/s.
+ double svclkdrift;
+ /// The relativity correction in meters.
+ double relativity;
+ /// The satellite elevation (spheroidal), as seen at the receiver, in degrees.
+ double elevation;
+ /// The satellite azimuth (spheroidal), as seen at the receiver, in degrees.
+ double azimuth;
+ /// The satellite elevation (geodetic), as seen at the receiver, in degrees.
+ double elevationGeodetic;
+ /// The satellite azimuth (geodetic), as seen at the receiver, in degrees.
+ double azimuthGeodetic;
+ /// The computed transmit time of the signal.
+ DayTime transmit;
+ /// The direction cosines of the satellite, as seen at the receiver (XYZ).
+ Triple cosines;
+ /// The satellite position (m) and velocity (m/s) in ECEF coordinates.
+ Xvt svPosVel;
+
+ }; // end class CorrectedEphemerisRange
+
+ /// Compute relativity correction (seconds) from the satellite position and velocity
+ double RelativityCorrection(const Xvt& svPosVel);
+
+ //@}
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/EphemerisStore.hpp b/dev/src/EphemerisStore.hpp
new file mode 100644
index 0000000..df874c0
--- /dev/null
+++ b/dev/src/EphemerisStore.hpp
@@ -0,0 +1,129 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file EphemerisStore.hpp
+ * Base for ephemeris storage classes
+ */
+
+#ifndef GPSTK_EPHEMERISSTORE_HPP
+#define GPSTK_EPHEMERISSTORE_HPP
+
+#include <iostream>
+#include <string>
+#include <list>
+#include <map>
+
+#include "Exception.hpp"
+#include "SatID.hpp"
+#include "DayTime.hpp"
+#include "Xvt.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup ephemstore */
+ //@{
+
+ /// This class defines an interface to hide how we are getting an SV's
+ /// position at some point in time.
+ class EphemerisStore
+ {
+ public:
+ /// Thrown when attempting to read an ephemeris that isn't stored.
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(NoEphemerisFound, gpstk::Exception);
+
+ /// Thrown when attempting to read TGD from an ephemeris that doesn't have it.
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(NoTGDFound, gpstk::Exception);
+
+ /// destructor.
+ virtual ~EphemerisStore() {}
+
+ /** This returns the PVT of the SV in ECEF coordinates at the
+ * indicated time.
+ * @param sat the SV's SatID
+ * @param t the time to look up
+ * @return the Xvt of the SV at time t
+ */
+ virtual Xvt getSatXvt(SatID sat,
+ const gpstk::DayTime& t) const
+ throw(NoEphemerisFound) = 0;
+
+ /// \deprecated use the SatID version getSatXvt
+ virtual Xvt getPrnXvt(short prn,
+ const gpstk::DayTime& t) const
+ throw(NoEphemerisFound) = 0;
+
+ /** This method returns the Total Group Delay of the SV (in meters) at the
+ * indicated time.
+ * @param sat the SV's SatID
+ * @param t the time to look up
+ * @return the TGD (in meters) of the SV at time t
+ */
+ virtual double getTGD(SatID sat, const gpstk::DayTime& t) const
+ throw(NoTGDFound) { return 0.0; }
+
+ /** Dumps all the ephemeris data stored in this object.
+ * @param detail the level of detail to provide
+ */
+ virtual void dump(short detail = 0,
+ std::ostream& s = std::cout) const = 0;
+
+ /// Edit the dataset, removing data outside this time interval
+ virtual void edit(const DayTime& tmin,
+ const DayTime& tmax
+ = DayTime(DayTime::END_OF_TIME) ) = 0;
+
+ /** Return the time of the first ephemeris in the object.
+ * @return the time of the first ephemeris in the object
+ */
+ virtual gpstk::DayTime getInitialTime() const = 0;
+
+ /** Return the time of the last ephemeris in the object.
+ * @return the time of the last ephemeris in the object
+ */
+ virtual gpstk::DayTime getFinalTime() const = 0;
+
+ }; // end class EphemerisStore
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/EpochClockModel.hpp b/dev/src/EpochClockModel.hpp
new file mode 100644
index 0000000..35dba53
--- /dev/null
+++ b/dev/src/EpochClockModel.hpp
@@ -0,0 +1,110 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef EPOCHCLOCKMODEL_HPP
+#define EPOCHCLOCKMODEL_HPP
+
+#include <map>
+#include "Exception.hpp"
+#include "gps_constants.hpp"
+
+#include "ObsClockModel.hpp"
+#include "ORDEpoch.hpp"
+
+/**
+ * @file EpochClockModel.hpp
+ * Finally a concrete class. This model just uses an epoch of ORDs to determine
+ * the clock offset at that point in time.
+ */
+
+namespace gpstk
+{
+ class EpochClockModel : public ObsClockModel
+ {
+ public:
+ EpochClockModel(double sigma = 2,
+ double elmask = 0,
+ SvMode mode = ALWAYS)
+ : ObsClockModel(sigma, elmask, mode), valid(false), clkc(0){}
+
+ virtual double getOffset(const gpstk::DayTime& t) const
+ throw(gpstk::InvalidArgumentException)
+ {
+ if (t!=time)
+ {
+ gpstk::InvalidArgumentException e;
+ GPSTK_THROW(e);
+ }
+ return clkc;
+ };
+
+ virtual bool isOffsetValid(const gpstk::DayTime& t) const
+ throw(gpstk::InvalidArgumentException)
+ {
+ if (t!=time)
+ {
+ gpstk::InvalidArgumentException e;
+ GPSTK_THROW(e);
+ }
+ return valid;
+ };
+
+
+ // An unchecked accessor for programs that don't need the generic
+ // interface
+ double getOffset() const
+ throw() {return clkc;};
+
+ bool isOffsetValid() const
+ throw() {return valid;};
+
+ virtual void addEpoch(const ORDEpoch& oe) throw(gpstk::InvalidValue)
+ {
+ gpstk::Stats<double> stat = simpleOrdClock(oe);
+ clkc = stat.Average();
+ valid = stat.N() >= 3; /// we need at least three to have a real avg
+ time = oe.time;
+ }
+
+ private:
+ gpstk::DayTime time; ///< The time of this offset
+ double clkc; ///< clock bias value (same units as residuals)
+ bool valid; ///< flag indicating clock bias statistical validity
+ };
+}
+#endif
diff --git a/dev/src/Exception.cpp b/dev/src/Exception.cpp
new file mode 100644
index 0000000..47966e1
--- /dev/null
+++ b/dev/src/Exception.cpp
@@ -0,0 +1,222 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file Exception.cpp
+ * Exceptions for all of GPSTK, including location information
+ */
+
+#include <sstream>
+#include "Exception.hpp"
+
+using std::ostream;
+using std::ostringstream;
+using std::streambuf;
+using std::string;
+using std::endl;
+
+namespace gpstk
+{
+
+ void ExceptionLocation::dump(ostream& s) const
+ throw()
+ {
+ s << getFileName() << ":"
+#ifdef __FUNCTION__
+ << getFunctionName() << ":"
+#endif
+ << getLineNumber();
+ }
+
+ Exception::Exception()
+ throw()
+ {
+ }
+
+ Exception::Exception(const string& errorText,
+ const unsigned long& errId,
+ const Severity& sever)
+ throw()
+ {
+ text.push_back(errorText);
+ errorId = errId;
+ severity = sever;
+ }
+
+ Exception::Exception(const Exception& e)
+ throw()
+ : errorId(e.errorId),
+ locations(e.locations),
+ severity(e.severity),
+ text(e.text),
+ streamBuffer(e.streamBuffer)
+ {}
+
+ Exception& Exception::operator=(const Exception& e)
+ throw()
+ {
+ errorId = e.errorId;
+ locations = e.locations;
+ severity = e.severity;
+ text = e.text;
+ // reuse existing stream objects, no matter.
+ //streambuf(), ostream((streambuf*)this),
+ streamBuffer = e.streamBuffer;
+
+ return *this;
+ }
+
+ Exception& Exception::addLocation(
+ const ExceptionLocation& location)
+ throw()
+ {
+ locations.push_back(location);
+ return *this;
+ }
+
+ const ExceptionLocation Exception::getLocation(
+ const size_t& index) const
+ throw()
+ {
+ if (index < 0 || index>=getLocationCount())
+ {
+ return ExceptionLocation();
+ }
+ else
+ {
+ return locations[index];
+ }
+ }
+
+ size_t Exception::getLocationCount() const
+ throw()
+ {
+ return locations.size();
+ }
+
+ Exception& Exception::addText(const string& errorText)
+ throw()
+ {
+ text.push_back(errorText);
+ return *this;
+ }
+
+ string Exception::getText(const size_t& index) const
+ throw()
+ {
+ if (index < 0 || index>=getTextCount())
+ {
+ string tmp;
+ return tmp;
+ }
+ else
+ {
+ return text[index];
+ }
+ }
+
+ size_t Exception::getTextCount() const
+ throw()
+ {
+ return text.size();
+ }
+
+ void Exception::dump(ostream& s) const
+ throw()
+ {
+ int i;
+ for (i=0; i<getTextCount(); i++)
+ {
+ s << "text " << i << ":" << this->getText(i) << endl;
+ }
+ for (i=0; i<getLocationCount(); i++)
+ {
+ s << "location " << i << ":" << getLocation(i).what() << endl;
+ }
+ }
+
+ int Exception::overflow(int c)
+ {
+ if (c == '\n' || !c)
+ {
+ if (streamBuffer.length() == 0)
+ {
+ return c;
+ }
+ addText(streamBuffer);
+ streamBuffer = "";
+ return c;
+ }
+ streamBuffer.append(1, (char)c);
+ return c;
+ }
+
+ string ExceptionLocation::what() const
+ throw()
+ {
+ ostringstream oss;
+ this->dump(oss);
+ return oss.str();
+ }
+
+ string Exception::what() const
+ throw()
+ {
+ ostringstream oss;
+ this->dump(oss);
+ return oss.str();
+ }
+
+ ostream& operator<<( ostream& s,
+ const Exception& e )
+ throw()
+ {
+ e.dump(s);
+ return s;
+ }
+
+ ostream& operator<<( ostream& s,
+ const ExceptionLocation& e )
+ throw()
+ {
+ e.dump(s);
+ return s;
+ }
+
+} // namespace gpstk
+
diff --git a/dev/src/Exception.hpp b/dev/src/Exception.hpp
new file mode 100644
index 0000000..2c52856
--- /dev/null
+++ b/dev/src/Exception.hpp
@@ -0,0 +1,479 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file Exception.hpp
+ * Exceptions for all of GPSTK, including location information
+ */
+
+// The unusual include macro below is done this way because xerces
+// #defines EXCEPTION_HPP in their own exception class header file.
+#ifndef GPSTK_EXCEPTION_HPP
+#define GPSTK_EXCEPTION_HPP
+
+#include <iostream>
+#include <vector>
+#include <string>
+
+namespace gpstk
+{
+ /**
+ * @defgroup exceptiongroup Exception Classes
+ * These classes are the exceptions that can be thrown in
+ * the library code. Use these in your catch() blocks
+ * and you'll be able to get more information
+ * than what std::exception provides. Use GPSTK_THROW()
+ * and GPSTK_RETHROW() to throw or rethrow these exceptions
+ * to automatically add line and file information to your
+ * exceptions..
+ */
+
+ /// A class for recording locations (in the source code) of
+ /// exceptions being thrown.
+ class ExceptionLocation
+ {
+ public:
+ /**
+ * Constructor for location information.
+ * @param filename name of source file where exception occurred.
+ * @param funcName name of function where exception occurred.
+ * @param lineNum line of source file where exception occurred.
+ */
+ ExceptionLocation(const std::string& filename = std::string(),
+ const std::string& funcName = std::string(),
+ const unsigned long& lineNum = 0)
+ throw()
+ : fileName(filename), functionName(funcName),
+ lineNumber(lineNum)
+ { }
+
+ /**
+ * Destructor.
+ */
+ ~ExceptionLocation() throw() {}
+
+ /// Accessor for name of source file where exception occurred.
+ std::string getFileName() const
+ throw()
+ { return fileName; }
+ /// Accessor for name of function where exception occurred.
+ std::string getFunctionName() const
+ throw()
+ { return functionName; }
+ /// Accessor for line of source file where exception occurred.
+ unsigned long getLineNumber() const
+ throw()
+ { return lineNumber; }
+
+ /**
+ * Debug output function.
+ * @param s stream to output debugging information for this class to.
+ */
+ void dump(std::ostream& s) const throw();
+
+ /// Dump to a string
+ std::string what() const throw();
+
+ /**
+ * Output stream operator for ::ExceptionLocation.
+ * This is intended just to dump all the data in the
+ * ::ExceptionLocation to the indicated stream. \warning Warning: It
+ * will _not_ preserve the state of the stream.
+ * @param s stream to send ::ExceptionLocation information to.
+ * @param e ::ExceptionLocation to "dump".
+ * @return a reference to the stream \c s.
+ */
+ friend std::ostream& operator<<( std::ostream& s,
+ const ExceptionLocation& e )
+ throw();
+
+ private:
+ /// Name of source file where exception occurred.
+ std::string fileName;
+ /// Name of function where exception occurred.
+ std::string functionName;
+ /// Line in source file where exception occurred.
+ unsigned long lineNumber;
+ }; // class ExceptionLocation
+
+ /**
+ * The Exception class is the base class from which all
+ * exception objects thrown in the library are derived. None of
+ * the functions in this class throws exceptions because an
+ * exception has probably already been thrown or is about to be
+ * thrown. Each exception object contains the following:
+ * - A stack of exception message text strings (descriptions).
+ * - An error ID.
+ * - A severity code.
+ * - An error code group.
+ * - Information about where the exception was thrown.
+ *
+ * Exception provides all of the functions required for it and
+ * its derived classes, including functions that operate on the
+ * text strings in the stack.
+ *
+ * @sa exceptiontest.cpp for some examples of how to use this class.
+ *
+ * @ingroup exceptiongroup
+ */
+ class Exception
+ {
+ public:
+ /// Exception severity classes.
+ enum Severity
+ {
+ unrecoverable, /**< program can not recover from this exception */
+ recoverable /**< program can recover from this exception */
+ };
+
+ /**
+ * Default constructor.
+ * Does nothing.
+ */
+ Exception() throw();
+
+ /**
+ * Full constructor for exception.
+ * @param errorText text message detailing exception.
+ * @param errorId error code related to exception e.g. MQ result
+ * code.
+ * @param severity severity of error.
+ */
+ Exception(const std::string& errorText,
+ const unsigned long& errorId = 0,
+ const Severity& severity = unrecoverable)
+ throw();
+ /// Copy constructor.
+ Exception(const Exception& exception)
+ throw();
+ /// Destructor.
+ ~Exception()
+ throw()
+ {};
+
+ /// Assignment operator.
+ Exception& operator=(const Exception& e)
+ throw();
+
+ /**
+ * Ends the application. Normally, the library only intends
+ * this function to be used internally by the library's
+ * exception-handling macros when the compiler you are using
+ * does not support C++ exception handling. This only occurs
+ * if you define the NO_EXCEPTIONS_SUPPORT macro.
+ */
+ void terminate()
+ throw()
+ { exit(1); };
+
+ /// Returns the error ID of the exception.
+ unsigned long getErrorId() const
+ throw()
+ { return errorId; };
+
+ /**
+ * Sets the error ID to the specified value.
+ * @param errId The identifier you want to associate with
+ * this error.
+ */
+ Exception& setErrorId(const unsigned long& errId)
+ throw()
+ { errorId = errId; return *this; };
+
+ /**
+ * Adds the location information to the exception object. The
+ * library captures this information when an exception is
+ * thrown or rethrown. An array of ExceptionLocation objects
+ * is stored in the exception object.
+ *
+ * @param location An IExceptionLocation object containing
+ * the following:
+ * \li Function name
+ * \li File name
+ * \li Line number where the function is called
+ */
+ Exception& addLocation(const ExceptionLocation& location)
+ throw();
+
+ /**
+ * Returns the ExceptionLocation object at the specified index.
+ * @param index If the index is not valid, a 0
+ * pointer is returned. (well, not really since someone
+ * changed all this bah)
+ */
+ const ExceptionLocation getLocation(const size_t& index=0) const
+ throw();
+
+ /// Returns the number of locations stored in the exception
+ /// location array.
+ size_t getLocationCount() const
+ throw();
+
+ /**
+ * If the thrower (that is, whatever creates the exception)
+ * determines the exception is recoverable, 1 is returned. If
+ * the thrower determines it is unrecoverable, 0 is returned.
+ */
+ bool isRecoverable() const
+ throw()
+ { return (severity == recoverable); }
+
+ /**
+ * Sets the severity of the exception.
+ * @param sever Use the enumeration Severity to specify
+ * the severity of the exception.
+ */
+ Exception& setSeverity(const Severity& sever)
+ throw()
+ { severity = sever; return *this; };
+
+ /**
+ * Appends the specified text to the text string on the top
+ * of the exception text stack.
+ * @param errorText The text you want to append.
+ */
+ Exception& addText(const std::string& errorText)
+ throw();
+
+ /**
+ * Returns an exception text string from the exception text
+ * stack.
+ *
+ * @param index The default index is 0, which is the
+ * top of the stack. If you specify an index which is not
+ * valid, a 0 pointer is returned.
+ */
+ std::string getText(const size_t& index=0) const
+ throw();
+
+ /// Returns the number of text strings in the exception text stack.
+ size_t getTextCount() const
+ throw();
+
+ /// Returns the name of the object's class.
+ std::string getName() const
+ throw()
+ { return "Exception"; };
+
+ /**
+ * Debug output function.
+ * @param s stream to output debugging information for this class to.
+ */
+ void dump(std::ostream& s) const
+ throw();
+
+ /// Dump to a string
+ std::string what() const throw();
+
+ /**
+ * Output stream operator for ::Exception.
+ * This is intended just to dump all the data in the ::Exception to
+ * the indicated stream. \warning Warning: It will _not_ preserve
+ * the state of the stream.
+ * @param s stream to send ::Exception information to.
+ * @param e ::Exception to "dump".
+ * @return a reference to the stream \c s. */
+ friend std::ostream& operator<<( std::ostream& s,
+ const Exception& e )
+ throw();
+
+ protected:
+ /// Error code.
+ unsigned long errorId;
+ /// Stack of exception locations (where it was thrown).
+ std::vector<ExceptionLocation> locations;
+ /// Severity of exception.
+ Severity severity;
+ /// Text stack describing exception condition.
+ std::vector<std::string> text;
+
+ /**
+ * This is the streambuf function that actually outputs the
+ * data to the device. Since all output should be done with
+ * the standard ostream operators, this function should never
+ * be called directly. In the case of this class, the
+ * characters to be output are stored in a buffer and added
+ * to the exception text after each newline.
+ */
+ int overflow(int c);
+
+ private:
+ /// Buffer for stream output.
+ std::string streamBuffer;
+ }; // class Exception
+
+
+} // namespace gpstk
+
+
+/**
+ * Just a comment for the wary. These following macros are quite
+ * useful. They just don't work under gcc 2.96/linux. If you can fix
+ * them I would be quite greatful but I am not holding my breath. For
+ * now, I am just manually putting the code where it needs to be. The
+ * problem seems to be with the __FILE__, __FUNCTION__, LINE__ being
+ * defined in a macro that is in a .hpp file as opposed to the .cpp
+ * file where the code gets used. When you do it you get a segfault.
+ * See the exceptiontest.cpp code in the base/test directory.
+ */
+#if defined ( __FUNCTION__ )
+#define FILE_LOCATION gpstk::ExceptionLocation(__FILE__, __FUNCTION__, __LINE__)
+#else
+#define FILE_LOCATION gpstk::ExceptionLocation(__FILE__, "", __LINE__)
+#endif
+
+// For compilers without exceptions, die if you get an exception.
+#if defined (NO_EXCEPTIONS_SUPPORT)
+/// A macro for adding location when throwing an gpstk::Exception
+/// @ingroup exceptiongroup
+#define GPSTK_THROW(exc) { exc.addLocation(FILE_LOCATION); exc.terminate(); }
+/// A macro for adding location when rethrowing an gpstk::Exception
+/// @ingroup exceptiongroup
+#define GPSTK_RETHROW(exc) { exc.addLocation(FILE_LOCATION); exc.terminate(); }
+#else
+/// A macro for adding location when throwing an gpstk::Exception
+/// @ingroup exceptiongroup
+#define GPSTK_THROW(exc) { exc.addLocation(FILE_LOCATION); throw exc; }
+/// A macro for adding location when rethrowing an gpstk::Exception
+/// @ingroup exceptiongroup
+#define GPSTK_RETHROW(exc) { exc.addLocation(FILE_LOCATION); throw; }
+#endif
+
+
+
+/**
+ * A macro for quickly defining a new exception class that inherits from
+ * an gpstk::Exception derived class. Use this to make specific exceptions,
+ * such as the ones defined in this header file. Make sure that all
+ * exceptions have "\@ingroup exceptiongroup" in their comment block
+ * so doxygen knows what to do with them.
+ *
+ * @ingroup exceptiongroup
+ */
+#define NEW_EXCEPTION_CLASS(child, parent) \
+class child : public parent \
+{ \
+public: \
+ /** Default constructor. */ \
+ child() throw() : parent() {} \
+ /** Copy constructor. */ \
+ child(const child& a) throw() : parent(a) {} \
+ /** Cast constructor. */ \
+ child(const gpstk::Exception& a) throw() : parent(a) {}; \
+ /** \
+ * Common use constructor. \
+ * @param a text description of exception condition. \
+ * @param b error code (default none) \
+ * @param c severity of exception (default unrecoverable) \
+ */ \
+ child(std::string a, unsigned long b = 0,\
+ gpstk::Exception::Severity c = gpstk::Exception::unrecoverable) \
+ throw() \
+ : parent(a, b, c) \
+ {};\
+ /** Destructor. */ \
+ ~child() throw() {} \
+ /** Returns the name of the exception class. */ \
+ std::string getName() const throw() {return ( # child);} \
+ /** assignment operator for derived exceptions */ \
+ child& operator=(const child& kid) \
+ { parent::operator=(kid); return *this; } \
+ /** ostream operator for derived exceptions */ \
+ friend std::ostream& operator<<(std::ostream& s, const child& c) throw() \
+ { c.dump(s); return s; } \
+}
+
+namespace gpstk
+{
+ /// Thrown when a function is given a parameter value that it invalid
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(InvalidParameter, Exception);
+
+ /// Thrown if a function can not satisfy a request
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(InvalidRequest, Exception);
+
+ /// Thrown when a required condition in a function is not met.
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(AssertionFailure, Exception);
+
+ /// Thrown if a function makes a request of the OS that can't be satisfied.
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(AccessError, Exception);
+
+ /// Attempts to access an "array" or other element that doesn't exist
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(IndexOutOfBoundsException, Exception);
+
+ /// A function was passed an invalid argument
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(InvalidArgumentException, Exception);
+
+ /// Application's configuration is invalid
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(ConfigurationException, Exception);
+
+ /// Attempted to open a file that doesn't exist
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(FileMissingException, Exception);
+
+ /// A problem using a system semaphore
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(SystemSemaphoreException, Exception);
+
+ /// A problem using a system pipe
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(SystemPipeException, Exception);
+
+ /// A problem using a system queue
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(SystemQueueException, Exception);
+
+ /// Unable to allocate memory
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(OutOfMemory, Exception);
+
+ /// Operation failed because it was unable to locate the requested obj
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(ObjectNotFound, AccessError);
+
+} // namespace gpstk
+#endif
+
+
+
diff --git a/dev/src/Expression.cpp b/dev/src/Expression.cpp
new file mode 100644
index 0000000..99b4281
--- /dev/null
+++ b/dev/src/Expression.cpp
@@ -0,0 +1,606 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+
+/**
+ * @file Expression.cpp
+ * Provides ability to resolve mathematical functions at runtime.
+ * Class definitions.
+ */
+
+#include <sstream>
+#include <map>
+#include <list>
+#include <vector>
+#include <string>
+#include <ctype.h>
+#include <math.h>
+
+#include "icd_200_constants.hpp"
+#include "StringUtils.hpp"
+#include "Expression.hpp"
+#include "RinexObsData.hpp"
+#include "RinexObsHeader.hpp"
+
+namespace gpstk
+{
+
+ double Expression::BinOpNode::getValue()
+ throw (gpstk::Expression::ExpressionException)
+ {
+
+ // To get the value, compute the value of the left and
+ // right operands, and combine them with the operator.
+ double leftVal = left->getValue();
+ double rightVal = right->getValue();
+
+ if (op=="+") return leftVal + rightVal;
+ if (op=="-") return leftVal - rightVal;
+ if (op=="*") return leftVal * rightVal;
+ if (op=="/") return leftVal / rightVal;
+
+ }
+
+ double Expression::FuncOpNode::getValue()
+ throw (gpstk::Expression::ExpressionException)
+ {
+ // To get the value, compute the value of the right first
+ double rightVal = right->getValue();
+
+ if (op=="cos") return cos(rightVal);
+ if (op=="sin") return sin(rightVal);
+ if (op=="tan") return tan(rightVal);
+ if (op=="acos") return acos(rightVal);
+ if (op=="asin") return asin(rightVal);
+ if (op=="atan") return atan(rightVal);
+ if (op=="exp") return exp(rightVal);
+ if (op=="abs") return fabs(rightVal);
+ if (op=="sqrt") return sqrt(rightVal);
+ if (op=="log") return log(rightVal);
+ if (op=="log10") return log10(rightVal);
+// else THROW exception
+ }
+
+ std::ostream& Expression::FuncOpNode::print(std::ostream& ostr) {
+ ostr << op;
+ right->print(ostr);
+
+ return ostr;
+ }
+
+ std::ostream& Expression::BinOpNode::print(std::ostream& ostr) {
+ ostr << "(";
+ left->print(ostr);
+ ostr << op;
+ right->print(ostr);
+ ostr << ")";
+
+ return ostr;
+ }
+
+ void Expression::VarNode::setValue(double newValue)
+ {
+ value=newValue;
+ hasValue=true;
+ };
+
+ double Expression::VarNode::getValue(void)
+ throw (gpstk::Expression::ExpressionException)
+ {
+ if (!hasValue)
+ {
+ Expression::ExpressionException
+ ee("Variable " + name + " undefined.");
+ GPSTK_THROW(ee);
+ }
+
+ return value;
+ }
+
+ Expression::Token::Token(std::string iValue, int iPriority,
+ bool isOp=false)
+ :
+ value(iValue), priority(iPriority), used(false), resolved(false),
+ expNode(0), isOperator(isOp)
+ {
+ }
+
+ void Expression::Token::print(std::ostream& ostr)
+ {
+ ostr <<" Value '" << value;
+ ostr << "', operation priority " << priority << ", ";
+
+ if (isOperator) ostr << "operator";
+ else ostr << "not operator";
+
+ ostr << ", ";
+
+ if (used) ostr << "used,";
+ else ostr << "not used,";
+
+ if (resolved) ostr << "resolved";
+ else ostr << "not resolved ";
+
+ return;
+ }
+
+ bool Expression::operatorsDefined = false;
+ std::map<std::string,int> Expression::operatorMap;
+ std::map<std::string,std::string> Expression::argumentPatternMap;
+
+ Expression::Expression(const std::string& istr)
+ : root(0)
+ {
+ defineOperators();
+ setExpression(istr);
+ }
+
+ void Expression::setExpression(const std::string& istr)
+ {
+ dumpLists();
+ tokenize(istr);
+ buildExpressionTree();
+ }
+
+ Expression::Expression(void)
+ : root(0)
+ {
+ defineOperators();
+ setExpression("0");
+ }
+
+ Expression::Expression(const Expression& rhs)
+ {
+ defineOperators();
+ std::ostringstream ostr;
+ rhs.print(ostr);
+ setExpression(ostr.str());
+ }
+
+ Expression& Expression::operator=(const Expression& rhs)
+ {
+ std::ostringstream ostr;
+ rhs.print(ostr);
+ setExpression(ostr.str());
+ return (*this);
+ }
+
+ void Expression::dumpLists(void)
+ {
+ // first release the points tracked by this Expression
+ std::list<ExpNode *>::iterator i= eList.begin(), itemp;
+ while (i!= eList.end())
+ {
+ itemp=i;
+ itemp++;
+ delete(*i);
+ i=itemp;
+ }
+ std::list<ExpNode *> emptyENodeList;
+ eList = emptyENodeList;
+ std::list<Token> emptyTokenList;
+ tList = emptyTokenList;
+ root =0;
+ }
+
+
+ void Expression::defineOperators(void)
+ {
+ if (!operatorsDefined)
+ {
+ operatorMap["+"]=1;
+ operatorMap["-"]=1;
+ operatorMap["*"]=2;
+ operatorMap["/"]=2;
+ operatorMap["^"]=3;
+ operatorMap["cos"]=4;
+ operatorMap["sin"]=4;
+ operatorMap["tan"]=4;
+ operatorMap["acos"]=4;
+ operatorMap["asin"]=4;
+ operatorMap["atan"]=4;
+ operatorMap["exp"]=4;
+ operatorMap["abs"]=4;
+ operatorMap["sqrt"]=4;
+ operatorMap["log"]=4;
+ operatorMap["log10"]=4;
+
+ argumentPatternMap["+"]="RL";
+ argumentPatternMap["-"]="RL";
+ argumentPatternMap["*"]="RL";
+ argumentPatternMap["/"]="RL";
+ argumentPatternMap["^"]="RL";
+ argumentPatternMap["cos"]="R";
+ argumentPatternMap["sin"]="R";
+ argumentPatternMap["tan"]="R";
+ argumentPatternMap["acos"]="R";
+ argumentPatternMap["asin"]="R";
+ argumentPatternMap["atan"]="R";
+ argumentPatternMap["exp"]="R";
+ argumentPatternMap["abs"]="R";
+ argumentPatternMap["sqrt"]="R";
+ argumentPatternMap["log"]="R";
+ argumentPatternMap["log10"]="R";
+
+ operatorsDefined = true;
+ }
+ }
+
+ Expression::~Expression(void)
+ {
+ std::list<ExpNode *>::iterator i;
+ for (i=eList.begin(); i!=eList.end(); i++)
+ delete (*i);
+ }
+
+ void Expression::tokenize(const std::string& istr)
+ {
+ using namespace std;
+
+ // Remove spaces and parenthesis from the input string
+ // Must store informatin from parenthesis in another list
+ stringstream ss(istr);
+ string str;
+ char tempc;
+ vector<int> baseOrder;
+ int currentOrder = 0;
+
+ while (ss >> skipws >> tempc)
+ {
+ bool strip=false;
+
+ if (tempc == '(')
+ {
+ currentOrder+=10;
+ strip=true;
+ }
+
+ if (tempc == ')')
+ {
+ currentOrder-=10;
+ strip=true;
+ }
+
+ if (!strip)
+ {
+ baseOrder.push_back(currentOrder);
+ str.append(&tempc,1);
+ }
+ }
+
+ map<string, int>::iterator it;
+ list<int> breaks;
+ breaks.push_back(0);
+
+ // Break the expression into candidates for tokens. First known
+ // operators and functions
+ // are found and marked with as a "break" in the the string.
+ // Note the location and compute the order of operation of each.
+ // key is location in string. value is ord. of op.
+ map<int,int> breakPriority;
+
+ // Note when the breaks are due to an operator or to an operand.
+ // Each break can become a token but not all othem do.
+ // Key is location in the string, value is boolean, true for operators and functions.
+ map<int, bool> breakType;
+
+ for (it=operatorMap.begin(); it!=operatorMap.end(); it++)
+ {
+ int position = 0;
+ while ((position=str.find(it->first,position+1))!=string::npos)
+ {
+ // Account for scientific notation
+ bool sciNotation=false;
+ if ((it->first=="+") || (it->first=="-"))
+ {
+ sciNotation =
+ ( ( (str.substr(position-1,1)=="E") ||
+ (str.substr(position-1,1)=="e") ) &&
+ (isdigit(str.substr(position-2,1).c_str()[0])) &&
+ (isdigit(str.substr(position+1,1).c_str()[0])) );
+ }
+
+ if (!sciNotation)
+ {
+ breaks.push_back(position);
+ breakPriority[position] = it->second + baseOrder[position];
+ breakType[position] = true;
+
+ int operandPos = position+(it->first.size());
+ breaks.push_back(operandPos);
+ breakPriority[operandPos] = baseOrder[operandPos];
+ breakType[operandPos] = false;
+ }
+ }
+
+ }
+ breaks.push_back(str.size());
+
+ // Sort the breaks into a list
+ // Please note that sorting a linked list is expensive compared to
+ // sorting a vector or map, as the search cost is high (lists are not sorted).
+ // This should be revisited IF large expressions are handled by the GPSTk.
+ breaks.sort();
+
+ list<string> tokens;
+ list<int>::iterator ls = breaks.begin(), rs = ls; // used to identify token string
+
+ for (rs++ ;rs!=breaks.end(); rs++, ls++)
+ {
+ if (*rs!=*ls) // If not two operators in a row
+ {
+ string thisToken = str.substr(*ls,(*rs)-(*ls));
+ int thisOop = breakPriority[*ls];
+ bool isOp = breakType[*ls];
+
+ // Create the token
+ Token tok(thisToken,thisOop, isOp);
+
+ if ( tok.getOperator() )
+ tok.setArgumentPattern( argumentPatternMap[thisToken] );
+
+ // Create an expression node, save it, and link it to the token
+ ExpNode *expNode;
+
+
+ if (!isOp)
+ {
+ char testChar = thisToken.c_str()[0];
+ if (isalpha(testChar))
+ expNode = new VarNode(thisToken);
+ else
+ expNode = new ConstNode(StringUtils::asDouble(thisToken));
+ eList.push_back(expNode);
+ tok.setNode(expNode);
+ tok.setResolved(true);
+ }
+
+ // Now that the token has the best possible state, save it
+ tList.push_back(tok);
+ }
+ }
+ } // end tokenize function
+
+
+ int Expression::countResolvedTokens(void)
+ {
+ using namespace std;
+
+ list<Token>::iterator itt;
+
+ // How many have already been processed? Are we done yet?
+ int totalResolved=0;
+ for (itt = tList.begin(); itt!=tList.end(); itt++)
+ {
+ if (itt->getResolved()) totalResolved++;
+ }
+ return totalResolved;
+ }
+
+
+ void Expression::buildExpressionTree(void)
+ {
+ using namespace std;
+
+ list<Token>::iterator itt, targetToken;
+
+ if ((tList.size()==1)&&(tList.begin()->getResolved()))
+ {
+ root = tList.begin()->getNode();
+ return;
+ }
+
+ int totalResolved = countResolvedTokens();
+
+ while (totalResolved<tList.size())
+ {
+
+ //
+ // Step through tokens to find the value for the highest priority
+ // that doesn not yet have an expression node ExpNode assigned to it.
+ // A subtle but important sideeffect of this traversal is taht
+ // operators with the same priority get evaluated from right to
+ // left.
+ itt=tList.begin();
+ int highestP = -1;
+
+ for (itt = tList.begin(); itt !=tList.end(); itt++)
+ {
+ if ( itt->getOperator() && !itt->getResolved() )
+ {
+ if (itt->getPriority()>highestP)
+ {
+ targetToken = itt;
+ highestP=itt->getPriority();
+ }
+ }
+ }
+
+ if ( targetToken->getOperator() )
+ {
+ // Find the arg(s) for this operator.
+ list<Token>::iterator leftArg=targetToken, rightArg=leftArg;
+
+ stringstream argstr(targetToken->getArgumentPattern());
+ char thisArg;
+ bool searching;
+
+ while (argstr >> thisArg)
+ {
+ switch (thisArg) {
+ case 'R':
+ searching = true;
+
+ while (searching)
+ {
+ if (rightArg==tList.end())// TODO throw exception
+ cout << "Mistake, no right arg for " << targetToken->getValue() << endl;
+ else
+ rightArg++;
+
+ searching = (rightArg->getUsed());
+ }
+
+ break;
+
+ case 'L':
+
+ // Resolve left arg
+ searching=true;
+
+ while (searching)
+ {
+ if (leftArg == tList.begin()) // TODO throw
+ cout << "Mistake - no right argument for operator?!" << endl;
+ else
+ leftArg--;
+
+ searching = (leftArg->getUsed());
+ }
+
+ break;
+ } // end of argumentPattern cases
+ } // done processing argument list
+
+
+ if (targetToken->getArgumentPattern()=="RL")
+ {
+ ExpNode *opNode =
+ new BinOpNode(targetToken->getValue(),leftArg->getNode(), rightArg->getNode());
+ targetToken->setNode(opNode);
+ eList.push_back(opNode);
+
+ targetToken->setResolved(true);
+ root = targetToken->getNode();
+
+ leftArg->setUsed();
+ rightArg->setUsed();
+ }
+
+ if (targetToken->getArgumentPattern()=="R")
+ {
+ ExpNode *opNode =
+ new FuncOpNode(targetToken->getValue(),rightArg->getNode());
+ targetToken->setNode(opNode);
+
+ eList.push_back(opNode);
+
+ targetToken->setResolved(true);
+ root = targetToken->getNode();
+
+ rightArg->setUsed();
+ }
+
+ } // If this is an operator
+
+ // Are we done yet?
+ totalResolved = countResolvedTokens();
+ }
+
+ } // end buildExpressionTree
+
+
+ bool Expression::set(const std::string name, double value)
+ {
+ using namespace std;
+
+ bool gotSet;
+
+ std::list<ExpNode *>::iterator i;
+ int t;
+
+ for (t=0, i=eList.begin(); i!=eList.end(); t++, i++)
+ {
+ VarNode *vnode = dynamic_cast<VarNode *> (*i);
+ if (vnode!=0)
+ {
+ if (StringUtils::upperCase(vnode->name) ==
+ StringUtils::upperCase(name))
+ {
+ vnode->setValue(value);
+ gotSet = true;
+ }
+ }
+ }
+
+ return gotSet;
+ }
+
+
+ bool Expression::canEvaluate(void)
+ {
+ using namespace std;
+
+ bool areSet=true;
+
+ std::list<ExpNode *>::iterator i;
+ int t;
+
+ for (t=0, i=eList.begin(); i!=eList.end(); t++, i++)
+ {
+ VarNode *vnode = dynamic_cast<VarNode *> (*i);
+ if (vnode!=0)
+ {
+ areSet &= vnode->hasValue;
+ }
+ }
+
+ return areSet;
+ }
+
+ bool Expression::setGPSConstants(void)
+ {
+ bool gotSet = false;
+
+ gotSet |= set("gamma",(L1_FREQ / L2_FREQ)*(L1_FREQ / L2_FREQ));
+ gotSet |= set("pi",PI);
+ gotSet |= set("c",C_GPS_M);
+ gotSet |= set("c_gps_m",C_GPS_M);
+ gotSet |= set("f1",L1_FREQ);
+ gotSet |= set("f2",L2_FREQ);
+ gotSet |= set("l1",L1_FREQ);
+ gotSet |= set("l2",L2_FREQ);
+ gotSet |= set("wl1",C_GPS_M/L1_FREQ);
+ gotSet |= set("wl2",C_GPS_M/L2_FREQ);
+ return gotSet;
+ }
+
+ bool Expression::setRinexObs(const RinexObsData::RinexObsTypeMap& rotm)
+ {
+ bool gotSet = false;
+
+ RinexObsData::RinexObsTypeMap::const_iterator i;
+ for (i=rotm.begin(); i!=rotm.end(); i++)
+ {
+ gotSet |= set(i->first.type, i->second.data);
+ }
+
+ return gotSet;
+ }
+
+
+} // end namespace gpstk
+
diff --git a/dev/src/Expression.hpp b/dev/src/Expression.hpp
new file mode 100644
index 0000000..734f5a5
--- /dev/null
+++ b/dev/src/Expression.hpp
@@ -0,0 +1,329 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+
+/**
+ * @file Expression.hpp
+ * Provides ability to resolve mathematical functions at runtime.
+ * Class declarations.
+ */
+
+#ifndef EXPRESSION__HPP
+#define EXPRESSION__HPP
+
+#include <iostream>
+#include <string>
+#include <list>
+#include <map>
+
+#include "RinexObsHeader.hpp"
+#include "RinexObsData.hpp"
+#include "Exception.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup math */
+ //@{
+
+ /**
+ * This class provides the ability to resolve general mathematical
+ * expressions at run time. The goal is to allow the end user the
+ * ability to specify arbitrary observation transformations.
+ *
+ * The expression is input as a string in the constructor of the class.
+ * The expression is first broken up into tokens. Those tokens are
+ * prioritized according to operator precedence and the number of
+ * parentheses surrounding them. This list of prioritized combinations
+ * is then converted into a 'classic" binary expression tree. All this
+ * happens during construction, hidden to the user.
+ *
+ * The design of the expression node classes is based on
+ * material by David Eck and Scotty Orr found at
+ *
+ * http://math.hws.edu/orr/s04/cpsc225/btrees/index.html
+ *
+ * After the expression is instantiated, it can be evaluated. If the
+ * expression contains variables, those must be set using the set
+ * operation for the expression to successfully evaluate.
+ *
+ */
+
+ class Expression
+ {
+ public:
+
+ NEW_EXCEPTION_CLASS(ExpressionException, gpstk::Exception);
+
+
+ /**
+ * Empty constructor
+ */
+ Expression(void);
+
+ /**
+ * Constructor.
+ * @param str Expression to be evaluated.
+ */
+ Expression(const std::string& str);
+
+ /**
+ * Copy constructor.
+ * @param expr Expression to be copied. Note that variable values are not copied.
+ */
+ Expression(const Expression& rhs);
+
+ /// Destructor
+ ~Expression(void);
+
+ /// Assignment operator.
+ Expression& operator=(const Expression& rhs);
+
+
+ /**
+ * Sets a variable in the expression to the input value.
+ * All instances of the variable are set to this value.
+ * This is required before an expression can be evaluated, if
+ * the expression contains variables.
+ * @param name Name of the variable to set
+ * @param value Value to set the variable to.
+ * @return True if the variable was found.
+ */
+ bool set(const std::string name, double value);
+
+ /**
+ * Sets a variable in the expression to the input value.
+ * All instances of the variable are set to this value.
+ * This is required before an expression can be evaluated, if
+ * the expression contains variables. In the search, case
+ * is not important (e.g., "c" and "C" would be a match).
+ * @param name Name of the variable to set
+ * @param value Value to set the variable to.
+ * @return True if the variable was found.
+ */
+ bool set(const char* name, double value)
+ { return set (std::string(name),value); }
+
+ /**
+ * Sets multiple variables in the expression to constants associated
+ * with GPS. Predefined variables include: PI; C (meters per
+ * second); L1 and L2, carrier frequencies in cycles per second;
+ * WL1 and WL2, carrier
+ * wavelengths. As with other variables, the case is insensitive.
+ * @return True if any GPS related constants were found
+ */
+ bool setGPSConstants(void);
+
+ /**
+ * Sets multiple variables in the expression using values stored
+ * in a RinexObsType stucture. This structure is nested within the
+ * RinexObsData class.
+ * @param rotm Map of RinexObsType to RinexObsDatum
+ * @return True if an obs variable was found.
+ */
+ bool setRinexObs(const RinexObsData::RinexObsTypeMap& rotm);
+
+ /**
+ * Checks in advance if all variables have been set.
+ * @return True if all variables are set.
+ */
+ bool canEvaluate(void);
+
+ /**
+ * Returns the numerical value of the expression. Note that
+ * if the expression contains variables, those variables must
+ * be set.
+ */
+ double evaluate(void) throw (gpstk::Expression::ExpressionException)
+ { return root->getValue(); }
+
+ /**
+ * Writes the expression out to a stream.
+ */
+ void print(std::ostream& ostr) const {root->print(ostr);}
+
+ private:
+ // Represents a node of any type in an expression tree.
+ class ExpNode {
+ public:
+
+ virtual ~ExpNode() {}
+
+ // Compute and return the numerical value of this node
+ virtual double getValue()
+ throw (gpstk::Expression::ExpressionException) =0;
+
+
+ // Write out this node to a stream
+ virtual std::ostream& print(std::ostream& ostr) =0;
+
+ }; // end class ExpNode
+
+
+ // Represents a node that holds a number.
+ class ConstNode : public ExpNode {
+ public:
+ // Constructor. Create a node to hold val.
+ ConstNode( double theNum ): number(theNum) {}
+
+ double getValue() throw (gpstk::Expression::ExpressionException)
+ { return number; }
+
+ std::ostream& print(std::ostream& ostr) {
+ ostr << number;
+ return ostr;
+ }
+
+ double number; // The number in the node.
+ }; // end class ConstNode
+
+ // Represents a node that holds a variable
+ class VarNode : public ExpNode {
+ public:
+ // Constructor.
+
+ VarNode(std::string theName ): name(theName), hasValue(false)
+ {}
+
+ double getValue() throw (gpstk::Expression::ExpressionException);
+
+ std::ostream& print(std::ostream& ostr) {
+ ostr << name;
+ return ostr;
+ }
+
+ std::string name; // The name of the varaible
+ bool hasValue;
+
+ void setValue(double newValue);
+
+ private:
+ double value;
+
+
+ }; // end class VarNode
+
+ // Represents a node that holds an operator.
+ class BinOpNode : public ExpNode {
+ public:
+
+ // Constructor. Create a node to hold the given data.
+ BinOpNode( const std::string& theOp, ExpNode *theLeft, ExpNode *theRight ):
+ op(theOp), left(theLeft), right(theRight){}
+
+ double getValue()
+ throw (gpstk::Expression::ExpressionException);
+
+ std::ostream& print(std::ostream& ostr);
+
+ std::string op; // The operator.
+ ExpNode *left; // The left operand.
+ ExpNode *right; // The right operand.
+
+ }; // end class BinOpNode
+
+ // Represents a node that holds a function of a signle variable
+ class FuncOpNode : public ExpNode {
+ public:
+
+ // Constructor. Create a node to hold the given data.
+ FuncOpNode( const std::string& theOp, ExpNode *theRight ):
+ op(theOp), right(theRight){}
+
+ double getValue()
+ throw (gpstk::Expression::ExpressionException);
+
+ std::ostream& print(std::ostream& ostr);
+
+ std::string op; // The operator.
+ ExpNode *right; // The right operand.
+
+ }; // end class FuncOpNode
+
+ // This class is used internally, during construction of an Expression,
+ // to generate ExpNodes.
+ class Token
+ {
+ public:
+
+ Token(std::string value, int relPriority,
+ bool isOperator);
+
+ std::string getValue(void) {return value;}
+
+ int getPriority(void) {return priority;}
+
+ void setUsed(void) {used=true;}
+ bool getUsed(void) {return used;}
+
+ ExpNode * getNode(void) {return expNode;}
+ void setNode(ExpNode *newNode) {expNode = newNode; }
+
+ void setResolved(bool value) {resolved=value;}
+ bool getResolved(void) {return resolved;}
+
+ bool getOperator(void) {return isOperator;}
+ void setOperator(bool value) {isOperator = value;}
+
+ std::string getArgumentPattern(void) {return argumentPattern;}
+ void setArgumentPattern(std::string value) {argumentPattern = value;}
+
+ void print(std::ostream& ostr);
+
+ private:
+
+ std::string value;
+ bool isOperator;
+ bool resolved;
+
+ int priority;
+ ExpNode *expNode;
+ bool used; // has the node of this token been used (linked to?)
+
+ std::string argumentPattern;
+ };
+
+ void setExpression(const std::string& newExpression);
+ void dumpLists(void);
+
+ void defineOperators(void);
+ void tokenize(const std::string& str);
+ void buildExpressionTree(void);
+
+ int countResolvedTokens(void);
+
+ static std::map<std::string,int> operatorMap;
+ static std::map<std::string,std::string> argumentPatternMap;
+ static bool operatorsDefined;
+
+ std::list<Token> tList;
+ std::list<ExpNode *> eList;
+ ExpNode *root;
+ }; // End class expression
+
+
+} // End namespace gpstk
+
+#endif // EXPRESSION_HPP
diff --git a/dev/src/ExtractC1.hpp b/dev/src/ExtractC1.hpp
new file mode 100644
index 0000000..5b59aef
--- /dev/null
+++ b/dev/src/ExtractC1.hpp
@@ -0,0 +1,82 @@
+
+/**
+ * @file ExtractC1.hpp
+ * This class eases C1 data extraction from a RinexObsData object.
+ */
+
+#ifndef ExtractC1_GPSTK
+#define ExtractC1_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+
+#include "ExtractData.hpp"
+
+
+namespace gpstk
+{
+
+ /** @addtogroup RinexObs */
+ //@{
+
+
+ /// This class eases C1 data extraction from a RinexObsData object.
+ class ExtractC1 : public ExtractData
+ {
+ public:
+
+ /// Default constructor
+ ExtractC1() throw(InvalidData) : valid(false)
+ {
+ checkData = true;
+ };
+
+
+ /** Pull out the C1 observation from a RinexObsData object
+ * @param rinexData The Rinex data set holding the observations
+ *
+ * @return
+ * Number of satellites with C1 data available
+ */
+ inline virtual int getData(const RinexObsData& rinexData) throw(InvalidData)
+ {
+ return ExtractData::getData(rinexData, RinexObsHeader::C1);
+ };
+
+
+ /// Destructor
+ inline virtual ~ExtractC1() {};
+
+
+ protected:
+ bool valid; // true only if results are valid
+
+ }; // end class ExtractData
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/ExtractCombinationData.hpp b/dev/src/ExtractCombinationData.hpp
new file mode 100644
index 0000000..af8329a
--- /dev/null
+++ b/dev/src/ExtractCombinationData.hpp
@@ -0,0 +1,149 @@
+
+/**
+ * @file ExtractCombinationData.hpp
+ * This is the base class to ease extraction of a combination of data from a RinexObsData object.
+ */
+
+#ifndef Extract_CombinationData_GPSTK
+#define Extract_CombinationData_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+
+#include "ExtractData.hpp"
+
+
+namespace gpstk
+{
+
+ /** @addtogroup RinexObs */
+ //@{
+
+
+ /// This class eases the extraction of a combination of data from a RinexObsData object.
+ class ExtractCombinationData : public ExtractData
+ {
+ public:
+
+ /// Default constructor
+ ExtractCombinationData() throw(InvalidData)
+ {
+ valid = false;
+ checkData = true;
+ };
+
+
+ /** Pull out the combination of observations from a RinexObsData object
+ * @param rinexData The Rinex data set holding the observations
+ * @param typeObs1 The #1 type of observation we want to get
+ * @param typeObs2 The #2 type of observation we want to get
+ *
+ * @return
+ * Number of satellites with this combination of observable data available
+ */
+ virtual int getData(const RinexObsData& rinexData, RinexObsHeader::RinexObsType typeObs1, RinexObsHeader::RinexObsType typeObs2) throw(InvalidData)
+ {
+ try {
+ // Let's make sure each time we start with clean Vectors
+ availableSV.resize(0);
+ obsData.resize(0);
+
+ // Create a CheckPRData object with the given limits
+ CheckPRData checker(minPRange, maxPRange);
+
+ // Let's define the "it" iterator to visit the observations PRN map
+ // RinexSatMap is a map from SatID to RinexObsTypeMap:
+ // std::map<SatID, RinexObsTypeMap>
+ RinexObsData::RinexSatMap::const_iterator it;
+ for (it = rinexData.obs.begin(); it!= rinexData.obs.end(); it++)
+ {
+ // RinexObsTypeMap is a map from RinexObsType to RinexDatum:
+ // std::map<RinexObsHeader::RinexObsType, RinexDatum>
+ RinexObsData::RinexObsTypeMap otmap;
+ // Let's define a iterator to visit the observations type map
+ RinexObsData::RinexObsTypeMap::const_iterator itObs1;
+ // The "second" field of a RinexSatMap (it) is a RinexObsTypeMap (otmap)
+ otmap = (*it).second;
+
+ // Let's find the observation type inside the RinexObsTypeMap that is "otmap"
+ itObs1 = otmap.find(typeObs1);
+
+ // Let's check if we found this type of observation
+ if (itObs1!=otmap.end())
+ {
+ // Find an itObs2 observation inside the RinexObsTypeMap that is "otmap"
+ // Let's define a iterator to visit the observations type map
+ RinexObsData::RinexObsTypeMap::const_iterator itObs2;
+ itObs2 = otmap.find(typeObs2);
+ // If we indeed found a typeObs2 observation, let's compute the combination
+ if (itObs2!=otmap.end())
+ {
+ // The "second" part of a RinexObsTypeMap is a RinexDatum, whose public
+ // attribute "data" indeed holds the actual numerical data
+ double combinationValue = getCombination((*itObs1).second.data, (*itObs2).second.data);
+
+ // Let's check that the combination is between the limits
+ if (checker.check(combinationValue) || !(checkData) )
+ {
+ // Store all relevant data of this epoch
+ availableSV = availableSV && (*it).first;
+ obsData = obsData && combinationValue;
+ }
+ }
+ }
+ } // End of data extraction from this epoch
+ }
+ catch(...) {
+ InvalidData e("Unable to get combination data from RinexObsData object");
+ GPSTK_THROW(e);
+ }
+
+ // Let's record the number of SV with this type of data available
+ numSV = (int)obsData.size();
+
+ // If everything is fine so far, then the results should be valid
+ valid = true;
+
+ return numSV;
+
+ }; // end ExtractCombinationData::getData()
+
+
+ /// Destructor
+ virtual ~ExtractCombinationData() {};
+
+
+ protected:
+ /// Compute the combination of observables. You must define this method according to your specific combination.
+ virtual double getCombination(double obs1, double obs2) throw(InvalidData) = 0;
+
+
+ }; // end class ExtractCombinationData
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/ExtractD1.hpp b/dev/src/ExtractD1.hpp
new file mode 100644
index 0000000..6d0b843
--- /dev/null
+++ b/dev/src/ExtractD1.hpp
@@ -0,0 +1,82 @@
+
+/**
+ * @file ExtractD1.hpp
+ * This class eases D1 data extraction from a RinexObsData object.
+ */
+
+#ifndef ExtractD1_GPSTK
+#define ExtractD1_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+
+#include "ExtractData.hpp"
+
+
+namespace gpstk
+{
+
+ /** @addtogroup RinexObs */
+ //@{
+
+
+ /// This class eases D1 data extraction from a RinexObsData object.
+ class ExtractD1 : public ExtractData
+ {
+ public:
+
+ /// Default constructor
+ ExtractD1() throw(InvalidData) : valid(false)
+ {
+ checkData = false; // This is not code, and we don't want to check these values
+ };
+
+
+ /** Pull out the D1 observation from a RinexObsData object
+ * @param rinexData The Rinex data set holding the observations
+ *
+ * @return
+ * Number of satellites with D1 data available
+ */
+ inline virtual int getData(const RinexObsData& rinexData) throw(InvalidData)
+ {
+ return ExtractData::getData(rinexData, RinexObsHeader::D1);
+ };
+
+
+ /// Destructor
+ inline virtual ~ExtractD1() {};
+
+
+ protected:
+ bool valid; // true only if results are valid
+
+ }; // end class ExtractData
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/ExtractD2.hpp b/dev/src/ExtractD2.hpp
new file mode 100644
index 0000000..3343895
--- /dev/null
+++ b/dev/src/ExtractD2.hpp
@@ -0,0 +1,82 @@
+
+/**
+ * @file ExtractD2.hpp
+ * This class eases D2 data extraction from a RinexObsData object.
+ */
+
+#ifndef ExtractD2_GPSTK
+#define ExtractD2_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+
+#include "ExtractData.hpp"
+
+
+namespace gpstk
+{
+
+ /** @addtogroup RinexObs */
+ //@{
+
+
+ /// This class eases D2 data extraction from a RinexObsData object.
+ class ExtractD2 : public ExtractData
+ {
+ public:
+
+ /// Default constructor
+ ExtractD2() throw(InvalidData) : valid(false)
+ {
+ checkData = false; // This is not code, and we don't want to check these values
+ };
+
+
+ /** Pull out the D2 observation from a RinexObsData object
+ * @param rinexData The Rinex data set holding the observations
+ *
+ * @return
+ * Number of satellites with D2 data available
+ */
+ inline virtual int getData(const RinexObsData& rinexData) throw(InvalidData)
+ {
+ return ExtractData::getData(rinexData, RinexObsHeader::D2);
+ };
+
+
+ /// Destructor
+ inline virtual ~ExtractD2() {};
+
+
+ protected:
+ bool valid; // true only if results are valid
+
+ }; // end class ExtractData
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/ExtractData.hpp b/dev/src/ExtractData.hpp
new file mode 100644
index 0000000..774e091
--- /dev/null
+++ b/dev/src/ExtractData.hpp
@@ -0,0 +1,175 @@
+
+/**
+ * @file ExtractData.hpp
+ * This is the base class to ease data extraction from a RinexObsData object.
+ */
+
+#ifndef ExtractData_GPSTK
+#define ExtractData_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+
+#include "Exception.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsData.hpp"
+#include "CheckPRData.hpp"
+#include "Vector.hpp"
+
+
+namespace gpstk
+{
+ /// Thrown when some problem appeared when extracting data
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(InvalidData, gpstk::Exception);
+
+
+ /** @addtogroup RinexObs */
+ //@{
+
+
+ /// This is the base class to ease data extraction from a RinexObsData object.
+ class ExtractData
+ {
+ public:
+
+ /// Return validity of data
+ inline bool isValid(void)
+ { return valid; }
+
+
+ /// Number of satellites with available data
+ int numSV;
+
+
+ /// Vector with the PRN of satellites with available data.
+ Vector<SatID> availableSV;
+
+
+ /// Vector holding the available data
+ Vector<double> obsData;
+
+
+ /// Default constructor
+ ExtractData() throw(InvalidData) : checkData(true), valid(false), minPRange(15000000.0), maxPRange(30000000.0) {};
+
+
+ /** Pull out the selected observation type from a RinexObsData object
+ * @param rinexData The Rinex data set holding the observations
+ * @param typeObs The type of observation we want to get
+ *
+ * @return
+ * Number of satellites with this kind of data available
+ */
+ inline virtual int getData(const RinexObsData& rinexData, RinexObsHeader::RinexObsType typeObs) throw(InvalidData)
+ {
+ try {
+ // Let's make sure each time we start with clean Vectors
+ availableSV.resize(0);
+ obsData.resize(0);
+
+ // Create a CheckPRData object with the given limits
+ CheckPRData checker(minPRange, maxPRange);
+
+ // Let's define the "it" iterator to visit the observations PRN map
+ // RinexSatMap is a map from SatID to RinexObsTypeMap:
+ // std::map<SatID, RinexObsTypeMap>
+ RinexObsData::RinexSatMap::const_iterator it;
+ for (it = rinexData.obs.begin(); it!= rinexData.obs.end(); it++)
+ {
+ // RinexObsTypeMap is a map from RinexObsType to RinexDatum:
+ // std::map<RinexObsHeader::RinexObsType, RinexDatum>
+ RinexObsData::RinexObsTypeMap otmap;
+ // Let's define a iterator to visit the observations type map
+ RinexObsData::RinexObsTypeMap::const_iterator itObs1;
+ // The "second" field of a RinexSatMap (it) is a RinexObsTypeMap (otmap)
+ otmap = (*it).second;
+
+ // Let's find the observation type inside the RinexObsTypeMap that is "otmap"
+ itObs1 = otmap.find(typeObs);
+
+ // Let's check if we found this type of observation and it is between the limits
+ if ( (itObs1!=otmap.end()) && ( (checker.check((*itObs1).second.data)) || !(checkData) ) )
+ {
+ // Store all relevant data of this epoch
+ availableSV = availableSV && (*it).first;
+ obsData = obsData && (*itObs1).second.data;
+ }
+ } // End of data extraction from this epoch
+ }
+ catch(...) {
+ InvalidData e("Unable to get data from RinexObsData object");
+ GPSTK_THROW(e);
+ }
+
+ // Let's record the number of SV with this type of data available
+ numSV = (int)obsData.size();
+
+ // If everything is fine so far, then the results should be valid
+ valid = true;
+
+ return numSV;
+
+ }; // end ExtractData::getData()
+
+
+ /// Set this to true if you want to enable data checking within given boundaries (default for code measurements)
+ bool checkData;
+
+ /// Set the minimum pseudorange value allowed for data (in meters).
+ virtual void setMinPRange(const double minPR) { minPRange = minPR; };
+
+ /// Get the minimum pseudorange value allowed for data (in meters).
+ virtual double getMinPRange(void) { return minPRange; };
+
+ /// Set the maximum pseudorange value allowed for data (in meters).
+ virtual void setMaxPRange(const double maxPR) { maxPRange = maxPR; };
+
+ /// Get the minimum pseudorange value allowed for data (in meters).
+ virtual double getMaxPRange(void) { return maxPRange; };
+
+
+ /// Destructor
+ inline virtual ~ExtractData() {};
+
+
+ protected:
+ /// True only if results are valid
+ bool valid;
+
+ /// Minimum pseudorange value allowed for input data (in meters).
+ double minPRange;
+
+ /// Maximum pseudorange value allowed for input data (in meters).
+ double maxPRange;
+
+
+ }; // end class ExtractData
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/ExtractL1.hpp b/dev/src/ExtractL1.hpp
new file mode 100644
index 0000000..92bcf94
--- /dev/null
+++ b/dev/src/ExtractL1.hpp
@@ -0,0 +1,82 @@
+
+/**
+ * @file ExtractL1.hpp
+ * This class eases L1 data extraction from a RinexObsData object.
+ */
+
+#ifndef ExtractL1_GPSTK
+#define ExtractL1_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+
+#include "ExtractData.hpp"
+
+
+namespace gpstk
+{
+
+ /** @addtogroup RinexObs */
+ //@{
+
+
+ /// This class eases L1 data extraction from a RinexObsData object.
+ class ExtractL1 : public ExtractData
+ {
+ public:
+
+ /// Default constructor
+ ExtractL1() throw(InvalidData) : valid(false)
+ {
+ checkData = false; // This is not code, and we don't want to check these values
+ };
+
+
+ /** Pull out the L1 observation from a RinexObsData object (in cycles)
+ * @param rinexData The Rinex data set holding the observations
+ *
+ * @return
+ * Number of satellites with L1 data available
+ */
+ inline virtual int getData(const RinexObsData& rinexData) throw(InvalidData)
+ {
+ return ExtractData::getData(rinexData, RinexObsHeader::L1);
+ };
+
+
+ /// Destructor
+ inline virtual ~ExtractL1() {};
+
+
+ protected:
+ bool valid; // true only if results are valid
+
+ }; // end class ExtractData
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/ExtractL2.hpp b/dev/src/ExtractL2.hpp
new file mode 100644
index 0000000..0bd4fa0
--- /dev/null
+++ b/dev/src/ExtractL2.hpp
@@ -0,0 +1,82 @@
+
+/**
+ * @file ExtractL2.hpp
+ * This class eases L2 data extraction from a RinexObsData object.
+ */
+
+#ifndef ExtractL2_GPSTK
+#define ExtractL2_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+
+#include "ExtractData.hpp"
+
+
+namespace gpstk
+{
+
+ /** @addtogroup RinexObs */
+ //@{
+
+
+ /// This class eases L2 data extraction from a RinexObsData object.
+ class ExtractL2 : public ExtractData
+ {
+ public:
+
+ /// Default constructor
+ ExtractL2() throw(InvalidData) : valid(false)
+ {
+ checkData = false; // This is not code, and we don't want to check these values
+ };
+
+
+ /** Pull out the L2 observation from a RinexObsData object (in cycles)
+ * @param rinexData The Rinex data set holding the observations
+ *
+ * @return
+ * Number of satellites with L2 data available
+ */
+ inline virtual int getData(const RinexObsData& rinexData) throw(InvalidData)
+ {
+ return ExtractData::getData(rinexData, RinexObsHeader::L2);
+ };
+
+
+ /// Destructor
+ inline virtual ~ExtractL2() {};
+
+
+ protected:
+ bool valid; // true only if results are valid
+
+ }; // end class ExtractData
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/ExtractLC.hpp b/dev/src/ExtractLC.hpp
new file mode 100644
index 0000000..0f62048
--- /dev/null
+++ b/dev/src/ExtractLC.hpp
@@ -0,0 +1,94 @@
+
+/**
+ * @file ExtractLC.hpp
+ * This class eases LC combination data extraction from a RinexObsData object.
+ */
+
+#ifndef ExtractLC_GPSTK
+#define ExtractLC_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+
+#include "ExtractCombinationData.hpp"
+#include "icd_200_constants.hpp"
+
+
+namespace gpstk
+{
+
+ /** @addtogroup RinexObs */
+ //@{
+
+
+ /// This class eases LC combination data extraction from a RinexObsData object.
+ class ExtractLC : public ExtractCombinationData
+ {
+ public:
+
+ /// Default constructor
+ ExtractLC() throw(InvalidData) : typeObs1(RinexObsHeader::L1), typeObs2(RinexObsHeader::L2)
+ {
+ valid = false;
+ checkData = false; // This is not code, and we don't want to check these values
+ };
+
+
+ /** Compute the LC observation from a RinexObsData object (in meters)
+ * @param rinexData The Rinex data set holding the observations
+ *
+ * @return
+ * Number of satellites with LC combination data available
+ */
+ virtual int getData(const RinexObsData& rinexData) throw(InvalidData)
+ {
+ return ExtractCombinationData::getData(rinexData, typeObs1, typeObs2);
+ }; // end ExtractLC::getData()
+
+
+ /// Destructor
+ virtual ~ExtractLC() {};
+
+
+ protected:
+ // Compute the combination of observables.
+ virtual double getCombination(double obs1, double obs2) throw(InvalidData)
+ {
+ return ( (GAMMA_GPS*obs1*L1_WAVELENGTH - obs2*L2_WAVELENGTH)/(GAMMA_GPS - 1.0) );
+ };
+
+
+ private:
+ RinexObsHeader::RinexObsType typeObs1;
+ RinexObsHeader::RinexObsType typeObs2;
+
+
+ }; // end class ExtractLC
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/ExtractP1.hpp b/dev/src/ExtractP1.hpp
new file mode 100644
index 0000000..2381f62
--- /dev/null
+++ b/dev/src/ExtractP1.hpp
@@ -0,0 +1,82 @@
+
+/**
+ * @file ExtractP1.hpp
+ * This class eases P1 data extraction from a RinexObsData object.
+ */
+
+#ifndef ExtractP1_GPSTK
+#define ExtractP1_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+
+#include "ExtractData.hpp"
+
+
+namespace gpstk
+{
+
+ /** @addtogroup RinexObs */
+ //@{
+
+
+ /// This class eases P1 data extraction from a RinexObsData object.
+ class ExtractP1 : public ExtractData
+ {
+ public:
+
+ /// Default constructor
+ ExtractP1() throw(InvalidData) : valid(false)
+ {
+ checkData = true;
+ };
+
+
+ /** Pull out the P1 observation from a RinexObsData object
+ * @param rinexData The Rinex data set holding the observations
+ *
+ * @return
+ * Number of satellites with P1 data available
+ */
+ inline virtual int getData(const RinexObsData& rinexData) throw(InvalidData)
+ {
+ return ExtractData::getData(rinexData, RinexObsHeader::P1);
+ };
+
+
+ /// Destructor
+ inline virtual ~ExtractP1() {};
+
+
+ protected:
+ bool valid; // true only if results are valid
+
+ }; // end class ExtractData
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/ExtractP2.hpp b/dev/src/ExtractP2.hpp
new file mode 100644
index 0000000..37fc706
--- /dev/null
+++ b/dev/src/ExtractP2.hpp
@@ -0,0 +1,82 @@
+
+/**
+ * @file ExtractP2.hpp
+ * This class eases P2 data extraction from a RinexObsData object.
+ */
+
+#ifndef ExtractP2_GPSTK
+#define ExtractP2_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+
+#include "ExtractData.hpp"
+
+
+namespace gpstk
+{
+
+ /** @addtogroup RinexObs */
+ //@{
+
+
+ /// This class eases P2 data extraction from a RinexObsData object.
+ class ExtractP2 : public ExtractData
+ {
+ public:
+
+ /// Default constructor
+ ExtractP2() throw(InvalidData) : valid(false)
+ {
+ checkData = true;
+ };
+
+
+ /** Pull out the P2 observation from a RinexObsData object
+ * @param rinexData The Rinex data set holding the observations
+ *
+ * @return
+ * Number of satellites with P2 data available
+ */
+ inline virtual int getData(const RinexObsData& rinexData) throw(InvalidData)
+ {
+ return ExtractData::getData(rinexData, RinexObsHeader::P2);
+ };
+
+
+ /// Destructor
+ inline virtual ~ExtractP2() {};
+
+
+ protected:
+ bool valid; // true only if results are valid
+
+ }; // end class ExtractData
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/ExtractPC.hpp b/dev/src/ExtractPC.hpp
new file mode 100644
index 0000000..4097bd9
--- /dev/null
+++ b/dev/src/ExtractPC.hpp
@@ -0,0 +1,97 @@
+
+/**
+ * @file ExtractPC.hpp
+ * This class eases PC combination data extraction from a RinexObsData object.
+ */
+
+#ifndef ExtractPC_GPSTK
+#define ExtractPC_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+
+#include "ExtractCombinationData.hpp"
+#include "icd_200_constants.hpp"
+
+namespace gpstk
+{
+
+ /** @addtogroup RinexObs */
+ //@{
+
+
+ /// This class eases PC combination data extraction from a RinexObsData object.
+ class ExtractPC : public ExtractCombinationData
+ {
+ public:
+
+ /// Default constructor
+ ExtractPC() throw(InvalidData) : typeObs1(RinexObsHeader::P1), typeObs2(RinexObsHeader::P2)
+ {
+ valid = false;
+ checkData = true;
+ };
+
+
+ /** Compute the PC observation from a RinexObsData object
+ * @param rinexData The Rinex data set holding the observations
+ *
+ * @return
+ * Number of satellites with PC combination data available
+ */
+ virtual int getData(const RinexObsData& rinexData) throw(InvalidData)
+ {
+ return ExtractCombinationData::getData(rinexData, typeObs1, typeObs2);
+ }; // end ExtractPC::getData()
+
+
+ /// Some Rinex data files provide C1 instead of P1. Use this method in those cases.
+ void useC1() { typeObs1 = RinexObsHeader::C1; };
+
+
+ /// Destructor
+ virtual ~ExtractPC() {};
+
+
+ protected:
+ // Compute the combination of observables.
+ virtual double getCombination(double obs1, double obs2) throw(InvalidData)
+ {
+ return ( (GAMMA_GPS*obs1 - obs2)/(GAMMA_GPS - 1.0) );
+ };
+
+
+ private:
+ RinexObsHeader::RinexObsType typeObs1;
+ RinexObsHeader::RinexObsType typeObs2;
+
+
+ }; // end class ExtractPC
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/FFBinaryStream.hpp b/dev/src/FFBinaryStream.hpp
new file mode 100644
index 0000000..78e5423
--- /dev/null
+++ b/dev/src/FFBinaryStream.hpp
@@ -0,0 +1,174 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FFBinaryStream.hpp
+ * An FFStream for binary file reading
+ */
+
+#ifndef GPSTK_FFBINARYSTREAM_HPP
+#define GPSTK_FFBINARYSTREAM_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FFStream.hpp"
+
+namespace gpstk
+{
+ /** @defgroup formattedfile Formatted file I/O */
+ //@{
+
+ /**
+ * This is an FFStream that is required to be binary. It also includes
+ * functions for reading and writing binary file. Otherwise, this
+ * is the same as FFStream.
+ */
+ class FFBinaryStream : public FFStream
+ {
+ public:
+ /// destructor
+ virtual ~FFBinaryStream() {};
+
+ /// Default constructor
+ FFBinaryStream() {}
+
+ /**
+ * Constructor - opens the stream in binary mode if not set.
+ * @param fn file name.
+ * @param mode file open mode (std::ios)
+ */
+ FFBinaryStream(const char* fn,
+ std::ios::openmode mode=std::ios::in|std::ios::binary)
+ : FFStream(fn, mode|std::ios::binary) {}
+
+ /// Overrides open to ensure binary mode opens
+ virtual void open(const char* fn, std::ios::openmode mode)
+ { FFStream::open(fn, mode|std::ios::binary); }
+
+ /**
+ * Reads a T-object directly from the stream
+ * in binary form.
+ * @throw FFStreamError when the size of the data read
+ * from this stream doesn't match the size of a T-object.
+ * @return a T-object
+ */
+ template <class T> T getData() throw(FFStreamError, EndOfFile)
+ {
+ T data;
+ getData((char*)&data, sizeof(T));
+ return data;
+ } // end of getData(FFStream& strm)
+
+ void getData(char* buff, size_t length) throw(FFStreamError, EndOfFile)
+ {
+ try
+ {
+ read(buff, length);
+ }
+ catch(std::exception& exc)
+ {
+ if (gcount() != length && eof())
+ {
+ EndOfFile err("EOF encountered");
+ GPSTK_THROW(err);
+ }
+ else
+ {
+ FFStreamError err(exc.what());
+ std::cout << err << std::endl;
+ GPSTK_THROW(err);
+ }
+ }
+ catch(...)
+ {
+ FFStreamError err("Unknown exception");
+ GPSTK_THROW(err);
+ }
+ } // end of getData(char*, size_t))
+
+ /**
+ * Writes a T-object directly from the stream
+ * in binary form.
+ * @param data the data to be written.
+ * @throw FFStreamError when the size of the data written
+ * to this stream doesn't match the size of a T-object.
+ * @return a T-object
+ */
+ template <class T> void writeData(const T& data)
+ throw(FFStreamError)
+ {
+ T temp = data;
+ writeData((char*)&data, sizeof(T));
+ return;
+ } // end of writeData(FFStream& strm, const T& data)
+
+ void writeData(const char* buff, size_t length)
+ throw(FFStreamError)
+ {
+ try
+ {
+ write(buff, length);
+ }
+ catch(std::exception& exc)
+ {
+ FFStreamError err(exc.what());
+ GPSTK_THROW(err);
+ }
+ catch(...)
+ {
+ FFStreamError err("Unknown exception");
+ GPSTK_THROW(err);
+ }
+
+ if (fail() || bad())
+ {
+ FFStreamError err("Error writing data");
+ GPSTK_THROW(err);
+ }
+ return;
+ } // end of writeData(const char*, size_t)
+
+ };
+ //@}
+}
+#endif
diff --git a/dev/src/FFData.cpp b/dev/src/FFData.cpp
new file mode 100644
index 0000000..1f9c83e
--- /dev/null
+++ b/dev/src/FFData.cpp
@@ -0,0 +1,101 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file FFData.cpp
+ * Formatted File Data base class
+ */
+
+#include "FFData.hpp"
+#include "FFStream.hpp"
+
+namespace gpstk
+{
+ void FFData::putRecord(FFStream& s) const
+ throw(FFStreamError, gpstk::StringUtils::StringException)
+ {
+ s.tryFFStreamPut(*this);
+ }
+
+ void FFData::getRecord(FFStream& s)
+ throw(FFStreamError, gpstk::StringUtils::StringException)
+ {
+ s.tryFFStreamGet(*this);
+ }
+
+ std::ostream& operator<<(std::ostream& o, const FFData& f)
+ throw(FFStreamError, gpstk::StringUtils::StringException)
+ {
+ FFStream* ffs = dynamic_cast<FFStream*>(&o);
+ if (ffs)
+ {
+ f.putRecord(*ffs);
+ return o;
+ }
+ else
+ {
+ FFStreamError e("operator<< stream argument must be an FFStream");
+ GPSTK_THROW(e);
+ }
+
+ }
+
+ std::istream& operator>>(std::istream& i, FFData& f)
+ throw(FFStreamError, gpstk::StringUtils::StringException)
+ {
+ FFStream* ffs = dynamic_cast<FFStream*>(&i);
+ if (ffs)
+ {
+ f.getRecord(*ffs);
+ return i;
+ }
+ else
+ {
+ FFStreamError e("operator<< stream argument must be an FFStream");
+ GPSTK_THROW(e);
+ }
+
+ }
+}
diff --git a/dev/src/FFData.hpp b/dev/src/FFData.hpp
new file mode 100644
index 0000000..8fe8edc
--- /dev/null
+++ b/dev/src/FFData.hpp
@@ -0,0 +1,191 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FFData.hpp
+ * Formatted File Data base class
+ */
+
+#ifndef GPSTK_FFDATA_HPP
+#define GPSTK_FFDATA_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include <iostream>
+#include <typeinfo>
+
+#include "FFStreamError.hpp"
+#include "StringUtils.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup formattedfile */
+ //@{
+
+ /// Forward declaration of FFStream class and friend functions
+ class FFStream;
+
+ /**
+ * This is the base class for all Formatted File Data (FFData).
+ * The data in FFStream objects are read/written into classes derived
+ * from FFData. There are two interfaces for this - one with the
+ * operator<<() and operator>>() and the equivalent with getRecord() and
+ * putRecord().
+ *
+ * Classes that derive from this should override the reallyGetRecord()
+ * and reallyPutRecord() functions where the actual reading and
+ * writing of the data should go as well as the isHeader() or isData()
+ * functions as appropriate for the data type.
+ * Overriding dump() for debugging purposes is highly suggested.
+ *
+ * All FFData derived classes should have all of their members defined
+ * public. These are meant to be simple container classes for reading,
+ * writing, and manipulating file data. Any conversion of data types
+ * should be made in constructors or cast operators. For all FFData
+ * objects, any internal time representation for the data should be
+ * called \c time to ensure consistency between classes.
+ *
+ * Finally, for the sake of organization of the inheritence and
+ * dependency trees, all related file data classes (i.e. RinexObsData and
+ * RinexObsHeader) should derive from a common base (i.e. RinexObsBase).
+ *
+ * \sa FFStream for more information.
+ */
+ class FFData
+ {
+ public:
+ /// virtual desctuctor
+ virtual ~FFData(void) {};
+
+ /**
+ * Send a "record" to the given stream.
+ * @param s a FFStream-based stream
+ */
+ void putRecord(FFStream& s) const
+ throw(FFStreamError, gpstk::StringUtils::StringException);
+
+ /**
+ * Retrieve a "record" from the given stream.
+ * By default, this won't throw exceptions. You can change this
+ * by enabling exceptions with this code:
+ * \code
+ * filestream.exceptions(fstream::failbit);
+ * \endcode
+ * @param s a FFStream-based stream
+ * @throws StringException when a StringUtils function fails
+ * @throws FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to its pre-read position.
+ */
+ void getRecord(FFStream& s)
+ throw(FFStreamError, gpstk::StringUtils::StringException);
+
+ /**
+ * Send debug output to the given stream.
+ * @param s a generic output stream
+ */
+ virtual void dump(std::ostream& s) const {}
+
+ /**
+ * Returns whether or not this class is a header.
+ * Have your overriding function return the correct value.
+ */
+ virtual bool isHeader() const {return false;}
+ /**
+ * Returns whether or not this class is data.
+ * Have your overriding function return the correct value.
+ */
+ virtual bool isData() const {return false;}
+
+ /**
+ * Our generic formatted output operator
+ * This function provides compatibility with the ostream_iterator
+ * class.
+ * @param o the stream to write to
+ * @param f the data to write
+ * @return a reference to \c o
+ * @warning The ostream provided MUST be an FFStream.
+ */
+ friend std::ostream& operator<<(std::ostream& o, const FFData& f)
+ throw(FFStreamError, gpstk::StringUtils::StringException);
+
+ /**
+ * Generic formatted input operator.
+ * This should throw the same exceptions as
+ * FFData::getRecord(). Please read that for more info.
+ * @see FFData::getRecord().
+ * @warning see FFData::getRecord() for more info on exceptions
+ * @param f formatted file data record.
+ * @param i the stream to read from
+ * @throw FFStreamError if the file being read is formatted
+ * incorrectly or some other file error occurs
+ * @throw StringException when StringUtils messes up.
+ * @warning read the notes for getRecord() for whatever
+ * class you'll be using this with.
+ * @return a reference to \c i.
+ * This function provides compatibility with the istream_iterator
+ * class.
+ * @warning The istream provided MUST be an FFStream.
+ */
+ friend std::istream& operator>>(std::istream& i, FFData& f)
+ throw(FFStreamError, gpstk::StringUtils::StringException);
+
+ friend class FFStream;
+
+ protected:
+ /// Does the actual reading from the stream into this FFData object.
+ virtual void reallyGetRecord(FFStream& s)
+ throw(std::exception, gpstk::StringUtils::StringException,
+ gpstk::FFStreamError) = 0;
+
+ /// Does the actual writing from the stream into this FFData object.
+ virtual void reallyPutRecord(FFStream& s) const
+ throw(std::exception, gpstk::StringUtils::StringException,
+ gpstk::FFStreamError) = 0;
+ }; // class
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/FFStream.cpp b/dev/src/FFStream.cpp
new file mode 100644
index 0000000..3272dd4
--- /dev/null
+++ b/dev/src/FFStream.cpp
@@ -0,0 +1,278 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file FFStream.cpp
+ * Formatted File Stream base class
+ */
+
+#include "FFStream.hpp"
+
+namespace gpstk
+{
+ void FFStream::open(const char* fn, std::ios::openmode mode)
+ {
+#ifdef _MSC_VER
+ fstream::open(fn, mode);
+#else
+ std::fstream::open(fn, mode);
+#endif
+ filename = std::string(fn);
+ recordNumber = 0;
+ }
+
+ // the crazy double try block is so that no gpstk::Exception throws
+ // get masked, allowing all exception information (line numbers, text,
+ // etc) to be retained.
+ void FFStream::tryFFStreamGet(FFData& rec)
+ throw(FFStreamError, gpstk::StringUtils::StringException)
+ {
+ // Mark where we start in case there is an error.
+ long initialPosition = tellg();
+ unsigned long initialRecordNumber = recordNumber;
+ clear();
+
+ try
+ {
+ try
+ {
+ rec.reallyGetRecord(*this);
+ recordNumber++;
+ }
+ catch (std::exception &e)
+ {
+ mostRecentException = FFStreamError("std::exception thrown: " +
+ std::string(e.what()));
+ mostRecentException.addText("In record " +
+ gpstk::StringUtils::asString(recordNumber));
+ mostRecentException.addText("In file " + filename);
+ mostRecentException.addLocation(FILE_LOCATION);
+ clear();
+ seekg(initialPosition);
+ recordNumber = initialRecordNumber;
+ setstate(std::ios::failbit);
+ conditionalThrow();
+ }
+ // EOF - do nothing - eof causes fail() to be set which
+ // is handled by std::fstream
+ catch (EndOfFile& e)
+ {
+ e.addText("In record " +
+ gpstk::StringUtils::asString(recordNumber));
+ e.addText("In file " + filename);
+ e.addLocation(FILE_LOCATION);
+ mostRecentException = e;
+ }
+ catch (gpstk::StringUtils::StringException& e)
+ {
+ e.addText("In record " +
+ gpstk::StringUtils::asString(recordNumber));
+ e.addText("In file " + filename);
+ e.addLocation(FILE_LOCATION);
+ mostRecentException = e;
+ clear();
+ seekg(initialPosition);
+ recordNumber = initialRecordNumber;
+ setstate(std::ios::failbit);
+ conditionalThrow();
+ }
+ // catches some errors we can encounter
+ catch (FFStreamError& e)
+ {
+ e.addText("In record " +
+ gpstk::StringUtils::asString(recordNumber));
+ e.addText("In file " + filename);
+ e.addLocation(FILE_LOCATION);
+ mostRecentException = e;
+ clear();
+ seekg(initialPosition);
+ recordNumber = initialRecordNumber;
+ setstate(std::ios::failbit);
+ conditionalThrow();
+ }
+ }
+ // this is if you throw an FFStream error in the above catch
+ // block because the catch(...) below will mask it otherwise.
+ // This also takes care of catching StringExceptions
+ catch (gpstk::Exception &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch (std::ifstream::failure &e)
+ {
+ // setting failbit when catching FFStreamError can cause
+ // this exception to be thrown. in this case, we don't want
+ // to lose the exception info so only make a new exception
+ // if this isn't a fail() case
+ if (!fail())
+ {
+ mostRecentException = FFStreamError("ifstream::failure thrown: " +
+ std::string(e.what()));
+ mostRecentException.addText("In file " + filename);
+ mostRecentException.addLocation(FILE_LOCATION);
+ }
+ conditionalThrow();
+ }
+ catch (std::exception &e)
+ {
+ mostRecentException = FFStreamError("std::exception thrown: " +
+ std::string(e.what()));
+ mostRecentException.addText("In file " + filename);
+ mostRecentException.addLocation(FILE_LOCATION);
+ setstate(std::ios::failbit);
+ conditionalThrow();
+ }
+ catch (...)
+ {
+ mostRecentException = FFStreamError("Unknown exception thrown");
+ mostRecentException.addText("In file " + filename);
+ mostRecentException.addLocation(FILE_LOCATION);
+ setstate(std::ios::failbit);
+ conditionalThrow();
+ }
+ }
+
+ // the crazy double try block is so that no gpstk::Exception throws
+ // get masked, allowing all exception information (line numbers, text,
+ // etc) to be retained.
+ void FFStream::tryFFStreamPut(const FFData& rec)
+ throw(FFStreamError, gpstk::StringUtils::StringException)
+ {
+ // Mark where we start in case there is an error.
+ long initialPosition = tellg();
+ unsigned long initialRecordNumber = recordNumber;
+ clear();
+
+ try
+ {
+ try
+ {
+ rec.reallyPutRecord(*this);
+ recordNumber++;
+ }
+ catch (std::exception &e)
+ {
+ // if this is a stream failure, don't mask it and let the
+ // later catch block handle it
+ if (dynamic_cast<std::ifstream::failure*>(&e))
+ throw;
+
+ // the catch(FFStreamError) below will add file information
+ // to this exception
+ mostRecentException = FFStreamError("std::exception thrown: " +
+ std::string(e.what()));
+ mostRecentException.addLocation(FILE_LOCATION);
+ setstate(std::ios::failbit);
+ conditionalThrow();
+ }
+ catch (gpstk::StringUtils::StringException& e)
+ {
+ e.addText("In record " +
+ gpstk::StringUtils::asString(recordNumber));
+ e.addText("In file " + filename);
+ e.addLocation(FILE_LOCATION);
+ mostRecentException = e;
+ seekg(initialPosition);
+ recordNumber = initialRecordNumber;
+ setstate(std::ios::failbit);
+ conditionalThrow();
+ }
+ // catches some errors we can encounter
+ catch (FFStreamError& e)
+ {
+ e.addText("In record " +
+ gpstk::StringUtils::asString(recordNumber));
+ e.addText("In file " + filename);
+ e.addLocation(FILE_LOCATION);
+ mostRecentException = e;
+ seekg(initialPosition);
+ recordNumber = initialRecordNumber;
+ setstate(std::ios::failbit);
+ conditionalThrow();
+ }
+ }
+ // this is if you throw an FFStream error in the above catch
+ // block because the catch(...) below will mask it otherwise.
+ // This also takes care of catching StringExceptions
+ catch (gpstk::Exception &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch (std::ifstream::failure &e)
+ {
+ // setting failbit when catching FFStreamError can cause
+ // this exception to be thrown. in this case, we don't want
+ // to lose the exception info so only make a new exception
+ // if this isn't a fail() case
+ if (!fail())
+ {
+ mostRecentException = FFStreamError("ifstream::failure thrown: " +
+ std::string(e.what()));
+ mostRecentException.addText("In file " + filename);
+ mostRecentException.addLocation(FILE_LOCATION);
+ }
+ conditionalThrow();
+ }
+ catch (std::exception &e)
+ {
+ mostRecentException = FFStreamError("std::exception thrown: " +
+ std::string(e.what()));
+ mostRecentException.addText("In file " + filename);
+ mostRecentException.addLocation(FILE_LOCATION);
+ setstate(std::ios::failbit);
+ conditionalThrow();
+ }
+ catch (...)
+ {
+ mostRecentException = FFStreamError("Unknown exception thrown");
+ mostRecentException.addText("In file " + filename);
+ mostRecentException.addLocation(FILE_LOCATION);
+ setstate(std::ios::failbit);
+ conditionalThrow();
+ }
+ }
+
+}
+
diff --git a/dev/src/FFStream.hpp b/dev/src/FFStream.hpp
new file mode 100644
index 0000000..5c62a1f
--- /dev/null
+++ b/dev/src/FFStream.hpp
@@ -0,0 +1,211 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FFStream.hpp
+ * Formatted File Stream, root class to provide formatted I/O operators ('<<' & '>>')
+ */
+
+#ifndef GPSTK_FFSTREAM_HPP
+#define GPSTK_FFSTREAM_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include <iostream>
+#include <fstream>
+#include <string>
+#include <typeinfo>
+
+#include "FFStreamError.hpp"
+#include "FFData.hpp"
+
+#include "StringUtils.hpp"
+
+#ifdef _MSC_VER
+using namespace std;
+#endif
+
+namespace gpstk
+{
+ /** @addtogroup formattedfile */
+ //@{
+
+ /// This gets thrown if a valid EOF occurs on formattedGetLine.
+ /// @ingroup exceptionclass
+ NEW_EXCEPTION_CLASS(EndOfFile, gpstk::FFStreamError);
+
+ /**
+ * Formatted File Stream (FFStream).
+ * This is just a root class to provice the single point formatted i/o
+ * operators (such as '<<' & '>>' ).
+ *
+ * As a special design consideration,
+ * all exceptions thrown are based on gpstk::Exception - all
+ * std::exception throws are rethrown as gpstk::Exception.
+ * Furthermore, exceptions will not be thrown unless exceptions
+ * are set to be thrown:
+ * @code
+ * fs.exceptions(std::fstream::failbit);
+ * @endcode
+ * where \c fs is the name of your file stream.
+ * Then when an exception occurs, conditionalThrow() will throw the
+ * last thrown exception.
+ * Otherwise when an exception occurs, the stream sets
+ * \c ios::fail and will not read any more. Exceptions for this
+ * class store the record number of the file for when the exception
+ * occurred as well as the file name and any detailed information
+ * about the error. For gpstk::FFTextStream, the line number
+ * of the file where the error was found is also recorded, allowing
+ * for easy location of file problems.
+ *
+ * When operating on the file, recordNumber will automatically increment
+ * with each read and write operation. When a file is opened with the
+ * constructor or with open(), all internal FFStream variables are
+ * reset. Derived classes should make sure any of their internal
+ * variables are reset when either of those function are called.
+ *
+ * Many file types have header data as part of the file format. When
+ * reading the file, the reader is not required to explicitly read in
+ * the header to access the data. To facilitate this, each of these
+ * stream classes has an internal header object that will store the
+ * header. The stream keeps track of whether it read the
+ * header or not, and reads the header if the internal state says
+ * it hasn't been read. When writing a file, the stream's
+ * internal header is used for those formats which use header information
+ * to determine what data is in the records.
+ * See RinexObsHeader::reallyGetRecord() and
+ * RinexObsData::reallyGetRecord()
+ * for an example of this.
+ *
+ * \sa FFData for more information
+ * \sa RinexObsData::reallyGetRecord() and
+ * RinexObsHeader::reallyGetRecord() for more information for files
+ * that read header data.
+ *
+ * @warning When using open(), the internal header data of the stream
+ * is not guaranteed to be retained.
+ */
+ class FFStream : public std::fstream
+ {
+ public:
+ /// virtual desctructor
+ virtual ~FFStream(void) {}
+
+ /**
+ * Default constructor
+ */
+ FFStream()
+ : recordNumber(0)
+ {}
+
+ /**
+ * Constructor.
+ * @param fn file name.
+ * @param mode file open mode (std::ios)
+ */
+ FFStream(const char* fn, std::ios::openmode mode=std::ios::in)
+ :
+#ifdef _MSC_VER
+ fstream(fn, mode),
+#else
+ std::fstream(fn, mode),
+#endif
+ recordNumber(0), filename(fn)
+ {}
+
+ /**
+ * Overrides fstream:open so derived classes can make appropriate
+ * internal changes (line count, header info, etc).
+ */
+ virtual void open(const char* fn, std::ios::openmode mode);
+
+ /**
+ * Throws \a mostRecentException only if the stream is enabled
+ * to throw exceptions when failbit is set.
+ * You can set this behavior with the following line of code:
+ * @code
+ * ffstreamobject.exceptions(ifstream::failbit);
+ * @endcode
+ * where \a ffstreamobject is the name of your stream object.
+ */
+ inline void conditionalThrow(void) throw(FFStreamError)
+ {
+ if (exceptions() & std::fstream::failbit)
+ GPSTK_THROW(mostRecentException);
+ }
+
+ ///@name Data members
+ ///@{
+ /// This stores the most recently thrown exception.
+ FFStreamError mostRecentException;
+
+ /// keeps track of the number of records read
+ unsigned int recordNumber;
+
+ /// file name
+ std::string filename;
+ //@}
+
+ /// FFData is a friend so it can access the try* functions.
+ friend class FFData;
+
+ protected:
+ /// Encapsulates shared try/catch blocks for all file types
+ /// to hide std::exception.
+ virtual void tryFFStreamGet(FFData& rec)
+ throw(FFStreamError, gpstk::StringUtils::StringException);
+
+ /// Encapsulates shared try/catch blocks for all file types
+ /// to hide std::exception.
+ virtual void tryFFStreamPut(const FFData& rec)
+ throw(FFStreamError, gpstk::StringUtils::StringException);
+
+ };
+
+ //@}
+
+} // end of namespace
+
+
+#endif
+
diff --git a/dev/src/FFStreamError.hpp b/dev/src/FFStreamError.hpp
new file mode 100644
index 0000000..6755c82
--- /dev/null
+++ b/dev/src/FFStreamError.hpp
@@ -0,0 +1,65 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FFStreamError.hpp
+ * Exceptions for FFStream
+ */
+
+#ifndef GPSTK_FFSTREAMERROR_HPP
+#define GPSTK_FFSTREAMERROR_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "Exception.hpp"
+
+namespace gpstk
+{
+ /// FFStreamError is an exception for when the file read doesn't
+ /// match the specs for that file type.
+ /// @ingroup exceptionclass
+ /// @ingroup formattedfile
+ NEW_EXCEPTION_CLASS(FFStreamError, gpstk::Exception);
+}
+
+#endif
diff --git a/dev/src/FFTextStream.hpp b/dev/src/FFTextStream.hpp
new file mode 100644
index 0000000..48dd541
--- /dev/null
+++ b/dev/src/FFTextStream.hpp
@@ -0,0 +1,222 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FFTextStream.hpp
+ * An FFStream for text files
+ */
+
+#ifndef GPSTK_FFTEXTSTREAM_HPP
+#define GPSTK_FFTEXTSTREAM_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FFStream.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup formattedfile */
+ //@{
+
+ /**
+ * An FFStream that is meant for reading text. This also includes
+ * an internal line count and a read line method. When reading and
+ * using the formattedGetLine() call, the lineNumber automatically
+ * increments. However, any other read and all write calls do not
+ * update the line number - the derived class or programmer
+ * needs to make sure
+ * that the reader or writer increments lineNumber in these cases.
+ */
+ class FFTextStream : public FFStream
+ {
+ public:
+ /// destructor
+ virtual ~FFTextStream() {}
+
+ /// Default constructor
+ FFTextStream()
+ : lineNumber(0)
+ {}
+
+ /**
+ * Constructor.
+ * @param fn file name.
+ * @param mode file open mode (std::ios)
+ */
+ FFTextStream(const char* fn, std::ios::openmode mode=std::ios::in)
+ : FFStream(fn, mode), lineNumber(0)
+ {}
+
+ /// Overrides open to reset the line number.
+ virtual void open(const char* fn, std::ios::openmode mode)
+ { FFStream::open(fn, mode); lineNumber = 0; }
+
+ /// the internal line count. When writing, make sure
+ /// to increment this.
+ unsigned int lineNumber;
+
+ /**
+ * Like std::istream::getline but checks for EOF and removes '/r'.
+ * Also increments lineNumber. When \a expectEOF is true and EOF
+ * is found, an gpstk::EndOfFile exception is thrown. If
+ * \a expectEOF is false and an EOF is encountered, an
+ * gpstk::FFStreamError is thrown.
+ * @param line is set to the value of the line read from the file.
+ * @param expectEOF set true if finding EOF on this read is acceptable.
+ * @throw EndOfFile if \a expectEOF is true and an EOF is encountered.
+ * @throw FFStreamError if EOF is found and \a expectEOF is false
+ * @throw gpstk::StringUtils::StringException when a string error occurs
+ * or if any other error happens.
+ * @warning There is a maximum line length of 256 characters when
+ * using this function.
+ */
+ inline void formattedGetLine(std::string& line,
+ const bool expectEOF = false)
+ throw(EndOfFile, FFStreamError, gpstk::StringUtils::StringException);
+
+
+ protected:
+ /// calls FFStream::tryFFStreamGet and adds line number information
+ virtual void tryFFStreamGet(FFData& rec)
+ throw(FFStreamError, gpstk::StringUtils::StringException)
+ {
+ unsigned int initialLineNumber = lineNumber;
+
+ try
+ {
+ FFStream::tryFFStreamGet(rec);
+ }
+ catch(gpstk::Exception& e)
+ {
+ e.addText(std::string("Near file line ") +
+ gpstk::StringUtils::asString(lineNumber));
+ lineNumber = initialLineNumber;
+ mostRecentException = e;
+ conditionalThrow();
+ }
+ }
+
+ /// calls FFStream::tryFFStreamPut and adds line number information
+ virtual void tryFFStreamPut(const FFData& rec)
+ throw(FFStreamError, gpstk::StringUtils::StringException)
+ {
+ unsigned int initialLineNumber = lineNumber;
+
+ try
+ {
+ FFStream::tryFFStreamPut(rec);
+ }
+ catch(gpstk::Exception& e)
+ {
+ e.addText(std::string("Near file line ") +
+ gpstk::StringUtils::asString(lineNumber));
+ lineNumber = initialLineNumber;
+ mostRecentException = e;
+ conditionalThrow();
+ }
+ }
+
+ };
+
+ // the reason for checking ffs.eof() in the try AND catch block is
+ // because if the user enabled exceptions on the stream with exceptions()
+ // then eof could throw an exception, in which case we need to catch it
+ // and rethrow an EOF or FFStream exception. In any event, EndOfFile
+ // gets thrown whenever there's an EOF and expectEOF is true
+ void FFTextStream::formattedGetLine(std::string& line,
+ const bool expectEOF)
+ throw(EndOfFile, FFStreamError, gpstk::StringUtils::StringException)
+ {
+ try
+ {
+ const int MAX_LINE_LENGTH = 256;
+ char templine[MAX_LINE_LENGTH + 1];
+ getline(templine, MAX_LINE_LENGTH);
+ lineNumber++;
+ line = templine;
+ gpstk::StringUtils::stripTrailing(line, '\r');
+ // catch EOF when stream exceptions are disabled
+ if ((gcount() == 0) && eof())
+ {
+ if (expectEOF)
+ {
+ EndOfFile err("EOF encountered");
+ GPSTK_THROW(err);
+ }
+ else
+ {
+ FFStreamError err("Unexpected EOF encountered");
+ GPSTK_THROW(err);
+ }
+ }
+ }
+ catch(std::exception &e)
+ {
+ // catch EOF when exceptions are enabled
+ if ( (gcount() == 0) && eof())
+ {
+ if (expectEOF)
+ {
+ EndOfFile err("EOF encountered");
+ GPSTK_THROW(err);
+ }
+ else
+ {
+ FFStreamError err("Unexpected EOF");
+ GPSTK_THROW(err);
+ }
+ }
+ else
+ {
+ FFStreamError err("Critical file error: " +
+ std::string(e.what()));
+ GPSTK_THROW(err);
+ }
+ }
+ }
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/FICAStream.hpp b/dev/src/FICAStream.hpp
new file mode 100644
index 0000000..a323c02
--- /dev/null
+++ b/dev/src/FICAStream.hpp
@@ -0,0 +1,92 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FICAStream.hpp
+ * gpstk::FICAStream - ASCII FIC file stream container.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#ifndef FICASTREAM_HPP
+#define FICASTREAM_HPP
+
+#include "FICStreamBase.hpp"
+#include "FFTextStream.hpp"
+
+namespace gpstk
+{
+ /**
+ * This is a stream used to obtain data from an ascii FIC File.
+ *
+ * \sa fica_test.cpp for an example.
+ *
+ * \sa FICData and FICHeader.
+ */
+ class FICAStream : public FICStreamBase, public FFTextStream
+ {
+ public:
+ /// Default constructor
+ FICAStream() {}
+
+ /**
+ * Constructor
+ * @param fn the name of the ascuu FIC file to be opened
+ * @param mode the ios::openmode to be used on \a fn
+ */
+ FICAStream(const char* fn,
+ std::ios::openmode mode=std::ios::in)
+ : FFTextStream(fn, mode)
+ {}
+
+ /// destructor per the coding standards
+ virtual ~FICAStream() {}
+
+ /// overrides open to reset the header
+ virtual void open(const char* fn, std::ios::openmode mode)
+ { FFTextStream::open(fn, mode); FICStreamBase::open(); }
+
+ }; // class FICStream
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/FICBase.hpp b/dev/src/FICBase.hpp
new file mode 100644
index 0000000..e5686eb
--- /dev/null
+++ b/dev/src/FICBase.hpp
@@ -0,0 +1,69 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FICBase.hpp
+ * gpstk::FICBase - base class for FIC FFData.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#ifndef FICBASE_HPP
+#define FICBASE_HPP
+
+#include "FFData.hpp"
+
+namespace gpstk
+{
+ /**
+ * This is a base class for all FIC-related classes.
+ */
+ class FICBase : public FFData
+ {
+ public:
+ /// in deference to our coding standards, this is declared virtual
+ virtual ~FICBase() {}
+ };
+}
+
+#endif
diff --git a/dev/src/FICData.cpp b/dev/src/FICData.cpp
new file mode 100644
index 0000000..51113a6
--- /dev/null
+++ b/dev/src/FICData.cpp
@@ -0,0 +1,1168 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FICData.cpp
+ * gpstk::FICData - container for the FIC file data.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "StringUtils.hpp"
+#include "BinUtils.hpp"
+#include "FICData.hpp"
+#include "FICStream.hpp"
+#include "FICAStream.hpp"
+
+#include <cmath>
+
+#include "gpstkplatform.h"
+
+using namespace gpstk::StringUtils;
+using namespace std;
+using namespace gpstk::BinUtils;
+
+ // the "blk " literal is 4 chrs wide
+const int FICBlkHdrSize = 4;
+
+namespace gpstk
+{
+ const string FICData::blockString = "BLK ";
+
+ void FICData::reallyPutRecord(FFStream& ffs) const
+ throw(std::exception, gpstk::StringUtils::StringException,
+ gpstk::FFStreamError)
+ {
+ if (!isValid())
+ {
+ FFStreamError e("Tried to write an invalid FIC block");
+ GPSTK_THROW(e);
+ }
+
+ // is this a FIC or FICA stream?
+ // remember that a FICAStream derives from FICStream, so check
+ // for FICA first
+ if (dynamic_cast<FICAStream*>(&ffs))
+ {
+ FICAStream& strm = dynamic_cast<FICAStream&>(ffs);
+
+ strm << '\n' << blockString;
+ strm << setw(6) << blockNum
+ << setw(5) << f.size()
+ << setw(5) << i.size()
+ << setw(5) << c.size();
+ unsigned long index;
+ for (index = 0; index < f.size(); index++)
+ {
+ if ((index % 4) == 0)
+ strm << '\n';
+ double l10 = log10(fabs(f[index]));
+ if ( ((l10 >= 100) || (l10 <= -100)) && (f[index] != 0))
+ strm << doub2for(f[index], 20, 3);
+ else
+ strm << doub2for(f[index], 20, 2);
+ }
+ for (index = 0; index < i.size(); index++)
+ {
+ if ((index % 6) == 0)
+ strm << '\n';
+ strm << setw(12) << i[index];
+ }
+ for (index = 0; index < c.size(); index++)
+ {
+ if ((index % 8) == 0)
+ strm << '\n';
+ strm << setw(8) << c[index];
+ }
+ }
+ else
+ {
+ if (dynamic_cast<FICStream*>(&ffs))
+ {
+ FICStream& strm = dynamic_cast<FICStream&>(ffs);
+
+ strm << blockString;
+ strm.writeData<int32_t>(hostToIntel(blockNum));
+ strm.writeData<uint32_t>(hostToIntel(static_cast<uint32_t>(f.size())));
+ strm.writeData<uint32_t>(hostToIntel(static_cast<uint32_t>(i.size())));
+ strm.writeData<uint32_t>(hostToIntel(static_cast<uint32_t>(c.size())));
+ unsigned long index;
+ for (index = 0; index < f.size(); index++)
+ strm.writeData<double>(hostToIntel(f[index]));
+ for (index = 0; index < i.size(); index++)
+ strm.writeData<int32_t>(hostToIntel(i[index]));
+ for (index = 0; index < c.size(); index++)
+ strm.writeData<char>(hostToIntel(c[index]));
+ }
+ // bad cast!!!
+ else
+ {
+ FFStreamError e("FICData tried to read from a non-FIC file");
+ GPSTK_THROW(e);
+ }
+ }
+ }
+
+ bool FICData::isValid() const
+ {
+ switch(blockNum) {
+ case 109:
+ if((f.size() == 0) && (i.size() == 32) && (c.size() == 0))
+ return true;
+ break;
+ case 9:
+ if((f.size() == 60) && (i.size() == 0) && (c.size() == 0))
+ return true;
+ break;
+ case 162:
+ if((f.size() == 0) && (i.size() == 15) && (c.size() == 0))
+ return true;
+ break;
+ case 62:
+ if(( (f.size() == 20) || (f.size() == 32) || (f.size() == 14) ||
+ (f.size() == 23) || (f.size() == 47) || (f.size() == 29) )
+ && (i.size() == 6) && (c.size() == 0))
+ return true;
+ break;
+ default:
+ return false;
+ break;
+ }
+ return false;
+ }
+
+ void FICData::dump(ostream& s) const
+ {
+ int n;
+ s << "FIC BlockNumber: " << blockNum << endl
+ << " floats: " << flush;
+ for(n = 0; n< f.size(); n++)
+ s << f[n] << " " << flush;
+ s << endl << " integers: " << flush;
+ for(n = 0; n< i.size(); n++)
+ s << i[n] << " " << flush;
+ s << endl << " chars: " << flush;
+ for(n = 0; n< c.size(); n++)
+ s << c[n] << " " << flush;
+ s << endl << endl;
+ };
+
+ void FICData::prettyDump(ostream& os) const
+ {
+ switch (blockNum)
+ {
+ case 109:
+ prettyDump109(os);
+ break;
+ case 9:
+ prettyDump9(os);
+ break;
+ case 62:
+ prettyDump62(os);
+ break;
+ case 162:
+ prettyDump162(os);
+ break;
+ default:
+ break;
+ }
+ }
+
+ void FICData::prettyDump9(ostream& os) const
+ {
+ short j;
+ short ndx[3] = { 9, 25, 52 };
+ short iod;
+ short itemp;
+ short epochWeek;
+ double epochTime, xmitTime, diff;
+
+ os << "**************************************";
+ os << "**************************************\n";
+ os << " Block Number : ";
+ os.width(3);
+ os << blockNum << "\n";
+ os << "Broadcast Ephemeris (Engineering Units)\n";
+ os << "\n";
+ os << "PRN : ";
+ os.width(2);
+ os << f[19] << "\n\n";
+
+ // Check for week rollover between nav msg week # and
+ // epoch time week number.
+ epochTime = f[12];
+ xmitTime = f[2];
+ diff = -1 * (epochTime - xmitTime);
+ if (diff > DayTime::HALFWEEK) epochWeek = (short) f[5] + 1;
+ else epochWeek = (short) f[5];
+ timeDisplay( os, "Clock Epoch:", epochWeek, f[12], 1 );
+
+ epochTime = f[33];
+ xmitTime = f[22];
+ diff = -1 * (epochTime - xmitTime);
+ if (diff > DayTime::HALFWEEK) epochWeek = (short) f[5] + 1;
+ else epochWeek = (short) f[5];
+ timeDisplay( os, "Eph Epoch:", epochWeek, f[33], 0 );
+
+ os << "Transmit Week:";
+ os.width(4);
+ os << f[5] << "\n";
+ os.width(2);
+ os << "Fit interval flag : " << f[34] << "\n";
+
+ os << "\n";
+ os << " SUBFRAME OVERHEAD\n\n";
+ os << " SOW DOW:HH:MM:SS IOD ALERT A-S\n";
+ for (j=0;j<3;j++)
+ {
+ os.width(1);
+ os << "SF" << (j+1) << " HOW: ";
+ os.width(7);
+ os << f[2+j*20];
+
+ // Convert SOW to D:H:M:S and output
+ os << " ";
+ shortcut( os, f[2+j*20]);
+ if (j==0)os << " ";
+ else os << " ";
+ os.setf(ios::uppercase);
+ // Due to ancient use of FIC back
+ // when IODC/IODE were AODC/AODE,
+ // the IODC/IODE values are scaled by 2**10
+ // in FIC and have to unscaled.
+ iod = (short) (f[ndx[j]] / 2048);
+ iod = iod;
+ os << "0x";
+ os.fill('0');
+ if (j==0) os.width(3); // IODC is longer
+ else os.width(2);
+ os << hex << iod << dec << " ";
+ os.fill(' ');
+ // Word 4 (index 3) combines the "Alert" bit and the A-S flag
+ itemp = (short) f[3+j*20];
+ if (itemp & 0x0002) os << "1 "; // "Alert" bit handling
+ else os << "0 ";
+ if (itemp & 0x0001) os << " on\n"; // A-S flag handling
+ else os << "off\n";
+ }
+ os << "\n CLOCK\n\n";
+ os << "Bias T0: ";
+ os.setf(ios::scientific, ios::floatfield);
+ os.setf(ios::right, ios::adjustfield);
+ os.precision(8);
+ os.width(16);
+ os << f[15] << " sec\n";
+ os << "Drift: ";
+ os.width(16);
+ os << f[14] << " sec/sec\n";
+ os << "Drift rate: ";
+ os.width(16);
+ os << f[13] << " sec/(sec**2)\n";
+ os << "Group delay: ";
+ os.width(16);
+ os << f[11] << " sec\n";
+ os.setf(ios::fixed, ios::floatfield);
+ os.precision(0);
+
+ os << "\n ORBIT PARAMETERS\n\n";
+ os << "Semi-major axis: ";
+ os.setf(ios::scientific, ios::floatfield);
+ os.setf(ios::right, ios::adjustfield);
+ os.precision(8);
+ os.width(16);
+ os << f[32] << " m**.5\n";
+ os << "Motion correction: ";
+ os.width(16);
+ os << f[27] << " rad/sec\n";
+ os << "Eccentricity: ";
+ os.width(16);
+ os << f[30] << "\n";
+ os << "Arg of perigee: ";
+ os.width(16);
+ os << f[50] << " rad\n";
+ os << "Mean anomaly at epoch: ";
+ os.width(16);
+ os << f[28] << " rad\n";
+ os << "Right ascension: ";
+ os.width(16);
+ os << f[46] << " rad ";
+ os.width(16);
+ os << f[51] << " rad/sec\n";
+ os << "Inclination: ";
+ os.width(16);
+ os << f[48] << " rad ";
+ os.width(16);
+ os << f[53] << " rad/sec\n";
+ os.setf(ios::fixed, ios::floatfield);
+ os.precision(0);
+
+ os << "\n HARMONIC CORRECTIONS\n\n";
+ os << "Radial Sine: ";
+ os.setf(ios::scientific, ios::floatfield);
+ os.setf(ios::right, ios::adjustfield);
+ os.precision(8);
+ os.width(16);
+ os << f[26] << " m Cosine: ";
+ os.width(16);
+ os << f[49] << " m\n";
+ os << "Inclination Sine: ";
+ os.width(16);
+ os << f[47] << " rad Cosine: ";
+ os.width(16);
+ os << f[45] << " rad\n";
+ os << "In-track Sine: ";
+ os.width(16);
+ os << f[31] << " rad Cosine: ";
+ os.width(16);
+ os << f[29] << " rad\n";
+ os.setf(ios::fixed, ios::floatfield);
+ os.precision(0);
+
+ os << "\n SV STATUS\n\n";
+ os << "Health bits: 0x";
+ os.fill('0');
+ os.width(2);
+ os << (short) f[8] << " URA index: ";
+ os.fill(' ');
+ os.width(4);
+ os << f[7] << "\n";
+ os << "Code on L2: ";
+ switch ( (short) f[6] )
+ {
+ case 0:
+ os << "reserved";
+ break;
+
+ case 1:
+ os << " P only";
+ break;
+
+ case 2:
+ os << " C/A only";
+ break;
+
+ case 3:
+ os << " P & C/A";
+ break;
+
+ default:
+ break;
+
+ }
+ os << " L2 P Nav data: ";
+ if ( (short) f[10]!=0) os << "off";
+ else os << "on";
+ os << "\n";
+ }
+
+ void FICData::prettyDump109(ostream & os) const
+ {
+ os << "**************************************";
+ os << "**************************************\n";
+ os << " Block Number : ";
+ os.width(3);
+ os << blockNum << "\n";
+ os << "Broadcast Ephemeris as Transmitted\n";
+ os << "\n";
+ os << "PRN : ";
+ os.width(2);
+ os << i[1] << "\n";
+ timeDisplay( os, "Transmit time:",
+ i[0],
+ ((i[3] & 0x3FFFFFFFL) >> 13) * 6,
+ 2 );
+ os.setf(ios::uppercase);
+ os << "\n";
+ os << "Hexadecimal dump of words 1-10";
+ short j;
+ for (j=0;j<10;j++)
+ {
+ if (j==0 || j ==5 ) os << "\n";
+ os << " ";
+ os.width(2);
+ os << (j+1) << ":";
+ os.width(8);
+ os.fill('0');
+ os << hex << i[j+2] << dec;
+ os.fill(' ');
+ }
+ os << "\n\n";
+ os << "Hexadecimal dump of words 11-20";
+ for (j=10;j<20;j++)
+ {
+ if (j==10 || j ==15 ) os << "\n";
+ os << " ";
+ os.width(2);
+ os << (j+1) << ":";
+ os.width(8);
+ os.fill('0');
+ os << hex << i[j+2] << dec;
+ os.fill(' ');
+ }
+ os << "\n\n";
+ os << "Hexadecimal dump of words 21-30";
+ for (j=20;j<30;j++)
+ {
+ if (j==20 || j ==25 ) os << "\n";
+ os << " ";
+ os.width(2);
+ os << (j+1) << ":";
+ os.width(8);
+ os.fill('0');
+ os << hex << i[j+2] << dec;
+ os.fill(' ');
+ }
+ os << "\n\n";
+ }
+
+ void FICData::prettyDump62(ostream & os) const
+ {
+ short j,k;
+ unsigned short btmp;
+ unsigned long aword;
+ short rotate;
+ char ochar;
+ short almType;
+
+ os << "**************************************";
+ os << "**************************************\n";
+ os << " Block Number : ";
+ os.width(3);
+ os << blockNum << "\n";
+ os << "Almanac(Engineering Units)\n";
+ os << "\n";
+ os << "SV ID : ";
+ os.setf(ios::right, ios::adjustfield);
+ os.width(2);
+ os << i[3] << "\n";
+ timeDisplay( os, "Transmit time", i[5], i[1], 1 );
+ os << "Reference Wk ";
+ os.width(4);
+ os << i[0] << "\n";
+ almType = (short) f[6];
+ if (almType>0&&almType<33)
+ {
+ // Output of SV almanac data
+ timeDisplay( os, "Epoch time", (short) f[18], f[8], 0);
+ os << "\n";
+ os << "CLOCK\n";
+ os.setf(ios::scientific, ios::floatfield);
+ os.setf(ios::right, ios::adjustfield);
+ os.precision(8);
+ os << " Bias: ";
+ os.width(16);
+ os << f[16] << " sec\n";
+ os << " Drift: ";
+ os.width(16);
+ os << f[17] << " sec/sec\n";
+
+ os << "\nORBIT PARAMETERS\n";
+ os << " Semi-major axis: ";
+ os.width(16);
+ os << f[12] << " m**.5\n";
+ os << " Eccentricity: ";
+ os.width(16);
+ os << f[7] << "\n";
+ os << " Arg of perigee: ";
+ os.width(16);
+ os << f[14] << " rad\n";
+ os << " Mean anamoly of epoch: ";
+ os.width(16);
+ os << f[15] << " rad\n";
+ os << " Right Ascension: ";
+ os.width(16);
+ os << f[13] << " rad ";
+ os.width(16);
+ os << f[10] << " rad/sec\n";
+ os << " Inclination: ";
+ os.width(16);
+ os << f[9] << " rad (from 54 deg)\n";
+
+ os.setf(ios::fixed, ios::floatfield);
+ os.precision(0);
+ }
+ else if (almType>=57 && almType<=62 )
+ {
+ // Hexadecimal dump
+ os << "\n";
+ os << "Hexadecimal dump of non-parity bits of words 3-10\n";
+// os << " **This feature under construction.**\n";
+ os.setf(ios::uppercase);
+ for (k=2;k<10;k++)
+ {
+ if (k==2 || k==6 ) os << "\n";
+ os << " ";
+ os.width(2);
+ os << (k+1) << ":";
+ os.width(6); // 'stead 6
+ os.fill('0');
+ aword = (unsigned long) f[k+5];
+// aword >>= 6; // The data had parity stripped
+ // during subframe conversion.
+ os << hex << aword << dec;
+ os.fill(' ');
+ }
+
+ }
+ else switch (almType)
+ {
+ case 51: // Health 1
+ os << "\n";
+ os << "Page Type: SV Health Information\n";
+ os << "\nAlmanac reference week (8 bit): ";
+ os.precision(0);
+ os << f[7] << "\n";
+ os << "SV Health Information for PRN 1-24\n\n";
+ os << " --Health--- --Health--- --Health--- --Health---\n";
+ os << "PRN Hex Binary PRN Hex Binary PRN Hex Binary PRN Hex Binary\n";
+ os.setf(ios::uppercase);
+ for (k=1;k<=21;k+=4)
+ {
+ for (j=k;j<k+4;j++)
+ {
+ if (j!=k) os << " ";
+ else os << " ";
+ os.width(2);
+ os.fill('0');
+ os << j;
+ os.fill(' ');
+ os << " ";
+ btmp = (unsigned short) f[j+7];
+ btmp &= 0x003F;
+ os.fill('0');
+ os.width(2);
+ os << hex << btmp << dec;
+ os.fill(' ');
+ os << " ";
+ btmp = (unsigned short) f[j+7];
+ for (rotate=0;rotate<6;rotate++)
+ {
+ if (btmp & 0x20) os << "1";
+ else os << "0";
+ btmp <<= 1;
+ }
+ }
+ os << "\n";
+ }
+ break;
+
+ case 52:
+ case 53:
+ case 54:
+ os << "\n";
+ if (almType==52) os << "Page Type: Subframe 4 Page 13, Reserved Bits\n";
+ if (almType==53) os << "Page Type: Subframe 4 Page 14, Reserved Bits\n";
+ if (almType==54) os << "Page Type: Subframe 4 Page 15, Reserved Bits\n";
+ // Hexadecimal dump
+ os << "Hexadecimal dump of non-parity bits of words 3-10\n";
+ os << " **This feature under construction.**\n";
+ os << " **This page is decoded incorrectly in the ";
+ os << "subframe converter.**\n";
+/* os.setf(ios::uppercase);
+ for (j=2;j<10;j++)
+ {
+ if (j==2 || j==6 ) os << "\n";
+ os << " ";
+ os.width(2);
+ os << (j+1) << ":";
+ os.width(6);
+ os.fill('0');
+ aword = i[j+2];
+ aword >>= 6;
+ os << hex << aword << dec;
+ os.fill(' ');
+ }
+*/
+ break;
+
+ case 55:
+ os << "\n";
+ os << "Page Type: Subframe 4 Page 17, Special Message\n";
+ // Hexadecimal dump
+ // Loop over words 3-10
+ os << "\n Message : \"";
+ for (k=1;k<23;k++)
+ {
+ aword = (unsigned long) f[k+6];
+ ochar = (char) aword;
+ os << ochar;
+ }
+ os << "\"\n";
+ break;
+
+ case 56:
+ os << "\n";
+ os << "Page Type: UTC and Ionospheric Information\n";
+ os.setf(ios::scientific, ios::floatfield);
+ os.setf(ios::right, ios::adjustfield);
+ os.precision(8);
+ os << "\n";
+ os << "IONOSPHERIC PARAMETERS \n";
+ os << " Alpha 1 : ";
+ os.width(16);
+ os << f[7] << " sec Beta 1 : ";
+ os.width(16);
+ os << f[11] << "sec\n";
+ os << " Alpha 2 : ";
+ os.width(16);
+ os << f[8] << " sec/rad Beta 2 : ";
+ os.width(16);
+ os << f[12] << " sec/rad\n";
+ os << " Alpha 3 : ";
+ os.width(16);
+ os << f[9] << " sec/rad**2 Beta 3 : ";
+ os.width(16);
+ os << f[13] << " sec/rad**2\n";
+ os << " Alpha 4 : ";
+ os.width(16);
+ os << f[10] << " sec/rad**3 Beta 4 : ";
+ os.width(16);
+ os << f[14] << " sec/rad**3\n\n";
+
+ os << "GPS-UTC CORRECTION PARAMETERS\n";
+ os << " Bias (A0) ";
+ os.width(16);
+ os << f[15] << " sec\n";
+ os << " Drift (A1) ";
+ os.width(16);
+ os << f[16] << " sec/sec\n";
+ os.setf(ios::fixed, ios::floatfield);
+ os.precision(0);
+ os << " Reference time (tot) ";
+ os.width(16);
+ os << f[17] << " sec of week\n";
+ os << " Current leap second (dtls) ";
+ os.width(16);
+ os << f[19] << " sec\n";
+ os << " Ref week of current leap second (WNt) ";
+ os.width(16);
+ os << f[18] << " weeks\n";
+ os << " Week of next/last change (WNLSF) ";
+ os.width(16);
+ os << f[20] << " weeks\n";
+ os << " Day number of future change (DN) ";
+ os.width(16);
+ os << f[21] << " day of week\n";
+ os << " Scheduled future time increment due to\n";
+ os << " lead seconds (dtLSF) ";
+ os.width(16);
+ os << f[22] << " sec\n";
+ break;
+
+ case 63: // Health 2
+ os << "\n";
+ os << "Page Type: SV Health and Configuration Information\n\n";
+ os.precision(0);
+ os << "SV Health Information for PRN 25-32\n";
+ os << "-----Health----- -----Health----- -----Health----- -----Health-----\n";
+ os << "PRN Hex Binary PRN Hex Binary PRN Hex Binary PRN Hex Binary\n";
+ for (k=25;k<=29;k+=4)
+ {
+ for (j=k;j<k+4;j++)
+ {
+ if (j!=k) os << " ";
+ else os << " ";
+ os.width(2);
+ os.fill('0');
+ os << j;
+ os.fill(' ');
+ os << " ";
+ btmp = (unsigned short) f[j+14];
+ btmp &= 0x003F;
+ os.fill('0');
+ os.width(2);
+ os << hex << btmp << dec;
+ os.fill(' ');
+ os << " ";
+ btmp = (unsigned short) f[j+14];
+ for (rotate=0;rotate<6;rotate++)
+ {
+ if (btmp & 0x20) os << "1";
+ else os << "0";
+ btmp <<= 1;
+ }
+ }
+ os << "\n";
+ }
+
+ os << "\nSV Configuration for PRN 1-32 (bit coded)\n";
+ os << "-----Config----- -----Config----- -----Config----- -----Config-----\n";
+ os << "PRN Binary PRN Binary PRN Binary PRN Binary\n";
+ os.fill('0');
+ for (k=1;k<32;k+=4)
+ {
+ for (j=k;j<(k+4);j++)
+ {
+ if (j==k) os << " ";
+ else os << " ";
+ os.width(2);
+ os << j << " ";
+ btmp = (unsigned short) f[j+6];
+ for (rotate=0;rotate<4;rotate++)
+ {
+ if (btmp & 0x08) os << "1";
+ else os << "0";
+ btmp <<= 1;
+ }
+ }
+ os << "\n";
+ }
+ os.fill(' ');
+ break;
+
+ default:
+ break;
+ }
+ os << "\n\n";
+ }
+
+ void FICData::prettyDump162(ostream & os) const
+ {
+ os << "**************************************";
+ os << "**************************************\n";
+ os << " Block Number : ";
+ os.width(3);
+ os << blockNum << "\n";
+ os << "As Broadcast Almanac\n";
+ os << "\n";
+ os << "SV ID : ";
+ os.width(2);
+ os << i[0] << "\n";
+ timeDisplay( os, "Transmit time",
+ i[14],
+ ((i[2] & 0x3FFFFFFFL) >> 13) * 6,
+ 1 );
+
+ // Added to display reference week in addition to transmit week.
+ os << "Reference Wk ";
+ os.width(4);
+ os << i[13];
+ os << "\n";
+
+ os.setf(ios::uppercase);
+ os << "\n";
+ os << "Hexadecimal dump of words in subframe";
+ short j;
+ for (j=0;j<10;j++)
+ {
+ if (j==0 || j ==5 ) os << "\n";
+ os << " ";
+ os.width(2);
+ os << (j+1) << ":";
+ os.width(8);
+ os.fill('0');
+ os << hex << i[j+1] << dec;
+ os.fill(' ');
+ }
+ os << "\n\n";
+ }
+
+ // shortcut is used in outBlock9 to convert the
+ // HOW word time to D:H:M:S and print it out.
+ void FICData::shortcut(ostream & os, const double HOW ) const
+ {
+ short DOW, hour, min, sec;
+ long SOD, SOW;
+ short SOH;
+
+ SOW = (long) HOW;
+ DOW = (short) (SOW / DayTime::SEC_DAY);
+ SOD = SOW - DOW * long(DayTime::SEC_DAY);
+ hour = (short) (SOD/3600);
+
+ SOH = (short) (SOD - (hour*3600));
+ min = SOH/60;
+
+ sec = SOH - min * 60;
+ switch (DOW)
+ {
+ case 0: os << "Sun-0"; break;
+ case 1: os << "Mon-1"; break;
+ case 2: os << "Tue-2"; break;
+ case 3: os << "Wed-3"; break;
+ case 4: os << "Thu-4"; break;
+ case 5: os << "Fri-5"; break;
+ case 6: os << "Sat-6"; break;
+ default: break;
+ }
+ os << ":";
+ os.fill('0');
+ os.width(2);
+ os << hour << ":";
+ os.width(2);
+ os << min << ":";
+ os.width(2);
+ os << sec;
+ }
+
+ // timeDisplay method provides a standard means for displaying
+ // the GPS time and d/m/y h:m:s. The calling program provides
+ // the opening text string for the line, the GPS week, the GPS SOW,
+ // and a flag indicating if the header line is to be output.
+ // (The latter is helpful when there are two or more times to be
+ // output one above the other.)
+ void FICData::timeDisplay( ostream & os, const char * legend,
+ const short week, const double SOW,
+ const short headerFlag ) const
+ {
+ DayTime dt;
+ short slen;
+ short j;
+
+ if (headerFlag)
+ os << " Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS\n";
+ os << legend;
+ slen = strlen(legend);
+ for (j=1;j<(15-slen);j++) os << " ";
+
+ // Convert to daytime struct from GPS wk,SOW to M/D/Y, H:M:S.
+ dt.setGPSfullweek(week, SOW);
+
+ os.width(4);
+ os << dt.GPSfullweek() << "(";
+ os.width(4);
+ os << dt.GPS10bitweek() << ") ";
+ os.width(6);
+ os << dt.GPSsecond() << " ";
+
+ switch (dt.GPSday())
+ {
+ case 0: os << "Sun-0"; break;
+ case 1: os << "Mon-1"; break;
+ case 2: os << "Tue-2"; break;
+ case 3: os << "Wed-3"; break;
+ case 4: os << "Thu-4"; break;
+ case 5: os << "Fri-5"; break;
+ case 6: os << "Sat-6"; break;
+ default: break;
+ }
+ os << " ";
+ os.fill('0');
+ os.width(3);
+ os << dt.DOYday() << " ";
+ os.width(5);
+ os << dt.DOYsecond() << " ";
+ os.width(2);
+ os << dt.month() << "/";
+ os.width(2);
+ os << dt.day() << "/";
+ os.width(4);
+ os << dt.year() << " ";
+ os.width(2);
+ os << dt.hour() << ":";
+ os.width(2);
+ os << dt.minute() << ":";
+ os.width(2);
+ os << dt.second() << "\n";
+ os.fill(' ');
+ }
+
+ void FICData::reallyGetRecord(FFStream& ffs)
+ throw(std::exception, gpstk::StringUtils::StringException,
+ gpstk::FFStreamError)
+ {
+ // is this a FIC or FICA stream?
+ if (dynamic_cast<FICAStream*>(&ffs))
+ {
+ FICAStream& strm = dynamic_cast<FICAStream&>(ffs);
+
+ // Make sure the header has been read.
+ if (!strm.headerRead)
+ strm >> strm.header;
+
+ f.clear();
+ i.clear();
+ c.clear();
+
+ string line;
+ strm.formattedGetLine(line, true);
+ string blkHdr(line.substr(0,4));
+
+ if ( (blkHdr.size() != FICBlkHdrSize) ||
+ (blkHdr != blockString))
+ {
+ FFStreamError e("Bad block header, record=" +
+ asString(strm.recordNumber) +
+ " location=" + asString(strm.tellg()));
+ e.addText(string("blkHdr=[")+string(blkHdr)+string("]"));
+ GPSTK_THROW(e);
+ }
+ // get block number
+ blockNum = asInt(line.substr(4, 6));
+
+ // get num of f,i, and c to read then read them
+ long numf = asInt(line.substr(10,5)),
+ numi = asInt(line.substr(15,5)),
+ numc = asInt(line.substr(20,5));
+
+ long n;
+
+ for (n = 0; n < numf; n++)
+ {
+ if (n%4 == 0)
+ strm.formattedGetLine(line);
+ f.push_back(for2doub(line.substr((n%4)*20, 20), 20));
+ }
+
+ for (n = 0; n < numi; n++)
+ {
+ if (n%6 == 0)
+ strm.formattedGetLine(line);
+ i.push_back(asInt(line.substr((n%6)*12, 12)));
+ }
+
+ for (n = 0; n < numc; n++)
+ {
+ if (n%8 == 0)
+ strm.formattedGetLine(line);
+ c.push_back(line.substr((n%8)*8 + 7, 1)[0]);
+ }
+
+ if (!isValid())
+ {
+ FFStreamError e("Read an invalid FIC block");
+ GPSTK_THROW(e);
+ }
+ }
+ else
+ {
+ if (dynamic_cast<FICStream*>(&ffs))
+ {
+ FICStream& strm = dynamic_cast<FICStream&>(ffs);
+
+ // Make sure the header has been read.
+ if (!strm.headerRead)
+ strm >> strm.header;
+
+ f.clear();
+ i.clear();
+ c.clear();
+
+ char blkHdr[FICBlkHdrSize + 1];
+ unsigned location = strm.tellg();
+
+ strm.getData(blkHdr, FICBlkHdrSize);
+ if ((string(blkHdr, FICBlkHdrSize) != blockString))
+ {
+ FFStreamError e("Bad block header, record="
+ + asString(strm.recordNumber)
+ + " location=" + asString(location));
+ e.addText(string("blkHdr=[")+string(blkHdr)+string("]"));
+ GPSTK_THROW(e);
+ }
+ // get block number
+ blockNum = intelToHost(strm.getData<int32_t>());
+
+ // get num of f,i, and c to read then read them
+ int32_t numf = intelToHost(strm.getData<int32_t>());
+ int32_t numi = intelToHost(strm.getData<int32_t>());
+ int32_t numc = intelToHost(strm.getData<int32_t>());
+
+ long n;
+
+ for (n = 0; n < numf; n++)
+ {
+ double fl = intelToHost(strm.getData<double>());
+ f.push_back(fl);
+ }
+
+ for (n = 0; n < numi; n++)
+ {
+ long lg = intelToHost(strm.getData<int32_t>());
+ i.push_back(lg);
+ }
+
+ for (n = 0; n < numc; n++)
+ {
+ char ch = intelToHost(strm.getData<char>());
+ c.push_back(ch);
+ }
+ }
+ // bad cast!!!
+ else
+ {
+ FFStreamError e("FICData tried to read from a non-FIC file");
+ GPSTK_THROW(e);
+ }
+ }
+ if (!isValid())
+ {
+ FFStreamError e("Read an invalid FIC block");
+ GPSTK_THROW(e);
+ }
+ }
+
+ FICData::operator EngEphemeris() const
+ throw(WrongBlockNumber)
+ {
+ if(blockNum==9)
+ {
+ gpstk::EngEphemeris eph;
+ unsigned tlm = (unsigned)f[0];
+ eph.setSF1( ((tlm >> 8) & 0x3fff), (long)f[2], (short)f[3], (short)f[5],
+ (short)f[6], (short)f[7], (short)f[8], (short)ldexp(f[9],-11),
+ (short)f[10], f[11], f[12], f[13], f[14], f[15], (short)f[18],
+ (short)f[19] );
+ tlm = (unsigned)f[20];
+ eph.setSF2( ((tlm >> 8) & 0x3fff),(long)f[22], (short)f[23],
+ (short)ldexp(f[25],-11), f[26], f[27], f[28], f[29], f[30],
+ f[31], f[32], f[33], (short)f[34] );
+ tlm = (unsigned)f[40];
+ eph.setSF3( ((tlm >> 8) & 0x3fff), (long)f[42], (short)f[43], f[45],
+ f[46], f[47], f[48], f[49], f[50], f[51], f[53] );
+ return eph;
+ }
+ else if(blockNum == 109)
+ {
+ gpstk::EngEphemeris eph;
+ // gotta transfer data in vector<long> to long[].
+ long foo[30];
+ int count = 0;
+ for(int count = 2; count < i.size(); count++)
+ {
+ foo[count-2] = i[count];
+ }
+ eph.addSubframe(foo, i[0], i[1], 0);
+ eph.addSubframe(foo+10, i[0], i[1], 0);
+ eph.addSubframe(foo+20, i[0], i[1], 0);
+ return eph;
+ }
+ else
+ {
+ WrongBlockNumber wbn( "Block number should be 9, was " +
+ asString(blockNum) );
+ GPSTK_THROW(wbn);
+ }
+ }
+
+
+ FICData::operator AlmOrbit() const
+ throw(WrongBlockNumber)
+ {
+ if(blockNum == 62)
+ {
+ AlmOrbit ao(i[3], f[7], f[9], f[10],
+ f[12], f[13], f[14], f[15],
+ f[16], f[17], long(f[8]), i[1],
+ i[0], short(f[11]));
+ return ao;
+ }
+ else
+ {
+ WrongBlockNumber wbn( "Block number should be 62, was " +
+ asString(blockNum) );
+ GPSTK_THROW(wbn);
+ }
+ }
+
+ std::string FICData::generateUniqueKey() const
+ throw(WrongBlockNumber, WrongBlockFormat)
+ {
+ std::ostringstream out;
+ DayTime transmitTime(0.L), howTime(0.L);
+ WrongBlockNumber wbn( "Block number should be 9, 109, or 62, was "+
+ asString(blockNum) );
+
+ switch (blockNum)
+ {
+ case 9:
+ // the keys for EphData are PRN, week, IODC, AS and alert bits
+ out << "EE" << ' '
+ << f[19] << ' '
+ << f[5] << ' '
+ // all bits are as counted from the MSB
+ // AODC is recorded, not IODC so divide by 2048
+ << ldexp(f[9], -11) << ' '
+ // the AS and alert bits
+ << f[3] << ' '
+ << f[23] << ' '
+ << f[43];
+ break;
+
+ case 109:
+ out << "E" << ' '
+ << i[1] << ' ' // prn
+ << i[0] << ' ' // transmit week
+ << (((i[4] & 0xC0)<<2) + ((i[9] & 0x3FC00000)>>22)) << ' '
+ // the AS and alert bits are in the HOW (word 2), bits 18 and 19
+ << ((i[3] & 0x1800)>>11) << ' '
+ << ((i[13] & 0x1800)>>11) << ' '
+ << ((i[23] & 0x1800)>>11);
+ break;
+
+ case 62:
+ transmitTime.setGPSfullweek(i[5], (double)i[1]);
+ howTime.setGPSfullweek(i[5], f[2]);
+
+ // we only have toa in this format message.. yay.
+ // FIX magic number.. I'm a bit apprehensive about
+ // using MAX_PRN here because I don't know how things
+ // may change. erf.
+ if ((i[3] >= 1) && (i[3] <= 32))
+ {
+ out << "A" << ' '
+ << ((short)f[6]) << ' ' // page id
+ << transmitTime.GPSday() << ' '
+ << transmitTime.GPSfullweek() << ' '
+ << ((long)f[8]) << ' ' // toa
+ << howTime.DOYday() << ' '
+ << howTime.DOYyear();
+ }
+ else
+ {
+ WrongBlockFormat wbf("Format " + asString(i[4]) +
+ " (page ID " + asString(i[3]) +
+ ") cannot be used to generate a key.");
+ GPSTK_THROW(wbf);
+ }
+ break;
+ default:
+ GPSTK_THROW(wbn);
+ } // switch (blockNum)
+
+ return out.str();
+
+ }
+
+} // namespace gpstk
+
diff --git a/dev/src/FICData.hpp b/dev/src/FICData.hpp
new file mode 100644
index 0000000..caad6a1
--- /dev/null
+++ b/dev/src/FICData.hpp
@@ -0,0 +1,189 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FICData.hpp
+ * gpstk::FICData - container for the FIC file data.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#ifndef FICDATA_HPP
+#define FICDATA_HPP
+
+#include <vector>
+#include <map>
+
+#include "FFStream.hpp"
+#include "FICBase.hpp"
+#include "EngEphemeris.hpp"
+#include "AlmOrbit.hpp"
+
+namespace gpstk
+{
+ /// This gets thrown if we don't have the right data for cast operations.
+ /// @ingroup exceptionclass
+ NEW_EXCEPTION_CLASS(WrongBlockNumber, gpstk::Exception);
+
+ /// This gets thrown if we don't have the wrong format block is used.
+ /// @ingroup exceptionclass
+ NEW_EXCEPTION_CLASS(WrongBlockFormat, gpstk::Exception);
+
+ /**
+ * This does all the grunt-work in reading/decoding
+ * FIC-formatted files (ASCII And Binary).
+ *
+ * \sa fic_test.cpp, fic_read_write.cpp, fica_test.cpp for examples.
+ *
+ * \sa FICStream, FICAStream, and FICHeader.
+ */
+ class FICData : public FICBase
+ {
+ public:
+ /// Default constructor
+ FICData() : blockNum(0) {}
+
+ /*
+ * Construct a FICData from an EngEphemeris object.
+ * @param engEph the EngEphemeris to copy
+ */
+ // if you uncomment this, fix the doxygen comment above as well
+ //FICData(const EngEphemeris& engEph) throw();
+
+ /// Destructor
+ virtual ~FICData() {}
+ /**
+ * Returns whether or not this FICData is valid.
+ * Checks the sizes of the f, i, and c vectors using different
+ * metrics for each FIC Record Type.
+ * See the ICD-GPS-200 for complete details.
+ */
+ bool isValid() const;
+
+ //! This class is "data" so this function always returns "true".
+ virtual bool isData() const {return true;}
+
+ /**
+ * Debug output function.
+ * Dump the contents of each of the f, i, and c vectors to the
+ * given ostream \c s.
+ */
+ virtual void dump(std::ostream& s) const;
+
+ /**
+ * Prints the FIC data in a nice format, labeling all the important
+ * subframes and quantities.
+ */
+ void prettyDump(std::ostream& os) const;
+
+ /**
+ * Cast *this to an Engineering Ephemeiris Object.
+ * @return the constructed EngEphemeris object
+ */
+ operator EngEphemeris() const throw(WrongBlockNumber);
+
+ /**
+ * cast *this into an AlmOrbit, only for block 62s
+ * @return the constructed AlmOrbit object
+ */
+ operator AlmOrbit() const throw(WrongBlockNumber);
+
+ /// Generates a unique key for this FIC data so that redundant
+ /// messages can be filtered. Uses the same criteria
+ /// as other generateUniqueKey() functions.
+ /// Currently only for blocks 9 and 62 (otherwise it throws)
+ /// @sa NavSF::generateUniqueKey()
+ /// @sa EngEphData::generateUniqueKey()
+ std::string generateUniqueKey() const throw(WrongBlockNumber,
+ WrongBlockFormat);
+
+ /// @name data members
+ //@{
+ static const std::string blockString; ///< "BLK " record header constsnt
+ long blockNum; ///< Block number for this FIC Record.
+ std::vector<double> f; ///< Vector of floating point numbers.
+ std::vector<long> i; ///< Vector of long integers.
+ std::vector<char> c; ///< Vector of characters.
+ //@}
+
+ protected:
+ //! Writes this record to the stream \a s.
+ virtual void reallyPutRecord(FFStream& s) const
+ throw(std::exception, gpstk::StringUtils::StringException,
+ gpstk::FFStreamError);
+ /**
+ * Read a "FICData" record from the FFStream \c s.
+ * If an error is encountered, the function will
+ * return the stream to its original state and mark its fail-bit.
+ * @throws FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to its pre-read position.
+ */
+ virtual void reallyGetRecord(FFStream& s)
+ throw(std::exception, gpstk::StringUtils::StringException,
+ gpstk::FFStreamError);
+
+ private:
+ /// nicely prints the data from a block 9 record
+ void prettyDump9(std::ostream& o) const;
+ /// nicely prints the data from a block 109 record
+ void prettyDump109(std::ostream& o) const;
+ /// nicely prints the data from a block 62 record
+ void prettyDump62(std::ostream& o) const;
+ /// nicely prints the data from a block 162 record
+ void prettyDump162(std::ostream& o) const;
+
+ /// nicely prints the time
+ void timeDisplay( std::ostream & os, const char * legend,
+ const short week, const double SOW,
+ const short headerFlag ) const;
+
+ /// shortcut is used in prettyDump9 to convert the
+ /// HOW word time to D:H:M:S and print it out.
+ void shortcut(std::ostream & os, const double HOW ) const;
+ };
+
+}
+
+#endif // FICDATA_HPP
+
diff --git a/dev/src/FICData109.cpp b/dev/src/FICData109.cpp
new file mode 100644
index 0000000..493d32a
--- /dev/null
+++ b/dev/src/FICData109.cpp
@@ -0,0 +1,88 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file FICData109.cpp
+ * Ephemeris data encapsulated in engineering terms
+ */
+
+#include "StringUtils.hpp"
+#include "icd_200_constants.hpp"
+#include "DayTime.hpp"
+#include "FICData109.hpp"
+
+#include <cmath>
+
+namespace gpstk
+{
+ using namespace std;
+ using namespace gpstk;
+
+ //
+ // Note: the subframes are assumed to be 11 elements long so
+ // elements 1-10 are used.
+ FICData109::FICData109(const short PRNID,
+ const std::vector<uint32_t> sf1,
+ const std::vector<uint32_t> sf2,
+ const std::vector<uint32_t> sf3 )
+ {
+ blockNum = 109;
+
+ long temp = sf1[3];
+ temp &= 0x3FFFFFFF; // Make certain top two bits are 0
+ temp >>= 20;
+ // DANGER WILL ROBINSON!!!!
+ // HERE IS A TEMP KLUDGE
+ temp += 1024; // for the GPS Epoch.
+
+ i.push_back( temp );
+ i.push_back( (long) PRNID );
+
+ for (int wndx=1;wndx<11;++wndx) i.push_back( (long) sf1[wndx] );
+ for (int wndx=1;wndx<11;++wndx) i.push_back( (long) sf2[wndx] );
+ for (int wndx=1;wndx<11;++wndx) i.push_back( (long) sf3[wndx] );
+ }
+
+} // namespace
diff --git a/dev/src/FICData109.hpp b/dev/src/FICData109.hpp
new file mode 100644
index 0000000..98a7d7e
--- /dev/null
+++ b/dev/src/FICData109.hpp
@@ -0,0 +1,77 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FICData109.hpp
+ * Augment the FICData class to provide the ability to load
+ * the FICData specifically for Block 109
+ */
+
+#ifndef GPSTK_FICDATA109_HPP
+#define GPSTK_FICDATA109_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FICData.hpp"
+
+namespace gpstk
+{
+ class FICData109 : public FICData
+ {
+ public:
+ /// Default constructor
+ FICData109( const short PRNID,
+ const std::vector<uint32_t> sf1,
+ const std::vector<uint32_t> sf2,
+ const std::vector<uint32_t> sf3 );
+
+ /// Destructor
+ virtual ~FICData109() {}
+
+ }; // class FICData109
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/FICData162.cpp b/dev/src/FICData162.cpp
new file mode 100644
index 0000000..534cbca
--- /dev/null
+++ b/dev/src/FICData162.cpp
@@ -0,0 +1,82 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file FICData162.cpp
+ * Ephemeris data encapsulated in engineering terms
+ */
+#include "StringUtils.hpp"
+#include "icd_200_constants.hpp"
+#include "DayTime.hpp"
+#include "FICData162.hpp"
+
+#include <cmath>
+
+namespace gpstk
+{
+ using namespace std;
+ using namespace gpstk;
+
+ //
+ // Note: the subframes are assumed to be 11 elements long so
+ // elements 1-10 are used.
+ FICData162::FICData162(const short xmitPRN,
+ const short SVID,
+ const short xmitWeek,
+ const short toaWeek,
+ const std::vector<uint32_t> subframe )
+ {
+ blockNum = 162;
+
+ i.push_back( (long) SVID );
+ for (int wndx=1;wndx<11;++wndx) i.push_back( (long) subframe[wndx] );
+ long dummy = 0;
+ i.push_back( (long) xmitPRN );
+ i.push_back( dummy );
+ i.push_back( (long) toaWeek );
+ i.push_back( (long) xmitWeek );
+ }
+
+} // namespace
diff --git a/dev/src/FICData162.hpp b/dev/src/FICData162.hpp
new file mode 100644
index 0000000..c2e8c7d
--- /dev/null
+++ b/dev/src/FICData162.hpp
@@ -0,0 +1,78 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FICData162.hpp
+ * Augment the FICData class to provide the ability to load
+ * the FICData specifically for Block 162
+ */
+
+#ifndef GPSTK_FICDATA162_HPP
+#define GPSTK_FICDATA162_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FICData.hpp"
+
+namespace gpstk
+{
+ class FICData162 : public FICData
+ {
+ public:
+ /// Default constructor
+ FICData162( const short xmitPRN,
+ const short SVID,
+ const short xmitWeek,
+ const short toaWeek,
+ const std::vector<uint32_t> subframe );
+
+ /// Destructor
+ virtual ~FICData162() {}
+
+ }; // class FICData162
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/FICData62.cpp b/dev/src/FICData62.cpp
new file mode 100644
index 0000000..0bc3119
--- /dev/null
+++ b/dev/src/FICData62.cpp
@@ -0,0 +1,111 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file FICData62.cpp
+ * Almanac data encapsulated in engineering terms
+ */
+
+#include "StringUtils.hpp"
+#include "icd_200_constants.hpp"
+#include "DayTime.hpp"
+#include "FICData62.hpp"
+
+#include <cmath>
+
+namespace gpstk
+{
+ using namespace std;
+ using namespace gpstk;
+
+ const double FICData62::UNUSED_F = 0.0;
+ const long FICData62::UNUSED_I = 0;
+
+ FICData62::FICData62( const gpstk::FICData162 fic162 )
+ {
+ blockNum = 62;
+
+ double output[60];
+ bool stat = EngNav::subframeConvert( &(fic162.i[1]),
+ (int) fic162.i[14],
+ output );
+
+ if (stat==false)
+ {
+ // need to throw something here
+ return;
+ }
+
+ short format = EngNav::getSubframePattern( &(fic162.i[1]) );
+
+ i.push_back( fic162.i[13] );
+ i.push_back( (long) (output[2] - 6.0) );
+ i.push_back( UNUSED_I );
+ i.push_back( (long) output[6] );
+ i.push_back( (long) format );
+ i.push_back( fic162.i[14] );
+
+
+ short maxNdx;
+ switch (format)
+ {
+ case 4: maxNdx = 20; break;
+ case 5: maxNdx = 32; break;
+ case 6: maxNdx = 14; break;
+ case 7: maxNdx = 14; break;
+ case 8: maxNdx = 23; break;
+ case 9: maxNdx = 47; break;
+ case 10:maxNdx = 29; break;
+
+ default:
+ // THROW SOMETHING
+ break;
+ }
+ for (int ndx=0;ndx<maxNdx;++ndx)
+ {
+ f.push_back( output[ndx] );
+ }
+ }
+} // namespace
diff --git a/dev/src/FICData62.hpp b/dev/src/FICData62.hpp
new file mode 100644
index 0000000..6712baa
--- /dev/null
+++ b/dev/src/FICData62.hpp
@@ -0,0 +1,82 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FICData62.hpp
+ * Augment the FICData class to provide the ability to load
+ * the FICData specifically for Block 62. This may seem
+ * counter-intuitive (usually we're READING FIC and converting
+ * to internal storage) but it's helpful in preparing to WRITE
+ * FIC in the creation process.
+ */
+
+#ifndef GPSTK_FICDATA62_HPP
+#define GPSTK_FICDATA62_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "EngEphemeris.hpp"
+#include "FICData.hpp"
+#include "FICData162.hpp"
+
+namespace gpstk
+{
+ class FICData62 : public FICData
+ {
+ public:
+ /// Default constructor
+ FICData62( const gpstk::FICData162 rawsf );
+
+ /// Destructor
+ virtual ~FICData62() {}
+ protected:
+ static const double UNUSED_F;
+ static const long UNUSED_I;
+
+ }; // class FICData62
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/FICData9.cpp b/dev/src/FICData9.cpp
new file mode 100644
index 0000000..30eb705
--- /dev/null
+++ b/dev/src/FICData9.cpp
@@ -0,0 +1,133 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file FICData9.cpp
+ * Ephemeris data encapsulated in engineering terms
+ */
+
+#include "StringUtils.hpp"
+#include "icd_200_constants.hpp"
+#include "DayTime.hpp"
+#include "FICData9.hpp"
+
+#include <cmath>
+
+namespace gpstk
+{
+ using namespace std;
+ using namespace gpstk;
+
+ const double FICData9::UNUSED = 0.0;
+
+ FICData9::FICData9( const gpstk::FICData109 rawsf, const gpstk::EngEphemeris ee )
+ {
+ int i;
+ blockNum = 9;
+
+ firstFiveItems( 1, rawsf, ee );
+ f.push_back( (double) ee.getTransmitTime().GPSfullweek() );
+ f.push_back( (double) ee.getCodeFlags() );
+ f.push_back( (double) ee.getAccFlag() );
+ f.push_back( (double) ee.getHealth() );
+ f.push_back( (double) (ee.getIODC() * 2048) );
+ f.push_back( (double) ee.getL2Pdata() );
+ f.push_back( ee.getTgd() );
+ f.push_back( ee.getToc() );
+ f.push_back( ee.getAf2() );
+ f.push_back( ee.getAf1() );
+ f.push_back( ee.getAf0() );
+
+ // Two unused
+ f.push_back( UNUSED );
+ f.push_back( UNUSED );
+ f.push_back( (double) ee.getTracker() );
+ f.push_back( (double) ee.getPRNID() );
+
+ firstFiveItems( 2, rawsf, ee );
+ f.push_back( (double) (ee.getIODE() * 2048) );
+ f.push_back( ee.getCrs() );
+ f.push_back( ee.getDn() );
+ f.push_back( ee.getM0() );
+ f.push_back( ee.getCuc() );
+ f.push_back( ee.getEcc() );
+ f.push_back( ee.getCus() );
+ f.push_back( ee.getAhalf() );
+ f.push_back( ee.getToe() );
+ f.push_back( (double) ee.getFitInt() );
+
+ // Five unused
+ for (i=0;i<5;++i) f.push_back( UNUSED );
+
+ firstFiveItems( 3, rawsf, ee );
+ f.push_back( ee.getCic() );
+ f.push_back( ee.getOmega0() );
+ f.push_back( ee.getCis() );
+ f.push_back( ee.getI0() );
+ f.push_back( ee.getCrc() );
+ f.push_back( ee.getW() );
+ f.push_back( ee.getOmegaDot() );
+ f.push_back( (double) (ee.getIODE() * 2048) );
+ f.push_back( ee.getIDot() );
+
+ // Six unused
+ for (i=0;i<6;++i) f.push_back( UNUSED );
+ }
+
+ void FICData9::firstFiveItems( const short sfNum,
+ const gpstk::FICData109 rawsf,
+ const gpstk::EngEphemeris ee )
+ {
+ int ndx = 2 + ((sfNum-1) * 10);
+ long word01 = rawsf.i[ ndx ];
+ long preamble = word01 >> 22;
+ f.push_back( (double) preamble );
+ f.push_back( (double) ee.getTLMMessage(sfNum) );
+ f.push_back( ee.getHOWTime(sfNum) );
+ f.push_back( (double) ee.getASAlert(sfNum) );
+ f.push_back( (double) sfNum );
+ }
+
+} // namespace
diff --git a/dev/src/FICData9.hpp b/dev/src/FICData9.hpp
new file mode 100644
index 0000000..12674d0
--- /dev/null
+++ b/dev/src/FICData9.hpp
@@ -0,0 +1,85 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FICData9.hpp
+ * Augment the FICData class to provide the ability to load
+ * the FICData specifically for Block 9. This may seem
+ * counter-intuitive (usually we're READING FIC and converting
+ * to internal storage) but it's helpful in preparing to WRITE
+ * FIC in the creation process.
+ */
+
+#ifndef GPSTK_FICDATA9_HPP
+#define GPSTK_FICDATA9_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "EngEphemeris.hpp"
+#include "FICData.hpp"
+#include "FICData109.hpp"
+
+namespace gpstk
+{
+ class FICData9 : public FICData
+ {
+ public:
+ /// Default constructor
+ FICData9( const gpstk::FICData109 rawsf, const gpstk::EngEphemeris ee );
+
+ /// Destructor
+ virtual ~FICData9() {}
+ protected:
+ static const double UNUSED;
+
+ void firstFiveItems( const short sfNum,
+ const gpstk::FICData109 rawsf,
+ const gpstk::EngEphemeris ee );
+
+ }; // class FICData9
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/FICFilterOperators.hpp b/dev/src/FICFilterOperators.hpp
new file mode 100644
index 0000000..8664f61
--- /dev/null
+++ b/dev/src/FICFilterOperators.hpp
@@ -0,0 +1,303 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FICFilterOperators.hpp
+ * gpstk::FICFilterOperators - FIC filter operators.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#ifndef FICFILTEROPERATORS_HPP
+#define FICFILTEROPERATORS_HPP
+
+#include "FileFilter.hpp"
+#include "FICData.hpp"
+
+namespace gpstk
+{
+ /// Removes all data that doesn't match the given SVID/PRN numbers.
+ struct FICDataFilterPRN :
+ public std::unary_function<gpstk::FICData, bool>
+ {
+ public:
+ FICDataFilterPRN(const std::list<long>& lst)
+ : prnList(lst)
+ {}
+
+ /// This should return true when the data is to be erased.
+ bool operator() (const gpstk::FICData& l) const
+ {
+ // this criteria is the same as the r44 navdump criteria
+ switch (l.blockNum)
+ {
+ case 9:
+ return find(prnList.begin(), prnList.end(), l.f[19]) ==
+ prnList.end();
+ break;
+
+ case 109:
+ return find(prnList.begin(), prnList.end(), l.i[1]) ==
+ prnList.end();
+ break;
+
+ // For 62 and 162, all SVIDs 51-63 will be added
+ // as well as any PRNs 1-32 that were selected.
+
+ case 62:
+ if (l.i[3] >= 51)
+ return false;
+ return find(prnList.begin(), prnList.end(), l.i[3]) ==
+ prnList.end();
+
+ break;
+
+ case 162:
+ if (l.i[0] >= 51)
+ return false;
+ return find(prnList.begin(), prnList.end(), l.i[0]) ==
+ prnList.end();
+ break;
+
+ default:
+ return true;
+ break;
+ }
+ }
+
+ private:
+ std::list<long> prnList;
+ };
+
+ /// Removes all data that doesn't match the given block numbers
+ struct FICDataFilterBlock :
+ public std::unary_function<gpstk::FICData, bool>
+ {
+ public:
+ FICDataFilterBlock(const std::list<long>& lst)
+ : blockList(lst)
+ {}
+
+ bool operator() (const gpstk::FICData& l) const
+ {
+ return find(blockList.begin(), blockList.end(), l.blockNum) ==
+ blockList.end();
+ }
+
+ private:
+ std::list<long> blockList;
+ };
+
+ /// Finds all data that matches the given block numbers
+ struct FICDataFindBlock :
+ public std::unary_function<gpstk::FICData, bool>
+ {
+ public:
+ FICDataFindBlock(const std::list<long>& lst)
+ : blockList(lst)
+ {}
+
+ bool operator() (const gpstk::FICData& l) const
+ {
+ return find(blockList.begin(), blockList.end(), l.blockNum) !=
+ blockList.end();
+ }
+ private:
+ std::list<long> blockList;
+ };
+
+ /// Sorting only for block 9 FICData
+ struct FICDataOperatorLessThanBlock9 :
+ public std::binary_function<gpstk::FICData, gpstk::FICData, bool>
+ {
+ public:
+ bool operator() (const gpstk::FICData& l,
+ const gpstk::FICData& r) const
+ {
+ if ( (l.blockNum != 9) || (r.blockNum != 9) )
+ return false;
+
+ // sort by transmit time, prn
+ if (l.f[5] < r.f[5])
+ return true;
+ else if (l.f[5] == r.f[5])
+ if (l.f[33] < r.f[33])
+ return true;
+ else if (l.f[33] == r.f[33])
+ if (l.f[19] < r.f[19])
+ return true;
+
+ return false;
+ }
+ };
+
+ /// Sorting only for block 109 FICData
+ struct FICDataOperatorLessThanBlock109 :
+ public std::binary_function<gpstk::FICData, gpstk::FICData, bool>
+ {
+ public:
+ bool operator() (const gpstk::FICData& l,
+ const gpstk::FICData& r) const
+ {
+ if ( (l.blockNum != 9) || (r.blockNum != 9) )
+ return false;
+
+ // sort by transmit time, prn
+ if(l.i[0] < r.i[0]) // week numbers
+ return true;
+ else if(l.i[0] == r.i[0])
+ {
+ // crack the HOW. Note: I know I'm not multiplying by 6.
+ if( ((l.i[3] >> 13) & 0x1FFFF) <
+ ((r.i[3] >> 13) & 0x1FFFF) )
+ return true;
+ else if( ((l.i[3] >> 13) & 0x1FFFF) ==
+ ((r.i[3] >> 13) & 0x1FFFF) )
+ if(l.i[1] < r.i[1])
+ return true;
+ }
+
+ return false;
+ }
+ };
+
+ /// Useful for FICDiff and others...
+ struct FICDataOperatorLessThanFull :
+ public std::binary_function<gpstk::FICData, gpstk::FICData, bool>
+ {
+ public:
+ bool operator() (const gpstk::FICData& l,
+ const gpstk::FICData& r) const
+ {
+ if (l.blockNum < r.blockNum)
+ return true;
+ if (l.blockNum > r.blockNum)
+ return false;
+
+ if ( (l.f.size() < r.f.size()) ||
+ (l.i.size() < r.i.size()) ||
+ (l.c.size() < r.c.size()))
+ return true;
+
+ if ( (l.f.size() > r.f.size()) ||
+ (l.i.size() > r.i.size()) ||
+ (l.c.size() > r.c.size()))
+ return false;
+
+ // ok, they're the same block and type of data - check
+ // the individual contents
+ std::vector<double>::size_type findex;
+ for (findex = 0; findex < l.f.size(); findex++)
+ {
+ if (l.f[findex] < r.f[findex])
+ return true;
+ if (l.f[findex] > r.f[findex])
+ return false;
+ }
+
+ std::vector<long>::size_type iindex;
+ for (iindex = 0; iindex < l.i.size(); iindex++)
+ {
+ if (l.i[iindex] < r.i[iindex])
+ return true;
+ if (l.i[iindex] > r.i[iindex])
+ return false;
+ }
+
+ std::vector<char>::size_type cindex;
+ for (cindex = 0; cindex < l.c.size(); cindex++)
+ {
+ if (l.c[cindex] < r.c[cindex])
+ return true;
+ if (l.c[cindex] > r.c[cindex])
+ return false;
+ }
+ // they're equal
+ return false;
+ }
+ };
+
+ /// Uniqueness operator for block 9 FIC data
+ struct FICDataUniqueBlock9 :
+ public std::binary_function<gpstk::FICData, gpstk::FICData, bool>
+ {
+ public:
+ bool operator() (const gpstk::FICData& l,
+ const gpstk::FICData& r) const
+ {
+ // the unique criteria are PRN, week, IODC, AS/alert bits
+ return ( (l.f[19] == r.f[19]) &&
+ (l.f[3] == r.f[3]) &&
+ (l.f[5] == r.f[5]) &&
+ (l.f[23] == r.f[23]) &&
+ (l.f[43] == r.f[43]) &&
+ ( (l.f[9] / 2048) == (r.f[9] / 2048) ) );
+ }
+ };
+
+ /// Uniqueness operator for block 109 FIC data
+ struct FICDataUniqueBlock109 :
+ public std::binary_function<gpstk::FICData, gpstk::FICData, bool>
+ {
+ public:
+ bool operator() (const gpstk::FICData& l,
+ const gpstk::FICData& r) const
+ {
+ // the unique criteria are PRN, week, IODC, AS/alert bits
+ return ( (l.i[1] == r.i[1]) &&
+ (l.i[0] == r.i[0]) &&
+ // crack IODC on subframe 1
+ ((((l.i[4] << 2) & 0x00000300) + ((l.i[9] >> 22) & 0xFF)) ==
+ (((r.i[4] << 2) & 0x00000300) + ((r.i[9] >> 22) & 0xFF))) &&
+ // crack AS/Alert on subframe 1
+ ( ((l.i[4] >> 11) & 0x3) == ((r.i[4] >> 11) & 0x3) ) &&
+ // crack AS/Alert on subframe 2
+ ( ((l.i[14] >> 11) & 0x3) == ((r.i[14] >> 11) & 0x3) ) &&
+ // crack AS/Alert on subframe 3
+ ( ((l.i[24] >> 11) & 0x3) == ((r.i[24] >> 11) & 0x3) ) );
+ }
+ };
+}
+
+#endif
+
diff --git a/dev/src/FICHeader.cpp b/dev/src/FICHeader.cpp
new file mode 100644
index 0000000..5f61abc
--- /dev/null
+++ b/dev/src/FICHeader.cpp
@@ -0,0 +1,142 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FICHeader.cpp
+ * gpstk::FICHeader - container for the FIC file header data.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "StringUtils.hpp"
+#include "FICHeader.hpp"
+#include "FICStream.hpp"
+#include "FICAStream.hpp"
+
+using namespace gpstk::StringUtils;
+
+const int gpstk::FICHeader::headerSize = 40;
+
+
+namespace gpstk
+{
+ using namespace std;
+
+
+ void FICHeader::reallyPutRecord(FFStream& ffs) const
+ throw(std::exception, gpstk::StringUtils::StringException,
+ gpstk::FFStreamError)
+ {
+ string theHeader(header);
+ if(FICStream* strm = dynamic_cast<FICStream*>(&ffs))
+ {
+ // This is a binary FIC stream, so
+ // send the 40 character header, truncated or padded
+ // with ' ' as needed.
+ *strm << leftJustify(theHeader, headerSize, ' ');
+ }
+ else if (FICAStream* ficas = dynamic_cast<FICAStream*>(&ffs))
+ {
+ // If this is a FICA stream, add some extra stuff as well as
+ // send the 40 character header, truncated or padded
+ // with ' ' as needed.
+ *ficas << " " << leftJustify(theHeader, headerSize, ' ') << '\n';
+ }
+ else
+ {
+ gpstk::FFStreamError e("Attempt to write a FICHeader object"
+ " to a non-FIC(A)Stream FFStream.");
+ GPSTK_THROW(e);
+ }
+ }
+
+ void FICHeader::dump(ostream& s) const
+ {
+ s << header << endl;
+ };
+
+ void FICHeader::reallyGetRecord(FFStream& ffs)
+ throw(std::exception, gpstk::StringUtils::StringException,
+ gpstk::FFStreamError)
+ {
+ FICStreamBase *fsb = dynamic_cast<FICStreamBase *>(&ffs);
+ if(fsb == NULL)
+ {
+ gpstk::FFStreamError e("Attempt to read a FICHeader object"
+ " from a non-FICStreamBase FFStream.");
+ GPSTK_THROW(e);
+ }
+
+ char c[headerSize + 1];
+
+ // if this is a FICA stream, get 4 characters
+ FICAStream* ficas = dynamic_cast<FICAStream*>(&ffs);
+
+ if (ficas)
+ {
+ const int blankChrs = 4;
+ char whitespaces[blankChrs + 1];
+ ffs.read(whitespaces, blankChrs);
+ }
+
+ ffs.read(c, headerSize);
+ if (ffs.gcount() != headerSize)
+ {
+ FFStreamError e("Error reading header");
+ GPSTK_THROW(e);
+ }
+
+ c[headerSize]='\0';
+ header = c;
+ fsb->headerRead=true;
+ fsb->header.header = header;
+
+ if (ficas)
+ {
+ string line;
+ ficas->formattedGetLine(line);
+ ficas->formattedGetLine(line);
+ }
+ } // end of FICHeader::getRecord()
+
+} // namespace gpstk
diff --git a/dev/src/FICHeader.hpp b/dev/src/FICHeader.hpp
new file mode 100644
index 0000000..8a0c3e1
--- /dev/null
+++ b/dev/src/FICHeader.hpp
@@ -0,0 +1,113 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FICHeader.hpp
+ * gpstk::FICHeader - container for the FIC file header data.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#ifndef FICHEADER_HPP
+#define FICHEADER_HPP
+
+#include "FFStream.hpp"
+#include "FICBase.hpp"
+
+namespace gpstk
+{
+ /**
+ * This is the Header for the FIC File Model.
+ * There is one 40 character header at the start of each FIC file,
+ * ASCII or binary.
+ *
+ * \sa fic_test.cpp, fic_read_write.cpp, and fica_test.cpp for examples.
+ *
+ * \sa FICStream, FICAStream, and FICData.
+ */
+ class FICHeader : public FICBase
+ {
+ public:
+ /// Default constructor
+ FICHeader() {}
+
+ /// Destructor
+ virtual ~FICHeader() {}
+
+ /// FICHeader is a header, so this function always returns true.
+ virtual bool isHeader() const {return true;}
+
+ /**
+ * This function does \b nothing.
+ */
+ virtual void dump(std::ostream& s) const;
+
+ /// The header string.
+ std::string header;
+
+ /// constant for the header size.
+ static const int headerSize;
+
+ protected:
+ /// Writes the header string to the FFStream \a s.
+ virtual void reallyPutRecord(FFStream& s) const
+ throw(std::exception, gpstk::StringUtils::StringException,
+ gpstk::FFStreamError);
+
+ /**
+ * Retrieve the header string from the FFStream \a s.
+ * If the read fails for some reason, the stream will
+ * be reset to its original position, and its fail-bit
+ * will be set.
+ * @throws FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to its pre-read position.
+ */
+ virtual void reallyGetRecord(FFStream& s)
+ throw(std::exception, gpstk::StringUtils::StringException,
+ gpstk::FFStreamError);
+
+ }; // class FICHeader
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/FICStream.hpp b/dev/src/FICStream.hpp
new file mode 100644
index 0000000..5e46be9
--- /dev/null
+++ b/dev/src/FICStream.hpp
@@ -0,0 +1,96 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FICStream.hpp
+ * gpstk::FICStream - binary FIC file stream container.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#ifndef FICSTREAM_HPP
+#define FICSTREAM_HPP
+
+#include <vector>
+#include <map>
+
+#include "FICStreamBase.hpp"
+#include "FFBinaryStream.hpp"
+#include "FICHeader.hpp"
+
+namespace gpstk
+{
+ /**
+ * This is a stream used to obtain data from a binary FIC File.
+ *
+ * \sa fic_test.cpp and fic_read_write.cpp for an example.
+ *
+ * \sa FICData and FICHeader.
+ */
+ class FICStream : public FFBinaryStream, public FICStreamBase
+ {
+ public:
+ /// default constructor
+ FICStream() {}
+
+ /**
+ * Constructor
+ * @param fn the name of the FIC file to be opened
+ * @param mode the ios::openmode to be used on \a fn
+ */
+ FICStream(const char* fn,
+ std::ios::openmode mode=std::ios::in|std::ios::binary)
+ : FFBinaryStream(fn, mode)
+ {}
+
+ /// destructor per the coding standards
+ virtual ~FICStream() {}
+
+ /// overrides open to reset the header
+ virtual void open(const char* fn, std::ios::openmode mode)
+ { FFBinaryStream::open(fn, mode); FICStreamBase::open(); }
+
+ }; // class FICStream
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/FICStreamBase.hpp b/dev/src/FICStreamBase.hpp
new file mode 100644
index 0000000..1ae37b8
--- /dev/null
+++ b/dev/src/FICStreamBase.hpp
@@ -0,0 +1,87 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FICStreamBase.hpp
+ * gpstk::FICStreamBase stores common FIC stream data.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#ifndef FICSTREAMBASE_HPP
+#define FICSTREAMBASE_HPP
+
+#include <vector>
+#include <map>
+
+#include "FICHeader.hpp"
+
+namespace gpstk
+{
+ /**
+ * Encapsulates FIC stream data for FIC and FICA files.
+ */
+ class FICStreamBase
+ {
+ public:
+ /// Default constructor
+ FICStreamBase()
+ : headerRead(false)
+ {}
+
+ /// destructor per the coding standards
+ virtual ~FICStreamBase() {}
+
+ /// resets the header info for derived classes
+ void open()
+ { headerRead = false; header = FICHeader(); }
+
+ /// Whether or not the header's been read for this file.
+ bool headerRead;
+ /// The FICHeader object for this file.
+ FICHeader header;
+
+ };
+}
+
+#endif
diff --git a/dev/src/FileFilter.hpp b/dev/src/FileFilter.hpp
new file mode 100644
index 0000000..16e397f
--- /dev/null
+++ b/dev/src/FileFilter.hpp
@@ -0,0 +1,411 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FileFilter.hpp
+ * A framework for sorting and filtering file data.
+ */
+
+#ifndef GPSTK_FILEFILTER_HPP
+#define GPSTK_FILEFILTER_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include <functional>
+#include <algorithm>
+
+#include "FFData.hpp"
+#include "FileSpec.hpp"
+
+namespace gpstk
+{
+ /** @defgroup filedirgroup File and Directory Processing Utilities */
+ //@{
+
+ /**
+ * This class is a framework for sorting and filtering file data.
+ * It borrows several datatypes from FileSpec for cohesion of data
+ * types. Add the data to the filter, specify the parameters (date,
+ * exclusion filters, etc.), then process it. For the specific data
+ * type, you can specify your own operators for sorting, uniqueness,
+ * or almost anything else you want to do to the data.
+ *
+ * @warning The FFData class you're sorting MUST have a weak strict
+ * ordering as defined in the FileFilterOperator.
+ */
+
+ template<class FileData>
+ class FileFilter
+ {
+ public:
+ /// Default constructor
+ FileFilter(void);
+
+ /// Destructor
+ virtual ~FileFilter();
+
+ /// Adds the given data into the filter.
+ FileFilter& addData(const FileData& ffd);
+
+ /// Adds arbitrary data to the filter.
+ FileFilter& addData(const std::list<FileData>& datavec);
+
+ /// Sorts the data.
+ /// @warning bp MUST be a strict weak ordering!
+ template <class Compare>
+ FileFilter& sort(Compare comp)
+ {
+ // FIX: this someday...
+ // this is a total hack until Solaris gets their act together and
+ // gets list::sort() working again
+ // all the code below can be replaced (someday) by this one line:
+ // dataVec.sort(comp);
+
+ // make a vector of pointer to list iterator objects...
+ std::vector<lItrType> data(dataVec.size());
+ lItrType itr = dataVec.begin();
+ typename std::vector<lItrType>::size_type i = 0;
+ while (itr != dataVec.end())
+ {
+ data[i] = itr;
+ i++;
+ itr++;
+ }
+
+ // use SortAdapter to use comp with the pointer vector
+ // then sort the vector
+ SortAdapter<Compare> sa(comp);
+ std::stable_sort(data.begin(), data.end(), sa);
+
+ // make a new list of the data in the right order, then copy that
+ // over dataVec.
+ lType fdlist;
+ for (i = 0; i < data.size(); i++)
+ {
+ fdlist.push_back(*data[i]);
+ }
+ dataVec = fdlist;
+
+/*
+ // move the items into the correct order with splice.
+ // splice does nothing if (itr == data[i]) || (itr == ++data[i])
+ // so the data is inserted backwards to avoid this...
+ i = data.size();
+ while (i != 0)
+ {
+ itr = dataVec.begin();
+ --i;
+ dataVec.splice(itr, dataVec, data[i]);
+ }
+*/
+ return *this;
+ }
+
+
+ /// Combines the data from the input filter to this object.
+ FileFilter& merge(const FileFilter& right);
+
+ /// Combines the data from the input filter to this object using
+ /// the predicate to sort the data it merges.
+ /// This should use list::merge(list, bp) but since it's broken in
+ /// forte...
+ template <class Compare>
+ FileFilter& merge(const FileFilter& right, Compare bp)
+ { merge(right); sort(bp); return *this; }
+
+ /// After sorting, use this to filter the data.
+ /// @warning The data must be sorted first
+ template <class BinaryPredicate>
+ FileFilter& unique(BinaryPredicate bp)
+ {
+ // FIX: unique is broken or doesnt like my syntax
+ // so i wrote my own version of it
+// list<FileData>::iterator itr =
+// unique(dataVec.begin(), dataVec.end(), bp);
+ filtered = 0;
+
+ typename std::list<FileData>::iterator first = dataVec.begin();
+ typename std::list<FileData>::iterator second= dataVec.begin();
+ second++;
+
+ // keep only the first of many unique values
+ while (second != dataVec.end())
+ {
+ if ( bp(*first, *second))
+ {
+ second = dataVec.erase(second);
+ filtered++;
+ }
+ else
+ {
+ first++;
+ second++;
+ }
+ }
+
+ return *this;
+ }
+
+ /// This filters data based on a single test. All data that
+ /// passes the UnaryPredicate (i.e. it returns true) is removed
+ /// @warning Depending on the filter, your data may need to be sorted
+ template <class Predicate>
+ FileFilter& filter(Predicate up)
+ {
+ // delete all values for which up() is true
+ filtered = 0;
+
+ typename std::list<FileData>::iterator itr = dataVec.begin();
+
+ while (itr != dataVec.end())
+ {
+ if (up(*itr))
+ {
+ itr = dataVec.erase(itr);
+ filtered++;
+ }
+ else
+ itr++;
+ }
+
+ return *this;
+ }
+
+ /// Applies Operation on all the data elements, counting each one that
+ /// gets modified (for which Operation returns true). The operation
+ /// is passed by reference so that it can retain state information
+ /// for use by the program calling it.
+ template <class Operation>
+ FileFilter& touch(Operation& op)
+ {
+ filtered = 0;
+
+ typename std::list<FileData>::iterator itr = dataVec.begin();
+
+ while (itr != dataVec.end())
+ {
+ if (op(*itr))
+ filtered++;
+ itr++;
+ }
+
+ return *this;
+ }
+
+ /// a const operator touch for the classes that need it.
+ template <class Operation>
+ FileFilter& touch(const Operation& op)
+ { Operation o(op); return touch(o); }
+
+ /// Returns two lists - one of the data in *this that isn't in r and
+ /// the second of data in r that isn't in *this. Remember that /a p
+ /// has to be a strict weak ordering on the data.
+ /// @warning the input data needs to be sorted according to /a p
+ /// before running diff(). This also means that /a p is a strict
+ /// weak ordering on the data (i.e. /a p sorts the data).
+ template <class BinaryPredicate>
+ std::pair< std::list<FileData>, std::list<FileData> >
+ diff(const FileFilter<FileData>& r, BinaryPredicate p) const
+ {
+ std::pair< std::list<FileData>, std::list<FileData> > toReturn;
+
+ std::set_difference(dataVec.begin(), dataVec.end(),
+ r.dataVec.begin(), r.dataVec.end(),
+ std::inserter(toReturn.first,
+ toReturn.first.begin()),
+ p);
+
+ std::set_difference(r.dataVec.begin(), r.dataVec.end(),
+ dataVec.begin(), dataVec.end(),
+ std::inserter(toReturn.second,
+ toReturn.second.begin()),
+ p);
+
+ return toReturn;
+ }
+
+ /// Returns a list of data matching the given unary predicate.
+ template <class Predicate>
+ std::list<FileData> findAll(Predicate p) const
+ {
+ std::list<FileData> toReturn;
+ typename std::list<FileData>::const_iterator itr = dataVec.begin();
+
+ while (itr != dataVec.end())
+ {
+ if (p(*itr))
+ toReturn.push_back((*itr));
+ itr++;
+ }
+
+ return toReturn;
+
+ }
+
+ /// Returns the number of items filtered from the last filter()
+ /// touch() or unique() call.
+ int getFiltered() const {return filtered;}
+
+ /// Returns the contents of the data list.
+ std::list<FileData>& getData(void) {return dataVec;}
+
+ /// Returns the contents of the data list, const.
+ std::list<FileData> getData(void) const {return dataVec;}
+
+ /// Returns the number of data items in the filter.
+ typename std::list<FileData>::size_type getDataCount(void) const
+ { return dataVec.size(); }
+
+ typename std::list<FileData>::const_iterator begin() const
+ { return dataVec.begin(); }
+
+ typename std::list<FileData>::const_iterator end() const
+ { return dataVec.end(); }
+
+ typename std::list<FileData>::iterator begin()
+ { return dataVec.begin(); }
+
+ typename std::list<FileData>::iterator end()
+ { return dataVec.end(); }
+
+ bool empty() const
+ { return dataVec.empty(); }
+
+ void clear()
+ { dataVec.clear(); }
+
+ typename std::list<FileData>::size_type size()
+ { return dataVec.size(); }
+
+ FileData& front()
+ { return dataVec.front(); }
+
+ const FileData& front() const
+ { return dataVec.front(); }
+
+ FileData& back()
+ { return dataVec.back(); }
+
+ const FileData& back() const
+ { return dataVec.back(); }
+
+ protected:
+ /// List of file data to be filtered.
+ typedef std::list<FileData> lType;
+ lType dataVec;
+ typedef typename std::list<FileData>::iterator lItrType;
+
+ /// SortAdapter is an adapter class that takes any comparison
+ /// function and instead uses list iterator objects instead
+ /// of FileData. This is only used by sort() and shouldn't be
+ /// used elsewhere.
+ template<class Compare>
+ class SortAdapter :
+ public std::binary_function<lItrType, lItrType, bool>
+ {
+ public:
+ SortAdapter(Compare& c)
+ : comp(c)
+ {}
+
+ bool operator()(const lItrType l,
+ const lItrType r) const
+ {
+ return comp(*l, *r);
+ }
+ private:
+ Compare comp;
+ };
+
+ /// A count of the last number of items filtered
+ int filtered;
+ };
+
+ //@}
+
+ template<class FileData>
+ FileFilter<FileData> :: FileFilter(void)
+ : filtered(0)
+ {}
+
+ template<class FileData>
+ FileFilter<FileData> :: ~FileFilter()
+ {
+ }
+
+ template<class FileData>
+ FileFilter<FileData>& FileFilter<FileData> ::
+ addData(const FileData& ffd)
+ {
+ dataVec.push_back(ffd);
+ return *this;
+ }
+
+ template <class FileData>
+ FileFilter<FileData>& FileFilter<FileData> ::
+ addData(const std::list<FileData>& datavec)
+ {
+ std::copy(datavec.begin(), datavec.end(),
+ std::inserter(dataVec, dataVec.begin()));
+ return *this;
+ }
+
+ template <class FileData>
+ FileFilter<FileData>&
+ FileFilter<FileData> ::
+ merge(const FileFilter<FileData>& right)
+ {
+ // cast out const to use the non-const version of getData()
+ FileFilter<FileData>& r = (FileFilter<FileData>&)(right);
+
+ // copy rightData into *this
+ std::list<FileData>& rightData = r.getData();
+ std::copy(rightData.begin(), rightData.end(),
+ std::inserter(dataVec, dataVec.begin()));
+
+ return *this;
+ }
+
+} // namespace gpstk
+
+#endif // GPSTK_FILEFILTER_HPP
diff --git a/dev/src/FileFilterFrame.hpp b/dev/src/FileFilterFrame.hpp
new file mode 100644
index 0000000..721f931
--- /dev/null
+++ b/dev/src/FileFilterFrame.hpp
@@ -0,0 +1,378 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FileFilterFrame.hpp
+ * Wrapper for gpstk::FileHunter and gpstk::FileFilter
+ */
+
+#ifndef GPSTK_FILEFILTERFRAME_HPP
+#define GPSTK_FILEFILTERFRAME_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FileSpec.hpp"
+#include "FileFilter.hpp"
+#include "FileHunter.hpp"
+#include "FileUtils.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup filedirgroup */
+ //@{
+
+ /**
+ * This class is a wrapper for FileHunter and FileFilter, allowing you
+ * to easily pick what files you want to process and how to process
+ * them. In the constructors, providing a start and end time will
+ * allow FileHunter to pick the correct files for that date range.
+ * After the object is built, it is ready for filtering.
+ *
+ * Use the filter(), sort(), unique() and touch() operators to run
+ * whatever operations you want to on the data, then write out the
+ * files when you're done. You can also get access to the data with
+ * getData() and run whatever other post processing tools you would like
+ * to.
+ *
+ * See the examples in FileFilterFrameTest.cpp for a demonstration.
+ */
+ template <class FileStream, class FileData>
+ class FileFilterFrame : public FileFilter<FileData>
+ {
+ public:
+ /// Default constructor
+ FileFilterFrame(const gpstk::DayTime& start =
+ gpstk::DayTime::BEGINNING_OF_TIME,
+ const gpstk::DayTime& end =
+ gpstk::DayTime::END_OF_TIME)
+ throw(gpstk::Exception);
+
+ /// Takes a list of files to open in lieu of day times
+ FileFilterFrame(const std::vector<std::string>& fileList,
+ const gpstk::DayTime& start =
+ gpstk::DayTime::BEGINNING_OF_TIME,
+ const gpstk::DayTime& end =
+ gpstk::DayTime::END_OF_TIME)
+ throw(gpstk::Exception);
+
+ /// Takes a file name for a single file filter.
+ /// This can throw an exception when there's a file error.
+ FileFilterFrame(const std::string& filename,
+ const gpstk::DayTime& start =
+ gpstk::DayTime::BEGINNING_OF_TIME,
+ const gpstk::DayTime& end =
+ gpstk::DayTime::END_OF_TIME)
+ throw(gpstk::Exception);
+
+ /// Uses the FileSpec to retrieve files. Use filter like you would
+ /// in FileHunter, to filter FOR stations, receivers, etc.
+ /// This can throw an exception when there's a file error.
+ FileFilterFrame(const FileSpec& spec,
+ const gpstk::DayTime& start =
+ gpstk::DayTime::BEGINNING_OF_TIME,
+ const gpstk::DayTime& end =
+ gpstk::DayTime::END_OF_TIME,
+ const std::vector<FileHunter::FilterPair>& filter =
+ std::vector<FileHunter::FilterPair>())
+ throw(gpstk::Exception);
+
+ /// Gets the files from the file spec and the time, then adds
+ /// the data to the filter. Use filter like you would
+ /// in FileHunter, to filter FOR stations, receivers, etc.
+ FileFilterFrame&
+ newSource(const FileSpec& filespec,
+ const gpstk::DayTime& start =
+ gpstk::DayTime::BEGINNING_OF_TIME,
+ const gpstk::DayTime& end =
+ gpstk::DayTime::END_OF_TIME,
+ const std::vector<FileHunter::FilterPair>& filter =
+ std::vector<FileHunter::FilterPair>())
+ throw(gpstk::Exception);
+
+ /// Reads in the file and adds the data to the filter.
+ FileFilterFrame&
+ newSource(const std::string& filename,
+ const gpstk::DayTime& start =
+ gpstk::DayTime::BEGINNING_OF_TIME,
+ const gpstk::DayTime& end =
+ gpstk::DayTime::END_OF_TIME)
+ throw(gpstk::Exception);
+
+ /// Takes a list of files to open in lieu of day times
+ FileFilterFrame&
+ newSource(const std::vector<std::string>& fileList,
+ const gpstk::DayTime& start =
+ gpstk::DayTime::BEGINNING_OF_TIME,
+ const gpstk::DayTime& end =
+ gpstk::DayTime::END_OF_TIME)
+ throw(gpstk::Exception);
+
+ virtual ~FileFilterFrame() {}
+
+ /**
+ * Writes the data to the file outputFile, truncating the
+ * output file if it already exists unless append is true.
+ * This can throw an exception when there's a file error.
+ * @return true when it works.
+ * @warning This will not write out headers for files that need them,
+ * and files that depend on header data will (like RINEX) will not
+ * be written correctly with this function. Use
+ * FileFilterFrameWithHeader for those file types.
+ */
+ bool writeFile(const std::string& outputFile,
+ const bool append = false) const
+ throw(gpstk::Exception);
+
+ /**
+ * Writes the data to the supplied stream.
+ * This can throw an exception when there's a file error.
+ * @return true when it works.
+ * @warning This will not write out headers for files that need them,
+ * and files that depend on header data will (like RINEX) will not
+ * be written correctly with this function. Use
+ * FileFilterFrameWithHeader for those file types.
+ */
+ bool writeFile(FileStream& stream) const
+ throw(gpstk::Exception);
+
+ protected:
+ /// Run init() to load the data into the filter.
+ void init(const std::vector<FileHunter::FilterPair>& filter=
+ std::vector<FileHunter::FilterPair>())
+ throw(gpstk::Exception);
+
+
+ protected:
+ /// The file spec for this filter
+ FileSpec fs;
+ /// the start and end dates for the filter.
+ gpstk::DayTime startTime, endTime;
+
+ };
+
+ //@}
+
+ template <class FileStream, class FileData>
+ FileFilterFrame<FileStream,FileData> ::
+ FileFilterFrame(const gpstk::DayTime& start,
+ const gpstk::DayTime& end)
+ throw(gpstk::Exception)
+ : startTime(start), endTime(end)
+ {}
+
+ template <class FileStream, class FileData>
+ FileFilterFrame<FileStream,FileData> ::
+ FileFilterFrame(const std::vector<std::string>& fileList,
+ const gpstk::DayTime& start,
+ const gpstk::DayTime& end)
+ throw(gpstk::Exception)
+ : startTime(start), endTime(end)
+ {
+ typename std::vector<std::string>::const_iterator itr;
+ for (itr = fileList.begin(); itr != fileList.end(); itr++)
+ {
+ fs.newSpec(*itr);
+ init();
+ }
+ }
+
+ template <class FileStream, class FileData>
+ FileFilterFrame<FileStream,FileData> ::
+ FileFilterFrame(const std::string& filename,
+ const gpstk::DayTime& start,
+ const gpstk::DayTime& end)
+ throw(gpstk::Exception)
+ : fs(filename), startTime(start), endTime(end)
+ {
+ init();
+ }
+
+ template <class FileStream, class FileData>
+ FileFilterFrame<FileStream,FileData> ::
+ FileFilterFrame(const FileSpec& spec,
+ const gpstk::DayTime& start,
+ const gpstk::DayTime& end,
+ const std::vector<FileHunter::FilterPair>& filter)
+ throw(gpstk::Exception)
+ : fs(spec), startTime(start), endTime(end)
+ {
+ init(filter);
+ }
+
+ template <class FileStream, class FileData>
+ FileFilterFrame<FileStream, FileData>&
+ FileFilterFrame<FileStream,FileData> ::
+ newSource(const FileSpec& filespec,
+ const gpstk::DayTime& start,
+ const gpstk::DayTime& end,
+ const std::vector<FileHunter::FilterPair>& filter)
+ throw(gpstk::Exception)
+ {
+ startTime = start;
+ endTime = end;
+
+ fs = filespec;
+ init(filter);
+ return *this;
+ }
+
+ template <class FileStream, class FileData>
+ FileFilterFrame<FileStream, FileData>&
+ FileFilterFrame<FileStream,FileData> ::
+ newSource(const std::string& filename,
+ const gpstk::DayTime& start,
+ const gpstk::DayTime& end)
+ throw(gpstk::Exception)
+ {
+ startTime = start;
+ endTime = end;
+
+ fs.newSpec(filename);
+ init();
+ return *this;
+ }
+
+ template <class FileStream, class FileData>
+ FileFilterFrame<FileStream, FileData>&
+ FileFilterFrame<FileStream,FileData> ::
+ newSource(const std::vector<std::string>& fileList,
+ const gpstk::DayTime& start,
+ const gpstk::DayTime& end)
+ throw(gpstk::Exception)
+ {
+ startTime = start;
+ endTime = end;
+
+ typename std::vector<std::string>::const_iterator itr;
+ for (itr = fileList.begin(); itr != fileList.end(); itr++)
+ {
+ fs.newSpec(*itr);
+ init();
+ }
+ return *this;
+ }
+
+ template <class FileStream, class FileData>
+ void
+ FileFilterFrame<FileStream,FileData> ::
+ init(const std::vector<FileHunter::FilterPair>& filter)
+ throw(gpstk::Exception)
+ {
+ // find the files
+ FileHunter fh(fs);
+
+ typename std::vector<FileHunter::FilterPair>::const_iterator itr =
+ filter.begin();
+ while (itr != filter.end())
+ {
+ fh.setFilter((*itr).first, (*itr).second);
+ itr++;
+ }
+
+ std::vector<std::string> listOfFiles =
+ fh.find(startTime, endTime, FileSpec::ascending);
+
+ // for each file, read it into the filter
+ typename std::vector<std::string>::iterator i;
+ for(i = listOfFiles.begin(); i != listOfFiles.end(); i++)
+ {
+ FileStream s((*i).c_str());
+
+ if (s.good())
+ {
+ s.exceptions(std::ios::failbit);
+
+ FileData data;
+
+ while (s >> data)
+ {
+ addData(data);
+ }
+ }
+ }
+ }
+
+ template <class FileStream, class FileData>
+ bool FileFilterFrame<FileStream,FileData> ::
+ writeFile(const std::string& str,
+ const bool append) const
+ throw(gpstk::Exception)
+ {
+ if (!this->dataVec.empty())
+ {
+ // make the directory (if needed)
+ std::string::size_type pos = str.rfind('/');
+ if (pos != std::string::npos)
+ gpstk::FileUtils::makeDir(str.substr(0,pos).c_str(), 0755);
+
+ std::ios::openmode mode = std::ios::out;
+ if (append)
+ mode |= (std::ios::app|std::ios::ate);
+
+ FileStream stream(str.c_str(), mode);
+ return writeFile(stream);
+ }
+
+ return true;
+ }
+
+ template <class FileStream, class FileData>
+ bool FileFilterFrame<FileStream,FileData> ::
+ writeFile(FileStream& stream)
+ const throw(gpstk::Exception)
+ {
+ if (!this->dataVec.empty())
+ {
+ stream.exceptions(std::ios::failbit);
+
+ typename std::list<FileData>::const_iterator index;
+ for(index = this->dataVec.begin(); index != this->dataVec.end(); index++)
+ (*index).putRecord(stream);
+ }
+
+ return true;
+ }
+
+} // namespace gpstk
+
+#endif // GPSTK_FILEFILTERFRAME_HPP
diff --git a/dev/src/FileFilterFrameWithHeader.hpp b/dev/src/FileFilterFrameWithHeader.hpp
new file mode 100644
index 0000000..1d5bf18
--- /dev/null
+++ b/dev/src/FileFilterFrameWithHeader.hpp
@@ -0,0 +1,433 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FileFilterFrameWithHeader.hpp
+ * Wrapper for gpstk::FileHunter and gpstk::FileFilter that also handles header data
+ */
+
+#ifndef GPSTK_FILEFILTERFRAMEWITHHEADER_HPP
+#define GPSTK_FILEFILTERFRAMEWITHHEADER_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FileFilterFrame.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup filedirgroup */
+ //@{
+
+ /**
+ * This is just like FileFilterFrame but it can also handle header
+ * data. The header data is stored in an internal list that can be
+ * accessed with the *Header() methods below. Certain classes (like
+ * RINEX Obs and Met) have filter functions that can be used with
+ * touch() to combine header data from various files. The merge utilities
+ * in wonky use this ability, and other file types with header data
+ * can benefit from using this class's ability to store and write
+ * header data - see the RINEX and FIC GFW classes for more examples.
+ *
+ * When initializing, this uses the FileFilterFrame::init() to read
+ * the FileData into the filter, then does a second pass with its own
+ * init() function to read the headers from those files. This
+ * is a little inefficient, but the goal of these classes was never
+ * efficiency.
+ */
+ template <class FileStream, class FileData, class FileHeader>
+ class FileFilterFrameWithHeader :
+ public FileFilterFrame<FileStream, FileData>
+ {
+ public:
+ /// Default constructor
+ FileFilterFrameWithHeader(const gpstk::DayTime& start =
+ gpstk::DayTime::BEGINNING_OF_TIME,
+ const gpstk::DayTime& end =
+ gpstk::DayTime::END_OF_TIME)
+ throw(gpstk::Exception) :
+ FileFilterFrame<FileStream, FileData>(start, end)
+ {}
+
+ /// Takes a list of files to open in lieu of day times
+ FileFilterFrameWithHeader(const std::vector<std::string>& fileList,
+ const gpstk::DayTime& start =
+ gpstk::DayTime::BEGINNING_OF_TIME,
+ const gpstk::DayTime& end =
+ gpstk::DayTime::END_OF_TIME)
+ throw(gpstk::Exception) :
+ FileFilterFrame<FileStream, FileData>(fileList, start, end)
+ {
+ std::vector<std::string>::const_iterator itr = fileList.begin();
+ while (itr != fileList.end())
+ {
+ this->fs.newSpec(*itr);
+ init();
+ itr++;
+ }
+ }
+
+ /// Takes a file name for a single file filter.
+ /// This can throw an exception when there's a file error.
+ FileFilterFrameWithHeader(const std::string& filename,
+ const gpstk::DayTime& start =
+ gpstk::DayTime::BEGINNING_OF_TIME,
+ const gpstk::DayTime& end =
+ gpstk::DayTime::END_OF_TIME)
+ throw(gpstk::Exception) :
+ FileFilterFrame<FileStream, FileData>(filename, start, end)
+ {init();}
+
+ /// Uses the FileSpec to retrieve files. Use filter like you would
+ /// in FileHunter, to filter FOR stations, receivers, etc.
+ /// This can throw an exception when there's a file error.
+ FileFilterFrameWithHeader(const FileSpec& spec,
+ const gpstk::DayTime& start =
+ gpstk::DayTime::BEGINNING_OF_TIME,
+ const gpstk::DayTime& end =
+ gpstk::DayTime::END_OF_TIME,
+ const std::vector<FileHunter::FilterPair>& filter =
+ std::vector<FileHunter::FilterPair>())
+ throw(gpstk::Exception) :
+ FileFilterFrame<FileStream, FileData>(spec, start, end, filter)
+ {init(filter);}
+
+ /// Gets the files from the file spec and the time, then adds
+ /// the data to the filter. Use filter like you would
+ /// in FileHunter, to filter FOR stations, receivers, etc.
+ FileFilterFrameWithHeader&
+ newSource(const FileSpec& filespec,
+ const gpstk::DayTime& start =
+ gpstk::DayTime::BEGINNING_OF_TIME,
+ const gpstk::DayTime& end =
+ gpstk::DayTime::END_OF_TIME,
+ const std::vector<FileHunter::FilterPair>& filter =
+ std::vector<FileHunter::FilterPair>())
+ throw(gpstk::Exception)
+ {
+ FileFilterFrame<FileStream, FileData>::newSource(filespec, start,
+ end, filter);
+ init(filter);
+ return *this;
+ }
+
+ /// Reads in the file and adds the data to the filter.
+ FileFilterFrameWithHeader&
+ newSource(const std::string& filename,
+ const gpstk::DayTime& start =
+ gpstk::DayTime::BEGINNING_OF_TIME,
+ const gpstk::DayTime& end =
+ gpstk::DayTime::END_OF_TIME)
+ throw(gpstk::Exception)
+ {
+ FileFilterFrame<FileStream, FileData>::newSource(filename, start,
+ end);
+ init();
+ return *this;
+ }
+
+ /// Reads in the file and adds the data to the filter.
+ FileFilterFrameWithHeader&
+ newSource(const std::vector<std::string>& fileList,
+ const gpstk::DayTime& start =
+ gpstk::DayTime::BEGINNING_OF_TIME,
+ const gpstk::DayTime& end =
+ gpstk::DayTime::END_OF_TIME)
+ throw(gpstk::Exception)
+ {
+ FileFilterFrame<FileStream, FileData>::newSource(fileList, start,
+ end);
+ typename std::vector<std::string>::const_iterator itr;
+ for (itr = fileList.begin(); itr != fileList.end(); itr++)
+ {
+ this->fs.newSpec(*itr);
+ init();
+ }
+ return *this;
+ }
+
+ virtual ~FileFilterFrameWithHeader() {}
+
+ /**
+ * Writes the data to the file outputFile with the given header.
+ * This will overwrite any existing file with the same name.
+ * This can throw an exception when there's a file error.
+ * @return true when it works.
+ * @warning This will not write out headers for files that need them.
+ */
+ bool writeFile(const std::string& outputFile,
+ const FileHeader& fh) const
+ throw(gpstk::Exception);
+
+ /** performs the operation op on the header list. */
+ template <class Operation>
+ FileFilterFrameWithHeader& touchHeader(Operation& op)
+ {
+ typename std::list<FileHeader>::iterator itr = headerList.begin();
+
+ while (itr != headerList.end())
+ {
+ op(*itr);
+ itr++;
+ }
+
+ return *this;
+ }
+
+ /// Returns the contents of the header data list.
+ std::list<FileHeader>& getHeaderData(void) {return headerList;}
+
+ /// Returns the contents of the header data list, const.
+ std::list<FileHeader> getHeaderData(void) const {return headerList;}
+
+ /// Returns the number of data items in the header list.
+ typename std::list<FileHeader>::size_type getHeaderCount(void) const
+ { return headerList.size(); }
+
+ typename std::list<FileHeader>::const_iterator beginHeader() const
+ throw(gpstk::InvalidRequest);
+
+ typename std::list<FileHeader>::const_iterator endHeader() const
+ throw(gpstk::InvalidRequest);
+
+ typename std::list<FileHeader>::iterator beginHeader()
+ throw(gpstk::InvalidRequest);
+
+ typename std::list<FileHeader>::iterator endHeader()
+ throw(gpstk::InvalidRequest);
+
+ bool emptyHeader() const
+ { return headerList.empty(); }
+
+ typename std::list<FileHeader>::size_type sizeHeader()
+ { return headerList.size(); }
+
+ FileHeader& frontHeader()
+ throw(gpstk::InvalidRequest);
+
+ const FileHeader& frontHeader() const
+ throw(gpstk::InvalidRequest);
+
+ FileHeader& backHeader()
+ throw(gpstk::InvalidRequest);
+
+ const FileHeader& backHeader() const
+ throw(gpstk::InvalidRequest);
+
+ protected:
+ /// Run init() to load the data into the filter.
+ void init(const std::vector<FileHunter::FilterPair>& filter=
+ std::vector<FileHunter::FilterPair>())
+ throw(gpstk::Exception);
+
+ /// Check to make sure headerList is empty
+ /// @throw InvalidRequest if headerList is empty
+ inline void chl(const std::string& req) throw(gpstk::InvalidRequest)
+ {
+ gpstk::InvalidRequest exc("Header list is empty attempting to"
+ " satisfy "+req+" request.");
+ if (headerList.empty())
+ {
+ GPSTK_THROW(exc);
+ }
+ }
+
+ protected:
+ std::list<FileHeader> headerList;
+ };
+
+ //@}
+
+ template <class FileStream, class FileData, class FileHeader>
+ bool FileFilterFrameWithHeader<FileStream,FileData,FileHeader>::
+ writeFile(const std::string& outputFile,
+ const FileHeader& fh) const
+ throw(gpstk::Exception)
+ {
+ // make the directory (if needed)
+ std::string::size_type pos = outputFile.rfind('/');
+ if (pos != std::string::npos)
+ gpstk::FileUtils::makeDir(outputFile.substr(0,pos).c_str(), 0755);
+
+ FileStream stream(outputFile.c_str(), std::ios::out|std::ios::trunc);
+ stream.exceptions(std::ios::failbit);
+
+ stream << fh;
+
+ typename std::list<FileData>::const_iterator index;
+ for(index = this->dataVec.begin(); index != this->dataVec.end(); index++)
+ stream << (*index);
+ return true;
+ }
+
+ template <class FileStream, class FileData, class FileHeader>
+ typename std::list<FileHeader>::const_iterator
+ FileFilterFrameWithHeader<FileStream,FileData,FileHeader>::beginHeader()
+ const throw(gpstk::InvalidRequest)
+ {
+ try { chl("beginHeader"); }
+ catch(gpstk::InvalidRequest exc)
+ { GPSTK_RETHROW(exc); }
+ return headerList.begin();
+ }
+
+ template <class FileStream, class FileData, class FileHeader>
+ typename std::list<FileHeader>::const_iterator
+ FileFilterFrameWithHeader<FileStream,FileData,FileHeader>::endHeader()
+ const throw(gpstk::InvalidRequest)
+ {
+ try { chl("endHeader"); }
+ catch(gpstk::InvalidRequest exc)
+ { GPSTK_RETHROW(exc); }
+ return headerList.end();
+ }
+
+ template <class FileStream, class FileData, class FileHeader>
+ typename std::list<FileHeader>::iterator
+ FileFilterFrameWithHeader<FileStream,FileData,FileHeader>::beginHeader()
+ throw(gpstk::InvalidRequest)
+ {
+ try { chl("beginHeader"); }
+ catch(gpstk::InvalidRequest exc)
+ { GPSTK_RETHROW(exc); }
+ return headerList.begin();
+ }
+
+
+ template <class FileStream, class FileData, class FileHeader>
+ typename std::list<FileHeader>::iterator
+ FileFilterFrameWithHeader<FileStream,FileData,FileHeader>::endHeader()
+ throw(gpstk::InvalidRequest)
+ {
+ try { chl("endHeader"); }
+ catch(gpstk::InvalidRequest exc)
+ { GPSTK_RETHROW(exc); }
+ return headerList.end();
+ }
+
+ template <class FileStream, class FileData, class FileHeader>
+ FileHeader&
+ FileFilterFrameWithHeader<FileStream,FileData,FileHeader>::frontHeader()
+ throw(gpstk::InvalidRequest)
+ {
+ try { chl("frontHeader"); }
+ catch(gpstk::InvalidRequest exc)
+ { GPSTK_RETHROW(exc); }
+ return headerList.front();
+ }
+
+
+ template <class FileStream, class FileData, class FileHeader>
+ const FileHeader&
+ FileFilterFrameWithHeader<FileStream,FileData,FileHeader>::frontHeader()
+ const throw(gpstk::InvalidRequest)
+ {
+ try { chl("frontHeader"); }
+ catch(gpstk::InvalidRequest exc)
+ { GPSTK_RETHROW(exc); }
+ return headerList.front();
+ }
+
+
+ template <class FileStream, class FileData, class FileHeader>
+ FileHeader&
+ FileFilterFrameWithHeader<FileStream,FileData,FileHeader>::backHeader()
+ throw(gpstk::InvalidRequest)
+ {
+ try { chl("backHeader"); }
+ catch(gpstk::InvalidRequest exc)
+ { GPSTK_RETHROW(exc); }
+ return headerList.back();
+ }
+
+
+ template <class FileStream, class FileData, class FileHeader>
+ const FileHeader&
+ FileFilterFrameWithHeader<FileStream,FileData,FileHeader>::backHeader()
+ const throw(gpstk::InvalidRequest)
+ {
+ try { chl("backHeader"); }
+ catch(gpstk::InvalidRequest exc)
+ { GPSTK_RETHROW(exc); }
+ return headerList.back();
+ }
+
+ template <class FileStream, class FileData, class FileHeader>
+ void
+ FileFilterFrameWithHeader<FileStream,FileData,FileHeader> ::
+ init(const std::vector<FileHunter::FilterPair>& filter)
+ throw(gpstk::Exception)
+ {
+ // find the files
+ FileHunter fh(this->fs);
+
+ typename std::vector<FileHunter::FilterPair>::const_iterator itr =
+ filter.begin();
+ while (itr != filter.end())
+ {
+ fh.setFilter((*itr).first, (*itr).second);
+ itr++;
+ }
+
+ std::vector<std::string> listOfFiles =
+ fh.find(this->startTime, this->endTime, FileSpec::ascending);
+
+ // for each file, just read the header
+ typename std::vector<std::string>::iterator i;
+ for(i = listOfFiles.begin(); i != listOfFiles.end(); i++)
+ {
+ FileStream s((*i).c_str());
+
+ if (s.good())
+ {
+ s.exceptions(std::ios::failbit);
+
+ FileHeader header;
+ s >> header;
+ headerList.push_back(header);
+ }
+ }
+ }
+
+} // namespace gpstk
+
+#endif //GPSTK_FILEFILTERFRAMEWITHHEADER_HPP
diff --git a/dev/src/FileHunter.cpp b/dev/src/FileHunter.cpp
new file mode 100644
index 0000000..132701b
--- /dev/null
+++ b/dev/src/FileHunter.cpp
@@ -0,0 +1,698 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file FileHunter.cpp
+ * Find all files matching a specification.
+ */
+
+#include "FileHunter.hpp"
+
+using namespace std;
+using namespace gpstk;
+using namespace gpstk::StringUtils;
+
+// headers for directory searching interface
+#ifndef _WIN32
+#include <unistd.h>
+#include <dirent.h>
+#else
+#include <io.h>
+#include <direct.h>
+#define PATH_MAX _MAX_PATH
+#endif
+
+namespace gpstk
+{
+ FileHunter::FileHunter(const string& filespec)
+ throw(FileHunterException)
+ {
+ try
+ {
+ init(filespec);
+ }
+ catch (FileHunterException& e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ }
+
+ FileHunter::FileHunter(const FileSpec& filespec)
+ throw(FileHunterException)
+ {
+ try
+ {
+ init(filespec.getSpecString());
+ }
+ catch (FileHunterException& e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ }
+
+ FileHunter& FileHunter::newHunt(const string& filespec)
+ throw(FileHunterException)
+ {
+ try
+ {
+ init(filespec);
+ }
+ catch (FileHunterException& e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ return *this;
+ }
+
+ FileHunter& FileHunter::setFilter(const FileSpec::FileSpecType fst,
+ const vector<string>& filter)
+ throw(FileHunterException)
+ {
+ // try to find the field in the fileSpecList.
+ vector<FileSpec>::iterator itr = fileSpecList.begin();
+ while (itr != fileSpecList.end())
+ {
+ if ((*itr).hasField(fst))
+ break;
+ itr++;
+ }
+ // found the field - add the filter.
+ if (itr != fileSpecList.end())
+ {
+ filterList.push_back(FilterPair(fst, filter));
+ return *this;
+ }
+ // didn't find it - throw an exception
+ else
+ {
+ FileHunterException fhe("The FileSpec does not have a field: " +
+ FileSpec::convertFileSpecType(fst));
+ return *this;
+ }
+ }
+
+ vector<string> FileHunter::find(const DayTime& start,
+ const DayTime& end,
+ const FileSpec::FileSpecSortType fsst,
+ enum FileChunking chunk) const
+ throw(FileHunterException)
+ {
+
+ // stupidity check
+ if (end < start)
+ {
+ FileHunterException fhe("The times are specified incorrectly");
+ GPSTK_THROW(fhe);
+ }
+
+ // move the start time back to a boundary defined by the file
+ // chunking
+ DayTime exStart;
+ switch(chunk)
+ {
+ case WEEK:
+ exStart = DayTime(start.GPSfullweek(), 0.0, start.GPSyear());
+ break;
+ case DAY:
+ exStart = DayTime(start.DOYyear(), start.DOYday(), 0.0);
+ break;
+ case HOUR:
+ exStart = DayTime(start.year(), start.month(),
+ start.day(), start.hour(),
+ 0, 0.0);
+ break;
+ case MINUTE:
+ exStart = DayTime(start.year(), start.month(),
+ start.day(), start.hour(),
+ start.minute(), 0.0);
+ break;
+ }
+
+ vector<string> toReturn;
+ // seed the return vector with an empty string. you'll see why later
+ toReturn.push_back(string());
+
+ try
+ {
+ vector<FileSpec>::const_iterator itr = fileSpecList.begin();
+
+#ifdef _WIN32
+ // If Windows, we should seed it with the drive spec
+ if (itr != fileSpecList.end())
+ {
+ toReturn[0] = (*itr).getSpecString() + string(1,'\\');
+ itr++;
+ }
+#endif
+#ifdef __CYGWIN__
+ // If Cygwin AND the user is attempting to use DOS file paths,
+ // need to see with the /cygdrive "head".
+ if (itr != fileSpecList.end())
+ {
+ toReturn[0] = string(1,slash) + (*itr).getSpecString();
+ itr++;
+ }
+#endif
+
+ while (itr != fileSpecList.end())
+ {
+ vector<string> toReturnTemp;
+
+ // counting variables
+ vector<string>::size_type i,j;
+
+ for(i = 0; i < toReturn.size(); i++)
+ {
+ // search for the next entries
+
+ //Debug
+ //printf("In .find() before call to serachHelper()\n");
+ //string temp = (*itr).createSearchString();
+ //printf(" toReturn[%d]:'%s', spec:'%s'\n",
+ // i,toReturn[i].c_str(),temp.c_str());
+
+ vector<string> newEntries = searchHelper(toReturn[i],*itr);
+ //Debug
+ /*
+ vector<string>::iterator itr1 = newEntries.begin();
+ int j1 = 0;
+ printf("In .find() after call to searchHelper\n");
+ while (itr1 != newEntries.end())
+ {
+ printf("toReturn[%d],item %d,'%s'\n",i,j1,(*itr1).c_str());
+ itr1++;
+ j1++;
+ }
+ printf("In .find(). end of list\n");
+ */
+ // after getting the potential entries, filter
+ // them based on the user criteria...
+ filterHelper(newEntries, *itr);
+
+ //Debug
+ /*
+ vector<string>::iterator itr2 = newEntries.begin();
+ int j2 = 0;
+ printf("In .find() after call to filterHelper\n");
+ while (itr2 != newEntries.end())
+ {
+ printf("toReturn[%d],item %d,'%s'\n",i,j2,(*itr2).c_str());
+ itr2++;
+ j2++;
+ }
+ printf("In .find(). end of list\n");
+ */
+
+ // for each new entry, check the time (if possible)
+ // then add it if it's in the correct time range.
+ // this is why we need to enter an empty string to
+ // seed toReturn
+ for(j = 0; j < newEntries.size(); j++)
+ {
+ try
+ {
+ DayTime fileDT = (*itr).extractDayTime(newEntries[j]);
+ if ( (fileDT >= exStart) && (fileDT <= end) )
+ {
+#ifdef _WIN32
+ if (toReturn[i].empty())
+ toReturnTemp.push_back(newEntries[j]);
+ else
+ {
+ if ( toReturn[i][toReturn[i].size()-1]=='\\')
+ toReturnTemp.push_back(toReturn[i] + newEntries[j]);
+ else
+ toReturnTemp.push_back(toReturn[i] + string(1,'\\') +
+ newEntries[j]);
+ }
+#else
+ toReturnTemp.push_back(toReturn[i] + string(1,slash) +
+ newEntries[j]);
+#endif
+ }
+ }
+ // if you can't make a DayTime, just add it -
+ // most likely, this is a field that you can't
+ // make a DayTime out of
+ catch (FileSpecException &e)
+ {
+#ifdef _WIN32
+ if (toReturn[i].empty())
+ toReturnTemp.push_back(newEntries[j]);
+ else
+ {
+ if ( toReturn[i][toReturn[i].size()-1]=='\\')
+ toReturnTemp.push_back(toReturn[i] + newEntries[j]);
+ else
+ toReturnTemp.push_back(toReturn[i] + string(1,'\\') +
+ newEntries[j]);
+ }
+#else
+ toReturnTemp.push_back(toReturn[i] + string(1,slash) +
+ newEntries[j]);
+#endif
+ }
+ }
+ }
+
+ toReturn = toReturnTemp;
+
+ // Debug
+ /*
+ vector<string>::iterator itr3 = toReturn.begin();
+ int j3 = 0;
+ printf("In .find() just above toReturn empty check.\n");
+ while (itr3 != toReturn.end())
+ {
+ printf("toReturn[%d],'%s'\n",j3,(*itr3).c_str());
+ itr3++;
+ j3++;
+ }
+ printf("In .find(). end of list\n");
+ */
+
+ // if at any time toReturn is empty, then there are no matches
+ // so just return
+ if (toReturn.empty())
+ return toReturn;
+
+ itr++;
+ }
+
+ // sort the list by the file spec of the last field
+ itr--;
+ (*itr).sortList(toReturn, fsst);
+
+ return toReturn;
+ }
+ catch(...)
+ {
+ return toReturn;
+ }
+ }
+
+ void FileHunter::init(const string& filespec)
+ throw(FileHunterException)
+ {
+ try
+ {
+ fileSpecList.clear();
+ filterList.clear();
+
+ string fs(filespec);
+
+ // If working under Cygwin, then the file specification will be
+ // handled as if it's a system rooted in '/'. HOWEVER, if the
+ // user provided a spec that starts with a drive letter or
+ // provided a relative path, it needs to be modified to fit the
+ //
+ // /cygdrive/<drive letter>/path
+ //
+ // For example,
+ // c:\ -> /cygdrive/c
+ // something -> <cwd>/something
+ // c:\foo -> /cygdrive/c/foo
+ //
+ // form.
+#ifdef __CYGWIN__
+ //printf(" Entering 'ifdef __CYGWIN__' branch.\n");
+ char backSlash = '\\';
+ string::size_type st;
+ if (fs[1] == ':')
+ {
+ //printf("Cygwin 'if' branch. fs = '%s'. Size = %d\n",
+ // fs.c_str(),fs.size());
+ char driveLetter = fs[0];
+
+ // Change all '\' to '/'
+ while ((st = fs.find( backSlash )) != fs.npos)
+ {
+ //printf(" st = %d, ",st);
+ fs = fs.replace(st, 1, 1, slash );
+ }
+ //printf(" end of back slash replacement.\n");
+ //printf("After backslash replace. fs = '%s'.\n",fs.c_str());
+
+ // Remove drive letter and colon
+ fs.erase(0,2);
+ //printf("After removing draft letter and colon. fs = '%s'.\n",fs.c_str());
+
+ // Prepend "/cygdrive/driveLetter" to filespec
+ fs.insert(0, 1, driveLetter);
+ fs.insert(0,"/cygdrive/");
+ }
+ else
+ {
+ //printf("Cygwin 'else' branch. fs = '%s'.\n",fs.c_str());
+ // Get current working directory.
+ char* cwd = getcwd(NULL, PATH_MAX);
+
+ // If strokes are in wrong directon, fix them
+ while ((st = fs.find( backSlash )) != fs.npos)
+ {
+ //printf(" st = %d, ",st);
+ fs = fs.replace(st, 1, 1, slash );
+ }
+ //printf("After backslash replace. fs = '%s'.\n",fs.c_str());
+
+ // Prepend cwd to filespec
+ if (fs[0]!=slash)
+ {
+ fs.insert(0,string(1,slash));
+ fs.insert(0,cwd);
+ }
+ }
+ //printf(" Operating under Cygwin. Filespec after modification:\n");
+ //printf(" fs = %s.\n",fs.c_str());
+#endif
+
+ // first, check if the file spec has a leading '/'. if not
+ // prepend the current directory to it.
+#ifndef _WIN32
+ if (fs[0] != slash)
+ {
+// #ifdef _WIN32
+// char* cwd = _getcwd(NULL, PATH_MAX);
+// #else
+ char* cwd = getcwd(NULL, PATH_MAX);
+// #endif
+ if (cwd == NULL)
+ {
+ FileHunterException fhe("Cannot get working directory");
+ GPSTK_THROW(fhe);
+ }
+ string wd(cwd);
+ // append a trailing slash if needed
+ if (wd[wd.size()-1] != slash)
+ wd += std::string(1,slash);
+ fs.insert(0, wd);
+ free(cwd);
+ }
+ // Append a closing slash so the breakdown algorithm has a
+ // means to terminate.
+ if (fs[fs.size()-1] != '/') fs += std::string(1,'/');
+#else
+ // If Windows, then check for leading drive name.
+ // If not leading drivename, then prepend current working directory.
+ if (fs[1]!=':')
+ {
+ char* cwdW = _getcwd(NULL, PATH_MAX);
+ if (cwdW == NULL)
+ {
+ FileHunterException fhe("Cannot get working directory");
+ GPSTK_THROW(fhe);
+ }
+ string wdW(cwdW);
+
+ // append a trailing slash if needed
+ if (wdW[wdW.size()-1] != '\\')
+ wdW += std::string(1,'\\');
+ fs.insert(0, wdW);
+ free(cwdW);
+ }
+ // Append a closing slash so the breakdown algorithm has a
+ // means to terminate.
+ if (fs[fs.size()-1] != '\\') fs += std::string(1,'\\');
+#endif
+
+ // break down the filespec directory by directory into the
+ // storage vector
+ while (!fs.empty())
+ {
+#ifndef _WIN32
+ if (fs[0] != slash)
+ {
+ FileHunterException fhe("Unexpected character: " +
+ fs.substr(0,1));
+ GPSTK_THROW(fhe);
+ }
+ else
+ // erase the leading slash
+ fs.erase(0,1);
+
+ string::size_type slashpos = fs.find(slash);
+ FileSpec tempfs(fs.substr(0, slashpos));
+
+ // debug
+ //printf(" fs, slashpos, tempfs = '%s', %d, '%s'.\n",
+ // fs.c_str(),slashpos,tempfs.getSpecString().c_str());
+
+ if (slashpos!=string::npos) fileSpecList.push_back(tempfs);
+ fs.erase(0, slashpos);
+#else
+ // for Windows erase the leading backslash, if present
+ if (fs[0] == '\\') fs.erase(0,1);
+ string::size_type slashpos;
+ slashpos = fs.find('\\');
+ FileSpec tempfs(fs.substr(0, slashpos));
+
+ if (slashpos!=string::npos) fileSpecList.push_back(tempfs);
+ fs.erase(0, slashpos);
+#endif
+ }
+ }
+ catch(FileHunterException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(FileSpecException &e)
+ {
+ FileHunterException fhe(e);
+ fhe.addText("Error in the file spec");
+ GPSTK_THROW(fhe);
+ }
+ catch(Exception &e)
+ {
+ FileHunterException fhe(e);
+ GPSTK_THROW(fhe);
+ }
+ catch(std::exception &e)
+ {
+ FileHunterException fhe("std::exception caught: " + string(e.what()));
+ GPSTK_THROW(fhe);
+ }
+ catch(...)
+ {
+ FileHunterException fhe("unknown exception caught");
+ GPSTK_THROW(fhe);
+ }
+ } // init
+
+ vector<string> FileHunter::searchHelper(const string& directory,
+ const FileSpec& fs) const
+ throw(FileHunterException)
+ {
+ try
+ {
+ vector<string> toReturn;
+
+ // generate a search string
+ string searchString = fs.createSearchString();
+
+#ifndef _WIN32
+ // open the dir
+ DIR* theDir;
+
+ //printf(" In searchHelper(). About to call opendir.\n");
+ // The first clause is a special kludge for Cygwin
+ // referencing DOS drive structures
+ //if (searchString.compare("cygdrive")==0)
+ //{
+ // std::string tempFS = std::string(1,slash) + searchString;
+ // theDir = opendir(tempFS.c_str());
+ //}
+ //else
+ if (directory.empty())
+ theDir = opendir(std::string(1,slash).c_str());
+ else
+ theDir = opendir(directory.c_str());
+
+ //printf(" In searchHelper(). Back from opendir call.\n");
+
+ if (theDir == NULL)
+ {
+ FileHunterException fhe("Cannot open directory: " + directory);
+ GPSTK_THROW(fhe);
+ }
+
+ // get each dir/file entry and compare it to the search string
+ struct dirent* entry;
+
+ while ( (entry = readdir(theDir)) != NULL)
+ {
+ string filename(entry->d_name);
+
+ // DEBUG
+ //printf("Testing '%s'\n",filename.c_str());
+
+ if (isLike(filename, searchString, '*', '+', '?') &&
+ (filename.length() == searchString.length()) &&
+ (filename != ".") && (filename != ".."))
+ {
+ toReturn.push_back(filename);
+ }
+ }
+ // use filespec for extra verification?
+
+ // cleanup
+ if (closedir(theDir) != 0)
+ {
+ FileHunterException fhe("Error closing directory: " +
+ directory);
+ GPSTK_THROW(fhe);
+ }
+#endif
+#ifdef _WIN32
+ // say 'hi' to old school MS io
+ char* cwd = _getcwd(NULL, PATH_MAX);
+ _chdir(directory.c_str());
+
+ struct _finddata_t c_file;
+ long hFile;
+
+ if ( (hFile = _findfirst( searchString.c_str(), &c_file )) != -1 )
+ {
+ std::string filename(c_file.name);
+ if ((filename != ".") && (filename != ".."))
+ {
+ toReturn.push_back(filename);
+ }
+ while( _findnext( hFile, &c_file ) == 0 )
+ {
+ filename = std::string(c_file.name);
+ if ((filename != ".") && (filename != ".."))
+ {
+ toReturn.push_back(filename);
+ }
+ }
+ }
+ _findclose(hFile);
+ _chdir(cwd);
+#endif
+ return toReturn;
+ }
+ catch(Exception& e)
+ {
+ FileHunterException fhe(e);
+ fhe.addText("Search failed");
+ GPSTK_THROW(fhe);
+ }
+ catch(std::exception& e)
+ {
+ FileHunterException fhe("std::exception caught: " + string(e.what()));
+ fhe.addText("Search failed");
+ GPSTK_THROW(fhe);
+ }
+ catch(...)
+ {
+ FileHunterException fhe("unknown exception");
+ fhe.addText("Search failed");
+ GPSTK_THROW(fhe);
+ }
+ }
+
+ void FileHunter::filterHelper(vector<std::string>& fileList,
+ const FileSpec& fs) const
+ throw(FileHunterException)
+ {
+ // go through the filterList. If the filespec has
+ // any fields to filter, remove matches from fileList
+
+ // for each element in the filter....
+ vector<FilterPair>::const_iterator filterItr = filterList.begin();
+ while(filterItr != filterList.end())
+ {
+ // if the file spec has that element...
+ if (fs.hasField((*filterItr).first))
+ {
+
+ // then search through the file list and
+ // remove any files that don't match the filter.
+ vector<string>::iterator fileListItr = fileList.begin();
+ while (fileListItr != fileList.end())
+ {
+ // thisField holds the part of the file name
+ // that we're searching for
+ string thisField = fs.extractField(*fileListItr,
+ (*filterItr).first);
+
+ vector<string>::const_iterator filterStringItr =
+ (*filterItr).second.begin();
+
+ // the iterator searches each element of the filter
+ // and compares it to thisField. If there's a match
+ // then keep it. if there's no match, delete it.
+ while (filterStringItr != (*filterItr).second.end())
+ {
+ if (thisField == rightJustify(*filterStringItr,
+ thisField.size(),
+ '0'))
+ break;
+ filterStringItr++;
+ }
+
+ if (filterStringItr == (*filterItr).second.end())
+ fileList.erase(fileListItr);
+ else
+ fileListItr++;
+ }
+ }
+ filterItr++;
+ }
+ }
+
+
+ void FileHunter::dump(ostream& o) const
+ {
+ vector<FileSpec>::const_iterator itr = fileSpecList.begin();
+ while(itr != fileSpecList.end())
+ {
+ (*itr).dump(o);
+ itr++;
+ }
+ }
+
+} // namespace
+
diff --git a/dev/src/FileHunter.hpp b/dev/src/FileHunter.hpp
new file mode 100644
index 0000000..ad23623
--- /dev/null
+++ b/dev/src/FileHunter.hpp
@@ -0,0 +1,229 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FileHunter.hpp
+ * Find all files matching a specification.
+ */
+
+#ifndef GPSTK_FILEHUNTER_HPP
+#define GPSTK_FILEHUNTER_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FileSpec.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup filedirgroup */
+ //@{
+
+ /// The only exception that class FileHunter throws.
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(FileHunterException, gpstk::Exception);
+
+ /**
+ * FileHunter is a class designed to find files matching specified
+ * criteria. The specified criteria is threefold:
+ * 1. The File Specification. This is a path and/or file description
+ * which is the most important search criteria. For instance, the
+ * specification for a Rinex Obs file might be:
+ * /archive/ADMS%3n/RINEXOBS/S%2n%t%3jA.%2y0
+ * where the '%#char' elements denote fields such as year, day, station
+ * number, and so on. In this example, FileHunter is smart enough to
+ * search all station directories (ADMS401, ADMS402, etc) but it won't
+ * search any directories (or subdirectories) other than ones that
+ * match the initial specification.
+ * 2. Start and end times. If you simply call find(), FileHunter will
+ * return all files that match the specification. You can specify
+ * DayTimes to only return files whose dates (according to the file
+ * name) fall between those times. Note that you can tell find() to
+ * return the list of files ascending, descending, or unsorted
+ * (unsorted will return them in disk order).
+ * 3. Filters. Filters can be used on any field that your file
+ * specification includes. The most appropriate use of this is to
+ * filter for a certain set of stations, but it will allow you to
+ * filter ANY field (day, year, etc) that is in the file specification.
+ *
+ * For more information about file specifications, see the comments in
+ * the FileSpec class. Also check the file FileSpecTest in the test
+ * subdirectory below this one for examples.
+ *
+ * Limitations: If a file specification has two or more of the same
+ * field defined, only the first one is used. This is only if they
+ * repeat in a single directory or path. For instance, this would be ok:
+ * /ADMS%3n/FILE%3n but in this case: /ADMS%3n/%3j%3j only the first
+ * %3j would be used for the day field.
+ * Also, wildcards cannot be used. Sorry - it's a limitation of how
+ * regular expressions are used.
+ * Finally, if you specify a version field, all files matching will
+ * be reurned. You can either use extractField() on the returned files
+ * to determine the latest version or select the version you want
+ * returned by using setFilter().
+ */
+ class FileHunter
+ {
+ public:
+
+ /// This describes how the files to be searched are chunked
+ /// i.e. a DAY chunking means one file is written per day
+ enum FileChunking
+ {
+ WEEK,
+ DAY,
+ HOUR,
+ MINUTE
+ };
+
+ /// Pairs of FileSpecTypes and lists of strings for filtering
+ /// the search results.
+ typedef std::pair<FileSpec::FileSpecType, std::vector<std::string> >
+ FilterPair;
+
+ /**
+ * Constructs a FileHunter using a file specification. This
+ * can be a full or relative path and/or a file specification.
+ * See FileSpec for details on how to format a file specification.
+ * @throw FileHunterException when there's a problem with the filespec
+ */
+ FileHunter(const std::string& filespec)
+ throw(FileHunterException);
+
+ /**
+ * Constructs a FileHunter using a FileSpec.
+ * @throw FileHunterException when there's a problem with the filespec
+ */
+ FileHunter(const FileSpec& filespec)
+ throw(FileHunterException);
+
+ /**
+ * Rather than building a new file hunter, this lets you change
+ * the filespec you're searching for.
+ * @throw FileHunterException when there's a problem with the filespec
+ */
+ FileHunter& newHunt(const std::string& filespec)
+ throw(FileHunterException);
+
+ /**
+ * Changes the file spec you're searching for in FileHunter.
+ * @throw FileHunterException when there's an error in the filespec
+ */
+ FileHunter& newHunt(const FileSpec& filespec)
+ throw(FileHunterException)
+ {return newHunt(filespec.getSpecString());}
+
+ /**
+ * Filters FOR the strings in /a filter in the field specified
+ * by /a fst when searching.
+ * @param fst A FileSpecType you want to run a filter on.
+ * @param filter a list of strings to search for.in the filter.
+ * @throw FileHunterException when /a fst can't be found.
+ */
+ FileHunter& setFilter(const FileSpec::FileSpecType fst,
+ const std::vector<std::string>& filter)
+ throw(FileHunterException);
+
+ /**
+ * Does the searching for the files. Set /a start and /a end
+ * for specifying times of files (according to their file names)
+ * for returning.
+ * \warning This method is NOT MT-Safe.
+ * @param start the start time to limit the search
+ * @param end the end time to limit the search
+ * @param fsst set to change the order the list is returned
+ * @param chunk the type of file chunking to use to select files
+ * @return a list of files matching the file specification,
+ * start and end times, and filters ordered according to fsst.
+ * This list can be empty if no files are found.
+ * @throw FileHunterException when there's a problem searching.
+ */
+ std::vector<std::string>
+ find(const gpstk::DayTime& start = gpstk::DayTime::BEGINNING_OF_TIME,
+ const gpstk::DayTime& end = gpstk::DayTime::END_OF_TIME,
+ const FileSpec::FileSpecSortType fsst = FileSpec::ascending,
+ enum FileChunking chunk = DAY) const
+ throw(FileHunterException);
+
+ /// outputs the file spec into a semi-readable format
+ void dump(std::ostream& o) const;
+
+ private:
+ // disallow these
+ FileHunter();
+ FileHunter(const FileHunter& fh);
+ FileHunter& operator=(const FileHunter& fh);
+
+ protected:
+ ///Shared code between the constructor and newHunt
+ void init(const std::string& filespec)
+ throw(FileHunterException);
+
+ /** Performs a search for the given file spec on the given directory.
+ * \warning This method is NOT MT-Safe.
+ * @return a list of matching directories/files */
+ std::vector<std::string>
+ searchHelper(const std::string& directory,
+ const FileSpec& fs) const
+ throw(FileHunterException);
+
+ /// If there is a filter set, this will find the filtered items
+ /// and set fileList to contain only those.
+ void filterHelper(std::vector<std::string>& fileList,
+ const FileSpec& fs) const
+ throw(FileHunterException);
+
+ /// Holds the broken down list of the file specification for searching
+ std::vector<FileSpec> fileSpecList;
+
+ /// Stores the list of things to filter for
+ std::vector<FilterPair> filterList;
+ }; // FileHunter
+
+ //@}
+
+} // namespace
+
+
+
+
+#endif
diff --git a/dev/src/FileSpec.cpp b/dev/src/FileSpec.cpp
new file mode 100644
index 0000000..b963f61
--- /dev/null
+++ b/dev/src/FileSpec.cpp
@@ -0,0 +1,537 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file FileSpec.cpp
+ * Define the specification of a file.
+ */
+
+#include <algorithm>
+
+#include "FileSpec.hpp"
+
+#include "StringUtils.hpp"
+
+using namespace std;
+using namespace gpstk;
+using namespace gpstk::StringUtils;
+
+namespace gpstk
+{
+ // operator-- for FileSpecType
+ FileSpec::FileSpecType& operator-- (FileSpec::FileSpecType& fst, int)
+ {
+ return fst = (fst == FileSpec::unknown) ?
+ FileSpec::end : FileSpec::FileSpecType(fst-1);
+ }
+
+ // operator++ for FileSpecType
+ FileSpec::FileSpecType& operator++ (FileSpec::FileSpecType& fst, int)
+ {
+ return fst = (fst == FileSpec::end) ?
+ FileSpec::unknown : FileSpec::FileSpecType(fst+1);
+ }
+
+ // compares substrings of \a l and \a r
+ bool FileSpec::FileSpecSort::operator() (const std::string& l,
+ const std::string& r) const
+ {
+ // if there are directories, don't include them in the comparison
+ std::string tl(l, offset + l.find_last_of(slash) + 1, length);
+ std::string tr(r, offset + r.find_last_of(slash) + 1, length);
+ if (sortBy == ascending)
+ return tl < tr;
+ else
+ return tl > tr;
+ }
+
+ string FileSpec::convertFileSpecType(const FileSpecType fst)
+ throw(FileSpecException)
+ {
+ if (fst == station) return string("n");
+ else if (fst == receiver) return string("r");
+ else if (fst == prn) return string("p");
+ else if (fst == selected) return string("t");
+ else if (fst == sequence) return string("I");
+ else if (fst == version) return string("v");
+ else if (fst == fixed) return string("");
+ else if (fst == clock) return string("c");
+
+ else if (fst == year) return string("y");
+ else if (fst == month) return string("m");
+ else if (fst == dayofmonth) return string("d");
+ else if (fst == hour) return string("H");
+ else if (fst == minute) return string("M");
+ else if (fst == second) return string("S");
+ else if (fst == fsecond) return string("f");
+ else if (fst == gpsweek) return string("G");
+ else if (fst == fullgpsweek) return string("F");
+ else if (fst == gpssecond) return string("g");
+ else if (fst == mjd) return string("Q");
+ else if (fst == dayofweek) return string("w");
+ else if (fst == day) return string("j");
+ else if (fst == zcount) return string("Z");
+ else if (fst == zcountfloor) return string("z");
+ else if (fst == unixsec) return string("U");
+ else if (fst == unixusec) return string("u");
+ else if (fst == fullzcount) return string("C");
+ else
+ {
+ FileSpecException fse("Unknown FileSpecType: " + asString(fst));
+ GPSTK_THROW(fse);
+ }
+ }
+
+ FileSpec::FileSpecType FileSpec::convertFileSpecType(const string& fst)
+ throw(FileSpecException)
+ {
+ if (fst == string("n")) return station;
+ else if (fst == string("r")) return receiver;
+ else if (fst == string("p")) return prn;
+ else if (fst == string("t")) return selected;
+ else if (fst == string("I")) return sequence;
+ else if (fst == string("v")) return version;
+ else if (fst == string("c")) return clock;
+
+ else if (fst == string("Y") ||
+ fst == string("y")) return year;
+ else if (fst == string("m")) return month;
+ else if (fst == string("d")) return dayofmonth;
+ else if (fst == string("H")) return hour;
+ else if (fst == string("M")) return minute;
+ else if (fst == string("S")) return second;
+ else if (fst == string("f")) return fsecond;
+ else if (fst == string("G")) return gpsweek;
+ else if (fst == string("F")) return fullgpsweek;
+ else if (fst == string("g")) return gpssecond;
+ else if (fst == string("Q")) return mjd;
+ else if (fst == string("w")) return dayofweek;
+ else if (fst == string("j")) return day;
+ else if (fst == string("Z")) return zcount;
+ else if (fst == string("z")) return zcountfloor;
+ else if (fst == string("U")) return unixsec;
+ else if (fst == string("u")) return unixusec;
+ else if (fst == string("C")) return fullzcount;
+ else
+ {
+ FileSpecException fse("Unknown FileSpecType: " + fst);
+ GPSTK_THROW(fse);
+ }
+ }
+
+
+ string FileSpec::createSearchString() const
+ throw(FileSpecException)
+ {
+ string searchString;
+
+ // go through the file spec element list...
+ vector<FileSpecElement>::const_iterator itr = fileSpecList.begin();
+ while (itr != fileSpecList.end())
+ {
+ // the error case first...
+ if ( ((*itr).type <= unknown) || ((*itr).type >= end) )
+ {
+ FileSpecException fse("Unknown FileSpecType: " +
+ asString((*itr).type));
+ GPSTK_THROW(fse);
+ }
+ // just add the fixed fields
+ else if ((*itr).type == fixed)
+ {
+ searchString += (*itr).field;
+ }
+ // replace all the others with question marks for searching
+ else
+ {
+ searchString += string((*itr).numCh, '?');
+ }
+
+ itr++;
+ }
+
+ return searchString;
+ }
+
+ string FileSpec::extractField(const string& filename,
+ const FileSpecType fst) const
+ throw(FileSpecException)
+ {
+ // stupidity check - is it a valid FST?
+ if ((fst <= unknown) || (fst >= end))
+ {
+ FileSpecException fse("Unknown FileSpecType: " +
+ convertFileSpecType(fst));
+ GPSTK_THROW(fse);
+ }
+
+ // check the FileSpec for this type of FST
+ vector<FileSpecElement>::const_iterator itr = fileSpecList.begin();
+ while (itr != fileSpecList.end())
+ {
+ // found it - get the substring and return
+ if ((*itr).type == fst)
+ {
+ return filename.substr((*itr).offset, (*itr).numCh);
+ }
+
+ // didn't find it on this iteration
+ itr++;
+ }
+ // oops - didn't find it.
+ FileSpecException fse("Couldn't find specified FileSpecType: " +
+ convertFileSpecType(fst));
+ GPSTK_THROW(fse);
+ }
+
+ bool FileSpec::hasField(const FileSpecType fst) const
+ throw(FileSpecException)
+ {
+ vector<FileSpecElement>::const_iterator itr = fileSpecList.begin();
+ while (itr != fileSpecList.end())
+ {
+ // stupidity check - is it a valid FST?
+ if (((*itr).type <= unknown) || ((*itr).type >= end))
+ {
+ FileSpecException fse("Unknown FileSpecType: " +
+ convertFileSpecType((*itr).type));
+ GPSTK_THROW(fse);
+ }
+ if ((*itr).type == fst)
+ return true;
+ itr++;
+ }
+ return false;
+ }
+
+
+ DayTime FileSpec::extractDayTime(const string& filename) const
+ throw(FileSpecException)
+ {
+ // this uses DayTime::setToString to get the time out
+ try
+ {
+ DayTime dt(0.L);
+ dt.setToString(filename, fileSpecString);
+ return dt;
+ }
+ catch(Exception& exc)
+ {
+ // too ambiguous - throw an exception
+ FileSpecException fse(exc);
+ fse.addText("Can't generate a DayTime for this FileSpec");
+ GPSTK_THROW(fse);
+ }
+ catch(std::exception& exc)
+ {
+ FileSpecException fse("std::exception: " + string(exc.what()));
+ fse.addText("Can't generate a DayTime for this FileSpec");
+ GPSTK_THROW(fse);
+ }
+ catch(...)
+ {
+ FileSpecException fse("unknown exception");
+ fse.addText("Can't generate a DayTime for this FileSpec");
+ GPSTK_THROW(fse);
+ }
+
+ }
+
+ std::string FileSpec::toString(const gpstk::DayTime& dt,
+ const FSTStringMap& fstsMap) const
+ {
+ string toReturn;
+
+ // Go through the list and insert all the non-date elements
+ // into the string. In other words, fill in the string with data
+ // from the FSTSMap first.. For date elements, put the FileSpec string
+ // directly into the file name (i.e. '%3j'). Then use Daytime::printf
+ // to fill in all the date elements at the end.
+ vector<FileSpecElement>::const_iterator fslItr = fileSpecList.begin();
+ while (fslItr != fileSpecList.end())
+ {
+ FSTStringMap::const_iterator fstsItr = fstsMap.find((*fslItr).type);
+ // once again, it its found in the map, replace that part of
+ // the file spec. otherwise, just put the fixed field in.
+ if (fstsItr != fstsMap.end())
+ {
+ toReturn += rightJustify((*fstsItr).second, (*fslItr).numCh, '0');
+ }
+ else
+ {
+ toReturn += (*fslItr).field;
+ }
+
+ fslItr++;
+ }
+
+ toReturn = dt.printf(toReturn);
+
+ return toReturn;
+ }
+
+ void FileSpec::sortList(vector<string>& fileList,
+ const FileSpecSortType fsst) const
+ throw(FileSpecException)
+ {
+ // gotta sort them in order as they appear in FileSpecType.
+ // This is kinda like Radix sort... sort one field at a time.
+ for(FileSpecType fst = FileSpecType(end-1); fst > unknown; fst--)
+ {
+ if (hasField(fst))
+ {
+ // check the FileSpec for this type of FST
+ vector<FileSpecElement>::const_iterator itr = fileSpecList.begin();
+ string::size_type ofs, len;
+ while (itr != fileSpecList.end())
+ {
+ // found it - get the substring and return
+ if ((*itr).type == fst)
+ {
+ ofs = (*itr).offset;
+ len = (*itr).numCh;
+ if (fsst != none)
+ {
+ FileSpecSort q(ofs, len, fsst);
+ stable_sort(fileList.begin(), fileList.end(), q);
+ }
+ }
+
+ // didn't find it on this iteration
+ itr++;
+ }
+ }
+ }
+
+ // to filter out versions, generate a list of the version FSEs first
+ // and copy the file list. then make a map of the file name without
+ // the version field to the name with the version field. since its
+ // sorted, the highest version will be the last one set and the map
+ // will only have the latest versions...
+ //
+ // ex. a1a a2a a3a a4a a5a file spec: a%1va
+ // copyOfFileList after versions removed: aa aa aa aa aa
+ // versionMap[aa] = a1a then a2a, a3a, a4a, and finally a5a
+ //
+ // note that this only handles 1 version field right now, not that
+ // it couldnt do more but it gets very difficult...
+
+ // filter out older versions here
+ if (hasField(version))
+ {
+ // copy the file list
+ vector<string> copyOfFileList = fileList;
+
+ // find all the version elements in this file spec
+ vector<FileSpecElement>::const_iterator itr = fileSpecList.begin();
+ vector<FileSpecElement> versionVec;
+ while (itr != fileSpecList.end())
+ {
+ if ((*itr).type == version)
+ versionVec.push_back(*itr);
+ itr++;
+ }
+ // remove the version fields from the copied list, but only for the
+ // last directory/file entry in this name
+ vector<string>::size_type index;
+ for (index = 0; index < copyOfFileList.size(); index++)
+ {
+ string::size_type slashpos = copyOfFileList[index].rfind(slash);
+ if (slashpos != string::npos)
+ copyOfFileList[index].erase(0, slashpos + 1);
+ copyOfFileList[index].erase(versionVec[0].offset,
+ versionVec[0].numCh);
+ }
+
+ // now make one more pass on the copied list. whenever two strings
+ // match, go to the original list and compare the version numbers.
+ // erase the lower version.
+
+ // FIX: this will only compare the first version field encountered.
+ // it could be changed to do more, but it's not essential now...
+ map<string, string> versionMap;
+ for (index = 0; index < copyOfFileList.size(); index++)
+ versionMap[copyOfFileList[index]] = fileList[index];
+
+ fileList.erase(fileList.begin(), fileList.end());
+ map<string, string>::iterator mapitr = versionMap.begin();
+ while (mapitr != versionMap.end())
+ {
+ fileList.push_back((*mapitr).second);
+ mapitr++;
+ }
+ }
+ }
+
+ void FileSpec::dump(ostream& o) const
+ {
+ o << "FileSpec string: " << fileSpecString << endl;
+
+ o << "offset numch type field" << endl;
+ vector<FileSpecElement>::const_iterator itr = fileSpecList.begin();
+ while (itr != fileSpecList.end())
+ {
+ o << setw(6) << (*itr).offset << setw(6) << (*itr).numCh
+ << setw(6) << convertFileSpecType((*itr).type)
+ // this makes the field bigger if the string is
+ // bigger than 5 characters
+ << setw(6 + ((*itr).field.size() > 5 ? ((*itr).field.size()-5): 0))
+ << (*itr).field << endl;
+ itr++;
+ }
+ }
+
+ void FileSpec::init(const string& fileSpec)
+ throw(FileSpecException)
+ {
+ try
+ {
+ fileSpecList.erase(fileSpecList.begin(), fileSpecList.end());
+ fileSpecString.erase(fileSpecString.begin(), fileSpecString.end());
+
+ fileSpecString = fileSpec;
+
+ // holds the offset for where we would be in the real file
+ // name
+ string::size_type offset = 0;
+
+ // copy the string so we can mess with it
+ string fs(fileSpec);
+
+ // bit by bit, parse out the string into FileSpecElements,
+ // stripping out the used parts as we go
+ while (!fs.empty())
+ {
+ string atom;
+ // if fs[0] == '%', then stop to parse. also stop at
+ // the end of the string
+ string::size_type pos = fs.find('%');
+ atom = fs.substr(0,pos);
+ fs.erase(0,pos);
+
+ // if it's at the end of the string...
+ // make a FileSpecElement of any remaining
+ // characters and return (fall through the while loop)
+ if (fs.empty())
+ {
+ if (!atom.empty())
+ {
+ FileSpecElement fse(atom.size(), offset, fixed, atom);
+ fileSpecList.push_back(fse);
+ }
+ }
+ // found a '%' so parse out this little bit of a file spec,
+ // but make sure to add atom to the FileSpec (if there is any)
+ else
+ {
+ if (!atom.empty())
+ {
+ FileSpecElement fse(atom.size(), offset, fixed, atom);
+ fileSpecList.push_back(fse);
+ offset += atom.size();
+ atom.erase(atom.begin(), atom.end());
+ }
+
+ // erase the '%'
+ // also make sure that atom holds the string that
+ // makes up this element.
+ atom += fs[0];
+ fs.erase(0,1);
+
+ // get any integers that come before the letter we're lookin
+ // for, then erase them
+ int numChs = asInt(fs);
+ if (numChs == 0)
+ numChs = 1;
+
+ if (fs[0] == '0')
+ atom += '0';
+
+ stripLeading(fs, "0");
+ stripLeading(fs, asString(numChs));
+
+ atom += asString(numChs);
+
+ // get the file spec type and erase that part of the string
+ FileSpecType fst = convertFileSpecType(fs.substr(0,1));
+ atom += fs[0];
+
+ // super special case - %Y -> %4y FIX shouldn't this be <4?
+ if ((fs.substr(0,1) == string("Y")) && (numChs != 4))
+ numChs = 4;
+ fs.erase(0,1);
+
+ FileSpecElement fse(numChs, offset, fst, atom);
+ fileSpecList.push_back(fse);
+ offset += numChs;
+ }
+
+ } // while !fs.empty()
+ }
+ catch(FileSpecException& e)
+ {
+ e.addText("Check your file spec for errors: " + fileSpec);
+ GPSTK_RETHROW(e);
+ }
+ catch(StringException& e)
+ {
+ FileSpecException fse(e);
+ fse.addText("String exception: Check the file spec for errors: " + fileSpec);
+ GPSTK_THROW(fse);
+ }
+ catch(std::exception& e)
+ {
+ FileSpecException fse("std::exception: " + string(e.what()));
+ fse.addText("Check the file spec for errors: " + fileSpec);
+ GPSTK_THROW(fse);
+ }
+ catch(...)
+ {
+ FileSpecException fse("Unknown exception: Check the file spec for errors: " + fileSpec);
+ GPSTK_THROW(fse);
+ }
+ }
+
+} // namespace
diff --git a/dev/src/FileSpec.hpp b/dev/src/FileSpec.hpp
new file mode 100644
index 0000000..d8e1250
--- /dev/null
+++ b/dev/src/FileSpec.hpp
@@ -0,0 +1,319 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FileSpec.hpp
+ * Define the specification of a file.
+ */
+
+#ifndef GPSTK_FILESPEC_HPP
+#define GPSTK_FILESPEC_HPP
+
+#include <vector>
+#include <functional>
+#include <map>
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "DayTime.hpp"
+
+#ifdef _WIN32
+const char slash = '\\';
+#else
+const char slash = '/';
+#endif
+
+namespace gpstk
+{
+ /** @addtogroup filedirgroup */
+ //@{
+
+ /// This exception is thrown when there is a problem with
+ /// handling file specifications.
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(FileSpecException, gpstk::Exception);
+
+ /**
+ * A FileSpec is how file names are defined. For instance,
+ * ASM%4Y.%3j is the file spec for a SMODF file. The format is similar
+ * to what you would use in sprintf(), and specifically it uses the same
+ * fields as DayTime::printf(). For the most predictable results,
+ * fully specify the field length (as in %4Y vs. %Y). Check the
+ * FileSpecType enum values for how characters map to fields. Any new
+ * fields added should conform to DayTime or already existing fields,
+ * if there are any.
+ */
+ class FileSpec
+ {
+ public:
+ /// This enum lists the different possible elements you can
+ /// have in a FileSpec.
+ enum FileSpecType
+ {
+ unknown, ///< Unknown type
+ station, ///< 'n' A field for station numbers
+ receiver, ///< 'r' A field for the receiver number
+ prn, ///< 'p' A field for PRN number
+ selected, ///< 't' A field for selected/unselected receiver
+ sequence, ///< 'I' A sequence number, as in part 1, part 2, etc..
+ version, ///< 'v' A version number, as in version 2
+ ///< is more recent than version 1
+ fixed, ///< A field for fixed characters
+ clock, ///< 'c' A field for the clock number
+
+
+ // see DayTime for more information on the followint elements
+ year, ///< 'y' or 'Y' A field for a year
+ month, ///< 'm' A field for month (numeric)
+ dayofmonth, ///< 'd' A field for day-of-month
+ hour, ///< 'H' A field for hours (out of 24)
+ minute, ///< 'M' A field for minutes (out of 60)
+ second, ///< 'S' A field for seconds (out of 60)
+ fsecond, ///< 'f' A field for seconds (float)
+ gpsweek, ///< 'G' A field for 10 bit GPS weeks
+ fullgpsweek, ///< 'F' A field for full GPS weeks
+ gpssecond, ///< 'g' A field for GPS second-of-week
+ mjd, ///< 'Q' A field for Modified Julian Date
+ dayofweek, ///< 'w' A field for day-of-week (numeric)
+ day, ///< 'j' A field for day of year
+ zcount, ///< 'Z' A field for GPS Z-count
+ zcountfloor, ///< 'z' A field for GPS Z-count rounded down
+ unixsec, ///< 'U' A field for UNIX seconds
+ unixusec, ///< 'u' A field for UNIX microseconds
+ fullzcount, ///< 'C' A field for Full GPS Z-count
+
+ end ///< A place holder for the end of this list
+ };
+
+ /// A map from a FileSpecType to a string, used in the
+ /// toString function.
+ typedef std::map<FileSpecType, std::string> FSTStringMap;
+
+
+ /// An enum for identifying the sort order of the list returned
+ /// from FileHunter.
+ enum FileSpecSortType
+ {
+ none,
+ ascending,
+ descending
+ };
+
+ /// Default constructor
+ FileSpec() {}
+
+ /// Constructor with a string to parse
+ FileSpec(const std::string& fileSpec)
+ throw(FileSpecException)
+ {init(fileSpec);}
+
+ /// Destructor
+ virtual ~FileSpec() {}
+
+ /// Reinitializes this FileSpec with the new string
+ virtual FileSpec& newSpec(const std::string& fileSpec)
+ throw(FileSpecException)
+ {init(fileSpec); return *this;}
+
+ /// Returns the string of the filespec
+ virtual std::string getSpecString(void) const
+ {return fileSpecString;}
+
+ /**
+ * Returns a string that can be used to search for files
+ * matching this FileSpec. Essentailly turns every non-fixed
+ * field into strings of '?'.
+ * @throw FileSpecException when there's an error in the FileSpec
+ */
+ virtual std::string createSearchString() const
+ throw(FileSpecException);
+
+ /**
+ * Given a file name and a field, returns that field from the string.
+ * Use hasField() first to see if the field exists in the FileSpec.
+ * If multiple fields of FileSpecType are defined, only the first
+ * is returned.
+ * @throw FileSpecException when the FileSpecType doesn't exist
+ * in the FileSpec
+ */
+ virtual std::string extractField(const std::string& filename,
+ const FileSpecType) const
+ throw(FileSpecException);
+
+ /**
+ * Given a field type, returns true if the FileSpec has that field.
+ * @throw FileSpecException when you pass in an invalid FileSpecType
+ */
+ virtual bool hasField(const FileSpecType) const
+ throw(FileSpecException);
+
+ /**
+ * If possible, returns a DayTime object with the time the file
+ * represents. Since the time resolution only goes to days for
+ * most file types, all times are set to midnight of that day.
+ * @throw FileSpecException when a time can't be formed
+ */
+ virtual gpstk::DayTime extractDayTime(const std::string& filename) const
+ throw(FileSpecException);
+
+ /**
+ * For the given FileSpec, fills in the fields with the given
+ * information and returns a string of that file name. Use the
+ * FSTStringMap to provide all the other non-time data for the
+ * string (i.e. FSTSMap[station] = "85408";). Any unspecified
+ * field will be filled with 0's. The one side affect of this
+ * is that you can only specify one of each field in the map,
+ * but you're likely not going to need two different station
+ * numbers in the file name. If you want, you can put the daytime
+ * information into the FSTSMap, but it's not necessary.
+ * @return the new filename.
+ */
+ virtual std::string toString(const gpstk::DayTime& dt,
+ const FSTStringMap& fstsMap = FSTStringMap())
+ const;
+
+ /**
+ * Sort the list of files ascending or
+ * descending. The fields of the files are sorted in the order
+ * that they're specified in the FileSpecType enum.
+ * The list fileList is modified as a result
+ * of this. If the files in fileList have paths listed, then
+ * only the file name (taken to be the word after the last '/')
+ * will be used in the comparison. This function also filters
+ * out older versions of files in the fileList.
+ */
+ virtual void sortList(std::vector<std::string>& fileList,
+ const FileSpecSortType fsst = ascending) const
+ throw(FileSpecException);
+
+ /// semi-nicely print the FileSpec to the stream.
+ virtual void dump(std::ostream& o) const;
+
+ protected:
+ /// Parses the string into the FileSpec object
+ virtual void init(const std::string& fileSpec)
+ throw(FileSpecException);
+
+ public:
+ /**
+ * Converts the FileSpecType to a string it is identified with.
+ * @throw FileSpecException when FileSpecType doesn't match
+ * any known types
+ */
+ static std::string convertFileSpecType(const FileSpecType)
+ throw(FileSpecException);
+
+ /**
+ * Converts the string into its corresponding FileSpecType
+ * @throw FileSpecException when FileSpecType doesn't match
+ * any known types
+ */
+ static FileSpecType convertFileSpecType(const std::string&)
+ throw(FileSpecException);
+
+ protected:
+ /// This is an internal, private class of FileSpec that holds
+ /// information for one individual file specification element.
+ class FileSpecElement
+ {
+ public:
+ /// This is the default constructor too.
+ FileSpecElement(const std::string::size_type numChars = 0,
+ const std::string::size_type offs = 0,
+ const FileSpecType fst = unknown,
+ const std::string& fld = std::string())
+ : numCh(numChars), offset(offs), type(fst), field(fld)
+ {};
+
+ /// The number of characters this field is in the file name.
+ std::string::size_type numCh;
+ /// The offset in the string where this field begins
+ std::string::size_type offset;
+ /// The type which this field corresponds to.
+ FileSpecType type;
+ /// For fixed strings, the characters it represents.
+ /// For all other types, it's the original string for
+ /// that field (i.e. '%03j').
+ std::string field;
+ };
+
+ /// Another private, internal class for doing sorting
+ /// by substring.
+ struct FileSpecSort :
+ public std::binary_function<std::string,std::string,bool>
+ {
+ public:
+ FileSpecSort(std::string::size_type o, std::string::size_type l,
+ const FileSpecSortType s)
+ : offset(o), length(l), sortBy(s) {}
+ /// Compares two strings based on the substrings defined by
+ /// offset and length accounting for any directory names
+ /// in the strings
+ bool operator() (const std::string& l, const std::string& r) const;
+ private:
+ /// the offset of the substring to compare
+ std::string::size_type offset;
+ /// the length of the substring to compare
+ std::string::size_type length;
+ /// ascending, descending or none
+ FileSpecSortType sortBy;
+ };
+
+ /// Holds all of the FileSpecElements for this FileSpec
+ std::vector<FileSpecElement> fileSpecList;
+ /// Holds the string that the fileSpecList was generated from
+ std::string fileSpecString;
+
+
+ }; // class FileSpec
+
+ /// Operator-- for FileSpecType
+ FileSpec::FileSpecType& operator-- (FileSpec::FileSpecType& fst, int);
+ /// Operator++ for FileSpecType
+ FileSpec::FileSpecType& operator++ (FileSpec::FileSpecType& fst, int);
+
+ //@}
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/FileStore.hpp b/dev/src/FileStore.hpp
new file mode 100644
index 0000000..01f382d
--- /dev/null
+++ b/dev/src/FileStore.hpp
@@ -0,0 +1,121 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FileStore.hpp
+ * Read and write data
+ */
+
+#ifndef GPSTK_FILE_STORE_HPP
+#define GPSTK_FILE_STORE_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include <vector>
+
+#include "Exception.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup filedirgroup */
+ //@{
+ /**
+ * This is an abstract class used to add a list of files and the interface
+ * to read files into a datastore. This is intended to support arbitrary
+ * file names, not a list of similiar file names. See the FileHunter framework
+ * for support of that type of file.
+ */
+
+ template <class HeaderType> class FileStore
+ {
+ public:
+
+ /// Constructor.
+ FileStore() throw() {};
+
+ /// destructor
+ virtual ~FileStore() {};
+
+ std::vector<std::string> getFileNames() const
+ {
+ typedef typename FFDataMap::const_iterator const_iterator;
+ std::vector<std::string> nv;
+ const_iterator i;
+ for (i=headerMap.begin(); i!=headerMap.end(); i++)
+ nv.push_back(i->first);
+ return nv;
+ }
+
+ void addFile(const std::string& fn, const HeaderType& header) throw()
+ { headerMap[fn] = header; };
+
+ const HeaderType& getHeader(const std::string& fn) throw()
+ { return headerMap[fn]; };
+
+ /// Load a single file into the store
+ virtual void loadFile(const std::string& fileName)
+ throw (FileMissingException) = 0;
+
+ virtual void loadFiles(const std::vector<std::string>& fileNames)
+ {
+ std::vector<std::string>::const_iterator f=fileNames.begin();
+ for (f=fileNames.begin(); f!=fileNames.end(); f++)
+ loadFile(*f);
+ };
+
+ /// Return the size of the (filename,header) map
+ unsigned size() const throw() { return headerMap.size(); }
+
+ private:
+
+ typedef std::map<std::string, HeaderType> FFDataMap;
+
+ /// A store of all headers loaded, indexed by file name
+ FFDataMap headerMap;
+ };
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/FileUtils.hpp b/dev/src/FileUtils.hpp
new file mode 100644
index 0000000..0aab1b7
--- /dev/null
+++ b/dev/src/FileUtils.hpp
@@ -0,0 +1,156 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file FileUtils.hpp
+ * File and directory utilities
+ */
+
+#ifndef GPSTK_FILEUTILS_HPP
+#define GPSTK_FILEUTILS_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#ifdef __sun
+#include <libgen.h>
+#else
+#include <sys/stat.h>
+#include <sys/types.h>
+#endif
+
+#include <fstream>
+#include <string>
+#include "StringUtils.hpp"
+
+#ifdef _MSC_VER
+#include <direct.h>
+#endif
+
+namespace gpstk
+{
+ /** @addtogroup filedirgroup */
+ //@{
+
+ /**
+ * These functions and macros help process files and directories.
+ */
+ namespace FileUtils
+ {
+ /**
+ * Creates a hierarchy of directories rather than just one dir.
+ * This intentionally doesn't check the mkdir return codes because
+ * there is no difference between return codes for directories
+ * that already exist and error creating new ones.
+ * @param path the full path of the directory you want created
+ * @param mode the permission of the new directory (like 0755)
+ * @return always 0
+ */
+ inline int makeDir(const std::string& path, unsigned mode)
+ {
+#ifdef __sun
+ mkdirp(path.c_str(), mode);
+#else
+ int rc = 0;
+ std::string::size_type i = 0;
+
+ while ((i = path.find('/',i+1)) != std::string::npos)
+ {
+ std::string thispath(path.substr(0,i));
+ if (thispath[thispath.length() - 1] == '/')
+ thispath.erase(thispath.length() - 1);
+#ifdef _MSC_VER
+ _mkdir(path.c_str());
+#else
+ mkdir(thispath.c_str(), mode);
+#endif
+ }
+#ifdef _MSC_VER
+ _mkdir(path.c_str());
+#else
+ mkdir(path.c_str(), mode);
+#endif
+
+#endif // __sun
+ return 0;
+ }
+
+ /**
+ * makeDir that takes a char* for an argument.
+ * @param path the full path of the directory you want created
+ * @param mode the permission of the new directory (like 0755)
+ * @return always 0
+ */
+ inline int makeDir(const char* path, unsigned mode)
+ {
+ return makeDir(std::string(path), mode);
+ }
+
+ /**
+ * Returns true if the file exists. Only readability is
+ * verified unless the user inputs the openmode of interest.
+ * @param fname Name of the file to check
+ * @param mode Mode of access to check (default is readable, std::ios::in)
+ * @return true if the file can be accessed
+ */
+ inline bool fileAccessCheck(const char* fname,
+ std::ios::openmode mode=std::ios::in)
+ {
+ std::fstream test(fname, mode);
+ return !test.fail();
+ }
+
+ inline bool fileAccessCheck(const std::string& fname,
+ std::ios::openmode mode=std::ios::in)
+ {
+ return fileAccessCheck(fname.c_str(), mode);
+ }
+
+
+ } // namespace FileUtils
+
+ //@}
+
+} // namespace
+
+
+#endif
diff --git a/dev/src/GPSEpochWeekSecond.cpp b/dev/src/GPSEpochWeekSecond.cpp
new file mode 100644
index 0000000..8087302
--- /dev/null
+++ b/dev/src/GPSEpochWeekSecond.cpp
@@ -0,0 +1,214 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "GPSEpochWeekSecond.hpp"
+#include "TimeConstants.hpp"
+
+namespace gpstk
+{
+ GPSEpochWeekSecond&
+ GPSEpochWeekSecond::operator=( const GPSEpochWeekSecond& right )
+ throw()
+ {
+ epoch = right.epoch;
+ week = right.week;
+ sow = right.sow;
+ return *this;
+ }
+
+ CommonTime GPSEpochWeekSecond::convertToCommonTime() const
+ {
+ int fullweek( epoch * WEEKS_PER_EPOCH + week );
+ int dow = static_cast<int>( sow * DAY_PER_SEC );
+ int jday = GPS_EPOCH_JDAY + ( 7 * fullweek ) + dow;
+ double sod( sow - SEC_PER_DAY * dow );
+ return CommonTime( jday,
+ static_cast<long>( sod ),
+ sod - static_cast<long>( sod ) );
+ }
+
+ void GPSEpochWeekSecond::convertFromCommonTime( const CommonTime& ct )
+ {
+ long day, sod;
+ double fsod;
+ ct.get( day, sod, fsod );
+
+ // find the number of days since the beginning of the GPS Epoch
+ day -= GPS_EPOCH_JDAY;
+ // find out how many weeks that is
+ int fullweek( static_cast<int>( day / 7 ) );
+ // find out what the day of week is
+ day -= fullweek * 7;
+
+ epoch = fullweek / WEEKS_PER_EPOCH;
+ week = fullweek % WEEKS_PER_EPOCH;
+ sow = static_cast<double>( day * SEC_PER_DAY + sod ) + fsod;
+ }
+
+ std::string GPSEpochWeekSecond::printf(const std::string& fmt) const
+ throw( gpstk::StringUtils::StringException )
+ {
+ try
+ {
+ using gpstk::StringUtils::formattedPrint;
+ std::string rv = fmt;
+
+ rv = formattedPrint( rv, getFormatPrefixInt() + "E",
+ "Ed", epoch );
+ rv = formattedPrint( rv, getFormatPrefixInt() + "G",
+ "Gd", week );
+ rv = formattedPrint( rv, getFormatPrefixInt() + "w",
+ "wd", static_cast<int>(sow / SEC_PER_DAY));
+ rv = formattedPrint( rv, getFormatPrefixFloat() + "g",
+ "gf", sow);
+ return rv;
+ }
+ catch( gpstk::StringUtils::StringException& exc )
+ {
+ GPSTK_RETHROW( exc );
+ }
+ }
+
+ bool GPSEpochWeekSecond::setFromInfo( const IdToValue& info )
+ throw()
+ {
+ using namespace gpstk::StringUtils;
+
+ for( IdToValue::const_iterator i = info.begin(); i != info.end(); i++ )
+ {
+ // based on the character, we know what to do...
+ switch ( i->first )
+ {
+ case 'E':
+ epoch = asInt( i->second );
+ break;
+ case 'G':
+ week = asInt( i->second );
+ break;
+ case 'w':
+ sow = static_cast<double>( asInt( i->second ) ) * SEC_PER_DAY;
+ break;
+ case 'g':
+ sow = asDouble( i->second );
+ break;
+ default:
+ // do nothing
+ break;
+ };
+
+ } // end of for loop
+
+ return true;
+ }
+
+ bool GPSEpochWeekSecond::isValid() const
+ throw()
+ {
+ GPSEpochWeekSecond temp;
+ temp.convertFromCommonTime( convertToCommonTime() );
+ if( *this == temp )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ void GPSEpochWeekSecond::reset()
+ throw()
+ {
+ epoch = week = 0;
+ sow = 0.0;
+ }
+
+ bool
+ GPSEpochWeekSecond::operator==( const GPSEpochWeekSecond& right ) const
+ throw()
+ {
+ if( epoch == right.epoch &&
+ week == right.week &&
+ sow == right.sow )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool
+ GPSEpochWeekSecond::operator!=( const GPSEpochWeekSecond& right ) const
+ throw()
+ {
+ return (! operator==( right ) );
+ }
+
+ bool
+ GPSEpochWeekSecond::operator<( const GPSEpochWeekSecond& right ) const
+ throw()
+ {
+ if( epoch < right.epoch )
+ {
+ return true;
+ }
+ if( epoch > right.epoch )
+ {
+ return false;
+ }
+ if( week < right.week )
+ {
+ return true;
+ }
+ if( week > right.week )
+ {
+ return false;
+ }
+ if( sow < right.sow )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool
+ GPSEpochWeekSecond::operator>( const GPSEpochWeekSecond& right ) const
+ throw()
+ {
+ return (! operator<=( right ) );
+ }
+
+ bool
+ GPSEpochWeekSecond::operator<=( const GPSEpochWeekSecond& right ) const
+ throw()
+ {
+ return ( operator<( right ) || operator==( right ) );
+ }
+
+ bool
+ GPSEpochWeekSecond::operator>=( const GPSEpochWeekSecond& right ) const
+ throw()
+ {
+ return (! operator<( right ) );
+ }
+
+} // namespace
diff --git a/dev/src/GPSEpochWeekSecond.hpp b/dev/src/GPSEpochWeekSecond.hpp
new file mode 100644
index 0000000..23c3e66
--- /dev/null
+++ b/dev/src/GPSEpochWeekSecond.hpp
@@ -0,0 +1,175 @@
+#pragma ident "$Id$"
+
+
+
+#ifndef GPSTK_GPSEPOCHWEEKSECOND_HPP
+#define GPSTK_GPSEPOCHWEEKSECOND_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "TimeTag.hpp"
+
+namespace gpstk
+{
+ /**
+ * This class encapsulates the "GPS Epoch, GPS Week and GPS
+ * Seconds-of-week" time representation.
+ */
+ class GPSEpochWeekSecond : public TimeTag
+ {
+ public:
+ /**
+ * @defgroup gewsbo GPSEpochWeekSecond Basic Operations
+ * Default and Copy Constructors, Assignment Operator and Destructor.
+ */
+ //@{
+ /**
+ * Default Constructor.
+ * All elements are initialized to zero.
+ */
+ GPSEpochWeekSecond( int e = 0,
+ int w = 0,
+ double s = 0. )
+ throw()
+ : epoch(e), week(w), sow(s)
+ {}
+
+ /**
+ * Copy Constructor.
+ * @param right a reference to the GPSEpochWeekSecond object to copy
+ */
+ GPSEpochWeekSecond( const GPSEpochWeekSecond& right )
+ throw()
+ : epoch( right.epoch ), week( right.week ), sow( right.sow )
+ {}
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const TimeTag reference and copies its contents via
+ * conversion to CommonTime.
+ * @param right a const reference to the BasicTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ GPSEpochWeekSecond( const TimeTag& right )
+ throw( gpstk::InvalidRequest )
+ {
+ convertFromCommonTime( right.convertToCommonTime() );
+ }
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const CommonTime reference and copies its contents via
+ * the convertFromCommonTime method.
+ * @param right a const reference to the CommonTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ GPSEpochWeekSecond( const CommonTime& right )
+ throw( InvalidRequest )
+ {
+ convertFromCommonTime( right );
+ }
+
+ /**
+ * Assignment Operator.
+ * @param right a const reference to the GPSEpochWeekSecond to copy
+ * @return a reference to this GPSEpochWeekSecond
+ */
+ GPSEpochWeekSecond& operator=( const GPSEpochWeekSecond& right )
+ throw();
+
+ /// Virtual Destructor.
+ virtual ~GPSEpochWeekSecond()
+ throw()
+ {}
+ //@}
+
+ // The following functions are required by TimeTag.
+ virtual CommonTime convertToCommonTime() const;
+
+ virtual void convertFromCommonTime( const CommonTime& ct ) ;
+
+ /// This function formats this time to a string. The exceptions
+ /// thrown would only be due to problems parsing the fmt string.
+ virtual std::string printf(const std::string& fmt) const
+ throw( gpstk::StringUtils::StringException );
+
+ /**
+ * Set this object using the information provided in \a info.
+ * @param info the IdToValue object to which this object shall be set.
+ * @return true if this object was successfully set using the
+ * data in \a info, false if not.
+ */
+ virtual bool setFromInfo( const IdToValue& info )
+ throw();
+
+ /// Return a string containing the characters that this class
+ /// understands when printing times.
+ virtual std::string getPrintChars() const
+ throw()
+ {
+ return "EGwg";
+ }
+
+ /// Return a string containing the default format to use in printing.
+ virtual std::string getDefaultFormat() const
+ throw()
+ {
+ return "%E %04G %g";
+ }
+
+ virtual bool isValid() const
+ throw();
+
+ virtual void reset()
+ throw();
+
+ /**
+ * @defgroup gewsco GPSEpochWeekSecond Comparison Operators
+ * All comparison operators have a parameter "right" which corresponds
+ * to the GPSEpochWeekSecond object to the right of the symbol.
+ * All comparison operators are const and return true on success
+ * and false on failure.
+ */
+ //@{
+ bool operator==( const GPSEpochWeekSecond& right ) const
+ throw();
+ bool operator!=( const GPSEpochWeekSecond& right ) const
+ throw();
+ bool operator<( const GPSEpochWeekSecond& right ) const
+ throw();
+ bool operator>( const GPSEpochWeekSecond& right ) const
+ throw();
+ bool operator<=( const GPSEpochWeekSecond& right ) const
+ throw();
+ bool operator>=( const GPSEpochWeekSecond& right ) const
+ throw();
+ //@}
+
+ int epoch;
+ int week;
+ double sow;
+ };
+
+}
+
+#endif // GPSTK_GPSEPOCHWEEKSECOND_HPP
diff --git a/dev/src/GPSGeoid.hpp b/dev/src/GPSGeoid.hpp
new file mode 100644
index 0000000..f578362
--- /dev/null
+++ b/dev/src/GPSGeoid.hpp
@@ -0,0 +1,89 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file GPSGeoid.hpp
+ * The GPS geoid defined in ICD-GPS-200
+ */
+
+#ifndef GPSTK_GPSGEOID_HPP
+#define GPSTK_GPSGEOID_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "WGS84Geoid.hpp"
+#include "icd_200_constants.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup geodeticgroup */
+ //@{
+
+ /**
+ * This class represents the geodetic model defined in
+ * ICD-GPS-200. This geodetic model was based on the WGS 84
+ * model, which has changed since the ICD-GPS-200 was written.
+ * To save the cost of having to update all of the fielded
+ * receivers, these constants were kept for GPS purposes.
+ *
+ * Only some of the WGS 84 geodetic model parameters are defined
+ * as part of the 200. These parameters are explicitly defined
+ * here. Other parameters are inherited from the WGS84Geoid
+ * definition.
+ */
+ class GPSGeoid : public WGS84Geoid
+ {
+ public:
+ /// defined in ICD-GPS-200C, 20.3.3.4.3.3 and Table 20-IV
+ /// @return angular velocity of Earth in radians/sec.
+ virtual double angVelocity() const throw()
+ { return 7.2921151467e-5; }
+
+ /// defined in ICD-GPS-200C, 20.3.3.4.3.3 and Table 20-IV
+ /// @return geocentric gravitational constant in m**3 / s**2
+ virtual double gm() const throw()
+ { return 3.986005e14; }
+
+ /// derived from ICD-GPS-200C, 20.3.3.4.3.3 and Table 20-IV
+ /// @return geocentric gravitational constant in km**3 / s**2
+ virtual double gm_km() const throw()
+ { return 3.9860034e5; }
+
+ /// defined in ICD-GPS-200C, 20.3.4.3
+ /// @return Speed of light in m/s.
+ virtual double c() const throw()
+ { return C_GPS_M; }
+
+ /// derived from ICD-GPS-200C, 20.3.4.3
+ /// @return Speed of light in km/s
+ virtual double c_km() const throw()
+ { return (C_GPS_M / 1000); }
+
+ }; // class GPSGeoid
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/GPSWeekSecond.cpp b/dev/src/GPSWeekSecond.cpp
new file mode 100644
index 0000000..393bdab
--- /dev/null
+++ b/dev/src/GPSWeekSecond.cpp
@@ -0,0 +1,196 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "GPSWeekSecond.hpp"
+#include "TimeConstants.hpp"
+
+namespace gpstk
+{
+ GPSWeekSecond&
+ GPSWeekSecond::operator=( const GPSWeekSecond& right )
+ throw()
+ {
+ week = right.week;
+ sow = right.sow;
+ return *this;
+ }
+
+ CommonTime GPSWeekSecond::convertToCommonTime() const
+ {
+ int dow = static_cast<int>( sow * DAY_PER_SEC );
+ int jday = GPS_EPOCH_JDAY + ( 7 * week ) + dow;
+ double sod( sow - SEC_PER_DAY * dow );
+ return CommonTime( jday,
+ static_cast<long>( sod ),
+ sod - static_cast<long>( sod ) );
+ }
+
+ void GPSWeekSecond::convertFromCommonTime( const CommonTime& ct )
+ {
+ long day, sod;
+ double fsod;
+ ct.get( day, sod, fsod );
+
+ // find the number of days since the beginning of the GPS Epoch
+ day -= GPS_EPOCH_JDAY;
+ // find out how many weeks that is
+ week = static_cast<int>( day / 7 );
+ // find out what the day of week is
+ day %= 7;
+
+ sow = static_cast<double>( day * SEC_PER_DAY + sod ) + fsod;
+ }
+
+ std::string GPSWeekSecond::printf(const std::string& fmt) const
+ throw( gpstk::StringUtils::StringException )
+ {
+ try
+ {
+ using gpstk::StringUtils::formattedPrint;
+ std::string rv = fmt;
+
+ rv = formattedPrint( rv, getFormatPrefixInt() + "F",
+ "Fd", week );
+ rv = formattedPrint( rv, getFormatPrefixInt() + "w",
+ "wd", static_cast<int>(sow / SEC_PER_DAY) );
+ rv = formattedPrint( rv, getFormatPrefixFloat() + "g",
+ "gf", sow);
+ return rv;
+ }
+ catch( gpstk::StringUtils::StringException& exc )
+ {
+ GPSTK_RETHROW( exc );
+ }
+ }
+
+ bool GPSWeekSecond::setFromInfo( const IdToValue& info )
+ throw()
+ {
+ using namespace gpstk::StringUtils;
+
+ for( IdToValue::const_iterator i = info.begin(); i != info.end(); i++ )
+ {
+ // based on the character, we know what to do...
+ switch ( i->first )
+ {
+ case 'F':
+ week = asInt( i->second );
+ break;
+ case 'w':
+ sow = static_cast<double>( asInt( i->second ) ) * SEC_PER_DAY;
+ break;
+ case 'g':
+ sow = asDouble( i->second );
+ break;
+ default:
+ // do nothing
+ break;
+ };
+
+ } // end of for loop
+
+ return true;
+ }
+
+ bool GPSWeekSecond::isValid() const
+ throw()
+ {
+ GPSWeekSecond temp;
+ temp.convertFromCommonTime( convertToCommonTime() );
+ if( *this == temp )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ void GPSWeekSecond::reset()
+ throw()
+ {
+ week = 0;
+ sow = 0.0;
+ }
+
+ bool
+ GPSWeekSecond::operator==( const GPSWeekSecond& right ) const
+ throw()
+ {
+ if( week == right.week &&
+ sow == right.sow )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool
+ GPSWeekSecond::operator!=( const GPSWeekSecond& right ) const
+ throw()
+ {
+ return (! operator==( right ) );
+ }
+
+ bool
+ GPSWeekSecond::operator<( const GPSWeekSecond& right ) const
+ throw()
+ {
+ if( week < right.week )
+ {
+ return true;
+ }
+ if( week > right.week )
+ {
+ return false;
+ }
+ if( sow < right.sow )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool
+ GPSWeekSecond::operator>( const GPSWeekSecond& right ) const
+ throw()
+ {
+ return (! operator<=( right ) );
+ }
+
+ bool
+ GPSWeekSecond::operator<=( const GPSWeekSecond& right ) const
+ throw()
+ {
+ return ( operator<( right ) || operator==( right ) );
+ }
+
+ bool
+ GPSWeekSecond::operator>=( const GPSWeekSecond& right ) const
+ throw()
+ {
+ return (! operator<( right ) );
+ }
+
+} // namespace
diff --git a/dev/src/GPSWeekSecond.hpp b/dev/src/GPSWeekSecond.hpp
new file mode 100644
index 0000000..ec732cc
--- /dev/null
+++ b/dev/src/GPSWeekSecond.hpp
@@ -0,0 +1,176 @@
+#pragma ident "$Id$"
+
+
+
+#ifndef GPSTK_GPSWEEKSECOND_HPP
+#define GPSTK_GPSWEEKSECOND_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "TimeTag.hpp"
+
+namespace gpstk
+{
+ /**
+ * This class encapsulates the "Full GPS Week and GPS
+ * Seconds-of-week" time representation.
+ */
+ class GPSWeekSecond : public TimeTag
+ {
+ public:
+ static const std::string printChars;
+ static const std::string defaultFormat;
+
+ /**
+ * @defgroup gwsbo GPSWeekSecond Basic Operations
+ * Default and Copy Constructors, Assignment Operator and Destructor.
+ */
+ //@{
+ /**
+ * Default Constructor.
+ * All elements are initialized to zero.
+ */
+ GPSWeekSecond( int w = 0,
+ double s = 0. )
+ throw()
+ : week(w), sow(s)
+ {}
+
+ /**
+ * Copy Constructor.
+ * @param right a reference to the GPSWeekSecond object to copy
+ */
+ GPSWeekSecond( const GPSWeekSecond& right )
+ throw()
+ : week( right.week ), sow( right.sow )
+ {}
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const TimeTag reference and copies its contents via
+ * conversion to CommonTime.
+ * @param right a const reference to the BasicTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ GPSWeekSecond( const TimeTag& right )
+ throw( gpstk::InvalidRequest )
+ {
+ convertFromCommonTime( right.convertToCommonTime() );
+ }
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const CommonTime reference and copies its contents via
+ * the convertFromCommonTime method.
+ * @param right a const reference to the CommonTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ GPSWeekSecond( const CommonTime& right )
+ throw( InvalidRequest )
+ {
+ convertFromCommonTime( right );
+ }
+
+ /**
+ * Assignment Operator.
+ * @param right a const reference to the GPSWeekSecond to copy
+ * @return a reference to this GPSWeekSecond
+ */
+ GPSWeekSecond& operator=( const GPSWeekSecond& right )
+ throw();
+
+ /// Virtual Destructor.
+ virtual ~GPSWeekSecond()
+ throw()
+ {}
+ //@}
+
+ // The following functions are required by TimeTag.
+ virtual CommonTime convertToCommonTime() const;
+
+ virtual void convertFromCommonTime( const CommonTime& ct ) ;
+
+ /// This function formats this time to a string. The exceptions
+ /// thrown would only be due to problems parsing the fmt string.
+ virtual std::string printf( const std::string& fmt ) const
+ throw( gpstk::StringUtils::StringException );
+
+ /**
+ * Set this object using the information provided in \a info.
+ * @param info the IdToValue object to which this object shall be set.
+ * @return true if this object was successfully set using the
+ * data in \a info, false if not.
+ */
+ virtual bool setFromInfo( const IdToValue& info )
+ throw();
+
+ /// Return a string containing the characters that this class
+ /// understands when printing times.
+ virtual std::string getPrintChars() const
+ throw()
+ {
+ return "Fwg";
+ }
+
+ /// Return a string containing the default format to use in printing.
+ virtual std::string getDefaultFormat() const
+ throw()
+ {
+ return "%04F %g";
+ }
+
+ virtual bool isValid() const
+ throw();
+
+ virtual void reset()
+ throw();
+
+ /**
+ * @defgroup gwsco GPSWeekSecond Comparison Operators
+ * All comparison operators have a parameter "right" which corresponds
+ * to the GPSWeekSecond object to the right of the symbol.
+ * All comparison operators are const and return true on success
+ * and false on failure.
+ */
+ //@{
+ bool operator==( const GPSWeekSecond& right ) const
+ throw();
+ bool operator!=( const GPSWeekSecond& right ) const
+ throw();
+ bool operator<( const GPSWeekSecond& right ) const
+ throw();
+ bool operator>( const GPSWeekSecond& right ) const
+ throw();
+ bool operator<=( const GPSWeekSecond& right ) const
+ throw();
+ bool operator>=( const GPSWeekSecond& right ) const
+ throw();
+ //@}
+
+ int week;
+ double sow;
+ };
+
+}
+
+#endif // GPSTK_GPSWEEKSECOND_HPP
diff --git a/dev/src/GPSWeekZcount.cpp b/dev/src/GPSWeekZcount.cpp
new file mode 100644
index 0000000..ec38330
--- /dev/null
+++ b/dev/src/GPSWeekZcount.cpp
@@ -0,0 +1,194 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "GPSWeekZcount.hpp"
+#include "TimeConstants.hpp"
+#include "TimeConverters.hpp"
+
+namespace gpstk
+{
+ GPSWeekZcount& GPSWeekZcount::operator=( const GPSWeekZcount& right )
+ throw()
+ {
+ week = right.week;
+ zcount = right.zcount;
+ return *this;
+ }
+
+ CommonTime GPSWeekZcount::convertToCommonTime() const
+ {
+ int dow = zcount / ZCOUNT_PER_DAY;
+ int jday = GPS_EPOCH_JDAY + ( 7 * week ) + dow;
+ double sod = static_cast<double>( zcount % ZCOUNT_PER_DAY ) * 1.5;
+ return CommonTime( jday,
+ static_cast<long>( sod ),
+ sod - static_cast<long>( sod ) );
+ }
+
+ void GPSWeekZcount::convertFromCommonTime( const CommonTime& ct )
+ {
+ long day, sod;
+ double fsod;
+ ct.get( day, sod, fsod );
+
+ // find the number of days since the beginning of the GPS Epoch
+ day -= GPS_EPOCH_JDAY;
+ // find out how many weeks that is
+ week = static_cast<int>( day / 7 );
+ // find out what the day of week is
+ day %= 7;
+
+ zcount = static_cast<long>( day * ZCOUNT_PER_DAY )
+ + static_cast<long>( static_cast<double>( sod + fsod ) / 1.5 );
+ }
+
+ std::string GPSWeekZcount::printf( const std::string& fmt ) const
+ throw( gpstk::StringUtils::StringException )
+ {
+ try
+ {
+ using gpstk::StringUtils::formattedPrint;
+ std::string rv( fmt );
+
+ rv = formattedPrint( rv, getFormatPrefixInt() + "F", "Fd", week );
+ rv = formattedPrint( rv, getFormatPrefixInt() + "w", "wd",
+ static_cast<int>(zcount / ZCOUNT_PER_DAY) );
+ rv = formattedPrint( rv, getFormatPrefixInt() + "z", "zd", zcount );
+ rv = formattedPrint( rv, getFormatPrefixInt() + "Z", "Zd", zcount );
+
+ return rv;
+ }
+ catch( gpstk::StringUtils::StringException& exc )
+ {
+ GPSTK_RETHROW( exc );
+ }
+ }
+
+ bool GPSWeekZcount::setFromInfo( const IdToValue& info )
+ throw()
+ {
+ using namespace gpstk::StringUtils;
+
+ for( IdToValue::const_iterator i = info.begin(); i != info.end(); i++ )
+ {
+ // based on the character, we know what to do...
+ switch( i->first )
+ {
+ case 'F':
+ week = asInt( i->second );
+ break;
+
+ case 'w':
+ zcount = asInt( i->second) * ZCOUNT_PER_DAY;
+ break;
+
+ case 'z':
+ case 'Z':
+ zcount = asInt( i->second );
+ break;
+
+ default:
+ // do nothing
+ break;
+ };
+ }
+
+ return true;
+ }
+
+ bool GPSWeekZcount::isValid() const
+ throw()
+ {
+ GPSWeekZcount temp;
+ temp.convertFromCommonTime( convertToCommonTime() );
+ if( *this == temp )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ void GPSWeekZcount::reset()
+ throw()
+ {
+ week = zcount = 0;
+ }
+
+ bool GPSWeekZcount::operator==( const GPSWeekZcount& right ) const
+ throw()
+ {
+ if( week == right.week &&
+ zcount == right.zcount )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool GPSWeekZcount::operator!=( const GPSWeekZcount& right ) const
+ throw()
+ {
+ return ( !operator==( right ) );
+ }
+
+ bool GPSWeekZcount::operator<( const GPSWeekZcount& right ) const
+ throw()
+ {
+ if( week < right.week )
+ {
+ return true;
+ }
+ if( week > right.week )
+ {
+ return false;
+ }
+ if( zcount < right.zcount )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool GPSWeekZcount::operator>( const GPSWeekZcount& right ) const
+ throw()
+ {
+ return ( !operator<=( right ) );
+ }
+
+ bool GPSWeekZcount::operator<=( const GPSWeekZcount& right ) const
+ throw()
+ {
+ return ( operator<( right ) ||
+ operator==( right ) );
+ }
+
+ bool GPSWeekZcount::operator>=( const GPSWeekZcount& right ) const
+ throw()
+ {
+ return ( !operator<( right ) );
+ }
+
+} // namespace
diff --git a/dev/src/GPSWeekZcount.hpp b/dev/src/GPSWeekZcount.hpp
new file mode 100644
index 0000000..8621eb8
--- /dev/null
+++ b/dev/src/GPSWeekZcount.hpp
@@ -0,0 +1,173 @@
+#pragma ident "$Id$"
+
+
+
+#ifndef GPSTK_GPSWEEKZCOUNT_HPP
+#define GPSTK_GPSWEEKZCOUNT_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "TimeTag.hpp"
+
+namespace gpstk
+{
+ /**
+ * This class encapsulates the "Full GPS Week and GPS Z-count" time
+ * representation.
+ */
+ class GPSWeekZcount : public TimeTag
+ {
+ public:
+ /**
+ * @defgroup gwzbo GPSWeekZcount Basic Operations
+ * Default and Copy Constructors, Assignment Operator and Destructor.
+ */
+ //@{
+ /**
+ * Default Constructor.
+ * All elements are initialized to zero.
+ */
+ GPSWeekZcount( int w = 0,
+ int z = 0 )
+ throw()
+ : week( w ), zcount( z )
+ {}
+
+ /**
+ * Copy Constructor.
+ * @param right a reference to the GPSWeekZcount object to copy
+ */
+ GPSWeekZcount( const GPSWeekZcount& right )
+ throw()
+ : week( right.week ), zcount( right.zcount )
+ {}
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const TimeTag reference and copies its contents via
+ * conversion to CommonTime.
+ * @param right a const reference to the BasicTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ GPSWeekZcount( const TimeTag& right )
+ throw( gpstk::InvalidRequest )
+ {
+ convertFromCommonTime( right.convertToCommonTime() );
+ }
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const CommonTime reference and copies its contents via
+ * the convertFromCommonTime method.
+ * @param right a const reference to the CommonTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ GPSWeekZcount( const CommonTime& right )
+ throw( InvalidRequest )
+ {
+ convertFromCommonTime( right );
+ }
+
+ /**
+ * Assignment Operator.
+ * @param right a const reference to the GPSWeekZcount to copy
+ * @return a reference to this GPSWeekZcount
+ */
+ GPSWeekZcount& operator=( const GPSWeekZcount& right )
+ throw();
+
+ /// Virtual Destructor.
+ virtual ~GPSWeekZcount()
+ throw()
+ {}
+ //@}
+
+ // The following functions are required by TimeTag.
+ virtual CommonTime convertToCommonTime() const;
+
+ virtual void convertFromCommonTime( const CommonTime& ct ) ;
+
+ /// This function formats this time to a string. The exceptions
+ /// thrown would only be due to problems parsing the fmt string.
+ virtual std::string printf( const std::string& fmt ) const
+ throw( gpstk::StringUtils::StringException );
+
+ /**
+ * Set this object using the information provided in \a info.
+ * @param info the IdToValue object to which this object shall be set.
+ * @return true if this object was successfully set using the
+ * data in \a info, false if not.
+ */
+ virtual bool setFromInfo( const IdToValue& info )
+ throw();
+
+ /// Return a string containing the characters that this class
+ /// understands when printing times.
+ virtual std::string getPrintChars() const
+ throw()
+ {
+ return "FwzZ";
+ }
+
+ /// Return a string containing the default format to use in printing.
+ virtual std::string getDefaultFormat() const
+ throw()
+ {
+ return "%04F %06Z";
+ }
+
+ virtual bool isValid() const
+ throw();
+
+ virtual void reset()
+ throw();
+
+ /**
+ * @defgroup gwzco GPSWeekZcount Comparison Operators
+ * All comparison operators have a parameter "right" which corresponds
+ * to the GPSWeekZcount object to the right of the symbol.
+ * All comparison operators are const and return true on success
+ * and false on failure.
+ */
+ //@{
+ bool operator==( const GPSWeekZcount& right ) const
+ throw();
+ bool operator!=( const GPSWeekZcount& right ) const
+ throw();
+ bool operator<( const GPSWeekZcount& right ) const
+ throw();
+ bool operator>( const GPSWeekZcount& right ) const
+ throw();
+ bool operator<=( const GPSWeekZcount& right ) const
+ throw();
+ bool operator>=( const GPSWeekZcount& right ) const
+ throw();
+ //@}
+
+ int week;
+ int zcount;
+ };
+
+} // namespace
+
+#endif // GPSTK_GPSWEEKZCOUNT_HPP
diff --git a/dev/src/GPSZcount.cpp b/dev/src/GPSZcount.cpp
new file mode 100644
index 0000000..d0de782
--- /dev/null
+++ b/dev/src/GPSZcount.cpp
@@ -0,0 +1,405 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file GPSZcount.cpp
+ * gpstk::GPSZcount - encapsulates time according to full GPS Week and Z-count.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include <limits>
+
+#include "GPSZcount.hpp"
+#include "StringUtils.hpp"
+
+using namespace std;
+using gpstk::StringUtils::asString;
+
+namespace gpstk
+{
+ const long GPSZcount::ZCOUNT_MINUTE = 40;
+ const long GPSZcount::ZCOUNT_HOUR = 2400;
+ const long GPSZcount::ZCOUNT_DAY = 57600;
+ const long GPSZcount::ZCOUNT_WEEK = 403200;
+
+ GPSZcount::GPSZcount(short inWeek,
+ long inZcount)
+ throw(gpstk::InvalidParameter)
+ {
+ try
+ {
+ setWeek(inWeek);
+ setZcount(inZcount);
+ }
+ catch(gpstk::InvalidParameter& ip)
+ {
+ GPSTK_RETHROW(ip);
+ }
+ }
+
+ GPSZcount::GPSZcount(long inFullZcount)
+ throw(gpstk::InvalidParameter)
+ {
+ try
+ {
+ setFullZcount(inFullZcount);
+ }
+ catch(gpstk::InvalidParameter& ip)
+ {
+ GPSTK_RETHROW(ip);
+ }
+ }
+
+ GPSZcount::GPSZcount(const GPSZcount& right)
+ throw()
+ {
+ operator=(right) ;
+ }
+
+ GPSZcount& GPSZcount::setWeek(short inWeek)
+ throw(gpstk::InvalidParameter)
+ {
+ if( inWeek < 0 )
+ {
+ gpstk::InvalidParameter ip("GPS Week invalid: " +
+ asString<short>(inWeek)) ;
+ GPSTK_THROW(ip) ;
+ }
+ week = inWeek;
+ return *this;
+ }
+
+ GPSZcount& GPSZcount::setZcount(long inZcount)
+ throw(gpstk::InvalidParameter)
+ {
+ if(validZcount(inZcount) != 0)
+ {
+ gpstk::InvalidParameter ip("GPS Z-count invalid: " +
+ asString<long>(inZcount)) ;
+ GPSTK_THROW(ip) ;
+ }
+ zcount = inZcount ;
+ return *this ;
+ }
+
+ GPSZcount& GPSZcount::setFullZcount(long inZcount)
+ throw(gpstk::InvalidParameter)
+ {
+ try
+ {
+ setZcount(inZcount & 0x7FFFFL) ; // 19-bit mask
+
+ // A 10-bit value will always be within constraints for a GPS week, so
+ // there's no need to test it.
+ setWeek((inZcount >> 19) & 0x3FFL) ; // 10-bit mask
+
+ }
+ catch(gpstk::InvalidParameter& ip)
+ {
+ ip.addText("GPS Full Z-count invalid: " + asString<long>(inZcount)) ;
+ GPSTK_RETHROW(ip) ;
+ }
+ return *this ;
+ }
+
+ GPSZcount& GPSZcount::addWeeks(short inWeeks)
+ throw(gpstk::InvalidRequest)
+ {
+ if (inWeeks == 0)
+ {
+ return *this ;
+ }
+
+ try
+ {
+ return setWeek(week + inWeeks) ;
+ }
+ catch(gpstk::InvalidParameter& ip)
+ {
+ gpstk::InvalidRequest ir(ip) ;
+ ir.addText("Addition of " + asString(inWeeks) +
+ " weeks renders this object invalid.") ;
+ GPSTK_THROW(ir) ;
+ }
+ }
+
+ GPSZcount& GPSZcount::addZcounts(long inZcounts)
+ throw(gpstk::InvalidRequest)
+ {
+ if (inZcounts == 0)
+ {
+ return *this ;
+ }
+
+ short originalWeek(week) ;
+ long originalZcount(zcount) ;
+
+ try
+ {
+ // First, do week modifications.
+ addWeeks(inZcounts / ZCOUNT_WEEK) ;
+
+ // Now, take care of Z-counts.
+ long tmp = zcount + (inZcounts % ZCOUNT_WEEK) ;
+
+ if (tmp < 0)
+ {
+ addWeeks(-1);
+ tmp += ZCOUNT_WEEK ;
+ }
+ else if (tmp >= ZCOUNT_WEEK)
+ {
+ addWeeks(1);
+ tmp -= ZCOUNT_WEEK ;
+ }
+
+ setZcount(tmp) ;
+ return *this ;
+
+ }
+ catch(gpstk::InvalidRequest& ir)
+ {
+ setWeek(originalWeek) ;
+ setZcount(originalZcount) ;
+ ir.addText("Did not add " + asString(inZcounts) + " Z-counts.") ;
+ GPSTK_RETHROW(ir) ;
+
+ }
+ catch(gpstk::InvalidParameter& ip)
+ {
+ setWeek(originalWeek) ;
+ setZcount(originalZcount) ;
+ gpstk::InvalidRequest ir(ip) ;
+ ir.addText("Did not add " + asString(inZcounts) + " Z-counts.") ;
+ GPSTK_THROW(ir) ;
+ }
+ }
+
+ GPSZcount GPSZcount::operator++(int)
+ throw(gpstk::InvalidRequest)
+ {
+ GPSZcount temp = *this ;
+ ++(*this) ;
+ return temp ;
+ }
+
+ GPSZcount& GPSZcount::operator++()
+ throw(gpstk::InvalidRequest)
+ {
+ return addZcounts(1);
+ }
+
+ GPSZcount GPSZcount::operator--(int)
+ throw(gpstk::InvalidRequest)
+ {
+ GPSZcount temp = *this ;
+ --(*this) ;
+ return temp ;
+ }
+
+ GPSZcount& GPSZcount::operator--()
+ throw(gpstk::InvalidRequest)
+ {
+ return addZcounts(-1);
+ }
+
+ GPSZcount GPSZcount::operator+(long inZcounts) const
+ throw(gpstk::InvalidRequest)
+ {
+ return GPSZcount(*this).addZcounts(inZcounts);
+ }
+
+ GPSZcount GPSZcount::operator-(long inZcounts) const
+ throw(gpstk::InvalidRequest)
+ {
+ return operator+(-inZcounts);
+ }
+
+ double GPSZcount::operator-(const GPSZcount& right) const
+ throw()
+ {
+ return (double(week) - right.week) * ZCOUNT_WEEK
+ + (zcount - right.zcount) ;
+ }
+
+ long GPSZcount::operator%(const long right) const
+ throw()
+ {
+ return zcount % right;
+ }
+
+ GPSZcount& GPSZcount::operator+=(long inZcounts)
+ throw(gpstk::InvalidRequest)
+ {
+ return addZcounts(inZcounts);
+ }
+
+ GPSZcount& GPSZcount::operator-=(long inZcounts)
+ throw(gpstk::InvalidRequest)
+ {
+ return addZcounts(-inZcounts);
+ }
+
+ GPSZcount& GPSZcount::operator=(const GPSZcount& right)
+ throw()
+ {
+ week = right.week;
+ zcount = right.zcount;
+ return *this;
+ }
+
+ bool GPSZcount::operator<(const GPSZcount& right) const
+ throw()
+ {
+ if (week < right.week)
+ {
+ return true;
+ }
+ if (week == right.week &&
+ zcount < right.zcount)
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool GPSZcount::operator>(const GPSZcount& right) const
+ throw()
+ {
+ if (week > right.week)
+ {
+ return true;
+ }
+ if (week == right.week &&
+ zcount > right.zcount)
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool GPSZcount::operator==(const GPSZcount& right) const
+ throw()
+ {
+ if (week == right.week &&
+ zcount == right.zcount)
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool GPSZcount::operator!=(const GPSZcount& right) const
+ throw()
+ {
+ return (! operator==(right));
+ }
+
+ bool GPSZcount::operator<=(const GPSZcount& right) const
+ throw()
+ {
+ return (! operator>(right));
+ }
+
+ bool GPSZcount::operator>=(const GPSZcount& right) const
+ throw()
+ {
+ return (! operator<(right));
+ }
+
+ GPSZcount::operator std::string() const
+ throw()
+ {
+ return asString<short>(week) + "w" + asString<long>(zcount) + "z";
+ }
+
+ bool GPSZcount::inSameTimeBlock(const GPSZcount& other,
+ unsigned long inZcountBlock,
+ unsigned long inZcountOffset)
+ throw()
+ {
+ if (inZcountBlock < ZCOUNT_WEEK)
+ {
+ // Make sure that we're in the same week, and then check to see if
+ // we're in the same time block
+ if ( (getWeek() == other.getWeek()) &&
+ (((getZcount() - inZcountOffset) / inZcountBlock) ==
+ ((other.getZcount() - inZcountOffset) / inZcountBlock)) )
+ {
+ return true ;
+ }
+ }
+ else // inZcountBlock >= ZCOUNT_WEEK
+ {
+ // Compare using the total number of Z-counts.
+ if (long((getTotalZcounts() - inZcountOffset) / inZcountBlock) ==
+ long((other.getTotalZcounts() - inZcountOffset) / inZcountBlock))
+ {
+ return true ;
+ }
+ }
+
+ return false ;
+ }
+
+ void GPSZcount::dump(std::ostream& out,
+ short level) const
+ throw()
+ {
+ switch(level)
+ {
+ case 0:
+ out << week << "w" << zcount << "z" << flush;
+ break;
+ case 1:
+ default:
+ out << "GPS Full Week: " << setw(6) << week << endl
+ << "GPS Z-count: " << setw(6) << zcount << endl;
+ break;
+ }
+ }
+
+ long GPSZcount::validZcount(long z)
+ throw()
+ {
+ if (z < 0)
+ {
+ return z;
+ }
+ if (z >= GPSZcount::ZCOUNT_WEEK)
+ {
+ return (z - (GPSZcount::ZCOUNT_WEEK - 1));
+ }
+ return 0; // z is OK
+ }
+
+ std::ostream& operator<<(std::ostream& s,
+ const gpstk::GPSZcount& z)
+ {
+ z.dump(s, 0) ;
+ return s;
+ }
+
+} // namespace gpstk
diff --git a/dev/src/GPSZcount.hpp b/dev/src/GPSZcount.hpp
new file mode 100644
index 0000000..8c2c7d3
--- /dev/null
+++ b/dev/src/GPSZcount.hpp
@@ -0,0 +1,376 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file GPSZcount.hpp
+ * gpstk::GPSZcount - encapsulates time according to full GPS Week and Z-count.
+ */
+
+#ifndef GPSTK_GPSZCOUNT_HPP
+#define GPSTK_GPSZCOUNT_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+// system includes
+#include <ostream>
+
+// GPSTK includes
+#include "Exception.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup timegroup */
+ //@{
+
+ /**
+ * A representation class for GPS Time consisting of
+ * a short GPS week, and a long GPS Z-count.
+ * A valid GPS week is in the following range:
+ * 0 <= week <= numerical_limits<short>::max()
+ * A valid GPS Z-count is in the following range:
+ * 0 <= zcount < 403200
+ *
+ * In Z-count addition, if a specified Z-count value is above or below
+ * the given range of valid Z-counts, the appropriate number of GPS
+ * weeks-worth of Z-counts are added or subtracted from the given value
+ * so that it falls within the acceptable range. These extra weeks are
+ * then accounted for in the weeks data member. If the addition or
+ * subtraction of these additional weeks cause the GPS week value to go
+ * out-of-bounds, an InvalidRequest exception is thrown.
+ */
+ class GPSZcount
+ {
+ public:
+ /// Z-counts per minute (40)
+ static const long ZCOUNT_MINUTE;
+ /// Z-counts per hour (2400)
+ static const long ZCOUNT_HOUR;
+ /// Z-counts per day (57600)
+ static const long ZCOUNT_DAY;
+ /// Z-counts per whole GPS week. (403200)
+ static const long ZCOUNT_WEEK;
+
+ /** Separate Week and Z-count Constructor.
+ * @param inWeek the GPS week to use in this object.
+ * @param inZcount the GPS Z-count to use in this object.
+ * @throws gpstk::InvalidParameter if either inWeek or inZcount
+ * are invalid values for their respective types.
+ */
+ GPSZcount(short inWeek,
+ long inZcount)
+ throw(gpstk::InvalidParameter) ;
+
+ /** Full Z-count Constructor.
+ * @param inFullZcount the Full 29-bit GPS Z-count to use in
+ * this object. (default=0 => week == 0; Z-count == 0)
+ * @throws gpstk::InvalidParameter if either inFullZcount is
+ * an invalid value for a full Z-count.
+ */
+ GPSZcount(long inFullZcount = 0)
+ throw(gpstk::InvalidParameter) ;
+
+ /// Destructor. Does nothing.
+ ~GPSZcount() throw() {}
+
+ /** Copy Constructor.
+ * @param right the GPSZcount object to copy
+ */
+ GPSZcount(const GPSZcount& right)
+ throw() ;
+
+ /// GPS week accessor
+ short getWeek() const throw()
+ { return week ; }
+
+ /// GPS Z-count accessor
+ long getZcount() const throw()
+ { return zcount ; }
+
+ /** Construct, from the data members, the Z-count which could have
+ * been broadcast from an SV.
+ * @return a Full Z-count (3 MSB unused, next 10 bits = week,
+ * 19 LSB = Z-count)
+ */
+ long getFullZcount() const
+ throw()
+ { return (long(getWeek() & 0x3FF) << 19) + getZcount() ; }
+
+ /** Calculate the total number of Z-counts in this object.
+ * @return weeks * ZCOUNT_WEEK + zcount
+ */
+ double getTotalZcounts() const
+ throw()
+ { return double(getWeek()) * ZCOUNT_WEEK + getZcount() ; }
+
+ /** Set the GPS week.
+ * @param inWeek the new value for GPS Week.
+ * @return a reference to this object.
+ * @throws gpstk::InvalidParameter if inWeek is an invalid value
+ * for a GPS week.
+ */
+ GPSZcount& setWeek(short inWeek)
+ throw(gpstk::InvalidParameter) ;
+
+ /** Set the GPS Z-count.
+ * @param inZcount the new value for GPS Z-count.
+ * @return a reference to this object.
+ * @throws gpstk::InvalidParameter if inZcount is an invalid value
+ * for a GPS Z-count.
+ */
+ GPSZcount& setZcount(long inZcount)
+ throw(gpstk::InvalidParameter) ;
+
+ /** Set the GPS Week and Z-count using the value broadcast from an SV.
+ * @param inZcount A full Z-count (3 MSB unused, next 10 bits = week,
+ * 19 LSB = Z-count)
+ * @throws gpstk::InvalidParameter if the extracted Z-count is
+ * an invalid value for a GPS Z-count.
+ */
+ GPSZcount& setFullZcount(long inZcount)
+ throw(gpstk::InvalidParameter) ;
+
+ /** Add the given number of weeks to the current value.
+ * @param inWeeks the number of weeks to add to the current value.
+ * @return a reference to this object
+ * @throws gpstk::InvalidRequest if adding inWeeks would render
+ * this object invalid.
+ */
+ GPSZcount& addWeeks(short inWeeks)
+ throw(gpstk::InvalidRequest) ;
+
+ /** Add the given number of Z-counts to the current value.
+ * This may cause a roll-(over/under) of the Z-count and appropriate
+ * modification of the week.
+ * @param inZcounts the number of Z-counts to add to the current
+ * value.
+ * @return a reference to this object
+ * @throws gpstk::InvalidRequest if adding inZcounts would render
+ * this object invalid.
+ */
+ GPSZcount& addZcounts(long inZcounts)
+ throw(gpstk::InvalidRequest) ;
+
+ /** Postfix Increment the Z-count in this object (x++). This may also
+ * cause the roll-over of the Z-count and incrementing of the week.
+ * @return a GPSZcount with the value of this object before the
+ * increment
+ * @throws gpstk::InvalidRequest if Z-count increment would render
+ * this object invalid.
+ */
+ GPSZcount operator++(int)
+ throw(gpstk::InvalidRequest) ;
+
+ /** Prefix Increment the Z-count in this object (++x). This may also
+ * cause the roll-over of the Z-count and incrementing of the week.
+ * @return a reference to this object.
+ * @throws gpstk::InvalidRequest if Z-count increment would render
+ * this object invalid.
+ */
+ GPSZcount& operator++()
+ throw(gpstk::InvalidRequest) ;
+
+ /** Postfix Decrement the Z-count in this object (x--). This may also
+ * cause the roll-under of the Z-count and decrementing of the week.
+ * @return a GPSZcount with the value of this object before the
+ * decrement
+ * @throws gpstk::InvalidRequest if a Z-count decrement would render
+ * this object invalid.
+ */
+ GPSZcount operator--(int)
+ throw(gpstk::InvalidRequest) ;
+
+ /** Prefix Decrement the Z-count in this object (--x). This may also
+ * cause the roll-under of the Z-count and decrementing of the week.
+ * @return a reference to this object.
+ * @throws gpstk::InvalidRequest if a Z-count decrement would render
+ * this object invalid.
+ */
+ GPSZcount& operator--()
+ throw(gpstk::InvalidRequest) ;
+
+ /** Add the given number of Z-counts to the current value.
+ * This may cause a roll-(over/under) of the Z-count and appropriate
+ * modification of the week.
+ * @param inZcounts the number of Z-counts to add to the current
+ * value.
+ * @return a modified GPSZcount object
+ * @throws gpstk::InvalidRequest if adding inZcounts would render
+ * this object invalid.
+ */
+ GPSZcount operator+(long inZcounts) const
+ throw(gpstk::InvalidRequest) ;
+
+ /** Subtract the given number of Z-counts from the current value.
+ * This may cause a roll-(over/under) of the Z-count and appropriate
+ * modification of the week.
+ * @param inZcounts the number of Z-counts to subtract from the
+ * current value.
+ * @return a modified GPSZcount object
+ * @throws gpstk::InvalidRequest if subtracting inZcounts would
+ * render this object invalid.
+ */
+ GPSZcount operator-(long inZcounts) const
+ throw(gpstk::InvalidRequest) ;
+
+ /** Compute the time differenct between this object and \a right.
+ * @param right the GPSZcount to subtract from this object
+ * @return the number of Z-counts between this object and \a right
+ * Note that this returns a double as opposed to a long. This is to
+ * avoid any overflow issues.
+ */
+ double operator-(const GPSZcount& right) const
+ throw() ;
+
+ /** Compute the remainder of the ztime
+ * @param right the number to
+ * @return z counts % \a right
+ */
+ long operator%(const long right) const
+ throw() ;
+
+ /** Add the given number of Z-counts to the current value.
+ * This may cause a roll-(over/under) of the Z-count and appropriate
+ * modification of the week.
+ * @param inZcounts the number of Z-counts to add to the current
+ * value.
+ * @return a reference to this object
+ * @throws gpstk::InvalidRequest if adding inZcounts would render
+ * this object invalid.
+ */
+ GPSZcount& operator+=(long inZcounts)
+ throw(gpstk::InvalidRequest) ;
+
+ /** Subtract the given number of Z-counts from the current value.
+ * This may cause a roll-(over/under) of the Z-count and appropriate
+ * modification of the week.
+ * @param inZcounts the number of Z-counts to subtract from the
+ * current value.
+ * @return a reference to this object
+ * @throws gpstk::InvalidRequest if subtracting inZcounts would
+ * render this object invalid.
+ */
+ GPSZcount& operator-=(long inZcounts)
+ throw(gpstk::InvalidRequest) ;
+
+ /// Assignment operator.
+ GPSZcount& operator=(const GPSZcount& right)
+ throw();
+
+ /// Comparison operator (less-than).
+ bool operator<(const GPSZcount& right) const
+ throw();
+ /// Comparison operator (greater-than).
+ bool operator>(const GPSZcount& right) const
+ throw();
+ /// Equality operator.
+ bool operator==(const GPSZcount& right) const
+ throw();
+ /// Inequality operator.
+ bool operator!=(const GPSZcount& right) const
+ throw();
+ /// Comparison operator (less-than or equal-to).
+ bool operator<=(const GPSZcount& right) const
+ throw();
+ /// Comparison operator (greater-than or equal-to).
+ bool operator>=(const GPSZcount& right) const
+ throw();
+
+ /// Convert this object to a string.
+ operator std::string() const
+ throw() ;
+
+ /**
+ * This is a test of whether or not this object and the given
+ * GPSZcount object are within the same time-block. Say you need to
+ * find out if the two GPSZcounts are:
+ * ... in the same day: inZcountBlock == ZCOUNT_DAY
+ * ... or the same minute: inZcountBlock == ZCOUNT_MINUTE etc.
+ * For inZcountBlock < ZCOUNT_WEEK, blocks start at the beginning of
+ * the week.
+ * For inZcountBlock >= ZCOUNT_WEEK, blocks start at the beginning of
+ * GPS Week 0.
+ * inZcountOffset allows checking of times off of the usual boundaries
+ * i.e. in the same day where a day is defined as starting at noon
+ * instead of at midnight, or in the same minute where a minute
+ * starts at 23 seconds instead of zero.
+ * @param other the other GPSZcount object
+ * @param inZcountBlock the number of Z-counts in a time-block
+ * @param inZcountOffset the number of Z-counts to offset the
+ * time-block (default = 0)
+ * @return whether this object and /a other are in the same time-block
+ */
+ bool inSameTimeBlock(const GPSZcount& other,
+ unsigned long inZcountBlock,
+ unsigned long inZcountOffset = 0)
+ throw();
+
+ /** Dump the contents of this object to the given output stream.
+ * @param out the output stream to write to
+ * @param level the level of verbosity to use (default=0)
+ */
+ void dump(std::ostream& out,
+ short level = 0) const
+ throw() ;
+
+ protected:
+ short week; ///< GPS full week. (0 <= week)
+ long zcount; ///< GPS Z-count. (0 <= zcount <= 403199)
+
+ /** Check the validity of the given Z-count.
+ * @param z the Z-count to verify
+ * @return 0 if valid, negative if below zero,
+ * positive if above 403199
+ */
+ static long validZcount(long z)
+ throw();
+
+ };
+
+ /** Stream output operator for GPSZcount objects.
+ * @param s stream to append formatted GPSZcount to.
+ * @param z GPSZcount to append to stream \c s.
+ * @return a reference to \c s.
+ */
+ std::ostream& operator<<(std::ostream& s,
+ const gpstk::GPSZcount& z) ;
+
+ //@}
+
+} // namespace gpstk
+
+#endif // GPSTK_GPSZCOUNT_HPP
diff --git a/dev/src/GPSZcount29.cpp b/dev/src/GPSZcount29.cpp
new file mode 100644
index 0000000..977c8ca
--- /dev/null
+++ b/dev/src/GPSZcount29.cpp
@@ -0,0 +1,186 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "GPSZcount29.hpp"
+#include "TimeConstants.hpp"
+
+namespace gpstk
+{
+ GPSZcount29& GPSZcount29::operator=( const GPSZcount29& right )
+ throw()
+ {
+ zcount = right.zcount;
+ return *this;
+ }
+
+ CommonTime GPSZcount29::convertToCommonTime() const
+ {
+ // What we have in the zcount data member is the following:
+ // a 10-bit week number, and a 19-bit zcount. Split 'em apart.
+ long wk( epoch * WEEKS_PER_EPOCH + ( (zcount >> 19) & 0x3FF ) );
+ long zc( zcount & 0x7FFFF );
+ long jday = GPS_EPOCH_JDAY + ( 7 * wk )
+ + ( zc / ZCOUNT_PER_DAY );
+ double sod = ( zc % ZCOUNT_PER_DAY ) * 1.5;
+
+ return CommonTime( jday,
+ static_cast<long>( sod ),
+ sod - static_cast<long>( sod ) );
+ }
+
+ void GPSZcount29::convertFromCommonTime( const CommonTime& ct )
+ {
+ long day, sod;
+ double fsod;
+ ct.get( day, sod, fsod );
+
+ // find the number of days since the beginning of the GPS Epoch
+ day -= GPS_EPOCH_JDAY;
+
+ // find out how many weeks that is
+ int wk( static_cast<int>( day / 7 ) );
+
+ // ... and chop off the epochs
+ epoch = wk / WEEKS_PER_EPOCH;
+ wk %= WEEKS_PER_EPOCH;
+
+ // find out what the day of week is
+ day %= 7;
+
+ zcount = static_cast<long>( day * ZCOUNT_PER_DAY )
+ + static_cast<long>( static_cast<double>( sod + fsod ) / 1.5 );
+
+ zcount |= ( wk << 19 );
+ }
+
+ std::string GPSZcount29::printf( const std::string& fmt ) const
+ throw( gpstk::StringUtils::StringException )
+ {
+ try
+ {
+ using gpstk::StringUtils::formattedPrint;
+ std::string rv( fmt );
+
+ rv = formattedPrint( rv, getFormatPrefixInt() + "E",
+ "Ed", epoch );
+ rv = formattedPrint( rv, getFormatPrefixInt() + "c",
+ "cd", zcount );
+ return rv;
+ }
+ catch( gpstk::StringUtils::StringException& se )
+ {
+ GPSTK_RETHROW( se );
+ }
+ }
+
+ bool GPSZcount29::setFromInfo( const IdToValue& info )
+ throw()
+ {
+ using namespace gpstk::StringUtils;
+
+ for( IdToValue::const_iterator i = info.begin(); i != info.end(); i++ )
+ {
+ switch( i->first )
+ {
+ case 'E':
+ epoch = gpstk::StringUtils::asInt( i->second );
+ break;
+ case 'c':
+ zcount = gpstk::StringUtils::asInt( i->second );
+ break;
+ default:
+ // do nothing
+ break;
+ };
+ }
+
+ return true;
+ }
+
+ bool GPSZcount29::isValid() const
+ throw()
+ {
+ GPSZcount29 temp;
+ temp.convertFromCommonTime( convertToCommonTime() );
+ if( *this == temp )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ void GPSZcount29::reset()
+ throw()
+ {
+ epoch = zcount = 0;
+ }
+
+ bool GPSZcount29::operator==( const GPSZcount29& right ) const
+ throw()
+ {
+ if( zcount == right.zcount )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool GPSZcount29::operator!=( const GPSZcount29& right ) const
+ throw()
+ {
+ return ( !operator==( right ) );
+ }
+
+ bool GPSZcount29::operator<( const GPSZcount29& right ) const
+ throw()
+ {
+ if( zcount < right.zcount )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool GPSZcount29::operator>( const GPSZcount29& right ) const
+ throw()
+ {
+ return ( !operator<=( right ) );
+ }
+
+ bool GPSZcount29::operator<=( const GPSZcount29& right ) const
+ throw()
+ {
+ return ( operator<( right ) ||
+ operator==( right ) );
+ }
+
+ bool GPSZcount29::operator>=( const GPSZcount29& right ) const
+ throw()
+ {
+ return ( !operator<( right ) );
+ }
+
+} // namespace
diff --git a/dev/src/GPSZcount29.hpp b/dev/src/GPSZcount29.hpp
new file mode 100644
index 0000000..43c720d
--- /dev/null
+++ b/dev/src/GPSZcount29.hpp
@@ -0,0 +1,173 @@
+#pragma ident "$Id$"
+
+
+
+#ifndef GPSTK_GPSZCOUNT29_HPP
+#define GPSTK_GPSZCOUNT29_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "TimeTag.hpp"
+
+namespace gpstk
+{
+ /**
+ * This class encapsulates the "GPS Epoch and 29-bit full Zcount" time
+ * representation.
+ */
+ class GPSZcount29 : public TimeTag
+ {
+ public:
+ /**
+ * @defgroup gz29bo GPSZcount29 Basic Operations
+ * Default and Copy Constructors, Assignment Operator and Destructor.
+ */
+ //@{
+ /**
+ * Default Constructor.
+ * All elements are initialized to zero.
+ */
+ GPSZcount29( int e = 0,
+ int z = 0 )
+ throw()
+ : epoch( e ), zcount( z )
+ {}
+
+ /**
+ * Copy Constructor.
+ * @param right a reference to the GPSZcount29 object to copy
+ */
+ GPSZcount29( const GPSZcount29& right )
+ throw()
+ : epoch( right.epoch ), zcount( right.zcount )
+ {}
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const TimeTag reference and copies its contents via
+ * conversion to CommonTime.
+ * @param right a const reference to the BasicTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ GPSZcount29( const TimeTag& right )
+ throw( gpstk::InvalidRequest )
+ {
+ convertFromCommonTime( right.convertToCommonTime() );
+ }
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const CommonTime reference and copies its contents via
+ * the convertFromCommonTime method.
+ * @param right a const reference to the CommonTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ GPSZcount29( const CommonTime& right )
+ throw( InvalidRequest )
+ {
+ convertFromCommonTime( right );
+ }
+
+ /**
+ * Assignment Operator.
+ * @param right a const reference to the GPSZcount29 to copy
+ * @return a reference to this GPSZcount29
+ */
+ GPSZcount29& operator=( const GPSZcount29& right )
+ throw();
+
+ /// Virtual Destructor.
+ virtual ~GPSZcount29()
+ throw()
+ {}
+ //@}
+
+ // The following functions are required by TimeTag.
+ virtual CommonTime convertToCommonTime() const;
+
+ virtual void convertFromCommonTime( const CommonTime& ct ) ;
+
+ /// This function formats this time to a string. The exceptions
+ /// thrown would only be due to problems parsing the fmt string.
+ virtual std::string printf( const std::string& fmt ) const
+ throw( gpstk::StringUtils::StringException );
+
+ /**
+ * Set this object using the information provided in \a info.
+ * @param info the IdToValue object to which this object shall be set.
+ * @return true if this object was successfully set using the
+ * data in \a info, false if not.
+ */
+ virtual bool setFromInfo( const IdToValue& info )
+ throw();
+
+ /// Return a string containing the characters that this class
+ /// understands when printing times.
+ virtual std::string getPrintChars() const
+ throw()
+ {
+ return "Ec";
+ }
+
+ /// Return a string containing the default format to use in printing.
+ virtual std::string getDefaultFormat() const
+ throw()
+ {
+ return "%E %c";
+ }
+
+ virtual bool isValid() const
+ throw();
+
+ virtual void reset()
+ throw();
+
+ /**
+ * @defgroup gz29co GPSZcount29 Comparison Operators
+ * All comparison operators have a parameter "right" which corresponds
+ * to the GPSZcount29 object to the right of the symbol.
+ * All comparison operators are const and return true on success
+ * and false on failure.
+ */
+ //@{
+ bool operator==( const GPSZcount29& right ) const
+ throw();
+ bool operator!=( const GPSZcount29& right ) const
+ throw();
+ bool operator<( const GPSZcount29& right ) const
+ throw();
+ bool operator>( const GPSZcount29& right ) const
+ throw();
+ bool operator<=( const GPSZcount29& right ) const
+ throw();
+ bool operator>=( const GPSZcount29& right ) const
+ throw();
+ //@}
+
+ int epoch;
+ int zcount;
+ };
+
+} // namespace
+
+#endif // GPSTK_GPSZCOUNT32_HPP
diff --git a/dev/src/GPSZcount32.cpp b/dev/src/GPSZcount32.cpp
new file mode 100644
index 0000000..44e7d06
--- /dev/null
+++ b/dev/src/GPSZcount32.cpp
@@ -0,0 +1,168 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "GPSZcount32.hpp"
+#include "TimeConstants.hpp"
+
+namespace gpstk
+{
+ GPSZcount32& GPSZcount32::operator=( const GPSZcount32& right )
+ throw()
+ {
+ zcount = right.zcount;
+ return *this;
+ }
+
+ CommonTime GPSZcount32::convertToCommonTime() const
+ {
+ // What we have in the zcount data member is the following:
+ // a 13-bit week number, and a 19-bit zcount. Split 'em apart.
+ int wk( (zcount >> 19) & 0x1FFF ), zc( zcount & 0x7FFFF );
+ int jday = GPS_EPOCH_JDAY + ( 7 * wk )
+ + static_cast<int>( zc * DAY_PER_ZCOUNT );
+ double sod = ( zc % ZCOUNT_PER_DAY ) * 1.5;
+
+ return CommonTime( jday,
+ static_cast<long>( sod ),
+ sod - static_cast<long>( sod ) );
+ }
+
+ void GPSZcount32::convertFromCommonTime( const CommonTime& ct )
+ {
+ long day, sod;
+ double fsod;
+ ct.get( day, sod, fsod );
+
+ // find the number of days since the beginning of the GPS Epoch
+ day -= GPS_EPOCH_JDAY;
+ // find out how many weeks that is
+ int wk( static_cast<int>( day / 7 ) );
+ // find out what the day of week is
+ day %= 7;
+
+ zcount = static_cast<long>( day * ZCOUNT_PER_DAY )
+ + static_cast<long>( static_cast<double>( sod + fsod ) / 1.5 );
+
+ zcount |= ( wk << 19 );
+ }
+
+ std::string GPSZcount32::printf( const std::string& fmt ) const
+ throw( gpstk::StringUtils::StringException )
+ {
+ try
+ {
+ using gpstk::StringUtils::formattedPrint;
+ std::string rv( fmt );
+
+ rv = formattedPrint( rv, getFormatPrefixInt() + "C",
+ "Cd", zcount );
+
+ return rv;
+ }
+ catch( gpstk::StringUtils::StringException& se )
+ {
+ GPSTK_RETHROW( se );
+ }
+ }
+
+ bool GPSZcount32::setFromInfo( const IdToValue& info )
+ throw()
+ {
+ using namespace gpstk::StringUtils;
+
+ IdToValue::const_iterator itr = info.find('C');
+ if( itr != info.end() )
+ {
+ zcount = gpstk::StringUtils::asInt( itr->second );
+ }
+
+ return true;
+ }
+
+ bool GPSZcount32::isValid() const
+ throw()
+ {
+ GPSZcount32 temp;
+ temp.convertFromCommonTime( convertToCommonTime() );
+ if( *this == temp )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ void GPSZcount32::reset()
+ throw()
+ {
+ zcount = 0;
+ }
+
+ bool GPSZcount32::operator==( const GPSZcount32& right ) const
+ throw()
+ {
+ if( zcount == right.zcount )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool GPSZcount32::operator!=( const GPSZcount32& right ) const
+ throw()
+ {
+ return ( !operator==( right ) );
+ }
+
+ bool GPSZcount32::operator<( const GPSZcount32& right ) const
+ throw()
+ {
+ if( zcount < right.zcount )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool GPSZcount32::operator>( const GPSZcount32& right ) const
+ throw()
+ {
+ return ( !operator<=( right ) );
+ }
+
+ bool GPSZcount32::operator<=( const GPSZcount32& right ) const
+ throw()
+ {
+ return ( operator<( right ) ||
+ operator==( right ) );
+ }
+
+ bool GPSZcount32::operator>=( const GPSZcount32& right ) const
+ throw()
+ {
+ return ( !operator<( right ) );
+ }
+
+} // namespace
diff --git a/dev/src/GPSZcount32.hpp b/dev/src/GPSZcount32.hpp
new file mode 100644
index 0000000..9790264
--- /dev/null
+++ b/dev/src/GPSZcount32.hpp
@@ -0,0 +1,170 @@
+#pragma ident "$Id$"
+
+
+
+#ifndef GPSTK_GPSZCOUNT32_HPP
+#define GPSTK_GPSZCOUNT32_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "TimeTag.hpp"
+
+namespace gpstk
+{
+ /**
+ * This class encapsulates the "32-bit full Zcount" time representation.
+ */
+ class GPSZcount32 : public TimeTag
+ {
+ public:
+ /**
+ * @defgroup gz32bo GPSZcount32 Basic Operations
+ * Default and Copy Constructors, Assignment Operator and Destructor.
+ */
+ //@{
+ /**
+ * Default Constructor.
+ * All elements are initialized to zero.
+ */
+ GPSZcount32( int z = 0 )
+ throw()
+ : zcount( z )
+ {}
+
+ /**
+ * Copy Constructor.
+ * @param right a reference to the GPSZcount32 object to copy
+ */
+ GPSZcount32( const GPSZcount32& right )
+ throw()
+ : zcount( right.zcount )
+ {}
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const TimeTag reference and copies its contents via
+ * conversion to CommonTime.
+ * @param right a const reference to the BasicTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ GPSZcount32( const TimeTag& right )
+ throw( gpstk::InvalidRequest )
+ {
+ convertFromCommonTime( right.convertToCommonTime() );
+ }
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const CommonTime reference and copies its contents via
+ * the convertFromCommonTime method.
+ * @param right a const reference to the CommonTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ GPSZcount32( const CommonTime& right )
+ throw( InvalidRequest )
+ {
+ convertFromCommonTime( right );
+ }
+
+ /**
+ * Assignment Operator.
+ * @param right a const reference to the GPSZcount32 to copy
+ * @return a reference to this GPSZcount32
+ */
+ GPSZcount32& operator=( const GPSZcount32& right )
+ throw();
+
+ /// Virtual Destructor.
+ virtual ~GPSZcount32()
+ throw()
+ {}
+ //@}
+
+ // The following functions are required by TimeTag.
+ virtual CommonTime convertToCommonTime() const;
+
+ virtual void convertFromCommonTime( const CommonTime& ct ) ;
+
+ /// This function formats this time to a string. The exceptions
+ /// thrown would only be due to problems parsing the fmt string.
+ virtual std::string printf( const std::string& fmt ) const
+ throw( gpstk::StringUtils::StringException );
+
+ /**
+ * Set this object using the information provided in \a info.
+ * @param info the IdToValue object to which this object shall be set.
+ * @return true if this object was successfully set using the
+ * data in \a info, false if not.
+ */
+ virtual bool setFromInfo( const IdToValue& info )
+ throw();
+
+ /// Return a string containing the characters that this class
+ /// understands when printing times.
+ virtual std::string getPrintChars() const
+ throw()
+ {
+ return "C";
+ }
+
+ /// Return a string containing the default format to use in printing.
+ virtual std::string getDefaultFormat() const
+ throw()
+ {
+ return "%C";
+ }
+
+ virtual bool isValid() const
+ throw();
+
+ virtual void reset()
+ throw();
+
+ /**
+ * @defgroup gz32co GPSZcount32 Comparison Operators
+ * All comparison operators have a parameter "right" which corresponds
+ * to the GPSZcount32 object to the right of the symbol.
+ * All comparison operators are const and return true on success
+ * and false on failure.
+ */
+ //@{
+ bool operator==( const GPSZcount32& right ) const
+ throw();
+ bool operator!=( const GPSZcount32& right ) const
+ throw();
+ bool operator<( const GPSZcount32& right ) const
+ throw();
+ bool operator>( const GPSZcount32& right ) const
+ throw();
+ bool operator<=( const GPSZcount32& right ) const
+ throw();
+ bool operator>=( const GPSZcount32& right ) const
+ throw();
+ //@}
+
+ int zcount;
+ };
+
+} // namespace
+
+#endif // GPSTK_GPSZCOUNT32_HPP
diff --git a/dev/src/GenXSequence.cpp b/dev/src/GenXSequence.cpp
new file mode 100644
index 0000000..f2a4b88
--- /dev/null
+++ b/dev/src/GenXSequence.cpp
@@ -0,0 +1,215 @@
+// $Id$
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/*
+ * GenXSequence.cpp - Generate GPS X-register sequences
+ */
+
+ // Local headers
+#include "GenXSequence.hpp"
+
+namespace gpstk
+{
+ // Constructor
+ GenXSequence::GenXSequence( const unsigned int initialState,
+ const unsigned int tapRegister,
+ const int initialLengthOfSequence,
+ const int maxDelay )
+ {
+
+ /*
+ * NOTE: the x register functions assume a LSB-to-MSB shift. Therefore,
+ * the tap register definition and the initialization definition for the
+ * X register correspond to the diagrams in ICD-GPS-200, assuming
+ * "stage 0" is the LSB. That means the diagrams have to be read from
+ * LSB (LEFT) -> MSB (RIGHT). The corresponding text doesn't have this
+ * problem.
+ */
+ unsigned int mask12bits[12] = { 0x0001, 0x0002, 0x0004, 0x0008,
+ 0x0010, 0x0020, 0x0040, 0x0080,
+ 0x0100, 0x0200, 0x0400, 0x0800 };
+
+ unsigned int reg = initialState;
+ lengthOfSequence = initialLengthOfSequence;
+ maxOfSequence = lengthOfSequence + maxDelay;
+
+ unsigned long output;
+ word_num = 0;
+ bit_num = 0;
+ int bit16cnt;
+ int andBits;
+ int i;
+
+ // Clear the output array
+ for ( i=0; i<MAX_WORD; ++i ) bits[i] = 0L;
+ debugPrint = false;
+
+ for ( i=0; i<lengthOfSequence ; ++i)
+ {
+ // Get current output and store it away
+ if ( (reg & 0x0800) != 0 ) output = 0x00000001;
+ else output = 0x00000000;
+ addBitToSequence( output );
+
+ // Calculate next input bit
+ andBits = reg & tapRegister;
+ reg <<= 1;
+ reg &= 0x0FFF;
+ int cnt = 0;
+ for ( int bit12cnt=0; bit12cnt<12; ++bit12cnt)
+ {
+ if (( andBits & mask12bits[bit12cnt] ) != 0) ++cnt;
+ }
+ int newBit = cnt % 2;
+ reg |= newBit;
+
+ }
+
+ // Fill delay bits with copies of the last ouptut bit
+ for ( i=0; i<maxDelay; ++i) addBitToSequence( output );
+
+ // When finished, make sure the last word (which is probably
+ // a partially-filled word) is left-justified.
+ if (bit_num>0) bits[word_num] <<= (MAX_BIT-bit_num);
+ }
+
+ // Private helper method to avoid duplicate code.
+ void GenXSequence::addBitToSequence( unsigned long newBit )
+ {
+ // Left shift any pre-existing data, then OR on the new
+ // data (assumed to be right-justified).
+ bits[word_num] <<= 1;
+ bits[word_num] |= newBit;
+
+ /*
+ Increment bit pointer and check for word overflow.
+ NOTE: Overflow of the WORD pointer is a "programming problem"
+ that is unrecoverable and should NEVER happen in production.
+ */
+ ++bit_num;
+ if (bit_num>=MAX_BIT)
+ {
+ ++word_num;
+ bit_num=0;
+ }
+ }
+
+ /*
+ Given a bit position within the X sequence (numbered starting at 0),
+ return the next 32 bits. Note: if there are insufficient bits left
+ to fill the request, wrap around to the beginning of the sequence.
+ Note that the location of the wrap around can be modified using the
+ function GenXSequence::setEndOfSequence( int los );
+ */
+ unsigned long GenXSequence::operator[] ( int i )
+ {
+ unsigned long retArg;
+ int ndx1 = i / MAX_BIT;
+ int offset = i % MAX_BIT;
+ if ( (i+MAX_BIT) <= lengthOfSequence )
+ {
+ if (offset==0) retArg = bits[ndx1];
+ else retArg = merge( bits[ndx1], bits[ndx1+1], offset );
+ }
+ /*
+ Complicated case when coming up to end of sequence. May have to
+ put together parts of up to three words to get 32 bits. Two words
+ at the end of sequence plus "wrap around" bits from beginning of
+ sequence.
+ First: If end of sequence doesn't fall in current word, use up
+ remaining bits in the current word.
+ Second: use bits up to the end of sequence.
+ Third: fill remaining bits from the beginning of the sequence.
+ */
+ else
+ {
+ retArg = 0L;
+ int numRemainingInSequence = lengthOfSequence - i;
+ int numRemainingInWord = MAX_BIT - offset;
+ int numFilled = 0;
+
+ /*
+ Get bits (if any) from next-to-last word.
+ */
+ if (numRemainingInWord<numRemainingInSequence)
+ {
+ retArg = bits[ndx1++] << offset;
+ numRemainingInSequence -= numRemainingInWord;
+ numFilled = numRemainingInWord;
+ }
+
+ unsigned long temp = bits[ndx1];
+ /*
+ Get bits from last word
+ Case 1: No bits from previous word, need only "middle" section
+ from last word.
+ Case 2: Need all bits available from final word (may or
+ may not have bits from preceding word)
+ */
+ if (numFilled==0 && offset!=0)
+ {
+ temp <<= offset; // Move to left to clear excess msb
+ temp >>= (MAX_BIT-numRemainingInSequence); // Shift right to clear excess lsb retArg |= temp;
+ temp <<= (MAX_BIT - (numRemainingInSequence+numFilled) );
+ retArg |= temp;
+ }
+ else
+ {
+ temp >>= (MAX_BIT-numRemainingInSequence);
+ temp <<= (MAX_BIT-(numRemainingInSequence+numFilled));
+ retArg |= temp;
+ }
+
+ // Finally, add bits from the "wraparound" word at the
+ // beginning of the array.
+ retArg |= bits[0] >> (numRemainingInSequence+numFilled);
+ }
+ return(retArg);
+ }
+
+ void GenXSequence::setLengthOfSequence( int los )
+ {
+ lengthOfSequence = los;
+ return;
+ }
+} // end of namespace
diff --git a/dev/src/GenXSequence.hpp b/dev/src/GenXSequence.hpp
new file mode 100644
index 0000000..6cda541
--- /dev/null
+++ b/dev/src/GenXSequence.hpp
@@ -0,0 +1,161 @@
+#pragma ident "$Id$"
+
+
+
+// GenXSequence.hpp - Generate X Sequence class.
+
+#ifndef GENXSEQUENCE_HPP
+#define GENXSEQUENCE_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "PCodeConst.hpp"
+#include "mergePCodeWords.h"
+
+namespace gpstk
+{
+/** @addtogroup code */
+//@{
+
+ // Derived from X2A maximum length (see xconst.hpp)
+ const int MAX_WORD = 140;
+
+ /**
+ * Generate X Sequence for GPS
+ * Applied Research Laboratories, The University of Texas at Austin
+ * August 2003
+ *
+ * GenXSequence holds a bit buffer containing one of the GPS code
+ * sequences: X1A, X1B, X2A, X2B.
+ *
+ * The first 4092 or 4093 bits are constructed using the algorithms
+ * from ICD-GPS-200, section 3.3.2. The process of generating the
+ * bits is identical for each of the four sequences. The process
+ * consists of a 12-bit shift register which is initialized to a
+ * specific value and a specification of the "taps" on the shift
+ * register. As a given bit is read off the high end of the register,
+ * the sum of the bits specified by the taps is used to determine
+ * is 0 or 1 is used as the next input to the shift register. This
+ * process is defined in more detail in ICD-GPS-200 section 3.3.2.2.
+ *
+ * Once the 4092 or 4093 bits are constructed, in the case of X1B, X2A,
+ * and X2B it is necesary to add copies of the last bit to account for
+ * delay states in which the register is "held" in it's final position
+ * for many counts while X1A completes a cycle.
+ *
+ * Once the sequences are created, the array subscript operator is used
+ * to access the sequences 32 bits at a time. The index passed to the
+ * array subscript operator is the bit position within the sequence
+ * (first bit is equal to bit 0). When the process reaches the end of
+ * the sequence, the operator will "wrap around" and restart at the
+ * front of the array in order to fill the 32-bit return word.
+ *
+ * For X1A, the length of the sequence will always be 4092 bits. For
+ * all other registers, the length of the sequence is a variable,
+ * dependent on the epoch and the time of week. That information is
+ * not available to GenXSequence; therefore, the method
+ * GenXSequence::setEndOfSequence( los ) is provided to allow the
+ * calling program to adjust the end of sequence accordingly.
+ * NOTE: this means the calling program also needs to specify
+ * a maximum sequence length (see constructor) that is equal or greater
+ * than the maximum length the calling program will use.
+ */
+ class GenXSequence
+ {
+ public:
+ /**
+ * The initial state of the register and the defintion of the
+ * taps are provided to the constructor. In each case, the
+ * 12-bits of interest are right justified in the argument.
+ * The lsb of the variables corresponds to stage 1 in figures
+ * 3-3 through 3-6 of ICD-GPS-200. The constructor runs the
+ * X generator process, creates 4096 bits of X-code, and stores
+ * the results internally in an array of 128 unsigned long
+ * (32-bit) variables as packed integers. Within the storage
+ * words the bits are ordered from word[0] to word[xxx] and from
+ * msb to lsb within the word.
+ *
+ * initialEndOfSequence is the number of time the X-register
+ * process should be incremented and should be either 4092
+ * (X1A, X2A) or 4093 (X1B, X2B).
+ *
+ * maxDelay represents the number of times the final bit of the
+ * sequence should be copied after initialEndOfSequence is reached.
+ * This should be equivalent (or greater than) the maximum number
+ * of delay states that this variable can experience. For X1B,
+ * that's the end-of-X1A-epoch delay (349 counts). For X2A and
+ * X2B the 37 chip end-of-X2-epoch and the end-of-week delays must
+ * be considered.
+ */
+ GenXSequence( const unsigned int initialState,
+ const unsigned int taps,
+ const int initialEndOfSequence,
+ const int max_delay );
+ ~GenXSequence( ) {};
+
+ /**
+ * Fetch 32-bits from the sequence starting at the specified bit
+ * location. Bits are counted started at 0 and run to
+ * initialEndOfSequence+maxDelay. Attempts to reference bits outside
+ * this range will generate exceptions and halt the program. These
+ * conditions shouldn't occur during operation, only during
+ * programming. If there are not 32 bits remaining prior to the
+ * current value for lengthOfSequence, the function will wrap around
+ * to the beginning of sequence.
+ */
+ unsigned long operator[] ( int i );
+
+ /// Set the end of sequence for the current cycle.
+ void setLengthOfSequence( int i );
+
+ private:
+ void addBitToSequence( unsigned long newBit );
+ unsigned long bits[MAX_WORD];
+ int lengthOfSequence;
+ int maxOfSequence;
+ bool debugPrint;
+ int word_num;
+ int bit_num;
+ };
+ //@}
+} // end of namespace
+#endif // GENXSEQUENCE_HPP
diff --git a/dev/src/Geodetic.cpp b/dev/src/Geodetic.cpp
new file mode 100644
index 0000000..adaf50d
--- /dev/null
+++ b/dev/src/Geodetic.cpp
@@ -0,0 +1,201 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file Geodetic.cpp
+ * Geodetic coordinates (lat, lon, alt)
+ */
+
+#include "geometry.hpp"
+#include "Geodetic.hpp"
+#include "MiscMath.hpp"
+#include "icd_200_constants.hpp" // for TWO_PI
+
+namespace gpstk
+{
+ using namespace std;
+
+ Geodetic :: Geodetic()
+ : Triple(), geoid(NULL)
+ {
+ }
+
+ Geodetic :: Geodetic(const Geodetic& right)
+ : Triple(right), geoid(right.geoid)
+ {
+ }
+
+ Geodetic :: Geodetic(const double& lat, const double& lon, const double& alt,
+ GeoidModel* geo)
+ : Triple(lat, lon, alt), geoid(geo)
+ {
+ }
+
+ Geodetic :: Geodetic(const Triple& t, GeoidModel* geo)
+ : Triple(t), geoid(geo)
+ {
+ }
+
+ Geodetic :: Geodetic(const ECEF& right, GeoidModel* geo)
+ throw(NoGeoidException)
+ {
+ double X = right[0]; // m
+ double Y = right[1]; // m
+ double Z = right[2]; // m
+ double p = RSS(X,Y);
+ double latd = atan2(Z, p * (1.0 - geo->eccSquared()) );
+ double ht = 0.0, slatd, N, htold, latdold;
+
+ for(int i=0; i<5; i++)
+ {
+ slatd = sin(latd);
+ N = geo->a() / SQRT(1.0 - geo->eccSquared() * slatd * slatd);
+ htold = ht;
+ ht = p/cos(latd) - N;
+ latdold = latd;
+ latd = atan2(Z, p * (1.0 - geo->eccSquared() * (N/(N+ht)) ) );
+ if(ABS(latd-latdold) < 1.0e-9 &&
+ ABS(ht-htold) < (1.0e-9 * geo->a())) break;
+ }
+
+ double lon = atan2(Y,X);
+
+ if(lon < 0.0)
+ lon += TWO_PI;
+
+ theArray[0] = latd * RAD_TO_DEG; // deg
+ theArray[1] = lon * RAD_TO_DEG; // deg
+ theArray[2] = ht; // m
+ geoid = geo;
+ }
+
+ Geodetic& Geodetic :: operator=(const Geodetic& right)
+ {
+ Triple::operator=(right);
+ geoid = right.geoid;
+ return *this;
+ }
+
+#if 0
+ // This function is preserved here in case someone actually goes
+ // about verifying it and finishing it.
+ // As of July 31, 2002, David Munton, who implemented this
+ // particular bit of code, recommends not using it.
+ void tidal_corrections ( double rad_gdlat, double rad_gdlon,
+ double& xval, double& yval, double& zval)
+ {
+ double radial_correction, transverse_correction;
+ double gclat, re1;
+ double corr_array[3];
+
+ /*convert lat to geocentric */
+ /* re1 = rad_earth(gdlat)
+ gclat=geod_to_geoc(gdlat,re1);*/
+
+ /* compute radial correction */
+
+ radial_correction=-0.1196*(1.50*pow(sin(rad_gdlat),2)-0.5);
+
+ /* compute tranverse correction */
+
+ transverse_correction=-0.0247*sin(2.0*rad_gdlat);
+
+ /* compute correction components then add to station locations*/
+
+ corr_array[0]=radial_correction*cos(rad_gdlat)*cos(rad_gdlon) -
+ transverse_correction*sin(rad_gdlat)*cos(rad_gdlon);
+ corr_array[1]=radial_correction*cos(rad_gdlat)*sin(rad_gdlon) -
+ transverse_correction*sin(rad_gdlat)*sin(rad_gdlon);
+ corr_array[2]=radial_correction*sin(rad_gdlat) +
+ transverse_correction*cos(rad_gdlat);
+
+ /* scale results to km units */
+
+ //corr_array[0]=corr_array[0]*0.001;
+ //corr_array[1]=corr_array[1]*0.001;
+ //corr_array[2]=corr_array[2]*0.001;
+
+ xval = xval + corr_array[0];
+ yval = yval + corr_array[1];
+ zval = zval + corr_array[2];
+ }
+#endif
+
+ // based on formulae 2.30 and 2.31 in section 2.1.4, page 19 of
+ // Satellite Geodesy by Gunter Seeber, 1993.
+ gpstk::ECEF Geodetic :: asECEF() const throw(NoGeoidException)
+ {
+ double rad_cur, gdlat, gdlon;
+ double gdalt = getAltitude();
+
+ if (geoid == NULL)
+ {
+ NoGeoidException exc
+ ("Must specify a geoid to use to change systems");
+ GPSTK_THROW(exc);
+ }
+
+ // convert angles to radians
+ gdlat = DEG_TO_RAD * getLatitude();
+ gdlon = DEG_TO_RAD * getLongitude();
+
+ // radius of curvature in the prime vertical, formula 2.31
+ rad_cur = geoid->a() /
+ sqrt(1.0-geoid->eccSquared()*pow((sin(gdlat)),2.0));
+
+ // formula 2.30
+ double xval = (rad_cur + gdalt) * ::cos(gdlat) * ::cos(gdlon);
+ double yval = (rad_cur + gdalt) * ::cos(gdlat) * ::sin(gdlon);
+ double zval = ((1.0 - geoid->eccSquared()) * rad_cur + gdalt) * ::sin(gdlat);
+
+ ECEF ecef(xval, yval, zval);
+
+ // see comments for tidalCorrections above for why this is
+ // commented out.
+// tidalCorrections(gdlat, gdlon, xarray[0], xarray[1], xarray[2]);
+
+ return ecef;
+ }
+} // namespace gpstk
diff --git a/dev/src/Geodetic.hpp b/dev/src/Geodetic.hpp
new file mode 100644
index 0000000..599847d
--- /dev/null
+++ b/dev/src/Geodetic.hpp
@@ -0,0 +1,134 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file Geodetic.hpp
+ * Geodetic coordinates (lat, lon, alt)
+ */
+
+#ifndef GPSTK_GEODETIC_HPP
+#define GPSTK_GEODETIC_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "Triple.hpp"
+#include "Exception.hpp"
+#include "GeoidModel.hpp"
+#include "ECEF.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup geodeticgroup */
+ //@{
+
+ /// Thrown when the internal gpstk::GeoidModel isn't assigned.
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(NoGeoidException, gpstk::Exception);
+
+ /**
+ * Specialization of triple that represents geodetic coordinates
+ * (latitude in degrees, longitude in degrees, altitude in m).
+ */
+ class Geodetic : public Triple
+ {
+ public:
+ /// Default constructor.
+ Geodetic();
+
+ /// Copy constructor.
+ Geodetic(const Geodetic& right);
+
+ /** Construct from three doubles. Be careful you don't
+ * specify a geoid that will disappear (e.g. one on the stack
+ * where these coordinates will be used outside that context).
+ * @param lat latitude in degrees.
+ * @param lon longitude in degrees.
+ * @param alt altitude in m.
+ * @param geo geoid model for transformations.
+ */
+ Geodetic(const double& lat, const double& lon, const double& alt,
+ GeoidModel* geo = NULL);
+
+ /** Construct from a Triple and a GeoidMode. The triple is latitude
+ * in degrees, longitude in degrees, and altitude in meters. Be
+ * careful you don't specify a geoid that will disappear (e.g. one
+ * on the stack where these coordinates will be used outside that
+ * context).
+ * @param t the Triple to copy from.
+ * @param geo geoid model for transformations.
+ */
+ Geodetic(const Triple& t, GeoidModel* geo = NULL);
+
+ /** Construct from an ECEF and a GeoidModel. Converts Earth-centered,
+ * Earth-fixed XYZ coordinates (m) to Geodetic coordinates
+ * (lat,lon(E),ht) (deg,degE,m). Be careful you don't
+ * specify a geoid that will disappear (e.g. one on the stack
+ * where these coordinates will be used outside that context).
+ * @param right the ECEF to construct from.
+ * @param geo geoid model for transformations.
+ */
+ Geodetic(const ECEF& right, GeoidModel* geo)
+ throw(NoGeoidException);
+
+ /// destructor
+ virtual ~Geodetic() {}
+
+ /// Assignment operator.
+ Geodetic& operator=(const Geodetic& right);
+
+ /** Convert to Earth-centered, Earth-fixed XYZ coordinates. */
+ gpstk::ECEF asECEF() const throw(NoGeoidException);
+
+ double getLatitude() const throw() { return operator[](0); }
+ double getLongitude() const throw() { return operator[](1); }
+ double getAltitude() const throw() { return operator[](2); }
+
+ protected:
+ GeoidModel *geoid;
+ }; // class Geodetic
+
+ //@}
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/GeoidModel.hpp b/dev/src/GeoidModel.hpp
new file mode 100644
index 0000000..0f9d9ec
--- /dev/null
+++ b/dev/src/GeoidModel.hpp
@@ -0,0 +1,106 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file GeoidModel.hpp
+ * Abstract base class modeling a geoid
+ */
+
+#ifndef GPSTK_GEOIDMODEL_HPP
+#define GPSTK_GEOIDMODEL_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+namespace gpstk
+{
+ /** @addtogroup geodeticgroup */
+ //@{
+
+ /**
+ * This abstract class encapsulates geodetic models (e.g. WGS84,
+ * GPS, etc).
+ */
+ class GeoidModel
+ {
+ public:
+ /// @return semi-major axis of Earth in meters.
+ virtual double a() const throw() = 0;
+
+ /// @return semi-major axis of Earth in km.
+ virtual double a_km() const throw() = 0;
+
+ /// @return flattening (ellipsoid parameter).
+ virtual double flattening() const throw() = 0;
+
+ /// @return eccentricity (ellipsoid parameter).
+ virtual double eccentricity() const throw() = 0;
+
+ /// @return eccentricity squared (ellipsoid parameter).
+ virtual double eccSquared() const throw()
+ { return eccentricity() * eccentricity(); }
+
+ /// @return angular velocity of Earth in radians/sec.
+ virtual double angVelocity() const throw() = 0;
+
+ /// @return geocentric gravitational constant in m**3 / s**2
+ virtual double gm() const throw() = 0;
+
+ /// @return geocentric gravitational constant in m**3 / s**2
+ virtual double gm_km() const throw() = 0;
+
+ /// @return Speed of light in m/s.
+ virtual double c() const throw() = 0;
+
+ /// @return Speed of light in km/s
+ virtual double c_km() const throw() = 0;
+
+ /// Destructor.
+ virtual ~GeoidModel() throw() {};
+
+ }; // class GeoidModel
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/IonoModel.cpp b/dev/src/IonoModel.cpp
new file mode 100644
index 0000000..d8436be
--- /dev/null
+++ b/dev/src/IonoModel.cpp
@@ -0,0 +1,182 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file IonoModel.cpp
+ * Implementation of the ICD-GPS-200 Ionosphere model.
+ */
+
+#include <math.h>
+#include "icd_200_constants.hpp"
+#include "IonoModel.hpp"
+#include "geometry.hpp"
+
+namespace gpstk
+{
+ IonoModel::IonoModel(const double a[4], const double b[4]) throw()
+ {
+ setModel(a, b);
+ }
+
+ IonoModel::IonoModel(const EngAlmanac& engalm)
+ throw()
+ {
+ try
+ {
+ engalm.getIon(alpha, beta);
+ valid = true;
+ }
+ catch(InvalidRequest& e)
+ {
+ valid = false;
+ }
+ }
+
+
+ void IonoModel::setModel(const double a[4], const double b[4]) throw()
+ {
+ for (int n = 0; n < 4; n++)
+ {
+ alpha[n] = a[n];
+ beta[n] = b[n];
+ }
+ valid = true;
+ }
+
+
+ double IonoModel::getCorrection(const DayTime& time,
+ const Geodetic& rxgeo,
+ double svel,
+ double svaz,
+ Frequency freq) const
+ throw(IonoModel::InvalidIonoModel)
+ {
+
+ if (!valid)
+ {
+ InvalidIonoModel e("Alpha and beta parameters invalid.");
+ GPSTK_THROW(e);
+ }
+
+ // all angle units are in semi-circles (radians / TWO_PI)
+ // Note: math functions (cos, sin, etc.) require arguments in
+ // radians so all semi-circles must be multiplied by TWO_PI
+
+ double azRad = svaz * DEG_TO_RAD;
+ double svE = svel / 180.0;
+
+ double phi_u = rxgeo.getLatitude() / 180.0;
+ double lambda_u = rxgeo.getLongitude() / 180.0;
+
+ double psi = (0.0137 / (svE + 0.11)) - 0.022;
+
+ double phi_i = phi_u + psi * cos(azRad);
+ if (phi_i > 0.416)
+ phi_i = 0.416;
+ if (phi_i < -0.416)
+ phi_i = -0.416;
+
+ double lambda_i = lambda_u + psi * sin(azRad) / cos(phi_i*PI);
+
+ double phi_m = phi_i + 0.064 * cos((lambda_i - 1.617)*PI);
+
+ double iAMP = 0.0;
+ double iPER = 0.0;
+ iAMP = alpha[0]+phi_m*(alpha[1]+phi_m*(alpha[2]+phi_m*alpha[3]));
+ iPER = beta[0]+phi_m*( beta[1]+phi_m*( beta[2]+phi_m* beta[3]));
+
+ if (iAMP < 0.0)
+ iAMP = 0.0;
+ if (iPER < 72000.0)
+ iPER = 72000.0;
+
+ double t = 43200.0 * lambda_i + time.DOYsecond();
+ if (t >= 86400.0)
+ t -= 86400.0;
+ if (t < 0)
+ t += 86400.0;
+
+ double x = TWO_PI * (t - 50400.0) / iPER; // x is in radians
+
+ double iF = 1.0 + 16.0 * (0.53 - svE)*(0.53 - svE)*(0.53 - svE);
+
+ double t_iono = 0.0;
+ if (fabs(x) < 1.57)
+ t_iono = iF * (5.0e-9 + iAMP * (1 + x*x * (-0.5 + x*x/24.0)));
+ else
+ t_iono = iF * 5.0e-9;
+
+ if (freq == L2)
+ {
+ // see ICD-GPS-200 20.3.3.3.3.2
+ t_iono *= GAMMA_GPS; // GAMMA_GPS = (fL1 / fL2)^2
+ }
+
+ double correction = t_iono * C_GPS_M;
+
+ return correction;
+ }
+
+ bool IonoModel::operator==(const IonoModel& right) const
+ throw()
+ {
+ for (int n = 0; n < 4; n++)
+ {
+ if (alpha[n] != right.alpha[n] || beta[n] != right.beta[n])
+ return false;
+ }
+ return true;
+ }
+
+ bool IonoModel::operator!=(const IonoModel&right) const
+ throw()
+ {
+ return !(operator==(right));
+ }
+}
+
+
+
+
diff --git a/dev/src/IonoModel.hpp b/dev/src/IonoModel.hpp
new file mode 100644
index 0000000..59760e8
--- /dev/null
+++ b/dev/src/IonoModel.hpp
@@ -0,0 +1,161 @@
+#pragma ident "$Id$"
+
+
+
+#ifndef GPSTK_IONOMODEL_HPP
+#define GPSTK_IONOMODEL_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file IonoModel.cpp
+ * Implementation of the ICD-GPS-200 Ionosphere model.
+ */
+
+#include "DayTime.hpp"
+#include "EngAlmanac.hpp"
+#include "Geodetic.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup GPSsolutions */
+ //@{
+
+ /**
+ * Model of the ionosphere.
+ * It is used to compute the delay of the satellite signal
+ * as seen at the receiver caused by the ionosphere for a
+ * "one frequency" user.
+ *
+ * See ICD-GPS-200, section 20.3.3.5.2.5 and Figure 20-4.
+ *
+ * Verbatim from the above section:
+ * "It is estimated that the use of this model will provide at least
+ * a 50% reduction in the single-frequency user's RMS error due to
+ * ionospheric propagation effects. During extended operations, or for
+ * the Block IIR SVs in the Autonav mode if the CS is unable to upload
+ * the SVs, the use of this model will yield unpredictable results."
+ */
+ class IonoModel
+ {
+ public:
+
+ /// Thrown when attempting to use a model for which all necessary
+ /// parameters have not been specified.
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(InvalidIonoModel, gpstk::Exception);
+
+
+ enum Frequency
+ {
+ L1, ///< L1 frequency (1575.42 MHz)
+ L2 ///< L2 frequency (1227.60 MHz)
+ };
+
+ /// default constructor, creates an invalid model
+ IonoModel() throw() : valid(false) {}
+
+ /// destructor
+ virtual ~IonoModel() throw() {}
+
+ /**
+ * constructor.
+ * Creates a valid model with satellite transmitted alpha
+ * and beta parameters provided from almanac.
+ * \param a an array containing the four alpha terms
+ * \param b an array containing the four beta terms
+ */
+ IonoModel(const double a[4], const double b[4]) throw();
+
+ /**
+ * EngAlmanac constructor.
+ * Creates a valid model from and EngAlmanac object
+ * \param engalm an EngAlmanac object
+ */
+ IonoModel(const EngAlmanac& engalm) throw();
+
+ /** Method to feed the model with satellite transmitted alpha
+ * and beta parameters provided from almanac.
+ * \param a an array containing the four alpha terms
+ * \param b an array containing the four beta terms
+ */
+ void setModel(const double a[4], const double b[4]) throw();
+
+ /**
+ * returns the validity of the model.
+ * \return model validity
+ */
+ bool isValid() const throw() { return valid; }
+
+ /**
+ * get the ionospheric correction value.
+ * \param time the time of the observation
+ * \param rxgeo the WGS84 geodetic position of the receiver
+ * \param svel the elevation angle between the rx and SV (degrees)
+ * \param svaz the azimuth angle between the rx and SV (degrees)
+ * \param freq the GPS frequency the observation was made from
+ * \return the ionospheric correction (meters)
+ */
+ double getCorrection(const DayTime& time,
+ const Geodetic& rxgeo,
+ double svel,
+ double svaz,
+ Frequency freq = L1) const
+ throw(InvalidIonoModel);
+
+ /// equality operator
+ bool operator==(const IonoModel& right) const throw();
+
+ /// inequality operator
+ bool operator!=(const IonoModel& right) const throw();
+
+ private:
+
+ double alpha[4];
+ double beta[4];
+
+ bool valid;
+ };
+ //@}
+}
+
+#endif
diff --git a/dev/src/IonoModelStore.cpp b/dev/src/IonoModelStore.cpp
new file mode 100644
index 0000000..74b3366
--- /dev/null
+++ b/dev/src/IonoModelStore.cpp
@@ -0,0 +1,95 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file IonoModelStore.cpp
+ * Store GPS Navigation Message based ionospheric models
+ */
+
+#include "IonoModelStore.hpp"
+
+using namespace std;
+
+namespace gpstk
+{
+ bool IonoModelStore::addIonoModel(const DayTime& mt, const IonoModel& im)
+ throw()
+ {
+ if (!im.isValid())
+ return false;
+
+ IonoModelMap::const_iterator i = ims.upper_bound(mt);
+ if (!ims.empty() && i != ims.begin())
+ {
+ // compare to previous stored model and if they have the
+ // the same alpha and beta parameters don't store it
+ i--;
+ if (im == i->second)
+ return false;
+ }
+ ims[mt] = im;
+ return true;
+ }
+
+ double IonoModelStore::getCorrection(const DayTime& time,
+ const Geodetic& rxgeo,
+ double svel,
+ double svaz,
+ IonoModel::Frequency freq) const
+ throw(IonoModelStore::NoIonoModelFound)
+ {
+ IonoModelMap::const_iterator i = ims.upper_bound(time);
+ if (!ims.empty() && i != ims.begin())
+ {
+ i--;
+ return i->second.getCorrection(time, rxgeo, svel, svaz, freq);
+ }
+ else
+ {
+ NoIonoModelFound e;
+ GPSTK_THROW(e);
+ }
+ }
+}
diff --git a/dev/src/IonoModelStore.hpp b/dev/src/IonoModelStore.hpp
new file mode 100644
index 0000000..40f9a00
--- /dev/null
+++ b/dev/src/IonoModelStore.hpp
@@ -0,0 +1,117 @@
+#pragma ident "$Id$"
+
+
+
+#ifndef GPSTK_IONOMODELSTORE_HPP
+#define GPSTK_IONOMODELSTORE_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file IonoModelStore.hpp
+ * Store GPS Navigation Message based ionospheric models
+ */
+
+#include <map>
+#include "DayTime.hpp"
+#include "IonoModel.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup GPSsolutions */
+ //@{
+
+ /**
+ * This class defines an interface to hide how we determine
+ * the ionospheric delay as determined from GPS navigation message
+ * based models at some point in time
+ */
+ class IonoModelStore
+ {
+ public:
+ /**
+ * Thrown when attempting to get a model that isn't stored.
+ * @ingroup exceptiongroup
+ */
+ NEW_EXCEPTION_CLASS(NoIonoModelFound, gpstk::Exception);
+
+ /// constructor
+ IonoModelStore() throw() {}
+
+ /// destructor
+ virtual ~IonoModelStore() throw() {}
+
+ /**
+ * get the ionospheric correction value.
+ * \param time the time of the observation
+ * \param rxgeo the WGS84 geodetic position of the receiver
+ * \param svel the elevation angle between the rx and SV (degrees)
+ * \param svaz the azimuth angle between the rx and SV (degrees)
+ * \param freq the GPS frequency the observation was made from
+ * \return the ionospheric correction (meters)
+ */
+ double getCorrection(const DayTime& time,
+ const Geodetic& rxgeo,
+ double svel,
+ double svaz,
+ IonoModel::Frequency freq = IonoModel::L1) const
+ throw(NoIonoModelFound);
+
+ /**
+ * add an IonoModel to this collection
+ * \param mt the time the model is valid from
+ * \param im the IonoModel to add
+ * \return true if the model was added, false otherwise
+ */
+ bool addIonoModel(const DayTime& mt, const IonoModel& im) throw();
+
+
+ private:
+
+ typedef std::map<DayTime, IonoModel> IonoModelMap;
+ IonoModelMap ims;
+ };
+
+ //@}
+}
+
+#endif
diff --git a/dev/src/Jamfile b/dev/src/Jamfile
new file mode 100644
index 0000000..ae374b8
--- /dev/null
+++ b/dev/src/Jamfile
@@ -0,0 +1,140 @@
+#
+# $Id$
+#
+
+SubDir TOP src ;
+
+BonkForte ;
+
+if $(NEED_GETOPT)
+{
+ GETOPT_SOURCE = getopt.c getopt1.c ;
+ GETOPT_INC = getopt.h ;
+}
+
+if $(PREPROCESSING)
+{
+ if $(NEED_REGEX)
+ {
+ REGEX_SOURCE = regex.c ;
+ REGEX_INC = regex.h ;
+ if $(MSVCNT)
+ {
+ ObjectCcFlags $(REGEX_SOURCE) : -D__STDC__ -D_POSIX_SOURCE -DREGEX_MALLOC -DSTDC_HEADERS ;
+ }
+ }
+ else
+ {
+ REGEX_SOURCE = ;
+ }
+ GPSSetupLibrary gpstk ;
+}
+else
+{
+ GPSBuildLibrary gpstk : $(REGEX_SOURCE) Exception.cpp BinUtils.cpp
+ VectorBase.cpp DayTime.cpp Triple.cpp Geodetic.cpp
+ ECEF.cpp Xvt.cpp EngNav.cpp EngEphemeris.cpp EngAlmanac.cpp
+ AlmOrbit.cpp BCEphemerisStore.cpp ObsEpochMap.cpp WxObsMap.cpp
+ SP3EphemerisStore.cpp AlmanacStore.cpp TropModel.cpp
+ IonoModel.cpp IonoModelStore.cpp
+ FFStream.cpp FFData.cpp RinexMetData.cpp RinexMetHeader.cpp
+ RinexObsData.cpp RinexObsHeader.cpp RinexNavData.cpp RinexNavHeader.cpp
+ SP3Data.cpp SP3Header.cpp FileSpec.cpp FileHunter.cpp
+ $(GETOPT_SOURCE) CommandOption.cpp CommandOptionParser.cpp
+ CommandOptionWithTimeArg.cpp CommandOptionWithCommonTimeArg.cpp
+ BasicFramework.cpp LoopedFramework.cpp
+ EphemerisRange.cpp TabularEphemerisStore.cpp
+ RinexEphemerisStore.cpp RungeKutta4.cpp
+ MSCData.cpp SMODFData.cpp LinearClockModel.cpp
+ ObsClockModel.cpp ObsRngDev.cpp
+ FICData.cpp FICHeader.cpp
+ FICData109.cpp FICData9.cpp FICData162.cpp FICData62.cpp
+ CodeBuffer.cpp GenXSequence.cpp SVPCodeGen.cpp X1Sequence.cpp
+ X2Sequence.cpp GPSZcount.cpp Position.cpp
+ CommandOptionWithPositionArg.cpp
+ PRSolution.cpp RinexUtilities.cpp
+ RACRotation.cpp SVExclusionList.cpp
+ TimeConverters.cpp TimeString.cpp
+ CommonTime.cpp TimeTag.cpp ANSITime.cpp CivilTime.cpp
+ GPSEpochWeekSecond.cpp GPSWeekSecond.cpp
+ GPSWeekZcount.cpp GPSZcount32.cpp
+ GPSZcount29.cpp JulianDate.cpp MJD.cpp UnixTime.cpp YDSTime.cpp
+ SystemTime.cpp
+ Expression.cpp
+ RinexSatID.cpp SP3SatID.cpp
+ ObsID.cpp RinexObsID.cpp
+ Bancroft.cpp SolverLMS.cpp SolverWMS.cpp DOP.cpp
+ ModeledReferencePR.cpp ModeledPR.cpp SimpleIURAWeight.cpp
+ MOPSWeight.cpp
+ BinexData.cpp
+ YumaHeader.cpp YumaData.cpp YumaAlmanacStore.cpp
+ SEMHeader.cpp SEMData.cpp SEMAlmanacStore.cpp
+ SourceID.cpp TypeID.cpp DataHeaders.cpp DataStructures.cpp XYZ2NEU.cpp
+ XYZ2NED.cpp DeltaOp.cpp SimpleKalmanFilter.cpp NablaOp.cpp
+ ;
+
+ InstallFile $(INCDIR) : AlmOrbit.hpp AlmanacStore.hpp BCEphemerisStore.hpp
+ BinUtils.hpp DayTime.hpp ECEF.hpp EngAlmanac.hpp EngEphemeris.hpp
+ EngNav.hpp EphemerisStore.hpp Exception.hpp FFBinaryStream.hpp
+ FFData.hpp FFStream.hpp FFStreamError.hpp FFTextStream.hpp
+ SatID.hpp RinexSatID.hpp SP3SatID.hpp
+ FileFilter.hpp FileFilterFrame.hpp FileFilterFrameWithHeader.hpp
+ FileHunter.hpp FileSpec.hpp FileUtils.hpp GPSGeoid.hpp Geodetic.hpp
+ GeoidModel.hpp MathBase.hpp Matrix.hpp MatrixBase.hpp
+ MatrixBaseOperators.hpp MatrixFunctors.hpp MatrixImplementation.hpp
+ MatrixOperators.hpp MiscMath.hpp ObsEpochMap.hpp WxObsMap.hpp PolyFit.hpp
+ RTFileFrame.hpp RinexMetBase.hpp RinexMetData.hpp
+ RinexMetFilterOperators.hpp RinexMetHeader.hpp RinexMetStream.hpp
+ RinexNavBase.hpp RinexNavData.hpp RinexNavFilterOperators.hpp
+ RinexNavHeader.hpp RinexNavStream.hpp RinexObsBase.hpp
+ RinexObsData.hpp RinexObsFilterOperators.hpp RinexObsHeader.hpp
+ RinexObsStream.hpp SP3Base.hpp SP3Data.hpp SP3EphemerisStore.hpp
+ SP3Header.hpp SP3Stream.hpp Stats.hpp StringUtils.hpp Triple.hpp
+ TropModel.hpp IonoModel.hpp IonoModelStore.hpp
+ Vector.hpp VectorBase.hpp VectorBaseOperators.hpp VectorOperators.hpp
+ WGS84Geoid.hpp Xvt.hpp
+ convhelp.hpp geometry.hpp gps_constants.hpp icd_200_constants.hpp
+ stl_helpers.hpp CommandOption.hpp CommandOptionParser.hpp
+ CommandOptionWithTimeArg.hpp CommandOptionWithCommonTimeArg.hpp
+ BasicFramework.hpp
+ EphemerisRange.hpp LoopedFramework.hpp TabularEphemerisStore.hpp
+ RinexEphemerisStore.hpp FileStore.hpp RungeKutta4.hpp
+ $(GETOPT_INC) $(REGEX_INC)
+ MSCData.hpp MSCStream.hpp SMODFData.hpp SMODFStream.hpp
+ ClockModel.hpp EpochClockModel.hpp LinearClockModel.hpp
+ ObsClockModel.hpp ObsRngDev.hpp ValidType.hpp ORDEpoch.hpp
+ FICAStream.hpp FICBase.hpp FICData.hpp FICData9.hpp
+ FICData109.hpp FICData162.hpp FICData62.hpp FICFilterOperators.hpp
+ FICHeader.hpp FICStream.hpp FICStreamBase.hpp
+ CodeBuffer.hpp GenXSequence.hpp PCodeConst.hpp SVPCodeGen.hpp
+ X1Sequence.hpp X2Sequence.hpp GPSZcount.hpp Position.hpp
+ CommandOptionWithPositionArg.hpp
+ PRSolution.hpp RinexUtilities.hpp
+ RACRotation.hpp SVExclusionList.hpp
+ TimeConstants.hpp TimeConverters.hpp TimeString.hpp
+ CommonTime.hpp TimeTag.hpp ANSITime.hpp CivilTime.hpp
+ GPSEpochWeekSecond.hpp GPSWeekSecond.hpp
+ GPSWeekZcount.hpp GPSZcount32.hpp
+ GPSZcount29.hpp JulianDate.hpp MJD.hpp UnixTime.hpp YDSTime.hpp
+ SystemTime.hpp
+ gpstkplatform.h mergePCodeWords.h BivarStats.hpp
+ Expression.hpp ObsID.hpp RinexObsID.hpp
+ Bancroft.hpp CheckPRData.hpp SolverBase.hpp SolverLMS.hpp SolverWMS.hpp
+ DOP.hpp WeightBase.hpp ModeledPseudorangeBase.hpp ExtractData.hpp
+ ExtractCombinationData.hpp ExtractC1.hpp ExtractP1.hpp ExtractP2.hpp
+ ExtractPC.hpp ExtractL1.hpp ExtractL2.hpp ExtractLC.hpp ExtractD1.hpp
+ ExtractD2.hpp ModeledReferencePR.hpp ModeledPR.hpp SimpleIURAWeight.hpp
+ MOPSWeight.hpp
+ BinexData.hpp BinexFilterOperators.hpp BinexStream.hpp
+ YumaBase.hpp YumaStream.hpp YumaHeader.hpp YumaData.hpp YumaAlmanacStore.hpp
+ SEMBase.hpp SEMStream.hpp SEMHeader.hpp SEMData.hpp SEMAlmanacStore.hpp
+ SourceID.hpp TypeID.hpp DataHeaders.hpp DataStructures.hpp
+ TimeNamedFileStream.hpp ComputeCombination.hpp ComputePC.hpp
+ SimpleFilter.hpp ComputeLC.hpp ComputePI.hpp ComputeLI.hpp ComputePdelta.hpp
+ ComputeLdelta.hpp ComputeIURAWeights.hpp ComputeMOPSWeights.hpp
+ ComputeMelbourneWubbena.hpp OneFreqCSDetector.hpp CodeSmoother.hpp
+ PCSmoother.hpp LICSDetector.hpp MWCSDetector.hpp XYZ2NEU.hpp XYZ2NED.hpp
+ DeltaOp.hpp SimpleKalmanFilter.hpp NablaOp.hpp
+ ;
+}
+
diff --git a/dev/src/JulianDate.cpp b/dev/src/JulianDate.cpp
new file mode 100644
index 0000000..eafac1f
--- /dev/null
+++ b/dev/src/JulianDate.cpp
@@ -0,0 +1,158 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "JulianDate.hpp"
+#include "TimeConstants.hpp"
+
+namespace gpstk
+{
+ JulianDate& JulianDate::operator=( const JulianDate& right )
+ throw()
+ {
+ jd = right.jd;
+ return *this;
+ }
+
+ CommonTime JulianDate::convertToCommonTime() const
+ {
+ long double temp_jd( jd + 0.5 );
+ long jday( static_cast<long>( temp_jd ) );
+ long double sod =
+ ( temp_jd - static_cast<long double>( jday ) ) * SEC_PER_DAY;
+
+ return CommonTime( jday,
+ static_cast<long>( sod ),
+ static_cast<double>( sod - static_cast<long>( sod ) ));
+ }
+
+ void JulianDate::convertFromCommonTime( const CommonTime& ct )
+ {
+ long jday, sod;
+ double fsod;
+ ct.get( jday, sod, fsod );
+
+ jd = static_cast<long double>( jday ) +
+ ( static_cast<long double>( sod )
+ + static_cast<long double>( fsod ) ) * DAY_PER_SEC
+ - 0.5;
+ }
+
+ std::string JulianDate::printf( const std::string& fmt ) const
+ throw( gpstk::StringUtils::StringException )
+ {
+ try
+ {
+ using gpstk::StringUtils::formattedPrint;
+ std::string rv( fmt );
+
+ rv = formattedPrint( rv, getFormatPrefixFloat() + "J",
+ "JLf", jd );
+ return rv;
+ }
+ catch( gpstk::StringUtils::StringException& se )
+ {
+ GPSTK_RETHROW( se );
+ }
+ }
+
+ bool JulianDate::setFromInfo( const IdToValue& info )
+ throw()
+ {
+ using namespace gpstk::StringUtils;
+
+ IdToValue::const_iterator itr = info.find('J');
+ if( itr != info.end() )
+ {
+ jd = gpstk::StringUtils::asLongDouble( itr->second );
+ }
+
+ return true;
+ }
+
+ bool JulianDate::isValid() const
+ throw()
+ {
+ JulianDate temp;
+ temp.convertFromCommonTime( convertToCommonTime() );
+ if( *this == temp )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ void JulianDate::reset()
+ throw()
+ {
+ jd = 0.0;
+ }
+
+ bool JulianDate::operator==( const JulianDate& right ) const
+ throw()
+ {
+ if( jd == right.jd )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool JulianDate::operator!=( const JulianDate& right ) const
+ throw()
+ {
+ return ( !operator==( right ) );
+ }
+
+ bool JulianDate::operator<( const JulianDate& right ) const
+ throw()
+ {
+ if( jd < right.jd )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool JulianDate::operator>( const JulianDate& right ) const
+ throw()
+ {
+ return ( !operator<=( right ) );
+ }
+
+ bool JulianDate::operator<=( const JulianDate& right ) const
+ throw()
+ {
+ return ( operator<( right ) ||
+ operator==( right ) );
+ }
+
+ bool JulianDate::operator>=( const JulianDate& right ) const
+ throw()
+ {
+ return ( !operator<( right ) );
+ }
+
+} // namespace
diff --git a/dev/src/JulianDate.hpp b/dev/src/JulianDate.hpp
new file mode 100644
index 0000000..e9d9f93
--- /dev/null
+++ b/dev/src/JulianDate.hpp
@@ -0,0 +1,170 @@
+#pragma ident "$Id$"
+
+
+
+#ifndef GPSTK_JULIANDATE_HPP
+#define GPSTK_JULIANDATE_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "TimeTag.hpp"
+
+namespace gpstk
+{
+ /**
+ * This class encapsulates the "Julian Date" time representation.
+ */
+ class JulianDate : public TimeTag
+ {
+ public:
+ /**
+ * @defgroup jdbo JulianDate Basic Operations
+ * Default and Copy Constructors, Assignment Operator and Destructor.
+ */
+ //@{
+ /**
+ * Default Constructor.
+ * All elements are initialized to zero.
+ */
+ JulianDate( long double j = 0. )
+ throw()
+ : jd( j )
+ {}
+
+ /**
+ * Copy Constructor.
+ * @param right a reference to the JulianDate object to copy
+ */
+ JulianDate( const JulianDate& right )
+ throw()
+ : jd( right.jd )
+ {}
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const TimeTag reference and copies its contents via
+ * conversion to CommonTime.
+ * @param right a const reference to the BasicTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ JulianDate( const TimeTag& right )
+ throw( gpstk::InvalidRequest )
+ {
+ convertFromCommonTime( right.convertToCommonTime() );
+ }
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const CommonTime reference and copies its contents via
+ * the convertFromCommonTime method.
+ * @param right a const reference to the CommonTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ JulianDate( const CommonTime& right )
+ throw( InvalidRequest )
+ {
+ convertFromCommonTime( right );
+ }
+
+ /**
+ * Assignment Operator.
+ * @param right a const reference to the JulianDate to copy
+ * @return a reference to this JulianDate
+ */
+ JulianDate& operator=( const JulianDate& right )
+ throw();
+
+ /// Virtual Destructor.
+ virtual ~JulianDate()
+ throw()
+ {}
+ //@}
+
+ // The following functions are required by TimeTag.
+ virtual CommonTime convertToCommonTime() const;
+
+ virtual void convertFromCommonTime( const CommonTime& ct ) ;
+
+ /// This function formats this time to a string. The exceptions
+ /// thrown would only be due to problems parsing the fmt string.
+ virtual std::string printf( const std::string& fmt ) const
+ throw( gpstk::StringUtils::StringException );
+
+ /**
+ * Set this object using the information provided in \a info.
+ * @param info the IdToValue object to which this object shall be set.
+ * @return true if this object was successfully set using the
+ * data in \a info, false if not.
+ */
+ virtual bool setFromInfo( const IdToValue& info )
+ throw();
+
+ /// Return a string containing the characters that this class
+ /// understands when printing times.
+ virtual std::string getPrintChars() const
+ throw()
+ {
+ return "J";
+ }
+
+ /// Return a string containing the default format to use in printing.
+ virtual std::string getDefaultFormat() const
+ throw()
+ {
+ return "%J";
+ }
+
+ virtual bool isValid() const
+ throw();
+
+ virtual void reset()
+ throw();
+
+ /**
+ * @defgroup jdco JulianDate Comparison Operators
+ * All comparison operators have a parameter "right" which corresponds
+ * to the JulianDate object to the right of the symbol.
+ * All comparison operators are const and return true on success
+ * and false on failure.
+ */
+ //@{
+ bool operator==( const JulianDate& right ) const
+ throw();
+ bool operator!=( const JulianDate& right ) const
+ throw();
+ bool operator<( const JulianDate& right ) const
+ throw();
+ bool operator>( const JulianDate& right ) const
+ throw();
+ bool operator<=( const JulianDate& right ) const
+ throw();
+ bool operator>=( const JulianDate& right ) const
+ throw();
+ //@}
+
+ long double jd;
+ };
+
+} // namespace
+
+#endif // GPSTK_JULIANDATE_HPP
diff --git a/dev/src/LICSDetector.hpp b/dev/src/LICSDetector.hpp
new file mode 100644
index 0000000..56d838c
--- /dev/null
+++ b/dev/src/LICSDetector.hpp
@@ -0,0 +1,422 @@
+
+/**
+ * @file LICSDetector.hpp
+ * This is a class to detect cycle slips using LI observables.
+ */
+
+#ifndef LICSDETECTOR_GPSTK
+#define LICSDETECTOR_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2007
+//
+//============================================================================
+
+
+
+#include "DataStructures.hpp"
+
+
+
+namespace gpstk
+{
+
+ /** @addtogroup GPSsolutions */
+ //@{
+
+
+ /** This is a class to detect cycle slips using LI observables.
+ * This class is meant to be used with the GNSS data structures objects
+ * found in "DataStructures" class.
+ *
+ * A typical way to use this class follows:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o");
+ *
+ * gnssRinex gRin;
+ * ComputeLI getLI;
+ * LICSDetector markCSLI;
+ *
+ * while(rin >> gRin) {
+ * gRin >> getLI >> markCSLI;
+ * }
+ * @endcode
+ *
+ * The "LICSDetector" object will visit every satellite in the GNSS data
+ * structure that is "gRin" and will decide if a cycle slip has happened in the
+ * given observable.
+ *
+ * The algorithm will use LI observables, and the LLI1 and LLI2 indexes.
+ * The result (a 0 if a cycle slip is found, 1 otherwise) will be stored in the
+ * data structure both as the CSL1 and CSL2 indexes.
+ *
+ * This algorithm will use some values as maximum interval of time between
+ * two successive epochs, minimum threshold for declaring cycle slip and LI
+ * combination limit drift.
+ *
+ * The default values are usually fine, but nevertheless you may change them
+ * with the appropriate methods. The former is of special importance for the
+ * maximum interval time, that should be adjusted to your sampling rate. By
+ * default it is 61 seconds, adapted to 30 seconds per sample RINEX files.
+ *
+ * When used with the ">>" operator, this class returns the same incoming
+ * data structure with the cycle slip indexes inserted along their corresponding
+ * satellites. Be warned that if a given satellite does not have the
+ * observations required, it will be summarily deleted from the data
+ * structure.
+ *
+ * Be aware that some combinations of cycle slips in L1 and L2 may result in
+ * a false negative when using a cycle slip detector based on LI. Therefore,
+ * to be on the safe side you should complement this with another kind of
+ * detector, such as one based on the Melbourne-Wubbena combination.
+ *
+ * @sa MWCSDetector.hpp for more information.
+ *
+ * \warning Cycle slip detectors are objets that store their internal state,
+ * so you MUST NOT use the SAME object to process DIFFERENT data streams.
+ *
+ */
+ class LICSDetector
+ {
+ public:
+
+ /// Default constructor, setting default parameters.
+ LICSDetector() : obsType(TypeID::LI), lliType1(TypeID::LLI1), lliType2(TypeID::LLI2), resultType1(TypeID::CSL1), resultType2(TypeID::CSL2), deltaTMax(61.0), minThreshold(0.04), LIDrift(0.002), useLLI(true) {};
+
+
+ /** Common constructor
+ *
+ * @param mThr Minimum threshold for declaring cycle slip, in meters.
+ * @param drift LI combination limit drift, in meters/second.
+ * @param dtMax Maximum interval of time allowed between two successive epochs, in seconds.
+ */
+ LICSDetector(const double& mThr, const double& drift, const double& dtMax = 61.0, const bool& use = true) : obsType(TypeID::LI), lliType1(TypeID::LLI1), lliType2(TypeID::LLI2), resultType1(TypeID::CSL1), resultType2(TypeID::CSL2), useLLI(use)
+ {
+ setDeltaTMax(dtMax);
+ setMinThreshold(mThr);
+ setLIDrift(drift);
+ };
+
+
+ /** Returns a satTypeValueMap object, adding the new data generated when calling this object.
+ *
+ * @param epoch Time of observations.
+ * @param gData Data object holding the data.
+ * @param epochflag Epoch flag.
+ */
+ virtual satTypeValueMap& Detect(const DayTime& epoch, satTypeValueMap& gData, const short& epochflag=0)
+ {
+ double value1(0.0);
+ double lli1(0.0);
+ double lli2(0.0);
+
+ SatIDSet satRejectedSet;
+
+ // Loop through all the satellites
+ satTypeValueMap::iterator it;
+ for (it = gData.begin(); it != gData.end(); ++it)
+ {
+ try
+ {
+ // Try to extract the values
+ value1 = (*it).second(obsType);
+ }
+ catch(...)
+ {
+ // If some value is missing, then schedule this satellite for removal
+ satRejectedSet.insert( (*it).first );
+ continue;
+ }
+ if (useLLI)
+ {
+ try
+ {
+ // Try to get the LLI1 index
+ lli1 = (*it).second(lliType1);
+ }
+ catch(...)
+ {
+ // If LLI #1 is not found, set it to zero
+ // You REALLY want to have BOTH LLI indexes properly set
+ lli1 = 0.0;
+ }
+ try
+ {
+ // Try to get the LLI2 index
+ lli2 = (*it).second(lliType2);
+ }
+ catch(...)
+ {
+ // If LLI #2 is not found, set it to zero
+ // You REALLY want to have BOTH LLI indexes properly set
+ lli2 = 0.0;
+ }
+ }
+ // If everything is OK, then get the new values inside the structure
+ // This way of doing it allows concatenation of several different cycle slip detectors
+ (*it).second[resultType1] += getDetection(epoch, (*it).first, (*it).second, epochflag, value1, lli1, lli2);
+ if ( (*it).second[resultType1] > 1.0 ) (*it).second[resultType1] = 1.0;
+ // We will mark both cycle slip flags
+ (*it).second[resultType2] = (*it).second[resultType1];
+ }
+ // Remove satellites with missing data
+ gData.removeSatID(satRejectedSet);
+
+ return gData;
+ };
+
+
+ /** Method to set the maximum interval of time allowed between two successive epochs.
+ * @param maxDelta Maximum interval of time, in seconds
+ */
+ virtual void setDeltaTMax(const double& maxDelta)
+ {
+ // Don't allow delta times less than or equal to 0
+ if (maxDelta > 0.0) deltaTMax = maxDelta; else deltaTMax = 61.0;
+ };
+
+
+ /// Method to get the maximum interval of time allowed between two successive epochs, in seconds.
+ virtual double getDeltaTMax() const
+ {
+ return deltaTMax;
+ };
+
+
+ /** Method to set the minimum threshold for cycle slip detection, in meters.
+ * @param mThr Minimum threshold for cycle slip detection, in meters.
+ */
+ virtual void setMinThreshold(const double& mThr)
+ {
+ // Don't allow thresholds less than 0
+ if (mThr < 0.0) minThreshold = 0.04; else minThreshold = mThr;
+ };
+
+
+ /// Method to get the minimum threshold for cycle slip detection, in meters.
+ virtual double getMinThreshold() const
+ {
+ return minThreshold;
+ };
+
+
+ /** Method to set the LI combination limit drift, in meters/second
+ * @param drift LI combination limit drift, in meters/second.
+ */
+ virtual void setLIDrift(const double& drift)
+ {
+ // Don't allow drift less than or equal to 0
+ if (drift > 0.0) LIDrift = drift; else LIDrift = 0.002;
+ };
+
+
+ /// Method to get the minimum threshold for cycle slip detection, in meters.
+ virtual double getLIDrift() const
+ {
+ return LIDrift;
+ };
+
+
+ /** Method to set whether the LLI indexes will be used as an aid or not.
+ * @param use Boolean value enabling/disabling LLI check
+ */
+ virtual void setUseLLI(const bool& use)
+ {
+ useLLI = use;
+ };
+
+
+ /// Method to know if the LLI check is enabled or disabled.
+ virtual bool getUseLLI() const
+ {
+ return useLLI;
+ };
+
+
+ /** Returns a gnnsSatTypeValue object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssSatTypeValue& Detect(gnssSatTypeValue& gData)
+ {
+ (*this).Detect(gData.header.epoch, gData.body);
+ return gData;
+ };
+
+
+ /** Returns a gnnsRinex object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssRinex& Detect(gnssRinex& gData)
+ {
+ (*this).Detect(gData.header.epoch, gData.body, gData.header.epochFlag);
+ return gData;
+ };
+
+
+ /// Destructor
+ virtual ~LICSDetector() {};
+
+
+ private:
+
+ /// Type of code.
+ TypeID obsType;
+
+ /// Type of LLI1 record.
+ TypeID lliType1;
+
+ /// Type of LLI2 record.
+ TypeID lliType2;
+
+ /// Type of result #1.
+ TypeID resultType1;
+
+ /// Type of result #2.
+ TypeID resultType2;
+
+
+ /// Maximum interval of time allowed between two successive epochs, in seconds.
+ double deltaTMax;
+
+
+ /// Minimum threshold for declaring cycle slip, in meters.
+ double minThreshold;
+
+
+ /// LI combination limit drift, in meters/second.
+ double LIDrift;
+
+
+ /// This field tells whether to use or ignore the LLI indexes as an aid.
+ bool useLLI;
+
+ /// A structure used to store filter data for a SV.
+ struct filterData
+ {
+ // Default constructor initializing the data in the structure
+ filterData() : formerEpoch(DayTime::BEGINNING_OF_TIME), windowSize(0), formerLI(0.0), formerBias(0.0), formerDeltaT(1.0) {};
+
+ DayTime formerEpoch; ///< The previous epoch time stamp.
+ int windowSize; ///< Size of current window, in samples.
+ double formerLI; ///< Value of the previous LI observable.
+ double formerBias; ///< Previous bias (LI_1 - LI_0).
+ double formerDeltaT; ///< Previous time difference, in seconds.
+ };
+
+
+ /// Map holding the information regarding every satellite
+ std::map<SatID, filterData> LIData;
+
+
+ /** Returns a satTypeValueMap object, adding the new data generated when calling this object.
+ *
+ * @param epoch Time of observations.
+ * @param sat SatID.
+ * @param tvMap Data structure of TypeID and values.
+ * @param epochflag Epoch flag.
+ * @param li Current LI observation value.
+ * @param lli1 LLI1 index.
+ * @param lli2 LLI2 index.
+ */
+ virtual double getDetection(const DayTime& epoch, const SatID& sat, typeValueMap& tvMap, const short& epochflag, const double& li, const double& lli1, const double& lli2)
+ {
+ bool reportCS(false);
+ double currentDeltaT(0.0); // Difference between current and former epochs, in sec
+ double currentBias(0.0); // Difference between current and former LI values
+ double deltaLimit(0.0); // Limit to declare cycle slip
+ double delta(0.0);
+ double tempLLI1(0.0);
+ double tempLLI2(0.0);
+
+
+ // Get the difference between current epoch and former epoch, in seconds
+ currentDeltaT = ( epoch.MJDdate() - LIData[sat].formerEpoch.MJDdate() ) * DayTime::SEC_DAY;
+
+ // Store current epoch as former epoch
+ LIData[sat].formerEpoch = epoch;
+
+ currentBias = li - LIData[sat].formerLI; // Current value of LI difference
+
+ // Increment size of window
+ ++LIData[sat].windowSize;
+
+ // Check if receiver already declared cycle slip or too much time has elapsed
+ // Note: If tvMap(lliType1) or tvMap(lliType2) don't exist, then 0 will be returned and those tests will pass
+ if ( (tvMap(lliType1)==1.0) || (tvMap(lliType1)==3.0) || (tvMap(lliType1)==5.0) || (tvMap(lliType1)==7.0) ) tempLLI1 = 1.0;
+
+ if ( (tvMap(lliType2)==1.0) || (tvMap(lliType2)==3.0) || (tvMap(lliType2)==5.0) || (tvMap(lliType2)==7.0) ) tempLLI2 = 1.0;
+
+ if ( (epochflag==1) || (epochflag==6) || (tempLLI1==1.0) || (tempLLI2==1.0) || (currentDeltaT > deltaTMax) )
+ {
+ LIData[sat].windowSize = 0; // We reset the filter with this
+ reportCS = true;
+ }
+
+ if (LIData[sat].windowSize > 1)
+ {
+ deltaLimit = minThreshold + std::abs(LIDrift*currentDeltaT);
+ // Compute a linear interpolation and compute LI_predicted - LI_current
+ delta = std::abs(currentBias - LIData[sat].formerBias*currentDeltaT/LIData[sat].formerDeltaT);
+
+ if (delta > deltaLimit)
+ {
+ LIData[sat].windowSize = 0; // We reset the filter with this
+ reportCS = true;
+ }
+ }
+
+ // Let's prepare for the next time
+ LIData[sat].formerLI = li;
+ LIData[sat].formerBias = currentBias;
+ LIData[sat].formerDeltaT = currentDeltaT;
+
+ if (reportCS) return 1.0; else return 0.0;
+ };
+
+ }; // end class LICSDetector
+
+
+ /// Input operator from gnssSatTypeValue to LICSDetector.
+ inline gnssSatTypeValue& operator>>(gnssSatTypeValue& gData, LICSDetector& liD)
+ {
+ liD.Detect(gData);
+ return gData;
+ }
+
+
+ /// Input operator from gnssRinex to LICSDetector.
+ inline gnssRinex& operator>>(gnssRinex& gData, LICSDetector& liD)
+ {
+ liD.Detect(gData);
+ return gData;
+ }
+
+
+
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/LinearClockModel.cpp b/dev/src/LinearClockModel.cpp
new file mode 100644
index 0000000..3334aec
--- /dev/null
+++ b/dev/src/LinearClockModel.cpp
@@ -0,0 +1,173 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file LinearClockModel.cpp
+ * This model is just a moving average of clock models over time. It
+ * really is quite bad and shouldn't be used at this time. Be warned!
+ */
+
+#include <math.h>
+#include "Stats.hpp"
+
+#include "LinearClockModel.hpp"
+
+namespace gpstk
+{
+ using namespace std;
+
+ void LinearClockModel::reset() throw()
+ {
+ startTime == gpstk::DayTime::END_OF_TIME;
+ endTime == gpstk::DayTime::BEGINNING_OF_TIME;
+ clockObs.clear();
+ prnStatus.clear();
+ clockModel.Reset();
+ tossCount=0;
+ }
+
+ void LinearClockModel::addEpoch(const ORDEpoch& oe)
+ throw(gpstk::InvalidValue)
+ {
+ ORDEpoch::ORDMap::const_iterator itr;
+ const gpstk::DayTime t=oe.time;
+
+ // Start off by getting an estimate of this epoch's clock
+ // note that this also sets the prn status map
+ gpstk::Stats<double> stat = simpleOrdClock(oe);
+ SvStatusMap& statusMap = prnStatus[t];
+ statusMap = status;
+
+ double mean;
+ if (clockModel.N()==0)
+ {
+ double clkc = stat.Average();
+ startTime = endTime = baseTime = t;
+ tossCount = 0;
+ }
+
+ const double deltaT = t-baseTime;
+
+ if (t<startTime)
+ startTime=t;
+ if (t>endTime)
+ endTime=t;
+
+ if (clockModel.N()>24)
+ mean = clockModel.Slope()*deltaT + clockModel.Intercept();
+ else
+ mean = stat.Average();
+
+ if (std::abs(stat.Average() - mean) > 20)
+ {
+ cout << t
+ << " slope=" << setw(12) << clockModel.Slope()
+ << ", intercept=" << setw(8) << clockModel.Intercept()
+ << ", est=" << setw(8) << clockModel.Slope()*deltaT + clockModel.Intercept()
+ << ", N=" << setw(6) << clockModel.N()
+ << ", stdev=" << setw(6) << clockModel.StdDevY()
+ << endl;
+ tossCount++;
+ if (tossCount>5)
+ {
+ reset();
+ cout << "Reseting model" << endl;
+ }
+ }
+ else
+ {
+ tossCount=0;
+ for (itr = oe.ords.begin(); itr != oe.ords.end(); itr++)
+ if (statusMap[itr->second.getSvID()] == USED)
+ {
+ const double ord = itr->second.getORD();
+ clockModel.Add(deltaT, ord);
+ std::pair<const double,double> o(deltaT, ord);
+ clockObs.insert(o);
+ }
+ }
+
+ std::multimap<double,double>::iterator i1,i2;
+ i1 = clockObs.begin();
+ while (i1!=clockObs.end())
+ {
+ i2=i1;
+ i1++;
+ double dt = i2->first;
+ double ord = i2->second;
+ if ((deltaT - dt)>1800)
+ {
+ clockObs.erase(i2);
+ clockModel.Subtract(dt, ord);
+ }
+ else
+ break;
+ }
+ }
+
+ void LinearClockModel::dump(std::ostream& s, short detail) const throw()
+ {
+ s << "base: " << baseTime
+ << ", start: " << startTime
+ << ", end: " << endTime
+ << endl
+ << "Clock: est(end)=" << getOffset(endTime)
+ << ", n=" << clockModel.N()
+ << ", b=" << clockModel.Intercept()
+ << ", m=" << clockModel.Slope()
+ << ", sigma=" << clockModel.StdDevY()
+ << ", r=" << clockModel.Correlation()
+ << endl;
+
+ if (detail>0)
+ {
+ s << "min elev: " << elvmask
+ << ", max sigma: " << sigmam
+ << endl;
+
+ map<DayTime,SvStatusMap>::const_iterator e = prnStatus.find(endTime);
+ const SvStatusMap& statusMap = e->second;
+ SvStatusMap::const_iterator i;
+ for ( i=statusMap.begin(); i!= statusMap.end(); i++)
+ s << i->first << "/" << i->second << " ";
+ s << endl;
+ }
+ }
+}
diff --git a/dev/src/LinearClockModel.hpp b/dev/src/LinearClockModel.hpp
new file mode 100644
index 0000000..deac5c8
--- /dev/null
+++ b/dev/src/LinearClockModel.hpp
@@ -0,0 +1,104 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef LINEARCLOCKMODEL_HPP
+#define LINEARCLOCKMODEL_HPP
+
+#include <map>
+
+#include "Exception.hpp"
+
+#include "ObsClockModel.hpp"
+#include "ORDEpoch.hpp"
+
+/**
+ * @file LinearClockModel.hpp
+ * This model is just a moving average of clock models over time. It
+ * really is quite bad and shouldn't be used at this time. Be warned!
+ */
+
+namespace gpstk
+{
+ class LinearClockModel : public ObsClockModel
+ {
+ public:
+ LinearClockModel(double sigma = 2, double elmask = 0, SvMode mode = ALWAYS)
+ :ObsClockModel(sigma, elmask, mode) {reset();};
+
+ virtual double getOffset(const gpstk::DayTime& t) const
+ throw()
+ {
+ if (!isOffsetValid(t))
+ return 0;
+ else
+ return clockModel.Slope()*(t-baseTime) + clockModel.Intercept();
+ };
+
+ virtual bool isOffsetValid(const gpstk::DayTime& t) const throw()
+ {return t >= startTime && t <= endTime && clockModel.N() > 1;};
+
+ /// Add in the given ord to the clock model
+ virtual void addEpoch(const ORDEpoch& oe) throw(gpstk::InvalidValue);
+
+ /// Reset the accumulated statistics on the clock
+ void reset() throw();
+
+ void dump(std::ostream& s, short detail=1) const throw();
+
+ friend std::ostream& operator<<(std::ostream& s, const LinearClockModel& r)
+ { r.dump(s, 0); return s; };
+
+ private:
+ // x is time y is clock offset
+ gpstk::TwoSampleStats<double> clockModel;
+
+ gpstk::DayTime startTime, endTime, baseTime;
+
+ unsigned long tossCount;
+
+ // This is were we store what SVs were used to compute the individual
+ // clock observations
+ std::map<gpstk::DayTime, SvStatusMap> prnStatus;
+
+ // This is a store of the clock observations that were added into the
+ // clockModel object
+ std::multimap<double,double> clockObs;
+ };
+
+}
+#endif
diff --git a/dev/src/LoopedFramework.cpp b/dev/src/LoopedFramework.cpp
new file mode 100644
index 0000000..f8844e8
--- /dev/null
+++ b/dev/src/LoopedFramework.cpp
@@ -0,0 +1,68 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file LoopedFramework.cpp
+ * Basic framework for programs processing loops in the GPS toolkit
+ */
+
+#include "LoopedFramework.hpp"
+
+namespace gpstk
+{
+ using namespace gpstk;
+
+ void LoopedFramework :: completeProcessing()
+ {
+ additionalSetup();
+
+ spinUp();
+
+ while (!timeToDie)
+ process();
+
+ } // LoopedFramework::run()
+
+} // namespace sglmsn
diff --git a/dev/src/LoopedFramework.hpp b/dev/src/LoopedFramework.hpp
new file mode 100644
index 0000000..0f76287
--- /dev/null
+++ b/dev/src/LoopedFramework.hpp
@@ -0,0 +1,109 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file LoopedFramework.hpp
+ * Basic framework for programs processing loops in the GPS toolkit
+ */
+
+#ifndef LOOPEDFRAMEWORK_HPP
+#define LOOPEDFRAMEWORK_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "BasicFramework.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup appframegroup */
+ //@{
+
+ /**
+ * This is a basic framework for programs processing in loops in
+ * the GPSTK.
+ *
+ * The end user should define subclasses of this class,
+ * implementing those methods described as being meant to be
+ * overridden.
+ *
+ * In use, the user will construct an object of the class
+ * derived from this, then call the initialize() and run()
+ * methods in that order.
+ */
+ class LoopedFramework : public BasicFramework
+ {
+ public:
+ /**
+ * Constructor for LoopedFramework.
+ * @param applName name of the program (argv[0]).
+ * @param applDesc text description of program's function
+ * (used by CommandOption help).
+ */
+ LoopedFramework(const std::string& applName,
+ const std::string& applDesc)
+ throw()
+ : BasicFramework(applName, applDesc), timeToDie(false)
+ { }
+
+ /// Destructor.
+ virtual ~LoopedFramework() {}
+
+ protected:
+ bool timeToDie; ///< if set to true, the loop will terminate
+
+ /**
+ * Called by the run() method, calls additionalSetup(),
+ * spinUp(), and process(), in that order.
+ */
+ virtual void completeProcessing();
+
+ private:
+ // Do not allow the use of the default constructor.
+ LoopedFramework();
+ }; // class LoopedFramework
+
+ //@}
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/MJD.cpp b/dev/src/MJD.cpp
new file mode 100644
index 0000000..62ec16b
--- /dev/null
+++ b/dev/src/MJD.cpp
@@ -0,0 +1,161 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "MJD.hpp"
+#include "TimeConstants.hpp"
+
+namespace gpstk
+{
+ MJD& MJD::operator=( const MJD& right )
+ throw()
+ {
+ mjd = right.mjd;
+ return *this;
+ }
+
+ CommonTime MJD::convertToCommonTime() const
+ {
+ // convert to Julian Day
+ long double tmp( mjd + MJD_JDAY );
+ // get the whole number of days
+ long jday( static_cast<long>( tmp ) );
+ // tmp now holds the partial days
+ tmp -= static_cast<long>( tmp );
+ // convert tmp to seconds of day
+ tmp *= SEC_PER_DAY;
+
+ return CommonTime( jday,
+ static_cast<long>( tmp ),
+ tmp - static_cast<long>( tmp ) );
+ }
+
+ void MJD::convertFromCommonTime( const CommonTime& ct )
+ {
+ long jday, sod;
+ double fsod;
+ ct.get( jday, sod, fsod );
+
+ mjd = static_cast<long double>( jday - MJD_JDAY ) +
+ ( static_cast<long double>( sod )
+ + static_cast<long double>( fsod ) ) * DAY_PER_SEC;
+ }
+
+ std::string MJD::printf( const std::string& fmt ) const
+ throw( gpstk::StringUtils::StringException )
+ {
+ try
+ {
+ using gpstk::StringUtils::formattedPrint;
+ std::string rv( fmt );
+
+ rv = formattedPrint( rv, getFormatPrefixFloat() + "Q",
+ "QLf", mjd );
+ return rv;
+ }
+ catch( gpstk::StringUtils::StringException& se )
+ {
+ GPSTK_RETHROW( se );
+ }
+ }
+
+ bool MJD::setFromInfo( const IdToValue& info )
+ throw()
+ {
+ using namespace gpstk::StringUtils;
+
+ IdToValue::const_iterator itr = info.find('Q');
+ if( itr != info.end() )
+ {
+ mjd = gpstk::StringUtils::asLongDouble( itr->second );
+ }
+
+ return true;
+ }
+
+ bool MJD::isValid() const
+ throw()
+ {
+ MJD temp;
+ temp.convertFromCommonTime( convertToCommonTime() );
+ if( *this == temp )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ void MJD::reset()
+ throw()
+ {
+ mjd = 0.0;
+ }
+
+ bool MJD::operator==( const MJD& right ) const
+ throw()
+ {
+ if( mjd == right.mjd )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool MJD::operator!=( const MJD& right ) const
+ throw()
+ {
+ return ( !operator==( right ) );
+ }
+
+ bool MJD::operator<( const MJD& right ) const
+ throw()
+ {
+ if( mjd < right.mjd )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool MJD::operator>( const MJD& right ) const
+ throw()
+ {
+ return ( !operator<=( right ) );
+ }
+
+ bool MJD::operator<=( const MJD& right ) const
+ throw()
+ {
+ return ( operator<( right ) ||
+ operator==( right ) );
+ }
+
+ bool MJD::operator>=( const MJD& right ) const
+ throw()
+ {
+ return ( !operator<( right ) );
+ }
+
+} // namespace
diff --git a/dev/src/MJD.hpp b/dev/src/MJD.hpp
new file mode 100644
index 0000000..e637772
--- /dev/null
+++ b/dev/src/MJD.hpp
@@ -0,0 +1,170 @@
+#pragma ident "$Id$"
+
+
+
+#ifndef GPSTK_MJD_HPP
+#define GPSTK_MJD_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "TimeTag.hpp"
+
+namespace gpstk
+{
+ /**
+ * This class encapsulates the "Modified Julian Date" time representation.
+ */
+ class MJD : public TimeTag
+ {
+ public:
+ /**
+ * @defgroup mjdbo MJD Basic Operations
+ * Default and Copy Constructors, Assignment Operator and Destructor.
+ */
+ //@{
+ /**
+ * Default Constructor.
+ * All elements are initialized to zero.
+ */
+ MJD( long double m = 0. )
+ throw()
+ : mjd( m )
+ {}
+
+ /**
+ * Copy Constructor.
+ * @param right a reference to the MJD object to copy
+ */
+ MJD( const MJD& right )
+ throw()
+ : mjd( right.mjd )
+ {}
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const TimeTag reference and copies its contents via
+ * conversion to CommonTime.
+ * @param right a const reference to the BasicTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ MJD( const TimeTag& right )
+ throw( gpstk::InvalidRequest )
+ {
+ convertFromCommonTime( right.convertToCommonTime() );
+ }
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const CommonTime reference and copies its contents via
+ * the convertFromCommonTime method.
+ * @param right a const reference to the CommonTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ MJD( const CommonTime& right )
+ throw( InvalidRequest )
+ {
+ convertFromCommonTime( right );
+ }
+
+ /**
+ * Assignment Operator.
+ * @param right a const reference to the MJD to copy
+ * @return a reference to this MJD
+ */
+ MJD& operator=( const MJD& right )
+ throw();
+
+ /// Virtual Destructor.
+ virtual ~MJD()
+ throw()
+ {}
+ //@}
+
+ // The following functions are required by TimeTag.
+ virtual CommonTime convertToCommonTime() const;
+
+ virtual void convertFromCommonTime( const CommonTime& ct ) ;
+
+ /// This function formats this time to a string. The exceptions
+ /// thrown would only be due to problems parsing the fmt string.
+ virtual std::string printf( const std::string& fmt ) const
+ throw( gpstk::StringUtils::StringException );
+
+ /**
+ * Set this object using the information provided in \a info.
+ * @param info the IdToValue object to which this object shall be set.
+ * @return true if this object was successfully set using the
+ * data in \a info, false if not.
+ */
+ virtual bool setFromInfo( const IdToValue& info )
+ throw();
+
+ /// Return a string containing the characters that this class
+ /// understands when printing times.
+ virtual std::string getPrintChars() const
+ throw()
+ {
+ return "Q";
+ }
+
+ /// Return a string containing the default format to use in printing.
+ virtual std::string getDefaultFormat() const
+ throw()
+ {
+ return "%.9Q";
+ }
+
+ virtual bool isValid() const
+ throw();
+
+ virtual void reset()
+ throw();
+
+ /**
+ * @defgroup mjdco MJD Comparison Operators
+ * All comparison operators have a parameter "right" which corresponds
+ * to the MJD object to the right of the symbol.
+ * All comparison operators are const and return true on success
+ * and false on failure.
+ */
+ //@{
+ bool operator==( const MJD& right ) const
+ throw();
+ bool operator!=( const MJD& right ) const
+ throw();
+ bool operator<( const MJD& right ) const
+ throw();
+ bool operator>( const MJD& right ) const
+ throw();
+ bool operator<=( const MJD& right ) const
+ throw();
+ bool operator>=( const MJD& right ) const
+ throw();
+ //@}
+
+ long double mjd;
+ };
+
+} // namespace
+
+#endif // GPSTK_MJD_HPP
diff --git a/dev/src/MOPSWeight.cpp b/dev/src/MOPSWeight.cpp
new file mode 100644
index 0000000..56ed817
--- /dev/null
+++ b/dev/src/MOPSWeight.cpp
@@ -0,0 +1,240 @@
+
+/**
+ * @file MOPSWeight.cpp
+ * Class for assign weights to satellites based on the Appendix J of MOPS C.
+ */
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+
+#include "MOPSWeight.hpp"
+
+
+using namespace std;
+namespace gpstk
+{
+
+ // Compute and return a vector with the weights for the given satellites
+ // @param time Epoch weights will be computed for
+ // @param Satellites Vector of satellites
+ // @param bcEph Satellite broadcast ephemeris
+ // @param ionoCorrections Ionospheric corrections computed using Klobuchar model
+ // @param elevationVector Vector of elevations, in degrees
+ // @param azimuthVector Vector of azimuths, in degrees
+ // @param rxPosition Position of the receiver
+ // @param rxClass Integer indicating receiver class according MOPS-C.
+ // It is 2 by default (conservative setting).
+ //
+ // @return
+ // Number of satellites with valid weights
+ //
+ // \note
+ // Method isValid() will return false if some satellite does not have a
+ // valid weight. Also, its PRN will be set to a negative value.
+ //
+ int MOPSWeight::getWeights(DayTime& time, Vector<SatID>& Satellites, BCEphemerisStore& bcEph, Vector<double>& ionoCorrections, Vector<double>& elevationVector, Vector<double>& azimuthVector, Position rxPosition, int rxClass) throw(InvalidWeights)
+ {
+
+ int N = Satellites.size();
+ int Ne = elevationVector.size();
+ int Na = azimuthVector.size();
+ // We need at least one satellite
+ if (N == 0)
+ {
+ InvalidWeights eWeight("At least one satellite is needed to compute weights.");
+ GPSTK_THROW(eWeight);
+ }
+
+ if ( (N != Ne) || (N != Na) )
+ {
+ InvalidWeights eWeight("Size of input vectors do not match.");
+ GPSTK_THROW(eWeight);
+ }
+
+ SimpleIURAWeight sIura;
+
+ // Compute the satellites' IURA weights
+ int goodSV = sIura.getWeights(time, Satellites, bcEph);
+
+ // Let's compute the sigma^2 and weight values
+ MOPSWeight::Compute(goodSV, sIura, Satellites, ionoCorrections, elevationVector, azimuthVector, rxPosition, rxClass);
+
+ return goodSV;
+
+ }
+
+
+ // Compute and return a vector with the weights for the given satellites
+ // @param time Epoch weights will be computed for
+ // @param Satellites Vector of satellites
+ // @param preciseEph Satellite precise ephemeris
+ // @param ionoCorrections Ionospheric corrections computed using Klobuchar model
+ // @param elevationVector Vector of elevations, in degrees
+ // @param azimuthVector Vector of azimuths, in degrees
+ // @param rxPosition Position of the receiver
+ // @param rxClass Integer indicating receiver class according MOPS-C.
+ // It is 2 by default (conservative setting).
+ //
+ // @return
+ // Number of satellites with valid weights
+ //
+ // \note
+ // Method isValid() will return false if some satellite does not have a
+ // valid weight. Also, its PRN will be set to a negative value.
+ //
+ int MOPSWeight::getWeights(DayTime& time, Vector<SatID>& Satellites, TabularEphemerisStore& preciseEph, Vector<double>& ionoCorrections, Vector<double>& elevationVector, Vector<double>& azimuthVector, Position rxPosition, int rxClass) throw(InvalidWeights)
+ {
+
+ int N = Satellites.size();
+ int Ne = elevationVector.size();
+ int Na = azimuthVector.size();
+ // We need at least one satellite
+ if (N == 0)
+ {
+ InvalidWeights eWeight("At least one satellite is needed to compute weights.");
+ GPSTK_THROW(eWeight);
+ }
+
+ if ( (N != Ne) || (N != Na) )
+ {
+ InvalidWeights eWeight("Size of input vectors do not match.");
+ GPSTK_THROW(eWeight);
+ }
+
+ SimpleIURAWeight sIura;
+
+ // Compute the satellites' IURA weights
+ int goodSV = sIura.getWeights(time, Satellites, preciseEph);
+
+ // Let's compute the sigma^2 and weight values
+ MOPSWeight::Compute(goodSV, sIura, Satellites, ionoCorrections, elevationVector, azimuthVector, rxPosition, rxClass);
+
+ return goodSV;
+
+ }
+
+
+ // Compute satellites' weights
+ void MOPSWeight::Compute(int goodSV, SimpleIURAWeight& sIura, Vector<SatID>& Satellites, Vector<double>& ionoCorrections, Vector<double>& elevationVector, Vector<double>& azimuthVector, Position rxPosition, int rxClass) throw(InvalidWeights)
+ {
+ int N = Satellites.size();
+
+ double sigma2rx; // Receiver noise sigma^2 in meters^2
+ if (rxClass==1) sigma2rx = 0.25; else sigma2rx = 0.36;
+
+ double sigma2ura, sigma2multipath, sigma2trop, sigma2uire;
+ // Let's resize weightsVector
+ weightsVector.resize(goodSV);
+
+ // We need a MOPSTropModel object. Parameters must be valid but they have no importance
+ MOPSTropModel mopsTrop(0.0, 0.0, 1);
+
+ if (N==goodSV) // In this case, we don't have to worry much and things go faster
+ {
+ for (int i=0; i<goodSV; i++)
+ {
+ sigma2ura = (1.0 / sIura.weightsVector(i));
+ sigma2multipath = 0.13 + (0.53 * std::exp(-elevationVector(i)/10.0));
+ sigma2trop = mopsTrop.MOPSsigma2(elevationVector(i));
+ sigma2uire = sigma2iono(ionoCorrections(i), elevationVector(i), azimuthVector(i), rxPosition);
+ weightsVector(i) = 1.0 / (sigma2rx + sigma2ura + sigma2multipath + sigma2trop + sigma2uire);
+ }
+ }
+ else // Much care must be taken in this case
+ {
+ int offset = 0;
+ for (int i=0; i<goodSV; i++)
+ {
+ // Lets make sure we are using the same satellites
+ while ( (sIura.availableSV(i).id != Satellites(i+offset).id) && ((i+offset)<N) ) offset++;
+ if ( (i+offset) >= N ) break;
+ sigma2ura = (1.0 / sIura.weightsVector(i));
+ sigma2multipath = 0.13 + (0.53 * std::exp(-elevationVector(i)/10.0));
+ sigma2trop = mopsTrop.MOPSsigma2(elevationVector(i+offset));
+ sigma2uire = sigma2iono(ionoCorrections(i+offset), elevationVector(i+offset), azimuthVector(i+offset), rxPosition);
+ weightsVector(i) = 1.0 / (sigma2rx + sigma2ura + sigma2multipath + sigma2trop + sigma2uire);
+ }
+ }
+
+ (*this).valid = sIura.isValid(); // Valididy depends if sIura rejected satellites or not
+ (*this).availableSV = sIura.availableSV;
+ (*this).rejectedSV = sIura.rejectedSV;
+
+
+ } // End of MOPSWeight::Compute()
+
+
+ // Compute ionospheric sigma^2 according to Appendix J.2.3 and Appendix A.4.4.10.4 in MOPS-C
+ double MOPSWeight::sigma2iono(double& ionoCorrection, double& elevation, double& azimuth, Position rxPosition) throw(InvalidWeights)
+ {
+ // First, let's found magnetic latitude according to ICD-GPS-200, section 20.3.3.5.2.6
+ double azRad = azimuth * DEG_TO_RAD;
+ double elevRad = elevation * DEG_TO_RAD;
+ double cosElev = std::cos(elevRad);
+ double svE = elevation / 180.0; // Semi-circles
+
+ double phi_u = rxPosition.getGeodeticLatitude() / 180.0; // Semi-circles
+ double lambda_u = rxPosition.getLongitude() / 180.0; // Semi-circles
+
+ double psi = (0.0137 / (svE + 0.11)) - 0.022; // Semi-circles
+
+ double phi_i = phi_u + psi * std::cos(azRad); // Semi-circles
+ if (phi_i > 0.416)
+ phi_i = 0.416;
+ if (phi_i < -0.416)
+ phi_i = -0.416;
+
+ double lambda_i = lambda_u + ( psi * std::sin(azRad) / std::cos(phi_i*PI) ); // Semi-circles
+
+ double phi_m = phi_i + 0.064 * std::cos((lambda_i - 1.617)*PI); // Semi-circles
+
+ // Convert magnetic latitude to degrees
+ phi_m = std::abs(phi_m * 180.0);
+
+ // Estimate vertical ionospheric delay according to MOPS-C
+ double tau_vert;
+ if ( (phi_m >= 0.0) && (phi_m <= 20.0) ) { tau_vert = 9.0; }
+ else
+ {
+ if ( (phi_m > 20.0) && (phi_m <= 55.0) ) { tau_vert = 4.5; }
+ else tau_vert = 6.0;
+ }
+
+ // Compute obliquity factor
+ double fpp = ( 1.0 / (std::sqrt(1.0 - 0.898665418 * cosElev * cosElev)) );
+
+ double sigma2uire = ( (ionoCorrection*ionoCorrection) / 25.0 );
+
+ double fact = ( (fpp*tau_vert) * (fpp*tau_vert) );
+
+ if (fact > sigma2uire) sigma2uire = fact;
+
+ return sigma2uire;
+
+ } // End of MOPSWeight::sigma2iono()
+
+
+}
+
diff --git a/dev/src/MOPSWeight.hpp b/dev/src/MOPSWeight.hpp
new file mode 100644
index 0000000..c7b6255
--- /dev/null
+++ b/dev/src/MOPSWeight.hpp
@@ -0,0 +1,148 @@
+
+/**
+ * @file MOPSWeight.hpp
+ * Class to assign weights to satellites based on the Appendix J of MOPS C.
+ */
+
+#ifndef MOPSWEIGHT_BASE_GPSTK
+#define MOPSWEIGHT_BASE_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+
+#include "WeightBase.hpp"
+#include "EphemerisStore.hpp"
+#include "BCEphemerisStore.hpp"
+#include "TabularEphemerisStore.hpp"
+#include "EngEphemeris.hpp"
+#include "RinexObsHeader.hpp"
+#include "Position.hpp"
+#include "SimpleIURAWeight.hpp"
+#include "TropModel.hpp"
+#include "icd_200_constants.hpp"
+#include "geometry.hpp" // DEG_TO_RAD
+#include <cmath>
+#include <vector>
+
+
+namespace gpstk
+{
+
+ /** @addtogroup GPSsolutions */
+ //@{
+
+ /** Class to assign weights to satellites based on the Appendix J of MOPS C.
+ *
+ * This class implements an algorithm to assign weights to satellites based on
+ * the RTCA "Minimum Operational Performance Standards" (MOPS), version C
+ * (RTCA/DO-229C), sections J.2.3. "Variance of Ionospheric Delay", J.2.4.
+ * "Variance of Airborne Receiver Errors" and J.2.5. "Variance of Tropospheric
+ * errors".
+ *
+ * It is meant to be used with the class "MOPSTropModel".
+ *
+ */
+ class MOPSWeight: WeightBase
+ {
+ public:
+
+ /// Empty constructor
+ MOPSWeight(void) { valid = false; };
+
+
+ /** Compute and return a vector with the weights for the given satellites
+ * @param time Epoch weights will be computed for
+ * @param Satellites Vector of satellites
+ * @param bcEph Satellite broadcast ephemeris
+ * @param ionoCorrections Ionospheric corrections computed using Klobuchar model
+ * @param elevationVector Vector of elevations, in degrees
+ * @param azimuthVector Vector of azimuths, in degrees
+ * @param rxPosition Position of the receiver
+ * @param rxClass Integer indicating receiver class according MOPS-C.
+ * It is 2 by default (conservative setting).
+ *
+ * @return
+ * Number of satellites with valid weights
+ *
+ * \note
+ * Method isValid() will return false if some satellite does not have a
+ * valid weight. Also, its PRN will be set to a negative value.
+ *
+ */
+ virtual int getWeights(DayTime& time, Vector<SatID>& Satellites, BCEphemerisStore& bcEph, Vector<double>& ionoCorrections, Vector<double>& elevationVector, Vector<double>& azimuthVector, Position rxPosition, int rxClass=2) throw(InvalidWeights);
+
+
+ /** Compute and return a vector with the weights for the given satellites
+ * @param time Epoch weights will be computed for
+ * @param Satellites Vector of satellites
+ * @param preciseEph Satellite precise ephemeris
+ * @param ionoCorrections Ionospheric corrections computed using Klobuchar model
+ * @param elevationVector Vector of elevations, in degrees
+ * @param azimuthVector Vector of azimuths, in degrees
+ * @param rxPosition Position of the receiver
+ * @param rxClass Integer indicating receiver class according MOPS-C.
+ * It is 2 by default (conservative setting).
+ *
+ * @return
+ * Number of satellites with valid weights
+ *
+ * \note
+ * Method isValid() will return false if some satellite does not have a
+ * valid weight. Also, its PRN will be set to a negative value.
+ *
+ */
+ virtual int getWeights(DayTime& time, Vector<SatID>& Satellites, TabularEphemerisStore& preciseEph, Vector<double>& ionoCorrections, Vector<double>& elevationVector, Vector<double>& azimuthVector, Position rxPosition, int rxClass=2) throw(InvalidWeights);
+
+
+ /// Vector of weights for these satellites
+ Vector<double> weightsVector;
+
+ /// Vector with the PRN of satellites with weights available for computing.
+ Vector<SatID> availableSV;
+
+ /// Vector with the PRN of satellites rejected or with no proper weights.
+ Vector<SatID> rejectedSV;
+
+ /// Return validity of weights
+ virtual bool isValid(void)
+ { return valid; }
+
+
+ private:
+
+ /// Compute satellites' weights
+ void Compute(int goodSV, SimpleIURAWeight& sIura, Vector<SatID>& Satellites, Vector<double>& ionoCorrections, Vector<double>& elevationVector, Vector<double>& azimuthVector, Position rxPosition, int rxClass) throw(InvalidWeights);
+
+
+ /// Compute ionospheric sigma^2 according to Appendix J.2.3 and Appendix A.4.4.10.4 in MOPS-C
+ double sigma2iono(double& ionoCorrection, double& elevation, double& azimuth, Position rxPosition) throw(InvalidWeights);
+
+ }; // end class MOPSWeight
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/MSCData.cpp b/dev/src/MSCData.cpp
new file mode 100644
index 0000000..6eeb2a1
--- /dev/null
+++ b/dev/src/MSCData.cpp
@@ -0,0 +1,144 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file MSCData.cpp
+ * Monitor station coordinate file data
+ */
+
+#include <math.h>
+#include "MSCData.hpp"
+#include "MSCStream.hpp"
+
+using namespace gpstk::StringUtils;
+using namespace std;
+
+namespace gpstk
+{
+
+ static const unsigned long SEC_YEAR = (unsigned long)(365.25 * gpstk::DayTime::SEC_DAY);
+
+ void MSCData::reallyPutRecord(gpstk::FFStream & ffs) const
+ throw(std::exception, gpstk::FFStreamError, StringException)
+ {
+ MSCStream& strm = dynamic_cast<MSCStream&>(ffs);
+
+ string line;
+
+ line += rightJustify(asString<short>(time.DOYyear()), 4);
+ line += rightJustify(asString<short>(time.DOYday()), 3 , '0');
+ line += rightJustify(asString<long>(station), 5);
+ line += leftJustify(mnemonic, 7);
+ double repoch = refepoch.DOYyear()
+ + (refepoch.DOYday() * gpstk::DayTime::SEC_DAY
+ + refepoch.DOYsecond()) / SEC_YEAR;
+ line += rightJustify(asString(repoch, 2), 7);
+ double eepoch = effepoch.DOYyear()
+ + (effepoch.DOYday() * gpstk::DayTime::SEC_DAY
+ + effepoch.DOYsecond()) / SEC_YEAR;
+ line += rightJustify(asString(eepoch, 2), 7);
+ line += rightJustify(asString(coordinates[0], 3), 12);
+ line += rightJustify(asString(coordinates[1], 3), 12);
+ line += rightJustify(asString(coordinates[2], 3), 12);
+ if (velocities[0] >= 0)
+ line += rightJustify(change(asString(velocities[0], 4),"0.","."), 7);
+ else
+ line += rightJustify(change(asString(velocities[0], 4),"-0.","-."), 7);
+ if (velocities[1] >= 0)
+ line += rightJustify(change(asString(velocities[1], 4),"0.","."), 7);
+ else
+ line += rightJustify(change(asString(velocities[1], 4),"-0.","-."), 7);
+ if (velocities[2] >= 0)
+ line += rightJustify(change(asString(velocities[2], 4),"0.","."), 7);
+ else
+ line += rightJustify(change(asString(velocities[2], 4),"-0.","-."), 7);
+
+ ffs << line << endl;
+ strm.lineNumber++;
+ }
+
+ void MSCData::reallyGetRecord(gpstk::FFStream& ffs)
+ throw(std::exception, gpstk::FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+ MSCStream& strm = dynamic_cast<MSCStream&>(ffs);
+
+ string currentLine;
+
+ strm.formattedGetLine(currentLine, true);
+ int len = currentLine.length();
+
+ short year = asInt(currentLine.substr(0, 4));
+ short day = asInt(currentLine.substr(4, 3));
+ time.setYDoySod(year, day, 0.0);
+
+ station = asInt(currentLine.substr(7, 5));
+ mnemonic = currentLine.substr(12, 7);
+
+ double epoch, intg, frac, sod;
+ short doy;
+
+ // can't have DOY 0, so use doy + 1 when generating times
+ epoch = asDouble(currentLine.substr(19, 7));
+ frac = modf(epoch, &intg);
+ doy = (short)(frac * SEC_YEAR / gpstk::DayTime::SEC_DAY);
+ sod = (short)((frac * gpstk::DayTime::SEC_DAY) - (doy * gpstk::DayTime::SEC_DAY));
+ refepoch = gpstk::DayTime((short)intg, doy+1, sod);
+
+ epoch = asDouble(currentLine.substr(26, 7));
+ frac = modf(epoch, &intg);
+ doy = (short)(frac * SEC_YEAR / gpstk::DayTime::SEC_DAY);
+ sod = (frac * gpstk::DayTime::SEC_DAY) - (doy * gpstk::DayTime::SEC_DAY);
+ effepoch = gpstk::DayTime((short)intg, doy+1, sod);
+
+ coordinates[0] = asDouble(currentLine.substr(33, 12));
+ coordinates[1] = asDouble(currentLine.substr(45, 12));
+ coordinates[2] = asDouble(currentLine.substr(57, 12));
+
+ velocities[0] = asDouble(currentLine.substr(69, 7));
+ velocities[1] = asDouble(currentLine.substr(76, 7));
+ velocities[2] = asDouble(currentLine.substr(83, 7));
+ }
+}
diff --git a/dev/src/MSCData.hpp b/dev/src/MSCData.hpp
new file mode 100644
index 0000000..72c5ab0
--- /dev/null
+++ b/dev/src/MSCData.hpp
@@ -0,0 +1,114 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file MSCData.hpp
+ * Monitor station coordinate file data
+ */
+
+#ifndef MSCDATA_HPP
+#define MSCDATA_HPP
+
+#include <string>
+#include "StringUtils.hpp"
+#include "Triple.hpp"
+#include "ECEF.hpp"
+#include "DayTime.hpp"
+#include "FFData.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup icd211group ICD-GPS-211 Classes */
+ //@{
+
+ /**
+ * Model for a Monitor Station Coordinates File Data Record
+ */
+ class MSCData : public gpstk::FFData
+ {
+ public:
+ /// constructor
+ MSCData() throw() : time(gpstk::DayTime(0.L)) {}
+
+ /// destructor
+ virtual ~MSCData() throw() {}
+
+ gpstk::DayTime time; ///< date of coordinates release from NIMA
+ unsigned long station; ///< NIMA Monitor Station number (e.g. 85408)
+ std::string mnemonic; ///< NIMA Monitor Station identifier (e.g. ARLM)
+ gpstk::DayTime refepoch; ///< epoch of coordinates and velocities
+ gpstk::DayTime effepoch; ///< earliest epoch data is valid
+ gpstk::ECEF coordinates; ///< ECEF XYZ coordinates
+ gpstk::Triple velocities; ///< XYZ velocities
+
+ /// MSCData \b is data, so this always return \c true
+ virtual bool isData() const { return true; }
+
+ protected:
+ /// Write an MSCData object in the format specified by the stream
+ virtual void reallyPutRecord(gpstk::FFStream& ffs) const
+ throw(std::exception, gpstk::FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ /**
+ * Retrieve an MSCData record from the given gpstk::FFStream.
+ * If there is a problem reading from the stream, it
+ * is reset to its original position and it's failbit is set.
+ * @throws StringException when a gpstk::StringUtils functions fails
+ * @throws gpstk::FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to it pre-read position.
+ */
+ virtual void reallyGetRecord(gpstk::FFStream& ffs)
+ throw(std::exception, gpstk::FFStreamError,
+ gpstk::StringUtils::StringException);
+ }; // class MSCData
+
+ //@}
+
+} // namespace gpstk
+
+#endif
+
diff --git a/dev/src/MSCStream.hpp b/dev/src/MSCStream.hpp
new file mode 100644
index 0000000..f40406b
--- /dev/null
+++ b/dev/src/MSCStream.hpp
@@ -0,0 +1,87 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file MSCStream.hpp
+ * Read/Write Monitorm station coordinate file data
+ */
+
+#ifndef MSCSTREAM_HPP
+#define MSCSTREAM_HPP
+
+#include "FFTextStream.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup icd211group ICD-GPS-211 Classes */
+ //@{
+
+ /// Stream used to obtain data from a Monitor Station Coordinates File
+ class MSCStream : public gpstk::FFTextStream
+ {
+ public:
+ /// Default constructor
+ MSCStream() {}
+
+ /**
+ * Constructor.
+ * @param fn the file to open
+ * @param mode the ios::openmode to use in opening \a fn
+ */
+ MSCStream(const char* fn, std::ios::openmode mode=std::ios::in)
+ throw()
+ : gpstk::FFTextStream(fn, mode)
+ {}
+
+ /// Destructor
+ virtual ~MSCStream() {}
+
+ }; // class MSCStream
+
+ //@}
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/MWCSDetector.hpp b/dev/src/MWCSDetector.hpp
new file mode 100644
index 0000000..5d14cb1
--- /dev/null
+++ b/dev/src/MWCSDetector.hpp
@@ -0,0 +1,421 @@
+
+/**
+ * @file MWCSDetector.hpp
+ * This is a class to detect cycle slips using the Melbourne-Wubbena combination.
+ */
+
+#ifndef MWCSDETECTOR_GPSTK
+#define MWCSDETECTOR_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2007
+//
+//============================================================================
+
+
+
+#include "DataStructures.hpp"
+#include <list>
+
+
+namespace gpstk
+{
+
+ /** @addtogroup GPSsolutions */
+ //@{
+
+
+ /** This is a class to detect cycle slips using MW observables.
+ * This class is meant to be used with the GNSS data structures objects
+ * found in "DataStructures" class.
+ *
+ * A typical way to use this class follows:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o");
+ *
+ * gnssRinex gRin;
+ * ComputeMelbourneWubbena getMW;
+ * MWCSDetector markCSMW;
+ *
+ * while(rin >> gRin) {
+ * gRin >> getMW >> markCSMW;
+ * }
+ * @endcode
+ *
+ * The "MWCSDetector" object will visit every satellite in the GNSS data
+ * structure that is "gRin" and will decide if a cycle slip has happened in the
+ * given observable.
+ *
+ * The algorithm will use MW observables, and the LLI1 and LLI2 indexes.
+ * The result (a 0 if a cycle slip is found, 1 otherwise) will be stored in the
+ * data structure both as the CSL1 and CSL2 indexes.
+ *
+ * In taking the decision, this algorithm will use criteria as the maximum
+ * interval of time between two successive epochs and the maximum number of
+ * Melbourne-Wubbena wavelenghts allowed above or below the MW combination
+ * average for that arc.
+ *
+ * The default values are usually fine, but nevertheless you may change them
+ * with the appropriate methods. The former is of special importance for the
+ * maximum interval time, that should be adjusted to your sampling rate. By
+ * default it is 61 seconds, adapted to 30 seconds per sample RINEX files.
+ *
+ * When used with the ">>" operator, this class returns the same incoming
+ * data structure with the cycle slip indexes inserted along their corresponding
+ * satellites. Be warned that if a given satellite does not have the
+ * observations required, it will be summarily deleted from the data
+ * structure.
+ *
+ * You should be aware that the Melbourne-Wubbena combination is based on a
+ * mix of code and phase observations, and it is very noisy. Therefore, it
+ * has a tendency to yield a fair number of false positives if you are not
+ * careful with its parameters. Because of this, the default parameters are
+ * very conservative, i.e., the detector is NOT much sensitive.
+ *
+ * Best results are achieved when using this detector as a "backup" detector
+ * for detectors based in LI combination, like this:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o");
+ *
+ * gnssRinex gRin;
+ * ComputeLI getLI;
+ * LICSDetector markCSLI;
+ * ComputeMelbourneWubbena getMW;
+ * MWCSDetector markCSMW;
+ *
+ * while(rin >> gRin) {
+ * gRin >> getLI >> getMW >> markCSLI >> markCSMW;
+ * }
+ * @endcode
+ *
+ * @sa LICSDetector.hpp for more information.
+ *
+ * \warning Cycle slip detectors are objets that store their internal state,
+ * so you MUST NOT use the SAME object to process DIFFERENT data streams.
+ *
+ */
+ class MWCSDetector
+ {
+ public:
+
+ /// Default constructor, setting default parameters.
+ MWCSDetector() : obsType(TypeID::MWubbena), lliType1(TypeID::LLI1), lliType2(TypeID::LLI2), resultType1(TypeID::CSL1), resultType2(TypeID::CSL2), deltaTMax(61.0), maxNumLambdas(10.0), useLLI(true) {};
+
+
+ /** Common constructor
+ *
+ * @param mLambdas Maximum deviation allowed before declaring cycle slip (in number of Melbourne-Wubbena wavelenghts).
+ * @param dtMax Maximum interval of time allowed between two successive epochs, in seconds.
+ */
+ MWCSDetector(const double& mLambdas, const double& dtMax = 61.0, const bool& use = true) : obsType(TypeID::MWubbena), lliType1(TypeID::LLI1), lliType2(TypeID::LLI2), resultType1(TypeID::CSL1), resultType2(TypeID::CSL2), useLLI(use)
+ {
+ setDeltaTMax(dtMax);
+ setMaxNumLambdas(mLambdas);
+ };
+
+
+ /** Returns a satTypeValueMap object, adding the new data generated when calling this object.
+ *
+ * @param epoch Time of observations.
+ * @param gData Data object holding the data.
+ * @param epochflag Epoch flag.
+ */
+ virtual satTypeValueMap& Detect(const DayTime& epoch, satTypeValueMap& gData, const short& epochflag=0)
+ {
+ double value1(0.0);
+ double lli1(0.0);
+ double lli2(0.0);
+
+ SatIDSet satRejectedSet;
+
+ // Loop through all the satellites
+ satTypeValueMap::iterator it;
+ for (it = gData.begin(); it != gData.end(); ++it)
+ {
+ try
+ {
+ // Try to extract the values
+ value1 = (*it).second(obsType);
+ }
+ catch(...)
+ {
+ // If some value is missing, then schedule this satellite for removal
+ satRejectedSet.insert( (*it).first );
+ continue;
+ }
+ if (useLLI)
+ {
+ try
+ {
+ // Try to get the LLI1 index
+ lli1 = (*it).second(lliType1);
+ }
+ catch(...)
+ {
+ // If LLI #1 is not found, set it to zero
+ // You REALLY want to have BOTH LLI indexes properly set
+ lli1 = 0.0;
+ }
+ try
+ {
+ // Try to get the LLI2 index
+ lli2 = (*it).second(lliType2);
+ }
+ catch(...)
+ {
+ // If LLI #2 is not found, set it to zero
+ // You REALLY want to have BOTH LLI indexes properly set
+ lli2 = 0.0;
+ }
+ }
+ // If everything is OK, then get the new values inside the structure
+ // This way of doing it allows concatenation of several different cycle slip detectors
+ (*it).second[resultType1] += getDetection(epoch, (*it).first, (*it).second, epochflag, value1, lli1, lli2);
+ if ( (*it).second[resultType1] > 1.0 ) (*it).second[resultType1] = 1.0;
+ // We will mark both cycle slip flags
+ (*it).second[resultType2] = (*it).second[resultType1];
+ }
+ // Remove satellites with missing data
+ gData.removeSatID(satRejectedSet);
+
+ return gData;
+ };
+
+
+ /** Method to set the maximum interval of time allowed between two successive epochs.
+ * @param maxDelta Maximum interval of time, in seconds
+ */
+ virtual void setDeltaTMax(const double& maxDelta)
+ {
+ // Don't allow delta times less than or equal to 0
+ if (maxDelta > 0.0) deltaTMax = maxDelta; else deltaTMax = 61.0;
+ };
+
+
+ /// Method to get the maximum interval of time allowed between two successive epochs, in seconds.
+ virtual double getDeltaTMax() const
+ {
+ return deltaTMax;
+ };
+
+
+ /** Method to set the maximum deviation allowed before declaring cycle slip (in number of Melbourne-Wubbena wavelenghts).
+ * @param mLambdas Maximum deviation allowed before declaring cycle slip (in number of Melbourne-Wubbena wavelenghts).
+ */
+ virtual void setMaxNumLambdas(const double& mLambdas)
+ {
+ // Don't allow number of lambdas less than or equal to 0
+ if (mLambdas > 0.0) maxNumLambdas = mLambdas; else maxNumLambdas = 10.0;
+ };
+
+
+ /// Method to get the maximum deviation allowed before declaring cycle slip (in number of Melbourne-Wubbena wavelenghts).
+ virtual double getMaxNumLambdas() const
+ {
+ return maxNumLambdas;
+ };
+
+
+ /** Method to set whether the LLI indexes will be used as an aid or not.
+ * @param use Boolean value enabling/disabling LLI check
+ */
+ virtual void setUseLLI(const bool& use)
+ {
+ useLLI = use;
+ };
+
+
+ /// Method to know if the LLI check is enabled or disabled.
+ virtual bool getUseLLI() const
+ {
+ return useLLI;
+ };
+
+
+ /** Returns a gnnsSatTypeValue object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssSatTypeValue& Detect(gnssSatTypeValue& gData)
+ {
+ (*this).Detect(gData.header.epoch, gData.body);
+ return gData;
+ };
+
+
+ /** Returns a gnnsRinex object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssRinex& Detect(gnssRinex& gData)
+ {
+ (*this).Detect(gData.header.epoch, gData.body, gData.header.epochFlag);
+ return gData;
+ };
+
+
+ /// Destructor
+ virtual ~MWCSDetector() {};
+
+
+
+ private:
+
+ /// Type of code.
+ TypeID obsType;
+
+ /// Type of LMW1 record.
+ TypeID lliType1;
+
+ /// Type of LMW2 record.
+ TypeID lliType2;
+
+ /// Type of result #1.
+ TypeID resultType1;
+
+ /// Type of result #2.
+ TypeID resultType2;
+
+
+ /// Maximum interval of time allowed between two successive epochs, in seconds.
+ double deltaTMax;
+
+
+ /// Maximum deviation allowed before declaring cycle slip (in number of Melbourne-Wubbena wavelenghts).
+ double maxNumLambdas;
+
+
+ /// This field tells whether to use or ignore the LLI indexes as an aid.
+ bool useLLI;
+
+
+ /// A structure used to store filter data for a SV.
+ struct filterData
+ {
+ // Default constructor initializing the data in the structure
+ filterData() : formerEpoch(DayTime::BEGINNING_OF_TIME), windowSize(0), meanMW(0.0) {};
+
+ DayTime formerEpoch; ///< The previous epoch time stamp.
+ int windowSize; ///< Size of current window, in samples.
+ double meanMW; ///< Accumulated mean value of combination
+ };
+
+ /// Map holding the information regarding every satellite
+ std::map<SatID, filterData> MWData;
+
+
+
+ /** Returns a satTypeValueMap object, adding the new data generated when calling this object.
+ *
+ * @param epoch Time of observations.
+ * @param sat SatID.
+ * @param tvMap Data structure of TypeID and values.
+ * @param epochflag Epoch flag.
+ * @param mw Current MW observation value.
+ * @param lli1 LLI1 index.
+ * @param lli2 LLI2 index.
+ */
+ virtual double getDetection(const DayTime& epoch, const SatID& sat, typeValueMap& tvMap, const short& epochflag, const double& mw, const double& lli1, const double& lli2)
+ {
+ bool reportCS(false);
+ double currentDeltaT(0.0); // Difference between current and former epochs, in sec
+ double currentBias(0.0); // Difference between current and former MW values
+ double lambdaLimit(maxNumLambdas*0.862); // Limit to declare cycle slip based on lambdas (LambdaLW = 0.862 m)
+ double tempLLI1(0.0);
+ double tempLLI2(0.0);
+
+
+ // Get the difference between current epoch and former epoch, in seconds
+ currentDeltaT = ( epoch.MJDdate() - MWData[sat].formerEpoch.MJDdate() ) * DayTime::SEC_DAY;
+
+ // Store current epoch as former epoch
+ MWData[sat].formerEpoch = epoch;
+
+ // Difference between current value of MW and average value
+ currentBias = std::abs(mw - MWData[sat].meanMW);
+
+ // Increment size of window
+ ++MWData[sat].windowSize;
+
+ // Check if receiver already declared cycle slip or too much time has elapsed
+ // Note: If tvMap(lliType1) or tvMap(lliType2) don't exist, then 0 will be used and those tests will pass
+ if ( (tvMap(lliType1)==1.0) || (tvMap(lliType1)==3.0) || (tvMap(lliType1)==5.0) || (tvMap(lliType1)==7.0) ) tempLLI1 = 1.0;
+
+ if ( (tvMap(lliType2)==1.0) || (tvMap(lliType2)==3.0) || (tvMap(lliType2)==5.0) || (tvMap(lliType2)==7.0) ) tempLLI2 = 1.0;
+
+ if ( (epochflag==1) || (epochflag==6) || (tempLLI1==1.0) || (tempLLI2==1.0) || (currentDeltaT > deltaTMax) )
+ {
+ MWData[sat].windowSize = 1; // We reset the filter with this
+ reportCS = true; // Report cycle slip
+ }
+
+
+ if (MWData[sat].windowSize > 1)
+ {
+ // Test for current bias bigger than lambda limit and for current bias squared bigger than sigma squared limit
+ if ( (currentBias > lambdaLimit) )
+ {
+ MWData[sat].windowSize = 1; // We reset the filter with this
+ reportCS = true; // Report cycle slip
+ }
+ }
+
+ // Let's prepare for the next time
+ // If a cycle-slip happened or just starting up
+ if (MWData[sat].windowSize < 2)
+ {
+ MWData[sat].meanMW = mw;
+ } else {
+ // Compute average
+ MWData[sat].meanMW += (mw - MWData[sat].meanMW) / (static_cast<double>(MWData[sat].windowSize));
+ }
+
+ if (reportCS) return 1.0; else return 0.0;
+ };
+
+ }; // end class MWCSDetector
+
+
+ /// Input operator from gnssSatTypeValue to MWCSDetector.
+ inline gnssSatTypeValue& operator>>(gnssSatTypeValue& gData, MWCSDetector& mwD)
+ {
+ mwD.Detect(gData);
+ return gData;
+ }
+
+
+ /// Input operator from gnssRinex to MWCSDetector.
+ inline gnssRinex& operator>>(gnssRinex& gData, MWCSDetector& mwD)
+ {
+ mwD.Detect(gData);
+ return gData;
+ }
+
+
+
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/Makefile.am b/dev/src/Makefile.am
new file mode 100644
index 0000000..3b67714
--- /dev/null
+++ b/dev/src/Makefile.am
@@ -0,0 +1,82 @@
+# $Id$
+## Process this file with automake to produce Makefile.in
+lib_LTLIBRARIES = libgpstk.la
+libgpstk_la_SOURCES = ANSITime.cpp AlmOrbit.cpp AlmanacStore.cpp \
+BCEphemerisStore.cpp Bancroft.cpp BasicFramework.cpp BinUtils.cpp \
+BinexData.cpp CivilTime.cpp CodeBuffer.cpp CommandOption.cpp \
+CommandOptionParser.cpp CommandOptionWithCommonTimeArg.cpp \
+CommandOptionWithPositionArg.cpp CommandOptionWithTimeArg.cpp CommonTime.cpp \
+DOP.cpp DayTime.cpp ECEF.cpp EngAlmanac.cpp EngEphemeris.cpp EngNav.cpp \
+EphemerisRange.cpp Exception.cpp Expression.cpp FFData.cpp FFStream.cpp \
+FICData.cpp FICData109.cpp FICData162.cpp FICData62.cpp FICData9.cpp \
+FICHeader.cpp FileHunter.cpp FileSpec.cpp GPSEpochWeekSecond.cpp \
+GPSWeekSecond.cpp GPSWeekZcount.cpp GPSZcount.cpp GPSZcount29.cpp \
+GPSZcount32.cpp GenXSequence.cpp Geodetic.cpp IonoModel.cpp \
+IonoModelStore.cpp JulianDate.cpp LinearClockModel.cpp LoopedFramework.cpp \
+MJD.cpp MOPSWeight.cpp MSCData.cpp ModeledPR.cpp ModeledReferencePR.cpp \
+ObsClockModel.cpp ObsEpochMap.cpp ObsID.cpp ObsRngDev.cpp PRSolution.cpp \
+Position.cpp RACRotation.cpp RinexEphemerisStore.cpp RinexMetData.cpp \
+RinexMetHeader.cpp RinexNavData.cpp RinexNavHeader.cpp RinexObsData.cpp \
+RinexObsHeader.cpp RinexObsID.cpp RinexSatID.cpp RinexUtilities.cpp \
+RungeKutta4.cpp SEMAlmanacStore.cpp SEMData.cpp SEMHeader.cpp SMODFData.cpp \
+SP3Data.cpp SP3EphemerisStore.cpp SP3Header.cpp SP3SatID.cpp \
+SVExclusionList.cpp SVPCodeGen.cpp SimpleIURAWeight.cpp SolverLMS.cpp \
+SolverWMS.cpp SourceID.cpp SystemTime.cpp TabularEphemerisStore.cpp \
+TimeConverters.cpp TimeString.cpp TimeTag.cpp Triple.cpp TropModel.cpp \
+TypeID.cpp UnixTime.cpp VectorBase.cpp WxObsMap.cpp X1Sequence.cpp \
+X2Sequence.cpp Xvt.cpp YDSTime.cpp YumaAlmanacStore.cpp YumaData.cpp \
+YumaHeader.cpp DataHeaders.cpp DataStructures.cpp XYZ2NEU.cpp \
+XYZ2NED.cpp DeltaOp.cpp SimpleKalmanFilter.cpp NablaOp.cpp
+
+incldir = $(includedir)/gpstk
+incl_HEADERS = ANSITime.hpp AlmOrbit.hpp AlmanacStore.hpp \
+BCEphemerisStore.hpp Bancroft.hpp BasicFramework.hpp BinUtils.hpp \
+BinexData.hpp BinexFilterOperators.hpp BinexStream.hpp BivarStats.hpp \
+CheckPRData.hpp CivilTime.hpp ClockModel.hpp CodeBuffer.hpp \
+CommandOption.hpp CommandOptionParser.hpp CommandOptionWithCommonTimeArg.hpp \
+CommandOptionWithPositionArg.hpp CommandOptionWithTimeArg.hpp CommonTime.hpp \
+DOP.hpp DayTime.hpp ECEF.hpp EngAlmanac.hpp \
+EngEphemeris.hpp EngNav.hpp EphemerisRange.hpp EphemerisStore.hpp \
+EpochClockModel.hpp Exception.hpp Expression.hpp ExtractC1.hpp \
+ExtractCombinationData.hpp ExtractD1.hpp ExtractD2.hpp ExtractData.hpp \
+ExtractL1.hpp ExtractL2.hpp ExtractLC.hpp ExtractP1.hpp ExtractP2.hpp \
+ExtractPC.hpp FFBinaryStream.hpp FFData.hpp FFStream.hpp FFStreamError.hpp \
+FFTextStream.hpp FICAStream.hpp FICBase.hpp FICData.hpp FICData109.hpp \
+FICData162.hpp FICData62.hpp FICData9.hpp FICFilterOperators.hpp \
+FICHeader.hpp FICStream.hpp FICStreamBase.hpp FileFilter.hpp \
+FileFilterFrame.hpp FileFilterFrameWithHeader.hpp FileHunter.hpp FileSpec.hpp \
+FileStore.hpp FileUtils.hpp GPSEpochWeekSecond.hpp GPSGeoid.hpp \
+GPSWeekSecond.hpp GPSWeekZcount.hpp GPSZcount.hpp GPSZcount29.hpp \
+GPSZcount32.hpp GenXSequence.hpp Geodetic.hpp GeoidModel.hpp IonoModel.hpp \
+IonoModelStore.hpp JulianDate.hpp LinearClockModel.hpp LoopedFramework.hpp \
+MJD.hpp MOPSWeight.hpp MSCData.hpp MSCStream.hpp MathBase.hpp Matrix.hpp \
+MatrixBase.hpp MatrixBaseOperators.hpp MatrixFunctors.hpp \
+MatrixImplementation.hpp MatrixOperators.hpp MiscMath.hpp ModeledPR.hpp \
+ModeledPseudorangeBase.hpp ModeledReferencePR.hpp ORDEpoch.hpp \
+ObsClockModel.hpp ObsEpochMap.hpp ObsID.hpp ObsRngDev.hpp \
+PCodeConst.hpp PRSolution.hpp PolyFit.hpp Position.hpp \
+RACRotation.hpp RTFileFrame.hpp RinexEphemerisStore.hpp RinexMetBase.hpp \
+RinexMetData.hpp RinexMetFilterOperators.hpp RinexMetHeader.hpp \
+RinexMetStream.hpp RinexNavBase.hpp RinexNavData.hpp \
+RinexNavFilterOperators.hpp RinexNavHeader.hpp RinexNavStream.hpp \
+RinexObsBase.hpp RinexObsData.hpp RinexObsFilterOperators.hpp \
+RinexObsHeader.hpp RinexObsID.hpp RinexObsStream.hpp RinexSatID.hpp \
+RinexUtilities.hpp RungeKutta4.hpp SEMAlmanacStore.hpp SEMBase.hpp \
+SEMData.hpp SEMHeader.hpp SEMStream.hpp SMODFData.hpp SMODFStream.hpp \
+SP3Base.hpp SP3Data.hpp SP3EphemerisStore.hpp SP3Header.hpp SP3SatID.hpp \
+SP3Stream.hpp SVExclusionList.hpp SVPCodeGen.hpp SatID.hpp \
+SimpleIURAWeight.hpp SolverBase.hpp SolverLMS.hpp SolverWMS.hpp \
+SourceID.hpp Stats.hpp StringUtils.hpp SystemTime.hpp \
+TabularEphemerisStore.hpp TimeConstants.hpp TimeConverters.hpp \
+TimeNamedFileStream.hpp TimeString.hpp TimeTag.hpp Triple.hpp TropModel.hpp \
+TypeID.hpp UnixTime.hpp ValidType.hpp Vector.hpp VectorBase.hpp \
+VectorBaseOperators.hpp VectorOperators.hpp WGS84Geoid.hpp WeightBase.hpp \
+WxObsMap.hpp X1Sequence.hpp X2Sequence.hpp Xvt.hpp YDSTime.hpp \
+YumaAlmanacStore.hpp YumaBase.hpp YumaData.hpp YumaHeader.hpp YumaStream.hpp \
+convhelp.hpp geometry.hpp gps_constants.hpp icd_200_constants.hpp \
+stl_helpers.hpp DataHeaders.hpp DataStructures.hpp ComputeCombination.hpp \
+ComputePC.hpp SimpleFilter.hpp ComputeLC.hpp ComputePI.hpp ComputeLI.hpp \
+ComputePdelta.hpp ComputeLdelta.hpp ComputeIURAWeights.hpp \
+ComputeMOPSWeights.hpp ComputeMelbourneWubbena.hpp OneFreqCSDetector.hpp \
+CodeSmoother.hpp PCSmoother.hpp LICSDetector.hpp MWCSDetector.hpp \
+XYZ2NEU.hpp XYZ2NED.hpp DeltaOp.hpp SimpleKalmanFilter.hpp NablaOp.hpp
\ No newline at end of file
diff --git a/dev/src/MathBase.hpp b/dev/src/MathBase.hpp
new file mode 100644
index 0000000..10e1072
--- /dev/null
+++ b/dev/src/MathBase.hpp
@@ -0,0 +1,58 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file MathBase.hpp
+ * Basic math #defines (ABS, SQRT, etc)
+ */
+
+#ifndef GPSTK_MATH_BASE_HPP
+#define GPSTK_MATH_BASE_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//@fix MSVC doesnt like std::sqrt or std::abs, and disabling
+//extensions allows abs(double) to be used instead of fabs()
+#ifdef _MSC_VER
+#undef _MSC_EXTENSIONS
+#endif
+#include <cmath>
+#ifdef _MSC_VER
+#define _MSC_EXTENSIONS
+#endif
+
+namespace gpstk
+{
+// do Doxygen elsewhere
+#ifdef _MSC_VER
+#define ABS(x) ::abs(x)
+#define SQRT(x) ::sqrt(x)
+#else
+#define ABS(x) std::abs(x)
+#define SQRT(x) std::sqrt(x)
+#endif
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/Matrix.hpp b/dev/src/Matrix.hpp
new file mode 100644
index 0000000..bfb48bf
--- /dev/null
+++ b/dev/src/Matrix.hpp
@@ -0,0 +1,712 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file Matrix.hpp
+ * Basic Matrix algorithms
+ */
+
+#ifndef GPSTK_MATRIX_HPP
+#define GPSTK_MATRIX_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "Vector.hpp"
+#include "MatrixBase.hpp"
+
+namespace gpstk
+{
+
+ /** @defgroup VectorGroup Vector and Matrix mathematics */
+ //@{
+
+// forward declarations
+ template <class T> class MatrixRowSlice;
+ template <class T> class ConstMatrixRowSlice;
+ template <class T> class MatrixColSlice;
+ template <class T> class ConstMatrixColSlice;
+
+
+/**
+ * An implementation of a matrix class using Vector<T> as its internal basis.
+ * This class is STL compliant with the iterator proceeding in row major order.
+ * Operators +=, -=, *= and /= are implemented in RefMatrixBase.
+ *
+ * @sa matvectest.cpp for examples
+ */
+ template <class T>
+ class Matrix : public RefMatrixBase<T, Matrix<T> >
+ {
+ public:
+ /// STL value_type
+ typedef typename Vector<T>::value_type value_type;
+ /// STL reference type
+ typedef typename Vector<T>::reference reference;
+ /// STL const reference type
+ typedef typename Vector<T>::const_reference const_reference;
+ /// STL iterator type
+ typedef typename Vector<T>::iterator iterator;
+ /// STL const iterator type
+ typedef typename Vector<T>::const_iterator const_iterator;
+
+ /// default constructor
+ Matrix();
+ /// constructor given an initial size
+ Matrix(size_t rows, size_t cols);
+ /// constructor for an initial size and value
+ Matrix(size_t rows, size_t cols, T initialValue);
+ /// copies out the contents of vec to initialize the matrix
+ Matrix(size_t rows, size_t cols, const T* vec);
+ /// copies out the contents of vec to initialize the matrix
+ template <class BaseClass>
+ Matrix(size_t rows, size_t cols, const ConstVectorBase<T, BaseClass>& vec)
+ : v(vec), r(rows), c(cols), s(rows * cols)
+ {}
+ /// constructor for a ConstMatrixBase object
+ template <class BaseClass>
+ Matrix(const ConstMatrixBase<T, BaseClass>& mat)
+ : v(mat.size()), r(mat.rows()), c(mat.cols()), s(mat.size())
+ {
+ size_t i,j;
+ for(i = 0; i < r; i++)
+ for(j = 0; j < c; j++)
+ (*this)(i,j) = mat(i, j);
+ }
+
+ /// submatrix constructor
+ template <class BaseClass>
+ Matrix(const ConstMatrixBase<T, BaseClass>& mat, size_t topRow,
+ size_t topCol, size_t numRows, size_t numCols)
+ : v((size_t)0), r(0), c(0), s(0)
+ {
+ // sanity checks...
+ if ( (topCol > mat.cols()) ||
+ (topRow > mat.rows()) ||
+ ((topRow + numRows) > mat.rows()) ||
+ ((topCol + numCols) > mat.cols()) )
+ {
+ MatrixException e("Invalid dimensions or size for Matrix(MatrixBase)");
+ GPSTK_THROW(e);
+ }
+
+ // seems ok - make the valarray and copy column by column
+ r = numRows;
+ c = numCols;
+ s = r * c;
+ v.resize(r * c);
+ size_t i, j;
+ for(i = 0; i < r; i++)
+ for(j = 0; j < c; j++)
+ (*this)(i,j) = mat(topRow + i, topCol + j);
+ }
+
+ /// STL begin
+ iterator begin() { return v.begin(); }
+ /// STL const begin
+ const_iterator begin() const { return v.begin(); }
+ /// STL end
+ iterator end() { return v.end(); }
+ /// STL const end
+ const_iterator end() const { return v.end(); }
+ /// STL front
+ value_type front() { return v.front(); }
+ /// STL const front
+ const_reference front() const { return v.front();}
+ /// STL empty
+ bool empty() const { return s == 0; }
+ /// STL size
+ size_t size() const {return s; }
+ /// STL max size
+ size_t max_size() const { return s; }
+
+ /// The number of rows in the matrix
+ inline size_t rows() const { return r; }
+ /// The number of columns in the matrix
+ inline size_t cols() const { return c; }
+ /// A reference slice of a row with a given std::slice
+ inline MatrixRowSlice<T> rowRef(size_t rowNum, const std::slice& s);
+ /// A reference slice of a row with a starting column (i.e. sub-row)
+ inline MatrixRowSlice<T> rowRef(size_t rowNum, size_t colNum = 0);
+ /// A const reference slice of a row with a given std::slice
+ inline ConstMatrixRowSlice<T> row(size_t rowNum, const std::slice& s) const;
+ /// A const reference slice of a row with a starting column (i.e. sub-row)
+ inline ConstMatrixRowSlice<T> row(size_t rowNum, size_t colNum = 0) const;
+
+ /// A reference column with a given slice
+ inline MatrixColSlice<T> colRef(size_t colNum, const std::slice& s);
+ /// A reference column with a starting row number (i.e. sub-column)
+ inline MatrixColSlice<T> colRef(size_t colNum, size_t rowNum = 0);
+ /// A const reference column with a given slice
+ inline ConstMatrixColSlice<T> col(size_t colNum, const std::slice& s) const;
+ /// A const reference column with a starting row number (i.e. sub-column)
+ inline ConstMatrixColSlice<T> col(size_t colNum, size_t rowNum = 0) const;
+
+ /// Non-const matrix operator(row,col)
+ inline T& operator() (size_t rowNum, size_t colNum)
+ { return v(rowNum + colNum * r); }
+ /// Const matrix operator(row,col)
+ inline T operator() (size_t rowNum, size_t colNum) const
+ { return v(rowNum + colNum * r); }
+ /// operator[] that returns a row slice
+ inline MatrixRowSlice<T> operator[] (size_t row)
+ { return rowRef(row); }
+ /// const operator[] that returns a const row slice
+ inline ConstMatrixRowSlice<T> operator[] (size_t rowNum) const
+ { return row(rowNum);}
+
+ /// Resizes the matrix to rows*cols.
+ /// @warning YOUR DATA MAY NOT BE RETAINED!!!
+ inline Matrix& resize(size_t rows, size_t cols);
+
+ inline Matrix& resize(size_t rows, size_t cols,
+ const T initialValue);
+
+ /**
+ * Assigns this matrix to a T* in column major order.
+ * @warning be careful that array is as large as the matrix is!
+ */
+ inline Matrix& operator=(const T* array)
+ { return assignFrom(array); }
+ /// Assigns the contents of this matrix to those in array in column
+ /// major order.
+ inline Matrix& operator=(const std::valarray<T> array)
+ { return assignFrom(array); }
+ /// Assigns all elements of the matrix to \c t.
+ inline Matrix& operator=(const T t)
+ { return assignFrom(t); }
+ /// Copies the other matrix.
+ inline Matrix& operator=(const Matrix& mat)
+ { v = mat.v; r = mat.r; c = mat.c; s = mat.s; return *this; }
+ /// Copies from any matrix.
+ template <class BaseClass>
+ inline Matrix& operator=(const ConstMatrixBase<T, BaseClass>& mat)
+ {
+ v.resize(mat.size());
+ r=mat.rows();
+ c=mat.cols();
+ s=mat.size();
+ return assignFrom(mat);
+ }
+ /// Copies from any vector.
+ template <class BaseClass>
+ inline Matrix& operator=(const ConstVectorBase<T, BaseClass>& mat)
+ { return assignFrom(mat); }
+
+ private:
+ /// the matrix stored in column major order
+ Vector<T> v;
+ size_t r, ///< the number of rows
+ c, ///< the number of columns
+ s; ///< the overall size
+ };
+
+/**
+ * An assignable slice of a matrix.
+ */
+ template <class T>
+ class MatrixSlice : public RefMatrixSliceBase<T, MatrixSlice<T> >
+ {
+ public:
+ /// default constructor
+ MatrixSlice() : m(NULL), rSlice(std::slice(0,0,0)),
+ cSlice(std::slice(0,0,0)), s(0)
+ {}
+
+ /// Makes a slice of the whole matrix.
+ MatrixSlice(Matrix<T>& mat)
+ : m(&mat), rSlice(std::slice(0, mat.rows(), 1)),
+ cSlice(std::slice(0,mat.cols(), 1)), s(mat.size())
+ {
+ matSliceCheck(mat.rows(), mat.cols());
+ }
+
+ /// Makes a partial slice of a matrix.
+ MatrixSlice(Matrix<T>& mat, const std::slice& rowSlice,
+ const std::slice& colSlice)
+ : m(&mat), rSlice(rowSlice), cSlice(colSlice),
+ s(rSlice.size() * cSlice.size())
+ {
+ matSliceCheck(mat.rows(), mat.cols());
+ }
+
+ /// Submatrix slice.
+ MatrixSlice(Matrix<T>& mat, size_t topRow, size_t topCol,
+ size_t numRows, size_t numCols)
+ : m(&mat), rSlice(std::slice(topRow, numRows, 1)),
+ cSlice(std::slice(topCol, numCols, 1)),
+ s(rSlice.size() * cSlice.size())
+ {
+ matSliceCheck(mat.rows(), mat.cols());
+ }
+
+ /// Copies from x to (*this).
+ template <class V>
+ MatrixSlice& operator=(const ConstMatrixBase<T, V>& x)
+ { return assignFrom(x); }
+
+ /// Copies from x to (*this).
+ template <class V>
+ MatrixSlice& operator=(const ConstVectorBase<T, V>& x)
+ { return assignFrom(x); }
+
+ /// Copies from x to (*this).
+ MatrixSlice& operator=(const std::valarray<T>& x)
+ { return assignFrom(x); }
+ /// Copies from x to (*this).
+ MatrixSlice& operator=(const T x)
+ { return assignFrom(x); }
+ /// Copies from x to (*this).
+ MatrixSlice& operator=(const T* x)
+ { return assignFrom(x); }
+
+ /// returns the size of this slice
+ size_t size() const { return s; }
+ /// returns the number of columns in the slice
+ size_t cols() const { return colSize(); }
+ /// returns the number of rows in the slice
+ size_t rows() const { return rowSize(); }
+ /// returns the (i,j) element of the slice.
+ T& operator() (size_t i, size_t j)
+ { return (*m)(i * rowStride() + rowStart(),
+ j * colStride() + colStart()); }
+ /// returns the (i,j) element of the slice, const version.
+ T operator() (size_t i, size_t j) const
+ { return (*m)(i * rowStride() + rowStart(),
+ j * colStride() + colStart()); }
+
+
+ /// returns the number of rows in this slice
+ size_t rowSize() const { return rSlice.size(); }
+ /// returns the starting row in the base matrix of this slice
+ size_t rowStart() const{ return rSlice.start(); }
+ /// returns the number of elements between the i'th and i+1'th row
+ size_t rowStride() const { return rSlice.stride(); }
+ /// returns the number of columns in this slice
+ size_t colSize() const { return cSlice.size(); }
+ /// returns the starting row in the base matrix of this slice
+ size_t colStart() const { return cSlice.start(); }
+ /// returns the number of elements between the i'th and i+1'th row
+ size_t colStride() const { return cSlice.stride(); }
+
+ private:
+ /// The matrix this slice refers to
+ Matrix<T>* m;
+ std::slice rSlice, ///< a row slice
+ cSlice; ///< a column slice
+ size_t s; ///< the overall size
+ };
+
+/**
+ * An unmodifiable matrix slice.
+ */
+ template <class T>
+ class ConstMatrixSlice : public ConstMatrixSliceBase<T, ConstMatrixSlice<T> >
+ {
+ public:
+ /// default constructor
+ ConstMatrixSlice(void) : m(NULL), rSlice(std::slice(0,0,0)),
+ cSlice(std::slice(0,0,0)), s(0)
+ {}
+
+ /// makes a const slice of the whole matrix
+ ConstMatrixSlice(const Matrix<T>& mat)
+ : m(&mat), rSlice(std::slice(0, mat.rows(), 1)),
+ cSlice(std::slice(0,mat.cols(), 1)), s(mat.size())
+ {
+ matSliceCheck(mat.rows(), mat.cols());
+ }
+
+ /// makes a slice given std::slices for rows and columns
+ ConstMatrixSlice(const Matrix<T>& mat, const std::slice& rowSlice,
+ const std::slice& colSlice)
+ : m(&mat), rSlice(rowSlice), cSlice(colSlice),
+ s(rSlice.size() * cSlice.size())
+ {
+ matSliceCheck(mat.rows(), mat.cols());
+ }
+
+ /// submatrix slice
+ ConstMatrixSlice(const Matrix<T>& mat, size_t topRow, size_t topCol,
+ size_t numRows, size_t numCols)
+ : m(&mat), rSlice(std::slice(topRow, numRows, 1)),
+ cSlice(std::slice(topCol, numCols, 1)),
+ s(rSlice.size() * cSlice.size())
+ {
+ matSliceCheck(mat.rows(), mat.cols());
+ }
+
+ /// the size of the slice
+ size_t size() const { return s; }
+ /// the number of columns in the slice
+ size_t cols() const { return colSize(); }
+ /// the number of rows in the slice
+ size_t rows() const { return rowSize(); }
+ /// the (i,j) element of the slice, const.
+ T operator() (size_t i, size_t j) const
+ { return (*m)(i * rowStride() + rowStart(),
+ j * colStride() + colStart()); }
+
+ /// returns the number of rows in this slice
+ size_t rowSize() const { return rSlice.size(); }
+ /// returns the starting row in the base matrix of this slice
+ size_t rowStart() const{ return rSlice.start(); }
+ /// returns the number of elements between the i'th and i+1'th row
+ size_t rowStride() const { return rSlice.stride(); }
+ /// returns the number of columns in this slice
+ size_t colSize() const { return cSlice.size(); }
+ /// returns the starting row in the base matrix of this slice
+ size_t colStart() const { return cSlice.start(); }
+ /// returns the number of elements between the i'th and i+1'th row
+ size_t colStride() const { return cSlice.stride(); }
+ private:
+ /// the matrix this slice refers to.
+ const Matrix<T>* m;
+ std::slice rSlice, ///< the row slice
+ cSlice; ///< the column slice
+ size_t s; ///< the size of the slice
+ };
+
+/**
+ * an assignable single column slice of a matrix
+ */
+ template <class T>
+ class MatrixColSlice : public RefMatrixSliceBase<T, MatrixColSlice<T> >
+ {
+ public:
+ /// default constructor
+ MatrixColSlice() : m(NULL), c(0), rSlice(std::slice(0,0,0)) {}
+ /// makes a slice of the column \c col from matrix \c mat.
+ MatrixColSlice(Matrix<T>& mat, size_t col)
+ : m(&mat), c(col), rSlice(std::slice(0,mat.rows(),1))
+ {
+ matSliceCheck(mat.rows(), mat.cols());
+ }
+ /// makes a slice of the column from the matrix using \c s to
+ /// further slice the column.
+ MatrixColSlice(Matrix<T>& mat, size_t col, const std::slice& s)
+ : m(&mat), c(col), rSlice(s)
+ {
+ // decide if the input is reasonable
+ matSliceCheck(mat.rows(), mat.cols());
+ }
+
+ /// assigns this column to x
+ template <class V>
+ MatrixColSlice& operator=(const ConstMatrixBase<T, V>& x)
+ { return assignFrom(x); }
+
+ /// assigns this column to x
+ template <class V>
+ MatrixColSlice& operator=(const ConstVectorBase<T, V>& x)
+ { return assignFrom(x); }
+ /// assigns this column to x
+ MatrixColSlice& operator=(const std::valarray<T>& x)
+ { return assignFrom(x); }
+ /// assigns this column to x
+ MatrixColSlice& operator=(const T x)
+ { return assignFrom(x); }
+ /// assigns this column to x
+ MatrixColSlice& operator=(const T* x)
+ { return assignFrom(x); }
+
+ /// returns the i'th element of the column, non-const
+ T& operator[] (size_t i)
+ { return (*m)(rowStart() + i * rowStride(), c); }
+ /// returns the i'th element of the column, non-const
+ T& operator() (size_t i)
+ { return (*m)(rowStart() + i * rowStride(), c); }
+ /// returns the i'th element of the column, const
+ T operator[] (size_t i) const
+ { return (*m)(rowStart() + i * rowStride(), c); }
+ /// returns the i'th element of the column, const
+ T operator() (size_t i) const
+ { return (*m)(rowStart() + i * rowStride(), c); }
+
+ /// returns the (i,j) element, non-const
+ T& operator() (size_t i, size_t j)
+ { return (*m)(rowStart() + i * rowStride(), j + c); }
+ /// returns the (i,j) element, non-const
+ T operator() (size_t i, size_t j) const
+ { return (*m)(rowStart() + i * rowStride(), j + c); }
+
+ /// returns the number of rows in the slice
+ size_t rows() const {return size();}
+ /// returns the number of columns in the slice
+ size_t cols() const {return 1;}
+ /// returns the size of the slice
+ size_t size() const {return rowSize();}
+
+ /// returns the number of rows in this slice
+ size_t rowSize() const { return rSlice.size(); }
+ /// returns the starting row in the base matrix of this slice
+ size_t rowStart() const{ return rSlice.start(); }
+ /// returns the number of elements between the i'th and i+1'th row
+ size_t rowStride() const { return rSlice.stride(); }
+ /// returns the number of columns in this slice
+ size_t colSize() const { return 1; }
+ /// returns the starting row in the base matrix of this slice
+ size_t colStart() const { return c; }
+ /// returns the number of elements between the i'th and i+1'th row
+ size_t colStride() const { return 1; }
+
+ private:
+ /// the matrix this slice refers to.
+ Matrix<T>* m;
+ /// the column this slice is for
+ size_t c;
+ /// slice down the rows
+ std::slice rSlice;
+
+ };
+
+/**
+ * a constant slice of a single column from a matrix.
+ */
+ template <class T>
+ class ConstMatrixColSlice : public ConstMatrixSliceBase<T, ConstMatrixColSlice<T> >
+ {
+ public:
+ /// default constructor
+ ConstMatrixColSlice()
+ : m(NULL), c(0), rSlice(std::slice(0,0,0))
+ {}
+
+ /// constructor taking a slice of column \c col from the matrix.
+ ConstMatrixColSlice(const Matrix<T>& mat, size_t col)
+ : m(&mat), c(col), rSlice(std::slice(0,mat.rows(),1))
+ { matSliceCheck(mat.rows(), mat.cols()); }
+
+ /// constructor taking a slice of column \c col from the matrix,
+ /// slicing the column by \c s.
+ ConstMatrixColSlice(const Matrix<T>& mat, size_t col,
+ const std::slice& s)
+ : m(&mat), c(col), rSlice(s)
+ {
+ // decide if the input is reasonable
+ matSliceCheck(mat.rows(), mat.cols());
+ }
+
+ /// returns the i'th element of the column slice
+ T operator[] (size_t i) const
+ { return (*m)(rowStart() + i * rowStride(), c); }
+ /// returns the i'th element of the column slice
+ T operator() (size_t i) const
+ { return (*m)(rowStart() + i * rowStride(), c); }
+
+ /// returns the (i,j) element of the column slice
+ T operator() (size_t i, size_t j) const
+ { return (*m)(rowStart() + i * rowStride(), j + c); }
+
+ /// returns the size of the slice in rows
+ size_t rows() const {return rowSize();}
+ /// returns the size of the slice in columns
+ size_t cols() const {return 1;}
+ /// returns the overall size of the slice
+ size_t size() const {return rowSize();}
+
+ /// returns the number of rows in this slice
+ size_t rowSize() const { return rSlice.size(); }
+ /// returns the starting row in the base matrix of this slice
+ size_t rowStart() const{ return rSlice.start(); }
+ /// returns the number of elements between the i'th and i+1'th row
+ size_t rowStride() const { return rSlice.stride(); }
+ /// returns the number of columns in this slice
+ size_t colSize() const { return 1; }
+ /// returns the starting row in the base matrix of this slice
+ size_t colStart() const { return c; }
+ /// returns the number of elements between the i'th and i+1'th row
+ size_t colStride() const { return 1; }
+ private:
+ /// the matrix this slice refers to
+ const Matrix<T>* m;
+ /// the column this slice refers to
+ size_t c;
+ /// a slice down the rows
+ std::slice rSlice;
+ };
+
+/**
+ * an assignable single row slice of a matrix
+ */
+ template <class T>
+ class MatrixRowSlice : public RefMatrixSliceBase<T, MatrixRowSlice<T> >
+ {
+ public:
+ /// default constructor
+ MatrixRowSlice()
+ : m(NULL), r(0), cSlice(std::slice(0,0,0))
+ {}
+ /// makes a slice of row \c row from the matrix.
+ MatrixRowSlice(Matrix<T>& mat, size_t row)
+ : m(&mat), r(row), cSlice(std::slice(0,mat.cols(),1))
+ { matSliceCheck(mat.rows(), mat.cols()); }
+
+ /// makes a slice of row \c row from the matrix, slicing it by \c s.
+ MatrixRowSlice(Matrix<T>& mat, size_t row,
+ const std::slice& s)
+ : m(&mat), r(row), cSlice(s)
+ {
+ // decide if the input is reasonable
+ matSliceCheck(mat.rows(), mat.cols());
+ }
+
+ /// assigns this row to x.
+ template <class V>
+ MatrixRowSlice& operator=(const ConstMatrixBase<T, V>& x)
+ { return assignFrom(x); }
+ /// assigns this row to x.
+ template <class V>
+ MatrixRowSlice& operator=(const ConstVectorBase<T, V>& x)
+ { return assignFrom(x); }
+ /// assigns this row to x.
+ MatrixRowSlice& operator=(const std::valarray<T>& x)
+ { return assignFrom(x); }
+ /// assigns this row to x.
+ MatrixRowSlice& operator=(const T x)
+ { return assignFrom(x); }
+ /// assigns this row to x.
+ MatrixRowSlice& operator=(const T* x)
+ { return assignFrom(x); }
+
+ /// returns the j'th element of the slice, non-const
+ T& operator[] (size_t j)
+ { return (*m)(r, colStart() + j * colStride()); }
+ /// returns the j'th element of the slice, non-const
+ T& operator() (size_t j)
+ { return (*m)(r, colStart() + j * colStride()); }
+ /// returns the j'th element of the slice, const
+ T operator[] (size_t j) const
+ { return (*m)(r, colStart() + j * colStride()); }
+ /// returns the j'th element of the slice, const
+ T operator() (size_t j) const
+ { return (*m)(r, colStart() + j * colStride()); }
+ /// returns the (i,j) element of the slice, non-const
+ T& operator() (size_t i, size_t j)
+ { return (*m)(i + r, colStart() + j * colStride()); }
+ /// returns the (i,j) element of the slice, const
+ T operator() (size_t i, size_t j) const
+ { return (*m)(i + r, colStart() + j * colStride()); }
+
+ /// returns the number of rows in the row slice
+ size_t rows() const {return 1;}
+ /// returns the number of columns in the row slice
+ size_t cols() const {return colSize();}
+ /// returns the size of the slice
+ size_t size() const {return colSize();}
+
+ /// returns the number of rows in this slice
+ size_t rowSize() const { return 1; }
+ /// returns the starting row in the base matrix of this slice
+ size_t rowStart() const{ return r; }
+ /// returns the number of elements between the i'th and i+1'th row
+ size_t rowStride() const { return 1; }
+ /// returns the number of columns in this slice
+ size_t colSize() const { return cSlice.size(); }
+ /// returns the starting row in the base matrix of this slice
+ size_t colStart() const { return cSlice.start(); }
+ /// returns the number of elements between the i'th and i+1'th row
+ size_t colStride() const { return cSlice.stride(); }
+
+ private:
+ /// the matrix this slice refers to.
+ Matrix<T>* m;
+ /// the row of the slice
+ size_t r;
+ /// the column slice of the row.
+ std::slice cSlice;
+ };
+
+/**
+ * an unmodifiable row slice of a matrix.
+ */
+ template <class T>
+ class ConstMatrixRowSlice : public ConstMatrixSliceBase<T, ConstMatrixRowSlice<T> >
+ {
+ public:
+ /// default constructor
+ ConstMatrixRowSlice()
+ : m(NULL), r(0), cSlice(std::slice(0,0,0))
+ {}
+ /// makes a const row slice from the matrix
+ ConstMatrixRowSlice(const Matrix<T>& mat, size_t row)
+ : m(&mat), r(row), cSlice(std::slice(0,mat.cols(),1))
+ { matSliceCheck(mat.rows(), mat.cols()); }
+
+ /// makes a const row slice from the matrix, slicing that row by \c s.
+ ConstMatrixRowSlice(const Matrix<T>& mat, size_t row,
+ const std::slice& s)
+ : m(&mat), r(row), cSlice(s)
+ {
+ // decide if the input is reasonable
+ matSliceCheck(mat.rows(), mat.cols());
+ }
+
+ /// returns the i'th element of the slice
+ T operator[] (size_t i) const
+ { return (*m)(r, colStart() + i * colStride()); }
+ /// returns the i'th element of the slice
+ T operator() (size_t i) const
+ { return (*m)(r, colStart() + i * colStride()); }
+
+ /// returns the (i,j) element of the slice
+ T operator() (size_t i, size_t j) const
+ { return (*m)(i + r, colStart() + j * colStride()); }
+
+ /// returns the number of rows in the slice
+ size_t rows() const {return 1;}
+ /// returns the number of columns in the slice
+ size_t cols() const {return colSize();}
+ /// returns the overall size of the slice
+ size_t size() const {return colSize();}
+
+ /// returns the number of rows in this slice
+ size_t rowSize() const { return 1; }
+ /// returns the starting row in the base matrix of this slice
+ size_t rowStart() const{ return r; }
+ /// returns the number of elements between the i'th and i+1'th row
+ size_t rowStride() const { return 1; }
+ /// returns the number of columns in this slice
+ size_t colSize() const { return cSlice.size(); }
+ /// returns the starting row in the base matrix of this slice
+ size_t colStart() const { return cSlice.start(); }
+ /// returns the number of elements between the i'th and i+1'th row
+ size_t colStride() const { return cSlice.stride(); }
+ private:
+ /// the matrix this slice refers to
+ const Matrix<T>* m;
+ /// the row of the slice
+ size_t r;
+ /// the slice of the row's columns
+ std::slice cSlice;
+ };
+
+ //@}
+
+} // namespace
+
+#include "MatrixImplementation.hpp"
+#include "MatrixOperators.hpp"
+#include "MatrixFunctors.hpp"
+
+#endif
diff --git a/dev/src/MatrixBase.hpp b/dev/src/MatrixBase.hpp
new file mode 100644
index 0000000..1328798
--- /dev/null
+++ b/dev/src/MatrixBase.hpp
@@ -0,0 +1,422 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file MatrixBase.hpp
+ * Base classes (const and ref) for Matrix
+ */
+
+#ifndef GPSTK_MATRIX_BASE_HPP
+#define GPSTK_MATRIX_BASE_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "Vector.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup VectorGroup */
+ //@{
+
+/// @ingroup VectorGroup
+/// Thrown when there are problems with the matrix operations
+ NEW_EXCEPTION_CLASS(MatrixException, gpstk::Exception);
+/// @ingroup VectorGroup
+/// Thrown when an operation can't be performed on a singular matrix.
+ NEW_EXCEPTION_CLASS(SingularMatrixException, MatrixException);
+
+/**
+ * A matrix base class for a non-modifiable matrix. There is no operator[]
+ * for base matrix classes.
+ */
+ template <class T, class BaseClass>
+ class ConstMatrixBase
+ {
+ public:
+ /// default constructor
+ explicit ConstMatrixBase() {}
+
+ /// the rows()*cols() size of the matrix.
+ size_t size() const
+ { return static_cast<const BaseClass*>(this)->size(); }
+ /// the number of columns in the matrix
+ size_t cols() const
+ { return static_cast<const BaseClass*>(this)->cols(); }
+ /// the number of rows in the matrix
+ size_t rows() const
+ { return static_cast<const BaseClass*>(this)->rows(); }
+ /// returns a const version of the (i,j)'th element in the matrix,
+ /// valid for 0...rows()-1, 0...cols()-1.
+ T operator() (size_t i, size_t j) const
+ { return constMatrixRef(i, j); }
+
+ /// returns true if this is a square matrix (false for a null matrix).
+ inline bool isSquare() const
+ { return ((rows() == cols()) && (rows() != 0)); }
+ /// returns true if this is an upper triangular matrix.
+ inline bool isUT() const
+ {
+ if (!isSquare())
+ return false;
+ size_t i, j;
+ for (i = 1; i < rows(); i++)
+ for (j = 0; j < i; j++)
+ if ((*this)(i,j) != T(0))
+ return false;
+ return true;
+ }
+ /// returns true if this is a lower triangular matrix.
+ inline bool isLT() const
+ {
+ if (!isSquare())
+ return false;
+ size_t i, j;
+ for (i = 0; i < rows(); i++)
+ for (j = i+1; j < cols(); j++)
+ if ((*this)(i,j) != T(0))
+ return false;
+ return true;
+ }
+
+ /// returns true if this is a diagonal matrix
+ inline bool isDiagonal() const
+ {
+ if (!isSquare())
+ return false;
+ size_t i, j;
+ for (i = 0; i < rows(); i++)
+ for (j = 0; j < cols(); j++)
+ if (i != j)
+ if ((*this)(i,j) != T(0))
+ return false;
+ return true;
+ }
+ /// returns true if this is a symmetrical matrix (across the primary
+ /// diagonal)
+ inline bool isSymmetric() const
+ {
+ if (!isSquare())
+ return false;
+ size_t i,j;
+ for (i = 0; i < rows(); i++)
+ for (j = i + 1; j < cols(); j++)
+ if ((*this)(i,j) != (*this)(j,i))
+ return false;
+ return true;
+ }
+
+ /// copies out column c into a vector starting with row r
+ Vector<T> colCopy(size_t c, size_t r = 0) const
+ {
+ if ((c >= cols()) || (r >= rows()))
+ {
+ gpstk::Exception e("Invalid ConstMatrixBase index for colCopy");
+ GPSTK_THROW(e);
+ }
+ Vector<T> toReturn(rows() - r);
+ size_t i;
+ for (i = r; i < rows(); i++)
+ toReturn(i - r) = (*this)(i, c);
+ return toReturn;
+ }
+
+ /// copies out row r into a vector starting with column c
+ Vector<T> rowCopy(size_t r, size_t c = 0) const
+ {
+ if ((c >= cols()) || (r >= rows()))
+ {
+ gpstk::Exception e("Invalid ConstMatrixBase index for rowCopy");
+ GPSTK_THROW(e);
+ }
+ Vector<T> toReturn(cols() - c);
+ size_t i;
+ for (i = c; i < cols(); i++)
+ toReturn(i - c) = (*this)(r, i);
+ return toReturn;
+ }
+
+ protected:
+ /// returns the const (i,j) element from the matrix
+ inline T constMatrixRef(size_t i, size_t j) const
+ throw(gpstk::Exception)
+ {
+ const BaseClass& b = static_cast<const BaseClass&>(*this);
+#ifdef RANGECHECK
+ if ((i >= b.rows()) || (j > b.cols()))
+ {
+ gpstk::Exception e("Invalid ConstMatrixBase index for ref");
+ GPSTK_THROW(e);
+ }
+#endif
+ return b(i,j);
+ }
+ };
+
+/**
+ * A matrix base class that allows assignment of the internal matrix.
+ * There is no operator[] for base matrix classes.
+ */
+ template <class T, class BaseClass>
+ class RefMatrixBase : public ConstMatrixBase<T, BaseClass>
+ {
+ public:
+ /// default constructor
+ explicit RefMatrixBase() {}
+
+ /// returns a reference to the (i,j) element of the matrix.
+ T& operator() (size_t i, size_t j)
+ { return static_cast<BaseClass*>(this)->operator()(i,j); }
+
+ /// returns the rows()*cols() size of the matrix
+ size_t size() const
+ { return static_cast<const BaseClass*>(this)->size(); }
+ /// returns the number of columns in the matrix
+ size_t cols() const
+ { return static_cast<const BaseClass*>(this)->cols(); }
+ /// returns the number of rows in the matrix
+ size_t rows() const
+ { return static_cast<const BaseClass*>(this)->rows(); }
+ /// any value with absolute value below
+ /// RefVectorBaseHelper::zeroTolerance is set to 0.
+ BaseClass& zeroize()
+ {
+ BaseClass& me = static_cast<BaseClass&>(*this);
+ size_t i, j;
+ for (i=0; i < me.rows(); i++)
+ for (j=0; j < me.cols(); j++)
+ if (ABS(me(i,j)) < RefVectorBaseHelper::zeroTolerance)
+ me(i,j) = T(0);
+ return me;
+ }
+ /// any value in row r with absolute value below
+ /// RefVectorBaseHelper::zeroTolerance is set to 0.
+ BaseClass& zeroizeRow(size_t r)
+ {
+ BaseClass& me = static_cast<BaseClass&>(*this);
+ size_t j;
+ for (j=0; j < me.cols(); j++)
+ if (ABS(me(r,j)) < RefVectorBaseHelper::zeroTolerance)
+ me(r,j) = T(0);
+ return me;
+ }
+ /// any value in column c with absolute value below
+ /// RefVectorBaseHelper::zeroTolerance is set to 0.
+ BaseClass& zeroizeCol(size_t c)
+ {
+ BaseClass& me = static_cast<BaseClass&>(*this);
+ size_t i;
+ for (i=0; i < me.rows(); i++)
+ if (ABS(me(i,c)) < RefVectorBaseHelper::zeroTolerance)
+ me(i,c) = T(0);
+ return me;
+ }
+
+#define MatBaseArrayAssignMacro(func) \
+ BaseClass& me = static_cast<BaseClass&>(*this); \
+ size_t i,j; \
+ for (i=0; i < me.rows(); i++) \
+ for (j=0; j < me.cols(); j++) \
+ me(i,j) func x(i,j); \
+ return me;
+
+#define MatBaseArrayAssignMacroVecSource(func) \
+ BaseClass& me = static_cast<BaseClass&>(*this); \
+ size_t i,j; \
+ for (i=0; i < me.rows(); i++) \
+ for (j=0; j < me.cols(); j++) \
+ me(i,j) func x[i*me.cols()+j]; \
+ return me;
+
+#define MatBaseAtomicAssignMacro(func) \
+ BaseClass& me = static_cast<BaseClass&>(*this); \
+ size_t i,j; \
+ for (i=0; i < me.rows(); i++) \
+ for (j=0; j < me.cols(); j++) \
+ me(i,j) func x; \
+ return me;
+
+#define MatBaseNewAssignOperator(funcName, op) \
+/** performs op on each element of this matrix with each element of x */ \
+ template <class E> BaseClass& funcName(const ConstMatrixBase<T, E>& x) \
+ { MatBaseArrayAssignMacro(op); } \
+/** performs op on each element of this matrix with each element of x */ \
+ template <class E> BaseClass& funcName(const ConstVectorBase<T, E>& x) \
+ { MatBaseArrayAssignMacroVecSource(op); } \
+/** performs op on each element of this matrix with each element of x */ \
+ BaseClass& funcName(const std::valarray<T>& x) \
+ { MatBaseArrayAssignMacroVecSource(op); } \
+/** performs op on each element of this matrix with each element of x */ \
+ BaseClass& funcName(const T* x) \
+ { MatBaseArrayAssignMacroVecSource(op); } \
+/** performs op on each element of this matrix with x */ \
+ BaseClass& funcName(T x) \
+ { MatBaseAtomicAssignMacro(op); }
+
+ /// remember that operator= isn't inherited. use assignFrom in
+ /// derived classes' copy constructors and operator=.
+ MatBaseNewAssignOperator(assignFrom, =);
+ MatBaseNewAssignOperator(operator+=, +=);
+ MatBaseNewAssignOperator(operator-=, -=);
+
+ /// multiplies each element in this matrix by x.
+ BaseClass& operator*=(const T x)
+ {
+ MatBaseAtomicAssignMacro(*=);
+ }
+ /// divides each element in this matrix by x.
+ BaseClass& operator/=(const T x)
+ {
+ MatBaseAtomicAssignMacro(/=);
+ }
+ /// unary minus: multiplies each element in this matrix by -1.
+ BaseClass& operator-()
+ {
+ const T x=T(-1);
+ MatBaseAtomicAssignMacro(*=);
+ }
+
+ /// swaps rows row1 and row2 in this matrix.
+ BaseClass& swapRows(size_t row1, size_t row2)
+ {
+ BaseClass& me = static_cast<BaseClass&>(*this);
+#ifdef RANGECHECK
+ if ( (row1 >= me.rows()) || (row2 >= me.rows()) )
+ {
+ MatrixException e("Invalid rows for swapRows");
+ GPSTK_THROW(e);
+ }
+#endif
+ size_t i;
+ T temp;
+ for (i = 0; i < me.cols(); i++)
+ {
+ temp = me(row1, i);
+ me(row1,i) = me(row2,i);
+ me(row2,i) = temp;
+ }
+ return me;
+ }
+
+ /// swaps columns col1 and col2 in this matrix.
+ BaseClass& swapCols(size_t col1, size_t col2)
+ {
+ BaseClass& me = static_cast<BaseClass&>(*this);
+#ifdef RANGECHECK
+ if ( (col1 >= me.cols()) || (col2 >= me.cols()) )
+ {
+ MatrixException e("Invalid columns for swapCols");
+ GPSTK_THROW(e);
+ }
+#endif
+ size_t i;
+ T temp;
+ for (i = 0; i < me.rows(); i++)
+ {
+ temp = me(i, col1);
+ me(i, col1) = me(i, col2);
+ me(i, col2) = temp;
+ }
+ return me;
+ }
+ };
+
+/**
+ * Base class for defining a slice of a matrix.
+ */
+ template <class T, class BaseClass>
+ class MatrixSliceBase
+ {
+ /// returns the number of rows in this slice
+ size_t rowSize() const
+ { return static_cast<const BaseClass*>(this)->rowSize(); }
+ /// returns the starting row in the base matrix of this slice
+ size_t rowStart() const
+ { return static_cast<const BaseClass*>(this)->rowStart(); }
+ /// returns the number of elements between the i'th and i+1'th row
+ size_t rowStride() const
+ { return static_cast<const BaseClass*>(this)->rowStride(); }
+ /// returns the number of columns in this slice
+ size_t colSize() const
+ { return static_cast<const BaseClass*>(this)->colSize(); }
+ /// returns the starting row in the base matrix of this slice
+ size_t colStart() const
+ { return static_cast<const BaseClass*>(this)->colStart(); }
+ /// returns the number of elements between the i'th and i+1'th row
+ size_t colStride() const
+ { return static_cast<const BaseClass*>(this)->colStride(); }
+ protected:
+ /// checks this slice against the source matrix row and column size
+ /// to see if it's a valid slice.
+ inline void matSliceCheck(size_t sourceRowSize,
+ size_t sourceColSize) const
+ throw(MatrixException)
+ {
+#ifdef RANGECHECK
+ if (rowSize() > 0)
+ {
+ if ( (rowStart() >= sourceRowSize) ||
+ ((rowStart() + (rowSize()-1) * rowStride()) >= sourceRowSize))
+ {
+ MatrixException e("Invalid row range for slice");
+ GPSTK_THROW(e);
+ }
+ }
+ if (colSize() > 0)
+ {
+ if ( (colStart() >= sourceColSize) ||
+ ((colStart() + (colSize()-1) * colStride()) >= sourceColSize))
+ {
+ MatrixException e("Invalid col range for slice");
+ GPSTK_THROW(e);
+ }
+ }
+#endif
+ }
+ };
+
+/// Base class for an unmodifiable matrix slice
+ template <class T, class BaseClass>
+ class ConstMatrixSliceBase : public MatrixSliceBase<T, BaseClass>,
+ public ConstMatrixBase<T, BaseClass>
+ {
+ public:
+ explicit ConstMatrixSliceBase() {}
+ };
+
+/// Base class for a modifiable matrix slice
+ template <class T, class BaseClass>
+ class RefMatrixSliceBase : public MatrixSliceBase<T, BaseClass>,
+ public RefMatrixBase<T, BaseClass>
+ {
+ public:
+ explicit RefMatrixSliceBase() {}
+ };
+
+ //@}
+
+} // namespace
+
+#include "MatrixBaseOperators.hpp"
+
+#endif
diff --git a/dev/src/MatrixBaseOperators.hpp b/dev/src/MatrixBaseOperators.hpp
new file mode 100644
index 0000000..776a11a
--- /dev/null
+++ b/dev/src/MatrixBaseOperators.hpp
@@ -0,0 +1,171 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file MatrixBaseOperators.hpp
+ * Matrix operators for the base class
+ */
+
+#ifndef GPSTK_MATRIX_BASE_OPERATORS_HPP
+#define GPSTK_MATRIX_BASE_OPERATORS_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include <fstream> // for copyfmt
+#include <iomanip>
+
+namespace gpstk
+{
+
+ /** @addtogroup VectorGroup */
+ //@{
+
+/// Output operator for ConstMatrixBase classes
+ template <class T, class E>
+ std::ostream& operator<<(std::ostream& s, const ConstMatrixBase<T, E>& a)
+ {
+ size_t i, j;
+ std::ofstream savefmt;
+ savefmt.copyfmt(s);
+ for (i=0; i<a.rows(); i++)
+ {
+ for (j=0; j< a.cols(); j++) {
+ s << std::setw(1) << ' ';
+ s.copyfmt(savefmt);
+ s << a(i,j);
+ }
+ if(i < a.rows()-1) s << std::endl;
+ }
+ return s;
+ }
+
+/**
+ * Turns the square RefMatrixBase matrix into an identity matrix
+ */
+ template <class T, class BaseClass>
+ BaseClass& ident(RefMatrixBase<T, BaseClass>& m)
+ throw (MatrixException)
+ {
+ BaseClass& me = static_cast<BaseClass&>(m);
+ if ( (me.rows() != me.cols()) || (me.cols() < 1) )
+ {
+ MatrixException e("invalid matrix dimensions for ident()");
+ GPSTK_THROW(e);
+ }
+ m.assignFrom(T(0));
+ size_t i;
+ for (i = 0; i < me.rows(); i++)
+ me(i,i) = T(1);
+ return me;
+ }
+
+/**
+ * Returns the trace of the matrix
+ */
+ template <class T, class BaseClass>
+ inline T trace(const ConstMatrixBase<T, BaseClass>& m)
+ throw (MatrixException)
+ {
+ if ((!m.isSquare()) || (m.rows() == 0))
+ {
+ MatrixException e("Invalid matrix for trace()");
+ GPSTK_THROW(e);
+ }
+ size_t index = 0;
+ T answer = m(index,index);
+ for (index = 1; index < m.rows(); index++)
+ answer += m(index,index);
+ return answer;
+ }
+
+/**
+ * returns the frobenius norm or RSS of the matrix
+ */
+ template <class T, class BaseClass>
+ inline T normF(const ConstMatrixBase<T, BaseClass>& m)
+ {
+ T sum(0);
+ size_t i,j;
+ for (i = 0; i < m.rows(); i++)
+ for (j = 0; j < m.cols(); j++)
+ sum += m(i,j) * m(i,j);
+ return SQRT(sum);
+ }
+
+/**
+ * returns the column sum norm of the matrix
+ */
+ template <class T, class BaseClass>
+ inline T normCol(const ConstMatrixBase<T, BaseClass>& m)
+ {
+ T sum(0), tempSum;
+ size_t i,j;
+ for (i = 0; i < m.rows(); i++)
+ {
+ tempSum = T(0);
+ for (j = 0; j < m.cols(); j++)
+ tempSum += ABS(m(i,j));
+ if (tempSum > sum)
+ sum = tempSum;
+ }
+ return sum;
+ }
+
+/**
+ * Uses the sum of minor determinates to calculate the whole det.
+ * Slow for large matricies, but it works.
+ */
+ template <class T, class BaseClass>
+ inline T slowDet(const ConstMatrixBase<T, BaseClass>& l)
+ {
+ if (!l.isSquare() || (l.rows() <= 1))
+ {
+ MatrixException e("Invalid matrix for det()");
+ GPSTK_THROW(e);
+ }
+ // go recursion!
+ if (l.rows() == 2)
+ return l(0,0)*l(1,1) - l(0,1)*l(1,0);
+ else
+ {
+ // use v[0,0] * det(minor matrix(0,0)) +
+ // v[0,1] * det(minor matrix(0,1)) + ...
+ size_t i;
+ int sign;
+ T det = 0;
+ for (i = 0; i < l.rows(); i++)
+ {
+ sign = (i % 2) ? -1 : 1;
+ if (l(0,i) != 0)
+ det += sign * l(0,i) * slowDet(minorMatrix(l,0,i));
+ }
+ return det;
+ }
+ }
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/MatrixFunctors.hpp b/dev/src/MatrixFunctors.hpp
new file mode 100644
index 0000000..6ef5204
--- /dev/null
+++ b/dev/src/MatrixFunctors.hpp
@@ -0,0 +1,762 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file MatrixFunctors.hpp
+ * Matrix function operators (SVD, LUD, etc)
+ */
+
+#ifndef GPSTK_MATRIX_FUNCTORS_HPP
+#define GPSTK_MATRIX_FUNCTORS_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include <cmath>
+
+namespace gpstk
+{
+
+ /** @addtogroup VectorGroup */
+ //@{
+
+/**
+ * Class SVD: A function object for the singular value decomposition of a matrix.
+ * Given a matrix A [m,n], the SVD of A = U*S*transpose(V), where U is [m,m],
+ * V is [n,n], and S is [m,n] (like A). Both U and V are unitary [meaning
+ * transpose(U)*U = unity = transpose(V)*V] and the columns of U[resp,V]
+ * are orthonormal vectors spanning the space A*transpose(A) [transpose(A)*A].
+ * Note that U*transpose(U)=1 and V*transpose(V)=1 are not true in general,
+ * but may be. S[m,n] is 'diagonal' in the sense that only diagonal elements
+ * are non-zero (even when m != n); the min(m,n) diagonal elements are called
+ * the singular values of A, often referred to as S[i]. The singular values
+ * may be sorted, as the SVD is invariant under a consistent re-ordering of
+ * {singular values / columns of U / columns of V}.
+ * The condition number of A is the ratio
+ * cn = fabs(largest S[i])/fabs(smallest S[i]).
+ * Note that inverse(A) = V*inverse(S)*UT where inverse(S) is diagonal with
+ * elements equal to the inverse of elements of S, and with dimension [n,m].
+ * The matrix A is non-singular matrix if and only if all of its singular
+ * values are non-zero. If some of the singular values are zero, the
+ * 'generalized inverse' of A may be formed by editing the singular values
+ * in this way: if the ratio of S[i] to S[0] (where S[0] is the largest
+ * singular value) is bigger than some tolerance (1.e-7 is good), then 1/S[i]
+ * is set to zero in the inverse. In this way the 'generalized inverse' of
+ * ANY matrix is guaranteed to exist.
+ * The SVD algorithm never fails.
+ *
+ * Ref: Bulirsch and Stoer, "Introduction to Numerical Analysis,"
+ * NY, Springer-Verlag, 1980.
+ *
+ * @code
+ * Matrix<double> m(and is assigned some value);
+ * SVD<double> d;
+ * d(m);
+ * cout << d.U << endl << d.V << endl << d.S << endl;
+ * @endcode
+ */
+ template <class T>
+ class SVD
+ {
+ public:
+ SVD() : iterationMax(30) {}
+
+ /**
+ * Singular Value Decomposition
+ */
+ template <class BaseClass>
+ bool operator() (const ConstMatrixBase<T, BaseClass>& mat)
+ throw (MatrixException)
+ {
+ bool flip=false;
+ U = mat;
+ if(mat.rows() > mat.cols()) {
+ flip = true;
+ U = transpose(mat);
+ }
+
+ size_t n(U.cols()), m(U.rows());
+ size_t i, j, k, l, nm, jj, kk;
+ T anorm(0), scale(0), g(0), s, f, h, c, x, y, z;
+
+ V = Matrix<T>(n, n, T(0));
+ S = Vector<T>(n, T(1));
+ Vector<T> B(n, T(1));
+
+ for (i = 0; i < n; i++) {
+ l = i + 1;
+ B[i] = scale * g;
+ g = s = scale = T(0);
+ if (i < m) {
+ for(k = i; k < m; k++) scale += ABS(U(k, i));
+ if (scale) {
+ for(k = i; k < m; k++) {
+ U(k, i) /= scale;
+ s += U(k, i) * U(k, i);
+ }
+ f = U(i, i);
+ g = -SIGN(SQRT(s),f);
+ h = f * g - s;
+ U(i,i) = f - g;
+ for(j = l; j < n; j++) {
+ for(s = T(0), k = i; k < m; k++) s += U(k, i) * U(k, j);
+ f = s / h;
+ for(k = i; k < m; k++) U(k, j) += f * U(k, i);
+ }
+ for(k = i; k < m; k++) U(k, i) *= scale;
+ } // if (scale)
+ } // if (i < m)
+ S[i] = scale * g;
+ g = s = scale = T(0);
+ if ( (i < m) && (i != n-1) ) {
+ for(k = l; k < n; k++) scale += ABS(U(i, k));
+ if (scale) {
+ for(k = l; k < n; k++) {
+ U(i, k) /= scale;
+ s += U(i, k) * U(i, k);
+ }
+ f = U(i, l);
+ g = -SIGN(SQRT(s),f);
+ h = f * g - s;
+ U(i, l) = f - g;
+ for(k = l; k < n; k++) B[k] = U(i, k) / h;
+ for(j = l; j < m; j++) {
+ for(s = T(0), k = l; k < n; k++) s += U(j, k) * U(i, k);
+ for(k = l; k < n; k++) U(j, k) += s * B[k];
+ }
+ for(k = l; k < n; k++) U(i, k) *= scale;
+ }
+ }
+ if(ABS(S[i])+ABS(B[i]) > anorm) anorm=ABS(S[i])+ABS(B[i]);
+ }
+ for(i = n - 1; ; i--) {
+ if (i < n - 1) {
+ if (g) {
+ for(j = l; j < n; j++) V(j, i) = (U(i, j) / U(i, l)) / g;
+ for(j = l; j < n; j++) {
+ for(s = T(0), k = l; k < n; k++) s += U(i, k) * V(k, j);
+ for(k = l; k < n; k++) V(k, j) += s * V(k, i);
+ }
+ }
+ for(j = l; j < n; j++) V(j, i) = V(i, j) = T(0);
+ }
+ V(i,i) =T(1);
+ g = B[i];
+ l = i;
+ if(i==0) break;
+ }
+ for(i = ( (m-1 < n-1) ? m-1 : n-1); ; i--) {
+ l = i+1;
+ g = S[i];
+ for(j=l; j<n; j++) U(i, j) = T(0);
+ if (g) {
+ g = T(1) / g;
+ for(j = l; j < n; j++) {
+ for(s = T(0), k = l; k < m; k++) s += U(k,i) * U(k,j);
+ f = (s / U(i,i)) * g;
+ for(k=i; k<m; k++) U(k,j) += f * U(k,i);
+ }
+ for(j = i; j < m; j++) U(j,i) *= g;
+ }
+ else {
+ for(j=i; j<m; j++) U(j,i) = T(0);
+ }
+ ++U(i,i);
+ if(i==0) break;
+ }
+ for(k = n - 1; ; k--) {
+ size_t its;
+ for(its = 1; its <= iterationMax; its++) {
+ bool flag = true;
+ for(l = k; ; l--) {
+ nm = l - 1;
+ if ((ABS(B[l])+anorm) == anorm) {
+ flag = false;
+ break;
+ }
+ if (l == 0) { // should never happen
+ MatrixException e("SVD algorithm has nm==-1");
+ GPSTK_THROW(e);
+ }
+ if ((ABS(S[nm])+anorm) == anorm) break;
+ if(l == 0) break; // since l is unsigned...
+ }
+ if (flag) {
+ c = T(0);
+ s = T(1);
+ for(i = l; i <= k; i++) {
+ f = s * B[i];
+ B[i] = c * B[i];
+ if ((ABS(f) + anorm) == anorm) break;
+ g = S[i];
+ h = RSS(f,g);
+ S[i] = h;
+ h = T(1) / h;
+ c = g * h;
+ s = -f * h;
+ for(j = 0; j < m; j++) {
+ y = U(j, nm);
+ z = U(j,i);
+ U(j, nm) = y * c + z * s;
+ U(j,i) = z * c - y * s;
+ }
+ }
+ }
+ z = S[k];
+ if (l == k) {
+ if (z < T(0)) {
+ S[k] = -z;
+ for(j = 0; j < n; j++) V(j,k) = -V(j,k);
+ }
+ break;
+ }
+
+ if (its == iterationMax) {
+ MatrixException e("SVD algorithm did not converge");
+ GPSTK_THROW(e);
+ }
+ x = S[l];
+ if(k == 0) { // should never happen
+ MatrixException e("SVD algorithm has k==0");
+ GPSTK_THROW(e);
+ }
+ nm = k - 1;
+ y = S[nm];
+ g = B[nm];
+ h = B[k];
+ f = ( (y-z) * (y+z) + (g-h) * (g+h)) / (T(2) * h * y);
+ g = RSS(f,T(1));
+ f = ( (x-z) * (x+z) + h * ((y/(f + SIGN(g,f))) - h)) / x;
+ c = s = 1.0;
+ for(j = l; j <= nm; j++) {
+ i = j + 1;
+ g = B[i];
+ y = S[i];
+ h = s * g;
+ g = c * g;
+ z = RSS(f, h);
+ B[j] = z;
+ c = f / z;
+ s = h / z;
+ f = x * c + g * s;
+ g = g * c - x * s;
+ h = y * s;
+ y *= c;
+ for(jj = 0; jj < n; jj++) {
+ x = V(jj, j);
+ z = V(jj, i);
+ V(jj, j) = x * c + z * s;
+ V(jj, i) = z * c - x * s;
+ }
+ z = RSS(f, h);
+ S[j] = z;
+ if (z) {
+ z = T(1) / z;
+ c = f * z;
+ s = h * z;
+ }
+ f = c * g + s * y;
+ x = c * y - s * g;
+ for(jj = 0; jj < m; jj++) {
+ y = U(jj, j);
+ z = U(jj, i);
+ U(jj, j) = y * c + z * s;
+ U(jj, i) = z * c - y * s;
+ }
+ }
+ B[l] = T(0);
+ B[k] = f;
+ S[k] = x;
+ }
+ if(k==0) break; // since k is unsigned...
+ }
+ // if U is not square - last n-m columns of U are zero - remove
+ if(U.cols() > U.rows()) {
+ for(i=1; i<S.size(); i++) { // sort in descending order
+ T sv=S[i],svj;
+ kk = i-1;
+ while(kk >= 0) {
+ svj = S[kk];
+ if(sv < svj) break;
+ S[kk+1] = svj;
+ // exchange columns kk and kk+1 in U and V
+ U.swapCols(kk,kk+1);
+ V.swapCols(kk,kk+1);
+ kk = kk - 1;
+ }
+ S[kk+1] = sv;
+ }
+ Matrix<T> Temp(U);
+ U = Matrix<T>(Temp,0,0,Temp.rows(),Temp.rows());
+ S.resize(Temp.rows());
+ }
+
+ if(flip) {
+ Matrix<T> Temp(U);
+ U = V;
+ V = Temp;
+ }
+
+ return true;
+
+ } // end SVD::operator() - the SVD algorithm
+
+ /** Backsubstitution using SVD.
+ * Solve A*x=b for vector x where A [mxn] has been SVD'ed and is given by
+ * U,W,V (*this); that is A[mxn] = U[mxm]*W[mxn]*VT[nxn]. b has dimension m,
+ * x dimension n. Singular values are NOT edited, except that if s.v. == 0,
+ * 1/0 is replaced by 0. Result is returned as b.
+ */
+ template <class BaseClass>
+ void backSub(RefVectorBase<T, BaseClass>& b) const
+ throw(MatrixException)
+ {
+ if(b.size() != U.rows())
+ {
+ MatrixException e("SVD::BackSub called with unequal dimensions");
+ GPSTK_THROW(e);
+ }
+
+ size_t i, n=V.cols(), m=U.rows();
+ Matrix<T> W(n,m,T(0)); // build the 'inverse singular values' matrix
+ for(i=0; i<S.size(); i++) W(i,i)=(S(i)==T(0)?T(0):T(1)/S(i));
+ Vector<T> Y;
+ Y = V*W*transpose(U)*b;
+ //b = Y;
+ // this fails because operator= is not defined for the base class
+ // (op= not inherited); use assignFrom instead
+ b.assignFrom(Y);
+
+ } // end SVD::backSub
+
+ /// sort singular values
+ void sort(bool descending)
+ throw(MatrixException)
+ {
+ size_t i;
+ int j; // j must be allowed to go negative
+ for(i=1; i<S.size(); i++) {
+ T sv=S(i),svj;
+ j = i - 1;
+ while(j >= 0) {
+ svj = S(j);
+ if(descending && sv < svj) break;
+ if(!descending && sv > svj) break;
+ S(j+1) = svj;
+ // exchange columns j and j+1 in U and V
+ U.swapCols(j,j+1);
+ V.swapCols(j,j+1);
+ j = j - 1;
+ }
+ S(j+1) = sv;
+ }
+ } // end SVD::sort
+
+ /// compute determinant from SVD
+ inline T det(void)
+ throw(MatrixException)
+ {
+ T d(1);
+ for(size_t i=0; i<S.size(); i++) d *= S(i);
+ return d;
+ } // end SVD::det
+
+ /// Matrix U
+ Matrix<T> U;
+ /// Vector of singular values
+ Vector<T> S;
+ /// Matrix V (not transpose(V))
+ Matrix<T> V;
+
+ private:
+ const size_t iterationMax;
+
+ T SIGN(T a, T b)
+ {
+ if (b >= T(0))
+ return ABS(a);
+ else
+ return -ABS(a);
+ }
+
+ }; // end class SVD
+
+/**
+ * Performs the lower/upper triangular decomposition of a matrix PA = LU.
+ * The results are put into the matricies L, U, and P (pivot), and sign
+ * (representing even (positive) or odd (negative) row swaps.
+ */
+ template <class T>
+ class LUDecomp
+ {
+ public:
+ LUDecomp() {} // why is there no constructor from ConstMatrixBase?
+
+ /// Does the decomposition.
+ template <class BaseClass>
+ void operator() (const ConstMatrixBase<T, BaseClass>& m)
+ throw (MatrixException)
+ {
+ if(!m.isSquare() || m.rows()<=1) {
+ MatrixException e("LUDecomp requires a square, non-trivial matrix");
+ GPSTK_THROW(e);
+ }
+
+ size_t N=m.rows(),i,j,k,n,imax;
+ T big,t,d;
+ Vector<T> V(N,T(0));
+
+ LU = m;
+ Pivot = Vector<int>(N);
+ parity = 1;
+
+ for(i=0; i<N; i++) { // get scale of each row
+ big = T(0);
+ for(j=0; j<N; j++) {
+ t = ABS(LU(i,j));
+ if(t > big) big=t;
+ }
+ if(big <= T(0)) { // m is singular
+ //LU *= T(0);
+ SingularMatrixException e("singular matrix!");
+ GPSTK_THROW(e);
+ }
+ V(i) = T(1)/big;
+ }
+
+ for(j=0; j<N; j++) { // loop over columns
+ for(i=0; i<j; i++) {
+ t = LU(i,j);
+ for(k=0; k<i; k++) t -= LU(i,k)*LU(k,j);
+ LU(i,j) = t;
+ }
+ big = T(0); // find largest pivot
+ for(i=j; i<N; i++) {
+ t = LU(i,j);
+ for(k=0; k<j; k++) t -= LU(i,k)*LU(k,j);
+ LU(i,j) = t;
+ d = V(i)*ABS(t);
+ if(d >= big) {
+ big = d;
+ imax = i;
+ }
+ }
+ if(j != imax) {
+ LU.swapRows(imax,j);
+ V(imax) = V(j);
+ parity = -parity;
+ }
+ Pivot(j) = imax;
+
+ t = LU(j,j);
+ if(t == 0.0) { // m is singular
+ //LU *= T(0);
+ SingularMatrixException e("singular matrix!");
+ GPSTK_THROW(e);
+ }
+ if(j != N-1) {
+ d = T(1)/t;
+ for(i=j+1; i<N; i++) LU(i,j) *= d;
+ }
+ }
+ } // end LUDecomp()
+
+ /** Compute inverse(m)*v, where *this is LUD(m), via back substitution
+ * Solution overwrites input Vector v
+ */
+ template <class BaseClass2>
+ void backSub(RefVectorBase<T, BaseClass2>& v) const
+ throw (MatrixException)
+ {
+ if(LU.rows() != v.size()) {
+ MatrixException e("Vector size does not match dimension of LUDecomp");
+ GPSTK_THROW(e);
+ }
+
+ bool first=true;
+ size_t N=LU.rows(),i,j,ii;
+ T sum;
+
+ // un-pivot
+ for(i=0; i<N; i++) {
+ sum = v(Pivot(i));
+ v(Pivot(i)) = v(i);
+ if(first && sum != T(0)) {
+ ii = i;
+ first = false;
+ }
+ else for(j=ii; j<i; j++) sum -= LU(i,j)*v(j);
+ v(i) = sum;
+ }
+ // back substitution
+ for(i=N-1; ; i--) {
+ sum = v(i);
+ for(j=i+1; j<N; j++) sum -= LU(i,j)*v(j);
+ v(i) = sum / LU(i,i);
+ if(i == 0) break; // b/c i is unsigned
+ }
+ } // end LUD::backSub
+
+ /// compute determinant from LUD
+ inline T det(void)
+ throw(MatrixException)
+ {
+ T d(parity);
+ for(size_t i=0; i<LU.rows(); i++) d *= LU(i,i);
+ return d;
+ }
+
+ /** The matrix in LU-decomposed form: L and U together;
+ * all diagonal elements of L are implied 1.
+ */
+ Matrix<T> LU;
+ /// The pivot array
+ Vector<int> Pivot;
+ /// Parity
+ int parity;
+
+ }; // end class LUDecomp
+
+
+ /**
+ * Compute cholesky decomposition (upper triangular square root) of the
+ * given matrix, which must be positive definite. Positive definite <=>
+ * positive eigenvalues. Note that the UT sqrt is not unique, and that
+ * m = U*transpose(U) (where U=UTsqrt(m)) only if m is symmetric.
+ */
+ template <class T>
+ class Cholesky
+ {
+ public:
+ Cholesky() {}
+
+ /// @todo potential complex number problem!
+ template <class BaseClass>
+ void operator() (const ConstMatrixBase<T, BaseClass>& m)
+ throw (MatrixException)
+ {
+ if(!m.isSquare()) {
+ MatrixException e("Cholesky requires a square matrix");
+ GPSTK_THROW(e);
+ }
+
+ size_t N=m.rows(),i,j,k;
+ double d;
+ Matrix<T> P(m);
+ U = Matrix<T>(m.rows(),m.cols(),T(0));
+
+ for(j=N-1; ; j--) {
+ if(P(j,j) <= T(0)) {
+ MatrixException e("Cholesky fails - eigenvalue <= 0");
+ GPSTK_THROW(e);
+ }
+ U(j,j) = SQRT(P(j,j));
+ d = T(1)/U(j,j);
+ if(j > 0) {
+ for(k=0; k<j; k++) U(k,j)=d*P(k,j);
+ for(k=0; k<j; k++)
+ for(i=0; i<=k; i++)
+ P(i,k) -= U(k,j)*U(i,j);
+ }
+ if(j==0) break; // since j is unsigned
+ }
+
+ // L does not = transpose(U);
+ P = m;
+ L = Matrix<T>(m.rows(),m.cols(),T(0));
+ for(j=0; j<=N-1; j++) {
+ if(P(j,j) <= T(0)) {
+ MatrixException e("Cholesky fails - eigenvalue <= 0");
+ GPSTK_THROW(e);
+ }
+ L(j,j) = SQRT(P(j,j));
+ d = T(1)/L(j,j);
+ if(j < N-1) {
+ for(k=j+1; k<N; k++) L(k,j)=d*P(k,j);
+ for(k=j+1; k<N; k++) {
+ for(i=k; i<N; i++) {
+ P(i,k) -= L(i,j)*L(k,j);
+ }
+ }
+ }
+ }
+
+ } // end Cholesky::operator()
+
+ /* Use backsubstition to solve the equation A*x=b where *this Cholesky
+ * has been applied to A, i.e. A = L*transpose(L). The algorithm is in
+ * two steps: since A*x=L*LT*x=b, first solve L*y=b for y, then solve
+ * LT*x=y for x. x is returned as b.
+ */
+ template <class BaseClass2>
+ void backSub(RefVectorBase<T, BaseClass2>& b) const
+ throw (MatrixException)
+ {
+ if (L.rows() != b.size())
+ {
+ MatrixException e("Vector size does not match dimension of Cholesky");
+ GPSTK_THROW(e);
+ }
+ size_t i,j,N=L.rows();
+
+ Vector<T> y(b.size());
+ y(0) = b(0)/L(0,0);
+ for(i=1; i<N; i++) {
+ y(i) = b(i);
+ for(j=0; j<i; j++) y(i)-=L(i,j)*y(j);
+ y(i) /= L(i,i);
+ }
+ // b is now x
+ b(N-1) = y(N-1)/L(N-1,N-1);
+ for(i=N-1; ; i--) {
+ b(i) = y(i);
+ for(j=i+1; j<N; j++) b(i)-=L(j,i)*b(j);
+ b(i) /= L(i,i);
+ if(i==0) break;
+ }
+
+ } // end Cholesky::backSub
+
+ /// Lower triangular and Upper triangular Cholesky decompositions
+ Matrix<T> L, U;
+
+ }; // end class Cholesky
+
+ /**
+ * Compute the Cholesky decomposition using the Cholesky-Crout algorithm,
+ * which is very fast; if A is the given matrix we will get L, where A = L*LT.
+ * A must be symetric and positive definite. This is the usual case when
+ * A comes from applying a Least Mean-Square (LMS) or Weighted Least
+ * Mean-Square (WLMS) method.
+ */
+ template <class T>
+ class CholeskyCrout : public Cholesky<T>
+ {
+ public:
+ template <class BaseClass>
+ void operator() (const ConstMatrixBase<T, BaseClass>& m) throw (MatrixException)
+ {
+ if(!m.isSquare()) {
+ MatrixException e("CholeskyCrout requires a square matrix");
+ GPSTK_THROW(e);
+ }
+
+ int N = m.rows(), i, j, k;
+ double sum;
+ (*this).L = Matrix<T>(N,N, 0.0);
+
+ for(j=0; j<N; j++) {
+ sum = m(j,j);
+ for(k=0; k<j; k++ ) sum -= (*this).L(j,k)*(*this).L(j,k);
+ if(sum > 0.0) {
+ (*this).L(j,j) = SQRT(sum);
+ } else {
+ MatrixException e("CholeskyCrout fails - eigenvalue <= 0");
+ GPSTK_THROW(e);
+ }
+
+ for(i=j+1; i<N; i++){
+ sum = m(i,j);
+ for(k=0; k<j; k++) sum -= (*this).L(i,k)*(*this).L(j,k);
+ (*this).L(i,j) = sum/(*this).L(j,j);
+ }
+ }
+
+ (*this).U = transpose((*this).L);
+ }
+
+ }; // end class CholeskyCrout
+
+
+
+/**
+ * The Householder transformation is simply an orthogonal transformation
+ * designed to make the elements below the diagonal zero. It applies to any
+ * matrix.
+ */
+ template <class T>
+ class Householder
+ {
+ public:
+ Householder() {}
+
+ /** Explicitly perform the transformation, one column at a time, without
+ * actually constructing the transformation matrix. Let y be column k of the
+ * input matrix. y can be zeroed below the diagonal as follows:
+ * let sum=sign(y(k))*sqrt(y*y), and define vector u(k)=y(k)+sum,
+ * u(j)=y(j) (j.gt.k). This defines the transformation matrix as (1-bu*u),
+ * with b=2/u*u=1/sum*u(k). Redefine y(k)=u(k) and apply the transformation to
+ * elements of the input matrix below and to the right of the (k,k) element.
+ * This algorithm for each column k=0,n-1 in turn is equivalent to a single
+ * orthogonal transformation which triangularizes the matrix.
+ */
+ template <class BaseClass>
+ inline void operator() (const ConstMatrixBase<T, BaseClass>& m)
+ throw (MatrixException)
+ {
+ size_t i,j;
+ A = m;
+ Matrix<T> P(A.rows(), A.rows());
+ Matrix<T> colVector(A.rows(), 1),
+ rowVector(1, A.rows());
+ Vector<T> v(A.rows());
+ for (j = 0; (j < A.cols()) && (j < (A.rows() - 1)); j++)
+ {
+ colVector.resize(A.rows() - j, 1);
+ rowVector.resize(1, A.rows() - j);
+
+ // for each column c, form the vector v =
+ // [c[0] + (sign(c[0]))abs(c), c[1], c[2], ...]
+ // then normalize v
+ v = A.colCopy(j, j);
+ v[0] += ((v[0] >= T(0)) ? T(1) : T(-1)) * norm(v);
+ v = normalize(v);
+ // now make matrix P = 1 - 2* columnVector(v) * rowVector(v)
+ // (makes the lower right of P =
+ // 1 - 2* columnVector(v) * rowVector(v)
+ // and the remaining parts I)
+ // and perform A = P * A
+ colVector = v;
+ rowVector = v;
+ MatrixSlice<T> Pslice(P, j, j, P.rows() - j, P.cols() - j);
+ ident(P);
+ //Pslice -= T(2) * colVector * rowVector;
+ Pslice = T(2) * colVector * rowVector - Pslice;
+ MatrixSlice<T> Aslice(A, j, j, A.rows() - j, A.cols() - j);
+ Aslice = Pslice * Aslice;
+ // set the elements below the diagonal of this column to 0
+ for(i = j+1; i < A.rows(); i++)
+ A(i,j) = T(0);
+ }
+ } // end Householder::operator()
+
+ /// The upper triangular transformed matrix.
+ Matrix<T> A;
+
+ }; // end class Householder
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/MatrixImplementation.hpp b/dev/src/MatrixImplementation.hpp
new file mode 100644
index 0000000..7bc4ce7
--- /dev/null
+++ b/dev/src/MatrixImplementation.hpp
@@ -0,0 +1,139 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file MatrixImplementation.hpp
+ * Implementation of Matrix algorithms
+ */
+
+#ifndef GPSTK_MATRIX_IMPLEMENTATION_HPP
+#define GPSTK_MATRIX_IMPLEMENTATION_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+namespace gpstk
+{
+
+ /** @addtogroup VectorGroup */
+ //@{
+
+ template <class T>
+ Matrix<T>::Matrix()
+ : v((size_t)0), r(0), c(0), s(0)
+ {}
+
+
+ template <class T>
+ Matrix<T>::Matrix(size_t rows, size_t cols)
+ : v(rows * cols), r(rows), c(cols), s(rows * cols)
+ {}
+
+ template <class T>
+ Matrix<T>::Matrix(size_t rows, size_t cols,
+ T initialValue)
+ : v(rows * cols, initialValue), r(rows), c(cols), s(rows * cols)
+ {}
+
+ template <class T>
+ MatrixRowSlice<T> Matrix<T>::rowRef(size_t rowNum, const std::slice& s)
+ {
+ return MatrixRowSlice<T>(*this, rowNum, s);
+ }
+
+ template <class T>
+ MatrixRowSlice<T> Matrix<T>::rowRef(size_t rowNum, size_t colNum)
+ {
+ return MatrixRowSlice<T>(*this, rowNum,
+ std::slice(colNum, cols()-colNum, 1));
+ }
+
+ template <class T>
+ ConstMatrixRowSlice<T> Matrix<T>::row(size_t rowNum, const std::slice& s)
+ const
+ {
+ return ConstMatrixRowSlice<T>(*this, rowNum, s);
+ }
+
+ template <class T>
+ ConstMatrixRowSlice<T> Matrix<T>::row(size_t rowNum, size_t colNum)
+ const
+ {
+ return ConstMatrixRowSlice<T>(*this, rowNum,
+ std::slice(colNum, cols()-colNum, 1));
+ }
+
+ template <class T>
+ MatrixColSlice<T> Matrix<T>::colRef(size_t colNum, const std::slice& s)
+ {
+ return MatrixColSlice<T>(*this, colNum, s);
+ }
+
+ template <class T>
+ MatrixColSlice<T> Matrix<T>::colRef(size_t colNum, size_t rowNum)
+ {
+ return MatrixColSlice<T>(*this, colNum,
+ std::slice(rowNum, rows() - rowNum, 1));
+ }
+
+ template <class T>
+ ConstMatrixColSlice<T> Matrix<T>::col(size_t colNum,
+ const std::slice& s) const
+ {
+ return ConstMatrixColSlice<T>(*this, colNum, s);
+ }
+
+ template <class T>
+ ConstMatrixColSlice<T> Matrix<T>::col(size_t colNum,
+ size_t rowNum) const
+ {
+ return ConstMatrixColSlice<T>(*this, colNum,
+ std::slice(colNum * r + rowNum, r - rowNum, 1));
+ }
+
+ template <class T>
+ Matrix<T>& Matrix<T>::resize(size_t rows, size_t cols)
+ {
+ v.resize(rows * cols);
+ c = cols;
+ r = rows;
+ s = rows * cols;
+ return *this;
+ }
+
+ template <class T>
+ Matrix<T>& Matrix<T>::resize(size_t rows, size_t cols,
+ const T initialValue)
+ {
+ v.resize(rows * cols, initialValue);
+ c = cols;
+ r = rows;
+ s = rows * cols;
+ return *this;
+ }
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/MatrixOperators.hpp b/dev/src/MatrixOperators.hpp
new file mode 100644
index 0000000..eabc057
--- /dev/null
+++ b/dev/src/MatrixOperators.hpp
@@ -0,0 +1,774 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file MatrixOperators.hpp
+ * Matrix operators (arithmetic, transpose(), inverse(), etc)
+ */
+
+#ifndef GPSTK_MATRIX_OPERATORS_HPP
+#define GPSTK_MATRIX_OPERATORS_HPP
+
+#include "MiscMath.hpp"
+#include "MatrixFunctors.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup VectorGroup */
+ //@{
+
+/**
+ * Returns the top to bottom concatenation of Matrices l and r only if they have the
+ * same number of columns.
+ */
+ template <class T, class BaseClass1, class BaseClass2>
+ inline Matrix<T> operator&&(const ConstMatrixBase<T, BaseClass1>& l,
+ const ConstMatrixBase<T, BaseClass2>& r)
+ throw(MatrixException)
+ {
+ if (l.cols() != r.cols())
+ {
+ MatrixException e("Incompatible dimensions for Matrix && Matrix");
+ GPSTK_THROW(e);
+ }
+
+ size_t rows = l.rows() + r.rows();
+ size_t cols = l.cols();
+ Matrix<T> toReturn(rows, cols);
+
+ for (rows = 0; rows < l.rows(); rows++)
+ for (cols = 0; cols < l.cols(); cols++)
+ toReturn(rows, cols) = l(rows, cols);
+
+ for (rows = 0; rows < r.rows(); rows++)
+ for (cols = 0; cols < l.cols(); cols++)
+ toReturn(rows + l.rows(), cols) = r(rows, cols);
+
+ return toReturn;
+ }
+
+/**
+ * Returns the top to bottom concatenation of Matrix t and Vector b
+ * only if they have the same number of columns.
+ */
+ template <class T, class BaseClass1, class BaseClass2>
+ inline Matrix<T> operator&&(const ConstMatrixBase<T, BaseClass1>& t,
+ const ConstVectorBase<T, BaseClass2>& b)
+ throw(MatrixException)
+ {
+ if (t.cols() != b.size())
+ {
+ MatrixException e("Incompatible dimensions for Matrix && Vector");
+ GPSTK_THROW(e);
+ }
+
+ size_t rows = t.rows() + 1;
+ size_t cols = t.cols();
+ Matrix<T> toReturn(rows, cols);
+
+ for (rows = 0; rows < t.rows(); rows++)
+ for (cols = 0; cols < t.cols(); cols++)
+ toReturn(rows, cols) = t(rows, cols);
+
+ for (cols = 0; cols < t.cols(); cols++)
+ toReturn(t.rows(), cols) = b(cols);
+
+ return toReturn;
+ }
+
+/**
+ * Returns the top to bottom concatenation of Vector t and Matrix b
+ * only if they have the same number of columns.
+ */
+ template <class T, class BaseClass1, class BaseClass2>
+ inline Matrix<T> operator&&(const ConstVectorBase<T, BaseClass1>& t,
+ const ConstMatrixBase<T, BaseClass2>& b)
+ throw(MatrixException)
+ {
+ if (t.size() != b.cols())
+ {
+ MatrixException e("Incompatible dimensions for Vector && Matrix");
+ GPSTK_THROW(e);
+ }
+
+ size_t rows = 1 + b.rows();
+ size_t cols = b.cols();
+ Matrix<T> toReturn(rows, cols);
+
+ for (cols = 0; cols < b.cols(); cols++)
+ toReturn(0, cols) = t(cols);
+
+ for (rows = 1; rows < b.rows()+1; rows++)
+ for (cols = 0; cols < b.cols(); cols++)
+ toReturn(rows, cols) = b(rows, cols);
+
+ return toReturn;
+ }
+
+/**
+ * Returns the left to right concatenation of l and r only if they have the
+ * same number of rows.
+ */
+ template <class T, class BaseClass1, class BaseClass2>
+ inline Matrix<T> operator||(const ConstMatrixBase<T, BaseClass1>& l,
+ const ConstMatrixBase<T, BaseClass2>& r)
+ throw(MatrixException)
+ {
+ if (l.rows() != r.rows())
+ {
+ MatrixException e("Incompatible dimensions for Matrix || Matrix");
+ GPSTK_THROW(e);
+ }
+
+ size_t rows = l.rows();
+ size_t cols = l.cols() + r.cols();
+ Matrix<T> toReturn(rows, cols);
+
+ for (cols = 0; cols < l.cols(); cols++)
+ for (rows = 0; rows < l.rows(); rows++)
+ toReturn(rows, cols) = l(rows, cols);
+
+ for (cols = 0; cols < r.cols(); cols++)
+ for (rows = 0; rows < l.rows(); rows++)
+ toReturn(rows, cols + l.cols()) = r(rows,cols);
+
+ return toReturn;
+ }
+
+/**
+ * Returns the left to right concatenation of Matrix l and Vector r
+ * only if they have the same number of rows.
+ */
+ template <class T, class BaseClass1, class BaseClass2>
+ inline Matrix<T> operator||(const ConstMatrixBase<T, BaseClass1>& l,
+ const ConstVectorBase<T, BaseClass2>& r)
+ throw(MatrixException)
+ {
+ if (l.rows() != r.size())
+ {
+ MatrixException e("Incompatible dimensions for Matrix || Vector");
+ GPSTK_THROW(e);
+ }
+
+ size_t rows = l.rows();
+ size_t cols = l.cols() + 1;
+ Matrix<T> toReturn(rows, cols);
+
+ for (cols = 0; cols < l.cols(); cols++)
+ for (rows = 0; rows < l.rows(); rows++)
+ toReturn(rows, cols) = l(rows, cols);
+
+ for (rows = 0; rows < l.rows(); rows++)
+ toReturn(rows, l.cols()) = r(rows);
+
+ return toReturn;
+ }
+
+/**
+ * Returns the left to right concatenation of Vector l and Matrix r
+ * only if they have the same number of rows.
+ */
+ template <class T, class BaseClass1, class BaseClass2>
+ inline Matrix<T> operator||(const ConstVectorBase<T, BaseClass1>& l,
+ const ConstMatrixBase<T, BaseClass2>& r)
+ throw(MatrixException)
+ {
+ if (l.size() != r.rows())
+ {
+ MatrixException e("Incompatible dimensions for Vector || Matrix");
+ GPSTK_THROW(e);
+ }
+
+ size_t rows = r.rows();
+ size_t cols = r.cols() + 1;
+ Matrix<T> toReturn(rows, cols);
+
+ for (rows = 0; rows < r.rows(); rows++)
+ toReturn(rows, 0) = l(rows);
+
+ for (cols = 1; cols < r.cols()+1; cols++)
+ for (rows = 0; rows < r.rows(); rows++)
+ toReturn(rows, cols) = r(rows, cols);
+
+ return toReturn;
+ }
+
+/**
+ * Returns the minor matrix of l at element (row, col). A minor matrix is the
+ * same matrix as \c l but with row \c row and col \c col removed.
+ */
+ template <class T, class BaseClass>
+ inline Matrix<T> minorMatrix(const ConstMatrixBase<T, BaseClass>& l,
+ size_t row, size_t col)
+ throw(MatrixException)
+ {
+ if ((row >= l.rows()) || (col >= l.cols()))
+ {
+ MatrixException e("Invalid row or column for minorMatrix()");
+ GPSTK_THROW(e);
+ }
+ // handle special cases
+ if (row == 0)
+ {
+ if (col == 0)
+ {
+ return Matrix<T>(l,1,1,l.rows()-1,l.cols()-1);
+ }
+ else if (col == (l.cols() - 1))
+ {
+ return Matrix<T>(l,1,0,l.rows()-1,l.cols()-1);
+ }
+ else
+ {
+ return Matrix<T>(l,1,0,l.rows()-1,col) ||
+ Matrix<T>(l,1,col+1,l.rows()-1,l.cols()-col-1);
+ }
+ }
+ else if (row == (l.rows() - 1))
+ {
+ if (col == 0)
+ {
+ return Matrix<T>(l,0,1,l.rows()-1,l.cols()-1);
+ }
+ else if (col == (l.cols() - 1))
+ {
+ return Matrix<T>(l,0,0,l.rows()-1,l.cols()-1);
+ }
+ else
+ {
+ return Matrix<T>(l,0,0,l.rows()-1,col) ||
+ Matrix<T>(l,0,col+1,l.rows()-1,l.cols()-col-1);
+ }
+ }
+ else if (col == 0)
+ {
+ return Matrix<T>(l,0,1,row,l.cols()-1) &&
+ Matrix<T>(l,row+1,1,l.rows()-row-1,l.cols()-1);
+ }
+ else if (col == (l.cols() - 1))
+ {
+ return Matrix<T>(l,0,0,row,l.cols()-1) &&
+ Matrix<T>(l,row+1,0,l.rows()-row-1,l.cols()-1);
+ }
+ else
+ {
+ return (Matrix<T>(l, 0, 0, row, col) ||
+ Matrix<T>(l, 0, col + 1, row, l.cols()-col-1)) &&
+ (Matrix<T>(l, row + 1, 0, l.rows()-row-1, col) ||
+ Matrix<T>(l, row + 1, col + 1, l.rows()-row-1, l.cols()-col-1));
+ }
+ }
+
+/**
+ * Returns a matrix that is \c m transposed.
+ */
+ template <class T, class BaseClass>
+ inline Matrix<T> transpose(const ConstMatrixBase<T, BaseClass>& m)
+ {
+ Matrix<T> temp(m.cols(), m.rows());
+ size_t i, j;
+ for (i = 0; i < m.rows(); i++)
+ for (j = 0; j < m.cols(); j++)
+ temp(j,i) = m(i,j);
+ return temp;
+ }
+
+/**
+ * Uses an LU Decomposition to calculate the determinate of m. This is
+ * faster than longDet() for large matricies.
+ */
+ template <class T, class BaseClass>
+ inline T det(const ConstMatrixBase<T, BaseClass>& m)
+ throw(MatrixException)
+ {
+ try
+ {
+ LUDecomp<T> lud;
+ lud(m);
+ T det = 1;
+ size_t i;
+ // now just multiply down the main diagonal and then by the LUD sign.
+ for(i = 0; i < m.rows(); i++)
+ det *= lud.U(i,i);
+ return det * lud.sign;
+ }
+ catch(SingularMatrixException &e)
+ {
+ return 0;
+ }
+ catch(MatrixException& e)
+ {
+ e.addText("in det()");
+ GPSTK_RETHROW(e);
+ }
+ }
+
+/**
+ * returns the condition number of the matrix
+ */
+ template <class T, class BaseClass>
+ inline T condNum(const ConstMatrixBase<T, BaseClass>& m, T& big, T& small)
+ throw ()
+ {
+ SVD<T> svd;
+ svd(m);
+ // SVD will sort singular values in descending order
+ big = svd.S(0);
+ small = svd.S(svd.S.size()-1);
+ if(fabs(small) <= T(1.e-15)) return T(0);// TD replace with ~ machine precision
+ return big/small;
+ }
+
+/**
+ * returns the condition number of the matrix, doesnt require big or small..
+ */
+ template <class T, class BaseClass>
+ inline T condNum(const ConstMatrixBase<T, BaseClass>& m)
+ throw ()
+ {
+ T big, small;
+ return condNum(m, big, small);
+ }
+
+/**
+ * Returns a new \c dim * \c dim matrix that's an identity matrix.
+ */
+ template <class T>
+ inline Matrix<T> ident(size_t dim)
+ throw(MatrixException)
+ {
+ if (dim == 0)
+ {
+ MatrixException e("Invalid (0) dimension for ident()");
+ GPSTK_THROW(e);
+ }
+ Matrix<T> toReturn(dim, dim, T(0));
+ size_t i;
+ for (i = 0; i < toReturn.rows(); i++)
+ toReturn(i,i) = T(1);
+ return toReturn;
+ }
+
+/**
+ * Return a rotation matrix [dimensioned 3x3, inverse() = transpose()]
+ * for the rotation through \c angle radians about \c axis number (= 1, 2 or 3).
+ */
+ template <class T>
+ inline Matrix<T> rotation(T angle, int axis)
+ throw(MatrixException)
+ {
+ if (axis < 1 || axis > 3)
+ {
+ MatrixException e("Invalid axis (must be 1,2, or 3)");
+ GPSTK_THROW(e);
+ }
+ Matrix<T> toReturn(3,3,T(0));
+ int i1 = axis-1;
+ int i2 = (i1+1) % 3;
+ int i3 = (i2+1) % 3;
+ toReturn(i1,i1) = 1.0;
+ toReturn(i2,i2) = toReturn(i3,i3) = ::cos(angle);
+ toReturn(i3,i2) = -(toReturn(i2,i3) = ::sin(angle));
+
+ return toReturn;
+ }
+
+/**
+ * Inverts the matrix M by Gaussian elimination. Throws on non-square
+ * and singular matricies.
+ */
+ template <class T, class BaseClass>
+ inline Matrix<T> inverse(const ConstMatrixBase<T, BaseClass>& m)
+ throw (MatrixException)
+ {
+ if ((m.rows() != m.cols()) || (m.cols() == 0))
+ {
+ MatrixException e("inverse() requires non-trivial square matrix");
+ GPSTK_THROW(e);
+ }
+
+ Matrix<T> toReturn(m.rows(), m.cols() * 2);
+
+ size_t r, t, j;
+ T temp;
+
+ // set the left half to m
+ {
+ MatrixSlice<T> ms(toReturn, 0, 0, m.rows(), m.cols());
+ ms = m;
+ }
+
+ // set the right half to identity
+ {
+ MatrixSlice<T> ms(toReturn, 0, m.cols(), m.rows(), m.cols());
+ ident(ms);
+ }
+
+ for (r = 0; r < m.rows(); r++)
+ {
+ // if m(r,r) is zero, find another row
+ // to add to it...
+ if (toReturn(r,r) == 0)
+ {
+ t = r+1;
+ while ( (t < m.rows()) && (toReturn(t,r) == 0) )
+ t++;
+
+ if (t == m.rows())
+ {
+ SingularMatrixException e("Singular matrix");
+ GPSTK_THROW(e);
+ }
+
+ for (j = r; j < toReturn.cols(); j++)
+ toReturn(r,j) += (toReturn(t,j) / toReturn(t,r));
+ }
+
+ // scale this row's (r,r)'th element to 1
+ temp = toReturn(r,r);
+ for (j = r; j < toReturn.cols(); j++)
+ toReturn(r,j) /= temp;
+
+ // do the elimination
+ for (t = 0; t < m.rows(); t++)
+ {
+ if (t != r)
+ {
+ temp = toReturn(t,r);
+ for (j = r; j < toReturn.cols(); j++)
+ toReturn(t,j) -= temp/toReturn(r,r) * toReturn(r,j);
+ }
+ }
+ }
+ // return the right hand side square matrix
+ return Matrix<T>(toReturn, 0, m.cols(), m.rows(), m.cols());
+
+ } // end inverse
+
+/**
+ * Inverts the matrix M by LU decomposition. Throws on non-square
+ * and singular matricies.
+ */
+ template <class T, class BaseClass>
+ inline Matrix<T> inverseLUD(const ConstMatrixBase<T, BaseClass>& m)
+ throw (MatrixException)
+ {
+ if ((m.rows() != m.cols()) || (m.cols() == 0)) {
+ MatrixException e("inverseLUD() requires non-trivial square matrix");
+ GPSTK_THROW(e);
+ }
+
+ size_t i,j,N=m.rows();
+ Matrix<T> inv(m);
+ Vector<T> V(N);
+ LUDecomp<T> LU;
+ LU(m);
+ for(j=0; j<N; j++) { // loop over columns
+ V = T(0);
+ V(j) = T(1);
+ LU.backSub(V);
+ for(i=0; i<N; i++) inv(i,j)=V(i);
+ }
+ return inv;
+
+ } // end inverseLUD
+
+/**
+ * Inverts the square matrix M by SVD. Throws only on input of the zero matrix
+ */
+ template <class T, class BaseClass>
+ inline Matrix<T> inverseSVD(const ConstMatrixBase<T, BaseClass>& m)
+ throw (MatrixException)
+ {
+ if ((m.rows() != m.cols()) || (m.cols() == 0)) {
+ MatrixException e("inverseSVD() requires non-trivial square matrix");
+ GPSTK_THROW(e);
+ }
+
+ size_t i,j,N=m.rows();
+ Matrix<T> inv(m);
+ SVD<T> svd;
+ svd(m);
+ // svd will sort the singular values in descending order
+ if(svd.S(0) == T(0)) {
+ MatrixException e("Input is the zero matrix");
+ GPSTK_THROW(e);
+ }
+ // edit singular values TD input tolerance, output edited SVs
+ for(i=1; i<N; i++) if(svd.S(i) < T(1.e-8)*svd.S(0)) svd.S(i)=T(0);
+
+ // back substitution
+ Vector<T> V(N);
+ for(j=0; j<N; j++) { //loop over columns
+ V = T(0);
+ V(j) = T(1);
+ svd.backSub(V);
+ for(i=0; i<N; i++) inv(i,j)=V(i);
+ }
+ return inv;
+
+ } // end inverseSVD
+
+
+ /**
+ * Inverts the square symetrix positive definite matrix M using Cholesky-Crout
+ * algorithm. Very fast and useful when M comes from using a Least Mean-Square
+ * (LMS) or Weighted Least Mean-Square (WLMS) method.
+ */
+ template <class T, class BaseClass>
+ inline Matrix<T> inverseChol(const ConstMatrixBase<T, BaseClass>& m)
+ throw (MatrixException)
+ {
+ int N = m.rows(), i, j, k;
+ double sum;
+ Matrix<T> LI(N,N, 0.0); // Here we will first store L^-1, and later m^-1
+
+ // Let's call CholeskyCrout class to decompose matrix "m" in L*LT
+ gpstk::CholeskyCrout<double> CC;
+ CC(m);
+
+ // Let's find the inverse of L (the LI from above)
+ for(i=0; i<N; i++) {
+ LI(i,i) = 1.0 / CC.L(i,i);
+ for(j=0; j<i; j++) {
+ sum = 0.0;
+ for(k=i; k>=0; k-- ) sum += CC.L(i,k)*LI(k,j);
+ LI(i,j) = -sum*LI(i,i);
+ }
+ }
+
+ // Now, let's remember that m^-1 = transpose(LI)*LI
+ LI = transpose(LI) * LI;
+ return LI;
+
+ } // end inverseChol
+
+
+/**
+ * Matrix * Matrix : row by column multiplication of two matricies.
+ */
+ template <class T, class BaseClass1, class BaseClass2>
+ inline Matrix<T> operator* (const ConstMatrixBase<T, BaseClass1>& l,
+ const ConstMatrixBase<T, BaseClass2>& r)
+ throw (MatrixException)
+ {
+ if (l.cols() != r.rows())
+ {
+ MatrixException e("Incompatible dimensions for Matrix * Matrix");
+ GPSTK_THROW(e);
+ }
+
+ Matrix<T> toReturn(l.rows(), r.cols(), T(0));
+ size_t i, j, k;
+ for (i = 0; i < toReturn.rows(); i++)
+ for (j = 0; j < toReturn.cols(); j++)
+ for (k = 0; k < l.cols(); k++)
+ toReturn(i,j) += l(i,k) * r(k,j);
+
+ return toReturn;
+ }
+
+/**
+ * Matrix times vector multiplication, returning a vector.
+ */
+ template <class T, class BaseClass1, class BaseClass2>
+ inline Vector<T> operator* (const ConstMatrixBase<T, BaseClass1>& m,
+ const ConstVectorBase<T, BaseClass2>& v)
+ throw (MatrixException)
+ {
+ if (v.size() != m.cols())
+ {
+ gpstk::MatrixException e("Incompatible dimensions for Vector * Matrix");
+ GPSTK_THROW(e);
+ }
+
+ Vector<T> toReturn(m.rows());
+ size_t i, j;
+ for (i = 0; i < m.rows(); i++)
+ {
+ toReturn[i] = 0;
+ for (j = 0; j < m.cols(); j++)
+ toReturn[i] += m(i, j) * v[j];
+ }
+ return toReturn;
+ }
+/**
+ * Vector times matrix multiplication, returning a vector.
+ */
+ template <class T, class BaseClass1, class BaseClass2>
+ inline Vector<T> operator* (const ConstVectorBase<T, BaseClass1>& v,
+ const ConstMatrixBase<T, BaseClass2>& m)
+ throw (gpstk::MatrixException)
+ {
+ if (v.size() != m.rows())
+ {
+ gpstk::MatrixException e("Incompatible dimensions for Vector * Matrix");
+ GPSTK_THROW(e);
+ }
+
+ Vector<T> toReturn(m.cols());
+ size_t i, j;
+ for (i = 0; i < m.cols(); i++)
+ {
+ toReturn[i] = 0;
+ for (j = 0; j < m.rows(); j++)
+ toReturn[i] += m(j,i) * v[j];
+ }
+ return toReturn;
+ }
+
+/**
+ * Compute sum of two matricies.
+ */
+ template <class T, class BaseClass1, class BaseClass2>
+ inline Matrix<T> operator+ (const ConstMatrixBase<T, BaseClass1>& l,
+ const ConstMatrixBase<T, BaseClass2>& r)
+ throw (MatrixException)
+ {
+ if (l.cols() != r.cols() || l.rows() != r.rows())
+ {
+ MatrixException e("Incompatible dimensions for Matrix + Matrix");
+ GPSTK_THROW(e);
+ }
+
+ Matrix<T> toReturn(l.rows(), r.cols(), T(0));
+ size_t i, j;
+ for (i = 0; i < toReturn.rows(); i++)
+ for (j = 0; j < toReturn.cols(); j++)
+ toReturn(i,j) = l(i,j) + r(i,j);
+
+ return toReturn;
+ }
+
+/**
+ * Compute difference of two matricies.
+ */
+ template <class T, class BaseClass1, class BaseClass2>
+ inline Matrix<T> operator- (const ConstMatrixBase<T, BaseClass1>& l,
+ const ConstMatrixBase<T, BaseClass2>& r)
+ throw (MatrixException)
+ {
+ if (l.cols() != r.cols() || l.rows() != r.rows())
+ {
+ MatrixException e("Incompatible dimensions for Matrix - Matrix");
+ GPSTK_THROW(e);
+ }
+
+ Matrix<T> toReturn(l.rows(), r.cols(), T(0));
+ size_t i, j;
+ for (i = 0; i < toReturn.rows(); i++)
+ for (j = 0; j < toReturn.cols(); j++)
+ toReturn(i,j) = l(i,j) - r(i,j);
+
+ return toReturn;
+ }
+
+/**
+ * Compute the outer product of two vectors.
+ */
+ template <class T, class BaseClass>
+ inline Matrix<T> outer(const ConstVectorBase<T, BaseClass>& v,
+ const ConstVectorBase<T, BaseClass>& w)
+ throw (MatrixException)
+ {
+ if(v.size()*w.size() == 0) {
+ MatrixException e("Zero length vector(s)");
+ GPSTK_THROW(e);
+ }
+ Matrix<T> M(v.size(),w.size(),T(0));
+ for(size_t i=0; i<v.size(); i++)
+ for(size_t j=0; j<w.size(); j++)
+ M(i,j) = v(i)*w(j);
+ return M;
+ }
+
+/// Multiplies all the elements of m by d.
+ template <class T, class BaseClass>
+ inline Matrix<T> operator* (const ConstMatrixBase<T, BaseClass>& m, const T d)
+ {
+ Matrix<T> temp(m);
+ return temp *= d;
+ }
+
+/// Multiplies all the elements of m by d.
+ template <class T, class BaseClass>
+ inline Matrix<T> operator* (const T d, const ConstMatrixBase<T, BaseClass>& m)
+ {
+ Matrix<T> temp(m);
+ return temp *= d;
+ }
+
+/// Divides all the elements of m by d.
+ template <class T, class BaseClass>
+ inline Matrix<T> operator/ (const ConstMatrixBase<T, BaseClass>& m, const T d)
+ {
+ Matrix<T> temp(m);
+ return temp /= d;
+ }
+
+/// Divides all the elements of m by d.
+ template <class T, class BaseClass>
+ inline Matrix<T> operator/ (const T d, const ConstMatrixBase<T, BaseClass>& m)
+ {
+ Matrix<T> temp(m);
+ return temp /= d;
+ }
+
+/// Adds all the elements of m by d.
+ template <class T, class BaseClass>
+ inline Matrix<T> operator+ (const ConstMatrixBase<T, BaseClass>& m, const T d)
+ {
+ Matrix<T> temp(m);
+ return temp += d;
+ }
+
+/// Adds all the elements of m by d.
+ template <class T, class BaseClass>
+ inline Matrix<T> operator+ (const T d, const ConstMatrixBase<T, BaseClass>& m)
+ {
+ Matrix<T> temp(m);
+ return temp += d;
+ }
+
+/// Subtracts all the elements of m by d.
+ template <class T, class BaseClass>
+ inline Matrix<T> operator- (const ConstMatrixBase<T, BaseClass>& m, const T d)
+ {
+ Matrix<T> temp(m);
+ return temp -= d;
+ }
+
+/// Subtracts all the elements of m by d.
+ template <class T, class BaseClass>
+ inline Matrix<T> operator- (const T d, const ConstMatrixBase<T, BaseClass>& m)
+ {
+ Matrix<T> temp(m);
+ return temp -= d;
+ }
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/MiscMath.hpp b/dev/src/MiscMath.hpp
new file mode 100644
index 0000000..a1fa243
--- /dev/null
+++ b/dev/src/MiscMath.hpp
@@ -0,0 +1,222 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file MiscMath.hpp
+ * Miscellaneous mathematical algorithms
+ */
+
+#ifndef GPSTK_MISC_MATH_HPP
+#define GPSTK_MISC_MATH_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include <vector>
+#include "MathBase.hpp"
+
+namespace gpstk
+{
+ /** @defgroup math Mathematical algorithms */
+ //@{
+
+ /** Perform Lagrange interpolation on the data (X[i],Y[i]), i=1,N (N=X.size()),
+ * returning the value of Y(x). Also return an estimate of the estimation error in 'err'.
+ * Assumes k=X.size() is even, and that x is between X[j-1] and X[j], where j=k/2.
+ */
+ template <class T>
+ T LagrangeInterpolation(const std::vector<T>& X, const std::vector<T>& Y, const T& x, T& err)
+ {
+ size_t i,j,k;
+ T y,del;
+ std::vector<T> D,Q;
+
+ err = T(0);
+ k = X.size()/2;
+ if(x == X[k]) return Y[k];
+ if(x == X[k-1]) return Y[k-1];
+ if(ABS(x-X[k-1]) < ABS(x-X[k])) k=k-1;
+ for(i=0; i<X.size(); i++) {
+ Q.push_back(Y[i]);
+ D.push_back(Y[i]);
+ }
+ y = Y[k--];
+ for(j=1; j<X.size(); j++) {
+ for(i=0; i<X.size()-j; i++) {
+ del = (Q[i+1]-D[i])/(X[i]-X[i+j]);
+ D[i] = (X[i+j]-x)*del;
+ Q[i] = (X[i]-x)*del;
+ }
+ err = (2*k < X.size()-j ? Q[k+1] : D[k--]);
+ y += err;
+ }
+ return y;
+ } // end T LagrangeInterpolation(vector, vector, const T, T&)
+
+ // The following is a
+ // Straightforward implementation of Lagrange polynomial and its derivative
+ // { all sums are over index=0,N-1; Xi is short for X[i]; Lp is dL/dx;
+ // y(x) is the function being approximated. }
+ // y(x) = SUM[Li(x)*Yi]
+ // Li(x) = PROD(j!=i)[x-Xj] / PROD(j!=i)[Xi-Xj]
+ // dy(x)/dx = SUM[Lpi(x)*Yi]
+ // Lpi(x) = SUM(k!=i){PROD(j!=i,j!=k)[x-Xj]} / PROD(j!=i)[Xi-Xj]
+ // Define Pi = PROD(j!=i)[x-Xj], Di = PROD(j!=i)[Xi-Xj],
+ // Qij = PROD(k!=i,k!=j)[x-Xk] and Si = SUM(j!=i)Qij.
+ // then Li(x) = Pi/Di, and Lpi(x) = Si/Di.
+ // Qij is symmetric, there are only N(N+1)/2 - N of them, so store them
+ // in a vector of length N(N+1)/2, where Qij==Q[i+j*(j+1)/2] (ignore i=j).
+
+ /** Perform Lagrange interpolation on the data (X[i],Y[i]), i=1,N (N=X.size()),
+ * returning the value of Y(x) and dY(x)/dX.
+ * Assumes that x is between X[k-1] and X[k], where k=N/2.
+ * Warning: for use with the precise (SP3) ephemeris only when velocity is not
+ * available; estimates of velocity, and especially clock drift, not as accurate.
+ */
+ template <class T>
+ void LagrangeInterpolation(const std::vector<T>& X, const std::vector<T>& Y, const T& x, T& y, T& dydx)
+ {
+ size_t i,j,k,N=X.size(),M;
+ M = (N*(N+1))/2;
+ std::vector<T> P(N,T(1)),Q(M,T(1)),D(N,T(1));
+ for(i=0; i<N; i++) {
+ for(j=0; j<N; j++) {
+ if(i != j) {
+ P[i] *= x-X[j];
+ D[i] *= X[i]-X[j];
+ if(i < j) {
+//std::cout << "Compute Q[" << i << "," << j << "=" << (i+(j*(j+1))/2) << "] = 1 ";
+ for(k=0; k<N; k++) {
+ if(k == i || k == j) continue;
+//std::cout << " * (x-X[" << k << "])";
+ Q[i+(j*(j+1))/2] *= (x-X[k]);
+ }
+//std::cout << " = " << Q[i+(j*(j+1))/2] << std::endl;
+ }
+ }
+ }
+ }
+ y = dydx = T(0);
+ for(i=0; i<N; i++) {
+ y += Y[i]*(P[i]/D[i]);
+ T S(0);
+ for(k=0; k<N; k++) if(i != k) {
+ if(k<i) S += Q[k+(i*(i+1))/2]/D[i];
+ else S += Q[i+(k*(k+1))/2]/D[i];
+ }
+ dydx += Y[i]*S;
+ }
+ } // end void LagrangeInterpolation(vector, vector, const T, T&, T&)
+
+ /// Perform the root sum square of aa, bb and cc
+ template <class T>
+ T RSS (T aa, T bb, T cc)
+ {
+ T a(ABS(aa)), b(ABS(bb)), c(ABS(cc));
+ if ( (a > b) && (a > c) )
+ return a * SQRT(1 + (b/a)*(b/a) + (c/a)*(c/a));
+ if ( (b > a) && (b > c) )
+ return b * SQRT(1 + (a/b)*(a/b) + (c/b)*(c/b));
+ if ( (c > b) && (c > a) )
+ return c * SQRT(1 + (b/c)*(b/c) + (a/c)*(a/c));
+
+ if (a == b)
+ {
+ if (b == c)
+ return a * SQRT(T(3));
+ a *= SQRT(T(2));
+ if (a > c)
+ return a * SQRT(1 + (c/a)*(c/a));
+ else
+ return c * SQRT(1 + (a/c)*(a/c));
+ }
+ if (a == c)
+ {
+ a *= SQRT(T(2));
+ if (a > b)
+ return a * SQRT(1 + (b/a)*(b/a));
+ else
+ return b * SQRT(1 + (a/b)*(a/b));
+ }
+ if (b == c)
+ {
+ b *= SQRT(T(2));
+ if (b > a)
+ return b * SQRT(1 + (a/b)*(a/b));
+ else
+ return a * SQRT(1 + (b/a)*(b/a));
+ }
+
+ return T(0);
+ }
+
+ /// Perform the root sum square of aa, bb
+ template <class T>
+ T RSS (T aa, T bb)
+ {
+ return RSS(aa,bb,T(0));
+ }
+
+
+ /// Perform the root sum square of aa, bb, cc and dd
+ template <class T>
+ T RSS (T aa, T bb, T cc, T dd)
+ {
+#define swapValues(x,y) \
+ { T temporalStorage; \
+ temporalStorage = x; x = y; y = temporalStorage; }
+
+ T a(ABS(aa)), b(ABS(bb)), c(ABS(cc)), d(ABS(dd));
+
+ // For numerical reason, let's just put the biggest in "a" (we are not sorting)
+ if (a < b) std::swap(a,b);
+ if (a < c) swapValues(a,c);
+ if (a < d) swapValues(a,d);
+
+ return a * SQRT(1 + (b/a)*(b/a) + (c/a)*(c/a) + (d/a)*(d/a));
+ }
+
+ //@}
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/ModeledPR.cpp b/dev/src/ModeledPR.cpp
new file mode 100644
index 0000000..7ac2aba
--- /dev/null
+++ b/dev/src/ModeledPR.cpp
@@ -0,0 +1,122 @@
+/**
+ * @file ModeledPR.cpp
+ * Class to compute modeled pseudoranges of a mobile receiver
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2006, 2007
+//
+//============================================================================
+
+
+
+#include "ModeledPR.hpp"
+
+
+namespace gpstk
+{
+
+ /* Method to set an a priori position of receiver using Bancroft method.
+ *
+ * @param Tr Time of observation
+ * @param Satellite Vector of satellites in view
+ * @param Pseudorange Pseudoranges measured from mobile to satellites
+ * @param Eph Satellites Ephemeris
+ *
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ int ModeledPR::Prepare(const DayTime& Tr, std::vector<SatID>& Satellite, std::vector<double>& Pseudorange, const EphemerisStore& Eph)
+ {
+ Matrix<double> SVP;
+ Bancroft Ban;
+ Vector<double> vPos;
+ PRSolution raimObj;
+
+ try
+ {
+ raimObj.PrepareAutonomousSolution(Tr, Satellite, Pseudorange, Eph, SVP);
+ if (Ban.Compute(SVP, vPos) < 0 ) return -1;
+ }
+ catch(...)
+ {
+ return -1;
+ }
+
+ return Prepare(vPos(0), vPos(1), vPos(2));
+
+ }
+
+
+ /* Method to set the initial (a priori) position of receiver before
+ * Compute() method.
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ int ModeledPR::Prepare(const double& aRx, const double& bRx, const double& cRx, Position::CoordinateSystem
+ s, GeoidModel *geoid) throw(GeometryException)
+ {
+ int result = setInitialRxPosition(aRx, bRx, cRx, s, geoid);
+ // If everything is OK, the model is prepared
+ if (result ==0) modelPrepared = true; else modelPrepared = false;
+
+ return result;
+ }
+
+
+ /* Method to set the initial (a priori) position of receiver before
+ * Compute() method.
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ int ModeledPR::Prepare(const Position& RxCoordinates) throw(GeometryException)
+ {
+
+ int result = setInitialRxPosition(RxCoordinates);
+ // If everything is OK, the model is prepared
+ if (result ==0) modelPrepared = true; else modelPrepared = false;
+
+ return result;
+ }
+
+
+
+ /* Returns a satTypeValueMap object, adding the new data generated when calling a modeling object.
+ *
+ * @param time Epoch.
+ * @param gData Data object holding the data.
+ */
+ satTypeValueMap& ModeledPR::processModel(const DayTime& time, satTypeValueMap& gData) throw(Exception)
+ {
+ // First, if the model is not prepared let's take care of it
+ if (!getModelPrepared()) Prepare(time, gData);
+
+ ModeledReferencePR::processModel(time, gData);
+
+ return gData;
+ } // End ModeledPR::processModel(const DayTime& time, satTypeValueMap& gData)
+
+
+
+} // namespace
+
diff --git a/dev/src/ModeledPR.hpp b/dev/src/ModeledPR.hpp
new file mode 100644
index 0000000..be7c9b4
--- /dev/null
+++ b/dev/src/ModeledPR.hpp
@@ -0,0 +1,442 @@
+/**
+ * @file ModeledPR.hpp
+ * Class to compute modeled pseudoranges of a mobile receiver
+ */
+
+#ifndef GPSTK_MODELEDPR_HPP
+#define GPSTK_MODELEDPR_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2006, 2007
+//
+//============================================================================
+
+
+
+#include "ModeledReferencePR.hpp"
+#include "Matrix.hpp"
+#include "Bancroft.hpp"
+#include "PRSolution.hpp"
+#include "DataStructures.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup GPSsolutions */
+ //@{
+
+ /** This class compute modeled pseudoranges from satellites to a mobile receiver.
+ *
+ * The main difference between this class and ModeledReferencePR is that for a
+ * mobile receiver we should "prepare" the computation giving an estimate of
+ * the mobile station position. This position may be the last known
+ * position or it may be estimated using a method such as Bancroft.
+ *
+ * Prepare() method is used for this.
+ *
+ * This class may be used either in a Vector- and Matrix-oriented way, or
+ * with GNSS data structure objects from "DataStructures" class. In any
+ * case, it is intented to be used with stations where the position
+ * changes with time.
+ *
+ * A typical way to use this class with GNSS data structures follows:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o"); // Data stream
+ * RinexNavStream rnavin("brdc0300.02n"); // Ephemeris data stream
+ * RinexNavData rNavData;
+ * BCEphemerisStore bceStore;
+ * while (rnavin >> rNavData) bceStore.addEphemeris(rNavData);
+ * bceStore.SearchPast(); // This is the default
+ *
+ * RinexNavHeader rNavHeader;
+ * IonoModelStore ionoStore;
+ * IonoModel ioModel;
+ * rnavin >> rNavHeader; // Read navigation RINEX header
+ * ioModel.setModel(rNavHeader.ionAlpha, rNavHeader.ionBeta);
+ * ionoStore.addIonoModel(DayTime::BEGINNING_OF_TIME, ioModel);
+ *
+ * // EBRE station nominal position
+ * Position nominalPos(4833520.3800, 41536.8300, 4147461.2800);
+ *
+ * // Declare a tropospheric model object, setting the defaults
+ * MOPSTropModel mopsTM(nominalPos.getAltitude(), nominalPos.getGeodeticLatitude(), 30);
+ *
+ * // Declare the modeler object, setting all the parameters in one pass
+ * // As stated, it will compute the model using the C1 observable
+ * ModeledPR model(ionoStore, mopsTM, bceStore, TypeID::C1);
+ *
+ * // Set the initial apriori position using the Bancroft method
+ * model.Prepare();
+ *
+ * gnssRinex gRin;
+ *
+ * while(rin >> gRin) {
+ * gRin >> model;
+ * }
+ * @endcode
+ *
+ * The "ModeledPR" object will visit every satellite in the
+ * GNSS data structure that is "gRin" and will try to compute its
+ * model: Prefit residual, geometric distance, relativity delay,
+ * ionospheric/tropospheric corrections, geometry matrix, etc.
+ *
+ * When used with the ">>" operator, this class returns the same incoming
+ * data structure with the extra data inserted along their corresponding
+ * satellites. Be warned that if a given satellite does not
+ * have the observations required, it will be summarily deleted from the data
+ * structure.
+ *
+ * @sa ModeledPseudorangeBase.hpp and ModeledReferencePR.hpp for base classes.
+ *
+ */
+ class ModeledPR : public ModeledReferencePR
+ {
+ public:
+
+ /// Implicit constructor
+ ModeledPR() : modelPrepared(false) {};
+
+
+ /** Explicit constructor, taking as input initial receiver coordinates, default
+ * ionospheric and tropospheric models, ephemeris to be used, default observable
+ * and whether TGD will be computed or not.
+ *
+ * This constructor is meant to be used when working with GNSS data structures
+ * in order to set the basic parameters from the beginning.
+ *
+ * @param RxCoordinates Initial receiver coordinates.
+ * @param dIonoModel Ionospheric model to be used by default.
+ * @param dTropoModel Tropospheric model to be used by default.
+ * @param dEphemeris EphemerisStore object to be used by default.
+ * @param dObservable Observable type to be used by default.
+ * @param usetgd Whether TGD will be used by default or not.
+ *
+ * @sa DataStructures.hpp.
+ */
+ ModeledPR(const Position& RxCoordinates, IonoModelStore& dIonoModel, TropModel& dTropoModel, EphemerisStore& dEphemeris, const TypeID& dObservable, bool usetgd = true) throw(Exception) {
+ InitializeValues();
+ Prepare(RxCoordinates);
+ setDefaultIonoModel(dIonoModel);
+ setDefaultTropoModel(dTropoModel);
+ setDefaultObservable(dObservable);
+ setDefaultEphemeris(dEphemeris);
+ useTGD = usetgd;
+ };
+
+
+ /** Explicit constructor, taking as input initial receiver coordinates, default
+ * ionospheric model, ephemeris to be used, default observable and whether TGD
+ * will be computed or not.
+ *
+ * The default tropospheric model will be set to NULL.
+ *
+ * This constructor is meant to be used when working with GNSS data structures
+ * in order to set the basic parameters from the beginning.
+ *
+ * @param RxCoordinates Initial receiver coordinates.
+ * @param dIonoModel Ionospheric model to be used by default.
+ * @param dEphemeris EphemerisStore object to be used by default.
+ * @param dObservable Observable type to be used by default.
+ * @param usetgd Whether TGD will be used by default or not.
+ *
+ * @sa DataStructures.hpp.
+ */
+ ModeledPR(const Position& RxCoordinates, IonoModelStore& dIonoModel, EphemerisStore& dEphemeris, const TypeID& dObservable, bool usetgd = true) throw(Exception) {
+ InitializeValues();
+ Prepare(RxCoordinates);
+ setDefaultIonoModel(dIonoModel);
+ pDefaultTropoModel = NULL;
+ setDefaultObservable(dObservable);
+ setDefaultEphemeris(dEphemeris);
+ useTGD = usetgd;
+ };
+
+
+ /** Explicit constructor, taking as input initial receiver coordinates, default
+ * tropospheric model, ephemeris to be used, default observable and whether TGD
+ * will be computed or not.
+ *
+ * The default ionospheric model will be set to NULL.
+ *
+ * This constructor is meant to be used when working with GNSS data structures
+ * in order to set the basic parameters from the beginning.
+ *
+ * @param RxCoordinates Initial receiver coordinates.
+ * @param dTropoModel Tropospheric model to be used by default.
+ * @param dEphemeris EphemerisStore object to be used by default.
+ * @param dObservable Observable type to be used by default.
+ * @param usetgd Whether TGD will be used by default or not.
+ *
+ * @sa DataStructures.hpp.
+ */
+ ModeledPR(const Position& RxCoordinates, TropModel& dTropoModel, EphemerisStore& dEphemeris, const TypeID& dObservable, bool usetgd = true) throw(Exception) {
+ InitializeValues();
+ Prepare(RxCoordinates);
+ pDefaultIonoModel = NULL;
+ setDefaultTropoModel(dTropoModel);
+ setDefaultObservable(dObservable);
+ setDefaultEphemeris(dEphemeris);
+ useTGD = usetgd;
+ };
+
+
+ /** Explicit constructor, taking as input initial receiver coordinates,
+ * ephemeris to be used, default observable and whether TGD will be
+ * computed or not.
+ *
+ * Both the tropospheric and ionospheric models will be set to NULL.
+ *
+ * This constructor is meant to be used when working with GNSS data structures
+ * in order to set the basic parameters from the beginning.
+ *
+ * @param RxCoordinates Initial receiver coordinates.
+ * @param dEphemeris EphemerisStore object to be used by default.
+ * @param dObservable Observable type to be used by default.
+ * @param usetgd Whether TGD will be used by default or not.
+ *
+ * @sa DataStructures.hpp.
+ */
+ ModeledPR(const Position& RxCoordinates, EphemerisStore& dEphemeris, const TypeID& dObservable, bool usetgd = true) throw(Exception) {
+ InitializeValues();
+ Prepare(RxCoordinates);
+ pDefaultIonoModel = NULL;
+ pDefaultTropoModel = NULL;
+ setDefaultObservable(dObservable);
+ setDefaultEphemeris(dEphemeris);
+ useTGD = usetgd;
+ };
+
+
+ /** Explicit constructor, taking as input default ionospheric and tropospheric
+ * models, ephemeris to be used, default observable and whether TGD will be
+ * computed or not.
+ *
+ * This constructor is meant to be used when working with GNSS data structures
+ * in order to set the basic parameters from the beginning.
+ *
+ * @param dIonoModel Ionospheric model to be used by default.
+ * @param dTropoModel Tropospheric model to be used by default.
+ * @param dObservable Observable type to be used by default.
+ * @param dEphemeris EphemerisStore object to be used by default.
+ * @param usetgd Whether TGD will be used by default or not.
+ *
+ * @sa DataStructures.hpp.
+ */
+ ModeledPR(IonoModelStore& dIonoModel, TropModel& dTropoModel, EphemerisStore& dEphemeris, const TypeID& dObservable, bool usetgd = true) throw(Exception) {
+ InitializeValues();
+ setDefaultIonoModel(dIonoModel);
+ setDefaultTropoModel(dTropoModel);
+ setDefaultObservable(dObservable);
+ setDefaultEphemeris(dEphemeris);
+ useTGD = usetgd;
+ };
+
+
+ /** Explicit constructor, taking as input default ionospheric model,
+ * ephemeris to be used, default observable and whether TGD will be
+ * computed or not.
+ *
+ * This constructor is meant to be used when working with GNSS data structures
+ * in order to set the basic parameters from the beginning.
+ *
+ * @param dIonoModel Ionospheric model to be used by default.
+ * @param dObservable Observable type to be used by default.
+ * @param dEphemeris EphemerisStore object to be used by default.
+ * @param usetgd Whether TGD will be used by default or not.
+ *
+ * @sa DataStructures.hpp.
+ */
+ ModeledPR(IonoModelStore& dIonoModel, EphemerisStore& dEphemeris, const TypeID& dObservable, bool usetgd = true) throw(Exception) {
+ InitializeValues();
+ setDefaultIonoModel(dIonoModel);
+ pDefaultTropoModel = NULL;
+ setDefaultObservable(dObservable);
+ setDefaultEphemeris(dEphemeris);
+ useTGD = usetgd;
+ };
+
+
+ /** Explicit constructor, taking as input default tropospheric model,
+ * ephemeris to be used, default observable and whether TGD will be
+ * computed or not.
+ *
+ * This constructor is meant to be used when working with GNSS data structures
+ * in order to set the basic parameters from the beginning.
+ *
+ * @param dTropoModel Tropospheric model to be used by default.
+ * @param dObservable Observable type to be used by default.
+ * @param dEphemeris EphemerisStore object to be used by default.
+ * @param usetgd Whether TGD will be used by default or not.
+ *
+ * @sa DataStructures.hpp.
+ */
+ ModeledPR(TropModel& dTropoModel, EphemerisStore& dEphemeris, const TypeID& dObservable, bool usetgd = true) throw(Exception) {
+ InitializeValues();
+ pDefaultIonoModel = NULL;
+ setDefaultTropoModel(dTropoModel);
+ setDefaultObservable(dObservable);
+ setDefaultEphemeris(dEphemeris);
+ useTGD = usetgd;
+ };
+
+
+ /** Method to set an a priori position of receiver using Bancroft method.
+ *
+ * @param Tr Time of observation
+ * @param Satellite Vector of satellites in view
+ * @param Pseudorange Pseudoranges measured from mobile to satellites
+ * @param Eph Satellites Ephemeris
+ *
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ virtual int Prepare(const DayTime& Tr, std::vector<SatID>& Satellite, std::vector<double>& Pseudorange, const EphemerisStore& Eph);
+
+
+ /** Method to set an a priori position of receiver using Bancroft method.
+ *
+ * @param Tr Time of observation
+ * @param Satellite Vector of satellites in view
+ * @param Pseudorange Pseudoranges measured from mobile to satellites
+ * @param Eph Satellites Ephemeris
+ *
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ virtual int Prepare(const DayTime& Tr, const Vector<SatID>& Satellite, const Vector<double>& Pseudorange, const EphemerisStore& Eph)
+ {
+ int i;
+ std::vector<SatID> vSat;
+ std::vector<double> vPR;
+
+ // Convert from gpstk::Vector to std::vector
+ for (i = 0; i < (int)Satellite.size(); i++)
+ vSat.push_back(Satellite[i]);
+
+ for (i = 0; i < (int)Pseudorange.size(); i++)
+ vPR.push_back(Pseudorange[i]);
+
+ return Prepare(Tr, vSat, vPR, Eph);
+
+ };
+
+
+ /** Method to set an a priori position of receiver using Bancroft method. Intended to be used
+ * with GNSS data structures.
+ *
+ * @param time DayTime object for this epoch
+ * @param data A satTypeValueMap data structure holding the data
+ *
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ virtual inline int Prepare(const DayTime& time, const satTypeValueMap& data)
+ {
+ int i;
+ std::vector<SatID> vSat;
+ std::vector<double> vPR;
+ Vector<SatID> Satellite( data.getVectorOfSatID() );
+ Vector<double> Pseudorange( data.getVectorOfTypeID( (*this).getDefaultObservable() ) );
+
+ // Convert from gpstk::Vector to std::vector
+ for (i = 0; i < (int)Satellite.size(); i++)
+ vSat.push_back(Satellite[i]);
+
+ for (i = 0; i < (int)Pseudorange.size(); i++)
+ vPR.push_back(Pseudorange[i]);
+
+ return Prepare(time, vSat, vPR, (*( (*this).getDefaultEphemeris())) );
+
+ };
+
+
+ /** Method to set an a priori position of receiver using Bancroft method. Intended to be used
+ * with GNSS data structures.
+ *
+ * @param gData GNSS data structure to be used
+ *
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ virtual inline int Prepare(const gnssSatTypeValue& gData)
+ {
+ return ((*this).Prepare(gData.header.epoch, gData.body));
+ };
+
+
+ /** Method to set the initial (a priori) position of receiver before
+ * Compute() method.
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ virtual int Prepare(const double& aRx, const double& bRx, const double& cRx,
+ Position::CoordinateSystem s=Position::Cartesian,
+ GeoidModel *geoid=NULL) throw(GeometryException);
+
+
+ /** Method to set the initial (a priori) position of receiver before
+ * Compute() method.
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ virtual int Prepare(const Position& RxCoordinates) throw(GeometryException);
+
+
+ /** Returns a satTypeValueMap object, adding the new data generated when calling a modeling object.
+ *
+ * @param time Epoch.
+ * @param gData Data object holding the data.
+ */
+ virtual satTypeValueMap& processModel(const DayTime& time, satTypeValueMap& gData) throw(Exception);
+
+
+ /// Method to get if the model has been prepared.
+ inline bool getModelPrepared() const { return modelPrepared; };
+
+
+ /** Method to forcefully set whether the model has been prepared.
+ *
+ * @param prepare Boolean indicating whether the model has been prepared.
+ */
+ inline void setModelPrepared(const bool& prepare) { modelPrepared = prepare; };
+
+
+ /// Destructor.
+ virtual ~ModeledPR() throw() {};
+
+
+ protected:
+
+ bool modelPrepared;
+
+
+ }; // class ModeledPR
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/ModeledPseudorangeBase.hpp b/dev/src/ModeledPseudorangeBase.hpp
new file mode 100644
index 0000000..082f986
--- /dev/null
+++ b/dev/src/ModeledPseudorangeBase.hpp
@@ -0,0 +1,130 @@
+/**
+ * @file ModeledPseudorangeBase.hpp
+ * Abstract base class for modeled pseudoranges
+ */
+
+#ifndef GPSTK_MODELEDPSEUDORANGEBASE_HPP
+#define GPSTK_MODELEDPSEUDORANGEBASE_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+
+#include "Xvt.hpp"
+#include "Position.hpp"
+#include "Matrix.hpp"
+#include "Vector.hpp"
+#include "RinexObsHeader.hpp"
+#include <vector>
+
+
+namespace gpstk
+{
+ /** @addtogroup GPSsolutions */
+ //@{
+
+ /**
+ * This abstract class deals with modeled pseudoranges.
+ */
+ class ModeledPseudorangeBase
+ {
+ public:
+
+ /// Implicit constructor
+ ModeledPseudorangeBase() : minElev(10.0) {};
+
+ /// Either estimated or "a priori" position of receiver
+ Position rxPos;
+
+ /// Estimated geometric ranges from satellites to receiver
+ Vector<double> geometricRho;
+
+ /// Satellite clock biases, in meters
+ Vector<double> svClockBiases;
+
+ /// Satellite ECEF positions (m) and velocities (m/s) at transmission time
+ Vector<Xvt> svXvt;
+
+ /// Epoch when the signal left the satellite (Transmission time)
+ Vector<DayTime> svTxTime;
+
+ /// Total Group Delay (TGD) of satellites, in meters
+ Vector<double> svTGD;
+
+ /// Relativity corrections of satellites, in meters
+ Vector<double> svRelativity;
+
+ /// Ionospheric corrections in each receiver-satellite ray, in meters
+ Vector<double> ionoCorrections;
+
+ /// Tropospheric corrections in each receiver-satellite ray, in meters
+ Vector<double> tropoCorrections;
+
+ /// Observed (measured) pseudoranges from satellites to receiver
+ Vector<double> observedPseudoranges;
+
+ /// Modeled pseudoranges from satellites to receiver
+ Vector<double> modeledPseudoranges;
+
+ /// Prefit-residuals: Difference between Pseudoranges and ModeledPseudoranges
+ Vector<double> prefitResiduals;
+
+ /// Matrix of Geometry (director cosines from receiver to satellites)
+ Matrix<double> geoMatrix;
+
+ /// The elevation cut-off angle for accepted satellites. By default is set to 10 degrees
+ double minElev;
+
+ /// Any other biases (in meters) that the user wants to include. Will be substracted from modeled pseudoranges.
+ Vector<double> extraBiases;
+
+ /// Boolean telling if there are available computed data for at least 4 satellites
+ bool validData;
+
+ /// Vector with the PRN of satellites available for computing.
+ Vector<SatID> availableSV;
+
+ /// Vector with the PRN of satellites rejected or not used in computing.
+ Vector<SatID> rejectedSV;
+
+ /// Vector with the geodetic elevation of satellites from the receiver point of view.
+ Vector<double> elevationSV;
+
+ /// Vector with the geodetic azimuth of satellites from the receiver point of view.
+ Vector<double> azimuthSV;
+
+ /// Destructor.
+ virtual ~ModeledPseudorangeBase() throw() {};
+
+ protected:
+ /// Method to set the initial (a priori) position of receiver.
+ virtual int setInitialRxPosition() throw(Exception) = 0;
+
+
+ }; // class ModeledPseudorangeBase
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/ModeledReferencePR.cpp b/dev/src/ModeledReferencePR.cpp
new file mode 100644
index 0000000..979414a
--- /dev/null
+++ b/dev/src/ModeledReferencePR.cpp
@@ -0,0 +1,410 @@
+/**
+ * @file ModeledReferencePR.cpp
+ * Class to compute modeled pseudoranges using a reference station
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2006, 2007
+//
+//============================================================================
+
+
+
+#include "ModeledReferencePR.hpp"
+
+using namespace std;
+namespace gpstk
+{
+
+ /* Compute the modeled pseudoranges, given satellite ID's, pseudoranges and other data
+ * @param Tr Measured time of reception of the data.
+ * @param Satellite Vector of satellites; on successful return, satellites that
+ * were excluded by the algorithm are marked by a negative
+ * Satellite[i].id
+ * @param Pseudorange Vector of raw pseudoranges (parallel to satellite), in meters.
+ * @param Eph EphemerisStore to be used.
+ * @param pTropModel Pointer to tropospheric model to be used (@sa TropModel.hpp). By
+ * default points to NULL.
+ * @param pIonoModel Pointer to ionospheric model to be used (@sa IonoModelStore.hpp).
+ * By default points to NULL.
+ * @param extraBiases Vector of extra biases to be added to the model.
+ *
+ * @return
+ * Number of satellites with valid data
+ */
+ int ModeledReferencePR::Compute(const DayTime& Tr, Vector<SatID>& Satellite,
+ Vector<double>& Pseudorange, const EphemerisStore& Eph, const Vector<double>& extraBiases,
+ TropModel *pTropModel, IonoModelStore *pIonoModel) throw(Exception)
+ {
+ try {
+
+ int N = Satellite.size();
+ if(N <= 0) return 0; // No deal if there are no satellites
+
+ int i;
+ int eN = int(extraBiases.size()) - 1; // Maximum valid index of extraBiases vector
+ int validSats(0);
+ // Some std::vector to hold temporal values (do not confuse with gpstk::Vector)
+ vector<double> vPR;
+ vector<double> vGeometricRho;
+ vector<double> vClock;
+ vector<double> vTGD;
+ vector<double> vRel;
+ vector<double> vTrop;
+ vector<double> vIono;
+ vector<double> vObservedPR;
+ vector<double> vModeledPR;
+ vector<double> vPrefit;
+ vector<double> vElevation;
+ vector<double> vAzimuth;
+ vector<Xvt> vXvt;
+ vector<DayTime> vTxTime;
+ vector<SatID> vAvailableSV;
+ vector<SatID> vRejectedSV;
+ vector<Triple> vCosines;
+ vector<Triple>::iterator iter; // Iterator for vCosines vector
+ // A lot of the work is done by a CorrectedEphemerisRange object
+ CorrectedEphemerisRange cerange;
+ validData = false;
+
+ // Let's make sure everything is clean
+ rejectedSV.resize(0);
+ availableSV.resize(0);
+ geometricRho.resize(0);
+ svClockBiases.resize(0);
+ svXvt.resize(0);
+ svTxTime.resize(0);
+ svTGD.resize(0);
+ svRelativity.resize(0);
+ ionoCorrections.resize(0);
+ tropoCorrections.resize(0);
+ observedPseudoranges.resize(0);
+ modeledPseudoranges.resize(0);
+ prefitResiduals.resize(0);
+ elevationSV.resize(0);
+ azimuthSV.resize(0);
+ geoMatrix.resize(0, 0);
+
+ for (i=0; i<N; i++) {
+ if(Satellite[i].id <= 0) { // Skip marked satellites
+ // First, make sure we are using a positive satellite id
+ // Note: Now that we have a SatID class, it is a BAD IDEA to use negative id's
+ // in order to mark faulty or rejected satellites
+ SatID tempSat(std::abs(Satellite[i].id), Satellite[i].system);
+ vRejectedSV.push_back(tempSat);
+ continue;
+ }
+ try {
+ // Scalars to hold temporal values
+ double tempPR(0.0);
+ double tempTGD(0.0);
+ double tempTrop(0.0);
+ double tempIono(0.0);
+ double tempModeledPR(0.0);
+ double tempPrefit(0.0);
+
+ try {
+ // Compute most of the parameters
+ tempPR = cerange.ComputeAtTransmitTime(Tr, Pseudorange[i], rxPos, Satellite[i], Eph);
+ }
+ catch(EphemerisStore::NoEphemerisFound& e) {
+ // If there were no ephemeris for this satellite, let's mark it
+ vRejectedSV.push_back(Satellite[i]);
+ continue;
+ };
+
+ // Let's test if satellite has enough elevation over horizon
+ if (rxPos.elevationGeodetic(cerange.svPosVel) < (*this).minElev) {
+ // Mark this satellite if it doesn't have enough elevation
+ vRejectedSV.push_back(Satellite[i]);
+ continue;
+ }
+
+ // If given, computes tropospheric model
+ if(pTropModel) tempTrop = getTropoCorrections(pTropModel, cerange.elevationGeodetic);
+
+ // If given, computes ionospheric model
+ if(pIonoModel) {
+ Geodetic rxGeo(rxPos.getGeodeticLatitude(), rxPos.getLongitude(), rxPos.getAltitude()); // Convert Position rxPos to Geodetic rxGeo
+ tempIono = getIonoCorrections(pIonoModel, Tr, rxGeo, cerange.elevationGeodetic, cerange.azimuthGeodetic);
+ };
+
+ tempModeledPR = tempPR + tempTrop + tempIono;
+
+ // Check if there could be an extra bias defined for this satellite
+ if (i <= eN ) tempModeledPR += extraBiases(i);
+
+ // Computing Total Group Delay (TGD - meters) and adding it to result
+ if(useTGD) {
+ tempTGD = getTGDCorrections(Tr, Eph, Satellite[i]);
+ tempModeledPR += tempTGD;
+ }
+
+ tempPrefit = Pseudorange[i] - tempModeledPR;
+
+ // Let's store the results in their corresponding std::vector
+ vGeometricRho.push_back(cerange.rawrange);
+ vClock.push_back(cerange.svclkbias);
+ vXvt.push_back(cerange.svPosVel);
+ vTxTime.push_back(cerange.transmit);
+ vTGD.push_back(tempTGD);
+ // Relativity was computed with a negative sign added
+ vRel.push_back(-cerange.relativity);
+ vIono.push_back(tempIono);
+ vTrop.push_back(tempTrop);
+ vObservedPR.push_back(Pseudorange[i]);
+ vModeledPR.push_back(tempModeledPR);
+ vPrefit.push_back(tempPrefit);
+ vElevation.push_back(cerange.elevationGeodetic);
+ vAzimuth.push_back(cerange.azimuthGeodetic);
+ vAvailableSV.push_back(Satellite[i]);
+ vCosines.push_back(cerange.cosines);
+
+ validSats += 1; // If everything is OK, increment valid sat's counter
+
+ } // End of try
+ catch(EphemerisStore::NoEphemerisFound& e) {
+ // If there were no ephemeris for this satellite, let's mark it
+ vRejectedSV.push_back(Satellite[i]);
+ continue;
+ }
+ catch(...) {
+ Exception unknownEx("An unknown exception has happened in ModeledReferencePR object.");
+ GPSTK_THROW(unknownEx);
+ }
+
+ } // End of "for" loop
+
+ // Let's storage results in their corresponding gpstk::Vector
+ rejectedSV = vRejectedSV;
+ availableSV = vAvailableSV;
+ geometricRho = vGeometricRho;
+ svClockBiases = vClock;
+ svXvt = vXvt;
+ svTxTime = vTxTime;
+ svTGD = vTGD;
+ svRelativity = vRel;
+ ionoCorrections = vIono;
+ tropoCorrections = vTrop;
+ observedPseudoranges = vObservedPR;
+ modeledPseudoranges = vModeledPR;
+ prefitResiduals = vPrefit;
+ elevationSV = vElevation;
+ azimuthSV = vAzimuth;
+
+ // Let's fill in the Geometry Matrix
+ geoMatrix.resize((size_t)validSats, 4); // First, set the correct size
+ int counter(0);
+ for ( iter=vCosines.begin(); iter!=vCosines.end(); iter++ )
+ {
+ geoMatrix(counter,0) = (*iter)[0];
+ geoMatrix(counter,1) = (*iter)[1];
+ geoMatrix(counter,2) = (*iter)[2];
+ geoMatrix(counter,3) = 1.0; // When using pseudorange method, this is 1.0
+ counter++;
+ }
+
+ if (validSats >= 4) validData = true;
+
+ return validSats; // Return number of valid satellites
+
+ } // end of "try"
+ catch(Exception& e) {
+ GPSTK_RETHROW(e);
+ }
+ } // end ModeledReferencePR::Compute()
+
+
+ // Compute the modeled pseudoranges, given satellite ID's, pseudoranges and other data
+ int ModeledReferencePR::Compute(const DayTime& Tr, Vector<SatID>& Satellite,
+ Vector<double>& Pseudorange, const EphemerisStore& Eph) throw(Exception)
+ {
+ // Create missing parameters
+ Vector<double> vectorBIAS(1, 0.0);
+
+ // Let's call the most complete Compute method defined above
+ return ModeledReferencePR::Compute(Tr, Satellite, Pseudorange, Eph, vectorBIAS);
+ }
+
+
+ // Compute the modeled pseudoranges, given satellite ID's, pseudoranges and other data
+ int ModeledReferencePR::Compute(const DayTime& Tr, Vector<SatID>& Satellite,
+ Vector<double>& Pseudorange, const EphemerisStore& Eph, TropModel *pTropModel)
+ throw(Exception)
+ {
+ // Create missing parameters
+ Vector<double> vectorBIAS(1, 0.0);
+
+ // Let's call the most complete Compute method defined above
+ return ModeledReferencePR::Compute(Tr, Satellite, Pseudorange, Eph, vectorBIAS, pTropModel);
+ }
+
+
+ // Compute the modeled pseudoranges, given satellite ID's, pseudoranges and other data
+ int ModeledReferencePR::Compute(const DayTime& Tr, Vector<SatID>& Satellite,
+ Vector<double>& Pseudorange, const EphemerisStore& Eph, const Vector<double>& extraBiases,
+ IonoModelStore *pIonoModel) throw(Exception)
+ {
+ // Create missing parameters
+ TropModel *pTropModel=NULL;
+
+ // Let's call the most complete Compute method defined above
+ return ModeledReferencePR::Compute(Tr, Satellite, Pseudorange, Eph, extraBiases, pTropModel, pIonoModel);
+ }
+
+
+ // Compute the modeled pseudoranges, given satellite ID's, pseudoranges and other data
+ int ModeledReferencePR::Compute(const DayTime& Tr, Vector<SatID>& Satellite,
+ Vector<double>& Pseudorange, const EphemerisStore& Eph, IonoModelStore *pIonoModel)
+ throw(Exception)
+ {
+ // Create missing parameters
+ Vector<double> vectorBIAS(1, 0.0);
+ TropModel *pTropModel=NULL;
+
+ // Let's call the most complete Compute method defined above
+ return ModeledReferencePR::Compute(Tr, Satellite, Pseudorange, Eph, vectorBIAS, pTropModel, pIonoModel);
+ }
+
+
+ // Compute the modeled pseudoranges, given satellite ID's, pseudoranges and other data
+ int ModeledReferencePR::Compute(const DayTime& Tr, Vector<SatID>& Satellite,
+ Vector<double>& Pseudorange, const EphemerisStore& Eph, TropModel *pTropModel,
+ IonoModelStore *pIonoModel) throw(Exception)
+ {
+ // Create missing parameters
+ Vector<double> vectorBIAS(1, 0.0);
+
+ // Let's call the most complete Compute method defined above
+ return ModeledReferencePR::Compute(Tr, Satellite, Pseudorange, Eph, vectorBIAS, pTropModel, pIonoModel);
+ }
+
+
+ /* Compute just one modeled pseudorange, given satellite ID's, pseudorange and other data
+ * @param Tr Measured time of reception of the data.
+ * @param Satellite ID's of satellite
+ * @param Pseudorange Pseudorange (parallel to satellite), in meters.
+ * @param Eph EphemerisStore to be used.
+ * @param pTropModel Pointer to tropospheric model to be used (@sa TropModel.hpp). By
+ * default points to NULL.
+ * @param pIonoModel Pointer to ionospheric model to be used (@sa IonoModelStore.hpp).
+ * By default points to NULL.
+ * @param extraBiases Extra bias to be added to the model.
+ *
+ * @return
+ * 1 if satellite has valid data
+ */
+ int ModeledReferencePR::Compute(const DayTime& Tr, SatID& Satellite, double& Pseudorange,
+ const EphemerisStore& Eph, const double& extraBiases, TropModel *pTropModel,
+ IonoModelStore *pIonoModel) throw(Exception)
+ {
+ // Create Vectors from scalar values
+ Vector<SatID> vectorSV(1, Satellite);
+ Vector<double> vectorPR(1, Pseudorange);
+ Vector<double> vectorBIAS(1, extraBiases);
+
+ // Now, let's call one of the Compute methods defined above
+ return ModeledReferencePR::Compute(Tr, vectorSV, vectorPR, Eph, vectorBIAS, pTropModel, pIonoModel);
+ }
+
+
+
+ /* Returns a satTypeValueMap object, adding the new data generated when calling a modeling object.
+ *
+ * @param time Epoch.
+ * @param gData Data object holding the data.
+ */
+ satTypeValueMap& ModeledReferencePR::processModel(const DayTime& time, satTypeValueMap& gData) throw(Exception)
+ {
+ Vector<SatID> Vsat = gData.getVectorOfSatID();
+ Vector<double> Vprange = gData.getVectorOfTypeID( (*this).getDefaultObservable() );
+ try
+ {
+ // Call the Compute() method with the defaults. Those defaults MUST HAVE BEEN
+ // previously set, usually when creating modPR with the appropriate constructor.
+ (*this).Compute( time, Vsat, Vprange, (*((*this).getDefaultEphemeris())), (*this).extraBiases, (*this).getDefaultTropoModel(), (*this).getDefaultIonoModel() );
+
+ // Once we get the result, it may be necessary to make some satellite cleanup
+ SatIDSet rejectedSet;
+ for (size_t i = 0; i<(*this).rejectedSV.size(); ++i) { rejectedSet.insert((*this).rejectedSV[i]); }
+ gData.removeSatID(rejectedSet); // All rejected satellites are removed
+
+ // Now we have to add the new values to the data structure
+ gData.insertTypeIDVector(TypeID::prefitC, (*this).prefitResiduals);
+ gData.insertTypeIDVector(TypeID::rho, (*this).geometricRho);
+ gData.insertTypeIDVector(TypeID::dtSat, (*this).svClockBiases);
+ gData.insertTypeIDVector(TypeID::rel, (*this).svRelativity);
+ gData.insertTypeIDVector(TypeID::ionoSlant, (*this).ionoCorrections);
+ gData.insertTypeIDVector(TypeID::tropoSlant, (*this).tropoCorrections);
+ gData.insertTypeIDVector(TypeID::elevation, (*this).elevationSV);
+ gData.insertTypeIDVector(TypeID::azimuth, (*this).azimuthSV);
+
+ // Get the instrumental delays right
+ if (useTGD)
+ {
+ TypeID instDelayType;
+ switch ( (*this).getDefaultObservable().type )
+ {
+ case TypeID::C1:
+ instDelayType = TypeID::instC1;
+ break;
+ case TypeID::C2:
+ instDelayType = TypeID::instC2;
+ break;
+ case TypeID::C5:
+ instDelayType = TypeID::instC5;
+ break;
+ case TypeID::C6:
+ instDelayType = TypeID::instC6;
+ break;
+ case TypeID::C7:
+ instDelayType = TypeID::instC7;
+ break;
+ case TypeID::C8:
+ instDelayType = TypeID::instC8;
+ break;
+ default:
+ instDelayType = TypeID::instC1;
+ };
+ gData.insertTypeIDVector(instDelayType, (*this).svTGD);
+ }
+
+ // Now, lets insert the geometry matrix
+ TypeIDSet tSet;
+ tSet.insert(TypeID::dx);
+ tSet.insert(TypeID::dy);
+ tSet.insert(TypeID::dz);
+ tSet.insert(TypeID::cdt);
+ gData.insertMatrix(tSet, (*this).geoMatrix);
+
+
+ return gData;
+ }
+ catch(Exception& e) {
+ GPSTK_RETHROW(e);
+ }
+
+ } // End ModeledReferencePR::processModel(const DayTime& time, satTypeValueMap& gData)
+
+
+
+
+} // namespace
+
diff --git a/dev/src/ModeledReferencePR.hpp b/dev/src/ModeledReferencePR.hpp
new file mode 100644
index 0000000..33e4923
--- /dev/null
+++ b/dev/src/ModeledReferencePR.hpp
@@ -0,0 +1,615 @@
+/**
+ * @file ModeledReferencePR.hpp
+ * Class to compute modeled pseudoranges using a reference station
+ */
+
+#ifndef GPSTK_MODELEDREFERENCEPR_HPP
+#define GPSTK_MODELEDREFERENCEPR_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2006, 2007
+//
+//============================================================================
+
+
+
+#include "ModeledPseudorangeBase.hpp"
+#include "DayTime.hpp"
+#include "EngEphemeris.hpp"
+#include "EphemerisStore.hpp"
+#include "EphemerisRange.hpp"
+#include "TropModel.hpp"
+#include "IonoModel.hpp"
+#include "IonoModelStore.hpp"
+#include "Geodetic.hpp"
+#include "Position.hpp"
+#include "icd_200_constants.hpp"
+#include "TypeID.hpp"
+#include "DataStructures.hpp"
+
+
+namespace gpstk
+{
+ /** @addtogroup GPSsolutions */
+ //@{
+
+ /** This class compute modeled pseudoranges from satellites to a reference station.
+ *
+ * This class may be used either in a Vector- and Matrix-oriented way, or
+ * with GNSS data structure objects from "DataStructures" class. In any
+ * case, it is intented to be used with stations where the position is
+ * known (there comes the name: Modeled Reference station PseudoRange).
+ *
+ * A typical way to use this class with GNSS data structures follows:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o"); // Data stream
+ * RinexNavStream rnavin("brdc0300.02n"); // Ephemeris data stream
+ * RinexNavData rNavData;
+ * BCEphemerisStore bceStore;
+ * while (rnavin >> rNavData) bceStore.addEphemeris(rNavData);
+ * bceStore.SearchPast(); // This is the default
+ *
+ * RinexNavHeader rNavHeader;
+ * IonoModelStore ionoStore;
+ * IonoModel ioModel;
+ * rnavin >> rNavHeader; // Read navigation RINEX header
+ * ioModel.setModel(rNavHeader.ionAlpha, rNavHeader.ionBeta);
+ * ionoStore.addIonoModel(DayTime::BEGINNING_OF_TIME, ioModel);
+ *
+ * // EBRE station nominal position
+ * Position nominalPos(4833520.3800, 41536.8300, 4147461.2800);
+ *
+ * // Declare a tropospheric model object, setting the defaults
+ * MOPSTropModel mopsTM(nominalPos.getAltitude(), nominalPos.getGeodeticLatitude(), 30);
+ *
+ * // Declare the modeler object, setting all the parameters in one pass
+ * // As stated, it will compute the model using the C1 observable
+ * ModeledReferencePR modelRef(nominalPos, ionoStore, mopsTM, bceStore, TypeID::C1);
+ *
+ * gnssRinex gRin;
+ *
+ * while(rin >> gRin) {
+ * gRin >> modelRef;
+ * }
+ * @endcode
+ *
+ * The "ModeledReferencePR" object will visit every satellite in the
+ * GNSS data structure that is "gRin" and will try to compute its
+ * model: Prefit residual, geometric distance, relativity delay,
+ * ionospheric/tropospheric corrections, geometry matrix, etc.
+ *
+ * When used with the ">>" operator, this class returns the same incoming
+ * data structure with the extra data inserted along their corresponding
+ * satellites. Be warned that if a given satellite does not
+ * have the observations required, it will be summarily deleted from the data
+ * structure.
+ *
+ * @sa ModeledPseudorangeBase.hpp for base class.
+ *
+ */
+ class ModeledReferencePR : public ModeledPseudorangeBase
+ {
+ public:
+
+ /// Implicit constructor
+ ModeledReferencePR() throw(Exception) : useTGD(true), pDefaultIonoModel(NULL), pDefaultTropoModel(NULL), defaultObservable(TypeID::C1), pDefaultEphemeris(NULL)
+ {
+ InitializeValues();
+ };
+
+
+ /** Explicit constructor taking as input reference station coordinates.
+ *
+ * Those coordinates may be Cartesian (X, Y, Z in meters) or Geodetic
+ * (Latitude, Longitude, Altitude), but defaults to Cartesian.
+ *
+ * Also, a pointer to GeoidModel may be specified, but default is NULL
+ * (in which case WGS84 values will be used).
+ *
+ * @param aRx first coordinate [ X(m), or latitude (degrees N) ]
+ * @param bRx second coordinate [ Y(m), or longitude (degrees E) ]
+ * @param cRx third coordinate [ Z, height above ellipsoid or radius, in m ]
+ * @param s coordinate system (default is Cartesian, may be set to Geodetic).
+ * @param geoid pointer to GeoidModel (default is null, implies WGS84)
+ */
+ ModeledReferencePR(const double& aRx, const double& bRx, const double& cRx,
+ Position::CoordinateSystem s = Position::Cartesian,
+ GeoidModel *geoid = NULL) throw(Exception) : useTGD(true), pDefaultIonoModel(NULL), pDefaultTropoModel(NULL), defaultObservable(TypeID::C1), pDefaultEphemeris(NULL)
+ {
+ InitializeValues();
+ setInitialRxPosition(aRx, bRx, cRx, s, geoid);
+ };
+
+
+ /// Explicit constructor, taking as input a Position object containing reference station coordinates.
+ ModeledReferencePR(const Position& RxCoordinates) throw(Exception) : useTGD(true), pDefaultIonoModel(NULL), pDefaultTropoModel(NULL), defaultObservable(TypeID::C1), pDefaultEphemeris(NULL)
+ {
+ InitializeValues();
+ setInitialRxPosition(RxCoordinates);
+ };
+
+
+ /** Explicit constructor, taking as input reference station coordinates, default
+ * ionospheric and tropospheric models, ephemeris to be used, default observable
+ * and whether TGD will be computed or not.
+ *
+ * This constructor is meant to be used when working with GNSS data structures in
+ * order to set the basic parameters from the beginning.
+ *
+ * @param RxCoordinates Reference station coordinates.
+ * @param dIonoModel Ionospheric model to be used by default.
+ * @param dTropoModel Tropospheric model to be used by default.
+ * @param dEphemeris EphemerisStore object to be used by default.
+ * @param dObservable Observable type to be used by default.
+ * @param usetgd Whether TGD will be used by default or not.
+ *
+ * @sa DataStructures.hpp.
+ */
+ ModeledReferencePR(const Position& RxCoordinates, IonoModelStore& dIonoModel, TropModel& dTropoModel, EphemerisStore& dEphemeris, const TypeID& dObservable, bool usetgd = true) throw(Exception) {
+ InitializeValues();
+ setInitialRxPosition(RxCoordinates);
+ setDefaultIonoModel(dIonoModel);
+ setDefaultTropoModel(dTropoModel);
+ setDefaultObservable(dObservable);
+ setDefaultEphemeris(dEphemeris);
+ useTGD = usetgd;
+ };
+
+
+ /** Explicit constructor, taking as input reference station coordinates, default
+ * ionospheric model, ephemeris to be used, default observable and whether TGD
+ * will be computed or not.
+ *
+ * The default tropospheric model will be set to NULL.
+ *
+ * This constructor is meant to be used when working with GNSS data structures in
+ * order to set the basic parameters from the beginning.
+ *
+ * @param RxCoordinates Reference station coordinates.
+ * @param dIonoModel Ionospheric model to be used by default.
+ * @param dEphemeris EphemerisStore object to be used by default.
+ * @param dObservable Observable type to be used by default.
+ * @param usetgd Whether TGD will be used by default or not.
+ *
+ * @sa DataStructures.hpp.
+ */
+ ModeledReferencePR(const Position& RxCoordinates, IonoModelStore& dIonoModel, EphemerisStore& dEphemeris, const TypeID& dObservable, bool usetgd = true) throw(Exception) : pDefaultTropoModel(NULL) {
+ InitializeValues();
+ setInitialRxPosition(RxCoordinates);
+ setDefaultIonoModel(dIonoModel);
+ setDefaultObservable(dObservable);
+ setDefaultEphemeris(dEphemeris);
+ useTGD = usetgd;
+ };
+
+
+ /** Explicit constructor, taking as input reference station coordinates, default
+ * tropospheric model, ephemeris to be used, default observable and whether TGD
+ * will be computed or not.
+ *
+ * The default ionospheric model will be set to NULL.
+ *
+ * This constructor is meant to be used when working with GNSS data structures in
+ * order to set the basic parameters from the beginning.
+ *
+ * @param RxCoordinates Reference station coordinates.
+ * @param dTropoModel Tropospheric model to be used by default.
+ * @param dEphemeris EphemerisStore object to be used by default.
+ * @param dObservable Observable type to be used by default.
+ * @param usetgd Whether TGD will be used by default or not.
+ *
+ * @sa DataStructures.hpp.
+ */
+ ModeledReferencePR(const Position& RxCoordinates, TropModel& dTropoModel, EphemerisStore& dEphemeris, const TypeID& dObservable, bool usetgd = true) throw(Exception) : pDefaultIonoModel(NULL) {
+ InitializeValues();
+ setInitialRxPosition(RxCoordinates);
+ setDefaultTropoModel(dTropoModel);
+ setDefaultObservable(dObservable);
+ setDefaultEphemeris(dEphemeris);
+ useTGD = usetgd;
+ };
+
+
+ /** Explicit constructor, taking as input reference station coordinates,
+ * ephemeris to be used, default observable and whether TGD will be computed
+ * or not.
+ *
+ * Both the tropospheric and ionospheric models will be set to NULL.
+ *
+ * This constructor is meant to be used when working with GNSS data structures in
+ * order to set the basic parameters from the beginning.
+ *
+ * @param RxCoordinates Reference station coordinates.
+ * @param dEphemeris EphemerisStore object to be used by default.
+ * @param dObservable Observable type to be used by default.
+ * @param usetgd Whether TGD will be used by default or not.
+ *
+ * @sa DataStructures.hpp.
+ */
+ ModeledReferencePR(const Position& RxCoordinates, EphemerisStore& dEphemeris, const TypeID& dObservable, bool usetgd = true) throw(Exception) : pDefaultIonoModel(NULL), pDefaultTropoModel(NULL) {
+ InitializeValues();
+ setInitialRxPosition(RxCoordinates);
+ setDefaultObservable(dObservable);
+ setDefaultEphemeris(dEphemeris);
+ useTGD = usetgd;
+ };
+
+
+ /** Compute the modeled pseudoranges, given satellite ID's, pseudoranges and other data
+ * @param Tr Measured time of reception of the data.
+ * @param Satellite Vector of satellites; on successful return, satellites that
+ * were excluded by the algorithm are marked by a negative
+ * Satellite[i].prn
+ * @param Pseudorange Vector of raw pseudoranges (parallel to satellite), in meters.
+ * @param Eph EphemerisStore to be used.
+ * @param pTropModel Pointer to tropospheric model to be used. By default points to NULL.
+ * @param pIonoModel Pointer to ionospheric model to be used. By default points to NULL.
+ * @param extraBiases Vector of extra biases to be added to the model.
+ *
+ * @return
+ * Number of satellites with valid data
+ *
+ * @sa TropModel.hpp, IonoModelStore.hpp.
+ */
+ int Compute(const DayTime& Tr, Vector<SatID>& Satellite, Vector<double>& Pseudorange,
+ const EphemerisStore& Eph, const Vector<double>& extraBiases, TropModel
+ *pTropModel=NULL, IonoModelStore *pIonoModel=NULL) throw(Exception);
+
+
+ /// Compute the modeled pseudoranges, given satellite ID's, pseudoranges and other data
+ int Compute(const DayTime& Tr, Vector<SatID>& Satellite, Vector<double>& Pseudorange,
+ const EphemerisStore& Eph) throw(Exception);
+
+
+ /// Compute the modeled pseudoranges, given satellite ID's, pseudoranges and other data
+ int Compute(const DayTime& Tr, Vector<SatID>& Satellite, Vector<double>& Pseudorange,
+ const EphemerisStore& Eph, TropModel *pTropModel) throw(Exception);
+
+
+ /// Compute the modeled pseudoranges, given satellite ID's, pseudoranges and other data
+ int Compute(const DayTime& Tr, Vector<SatID>& Satellite, Vector<double>& Pseudorange,
+ const EphemerisStore& Eph, const Vector<double>& extraBiases, IonoModelStore
+ *pIonoModel) throw(Exception);
+
+
+ /// Compute the modeled pseudoranges, given satellite ID's, pseudoranges and other data
+ int Compute(const DayTime& Tr, Vector<SatID>& Satellite, Vector<double>& Pseudorange,
+ const EphemerisStore& Eph, IonoModelStore *pIonoModel) throw(Exception);
+
+
+ /// Compute the modeled pseudoranges, given satellite ID's, pseudoranges and other data
+ int Compute(const DayTime& Tr, Vector<SatID>& Satellite, Vector<double>& Pseudorange,
+ const EphemerisStore& Eph, TropModel *pTropModel, IonoModelStore *pIonoModel)
+ throw(Exception);
+
+
+ /** Compute just one modeled pseudorange, given satellite ID's, pseudorange and other data
+ * @param Tr Measured time of reception of the data.
+ * @param Satellite ID's of satellite
+ * @param Pseudorange Pseudorange (parallel to satellite), in meters.
+ * @param Eph EphemerisStore to be used.
+ * @param pTropModel Pointer to tropospheric model to be used. By default points to NULL.
+ * @param pIonoModel Pointer to ionospheric model to be used. By default points to NULL.
+ * @param extraBiases Extra bias to be added to the model.
+ *
+ * @return
+ * 1 if satellite has valid data
+ *
+ * @sa TropModel.hpp, IonoModelStore.hpp.
+ */
+ int Compute(const DayTime& Tr, SatID& Satellite, double& Pseudorange,
+ const EphemerisStore& Eph, const double& extraBiases, TropModel *pTropModel=NULL,
+ IonoModelStore *pIonoModel=NULL) throw(Exception);
+
+
+ /** Returns a satTypeValueMap object, adding the new data generated when calling a modeling object.
+ *
+ * @param time Epoch.
+ * @param gData Data object holding the data.
+ */
+ virtual satTypeValueMap& processModel(const DayTime& time, satTypeValueMap& gData) throw(Exception);
+
+
+ /** Returns a gnnsSatTypeValue object, adding the new data generated when calling a modeling object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssSatTypeValue& processModel(gnssSatTypeValue& gData) throw(Exception)
+ {
+ (*this).processModel(gData.header.epoch, gData.body);
+ return gData;
+ };
+
+
+ /** Returns a gnnsRinex object, adding the new data generated when calling a modeling object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssRinex& processModel(gnssRinex& gData) throw(Exception)
+ {
+ (*this).processModel(gData.header.epoch, gData.body);
+ return gData;
+ };
+
+
+ /// Boolean variable indicating if SV instrumental delays (TGD) will be included in results. It is true by default.
+ bool useTGD;
+
+
+ /// Method to get satellite elevation cut-off angle. By default, it is set to 10 degrees.
+ virtual double getMinElev() const
+ {
+ return minElev;
+ };
+
+
+ /// Method to set satellite elevation cut-off angle. By default, it is set to 10 degrees.
+ virtual void setMinElev(double newElevation)
+ {
+ minElev = newElevation;
+ };
+
+
+ /** Method to set the default ionospheric model.
+ * @param dIonoModel Ionospheric model to be used by default.
+ */
+ virtual void setDefaultIonoModel(IonoModelStore& dIonoModel)
+ {
+ pDefaultIonoModel = &dIonoModel;
+ };
+
+
+ /** Method to get a pointer to the default ionospheric model.
+ */
+ virtual IonoModelStore* getDefaultIonoModel() const
+ {
+ return pDefaultIonoModel;
+ };
+
+
+ /// Method to set a NULL ionospheric model.
+ virtual void setNULLIonoModel()
+ {
+ pDefaultIonoModel = NULL;
+ };
+
+
+ /** Method to set the default tropospheric model.
+ * @param dTropoModel Tropospheric model to be used by default.
+ */
+ virtual void setDefaultTropoModel(TropModel& dTropoModel)
+ {
+ pDefaultTropoModel = &dTropoModel;
+ };
+
+
+ /** Method to get a pointer to the default tropospheric model.
+ */
+ virtual TropModel* getDefaultTropoModel() const
+ {
+ return pDefaultTropoModel;
+ };
+
+
+ /// Method to set a NULL tropospheric model.
+ virtual void setNULLTropoModel()
+ {
+ pDefaultTropoModel = NULL;
+ };
+
+
+ /** Method to set the default extra biases.
+ * @param eBiases Vector with the default extra biases
+ */
+ virtual void setDefaultExtraBiases(Vector<double>& eBiases)
+ {
+ extraBiases = eBiases;
+ };
+
+
+ /** Method to set the default observable to be used when fed with GNSS data structures.
+ * @param type TypeID object to be used by default
+ */
+ virtual void setDefaultObservable(const TypeID& type)
+ {
+ defaultObservable = type;
+ };
+
+
+ /// Method to get the default observable being used with GNSS data structures.
+ virtual TypeID getDefaultObservable() const
+ {
+ return defaultObservable;
+ };
+
+
+ /** Method to set the default EphemerisStore to be used with GNSS data structures.
+ * @param ephem EphemerisStore object to be used by default
+ */
+ virtual void setDefaultEphemeris(EphemerisStore& ephem)
+ {
+ pDefaultEphemeris = &ephem;
+ };
+
+
+ /** Method to get a pointer to the default EphemerisStore to be used with GNSS data structures.
+ */
+ virtual EphemerisStore* getDefaultEphemeris() const
+ {
+ return pDefaultEphemeris;
+ };
+
+
+ /// Destructor.
+ virtual ~ModeledReferencePR() throw() {};
+
+
+ protected:
+
+ /// Pointer to default ionospheric model.
+ IonoModelStore *pDefaultIonoModel;
+
+ /// Pointer to default tropospheric model.
+ TropModel *pDefaultTropoModel;
+
+ /// Default observable to be used when fed with GNSS data structures.
+ TypeID defaultObservable;
+
+ /// Pointer to default EphemerisStore object when working with GNSS data structures.
+ EphemerisStore* pDefaultEphemeris;
+
+ /// Initialization method
+ virtual void InitializeValues() throw(Exception) {
+ setInitialRxPosition();
+ geometricRho(0);
+ svClockBiases(0);
+ svXvt(0);
+ svTGD(0);
+ svRelativity(0);
+ ionoCorrections(0);
+ tropoCorrections(0);
+ modeledPseudoranges(0);
+ prefitResiduals(0);
+ extraBiases(0);
+ availableSV(0);
+ rejectedSV(0);
+ };
+
+
+ /** Method to set the initial (a priori) position of receiver.
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ virtual int setInitialRxPosition(const double& aRx, const double& bRx, const double& cRx,
+ Position::CoordinateSystem s=Position::Cartesian,
+ GeoidModel *geoid=NULL) throw(GeometryException)
+ {
+ try {
+ Position rxpos(aRx, bRx, cRx, s, geoid);
+ setInitialRxPosition(rxpos);
+ return 0;
+ }
+ catch(GeometryException& e) {
+ return -1;
+ }
+ };
+
+
+ /// Method to set the initial (a priori) position of receiver.
+ virtual int setInitialRxPosition(const Position& RxCoordinates) throw(GeometryException)
+ {
+ try {
+ (*this).rxPos = RxCoordinates;
+ return 0;
+ }
+ catch(GeometryException& e) {
+ return -1;
+ }
+ };
+
+
+ /// Method to set the initial (a priori) position of receiver.
+ virtual int setInitialRxPosition() throw(GeometryException)
+ {
+ try {
+ Position rxpos(0.0, 0.0, 0.0, Position::Cartesian, NULL);
+ setInitialRxPosition(rxpos);
+ return 0;
+ }
+ catch(GeometryException& e) {
+ return -1;
+ }
+ };
+
+
+ /// Method to get the tropospheric corrections.
+ virtual double getTropoCorrections(TropModel *pTropModel, double elevation) throw()
+ {
+ double tropoCorr(0.0);
+ try {
+ tropoCorr = pTropModel->correction(elevation);
+ // Check validity
+ if(!(pTropModel->isValid())) tropoCorr = 0.0;
+ }
+ catch(TropModel::InvalidTropModel& e) {
+ tropoCorr = 0.0;
+ }
+ return tropoCorr;
+ };
+
+
+ /// Method to get the ionospheric corrections.
+ virtual double getIonoCorrections(IonoModelStore *pIonoModel, DayTime Tr, Geodetic rxGeo, double elevation, double azimuth) throw()
+ {
+ double ionoCorr(0.0);
+ try {
+ ionoCorr = pIonoModel->getCorrection(Tr, rxGeo, elevation, azimuth);
+ }
+ catch(IonoModelStore::NoIonoModelFound& e) {
+ ionoCorr = 0.0;
+ }
+ return ionoCorr;
+ };
+
+
+ /// Method to get TGD corrections.
+ virtual double getTGDCorrections(DayTime Tr, const EphemerisStore& Eph, SatID sat) throw()
+ {
+
+ double TGDCorr(0.0);
+
+ try {
+ TGDCorr = (Eph.getTGD(sat, Tr));
+ }
+ catch(EphemerisStore::NoTGDFound& e) {
+ TGDCorr = 0.0;
+ }
+ return TGDCorr;
+ };
+
+
+ }; // class ModeledReferencePR
+
+
+ /// Input operator from gnssSatTypeValue to ModeledReferencePR.
+ inline gnssSatTypeValue& operator>>(gnssSatTypeValue& gData, ModeledReferencePR& modRefPR) throw(Exception)
+ {
+ modRefPR.processModel(gData);
+ return gData;
+ }
+
+
+ /// Input operator from gnssRinex to ModeledReferencePR.
+ inline gnssRinex& operator>>(gnssRinex& gData, ModeledReferencePR& modRefPR) throw(Exception)
+ {
+ modRefPR.processModel(gData);
+ return gData;
+ }
+
+
+
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/NablaOp.cpp b/dev/src/NablaOp.cpp
new file mode 100644
index 0000000..f21dc28
--- /dev/null
+++ b/dev/src/NablaOp.cpp
@@ -0,0 +1,106 @@
+
+/**
+ * @file NablaOp.cpp
+ * This is a class to apply the Nabla operator (differences on satellite-related data) to GNSS data structures.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2007
+//
+//============================================================================
+
+
+#include "NablaOp.hpp"
+
+
+namespace gpstk
+{
+
+ // Returns a reference to a gnssSatTypeValue object after differencing the
+ // data type values given in the diffTypes field with respect to reference
+ // satellite data.
+ //
+ // @param gData Data object holding the data.
+ //
+ satTypeValueMap& NablaOp::Difference(satTypeValueMap& gData)
+ {
+
+ double maxElevation(0.0);
+
+ // If configured to do so, let's look for the reference satellite
+ if (lookReferenceSat) {
+ // Loop through all the satellites in the station data set, looking for the reference satellite
+ satTypeValueMap::iterator it;
+ for (it = gData.begin(); it != gData.end(); ++it)
+ {
+ if ( gData((*it).first)(TypeID::elevation) > maxElevation )
+ {
+ refSat = (*it).first;
+ maxElevation = gData((*it).first)(TypeID::elevation);
+ }
+ }
+ }
+
+ // We will use the reference satellite data as reference data
+ satTypeValueMap refData(gData.extractSatID(refSat));
+
+ // We must remove the reference satellite data from the data set
+ gData.removeSatID(refSat);
+
+ SatIDSet satRejectedSet;
+
+ // Loop through all the satellites in the station data set
+ satTypeValueMap::iterator it;
+ for (it = gData.begin(); it != gData.end(); ++it)
+ {
+ // We must compute the difference for all the types in diffTypes set
+ TypeIDSet::const_iterator itType;
+ for (itType = diffTypes.begin(); itType != diffTypes.end(); ++itType)
+ {
+
+ double value1(0.0);
+ double value2(0.0);
+
+ try
+ {
+ // Let's try to compute the difference
+ value1 = gData((*it).first)(*itType);
+ value2 = refData(refSat)(*itType);
+
+ gData((*it).first)((*itType)) = value1 - value2;
+ }
+ catch(...)
+ {
+ // If some value is missing, then schedule this satellite for removal
+ satRejectedSet.insert( (*it).first );
+ continue;
+ }
+ }
+
+ }
+ // Remove satellites with missing data
+ gData.removeSatID(satRejectedSet);
+
+ return gData;
+
+ } // end NablaOp::Difference()
+
+
+} // end namespace gpstk
diff --git a/dev/src/NablaOp.hpp b/dev/src/NablaOp.hpp
new file mode 100644
index 0000000..c808915
--- /dev/null
+++ b/dev/src/NablaOp.hpp
@@ -0,0 +1,284 @@
+
+/**
+ * @file NablaOp.hpp
+ * This is a class to apply the Nabla operator (differences on satellite-related data) to GNSS data structures.
+ */
+
+#ifndef NABLAOP_HPP
+#define NABLAOP_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2007
+//
+//============================================================================
+
+
+
+#include "TypeID.hpp"
+#include "DataStructures.hpp"
+
+
+namespace gpstk
+{
+ /** @addtogroup GPSsolutions */
+ //@{
+
+ /**
+ * This class applies the Nabla operator (differences on satellite-related data)
+ * to GNSS data structures.
+ *
+ * A typical way to use this class follows:
+ *
+ * @code
+ * // Input observation file stream
+ * RinexObsStream rin("ebre0300.02o");
+ * // Reference position of receiver station
+ * Position nominalPos(4833520.2269, 41537.00768, 4147461.489);
+ *
+ * // Some more code and definitions here...
+ *
+ * gnssRinex gRin; // GNSS data structure for rover data
+ *
+ * // Set defaults of models. A typical C1-based modeling is used
+ * ModeledPR model(nominalPos, ionoStore, mopsTM, bceStore, TypeID::C1, true);
+ *
+ * // Create an object to compute the single differences on satellite-related
+ * // data. Highest satellite will be used as reference and prefit residuals will
+ * // be differenced (this is the default)
+ * NablaOp nabla;
+ *
+ * while(rin >> gRin) {
+ *
+ * // By default, difference is applied on code prefit residuals, and therefore
+ * // you need a modeler object before nabla object
+ * gRin >> model >> nabla;
+ * }
+ *
+ * @endcode
+ *
+ * The "NablaOp" object will visit every satellite in the GNSS data structure that
+ * is "gRin" and, unless told otherwise with "setRefSat()" method, will pick up as
+ * reference satellite the satellite with the highest elevation.
+ *
+ * Afterwards, it will REMOVE reference satellite data from the GNSS data structure
+ * and will substract the specified type or types (code prefit residuals by default)
+ * from the corresponding data in the rest of the "gRef" data structure.
+ *
+ * Take notice that in the default case the code prefit residuals were computed by
+ * the "ModeledPR" and "ModeledReferencePR" objects, so those steps are mandatory.
+ *
+ * Be warned that, by default, if a given satellite does not have in "gRin" the data
+ * required to be differenced, it will be summarily deleted from the data structure.
+ *
+ * @sa DeltaOp.hpp for differences on ground-related data.
+ *
+ */
+ class NablaOp
+ {
+ public:
+
+ /// Default constructor. By default it will difference prefitC data and will take as reference satellite the one with the highest elevation.
+ NablaOp() : lookReferenceSat(true)
+ {
+ diffTypes.insert(TypeID::prefitC);
+ };
+
+
+ /** Common constructor taking as input the reference satellite to be used.
+ *
+ * @param rSat SatID of satellite to be used as reference.
+ */
+ NablaOp(const SatID& rSat) : refSat(rSat), lookReferenceSat(false)
+ {
+ diffTypes.insert(TypeID::prefitC);
+ };
+
+
+ /** Common constructor taking as input the type of data values to be differenced.
+ *
+ * @param difftype TypeID of data values to be differenced.
+ */
+ NablaOp(const TypeID& difftype) : lookReferenceSat(true)
+ {
+ diffTypes.insert(difftype);
+ }
+
+
+ /** Common constructor taking as input the type of data values to be differenced and the reference satellite.
+ *
+ * @param rSat SatID of satellite to be used as reference.
+ * @param difftype TypeID of data values to be differenced.
+ */
+ NablaOp(const SatID& rSat, const TypeID& difftype) : refSat(rSat), lookReferenceSat(false)
+ {
+ diffTypes.insert(difftype);
+ }
+
+
+ /** Common constructor taking as input a set of types of data values to be differenced and the reference satellite.
+ *
+ * @param rSat SatID of satellite to be used as reference.
+ * @param diffSet TypeIDSet of data values to be differenced.
+ */
+ NablaOp(const SatID& rSat, const TypeIDSet& diffSet) : refSat(rSat), lookReferenceSat(false), diffTypes(diffSet) {}
+
+
+ /** Method to set the reference satellite to be used. It is not common to use this method.
+ * @param rSat SatID of reference satellite to be used.
+ */
+ virtual void setRefSat(const SatID& rSat)
+ {
+ refSat = rSat;
+ lookReferenceSat = false;
+ };
+
+
+ /// Method to set that the reference satellite will be the one with highest elevation. This is the default.
+ virtual void useHighestSat()
+ {
+ lookReferenceSat = true;
+ };
+
+
+ /// Method to get the reference satellite being used.
+ virtual SatID getRefSat() const
+ {
+ return refSat;
+ };
+
+
+ /** Method to set the data values to be differenced. The previous type values will be deleted. If this is not what you want, see method addDiffType.
+ * @param difftype TypeID of data values to be differenced.
+ */
+ virtual void setDiffType(const TypeID& difftype)
+ {
+ diffTypes.clear(); // Delete the previous types
+ diffTypes.insert(difftype);
+ };
+
+
+ /** Method to add a data value type to be differenced.
+ * @param difftype TypeID of data values to be added to the ones being differenced.
+ */
+ virtual void addDiffType(const TypeID& difftype)
+ {
+ diffTypes.insert(difftype);
+ };
+
+
+ /** Method to set the data values to be differenced. The previous type values will be deleted. If this is not what you want, see method addDiffType.
+ * @param diffSet TypeIDSet of data values to be differenced.
+ */
+ virtual void setDiffTypeSet(const TypeIDSet& diffSet)
+ {
+ diffTypes.clear(); // Delete the previous types
+ diffTypes = diffSet;
+ };
+
+
+ /** Method to add a set of data value types to be differenced.
+ * @param diffSet TypeIDSet of data values to be added to the ones being differenced.
+ */
+ virtual void addDiffTypeSet(const TypeIDSet& diffSet)
+ {
+ TypeIDSet::const_iterator pos;
+ for (pos = diffSet.begin(); pos != diffSet.end(); ++pos) diffTypes.insert(*pos);
+ };
+
+
+ /// Method to get the set of data value types to be differenced.
+ virtual TypeIDSet getDiffTypeSet() const
+ {
+ return diffTypes;
+ };
+
+
+ /** Returns a reference to a satTypeValueMap object after differencing the data type values given in the diffTypes field with respect to reference station data in refData field.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual satTypeValueMap& Difference(satTypeValueMap& gData);
+
+
+ /** Returns a reference to a gnssSatTypeValue object after differencing the data type values given in the diffTypes field with respect to reference station data in refData field.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssSatTypeValue& Difference(gnssSatTypeValue& gData)
+ {
+ (*this).Difference(gData.body);
+ return gData;
+ };
+
+
+ /** Returns a reference to a gnnsRinex object after differencing the data type values given in the diffTypes field with respect to reference station data in refData field.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssRinex& Difference(gnssRinex& gData)
+ {
+ (*this).Difference(gData.body);
+ return gData;
+ };
+
+
+ /// Destructor.
+ virtual ~NablaOp() {};
+
+
+ private:
+
+
+ /// SatID of reference satellite.
+ SatID refSat;
+
+
+ /// Flag indicating if we have to look for a reference satellite.
+ bool lookReferenceSat;
+
+
+
+ /// Set (TypeIDSet) containing the types of data to be differenced.
+ TypeIDSet diffTypes;
+
+
+ }; // class NablaOp
+
+
+ /// Input operator from gnssSatTypeValue to NablaOp.
+ inline gnssSatTypeValue& operator>>(gnssSatTypeValue& gData, NablaOp& nabla)
+ {
+ nabla.Difference(gData);
+ return gData;
+ }
+
+
+ /// Input operator from gnssRinex to NablaOp.
+ inline gnssRinex& operator>>(gnssRinex& gData, NablaOp& nabla)
+ {
+ nabla.Difference(gData);
+ return gData;
+ }
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/ORDEpoch.hpp b/dev/src/ORDEpoch.hpp
new file mode 100644
index 0000000..3b88d10
--- /dev/null
+++ b/dev/src/ORDEpoch.hpp
@@ -0,0 +1,113 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file ORDEpoch.hpp
+ * A set of observed range deviations for a single point in time from
+ * a single receiver.
+ */
+
+#ifndef ORDEPOCH_HPP
+#define ORDEPOCH_HPP
+
+#include <map>
+#include "Exception.hpp"
+#include "ObsRngDev.hpp"
+#include "ClockModel.hpp"
+#include "SatID.hpp"
+
+namespace gpstk
+{
+ class ORDEpoch
+ {
+ public:
+ ORDEpoch() : wonky(false) {};
+
+ /// defines a store for each SV's ord, indexed by prn
+ typedef std::map<SatID, ObsRngDev> ORDMap;
+
+ ORDEpoch& removeORD(const SatID& svid) throw()
+ {
+ ORDMap::iterator i = ords.find(svid);
+ if(i != ords.end())
+ ords.erase(i);
+ return *this;
+ }
+
+ ORDEpoch& applyClockModel(const ClockModel& cm) throw()
+ {
+ if (cm.isOffsetValid(time))
+ {
+ clockOffset = cm.getOffset(time);
+ removeOffset(clockOffset);
+ }
+ return *this;
+ }
+
+ ORDEpoch& removeOffset(const double offset) throw()
+ {
+ ORDMap::iterator i;
+ for (i = ords.begin(); i != ords.end(); i++)
+ i->second.applyClockOffset(offset);
+ return *this;
+ }
+
+ vdouble clockOffset; ///< clock bias value (application defined units)
+ vdouble clockResidual; ///< clock bias minus expected value
+ ORDMap ords; ///< map of ORDs in epoch
+ gpstk::DayTime time;
+ bool wonky; ///< Indicates that this epoch is suspect
+
+ friend std::ostream& operator<<(std::ostream& s,
+ const ORDEpoch& oe)
+ throw()
+ {
+ s << "t=" << oe.time
+ << " clk=" << oe.clockOffset << std::endl;
+ ORDMap::const_iterator i;
+ for (i=oe.ords.begin(); i!=oe.ords.end(); i++)
+ s << i->second << std::endl;
+ return s;
+ }
+
+ };
+
+ // this is a store of ORDs over time
+ typedef std::map<gpstk::DayTime, gpstk::ORDEpoch> ORDEpochMap;
+}
+#endif
diff --git a/dev/src/ObsClockModel.cpp b/dev/src/ObsClockModel.cpp
new file mode 100644
index 0000000..a717349
--- /dev/null
+++ b/dev/src/ObsClockModel.cpp
@@ -0,0 +1,183 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file ObsClockModel.cpp
+ * Yet another abstract class used to define an interface to a model that
+ * accepts GPS observation datat and determines a clock model from it. It
+ * mainly adds the ability to specify the characteristcs of the observations
+ * that are to be accpeted into the model. It also defines a function that
+ * accepts Observed Range Deviations and computes the mean of these (that
+ * meet the selection criteria) as an estimate of the receiver clock.
+ */
+
+#include <math.h>
+
+#include "ObsClockModel.hpp"
+
+namespace gpstk
+{
+ using namespace std;
+
+
+ ObsClockModel::SvStatus ObsClockModel::getSvStatus(const SatID& svid) const
+ throw(gpstk::ObjectNotFound)
+ {
+ SvStatusMap::const_iterator i = status.find(svid);
+ if(i == status.end())
+ {
+ gpstk::ObjectNotFound e("No status for SV " +
+ StringUtils::asString(svid) +
+ " available.");
+ GPSTK_THROW(e);
+ }
+ else
+ return i->second;
+ }
+
+
+ ObsClockModel& ObsClockModel::setSvModeMap(const SvModeMap& right)
+ throw()
+ {
+ for(int prn = 1; prn <= gpstk::MAX_PRN; prn++)
+ modes[SatID(prn, SatID::systemGPS)] = IGNORE;
+
+ for(SvModeMap::const_iterator i = right.begin(); i != right.end(); i++)
+ modes[i->first] = i->second;
+
+ return *this;
+ }
+
+
+ ObsClockModel::SvMode ObsClockModel::getSvMode(const SatID& svid) const
+ throw(gpstk::ObjectNotFound)
+ {
+ SvModeMap::const_iterator i = modes.find(svid);
+ if(i == modes.end())
+ {
+ gpstk::ObjectNotFound e("No status for SV " +
+ StringUtils::asString(svid) +
+ " available.");
+ GPSTK_THROW(e);
+ }
+ else
+ return i->second;
+ }
+
+
+ gpstk::Stats<double> ObsClockModel::simpleOrdClock(const ORDEpoch& oe)
+ throw(gpstk::InvalidValue)
+ {
+ gpstk::Stats<double> stat;
+
+ status.clear();
+
+ ORDEpoch::ORDMap::const_iterator itr;
+ for(itr = oe.ords.begin(); itr != oe.ords.end(); itr++)
+ {
+ const SatID& svid = itr->first;
+ const ObsRngDev& ord=itr->second;
+ switch (modes[svid])
+ {
+ case IGNORE:
+ status[svid] = MANUAL;
+ break;
+ case ALWAYS:
+ status[svid] = USED;
+ break;
+ case HEALTHY:
+ // SV Health bits are defined in ICD-GPS-200C-IRN4 20.3.3.3.1.4
+ // It is a 6-bit value where the MSB (0x20) indicates a summary of
+ // of NAV data health where 0 = OK, 1 = some or all BAD
+ if (ord.getHealth().is_valid() && (ord.getHealth() & 0x20))
+ status[svid] = SVHEALTH;
+ else
+ status[svid] = USED;
+ break;
+ }
+
+ if (ord.getElevation() < elvmask)
+ status[svid] = ELEVATION;
+
+ if (ord.wonky && !useWonkyData)
+ status[svid] = WONKY;
+
+ if (status[svid] == USED)
+ stat.Add(ord.getORD());
+ }
+
+ if (stat.N() > 2)
+ {
+ for (itr = oe.ords.begin(); itr != oe.ords.end(); itr++)
+ {
+ const SatID& svid = itr->first;
+
+ // don't override other types of stripping
+ if (status[svid] == USED)
+ {
+ // get absolute distance of residual from mean
+ double res = itr->second.getORD();
+ double dist = res - stat.Average();
+ if(fabs(dist) > (sigmam * stat.StdDev()))
+ status[svid] = SIGMA;
+ }
+ }
+
+ // now, recompute the statistics on unstripped residuals to get
+ // the clock bias value
+ stat.Reset();
+ for (itr = oe.ords.begin(); itr != oe.ords.end(); itr++)
+ if (status[itr->second.getSvID()] == USED)
+ stat.Add(itr->second.getORD());
+ }
+
+ return stat;
+ }
+
+ void ObsClockModel::dump(ostream& s, short detail) const throw()
+ {
+ s << "min elev:" << elvmask
+ << ", max sigma:" << sigmam
+ << ", prn/status: ";
+
+ ObsClockModel::SvStatusMap::const_iterator i;
+ for ( i=status.begin(); i!= status.end(); i++)
+ s << i->first << "/" << i->second << " ";
+ }
+}
+
diff --git a/dev/src/ObsClockModel.hpp b/dev/src/ObsClockModel.hpp
new file mode 100644
index 0000000..14a625b
--- /dev/null
+++ b/dev/src/ObsClockModel.hpp
@@ -0,0 +1,224 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef OBSCLOCKMODEL_HPP
+#define OBSCLOCKMODEL_HPP
+
+#include <map>
+#include "Exception.hpp"
+#include "gps_constants.hpp"
+
+#include "Stats.hpp"
+#include "ClockModel.hpp"
+#include "ORDEpoch.hpp"
+
+/**
+ * @file ObsClockModel.hpp
+ * Yet another abstract class used to define an interface to a model that
+ * accepts GPS observation datat and determines a clock model from it. It
+ * mainly adds the ability to specify the characteristcs of the observations
+ * that are to be accpeted into the model. It also defines a function that
+ * accepts Observed Range Deviations and computes the mean of these (that
+ * meet the selection criteria) as an estimate of the receiver clock.
+ */
+
+
+namespace gpstk
+{
+ class ObsClockModel : public ClockModel
+ {
+ public:
+ enum SvMode
+ {
+ IGNORE, ///< do not include ORDs from this SV
+ HEALTHY, ///< include ORDs from this SV if it is healthy
+ ALWAYS ///< always include ORDs from this SV
+ };
+
+ enum SvStatus
+ {
+ USED, ///< ORD used in the clock bias computation
+ MANUAL, ///< ORD removed from computation by user request
+ SVHEALTH, ///< ORD removed from computation because SV unhealthy
+ ELEVATION, ///< ORD removed from computation because SV elevation < mask
+ WONKY, ///< ORD removed due to being flagged wonky
+ SIGMA ///< ORD removed from computation because it was outlier
+ };
+
+ /// defines a store for each SV's #SvMode
+ typedef std::map<SatID, SvMode> SvModeMap;
+
+ /// defines a store for each SV's #SvStatus
+ typedef std::map<SatID, SvStatus> SvStatusMap;
+
+ ObsClockModel(double sigma = 2, double elmask = 0, SvMode mode = ALWAYS)
+ : sigmam(sigma), elvmask(elmask), useWonkyData(false)
+ {
+ status.clear();
+ setSvMode(mode);
+ }
+
+ virtual void addEpoch(const ORDEpoch& re) throw(gpstk::InvalidValue) = 0;
+
+ // set accessor methods ----------------------------------------------
+
+ /**
+ * set a SvMode for all SVs.
+ * \param right #SvModeMap
+ * \return a reference to this object
+ */
+ ObsClockModel& setSvModeMap(const SvModeMap& right) throw();
+
+ /**
+ * set the SvMode for a particular SV.
+ * \param prn Sv number of the SV
+ * \param mode #SvMode for the SV
+ * \return a reference to this object
+ */
+ ObsClockModel& setSvMode(const SatID& svid, const SvMode& mode) throw()
+ { modes[svid] = mode; return *this; }
+
+ /**
+ * set the SvMode for all SVs
+ * \param mode #SvMode for the SVs
+ * \return a reference to this object
+ */
+ ObsClockModel& setSvMode(const SvMode& mode) throw()
+ {
+ for(int prn = 1; prn <= gpstk::MAX_PRN; prn++)
+ {
+ SatID svid(prn, SatID::systemGPS);
+ modes[svid] = mode;
+ }
+ return *this;
+ }
+
+ /**
+ * set the sigma multiple for ORD stripping.
+ * \param right sigma multiple value
+ * \return a reference to this object
+ */
+ ObsClockModel& setSigmaMultiplier(double right) throw()
+ { sigmam = right; return *this; }
+
+ /**
+ * set the elevation mask angle for ORD stripping.
+ * \param right elevation mask angle value
+ * \return a reference to this object
+ */
+ ObsClockModel& setElevationMask(double right) throw()
+ { elvmask = right; return *this; }
+
+ /** Set useWonkyData true and ords that are flagged as wonky
+ will be included in any clock estimation calculations.
+ **/
+ ObsClockModel& setUseWonkyData(bool right) throw()
+ { useWonkyData = right; return *this; }
+
+ // get accessor methods ----------------------------------------------
+
+ /**
+ * get the map indicating how each ORD was used in the bias computation.
+ * \return a const reference to the #SvStatusMap
+ */
+ const SvStatusMap& getSvStatusMap() const throw()
+ { return status; };
+
+ /**
+ * get the status of a particular ORD in the bias computation.
+ * \param prn the PRN number indicating the ORD of interest
+ * \return #SvStatus
+ * \exception ObjectNotFound an ORD for that SV is not in the map
+ */
+ SvStatus getSvStatus(const SatID& svid) const throw(ObjectNotFound);
+
+ /**
+ * get the map indicating how to use each ORD in the bias computation.
+ * \return a const reference to the #SvModeMap
+ */
+ const SvModeMap& getSvModeMap() const throw() { return modes; }
+
+ /**
+ * get how a particular ORD is to be used in the bias computation.
+ * \param prn the Sv number indicating the mode of interest
+ * \return #SvMode
+ * \exception ObjectNotFound a mode for that SV is not in the map
+ */
+ SvMode getSvMode(const SatID& svid) const throw(ObjectNotFound);
+
+ /**
+ * returns the sigma multiple value used for ORD stripping.
+ * \return sigma multiple
+ */
+ double getSigmaMultiplier() const throw() { return sigmam; }
+
+ /**
+ * returns the elevation mask angle used for ORD stripping.
+ * \return elevation mask angle
+ */
+ double getElevationMask() const throw() { return elvmask; }
+
+
+ /**
+ * return the current value of the userWonkyData flag.
+ */
+ bool getUseWonkyData() const throw()
+ { return useWonkyData; }
+
+ /// Computes an average of all ORD in the epoch that pass the elevation
+ /// mask, and SvModeMap tests, removes those ORDS that exceede the sigmam
+ /// value and returns the resulting statistics. This is effectivly a simple
+ /// single epoch clock model.
+ Stats<double> simpleOrdClock(const ORDEpoch& oe)
+ throw(InvalidValue);
+
+ virtual void dump(std::ostream& s, short detail=1) const throw();
+
+ friend std::ostream& operator<<(std::ostream& s, const ObsClockModel& r)
+ { r.dump(s, 0); return s; };
+
+ protected:
+
+ double sigmam; ///< sigma multiple value for ORD stripping
+ double elvmask; ///< elevation mask angle for ORD stripping
+ SvStatusMap status; ///< map of ORD usage in bias computation
+ SvModeMap modes; ///< map of modes to use ORDs in bias computation
+ bool useWonkyData; ///< set to use ords that are flagged wonky
+ };
+}
+#endif
diff --git a/dev/src/ObsEpochMap.cpp b/dev/src/ObsEpochMap.cpp
new file mode 100644
index 0000000..63af43b
--- /dev/null
+++ b/dev/src/ObsEpochMap.cpp
@@ -0,0 +1,76 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file ObsEpochMap.cpp
+ * A class encapsulating observation data (roughly standard RINEX obs and met files).
+ */
+
+#include "ObsEpochMap.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+namespace gpstk
+{
+ // These are just to facilitate debugging. The format of the data output
+ // is quite ad-hoc and may change.
+ std::ostream& operator<<(std::ostream& s, const SvObsEpoch& obs)
+ throw()
+ {
+ SvObsEpoch::const_iterator i;
+ for (i=obs.begin(); i != obs.end(); i++)
+ {
+ if (i != obs.begin())
+ s << ", ";
+ s << i->first << ": " << i->second;
+ }
+ return s;
+ }
+
+ std::ostream& operator<<(std::ostream& s, const ObsEpoch& oe)
+ throw()
+ {
+ s << oe.time << ", rxClock: " << oe.rxClock << endl;
+ ObsEpoch::const_iterator i;
+ for (i=oe.begin(); i!=oe.end(); i++)
+ s << i->first << ": " << i->second << endl;
+
+ return s;
+ }
+} // namespace
diff --git a/dev/src/ObsEpochMap.hpp b/dev/src/ObsEpochMap.hpp
new file mode 100644
index 0000000..0273bd1
--- /dev/null
+++ b/dev/src/ObsEpochMap.hpp
@@ -0,0 +1,80 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef GPSTK_OBSEPOCHMAP_HPP
+#define GPSTK_OBSEPOCHMAP_HPP
+
+/**
+ * @file ObsEpochMap.hpp
+ * A class encapsulating observation data
+ */
+
+
+#include <map>
+#include <iostream>
+
+#include "DayTime.hpp"
+#include "SatID.hpp"
+#include "ObsID.hpp"
+#include "ValidType.hpp"
+
+namespace gpstk
+{
+ // All the observations collected from a single SV at a single epoch
+ struct SvObsEpoch : public std::map<ObsID, double>
+ {
+ gpstk::SatID svid;
+ vfloat azimuth, elevation;
+ };
+
+ /// All the observations collected from a single receiver at a single epoch
+ struct ObsEpoch : public std::map<SatID, SvObsEpoch>
+ {
+ gpstk::DayTime time;
+ vdouble rxClock;
+ };
+
+ /// A time history of the observations collected from a single receiver.
+ typedef std::map<DayTime, ObsEpoch> ObsEpochMap;
+
+ std::ostream& operator<<(std::ostream& s, const SvObsEpoch& obs) throw();
+ std::ostream& operator<<(std::ostream& s, const ObsEpoch& oe) throw();
+
+} // namespace
+
+#endif
diff --git a/dev/src/ObsID.cpp b/dev/src/ObsID.cpp
new file mode 100644
index 0000000..845dd28
--- /dev/null
+++ b/dev/src/ObsID.cpp
@@ -0,0 +1,170 @@
+#pragma ident "$Id$"
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+#include "ObsID.hpp"
+
+
+/**
+ * @file ObsID.cpp
+ * gpstk::ObsID - Identifies types of observations
+ */
+
+namespace gpstk
+{
+ std::map< ObsID::TrackingCode, std::string > ObsID::tcStrings;
+ std::map< ObsID::CarrierBand, std::string > ObsID::cbStrings;
+ std::map< ObsID::ObservationType, std::string > ObsID::otStrings;
+
+ ObsID::Initializer singleton;
+
+ ObsID::Initializer::Initializer()
+ {
+ cbStrings[cbUnknown] = "UnknownBand";
+ cbStrings[cbL1] = "L1";
+ cbStrings[cbL2] = "L2";
+ cbStrings[cbL5] = "L5";
+ cbStrings[cbL1L2] = "L1+L2";
+ cbStrings[cbG1] = "G1";
+ cbStrings[cbG2] = "G2";
+ cbStrings[cbE5b] = "E5b";
+ cbStrings[cbE5ab] = "L5a+b";
+ cbStrings[cbE6] = "E6";
+
+ otStrings[otUnknown] = "UnknownType";
+ otStrings[otRange] = "range";
+ otStrings[otPhase] = "phase";
+ otStrings[otDoppler] = "doppler";
+ otStrings[otSNR] = "snr";
+ otStrings[otSSI] = "ssi";
+ otStrings[otLLI] = "lli";
+
+ tcStrings[tcUnknown] = "UnknownCode";
+ tcStrings[tcCA] = "C/A";
+ tcStrings[tcP] = "P";
+ tcStrings[tcY] = "Y";
+ tcStrings[tcW] = "W";
+ tcStrings[tcN] = "N";
+ tcStrings[tcM] = "M";
+ tcStrings[tcC2M] = "C2M";
+ tcStrings[tcC2L] = "C2L";
+ tcStrings[tcC2LM] = "C2L+M";
+ tcStrings[tcI5] = "I5";
+ tcStrings[tcQ5] = "Q5";
+ tcStrings[tcIQ5] = "I+Q";
+ tcStrings[tcA] = "A";
+ tcStrings[tcB] = "B";
+ tcStrings[tcC] = "C";
+ tcStrings[tcBC] = "B+C";
+ tcStrings[tcABC] = "A+B+C";
+ }
+
+
+ std::ostream& ObsID::dump(std::ostream& s) const
+ {
+ s << ObsID::cbStrings[band] << " "
+ << ObsID::tcStrings[code] << " "
+ << ObsID::otStrings[type];
+
+ return s;
+ } // ObsID::dump()
+
+ bool ObsID::isValid() const
+ {
+ // At some time this needs to be implimented.
+ return false;
+ }
+
+ ObsID::CarrierBand ObsID::newCarrierBand(const std::string& s)
+
+ {
+ CarrierBand newId =
+ static_cast<CarrierBand>(ObsID::cbStrings.rbegin()->first + 1);
+ ObsID::cbStrings[newId] = s;
+ return newId;
+ }
+
+ ObsID::ObservationType ObsID::newObservationType(const std::string& s)
+ {
+ ObservationType newId =
+ static_cast<ObservationType>(ObsID::otStrings.rbegin()->first + 1);
+ ObsID::otStrings[newId] = s;
+ return newId;
+ }
+
+ ObsID::TrackingCode ObsID::newTrackingCode(const std::string& s)
+ {
+ TrackingCode newId =
+ static_cast<TrackingCode>(ObsID::tcStrings.rbegin()->first + 1);
+ ObsID::tcStrings[newId] = s;
+ return newId;
+ }
+
+ bool ObsID::operator==(const ObsID& right) const
+ { return type==right.type && band==right.band && code==right.code; }
+
+ bool ObsID::operator<(const ObsID& right) const
+ {
+ if (band == right.band)
+ if (code == right.code)
+ return type < right.type;
+ else
+ return code < right.code;
+ else
+ return band < right.band;
+
+ // This should never be reached...
+ return false;
+ }
+
+ namespace StringUtils
+ {
+ /// convert this object to a string representation
+ std::string asString(const ObsID& p)
+ {
+ std::ostringstream oss;
+ p.dump(oss);
+ return oss.str();
+ }
+ }
+
+ /// stream output for ObsID
+ std::ostream& operator<<(std::ostream& s, const ObsID& p)
+ {
+ p.dump(s);
+ return s;
+ }
+
+}
diff --git a/dev/src/ObsID.hpp b/dev/src/ObsID.hpp
new file mode 100644
index 0000000..9ee1a24
--- /dev/null
+++ b/dev/src/ObsID.hpp
@@ -0,0 +1,193 @@
+#pragma ident "$Id$"
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef GPSTK_OBSID_HPP
+#define GPSTK_OBSID_HPP
+
+#include <iostream>
+#include <iomanip>
+#include <sstream>
+#include <string>
+#include <map>
+
+/**
+ * @file ObsID.hpp
+ * gpstk::ObsID - navigation system, receiver, and file specification
+ independent representation of the types of observation data that can
+ be collected. This class is analogous to the RinexObsType class that
+ is used to represent the observation codes in a RINEX file. It is
+ intended to support at least everything in section 5.1 of the RINEX 3
+ specifications.
+ */
+
+namespace gpstk
+{
+ class ObsID
+ {
+ public:
+ /// The type of observation.
+ enum ObservationType
+ {
+ otUnknown,
+ otRange, ///< pseudorange, in meters
+ otPhase, ///< accumulated phase, in meters
+ otDoppler, ///< Doppler, in Hz
+ otSNR, ///< Signal strength, in dB-Hz
+ otSSI, ///< Signal strength indicator/inded (kinda a rinex thing)
+ otLLI, ///< loss of lock indicator/ lock count
+ otLast, ///< used to extend this...
+ otPlaceholder = otLast+1000
+ };
+
+ /// The frequency band this obs was collected from.
+ enum CarrierBand
+ {
+ cbUnknown,
+ cbL1, ///< GPS L1, Galileo E2-L1-E1, SBAS L1
+ cbL2, ///< GPS L2
+ cbL5, ///< GPS L5, Galileo E5a, SBAS L5
+ cbL1L2, ///< Combined L1L2 (like an ionosphere free obs)
+ cbG1, ///< Glonass G1
+ cbG2, ///< Glonass G2
+ cbE5b, ///< Galileo E5b
+ cbE5ab, ///< Galileo E5a+b
+ cbE6, ///< Galileo E6
+ cbLast, ///< Used to extend this...
+ ccPlaceholder = cbLast+1000
+ };
+
+ /// The code used to collect the observation. This generally follows
+ /// the attributes in section 5.1 of RINEX 3. Note that these need to
+ /// be interpreted in conjunction with the satellite system that
+ /// is in the svid variable.
+ enum TrackingCode
+ {
+ tcUnknown,
+ tcCA, ///< Legacy civil code
+ tcP, ///< Legacy precise code
+ tcY, ///< Encrypted legacy precise code
+ tcW, ///< Encrypted legacy precise code, with codeless Z mode tracking
+ tcN, ///< Encrypted legacy precise code, with codeless tracking
+ tcM, ///< Encrypted modernized precise code
+ tcC2M, ///< L2 civil M code
+ tcC2L, ///< L2 civil L code
+ tcC2LM, ///< L2 civil M+L combined tracking (such as Trimble NetRS, Septrentrio, and ITT)
+ tcI5, ///< L5 civil in-phase
+ tcQ5, ///< L5 civil quadrature
+ tcIQ5, ///< L5 civil I+Q combined tracking
+ tcA, ///< Galileo L1 PRS code
+ tcB, ///< Galileo OS/CS/SoL code
+ tcC, ///< Galileo Dataless code
+ tcBC, ///< Galileo B+C combined tracking
+ tcABC, ///< Galileo A+B+C combined tracking
+ tcLast, ///< Used to extend this...
+ tcPlaceholder = tcLast+1000
+ };
+
+ /// empty constructor, creates an invalid object
+ ObsID()
+ : type(otUnknown), band(cbUnknown), code(tcUnknown) {};
+
+ /// Explicit constructor
+ ObsID(ObservationType ot, CarrierBand cb, TrackingCode tc)
+ : type(ot), band(cb), code(tc) {};
+
+ /// Equality requires all fields to be the same
+ virtual bool operator==(const ObsID& right) const;
+
+ /// This ordering is somewhat arbitrary but is required to be able
+ /// to use an ObsID as an index to a std::map. If an application needs
+ /// some other ordering, inherit and override this function.
+ virtual bool operator<(const ObsID& right) const;
+
+ bool operator!=(const ObsID& right) const
+ { return !(operator==(right)); }
+
+ bool operator>(const ObsID& right) const
+ { return (!operator<(right) && !operator==(right)); }
+
+ bool operator<=(const ObsID& right) const
+ { return (operator<(right) || operator==(right)); }
+
+ bool operator>=(const ObsID& right) const
+ { return !(operator<(right)); }
+
+ /// Convenience output method
+ virtual std::ostream& dump(std::ostream& s) const;
+
+ /// Return true if this is a valid ObsID. Basically just
+ /// checks that none of the enums are undefined
+ virtual bool isValid() const;
+
+ /// Destructor
+ virtual ~ObsID() {}
+
+
+ static ObservationType newObservationType(const std::string& s);
+ static CarrierBand newCarrierBand(const std::string& s);
+ static TrackingCode newTrackingCode(const std::string& s);
+
+ ObservationType type;
+ CarrierBand band;
+ TrackingCode code;
+
+ static std::map< TrackingCode, std::string > tcStrings;
+ static std::map< CarrierBand, std::string > cbStrings;
+ static std::map< ObservationType, std::string > otStrings;
+
+ public:
+ class Initializer
+ {
+ public:
+ Initializer();
+ };
+
+ static Initializer singleton;
+
+ }; // class ObsID
+
+ namespace StringUtils
+ {
+ /// convert this object to a string representation
+ std::string asString(const ObsID& p);
+ }
+
+ /// stream output for ObsID
+ std::ostream& operator<<(std::ostream& s, const ObsID& p);
+
+} // namespace gpstk
+#endif
diff --git a/dev/src/ObsRngDev.cpp b/dev/src/ObsRngDev.cpp
new file mode 100644
index 0000000..82e7dee
--- /dev/null
+++ b/dev/src/ObsRngDev.cpp
@@ -0,0 +1,330 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file ObsRngDev.hpp
+ * Observed range deviation computation & storage.
+ */
+
+#include "EphemerisRange.hpp"
+#include "EngEphemeris.hpp"
+#include "BCEphemerisStore.hpp"
+#include "MiscMath.hpp"
+#include "icd_200_constants.hpp"
+
+#include "ObsRngDev.hpp"
+
+namespace gpstk
+{
+
+ // these are the L1-L2 correction factors per ICD-GPS-200, sec. 20.3.3.3.3.2
+ static const double GAMMA = 1.64694444444444444; // (1575.42/1227.6)^2
+ static const double IGAMMA = 1-GAMMA;
+
+ bool ObsRngDev::debug=false;
+
+ ObsRngDev::ObsRngDev(
+ const double prange,
+ const SatID& svid,
+ const DayTime& time,
+ const ECEF& rxpos,
+ const EphemerisStore& eph,
+ GeoidModel& gm,
+ bool svTime)
+ : obstime(time), svid(svid), ord(0), wonky(false)
+ {
+ computeOrd(prange, rxpos, eph, gm, svTime);
+ Geodetic gx(rxpos, &gm);
+ NBTropModel nb(gx.getAltitude(), gx.getLatitude(), time.DOYday());
+ computeTrop(nb);
+ }
+
+ ObsRngDev::ObsRngDev(
+ const double prange,
+ const SatID& svid,
+ const DayTime& time,
+ const ECEF& rxpos,
+ const EphemerisStore& eph,
+ GeoidModel& gm,
+ const IonoModelStore& ion,
+ IonoModel::Frequency fq,
+ bool svTime)
+ : obstime(time), svid(svid), ord(0), wonky(false)
+ {
+ computeOrd(prange, rxpos, eph, gm, svTime);
+ Geodetic gx(rxpos, &gm);
+ NBTropModel nb(gx.getAltitude(), gx.getLatitude(), time.DOYday());
+ computeTrop(nb);
+ iono = ion.getCorrection(time, gx, elevation, azimuth, fq);
+ ord -= iono;
+ }
+
+ ObsRngDev::ObsRngDev(
+ const double prange,
+ const SatID& svid,
+ const DayTime& time,
+ const ECEF& rxpos,
+ const EphemerisStore& eph,
+ GeoidModel& gm,
+ const TropModel& tm,
+ bool svTime)
+ : obstime(time), svid(svid), ord(0), wonky(false)
+ {
+ computeOrd(prange, rxpos, eph, gm, svTime);
+ computeTrop(tm);
+ }
+
+ ObsRngDev::ObsRngDev(
+ const double prange,
+ const SatID& svid,
+ const DayTime& time,
+ const ECEF& rxpos,
+ const EphemerisStore& eph,
+ GeoidModel& gm,
+ const TropModel& tm,
+ const IonoModelStore& ion,
+ IonoModel::Frequency fq,
+ bool svTime)
+ : obstime(time), svid(svid), ord(0), wonky(false)
+ {
+ computeOrd(prange, rxpos, eph, gm, svTime);
+ computeTrop(tm);
+ Geodetic gx(rxpos, &gm);
+ iono = ion.getCorrection(time, gx, elevation, azimuth, fq);
+ ord -= iono;
+ }
+
+
+ ObsRngDev::ObsRngDev(
+ const double prange1,
+ const double prange2,
+ const SatID& svid,
+ const DayTime& time,
+ const ECEF& rxpos,
+ const EphemerisStore& eph,
+ GeoidModel& gm,
+ bool svTime)
+ : obstime(time), svid(svid), ord(0), wonky(false)
+ {
+ // for dual frequency see ICD-GPS-211, section 20.3.3.3.3.3
+ double icpr = (prange2 - GAMMA * prange1)/IGAMMA;
+ iono = prange1 - icpr;
+
+ computeOrd(icpr, rxpos, eph, gm, svTime);
+ Geodetic gx(rxpos, &gm);
+ NBTropModel nb(gx.getAltitude(), gx.getLatitude(), time.DOYday());
+ computeTrop(nb);
+ }
+
+
+ ObsRngDev::ObsRngDev(
+ const double prange1,
+ const double prange2,
+ const SatID& svid,
+ const DayTime& time,
+ const ECEF& rxpos,
+ const EphemerisStore& eph,
+ const GeoidModel& gm,
+ const TropModel& tm,
+ bool svTime)
+ : obstime(time), svid(svid), ord(0), wonky(false)
+ {
+ // for dual frequency see ICD-GPS-211, section 20.3.3.3.3.3
+ double icpr = (prange2 - GAMMA * prange1)/IGAMMA;
+ iono = prange1 - icpr;
+
+ computeOrd(icpr, rxpos, eph, gm, svTime);
+ computeTrop(tm);
+ }
+
+ // This should be used for obs in GPS (i.e. receiver) time.
+ void ObsRngDev::computeOrdRx(
+ const double obs,
+ const ECEF& rxpos,
+ const EphemerisStore& eph,
+ const GeoidModel& gm)
+ {
+ // This algorithm should really be moved to Xvt.preciseRho() or somewhere
+ Xvt svpos;
+ double rawrange;
+ double tof = 0.070;
+ double tof_old = 0;
+ DayTime ttime;
+
+ for (int i=0; fabs(tof-tof_old) > 1.0e-13 && i<=5; i++)
+ {
+ ttime = obstime - tof;
+ tof_old = tof;
+
+ svpos = eph.getSatXvt(svid, ttime);
+
+ rawrange = rxpos.slantRange(svpos.x);
+ tof = rawrange/gm.c();
+
+ // Perform earth rotation correction
+ double wt = gm.angVelocity()*tof;
+ Triple tmp;
+ tmp[0] = svpos.x[0] + wt*svpos.x[1];
+ tmp[1] = -wt*svpos.x[0] + svpos.x[1];
+ tmp[2] = svpos.x[2];
+
+ rawrange = rxpos.slantRange(tmp);
+ tof = rawrange/gm.c();
+ }
+
+ double svclkbias = svpos.dtime*gm.c();
+ if (typeid(eph) == typeid(BCEphemerisStore))
+ {
+ const BCEphemerisStore& bce = dynamic_cast<const BCEphemerisStore&>(eph);
+ const EngEphemeris& eph = bce.findEphemeris(svid, obstime);
+ iodc = eph.getIODC();
+ health = eph.getHealth();
+ }
+
+ // Now add in the corrections
+ rho = rawrange - svclkbias;
+
+ // compute the azimuth and elevation of the SV
+ azimuth = rxpos.azAngle(svpos.x);
+ elevation = rxpos.elvAngle(svpos.x);
+
+ // and now calculate the ORD
+ ord = obs - rho;
+
+ if (debug)
+ {
+ std::ios::fmtflags oldFlags = std::cout.flags();
+ std::cout << *this << std::endl
+ << std::setprecision(3) << std::fixed
+ << " obs=" << obs
+ << ", rho=" << (double)rho
+ << ", obs-rho=" << (double)ord
+ << std::setprecision(9)
+ << ", tof=" << tof
+ << std::endl
+ << std::setprecision(3)
+ << " sv.x=" << svpos.x
+ << ", sv.v=" << svpos.v
+ << std::endl
+ << " rx.x=" << rxpos
+ << std::setprecision(4) << std::scientific
+ << ", sv bias=" << svpos.dtime
+ << ", sv drift=" << svpos.ddtime
+ << std::endl;
+ std::cout.flags(oldFlags);
+ }
+ }
+
+
+// This should be used for obs in SV time
+ void ObsRngDev::computeOrdTx(
+ double obs,
+ const ECEF& rxpos,
+ const EphemerisStore& eph,
+ const GeoidModel& gm)
+ {
+ Xvt svpos = eph.getSatXvt(svid, obstime);
+
+ // compute the range from the station to the SV
+ rho = svpos.preciseRho(rxpos, gm);
+
+ // and now calculate the ORD
+ ord = obs - rho;
+
+ if (typeid(eph) == typeid(BCEphemerisStore))
+ {
+ const BCEphemerisStore& bce = dynamic_cast<const BCEphemerisStore&>(eph);
+ const EngEphemeris& eph = bce.findEphemeris(svid, obstime);
+ iodc = eph.getIODC();
+ health = eph.getHealth();
+ }
+
+ // compute the azimuth and elevation of the SV
+ azimuth = rxpos.azAngle(svpos.x);
+ elevation = rxpos.elvAngle(svpos.x);
+
+ if (debug)
+ {
+ std::ios::fmtflags oldFlags = std::cout.flags();
+ std::cout << *this << std::endl
+ << std::setprecision(3) << std::fixed
+ << " obs=" << obs
+ << ", rho=" << (double)rho
+ << ", obs-rho=" << (double)ord
+ << std::endl
+ << std::setprecision(3)
+ << " sv.x=" << svpos.x
+ << ", sv.v=" << svpos.v
+ << std::endl
+ << " rx.x=" << rxpos
+ << std::setprecision(4) << std::scientific
+ << ", sv bias=" << svpos.dtime
+ << ", sv drift=" << svpos.ddtime
+ << std::endl;
+ std::cout.flags(oldFlags);
+ }
+ }
+
+ void ObsRngDev::computeTrop(const TropModel& tm)
+ {
+ trop = tm.correction(elevation);
+ ord -= trop;
+ }
+
+ std::ostream& operator<<(std::ostream& s, const ObsRngDev& ord)
+ throw()
+ {
+ std::ios::fmtflags oldFlags = s.flags();
+ s << "t=" << ord.obstime.printf("%Y/%03j %02H:%02M:%04.1f")
+ << " prn=" << std::setw(2) << ord.svid.id
+ << std::setprecision(4)
+ << " az=" << std::setw(3) << ord.azimuth
+ << " el=" << std::setw(2) << ord.elevation
+ << std::hex
+ << " h=" << std::setw(1) << ord.health
+ << std::dec << std::setprecision(4)
+ << " ord=" << ord.ord
+ << " ion=" << ord.iono
+ << " trop=" << ord.trop
+ << std::hex
+ << " iodc=" << ord.iodc
+ << " wonky=" << ord.wonky;
+ s.flags(oldFlags);
+ return s;
+ }
+}
diff --git a/dev/src/ObsRngDev.hpp b/dev/src/ObsRngDev.hpp
new file mode 100644
index 0000000..d10b27b
--- /dev/null
+++ b/dev/src/ObsRngDev.hpp
@@ -0,0 +1,326 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file ObsRngDev.hpp
+ * Observed range deviation computation & storage.
+ */
+
+
+#ifndef OBSRNGDEV_HPP
+#define OBSRNGDEV_HPP
+
+#include <ostream>
+
+#include "DayTime.hpp"
+#include "ECEF.hpp"
+#include "EphemerisStore.hpp"
+#include "Exception.hpp"
+#include "GPSGeoid.hpp"
+#include "IonoModelStore.hpp"
+#include "TropModel.hpp"
+#include "ValidType.hpp"
+#include "SatID.hpp"
+
+namespace gpstk
+{
+
+/**
+ * A single (one observation from one sv), Observed Range Deviation (ORD).
+ * It contains all of the parameters that define an ORD and includes
+ * metadata on ORD computation such as SV position and health.
+ */
+ class ObsRngDev
+ {
+ public:
+
+ /**
+ * default constructor.
+ * Creates an empty, useless object to facilitate STL containers of this
+ * object.
+ */
+ ObsRngDev() throw() : wonky(false), obstime(DayTime::END_OF_TIME) {};
+
+ /**
+ * constructor.
+ * Creates an ORD, with no ionospheric correction and a default
+ * trop correction.
+ * \param prange the observed pseudorange
+ * \param svid the SV being observed
+ * \param time the time of the observation
+ * \param rxpos the earth-centered, earth-fixed receiver position
+ * \param eph a store of either broadcast or precise ephemerides
+ * \param gm a GeoidModel for performing range calculations
+ * \param ion a store of nav based ionospheric models
+ * \param fq the GPS frequency (L1 or L2) from which the obs was made
+ * \param svTime true if prange is in SV time, false for RX time.
+ */
+ ObsRngDev(const double prange,
+ const SatID& svid,
+ const DayTime& time,
+ const ECEF& rxpos,
+ const EphemerisStore& eph,
+ GeoidModel& gm,
+ bool svTime = false);
+ /**
+ * constructor.
+ * Creates an ORD, applies a single-frequency nav-message based
+ * ionospheric correction and a default trop correction.
+ * \param prange the observed pseudorange
+ * \param prn the PRN number of the observed SV
+ * \param time the time of the observation
+ * \param rxpos the earth-centered, earth-fixed receiver position
+ * \param eph a store of either broadcast or precise ephemerides
+ * \param gm a GeoidModel for performing range calculations
+ * \param ion a store of nav based ionospheric models
+ * \param fq the GPS frequency (L1 or L2) from which the obs was made
+ * \param svTime true if prange is in SV time, false for RX time.
+ */
+ ObsRngDev(const double prange,
+ const SatID& svid,
+ const DayTime& time,
+ const ECEF& rxpos,
+ const EphemerisStore& eph,
+ GeoidModel& gm,
+ const IonoModelStore& ion,
+ IonoModel::Frequency fq,
+ bool svTime = false);
+ /**
+ * constructor.
+ * Creates an ORD, applies no ionospheric correction and
+ * a user-specified trop correction.
+ * \param prange the observed pseudorange
+ * \param prn the PRN number of the observed SV
+ * \param time the time of the observation
+ * \param rxpos the earth-centered, earth-fixed receiver position
+ * \param eph a store of either broadcast or precise ephemerides
+ * \param gm a GeoidModel for performing range calculations
+ * \param tm a TropModel for performing trop calculation
+ * \param ion a store of nav based ionospheric models
+ * \param fq the GPS frequency (L1 or L2) from which the obs was made
+ * \param svTime true if prange is in SV time, false for RX time.
+ */
+ ObsRngDev(const double prange,
+ const SatID& svid,
+ const DayTime& time,
+ const ECEF& rxpos,
+ const EphemerisStore& eph,
+ GeoidModel& gm,
+ const TropModel& tm,
+ bool svTime = false);
+
+ /**
+ * constructor.
+ * Creates an ORD, applies a single-frequency nav-message based
+ * ionospheric correction and a user-specified trop correction.
+ * \param prange the observed pseudorange
+ * \param prn the PRN number of the observed SV
+ * \param time the time of the observation
+ * \param rxpos the earth-centered, earth-fixed receiver position
+ * \param eph a store of either broadcast or precise ephemerides
+ * \param gm a GeoidModel for performing range calculations
+ * \param tm a TropModel for performing trop calculation
+ * \param ion a store of nav based ionospheric models
+ * \param fq the GPS frequency (L1 or L2) from which the obs was made
+ * \param svTime true if prange is in SV time, false for RX time.
+ */
+ ObsRngDev(const double prange,
+ const SatID& svid,
+ const DayTime& time,
+ const ECEF& rxpos,
+ const EphemerisStore& eph,
+ GeoidModel& gm,
+ const TropModel& tm,
+ const IonoModelStore& ion,
+ IonoModel::Frequency fq,
+ bool svTime = false);
+
+ /**
+ * constructor.
+ * Creates an ORD, applies a dual-frequency ionospheric correction
+ * and a default trop correction.
+ * \param prange the observed pseudorange
+ * \param prn the PRN number of the observed SV
+ * \param time the time of the observation
+ * \param rxpos the earth-centered, earth-fixed receiver position
+ * \param eph a store of either broadcast or precise ephemerides
+ * \param gm a GeoidModel for performing range calculations
+ * \param svTime true if prange is in SV time, false for RX time.
+ */
+ ObsRngDev(const double prange1,
+ const double prange2,
+ const SatID& svid,
+ const DayTime& time,
+ const ECEF& rxpos,
+ const EphemerisStore& eph,
+ GeoidModel& gm,
+ bool svTime = false);
+
+ /**
+ * constructor.
+ * Creates an ORD, applies a dual-frequency ionospheric correction
+ * and a user-specified trop correction.
+ * \param prange the observed pseudorange
+ * \param prn the PRN number of the observed SV
+ * \param time the time of the observation
+ * \param rxpos the earth-centered, earth-fixed receiver position
+ * \param eph a store of either broadcast or precise ephemerides
+ * \param gm a GeoidModel for performing range calculations
+ * \param tm a TropModel for performing trop calculations
+ * \param svTime true if prange is in SV time, false for RX time.
+ */
+ ObsRngDev(const double prange1,
+ const double prange2,
+ const SatID& svid,
+ const DayTime& time,
+ const ECEF& rxpos,
+ const EphemerisStore& eph,
+ const GeoidModel& gm,
+ const TropModel& tm,
+ bool svTime = false);
+
+ /// destructor
+ virtual ~ObsRngDev() throw() {}
+
+ // get accessor methods ----------------------------------------------
+ /**
+ * returns the time of the SV observation
+ * \return time of SV observation
+ */
+ const DayTime& getTime() const throw() { return obstime; }
+
+ /**
+ * returns the observed SV's identifier
+ * \return svid
+ */
+ SatID getSvID() const throw() { return svid; }
+
+ /**
+ * returns the SV azimuth angle (in degrees) in relation to the rx
+ * \return SV azimuth angle
+ */
+ vfloat getAzimuth() const throw() { return azimuth; }
+
+ /**
+ * returns elevation (in degrees) of the SV in relation to the rx
+ * \return SV elevation angle
+ */
+ vfloat getElevation() const throw() { return elevation; }
+
+ /**
+ * returns the 6-bit SV health bitfield from epehemeris, subframe 1
+ * \return SV health bitfield
+ */
+ vshort getHealth() const throw() { return health; }
+
+ /**
+ * returns the Issue Of Data, Clock (IODC) from ephemeris, subframe 1
+ * \return ephemeris IODC
+ */
+ vshort getIODC() const throw() { return iodc; }
+
+ /**
+ * returns the observed range deviation (ORD) (in meters)
+ * \returns ORD
+ */
+ double getORD() const throw() { return ord; }
+
+ /**
+ * returns the ionospheric offset (in meters)
+ * \returns ionospheric offset
+ */
+ vdouble getIono() const throw() { return iono; }
+
+ /**
+ * returns the tropospheric offset (in meters)
+ * \returns tropospheric offset
+ */
+ vdouble getTrop() const throw() { return trop; }
+
+ friend std::ostream& operator<<(std::ostream& s,
+ const ObsRngDev& r) throw();
+
+ void applyClockOffset(double clockOffset)
+ {ord -= clockOffset;}
+
+ static bool debug;
+
+ private:
+ void computeOrd(double obs,
+ const ECEF& rxpos,
+ const EphemerisStore& eph,
+ const GeoidModel& gm,
+ bool svTime)
+ {
+ if (svTime)
+ computeOrdTx(obs, rxpos, eph, gm);
+ else
+ computeOrdRx(obs, rxpos, eph, gm);
+ return;
+ }
+
+
+
+ void computeOrdTx(double obs,
+ const ECEF& rxpos,
+ const EphemerisStore& eph,
+ const GeoidModel& gm);
+
+ void computeOrdRx(double obs,
+ const ECEF& rxpos,
+ const EphemerisStore& eph,
+ const GeoidModel& gm);
+
+ void computeTrop(const TropModel& tm);
+
+ public:
+ DayTime obstime; ///< time of SV observation
+ SatID svid; ///< PRN number of observed SV
+ double ord; ///< difference between expected and observed range
+ unsigned wonky; ///< A bitmask defined by the application to flag questionable data
+
+ vfloat azimuth; ///< SV azimuth
+ vfloat elevation; ///< SV elevation
+ vshort health; ///< SV health bitfield
+ vshort iodc; ///< ephemeris IODC
+ vdouble rho; ///< expected geometric range
+ vdouble iono; ///< iono correction (meters)
+ vdouble trop; ///< trop correction (meters)
+ };
+}
+#endif
diff --git a/dev/src/OneFreqCSDetector.hpp b/dev/src/OneFreqCSDetector.hpp
new file mode 100644
index 0000000..df34019
--- /dev/null
+++ b/dev/src/OneFreqCSDetector.hpp
@@ -0,0 +1,513 @@
+
+/**
+ * @file OneFreqCSDetector.hpp
+ * This is a class to detect cycle slips using observables in just one frequency.
+ */
+
+#ifndef ONEFREQCSDETECTOR_GPSTK
+#define ONEFREQCSDETECTOR_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2007
+//
+//============================================================================
+
+
+
+#include "DataStructures.hpp"
+
+
+
+namespace gpstk
+{
+
+ /** @addtogroup GPSsolutions */
+ //@{
+
+
+ /** This is a class to detect cycle slips using observables in just one frequency.
+ * This class is meant to be used with the GNSS data structures objects
+ * found in "DataStructures" class.
+ *
+ * A typical way to use this class follows:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o");
+ *
+ * gnssRinex gRin;
+ * OneFreqCSDetector markCSC1;
+ *
+ * while(rin >> gRin) {
+ * gRin >> markCSC1;
+ * }
+ * @endcode
+ *
+ * The "OneFreqCSDetector" object will visit every satellite in the GNSS data
+ * structure that is "gRin" and will decide if a cycle slip has happened in the
+ * given observable.
+ *
+ * By default, the algorithm will use C1 and L1 observables, and the LLI1 index.
+ * The result (a 0 if a cycle slip is found, 1 otherwise) will be stored in the
+ * data structure as the CSL1 index. Note that these data types may be changed
+ * using the appropriate methods. For example:
+ *
+ * @code
+ * markCSC1.setCodeType(TypeID::P2);
+ * markCSC1.setPhaseType(TypeID::L2);
+ * markCSC1.setLLIType(TypeID::LLI2);
+ * markCSC1.setResultType(TypeID::CSI2);
+ * @endcode
+ *
+ * This algorithm will compute the bias between code and phase, and will compare
+ * it with a mean bias that is computed on the fly. If the current bias exceeds a
+ * given threshold, then a cycle slip is declared. The algorithm will also use
+ * the corresponding LLI index (and the RINEX epoch flag, if present) to guide
+ * its decision.
+ *
+ * The threshold, as well as the filter window size and the maximum allowed
+ * time interval between two successive measures, may be tuned with their
+ * corresponding methods. For instance:
+ *
+ * @code
+ * markCSC1.setMaxNumSigmas(3.5);
+ * markCSC1.setMaxWindowSize(20);
+ * @endcode
+ *
+ * Please be aware that the window size should not be too big, because
+ * other factors (such as the ionospheric drift) may show up in the bias, affecting
+ * the algorithm. When using 1 Hz data sampling, a window size between 60 and 100
+ * samples will be fine.
+ *
+ * When used with the ">>" operator, this class returns the same incoming
+ * data structure with the cycle slip index inserted along their corresponding
+ * satellites. Be warned that if a given satellite does not have the
+ * observations required, it will be summarily deleted from the data
+ * structure.
+ *
+ * @sa LICSDetector.hpp and MWCSDetector.hpp for more information.
+ *
+ * \warning Cycle slip detectors are objets that store their internal state,
+ * so you MUST NOT use the SAME object to process DIFFERENT data streams.
+ *
+ */
+ class OneFreqCSDetector
+ {
+ public:
+
+ /// Default constructor, setting default parameters and C1 and L1 observables.
+ OneFreqCSDetector() : codeType(TypeID::C1), phaseType(TypeID::L1), lliType(TypeID::LLI1), resultType(TypeID::CSL1), deltaTMax(31.0), maxWindowSize(60), maxNumSigmas(4.5), defaultBiasSigma(4.0) {};
+
+
+ /** Common constructor
+ *
+ * @param codeT Type of code to be used.
+ * @param dtMax Maximum interval of time allowed between two successive epochs.
+ * @param mwSize Maximum size of filter window, in samples.
+ * @param mnSigmas Maximum deviation allowed before declaring cycle slip (in number of sigmas).
+ * @param dbSigma Default value assigned to sigma when filter starts.
+ */
+ OneFreqCSDetector(const TypeID& codeT, const double& dtMax = 31.0, const int& mwSize = 60, const double& mnSigmas = 4.5, const double& dbSigma = 4.0) : codeType(codeT), deltaTMax(dtMax), maxNumSigmas(mnSigmas), defaultBiasSigma(dbSigma)
+ {
+ // Don't allow window sizes less than 1
+ if (mwSize > 1) maxWindowSize = mwSize; else maxWindowSize = 60;
+
+ switch ( codeT.type )
+ {
+ case TypeID::C1:
+ phaseType = TypeID::L1;
+ lliType = TypeID::LLI1;
+ resultType = TypeID::CSL1;
+ break;
+ case TypeID::C2:
+ phaseType = TypeID::L2;
+ lliType = TypeID::LLI2;
+ resultType = TypeID::CSL2;
+ break;
+ case TypeID::C5:
+ phaseType = TypeID::L5;
+ lliType = TypeID::LLI5;
+ resultType = TypeID::CSL5;
+ break;
+ case TypeID::C6:
+ phaseType = TypeID::L6;
+ lliType = TypeID::LLI6;
+ resultType = TypeID::CSL6;
+ break;
+ case TypeID::C7:
+ phaseType = TypeID::L7;
+ lliType = TypeID::LLI7;
+ resultType = TypeID::CSL7;
+ break;
+ case TypeID::C8:
+ phaseType = TypeID::L8;
+ lliType = TypeID::LLI8;
+ resultType = TypeID::CSL8;
+ break;
+ default:
+ phaseType = TypeID::L1;
+ lliType = TypeID::LLI1;
+ resultType = TypeID::CSL1;
+ };
+ };
+
+
+ /** Returns a satTypeValueMap object, adding the new data generated when calling this object.
+ *
+ * @param epoch Time of observations.
+ * @param gData Data object holding the data.
+ * @param epochflag Epoch flag.
+ */
+ virtual satTypeValueMap& Detect(const DayTime& epoch, satTypeValueMap& gData, const short& epochflag=0)
+ {
+ double value1(0.0);
+ double value2(0.0);
+
+ SatIDSet satRejectedSet;
+
+ // Loop through all the satellites
+ satTypeValueMap::iterator it;
+ for (it = gData.begin(); it != gData.end(); ++it)
+ {
+ try
+ {
+ // Try to extract the values
+ value1 = (*it).second(codeType);
+ value2 = (*it).second(phaseType);
+ }
+ catch(...)
+ {
+ // If some value is missing, then schedule this satellite for removal
+ satRejectedSet.insert( (*it).first );
+ continue;
+ }
+ // If everything is OK, then get the new value inside the structure
+ // This way of doing it allows concatenation of several different cycle slip detectors
+ (*it).second[resultType] += getDetection(epoch, (*it).first, (*it).second, epochflag, value1, value2);
+ if ( (*it).second[resultType] > 1.0 ) (*it).second[resultType] = 1.0;
+ }
+ // Remove satellites with missing data
+ gData.removeSatID(satRejectedSet);
+
+ return gData;
+ };
+
+
+ /** Method to set the default code type to be used.
+ * @param codeT TypeID of code to be used
+ */
+ virtual void setCodeType(const TypeID& codeT)
+ {
+ codeType = codeT;
+ };
+
+
+ /// Method to get the default code type being used.
+ virtual TypeID getCodeType() const
+ {
+ return codeType;
+ };
+
+
+ /** Method to set the default phase type to be used.
+ * @param phaseT TypeID of phase to be used
+ */
+ virtual void setPhaseType(const TypeID& phaseT)
+ {
+ phaseType = phaseT;
+ };
+
+
+ /// Method to get the default phase type being used.
+ virtual TypeID getPhaseType() const
+ {
+ return phaseType;
+ };
+
+
+ /** Method to set the default LLI to be used.
+ * @param lliT LLI to be used
+ */
+ virtual void setLLIType(const TypeID& lliT)
+ {
+ lliType = lliT;
+ };
+
+
+ /// Method to get the default LLI being used.
+ virtual TypeID getLLIType() const
+ {
+ return lliType;
+ };
+
+
+ /** Method to set the default return type to be used.
+ * @param returnT TypeID to be returned
+ */
+ virtual void setResultType(const TypeID& resultT)
+ {
+ resultType = resultT;
+ };
+
+
+ /// Method to get the default return type being used.
+ virtual TypeID getResultType() const
+ {
+ return resultType;
+ };
+
+
+ /** Method to set the maximum interval of time allowed between two successive epochs.
+ * @param maxDelta Maximum interval of time, in seconds
+ */
+ virtual void setDeltaTMax(const double& maxDelta)
+ {
+ deltaTMax = maxDelta;
+ };
+
+
+ /// Method to get the maximum interval of time allowed between two successive epochs.
+ virtual double getDeltaTMax() const
+ {
+ return deltaTMax;
+ };
+
+
+ /** Method to set the maximum size of filter window, in samples.
+ * @param maxSize Maximum size of filter window, in samples.
+ */
+ virtual void setMaxWindowSize(const int& maxSize)
+ {
+ // Don't allow window sizes less than 1
+ if (maxSize > 1) maxWindowSize = maxSize; else maxWindowSize = 60;
+ };
+
+
+ /// Method to get the maximum size of filter window, in samples.
+ virtual int getMaxWindowSize() const
+ {
+ return maxWindowSize;
+ };
+
+
+ /** Method to set the maximum deviation allowed before declaring cycle slip (in number of sigmas).
+ * @param maxNSigmas Maximum deviation allowed before declaring cycle slip (in number of sigmas).
+ */
+ virtual void setMaxNumSigmas(const double& maxNSigmas)
+ {
+ maxNumSigmas = maxNSigmas;
+ };
+
+
+ /// Method to get the maximum deviation allowed before declaring cycle slip (in number of sigmas).
+ virtual double getMaxNumSigmas() const
+ {
+ return maxNumSigmas;
+ };
+
+
+ /** Method to set the default value assigned to sigma when filter starts.
+ * @param defSigma Default value assigned to sigma when filter starts.
+ */
+ virtual void setDefaultBiasSigma(const double& defSigma)
+ {
+ defaultBiasSigma = defSigma;
+ };
+
+
+ /// Method to get the default value assigned to sigma when filter starts.
+ virtual double getDefaultBiasSigma() const
+ {
+ return defaultBiasSigma;
+ };
+
+
+ /** Returns a gnnsSatTypeValue object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssSatTypeValue& Detect(gnssSatTypeValue& gData)
+ {
+ (*this).Detect(gData.header.epoch, gData.body);
+ return gData;
+ };
+
+
+ /** Returns a gnnsRinex object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssRinex& Detect(gnssRinex& gData)
+ {
+ (*this).Detect(gData.header.epoch, gData.body, gData.header.epochFlag);
+ return gData;
+ };
+
+
+ /// Destructor
+ virtual ~OneFreqCSDetector() {};
+
+
+ private:
+
+ /// Type of code.
+ TypeID codeType;
+
+ /// Type of phase.
+ TypeID phaseType;
+
+ /// Type of LLI record.
+ TypeID lliType;
+
+ /// Type of result.
+ TypeID resultType;
+
+ /// Maximum interval of time allowed between two successive epochs.
+ double deltaTMax;
+
+
+ /// Maximum size of filter window, in samples.
+ int maxWindowSize;
+
+
+ /// Maximum deviation allowed before declaring cycle slip (in number of sigmas).
+ double maxNumSigmas;
+
+
+ /// Default value assigned to sigma when filter starts.
+ double defaultBiasSigma;
+
+
+ /// A structure used to store filter data for a SV.
+ struct filterData
+ {
+ // Default constructor initializing the data in the structure
+ filterData() : previousEpoch(DayTime::BEGINNING_OF_TIME), windowSize(0), meanBias(0.0), meanSigma2(0.0) {};
+
+ DayTime previousEpoch; ///< The previous epoch time stamp.
+ int windowSize; ///< The filter window size.
+ double meanBias; ///< Accumulated mean bias (pseudorange - phase).
+ double meanSigma2; ///< Accumulated mean bias sigma squared.
+ };
+
+
+ /// Map holding the information regarding every satellite
+ std::map<SatID, filterData> OneFreqData;
+
+
+ /** Returns a satTypeValueMap object, adding the new data generated when calling this object.
+ *
+ * @param epoch Time of observations.
+ * @param sat SatID.
+ * @param tvMap Data structure of TypeID and values.
+ * @param epochflag Epoch flag.
+ * @param code Current code observation value.
+ * @param phase Current phase observation value.
+ */
+ virtual double getDetection(const DayTime& epoch, const SatID& sat, typeValueMap& tvMap, const short& epochflag, const double& code, const double& phase)
+ {
+ bool reportCS(false);
+ double deltaT(0.0); // Difference between current and former epochs, in sec
+ double bias(0.0); // Code-phase bias
+ double dif2(0.0); // Difference between biases, squared.
+ double thr2(0.0); // Threshold in sigmas, squared.
+ double deltaBias(0.0); // Difference between biases
+ double tempLLI(0.0);
+
+ // Get the difference between current epoch and former epoch, in seconds
+ deltaT = ( epoch.MJDdate() - OneFreqData[sat].previousEpoch.MJDdate() ) * DayTime::SEC_DAY;
+
+ // Store current epoch as former epoch
+ OneFreqData[sat].previousEpoch = epoch;
+
+ bias = code - phase; // Current value of code-phase bias
+
+ // Increment size of window and check limit
+ ++OneFreqData[sat].windowSize;
+ if (OneFreqData[sat].windowSize > maxWindowSize) OneFreqData[sat].windowSize = maxWindowSize;
+
+ // Check if receiver already declared cycle slip or too much time has elapsed
+ // Note: If tvMap(lliType) doesn't exist, then 0 will be returned and that test will pass
+ if ( (tvMap(lliType)==1.0) || (tvMap(lliType)==3.0) || (tvMap(lliType)==5.0) || (tvMap(lliType)==7.0) ) tempLLI = 1.0;
+
+ if ( (epochflag==1) || (epochflag==6) || (tempLLI==1.0) || (deltaT > deltaTMax) )
+ {
+ OneFreqData[sat].windowSize = 1;
+ }
+
+ if (OneFreqData[sat].windowSize > 1)
+ {
+ deltaBias = (bias - OneFreqData[sat].meanBias);
+
+ dif2 = deltaBias*deltaBias; // Square difference between biases
+ thr2 = OneFreqData[sat].meanSigma2 * maxNumSigmas * maxNumSigmas; // Compute threshold^2
+
+ // If difference in biases is bigger or equal to threshold, then cycle slip
+ if (dif2 >= thr2)
+ {
+ OneFreqData[sat].windowSize = 1;
+ } else {
+ // Update mean bias
+ OneFreqData[sat].meanBias = OneFreqData[sat].meanBias + deltaBias/(static_cast<double>(OneFreqData[sat].windowSize));
+
+ // Update mean variance
+ OneFreqData[sat].meanSigma2 = OneFreqData[sat].meanSigma2 + ( (dif2-OneFreqData[sat].meanSigma2) ) / (static_cast<double>(OneFreqData[sat].windowSize));
+ }
+ }
+
+ if (OneFreqData[sat].windowSize <= 1) // If a cycle-slip happened
+ {
+ // Set mean bias to current code-phase bias
+ OneFreqData[sat].meanBias = bias;
+
+ // Set mean variance to default variance
+ OneFreqData[sat].meanSigma2 = defaultBiasSigma * defaultBiasSigma;
+ reportCS = true;
+ }
+
+ if (reportCS) return 1.0; else return 0.0;
+ };
+
+ }; // end class OneFreqCSDetector
+
+
+ /// Input operator from gnssSatTypeValue to OneFreqCSDetector.
+ inline gnssSatTypeValue& operator>>(gnssSatTypeValue& gData, OneFreqCSDetector& oneF)
+ {
+ oneF.Detect(gData);
+ return gData;
+ }
+
+
+ /// Input operator from gnssRinex to OneFreqCSDetector.
+ inline gnssRinex& operator>>(gnssRinex& gData, OneFreqCSDetector& oneF)
+ {
+ oneF.Detect(gData);
+ return gData;
+ }
+
+
+
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/PCSmoother.hpp b/dev/src/PCSmoother.hpp
new file mode 100644
index 0000000..2027aed
--- /dev/null
+++ b/dev/src/PCSmoother.hpp
@@ -0,0 +1,342 @@
+
+/**
+ * @file PCSmoother.hpp
+ * This class smoothes PC code observables using the corresponding LC phase observable.
+ */
+
+#ifndef PC_SMOOTHER_GPSTK
+#define PC_SMOOTHER_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http:// www.gage.es ). 2007
+//
+//============================================================================
+
+
+
+#include "CodeSmoother.hpp"
+
+
+namespace gpstk
+{
+
+ /** @addtogroup DataStructures */
+ //@{
+
+
+ /** This class smoothes the PC code observable using the corresponding LC phase observable.
+ * This class is meant to be used with the GNSS data structures objects
+ * found in "DataStructures" class.
+ *
+ * A typical way to use this class follows:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o");
+ *
+ * gnssRinex gRin;
+ * OneFreqCSDetector markCSL1; // We MUST mark at least some cycle slips
+ * PCSmoother smoothPC;
+ *
+ * while(rin >> gRin) {
+ * gRin >> markCSL1 >> smoothPC;
+ * }
+ * @endcode
+ *
+ * The "PCSmoother" object will visit every satellite in the GNSS data
+ * structure that is "gRin" and will smooth the PC code observation using
+ * the corresponding LC phase observation.
+ *
+ * By default, the algorithm will check both the CSL1 and CSL2 index for cycle
+ * slip information. You can change these settings in the constructor and with
+ * the appropriate set methods.
+ *
+ * When used with the ">>" operator, this class returns the same incoming
+ * data structure with the PC code observation smoothed (unless the resultType
+ * field is changed). Be warned that if a given satellite does not have the
+ * observations required, it will be summarily deleted from the data
+ * structure.
+ *
+ * Another important parameter is the maxWindowSize field. By default, it is
+ * set to 100 samples. You may adjust that with the setMaxWindowSize() method:
+ *
+ * @code
+ * PCSmoother smoothPC;
+ * smoothPC.setMaxWindowSize(35);
+ * @endcode
+ *
+ * A window of 100 samples is typical and appropriate when working with data
+ * sampled at 1 Hz. Note that the PC observable doesn't suffer the effect of
+ * the ionosphere drift.
+ *
+ * @sa CodeSmoother.hpp for base class.
+ *
+ * \warning Code smoothers are objets that store their internal state,
+ * so you MUST NOT use the SAME object to process DIFFERENT data streams.
+ *
+ */
+ class PCSmoother : public CodeSmoother
+ {
+ public:
+
+ /// Default constructor, setting default parameters and C1 and L1 as observables.
+ PCSmoother() : codeType(TypeID::PC), phaseType(TypeID::LC), resultType(TypeID::PC), maxWindowSize(100), csFlag1(TypeID::CSL1), csFlag2(TypeID::CSL2) {};
+
+
+ /** Common constructor
+ *
+ * @param mwSize Maximum size of filter window, in samples.
+ * @param resultT TypeID where results will be stored.
+ */
+ PCSmoother(const int& mwSize, const TypeID& resultT = TypeID::PC) : codeType(TypeID::PC), phaseType(TypeID::LC), resultType(resultT), maxWindowSize(mwSize), csFlag1(TypeID::CSL1), csFlag2(TypeID::CSL2) {};
+
+
+ /** Returns a satTypeValueMap object, adding the new data generated when calling this object.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual satTypeValueMap& Smooth(satTypeValueMap& gData)
+ {
+ double codeObs(0.0);
+ double phaseObs(0.0);
+ double flagObs1(0.0);
+ double flagObs2(0.0);
+
+ SatIDSet satRejectedSet;
+
+ // Loop through all the satellites
+ satTypeValueMap::iterator it;
+ for (it = gData.begin(); it != gData.end(); ++it)
+ {
+ try
+ {
+ // Try to extract the values
+ codeObs = (*it).second(codeType);
+ phaseObs = (*it).second(phaseType);
+ }
+ catch(...)
+ {
+ // If some value is missing, then schedule this satellite for removal
+ satRejectedSet.insert( (*it).first );
+ continue;
+ }
+ try
+ {
+ // Try to get the first cycle slip flag
+ flagObs1 = (*it).second(csFlag1);
+ }
+ catch(...)
+ {
+ // If flag #1 is not found, no cycle slip is assumed
+ // You REALLY want to have BOTH CS flags properly set
+ flagObs1 = 0.0;
+ }
+ try
+ {
+ // Try to get the second cycle slip flag
+ flagObs2 = (*it).second(csFlag2);
+ }
+ catch(...)
+ {
+ // If flag #2 is not found, no cycle slip is assumed
+ // You REALLY want to have BOTH CS flags properly set
+ flagObs2 = 0.0;
+ }
+ // Get the smoothed PC.
+ (*it).second[resultType] = getSmoothing((*it).first, codeObs, phaseObs, flagObs1, flagObs2);
+ }
+ // Remove satellites with missing data
+ gData.removeSatID(satRejectedSet);
+
+ return gData;
+ };
+
+
+ /** Method to set the default return type to be used.
+ * @param returnT TypeID to be returned
+ */
+ virtual void setResultType(const TypeID& resultT)
+ {
+ resultType = resultT;
+ };
+
+
+ /// Method to get the default return type being used.
+ virtual TypeID getResultType() const
+ {
+ return resultType;
+ };
+
+
+ /** Method to set the maximum size of filter window, in samples.
+ * @param maxSize Maximum size of filter window, in samples.
+ */
+ virtual void setMaxWindowSize(const int& maxSize)
+ {
+ // Don't allow window sizes less than 1
+ if (maxSize > 1) maxWindowSize = maxSize; else maxWindowSize = 1;
+ };
+
+
+ /// Method to get the maximum size of filter window, in samples.
+ virtual int getMaxWindowSize() const
+ {
+ return maxWindowSize;
+ };
+
+
+ /** Method to set the default cycle slip type #1 to be used.
+ * @param csT Cycle slip type to be used
+ */
+ virtual void setCSFlag1(const TypeID& csT)
+ {
+ csFlag1 = csT;
+ };
+
+
+ /// Method to get the default cycle slip type #1 being used.
+ virtual TypeID getCSFlag1() const
+ {
+ return csFlag1;
+ };
+
+
+ /** Method to set the default cycle slip type #2 to be used.
+ * @param csT Cycle slip type to be used
+ */
+ virtual void setCSFlag2(const TypeID& csT)
+ {
+ csFlag2 = csT;
+ };
+
+
+ /// Method to get the default cycle slip type #2 being used.
+ virtual TypeID getCSFlag2() const
+ {
+ return csFlag2;
+ };
+
+
+ /// Destructor
+ virtual ~PCSmoother() {};
+
+
+ private:
+
+ /// Type of code observation to be used.
+ TypeID codeType;
+
+
+ /// Type of phase observation to be used.
+ TypeID phaseType;
+
+
+ /// Type assigned to the resulting smoothed code.
+ TypeID resultType;
+
+
+ /// Maximum size of filter window, in samples.
+ int maxWindowSize;
+
+
+ /// Cycle slip flag #1. It should be present.
+ TypeID csFlag1;
+
+
+ /// Cycle slip flag #2. It should be present.
+ TypeID csFlag2;
+
+
+ /// A structure used to store filter data for a SV.
+ struct filterData
+ {
+ // Default constructor initializing the data in the structure
+ filterData() : windowSize(1), previousCode(0.0), previousPhase(0.0) {};
+
+ int windowSize; ///< The filter window size.
+ double previousCode; ///< Accumulated mean bias (pseudorange - phase).
+ double previousPhase; ///< Accumulated mean bias sigma squared.
+ };
+
+
+ /// Map holding the information regarding every satellite
+ std::map<SatID, filterData> SmoothingData;
+
+
+
+ /// Compute the combination of observables.
+ virtual double getSmoothing(const SatID& sat, const double& code, const double& phase, const double& flag1, const double& flag2)
+ {
+ // In case we have a cycle slip either in L1 or L2
+ if ( (flag1!=0.0) || (flag2!=0.0) )
+ {
+ // Prepare the structure for the next iteration
+ SmoothingData[sat].previousCode = code;
+ SmoothingData[sat].previousPhase = phase;
+ SmoothingData[sat].windowSize = 1;
+ return code; // We don't need any further processing
+ }
+
+ // In case we didn't have cycle slip
+ double smoothedCode(0.0);
+
+ // Increment size of window and check limit
+ ++SmoothingData[sat].windowSize;
+ if (SmoothingData[sat].windowSize > maxWindowSize) SmoothingData[sat].windowSize = maxWindowSize;
+
+ // The formula used is the following:
+ //
+ // CSn = (1/n)*Cn + ((n-1)/n)*(CSn-1 + Ln - Ln-1)
+ //
+ // As window size "n" increases, the former formula gives more
+ // weight to the previous smoothed code CSn-1 plus the phase bias
+ // (Ln - Ln-1), and less weight to the current code observation Cn
+ smoothedCode = ( code + ((static_cast<double>(SmoothingData[sat].windowSize)) - 1.0) * (SmoothingData[sat].previousCode + (phase - SmoothingData[sat].previousPhase) ) ) / (static_cast<double>(SmoothingData[sat].windowSize));
+
+ // Store results for next iteration
+ SmoothingData[sat].previousCode = smoothedCode;
+ SmoothingData[sat].previousPhase = phase;
+
+ return smoothedCode;
+ };
+
+
+ /// This method is out of reach in this class.
+ virtual void setCodeType(const TypeID& dummy) {};
+
+ /// This method is out of reach in this class.
+ virtual void setPhaseType(const TypeID& dummy) {};
+
+ /// This method is out of reach in this class.
+ virtual void setCSFlag(const TypeID& dummy) {};
+
+ /// This method is out of reach in this class.
+ virtual TypeID getCSFlag() const { return TypeID::Unknown; };
+
+
+
+
+ }; // end class PCSmoother
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/PCodeConst.hpp b/dev/src/PCodeConst.hpp
new file mode 100644
index 0000000..17191ec
--- /dev/null
+++ b/dev/src/PCodeConst.hpp
@@ -0,0 +1,100 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+// PCodeConst.hpp - Constants for GPS X-register manipulation
+
+
+#ifndef PCodeConst_HPP
+#define PCodeConst_HPP
+
+//#define PCODE_DEBUG
+
+namespace gpstk
+{
+ /** @addtogroup code */
+ /**
+ * PCodeConst.hpp maintains a variety of "magic numbers" related
+ * to P-code generation and used throughout the P-code generator.
+ */
+ enum codeType { P_CODE, Y_CODE, BOTH };
+
+ /// Number of bits assumed to be in a unsigned long int
+ const int MAX_BIT = 32;
+
+ /// Maximum PRN Code number (1-n)
+ const int MAX_PRN_CODE = 37;
+
+ /// Number of 4 byte unsigned ints necessary to hold 6 sec of P-code
+ const long NUM_6SEC_WORDS = 1918125;
+
+ /// Number of 4 byte unsigned ints necessary to hold an X2 sequence (with leading delay)
+ const long NUM_X2_WORDS = 1918131;
+
+ /// INIT variables are starting conditions of 12-bit registers (IS-GPS-200)
+ const unsigned int X1A_INIT = 0x0248;
+ const unsigned int X1B_INIT = 0x0554;
+ const unsigned int X2A_INIT = 0x0925;
+ const unsigned int X2B_INIT = 0x0554;
+
+ /// TAPS variables denote which stages of 12-bit registers are XOR'd.
+ const unsigned int X1A_TAPS = 0x0CA0;
+ const unsigned int X1B_TAPS = 0x0F93;
+ const unsigned int X2A_TAPS = 0x0FDD;
+ const unsigned int X2B_TAPS = 0x098E;
+
+ /// X?_MAX_EPOCH is the maximum number of epochs in a sequence
+ const int XA_MAX_EPOCH = 3750;
+ const int XB_MAX_EPOCH = 3749;
+
+ /// X?_COUNT is the number of bits in an epoch
+ const int XA_COUNT = 4092;
+ const int XB_COUNT = 4093;
+
+ /** XA_EPOCH_DELAY and XB_EPOCH_DELAY allow for precession of X1B and X2B wrt
+ * to X1A and X2A at the end of each X1A epoch and X2A epoch. End
+ * of week delays are handled elsewhere.
+ */
+ const long XA_EPOCH_DELAY = 0;
+ const long XB_EPOCH_DELAY = 343;
+
+ /// The 37 chip delay at the end of every X2A epoch
+ const long X2A_EPOCH_DELAY = 37;
+ //@}
+} // namespace
+
+#endif
diff --git a/dev/src/PRSolution.cpp b/dev/src/PRSolution.cpp
new file mode 100644
index 0000000..f4971a2
--- /dev/null
+++ b/dev/src/PRSolution.cpp
@@ -0,0 +1,711 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file PRSolution.cpp
+ * Autonomous pseudorange navigation solution, including RAIM algorithm
+ */
+
+#include "MathBase.hpp"
+#include "PRSolution.hpp"
+#include "EphemerisRange.hpp"
+#include "GPSGeoid.hpp"
+
+// -----------------------------------------------------------------------------------
+// Combinations.hpp
+// Find all the combinations of n things taken k at a time.
+
+#include "Exception.hpp"
+
+/// Class Combinations will compute C(n,k), all the combinations of n things
+/// taken k at a time (where k <= n).
+/// Let n 'things' be indexed by i (i=0...n-1), e.g. stored in an array of length n.
+/// This class computes C(n,k) as sets of k indexes into the 'things' array.
+/// These indexes are accessible via member functions Selection() or isSelected().
+/// Next() computes the next combination until there are no more (when it returns -1).
+class Combinations {
+public:
+ /// Default constructor
+ Combinations(void)
+ throw()
+ {
+ nc = n = k = 0;
+ Index = NULL;
+ }
+
+ /// Constructor for C(n,k) = combinations of n things taken k at a time (k <= n)
+ /// @throw on invalid input (k>n).
+ Combinations(int N, int K)
+ throw(gpstk::Exception)
+ {
+ try { init(N,K); }
+ catch(gpstk::Exception& e) { GPSTK_RETHROW(e); }
+ }
+
+ /// copy constructor
+ Combinations(const Combinations& right)
+ throw()
+ {
+ *this = right;
+ }
+
+ /// destructor
+ ~Combinations(void)
+ {
+ if(Index) delete[] Index;
+ Index = NULL;
+ }
+
+ /// Assignment operator.
+ Combinations& operator=(const Combinations& right)
+ throw()
+ {
+ this->~Combinations();
+ init(right.n,right.k);
+ nc = right.nc;
+ for(int j=0; j<k; j++) Index[j] = right.Index[j];
+ return *this;
+ }
+
+ /// Compute the next combination, returning the number of combinations computed
+ /// so far; if there are no more combinations, return -1.
+ int Next(void) throw();
+
+ /// Return index i (0 <= i < n) of jth selection (0 <= j < k);
+ /// if j is out of range, return -1.
+ int Selection(int j)
+ throw()
+ {
+ if(j < 0 || j >= k) return -1;
+ return Index[j];
+ }
+
+ /// Return true if the given index j (0 <= j < n) is
+ /// currently selected (i.e. if j = Selection(i) for some i)
+ bool isSelected(int j)
+ throw()
+ {
+ for(int i=0; i<k; i++)
+ if(Index[i] == j) return true;
+ return false;
+ }
+
+private:
+
+ /// The initialization routine used by constructors.
+ /// @throw on invalid input (k>n or either n or k < 0).
+ void init(int N, int K)
+ throw(gpstk::Exception);
+
+ /// Recursive function to increment Index[j].
+ int Increment(int j) throw();
+
+ int nc; ///< number of combinations computed so far
+ int k,n; ///< combinations of n things taken k at a time, given at c'tor
+ int* Index; ///< Index[j] = index of jth selection (j=0...k-1; I[j]=0...n-1)
+};
+
+// -----------------------------------------------------------------------------------
+int Combinations::Next(void)
+ throw()
+{
+ if(k < 1) return -1;
+ if(Increment(k-1) != -1) return ++nc;
+ return -1;
+}
+
+int Combinations::Increment(int j)
+ throw()
+{
+ if(Index[j] < n-k+j) { // can this index be incremented?
+ Index[j]++;
+ for(int m=j+1; m<k; m++)
+ Index[m]=Index[m-1]+1;
+ return 0;
+ }
+ // is this the last index?
+ if(j-1 < 0) return -1;
+ // increment the next lower index
+ return Increment(j-1);
+}
+
+void Combinations::init(int N, int K)
+ throw(gpstk::Exception)
+{
+ if(K > N || N < 0 || K < 0) {
+ gpstk::Exception e("Combinations(n,k) must have k <= n, with n,k >= 0");
+ GPSTK_THROW(e);
+ }
+
+ if(K > 0) {
+ Index = new int[K];
+ if(!Index) {
+ gpstk::Exception e("Could not allocate");
+ GPSTK_THROW(e);
+ }
+ }
+ else Index = NULL;
+
+ nc = 0;
+ k = K;
+ n = N;
+ for(int j=0; j<k; j++)
+ Index[j]=j;
+}
+
+// -----------------------------------------------------------------------------------
+using namespace std;
+using namespace gpstk;
+
+namespace gpstk
+{
+ int PRSolution::RAIMCompute(const DayTime& Tr,
+ vector<SatID>& Satellite,
+ vector<double>& Pseudorange,
+ const EphemerisStore& Eph,
+ TropModel *pTropModel)
+ throw(Exception)
+ {
+ try {
+ int iret,jret,i,j,N,Nreject,MinSV,stage;
+ vector<bool> UseSat,UseSave;
+ vector<int> GoodIndexes;
+ // Use these to save the 'best' solution within the loop.
+ int BestNIter;
+ double BestRMS=0.0,BestSL=0.0,BestConv=0.0;
+ Vector<double> BestSol;
+ vector<bool> BestUse;
+ BestRMS = -1.0; // this marks the 'Best' set as unused.
+
+ // ----------------------------------------------------------------
+ // initialize
+ Valid = false;
+
+ // Save the input solution
+ // (for use in rejection when ResidualCriterion is false).
+ if(Solution.size() != 4) { Solution.resize(4); Solution = 0.0; }
+ APrioriSolution = Solution;
+
+ // ----------------------------------------------------------------
+ // fill the SVP matrix, and use it for every solution
+ // NB this routine can set Satellite[.]=negative when no ephemeris
+ i = PrepareAutonomousSolution(Tr, Satellite, Pseudorange, Eph, SVP);
+ if(Debug) {
+ *pDebugStream << "In RAIMCompute after PAS(): Satellites:";
+ for(j=0; j<Satellite.size(); j++) *pDebugStream << " " << Satellite[j];
+ *pDebugStream << endl;
+ *pDebugStream << " SVP matrix("
+ << SVP.rows() << "," << SVP.cols() << ")" << endl;
+ *pDebugStream << fixed << setw(16) << setprecision(3) << SVP << endl;
+ }
+ if(i) return -3; // return is 0(ok) or -4(no ephemeris)
+
+ // count how many good satellites we have
+ // Initialize UseSat based on Satellite, and build GoodIndexes.
+ // UseSat is used to mark good sats (true) and those to ignore (false).
+ // UseSave saves the original so it can be reused for each solution.
+ // Let GoodIndexes be all the indexes of Satellites that are good:
+ // UseSat[GoodIndexes[.]] == true by definition
+ for(N=0,i=0; i<Satellite.size(); i++) {
+ if(Satellite[i].id > 0) {
+ N++;
+ UseSat.push_back(true);
+ GoodIndexes.push_back(i);
+ }
+ else UseSat.push_back(false);
+ }
+ UseSave = UseSat;
+ //if(Debug) {
+ // *pDebugStream << "GoodIndexes (" << N << ") are";
+ // for(i=0; i<GoodIndexes.size(); i++)
+ // *pDebugStream << " " << Satellite[GoodIndexes[i]];
+ // *pDebugStream << endl;
+ //}
+
+ // don't even try if there are not 4 good satellites
+ if(N < 4) return -3;
+
+ // minimum number of sats needed for algorithm
+ MinSV = 5; // this would be RAIM
+ // ( not really RAIM || not RAIM at all - just one solution)
+ if(!ResidualCriterion || NSatsReject==0) MinSV=4;
+
+ // how many satellites can RAIM reject, if we have to?
+ // default is -1, meaning as many as possible
+ Nreject = NSatsReject;
+ if(Nreject == -1 || Nreject > N-MinSV)
+ Nreject=N-MinSV;
+
+ // ----------------------------------------------------------------
+ // now compute the solution, first with all the data. If this fails,
+ // reject 1 satellite at a time and try again, then 2, etc.
+
+ // Slopes for each satellite are computed (cf. the RAIM algorithm)
+ Vector<double> Slopes(Pseudorange.size());
+
+ // Residuals stores the post-fit data residuals.
+ Vector<double> Residuals(Satellite.size(),0.0);
+
+ // stage is the number of satellites to reject.
+ stage = 0;
+
+ do {
+ // compute all the combinations of N satellites taken stage at a time
+ Combinations Combo(N,stage);
+
+ // compute a solution for each combination of marked satellites
+ do {
+ // Mark the satellites for this combination
+ UseSat = UseSave;
+ for(i=0; i<GoodIndexes.size(); i++)
+ if(Combo.isSelected(i)) UseSat[i]=false;
+
+ // ----------------------------------------------------------------
+ // Compute a solution given the data; ignore ranges for marked
+ // satellites. Fill Vector 'Slopes' with slopes for each unmarked
+ // satellite.
+ // Return 0 ok
+ // -1 failed to converge
+ // -2 singular problem
+ // -3 not enough good data
+ NIterations = MaxNIterations; // pass limits in
+ Convergence = ConvergenceLimit;
+ iret = AutonomousPRSolution(Tr, UseSat, SVP, pTropModel, Algebraic,
+ NIterations, Convergence, Solution, Covariance, Residuals, Slopes);
+
+ // ----------------------------------------------------------------
+ // Compute RMS residual...
+ if(!ResidualCriterion) {
+ // when 'distance from a priori' is the criterion.
+ Vector<double> D=Solution-APrioriSolution;
+ RMSResidual = RMS(D);
+ }
+ else {
+ // and in the usual case
+ RMSResidual = RMS(Residuals);
+ }
+ // ... and find the maximum slope
+ MaxSlope = 0.0;
+ if(iret == 0)
+ for(i=0; i<UseSat.size(); i++)
+ if(UseSat[i] && Slopes(i)>MaxSlope) MaxSlope=Slopes[i];
+
+ // ----------------------------------------------------------------
+ // print solution with diagnostic information
+ if(Debug) {
+ *pDebugStream << "RPS " << setw(2) << stage
+ << " " << setw(4) << Tr.GPSfullweek()
+ << " " << fixed << setw(10) << setprecision(3) << Tr.GPSsecond()
+ << " " << setw(2) << N-stage << setprecision(6)
+ << " " << setw(16) << Solution(0)
+ << " " << setw(16) << Solution(1)
+ << " " << setw(16) << Solution(2)
+ << " " << setw(14) << Solution(3)
+ << " " << setw(12) << RMSResidual
+ << " " << fixed << setw(5) << setprecision(1) << MaxSlope
+ << " " << NIterations
+ << " " << scientific << setw(8) << setprecision(2)<< Convergence;
+ // print the SatID for good sats
+ for(i=0; i<UseSat.size(); i++) {
+ if(UseSat[i])
+ *pDebugStream << " " << setw(3)<< Satellite[i].id;
+ else
+ *pDebugStream << " " << setw(3) << -::abs(Satellite[i].id);
+ }
+ // also print the return value
+ *pDebugStream << " (" << iret << ")" << endl;
+ }// end debug print
+
+ // ----------------------------------------------------------------
+ // deal with the results of AutonomousPRSolution()
+ if(iret) { // failure for this combination
+ RMSResidual = 0.0;
+ Solution = 0.0;
+ }
+ else { // success
+ // save 'best' solution for later
+ if(BestRMS < 0.0 || RMSResidual < BestRMS) {
+ BestRMS = RMSResidual;
+ BestSol = Solution;
+ BestUse = UseSat;
+ BestSL = MaxSlope;
+ BestConv = Convergence;
+ BestNIter = NIterations;
+ }
+ // quit immediately?
+ if((stage==0 || ReturnAtOnce) && RMSResidual < RMSLimit)
+ break;
+ }
+
+ // get the next combinations and repeat
+ } while(Combo.Next() != -1);
+
+ // end of the stage
+ if(BestRMS > 0.0 && BestRMS < RMSLimit) { // success
+ iret=0;
+ break;
+ }
+
+ // go to next stage
+ stage++;
+ if(stage > Nreject) break;
+
+ } while(iret == 0); // end loop over stages
+
+ // ----------------------------------------------------------------
+ // copy out the best solution and return
+ Convergence = BestConv;
+ NIterations = BestNIter;
+ RMSResidual = BestRMS;
+ Solution = BestSol;
+ MaxSlope = BestSL;
+ for(Nsvs=0,i=0; i<BestUse.size(); i++) {
+ if(!BestUse[i]) Satellite[i].id = -::abs(Satellite[i].id);
+ else Nsvs++;
+ }
+
+ if(iret==0 && BestSL > SlopeLimit) iret=1;
+ if(iret==0 && BestSL > SlopeLimit/2.0 && Nsvs == 5) iret=1;
+ if(iret>=0 && BestRMS >= RMSLimit) iret=2;
+
+ if(iret==0) Valid=true;
+
+ return iret;
+ }
+ catch(Exception& e) {
+ GPSTK_RETHROW(e);
+ }
+ } // end PRSolution::RAIMCompute()
+
+ int PRSolution::PrepareAutonomousSolution(const DayTime& Tr,
+ vector<SatID>& Satellite,
+ vector<double>& Pseudorange,
+ const EphemerisStore& Eph,
+ Matrix<double>& SVP,
+ ostream *pDebugStream)
+ throw()
+ {
+ int i,j,nsvs,N=Satellite.size();
+ DayTime tx; // transmit time
+ Xvt PVT;
+
+ if(N <= 0) return 0;
+ SVP = Matrix<double>(N,4);
+ SVP = 0.0;
+
+ for(nsvs=0,i=0; i<N; i++) {
+ // skip marked satellites
+ if(Satellite[i].id <= 0) continue;
+
+ // first estimate of transmit time
+ tx = Tr;
+ tx -= Pseudorange[i]/C_GPS_M;
+ // get ephemeris range, etc
+ try {
+ PVT = Eph.getSatXvt(Satellite[i], tx);
+ }
+ catch(EphemerisStore::NoEphemerisFound& e) {
+ Satellite[i].id = -::abs(Satellite[i].id);
+ continue;
+ }
+
+ // update transmit time and get ephemeris range again
+ tx -= PVT.dtime; // clk+rel
+ try {
+ PVT = Eph.getSatXvt(Satellite[i], tx);
+ }
+ catch(EphemerisStore::NoEphemerisFound& e) {
+ Satellite[i].id = -::abs(Satellite[i].id);
+ continue;
+ }
+
+ // SVP = {SV position at transmit time}, raw range + clk + rel
+ for(j=0; j<3; j++) SVP(i,j) = PVT.x[j];
+ SVP(i,3) = Pseudorange[i] + C_GPS_M * PVT.dtime;
+ nsvs++;
+ }
+
+ if(nsvs == 0) return -4;
+ return 0;
+
+ } // end PrepareAutonomousPRSolution
+
+ int PRSolution::AlgebraicSolution(Matrix<double>& A,
+ Vector<double>& Q,
+ Vector<double>& X,
+ Vector<double>& R)
+ {
+ try {
+ int N=A.rows();
+ Matrix<double> AT=transpose(A);
+ Matrix<double> B=AT,C(4,4);
+
+ C = AT * A;
+ // invert
+ try {
+ //double big,small;
+ //condNum(C,big,small);
+ //if(small < 1.e-15 || big/small > 1.e15) return -2;
+ C = inverseSVD(C);
+ }
+ catch(SingularMatrixException& sme) {
+ return -2;
+ }
+
+ B = C * AT;
+
+ Vector<double> One(N,1.0),V(4),U(4);
+ double E,F,G,d,lam;
+
+ U = B * One;
+ V = B * Q;
+ E = Minkowski(U,U);
+ F = Minkowski(U,V) - 1.0;
+ G = Minkowski(V,V);
+ d = F*F-E*G;
+ if(d < 0.0) d=0.0; // avoid imaginary solutions: what does this really mean?
+ d = SQRT(d);
+
+ // first solution ...
+ lam = (-F+d)/E;
+ X = lam*U + V;
+ X(3) = -X(3);
+ // ... and its residual
+ R(0) = A(0,3)-X(3) - RSS(X(0)-A(0,0), X(1)-A(0,1), X(2)-A(0,2));
+
+ // second solution ...
+ lam = (-F-d)/E;
+ X = lam*U + V;
+ X(3) = -X(3);
+ // ... and its residual
+ R(1) = A(0,3)-X(3) - RSS(X(0)-A(0,0), X(1)-A(0,1), X(2)-A(0,2));
+
+ // pick the right solution
+ if(ABS(R(1)) > ABS(R(0))) {
+ lam = (-F+d)/E;
+ X = lam*U + V;
+ X(3) = -X(3);
+ }
+
+ // compute the residuals
+ for(int i=0; i<N; i++)
+ R(i) = A(i,3)-X(3) - RSS(X(0)-A(i,0), X(1)-A(i,1), X(2)-A(i,2));
+
+ return 0;
+
+ }
+ catch(Exception& e) {
+ GPSTK_RETHROW(e);
+ }
+ } // end PRSolution::AlgebraicSolution
+
+
+ int PRSolution::AutonomousPRSolution(const DayTime& T,
+ const vector<bool>& Use,
+ const Matrix<double> SVP,
+ TropModel *pTropModel,
+ const bool Algebraic,
+ int& n_iterate,
+ double& converge,
+ Vector<double>& Sol,
+ Matrix<double>& Cov,
+ Vector<double>& Resid,
+ Vector<double>& Slope,
+ ostream *pDebugStream)
+ throw(Exception)
+ {
+ if(!pTropModel) {
+ Exception e("Undefined tropospheric model");
+ GPSTK_THROW(e);
+ }
+
+ try {
+ int iret,i,j,n,N;
+ double rho,wt,svxyz[3];
+ GPSGeoid geoid; // WGS84?
+
+ if(pDebugStream) *pDebugStream << "Enter APRS " << n_iterate << " "
+ << scientific << setprecision(3) << converge << endl;
+
+ // find the number of good satellites
+ for(N=0,i=0; i<Use.size(); i++) if(Use[i]) N++;
+ if(N < 4) return -3;
+
+ // define for computation
+ Vector<double> CRange(N),dX(4);
+ Matrix<double> P(N,4),PT,G(4,N),PG(N,N);
+ Xvt SV,RX;
+
+ Sol.resize(4);
+ Cov.resize(4,4);
+ Resid.resize(N);
+ Slope.resize(Use.size());
+
+ // define for algebraic solution
+ Vector<double> U(4),Q(N);
+ Matrix<double> A(P);
+ // and for linearized least squares
+ int niter_limit = (n_iterate<2 ? 2 : n_iterate);
+ double conv_limit = converge;
+
+ // prepare for iteration loop
+ Sol = 0.0; // initial guess: center of earth
+ n_iterate = 0;
+ converge = 0.0;
+
+ // iteration loop
+ // do at least twice (even for algebraic solution) so that
+ // trop model gets evaluated
+ do {
+ // current estimate of position solution
+ RX.x = ECEF(Sol(0),Sol(1),Sol(2));
+
+ // loop over satellites, computing partials matrix
+ for(n=0,i=0; i<Use.size(); i++) {
+ // ignore marked satellites
+ if(!Use[i]) continue;
+
+ // time of flight (sec)
+ if(n_iterate == 0)
+ rho = 0.070; // initial guess: 70ms
+ else
+ rho = RSS(SVP(i,0)-Sol(0), SVP(i,1)-Sol(1), SVP(i,2)-Sol(2))
+ / geoid.c();
+
+ // correct for earth rotation
+ wt = geoid.angVelocity()*rho; // radians
+ svxyz[0] = ::cos(wt)*SVP(i,0) + ::sin(wt)*SVP(i,1);
+ svxyz[1] = -::sin(wt)*SVP(i,0) + ::cos(wt)*SVP(i,1);
+ svxyz[2] = SVP(i,2);
+
+ // corrected pseudorange (m)
+ CRange(n) = SVP(i,3);
+
+ // correct for troposphere (but not on the first iteration)
+ if(n_iterate > 0) {
+ SV.x = ECEF(svxyz[0],svxyz[1],svxyz[2]);
+ // must test RX for reasonableness to avoid corrupting TropModel
+ Position R(RX),S(SV);
+ double tc=R.getHeight(), elev = R.elevation(SV);
+ if(elev < 0.0 || tc > 10000.0 || tc < -1000) tc=0.0;
+ else tc = pTropModel->correction(R,S,T);
+ CRange(n) -= tc;
+ }
+
+ // geometric range
+ rho = RSS(svxyz[0]-Sol(0),svxyz[1]-Sol(1),svxyz[2]-Sol(2));
+
+ // partials matrix
+ P(n,0) = (Sol(0)-svxyz[0])/rho; // x direction cosine
+ P(n,1) = (Sol(1)-svxyz[1])/rho; // y direction cosine
+ P(n,2) = (Sol(2)-svxyz[2])/rho; // z direction cosine
+ P(n,3) = 1.0;
+
+ // data vector: corrected range residual
+ Resid(n) = CRange(n) - rho - Sol(3);
+
+ // TD: allow weight matrix = measurement covariance
+ // P *= MCov;
+ // Resid *= MCov;
+
+ // compute intermediate quantities for algebraic solution
+ if(Algebraic) {
+ U(0) = A(n,0) = svxyz[0];
+ U(1) = A(n,1) = svxyz[1];
+ U(2) = A(n,2) = svxyz[2];
+ U(3) = A(n,3) = CRange(n);
+ Q(n) = 0.5 * Minkowski(U,U);
+ }
+
+ n++; // n is number of good satellites - used for Slope
+ } // end loop over satellites
+
+ // compute information matrix = inverse covariance matrix
+ PT = transpose(P);
+ Cov = PT * P;
+
+ // invert using SVD
+ //double big,small;
+ //condNum(PT*P,big,small);
+ //if(small < 1.e-15 || big/small > 1.e15) return -2;
+ try { Cov = inverseSVD(Cov); }
+ //try { Cov = inverseLUD(Cov); }
+ catch(SingularMatrixException& sme) {
+ return -2;
+ }
+
+ // generalized inverse
+ G = Cov * PT;
+ PG = P * G; // used for Slope
+
+ n_iterate++; // increment number iterations
+
+ // ----------------- algebraic solution -----------------------
+ if(Algebraic) {
+ iret = PRSolution::AlgebraicSolution(A,Q,Sol,Resid);
+ if(iret) return iret; // (singular)
+ if(n_iterate > 1) { // need 2, for trop
+ iret = 0;
+ break;
+ }
+ }
+ // ----------------- linearized least squares solution --------
+ else {
+ dX = G * Resid;
+ Sol += dX;
+ // test for convergence
+ converge = norm(dX);
+ // success: quit
+ if(n_iterate > 1 && converge < conv_limit) {
+ iret = 0;
+ break;
+ }
+ // failure: quit
+ if(n_iterate >= niter_limit || converge > 1.e10) {
+ iret = -1;
+ break;
+ }
+ }
+
+
+ } while(1); // end iteration loop
+
+ // compute slopes
+ Slope = 0.0;
+ if(iret == 0) for(j=0,i=0; i<Use.size(); i++) {
+ if(!Use[i]) continue;
+ for(int k=0; k<4; k++) Slope(i) += G(k,j)*G(k,j);
+ Slope(i) = SQRT(Slope(i)*double(n-4)/(1.0-PG(j,j)));
+ j++;
+ }
+
+ return iret;
+
+ }
+ catch(Exception& e) {
+ GPSTK_RETHROW(e);
+ }
+ } // end PRSolution::AutonomousPRSolution
+
+} // namespace gpstk
diff --git a/dev/src/PRSolution.hpp b/dev/src/PRSolution.hpp
new file mode 100644
index 0000000..0123bc3
--- /dev/null
+++ b/dev/src/PRSolution.hpp
@@ -0,0 +1,282 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file PRSolution.hpp
+ * Autonomous pseudorange navigation solution, including RAIM algorithm
+ */
+
+#ifndef PRS_POSITION_SOLUTION_HPP
+#define PRS_POSITION_SOLUTION_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include <vector>
+#include <ostream>
+#include "icd_200_constants.hpp"
+#include "DayTime.hpp"
+#include "SatID.hpp"
+#include "Matrix.hpp"
+#include "RinexObsHeader.hpp"
+#include "EphemerisStore.hpp"
+#include "TropModel.hpp"
+
+namespace gpstk
+{
+ /** @defgroup GPSsolutions GPS solution algorithms and Tropospheric models */
+ //@{
+
+ /** This class defines an interface to routines which compute a position
+ * and time solution from pseudorange data, with a data editing algorithm
+ * based on Receiver Autonomous Integrity Monitoring (RAIM) concepts.
+ * RAIM ref. "A Baseline GPS RAIM Scheme and a Note on the Equivalence of
+ * Three RAIM Methods," by R. Grover Brown, Journal of the Institute of
+ * Navigation, Vol. 39, No. 3, Fall 1992, pg 301.
+ */
+ class PRSolution
+ {
+ public:
+ /// Constructor
+ PRSolution() throw() : RMSLimit(6.5), SlopeLimit(100.),
+ Algebraic(false), ResidualCriterion(true), ReturnAtOnce(false),
+ NSatsReject(-1), Debug(false), pDebugStream(&std::cout),
+ MaxNIterations(10), ConvergenceLimit(3.e-7), Valid(false) {};
+
+ /** Compute a position/time solution, given satellite PRNs and pseudoranges
+ * using a RAIM algorithm.
+ * @param Tr Measured time of reception of the data.
+ * @param Satellite std::vector<SatID> of satellites; on successful
+ * return, satellites that were excluded by the algorithm
+ * are marked by a negative 'prn' member.
+ * @param Pseudorange std::vector<double> of raw pseudoranges (parallel to
+ * Satellite), in meters; on successful return,
+ * contains residuals of fit (m) (for unmarked satellites).
+ * @param Eph gpstk::EphemerisStore to be used in the algorithm.
+ *
+ * @return Return values:
+ * 2 solution is found, but it is not good (RMS residual exceed limits)
+ * 1 solution is found, but it is suspect (slope is large)
+ * 0 ok
+ * -1 algorithm failed to converge
+ * -2 singular problem, no solution is possible
+ * -3 not enough good data (> 4) to form a (RAIM) solution
+ * (the 4 satellite solution might be returned - check isValid())
+ * -4 ephemeris is not found for one or more satellites
+ */
+ int RAIMCompute(const DayTime& Tr,
+ std::vector<SatID>& Satellite,
+ std::vector<double>& Pseudorange,
+ const EphemerisStore& Eph,
+ TropModel *pTropModel)
+ throw(Exception);
+
+ /// Return the status of solution
+ bool isValid()
+ const throw() { return Valid; }
+
+ // input:
+
+ /// RMS limit - either residual of fit or distance (see ResidualCriterion).
+ double RMSLimit;
+
+ /// Slope limit.
+ double SlopeLimit;
+
+ /// Use an algebraic (if true) or linearized least squares (if false) algorithm.
+ bool Algebraic;
+
+ /** Use a rejection criterion based on RMS residual of fit (true)
+ * or RMS distance from an a priori position. If false, member Vector Solution
+ * must be defined as this a priori position when RAIMCompute() is called.
+ */
+ bool ResidualCriterion;
+
+ /** Return as soon as a solution meeting the limit requirements is found
+ * (this makes it a non-RAIM algorithm).
+ */
+ bool ReturnAtOnce;
+
+ /** Maximum number of satellites that may be rejected in the RAIM algorithm;
+ * if this = -1, as many as possible will be rejected (RAIM requires at least 5
+ * satellites). A (single) non-RAIM solution can be obtained by setting this
+ * to 0 before calling RAIMCompute().
+ */
+ int NSatsReject;
+
+ /// If true, RAIMCompute() will output solution information to *pDebugStream.
+ bool Debug;
+
+ /// Pointer to an ostream, default &std::cout; if Debug is true, RAIMCompute()
+ /// will print all preliminary solutions to this stream.
+ std::ostream *pDebugStream;
+
+ // TD optional: measurement covariance matrix
+
+ /// Maximum number of iterations allowed in the linearized least squares
+ /// algorithm.
+ int MaxNIterations;
+
+ /// Convergence limit (m): continue iteration loop while RSS change in
+ /// solution exceeds this.
+ double ConvergenceLimit;
+
+ // output:
+
+ /// flag: output content is valid.
+ bool Valid;
+
+ /** Vector<double> containing the computed position solution (ECEF, meter);
+ * valid only when isValid() is true.
+ */
+ Vector<double> Solution;
+
+ /** 4x4 Matrix<double> containing the computed solution covariance (meter);
+ * valid only when isValid() is true.
+ */
+ Matrix<double> Covariance;
+
+ /** Root mean square residual of fit (except when RMSDistanceFlag is set,
+ * then RMS distance from apriori 4-position); in meters.
+ */
+ double RMSResidual;
+
+ /** Slope computed in the RAIM algorithm (largest of all satellite values)
+ * for the returned solution, dimensionless ??.
+ */
+ double MaxSlope;
+
+ /// the actual number of iterations used (linearized least squares algorithm)
+ int NIterations;
+
+ /// the RSS change in solution at the end of iterations.
+ double Convergence;
+
+ /// the number of good satellites used in the final computation
+ int Nsvs;
+
+ /** Compute the satellite position / corrected range matrix (SVP) which is used
+ * by AutonomousPRSolution(). SVP is output, dimensioned (N,4) where N is the
+ * number of satellites and the length of both Satellite and Pseudorange.
+ * Data is ignored whenever Sats[i].id is < 0. NB caller should verify that the
+ * number of good entries (Satellite[.] > 0) is > 4 before proceeding.
+ * @param Tr Measured time of reception of the data.
+ * @param Sats std::vector<SatID> of satellites; satellites that are
+ * to be excluded by the algorithm are marked by a
+ * negative 'prn' member.
+ * @param Pseudorange std::vector<double> of raw pseudoranges (parallel to
+ * Satellite), in meters
+ * @param Eph gpstk::EphemerisStore to be used in the algorithm.
+ * @param SVP gpstk::Matrix<double> of dimension (N,4), N is the number
+ * of unmarked satellites in Sats[], on output this
+ * contains the satellite positions at transmit time, and
+ * the corrected pseudorange.
+ * @param pDebug pointer to an ostream for debug output, NULL (the default)
+ * for no debug output.
+ * @return Return values:
+ * 0 ok
+ * -4 ephemeris not found for all the satellites
+ */
+ static int PrepareAutonomousSolution(const DayTime& Tr,
+ std::vector<SatID>& Sats,
+ std::vector<double>& Pseudorange,
+ const EphemerisStore& Eph,
+ Matrix<double>& SVP,
+ std::ostream *pDebug=NULL)
+ throw();
+
+ /** Compute a single autonomous pseudorange solution.
+ * Input only:
+ * @param Tr Measured time of reception of the data.
+ * @param Use std::vector<bool> of length N, the number of satellites;
+ * false means do not include that sat. in the computation.
+ * @param SVP Matrix<double> of dimension (N,4). This Matrix must have
+ * been computed by calling PrepareAutonomousPRSolution().
+ * @param Algebraic bool flag indicating algorithm to use : algebraic (true)
+ * or linearized least squares (false).
+ * @param pTropModel pointer to a gpstk::TropModel for use within the algorithm
+ *
+ * Weight matrix TD...
+ *
+ * Input and output (for least squares only; ignored if Algebraic==true):
+ * @param n_iterate integer limit on the number of iterations. On output,
+ * it is the number of iterations actually used.
+ * @param converge double convergence criterion, = RSS change in solution,
+ * in meters. On output, it is the the final value.
+ *
+ * Output: (these will be resized within the function)
+ * @param Sol gpstk::Vector<double> solution (ECEF + time components;
+ * all in meters)
+ * @param Cov gpstk::Matrix<double> 4X4 covariance matrix (meter*meter)
+ * @param Resid gpstk::Vector<double> post-fit range residuals for each
+ * satellite (m), the length of this Vector is the number of
+ * satellites actually used (see Use).
+ * @param Slope gpstk::Vector<double> slope value used in RAIM for each
+ * good satellite, length N
+ * @param pDebug pointer to an ostream for debug output, NULL (the default)
+ * for no debug output.
+ * @return Return values:
+ * 0 ok
+ * -1 failed to converge
+ * -2 singular problem
+ * -3 not enough good data to form a solution (at least 4 satellites required)
+ * -4 ephemeris not found for one or more satellites
+ */
+ static int AutonomousPRSolution(const DayTime& Tr,
+ const std::vector<bool>& Use,
+ const Matrix<double> SVP,
+ TropModel *pTropModel,
+ const bool Algebraic,
+ int& n_iterate,
+ double& converge,
+ Vector<double>& Sol,
+ Matrix<double>& Cov,
+ Vector<double>& Resid,
+ Vector<double>& Slope,
+ std::ostream *pDebug=NULL)
+ throw(Exception);
+
+ private:
+
+ /** Matrix, dimensioned Nx4, where N data are input, containing satellite
+ * positions at transmit time (0,1,2) and raw pseudorange+clk+relativity (3).
+ */
+ Matrix<double> SVP;
+
+ /// Save the input solution (for use in rejection when ResidualCriterion is
+ /// false).
+ Vector<double> APrioriSolution;
+
+ /** Function used internally to handle the details of the Algebraic solution */
+ static int AlgebraicSolution(Matrix<double>& A,
+ Vector<double>& Q,
+ Vector<double>& X,
+ Vector<double>& R);
+
+ }; // end class PRSolution
+
+ //@}
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/PolyFit.hpp b/dev/src/PolyFit.hpp
new file mode 100644
index 0000000..eb7a01e
--- /dev/null
+++ b/dev/src/PolyFit.hpp
@@ -0,0 +1,266 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file PolyFit.hpp
+ * Least squares fit using a polynomial model.
+ */
+
+#ifndef GPSTK_POLYFIT_HPP
+#define GPSTK_POLYFIT_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "Matrix.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup math */
+ //@{
+
+/**
+ * Compute a polynomial fit of the form sum[X(i)*t**i] = d, that is solve for
+ * coefficients X given a set of data pairs (t,d). The dimension of X is n, the
+ * degree of the polynomial.
+ * @code
+ * unsigned int i,n=4;
+ * double dat[17]={...}, times[17]={...};
+ * PolyFit<double> PF(n);
+ * for(i=0; i<17; i++)
+ * PF.Add(dat[i],times[i]);
+ *
+ * cout << "Solution vector: " << PF.Solution() << endl;
+ * cout << "Covariance matrix: " << PF.Covariance() << endl;
+ * for(i=0; i<17; i++)
+ * cout << times[i] << " " << dat[i] << " " << PF.Evaluate(times[i]) << endl;
+ * @endcode
+ */
+ template <class T>
+ class PolyFit
+ {
+ public:
+ /// Empty constructor
+ PolyFit() : n_(0), Inverted(false), Singular(true), Npts(0) {}
+
+ /// Constructor given an initial size.
+ PolyFit(unsigned int n) : n_(n), Inverted(false), Singular(true), Npts(0)
+ {
+ InfData.resize(n_,T(0));
+ X.resize(n_);
+ InfMatrix.resize(n_,n_,T(0));
+ Cov.resize(n_,n_);
+ }
+
+ /** Reset the estimation, i.e. restart with new data, with new dimension.
+ * Default dimension is 0, meaning do not change dimension.
+ */
+ void Reset(unsigned int n=0)
+ {
+ if(n != 0 && n_ != n) {
+ InfData.resize(n,T(0));
+ X.resize(n);
+ InfMatrix.resize(n,n,T(0));
+ Cov.resize(n,n);
+ n_ = n;
+ }
+ Npts = 0;
+ InfData = T(0);
+ X = T(0);
+ InfMatrix = T(0);
+ Cov = T(0);
+ Singular = true;
+ Inverted = false;
+ }
+
+ /// Add a single (optional: weighted) datum to the estimation.
+ void Add(T d, T t, T w=T(1))
+ {
+ // n_-1
+ // Equation is sum[t^i * X(i)] = d OR P * X = d
+ // i=0 1xn_ n_ 1
+ Vector<T> P(n_);
+ T tt=T(1);
+ for(size_t i=0; i<n_; i++) { P(i)=tt; tt *= t; }
+ Npts++;
+ Matrix<T> PP;
+ PP = outer(P,P);
+ PP *= w;
+ InfMatrix += PP;
+ P *= d*w;
+ InfData += P;
+ Inverted = false;
+ }
+
+ /// Add a gpstk::Vector of data to the estimation.
+ void Add(const Vector<T>& d, const Vector<T>& t)
+ {
+ size_t m=d.size();
+ if(t.size() < m) m=t.size();
+
+ Matrix<T> P(m,n_);
+ Vector<T> D(d);
+ D.resize(m);
+
+ for(size_t j=0; j<m; j++) {
+ T tt=T(1);
+ for(size_t i=0; i<n_; i++) { P(j,i)=tt; tt *= t(j); }
+ }
+ Npts += m;
+ Matrix<T> PTP,PT;
+ PT = transpose(P);
+ PTP = PT*P;
+ InfMatrix += PTP;
+ InfData += PT*D;
+ Inverted = false;
+ }
+
+ /// Add a std::vector of data to the estimation.
+ void Add(const std::vector<T>& d, const std::vector<T>& t)
+ {
+ size_t m=d.size();
+ if(t.size() < m) m=t.size();
+
+ Matrix<T> P(m,n_);
+ Vector<T> D;
+ D.resize(m);
+ for(int i=0; i<m; i++) D(i)=d[i];
+
+ for(size_t j=0; j<m; j++) {
+ T tt=T(1);
+ for(size_t i=0; i<n_; i++) { P(j,i)=tt; tt *= t[j]; }
+ }
+ Npts += m;
+ Matrix<T> PTP,PT;
+ PT = transpose(P);
+ PTP = PT*P;
+ InfMatrix += PTP;
+ InfData += PT*D;
+ Inverted = false;
+ }
+
+ /// Evaluate the polynomial at the given time; singular problems return zero.
+ T Evaluate(T t)
+ {
+ if(n_ <= 0) { Singular=true; return T(0); }
+ Solve();
+ if(Singular) return T(0);
+
+ T d,tn;
+ d = X(0);
+ tn = t;
+ for(size_t i=1; i<X.size(); i++) {
+ d += X(i)*tn;
+ tn *= t;
+ }
+ return d;
+ }
+
+ /// Evaluate the polynomial at a Vector of times;
+ /// singular problems return an empty vector.
+ Vector<T> Evaluate(const Vector<T>& Vt)
+ {
+ Vector<T> R;
+ if(n_ <= 0) { Singular=true; return R; }
+ Solve();
+ if(Singular) return R;
+
+ T tn;
+ R = Vector<T>(Vt.size());
+ for(size_t j=0; j<Vt.size(); j++) {
+ R(j) = X(0);
+ tn = Vt(j);
+ for(size_t i=1; i<X.size(); i++) {
+ R(j) += X(i)*tn;
+ tn *= Vt(j);
+ }
+ }
+ return R;
+ }
+
+ /// is the problem singular?
+ inline bool isSingular(void) { Solve(); return Singular; }
+ /// get the solution vector (coefficients)
+ inline Vector<T> Solution(void) { Solve(); return X; }
+ /// get the covariance matrix
+ inline Matrix<T> Covariance(void) { Solve(); return Cov; }
+ /// get the degree of the polynomial
+ inline unsigned int Degree(void) const { return n_; }
+ /// get the number of data points processed
+ inline unsigned int N(void) const { return Npts; }
+
+ private:
+ /// Invert the equation
+ inline void Solve(void)
+ {
+ if(Inverted) return;
+ try { Cov=inverse(InfMatrix); }
+ catch (gpstk::Exception& e) { Singular=true; return; }
+ Singular = false;
+ X = Cov * InfData;
+ Inverted = true;
+ }
+
+ /// degree of polynomial to be fit (dimension of state).
+ unsigned int n_;
+ /// number of data points added to the estimation so far.
+ unsigned int Npts;
+ /// information matrix = inverse(Cov) = sum[transpose(P)*P], P=partials.
+ Matrix<T> InfMatrix;
+ /// information data = inverse(Cov)*X = sum[transpose(P)*data].
+ Vector<T> InfData;
+ /// flag indicating problem has been inverted.
+ bool Inverted;
+ /// flag indicating problem is singular.
+ bool Singular;
+ /// State vector (array of polynomial coefficients) of size n_.
+ Vector<T> X;
+ /// Covariance matrix
+ Matrix<T> Cov;
+
+ }; // end class PolyFit
+
+ //@}
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/Position.cpp b/dev/src/Position.cpp
new file mode 100644
index 0000000..f8d7d6d
--- /dev/null
+++ b/dev/src/Position.cpp
@@ -0,0 +1,1540 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file Position.cpp
+ * class gpstk::Position encapsulates 3-D positions, both geographic positions,
+ * expressed as geodetic (with respect to any geoid), geocentric or
+ * Earth-centered, Earth-fixed (cartesian) coordinates, as well as ordinary
+ * positions defined by spherical or cartesian coordinates. Position inherits
+ * from class Triple.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "Position.hpp"
+#include "WGS84Geoid.hpp"
+#include "icd_200_constants.hpp" // for TWO_PI, etc
+#include "geometry.hpp" // for RAD_TO_DEG, etc
+#include "MiscMath.hpp" // for RSS, SQRT
+
+namespace gpstk
+{
+
+ using namespace std;
+ using namespace StringUtils;
+
+ // ----------- Part 1: coordinate systems --------------------------------
+ // Labels for coordinate systems supported by Position
+ static const char *SystemNames[] = {
+ "Unknown",
+ "Geodetic",
+ "Geocentric",
+ "Cartesian",
+ "Spherical"};
+
+ // return string giving name of coordinate system
+ string Position::getSystemName()
+ throw()
+ { return SystemNames[system]; }
+
+ // ----------- Part 2: tolerance -----------------------------------------
+ // One millimeter tolerance.
+ const double Position::ONE_MM_TOLERANCE = 0.001;
+ // One centimeter tolerance.
+ const double Position::ONE_CM_TOLERANCE = 0.01;
+ // One micron tolerance.
+ const double Position::ONE_UM_TOLERANCE = 0.000001;
+
+ // Default tolerance for time equality in meters.
+ double Position::POSITION_TOLERANCE = Position::ONE_MM_TOLERANCE;
+
+ // Sets the tolerance for output and comparisons, for this object only.
+ // See the constants in this file (e.g. ONE_MM_TOLERANCE)
+ // for some easy to use tolerance values.
+ // @param tol Tolerance in meters to be used by comparison operators.
+ Position& Position::setTolerance(const double tol)
+ throw()
+ {
+ tolerance = tol;
+ return *this;
+ }
+
+ // ----------- Part 3: member functions: constructors --------------------
+ //
+ // Default constructor.
+ Position::Position()
+ throw()
+ {
+ WGS84Geoid WGS84;
+ initialize(0.0,0.0,0.0,Unknown,&WGS84);
+ }
+
+ Position::Position(const double& a,
+ const double& b,
+ const double& c,
+ Position::CoordinateSystem s,
+ GeoidModel *geoid)
+ throw(GeometryException)
+ {
+ try {
+ initialize(a,b,c,s,geoid);
+ }
+ catch(GeometryException& ge) {
+ GPSTK_RETHROW(ge);
+ }
+ }
+
+ Position::Position(const double ABC[3],
+ CoordinateSystem s,
+ GeoidModel *geoid)
+ throw(GeometryException)
+ {
+ double a=ABC[0];
+ double b=ABC[1];
+ double c=ABC[2];
+ try {
+ initialize(a,b,c,s,geoid);
+ }
+ catch(GeometryException& ge) {
+ GPSTK_RETHROW(ge);
+ }
+ }
+
+ Position::Position(const Triple& ABC,
+ CoordinateSystem s,
+ GeoidModel *geoid)
+ throw(GeometryException)
+ {
+ double a=ABC[0];
+ double b=ABC[1];
+ double c=ABC[2];
+ try {
+ initialize(a,b,c,s,geoid);
+ }
+ catch(GeometryException& ge) {
+ GPSTK_RETHROW(ge);
+ }
+ }
+
+ Position::Position(const Xvt& xvt)
+ throw()
+ {
+ double a=xvt.x[0];
+ double b=xvt.x[1];
+ double c=xvt.x[2];
+ initialize(a,b,c,Cartesian);
+ }
+
+ // ----------- Part 4: member functions: arithmetic ----------------------
+ //
+ Position& Position::operator-=(const Position& right)
+ throw()
+ {
+ Position r(right);
+ CoordinateSystem savesys=system; // save the original system
+
+ // convert to cartestian and difference there
+ transformTo(Cartesian);
+ r.transformTo(Cartesian);
+
+ for(int i=0; i<3; i++)
+ theArray[i] -= r.theArray[i];
+
+ transformTo(savesys); // transform back to the original system
+ return *this;
+ }
+
+ Position& Position::operator+=(const Position& right)
+ throw()
+ {
+ Position r(right);
+ CoordinateSystem savesys=system; // save the original system
+
+ // convert to cartestian and difference there
+ transformTo(Cartesian);
+ r.transformTo(Cartesian);
+
+ for(int i=0; i<3; i++)
+ theArray[i] += r.theArray[i];
+
+ transformTo(savesys); // transform back to the original system
+ return *this;
+ }
+
+ Position operator-(const Position& left,
+ const Position& right)
+ throw()
+ {
+ Position l(left),r(right);
+ // convert both to Cartesian
+ l.transformTo(Position::Cartesian);
+ r.transformTo(Position::Cartesian);
+ // difference
+ l -= r;
+
+ return l;
+ }
+
+ Position operator+(const Position& left,
+ const Position& right)
+ throw()
+ {
+ Position l(left),r(right);
+ // convert both to Cartesian
+ l.transformTo(Position::Cartesian);
+ r.transformTo(Position::Cartesian);
+ // add
+ l += r;
+
+ return l;
+ }
+
+ // ----------- Part 5: member functions: comparisons ---------------------
+ //
+ // Equality operator. Returns false if geoid values differ.
+ bool Position::operator==(const Position &right) const
+ throw()
+ {
+ if(AEarth != right.AEarth || eccSquared != right.eccSquared)
+ return false;
+ if(range(*this,right) < tolerance)
+ return true;
+ else
+ return false;
+ }
+
+ // Inequality operator. Returns true if geoid values differ.
+ bool Position::operator!=(const Position &right) const
+ throw()
+ {
+ return !(operator==(right));
+ }
+
+ // ----------- Part 6: member functions: coordinate transformations ------
+ //
+ // Transform coordinate system. Does nothing if sys already matches the
+ // current value of member CoordinateSystem 'system'.
+ // @param sys coordinate system into which *this is to be transformed.
+ // @return *this
+ Position Position::transformTo(CoordinateSystem sys)
+ throw()
+ {
+ if(sys == Unknown || sys == system) return *this;
+
+ // this copies geoid information and tolerance
+ Position target(*this);
+
+ // transform target.theArray and set target.system
+ switch(system) {
+ case Unknown:
+ return *this;
+ case Geodetic:
+ // --------------- Geodetic to ... ------------------------
+ switch(sys) {
+ case Unknown: case Geodetic: return *this;
+ case Geocentric:
+ convertGeodeticToGeocentric(*this,target,AEarth,eccSquared);
+ target.system = Geocentric;
+ break;
+ case Cartesian:
+ convertGeodeticToCartesian(*this,target,AEarth,eccSquared);
+ target.system = Cartesian;
+ break;
+ case Spherical:
+ convertGeodeticToGeocentric(*this,target,AEarth,eccSquared);
+ target.theArray[0] = 90 - target.theArray[0]; // geocen -> sph
+ target.system = Spherical;
+ break;
+ }
+ break;
+ case Geocentric:
+ // --------------- Geocentric to ... ----------------------
+ switch(sys) {
+ case Unknown: case Geocentric: return *this;
+ case Geodetic:
+ convertGeocentricToGeodetic(*this,target,AEarth,eccSquared);
+ target.system = Geodetic;
+ break;
+ case Cartesian:
+ convertGeocentricToCartesian(*this,target);
+ target.system = Cartesian;
+ break;
+ case Spherical:
+ target.theArray[0] = 90 - target.theArray[0]; // geocen -> sph
+ target.system = Spherical;
+ break;
+ }
+ break;
+ case Cartesian:
+ // --------------- Cartesian to ... -----------------------
+ switch(sys) {
+ case Unknown: case Cartesian: return *this;
+ case Geodetic:
+ convertCartesianToGeodetic(*this,target,AEarth,eccSquared);
+ target.system = Geodetic;
+ break;
+ case Geocentric:
+ convertCartesianToGeocentric(*this,target);
+ target.system = Geocentric;
+ break;
+ case Spherical:
+ convertCartesianToSpherical(*this,target);
+ target.system = Spherical;
+ break;
+ }
+ break;
+ case Spherical:
+ // --------------- Spherical to ... -----------------------
+ switch(sys) {
+ case Unknown: case Spherical: return *this;
+ case Geodetic:
+ theArray[0] = 90 - theArray[0]; // sph -> geocen
+ convertGeocentricToGeodetic(*this,target,AEarth,eccSquared);
+ target.system = Geodetic;
+ break;
+ case Geocentric:
+ target.theArray[0] = 90 - target.theArray[0]; // sph -> geocen
+ target.system = Geocentric;
+ break;
+ case Cartesian:
+ convertSphericalToCartesian(*this,target);
+ target.system = Cartesian;
+ break;
+ }
+ break;
+ } // end switch(system)
+
+ *this = target;
+ return *this;
+ }
+
+ // ----------- Part 7: member functions: get -----------------------------
+ //
+ // These routines retrieve coordinate values in all coordinate systems.
+ // Note that calling these will transform the Position to another coordinate
+ // system if that is required.
+ //
+ // Get X coordinate (meters)
+ double Position::X() const
+ throw()
+ {
+ if(system == Cartesian)
+ return theArray[0];
+ Position t(*this);
+ t.transformTo(Cartesian);
+ return t.theArray[0];
+ }
+
+ // Get Y coordinate (meters)
+ double Position::Y() const
+ throw()
+ {
+ if(system == Cartesian)
+ return theArray[1];
+ Position t(*this);
+ t.transformTo(Cartesian);
+ return t.theArray[1];
+ }
+
+ // Get Z coordinate (meters)
+ double Position::Z() const
+ throw()
+ {
+ if(system == Cartesian)
+ return theArray[2];
+ Position t(*this);
+ t.transformTo(Cartesian);
+ return t.theArray[2];
+ }
+
+ // Get geodetic latitude (degrees North).
+ double Position::geodeticLatitude() const
+ throw()
+ {
+ if(system == Geodetic)
+ return theArray[0];
+ Position t(*this);
+ t.transformTo(Geodetic);
+ return t.theArray[0];
+ }
+
+ // Get geocentric latitude (degrees North),
+ // equal to 90 degress - theta in regular spherical coordinates.
+ double Position::geocentricLatitude() const
+ throw()
+ {
+ if(system == Geocentric)
+ return theArray[0];
+ Position t(*this);
+ t.transformTo(Geocentric);
+ return t.theArray[0];
+ }
+
+ // Get spherical coordinate theta in degrees
+ double Position::theta() const
+ throw()
+ {
+ if(system == Spherical)
+ return theArray[0];
+ Position t(*this);
+ t.transformTo(Spherical);
+ return t.theArray[0];
+ }
+
+ // Get spherical coordinate phi in degrees
+ double Position::phi() const
+ throw()
+ {
+ if(system == Spherical)
+ return theArray[1];
+ Position t(*this);
+ t.transformTo(Spherical);
+ return t.theArray[1];
+ }
+
+ // Get longitude (degrees East),
+ // equal to phi in regular spherical coordinates.
+ double Position::longitude() const
+ throw()
+ {
+ if(system != Cartesian)
+ return theArray[1];
+ Position t(*this);
+ t.transformTo(Spherical);
+ return t.theArray[1];
+ }
+
+ // Get radius or distance from the center of Earth (meters),
+ // Same as radius in spherical coordinates.
+ double Position::radius() const
+ throw()
+ {
+ if(system == Spherical || system == Geocentric)
+ return theArray[2];
+ Position t(*this);
+ t.transformTo(Spherical);
+ return t.theArray[2];
+ }
+
+ // Get height above ellipsoid (meters) (Geodetic).
+ double Position::height() const
+ throw()
+ {
+ if(system == Geodetic)
+ return theArray[2];
+ Position t(*this);
+ t.transformTo(Geodetic);
+ return t.theArray[2];
+ }
+
+ // ----------- Part 8: member functions: set -----------------------------
+ //
+ // Set the geoid values for this Position given a geoid.
+ // @param geoid Pointer to the GeoidModel.
+ // @throw GeometryException if input is NULL.
+ void Position::setGeoidModel(const GeoidModel *geoid)
+ throw(GeometryException)
+ {
+ if(!geoid)
+ {
+ GeometryException ge("Given GeoidModel pointer is NULL.");
+ GPSTK_THROW(ge);
+ }
+ AEarth = geoid->a();
+ eccSquared = geoid->eccSquared();
+ }
+
+ // Set the Position given geodetic coordinates, system is set to Geodetic.
+ // @param lat geodetic latitude in degrees North
+ // @param lon geodetic longitude in degrees East
+ // @param ht height above the ellipsoid in meters
+ // @return a reference to this object.
+ // @throw GeometryException on invalid input
+ Position& Position::setGeodetic(const double lat,
+ const double lon,
+ const double ht,
+ const GeoidModel *geoid)
+ throw(GeometryException)
+ {
+ if(lat > 90 || lat < -90)
+ {
+ GeometryException ge("Invalid latitude in setGeodetic: "
+ + StringUtils::asString(lat));
+ GPSTK_THROW(ge);
+ }
+ theArray[0] = lat;
+
+ theArray[1] = lon;
+ if(theArray[1] < 0)
+ theArray[1] += 360*(1+(unsigned long)(theArray[1]/360));
+ else if(theArray[1] >= 360)
+ theArray[1] -= 360*(unsigned long)(theArray[1]/360);
+
+ theArray[2] = ht;
+
+ if(geoid) {
+ AEarth = geoid->a();
+ eccSquared = geoid->eccSquared();
+ }
+ system = Geodetic;
+
+ return *this;
+ }
+
+ // Set the Position given geocentric coordinates, system is set to Geocentric
+ // @param lat geocentric latitude in degrees North
+ // @param lon geocentric longitude in degrees East
+ // @param rad radius from the Earth's center in meters
+ // @return a reference to this object.
+ // @throw GeometryException on invalid input
+ Position& Position::setGeocentric(const double lat,
+ const double lon,
+ const double rad)
+ throw(GeometryException)
+ {
+ if(lat > 90 || lat < -90)
+ {
+ GeometryException ge("Invalid latitude in setGeocentric: "
+ + StringUtils::asString(lat));
+ GPSTK_THROW(ge);
+ }
+ if(rad < 0)
+ {
+ GeometryException ge("Invalid radius in setGeocentric: "
+ + StringUtils::asString(rad));
+ GPSTK_THROW(ge);
+ }
+ theArray[0] = lat;
+ theArray[1] = lon;
+ theArray[2] = rad;
+
+ if(theArray[1] < 0)
+ theArray[1] += 360*(1+(unsigned long)(theArray[1]/360));
+ else if(theArray[1] >= 360)
+ theArray[1] -= 360*(unsigned long)(theArray[1]/360);
+ system = Geocentric;
+
+ return *this;
+ }
+
+ // Set the Position given spherical coordinates, system is set to Spherical
+ // @param theta angle from the Z-axis (degrees)
+ // @param phi angle from the X-axis in the XY plane (degrees)
+ // @param rad radius from the center in meters
+ // @return a reference to this object.
+ // @throw GeometryException on invalid input
+ Position& Position::setSpherical(const double theta,
+ const double phi,
+ const double rad)
+ throw(GeometryException)
+ {
+ if(theta < 0 || theta > 180)
+ {
+ GeometryException ge("Invalid theta in setSpherical: "
+ + StringUtils::asString(theta));
+ GPSTK_THROW(ge);
+ }
+ if(rad < 0)
+ {
+ GeometryException ge("Invalid radius in setSpherical: "
+ + StringUtils::asString(rad));
+ GPSTK_THROW(ge);
+ }
+
+ theArray[0] = theta;
+ theArray[1] = phi;
+ theArray[2] = rad;
+
+ if(theArray[1] < 0)
+ theArray[1] += 360*(1+(unsigned long)(theArray[1]/360));
+ else if(theArray[1] >= 360)
+ theArray[1] -= 360*(unsigned long)(theArray[1]/360);
+ system = Spherical;
+
+ return *this;
+ }
+
+ // Set the Position given ECEF coordinates, system is set to Cartesian.
+ // @param X ECEF X coordinate in meters.
+ // @param Y ECEF Y coordinate in meters.
+ // @param Z ECEF Z coordinate in meters.
+ // @return a reference to this object.
+ Position& Position::setECEF(const double X,
+ const double Y,
+ const double Z)
+ throw()
+ {
+ theArray[0] = X;
+ theArray[1] = Y;
+ theArray[2] = Z;
+ system = Cartesian;
+ return *this;
+ }
+
+ // ----------- Part 9: member functions: setToString, printf -------------
+ //
+ // setToString, similar to scanf, this function takes a string and a
+ // format describing string in order to define Position
+ // values. The parameters it can take are listed below and
+ // described above with the printf() function.
+ //
+ // The specification must be sufficient to define a Position.
+ // The following table lists combinations that give valid
+ // Positions. Anything more or other combinations will give
+ // unknown (read as: "bad") results so don't try it. Anything
+ // less will throw an exception.
+ //
+ // @code
+ // %X %Y %Z (cartesian or ECEF)
+ // %x %y %z (cartesian or ECEF)
+ // %a %l %r (geocentric)
+ // %A %L %h (geodetic)
+ // %t %p %r (spherical)
+ // @endcode
+ //
+ // So
+ // @code
+ // pos.setToString("123.4342,9328.1982,-128987.399", "%X,%Y,%Z");
+ // @endcode
+ //
+ // works but
+ //
+ // @code
+ // pos.setToString("123.4342,9328.1982", "%X,%Y");
+ // @endcode
+ // doesn't work (incomplete specification because it doesn't specify
+ // a Position).
+ //
+ // Whitespace is unimportant here, the function will handle it.
+ // The caller must ensure that that the extra characters in
+ // the format string (ie '.' ',') are in the same relative
+ // location as they are in the actual string, see the example above.
+ //
+ // @param str string from which to get the Position coordinates
+ // @param fmt format to use to parse \c str.
+ // @throw GeometryException if \c fmt is an incomplete or invalid specification
+ // @throw FormatException if unable to scan \c str.
+ // @throw StringException if an error occurs manipulating the
+ // \c str or \c fmt strings.
+ // @return a reference to this object.
+ Position& Position::setToString(const std::string& str,
+ const std::string& fmt)
+ throw(GeometryException,
+ DayTime::FormatException,
+ StringUtils::StringException)
+ {
+ try {
+ // make an object to return (so we don't fiddle with *this
+ // until it's necessary)
+ Position toReturn;
+
+ // flags indicated these defined
+ bool hX=false, hY=false, hZ=false;
+ bool hglat=false, hlon=false, hht=false;
+ bool hclat=false, hrad=false;
+ bool htheta=false, hphi=false;
+ // store input values
+ double x,y,z,glat,lon,ht,clat,rad,theta,phi;
+ // copy format and input string to parse
+ string f = fmt;
+ string s = str;
+
+ // parse strings... As we process each part, it's removed from both
+ // strings so when we reach 0, we're done
+ while ( (s.size() > 0) && (f.size() > 0) )
+ {
+ // remove everything in f and s up to the first % in f
+ // (these parts of the strings must be identical or this will break
+ // after it tries to remove it!)
+ while ( (s.length() != 0) && (f.length() != 0) && (f[0] != '%') )
+ {
+ // remove that character now and other whitespace
+ s.erase(0,1);
+ f.erase(0,1);
+ stripLeading(s);
+ stripLeading(f);
+ }
+
+ // check just in case we hit the end of either string...
+ if ( (s.length() == 0) || (f.length() == 0) )
+ break;
+
+ // lose the '%' in f...
+ f.erase(0,1);
+
+ // if the format string is like %03f, get '3' as the field
+ // length.
+ string::size_type fieldLength = string::npos;
+
+ if (!isalpha(f[0]))
+ {
+ fieldLength = asInt(f);
+
+ // remove everything else up to the next character
+ // (in "%03f", that would be 'f')
+ while ((!f.empty()) && (!isalpha(f[0])))
+ f.erase(0,1);
+ if (f.empty())
+ break;
+ }
+
+ // finally, get the character that should end this field, if any
+ char delimiter = 0;
+ if (f.size() > 1)
+ {
+ if (f[1] != '%')
+ {
+ delimiter = f[1];
+
+ if (fieldLength == string::npos)
+ fieldLength = s.find(delimiter,0);
+ }
+ // if the there is no delimiter character and the next field
+ // is another part of the time to parse, assume the length
+ // of this field is 1
+ else if (fieldLength == string::npos)
+ {
+ fieldLength = 1;
+ }
+ }
+
+ // figure out the next string to be removed. if there is a field
+ // length, use that first
+ string toBeRemoved = s.substr(0, fieldLength);
+
+ // based on char at f[0], we know what to do...
+ switch (f[0])
+ {
+ //%x X() (meters)
+ //%y Y() (meters)
+ //%z Z() (meters)
+ //%X X()/1000 (kilometers)
+ //%Y Y()/1000 (kilometers)
+ //%Z Z()/1000 (kilometers)
+ case 'X':
+ x = asDouble(toBeRemoved) * 1000;
+ hX = true;
+ break;
+ case 'x':
+ x = asDouble(toBeRemoved);
+ hX = true;
+ break;
+ case 'Y':
+ y = asDouble(toBeRemoved) * 1000;
+ hY = true;
+ break;
+ case 'y':
+ y = asDouble(toBeRemoved);
+ hY = true;
+ break;
+ case 'Z':
+ z = asDouble(toBeRemoved) * 1000;
+ hZ = true;
+ break;
+ case 'z':
+ z = asDouble(toBeRemoved);
+ hZ = true;
+ break;
+ //%A geodeticLatitude() (degrees North)
+ //%a geocentricLatitude() (degrees North)
+ case 'A':
+ glat = asDouble(toBeRemoved);
+ if(glat > 90. || glat < -90.) {
+ DayTime::FormatException f(
+ "Invalid geodetic latitude for setTostring: "
+ + toBeRemoved);
+ GPSTK_THROW(f);
+ }
+ hglat = true;
+ break;
+ case 'a':
+ clat = asDouble(toBeRemoved);
+ if(clat > 90. || clat < -90.) {
+ DayTime::FormatException f(
+ "Invalid geocentric latitude for setTostring: "
+ + toBeRemoved);
+ GPSTK_THROW(f);
+ }
+ hclat = true;
+ break;
+ //%L longitude() (degrees East)
+ //%l longitude() (degrees East)
+ //%w longitude() (degrees West)
+ //%W longitude() (degrees West)
+ case 'L':
+ case 'l':
+ lon = asDouble(toBeRemoved);
+ if(lon < 0)
+ lon += 360*(1+(unsigned long)(lon/360));
+ else if(lon >= 360)
+ lon -= 360*(unsigned long)(lon/360);
+ hlon = true;
+ break;
+ case 'w':
+ case 'W':
+ lon = 360.0 - asDouble(toBeRemoved);
+ if(lon < 0)
+ lon += 360*(1+(unsigned long)(lon/360));
+ else if(lon >= 360)
+ lon -= 360*(unsigned long)(lon/360);
+ hlon = true;
+ break;
+ //%t theta() (degrees)
+ //%T theta() (radians)
+ case 't':
+ theta = asDouble(toBeRemoved);
+ if(theta > 180. || theta < 0.) {
+ DayTime::FormatException f("Invalid theta for setTostring: "
+ + toBeRemoved);
+ GPSTK_THROW(f);
+ }
+ htheta = true;
+ break;
+ case 'T':
+ theta = asDouble(toBeRemoved) * RAD_TO_DEG;
+ if(theta > 90. || theta < -90.) {
+ DayTime::FormatException f("Invalid theta for setTostring: "
+ + toBeRemoved);
+ GPSTK_THROW(f);
+ }
+ htheta = true;
+ break;
+ //%p phi() (degrees)
+ //%P phi() (radians)
+ case 'p':
+ phi = asDouble(toBeRemoved);
+ if(phi < 0)
+ phi += 360*(1+(unsigned long)(phi/360));
+ else if(phi >= 360)
+ phi -= 360*(unsigned long)(phi/360);
+ hphi = true;
+ break;
+ case 'P':
+ phi = asDouble(toBeRemoved) * RAD_TO_DEG;
+ if(phi < 0)
+ phi += 360*(1+(unsigned long)(phi/360));
+ else if(phi >= 360)
+ phi -= 360*(unsigned long)(phi/360);
+ hphi = true;
+ break;
+ //%r radius() meters
+ //%R radius()/1000 kilometers
+ //%h height() meters
+ //%H height()/1000 kilometers
+ case 'r':
+ rad = asDouble(toBeRemoved);
+ if(rad < 0.0) {
+ DayTime::FormatException f("Invalid radius for setTostring: "
+ + toBeRemoved);
+ GPSTK_THROW(f);
+ }
+ hrad = true;
+ break;
+ case 'R':
+ rad = asDouble(toBeRemoved) * 1000;
+ if(rad < 0.0) {
+ DayTime::FormatException f("Invalid radius for setTostring: "
+ + toBeRemoved);
+ GPSTK_THROW(f);
+ }
+ hrad = true;
+ break;
+ case 'h':
+ ht = asDouble(toBeRemoved);
+ hht = true;
+ break;
+ case 'H':
+ ht = asDouble(toBeRemoved) * 1000;
+ hht = true;
+ break;
+ default: // do nothing
+ break;
+ }
+ // remove the part of s that we processed
+ stripLeading(s,toBeRemoved,1);
+
+ // remove the character we processed from f
+ f.erase(0,1);
+
+ // check for whitespace again...
+ stripLeading(f);
+ stripLeading(s);
+
+ }
+
+ if ( s.length() != 0 )
+ {
+ // throw an error - something didn't get processed in the strings
+ DayTime::FormatException fe(
+ "Processing error - parts of strings left unread - " + s);
+ GPSTK_THROW(fe);
+ }
+
+ if (f.length() != 0)
+ {
+ // throw an error - something didn't get processed in the strings
+ DayTime::FormatException fe(
+ "Processing error - parts of strings left unread - " + f);
+ GPSTK_THROW(fe);
+ }
+
+ // throw if the specification is incomplete
+ if ( !(hX && hY && hZ) && !(hglat && hlon && hht) &&
+ !(hclat && hlon && hrad) && !(htheta && hphi && hrad)) {
+ DayTime::FormatException fe("Incomplete specification for setToString");
+ GPSTK_THROW(fe);
+ }
+
+ // define the Position toReturn
+ if(hX && hY && hZ)
+ toReturn.setECEF(x,y,z);
+ else if(hglat && hlon && hht)
+ toReturn.setGeodetic(glat,lon,ht);
+ else if(hclat && hlon && hrad)
+ toReturn.setGeocentric(clat,lon,rad);
+ else if(htheta && hphi && hrad)
+ toReturn.setSpherical(theta,phi,rad);
+
+ *this = toReturn;
+ return *this;
+ }
+ catch(gpstk::Exception& exc)
+ {
+ GeometryException ge(exc);
+ ge.addText("Failed to convert string to Position");
+ GPSTK_THROW(ge);
+ }
+ catch(std::exception& exc)
+ {
+ GeometryException ge(exc.what());
+ ge.addText("Failed to convert string to Position");
+ GPSTK_THROW(ge);
+ }
+ }
+
+ // Format this Position into a string.
+ //
+ // Generate and return a string containing formatted
+ // Position coordinates, formatted by the specification \c fmt.
+ //
+ // \li \%x X() (meters)
+ // \li \%y Y() (meters)
+ // \li \%z Z() (meters)
+ // \li \%X X()/1000 (kilometers)
+ // \li \%Y Y()/1000 (kilometers)
+ // \li \%Z Z()/1000 (kilometers)
+ // \li \%A geodeticLatitude() (degrees North)
+ // \li \%a geocentricLatitude() (degrees North)
+ // \li \%L longitude() (degrees East)
+ // \li \%l longitude() (degrees East)
+ // \li \%w longitude() (degrees West)
+ // \li \%W longitude() (degrees West)
+ // \li \%t theta() (degrees)
+ // \li \%T theta() (radians)
+ // \li \%p phi() (degrees)
+ // \li \%P phi() (radians)
+ // \li \%r radius() meters
+ // \li \%R radius()/1000 kilometers
+ // \li \%h height() meters
+ // \li \%H height()/1000 kilometers
+ //
+ // @param fmt format to use for this time.
+ // @return a string containing this Position in the
+ // representation specified by \c fmt.
+ std::string Position::printf(const char *fmt) const
+ throw(StringUtils::StringException)
+ {
+ string rv = fmt;
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?x"),
+ string("xf"), X());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?y"),
+ string("yf"), Y());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?z"),
+ string("zf"), Z());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?X"),
+ string("Xf"), X()/1000);
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?Y"),
+ string("Yf"), Y()/1000);
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?Z"),
+ string("Zf"), Z()/1000);
+
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?A"),
+ string("Af"), geodeticLatitude());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?a"),
+ string("af"), geocentricLatitude());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?L"),
+ string("Lf"), longitude());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?l"),
+ string("lf"), longitude());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?w"),
+ string("wf"), 360-longitude());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?W"),
+ string("Wf"), 360-longitude());
+
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?t"),
+ string("tf"), theta());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?T"),
+ string("Tf"), theta()*DEG_TO_RAD);
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?p"),
+ string("pf"), phi());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?P"),
+ string("Pf"), phi()*DEG_TO_RAD);
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?r"),
+ string("rf"), radius());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?R"),
+ string("Rf"), radius()/1000);
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?h"),
+ string("hf"), height());
+ rv = formattedPrint(rv, string("%[ 0-]?[[:digit:]]*(\\.[[:digit:]]+)?H"),
+ string("Hf"), height()/1000);
+ return rv;
+ }
+
+ // Returns the string that operator<<() would print.
+ string Position::asString() const
+ throw(StringUtils::StringException)
+ {
+ ostringstream o;
+ o << *this;
+ return o.str();
+ }
+
+ // ----------- Part 10: functions: fundamental conversions ---------------
+ //
+ // Fundamental conversion from spherical to cartesian coordinates.
+ // @param trp (input): theta, phi, radius
+ // @param xyz (output): X,Y,Z in units of radius
+ // Algorithm references: standard geometry.
+ void Position::convertSphericalToCartesian(const Triple& tpr,
+ Triple& xyz)
+ throw()
+ {
+ double st=sin(tpr[0]*DEG_TO_RAD);
+ xyz[0] = tpr[2]*st*cos(tpr[1]*DEG_TO_RAD);
+ xyz[1] = tpr[2]*st*sin(tpr[1]*DEG_TO_RAD);
+ xyz[2] = tpr[2]*cos(tpr[0]*DEG_TO_RAD);
+ }
+
+ // Fundamental routine to convert cartesian to spherical coordinates.
+ // @param xyz (input): X,Y,Z
+ // @param trp (output): theta, phi (deg), radius in units of input
+ // Algorithm references: standard geometry.
+ void Position::convertCartesianToSpherical(const Triple& xyz,
+ Triple& tpr)
+ throw()
+ {
+ tpr[2] = RSS(xyz[0],xyz[1],xyz[2]);
+ if(tpr[2] <= Position::POSITION_TOLERANCE/5)
+ {
+ // zero-length Cartesian vector
+ tpr[0] = 90;
+ tpr[1] = 0;
+ return;
+ }
+ tpr[0] = acos(xyz[2]/tpr[2]);
+ tpr[0] *= RAD_TO_DEG;
+ if(RSS(xyz[0],xyz[1]) < Position::POSITION_TOLERANCE/5) { // pole
+ tpr[1] = 0;
+ return;
+ }
+ tpr[1] = atan2(xyz[1],xyz[0]);
+ tpr[1] *= RAD_TO_DEG;
+ if(tpr[1] < 0) tpr[1] += 360;
+ }
+
+ // Fundamental routine to convert cartesian (ECEF) to geodetic coordinates,
+ // (Geoid specified by semi-major axis and eccentricity squared).
+ // @param xyz (input): X,Y,Z in meters
+ // @param llh (output): geodetic lat(deg N), lon(deg E),
+ // height above ellipsoid (meters)
+ // @param A (input) Earth semi-major axis
+ // @param eccSq (input) square of Earth eccentricity
+ // Algorithm references:
+ void Position::convertCartesianToGeodetic(const Triple& xyz,
+ Triple& llh,
+ const double A,
+ const double eccSq)
+ throw()
+ {
+ double p,slat,N,htold,latold;
+ p = SQRT(xyz[0]*xyz[0]+xyz[1]*xyz[1]);
+ if(p < Position::POSITION_TOLERANCE/5) { // pole or origin
+ llh[0] = llh[1] = 0;
+ llh[2] = fabs(xyz[2]) - A;
+ return;
+ }
+ llh[0] = atan2(xyz[2], p*(1.0-eccSq));
+ llh[2] = 0;
+ for(int i=0; i<5; i++) {
+ slat = sin(llh[0]);
+ N = A / SQRT(1.0 - eccSq*slat*slat);
+ htold = llh[2];
+ llh[2] = p/cos(llh[0]) - N;
+ latold = llh[0];
+ llh[0] = atan2(xyz[2], p*(1.0-eccSq*(N/(N+llh[2]))));
+ if(fabs(llh[0]-latold) < 1.0e-9 && fabs(llh[2]-htold) < 1.0e-9 * A) break;
+ }
+ llh[1] = atan2(xyz[1],xyz[0]);
+ if(llh[1] < 0.0) llh[1] += TWO_PI;
+ llh[0] *= RAD_TO_DEG;
+ llh[1] *= RAD_TO_DEG;
+ }
+
+ // Fundamental routine to convert geodetic to cartesian (ECEF) coordinates,
+ // (Geoid specified by semi-major axis and eccentricity squared).
+ // @param llh (input): geodetic lat(deg N), lon(deg E),
+ // height above ellipsoid (meters)
+ // @param xyz (output): X,Y,Z in meters
+ // @param A (input) Earth semi-major axis
+ // @param eccSq (input) square of Earth eccentricity
+ // Algorithm references:
+ void Position::convertGeodeticToCartesian(const Triple& llh,
+ Triple& xyz,
+ const double A,
+ const double eccSq)
+ throw()
+ {
+ double slat = sin(llh[0]*DEG_TO_RAD);
+ double clat = cos(llh[0]*DEG_TO_RAD);
+ double N = A/SQRT(1.0-eccSq*slat*slat);
+ xyz[0] = (N+llh[2])*clat*cos(llh[1]*DEG_TO_RAD);
+ xyz[1] = (N+llh[2])*clat*sin(llh[1]*DEG_TO_RAD);
+ xyz[2] = (N*(1.0-eccSq)+llh[2])*slat;
+ }
+
+ // Fundamental routine to convert cartesian (ECEF) to geocentric coordinates.
+ // @param xyz (input): X,Y,Z in meters
+ // @param llr (output):
+ // geocentric lat(deg N),lon(deg E),radius (units of input)
+ void Position::convertCartesianToGeocentric(const Triple& xyz,
+ Triple& llr)
+ throw()
+ {
+ convertCartesianToSpherical(xyz, llr);
+ llr[0] = 90 - llr[0]; // convert theta to latitude
+ }
+
+ // Fundamental routine to convert geocentric to cartesian (ECEF) coordinates.
+ // @param llr (input): geocentric lat(deg N),lon(deg E),radius
+ // @param xyz (output): X,Y,Z (units of radius)
+ void Position::convertGeocentricToCartesian(const Triple& llr,
+ Triple& xyz)
+ throw()
+ {
+ Triple llh(llr);
+ llh[0] = 90 - llh[0]; // convert latitude to theta
+ convertSphericalToCartesian(llh, xyz);
+ }
+
+ // Fundamental routine to convert geocentric to geodetic coordinates.
+ // @param llr (input): geocentric Triple: lat(deg N),lon(deg E),radius (meters)
+ // @param llh (output): geodetic latitude (deg N),
+ // longitude (deg E), and height above ellipsoid (meters)
+ // @param A (input) Earth semi-major axis
+ // @param eccSq (input) square of Earth eccentricity
+ void Position::convertGeocentricToGeodetic(const Triple& llr,
+ Triple& llh,
+ const double A,
+ const double eccSq)
+ throw()
+ {
+ double cl,p,sl,slat,N,htold,latold;
+ cl = sin((90-llr[0])*DEG_TO_RAD);
+ sl = cos((90-llr[0])*DEG_TO_RAD);
+ if(llr[2] <= Position::POSITION_TOLERANCE/5) {
+ // radius is below tolerance, hence assign zero-length
+ // arbitrarily set latitude = longitude = 0
+ llh[0] = llh[1] = 0;
+ llh[2] = -A;
+ return;
+ }
+ else if(cl < 1.e-10) {
+ // near pole ... note that 1mm/radius(Earth) = 1.5e-10
+ if(llr[0] < 0) llh[0] = -90;
+ else llh[0] = 90;
+ llh[1] = 0;
+ llh[2] = llr[2] - A*SQRT(1-eccSq);
+ return;
+ }
+ llh[0] = atan2(sl, cl*(1.0-eccSq));
+ p = cl*llr[2];
+ llh[2] = 0;
+ for(int i=0; i<5; i++) {
+ slat = sin(llh[0]);
+ N = A / SQRT(1.0 - eccSq*slat*slat);
+ htold = llh[2];
+ llh[2] = p/cos(llh[0]) - N;
+ latold = llh[0];
+ llh[0] = atan2(sl, cl*(1.0-eccSq*(N/(N+llh[2]))));
+ if(fabs(llh[0]-latold) < 1.0e-9 && fabs(llh[2]-htold) < 1.0e-9 * A) break;
+ }
+ llh[0] *= RAD_TO_DEG;
+ }
+
+ // Fundamental routine to convert geodetic to geocentric coordinates.
+ // @param geodeticllh (input): geodetic latitude (deg N),
+ // longitude (deg E), and height above ellipsoid (meters)
+ // @param llr (output): geocentric lat (deg N),lon (deg E),radius (meters)
+ // @param A (input) Earth semi-major axis
+ // @param eccSq (input) square of Earth eccentricity
+ void Position::convertGeodeticToGeocentric(const Triple& llh,
+ Triple& llr,
+ const double A,
+ const double eccSq)
+ throw()
+ {
+ double slat = sin(llh[0]*DEG_TO_RAD);
+ double N = A/SQRT(1.0-eccSq*slat*slat);
+ // radius
+ llr[2] = SQRT((N+llh[2])*(N+llh[2]) + N*eccSq*(N*eccSq-2*(N+llh[2]))*slat*slat);
+ if(llr[2] <= Position::POSITION_TOLERANCE/5)
+ {
+ // radius is below tolerance, hence assign zero-length
+ // arbitrarily set latitude = longitude = 0
+ llr[0] = llr[1] = llr[2] = 0;
+ return;
+ }
+ if(1-fabs(slat) < 1.e-10) { // at the pole
+ if(slat < 0) llr[0] = -90;
+ else llr[0] = 90;
+ return;
+ }
+ // theta
+ llr[0] = acos((N*(1-eccSq)+llh[2])*slat/llr[2]);
+ llr[0] *= RAD_TO_DEG;
+ llr[0] = 90 - llr[0];
+ }
+
+ // ----------- Part 11: operator<< and other useful functions -------------
+ //
+ // Stream output for Position objects.
+ // @param s stream to append formatted Position to.
+ // @param t Position to append to stream \c s.
+ // @return reference to \c s.
+ ostream& operator<<(ostream& s, const Position& p)
+ {
+ if(p.system == Position::Cartesian)
+ s << p.printf("%.4x m %.4y m %.4z m");
+ else if(p.system == Position::Geodetic)
+ s << p.printf("%.8A degN %.8L degE %.4h m");
+ else if(p.system == Position::Geocentric)
+ s << p.printf("%.8a degN %.8L degE %.4r m");
+ else if(p.system == Position::Spherical)
+ s << p.printf("%.8t deg %.8p deg %.4r m");
+ else
+ s << " Unknown system! : " << p[0] << " " << p[1] << " " << p[2];
+
+ return s;
+ }
+
+ // Compute the range in meters between this Position and
+ // the Position passed as input.
+ // @param right Position to which to find the range
+ // @return the range (in meters)
+ // @throw GeometryException if geoid values differ
+ double range(const Position& A,
+ const Position& B)
+ throw(GeometryException)
+ {
+ if(A.AEarth != B.AEarth || A.eccSquared != B.eccSquared)
+ {
+ GeometryException ge("Unequal geoids");
+ GPSTK_THROW(ge);
+ }
+
+ Position L(A),R(B);
+ L.transformTo(Position::Cartesian);
+ R.transformTo(Position::Cartesian);
+ double dif = RSS(L.X()-R.X(),L.Y()-R.Y(),L.Z()-R.Z());
+ return dif;
+ }
+
+ // Compute the radius of the ellipsoidal Earth, given the geodetic latitude.
+ // @param geolat geodetic latitude in degrees
+ // @return the Earth radius (in meters)
+ double Position::radiusEarth(const double geolat,
+ const double A,
+ const double eccSq)
+ throw()
+ {
+ double slat=sin(DEG_TO_RAD*geolat);
+ double e=(1.0-eccSq);
+ double f=(1.0+(e*e-1.0)*slat*slat)/(1.0-eccSq*slat*slat);
+ return (A * SQRT(f));
+ }
+
+ // A member function that computes the elevation of the input
+ // (Target) position as seen from this Position.
+ // @param Target the Position which is observed to have the
+ // computed elevation, as seen from this Position.
+ // @return the elevation in degrees
+ double Position::elevation(const Position& Target) const
+ throw(GeometryException)
+ {
+ Position R(*this),S(Target);
+ R.transformTo(Cartesian);
+ S.transformTo(Cartesian);
+ // use Triple:: functions in cartesian coordinates (only)
+ double elevation;
+ try {
+ elevation = R.elvAngle(S);
+ }
+ catch(GeometryException& ge)
+ {
+ GPSTK_RETHROW(ge);
+ }
+ return elevation;
+ }
+
+ // A member function that computes the elevation of the input
+ // (Target) position as seen from this Position, using a Geodetic
+ // (i.e. ellipsoidal) system.
+ // @param Target the Position which is observed to have the
+ // computed elevation, as seen from this Position.
+ // @return the elevation in degrees
+ double Position::elevationGeodetic(const Position& Target) const
+ throw(GeometryException)
+ {
+ Position R(*this),S(Target);
+ double latGeodetic = R.getGeodeticLatitude()*DEG_TO_RAD;
+ double longGeodetic = R.getLongitude()*DEG_TO_RAD;
+ double localUp;
+ double cosUp;
+ R.transformTo(Cartesian);
+ S.transformTo(Cartesian);
+ Triple z;
+ // Let's get the slant vector
+ z = S.theArray - R.theArray;
+
+ if (z.mag()<=1e-4) // if the positions are within .1 millimeter
+ {
+ GeometryException ge("Positions are within .1 millimeter");
+ GPSTK_THROW(ge);
+ }
+
+ // Compute k vector in local North-East-Up (NEU) system
+ Triple kVector(cos(latGeodetic)*cos(longGeodetic), cos(latGeodetic)*sin(longGeodetic), sin(latGeodetic));
+ // Take advantage of dot method to get Up coordinate in local NEU system
+ localUp = z.dot(kVector);
+ // Let's get cos(z), being z the angle with respect to local vertical (Up);
+ cosUp = localUp/z.mag();
+
+ return 90.0 - ((::acos(cosUp))*RAD_TO_DEG);
+ }
+
+ // A member function that computes the azimuth of the input
+ // (Target) position as seen from this Position.
+ // @param Target the Position which is observed to have the
+ // computed azimuth, as seen from this Position.
+ // @return the azimuth in degrees
+ double Position::azimuth(const Position& Target) const
+ throw(GeometryException)
+ {
+ Position R(*this),S(Target);
+ R.transformTo(Cartesian);
+ S.transformTo(Cartesian);
+ // use Triple:: functions in cartesian coordinates (only)
+ double az;
+ try
+ {
+ az = R.azAngle(S);
+
+ }
+ catch(GeometryException& ge)
+ {
+ GPSTK_RETHROW(ge);
+ }
+
+ return az;
+ }
+
+ // A member function that computes the azimuth of the input
+ // (Target) position as seen from this Position, using a Geodetic
+ // (i.e. ellipsoidal) system.
+ // @param Target the Position which is observed to have the
+ // computed azimuth, as seen from this Position.
+ // @return the azimuth in degrees
+ double Position::azimuthGeodetic(const Position& Target) const
+ throw(GeometryException)
+ {
+ Position R(*this),S(Target);
+ double latGeodetic = R.getGeodeticLatitude()*DEG_TO_RAD;
+ double longGeodetic = R.getLongitude()*DEG_TO_RAD;
+ double localN, localE;
+ R.transformTo(Cartesian);
+ S.transformTo(Cartesian);
+ Triple z;
+ // Let's get the slant vector
+ z = S.theArray - R.theArray;
+
+ if (z.mag()<=1e-4) // if the positions are within .1 millimeter
+ {
+ GeometryException ge("Positions are within .1 millimeter");
+ GPSTK_THROW(ge);
+ }
+
+ // Compute i vector in local North-East-Up (NEU) system
+ Triple iVector(-sin(latGeodetic)*cos(longGeodetic), -sin(latGeodetic)*sin(longGeodetic), cos(latGeodetic));
+ // Compute j vector in local North-East-Up (NEU) system
+ Triple jVector(-sin(longGeodetic), cos(longGeodetic), 0);
+
+ // Now, let's use dot product to get localN and localE unitary vectors
+ localN = (z.dot(iVector))/z.mag();
+ localE = (z.dot(jVector))/z.mag();
+
+ // Let's test if computing azimuth has any sense
+ double test = fabs(localN) + fabs(localE);
+
+ // Warning: If elevation is very close to 90 degrees, we will return azimuth = 0.0
+ if (test < 1.0e-16) return 0.0;
+
+ double alpha = ((::atan2(localE, localN)) * RAD_TO_DEG);
+ if (alpha < 0.0)
+ {
+ return alpha + 360.0;
+ }
+ else
+ {
+ return alpha;
+ }
+ }
+
+ // A member function that computes the point at which a signal, which
+ // is received at *this Position and there is observed at the input
+ // azimuth and elevation, crosses a model ionosphere that is taken to
+ // be a uniform thin shell at the input height. This algorithm is done
+ // in geocentric coordinates.
+ // A member function that computes the point at which a signal, which
+ // is received at *this Position and there is observed at the input
+ // azimuth and elevation, crosses a model ionosphere that is taken to
+ // be a uniform thin shell at the input height. This algorithm is done
+ // in geocentric coordinates.
+ // @param elev elevation angle of the signal at reception, in degrees
+ // @param azim azimuth angle of the signal at reception, in degrees
+ // @param ionoht height of the ionosphere, in meters
+ // @return Position IPP the position of the ionospheric pierce point,
+ // in the same coordinate system as *this; *this is not modified.
+ Position Position::getIonosphericPiercePoint(const double elev,
+ const double azim,
+ const double ionoht) const
+ throw()
+ {
+ Position Rx(*this);
+
+ // convert to Geocentric
+ Rx.transformTo(Geocentric);
+
+ // compute the geographic pierce point
+ Position IPP(Rx); // copy system and geoid
+ double el = elev * DEG_TO_RAD;
+ // p is the angle subtended at Earth center by Rx and the IPP
+ double p = PI/2.0 - el - asin(AEarth*cos(el)/(AEarth+ionoht));
+ double lat = Rx.theArray[0] * DEG_TO_RAD;
+ double az = azim * DEG_TO_RAD;
+ IPP.theArray[0] = asin(sin(lat)*cos(p) + cos(lat)*sin(p)*cos(az));
+ IPP.theArray[1] = Rx.theArray[1]*DEG_TO_RAD
+ + asin(sin(p)*sin(az)/cos(IPP.theArray[0]));
+
+ IPP.theArray[0] *= RAD_TO_DEG;
+ IPP.theArray[1] *= RAD_TO_DEG;
+ IPP.theArray[2] = AEarth + ionoht;
+
+ // transform back
+ IPP.transformTo(system);
+
+ return IPP;
+ }
+
+ // ----------- Part 12: private functions and member data -----------------
+ //
+ // Initialization function, used by the constructors.
+ // @param a coordinate [ X(m), or latitude (degrees N) ]
+ // @param b coordinate [ Y(m), or longitude (degrees E) ]
+ // @param c coordinate [ Z, height above ellipsoid or radius, in m ]
+ // @param s CoordinateSystem, defaults to Cartesian
+ // @param geiod pointer to a GeoidModel, default NULL (WGS84)
+ // @throw GeometryException on invalid input.
+ void Position::initialize(const double a,
+ const double b,
+ const double c,
+ Position::CoordinateSystem s,
+ GeoidModel *geoid)
+ throw(GeometryException)
+ {
+ double bb(b);
+ if(s == Geodetic || s==Geocentric)
+ {
+ if(a > 90 || a < -90)
+ {
+ GeometryException ge("Invalid latitude in constructor: "
+ + StringUtils::asString(a));
+ GPSTK_THROW(ge);
+ }
+ if(bb < 0)
+ bb += 360*(1+(unsigned long)(bb/360));
+ else if(bb >= 360)
+ bb -= 360*(unsigned long)(bb/360);
+ }
+ if(s==Geocentric || s==Spherical)
+ {
+ if(c < 0)
+ {
+ GeometryException ge("Invalid radius in constructor: "
+ + StringUtils::asString(c));
+ GPSTK_THROW(ge);
+ }
+ }
+ if(s==Spherical)
+ {
+ if(a < 0 || a > 180)
+ {
+ GeometryException ge("Invalid theta in constructor: "
+ + StringUtils::asString(a));
+ GPSTK_THROW(ge);
+ }
+ if(bb < 0)
+ bb += 360*(1+(unsigned long)(bb/360));
+ else if(bb >= 360)
+ bb -= 360*(unsigned long)(bb/360);
+ }
+
+ theArray[0] = a;
+ theArray[1] = bb;
+ theArray[2] = c;
+
+ if(geoid) {
+ AEarth = geoid->a();
+ eccSquared = geoid->eccSquared();
+ }
+ else {
+ WGS84Geoid WGS84;
+ AEarth = WGS84.a();
+ eccSquared = WGS84.eccSquared();
+ }
+ system = s;
+ tolerance = POSITION_TOLERANCE;
+ }
+
+} // namespace gpstk
diff --git a/dev/src/Position.hpp b/dev/src/Position.hpp
new file mode 100644
index 0000000..acb2711
--- /dev/null
+++ b/dev/src/Position.hpp
@@ -0,0 +1,922 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file Position.hpp
+ * class gpstk::Position encapsulates 3-D positions, including geographic positions,
+ * expressed as geodetic (with respect to an ellipsoidal geoid), geocentric or
+ * Earth-centered, Earth-fixed (cartesian) coordinates, as well as ordinary
+ * positions defined by spherical or cartesian coordinates. Position inherits
+ * from class Triple.
+ */
+
+#ifndef GPSTK_POSITION_HPP
+#define GPSTK_POSITION_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "Exception.hpp"
+#include "StringUtils.hpp"
+#include "DayTime.hpp" // for FormatException
+#include "Triple.hpp"
+#include "GeoidModel.hpp"
+#include "Xvt.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup geodeticgroup */
+ //@{
+
+ // The following forward declaration of Position and range are the only
+ // way I can get range to be a member of namespace gpstk.
+ class Position;
+ double range(const Position& A, const Position& B) throw(GeometryException);
+
+ /**
+ * A position representation class for common 3D geographic position formats,
+ * including geodetic (geodetic latitude, longitude, and height above the geoid)
+ * geocentric (geocentric latitude, longitude, and radius from Earth's center),
+ * cartesian (Earth-centered, Earth-fixed) and spherical (theta,phi,radius).
+ *
+ * Internally, the representation of Position consists of three coordinate
+ * values (double), two doubles from a geoid model (see below, storing these
+ * doubles is preferred over adding GeoidModel to calling arguments everywhere),
+ * a flag of type 'enum CoordinateSystem' giving the coordinate system, and a
+ * tolerance for use in comparing Positions. Class Position inherits from class
+ * Triple, which is how the coordinate values are stored (Triple actually uses
+ * std::valarray<double> of length 3). It is important to note that
+ * Triple:: routines are properly used by Positions ONLY in the Cartesian
+ * coordinate system.
+ *
+ * Only geodetic coordinates depend on a geoid, and then (for an ellipsoidal
+ * geoid) only on the semi-major axis of the Earth and the square of its
+ * eccentricity. Input of this geoid information (usually a pointer to a
+ * GeoidModel) is required by functions involving constructors of, or
+ * transformation to or from, Geodetic coordinates. However since a default
+ * is supplied (WGS84), the user need never deal with geiods unless desired.
+ * In fact, if the geodetic coordinate system is avoided, the Position class
+ * can be interpreted simply as 3D vectors in any context, particularly since
+ * the class inherits from Triple, which includes many vector manipulation
+ * routines (although the Triple:: routines assume Cartesian coordinates).
+ * Even the requirement that lengths (radius, height and the cartesian
+ * coordinates) have units of meters is required only if geodetic coordinates
+ * are used (because the semi-major axis in GeoidModel is in meters);
+ * without using Geodetic one could apply the class using any units for
+ * length as long as setTolerance() is called appropriately.
+ *
+ * Position relies on a series of fundamental routines to transform from
+ * one coordinate system to another, these include, for example
+ * void Position::convertGeodeticToCartesian(const Triple& llh, Triple& xyz,
+ * const double A, const double eccSq);
+ * void Position::convertSphericalToCartesian(const Triple& tpr, Triple& xyz);
+ * These functions use Triple in the calling arguments.
+ *
+ * Position will throw exceptions (gpstk::GeometryException) on bad input
+ * (e.g. negative radius or latitude > 90 degrees); otherwise the class
+ * attempts to handle all points, even the pole and the origin, consistently
+ * and without throwing exceptions.
+ * At or very near the poles, the transformation routines will set
+ * latitude = +/-90 degrees, which is theta = 0 or 180, and (arbitrarily)
+ * longitude = 0. At or very near the origin, the transformation routines
+ * will set latitude = 0, which is theta = 90, and (arbitrarily) longitude = 0;
+ * radius will be set to zero and geodetic height will be set to
+ * -radius(Earth) (= -6378137.0 in WGS84). The tolerance used in testing
+ * 'at or near the pole or origin' is radius < POSITION_TOLERANCE/5.
+ * Note that this implies that a Position that is very near the origin may
+ * be SET to the exact origin by the transformation routines, and that
+ * thereby information about direction (e.g. latitude and longitude)
+ * may be LOST. The user is warned to be very careful when working
+ * near either the pole or the origin.
+ *
+ * Position includes setToString() and printf() functions similar to those
+ * in gpstk::DayTime; this allows flexible and powerful I/O of Position to
+ * strings and streams.
+ *
+ * @sa positiontest.cpp for examples.
+ */
+ class Position : public Triple
+ {
+ public:
+ // ----------- Part 1: coordinate systems --------------------------------
+ //
+ /// The coordinate systems supported by Position
+ enum CoordinateSystem
+ {
+ Unknown=0, ///< unknown coordinate system
+ Geodetic, ///< geodetic latitude, longitude, and height above geoid
+ Geocentric, ///< geocentric (regular spherical coordinates)
+ Cartesian, ///< cartesian (Earth-centered, Earth-fixed)
+ Spherical ///< spherical coordinates (theta,phi,radius)
+ };
+
+ /// return string giving name of coordinate system
+ std::string getSystemName()
+ throw();
+
+ // ----------- Part 2: member functions: tolerance -----------------------
+ //
+ /// One millimeter tolerance.
+ static const double ONE_MM_TOLERANCE;
+ /// One centimeter tolerance.
+ static const double ONE_CM_TOLERANCE;
+ /// One micron tolerance.
+ static const double ONE_UM_TOLERANCE;
+
+ /// Default tolerance for time equality in days.
+ static double POSITION_TOLERANCE;
+
+ /// Changes the POSITION_TOLERANCE for all Position objects
+ static double setPositionTolerance(const double tol)
+ { POSITION_TOLERANCE = tol; return POSITION_TOLERANCE; }
+
+ /// Returns the current POSITION_TOLERANCE.
+ static double getPositionTolerance()
+ { return POSITION_TOLERANCE; }
+
+ /**
+ * Sets the tolerance for output and comparisons, for this object only.
+ * See the constants in this file (e.g. ONE_MM_TOLERANCE)
+ * for some easy to use tolerance values.
+ * @param tol Tolerance in meters to be used by comparison operators.
+ * @sa Position-Specific Definitions
+ */
+ Position& setTolerance(const double tol)
+ throw();
+
+ // ----------- Part 3: member functions: constructors --------------------
+ //
+ /**
+ * Default constructor.
+ * Initializes to zero, Unknown coordinates
+ */
+ Position()
+ throw();
+
+ /**
+ * Explicit constructor. Coordinate system may be specified on input,
+ * but defaults to Cartesian. Pointer to GeoidModel may be specified,
+ * but default is NULL (in which case WGS84 values will be used).
+ * @param a first coordinate [ X(m), or latitude (degrees N) ]
+ * @param b second coordinate [ Y(m), or longitude (degrees E) ]
+ * @param c third coordinate [ Z, height above ellipsoid or radius, in m ]
+ * @param s coordinate system
+ * @param geoid pointer to GeoidModel
+ * @throw GeometryException on invalid input.
+ */
+ Position(const double& a,
+ const double& b,
+ const double& c,
+ CoordinateSystem s = Cartesian,
+ GeoidModel *geoid = NULL)
+ throw(GeometryException);
+
+ /**
+ * Explicit constructor. Coordinate system may be specified on input,
+ * but defaults to Cartesian. Pointer to GeoidModel may be specified,
+ * but default is NULL (in which case WGS84 values will be used).
+ * @param ABC double array[3] coordinate values
+ * @param s CoordinateSystem
+ * @param geoid pointer to GeoidModel
+ * @throw GeometryException on invalid input.
+ */
+ Position(const double ABC[3],
+ CoordinateSystem s = Cartesian,
+ GeoidModel *geoid = NULL)
+ throw(GeometryException);
+
+ /**
+ * Explicit constructor. Coordinate system may be specified on input,
+ * but defaults to Cartesian. Pointer to GeoidModel may be specified,
+ * but default is NULL (in which case WGS84 values will be used).
+ * @param ABC coordinate values
+ * @param s CoordinateSystem
+ * @param geoid pointer to GeoidModel
+ * @throw GeometryException on invalid input.
+ */
+ Position(const Triple& ABC,
+ CoordinateSystem s = Cartesian,
+ GeoidModel *geoid = NULL)
+ throw(GeometryException);
+
+ /**
+ * Explicit constructor from Xvt. The coordinate system is Cartesian,
+ * and the velocity and time information in the input is ignored.
+ * @param xvt Input Xvt object, xvt.x contains the Cartesian coordinates
+ */
+ Position(const Xvt& xvt)
+ throw();
+
+ /// Destructor.
+ ~Position()
+ throw()
+ {}
+
+ // ----------- Part 4: member functions: arithmetic ----------------------
+ //
+ /** Subtract a Position from this Position. Perform the subtraction in
+ * Cartesian coordinates, but return this Position to the system it
+ * had originally.
+ * @param right Position to subtract from this one.
+ * @return new Position, in the original system.
+ */
+ Position& operator-=(const Position& right)
+ throw();
+
+ /** Add a Position to this Position. Perform the addition in
+ * Cartesian coordinates, but return this Position to the system it
+ * had originally.
+ * @param right Position to add to this one.
+ * @return new Position, in the original system.
+ */
+ Position& operator+=(const Position& right)
+ throw();
+
+ /**
+ * Difference two Positions, returning result as a Position in Cartesian
+ * coordinates, the only system in which a position difference makes sense.
+ * @param right Position to subtract from this one.
+ * @return difference as Position.
+ */
+ friend Position operator-(const Position& left,
+ const Position& right)
+ throw();
+
+ /**
+ * Add two Positions, returning result as a Position in Cartesian
+ * coordinates, the only system in which a position sum makes sense.
+ * @param right Position to add to this one.
+ * @return The new Position.
+ */
+ friend Position operator+(const Position& left,
+ const Position& right)
+ throw();
+
+ /** Multiply a Position by a double scalar on the left.
+ * @param right Position to be multiplied by the scalar
+ * @param scale the (double) scalar
+ * @return The new Position.
+ */
+ friend Position operator*(const double& scale,
+ const Position& right)
+ {
+ Position tmp(right);
+ tmp.theArray *= scale;
+ return tmp;
+ }
+
+ /** Multiply a Position by a double scalar on the right.
+ * @param left Position to be multiplied by the scalar
+ * @param scale the (double) scalar
+ * @return The new Position.
+ */
+ friend Position operator*(const Position& left,
+ const double& scale)
+ {
+ return operator*(scale, left);
+ }
+
+ /** Multiply a Position by an integer scalar on the left.
+ * @param right Position to be multiplied by the scalar
+ * @param scale the (int) scalar
+ * @return The new Position.
+ */
+ friend Position operator*(const int& scale,
+ const Position& right)
+ {
+ return operator*(double(scale), right);
+ }
+
+ /** Multiply a Position by an integer scalar on the right.
+ * @param left Position to be multiplied by the scalar
+ * @param scale the (int) scalar
+ * @return The new Position.
+ */
+ friend Position operator*(const Position& left,
+ const int& scale)
+ {
+ return operator*(double(scale), left);
+ }
+
+ // ----------- Part 5: member functions: comparisons ---------------------
+ //
+ /// Equality operator. Return true if range between this Position and
+ /// the input Position is less than tolerance. Return false if geoid
+ /// values differ.
+ /// @param right Position to be compared to this Position
+ bool operator==(const Position &right) const
+ throw();
+
+ /// Inequality operator. Return true if range between this Position and
+ /// the input Position is greater than tolerance. Return true if geoid
+ /// values differ.
+ /// @param right Position to be compared to this Position
+ bool operator!=(const Position &right) const
+ throw();
+
+ // ----------- Part 6: member functions: coordinate transformations ------
+ //
+ /**
+ * Transform coordinate system. Does nothing if sys already matches the
+ * current value of member CoordinateSystem 'system'.
+ * @param sys CoordinateSystem into which this Position is transformed.
+ */
+ Position transformTo(CoordinateSystem sys)
+ throw();
+
+ /// Convert to geodetic coordinates (does nothing if
+ /// system == Geodetic already).
+ Position asGeodetic()
+ throw()
+ { transformTo(Geodetic); return *this; }
+
+ /// Convert to another geoid, then to geodetic coordinates.
+ /// @return a reference to this.
+ /// @throw GeometryException if input is NULL.
+ Position asGeodetic(GeoidModel *geoid)
+ throw(GeometryException)
+ {
+ try { setGeoidModel(geoid); }
+ catch(GeometryException& ge) { GPSTK_RETHROW(ge); }
+ transformTo(Geodetic);
+ return *this;
+ }
+
+ /// Convert to cartesian coordinates (does nothing if
+ /// system == Cartesian already).
+ Position asECEF()
+ throw()
+ { transformTo(Cartesian); return *this; }
+
+
+ // ----------- Part 7: member functions: get -----------------------------
+ //
+ // These routines retrieve coordinate values in all coordinate systems.
+ //
+ /// return X coordinate (meters)
+ double X() const
+ throw();
+
+ /// return Y coordinate (meters)
+ double Y() const
+ throw();
+
+ /// return Z coordinate (meters)
+ double Z() const
+ throw();
+
+ /// return geodetic latitude (degrees North).
+ double geodeticLatitude() const
+ throw();
+
+ /// return geocentric latitude (degrees North);
+ /// equal to 90 degress - theta in regular spherical coordinates.
+ double geocentricLatitude() const
+ throw();
+
+ /// return spherical coordinate theta in degrees
+ double theta() const
+ throw();
+
+ /// return spherical coordinate phi in degrees
+ double phi() const
+ throw();
+
+ /// return longitude (degrees East);
+ /// equal to phi in regular spherical coordinates.
+ double longitude() const
+ throw();
+
+ /// return distance from the center of Earth (meters),
+ /// Same as radius in spherical coordinates.
+ double radius() const
+ throw();
+
+ /// return height above ellipsoid (meters) (Geodetic).
+ double height() const
+ throw();
+
+ /// return the coordinate system for this Position
+ CoordinateSystem getCoordinateSystem() const
+ throw()
+ { return system; };
+
+ /// return geodetic latitude (deg N)
+ double getGeodeticLatitude() const
+ throw()
+ { return geodeticLatitude(); }
+
+ /// return geocentric latitude (deg N)
+ double getGeocentricLatitude() const
+ throw()
+ { return geocentricLatitude(); }
+
+ /// return longitude (deg E) (either geocentric or geodetic)
+ double getLongitude() const
+ throw()
+ { return longitude(); }
+
+ /// return height above ellipsoid (meters)
+ double getAltitude() const
+ throw()
+ { return height(); }
+
+ /// return height above ellipsoid (meters)
+ double getHeight() const
+ throw()
+ { return height(); }
+
+ /// return ECEF X coordinate (meters)
+ double getX() const
+ throw()
+ { return X(); }
+
+ /// return ECEF Y coordinate (meters)
+ double getY() const
+ throw()
+ { return Y(); }
+
+ /// return ECEF Z coordinate (meters)
+ double getZ() const
+ throw()
+ { return Z(); }
+
+ /// return spherical coordinate angle theta (deg) (90 - geocentric latitude)
+ double getTheta() const
+ throw()
+ { return theta(); }
+
+ /// return spherical coordinate angle phi (deg) (same as longitude)
+ double getPhi() const
+ throw()
+ { return phi(); }
+
+ /// return radius
+ double getRadius() const
+ throw()
+ { return radius(); }
+
+ // ----------- Part 8: member functions: set -----------------------------
+ //
+ /**
+ * Set the geoid values for this Position given a geoid.
+ * @param geoid Pointer to the GeoidModel.
+ * @throw GeometryException if input is NULL.
+ */
+ void setGeoidModel(const GeoidModel *geoid)
+ throw(GeometryException);
+
+ /**
+ * Set the Position given geodetic coordinates; system is set to Geodetic.
+ * @param lat geodetic latitude in degrees North
+ * @param lon geodetic longitude in degrees East
+ * @param ht height above the ellipsoid in meters
+ * @return a reference to this object.
+ * @throw GeometryException on invalid input
+ */
+ Position& setGeodetic(const double lat,
+ const double lon,
+ const double ht,
+ const GeoidModel *geoid = NULL)
+ throw(GeometryException);
+
+ /**
+ * Set the Position given geocentric coordinates; system is set to Geocentric
+ * @param lat geocentric latitude in degrees North
+ * @param lon geocentric longitude in degrees East
+ * @param rad radius from the Earth's center in meters
+ * @return a reference to this object.
+ * @throw GeometryException on invalid input
+ */
+ Position& setGeocentric(const double lat,
+ const double lon,
+ const double rad)
+ throw(GeometryException);
+
+ /**
+ * Set the Position given spherical coordinates; system is set to Spherical
+ * @param theta angle from the Z-axis (degrees)
+ * @param phi angle from the X-axis in the XY plane (degrees)
+ * @param rad radius from the center in meters
+ * @return a reference to this object.
+ * @throw GeometryException on invalid input
+ */
+ Position& setSpherical(const double theta,
+ const double phi,
+ const double rad)
+ throw(GeometryException);
+
+ /**
+ * Set the Position given ECEF coordinates; system is set to Cartesian.
+ * @param X ECEF X coordinate in meters.
+ * @param Y ECEF Y coordinate in meters.
+ * @param Z ECEF Z coordinate in meters.
+ * @return a reference to this object.
+ */
+ Position& setECEF(const double X,
+ const double Y,
+ const double Z)
+ throw();
+
+ /**
+ * Set the Position given an array of ECEF coordinates;
+ * system is set to Cartesian.
+ * @param XYZ array[3] ECEF X,Y,Z coordinate in meters.
+ * @return a reference to this object.
+ */
+ Position& setECEF(const double XYZ[3])
+ throw()
+ { return setECEF(XYZ[0],XYZ[1],XYZ[2]); }
+
+ /**
+ * Set the Position given ECEF coordinates; system is set to Cartesian.
+ * @param XYZ ECEF X,Y,Z coordinates in meters.
+ * @return a reference to this object.
+ */
+ Position& setECEF(const Triple& XYZ)
+ throw()
+ { return setECEF(XYZ[0],XYZ[1],XYZ[2]); }
+
+ // ----------- Part 9: member functions: setToString, printf -------------
+ //
+ /**
+ * setToString, similar to scanf, this function takes a string and a
+ * format describing string in order to define Position
+ * values. The parameters it can take are listed below and
+ * described above with the printf() function.
+ *
+ * The specification must be sufficient to define a Position.
+ * The following table lists combinations that give valid
+ * Positions. Anything more or other combinations will give
+ * unknown (read as: "bad") results so don't try it. Anything
+ * less will throw an exception.
+ *
+ * @code
+ * %X %Y %Z (cartesian or ECEF in kilometers)
+ * %x %y %z (cartesian or ECEF in meters)
+ * %a %l %r (geocentric lat,lon,radius, longitude E, radius in meters)
+ * %A %L %h (geodetic lat,lon,height, longitude E, height in meters)
+ * %a %w %R (geocentric lat,lon,radius, longitude W, radius in kilometers)
+ * %A %W %H (geodetic lat,lon,height, longitude W, height in kilometers)
+ * %t %p %r (spherical theta, phi, radius, degrees and meters)
+ * %T %P %R (spherical theta, phi, radius, radians and kilometers)
+ * @endcode
+ *
+ * So
+ * @code
+ * pos.setToString("123.4342,9328.1982,-128987.399", "%X,%Y,%Z");
+ * @endcode
+ *
+ * works but
+ *
+ * @code
+ * pos.setToString("123.4342,9328.1982", "%X,%Y");
+ * @endcode
+ * doesn't work (incomplete specification because it doesn't specify
+ * a Position).
+ *
+ * Whitespace is unimportant here; the function will handle it.
+ * The caller must ensure that that the extra characters in
+ * the format string (ie '.' ',') are in the same relative
+ * location as they are in the actual string; see the example above.
+ *
+ * @param str string from which to get the Position coordinates
+ * @param fmt format to use to parse \c str.
+ * @throw GeometryException if \c fmt is an incomplete or invalid
+ * specification
+ * @throw FormatException if unable to scan \c str.
+ * @throw StringException if an error occurs manipulating the
+ * \c str or \c fmt strings.
+ * @return a reference to this object.
+ */
+ Position& setToString(const std::string& str,
+ const std::string& fmt)
+ throw(GeometryException,
+ DayTime::FormatException,
+ StringUtils::StringException);
+
+
+ // if you can see this, ignore the \'s below, as they are for
+ // the nasty html-ifying of doxygen. Browsers try to
+ // interpret the % and they get all messed up.
+ /**
+ * Format this Position into a string.
+ *
+ * Generate and return a string containing formatted
+ * Position coordinates, formatted by the specification \c fmt.
+ *
+ * \li \%x X() (meters)
+ * \li \%y Y() (meters)
+ * \li \%z Z() (meters)
+ * \li \%X X()/1000 (kilometers)
+ * \li \%Y Y()/1000 (kilometers)
+ * \li \%Z Z()/1000 (kilometers)
+ * \li \%A geodeticLatitude() (degrees North)
+ * \li \%a geocentricLatitude() (degrees North)
+ * \li \%L longitude() (degrees East)
+ * \li \%l longitude() (degrees East)
+ * \li \%w longitude() (degrees West)
+ * \li \%W longitude() (degrees West)
+ * \li \%t theta() (degrees)
+ * \li \%T theta() (radians)
+ * \li \%p phi() (degrees)
+ * \li \%P phi() (radians)
+ * \li \%r radius() meters
+ * \li \%R radius()/1000 kilometers
+ * \li \%h height() meters
+ * \li \%H height()/1000 kilometers
+ *
+ * @param fmt format to use for this time.
+ * @return a string containing this Position in the
+ * representation specified by \c fmt.
+ */
+ std::string printf(const char *fmt) const
+ throw(StringUtils::StringException);
+
+ /// Format this time into a string.
+ /// @see printf(const char*)
+ std::string printf(const std::string& fmt) const
+ throw(StringUtils::StringException)
+ { return printf(fmt.c_str()); }
+
+ /// Returns the string that operator<<() would print.
+ std::string asString() const
+ throw(StringUtils::StringException);
+
+ // ----------- Part 10: functions: fundamental conversions ---------------
+ //
+ /** Fundamental conversion from spherical to cartesian coordinates.
+ * @param trp (input): theta, phi (degrees), radius
+ * @param xyz (output): X,Y,Z in units of radius
+ * Algorithm references: standard geometry.
+ */
+ static void convertSphericalToCartesian(const Triple& tpr,
+ Triple& xyz)
+ throw();
+
+ /** Fundamental routine to convert cartesian to spherical coordinates.
+ * The zero vector is converted to (90,0,0).
+ * @param xyz (input): X,Y,Z
+ * @param trp (output): theta, phi (degrees), radius (units of input)
+ * Algorithm references: standard geometry.
+ */
+ static void convertCartesianToSpherical(const Triple& xyz,
+ Triple& tpr)
+ throw();
+
+
+ /** Fundamental routine to convert ECEF (cartesian) to geodetic coordinates,
+ * (Geoid specified by semi-major axis and eccentricity squared).
+ * The zero vector is converted to (90,0,-R(earth)).
+ * @param xyz (input): X,Y,Z in meters
+ * @param llh (output): geodetic lat(deg N), lon(deg E),
+ * height above ellipsoid (meters)
+ * @param A (input) Earth semi-major axis
+ * @param eccSq (input) square of Earth eccentricity
+ * Algorithm references: Leick, "GPS Satellite Surveying," 2nd edition.
+ */
+ static void convertCartesianToGeodetic(const Triple& xyz,
+ Triple& llh,
+ const double A,
+ const double eccSq)
+ throw();
+
+ /** Fundamental routine to convert geodetic to ECEF (cartesian) coordinates,
+ * (Geoid specified by semi-major axis and eccentricity squared).
+ * @param llh (input): geodetic lat(deg N), lon(deg E),
+ * height above ellipsoid (meters)
+ * @param A (input) Earth semi-major axis
+ * @param xyz (output): X,Y,Z in meters
+ * @param eccSq (input) square of Earth eccentricity
+ * Algorithm references: Leick, "GPS Satellite Surveying," 2nd edition.
+ */
+ static void convertGeodeticToCartesian(const Triple& llh,
+ Triple& xyz,
+ const double A,
+ const double eccSq)
+ throw();
+
+
+ /** Fundamental routine to convert cartesian (ECEF) to geocentric
+ * The zero vector is converted to (0,0,0).
+ * @param xyz (input): X,Y,Z
+ * @param llr (output): geocentric lat(deg N), lon(deg E),
+ * radius (units of input)
+ */
+ static void convertCartesianToGeocentric(const Triple& xyz,
+ Triple& llr)
+ throw();
+
+ /** Fundamental routine to convert geocentric to cartesian (ECEF)
+ * @param llr (input): geocentric lat(deg N),lon(deg E),radius
+ * @param xyz (output): X,Y,Z (units of radius)
+ */
+ static void convertGeocentricToCartesian(const Triple& llr,
+ Triple& xyz)
+ throw();
+
+
+ /** Fundamental routine to convert geocentric to geodetic
+ * @param llr (input): geocentric lat(deg N),lon(deg E),radius (meters)
+ * @param geodeticllh (output): geodetic latitude (deg N),
+ * longitude (deg E), and height above ellipsoid (meters)
+ * @param A (input) Earth semi-major axis
+ * @param eccSq (input) square of Earth eccentricity
+ */
+ static void convertGeocentricToGeodetic(const Triple& llr,
+ Triple& geodeticllh,
+ const double A,
+ const double eccSq)
+ throw();
+
+ /** Fundamental routine to convert geodetic to geocentric
+ * @param geodeticllh (input): geodetic latitude (deg N),
+ * longitude (deg E), and height above ellipsoid (meters)
+ * @param llr (output): geocentric lat (deg N),lon (deg E),radius (meters)
+ * @param A (input) Earth semi-major axis
+ * @param eccSq (input) square of Earth eccentricity
+ */
+ static void convertGeodeticToGeocentric(const Triple& geodeticllh,
+ Triple& llr,
+ const double A,
+ const double eccSq)
+ throw();
+
+ // ----------- Part 11: operator<< and other useful functions -------------
+ //
+ /**
+ * Stream output for Position objects.
+ * @param s stream to append formatted Position to.
+ * @param t Position to append to stream \c s.
+ * @return reference to \c s.
+ */
+ friend std::ostream& operator<<(std::ostream& s,
+ const Position& p);
+
+ /**
+ * Compute the range in meters between two Positions.
+ * Input Positions are not modified.
+ * @param A,B Positions between which to find the range
+ * @return the range (in meters)
+ * @throw GeometryException if geoid values differ.
+ * or if transformTo(Cartesian) fails
+ */
+ friend double range(const Position& A,
+ const Position& B)
+ throw(GeometryException);
+
+ /**
+ * Compute the radius of the ellipsoidal Earth, given the geodetic latitude.
+ * @param geolat geodetic latitude in degrees
+ * @return the Earth radius (in meters)
+ */
+ static double radiusEarth(const double geolat,
+ const double A,
+ const double eccSq)
+ throw();
+
+ /**
+ * A member function that calls the non-member radiusEarth() for
+ * this Position.
+ * @return the Earth radius (in meters)
+ */
+ double radiusEarth() const
+ throw()
+ {
+ Position p(*this);
+ p.transformTo(Position::Geodetic);
+ return Position::radiusEarth(p.theArray[0], p.AEarth, p.eccSquared);
+ }
+
+ /**
+ * A member function that computes the elevation of the input
+ * (Target) position as seen from this Position.
+ * @param Target the Position which is observed to have the
+ * computed elevation, as seen from this Position.
+ * @return the elevation in degrees
+ */
+ double elevation(const Position& Target) const
+ throw(GeometryException);
+
+ /**
+ * A member function that computes the elevation of the input
+ * (Target) position as seen from this Position, using a Geodetic
+ * (ellipsoidal) system.
+ * @param Target the Position which is observed to have the
+ * computed elevation, as seen from this Position.
+ * @return the elevation in degrees
+ */
+ double elevationGeodetic(const Position& Target) const
+ throw(GeometryException);
+
+ /**
+ * A member function that computes the azimuth of the input
+ * (Target) position as seen from this Position.
+ * @param Target the Position which is observed to have the
+ * computed azimuth, as seen from this Position.
+ * @return the azimuth in degrees
+ */
+ double azimuth(const Position& Target) const
+ throw(GeometryException);
+
+ /**
+ * A member function that computes the azimuth of the input
+ * (Target) position as seen from this Position, using a Geodetic
+ * (ellipsoidal) system.
+ * @param Target the Position which is observed to have the
+ * computed azimuth, as seen from this Position.
+ * @return the azimuth in degrees
+ */
+ double azimuthGeodetic(const Position& Target) const
+ throw(GeometryException);
+
+ /**
+ * A member function that computes the position at which a signal, which
+ * is received at this Position and there is observed at the (input)
+ * azimuth and elevation angles, crosses a model ionosphere that is
+ * taken to be a thin shell at constant (input) height.
+ * This function will not transform this Position, and it will return
+ * a Position in the same system; the algorithm itself is done in the
+ * geocentric coordinate system.
+ * @param elev elevation angle in degrees of the signal at reception
+ * @param azim azimuth angle in degrees of the signal at reception
+ * @param ionoht height of the ionosphere, in meters
+ * @return Position IPP the position of the ionospheric pierce point,
+ * in the same coordinate system as *this; *this is not modified.
+ */
+ Position getIonosphericPiercePoint(const double elev,
+ const double azim,
+ const double ionoht) const
+ throw();
+
+ // ----------- Part 12: private functions and member data -----------------
+ //
+ private:
+
+ /** Initialization function, used by the constructors.
+ * @param a coordinate [ X(m), or latitude (degrees N) ]
+ * @param b coordinate [ Y(m), or longitude (degrees E) ]
+ * @param c coordinate [ Z, height above ellipsoid or radius, in m ]
+ * @param s CoordinateSystem, defaults to Cartesian
+ * @param geiod pointer to a GeoidModel, default NULL (WGS84)
+ * @throw GeometryException on invalid input.
+ */
+ void initialize(const double a,
+ const double b,
+ const double c,
+ CoordinateSystem s = Cartesian,
+ GeoidModel *geoid = NULL)
+ throw(GeometryException);
+
+ /* Values of the coordinates, defined for each system as follows;
+ * Cartesian : X,Y,Z in meters
+ * Geocentric : Latitude(degrees N), Longitude(degrees E),
+ * Radius (meters)
+ * Geodetic : Latitude(degrees N), Longitude(degrees E),
+ * Height above ellipsoid (meters)
+ * Spherical : theta (degrees) - angle from the z axis
+ * phi (degrees) - angle in xy plane from x axis toward
+ * y axis (same as longitude)
+ * radius (meters?) - distance from origin
+ */
+ // use std::valarray<double> theArray; -- inherit from Triple
+
+ /// semi-major axis of Earth (meters)
+ double AEarth;
+
+ /// square of geoid eccentricity
+ double eccSquared;
+
+ /// see #CoordinateSystem
+ CoordinateSystem system;
+
+ /// tolerance used in comparisons
+ double tolerance;
+
+ }; // end class Position
+
+ //@}
+
+} // namespace gpstk
+
+#endif // GPSTK_POSITION_HPP
diff --git a/dev/src/RACRotation.cpp b/dev/src/RACRotation.cpp
new file mode 100644
index 0000000..a7e41d3
--- /dev/null
+++ b/dev/src/RACRotation.cpp
@@ -0,0 +1,142 @@
+#pragma ident "$Id$"
+
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+
+
+
+//
+//
+//#include <stdio.h>
+
+// gpstk
+#include "RACRotation.hpp"
+
+namespace gpstk
+{
+
+//using namespace std;
+
+RACRotation::RACRotation( const gpstk::Triple& SVPositionVector,
+ const gpstk::Triple& SVVelocityVector)
+ : gpstk::Matrix<double>(3,3)
+{
+ compute( SVPositionVector, SVVelocityVector );
+}
+
+RACRotation::RACRotation(const gpstk::Xvt& xvt)
+ : gpstk::Matrix<double>(3,3)
+{
+ compute( xvt.x, xvt.v );
+}
+
+//
+// Given the SV position vector and the SV velocity vector,
+// compute a rotation from ECEF XYZ to ECEF Radial,
+// Along-Track, Cross-Track (RAC).
+//
+// Let the SV position vector be represented by R
+// Let the SV velocity vector be represented by V
+// 1.) Form the unit vector R^ = R / |R|.
+// 2.) Compute vector C = R^ cross V and unit vector C^ = C / |C|. C^ is
+// perpendiculat to the RV plane
+// 3.) Compute A^ = C^ corss R^.
+// 4.) [R^, A^, C^] is an orthonormal triad and the rotation matrix between
+// XYZ and RAC is the matrix where R^, C^, and A^ are each a row of the
+// matrix.
+//
+void RACRotation::compute( const gpstk::Triple& SVPositionVector,
+ const gpstk::Triple& SVVelocityVector)
+{
+
+ gpstk::Triple unitR = SVPositionVector.unitVector();
+ gpstk::Triple C = unitR.cross(SVVelocityVector);
+ gpstk::Triple unitC = C.unitVector();
+ gpstk::Triple unitA = unitC.cross(unitR);
+
+ (*this) (0,0) = unitR[0];
+ (*this) (0,1) = unitR[1];
+ (*this) (0,2) = unitR[2];
+ (*this) (1,0) = unitA[0];
+ (*this) (1,1) = unitA[1];
+ (*this) (1,2) = unitA[2];
+ (*this) (2,0) = unitC[0];
+ (*this) (2,1) = unitC[1];
+ (*this) (2,2) = unitC[2];
+}
+
+gpstk::Vector<double> RACRotation::convertToRAC( const gpstk::Vector<double>& inV )
+{
+ gpstk::Vector<double> outV(3);
+
+ /*
+ My goal was to use the following statement.
+ outV = this * inV;
+ However, for some reason, gcc refuses to recognize RACRotation as a
+ Matrix subclass. Therefore, I've incorporated the matrix multiply
+ as a temporary kludge.
+ */
+ if (inV.size()!=3)
+ {
+ gpstk::Exception e("Incompatible dimensions for Vector");
+ GPSTK_THROW(e);
+ }
+ size_t i, j;
+ for (i = 0; i < 3; i++)
+ {
+ outV[i] = 0;
+ for (j = 0; j < 3; j++)
+ {
+ double temp = (*this)(i,j) * inV[j];
+ outV[i] += temp;
+ }
+ }
+ /* end kludge */
+ return(outV);
+}
+
+gpstk::Triple RACRotation::convertToRAC( const gpstk::Triple& inVec )
+{
+ gpstk::Vector<double> v(3);
+ v[0] = inVec[0];
+ v[1] = inVec[1];
+ v[2] = inVec[2];
+
+ gpstk::Vector<double> vOut = convertToRAC( v );
+ gpstk::Triple outVec( vOut[0], vOut[1], vOut[2] );
+ return(outVec);
+}
+
+gpstk::Xvt RACRotation::convertToRAC( const gpstk::Xvt& in )
+{
+ gpstk::Xvt out;
+ out.dtime = in.dtime;
+ out.ddtime = in.ddtime;
+ out.x = convertToRAC( in.x );
+ out.v = convertToRAC( in.v );
+ return(out);
+}
+} // end namespace gpstk
diff --git a/dev/src/RACRotation.hpp b/dev/src/RACRotation.hpp
new file mode 100644
index 0000000..33c8cbd
--- /dev/null
+++ b/dev/src/RACRotation.hpp
@@ -0,0 +1,62 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+
+
+
+//
+//
+#ifndef GPSTK_RACROTATION_HPP
+#define GPSTK_RACROTATION_HPP
+
+// gpstk
+#include "Triple.hpp"
+#include "Matrix.hpp"
+#include "Vector.hpp"
+#include "Xvt.hpp"
+
+namespace gpstk
+{
+ class RACRotation : public gpstk::Matrix<double>
+ {
+ public:
+ // Constructors
+ RACRotation( const gpstk::Triple& SVPositionVector,
+ const gpstk::Triple& SVVelocityVector);
+ RACRotation(const gpstk::Xvt& xvt);
+
+ // Methods
+ gpstk::Vector<double> convertToRAC( const gpstk::Vector<double>& inV );
+ gpstk::Triple convertToRAC( const gpstk::Triple& inVec );
+ gpstk::Xvt convertToRAC( const gpstk::Xvt& in );
+
+ // Utilities
+ protected:
+ void compute( const gpstk::Triple& SVPositionVector,
+ const gpstk::Triple& SVVelocityVector);
+ };
+}
+#endif
diff --git a/dev/src/README b/dev/src/README
new file mode 100644
index 0000000..4abebe4
--- /dev/null
+++ b/dev/src/README
@@ -0,0 +1,216 @@
+// this is for Doxygen to parse and add to the documentation
+
+/**
+ * @file README
+ * Documentation for Doxygen
+ */
+
+/** @mainpage
+ * This documentation describes the architecture and design of the
+ * GPS ToolKit (GPSTk), produced by the Space and Geophysics Laboratory (SGL)
+ * of Applied Research Laboratories, The University of Texas at Austin (ARL:UT).
+ *
+ * This documentation is generated nightly from the GPSTk Subversion repository.
+ *
+ * \section intro Introduction
+ * GPSTK is a library of support routines designed for use by programmers
+ * developing applications that read and write (particularly in RINEX format),
+ * process and otherwise manipulate GPS data. It is characterized by the following:
+ * - Modern, ANSI C++; highly object oriented
+ * - Uses templates, the Standard Template Library (STL) and iostreams classes
+ * - Portable and platform independent
+ * - Includes full implementation of the RINEX (Receiver Independent Exchange Format) I/O
+ *
+ * \section codedesign Code Design
+ * \subsection namesp Namespaces
+ * All GPSTK code is placed within the gpstk namespace. Within the gpstk namespace, other
+ * namespaces are defined for certain specialized functionality; these include
+ * - gpstk::BinUtils in the Binary utilities module
+ * - gpstk::FileUtils in the File utilities module
+ * - gpstk::StringUtils in the String utilities module
+ *
+ * Namespace std is also used throughout the GPSTK.
+ *
+ * \section content Library Content
+ * The library consists of several modules, which are more or less dependent upon each
+ * other. These include
+ * - Exceptions for use throughout the library
+ * - Binary utilities
+ * - STL "helpers"
+ * - String utilities
+ * - Command line options
+ * - Date and time conversions
+ * - Formatted file I/O
+ * - File utilities, including file filters and filter hunter
+ * - Vector and Matrix algorithms
+ * - Mathematical algorithms
+ * - Geodetic coordinates, conversions, etc
+ * - Complete RINEX implementation (including Glonass and other data),
+ * with extensions that allow user-defined observation types
+ * -# Rinex Meterological file I/O
+ * -# Rinex Navigation file I/O
+ * -# Rinex Observation file I/O
+ * - Ephemeris calculations, including almanac and ICD-GPS-200 algorithms
+ * - Ephemeris I/O and storage
+ * - SP3 format file ("precise ephemeris") I/O and storage
+ * - GPS navigation solution algorithms
+ * - Basic application frameworks
+ * - P-Code generator
+ * - GNSS Data Structures handling
+ *
+ * \section applic Applications
+ * This distribution also includes several stand-alone application programs which
+ * also serve as examples of how to use the GPSTK. These include
+ * - Rinex summary
+ * - Rinex editor
+ * - Discontinuity Correction (i.e. cycle slip fixing)
+ * - Residual and correction generator
+ *
+ */
+
+/** @namespace gpstk Namespace for entire GPSTK library. */
+
+// These are all the example and test files we have and a brief description
+// of each.
+
+/**
+ * @example AnotherFileFilterTest.cpp
+ */
+
+/**
+ * @example EphComp.cpp
+ */
+
+/**
+ * @example FileSpecTest.cpp
+ */
+
+/**
+ * @example MatrixTest.cpp
+ */
+
+/**
+ * @example NavMerge.cpp
+ */
+
+/**
+ * @example RungeKuttaTest.cpp
+ * The full, nonlinear equation of motion for a simple pendulum.
+ * Tests the RungeKutta4 integrator class.
+ *
+ */
+
+/**
+ * @example Xbegweek.cpp
+ */
+
+/**
+ * @example Xendweek.cpp
+ */
+
+/**
+ * @example daytimetest.cpp
+ * Tests the DayTime class.
+ */
+
+/**
+ * @example exceptiontest.cpp
+ * Tests exceptions.
+ */
+
+/**
+ * @example petest.cpp
+ */
+
+/**
+ * @example rinex_met_read_write.cpp
+ * Reads an input RINEX Met file, writes out the same data. The input and
+ * output files should diff without error if everything is working right.
+ */
+
+/**
+ * @example rinex_met_test.cpp
+ * Reads an input RINEX Met file to test file data processing.
+ */
+
+/**
+ * @example rinex_nav_read_write.cpp
+ * Reads an input RINEX Nav file, writes out the same data. The input and
+ * output files should diff without error if everything is working right.
+ */
+
+/**
+ * @example rinex_nav_test.cpp
+ * Reads an input RINEX Nav file to test file data processing.
+ */
+
+/**
+ * @example rinex_obs_read_write.cpp
+ * Reads an input RINEX Obs file, writes out the same data. The input and
+ * output files should diff without error if everything is working right.
+ */
+
+/**
+ * @example rinex_obs_test.cpp
+ * Reads an input RINEX Obs file to test file data processing.
+ */
+
+/**
+ * @example stringutiltest.cpp
+ * Tests the string utilities.
+ */
+
+/**
+ * @example example1.cpp
+ * Demonstrates the most basic properties of DayTime.
+ */
+
+/**
+ * @example example2.cpp
+ * Demonstrates the most basic properties of RINEX input and output.
+ */
+
+/**
+ * @example example3.cpp
+ * Demonstrates simple manipulation of RINEX observables.
+ */
+
+/**
+ * @example example4.cpp
+ * Demonstrates the position solutions.
+ */
+
+/**
+ * @example example5.cpp
+ * Demonstrates how to use some very useful high-level GPSTk classes for positioning.
+ */
+
+/**
+ * @example example6.cpp
+ * Shows a minimalist way to process GPS data using GNSS Data Structures (@DataStructures.hpp).
+ */
+
+/**
+ * @example example7.cpp
+ * Demonstrates several different ways to process GPS data using GNSS Data Structures (@DataStructures.hpp).
+ */
+
+/**
+ * @example DayTimeToleranceTest.cpp
+ * Tests DayTime for user-defined comparison tolerances.
+ */
+
+/**
+ * @example DayTimeIncrementTest.cpp
+ * Tests DayTime's ability to reject accumulation of floating point error
+ * when incremented or decremented.
+ */
+
+/** EMACS **
+ * Local variables:
+ * mode: c++
+ * End:
+ */
+
+
+
diff --git a/dev/src/RTFileFrame.hpp b/dev/src/RTFileFrame.hpp
new file mode 100644
index 0000000..1a8fde6
--- /dev/null
+++ b/dev/src/RTFileFrame.hpp
@@ -0,0 +1,601 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file RTFileFrame.hpp
+ * Realtime file frame
+ */
+
+#ifndef GPSTK_RTFILEFRAME_HPP
+#define GPSTK_RTFILEFRAME_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <iterator>
+#include "FileSpec.hpp"
+#include "FileFilter.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup filedirgroup */
+ //@{
+
+ /// specifying internal enums and classes of a template class can be
+ /// problematic, so these are declared outside RTFileFrame
+ class RTFileFrameHelper
+ {
+ public:
+ enum GetRecordMode
+ {
+ Dumb = 0, ///< only tries to read once from current file
+ Smart = 1 ///< if cannot read, rolls files or waits for data
+ };
+
+ /**
+ * Whether additional file data can be read from the end of a file
+ * or not.
+ */
+ enum FileReadingMode
+ {
+ AppendedData = 0, ///< read only appended data.
+ FromTheBeginning = 1 ///< reread from the beginning every time.
+ };
+ };
+
+ // forward declaration of the RTFileFrame class
+ template <class FileStream, class FileData>
+ class RTFileFrame;
+
+ /**
+ * An iterator class for the RTFileFrame. Note how much it looks
+ * like std::istream_iterator except for a couple of differences..
+ */
+ template <class FileStream, class FileData>
+ class RTFileFrameIterator
+ {
+ public:
+ /// default constructor
+ RTFileFrameIterator()
+ : rtff(NULL)
+ {}
+
+ /// copy constructor
+ RTFileFrameIterator(const RTFileFrameIterator& right)
+ : rtff(right.rtff)
+ {}
+
+ /// destructor
+ virtual ~RTFileFrameIterator() {}
+
+ /// assignment operator
+ RTFileFrameIterator& operator=(const RTFileFrameIterator& r)
+ {
+ rtff = r.rtff;
+ return *this;
+ }
+
+ /// prefix increment of internal iterator
+ RTFileFrameIterator operator++()
+ {
+ rtff->getRecord();
+ return *this;
+ }
+
+ /// postfix increment of internal iterator
+ RTFileFrameIterator operator++(int)
+ {
+ RTFileFrameIterator<FileStream, FileData> temp = *this;
+ read();
+ return temp;
+ }
+
+ /// dereference object for current object
+ const FileData& operator*() const
+ {
+ return rtff->lastData;
+ }
+
+ /// dereference pointer for current object
+ const FileData* operator->() const
+ {
+ return &(rtff->lastData);
+ }
+
+ /// equality operator
+ bool operator==(const RTFileFrameIterator& right) const
+ {
+ if (rtff == right.rtff)
+ {
+ if (rtff == NULL)
+ return true;
+
+ if ((rtff->isOK == right.rtff->isOK) ||
+ (!rtff->isOK && (right.rtff->fileStream == rtff->fileStream)))
+ return true;
+ return false;
+ }
+ else if ((rtff == NULL) && (right.rtff))
+ return !right.rtff->isOK;
+ else if ((right.rtff == NULL) && (rtff))
+ return !rtff->isOK;
+ else
+ return false;
+ }
+
+ /// inequality operator
+ bool operator!=(const RTFileFrameIterator& right) const
+ { return !(*this == right);}
+
+ /// give RTFileFrame access to the
+ friend class RTFileFrame<FileStream, FileData>;
+
+ protected:
+ /// gets the next record
+ void read()
+ { rtff->getRecord(); }
+
+ private:
+ /// constructor for use by gpstk::RTFileFrame<FileStream, FileData>.
+ RTFileFrameIterator(gpstk::RTFileFrame<FileStream, FileData>& r)
+ : rtff(&r)
+ { rtff->getRecord(); }
+
+ /// gives access to the RTFileFrame being used
+ gpstk::RTFileFrame<FileStream, FileData>* rtff;
+ };
+
+ /**
+ * This class supports two iteration semantics.
+ * @code
+ * RTFileFrameIterator<SMODFStream, SMODFData> itr = rtf.begin();
+ * while(itr != rtf.end())
+ * {
+ * // do something
+ * cout << *itr << endl;
+ * itr++;
+ * }
+ * rtf.waitForData(10);
+ * @endcode
+ * and the legacy interface
+ * @code
+ * while(rtf.getRecord())
+ * {
+ * // use data() to get the last read record
+ * cout << rtf.data() << endl;
+ * }
+ * rtf.waitForData(10);
+ * @endcode
+ * The waitForData() call will ready the internal file stream
+ * for the next read. Remember that RTFileFrameIterator is a
+ * past-the-end style iterator, so you must reset it to begin() when
+ * it has finished otherwise you'll get no data. In Dumb mode,
+ * you will need to use the openNextDay() function to advance
+ * to tne next day.
+ * When you reach the end of a data set, there are three ways
+ * to restore the valid state of the RTFileFrame iteration:
+ * @code rtf.waitForData(900) @endcode
+ * This is the best option for either Smart or Dumb mode, ensuring
+ * that the file gets reopened correctly.
+ * @code rtf.openCurrentFile() @endcode
+ * Reopens the current file, destroying the current read position.
+ * In other words, don't use this in Smart mode.
+ * @code rtf.openNextDay() @endcode
+ * This will open the next day's file, obviously resetting
+ * the read position for the stream.
+ * @warning In Smart mode, you could potentially miss data when
+ * you pass to the start of a new day if data gets written to the
+ * file of the previous day.
+ * @warning DO NOT MIX THE TWO ITERATOR SEMANTICS. Doing so, you will
+ * definately miss data.
+ *
+ *
+ */
+ template <class FileStream, class FileData>
+ class RTFileFrame : public RTFileFrameHelper
+ {
+ public:
+ /**
+ * constructor
+ * @param fnFormat string defining how the files names are formatted
+ * @param beginning time of data to start streaming from
+ * @param ending time of data to stop streaming at
+ * @param frm mode used to read file (new data or all)
+ * @param grm mode used when end of file is reached (new data or all)
+ * @throw Exception an error ocurred
+ */
+ RTFileFrame(const gpstk::FileSpec& fnFormat,
+ const gpstk::DayTime& beginning = gpstk::DayTime(),
+ const gpstk::DayTime& ending = gpstk::DayTime::END_OF_TIME,
+ const FileReadingMode frm = AppendedData,
+ const GetRecordMode grm = Dumb)
+ throw(gpstk::Exception);
+
+ /// destructor
+ ~RTFileFrame();
+
+ /// Allows changing of the FileReadingMode
+ RTFileFrame& setFileReadingMode(const FileReadingMode f);
+
+ /// Allows changing of the GetRecordMode
+ RTFileFrame& setGetRecordMode(const GetRecordMode g);
+
+ /**
+ * Waits \a wait number of seconds, then reopens the file
+ * and sets the next read as appropriate for the FileReadingMode.
+ * @param wait number of seconds to sleep.
+ */
+ void waitForData(unsigned wait = 0);
+
+ /// returns true if the file currently being read from has
+ /// changed since its last read
+ bool hasFileChanged();
+
+ /// Returns true if all data for the given time has been read.
+ bool endOfDataSet();
+
+ /// end of data set iterator, useful for loops
+ RTFileFrameIterator<FileStream, FileData> end();
+
+ /// start of data set, set appropriately for the
+ /// given FileReadingMode. if in AppendedData mode, begin will
+ /// start at the next record that hasn't been read. if in
+ /// FromTheBeginning mode, begin starts at the start of the
+ /// current file.
+ RTFileFrameIterator<FileStream, FileData> begin();
+
+ /// reads the next record in the file
+ /// @return true if a record was read, otherwise false.
+ bool getRecord();
+
+ /// when in Dumb mode, use this function to advance to the next day.
+ void openNextDay();
+
+ /// returns the last read data
+ const FileData& data() const { return lastData;}
+
+ /// this traverses the RTFileFrame from begin() to end(), adding
+ /// each item to a list that gets returned. Using this will
+ /// change the file position, so getRecord and any iterators
+ /// will not be the same after this call.
+ std::list<FileData> getList() const;
+
+ /// this traverses the RTFileFrame from begin() to end(), adding
+ /// each item to a FileFilter that gets returned. Using this will
+ /// change the file position, so getRecord and any iterators
+ /// will not be the same after this call.
+ FileFilter<FileData> getFileFilter() const;
+
+ /// returns the name of the current file begin used
+ std::string getCurrentFile() const {return currentFileName;}
+
+ /// returns the current time used for finding files
+ gpstk::DayTime getCurrentTime() const {return currentTime;}
+
+ /// let the iterator see this class's insides
+ friend class RTFileFrameIterator<FileStream, FileData>;
+
+ /// reopens the file \a currentFileName
+ bool openCurrentFile();
+
+ /// close the file \a currentFileName
+ void closeCurrentFile();
+
+ protected:
+ /// the internal file stream for the internal iterator
+ FileStream* fileStream;
+
+ FileData lastData;
+ /// the last get position from the file
+ std::streampos lastPosition;
+ /// the last file to be read
+ std::string currentFileName;
+ /// the file spec for determining file names
+ gpstk::FileSpec fs;
+
+ gpstk::DayTime startTime, ///< start time for file searching
+ currentTime, ///< time last used for finding a file
+ endTime; ///< end time for file searching
+ /// the FileReadingMode for the reader
+ FileReadingMode readMode;
+ /// the GetRecordMode for the reader
+ GetRecordMode getMode;
+ /// keeps track of the last modify date for the last file read
+ struct stat fileInfo;
+ /// isOK is only false when the user needs to take action
+ /// to continue reading - by calling waitForData(),
+ /// openNextDay(), or openCurrentFile()
+ bool isOK;
+ };
+
+ //@}
+
+ template <class FileStream, class FileData>
+ RTFileFrame<FileStream, FileData>::
+ RTFileFrame<FileStream, FileData>(const gpstk::FileSpec& fnFormat,
+ const gpstk::DayTime& beginning,
+ const gpstk::DayTime& ending,
+ const RTFileFrameHelper::FileReadingMode frm,
+ const RTFileFrameHelper::GetRecordMode grm)
+ throw(gpstk::Exception)
+ : fileStream(NULL), fs(fnFormat), startTime(beginning),
+ currentTime(beginning), endTime(ending), readMode(frm), getMode(grm)
+ {
+ // zero out seconds
+ startTime.setMJDdate(floor(startTime.MJDdate()));
+ endTime.setMJDdate(floor(endTime.MJDdate()));
+ currentTime.setMJDdate(floor(currentTime.MJDdate()));
+
+ // set up the stream
+ openCurrentFile();
+ }
+
+ template <class FileStream, class FileData>
+ RTFileFrame<FileStream, FileData>::~RTFileFrame()
+ {
+ if (fileStream)
+ {
+ fileStream->close();
+ delete fileStream;
+ }
+ }
+
+ template <class FileStream, class FileData>
+ RTFileFrame<FileStream, FileData>&
+ RTFileFrame<FileStream, FileData> ::
+ setFileReadingMode(const RTFileFrameHelper::FileReadingMode f)
+ {
+ readMode = f;
+ return *this;
+ }
+
+ /// Allows changing of the GetRecordMode
+ template <class FileStream, class FileData>
+ RTFileFrame<FileStream, FileData>&
+ RTFileFrame<FileStream, FileData> ::
+ setGetRecordMode(const RTFileFrameHelper::GetRecordMode g)
+ {
+ getMode = g;
+ return *this;
+ }
+
+ template <class FileStream, class FileData>
+ void
+ RTFileFrame<FileStream, FileData>::waitForData(unsigned wait)
+ {
+ sleep(wait);
+ if(readMode == AppendedData)
+ {
+ // reopen the file and skip to where we left off - openCurrentFile
+ // will overwrite lastPosition...
+ std::streampos cachedPos = lastPosition;
+ if(openCurrentFile())
+ fileStream->seekg(cachedPos);
+ lastPosition = cachedPos;
+ }
+ else
+ {
+ // start from the beginning
+ openCurrentFile();
+ }
+ }
+
+ template <class FileStream, class FileData>
+ bool
+ RTFileFrame<FileStream, FileData>::hasFileChanged()
+ {
+ struct stat tempStat;
+ if (stat(currentFileName.c_str(), &tempStat))
+ return false;
+ if (tempStat.st_mtime != fileInfo.st_mtime)
+ return true;
+ else
+ return false;
+ }
+
+ template <class FileStream, class FileData>
+ bool
+ RTFileFrame<FileStream, FileData>::endOfDataSet()
+ {
+ if (currentTime > endTime)
+ return true;
+ else
+ return false;
+ }
+
+ template <class FileStream, class FileData>
+ RTFileFrameIterator<FileStream, FileData>
+ RTFileFrame<FileStream, FileData>::end()
+ {
+ return RTFileFrameIterator<FileStream, FileData>();
+ }
+
+ template <class FileStream, class FileData>
+ RTFileFrameIterator<FileStream, FileData>
+ RTFileFrame<FileStream, FileData>::begin()
+ {
+ if (readMode == AppendedData)
+ {
+ ;
+ }
+ else // if (readMode == FromTheBeginning)
+ {
+ openCurrentFile();
+ }
+ // this constructor does not read in the first record, so force it
+ // to do so before returning
+ RTFileFrameIterator<FileStream, FileData> toReturn(*this);
+ return toReturn;
+ }
+
+ template <class FileStream, class FileData>
+ bool
+ RTFileFrame<FileStream, FileData>::getRecord()
+ {
+ if (!isOK)
+ return false;
+
+ // is the stream still good to read?
+ if (*fileStream >> lastData)
+ {
+ lastPosition = fileStream->tellg();
+ return true;
+ }
+ // the last read failed - try opening the next file until
+ // today's file is reched or else return false
+ else
+ {
+ // read the next file or not?
+ if (getMode == Smart)
+ {
+ if (!endOfDataSet())
+ {
+ // still before today?
+ gpstk::DayTime today;
+ today.setYDoySod(today.year(), today.DOY(), 0);
+
+ if (currentTime < today)
+ {
+ openNextDay();
+ return getRecord();
+ }
+ // we've read through today, so just wait until tomorrow's
+ // data comes in - the user needs to call waitForData()
+ // to continue
+ else
+ isOK = false;
+ }
+ else
+ {
+ isOK = false;
+ }
+ } // if (getmode == smart)
+
+ // in dumb mode, the user needs to call openNextDay or
+ // openCurrentFile to continue.
+ else
+ {
+ isOK = false;
+ }
+ } // if (isOK)
+ return isOK;
+ }
+
+ template <class FileStream, class FileData>
+ void
+ RTFileFrame<FileStream, FileData>::openNextDay()
+ {
+ // open a new file for another day, if any.
+ currentTime += gpstk::DayTime::SEC_DAY;
+ if (!endOfDataSet())
+ openCurrentFile();
+ }
+
+ template <class FileStream, class FileData>
+ std::list<FileData>
+ RTFileFrame<FileStream, FileData>::getList() const
+ {
+ RTFileFrameIterator<FileStream, FileData> inputStream;
+ std::list<FileData> toReturn;
+ inputStream = begin();
+ while (inputStream != end())
+ {
+ toReturn.push_back(data());
+ }
+ return toReturn;
+ }
+
+ template <class FileStream, class FileData>
+ FileFilter<FileData>
+ RTFileFrame<FileStream, FileData>::getFileFilter() const
+ {
+ RTFileFrameIterator<FileStream, FileData> inputStream;
+ FileFilter<FileData> toReturn;
+ inputStream = begin();
+ while (inputStream != end())
+ {
+ toReturn.addData(data());
+ }
+ return toReturn;
+ }
+
+ template <class FileStream, class FileData>
+ bool
+ RTFileFrame<FileStream, FileData>::openCurrentFile()
+ {
+ isOK = false;
+ currentFileName = fs.toString(currentTime);
+ stat(currentFileName.c_str(), &fileInfo);
+ lastPosition = 0;
+
+ if(fileStream)
+ {
+ fileStream->close();
+ delete fileStream;
+ fileStream = NULL;
+ }
+
+ fileStream = new FileStream;
+ fileStream->open(currentFileName.c_str(), std::ios::in);
+ if (!fileStream->fail())
+ isOK = true;
+ return isOK;
+ }
+
+ template <class FileStream, class FileData>
+ void
+ RTFileFrame<FileStream, FileData>::closeCurrentFile()
+ {
+ if(fileStream)
+ {
+ fileStream->close();
+ delete fileStream;
+ fileStream = NULL;
+ }
+ isOK = false;
+ }
+
+} // namespace gpstk
+
+#endif // GPSTK_RTFILEFRAME_HPP
diff --git a/dev/src/RinexEphemerisStore.cpp b/dev/src/RinexEphemerisStore.cpp
new file mode 100644
index 0000000..fbfd160
--- /dev/null
+++ b/dev/src/RinexEphemerisStore.cpp
@@ -0,0 +1,104 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file RinexEphemerisStore.cpp
+ * Read & store Rinex formated ephemeris data
+ */
+
+#include "RinexEphemerisStore.hpp"
+#include "MiscMath.hpp"
+#include "ECEF.hpp"
+#include "icd_200_constants.hpp"
+
+using namespace gpstk::StringUtils;
+
+namespace gpstk
+{
+ //-----------------------------------------------------------------------------
+ //-----------------------------------------------------------------------------
+ void RinexEphemerisStore::loadFile(const std::string& filename)
+ throw(gpstk::FileMissingException)
+ {
+ try
+ {
+ RinexNavStream strm(filename.c_str());
+ if (!strm)
+ {
+ FileMissingException e("File " + filename + " could not be opened.");
+ GPSTK_THROW(e);
+ }
+
+ RinexNavHeader header;
+ strm >> header;
+
+ addFile(filename, header);
+
+ RinexNavData rec;
+ while(strm >> rec)
+ addEphemeris(rec);
+ }
+ catch (gpstk::Exception& e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ } // end RinexEphemerisStore::load
+
+
+ //--------------------------------------------------------------------------
+ //--------------------------------------------------------------------------
+ void RinexEphemerisStore::dump(short detail, std::ostream& s) const
+ {
+ s << "Dump of RinexEphemerisStore:" << std::endl;
+ std::vector<std::string> fileNames = getFileNames();
+ std::vector<std::string>::const_iterator f=fileNames.begin();
+ for (f=fileNames.begin(); f!=fileNames.end(); f++)
+ s << *f << std::endl;
+
+ BCEphemerisStore::dump(detail, s);
+
+ } // end of RinexEphemerisStore::dump
+
+} // namespace gpstk
diff --git a/dev/src/RinexEphemerisStore.hpp b/dev/src/RinexEphemerisStore.hpp
new file mode 100644
index 0000000..811bac7
--- /dev/null
+++ b/dev/src/RinexEphemerisStore.hpp
@@ -0,0 +1,98 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file RinexEphemerisStore.hpp
+ * Read and store Rinex formated ephemeris data
+ */
+
+#ifndef GPSTK_RINEX_EPHEMERIS_STORE_HPP
+#define GPSTK_RINEX_EPHEMERIS_STORE_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include <iostream>
+
+#include "BCEphemerisStore.hpp"
+#include "FileStore.hpp"
+#include "RinexNavStream.hpp"
+#include "RinexNavData.hpp"
+#include "RinexNavHeader.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup ephemstore */
+ //@{
+
+ /**
+ * This adds the interface to read Rinex files into a BCEphemerisStore
+ */
+ class RinexEphemerisStore : public BCEphemerisStore,
+ public FileStore<RinexNavHeader>
+ {
+ public:
+ /// Constructor.
+ RinexEphemerisStore() throw() {BCEphemerisStore();}
+
+ /// destructor
+ virtual ~RinexEphemerisStore() {}
+
+ /** Dump the store to cout.
+ * @param detail determines how much detail to include in the output
+ * 0 list of filenames with their start, stop times.
+ * 1 list of filenames with their start, stop times,
+ * other header information and prns/accuracy.
+ * 2 above, plus dump all the PVT data (use judiciously).
+ */
+ void dump(short detail=0, std::ostream& s=std::cout) const;
+
+ /// load the given Rinex file
+ void loadFile(const std::string& filename)
+ throw(FileMissingException);
+ };
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/RinexMetBase.hpp b/dev/src/RinexMetBase.hpp
new file mode 100644
index 0000000..6e3b5a8
--- /dev/null
+++ b/dev/src/RinexMetBase.hpp
@@ -0,0 +1,75 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file RinexMetBase.hpp
+ * Base class for RINEX meteorological file data
+ */
+
+#ifndef GPSTK_RINEXMETBASE_HPP
+#define GPSTK_RINEXMETBASE_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FFData.hpp"
+
+namespace gpstk
+{
+ /** @defgroup RinexMet RINEX meteorological files */
+ //@{
+
+ /**
+ * This class serves no purpose other than to make readable diagrams.
+ */
+ class RinexMetBase : public FFData
+ {
+ public:
+ /// Destructor per our coding standards
+ virtual ~RinexMetBase() {}
+ };
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/RinexMetData.cpp b/dev/src/RinexMetData.cpp
new file mode 100644
index 0000000..26c042f
--- /dev/null
+++ b/dev/src/RinexMetData.cpp
@@ -0,0 +1,284 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file RinexMetData.cpp
+ * Encapsulate RINEX meteorological file data, including I/O
+ */
+
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+#include "RinexMetHeader.hpp"
+#include "RinexMetData.hpp"
+#include "RinexMetStream.hpp"
+
+using namespace gpstk::StringUtils;
+using namespace std;
+
+namespace gpstk
+{
+ const int RinexMetData::maxObsPerLine = 8;
+ const int RinexMetData::maxObsPerContinuationLine = 10;
+
+ void RinexMetData::reallyPutRecord(FFStream& ffs) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+ const int maxObsPerOutputLine = 8;
+ const int maxObsPerOutputContLine = 10;
+
+ RinexMetStream& strm = dynamic_cast<RinexMetStream&>(ffs);
+ string line;
+
+ // write the first line
+ line += " ";
+ line += rightJustify(asString<short>(time.year()),2,'0');
+ line += " ";
+ line += rightJustify(asString<short>(time.month()),2);
+ line += " ";
+ line += rightJustify(asString<short>(time.day()),2);
+ line += " ";
+ line += rightJustify(asString<short>(time.hour()),2);
+ line += " ";
+ line += rightJustify(asString<short>(time.minute()),2);
+ line += " ";
+ line += rightJustify(asString<short>(short(time.second())),2);
+
+ for (int i = 0;
+ (i < strm.header.obsTypeList.size()) &&
+ (i < maxObsPerOutputLine);
+ i++)
+ {
+ RinexMetHeader::RinexMetType thistype = strm.header.obsTypeList[i];
+ RinexMetMap::const_iterator itr = data.find(thistype);
+ if (itr == data.end())
+ {
+ FFStreamError err("Couldn't find data for " +
+ RinexMetHeader::convertObsType(strm.header.obsTypeList[i]));
+ GPSTK_THROW(err);
+ }
+ line += rightJustify(asString((*itr).second,1),7);
+ }
+
+ // do we need continuation lines?
+ if (strm.header.obsTypeList.size() > maxObsPerOutputLine)
+ {
+ for (int i = maxObsPerOutputLine;
+ i < strm.header.obsTypeList.size();
+ i++)
+ {
+
+ if (((i - maxObsPerOutputLine) % maxObsPerOutputContLine) == 0)
+ {
+ ffs << line << endl;
+ strm.lineNumber++;
+ line.clear();
+ line += string(4,' ');
+ }
+ RinexMetHeader::RinexMetType thistype = strm.header.obsTypeList[i];
+ RinexMetMap::const_iterator itr = data.find(thistype);
+ if (itr == data.end())
+ {
+ FFStreamError err("Couldn't find data for " +
+ RinexMetHeader::convertObsType(strm.header.obsTypeList[i]));
+ GPSTK_THROW(err);
+ }
+ line += rightJustify(asString((*itr).second,1),7);
+ }
+ }
+
+ ffs << line << endl;
+ strm.lineNumber++;
+ }
+
+ void RinexMetData::reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+ RinexMetStream& strm = dynamic_cast<RinexMetStream&>(ffs);
+
+ if(!strm.headerRead)
+ strm >> strm.header;
+
+ RinexMetHeader& hdr = strm.header;
+
+ string line;
+ data.clear();
+
+ // this is to see whether or not we expect an EOF
+ // when we read this next line
+ if (hdr.obsTypeList.size() > maxObsPerLine)
+ strm.formattedGetLine(line);
+ else
+ strm.formattedGetLine(line, true);
+
+ processFirstLine(line, hdr);
+
+ time = parseTime(line);
+
+ while (data.size() < hdr.obsTypeList.size())
+ {
+ if (hdr.obsTypeList.size() - data.size() < maxObsPerContinuationLine)
+ strm.formattedGetLine(line, true);
+ else
+ strm.formattedGetLine(line);
+ processContinuationLine(line, hdr);
+ }
+
+ if (data.size() != hdr.obsTypeList.size())
+ {
+ FFStreamError e("Incorrect number of records");
+ GPSTK_THROW(e);
+ }
+ }
+
+ void RinexMetData::processFirstLine(const string& line,
+ const RinexMetHeader& hdr)
+ throw(FFStreamError)
+ {
+ try
+ {
+ for (int i = 0;
+ (i < maxObsPerLine) && (i < hdr.obsTypeList.size());
+ i++)
+ {
+ int currPos = i * 7 + 18;
+ data[hdr.obsTypeList[i]] = asDouble(line.substr(currPos,7));
+ }
+ }
+ catch (std::exception &e)
+ {
+ FFStreamError err("std::exception: " + string(e.what()));
+ GPSTK_THROW(err);
+ }
+ }
+
+ void RinexMetData::processContinuationLine(const string& line,
+ const RinexMetHeader& hdr)
+ throw(FFStreamError)
+ {
+ try
+ {
+ int currentElements = data.size();
+ for (int i = currentElements;
+ (i < (maxObsPerContinuationLine + currentElements)) &&
+ (i < hdr.obsTypeList.size());
+ i++)
+ {
+ int currPos = ((i - maxObsPerLine) % maxObsPerContinuationLine) * 7
+ + 4;
+ data[hdr.obsTypeList[i]] = asDouble(line.substr(currPos,7));
+ }
+ }
+ catch (std::exception &e)
+ {
+ FFStreamError err("std::exception: " + string(e.what()));
+ GPSTK_THROW(err);
+ }
+ }
+
+ DayTime RinexMetData::parseTime(const string& line) const
+ throw(FFStreamError)
+ {
+ try
+ {
+ // according to the RINEX spec, any 2 digit year 80 or greater
+ // is a year in the 1900s (1980-1999), under 80 is 2000s
+ const int YearRollover = 80;
+
+ // check if the spaces are in the right place - an easy way to check
+ // if there's corruption in the file
+ if ( (line[0] != ' ') ||
+ (line[3] != ' ') ||
+ (line[6] != ' ') ||
+ (line[9] != ' ') ||
+ (line[12] != ' ') ||
+ (line[15] != ' '))
+ {
+ FFStreamError e("Invalid time format");
+ GPSTK_THROW(e);
+ }
+
+ int year, month, day, hour, min;
+ double sec;
+
+ year = asInt( line.substr(1, 2 ));
+ month = asInt( line.substr(3, 3 ));
+ day = asInt( line.substr(6, 3 ));
+ hour = asInt( line.substr(9, 3 ));
+ min = asInt( line.substr(12, 3 ));
+ sec = asInt( line.substr(15, 3 ));
+
+ if (year < YearRollover)
+ {
+ year += 100;
+ }
+ year += 1900;
+
+ DayTime rv(year, month, day, hour, min, sec);
+ return rv;
+ }
+ catch (std::exception &e)
+ {
+ FFStreamError err("std::exception: " + string(e.what()));
+ GPSTK_THROW(err);
+ }
+ }
+
+ void RinexMetData::dump(ostream& s) const
+ {
+ s << time << endl;
+
+ RinexMetMap::const_iterator itr;
+ for(itr = data.begin(); itr != data.end(); itr++)
+ {
+ s << RinexMetHeader::convertObsType((*itr).first)
+ << " " << (*itr).second << endl;
+ }
+ }
+
+
+
+} // end of namespace
diff --git a/dev/src/RinexMetData.hpp b/dev/src/RinexMetData.hpp
new file mode 100644
index 0000000..09c0dd2
--- /dev/null
+++ b/dev/src/RinexMetData.hpp
@@ -0,0 +1,149 @@
+#pragma ident "$Id$"
+
+/**
+ * @file RinexMetData.hpp
+ * Encapsulate RINEX meteorological file data, including I/O
+ */
+
+#ifndef GPSTK_RINEXMETDATA_HPP
+#define GPSTK_RINEXMETDATA_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <map>
+
+#include "DayTime.hpp"
+
+#include "FFStream.hpp"
+#include "RinexMetBase.hpp"
+#include "RinexMetHeader.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup RinexMet */
+ //@{
+
+ /**
+ * This class stores, reads, and writes RINEX MET records.
+ * @warning When writing a RinexMetData, the RinexMetStream::headerData
+ * must have the correct observation types set or else no data will
+ * be written.
+ *
+ * @sa rinex_met_read_write.cpp for an example.
+ * @sa rinex_met_test.cpp for an example.
+ * @sa RinexMetStream.
+ * @sa RinexMetHeader for information on writing RINEX met files.
+ */
+ class RinexMetData : public RinexMetBase
+ {
+
+ public:
+ RinexMetData()
+ : time(gpstk::DayTime::BEGINNING_OF_TIME)
+ {}
+
+ /// The next four lines is our common interface
+ /// RinexMetData is "data" so this function always returns true.
+ virtual bool isData(void) const {return true;}
+
+ /**
+ * A debug output function.
+ */
+ virtual void dump(std::ostream& s) const;
+
+ /// less than operator, for use with STL sort()
+ bool operator<(const RinexMetData& right) const
+ { return (time < right.time); }
+
+ /// A map for storing one line of observations, mapping
+ /// the observation type to its value.
+ typedef std::map<RinexMetHeader::RinexMetType, double> RinexMetMap;
+
+ /** @name Rinex weather data
+ */
+ //@{
+ DayTime time; ///< The time this data was recorded.
+ RinexMetMap data; ///< The data itself in map form.
+ //@}
+
+ /// The maximum number of obs per line before you need a new line
+ static const int maxObsPerLine;
+ /// The max number of obs per continuation line before you need
+ /// a new line.
+ static const int maxObsPerContinuationLine;
+
+ protected:
+ /// Writes the met data to the file stream formatted correctly.
+ void reallyPutRecord(FFStream& s) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ /**
+ * This function retrieves a RINEX MET record from the given FFStream.
+ * If an error is encountered in reading from the stream, the stream
+ * is returned to its original position and its fail-bit is set.
+ * @throws StringException when a StringUtils function fails
+ * @throws FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to its pre-read position.
+ */
+ virtual void reallyGetRecord(FFStream& s)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ private:
+ /// Parses string \a line to get time and met data
+ void processFirstLine(const std::string& line,
+ const RinexMetHeader& hdr)
+ throw(FFStreamError);
+
+ /// Parses string \a line to get data on continuation lines.
+ void processContinuationLine(const std::string& line,
+ const RinexMetHeader& hdr)
+ throw(FFStreamError);
+
+ /// Parses the time portion of a line into a DayTime object.
+ DayTime parseTime(const std::string& line) const
+ throw(FFStreamError);
+ }; // class RinexMetData
+
+ //@}
+
+} // namespace
+
+
+#endif
diff --git a/dev/src/RinexMetFilterOperators.hpp b/dev/src/RinexMetFilterOperators.hpp
new file mode 100644
index 0000000..8562be1
--- /dev/null
+++ b/dev/src/RinexMetFilterOperators.hpp
@@ -0,0 +1,249 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file RinexMetFilterOperators.hpp
+ * Operators for FileFilter using Rinex meteorological data
+ */
+
+#ifndef GPSTK_RINEXMETFILTEROPERATORS_HPP
+#define GPSTK_RINEXMETFILTEROPERATORS_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "DayTime.hpp"
+#include "FileFilter.hpp"
+#include "RinexMetData.hpp"
+#include "RinexMetHeader.hpp"
+
+#include <set>
+
+namespace gpstk
+{
+ /** @addtogroup RinexMet */
+ //@{
+
+ typedef std::unary_function<gpstk::RinexMetHeader, bool> RinexMetDataUnaryOperator;
+ typedef std::binary_function<gpstk::RinexMetData, gpstk::RinexMetData, bool> RinexMetDataBinaryOperator;
+
+ /// This compares all elements of the RinexMetData with less than
+ /// (only for those fields which the two obs data share).
+ struct RinexMetDataOperatorLessThanFull :
+ public RinexMetDataBinaryOperator
+ {
+ public:
+ /// The set is a set of RinexMetType that the two files have in
+ /// common. This is easily generated with the set_intersection
+ /// STL function. See difftools/rmwdiff.cpp for an example.
+ RinexMetDataOperatorLessThanFull
+ (const std::set<gpstk::RinexMetHeader::RinexMetType>& rmhset)
+ : obsSet(rmhset)
+ {}
+
+ bool operator()(const gpstk::RinexMetData& l,
+ const gpstk::RinexMetData& r) const
+ {
+ // compare the times, offsets, then only those elements
+ // that are common to both. this ignores the flags
+ // that are set to 0
+ if (l.time < r.time)
+ return true;
+ else if (l.time != r.time)
+ return false;
+
+ // then check that each observation has the same data
+ // for each item in the set of common observations
+ gpstk::RinexMetData::RinexMetMap::const_iterator
+ lItr, rItr;
+ std::set<gpstk::RinexMetHeader::RinexMetType>::const_iterator
+ obsItr = obsSet.begin();
+
+ while (obsItr != obsSet.end())
+ {
+ rItr = r.data.find(*obsItr);
+ if (rItr == r.data.end())
+ return false;
+
+ lItr = l.data.find(*obsItr);
+ if (lItr == l.data.end())
+ return false;
+
+ if ((*lItr).second < (*rItr).second)
+ return true;
+ if ((*lItr).second > (*rItr).second)
+ return false;
+
+ obsItr++;
+ }
+
+ // the data is either == or > at this point
+ return false;
+ }
+
+ private:
+ std::set<gpstk::RinexMetHeader::RinexMetType> obsSet;
+ };
+
+ /// Only compares times
+ struct RinexMetDataOperatorLessThanSimple :
+ public RinexMetDataBinaryOperator
+ {
+ public:
+ bool operator()(const gpstk::RinexMetData& l,
+ const gpstk::RinexMetData& r) const
+ {
+ if (l.time < r.time)
+ return true;
+ return false;
+ }
+ };
+
+ /// Only compares times
+ struct RinexMetDataOperatorEqualsSimple :
+ public RinexMetDataBinaryOperator
+ {
+ public:
+ bool operator()(const gpstk::RinexMetData& l,
+ const gpstk::RinexMetData& r) const
+ {
+ if (l.time == r.time)
+ return true;
+ return false;
+ }
+ };
+
+ /// Combines RinexMetHeaders into a single header, combining comments
+ /// and adding the appropriate RinexMetTypes. This assumes that
+ /// all the headers come from the same station for setting the other
+ /// header fields. After running touch() on a list of RinexMetHeader,
+ /// the internal theHeader will be the merged header data for
+ /// those files and obsSet will be the set of RinexMetTypes that
+ /// will be printed to the file.
+ struct RinexMetHeaderTouchHeaderMerge :
+ public RinexMetDataUnaryOperator
+ {
+ public:
+ RinexMetHeaderTouchHeaderMerge()
+ : firstHeader(true)
+ {}
+
+ bool operator()(const gpstk::RinexMetHeader& l)
+ {
+ if (firstHeader)
+ {
+ theHeader = l;
+ firstHeader = false;
+ }
+ else
+ {
+ std::set<gpstk::RinexMetHeader::RinexMetType> thisMetSet,
+ tempMetSet;
+ std::set<std::string> commentSet;
+ obsSet.clear();
+
+ // insert the comments to the set
+ // and let the set take care of uniqueness
+ copy(theHeader.commentList.begin(),
+ theHeader.commentList.end(),
+ inserter(commentSet, commentSet.begin()));
+ copy(l.commentList.begin(),
+ l.commentList.end(),
+ inserter(commentSet, commentSet.begin()));
+ // then copy the comments back into theHeader
+ theHeader.commentList.clear();
+ copy(commentSet.begin(), commentSet.end(),
+ inserter(theHeader.commentList,
+ theHeader.commentList.begin()));
+
+ // find the set intersection of the obs types
+ copy(theHeader.obsTypeList.begin(),
+ theHeader.obsTypeList.end(),
+ inserter(thisMetSet, thisMetSet.begin()));
+ copy(l.obsTypeList.begin(),
+ l.obsTypeList.end(),
+ inserter(tempMetSet, tempMetSet.begin()));
+ set_intersection(thisMetSet.begin(), thisMetSet.end(),
+ tempMetSet.begin(), tempMetSet.end(),
+ inserter(obsSet, obsSet.begin()));
+ // then copy the obsTypes back into theHeader
+ theHeader.obsTypeList.clear();
+ copy(obsSet.begin(), obsSet.end(),
+ inserter(theHeader.obsTypeList,
+ theHeader.obsTypeList.begin()));
+ }
+ return true;
+ }
+
+ bool firstHeader;
+ gpstk::RinexMetHeader theHeader;
+ std::set<gpstk::RinexMetHeader::RinexMetType> obsSet;
+ };
+
+
+ /// This filter will remove any data not within the specified time range.
+ struct RinexMetDataFilterTime : public RinexMetDataUnaryOperator
+ {
+ public:
+ RinexMetDataFilterTime(const gpstk::DayTime& startTime,
+ const gpstk::DayTime& endTime)
+ : start(startTime), end(endTime)
+ {}
+
+ bool operator() (const gpstk::RinexMetData& l) const
+ {
+ if ( (l.time < start) ||
+ (l.time >= end))
+ return true;
+ return false;
+ }
+
+ private:
+ gpstk::DayTime start, end;
+ };
+
+ //@}
+
+}
+
+
+#endif
diff --git a/dev/src/RinexMetHeader.cpp b/dev/src/RinexMetHeader.cpp
new file mode 100644
index 0000000..7198fb7
--- /dev/null
+++ b/dev/src/RinexMetHeader.cpp
@@ -0,0 +1,511 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file RinexMetHeader.cpp
+ * Encapsulate header of Rinex meteorological file data, including I/O
+ */
+
+#include <algorithm> // for find
+
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+#include "RinexMetHeader.hpp"
+#include "RinexMetStream.hpp"
+
+using namespace gpstk::StringUtils;
+using namespace std;
+
+namespace gpstk
+{
+ const int RinexMetHeader::maxObsPerLine = 9;
+
+ const string RinexMetHeader::versionString = "RINEX VERSION / TYPE";
+ const string RinexMetHeader::runByString = "PGM / RUN BY / DATE";
+ const string RinexMetHeader::commentString = "COMMENT";
+ const string RinexMetHeader::markerNameString = "MARKER NAME";
+ const string RinexMetHeader::markerNumberString = "MARKER NUMBER";
+ const string RinexMetHeader::obsTypeString = "# / TYPES OF OBSERV";
+ const string RinexMetHeader::sensorTypeString = "SENSOR MOD/TYPE/ACC";
+ const string RinexMetHeader::sensorPosString = "SENSOR POS XYZ/H";
+ const string RinexMetHeader::endOfHeader = "END OF HEADER";
+
+
+
+ std::string RinexMetHeader::bitString(unsigned long vb, char quote,
+ std::string sep)
+ {
+ unsigned long b = 1;
+ std::string rv;
+ while (b)
+ {
+ if (vb & b)
+ {
+ if (rv.length())
+ rv += sep;
+ if (quote)
+ rv += quote + bitsAsString((validBits)b) + quote;
+ else
+ rv += bitsAsString((validBits)b);
+ }
+ b <<= 1;
+ }
+ return rv;
+ }
+
+ void RinexMetHeader::reallyPutRecord(FFStream& ffs) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+ RinexMetStream& strm = dynamic_cast<RinexMetStream&>(ffs);
+
+ // since they want to output this header, let's store
+ // it internally for use by the data
+ strm.header = (*this);
+
+ // i'm casting out const here to set the correct required valid bits.
+ // deal with it =P
+
+
+ unsigned long allValid;
+ if (version == 2.0) allValid = allValid20;
+ else if (version == 2.1) allValid = allValid21;
+ else
+ {
+ FFStreamError err("Unknown RINEX version: " + asString(version,2));
+ err.addText("Make sure to set the version correctly.");
+ GPSTK_THROW(err);
+ }
+
+ if ((valid & allValid) != allValid)
+ {
+ string errstr("Incomplete or invalid header: missing: ");
+ errstr += bitString(allValid & ~valid);
+ FFStreamError err(errstr);
+ err.addText("Make sure you set all header valid bits for all of the available data.");
+ GPSTK_THROW(err);
+ }
+
+ string line;
+ // line by line, let's do this.
+ if (valid & versionValid)
+ {
+ line = rightJustify(asString(version,2), 9);
+ line += string(11, ' ');
+ line += leftJustify(fileType, 40);
+ line += versionString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & runByValid)
+ {
+ line = leftJustify(fileProgram,20);
+ line += leftJustify(fileAgency,20);
+ DayTime dt;
+ dt.setLocalTime();
+ string dat = dt.printf("%02m/%02d/%04Y %02H:%02M:%02S");
+ line += leftJustify(dat, 20);
+ line += runByString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & commentValid)
+ {
+ vector<string>::const_iterator itr = commentList.begin();
+ while (itr != commentList.end())
+ {
+ line = leftJustify((*itr), 60);
+ line += commentString;
+ strm << line << endl;
+ strm.lineNumber++;
+ itr++;
+ }
+ }
+ if (valid & markerNameValid)
+ {
+ line = leftJustify(markerName, 60);
+ line += markerNameString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & markerNumberValid)
+ {
+ line = leftJustify(markerNumber, 60);
+ line += markerNumberString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & obsTypeValid)
+ {
+ line = rightJustify(asString(obsTypeList.size()),6);
+ vector<RinexMetType>::const_iterator itr = obsTypeList.begin();
+ size_t numWritten = 0;
+ while (itr != obsTypeList.end())
+ {
+ numWritten++;
+ // stupid continuation lines =P
+ if ((numWritten % (maxObsPerLine+1)) == 0)
+ {
+ line += obsTypeString;
+ strm << line << endl;
+ strm.lineNumber++;
+ line = string(6,' ');
+ }
+ line += rightJustify(convertObsType(*itr), 6);
+ itr++;
+ }
+ // pad the line out to 60 chrs and add label
+ line += string(60 - line.size(), ' ');
+ line += obsTypeString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & sensorTypeValid)
+ {
+ // only write out the sensor types that are
+ // in the obsTypeList
+ vector<sensorType>::const_iterator itr = sensorTypeList.begin();
+ while (itr != sensorTypeList.end())
+ {
+ if (std::find(obsTypeList.begin(), obsTypeList.end(),
+ (*itr).obsType) != obsTypeList.end())
+ {
+ line = leftJustify((*itr).model, 20);
+ line += leftJustify((*itr).type, 20);
+ line += string(6, ' ');
+ line += rightJustify(asString((*itr).accuracy,1),7);
+ line += string(4, ' ');
+ line += convertObsType((*itr).obsType);
+ line += string(1, ' ');
+ line += sensorTypeString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ itr++;
+ }
+ }
+ if (valid & sensorPosValid)
+ {
+ // only write out the sensor positions that are
+ // in the obsTypeList
+ vector<sensorPosType>::const_iterator itr = sensorPosList.begin();
+ while (itr != sensorPosList.end())
+ {
+ if (std::find(obsTypeList.begin(), obsTypeList.end(),
+ (*itr).obsType) != obsTypeList.end())
+ {
+ line = rightJustify(asString((*itr).position[0],4),14);
+ line += rightJustify(asString((*itr).position[1],4),14);
+ line += rightJustify(asString((*itr).position[2],4),14);
+ line += rightJustify(asString((*itr).height,4),14);
+ line += string(1, ' ');
+ line += convertObsType((*itr).obsType);
+ line += string(1, ' ');
+ line += sensorPosString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ itr++;
+ }
+ }
+ if (valid & endValid)
+ {
+ line = string(60, ' ');
+ line += endOfHeader;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ }
+
+
+ void RinexMetHeader::reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+
+ RinexMetStream& strm = dynamic_cast<RinexMetStream&>(ffs);
+ // if already read, just return
+ if (strm.headerRead == true)
+ return;
+
+ valid = 0;
+
+ // clear out structures in case the last read was a partial header
+ // and there's cruft left
+ commentList.clear();
+ obsTypeList.clear();
+ sensorTypeList.clear();
+ sensorPosList.clear();
+
+ int numObs;
+
+ while (! (valid & endValid))
+ {
+ string line;
+ strm.formattedGetLine(line);
+
+ if (line.length()<60 || line.length()>81)
+ {
+ FFStreamError e("Bad line length");
+ GPSTK_THROW(e);
+ }
+
+ string thisLabel(line, 60, 20);
+
+ if (thisLabel == versionString)
+ {
+ version = asDouble(line.substr(0,20));
+ fileType = strip(line.substr(20,20));
+ if ( (fileType[0] != 'M') &&
+ (fileType[0] != 'm'))
+ {
+ FFStreamError e("This isn't a Rinex Met file");
+ GPSTK_THROW(e);
+ }
+ valid |= versionValid;
+ }
+ else if (thisLabel == runByString)
+ {
+ fileProgram = strip(line.substr(0,20));
+ fileAgency = strip(line.substr(20,20));
+ date = strip(line.substr(40,20));
+ valid |= runByValid;
+ }
+ else if (thisLabel == commentString)
+ {
+ commentList.push_back(strip(line.substr(0,60)));
+ valid |= commentValid;
+ }
+ else if (thisLabel == markerNameString)
+ {
+ markerName = strip(line.substr(0,60));
+ valid |= markerNameValid;
+ }
+ else if (thisLabel == markerNumberString)
+ {
+ markerNumber = strip(line.substr(0,20));
+ valid |= markerNumberValid;
+ }
+ else if (thisLabel == obsTypeString)
+ {
+ // read the first line
+ if (! (valid & obsTypeValid))
+ {
+ numObs = gpstk::StringUtils::asInt(line.substr(0,6));
+ for (int i = 0; (i < numObs) && (i < maxObsPerLine); i++)
+ {
+ int currPos = i * 6 + 6;
+ if (line.substr(currPos, 4) != string(4, ' '))
+ {
+ FFStreamError e("Format error for line type " +
+ obsTypeString);
+ GPSTK_THROW(e);
+ }
+
+ obsTypeList.push_back(convertObsType(line.substr(currPos + 4, 2)));
+ }
+ valid |= obsTypeValid;
+ }
+ // read continuation lines
+ else
+ {
+ int currentObsTypes = obsTypeList.size();
+ for (int i = currentObsTypes;
+ (i < numObs) && (i < (maxObsPerLine + currentObsTypes));
+ i++)
+ {
+ int currPos = (i % maxObsPerLine) * 6 + 6;
+ if (line.substr(currPos, 4) != string(4,' '))
+ {
+ FFStreamError e("Format error for line type " +
+ obsTypeString);
+ GPSTK_THROW(e);
+ }
+ obsTypeList.push_back(convertObsType(line.substr(currPos + 4, 2)));
+ }
+ }
+ }
+ else if (thisLabel == sensorTypeString)
+ {
+ if (line.substr(40,6) != string(6, ' '))
+ {
+ FFStreamError e("Format error for line type " +
+ sensorTypeString);
+ GPSTK_THROW(e);
+ }
+ sensorType st;
+ st.model = strip(line.substr(0,20));
+ st.type = strip(line.substr(20,20));
+ st.accuracy = asDouble(line.substr(46,9));
+ st.obsType = convertObsType(line.substr(57,2));
+
+ sensorTypeList.push_back(st);
+
+ // only set this valid if there are exactly
+ // the same number in both lists
+ if (sensorTypeList.size() == obsTypeList.size())
+ {
+ valid |= sensorTypeValid;
+ }
+ else
+ {
+ valid &= ~(long)sensorTypeValid;
+ }
+ }
+ else if (thisLabel == sensorPosString)
+ {
+ // read XYZ and H and obs type
+ sensorPosType sp;
+ sp.position[0] = asDouble(line.substr(0,14));
+ sp.position[1] = asDouble(line.substr(14,14));
+ sp.position[2] = asDouble(line.substr(28,14));
+ sp.height = asDouble(line.substr(42,14));
+
+ sp.obsType = convertObsType(line.substr(57,2));
+
+ sensorPosList.push_back(sp);
+
+ // only barometer is required, so
+ // set it valid only if you see that record.
+ if (sp.obsType == PR)
+ {
+ valid |= sensorPosValid;
+ }
+ }
+ else if (thisLabel == endOfHeader)
+ {
+ valid |= endValid;
+ }
+ else
+ {
+ FFStreamError e("Unknown header label " + thisLabel);
+ GPSTK_THROW(e);
+ }
+ }
+
+ unsigned long allValid;
+ if (version == 2.0) allValid = allValid20;
+ else if (version == 2.1) allValid = allValid21;
+ else
+ {
+ FFStreamError e("Unknown or unsupported RINEX version " +
+ asString(version));
+ GPSTK_THROW(e);
+ }
+
+ if ( (allValid & valid) != allValid)
+ {
+ string errstr("Incomplete or invalid header: missing: ");
+ errstr += bitString(allValid & ~valid);
+ FFStreamError err(errstr);
+ GPSTK_THROW(err);
+ }
+
+ // we got here, so something must be right...
+ strm.header = *this;
+ strm.headerRead = true;
+ }
+
+ void RinexMetHeader::dump(ostream& s) const
+ {
+ s << "Marker " << markerName << endl;
+
+ if (!obsTypeList.empty())
+ {
+ cout << "Obs types:" << endl;
+ vector<RinexMetType>::const_iterator itr = obsTypeList.begin();
+ while (itr != obsTypeList.end())
+ {
+ cout << convertObsType(*itr) << " ";
+ itr++;
+ }
+ cout << endl;
+ }
+ }
+
+
+ RinexMetHeader::RinexMetType
+ RinexMetHeader::convertObsType(const string& oneObs)
+ throw(FFStreamError)
+ {
+ if (oneObs == "PR") return PR;
+ else if (oneObs == "TD") return TD;
+ else if (oneObs == "HR") return HR;
+ else if (oneObs == "ZW") return ZW;
+ else if (oneObs == "ZD") return ZD;
+ else if (oneObs == "ZT") return ZT;
+ else if (oneObs == "WD") return WD;
+ else if (oneObs == "WS") return WS;
+ else if (oneObs == "RI") return RI;
+ else if (oneObs == "HI") return HI;
+ else
+ {
+ FFStreamError e("Bad obs type:" + oneObs);
+ GPSTK_THROW(e);
+ }
+ }
+
+ string RinexMetHeader::convertObsType(const RinexMetHeader::RinexMetType& oneObs)
+ throw(FFStreamError)
+ {
+ if (oneObs == PR) return "PR";
+ else if (oneObs == TD) return "TD";
+ else if (oneObs == HR) return "HR";
+ else if (oneObs == ZW) return "ZW";
+ else if (oneObs == ZD) return "ZD";
+ else if (oneObs == ZT) return "ZT";
+ else if (oneObs == WD) return "WD";
+ else if (oneObs == WS) return "WS";
+ else if (oneObs == RI) return "RI";
+ else if (oneObs == HI) return "HI";
+ else
+ {
+ FFStreamError e("Bad obs type:" + asString(oneObs));
+ GPSTK_THROW(e);
+ }
+ }
+
+
+} // namespace
diff --git a/dev/src/RinexMetHeader.hpp b/dev/src/RinexMetHeader.hpp
new file mode 100644
index 0000000..d52ec15
--- /dev/null
+++ b/dev/src/RinexMetHeader.hpp
@@ -0,0 +1,268 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file RinexMetHeader.hpp
+ * Encapsulate header of Rinex meteorological file data, including I/O
+ */
+
+#ifndef GPSTK_RINEXMETHEADER_HPP
+#define GPSTK_RINEXMETHEADER_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "StringUtils.hpp"
+#include "FFStream.hpp"
+#include "RinexMetBase.hpp"
+
+#include "Triple.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup RinexMet */
+ //@{
+
+ /**
+ * This class models the RINEX MET header for a RINEX MET file.
+ * When writing data, this class determines what data gets written from
+ * a RinexMetData object to the RinexMetStream.
+ *
+ * @sa rinex_met_read_write.cpp for an example.
+ * @sa rinex_met_test.cpp for an example.
+ * @sa RinexMetHeader::obsTypeList for writing files.
+ * @sa RinexMetData and RinexMetStream.
+ */
+ class RinexMetHeader : public RinexMetBase
+ {
+ public:
+ /// Enum for the different types of data in this file.
+ enum RinexMetType
+ {
+ PR, ///< Pressure (mbar)
+ TD, ///< Dry temperature (deg C)
+ HR, ///< Relative humidity (percent)
+ ZW, ///< Wet zenith path delay (mm)
+ ZD, ///< Dry component of zenith path delay (mm)
+ ZT, ///< Total zenith path delay (mm)
+ WD, ///< Wind azmiuth from where the wind blows (deg)
+ WS, ///< Wind speed (m/s)
+ RI, ///< "Rain increment": Rain accumulation since last measurement (1/10 mm)
+ HI ///< Hail indicator non-zero: Hail detected since last mesaurement
+ };
+
+ /// Constructor
+ RinexMetHeader() : valid(0), version(2.1) {}
+
+ /// Destructor
+ virtual ~RinexMetHeader() {}
+
+ // The next four lines is our common interface
+ /// RinexMetHeader is a "header" so this function always returns true.
+ virtual bool isHeader(void) const {return true;}
+
+ /// A debug function that outputs the header to \a s.
+ virtual void dump(std::ostream& s) const;
+
+ /// sets the obs type array given an obs type line
+ static RinexMetType convertObsType(const std::string& oneObs)
+ throw(FFStreamError);
+
+ /// Converts a RinexMetType to its string equivalent.
+ static std::string convertObsType(const RinexMetType& oneObs)
+ throw(FFStreamError);
+
+ /// Tell me, Am I valid?
+ unsigned long valid;
+
+ /// These are validity bits used in checking the RINEX MET header.
+ enum validBits
+ {
+ versionValid = 0x01, ///< Set if the RINEX version is valid.
+ runByValid = 0x02, ///< Set if the Run-by value is valid.
+ commentValid = 0x04, ///< Set if the comments are valid. Very subjective
+ markerNameValid = 0x08, ///< Set if the Marker Name is valid.
+ markerNumberValid = 0x010, ///< Set if the Marker Number is valid.
+ obsTypeValid = 0x020, ///< Set if Num/Types of Obs is valid.
+ sensorTypeValid = 0x040, ///< Set if Sensor Mod/Type/Acc is valid.
+ sensorPosValid = 0x080, ///< Set if Sensor position is valid.
+
+
+ endValid = 0x080000000, ///< Set if the end value is valid.
+
+ /// This bitset checks that all required header items are
+ /// available for a Rinex2.0 file
+ allValid20 = 0x0800000EB,
+ /// This bitset checks that all required header items are
+ /// available for a Rinex2.1 file
+ allValid21 = 0x0800000EB
+ };
+
+
+ static inline std::string bitsAsString(validBits b)
+ {
+ switch (b)
+ {
+ case versionValid:
+ return versionString;
+ case runByValid:
+ return runByString;
+ case commentValid:
+ return commentString;
+ case markerNameValid:
+ return markerNameString;
+ case markerNumberValid:
+ return markerNumberString;
+ case obsTypeValid:
+ return obsTypeString;
+ case sensorTypeValid:
+ return sensorTypeString;
+ case sensorPosValid:
+ return sensorPosString;
+ case endValid:
+ return endOfHeader;
+ }
+
+ return "*UNKNOWN/INVALID BITS*";
+ }
+
+ /* @return a string composed the RINEX header strings
+ * represented by the validBits set in vb, surrounded by the
+ * quote character, separated by sep.
+ * @param vb bit field with valid bits set
+ * @param quote quote character to use around RINEX header strings.
+ * @param sep separator used between rinex header strings.
+ */
+ static std::string bitString(unsigned long vb, char quote='\"',
+ std::string sep=", ");
+
+
+ /// Struct for holding information about a sensor
+ struct sensorType
+ {
+ std::string model; ///< The manufacturer of the sensor
+ std::string type; ///< The specific type of sensor
+ double accuracy; ///< The accuracy of the sensor.
+ RinexMetType obsType; ///< The obs type this sensor corresponds to.
+ };
+
+ /// Struct for holding info about a sensor position
+ struct sensorPosType
+ {
+ /**
+ * XYZ and height of sensor coordinates.
+ * Use ITRF ro WGS-84 coordinates.
+ */
+ gpstk::Triple position;
+ double height;
+ /// The obs type of the sensor this position corresponds to.
+ RinexMetType obsType;
+ };
+
+ /** @name HeaderValues
+ */
+ //@{
+ double version; ///< RINEX Version
+
+ std::string fileType; ///< The type of file it is.
+ std::string fileProgram; ///< The program that generated it
+ std::string fileAgency; ///< The group who generated it
+ std::string date; ///< When the file was written
+ std::vector<std::string> commentList; ///< A list of comments
+ std::string markerName; ///< The name of the location
+ std::string markerNumber; ///< The number of the location
+
+ /**
+ * A list of obs types in the file.
+ * @warning This variable determines what data gets written to
+ * an output RinexObsStream. Set this with the RinexMetTypes
+ * that you want written to the file.
+ */
+ std::vector<RinexMetType> obsTypeList;
+ std::vector<sensorType> sensorTypeList; ///< A list of sensors used in the file
+ std::vector<sensorPosType> sensorPosList; ///< A list of sensor positions used in the file
+
+ //@}
+
+ static const int maxObsPerLine; ///< Holds the max records per line
+
+ /** @name FormattingStrings
+ */
+ //@{
+ static const std::string versionString; ///< "RINEX VERSION / TYPE"
+ static const std::string runByString; ///< "PGM / RUN BY / DATE"
+ static const std::string commentString; ///< "COMMENT"
+ static const std::string markerNameString; ///< "MARKER NAME"
+ static const std::string markerNumberString; ///< "MARKER NUMBER"
+ static const std::string obsTypeString; ///< "# / TYPES OF OBSERV"
+ static const std::string sensorTypeString; ///< "SENSOR MOD/TYPE/ACC"
+ static const std::string sensorPosString; ///< "SENSOR POS XYZ/H"
+ static const std::string endOfHeader; ///< "END OF HEADER"
+ //@}
+
+ protected:
+ /// Writes the RINEX Met header to the stream \a s.
+ virtual void reallyPutRecord(FFStream& s) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ /**
+ * This function reads the RINEX MET header from the given FFStream.
+ * If an error is encountered in reading from the stream, the stream
+ * is reset to its original position and its fail-bit is set.
+ * @throws StringException when a StringUtils function fails
+ * @throws FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to its pre-read position.
+ */
+ virtual void reallyGetRecord(FFStream& s)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+
+ }; // class RinexMetHeader
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/RinexMetStream.hpp b/dev/src/RinexMetStream.hpp
new file mode 100644
index 0000000..e19630c
--- /dev/null
+++ b/dev/src/RinexMetStream.hpp
@@ -0,0 +1,113 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file RinexMetStream.hpp
+ * File stream for RINEX meteorological files
+ */
+
+#ifndef GPSTK_RINEXMETSTREAM_HPP
+#define GPSTK_RINEXMETSTREAM_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FFTextStream.hpp"
+#include "RinexMetHeader.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup RinexMet */
+ //@{
+
+ /**
+ * This class performs file i/o on a RINEX MET file for the
+ * RinexMetHeader and RinexMetData classes.
+ *
+ * @sa rinex_met_read_write.cpp for an example.
+ * @sa rinex_met_test.cpp for an example.
+ * @sa RinexMetData.
+ * @sa RinexMetHeader for information on writing RINEX met files.
+ *
+ * @warning When writing RinexMetData, the internal
+ * RinexMetStream::headerData must have the correct observation
+ * types set for what you want to write out. If you don't set any,
+ * no data will be written. See RinexMetHeader for more information
+ * on this.
+ */
+ class RinexMetStream : public FFTextStream
+ {
+ public:
+ /// default constructor
+ RinexMetStream()
+ : headerRead(false)
+ {}
+
+ /** Constructor
+ * Opens a file named \a fn using ios::openmode \a mode.
+ */
+ RinexMetStream(const char* fn, std::ios::openmode mode=std::ios::in)
+ : FFTextStream(fn, mode), headerRead(false) {};
+
+ /// Destructor
+ virtual ~RinexMetStream() {}
+
+ /// overrides open to reset the header
+ virtual void open(const char* fn, std::ios::openmode mode)
+ {
+ FFTextStream::open(fn, mode);
+ headerRead = false;
+ header = RinexMetHeader();
+ }
+
+ /// RINEX met header for this file.
+ RinexMetHeader header;
+
+ /// Flag showing whether or not the header has been read.
+ bool headerRead;
+ };
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/RinexNavBase.hpp b/dev/src/RinexNavBase.hpp
new file mode 100644
index 0000000..35afaa3
--- /dev/null
+++ b/dev/src/RinexNavBase.hpp
@@ -0,0 +1,75 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file RinexNavBase.hpp
+ * Base class for RINEX Navigation data
+ */
+
+#ifndef GPSTK_RINEXNAVBASE_HPP
+#define GPSTK_RINEXNAVBASE_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FFData.hpp"
+
+namespace gpstk
+{
+ /** @defgroup RinexNav RINEX navigation files */
+ //@{
+
+ /**
+ * This class serves no purpose other than to make readable diagrams.
+ */
+ class RinexNavBase : public FFData
+ {
+ public:
+ /// in deference to our coding standards, this is declared virtual
+ virtual ~RinexNavBase() {}
+ };
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/RinexNavData.cpp b/dev/src/RinexNavData.cpp
new file mode 100644
index 0000000..92beb3e
--- /dev/null
+++ b/dev/src/RinexNavData.cpp
@@ -0,0 +1,575 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file RinexNavData.cpp
+ * Encapsulates RINEX Navigation data
+ */
+
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+#include "RinexNavData.hpp"
+#include "RinexNavStream.hpp"
+#include "icd_200_constants.hpp"
+
+namespace gpstk
+{
+ using namespace gpstk::StringUtils;
+ using namespace std;
+
+ RinexNavData::RinexNavData(const EngEphemeris& ee)
+ {
+ time = ee.getEpochTime();
+ PRNID = ee.getPRNID();
+ HOWtime = long(ee.getHOWTime(1));
+ weeknum = ee.getFullWeek();
+ codeflgs = ee.getCodeFlags();
+ accuracy = ee.getAccuracy();
+ health = ee.getHealth();
+ L2Pdata = ee.getL2Pdata();
+ IODC = ee.getIODC();
+ IODE = ee.getIODE();
+
+ Toc = ee.getToc();
+ af0 = ee.getAf0();
+ af1 = ee.getAf1();
+ af2 = ee.getAf2();
+ Tgd = ee.getTgd();
+
+ Cuc = ee.getCuc();
+ Cus = ee.getCus();
+ Crc = ee.getCrc();
+ Crs = ee.getCrs();
+ Cic = ee.getCic();
+ Cis = ee.getCis();
+
+ Toe = ee.getToe();
+ M0 = ee.getM0();
+ dn = ee.getDn();
+ ecc = ee.getEcc();
+ Ahalf = ee.getAhalf();
+ OMEGA0 = ee.getOmega0();
+ i0 = ee.getI0();
+ w = ee.getW();
+ OMEGAdot = ee.getOmegaDot();
+ idot = ee.getIDot();
+ fitint = ee.getFitInterval();
+ }
+
+ void RinexNavData::reallyPutRecord(FFStream& ffs) const
+ throw(exception, FFStreamError, StringException)
+ {
+ RinexNavStream& strm = dynamic_cast<RinexNavStream&>(ffs);
+
+ strm << putPRNEpoch() << endl;
+ strm.lineNumber++;
+ strm << putBroadcastOrbit1() << endl;
+ strm.lineNumber++;
+ strm << putBroadcastOrbit2() << endl;
+ strm.lineNumber++;
+ strm << putBroadcastOrbit3() << endl;
+ strm.lineNumber++;
+ strm << putBroadcastOrbit4() << endl;
+ strm.lineNumber++;
+ strm << putBroadcastOrbit5() << endl;
+ strm.lineNumber++;
+ strm << putBroadcastOrbit6() << endl;
+ strm.lineNumber++;
+ strm << putBroadcastOrbit7(strm.header.version) << endl;
+ strm.lineNumber++;
+ }
+
+ void RinexNavData::reallyGetRecord(FFStream& ffs)
+ throw(exception, FFStreamError, StringException)
+ {
+ RinexNavStream& strm = dynamic_cast<RinexNavStream&>(ffs);
+
+ // If the header hasn't been read, read it...
+ if(!strm.headerRead)
+ strm >> strm.header;
+
+ string line;
+
+ strm.formattedGetLine(line, true);
+ getPRNEpoch(line);
+
+ strm.formattedGetLine(line);
+ getBroadcastOrbit1(line);
+
+ strm.formattedGetLine(line);
+ getBroadcastOrbit2(line);
+
+ strm.formattedGetLine(line);
+ getBroadcastOrbit3(line);
+
+ strm.formattedGetLine(line);
+ getBroadcastOrbit4(line);
+
+ strm.formattedGetLine(line);
+ getBroadcastOrbit5(line);
+
+ strm.formattedGetLine(line);
+ getBroadcastOrbit6(line);
+
+ strm.formattedGetLine(line);
+ getBroadcastOrbit7(line);
+ }
+
+ void RinexNavData::dump(ostream& s) const
+ {
+ s << "PRN: " << setw(2) << PRNID
+ << " TOE: " << time
+ << " TOC: " << setw(4) << weeknum << " "
+ << fixed << setw(10) << setprecision(3) << Toc
+ << " IODE: " << setw(4) << int(IODE) // IODE should be int
+ << " HOWtime: " << setw(6) << HOWtime // HOW should be double
+ << endl;
+ //<< ios::hex << IODE << " HOWtime: " << HOWtime << endl; ?? IODE is double
+ }
+
+ RinexNavData::operator EngEphemeris() const throw()
+ {
+ EngEphemeris ee;
+
+ // there's no TLM word in RinexNavData, so it's set to 0.
+ // likewise, there's no AS alert or tracker.
+ // Also, in Rinex, the accuracy is in meters, and setSF1 expects
+ // the accuracy flag. We'll give it zero and pass the accuracy
+ // separately via the setAccuracy() method.
+ ee.setSF1(0, HOWtime, 0, weeknum, codeflgs, 0, health,
+ short(IODC), L2Pdata, Tgd, Toc, af2, af1, af0, 0, PRNID);
+ ee.setSF2(0, HOWtime, 0, short(IODE), Crs, dn, M0, Cuc, ecc, Cus, Ahalf,
+ Toe, (fitint > 4) ? 1 : 0);
+ ee.setSF3(0, HOWtime, 0, Cic, OMEGA0, Cis, i0, Crc, w, OMEGAdot,
+ idot);
+
+ ee.setAccuracy(accuracy);
+
+ return ee;
+ }
+
+ list<double> RinexNavData::toList() const
+ {
+ list<double> l;
+
+ l.push_back(PRNID);
+ l.push_back(HOWtime);
+ l.push_back(weeknum);
+ l.push_back(codeflgs);
+ l.push_back(accuracy);
+ l.push_back(health);
+ l.push_back(L2Pdata);
+ l.push_back(IODC);
+ l.push_back(IODE);
+ l.push_back(Toc);
+ l.push_back(af0);
+ l.push_back(af1);
+ l.push_back(af2);
+ l.push_back(Tgd);
+ l.push_back(Cuc);
+ l.push_back(Cus);
+ l.push_back(Crc);
+ l.push_back(Crs);
+ l.push_back(Cic);
+ l.push_back(Cis);
+ l.push_back(Toe);
+ l.push_back(M0);
+ l.push_back(dn);
+ l.push_back(ecc);
+ l.push_back(Ahalf);
+ l.push_back(OMEGA0);
+ l.push_back(i0);
+ l.push_back(w);
+ l.push_back(OMEGAdot);
+ l.push_back(idot);
+ l.push_back(fitint);
+
+ return l;
+ }
+
+ string RinexNavData::putPRNEpoch(void) const
+ throw(StringException)
+ {
+ string line;
+ line += rightJustify(asString(PRNID), 2);
+ line += string(1, ' ');
+ // year is padded with 0s but none of the rest are
+ line += rightJustify(asString<short>(time.year()), 2, '0');
+ line += string(1, ' ');
+ line += rightJustify(asString<short>(time.month()), 2);
+ line += string(1, ' ');
+ line += rightJustify(asString<short>(time.day()), 2);
+ line += string(1, ' ');
+ line += rightJustify(asString<short>(time.hour()), 2);
+ line += string(1, ' ');
+ line += rightJustify(asString<short>(time.minute()), 2);
+ line += rightJustify(asString(time.second(), 1), 5);
+ line += string(1, ' ');
+ line += doub2for(af0, 18, 2);
+ line += string(1, ' ');
+ line += doub2for(af1, 18, 2);
+ line += string(1, ' ');
+ line += doub2for(af2, 18, 2);
+ return line;
+ }
+
+ string RinexNavData::putBroadcastOrbit1(void) const
+ throw(StringException)
+ {
+ string line;
+ line += string(3, ' ');
+ line += string(1, ' ');
+ line += doub2for(IODE, 18, 2);
+ line += string(1, ' ');
+ line += doub2for(Crs, 18, 2);
+ line += string(1, ' ');
+ line += doub2for(dn, 18, 2);
+ line += string(1, ' ');
+ line += doub2for(M0, 18, 2);
+ return line;
+ }
+
+ string RinexNavData::putBroadcastOrbit2(void) const
+ throw(StringException)
+ {
+ string line;
+ line += string(3, ' ');
+ line += string(1, ' ');
+ line += doub2for(Cuc, 18, 2);
+ line += string(1, ' ');
+ line += doub2for(ecc, 18, 2);
+ line += string(1, ' ');
+ line += doub2for(Cus, 18, 2);
+ line += string(1, ' ');
+ line += doub2for(Ahalf, 18, 2);
+ return line;
+ }
+
+ string RinexNavData::putBroadcastOrbit3(void) const
+ throw(StringException)
+ {
+ string line;
+ line += string(3, ' ');
+ line += string(1, ' ');
+ line += doub2for(Toe, 18, 2);
+ line += string(1, ' ');
+ line += doub2for(Cic, 18, 2);
+ line += string(1, ' ');
+ line += doub2for(OMEGA0, 18, 2);
+ line += string(1, ' ');
+ line += doub2for(Cis, 18, 2);
+ return line;
+ }
+
+ string RinexNavData::putBroadcastOrbit4(void) const
+ throw(StringException)
+ {
+ string line;
+ line += string(3, ' ');
+ line += string(1, ' ');
+ line += doub2for(i0, 18, 2);
+ line += string(1, ' ');
+ line += doub2for(Crc, 18, 2);
+ line += string(1, ' ');
+ line += doub2for(w, 18, 2);
+ line += string(1, ' ');
+ line += doub2for(OMEGAdot, 18, 2);
+ return line;
+ }
+
+ string RinexNavData::putBroadcastOrbit5(void) const
+ throw(StringException)
+ {
+ // Internally (RinexNavData and EngEphemeris), weeknum is the week of HOW
+ // In Rinex *files*, weeknum is the week of TOE
+ double wk=double(weeknum);
+ if(HOWtime - Toe > DayTime::HALFWEEK)
+ wk++;
+ else if(HOWtime - Toe < -(DayTime::HALFWEEK))
+ wk--;
+
+ string line;
+ line += string(3, ' ');
+ line += string(1, ' ');
+ line += doub2for(idot, 18, 2);
+ line += string(1, ' ');
+ line += doub2for((double)codeflgs, 18, 2);
+ line += string(1, ' ');
+ line += doub2for(wk, 18, 2);
+ line += string(1, ' ');
+ line += doub2for((double)L2Pdata, 18, 2);
+ return line;
+ }
+
+ string RinexNavData::putBroadcastOrbit6(void) const
+ throw(StringException)
+ {
+ string line;
+ line += string(3, ' ');
+ line += string(1, ' ');
+ line += doub2for(accuracy, 18, 2);
+ line += string(1, ' ');
+ line += doub2for((double)health, 18, 2);
+ line += string(1, ' ');
+ line += doub2for(Tgd, 18, 2);
+ line += string(1, ' ');
+ line += doub2for(IODC, 18, 2);
+ return line;
+ }
+
+ string RinexNavData::putBroadcastOrbit7(const double ver) const
+ throw(StringException)
+ {
+ string line;
+ line += string(3, ' ');
+ line += string(1, ' ');
+ line += doub2for(HOWtime, 18, 2);
+
+ if (ver >= 2.1)
+ {
+ line += string(1, ' ');
+ line += doub2for(fitint, 18, 2);
+ }
+ return line;
+ }
+
+ void RinexNavData::getPRNEpoch(const string& currentLine)
+ throw(StringException, FFStreamError)
+ {
+ try
+ {
+ // check for spaces in the right spots...
+ for (int i = 2; i <= 17; i += 3)
+ if (currentLine[i] != ' ')
+ throw(FFStreamError("Badly formatted line"));
+
+ PRNID = asInt(currentLine.substr(0,2));
+
+ short yr = asInt(currentLine.substr(2,3));
+ short mo = asInt(currentLine.substr(5,3));
+ short day = asInt(currentLine.substr(8,3));
+ short hr = asInt(currentLine.substr(11,3));
+ short min = asInt(currentLine.substr(14,3));
+ double sec = asDouble(currentLine.substr(17,5));
+
+ // years 80-99 represent 1980-1999
+ const int rolloverYear = 80;
+ if (yr < rolloverYear)
+ yr += 100;
+ yr += 1900;
+
+ // Real Rinex has epochs 'yy mm dd hr 59 60.0' surprisingly often....
+ double ds=0;
+ if(sec >= 60.) { ds=sec; sec=0.0; }
+ time = DayTime(yr,mo,day,hr,min,sec);
+ if(ds != 0) time += ds;
+
+ Toc = time.GPSsecond();
+ af0 = gpstk::StringUtils::for2doub(currentLine.substr(22,19),19);
+ af1 = gpstk::StringUtils::for2doub(currentLine.substr(41,19),19);
+ af2 = gpstk::StringUtils::for2doub(currentLine.substr(60,19),19);
+ }
+ catch (std::exception &e)
+ {
+ FFStreamError err("std::exception: " +
+ string(e.what()));
+ GPSTK_THROW(err);
+ }
+ }
+
+ void RinexNavData::getBroadcastOrbit1(const string& currentLine)
+ throw(StringException, FFStreamError)
+ {
+ try
+ {
+ IODE = gpstk::StringUtils::for2doub(currentLine.substr(3,19),19);
+ Crs = gpstk::StringUtils::for2doub(currentLine.substr(22,19),19);
+ dn = gpstk::StringUtils::for2doub(currentLine.substr(41,19),19);
+ M0 = gpstk::StringUtils::for2doub(currentLine.substr(60,19),19);
+ }
+ catch (std::exception &e)
+ {
+ FFStreamError err("std::exception: " +
+ string(e.what()));
+ GPSTK_THROW(err);
+ }
+ }
+
+ void RinexNavData::getBroadcastOrbit2(const string& currentLine)
+ throw(StringException, FFStreamError)
+ {
+ try
+ {
+ Cuc = gpstk::StringUtils::for2doub(currentLine.substr(3,19),19);
+ ecc = gpstk::StringUtils::for2doub(currentLine.substr(22,19),19);
+ Cus = gpstk::StringUtils::for2doub(currentLine.substr(41,19),19);
+ Ahalf = gpstk::StringUtils::for2doub(currentLine.substr(60,19),19);
+ }
+ catch (std::exception &e)
+ {
+ FFStreamError err("std::exception: " +
+ string(e.what()));
+ GPSTK_THROW(err);
+ }
+ }
+
+ void RinexNavData::getBroadcastOrbit3(const string& currentLine)
+ throw(StringException, FFStreamError)
+ {
+ try
+ {
+ Toe = gpstk::StringUtils::for2doub(currentLine.substr(3,19),19);
+ Cic = gpstk::StringUtils::for2doub(currentLine.substr(22,19),19);
+ OMEGA0 = gpstk::StringUtils::for2doub(currentLine.substr(41,19),19);
+ Cis = gpstk::StringUtils::for2doub(currentLine.substr(60,19),19);
+ }
+ catch (std::exception &e)
+ {
+ FFStreamError err("std::exception: " +
+ string(e.what()));
+ GPSTK_THROW(err);
+ }
+ }
+
+ void RinexNavData::getBroadcastOrbit4(const string& currentLine)
+ throw(StringException, FFStreamError)
+ {
+ try
+ {
+ i0 = gpstk::StringUtils::for2doub(currentLine.substr(3,19),19);
+ Crc = gpstk::StringUtils::for2doub(currentLine.substr(22,19),19);
+ w = gpstk::StringUtils::for2doub(currentLine.substr(41,19),19);
+ OMEGAdot = gpstk::StringUtils::for2doub(currentLine.substr(60,19),19);
+ }
+ catch (std::exception &e)
+ {
+ FFStreamError err("std::exception: " +
+ string(e.what()));
+ GPSTK_THROW(err);
+ }
+ }
+
+ void RinexNavData::getBroadcastOrbit5(const string& currentLine)
+ throw(StringException, FFStreamError)
+ {
+ try
+ {
+ double codeL2, L2P, toe_wn;
+
+ idot = gpstk::StringUtils::for2doub(currentLine.substr(3,19),19);
+ codeL2 = gpstk::StringUtils::for2doub(currentLine.substr(22,19),19);
+ toe_wn = gpstk::StringUtils::for2doub(currentLine.substr(41,19),19);
+ L2P = gpstk::StringUtils::for2doub(currentLine.substr(60,19),19);
+
+ codeflgs = (short) codeL2;
+ L2Pdata = (short) L2P;
+ weeknum = (short) toe_wn;
+ }
+ catch (std::exception &e)
+ {
+ FFStreamError err("std::exception: " +
+ string(e.what()));
+ GPSTK_THROW(err);
+ }
+ }
+
+ void RinexNavData::getBroadcastOrbit6(const string& currentLine)
+ throw(StringException, FFStreamError)
+ {
+ try
+ {
+ double SV_acc, SV_health;
+
+ accuracy = gpstk::StringUtils::for2doub(currentLine.substr(3,19),19);
+ SV_health = gpstk::StringUtils::for2doub(currentLine.substr(22,19),19);
+ Tgd = gpstk::StringUtils::for2doub(currentLine.substr(41,19),19);
+ IODC = gpstk::StringUtils::for2doub(currentLine.substr(60,19),19);
+
+
+ health = (short) SV_health;
+ }
+ catch (std::exception &e)
+ {
+ FFStreamError err("std::exception: " +
+ string(e.what()));
+ GPSTK_THROW(err);
+ }
+ }
+
+ void RinexNavData::getBroadcastOrbit7(const string& currentLine)
+ throw(StringException, FFStreamError)
+ {
+ try
+ {
+ double HOW_sec;
+
+ HOW_sec = gpstk::StringUtils::for2doub(currentLine.substr(3,19),19);
+ fitint = gpstk::StringUtils::for2doub(currentLine.substr(22,19),19);
+
+ HOWtime = (long) HOW_sec;
+
+ // In Rinex *files*, weeknum is the week of TOE
+ // Internally (RinexNavData and EngEphemeris), weeknum is the week of HOW
+ if(HOWtime - Toe > DayTime::HALFWEEK)
+ weeknum--;
+ else if(HOWtime - Toe < -(DayTime::HALFWEEK))
+ weeknum++;
+
+ // Some Rinex files have HOW < 0
+ while(HOWtime < 0) {
+ HOWtime += (long) DayTime::FULLWEEK;
+ weeknum--;
+ }
+
+ }
+ catch (std::exception &e)
+ {
+ FFStreamError err("std::exception: " +
+ string(e.what()));
+ GPSTK_THROW(err);
+ }
+ }
+
+} // end of namespace
diff --git a/dev/src/RinexNavData.hpp b/dev/src/RinexNavData.hpp
new file mode 100644
index 0000000..b3947cd
--- /dev/null
+++ b/dev/src/RinexNavData.hpp
@@ -0,0 +1,254 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file RinexNavData.hpp
+ * Encapsulates RINEX Navigation data
+ */
+
+#ifndef RINEXNAVDATA_HPP
+#define RINEXNAVDATA_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include <list>
+
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+#include "FFStream.hpp"
+#include "RinexNavBase.hpp"
+#include "EngEphemeris.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup RinexNav */
+ //@{
+
+ /**
+ * This class models a RINEX NAV record.
+ *
+ * \sa rinex_nav_test.cpp and rinex_nav_read_write.cpp for examples.
+ * \sa gpstk::RinexNavHeader and gpstk::RinexNavStream classes.
+ */
+ class RinexNavData : public RinexNavBase
+ {
+ public:
+ /**
+ * Constructor
+ * @warning CHECK THE PRNID TO SEE IF THIS DATA IS
+ * VALID BEFORE USING!!
+ */
+ RinexNavData(void)
+ : time(gpstk::DayTime::BEGINNING_OF_TIME), PRNID(-1), fitint(4)
+ {}
+
+ /// Initializes the nav data with an EngEphemeris
+ RinexNavData(const EngEphemeris& ee);
+
+ /// destructor
+ virtual ~RinexNavData() {}
+
+ // The next four lines is our common interface
+ /// RinexNavData is "data" so this function always returns true.
+ virtual bool isData(void) const {return true;}
+
+ /**
+ * A debug output function.
+ * Prints the PRN id and the IODC for this record.
+ */
+ virtual void dump(std::ostream& s) const;
+
+ /**
+ * Converts this RinexNavData to an EngEphemeris object.
+ */
+ operator EngEphemeris() const throw();
+
+ /**
+ * Converts the (non-DayTime) data to a list for easy
+ * comparison operators.
+ */
+ std::list<double> toList() const;
+
+ /** @name Epochdata
+ */
+ //@{
+ DayTime time; ///< Time according to the record.
+ short PRNID; ///< SV PRN ID
+ long HOWtime; ///< Time of subframe 1-3 (sec of week)
+ short weeknum; ///< GPS full week number that corresponds
+ ///< to the HOWtime of SF1
+ ///< (NB in Rinex files, week number corresponds to TOE)
+ short codeflgs; ///< L2 codes
+ double accuracy; ///< SV accuracy (m)
+ short health; ///< SV health
+ short L2Pdata; ///< L2 P data flag
+ double IODC; ///< Index of data-clock
+ double IODE; ///< Index of data-eph
+ //@}
+
+ /** @name ClockInformation
+ */
+ //@{
+ double Toc; ///< Clock epoch (sec of week) (found in epoch line of Rinex navigation files)
+ double af0; ///< SV clock error (sec)
+ double af1; ///< SV clock drift (sec/sec)
+ double af2; ///< SV clock drift rate (sec/sec**2)
+ double Tgd; ///< Group delay differential (sec)
+ //@}
+
+ /** @name HarmonicPerturbations
+ */
+ //@{
+ double Cuc; ///< Cosine latitude (rad)
+ double Cus; ///< Sine latitude (rad)
+ double Crc; ///< Cosine radius (m)
+ double Crs; ///< Sine radius (m)
+ double Cic; ///< Cosine inclination (rad)
+ double Cis; ///< Sine inclination (rad)
+ //@}
+
+ /** @name MajorEphemerisParameters
+ */
+ //@{
+ double Toe; ///< Ephemeris epoch (sec of week)
+ double M0; ///< Mean anomaly (rad)
+ double dn; ///< Correction to mean motion (rad/sec)
+ double ecc; ///< Eccentricity
+ double Ahalf; ///< SQRT of semi-major axis (m**1/2)
+ double OMEGA0; ///< Rt ascension of ascending node (rad)
+ double i0; ///< Inclination (rad)
+ double w; ///< Argument of perigee (rad)
+ double OMEGAdot; ///< Rate of Rt ascension (rad/sec)
+ double idot; ///< Rate of inclination angle (rad/sec)
+ double fitint; ///< Fit interval
+ //@}
+
+ private:
+ /// Parses string \a currentLine to obtain PRN id and epoch.
+ void getPRNEpoch(const std::string& currentLine)
+ throw(gpstk::StringUtils::StringException, FFStreamError);
+ /** @name OrbitParameters
+ * Obtain orbit parameters from strint \a currentLine.
+ */
+ //@{
+ /// Reads line 1 of the Nav Data record
+ void getBroadcastOrbit1(const std::string& currentLine)
+ throw(gpstk::StringUtils::StringException, FFStreamError);
+ /// Reads line 2 of the Nav Data record
+ void getBroadcastOrbit2(const std::string& currentLine)
+ throw(gpstk::StringUtils::StringException, FFStreamError);
+ /// Reads line 3 of the Nav Data record
+ void getBroadcastOrbit3(const std::string& currentLine)
+ throw(gpstk::StringUtils::StringException, FFStreamError);
+ /// Reads line 4 of the Nav Data record
+ void getBroadcastOrbit4(const std::string& currentLine)
+ throw(gpstk::StringUtils::StringException, FFStreamError);
+ /// Reads line 5 of the Nav Data record
+ void getBroadcastOrbit5(const std::string& currentLine)
+ throw(gpstk::StringUtils::StringException, FFStreamError);
+ /// Reads line 6 of the Nav Data record
+ void getBroadcastOrbit6(const std::string& currentLine)
+ throw(gpstk::StringUtils::StringException, FFStreamError);
+ /// Reads line 7 of the Nav Data record
+ void getBroadcastOrbit7(const std::string& currentLine)
+ throw(gpstk::StringUtils::StringException, FFStreamError);
+ //@}
+
+ /// generates a line to be output to a file for the PRN/epoch line
+ std::string putPRNEpoch(void) const
+ throw(gpstk::StringUtils::StringException);
+ /** @name OrbitParameters
+ * Generate orbit parameter lines from data to be output to a file
+ */
+ //@{
+ /// Writes line 7 of the Nav Data record
+ std::string putBroadcastOrbit1(void) const
+ throw(gpstk::StringUtils::StringException);
+ /// Writes line 7 of the Nav Data record
+ std::string putBroadcastOrbit2(void) const
+ throw(gpstk::StringUtils::StringException);
+ /// Writes line 7 of the Nav Data record
+ std::string putBroadcastOrbit3(void) const
+ throw(gpstk::StringUtils::StringException);
+ /// Writes line 7 of the Nav Data record
+ std::string putBroadcastOrbit4(void) const
+ throw(gpstk::StringUtils::StringException);
+ /// Writes line 7 of the Nav Data record
+ std::string putBroadcastOrbit5(void) const
+ throw(gpstk::StringUtils::StringException);
+ /// Writes line 7 of the Nav Data record
+ std::string putBroadcastOrbit6(void) const
+ throw(gpstk::StringUtils::StringException);
+ /// Writes line 7 of the Nav Data record
+ /// @warning Pass in version to decide wheter or not
+ /// to write fit interval
+ std::string putBroadcastOrbit7(const double ver) const
+ throw(gpstk::StringUtils::StringException);
+ //@}
+
+ protected:
+ /// Outputs the record to the FFStream \a s.
+ virtual void reallyPutRecord(FFStream& s) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ /**
+ * This function retrieves a RINEX NAV record from the given FFStream.
+ * If an error is encountered in reading from the stream, the stream
+ * is returned to its original position and its fail-bit is set.
+ * @throws StringException when a StringUtils function fails
+ * @throws FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to its pre-read position.
+ */
+ virtual void reallyGetRecord(FFStream& s)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+ }; // class RinexNavData
+
+ //@}
+
+} // namespace
+
+
+#endif
diff --git a/dev/src/RinexNavFilterOperators.hpp b/dev/src/RinexNavFilterOperators.hpp
new file mode 100644
index 0000000..70480f2
--- /dev/null
+++ b/dev/src/RinexNavFilterOperators.hpp
@@ -0,0 +1,240 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file RinexNavFilterOperators.hpp
+ * Operators for FileFilter using Rinex navigation data
+ */
+
+#ifndef GPSTK_RINEXNAVFILTEROPERATORS_HPP
+#define GPSTK_RINEXNAVFILTEROPERATORS_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FileFilter.hpp"
+#include "RinexNavData.hpp"
+#include "RinexNavHeader.hpp"
+
+#include <set>
+
+namespace gpstk
+{
+ /** @addtogroup RinexNav */
+ //@{
+
+ /// This compares all elements of the RinexNavData with less than.
+ struct RinexNavDataOperatorLessThanFull :
+ public std::binary_function<gpstk::RinexNavData,
+ gpstk::RinexNavData, bool>
+ {
+ public:
+ bool operator()(const gpstk::RinexNavData& l,
+ const gpstk::RinexNavData& r) const
+ {
+ gpstk::DayTime lXmitTime(0.L);
+ lXmitTime.setGPSfullweek(l.weeknum, (double)l.HOWtime);
+ gpstk::DayTime rXmitTime(0.L);
+ rXmitTime.setGPSfullweek(r.weeknum, (double)r.HOWtime);
+
+ if (lXmitTime < rXmitTime)
+ return true;
+ else if (lXmitTime == rXmitTime)
+ {
+ // compare the times and all data members
+ if (l.time < r.time)
+ return true;
+ else if (l.time == r.time)
+ {
+ std::list<double>
+ llist = l.toList(),
+ rlist = r.toList();
+
+ std::list<double>::iterator
+ litr = llist.begin(),
+ ritr = rlist.begin();
+
+ while (litr != llist.end())
+ {
+ if (*litr < *ritr)
+ return true;
+ else if (*litr > *ritr)
+ return false;
+ else
+ {
+ litr++;
+ ritr++;
+ }
+ }
+ }
+ } // if (lXmitTime == rXmitTime)
+
+ return false;
+ }
+ };
+
+ /// This compares all elements of the RinexNavData with equals
+ struct RinexNavDataOperatorEqualsFull :
+ public std::binary_function<gpstk::RinexNavData,
+ gpstk::RinexNavData, bool>
+ {
+ public:
+ bool operator()(const gpstk::RinexNavData& l,
+ const gpstk::RinexNavData& r) const
+ {
+ // compare the times and all data members
+ if (l.time != r.time)
+ return false;
+ else // if (l.time == r.time)
+ {
+ std::list<double>
+ llist = l.toList(),
+ rlist = r.toList();
+
+ std::list<double>::iterator
+ litr = llist.begin(),
+ ritr = rlist.begin();
+
+ while (litr != llist.end())
+ {
+ if (*litr != *ritr)
+ return false;
+ litr++;
+ ritr++;
+ }
+ }
+
+ return true;
+ }
+ };
+
+ /// Only compares time. Suitable for sorting a RinexNav file.
+ struct RinexNavDataOperatorLessThanSimple :
+ public std::binary_function<gpstk::RinexNavData,
+ gpstk::RinexNavData, bool>
+ {
+ public:
+ bool operator()(const gpstk::RinexNavData& l,
+ const gpstk::RinexNavData& r) const
+ {
+ gpstk::DayTime lXmitTime(0.L);
+ lXmitTime.setGPSfullweek(l.weeknum, (double)l.HOWtime);
+ gpstk::DayTime rXmitTime(0.L);
+ rXmitTime.setGPSfullweek(r.weeknum, (double)r.HOWtime);
+ if (lXmitTime < rXmitTime)
+ return true;
+ return false;
+ }
+ };
+
+ /// Combines RinexNavHeaders into a single header, combining comments
+ /// This assumes that
+ /// all the headers come from the same station for setting the other
+ /// header fields. After running touch() on a list of RinexNavHeader,
+ /// the internal theHeader will be the merged header data for
+ /// those files.
+ struct RinexNavHeaderTouchHeaderMerge :
+ public std::unary_function<gpstk::RinexNavHeader, bool>
+ {
+ public:
+ RinexNavHeaderTouchHeaderMerge()
+ : firstHeader(true)
+ {}
+
+ bool operator()(const gpstk::RinexNavHeader& l)
+ {
+ if (firstHeader)
+ {
+ theHeader = l;
+ firstHeader = false;
+ }
+ else
+ {
+ std::set<std::string> commentSet;
+
+ // insert the comments to the set
+ // and let the set take care of uniqueness
+ copy(theHeader.commentList.begin(),
+ theHeader.commentList.end(),
+ inserter(commentSet, commentSet.begin()));
+ copy(l.commentList.begin(),
+ l.commentList.end(),
+ inserter(commentSet, commentSet.begin()));
+ // then copy the comments back into theHeader
+ theHeader.commentList.clear();
+ copy(commentSet.begin(), commentSet.end(),
+ inserter(theHeader.commentList,
+ theHeader.commentList.begin()));
+ }
+ return true;
+ }
+
+ bool firstHeader;
+ gpstk::RinexNavHeader theHeader;
+ };
+
+ /// Filter based on PRN ID.
+ struct RinexNavDataFilterPRN :
+ public std::unary_function<gpstk::RinexNavData, bool>
+ {
+ public:
+ RinexNavDataFilterPRN(const std::list<long>& lst )
+ :prnList(lst)
+ {}
+ /// This should return true when the data are to be erased
+ bool operator()(const gpstk::RinexNavData& l) const
+ {
+ long testValue = (long) l.PRNID;
+ return find(prnList.begin(), prnList.end(), testValue )
+ == prnList.end();
+ }
+ private:
+ std::list<long> prnList;
+ };
+
+ //@}
+
+}
+
+
+#endif
+
diff --git a/dev/src/RinexNavHeader.cpp b/dev/src/RinexNavHeader.cpp
new file mode 100644
index 0000000..0dac9ff
--- /dev/null
+++ b/dev/src/RinexNavHeader.cpp
@@ -0,0 +1,343 @@
+
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file RinexNavHeader.cpp
+ * Encapsulate header of Rinex navigation file
+ */
+
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+#include "RinexNavHeader.hpp"
+#include "RinexNavStream.hpp"
+
+#include <iostream>
+
+using namespace gpstk::StringUtils;
+using namespace std;
+
+namespace gpstk
+{
+ const string RinexNavHeader::endOfHeader = "END OF HEADER";
+ const string RinexNavHeader::leapSecondsString = "LEAP SECONDS";
+ const string RinexNavHeader::deltaUTCString = "DELTA-UTC: A0,A1,T,W";
+ const string RinexNavHeader::ionBetaString = "ION BETA";
+ const string RinexNavHeader::ionAlphaString = "ION ALPHA";
+ const string RinexNavHeader::commentString = "COMMENT";
+ const string RinexNavHeader::runByString = "PGM / RUN BY / DATE";
+ const string RinexNavHeader::versionString = "RINEX VERSION / TYPE";
+
+ void RinexNavHeader::reallyPutRecord(FFStream& ffs) const
+ throw(std::exception, FFStreamError, StringException)
+ {
+ RinexNavStream& strm = dynamic_cast<RinexNavStream&>(ffs);
+
+ strm.header = (*this);
+
+ unsigned long allValid;
+ if (version == 2.0) allValid = allValid20;
+ else if (version == 2.1) allValid = allValid21;
+ else if (version == 2.11) allValid = allValid211;
+ else
+ {
+ FFStreamError err("Unknown RINEX version: " + asString(version,3));
+ err.addText("Make sure to set the version correctly.");
+ GPSTK_THROW(err);
+ }
+
+ if ((valid & allValid) != allValid)
+ {
+ FFStreamError err("Incomplete or invalid header.");
+ err.addText("Make sure you set all header valid bits for all of the available data.");
+ GPSTK_THROW(err);
+ }
+
+ string line;
+
+ if (valid & versionValid)
+ {
+ line = rightJustify(asString(version,3), 10);
+ line += string(10, ' ');
+ line += string("NAVIGATION"); //leftJustify(fileType, 20);
+ line += string(30, ' ');
+ line += versionString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & runByValid)
+ {
+ line = leftJustify(fileProgram,20);
+ line += leftJustify(fileAgency,20);
+ DayTime dt;
+ dt.setLocalTime();
+ string dat = dt.printf("%02m/%02d/%04Y %02H:%02M:%02S");
+ line += leftJustify(dat, 20);
+ line += runByString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & commentValid)
+ {
+ vector<string>::const_iterator itr = commentList.begin();
+ while (itr != commentList.end())
+ {
+ line = leftJustify((*itr), 60);
+ line += commentString;
+ strm << line << endl;
+ strm.lineNumber++;
+ itr++;
+ }
+ }
+ if (valid & ionAlphaValid)
+ {
+ line = string(2, ' ');
+ for (int i = 0; i < 4; i++)
+ {
+ line += rightJustify(doub2for(ionAlpha[i], 12, 2),12); // should be 12.4
+ }
+ line += string(10, ' ');
+ line += ionAlphaString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & ionBetaValid)
+ {
+ line = string(2, ' ');
+ for (int i = 0; i < 4; i++)
+ {
+ line += rightJustify(doub2for(ionBeta[i], 12, 2),12);
+ }
+ line += string(10, ' ');
+ line += ionBetaString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & deltaUTCValid)
+ {
+ line = string(3, ' ');
+ //line += string(2, ' ');
+ line += doub2for(A0, 19, 2);
+ line += doub2for(A1, 19, 2);
+ line += rightJustify(asString(UTCRefTime),9);
+ line += rightJustify(asString(UTCRefWeek),9);
+ line += string(1, ' ');
+ line += deltaUTCString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & leapSecondsValid)
+ {
+ line = rightJustify(asString(leapSeconds), 6);
+ line += string(54, ' ');
+ line += leapSecondsString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & endValid)
+ {
+ line = string(60,' ');
+ line += endOfHeader;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+
+ }
+
+ void RinexNavHeader::reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError, StringException)
+ {
+ RinexNavStream& strm = dynamic_cast<RinexNavStream&>(ffs);
+
+ // if already read, just return
+ if (strm.headerRead == true)
+ return;
+
+ valid = 0;
+
+ // clear out anything that was unsuccessfully read the first
+ commentList.clear();
+
+ while (! (valid & endValid))
+ {
+ string line;
+ strm.formattedGetLine(line);
+ StringUtils::stripTrailing(line);
+
+ if (line.length()==0) continue;
+ else if (line.length()<60 || line.length()>80)
+ {
+ FFStreamError e("Invalid line length");
+ GPSTK_THROW(e);
+ }
+
+ string thisLabel(line, 60, 20);
+
+ if (thisLabel == versionString)
+ {
+ version = asDouble(line.substr(0,20));
+ fileType = strip(line.substr(20,20));
+ if ( (fileType[0] != 'N') &&
+ (fileType[0] != 'n'))
+ {
+ FFStreamError e("This isn't a Rinex Nav file");
+ GPSTK_THROW(e);
+ }
+ valid |= versionValid;
+ }
+ else if (thisLabel == runByString)
+ {
+ fileProgram = strip(line.substr(0,20));
+ fileAgency = strip(line.substr(20,20));
+ date = strip(line.substr(40,20));
+ valid |= runByValid;
+ }
+ else if (thisLabel == commentString)
+ {
+ commentList.push_back(strip(line.substr(0,60)));
+ valid |= commentValid;
+ }
+ else if (thisLabel == ionAlphaString)
+ {
+ for(int i = 0; i < 4; i++)
+ ionAlpha[i] = gpstk::StringUtils::for2doub(line.substr(2 + 12 * i,12),12);
+ valid |= ionAlphaValid;
+ }
+ else if (thisLabel == ionBetaString)
+ {
+ for(int i = 0; i < 4; i++)
+ ionBeta[i] = gpstk::StringUtils::for2doub(line.substr(2 + 12 * i,12),12);
+ valid |= ionBetaValid;
+ }
+ else if (thisLabel == deltaUTCString)
+ {
+ A0 = gpstk::StringUtils::for2doub(line.substr(3,19),19);
+ A1 = gpstk::StringUtils::for2doub(line.substr(22,19),19);
+ UTCRefTime = asInt(line.substr(41,9));
+ UTCRefWeek = asInt(line.substr(50,9));
+ valid |= deltaUTCValid;
+ }
+ else if (thisLabel == leapSecondsString)
+ {
+ leapSeconds = asInt(line.substr(0,6));
+ valid |= leapSecondsValid;
+ }
+ else if (thisLabel == endOfHeader)
+ {
+ valid |= endValid;
+ }
+ else
+ {
+ throw(FFStreamError("Unknown header label at line " +
+ asString<size_t>(strm.lineNumber)));
+ }
+ }
+
+ unsigned long allValid;
+ if (version == 2.0) allValid = allValid20;
+ else if (version == 2.1) allValid = allValid21;
+ else if (version == 2.11) allValid = allValid211;
+ else
+ {
+ FFStreamError e("Unknown or unsupported RINEX version " +
+ asString(version));
+ GPSTK_THROW(e);
+ }
+
+ if ( (allValid & valid) != allValid)
+ {
+ FFStreamError e("Incomplete or invalid header");
+ GPSTK_THROW(e);
+ }
+
+ // we got here, so something must be right...
+ strm.header = *this;
+ strm.headerRead = true;
+ }
+
+ void RinexNavHeader::dump(ostream& s) const
+ {
+ int i;
+ s << "---------------------------------- REQUIRED ----------------------------------\n";
+ s << "Rinex Version " << fixed << setw(5) << setprecision(2) << version
+ << ", File type " << fileType << ".\n";
+ s << "Prgm: " << fileProgram << ", Run: " << date << ", By: " << fileAgency << endl;
+
+ s << "(This header is ";
+ if((valid & allValid211) == allValid211) s << "VALID 2.11";
+ else if((valid & allValid21) == allValid21) s << "VALID 2.1";
+ else if((valid & allValid20) == allValid20) s << "VALID 2.0";
+ else s << "NOT VALID";
+ s << " Rinex.)\n";
+
+ if(!(valid & versionValid)) s << " Version is NOT valid\n";
+ if(!(valid & runByValid)) s << " Run by is NOT valid\n";
+ if(!(valid & endValid)) s << " End is NOT valid\n";
+
+ s << "---------------------------------- OPTIONAL ----------------------------------\n";
+ if(valid & ionAlphaValid) { s << "Ion alpha:";
+ for(i=0; i<4; i++) s << " " << scientific << setprecision(4) << ionAlpha[i];
+ s << endl; }
+ else s << " Ion alpha is NOT valid\n";
+ if(valid & ionBetaValid) { s << "Ion beta:";
+ for(i=0; i<4; i++) s << " " << scientific << setprecision(4) << ionBeta[i];
+ s << endl; }
+ else s << " Ion beta is NOT valid\n";
+ if(valid & deltaUTCValid) s << "Delta UTC: A0="
+ << scientific << setprecision(12) << A0 << ", A1="
+ << scientific << setprecision(12) << A1 << ", UTC ref = ("
+ << UTCRefWeek << "," << UTCRefTime << ")\n";
+ else s << " Delta UTC is NOT valid\n";
+ if(valid & leapSecondsValid) s << "Leap seconds: " << leapSeconds << endl;
+ else s << " Leap seconds is NOT valid\n";
+ if(commentList.size() > 0) {
+ s << "Comments (" << commentList.size() << ") :\n";
+ for(int i=0; i<commentList.size(); i++)
+ s << commentList[i] << endl;
+ }
+ s << "-------------------------------- END OF HEADER -------------------------------\n";
+ }
+
+} // namespace
diff --git a/dev/src/RinexNavHeader.hpp b/dev/src/RinexNavHeader.hpp
new file mode 100644
index 0000000..51ae482
--- /dev/null
+++ b/dev/src/RinexNavHeader.hpp
@@ -0,0 +1,165 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file RinexNavHeader.hpp
+ * Encapsulate header of Rinex navigation file
+ */
+
+#ifndef GPSTK_RINEXNAVHEADER_HPP
+#define GPSTK_RINEXNAVHEADER_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FFStream.hpp"
+#include "RinexNavBase.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup RinexNav */
+ //@{
+
+ /**
+ * This class models the RINEX NAV header for a RINEX NAV file.
+ *
+ * \sa rinex_nav_test.cpp and rinex_nav_read_write.cpp for examples.
+ * \sa gpstk::RinexNavData and gpstk::RinexNavStream classes.
+ */
+ class RinexNavHeader : public RinexNavBase
+ {
+ public:
+ /// Constructor
+ RinexNavHeader(void) : valid(0), version(2.1) {}
+
+ /// Destructor
+ virtual ~RinexNavHeader() {}
+
+ /// RinexNavHeader is a "header" so this function always returns true.
+ virtual bool isHeader(void) const {return true;}
+
+ /// This function dumps the contents of the header.
+ virtual void dump(std::ostream& s) const;
+
+ /// Tell me, Am I valid?
+ unsigned long valid;
+
+ /// These are validity bits used in checking the RINEX NAV header.
+ enum validBits
+ {
+ versionValid = 0x01, ///< Set if the RINEX version is valid.
+ runByValid = 0x02, ///< Set if the Run-by value is valid.
+ commentValid = 0x04, ///< Set if the comments are valid. Very subjective
+ ionAlphaValid = 0x08, ///< Set if the Ion Alpha value is valid.
+ ionBetaValid = 0x010, ///< Set if the Ion Beta value is valid.
+ deltaUTCValid = 0x020, ///< Set if the Delta UTC value is valid.
+ leapSecondsValid = 0x040, ///< Set if the Leap Seconds value is valid.
+ endValid = 0x080000000, ///< Set if the end value is valid.
+
+ /// This bitset checks that all required header items are available
+ /// for a Rinex 2.0 version file
+ allValid20 = 0x080000003,
+ /// This bitset checks that all required header items are available
+ /// for a Rinex 2.1 version file
+ allValid21 = 0x080000003,
+ /// This bitset checks that all required header items are available
+ /// for a Rinex 2.11 version file
+ allValid211 = 0x080000003
+ };
+
+ /** @name HeaderValues
+ */
+ //@{
+ double version; ///< RINEX Version
+
+ std::string fileType;
+ std::string fileProgram;
+ std::string fileAgency;
+ std::string date;
+ std::vector<std::string> commentList;
+ double ionAlpha[4];
+ double ionBeta[4];
+ double A0;
+ double A1;
+ long UTCRefTime;
+ long UTCRefWeek;
+ long leapSeconds;
+ //@}
+
+ /** @name FormattingStd::Strings
+ */
+ //@{
+ static const std::string versionString; //"RINEX VERSION / TYPE"
+ static const std::string runByString; //"PGM / RUN BY / DATE"
+ static const std::string commentString; // "COMMENT"
+ static const std::string ionAlphaString; //"ION ALPHA"
+ static const std::string ionBetaString; //"ION BETA"
+ static const std::string deltaUTCString; //"DELTA-UTC: A0,A1,T,W"
+ static const std::string leapSecondsString; //"LEAP SECONDS"
+ static const std::string endOfHeader; //"END OF HEADER"
+ //@}
+
+ protected:
+ /// Writes a correctly formatted record from this data to stream \a s.
+ virtual void reallyPutRecord(FFStream& s) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ /**
+ * This function reads the RINEX NAV header from the given FFStream.
+ * If an error is encountered in reading from the stream, the stream
+ * is reset to its original position and its fail-bit is set.
+ * @throws StringException when a StringUtils function fails
+ * @throws FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to its pre-read position.
+ */
+ virtual void reallyGetRecord(FFStream& s)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+ }; // class RinexNavHeader
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/RinexNavStream.hpp b/dev/src/RinexNavStream.hpp
new file mode 100644
index 0000000..6368384
--- /dev/null
+++ b/dev/src/RinexNavStream.hpp
@@ -0,0 +1,104 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file RinexNavStream.hpp
+ * File stream for Rinex navigation file data
+ */
+
+#ifndef GPSTK_RINEXNAVSTREAM_HPP
+#define GPSTK_RINEXNAVSTREAM_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FFTextStream.hpp"
+#include "RinexNavHeader.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup RinexNav */
+ //@{
+
+ /**
+ * This class performs file i/o on a RINEX NAV file.
+ *
+ * \sa rinex_nav_test.cpp and rinex_nav_read_write.cpp for examples.
+ * \sa gpstk::RinexNavHeader and gpstk::RinexNavData classes.
+ */
+ class RinexNavStream : public FFTextStream
+ {
+ public:
+ /// Default constructor
+ RinexNavStream()
+ : headerRead(false)
+ {}
+
+ /** Constructor
+ * Opens a file named \a fn using ios::openmode \a mode.
+ */
+ RinexNavStream(const char* fn, std::ios::openmode mode=std::ios::in)
+ : FFTextStream(fn, mode), headerRead(false) {}
+
+ /// Destructor
+ virtual ~RinexNavStream() {}
+
+ /// overrides open to reset the header
+ virtual void open(const char* fn, std::ios::openmode mode)
+ {
+ FFTextStream::open(fn, mode);
+ headerRead = false;
+ header = RinexNavHeader();
+ }
+
+ /// RINEX NAV header for this file.
+ RinexNavHeader header;
+
+ /// Flag showing whether or not the header has been read.
+ bool headerRead;
+ };
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/RinexObsBase.hpp b/dev/src/RinexObsBase.hpp
new file mode 100644
index 0000000..6878f2a
--- /dev/null
+++ b/dev/src/RinexObsBase.hpp
@@ -0,0 +1,75 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file RinexObsBase.hpp
+ * Base class for RINEX observation file data
+ */
+
+#ifndef GPSTK_RINEXOBSBASE_HPP
+#define GPSTK_RINEXOBSBASE_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FFData.hpp"
+
+namespace gpstk
+{
+ /** @defgroup RinexObs RINEX observation files */
+ //@{
+
+ /** This level isn't serving any purpose other than to make
+ * the class diagram look nice...
+ */
+ class RinexObsBase : public FFData
+ {
+ public:
+ /// Destructor per the coding standards
+ virtual ~RinexObsBase() {}
+ };
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/RinexObsData.cpp b/dev/src/RinexObsData.cpp
new file mode 100644
index 0000000..22dd0d6
--- /dev/null
+++ b/dev/src/RinexObsData.cpp
@@ -0,0 +1,407 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file RinexObsData.cpp
+ * Encapsulate RINEX observation file data, including I/O
+ */
+
+#include "StringUtils.hpp"
+#include "RinexObsData.hpp"
+#include "RinexObsStream.hpp"
+
+using namespace gpstk::StringUtils;
+using namespace std;
+
+namespace gpstk
+{
+ void RinexObsData::reallyPutRecord(FFStream& ffs) const
+ throw(std::exception, FFStreamError, StringException)
+ {
+ // is there anything to write?
+ if( (epochFlag==0 || epochFlag==1 || epochFlag==6)
+ && (numSvs==0 || obs.empty()) ) return;
+ if((epochFlag>=2 && epochFlag<=5) &&
+ auxHeader.NumberHeaderRecordsToBeWritten()==0) return;
+
+ RinexObsStream& strm = dynamic_cast<RinexObsStream&>(ffs);
+ string line;
+
+ // first the epoch line to 'line'
+ line = writeTime(time);
+ line += string(2, ' ');
+ line += rightJustify(asString<short>(epochFlag), 1);
+ line += rightJustify(asString<short>(numSvs), 3);
+
+ // write satellite ids to 'line'
+ const int maxPrnsPerLine = 12;
+ int satsWritten = 0;
+ RinexSatMap::const_iterator obsItr = obs.begin();
+ if(epochFlag==0 || epochFlag==1 || epochFlag==6) {
+ while ((obsItr != obs.end()) && (satsWritten < maxPrnsPerLine))
+ {
+ RinexSatID prn((*obsItr).first);
+ line += prn.toString();
+ satsWritten++;
+ obsItr++;
+ }
+
+ // add clock offset
+ if(clockOffset != 0.0) {
+ line += string(68 - line.size(), ' ');
+ line += rightJustify(asString(clockOffset, 9), 12);
+ }
+
+ // continuation lines
+ while (satsWritten != obs.size())
+ {
+ if ((satsWritten % maxPrnsPerLine) == 0)
+ {
+ strm << line << endl;
+ strm.lineNumber++;
+ line = string(32, ' ');
+ }
+ RinexSatID prn(obsItr->first);
+ line += prn.toString();
+ satsWritten++;
+ obsItr++;
+ }
+ }
+
+ // write the epoch line
+ strm << line << endl;
+ strm.lineNumber++;
+
+ // write the auxiliary header records, if any
+ if(epochFlag >= 2 && epochFlag <= 5)
+ {
+ try {
+ auxHeader.WriteHeaderRecords(strm);
+ }
+ catch(FFStreamError& e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(StringException& e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ }
+
+ // write the obs data
+ else if (!obs.empty())
+ {
+ // write out the observations themselves
+ obsItr = obs.begin();
+
+ const int maxObsPerLine = 5;
+
+ while(obsItr != obs.end())
+ {
+ vector<RinexObsHeader::RinexObsType>::iterator obsTypeItr =
+ strm.header.obsTypeList.begin();
+
+ line.erase();
+ int obsWritten = 0;
+
+ while (obsTypeItr != strm.header.obsTypeList.end())
+ {
+ if ( ((obsWritten % maxObsPerLine) == 0) &&
+ (obsWritten != 0))
+ {
+ strm << line << endl;
+ strm.lineNumber++;
+ line.erase();
+ }
+
+ RinexObsTypeMap::const_iterator rotmi(obsItr->second.find(*obsTypeItr));
+ RinexDatum thisData;
+ if (rotmi != obsItr->second.end())
+ thisData = rotmi->second;
+ line += rightJustify(asString(thisData.data,3),14);
+ if (thisData.lli == 0)
+ line += string(1, ' ');
+ else
+ line += rightJustify(asString<short>(thisData.lli),1);
+ if (thisData.ssi == 0)
+ line += string(1, ' ');
+ else
+ line += rightJustify(asString<short>(thisData.ssi),1);
+ obsWritten++;
+ obsTypeItr++;
+ }
+ strm << line << endl;
+ strm.lineNumber++;
+ obsItr++;
+ }
+ }
+ } // end RinexObsData::reallyPutRecord
+
+
+ void RinexObsData::reallyGetRecord(FFStream& ffs)
+ throw(exception, FFStreamError, gpstk::StringUtils::StringException)
+ {
+ RinexObsStream& strm = dynamic_cast<RinexObsStream&>(ffs);
+
+ // If the header hasn't been read, read it...
+ if(!strm.headerRead) strm >> strm.header;
+
+ // Clear out this object
+ RinexObsHeader& hdr = strm.header;
+
+ RinexObsData rod;
+ *this=rod;
+
+ string line;
+
+ strm.formattedGetLine(line, true);
+
+ if (line.size()>80 || line[0] != ' ' || line[3] != ' ' || line[6] != ' ')
+ {
+ FFStreamError e("Bad epoch line");
+ GPSTK_THROW(e);
+ }
+
+ // process the epoch line, including SV list and clock bias
+ epochFlag = asInt(line.substr(28,1));
+ if ((epochFlag < 0) || (epochFlag > 6))
+ {
+ FFStreamError e("Invalid epoch flag: " + asString(epochFlag));
+ GPSTK_THROW(e);
+ }
+ time = parseTime(line, hdr);
+ numSvs = asInt(line.substr(29,3));
+
+ if( line.size() > 68 )
+ clockOffset = asDouble(line.substr(68, 12));
+ else
+ clockOffset = 0.0;
+
+ // Now read the observations ...
+ if(epochFlag==0 || epochFlag==1 || epochFlag==6) {
+ int isv, ndx, line_ndx;
+ vector<SatID> satIndex(numSvs);
+ int col=30;
+ for (isv=1, ndx=0; ndx<numSvs; isv++, ndx++) {
+ if(! (isv % 13)) {
+ strm.formattedGetLine(line);
+ isv = 1;
+ if(line.size() > 80) {
+ FFStreamError err("Invalid line size:" + asString(line.size()));
+ GPSTK_THROW(err);
+ }
+ }
+ try {
+ satIndex[ndx] = RinexSatID(line.substr(col+isv*3-1, 3));
+ }
+ catch (Exception& e)
+ {
+ FFStreamError ffse(e);
+ GPSTK_THROW(ffse);
+ }
+ }
+
+ for (isv=0; isv < numSvs; isv++)
+ {
+ short numObs = hdr.obsTypeList.size();
+ for (ndx=0, line_ndx=0; ndx < numObs; ndx++, line_ndx++)
+ {
+ SatID sat = satIndex[isv];
+ RinexObsHeader::RinexObsType obs_type = hdr.obsTypeList[ndx];
+ if (! (line_ndx % 5))
+ {
+ strm.formattedGetLine(line);
+ line_ndx = 0;
+ if (line.size() > 80)
+ {
+ FFStreamError err("Invalid line size:" + asString(line.size()));
+ GPSTK_THROW(err);
+ }
+ }
+
+ line.resize(80, ' ');
+
+ obs[sat][obs_type].data = asDouble(line.substr(line_ndx*16, 14));
+ obs[sat][obs_type].lli = asInt( line.substr(line_ndx*16+14, 1));
+ obs[sat][obs_type].ssi = asInt( line.substr(line_ndx*16+15, 1));
+ }
+ }
+ }
+ // ... or the auxiliary header information
+ else if(numSvs > 0) {
+ auxHeader.clear();
+ for(int i=0; i<numSvs; i++) {
+ strm.formattedGetLine(line);
+ StringUtils::stripTrailing(line);
+ try {
+ auxHeader.ParseHeaderRecord(line);
+ }
+ catch(FFStreamError& e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(StringException& e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ }
+ }
+
+ return;
+
+ } // end of reallyGetRecord()
+
+
+ DayTime RinexObsData::parseTime(const string& line,
+ const RinexObsHeader& hdr) const
+ throw(FFStreamError)
+ {
+ try
+ {
+ // check if the spaces are in the right place - an easy
+ // way to check if there's corruption in the file
+ if ( (line[0] != ' ') ||
+ (line[3] != ' ') ||
+ (line[6] != ' ') ||
+ (line[9] != ' ') ||
+ (line[12] != ' ') ||
+ (line[15] != ' '))
+ {
+ FFStreamError e("Invalid time format");
+ GPSTK_THROW(e);
+ }
+
+ // if there's no time, just return a bad time
+ if (line.substr(0,26) == string(26, ' '))
+ {
+ return DayTime(DayTime::BEGINNING_OF_TIME);
+ }
+
+ int year, month, day, hour, min;
+ double sec;
+ int yy = hdr.firstObs.year()/100;
+ yy *= 100;
+
+ year = asInt( line.substr(1, 2 ));
+ month = asInt( line.substr(4, 2 ));
+ day = asInt( line.substr(7, 2 ));
+ hour = asInt( line.substr(10, 2 ));
+ min = asInt( line.substr(13, 2 ));
+ sec = asDouble(line.substr(15, 11));
+
+ // Real Rinex has epochs 'yy mm dd hr 59 60.0' surprisingly often....
+ double ds=0;
+ if(sec >= 60.) { ds=sec; sec=0.0; }
+ DayTime rv(yy+year, month, day, hour, min, sec);
+ if(ds != 0) rv += ds;
+
+ return rv;
+ }
+ // string exceptions for substr are caught here
+ catch (std::exception &e)
+ {
+ FFStreamError err("std::exception: " + string(e.what()));
+ GPSTK_THROW(err);
+ }
+ catch (gpstk::Exception& e)
+ {
+ std::string text;
+ for(int i=0; i<e.getTextCount(); i++) text += e.getText(i);
+ FFStreamError err("gpstk::Exception in parseTime(): " + text);
+ GPSTK_THROW(err);
+ }
+
+ }
+
+ string RinexObsData::writeTime(const DayTime& dt) const
+ throw(StringException)
+ {
+ if (dt == DayTime::BEGINNING_OF_TIME)
+ {
+ return string(26, ' ');
+ }
+
+ string line;
+ line = string(1, ' ');
+ line += rightJustify(asString<short>(dt.year()),2);
+ line += string(1, ' ');
+ line += rightJustify(asString<short>(dt.month()),2);
+ line += string(1, ' ');
+ line += rightJustify(asString<short>(dt.day()),2);
+ line += string(1, ' ');
+ line += rightJustify(asString<short>(dt.hour()),2);
+ line += string(1, ' ');
+ line += rightJustify(asString<short>(dt.minute()),2);
+ line += rightJustify(asString(dt.second(), 7),11);
+
+ return line;
+ }
+
+
+ void RinexObsData::dump(ostream& s) const
+ {
+ if (obs.empty())
+ return;
+
+ s << "Dump of RinexObsData - time: ";
+ s << writeTime(time) << " epochFlag: "
+ << " " << epochFlag << " numSvs: " << numSvs
+ << fixed << setprecision(6)
+ << " clk offset: " << clockOffset << endl;
+ if(epochFlag == 0 || epochFlag == 1)
+ {
+ RinexSatMap::const_iterator it;
+ for(it=obs.begin(); it!=obs.end(); it++) {
+ s << "Sat " << setw(2) << RinexSatID(it->first);
+ RinexObsTypeMap::const_iterator jt;
+ for(jt=it->second.begin(); jt!=it->second.end(); jt++)
+ {
+ s << " " << jt->first.type << ":" << fixed << setprecision(3)
+ << " " << setw(12) << jt->second.data
+ << "/" << jt->second.lli << "/" << jt->second.ssi;
+ }
+ s << endl;
+ }
+ }
+ else {
+ s << "aux. header info:\n";
+ auxHeader.dump(s);
+ }
+ }
+
+} // namespace
diff --git a/dev/src/RinexObsData.hpp b/dev/src/RinexObsData.hpp
new file mode 100644
index 0000000..b4da238
--- /dev/null
+++ b/dev/src/RinexObsData.hpp
@@ -0,0 +1,172 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file RinexObsData.hpp
+ * Encapsulate RINEX observation file data, including I/O
+ */
+
+#ifndef RINEXOBSDATA_HPP
+#define RINEXOBSDATA_HPP
+
+#include <vector>
+#include <list>
+#include <map>
+
+#include "DayTime.hpp"
+#include "FFStream.hpp"
+#include "RinexObsBase.hpp"
+#include "RinexObsHeader.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup RinexObs */
+ //@{
+
+ /**
+ * This class models a RINEX Observation Data Record.
+ *
+ * @sa gpstk::RinexObsStream and gpstk::RinexObsHeader.
+ * @sa rinex_obs_test.cpp and rinex_obs_read_write.cpp for examples.
+ */
+ class RinexObsData : public RinexObsBase
+ {
+ public:
+
+ /// A structure used to store a single RINEX Data point.
+ struct RinexDatum
+ {
+ RinexDatum() : data(0), lli(0), ssi(0) {}
+ double data; ///< The actual data point.
+ short lli; ///< See the RINEX Spec. for an explanation.
+ short ssi; ///< See the RINEX Spec. for an explanation.
+ };
+
+ /// map from RinexObsType to RinexDatum.
+ typedef std::map<RinexObsHeader::RinexObsType, RinexDatum> RinexObsTypeMap;
+ /// map from SatID to RinexObsTypeMap.
+ typedef std::map<SatID, RinexObsTypeMap> RinexSatMap;
+
+ gpstk::DayTime time; ///< the time corresponding to the observations
+ /** Epoch flag has the following values
+ * 0 ok
+ * 1 power failure since previous epoch
+ * 2 start moving antenna
+ * 3 new site occupation (end moving antenna)
+ * at least MARKER NAME header record follows
+ * 4 header records follow
+ * 5 external event
+ * 6 cycle slip record - same format as observation, but slips not data,
+ * and LLI and SSI are blank
+ */
+ short epochFlag;
+ /** number of satellites in this observation, except when epochFlag = 2-5,
+ * then the number of auxiliary header records to follow.
+ */
+ short numSvs;
+ double clockOffset; ///< optional clock offset
+ RinexSatMap obs; ///< the map of observations
+ RinexObsHeader auxHeader;///< auxiliary header records (epochFlag 2-5)
+
+ /// Constructor.
+ RinexObsData() : time(gpstk::DayTime::BEGINNING_OF_TIME){}
+
+ /// Destructor
+ virtual ~RinexObsData() {}
+
+ // The next four lines is our common interface
+ /// RinexObsData is a "data", so this function always returns true.
+ virtual bool isData() const {return true;}
+
+ /**
+ * A Debug output function.
+ * Dumps the time of observations and the IDs of the Sats
+ * in the map.
+ */
+ virtual void dump(std::ostream& s) const;
+
+ protected:
+ /**
+ * Writes a correctly formatted record from this data to stream \a s.
+ * When printing comment records, you'll need to format them correctly
+ * yourself. This means making sure that "COMMENT" is at the end
+ * of the line and that they're the correct length (<= 80 chrs).
+ * Also make sure to correctly set the epochFlag to the correct
+ * number for the type of header data you want to write.
+ */
+ virtual void reallyPutRecord(FFStream& s) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ /**
+ * This functions obtains a RINEX Observation record from the given
+ * FFStream.
+ * If there is an error in reading from the stream, it is reset
+ * to its original position and its fail-bit is set.
+ * Because of the Rinex Obs format, a RinexObsData record returned
+ * might not have data in it. Check the RinexSatMap for empty()
+ * before using any data in it.
+ * @throws StringException when a StringUtils function fails
+ * @throws FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to its pre-read position.
+ */
+ virtual void reallyGetRecord(FFStream& s)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ private:
+ /// Writes the daytime object into RINEX format. If it's a bad time,
+ /// it will return blanks.
+ std::string writeTime(const DayTime& dt) const
+ throw(gpstk::StringUtils::StringException);
+
+ /**
+ * This function constructs a DayTime object from the given parameters.
+ * @param line the encoded time string found in the RINEX record.
+ * @param hdr the RINEX Observation Header object for the current RINEX file.
+ */
+ DayTime parseTime(const std::string& line, const RinexObsHeader& hdr) const
+ throw(FFStreamError);
+ }; // class RinexObsData
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/RinexObsFilterOperators.hpp b/dev/src/RinexObsFilterOperators.hpp
new file mode 100644
index 0000000..08fbfae
--- /dev/null
+++ b/dev/src/RinexObsFilterOperators.hpp
@@ -0,0 +1,270 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file RinexObsFilterOperators.hpp
+ * Operators for FileFilter using Rinex observation data
+ */
+
+#ifndef GPSTK_RINEXOBSFILTEROPERATORS_HPP
+#define GPSTK_RINEXOBSFILTEROPERATORS_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FileFilter.hpp"
+#include "RinexObsData.hpp"
+#include "RinexObsHeader.hpp"
+
+#include <set>
+#include <algorithm>
+
+namespace gpstk
+{
+ /** @addtogroup RinexObs */
+ //@{
+
+ /// This compares all elements of the RinexObsData with less than
+ /// (only for those fields which the two obs data share).
+ struct RinexObsDataOperatorLessThanFull :
+ public std::binary_function<gpstk::RinexObsData,
+ gpstk::RinexObsData, bool>
+ {
+ public:
+ /// The set is a set of RinexObsType that the two files have in
+ /// common. This is easily generated with the set_intersection
+ /// STL function. See difftools/rowdiff.cpp for an example.
+ RinexObsDataOperatorLessThanFull
+ (const std::set<gpstk::RinexObsHeader::RinexObsType>& rohset)
+ : obsSet(rohset)
+ {}
+
+ bool operator()(const gpstk::RinexObsData& l,
+ const gpstk::RinexObsData& r) const
+ {
+ // compare the times, offsets, then only those elements
+ // that are common to both. this ignores the flags
+ // that are set to 0
+ if (l.time < r.time)
+ return true;
+ else if (l.time == r.time)
+ {
+ if (l.epochFlag < r.epochFlag)
+ return true;
+ else if (l.epochFlag == r.epochFlag)
+ {
+ if (l.clockOffset < r.clockOffset)
+ return true;
+ else if (l.clockOffset > r.clockOffset)
+ return false;
+ }
+ else
+ return false;
+ }
+ else
+ return false;
+
+ // for the obs, first check that they're the same size
+ // i.e. - contain the same number of PRNs
+ if (l.obs.size() < r.obs.size())
+ return true;
+
+ if (l.obs.size() > r.obs.size())
+ return false;
+
+ // then check that each PRN has the same data for each of the
+ // shared fields
+ gpstk::RinexObsData::RinexSatMap::const_iterator lItr =
+ l.obs.begin(), rItr;
+
+ gpstk::SatID sat;
+
+ while (lItr != l.obs.end())
+ {
+ sat = (*lItr).first;
+ rItr = r.obs.find(sat);
+ if (rItr == r.obs.end())
+ return false;
+
+ gpstk::RinexObsData::RinexObsTypeMap
+ lObs = (*lItr).second,
+ rObs = (*rItr).second;
+
+ std::set<gpstk::RinexObsHeader::RinexObsType>::const_iterator obsItr =
+ obsSet.begin();
+
+ while (obsItr != obsSet.end())
+ {
+ gpstk::RinexObsData::RinexDatum lData, rData;
+ lData = lObs[*obsItr];
+ rData = rObs[*obsItr];
+
+ if (lData.data < rData.data)
+ return true;
+
+ if ( (lData.lli != 0) && (rData.lli != 0) )
+ if (lData.lli < rData.lli)
+ return true;
+
+ if ( (lData.ssi != 0) && (rData.ssi != 0) )
+ if (lData.ssi < rData.ssi)
+ return true;
+
+ obsItr++;
+ }
+
+ lItr++;
+ }
+
+ // the data is either == or > at this point
+ return false;
+ }
+
+ private:
+ std::set<gpstk::RinexObsHeader::RinexObsType> obsSet;
+ };
+
+ /// This is a much faster less than operator for RinexObsData,
+ /// only checking time
+ struct RinexObsDataOperatorLessThanSimple :
+ public std::binary_function<gpstk::RinexObsData,
+ gpstk::RinexObsData, bool>
+ {
+ public:
+ bool operator()(const gpstk::RinexObsData& l,
+ const gpstk::RinexObsData& r) const
+ {
+ if (l.time < r.time)
+ return true;
+ return false;
+ }
+ };
+
+ /// This simply compares the times of the two records
+ /// for equality
+ struct RinexObsDataOperatorEqualsSimple :
+ public std::binary_function<gpstk::RinexObsData,
+ gpstk::RinexObsData, bool>
+ {
+ public:
+ bool operator()(const gpstk::RinexObsData& l,
+ const gpstk::RinexObsData& r) const
+ {
+ if (l.time == r.time)
+ return true;
+ return false;
+ }
+ };
+
+ /// Combines RinexObsHeaders into a single header, combining comments
+ /// and adding the appropriate RinexObsTypes. This assumes that
+ /// all the headers come from the same station for setting the other
+ /// header fields. After running touch() on a list of RinexObsHeader,
+ /// the internal theHeader will be the merged header data for
+ /// those files and obsSet will be the set of RinexObsTypes that
+ /// will be printed to the file.
+ struct RinexObsHeaderTouchHeaderMerge :
+ public std::unary_function<gpstk::RinexObsHeader, bool>
+ {
+ public:
+ RinexObsHeaderTouchHeaderMerge()
+ : firstHeader(true)
+ {}
+
+ bool operator()(const gpstk::RinexObsHeader& l)
+ {
+ if (firstHeader)
+ {
+ theHeader = l;
+ firstHeader = false;
+ }
+ else
+ {
+ std::set<gpstk::RinexObsHeader::RinexObsType> thisObsSet,
+ tempObsSet;
+ std::set<std::string> commentSet;
+ obsSet.clear();
+
+ // insert the comments to the set
+ // and let the set take care of uniqueness
+ copy(theHeader.commentList.begin(),
+ theHeader.commentList.end(),
+ inserter(commentSet, commentSet.begin()));
+ copy(l.commentList.begin(),
+ l.commentList.end(),
+ inserter(commentSet, commentSet.begin()));
+ // then copy the comments back into theHeader
+ theHeader.commentList.clear();
+ copy(commentSet.begin(), commentSet.end(),
+ inserter(theHeader.commentList,
+ theHeader.commentList.begin()));
+
+ // find the set intersection of the obs types
+ copy(theHeader.obsTypeList.begin(),
+ theHeader.obsTypeList.end(),
+ inserter(thisObsSet, thisObsSet.begin()));
+ copy(l.obsTypeList.begin(),
+ l.obsTypeList.end(),
+ inserter(tempObsSet, tempObsSet.begin()));
+ set_intersection(thisObsSet.begin(), thisObsSet.end(),
+ tempObsSet.begin(), tempObsSet.end(),
+ inserter(obsSet, obsSet.begin()));
+ // then copy the obsTypes back into theHeader
+ theHeader.obsTypeList.clear();
+ copy(obsSet.begin(), obsSet.end(),
+ inserter(theHeader.obsTypeList,
+ theHeader.obsTypeList.begin()));
+ }
+ return true;
+ }
+
+ bool firstHeader;
+ gpstk::RinexObsHeader theHeader;
+ std::set<gpstk::RinexObsHeader::RinexObsType> obsSet;
+ };
+
+ //@}
+
+}
+
+
+#endif
diff --git a/dev/src/RinexObsHeader.cpp b/dev/src/RinexObsHeader.cpp
new file mode 100644
index 0000000..4d9ee41
--- /dev/null
+++ b/dev/src/RinexObsHeader.cpp
@@ -0,0 +1,1027 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file RinexObsHeader.cpp
+ * Encapsulate header of Rinex observation file, including I/O
+ */
+
+#include "StringUtils.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsStream.hpp"
+
+using namespace std;
+using namespace gpstk::StringUtils;
+
+namespace gpstk
+{
+ const string RinexObsHeader::versionString = "RINEX VERSION / TYPE";
+ const string RinexObsHeader::runByString = "PGM / RUN BY / DATE";
+ const string RinexObsHeader::commentString = "COMMENT";
+ const string RinexObsHeader::markerNameString = "MARKER NAME";
+ const string RinexObsHeader::markerNumberString = "MARKER NUMBER";
+ const string RinexObsHeader::observerString = "OBSERVER / AGENCY";
+ const string RinexObsHeader::receiverString = "REC # / TYPE / VERS";
+ const string RinexObsHeader::antennaTypeString = "ANT # / TYPE";
+ const string RinexObsHeader::antennaPositionString = "APPROX POSITION XYZ";
+ const string RinexObsHeader::antennaOffsetString = "ANTENNA: DELTA H/E/N";
+ const string RinexObsHeader::waveFactString = "WAVELENGTH FACT L1/2";
+ const string RinexObsHeader::numObsString = "# / TYPES OF OBSERV";
+ const string RinexObsHeader::intervalString = "INTERVAL";
+ const string RinexObsHeader::firstTimeString = "TIME OF FIRST OBS";
+ const string RinexObsHeader::lastTimeString = "TIME OF LAST OBS";
+ const string RinexObsHeader::receiverOffsetString = "RCV CLOCK OFFS APPL";
+ const string RinexObsHeader::leapSecondsString = "LEAP SECONDS";
+ const string RinexObsHeader::numSatsString = "# OF SATELLITES";
+ const string RinexObsHeader::prnObsString = "PRN / # OF OBS";
+ const string RinexObsHeader::endOfHeader = "END OF HEADER";
+
+ const unsigned int RinexObsHeader::RinexObsType::C1depend=0x01;
+ const unsigned int RinexObsHeader::RinexObsType::L1depend=0x02;
+ const unsigned int RinexObsHeader::RinexObsType::L2depend=0x04;
+ const unsigned int RinexObsHeader::RinexObsType::P1depend=0x08;
+ const unsigned int RinexObsHeader::RinexObsType::P2depend=0x10;
+ const unsigned int RinexObsHeader::RinexObsType::EPdepend=0x20;
+ const unsigned int RinexObsHeader::RinexObsType::PSdepend=0x40;
+
+ const RinexObsHeader::RinexObsType RinexObsHeader::UN("UN", "Unknown or Invalid", "unknown", 0);
+ const RinexObsHeader::RinexObsType RinexObsHeader::L1("L1", "L1 Carrier Phase", "L1 cycles",
+ RinexObsHeader::RinexObsType::L1depend);
+ const RinexObsHeader::RinexObsType RinexObsHeader::L2("L2", "L2 Carrier Phase", "L2 cycles",
+ RinexObsHeader::RinexObsType::L2depend);
+ const RinexObsHeader::RinexObsType RinexObsHeader::C1("C1", "C/A-code pseudorange", "meters",
+ RinexObsHeader::RinexObsType::C1depend);
+ const RinexObsHeader::RinexObsType RinexObsHeader::C2("C2", "L2C-code pseudorange", "meters", 0);
+ const RinexObsHeader::RinexObsType RinexObsHeader::P1("P1", "Pcode L1 pseudorange", "meters",
+ RinexObsHeader::RinexObsType::P1depend);
+ const RinexObsHeader::RinexObsType RinexObsHeader::P2("P2", "Pcode L2 pseudorange", "meters",
+ RinexObsHeader::RinexObsType::P2depend);
+ const RinexObsHeader::RinexObsType RinexObsHeader::D1("D1", "Doppler Frequency L1", "Hz", 0);
+ const RinexObsHeader::RinexObsType RinexObsHeader::D2("D2", "Doppler Frequency L2", "Hz", 0);
+ const RinexObsHeader::RinexObsType RinexObsHeader::S1("S1", "Signal-to-Noise L1", "dB-Hz", 0);
+ const RinexObsHeader::RinexObsType RinexObsHeader::S2("S2", "Signal-to-Noise L2", "dB-Hz", 0);
+ const RinexObsHeader::RinexObsType RinexObsHeader::T1("T1", "Transit 150 MHz", "meters", 0);
+ const RinexObsHeader::RinexObsType RinexObsHeader::T2("T2", "Transit 400 MHz", "meters", 0);
+ // v 2.11
+ const RinexObsHeader::RinexObsType RinexObsHeader::C5("C5", "L5C-code pseudorange", "meters", 0);
+ const RinexObsHeader::RinexObsType RinexObsHeader::L5("L5", "L5 Carrier Phase", "L5 cycles", 0);
+ const RinexObsHeader::RinexObsType RinexObsHeader::D5("D5", "Doppler Frequency L5", "Hz", 0);
+ const RinexObsHeader::RinexObsType RinexObsHeader::S5("S5", "Signal-to-Noise L5", "dB-Hz", 0);
+ // Galileo only
+ const RinexObsHeader::RinexObsType RinexObsHeader::C6("C6", "E6-code pseudorange", "meters", 0);
+ const RinexObsHeader::RinexObsType RinexObsHeader::L6("L6", "E6 Carrier Phase", "L6 cycles", 0);
+ const RinexObsHeader::RinexObsType RinexObsHeader::D6("D6", "Doppler Frequency E6", "Hz", 0);
+ const RinexObsHeader::RinexObsType RinexObsHeader::S6("S6", "Signal-to-Noise E6", "dB-Hz", 0);
+
+ const RinexObsHeader::RinexObsType RinexObsHeader::C7("C7", "E5b-code pseudorange", "meters", 0);
+ const RinexObsHeader::RinexObsType RinexObsHeader::L7("L7", "E5b Carrier Phase", "L7 cycles", 0);
+ const RinexObsHeader::RinexObsType RinexObsHeader::D7("D7", "Doppler Frequency E5b", "Hz", 0);
+ const RinexObsHeader::RinexObsType RinexObsHeader::S7("S7", "Signal-to-Noise E5b", "dB-Hz", 0);
+
+ const RinexObsHeader::RinexObsType RinexObsHeader::C8("C8", "E5a+b-code pseudorange", "meters", 0);
+ const RinexObsHeader::RinexObsType RinexObsHeader::L8("L8", "E5a+b Carrier Phase", "L8 cycles", 0);
+ const RinexObsHeader::RinexObsType RinexObsHeader::D8("D8", "Doppler Frequency E5a+b","Hz", 0);
+ const RinexObsHeader::RinexObsType RinexObsHeader::S8("S8", "Signal-to-Noise E5a+b", "dB-Hz", 0);
+
+ RinexObsHeader::RinexObsType sot[29] =
+ {
+ RinexObsHeader::UN,
+ RinexObsHeader::L1, RinexObsHeader::L2,
+ RinexObsHeader::C1, RinexObsHeader::C2,
+ RinexObsHeader::P1, RinexObsHeader::P2,
+ RinexObsHeader::D1, RinexObsHeader::D2,
+ RinexObsHeader::S1, RinexObsHeader::S2,
+ RinexObsHeader::T1, RinexObsHeader::T2,
+ RinexObsHeader::C5, RinexObsHeader::L5, RinexObsHeader::D5, RinexObsHeader::S5,
+ RinexObsHeader::C6, RinexObsHeader::L6, RinexObsHeader::D6, RinexObsHeader::S6,
+ RinexObsHeader::C7, RinexObsHeader::L7, RinexObsHeader::D7, RinexObsHeader::S7,
+ RinexObsHeader::C8, RinexObsHeader::L8, RinexObsHeader::D8, RinexObsHeader::S8
+ };
+
+ // Warning: the size of the above sot array needs to be put
+ // in this initializer.
+ const std::vector<RinexObsHeader::RinexObsType> RinexObsHeader::StandardRinexObsTypes(sot,sot+29);
+
+ std::vector<RinexObsHeader::RinexObsType> RinexObsHeader::RegisteredRinexObsTypes
+ = RinexObsHeader::StandardRinexObsTypes;
+
+ void RinexObsHeader::reallyPutRecord(FFStream& ffs) const
+ throw(std::exception, FFStreamError, StringException)
+ {
+ RinexObsStream& strm = dynamic_cast<RinexObsStream&>(ffs);
+
+ strm.header = *this;
+
+ unsigned long allValid;
+ if (version == 2.0) allValid = allValid20;
+ else if (version == 2.1) allValid = allValid21;
+ else if (version == 2.11) allValid = allValid211;
+ else
+ {
+ FFStreamError err("Unknown RINEX version: " + asString(version,2));
+ err.addText("Make sure to set the version correctly.");
+ GPSTK_THROW(err);
+ }
+
+ if ((valid & allValid) != allValid)
+ {
+ FFStreamError err("Incomplete or invalid header.");
+ err.addText("Make sure you set all header valid bits for all of the available data.");
+ GPSTK_THROW(err);
+ }
+
+ try
+ {
+ WriteHeaderRecords(strm);
+ }
+ catch(FFStreamError& e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(StringException& e)
+ {
+ GPSTK_RETHROW(e);
+ }
+
+ } // end RinexObsHeader::reallyPutRecord
+
+
+ // this function computes the number of valid header records which WriteHeaderRecords will write
+ int RinexObsHeader::NumberHeaderRecordsToBeWritten(void) const throw()
+ {
+ int n=0;
+ if(valid & RinexObsHeader::versionValid) n++;
+ if(valid & RinexObsHeader::runByValid) n++;
+ if(valid & RinexObsHeader::markerNameValid) n++;
+ if(valid & RinexObsHeader::observerValid) n++;
+ if(valid & RinexObsHeader::receiverValid) n++;
+ if(valid & RinexObsHeader::antennaTypeValid) n++;
+ if(valid & RinexObsHeader::antennaPositionValid) n++;
+ if(valid & RinexObsHeader::antennaOffsetValid) n++;
+ if(valid & RinexObsHeader::waveFactValid) {
+ n++;
+ if(extraWaveFactList.size()) n += 1 + (extraWaveFactList.size()-1)/7;
+ }
+ if(valid & RinexObsHeader::obsTypeValid) n += 1 + (obsTypeList.size()-1)/9;
+ if(valid & RinexObsHeader::intervalValid) n++;
+ if(valid & RinexObsHeader::firstTimeValid) n++;
+ if(valid & RinexObsHeader::lastTimeValid) n++;
+ if(valid & RinexObsHeader::markerNumberValid) n++;
+ if(valid & RinexObsHeader::receiverOffsetValid) n++;
+ if(valid & RinexObsHeader::leapSecondsValid) n++;
+ if(valid & RinexObsHeader::commentValid) n += commentList.size();
+ if(valid & RinexObsHeader::numSatsValid) n++;
+ if(valid & RinexObsHeader::prnObsValid)
+ n += numObsForSat.size() * (1+numObsForSat.begin()->second.size()/9);
+ if(valid & RinexObsHeader::endValid) n++;
+ return n;
+ }
+
+ // this function writes all valid header records
+ void RinexObsHeader::WriteHeaderRecords(FFStream& ffs) const
+ throw(FFStreamError, StringException)
+ {
+ RinexObsStream& strm = dynamic_cast<RinexObsStream&>(ffs);
+ string line;
+ if (valid & versionValid)
+ {
+ line = rightJustify(asString(version,2), 9);
+ line += string(11, ' ');
+ if ((fileType[0] != 'O') && (fileType[0] != 'o'))
+ {
+ FFStreamError err("This isn't a Rinex Observation file: " +
+ fileType.substr(0,1));
+ GPSTK_THROW(err);
+ }
+
+ if (system.system == RinexSatID::systemUnknown)
+ {
+ FFStreamError err("Invalid satellite system");
+ GPSTK_THROW(err);
+ }
+
+ line += leftJustify(string("Observation"), 20);
+ std::string str;
+ str = system.systemChar();
+ str = str + " (" + system.systemString() + ")";
+ line += leftJustify(str, 20);
+ line += versionString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & runByValid)
+ {
+ line = leftJustify(fileProgram,20);
+ line += leftJustify(fileAgency,20);
+ DayTime dt;
+ dt.setLocalTime();
+ string dat = dt.printf("%02m/%02d/%04Y %02H:%02M:%02S");
+ line += leftJustify(dat, 20);
+ line += runByString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & markerNameValid)
+ {
+ line = leftJustify(markerName, 60);
+ line += markerNameString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & observerValid)
+ {
+ line = leftJustify(observer, 20);
+ line += leftJustify(agency, 40);
+ line += observerString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & receiverValid)
+ {
+ line = leftJustify(recNo, 20);
+ line += leftJustify(recType, 20);
+ line += leftJustify(recVers, 20);
+ line += receiverString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & antennaTypeValid)
+ {
+ line = leftJustify(antNo, 20);
+ line += leftJustify(antType, 20);
+ line += string(20, ' ');
+ line += antennaTypeString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & antennaPositionValid)
+ {
+ line = rightJustify(asString(antennaPosition[0], 4), 14);
+ line += rightJustify(asString(antennaPosition[1], 4), 14);
+ line += rightJustify(asString(antennaPosition[2], 4), 14);
+ line += string(18, ' ');
+ line += antennaPositionString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & antennaOffsetValid)
+ {
+ line = rightJustify(asString(antennaOffset[0], 4), 14);
+ line += rightJustify(asString(antennaOffset[1], 4), 14);
+ line += rightJustify(asString(antennaOffset[2], 4), 14);
+ line += string(18, ' ');
+ line += antennaOffsetString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & waveFactValid)
+ {
+ line = rightJustify(asString<short>(wavelengthFactor[0]),6);
+ line += rightJustify(asString<short>(wavelengthFactor[1]),6);
+ line += string(48, ' ');
+ line += waveFactString;
+ strm << line << endl;
+ strm.lineNumber++;
+
+ // handle continuation lines
+ if (!extraWaveFactList.empty())
+ {
+ vector<ExtraWaveFact>::const_iterator itr = extraWaveFactList.begin();
+
+ while (itr != extraWaveFactList.end())
+ {
+ const int maxSatsPerLine = 7;
+ short satsWritten = 0, satsLeft = (*itr).satList.size(), satsThisLine;
+ vector<SatID>::const_iterator vecItr = (*itr).satList.begin();
+
+ while ((vecItr != (*itr).satList.end())) {
+ if(satsWritten == 0) {
+ line = rightJustify(asString<short>((*itr).wavelengthFactor[0]),6);
+ line += rightJustify(asString<short>((*itr).wavelengthFactor[1]),6);
+ satsThisLine = (satsLeft > maxSatsPerLine ? maxSatsPerLine : satsLeft);
+ line += rightJustify(asString<short>(satsThisLine),6);
+ }
+ try {
+ line += string(3, ' ') + RinexSatID(*vecItr).toString();
+ }
+ catch (Exception& e) {
+ FFStreamError ffse(e);
+ GPSTK_THROW(ffse);
+ }
+ satsWritten++;
+ satsLeft--;
+ if(satsWritten==maxSatsPerLine || satsLeft==0) { // output a complete line
+ line += string(60 - line.size(), ' ');
+ line += waveFactString;
+ strm << line << endl;
+ strm.lineNumber++;
+ satsWritten = 0;
+ }
+ vecItr++;
+ }
+ itr++;
+ }
+ }
+ }
+ if (valid & obsTypeValid)
+ {
+ const int maxObsPerLine = 9;
+ int obsWritten = 0;
+ line = ""; // make sure the line contents are reset.
+
+ vector<RinexObsType>::const_iterator itr = obsTypeList.begin();
+
+ while (itr != obsTypeList.end())
+ {
+ // the first line needs to have the # of obs
+ if (obsWritten == 0)
+ line = rightJustify(asString(obsTypeList.size()), 6);
+ // if you hit 9, write out the line and start a new one
+ else if ((obsWritten % maxObsPerLine) == 0)
+ {
+ line += numObsString;
+ strm << line << endl;
+ strm.lineNumber++;
+ line = string(6, ' ');
+ }
+ line += rightJustify(convertObsType(*itr), 6);
+ obsWritten++;
+ itr++;
+ }
+ line += string(60 - line.size(), ' ');
+ line += numObsString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & intervalValid)
+ {
+ line = rightJustify(asString(interval, 3), 10);
+ line += string(50, ' ');
+ line += intervalString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & firstTimeValid)
+ {
+ line = writeTime(firstObs);
+ line += string(48-line.size(),' ');
+ if(firstSystem.system == RinexSatID::systemGPS) line += "GPS";
+ if(firstSystem.system == RinexSatID::systemGlonass) line += "GLO";
+ if(firstSystem.system == RinexSatID::systemGalileo) line += "GAL";
+ line += string(60 - line.size(), ' ');
+ line += firstTimeString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & lastTimeValid)
+ {
+ line = writeTime(lastObs);
+ line += string(48-line.size(),' ');
+ if(lastSystem.system == RinexSatID::systemGPS) line += "GPS";
+ if(lastSystem.system == RinexSatID::systemGlonass) line += "GLO";
+ if(lastSystem.system == RinexSatID::systemGalileo) line += "GAL";
+ line += string(60 - line.size(), ' ');
+ line += lastTimeString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & markerNumberValid)
+ {
+ line = leftJustify(markerNumber, 20);
+ line += string(40, ' ');
+ line += markerNumberString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & receiverOffsetValid)
+ {
+ line = rightJustify(asString(receiverOffset),6);
+ line += string(54, ' ');
+ line += receiverOffsetString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & leapSecondsValid)
+ {
+ line = rightJustify(asString(leapSeconds),6);
+ line += string(54, ' ');
+ line += leapSecondsString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & commentValid)
+ {
+ vector<string>::const_iterator itr = commentList.begin();
+ while (itr != commentList.end())
+ {
+ line = leftJustify((*itr), 60);
+ line += commentString;
+ strm << line << endl;
+ strm.lineNumber++;
+ itr++;
+ }
+ }
+ if (valid & numSatsValid)
+ {
+ line = rightJustify(asString(numSVs), 6);
+ line += string(54, ' ');
+ line += numSatsString;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ if (valid & prnObsValid)
+ {
+ const int maxObsPerLine = 9;
+ map<SatID, vector<int> >::const_iterator itr = numObsForSat.begin();
+ while (itr != numObsForSat.end())
+ {
+ int numObsWritten = 0;
+
+ vector<int>::const_iterator vecItr = (*itr).second.begin();
+ while (vecItr != (*itr).second.end())
+ {
+ if (numObsWritten == 0)
+ {
+ try {
+ RinexSatID prn((*itr).first);
+ line = string(3, ' ') + prn.toString();
+ }
+ catch (Exception& e) {
+ FFStreamError ffse(e);
+ GPSTK_RETHROW(ffse);
+ }
+ }
+ else if ((numObsWritten % maxObsPerLine) == 0)
+ {
+ line += prnObsString;
+ strm << line << endl;
+ strm.lineNumber++;
+ line = string(6, ' ');
+ }
+ line += rightJustify(asString(*vecItr), 6);
+ ++vecItr;
+ ++numObsWritten;
+ }
+ line += string(60 - line.size(), ' ');
+ line += prnObsString;
+ strm << line << endl;
+ strm.lineNumber++;
+ itr++;
+ }
+ }
+ if (valid & endValid)
+ {
+ line = string(60, ' ');
+ line += endOfHeader;
+ strm << line << endl;
+ strm.lineNumber++;
+ }
+ } // end RinexObsHeader::WriteHeaderRecords()
+
+
+ // this function parses a single header record
+ void RinexObsHeader::ParseHeaderRecord(string& line)
+ throw(FFStreamError)
+ {
+ string label(line, 60, 20);
+
+ if (label == versionString)
+ {
+ version = asDouble(line.substr(0,20));
+ fileType = strip(line.substr(20, 20));
+ if ( (fileType[0] != 'O') &&
+ (fileType[0] != 'o'))
+ {
+ FFStreamError e("This isn't a Rinex Obs file");
+ GPSTK_THROW(e);
+ }
+ string system_str = strip(line.substr(40, 20));
+ try {
+ system.fromString(system_str);
+ }
+ catch (Exception& e)
+ {
+ FFStreamError ffse("Input satellite system is unsupported: " + system_str);
+ GPSTK_THROW(ffse);
+ }
+ valid |= versionValid;
+ }
+ else if (label == runByString )
+ {
+ fileProgram = strip(line.substr(0, 20));
+ fileAgency = strip(line.substr(20, 20));
+ date = strip(line.substr(40, 20));
+ valid |= runByValid;
+ }
+ else if (label == commentString)
+ {
+ string s = strip(line.substr(0, 60));
+ commentList.push_back(s);
+ valid |= commentValid;
+ }
+ else if (label == markerNameString)
+ {
+ markerName = strip(line.substr(0,60));
+ valid |= markerNameValid;
+ }
+ else if (label == markerNumberString)
+ {
+ markerNumber = strip(line.substr(0,20));
+ valid |= markerNumberValid;
+ }
+ else if (label == observerString)
+ {
+ observer = strip(line.substr(0,20));
+ agency = strip(line.substr(20,40));
+ valid |= observerValid;
+ }
+ else if (label == receiverString)
+ {
+ recNo = strip(line.substr(0, 20));
+ recType = strip(line.substr(20,20));
+ recVers = strip(line.substr(40,20));
+ valid |= receiverValid;
+ }
+ else if (label ==antennaTypeString)
+ {
+ antNo = strip(line.substr(0, 20));
+ antType = strip(line.substr(20, 20));
+ valid |= antennaTypeValid;
+ }
+ else if (label == antennaPositionString)
+ {
+ antennaPosition[0] = asDouble(line.substr(0, 14));
+ antennaPosition[1] = asDouble(line.substr(14, 14));
+ antennaPosition[2] = asDouble(line.substr(28, 14));
+ valid |= antennaPositionValid;
+ }
+ else if (label == antennaOffsetString)
+ {
+ antennaOffset[0] = asDouble(line.substr(0, 14));
+ antennaOffset[1] = asDouble(line.substr(14, 14));
+ antennaOffset[2] = asDouble(line.substr(28, 14));
+ valid |= antennaOffsetValid;
+ }
+ else if (label == waveFactString)
+ {
+ // first time reading this
+ if (! (valid & waveFactValid))
+ {
+ wavelengthFactor[0] = asInt(line.substr(0,6));
+ wavelengthFactor[1] = asInt(line.substr(6,6));
+ valid |= waveFactValid;
+ }
+ // additional wave fact lines
+ else
+ {
+ const int maxSatsPerLine = 7;
+ int Nsats;
+ ExtraWaveFact ewf;
+ ewf.wavelengthFactor[0] = asInt(line.substr(0,6));
+ ewf.wavelengthFactor[1] = asInt(line.substr(6,6));
+ Nsats = asInt(line.substr(12,6));
+
+ if (Nsats > maxSatsPerLine) // > not >=
+ {
+ FFStreamError e("Invalid number of Sats for " + waveFactString);
+ GPSTK_THROW(e);
+ }
+
+ for (int i = 0; i < Nsats; i++)
+ {
+ try {
+ RinexSatID prn(line.substr(21+i*6,3));
+ ewf.satList.push_back(prn);
+ }
+ catch (Exception& e){
+ FFStreamError ffse(e);
+ GPSTK_RETHROW(ffse);
+ }
+ }
+
+ extraWaveFactList.push_back(ewf);
+ }
+ }
+ else if (label == numObsString)
+ {
+ const int maxObsPerLine = 9;
+ // process the first line
+ if (! (valid & obsTypeValid))
+ {
+ numObs = asInt(line.substr(0,6));
+
+ for (int i = 0; (i < numObs) && (i < maxObsPerLine); i++)
+ {
+ int position = i * 6 + 6 + 4;
+ RinexObsType rt = convertObsType(line.substr(position,2));
+ obsTypeList.push_back(rt);
+ }
+ valid |= obsTypeValid;
+ }
+ // process continuation lines
+ else
+ {
+ for (int i = obsTypeList.size();
+ (i < numObs) && ( (i % maxObsPerLine) < maxObsPerLine); i++)
+ {
+ int position = (i % maxObsPerLine) * 6 + 6 + 4;
+ RinexObsType rt = convertObsType(line.substr(position,2));
+ obsTypeList.push_back(rt);
+ }
+ }
+ }
+ else if (label == intervalString)
+ {
+ interval = asDouble(line.substr(0, 10));
+ valid |= intervalValid;
+ }
+ else if (label == firstTimeString)
+ {
+ firstObs = parseTime(line);
+ firstSystem.system = RinexSatID::systemGPS;
+ if(line.substr(48,3)=="GLO") firstSystem.system=RinexSatID::systemGlonass;
+ if(line.substr(48,3)=="GAL") firstSystem.system=RinexSatID::systemGalileo;
+ valid |= firstTimeValid;
+ }
+ else if (label == lastTimeString)
+ {
+ lastObs = parseTime(line);
+ lastSystem.system = RinexSatID::systemGPS;
+ if(line.substr(48,3)=="GLO") lastSystem.system=RinexSatID::systemGlonass;
+ if(line.substr(48,3)=="GAL") lastSystem.system=RinexSatID::systemGalileo;
+ valid |= lastTimeValid;
+ }
+ else if (label == receiverOffsetString)
+ {
+ receiverOffset = asInt(line.substr(0,6));
+ valid |= receiverOffsetValid;
+ }
+ else if (label == leapSecondsString)
+ {
+ leapSeconds = asInt(line.substr(0,6));
+ valid |= leapSecondsValid;
+ }
+ else if (label == numSatsString)
+ {
+ numSVs = asInt(line.substr(0,6)) ;
+ valid |= numSatsValid;
+ }
+ else if (label == prnObsString)
+ {
+ const int maxObsPerLine = 9;
+ // continuation lines... you have to know what PRN
+ // this is continuing for, hence lastPRN
+ if ((lastPRN.id != -1) &&
+ (numObsForSat[lastPRN].size() != obsTypeList.size()))
+ {
+ for(int i = numObsForSat[lastPRN].size();
+ (i < obsTypeList.size()) &&
+ ( (i % maxObsPerLine) < maxObsPerLine); i++)
+ {
+ numObsForSat[lastPRN].push_back(asInt(line.substr((i%maxObsPerLine)*6+6,6)));
+ }
+ }
+ else
+ {
+ try {
+ lastPRN.fromString(line.substr(3,3));
+ }
+ catch (Exception& e) {
+ FFStreamError ffse(e);
+ GPSTK_RETHROW(ffse);
+ }
+ vector<int> numObsList;
+ for(int i = 0;
+ (i < obsTypeList.size()) && (i < maxObsPerLine); i++)
+ {
+ numObsList.push_back(asInt(line.substr(i*6+6,6)));
+ }
+
+ numObsForSat[lastPRN] = numObsList;
+ }
+ valid |= prnObsValid;
+ }
+ else if (label == endOfHeader)
+ {
+ valid |= endValid;
+ }
+ else
+ {
+ FFStreamError e("Unidentified label: " + label);
+ GPSTK_THROW(e);
+ }
+ } // end of RinexObsHeader::ParseHeaderRecord(string& line)
+
+
+ // This function parses the entire header from the given stream
+ void RinexObsHeader::reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+ RinexObsStream& strm = dynamic_cast<RinexObsStream&>(ffs);
+
+ // if already read, just return
+ if (strm.headerRead == true)
+ return;
+
+ // since we're reading a new header, we need to reinitialize
+ // all our list structures. all the other objects should be ok.
+ // this also applies if we threw an exception the first time we read
+ // the header and are now re-reading it. some of these could be full
+ // and we need to empty them.
+ commentList.clear();
+ wavelengthFactor[0] = wavelengthFactor[1] = 1;
+ extraWaveFactList.clear();
+ obsTypeList.clear();
+ numObsForSat.clear();
+ valid = 0;
+ numObs = 0;
+ lastPRN.id = -1;
+
+ string line;
+
+ while (!(valid & endValid))
+ {
+ strm.formattedGetLine(line);
+ StringUtils::stripTrailing(line);
+
+ if (line.length()==0)
+ continue;
+ else if (line.length()<60 || line.length()>80)
+ {
+ FFStreamError e("Invalid line length");
+ GPSTK_THROW(e);
+ }
+
+ try
+ {
+ ParseHeaderRecord(line);
+ }
+ catch(FFStreamError& e)
+ {
+ GPSTK_RETHROW(e);
+ }
+
+ } // end while(not end of header)
+
+ unsigned long allValid;
+ if (version == 2.0) allValid = allValid20;
+ else if (version == 2.1) allValid = allValid21;
+ else if (version == 2.11) allValid = allValid211;
+ else
+ {
+ FFStreamError e("Unknown or unsupported RINEX version " +
+ asString(version));
+ GPSTK_THROW(e);
+ }
+
+ if ( (allValid & valid) != allValid)
+ {
+ FFStreamError e("Incomplete or invalid header");
+ GPSTK_THROW(e);
+ }
+
+ // If we get here, we should have reached the end of header line
+ strm.header = *this;
+ strm.headerRead = true;
+
+ } // end of reallyGetRecord()
+
+
+
+ RinexObsHeader::RinexObsType
+ RinexObsHeader::convertObsType(const string& oneObs)
+ throw(FFStreamError)
+ {
+ RinexObsType ot(RegisteredRinexObsTypes[0]); // Unknown type
+ for(int i=0; i<RegisteredRinexObsTypes.size(); i++) {
+ if(RegisteredRinexObsTypes[i].type == oneObs) {
+ ot = RegisteredRinexObsTypes[i];
+ break;
+ }
+ //FFStreamError e("Bad obs type: " + oneObs);
+ //GPSTK_THROW(e);
+ }
+ return ot;
+ }
+ string
+ RinexObsHeader::convertObsType(const RinexObsHeader::RinexObsType& oneObs)
+ throw(FFStreamError)
+ {
+ return oneObs.type;
+ }
+
+
+ DayTime RinexObsHeader::parseTime(const string& line) const
+ {
+ int year, month, day, hour, min;
+ double sec;
+
+ year = asInt( line.substr(0, 6 ));
+ month = asInt( line.substr(6, 6 ));
+ day = asInt( line.substr(12, 6 ));
+ hour = asInt( line.substr(18, 6 ));
+ min = asInt( line.substr(24, 6 ));
+ sec = asDouble(line.substr(30, 13));
+ return DayTime(year, month, day, hour, min, sec);
+ }
+
+ string RinexObsHeader::writeTime(const DayTime& dt) const
+ {
+ string line;
+ line = rightJustify(asString<short>(dt.year()), 6);
+ line += rightJustify(asString<short>(dt.month()), 6);
+ line += rightJustify(asString<short>(dt.day()), 6);
+ line += rightJustify(asString<short>(dt.hour()), 6);
+ line += rightJustify(asString<short>(dt.minute()), 6);
+ line += rightJustify(asString(dt.second(), 7), 13);
+ return line;
+ }
+
+ void RinexObsHeader::dump(ostream& s) const
+ {
+ int i,j;
+ s << "---------------------------------- REQUIRED ----------------------------------\n";
+ string str;
+ str = system.systemChar();
+ str = str + " (" + system.systemString() + ")";
+ s << "Rinex Version " << fixed << setw(5) << setprecision(2) << version
+ << ", File type " << fileType << ", System " << str << ".\n";
+ s << "Prgm: " << fileProgram << ", Run: " << date << ", By: " << fileAgency << endl;
+ s << "Marker name: " << markerName << ".\n";
+ s << "Obs'r : " << observer << ", Agency: " << agency << endl;
+ s << "Rec#: " << recNo << ", Type: " << recType << ", Vers: " << recVers << endl;
+ s << "Antenna # : " << antNo << ", Type : " << antType << endl;
+ s << "Position (XYZ,m) : " << setprecision(4) << antennaPosition << ".\n";
+ s << "Antenna offset (ENU,m) : " << setprecision(4) << antennaOffset << ".\n";
+ s << "Wavelength factors (default) L1:" << wavelengthFactor[0]
+ << ", L2: " << wavelengthFactor[1] << ".\n";
+ for(i=0; i<extraWaveFactList.size(); i++) {
+ s << "Wavelength factors (extra) L1:"
+ << extraWaveFactList[i].wavelengthFactor[0]
+ << ", L2: " << extraWaveFactList[i].wavelengthFactor[1]
+ << ", for Sats";
+ for(j=0; j<extraWaveFactList[i].satList.size(); j++)
+ s << " " << extraWaveFactList[i].satList[j];
+ s << endl;
+ }
+ s << "Observation types (" << obsTypeList.size() << ") :\n";
+ for(i=0; i<obsTypeList.size(); i++)
+ s << " Type #" << i << " = "
+ << gpstk::RinexObsHeader::convertObsType(obsTypeList[i])
+ << " " << obsTypeList[i].description
+ << " (" << obsTypeList[i].units << ")." << endl;
+ s << "Time of first obs " << firstObs.printf("%04Y/%02m/%02d %02H:%02M:%010.7f")
+ << " " << (firstSystem.system==RinexSatID::systemGlonass ? "GLO" :
+ (firstSystem.system==RinexSatID::systemGalileo ? "GAL" : "GPS")) << endl;
+ s << "(This header is ";
+ if((valid & allValid211) == allValid211) s << "VALID 2.11";
+ else if((valid & allValid21) == allValid21) s << "VALID 2.1";
+ else if((valid & allValid20) == allValid20) s << "VALID 2.0";
+ else s << "NOT VALID";
+ s << " Rinex.)\n";
+
+ if(!(valid & versionValid)) s << " Version is NOT valid\n";
+ if(!(valid & runByValid)) s << " Run by is NOT valid\n";
+ if(!(valid & markerNameValid)) s << " Marker Name is NOT valid\n";
+ if(!(valid & observerValid)) s << " Observer is NOT valid\n";
+ if(!(valid & receiverValid)) s << " Receiver is NOT valid\n";
+ if(!(valid & antennaTypeValid)) s << " Antenna Type is NOT valid\n";
+ if(!(valid & antennaPositionValid)) s << " Ant Position is NOT valid\n";
+ if(!(valid & antennaOffsetValid)) s << " Antenna Offset is NOT valid\n";
+ if(!(valid & waveFactValid)) s << " Wavelength factor is NOT valid\n";
+ if(!(valid & obsTypeValid)) s << " Obs Type is NOT valid\n";
+ if(!(valid & firstTimeValid)) s << " First time is NOT valid\n";
+ if(!(valid & endValid)) s << " End is NOT valid\n";
+
+ s << "---------------------------------- OPTIONAL ----------------------------------\n";
+ if(valid & markerNumberValid) s << "Marker number : " << markerNumber << endl;
+ if(valid & intervalValid) s << "Interval = "
+ << fixed << setw(7) << setprecision(3) << interval << endl;
+ if(valid & lastTimeValid) s << "Time of last obs "
+ << lastObs.printf("%04Y/%02m/%02d %02H:%02M:%010.7f")
+ << " " << (lastSystem.system==RinexSatID::systemGlonass ? "GLO":
+ (lastSystem.system==RinexSatID::systemGalileo ? "GAL" : "GPS")) << endl;
+ if(valid & leapSecondsValid) s << "Leap seconds: " << leapSeconds << endl;
+ if(valid & receiverOffsetValid) s << "Clock offset record is present and offsets "
+ << (receiverOffset?"ARE":"are NOT") << " applied." << endl;
+ if(valid & numSatsValid) s << "Number of Satellites with data : " << numSVs << endl;
+ if(valid & prnObsValid) {
+ s << "SAT ";
+ for(i=0; i<obsTypeList.size(); i++)
+ s << setw(7) << convertObsType(obsTypeList[i]);
+ s << endl;
+ map<SatID, vector<int> >::const_iterator sat_itr = numObsForSat.begin();
+ while (sat_itr != numObsForSat.end()) {
+ vector<int> obsvec=sat_itr->second;
+ s << " " << RinexSatID(sat_itr->first) << " ";
+ for(i=0; i<obsvec.size(); i++) s << " " << setw(6) << obsvec[i];
+ s << endl;
+ sat_itr++;
+ }
+ }
+ if(commentList.size() && !(valid & commentValid)) s << " Comment is NOT valid\n";
+ s << "Comments (" << commentList.size() << ") :\n";
+ for(i=0; i<commentList.size(); i++)
+ s << commentList[i] << endl;
+ s << "-------------------------------- END OF HEADER -------------------------------\n";
+ }
+
+ // return 1 if type already defined,
+ // 0 if successful
+ // -1 if not successful - invalid input
+ int RegisterExtendedRinexObsType(string t, string d, string u, unsigned int dep)
+ {
+ if(t.empty()) return -1;
+ // throw if t="UN" ?
+ // check that it is not duplicated
+ for(int i=0; i<RinexObsHeader::RegisteredRinexObsTypes.size(); i++) {
+ if(RinexObsHeader::RegisteredRinexObsTypes[i].type == t) { return 1; }
+ }
+ RinexObsHeader::RinexObsType ot;
+ if(t.size()>2) t.resize(2,' '); ot.type = stripTrailing(t);
+ if(d.size()>20) d.resize(20,' '); ot.description = stripTrailing(d);
+ if(u.size()>10) u.resize(10,' '); ot.units = stripTrailing(u);
+ ot.depend = dep;
+ RinexObsHeader::RegisteredRinexObsTypes.push_back(ot);
+ return 0;
+ }
+
+ // Pretty print a list of standard Rinex observation types
+ void DisplayStandardRinexObsTypes(ostream& s)
+ {
+ s << "The list of standard Rinex obs types:\n";
+ s << " OT Description Units\n";
+ s << " -- -------------------- ---------\n";
+ for(int i=0; i<RinexObsHeader::StandardRinexObsTypes.size(); i++) {
+ string line;
+ line = string(" ")+RinexObsHeader::StandardRinexObsTypes[i].type;
+ line += leftJustify(string(" ")+RinexObsHeader::StandardRinexObsTypes[i].description,21);
+ line += leftJustify(string(" ")+RinexObsHeader::StandardRinexObsTypes[i].units,11);
+ s << line << endl;
+ }
+ }
+
+ // Pretty print a list of registered extended Rinex observation types
+ void DisplayExtendedRinexObsTypes(ostream& s)
+ {
+ s << "The list of available extended Rinex obs types:\n";
+ s << " OT Description Units Required input (EP=ephemeris,PS=Rx Position)\n";
+ s << " -- -------------------- --------- ------------------\n";
+ for(int i=RinexObsHeader::StandardRinexObsTypes.size();
+ i<RinexObsHeader::RegisteredRinexObsTypes.size(); i++) {
+ string line;
+ line = string(" ")+RinexObsHeader::RegisteredRinexObsTypes[i].type;
+ line += leftJustify(string(" ")+RinexObsHeader::RegisteredRinexObsTypes[i].description,21);
+ line += leftJustify(string(" ")+RinexObsHeader::RegisteredRinexObsTypes[i].units,11);
+ for(int j=1; j<=6; j++) {
+ if(j==3 || j==4) continue;
+ if(RinexObsHeader::RegisteredRinexObsTypes[i].depend &
+ RinexObsHeader::StandardRinexObsTypes[j].depend)
+ line += string(" ")+RinexObsHeader::StandardRinexObsTypes[j].type;
+ else line += string(" ");
+ }
+ if(RinexObsHeader::RegisteredRinexObsTypes[i].depend & RinexObsHeader::RinexObsType::EPdepend)
+ line += string(" EP"); else line += string(" ");
+ if(RinexObsHeader::RegisteredRinexObsTypes[i].depend & RinexObsHeader::RinexObsType::PSdepend)
+ line += string(" PS"); else line += string(" ");
+ s << line << endl;
+ }
+ }
+
+} // namespace gpstk
diff --git a/dev/src/RinexObsHeader.hpp b/dev/src/RinexObsHeader.hpp
new file mode 100644
index 0000000..c9db470
--- /dev/null
+++ b/dev/src/RinexObsHeader.hpp
@@ -0,0 +1,373 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file RinexObsHeader.hpp
+ * Encapsulate header of Rinex observation file, including I/O
+ */
+
+#ifndef GPSTK_RINEXOBSHEADER_HPP
+#define GPSTK_RINEXOBSHEADER_HPP
+
+#include <vector>
+#include <list>
+#include <map>
+#include <iostream>
+#include <iomanip>
+
+#include "DayTime.hpp"
+#include "FFStream.hpp"
+#include "RinexObsBase.hpp"
+#include "Triple.hpp"
+#include "RinexSatID.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup RinexObs */
+ //@{
+
+ /**
+ * This class models the header for a RINEX Observation File.
+ * @sa gpstk::RinexObsData and gpstk::RinexObsStream.
+ * @sa rinex_obs_test.cpp and rinex_obs_read_write.cpp for examples.
+ */
+ class RinexObsHeader : public RinexObsBase
+ {
+ public:
+
+ /// A Simple Constructor.
+ RinexObsHeader() : version(2.1), valid()
+ {}
+
+ /// Clear (empty out) header
+ inline void clear()
+ {
+ version = 2.11;
+ valid = 0;
+ commentList.clear();
+ wavelengthFactor[0] = wavelengthFactor[1] = 1;
+ extraWaveFactList.clear();
+ obsTypeList.clear();
+ numObsForSat.clear();
+ numObs = 0;
+ lastPRN.id = -1;
+ }
+
+ /**
+ * @name RinexObsHeaderFormatStrings
+ * RINEX Observation Header Formatting Strings
+ */
+ //@{
+ static const std::string versionString; ///< "RINEX VERSION / TYPE"
+ static const std::string runByString; ///< "PGM / RUN BY / DATE"
+ static const std::string commentString; ///< "COMMENT"
+ static const std::string markerNameString; ///< "MARKER NAME"
+ static const std::string markerNumberString; ///< "MARKER NUMBER"
+ static const std::string observerString; ///< "OBSERVER / AGENCY"
+ static const std::string receiverString; ///< "REC # / TYPE / VERS"
+ static const std::string antennaTypeString; ///< "ANT # / TYPE"
+ static const std::string antennaPositionString; ///< "APPROX POSITION XYZ"
+ static const std::string antennaOffsetString; ///< "ANTENNA: DELTA H/E/N"
+ static const std::string waveFactString; ///< "WAVELENGTH FACT L1/2"
+ static const std::string numObsString; ///< "# / TYPES OF OBSERV"
+ static const std::string intervalString; ///< "INTERVAL"
+ static const std::string firstTimeString; ///< "TIME OF FIRST OBS"
+ static const std::string lastTimeString; ///< "TIME OF LAST OBS"
+ static const std::string receiverOffsetString; ///< "RCV CLOCK OFFS APPL"
+ static const std::string leapSecondsString; ///< "LEAP SECONDS"
+ static const std::string numSatsString; ///< "# OF SATELLITES"
+ static const std::string prnObsString; ///< "PRN / # OF OBS"
+ static const std::string endOfHeader; ///< "END OF HEADER"
+ //@}
+
+ /// Validity bits for the RINEX Observation Header
+ enum validBits
+ {
+ versionValid = 0x01, ///< "RINEX VERSION / TYPE"
+ runByValid = 0x02, ///< "PGM / RUN BY / DATE"
+ commentValid = 0x04, ///< "COMMENT"
+ markerNameValid = 0x08, ///< "MARKER NAME"
+ markerNumberValid = 0x010, ///< "MARKER NUMBER"
+ observerValid = 0x020, ///< "OBSERVER / AGENCY"
+ receiverValid = 0x040, ///< "REC # / TYPE / VERS"
+ antennaTypeValid = 0x080, ///< "ANT # / TYPE"
+ antennaPositionValid = 0x0100, ///< "APPROX POSITION XYZ"
+ antennaOffsetValid = 0x0200, ///< "ANTENNA: DELTA H/E/N"
+ waveFactValid = 0x0400, ///< "WAVELENGTH FACT L1/2"
+ obsTypeValid = 0x0800, ///< "# / TYPES OF OBSERV"
+ intervalValid = 0x01000, ///< "INTERVAL"
+ firstTimeValid = 0x02000, ///< "TIME OF FIRST OBS"
+ lastTimeValid = 0x04000, ///< "TIME OF LAST OBS"
+ receiverOffsetValid = 0x08000, ///< "RCV CLOCK OFFS APPL"
+ leapSecondsValid = 0x0100000, ///< "LEAP SECONDS"
+ numSatsValid = 0x0200000, ///< "# OF SATELLITES"
+ prnObsValid = 0x0400000, ///< "PRN / # OF OBS"
+
+ endValid = 0x080000000, ///< "END OF HEADER"
+
+ /// This mask is for all required valid fields for RINEX 2.0
+ allValid20 = 0x080002FEB,
+ /// This mask is for all required valid fields for RINEX 2.1
+ allValid21 = 0x080002FEB,
+ /// This mask is for all required valid fields for RINEX 2.11
+ allValid211 = 0x080002FEB
+ };
+
+ /// RINEX Observation Types
+ struct RinexObsType
+ {
+ std::string type; ///< 2- char type e.g. L1, P2
+ std::string description; ///< 20- char description (optional) e.g. "L1 pseudorange"
+ std::string units; ///< 10- char units (optional) e.g. "meters"
+ unsigned int depend;
+ RinexObsType() : type(std::string("UN")),description(std::string("Unknown or Invalid")),
+ units(std::string("")),depend(0) {}
+ RinexObsType(std::string t, std::string d, std::string u, unsigned int dep=0) :
+ type(t),description(d),units(u),depend(dep) {}
+ static const unsigned int C1depend;
+ static const unsigned int L1depend;
+ static const unsigned int L2depend;
+ static const unsigned int P1depend;
+ static const unsigned int P2depend;
+ static const unsigned int EPdepend;
+ static const unsigned int PSdepend;
+ };
+
+ /** @name Standard RINEX observation types
+ */
+ //@{
+ static const RinexObsType UN;
+ static const RinexObsType L1;
+ static const RinexObsType L2;
+ static const RinexObsType C1;
+ static const RinexObsType C2;
+ static const RinexObsType P1;
+ static const RinexObsType P2;
+ static const RinexObsType D1;
+ static const RinexObsType D2;
+ static const RinexObsType S1;
+ static const RinexObsType S2;
+ static const RinexObsType T1;
+ static const RinexObsType T2;
+ static const RinexObsType C5;
+ static const RinexObsType L5;
+ static const RinexObsType D5;
+ static const RinexObsType S5;
+ // Galileo only
+ static const RinexObsType C6;
+ static const RinexObsType L6;
+ static const RinexObsType D6;
+ static const RinexObsType S6;
+ static const RinexObsType C7;
+ static const RinexObsType L7;
+ static const RinexObsType D7;
+ static const RinexObsType S7;
+ static const RinexObsType C8;
+ static const RinexObsType L8;
+ static const RinexObsType D8;
+ static const RinexObsType S8;
+
+ //@}
+
+ static const std::vector<RinexObsType> StandardRinexObsTypes;
+ static std::vector<RinexObsType> RegisteredRinexObsTypes;
+
+ /// Holds the data for the extra Wavelength Factor lines
+ struct ExtraWaveFact
+ {
+ /// List of PRNs with this wavelength factor.
+ std::vector<SatID> satList;
+ /// The vector of wavelength factor values.
+ short wavelengthFactor[2];
+ };
+
+ /** @name RinexObsHeaderValues
+ */
+ //@{
+ double version; ///< RINEX VERSION & TYPE
+ std::string fileType; ///< RINEX FILETYPE (Observation Navigation etc)
+ //std::string system_str; ///< The string (for file i/o) giving the RINEX system
+ RinexSatID system; ///< The RINEX satellite system
+ std::string fileProgram, ///< The program used to generate this file
+ fileAgency, ///< Who ran the program.
+ date; ///< When the program was run.
+ std::vector<std::string> commentList; ///< Comments in header (optional)
+ std::string markerName, ///< MARKER NAME
+ markerNumber; ///< MARKER NUMBER (optional)
+ std::string observer, ///< OBSERVER : who collected the data
+ agency; ///< OBSERVER'S AGENCY
+ std::string recNo, ///< RECEIVER NUMBER
+ recType, ///< RECEIVER TYPE
+ recVers; ///< RECEIVER VERSION
+ std::string antNo, ///< ANTENNA NUMBER
+ antType; ///< ANTENNA TYPE
+ gpstk::Triple antennaPosition; ///< APPROXIMATE POSITION XYZ
+ gpstk::Triple antennaOffset; ///< ANTENNA: DELTA H/E/N
+ short wavelengthFactor[2]; ///< default WAVELENGTH FACTORS
+ std::vector<ExtraWaveFact> extraWaveFactList; ///< extra (per PRN) WAVELENGTH FACTORS
+ std::vector<RinexObsType> obsTypeList; ///< NUMBER & TYPES OF OBSERV
+ double interval; ///< INTERVAL (optional)
+ DayTime firstObs ; ///< TIME OF FIRST OBS
+ RinexSatID firstSystem; ///< RINEX satellite system of FIRST OBS timetag
+ DayTime lastObs ; ///< TIME OF LAST OBS (optional)
+ RinexSatID lastSystem; ///< RINEX satellite system of LAST OBS timetag
+ int receiverOffset; ///< RCV CLOCK OFFS APPL (optional)
+ int leapSeconds; ///< LEAP SECONDS (optional)
+ short numSVs; ///< NUMBER OF SATELLITES in following map (optional)
+ std::map<SatID, std::vector<int> > numObsForSat; ///< PRN / # OF OBS (optional)
+ unsigned long valid; ///< Bits set when individual header members are present and valid
+ int numObs; ///< used to save the number of obs on # / TYPES continuation lines.
+ RinexSatID lastPRN; ///< used to save the current PRN while reading PRN/OBS continuation lines.
+ //@}
+
+ /// Destructor
+ virtual ~RinexObsHeader() {}
+
+ // The next four lines is our common interface
+ /// RinexObsHeader is a "header" so this function always returns true.
+ virtual bool isHeader() const {return true;}
+
+ /**
+ * This is a simple Debug output function.
+ * It simply outputs the version, name and antenna number of this
+ * RINEX header.
+ */
+ virtual void dump(std::ostream& s) const;
+
+ /**
+ * This function converts the string in \a oneObs to a RinexObsType.
+ */
+ static RinexObsType convertObsType(const std::string& oneObs)
+ throw(FFStreamError);
+
+ /**
+ * This function converts the RinexObsType in \a oneObs to a string.
+ */
+ static std::string convertObsType(const RinexObsType& oneObs)
+ throw(FFStreamError);
+
+ /**
+ * Parse a single header record, and modify valid accordingly.
+ * Used by reallyGetRecord for both RinexObsHeader and RinexObsData.
+ */
+ void ParseHeaderRecord(std::string& line)
+ throw(FFStreamError);
+
+ /// Compute the number of valid header records which WriteHeaderRecords() will write
+ int NumberHeaderRecordsToBeWritten(void) const throw();
+
+ /**
+ * Write all valid header records to the given stream.
+ * Used by reallyPutRecord for both RinexObsHeader and RinexObsData.
+ */
+ void WriteHeaderRecords(FFStream& s) const
+ throw(FFStreamError, gpstk::StringUtils::StringException);
+
+ /// Return boolean : is this a valid Rinex header?
+ bool isValid() const { return ((valid & allValid20) == allValid20); }
+
+ protected:
+ /**
+ * outputs this record to the stream correctly formatted.
+ */
+ virtual void reallyPutRecord(FFStream& s) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ /**
+ * This function retrieves the RINEX Header from the given FFStream.
+ * If an stream error is encountered, the stream is reset to its
+ * original position and its fail-bit is set.
+ * @throws StringException when a StringUtils function fails
+ * @throws FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to its pre-read position.
+ */
+ virtual void reallyGetRecord(FFStream& s)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ friend class RinexObsData;
+
+ private:
+ /// Converts the daytime \a dt into a Rinex Obs time
+ /// string for the header
+ std::string writeTime(const DayTime& dt) const;
+
+ /**
+ * This function sets the time for this header.
+ * It looks at \a line to obtain the needed information.
+ */
+ DayTime parseTime(const std::string& line) const;
+
+ }; // end class RinexObsHeader
+
+ /// operator == for RinexObsHeader::RinexObsType
+ inline bool operator==(const RinexObsHeader::RinexObsType& x,
+ const RinexObsHeader::RinexObsType& y) { return (x.type == y.type); }
+
+ /// operator < for RinexObsHeader::RinexObsType
+ inline bool operator<(const RinexObsHeader::RinexObsType& x,
+ const RinexObsHeader::RinexObsType& y) { return (x.type < y.type); }
+
+ /// operator << for RinexObsHeader::RinexObsType
+ inline std::ostream& operator<<(std::ostream& s,
+ const RinexObsHeader::RinexObsType rot)
+ {
+ return s << "Type=" << rot.type
+ << ", Description=" << rot.description
+ << ", Units=" << rot.units;
+ }
+
+ /// Function to allow user to define a new RINEX observation type
+ int RegisterExtendedRinexObsType(std::string t,
+ std::string d=std::string("(undefined)"),
+ std::string u=std::string("undefined"),
+ unsigned int dep=0);
+
+ /// Pretty print a list of standard Rinex observation types
+ void DisplayStandardRinexObsTypes(std::ostream& s);
+
+ /// Pretty print a list of registered extended Rinex observation types
+ void DisplayExtendedRinexObsTypes(std::ostream& s);
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/RinexObsID.cpp b/dev/src/RinexObsID.cpp
new file mode 100644
index 0000000..bfc8029
--- /dev/null
+++ b/dev/src/RinexObsID.cpp
@@ -0,0 +1,64 @@
+#pragma ident "$Id$"
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file RinexObsID.cpp
+ * gpstk::RinexObsID - Identifies types of observations
+ */
+
+#include "RinexObsID.hpp"
+
+namespace gpstk
+{
+ RinexObsID::RinexObsID(const RinexObsHeader::RinexObsType& rot)
+ : ObsID()
+ {
+ // Note that the choice of tracking code for L1, L2, S1, S2 are arbitrary
+ // since they are ambiguous in the rinex 2 specifications
+ if (rot == RinexObsHeader::L1) {type=otPhase; band=cbL1; code=tcP;}
+ else if (rot == RinexObsHeader::P1) {type=otRange; band=cbL1; code=tcP;}
+ else if (rot == RinexObsHeader::C1) {type=otRange; band=cbL1; code=tcCA;}
+ else if (rot == RinexObsHeader::S1) {type=otSNR; band=cbL1; code=tcP;}
+ else if (rot == RinexObsHeader::D1) {type=otDoppler; band=cbL1; code=tcP;}
+
+ else if (rot == RinexObsHeader::L2) {type=otPhase; band=cbL2; code=tcP;}
+ else if (rot == RinexObsHeader::P2) {type=otRange; band=cbL2; code=tcP;}
+ else if (rot == RinexObsHeader::C2) {type=otRange; band=cbL2; code=tcC2LM;}
+ else if (rot == RinexObsHeader::S2) {type=otSNR; band=cbL2; code=tcP;}
+ else if (rot == RinexObsHeader::D2) {type=otDoppler; band=cbL2; code=tcP;}
+ }
+}
diff --git a/dev/src/RinexObsID.hpp b/dev/src/RinexObsID.hpp
new file mode 100644
index 0000000..804e7e6
--- /dev/null
+++ b/dev/src/RinexObsID.hpp
@@ -0,0 +1,70 @@
+#pragma ident "$Id$"
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef GPSTK_RINEXOBSID_HPP
+#define GPSTK_RINEXOBSID_HPP
+
+/**
+ * @file RinexObsID.hpp
+ * gpstk::RinexObsID - A specialization of ObsID that has Rinex unique
+ stuff. The intent is to migrate the RinexObs classes to use this in lieu
+ of the RinexObsType subclass of RinexObsHeader. That probably won't happen
+ until the code to support rinex 3 is written.
+ */
+#include "ObsID.hpp"
+#include "RinexObsHeader.hpp"
+
+namespace gpstk
+{
+ class RinexObsID : public ObsID
+ {
+ public:
+ /// empty constructor, creates an invalid object
+ RinexObsID()
+ : ObsID() {};
+
+ /// Explicit constructior
+ RinexObsID(ObservationType ot, CarrierBand cb, TrackingCode tc)
+ : ObsID(ot, cb, tc) {};
+
+ /// a conversion constructor
+ RinexObsID(const RinexObsHeader::RinexObsType& rot);
+
+ };
+
+} // namespace gpstk
+#endif
diff --git a/dev/src/RinexObsStream.hpp b/dev/src/RinexObsStream.hpp
new file mode 100644
index 0000000..2837d48
--- /dev/null
+++ b/dev/src/RinexObsStream.hpp
@@ -0,0 +1,110 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file RinexObsStream.hpp
+ * File stream for Rinex observation file data
+ */
+
+#ifndef GPSTK_RINEXOBSSTREAM_HPP
+#define GPSTK_RINEXOBSSTREAM_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include <vector>
+#include <list>
+#include <map>
+
+#include "FFTextStream.hpp"
+#include "RinexObsHeader.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup RinexObs */
+ //@{
+
+ /**
+ * This class to reads a RINEX files.
+ *
+ * @sa gpstk::RinexObsData and gpstk::RinexObsHeader.
+ * @sa rinex_obs_test.cpp and rinex_obs_read_write.cpp for examples.
+ */
+ class RinexObsStream : public FFTextStream
+ {
+ public:
+ /// Default constructor
+ RinexObsStream()
+ : headerRead(false)
+ {}
+
+ /**
+ * The Constructor.
+ * @param fn the RINEX file to open
+ * @param mode how to open \a fn.
+ */
+ RinexObsStream(const char* fn, std::ios::openmode mode=std::ios::in)
+ : FFTextStream(fn, mode), headerRead(false) {}
+
+ /// Destructor
+ virtual ~RinexObsStream() {}
+
+ /// overrides open to reset the header
+ virtual void open(const char* fn, std::ios::openmode mode)
+ {
+ FFTextStream::open(fn, mode);
+ headerRead = false;
+ header = RinexObsHeader();
+ }
+
+ /// Whether or not the RinexObsHeader has been read
+ bool headerRead;
+ /// The header for this file.
+ RinexObsHeader header;
+ };
+
+ //@}
+
+} // namespace
+
+#endif
+
diff --git a/dev/src/RinexSatID.cpp b/dev/src/RinexSatID.cpp
new file mode 100644
index 0000000..2707d9d
--- /dev/null
+++ b/dev/src/RinexSatID.cpp
@@ -0,0 +1,51 @@
+#pragma ident "$Id: $"
+
+#include "RinexSatID.hpp"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+/**
+ * @file RinexSatID.cpp
+ * gpstk::RinexSatID - navigation system-independent representation of a satellite
+ * as defined by the RINEX specification.
+ */
+
+namespace gpstk
+{
+ char RinexSatID::fillchar = '0';
+}
diff --git a/dev/src/RinexSatID.hpp b/dev/src/RinexSatID.hpp
new file mode 100644
index 0000000..2f48f2a
--- /dev/null
+++ b/dev/src/RinexSatID.hpp
@@ -0,0 +1,205 @@
+#pragma ident "$Id: SatID.hpp 105 2006-08-31 15:53:26Z ocibu $"
+
+#ifndef GPSTK_RINEX_SATID_HPP
+#define GPSTK_RINEX_SATID_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <iostream>
+#include <sstream>
+#include <iomanip>
+
+#include "Exception.hpp"
+#include "SatID.hpp"
+
+/**
+ * @file RinexSatID.hpp
+ * gpstk::RinexSatID - navigation system-independent representation of a satellite
+ * as defined by the RINEX specification.
+ */
+
+namespace gpstk
+{
+ class RinexSatID : public SatID
+ {
+ public:
+
+ /// empty constructor, creates an invalid object
+ RinexSatID() throw() { id=-1; system=systemGPS; }
+
+ /// explicit constructor, no defaults, RINEX systems only
+ RinexSatID(int p, SatelliteSystem s) throw()
+ {
+ id = p; system = s;
+ switch(s) {
+ case systemGPS:
+ case systemGalileo:
+ case systemGlonass:
+ case systemGeosync:
+ case systemTransit:
+ case systemMixed: break;
+ // invalidate anything non-RINEX
+ default:
+ system = systemUnknown;
+ id = -1;
+ }
+ }
+
+ /// constructor from string
+ RinexSatID(const std::string& str) throw(Exception)
+ {
+ try { fromString(str); }
+ catch(Exception& e) { GPSTK_RETHROW(e); }
+ }
+
+ /// cast SatID to RinexSatID
+ RinexSatID(const SatID& sat) throw()
+ { *this = RinexSatID(sat.id,sat.system); }
+
+ /// set the fill character used in output
+ /// return the current fill character
+ char setfill(char c) throw()
+ { char csave=fillchar; fillchar=c; return csave; }
+
+ /// get the fill character used in output
+ char getfill() throw()
+ { return fillchar; }
+
+ // operator=, copy constructor and destructor built by compiler
+
+ /// return a character based on the system
+ /// return the single-character system descriptor
+ /// @note return only RINEX types, for non-RINEX systems return '?'
+ char systemChar() const throw()
+ {
+ switch(system) {
+ case systemGPS: return 'G';
+ case systemGalileo: return 'E';
+ case systemGlonass: return 'R';
+ case systemGeosync: return 'S';
+ case systemTransit: return 'T';
+ case systemMixed: return 'M';
+ default: return '?';
+ }
+ };
+
+ std::string systemString() const throw()
+ {
+ switch(system) {
+ case systemGPS: return "GPS";
+ case systemGalileo: return "Galileo";
+ case systemGlonass: return "Glonass";
+ case systemGeosync: return "Geosync";
+ case systemTransit: return "Transit";
+ case systemMixed: return "Mixed";
+ default: return "Unknown";
+ }
+ };
+
+ /// read from string
+ /// @note GPS is default system (no or unknown system char)
+ void fromString(const std::string s) throw(Exception)
+ {
+ char c;
+ std::istringstream iss(s);
+
+ id = -1; system = systemGPS; // default
+ if(s.find_first_not_of(std::string(" \t\n"), 0) == std::string::npos)
+ return; // all whitespace yields the default
+
+ iss >> c; // read one character (non-whitespace)
+ switch(c)
+ {
+ // no leading system character
+ case '0': case '1': case '2': case '3': case '4':
+ case '5': case '6': case '7': case '8': case '9':
+ iss.putback(c);
+ system = SatID::systemGPS;
+ break;
+ case 'R': case 'r':
+ system = SatID::systemGlonass;
+ break;
+ case 'T': case 't':
+ system = SatID::systemTransit;
+ break;
+ case 'S': case 's':
+ system = SatID::systemGeosync;
+ break;
+ case 'E': case 'e':
+ system = SatID::systemGalileo;
+ break;
+ case 'M': case 'm':
+ system = SatID::systemMixed;
+ break;
+ case ' ': case 'G': case 'g':
+ system = SatID::systemGPS;
+ break;
+ default: // non-RINEX system character
+ Exception e(std::string("Invalid system character \"")
+ + c + std::string("\""));
+ GPSTK_THROW(e);
+ }
+ iss >> id;
+ if(id <= 0) id = -1;
+ }
+
+ /// convert to string
+ std::string toString() const throw()
+ {
+ std::ostringstream oss;
+ oss.fill(fillchar);
+ oss << systemChar()
+ << std::setw(2) << id;
+ return oss.str();
+ }
+
+ private:
+
+ static char fillchar; ///< fill character used during stream output
+
+ }; // class RinexSatID
+
+ /// stream output for RinexSatID
+ inline std::ostream& operator<<(std::ostream& s, const RinexSatID& sat)
+ {
+ s << sat.toString();
+ return s;
+ }
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/RinexUtilities.cpp b/dev/src/RinexUtilities.cpp
new file mode 100644
index 0000000..9ba9ed3
--- /dev/null
+++ b/dev/src/RinexUtilities.cpp
@@ -0,0 +1,309 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file RinexUtilities.cpp
+ * Miscellaneous RINEX-related utilities.
+ */
+
+//------------------------------------------------------------------------------------
+// system includes
+
+// GPSTk includes
+#include "RinexObsStream.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexNavStream.hpp"
+#include "RinexNavHeader.hpp"
+#include "RinexNavData.hpp"
+#include "RinexUtilities.hpp"
+
+namespace gpstk {
+
+using namespace std;
+using namespace gpstk;
+
+//------------------------------------------------------------------------------
+int RegisterARLUTExtendedTypes(void)
+{
+try {
+ unsigned int EPPS = //0x60
+ RinexObsHeader::RinexObsType::EPdepend | RinexObsHeader::RinexObsType::PSdepend;
+ unsigned int L1L2 = //0x06
+ RinexObsHeader::RinexObsType::L1depend | RinexObsHeader::RinexObsType::L2depend;
+ unsigned int P1P2 = //0x18
+ RinexObsHeader::RinexObsType::P1depend | RinexObsHeader::RinexObsType::P2depend;
+ unsigned int EPEP=RinexObsHeader::RinexObsType::EPdepend;//0x20
+ unsigned int PELL=EPPS | L1L2;//0x66
+ unsigned int PEPP=EPPS | P1P2;//0x78
+ unsigned int PsLs=L1L2 | P1P2;//0x1E
+ unsigned int L1P1 = //0x0A
+ RinexObsHeader::RinexObsType::L1depend | RinexObsHeader::RinexObsType::P1depend;
+ unsigned int L2P2 = //0x14
+ RinexObsHeader::RinexObsType::L2depend | RinexObsHeader::RinexObsType::P2depend;
+ int j;
+ j = RegisterExtendedRinexObsType("ER","Ephemeris range", "meters", EPPS);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("RI","Iono Delay, Range", "meters", P1P2);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("PI","Iono Delay, Phase", "meters", L1L2);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("TR","Tropospheric Delay", "meters", EPPS);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("RL","Relativity Correct.", "meters", EPEP);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("SC","SV Clock Bias", "meters", EPEP);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("EL","Elevation Angle", "degrees",EPPS);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("AZ","Azimuth Angle", "degrees",EPPS);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("SR","Slant TEC (PR)", "TECU", P1P2);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("SP","Slant TEC (Ph)", "TECU", L1L2);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("VR","Vertical TEC (PR)", "TECU", PEPP);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("VP","Vertical TEC (Ph)", "TECU", PELL);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("LA","Lat Iono Intercept", "degrees",EPPS);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("LO","Lon Iono Intercept", "degrees",EPPS);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("P3","TFC(IF) Pseudorange", "meters", P1P2);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("L3","TFC(IF) Phase", "meters", L1L2);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("PF","GeoFree Pseudorange", "meters", P1P2);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("LF","GeoFree Phase", "meters", L1L2);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("PW","WideLane Pseudorange","meters", P1P2);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("LW","WideLane Phase", "meters", L1L2);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("MP","Multipath (=M3)", "meters", PsLs);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("R1","(P1 + L1)/2" ,"meters", L1P1);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("R2","(P2 + L2)/2" ,"meters", L2P2);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("M1","L1 Range minus Phase","meters", L1P1);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("M2","L2 Range minus Phase","meters", L2P2);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("M3","IF Range minus Phase","meters", PsLs);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("M4","GF Range minus Phase","meters", PsLs);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("M5","WL Range minus Phase","meters", PsLs);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("XR","Non-dispersive Range","meters", PsLs);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("XI","Ionospheric delay", "meters", PsLs);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("X1","Range Error L1", "meters", PsLs);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("X2","Range Error L2", "meters", PsLs);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("SX","Satellite ECEF-X", "meters", EPEP);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("SY","Satellite ECEF-Y", "meters", EPEP);
+ if(j) return j;
+ j = RegisterExtendedRinexObsType("SZ","Satellite ECEF-Z", "meters", EPEP);
+ if(j) return j;
+ return 0;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+bool isSP3File(const string& file)
+{
+try {
+ SP3Header header;
+ SP3Stream strm(file.c_str());
+ strm.exceptions(fstream::failbit);
+ try { strm >> header; } catch(Exception& e) { return false; }
+ strm.close();
+ return true;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+bool isRinexNavFile(const string& file)
+{
+try {
+ RinexNavHeader header;
+ RinexNavStream rnstream;
+ try {
+ rnstream.open(file.c_str(),ios::in);
+ if(!rnstream) return false;
+ rnstream.exceptions(fstream::failbit);
+ }
+ catch(Exception& e) { return false; }
+ catch(exception& e) { return false; }
+ try { rnstream >> header; }
+ catch(Exception& e) { return false; }
+ catch(exception& e) { return false; }
+ rnstream.close();
+ return true;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+bool isRinexObsFile(const string& file)
+{
+try {
+ RinexObsHeader header;
+ RinexObsStream rostream;
+ try {
+ rostream.open(file.c_str(),ios::in);
+ if(!rostream) return false;
+ rostream.exceptions(fstream::failbit);
+ }
+ catch(Exception& e) { return false; }
+ catch(exception& e) { return false; }
+ try { rostream >> header; }
+ catch(Exception& e) { return false; }
+ catch(exception& e) { return false; }
+ rostream.close();
+ return true;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+void sortRinexObsFiles(vector<string>& files)
+{
+try {
+ // build a hash with key = start time, value = filename
+ map<DayTime,string> hash;
+ for(int n=0; n<files.size(); n++) {
+ RinexObsHeader header;
+ RinexObsStream rostream(files[n].c_str());
+ rostream.exceptions(fstream::failbit);
+ try { rostream >> header; } catch(Exception& e) {
+ rostream.close();
+ continue;
+ }
+ rostream.close();
+ if(!header.isValid()) continue;
+ hash[header.firstObs] = files[n];
+ }
+ // return the sorted file names
+ files.clear();
+ map<DayTime,string>::const_iterator it = hash.begin();
+ while(it != hash.end()) {
+ files.push_back(it->second);
+ it++;
+ }
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+//------------------------------------------------------------------------------------
+int FillEphemerisStore(const vector<string>& files, SP3EphemerisStore& PE,
+ BCEphemerisStore& BCE)
+{
+try {
+ int nread=0;
+ RinexNavHeader rnh;
+ RinexNavData rne;
+ for(int i=0; i<files.size(); i++) {
+ if(files[i].empty()) throw Exception("File name is empty");
+ RinexNavStream strm(files[i].c_str());
+ if(!strm) throw Exception("Could not open file " + files[i]);
+ strm.close();
+ if(isRinexNavFile(files[i])) {
+ RinexNavStream RNFileIn(files[i].c_str());
+ RNFileIn.exceptions(fstream::failbit);
+ try {
+ RNFileIn >> rnh;
+ while (RNFileIn >> rne)
+ {
+ // check health...
+ if(rne.health == 0)
+ BCE.addEphemeris(rne);
+ }
+ nread++;
+ }
+ catch(Exception& e) {
+ //cerr << "Caught Exception while reading Rinex Nav file " << files[i]
+ // << " :\n" << e << endl;
+ //continue;
+ GPSTK_RETHROW(e);
+ }
+ }
+ else if(isSP3File(files[i])) {
+ try {
+ PE.loadFile(files[i]);
+ }
+ catch(Exception& e) {
+ //cerr << "Caught Exception while reading SP3 Nav file " << files[i]
+ // << " :\n" << e << endl;
+ //continue;
+ GPSTK_RETHROW(e);
+ }
+ nread++;
+ }
+ else
+ throw Exception("File " + files[i] + " is neither BCE nor PE file.");
+ }
+ return nread;
+}
+catch(Exception& e) { GPSTK_RETHROW(e); }
+catch(exception& e) { Exception E("std except: "+string(e.what())); GPSTK_THROW(E); }
+catch(...) { Exception e("Unknown exception"); GPSTK_THROW(e); }
+}
+
+} // end namespace gpstk
+
+//------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------
diff --git a/dev/src/RinexUtilities.hpp b/dev/src/RinexUtilities.hpp
new file mode 100644
index 0000000..cd1f191
--- /dev/null
+++ b/dev/src/RinexUtilities.hpp
@@ -0,0 +1,110 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file RinexUtilities.hpp
+ * Miscellaneous RINEX-related utilities for use with geomatics lib.
+ */
+
+#ifndef GPSTK_RINEX_UTILITIES_INCLUDE
+#define GPSTK_RINEX_UTILITIES_INCLUDE
+
+//------------------------------------------------------------------------------------
+// system includes
+#include <string>
+#include <vector>
+
+// GPSTk
+#include "BCEphemerisStore.hpp"
+#include "SP3EphemerisStore.hpp"
+
+namespace gpstk {
+//------------------------------------------------------------------------------------
+/** @defgroup rinexutils Rinex Utilities */
+//@{
+ /** Register commonly used extended Rinex observation types.
+ * @return 0 ok, or the return value of RegisterExtendedRinexObsType().
+ */
+int RegisterARLUTExtendedTypes(void);
+
+ /** Determine if the given file is an SP3 format file.
+ * @param file the filename
+ * @return true if the file is SP3 format.
+ */
+bool isSP3File(const std::string& file);
+
+ /** Determine if the given file is a Rinex navigation file.
+ * Open the file, read the header, and test its validity.
+ * @param file the filename
+ * @return true if the file is a valid Rinex navigation file.
+ */
+bool isRinexNavFile(const std::string& file);
+
+ /** Determine if the given file is a Rinex observation file.
+ * Open the file, read the header, and test its validity.
+ * @param file the filename
+ * @return true if the file is a valid Rinex observation file.
+ */
+bool isRinexObsFile(const std::string& file);
+
+ /** Sort a vector of RINEX obs file names on the time of the first observation
+ * as found in the header. Return the sorted list in the calling argument.
+ * Do not include files that are found not to be RINEX obs files, or that have
+ * invalid headers.
+ * @param files vector<string> containing filenames, with path
+ */
+void sortRinexObsFiles(std::vector<std::string>& files);
+
+ /** Open the files and add to the appropriate EphemerisStore.
+ * @param files vector of the filenames.
+ * @param PE an SP3EphemerisStore into which to put SP3 ephemeris data.
+ * @param BCE a BCEphemerisStore into which to put broadcast
+ * (Rinex Nav) ephemeris data.
+ * @return the number of files successfully read.
+ * Throws on errors.
+ */
+int FillEphemerisStore(const std::vector<std::string>& files,
+ gpstk::SP3EphemerisStore& PE,
+ gpstk::BCEphemerisStore& BCE);
+
+//@}
+
+} // end namespace gpstk
+
+#endif
+//------------------------------------------------------------------------------------
diff --git a/dev/src/RungeKutta4.cpp b/dev/src/RungeKutta4.cpp
new file mode 100644
index 0000000..32e7807
--- /dev/null
+++ b/dev/src/RungeKutta4.cpp
@@ -0,0 +1,120 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "RungeKutta4.hpp"
+
+/*
+ * @file RungeKutta4.hpp
+ * Implementation of a Runge Kutta integrator.
+ */
+
+void gpstk::RungeKutta4::integrateTo (double nextTime,
+ double stepSize)
+{
+ if (stepSize == 0)
+ stepSize = nextTime - currentTime;
+
+ bool done = false;
+
+ while (!done)
+ {
+ // Time steps
+ double ctPlusDeltaT = currentTime + stepSize;
+ double ctPlusHalfDeltaT = currentTime + (stepSize * .5);
+
+ // k1
+ k1 = stepSize * derivative(currentTime, currentState, k1);
+ tempy = currentState + (.5 * k1);
+
+ // k2
+ k2 = stepSize * derivative(ctPlusHalfDeltaT, tempy, k2);
+ tempy = currentState + (.5 * k2);
+
+ // k3
+ k3 = stepSize * derivative(ctPlusHalfDeltaT, tempy, k3);
+
+ // k4
+ k4 = stepSize * derivative(ctPlusDeltaT, tempy, k4);
+ currentState += (k1 + 2. * (k2 + k3) + k4) / 6. ;
+
+ // If we are within teps of the goal time, we are done.
+ if (fabs(currentTime + stepSize - nextTime) < teps)
+ done = true;
+
+ // If we are about to overstep, change the stepsize appropriately
+ // to hit our target final time;
+ if ((currentTime + stepSize) > nextTime)
+ stepSize = (nextTime - currentTime);
+
+ currentTime += stepSize;
+ }
+
+ currentTime = nextTime;
+}
+
+void gpstk::RungeKutta4::integrateTo (double nextTime,
+ Matrix<double>& error,
+ double stepSize)
+{
+ double deltaT = nextTime - currentTime;
+
+ // Save the current state and time for the second step.
+ double savedTime = currentTime;
+ gpstk::Matrix<double> savedState = currentState;
+
+ // First, take the integration using two steps.
+ integrateTo(currentTime + (deltaT * 0.5), stepSize);
+ integrateTo(nextTime, stepSize);
+
+ // Save the results.
+ gpstk::Matrix<double> twoStepState = currentState;
+
+ // Restore the original state.
+ currentTime = savedTime;
+ currentState = savedState;
+
+ // Now, take the integration using only one step.
+ integrateTo(nextTime, stepSize);
+ gpstk::Matrix<double> oneStepState = currentState;
+
+ error = oneStepState - twoStepState;
+
+ currentState = twoStepState + (twoStepState - oneStepState) / 15.0;
+
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/dev/src/RungeKutta4.hpp b/dev/src/RungeKutta4.hpp
new file mode 100644
index 0000000..582506a
--- /dev/null
+++ b/dev/src/RungeKutta4.hpp
@@ -0,0 +1,144 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+
+/*
+ * @file RungeKutta4.hpp
+ * RungeKutta4 class. Provides several versions of the Runge Kutta integration
+ * The algorithms are based on Ch.16 of "Numerical Recipes in C" but the
+ * implementation is entirely independent, i.e., this isn't the source
+ * distributed with the text.
+ */
+
+#ifndef GPSTK_RUNGEKUTTA4_H
+#define GPSTK_RUNGEKUTTA4_H
+
+#include "Matrix.hpp"
+
+namespace gpstk
+{
+
+ /** @addtogroup math */
+ //@{
+
+ /** The RungeKutta4 class provides a collection of integration routines
+ * that work on a Matrix of doubles. Integrations use a fixed step-size.
+ */
+ class RungeKutta4
+ {
+ public:
+ /** Constructor.
+ * @param initalState a reference to the original Matrix to work on
+ * that is copied to an internal Matrix.
+ * @param initialTime the time at which to begin integrations
+ * @param timeEpsilon how close the final internal timestep must match
+ * the specified final time of an integration
+ */
+ RungeKutta4(const Matrix<double>& initialState,
+ double initialTime=0,
+ double timeEpsilon=1e-18)
+ : currentState(initialState), currentTime(initialTime),
+ teps(timeEpsilon), M(initialState.rows()), N(initialState.cols()),
+ k1(M,N), k2(M,N), k3(M,N), k4(M,N), yn(M,N), tempy(M,N)
+ { }
+
+ /** The classic Runge Kutta 4th Order Integration Algorithm.
+ * This routine integrates using a Runge Kutta 4th order algorithm
+ * with a fixed step from the internal time to \a nextTime.
+ * @param nextTime the time to integrate to
+ * @param stepSize the amount time between internal integration steps
+ */
+ void integrateTo (double nextTime,
+ double stepSize = 0);
+
+ /** The classic Runge Kutta 4th-5th Order Integration Algorithm.
+ * This function integrates by applying a 4th order Runge Kutta
+ * algorithm multiple times. This provides two benefits. First, an
+ * estimate of the truncation error is returned. Second, the multiple
+ * 4th order estimates are combined to produce the 5th order estimate.
+ * @param nextTime the time to integrate to
+ * @param error the Matrix of estimated integration error
+ * (one for each element)
+ * @param stepSize the amount time between internal integration steps
+ */
+ void integrateTo (double nextTime,
+ Matrix<double>& error,
+ double stepSize = 0);
+
+ /** This is the function to be integrated.
+ * @param time the time at which to evaluate the derivative
+ * @param inState the Matrix to evaluate the derivative of at /a time.
+ * @param inStateDot the derivative of /a inState evaluated at /a time.
+ * @return a reference to /a inStateDot
+ */
+ virtual gpstk::Matrix<double>&
+ derivative(long double time,
+ const gpstk::Matrix<double>& inState,
+ gpstk::Matrix<double>& inStateDot) = 0;
+
+ /// Return the currnet time of the system.
+ double getTime(void)
+ { return currentTime; }
+
+ /// Return the current state of the system.
+ const Matrix<double>& getState(void)
+ { return currentState; }
+
+ protected:
+
+ /// Current time of the system
+ double currentTime;
+
+ /// State of the system at the current time
+ gpstk::Matrix<double> currentState;
+
+ double teps; //< Precision for time calculations and comparisons
+ int M; //< Number of rows in the state
+ int N; //< Number of columns in the state
+
+ private:
+
+ /// Disallow copy constructor
+ RungeKutta4(const RungeKutta4& cloneDonor);
+
+ /// Disallow the assignment operator
+ RungeKutta4& operator= (const RungeKutta4& right);
+
+ /** These values are only used in the integrateTo method(s).
+ * Declaring them here keeps them from being constructed every
+ * time the integrateTo method(s) are called.
+ */
+ Matrix<double> k1, k2, k3, k4, yn, tempy;
+
+ }; // end class RungeKutta4
+
+ //@}
+
+} // end namespace gpstk
+
+#endif
+
+
diff --git a/dev/src/SEMAlmanacStore.cpp b/dev/src/SEMAlmanacStore.cpp
new file mode 100644
index 0000000..e9f0d98
--- /dev/null
+++ b/dev/src/SEMAlmanacStore.cpp
@@ -0,0 +1,107 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file SEMAlmanacStore.cpp
+ * Store SEM almanac information, and access by satellite and time
+ */
+
+#include "SEMAlmanacStore.hpp"
+
+namespace gpstk
+{
+ void SEMAlmanacStore::loadFile(const std::string& filename)
+ throw(gpstk::FileMissingException)
+ {
+ try
+ {
+ SEMStream strm(filename.c_str());
+ if (!strm)
+ {
+ FileMissingException e("File " + filename + " could not be opened.");
+ GPSTK_THROW(e);
+ }
+
+ SEMHeader header;
+ strm >> header;
+ addFile(filename, header);
+
+ SEMData rec;
+ while(strm >> rec)
+ {
+ //This is a fix to get the header and the data to share Toa and week.
+ //This should be fixed in the future
+ rec.Toa = header.Toa;
+ rec.week = header.week + 1024;
+ addAlmanac(AlmOrbit(rec));
+ }
+
+ }
+ catch (gpstk::Exception& e)
+ {
+ GPSTK_RETHROW(e);
+ }
+
+ }
+
+ gpstk::DayTime SEMAlmanacStore::getFinalTime()
+ const
+ {
+ DayTime retDT = DayTime::BEGINNING_OF_TIME;
+ UBAMap::const_iterator satItr = uba.begin();
+ while (satItr != uba.end())
+ {
+ const EngAlmMap& eam = (*satItr).second;
+
+ EngAlmMap::const_iterator nextItr;
+ for (nextItr=eam.begin(); nextItr!=eam.end(); ++nextItr)
+ {
+ const AlmOrbit& ao = (*nextItr).second;
+ try
+ {
+ DayTime testT = ao.getToaTime();
+ if (testT<retDT) retDT = testT;
+ }
+ // Not to worry, worst case method return 'BEGINNING_OF_TIME'
+ catch(...)
+ {}
+ }
+ satItr++;
+ }
+ return(retDT);
+ }
+}
diff --git a/dev/src/SEMAlmanacStore.hpp b/dev/src/SEMAlmanacStore.hpp
new file mode 100644
index 0000000..b9ca865
--- /dev/null
+++ b/dev/src/SEMAlmanacStore.hpp
@@ -0,0 +1,74 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file SEMAlmanacStore.hpp
+ * Store SEM almanac information, and access by satellite and time
+ */
+
+#ifndef SEMALMANACSTORE_HPP
+#define SEMALMANACSTORE_HPP
+
+#include "AlmanacStore.hpp"
+#include "FileStore.hpp"
+#include "SEMData.hpp"
+#include "SEMStream.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup ephemstore */
+ //@{
+
+ /// This class defines an interface to hide how we are getting an SV's
+ /// position at some point in time using almanac data.
+ class SEMAlmanacStore : public FileStore<SEMHeader>,
+ public AlmanacStore
+ {
+ public:
+
+ void loadFile(const std::string& filename)
+ throw(FileMissingException);
+
+ gpstk::DayTime getFinalTime() const;
+
+ };
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/SEMBase.hpp b/dev/src/SEMBase.hpp
new file mode 100644
index 0000000..78ab8fd
--- /dev/null
+++ b/dev/src/SEMBase.hpp
@@ -0,0 +1,78 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file SEMBase.hpp
+ * gpstk::SEMBase - base class for SEM FFData.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#ifndef SEMBASE_HPP
+#define SEMBASE_HPP
+
+#include "FFData.hpp"
+
+namespace gpstk
+{
+
+ /** @defgroup SEM SEM Almanac files */
+ //@{
+
+ /**
+ * This is a base class for all SEM-related classes.
+ */
+ class SEMBase : public FFData
+ {
+
+ public:
+
+ /// in deference to our coding standards, this is declared virtual
+ virtual ~SEMBase() {}
+
+ };
+
+ //@}
+}
+
+#endif
diff --git a/dev/src/SEMData.cpp b/dev/src/SEMData.cpp
new file mode 100644
index 0000000..4915a4c
--- /dev/null
+++ b/dev/src/SEMData.cpp
@@ -0,0 +1,198 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file SEMData.cpp
+ * Encapsulate SEM almanac file data, including I/O
+ */
+
+#include "StringUtils.hpp"
+#include "icd_200_constants.hpp"
+
+#include "SEMData.hpp"
+#include "SEMStream.hpp"
+
+
+using namespace gpstk::StringUtils;
+using namespace std;
+
+namespace gpstk
+{
+ void SEMData::reallyPutRecord(FFStream& ffs) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+ string line;
+
+ SEMStream& strm = dynamic_cast<SEMStream&>(ffs);
+
+ //First output blank line to mark between records
+ strm << std::endl;
+
+ //PRN output
+ strm << asString<short>(PRN) << endl;
+
+ //SVNnum
+ strm << asString<short>(SVNnum) << endl;
+
+ //URAnum
+ strm << asString<short>(URAnum) << endl;
+
+ //Ecc, i_offset, OMEGAdot
+ line += rightJustify(asString(doub2for(ecc,22,4,false)),23);
+ line += rightJustify(asString(doub2for(i_offset/gpstk::PI,22,4,false)),24);
+ line += rightJustify(asString(doub2for((OMEGAdot/gpstk::PI),22,4,false)),24);
+ strm << line << endl;
+ line.erase();
+
+ //Ahalf, OMEGA0, w
+ line += rightJustify(asString(doub2for(Ahalf,22,4,false)),23);
+ line += rightJustify(asString(doub2for((OMEGA0/gpstk::PI),22,4,false)),24);
+ line += rightJustify(asString(doub2for((w/gpstk::PI),22,4,false)),24);
+ strm << line << endl;
+ line.erase();
+
+ //M0, AF0, AF1
+ line += rightJustify(asString(doub2for((M0/gpstk::PI),22,4,false)),23);
+ line += rightJustify(asString(doub2for(AF0,22,4,false)),24);
+ line += rightJustify(asString(doub2for(AF1,22,4,false)),24);
+ strm << line << endl;
+ line.erase();
+
+ //SV_health
+ strm << asString<short>(SV_health) << endl;
+
+ //satConfig
+ strm << asString<short>(satConfig) << endl;
+
+
+ } // end SEMData::reallyPutRecord
+
+
+ void SEMData::reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+ string line;
+
+ SEMStream& strm = dynamic_cast<SEMStream&>(ffs);
+
+ //if(!strm.headerRead)
+ // strm >> strm.header;
+
+ SEMHeader& hdr = strm.header;
+
+ //Don't need first line - empty space
+ strm.formattedGetLine(line, true);
+
+ // Second line - PRN
+ strm.formattedGetLine(line, true);
+ PRN = asInt(line);
+
+ // Third line - SVN Number
+ // HACKHACKHACK This information might not be here??? Find out more info
+ strm.formattedGetLine(line, true);
+ SVNnum = (short) asInt(line);
+
+ // Fourth line - Average URA Number as defined in ICD-GPS-200
+ strm.formattedGetLine(line, true);
+ URAnum = (short) asInt(line);
+
+
+ // Fifth line - Eccentricity, Inclinatin Offset, and Rate of Right Ascension
+ strm.formattedGetLine(line, true);
+ ecc = asDouble(line.substr(0,23));
+ i_offset = asDouble(line.substr(24,47));
+ OMEGAdot = asDouble(line.substr(48,72));
+ i_offset *= gpstk::PI;
+ OMEGAdot *= gpstk::PI;
+
+
+ // Sixth line - Sqrt of A, Omega0, and Arg of Perigee
+ strm.formattedGetLine(line, true);
+ Ahalf = asDouble(line.substr(0,23));
+ OMEGA0 = asDouble(line.substr(24,47));
+ OMEGA0 *= gpstk::PI;
+ w = asDouble(line.substr(48,72));
+ w *= gpstk::PI;
+
+ // Seventh Line - M0, AF0, AF1
+ strm.formattedGetLine(line, true);
+ M0 = asDouble(line.substr(0,23));
+ M0 *= gpstk::PI;
+ AF0 = asDouble(line.substr(24,47));
+ AF1 = asDouble(line.substr(48,72));
+
+ // Eigth line - Satellite Health
+ strm.formattedGetLine(line, true);
+ SV_health = (short) asInt(line);
+
+ // Ninth line - Satellite Config
+ strm.formattedGetLine(line, true);
+ satConfig = (short) asInt(line);
+
+
+ //week = strm.header.week + 1024; // Need a way to set epoch Hmmm really?
+
+
+ week = hdr.week;
+ Toa = hdr.Toa;
+
+
+ xmit_time = 0;
+
+ } // end of reallyGetRecord()
+
+ void SEMData::dump(ostream& s) const
+ {
+ std::cout << "PRN =" << PRN << std::endl;
+ std::cout << "SVNnum =" << SVNnum << std::endl;
+ std::cout << "URAnum =" << URAnum << std::endl;
+ std::cout << "ecc =" << ecc << std::endl;
+ std::cout << "i_offset =" << i_offset << std::endl;
+ std::cout << "OMEGAdot =" << OMEGAdot << std::endl;
+ std::cout << "Ahalf =" << Ahalf << std::endl;
+ std::cout << "OMEGA0 =" << OMEGA0 << std::endl;
+ std::cout << "w =" << w << std::endl;
+ std::cout << "M0 =" << M0 << std::endl;
+ std::cout << "AF0 =" << AF0 << std::endl;
+ std::cout << "AF1 =" << AF1 << std::endl;
+ std::cout << "SV_health =" << SV_health << std::endl;
+ std::cout << "satConfig =" << satConfig << std::endl;
+ std::cout << "xmit_time =" << xmit_time << std::endl;
+ std::cout << "week" << week << std::endl;
+ std::cout << "toa" << Toa << std::endl;
+ }
+
+ SEMData::operator AlmOrbit() const
+ {
+
+ AlmOrbit ao(PRN, ecc,i_offset, OMEGAdot, Ahalf, OMEGA0,
+ w, M0, AF0, AF1, Toa, xmit_time, week, SV_health);
+
+ return ao;
+
+ }
+
+} // namespace
diff --git a/dev/src/SEMData.hpp b/dev/src/SEMData.hpp
new file mode 100644
index 0000000..332c222
--- /dev/null
+++ b/dev/src/SEMData.hpp
@@ -0,0 +1,135 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file SEMData.hpp
+ * Encapsulate SEM Almanac file data, including I/O
+ */
+
+#ifndef SEMDATA_HPP
+#define SEMDATA_HPP
+
+#include <vector>
+#include <list>
+#include <map>
+
+#include "FFStream.hpp"
+#include "AlmOrbit.hpp"
+#include "SEMBase.hpp"
+#include "StringUtils.hpp"
+#include "SEMHeader.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup SEM */
+ //@{
+
+ /**
+ * This class stores, reads, and writes SEM records.
+ * @warning The SEM header information and data information don't
+ * correctly talk to each other at the time of completion of this file.
+ * The current fix is in SEMAlamanacStore.hpp.
+ *
+ * @sa tests/SEM for examples
+ * @sa SEMStream.
+ * @sa SEMHeader for information on writing SEM files.
+ */
+ class SEMData : public SEMBase
+ {
+ public:
+
+ /// Constructor.
+ SEMData() {}
+
+ /// Destructor
+ virtual ~SEMData() {}
+
+
+ short PRN;
+ short SVNnum;
+ short URAnum;
+ double ecc;
+ double i_offset;
+ double OMEGAdot;
+ double Ahalf;
+ double OMEGA0;
+ double w;
+ double M0;
+ double AF0;
+ double AF1;
+ short SV_health;
+ short satConfig;
+
+ long xmit_time;
+
+ long Toa;
+ short week;
+
+ /**
+ * Debug output function.
+ * Dump the contents of each of the SEM class to a
+ * given ostream \c s.
+ */
+ virtual void dump(std::ostream& s) const;
+
+ //! This class is "data" so this function always returns "true".
+ virtual bool isData() const {return true;}
+
+ /**
+ * cast *this into an AlmOrbit
+ * @return the constructed AlmOrbit object
+ */
+ operator AlmOrbit() const;
+
+
+ protected:
+
+ /**
+ * Writes a correctly formatted record from this data to stream \a s.
+ */
+ virtual void reallyPutRecord(FFStream& s) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ /**
+ * This functions obtains a SEM almanac record from the given
+ * FFStream.
+ * If there is an error in reading from the stream, it is reset
+ * to its original position and its fail-bit is set.
+ * @throws StringException when a StringUtils function fails
+ * @throws FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to its pre-read position.
+ */
+ virtual void reallyGetRecord(FFStream& s)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ }; // class SEMData
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/SEMHeader.cpp b/dev/src/SEMHeader.cpp
new file mode 100644
index 0000000..2126f43
--- /dev/null
+++ b/dev/src/SEMHeader.cpp
@@ -0,0 +1,94 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file SEMHeader.cpp
+ * Encapsulate header of SEM file data, including I/O
+ */
+
+#include "StringUtils.hpp"
+#include "icd_200_constants.hpp"
+
+#include "SEMHeader.hpp"
+#include "SEMStream.hpp"
+
+
+using namespace gpstk::StringUtils;
+using namespace std;
+
+namespace gpstk
+{
+ void SEMHeader::reallyPutRecord(FFStream& ffs) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+ string line;
+
+ SEMStream& strm = dynamic_cast<SEMStream&>(ffs);
+
+ line = leftJustify(asString<short>(numRecords),2);
+ line += " ";
+ line += Title;
+ strm << line << endl;
+ line.erase();
+
+ line = rightJustify(asString<short>(week),4);
+ line += " ";
+ line += asString<long>(Toa);
+ strm << line << endl;
+ line.erase();
+
+ } // end SEMAHeader::reallyPutRecord
+
+
+ void SEMHeader::reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+ string line;
+
+ SEMStream& strm = dynamic_cast<SEMStream&>(ffs);
+
+ //Grab the first line
+ strm.formattedGetLine(line);
+
+ numRecords = (short) asInt(line.substr(0,2));
+ Title = line.substr(3,24);
+
+ //Grab the second line
+ strm.formattedGetLine(line);
+ week = (short) asInt(line.substr(0,4));
+ Toa = asInt(line.substr(5,6));
+
+ } // end of reallyGetRecord()
+
+ void SEMHeader::dump(ostream& s) const
+ {
+ std::cout << "numRecords = " << numRecords << std::endl;
+ std::cout << "Title = " << Title << std::endl;
+ std::cout << "week = " << week << std::endl;
+ std::cout << "Toa = " << Toa << std::endl;
+ }
+
+} // namespace
diff --git a/dev/src/SEMHeader.hpp b/dev/src/SEMHeader.hpp
new file mode 100644
index 0000000..ff5ead6
--- /dev/null
+++ b/dev/src/SEMHeader.hpp
@@ -0,0 +1,112 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file SEMHeader.hpp
+ * Encapsulate SEM Almanac header data, including I/O
+ */
+
+#ifndef SEMHEADER_HPP
+#define SEMHEADER_HPP
+
+#include <vector>
+#include <list>
+#include <map>
+
+#include "FFStream.hpp"
+#include "AlmOrbit.hpp"
+#include "SEMBase.hpp"
+#include "StringUtils.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup SEM */
+ //@{
+
+ /**
+ * This class stores, reads, and writes SEM records.
+ * @warning The SEM header information and data information don't
+ * correctly talk to each other at the time of completion of this file.
+ * The current fix is in SEMAlamanacStore.hpp.
+ *
+ * @sa tests/SEM for examples
+ * @sa SEMStream.
+ * @sa SEMHeader for information on writing SEM files.
+ */
+ class SEMHeader : public SEMBase
+ {
+ public:
+ /// Constructor.
+ SEMHeader() {}
+
+ /// Destructor
+ virtual ~SEMHeader() {}
+
+ short numRecords;
+ std::string Title;
+ short week;
+ long Toa;
+
+
+ /**
+ * Debug output function.
+ * Dump the contents of each of the SEM header to a
+ * given ostream \c s.
+ */
+ virtual void dump(std::ostream& s) const;
+
+ //! This class is a "header" so this function always returns "true".
+ virtual bool isHeader() const {return true;}
+
+
+
+ protected:
+ /**
+ * Writes a correctly formatted record from this header to stream \a s.
+ */
+ virtual void reallyPutRecord(FFStream& s) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ /**
+ * This functions obtains a SEM header record from the given
+ * FFStream.
+ * If there is an error in reading from the stream, it is reset
+ * to its original position and its fail-bit is set.
+ * @throws StringException when a StringUtils function fails
+ * @throws FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to its pre-read position.
+ */
+ virtual void reallyGetRecord(FFStream& s)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ }; // class SEMHeader
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/SEMStream.hpp b/dev/src/SEMStream.hpp
new file mode 100644
index 0000000..59e1096
--- /dev/null
+++ b/dev/src/SEMStream.hpp
@@ -0,0 +1,114 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file SEMStream.hpp
+ * gpstk::SEMStream - ASCII SEM file stream container.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#ifndef SEMSTREAM_HPP
+#define SEMSTREAM_HPP
+
+
+#include "FFTextStream.hpp"
+#include "SEMHeader.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup SEM */
+ //@{
+
+ /**
+ * This class performs file i/o on a SEM file for the
+ * SEMHeader and SEMData classes.
+ *
+ * @sa tests/SEM for examples.
+ * @sa SEMData.
+ * @sa SEMHeader for information on writing SEM files.
+ *
+ * @warning The SEM header information and data information don't
+ * correctly talk to each other at the time of completion of this file.
+ * The current fix is in SEMAlamanacStore.hpp.
+ */
+ class SEMStream : public FFTextStream
+ {
+ public:
+
+ /// Default constructor
+ SEMStream() {}
+
+ /**
+ * Constructor
+ * @param fn the name of the ascii SEM file to be opened
+ * @param mode the ios::openmode to be used on \a fn
+ */
+ SEMStream(const char* fn,
+ std::ios::openmode mode=std::ios::in)
+ : FFTextStream(fn, mode), headerRead(false) {};
+
+ /// destructor per the coding standards
+ virtual ~SEMStream() {}
+
+ /// overrides open to reset the header
+ virtual void open(const char* fn, std::ios::openmode mode)
+ {
+ FFTextStream::open(fn, mode);
+ headerRead = false;
+ header = SEMHeader();
+ }
+
+ ///SEMHeader for this file
+ SEMHeader header;
+
+ /// Flag showing whether or not the header has been read.
+ bool headerRead;
+
+ }; // class SEMStream
+
+ //@}
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/SMODFData.cpp b/dev/src/SMODFData.cpp
new file mode 100644
index 0000000..03b72de
--- /dev/null
+++ b/dev/src/SMODFData.cpp
@@ -0,0 +1,328 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file SMODFData.cpp
+ * smoothed measurement data file data
+ */
+
+#include "StringUtils.hpp"
+#include "SMODFData.hpp"
+#include "SMODFStream.hpp"
+
+using namespace gpstk::StringUtils;
+using namespace std;
+
+namespace gpstk
+{
+ const int SMODFData::SMO_LEN_ICD211 = 85; ///< Length of an ICD-GPS-211 SMODF record
+ const int SMODFData::SMO_LEN_LEGACY = 80; ///< Length of a Legacy SMODF record
+ const int SMODFData::BEGINGPS2DYEAR = 80; ///< Beginning of the GPS Two Digit Year
+
+ void SMODFData::reallyPutRecord(gpstk::FFStream& ffs) const
+ throw(std::exception, gpstk::FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+ SMODFStream& strm = dynamic_cast<SMODFStream&>(ffs);
+
+ // here's a hack - if you dont know what to write, assume ICD211
+ if (strm.format == SMODFStream::undefined)
+ strm.format = SMODFStream::icd211;
+
+ string line;
+
+ if (strm.format == SMODFStream::icd211)
+ {
+ line += rightJustify(asString<short>(time.DOYyear()),4);
+ line += rightJustify(asString<short>(time.DOYday()),3,'0');
+ line += rightJustify(asString(time.DOYsecond(),7),13);
+ line += string(1, ' ');
+ line += rightJustify(asString<short>(PRNID),2);
+ line += rightJustify(asString<long>(station),5);
+ line += rightJustify(asString<short>(channel),2);
+ line += rightJustify(asString<short>(type),1);
+
+ if (type == 9)
+ line += rightJustify(asString<short>(lol),1);
+ else
+ line += string(1, ' ');
+
+ line += string(1, ' ');
+ line += doub2for(obs, 20, 2);
+ line += string(1, ' ');
+ line += doub2for(stdDev, 11, 2);
+ line += string(1, ' ');
+ line += rightJustify(asString<short>(tempSource),1);
+ line += rightJustify(asString<short>(pressSource),1);
+ line += rightJustify(asString<short>(humidSource),1);
+ line += rightJustify(asString(temp,1), 5);
+ line += rightJustify(asString(pressure,1), 6);
+ line += rightJustify(asString(humidity,1), 5);
+
+ }
+ else if (strm.format == SMODFStream::legacy)
+ {
+ line += time.printf("%02y%3j%12.6s");
+ line += rightJustify(asString<short>(PRNID),3);
+ line += rightJustify(asString<long>(station),5);
+ line += rightJustify(asString<short>(channel),2);
+ line += rightJustify(asString<short>(type),1);
+
+ if (type == 9)
+ line += rightJustify(asString<short>(lol),1);
+ else
+ line += string(1, ' ');
+
+ // FIX this is actually D21.14, but because of the way
+ // doub2for works, we prepend a space and use 20 characters
+ line += string(1, ' ');
+ line += doub2for(obs, 20, 2);
+ // FIX same as above, only with D12.5
+ line += string(1, ' ');
+ line += doub2for(stdDev, 11, 2);
+ line += string(1, ' ');
+
+ // convert from 211-B/C to 211-A flags
+ short wxsource = 0;
+ if (tempSource == pressSource == humidSource)
+ wxsource = tempSource;
+ else if (tempSource && pressSource && humidSource)
+ {
+ // No missing data. We can assume that there is some
+ // default data at this point because the first test
+ // eliminates the all-sources-same condition (all real,
+ // all missing, all default), and this test guarantees
+ // that there are no missing data mixed in with
+ // real/default. Only remaining possibility is some
+ // real, some default.
+ wxsource = 2;
+ }
+ else
+ {
+ // Mixed real and/or default data with missing. We
+ // can't really handle that.
+ gpstk::FFStreamError err("Assertion failed: all weather data must be"
+ " either present or missing");
+ if (tempSource == 0)
+ err.addText("temperature data is missing");
+ if (pressSource == 0)
+ err.addText("pressure data is missing");
+ if (humidSource == 0)
+ err.addText("humidity data is missing");
+ err.addText("unlisted weather measurements are present");
+ }
+
+ if (wxsource == 1)
+ wxsource = 7;
+
+ line += rightJustify(asString<short>(wxsource),1);
+ line += rightJustify(asString(temp,1), 5);
+ line += rightJustify(asString(pressure,1), 6);
+ line += rightJustify(asString(humidity,1), 5);
+ }
+ else
+ {
+ gpstk::FFStreamError err("Unknown SMODF format: " +
+ asString<unsigned long>(strm.format));
+ err.addText("Make sure you specify the format of the data.");
+ GPSTK_THROW(err);
+ }
+
+ ffs << line << endl;
+ strm.lineNumber++;
+ }
+
+ void SMODFData::dump(ostream& s) const
+ {
+ s << time << " Station: " << station << " Type: " << type
+ << " PRN " << PRNID << endl;
+ }
+
+ void SMODFData::reallyGetRecord(gpstk::FFStream& ffs)
+ throw(std::exception, gpstk::FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+ SMODFStream& strm = dynamic_cast<SMODFStream&>(ffs);
+
+ string str, currentLine;
+
+ strm.formattedGetLine(currentLine, true);
+ int len=currentLine.length();
+
+ // determine the format of the ODBIF file by examining
+ // the record length
+ if (strm.format == SMODFStream::undefined)
+ {
+ if (len == SMO_LEN_ICD211)
+ strm.format = SMODFStream::icd211;
+ else if (len == SMO_LEN_LEGACY)
+ strm.format = SMODFStream::legacy;
+ else
+ {
+ gpstk::FFStreamError e("Unreconized format");
+ GPSTK_THROW(e);
+ }
+ }
+
+ if (strm.format == SMODFStream::icd211)
+ {
+ if (len != SMO_LEN_ICD211)
+ {
+ gpstk::FFStreamError e("Bad 211 format line length: " +
+ asString(len));
+ GPSTK_THROW(e);
+ }
+
+ // a simple check to see if this is really an ODBIF file
+ if ((currentLine[20] != ' ') ||
+ (currentLine[32] != ' '))
+ {
+ gpstk::FFStreamError e("Invalid ICD211 line");
+ GPSTK_THROW(e);
+ }
+
+ // blank out column 66 (in case this ODBIF file uses it
+ // for some unauthorized purpose)
+ currentLine[65] = ' ';
+
+ if (currentLine[31]!='1')
+ currentLine[31]='0';
+
+ // Parse line and load apropriate values into ODBIF structure
+ short year = asInt(currentLine.substr( 0, 4));
+ short DOY = asInt(currentLine.substr( 4, 3));
+ double SOD = asDouble(currentLine.substr( 7, 13));
+ PRNID = asInt(currentLine.substr(21, 2));
+ station = asInt(currentLine.substr(23, 5));
+ channel = asInt(currentLine.substr(28, 2));
+ type = asInt(currentLine.substr(30, 1));
+ lol = asInt(currentLine.substr(31, 1));
+ obs = for2doub(currentLine.substr(32, 21), 21);
+ stdDev = for2doub(currentLine.substr(53, 12), 12);
+ tempSource = asInt(currentLine.substr(66, 1));
+ pressSource = asInt(currentLine.substr(67, 1));
+ humidSource = asInt(currentLine.substr(68, 1));
+ temp = asDouble(currentLine.substr(69, 5));
+ pressure = asDouble(currentLine.substr(74, 6));
+ humidity = asDouble(currentLine.substr(80, 5));
+
+ // Add some sanity checks on the data so we can detect if this is
+ // *really* a SMOD file.
+ if (DOY < 0 || DOY > 366 || SOD > 86400 || PRNID > 32 ||
+ (type != 0 && type != 9) ||
+ stdDev > 100 || stdDev <= 0)
+ {
+ gpstk::FFStreamError e(string("Bad 211 format data"));
+ GPSTK_THROW(e);
+ }
+
+
+ // set the time
+ time.setYDoySod(year, DOY, SOD);
+ }
+ else if (strm.format == SMODFStream::legacy)
+ {
+ if (len != SMO_LEN_LEGACY)
+ {
+ gpstk::FFStreamError e("Bad legacy format line length: " +
+ asString(len));
+ GPSTK_THROW(e);
+ }
+
+ // blank out column 63 (in case this ODBIF file uses it
+ // for some unauthorized purpose)
+ currentLine[62] = ' ';
+
+ if (currentLine[28]!='1')
+ currentLine[28]='0';
+
+ // Parse line and load apropriate values into ODBIF structure
+ short year = asInt(currentLine.substr( 0, 2));
+ short DOY = asInt(currentLine.substr( 2, 3));
+ double SOD = asDouble(currentLine.substr( 5, 12));
+ PRNID = asInt(currentLine.substr(17, 3));
+ station = asInt(currentLine.substr(20, 5));
+ channel = asInt(currentLine.substr(25, 2));
+ type = asInt(currentLine.substr(27, 1));
+ lol = asInt(currentLine.substr(28, 1));
+ obs = for2doub(currentLine.substr(29, 21), 21);// len ??
+ stdDev = for2doub(currentLine.substr(50, 12), 12);//start &
+ short src = asInt(currentLine.substr(63, 1));
+ temp = asDouble(currentLine.substr(64, 5));
+ pressure = asDouble(currentLine.substr(69, 6));
+ humidity = asDouble(currentLine.substr(75, 5));
+
+ // Add some sanity checks on the data so we can detect if this is
+ // *really* a SMOD file.
+ if (DOY < 0 || DOY > 366 || SOD > 86400 || PRNID > 32 ||
+ (type != 0 && type != 9) ||
+ stdDev > 100 || stdDev <= 0)
+ {
+ gpstk::FFStreamError e(string("Bad legacy format data"));
+ GPSTK_THROW(e);
+ }
+
+ // set the time
+ if ( year < BEGINGPS2DYEAR )
+ year += 2000;
+ else
+ year += 1900;
+ time.setYDoySod(year, DOY, SOD);
+
+ /*
+ Translate ODBIF (legacy) weather types to ICD-GPS-211 types
+ Legacy Meaning
+ 0 No met data
+ 1 OCS smoothed values
+ 2 OCS default values
+ 3 NIMA overridden at OCS (?)
+ 6 NIMA default weather values
+ 7 NIMA automated weather station (usual)
+ 8 Bad meteorological data
+ other Undefined
+ */
+ if ( src==1 || src==7 )
+ tempSource = pressSource = humidSource = 1;
+ else if ( src==2 || src==6 )
+ tempSource = pressSource = humidSource = 2;
+ else
+ tempSource = pressSource = humidSource = 0;
+ }
+ } // end reallyGetRecord()
+
+} // end namespace gpstk
diff --git a/dev/src/SMODFData.hpp b/dev/src/SMODFData.hpp
new file mode 100644
index 0000000..35336fd
--- /dev/null
+++ b/dev/src/SMODFData.hpp
@@ -0,0 +1,125 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef SMODFDATA_HPP
+#define SMODFDATA_HPP
+
+/**
+ * @file SMODFData.hpp
+ * smoothed measurement data file data
+ */
+
+#include <vector>
+
+#include "StringUtils.hpp"
+#include "FFData.hpp"
+#include "DayTime.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup icd211group ICD-GPS-211 Classes */
+ //@{
+
+ /**
+ * Model for a Smoothed Measurement Data File Data Record.
+ */
+ class SMODFData : public gpstk::FFData
+ {
+ public:
+ /// constructor
+ SMODFData() : PRNID(0), time(gpstk::DayTime::BEGINNING_OF_TIME)
+ {}
+
+ /// destructor
+ virtual ~SMODFData() {}
+
+ gpstk::DayTime time; ///< the date of this data (from year DOY, SOD)
+ short PRNID; ///< PRN number
+ long station; ///< NIMA Monitor Station number (85408, etc.)
+ short channel; ///< receiver channel
+ short type; ///< Data type ( 0 = range, 9 = delta/doppler range )
+ short lol; ///< Loss of lock flag. 0 = OK, 1 = loss
+ ///< ( only used for type = 9 )
+ long double obs; ///< Observed data (range or delta range meas)
+ double stdDev; ///< standard deviation of observation
+ short tempSource; ///< temperature source flag
+ ///< (0 = not available, 1 = measured value, 2 = default value)
+ short pressSource; ///< pressure source flag
+ ///< (0 = not available, 1 = measured value, 2 = default value)
+ short humidSource; ///< humidity source flag
+ ///< (0 = not available, 1 = measured value, 2 = default value)
+ double temp; ///< temperature (degrees C)
+ double pressure; ///< pressure (mb)
+ double humidity; ///< relative humidity (%)
+
+ /// SMODFData is data, so this function always returns true.
+ virtual bool isData() const {return true;}
+
+ virtual void dump(std::ostream& s) const;
+
+ protected:
+ /// Writes a smodfdata object in the format specified
+ /// by the stream to the stream.
+ virtual void reallyPutRecord(gpstk::FFStream& s) const
+ throw(std::exception, gpstk::FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ /**
+ * Retrieve a SMODFData record from the given gpstk::FFStream.
+ * If there is a problem with reading from the stream, it
+ * is reset to its original position and its fail-bit is set.
+ * @throws StringException when a gpstk::StringUtils function fails
+ * @throws gpstk::FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to its pre-read position.
+ */
+ virtual void reallyGetRecord(gpstk::FFStream& s)
+ throw(std::exception, gpstk::FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ private:
+ static const int SMO_LEN_ICD211; ///< Length of an ICD-GPS-211 SMODF record
+ static const int SMO_LEN_LEGACY; ///< Length of a Legacy SMODF record
+ static const int BEGINGPS2DYEAR; ///< Beginning of the GPS Two Digit Year
+ }; // class SMODFData
+
+ //@}
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/SMODFStream.hpp b/dev/src/SMODFStream.hpp
new file mode 100644
index 0000000..98b1430
--- /dev/null
+++ b/dev/src/SMODFStream.hpp
@@ -0,0 +1,116 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file SMODFStream.hpp
+ * Read/Write smoothed measurement data
+ */
+
+#ifndef SMODFSTREAM_HPP
+#define SMODFSTREAM_HPP
+
+#include "FFTextStream.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup icd211group ICD-GPS-211 Classes */
+ //@{
+
+ /**
+ * This is a stream used to obtain data from a
+ * Smoothed Measurement Data File.
+ */
+ class SMODFStream : public gpstk::FFTextStream
+ {
+ public:
+ SMODFStream()
+ : format(undefined)
+ {}
+
+ /**
+ * Constructor.
+ * @param fn the SMODF to open
+ * @param mode the ios::openmode to use in opening \a fn
+ */
+ SMODFStream(const char* fn, std::ios::openmode mode=std::ios::in)
+ throw()
+ : gpstk::FFTextStream(fn, mode), format(undefined)
+ {
+ // open a file for write in icd211 mode
+ if ( (mode & std::ios::out) && !(mode & std::ios::in) )
+ format = icd211;
+ }
+
+ /// Destructor per the coding standard
+ virtual ~SMODFStream() {}
+
+ /// overrides open to reset the header
+ virtual void open(const char* fn, std::ios::openmode mode)
+ {
+ gpstk::FFTextStream::open(fn, mode);
+ // open a file for write in icd211 mode
+ if ( (mode & std::ios::out) && !(mode & std::ios::in) )
+ format = icd211;
+ else
+ format = undefined;
+ }
+
+ /**
+ * These are the file formats SMODFStream recognizes.
+ */
+ enum FileFormat {
+ undefined, ///< Undefined format
+ legacy, ///< Legacy format
+ icd211 ///< ICD-GPS-211 format
+ };
+
+ FileFormat format; ///< The FileFormat of the file currently being read.
+ }; // class SMODFStream
+
+ //@}
+
+} // namespace sglmsn
+
+#endif
diff --git a/dev/src/SP3Base.hpp b/dev/src/SP3Base.hpp
new file mode 100644
index 0000000..0395efb
--- /dev/null
+++ b/dev/src/SP3Base.hpp
@@ -0,0 +1,73 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file SP3Base.hpp
+ * Base class for SP3 file data
+ */
+
+#ifndef GPSTK_SP3BASE_HPP
+#define GPSTK_SP3BASE_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "FFData.hpp"
+
+namespace gpstk
+{
+ /** @defgroup SP3ephem SP3 format file I/O */
+ //@{
+
+ /// This class is here to make readable inheritance diagrams.
+ class SP3Base : public FFData
+ {
+ public:
+ /// Destructor per the coding standards
+ virtual ~SP3Base() {}
+ };
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/SP3Data.cpp b/dev/src/SP3Data.cpp
new file mode 100644
index 0000000..127aa6f
--- /dev/null
+++ b/dev/src/SP3Data.cpp
@@ -0,0 +1,317 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+/**
+ * @file SP3Data.cpp
+ * Encapsulate SP3 file data, including I/O
+ */
+
+#include "SP3Stream.hpp"
+#include "SP3Header.hpp"
+#include "SP3Data.hpp"
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+
+using namespace gpstk::StringUtils;
+using namespace std;
+
+namespace gpstk
+{
+ void SP3Data::reallyPutRecord(FFStream& ffs) const
+ throw(std::exception, FFStreamError, StringException)
+ {
+ SP3Stream& strm = dynamic_cast<SP3Stream&>(ffs);
+
+ string line;
+ if(flag == '*') {// output Epoch Header Record
+ line = "* ";
+ line += time.printf(" %4Y %2m %2d %2H %2M");
+ line += " " + rightJustify(time.printf("%.8f"),11);
+ }
+ else { // output Position and Clock OR Velocity and Clock Rate Record
+ line = flag;
+ if(version == 'c')
+ line += SP3SatID(sat).toString();
+ else
+ line += rightJustify(asString(sat.id),3);
+ line += rightJustify(asString(x[0],6),14);
+ line += rightJustify(asString(x[1],6),14);
+ line += rightJustify(asString(x[2],6),14);
+ line += rightJustify(asString(clk,6),14);
+ if(version == 'c') {
+ line += rightJustify(asString(sig[0]),3);
+ line += rightJustify(asString(sig[1]),3);
+ line += rightJustify(asString(sig[2]),3);
+ line += rightJustify(asString(sig[3]),4);
+ if(flag == 'P') {
+ line += string(" ");
+ line += (clockEventFlag ? string("E") : string(" "));
+ line += (clockPredFlag ? string("P") : string(" "));
+ line += string(" ");
+ line += (orbitManeuverFlag ? string("M") : string(" "));
+ line += (orbitPredFlag ? string("P") : string(" "));
+ }
+ //else {
+ // line += string(" ");
+ //}
+ }
+
+ // if version is 'c' and correlation flag is set,
+ // output P|V Correlation Record
+ if(version == 'c' && correlationFlag) {
+ // first output the P|V record
+ strm << line << endl;
+
+ // now output the correlation record
+ if(flag == 'P') line = "EP ";
+ else line = "EV ";
+ line += rightJustify(asString(sdev[0]),5);
+ line += rightJustify(asString(sdev[1]),5);
+ line += rightJustify(asString(sdev[2]),5);
+ line += rightJustify(asString(sdev[3]),8);
+ for(int i=0; i<6; i++)
+ line += rightJustify(asString(correlation[i]),9);
+ }
+ }
+
+ // write the line
+ strm << line << endl;
+ }
+
+ void SP3Data::dump(ostream& s) const
+ {
+ s << flag << " " << sat
+ << " " << time.printf("%Y/%02m/%02d %2H:%02M:%06.3f = %F/%10.3g");
+ if(flag != '*') {
+ s << fixed << setprecision(6)
+ << " X=" << setw(14) << x[0]
+ << " Y=" << setw(14) << x[1]
+ << " Z=" << setw(14) << x[2]
+ << " C=" << setw(14) << clk;
+
+ if(version == 'c') {
+ s << " sX=" << setw(2) << sig[0]
+ << " sY=" << setw(2) << sig[1]
+ << " sZ=" << setw(2) << sig[2]
+ << " sC=" << setw(3) << sig[3];
+ if(flag == 'P')
+ s << " " << (clockEventFlag ? "clockEvent" : "-")
+ << " " << (clockPredFlag ? "clockPrediction" : "-")
+ << " " << (orbitManeuverFlag ? "orbitManeuver" : "-")
+ << " " << (orbitPredFlag ? "orbitPrediction" : "-");
+ if(correlationFlag)
+ s << endl
+ << 'E' << flag
+ << " cXX=" << setw(4) << sdev[0]
+ << " cYY=" << setw(4) << sdev[1]
+ << " cZZ=" << setw(4) << sdev[2]
+ << " cCC=" << setw(7) << sdev[3]
+ << " cXY=" << setw(8) << correlation[0]
+ << " cXZ=" << setw(8) << correlation[1]
+ << " cXC=" << setw(8) << correlation[2]
+ << " cYZ=" << setw(8) << correlation[3]
+ << " cYC=" << setw(8) << correlation[4]
+ << " cZC=" << setw(8) << correlation[5];
+ }
+ }
+ s << endl;
+ };
+
+ void SP3Data::reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError, StringException)
+ {
+ SP3Stream& strm = dynamic_cast<SP3Stream&>(ffs);
+
+ correlationFlag = false;
+ int status = 0; // initial status = 0
+ while(1) {
+ // set the time in the record
+ time = strm.currentEpoch;
+
+ // ---------------------------------------------------------
+ // process the buffer containing the last line read
+ if(strm.buffer.size() < 3) {
+ // nothing in buffer - do nothing here, get another line
+ ;
+ }
+
+ else if(strm.buffer.substr(0,3) == string("EOF")) { // 'EOF' record
+ // if a data record has been processed during this call, then
+ // return and let the next call process this EOF.
+ //if(status == 1) throw - found EOF right after an epoch record
+ if(status > 1) break;
+
+ // this next read had better fail - if it does, an exception will
+ // be thrown, and the FFStreamError created next won't get thrown
+ strm.formattedGetLine(strm.buffer, true);
+
+ FFStreamError err("EOF text found but file didn't end");
+ GPSTK_THROW(err);
+ }
+
+ else if(strm.buffer[0] == '*') { // Epoch record
+ // if another record has been process during this call, quit now
+ if(status > 0) break;
+ status = 1; // epoch status = 1
+
+ // throw if the line is short
+ if(strm.buffer.size() <= 30) {
+ FFStreamError err("Invalid line length "+asString(strm.buffer.size()));
+ GPSTK_THROW(err);
+ }
+
+ // parse the epoch line
+ int year = asInt(strm.buffer.substr(3,4));
+ int month = asInt(strm.buffer.substr(8,2));
+ int dom = asInt(strm.buffer.substr(11,2));
+ int hour = asInt(strm.buffer.substr(14,2));
+ int minute = asInt(strm.buffer.substr(17,2));
+ double second = asInt(strm.buffer.substr(20,10));
+ DayTime t(year, month, dom, hour, minute, second);
+ time = strm.currentEpoch = t;
+ }
+
+ else if(strm.buffer[0] == 'P' || strm.buffer[0] == 'V') {// P|V record
+ // if nothing, or epoch record, was processed during this call,
+ // process this P|V, otherwise (P|V or EP|V were processed), quit now
+ if(status > 1) break;
+ status = 2; // P|V status = 2
+
+ flag = strm.buffer[0]; // P or V
+
+ // 6/20/07 IGS SP3c files sometimes have short lines, apparently implying
+ // zero sigma and no flags...add the following to be tolerant of this.
+ if (version == 'c' && strm.buffer.size() < 73 && strm.buffer.size() > 59)
+ leftJustify(strm.buffer,73);
+
+ // throw if the line is short
+ if ((version == 'a' && strm.buffer.size() < 60) ||
+ (version == 'c' && strm.buffer.size() < 73) ) {
+ FFStreamError err("Invalid line length "+asString(strm.buffer.size()));
+ GPSTK_THROW(err);
+ }
+
+ // parse the line
+ if(version == 'a')
+ sat = SatID(asInt(strm.buffer.substr(1, 3)), SP3SatID::systemGPS);
+ else
+ sat = SP3SatID(strm.buffer.substr(1,3));
+
+ x[0] = asDouble(strm.buffer.substr(4,14));
+ x[1] = asDouble(strm.buffer.substr(18,14));
+ x[2] = asDouble(strm.buffer.substr(32,14));
+ clk = asDouble(strm.buffer.substr(46,14));
+
+ if(version == 'c') {
+ // get sigmas from P|V record
+ sig[0] = asInt(strm.buffer.substr(61,2));
+ sig[1] = asInt(strm.buffer.substr(64,2));
+ sig[2] = asInt(strm.buffer.substr(67,2));
+ sig[3] = asInt(strm.buffer.substr(70,3));
+
+ // get flags
+ if(flag == 'P') {
+ clockEventFlag = clockPredFlag
+ = orbitManeuverFlag = orbitPredFlag = false;
+ if(strm.buffer.size() >= 75 && strm.buffer[74] == 'E')
+ clockEventFlag = true;
+ if(strm.buffer.size() >= 76 && strm.buffer[75] == 'P')
+ clockPredFlag = true;
+ if(strm.buffer.size() >= 79 && strm.buffer[78] == 'M')
+ orbitManeuverFlag = true;
+ if(strm.buffer.size() >= 80 && strm.buffer[79] == 'P')
+ orbitPredFlag = true;
+ }
+ }
+
+ }
+ else if(strm.buffer[0] == 'E' && // EP|EV record
+ (strm.buffer[1] == 'P' || strm.buffer[1] == 'V')) {
+
+ // always process an EP|V immediately, since it must follow P|V
+ status = 3; // EP|V status = 3
+
+ // throw if correlation record did not follow corresponding P|V record
+ if(strm.buffer[1] != flag) {
+ Exception e("SP3c correlation record mismatched with previous P|V");
+ GPSTK_THROW(e);
+ }
+
+ // throw if line is short
+ if(strm.buffer.size()<80) {
+ FFStreamError err("Invalid SP3c correlation line length "
+ + asString(strm.buffer.size()));
+ GPSTK_THROW(err);
+ }
+
+ sdev[0] = abs(asInt(strm.buffer.substr(4,4)));
+ sdev[1] = abs(asInt(strm.buffer.substr(9,4)));
+ sdev[2] = abs(asInt(strm.buffer.substr(14,4)));
+ sdev[3] = abs(asInt(strm.buffer.substr(19,7)));
+ correlation[0] = asInt(strm.buffer.substr(27,8));
+ correlation[1] = asInt(strm.buffer.substr(36,8));
+ correlation[2] = asInt(strm.buffer.substr(45,8));
+ correlation[3] = asInt(strm.buffer.substr(54,8));
+ correlation[4] = asInt(strm.buffer.substr(63,8));
+ correlation[5] = asInt(strm.buffer.substr(72,8));
+
+ // tell the caller that correlation data is now present
+ correlationFlag = true;
+ }
+
+ else { // Unknown record
+ FFStreamError err("Unknown line label " + strm.buffer.substr(0,2));
+ GPSTK_THROW(err);
+ }
+
+ // ---------------------------------------------------------
+ // read next line into the buffer
+ strm.formattedGetLine(strm.buffer);
+
+ // ---------------------------------------------------------
+ // quit if EP|EV was processed
+ if(status == 3) break;
+ // go back if buffer was empty (0)
+ // go back if epoch was processed (1)
+ // go back if P|V was processed (2)
+ }
+
+ } // end reallyGetRecord()
+
+} // namespace
diff --git a/dev/src/SP3Data.hpp b/dev/src/SP3Data.hpp
new file mode 100644
index 0000000..bb0cd83
--- /dev/null
+++ b/dev/src/SP3Data.hpp
@@ -0,0 +1,129 @@
+#pragma ident "$Id$"
+
+/**
+ * @file SP3Data.hpp
+ * Encapsulate SP3 file data, including I/O
+ */
+
+#ifndef GPSTK_SP3DATA_HPP
+#define GPSTK_SP3DATA_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include "SatID.hpp"
+#include "SP3Base.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup SP3ephem */
+ //@{
+
+ /**
+ * This class models Satellite Position in Three Dimensions.
+ *
+ * @sa gpstk::SP3Header and gpstk::SP3Stream for more information.
+ * @sa sp3_test.cpp for an example.
+ */
+ class SP3Data : public SP3Base
+ {
+ public:
+ /// Constructor.
+ SP3Data() : version('a'),flag('\000'), time(gpstk::DayTime::BEGINNING_OF_TIME),
+ clockEventFlag(false),clockPredFlag(false),orbitManeuverFlag(false),
+ orbitPredFlag(false),correlationFlag(false)
+ {}
+
+ /// Destructor
+ virtual ~SP3Data() {}
+
+ // The next four lines is our common interface
+ /// SP3Data is "data" so this function always returns true.
+ virtual bool isData() const {return true;}
+
+ /// Debug output function.
+ virtual void dump(std::ostream& s) const;
+
+ ///@name data members
+ //@{
+ char version; ///< Version of SP3, 'a' or 'c' ONLY
+ char flag; ///< Data type indicator. P for position or V for velocity ONLY
+ SatID sat; ///< Satellite ID
+ DayTime time; ///< Time of epoch for this record
+ double x[3]; ///< The three-vector for position | velocity (m | dm/s).
+ double clk; ///< The clock bias or drift for P|V (microsec|1).
+ int sig[4]; ///< (c) Four-vector of integer exponents for estimated sigma of
+ ///< position,clock | velocity,clock rate; sigma = base**n
+ ///< (mm,psec | 10^-4 mm/sec,psec/sec); base in header
+ bool clockEventFlag; ///< clock event flag, 'E' in file, version c only
+ bool clockPredFlag; ///< clock prediction flag, 'P' in file, version c only
+ bool orbitManeuverFlag; ///< orbit maneuver flag, 'M' in file, version c only
+ bool orbitPredFlag; ///< orbit prediction flag, 'P' in file, version c only
+ /// data for optional P|V Correlation record, version c only
+ bool correlationFlag; ///< If true, on input: a correlation record was read;
+ ///< on output: stream should output correlation.
+ unsigned sdev[4]; ///< std dev of 3 positions (XYZ,mm) and clock (psec)
+ ///< or velocities(10^-4 mm/sec) and clock rate (10^-4 ps/s)
+ int correlation[6];///< elements of correlation matrix: xy,xz,xc,yz,yc,zc
+ //@}
+
+ protected:
+
+ /// Writes the formatted record to the FFStream \a s.
+ /// @warning This function is currently unimplemented
+ virtual void reallyPutRecord(FFStream& s) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ /**
+ * This function reads a record from the given FFStream.
+ * If an error is encountered in retrieving the record, the
+ * stream is reset to its original position and its fail-bit is set.
+ * @throws StringException when a StringUtils function fails
+ * @throws FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to its pre-read position.
+ */
+ virtual void reallyGetRecord(FFStream& s)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+ };
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/SP3EphemerisStore.cpp b/dev/src/SP3EphemerisStore.cpp
new file mode 100644
index 0000000..f379713
--- /dev/null
+++ b/dev/src/SP3EphemerisStore.cpp
@@ -0,0 +1,140 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file SP3EphemerisStore.cpp
+ * Read & store SP3 formated ephemeris data
+ */
+
+#include "SP3EphemerisStore.hpp"
+#include "MiscMath.hpp"
+#include "ECEF.hpp"
+#include "icd_200_constants.hpp"
+
+using namespace gpstk::StringUtils;
+
+namespace gpstk
+{
+ //-----------------------------------------------------------------------------
+ //-----------------------------------------------------------------------------
+ void SP3EphemerisStore::loadFile(const std::string& filename)
+ throw(FileMissingException)
+ {
+ try
+ {
+ SP3Stream strm(filename.c_str());
+ if (!strm)
+ {
+ FileMissingException e("File " + filename + " could not be opened.");
+ GPSTK_THROW(e);
+ }
+
+ SP3Header header;
+ strm >> header;
+
+ addFile(filename, header);
+
+ /// If any file doesn't have the velocity data, clear the
+ /// the flag indicating that there is any velocity data
+ if (tolower(header.pvFlag) != 'v')
+ setHaveVelocity(false);
+
+ SP3Data rec;
+ while(strm >> rec) {
+ rec.version = header.version;
+ addEphemeris(rec);
+ }
+ }
+ catch (gpstk::Exception& e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ } // end SP3EphemerisStore::load
+
+
+ //--------------------------------------------------------------------------
+ //--------------------------------------------------------------------------
+ void SP3EphemerisStore::dump(short detail, std::ostream& s) const
+ {
+ s << "Dump of SP3EphemerisStore:" << std::endl;
+ std::vector<std::string> fileNames = getFileNames();
+ std::vector<std::string>::const_iterator f=fileNames.begin();
+ for (f=fileNames.begin(); f!=fileNames.end(); f++)
+ s << *f << std::endl;
+/*
+ Add this back in when/if we add header info to the file store.
+ while(fmi != fm.end()) {
+ s << " File " << fmi->first << ", Times: " << fmi->second.time
+ << " to " << (fmi->second.time+fmi->second.epochInterval*fmi->second.numberOfEpochs)
+ << ", (" << fmi->second.numberOfEpochs
+ << " " << fmi->second.epochInterval << "sec intervals)." << std::endl;
+ if(detail > 0) {
+ s << " Data used as input : " << fmi->second.dataUsed
+ << " Coordinate system : " << fmi->second.coordSystem << std::endl;
+ s << " Orbit estimate type : " << fmi->second.orbitType
+ << " Agency : " << fmi->second.agency << std::endl;
+ s << " List of satellite PRN/acc (" << fmi->second.svList.size()
+ << " total) :\n";
+ int i=0;
+ std::map<short,short>::const_iterator it=fmi->second.svList.begin();
+ while(it != fmi->second.svList.end()) {
+ s << " " << std::setw(2) << it->first << "/" << it->second;
+ if(!(++i % 8)) s << std::endl;
+ it++;
+ }
+ if(++i % 8) s << std::endl;
+ s << " Comments:\n";
+ for(i=0; i<fmi->second.comments.size(); i++)
+ s << " " << fmi->second.comments[i] << std::endl;
+ s << std::endl;
+ }
+ fmi++;
+ }
+*/
+ TabularEphemerisStore::dump(detail, s);
+
+ } // end of SP3EphemerisStore::dump
+
+} // namespace gpstk
diff --git a/dev/src/SP3EphemerisStore.hpp b/dev/src/SP3EphemerisStore.hpp
new file mode 100644
index 0000000..1170ea0
--- /dev/null
+++ b/dev/src/SP3EphemerisStore.hpp
@@ -0,0 +1,91 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file SP3EphemerisStore.hpp
+ * Read and store SP3 formated ephemeris data
+ */
+
+#ifndef GPSTK_SP3_EPHEMERIS_STORE_HPP
+#define GPSTK_SP3_EPHEMERIS_STORE_HPP
+
+#include <iostream>
+
+#include "TabularEphemerisStore.hpp"
+#include "FileStore.hpp"
+
+#include "SP3Stream.hpp"
+#include "SP3Data.hpp"
+#include "SP3Header.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup ephemstore */
+ //@{
+
+ /**
+ * This adds the interface to read SP3 files into a TabularEphemerisStore
+ */
+ class SP3EphemerisStore : public TabularEphemerisStore,
+ public FileStore<SP3Header>
+ {
+ public:
+ /// Constructor.
+ SP3EphemerisStore() throw() {TabularEphemerisStore();}
+
+ /// destructor
+ virtual ~SP3EphemerisStore() {}
+
+ /** Dump the store to cout.
+ * @param detail determines how much detail to include in the output
+ * 0 list of filenames with their start, stop times.
+ * 1 list of filenames with their start, stop times,
+ * other header information and prns/accuracy.
+ * 2 above, plus dump all the PVT data (use judiciously).
+ */
+ virtual void dump(short detail=0, std::ostream& s=std::cout) const;
+
+ /// load the given SP3 file
+ virtual void loadFile(const std::string& filename)
+ throw(FileMissingException);
+ };
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/SP3Header.cpp b/dev/src/SP3Header.cpp
new file mode 100644
index 0000000..b43fe3d
--- /dev/null
+++ b/dev/src/SP3Header.cpp
@@ -0,0 +1,330 @@
+#pragma ident "$Id$"
+
+/**
+ * @file SP3Header.cpp
+ * Encapsulate header of SP3 file data, including I/O
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include "StringUtils.hpp"
+#include "SP3Stream.hpp"
+#include "SP3Header.hpp"
+
+namespace gpstk
+{
+ using namespace StringUtils;
+ using namespace std;
+
+ void SP3Header::reallyPutRecord(FFStream& ffs) const
+ throw(exception, FFStreamError, StringException)
+ {
+ SP3Stream& strm = dynamic_cast<SP3Stream&>(ffs);
+ int i,j,k;
+ string line;
+ SatID SVid;
+
+ if(version != 'a' && version != 'c') {
+ Exception e(string("SP3 version must be 'a' or 'c' : ") + version);
+ GPSTK_THROW(e);
+ }
+ if(pvFlag != 'P' && pvFlag != 'V') {
+ Exception e(string("SP3 pv flag must be 'P' or 'V' : ") + pvFlag);
+ GPSTK_THROW(e);
+ }
+
+ // line 1
+ line = "#";
+ line += version;
+ line += pvFlag;
+ line += time.printf("%4Y %2m %2d %2H %2M");
+ line += " " + rightJustify(time.printf("%f"),11);
+ line += " " + rightJustify(asString(numberOfEpochs),7);
+ line += " " + rightJustify(dataUsed,5);
+ line += " " + rightJustify(coordSystem,5);
+ line += " " + rightJustify(orbitType,3);
+ line += " " + rightJustify(agency,4);
+ strm << line << endl;
+
+ // line 2
+ line = "##";
+ line += rightJustify(time.printf("%F"),5);
+ line += rightJustify(time.printf("%g"),16);
+ line += " " + rightJustify(asString(epochInterval,8),14);
+ line += " " + time.printf("%5.0Q");
+ line += " " + rightJustify(asString(time.DOYsecond()/86400.,13),15);
+ strm << line << endl;
+
+ // lines 3-7 and 8-12
+ //Map<SV,accuracy flag> (all SVs in data)
+ std::map<SatID, short>::const_iterator it;
+ for(i=3; i<=12; i++) { // loop over the lines
+ if(i==3) line = "+ " + rightJustify(asString(satList.size()),2) + " ";
+ else if(i < 8) line = "+ ";
+ else line = "++ ";
+ k = 0;
+ if(i == 3 || i == 8) // start the iteration
+ it = satList.begin();
+ while(k < 17) { // there are 17 per line
+ if(it != satList.end()) {
+ if(i < 8) { // lines 3-7 - sat id
+ if(version == 'c') {
+ // a satellite in version c -> let j be -1 to mark it
+ SVid = it->first;
+ j = -1;
+ }
+ else j = it->first.id;
+ }
+ else // lines 8-12 - accuracy
+ j = it->second;
+ it++;
+ }
+ else j=0; // no more
+
+ if(j == -1) // sat version c
+ try {
+ line += rightJustify(SP3SatID(SVid).toString(),3);
+ }
+ catch (Exception& e)
+ {
+ FFStreamError ffse(e);
+ GPSTK_THROW(ffse);
+ }
+ else // sat version a, accuracy, or 0
+ line += rightJustify(asString(j),3);
+ k++;
+ }
+ strm << line << endl;
+ }
+
+ // line 13
+ string ft(" cc");
+ if (version == 'c')
+ {
+ ft[1] = system.systemChar(); ft[2] = ' '; }
+ strm << "%c" << ft << " cc"
+ << " " << (version == 'c' ? timeSystemString() : "ccc")
+ << " ccc cccc cccc cccc cccc ccccc ccccc ccccc ccccc" << endl;
+ // line 14
+ strm << "%c cc cc ccc ccc cccc cccc cccc cccc ccccc ccccc ccccc ccccc" << endl;
+ // line 15
+ strm << "%f "
+ << (version == 'c' ? rightJustify(asString(basePV,7),10) : " 0.0000000")
+ << " "
+ << (version == 'c' ? rightJustify(asString(baseClk,9),12) : " 0.000000000")
+ << " 0.00000000000 0.000000000000000" << endl;
+ // lines 16-18
+ strm << "%f 0.0000000 0.000000000 0.00000000000 0.000000000000000" << endl;
+ strm << "%i 0 0 0 0 0 0 0 0 0" << endl;
+ strm << "%i 0 0 0 0 0 0 0 0 0" << endl;
+
+ // lines 19-22
+ //std::vector<std::string> comments; ///< vector of 4 comment lines
+ for(j=0,i=19; i<=22; i++) {
+ line = "/* ";
+ if(j < comments.size()) line += leftJustify(comments[j++],57);
+ else line += string(57,'C');
+ strm << line << endl;
+ }
+ }
+
+ void SP3Header::dump(ostream& s) const
+ {
+ s << "SP3 Header: version '" << version << "' containing ";
+ if(pvFlag=='P') s << "positions.";
+ if(pvFlag=='V') s << "positions and velocities.";
+ s << endl;
+ s << " Time tag in header is " << time << endl;
+ s << " Timespacing is " << epochInterval
+ << " sec, and the number of epochs is " << numberOfEpochs << endl;
+ s << " Data used as input : " << dataUsed << endl;
+ s << " Coordinate system : " << coordSystem << endl;
+ s << " Orbit estimate type : " << orbitType << endl;
+ s << " Agency : " << agency << endl;
+ if(version == 'c') {
+ s << " File type: '" << system.systemChar() << "' which is "
+ << system.systemString() << endl;
+ s << " Time System: " << timeSystemString() << endl;
+ s << " Base for Pos/Vel =" << fixed << setw(10) << setprecision(7)
+ << basePV << endl;
+ s << " Base for Clk/Rate =" << setw(12) << setprecision(9)
+ << baseClk << endl;
+ }
+
+ s << " List of satellite PRN/acc (" << satList.size() << " total) :\n";
+ int i=0;
+ std::map<SatID,short>::const_iterator it=satList.begin();
+ while(it != satList.end()) {
+ s << " " << it->first << "/" << it->second;
+ if(!(++i % 8)) s << endl;
+ it++;
+ }
+ if(++i % 8) s << endl;
+
+ s << " Comments:\n";
+ for(size_t j=0; j<comments.size(); j++) s << " " << comments[j] << endl;
+
+ s << "End of SP3 header" << endl;
+
+ } // end SP3Header::reallyPutRecord()
+
+ void SP3Header::reallyGetRecord(FFStream& ffs)
+ throw(exception, FFStreamError, StringException)
+ {
+ SP3Stream& strm = dynamic_cast<SP3Stream&>(ffs);
+
+ string line;
+ strm.formattedGetLine(line);
+
+ if (line[0]=='#' && line[1]!='#')
+ {
+ version=line[1];
+ pvFlag=line[2];
+ int year = asInt(line.substr(3,4));
+ int month = asInt(line.substr(8,2));
+ int dom = asInt(line.substr(11,2));
+ int hour = asInt(line.substr(14,2));
+ int minute = asInt(line.substr(17,2));
+ double second = asInt(line.substr(20,10));
+ time = DayTime(year, month, dom, hour, minute, second);
+ numberOfEpochs = asInt(line.substr(32,7));
+ dataUsed = line.substr(40,5);
+ coordSystem = line.substr(46,5);
+ orbitType = line.substr(52,3);
+ agency = line.substr(56,4);
+ }
+ else
+ {
+ FFStreamError e("Unknown label " + string(1, line[0]));
+ GPSTK_THROW(e);
+ }
+
+ strm.formattedGetLine(line);
+ if (line[0]=='#' && line[1]=='#')
+ {
+ epochInterval = asDouble(line.substr(24,14));
+ }
+ else
+ {
+ FFStreamError e("Unknown label " + string(1, line[0]));
+ GPSTK_THROW(e);
+ }
+
+ int i, index;
+ int numSVs(0), readSVs(0);
+
+ // the map stores them sorted, so use svsAsWritten to determine
+ // which SV each accuracy corresponds to.
+ vector<SatID> svsAsWritten;
+ SatID sat;
+
+ // read in the SV list
+ for(i = 3; i <= 7; i++)
+ {
+ strm.formattedGetLine(line);
+ if (line[0]=='+')
+ {
+ // get the total number of svs on line 3
+ if (i == 3)
+ {
+ numSVs = asInt(line.substr(4,2));
+ svsAsWritten.resize(numSVs);
+ }
+ for(index = 9; index < 60; index += 3)
+ {
+ if (readSVs < numSVs)
+ {
+ try {
+ sat = SP3SatID(line.substr(index,3));
+ }
+ catch (Exception& e) {
+ FFStreamError ffse(e);
+ GPSTK_THROW(ffse);
+ }
+ svsAsWritten[readSVs] = sat;
+ satList[sat] = 0;
+ readSVs++;
+ }
+ }
+ }
+ else
+ {
+ FFStreamError e("Unknown label " + string(1, line[0]));
+ GPSTK_THROW(e);
+ }
+ }
+
+ readSVs = 0;
+
+ // read in the accuracy.
+ for(i = 8; i <= 12; i++)
+ {
+ strm.formattedGetLine(line);
+ if ((line[0]=='+') && (line[1]=='+'))
+ {
+ for(index = 9; index < 60; index += 3)
+ {
+ if (readSVs < numSVs)
+ {
+ satList[svsAsWritten[readSVs]] = asInt(line.substr(index,3));
+ readSVs++;
+ }
+ }
+ }
+ else
+ {
+ FFStreamError e("Unknown label " + string(1, line[0]));
+ GPSTK_THROW(e);
+ }
+ }
+
+ // read in 6 unused lines
+ for(i = 13; i <= 18; i++)
+ strm.formattedGetLine(line);
+
+ // read in 4 comment lines
+ for(i = 19; i <= 22; i++)
+ {
+ strm.formattedGetLine(line);
+ // strip the first 3 characters
+ line.erase(0, 3);
+ // and add to the comment vector
+ comments.push_back(line);
+ }
+ } // end SP3Header::reallyGetRecord()
+
+} // namespace
diff --git a/dev/src/SP3Header.hpp b/dev/src/SP3Header.hpp
new file mode 100644
index 0000000..998fbc0
--- /dev/null
+++ b/dev/src/SP3Header.hpp
@@ -0,0 +1,153 @@
+#pragma ident "$Id$"
+
+/**
+ * @file SP3Header.hpp
+ * Encapsulate header of SP3 file data, including I/O
+ */
+
+#ifndef GPSTK_SP3HEADER_HPP
+#define GPSTK_SP3HEADER_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <string>
+#include <map>
+#include <vector>
+#include "DayTime.hpp"
+#include "SP3Base.hpp"
+#include "SP3SatID.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup SP3ephem */
+ //@{
+
+ /**
+ * This class models the header for a SP3 file.
+ *
+ * @note A valid header does not need to be read before
+ * data can be read from an sp3 file because a large part of the
+ * SP3 file header is skipped and not processed.
+ *
+ * @sa gpstk::SP3Stream and gpstk::SP3Data for more information.
+ * @sa sp3_test.cpp for an example.
+ */
+ class SP3Header : public SP3Base
+ {
+ public:
+
+ /// Supported time systems (version 'c')
+ enum TimeSystem
+ {
+ timeGPS=1,
+ timeUTC
+ };
+
+ /// constructor
+ SP3Header() : version('a'), numberOfEpochs(0),
+ system(1, SP3SatID::systemGPS), timeSystem(timeGPS),
+ basePV(0.0), baseClk(0.0)
+ {}
+
+ /// destructor
+ virtual ~SP3Header() {}
+
+ /// return a string with time system name
+ std::string timeSystemString() const
+ {
+ switch(timeSystem) {
+ case timeGPS: return "GPS";
+ case timeUTC: return "UTC";
+ default: return "??";
+ }
+ };
+
+ // The next four lines is our common interface
+ /// SP3Header is a "header" so this function always returns true.
+ virtual bool isHeader() const {return true;}
+
+ /// Debug output operator.
+ virtual void dump(std::ostream& s) const;
+
+ char version; ///< Version of the SP3 File, 'a' or 'c'
+ char pvFlag; ///< P or V: File contains positions only (P)
+ ///< or positions and velocities (V)
+ DayTime time; ///< Time of first Epoch in file
+ double epochInterval; ///< Duration of Epoch in seconds
+ int numberOfEpochs; ///< Number of Epochs in this file
+ std::string dataUsed; ///< Types of data input into the positions
+ std::string coordSystem; ///< Coordinate System of the data
+ std::string orbitType; ///< Type of Orbit Estimate
+ std::string agency; ///< Agency generating the Orbit
+ // the following four are specific to version 'c'
+ SP3SatID system; ///< File type (system of satellites in file)
+ TimeSystem timeSystem; ///< Time system used
+ double basePV; ///< Base used in Pos or Vel (mm or 10**-4mm/sec)
+ double baseClk; ///< Base used in Clk or rate (psec or 10**-4psec/sec)
+
+ std::map<SatID, short> satList; ///< Map<SatID,accuracy flag> (all SVs in file)
+ std::vector<std::string> comments; ///< vector of 4 comment lines
+
+ friend class SP3Data;
+
+ protected:
+ /// Writes the record formatted to the FFStream \a s.
+ /// @throws StringException when a StringUtils function fails
+ virtual void reallyPutRecord(FFStream& s) const
+ throw(std::exception, FFStreamError,
+ StringUtils::StringException);
+
+ /**
+ * This function retrieves the SP3 header from the given FFStream.
+ * If an error is encountered in the retrieval of the header, the
+ * stream is reset to its original position and its fail-bit is set.
+ * @throws StringException when a StringUtils function fails
+ * @throws FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to its pre-read position.
+ */
+ virtual void reallyGetRecord(FFStream& s)
+ throw(std::exception, FFStreamError,
+ StringUtils::StringException);
+ };
+
+ //@}
+
+} // namespace
+
+#endif
+
diff --git a/dev/src/SP3SatID.cpp b/dev/src/SP3SatID.cpp
new file mode 100644
index 0000000..41442b4
--- /dev/null
+++ b/dev/src/SP3SatID.cpp
@@ -0,0 +1,51 @@
+#pragma ident "$Id: $"
+
+#include "SP3SatID.hpp"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+/**
+ * @file SP3SatID.cpp
+ * gpstk::SP3SatID - navigation system-independent representation of a satellite
+ * as defined by the SP3 specification.
+ */
+
+namespace gpstk
+{
+ char SP3SatID::fillchar = '0';
+}
diff --git a/dev/src/SP3SatID.hpp b/dev/src/SP3SatID.hpp
new file mode 100644
index 0000000..78e4be3
--- /dev/null
+++ b/dev/src/SP3SatID.hpp
@@ -0,0 +1,200 @@
+#pragma ident "$Id: SatID.hpp 105 2006-08-31 15:53:26Z ocibu $"
+
+#ifndef GPSTK_SP3_SATID_HPP
+#define GPSTK_SP3_SATID_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <iostream>
+#include <sstream>
+#include <iomanip>
+
+#include "Exception.hpp"
+#include "SatID.hpp"
+
+/**
+ * @file SP3SatID.hpp
+ * gpstk::SP3SatID - navigation system-independent representation of a satellite
+ * as defined by the SP3 specification.
+ */
+
+namespace gpstk
+{
+ class SP3SatID : public SatID
+ {
+ public:
+
+ /// empty constructor, creates an invalid object
+ SP3SatID() throw() { id=-1; system=systemGPS; }
+
+ /// explicit constructor, no defaults, SP3 systems only
+ SP3SatID(int p, SatelliteSystem s) throw()
+ {
+ id = p; system = s;
+ switch(system) {
+ case systemGPS:
+ case systemGlonass:
+ case systemGalileo:
+ case systemLEO: break;
+ // invalidate anything non-SP3
+ default:
+ system = systemUnknown;
+ id = -1;
+ }
+ }
+
+ /// constructor from string
+ SP3SatID(const std::string& str) throw(Exception)
+ {
+ try { fromString(str); }
+ catch(Exception& e) { GPSTK_RETHROW(e); }
+ }
+
+ /// cast SatID to SP3SatID
+ SP3SatID(const SatID& sat) throw()
+ { *this = SP3SatID(sat.id,sat.system); }
+
+ /// set the fill character used in output
+ /// return the current fill character
+ char setfill(char c) throw()
+ { char csave=fillchar; fillchar=c; return csave; }
+
+ /// get the fill character used in output
+ char getfill() throw()
+ { return fillchar; }
+
+ // operator=, copy constructor and destructor built by compiler
+
+ /// return a character based on the system
+ /// return the single-character system descriptor
+ /// @note return only SP3 types, for non-SP3 systems return '?'
+ char systemChar() const throw()
+ {
+ switch (system) {
+ case systemGPS: return 'G';
+ case systemGalileo: return 'E';
+ case systemGlonass: return 'R';
+ case systemLEO: return 'L';
+ case systemMixed: return 'M';
+ // non-SP3
+ default: return '?';
+ }
+ };
+
+ std::string systemString() const throw()
+ {
+ switch (system) {
+ case systemGPS: return "GPS";
+ case systemGalileo: return "Galileo";
+ case systemGlonass: return "Glonass";
+ case systemLEO: return "LEO";
+ case systemMixed: return "Mixed";
+ default: return "Unknown";
+ }
+ };
+
+
+ /// read from string
+ /// @note GPS is default system (no or unknown system char)
+ void fromString(const std::string s) throw(Exception)
+ {
+ char c;
+ std::istringstream iss(s);
+
+ id = -1; system = systemGPS; // default
+ if(s.find_first_not_of(std::string(" \t\n"), 0) == std::string::npos)
+ return; // all whitespace yields the default
+
+ iss >> c; // read one character (non-whitespace)
+ switch(c)
+ {
+ // no leading system character
+ case '0': case '1': case '2': case '3': case '4':
+ case '5': case '6': case '7': case '8': case '9':
+ iss.putback(c);
+ system = SatID::systemGPS;
+ break;
+ case ' ': case 'G': case 'g':
+ system = SatID::systemGPS;
+ break;
+ case 'R': case 'r':
+ system = SatID::systemGlonass;
+ break;
+ case 'E': case 'e':
+ system = SatID::systemGalileo;
+ break;
+ case 'L': case 'l':
+ system = SatID::systemLEO;
+ break;
+ case 'M': case 'm':
+ system = SatID::systemMixed;
+ break;
+ default: // non-SP3 system character
+ Exception e(std::string("Invalid system character \"")
+ + c + std::string("\""));
+ GPSTK_THROW(e);
+ }
+ iss >> id;
+ if(id <= 0) id = -1;
+ }
+
+ /// convert to string
+ std::string toString() const throw()
+ {
+ std::ostringstream oss;
+ oss.fill(fillchar);
+ oss << systemChar()
+ << std::setw(2) << id;
+ return oss.str();
+ }
+
+ private:
+
+ static char fillchar; ///< fill character used during stream output
+
+ }; // class SP3SatID
+
+ /// stream output for SP3SatID
+ inline std::ostream& operator<<(std::ostream& s, const SP3SatID& sat)
+ {
+ s << sat.toString();
+ return s;
+ }
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/SP3Stream.hpp b/dev/src/SP3Stream.hpp
new file mode 100644
index 0000000..33f17b5
--- /dev/null
+++ b/dev/src/SP3Stream.hpp
@@ -0,0 +1,83 @@
+#pragma ident "$Id$"
+
+/**
+ * @file SP3Stream.hpp
+ * File stream for SP3 format files
+ */
+
+#ifndef GPSTK_SP3STREAM_HPP
+#define GPSTK_SP3STREAM_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include "DayTime.hpp"
+#include "FFTextStream.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup SP3ephem */
+ //@{
+
+ /**
+ * This class provides access to SP3 files.
+ *
+ * @sa gpstk::SP3Header and gpstk::SP3Data for more information.
+ * @sa sp3_test.cpp for an example.
+ */
+ class SP3Stream : public FFTextStream
+ {
+ public:
+ SP3Stream() : buffer(std::string()) {}
+
+ /** Constructor
+ * Opens file \a fn using ios::openmode \a mode.
+ */
+ SP3Stream(const char* fn, std::ios::openmode mode=std::ios::in)
+ : FFTextStream(fn, mode) {}
+
+ /// destructor
+ virtual ~SP3Stream() {}
+
+ DayTime currentEpoch; ///< Time from last epoch record read
+ std::string buffer; ///< Last line read, not yet processed
+ };
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/SVExclusionList.cpp b/dev/src/SVExclusionList.cpp
new file mode 100644
index 0000000..2bd85d5
--- /dev/null
+++ b/dev/src/SVExclusionList.cpp
@@ -0,0 +1,346 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+
+
+
+
+//
+//
+#include <stdio.h>
+// gpstk
+#include "SVExclusionList.hpp"
+
+namespace gpstk
+{
+
+ using namespace std;
+
+//--------------- Methods for SVExclusionList ---------------
+ SVExclusionList::SVExclusionList( )
+ :earliestTime(gpstk::DayTime::END_OF_TIME),
+ latestTime(gpstk::DayTime::BEGINNING_OF_TIME)
+ {
+ readFailCount = 0;
+ timeSpecString = "%F %g";
+ }
+
+ SVExclusionList::SVExclusionList( const std::string filename )
+ throw(SVExclusionList::SVExclusionFileNotFound)
+ :earliestTime(gpstk::DayTime::END_OF_TIME),
+ latestTime(gpstk::DayTime::BEGINNING_OF_TIME)
+ {
+ readFailCount = 0;
+ timeSpecString = "%F %g";
+ addFile( filename );
+ }
+
+ void SVExclusionList::addFile( const std::string filename )
+ throw(SVExclusionList::SVExclusionFileNotFound)
+ {
+ char file[100];
+ sscanf(filename.c_str(),"%s",file);
+ FILE* inf = fopen(file, "rt");
+ if (inf==0)
+ {
+ char text[200];
+ sprintf(text,"Exclusion file not found. Filename: %s",filename.c_str());
+ std::string sout = text;
+ SVExclusionFileNotFound noSVXFile( sout );
+ GPSTK_THROW(noSVXFile);
+ }
+
+ std::string temps;
+ DayTime tempDTs;
+ std::string tempe;
+ DayTime tempDTe;
+ int lineCount =0;
+ char fileLine[200];
+ while (fgets(fileLine, 200, inf))
+ {
+ lineCount++;
+ //cout << "------------- Line " << lineCount << endl;
+ string whiteSpace = " \t\n\r";
+ string lineIn = fileLine;
+
+ // strip trailing whitespace
+ string::size_type endIndex = lineIn.find_last_not_of(whiteSpace);
+ lineIn = lineIn.substr( 0, endIndex+1 );
+ string lead2Chars = lineIn.substr(0,2);
+ if (lead2Chars.compare("TS")==0)
+ {
+ string::size_type q1 = lineIn.find('"');
+ string::size_type q2 = lineIn.find('"',(q1+1));
+ if (q1!=string::npos && q2!=string::npos)
+ {
+ timeSpecString = lineIn.substr((q1+1),(q2-q1-1));
+ // debug
+ //cout << " New timeSpecString '" << timeSpecString << "'." << endl;
+ }
+ else
+ {
+ readFailCount++;
+ string failString = buildFailString(
+ "Invalid TS specification at",
+ lineCount,
+ filename);
+ readFailList.push_back( failString );
+ }
+ }
+ if (lead2Chars.compare("EX")==0)
+ {
+ string::size_type c1 = lineIn.find(',');
+ string::size_type c2 = lineIn.find(',',(c1+1));
+ string::size_type c3 = lineIn.find(',',(c2+1));
+ if (c1!=string::npos && c2!=string::npos)
+ {
+ std::string comment = "";
+ int PRNID = StringUtils::asInt(lineIn.substr(2, (c1-1)) );
+ if (PRNID<0 || PRNID>gpstk::MAX_PRN)
+ {
+ readFailCount++;
+ string failString = buildFailString(
+ "PRN ID out of range",
+ lineCount,
+ filename);
+ readFailList.push_back( failString );
+ continue;
+ }
+ temps = lineIn.substr((c1+1),(c2-c1-1));
+ string::size_type nonWhiteBeg = temps.find_first_not_of(whiteSpace);
+ string::size_type nonWhiteEnd = temps.find_last_not_of(whiteSpace);
+ //cout << "Before trimming. temps, Beg, End = '" << temps << "', " << nonWhiteBeg << ", " << nonWhiteEnd << "." << endl;
+ if (nonWhiteEnd!=string::npos)
+ temps = temps.substr(nonWhiteBeg,nonWhiteEnd-nonWhiteBeg+1);
+ else
+ temps = temps.substr(nonWhiteBeg);
+
+ //cout << "c3, string::npos = " << c3 << ", " << string::npos << endl;
+ if (c3!=string::npos)
+ {
+ tempe = lineIn.substr(c2+1, (c3-c2-1) );
+ comment = lineIn.substr(c3+1);
+ nonWhiteBeg = comment.find_first_not_of(whiteSpace);
+ comment = comment.substr(nonWhiteBeg);
+ }
+ else
+ tempe = lineIn.substr(c2+1);
+
+ nonWhiteBeg = tempe.find_first_not_of(whiteSpace);
+ nonWhiteEnd = tempe.find_last_not_of(whiteSpace);
+ //cout << "Before trimming. tempe, Beg, End = '" << tempe << "', " << nonWhiteBeg << ", " << nonWhiteEnd << "." << endl;
+ if (nonWhiteEnd!=string::npos)
+ tempe = tempe.substr(nonWhiteBeg,nonWhiteEnd-nonWhiteBeg+1);
+ else
+ tempe = tempe.substr(nonWhiteBeg);
+ try
+ {
+ //cout << "Input start string: '" << temps << "'." << endl;
+ tempDTs.setToString( temps, timeSpecString );
+ //cout << "Input end string: '" << tempe << "'." << endl;
+ tempDTe.setToString( tempe, timeSpecString );
+ if (tempDTs<=tempDTe)
+ {
+ SVExclusion svEx( tempDTs, tempDTe, PRNID, comment );
+
+ // Add exclusion to the multimap
+ addExclusion( svEx );
+ }
+ else
+ {
+ readFailCount++;
+ string failString = buildFailString(
+ "Start time after end time",
+ lineCount,
+ filename);
+ readFailList.push_back( failString );
+ }
+ }
+ catch (DayTime::DayTimeException& dte)
+ {
+ readFailCount++;
+ string failString = buildFailString(
+ dte.getText(),
+ lineCount,
+ filename);
+ readFailList.push_back( failString );
+ }
+ catch (DayTime::FormatException& fe)
+ {
+ readFailCount++;
+ string failString = buildFailString(
+ fe.getText(),
+ lineCount,
+ filename);
+ readFailList.push_back( failString );
+ }
+ catch (gpstk::StringUtils::StringException& se)
+ {
+ readFailCount++;
+ string failString = buildFailString(
+ se.getText(),
+ lineCount,
+ filename);
+ readFailList.push_back( failString );
+ }
+ }
+ else
+ {
+ readFailCount++;
+ string failString = buildFailString(
+ "Invalid EX line format at",
+ lineCount,
+ filename);
+ readFailList.push_back( failString );
+ }
+ }
+ }
+ fclose(inf);
+ }
+
+ void SVExclusionList::addExclusion( const SVExclusion svx )
+ {
+ // The sun compiler's *really* picky about its consts and says this doesn't work:
+ //exclusionMap.insert( make_pair( svx.getPRNID(), svx ) );
+
+ // Here's some tedium to make it happy:
+ pair<const int, gpstk::SVExclusion> temp( svx.getPRNID(), svx );
+ exclusionMap.insert( temp );
+
+ // Update the earliest/latest info
+ if (svx.getBeginTime() < earliestTime) earliestTime = svx.getBeginTime();
+ if (svx.getEndTime() > latestTime) latestTime = svx.getEndTime();
+ }
+
+ bool SVExclusionList::isExcluded(
+ const int PRN,
+ const gpstk::DayTime dt ) const
+ {
+ SVXListPair p = exclusionMap.equal_range( PRN );
+ for (SVXListCI ci=p.first; ci != p.second; ++ci)
+ {
+ if (ci->second.isApplicable( PRN, dt )) return(true);
+ }
+ return(false);
+ }
+
+ const SVExclusion& SVExclusionList::getApplicableExclusion(
+ const int PRN, const gpstk::DayTime dt)
+ const throw(SVExclusionList::NoSVExclusionFound)
+ {
+ SVXListPair p = exclusionMap.equal_range( PRN );
+ for (SVXListCI ci=p.first; ci != p.second; ++ci)
+ {
+ if (ci->second.isApplicable( PRN, dt )) return( ci->second );
+ }
+
+ // Failed to find an exclusion corresponding to the request
+ char textOut[80];
+ sprintf(textOut,"No SVExclusion found for PRN %02d at %s.",
+ PRN, dt.printf("week %F SOW %g, %02m/%02d/%02y %02H:%02M:%02S").c_str());
+ std::string sout = textOut;
+ NoSVExclusionFound noSVX( sout );
+ GPSTK_THROW(noSVX);
+ }
+
+ void SVExclusionList::dumpList( FILE* fp ) const
+ {
+ if (fp==0) return;
+ std::string timeString = "Wk %F SOW %6.0g, %02m/%02d/%02y (DOY %03j) %02H:%02M:%02S";
+ fprintf(fp,"List of SV Exclusion from SVExclusionList\n\n");
+ for (int PRN=1; PRN<=gpstk::MAX_PRN; ++PRN)
+ {
+ fprintf(fp,"\nExclusions for PRN %02d\n",PRN);
+ SVXListPair p = exclusionMap.equal_range( PRN );
+ for (SVXListCI ci=p.first; ci != p.second; ++ci)
+ {
+ fprintf(fp," %s to %s\n",
+ ci->second.getBeginTime().printf(timeString).c_str(),
+ ci->second.getEndTime().printf(timeString).c_str());
+ }
+ }
+ }
+
+ void SVExclusionList::listOfReadFailures() const
+ {
+ typedef list<string>::const_iterator LI;
+ for (LI i=readFailList.begin(); i!=readFailList.end(); ++i)
+ {
+ cerr << *i << endl;
+ }
+ }
+
+ void SVExclusionList::listOfReadFailures( FILE* fpout ) const
+ {
+ if (fpout==0) return;
+ typedef list<string>::const_iterator LI;
+ for (LI i=readFailList.begin(); i!=readFailList.end(); ++i)
+ {
+ fprintf(fpout,"%s\n",(*i).c_str());
+ }
+ }
+
+ void SVExclusionList::listOfReadFailures( std::ofstream fsout ) const
+ {
+ if (!fsout.is_open()) return;
+ typedef list<string>::const_iterator LI;
+ for (LI i=readFailList.begin(); i!=readFailList.end(); ++i)
+ {
+ fsout << *i << endl;
+ }
+ }
+
+ std::string SVExclusionList::buildFailString(const std::string s,
+ const int lineCount, const std::string filename )
+ {
+ string outString = s;
+ outString += " at line ";
+ outString += StringUtils::asString(lineCount);
+ outString += " of file ";
+ outString += filename;
+ outString += ".";
+ return(outString);
+ }
+
+//--------------- Methods for SVExclusion ---------------
+ SVExclusion::SVExclusion( const gpstk::DayTime begin,
+ const gpstk::DayTime end,
+ const int PRNID,
+ const std::string commentArg )
+ {
+ begExclude = begin;
+ endExclude = end;
+ PRN_IDENTIFIER = PRNID;
+ comment = commentArg;
+ }
+
+ bool SVExclusion::isApplicable( const int PRNID, const gpstk::DayTime dt ) const
+ {
+ if (dt>=begExclude && dt<=endExclude && PRN_IDENTIFIER==PRNID) return(true);
+ return(false);
+ }
+
+} // end namespace gpstk
diff --git a/dev/src/SVExclusionList.hpp b/dev/src/SVExclusionList.hpp
new file mode 100644
index 0000000..d1be80c
--- /dev/null
+++ b/dev/src/SVExclusionList.hpp
@@ -0,0 +1,154 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+
+
+
+/**
+*
+*
+*
+*Input File Format
+* The file may contain any number of lines of ASCII text. Any line that
+* does not begin with "EX" or "TS" will be ignored. Lines beginning with
+* TS are assumed to contains a double quote delimited string that defines
+* the time format that will be used in following EX lines. The default
+* time string is "%F %g" (GPS full week, GPS Second of Week). See
+* DayTime.hpp for more information on time specificaction strings
+* (in particular the method DayTime.setToString()).
+*
+* Each "EX" line must follow the format:
+*
+* EX pp, startTime, endTime, comment(optional)
+*
+*where
+* pp - SV PRNID
+* startTime - In format defined by latest TS command
+* endTime - In format defined by latest TS command
+* comment - An optional ASCII text comment to be stored with the exclusion
+*
+* Read failues will silently discarded, however, the calling program
+* may access a count of the number of read failures and a list of the
+* failures.
+*/
+#ifndef GPSTK_SVEXCLUSIONLIST_HPP
+#define GPSTK_SVEXCLUSIONLIST_HPP
+
+//
+#include <stdio.h>
+#include <fstream>
+#include <iostream>
+
+// std library
+#include <map>
+
+// gpstk
+#include "DayTime.hpp"
+#include "Exception.hpp"
+#include "gps_constants.hpp"
+
+namespace gpstk
+{
+ class SVExclusion
+ {
+ public:
+ SVExclusion( const gpstk::DayTime begin,
+ const gpstk::DayTime end,
+ const int PRNID,
+ const std::string commentArg );
+ bool isApplicable( const int PRNID, const gpstk::DayTime dt ) const;
+ std::string getComment() const;
+ int getPRNID() const;
+ gpstk::DayTime getBeginTime() const;
+ gpstk::DayTime getEndTime() const;
+
+ protected:
+ int PRN_IDENTIFIER;
+ gpstk::DayTime begExclude;
+ gpstk::DayTime endExclude;
+ std::string comment;
+ };
+
+ // For this first implementation, there will be a multimap
+ // organized by PRN.
+
+ typedef std::multimap< int, SVExclusion >::const_iterator SVXListCI;
+ typedef std::pair<SVXListCI,SVXListCI> SVXListPair;
+
+ class SVExclusionList
+ {
+ public:
+ NEW_EXCEPTION_CLASS( NoSVExclusionFound , gpstk::Exception);
+ NEW_EXCEPTION_CLASS( SVExclusionFileNotFound , gpstk::Exception);
+
+ SVExclusionList( );
+ SVExclusionList( std::string filename )
+ throw(SVExclusionFileNotFound);
+ void addFile( const std::string filename )
+ throw(SVExclusionFileNotFound);
+ bool isExcluded( const int PRN, const gpstk::DayTime dt ) const;
+ void addExclusion( const SVExclusion );
+ gpstk::DayTime getEarliestTime() const;
+ gpstk::DayTime getLatestTime() const;
+ int getNumberOfExclusions() const;
+ const SVExclusion& getApplicableExclusion(
+ const int PRN, const gpstk::DayTime dt)
+ const throw(NoSVExclusionFound);
+ int numberOfReadFailures() const;
+ void listOfReadFailures() const; // List goes to cerr
+ void listOfReadFailures( FILE* fpout ) const;
+ void listOfReadFailures( std::ofstream fsout ) const;
+ void dumpList( FILE* fp ) const;
+
+ protected:
+ gpstk::DayTime earliestTime;
+ gpstk::DayTime latestTime;
+ std::multimap< int, SVExclusion > exclusionMap;
+
+ std::string timeSpecString;
+ int readFailCount;
+ std::list<std::string> readFailList;
+
+ std::string buildFailString(const std::string s,
+ const int lineCount, const std::string filename );
+ };
+
+ inline gpstk::DayTime SVExclusionList::getEarliestTime() const
+ { return(earliestTime); }
+ inline gpstk::DayTime SVExclusionList::getLatestTime() const
+ { return(latestTime); }
+ inline int SVExclusionList::getNumberOfExclusions() const
+ { return(exclusionMap.size()); }
+ inline int SVExclusionList::numberOfReadFailures() const
+ { return(readFailCount); }
+
+ inline std::string SVExclusion::getComment() const {return(comment); }
+ inline int SVExclusion::getPRNID() const { return(PRN_IDENTIFIER); }
+ inline gpstk::DayTime SVExclusion::getBeginTime() const { return(begExclude); }
+ inline gpstk::DayTime SVExclusion::getEndTime() const { return(endExclude); }
+
+}
+#endif
diff --git a/dev/src/SVPCodeGen.cpp b/dev/src/SVPCodeGen.cpp
new file mode 100644
index 0000000..012acfc
--- /dev/null
+++ b/dev/src/SVPCodeGen.cpp
@@ -0,0 +1,112 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include "SVPCodeGen.hpp"
+
+namespace gpstk
+{
+ const long LAST_6SEC_ZCOUNT_OF_WEEK = 403200 - 4;
+
+ SVPCodeGen::SVPCodeGen( const int SVPRNID, const gpstk::DayTime& dt )
+ {
+ currentZTime = dt;
+ PRNID = SVPRNID;
+ }
+
+ void SVPCodeGen::getCurrentSixSeconds( CodeBuffer& pcb )
+ {
+ // Compute appropriate X2A offset
+ long X2count;
+ long X1count = currentZTime.GPSzcount();
+
+ /*
+ Trivial, but special, case for beginning of week. This
+ can't be simplified into the general case due to the beginning
+ of week chip delays that are equivalent to the PRNID. These
+ chips are stored at the beginning of the X2 chips sequence. This
+ is the only time the X2count should be "negative". The offset is
+ handled within the X2Sequence::operator[] method.
+ */
+ if (X1count==0) X2count = -PRNID;
+
+ /*
+ At the beginning of an X1 epoch, the previous X2 epoch
+ will still be unfinished due to delays. The accumulated
+ delay is based on the PRNID and the delay per X1 epoch.
+ Subtract this delay from the max length of the X2 sequence
+ to determine the current chip within the X2 sequence.
+ */
+ else
+ {
+ long cumulativeX2Delay = X1count * X2A_EPOCH_DELAY + PRNID;
+ X2count = MAX_X2_TEST - cumulativeX2Delay;
+ if (X2count<0) X2count += MAX_X2_TEST;
+ }
+
+ /*
+ If this if the final six-second interval of the week,
+ signal the X2 bit sequence generator to use the "end of week"
+ sequence. Otherwise, use the "regular" sequence.
+ */
+ if ( X1count==LAST_6SEC_ZCOUNT_OF_WEEK) X2Seq.setEOWX2Epoch(true);
+ else X2Seq.setEOWX2Epoch(false);
+
+ // Update the time and code state in the CodeBuffer object
+ pcb.updateBufferStatus( currentZTime, P_CODE );
+
+ // Starting at the beginning of the interval, step through
+ // the six second period loading the code buffer as we go.
+ for ( long i=0;i<NUM_6SEC_WORDS;++i )
+ {
+ pcb[i] = X1Seq[i] ^ X2Seq[X2count];
+ X2count += MAX_BIT;
+ if (X2count>=MAX_X2_TEST) X2count -= MAX_X2_TEST;
+ }
+ }
+
+ void SVPCodeGen::increment4ZCounts( )
+ {
+ currentZTime += 6; // 6 seconds == 4 Zcounts.
+ }
+
+ void SVPCodeGen::setCurrentZCount(const gpstk::GPSZcount& z)
+ {
+ GPSZcount z2 = z - z%4;
+ currentZTime = z2;
+ }
+} // end of namespace
diff --git a/dev/src/SVPCodeGen.hpp b/dev/src/SVPCodeGen.hpp
new file mode 100644
index 0000000..cc86a47
--- /dev/null
+++ b/dev/src/SVPCodeGen.hpp
@@ -0,0 +1,149 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef SVPCODEGEN_HPP
+#define SVPCODEGEN_HPP
+
+
+#include "DayTime.hpp"
+#include "PCodeConst.hpp"
+#include "CodeBuffer.hpp"
+#include "X1Sequence.hpp"
+#include "X2Sequence.hpp"
+
+namespace gpstk
+{
+/** @defgroup code Code generator */
+//@{
+ /**
+ * SV P-code Generator.
+ * Applied Research Laboratories, The University of Texas at Austin
+ * August 2003
+ *
+ * SVPCodeGen handles the P-code generation for a particular SV. Each object
+ * is initialized based on the particular satellite (identified by PRN code)
+ * and the Z-count when generation is to begin. The Z-count must be an even
+ * four Z-count (six second) interval. Input values that do not align with four
+ * Z-count boundaries are rounded BACK to the next earliest 4 Z-count boundary.
+ *
+ * After initializaiton, P-code is generated in 6-second "chunks". The chunks
+ * are returned to the caller in CodeBuffer objects. After each call to
+ * getNextSixSeconds( ), the application shall call increment4ZCounts( )
+ * to advance the time by four Z-counts. This separation between getting the
+ * bits and advancing the time is purposely done to allow for easier
+ * coordination when generating code for multiple satellites and performing
+ * other operations on the data after generating the P-code and before moving
+ * on to the next increment.
+ *
+ * A key aspect of this class is the use of the X1Sequence and X2Sequence
+ * classes. Analysis of the P-code generation processes reveals that the
+ * combined X1A/X1B bit stream repeats every 1.5s (1 Z-count) and is the
+ * same for all satellites. At the end of 6s (4 Z-counts), the number of
+ * bits is evenly divisable by 32 (which is the assumed wordsize for the
+ * applicationn). Therefore, to obtain X1 bits, getNextSixSeconds( ) need only
+ * access the indiviual words from the X1Sequence starting at the beginning
+ * of the array and progressing to the end. The restriction that the coder
+ * must start on an even 6-second (4 Z-count) epoch and generate intervals of
+ * six seconds obviates the need to build code to compute bit positions
+ * within X1A cycles or any information on the X1A/X1B relationship. See
+ * documentation on the class X1Sequence for more information.
+ *
+ * The situation with respect to X2A/X2B is somewhat more complicated. Once
+ * again, the X2A/X2B sequence is only 1.5s long. However, the X2 sequence is
+ * "slipped" wrt the X1 sequence in two ways: (1.) once per week (at the
+ * beginning of week), it is slipped by a number of bits corresponding to
+ * the PRN ID, (2.) slipped 37 bits for each X2A cycle. This
+ * means that it is necessary to keep track of the bit position within the
+ * X2 sequence and "chop out" 32 bits at a time. See documentation for the
+ * class X2Sequence for more information.
+ */
+ class SVPCodeGen
+ {
+ public:
+ /**
+ * SVPCodeGen::SVPCodeGen( const int PRNID, const DayTime ) -
+ * Instantiate and initialize a SVPCodeGen object. Based on the
+ * PRNID and the ZCount, determine the appropriate starting
+ * location in the X2 sequence and set it up. Set the current
+ * time.
+ */
+ SVPCodeGen( const int SVPRNID, const gpstk::DayTime& dt );
+ ~SVPCodeGen( ) {};
+
+ /**
+ * Starting at the beginning of the X1 sequence and at the
+ * appropriate location (as determined by time and PRN), advance
+ * through both the X1 sequence and X2 sequences combining the
+ * sequences 32 bits at a time until the X1 sequence for this
+ * six second period has been exhausted. Sometime within that
+ * period, the X2 sequence will be exahusted (including the
+ * appropriate delays) and will rollover to the beginning of
+ * the sequence.
+ */
+ void getCurrentSixSeconds( CodeBuffer& pcb );
+
+ /**
+ * Generally, the only action is to increment the Z-count by
+ * 4 counts. This function COULD be included at the end of
+ * getCurrentSixSeconds( ), however, it has been separated to
+ * allow the calling application to have a consistent view of
+ * all the state conditions (for output and debug) before
+ * moving the time forward for the next generation.
+ */
+ void increment4ZCounts();
+
+ /**
+ * Returns the current time to the calling method.
+ */
+ const gpstk::DayTime& getCurrentZCount() const {return currentZTime;}
+
+ /** Allows the user to set the current time. While a any time may
+ be specified, this routine will take the Z % 4 for the actuall
+ time.
+ **/
+ void setCurrentZCount(const gpstk::GPSZcount& z);
+
+ private:
+ gpstk::X1Sequence X1Seq;
+ gpstk::X2Sequence X2Seq;
+ gpstk::DayTime currentZTime;
+ int PRNID;
+ };
+ //@}
+} // end of namespace
+#endif // SVPCODEGEN_HPP
diff --git a/dev/src/SatID.hpp b/dev/src/SatID.hpp
new file mode 100644
index 0000000..cfffecc
--- /dev/null
+++ b/dev/src/SatID.hpp
@@ -0,0 +1,174 @@
+#pragma ident "$Id$"
+
+#ifndef GPSTK_SATID_HPP
+#define GPSTK_SATID_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <iostream>
+#include <iomanip>
+#include <sstream>
+#include <gps_constants.hpp>
+
+/**
+ * @file SatID.hpp
+ * gpstk::SatID - navigation system-independent representation of a satellite.
+ */
+
+namespace gpstk
+{
+ // forward declarations
+ class SatID;
+ std::istream& operator>>(std::istream& s, SatID& p);
+
+ /// Satellite identifier consisting of a satellite number (PRN, etc.)
+ /// and a satellite system
+ class SatID
+ {
+ public:
+ /// Supported satellite systems
+ enum SatelliteSystem
+ {
+ systemGPS = 1,
+ systemGalileo,
+ systemGlonass,
+ systemGeosync,
+ systemLEO,
+ systemTransit,
+ systemMixed,
+ systemUnknown
+ };
+
+ /// empty constructor, creates an invalid object
+ SatID() { id=-1; system=systemGPS; }
+
+ /// explicit constructor, no defaults
+ /// @note if s is given a default value here,
+ /// some compilers will silently cast int to SatID.
+ SatID(int p, SatelliteSystem s) { id=p; system=s; }
+
+ // operator=, copy constructor and destructor built by compiler
+
+ /// Convenience output method
+ void dump(std::ostream& s) const
+ {
+ switch(system)
+ {
+ case systemGPS: s << "GPS"; break;
+ case systemGalileo: s << "Galileo"; break;
+ case systemGlonass: s << "GLONASS"; break;
+ case systemGeosync: s << "Geostationary"; break;
+ case systemLEO: s << "LEO"; break;
+ case systemTransit: s << "Transit"; break;
+ case systemMixed: s << "Mixed"; break;
+ case systemUnknown: s << "Unknown"; break;
+ default: s << "??"; break;
+ }
+ s << " " << id;
+ }
+
+ /// operator == for SatID
+ bool operator==(const SatID& right) const
+ { return ((system == right.system) && (id == right.id)); }
+
+ /// operator != for SatID
+ bool operator!=(const SatID& right) const
+ { return !(operator==(right)); }
+
+ /// operator < for SatID : order by system, then number
+ bool operator<(const SatID& right) const
+ {
+ if (system==right.system)
+ return (id<right.id);
+ return (system<right.system);
+ }
+
+ /// operator > for SatID
+ bool operator>(const SatID& right) const
+ { return (!operator<(right) && !operator==(right)); }
+
+ /// operator <= for SatID
+ bool operator<=(const SatID& right) const
+ { return (operator<(right) || operator==(right)); }
+
+ /// operator >= for SatID
+ bool operator>=(const SatID& right) const
+ { return !(operator<(right)); }
+
+ /// return true if this is a valid SatID
+ /// @note assumes all id's are positive and less than 100;
+ /// plus GPS id's are less than or equal to MAX_PRN (32).
+ /// @note this is not used internally in the gpstk library
+ bool isValid() const
+ {
+ switch(system)
+ {
+ case systemGPS: return (id > 0 && id <= MAX_PRN);
+ //case systemGalileo:
+ //case systemGlonass:
+ //case systemGeosync:
+ //case systemLEO:
+ //case systemTransit:
+ default: return (id > 0 && id < 100);
+ }
+ }
+
+ int id; ///< satellite identifier, e.g. PRN
+ SatelliteSystem system; ///< system for this satellite
+
+ }; // class SatID
+
+ namespace StringUtils
+ {
+ inline std::string asString(const SatID& p)
+ {
+ std::ostringstream oss;
+ p.dump(oss);
+ return oss.str();
+ }
+ }
+
+ /// stream output for SatID
+ inline std::ostream& operator<<(std::ostream& s, const SatID& p)
+ {
+ p.dump(s);
+ return s;
+ }
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/SimpleFilter.hpp b/dev/src/SimpleFilter.hpp
new file mode 100644
index 0000000..280d151
--- /dev/null
+++ b/dev/src/SimpleFilter.hpp
@@ -0,0 +1,320 @@
+
+/**
+ * @file SimpleFilter.hpp
+ * This class filters out satellites with observations grossly out of bounds.
+ */
+
+#ifndef Simple_Filter_GPSTK
+#define Simple_Filter_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2007
+//
+//============================================================================
+
+
+
+#include "DataStructures.hpp"
+
+
+namespace gpstk
+{
+
+ /** @addtogroup DataStructures */
+ //@{
+
+
+ /** This class filters out satellites with observations grossly out of bounds.
+ * This class is meant to be used with the GNSS data structures objects
+ * found in "DataStructures" class.
+ *
+ * A typical way to use this class follows:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o");
+ *
+ * gnssRinex gRin;
+ * SimpleFilter myFilter;
+ *
+ * while(rin >> gRin) {
+ * gRin >> myFilter;
+ * }
+ * @endcode
+ *
+ * The "SimpleFilter" object will visit every satellite in the GNSS data
+ * structure that is "gRin" and will check that the given code observations
+ * are within some (preassigned) boundaries.
+ *
+ * By default, the algorithm will check C1 observables, the minimum limit
+ * is 15000000.0 meters and the maximum limit is 30000000.0 meters. You can
+ * change all these settings with the appropriate set methods.
+ *
+ * Also, you may set more than one observable to be checked by passing a
+ * "TypeIDSet" object to the appropriate constructors or methods. For instance:
+ *
+ * @code
+ * TypeIDSet typeSet;
+ * typeSet.insert(TypeID::P1);
+ * typeSet.insert(TypeID::P2);
+ *
+ * myFilter.setFilteredType(typeSet);
+ * @endcode
+ *
+ * Be warned that if a given satellite does not have the observations required,
+ * or if their are out of bounds, the full satellite record will be summarily
+ * deleted from the data structure.
+ *
+ */
+ class SimpleFilter
+ {
+ public:
+
+ /// Default constructor.
+ SimpleFilter() : minLimit(15000000.0), maxLimit(30000000.0)
+ {
+ setFilteredType(TypeID::C1); // By default, filter C1
+ };
+
+
+ /** Explicit constructor
+ *
+ * @param type TypeID to be filtered.
+ * @param min Minimum limit (in meters).
+ * @param max Maximum limit (in meters).
+ */
+ SimpleFilter(const TypeID& type, const double& min, const double& max) : minLimit(min), maxLimit(max)
+ {
+ setFilteredType(type);
+ };
+
+
+ /** Explicit constructor
+ *
+ * @param type TypeID to be filtered.
+ */
+ SimpleFilter(const TypeID& type) : minLimit(15000000.0), maxLimit(30000000.0)
+ {
+ setFilteredType(type);
+ };
+
+
+ /** Explicit constructor
+ *
+ * @param typeSet Set of TypeID's to be filtered.
+ * @param min Minimum limit (in meters).
+ * @param max Maximum limit (in meters).
+ */
+ SimpleFilter(const TypeIDSet& typeSet, const double& min, const double& max) : filterTypeSet(typeSet), minLimit(min), maxLimit(max) {};
+
+
+ /** Explicit constructor
+ *
+ * @param typeSet Set of TypeID's to be filtered.
+ */
+ SimpleFilter(const TypeIDSet& typeSet) : filterTypeSet(typeSet), minLimit(15000000.0), maxLimit(30000000.0) {};
+
+
+ /** Returns a satTypeValueMap object, filtering the target observables.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual satTypeValueMap& Filter(satTypeValueMap& gData)
+ {
+
+ SatIDSet satRejectedSet;
+
+ // Check all the indicated TypeID's
+ TypeIDSet::const_iterator pos;
+ for (pos = filterTypeSet.begin(); pos != filterTypeSet.end(); ++pos)
+ {
+
+ double value(0.0);
+
+ // Loop through all the satellites
+ satTypeValueMap::iterator it;
+ for (it = gData.begin(); it != gData.end(); ++it)
+ {
+ try
+ {
+ // Try to extract the values
+ value = (*it).second(*pos);
+
+ // Now, check that the value is within bounds
+ if ( !( checkValue(value) ) )
+ {
+ // If value is out of bounds, then schedule this satellite for removal
+ satRejectedSet.insert( (*it).first );
+ }
+ }
+ catch(...)
+ {
+ // If some value is missing, then schedule this satellite for removal
+ satRejectedSet.insert( (*it).first );
+ }
+ }
+ // Before checking next TypeID, let's remove satellites with data out of bounds
+ gData.removeSatID(satRejectedSet);
+ }
+
+ return gData;
+ };
+
+
+ /** Method to set the minimum limit.
+ * @param min Minimum limit (in meters).
+ */
+ virtual void setMinLimit(const double& min)
+ {
+ minLimit = min;
+ };
+
+
+ /// Method to get the minimum limit.
+ virtual double getMinLimit() const
+ {
+ return minLimit;
+ };
+
+
+ /** Method to set the maximum limit.
+ * @param max Maximum limit (in meters).
+ */
+ virtual void setMaxLimit(const double& max)
+ {
+ maxLimit = max;
+ };
+
+
+ /// Method to get the maximum limit.
+ virtual double getMaxLimit() const
+ {
+ return maxLimit;
+ };
+
+
+ /** Method to add a TypeID to be filtered.
+ * @param type Extra TypeID to be filtered.
+ */
+ virtual void addFilteredType(const TypeID& type)
+ {
+ filterTypeSet.insert(type);
+ };
+
+
+ /** Method to set a TypeID to be filtered. This method will erase previous types.
+ * @param type TypeID to be filtered.
+ */
+ virtual void setFilteredType(const TypeID& type)
+ {
+ filterTypeSet.clear(); // This makes the set empty
+ filterTypeSet.insert(type);
+ };
+
+
+ /** Method to set the TypeID's to be filtered. This method will erase previous types.
+ * @param typeSet Set of TypeID's to be filtered.
+ */
+ virtual void setFilteredType(const TypeIDSet& typeSet)
+ {
+ filterTypeSet.clear(); // This makes the set empty
+ filterTypeSet = typeSet;
+ };
+
+
+ /// Method to get the set of TypeID's to be filtered.
+ virtual TypeIDSet getFilteredType() const
+ {
+ return filterTypeSet;
+ };
+
+
+ /** Returns a gnnsSatTypeValue object, filtering the target observables.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssSatTypeValue& Filter(gnssSatTypeValue& gData)
+ {
+ (*this).Filter(gData.body);
+ return gData;
+ };
+
+
+ /** Returns a gnnsRinex object, filtering the target observables.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssRinex& Filter(gnssRinex& gData)
+ {
+ (*this).Filter(gData.body);
+ return gData;
+ };
+
+
+ /// Destructor
+ virtual ~SimpleFilter() {};
+
+
+ protected:
+ /** Checks that the value is within the given limits.
+ * @param value The value to be test
+ *
+ * @return
+ * True if check was OK.
+ */
+ virtual bool checkValue(const double& value) const
+ {
+ return ( (value>=minLimit) && (value<=maxLimit) );
+ }; // end SimpleFilter::checkValue()
+
+ /// Set of types to be filtered
+ TypeIDSet filterTypeSet;
+
+ /// Minimum value allowed for input data (in meters).
+ double minLimit;
+
+ /// Maximum value allowed for input data (in meters).
+ double maxLimit;
+
+
+ }; // end class SimpleFilter
+
+
+ /// Input operator from gnssSatTypeValue to SimpleFilter.
+ inline gnssSatTypeValue& operator>>(gnssSatTypeValue& gData, SimpleFilter& sFilter)
+ {
+ sFilter.Filter(gData);
+ return gData;
+ }
+
+
+ /// Input operator from gnssRinex to SimpleFilter.
+ inline gnssRinex& operator>>(gnssRinex& gData, SimpleFilter& sFilter)
+ {
+ sFilter.Filter(gData);
+ return gData;
+ }
+
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/SimpleIURAWeight.cpp b/dev/src/SimpleIURAWeight.cpp
new file mode 100644
index 0000000..97280cb
--- /dev/null
+++ b/dev/src/SimpleIURAWeight.cpp
@@ -0,0 +1,158 @@
+
+/**
+ * @file SimpleIURAWeight.cpp
+ * Class for assign weights to satellites based on their URA Index (IURA).
+ */
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+
+#include "SimpleIURAWeight.hpp"
+
+using namespace std;
+namespace gpstk
+{
+
+ // Compute and return a vector with the weights for the given satellites
+ // @param time Epoch weights will be computed for
+ // @param Satellites Vector of satellites
+ // @param bcEph Satellite broadcast ephemeris
+ //
+ // @return
+ // Number of satellites with valid weights
+ //
+ // NOTE: Method isValid() will return false if some satellite does not have a
+ // valid weight.
+ //
+ int SimpleIURAWeight::getWeights(DayTime& time, Vector<SatID>& Satellites, BCEphemerisStore& bcEph) throw(InvalidWeights)
+ {
+ int N = Satellites.size();
+ // We need at least one satellite
+ if (N == 0)
+ {
+ InvalidWeights eWeight("At least one satellite is needed to compute weights.");
+ GPSTK_THROW(eWeight);
+ }
+
+ int i, iura;
+ double sigma;
+ // Some std::vectors to hold temporal values (do not confuse with gpstk::Vector)
+ vector<double> vWeight;
+ vector<SatID> vAvailableSV;
+ vector<SatID> vRejectedSV;
+ EngEphemeris engEph;
+ bool validFlag = true;
+
+ for (i=0; i<N; i++)
+ {
+ try
+ {
+ engEph = bcEph.findEphemeris(Satellites(i).id, time);
+ iura = engEph.getAccFlag();
+ }
+ catch(...)
+ {
+ // If there are problems, we skip this satellite
+ vRejectedSV.push_back(Satellites(i));
+ validFlag = false; // Validity flag is set to false
+ continue;
+ }
+ sigma = gpstk::ura2nominalAccuracy(iura);
+ vWeight.push_back( 1.0 / (sigma*sigma) );
+ vAvailableSV.push_back(Satellites(i));
+ }
+
+ valid = validFlag;
+ weightsVector = vWeight;
+ availableSV = vAvailableSV;
+ rejectedSV = vRejectedSV;
+
+ return (int)(availableSV.size());
+
+ }
+
+
+ // Compute and return a vector with the weights for the given satellites
+ // @param time Epoch weights will be computed for
+ // @param Satellites Vector of satellites
+ // @param preciseEph Satellite precise ephemeris
+ //
+ // @return
+ // Number of satellites with valid weights
+ //
+ // NOTE: Method isValid() will return false if some satellite does not have a
+ // valid weight.
+ //
+ // NOTE: This method assigns an URA of 0.1 m to all satellites.
+ //
+ int SimpleIURAWeight::getWeights(DayTime& time, Vector<SatID>& Satellites, TabularEphemerisStore& preciseEph) throw(InvalidWeights)
+ {
+ int N = Satellites.size();
+ // We need at least one satellite
+ if (N == 0)
+ {
+ InvalidWeights eWeight("At least one satellite is needed to compute weights.");
+ GPSTK_THROW(eWeight);
+ }
+
+ int i;
+ // Some std::vectors to hold temporal values (do not confuse with gpstk::Vector)
+ vector<double> vWeight;
+ vector<SatID> vAvailableSV;
+ vector<SatID> vRejectedSV;
+ bool validFlag = true;
+
+ for (i=0; i<N; i++)
+ {
+ try
+ {
+ preciseEph.getSatXvt(Satellites(i), time);
+ }
+ catch(...)
+ {
+ // If the satellite is not available, we skip it
+ vRejectedSV.push_back(Satellites(i));
+ validFlag = false; // Validity flag is set to false
+ continue;
+ }
+ // An URA of 0.1 m is assumed for all satellites, so sigma=0.1*0.1= 0.01 m^2
+ vWeight.push_back( 100.0 );
+ vAvailableSV.push_back(Satellites(i));
+ }
+
+ valid = validFlag;
+ weightsVector = vWeight;
+ availableSV = vAvailableSV;
+ rejectedSV = vRejectedSV;
+
+ return (int)(availableSV.size());
+
+ }
+
+
+
+
+}
+
diff --git a/dev/src/SimpleIURAWeight.hpp b/dev/src/SimpleIURAWeight.hpp
new file mode 100644
index 0000000..2280e88
--- /dev/null
+++ b/dev/src/SimpleIURAWeight.hpp
@@ -0,0 +1,116 @@
+
+/**
+ * @file SimpleIURAWeight.hpp
+ * Class to assign weights to satellites based on their URA Index (IURA).
+ */
+
+#ifndef SIMPLEIURAWEIGHT_BASE_GPSTK
+#define SIMPLEIURAWEIGHT_BASE_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+
+#include "WeightBase.hpp"
+#include "BCEphemerisStore.hpp"
+#include "TabularEphemerisStore.hpp"
+#include "EngEphemeris.hpp"
+#include "RinexObsHeader.hpp"
+#include "icd_200_constants.hpp"
+#include <vector>
+
+
+namespace gpstk
+{
+
+ /** @addtogroup GPSsolutions */
+ //@{
+
+ /**
+ * Class to assign weights to satellites based on their URA Index (IURA).
+ */
+ class SimpleIURAWeight : public WeightBase
+ {
+ public:
+
+ /// Empty constructor
+ SimpleIURAWeight(void) { valid = false; };
+
+
+ /** Compute and return a vector with the weights for the given satellites
+ * @param time Epoch weights will be computed for
+ * @param Satellites Vector of satellites
+ * @param bcEph Satellite broadcast ephemeris
+ *
+ * @return
+ * Number of satellites with valid weights
+ *
+ * \note
+ * Method isValid() will return false if some satellite does not have a
+ * valid weight. Also, its PRN will be set to a negative value.
+ *
+ */
+ virtual int getWeights(DayTime& time, Vector<SatID>& Satellites, BCEphemerisStore& bcEph) throw(InvalidWeights);
+
+
+ /** Compute and return a vector with the weights for the given satellites
+ * @param time Epoch weights will be computed for
+ * @param Satellites Vector of satellites
+ * @param preciseEph Satellite precise ephemeris
+ *
+ * @return
+ * Number of satellites with valid weights
+ *
+ * \note
+ * Method isValid() will return false if some satellite does not have a
+ * valid weight. Also, its PRN will be set to a negative value.
+ *
+ * \note
+ * This method assigns an URA of 0.1 m to all satellites.
+ *
+ */
+ virtual int getWeights(DayTime& time, Vector<SatID>& Satellites, TabularEphemerisStore& preciseEph) throw(InvalidWeights);
+
+
+ /// Vector of weights for these satellites
+ Vector<double> weightsVector;
+
+ /// Vector with the PRN of satellites with weights available for computing.
+ Vector<SatID> availableSV;
+
+ /// Vector with the PRN of satellites rejected or with no proper weights.
+ Vector<SatID> rejectedSV;
+
+ /// Return validity of weights
+ virtual bool isValid(void)
+ { return valid; }
+
+
+ }; // end class SimpleIURAWeight
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/SimpleKalmanFilter.cpp b/dev/src/SimpleKalmanFilter.cpp
new file mode 100644
index 0000000..b5e700a
--- /dev/null
+++ b/dev/src/SimpleKalmanFilter.cpp
@@ -0,0 +1,325 @@
+
+/**
+ * @file SimpleKalmanFilter.cpp
+ * Class to compute the solution using a Kalman filter.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2007
+//
+//============================================================================
+
+
+
+#include "SimpleKalmanFilter.hpp"
+#include "MatrixFunctors.hpp"
+
+
+namespace gpstk
+{
+
+ // Compute the a posteriori estimate of the system state, as well as the
+ // a posteriori estimate error covariance matrix.
+ //
+ // @param phiMatrix State transition matrix.
+ // @param controlMatrix Control matrix.
+ // @param controlInput Control input vector.
+ // @param processNoiseCovariance Process noise covariance matrix.
+ // @param measurements Measurements vector.
+ // @param measurementsMatrix Measurements matrix. Called geometry matrix in GNSS.
+ // @param measurementsNoiseCovariance Measurements noise covariance matrix.
+ //
+ // @return
+ // 0 if OK
+ // -1 if problems arose
+ //
+ int SimpleKalmanFilter::Compute(const Matrix<double>& phiMatrix, const Matrix<double>& controlMatrix, const Vector<double>& controlInput, const Matrix<double>& processNoiseCovariance, const Vector<double>& measurements, const Matrix<double>& measurementsMatrix, const Matrix<double>& measurementsNoiseCovariance) throw(InvalidSolver)
+ {
+
+ try {
+ (*this).Predict(phiMatrix, xhat, controlMatrix, controlInput, processNoiseCovariance);
+
+ (*this).Correct(measurements, measurementsMatrix, measurementsNoiseCovariance);
+ }
+ catch(InvalidSolver e) {
+ GPSTK_THROW(e);
+ return -1;
+ }
+
+ return 0;
+
+ } // end SimpleKalmanFilter::Compute()
+
+
+ // Compute the a posteriori estimate of the system state, as well as the
+ // a posteriori estimate error covariance matrix. This version assumes that
+ // no control inputs act on the system.
+ //
+ // @param phiMatrix State transition matrix.
+ // @param processNoiseCovariance Process noise covariance matrix.
+ // @param measurements Measurements vector.
+ // @param measurementsMatrix Measurements matrix. Called geometry matrix in GNSS.
+ // @param measurementsNoiseCovariance Measurements noise covariance matrix.
+ //
+ // @return
+ // 0 if OK
+ // -1 if problems arose
+ //
+ int SimpleKalmanFilter::Compute(const Matrix<double>& phiMatrix, const Matrix<double>& processNoiseCovariance, const Vector<double>& measurements, const Matrix<double>& measurementsMatrix, const Matrix<double>& measurementsNoiseCovariance) throw(InvalidSolver)
+ {
+
+ try {
+ (*this).Predict(phiMatrix, xhat, processNoiseCovariance);
+
+ (*this).Correct(measurements, measurementsMatrix, measurementsNoiseCovariance);
+ }
+ catch(InvalidSolver e) {
+ GPSTK_THROW(e);
+ return -1;
+ }
+
+ return 0;
+
+ } // end SimpleKalmanFilter::Compute()
+
+
+ // Compute the a posteriori estimate of the system state, as well as the
+ // a posteriori estimate error variance. Version for one-dimensional systems.
+ //
+ // @param phiValue State transition gain.
+ // @param controlGain Control gain.
+ // @param controlInput Control input value.
+ // @param processNoiseVariance Process noise variance.
+ // @param measurement Measurement value.
+ // @param measurementsGain Measurements gain.
+ // @param measurementsNoiseVariance Measurements noise variance.
+ //
+ // @return
+ // 0 if OK
+ // -1 if problems arose
+ //
+ int SimpleKalmanFilter::Compute(const double& phiValue, const double& controlGain, const double& controlInput, const double& processNoiseVariance, const double& measurement, const double& measurementsGain, const double& measurementsNoiseVariance) throw(InvalidSolver)
+ {
+
+ try {
+ (*this).Predict(phiValue, xhat(0), controlGain, controlInput, processNoiseVariance);
+
+ (*this).Correct(measurement, measurementsGain, measurementsNoiseVariance);
+ }
+ catch(InvalidSolver e) {
+ GPSTK_THROW(e);
+ return -1;
+ }
+
+ return 0;
+
+ } // end SimpleKalmanFilter::Compute()
+
+
+ // Compute the a posteriori estimate of the system state, as well as the
+ // a posteriori estimate error variance. Version for one-dimensional systems
+ // without control input on the system.
+ //
+ // @param phiValue State transition gain.
+ // @param processNoiseVariance Process noise variance.
+ // @param measurement Measurement value.
+ // @param measurementsGain Measurements gain.
+ // @param measurementsNoiseVariance Measurements noise variance.
+ //
+ // @return
+ // 0 if OK
+ // -1 if problems arose
+ //
+ int SimpleKalmanFilter::Compute(const double& phiValue, const double& processNoiseVariance, const double& measurement, const double& measurementsGain, const double& measurementsNoiseVariance) throw(InvalidSolver)
+ {
+
+ try {
+ (*this).Predict(phiValue, xhat(0), processNoiseVariance);
+
+ (*this).Correct(measurement, measurementsGain, measurementsNoiseVariance);
+ }
+ catch(InvalidSolver e) {
+ GPSTK_THROW(e);
+ return -1;
+ }
+
+ return 0;
+
+ } // end SimpleKalmanFilter::Compute()
+
+
+ // Predicts (or "time updates") the a priori estimate of the system state,
+ // as well as the a priori estimate error covariance matrix.
+ //
+ // @param phiMatrix State transition matrix.
+ // @param previousState Previous system state vector. It is the last computed xhat.
+ // @param controlMatrix Control matrix.
+ // @param controlInput Control input vector.
+ // @param processNoiseCovariance Process noise covariance matrix.
+ //
+ // @return
+ // 0 if OK
+ // -1 if problems arose
+ //
+ int SimpleKalmanFilter::Predict(const Matrix<double>& phiMatrix, const Vector<double>& previousState, const Matrix<double>& controlMatrix, const Vector<double>& controlInput, const Matrix<double>& processNoiseCovariance) throw(InvalidSolver)
+ {
+ // Let's check sizes before start
+ int aposterioriStateRow(xhat.size());
+ int controlInputRow(controlInput.size());
+
+ int phiCol(phiMatrix.cols());
+ int phiRow(phiMatrix.rows());
+
+ int controlCol(controlMatrix.cols());
+ int controlRow(controlMatrix.rows());
+
+ int processNoiseRow(processNoiseCovariance.rows());
+
+ if (phiCol!=phiRow) {
+ InvalidSolver e("Predict(): State transition matrix is not square, and it must be.");
+ GPSTK_THROW(e);
+ }
+
+ if (phiCol!=aposterioriStateRow) {
+ InvalidSolver e("Predict(): Sizes of state transition matrix and a posteriori state estimation vector do not match.");
+ GPSTK_THROW(e);
+ }
+
+ if (controlCol!=controlInputRow) {
+ InvalidSolver e("Predict(): Sizes of control matrix and a control input vector do not match.");
+ GPSTK_THROW(e);
+ }
+
+ if (aposterioriStateRow!=controlRow) {
+ InvalidSolver e("Predict(): Sizes of control matrix and a posteriori state estimation vector do not match.");
+ GPSTK_THROW(e);
+ }
+
+ if (phiRow!=processNoiseRow) {
+ InvalidSolver e("Predict(): Sizes of state transition matrix and process noise covariance matrix do not match.");
+ GPSTK_THROW(e);
+ }
+
+ // After checking sizes, lets' do the real prediction work
+ try
+ {
+ // Compute the a priori state vector
+ xhatminus = phiMatrix*xhat + controlMatrix * controlInput;
+
+ Matrix<double> phiT(transpose(phiMatrix));
+
+ // Compute the a priori estimate error covariance matrix
+ Pminus = phiMatrix*P*phiT + processNoiseCovariance;
+ }
+ catch(...) {
+ InvalidSolver e("Predict(): Unable to predict next state.");
+ GPSTK_THROW(e);
+ return -1;
+ }
+
+ return 0;
+
+ } // end SimpleKalmanFilter::Predict()
+
+
+ // Corrects (or "measurement updates") the a posteriori estimate of the
+ // system state vector, as well as the a posteriori estimate error covariance
+ // matrix, using as input the predicted a priori state vector and error
+ // covariance matrix, plus measurements and associated matrices.
+ //
+ // @param measurements Measurements vector.
+ // @param measurementsMatrix Measurements matrix. Called geometry matrix in GNSS.
+ // @param measurementsNoiseCovariance Measurements noise covariance matrix.
+ //
+ // @return
+ // 0 if OK
+ // -1 if problems arose
+ //
+ int SimpleKalmanFilter::Correct(const Vector<double>& measurements, const Matrix<double>& measurementsMatrix, const Matrix<double>& measurementsNoiseCovariance) throw(InvalidSolver)
+ {
+ // Let's check sizes before start
+ int measRow(measurements.size());
+ int aprioriStateRow(xhatminus.size());
+
+ int mMRow(measurementsMatrix.rows());
+
+ int mNCCol(measurementsNoiseCovariance.cols());
+ int mNCRow(measurementsNoiseCovariance.rows());
+
+ int pMCol(Pminus.cols());
+ int pMRow(Pminus.rows());
+
+ if ( (mNCCol!=mNCRow) || (pMCol!=pMRow) ) {
+ InvalidSolver e("Correct(): Either Pminus or measurement covariance matrices are not square, and therefore not invertible.");
+ GPSTK_THROW(e);
+ }
+
+ if (mMRow!=mNCRow) {
+ InvalidSolver e("Correct(): Sizes of measurements matrix and measurements noise covariance matrix do not match.");
+ GPSTK_THROW(e);
+ }
+
+ if (mNCCol!=measRow) {
+ InvalidSolver e("Correct(): Sizes of measurements matrix and measurements vector do not match.");
+ GPSTK_THROW(e);
+ }
+
+ if (pMCol!=aprioriStateRow) {
+ InvalidSolver e("Correct(): Sizes of a priori error covariance matrix and a priori state estimation vector do not match.");
+ GPSTK_THROW(e);
+ }
+
+ // After checking sizes, let's do the real correction work
+ Matrix<double> invR;
+ Matrix<double> invPMinus;
+ Matrix<double> measMatrixT( transpose(measurementsMatrix) );
+
+ try {
+
+ invR = inverseChol(measurementsNoiseCovariance);
+ invPMinus = inverseChol(Pminus);
+ Matrix<double> invTemp( measMatrixT*invR*measurementsMatrix + invPMinus );
+
+ // Compute the A posteriori error covariance matrix
+ P = inverseChol( invTemp );
+ }
+ catch(...) {
+ InvalidSolver e("Correct(): Unable to compute P matrix.");
+ GPSTK_THROW(e);
+ return -1;
+ }
+
+ try {
+ // Compute the a posteriori state estimation
+ xhat = P * ( (measMatrixT*invR*measurements) + (invPMinus*xhatminus) );
+ }
+ catch(Exception e) {
+ InvalidSolver eis("Correct(): Unable to compute xhat.");
+ GPSTK_THROW(eis);
+ return -1;
+ }
+
+ return 0;
+
+ } // end SimpleKalmanFilter::Correct()
+
+
+
+} // end namespace gpstk
diff --git a/dev/src/SimpleKalmanFilter.hpp b/dev/src/SimpleKalmanFilter.hpp
new file mode 100644
index 0000000..312a3fe
--- /dev/null
+++ b/dev/src/SimpleKalmanFilter.hpp
@@ -0,0 +1,379 @@
+
+/**
+ * @file SimpleKalmanFilter.hpp
+ * Class to compute the solution using a Kalman filter.
+ */
+
+#ifndef SIMPLE_KALMAN_FILTER_HPP
+#define SIMPLE_KALMAN_FILTER_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2007
+//
+//============================================================================
+
+
+
+#include "Exception.hpp"
+#include "Matrix.hpp"
+#include "Vector.hpp"
+#include "SolverBase.hpp"
+
+
+namespace gpstk
+{
+ /** @addtogroup GPSsolutions */
+ /// @ingroup math
+ //@{
+
+ /** This class computes the solution using a Kalman filter.
+ *
+ * A typical way to use this class follows:
+ *
+ * @code
+ * // Declarations and initializations here...
+ *
+ * SimpleKalmanFilter kalman(xhat0, pmatrix);
+ *
+ * while(cin >> x >> y) {
+ *
+ * try {
+ *
+ * meas(0) = x;
+ * meas(1) = y;
+ *
+ * kalman.Compute(phimatrix, qmatrix, meas, hmatrix, rmatrix);
+ *
+ * cout << kalman.xhat(0) << " " << kalman.xhat(1) << endl;
+ * }
+ * catch (Exception e)
+ * {
+ * cout << e;
+ * }
+ * }
+ * @endcode
+ *
+ * More information about the Kalman filter may be found in the excellent and
+ * easy introduction by Welch, G. and G. Bishop. "An Introduction to the
+ * Kalman Filter" (http://www.cs.unc.edu/~welch/kalman/kalmanIntro.html).
+ *
+ * However, be aware that the algorithm used here is the modified version
+ * presented in G. J. Bierman. "Factorization Methods for Discrete Sequential
+ * Estimation". Mathematics in Science and Engineering, Vol. 128. Academic
+ * Press, New York, 1977. This version enjoys better numerical stability.
+ *
+ */
+ class SimpleKalmanFilter
+ {
+ public:
+
+ /// Default constructor.
+ SimpleKalmanFilter() : xhat(1,0.0), P(1,1,0.0), xhatminus(1,0.0), Pminus(1,1,0.0) {};
+
+
+ /** Common constructor.
+ *
+ * @param initialState Vector setting the initial state of the system.
+ * @param initialErrorCovariance Matrix setting the initial values of the a posteriori error covariance.
+ */
+ SimpleKalmanFilter(const Vector<double>& initialState, const Matrix<double>& initialErrorCovariance) : xhat(initialState), P(initialErrorCovariance), xhatminus(initialState.size(), 0.0), Pminus(initialErrorCovariance.rows(), initialErrorCovariance.cols(), 0.0) {};
+
+
+ /** Common constructor. This is meant to be used with one-dimensional systems.
+ *
+ * @param initialValue Initial value of system state.
+ * @param initialErrorVariance Initial value of the a posteriori error variance.
+ */
+ SimpleKalmanFilter(const double& initialValue, const double& initialErrorVariance) : xhat(1,initialValue), P(1,1,initialErrorVariance), xhatminus(1,0.0), Pminus(1,1,0.0) {};
+
+
+ /** Reset method.
+ *
+ * This method will reset the filter, setting new values for initial system
+ * state vector and the a posteriori error covariance matrix.
+ *
+ * @param initialState Vector setting the initial state of the system.
+ * @param initialErrorCovariance Matrix setting the initial values of the a posteriori error covariance.
+ */
+ virtual void Reset(const Vector<double>& initialState, const Matrix<double>& initialErrorCovariance)
+ {
+ xhat = initialState;
+ P = initialErrorCovariance;
+ xhatminus.resize(initialState.size(), 0.0);
+ Pminus.resize(initialErrorCovariance.rows(), initialErrorCovariance.cols(), 0.0);
+ }
+
+
+ /** Reset method.
+ *
+ * This method will reset the filter, setting new values for initial system
+ * state and the a posteriori error variance. Used for one-dimensional
+ * systems.
+ *
+ * @param initialValue Initial value of system state.
+ * @param initialErrorVariance Initial value of the a posteriori error variance.
+ */
+ virtual void Reset(const double& initialValue, const double& initialErrorVariance)
+ {
+ xhat.resize(1, initialValue);
+ P.resize(1,1, initialErrorVariance);
+ xhatminus.resize(1, 0.0);
+ Pminus.resize(1, 1, 0.0);
+ }
+
+
+ /** Compute the a posteriori estimate of the system state, as well as the
+ * a posteriori estimate error covariance matrix.
+ *
+ * @param phiMatrix State transition matrix.
+ * @param controlMatrix Control matrix.
+ * @param controlInput Control input vector.
+ * @param processNoiseCovariance Process noise covariance matrix.
+ * @param measurements Measurements vector.
+ * @param measurementsMatrix Measurements matrix. Called geometry matrix in GNSS.
+ * @param measurementsNoiseCovariance Measurements noise covariance matrix.
+ *
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ virtual int Compute(const Matrix<double>& phiMatrix, const Matrix<double>& controlMatrix, const Vector<double>& controlInput, const Matrix<double>& processNoiseCovariance, const Vector<double>& measurements, const Matrix<double>& measurementsMatrix, const Matrix<double>& measurementsNoiseCovariance) throw(InvalidSolver);
+
+
+ /** Compute the a posteriori estimate of the system state, as well as the
+ * a posteriori estimate error covariance matrix. This version assumes that
+ * no control inputs act on the system.
+ *
+ * @param phiMatrix State transition matrix.
+ * @param processNoiseCovariance Process noise covariance matrix.
+ * @param measurements Measurements vector.
+ * @param measurementsMatrix Measurements matrix. Called geometry matrix in GNSS.
+ * @param measurementsNoiseCovariance Measurements noise covariance matrix.
+ *
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ virtual int Compute(const Matrix<double>& phiMatrix, const Matrix<double>& processNoiseCovariance, const Vector<double>& measurements, const Matrix<double>& measurementsMatrix, const Matrix<double>& measurementsNoiseCovariance) throw(InvalidSolver);
+
+
+ /** Compute the a posteriori estimate of the system state, as well as the
+ * a posteriori estimate error variance. Version for one-dimensional systems.
+ *
+ * @param phiValue State transition gain.
+ * @param controlGain Control gain.
+ * @param controlInput Control input value.
+ * @param processNoiseVariance Process noise variance.
+ * @param measurement Measurement value.
+ * @param measurementsGain Measurements gain.
+ * @param measurementsNoiseVariance Measurements noise variance.
+ *
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ virtual int Compute(const double& phiValue, const double& controlGain, const double& controlInput, const double& processNoiseVariance, const double& measurement, const double& measurementsGain, const double& measurementsNoiseVariance) throw(InvalidSolver);
+
+
+ /** Compute the a posteriori estimate of the system state, as well as the
+ * a posteriori estimate error variance. Version for one-dimensional systems
+ * without control input on the system.
+ *
+ * @param phiValue State transition gain.
+ * @param processNoiseVariance Process noise variance.
+ * @param measurement Measurement value.
+ * @param measurementsGain Measurements gain.
+ * @param measurementsNoiseVariance Measurements noise variance.
+ *
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ virtual int Compute(const double& phiValue, const double& processNoiseVariance, const double& measurement, const double& measurementsGain, const double& measurementsNoiseVariance) throw(InvalidSolver);
+
+
+ /// Destructor.
+ virtual ~SimpleKalmanFilter() {};
+
+ /// A posteriori state estimation. This is usually your target.
+ Vector<double> xhat;
+
+ /// A posteriori error covariance.
+ Matrix<double> P;
+
+ /// A priori state estimation.
+ Vector<double> xhatminus;
+
+ /// A priori error covariance.
+ Matrix<double> Pminus;
+
+
+ private:
+
+
+ /** Predicts (or "time updates") the a priori estimate of the system state,
+ * as well as the a priori estimate error covariance matrix.
+ *
+ * @param phiMatrix State transition matrix.
+ * @param previousState Previous system state vector. It is the last computed xhat.
+ * @param controlMatrix Control matrix.
+ * @param controlInput Control input vector.
+ * @param processNoiseCovariance Process noise covariance matrix.
+ *
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ virtual int Predict(const Matrix<double>& phiMatrix, const Vector<double>& previousState, const Matrix<double>& controlMatrix, const Vector<double>& controlInput, const Matrix<double>& processNoiseCovariance) throw(InvalidSolver);
+
+
+ /** Predicts (or "time updates") the a priori estimate of the system state,
+ * as well as the a priori estimate error variance. Version for
+ * one-dimensional systems.
+ *
+ * @param phiValue State transition gain.
+ * @param previousState Previous system state. It is the last computed xhat.
+ * @param controlGain Control gain.
+ * @param controlInput Control input value.
+ * @param processNoiseVariance Process noise variance.
+ *
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ virtual int Predict(const double& phiValue, const double& previousState, const double& controlGain, const double& controlInput, const double& processNoiseVariance) throw(InvalidSolver)
+ {
+
+ // Create dummy matrices and vectors and call the full Predict() method
+ Matrix<double> dummyPhiMatrix(1,1,phiValue);
+ Vector<double> dummyPreviousState(1,previousState);
+ Matrix<double> dummyControMatrix(1,1,controlGain);
+ Vector<double> dummyControlInput(1,controlInput);
+ Matrix<double> dummyProcessNoiseCovariance(1,1,processNoiseVariance);
+
+ return ( (*this).Predict(dummyPhiMatrix, dummyPreviousState, dummyControMatrix, dummyControlInput, dummyProcessNoiseCovariance) );
+
+ };
+
+
+ /** Predicts (or "time updates") the a priori estimate of the system state,
+ * as well as the a priori estimate error covariance matrix. This version
+ * assumes that no control inputs act on the system.
+ *
+ * @param phiMatrix State transition matrix.
+ * @param previousState Previous system state vector. It is the last computed xhat.
+ * @param processNoiseCovariance Process noise covariance matrix.
+ *
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ virtual int Predict(const Matrix<double>& phiMatrix, const Vector<double>& previousState, const Matrix<double>& processNoiseCovariance) throw(InvalidSolver)
+ {
+
+ // Create dummy matrices and vectors and call the full Predict() method
+ int stateRow(previousState.size());
+
+ Matrix<double> dummyControMatrix(stateRow,1,0.0);
+ Vector<double> dummyControlInput(1,0.0);
+
+ return ( (*this).Predict(phiMatrix, previousState, dummyControMatrix, dummyControlInput, processNoiseCovariance) );
+
+ };
+
+
+ /** Predicts (or "time updates") the a priori estimate of the system state,
+ * as well as the a priori estimate error variance. Version for
+ * one-dimensional systems and no control input acting on the system.
+ *
+ * @param phiValue State transition gain.
+ * @param previousState Previous system state. It is the last computed xhat.
+ * @param processNoiseVariance Process noise variance.
+ *
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ virtual int Predict(const double& phiValue, const double& previousState, const double& processNoiseVariance) throw(InvalidSolver)
+ {
+
+ // Create dummy matrices and vectors and call the full Predict() method
+ Matrix<double> dummyPhiMatrix(1,1,phiValue);
+ Vector<double> dummyPreviousState(1,previousState);
+ Matrix<double> dummyControMatrix(1,1,0.0);
+ Vector<double> dummyControlInput(1,0.0);
+ Matrix<double> dummyProcessNoiseCovariance(1,1,processNoiseVariance);
+
+ return ( (*this).Predict(dummyPhiMatrix, dummyPreviousState, dummyControMatrix, dummyControlInput, dummyProcessNoiseCovariance) );
+
+ };
+
+
+ /** Corrects (or "measurement updates") the a posteriori estimate of the
+ * system state vector, as well as the a posteriori estimate error covariance
+ * matrix, using as input the predicted a priori state vector and error
+ * covariance matrix, plus measurements and associated matrices.
+ *
+ * @param measurements Measurements vector.
+ * @param measurementsMatrix Measurements matrix. Called geometry matrix in GNSS.
+ * @param measurementsNoiseCovariance Measurements noise covariance matrix.
+ *
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ virtual int Correct(const Vector<double>& measurements, const Matrix<double>& measurementsMatrix, const Matrix<double>& measurementsNoiseCovariance) throw(InvalidSolver);
+
+
+ /** Corrects (or "measurement updates") the a posteriori estimate of the
+ * system state value, as well as the a posteriori estimate error variance,
+ * using as input the predicted a priori state and error variance values,
+ * plus measurement and associated gain and variance. Version for
+ * one-dimensional systems.
+ *
+ * @param measurement Measurement value.
+ * @param measurementsGain Measurements gain.
+ * @param measurementsNoiseVariance Measurements noise variance.
+ *
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ virtual int Correct(const double& measurement, const double& measurementsGain, const double& measurementsNoiseVariance) throw(InvalidSolver)
+ {
+
+ // Create dummy matrices and vectors and call the full Correct() method
+ Vector<double> dummyMeasurements(1,measurement);
+ Matrix<double> dummyMeasurementsMatrix(1,1,measurementsGain);
+ Matrix<double> dummyMeasurementsNoise(1,1,measurementsNoiseVariance);
+
+ return ( (*this).Correct(dummyMeasurements, dummyMeasurementsMatrix, dummyMeasurementsNoise) );
+
+ };
+
+
+ }; // class SimpleKalmanFilter
+
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/SolverBase.hpp b/dev/src/SolverBase.hpp
new file mode 100644
index 0000000..264dc1d
--- /dev/null
+++ b/dev/src/SolverBase.hpp
@@ -0,0 +1,87 @@
+
+/**
+ * @file SolverBase.hpp
+ * Abstract base class for solver algorithms.
+ */
+
+#ifndef SOLVER_BASE_GPSTK
+#define SOLVER_BASE_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+
+#include "Exception.hpp"
+#include "Matrix.hpp"
+#include "Vector.hpp"
+
+
+namespace gpstk
+{
+ /// Thrown when some problem appeared when solving a given equation set
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(InvalidSolver, gpstk::Exception);
+
+
+ /** @addtogroup GPSsolutions */
+ /// @ingroup math
+ //@{
+
+ /**
+ * Abstract base class for solver algorithms.
+ */
+ class SolverBase
+ {
+ public:
+
+ /// Implicit constructor
+ SolverBase() : valid(false) {};
+
+ /// Return validity of results
+ bool isValid(void)
+ { return valid; }
+
+ /// Solution
+ Vector<double> solution;
+
+ /// Postfit-residuals.
+ Vector<double> postfitResiduals;
+
+ /// Covariance matrix
+ Matrix<double> covMatrix;
+
+ /// Destructor
+ virtual ~SolverBase() {};
+
+
+ protected:
+ bool valid; // true only if results are valid
+
+ }; // end class SolverBase
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/SolverLMS.cpp b/dev/src/SolverLMS.cpp
new file mode 100644
index 0000000..bcc9877
--- /dev/null
+++ b/dev/src/SolverLMS.cpp
@@ -0,0 +1,118 @@
+
+/**
+ * @file SolverLMS.cpp
+ * Class to compute the Least Mean Squares Solution
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2006, 2007
+//
+//============================================================================
+
+
+#include "SolverBase.hpp"
+#include "SolverLMS.hpp"
+#include "MatrixFunctors.hpp"
+
+
+namespace gpstk
+{
+
+ // Compute the Least Mean Squares Solution of the given equations set.
+ // @param prefitResiduals Vector of prefit residuals
+ // @param designMatrix Design matrix for equation system
+ //
+ // @return
+ // 0 if OK
+ // -1 if problems arose
+ //
+ int SolverLMS::Compute(const Vector<double>& prefitResiduals, const Matrix<double>& designMatrix) throw(InvalidSolver)
+ {
+ int gCol = (int) designMatrix.cols();
+
+ int gRow = (int) designMatrix.rows();
+ int pRow = (int) prefitResiduals.size();
+ if (!(gRow==pRow)) {
+ InvalidSolver e("prefitResiduals size does not match dimension of designMatrix");
+ GPSTK_THROW(e);
+ }
+
+ Matrix<double> AT = transpose(designMatrix);
+ covMatrix.resize(gCol, gCol);
+ solution.resize(gCol);
+
+ // Temporary storage for covMatrix. It will be inverted later
+ covMatrix = AT * designMatrix;
+
+ // Let's try to invert AT*A matrix
+ try {
+ covMatrix = inverseChol( covMatrix );
+ }
+ catch(...) {
+ InvalidSolver e("Unable to invert matrix covMatrix");
+ GPSTK_THROW(e);
+ }
+
+ // Now, compute the Vector holding the solution...
+ solution = covMatrix * AT * prefitResiduals;
+
+ // ... and the postfit residuals Vector
+ postfitResiduals = prefitResiduals - designMatrix * solution;
+
+ // If everything is fine so far, then the results should be valid
+ valid = true;
+
+ return 0;
+
+ } // end SolverLMS::Compute()
+
+
+
+ /* Returns a reference to a satTypeValueMap object after solving the previously defined equation system.
+ *
+ * @param gData Data object holding the data.
+ */
+ satTypeValueMap& SolverLMS::processSolver(satTypeValueMap& gData) throw(InvalidSolver)
+ {
+ // First, let's fetch the vector of prefit residuals
+ Vector<double> prefit(gData.getVectorOfTypeID((*this).defaultEqDef.header));
+ // Then, generate the corresponding geometry/design matrix
+ Matrix<double> dMatrix(gData.getMatrixOfTypes((*this).defaultEqDef.body));
+
+ try
+ {
+ // Call the Compute() method with the defined equation model. This equation model MUST HAS BEEN
+ // previously set, usually when creating the SolverLMS object with the appropriate constructor.
+ (*this).Compute(prefit, dMatrix);
+ }
+ catch(InvalidSolver& e) {
+ GPSTK_RETHROW(e);
+ }
+
+ // Now we have to add the new values to the data structure
+ if ( (*this).defaultEqDef.header == TypeID::prefitC ) gData.insertTypeIDVector(TypeID::postfitC, (*this).postfitResiduals);
+ if ( (*this).defaultEqDef.header == TypeID::prefitL ) gData.insertTypeIDVector(TypeID::postfitL, (*this).postfitResiduals);
+
+ return gData;
+
+ } // End SolverLMS::processSolver(const DayTime& time, satTypeValueMap& gData)
+
+
+} // end namespace gpstk
diff --git a/dev/src/SolverLMS.hpp b/dev/src/SolverLMS.hpp
new file mode 100644
index 0000000..87a7658
--- /dev/null
+++ b/dev/src/SolverLMS.hpp
@@ -0,0 +1,217 @@
+
+/**
+ * @file SolverLMS.hpp
+ * Class to compute the Least Mean Squares Solution
+ */
+
+#ifndef SOLVER_LMS_HPP
+#define SOLVER_LMS_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2006, 2007
+//
+//============================================================================
+
+
+#include "SolverBase.hpp"
+#include "TypeID.hpp"
+#include "DataStructures.hpp"
+
+
+namespace gpstk
+{
+ /** @addtogroup GPSsolutions */
+ /// @ingroup math
+ //@{
+
+ /** This class computes the Least Mean Squares Solution of a given equations set.
+ *
+ * This class may be used either in a Vector- and Matrix-oriented way, or
+ * with GNSS data structure objects from "DataStructures" class.
+ *
+ * A typical way to use this class with GNSS data structures follows:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o"); // Data stream
+ *
+ * // More declarations here: Ionospheric and tropospheric models,
+ * // ephemeris, etc.
+ *
+ * // Declare the modeler object, setting all the parameters in one pass
+ * ModeledPR model(ionoStore, mopsTM, bceStore, TypeID::C1);
+ * model.Prepare(); // Set initial position (Bancroft method)
+ *
+ * // Declare a SolverLMS object
+ * SolverLMS solver;
+ *
+ * gnssRinex gRin;
+ *
+ * while(rin >> gRin) {
+ * gRin >> model >> solver;
+ * }
+ * @endcode
+ *
+ * The "SolverLMS" object will extract all the data it needs from the
+ * GNSS data structure that is "gRin" and will try to solve the system
+ * of equations using the Least-Mean-Squares method. It will also insert
+ * back postfit residual data into "gRin" if it successfully solves the
+ * equation system.
+ *
+ * By default, it will build the geometry matrix from the values of
+ * coefficients dx, dy, dz and cdt, and the independent vector will be
+ * composed of the code prefit residuals (TypeID::prefitC) values.
+ *
+ * You may change the former by redefining the default equation definition
+ * to be used. For instance:
+ *
+ * @code
+ * TypeIDSet unknownsSet;
+ * unknownsSet.insert(TypeID::dLat);
+ * unknownsSet.insert(TypeID::dLon);
+ * unknownsSet.insert(TypeID::dH);
+ * unknownsSet.insert(TypeID::cdt);
+ *
+ * // Create a new equation definition (independent value, unknowns set)
+ * gnssEquationDefinition newEq(TypeID::prefitC, unknownsSet);
+ *
+ * // Reconfigure solver
+ * solver.setDefaultEqDefinition(newEq);
+ * @endcode
+ *
+ * @sa SolverBase.hpp for base class.
+ *
+ */
+ class SolverLMS : public SolverBase
+ {
+ public:
+
+ /// Default constructor. When fed with GNSS data structures, the
+ /// default the equation definition to be used is the common GNSS
+ /// code equation.
+ SolverLMS()
+ {
+ // First, let's define a set with the typical unknowns
+ TypeIDSet tempSet;
+ tempSet.insert(TypeID::dx);
+ tempSet.insert(TypeID::dy);
+ tempSet.insert(TypeID::dz);
+ tempSet.insert(TypeID::cdt);
+
+ // Now, we build the default definition for a common GNSS code equation
+ defaultEqDef.header = TypeID::prefitC;
+ defaultEqDef.body = tempSet;
+ };
+
+
+ /** Explicit constructor. Sets the default equation definition to be used when fed with GNSS data structures.
+ *
+ * @param eqDef gnssEquationDefinition to be used
+ */
+ SolverLMS(const gnssEquationDefinition& eqDef) : defaultEqDef(eqDef) {};
+
+
+ /** Compute the Least Mean Squares Solution of the given equations set.
+ * @param prefitResiduals Vector of prefit residuals
+ * @param designMatrix Design matrix for the equation system
+ *
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ virtual int Compute(const Vector<double>& prefitResiduals, const Matrix<double>& designMatrix) throw(InvalidSolver);
+
+
+ /** Returns a reference to a satTypeValueMap object after solving the previously defined equation system.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual satTypeValueMap& processSolver(satTypeValueMap& gData) throw(InvalidSolver);
+
+
+ /** Returns a reference to a gnnsSatTypeValue object after solving the previously defined equation system.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssSatTypeValue& processSolver(gnssSatTypeValue& gData) throw(InvalidSolver)
+ {
+ (*this).processSolver(gData.body);
+ return gData;
+ };
+
+
+ /** Returns a reference to a gnnsRinex object after solving the previously defined equation system.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssRinex& processSolver(gnssRinex& gData) throw(InvalidSolver)
+ {
+ (*this).processSolver(gData.body);
+ return gData;
+ };
+
+
+ /** Method to set the default equation definition to be used when fed with GNSS data structures.
+ * @param eqDef gnssEquationDefinition to be used by default
+ */
+ virtual void setDefaultEqDefinition(const gnssEquationDefinition& eqDef)
+ {
+ defaultEqDef = eqDef;
+ };
+
+
+ /// Method to get the default equation definition being used with GNSS data structures.
+ virtual gnssEquationDefinition getDefaultEqDefinition() const
+ {
+ return defaultEqDef;
+ };
+
+
+ /// Destructor.
+ virtual ~SolverLMS() {};
+
+
+ protected:
+
+ /// Default equation definition to be used when fed with GNSS data structures.
+ gnssEquationDefinition defaultEqDef;
+
+ }; // class SolverLMS
+
+
+ /// Input operator from gnssSatTypeValue to SolverLMS.
+ inline gnssSatTypeValue& operator>>(gnssSatTypeValue& gData, SolverLMS& solver) throw(InvalidSolver)
+ {
+ solver.processSolver(gData);
+ return gData;
+ }
+
+
+ /// Input operator from gnssRinex to SolverLMS.
+ inline gnssRinex& operator>>(gnssRinex& gData, SolverLMS& solver) throw(InvalidSolver)
+ {
+ solver.processSolver(gData);
+ return gData;
+ }
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/SolverWMS.cpp b/dev/src/SolverWMS.cpp
new file mode 100644
index 0000000..532866c
--- /dev/null
+++ b/dev/src/SolverWMS.cpp
@@ -0,0 +1,146 @@
+
+/**
+ * @file SolverWMS.cpp
+ * Class to compute the Weighted Least Mean Squares Solution
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2006, 2007
+//
+//============================================================================
+
+
+#include "SolverBase.hpp"
+#include "SolverWMS.hpp"
+#include "MatrixFunctors.hpp"
+
+
+namespace gpstk
+{
+
+ // Compute the Weighted Least Mean Squares Solution of the given equations set.
+ // @param prefitResiduals Vector of prefit residuals
+ // @param designMatrix Design matrix for equation system
+ // @param weightMatrix Matrix of weights
+ //
+ // @return
+ // 0 if OK
+ // -1 if problems arose
+ //
+ int SolverWMS::Compute(const Vector<double>& prefitResiduals, const Matrix<double>& designMatrix, const Matrix<double>& weightMatrix) throw(InvalidSolver)
+ {
+ if (!(weightMatrix.isSquare())) {
+ InvalidSolver e("Weight matrix is not square");
+ GPSTK_THROW(e);
+ }
+
+ int wRow = (int) weightMatrix.rows();
+ int pRow = (int) prefitResiduals.size();
+ if (!(wRow==pRow)) {
+ InvalidSolver e("prefitResiduals size does not match dimension of weightMatrix");
+ GPSTK_THROW(e);
+ }
+
+ int gCol = (int) designMatrix.cols();
+
+ int gRow = (int) designMatrix.rows();
+ if (!(gRow==pRow)) {
+ InvalidSolver e("prefitResiduals size does not match dimension of designMatrix");
+ GPSTK_THROW(e);
+ }
+
+ Matrix<double> AT = transpose(designMatrix);
+ covMatrix.resize(gCol, gCol);
+ covMatrixNoWeight.resize(gCol, gCol);
+ solution.resize(gCol);
+
+ // Temporary storage for covMatrix. It will be inverted later
+ covMatrix = AT * weightMatrix * designMatrix;
+
+ // Let's try to invert AT*W*A matrix
+ try {
+ covMatrix = inverseChol( covMatrix );
+ }
+ catch(...) {
+ InvalidSolver e("Unable to invert matrix covMatrix");
+ GPSTK_THROW(e);
+ }
+
+ // Temporary storage for covMatrixNoWeight. It will be inverted later
+ covMatrixNoWeight = AT * designMatrix;
+
+ // Let's try to invert AT*A matrix
+ try {
+ covMatrixNoWeight = inverseChol( covMatrixNoWeight );
+ }
+ catch(...) {
+ InvalidSolver e("Unable to invert matrix covMatrixNoWeight");
+ GPSTK_THROW(e);
+ }
+
+ // Now, compute the Vector holding the solution...
+ solution = covMatrix * AT * weightMatrix * prefitResiduals;
+
+ // ... and the postfit residuals Vector
+ postfitResiduals = prefitResiduals - designMatrix * solution;
+
+ // If everything is fine so far, then the results should be valid
+ valid = true;
+
+ return 0;
+
+ } // end SolverWMS::Compute()
+
+
+
+ /* Returns a reference to a satTypeValueMap object after solving the previously defined equation system.
+ *
+ * @param gData Data object holding the data.
+ */
+ satTypeValueMap& SolverWMS::processSolver(satTypeValueMap& gData) throw(InvalidSolver)
+ {
+ // First, let's fetch the vector of prefit residuals
+ Vector<double> prefit(gData.getVectorOfTypeID((*this).defaultEqDef.header));
+ // Second, generate the corresponding geometry/design matrix
+ Matrix<double> dMatrix(gData.getMatrixOfTypes((*this).defaultEqDef.body));
+ // Third, generate the appropriate weights vector
+ Vector<double> weightsVector(gData.getVectorOfTypeID(TypeID::weight));
+
+ try
+ {
+ // Call the Compute() method with the defined equation model. This equation model MUST HAS BEEN
+ // previously set, usually when creating the SolverWMS object with the appropriate constructor.
+ (*this).Compute(prefit, dMatrix, weightsVector);
+ }
+ catch(InvalidSolver& e) {
+ GPSTK_RETHROW(e);
+ }
+
+ // Now we have to add the new values to the data structure
+ if ( (*this).defaultEqDef.header == TypeID::prefitC ) gData.insertTypeIDVector(TypeID::postfitC, (*this).postfitResiduals);
+ if ( (*this).defaultEqDef.header == TypeID::prefitL ) gData.insertTypeIDVector(TypeID::postfitL, (*this).postfitResiduals);
+
+ return gData;
+
+ } // End SolverWMS::processSolver(const DayTime& time, satTypeValueMap& gData)
+
+
+
+} // end namespace gpstk
diff --git a/dev/src/SolverWMS.hpp b/dev/src/SolverWMS.hpp
new file mode 100644
index 0000000..e4bacb1
--- /dev/null
+++ b/dev/src/SolverWMS.hpp
@@ -0,0 +1,207 @@
+
+/**
+ * @file SolverWMS.hpp
+ * Class to compute the Weighted Least Mean Squares Solution
+ */
+
+#ifndef SOLVER_WMS_HPP
+#define SOLVER_WMS_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2006, 2007
+//
+//============================================================================
+
+
+#include "SolverLMS.hpp"
+
+
+namespace gpstk
+{
+ /** @addtogroup GPSsolutions */
+ /// @ingroup math
+ //@{
+
+ /**This class computes the Weighted Least Mean Squares Solution of a given equations set.
+ *
+ * This class may be used either in a Vector- and Matrix-oriented way, or
+ * with GNSS data structure objects from "DataStructures" class.
+ *
+ * A typical way to use this class with GNSS data structures follows:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o"); // Data stream
+ *
+ * // More declarations here: Ionospheric and tropospheric models,
+ * // ephemeris, etc.
+ *
+ * // Declare the modeler object, setting all the parameters in one pass
+ * ModeledPR model(ionoStore, mopsTM, bceStore, TypeID::C1);
+ * model.Prepare(); // Set initial position (Bancroft method)
+ *
+ * // Declare a SolverWMS object
+ * SolverWMS solverWMS;
+ *
+ * // This object will compute the appropriate MOPS weights
+ * ComputeMOPSWeights mopsW(nominalPos, bceStore);
+ *
+ * gnssRinex gRin;
+ *
+ * while(rin >> gRin) {
+ * gRin >> model >> mopsW >> solverWMS;
+ * }
+ * @endcode
+ *
+ * The "SolverWMS" object will extract all the data it needs from the
+ * GNSS data structure that is "gRin" and will try to solve the system
+ * of equations using the Weighted-Least-Mean-Squares method. It will
+ * also insert back postfit residual data into "gRin" if it successfully
+ * solves the equation system.
+ *
+ * Please note it needs some weights assigned to each satellite. This
+ * can be achieved with objects from classes such as "ComputeIURAWeights",
+ * "ComputeMOPSWeights", etc., but in any case this is a mandatory step.
+ *
+ * By default, it will build the geometry matrix from the values of
+ * coefficients dx, dy, dz and cdt, and the independent vector will be
+ * composed of the code prefit residuals (TypeID::prefitC) values.
+ *
+ * You may change the former by redefining the default equation definition
+ * to be used. For instance:
+ *
+ * @code
+ * TypeIDSet unknownsSet;
+ * unknownsSet.insert(TypeID::dLat);
+ * unknownsSet.insert(TypeID::dLon);
+ * unknownsSet.insert(TypeID::dH);
+ * unknownsSet.insert(TypeID::cdt);
+ *
+ * // Create a new equation definition (independent value, unknowns set)
+ * gnssEquationDefinition newEq(TypeID::prefitC, unknownsSet);
+ *
+ * // Reconfigure solver
+ * solverWMS.setDefaultEqDefinition(newEq);
+ * @endcode
+ *
+ * @sa SolverBase.hpp and SolverLMS for base classes.
+ *
+ */
+ class SolverWMS : public SolverLMS
+ {
+ public:
+
+ /// Default constructor. When fed with GNSS data structures, the
+ /// default the equation definition to be used is the common GNSS
+ /// code equation.
+ SolverWMS()
+ {
+ // First, let's define a set with the typical unknowns
+ TypeIDSet tempSet;
+ tempSet.insert(TypeID::dx);
+ tempSet.insert(TypeID::dy);
+ tempSet.insert(TypeID::dz);
+ tempSet.insert(TypeID::cdt);
+
+ // Now, we build the default definition for a common GNSS code equation
+ defaultEqDef.header = TypeID::prefitC;
+ defaultEqDef.body = tempSet;
+ };
+
+
+ /** Explicit constructor. Sets the default equation definition to be used when fed with GNSS data structures.
+ *
+ * @param eqDef gnssEquationDefinition to be used
+ */
+ SolverWMS(const gnssEquationDefinition& eqDef)
+ {
+ setDefaultEqDefinition(eqDef);
+ };
+
+
+ /** Compute the Weighted Least Mean Squares Solution of the given equations set.
+ * @param prefitResiduals Vector of prefit residuals
+ * @param designMatrix Design matrix for the equation system
+ * @param weightMatrix Matrix of weights
+ *
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ virtual int Compute(const Vector<double>& prefitResiduals, const Matrix<double>& designMatrix, const Matrix<double>& weightMatrix) throw(InvalidSolver);
+
+
+ /** Compute the Weighted Least Mean Squares Solution of the given equations set.
+ * @param prefitResiduals Vector of prefit residuals
+ * @param designMatrix Design matrix for the equation system
+ * @param weightVector Vector of weights assigned to each satellite.
+ *
+ * @return
+ * 0 if OK
+ * -1 if problems arose
+ */
+ virtual int Compute(const Vector<double>& prefitResiduals, const Matrix<double>& designMatrix, const Vector<double>& weightVector) throw(InvalidSolver)
+ {
+ // First, check that everyting has a proper size
+ int wSize = (int) weightVector.size();
+ int pSize = (int) prefitResiduals.size();
+ if (!(wSize==pSize)) {
+ InvalidSolver e("prefitResiduals size does not match dimension of weightVector");
+ GPSTK_THROW(e);
+ }
+
+ Matrix<double> wMatrix(wSize,wSize,0.0); // Declare a weight matrix
+
+ // Fill the weight matrix diagonal with the content of the weight vector
+ for (int i=0; i<wSize; i++) wMatrix(i,i) = weightVector(i);
+
+ // Call the more general SolverWMS::Compute() method
+ return SolverWMS::Compute(prefitResiduals, designMatrix, wMatrix);
+ };
+
+
+ /// Compute the Weighted Least Mean Squares Solution of the given equations set.
+ virtual int Compute(const Vector<double>& prefitResiduals, const Matrix<double>& designMatrix) throw(InvalidSolver)
+ {
+ return SolverLMS::Compute(prefitResiduals, designMatrix);
+ };
+
+
+ /** Returns a reference to a satTypeValueMap object after solving the previously defined equation system.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual satTypeValueMap& processSolver(satTypeValueMap& gData) throw(InvalidSolver);
+
+
+ /// Covariance matrix without weights. This must be used to compute DOP
+ Matrix<double> covMatrixNoWeight;
+
+
+ /// Destructor.
+ virtual ~SolverWMS() {};
+
+
+ }; // class SolverWMS
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/SourceID.cpp b/dev/src/SourceID.cpp
new file mode 100644
index 0000000..9fb8822
--- /dev/null
+++ b/dev/src/SourceID.cpp
@@ -0,0 +1,97 @@
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2007
+//
+//============================================================================
+
+#include "SourceID.hpp"
+
+
+/**
+ * @file SourceID.cpp
+ * gpstk::SourceID - Simple index to represent source of the data.
+ */
+
+namespace gpstk
+{
+ std::map< SourceID::SourceType, std::string > SourceID::stStrings;
+
+ SourceID::Initializer SourceIDsingleton;
+
+ SourceID::Initializer::Initializer()
+ {
+ stStrings[Unknown] = "UnknownSource";
+ stStrings[GPS] = "GPS";
+ stStrings[DGPS] = "DGPS";
+ stStrings[RTK] = "RTK";
+ stStrings[INS] = "INS";
+ }
+
+ std::ostream& SourceID::dump(std::ostream& s) const
+ {
+ s << SourceID::stStrings[type] << " "
+ << sourceName;
+
+ return s;
+ } // SourceID::dump()
+
+ bool SourceID::isValid() const
+ {
+ return !(type==Unknown || sourceName=="");
+ }
+
+ SourceID::SourceType SourceID::newSourceType(const std::string& s)
+ {
+ SourceType newId =
+ static_cast<SourceType>(SourceID::stStrings.rbegin()->first + 1);
+ SourceID::stStrings[newId] = s;
+ return newId;
+ }
+
+ bool SourceID::operator==(const SourceID& right) const
+ { return (type==right.type && sourceName==right.sourceName); }
+
+ bool SourceID::operator<(const SourceID& right) const
+ {
+ if (type == right.type)
+ return sourceName < right.sourceName;
+ else
+ return type < right.type;
+ }
+
+ namespace StringUtils
+ {
+ /// convert this object to a string representation
+ std::string asString(const SourceID& p)
+ {
+ std::ostringstream oss;
+ p.dump(oss);
+ return oss.str();
+ }
+ }
+
+ /// stream output for SourceID
+ std::ostream& operator<<(std::ostream& s, const SourceID& p)
+ {
+ p.dump(s);
+ return s;
+ }
+
+}
diff --git a/dev/src/SourceID.hpp b/dev/src/SourceID.hpp
new file mode 100644
index 0000000..18500f6
--- /dev/null
+++ b/dev/src/SourceID.hpp
@@ -0,0 +1,146 @@
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+#ifndef GPSTK_SOURCEID_HPP
+#define GPSTK_SOURCEID_HPP
+
+#include <iostream>
+#include <iomanip>
+#include <sstream>
+#include <string>
+#include <map>
+
+/**
+ * @file SourceID.hpp
+ * gpstk::SourceID - Simple index to represent source of the data.
+ */
+
+namespace gpstk
+{
+ /** @addtogroup DataStructures */
+
+ class SourceID
+ {
+ public:
+ /// The type of source.
+ enum SourceType
+ {
+ Unknown,
+ GPS, ///< GPS data
+ Galileo, ///< Galileo data
+ Glonass, ///< Glonass data
+ Geosync, ///< Geostationary data
+ LEO, ///< LEO data
+ Transit, ///< Transit data
+ DGPS, ///< Differential GPS data
+ RTK, ///< Real Time Kinematic data
+ INS, ///< Inertial System data
+ Mixed, ///< Mixed data
+ Last, ///< used to extend this...
+ Placeholder = Last+1000
+ };
+
+ /// empty constructor, creates an unknown source data object
+ SourceID()
+ : type(Unknown), sourceName("") {};
+
+ /// Explicit constructor
+ SourceID(SourceType st, std::string name)
+ : type(st), sourceName(name) {};
+
+ /// Copy constructor
+ SourceID(const SourceID& s)
+ : type(s.type), sourceName(s.sourceName) {};
+
+ /// Equality requires all fields to be the same
+ virtual bool operator==(const SourceID& right) const;
+
+ /// Ordering is arbitrary but required to be able to use a SourceID
+ /// as an index to a std::map. If an application needs
+ /// some other ordering, inherit and override this function.
+ virtual bool operator<(const SourceID& right) const;
+
+ bool operator!=(const SourceID& right) const
+ { return !(operator==(right)); }
+
+ bool operator>(const SourceID& right) const
+ { return (!operator<(right) && !operator==(right)); }
+
+ bool operator<=(const SourceID& right) const
+ { return (operator<(right) || operator==(right)); }
+
+ bool operator>=(const SourceID& right) const
+ { return !(operator<(right)); }
+
+ /// Assignment operator
+ SourceID& operator=(const SourceID& right)
+ {
+ if ( this == &right ) return (*this);
+ (*this).type = right.type;
+ (*this).sourceName = right.sourceName;
+ return *this;
+ }
+
+ /// Convenience output method
+ virtual std::ostream& dump(std::ostream& s) const;
+
+ /// Returns true if this is a valid SourceID. Basically just
+ /// checks that none of the fields are undefined
+ virtual bool isValid() const;
+
+ /// Destructor
+ virtual ~SourceID() {}
+
+ static SourceType newSourceType(const std::string& s);
+
+ // Fields
+ /// Type of the data source (GPS receiver, Inertial system, etc)
+ SourceType type;
+ /// Name of the data source
+ std::string sourceName;
+
+ private:
+ static std::map< SourceType, std::string > stStrings;
+
+ public:
+ class Initializer
+ {
+ public:
+ Initializer();
+ };
+
+ static Initializer SourceIDsingleton;
+
+ }; // class SourceID
+
+ namespace StringUtils
+ {
+ /// convert this object to a string representation
+ std::string asString(const SourceID& p);
+ }
+
+ /// stream output for SourceID
+ std::ostream& operator<<(std::ostream& s, const SourceID& p);
+
+} // namespace gpstk
+#endif
diff --git a/dev/src/Stats.hpp b/dev/src/Stats.hpp
new file mode 100644
index 0000000..0d2e9be
--- /dev/null
+++ b/dev/src/Stats.hpp
@@ -0,0 +1,513 @@
+#pragma ident "$Id$"
+
+/**
+ * @file Stats.hpp
+ * One and two-sample statistics
+ */
+
+#ifndef INCLUDE_GPSTK_STATS_HPP
+#define INCLUDE_GPSTK_STATS_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "MiscMath.hpp"
+#include "Vector.hpp"
+#include "Exception.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup math */
+ //@{
+
+/** Conventional statistics for one sample. Constructor does the same as
+ * Reset(); use this when starting a new series of input samples.
+ * Results are available at any time by calling N(), Minimum(), Maximum(),
+ * Average(), Variance() and StdDev().
+ */
+ template <class T>
+
+ class Stats
+ {
+ public:
+ /// constructor
+ explicit Stats() { n=0; weighted=false; }
+
+ /// constructor given a vector of data
+ Stats(Vector<T>& X, Vector<T>& W)
+ {
+ n = 0;
+ weighted = false;
+ Add(X,W);
+ }
+
+ /// reset, i.e. ignore earlier data and restart sampling
+ inline void Reset(void) { n=0; weighted=false; W=T(); }
+
+ /// access the sample size
+ inline unsigned int N(void) const { return n; }
+
+ /// return minimum value
+ inline T Minimum(void) const { if(n) return min; else return T(); }
+
+ /// return maximum value
+ inline T Maximum(void) const { if(n) return max; else return T(); }
+
+ /// return computed average
+ inline T Average(void) const
+ {
+ // normalization constant is (W=sum wts)/n, -> 1 when all wts=1
+ if(n == 0)
+ return T();
+ if(weighted)
+ return (T(n)*ave/W);
+ return ave;
+ }
+
+ /// return computed variance
+ inline T Variance(void) const
+ {
+ if(n == 0)
+ return T();
+ if(weighted) {
+ T wn=W/T(n);
+ return (var/wn/wn/wn/wn);
+ }
+ return var;
+ }
+
+ /// return computed standard deviation
+ inline T StdDev(void) const
+ {
+ if(n == 0)
+ return T();
+ if(weighted) {
+ T wn=W/T(n);
+ return SQRT(ABS(var))/wn/wn;
+ }
+ return SQRT(ABS(var));
+ }
+
+ /// return the normalization constant = sum weights
+ inline T Normalization(void) const
+ { return W; }
+
+ /// return weight flag
+ inline bool Weighted(void) const
+ { return weighted; }
+
+ /// add a single sample to the computation of statistics, with optional weight
+ void Add(const T& x, const T& wt=T())
+ {
+ if(wt != T()) weighted=true;
+
+ T xx(x);
+ n++;
+ if(n == 1) {
+ min = max = ave = xx;
+ if(weighted) ave *= wt;
+ var = T();
+ W = T();
+ }
+ else {
+ if(xx < min) min=xx;
+ if(xx > max) max=xx;
+ }
+
+ if(weighted) { xx *= wt; W += wt; }
+ ave += (xx-ave)/T(n);
+ if(n > 1)
+ var = (var*T(n-2) + T(n)*(xx-ave)*(xx-ave)/T(n-1))/T(n-1);
+ }
+
+ /// add a Vector<T> of samples to the computation of statistics,
+ /// with optional weights
+ inline void Add(Vector<T>& X, Vector<T> w = Vector<T>())
+ {
+ if(w.size() > 0 && w.size() < X.size()) {
+ Exception e("Inconsistent input: weight vector short");
+ GPSTK_THROW(e);
+ }
+
+ size_t i;
+ if(w.size() > 0)
+ for(i=0; i<X.size(); i++) Add(X(i),w(i));
+ else
+ for(i=0; i<X.size(); i++) Add(X(i));
+ }
+
+ /// remove a sample from the computation of statistics (can't do min and max).
+ void Subtract(T x)
+ {
+ T dn=T(n);
+ if(n > 2) var=(var*(dn-T(1))-dn*(x-ave)*(x-ave)/(dn-T(1)))/(dn-T(2));
+ else var=T();
+
+ if(n > 1) ave=(ave*dn-x)/(dn-T(1));
+ else if(n==1) ave=x;
+ else ave=T();
+
+ n--;
+ }
+
+ /// remove a Vector<T> of samples to the computation of statistics
+ inline void Subtract(Vector<T>& X)
+ {
+ for(size_t i=0; i<X.size(); i++) Subtract(X(i));
+ }
+
+ /// define private members directly; useful in continuing with an object
+ /// that was earlier saved (e.g. to a file).
+ void Load(unsigned int in_n, T in_min, T in_max, T in_ave, T in_var,
+ bool wtd=false, T norm=1.0)
+ {
+ n = in_n;
+ min = in_min;
+ max = in_max;
+ var = in_var;
+ ave = in_ave;
+ weighted = wtd;
+ W = norm;
+ }
+
+ /// combine two Stats (assumed taken from the same or equivalent samples);
+ /// both must be either weighted or unweighted.
+ Stats<T>& operator+=(const Stats<T>& S)
+ {
+ if(S.n == 0) return *this;
+ if(n==0) {
+ *this = S;
+ return *this;
+ }
+ if((weighted && !S.weighted) || (!weighted && S.weighted)) {
+ Exception e("Stats::operator+= : operands have inconsistent weighting");
+ GPSTK_THROW(e);
+ }
+
+ if(S.min < min) min=S.min;
+ if(S.max > max) max=S.max;
+
+ if(weighted) {
+ T W1 = W/n;
+ T W2 = S.W/S.n;
+ var = W1*W1*((n-T(1))*var + n*ave*ave)
+ + W2*W2*((S.n-T(1))*S.var + S.n*S.ave*S.ave);
+ var *= (n+S.n)/(W+S.W);
+ var *= (n+S.n)/(W+S.W);
+ W += S.W;
+ }
+ else {
+ var = ((n-T(1))*var + n*ave*ave);
+ var += ((S.n-T(1))*S.var + S.n*S.ave*S.ave);
+ }
+ ave = (n*ave + S.n*S.ave)/(n+S.n);
+ n += S.n;
+ var -= n*ave*ave;
+ var /= (n-T(1));
+
+ return *this;
+
+ } // end Stats operator+=
+
+ /// dump the data stored in the class
+
+ private:
+ /// Number of samples added to the statistics so far
+ unsigned int n;
+ /// Minimum value
+ T min;
+ /// Maximum value
+ T max;
+ /// Average value
+ T var;
+ /// Variance (square of the standard deviation)
+ T ave;
+ /// Normalization constant = sum weights
+ T W;
+ /// Flag weighted input; ALL input must be consistently weighted or not
+ bool weighted;
+ }; // end class Stats
+
+ /// Output operator for Stats class
+ template <class T>
+ std::ostream& operator<<(std::ostream& s, const Stats<T>& ST)
+ {
+ std::ofstream savefmt;
+ savefmt.copyfmt(s);
+ s << " N = " << ST.N() << (ST.Weighted() ? " ":" not") << " weighted\n";
+ s << " Minimum = "; s.copyfmt(savefmt); s << ST.Minimum();
+ s << " Maximum = "; s.copyfmt(savefmt); s << ST.Maximum() << "\n";
+ s << " Average = "; s.copyfmt(savefmt); s << ST.Average();
+ s << " Std Dev = "; s.copyfmt(savefmt); s << ST.StdDev();
+ return s;
+ }
+
+/** Conventional statistics for two samples. Constructor does the same as
+ * Reset(); use this when starting a new series of input samples.
+ * Results are available at any time by calling N(), Minimum(), Maximum(),
+ * Average(), Variance() and StdDev().
+ */
+ template <class T>
+ class TwoSampleStats
+ {
+ public:
+ /// constructor
+ TwoSampleStats() { n=0; }
+
+ /// constructor given two Vector of data
+ TwoSampleStats(Vector<T>& X, Vector<T>& Y)
+ {
+ n = 0;
+ Add(X,Y);
+ }
+
+ /// Add data to the statistics
+ void Add(const T& X, const T& Y)
+ {
+ if(n == 0) {
+ sumx = sumy = sumx2 = sumy2 = sumxy = T();
+ xmin = xmax = X;
+ ymin = ymax = Y;
+ scalex = scaley = T(1);
+ }
+ if(scalex==T(1) && X!=T()) scalex=ABS(X);
+ if(scaley==T(1) && Y!=T()) scaley=ABS(Y);
+ sumx += X/scalex;
+ sumy += Y/scaley;
+ sumx2 += (X/scalex)*(X/scalex);
+ sumy2 += (Y/scaley)*(Y/scaley);
+ sumxy += (X/scalex)*(Y/scaley);
+ if(X < xmin) xmin=X;
+ if(X > xmax) xmax=X;
+ if(Y < ymin) ymin=Y;
+ if(Y > ymax) ymax=Y;
+ n++;
+ }
+
+ /// Add two Vectors of data to the statistics
+ void Add(const Vector<T>& X, const Vector<T>& Y)
+ {
+ size_t m = (X.size() < Y.size() ? X.size() : Y.size());
+ if(m==0) return;
+ for(size_t i=0; i<m; i++) Add(X(i),Y(i));
+ }
+
+ void Subtract(const T& X, const T& Y)
+ {
+ if(n == 1) {
+ sumx = sumy = sumx2 = sumy2 = sumxy = T();
+ xmin = xmax = T();
+ ymin = ymax = T();
+ scalex = scaley = T(1);
+ return;
+ }
+
+ sumx -= X/scalex;
+ sumy -= Y/scaley;
+ sumx2 -= (X/scalex)*(X/scalex);
+ sumy2 -= (Y/scaley)*(Y/scaley);
+ sumxy -= (X/scalex)*(Y/scaley);
+ n--;
+ }
+
+ void Subtract(const Vector<T>& X, const Vector<T>& Y)
+ {
+ size_t m=(X.size()<Y.size()?X.size():Y.size());
+ if(m==0) return;
+ for(size_t i=0; i<m; i++) Subtract(X(i),Y(i));
+ }
+
+ /// reset, i.e. ignore earlier data and restart sampling
+ inline void Reset(void) { n=0; }
+
+ /// return the sample size
+ inline unsigned int N(void) const { return n; }
+ /// return minimum X value
+ inline T MinimumX(void) const { if(n) return xmin; else return T(); }
+ /// return maximum X value
+ inline T MaximumX(void) const { if(n) return xmax; else return T(); }
+ /// return minimum Y value
+ inline T MinimumY(void) const { if(n) return ymin; else return T(); }
+ /// return maximum Y value
+ inline T MaximumY(void) const { if(n) return ymax; else return T(); }
+
+ /// return computed X average
+ inline T AverageX(void) const
+ { if(n>0) return (scalex*sumx/T(n)); else return T(); }
+
+ /// return computed Y average
+ inline T AverageY(void) const
+ { if(n>0) return (scaley*sumy/T(n)); else return T(); }
+
+ /// return computed X variance
+ inline T VarianceX(void) const
+ {
+ if(n>1) return scalex*scalex*(sumx2-sumx*sumx/T(n))/T(n-1);
+ else return T();
+ }
+
+ /// return computed Y variance
+ inline T VarianceY(void) const
+ {
+ if(n>1) return scaley*scaley*(sumy2-sumy*sumy/T(n))/T(n-1);
+ else return T();
+ }
+
+ /// return computed X standard deviation
+ inline T StdDevX(void) const { return SQRT(VarianceX()); }
+
+ /// return computed Y standard deviation
+ inline T StdDevY(void) const { return SQRT(VarianceY()); }
+
+ /// return slope of best-fit line Y=slope*X + intercept
+ inline T Slope(void) const
+ {
+ if(n>0)
+ return ((scaley/scalex)*(sumxy-sumx*sumy/T(n))/(sumx2-sumx*sumx/T(n)));
+ else
+ return T();
+ }
+
+ /// return intercept of best-fit line Y=slope*X + intercept
+ inline T Intercept(void) const
+ {
+ if(n>0)
+ return (AverageY()-Slope()*AverageX());
+ else
+ return T();
+ }
+
+ /// return uncertainty in slope
+ inline T SigmaSlope(void) const
+ {
+ if(n>2)
+ return (SigmaYX()/(StdDevX()*SQRT(T(n-1))));
+ else
+ return T();
+ }
+
+ /// return correlation
+ inline T Correlation(void) const
+ {
+ if(n>1)
+ {
+ return ( scalex * scaley * (sumxy-sumx*sumy/T(n))
+ / (StdDevX()*StdDevY()*T(n-1)) );
+ }
+ else
+ return T();
+ }
+
+ /// return conditional uncertainty = uncertainty y given x
+ inline T SigmaYX(void) const
+ {
+ if(n>2)
+ {
+ return (StdDevY() * SQRT(T(n-1)/T(n-2))
+ * SQRT(T(1)-Correlation()*Correlation()) );
+ }
+ else return T();
+ }
+
+ /// combine two TwoSampleStats (assumed to be taken from the same or
+ /// equivalent samples)
+ TwoSampleStats<T>& operator+=(TwoSampleStats<T>& S)
+ {
+ if(n + S.n == 0) return *this;
+ if(S.xmin < xmin) xmin=S.xmin;
+ if(S.xmax > xmax) xmax=S.xmax;
+ if(S.ymin < ymin) ymin=S.ymin;
+ if(S.ymax > ymax) ymax=S.ymax;
+ sumx += S.scalex*S.sumx/scalex;
+ sumy += S.scaley*S.sumy/scaley;
+ sumx2 += (S.scalex/scalex)*(S.scalex/scalex)*S.sumx2;
+ sumy2 += (S.scaley/scaley)*(S.scaley/scaley)*S.sumy2;
+ sumxy += (S.scalex/scalex)*(S.scaley/scaley)*S.sumxy;
+ n += S.n;
+ return *this;
+ } // end Stats operator+=
+
+ private:
+ /// Number of samples added to the statistics so far
+ unsigned int n;
+ T xmin, xmax, ymin, ymax, scalex, scaley;
+ T sumx, sumy, sumx2, sumy2, sumxy;
+
+ }; // end class TwoSampleStats
+
+ /// Output operator for TwoSampleStats class
+ template <class T>
+ std::ostream& operator<<(std::ostream& s, const TwoSampleStats<T>& TSS)
+ {
+ std::ofstream savefmt;
+ savefmt.copyfmt(s);
+ s << " N = " << TSS.N() << "\n";
+ s << " Minimum: X = "; s.copyfmt(savefmt); s << TSS.MinimumX();
+ s << " Y = "; s.copyfmt(savefmt); s << TSS.MinimumY();
+ s << " Maximum: X = "; s.copyfmt(savefmt); s << TSS.MaximumX();
+ s << " Y = "; s.copyfmt(savefmt); s << TSS.MaximumY() << "\n";
+ s << " Average: X = "; s.copyfmt(savefmt); s << TSS.AverageX();
+ s << " Y = "; s.copyfmt(savefmt); s << TSS.AverageY();
+ s << " Std Dev: X = "; s.copyfmt(savefmt); s << TSS.StdDevX();
+ s << " Y = "; s.copyfmt(savefmt); s << TSS.StdDevY() << "\n";
+ s << " Intercept = "; s.copyfmt(savefmt); s << TSS.Intercept();
+ s << " Slope = "; s.copyfmt(savefmt); s << TSS.Slope();
+ s << " with uncertainty = "; s.copyfmt(savefmt); s << TSS.SigmaSlope() << "\n";
+ s << " Conditional uncertainty (sigma y given x) = ";
+ s.copyfmt(savefmt); s << TSS.SigmaYX();
+ s << " Correlation = "; s.copyfmt(savefmt); s << TSS.Correlation();
+ return s;
+ }
+
+ /** Compute the median of a vector */
+ template <class T>
+ inline T median(const Vector<T>& v)
+ {
+ if(v.size()==0) return T();
+ if(v.size()==1) return v(0);
+ if(v.size()==2) return (v(0)+v(1))/T(2);
+ // insert sort
+ size_t i,j;
+ T x;
+ Vector<T> w(v);
+ for(i=0; i<v.size(); i++) {
+ x = w[i] = v(i);
+ j = i-1;
+ while(j>=0 && x<w[j]) {
+ w[j+1] = w[j];
+ j--;
+ }
+ w[j+1] = x;
+ }
+ if(v.size() % 2)
+ x=w[(v.size()+1)/2-1];
+ else
+ x=(w[v.size()/2-1]+w[v.size()/2])/T(2);
+
+ return x;
+ } // end median(Vector)
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/StringUtils.hpp b/dev/src/StringUtils.hpp
new file mode 100644
index 0000000..e372824
--- /dev/null
+++ b/dev/src/StringUtils.hpp
@@ -0,0 +1,2603 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file StringUtils.hpp
+ * StringUtils namespace and GPSTK string utility functions
+ */
+
+#ifndef GPSTK_STRINGUTILS_HPP
+#define GPSTK_STRINGUTILS_HPP
+
+//lgpl-license START
+//lgpl-license END
+
+//dod-release-statement START
+//dod-release-statement END
+
+#include <string>
+#include <sstream>
+#include <iomanip>
+#include <iostream>
+#include <list>
+
+/// @todo Get rid of the stdio.h dependency if possible.
+#include <cstdio>
+
+#include <regex.h>
+#include <cctype>
+
+#include <limits>
+
+#include "Exception.hpp"
+
+namespace gpstk
+{
+ /**
+ * Stuff to make the C++ string class a little easier to use. All the
+ * functionality here is inlined since they are farily small
+ * functions.
+ *
+ * All functions here will throw gpstk::StringUtils::StringException
+ * on an error. Any std::exception is converted to a
+ * gpstk::StringUtils::StringException so
+ * that's the only exception a user of this class needs to catch.
+ *
+ * For any function that modifies a string, make sure there is a
+ * non-const (std::string&) version and a const (const std::string&)
+ * version. The convention for writing the functions is the non-const
+ * version fully implements the function and the const version calls
+ * the non-const version.
+ *
+ * @sa stringutiltest.cpp for some examples.
+ */
+ namespace StringUtils
+ {
+ /** @defgroup stringutilsgroup Text String Manipulation Tools */
+ //@{
+
+ /// This is thrown instread of a std::exception when a
+ /// gpstk::StringUtils function fails.
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(StringException, Exception);
+
+ /// Class for configuring the appearance of hexDumpData() output
+ class HexDumpDataConfig
+ {
+ public:
+ HexDumpDataConfig()
+ : showIndex(true), hexIndex(true), upperHex(false),
+ idxDigits(4), indexWS(1), groupBy(1), groupWS(1),
+ group2By(8), group2WS(2), bytesPerLine(16), showText(true),
+ separator(0), textWS(4)
+ {}
+ HexDumpDataConfig(bool ashowIndex, bool ahexIndex, bool aupperHex,
+ unsigned aidxDigits, unsigned aindexWS,
+ unsigned agroupBy, unsigned agroupWS,
+ unsigned agroup2By, unsigned agroup2WS,
+ unsigned abytesPerLine, bool ashowText,
+ char aseparator, unsigned atextWS)
+ : showIndex(ashowIndex), hexIndex(ahexIndex),
+ upperHex(aupperHex), idxDigits(aidxDigits),
+ indexWS(aindexWS), groupBy(agroupBy), groupWS(agroupWS),
+ group2By(agroup2By), group2WS(agroup2WS),
+ bytesPerLine(abytesPerLine), showText(ashowText),
+ separator(aseparator), textWS(atextWS)
+ {}
+ bool showIndex; ///< display index into string on each line.
+ bool hexIndex; ///< if true, use hex index numbers (else decimal).
+ bool upperHex; ///< if true, use upper-case hex digits.
+ unsigned idxDigits; ///< number of positions to use for index.
+ unsigned indexWS; ///< number of whitespace charaters between index and data.
+ unsigned groupBy; ///< number of bytes of data to show between spaces.
+ unsigned groupWS; ///< number of whitespace charaters between groups of hex data.
+ unsigned group2By; ///< number of groups to show per 2nd layer group (0=none, must be multiple of groupBy).
+ unsigned group2WS; ///< number of whitespace charaters between 2nd layer groups.
+ unsigned bytesPerLine; ///< number of bytes to display on a line of output (must be evenly divisible by both groupBy and group2By).
+ bool showText; ///< if true, show text of message (unprintable characters become '.'.
+ char separator; ///< character to offset text with (0 = none).
+ unsigned textWS; ///< number of whitespace characters between hex and text.
+ };
+
+ /**
+ * Perform a formatted hex-dump of the (potentially) binary
+ * data to the given stream.
+ * @param s stream to dump data to.
+ * @param data data to hex-dump.
+ * @param indent indents the string by that many spaces.
+ * @param cfg formatting configuration.
+ */
+ inline void hexDumpData(std::ostream& s, const std::string& data,
+ unsigned indent = 0,
+ HexDumpDataConfig cfg = HexDumpDataConfig());
+
+ /**
+ * Perform a formatted hex-dump of the (potentially) binary
+ * data to the given stream.
+ * @param s stream to dump data to.
+ * @param data data to hex-dump.
+ * @param tag string to put at the beginning of each line of output.
+ * @param cfg formatting configuration.
+ */
+ inline void hexDumpData(std::ostream& s, const std::string& data,
+ const std::string& tag,
+ HexDumpDataConfig cfg = HexDumpDataConfig());
+
+ /**
+ * Remove a string from the beginning of another string.
+ * Occurrences of the string \a aString appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline
+ std::string& stripLeading(std::string& s,
+ const std::string& aString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException);
+
+ /**
+ * Remove a string from the beginning of another string const version.
+ * Occurrences of the string \a aString appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripLeading(const std::string& s,
+ const std::string& aString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripLeading(t, aString, num); return t; }
+
+ /**
+ * Remove a string from the beginning of another string.
+ * Occurrences of the string \a pString appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param pString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& stripLeading(std::string& s,
+ const char* pString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return stripLeading(s, std::string(pString), num); }
+
+ /**
+ * Remove a string from the beginning of another string const version.
+ * Occurrences of the string \a pString appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param pString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripLeading(const std::string& s,
+ const char* pString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripLeading(t, std::string(pString), num); return t; }
+
+ /**
+ * Strip character(s) from the beginning of a string.
+ * Occurrences of the character \a aCharacter appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aCharacter character to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& stripLeading(std::string& s,
+ const char aCharacter,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return stripLeading(s, std::string(1,aCharacter), num); }
+
+ /**
+ * Strip character(s) from the beginning of a string const version.
+ * Occurrences of the character \a aCharacter appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aCharacter character to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripLeading(const std::string& s,
+ const char aCharacter,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripLeading(t, std::string(1,aCharacter), num); return t; }
+
+ /**
+ * Strip blanks from the beginning of a string.
+ * Occurrences of the space character appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& stripLeading(std::string& s,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return stripLeading(s,std::string(1,' '),num); }
+
+ /**
+ * Strip blanks from the beginning of a string const version.
+ * Occurrences of the space character appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripLeading(const std::string& s,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripLeading(t,std::string(1,' '),num); return t; }
+
+ /**
+ * Remove a string from the end of another string.
+ * Occurrences of the string \a aString appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& stripTrailing(std::string& s,
+ const std::string& aString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException);
+
+ /**
+ * Remove a string from the end of another string const version.
+ * Occurrences of the string \a aString appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripTrailing(const std::string& s,
+ const std::string& aString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripTrailing(t, aString, num); return t;}
+
+ /**
+ * Remove a string from the end of another string.
+ * Occurrences of the string \a pString appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param pString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& stripTrailing(std::string& s,
+ const char* pString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return stripTrailing(s, std::string(pString), num); }
+
+ /**
+ * Remove a string from the end of another string const version.
+ * Occurrences of the string \a pString appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param pString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripTrailing(const std::string& s,
+ const char* pString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripTrailing(t, std::string(pString), num); return t; }
+
+ /**
+ * Strip character(s) from the end of a string.
+ * Occurrences of the character \a aCharacter appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aCharacter character to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& stripTrailing(std::string& s,
+ const char aCharacter,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return stripTrailing(s, std::string(1,aCharacter), num); }
+
+ /**
+ * Strip character(s) from the end of a string const version.
+ * Occurrences of the character \a aCharacter appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aCharacter character to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripTrailing(const std::string& s,
+ const char aCharacter,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripTrailing(t, std::string(1,aCharacter), num); return t; }
+
+ /**
+ * Strip blanks from the end of a string.
+ * Occurrences of the space character appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& stripTrailing(std::string& s,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return stripTrailing(s, std::string(1,' '), num); }
+
+ /**
+ * Strip blanks from the end of a string const version.
+ * Occurrences of the space character appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripTrailing(const std::string& s,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripTrailing(t, std::string(1,' '), num); return t;}
+
+ /**
+ * Remove a string from the beginning and end of another string.
+ * Occurrences of the string \a aString appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& strip(std::string& s,
+ const std::string& aString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException);
+
+
+ /**
+ * Remove a string from the beginning and end of another string const version.
+ * Occurrences of the string \a aString appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string strip(const std::string& s,
+ const std::string& aString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); strip(t, aString, num); return t; }
+
+
+ /**
+ * Remove a string from the beginning and end of another string.
+ * Occurrences of the string \a pString appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param pString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& strip(std::string& s,
+ const char* pString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return strip(s, std::string(pString), num); }
+
+ /**
+ * Remove a string from the beginning and end of another string cosnt version.
+ * Occurrences of the string \a pString appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param pString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string strip(const std::string& s,
+ const char* pString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); strip(t, std::string(pString), num); return t; }
+
+ /**
+ * Strip character(s) from the beginning and end of a string.
+ * Occurrences of the character \a aCharacter appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aCharacter character to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& strip(std::string& s,
+ const char aCharacter,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return strip(s, std::string(1,aCharacter), num); }
+
+ /**
+ * Strip character(s) from the beginning and end of a string const version.
+ * Occurrences of the character \a aCharacter appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aCharacter character to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string strip(const std::string& s,
+ const char aCharacter,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); strip(t, std::string(1,aCharacter), num); return t;}
+
+ /**
+ * Strip blanks from the beginning and end of a string.
+ * Occurrences of the space character appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& strip(std::string& s,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return strip(s, std::string(1, ' '), num); }
+
+ /**
+ * Strip blanks from the beginning and end of a string const version.
+ * Occurrences of the space character appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string strip(const std::string& s,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); strip(t, std::string(1, ' '), num); return t;}
+
+ /**
+ * Converts all of the receiver's characters that are in the
+ * first specified string to the corresponding character in
+ * the second specified string.
+ * @param aString string to perform translation on.
+ * @param inputChars characters in \a aString to translate from.
+ * @param outputChars characters to translate to.
+ * @param pad pad character in the event inputChars and
+ * outputChars are not equal length. The pad character will
+ * become the translated character.
+ */
+ inline std::string translate(const std::string& aString,
+ const std::string& inputChars,
+ const std::string& outputChars,
+ const char pad = ' ');
+
+ /**
+ * Changes occurrences of a specified pattern to a specified
+ * replacement string. You can specify the number of changes
+ * to perform. The default is to change all occurrences of
+ * the pattern. You can also specify the position in the
+ * receiver at which to begin.
+ * @param aString string to perform translation on.
+ * @param inputString The pattern string as a reference to an
+ * object of type string. The library searches for the
+ * pattern string within the receiver's data.
+ * @param outputString The replacement string as a reference
+ * to an object of type string. It replaces the occurrences
+ * of the pattern string in the receiver's data.
+ * @param startPos The position to start the search at within
+ * the receiver's data. The default is 0.
+ * @param numChanges the number of patterns to search for and
+ * change. The default is to change all occurrences of the
+ * pattern.
+ */
+ inline std::string change(const std::string& aString,
+ const std::string& inputString,
+ const std::string& outputString,
+ std::string::size_type startPos = 0,
+ unsigned numChanges = std::numeric_limits<unsigned>::max());
+
+ /**
+ * Changes occurrences of a specified pattern to a specified
+ * replacement string. You can specify the number of changes
+ * to perform. The default is to change all occurrences of
+ * the pattern. You can also specify the position in the
+ * receiver at which to begin.
+ * @param aString string to perform translation on.
+ * @param inputString The pattern string as a reference to an
+ * object of type string. The library searches for the
+ * pattern string within the receiver's data.
+ * @param outputString The replacement string as a reference
+ * to an object of type string. It replaces the occurrences
+ * of the pattern string in the receiver's data.
+ * @param startPos The position to start the search at within
+ * the receiver's data. The default is 0.
+ * @param numChanges the number of patterns to search for and
+ * change. The default is to change all occurrences of the
+ * pattern.
+ */
+ inline std::string& change(std::string& aString,
+ const std::string& inputString,
+ const std::string& outputString,
+ std::string::size_type startPos = 0,
+ unsigned numChanges = std::numeric_limits<unsigned>::max());
+
+ /**
+ * Right-justifies the receiver in a string of the specified
+ * length. If the receiver's data is shorter than the
+ * requested length (\a length), it is padded on the left with
+ * the pad character (\a pad). The default pad
+ * character is a blank.
+ * @param s string to be modified.
+ * @param length new desired length of string.
+ * @param pad character to pad string with (blank by default).
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s. */
+ inline std::string& rightJustify(std::string& s,
+ const std::string::size_type length,
+ const char pad = ' ')
+ throw(StringException);
+
+ /**
+ * Right-justifies the receiver in a string of the specified
+ * length (const version). If the receiver's data is shorter than the
+ * requested length (\a length), it is padded on the left with
+ * the pad character (\a pad). The default pad
+ * character is a blank.
+ * @param s string to be modified.
+ * @param length new desired length of string.
+ * @param pad character to pad string with (blank by default).
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s. */
+ inline std::string rightJustify(const std::string& s,
+ const std::string::size_type length,
+ const char pad = ' ')
+ throw(StringException)
+ { std::string t(s); return rightJustify(t, length, pad); }
+
+ /**
+ * Left-justifies the receiver in a string of the specified
+ * length. If the new length (\a length) is larger than the
+ * current length, the string is extended by the pad
+ * character (\a pad). The default pad character is a
+ * blank.
+ * @param s string to be modified.
+ * @param length new desired length of string.
+ * @param pad character to pad string with (blank by default).
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s. */
+ inline std::string& leftJustify(std::string& s,
+ const std::string::size_type length,
+ const char pad = ' ')
+ throw(StringException);
+
+ /**
+ * Left-justifies the receiver in a string of the specified
+ * length (const version). If the new length (\a length) is larger
+ * than the current length, the string is extended by the pad
+ * character (\a pad). The default pad character is a
+ * blank.
+ * @param s string to be modified.
+ * @param length new desired length of string.
+ * @param pad character to pad string with (blank by default).
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s. */
+ inline std::string leftJustify(const std::string& s,
+ const std::string::size_type length,
+ const char pad = ' ')
+ throw(StringException)
+ { std::string t(s); return leftJustify(t, length, pad); }
+
+ /**
+ * Change the length of a string by adding to the beginning and end.
+ * The string \a s is modified to the specified
+ * length. If the string is shorter than
+ * \a length, then the string is truncated with the
+ * left-most \a length characters remaining.
+ * Otherwise, characters are added to the beginning and end of the
+ * string until the string is the specified length, where the
+ * number of characters added to the beginning and the end
+ * does not differ by more than one so the original string
+ * is centered.
+ * @param s string to be modified.
+ * @param length new desired length of string.
+ * @param pad character to pad string with (blank by default).
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& center(std::string& s,
+ const std::string::size_type length,
+ const char pad = ' ')
+ throw(StringException);
+
+ /**
+ * Change the length of a string by adding to the beginning and end
+ * (const version).
+ * The string \a s is modified to the specified
+ * length. If the string is shorter than
+ * \a length, then the string is truncated with the
+ * left-most \a length characters remaining.
+ * Otherwise, characters are added to the beginning and end of the
+ * string until the string is the specified length, where the
+ * number of characters added to the beginning and the end
+ * does not differ by more than one so the original string
+ * is centered.
+ * @param s string to be modified.
+ * @param length new desired length of string.
+ * @param pad character to pad string with (blank by default).
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string center(const std::string& s,
+ const std::string::size_type length,
+ const char pad = ' ')
+ throw(StringException)
+ { std::string t(s); return center(t, length, pad); }
+
+ /**
+ * Convert a string to a double precision floating point number.
+ * @param s string containing a number.
+ * @return double representation of string.
+ */
+ inline double asDouble(const std::string& s)
+ { return strtod(s.c_str(), 0); }
+
+ /**
+ * Convert a string to an integer.
+ * @param s string containing a number.
+ * @return long integer representation of string.
+ */
+ inline long asInt(const std::string& s)
+ { return strtol(s.c_str(), 0, 10); }
+
+ /**
+ * Convert a string to an unsigned integer.
+ * @param s string containing a number.
+ * @return unsigned long integer representation of string.
+ */
+ inline unsigned long asUnsigned(const std::string& s)
+ { return strtoul(s.c_str(), 0, 10); }
+
+ /**
+ * Convert a string to a single precision floating point number.
+ * @param s string containing a number.
+ * @return single representation of string.
+ */
+ inline float asFloat(const std::string& s)
+ throw(StringException);
+
+ /**
+ * Convert a string to a big precision floating point number.
+ * @param s string containing a number.
+ * @return long double representation of string.
+ */
+ inline long double asLongDouble(const std::string& s)
+ throw(StringException);
+
+ /**
+ * Convert a value in a string to a type specified by the template
+ * class. The template class type must have stream operators
+ * defined.
+ * @param x object to turn into the templatized type.
+ * @return the template object of \a x.
+ */
+ template <class X>
+ inline X asData(const std::string& s)
+ throw(StringException);
+
+ /**
+ * Convert a long double to a string in fixed notation.
+ * @param x long double.
+ * @param precision the number of decimal places you want displayed.
+ * @return string representation of \a x.
+ */
+ inline std::string asString(const long double x,
+ const std::string::size_type precision = 21);
+
+ /**
+ * Convert a double to a string in fixed notation.
+ * @param x double.
+ * @param precision the number of decimal places you want displayed.
+ * @return string representation of \a x.
+ */
+ inline std::string asString(const double x,
+ const std::string::size_type precision = 17);
+
+ /**
+ * Convert any old object to a string.
+ * The class must have stream operators defined.
+ * @param x object to turn into a string.
+ * @return string representation of \a x.
+ */
+ template <class X>
+ inline std::string asString(const X x);
+
+ /**
+ * Convert a decimal string to a hexadecimal string.
+ * Modify the string such that the decimal integer is now
+ * represented as hexadecimal. Only the first decimal encountered is
+ * changed; the rest of the string is unmodified.
+ * @param s string containing an integer.
+ * @return reference to modified \a s.
+ */
+ inline std::string& d2x(std::string& s)
+ throw(StringException);
+
+ /**
+ * Convert a decimal string to a hexadecimal string.
+ * Given a string containing a decimal integer, convert the
+ * integer from base 10 to base 16 and return the result. No
+ * prefix is added. Only the first decimal encountered is
+ * changed; the rest of the string is unmodified.
+ * @param s string containing an integer.
+ * @return string containing a hexadecimal number.
+ */
+ inline std::string d2x(const std::string& s)
+ throw(StringException)
+ { std::string t(s); return d2x(t); }
+
+ /**
+ * Convert a hexadecimal string to a decimal string.
+ * Modify the string such that the hexadecimal number is now
+ * represented as decimal. Only the first hex number encountered
+ * is changed; the rest of the string is unmodified.
+ * @param s string containing an integer.
+ * @return reference to modified \a s.
+ */
+ inline std::string& x2d(std::string& s)
+ throw(StringException);
+
+ /**
+ * Convert a hexadecimal string to a decimal string.
+ * Given a string containing a hexadecimal number, convert the
+ * integer from base 16 to base 10 and return the result.
+ * Only the first hex number encountered
+ * is changed; the rest of the string is unmodified.
+ * @param s string containing an integer.
+ * @return string containing a hexadecimal number.
+ */
+ inline std::string x2d(const std::string& s)
+ throw(StringException)
+ { std::string t(s); return x2d(t); }
+
+ /**
+ * Convert a character string to a hexadecimal string.
+ * Modify the string such that the character string is now
+ * represented as series of hexadecimal digits.
+ * @param s string to convert.
+ * @return reference to modified \a s.
+ */
+ inline std::string& c2x(std::string& s)
+ throw(StringException);
+
+ /**
+ * Convert a character string to a hexadecimal string.
+ * @param s string containing an integer.
+ * @return string containing a sequence of hexadecimal numbers.
+ */
+ inline std::string c2x(const std::string& s)
+ throw(StringException)
+ { std::string t(s); return c2x(t); }
+
+ /**
+ * Convert a hexadecimal string to an int.
+ * Only the first hex number encountered is converted.
+ * @param s string containing a hex integer.
+ * @return a long holding the value of \a s.
+ */
+ inline unsigned int x2int(const std::string& s)
+ throw(StringException);
+
+
+ /**
+ * Convert an int to a string.
+ * @param i the integer to convert
+ * @return a string with the hex equivalent of i
+ */
+ inline std::string int2x(const unsigned int& i)
+ throw(StringException);
+
+ /**
+ * Replace all instances of \a oldString with \a newString in \a s.
+ * @param s the string whose contents will be modified.
+ * @param oldString the string to search for in \a s.
+ * @param newString the string to replace \a oldString in \a s.
+ * @return a reference to the modified string.
+ */
+ inline std::string& replaceAll(std::string& s,
+ const std::string& oldString,
+ const std::string& newString )
+ throw(StringException);
+
+ /**
+ * isDigitString is exactly like the C function isDigit
+ * except it checks all the characters of string \a s to see if
+ * they are all digits.
+ * @param s the string to check the digits in.
+ * @return true if \a s is all digits, false otherwise.
+ */
+ inline bool isDigitString(const std::string& s);
+
+ /**
+ * isDecimalString is like isDigitString() except it allows a
+ * single period ('.') character in the string.
+ * @param s the string to check.
+ * @return true if \a s is a valid fixed-point number.
+ */
+ inline bool isDecimalString(const std::string& s);
+
+ /**
+ * isAlphaString is exactly like the C function isAlpha
+ * except it checks all the characters of string \a s to see if
+ * they are all alphabet characters.
+ * @param s the string to check the characters in.
+ * @return true if \a s is all digits, false otherwise.
+ */
+ inline bool isAlphaString(const std::string& s);
+
+ /**
+ * Perform pattern matching on strings.
+ * Looks for a pattern in a string. Wildcards are allowed.
+ * Uses POSIX regular expressions.
+ * @param s string to search.
+ * @param aPattern pattern to search for. This is a POSIX
+ * regular expression.
+ * @param zeroOrMore character representing wildcards
+ * matching strings of zero or more characters (default '*').
+ * @param oneOrMore character representing plus sign
+ * matching strings of one or more characters (default '+').
+ * @param anyChar character representing wildcards matching a
+ * single arbitrary character (default '.').
+ * @return string representing the first match of \a aPattern in
+ * \a s. Returns a null string if no match is found.
+ */
+ inline std::string matches(const std::string& s,
+ const std::string& aPattern,
+ const char zeroOrMore = '*',
+ const char oneOrMore = '+',
+ const char anyChar = '.' )
+ throw(StringException);
+
+ /**
+ * Perform pattern matching on strings.
+ * Looks for a pattern in a string. Wildcards are allowed.
+ * Uses POSIX regular expressions.
+ * @param s string to search.
+ * @param aPattern pattern to search for. This is a POSIX
+ * regular expression.
+ * @param zeroOrMore character representing wildcards
+ * matching strings of zero or more characters (default '*').
+ * @param oneOrMore character representing plus sign
+ * matching strings of one or more characters (default '+').
+ * @param anyChar character representing wildcards matching a
+ * single arbitrary character (default '.').
+ * @return t if a match is found, f if not.
+ */
+ inline bool isLike(const std::string& s,
+ const std::string& aPattern,
+ const char zeroOrMore = '*',
+ const char oneOrMore = '+',
+ const char anyChar = '.' )
+ throw(StringException)
+ { return matches(s, aPattern, zeroOrMore, oneOrMore, anyChar) !=
+ std::string(); }
+
+
+ /**
+ * Perform pattern matching on strings.
+ * Looks for a pattern in a string. Wildcards are allowed.
+ * Uses POSIX regular expressions.
+ * @param s string to search.
+ * @param pPattern pattern to search for. This is a POSIX
+ * regular expression.
+ * @param zeroOrMore character representing wildcards
+ * matching strings of zero or more characters (default '*').
+ * @param oneOrMore character representing plus sign
+ * matching strings of one or more characters (default '+').
+ * @param anyChar character representing wildcards matching a
+ * single arbitrary character (default '.').
+ * @return t if a match is found, f if not.
+ */
+ inline bool isLike(const std::string& s,
+ const char* pPattern,
+ const char zeroOrMore = '*',
+ const char oneOrMore = '+',
+ const char anyChar = '.' )
+ throw(StringException)
+ { return matches(s, std::string(pPattern), zeroOrMore, oneOrMore, anyChar) !=
+ std::string(); }
+
+
+ /**
+ * Work-horse method for printf. Substitutes patterns
+ * matching \a pat with \a rep. Use only one pattern/token
+ * at a time! This used to be DayTime::iprint().
+ * @param fmt format to use for this time.
+ * @param pat regular expression pattern to match.
+ * @param rep sprintf token replacement. First character is
+ * token character used in fmt, remainder is sprintf token to
+ * use. For example, with fmt="%15S", pat="%[ 0-]?[[:digit:]]*S",
+ * and rep="Sd", the fmt will be translated to "%15d" before
+ * using it in a sprintf call like printf("%15d"), \a to.
+ * @param to the value to stuff into the string.
+ * @return \a fmt with \a pat replaced by \a to. If there is no
+ * match, \a fmt is returned unchanged.
+ */
+ template <class T>
+ std::string formattedPrint(const std::string& fmt,
+ const std::string& pat,
+ const std::string& rep,
+ T to)
+ throw(StringException);
+
+ /**
+ * Get a substring of a string.
+ * Try to avoid using this, use the stl string's substr
+ * method instead (and ::leftJustify if needed).
+ */
+ inline std::string subString(const std::string& s,
+ const std::string::size_type startPos = 0,
+ const std::string::size_type length = std::string::npos,
+ const char pad = ' ' )
+ throw(StringException);
+
+ /**
+ * Change all upper-case letters in a string to lower-case.
+ * \a s is modified as a result.
+ * @param s string to change to lower case.
+ * @return a copy of the original string, all in lower-case.
+ */
+ inline std::string& lowerCase(std::string& s);
+
+ /**
+ * Change all upper-case letters in a string to lower-case.
+ * Does not modify the original string.
+ * @param s a string containing upper-case characters.
+ * @return a copy of the original string, all in lower-case.
+ */
+ inline std::string lowerCase(const std::string& s)
+ { std::string t(s); return lowerCase(t); }
+
+ /**
+ * Change all lower-case letters in a string to upper-case.
+ * \a s is modified as a result.
+ * @param s string to change to upper case.
+ * @return a copy of the original string, all in upper-case.
+ */
+ inline std::string& upperCase(std::string& s);
+
+ /**
+ * Change all lower-case letters in a string to upper-case.
+ * Does not modify the original string.
+ * @param s a string containing lower-case characters.
+ * @return a copy of the original string, all in upper-case.
+ */
+ inline std::string upperCase(const std::string& s)
+ { std::string t(s); return upperCase(t); }
+
+ /**
+ * Make a string from a void pointer.
+ * This function should not be used. Instead, use the string
+ * constructor as follows:
+ * \code string((char*)p, size); \endcode
+ * @param p pointer to memory.
+ * @param size length of the data to turn into a string.
+ * @return string object containing the contents of \a p.
+ */
+ inline std::string memToString(const void* p,
+ const std::string::size_type size);
+
+ /**
+ * Returns the first word in string \a s without modifying the string.
+ * @param s the string to count the words from.
+ * @param delimiter the character that marks the start and
+ * end of a word.
+ * @return the first word from \a s;
+ */
+ inline std::string firstWord(const std::string& s,
+ const char delimiter = ' ')
+ throw(StringException);
+
+ /**
+ * Counts the number of words in \a s and returns it.
+ * @param s the string to count the words from.
+ * @param delimiter the character that marks the start and
+ * end of a word.
+ * @return the number of words in \a s.
+ */
+ inline int numWords(const std::string& s,
+ const char delimiter = ' ')
+ throw(StringException);
+
+ /**
+ * Returns \a numWords words starting with \a firstWord from
+ * \a s (if any).
+ * @param s a string with the word you want removed.
+ * @param firstWord the number of the first word you want from \a s.
+ * The first word is word 0.
+ * @param numWords number of words to get from \a s.
+ * @param delimiter the character that marks the start and
+ * end of a word.
+ * @return the first word from \a s or an empty string if there is
+ * no \a wordNum'th word.
+ */
+ inline std::string words(const std::string& s,
+ const std::string::size_type firstWord = 0,
+ const std::string::size_type numWords = std::string::npos,
+ const char delimiter = ' ')
+ throw(StringException);
+
+ /**
+ * Returns word number \a wordNum from \a s (if any).
+ * @param s a string with the word you want removed.
+ * @param wordNum the number of the word you want from \a s.
+ * The first word is word 0.
+ * @param delimiter the character that marks the start and
+ * end of a word.
+ * @return the first word from \a s or an empty string if there is
+ * no \a wordNum'th word.
+ */
+ inline std::string word(const std::string& s,
+ const std::string::size_type wordNum = 0,
+ const char delimiter = ' ')
+ throw(StringException)
+ { return words(s, wordNum, 1, delimiter); }
+
+ /**
+ * Removes the first word off string \a s and returns it.
+ * \a s is modified as a result.
+ * @param s a string with the word you want removed.
+ * @param delimiter the character that marks the start and
+ * end of a word.
+ * @return the first word from \a s
+ */
+ inline std::string stripFirstWord(std::string& s,
+ const char delimiter = ' ')
+ throw(StringException);
+
+ /**
+ * Removes indicated words from the string \a s.
+ * \a s is modified as a result.
+ * @param s a string with the words you want removed.
+ * @param first the first word to be removed (the first word is 0).
+ * @param wordsToReplace the number of words you want removed.
+ * @param delimiter the character that marks the start and
+ * end of a word.
+ * @return a reference to string \a s with the words removed.
+ */
+ inline std::string& removeWords(std::string& s,
+ const std::string::size_type first = 0,
+ const std::string::size_type wordsToReplace = std::string::npos,
+ const char delimiter = ' ')
+ throw(StringException);
+
+ /**
+ * Convert a double to a scientific notation number.
+ * @param d the double to convert
+ * @param length length (in characters) of output, including exponent
+ * @param expLen length (in characters) of the exponent, with sign
+ * @param showSign if true, reserves 1 character for +/- sign
+ * @param checkSwitch if true, keeps the exponential sanity check for
+ * exponentials above three characters in length. If false, it removes
+ * that check.
+ */
+ inline std::string doub2sci(const double& d,
+ const std::string::size_type length,
+ const std::string::size_type expLen,
+ const bool showSign = true,
+ const bool checkSwitch = true);
+
+ /**
+ * Convert scientific notation to FORTRAN notation.
+ * As an example, the string "1.5636E5" becomes " .15636D6".
+ * Note that the first character of the string will be '-' if
+ * the number is negative or ' ' if the first character is positive.
+ * @param aStr string with number to convert
+ * @param length length (in characters) of number, including exponent.
+ * @param expLen length (in characters of exponent, not including sign.
+ * @param startPos start position of number in string
+ * @param checkSwitch will keep the method running as orignially programed
+ * when set to true. If false, the method will always resize exponentials,
+ * produce an exponential with an E instead of a D, and always have a leading
+ * zero. For example -> 0.87654E-0004 or -0.1234E00005.
+ * @throws Exception if the string is not a number in
+ * scientific notation
+ */
+ inline std::string& sci2for(std::string& aStr,
+ const std::string::size_type length,
+ const std::string::size_type startPos = 0,
+ const std::string::size_type expLen = 3,
+ const bool checkSwitch = true)
+ throw(StringException);
+
+ /**
+ * Convert double precision floating point to a string
+ * containing the number in FORTRAN notation.
+ * As an example, the number 156360 becomes ".15636D6".
+ * @param d number to convert.
+ * @param length length (in characters) of number, including exponent.
+ * @param expLen length (in characters of exponent, including sign.
+ * @param checkSwitch if true, keeps the exponential sanity check for
+ * exponentials above three characters in length. If false, it removes
+ * that check.
+ * @return a string containing \a d in FORTRAN notation.
+ */
+ inline std::string doub2for(const double& d,
+ const std::string::size_type length,
+ const std::string::size_type expLen,
+ const bool checkSwitch = true)
+ throw(StringException);
+
+ /**
+ * Convert FORTRAN representation of a double precision
+ * floating point in a string to a number.
+ * As an example, the number ".15636D6" becomes 156360.
+ * @param aStr string containing FORTRAN representation of number.
+ * @param length length (in characters) of number, including exponent.
+ * @param startPos beginning of number in string.
+ * @return value of the number.
+ */
+ inline double for2doub(const std::string& aStr,
+ const std::string::size_type length,
+ const std::string::size_type startPos = 0);
+
+ /**
+ * Change a string into printable characters. Control
+ * characters (0-26) are changed to ^@, ^A, etc. Other
+ * non-printable characters are changed to hex sequences
+ * enclosed in <>.
+ * @param aStr the string to make printable.
+ */
+ inline std::string printable(const std::string& aStr)
+ throw(StringException);
+
+ /**
+ * Nicely expands the input string into several lines, non-const
+ * version.
+ * @param aStr the string to be modified.
+ * @param lineDelim a string to put between every line.
+ * @param indent an indentataion string used on all but the first line
+ * @param firstIndent is the indentation used on the first line.
+ * @param len the maximum length of string to put on a line.
+ * @param wordDelim the character that separates each word.
+ * @return the string nicely formatted.
+ */
+ inline std::string& prettyPrint(std::string& aStr,
+ const std::string& lineDelim = "\n",
+ const std::string& indent = "",
+ const std::string& firstIndent = " ",
+ const std::string::size_type len = 80,
+ const char wordDelim = ' ')
+ throw(StringException);
+
+ /**
+ * Const version of prettyPrint, which nicely expands the
+ * input string into several lines.
+ * @param aStr the string to be modified.
+ * @param lineDelim a string to put between every line.
+ * @param indent an indentataion string used on all but the first line
+ * @param firstIndent is the indentation used on the first line.
+ * @param len the maximum length of string to put on a line.
+ * @param wordDelim the character that separates each word.
+ * @return the string nicely formatted.
+ */
+ inline std::string prettyPrint(const std::string& aStr,
+ const std::string& lineDelim = "\n",
+ const std::string& indent = "",
+ const std::string& firstIndent = " ",
+ const std::string::size_type len = 80,
+ const char wordDelim = ' ')
+ throw(StringException)
+ {
+ std::string temp(aStr);
+ prettyPrint(temp, lineDelim, indent, firstIndent, len, wordDelim);
+ return temp;
+ }
+
+ } // namespace StringUtils
+
+} // namespace gpstk
+
+// ################################################
+// Implementations of inline functions follow
+// ################################################
+
+namespace gpstk
+{
+
+ namespace StringUtils
+ {
+ inline void hexDumpData(std::ostream& s, const std::string& data,
+ unsigned indent, HexDumpDataConfig cfg)
+ {
+ std::string instr(indent, ' ');
+ hexDumpData(s, data, instr, cfg);
+ }
+
+ inline void hexDumpData(std::ostream& s, const std::string& data,
+ const std::string& tag, HexDumpDataConfig cfg)
+ {
+ std::string ascii="";
+ unsigned indent = tag.length();
+ int col = 0;
+ int datasize=data.size();
+ std::string groupws(cfg.groupWS, ' ');
+ std::string group2ws(cfg.group2WS, ' ');
+ std::string indexws(cfg.indexWS, ' ');
+ std::string textws(cfg.textWS, ' ');
+ unsigned linesize;
+
+ if (cfg.groupBy && ((cfg.bytesPerLine % cfg.groupBy) != 0))
+ {
+ s << "hexDumpData: cfg.bytesPerLine % cfg.groupBy != 0"
+ << std::endl;
+ return;
+ }
+ if (cfg.group2By && ((cfg.bytesPerLine % cfg.group2By) != 0))
+ {
+ s << "hexDumpData: cfg.bytesPerLine % cfg.group2By != 0"
+ << std::endl;
+ return;
+ }
+ if (cfg.groupBy && ((cfg.group2By % cfg.groupBy) != 0))
+ {
+ s << "hexDumpData: cfg.group2By % cfg.groupBy != 0"
+ << std::endl;
+ return;
+ }
+
+ // line format:
+ // <tag><index>:<indexws><group1byte1>...<group1byte[groupBy]><groupws>...<group[group2By]byte1>...<group[group2By]byte[groupBy]><group2ws>....<byte[bytesPerLine]><textws><separator><text><separator>\n
+ linesize = indent;
+ if (cfg.showIndex)
+ linesize += cfg.idxDigits + 1 + cfg.indexWS;
+ linesize += cfg.bytesPerLine * 2;
+ unsigned w2 = 0;
+ unsigned w1 = 0;
+ if (cfg.group2By)
+ w2 = (cfg.bytesPerLine / cfg.group2By) - 1;
+ if (cfg.groupBy)
+ w1 = (cfg.bytesPerLine / cfg.groupBy) - w2 - 1;
+ if (cfg.groupBy > 0)
+ linesize += cfg.groupWS * w1;
+ if (cfg.group2By > 0)
+ linesize += cfg.group2WS * w2;
+ /*
+ linesize doesn't include text stuff
+ if (cfg.showText)
+ linesize += cfg.textWS + cfg.bytesPerLine;
+ if (cfg.separator)
+ linesize += 2;
+ */
+
+ for (int i=0; i<datasize; i++)
+ {
+ if (i%cfg.bytesPerLine==0)
+ {
+ s << tag;
+ col = indent;
+ if (cfg.showIndex)
+ {
+ if (cfg.hexIndex)
+ {
+ s << std::hex;
+ if (cfg.upperHex)
+ s << std::uppercase;
+ else
+ s << std::nouppercase;
+ }
+ else
+ s << std::dec;
+ s << std::setfill('0');
+ s << std::setw(cfg.idxDigits) << i << ":" << indexws;
+ s << std::dec << std::nouppercase;
+ }
+ col += cfg.idxDigits + 1 + cfg.indexWS;
+ }
+ unsigned char c=data[i];
+ if (isprint(c))
+ ascii += c;
+ else
+ ascii += '.';
+ if (cfg.upperHex)
+ s << std::uppercase;
+ else
+ s << std::nouppercase;
+ s << std::hex << std::setw(2) << (int)c << std::dec
+ << std::nouppercase;
+ col += 2;
+ if (((i % cfg.bytesPerLine) == (cfg.bytesPerLine-1)) ||
+ (i == (datasize-1)))
+ {
+ if (cfg.showText)
+ {
+ int extra = linesize-col;
+ std::string space(extra, ' ');
+ s << space << textws;
+ if (cfg.separator)
+ s << cfg.separator;
+ s << ascii;
+ if (cfg.separator)
+ s << cfg.separator;
+ s << std::endl;
+ }
+ // this *should* be updated at the beginning of the loop
+ //col=indent+6;
+ ascii.erase();
+ }
+ else if (cfg.group2By && ((i % cfg.group2By) == (cfg.group2By-1)))
+ {
+ s << group2ws;
+ col += cfg.group2WS;
+ }
+ else if (cfg.groupBy && ((i % cfg.groupBy) == (cfg.groupBy-1)))
+ {
+ s << groupws;
+ col += cfg.groupWS;
+ }
+ }
+ }
+
+ // Keep searching for aString at the start of s
+ // until num == 0 or aString is not found at the start of s
+ inline std::string& stripLeading(std::string& s,
+ const std::string& aString,
+ std::string::size_type num)
+ throw(StringException)
+ {
+ try
+ {
+ if (aString == "")
+ return s;
+
+ while((num > 0) &&
+ (s.find(aString,0) == 0) &&
+ (s.length() > 0))
+ {
+ s.erase(0,aString.length());
+ --num;
+ }
+ return s;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ // keep searching for aString at the end of s
+ // until aString isn't found there or num == 0
+ inline std::string& stripTrailing(std::string& s,
+ const std::string& aString,
+ std::string::size_type num)
+ throw(StringException)
+ {
+ try
+ {
+ std::string::size_type pos = s.length() - aString.length();
+
+ // empty string, etc.
+ if ((pos > s.length()) || (aString == ""))
+ return s;
+
+ while((num > 0) &&
+ (s.rfind(aString,pos) == pos) &&
+ (s.length() > 0))
+ {
+ s.erase(pos, std::string::npos);
+ --num;
+ pos = s.length() - aString.length();
+ }
+ return s;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string& strip(std::string& s,
+ const std::string& aString,
+ std::string::size_type num)
+ throw(StringException)
+ {
+ stripLeading(s, aString, num);
+ stripTrailing(s, aString, num);
+ return s;
+ }
+
+ inline std::string translate(const std::string& aString,
+ const std::string& inputChars,
+ const std::string& outputChars,
+ const char pad)
+ {
+ std::string rv = aString;
+ std::string::size_type aspos = 0;
+ std::string::size_type inpos = std::string::npos;
+ char toc = pad;
+
+ // By starting at the last position, we avoid infinite
+ // loops in case someone did something dumb, like, for
+ // example, setting inputChars=outputChars.
+ while ((aspos = rv.find_first_of(inputChars, aspos))
+ != std::string::npos)
+ {
+ // figure out which char we found;
+ inpos = inputChars.find(rv[aspos]);
+ if (outputChars.length() < inpos)
+ toc = pad;
+ else
+ toc = outputChars[inpos];
+ rv[aspos] = toc;
+
+ aspos++; // try to guarantee no infinite loops
+ }
+
+ return rv;
+ }
+
+ inline std::string change(const std::string& aString, const std::string& inputString,
+ const std::string& outputString,
+ std::string::size_type startPos, unsigned numChanges)
+ {
+ std::string rv(aString);
+ change(rv, inputString, outputString, startPos, numChanges);
+ return rv;
+ }
+
+ inline std::string& change(std::string& aString, const std::string& inputString,
+ const std::string& outputString,
+ std::string::size_type startPos, unsigned numChanges)
+ {
+ unsigned count = 0;
+ std::string::size_type opos = startPos;
+
+ while (count < numChanges)
+ {
+ std::string::size_type pos = aString.find(inputString, opos);
+ if (pos != std::string::npos)
+ {
+ count++;
+ aString.replace(pos, inputString.length(), outputString);
+ opos = pos + outputString.length();
+ }
+ else
+ break;
+ }
+
+ return aString;
+ }
+
+ // if the string is bigger than length, truncate it from the left.
+ // otherwise, add pad characters to it's left.
+ inline std::string& rightJustify(std::string& s,
+ const std::string::size_type length,
+ const char pad)
+ throw(StringException)
+ {
+ try
+ {
+ if(length < s.length())
+ {
+ s = s.substr(s.length()-length, std::string::npos);
+ }
+ else
+ {
+ s.insert((std::string::size_type)0, length-s.length(), pad);
+ }
+ return s;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ // if the string is bigger than length, truncate it from the right.
+ // otherwise, add pad characters to it's right.
+ inline std::string& leftJustify(std::string& s,
+ const std::string::size_type length,
+ const char pad)
+ throw(StringException)
+ {
+ try
+ {
+ if(length < s.length())
+ {
+ s = s.substr(0, length);
+ }
+ else
+ {
+ s.append(length-s.length(), pad);
+ }
+ return s;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ // leftJustify if s is bigger than length.
+ // otherwise, add pad to the left and right of s.
+ inline std::string& center(std::string& s,
+ const std::string::size_type length,
+ const char pad)
+ throw(StringException)
+ {
+ try
+ {
+ if(length < s.length())
+ {
+ leftJustify(s, length, pad);
+ }
+ else {
+ std::string::size_type leftOff = s.length() + (length - s.length()) / 2;
+ leftJustify(s, leftOff, pad);
+ rightJustify(s, length, pad);
+ }
+ return s;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+
+ inline float asFloat(const std::string& s)
+ throw(StringException)
+ {
+ try
+ {
+ std::istringstream is(s);
+ float f;
+ is >> f;
+ return f;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline long double asLongDouble(const std::string& s)
+ throw(StringException)
+ {
+ try
+ {
+ std::istringstream is(s);
+ long double x;
+ is >> x;
+ return x;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ template <class X>
+ inline X asData(const std::string& s)
+ throw(StringException)
+ {
+ try
+ {
+ std::istringstream is(s);
+ X x;
+ is >> x;
+ return x;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string asString(const long double x, const std::string::size_type precision)
+ {
+ std::ostringstream ss;
+ ss << std::fixed << std::setprecision(precision) << x ;
+ return ss.str();
+ }
+
+ inline std::string asString(const double x, const std::string::size_type precision)
+ {
+ std::ostringstream ss;
+ ss << std::fixed << std::setprecision(precision) << x;
+ return ss.str();
+ }
+
+ template<class X>
+ inline std::string asString(const X x)
+ {
+ std::ostringstream ss;
+ ss << x;
+ return ss.str();
+ }
+
+ // decimal to hex...
+ inline std::string& d2x(std::string& s)
+ throw(StringException)
+ {
+ try
+ {
+ // remove the integer from s, including
+ // leading spaces and 0's
+ long l = asInt(s);
+ stripLeading(s);
+ stripLeading(s, "0");
+ stripLeading(s, asString<long>(l));
+
+ // put the int in a stringstream to convert it
+ std::ostringstream st;
+ st << std::hex << l << std::dec;
+
+ // add the new hex to s
+ s.insert(0, upperCase(st.str()) );
+
+ return s;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ // character to hex...
+ inline std::string& c2x(std::string& s)
+ throw(StringException)
+ {
+ const char hexDigits[] = "0123456789ABCDEF";
+ try
+ {
+ std::string old(s);
+ const unsigned char *pSource = (unsigned char *)old.c_str();
+ unsigned n = old.length();
+
+ s.resize(n * 2, 0);
+
+ for (int i = 0; i < (int)n * 2;)
+ {
+ unsigned char c = *pSource++;
+ s[i++] = hexDigits[ c / 16 ];
+ s[i++] = hexDigits[ c % 16 ];
+ }
+
+ return s;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ /// @todo Need to find a way to combine this with x2d.
+ // hex to a long.
+ inline unsigned int x2int(const std::string& s)
+ throw (StringException)
+ {
+ try
+ {
+ std::string t(s);
+ // remove the "0x" part, leading zeros and spaces from the
+ // string
+ // ex. ' 0x003' -> '3'
+ stripLeading(t);
+ stripLeading(t, "0x", 1);
+ stripLeading(t, "0");
+
+ // if it's empty, it was 0
+ if (t.empty())
+ {
+ return 0;
+ }
+
+ // make the stringstream, get the integer, and
+ // remove it from the string
+ std::istringstream strstr(t);
+ int i;
+ strstr >> std::hex >> i;
+ return i;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ /// @todo detecting 0 isn't quite right...
+ // hex to decimal
+ inline std::string& x2d(std::string& s)
+ throw(StringException)
+ {
+ try
+ {
+ // remove the "0x" part, leading zeros and spaces from the
+ // string
+ // ex. ' 0x003' -> '3'
+ stripLeading(s);
+ stripLeading(s, "0x", 1);
+ stripLeading(s, "0");
+
+ // make the stringstream, get the integer, and
+ // remove it from the string
+ std::istringstream strstr(s);
+ int i = 0;
+ strstr >> std::hex >> i;
+ stripLeading(s, asString<int>(asInt(s)), 1);
+
+ // append the decimal to the existing string
+ s.insert(0,asString<int>(i));
+ return s;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string int2x(const unsigned int& i)
+ throw(StringException)
+ {
+ try
+ {
+ std::ostringstream ss;
+ ss << std::hex << i;
+ return ss.str();
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string& replaceAll(std::string& s,
+ const std::string& oldString,
+ const std::string& newString)
+ throw(StringException)
+ {
+ try
+ {
+ int spot = s.find(oldString, 0);
+ while (spot != (int)std::string::npos)
+ {
+ s.replace(spot, oldString.length(), newString);
+ spot += newString.length();
+ spot = s.find(oldString, spot);
+ }
+ return s;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline bool isDigitString(const std::string& s)
+ {
+ if (s.size() == 0)
+ return false;
+
+ std::string::size_type index = 0;
+ if((s[0] == '-') || (s[0] == '+'))
+ index++;
+ for( ; index < s.size(); index++)
+ if (!isdigit(s[index]))
+ return false;
+ return true;
+ }
+
+ inline bool isDecimalString(const std::string& s)
+ {
+ if (s.size() == 0)
+ return false;
+
+ std::string::size_type index = 0;
+ bool sawdot = false;
+ if((s[0] == '-') || (s[0] == '+'))
+ index++;
+ for( ; index < s.size(); index++)
+ {
+ if (s[index] == '.')
+ {
+ if (sawdot)
+ return false;
+ else sawdot = true;
+ }
+ else if (!isdigit(s[index]))
+ return false;
+ }
+ return true;
+ }
+
+ inline bool isAlphaString(const std::string& s)
+ {
+ if (s.size() == 0)
+ return false;
+
+ std::string::size_type index;
+ for(index = 0; index < s.size(); index++)
+ if (!isalpha(s[index]))
+ return false;
+ return true;
+ }
+
+ inline std::string matches(const std::string& s,
+ const std::string& aPattern,
+ const char zeroOrMore,
+ const char oneOrMore,
+ const char anyChar)
+ throw(StringException)
+ {
+ const std::string::size_type regErrorBufSize = 512;
+
+ std::string thisPattern(aPattern);
+ std::string thisStr(s);
+
+ // check if something other than the regex standard
+ // characters (*,+,.) is used for those variables
+ if (zeroOrMore != '*')
+ {
+ replaceAll(thisPattern, "*", "\\*");
+ replaceAll(thisPattern, std::string(1, zeroOrMore), "*");
+ }
+ if (oneOrMore != '+')
+ {
+ replaceAll(thisPattern, "+", "\\+");
+ replaceAll(thisPattern, std::string(1, oneOrMore), "+");
+ }
+ if (anyChar != '.')
+ {
+ replaceAll(thisPattern, ".", "\\.");
+ replaceAll(thisPattern, std::string(1, anyChar), ".");
+ }
+ regmatch_t matches;
+ regex_t regExp;
+ char errorMsg[regErrorBufSize];
+ int rc;
+
+ if ((rc = regcomp(®Exp, thisPattern.c_str(), REG_EXTENDED)) != 0)
+ {
+ regerror(rc, ®Exp, errorMsg, regErrorBufSize - 1);
+ regfree(®Exp);
+ StringException strerr("Regexp error: " + std::string(errorMsg));
+ GPSTK_THROW(strerr);
+ }
+ rc = regexec(®Exp, thisStr.c_str(), 1, &matches,
+ REG_NOTBOL | REG_NOTEOL);
+ if ( (rc != 0) && (rc != REG_NOMATCH) )
+ {
+ regerror(rc, ®Exp, errorMsg, regErrorBufSize - 1);
+ regfree(®Exp);
+ StringException strerr("Regexp error: " + std::string(errorMsg));
+ GPSTK_THROW(strerr);
+ }
+
+ regfree(®Exp);
+ if (rc == REG_NOMATCH)
+ return std::string();
+ else
+ return thisStr.substr(matches.rm_so, matches.rm_eo - matches.rm_so);
+ }
+
+ template <class T>
+ inline std::string formattedPrint(const std::string& fmt, const std::string& pat,
+ const std::string& rep, T to)
+ throw(StringException)
+ {
+ regex_t re;
+ regmatch_t r;
+ std::string rv = fmt;
+ int rc;
+ char buffer[513];
+
+ // if the regex doesnt compile, toast =)
+ if ((rc = regcomp(&re, pat.c_str(), REG_EXTENDED)) != 0)
+ {
+ StringException se("Bad regular expression: regcomp() rc = " +
+ asString(rc));
+ GPSTK_THROW(se);
+ }
+
+ int len = rv.length();
+ for (int i = 0; i < len; i++)
+ {
+ if ((rc = regexec(&re, rv.c_str(), 1, &r, 0)) != 0)
+ break;
+ else
+ {
+ std::string mac = rv.substr(r.rm_so, r.rm_eo - r.rm_so);
+ mac = replaceAll(mac, rep.substr(0,1), rep.substr(1));
+ sprintf(buffer, mac.c_str(), to);
+ rv = rv.substr(0, r.rm_so) + std::string(buffer) +
+ rv.substr(r.rm_eo);
+ i = r.rm_eo;
+ }
+ }
+
+ regfree(&re);
+
+ return rv;
+ }
+
+ inline std::string subString(const std::string& s,
+ const std::string::size_type startPos,
+ const std::string::size_type length,
+ const char pad)
+ throw(StringException)
+ {
+ try
+ {
+ if(startPos >= s.length())
+ {
+ return std::string(length, pad);
+ }
+ std::string temp = s.substr(startPos, length);
+ return leftJustify(temp, length, pad);
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string& lowerCase(std::string& s)
+ {
+ for(std::string::size_type i = 0; i < s.length(); i++)
+ {
+ s[i] = tolower(s[i]);
+ }
+ return s;
+ }
+
+ inline std::string& upperCase(std::string& s)
+ {
+ for(std::string::size_type i = 0; i < s.length(); i++)
+ {
+ s[i] = toupper(s[i]);
+ }
+ return s;
+ }
+
+ inline std::string memToString(const void* p,
+ const std::string::size_type size)
+ {
+ unsigned char* q = (unsigned char*)p;
+ std::string s(size,'\0');
+ for (int i=0; i<(int)size; i++)
+ {
+ s[i] = (unsigned char)(*q++);
+ }
+ return s;
+ }
+
+ inline std::string firstWord(const std::string& s,
+ const char delimiter)
+ throw(StringException)
+ {
+ try
+ {
+ // return s if there are no delimiters
+ std::string::size_type pos = s.find_first_not_of(delimiter);
+ if (pos == std::string::npos)
+ {
+ return s;
+ }
+ // find the end delimiter (if any) and return the string
+ std::string::size_type endPos = s.find(delimiter, pos);
+ if (endPos == std::string::npos)
+ {
+ return std::string(s, pos, endPos);
+ }
+ else
+ {
+ return std::string(s, pos, endPos - pos);
+ }
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline int numWords(const std::string& s,
+ const char delimiter)
+ throw(StringException)
+ {
+ try
+ {
+ std::string t(s);
+ stripTrailing(t, delimiter);
+
+ int words = 0;
+ while(t.length())
+ {
+ stripLeading(t, delimiter);
+ stripLeading(t, firstWord(t, delimiter));
+ words++;
+ }
+ return words;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string words(const std::string& s,
+ const std::string::size_type firstWord,
+ const std::string::size_type numWords,
+ const char delimiter)
+ throw(StringException)
+ {
+ try
+ {
+ if ((firstWord == 0) && (numWords == 1))
+ return StringUtils::firstWord(s, delimiter);
+ if (numWords == 0)
+ return "";
+ std::string::size_type wordNum = 0;
+ std::string::size_type pos = 0, startPos = 0;
+
+ std::string toReturn;
+
+ // get position of word wordNum
+ pos = s.find_first_not_of(delimiter, pos);
+ while ((pos != std::string::npos) && (pos <= s.length()))
+ {
+ if (wordNum == firstWord)
+ startPos = pos;
+ // get first delimter after word wordNum
+ pos = s.find(delimiter, pos);
+ if (((int)numWords != -1) && ((int)wordNum == (int)(firstWord + (numWords-1))))
+ break;
+ pos = s.find_first_not_of(delimiter, pos);
+ wordNum++;
+ }
+
+ if (pos == std::string::npos)
+ return s.substr(startPos);
+ return s.substr(startPos, pos-startPos);
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string stripFirstWord(std::string& s,
+ const char delimiter)
+ throw(StringException)
+ {
+ try
+ {
+ stripLeading(s, delimiter);
+ std::string toReturn = firstWord(s, delimiter);
+ stripLeading(s, toReturn);
+ stripLeading(s, delimiter);
+ return toReturn;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string& removeWords(std::string& s,
+ const std::string::size_type first,
+ const std::string::size_type wordsToReplace,
+ const char delimiter)
+ throw(StringException)
+ {
+ try
+ {
+ std::string temp(s);
+ std::string::size_type thisWord;
+
+ // empty out s. add the new parts of s as they are parsed
+ s.erase(0, std::string::npos);
+
+ // copy the part of the string through word 'first'
+ // by appending any delimiters then appending
+ // a word for however many words we're keeping.
+ for(thisWord = 0; thisWord < first; thisWord++)
+ {
+ s.append(temp.find_first_not_of(delimiter),delimiter);
+ stripLeading(temp, delimiter);
+ s.append(firstWord(temp));
+ stripLeading(temp, firstWord(temp));
+ }
+
+ // skip over the number of words to replace, making
+ // sure to stop when there's no more string left
+ // to skip
+ for(thisWord = 0;
+ (thisWord < wordsToReplace) &&
+ (temp.length() != 0);
+ thisWord++)
+ {
+ stripLeading(temp, delimiter);
+ stripLeading(temp, firstWord(temp));
+ }
+
+ // add on any extra words at the end
+ s.append(temp);
+
+ return s;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string doub2sci(const double& d,
+ const std::string::size_type length,
+ const std::string::size_type expLen,
+ const bool showSign,
+ const bool checkSwitch)
+ {
+ std::string toReturn;
+ short exponentLength = expLen;
+
+ /* Validate the assumptions regarding the input arguments */
+ if (exponentLength < 0) exponentLength = 1;
+ if (exponentLength > 3 && checkSwitch) exponentLength = 3;
+
+ std::stringstream c;
+ c.setf(std::ios::scientific, std::ios::floatfield);
+
+ // length - 3 for special characters ('.', 'e', '+' or '-')
+ // - exponentlength (e04)
+ // - 1 for the digit before the decimal (2.)
+ // and if showSign == true,
+ // an extra -1 for '-' or ' ' if it's positive or negative
+ int expSize = 0;
+ if (showSign)
+ expSize = 1;
+ c.precision(length - 3 - exponentLength - 1 - expSize);
+
+
+ c << d;
+
+ c >> toReturn;
+
+ return toReturn;
+ }
+
+ inline std::string& sci2for(std::string& aStr,
+ const std::string::size_type length,
+ const std::string::size_type startPos,
+ const std::string::size_type expLen,
+ const bool checkSwitch)
+ throw(StringException)
+ {
+ try
+ {
+ std::string::size_type idx = aStr.find('.', startPos);
+ int expAdd = 0;
+ std::string exp;
+ long iexp;
+ //If checkSwitch is false, always redo the exponential. Otherwise,
+ //set it to false.
+ bool redoexp=!checkSwitch;
+
+ // Check for decimal place within specified boundaries
+ if ((idx == 0) || (idx >= (startPos + length - expLen - 1)))
+ {
+ StringException e("sci2for: no decimal point in string");
+ GPSTK_THROW(e);
+ }
+
+ // Here, account for the possibility that there are
+ // no numbers to the left of the decimal, but do not
+ // account for the possibility of non-scientific
+ // notation (more than one digit to the left of the
+ // decimal)
+ if (idx > startPos)
+ {
+ redoexp = true;
+ // Swap digit and decimal.
+ aStr[idx] = aStr[idx-1];
+ aStr[idx-1] = '.';
+ // Only add one to the exponent if the number is non-zero
+ if (asDouble(aStr.substr(startPos, length)) != 0.0)
+ expAdd = 1;
+ }
+
+ idx = aStr.find('e', startPos);
+ if (idx == std::string::npos)
+ {
+ idx = aStr.find('E', startPos);
+ if (idx == std::string::npos)
+ {
+ StringException e("sci2for:no 'e' or 'E' in string");
+ GPSTK_THROW(e);
+ }
+ }
+ // Change the exponent character to D normally, or E of checkSwitch is false.
+ if (checkSwitch)
+ aStr[idx] = 'D';
+ else
+ aStr[idx] = 'E';
+
+ // Change the exponent itself
+ if (redoexp)
+ {
+ exp = aStr.substr(idx + 1, std::string::npos);
+ iexp = asInt(exp);
+ iexp += expAdd;
+
+ aStr.erase(idx + 1);
+ if (iexp < 0)
+ {
+ aStr += "-";
+ iexp -= iexp*2;
+ }
+ else
+ aStr += "+";
+ aStr += rightJustify(asString(iexp),expLen,'0');
+
+ }
+
+ // if the number is positive, append a space
+ // (if it's negative, there's a leading '-'
+ if (aStr[0] == '.')
+ {
+ aStr.insert((std::string::size_type)0, 1, ' ');
+ }
+
+ //If checkSwitch is false, add on one leading zero to the string
+ if (!checkSwitch)
+ {
+ aStr.insert((std::string::size_type)1, 1, '0');
+ }
+
+
+ return aStr;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ } // end sci2for
+
+
+ inline std::string doub2for(const double& d,
+ const std::string::size_type length,
+ const std::string::size_type expLen,
+ const bool checkSwitch)
+ throw(StringException)
+ {
+ try
+ {
+ short exponentLength = expLen;
+
+ /* Validate the assumptions regarding the input arguments */
+ if (exponentLength < 0) exponentLength = 1;
+ if (exponentLength > 3 && checkSwitch) exponentLength = 3;
+
+ std::string toReturn = doub2sci(d, length, exponentLength, true, checkSwitch);
+ sci2for(toReturn, length, 0, exponentLength, checkSwitch);
+
+ return toReturn;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+
+ inline double for2doub(const std::string& aStr,
+ const std::string::size_type length,
+ const std::string::size_type startPos)
+ {
+ std::string s(aStr);
+ strip(s);
+ std::string::size_type pos;
+
+ // you can blame Rinex for these special checks
+ if (s.empty())
+ {
+ return 0;
+ }
+
+ if ( ((pos = s.find('E', startPos)) != std::string::npos) ||
+ ((pos = s.find('d', startPos)) != std::string::npos) ||
+ ((pos = s.find('D', startPos)) != std::string::npos))
+ {
+ s[pos] = 'e';
+ }
+ // just treat it like a double
+ else
+ {
+ return asDouble(aStr.substr(length, startPos));
+ }
+
+ std::stringstream st;
+ st << s;
+
+ double d;
+ st >> d;
+
+ return d;
+ }
+
+ inline std::string printable(const std::string& aStr)
+ throw(StringException)
+ {
+ try
+ {
+ std::string rv(aStr);
+
+ for (int i = 0; i < (int)rv.length(); i++)
+ {
+ char c = rv[i];
+ if (!isprint(c))
+ {
+ if (iscntrl(c))
+ {
+ rv.replace(i,1,2,'^');
+ rv.replace(i+1,1,1, 64+(c));
+ }
+ else
+ {
+ std::string mess(c2x(rv.substr(i,1)));
+ rv.replace(i,1,"<"+mess+">");
+ }
+ }
+ }
+
+ return rv;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string& prettyPrint(std::string& aStr,
+ const std::string& lineDelim,
+ const std::string& indent,
+ const std::string& firstIndent,
+ const std::string::size_type len,
+ const char wordDelim)
+ throw(StringException)
+ {
+ try
+ {
+ // chop aStr up into words based on wordDelim
+ std::list<std::string> wordList;
+ std::string tempStr(aStr);
+ stripLeading(tempStr, wordDelim);
+ while (!tempStr.empty())
+ {
+ std::string theFirstWord = firstWord(tempStr,wordDelim);
+ wordList.push_back(theFirstWord);
+ stripLeading(tempStr, theFirstWord);
+ stripLeading(tempStr, wordDelim);
+ }
+
+ // now reassemble the words into sentences
+ std::string toReturn;
+ std::string thisLine = firstIndent, lastLine;
+ while (!wordList.empty())
+ {
+ lastLine = thisLine;
+ if (!lastLine.empty())
+ thisLine += wordDelim;
+ thisLine += wordList.front();
+
+ if (thisLine.length() > len)
+ {
+ // if the first word is longer than a line, just add it.
+ // if this is the first line, remember to add the indent.
+ if (lastLine.empty())
+ {
+ if (toReturn.empty())
+ lastLine += firstIndent;
+ lastLine = wordList.front();
+ }
+
+ toReturn += lastLine + lineDelim;
+
+ thisLine.erase();
+ lastLine.erase();
+
+ thisLine = indent;
+ }
+ else
+ wordList.erase(wordList.begin());
+ }
+ if (!thisLine.empty())
+ toReturn += (thisLine + lineDelim);
+
+ aStr = toReturn;
+ return aStr;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ //@}
+
+ } // namespace StringUtils
+
+} // namespace gpstk
+#endif // GPSTK_STRINGUTILS_HPP
+
+
+
diff --git a/dev/src/SystemTime.cpp b/dev/src/SystemTime.cpp
new file mode 100644
index 0000000..fa09b9f
--- /dev/null
+++ b/dev/src/SystemTime.cpp
@@ -0,0 +1,59 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "gpstkplatform.h"
+#include "SystemTime.hpp"
+#include "ANSITime.hpp"
+
+namespace gpstk
+{
+ SystemTime& SystemTime::operator=( const SystemTime& right )
+ throw()
+ {
+ UnixTime::operator=( right );
+ return *this;
+ }
+
+ SystemTime& SystemTime::update()
+ throw()
+ {
+#if defined(ANSI_ONLY)
+ time_t t;
+ time( &t );
+ *this = ANSITime( t );
+#elif defined(WIN32)
+ _timeb t;
+ _ftime( &t );
+ tv.tv_sec = t.time;
+ tv.tv_usec = t.millitm * 1000;
+#else
+ gettimeofday( &tv, NULL );
+#endif
+
+ return *this;
+ }
+
+} // namespace
diff --git a/dev/src/SystemTime.hpp b/dev/src/SystemTime.hpp
new file mode 100644
index 0000000..be13c31
--- /dev/null
+++ b/dev/src/SystemTime.hpp
@@ -0,0 +1,115 @@
+#pragma ident "$Id$"
+
+
+
+#ifndef GPSTK_SYSTEMTIME_HPP
+#define GPSTK_SYSTEMTIME_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "UnixTime.hpp"
+
+namespace gpstk
+{
+ /**
+ * This class reads the current system time and stores it in
+ * a UnixTime.
+ */
+ class SystemTime
+ : public UnixTime
+ {
+ public:
+ /**
+ * @defgroup stbo SystemTime Basic Operations
+ */
+ //@{
+
+ /**
+ * Default Constructor.
+ * Reads the system clock for the current system time.
+ */
+ SystemTime()
+ throw()
+ {
+ update();
+ }
+
+ /**
+ * Copy Constructor.
+ * @param right a reference to the SystemTime object to copy
+ */
+ SystemTime( const SystemTime& right )
+ throw()
+ : UnixTime( right )
+ {}
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const TimeTag reference and copies its contents via
+ * conversion to CommonTime.
+ * @param right a const reference to the BasicTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ SystemTime( const TimeTag& right )
+ throw( gpstk::InvalidRequest )
+ {
+ convertFromCommonTime( right.convertToCommonTime() );
+ }
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const CommonTime reference and copies its contents via
+ * the convertFromCommonTime method.
+ * @param right a const reference to the CommonTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ SystemTime( const CommonTime& right )
+ throw( InvalidRequest )
+ : UnixTime( right )
+ {}
+
+ /**
+ * Assignment Operator.
+ * @param right a const reference to the SystemTime to copy
+ * @return a reference to this SystemTime
+ */
+ SystemTime& operator=( const SystemTime& right )
+ throw();
+
+ /// Virtual Destructor.
+ virtual ~SystemTime()
+ throw()
+ {}
+ //@}
+
+ /**
+ * Update this object to the current system time.
+ * @return a reference to this SystemTime
+ */
+ SystemTime& update()
+ throw();
+ };
+
+}
+
+#endif // GPSTK_SYSTEMTIME_HPP
diff --git a/dev/src/TabularEphemerisStore.cpp b/dev/src/TabularEphemerisStore.cpp
new file mode 100644
index 0000000..739f345
--- /dev/null
+++ b/dev/src/TabularEphemerisStore.cpp
@@ -0,0 +1,265 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file TabularEphemerisStore.cpp
+ * Store & access a list of SV pvts
+ */
+
+#include "TabularEphemerisStore.hpp"
+#include "MiscMath.hpp"
+#include "ECEF.hpp"
+#include "icd_200_constants.hpp"
+
+using namespace gpstk::StringUtils;
+
+namespace gpstk
+{
+ //--------------------------------------------------------------------------
+ //--------------------------------------------------------------------------
+ void TabularEphemerisStore::dump(short detail, std::ostream& s) const
+ {
+ s << "Dump of TabularEphemerisStore:" << std::endl;
+ if(detail >= 0) {
+ EphMap::const_iterator it;
+ s << " Data stored for " << pe.size() << " satellites." << std::endl;
+ if(detail == 0) return;
+ for(it=pe.begin(); it!=pe.end(); it++) {
+ s << " PRN " << it->first << " : "
+ << it->second.size() << " records.";
+ if(detail == 1) { s << std::endl; continue; }
+ s << " Data:" << std::endl;
+ SvEphMap::const_iterator jt;
+ for(jt=it->second.begin(); jt!=it->second.end(); jt++) {
+ s << " " << jt->first << " P "
+ << std::fixed << std::setprecision(6)
+ << std::setw(13) << jt->second.x[0] << " "
+ << std::setw(13) << jt->second.x[1] << " "
+ << std::setw(13) << jt->second.x[2] << " "
+ << std::setw(13) << jt->second.dtime
+ << " V "
+ << std::setw(13) << jt->second.v[0] << " "
+ << std::setw(13) << jt->second.v[1] << " "
+ << std::setw(13) << jt->second.v[2] << " "
+ << std::setw(13) << jt->second.ddtime
+ << std::endl;
+ }
+ }
+ }
+
+ } // end of TabularEphemerisStore::dump
+
+
+ //--------------------------------------------------------------------------
+ //--------------------------------------------------------------------------
+ void TabularEphemerisStore::edit(const DayTime& tmin, const DayTime& tmax) throw()
+ {
+ EphMap::iterator kt;
+ for(kt=pe.begin(); kt!=pe.end(); kt++) {
+ SvEphMap::reverse_iterator jt=(kt->second).rbegin();
+ while(jt != (kt->second).rend()) {
+ if(jt->first < tmin || jt->first > tmax) (kt->second).erase(jt->first);
+ jt ++;
+ }
+ }
+ } // end TabularEphemerisStore::edit
+
+ //--------------------------------------------------------------------------
+ //--------------------------------------------------------------------------
+ // Remove all data
+ void TabularEphemerisStore::clear() throw()
+ {
+ pe.clear();
+ initialTime = DayTime::END_OF_TIME;
+ finalTime = DayTime::BEGINNING_OF_TIME;
+ }
+
+ //--------------------------------------------------------------------------
+ //--------------------------------------------------------------------------
+ Xvt TabularEphemerisStore::getSatXvt(SatID sat, const gpstk::DayTime& t)
+ const throw(EphemerisStore::NoEphemerisFound)
+ {
+ EphMap::const_iterator svmap = pe.find(sat);
+ if (svmap==pe.end()) {
+ NoEphemerisFound e("Ephemeris for satellite " + asString(sat)
+ + " not found.");
+ GPSTK_THROW(e);
+ }
+
+ const SvEphMap& sem=svmap->second;
+ SvEphMap::const_iterator i=sem.find(t);
+
+ Xvt sv;
+ if (i!= sem.end() && haveVelocity)
+ {
+ sv = i->second;
+ sv.x[0] *= 1.e3; // m
+ sv.x[1] *= 1.e3; // m
+ sv.x[2] *= 1.e3; // m
+ sv.dtime *= 1.e-6; // sec
+ sv.v[0] *= 1.e-1; // m/sec
+ sv.v[1] *= 1.e-1; // m/sec
+ sv.v[2] *= 1.e-1; // m/sec
+ sv.ddtime *= 1.e-10; // sec/sec
+
+ sv.dtime += -2*(sv.x[0]/C_GPS_M)*(sv.v[0]/C_GPS_M)
+ -2*(sv.x[1]/C_GPS_M)*(sv.v[1]/C_GPS_M)
+ -2*(sv.x[2]/C_GPS_M)*(sv.v[2]/C_GPS_M);
+ return sv;
+ }
+
+ /// Note that the order of the Lagrange interpolation is twice this value
+ const int half=5;
+
+ // i will be the lower bound, j the upper (in time).
+ i = sem.lower_bound(t);
+ SvEphMap::const_iterator j=i;
+ if(i == sem.begin() || --i == sem.begin()) {
+ NoEphemerisFound e("Inadequate data before requested time, satellite "
+ + asString(sat));
+ GPSTK_THROW(e);
+ }
+ for(int k=0; k<half-1; k++) {
+ i--;
+ if(i == sem.begin() && k<half-2) {
+ NoEphemerisFound e("Inadequate data before requested time, satellite "
+ + asString(sat));
+ GPSTK_THROW(e);
+ }
+ j++;
+ if(j == sem.end()) {
+ NoEphemerisFound e("Inadequate data after requested time, satellite "
+ + asString(sat));
+ GPSTK_THROW(e);
+ }
+ }
+
+ // pull data and interpolate
+ SvEphMap::const_iterator itr;
+ DayTime t0=i->first;
+ double dt=t-t0,err;
+ std::vector<double> times,X,Y,Z,T,VX,VY,VZ,F;
+
+
+ for (itr=i; itr!=sem.end(); itr++)
+ {
+ times.push_back(itr->first - t0); // sec
+ X.push_back(itr->second.x[0]); // km
+ Y.push_back(itr->second.x[1]); // km
+ Z.push_back(itr->second.x[2]); // km
+ T.push_back(itr->second.dtime); // microsec
+ VX.push_back(itr->second.v[0]); // decimeters/sec
+ VY.push_back(itr->second.v[1]); // decimeters/sec
+ VZ.push_back(itr->second.v[2]); // decimeters/sec
+ F.push_back(itr->second.ddtime); // 1.e-4 microsec/sec
+ if(itr == j) break;
+ }
+
+ if (haveVelocity)
+ {
+ sv.x[0] = LagrangeInterpolation(times,X,dt,err);
+ sv.x[1] = LagrangeInterpolation(times,Y,dt,err);
+ sv.x[2] = LagrangeInterpolation(times,Z,dt,err);
+ sv.dtime = LagrangeInterpolation(times,T,dt,err);
+ sv.v[0] = LagrangeInterpolation(times,VX,dt,err);
+ sv.v[1] = LagrangeInterpolation(times,VY,dt,err);
+ sv.v[2] = LagrangeInterpolation(times,VZ,dt,err);
+ sv.ddtime = LagrangeInterpolation(times,F,dt,err);
+ }
+ else {
+ LagrangeInterpolation(times,X,dt,sv.x[0],sv.v[0]);
+ LagrangeInterpolation(times,Y,dt,sv.x[1],sv.v[1]);
+ LagrangeInterpolation(times,Z,dt,sv.x[2],sv.v[2]);
+ LagrangeInterpolation(times,T,dt,sv.dtime,sv.ddtime);
+ sv.v[0] *= 1.e4; // decimeters/sec
+ sv.v[1] *= 1.e4; // decimeters/sec
+ sv.v[2] *= 1.e4; // decimeters/sec
+ sv.ddtime *= 1.e4; // 1.e-4 microsec/sec
+ }
+
+ sv.x[0] *= 1.e3; // m
+ sv.x[1] *= 1.e3; // m
+ sv.x[2] *= 1.e3; // m
+ sv.dtime *= 1.e-6; // sec
+ sv.v[0] *= 1.e-1; // m/sec
+ sv.v[1] *= 1.e-1; // m/sec
+ sv.v[2] *= 1.e-1; // m/sec
+ sv.ddtime *= 1.e-10; // sec/sec
+
+ // add relativity correction to dtime
+ // this only for consistency with BCEphemerisStore::getSatXvt ....
+ // dtr = -2*dot(R,V)/(c*c) = -4.4428e-10 * ecc * sqrt(A(m))*sinE
+ // (do it this way for numerical reasons)
+ sv.dtime += -2*(sv.x[0]/C_GPS_M)*(sv.v[0]/C_GPS_M)
+ -2*(sv.x[1]/C_GPS_M)*(sv.v[1]/C_GPS_M)
+ -2*(sv.x[2]/C_GPS_M)*(sv.v[2]/C_GPS_M);
+
+ return sv;
+
+ } // end Xvt TabularEphemerisStore::getSatXvt
+
+
+ //-----------------------------------------------------------------------------
+ //-----------------------------------------------------------------------------
+ void TabularEphemerisStore::addEphemeris(const SP3Data& data)
+ throw()
+ {
+ DayTime t = data.time;
+ SatID sat = data.sat;
+ Xvt& xvt = pe[sat][t];
+
+ if (data.flag=='P')
+ {
+ xvt.x = ECEF(data.x[0], data.x[1], data.x[2]);
+ xvt.dtime = data.clk;
+ haveVelocity=false;
+ }
+ else if (data.flag=='V')
+ {
+ xvt.v = Triple(data.x[0],data.x[1],data.x[2]);
+ xvt.ddtime = data.clk;
+ haveVelocity=true;
+ }
+
+ if (t<initialTime)
+ initialTime = t;
+ else if (t>finalTime)
+ finalTime = t;
+ }
+
+} // namespace gpstk
diff --git a/dev/src/TabularEphemerisStore.hpp b/dev/src/TabularEphemerisStore.hpp
new file mode 100644
index 0000000..c24f672
--- /dev/null
+++ b/dev/src/TabularEphemerisStore.hpp
@@ -0,0 +1,144 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file TabularEphemerisStore.hpp
+ * Store & access a list of SV pvts
+ */
+
+#ifndef GPSTK_TABULAR_EPHEMERIS_STORE_HPP
+#define GPSTK_TABULAR_EPHEMERIS_STORE_HPP
+
+#include <iostream>
+
+#include "SatID.hpp"
+#include "EphemerisStore.hpp"
+#include "SP3Data.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup ephemstore */
+ //@{
+
+ /**
+ * This stores tabular ephemeris data for determining satellite positions.
+ */
+ class TabularEphemerisStore : public EphemerisStore
+ {
+ public:
+ /// Constructor.
+ TabularEphemerisStore() throw()
+ : initialTime(DayTime::END_OF_TIME),
+ finalTime(DayTime::BEGINNING_OF_TIME),
+ haveVelocity(true) {};
+
+ /// destructor
+ virtual ~TabularEphemerisStore() {}
+
+ /** Return the position, velocity and clock model of the sv in Cartesian
+ * ECEF coordinates (units m, s, m/s, s/s) at the indicated time.
+ * @param sat the satellite's SatID
+ * @param t the time to look up
+ * @return the Xvt of the SV at time t
+ */
+ virtual Xvt getSatXvt(SatID sat, const gpstk::DayTime& t)
+ const throw(EphemerisStore::NoEphemerisFound);
+
+ /// \deprecated
+ virtual Xvt getPrnXvt(short prn, const gpstk::DayTime& t)
+ const throw(EphemerisStore::NoEphemerisFound)
+ {
+ SatID sat(prn,SatID::systemGPS);
+ return TabularEphemerisStore::getSatXvt(sat,t);
+ }
+
+ /** Dump the store to given stream.
+ * @param detail specifies the level of detail to include in the output:
+ * 0: number of satellites, 1: records per satellite, >1 all data.
+ */
+ void dump(short detail=0, std::ostream& s=std::cout) const;
+
+ /// Edit the dataset, removing data outside this time interval
+ void edit(const DayTime& tmin, const DayTime& tmax) throw();
+
+ /// Insert a new SP3Data object into the store
+ void addEphemeris(const SP3Data& data)
+ throw();
+
+ /// Remove all data
+ void clear() throw();
+
+ /** Return the time of the first ephemeris in the object.
+ * @return the time of the first ephemeris in the object
+ */
+ virtual gpstk::DayTime getInitialTime() const {return initialTime;};
+
+ /** Return the time of the last ephemeris in the object.
+ * @return the time of the last ephemeris in the object
+ */
+ virtual gpstk::DayTime getFinalTime() const {return finalTime;};
+
+ void setHaveVelocity(bool f) throw() {haveVelocity=f;};
+ bool getHaveVelocity() throw() {return haveVelocity;};
+
+ private:
+
+ /// The key to this map is the time
+ typedef std::map<DayTime, Xvt> SvEphMap;
+
+ /// The key to this map is the svid of the satellite (usually the prn)
+ typedef std::map<SatID, SvEphMap> EphMap;
+
+ /// the map of SVs and XVTs
+ EphMap pe;
+
+ /** These give the overall span of time for which this object contains data.
+ * NB there may be gaps in the data, i.e. the data may not be continuous.
+ */
+ gpstk::DayTime initialTime, finalTime;
+
+ /// Flag indicating that velocity data present in all datasets loaded.
+ bool haveVelocity;
+
+ };
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/TimeConstants.hpp b/dev/src/TimeConstants.hpp
new file mode 100644
index 0000000..2b3d6a9
--- /dev/null
+++ b/dev/src/TimeConstants.hpp
@@ -0,0 +1,78 @@
+#pragma ident "$Id$"
+
+
+
+#ifndef GPSTK_TIMECONSTANTS_HPP
+#define GPSTK_TIMECONSTANTS_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+namespace gpstk
+{
+ /// Add this offset to convert Modified Julian Date to Julian Date.
+ const double MJD_TO_JD = 2400000.5;
+ /// 'Julian day' offset from MJD
+ const long MJD_JDAY = 2400001L;
+ /// 'Julian day' of GPS epoch (Jan. 1, 1980).
+ const long GPS_EPOCH_JDAY = 2444245L;
+ /// Modified Julian Date of GPS epoch (Jan. 1, 1980).
+ const long GPS_EPOCH_MJD = 44244L;
+ /// Modified Julian Date of UNIX epoch (Jan. 1, 1970).
+ const long UNIX_MJD = 40587L;
+
+ /// Seconds per half a GPS week.
+ const long HALFWEEK = 302400L;
+ /// Seconds per whole GPS week.
+ const long FULLWEEK = 604800L;
+
+ /// Weeks per GPS Epoch
+ const long WEEKS_PER_EPOCH = 1024L;
+
+ /// Seconds per day.
+ const long SEC_PER_DAY = 86400L;
+ /// Days per second.
+ const double DAY_PER_SEC = 1.0/SEC_PER_DAY;
+
+ /// Milliseconds in a second.
+ const long MS_PER_SEC = 1000L;
+ /// Seconds per millisecond.
+ const double SEC_PER_MS = 1.0/MS_PER_SEC;
+
+ /// Milliseconds in a day.
+ const long MS_PER_DAY = MS_PER_SEC * SEC_PER_DAY;
+ /// Days per milliseconds.
+ const double DAY_PER_MS = 1.0/MS_PER_DAY;
+
+ /// Zcounts in a day.
+ const long ZCOUNT_PER_DAY = 57600L;
+ /// Days in a Zcount
+ const double DAY_PER_ZCOUNT = 1.0/ZCOUNT_PER_DAY;
+
+ /// Zcounts in a week.
+ const long ZCOUNT_PER_WEEK = 403200L;
+ /// Weeks in a Zcount.
+ const double WEEKS_PER_ZCOUNT = 1.0/ZCOUNT_PER_WEEK;
+
+} // namespace
+
+#endif // GPSTK_TIMECONSTANTS_HPP
diff --git a/dev/src/TimeConverters.cpp b/dev/src/TimeConverters.cpp
new file mode 100644
index 0000000..2bac926
--- /dev/null
+++ b/dev/src/TimeConverters.cpp
@@ -0,0 +1,174 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "TimeConverters.hpp"
+#include "TimeConstants.hpp"
+#include <math.h>
+
+namespace gpstk
+{
+
+ // These two routines convert 'integer JD' and calendar time; they were
+ // derived from Sinnott, R. W. "Bits and Bytes" Sky & Telescope Magazine,
+ // Vol 82, p. 183, August 1991, and The Astronomical Almanac, published
+ // by the U.S. Naval Observatory.
+ // NB range of applicability of this routine is from 0JD (4713BC)
+ // to approx 3442448JD (4713AD).
+ void convertJDtoCalendar( long jd,
+ int& iyear,
+ int& imonth,
+ int& iday )
+ throw()
+ {
+ long L, M, N, P, Q;
+ if(jd > 2299160) // after Oct 4, 1582
+ {
+ L = jd + 68569;
+ M = (4 * L) / 146097;
+ L = L - ((146097 * M + 3) / 4);
+ N = (4000 * (L + 1)) / 1461001;
+ L = L - ((1461 * N) / 4) + 31;
+ P = (80 * L) / 2447;
+ iday = int(L - (2447 * P) / 80);
+ L = P / 11;
+ imonth = int(P + 2 - 12 * L);
+ iyear = int(100 * (M - 49) + N + L);
+ }
+ else
+ {
+ P = jd + 1402;
+ Q = (P - 1) / 1461;
+ L = P - 1461 * Q;
+ M = (L - 1) / 365 - L / 1461;
+ N = L - 365 * M + 30;
+ P = (80 * N) / 2447;
+ iday = int(N - (2447 * P) / 80);
+ N = P / 11;
+ imonth = int(P + 2 - 12 * N);
+ iyear = int(4 * Q + M + N - 4716);
+ if(iyear <= 0)
+ {
+ --iyear;
+ }
+ }
+ // catch century/non-400 non-leap years
+ if(iyear > 1599 &&
+ !(iyear % 100) &&
+ (iyear % 400) &&
+ imonth == 2 &&
+ iday == 29)
+ {
+ imonth = 3;
+ iday = 1;
+ }
+ }
+
+ long convertCalendarToJD( int yy,
+ int mm,
+ int dd )
+ throw()
+ {
+ if(yy == 0)
+ --yy; // there is no year 0
+
+ if(yy < 0)
+ ++yy;
+
+ long jd;
+ double y = static_cast<double>( yy ),
+ m = static_cast<double>( mm ),
+ d = static_cast<double>( dd );
+
+ // In the conversion from the Julian Calendar to the Gregorian
+ // Calendar the day after October 4, 1582 was October 15, 1582.
+ //
+ // if the date is before October 15, 1582
+ if(yy < 1582 || (yy == 1582 && (mm < 10 || (mm == 10 && dd < 15))))
+ {
+ jd = 1729777 + dd + 367 * yy
+ - static_cast<long>(7 * ( y + 5001 +
+ static_cast<long>((m - 9) / 7)) / 4)
+ + static_cast<long>(275 * m / 9);
+ }
+ else // after Oct 4, 1582
+ {
+ jd = 1721029 + dd + 367 * yy
+ - static_cast<long>(7 * (y + static_cast<long>((m + 9) / 12)) / 4)
+ - static_cast<long>(3 * (static_cast<long>((y + (m - 9) / 7) / 100)
+ + 1) / 4)
+ + static_cast<long>(275 * m / 9);
+
+ // catch century/non-400 non-leap years
+ if( (! (yy % 100) &&
+ (yy % 400) &&
+ mm > 2 &&
+ mm < 9) ||
+ (!((yy - 1) % 100) &&
+ ((yy - 1) % 400) &&
+ mm == 1))
+ {
+ --jd;
+ }
+ }
+ return jd;
+ }
+
+ void convertSODtoTime( double sod,
+ int& hh,
+ int& mm,
+ double& sec )
+ throw()
+ {
+ // Get us to within one day.
+ if (sod < 0)
+ {
+ sod += (1 +
+ static_cast<unsigned long>(sod / SEC_PER_DAY)) * SEC_PER_DAY ;
+ }
+ else if (sod >= SEC_PER_DAY)
+ {
+ sod -= static_cast<unsigned long>(sod / SEC_PER_DAY) * SEC_PER_DAY ;
+ }
+
+ double temp; // variable to hold the integer part of sod
+ sod = modf(sod, &temp); // sod holds the fraction, temp the integer
+ long seconds = static_cast<long>(temp); // get temp into a real integer
+
+ hh = seconds / 3600 ;
+ mm = (seconds % 3600) / 60 ;
+ sec = double(seconds % 60) + sod ;
+
+ }
+
+ double convertTimeToSOD( int hh,
+ int mm,
+ double sec )
+ throw()
+ {
+ return (sec + 60. * (mm + 60. * hh));
+ }
+
+} // namespace
diff --git a/dev/src/TimeConverters.hpp b/dev/src/TimeConverters.hpp
new file mode 100644
index 0000000..ef360a3
--- /dev/null
+++ b/dev/src/TimeConverters.hpp
@@ -0,0 +1,94 @@
+#pragma ident "$Id$"
+
+
+
+#ifndef GPSTK_TIMECONVERTERS_HPP
+#define GPSTK_TIMECONVERTERS_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+namespace gpstk
+{
+ /** Fundamental routine to convert from "Julian day" (= JD + 0.5)
+ * to calendar day.
+ * @param jd long integer "Julian day" = JD+0.5
+ * @param iyear reference to integer year
+ * @param imonth reference to integer month (January == 1)
+ * @param iday reference to integer day of month
+ * (1st day of month == 1)
+ * @note range of applicability of this routine is from 0JD (4713BC)
+ * to approx 3442448JD (4713AD).
+ * Algorithm references: Sinnott, R. W. "Bits and Bytes,"
+ * Sky & Telescope Magazine, Vol 82, p. 183, August 1991, and
+ * The Astronomical Almanac, published by the U.S. Naval Observatory.
+ */
+ void convertJDtoCalendar( long jd,
+ int& iyear,
+ int& imonth,
+ int& iday )
+ throw();
+
+ /** Fundamental routine to convert from calendar day to "Julian day"
+ * (= JD + 0.5)
+ * @param iyear reference to integer year
+ * @param imonth reference to integer month (January == 1)
+ * @param iday reference to integer day of month
+ * (1st day of month == 1)
+ * @return jd long integer "Julian day" = JD+0.5
+ * @note range of applicability of this routine is from 0JD (4713BC)
+ * to approx 3442448JD (4713AD).
+ * Algorithm references: Sinnott, R. W. "Bits and Bytes,"
+ * Sky & Telescope Magazine, Vol 82, p. 183, August 1991, and
+ * The Astronomical Almanac, published by the U.S. Naval Observatory.
+ */
+ long convertCalendarToJD( int iyear,
+ int imonth,
+ int iday )
+ throw();
+
+ /** Fundamental routine to convert seconds of day to H:M:S
+ * @param sod seconds of day (input)
+ * @param hh reference to integer hour (0 <= hh < 24) (output)
+ * @param mm reference to integer minutes (0 <= mm < 60) (output)
+ * @param sec reference to double seconds (0 <= sec < 60.0) (output)
+ */
+ void convertSODtoTime( double sod,
+ int& hh,
+ int& mm,
+ double& sec )
+ throw();
+
+ /** Fundamental routine to convert H:M:S to seconds of day
+ * @param hh integer hour (0 <= hh < 24) (input)
+ * @param mm integer minutes (0 <= mm < 60) (input)
+ * @param sec double seconds (0 <= sec < 60.0) (input)
+ * @return sod seconds of day (input)
+ */
+ double convertTimeToSOD( int hh,
+ int mm,
+ double sec )
+ throw();
+
+} // namespace
+
+#endif // GPSTK_TIMECONVERTERS_HPP
diff --git a/dev/src/TimeNamedFileStream.hpp b/dev/src/TimeNamedFileStream.hpp
new file mode 100644
index 0000000..3a87331
--- /dev/null
+++ b/dev/src/TimeNamedFileStream.hpp
@@ -0,0 +1,157 @@
+#pragma ident "$Id$"
+
+/**
+ * @file TimeNamedFileStream.hpp
+ * Writes data to a file whose name is derived from a pattern and a nominal epoch.
+ */
+
+#ifndef GPSTK_TIME_NAMED_FILE_STREAM_HPP
+#define GPSTK_TIME_NAMED_FILE_STREAM_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#include <string>
+
+#include "Exception.hpp"
+#include "DayTime.hpp"
+#include "FFStream.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup FFStream */
+ //@{
+
+ template <class BaseStream>
+ class TimeNamedFileStream : public BaseStream
+ {
+ public:
+
+ TimeNamedFileStream()
+ : omode(std::ios::in), debugLevel(0)
+ {};
+
+ TimeNamedFileStream(
+ const std::string fs,
+ std::ios::openmode mode = std::ios::in)
+ : filespec(fs), omode(mode), debugLevel(0)
+ {};
+
+ virtual ~TimeNamedFileStream(void) {};
+
+
+ /// overrides open to just set the filespec, Note that this does
+ /// not actually open a file
+ virtual void open(const char* fs, std::ios::openmode mode = std::ios::in)
+ {
+ setFilespec(fs);
+ omode = mode;
+ };
+
+
+ void setFilespec(const std::string fs)
+ { filespec=fs; currentFilename=""; }
+
+
+ std::string getFilespec(void) const
+ { return filespec;}
+
+
+ // Get the filename of the current file
+ std::string getCurrentFilename(void) const
+ { return currentFilename; };
+
+
+ // Return the time used to generate the current file name
+ DayTime getCurrentTime(void) const
+ { return currentTime; };
+
+
+ // Update the file name, returns true if the file name changed
+ bool updateFileName(const DayTime& t=DayTime())
+ {
+ bool openedNewFile = false;
+ const std::string newFilename=t.printf(filespec);
+ if (currentFilename.size() == 0 && newFilename.size() > 0)
+ {
+ currentFilename = newFilename;
+ currentTime = t;
+ BaseStream::open(currentFilename.c_str(), omode);
+ if (debugLevel)
+ std::cout << "Opened " << currentFilename << std::endl;
+ openedNewFile=true;
+ }
+ else if (newFilename == currentFilename)
+ {
+ currentTime = t;
+ openedNewFile=false;
+ }
+ else
+ {
+ if (debugLevel)
+ std::cout << "Closing " << currentFilename << std::endl;
+ BaseStream::close();
+ currentFilename = newFilename;
+ currentTime = t;
+ BaseStream::open(currentFilename.c_str(), omode);
+ if (debugLevel)
+ std::cout << "Opened " << currentFilename << std::endl;
+ openedNewFile=true;
+ }
+
+ return openedNewFile;
+ };
+
+ int debugLevel;
+
+ private:
+ /// Pattern on which to create new files
+ std::string filespec;
+
+ /// Name of the current output file.
+ std::string currentFilename;
+
+ /// The time used to generate currentFilename
+ DayTime currentTime;
+
+ // The flags to use when opening the files
+ std::ios::openmode omode;
+ }; // end class TimeNamedFileStream
+
+ //@}
+} // end namespace gpstk
+
+#endif // GPSTK_TIME_NAMED_FILE_STREAM_HPP
diff --git a/dev/src/TimeString.cpp b/dev/src/TimeString.cpp
new file mode 100644
index 0000000..6bf61ef
--- /dev/null
+++ b/dev/src/TimeString.cpp
@@ -0,0 +1,724 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "TimeString.hpp"
+
+#include "ANSITime.hpp"
+#include "CivilTime.hpp"
+#include "GPSEpochWeekSecond.hpp"
+#include "GPSWeekSecond.hpp"
+#include "GPSWeekZcount.hpp"
+#include "GPSZcount29.hpp"
+#include "GPSZcount32.hpp"
+#include "JulianDate.hpp"
+#include "MJD.hpp"
+#include "UnixTime.hpp"
+#include "YDSTime.hpp"
+
+#include "TimeConverters.hpp"
+#include "TimeConstants.hpp"
+
+namespace gpstk
+{
+ std::string printTime( const TimeTag& t,
+ const std::string& fmt )
+ throw( gpstk::StringUtils::StringException )
+ {
+ try
+ {
+ std::string rv( fmt );
+
+ // First, try to print using 't' itself.
+ rv = t.printf( rv );
+
+ // Next, run it through all the other TimeTag classes.
+ return printTime( t.convertToCommonTime(), rv );
+
+ }
+ catch( gpstk::StringUtils::StringException& se )
+ {
+ GPSTK_RETHROW( se );
+ }
+ }
+
+ std::string printTime( const CommonTime& t,
+ const std::string& fmt )
+ throw( gpstk::StringUtils::StringException )
+ {
+ try
+ {
+ std::string rv( fmt );
+
+ // Convert to each TimeTag type and run its printf using rv.
+ // The printf functions test to see if they can print any part
+ // of the requested format. If they can, they do, and if not,
+ // simply return without doing any work.
+ rv = ANSITime( t ).printf( rv );
+ rv = CivilTime( t ).printf( rv );
+ rv = GPSEpochWeekSecond( t ).printf( rv );
+ rv = GPSWeekSecond( t ).printf( rv );
+ rv = GPSWeekZcount( t ).printf( rv );
+ rv = GPSZcount32( t ).printf( rv );
+ rv = GPSZcount29( t ).printf( rv );
+ rv = JulianDate( t ).printf( rv );
+ rv = MJD( t ).printf( rv );
+ rv = UnixTime( t ).printf( rv );
+ rv = YDSTime( t ).printf( rv );
+
+ return rv;
+ }
+ catch( gpstk::StringUtils::StringException& se )
+ {
+ GPSTK_RETHROW( se );
+ }
+ }
+
+ /// Fill the TimeTag object \a btime with time information found in
+ /// string \a str formatted according to string \a fmt.
+ void scanTime( TimeTag& btime,
+ const std::string& str,
+ const std::string& fmt )
+ throw( gpstk::InvalidRequest,
+ gpstk::StringUtils::StringException )
+ {
+ try
+ {
+ // Get the mapping of character (from fmt) to value (from str).
+ TimeTag::IdToValue info;
+ TimeTag::getInfo( str, fmt, info );
+
+ if( btime.setFromInfo( info ) )
+ {
+ return;
+ }
+
+ // Convert to CommonTime, and try to set using all formats.
+ CommonTime ct( btime.convertToCommonTime() );
+ scanTime( ct, str, fmt );
+
+ // Convert the CommonTime into the requested format.
+ btime.convertFromCommonTime( ct );
+ }
+ catch( gpstk::InvalidRequest& ir )
+ {
+ GPSTK_RETHROW( ir );
+ }
+ catch( gpstk::StringUtils::StringException& se )
+ {
+ GPSTK_RETHROW( se );
+ }
+ }
+
+ void scanTime( CommonTime& t,
+ const std::string& str,
+ const std::string& fmt )
+ throw( gpstk::InvalidRequest,
+ gpstk::StringUtils::StringException )
+ {
+ try
+ {
+ using namespace gpstk::StringUtils;
+
+ // Get the mapping of character (from fmt) to value (from str).
+ TimeTag::IdToValue info;
+ TimeTag::getInfo( str, fmt, info );
+
+ // These indicate which information has been found.
+ bool hmjd( false ), hsow( false ), hweek( false ), hfullweek( false ),
+ hdow( false ), hyear( false ), hmonth( false ), hday( false ),
+ hzcount( false ), hdoy( false ), hzcount29( false ),
+ hzcount32( false ), hhour( false ), hmin( false ), hsec( false ),
+ hsod( false ), hunixsec( false ), hunixusec( false ),
+ hepoch( false ), hansi( false ), hjulian( false );
+
+ // These are to hold data that no one parses.
+ int idow( 0 );
+
+ for( TimeTag::IdToValue::iterator itr = info.begin();
+ itr != info.end(); itr++ )
+ {
+ switch( itr->first )
+ {
+ case 'Q':
+ hmjd = true;
+ break;
+
+ case 'Z':
+ hzcount = true;
+ break;
+
+ case 's':
+ hsod = true;
+ break;
+
+ case 'g':
+ hsow = true;
+ break;
+
+ case 'w':
+ idow = asInt( itr->second );
+ hdow = true;
+ break;
+
+ case 'G':
+ hweek = true;
+ break;
+
+ case 'F':
+ hfullweek = true;
+ break;
+
+ case 'j':
+ hdoy = true;
+ break;
+
+ case 'b':
+ case 'B':
+ hmonth = true;
+ break;
+
+ case 'Y':
+ case 'y':
+ hyear = true;
+ break;
+
+ case 'a':
+ case 'A':
+ {
+ hdow = true;
+ std::string thisDay = firstWord( itr->second );
+ lowerCase(thisDay);
+ if (isLike(thisDay, "sun.*")) idow = 0;
+ else if (isLike(thisDay, "mon.*")) idow = 1;
+ else if (isLike(thisDay, "tue.*")) idow = 2;
+ else if (isLike(thisDay, "wed.*")) idow = 3;
+ else if (isLike(thisDay, "thu.*")) idow = 4;
+ else if (isLike(thisDay, "fri.*")) idow = 5;
+ else if (isLike(thisDay, "sat.*")) idow = 6;
+ else
+ {
+ hdow = false;
+ }
+ }
+ break;
+
+ case 'm':
+ hmonth = true;
+ break;
+
+ case 'd':
+ hday = true;
+ break;
+
+ case 'H':
+ hhour = true;
+ break;
+
+ case 'M':
+ hmin = true;
+ break;
+
+ case 'S':
+ hsec = true;
+ break;
+
+ case 'f':
+ hsec = true;
+ break;
+
+ case 'U':
+ hunixsec = true;
+ break;
+
+ case 'u':
+ hunixusec = true;
+ break;
+
+ case 'c':
+ hzcount29 = true;
+ break;
+
+ case 'C':
+ hzcount32 = true;
+ break;
+
+ case 'J':
+ hjulian = true;
+ break;
+
+ case 'K':
+ hansi = true;
+ break;
+
+ case 'E':
+ hepoch = true;
+ break;
+
+ default:
+ {
+ // do nothing
+ }
+ break;
+
+ };
+ }
+
+ if( hyear )
+ {
+ if( hmonth && hday )
+ {
+ CivilTime tt;
+ tt.setFromInfo( info );
+ if( hsod )
+ {
+ convertSODtoTime( asDouble( info['s'] ),
+ tt.hour, tt.minute, tt.second );
+ }
+ t = tt.convertToCommonTime();
+ return;
+ }
+ else // use YDSTime as default
+ {
+ YDSTime tt;
+ tt.setFromInfo( info );
+ if( hhour && hmin && hsec )
+ {
+ tt.sod = convertTimeToSOD( asInt( info['H'] ),
+ asInt( info['M'] ),
+ asDouble( info['S'] ) );
+ }
+ t = tt.convertToCommonTime();
+ return;
+ }
+
+ } // end of if( hyear )
+
+ if( hzcount32 )
+ {
+ GPSZcount32 tt;
+ tt.setFromInfo( info );
+ t = tt.convertToCommonTime();
+ return;
+ }
+
+ if( hepoch )
+ {
+ if( hzcount29 )
+ {
+ GPSZcount29 tt;
+ tt.setFromInfo( info );
+ t = tt.convertToCommonTime();
+ return;
+ }
+
+ if( hweek )
+ {
+ GPSEpochWeekSecond tt;
+ tt.setFromInfo( info );
+ if( hdow && !hsow )
+ {
+ tt.sow = asInt( info['w'] ) * SEC_PER_DAY;
+ if( hsod )
+ {
+ tt.sow += asDouble( info['s'] );
+ }
+ else if( hhour && hmin && hsec )
+ {
+ tt.sow += convertTimeToSOD( asInt( info['H'] ),
+ asInt( info['M'] ),
+ asDouble( info['S'] ) );
+ }
+ }
+ t = tt.convertToCommonTime();
+ return;
+
+ } // end of if( hweek )
+
+ } // end of if( hepoch )
+
+ if( hfullweek )
+ {
+ if( hzcount )
+ {
+ GPSWeekZcount tt;
+ tt.setFromInfo( info );
+ t = tt.convertToCommonTime();
+ return;
+ }
+
+ GPSWeekSecond tt;
+ tt.setFromInfo( info );
+ if( hdow && !hsow )
+ {
+ tt.sow = asInt( info['w'] ) * SEC_PER_DAY;
+ if( hsod )
+ {
+ tt.sow += asDouble( info['s'] );
+ }
+ else if( hhour && hmin && hsec )
+ {
+ tt.sow += convertTimeToSOD( asInt( info['H'] ),
+ asInt( info['M'] ),
+ asDouble( info['S'] ) );
+ }
+ }
+ t = tt.convertToCommonTime();
+ return;
+ } // end of if( hfullweek )
+
+ if( hmjd )
+ {
+ MJD tt;
+ tt.setFromInfo( info );
+ t = tt.convertToCommonTime();
+ return;
+ }
+
+ if( hjulian )
+ {
+ JulianDate tt;
+ tt.setFromInfo( info );
+ t = tt.convertToCommonTime();
+ return;
+ }
+
+ if( hansi )
+ {
+ ANSITime tt;
+ tt.setFromInfo( info );
+ t = tt.convertToCommonTime();
+ return;
+ }
+
+ if( hunixsec || hunixusec )
+ {
+ UnixTime tt;
+ tt.setFromInfo( info );
+ t = tt.convertToCommonTime();
+ return;
+ }
+
+ InvalidRequest ir("Incomplete time specification for readTime");
+ GPSTK_THROW( ir );
+ }
+ catch( gpstk::StringUtils::StringException& se )
+ {
+ GPSTK_RETHROW( se );
+ }
+ }
+
+ void mixedScanTime( CommonTime& t,
+ const std::string& str,
+ const std::string& fmt )
+ throw( gpstk::InvalidRequest,
+ gpstk::StringUtils::StringException )
+ {
+ try
+ {
+ using namespace gpstk::StringUtils;
+
+ // Get the mapping of character (from fmt) to value (from str).
+ TimeTag::IdToValue info;
+ TimeTag::getInfo( str, fmt, info );
+
+ // These indicate which information has been found.
+ bool hsow( false ), hweek( false ), hfullweek( false ),
+ hdow( false ), hyear( false ), hmonth( false ), hday( false ),
+ hzcount( false ), hdoy( false ), hzcount29( false ),
+ hhour( false ), hmin( false ), hsec( false ),
+ hsod( false ), hepoch( false ), hunixsec( false ),
+ hunixusec( false );
+
+ // MJD, Julian Date, ANSI time, Unix time, and 32-bit Zcounts
+ // are treated as stand-alone types and are not mixed with others
+ // if detected.
+
+ // These variables will hold the values for use later.
+ double isow, isod, isec;
+ int iweek, ifullweek, idow, iyear, imonth, iday, izcount, idoy,
+ izcount29, ihour, imin, iepoch, iunixsec, iunixusec;
+
+ for( TimeTag::IdToValue::iterator itr = info.begin();
+ itr != info.end(); itr++ )
+ {
+ switch( itr->first )
+ {
+ case 'Q':
+ t = MJD( asLongDouble(itr->second) );
+ return;
+
+ case 'J':
+ t = JulianDate( asLongDouble(itr->second) );
+ return;
+
+ case 'C':
+ t = GPSZcount32( asInt(itr->second) );
+ return;
+
+ case 'K':
+ t = ANSITime( asInt(itr->second) );
+ return;
+
+ case 'U':
+ case 'u':
+ {
+ UnixTime tt;
+ tt.setFromInfo( info );
+ t = tt.convertToCommonTime();
+ return;
+ }
+ break;
+
+ case 'Z':
+ hzcount = true;
+ izcount = asInt(itr->second);
+ break;
+
+ case 's':
+ hsod = true;
+ isod = asDouble(itr->second);
+ break;
+
+ case 'g':
+ hsow = true;
+ isow = asDouble(itr->second);
+ break;
+
+ case 'w':
+ idow = asInt(itr->second);
+ hdow = true;
+ break;
+
+ case 'G':
+ hweek = true;
+ iweek = asInt(itr->second);
+ break;
+
+ case 'F':
+ hfullweek = true;
+ ifullweek = asInt(itr->second);
+ break;
+
+ case 'j':
+ hdoy = true;
+ idoy = asInt(itr->second);
+ break;
+
+ case 'b':
+ case 'B':
+ hmonth = true;
+ imonth = asInt(itr->second);
+ break;
+
+ case 'Y':
+ case 'y':
+ hyear = true;
+ iyear = asInt(itr->second);
+ break;
+
+ case 'a':
+ case 'A':
+ {
+ hdow = true;
+ std::string thisDay = firstWord( itr->second );
+ lowerCase(thisDay);
+ if (isLike(thisDay, "sun.*")) idow = 0;
+ else if (isLike(thisDay, "mon.*")) idow = 1;
+ else if (isLike(thisDay, "tue.*")) idow = 2;
+ else if (isLike(thisDay, "wed.*")) idow = 3;
+ else if (isLike(thisDay, "thu.*")) idow = 4;
+ else if (isLike(thisDay, "fri.*")) idow = 5;
+ else if (isLike(thisDay, "sat.*")) idow = 6;
+ }
+ break;
+
+ case 'm':
+ hmonth = true;
+ imonth = asInt(itr->second);
+ break;
+
+ case 'd':
+ hday = true;
+ iday = asInt(itr->second);
+ break;
+
+ case 'H':
+ hhour = true;
+ ihour = asInt(itr->second);
+ break;
+
+ case 'M':
+ hmin = true;
+ imin = asInt(itr->second);
+ break;
+
+ case 'S':
+ hsec = true;
+ isec = asDouble(itr->second);
+ break;
+
+ case 'f':
+ hsec = true;
+ isec = asDouble(itr->second);
+ break;
+
+ case 'c':
+ hzcount29 = true;
+ izcount29 = asInt(itr->second);
+ break;
+
+ case 'E':
+ hepoch = true;
+ iepoch = asInt(itr->second);
+ break;
+
+ default:
+ // do nothing
+ break;
+
+ };
+ }
+
+
+ // We'll copy this time to 't' after all of the processing.
+ CommonTime ct;
+
+ // Go through all of the types in order of least precise to most
+ // precise.
+ if( hepoch )
+ {
+ GPSEpochWeekSecond tt(ct);
+ tt.epoch = iepoch;
+ ct = tt.convertToCommonTime();
+ }
+
+ if( hyear )
+ {
+ YDSTime tt(ct);
+ tt.year = iyear;
+ ct = tt.convertToCommonTime();
+ }
+
+ if( hmonth )
+ {
+ CivilTime tt(ct);
+ tt.month = imonth;
+ ct = tt.convertToCommonTime();
+ }
+
+ if( hfullweek )
+ {
+ GPSWeekSecond tt(ct);
+ tt.week = ifullweek;
+ ct = tt.convertToCommonTime();
+ }
+
+ if( hweek )
+ {
+ GPSEpochWeekSecond tt(ct);
+ tt.week = iweek;
+ ct = tt.convertToCommonTime();
+ }
+
+ if( hdow )
+ {
+ GPSWeekSecond tt(ct);
+ tt.sow = static_cast<double>(idow) * SEC_PER_DAY;
+ ct = tt.convertToCommonTime();
+ }
+
+ if( hday )
+ {
+ CivilTime tt(ct);
+ tt.day = iday;
+ ct = tt.convertToCommonTime();
+ }
+
+ if( hdoy )
+ {
+ YDSTime tt(ct);
+ tt.doy = idoy;
+ ct = tt.convertToCommonTime();
+ }
+
+ if( hzcount29 )
+ {
+ GPSZcount29 tt(ct);
+ tt.zcount = izcount29;
+ ct = tt.convertToCommonTime();
+ }
+
+ if( hzcount )
+ {
+ GPSWeekZcount tt(ct);
+ tt.zcount = izcount;
+ ct = tt.convertToCommonTime();
+ }
+
+ if( hhour )
+ {
+ CivilTime tt(ct);
+ tt.hour = ihour;
+ ct = tt.convertToCommonTime();
+ }
+
+ if( hmin )
+ {
+ CivilTime tt(ct);
+ tt.hour = imin;
+ ct = tt.convertToCommonTime();
+ }
+
+ if( hsow )
+ {
+ GPSWeekSecond tt(ct);
+ tt.sow = isow;
+ ct = tt.convertToCommonTime();
+ }
+
+ if( hsod )
+ {
+ YDSTime tt(ct);
+ tt.sod = isod;
+ ct = tt.convertToCommonTime();
+ }
+
+ if( hsec )
+ {
+ CivilTime tt(ct);
+ tt.second = isec;
+ ct = tt.convertToCommonTime();
+ }
+
+ t = ct;
+ }
+ catch( gpstk::StringUtils::StringException& se )
+ {
+ GPSTK_RETHROW( se );
+ }
+ }
+
+} // namespace gpstk
diff --git a/dev/src/TimeString.hpp b/dev/src/TimeString.hpp
new file mode 100644
index 0000000..90220d6
--- /dev/null
+++ b/dev/src/TimeString.hpp
@@ -0,0 +1,75 @@
+#pragma ident "$Id$"
+
+
+
+#ifndef GPSTK_TIMESTRING_HPP
+#define GPSTK_TIMESTRING_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "TimeTag.hpp"
+#include "CommonTime.hpp"
+
+namespace gpstk
+{
+ std::string printTime( const TimeTag& t,
+ const std::string& fmt )
+ throw( gpstk::StringUtils::StringException );
+
+ std::string printTime( const CommonTime& t,
+ const std::string& fmt )
+ throw( gpstk::StringUtils::StringException );
+
+ /// Fill the TimeTag object \a btime with time information found in
+ /// string \a str formatted according to string \a fmt.
+ void scanTime( TimeTag& btime,
+ const std::string& str,
+ const std::string& fmt )
+ throw( gpstk::InvalidRequest,
+ gpstk::StringUtils::StringException );
+
+ void scanTime( CommonTime& t,
+ const std::string& str,
+ const std::string& fmt )
+ throw( gpstk::InvalidRequest,
+ gpstk::StringUtils::StringException );
+
+ /** This function is like the other scanTime functions except that
+ * it allows mixed time formats.
+ * i.e. Year / 10-bit GPS week / seconds-of-week
+ * The time formats are filled in the following order: GPS Epoch,
+ * year, month, GPS Full Week, GPS 10-bit Week, day-of-week,
+ * day-of-month, day-of-year, 29-bit Zcount, 19-bit Zcount, hour,
+ * minute, second-of-week, second-of-day, second-of-minute.
+ * @note MJD, Julian Date, ANSI time, Unix time, and 32-bit Zcount are
+ * treated as stand-alone types and are not mixed with others if
+ * detected.
+ */
+ void mixedScanTime( CommonTime& t,
+ const std::string& str,
+ const std::string& fmt )
+ throw( gpstk::InvalidRequest,
+ gpstk::StringUtils::StringException );
+} // namespace
+
+#endif // GPSTK_TIMESTRING_HPP
diff --git a/dev/src/TimeTag.cpp b/dev/src/TimeTag.cpp
new file mode 100644
index 0000000..011c785
--- /dev/null
+++ b/dev/src/TimeTag.cpp
@@ -0,0 +1,171 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "TimeTag.hpp"
+#include "StringUtils.hpp"
+
+namespace gpstk
+{
+ void TimeTag::scanf( const std::string& str,
+ const std::string& fmt )
+ throw( gpstk::InvalidRequest,
+ gpstk::StringUtils::StringException )
+ {
+ try
+ {
+ // Get the mapping of character (from fmt) to value (from str).
+ IdToValue info;
+ getInfo( str, fmt, info );
+
+ // Attempt to set this object using the IdToValue object
+ if( !setFromInfo( info ) )
+ {
+ gpstk::InvalidRequest ir( "Incomplete time specification." );
+ GPSTK_THROW( ir );
+ }
+ }
+ catch( gpstk::StringUtils::StringException& se )
+ {
+ GPSTK_RETHROW( se );
+ }
+ }
+
+ void TimeTag::getInfo( const std::string& str,
+ const std::string& fmt,
+ IdToValue& info )
+ throw( gpstk::StringUtils::StringException )
+ {
+ try
+ {
+ using namespace gpstk::StringUtils;
+
+ // Copy the arguments to strings we can modify.
+ std::string f = fmt;
+ std::string s = str;
+
+ // Parse strings... As we process each part, it's removed from both
+ // strings so when we reach 0, we're done
+ while( !s.empty() && !f.empty() )
+ {
+ // Remove everything in f and s up to the first % in f
+ // (these parts of the strings must be identical or this will
+ // break after it tries to remove it!)
+ while ( !s.empty() &&
+ !f.empty() &&
+ ( f[0] != '%' ) )
+ {
+ // remove that character now and other whitespace
+ s.erase(0,1);
+ f.erase(0,1);
+ }
+
+ // check just in case we hit the end of either string...
+ if ( s.empty() || f.empty() )
+ break;
+
+ // lose the '%' in f...
+ f.erase( 0, 1 );
+
+ std::string::size_type fieldLength = std::string::npos;
+ char delimiter = 0;
+
+ if (false)
+ std::cout << "--------------" << std::endl
+ << "f:\"" << f << "\"" << std::endl
+ << "s:\"" << s << "\"" << std::endl;
+
+ if( !isalpha( f[0] ) )
+ {
+ // If the format string is %03f, get '3' as the field length.
+ // This is where we have a specified field length so we should
+ // not throw away any more characters
+ fieldLength = asInt( f );
+
+ // remove everything else up to the next character
+ // (in "%03f", that would be 'f')
+ while ( !f.empty() && !isalpha( f[0] ) )
+ f.erase( 0, 1 );
+
+ if ( f.empty() )
+ break;
+ }
+ else
+ {
+ // When there is no field width specified, there must be a
+ // delimiter for the field.
+ if ( f.size() > 1 )
+ {
+ if ( f[1] != '%' )
+ {
+ delimiter = f[1];
+
+ stripLeading(s);
+ fieldLength = s.find( delimiter, 0 );
+ }
+ else
+ {
+ // if the there is no delimiter character and the next field
+ // is another part of the time to parse, assume the length
+ // of this field is 1
+ fieldLength = 1;
+ }
+ }
+ }
+
+ // Copy the next string to be removed.
+ std::string value( s.substr( 0, fieldLength ) );
+
+ // based on char at f[0], we know what to do...
+ info[ f[0] ] = value;
+
+ // remove the part of str that we processed
+ stripLeading( s, value, 1 );
+
+ // remove the character we processed from fmt
+ f.erase( 0, 1 );
+
+ // And remove the delimiter if one was used
+ if (delimiter != 0)
+ {
+ f.erase(0,1);
+ s.erase(0,1);
+ }
+ } // end of while( (s.size() > 0) && (f.size() > 0) )
+ }
+ catch( gpstk::StringUtils::StringException& se )
+ {
+ GPSTK_RETHROW( se );
+ }
+ }
+
+} // namespace
+
+std::ostream& operator<<( std::ostream& s,
+ const gpstk::TimeTag& t )
+{
+ s << t.printf( t.getDefaultFormat() );
+ return s;
+}
diff --git a/dev/src/TimeTag.hpp b/dev/src/TimeTag.hpp
new file mode 100644
index 0000000..5c87ad4
--- /dev/null
+++ b/dev/src/TimeTag.hpp
@@ -0,0 +1,152 @@
+#pragma ident "$Id$"
+
+
+
+#ifndef GPSTK_TIMETAG_HPP
+#define GPSTK_TIMETAG_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "CommonTime.hpp"
+#include "StringUtils.hpp"
+#include <map>
+
+namespace gpstk
+{
+ /** This class is an abstract base class inherited by all the classes
+ * that provide a specific time representation.
+ * These time representations must ensure or provide a way for the
+ * user to verify their own self-consistency.
+ */
+ class TimeTag
+ {
+ public:
+
+ /// Virtual Destructor.
+ virtual ~TimeTag()
+ throw()
+ {}
+
+ /// This function probably won't throw exceptions because if you can
+ /// represent a time in this format, you can probably represent it in
+ /// the Common format.
+ virtual CommonTime convertToCommonTime() const = 0;
+
+ /// This function may throw exceptions b/c it is possible that it may
+ /// not be possible to represent the time specified by the Common
+ /// object "bt" in this object.
+ virtual void convertFromCommonTime( const CommonTime& ct ) = 0;
+
+ /// This function formats this time to a string. The exceptions
+ /// thrown would only be due to problems parsing the fmt string.
+ ///
+ virtual std::string printf(const std::string& fmt) const
+ throw( gpstk::StringUtils::StringException ) = 0;
+
+ /**
+ * This function sets this object to the time stored in the given
+ * string \a str.
+ * @param str the string to parse
+ * @param fmt the string containing the time format
+ * @throw InvalidRequest if an invalid time is given.
+ * @throw StringException on problems parsing the strings.
+ */
+ virtual void scanf( const std::string& str,
+ const std::string& fmt )
+ throw( gpstk::InvalidRequest,
+ gpstk::StringUtils::StringException );
+
+ /// This type maps a character ( from a time format ) to its
+ /// corresponding value ( from a time string ).
+ typedef std::map< char, std::string> IdToValue;
+
+ /**
+ * This is the workhorse for the scanf family of functions. It parses
+ * the given string \a str with the given format \a fmt in order to
+ * extract a time or part of a time from \a str.
+ * @param str the string from which to cull time information
+ * @param fmt the string containing the time format
+ * @param info a mapping of all of the character identifier to their
+ * respective culled time information
+ * @throw StringException on problems parsing the strings.
+ */
+ static void getInfo( const std::string& str,
+ const std::string& fmt,
+ IdToValue& info )
+ throw( gpstk::StringUtils::StringException );
+
+ /**
+ * Set this object using the information provided in \a info.
+ * @param info the IdToValue object to which this object shall be set.
+ * @return true if this object was successfully set using the
+ * data in \a info, false if not.
+ */
+ virtual bool setFromInfo( const IdToValue& info )
+ throw() = 0;
+
+ /// Return a string containing the characters that this class
+ /// understands when printing times.
+ virtual std::string getPrintChars() const
+ throw() = 0;
+
+ /// Return a string containing the default format to use in printing.
+ virtual std::string getDefaultFormat() const
+ throw() = 0;
+
+ /// Returns true if this object's members are valid, false otherwise.
+ virtual bool isValid() const
+ throw() = 0;
+
+ /// Reset this object to the default state.
+ virtual void reset()
+ throw() = 0;
+
+ /// Format this time as a string using a format specified by the
+ /// inheriting class.
+ virtual std::string asString() const
+ throw( gpstk::StringUtils::StringException )
+ { return printf( getDefaultFormat() ); }
+
+ /// Hey, it's an implicit casting operator! Basically just a lazy
+ /// way to get at convertToCommonTime().
+ operator CommonTime() const
+ { return convertToCommonTime(); }
+
+ /// This returns the regular expression prefix that is used when
+ /// searching for integer specifiers.
+ static std::string getFormatPrefixInt()
+ { return "%[ 0-]?[[:digit:]]*"; }
+
+ /// This returns the regular expression prefix that is used when
+ /// searching for float specifiers.
+ static std::string getFormatPrefixFloat()
+ { return getFormatPrefixInt() + "(\\.[[:digit:]]+)?"; }
+
+ };
+
+} // namespace
+
+std::ostream& operator<<( std::ostream& s,
+ const gpstk::TimeTag& t );
+
+#endif // GPSTK_BASETIME_HPP
diff --git a/dev/src/Triple.cpp b/dev/src/Triple.cpp
new file mode 100644
index 0000000..f384c4a
--- /dev/null
+++ b/dev/src/Triple.cpp
@@ -0,0 +1,279 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file Triple.cpp
+ * Three element double vectors, for use with geodetic coordinates
+ */
+
+#include "geometry.hpp"
+#include "Triple.hpp"
+#include <cmath>
+
+namespace gpstk
+{
+ using namespace std;
+
+ Triple :: Triple()
+ : theArray(3)
+ {
+ }
+
+ Triple :: Triple(const Triple& right)
+ : theArray(right.theArray)
+ {
+ }
+
+ Triple :: Triple(double a,
+ double b,
+ double c)
+ : theArray(3)
+ {
+ theArray[0] = a;
+ theArray[1] = b;
+ theArray[2] = c;
+ }
+
+ Triple& Triple :: operator=(const Triple& right)
+ {
+ theArray = right.theArray;
+ return *this;
+ }
+
+ Triple& Triple :: operator=(const valarray<double>& right)
+ throw(GeometryException)
+ {
+ if (right.size() != 3)
+ {
+ GPSTK_THROW(GeometryException("Incorrect vector size"));
+ }
+
+ theArray = right;
+ return *this;
+ }
+
+ // returns the dot product of the two vectors
+ double Triple :: dot(const Triple& right) const
+ throw()
+ {
+ Triple z;
+ z = (this->theArray)*(right.theArray);
+ double a = z.theArray.sum();
+ return a;
+ }
+
+
+ // retuns v1 x v2 , vector cross product
+ Triple Triple :: cross(const Triple& right) const
+ throw()
+ {
+ Triple cp;
+ cp[0] = (*this)[1] * right[2] - (*this)[2] * right[1];
+ cp[1] = (*this)[2] * right[0] - (*this)[0] * right[2];
+ cp[2] = (*this)[0] * right[1] - (*this)[1] * right[0];
+ return cp;
+ }
+
+
+ double Triple :: mag() const throw()
+ {
+ return ::sqrt(dot(*this));
+ }
+
+ Triple Triple::unitVector() const
+ throw(GeometryException)
+ {
+ double mag = sqrt(dot(*this));
+
+ if (mag <= 1e-14)
+ GPSTK_THROW(GeometryException("Divide by Zero Error"));
+
+ Triple retArg;
+ retArg[0] = (*this)[0] / mag;
+ retArg[1] = (*this)[1] / mag;
+ retArg[2] = (*this)[2] / mag;
+ return(retArg);
+ }
+
+ // function that returns the cosine of angle between this and right
+ double Triple :: cosVector(const Triple& right) const
+ throw(GeometryException)
+ {
+ double rx, ry, cosvects;
+
+ rx = dot(*this);
+ ry = right.dot(right);
+
+ if (rx <= 1e-14 || ry <= 1e-14)
+ GPSTK_THROW(GeometryException("Divide by Zero Error"));
+
+ cosvects = dot(right) / ::sqrt(rx * ry);
+
+ /* this if checks for and corrects round off error */
+ if (fabs(cosvects) > 1.0e0)
+ {
+ cosvects = fabs(cosvects) / cosvects;
+ }
+
+ return cosvects;
+ }
+
+
+ // Computes the slant range between two vectors
+ double Triple :: slantRange(const Triple& right) const
+ throw()
+ {
+ Triple z;
+ z = right.theArray - this->theArray;
+ double r = z.mag();
+ return r;
+ }
+
+
+ // Finds the elevation angle of the second point with respect to
+ // the first point
+ double Triple :: elvAngle(const Triple& right) const
+ throw(GeometryException)
+ {
+ Triple z;
+ z = right.theArray - this->theArray;
+ double c = z.cosVector(*this);
+ return 90.0 - ::acos(c) * RAD_TO_DEG;
+ }
+
+
+ // Calculates a satellites azimuth from a station
+ double Triple :: azAngle(const Triple& right) const
+ throw(GeometryException)
+ {
+ double xy, xyz, cosl, sinl, sint, xn1, xn2, xn3, xe1, xe2;
+ double z1, z2, z3, p1, p2, test, alpha;
+
+ xy = (*this)[0] * (*this)[0] + (*this)[1] * (*this)[1] ;
+ xyz = xy + (*this)[2] * (*this)[2] ;
+ xy = ::sqrt(xy);
+ xyz = ::sqrt(xyz);
+
+ if (xy <= 1e-14 || xyz <=1e-14)
+ GPSTK_THROW(GeometryException("Divide by Zero Error"))
+
+ cosl = (*this)[0] / xy;
+ sinl = (*this)[1] / xy;
+ sint = (*this)[2] / xyz;
+
+ xn1 = -sint * cosl;
+ xn2 = -sint * sinl;
+ xn3 = xy/xyz;
+
+ xe1 = -sinl;
+ xe2 = cosl;
+
+ z1 = right[0] - (*this)[0];
+ z2 = right[1] - (*this)[1];
+ z3 = right[2] - (*this)[2];
+
+ p1 = (xn1 * z1) + (xn2 * z2) + (xn3 * z3) ;
+ p2 = (xe1 * z1) + (xe2 * z2) ;
+
+ test = fabs(p1) + fabs(p2);
+
+ if (test < 1.0e-16)
+ {
+ GPSTK_THROW(GeometryException("azAngle(), failed p1+p2 test."));
+ }
+
+ alpha = 90 - ::atan2(p1, p2) * RAD_TO_DEG;
+ if (alpha < 0)
+ {
+ return alpha + 360;
+ }
+ else
+ {
+ return alpha;
+ }
+ }
+
+ bool Triple :: operator== (const Triple& right) const
+ {
+ return (*this)[0]==right[0] && (*this)[1]==right[1] && (*this)[2]==right[2];
+ }
+
+ Triple Triple :: operator-(const Triple& right) const
+ {
+ Triple tmp;
+ tmp.theArray = this->theArray - right.theArray;
+ return tmp;
+ }
+
+ Triple Triple :: operator+(const Triple& right) const
+ {
+ Triple tmp;
+ tmp.theArray = this->theArray + right.theArray;
+ return tmp;
+ }
+
+ Triple operator*(double scale, const Triple& rhs)
+ {
+ Triple tmp;
+ tmp.theArray = rhs.theArray * scale;
+ return tmp;
+ }
+
+ std::ostream& operator<<(std::ostream& s,
+ const gpstk::Triple& v)
+ {
+ if (v.size() > 0)
+ {
+ s << "(" << v[0];
+ for (int i = 1; i < v.size(); i++)
+ {
+ s << ", " << v[i];
+ }
+ s << ")";
+ }
+
+ return s;
+ }
+
+} // namespace gpstk
+
diff --git a/dev/src/Triple.hpp b/dev/src/Triple.hpp
new file mode 100644
index 0000000..09d7aa5
--- /dev/null
+++ b/dev/src/Triple.hpp
@@ -0,0 +1,224 @@
+#pragma ident "$Id$"
+
+/**
+ * @file Triple.hpp
+ * Three element double vectors, for use with geodetic coordinates
+ */
+
+#ifndef GPSTK_TRIPLE_HPP
+#define GPSTK_TRIPLE_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include <valarray>
+#include "Exception.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup geodeticgroup */
+ //@{
+
+ /// Thrown when a gpstk::Triple operation can't be completed.
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(GeometryException, gpstk::Exception);
+
+ /**
+ * Three-dimensional vectors. This class provides mathematical
+ * functions for 3D vectors, including some functions specific
+ * to orbital tracking.
+ */
+ class Triple
+ {
+ public:
+ /// Default constructor, initialize as triple.
+ Triple();
+
+ /// Copy constructor.
+ Triple(const Triple& right);
+
+ /// Construct from three doubles.
+ Triple(double a,
+ double b,
+ double c);
+
+ /// Destructor
+ virtual ~Triple() {}
+
+ /// Assignment operator.
+ Triple& operator=(const Triple& right);
+
+ /** Assign from valarray.
+ * @throw GeometryException if right.size() != 3.
+ */
+ Triple& operator=(const std::valarray<double>& right)
+ throw(GeometryException);
+
+ /**
+ * Computes the Dot Product of two vectors
+ * @param right vector to compute dot product with.
+ * @return The dot product of \c this and \c right
+ */
+ double dot(const Triple& right) const
+ throw();
+
+ /**
+ * Computes the Cross Product of two vectors
+ * @param right vector to compute cross product with
+ * @return The cross product of \c v1 and \c v2
+ */
+ Triple cross(const Triple& right) const
+ throw();
+
+ /**
+ * Computes the Magnigude of this vector
+ */
+ double mag() const
+ throw();
+
+ /**
+ * Returns the unit vector of this vector
+ */
+ Triple unitVector() const
+ throw(GeometryException);
+
+ /**
+ * Computes the Cosine of the Angle Between this vector and another.
+ * @param right the other vector
+ * @return The cosine of the angle between \c this and \c right
+ */
+ double cosVector(const Triple& right) const
+ throw(GeometryException);
+
+ /**
+ * Computes the slant range between this vector and another
+ * @param right A Vector
+ * @return The slant range between \c this and \c right
+ */
+ double slantRange(const Triple& right) const
+ throw();
+
+ /**
+ * Computes the elevation of a point with respect to this
+ * point.
+ * @param right The second point
+ * @return The elevation of \c right relative to \c this
+ */
+ double elvAngle(const Triple& right) const
+ throw(GeometryException);
+
+ /**
+ * Computes an azimuth from this point.
+ * @param right The position to determine azimuth of.
+ * @return The azimuth of \c right relative to \c this
+ */
+ double azAngle(const Triple& right) const
+ throw(GeometryException);
+
+ /**
+ * Return a reference to the element at /a index.
+ * @param index the index of the element to return.
+ * @return the reference to the requested element.
+ */
+ double& operator[](const size_t index)
+ { return theArray[index]; }
+
+ /**
+ * Return the value of the element at /a index.
+ * @param index the index of the element to return.
+ * @return the value of the element at /a index.
+ */
+ double operator[](const size_t index) const
+ { return theArray[index]; }
+
+
+ /**
+ * Equality Operator.
+ * @param right the Triple to test equality against
+ * @return true if left is equal to right
+ */
+ bool operator== (const Triple& right) const ;
+
+
+ /**
+ * Difference Operator.
+ * @param right the Triple to subtract from this object
+ * @return a Triple containing the difference between *this and right
+ */
+ Triple operator-(const Triple& right) const ;
+
+ /**
+ * Sum Operator.
+ * @param right the Triple to add to this object
+ * @return a Triple containing the sum of *this and right
+ */
+ Triple operator+(const Triple& right) const ;
+
+ /**
+ * Multiplication Operator.
+ * @scale the scale by which to multiply a Triple
+ * @theTriple the Triple to scale
+ * @return a Triple containing the scaled result
+ */
+ friend Triple operator*(double right, const Triple& rhs);
+
+ /// Return the size of this object.
+ size_t size(void) const
+ { return theArray.size(); }
+
+ /**
+ * Output operator for dvec
+ * @param s output stream to which \c v is sent
+ * @param v dvec that is sent to \c s
+ */
+ friend std::ostream& operator<<(std::ostream& s,
+ const gpstk::Triple& v);
+
+ std::valarray<double> theArray;
+
+ }; // class Triple
+
+ //@}
+
+} // namespace gpstk
+
+
+#endif
diff --git a/dev/src/TropModel.cpp b/dev/src/TropModel.cpp
new file mode 100644
index 0000000..f7aff94
--- /dev/null
+++ b/dev/src/TropModel.cpp
@@ -0,0 +1,2171 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file TropModel.cpp
+ * Base class for tropospheric models, plus implementations of several
+ * published models
+ */
+
+#include "TropModel.hpp"
+#include "EphemerisRange.hpp" // for Elevation()
+#include "MathBase.hpp" // SQRT
+#include "geometry.hpp" // DEG_TO_RAD
+#include "GPSGeoid.hpp" // geoid.a() = R earth
+#include "icd_200_constants.hpp" // TWO_PI
+#include "Geodetic.hpp"
+#include "ECEF.hpp"
+
+namespace gpstk
+{
+ // for temperature conversion from Celcius to Kelvin
+ static const double CELSIUS_TO_KELVIN = 273.15;
+
+ // Compute and return the full tropospheric delay. Typically call
+ // setWeather(T,P,H) before making this call.
+ // @param elevation Elevation of satellite as seen at receiver, in degrees
+ double TropModel::correction(double elevation) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid)
+ GPSTK_THROW(InvalidTropModel("Invalid model"));
+
+ if(elevation < 0.0)
+ return 0.0;
+
+ return (dry_zenith_delay() * dry_mapping_function(elevation)
+ + wet_zenith_delay() * wet_mapping_function(elevation));
+
+ } // end TropModel::correction(elevation)
+
+ // Compute and return the full tropospheric delay, given the positions of
+ // receiver and satellite and the time tag. This version is most useful
+ // within positioning algorithms, where the receiver position and timetag may
+ // vary; it computes the elevation (and other receiver location information)
+ // and passes them to appropriate set...() routines and the
+ // correction(elevation) routine.
+ // @param RX Receiver position in ECEF cartesian coordinates (meters)
+ // @param SV Satellite position in ECEF cartesian coordinates (meters)
+ // @param tt Time tag of the signal
+ double TropModel::correction(const Position& RX,
+ const Position& SV,
+ const DayTime& tt)
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid)
+ GPSTK_THROW(InvalidTropModel("Invalid model"));
+
+ double c;
+ try
+ {
+ c = correction(RX.elevation(SV));
+ }
+ catch(InvalidTropModel& e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ return c;
+ } // end TropModel::correction(RX,SV,TT)
+
+ // Re-define the tropospheric model with explicit weather data.
+ // Typically called just before correction().
+ // @param T temperature in degrees Celsius
+ // @param P atmospheric pressure in millibars
+ // @param H relative humidity in percent
+ void TropModel::setWeather(const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter)
+ {
+ temp = T + CELSIUS_TO_KELVIN;
+ press = P;
+ humid = H;
+ if (temp < 0.0)
+ {
+ valid = false;
+ GPSTK_THROW(InvalidParameter("Invalid temperature parameter."));
+ }
+ if (press < 0.0)
+ {
+ valid = false;
+ GPSTK_THROW(InvalidParameter("Invalid pressure parameter."));
+ }
+ if (humid < 0.0 || humid > 100.0)
+ {
+ valid = false;
+ GPSTK_THROW(InvalidParameter("Invalid humidity parameter."));
+ }
+ } // end TropModel::setWeather(T,P,H)
+
+ // Re-define the tropospheric model with explicit weather data.
+ // Typically called just before correction().
+ // @param wx the weather to use for this correction
+ void TropModel::setWeather(const WxObservation& wx)
+ throw(InvalidParameter)
+ {
+ if (wx.isAllValid())
+ {
+ try
+ {
+ setWeather(wx.temperature, wx.pressure, wx.humidity);
+ valid = true;
+ }
+ catch(InvalidParameter& e)
+ {
+ valid = false;
+ GPSTK_RETHROW(e);
+ }
+ }
+ else
+ {
+ valid = false;
+ GPSTK_THROW(InvalidParameter("Invalid weather data"));
+ }
+ }
+
+ // -------------------------------------------------------------------------------
+ // Simple Black model. This has been used as the 'default' for many years.
+
+ // Default constructor
+ SimpleTropModel::SimpleTropModel(void)
+ {
+ setWeather(20.0, 980.0, 50.0);
+ Cwetdelay = 0.122382715318184;
+ Cdrydelay = 2.235486646978727;
+ Cwetmap = 1.000282213715744;
+ Cdrymap = 1.001012704615527;
+ valid = true;
+ }
+
+ // Creates a trop model from a weather observation
+ // @param wx the weather to use for this correction.
+ SimpleTropModel::SimpleTropModel(const WxObservation& wx)
+ throw(InvalidParameter)
+ {
+ setWeather(wx);
+ valid = true;
+ }
+
+ // Create a tropospheric model from explicit weather data
+ // @param T temperature in degrees Celsius
+ // @param P atmospheric pressure in millibars
+ // @param H relative humidity in percent
+ SimpleTropModel::SimpleTropModel(const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter)
+ {
+ setWeather(T,P,H);
+ valid = true;
+ }
+
+ // Re-define the tropospheric model with explicit weather data.
+ // Typically called just before correction().
+ // @param T temperature in degrees Celsius
+ // @param P atmospheric pressure in millibars
+ // @param H relative humidity in percent
+ void SimpleTropModel::setWeather(const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter)
+ {
+ TropModel::setWeather(T,P,H);
+ GPSGeoid geoid;
+ Cdrydelay = 2.343*(press/1013.25)*(temp-3.96)/temp;
+ double tks = temp * temp;
+ Cwetdelay = 8.952/tks*humid*std::exp(-37.2465+0.213166*temp-(0.256908e-3)*tks);
+ Cdrymap =1.0+(0.15)*148.98*(temp-3.96)/geoid.a();
+ Cwetmap =1.0+(0.15)*12000.0/geoid.a();
+ valid = true;
+ } // end SimpleTropModel::setWeather(T,P,H)
+
+ // Re-define the tropospheric model with explicit weather data.
+ // Typically called just before correction().
+ // @param wx the weather to use for this correction
+ void SimpleTropModel::setWeather(const WxObservation& wx)
+ throw(InvalidParameter)
+ {
+ TropModel::setWeather(wx);
+ }
+
+ // Compute and return the zenith delay for dry component of the troposphere
+ double SimpleTropModel::dry_zenith_delay(void) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid)
+ GPSTK_THROW(InvalidTropModel("Invalid model"));
+
+ return Cdrydelay;
+ }
+
+ // Compute and return the zenith delay for wet component of the troposphere
+ double SimpleTropModel::wet_zenith_delay(void) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid)
+ GPSTK_THROW(InvalidTropModel("Invalid model"));
+
+ return Cwetdelay;
+ }
+
+ // Compute and return the mapping function for dry component
+ // of the troposphere
+ // @param elevation is the Elevation of satellite as seen at receiver,
+ // in degrees
+ double SimpleTropModel::dry_mapping_function(double elevation) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid)
+ GPSTK_THROW(InvalidTropModel("Invalid model"));
+
+ if(elevation < 0.0) return 0.0;
+
+ double d = std::cos(elevation*DEG_TO_RAD);
+ d /= Cdrymap;
+ return (1.0/SQRT(1.0-d*d));
+ }
+
+ // Compute and return the mapping function for wet component
+ // of the troposphere
+ // @param elevation is the Elevation of satellite as seen at receiver,
+ // in degrees
+ double SimpleTropModel::wet_mapping_function(double elevation) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid)
+ GPSTK_THROW(InvalidTropModel("Invalid model"));
+
+ if(elevation < 0.0) return 0.0;
+
+ double d = std::cos(elevation*DEG_TO_RAD);
+ d /= Cwetmap;
+ return (1.0/SQRT(1.0-d*d));
+ }
+
+ // -------------------------------------------------------------------------------
+ // Tropospheric model based on Goad and Goodman(1974),
+ // "A Modified Hopfield Tropospheric Refraction Correction Model," Paper
+ // presented at the Fall Annual Meeting of the American Geophysical Union,
+ // San Francisco, December 1974.
+ // See Leick, "GPS Satellite Surveying," Wiley, NY, 1990, Chapter 9,
+ // particularly Table 9.1.
+ // -------------------------------------------------------------------------------
+
+ static const double GGdryscale = 8594.777388436570600;
+ static const double GGwetscale = 2540.042008403690900;
+
+ // Default constructor
+ GGTropModel::GGTropModel(void)
+ {
+ TropModel::setWeather(20.0, 980.0, 50.0);
+ Cdrydelay = 2.59629761092150147e-4; // zenith delay, dry
+ Cwetdelay = 4.9982784999977412e-5; // zenith delay, wet
+ Cdrymap = 42973.886942182834900; // height for mapping, dry
+ Cwetmap = 12700.210042018454260; // height for mapping, wet
+ valid = true;
+ } // end GGTropModel::GGTropModel()
+
+ // Creates a trop model from a weather observation
+ // @param wx the weather to use for this correction.
+ GGTropModel::GGTropModel(const WxObservation& wx)
+ throw(InvalidParameter)
+ {
+ setWeather(wx);
+ valid = true;
+ } // end GGTropModel::GGTropModel(weather)
+
+ // Create a tropospheric model from explicit weather data
+ // @param T temperature in degrees Celsius
+ // @param P atmospheric pressure in millibars
+ // @param H relative humidity in percent
+ GGTropModel::GGTropModel(const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter)
+ {
+ setWeather(T,P,H);
+ valid = true;
+ } // end GGTropModel::GGTropModel()
+
+ double GGTropModel::dry_zenith_delay(void) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid)
+ GPSTK_THROW(InvalidTropModel("Invalid model"));
+
+ return (Cdrydelay * GGdryscale);
+ } // end GGTropModel::dry_zenith_delay()
+
+ double GGTropModel::wet_zenith_delay(void) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid)
+ GPSTK_THROW(InvalidTropModel("Invalid model"));
+
+ return (Cwetdelay * GGwetscale);
+ } // end GGTropModel::wet_zenith_delay()
+
+ double GGTropModel::dry_mapping_function(double elevation) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid)
+ GPSTK_THROW(InvalidTropModel("Invalid model"));
+
+ if(elevation < 0.0) return 0.0;
+
+ GPSGeoid geoid;
+ double ce=std::cos(elevation*DEG_TO_RAD), se=std::sin(elevation*DEG_TO_RAD);
+ double ad = -se/Cdrymap;
+ double bd = -ce*ce/(2.0*geoid.a()*Cdrymap);
+ double Rd = SQRT((geoid.a()+Cdrymap)*(geoid.a()+Cdrymap)
+ - geoid.a()*geoid.a()*ce*ce) - geoid.a()*se;
+
+ double Ad[9], ad2=ad*ad, bd2=bd*bd;
+ Ad[0] = 1.0;
+ Ad[1] = 4.0*ad;
+ Ad[2] = 6.0*ad2 + 4.0*bd;
+ Ad[3] = 4.0*ad*(ad2+3.0*bd);
+ Ad[4] = ad2*ad2 + 12.0*ad2*bd + 6.0*bd2;
+ Ad[5] = 4.0*ad*bd*(ad2+3.0*bd);
+ Ad[6] = bd2*(6.0*ad2+4.0*bd);
+ Ad[7] = 4.0*ad*bd*bd2;
+ Ad[8] = bd2*bd2;
+
+ // compute dry component of the mapping function
+ double sumd=0.0;
+ for(int j=9; j>=1; j--) {
+ sumd += Ad[j-1]/double(j);
+ sumd *= Rd;
+ }
+ return sumd/GGdryscale;
+
+ } // end GGTropModel::dry_mapping_function(elev)
+
+ // compute wet component of the mapping function
+ double GGTropModel::wet_mapping_function(double elevation) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid)
+ GPSTK_THROW(InvalidTropModel("Invalid model"));
+
+ if(elevation < 0.0) return 0.0;
+
+ GPSGeoid geoid;
+ double ce = std::cos(elevation*DEG_TO_RAD), se = std::sin(elevation*DEG_TO_RAD);
+ double aw = -se/Cwetmap;
+ double bw = -ce*ce/(2.0*geoid.a()*Cwetmap);
+ double Rw = SQRT((geoid.a()+Cwetmap)*(geoid.a()+Cwetmap)
+ - geoid.a()*geoid.a()*ce*ce) - geoid.a()*se;
+
+ double Aw[9], aw2=aw*aw, bw2=bw*bw;
+ Aw[0] = 1.0;
+ Aw[1] = 4.0*aw;
+ Aw[2] = 6.0*aw2 + 4.0*bw;
+ Aw[3] = 4.0*aw*(aw2+3.0*bw);
+ Aw[4] = aw2*aw2 + 12.0*aw2*bw + 6.0*bw2;
+ Aw[5] = 4.0*aw*bw*(aw2+3.0*bw);
+ Aw[6] = bw2*(6.0*aw2+4.0*bw);
+ Aw[7] = 4.0*aw*bw*bw2;
+ Aw[8] = bw2*bw2;
+
+ double sumw=0.0;
+ for(int j=9; j>=1; j--) {
+ sumw += Aw[j-1]/double(j);
+ sumw *= Rw;
+ }
+ return sumw/GGwetscale;
+
+ } // end GGTropModel::wet_mapping_function(elev)
+
+ void GGTropModel::setWeather(const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter)
+ {
+ TropModel::setWeather(T,P,H);
+ double th=300./temp;
+ // water vapor partial pressure (mb)
+ // this comes from Leick and is not good.
+ // double wvpp=6.108*(RHum*0.01)*exp((17.15*Tk-4684.0)/(Tk-38.45));
+ double wvpp=2.409e9*humid*th*th*th*th*std::exp(-22.64*th);
+ Cdrydelay = 7.7624e-5*press/temp;
+ Cwetdelay = 1.0e-6*(-12.92+3.719e+05/temp)*(wvpp/temp);
+ Cdrymap = (5.0*0.002277*press)/Cdrydelay;
+ Cwetmap = (5.0*0.002277/Cwetdelay)*(1255.0/temp+0.5)*wvpp;
+ valid = true;
+ } // end GGTropModel::setWeather(T,P,H)
+
+ // Re-define the tropospheric model with explicit weather data.
+ // Typically called just before correction().
+ // @param wx the weather to use for this correction
+ void GGTropModel::setWeather(const WxObservation& wx)
+ throw(InvalidParameter)
+ {
+ TropModel::setWeather(wx);
+ }
+
+ // -------------------------------------------------------------------------------
+ // Tropospheric model with heights based on Goad and Goodman(1974),
+ // "A Modified Hopfield Tropospheric Refraction Correction Model," Paper
+ // presented at the Fall Annual Meeting of the American Geophysical Union,
+ // San Francisco, December 1974.
+ // (Not the same as GGTropModel because this has height dependence,
+ // and the computation of this model does not break cleanly into
+ // wet and dry components.)
+
+ // Default constructor
+ GGHeightTropModel::GGHeightTropModel(void)
+ {
+ validWeather = false; //setWeather(20.0,980.0,50.0);
+ validHeights = false; //setHeights(0.0,0.0,0.0);
+ validRxHeight = false;
+ }
+
+ // Creates a trop model from a weather observation
+ // @param wx the weather to use for this correction.
+ GGHeightTropModel::GGHeightTropModel(const WxObservation& wx)
+ throw(InvalidParameter)
+ {
+ valid = validRxHeight = validHeights = false;
+ setWeather(wx);
+ }
+
+ // Create a tropospheric model from explicit weather data
+ // @param T temperature in degrees Celsius
+ // @param P atmospheric pressure in millibars
+ // @param H relative humidity in percent
+ GGHeightTropModel::GGHeightTropModel(const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter)
+ {
+ validRxHeight = validHeights = false;
+ setWeather(T,P,H);
+ }
+
+ // Create a valid model from explicit input.
+ // @param T temperature in degrees Celsius
+ // @param P atmospheric pressure in millibars
+ // @param H relative humidity in percent
+ // @param hT height at which temperature applies in meters.
+ // @param hP height at which atmospheric pressure applies in meters.
+ // @param hH height at which relative humidity applies in meters.
+ GGHeightTropModel::GGHeightTropModel(const double& T,
+ const double& P,
+ const double& H,
+ const double hT,
+ const double hP,
+ const double hH)
+ throw(InvalidParameter)
+ {
+ validRxHeight = false;
+ setWeather(T,P,H);
+ setHeights(hT,hP,hH);
+ }
+
+ // re-define this to get the throws
+ double GGHeightTropModel::correction(double elevation) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid)
+ {
+ if(!validWeather)
+ GPSTK_THROW(InvalidTropModel("Invalid GGH trop model: Weather"));
+ if(!validHeights)
+ GPSTK_THROW(InvalidTropModel("Invalid GGH trop model: Heights"));
+ if(!validRxHeight)
+ GPSTK_THROW(InvalidTropModel("Invalid GGH trop model: Rx Height"));
+ }
+ if(elevation < 0.0) return 0.0;
+
+ return (dry_zenith_delay() * dry_mapping_function(elevation)
+ + wet_zenith_delay() * wet_mapping_function(elevation));
+
+ } // end GGHeightTropModel::correction(elevation)
+
+ // Compute and return the full tropospheric delay, given the positions of
+ // receiver and satellite and the time tag. This version is most useful
+ // within positioning algorithms, where the receiver position and timetag
+ // may vary; it computes the elevation (and other receiver location
+ // information) and passes them to appropriate set...() routines and
+ // the correction(elevation) routine.
+ // @param RX Receiver position
+ // @param SV Satellite position
+ // @param tt Time tag of the signal
+ double GGHeightTropModel::correction(const Position& RX,
+ const Position& SV,
+ const DayTime& tt)
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid)
+ {
+ if(!validWeather)
+ GPSTK_THROW(InvalidTropModel("Invalid GGH trop model: Weather"));
+ if(!validHeights)
+ GPSTK_THROW(InvalidTropModel("Invalid GGH trop model: Heights"));
+ if(!validRxHeight)
+ GPSTK_THROW(InvalidTropModel("Invalid GGH trop model: Rx Height"));
+ }
+
+ // compute height from RX
+ setReceiverHeight(RX.getHeight());
+
+ return TropModel::correction(RX.elevation(SV));
+
+ } // end GGHeightTropModel::correction(RX,SV,TT)
+
+ // Compute and return the full tropospheric delay, given the positions of
+ // receiver and satellite and the time tag. This version is most useful
+ // within positioning algorithms, where the receiver position and timetag
+ // may vary; it computes the elevation (and other receiver location
+ // information) and passes them to appropriate set...() routines and
+ // the correction(elevation) routine.
+ // @param RX Receiver position in ECEF cartesian coordinates (meters)
+ // @param SV Satellite position in ECEF cartesian coordinates (meters)
+ // @param tt Time tag of the signal
+ // This function is deprecated; use the Position version
+ double GGHeightTropModel::correction(const Xvt& RX,
+ const Xvt& SV,
+ const DayTime& tt)
+ throw(TropModel::InvalidTropModel)
+ {
+ Position R(RX),S(SV);
+ return GGHeightTropModel::correction(R,S,tt);
+ }
+
+ // Compute and return the zenith delay for dry component of the troposphere
+ double GGHeightTropModel::dry_zenith_delay(void) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid) {
+ if(!validWeather)
+ GPSTK_THROW(InvalidTropModel("Invalid GGH trop model: Weather"));
+ if(!validHeights)
+ GPSTK_THROW(InvalidTropModel("Invalid GGH trop model: Heights"));
+ if(!validRxHeight)
+ GPSTK_THROW(InvalidTropModel("Invalid GGH trop model: Rx Height"));
+ }
+ double hrate=6.5e-3;
+ double Ts=temp+hrate*height;
+ double em=978.77/(2.8704e4*hrate);
+ double Tp=Ts-hrate*hpress;
+ double ps=press*std::pow(Ts/Tp,em)/1000.0;
+ double rs=77.624e-3/Ts;
+ double ho=11.385/rs;
+ rs *= ps;
+ double zen=(ho-height)/ho;
+ zen = rs*zen*zen*zen*zen;
+ // normalize
+ zen *= (ho-height)/5;
+ return zen;
+
+ } // end GGHeightTropModel::dry_zenith_delay()
+
+ // Compute and return the zenith delay for wet component of the troposphere
+ double GGHeightTropModel::wet_zenith_delay(void) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid) {
+ if(!validWeather)
+ GPSTK_THROW(InvalidTropModel("Invalid GGH trop model: Weather"));
+ if(!validHeights)
+ GPSTK_THROW(InvalidTropModel("Invalid GGH trop model: Heights"));
+ if(!validRxHeight)
+ GPSTK_THROW(InvalidTropModel("Invalid GGH trop model: Rx Height"));
+ }
+ double hrate=6.5e-3; // deg K / m
+ double Th=temp-273.15-hrate*(hhumid-htemp);
+ double Ta=7.5*Th/(237.3+Th);
+ // water vapor partial pressure
+ double e0=6.11e-5*humid*std::pow(10.0,Ta);
+ double Ts=temp+hrate*htemp;
+ double em=978.77/(2.8704e4*hrate);
+ double Tk=Ts-hrate*hhumid;
+ double es=e0*std::pow(Ts/Tk,4.0*em);
+ double rs=(371900.0e-3/Ts-12.92e-3)/Ts;
+ double ho=11.385*(1255/Ts+0.05)/rs;
+ double zen=(ho-height)/ho;
+ zen = rs*es*zen*zen*zen*zen;
+ //normalize
+ zen *= (ho-height)/5;
+ return zen;
+
+ } // end GGHeightTropModel::wet_zenith_delay()
+
+ // Compute and return the mapping function for dry component
+ // of the troposphere
+ // @param elevation Elevation of satellite as seen at receiver,
+ // in degrees
+ double GGHeightTropModel::dry_mapping_function(double elevation) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid) {
+ if(!validWeather)
+ GPSTK_THROW(InvalidTropModel("Invalid GGH trop model: Weather"));
+ if(!validHeights)
+ GPSTK_THROW(InvalidTropModel("Invalid GGH trop model: Heights"));
+ if(!validRxHeight)
+ GPSTK_THROW(InvalidTropModel("Invalid GGH trop model: Rx Height"));
+ }
+ if(elevation < 0.0) return 0.0;
+
+ double hrate=6.5e-3;
+ double Ts=temp+hrate*htemp;
+ double ho=(11.385/77.624e-3)*Ts;
+ double se=std::sin(elevation*DEG_TO_RAD);
+ if(se < 0.0) se=0.0;
+
+ GPSGeoid geoid;
+ double rt,a,b,rn[8],al[8],er=geoid.a();
+ rt = (er+ho)/(er+height);
+ rt = rt*rt - (1.0-se*se);
+ if(rt < 0) rt=0.0;
+ rt = (er+height)*(SQRT(rt)-se);
+ a = -se/(ho-height);
+ b = -(1.0-se*se)/(2.0*er*(ho-height));
+ rn[0] = rt*rt;
+ for(int j=1; j<8; j++) rn[j]=rn[j-1]*rt;
+ al[0] = 2*a;
+ al[1] = 2*a*a+4*b/3;
+ al[2] = a*(a*a+3*b);
+ al[3] = a*a*a*a/5+2.4*a*a*b+1.2*b*b;
+ al[4] = 2*a*b*(a*a+3*b)/3;
+ al[5] = b*b*(6*a*a+4*b)*0.1428571;
+ if(b*b > 1.0e-35) {
+ al[6] = a*b*b*b/2;
+ al[7] = b*b*b*b/9;
+ } else {
+ al[6] = 0.0;
+ al[7] = 0.0;
+ }
+ double map=rt;
+ for(int k=0; k<8; k++) map += al[k]*rn[k];
+ // normalize
+ double norm=(ho-height)/5;
+ return map/norm;
+
+ } // end GGHeightTropModel::dry_mapping_function(elevation)
+
+ // Compute and return the mapping function for wet component
+ // of the troposphere
+ // @param elevation Elevation of satellite as seen at receiver,
+ // in degrees
+ double GGHeightTropModel::wet_mapping_function(double elevation) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid) {
+ if(!validWeather)
+ GPSTK_THROW(InvalidTropModel("Invalid GGH trop model: Weather"));
+ if(!validHeights)
+ GPSTK_THROW(InvalidTropModel("Invalid GGH trop model: Heights"));
+ if(!validRxHeight)
+ GPSTK_THROW(InvalidTropModel("Invalid GGH trop model: Rx Height"));
+ }
+ if(elevation < 0.0) return 0.0;
+
+ double hrate=6.5e-3;
+ double Ts=temp+hrate*htemp;
+ double rs=(371900.0e-3/Ts-12.92e-3)/Ts;
+ double ho=11.385*(1255/Ts+0.05)/rs;
+ double se=std::sin(elevation*DEG_TO_RAD);
+ if(se < 0.0) se=0.0;
+
+ GPSGeoid geoid;
+ double rt,a,b,rn[8],al[8],er=geoid.a();
+ rt = (er+ho)/(er+height);
+ rt = rt*rt - (1.0-se*se);
+ if(rt < 0) rt=0.0;
+ rt = (er+height)*(SQRT(rt)-se);
+ a = -se/(ho-height);
+ b = -(1.0-se*se)/(2.0*er*(ho-height));
+ rn[0] = rt*rt;
+ for(int i=1; i<8; i++) rn[i]=rn[i-1]*rt;
+ al[0] = 2*a;
+ al[1] = 2*a*a+4*b/3;
+ al[2] = a*(a*a+3*b);
+ al[3] = a*a*a*a/5+2.4*a*a*b+1.2*b*b;
+ al[4] = 2*a*b*(a*a+3*b)/3;
+ al[5] = b*b*(6*a*a+4*b)*0.1428571;
+ if(b*b > 1.0e-35) {
+ al[6] = a*b*b*b/2;
+ al[7] = b*b*b*b/9;
+ } else {
+ al[6] = 0.0;
+ al[7] = 0.0;
+ }
+ double map=rt;
+ for(int j=0; j<8; j++) map += al[j]*rn[j];
+ // normalize map function
+ double norm=(ho-height)/5;
+ return map/norm;
+
+ } // end GGHeightTropModel::wet_mapping_function(elevation)
+
+ // Re-define the weather data.
+ // Typically called just before correction().
+ // @param T temperature in degrees Celsius
+ // @param P atmospheric pressure in millibars
+ // @param H relative humidity in percent
+ void GGHeightTropModel::setWeather(const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter)
+ {
+ try
+ {
+ TropModel::setWeather(T,P,H);
+ validWeather = true;
+ valid = validWeather && validHeights && validRxHeight;
+ }
+ catch(InvalidParameter& e)
+ {
+ valid = validWeather = false;
+ GPSTK_RETHROW(e);
+ }
+ } // end GGHeightTropModel::setWeather(T,P,H)
+
+ // Re-define the tropospheric model with explicit weather data.
+ // Typically called just before correction().
+ // @param wx the weather to use for this correction
+ void GGHeightTropModel::setWeather(const WxObservation& wx)
+ throw(InvalidParameter)
+ {
+ try
+ {
+ TropModel::setWeather(wx);
+ validWeather = true;
+ valid = validWeather && validHeights && validRxHeight;
+ }
+ catch(InvalidParameter& e)
+ {
+ valid = validWeather = false;
+ GPSTK_RETHROW(e);
+ }
+ }
+
+
+ // Re-define the heights at which the weather parameters apply.
+ // Typically called just before correction().
+ // @param hT height (m) at which temperature applies
+ // @param hP height (m) at which atmospheric pressure applies
+ // @param hH height (m) at which relative humidity applies
+ void GGHeightTropModel::setHeights(const double& hT,
+ const double& hP,
+ const double& hH)
+ {
+ htemp = hT; // height (m) at which temp applies
+ hpress = hP; // height (m) at which press applies
+ hhumid = hH; // height (m) at which humid applies
+ validHeights = true;
+ valid = validWeather && validHeights && validRxHeight;
+ } // end GGHeightTropModel::setHeights(hT,hP,hH)
+
+ // Define the receiver height; this required before calling
+ // correction() or any of the zenith_delay or mapping_function routines.
+ void GGHeightTropModel::setReceiverHeight(const double& ht)
+ {
+ height = ht;
+ validRxHeight = true;
+ if(!validHeights) {
+ htemp = hpress = hhumid = ht;
+ validHeights = true;
+ }
+ valid = validWeather && validHeights && validRxHeight;
+ } // end GGHeightTropModel::setReceiverHeight(const double& ht)
+
+ // -------------------------------------------------------------------------------
+ // Tropospheric model developed by University of New Brunswick and described in
+ // "A Tropospheric Delay Model for the User of the Wide Area Augmentation
+ // System," J. Paul Collins and Richard B. Langley, Technical Report No. 187,
+ // Dept. of Geodesy and Geomatics Engineering, University of New Brunswick,
+ // 1997. See particularly Appendix C.
+ //
+ // This model includes a wet and dry component, and was designed for the user
+ // without access to measurements of temperature, pressure and relative humidity
+ // at ground level. It requires input of the latitude, day of year and height
+ // above the ellipsoid, and it interpolates a table of values, using these
+ // inputs, to get the ground level weather parameters plus other parameters and
+ // the mapping function constants.
+ //
+ // NB in this model, units of temp are degrees Celsius, and humid is the water
+ // vapor partial pressure.
+
+ static const double NBRd=287.054; // J/kg/K = m*m*K/s*s
+ static const double NBg=9.80665; // m/s*s
+ static const double NBk1=77.604; // K/mbar
+ static const double NBk3p=382000; // K*K/mbar
+
+ static const double NBLat[5]={ 15.0, 30.0, 45.0, 60.0, 75.0};
+
+ // zenith delays, averages
+ static const double NBZP0[5]={1013.25,1017.25,1015.75,1011.75,1013.00};
+ static const double NBZT0[5]={ 299.65, 294.15, 283.15, 272.15, 263.65};
+ static const double NBZW0[5]={ 26.31, 21.79, 11.66, 6.78, 4.11};
+ static const double NBZB0[5]={6.30e-3,6.05e-3,5.58e-3,5.39e-3,4.53e-3};
+ static const double NBZL0[5]={ 2.77, 3.15, 2.57, 1.81, 1.55};
+
+ // zenith delays, amplitudes
+ static const double NBZPa[5]={ 0.0, -3.75, -2.25, -1.75, -0.50};
+ static const double NBZTa[5]={ 0.0, 7.0, 11.0, 15.0, 14.5};
+ static const double NBZWa[5]={ 0.0, 8.85, 7.24, 5.36, 3.39};
+ static const double NBZBa[5]={ 0.0,0.25e-3,0.32e-3,0.81e-3,0.62e-3};
+ static const double NBZLa[5]={ 0.0, 0.33, 0.46, 0.74, 0.30};
+
+ // mapping function, dry, averages
+ static const double NBMad[5]={1.2769934e-3,1.2683230e-3,1.2465397e-3,1.2196049e-3,
+ 1.2045996e-3};
+ static const double NBMbd[5]={2.9153695e-3,2.9152299e-3,2.9288445e-3,2.9022565e-3,
+ 2.9024912e-3};
+ static const double NBMcd[5]={62.610505e-3,62.837393e-3,63.721774e-3,63.824265e-3,
+ 64.258455e-3};
+
+ // mapping function, dry, amplitudes
+ static const double NBMaa[5]={0.0,1.2709626e-5,2.6523662e-5,3.4000452e-5,
+ 4.1202191e-5};
+ static const double NBMba[5]={0.0,2.1414979e-5,3.0160779e-5,7.2562722e-5,
+ 11.723375e-5};
+ static const double NBMca[5]={0.0,9.0128400e-5,4.3497037e-5,84.795348e-5,
+ 170.37206e-5};
+
+ // mapping function, wet, averages (there are no amplitudes for wet)
+ static const double NBMaw[5]={5.8021897e-4,5.6794847e-4,5.8118019e-4,5.9727542e-4,
+ 6.1641693e-4};
+ static const double NBMbw[5]={1.4275268e-3,1.5138625e-3,1.4572752e-3,1.5007428e-3,
+ 1.7599082e-3};
+ static const double NBMcw[5]={4.3472961e-2,4.6729510e-2,4.3908931e-2,4.4626982e-2,
+ 5.4736038e-2};
+
+ // labels for use with the interpolation routine
+ enum TableEntry { ZP=1, ZT, ZW, ZB, ZL, Mad, Mbd, Mcd, Maw, Mbw, Mcw };
+
+ // the interpolation routine
+ static double NB_Interpolate(double lat, int doy, TableEntry entry)
+ {
+ const double *pave, *pamp;
+ double ret, day=double(doy);
+
+ // assign pointer to the right array
+ switch(entry) {
+ case ZP: pave=&NBZP0[0]; pamp=&NBZPa[0]; break;
+ case ZT: pave=&NBZT0[0]; pamp=&NBZTa[0]; break;
+ case ZW: pave=&NBZW0[0]; pamp=&NBZWa[0]; break;
+ case ZB: pave=&NBZB0[0]; pamp=&NBZBa[0]; break;
+ case ZL: pave=&NBZL0[0]; pamp=&NBZLa[0]; break;
+ case Mad: pave=&NBMad[0]; pamp=&NBMaa[0]; break;
+ case Mbd: pave=&NBMbd[0]; pamp=&NBMba[0]; break;
+ case Mcd: pave=&NBMcd[0]; pamp=&NBMca[0]; break;
+ case Maw: pave=&NBMaw[0]; break;
+ case Mbw: pave=&NBMbw[0]; break;
+ case Mcw: pave=&NBMcw[0]; break;
+ }
+
+ // find the index i such that NBLat[i] <= lat < NBLat[i+1]
+ int i = int(ABS(lat)/15.0)-1;
+
+ if(i>=0 && i<=3) { // mid-latitude -> regular interpolation
+ double m=(ABS(lat)-NBLat[i])/(NBLat[i+1]-NBLat[i]);
+ ret = pave[i]+m*(pave[i+1]-pave[i]);
+ if(entry < Maw)
+ ret -= (pamp[i]+m*(pamp[i+1]-pamp[i]))
+ * std::cos(TWO_PI*(day-28.0)/365.25);
+ }
+ else { // < 15 or > 75 -> simpler interpolation
+ if(i<0) i=0; else i=4;
+ ret = pave[i];
+ if(entry < Maw)
+ ret -= pamp[i]*std::cos(TWO_PI*(day-28.0)/365.25);
+ }
+
+ return ret;
+
+ } // end double NB_Interpolate(lat,doy,entry)
+
+ // Default constructor
+ NBTropModel::NBTropModel(void)
+ {
+ validWeather = false;
+ validRxLatitude = false;
+ validDOY = false;
+ validRxHeight = false;
+ } // end NBTropModel::NBTropModel()
+
+ // Create a trop model using the minimum information: latitude and doy.
+ // Interpolate the weather unless setWeather (optional) is called.
+ // @param lat Latitude of the receiver in degrees.
+ // @param day Day of year.
+ NBTropModel::NBTropModel(const double& lat,
+ const int& day)
+ {
+ validRxHeight = false;
+ setReceiverLatitude(lat);
+ setDayOfYear(day);
+ setWeather();
+ } // end NBTropModel::NBTropModel(lat, day);
+
+ // Create a trop model with weather.
+ // @param lat Latitude of the receiver in degrees.
+ // @param day Day of year.
+ // @param wx the weather to use for this correction.
+ NBTropModel::NBTropModel(const double& lat,
+ const int& day,
+ const WxObservation& wx)
+ throw(InvalidParameter)
+ {
+ validRxHeight = false;
+ setReceiverLatitude(lat);
+ setDayOfYear(day);
+ setWeather(wx);
+ } // end NBTropModel::NBTropModel(weather)
+
+ // Create a tropospheric model from explicit weather data
+ // @param lat Latitude of the receiver in degrees.
+ // @param day Day of year.
+ // @param T temperature in degrees Celsius
+ // @param P atmospheric pressure in millibars
+ // @param H relative humidity in percent
+ NBTropModel::NBTropModel(const double& lat,
+ const int& day,
+ const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter)
+ {
+ validRxHeight = false;
+ setReceiverLatitude(lat);
+ setDayOfYear(day);
+ setWeather(T,P,H);
+ } // end NBTropModel::NBTropModel()
+
+ // Create a valid model from explicit input (weather will be estimated
+ // internally by this model).
+ // @param ht Height of the receiver in meters.
+ // @param lat Latitude of the receiver in degrees.
+ // @param d Day of year.
+ NBTropModel::NBTropModel(const double& ht,
+ const double& lat,
+ const int& day)
+ {
+ setReceiverHeight(ht);
+ setReceiverLatitude(lat);
+ setDayOfYear(day);
+ setWeather();
+ }
+
+ // re-define this to get the throws
+ double NBTropModel::correction(double elevation) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid) {
+ if(!validWeather)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: weather"));
+ if(!validRxLatitude)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: Rx Latitude"));
+ if(!validRxHeight)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: Rx Height"));
+ if(!validDOY)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: day of year"));
+ }
+
+ if(elevation < 0.0) return 0.0;
+
+ return (dry_zenith_delay() * dry_mapping_function(elevation)
+ + wet_zenith_delay() * wet_mapping_function(elevation));
+ } // end NBTropModel::correction(elevation)
+
+ // Compute and return the full tropospheric delay, given the positions of
+ // receiver and satellite and the time tag. This version is most useful
+ // within positioning algorithms, where the receiver position and timetag
+ // may vary; it computes the elevation (and other receiver location
+ // information) and passes them to appropriate set...() routines
+ // and the correction(elevation) routine.
+ // @param RX Receiver position
+ // @param SV Satellite position
+ // @param tt Time tag of the signal
+ double NBTropModel::correction(const Position& RX,
+ const Position& SV,
+ const DayTime& tt)
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid) {
+ if(!validWeather)
+
+ if(!validRxLatitude)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: Rx Latitude"));
+ if(!validRxHeight)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: Rx Height"));
+ if(!validDOY)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: day of year"));
+ }
+
+ // compute height and latitude from RX
+ setReceiverHeight(RX.getHeight());
+ setReceiverLatitude(RX.getGeodeticLatitude());
+
+ // compute day of year from tt
+ setDayOfYear(int(tt.DOYday()));
+
+ return TropModel::correction(RX.elevation(SV));
+
+ } // end NBTropModel::correction(RX,SV,TT)
+
+ // Compute and return the full tropospheric delay, given the positions of
+ // receiver and satellite and the time tag. This version is most useful
+ // within positioning algorithms, where the receiver position and timetag
+ // may vary; it computes the elevation (and other receiver location
+ // information) and passes them to appropriate set...() routines
+ // and the correction(elevation) routine.
+ // @param RX Receiver position in ECEF cartesian coordinates (meters)
+ // @param SV Satellite position in ECEF cartesian coordinates (meters)
+ // @param tt Time tag of the signal
+ // This function is deprecated; use the Position version
+ double NBTropModel::correction(const Xvt& RX,
+ const Xvt& SV,
+ const DayTime& tt)
+ throw(TropModel::InvalidTropModel)
+ {
+ Position R(RX),S(SV);
+ return NBTropModel::correction(R,S,tt);
+ }
+
+ // Compute and return the zenith delay for dry component of the troposphere
+ double NBTropModel::dry_zenith_delay(void) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid) {
+ if(!validWeather)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: weather"));
+ if(!validRxLatitude)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: Rx Latitude"));
+ if(!validRxHeight)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: Rx Height"));
+ if(!validDOY)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: day of year"));
+ }
+ double beta = NB_Interpolate(latitude,doy,ZB);
+ double gm = 9.784*(1.0-2.66e-3*std::cos(2.0*latitude*DEG_TO_RAD)-2.8e-7*height);
+
+ // scale factors for height above mean sea level
+ // if weather is given, assume it's measured at ht -> kw=kd=1
+ double kd=1, base=std::log(1.0-beta*height/temp);
+ if(interpolateWeather)
+ kd = std::exp(base*NBg/(NBRd*beta));
+
+ // compute the zenith delay for dry component
+ return ((1.0e-6*NBk1*NBRd/gm) * kd * press);
+
+ } // end NBTropModel::dry_zenith_delay()
+
+ // Compute and return the zenith delay for wet component of the troposphere
+ double NBTropModel::wet_zenith_delay(void) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid) {
+ if(!validWeather)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: weather"));
+ if(!validRxLatitude)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: Rx Latitude"));
+ if(!validRxHeight)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: Rx Height"));
+ if(!validDOY)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: day of year"));
+ }
+ double beta = NB_Interpolate(latitude,doy,ZB);
+ double lam = NB_Interpolate(latitude,doy,ZL);
+ double gm = 9.784*(1.0-2.66e-3*std::cos(2.0*latitude*DEG_TO_RAD)-2.8e-7*height);
+
+ // scale factors for height above mean sea level
+ // if weather is given, assume it's measured at ht -> kw=kd=1
+ double kw=1, base=std::log(1.0-beta*height/temp);
+ if(interpolateWeather)
+ kw = std::exp(base*(-1.0+(lam+1)*NBg/(NBRd*beta)));
+
+ // compute the zenith delay for wet component
+ return ((1.0e-6*NBk3p*NBRd/(gm*(lam+1)-beta*NBRd)) * kw * humid/temp);
+
+ } // end NBTropModel::wet_zenith_delay()
+
+ // Compute and return the mapping function for dry component
+ // of the troposphere
+ // @param elevation Elevation of satellite as seen at receiver,
+ // in degrees
+ double NBTropModel::dry_mapping_function(double elevation) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid) {
+ if(!validWeather)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: weather"));
+ if(!validRxLatitude)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: Rx Latitude"));
+ if(!validRxHeight)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: Rx Height"));
+ if(!validDOY)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: day of year"));
+ }
+ if(elevation < 0.0) return 0.0;
+
+ double a,b,c,se,map;
+ se = std::sin(elevation*DEG_TO_RAD);
+
+ a = NB_Interpolate(latitude,doy,Mad);
+ b = NB_Interpolate(latitude,doy,Mbd);
+ c = NB_Interpolate(latitude,doy,Mcd);
+ map = (1.0+a/(1.0+b/(1.0+c))) / (se+a/(se+b/(se+c)));
+
+ a = 2.53e-5;
+ b = 5.49e-3;
+ c = 1.14e-3;
+ if(ABS(elevation)<=0.001) se=0.001;
+ map += ((1.0/se)-(1.0+a/(1.0+b/(1.0+c)))/(se+a/(se+b/(se+c))))*height/1000.0;
+
+ return map;
+
+ } // end NBTropModel::dry_mapping_function()
+
+ // Compute and return the mapping function for wet component
+ // of the troposphere
+ // @param elevation Elevation of satellite as seen at receiver,
+ // in degrees
+ double NBTropModel::wet_mapping_function(double elevation) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid) {
+ if(!validWeather)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: weather"));
+ if(!validRxLatitude)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: Rx Latitude"));
+ if(!validRxHeight)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: Rx Height"));
+ if(!validDOY)
+ GPSTK_THROW(InvalidTropModel("Invalid NB trop model: day of year"));
+ }
+ if(elevation < 0.0) return 0.0;
+
+ double a,b,c,se;
+ se = std::sin(elevation*DEG_TO_RAD);
+ a = NB_Interpolate(latitude,doy,Maw);
+ b = NB_Interpolate(latitude,doy,Mbw);
+ c = NB_Interpolate(latitude,doy,Mcw);
+
+ return ( (1.0+a/(1.0+b/(1.0+c))) / (se+a/(se+b/(se+c))) );
+
+ } // end NBTropModel::wet_mapping_function()
+
+ // Re-define the weather data.
+ // If called, typically called before any calls to correction().
+ // @param T temperature in degrees Celsius
+ // @param P atmospheric pressure in millibars
+ // @param H relative humidity in percent
+ void NBTropModel::setWeather(const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter)
+ {
+ interpolateWeather=false;
+ TropModel::setWeather(T,P,H);
+ // humid actually stores water vapor partial pressure
+ double th=300./temp;
+ humid = 2.409e9*H*th*th*th*th*std::exp(-22.64*th);
+ validWeather = true;
+ valid = validWeather && validRxHeight && validRxLatitude && validDOY;
+
+ } // end NBTropModel::setWeather()
+
+ // Re-define the tropospheric model with explicit weather data.
+ // Typically called just before correction().
+ // @param wx the weather to use for this correction
+ void NBTropModel::setWeather(const WxObservation& wx)
+ throw(InvalidParameter)
+ {
+ interpolateWeather = false;
+ try
+ {
+ TropModel::setWeather(wx);
+ // humid actually stores vapor partial pressure
+ double th=300./temp;
+ humid = 2.409e9*humid*th*th*th*th*std::exp(-22.64*th);
+ validWeather = true;
+ valid = validWeather && validRxHeight && validRxLatitude && validDOY;
+ }
+ catch(InvalidParameter& e)
+ {
+ valid = validWeather = false;
+ GPSTK_RETHROW(e);
+ }
+ }
+
+ // configure the model to estimate the weather from the internal model,
+ // using lat and doy
+ void NBTropModel::setWeather()
+ throw(TropModel::InvalidTropModel)
+ {
+ interpolateWeather = true;
+ if(!validRxLatitude)
+ {
+ valid = validWeather = false;
+ GPSTK_THROW(InvalidTropModel(
+ "NBTropModel must have Rx latitude before interpolating weather"));
+ }
+ if(!validDOY)
+ {
+ valid = validWeather = false;
+ GPSTK_THROW(InvalidTropModel(
+ "NBTropModel must have day of year before interpolating weather"));
+ }
+ temp = NB_Interpolate(latitude,doy,ZT);
+ press = NB_Interpolate(latitude,doy,ZP);
+ humid = NB_Interpolate(latitude,doy,ZW);
+ validWeather = true;
+ valid = validWeather && validRxHeight && validRxLatitude && validDOY;
+ }
+
+ // Define the receiver height; this required before calling
+ // correction() or any of the zenith_delay or mapping_function routines.
+ void NBTropModel::setReceiverHeight(const double& ht)
+ {
+ height = ht;
+ validRxHeight = true;
+ valid = validWeather && validRxHeight && validRxLatitude && validDOY;
+ if(!validWeather && validRxLatitude && validDOY)
+ setWeather();
+ } // end NBTropModel::setReceiverHeight()
+
+ // Define the latitude of the receiver; this is required before calling
+ // correction() or any of the zenith_delay or mapping_function routines.
+ void NBTropModel::setReceiverLatitude(const double& lat)
+ {
+ latitude = lat;
+ validRxLatitude = true;
+ valid = validWeather && validRxHeight && validRxLatitude && validDOY;
+ if(!validWeather && validRxLatitude && validDOY)
+ setWeather();
+ } // end NBTropModel::setReceiverLatitude(lat)
+
+ // Define the day of year; this is required before calling
+ // correction() or any of the zenith_delay or mapping_function routines.
+ void NBTropModel::setDayOfYear(const int& d)
+ {
+ doy = d;
+ if(doy > 0 && doy < 367) validDOY=true; else validDOY = false;
+ valid = validWeather && validRxHeight && validRxLatitude && validDOY;
+ if(!validWeather && validRxLatitude && validDOY)
+ setWeather();
+ } // end NBTropModel::setDayOfYear(doy)
+
+ // -------------------------------------------------------------------------------
+ // Saastamoinen tropospheric model based on Saastamoinen, J., 'Atmospheric
+ // Correction for the Troposphere and Stratosphere in Radio Ranging of
+ // Satellites,' Geophysical Monograph 15, American Geophysical Union, 1972,
+ // and Ch. 9 of McCarthy, D. and Petit, G., IERS Conventions (2003), IERS
+ // Technical Note 32, IERS, 2004. The mapping functions are from
+ // Neill, A.E., 1996, 'Global Mapping Functions for the Atmosphere Delay of
+ // Radio Wavelengths,' J. Geophys. Res., 101, pp. 3227-3246 (also see IERS TN 32).
+ //
+ // This model includes a wet and dry component, and requires input of the
+ // geodetic latitude, day of year and height above the ellipsoid of the receiver.
+ //
+ // Usually, the caller will set the latitude and day of year at the same
+ // time the weather is set
+ // SaasTropModel stm;
+ // stm.setReceiverLatitude(lat);
+ // stm.setDayOfYear(doy);
+ // stm.setWeather(T,P,H);
+ // Then, when the correction (and/or delay and map) is computed, receiver height
+ // should be set before the call to correction(elevation):
+ // stm.setReceiverHeight(height);
+ // trop_corr = stm.correction(elevation);
+ //
+ // NB in this model, units of 'temp' are degrees Celcius and
+ // humid actually stores water vapor partial pressure in mbars
+ //
+
+ // constants for wet mapping function
+ static const double SaasWetA[5]=
+ { 0.00058021897, 0.00056794847, 0.00058118019, 0.00059727542, 0.00061641693 };
+ static const double SaasWetB[5]=
+ { 0.0014275268, 0.0015138625, 0.0014572752, 0.0015007428, 0.0017599082 };
+ static const double SaasWetC[5]=
+ { 0.043472961, 0.046729510, 0.043908931, 0.044626982, 0.054736038 };
+
+ // constants for dry mapping function
+ static const double SaasDryA[5]=
+ { 0.0012769934, 0.0012683230, 0.0012465397, 0.0012196049, 0.0012045996 };
+ static const double SaasDryB[5]=
+ { 0.0029153695, 0.0029152299, 0.0029288445, 0.0029022565, 0.0029024912 };
+ static const double SaasDryC[5]=
+ { 0.062610505, 0.062837393, 0.063721774, 0.063824265, 0.064258455 };
+
+ static const double SaasDryA1[5]=
+ { 0.0, 0.000012709626, 0.000026523662, 0.000034000452, 0.000041202191 };
+ static const double SaasDryB1[5]=
+ { 0.0, 0.000021414979, 0.000030160779, 0.000072562722, 0.00011723375 };
+ static const double SaasDryC1[5]=
+ { 0.0, 0.000090128400, 0.000043497037, 0.00084795348, 0.0017037206 };
+
+ // Default constructor
+ SaasTropModel::SaasTropModel(void)
+ {
+ validWeather = false;
+ validRxLatitude = false;
+ validDOY = false;
+ validRxHeight = false;
+ } // end SaasTropModel::SaasTropModel()
+
+ // Create a trop model using the minimum information: latitude and doy.
+ // Interpolate the weather unless setWeather (optional) is called.
+ // @param lat Latitude of the receiver in degrees.
+ // @param day Day of year.
+ SaasTropModel::SaasTropModel(const double& lat,
+ const int& day)
+ {
+ validWeather = false;
+ validRxHeight = false;
+ SaasTropModel::setReceiverLatitude(lat);
+ SaasTropModel::setDayOfYear(day);
+ } // end SaasTropModel::SaasTropModel
+
+ // Create a trop model with weather.
+ // @param lat Latitude of the receiver in degrees.
+ // @param day Day of year.
+ // @param wx the weather to use for this correction.
+ SaasTropModel::SaasTropModel(const double& lat,
+ const int& day,
+ const WxObservation& wx)
+ throw(InvalidParameter)
+ {
+ validRxHeight = false;
+ SaasTropModel::setReceiverLatitude(lat);
+ SaasTropModel::setDayOfYear(day);
+ SaasTropModel::setWeather(wx);
+ } // end SaasTropModel::SaasTropModel(weather)
+
+ // Create a tropospheric model from explicit weather data
+ // @param lat Latitude of the receiver in degrees.
+ // @param day Day of year.
+ // @param T temperature in degrees Celsius
+ // @param P atmospheric pressure in millibars
+ // @param H relative humidity in percent
+ SaasTropModel::SaasTropModel(const double& lat,
+ const int& day,
+ const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter)
+ {
+ validRxHeight = false;
+ SaasTropModel::setReceiverLatitude(lat);
+ SaasTropModel::setDayOfYear(day);
+ SaasTropModel::setWeather(T,P,H);
+ } // end SaasTropModel::SaasTropModel()
+
+ // re-define this to get the throws correct
+ double SaasTropModel::correction(double elevation) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid) {
+ if(!validWeather) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: weather"));
+ if(!validRxLatitude) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: Rx Latitude"));
+ if(!validRxHeight) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: Rx Height"));
+ if(!validDOY) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: day of year"));
+ GPSTK_THROW(
+ InvalidTropModel("Valid flag corrupted in Saastamoinen trop model"));
+ }
+
+ if(elevation < 0.0) return 0.0;
+
+ double corr=0.0;
+ try {
+ corr = (dry_zenith_delay() * dry_mapping_function(elevation)
+ + wet_zenith_delay() * wet_mapping_function(elevation));
+ }
+ catch(Exception& e) { GPSTK_RETHROW(e); }
+
+ return corr;
+
+ } // end SaasTropModel::correction(elevation)
+
+ // Compute and return the full tropospheric delay, given the positions of
+ // receiver and satellite and the time tag. This version is most useful
+ // within positioning algorithms, where the receiver position and timetag
+ // may vary; it computes the elevation (and other receiver location
+ // information) and passes them to appropriate set...() routines
+ // and the correction(elevation) routine.
+ // @param RX Receiver position
+ // @param SV Satellite position
+ // @param tt Time tag of the signal
+ double SaasTropModel::correction(const Position& RX,
+ const Position& SV,
+ const DayTime& tt)
+ throw(TropModel::InvalidTropModel)
+ {
+ SaasTropModel::setReceiverHeight(RX.getHeight());
+ SaasTropModel::setReceiverLatitude(RX.getGeodeticLatitude());
+ SaasTropModel::setDayOfYear(int(tt.DOYday()));
+
+ if(!valid) {
+ if(!validWeather) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: weather"));
+ if(!validRxLatitude) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: Rx Latitude"));
+ if(!validRxHeight) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: Rx Height"));
+ if(!validDOY) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: day of year"));
+ valid = true;
+ }
+
+ double corr=0.0;
+ try {
+ corr = SaasTropModel::correction(RX.elevation(SV));
+ }
+ catch(Exception& e) { GPSTK_RETHROW(e); }
+
+ return corr;
+
+ } // end SaasTropModel::correction(RX,SV,TT)
+
+ double SaasTropModel::correction(const Xvt& RX,
+ const Xvt& SV,
+ const DayTime& tt)
+ throw(TropModel::InvalidTropModel)
+ {
+ Position R(RX),S(SV);
+ return SaasTropModel::correction(R,S,tt);
+ }
+
+ // Compute and return the zenith delay for dry component of the troposphere
+ double SaasTropModel::dry_zenith_delay(void) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid) {
+ if(!validWeather) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: weather"));
+ if(!validRxLatitude) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: Rx Latitude"));
+ if(!validRxHeight) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: Rx Height"));
+ if(!validDOY) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: day of year"));
+ GPSTK_THROW(
+ InvalidTropModel("Valid flag corrupted in Saastamoinen trop model"));
+ }
+
+ // correct pressure for height
+ double press_at_h =
+ press * std::pow((temp+273.16-4.5*height/1000.0)/(temp+273.16),34.1/4.5);
+ // humid is zero for the dry component
+ double delay = 0.0022768 * press_at_h
+ / (1 - 0.00266 * ::cos(2*latitude*DEG_TO_RAD) - 0.00028 * height/1000.);
+
+ return delay;
+
+ } // end SaasTropModel::dry_zenith_delay()
+
+ // Compute and return the zenith delay for wet component of the troposphere
+ double SaasTropModel::wet_zenith_delay(void) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid) {
+ if(!validWeather) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: weather"));
+ if(!validRxLatitude) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: Rx Latitude"));
+ if(!validRxHeight) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: Rx Height"));
+ if(!validDOY) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: day of year"));
+ GPSTK_THROW(
+ InvalidTropModel("Valid flag corrupted in Saastamoinen trop model"));
+ }
+
+ // press is zero for the wet component
+ double delay = 0.0022768 * humid * 1255/(temp+273.20)
+ / (1 - 0.00266 * ::cos(2*latitude*DEG_TO_RAD) - 0.00028 * height/1000.);
+
+ return delay;
+
+ } // end SaasTropModel::wet_zenith_delay()
+
+ // Compute and return the mapping function for dry component of the troposphere
+ // @param elevation Elevation of satellite as seen at receiver, in degrees
+ double SaasTropModel::dry_mapping_function(double elevation) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid) {
+ if(!validWeather) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: weather"));
+ if(!validRxLatitude) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: Rx Latitude"));
+ if(!validRxHeight) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: Rx Height"));
+ if(!validDOY) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: day of year"));
+ GPSTK_THROW(
+ InvalidTropModel("Valid flag corrupted in Saastamoinen trop model"));
+ }
+ if(elevation < 0.0) return 0.0;
+
+ double lat,t,ct;
+ lat = fabs(latitude); // degrees
+ t = doy - 28.; // mid-winter
+ if(latitude < 0) // southern hemisphere
+ t += 365.25/2.;
+ t *= 360.0/365.25; // convert to degrees
+ ct = ::cos(t*DEG_TO_RAD);
+
+ double a,b,c;
+ if(lat < 15.) {
+ a = SaasDryA[0];
+ b = SaasDryB[0];
+ c = SaasDryC[0];
+ }
+ else if(lat < 75.) { // coefficients are for 15,30,45,60,75 deg
+ int i=int(lat/15.0)-1;
+ double frac=(lat-15.*(i+1))/15.;
+ a = SaasDryA[i] + frac*(SaasDryA[i+1]-SaasDryA[i]);
+ b = SaasDryB[i] + frac*(SaasDryB[i+1]-SaasDryB[i]);
+ c = SaasDryC[i] + frac*(SaasDryC[i+1]-SaasDryC[i]);
+
+ a -= ct * (SaasDryA1[i] + frac*(SaasDryA1[i+1]-SaasDryA1[i]));
+ b -= ct * (SaasDryB1[i] + frac*(SaasDryB1[i+1]-SaasDryB1[i]));
+ c -= ct * (SaasDryC1[i] + frac*(SaasDryC1[i+1]-SaasDryC1[i]));
+ }
+ else {
+ a = SaasDryA[4] - ct * SaasDryA1[4];
+ b = SaasDryB[4] - ct * SaasDryB1[4];
+ c = SaasDryC[4] - ct * SaasDryC1[4];
+ }
+
+ double se = ::sin(elevation*DEG_TO_RAD);
+ double map = (1.+a/(1.+b/(1.+c)))/(se+a/(se+b/(se+c)));
+
+ a = 0.0000253;
+ b = 0.00549;
+ c = 0.00114;
+ map += (height/1000.0)*(1./se-(1+a/(1.+b/(1.+c)))/(se+a/(se+b/(se+c))));
+
+ return map;
+
+ } // end SaasTropModel::dry_mapping_function()
+
+ // Compute and return the mapping function for wet component of the troposphere
+ // @param elevation Elevation of satellite as seen at receiver, in degrees.
+ double SaasTropModel::wet_mapping_function(double elevation) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid) {
+ if(!validWeather) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: weather"));
+ if(!validRxLatitude) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: Rx Latitude"));
+ if(!validRxHeight) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: Rx Height"));
+ if(!validDOY) GPSTK_THROW(
+ InvalidTropModel("Invalid Saastamoinen trop model: day of year"));
+ GPSTK_THROW(
+ InvalidTropModel("Valid flag corrupted in Saastamoinen trop model"));
+ }
+ if(elevation < 0.0) return 0.0;
+
+ double a,b,c,lat;
+ lat = fabs(latitude); // degrees
+ if(lat < 15.) {
+ a = SaasWetA[0];
+ b = SaasWetB[0];
+ c = SaasWetC[0];
+ }
+ else if(lat < 75.) { // coefficients are for 15,30,45,60,75 deg
+ int i=int(lat/15.0)-1;
+ double frac=(lat-15.*(i+1))/15.;
+ a = SaasWetA[i] + frac*(SaasWetA[i+1]-SaasWetA[i]);
+ b = SaasWetB[i] + frac*(SaasWetB[i+1]-SaasWetB[i]);
+ c = SaasWetC[i] + frac*(SaasWetC[i+1]-SaasWetC[i]);
+ }
+ else {
+ a = SaasWetA[4];
+ b = SaasWetB[4];
+ c = SaasWetC[4];
+ }
+
+ double se = ::sin(elevation*DEG_TO_RAD);
+ double map = (1.+a/(1.+b/(1.+c)))/(se+a/(se+b/(se+c)));
+
+ return map;
+
+ } // end SaasTropModel::wet_mapping_function()
+
+ // Re-define the weather data.
+ // If called, typically called before any calls to correction().
+ // @param T temperature in degrees Celsius
+ // @param P atmospheric pressure in millibars
+ // @param H relative humidity in percent
+ void SaasTropModel::setWeather(const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter)
+ {
+ temp = T;
+ press = P;
+ // humid actually stores water vapor partial pressure
+ double exp=7.5*T/(T+237.3);
+ humid = 6.11 * (H/100.) * std::pow(10.0,exp);
+
+ validWeather = true;
+ valid = (validWeather && validRxHeight && validRxLatitude && validDOY);
+
+ } // end SaasTropModel::setWeather()
+
+ // Re-define the tropospheric model with explicit weather data.
+ // Typically called just before correction().
+ // @param wx the weather to use for this correction
+ void SaasTropModel::setWeather(const WxObservation& wx)
+ throw(InvalidParameter)
+ {
+ try
+ {
+ SaasTropModel::setWeather(wx.temperature,wx.pressure,wx.humidity);
+ }
+ catch(InvalidParameter& e)
+ {
+ valid = validWeather = false;
+ GPSTK_RETHROW(e);
+ }
+ }
+
+ // Define the receiver height; this required before calling
+ // correction() or any of the zenith_delay or mapping_function routines.
+ void SaasTropModel::setReceiverHeight(const double& ht)
+ {
+ height = ht;
+ validRxHeight = true;
+ valid = (validWeather && validRxHeight && validRxLatitude && validDOY);
+ } // end SaasTropModel::setReceiverHeight()
+
+ // Define the latitude of the receiver; this is required before calling
+ // correction() or any of the zenith_delay or mapping_function routines.
+ void SaasTropModel::setReceiverLatitude(const double& lat)
+ {
+ latitude = lat;
+ validRxLatitude = true;
+ valid = (validWeather && validRxHeight && validRxLatitude && validDOY);
+ } // end SaasTropModel::setReceiverLatitude(lat)
+
+ // Define the day of year; this is required before calling
+ // correction() or any of the zenith_delay or mapping_function routines.
+ void SaasTropModel::setDayOfYear(const int& d)
+ {
+ doy = d;
+ if(doy > 0 && doy < 367) validDOY=true; else validDOY = false;
+ valid = (validWeather && validRxHeight && validRxLatitude && validDOY);
+ } // end SaasTropModel::setDayOfYear(doy)
+
+
+ //-----------------------------------------------------------------------------
+ // GCAT model.
+
+ // Constructor to create a GCAT trop model providing the height of the receiver
+ // above mean sea level (as defined by ellipsoid model).
+ //
+ // @param ht Height of the receiver above mean sea level, in meters.
+ GCATTropModel::GCATTropModel(const double& ht)
+ {
+ setReceiverHeight(ht);
+ valid = true;
+ }
+
+
+ // Compute and return the full tropospheric delay. The receiver height must
+ // has been provided before, whether using the appropriate constructor of
+ // with the setReceiverHeight() method
+ // @param elevation Elevation of satellite as seen at receiver, in degrees
+ double GCATTropModel::correction(double elevation) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid) throw InvalidTropModel("Invalid model");
+ if(elevation < 5.0) return 0.0;
+ return ((dry_zenith_delay() + wet_zenith_delay()) * mapping_function(elevation));
+ } // end GCATTropModel::correction(elevation)
+
+
+ // Compute and return the full tropospheric delay, given the positions of
+ // receiver and satellite. This version is most useful within positioning algorithms,
+ // where the receiver position may vary; it computes the elevation and the receiver
+ // height and passes them to appropriate set...() routines and the
+ // correction(elevation) routine.
+ // @param RX Receiver position in ECEF cartesian coordinates (meters)
+ // @param SV Satellite position in ECEF cartesian coordinates (meters)
+ double GCATTropModel::correction(const Position& RX,
+ const Position& SV)
+ throw(TropModel::InvalidTropModel)
+ {
+ try
+ {
+ setReceiverHeight( RX.getAltitude() );
+ }
+ catch(GeometryException& e)
+ {
+ valid = false;
+ }
+
+ if(!valid) throw InvalidTropModel("Invalid model");
+ double c;
+ try
+ {
+ c = correction(RX.elevationGeodetic(SV));
+ }
+ catch(InvalidTropModel& e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ return c;
+ } // end GCATTropModel::correction(RX,SV,TT)
+
+
+ // Compute and return the full tropospheric delay, given the positions of
+ // receiver and satellite and the time tag. This version is most useful
+ // within positioning algorithms, where the receiver position and timetag
+ // may vary; it computes the elevation (and other receiver location information)
+ // and passes them to appropriate set...() routines and the
+ // correction(elevation) routine.
+ // @param RX Receiver position in ECEF cartesian coordinates (meters)
+ // @param SV Satellite position in ECEF cartesian coordinates (meters)
+ // @param tt Time. In this model, tt is a dummy parameter kept only for consistency
+ // This function is deprecated; use the Position version
+ double GCATTropModel::correction(const Xvt& RX,
+ const Xvt& SV,
+ const DayTime& tt)
+ throw(TropModel::InvalidTropModel)
+ {
+ Position R(RX),S(SV);
+ return GCATTropModel::correction(R,S);
+ } // end GCATTropModel::correction(RX,SV,tt)
+
+
+ // Compute and return the zenith delay for the dry component of the troposphere
+ double GCATTropModel::dry_zenith_delay(void) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid) throw InvalidTropModel("Invalid model");
+ double ddry;
+ ddry = std::pow(2.3, (-0.000116 * gcatHeight) );
+ return ddry;
+ } // end GCATTropModel::dry_zenith_delay()
+
+
+ // Compute and return the mapping function of the troposphere
+ // @param elevation is the Elevation of satellite as seen at receiver,
+ // in degrees
+ double GCATTropModel::mapping_function(double elevation) const
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!valid) throw InvalidTropModel("Invalid model");
+ if(elevation < 5.0) return 0.0;
+
+ double d = std::sin(elevation*DEG_TO_RAD);
+ d = SQRT(0.002001+(d*d));
+ return (1.001/d);
+ } // end GCATTropModel::mapping_function(elevation)
+
+
+ // Define the receiver height; this is required before calling
+ // correction() or any of the zenith_delay or mapping_function routines.
+ // @param ht Height of the receiver above mean sea level, in meters.
+ void GCATTropModel::setReceiverHeight(const double& ht)
+ {
+ gcatHeight = ht;
+ valid = true;
+ }
+
+ //----------------------------------------------------------------------------
+ // MOPS model.
+
+ // Some specific constants
+ static const double MOPSg=9.80665;
+ static const double MOPSgm=9.784;
+ static const double MOPSk1=77.604;
+ static const double MOPSk2=382000.0;
+ static const double MOPSRd=287.054;
+
+ // Compute and return the full tropospheric delay. The receiver height,
+ // latitude and Day oy Year must has been set before using the
+ // appropriate constructor or the provided methods.
+ // @param elevation Elevation of satellite as seen at receiver, in degrees
+ double MOPSTropModel::correction(double elevation) const throw(TropModel::InvalidTropModel)
+ {
+ if(!valid) {
+ if(!validLat)
+ throw InvalidTropModel("Invalid MOPS trop model: Rx Latitude");
+ if(!validHeight)
+ throw InvalidTropModel("Invalid MOPS trop model: Rx Height");
+ if(!validTime)
+ throw InvalidTropModel("Invalid MOPS trop model: day of year");
+ }
+
+ if(elevation < 5.0) return 0.0;
+
+ double map = MOPSTropModel::mapping_function(elevation);
+
+ // Compute tropospheric delay
+ double tropDelay = (MOPSTropModel::dry_zenith_delay() + MOPSTropModel::wet_zenith_delay()) * map;
+
+ return tropDelay;
+
+ } // end MOPSTropModel::correction(elevation)
+
+
+ // Compute and return the full tropospheric delay, given the positions of
+ // receiver and satellite. This version is most useful within positioning
+ // algorithms, where the receiver position may vary; it computes the elevation
+ // (and other receiver location information as height and latitude) and passes
+ // them to appropriate methods. You must set time using method setDayOfYear()
+ // before calling this method.
+ // @param RX Receiver position
+ // @param SV Satellite position
+ double MOPSTropModel::correction(const Position& RX,
+ const Position& SV)
+ throw(TropModel::InvalidTropModel)
+ {
+ try
+ {
+ setReceiverHeight( RX.getAltitude() );
+ setReceiverLatitude(RX.getGeodeticLatitude());
+ setWeather();
+ }
+ catch(GeometryException& e)
+ {
+ valid = false;
+ }
+
+ if(!valid) throw InvalidTropModel("Invalid model");
+ double c;
+ try
+ {
+ c = MOPSTropModel::correction(RX.elevationGeodetic(SV));
+ }
+ catch(InvalidTropModel& e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ return c;
+ } // end MOPSTropModel::correction(RX,SV)
+
+
+ // Compute and return the full tropospheric delay, given the positions of
+ // receiver and satellite and the time tag. This version is most useful
+ // within positioning algorithms, where the receiver position may vary; it
+ // computes the elevation (and other receiver location information as height
+ // and latitude) and passes them to appropriate methods.
+ // @param RX Receiver position in ECEF cartesian coordinates (meters)
+ // @param SV Satellite position in ECEF cartesian coordinates (meters)
+ // @param tt Time (DayTime object).
+ double MOPSTropModel::correction(const Position& RX,
+ const Position& SV,
+ const DayTime& tt)
+ throw(TropModel::InvalidTropModel)
+ {
+ setDayOfYear(tt);
+ return MOPSTropModel::correction(RX,SV);
+ } // end MOPSTropModel::correction(RX,SV,TT)
+
+
+ // Compute and return the full tropospheric delay, given the positions of
+ // receiver and satellite and the day of the year. This version is most useful
+ // within positioning algorithms, where the receiver position may vary; it
+ // computes the elevation (and other receiver location information as height
+ // and latitude) and passes them to appropriate methods.
+ // @param RX Receiver position in ECEF cartesian coordinates (meters)
+ // @param SV Satellite position in ECEF cartesian coordinates (meters)
+ // @param doy Day of year.
+ double MOPSTropModel::correction(const Position& RX,
+ const Position& SV,
+ const int& doy)
+ throw(TropModel::InvalidTropModel)
+ {
+ setDayOfYear(doy);
+ return MOPSTropModel::correction(RX,SV);
+ } // end MOPSTropModel::correction(RX,SV,doy)
+
+
+
+ // deprecated
+ // Compute and return the full tropospheric delay, given the positions of
+ // receiver and satellite. . You must set time using method setDayOfYear()
+ // before calling this method.
+ // @param RX Receiver position in ECEF cartesian coordinates (meters)
+ // @param SV Satellite position in ECEF cartesian coordinates (meters)
+ // This function is deprecated; use the Position version
+ double MOPSTropModel::correction(const Xvt& RX,
+ const Xvt& SV)
+ throw(TropModel::InvalidTropModel)
+ {
+ Position R(RX),S(SV);
+ return MOPSTropModel::correction(R,S);
+ } // end MOPSTropModel::correction(RX,SV)
+
+
+ // deprecated
+ // Compute and return the full tropospheric delay, given the positions of
+ // receiver and satellite and the time tag. This version is most useful
+ // within positioning algorithms, where the receiver position may vary; it
+ // computes the elevation (and other receiver location information as height
+ // and latitude) and passes them to appropriate methods.
+ // @param RX Receiver position in ECEF cartesian coordinates (meters)
+ // @param SV Satellite position in ECEF cartesian coordinates (meters)
+ // @param tt Time (DayTime object).
+ // This function is deprecated; use the Position version
+ double MOPSTropModel::correction(const Xvt& RX,
+ const Xvt& SV,
+ const DayTime& tt)
+ throw(TropModel::InvalidTropModel)
+ {
+ setDayOfYear(tt);
+ Position R(RX),S(SV);
+ return MOPSTropModel::correction(R,S);
+ } // end MOPSTropModel::correction(RX,SV,tt)
+
+
+ // deprecated
+ // Compute and return the full tropospheric delay, given the positions of
+ // receiver and satellite and the day of the year. This version is most useful
+ // within positioning algorithms, where the receiver position may vary; it
+ // computes the elevation (and other receiver location information as height
+ // and latitude) and passes them to appropriate methods.
+ // @param RX Receiver position in ECEF cartesian coordinates (meters)
+ // @param SV Satellite position in ECEF cartesian coordinates (meters)
+ // @param doy Day of year.
+ // This function is deprecated; use the Position version
+ double MOPSTropModel::correction(const Xvt& RX,
+ const Xvt& SV,
+ const int& doy)
+ throw(TropModel::InvalidTropModel)
+ {
+ setDayOfYear(doy);
+ Position R(RX),S(SV);
+ return MOPSTropModel::correction(R,S);
+ } // end MOPSTropModel::correction(RX,SV,doy)
+
+
+ // Compute and return the zenith delay for the dry component of the troposphere
+ double MOPSTropModel::dry_zenith_delay(void) const
+ throw(TropModel::InvalidTropModel)
+ {
+
+ if(!valid) throw InvalidTropModel("Invalid model");
+ double ddry, zh_dry, exponent;
+
+ // Set the extra parameters
+ double P = MOPSParameters(0);
+ double T = MOPSParameters(1);
+ double beta = MOPSParameters(3);
+
+ // Zero-altitude dry zenith delay:
+ zh_dry = 0.000001*(MOPSk1*MOPSRd)*P/MOPSgm;
+
+ // Zenith delay terms at MOPSHeight meters of height above mean sea level
+ exponent = MOPSg/MOPSRd/beta;
+ ddry = zh_dry * std::pow( (1.0 - beta*MOPSHeight/T), exponent );
+
+ return ddry;
+ } // end MOPSTropModel::dry_zenith_delay()
+
+
+ // Compute and return the zenith delay for the wet component of the troposphere
+ double MOPSTropModel::wet_zenith_delay(void) const
+ throw(TropModel::InvalidTropModel)
+ {
+
+ if(!valid) throw InvalidTropModel("Invalid model");
+ double dwet, zh_wet, exponent;
+
+ // Set the extra parameters
+ double T = MOPSParameters(1);
+ double e = MOPSParameters(2);
+ double beta = MOPSParameters(3);
+ double lambda = MOPSParameters(4);
+
+ // Zero-altitude wet zenith delay:
+ zh_wet = (0.000001*MOPSk2)*MOPSRd/(MOPSgm*(lambda+1.0)-beta*MOPSRd)*e/T;
+
+ // Zenith delay terms at MOPSHeight meters of height above mean sea level
+ exponent = ( (lambda+1.0)*MOPSg/MOPSRd/beta)-1.0;
+ dwet= zh_wet * std::pow( (1.0 - beta*MOPSHeight/T), exponent );
+
+ return dwet;
+ } // end MOPSTropModel::wet_zenith_delay()
+
+
+ // This method configure the model to estimate the weather using height,
+ // latitude and day of year (DOY). It is called automatically when setting
+ // those parameters.
+ void MOPSTropModel::setWeather()
+ throw(TropModel::InvalidTropModel)
+ {
+ if(!validLat)
+ {
+ valid = false;
+ throw InvalidTropModel(
+ "MOPSTropModel must have Rx latitude before computing weather");
+ }
+ if(!validTime)
+ {
+ valid = false;
+ throw InvalidTropModel(
+ "MOPSTropModel must have day of year before computing weather");
+ }
+
+ // In order to compute tropospheric delay we need to compute some extra parameters
+ try
+ {
+ prepareParameters();
+ }
+ catch(InvalidTropModel& e)
+ {
+ GPSTK_RETHROW(e);
+ }
+
+ valid = validHeight && validLat && validTime;
+ }
+
+
+ // Compute and return the sigma-squared value of tropospheric delay residual
+ // error (meters^2)
+ // @param elevation is the Elevation of satellite as seen at receiver,
+ // in degrees
+ double MOPSTropModel::MOPSsigma2(double elevation)
+ throw(TropModel::InvalidTropModel)
+ {
+
+ double map_f;
+
+ // If elevation is below bounds, fail in a sensible way returning a
+ // very big sigma value
+ if(elevation < 5.0)
+ {
+ return 9.9e9;
+ }
+ else
+ {
+ map_f = MOPSTropModel::mapping_function(elevation);
+ }
+
+ // Compute residual error for tropospheric delay
+ double MOPSsigma2trop = (0.12*map_f)*(0.12*map_f);
+
+ return MOPSsigma2trop;
+ } // end MOPSTropModel::MOPSsigma(elevation)
+
+
+
+
+
+ // The MOPS tropospheric model needs to compute several extra parameters
+ void MOPSTropModel::prepareParameters(void)
+ throw(TropModel::InvalidTropModel)
+ {
+
+ if(!valid) throw InvalidTropModel("Invalid model");
+
+ try
+ {
+ // We need to read some data
+ prepareTables();
+
+ // Declare some variables
+ int idmin, j, index;
+ double fact, axfi;
+ Vector<double> avr0(5);
+ Vector<double> svr0(5);
+
+ // Resize MOPSParameters as appropriate
+ MOPSParameters.resize(5);
+
+ if (MOPSLat >= 0.0) {
+ idmin = 28;
+ } else {
+ idmin = 211;
+ }
+
+ // Fraction of the year in radians
+ fact = 2.0*PI*((double)(MOPSTime-idmin))/365.25;
+
+ axfi = ABS(MOPSLat);
+
+ if (axfi <= 15.0) index=0;
+ if ((axfi > 15.0) && (axfi <= 30.0)) index=1;
+ if ((axfi > 30.0) && (axfi <= 45.0)) index=2;
+ if ((axfi > 45.0) && (axfi <= 60.0)) index=3;
+ if ((axfi > 60.0) && (axfi <= 75.0)) index=4;
+ if (axfi > 75.0) index=5;
+
+ for (j=0; j<5; j++)
+ {
+ if (index == 0) {
+ avr0(j)=avr(index,j);
+ svr0(j)=svr(index,j);
+ } else {
+ if (index < 5) {
+ avr0(j)=avr(index-1,j)+(avr(index,j)-avr(index-1,j))*(axfi-fi0(index-1))/(fi0(index)-fi0(index-1));
+ svr0(j)=svr(index-1,j)+(svr(index,j)-svr(index-1,j))*(axfi-fi0(index-1))/(fi0(index)-fi0(index-1));
+ } else {
+ avr0(j)=avr(index-1,j);
+ svr0(j)=svr(index-1,j);
+ }
+ }
+ MOPSParameters(j) = avr0(j)-svr0(j)*std::cos(fact);
+ }
+
+ } // end try
+ catch (...)
+ {
+ InvalidTropModel e("Problem computing extra MOPS parameters.");
+ GPSTK_RETHROW(e);
+ }
+ } // end MOPSTropModel::prepareParameters()
+
+
+} // end namespace gpstk
diff --git a/dev/src/TropModel.hpp b/dev/src/TropModel.hpp
new file mode 100644
index 0000000..e99e2d7
--- /dev/null
+++ b/dev/src/TropModel.hpp
@@ -0,0 +1,1435 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef TROPOSPHERIC_MODELS_GPSTK
+#define TROPOSPHERIC_MODELS_GPSTK
+
+/**
+ * @file TropModel.hpp
+ * Base class for tropospheric models, plus implementations
+ * of several published models
+ */
+
+#include "Exception.hpp"
+#include "ObsEpochMap.hpp"
+#include "WxObsMap.hpp"
+#include "Xvt.hpp"
+#include "Position.hpp"
+#include "Matrix.hpp"
+
+
+// Model of the troposphere, used to compute non-dispersive delay of
+// satellite signal as function of satellite elevation as seen at the
+// receiver. Both wet and dry components are computed.
+//
+// The default model (implemented here) is a simple Black model.
+//
+// In this model (and many others), the wet and dry components are
+// independent, the zenith delays depend only on the weather
+// (temperature, pressure and humidity), and the mapping functions
+// depend only on the elevation of the satellite as seen at the
+// receiver. In general, this is not true; other models depend on,
+// for example, latitude or day of year.
+//
+// Other models may be implemented by inheriting this class and
+// redefining the virtual functions, and (perhaps) adding other
+// 'set...()' routines as needed.
+
+namespace gpstk
+{
+ /** @addtogroup GPSsolutions */
+ //@{
+
+ /** Abstract base class for tropospheric models.
+ * The wet and dry components of the tropospheric delay are each the
+ * product of a zenith delay and a mapping function. Usually the zenith
+ * delay depends only on the weather (temperature, pressure and humidity),
+ * while the mapping function depends only on the satellite elevation, i.e.
+ * the geometry of satellite and receiver. This may not be true in complex
+ * models.
+ * The full tropospheric delay is the sum of the wet and dry components.
+ * A TropModel is valid only when all the necessary information
+ * (weather + whatever else the model requires) is specified;
+ * An InvalidTropModel exception will be thrown when any correction()
+ * or zenith_delay() or mapping_function() routine is called for
+ * an invalid TropModel.
+ */
+ class TropModel
+ {
+ public:
+ /// Thrown when attempting to use a model for which all necessary
+ /// parameters have not been specified.
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(InvalidTropModel, gpstk::Exception);
+
+ /// Destructor
+ virtual ~TropModel() {}
+
+ /// Return validity of model
+ bool isValid(void)
+ { return valid; }
+
+ /// Compute and return the full tropospheric delay
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double correction(double elevation) const
+ throw(InvalidTropModel);
+
+ /**
+ * Compute and return the full tropospheric delay, given the positions of
+ * receiver and satellite and the time tag. This version is most useful
+ * within positioning algorithms, where the receiver position and timetag
+ * may vary; it computes the elevation (and other receiver location
+ * information) and passes them to appropriate set...() routines and the
+ * correction(elevation) routine.
+ * @param RX Receiver position
+ * @param SV Satellite position
+ * @param tt Time tag of the signal
+ */
+ virtual double correction(const Position& RX,
+ const Position& SV,
+ const DayTime& tt)
+ throw(InvalidTropModel);
+
+ /** \deprecated
+ * Compute and return the full tropospheric delay, given the positions of
+ * receiver and satellite and the time tag. This version is most useful
+ * within positioning algorithms, where the receiver position and timetag
+ * may vary; it computes the elevation (and other receiver location
+ * information) and passes them to appropriate set...() routines and the
+ * correction(elevation) routine.
+ * @param RX Receiver position in ECEF cartesian coordinates (meters)
+ * @param SV Satellite position in ECEF cartesian coordinates (meters)
+ * @param tt Time tag of the signal
+ */
+ virtual double correction(const Xvt& RX,
+ const Xvt& SV,
+ const DayTime& tt)
+ throw(InvalidTropModel)
+ { Position R(RX),S(SV); return TropModel::correction(R,S,tt); }
+
+ /// Compute and return the zenith delay for dry component of the troposphere
+ virtual double dry_zenith_delay(void) const
+ throw(InvalidTropModel) = 0;
+
+ /// Compute and return the zenith delay for wet component of the troposphere
+ virtual double wet_zenith_delay(void) const
+ throw(InvalidTropModel) = 0;
+
+ /// Compute and return the mapping function for dry component of
+ /// the troposphere.
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double dry_mapping_function(double elevation)
+ const throw(InvalidTropModel) = 0;
+
+ /// Compute and return the mapping function for wet component of
+ /// the troposphere.
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double wet_mapping_function(double elevation)
+ const throw(InvalidTropModel) = 0;
+
+ /// Re-define the tropospheric model with explicit weather data.
+ /// Typically called just before correction().
+ /// @param T temperature in degrees Celsius
+ /// @param P atmospheric pressure in millibars
+ /// @param H relative humidity in percent
+ virtual void setWeather(const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter);
+
+ /// Re-define the tropospheric model with explicit weather data.
+ /// Typically called just before correction().
+ /// @param wx the weather to use for this correction
+ virtual void setWeather(const WxObservation& wx)
+ throw(InvalidParameter);
+
+ /// Define the receiver height; this required by some models before calling
+ /// correction() or any of the zenith_delay or mapping_function routines.
+ /// @param ht Height of the receiver in meters.
+ virtual void setReceiverHeight(const double& ht) {};
+
+ /// Define the latitude of the receiver; this is required by some models
+ /// before calling correction() or any of the zenith_delay or
+ /// mapping_function routines.
+ /// @param lat Latitude of the receiver in degrees.
+ virtual void setReceiverLatitude(const double& lat) {};
+
+ /// Define the day of year; this is required by some models before calling
+ /// correction() or any of the zenith_delay or mapping_function routines.
+ /// @param d Day of year.
+ virtual void setDayOfYear(const int& d) {};
+
+ protected:
+ bool valid; // true only if current model parameters are valid
+ double temp; // latest value of temperature (kelvin or celsius)
+ double press; // latest value of pressure (millibars)
+ double humid; // latest value of relative humidity (percent)
+
+ }; // end class TropModel
+
+
+ //---------------------------------------------------------------------------------
+ /// The 'zero' trop model, meaning it always returns zero.
+ class ZeroTropModel : public TropModel
+ {
+ public:
+ /// Compute and return the full tropospheric delay
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double correction(double elevation) const
+ throw(InvalidTropModel)
+ { return 0.0; }
+
+ /**
+ * Compute and return the full tropospheric delay, given the positions of
+ * receiver and satellite and the time tag. This version is most useful
+ * within positioning algorithms, where the receiver position and timetag
+ * may vary; it computes the elevation (and other receiver location
+ * information) and passes them to appropriate set...() routines and the
+ * correction(elevation) routine.
+ * @param RX Receiver position
+ * @param SV Satellite position
+ * @param tt Time tag of the signal
+ */
+ virtual double correction(const Position& RX,
+ const Position& SV,
+ const DayTime& tt)
+ throw(InvalidTropModel)
+ { return 0.0; }
+
+ /** \deprecated
+ * Compute and return the full tropospheric delay, given the positions of
+ * receiver and satellite and the time tag. This version is most useful
+ * within positioning algorithms, where the receiver position and timetag
+ * may vary; it computes the elevation (and other receiver location
+ * information) and passes them to appropriate set...() routines and the
+ * correction(elevation) routine.
+ * @param RX Receiver position in ECEF cartesian coordinates (meters)
+ * @param SV Satellite position in ECEF cartesian coordinates (meters)
+ * @param tt Time tag of the signal
+ */
+ virtual double correction(const Xvt& RX,
+ const Xvt& SV,
+ const DayTime& tt)
+ throw(InvalidTropModel)
+ { return 0.0; }
+
+ /// Compute and return the zenith delay for dry component of the troposphere
+ virtual double dry_zenith_delay(void) const
+ throw(InvalidTropModel)
+ { return 0.0; }
+
+ /// Compute and return the zenith delay for wet component of the troposphere
+ virtual double wet_zenith_delay(void) const
+ throw(InvalidTropModel)
+ { return 0.0; }
+
+ /// Compute and return the mapping function for dry component of
+ /// the troposphere.
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double dry_mapping_function(double elevation)
+ const throw(InvalidTropModel)
+ { return 0.0; }
+
+ /// Compute and return the mapping function for wet component of
+ /// the troposphere.
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double wet_mapping_function(double elevation)
+ const throw(InvalidTropModel)
+ { return 0.0; }
+
+ }; // end class ZeroTropModel
+
+ //---------------------------------------------------------------------------------
+ /// A simple Black model of the troposphere. temp is in Kelvin.
+ class SimpleTropModel : public TropModel
+ {
+ public:
+ /// Empty constructor
+ SimpleTropModel(void);
+
+ /// Creates a trop model, with weather observation input
+ /// @param wx the weather to use for this correction.
+ SimpleTropModel(const WxObservation& wx)
+ throw(InvalidParameter);
+
+ /// Create a tropospheric model from explicit weather data
+ /// @param T temperature in degrees Celsius
+ /// @param P atmospheric pressure in millibars
+ /// @param H relative humidity in percent
+ SimpleTropModel(const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter);
+
+ /// Compute and return the zenith delay for dry component of the troposphere
+ virtual double dry_zenith_delay(void) const
+ throw(InvalidTropModel);
+
+ /// Compute and return the zenith delay for wet component of the troposphere
+ virtual double wet_zenith_delay(void) const
+ throw(InvalidTropModel);
+
+ /// Compute and return the mapping function for dry component
+ /// of the troposphere
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double dry_mapping_function(double elevation) const
+ throw(InvalidTropModel);
+
+ /// Compute and return the mapping function for wet component
+ /// of the troposphere
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double wet_mapping_function(double elevation) const
+ throw(InvalidTropModel);
+
+ /// Re-define the tropospheric model with explicit weather data.
+ /// Typically called just before correction().
+ /// @param T temperature in degrees Celsius
+ /// @param P atmospheric pressure in millibars
+ /// @param H relative humidity in percent
+ virtual void setWeather(const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter);
+
+ /// Re-define the tropospheric model with explicit weather data.
+ /// Typically called just before correction().
+ /// @param wx the weather to use for this correction
+ virtual void setWeather(const WxObservation& wx)
+ throw(InvalidParameter);
+
+ private:
+ double Cdrydelay;
+ double Cwetdelay;
+ double Cdrymap;
+ double Cwetmap;
+
+ }; // end class SimpleTropModel
+
+ //---------------------------------------------------------------------------------
+ /** Tropospheric model based on Goad and Goodman(1974),
+ * "A Modified Hopfield Tropospheric Refraction Correction Model," Paper
+ * presented at the Fall Annual Meeting of the American Geophysical Union,
+ * San Francisco, December 1974, as presented in Leick, "GPS Satellite Surveying,"
+ * Wiley, NY, 1990, Chapter 9 (note particularly Table 9.1).
+ */
+ class GGTropModel : public TropModel
+ {
+ public:
+ /// Empty constructor
+ GGTropModel(void);
+
+ /// Creates a trop model, with weather observation input
+ /// @param wx the weather to use for this correction.
+ GGTropModel(const WxObservation& wx)
+ throw(InvalidParameter);
+
+ /// Create a tropospheric model from explicit weather data
+ /// @param T temperature in degrees Celsius
+ /// @param P atmospheric pressure in millibars
+ /// @param H relative humidity in percent
+ GGTropModel(const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter);
+
+ /// Compute and return the zenith delay for dry component
+ /// of the troposphere
+ virtual double dry_zenith_delay(void) const
+ throw(InvalidTropModel);
+
+ /// Compute and return the zenith delay for wet component
+ /// of the troposphere
+ virtual double wet_zenith_delay(void) const
+ throw(InvalidTropModel);
+
+ /// Compute and return the mapping function for dry component
+ /// of the troposphere
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double dry_mapping_function(double elevation) const
+ throw(InvalidTropModel);
+
+ /// Compute and return the mapping function for wet component
+ /// of the troposphere
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double wet_mapping_function(double elevation) const
+ throw(InvalidTropModel);
+
+ /// Re-define the tropospheric model with explicit weather data.
+ /// Typically called initially, and whenever the weather changes.
+ /// @param T temperature in degrees Celsius
+ /// @param P atmospheric pressure in millibars
+ /// @param H relative humidity in percent
+ virtual void setWeather(const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter);
+
+ /// Re-define the tropospheric model with explicit weather data.
+ /// Typically called just before correction().
+ /// @param wx the weather to use for this correction
+ virtual void setWeather(const WxObservation& wx)
+ throw(InvalidParameter);
+
+ private:
+ double Cdrydelay;
+ double Cwetdelay;
+ double Cdrymap;
+ double Cwetmap;
+
+ }; // end class GGTropModel
+
+ //---------------------------------------------------------------------------------
+ /** Tropospheric model with heights based on Goad and Goodman(1974),
+ * "A Modified Hopfield Tropospheric Refraction Correction Model," Paper
+ * presented at the Fall Annual Meeting of the American Geophysical Union,
+ * San Francisco, December 1974.
+ *
+ * (Not the same as GGTropModel because this has height dependence, and the
+ * computation of this model does not break cleanly into wet and dry components.)
+ *
+ * NB this model requires heights, both of the weather parameters,
+ * and of the receiver.
+ * Thus, usually, caller will set heights at the same time the weather is set:
+ *
+ * @code
+ * GGHeightTropModel ggh;
+ * ggh.setWeather(T,P,H);
+ * ggh.setHeights(hT,hP,hH);
+ * @endcode
+ *
+ * and when the correction (and/or delay and map) is computed,
+ * receiver height is set before the call to correction(elevation):
+ *
+ * @code
+ * ggh.setReceiverHeight(height);
+ * trop = ggh.correction(elevation);
+ * @endcode
+ *
+ * NB setReceiverHeight(ht) sets the 'weather heights' as well, if they are not
+ * already defined.
+ */
+ class GGHeightTropModel : public TropModel
+ {
+ public:
+ /// Empty constructor
+ GGHeightTropModel(void);
+
+ /// Creates a trop model, with weather observation input
+ /// @param wx the weather to use for this correction.
+ GGHeightTropModel(const WxObservation& wx)
+ throw(InvalidParameter);
+
+ /// Create a tropospheric model from explicit weather data
+ /// @param T temperature in degrees Celsius
+ /// @param P atmospheric pressure in millibars
+ /// @param H relative humidity in percent
+ GGHeightTropModel(const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter);
+
+ /// Create a valid model from explicit input.
+ /// @param T temperature in degrees Celsius
+ /// @param P atmospheric pressure in millibars
+ /// @param H relative humidity in percent
+ /// @param hT height at which temperature applies in meters.
+ /// @param hP height at which atmospheric pressure applies in meters.
+ /// @param hH height at which relative humidity applies in meters.
+ GGHeightTropModel(const double& T,
+ const double& P,
+ const double& H,
+ const double hT,
+ const double hP,
+ const double hH)
+ throw(InvalidParameter);
+
+ /// Compute and return the full tropospheric delay
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double correction(double elevation) const
+ throw(InvalidTropModel);
+
+ /**
+ * Compute and return the full tropospheric delay, given the positions of
+ * receiver and satellite and the time tag. This version is most useful
+ * within positioning algorithms, where the receiver position and timetag
+ * may vary; it computes the elevation (and other receiver location
+ * information) and passes them to appropriate set...() routines and the
+ * correction(elevation) routine.
+ * @param RX Receiver position
+ * @param SV Satellite position
+ * @param tt Time tag of the signal
+ */
+ virtual double correction(const Position& RX,
+ const Position& SV,
+ const DayTime& tt)
+ throw(InvalidTropModel);
+
+ /** \deprecated
+ * Compute and return the full tropospheric delay, given the positions of
+ * receiver and satellite and the time tag. This version is most useful
+ * within positioning algorithms, where the receiver position and timetag
+ * may vary; it computes the elevation (and other receiver location
+ * information) and passes them to appropriate set...() routines and the
+ * correction(elevation) routine.
+ * @param RX Receiver position in ECEF cartesian coordinates (meters)
+ * @param SV Satellite position in ECEF cartesian coordinates (meters)
+ * @param tt Time tag of the signal
+ */
+ virtual double correction(const Xvt& RX,
+ const Xvt& SV,
+ const DayTime& tt)
+ throw(InvalidTropModel);
+
+ /// Compute and return the zenith delay for dry component
+ /// of the troposphere
+ virtual double dry_zenith_delay(void) const
+ throw(InvalidTropModel);
+
+ /// Compute and return the zenith delay for wet component of the troposphere
+ virtual double wet_zenith_delay(void) const
+ throw(InvalidTropModel);
+
+ /// Compute and return the mapping function for dry component of
+ /// the troposphere.
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double dry_mapping_function(double elevation) const
+ throw(InvalidTropModel);
+
+ /// Compute and return the mapping function for wet component of
+ /// the troposphere.
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double wet_mapping_function(double elevation) const
+ throw(InvalidTropModel);
+
+ /// Re-define the weather data.
+ /// Typically called initially, and whenever the weather changes.
+ /// @param T temperature in degrees Celsius
+ /// @param P atmospheric pressure in millibars
+ /// @param H relative humidity in percent
+ virtual void setWeather(const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter);
+
+ /// Re-define the tropospheric model with explicit weather data.
+ /// Typically called just before correction().
+ /// @param wx the weather to use for this correction
+ virtual void setWeather(const WxObservation& wx)
+ throw(InvalidParameter);
+
+ /// Re-define the heights at which the weather parameters apply.
+ /// Typically called whenever setWeather is called.
+ /// @param hT height at which temperature applies in meters.
+ /// @param hP height at which atmospheric pressure applies in meters.
+ /// @param hH height at which relative humidity applies in meters.
+ void setHeights(const double& hT,
+ const double& hP,
+ const double& hH);
+
+ /// Define the receiver height; this required before calling
+ /// correction() or any of the zenith_delay or mapping_function routines.
+ void setReceiverHeight(const double& ht);
+
+ private:
+ double height; // height (m) of the receiver
+ double htemp; // height (m) at which temp applies
+ double hpress; // height (m) at which press applies
+ double hhumid; // height (m) at which humid applies
+ bool validWeather;
+ bool validHeights;
+ bool validRxHeight;
+
+ }; // end class GGHeightTropModel
+
+
+ //---------------------------------------------------------------------------------
+ /** Tropospheric model developed by University of New Brunswick and described in
+ * "A Tropospheric Delay Model for the User of the Wide Area Augmentation
+ * System," J. Paul Collins and Richard B. Langley, Technical Report No. 187,
+ * Dept. of Geodesy and Geomatics Engineering, University of New Brunswick,
+ * 1997. See particularly Appendix C.
+ *
+ * This model includes a wet and dry component, and was designed for the user
+ * without access to measurements of temperature, pressure and relative humidity
+ * at ground level. Input of the receiver latitude, day of year and height
+ * above the ellipsoid are required, because the mapping functions depend on
+ * these quantities. In addition, if the weather (T,P,H) are not explicitly
+ * provided, this model interpolates a table of values, using latitude and day
+ * of year, to get the ground level weather parameters.
+ *
+ * Usually, the caller will set the latitude and day of year at the same
+ * time the weather is set (if weather is available):
+ *
+ * @code
+ * NBTropModel nb;
+ * nb.setReceiverLatitude(lat);
+ * nb.setDayOfYear(doy);
+ * nb.setWeather(T,P,H); // OPTIONAL
+ * @endcode
+ *
+ * Then, when the correction (and/or delay and map) is computed, receiver height
+ * should be set before the call to correction(elevation):
+ *
+ * @code
+ * nb.setReceiverHeight(height);
+ * trop = nb.correction(elevation);
+ * @endcode
+ *
+ * NB in this model, units of 'temp' are degrees Kelvin, and 'humid'
+ * is the water vapor partial pressure.
+ */
+ class NBTropModel : public TropModel
+ {
+ public:
+ /// Empty constructor
+ NBTropModel(void);
+
+ /// Create a trop model using the minimum information: latitude and doy.
+ /// Interpolate the weather unless setWeather (optional) is called.
+ /// @param lat Latitude of the receiver in degrees.
+ /// @param day Day of year.
+ NBTropModel(const double& lat,
+ const int& day);
+
+ /// Create a trop model with weather.
+ /// @param lat Latitude of the receiver in degrees.
+ /// @param day Day of year.
+ /// @param wx the weather to use for this correction.
+ NBTropModel(const double& lat,
+ const int& day,
+ const WxObservation& wx)
+ throw(InvalidParameter);
+
+ /// Create a tropospheric model from explicit weather data
+ /// @param lat Latitude of the receiver in degrees.
+ /// @param day Day of year.
+ /// @param T temperature in degrees Celsius
+ /// @param P atmospheric pressure in millibars
+ /// @param H relative humidity in percent
+ NBTropModel(const double& lat,
+ const int& day,
+ const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter);
+
+ /// Create a valid model from explicit input
+ /// (weather will be estimated internally by this model).
+ /// @param ht Height of the receiver in meters.
+ /// @param lat Latitude of the receiver in degrees.
+ /// @param day Day of year.
+ NBTropModel(const double& ht,
+ const double& lat,
+ const int& day);
+
+ /// Compute and return the full tropospheric delay
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double correction(double elevation) const
+ throw(InvalidTropModel);
+
+ /**
+ * Compute and return the full tropospheric delay, given the positions of
+ * receiver and satellite and the time tag. This version is most useful
+ * within positioning algorithms, where the receiver position and timetag
+ * may vary; it computes the elevation (and other receiver location
+ * information) and passes them to appropriate set...() routines and the
+ * correction(elevation) routine.
+ * @param RX Receiver position
+ * @param SV Satellite position
+ * @param tt Time tag of the signal
+ */
+ virtual double correction(const Position& RX,
+ const Position& SV,
+ const DayTime& tt)
+ throw(InvalidTropModel);
+
+ /** \deprecated
+ * Compute and return the full tropospheric delay, given the positions of
+ * receiver and satellite and the time tag. This version is most useful
+ * within positioning algorithms, where the receiver position and timetag
+ * may vary; it computes the elevation (and other receiver location
+ * information) and passes them to appropriate set...() routines and the
+ * correction(elevation) routine.
+ * @param RX Receiver position in ECEF cartesian coordinates (meters)
+ * @param SV Satellite position in ECEF cartesian coordinates (meters)
+ * @param tt Time tag of the signal
+ */
+ virtual double correction(const Xvt& RX,
+ const Xvt& SV,
+ const DayTime& tt)
+ throw(InvalidTropModel);
+
+ /// Compute and return the zenith delay for dry component
+ /// of the troposphere
+ virtual double dry_zenith_delay(void) const
+ throw(InvalidTropModel);
+
+ /// Compute and return the zenith delay for wet component
+ /// of the troposphere
+ virtual double wet_zenith_delay(void) const
+ throw(InvalidTropModel);
+
+ /// Compute and return the mapping function for dry component of
+ /// the troposphere.
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double dry_mapping_function(double elevation) const
+ throw(InvalidTropModel);
+
+ /// Compute and return the mapping function for wet component of
+ /// the troposphere.
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double wet_mapping_function(double elevation) const
+ throw(InvalidTropModel);
+
+ /// Re-define the tropospheric model with explicit weather data.
+ /// Typically called just before correction().
+ /// @param wx the weather to use for this correction
+ virtual void setWeather(const WxObservation& wx)
+ throw(InvalidParameter);
+
+ /// Define the weather data; typically called just before correction().
+ /// @param T temperature in degrees Celsius
+ /// @param P atmospheric pressure in millibars
+ /// @param H relative humidity in percent
+ virtual void setWeather(const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter);
+
+ /// configure the model to estimate the weather using lat and doy
+ void setWeather()
+ throw(InvalidTropModel);
+
+ /// Define the receiver height; this required before calling
+ /// correction() or any of the zenith_delay or mapping_function routines.
+ /// @param ht Height of the receiver in meters.
+ void setReceiverHeight(const double& ht);
+
+ /// Define the latitude of the receiver; this is required before calling
+ /// correction() or any of the zenith_delay or mapping_function routines.
+ /// @param lat Latitude of the receiver in degrees.
+ void setReceiverLatitude(const double& lat);
+
+ /// Define the day of year; this is required before calling
+ /// correction() or any of the zenith_delay or mapping_function routines.
+ /// @param d Day of year.
+ void setDayOfYear(const int& d);
+
+ private:
+ bool interpolateWeather; // if true, compute T,P,H from latitude,doy
+ double height; // height (m) of the receiver
+ double latitude; // latitude (deg) of receiver
+ int doy; // day of year
+ bool validWeather;
+ bool validRxLatitude;
+ bool validRxHeight;
+ bool validDOY;
+
+ }; // end class NBTropModel
+
+ //---------------------------------------------------------------------------------
+ /** Saastamoinen tropospheric model based on Saastamoinen, J., 'Atmospheric
+ * Correction for the Troposphere and Stratosphere in Radio Ranging of
+ * Satellites,' Geophysical Monograph 15, American Geophysical Union, 1972,
+ * and Ch 9 of McCarthy, D and Petit, G, IERS Conventions (2003), IERS
+ * Technical Note 32, IERS, 2004. The mapping functions are from
+ * Neill, A.E., 1996, 'Global Mapping Functions for the Atmosphere Delay of
+ * Radio Wavelengths,' J. Geophys. Res., 101, pp. 3227-3246 (also see IERS TN 32).
+ *
+ * This model includes a wet and dry component, and requires input of the
+ * geodetic latitude, day of year and height above the ellipsoid of the receiver.
+ *
+ * Usually, the caller will set the latitude and day of year at the same
+ * time the weather is set
+ * SaasTropModel stm;
+ * stm.setReceiverLatitude(lat);
+ * stm.setDayOfYear(doy);
+ * stm.setWeather(T,P,H);
+ * Then, when the correction (and/or delay and map) is computed, receiver height
+ * should be set before the call to correction(elevation):
+ * stm.setReceiverHeight(height);
+ * trop_corr = stm.correction(elevation);
+ *
+ * NB in this model, units of 'temp' are degrees Celsius and
+ * humid actually stores water vapor partial pressure in mbars
+ */
+ class SaasTropModel : public TropModel
+ {
+ public:
+ /// Empty constructor
+ SaasTropModel(void);
+
+ /// Create a trop model using the minimum information: latitude and doy.
+ /// @param lat Latitude of the receiver in degrees.
+ /// @param day Day of year.
+ SaasTropModel(const double& lat,
+ const int& day);
+
+ /// Create a trop model with weather.
+ /// @param lat Latitude of the receiver in degrees.
+ /// @param day Day of year.
+ /// @param wx the weather to use for this correction.
+ SaasTropModel(const double& lat,
+ const int& day,
+ const WxObservation& wx)
+ throw(InvalidParameter);
+
+ /// Create a tropospheric model from explicit weather data
+ /// @param lat Latitude of the receiver in degrees.
+ /// @param day Day of year.
+ /// @param T temperature in degrees Celsius
+ /// @param P atmospheric pressure in millibars
+ /// @param H relative humidity in percent
+ SaasTropModel(const double& lat,
+ const int& day,
+ const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter);
+
+ /// Compute and return the full tropospheric delay
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double correction(double elevation) const
+ throw(InvalidTropModel);
+
+ /**
+ * Compute and return the full tropospheric delay, given the positions of
+ * receiver and satellite and the time tag. This version is most useful
+ * within positioning algorithms, where the receiver position and timetag
+ * may vary; it computes the elevation (and other receiver location
+ * information) and passes them to appropriate set...() routines and the
+ * correction(elevation) routine.
+ * @param RX Receiver position
+ * @param SV Satellite position
+ * @param tt Time tag of the signal
+ */
+ virtual double correction(const Position& RX,
+ const Position& SV,
+ const DayTime& tt)
+ throw(InvalidTropModel);
+
+ /** \deprecated
+ * Compute and return the full tropospheric delay, given the positions of
+ * receiver and satellite and the time tag. This version is most useful
+ * within positioning algorithms, where the receiver position and timetag
+ * may vary; it computes the elevation (and other receiver location
+ * information) and passes them to appropriate set...() routines and the
+ * correction(elevation) routine.
+ * @param RX Receiver position in ECEF cartesian coordinates (meters)
+ * @param SV Satellite position in ECEF cartesian coordinates (meters)
+ * @param tt Time tag of the signal
+ */
+ virtual double correction(const Xvt& RX,
+ const Xvt& SV,
+ const DayTime& tt)
+ throw(InvalidTropModel);
+
+ /// Compute and return the zenith delay for dry component
+ /// of the troposphere
+ virtual double dry_zenith_delay(void) const
+ throw(InvalidTropModel);
+
+ /// Compute and return the zenith delay for wet component
+ /// of the troposphere
+ virtual double wet_zenith_delay(void) const
+ throw(InvalidTropModel);
+
+ /// Compute and return the mapping function for dry component of
+ /// the troposphere. NB this function will return infinity at zero elevation.
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double dry_mapping_function(double elevation) const
+ throw(InvalidTropModel);
+
+ /// Compute and return the mapping function for wet component of
+ /// the troposphere.
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double wet_mapping_function(double elevation) const
+ throw(InvalidTropModel);
+
+ /// Re-define the tropospheric model with explicit weather data.
+ /// Typically called just before correction().
+ /// @param wx the weather to use for this correction
+ virtual void setWeather(const WxObservation& wx)
+ throw(InvalidParameter);
+
+ /// Define the weather data; typically called just before correction().
+ /// @param T temperature in degrees Celsius
+ /// @param P atmospheric pressure in millibars
+ /// @param H relative humidity in percent
+ virtual void setWeather(const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter);
+
+ /// Define the receiver height; this required before calling
+ /// correction() or any of the zenith_delay or mapping_function routines.
+ /// @param ht Height of the receiver in meters.
+ void setReceiverHeight(const double& ht);
+
+ /// Define the latitude of the receiver; this is required before calling
+ /// correction() or any of the zenith_delay or mapping_function routines.
+ /// @param lat Latitude of the receiver in degrees.
+ void setReceiverLatitude(const double& lat);
+
+ /// Define the day of year; this is required before calling
+ /// correction() or any of the zenith_delay or mapping_function routines.
+ /// @param d Day of year.
+ void setDayOfYear(const int& d);
+
+ private:
+ double height; /// height (m) of the receiver above the geoid
+ double latitude; /// latitude (deg) of receiver
+ int doy; /// day of year
+ bool validWeather;
+ bool validRxLatitude;
+ bool validRxHeight;
+ bool validDOY;
+
+ }; // end class SaasTropModel
+
+
+ //---------------------------------------------------------------------------------
+ /** Tropospheric model implemented in "GPS Code Analysis Tool" (GCAT) software.
+ * This model is described in the book "GPS Data processing: code and phase
+ * Algorithms, Techniques and Recipes" by Hernandez-Pajares, M., J.M. Juan-Zornoza
+ * and Sanz-Subirana, J. See Chapter 5.
+ *
+ * This book and associated software are freely available at:
+ * http://gage152.upc.es/~manuel/tdgps/tdgps.html
+ *
+ * This is a simple but efective model composed of the wet and dry vertical
+ * tropospheric delays as defined in Gipsy/Oasis-II GPS analysis software, and
+ * the mapping function as defined by Black and Eisner (H. D. Black, A. Eisner.
+ * Correcting Satellite Doppler Data for Tropospheric Effects. Journal of
+ * Geophysical Research. Vol 89. 1984.) and used in MOPS (RTCA/DO-229C) standards.
+ *
+ * Usually, the caller will set the receiver height using setReceiverHeight() method,
+ * and then call the correction() method with the satellite elevation
+ *
+ * @code
+ * GCATTropModel gcatTM();
+ * ...
+ * gcatTM.setReceiverHeight(150.0);
+ * trop = gcatTM.correction(elevation);
+ * @endcode
+ *
+ * Another posibility is to set the receiver height when calling the constructor.
+ *
+ * @code
+ * GCATTropModel gcatTM(150.0); // Receiver height is 150.0 meters
+ * ...
+ * trop = gcatTM.correction(elevation);
+ * @endcode
+ */
+ class GCATTropModel : public TropModel
+ {
+ public:
+
+ /// Empty constructor
+ GCATTropModel(void) { valid = false; };
+
+
+ /// Constructor to create a GCAT trop model providing the height of the receiver
+ /// above mean sea level (as defined by ellipsoid model).
+ ///
+ /// @param ht Height of the receiver above mean sea level, in meters.
+ GCATTropModel(const double& ht);
+
+
+ /// Compute and return the full tropospheric delay. The receiver height must
+ /// has been provided before, whether using the appropriate constructor of
+ /// with the setReceiverHeight() method
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double correction(double elevation) const
+ throw(InvalidTropModel);
+
+
+ /**
+ * Compute and return the full tropospheric delay, given the positions of
+ * receiver and satellite. This version is most useful within positioning
+ * algorithms, where the receiver position may vary; it computes the elevation
+ * (and other receiver location information as height) and passes them to
+ * setReceiverHeight() method and correction(elevation) method.
+ * @param RX Receiver position
+ * @param SV Satellite position
+ */
+ virtual double correction(const Position& RX,
+ const Position& SV)
+ throw(InvalidTropModel);
+
+
+ /**
+ * Compute and return the full tropospheric delay, given the positions of
+ * receiver and satellite and the time tag. This version is most useful
+ * within positioning algorithms, where the receiver position and timetag
+ * may vary; it computes the elevation (and other receiver location
+ * information as height) and passes them to setReceiverHeight() method and
+ * correction(elevation) method.
+ * @param RX Receiver position
+ * @param SV Satellite position
+ * @param tt Time. In this model, tt is a dummy parameter kept just for consistency
+ */
+ virtual double correction(const Position& RX,
+ const Position& SV,
+ const DayTime& tt)
+ throw(InvalidTropModel)
+ { return correction(RX, SV); };
+
+
+ /** \deprecated
+ * Compute and return the full tropospheric delay, given the positions of
+ * receiver and satellite and the time tag. This version is most useful
+ * within positioning algorithms, where the receiver position and timetag
+ * may vary; it computes the elevation (and other receiver location
+ * information as height) and passes them to setReceiverHeight() method and
+ * correction(elevation) method.
+ * @param RX Receiver position in ECEF cartesian coordinates (meters)
+ * @param SV Satellite position in ECEF cartesian coordinates (meters)
+ * @param tt Time. In this model, tt is a dummy parameter kept just for consistency
+ */
+ virtual double correction(const Xvt& RX,
+ const Xvt& SV,
+ const DayTime& tt)
+ throw(InvalidTropModel);
+
+
+ /// Compute and return the zenith delay for dry component of the troposphere
+ virtual double dry_zenith_delay(void) const
+ throw(InvalidTropModel);
+
+
+ /// Compute and return the zenith delay for wet component of the troposphere
+ virtual double wet_zenith_delay(void) const
+ throw(InvalidTropModel)
+ { return 0.1; };
+
+
+ /// Compute and return the mapping function for both components of
+ /// the troposphere.
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double mapping_function(double elevation) const
+ throw(InvalidTropModel);
+
+
+ /// Compute and return the mapping function for dry component
+ /// of the troposphere
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double dry_mapping_function(double elevation) const
+ throw(InvalidTropModel)
+ { return mapping_function(elevation); };
+
+
+ /// Compute and return the mapping function for wet component
+ /// of the troposphere
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees
+ virtual double wet_mapping_function(double elevation) const
+ throw(InvalidTropModel)
+ { return mapping_function(elevation); };
+
+
+ /// In GCAT tropospheric model, this is a dummy method kept here just for consistency
+ virtual void setWeather(const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter) {};
+
+
+ /// In GCAT tropospheric model, this is a dummy method kept here just for consistency
+ virtual void setWeather(const WxObservation& wx)
+ throw(InvalidParameter) {};
+
+
+ /// Define the receiver height; this is required before calling
+ /// correction() or any of the zenith_delay routines.
+ /// @param ht Height of the receiver above mean sea level, in meters.
+ void setReceiverHeight(const double& ht);
+
+
+ private:
+ double gcatHeight;
+
+ }; // end class GCATTropModel
+
+
+ //---------------------------------------------------------------------------------
+ /** Tropospheric model implemented in the RTCA "Minimum Operational Performance Standards" (MOPS), version C.
+ * This model is described in the RTCA "Minimum Operational Performance
+ * Standards" (MOPS), version C (RTCA/DO-229C), in Appendix A.4.2.4. Although
+ * originally developed for SBAS systems (EGNOS, WAAS), it may be suitable
+ * for other uses as well.
+ *
+ * This model needs the day of year, satellite elevation (degrees), receiver
+ * height over mean sea level (meters) and receiver latitude in order to start
+ * computing.
+ *
+ * On the other hand, the outputs are the tropospheric correction (in meters)
+ * and the sigma-squared of tropospheric delay residual error (meters^2)
+ *
+ * A typical way to use this model follows:
+ *
+ * @code
+ * MOPSTropModel mopsTM;
+ * mopsTM.setReceiverLatitude(lat);
+ * mopsTM.setReceiverHeight(height);
+ * mopsTM.setDayOfYear(doy);
+ * @endcode
+ *
+ * Once all the basic model parameters are set (latitude, height and day of
+ * year), then we are able to compute the tropospheric correction as a
+ * function of elevation:
+ *
+ * @code
+ * trop = mopsTM.correction(elevation);
+ * @endcode
+ *
+ */
+ class MOPSTropModel : public GCATTropModel
+ {
+ public:
+
+ /// Empty constructor
+ MOPSTropModel(void)
+ {
+ validHeight = false;
+ validLat = false;
+ validTime = false;
+ valid = false;
+ };
+
+
+ /// Constructor to create a MOPS trop model providing just the height of the
+ /// receiver above mean sea level. The other parameters must be set with the
+ /// appropriate set methods before calling correction methods.
+ ///
+ /// @param ht Height of the receiver above mean sea level, in meters.
+ MOPSTropModel(const double& ht)
+ {
+ setReceiverHeight(ht);
+ };
+
+
+
+ /// Constructor to create a MOPS trop model providing the height of the receiver
+ /// above mean sea level (as defined by ellipsoid model), its latitude and the day
+ /// of year.
+ ///
+ /// @param ht Height of the receiver above mean sea level, in meters.
+ /// @param lat Latitude of receiver, in degrees.
+ /// @param doy Day of year.
+ MOPSTropModel(const double& ht, const double& lat, const int& doy)
+ {
+ setReceiverHeight(ht);
+ setReceiverLatitude(lat);
+ setDayOfYear(doy);
+ };
+
+
+ /// Constructor to create a MOPS trop model providing the position of the receiver
+ /// and current time.
+ ///
+ /// @param RX Receiver position.
+ /// @param time Time.
+ MOPSTropModel(const Position& RX, const DayTime& time)
+ {
+ setReceiverHeight(RX.getAltitude());
+ setReceiverLatitude(RX.getGeodeticLatitude());
+ setDayOfYear(time);
+ };
+
+
+ /// Compute and return the full tropospheric delay. The receiver height,
+ /// latitude and Day oy Year must has been set before using the
+ /// appropriate constructor or the provided methods.
+ /// @param elevation Elevation of satellite as seen at receiver, in degrees.
+ virtual double correction(double elevation) const
+ throw(InvalidTropModel);
+
+
+ /**
+ * Compute and return the full tropospheric delay, given the positions of
+ * receiver and satellite. This version is most useful within positioning
+ * algorithms, where the receiver position may vary; it computes the
+ * elevation (and other receiver location information as height and
+ * latitude) and passes them to appropriate methods. You must set time
+ * using method setReceiverDOY() before calling this method.
+ * @param RX Receiver position.
+ * @param SV Satellite position.
+ */
+ virtual double correction(const Position& RX,
+ const Position& SV)
+ throw(InvalidTropModel);
+
+
+ /**
+ * Compute and return the full tropospheric delay, given the positions of
+ * receiver and satellite and the time tag. This version is most useful
+ * within positioning algorithms, where the receiver position may vary; it
+ * computes the elevation (and other receiver location information as
+ * height and latitude) and passes them to appropriate methods.
+ * @param RX Receiver position.
+ * @param SV Satellite position.
+ * @param tt Time (DayTime object).
+ */
+ virtual double correction(const Position& RX,
+ const Position& SV,
+ const DayTime& tt)
+ throw(InvalidTropModel);
+
+
+ /**
+ * Compute and return the full tropospheric delay, given the positions of
+ * receiver and satellite and the day of the year. This version is most
+ * useful within positioning algorithms, where the receiver position may
+ * vary; it computes the elevation (and other receiver location information
+ * as height and latitude) and passes them to appropriate methods.
+ * @param RX Receiver position.
+ * @param SV Satellite position.
+ * @param doy Day of year.
+ */
+ virtual double correction(const Position& RX,
+ const Position& SV,
+ const int& doy)
+ throw(InvalidTropModel);
+
+
+ /** \deprecated
+ * Compute and return the full tropospheric delay, given the positions of
+ * receiver and satellite. . You must set time using method setReceiverDOY()
+ * before calling this method.
+ * @param RX Receiver position in ECEF cartesian coordinates (meters).
+ * @param SV Satellite position in ECEF cartesian coordinates (meters).
+ */
+ virtual double correction(const Xvt& RX,
+ const Xvt& SV)
+ throw(InvalidTropModel);
+
+
+ /** \deprecated
+ * Compute and return the full tropospheric delay, given the positions of
+ * receiver and satellite and the time tag. This version is most useful
+ * within positioning algorithms, where the receiver position may vary; it
+ * computes the elevation (and other receiver location information as
+ * height and latitude) and passes them to appropriate methods.
+ * @param RX Receiver position in ECEF cartesian coordinates (meters)
+ * @param SV Satellite position in ECEF cartesian coordinates (meters)
+ * @param tt Time (DayTime object).
+ */
+ virtual double correction(const Xvt& RX,
+ const Xvt& SV,
+ const DayTime& tt)
+ throw(InvalidTropModel);
+
+
+ /** \deprecated
+ * Compute and return the full tropospheric delay, given the positions of
+ * receiver and satellite and the day of the year. This version is most
+ * useful within positioning algorithms, where the receiver position may
+ * vary; it computes the elevation (and other receiver location information
+ * as height and latitude) and passes them to appropriate methods.
+ * @param RX Receiver position in ECEF cartesian coordinates (meters)
+ * @param SV Satellite position in ECEF cartesian coordinates (meters)
+ * @param doy Day of year.
+ */
+ virtual double correction(const Xvt& RX,
+ const Xvt& SV,
+ const int& doy)
+ throw(InvalidTropModel);
+
+
+ /// Compute and return the zenith delay for dry component of the troposphere
+ virtual double dry_zenith_delay(void) const
+ throw(InvalidTropModel);
+
+
+ /// Compute and return the zenith delay for wet component of the troposphere
+ virtual double wet_zenith_delay(void) const
+ throw(InvalidTropModel);
+
+
+ /// This method configure the model to estimate the weather using height, latitude and day of year (DOY). It is called automatically when setting those parameters.
+ void setWeather()
+ throw(InvalidTropModel);
+
+
+ /// In MOPS tropospheric model, this is a dummy method kept here just for consistency
+ virtual void setWeather(const double& T,
+ const double& P,
+ const double& H)
+ throw(InvalidParameter) {};
+
+
+ /// In MOPS tropospheric model, this is a dummy method kept here just for consistency
+ virtual void setWeather(const WxObservation& wx)
+ throw(InvalidParameter) {};
+
+
+ /// Define the receiver height; this is required before calling
+ /// correction() or any of the zenith_delay routines.
+ /// @param ht Height of the receiver above mean sea level, in meters.
+ virtual void setReceiverHeight(const double& ht)
+ {
+ MOPSHeight = ht;
+ validHeight = true;
+ // Change the value of field "valid" if everything is already set
+ valid = validHeight && validLat && validTime;
+ // If model is valid, set the appropriate parameters
+ if (valid) setWeather();
+ };
+
+
+ /// Define the receiver latitude; this is required before calling
+ /// correction() or any of the zenith_delay routines.
+ /// @param lat Latitude of receiver, in degrees.
+ virtual void setReceiverLatitude(const double& lat)
+ {
+ MOPSLat = lat;
+ validLat = true;
+ // Change the value of field "valid" if everything is already set
+ valid = validHeight && validLat && validTime;
+ // If model is valid, set the appropriate parameters
+ if (valid) setWeather();
+ };
+
+
+ /// Set the time when tropospheric correction will be computed for, in days
+ /// of the year.
+ /// @param doy Day of the year.
+ virtual void setDayOfYear(const int& doy)
+ {
+ if ( (doy>=1) && (doy<=366)) validTime = true; else validTime = false;
+ MOPSTime = doy;
+ // Change the value of field "valid" if everything is already set
+ valid = validHeight && validLat && validTime;
+ // If model is valid, set the appropriate parameters
+ if (valid) setWeather();
+ };
+
+
+ /// Set the time when tropospheric correction will be computed for, in days
+ /// of the year.
+ /// @param time Time object.
+ virtual void setDayOfYear(const DayTime& time)
+ {
+ MOPSTime = (int)time.DOY();
+ validTime = true;
+ // Change the value of field "valid" if everything is already set
+ valid = validHeight && validLat && validTime;
+ // If model is valid, set the appropriate parameters
+ if (valid) setWeather();
+ };
+
+
+ /** Convenient method to set all model parameters in one pass.
+ *
+ * @param time Time object.
+ * @param rxPos Receiver position object.
+ */
+ virtual void setAllParameters(const DayTime& time, const Position& rxPos)
+ {
+ MOPSTime = (int)time.DOY();
+ validTime = true;
+ MOPSHeight = rxPos.getGeodeticLatitude();
+ validHeight = true;
+ MOPSLat = rxPos.getHeight();
+ validLat = true;
+ // Change the value of field "valid" if everything is already set
+ valid = validHeight && validLat && validTime;
+ // If model is valid, set the appropriate parameters
+ if (valid) setWeather();
+ };
+
+
+ /// Compute and return the sigma-squared value of tropospheric delay
+ /// residual error (meters^2)
+ /// @param elevation is the Elevation of satellite as seen at receiver,
+ /// in degrees
+ double MOPSsigma2(double elevation)
+ throw(TropModel::InvalidTropModel);
+
+
+ private:
+ double MOPSHeight;
+ double MOPSLat;
+ int MOPSTime;
+ bool validHeight;
+ bool validLat;
+ bool validTime;
+ Matrix<double> avr;
+ Matrix<double> svr;
+ Vector<double> fi0;
+ Vector<double> MOPSParameters;
+
+
+ // The MOPS tropospheric model needs to compute several extra parameters
+ virtual void prepareParameters(void) throw(TropModel::InvalidTropModel);
+
+ // The MOPS tropospheric model uses several predefined data tables
+ virtual void prepareTables(void)
+ {
+ avr.resize(5,5);
+ svr.resize(5,5);
+ fi0.resize(5);
+
+ // Table avr (Average):
+ avr(0,0)=1013.25; avr(0,1)=299.65; avr(0,2)=26.31; avr(0,3)=0.0063; avr(0,4)=2.77;
+ avr(1,0)=1017.25; avr(1,1)=294.15; avr(1,2)=21.79; avr(1,3)=0.00605; avr(1,4)=3.15;
+ avr(2,0)=1015.75; avr(2,1)=283.15; avr(2,2)=11.66; avr(2,3)=0.00558; avr(2,4)=2.57;
+ avr(3,0)=1011.75; avr(3,1)=272.15; avr(3,2)= 6.78; avr(3,3)=0.00539; avr(3,4)=1.81;
+ avr(4,0)=1013.00; avr(4,1)=263.65; avr(4,2)= 4.11; avr(4,3)=0.00453; avr(4,4)=1.55;
+
+ // Table svr (Seasonal Variation):
+ svr(0,0)= 0.00; svr(0,1)= 0.00; svr(0,2)=0.00; svr(0,3)=0.00000; svr(0,4)=0.00;
+ svr(1,0)=-3.75; svr(1,1)= 7.00; svr(1,2)=8.85; svr(1,3)=0.00025; svr(1,4)=0.33;
+ svr(2,0)=-2.25; svr(2,1)=11.00; svr(2,2)=7.24; svr(2,3)=0.00032; svr(2,4)=0.46;
+ svr(3,0)=-1.75; svr(3,1)=15.00; svr(3,2)=5.36; svr(3,3)=0.00081; svr(3,4)=0.74;
+ svr(4,0)=-0.50; svr(4,1)=14.50; svr(4,2)=3.39; svr(4,3)=0.00062; svr(4,4)=0.30;
+
+ // Table fi0 (Latitude bands):
+ fi0(0)=15.0; fi0(1)=30.0; fi0(2)=45.0; fi0(3)=60.0; fi0(4)=75.0;
+
+ }
+
+ }; // end class MOPSTropModel
+
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/TypeID.cpp b/dev/src/TypeID.cpp
new file mode 100644
index 0000000..babe814
--- /dev/null
+++ b/dev/src/TypeID.cpp
@@ -0,0 +1,202 @@
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2007
+//
+//============================================================================
+
+#include "TypeID.hpp"
+
+
+/**
+ * @file TypeID.cpp
+ * gpstk::TypeID - Identifies types of values
+ */
+
+namespace gpstk
+{
+ std::map< TypeID::ValueType, std::string > TypeID::tStrings;
+
+ TypeID::Initializer TypeIDsingleton;
+
+ TypeID::Initializer::Initializer()
+ {
+ tStrings[Unknown] = "UnknownType";
+ tStrings[C1] = "C1";
+ tStrings[C2] = "C2";
+ tStrings[P1] = "P1";
+ tStrings[P2] = "P2";
+ tStrings[L1] = "L1";
+ tStrings[L2] = "L2";
+ tStrings[D1] = "D1";
+ tStrings[D2] = "D2";
+ tStrings[S1] = "S1";
+ tStrings[S2] = "S2";
+ tStrings[T1] = "T1";
+ tStrings[T2] = "T2";
+ tStrings[SSI1] = "SSI1";
+ tStrings[LLI1] = "LLI1";
+ tStrings[SSI2] = "SSI2";
+ tStrings[LLI2] = "LLI2";
+ tStrings[C5] = "C5";
+ tStrings[L5] = "L5";
+ tStrings[D5] = "D5";
+ tStrings[S5] = "S5";
+ tStrings[SSI5] = "SSI5";
+ tStrings[LLI5] = "LLI5";
+ tStrings[C6] = "C6";
+ tStrings[L6] = "L6";
+ tStrings[D6] = "D6";
+ tStrings[S6] = "S6";
+ tStrings[SSI6] = "SSI6";
+ tStrings[LLI6] = "LLI6";
+ tStrings[C7] = "C7";
+ tStrings[L7] = "L7";
+ tStrings[D7] = "D7";
+ tStrings[S7] = "S7";
+ tStrings[SSI7] = "SSI7";
+ tStrings[LLI7] = "LLI7";
+ tStrings[C8] = "C8";
+ tStrings[L8] = "L8";
+ tStrings[D8] = "D8";
+ tStrings[S8] = "S8";
+ tStrings[SSI8] = "SSI8";
+ tStrings[LLI8] = "LLI8";
+ tStrings[PC] = "PC";
+ tStrings[LC] = "LC";
+ tStrings[PI] = "PI";
+ tStrings[LI] = "LI";
+ tStrings[Pdelta] = "Pdelta";
+ tStrings[Ldelta] = "Ldelta";
+ tStrings[MWubbena] = "MWubbena";
+ tStrings[rho] = "rho";
+ tStrings[dtSat] = "dtSat";
+ tStrings[rel] = "rel";
+ tStrings[tropo] = "tropo";
+ tStrings[dryTropo] = "dryTropo";
+ tStrings[wetTropo] = "wetTropo";
+ tStrings[tropoSlant] = "slantTropo";
+ tStrings[iono] = "verticalIono";
+ tStrings[ionoSlant] = "slantIono";
+ tStrings[windUp] = "windup";
+ tStrings[satX] = "satX";
+ tStrings[satY] = "satY";
+ tStrings[satZ] = "satZ";
+ tStrings[elevation] = "elevation";
+ tStrings[azimuth] = "azimuth";
+ tStrings[CSL1] = "CSL1";
+ tStrings[CSL2] = "CSL2";
+ tStrings[CSL5] = "CSL5";
+ tStrings[CSL6] = "CSL6";
+ tStrings[CSL7] = "CSL7";
+ tStrings[CSL8] = "CSL8";
+ tStrings[BL1] = "ambiguityL1";
+ tStrings[BL2] = "ambiguityL2";
+ tStrings[BL5] = "ambiguityL5";
+ tStrings[BL6] = "ambiguityL6";
+ tStrings[BL7] = "ambiguityL7";
+ tStrings[BL8] = "ambiguityL8";
+ tStrings[mpC1] = "multipathC1";
+ tStrings[mpC2] = "multipathC2";
+ tStrings[mpC5] = "multipathC5";
+ tStrings[mpC6] = "multipathC6";
+ tStrings[mpC7] = "multipathC7";
+ tStrings[mpC8] = "multipathC8";
+ tStrings[mpL1] = "multipathL1";
+ tStrings[mpL2] = "multipathL2";
+ tStrings[mpL5] = "multipathL5";
+ tStrings[mpL6] = "multipathL6";
+ tStrings[mpL7] = "multipathL7";
+ tStrings[mpL8] = "multipathL8";
+ tStrings[instC1] = "instrumentalC1";
+ tStrings[instC2] = "instrumentalC2";
+ tStrings[instC5] = "instrumentalC5";
+ tStrings[instC6] = "instrumentalC6";
+ tStrings[instC7] = "instrumentalC7";
+ tStrings[instC8] = "instrumentalC8";
+ tStrings[instL1] = "instrumentalL1";
+ tStrings[instL2] = "instrumentalL2";
+ tStrings[instL5] = "instrumentalL5";
+ tStrings[instL6] = "instrumentalL6";
+ tStrings[instL7] = "instrumentalL7";
+ tStrings[instL8] = "instrumentalL8";
+ tStrings[prefitC] = "prefitResidualCode";
+ tStrings[prefitL] = "prefitResidualPhase";
+ tStrings[postfitC] = "posfitResidualCode";
+ tStrings[postfitL] = "posfitResidualPhase";
+ tStrings[dx] = "dx";
+ tStrings[dy] = "dy";
+ tStrings[dz] = "dz";
+ tStrings[cdt] = "cdt";
+ tStrings[dLat] = "dLat";
+ tStrings[dLon] = "dLon";
+ tStrings[dH] = "dH";
+ tStrings[weight] = "weight";
+ tStrings[recX] = "RxPositionX";
+ tStrings[recY] = "RxPositionY";
+ tStrings[recZ] = "RxPositionZ";
+ tStrings[recLat] = "RxLat";
+ tStrings[recLon] = "RxLon";
+ tStrings[recH] = "RxH";
+ tStrings[sigma] = "sigma";
+ tStrings[iura] = "iura";
+ }
+
+
+ std::ostream& TypeID::dump(std::ostream& s) const
+ {
+ s << TypeID::tStrings[type];
+
+ return s;
+ } // TypeID::dump()
+
+ bool TypeID::isValid() const
+ {
+ // At some time this needs to be implemented.
+ return !(type==Unknown);
+ }
+
+ TypeID::ValueType TypeID::newValueType(const std::string& s)
+ {
+ ValueType newId =
+ static_cast<ValueType>(TypeID::tStrings.rbegin()->first + 1);
+ TypeID::tStrings[newId] = s;
+ return newId;
+ }
+
+
+ namespace StringUtils
+ {
+ // convert this object to a string representation
+ std::string asString(const TypeID& p)
+ {
+ std::ostringstream oss;
+ p.dump(oss);
+ return oss.str();
+ }
+ }
+
+ // stream output for TypeID
+ std::ostream& operator<<(std::ostream& s, const TypeID& p)
+ {
+ p.dump(s);
+ return s;
+ }
+
+}
diff --git a/dev/src/TypeID.hpp b/dev/src/TypeID.hpp
new file mode 100644
index 0000000..d39423e
--- /dev/null
+++ b/dev/src/TypeID.hpp
@@ -0,0 +1,332 @@
+#pragma ident "$Id$"
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2007
+//
+//============================================================================
+
+#ifndef GPSTK_TYPEID_HPP
+#define GPSTK_TYPEID_HPP
+
+#include <iostream>
+#include <iomanip>
+#include <sstream>
+#include <string>
+#include <map>
+#include "RinexObsHeader.hpp"
+
+
+/**
+ * @file TypeID.hpp
+ * gpstk::TypeID - This class was written taking as inspiration ObsID. The
+ objective of this class is to create an index able to represent any type
+ of observation, correction, model parameter or other data value of interest
+ for GNSS data processing. This class is extensible in run-time, so the
+ programmer may add indexes on-demand.
+ */
+
+namespace gpstk
+{
+
+ /**
+ * This class creates an index able to represent any type of observation,
+ * correction, model parameter or other data value of interest for GNSS
+ * data processing.
+ *
+ * This class is exensible in run-time, so the programmer may add
+ * indexes on-demand. For instance, in order to create a new TypeID object
+ * referring INS-related data, and with "ins" as description string,
+ * you may write the following:
+ *
+ * @code
+ * TypeID INS = TypeID::newValueType("ins");
+ * @endcode
+ *
+ * Or using the constructor:
+ *
+ * @code
+ * TypeID INS(TypeID::newValueType("ins"));
+ * @endcode
+ *
+ * From now on, you'll be able to use INS as TypeID when you need to
+ * refer to inertial system data.
+ *
+ */
+ class TypeID
+ {
+ public:
+ /// The type of the data value.
+ enum ValueType
+ {
+ Unknown,
+ // Observation-related types
+ C1, ///< GPS civil code observation in L1 frequency
+ C2, ///< GPS civil code observation in L2 frequency
+ P1, ///< GPS precise code observation in L1 frequency
+ P2, ///< GPS precise code observation in L2 frequency
+ L1, ///< GPS phase observation in L1 frequency
+ L2, ///< GPS phase observation in L2 frequency
+ D1, ///< GPS doppler observation in L1 frequency
+ D2, ///< GPS doppler observation in L2 frequency
+ S1, ///< GPS signal strength observation in L1 frequency
+ S2, ///< GPS signal strength observation in L2 frequency
+ T1, ///< Transit integrated doppler observation in L1 frequency
+ T2, ///< Transit integrated doppler observation in L2 frequency
+ SSI1, ///< Signal strength indicator/index, L1 frequency
+ LLI1, ///< Loss of Lock Indicator/ lock count, L1 frequency
+ SSI2, ///< Signal strength indicator/index, L2 frequency
+ LLI2, ///< Loss of Lock Indicator/ lock count, L2 frequency
+ // v 2.11
+ C5, ///< GPS L5C-code pseudorange
+ L5, ///< GPS phase observation in L5 frequency
+ D5, ///< GPS doppler observation in L5 frequency
+ S5, ///< GPS signal strength observation in L5 frequency
+ SSI5, ///< Signal strength indicator/index, L5 frequency
+ LLI5, ///< Loss of Lock Indicator/ lock count, L5 frequency
+ // Galileo-related
+ C6, ///< Galileo E6-code pseudorange
+ L6, ///< Galileo phase observation in L6 frequency
+ D6, ///< Galileo doppler observation in L6 frequency
+ S6, ///< Galileo signal strength observation in L6 frequency
+ SSI6, ///< Signal strength indicator/index, L6 frequency
+ LLI6, ///< Loss of Lock Indicator/ lock count, L6 frequency
+ C7, ///< Galileo E5b-code pseudorange
+ L7, ///< Galileo phase observation in L5b frequency
+ D7, ///< Galileo doppler observation in L5b frequency
+ S7, ///< Galileo signal strength observation in L5b frequency
+ SSI7, ///< Signal strength indicator/index, L5b frequency
+ LLI7, ///< Loss of Lock Indicator/ lock count, L5b frequency
+ C8, ///< Galileo E5a+b-code pseudorange
+ L8, ///< Galileo phase observation in L5a+b frequency
+ D8, ///< Galileo doppler observation in L5a+b frequency
+ S8, ///< Galileo signal strength observation in L5a+b frequency
+ SSI8, ///< Signal strength indicator/index, L5a+b frequency
+ LLI8, ///< Loss of Lock Indicator/ lock count, L5a+b frequency
+ // Combination-related types
+ PC, ///< Code-based ionosphere-free combination
+ LC, ///< Phase-based ionosphere-free combination
+ PI, ///< Code-based ionospheric combination
+ LI, ///< Phase-based ionospheric combination
+ Pdelta, ///< Narrow-lane combination
+ Ldelta, ///< Wide-lane combination
+ MWubbena, ///< Melbourne-Wubbena combination
+ // Model-related types
+ rho, ///< Geometric distance satellite-receiver
+ dtSat, ///< Satellite clock offset
+ rel, ///< Relativistic delay
+ tropo, ///< Vertical tropospheric delay, total
+ dryTropo, ///< Vertical tropospheric delay, dry component
+ wetTropo, ///< Vertical tropospheric delay, wet component
+ tropoSlant, ///< Slant tropospheric delay, total
+ iono, ///< Vertical ionospheric delay
+ ionoSlant, ///< Slant ionospheric delay
+ windUp, ///< Wind-up effect (in radians)
+ satX, ///< Satellite position, X component
+ satY, ///< Satellite position, Y component
+ satZ, ///< Satellite position, Z component
+ elevation, ///< Satellite elevation
+ azimuth, ///< Satellite azimuth
+ // Cycle slip flags
+ CSL1, ///< Cycle slip in L1
+ CSL2, ///< Cycle slip in L2
+ CSL5, ///< Cycle slip in L5
+ CSL6, ///< Cycle slip in L6
+ CSL7, ///< Cycle slip in L7
+ CSL8, ///< Cycle slip in L8
+ // Phase-ambiguity types
+ BL1, ///< Phase ambiguity in L1
+ BL2, ///< Phase ambiguity in L2
+ BL5, ///< Phase ambiguity in L5
+ BL6, ///< Phase ambiguity in L6
+ BL7, ///< Phase ambiguity in L7
+ BL8, ///< Phase ambiguity in L8
+ // Multipath-related types
+ mpC1, ///< Multipath bias, C1
+ mpC2, ///< Multipath bias, C2
+ mpC5, ///< Multipath bias, C5
+ mpC6, ///< Multipath bias, C6
+ mpC7, ///< Multipath bias, C7
+ mpC8, ///< Multipath bias, C8
+ mpL1, ///< Multipath bias, L1
+ mpL2, ///< Multipath bias, L2
+ mpL5, ///< Multipath bias, L5
+ mpL6, ///< Multipath bias, L6
+ mpL7, ///< Multipath bias, L7
+ mpL8, ///< Multipath bias, L8
+ // Instrumental delays types
+ instC1, ///< Instrumental delay, C1
+ instC2, ///< Instrumental delay, C2
+ instC5, ///< Instrumental delay, C5
+ instC6, ///< Instrumental delay, C6
+ instC7, ///< Instrumental delay, C7
+ instC8, ///< Instrumental delay, C8
+ instL1, ///< Instrumental delay, L1
+ instL2, ///< Instrumental delay, L2
+ instL5, ///< Instrumental delay, L5
+ instL6, ///< Instrumental delay, L6
+ instL7, ///< Instrumental delay, L7
+ instL8, ///< Instrumental delay, L8
+ // Equation system-related types
+ prefitC, ///< Prefit residual, code
+ prefitL, ///< Prefit residual, phase
+ postfitC, ///< Postfit residual, code
+ postfitL, ///< Postfit residual, phase
+ dx, ///< In the position domain: Position bias, X component; in the range domain: dx coefficient
+ dy, ///< In the position domain: Position bias, Y component; in the range domain: dy coefficient
+ dz, ///< In the position domain: Position bias, Z component; in the range domain: dz coefficient
+ dLat, ///< Position bias, Latitude component
+ dLon, ///< Position bias, Longitude component
+ dH, ///< Position bias, Height component
+ cdt, ///< In the position domain: Receiver clock offset, meters; in the range domain: cdt coefficient
+ weight, ///< Weight assigned to a given observation
+ // Other types
+ recX, ///< Receiver position, X component
+ recY, ///< Receiver position, Y component
+ recZ, ///< Receiver position, Z component
+ recLat, ///< Receiver position, Latitude component
+ recLon, ///< Receiver position, Longitude component
+ recH, ///< Receiver position, Height component
+ sigma, ///< Standard deviation
+ iura, ///< Index User Range Accuracy
+ Last, ///< used to extend this...
+ Placeholder = Last+1000
+ };
+
+ /// empty constructor, creates an invalid object
+ TypeID()
+ : type(Unknown) {};
+
+ /// Explicit constructor
+ TypeID(ValueType vt)
+ : type(vt) {};
+
+ /// Equality requires all fields to be the same
+ virtual bool operator==(const TypeID& right) const
+ { return type==right.type; }
+
+ /// This ordering is somewhat arbitrary but is required to be able
+ /// to use an TypeID as an index to a std::map. If an application needs
+ /// some other ordering, inherit and override this function.
+ virtual bool operator<(const TypeID& right) const
+ { return type < right.type; }
+
+
+ bool operator!=(const TypeID& right) const
+ { return !(operator==(right)); }
+
+ bool operator>(const TypeID& right) const
+ { return (!operator<(right) && !operator==(right)); }
+
+ bool operator<=(const TypeID& right) const
+ { return (operator<(right) || operator==(right)); }
+
+ bool operator>=(const TypeID& right) const
+ { return !(operator<(right)); }
+
+ /// Assignment operator
+ virtual TypeID operator=(const TypeID& right)
+ {
+ if ( this == &right ) return (*this);
+ (*this).type = right.type;
+ return *this;
+ }
+
+ /// Convenience output method
+ virtual std::ostream& dump(std::ostream& s) const;
+
+ /// Returns true if this is a valid TypeID. Basically just
+ /// checks that the enum is defined
+ virtual bool isValid() const;
+
+ /// Destructor
+ virtual ~TypeID() {}
+
+
+ /** Static method to add new TypeID's
+ * @param string Identifying string for the new TypeID
+ */
+ static ValueType newValueType(const std::string& s);
+
+ /// Type of the value
+ ValueType type;
+
+ static std::map< ValueType, std::string > tStrings;
+
+ public:
+ class Initializer
+ {
+ public:
+ Initializer();
+ };
+
+ static Initializer TypeIDsingleton;
+
+ }; // class TypeID
+
+ namespace StringUtils
+ {
+ /// convert this object to a string representation
+ std::string asString(const TypeID& p);
+ }
+
+ /// stream output for TypeID
+ std::ostream& operator<<(std::ostream& s, const TypeID& p);
+
+
+ /// Conversion from RinexObsType to TypeID
+ inline TypeID::ValueType RinexType2TypeID(const RinexObsHeader::RinexObsType& rot)
+ {
+ if (rot == RinexObsHeader::UN) return TypeID::Unknown;
+ if (rot == RinexObsHeader::C1) return TypeID::C1;
+ if (rot == RinexObsHeader::C2) return TypeID::C2;
+ if (rot == RinexObsHeader::P1) return TypeID::P1;
+ if (rot == RinexObsHeader::P2) return TypeID::P2;
+ if (rot == RinexObsHeader::L1) return TypeID::L1;
+ if (rot == RinexObsHeader::L2) return TypeID::L2;
+ if (rot == RinexObsHeader::D1) return TypeID::D1;
+ if (rot == RinexObsHeader::D2) return TypeID::D2;
+ if (rot == RinexObsHeader::S1) return TypeID::S1;
+ if (rot == RinexObsHeader::S2) return TypeID::S2;
+ // v 2.11
+ if (rot == RinexObsHeader::C5) return TypeID::C5;
+ if (rot == RinexObsHeader::L5) return TypeID::L5;
+ if (rot == RinexObsHeader::D5) return TypeID::D5;
+ if (rot == RinexObsHeader::S5) return TypeID::S5;
+ // Galileo-related
+ if (rot == RinexObsHeader::C6) return TypeID::C6;
+ if (rot == RinexObsHeader::L6) return TypeID::L6;
+ if (rot == RinexObsHeader::D6) return TypeID::D6;
+ if (rot == RinexObsHeader::S6) return TypeID::S6;
+ if (rot == RinexObsHeader::C7) return TypeID::C7;
+ if (rot == RinexObsHeader::L7) return TypeID::L7;
+ if (rot == RinexObsHeader::D7) return TypeID::D7;
+ if (rot == RinexObsHeader::S7) return TypeID::S7;
+ if (rot == RinexObsHeader::C8) return TypeID::C8;
+ if (rot == RinexObsHeader::L8) return TypeID::L8;
+ if (rot == RinexObsHeader::D8) return TypeID::D8;
+ if (rot == RinexObsHeader::S8) return TypeID::S8;
+
+ // Just in case, but it should never get this far
+ return TypeID::Unknown;
+ }
+
+
+
+} // namespace gpstk
+#endif
diff --git a/dev/src/UnixTime.cpp b/dev/src/UnixTime.cpp
new file mode 100644
index 0000000..cf7b935
--- /dev/null
+++ b/dev/src/UnixTime.cpp
@@ -0,0 +1,182 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "UnixTime.hpp"
+#include "TimeConstants.hpp"
+
+namespace gpstk
+{
+ UnixTime& UnixTime::operator=( const UnixTime& right )
+ throw()
+ {
+ tv.tv_sec = right.tv.tv_sec;
+ tv.tv_usec = right.tv.tv_usec;
+ return *this;
+ }
+
+ CommonTime UnixTime::convertToCommonTime() const
+ {
+ return CommonTime( ( MJD_JDAY + UNIX_MJD + tv.tv_sec / SEC_PER_DAY ),
+ ( tv.tv_sec % SEC_PER_DAY ),
+ ( static_cast<double>( tv.tv_usec ) * 1e-6 ) );
+ }
+
+ void UnixTime::convertFromCommonTime( const CommonTime& ct )
+ {
+ long jday, sod;
+ double fsod;
+ ct.get( jday, sod, fsod );
+
+ tv.tv_sec =
+ static_cast<time_t>((jday - MJD_JDAY - UNIX_MJD) * SEC_PER_DAY + sod);
+
+ // round to the nearest microsecond
+ tv.tv_usec = static_cast<time_t>( fsod * 1e6 + 0.5 ) ;
+
+ if (tv.tv_usec >= 1000000)
+ {
+ tv.tv_usec -= 1000000;
+ ++tv.tv_sec;
+ }
+ }
+
+ std::string UnixTime::printf( const std::string& fmt ) const
+ throw( gpstk::StringUtils::StringException )
+ {
+ try
+ {
+ using gpstk::StringUtils::formattedPrint;
+ std::string rv( fmt );
+
+ rv = formattedPrint(rv, getFormatPrefixInt() + "U",
+ "Ud", tv.tv_sec);
+ rv = formattedPrint(rv, getFormatPrefixInt() + "u",
+ "ud", tv.tv_usec);
+
+ return rv;
+ }
+ catch( gpstk::StringUtils::StringException& se )
+ {
+ GPSTK_RETHROW( se );
+ }
+ }
+
+ bool UnixTime::setFromInfo( const IdToValue& info )
+ throw()
+ {
+ using namespace gpstk::StringUtils;
+
+ for( IdToValue::const_iterator i = info.begin(); i != info.end(); i++ )
+ {
+ switch( i->first )
+ {
+ case 'U':
+ tv.tv_sec = asInt( i->second );
+ break;
+
+ case 'u':
+ tv.tv_usec = asInt( i->second );
+ break;
+
+ default:
+ // do nothing
+ break;
+ };
+ }
+
+ return true;
+ }
+
+ bool UnixTime::isValid() const
+ throw()
+ {
+ UnixTime temp;
+ temp.convertFromCommonTime( convertToCommonTime() );
+ if( *this == temp )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ void UnixTime::reset()
+ throw()
+ {
+ tv.tv_sec = tv.tv_usec = 0;
+ }
+
+ bool UnixTime::operator==( const UnixTime& right ) const
+ throw()
+ {
+ if( tv.tv_sec == right.tv.tv_sec &&
+ tv.tv_usec == right.tv.tv_usec )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool UnixTime::operator!=( const UnixTime& right ) const
+ throw()
+ {
+ return ( !operator==( right ) );
+ }
+
+ bool UnixTime::operator<( const UnixTime& right ) const
+ throw()
+ {
+ if( tv.tv_sec < right.tv.tv_sec )
+ {
+ return true;
+ }
+ if( tv.tv_sec == right.tv.tv_sec &&
+ tv.tv_usec < right.tv.tv_usec )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool UnixTime::operator>( const UnixTime& right ) const
+ throw()
+ {
+ return ( !operator<=( right ) );
+ }
+
+ bool UnixTime::operator<=( const UnixTime& right ) const
+ throw()
+ {
+ return ( operator<( right ) ||
+ operator==( right ) );
+ }
+
+ bool UnixTime::operator>=( const UnixTime& right ) const
+ throw()
+ {
+ return ( !operator<( right ) );
+ }
+
+} // namespace
diff --git a/dev/src/UnixTime.hpp b/dev/src/UnixTime.hpp
new file mode 100644
index 0000000..89d56f9
--- /dev/null
+++ b/dev/src/UnixTime.hpp
@@ -0,0 +1,193 @@
+#pragma ident "$Id$"
+
+
+
+#ifndef GPSTK_UNIXTIME_HPP
+#define GPSTK_UNIXTIME_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "TimeTag.hpp"
+
+#ifdef _MSC_VER
+// timeval is defined in winsock.h, which we don't want to include
+// because it breaks lots of this code
+struct timeval {
+ long tv_sec; /* seconds */
+ long tv_usec; /* and microseconds */
+};
+#else
+#include <sys/time.h> // for struct timeval
+#endif
+
+namespace gpstk
+{
+ /**
+ * This class encapsulates the "Unix Timeval" time representation.
+ */
+ class UnixTime : public TimeTag
+ {
+ public:
+ /**
+ * @defgroup utbo UnixTime Basic Operations
+ * Default and Copy Constructors, Assignment Operator and Destructor.
+ */
+ //@{
+
+ /**
+ * Default Constructor.
+ * All elements are initialized to zero.
+ */
+ UnixTime( int sec = 0,
+ int usec = 0 )
+ throw()
+ {
+ tv.tv_sec = sec; tv.tv_usec = usec;
+ }
+
+ /** struct timeval Constructor.
+ * Sets time according to the given struct timeval.
+ */
+ UnixTime( struct timeval t )
+ throw()
+ {
+ tv.tv_sec = t.tv_sec; tv.tv_usec = t.tv_usec;
+ }
+
+ /**
+ * Copy Constructor.
+ * @param right a reference to the UnixTime object to copy
+ */
+ UnixTime( const UnixTime& right )
+ throw()
+ : tv( right.tv )
+ {}
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const TimeTag reference and copies its contents via
+ * conversion to CommonTime.
+ * @param right a const reference to the BasicTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ UnixTime( const TimeTag& right )
+ throw( gpstk::InvalidRequest )
+ {
+ convertFromCommonTime( right.convertToCommonTime() );
+ }
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const CommonTime reference and copies its contents via
+ * the convertFromCommonTime method.
+ * @param right a const reference to the CommonTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ UnixTime( const CommonTime& right )
+ throw( InvalidRequest )
+ {
+ convertFromCommonTime( right );
+ }
+
+ /**
+ * Assignment Operator.
+ * @param right a const reference to the UnixTime to copy
+ * @return a reference to this UnixTime
+ */
+ UnixTime& operator=( const UnixTime& right )
+ throw();
+
+ /// Virtual Destructor.
+ virtual ~UnixTime()
+ throw()
+ {}
+ //@}
+
+ // The following functions are required by TimeTag.
+ virtual CommonTime convertToCommonTime() const;
+
+ virtual void convertFromCommonTime( const CommonTime& ct ) ;
+
+ /// This function formats this time to a string. The exceptions
+ /// thrown would only be due to problems parsing the fmt string.
+ virtual std::string printf( const std::string& fmt ) const
+ throw( gpstk::StringUtils::StringException );
+
+ /**
+ * Set this object using the information provided in \a info.
+ * @param info the IdToValue object to which this object shall be set.
+ * @return true if this object was successfully set using the
+ * data in \a info, false if not.
+ */
+ virtual bool setFromInfo( const IdToValue& info )
+ throw();
+
+ /// Return a string containing the characters that this class
+ /// understands when printing times.
+ virtual std::string getPrintChars() const
+ throw()
+ {
+ return "Uu";
+ }
+
+ /// Return a string containing the default format to use in printing.
+ virtual std::string getDefaultFormat() const
+ throw()
+ {
+ return "%U %u";
+ }
+
+ virtual bool isValid() const
+ throw();
+
+ virtual void reset()
+ throw();
+
+ /**
+ * @defgroup utco UnixTime Comparison Operators
+ * All comparison operators have a parameter "right" which corresponds
+ * to the UnixTime object to the right of the symbol.
+ * All comparison operators are const and return true on success
+ * and false on failure.
+ */
+ //@{
+ virtual bool operator==( const UnixTime& right ) const
+ throw();
+ virtual bool operator!=( const UnixTime& right ) const
+ throw();
+ virtual bool operator<( const UnixTime& right ) const
+ throw();
+ virtual bool operator>( const UnixTime& right ) const
+ throw();
+ virtual bool operator<=( const UnixTime& right ) const
+ throw();
+ virtual bool operator>=( const UnixTime& right ) const
+ throw();
+ //@}
+
+ struct timeval tv;
+ };
+
+} // namespace
+
+#endif // GPSTK_UNIXTIME_HPP
diff --git a/dev/src/ValidType.hpp b/dev/src/ValidType.hpp
new file mode 100644
index 0000000..45a02a8
--- /dev/null
+++ b/dev/src/ValidType.hpp
@@ -0,0 +1,123 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file ValidType.hpp
+ * Capturing the concept of an uninitialized variable into a nice neat class.
+ */
+
+#ifndef VALIDTYPE_HPP
+#define VALIDTYPE_HPP
+
+#include <ostream>
+
+#include "Exception.hpp"
+
+namespace gpstk
+{
+
+ // Note that the regular operators don't have to be defined because of the
+ // conversion operator. This allows
+ // ValidType<int> p=1;
+ // p+=1;
+ // to use the regular int operators.
+ // Also note that the exception is declaired outside of the template class
+ // so there will only be one exception for all instantiations
+
+ NEW_EXCEPTION_CLASS(InvalidValue, gpstk::Exception);
+
+ template <class T>
+ class ValidType
+ {
+ public:
+ ValidType(const T& v):value(v),valid(true){};
+ ValidType():valid(false){};
+
+ ValidType& operator=(const T& v) throw() {
+ this->valid = true; this->value = v; return *this; };
+
+ ValidType& operator+=(const T& r) throw(){value-=r;};
+ ValidType& operator-=(const T& r) throw(){value+=r;};
+
+ // A conversion operator, will throw an exception if the object
+ // is marked invalid
+ operator T() const throw(InvalidValue) {
+ if (!this->is_valid()) throw InvalidValue();
+ return value;
+ };
+
+ bool operator==(const ValidType& r) {
+ return this->valid && r.valid && this->value == r.value;
+ };
+
+ bool is_valid() const { return valid;};
+ T get_value() const { return value;};
+
+ void set_valid(const bool& v) throw()
+ { valid=v;}
+
+ private:
+ T value;
+ bool valid;
+ };
+
+ typedef ValidType<float> vfloat;
+ typedef ValidType<double> vdouble;
+ typedef ValidType<char> vchar;
+ typedef ValidType<short> vshort;
+ typedef ValidType<int> vint;
+ typedef ValidType<long> vlong;
+ typedef ValidType<unsigned char> vuchar;
+ typedef ValidType<unsigned short> vushort;
+ typedef ValidType<unsigned int> vuint;
+ typedef ValidType<unsigned long> vulong;
+
+
+ // Yes, Virgina, this is the ugliest declaration that I have ever created...
+ template <class T> std::ostream& operator<<(
+ std::ostream& s, const ValidType<T>& r) throw() {
+ if (r.is_valid())
+ s << r.get_value();
+ else
+ s << "Unknown";
+ return s;
+ }
+
+}
+
+#endif
diff --git a/dev/src/Vector.hpp b/dev/src/Vector.hpp
new file mode 100644
index 0000000..0bbb1d8
--- /dev/null
+++ b/dev/src/Vector.hpp
@@ -0,0 +1,431 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file Vector.hpp
+ * Classes for Vector, both constant and modifiable
+ */
+
+#ifndef GPSTK_VECTOR_HPP
+#define GPSTK_VECTOR_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "VectorBase.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup VectorGroup */
+ //@{
+
+// forward declaration
+ template <class T> class VectorSlice;
+
+/**
+ * This class pretty much duplicates std::valarray<T> except it's fully
+ * STL container compliant. Remember that operators +=, -=, *= and /=
+ * are provided by RefVectorBase.
+ *
+ * @sa matvectest.cpp for examples
+ */
+ template <class T>
+ class Vector : public RefVectorBase<T, Vector<T> >
+ {
+ public:
+ /// STL value type
+ typedef T value_type;
+ /// STL reference type
+ typedef T& reference;
+ /// STL const reference type
+ typedef const T& const_reference;
+ /// STL iterator type
+ typedef T* iterator;
+ /// STL const iterator type
+ typedef const T* const_iterator;
+
+ /// Default constructor
+ Vector() : v(NULL), s(0) {}
+ /// Constructor given an initial size.
+ Vector(size_t siz) : s(siz)
+ //: v(new T[siz]), s(siz)
+ {
+ v = new T[siz];
+ if(!v) {
+ VectorException e("Vector(size_t) failed to allocate");
+ GPSTK_THROW(e);
+ }
+ }
+ /**
+ * Constructor given an initial size and default value for all elements.
+ */
+ Vector(size_t siz, const T defaultValue) : s(siz)
+ //: v(new T[siz]), s(siz)
+ {
+ v = new T[siz];
+ if(!v) {
+ VectorException e("Vector<T>(size_t, const T) failed to allocate");
+ GPSTK_THROW(e);
+ }
+ assignFrom(defaultValue);
+ }
+ /**
+ * Copy constructor from a ConstVectorBase type.
+ */
+ template <class E>
+ Vector(const ConstVectorBase<T, E>& r) : s(r.size())
+ //: v(new T[r.size()]), s(r.size())
+ {
+ v = new T[r.size()];
+ if(!v) {
+ VectorException e("Vector<T>(ConstVectorBase) failed to allocate");
+ GPSTK_THROW(e);
+ }
+ assignFrom(r);
+ }
+ /**
+ * Copy constructor.
+ */
+ Vector(const Vector& r) : s(r.s)
+ //: v(new T[r.s]), s(r.s)
+ {
+ v = new T[r.s];
+ if(!v) {
+ VectorException e("Vector(Vector) failed to allocate");
+ GPSTK_THROW(e);
+ }
+ assignFrom(r);
+ }
+ /**
+ * Valarray constructor
+ */
+ Vector(const std::valarray<T>& r) : s(r.size())
+ //: v(new T[r.size()]), s(r.size())
+ {
+ v = new T[r.size()];
+ if(!v) {
+ VectorException e("Vector(valarray) failed to allocate");
+ GPSTK_THROW(e);
+ }
+ assignFrom(r);
+ }
+
+ /// subvector constructor
+ template <class E>
+ Vector(const ConstVectorBase<T, E>& vec,
+ size_t top,
+ size_t num) : v(size_t(0)),s(0)
+ {
+ // sanity checks...
+ if ( top >= vec.size() ||
+ top + num > vec.size())
+ {
+ VectorException e("Invalid dimensions or size for Vector(VectorBase)");
+ GPSTK_THROW(e);
+ }
+
+ v = new T[num];
+ if(!v) {
+ VectorException e("Vector(subvector) failed to allocate");
+ GPSTK_THROW(e);
+ }
+ size_t i;
+ for(i = 0; i < num; i++)
+ v[i] = vec(top+i);
+ s = num;
+ }
+
+ /// Destructor
+ ~Vector()
+ { if (v) delete [] v; }
+
+ /// STL iterator begin
+ iterator begin() { return v; }
+ /// STL const iterator begin
+ const_iterator begin() const { return v; }
+ /// STL iterator end
+ iterator end() { return v + s; }
+ /// STL const iterator end
+ const_iterator end() const { return v + s; }
+ /// STL front
+ value_type front() { return v[s-1]; }
+ /// STL const front
+ const_reference front() const { return v[s-1];}
+ /// STL empty
+ bool empty() const { return size == 0; }
+ /// STL size
+ size_t size() const {return s; }
+ /// STL max_size
+ size_t max_size() const { return std::numeric_limits<size_t>().max(); }
+
+ /// Non-const operator []
+ T& operator[] (size_t i)
+ { return v[i]; }
+ /// Const operator []
+ T operator[] (size_t i) const
+ { return v[i]; }
+ /// Non-const operator ()
+ T& operator() (size_t i)
+ { return v[i]; }
+ /// Const operator ()
+ T operator() (size_t i) const
+ { return v[i]; }
+
+ /// Like valarray, lets you do vec[slice] to get a VectorSlice.
+ VectorSlice<T> operator[] (const std::slice& sli)
+ { return VectorSlice<T>(*this, sli); }
+
+ /// *this will be resized if it isn't as large as x.
+ Vector& operator=(const Vector& x)
+ { resize(x.s); return assignFrom(x); }
+
+ /// *this will be resized if it isn't as large as x.
+ template <class E>
+ Vector& operator=(const ConstVectorBase<T, E>& x)
+ { resize(x.size()); return assignFrom(x); }
+
+ /// *this will be resized if it isn't as large as x.
+ Vector& operator=(const std::valarray<T>& x)
+ { resize(x.size()); return assignFrom(x); }
+ /// Only (*this).size() elements will be assigned.
+ Vector& operator=(const T x)
+ { return assignFrom(x); }
+ /// Only (*this).size() elements will be assigned.
+ Vector& operator=(const T* x)
+ { return assignFrom(x); }
+
+ /// *this will be cleared and resized as necessary
+ inline Vector& operator=(const std::vector<T>& x)
+ {
+ size_t i;
+ size_t vs = x.size();
+ (*this).resize(vs);
+
+ for (i = 0; i < vs; i++)
+ (*this)[i] = x[i];
+
+ return (*this);
+ }
+
+ /// Resizes the vector. if index > size, the vector will be
+ /// erased and the contents destroyed.
+ Vector& resize(const size_t index)
+ {
+ if (index > s)
+ {
+ if (v)
+ delete [] v;
+ v = new T[index];
+ if(!v) {
+ VectorException e("Vector.resize(size_t) failed to allocate");
+ GPSTK_THROW(e);
+ }
+ }
+ s = index;
+ return *this;
+ }
+
+ /// resize with new default value
+ Vector& resize(const size_t index, const T defaultValue)
+ {
+ resize(index);
+ size_t i;
+ for(i = 0; i < s; i++)
+ v[i] = defaultValue;
+ return *this;
+ }
+
+ /// Returns the concatenation of this Vector and Vector b
+ inline Vector operator&&(const Vector &b)
+ {
+ size_t i;
+ size_t vs = this->size();
+ size_t bs = b.size();
+ size_t rows = vs + bs;
+ Vector<T> toReturn(rows);
+
+ for (i = 0; i < vs; i++)
+ toReturn[i] = (*this)[i];
+
+ for (i = 0; i < bs; i++)
+ toReturn[i+vs] = b[i];
+
+ return toReturn;
+ }
+
+ /// Returns the concatenation of this Vector and a scalar of type T
+ inline Vector operator&&(const T &b)
+ {
+ size_t i;
+ size_t vs = this->size();
+ size_t rows = vs + 1;
+ Vector<T> toReturn(rows);
+
+ for (i = 0; i < vs; i++)
+ toReturn[i] = (*this)[i];
+
+ toReturn[rows - 1] = b;
+
+ return toReturn;
+ }
+
+ private:
+
+ // a good optimizer will remove this function call
+ // if RANGECHECK isn't defined. remember that
+ // range checking affects EVERY operation
+ inline bool rangeCheck(const size_t index) const
+ {
+#ifdef RANGECHECK
+ return (index < s);
+#else
+ return true;
+#endif
+ }
+
+ /// The vector
+ T* v;
+ /// The size of the vector.
+ size_t s;
+ };
+ // end class Vector<T>
+
+/**
+ * A slice of Vector<T> that can be modified.
+ * @warning Remember that (VectorSlice = VectorSlice) will
+ * assign elements to the VectorSlice, not copy the VectorSlice internal data!
+ */
+ template <class T>
+ class VectorSlice : public RefVectorSliceBase<T, VectorSlice<T> >
+ {
+ public:
+ /// Default constructor
+ VectorSlice()
+ : v(NULL), s(std::slice(0,0,0))
+ { }
+
+ /// Makes a slice of the whole vector
+ VectorSlice(Vector<T>& vv)
+ : v(&vv), s(std::slice(0,vv.size(),1))
+ { }
+
+ /// Makes a slice of the vector with the given std::slice.
+ VectorSlice(Vector<T>& vv, const std::slice& ss)
+ : v(&vv), s(ss)
+ { vecSliceCheck(vv.size()); }
+
+ /// Assign the elements of this slice from another vector.
+ template <class V>
+ VectorSlice& operator=(const ConstVectorBase<T, V>& x)
+ { return assignFrom(x); }
+
+ /// Assign the elements of this slice from a valarray.
+ VectorSlice& operator=(const std::valarray<T>& x)
+ { return assignFrom(x); }
+
+ /// Assign all the elements of this slice to x.
+ VectorSlice& operator=(const T x)
+ { return assignFrom(x); }
+
+ /// Assign (*this).size() elements from x to (*this).
+ VectorSlice& operator=(const T* x)
+ { return assignFrom(x); }
+
+ /// Returns the modifiable i'th element of the slice.
+ T& operator[] (size_t i)
+ { return (*v)[start() + i * stride()]; }
+ /// Returns the const i'th element of the slice.
+ T operator[] (size_t i) const
+ { return (*v)[start() + i * stride()]; }
+ /// Returns the modifiable i'th element of the slice.
+ T& operator() (size_t i)
+ { return (*v)[start() + i * stride()]; }
+ /// Returns the const i'th element of the slice.
+ T operator() (size_t i) const
+ { return (*v)[start() + i * stride()]; }
+
+ /// returns the number of elements in the slice
+ inline size_t size() const { return s.size(); }
+ /// returns the index in the vector of the first element.
+ inline size_t start() const { return s.start(); }
+ /// returns the number of elements to skip between (*this)[i] and
+ /// (*this)[i+1]
+ inline size_t stride() const { return s.stride(); }
+ private:
+ /// the vector used as a source for the slice
+ Vector<T>* v;
+ /// the slice specification.
+ std::slice s;
+ };
+
+/**
+ * A Vector<T> slice that doesn't allow modification.
+ */
+ template <class T>
+ class ConstVectorSlice : public ConstVectorSliceBase<T, ConstVectorSlice<T> >
+ {
+ public:
+ /// default constructor
+ ConstVectorSlice()
+ : v(NULL), s(std::slice(0,0,0))
+ { }
+
+ /// Makes a slice of the whole vector
+ ConstVectorSlice(const Vector<T>& vv)
+ : v(&vv), s(std::slice(0,vv.size(),1))
+ { }
+
+ /// Uses the given slice and vector.
+ ConstVectorSlice(const Vector<T>& vv, const std::slice& ss)
+ : v(&vv), s(ss)
+ { vecSliceCheck(vv.size()); }
+
+ /// Returns a const version of the i'th slice element.
+ T operator[] (size_t i) const
+ { return (*v)[start() + i * stride()]; }
+ /// Returns a const version of the i'th slice element.
+ T operator() (size_t i) const
+ { return (*v)[start() + i * stride()]; }
+
+ /// returns the number of elements in the slice
+ inline size_t size() const { return s.size(); }
+ /// returns the index in the vector of the first element.
+ inline size_t start() const { return s.start(); }
+ /// returns the number of elements to skip between (*this)[i] and
+ /// (*this)[i+1]
+ inline size_t stride() const { return s.stride(); }
+
+ private:
+ /// Vectortor used as a source for this slice.
+ const Vector<T>* v;
+ /// the slice specification.
+ std::slice s;
+ };
+
+ //@}
+
+} // namespace
+
+#include "VectorOperators.hpp"
+
+#endif
diff --git a/dev/src/VectorBase.cpp b/dev/src/VectorBase.cpp
new file mode 100644
index 0000000..fbd11b3
--- /dev/null
+++ b/dev/src/VectorBase.cpp
@@ -0,0 +1,38 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file VectorBase.cpp
+ * Initialize static members of base Vector class
+ */
+
+#include "VectorBase.hpp"
+
+namespace gpstk
+{
+ // initialize static members
+ double RefVectorBaseHelper::zeroTolerance = 10e-10;
+} // namespace gpstk
diff --git a/dev/src/VectorBase.hpp b/dev/src/VectorBase.hpp
new file mode 100644
index 0000000..5f85037
--- /dev/null
+++ b/dev/src/VectorBase.hpp
@@ -0,0 +1,301 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file VectorBase.hpp
+ * Base Vector class
+ */
+
+#ifndef GPSTK_VECTOR_BASE_HPP
+#define GPSTK_VECTOR_BASE_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include <valarray>
+#include "Exception.hpp"
+
+#include "MathBase.hpp"
+
+namespace gpstk
+{
+/** @addtogroup VectorGroup */
+ //@{
+
+/// An exception thrown when there's a problem with a vector
+/// @ingroup exceptiongroup
+NEW_EXCEPTION_CLASS(VectorException, gpstk::Exception);
+
+/*
+ * There were two overriding philosophies to the vector and matrix classes:
+ *
+ * The concept of "const" and "reference" (i.e. changable) vector
+ * and matrix types both exist, so that any Const* type could not be altered
+ * while Ref* types can. This allowed one to add the slice classes that
+ * let you use a subset of a vector and modify (or not if it's const) the
+ * original vector. Furthermore, it allowed slice and non-slice classes
+ * to interoperate through the ConstVectorBase or ConstMatrixBase classes, so, for
+ * example, operator* only needs to be written in terms of ConstVectorBase to
+ * work correctly with Vector, VectorSlice and ConstVectorSlice.
+ *
+ * Remember that a slice MUST refer to a vector or matrix; you cannot have
+ * a slice independent of a base vector or matrix.
+ *
+ * In the future:
+ *
+ * - Change the math operators to template expressions.
+ * - Add general slices and diagonal matrix slices.
+ * - Make range checking more consistent.
+ * - Make operator= and copy constructors consistent between const and
+ * non-const versions.
+ * - Reevaluate the need for default slice constructors...?
+ * - find a way for LUD and SVD to use the template type of the parameters
+ * rather than specified when the object is created.
+ * - come up with a policy for when zeroize() will be used before results
+ * are returned.
+ *
+ * @warning MSVC cant deal with cmath header.
+ * Changes to accomidate this may break complex!
+ */
+
+/**
+ * A base class for a vector that does not allow modification of the internal
+ * vector. BaseClass is the base class that implements the vector.
+ */
+ template <class T, class BaseClass>
+ class ConstVectorBase
+ {
+ public:
+ /// Constructor
+ explicit ConstVectorBase() {}
+
+ /// Returns the size of the base class.
+ size_t size() const
+ { return static_cast<const BaseClass*>(this)->size(); }
+ /// returns the element at index i
+ T operator[] (size_t i) const
+ { return constVectorRef(i); }
+ /// returns the element at index i
+ T operator() (size_t i) const
+ { return constVectorRef(i); }
+
+ protected:
+ /// returns the element at index i by calling the base class's operator[]
+ inline T constVectorRef(size_t i) const
+ throw(VectorException)
+ {
+ const BaseClass& b = static_cast<const BaseClass&>(*this);
+#ifdef RANGECHECK
+ if (i >= b.size())
+ {
+ VectorException e("Invalid ConstVectorBase index");
+ GPSTK_THROW(e);
+ }
+#endif
+ return b[i];
+ }
+ };
+
+ /// a class to hold the static members of RefVectorBase. Static members
+ /// in template classes have to be initialized on a PER TEMPLATE
+ /// basis - this gets around that problem.
+ class RefVectorBaseHelper
+ {
+ public:
+ /// used with zeroize(), any number below this value will become 0.
+ /// this variable can be assigned any value.
+ static double zeroTolerance;
+ };
+
+/**
+ * A vector base class that allows modification of the internal representation.
+ */
+ template <class T, class BaseClass>
+ class RefVectorBase : public ConstVectorBase<T, BaseClass>,
+ public RefVectorBaseHelper
+ {
+ public:
+ /// constructor
+ explicit RefVectorBase() {}
+ /// returns a modifiable version of the element at index i.
+ T& operator[] (size_t i)
+ { return vecRef(i); }
+ /// returns a modifiable version of the element at index i.
+ T& operator() (size_t i)
+ { return vecRef(i); }
+ /// Any value in the vector with absolute value below
+ /// zeroTolerance is set to zero.
+ BaseClass& zeroize()
+ {
+ BaseClass& me = static_cast<BaseClass&>(*this);
+ size_t i;
+ for (i = 0; i < me.size(); i++)
+ if (ABS(me[i]) < zeroTolerance)
+ me[i] = T(0);
+ return me;
+ }
+
+#define VecBaseArrayAssignMacroDontCheckRange(func) \
+ BaseClass& me = static_cast<BaseClass&>(*this); \
+ size_t i; for (i=0; i < me.size(); i++) { \
+ me[i] func x[i]; \
+ } \
+ return me;
+
+#ifdef RANGECHECK
+#define VecBaseArrayAssignMacro(func) \
+ BaseClass& me = static_cast<BaseClass&>(*this); \
+ if (x.size() != me.size()) \
+ { \
+ VectorException e("Unequal lengths for vectors"); \
+ GPSTK_THROW(e); \
+ } \
+ size_t i; for (i=0; i < me.size(); i++) me[i] func x[i]; \
+ return me;
+#else
+#define VecBaseArrayAssignMacro(func) \
+VecBaseArrayAssignMacroDontCheckRange(func)
+#endif
+
+#define VecBaseAtomicAssignMacro(func) \
+ BaseClass& me = static_cast<BaseClass&>(*this); \
+ size_t i; for (i=0; i < me.size(); i++) me[i] func x; \
+ return me;
+
+#define VecBaseNewAssignOperator(funcName, op) \
+ /** Performs op on (*this).size() elements of (*this) from x */ \
+ template <class E> BaseClass& funcName(const ConstVectorBase<T, E>& x) \
+ { VecBaseArrayAssignMacro(op) } \
+ /** Performs op on (*this).size() elements of (*this) from x */ \
+ BaseClass& funcName(const std::valarray<T>& x) \
+ { VecBaseArrayAssignMacro(op) } \
+ /** Performs op on (*this).size() elements of (*this) from x */ \
+ BaseClass& funcName(const T* x) \
+ { VecBaseArrayAssignMacroDontCheckRange(op) } \
+ /** Performs op on (*this).size() elements of (*this) from x */ \
+ BaseClass& funcName(T x) \
+ { VecBaseAtomicAssignMacro(op) }
+
+ /**
+ * Remember that operator= is NOT inherited. Derived classes can
+ * use assignFrom to initialize values from a copy constructor or
+ * their own operator= rather than explicitly copying them.
+ */
+ VecBaseNewAssignOperator(assignFrom, =);
+ VecBaseNewAssignOperator(operator+=, +=);
+ VecBaseNewAssignOperator(operator-=, -=);
+ VecBaseNewAssignOperator(operator*=, *=);
+ VecBaseNewAssignOperator(operator/=, /=);
+
+ /// unary minus: multiplies each element of this vector by -1.
+ BaseClass& operator-()
+ {
+ const T x=T(-1);
+ VecBaseAtomicAssignMacro(*=);
+ }
+
+ protected:
+ /// Returns a modifiable object at index i.
+ inline T& vecRef(size_t i)
+ throw(VectorException)
+ {
+ BaseClass& b = static_cast<BaseClass&>(*this);
+#ifdef RANGECHECK
+ if (i >= b.size())
+ {
+ VectorException e("Invalid VectorBase index");
+ GPSTK_THROW(e);
+ }
+#endif
+ return b[i];
+ }
+ };
+
+/**
+ * A base class that represents a subset of a vector.
+ */
+ template <class BaseClass>
+ class VectorSliceBase
+ {
+ public:
+ /// constructor
+ explicit VectorSliceBase() {}
+
+ /// the number of elements in the slice.
+ size_t size() const
+ { return static_cast<const BaseClass*>(this)->size(); }
+ /// the start index in the BaseClass vector for this slice.
+ size_t start() const
+ { return static_cast<const BaseClass*>(this)->start(); }
+ /// How many elements separate the i'th element from the i+1'th element.
+ size_t stride() const
+ { return static_cast<const BaseClass*>(this)->stride(); }
+
+ protected:
+ /// Given the size of the source vector, checks that the slice is valid.
+ inline void vecSliceCheck(size_t sourceSize) const
+ throw(VectorException)
+ {
+#ifdef RANGECHECK
+ // sanity checks...
+ if ( (start() >= sourceSize) ||
+ ((start() + (size() - 1) * stride()) >= sourceSize) )
+ {
+ VectorException e("Invalid range for slice");
+ GPSTK_THROW(e);
+ }
+#endif
+ }
+ };
+
+/**
+ * A vector slice base class that doesn't allow modification of the
+ * internal elements.
+ */
+ template <class T, class BaseClass>
+ class ConstVectorSliceBase : public VectorSliceBase<BaseClass>,
+ public ConstVectorBase<T, BaseClass>
+ {
+public:
+ explicit ConstVectorSliceBase() {}
+};
+
+/**
+ * A vector slice base class that does allow modification of the
+ * internal elements.
+ */
+template <class T, class BaseClass>
+class RefVectorSliceBase : public VectorSliceBase<BaseClass>,
+ public RefVectorBase<T, BaseClass>
+{
+public:
+ explicit RefVectorSliceBase() {}
+};
+
+//@}
+
+} // namespace gpstk
+
+#include "VectorBaseOperators.hpp"
+
+#endif //GPSTK_VECTOR_BASE_HPP
diff --git a/dev/src/VectorBaseOperators.hpp b/dev/src/VectorBaseOperators.hpp
new file mode 100644
index 0000000..0902705
--- /dev/null
+++ b/dev/src/VectorBaseOperators.hpp
@@ -0,0 +1,272 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file VectorBaseOperators.hpp
+ * Vector base class operators, including I/O, min(), dot(), comparisons, etc
+ */
+
+#ifndef GPSTK_VECTOR_BASE_OPERATORS_HPP
+#define GPSTK_VECTOR_BASE_OPERATORS_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include <fstream> // for copyfmt
+#include <vector>
+#include <iomanip>
+
+namespace gpstk
+{
+
+ /** @addtogroup VectorGroup */
+ //@{
+
+/** Output operator for ConstVectorBase objects */
+ template <class T, class E>
+ std::ostream& operator<<(std::ostream& s, const ConstVectorBase<T, E>& a)
+ {
+ std::ofstream savefmt;
+ savefmt.copyfmt(s);
+ size_t i;
+ for (i=0; i< a.size(); i++) {
+ s << std::setw(1) << ' ';
+ s.copyfmt(savefmt);
+ s << a[i];
+ }
+ return s;
+ }
+
+/** Returns the sum of the elements of the vector */
+ template <class T, class BaseClass>
+ inline T sum(const ConstVectorBase<T, BaseClass>& l)
+ {
+ T total(0);
+ size_t i;
+ for (i = 0; i < l.size(); i++)
+ total += l[i];
+ return total;
+ }
+
+/** Return the element with smallest absolute value in the vector */
+ template <class T, class BaseClass>
+ inline T minabs(const ConstVectorBase<T, BaseClass>& l) throw (VectorException)
+ {
+ if (l.size() == 0)
+ {
+ VectorException e("Can't find the minabs of an empty vector");
+ GPSTK_THROW(e);
+ }
+ T min = l[0];
+ size_t i;
+ for (i = 1; i < l.size(); i++)
+ if (ABS(l[i]) < ABS(min))
+ min = l[i];
+ return min;
+ }
+
+/** Returns the smallest element of the vector */
+ template <class T, class BaseClass>
+ inline T min(const ConstVectorBase<T, BaseClass>& l) throw (VectorException)
+ {
+ if (l.size() == 0)
+ {
+ VectorException e("Can't find the min of an empty vector");
+ GPSTK_THROW(e);
+ }
+ T min = l[0];
+ size_t i;
+ for (i = 1; i < l.size(); i++)
+ if (l[i] < min)
+ min = l[i];
+ return min;
+ }
+
+/** Return the element with largest absolute value in the vector */
+ template <class T, class BaseClass>
+ inline T maxabs(const ConstVectorBase<T, BaseClass>& l)
+ {
+ if (l.size() == 0)
+ {
+ VectorException e("Can't find the maxabs of an empty vector");
+ GPSTK_THROW(e);
+ }
+ T max = l[0];
+ size_t i;
+ for (i = 1; i < l.size(); i++)
+ if (ABS(l[i]) > ABS(max))
+ max = l[i];
+ return max;
+ }
+
+/** Returns the largest element of the vector */
+ template <class T, class BaseClass>
+ inline T max(const ConstVectorBase<T, BaseClass>& l)
+ {
+ if (l.size() == 0)
+ {
+ VectorException e("Can't find the max of an empty vector");
+ GPSTK_THROW(e);
+ }
+ T max = l[0];
+ size_t i;
+ for (i = 1; i < l.size(); i++)
+ if (l[i] > max)
+ max = l[i];
+ return max;
+ }
+
+/** returns the dot product of the two vectors */
+ template <class T, class BaseClass, class BaseClass2>
+ inline T dot(const ConstVectorBase<T, BaseClass>& l,
+ const ConstVectorBase<T, BaseClass2>& r)
+ {
+ T sum(0);
+ size_t i,n=(l.size() > r.size() ? r.size() : l.size());
+ for (i = 0; i < n; i++)
+ {
+ sum += l[i] * r[i];
+ }
+ return sum;
+ }
+
+/** returns the dot product of a vector and a scalar */
+ template <class T, class BaseClass>
+ inline T dot(const ConstVectorBase<T, BaseClass>& l, const T r)
+ {
+ T sum(0);
+ size_t i;
+ for (i = 0; i < l.size(); i++)
+ {
+ sum += l[i] * r;
+ }
+ return sum;
+ }
+
+/** returns the dot product of a scalar and a vector */
+ template <class T, class BaseClass>
+ inline T dot(const T l, const ConstVectorBase<T, BaseClass>& r)
+ {
+ T sum(0);
+ size_t i;
+ for (i = 0; i < r.size(); i++)
+ {
+ sum += l * r[i];
+ }
+ return sum;
+ }
+
+/** returns the norm of the vector */
+ template <class T, class BaseClass>
+ inline T norm(const ConstVectorBase<T, BaseClass>& v)
+ {
+ T mag=T(0);
+ if(v.size()==0) return mag;
+ mag = ABS(v(0));
+ for(size_t i=1; i<v.size(); i++) {
+ if(mag > ABS(v(i)))
+ mag *= SQRT(T(1)+(v(i)/mag)*(v(i)/mag));
+ else if(ABS(v(i)) > mag)
+ mag = ABS(v(i))*SQRT(T(1)+(mag/v(i))*(mag/v(i)));
+ else
+ mag *= SQRT(T(2));
+ }
+ return mag;
+ }
+
+/** return the Minkowski product of two vectors of length 4. */
+ template <class T, class BaseClass, class BaseClass2>
+ inline T Minkowski(const ConstVectorBase<T, BaseClass>& v,
+ const ConstVectorBase<T, BaseClass2>& w)
+ {
+ if (v.size()<4 || w.size()<4)
+ {
+ VectorException e("Minkowski requires vector length 4");
+ GPSTK_THROW(e);
+ }
+ return (v(0)*w(0)+v(1)*w(1)+v(2)*w(2)-v(3)*w(3));
+ }
+
+/** finds the cosine between the two vectors */
+ template <class T, class BaseClass1, class BaseClass2>
+ inline T cosVec(const ConstVectorBase<T, BaseClass1>& a,
+ const ConstVectorBase<T, BaseClass2>& b)
+ {
+ T na=norm(a), nb=norm(b), c(0);
+ size_t i,n=(b.size() > a.size() ? a.size() : b.size());
+ for(i=0; i<n; i++) c += (a(i)/na)*(b(i)/nb);
+ return c;
+ }
+
+// shortwire equality operators - compares each individual
+// element in the vector but returns one 'true' or 'false'
+// for the whole comparison. note this only compares
+// the smaller of the size of the two vectors
+#define VecShortwireComparisonOperator(func, op) \
+/** Performs op on each element of l and r, returning false if any fail */ \
+template <class T, class BaseClass, class BaseClass2> \
+inline bool func(const ConstVectorBase<T, BaseClass>& l, \
+ const ConstVectorBase<T, BaseClass2>& r) \
+{ \
+ size_t len = (l.size() < r.size()) ? l.size() : r.size(); \
+ size_t i; \
+ for(i = 0; i < len; i++) \
+ if ( !(l[i] op r[i]) ) \
+ return false; \
+ return true; \
+} \
+/** Performs op on each element of l to r, returning false if any fail */ \
+template <class T, class BaseClass> \
+inline bool func(const ConstVectorBase<T, BaseClass>& l, const T r) \
+{ \
+ size_t len = l.size(); \
+ size_t i; \
+ for(i = 0; i < len; i++) \
+ if ( !(l[i] op r) ) \
+ return false; \
+ return true; \
+} \
+/** Performs op on each element of r to l, returning false if any fail */ \
+template <class T, class BaseClass> \
+inline bool func(const T l, const ConstVectorBase<T, BaseClass>& r) \
+{ \
+ size_t len = r.size(); \
+ size_t i; \
+ for(i = 0; i < len; i++) \
+ if ( !(l op r[i]) ) \
+ return false; \
+ return true; \
+}
+
+VecShortwireComparisonOperator(eq, ==)
+ VecShortwireComparisonOperator(ne, !=)
+ VecShortwireComparisonOperator(lt, <)
+ VecShortwireComparisonOperator(gt, >)
+ VecShortwireComparisonOperator(ge, >=)
+ VecShortwireComparisonOperator(le, <=)
+
+ //@}
+
+} // namespace gpstk
+
+#endif // GPSTK_VECTOR_BASE_OPERATORS_HPP
diff --git a/dev/src/VectorOperators.hpp b/dev/src/VectorOperators.hpp
new file mode 100644
index 0000000..3f0e37b
--- /dev/null
+++ b/dev/src/VectorOperators.hpp
@@ -0,0 +1,189 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file VectorOperators.hpp
+ * Vector operators, including arithmetic, trig, cross, RMS, etc
+ */
+
+#ifndef GPSTK_VECTOR_OPERATORS_HPP
+#define GPSTK_VECTOR_OPERATORS_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+namespace gpstk
+{
+
+ /** @addtogroup VectorGroup */
+ //@{
+
+#define VecBaseNewUnaryOperator(func) \
+ /** performs func on each element of x, returning a new vector */ \
+ template <class T, class BaseClass> \
+ Vector<T> func(const ConstVectorBase<T, BaseClass>& x) \
+ { \
+ BaseClass toReturn(x.size()); \
+ size_t i; for (i=0; i < x.size(); i++) toReturn[i] = func(x[i]); \
+ return toReturn; \
+ }
+
+// VecBaseNewUnaryOperator(-)
+ VecBaseNewUnaryOperator(abs)
+ VecBaseNewUnaryOperator(acos)
+ VecBaseNewUnaryOperator(asin)
+ VecBaseNewUnaryOperator(atan)
+ VecBaseNewUnaryOperator(cos)
+ VecBaseNewUnaryOperator(cosh)
+ VecBaseNewUnaryOperator(exp)
+ VecBaseNewUnaryOperator(log)
+ VecBaseNewUnaryOperator(log10)
+ VecBaseNewUnaryOperator(sinh)
+ VecBaseNewUnaryOperator(sin)
+ VecBaseNewUnaryOperator(sqrt)
+ VecBaseNewUnaryOperator(tan)
+ VecBaseNewUnaryOperator(tanh)
+
+#define VecBaseNewBinaryOperator(func, retval) \
+/** returns a retval with each element the result of l[i] func r[i] */ \
+template <class T, class BaseClass, class BaseClass2> \
+retval operator func(const ConstVectorBase<T, BaseClass>& l, \
+ const ConstVectorBase<T, BaseClass2>& r) \
+{ \
+ if (l.size() != r.size()) \
+ { \
+ VectorException e("Unequal lengths vectors"); \
+ GPSTK_THROW(e); \
+ } \
+ retval toReturn(l.size()); \
+ size_t i; \
+ for (i=0; i < l.size(); i++) toReturn[i] = l[i] func r[i]; \
+ return toReturn; \
+} \
+/** returns a retval with each element the result of l[i] func (scalar)r */ \
+template <class T, class BaseClass> \
+retval operator func(const ConstVectorBase<T, BaseClass>& l, const T r) \
+{ \
+ retval toReturn(l.size()); \
+ size_t i; \
+ for (i=0; i < l.size(); i++) toReturn[i] = l[i] func r; \
+ return toReturn; \
+} \
+/** returns a retval with each element the result of (scalar)l func r[i] */ \
+template <class T, class BaseClass> \
+retval operator func(const T l, const ConstVectorBase<T, BaseClass>& r) \
+{ \
+ retval toReturn(r.size()); \
+ size_t i; \
+ for (i=0; i < r.size(); i++) toReturn[i] = l func r[i]; \
+ return toReturn; \
+}
+
+ VecBaseNewBinaryOperator(*, Vector<T>)
+ VecBaseNewBinaryOperator(/, Vector<T>)
+ VecBaseNewBinaryOperator(%, Vector<T>)
+ VecBaseNewBinaryOperator(+, Vector<T>)
+ VecBaseNewBinaryOperator(-, Vector<T>)
+ VecBaseNewBinaryOperator(^, Vector<T>)
+ VecBaseNewBinaryOperator(&, Vector<T>)
+ VecBaseNewBinaryOperator(|, Vector<T>)
+
+ VecBaseNewBinaryOperator(==, Vector<bool>)
+ VecBaseNewBinaryOperator(<, Vector<bool>)
+ VecBaseNewBinaryOperator(>, Vector<bool>)
+ VecBaseNewBinaryOperator(!=, Vector<bool>)
+ VecBaseNewBinaryOperator(<=, Vector<bool>)
+ VecBaseNewBinaryOperator(>=, Vector<bool>)
+
+#define VecBaseNewBinaryTranscendentalOperator(func, retval) \
+/** performs func between each element of l and r, returning a retval */ \
+ template <class T, class BaseClass, class BaseClass2> \
+ retval func(const ConstVectorBase<T, BaseClass>& l, \
+ const ConstVectorBase<T, BaseClass2>& r) \
+ { \
+ retval toReturn(l.size()); \
+ size_t i; \
+ for (i=0; i < l.size(); i++) toReturn[i] = func(l[i], r[i]); \
+ return toReturn; \
+ } \
+/** performs func between each element of l and (scalar)r, returning a retval */ \
+template <class T, class BaseClass> \
+retval func(const ConstVectorBase<T, BaseClass>& l, const T r) \
+{ \
+ retval toReturn(l.size()); \
+ size_t i; \
+ for (i=0; i < l.size(); i++) toReturn[i] = func(l[i], r); \
+ return toReturn; \
+} \
+/** performs func between (scalar)l and each element of r, returning a retval */ \
+template <class T, class BaseClass> \
+retval func(const T l, const ConstVectorBase<T, BaseClass>& r) \
+{ \
+ retval toReturn(r.size()); \
+ size_t i; \
+ for (i=0; i < r.size(); i++) toReturn[i] = func(l, r[i]); \
+ return toReturn; \
+}
+
+ VecBaseNewBinaryTranscendentalOperator(atan, Vector<T>)
+ VecBaseNewBinaryTranscendentalOperator(pow, Vector<T>)
+
+/** finds the cross product between l and r */
+ template <class T, class BaseClass, class BaseClass2>
+ Vector<T> cross(const ConstVectorBase<T, BaseClass>& l,
+ const ConstVectorBase<T, BaseClass2>& r) throw(VectorException)
+{
+ if ((l.size() != 3) && (r.size() != 3))
+ {
+ VectorException e("Cross product requires vectors of size 3");
+ GPSTK_THROW(e);
+ }
+ BaseClass toReturn(3);
+ toReturn[0] = l[1] * r[2] - l[2] * r[1];
+ toReturn[1] = l[2] * r[0] - l[0] * r[2];
+ toReturn[2] = l[0] * r[1] - l[1] * r[0];
+ return toReturn;
+}
+
+/** returns a new vector with the normalized version of l */
+template <class T, class BaseClass>
+Vector<T> normalize(const ConstVectorBase<T, BaseClass>& l)
+{ return l / norm(l); }
+
+/** returns the root-sum-square of the elements of l */
+template <class T, class BaseClass>
+T RSS(const ConstVectorBase<T, BaseClass>& l)
+{ return norm(l); }
+
+/** returns the root-mean-square of the elements of l */
+template <class T, class BaseClass>
+T RMS(const ConstVectorBase<T, BaseClass>& l)
+{ return norm(l)/SQRT(T(l.size())); }
+
+ //@}
+
+} // namespace
+
+#endif
+
+
diff --git a/dev/src/WGS84Geoid.hpp b/dev/src/WGS84Geoid.hpp
new file mode 100644
index 0000000..fb9428b
--- /dev/null
+++ b/dev/src/WGS84Geoid.hpp
@@ -0,0 +1,131 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file WGS84Geoid.hpp
+ * WGS 1984 model of the geoid
+ */
+
+#ifndef GPSTK_WGS84GEOID_HPP
+#define GPSTK_WGS84GEOID_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "GeoidModel.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup geodeticgroup */
+ //@{
+
+ /// This class represents the geodetic model defined in NIMA
+ /// TR8350.2, "Department of Defense World Geodetic System 1984".
+ class WGS84Geoid : public GeoidModel
+ {
+ public:
+
+ /// Defined in TR8350.2, Appendix A.1
+ /// @return semi-major axis of Earth in meters.
+ virtual double a() const throw()
+ { return 6378137.0; }
+
+ /// Derived from TR8350.2, Appendix A.1
+ /// @return semi-major axis of Earth in km.
+ virtual double a_km() const throw()
+ { return a() / 1000.0; }
+
+ /**
+ * Derived from TR8350.2, Appendix A.1
+ * @note This parameter was in gappc as e-2, but a
+ * little calculator work indicates it should really be e-3.
+ * We'll leave it as e-3 for now.
+ * @return flattening (ellipsoid parameter).
+ */
+ virtual double flattening() const throw()
+ { return 0.335281066475e-3; }
+
+ /// Defined in TR8350.2, Table 3.3
+ /// @return eccentricity (ellipsoid parameter).
+ virtual double eccentricity() const throw()
+ { return 8.1819190842622e-2; }
+
+ /// Defined in TR8350.2, Table 3.3
+ /// @return eccentricity squared (ellipsoid parameter).
+ virtual double eccSquared() const throw()
+ { return 6.69437999014e-3; }
+
+ /// Defined in TR8350.2, 3.2.4 line 3-6, or Table 3.1
+ /// @return angular velocity of Earth in radians/sec.
+ virtual double angVelocity() const throw()
+ { return 7.292115e-5; }
+
+ /// Defined in TR8350.2, Table 3.1
+ /// @return geocentric gravitational constant in m**3 / s**2
+ virtual double gm() const throw()
+ { return 3986004.418e8; }
+
+ /// Derived from TR8350.2, Table 3.1
+ /// @return geocentric gravitational constant in km**3 / s**2
+ virtual double gm_km() const throw()
+ { return 398600.4418; }
+
+ /// Defined in TR8350.2, 3.3.2 line 3-11
+ /// @return Speed of light in m/s.
+ virtual double c() const throw()
+ { return 299792458; }
+
+ /// Derived from TR8350.2, 3.3.2 line 3-11
+ /// @return Speed of light in km/s
+ virtual double c_km() const throw()
+ { return c()/1000.0; }
+
+ /// Destructor.
+ virtual ~WGS84Geoid() throw() {};
+
+ }; // class WGS84Geoid
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/WeightBase.hpp b/dev/src/WeightBase.hpp
new file mode 100644
index 0000000..b797fb4
--- /dev/null
+++ b/dev/src/WeightBase.hpp
@@ -0,0 +1,70 @@
+
+/**
+ * @file WeightBase.hpp
+ * Abstract base class for algorithms assigning weights to satellites.
+ */
+
+#ifndef WEIGHT_BASE_GPSTK
+#define WEIGHT_BASE_GPSTK
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE. 2006
+//
+//============================================================================
+
+
+
+#include "Exception.hpp"
+#include "Matrix.hpp"
+#include "Vector.hpp"
+
+
+namespace gpstk
+{
+ /// Thrown when some problem appeared when assigning weights to satellites
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(InvalidWeights, gpstk::Exception);
+
+
+ /** @addtogroup GPSsolutions */
+ //@{
+
+ /**
+ * Abstract base class for algorithms assigning weights to satellites.
+ */
+ class WeightBase
+ {
+ public:
+
+ /// Destructor
+ virtual ~WeightBase() {};
+
+
+ protected:
+ bool valid; // true only if weights are valid
+
+ }; // end class WeightBase
+
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/WxObsMap.cpp b/dev/src/WxObsMap.cpp
new file mode 100644
index 0000000..c566633
--- /dev/null
+++ b/dev/src/WxObsMap.cpp
@@ -0,0 +1,243 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file WxObsMap.cpp
+ * A class encapsulating wx data.
+ */
+
+#include "WxObsMap.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+namespace gpstk
+{
+
+ WxObservation WxObsData::getMostRecent( const DayTime& t ) const
+ throw()
+ {
+ if(obs.size() == 0)
+ return WxObservation();
+
+ WxObsMap::const_iterator i = obs.upper_bound(t);
+ if (i== obs.end())
+ i--;
+ if (i != obs.begin())
+ i--;
+ return i->second;
+ };
+
+ void WxObsData::insertObservation( const WxObservation& wx )
+ throw()
+ {
+ obs[wx.t] = wx;
+ if (wx.t > lastTime) lastTime=wx.t;
+ if (wx.t < firstTime) firstTime=wx.t;
+ }
+
+ bool WxObservation::isAllValid() const
+ throw()
+ {
+ return temperatureSource != noWx
+ && pressureSource != noWx
+ && humiditySource != noWx;
+ };
+
+ void WxObsData::flush(const DayTime& t) throw()
+ {
+ // remove data from the WxObsMap
+ // map is sorted by time, stop removing data at
+ // first point after t
+ WxObsMap::iterator i = obs.begin();
+ while (i != obs.end())
+ {
+ if (i->first < t)
+ {
+ obs.erase(i);
+ i = obs.begin();
+ firstTime = i->second.t;
+ }
+ else
+ break;
+ }
+ }
+
+ WxObservation WxObsData::getWxObservation(const DayTime& t,
+ unsigned iv,
+ bool interpolate) const
+ throw(ObjectNotFound)
+ {
+ if (obs.empty())
+ {
+ ObjectNotFound e("No WxObservation available near time " +
+ t.printf("%02H:%02M:%02S on day %03j of %4Y"));
+ GPSTK_THROW(e);
+ }
+
+ // get the first object after time t;
+ WxObsMap::const_iterator after = obs.upper_bound(t);
+
+ if (after == obs.begin())
+ {
+ const WxObservation& wxa = after->second;
+ if ((wxa.t >= (t - iv)) && (wxa.t <= (t + iv)))
+ {
+ // only after point fits
+ return wxa;
+ }
+ else
+ {
+ ObjectNotFound e("No WxObservation available near time " +
+ t.printf("%02H:%02M:%02S on day %03j of %4Y"));
+ GPSTK_THROW(e);
+ }
+ }
+
+
+ // get the first object at or before time t;
+ WxObsMap::const_iterator before = after;
+ before--;
+
+ if (after == obs.end())
+ {
+ const WxObservation& wxb = before->second;
+ if((wxb.t >= (t - iv)) && (wxb.t <= (t + iv)))
+ {
+ // only before point fits
+ return wxb;
+ }
+ else
+ {
+ ObjectNotFound e("No WeatherData available near time " +
+ t.printf("%02H:%02M:%02S on day %03j of %4Y"));
+ GPSTK_THROW(e);
+ }
+ }
+ else
+ {
+ const WxObservation& wxa = after->second;
+ const WxObservation& wxb = before->second;
+
+ if (interpolate)
+ {
+ if((wxb.t >= (t - iv)) && (wxb.t <= (t + iv)))
+ {
+ if ((wxa.t >= (t - iv)) && (wxa.t <= (t + iv)))
+ {
+ // both points fit, linearly interpolate and create
+ // a WeatherData object with those values
+ double dtw = wxa.t - wxb.t;
+ double dt = t - wxb.t;
+
+ double slope = (wxa.pressure - wxb.pressure) / dtw;
+ double pressure = slope * dt + wxb.pressure;
+
+ slope = (wxa.humidity - wxb.humidity) / dtw;
+ double humidity = slope * dt + wxb.humidity;
+
+ slope = (wxa.temperature - wxb.temperature) / dtw;
+ double temp = slope * dt + wxb.temperature;
+
+ WxObservation wx(t, temp, pressure, humidity);
+ return wx;
+ }
+ else
+ {
+ // only before point fits
+ return wxb;
+ }
+ }
+ else if ((wxa.t >= (t - iv)) && (wxa.t <= (t + iv)))
+ {
+ // only after point fits
+ return wxa;
+ }
+ else
+ {
+ ObjectNotFound e("No WeatherData available near time " +
+ t.printf("%02H:%02M:%02S on day %03j of %4Y"));
+ GPSTK_THROW(e);
+ }
+ }
+ else
+ {
+ if((wxb.t >= (t - iv)) && (wxb.t <= (t + iv)))
+ {
+ if ((wxa.t >= (t - iv)) && (wxa.t <= (t + iv)))
+ {
+ // both points fit, return closer point, or
+ // before point if at same distance
+ double diffa = wxa.t - t;
+ double diffb = t - wxb.t;
+ return(diffa < diffb ? wxa : wxb);
+ }
+ else
+ {
+ // only before point fits
+ return wxb;
+ }
+ }
+ else if ((wxa.t >= (t - iv)) && (wxa.t <= (t + iv)))
+ {
+ // only after point fits
+ return wxa;
+ }
+ else
+ {
+ ObjectNotFound e("No WeatherData available near time " +
+ t.printf("%02H:%02M:%02S on day %03j of %4Y"));
+ GPSTK_THROW(e);
+ }
+ }
+ }
+ }
+
+ // These are just to facilitate debugging.
+ std::ostream& operator<<(std::ostream& s, const gpstk::WxObservation& obs)
+ throw()
+ {
+ // Note that this does not flag where the wx data came from
+ s << obs.t << ", t=" << obs.temperature
+ << ", p=" << obs.pressure
+ << ", rh=" << obs.humidity;
+ return s;
+ }
+
+
+} // namespace
diff --git a/dev/src/WxObsMap.hpp b/dev/src/WxObsMap.hpp
new file mode 100644
index 0000000..f7ab226
--- /dev/null
+++ b/dev/src/WxObsMap.hpp
@@ -0,0 +1,174 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+#ifndef GPSTK_WXOBSMAP_HPP
+#define GPSTK_WXOBSMAP_HPP
+
+/**
+ * @file WxObsMap.hpp
+ * A class encapsulating and managing wx observations data.
+ */
+
+
+#include <map>
+#include <iostream>
+
+#include "DayTime.hpp"
+
+namespace gpstk
+{
+ /// A Single Weather Observation.
+ struct WxObservation
+ {
+ /// Default Constructor
+ WxObservation() throw()
+ : t(DayTime::END_OF_TIME), temperatureSource(noWx),
+ pressureSource(noWx), humiditySource(noWx)
+ {}
+
+ /** Constructor
+ * @param t the time of the observation
+ * @param temp the recorded temperature (deg. Centigrade)
+ * @param pres the recorded pressure (millibars)
+ * @param humid the recorded relative humidity (%)
+ */
+ WxObservation(const DayTime& t,
+ double temp,
+ double pres,
+ double humid)
+ throw()
+ :t(t),
+ temperature(temp), pressure(pres),
+ humidity(humid), temperatureSource(obsWx),
+ pressureSource(obsWx), humiditySource(obsWx)
+ {}
+
+
+ DayTime t; ///< Time that this data was collected, in Rx GPS time.
+ float temperature; ///< degrees Centigrade
+ float pressure; ///< millibars
+ float humidity; ///< percent
+
+ /// An enumeration of the various weather sources.
+ enum EWxSrc
+ {
+ noWx, ///< No weather measurements were available.
+ defWx, ///< Default weather was used.
+ obsWx ///< The Observed Weather was used.
+ };
+
+ enum EWxSrc temperatureSource; ///< source of the temperature meas.
+ enum EWxSrc pressureSource; ///< source of the pressure meas.
+ enum EWxSrc humiditySource; ///< source of the humidity meas.
+
+ /** Return whether all weather values in this object are valid.
+ * @return whether all weather values in this object are valid
+ */
+ bool isAllValid() const throw();
+
+ /** Friendly Output Operator.
+ * @param s the output stream to which data is sent
+ * @param obs the WxObservation from which the data comes
+ * @return a reference to the modified ostream
+ */
+ friend std::ostream& operator<<(std::ostream& s,
+ const WxObservation& obs) throw();
+ };
+
+
+ /// This is a map of weather observations over time. The key
+ /// should be the same time as the time of the epoch.
+ typedef std::map<DayTime, WxObservation> WxObsMap;
+
+ /// This is a time history weather data from a single site
+ struct WxObsData
+ {
+ /// Constructor
+ WxObsData() throw()
+ :firstTime(DayTime::END_OF_TIME),
+ lastTime(DayTime::BEGINNING_OF_TIME) {}
+
+ // First and last time of any data in this object
+ DayTime firstTime; ///< Time of the oldest data in this object.
+ DayTime lastTime; ///< Time of the youngest data in this object.
+
+ /// This is the identifier of the site.
+ unsigned rxId;
+
+ /// The actual data.
+ WxObsMap obs;
+
+ /** Get the last WxObservation made before time t.
+ * @return the WxObservation coming before time t
+ */
+ WxObservation getMostRecent(const DayTime& t) const throw();
+
+ /** Insert a WxObservation.
+ * @param obs the WxObservation to insert.
+ */
+ void insertObservation(const WxObservation& obs) throw();
+
+ /**
+ * Removes all stored #WxObservation objects older than time \a t.
+ * \param t remove #WxObservation objects older than this
+ */
+ void flush(const DayTime& t) throw();
+
+ /**
+ * Find a #WxObservation object for time \a t.
+ * A #WxObservation object will be retured. If interpolation is used,
+ * the first object immediately before or at time \a t and the first
+ * object immediately after time \a t will be linearly interpolated
+ * between to return a data point at time \a t. If there is not enough
+ * data to interpolate, the nearest real observation will be returned.
+ * Any object returned or used in the interpolation scheme must fit
+ * within the specified time interval around \a t (if \a iv is one
+ * hour, a point must be within an hour before or after time \a t.)
+ * \param t the time of interest
+ * \param interpolate true if interpolation between points is wanted
+ * \param iv time interval (seconds, before and after) around \a t
+ * \return a #WxObservation object
+ * \exception ObjectNotFound a #WxObservation object not available
+ */
+ WxObservation getWxObservation(const DayTime& t,
+ unsigned iv = 3600,
+ bool interpolate = true) const
+ throw(ObjectNotFound);
+ };
+} // namespace
+#endif
diff --git a/dev/src/X1Sequence.cpp b/dev/src/X1Sequence.cpp
new file mode 100644
index 0000000..04c7a77
--- /dev/null
+++ b/dev/src/X1Sequence.cpp
@@ -0,0 +1,161 @@
+#pragma ident "$Id$"
+
+
+/*
+* X1Sequence.cpp
+*
+* GPS X1 Sequencer.
+* Applied Research Laboratories, The University of Texas at Austin
+* August 2003
+*/
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+ // Project headers
+#include "Exception.hpp"
+#include "X1Sequence.hpp"
+#include "GenXSequence.hpp"
+
+namespace gpstk
+{
+ // Static Variable Definition
+ bool X1Sequence::isInit = false;
+ unsigned long* X1Sequence::X1Bits = 0;
+
+ X1Sequence::X1Sequence( )
+ {
+ if (isInit!=true)
+ {
+ gpstk::Exception e(
+ "Must call X1Sequence::allocateMemory() before instantiating a X1Sequence object.");
+ GPSTK_THROW(e);
+ }
+ }
+
+ void X1Sequence::allocateMemory( )
+ {
+ int X1Aepoch;
+ int X1Acount;
+ int X1Bepoch;
+ int X1Bcount;
+ int X1epoch = 1;
+ long X1Word = 0;
+ int lengthOfX1BSequence;
+
+ if (isInit==true)
+ {
+ gpstk::Exception e ("X1Sequence::allocateMemory() called multiple times");
+ GPSTK_THROW(e);
+ }
+
+ X1Bits = new unsigned long[NUM_6SEC_WORDS];
+ if (X1Bits==0)
+ {
+ gpstk::Exception e ("X1Sequence::allocateMemory() - allocation failed.");
+ GPSTK_THROW(e);
+ }
+
+ // Generate the X1A and X1B sequences.
+ gpstk::GenXSequence X1A( X1A_INIT, X1A_TAPS, XA_COUNT, XA_EPOCH_DELAY);
+ gpstk::GenXSequence X1B( X1B_INIT, X1B_TAPS, XB_COUNT, XB_EPOCH_DELAY);
+
+ // Combination will be performed for four X1 epochs.
+ // This will generate six seconds of X1 bits sequence
+ // that will end on an even 32-bit boundary.
+ unsigned long X1Abits;
+ unsigned long X1Bbits;
+ X1Aepoch = 1;
+ X1Acount = 0;
+ X1Bepoch = 1;
+ X1Bcount = 0;
+ lengthOfX1BSequence = XB_COUNT;
+
+ while ( X1Word < NUM_6SEC_WORDS )
+ {
+ // Get 32 X1A bits. Update counters and handle rollovers.
+ X1Abits = X1A[X1Acount];
+ X1Acount += MAX_BIT;
+
+ if ( X1Acount >= XA_COUNT )
+ {
+ ++X1Aepoch;
+ if (X1Aepoch>XA_MAX_EPOCH)
+ {
+ ++X1epoch;
+ X1Aepoch = 1;
+ }
+ X1Acount = X1Acount - XA_COUNT;
+ }
+
+ // Get 32 X1B bits. Update counters and handle rollovers
+ X1Bbits = X1B[X1Bcount];
+ X1Bcount += MAX_BIT;
+ if (X1Bcount >= lengthOfX1BSequence )
+ {
+ X1Bcount = X1Bcount - lengthOfX1BSequence;
+ ++X1Bepoch;
+ if (X1Bepoch>XB_MAX_EPOCH) X1Bepoch = 1;
+ if (X1Bepoch==XB_MAX_EPOCH)
+ lengthOfX1BSequence = XB_COUNT+XB_EPOCH_DELAY;
+ else
+ lengthOfX1BSequence = XB_COUNT;
+ X1B.setLengthOfSequence( lengthOfX1BSequence );
+ }
+
+ X1Bits[X1Word++] = X1Abits ^ X1Bbits;
+ }
+
+ isInit = true;
+ }
+
+ void X1Sequence::deAllocateMemory()
+ {
+ if (isInit!=true || X1Bits==0)
+ {
+ gpstk::Exception e("X1Sequence::deAllocateMemory() called when no memory allocated.");
+ GPSTK_THROW(e);
+ }
+ delete [] X1Bits;
+ isInit = false;
+ }
+
+} // end of namespace
+
diff --git a/dev/src/X1Sequence.hpp b/dev/src/X1Sequence.hpp
new file mode 100644
index 0000000..23f9607
--- /dev/null
+++ b/dev/src/X1Sequence.hpp
@@ -0,0 +1,134 @@
+#pragma ident "$Id$"
+
+
+// X1Sequence.cpp - GPS X1 Seqeuncer
+
+#ifndef X1SEQUENCE_HPP
+#define X1SEQUENCE_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+ // Project headers
+#include "PCodeConst.hpp"
+
+namespace gpstk
+{
+/** @addtogroup code */
+//@{
+ /**
+ * GPS X1 Sequencer.
+ * Applied Research Laboratories, The University of Texas at Austin
+ * August 2003
+ *
+ * X1Sequence is contains
+ * a six-second (four Z-count) sequence of the combined X1A/X1B data
+ * for the GPS constellation. The X1 sequence repeats every 1.5s
+ * (each X1 epoch) and is identical for all SVs and all 1.5s epochs.
+ * In this case, 6 seconds of bitstream is generated and stored
+ * because this set of code "thinks" in term of 32-bit words and
+ * a 1.5s epoch doesn't contain an integer number of 32-bit words
+ * of packed bits) - there's a .25 word (8 bit) remainder.
+ * Therefore, a six second seqeunce DOES include an even mulitple
+ * of 32 bits, which greatly simplifies handling of the data.
+ *
+ * Six seconds of X1 bits is a significant amount of data:
+ * X1 Epoch = 4092 X1A bits * 3750 X1A cycles = 15,345,000 bits
+ * 6 s = 4 X1 Epoch = 4 * bits = 4 * 15,345,000 = 61,380,000 bits.
+ * The number of 32 bit words required equals
+ * 61,380,000 bits / 32 bits/word = 1,918,125 words
+ */
+ class X1Sequence
+ {
+ public:
+ /**
+ * Initialize the member variables associated with this object.
+ * In the case of this class, this is a significant amount of
+ * work. The X1A/X1B process described in ICD-GPS-200B is followed
+ * in order to fill the X1Bits array.
+ */
+ X1Sequence();
+ ~X1Sequence( ) {};
+
+ /** The X1 sequence requires a 6-second buffer of 10MBit/sec
+ * samples. This comes to approximately 2 million four-byte
+ * unsigned integers. These data are the same for all PRN codes
+ * To minimize the memory footprint, these data are stored
+ * in a dynamically-allocated static array. It is
+ * - - - - NECESSARY - - - -
+ * that the calling method call X1Sequence::allocateMemory()
+ * PRIOR to instantiating the first X1Sequence object.
+ * X1Sequence::allocateMemory() should only be called once.
+ * Violation of either condition will result in a
+ * gpstk::Exception thrown from either X1Sequence::X1Sequence()
+ * or X1Sequence::allocateMemory().
+ *
+ * The X1Sequence::deAllocateMemory() method may be called to
+ * release the memory (if desired) but it should only be called
+ * after all X1Sequence objects have been "destroyed".
+ */
+ static void allocateMemory( );
+ static void deAllocateMemory( );
+
+ unsigned long & operator[]( int i );
+ /**
+ * Given a word number from 0 to NUM_6SEC_WORDS, return the
+ * requested word.
+ */
+ const unsigned long & operator[] ( int i ) const;
+
+ private:
+ static unsigned long* X1Bits;
+ static bool isInit;
+ };
+
+ inline unsigned long & X1Sequence::operator[] ( int i )
+ {
+ return(X1Bits[i]);
+ }
+
+ inline const unsigned long & X1Sequence::operator[] ( int i ) const
+ {
+ return(X1Bits[i]);
+ }
+
+} // end of namespace
+#endif // X1SEQUENCE_HPP
diff --git a/dev/src/X2Sequence.cpp b/dev/src/X2Sequence.cpp
new file mode 100644
index 0000000..ffa04bd
--- /dev/null
+++ b/dev/src/X2Sequence.cpp
@@ -0,0 +1,239 @@
+#pragma ident "$Id$"
+
+
+/*
+* X2Sequence.cpp
+* GPS X2 Sequencer.
+* Applied Research Laboratories, The University of Texas at Austin
+* August 2003
+*/
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+ // Language headers
+#include <stdio.h>
+#include <string>
+
+ // Project headers
+#include "Exception.hpp"
+#include "GenXSequence.hpp"
+#include "X2Sequence.hpp"
+
+namespace gpstk
+{
+ // Static Variable Definition
+ bool X2Sequence::isInit = false;
+ unsigned long* X2Sequence::X2Bits = 0;
+ unsigned long* X2Sequence::X2BitsEOW = 0;
+
+ // See program x2EOW.cpp for derivation of these values
+ unsigned long X2Sequence::EOWEndOfSequence[LENGTH_OF_EOW_OVERLAP] =
+ {
+ 0xFA5F8298, 0xB30C04D9, 0xD5CACBCA, 0x0ED47FFF, 0xFFFFFFFF, 0xFFFFFFFF,
+ 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF,
+ 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF,
+ 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF,
+ 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF,
+ 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF
+ };
+
+ X2Sequence::X2Sequence( )
+ {
+ if (isInit!=true)
+ {
+ gpstk::Exception e(
+ "Must call X2Sequence::allocateMemory() before instantiating a X2Sequence object.");
+ GPSTK_THROW(e);
+ }
+
+ // This must be done for each object in order to initialize the
+ // bitsP pointer to the correct buffer of bits.
+ setEOWX2Epoch(false);
+ }
+
+ void X2Sequence::allocateMemory( )
+ {
+ int X2Aepoch;
+ int X2Acount;
+ int X2Bepoch;
+ int X2Bcount;
+ int X2epoch = 1;
+ long X2Word = 0;
+ long X2Count = 0;
+ int lengthOfX2ASequence;
+ int lengthOfX2BSequence;
+
+ if (isInit==true)
+ {
+ gpstk::Exception e ("X2Sequence::allocateMemory() called multiple times");
+ GPSTK_THROW(e);
+ }
+
+ X2Bits = new unsigned long[NUM_X2_WORDS];
+ X2BitsEOW = new unsigned long[NUM_X2_WORDS];
+ if (X2Bits==0 || X2BitsEOW==0)
+ {
+ gpstk::Exception e ("X2Sequence::allocateMemory() - allocation failed.");
+ GPSTK_THROW(e);
+ }
+
+ // Last words of X2Bits and X2BitsEOW are only partially filled.
+ // Initialize to 0 to avoid confusion.
+ X2Bits[NUM_X2_WORDS-1] = 0x00000000;
+ X2BitsEOW[NUM_X2_WORDS-1] = 0x00000000;
+
+ // Generate the X2A and X2B sequences.
+ gpstk::GenXSequence X2A( X2A_INIT, X2A_TAPS, XA_COUNT,
+ XA_EPOCH_DELAY+X2A_EPOCH_DELAY);
+ gpstk::GenXSequence X2B( X2B_INIT, X2B_TAPS, XB_COUNT,
+ XB_EPOCH_DELAY+X2A_EPOCH_DELAY);
+
+ /*
+ In order to handle the beginning of week case, obtain the
+ initial X2 bit, then copy this bit into the first 37 bit
+ positions of the X2 sequence. The X2Ainit and X2Binit variables
+ are purposely chosen to be SIGNED integers to take advantage of
+ the arithmetic shift behavior.
+ */
+ unsigned long firstTest = X2A[0] ^ X2B[0];
+ if (firstTest & 0x80000000 )
+ X2Bits[0] = 0xFFFFFFFF;
+ else
+ X2Bits[0] = 0x00000000;
+
+ X2Bits[1] = firstTest >> 5;
+ X2Bits[1] |= ( X2Bits[0] & 0xF8000000 );
+
+ /*
+ Previous section handled the beginning of week 37 chip delay
+ plus the first 27 chips (64 bits - 37 chip = 27) of the X2
+ cycle. Set the counters accordingly and start retrieving bits.
+ The combination will be performed for four X2 epochs.
+ This will generate six seconds+ of X2 bits sequence.
+ */
+ unsigned long X2Abits;
+ unsigned long X2Bbits;
+ X2Aepoch = 1;
+ X2Acount = 27;
+ X2Bepoch = 1;
+ X2Bcount = 27;
+ X2Word = 2;
+ X2Count = X2Word * MAX_BIT;
+
+ lengthOfX2ASequence = XA_COUNT;
+ X2A.setLengthOfSequence( lengthOfX2ASequence );
+
+ lengthOfX2BSequence = XB_COUNT;
+ X2B.setLengthOfSequence( lengthOfX2BSequence );
+
+ while ( X2Count < MAX_X2_COUNT )
+ {
+ // Get 32 X2A bits. Update counters and handle rollovers.
+ X2Abits = X2A[X2Acount];
+ X2Acount += MAX_BIT;
+
+ if ( X2Acount >= lengthOfX2ASequence )
+ {
+ X2Acount = X2Acount - lengthOfX2ASequence;
+ ++X2Aepoch;
+ if (X2Aepoch>XA_MAX_EPOCH)
+ {
+ ++X2epoch;
+ X2Aepoch = 1;
+ }
+ if (X2Aepoch==XA_MAX_EPOCH)
+ lengthOfX2ASequence = XA_COUNT+X2A_EPOCH_DELAY;
+ else
+ lengthOfX2ASequence = XA_COUNT;
+ X2A.setLengthOfSequence( lengthOfX2ASequence );
+ }
+
+ // Get 32 X2B bits. Update counters and handle rollovers
+ X2Bbits = X2B[X2Bcount];
+ X2Bcount += MAX_BIT;
+ if (X2Bcount >= lengthOfX2BSequence )
+ {
+ X2Bcount = X2Bcount - lengthOfX2BSequence;
+ ++X2Bepoch;
+ if (X2Bepoch>XB_MAX_EPOCH) X2Bepoch = 1;
+ if (X2Bepoch==XB_MAX_EPOCH)
+ lengthOfX2BSequence = XB_COUNT+XB_EPOCH_DELAY+X2A_EPOCH_DELAY;
+ else
+ lengthOfX2BSequence = XB_COUNT;
+ X2B.setLengthOfSequence( lengthOfX2BSequence );
+ }
+
+ X2Bits[X2Word++] = X2Abits ^ X2Bbits;
+ X2Count += MAX_BIT;
+ }
+
+ // At this point, the X2Bits array is complete. Copy the entire
+ // array into X2BitsEOW, then overlay the EOW section into the
+ // appropriate place.
+ const size_t numBytesPerWord = 4;
+ size_t numBytes = NUM_X2_WORDS * numBytesPerWord;
+ memcpy( X2BitsEOW, X2Bits, numBytes );
+ numBytes = LENGTH_OF_EOW_OVERLAP * numBytesPerWord;
+ memcpy( (void *) &X2BitsEOW[OVERLAP_WORD_POSITION], EOWEndOfSequence, numBytes );
+
+ isInit = true;
+ }
+
+ void X2Sequence::deAllocateMemory()
+ {
+ if (isInit!=true || X2Bits==0 || X2BitsEOW==0)
+ {
+ gpstk::Exception e("X2Sequence::deAllocateMemory() called when no memory allocated.");
+ GPSTK_THROW(e);
+ }
+ delete [] X2Bits;
+ delete [] X2BitsEOW;
+ isInit = false;
+ }
+
+ void X2Sequence::setEOWX2Epoch( const bool tf )
+ {
+ if (tf) bitsP = X2BitsEOW;
+ else bitsP = X2Bits;
+ }
+
+} // end of namespace
diff --git a/dev/src/X2Sequence.hpp b/dev/src/X2Sequence.hpp
new file mode 100644
index 0000000..b390b02
--- /dev/null
+++ b/dev/src/X2Sequence.hpp
@@ -0,0 +1,296 @@
+#pragma ident "$Id$"
+
+
+// X2Sequence.hpp - GPS X2 Sequencer
+
+#ifndef X2SEQUENCE_HPP
+#define X2SEQUENCE_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+ // Local headers
+#include "PCodeConst.hpp"
+#include "mergePCodeWords.h"
+
+namespace gpstk
+{
+/** @addtogroup code */
+//@{
+
+ /*
+ The following constants are derived in x2EOW.cpp and
+ used as literals here.
+ */
+ const long LENGTH_OF_EOW_OVERLAP = 34;
+ const long OVERLAP_WORD_POSITION = 1451897;
+ // Maximum number of X2 chips (exclusive of BOW delay chips)
+ const long MAX_X2_TEST = 4 * ((XA_COUNT * XA_MAX_EPOCH) + X2A_EPOCH_DELAY);
+ // Maximum number of X2 chips
+ const long MAX_X2_COUNT = X2A_EPOCH_DELAY + MAX_X2_TEST;
+
+ /**
+ * GPS X2 Sequencer.
+ * Applied Research Laboratories, The University of Texas at Austin
+ * August 2003
+ *
+ * X2Sequence is a static class (one instance per executable) that
+ * contains a little more than a six-second (four Z-count) sequence
+ * of the combined X2A/X2B data for the GPS constellation. The
+ * X2 sequence repeats roughly every 1.5s (each X1 epoch) and is
+ * identical for all SVs. The progressive "slip" in the relative
+ * relationship between X1 and X2 is responsible for progressing the
+ * P-code bitstream in time while a beginning of week offset is
+ * responsible to differentiating between unique satellite codes.
+ *
+ * These two slips are responsbile for some special circumstances in
+ * the X2 bit sequence. The satelite differentiation is handled by
+ * "holding" the X2 state at the beginning of week bit for a delay
+ * equivalent to the PRN ID of the satellite. This is handled by
+ * replicating the first bit of the combined X2A/X2B bitstream 37
+ * times at the front of the bit sequence. Therefore, a bit index
+ * of "1" will be internally interpreted as 38. At the beginning
+ * of the week, the calling application shall coerce the beginning
+ * bit of the first call to X2 sequence to be 1-PRNID.
+ *
+ * The other delay is a 37 chip delay at the end of each X2A epoch.
+ * During this delay, the X2 state is "held" in the final bit state.
+ *
+ * Given these considerations, the following caluclations derive the
+ * number of bits that make up an X2Sequence and the number of unsigned
+ * 32-bit words required to hold these bits:
+ *
+ * Base number of bits in a X2A epoch: 4092 chips
+ * Number of X2A epochs in an X2 Epoch: 3750 epochs (cycles)
+ * Delay at end of each X2 Epoch: 37 chips
+ * Number of bits required for a SINGLE X2 Epoch:
+ * 4092 * 3750 + 37 = 15,345,037 bits.
+ * Number of bits in FOUR X2 Epochs (corresponding to FOUR X1 Epochs):
+ * 4 * 15,345,037 = 61,380,148 bits.
+ * Number of PRN delay bits to be added to FRONT of array to be us
+ * at the beginning of week: 37.
+ *
+ * Total number of bits required: 61,380,148 + 37 = 61,380,185 bits.
+ * Number of 32 bit words required:
+ * 61,380,185 / 32 = 1,918,131 (1,918,130 Remainder of 25).
+ *
+ * SPECIAL CONDITION
+ * The final X2 sequence of the week is both truncated and unique.
+ * X2Sequence makes special provision for handing this condition. The
+ * final X2 epoch starts well into the final X1 epoch, consequently,
+ * the final X2 epoch contains ?? X2A cycles at which point, the final
+ * X2A chips is "held" until week rollover occurs. The final X2 epoch
+ * contains ?? X2B cycles at which point, the final X2B chip is "held"
+ * (repeated) until week rollover occurs. This means bits ??-?? of the
+ * X2Sequence differ for this final cycle (and the end of this final X2
+ * cycle is at bit ??).
+ *
+ * It's important to avoid having a conditional in the inline subscript
+ * operator. Therefore, the design implements two buffers. Each are
+ * 6+ seconds long. The two buffers only differ in the 1069 chip span
+ * (34 words) where there are two different patterns.
+ *
+ * The internal points unsigned long *bitsP is used to track which buffer
+ * (X2bits[] or X2bitsEOW[] is in use at a particular time. The method
+ * setEOWX2Epoch( bool tf ) is used to control the buffer to which *bitsP
+ * currently points. X2Sequence initialize2 the bitsP pointer to point
+ * to the regular array. The calling application will need to manage
+ * the timing of calling setEOWX2Epoch. This needs to be done for EACH
+ * X2Sequence object - X2Bits and X2BitsEOW are static, but the bitsP
+ * pointer is a member veriable of the class and NOT static.
+ */
+ class X2Sequence
+ {
+ public:
+ /** Initialize the local variables associated with
+ * this object. In the case of this class, this is a significant
+ * amount of work. The X2A/X2B process described in ICD-GPS-200B
+ * is followed in order to fill the X2Bits array.
+ */
+ X2Sequence();
+ ~X2Sequence( ) {};
+
+ /** The X2 sequence requires two 6-second buffers of 10MBit/sec
+ * samples. This comes to approximately 4 million four-byte
+ * unsigned integers. These data are the same for all PRN codes
+ * To minimize the memory footprint, these data are stored
+ * in a dynamically-allocated static array. It is
+ * - - - - NECESSARY - - - -
+ * that the calling method call X2Sequence::allocateMemory()
+ * PRIOR to instantiating the first X2Sequence object.
+ * X2Sequence::allocateMemory() should only be called once.
+ * Violation of either condition will result in a
+ * gpstk::Exception thrown from either X2Sequence::X2Sequence()
+ * or X2Sequence::allocateMemory().
+ *
+ * The X2Sequence::deAllocateMemory() method may be called to
+ * release the memory (if desired) but it should only be called
+ * after all X2Sequence objects have been "destroyed".
+ */
+ static void allocateMemory( );
+ static void deAllocateMemory( );
+
+ /** Given a bit number from -37 to X2Length-37, stuff the 32 bits
+ * starting with that bit and continuing for the next 31 bits into
+ * an unsigned long and return this as the result. Conditional
+ * code (compiled only for debug) will confirm that the requested
+ * bit number is >=-37 and <(61,380,185-32) and will halt the
+ * program if this assertion is violated.
+ * NOTE: operator[] should never have to worry about rollovers.
+ * The length of the X2 array shall be set such that the maximum
+ * number of X2 bits needed will be available. The reset will be
+ * driven by the occurrence of the next X1 epoch and be tracked
+ * one level up in the corresponding SVPcodeGen object.
+ */
+ unsigned long operator[]( long i );
+
+ /** Controls whether the X2 Epoch is set to EOW condition
+ * or normal condition. Should only be set true for the final
+ * X2 epoch of the week.
+ */
+ void setEOWX2Epoch( const bool tf );
+
+ private:
+ unsigned long *bitsP;
+ static unsigned long* X2Bits;
+ static unsigned long* X2BitsEOW;
+ static unsigned long EOWEndOfSequence[LENGTH_OF_EOW_OVERLAP];
+ static bool isInit;
+ };
+
+ /*
+ Given a bit position within the X2 sequence (numbered starting at -37),
+ return the next 32 bits. Note: if there are insufficient bits left
+ to fill the request, wrap around to the beginning of the sequence.
+ */
+ inline unsigned long X2Sequence::operator[] ( long i )
+ {
+ long adjustedCount = i + X2A_EPOCH_DELAY;
+
+ unsigned long retArg;
+ int ndx1 = adjustedCount / MAX_BIT;
+ int offset = adjustedCount - (ndx1 * MAX_BIT);
+ if ( (adjustedCount+MAX_BIT) <= MAX_X2_COUNT )
+ {
+ if (offset==0) retArg = bitsP[ndx1];
+ else retArg = merge( bitsP[ndx1], bitsP[ndx1+1], offset );
+ }
+ /*
+ Complicated case when coming up to end of sequence. May have to
+ put together parts of up to three words to get 32 bits. The problem
+ is complicated because the word at the end of the array is partial
+ AND the beginning of sequence (BOW) occurs in mid-word due to the
+ PRN offset. Some numbers:
+
+ Number of bits available in word N : 25
+ Number of bits available in word at BOS : 27
+
+ Possible cases:
+ 1.) Combine bits from [n-1], [n], and [BOS] - word n will provide
+ 25 bits. Therefore, some combination of (n-1,BOS) from the
+ choice of (1,4), (2,3), (3,2), (4,1).
+
+ 2.) Combine bits from [n-1] and [BOS] - word n-1 will provide 25-5
+ bits. Therefore, BOS will provide 7-27 bits.
+
+ 3.) Combine bits from [n-1], [BOS], and [BOS+1] - word n-1 provides
+ 4-1 bits. BOS provides 27 bits (running total to 31-28 bits).
+ BOS+1 provides 1-4 bits.
+ */
+ else
+ {
+ retArg = 0L;
+ int numRemainingInSequence = MAX_X2_COUNT - adjustedCount;
+ int numRemainingInWord;
+ int numFilled = 0;
+
+ // Handle word n-1
+ if (ndx1==NUM_X2_WORDS-2)
+ {
+ numRemainingInWord = MAX_BIT - offset;
+ retArg = bitsP[ndx1++] << offset;
+ numFilled = numRemainingInWord;
+ numRemainingInSequence -= numRemainingInWord;
+ }
+
+ // Handle word n
+ unsigned long temp = bitsP[ndx1];
+ numRemainingInWord = numRemainingInSequence;
+ temp >>= (MAX_BIT-numRemainingInWord);
+ temp <<= (MAX_BIT-(numRemainingInWord+numFilled));
+ retArg |= temp;
+ numFilled += numRemainingInSequence;
+
+ // Wrap to front. Recall that "front" is actually bit
+ // 37 in sequence due to "beginning of week" delay
+ numRemainingInWord = (2 * MAX_BIT) - X2A_EPOCH_DELAY;
+ int numNeeded = MAX_BIT - numFilled;
+
+ // Case where all bits needed are in word 1 of sequence array
+ //(which only has 27 "useful" bits)
+ if (numNeeded <= numRemainingInWord)
+ {
+ temp = bitsP[1] << (MAX_BIT - numRemainingInWord);
+ temp >>= (MAX_BIT - numNeeded);
+ retArg |= temp;
+ }
+ // Case where all bits in word 1 are needed plus some bits in word 2.
+ else
+ {
+ // Clearing high-order bits
+ temp = bitsP[1] << (MAX_BIT - numRemainingInWord);
+ temp >>= (MAX_BIT - numRemainingInWord);
+ temp <<= (MAX_BIT - (numRemainingInWord+numFilled));
+ retArg |= temp;
+
+ // Fetch remaining bits from next word
+ numFilled += numRemainingInWord;
+ numNeeded = MAX_BIT - numFilled;
+ temp = bitsP[2] >> (MAX_BIT - numNeeded);
+ retArg |= temp;
+ }
+ }
+ return(retArg);
+ }
+ //@}
+} // end of namespace
+
+#endif // X2SEQUENCE_HPP
diff --git a/dev/src/XYZ2NED.cpp b/dev/src/XYZ2NED.cpp
new file mode 100644
index 0000000..f0a1990
--- /dev/null
+++ b/dev/src/XYZ2NED.cpp
@@ -0,0 +1,90 @@
+
+/**
+ * @file XYZ2NED.cpp
+ * This is a class to change the reference base from ECEF XYZ to North-East-Down (NED)
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2007
+//
+//============================================================================
+
+
+#include "XYZ2NED.hpp"
+
+
+namespace gpstk
+{
+
+ // Returns a reference to a satTypeValueMap object after converting from a geocentric reference
+ // system to a topocentric reference system.
+ //
+ // @param gData Data object holding the data.
+ //
+ satTypeValueMap& XYZ2NED::Convert(satTypeValueMap& gData)
+ {
+ Matrix<double> neuMatrix;
+
+ // Get the corresponding geometry/design matrix data
+ Matrix<double> dMatrix(gData.getMatrixOfTypes((*this).inputSet));
+
+ // Compute the base change. For convenience, we use the property:
+ // Y = A*B => Y^T = (A*B)^T => Y^T = B^T * A^T
+ neuMatrix = dMatrix*rotationMatrix;
+
+ gData.insertMatrix(outputSet, neuMatrix);
+
+ return gData;
+
+ } // end XYZ2NED::Convert()
+
+
+ // This method builds the rotation matrix according to refLat and refLon values.
+ void XYZ2NED::Prepare()
+ {
+ // First, let's resize rotation matrix and assign the proper values
+ rotationMatrix.resize(3,3);
+
+ // The clasical rotation matrix is transposed here for convenience
+ rotationMatrix(0,0) = -std::sin(refLat)*std::cos(refLon);
+ rotationMatrix(1,0) = -std::sin(refLat)*std::sin(refLon);
+ rotationMatrix(2,0) = std::cos(refLat);
+ rotationMatrix(0,1) = -std::sin(refLon);
+ rotationMatrix(1,1) = std::cos(refLon);
+ rotationMatrix(2,1) = 0.0;
+ rotationMatrix(0,2) = -std::cos(refLat)*std::cos(refLon);
+ rotationMatrix(1,2) = -std::cos(refLat)*std::sin(refLon);
+ rotationMatrix(2,2) = -std::sin(refLat);
+
+ // Then, fill the sets with the proper types
+ inputSet.clear();
+ inputSet.insert(TypeID::dx);
+ inputSet.insert(TypeID::dy);
+ inputSet.insert(TypeID::dz);
+
+ outputSet.clear();
+ outputSet.insert(TypeID::dLat);
+ outputSet.insert(TypeID::dLon);
+ outputSet.insert(TypeID::dH);
+
+ } // end XYZ2NED::Prepare()
+
+
+} // end namespace gpstk
diff --git a/dev/src/XYZ2NED.hpp b/dev/src/XYZ2NED.hpp
new file mode 100644
index 0000000..6aea704
--- /dev/null
+++ b/dev/src/XYZ2NED.hpp
@@ -0,0 +1,269 @@
+
+/**
+ * @file XYZ2NED.hpp
+ * This is a class to change the reference base from ECEF XYZ to topocentric North-East-Down (NED).
+ */
+
+#ifndef XYZ2NED_HPP
+#define XYZ2NED_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2007
+//
+//============================================================================
+
+
+
+#include "geometry.hpp" // DEG_TO_RAD
+#include "Matrix.hpp"
+#include "Position.hpp"
+#include "TypeID.hpp"
+#include "DataStructures.hpp"
+
+
+namespace gpstk
+{
+ /** @addtogroup GPSsolutions */
+ //@{
+
+ /**
+ * This class changes the reference base from an Earth-Centered,
+ * Earth-Fixed (ECEF) system to a North-East-Down (NED) topocentric system,
+ * centered at the provided reference location.
+ *
+ * The NED system may be used when comparing the relative accuracy
+ * of a given GNSS data processing strategy. This is a "right-handed"
+ * system, and be aware that "down" is positive and "up" is negative.
+ *
+ * A typical way to use this class follows:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o");
+ * // Reference position of receiver station
+ * Position nominalPos(4833520.2269, 41537.00768, 4147461.489);
+ *
+ * // Some more code and definitions here...
+ *
+ * gnssRinex gRin;
+ *
+ * // Set defaults of model. A typical C1-based modeling is used
+ * ModeledPR modelRef(nominalPos, ionoStore, mopsTM, bceStore, TypeID::C1, true);
+ *
+ * // Let's define a new equation definition to adapt solver object to base change
+ * TypeIDSet typeSet;
+ * typeSet.insert(TypeID::dLat);
+ * typeSet.insert(TypeID::dLon);
+ * typeSet.insert(TypeID::dH);
+ * typeSet.insert(TypeID::cdt);
+ * gnssEquationDefinition newEq(TypeID::prefitC, typeSet);
+ *
+ * // Declare (and tune) a SolverLMS object
+ * SolverLMS solver;
+ * solver.setDefaultEqDefinition(newEq);
+ *
+ * // Declare the base-changing object setting the reference position
+ * XYZ2NED baseChange(nominalPos);
+ *
+ * while(rin >> gRin) {
+ * gRin >> modelRef >> baseChange >> solver;
+ * }
+ *
+ * @endcode
+ *
+ * The "XYZ2NED" object will visit every satellite in the GNSS data structure that
+ * is "gRin" and will apply a rotation matrix to coefficients dx, dy and dz of the
+ * design matrix, yielding corresponding dLat, dLon and dH for each satellite.
+ *
+ * Take notice that the design matrix coefficients dx, dy and dz were computed by
+ * the "ModeledPR" object, so that step is mandatory.
+ *
+ * Also, the "XYZ2NED" class is effective when properly coupled with the "solver"
+ * object (be it based on LMS or WMS). In order to get this, you must instruct the
+ * "solver" object to get the solution using a geometry/design matrix based on
+ * dLat, dLon and dH, instead of the defaults (dx, dy and dz).
+ *
+ * The later is achieved defining an appropriate "gnssEquationDefinition" object
+ * and instructing "solver" to use it as the default equation definition.
+ *
+ * @sa XYZ2NEU.hpp
+ */
+ class XYZ2NED
+ {
+ public:
+
+ /// Default constructor.
+ XYZ2NED() : refLat(0.0), refLon(0.0)
+ {
+ Prepare();
+ };
+
+
+ /** Common constructor taking reference point latitude and longitude
+ *
+ * @param lat Latitude of the reference point.
+ * @param lon Longitude of the reference point.
+ */
+ XYZ2NED(const double& lat, const double& lon)
+ {
+ setLatLon(lat, lon);
+ }
+
+
+ /** Common constructor taking reference point Position object
+ *
+ * @param refPos Reference point Position object.
+ */
+ XYZ2NED(const Position& refPos)
+ {
+ setLatLon(refPos.getGeodeticLatitude(), refPos.getLongitude());
+ }
+
+
+ /** Method to set the latitude of the reference point, in degrees.
+ * @param lat Latitude of the reference point, in degrees.
+ */
+ virtual void setLat(const double& lat)
+ {
+ // Don't allow latitudes out of the -90/+90 interval
+ if ( (lat > 90.0) || (lat < -90.0) ) refLat = 0.0; else refLat = (lat*DEG_TO_RAD);
+ Prepare();
+ };
+
+
+ /// Method to get the latitude of the reference point, in degrees.
+ virtual double getLat() const
+ {
+ return (refLat*RAD_TO_DEG);
+ };
+
+
+ /** Method to set the longitude of the reference point, in degrees.
+ * @param lon Longitude of the reference point, in degrees.
+ */
+ virtual void setLon(const double& lon)
+ {
+ refLon = (lon*DEG_TO_RAD);
+ Prepare();
+ };
+
+
+ /// Method to get the longitude of the reference point, in degrees.
+ virtual double getLon() const
+ {
+ return (refLon*RAD_TO_DEG);
+ };
+
+
+ /** Method to set simultaneously the latitude and longitude of the reference point, in degrees.
+ * @param lat Latitude of the reference point, in degrees.
+ * @param lon Longitude of the reference point, in degrees.
+ */
+ virtual void setLatLon(const double& lat, const double& lon)
+ {
+ // Don't allow latitudes out of the -90/+90 interval
+ if ( (lat > 90.0) || (lat < -90.0) ) refLat = 0.0; else refLat = (lat*DEG_TO_RAD);
+ refLon = (lon*DEG_TO_RAD);
+ Prepare();
+ };
+
+
+ /** Returns a reference to a satTypeValueMap object after converting from a geocentric reference system to a topocentric reference system.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual satTypeValueMap& Convert(satTypeValueMap& gData);
+
+
+ /** Returns a reference to a gnssSatTypeValue object after converting from a geocentric reference system to a topocentric reference system.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssSatTypeValue& Convert(gnssSatTypeValue& gData)
+ {
+ (*this).Convert(gData.body);
+ return gData;
+ };
+
+
+ /** Returns a reference to a gnnsRinex object after converting from a geocentric reference system to a topocentric reference system.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssRinex& Convert(gnssRinex& gData)
+ {
+ (*this).Convert(gData.body);
+ return gData;
+ };
+
+
+ /// Destructor.
+ virtual ~XYZ2NED() {};
+
+
+ private:
+
+
+ /// Latitude of the reference point (topocentric reference), in radians.
+ double refLat;
+
+
+ /// Longitude of the reference point (topocentric reference), in radians.
+ double refLon;
+
+
+ /// Rotation matrix.
+ Matrix<double> rotationMatrix;
+
+
+ /// Set (TypeIDSet) containing the types of data to be converted (dx, dy, dz).
+ TypeIDSet inputSet;
+
+
+ /// Set (TypeIDSet) containing the resulting types of data (dLat, dLon, dH).
+ TypeIDSet outputSet;
+
+
+ /// This method builds the rotation matrix according to refLat and refLon values.
+ virtual void Prepare();
+
+
+ }; // class XYZ2NED
+
+
+ /// Input operator from gnssSatTypeValue to XYZ2NED.
+ inline gnssSatTypeValue& operator>>(gnssSatTypeValue& gData, XYZ2NED& converter)
+ {
+ converter.Convert(gData);
+ return gData;
+ }
+
+
+ /// Input operator from gnssRinex to XYZ2NED.
+ inline gnssRinex& operator>>(gnssRinex& gData, XYZ2NED& converter)
+ {
+ converter.Convert(gData);
+ return gData;
+ }
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/XYZ2NEU.cpp b/dev/src/XYZ2NEU.cpp
new file mode 100644
index 0000000..fbf2d04
--- /dev/null
+++ b/dev/src/XYZ2NEU.cpp
@@ -0,0 +1,90 @@
+
+/**
+ * @file XYZ2NEU.cpp
+ * This is a class to change the reference base from XYZ to North-East-Up (NEU)
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2007
+//
+//============================================================================
+
+
+#include "XYZ2NEU.hpp"
+
+
+namespace gpstk
+{
+
+ // Returns a reference to a satTypeValueMap object after converting from a geocentric reference
+ // system to a topocentric reference system.
+ //
+ // @param gData Data object holding the data.
+ //
+ satTypeValueMap& XYZ2NEU::Convert(satTypeValueMap& gData)
+ {
+ Matrix<double> neuMatrix;
+
+ // Get the corresponding geometry/design matrix data
+ Matrix<double> dMatrix(gData.getMatrixOfTypes((*this).inputSet));
+
+ // Compute the base change. For convenience, we use the property:
+ // Y = A*B => Y^T = (A*B)^T => Y^T = B^T * A^T
+ neuMatrix = dMatrix*rotationMatrix;
+
+ gData.insertMatrix(outputSet, neuMatrix);
+
+ return gData;
+
+ } // end XYZ2NEU::Convert()
+
+
+ // This method builds the rotation matrix according to refLat and refLon values.
+ void XYZ2NEU::Prepare()
+ {
+ // First, let's resize rotation matrix and assign the proper values
+ rotationMatrix.resize(3,3);
+
+ // The clasical rotation matrix is transposed here for convenience
+ rotationMatrix(0,0) = -std::sin(refLat)*std::cos(refLon);
+ rotationMatrix(1,0) = -std::sin(refLat)*std::sin(refLon);
+ rotationMatrix(2,0) = std::cos(refLat);
+ rotationMatrix(0,1) = -std::sin(refLon);
+ rotationMatrix(1,1) = std::cos(refLon);
+ rotationMatrix(2,1) = 0.0;
+ rotationMatrix(0,2) = std::cos(refLat)*std::cos(refLon);
+ rotationMatrix(1,2) = std::cos(refLat)*std::sin(refLon);
+ rotationMatrix(2,2) = std::sin(refLat);
+
+ // Then, fill the sets with the proper types
+ inputSet.clear();
+ inputSet.insert(TypeID::dx);
+ inputSet.insert(TypeID::dy);
+ inputSet.insert(TypeID::dz);
+
+ outputSet.clear();
+ outputSet.insert(TypeID::dLat);
+ outputSet.insert(TypeID::dLon);
+ outputSet.insert(TypeID::dH);
+
+ } // end XYZ2NEU::Prepare()
+
+
+} // end namespace gpstk
diff --git a/dev/src/XYZ2NEU.hpp b/dev/src/XYZ2NEU.hpp
new file mode 100644
index 0000000..14b38d5
--- /dev/null
+++ b/dev/src/XYZ2NEU.hpp
@@ -0,0 +1,270 @@
+
+/**
+ * @file XYZ2NEU.hpp
+ * This is a class to change the reference base from ECEF XYZ to topocentric North-East-Up (NEU).
+ */
+
+#ifndef XYZ2NEU_HPP
+#define XYZ2NEU_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Dagoberto Salazar - gAGE ( http://www.gage.es ). 2007
+//
+//============================================================================
+
+
+
+#include "geometry.hpp" // DEG_TO_RAD
+#include "Matrix.hpp"
+#include "Position.hpp"
+#include "TypeID.hpp"
+#include "DataStructures.hpp"
+
+
+namespace gpstk
+{
+ /** @addtogroup GPSsolutions */
+ //@{
+
+ /**
+ * This class changes the reference base from an Earth-Centered,
+ * Earth-Fixed (ECEF) system to a North-East-Up (NEU) topocentric system,
+ * centered at the provided reference location.
+ *
+ * The NEU system is commonly used when comparing the relative accuracy
+ * of a given GNSS data processing strategy. Be mindful, however, that NEU
+ * is a "left-handed" reference system, whereas geocentric ECEF and
+ * topocentric North-East-Down (NED) are "right-handed" systems.
+ *
+ * A typical way to use this class follows:
+ *
+ * @code
+ * RinexObsStream rin("ebre0300.02o");
+ * // Reference position of receiver station
+ * Position nominalPos(4833520.2269, 41537.00768, 4147461.489);
+ *
+ * // Some more code and definitions here...
+ *
+ * gnssRinex gRin;
+ *
+ * // Set defaults of model. A typical C1-based modeling is used
+ * ModeledPR modelRef(nominalPos, ionoStore, mopsTM, bceStore, TypeID::C1, true);
+ *
+ * // Let's define a new equation definition to adapt solver object to base change
+ * TypeIDSet typeSet;
+ * typeSet.insert(TypeID::dLat);
+ * typeSet.insert(TypeID::dLon);
+ * typeSet.insert(TypeID::dH);
+ * typeSet.insert(TypeID::cdt);
+ * gnssEquationDefinition newEq(TypeID::prefitC, typeSet);
+ *
+ * // Declare (and tune) a SolverLMS object
+ * SolverLMS solver;
+ * solver.setDefaultEqDefinition(newEq);
+ *
+ * // Declare the base-changing object setting the reference position
+ * XYZ2NEU baseChange(nominalPos);
+ *
+ * while(rin >> gRin) {
+ * gRin >> modelRef >> baseChange >> solver;
+ * }
+ *
+ * @endcode
+ *
+ * The "XYZ2NEU" object will visit every satellite in the GNSS data structure that
+ * is "gRin" and will apply a rotation matrix to coefficients dx, dy and dz of the
+ * design matrix, yielding corresponding dLat, dLon and dH for each satellite.
+ *
+ * Take notice that the design matrix coefficients dx, dy and dz were computed by
+ * the "ModeledPR" object, so that step is mandatory.
+ *
+ * Also, the "XYZ2NEU" class is effective when properly coupled with the "solver"
+ * object (be it based on LMS or WMS). In order to get this, you must instruct the
+ * "solver" object to get the solution using a geometry/design matrix based on
+ * dLat, dLon and dH, instead of the defaults (dx, dy and dz).
+ *
+ * The later is achieved defining an appropriate "gnssEquationDefinition" object
+ * and instructing "solver" to use it as the default equation definition.
+ *
+ * @sa XYZ2NED.hpp
+ */
+ class XYZ2NEU
+ {
+ public:
+
+ /// Default constructor.
+ XYZ2NEU() : refLat(0.0), refLon(0.0)
+ {
+ Prepare();
+ };
+
+
+ /** Common constructor taking reference point latitude and longitude
+ *
+ * @param lat Latitude of the reference point.
+ * @param lon Longitude of the reference point.
+ */
+ XYZ2NEU(const double& lat, const double& lon)
+ {
+ setLatLon(lat, lon);
+ }
+
+
+ /** Common constructor taking reference point Position object
+ *
+ * @param refPos Reference point Position object.
+ */
+ XYZ2NEU(const Position& refPos)
+ {
+ setLatLon(refPos.getGeodeticLatitude(), refPos.getLongitude());
+ }
+
+
+ /** Method to set the latitude of the reference point, in degrees.
+ * @param lat Latitude of the reference point, in degrees.
+ */
+ virtual void setLat(const double& lat)
+ {
+ // Don't allow latitudes out of the -90/+90 interval
+ if ( (lat > 90.0) || (lat < -90.0) ) refLat = 0.0; else refLat = (lat*DEG_TO_RAD);
+ Prepare();
+ };
+
+
+ /// Method to get the latitude of the reference point, in degrees.
+ virtual double getLat() const
+ {
+ return (refLat*RAD_TO_DEG);
+ };
+
+
+ /** Method to set the longitude of the reference point, in degrees.
+ * @param lon Longitude of the reference point, in degrees.
+ */
+ virtual void setLon(const double& lon)
+ {
+ refLon = (lon*DEG_TO_RAD);
+ Prepare();
+ };
+
+
+ /// Method to get the longitude of the reference point, in degrees.
+ virtual double getLon() const
+ {
+ return (refLon*RAD_TO_DEG);
+ };
+
+
+ /** Method to set simultaneously the latitude and longitude of the reference point, in degrees.
+ * @param lat Latitude of the reference point, in degrees.
+ * @param lon Longitude of the reference point, in degrees.
+ */
+ virtual void setLatLon(const double& lat, const double& lon)
+ {
+ // Don't allow latitudes out of the -90/+90 interval
+ if ( (lat > 90.0) || (lat < -90.0) ) refLat = 0.0; else refLat = (lat*DEG_TO_RAD);
+ refLon = (lon*DEG_TO_RAD);
+ Prepare();
+ };
+
+
+ /** Returns a reference to a satTypeValueMap object after converting from a geocentric reference system to a topocentric reference system.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual satTypeValueMap& Convert(satTypeValueMap& gData);
+
+
+ /** Returns a reference to a gnssSatTypeValue object after converting from a geocentric reference system to a topocentric reference system.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssSatTypeValue& Convert(gnssSatTypeValue& gData)
+ {
+ (*this).Convert(gData.body);
+ return gData;
+ };
+
+
+ /** Returns a reference to a gnnsRinex object after converting from a geocentric reference system to a topocentric reference system.
+ *
+ * @param gData Data object holding the data.
+ */
+ virtual gnssRinex& Convert(gnssRinex& gData)
+ {
+ (*this).Convert(gData.body);
+ return gData;
+ };
+
+
+ /// Destructor.
+ virtual ~XYZ2NEU() {};
+
+
+ private:
+
+
+ /// Latitude of the reference point (topocentric reference), in radians.
+ double refLat;
+
+
+ /// Longitude of the reference point (topocentric reference), in radians.
+ double refLon;
+
+
+ /// Rotation matrix.
+ Matrix<double> rotationMatrix;
+
+
+ /// Set (TypeIDSet) containing the types of data to be converted (dx, dy, dz).
+ TypeIDSet inputSet;
+
+
+ /// Set (TypeIDSet) containing the resulting types of data (dLat, dLon, dH).
+ TypeIDSet outputSet;
+
+
+ /// This method builds the rotation matrix according to refLat and refLon values.
+ virtual void Prepare();
+
+
+ }; // class XYZ2NEU
+
+
+ /// Input operator from gnssSatTypeValue to XYZ2NEU.
+ inline gnssSatTypeValue& operator>>(gnssSatTypeValue& gData, XYZ2NEU& converter)
+ {
+ converter.Convert(gData);
+ return gData;
+ }
+
+
+ /// Input operator from gnssRinex to XYZ2NEU.
+ inline gnssRinex& operator>>(gnssRinex& gData, XYZ2NEU& converter)
+ {
+ converter.Convert(gData);
+ return gData;
+ }
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/Xvt.cpp b/dev/src/Xvt.cpp
new file mode 100644
index 0000000..3c4453f
--- /dev/null
+++ b/dev/src/Xvt.cpp
@@ -0,0 +1,125 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file Xvt.cpp
+ * Position, velocity, and clock representation as ECEF, Triple and double
+ */
+
+#include "GeoidModel.hpp"
+#include "Xvt.hpp"
+
+namespace gpstk
+{
+
+ /*
+ * Function to find the range and position from a ground
+ * location, rxPos, to the spacecraft position (*this).x.
+ *
+ * Use the pseudorange corrected for SV clock effects to get a
+ * rough time of flight (dt). Account directly for Earth
+ * rotation, then compute a rough receiver bias by differencing
+ * the initial time of flight with the new estimate. Then
+ * correct the rotation by a small amount.
+ */
+ double Xvt :: preciseRho(const ECEF& rxPos,
+ const GeoidModel& geoid,
+ double correction) const
+ throw()
+ {
+ // Compute initial time of flight estimate using the
+ // geometric range at transmit time. This fails to account
+ // for the rotation of the earth, but should be good to
+ // within about 40 m
+ double sr1 = rxPos.slantRange(x);
+ double dt = sr1 / geoid.c();
+
+ // compute rotation angle in the time of signal transit
+ double rotation_angle = -geoid.angVelocity() * dt;
+
+ // rotate original GS coordinates to new values to correct for
+ // rotation of ECEF frame
+ // Ref: Satellite Geodesy, Gunter Seeber, 1993, pg 291 and the
+ // ICD-GPS-200 sheet 102 May 1993 version
+ // xnew[0]=xg[0]*cos(rotation_angle)-xg[1]*sin(rotation_angle);
+ // xnew[1]=xg[1]*cos(rotation_angle)+xg[0]*sin(rotation_angle);
+ // xnew[2]=xg[2];
+ // since cosine and sine are small, approximate by the first
+ // order terms in an expansion.
+ Triple xnew;
+ for (int i = 0; i < 2; i++)
+ {
+ xnew[0] = x[0] - x[1] * rotation_angle;
+ xnew[1] = x[1] + x[0] * rotation_angle;
+ xnew[2] = x[2];
+
+ // Compute geometric slant range from ground station to
+ // the rotated new coord's
+ sr1 = rxPos.slantRange(xnew);
+
+ // Recompute the time of flight (dt) based on PR, with the
+ // time of flight based on geometric range. Note that
+ // this is a really unneeded, in that the change in PR is
+ // < 40 m, hence the change in tof is < 20 ns
+ dt = sr1 / geoid.c();
+
+ // Compute new rotation in this time
+ rotation_angle = -geoid.angVelocity() * dt;
+ }
+ // Account for SV clock drift and other factors
+ double rho = sr1 - (dtime * geoid.c()) - correction;
+ return rho;
+ } // end of preciseRho()
+}
+
+std::ostream& operator<<( std::ostream& s,
+ const gpstk::Xvt& xvt )
+{
+ s << "x:" << xvt.x
+ << ", v:" << xvt.v
+ << ", clk bias:" << xvt.dtime
+ << ", clk drift:" << xvt.ddtime;
+ return s;
+}
diff --git a/dev/src/Xvt.hpp b/dev/src/Xvt.hpp
new file mode 100644
index 0000000..9014f91
--- /dev/null
+++ b/dev/src/Xvt.hpp
@@ -0,0 +1,103 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file Xvt.hpp
+ * Position, velocity, and clock representation as ECEF, Triple and double
+ */
+
+#ifndef GPSTK_XVT_HPP
+#define GPSTK_XVT_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include <iostream>
+#include "Triple.hpp"
+#include "ECEF.hpp"
+#include "GeoidModel.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup geodeticgroup */
+ //@{
+
+ /// An Earth-Centered, Earth-Fixed position/velocity/clock representation
+ class Xvt
+ {
+ public:
+ /// Default constructor
+ Xvt() { }
+
+ ECEF x; ///< SV position (x,y,z). Earth-fixed. meters
+ Triple v; ///< SV velocity. Earth-fixed, including rotation. meters/sec
+ double dtime; ///< SV clock correction in seconds
+ double ddtime; ///< SV clock drift in sec/sec
+
+ /**
+ * Given the position of a ground location, compute the range
+ * to the spacecraft position.
+ * @param rxPos ground position at broadcast time in ECEF.
+ * @param geoid geodetic parameters.
+ * @param correction offset in meters (include any factors other
+ * than the SV clock correction).
+ * @return Range in meters
+ */
+ double preciseRho(const ECEF& rxPos,
+ const GeoidModel& geoid,
+ double correction = 0) const
+ throw();
+ };
+
+ //@}
+
+}
+
+/**
+ * Output operator for Xvt
+ * @param s output stream to which \c xvt is sent
+ * @param xvt Xvt that is sent to \c s
+ */
+std::ostream& operator<<( std::ostream& s,
+ const gpstk::Xvt& xvt );
+
+#endif
diff --git a/dev/src/YDSTime.cpp b/dev/src/YDSTime.cpp
new file mode 100644
index 0000000..00c31b8
--- /dev/null
+++ b/dev/src/YDSTime.cpp
@@ -0,0 +1,214 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "YDSTime.hpp"
+#include "TimeConverters.hpp"
+
+namespace gpstk
+{
+ YDSTime& YDSTime::operator=( const YDSTime& right )
+ throw()
+ {
+ year = right.year;
+ doy = right.doy;
+ sod = right.sod;
+ return *this;
+ }
+
+ CommonTime YDSTime::convertToCommonTime() const
+ {
+ long jday = convertCalendarToJD( year, 1, 1 ) + doy - 1;
+ return CommonTime( jday, sod );
+ }
+
+ void YDSTime::convertFromCommonTime( const CommonTime& ct )
+ {
+ long jday, secDay;
+ double fsecDay;
+ ct.get( jday, secDay, fsecDay );
+ sod = static_cast<double>( secDay ) + fsecDay;
+
+ int month, day;
+ convertJDtoCalendar( jday, year, month, day );
+ doy = jday - convertCalendarToJD( year, 1, 1 ) + 1;
+ }
+
+ std::string YDSTime::printf( const std::string& fmt ) const
+ throw( gpstk::StringUtils::StringException )
+ {
+ try
+ {
+ using gpstk::StringUtils::formattedPrint;
+ std::string rv = fmt;
+
+ rv = formattedPrint( rv, getFormatPrefixInt() + "Y",
+ "Yd", year);
+ rv = formattedPrint(rv, getFormatPrefixInt() + "y",
+ "yd", static_cast<short>(year % 100));
+ rv = formattedPrint( rv, getFormatPrefixInt() + "j",
+ "jd", doy);
+ rv = formattedPrint( rv, getFormatPrefixFloat() + "s",
+ "sf", sod);
+ return rv;
+ }
+ catch( gpstk::StringUtils::StringException& exc)
+ {
+ GPSTK_RETHROW( exc );
+ }
+ }
+
+ bool YDSTime::setFromInfo( const IdToValue& info )
+ throw()
+ {
+ using namespace gpstk::StringUtils;
+
+ for( IdToValue::const_iterator i = info.begin();
+ i != info.end(); i++ )
+ {
+ switch( i->first )
+ {
+ case 'Y':
+ year = asInt( i->second );
+ break;
+
+ case 'y':
+ switch( i->second.length() )
+ {
+ case 2:
+ year = asInt( i->second ) + 1900;
+ if( year < 1980 )
+ year += 100;
+ break;
+ case 3:
+ year = asInt( i->second ) + 1000;
+ if( year < 1980 )
+ year += 100;
+ break;
+ default:
+ year = asInt( i->second );
+ break;
+ };
+ break;
+
+ case 'j':
+ doy = asInt( i->second );
+ break;
+
+ case 's':
+ sod = asDouble( i->second );
+ break;
+
+ default:
+ // do nothing
+ break;
+ };
+ }
+
+ return true;
+ }
+
+ bool YDSTime::isValid() const
+ throw()
+ {
+ YDSTime temp;
+ temp.convertFromCommonTime( convertToCommonTime() );
+ if( *this == temp )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ void YDSTime::reset()
+ throw()
+ {
+ year = doy = 0;
+ sod = 0.0;
+ }
+
+ bool YDSTime::operator==( const YDSTime& right ) const
+ throw()
+ {
+ if( year == right.year &&
+ doy == right.doy &&
+ sod == right.sod )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool YDSTime::operator!=( const YDSTime& right ) const
+ throw()
+ {
+ return (! operator==( right ) );
+ }
+
+ bool YDSTime::operator<( const YDSTime& right ) const
+ throw()
+ {
+ if( year < right.year )
+ {
+ return true;
+ }
+ if( year > right.year )
+ {
+ return false;
+ }
+ if( doy < right.doy )
+ {
+ return true;
+ }
+ if( doy > right.doy )
+ {
+ return false;
+ }
+ if( sod < right.sod )
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool YDSTime::operator>( const YDSTime& right ) const
+ throw()
+ {
+ return (! operator<=( right ) );
+ }
+
+ bool YDSTime::operator<=( const YDSTime& right ) const
+ throw()
+ {
+ return ( operator<( right ) || operator==( right ) );
+ }
+
+ bool YDSTime::operator>=( const YDSTime& right ) const
+ throw()
+ {
+ return (! operator<( right ) );
+ }
+
+} // namespace
diff --git a/dev/src/YDSTime.hpp b/dev/src/YDSTime.hpp
new file mode 100644
index 0000000..4f084d9
--- /dev/null
+++ b/dev/src/YDSTime.hpp
@@ -0,0 +1,174 @@
+#pragma ident "$Id$"
+
+
+
+#ifndef GPSTK_YDSTIME_HPP
+#define GPSTK_YDSTIME_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+#include "TimeTag.hpp"
+
+namespace gpstk
+{
+ /**
+ * This class encapsulates the "year, day-of-year, and seconds-of-day"
+ * time format.
+ */
+ class YDSTime : public TimeTag
+ {
+ public:
+ /**
+ * @defgroup ydstbo YDSTime Basic Operations
+ * Default and Copy Constructors, Assignment Operator and Destructor.
+ */
+ //@{
+ /**
+ * Default Constructor.
+ * All elements are set to zero by default.
+ */
+ YDSTime( long y = 0,
+ long d = 0,
+ double s = 0.)
+ throw()
+ : year(y), doy(d), sod(s)
+ {}
+
+ /** Copy Constructor.
+ * @param right a const reference to the YDSTime object to copy
+ */
+ YDSTime( const YDSTime& right )
+ throw()
+ : year( right.year ), doy( right.doy ), sod( right.sod )
+ {}
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const TimeTag reference and copies its contents via
+ * conversion to CommonTime.
+ * @param right a const reference to the TimeTag-based object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ YDSTime( const TimeTag& right )
+ throw( InvalidRequest )
+ {
+ convertFromCommonTime( right.convertToCommonTime() );
+ }
+
+ /**
+ * Alternate Copy Constructor.
+ * Takes a const CommonTime reference and copies its contents via
+ * the convertFromCommonTime method.
+ * @param right a const reference to the CommonTime object to copy
+ * @throw InvalidRequest on over-/under-flow
+ */
+ YDSTime( const CommonTime& right )
+ throw( InvalidRequest )
+ {
+ convertFromCommonTime( right );
+ }
+
+ /**
+ * Assignment Operator.
+ * @param right a const reference to the YDSTime object to copy
+ * @return a reference to this YDSTime
+ */
+ YDSTime& operator=( const YDSTime& right )
+ throw();
+
+ /// Virtual Destructor.
+ virtual ~YDSTime()
+ throw()
+ {}
+ //@}
+
+ // The following functions are required by TimeTag.
+ virtual CommonTime convertToCommonTime() const;
+
+ virtual void convertFromCommonTime( const CommonTime& ct ) ;
+
+ /// This function formats this time to a string. The exceptions
+ /// thrown would only be due to problems parsing the fmt string.
+ virtual std::string printf(const std::string& fmt) const
+ throw( gpstk::StringUtils::StringException );
+
+ /**
+ * Set this object using the information provided in \a info.
+ * @param info the IdToValue object to which this object shall be set.
+ * @return true if this object was successfully set using the
+ * data in \a info, false if not.
+ */
+ virtual bool setFromInfo( const IdToValue& info )
+ throw();
+
+ /// Return a string containing the characters that this class
+ /// understands when printing times.
+ virtual std::string getPrintChars() const
+ throw()
+ {
+ return "Yyjs";
+ }
+
+ /// Return a string containing the default format to use in printing.
+ virtual std::string getDefaultFormat() const
+ throw()
+ {
+ return "%04Y/%03j %s";
+ }
+
+ virtual bool isValid() const
+ throw();
+
+ virtual void reset()
+ throw();
+
+ /**
+ * @defgroup ydstco YDSTime Comparison Operators
+ * All comparison operators have a parameter "right" which corresponds
+ * to the YDSTime object to the right of the symbol.
+ * All comparison operators are const and return true on success
+ * and false on failure.
+ */
+ //@{
+ bool operator==( const YDSTime& right ) const
+ throw();
+ bool operator!=( const YDSTime& right ) const
+ throw();
+ bool operator<( const YDSTime& right ) const
+ throw();
+ bool operator>( const YDSTime& right ) const
+ throw();
+ bool operator<=( const YDSTime& right ) const
+ throw();
+ bool operator>=( const YDSTime& right ) const
+ throw();
+ //@}
+
+ int year;
+ int doy;
+ double sod;
+ };
+
+} // namespace
+
+#endif // GPSTK_YDSTIME_HPP
diff --git a/dev/src/YumaAlmanacStore.cpp b/dev/src/YumaAlmanacStore.cpp
new file mode 100644
index 0000000..3b7454b
--- /dev/null
+++ b/dev/src/YumaAlmanacStore.cpp
@@ -0,0 +1,104 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file YumaAlmanacStore.cpp
+ * Store Yuma almanac information, and access by satellite and time
+ */
+
+#include "YumaAlmanacStore.hpp"
+
+namespace gpstk
+{
+ void YumaAlmanacStore::loadFile(const std::string& filename)
+ throw(gpstk::FileMissingException)
+ {
+ try
+ {
+ YumaStream strm(filename.c_str());
+ if (!strm)
+ {
+ FileMissingException e("File " + filename + " could not be opened.");
+ GPSTK_THROW(e);
+ }
+
+ YumaHeader header;
+ strm >> header;
+ addFile(filename, header);
+
+ YumaData rec;
+ while(strm >> rec)
+ {
+ addAlmanac(AlmOrbit(rec));
+ }
+
+ }
+ catch (gpstk::Exception& e)
+ {
+ GPSTK_RETHROW(e);
+ }
+
+ }
+
+ gpstk::DayTime YumaAlmanacStore::getFinalTime()
+ const
+ {
+ DayTime retDT = DayTime::BEGINNING_OF_TIME;
+ UBAMap::const_iterator satItr = uba.begin();
+ while (satItr != uba.end())
+ {
+ const EngAlmMap& eam = (*satItr).second;
+
+ EngAlmMap::const_iterator nextItr;
+ for (nextItr=eam.begin(); nextItr!=eam.end(); ++nextItr)
+ {
+ const AlmOrbit& ao = (*nextItr).second;
+ try
+ {
+ DayTime testT = ao.getToaTime();
+ if (testT<retDT) retDT = testT;
+ }
+ // Not to worry, worst case method return 'BEGINNING_OF_TIME'
+ catch(...)
+ {}
+ }
+ satItr++;
+ }
+ return(retDT);
+ }
+
+}
diff --git a/dev/src/YumaAlmanacStore.hpp b/dev/src/YumaAlmanacStore.hpp
new file mode 100644
index 0000000..f2cc679
--- /dev/null
+++ b/dev/src/YumaAlmanacStore.hpp
@@ -0,0 +1,72 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+/**
+ * @file YumaAlmanacStore.hpp
+ * Store Yuma almanac information, and access by satellite and time
+ */
+
+#ifndef YUMAALMANACSTORE_HPP
+#define YUMAALMANACSTORE_HPP
+
+#include "AlmanacStore.hpp"
+#include "FileStore.hpp"
+#include "YumaData.hpp"
+#include "YumaStream.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup ephemstore */
+ //@{
+
+ class YumaAlmanacStore : public FileStore<YumaHeader>,
+ public AlmanacStore
+ {
+ public:
+
+ void loadFile(const std::string& filename)
+ throw(FileMissingException);
+
+ gpstk::DayTime getFinalTime() const;
+
+ };
+
+ //@}
+
+}
+
+#endif
diff --git a/dev/src/YumaBase.hpp b/dev/src/YumaBase.hpp
new file mode 100644
index 0000000..87f0dbd
--- /dev/null
+++ b/dev/src/YumaBase.hpp
@@ -0,0 +1,77 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file YumaBase.hpp
+ * gpstk::YumaBase - base class for Yuma FFData.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#ifndef YUMABASE_HPP
+#define YUMABASE_HPP
+
+#include "FFData.hpp"
+
+namespace gpstk
+{
+ /** @defgroup Yuma Yuma almanac files */
+ //@{
+
+ /**
+ * This is a base class for all Yuma-related classes.
+ */
+ class YumaBase : public FFData
+ {
+
+ public:
+
+ /// in deference to our coding standards, this is declared virtual
+ virtual ~YumaBase() {}
+
+ };
+
+ //@}
+}
+
+#endif
diff --git a/dev/src/YumaData.cpp b/dev/src/YumaData.cpp
new file mode 100644
index 0000000..5b693d1
--- /dev/null
+++ b/dev/src/YumaData.cpp
@@ -0,0 +1,273 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file YumaData.cpp
+ * Encapsulate Yuma almanac file data, including I/O
+ */
+
+#include "StringUtils.hpp"
+#include "icd_200_constants.hpp"
+
+#include "YumaData.hpp"
+#include "YumaStream.hpp"
+
+
+using namespace gpstk::StringUtils;
+using namespace std;
+
+namespace gpstk
+{
+ const std::string YumaData::sID = "ID: ";
+ const std::string YumaData::sHlth = "Health: ";
+ const std::string YumaData::sEcc = "Eccentricity: ";
+ const std::string YumaData::sTOA = "Time of Applicability(s): ";
+ const std::string YumaData::sOrbI = "Orbital Inclination(rad): ";
+ const std::string YumaData::sRRA = "Rate of Right Ascen(r/s): ";
+ const std::string YumaData::sSqrA = "SQRT(A) (m 1/2): ";
+ const std::string YumaData::sRtAs = "Right Ascen at Week(rad): ";
+ const std::string YumaData::sArgP = "Argument of Perigee(rad): ";
+ const std::string YumaData::sMnAn = "Mean Anom(rad): ";
+ const std::string YumaData::sAf0 = "Af0(s): ";
+ const std::string YumaData::sAf1 = "Af1(s/s): ";
+ const std::string YumaData::sweek = "week: ";
+
+ void YumaData::reallyPutRecord(FFStream& ffs) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+ string line;
+
+ YumaStream& strm = dynamic_cast<YumaStream&>(ffs);
+
+ // first the epoch line to 'line'
+ line = "******** Week";
+ int epochWeek = week % 1024;
+ line += rightJustify(asString<short>(epochWeek), 5);
+ line += " almanac for PRN-";
+ line += rightJustify(asString<short>(PRN), 2, '0');
+ line += " ********";
+
+ // write the header line
+ strm << line << endl;
+ line.erase();
+
+ // Write the ID line
+ line = sID;
+ line += rightJustify(asString<short>(PRN),2,'0');
+ strm << line << endl;
+ line.erase();
+
+ // Write the Health line
+ line = sHlth;
+ line += rightJustify(asString<short>(SV_health),3,'0'); // should be hex
+ strm << line << endl;
+ line.erase();
+
+ // Write the Ecc line
+ line = sEcc;
+ line += leftJustify(asString(doub2for(ecc,17,3,false)),18);
+ strm << line << endl;
+ line.erase();
+
+ // Write the Toa line
+ line = sTOA;
+ line += leftJustify(asString((double)Toa,4),11);
+ strm << line << endl;
+ line.erase();
+
+ // Write the Orbital Inc line
+ line = sOrbI;
+ double i_total = i_offset + 54.0 * (gpstk::PI / 180.0 );
+ if (i_total >=0) line += " ";
+ line += leftJustify(asString(i_total,10),17);
+ strm << line << endl;
+ line.erase();
+
+ // Write the Rate of Right Ascen line
+ line = sRRA;
+ line += leftJustify(asString(doub2for(OMEGAdot,17,3,false)),18);
+ strm << line << endl;
+ line.erase();
+
+ // Write the SqrtA line
+ line = sSqrA;
+ line += " ";
+ line += leftJustify(asString(Ahalf,6),18);
+ strm << line << endl;
+ line.erase();
+
+ // Write the Right Ascen at Week line
+ line = sRtAs;
+ line += leftJustify(asString(doub2for(OMEGA0,17,3,false)),18);
+ strm << line << endl;
+ line.erase();
+
+ // Write the Argument of Perigee line
+ line = sArgP;
+ if (w>=0) line += " ";
+ line += leftJustify(asString(w,9),18);
+ strm << line << endl;
+ line.erase();
+
+ // Write Mean Anomaly line
+ line = sMnAn;
+ line += leftJustify(asString(doub2for(M0,17,3,false)),18);
+ strm << line << endl;
+ line.erase();
+
+ // Write the Af0 line
+ line = sAf0;
+ line += leftJustify(asString(doub2for(AF0,17,3,false)),18);
+ strm << line << endl;
+ line.erase();
+
+ // Write the AF1 line
+ line = sAf1;
+ line += leftJustify(asString(doub2for(AF1,17,3,false)),18); // should be hex
+ strm << line << endl;
+ line.erase();
+
+ // Write the week line
+ line = sweek;
+ line += rightJustify(asString<short>(epochWeek),5); // should be hex
+ strm << line << endl;
+ line.erase();
+ strm << endl;
+
+ } // end YumaData::reallyPutRecord
+
+
+ void YumaData::reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+ YumaStream& strm = dynamic_cast<YumaStream&>(ffs);
+
+ string line;
+
+ // We don't need first line as we will get all the information from the others
+ strm.formattedGetLine(line, true);
+
+ //Second Line - PRN
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sID );
+ PRN = asInt(line);
+
+ //Third Line - Satellite Health
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sHlth );
+ SV_health = asInt(line);
+
+ //Fourth Line - Eccentricity
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sEcc );
+ ecc = asDouble(line);
+
+ //Fifth Line - Time of Applicability
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sTOA );
+ double dToa = asDouble(line);
+ Toa = (long) dToa;
+
+ //Sixth Line - Orbital Inclination
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sOrbI );
+ double i_total = asDouble(line);
+ i_offset = i_total - 54.0 * (gpstk::PI / 180.0);
+
+ //Seventh Line - Rate of Right Ascen
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sRRA );
+ OMEGAdot = asDouble(line);
+
+ //Eigth Line - SqrtA
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sSqrA );
+ Ahalf = asDouble(line);
+
+ //Ninth Line - Right Ascen at Week
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sRtAs );
+ OMEGA0 = asDouble(line);
+
+ //Tenth Line - Argument of Perigee
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sArgP );
+ w = asDouble(line);
+
+ //Eleventh Line - Mean Anomaly
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sMnAn );
+ M0 = asDouble(line);
+
+ //Twelfth Line - Af0
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sAf0 );
+ AF0 = asDouble(line);
+
+ //Thirteenth Line - Af1
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sAf1 );
+ AF1 = asDouble(line);
+
+ //Fourteenth Line - week
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sweek );
+ int epoch_week = asInt(line);
+ week = epoch_week + 1024; // Need a way to set epoch Do we??
+
+ xmit_time = 0;
+ strm.formattedGetLine(line,true);
+
+ } // end of reallyGetRecord()
+
+ void YumaData::dump(ostream& s) const
+ {
+ cout << "PRN = " << PRN << endl;
+ cout << "week = " << week << endl;
+ cout << "SV_health = " << SV_health << endl;
+ cout << "ecc = " << ecc << endl;
+ cout << "Toa = " << Toa << endl;
+ cout << "i_offset = " << i_offset << endl;
+ cout << "OMEGAdot = " << OMEGAdot << endl;
+ cout << "Ahalf = " << Ahalf << endl;
+ cout << "OMEGA0 = " << OMEGA0 << endl;
+ cout << "w = " << w << endl;
+ cout << "M0 = " << M0 << endl;
+ cout << "AF0 = " << AF0 << endl;
+ cout << "AF1 = " << AF1 << endl;
+ cout << "xmit_time = " << xmit_time << endl;
+
+ } // end of dump()
+
+ YumaData::operator AlmOrbit() const
+ {
+ AlmOrbit ao(PRN, ecc,i_offset, OMEGAdot, Ahalf, OMEGA0,
+ w, M0, AF0, AF1, Toa, xmit_time, week, SV_health);
+
+ return ao;
+
+ } // end of AlmOrbit()
+} // namespace
diff --git a/dev/src/YumaData.hpp b/dev/src/YumaData.hpp
new file mode 100644
index 0000000..7a9bd0a
--- /dev/null
+++ b/dev/src/YumaData.hpp
@@ -0,0 +1,141 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file YumaData.hpp
+ * Encapsulate Yuma Almanac file data, including I/O
+ */
+
+#ifndef YUMADATA_HPP
+#define YUMADATA_HPP
+
+#include <vector>
+#include <list>
+#include <map>
+
+#include "FFStream.hpp"
+#include "AlmOrbit.hpp"
+#include "YumaBase.hpp"
+#include "YumaHeader.hpp"
+#include "StringUtils.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup Yuma */
+ //@{
+
+ /**
+ * This class stores, reads, and writes Yuma records.
+ *
+ * @sa tests/Yuma for examples
+ * @sa YumaStream.
+ * @sa YumaHeader for information on writing Yuma files.
+ */
+ class YumaData : public YumaBase
+ {
+ public:
+ /// Constructor.
+ YumaData() {}
+
+ /// Destructor
+ virtual ~YumaData() {}
+
+ static const std::string sID; // ID label string
+ static const std::string sHlth; // Satellite Health string
+ static const std::string sEcc; // Eccentricity string
+ static const std::string sTOA;
+ static const std::string sOrbI;
+ static const std::string sRRA;
+ static const std::string sSqrA;
+ static const std::string sRtAs;
+ static const std::string sArgP;
+ static const std::string sMnAn;
+ static const std::string sAf0;
+ static const std::string sAf1;
+ static const std::string sweek;
+
+
+ short PRN;
+ short week;
+ short SV_health;
+ double ecc;
+ long Toa;
+ double i_offset;
+ double OMEGAdot;
+ double Ahalf;
+ double OMEGA0;
+ double w;
+ double M0;
+ double AF0;
+ double AF1;
+ long xmit_time;
+
+
+ /**
+ * Debug output function.
+ * Dump the contents of each of the Yuma class to a
+ * given ostream \c s.
+ */
+ virtual void dump(std::ostream& s) const;
+
+ //! This class is "data" so this function always returns "true".
+ virtual bool isData() const {return true;}
+
+ /**
+ * cast *this into an AlmOrbit
+ * @return the constructed AlmOrbit object
+ */
+ operator AlmOrbit() const;
+
+
+
+ protected:
+ /**
+ * Writes a correctly formatted record from this data to stream \a s.
+ */
+ void reallyPutRecord(FFStream& s) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ /**
+ * This functions obtains a Yuma almanac record from the given
+ * FFStream.
+ * If there is an error in reading from the stream, it is reset
+ * to its original position and its fail-bit is set.
+ * @throws StringException when a StringUtils function fails
+ * @throws FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to its pre-read position.
+ */
+ virtual void reallyGetRecord(FFStream& s)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ }; // class YumaData
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/YumaHeader.cpp b/dev/src/YumaHeader.cpp
new file mode 100644
index 0000000..5df1a95
--- /dev/null
+++ b/dev/src/YumaHeader.cpp
@@ -0,0 +1,66 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file YumaHeader.cpp
+ * Encapsulate Yuma header almanac file data, including I/O
+ */
+
+#include "StringUtils.hpp"
+#include "icd_200_constants.hpp"
+
+#include "YumaHeader.hpp"
+#include "YumaStream.hpp"
+
+
+using namespace gpstk::StringUtils;
+using namespace std;
+
+namespace gpstk
+{
+ /// There is actually no Yuma Header information, it was just much
+ /// easier to use this format for Yuma storage.
+
+ void YumaHeader::reallyPutRecord(FFStream& ffs) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+
+ } // end YumaAHeader::reallyPutRecord
+
+
+ void YumaHeader::reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+
+
+ } // end of reallyGetRecord()
+
+ void YumaHeader::dump(ostream& s) const
+ {
+
+ }
+
+} // namespace
diff --git a/dev/src/YumaHeader.hpp b/dev/src/YumaHeader.hpp
new file mode 100644
index 0000000..8c50a7c
--- /dev/null
+++ b/dev/src/YumaHeader.hpp
@@ -0,0 +1,106 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file YumaHeader.hpp
+ * Encapsulate Yuma Almanac header, including I/O
+ */
+
+#ifndef YUMAHEADER_HPP
+#define YUMAHEADER_HPP
+
+#include <vector>
+#include <list>
+#include <map>
+
+#include "FFStream.hpp"
+#include "AlmOrbit.hpp"
+#include "YumaBase.hpp"
+#include "StringUtils.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup Yuma */
+ //@{
+
+ /**
+ * This class does not really do anything. It is here to conform to the
+ * other file types, even though the Yuma file type
+ * does not have any header information.
+ *
+ * @sa tests/Yuma for examples
+ * @sa YumaStream.
+ * @sa YumaData for more information on writing Yuma files.
+ */
+ class YumaHeader : public YumaBase
+ {
+ public:
+ /// Constructor.
+ YumaHeader() {}
+
+ /// Destructor
+ virtual ~YumaHeader() {}
+
+
+ /**
+ * Debug output function.
+ * Dump the contents of each of the Yuma header to a
+ * given ostream \c s.
+ */
+ virtual void dump(std::ostream& s) const;
+
+ //! This class is a "header" so this function always returns "true".
+ virtual bool isHeader() const {return true;}
+
+
+
+ protected:
+ /**
+ * Writes a correctly formatted record from this header to stream \a s.
+ */
+ virtual void reallyPutRecord(FFStream& s) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ /**
+ * This functions obtains a Yuma header record from the given
+ * FFStream.
+ * If there is an error in reading from the stream, it is reset
+ * to its original position and its fail-bit is set.
+ * @throws StringException when a StringUtils function fails
+ * @throws FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to its pre-read position.
+ */
+ virtual void reallyGetRecord(FFStream& s)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ }; // class YumaHeader
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/YumaStream.hpp b/dev/src/YumaStream.hpp
new file mode 100644
index 0000000..03b48bd
--- /dev/null
+++ b/dev/src/YumaStream.hpp
@@ -0,0 +1,104 @@
+#pragma ident "$Id$"
+
+
+/**
+ * @file YumaStream.hpp
+ * gpstk::YumaStream - ASCII FIC file stream container.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+#ifndef YUMASTREAM_HPP
+#define YUMASTREAM_HPP
+
+
+#include "FFTextStream.hpp"
+#include "YumaHeader.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup Yuma */
+ //@{
+
+ /**
+ * This class performs file i/o on a Yuma file for the
+ * YumaHeader and YumaData classes.
+ *
+ * @sa tests/Yuma for examples.
+ * @sa YumaData.
+ * @sa YumaHeader for information on writing Yuma files.
+ *
+ */
+ class YumaStream : public FFTextStream
+ {
+ public:
+ /// Default constructor
+ YumaStream() {}
+
+ /**
+ * Constructor
+ * @param fn the name of the ascuu FIC file to be opened
+ * @param mode the ios::openmode to be used on \a fn
+ */
+ YumaStream(const char* fn,
+ std::ios::openmode mode=std::ios::in)
+ : FFTextStream(fn, mode), headerRead(false) {};
+
+ /// destructor per the coding standards
+ virtual ~YumaStream() {}
+
+ /// overrides open to reset the header
+ virtual void open(const char* fn, std::ios::openmode mode)
+ {
+ FFTextStream::open(fn, mode);
+ headerRead = false;
+ header = YumaHeader();
+ }
+ /// YumaHeader for this file
+ YumaHeader header;
+
+ /// Flag showing whether or not the header has been read.
+ bool headerRead;
+
+ }; // class YumaStream
+
+ //@}
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/src/convhelp.hpp b/dev/src/convhelp.hpp
new file mode 100644
index 0000000..8028439
--- /dev/null
+++ b/dev/src/convhelp.hpp
@@ -0,0 +1,135 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file convhelp.hpp
+ * Conversion of units (deg F to C, meters to cycles, etc)
+ */
+
+#ifndef GPSTK_CONVHELP_HPP
+#define GPSTK_CONVHELP_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include "GeoidModel.hpp"
+
+namespace gpstk
+{
+ /** @defgroup geodeticgroup Geodetic coordinates and geoids */
+ //@{
+
+ /**
+ * Convert a phase and frequency to meters
+ * @param phase Phase in cycles (radians?)
+ * @param freq Frequency in Hertz
+ * @param geoid geodetic parameters (for c)
+ * @return Range in meters
+ * @see meters2cycles
+ */
+ inline double cycles2meters(double phase, double freq, GeoidModel& geoid)
+ {
+ return geoid.c()/freq * phase;
+ }
+
+ /**
+ * Convert a range and frequency to cycles
+ * @param range Distance in meters
+ * @param freq Frequency in Hertz
+ * @param geoid geodetic parameters (for c)
+ * @return Phase in cycles (radians?)
+ * @see cycles2meters
+ */
+ inline double meters2cycles(double range, double freq, GeoidModel& geoid)
+ {
+ return freq/geoid.c() * range;
+ }
+
+ /**
+ * Convert a temperature from Celsius to Fahrenheit
+ * @param c Temperature in degrees Celsius
+ * @return Temperature in degrees Fahrenheit
+ * @see far2cel
+ */
+ inline double cel2far(double c)
+ {
+ return 9.0 / 5.0 * c + 32;
+ }
+
+ /**
+ * Convert a temperature from Fahrenheit to Celsius
+ * @param f Temperature in degrees Fahrenheit
+ * @return Temperature in degrees Celsius
+ * @see cel2far
+ */
+ inline double far2cel(double f)
+ {
+ return 5.0 / 9.0 * (f - 32);
+ }
+
+ /**
+ * Convert pressure from millibars to inches of mercury
+ * @param mb Pressure in millibars
+ * @return Pressure in inches of mercury
+ * @see hg2mb
+ */
+ inline double mb2hg(double mb)
+ {
+ return mb / 33.8638815789;
+ }
+
+ /**
+ * Convert pressure from inches of mercury to millibars
+ * @param hg Pressure in inches of mercury
+ * @return Pressure in millibars
+ * @see mb2hg
+ */
+ inline double hg2mb(double hg)
+ {
+ return hg * 33.8638815789;
+ }
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/geometry.hpp b/dev/src/geometry.hpp
new file mode 100644
index 0000000..cde8ec5
--- /dev/null
+++ b/dev/src/geometry.hpp
@@ -0,0 +1,71 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file geometry.hpp
+ * Geometric constants (radian-degree conversion)
+ */
+
+#ifndef GPSTK_GEOMETRY_HPP
+#define GPSTK_GEOMETRY_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+namespace gpstk
+{
+ /**
+ * @addtogroup geodeticgroup
+ * @name Geometric Constants
+ */
+ //@{
+ //Miscellaneous Parameters
+
+ /// Conversion Factor from degrees to radians (units: degrees^-1)
+ static const double DEG_TO_RAD = 1.7453292519943e-2;
+
+ /// Conversion Factor from radians to degrees (units: degrees)
+ static const double RAD_TO_DEG = 57.295779513082;
+ //@}
+}
+
+#endif
diff --git a/trunk/src/getopt.c b/dev/src/getopt.c
similarity index 100%
rename from trunk/src/getopt.c
rename to dev/src/getopt.c
diff --git a/trunk/src/getopt.h b/dev/src/getopt.h
similarity index 100%
rename from trunk/src/getopt.h
rename to dev/src/getopt.h
diff --git a/trunk/src/getopt1.c b/dev/src/getopt1.c
similarity index 100%
rename from trunk/src/getopt1.c
rename to dev/src/getopt1.c
diff --git a/dev/src/gps_constants.hpp b/dev/src/gps_constants.hpp
new file mode 100644
index 0000000..142a2be
--- /dev/null
+++ b/dev/src/gps_constants.hpp
@@ -0,0 +1,67 @@
+#pragma ident "$Id$"
+
+
+
+#ifndef GPSTK_GPS_CONSTANTS_HPP
+#define GPSTK_GPS_CONSTANTS_HPP
+
+/**
+ * @file gps_constants.hpp
+ * Miscellaneous constants for GPS.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+namespace gpstk
+{
+ /** @addtogroup ephemcalc */
+ //@{
+
+ /** The maximum number of active satellites in the GPS
+ * constellation. */
+ const long MAX_PRN = 32;
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/gpstkplatform.h b/dev/src/gpstkplatform.h
new file mode 100644
index 0000000..5147fe6
--- /dev/null
+++ b/dev/src/gpstkplatform.h
@@ -0,0 +1,57 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+
+
+
+/* This is where all platform specific includes, defines and crud should go.
+ Unless, of course, it has to go somewhere else. :-)
+*/
+
+#ifndef GPSTK_PLATFORM_HPP
+#define GPSTK_PLATFORM_HPP
+
+#ifdef _MSC_VER
+
+#include<stdlib.h>
+
+typedef __int8 int8_t;
+typedef __int16 int16_t;
+typedef __int32 int32_t;
+typedef __int64 int64_t;
+typedef unsigned __int8 uint8_t;
+typedef unsigned __int16 uint16_t;
+typedef unsigned __int32 uint32_t;
+typedef unsigned __int64 uint64_t;
+#include <sys/types.h>
+#include <sys/timeb.h>
+
+
+#elif !defined(__SUNPRO_CC)
+#include <stdint.h>
+#endif
+
+#endif
diff --git a/dev/src/icd_200_constants.hpp b/dev/src/icd_200_constants.hpp
new file mode 100644
index 0000000..040ea4a
--- /dev/null
+++ b/dev/src/icd_200_constants.hpp
@@ -0,0 +1,183 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file icd_200_constants.hpp
+ * Constants as defined in the GPS-ICD-200
+ * Now the IS-GPS-200D
+ */
+
+#ifndef GPSTK_ICD_200_CONSTANTS_HPP
+#define GPSTK_ICD_200_CONSTANTS_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+namespace gpstk
+{
+ /**
+ * @addtogroup geodeticgroup
+ * @name GPS Constants
+ * Time constants are in the time library.
+ */
+ //@{
+ /// GPS value of PI
+ const double PI = 3.1415926535898;
+ /// GPS value of PI*2
+ const double TWO_PI = 6.2831853071796;
+ /// GPS value of PI**0.5
+ const double SQRT_PI = 1.7724539;
+ /// relativity constant for GPS (sec/sqrt(m))
+ const double REL_CONST = -4.442807633e-10;
+ /// Hz
+ const double OSC_FREQ = 10.23e6;
+ /// Hz, chip rate of the P & Y codes
+ const double PY_CHIP_FREQ = OSC_FREQ;
+ /// Hz, chip rate of the C/A code
+ const double CA_CHIP_FREQ = OSC_FREQ / 10.0;
+ /// speed of light (m/s)
+ const double C_GPS_M = 2.99792458e8;
+ /// Base freq w/o relativisitic effects, Hz.
+ const double RSVCLK = 10.22999999543e6;
+ /// L1 carrier frequency in Hz.
+ const double L1_FREQ = 1575.42e6;
+ /// L1 carrier wavelength in meters.
+ const double L1_WAVELENGTH = 0.190293672798;
+ /// L2 carrier frequency in Hz.
+ const double L2_FREQ = 1227.60e6;
+ /// L2 carrier wavelength in meters.
+ const double L2_WAVELENGTH = 0.244210213425;
+ /// L1 multiplier.
+ const double L1_MULT = 154.0;
+ /// L2 multiplier.
+ const double L2_MULT = 120.0;
+ /// Gamma multiplier.
+ const double GAMMA_GPS = 1.646944444;
+
+ // Modernized GPS
+ /// L5 carrier frequency in Hz.
+ const double L5_FREQ = 1176.45e6;
+ /// L5 carrier wavelength in meters.
+ const double L5_WAVELENGTH = 0.254828049;
+
+ // Galileo-related
+ /// L6 carrier frequency in Hz.
+ const double L6_FREQ = 1278.75e6;
+ /// L6 carrier wavelength in meters.
+ const double L6_WAVELENGTH = 0.234441805;
+ /// L7 carrier frequency in Hz.
+ const double L7_FREQ = 1207.140e6;
+ /// L7 carrier wavelength in meters.
+ const double L7_WAVELENGTH = 0.24834937;
+ /// L8 carrier frequency in Hz.
+ const double L8_FREQ = 1191.795e6;
+ /// L8 carrier wavelength in meters.
+ const double L8_WAVELENGTH = 0.251547001;
+
+ /// constant for the max array index in sv accuracy table
+ const int SV_ACCURACY_MAX_INDEX_VALUE = 15;
+ /// map from SV accuracy/URA flag to minimum accuracy values in m
+ const double SV_ACCURACY_MIN_INDEX[] = {0.0, 2.4, 3.4, 4.85, 6.85, 9.65,
+ 13.65, 24.0, 48.0, 96.0, 192.0,
+ 384.0, 768.0, 1536.0, 3072.0,
+ 6144.0};
+ /// Map from SV accuracy/URA flag to NOMINAL accuracy values in m
+ /// Further details in ICD-GPS-200C, section 20.3.3.3.1.3
+ const double SV_ACCURACY_NOMINAL_INDEX[] = {2.0, 2.8, 4.0, 5.7, 8.0,
+ 11.3, 16.0, 32.0, 64.0, 128.0,
+ 256.0, 512.0, 1024.0, 2048.0,
+ 4096.0, 9.999999999999e99};
+ /// map from SV accuracy/URA flag to maximum accuracy values in m
+ const double SV_ACCURACY_MAX_INDEX[] = {2.4, 3.4, 4.85, 6.85, 9.65,
+ 13.65, 24.0, 48.0, 96.0, 192.0,
+ 384.0, 768.0, 1536.0, 3072.0,
+ 6144.0, 9.999999999999e99};
+
+ inline
+ short accuracy2ura(const double& acc) throw()
+ {
+ short ura = 0;
+ while ( (ura <= SV_ACCURACY_MAX_INDEX_VALUE) &&
+ (acc > SV_ACCURACY_MAX_INDEX[ura]))
+ ura++;
+ if (ura > SV_ACCURACY_MAX_INDEX_VALUE)
+ ura = SV_ACCURACY_MAX_INDEX_VALUE;
+ return ura;
+ }
+
+ inline
+ double ura2accuracy(const short& ura) throw()
+ {
+ if(ura < 0)
+ return SV_ACCURACY_MAX_INDEX[0];
+ if(ura > SV_ACCURACY_MAX_INDEX_VALUE)
+ return SV_ACCURACY_MAX_INDEX[SV_ACCURACY_MAX_INDEX_VALUE];
+ return SV_ACCURACY_MAX_INDEX[ura];
+ }
+
+ inline
+ short nominalAccuracy2ura(const double& acc) throw()
+ {
+ short ura = 0;
+ while ( (ura <= SV_ACCURACY_MAX_INDEX_VALUE) &&
+ (acc > SV_ACCURACY_NOMINAL_INDEX[ura]))
+ ura++;
+ if (ura > SV_ACCURACY_MAX_INDEX_VALUE)
+ ura = SV_ACCURACY_MAX_INDEX_VALUE;
+ return ura;
+ }
+
+ inline
+ double ura2nominalAccuracy(const short& ura) throw()
+ {
+ if(ura < 0)
+ return SV_ACCURACY_NOMINAL_INDEX[0];
+ if(ura > SV_ACCURACY_MAX_INDEX_VALUE)
+ return SV_ACCURACY_NOMINAL_INDEX[SV_ACCURACY_MAX_INDEX_VALUE];
+ return SV_ACCURACY_NOMINAL_INDEX[ura];
+ }
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/src/mergePCodeWords.h b/dev/src/mergePCodeWords.h
new file mode 100644
index 0000000..676b67c
--- /dev/null
+++ b/dev/src/mergePCodeWords.h
@@ -0,0 +1,52 @@
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+
+
+/*
+* mergePCodeWords - Helper function used in X2Sequence and GenXSequence
+
+ Given two bit-packed integers, merge the lower portion of the
+ first and the higher portion of the second into a new bit-packed
+ integer. The first_bit argument defines the most significant
+ bit of the merged word. The bits are numbered from 0 - MAX_BIT-1.
+*/
+#ifndef MERGEPCODEWORDS_H
+#define MERGEPCODEWORDS_H
+
+ inline unsigned long merge( unsigned long w1,
+ unsigned long w2,
+ int first_bit )
+ {
+ unsigned long outword = w1;
+ if (first_bit==0) return(outword);
+
+ outword <<= first_bit;
+ outword |= w2 >> (gpstk::MAX_BIT - first_bit);
+
+ return(outword);
+ }
+
+#endif // end of MERGEPCODEWORDS_H
diff --git a/dev/src/regex.c b/dev/src/regex.c
new file mode 100644
index 0000000..60dd5bd
--- /dev/null
+++ b/dev/src/regex.c
@@ -0,0 +1,4949 @@
+/* Extended regular expression matching and search library,
+ version 0.12.
+ (Implements POSIX draft P10003.2/D11.2, except for
+ internationalization features.)
+
+ Copyright (C) 1993 Free Software Foundation, Inc.
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2, or (at your option)
+ any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. */
+
+/* AIX requires this to be the first thing in the file. */
+#if defined (_AIX) && !defined (REGEX_MALLOC)
+ #pragma alloca
+#endif
+
+#define _GNU_SOURCE
+
+/* We need this for `regex.h', and perhaps for the Emacs include files. */
+#include <sys/types.h>
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+/* The `emacs' switch turns on certain matching commands
+ that make sense only in Emacs. */
+#ifdef emacs
+
+#include "lisp.h"
+#include "buffer.h"
+#include "syntax.h"
+
+/* Emacs uses `NULL' as a predicate. */
+#undef NULL
+
+#else /* not emacs */
+
+/* We used to test for `BSTRING' here, but only GCC and Emacs define
+ `BSTRING', as far as I know, and neither of them use this code. */
+#if HAVE_STRING_H || STDC_HEADERS
+#include <string.h>
+#ifndef bcmp
+#define bcmp(s1, s2, n) memcmp ((s1), (s2), (n))
+#endif
+#ifndef bcopy
+#define bcopy(s, d, n) memcpy ((d), (s), (n))
+#endif
+#ifndef bzero
+#define bzero(s, n) memset ((s), 0, (n))
+#endif
+#else
+#include <strings.h>
+#endif
+
+#ifdef STDC_HEADERS
+#include <stdlib.h>
+#else
+char *malloc ();
+char *realloc ();
+#endif
+
+
+/* Define the syntax stuff for \<, \>, etc. */
+
+/* This must be nonzero for the wordchar and notwordchar pattern
+ commands in re_match_2. */
+#ifndef Sword
+#define Sword 1
+#endif
+
+#ifdef SYNTAX_TABLE
+
+extern char *re_syntax_table;
+
+#else /* not SYNTAX_TABLE */
+
+/* How many characters in the character set. */
+#define CHAR_SET_SIZE 256
+
+static char re_syntax_table[CHAR_SET_SIZE];
+
+static void
+init_syntax_once ()
+{
+ register int c;
+ static int done = 0;
+
+ if (done)
+ return;
+
+ bzero (re_syntax_table, sizeof re_syntax_table);
+
+ for (c = 'a'; c <= 'z'; c++)
+ re_syntax_table[c] = Sword;
+
+ for (c = 'A'; c <= 'Z'; c++)
+ re_syntax_table[c] = Sword;
+
+ for (c = '0'; c <= '9'; c++)
+ re_syntax_table[c] = Sword;
+
+ re_syntax_table['_'] = Sword;
+
+ done = 1;
+}
+
+#endif /* not SYNTAX_TABLE */
+
+#define SYNTAX(c) re_syntax_table[c]
+
+#endif /* not emacs */
+
+/* Get the interface, including the syntax bits. */
+#include "regex.h"
+
+/* isalpha etc. are used for the character classes. */
+#include <ctype.h>
+
+#ifndef isascii
+#define isascii(c) 1
+#endif
+
+#ifdef isblank
+#define ISBLANK(c) (isascii (c) && isblank (c))
+#else
+#define ISBLANK(c) ((c) == ' ' || (c) == '\t')
+#endif
+#ifdef isgraph
+#define ISGRAPH(c) (isascii (c) && isgraph (c))
+#else
+#define ISGRAPH(c) (isascii (c) && isprint (c) && !isspace (c))
+#endif
+
+#define ISPRINT(c) (isascii (c) && isprint (c))
+#define ISDIGIT(c) (isascii (c) && isdigit (c))
+#define ISALNUM(c) (isascii (c) && isalnum (c))
+#define ISALPHA(c) (isascii (c) && isalpha (c))
+#define ISCNTRL(c) (isascii (c) && iscntrl (c))
+#define ISLOWER(c) (isascii (c) && islower (c))
+#define ISPUNCT(c) (isascii (c) && ispunct (c))
+#define ISSPACE(c) (isascii (c) && isspace (c))
+#define ISUPPER(c) (isascii (c) && isupper (c))
+#define ISXDIGIT(c) (isascii (c) && isxdigit (c))
+
+#ifndef NULL
+#define NULL 0
+#endif
+
+/* We remove any previous definition of `SIGN_EXTEND_CHAR',
+ since ours (we hope) works properly with all combinations of
+ machines, compilers, `char' and `unsigned char' argument types.
+ (Per Bothner suggested the basic approach.) */
+#undef SIGN_EXTEND_CHAR
+#if __STDC__
+#define SIGN_EXTEND_CHAR(c) ((signed char) (c))
+#else /* not __STDC__ */
+/* As in Harbison and Steele. */
+#define SIGN_EXTEND_CHAR(c) ((((unsigned char) (c)) ^ 128) - 128)
+#endif
+
+/* Should we use malloc or alloca? If REGEX_MALLOC is not defined, we
+ use `alloca' instead of `malloc'. This is because using malloc in
+ re_search* or re_match* could cause memory leaks when C-g is used in
+ Emacs; also, malloc is slower and causes storage fragmentation. On
+ the other hand, malloc is more portable, and easier to debug.
+
+ Because we sometimes use alloca, some routines have to be macros,
+ not functions -- `alloca'-allocated space disappears at the end of the
+ function it is called in. */
+
+#ifdef REGEX_MALLOC
+
+#define REGEX_ALLOCATE malloc
+#define REGEX_REALLOCATE(source, osize, nsize) realloc (source, nsize)
+
+#else /* not REGEX_MALLOC */
+
+/* Emacs already defines alloca, sometimes. */
+#ifndef alloca
+
+/* Make alloca work the best possible way. */
+#ifdef __GNUC__
+#define alloca __builtin_alloca
+#else /* not __GNUC__ */
+#if HAVE_ALLOCA_H
+#include <alloca.h>
+#else /* not __GNUC__ or HAVE_ALLOCA_H */
+#ifndef _AIX /* Already did AIX, up at the top. */
+char *alloca ();
+#endif /* not _AIX */
+#endif /* not HAVE_ALLOCA_H */
+#endif /* not __GNUC__ */
+
+#endif /* not alloca */
+
+#define REGEX_ALLOCATE alloca
+
+/* Assumes a `char *destination' variable. */
+#define REGEX_REALLOCATE(source, osize, nsize) \
+ (destination = (char *) alloca (nsize), \
+ bcopy (source, destination, osize), \
+ destination)
+
+#endif /* not REGEX_MALLOC */
+
+
+/* True if `size1' is non-NULL and PTR is pointing anywhere inside
+ `string1' or just past its end. This works if PTR is NULL, which is
+ a good thing. */
+#define FIRST_STRING_P(ptr) \
+ (size1 && string1 <= (ptr) && (ptr) <= string1 + size1)
+
+/* (Re)Allocate N items of type T using malloc, or fail. */
+#define TALLOC(n, t) ((t *) malloc ((n) * sizeof (t)))
+#define RETALLOC(addr, n, t) ((addr) = (t *) realloc (addr, (n) * sizeof (t)))
+#define REGEX_TALLOC(n, t) ((t *) REGEX_ALLOCATE ((n) * sizeof (t)))
+
+#define BYTEWIDTH 8 /* In bits. */
+
+#define STREQ(s1, s2) ((strcmp (s1, s2) == 0))
+
+#define MAX(a, b) ((a) > (b) ? (a) : (b))
+#define MIN(a, b) ((a) < (b) ? (a) : (b))
+
+typedef char boolean;
+#define false 0
+#define true 1
+
+/* These are the command codes that appear in compiled regular
+ expressions. Some opcodes are followed by argument bytes. A
+ command code can specify any interpretation whatsoever for its
+ arguments. Zero bytes may appear in the compiled regular expression.
+
+ The value of `exactn' is needed in search.c (search_buffer) in Emacs.
+ So regex.h defines a symbol `RE_EXACTN_VALUE' to be 1; the value of
+ `exactn' we use here must also be 1. */
+
+typedef enum
+{
+ no_op = 0,
+
+ /* Followed by one byte giving n, then by n literal bytes. */
+ exactn = 1,
+
+ /* Matches any (more or less) character. */
+ anychar,
+
+ /* Matches any one char belonging to specified set. First
+ following byte is number of bitmap bytes. Then come bytes
+ for a bitmap saying which chars are in. Bits in each byte
+ are ordered low-bit-first. A character is in the set if its
+ bit is 1. A character too large to have a bit in the map is
+ automatically not in the set. */
+ charset,
+
+ /* Same parameters as charset, but match any character that is
+ not one of those specified. */
+ charset_not,
+
+ /* Start remembering the text that is matched, for storing in a
+ register. Followed by one byte with the register number, in
+ the range 0 to one less than the pattern buffer's re_nsub
+ field. Then followed by one byte with the number of groups
+ inner to this one. (This last has to be part of the
+ start_memory only because we need it in the on_failure_jump
+ of re_match_2.) */
+ start_memory,
+
+ /* Stop remembering the text that is matched and store it in a
+ memory register. Followed by one byte with the register
+ number, in the range 0 to one less than `re_nsub' in the
+ pattern buffer, and one byte with the number of inner groups,
+ just like `start_memory'. (We need the number of inner
+ groups here because we don't have any easy way of finding the
+ corresponding start_memory when we're at a stop_memory.) */
+ stop_memory,
+
+ /* Match a duplicate of something remembered. Followed by one
+ byte containing the register number. */
+ duplicate,
+
+ /* Fail unless at beginning of line. */
+ begline,
+
+ /* Fail unless at end of line. */
+ endline,
+
+ /* Succeeds if at beginning of buffer (if emacs) or at beginning
+ of string to be matched (if not). */
+ begbuf,
+
+ /* Analogously, for end of buffer/string. */
+ endbuf,
+
+ /* Followed by two byte relative address to which to jump. */
+ jump,
+
+ /* Same as jump, but marks the end of an alternative. */
+ jump_past_alt,
+
+ /* Followed by two-byte relative address of place to resume at
+ in case of failure. */
+ on_failure_jump,
+
+ /* Like on_failure_jump, but pushes a placeholder instead of the
+ current string position when executed. */
+ on_failure_keep_string_jump,
+
+ /* Throw away latest failure point and then jump to following
+ two-byte relative address. */
+ pop_failure_jump,
+
+ /* Change to pop_failure_jump if know won't have to backtrack to
+ match; otherwise change to jump. This is used to jump
+ back to the beginning of a repeat. If what follows this jump
+ clearly won't match what the repeat does, such that we can be
+ sure that there is no use backtracking out of repetitions
+ already matched, then we change it to a pop_failure_jump.
+ Followed by two-byte address. */
+ maybe_pop_jump,
+
+ /* Jump to following two-byte address, and push a dummy failure
+ point. This failure point will be thrown away if an attempt
+ is made to use it for a failure. A `+' construct makes this
+ before the first repeat. Also used as an intermediary kind
+ of jump when compiling an alternative. */
+ dummy_failure_jump,
+
+ /* Push a dummy failure point and continue. Used at the end of
+ alternatives. */
+ push_dummy_failure,
+
+ /* Followed by two-byte relative address and two-byte number n.
+ After matching N times, jump to the address upon failure. */
+ succeed_n,
+
+ /* Followed by two-byte relative address, and two-byte number n.
+ Jump to the address N times, then fail. */
+ jump_n,
+
+ /* Set the following two-byte relative address to the
+ subsequent two-byte number. The address *includes* the two
+ bytes of number. */
+ set_number_at,
+
+ wordchar, /* Matches any word-constituent character. */
+ notwordchar, /* Matches any char that is not a word-constituent. */
+
+ wordbeg, /* Succeeds if at word beginning. */
+ wordend, /* Succeeds if at word end. */
+
+ wordbound, /* Succeeds if at a word boundary. */
+ notwordbound /* Succeeds if not at a word boundary. */
+
+#ifdef emacs
+ ,before_dot, /* Succeeds if before point. */
+ at_dot, /* Succeeds if at point. */
+ after_dot, /* Succeeds if after point. */
+
+ /* Matches any character whose syntax is specified. Followed by
+ a byte which contains a syntax code, e.g., Sword. */
+ syntaxspec,
+
+ /* Matches any character whose syntax is not that specified. */
+ notsyntaxspec
+#endif /* emacs */
+} re_opcode_t;
+
+/* Common operations on the compiled pattern. */
+
+/* Store NUMBER in two contiguous bytes starting at DESTINATION. */
+
+#define STORE_NUMBER(destination, number) \
+ do { \
+ (destination)[0] = (number) & 0377; \
+ (destination)[1] = (number) >> 8; \
+ } while (0)
+
+/* Same as STORE_NUMBER, except increment DESTINATION to
+ the byte after where the number is stored. Therefore, DESTINATION
+ must be an lvalue. */
+
+#define STORE_NUMBER_AND_INCR(destination, number) \
+ do { \
+ STORE_NUMBER (destination, number); \
+ (destination) += 2; \
+ } while (0)
+
+/* Put into DESTINATION a number stored in two contiguous bytes starting
+ at SOURCE. */
+
+#define EXTRACT_NUMBER(destination, source) \
+ do { \
+ (destination) = *(source) & 0377; \
+ (destination) += SIGN_EXTEND_CHAR (*((source) + 1)) << 8; \
+ } while (0)
+
+#ifdef DEBUG
+static void
+extract_number (dest, source)
+ int *dest;
+ unsigned char *source;
+{
+ int temp = SIGN_EXTEND_CHAR (*(source + 1));
+ *dest = *source & 0377;
+ *dest += temp << 8;
+}
+
+#ifndef EXTRACT_MACROS /* To debug the macros. */
+#undef EXTRACT_NUMBER
+#define EXTRACT_NUMBER(dest, src) extract_number (&dest, src)
+#endif /* not EXTRACT_MACROS */
+
+#endif /* DEBUG */
+
+/* Same as EXTRACT_NUMBER, except increment SOURCE to after the number.
+ SOURCE must be an lvalue. */
+
+#define EXTRACT_NUMBER_AND_INCR(destination, source) \
+ do { \
+ EXTRACT_NUMBER (destination, source); \
+ (source) += 2; \
+ } while (0)
+
+#ifdef DEBUG
+static void
+extract_number_and_incr (destination, source)
+ int *destination;
+ unsigned char **source;
+{
+ extract_number (destination, *source);
+ *source += 2;
+}
+
+#ifndef EXTRACT_MACROS
+#undef EXTRACT_NUMBER_AND_INCR
+#define EXTRACT_NUMBER_AND_INCR(dest, src) \
+ extract_number_and_incr (&dest, &src)
+#endif /* not EXTRACT_MACROS */
+
+#endif /* DEBUG */
+
+/* If DEBUG is defined, Regex prints many voluminous messages about what
+ it is doing (if the variable `debug' is nonzero). If linked with the
+ main program in `iregex.c', you can enter patterns and strings
+ interactively. And if linked with the main program in `main.c' and
+ the other test files, you can run the already-written tests. */
+
+#ifdef DEBUG
+
+/* We use standard I/O for debugging. */
+#include <stdio.h>
+
+/* It is useful to test things that ``must'' be true when debugging. */
+#include <assert.h>
+
+static int debug = 0;
+
+#define DEBUG_STATEMENT(e) e
+#define DEBUG_PRINT1(x) if (debug) printf (x)
+#define DEBUG_PRINT2(x1, x2) if (debug) printf (x1, x2)
+#define DEBUG_PRINT3(x1, x2, x3) if (debug) printf (x1, x2, x3)
+#define DEBUG_PRINT4(x1, x2, x3, x4) if (debug) printf (x1, x2, x3, x4)
+#define DEBUG_PRINT_COMPILED_PATTERN(p, s, e) \
+ if (debug) print_partial_compiled_pattern (s, e)
+#define DEBUG_PRINT_DOUBLE_STRING(w, s1, sz1, s2, sz2) \
+ if (debug) print_double_string (w, s1, sz1, s2, sz2)
+
+
+extern void printchar ();
+
+/* Print the fastmap in human-readable form. */
+
+void
+print_fastmap (fastmap)
+ char *fastmap;
+{
+ unsigned was_a_range = 0;
+ unsigned i = 0;
+
+ while (i < (1 << BYTEWIDTH))
+ {
+ if (fastmap[i++])
+ {
+ was_a_range = 0;
+ printchar (i - 1);
+ while (i < (1 << BYTEWIDTH) && fastmap[i])
+ {
+ was_a_range = 1;
+ i++;
+ }
+ if (was_a_range)
+ {
+ printf ("-");
+ printchar (i - 1);
+ }
+ }
+ }
+ putchar ('\n');
+}
+
+
+/* Print a compiled pattern string in human-readable form, starting at
+ the START pointer into it and ending just before the pointer END. */
+
+void
+print_partial_compiled_pattern (start, end)
+ unsigned char *start;
+ unsigned char *end;
+{
+ int mcnt, mcnt2;
+ unsigned char *p = start;
+ unsigned char *pend = end;
+
+ if (start == NULL)
+ {
+ printf ("(null)\n");
+ return;
+ }
+
+ /* Loop over pattern commands. */
+ while (p < pend)
+ {
+ switch ((re_opcode_t) *p++)
+ {
+ case no_op:
+ printf ("/no_op");
+ break;
+
+ case exactn:
+ mcnt = *p++;
+ printf ("/exactn/%d", mcnt);
+ do
+ {
+ putchar ('/');
+ printchar (*p++);
+ }
+ while (--mcnt);
+ break;
+
+ case start_memory:
+ mcnt = *p++;
+ printf ("/start_memory/%d/%d", mcnt, *p++);
+ break;
+
+ case stop_memory:
+ mcnt = *p++;
+ printf ("/stop_memory/%d/%d", mcnt, *p++);
+ break;
+
+ case duplicate:
+ printf ("/duplicate/%d", *p++);
+ break;
+
+ case anychar:
+ printf ("/anychar");
+ break;
+
+ case charset:
+ case charset_not:
+ {
+ register int c;
+
+ printf ("/charset%s",
+ (re_opcode_t) *(p - 1) == charset_not ? "_not" : "");
+
+ assert (p + *p < pend);
+
+ for (c = 0; c < *p; c++)
+ {
+ unsigned bit;
+ unsigned char map_byte = p[1 + c];
+
+ putchar ('/');
+
+ for (bit = 0; bit < BYTEWIDTH; bit++)
+ if (map_byte & (1 << bit))
+ printchar (c * BYTEWIDTH + bit);
+ }
+ p += 1 + *p;
+ break;
+ }
+
+ case begline:
+ printf ("/begline");
+ break;
+
+ case endline:
+ printf ("/endline");
+ break;
+
+ case on_failure_jump:
+ extract_number_and_incr (&mcnt, &p);
+ printf ("/on_failure_jump/0/%d", mcnt);
+ break;
+
+ case on_failure_keep_string_jump:
+ extract_number_and_incr (&mcnt, &p);
+ printf ("/on_failure_keep_string_jump/0/%d", mcnt);
+ break;
+
+ case dummy_failure_jump:
+ extract_number_and_incr (&mcnt, &p);
+ printf ("/dummy_failure_jump/0/%d", mcnt);
+ break;
+
+ case push_dummy_failure:
+ printf ("/push_dummy_failure");
+ break;
+
+ case maybe_pop_jump:
+ extract_number_and_incr (&mcnt, &p);
+ printf ("/maybe_pop_jump/0/%d", mcnt);
+ break;
+
+ case pop_failure_jump:
+ extract_number_and_incr (&mcnt, &p);
+ printf ("/pop_failure_jump/0/%d", mcnt);
+ break;
+
+ case jump_past_alt:
+ extract_number_and_incr (&mcnt, &p);
+ printf ("/jump_past_alt/0/%d", mcnt);
+ break;
+
+ case jump:
+ extract_number_and_incr (&mcnt, &p);
+ printf ("/jump/0/%d", mcnt);
+ break;
+
+ case succeed_n:
+ extract_number_and_incr (&mcnt, &p);
+ extract_number_and_incr (&mcnt2, &p);
+ printf ("/succeed_n/0/%d/0/%d", mcnt, mcnt2);
+ break;
+
+ case jump_n:
+ extract_number_and_incr (&mcnt, &p);
+ extract_number_and_incr (&mcnt2, &p);
+ printf ("/jump_n/0/%d/0/%d", mcnt, mcnt2);
+ break;
+
+ case set_number_at:
+ extract_number_and_incr (&mcnt, &p);
+ extract_number_and_incr (&mcnt2, &p);
+ printf ("/set_number_at/0/%d/0/%d", mcnt, mcnt2);
+ break;
+
+ case wordbound:
+ printf ("/wordbound");
+ break;
+
+ case notwordbound:
+ printf ("/notwordbound");
+ break;
+
+ case wordbeg:
+ printf ("/wordbeg");
+ break;
+
+ case wordend:
+ printf ("/wordend");
+
+#ifdef emacs
+ case before_dot:
+ printf ("/before_dot");
+ break;
+
+ case at_dot:
+ printf ("/at_dot");
+ break;
+
+ case after_dot:
+ printf ("/after_dot");
+ break;
+
+ case syntaxspec:
+ printf ("/syntaxspec");
+ mcnt = *p++;
+ printf ("/%d", mcnt);
+ break;
+
+ case notsyntaxspec:
+ printf ("/notsyntaxspec");
+ mcnt = *p++;
+ printf ("/%d", mcnt);
+ break;
+#endif /* emacs */
+
+ case wordchar:
+ printf ("/wordchar");
+ break;
+
+ case notwordchar:
+ printf ("/notwordchar");
+ break;
+
+ case begbuf:
+ printf ("/begbuf");
+ break;
+
+ case endbuf:
+ printf ("/endbuf");
+ break;
+
+ default:
+ printf ("?%d", *(p-1));
+ }
+ }
+ printf ("/\n");
+}
+
+
+void
+print_compiled_pattern (bufp)
+ struct re_pattern_buffer *bufp;
+{
+ unsigned char *buffer = bufp->buffer;
+
+ print_partial_compiled_pattern (buffer, buffer + bufp->used);
+ printf ("%d bytes used/%d bytes allocated.\n", bufp->used, bufp->allocated);
+
+ if (bufp->fastmap_accurate && bufp->fastmap)
+ {
+ printf ("fastmap: ");
+ print_fastmap (bufp->fastmap);
+ }
+
+ printf ("re_nsub: %d\t", bufp->re_nsub);
+ printf ("regs_alloc: %d\t", bufp->regs_allocated);
+ printf ("can_be_null: %d\t", bufp->can_be_null);
+ printf ("newline_anchor: %d\n", bufp->newline_anchor);
+ printf ("no_sub: %d\t", bufp->no_sub);
+ printf ("not_bol: %d\t", bufp->not_bol);
+ printf ("not_eol: %d\t", bufp->not_eol);
+ printf ("syntax: %d\n", bufp->syntax);
+ /* Perhaps we should print the translate table? */
+}
+
+
+void
+print_double_string (where, string1, size1, string2, size2)
+ const char *where;
+ const char *string1;
+ const char *string2;
+ int size1;
+ int size2;
+{
+ unsigned this_char;
+
+ if (where == NULL)
+ printf ("(null)");
+ else
+ {
+ if (FIRST_STRING_P (where))
+ {
+ for (this_char = where - string1; this_char < size1; this_char++)
+ printchar (string1[this_char]);
+
+ where = string2;
+ }
+
+ for (this_char = where - string2; this_char < size2; this_char++)
+ printchar (string2[this_char]);
+ }
+}
+
+#else /* not DEBUG */
+
+#undef assert
+#define assert(e)
+
+#define DEBUG_STATEMENT(e)
+#define DEBUG_PRINT1(x)
+#define DEBUG_PRINT2(x1, x2)
+#define DEBUG_PRINT3(x1, x2, x3)
+#define DEBUG_PRINT4(x1, x2, x3, x4)
+#define DEBUG_PRINT_COMPILED_PATTERN(p, s, e)
+#define DEBUG_PRINT_DOUBLE_STRING(w, s1, sz1, s2, sz2)
+
+#endif /* not DEBUG */
+
+/* Set by `re_set_syntax' to the current regexp syntax to recognize. Can
+ also be assigned to arbitrarily: each pattern buffer stores its own
+ syntax, so it can be changed between regex compilations. */
+reg_syntax_t re_syntax_options = RE_SYNTAX_EMACS;
+
+
+/* Specify the precise syntax of regexps for compilation. This provides
+ for compatibility for various utilities which historically have
+ different, incompatible syntaxes.
+
+ The argument SYNTAX is a bit mask comprised of the various bits
+ defined in regex.h. We return the old syntax. */
+
+reg_syntax_t
+re_set_syntax (syntax)
+ reg_syntax_t syntax;
+{
+ reg_syntax_t ret = re_syntax_options;
+
+ re_syntax_options = syntax;
+ return ret;
+}
+
+/* This table gives an error message for each of the error codes listed
+ in regex.h. Obviously the order here has to be same as there. */
+
+static const char *re_error_msg[] =
+ { NULL, /* REG_NOERROR */
+ "No match", /* REG_NOMATCH */
+ "Invalid regular expression", /* REG_BADPAT */
+ "Invalid collation character", /* REG_ECOLLATE */
+ "Invalid character class name", /* REG_ECTYPE */
+ "Trailing backslash", /* REG_EESCAPE */
+ "Invalid back reference", /* REG_ESUBREG */
+ "Unmatched [ or [^", /* REG_EBRACK */
+ "Unmatched ( or \\(", /* REG_EPAREN */
+ "Unmatched \\{", /* REG_EBRACE */
+ "Invalid content of \\{\\}", /* REG_BADBR */
+ "Invalid range end", /* REG_ERANGE */
+ "Memory exhausted", /* REG_ESPACE */
+ "Invalid preceding regular expression", /* REG_BADRPT */
+ "Premature end of regular expression", /* REG_EEND */
+ "Regular expression too big", /* REG_ESIZE */
+ "Unmatched ) or \\)", /* REG_ERPAREN */
+ };
+
+/* Subroutine declarations and macros for regex_compile. */
+
+static void store_op1 (), store_op2 ();
+static void insert_op1 (), insert_op2 ();
+static boolean at_begline_loc_p (), at_endline_loc_p ();
+static boolean group_in_compile_stack ();
+static reg_errcode_t compile_range ();
+
+/* Fetch the next character in the uncompiled pattern---translating it
+ if necessary. Also cast from a signed character in the constant
+ string passed to us by the user to an unsigned char that we can use
+ as an array index (in, e.g., `translate'). */
+#define PATFETCH(c) \
+ do {if (p == pend) return REG_EEND; \
+ c = (unsigned char) *p++; \
+ if (translate) c = translate[c]; \
+ } while (0)
+
+/* Fetch the next character in the uncompiled pattern, with no
+ translation. */
+#define PATFETCH_RAW(c) \
+ do {if (p == pend) return REG_EEND; \
+ c = (unsigned char) *p++; \
+ } while (0)
+
+/* Go backwards one character in the pattern. */
+#define PATUNFETCH p--
+
+
+/* If `translate' is non-null, return translate[D], else just D. We
+ cast the subscript to translate because some data is declared as
+ `char *', to avoid warnings when a string constant is passed. But
+ when we use a character as a subscript we must make it unsigned. */
+#define TRANSLATE(d) (translate ? translate[(unsigned char) (d)] : (d))
+
+
+/* Macros for outputting the compiled pattern into `buffer'. */
+
+/* If the buffer isn't allocated when it comes in, use this. */
+#define INIT_BUF_SIZE 32
+
+/* Make sure we have at least N more bytes of space in buffer. */
+#define GET_BUFFER_SPACE(n) \
+ while (b - bufp->buffer + (n) > bufp->allocated) \
+ EXTEND_BUFFER ()
+
+/* Make sure we have one more byte of buffer space and then add C to it. */
+#define BUF_PUSH(c) \
+ do { \
+ GET_BUFFER_SPACE (1); \
+ *b++ = (unsigned char) (c); \
+ } while (0)
+
+
+/* Ensure we have two more bytes of buffer space and then append C1 and C2. */
+#define BUF_PUSH_2(c1, c2) \
+ do { \
+ GET_BUFFER_SPACE (2); \
+ *b++ = (unsigned char) (c1); \
+ *b++ = (unsigned char) (c2); \
+ } while (0)
+
+
+/* As with BUF_PUSH_2, except for three bytes. */
+#define BUF_PUSH_3(c1, c2, c3) \
+ do { \
+ GET_BUFFER_SPACE (3); \
+ *b++ = (unsigned char) (c1); \
+ *b++ = (unsigned char) (c2); \
+ *b++ = (unsigned char) (c3); \
+ } while (0)
+
+
+/* Store a jump with opcode OP at LOC to location TO. We store a
+ relative address offset by the three bytes the jump itself occupies. */
+#define STORE_JUMP(op, loc, to) \
+ store_op1 (op, loc, (to) - (loc) - 3)
+
+/* Likewise, for a two-argument jump. */
+#define STORE_JUMP2(op, loc, to, arg) \
+ store_op2 (op, loc, (to) - (loc) - 3, arg)
+
+/* Like `STORE_JUMP', but for inserting. Assume `b' is the buffer end. */
+#define INSERT_JUMP(op, loc, to) \
+ insert_op1 (op, loc, (to) - (loc) - 3, b)
+
+/* Like `STORE_JUMP2', but for inserting. Assume `b' is the buffer end. */
+#define INSERT_JUMP2(op, loc, to, arg) \
+ insert_op2 (op, loc, (to) - (loc) - 3, arg, b)
+
+
+/* This is not an arbitrary limit: the arguments which represent offsets
+ into the pattern are two bytes long. So if 2^16 bytes turns out to
+ be too small, many things would have to change. */
+#define MAX_BUF_SIZE (1L << 16)
+
+
+/* Extend the buffer by twice its current size via realloc and
+ reset the pointers that pointed into the old block to point to the
+ correct places in the new one. If extending the buffer results in it
+ being larger than MAX_BUF_SIZE, then flag memory exhausted. */
+#define EXTEND_BUFFER() \
+ do { \
+ unsigned char *old_buffer = bufp->buffer; \
+ if (bufp->allocated == MAX_BUF_SIZE) \
+ return REG_ESIZE; \
+ bufp->allocated <<= 1; \
+ if (bufp->allocated > MAX_BUF_SIZE) \
+ bufp->allocated = MAX_BUF_SIZE; \
+ bufp->buffer = (unsigned char *) realloc (bufp->buffer, bufp->allocated);\
+ if (bufp->buffer == NULL) \
+ return REG_ESPACE; \
+ /* If the buffer moved, move all the pointers into it. */ \
+ if (old_buffer != bufp->buffer) \
+ { \
+ b = (b - old_buffer) + bufp->buffer; \
+ begalt = (begalt - old_buffer) + bufp->buffer; \
+ if (fixup_alt_jump) \
+ fixup_alt_jump = (fixup_alt_jump - old_buffer) + bufp->buffer;\
+ if (laststart) \
+ laststart = (laststart - old_buffer) + bufp->buffer; \
+ if (pending_exact) \
+ pending_exact = (pending_exact - old_buffer) + bufp->buffer; \
+ } \
+ } while (0)
+
+
+/* Since we have one byte reserved for the register number argument to
+ {start,stop}_memory, the maximum number of groups we can report
+ things about is what fits in that byte. */
+#define MAX_REGNUM 255
+
+/* But patterns can have more than `MAX_REGNUM' registers. We just
+ ignore the excess. */
+typedef unsigned regnum_t;
+
+
+/* Macros for the compile stack. */
+
+/* Since offsets can go either forwards or backwards, this type needs to
+ be able to hold values from -(MAX_BUF_SIZE - 1) to MAX_BUF_SIZE - 1. */
+typedef int pattern_offset_t;
+
+typedef struct
+{
+ pattern_offset_t begalt_offset;
+ pattern_offset_t fixup_alt_jump;
+ pattern_offset_t inner_group_offset;
+ pattern_offset_t laststart_offset;
+ regnum_t regnum;
+} compile_stack_elt_t;
+
+
+typedef struct
+{
+ compile_stack_elt_t *stack;
+ unsigned size;
+ unsigned avail; /* Offset of next open position. */
+} compile_stack_type;
+
+
+#define INIT_COMPILE_STACK_SIZE 32
+
+#define COMPILE_STACK_EMPTY (compile_stack.avail == 0)
+#define COMPILE_STACK_FULL (compile_stack.avail == compile_stack.size)
+
+/* The next available element. */
+#define COMPILE_STACK_TOP (compile_stack.stack[compile_stack.avail])
+
+
+/* Set the bit for character C in a list. */
+#define SET_LIST_BIT(c) \
+ (b[((unsigned char) (c)) / BYTEWIDTH] \
+ |= 1 << (((unsigned char) c) % BYTEWIDTH))
+
+
+/* Get the next unsigned number in the uncompiled pattern. */
+#define GET_UNSIGNED_NUMBER(num) \
+ { if (p != pend) \
+ { \
+ PATFETCH (c); \
+ while (ISDIGIT (c)) \
+ { \
+ if (num < 0) \
+ num = 0; \
+ num = num * 10 + c - '0'; \
+ if (p == pend) \
+ break; \
+ PATFETCH (c); \
+ } \
+ } \
+ }
+
+#define CHAR_CLASS_MAX_LENGTH 6 /* Namely, `xdigit'. */
+
+#define IS_CHAR_CLASS(string) \
+ (STREQ (string, "alpha") || STREQ (string, "upper") \
+ || STREQ (string, "lower") || STREQ (string, "digit") \
+ || STREQ (string, "alnum") || STREQ (string, "xdigit") \
+ || STREQ (string, "space") || STREQ (string, "print") \
+ || STREQ (string, "punct") || STREQ (string, "graph") \
+ || STREQ (string, "cntrl") || STREQ (string, "blank"))
+
+/* `regex_compile' compiles PATTERN (of length SIZE) according to SYNTAX.
+ Returns one of error codes defined in `regex.h', or zero for success.
+
+ Assumes the `allocated' (and perhaps `buffer') and `translate'
+ fields are set in BUFP on entry.
+
+ If it succeeds, results are put in BUFP (if it returns an error, the
+ contents of BUFP are undefined):
+ `buffer' is the compiled pattern;
+ `syntax' is set to SYNTAX;
+ `used' is set to the length of the compiled pattern;
+ `fastmap_accurate' is zero;
+ `re_nsub' is the number of subexpressions in PATTERN;
+ `not_bol' and `not_eol' are zero;
+
+ The `fastmap' and `newline_anchor' fields are neither
+ examined nor set. */
+
+static reg_errcode_t
+regex_compile (pattern, size, syntax, bufp)
+ const char *pattern;
+ int size;
+ reg_syntax_t syntax;
+ struct re_pattern_buffer *bufp;
+{
+ /* We fetch characters from PATTERN here. Even though PATTERN is
+ `char *' (i.e., signed), we declare these variables as unsigned, so
+ they can be reliably used as array indices. */
+ register unsigned char c, c1;
+
+ /* A random tempory spot in PATTERN. */
+ const char *p1;
+
+ /* Points to the end of the buffer, where we should append. */
+ register unsigned char *b;
+
+ /* Keeps track of unclosed groups. */
+ compile_stack_type compile_stack;
+
+ /* Points to the current (ending) position in the pattern. */
+ const char *p = pattern;
+ const char *pend = pattern + size;
+
+ /* How to translate the characters in the pattern. */
+ char *translate = bufp->translate;
+
+ /* Address of the count-byte of the most recently inserted `exactn'
+ command. This makes it possible to tell if a new exact-match
+ character can be added to that command or if the character requires
+ a new `exactn' command. */
+ unsigned char *pending_exact = 0;
+
+ /* Address of start of the most recently finished expression.
+ This tells, e.g., postfix * where to find the start of its
+ operand. Reset at the beginning of groups and alternatives. */
+ unsigned char *laststart = 0;
+
+ /* Address of beginning of regexp, or inside of last group. */
+ unsigned char *begalt;
+
+ /* Place in the uncompiled pattern (i.e., the {) to
+ which to go back if the interval is invalid. */
+ const char *beg_interval;
+
+ /* Address of the place where a forward jump should go to the end of
+ the containing expression. Each alternative of an `or' -- except the
+ last -- ends with a forward jump of this sort. */
+ unsigned char *fixup_alt_jump = 0;
+
+ /* Counts open-groups as they are encountered. Remembered for the
+ matching close-group on the compile stack, so the same register
+ number is put in the stop_memory as the start_memory. */
+ regnum_t regnum = 0;
+
+#ifdef DEBUG
+ DEBUG_PRINT1 ("\nCompiling pattern: ");
+ if (debug)
+ {
+ unsigned debug_count;
+
+ for (debug_count = 0; debug_count < size; debug_count++)
+ printchar (pattern[debug_count]);
+ putchar ('\n');
+ }
+#endif /* DEBUG */
+
+ /* Initialize the compile stack. */
+ compile_stack.stack = TALLOC (INIT_COMPILE_STACK_SIZE, compile_stack_elt_t);
+ if (compile_stack.stack == NULL)
+ return REG_ESPACE;
+
+ compile_stack.size = INIT_COMPILE_STACK_SIZE;
+ compile_stack.avail = 0;
+
+ /* Initialize the pattern buffer. */
+ bufp->syntax = syntax;
+ bufp->fastmap_accurate = 0;
+ bufp->not_bol = bufp->not_eol = 0;
+
+ /* Set `used' to zero, so that if we return an error, the pattern
+ printer (for debugging) will think there's no pattern. We reset it
+ at the end. */
+ bufp->used = 0;
+
+ /* Always count groups, whether or not bufp->no_sub is set. */
+ bufp->re_nsub = 0;
+
+#if !defined (emacs) && !defined (SYNTAX_TABLE)
+ /* Initialize the syntax table. */
+ init_syntax_once ();
+#endif
+
+ if (bufp->allocated == 0)
+ {
+ if (bufp->buffer)
+ { /* If zero allocated, but buffer is non-null, try to realloc
+ enough space. This loses if buffer's address is bogus, but
+ that is the user's responsibility. */
+ RETALLOC (bufp->buffer, INIT_BUF_SIZE, unsigned char);
+ }
+ else
+ { /* Caller did not allocate a buffer. Do it for them. */
+ bufp->buffer = TALLOC (INIT_BUF_SIZE, unsigned char);
+ }
+ if (!bufp->buffer) return REG_ESPACE;
+
+ bufp->allocated = INIT_BUF_SIZE;
+ }
+
+ begalt = b = bufp->buffer;
+
+ /* Loop through the uncompiled pattern until we're at the end. */
+ while (p != pend)
+ {
+ PATFETCH (c);
+
+ switch (c)
+ {
+ case '^':
+ {
+ if ( /* If at start of pattern, it's an operator. */
+ p == pattern + 1
+ /* If context independent, it's an operator. */
+ || syntax & RE_CONTEXT_INDEP_ANCHORS
+ /* Otherwise, depends on what's come before. */
+ || at_begline_loc_p (pattern, p, syntax))
+ BUF_PUSH (begline);
+ else
+ goto normal_char;
+ }
+ break;
+
+
+ case '$':
+ {
+ if ( /* If at end of pattern, it's an operator. */
+ p == pend
+ /* If context independent, it's an operator. */
+ || syntax & RE_CONTEXT_INDEP_ANCHORS
+ /* Otherwise, depends on what's next. */
+ || at_endline_loc_p (p, pend, syntax))
+ BUF_PUSH (endline);
+ else
+ goto normal_char;
+ }
+ break;
+
+
+ case '+':
+ case '?':
+ if ((syntax & RE_BK_PLUS_QM)
+ || (syntax & RE_LIMITED_OPS))
+ goto normal_char;
+ handle_plus:
+ case '*':
+ /* If there is no previous pattern... */
+ if (!laststart)
+ {
+ if (syntax & RE_CONTEXT_INVALID_OPS)
+ return REG_BADRPT;
+ else if (!(syntax & RE_CONTEXT_INDEP_OPS))
+ goto normal_char;
+ }
+
+ {
+ /* Are we optimizing this jump? */
+ boolean keep_string_p = false;
+
+ /* 1 means zero (many) matches is allowed. */
+ char zero_times_ok = 0, many_times_ok = 0;
+
+ /* If there is a sequence of repetition chars, collapse it
+ down to just one (the right one). We can't combine
+ interval operators with these because of, e.g., `a{2}*',
+ which should only match an even number of `a's. */
+
+ for (;;)
+ {
+ zero_times_ok |= c != '+';
+ many_times_ok |= c != '?';
+
+ if (p == pend)
+ break;
+
+ PATFETCH (c);
+
+ if (c == '*'
+ || (!(syntax & RE_BK_PLUS_QM) && (c == '+' || c == '?')))
+ ;
+
+ else if (syntax & RE_BK_PLUS_QM && c == '\\')
+ {
+ if (p == pend) return REG_EESCAPE;
+
+ PATFETCH (c1);
+ if (!(c1 == '+' || c1 == '?'))
+ {
+ PATUNFETCH;
+ PATUNFETCH;
+ break;
+ }
+
+ c = c1;
+ }
+ else
+ {
+ PATUNFETCH;
+ break;
+ }
+
+ /* If we get here, we found another repeat character. */
+ }
+
+ /* Star, etc. applied to an empty pattern is equivalent
+ to an empty pattern. */
+ if (!laststart)
+ break;
+
+ /* Now we know whether or not zero matches is allowed
+ and also whether or not two or more matches is allowed. */
+ if (many_times_ok)
+ { /* More than one repetition is allowed, so put in at the
+ end a backward relative jump from `b' to before the next
+ jump we're going to put in below (which jumps from
+ laststart to after this jump).
+
+ But if we are at the `*' in the exact sequence `.*\n',
+ insert an unconditional jump backwards to the .,
+ instead of the beginning of the loop. This way we only
+ push a failure point once, instead of every time
+ through the loop. */
+ assert (p - 1 > pattern);
+
+ /* Allocate the space for the jump. */
+ GET_BUFFER_SPACE (3);
+
+ /* We know we are not at the first character of the pattern,
+ because laststart was nonzero. And we've already
+ incremented `p', by the way, to be the character after
+ the `*'. Do we have to do something analogous here
+ for null bytes, because of RE_DOT_NOT_NULL? */
+ if (TRANSLATE (*(p - 2)) == TRANSLATE ('.')
+ && zero_times_ok
+ && p < pend && TRANSLATE (*p) == TRANSLATE ('\n')
+ && !(syntax & RE_DOT_NEWLINE))
+ { /* We have .*\n. */
+ STORE_JUMP (jump, b, laststart);
+ keep_string_p = true;
+ }
+ else
+ /* Anything else. */
+ STORE_JUMP (maybe_pop_jump, b, laststart - 3);
+
+ /* We've added more stuff to the buffer. */
+ b += 3;
+ }
+
+ /* On failure, jump from laststart to b + 3, which will be the
+ end of the buffer after this jump is inserted. */
+ GET_BUFFER_SPACE (3);
+ INSERT_JUMP (keep_string_p ? on_failure_keep_string_jump
+ : on_failure_jump,
+ laststart, b + 3);
+ pending_exact = 0;
+ b += 3;
+
+ if (!zero_times_ok)
+ {
+ /* At least one repetition is required, so insert a
+ `dummy_failure_jump' before the initial
+ `on_failure_jump' instruction of the loop. This
+ effects a skip over that instruction the first time
+ we hit that loop. */
+ GET_BUFFER_SPACE (3);
+ INSERT_JUMP (dummy_failure_jump, laststart, laststart + 6);
+ b += 3;
+ }
+ }
+ break;
+
+
+ case '.':
+ laststart = b;
+ BUF_PUSH (anychar);
+ break;
+
+
+ case '[':
+ {
+ boolean had_char_class = false;
+
+ if (p == pend) return REG_EBRACK;
+
+ /* Ensure that we have enough space to push a charset: the
+ opcode, the length count, and the bitset; 34 bytes in all. */
+ GET_BUFFER_SPACE (34);
+
+ laststart = b;
+
+ /* We test `*p == '^' twice, instead of using an if
+ statement, so we only need one BUF_PUSH. */
+ BUF_PUSH (*p == '^' ? charset_not : charset);
+ if (*p == '^')
+ p++;
+
+ /* Remember the first position in the bracket expression. */
+ p1 = p;
+
+ /* Push the number of bytes in the bitmap. */
+ BUF_PUSH ((1 << BYTEWIDTH) / BYTEWIDTH);
+
+ /* Clear the whole map. */
+ bzero (b, (1 << BYTEWIDTH) / BYTEWIDTH);
+
+ /* charset_not matches newline according to a syntax bit. */
+ if ((re_opcode_t) b[-2] == charset_not
+ && (syntax & RE_HAT_LISTS_NOT_NEWLINE))
+ SET_LIST_BIT ('\n');
+
+ /* Read in characters and ranges, setting map bits. */
+ for (;;)
+ {
+ if (p == pend) return REG_EBRACK;
+
+ PATFETCH (c);
+
+ /* \ might escape characters inside [...] and [^...]. */
+ if ((syntax & RE_BACKSLASH_ESCAPE_IN_LISTS) && c == '\\')
+ {
+ if (p == pend) return REG_EESCAPE;
+
+ PATFETCH (c1);
+ SET_LIST_BIT (c1);
+ continue;
+ }
+
+ /* Could be the end of the bracket expression. If it's
+ not (i.e., when the bracket expression is `[]' so
+ far), the ']' character bit gets set way below. */
+ if (c == ']' && p != p1 + 1)
+ break;
+
+ /* Look ahead to see if it's a range when the last thing
+ was a character class. */
+ if (had_char_class && c == '-' && *p != ']')
+ return REG_ERANGE;
+
+ /* Look ahead to see if it's a range when the last thing
+ was a character: if this is a hyphen not at the
+ beginning or the end of a list, then it's the range
+ operator. */
+ if (c == '-'
+ && !(p - 2 >= pattern && p[-2] == '[')
+ && !(p - 3 >= pattern && p[-3] == '[' && p[-2] == '^')
+ && *p != ']')
+ {
+ reg_errcode_t ret
+ = compile_range (&p, pend, translate, syntax, b);
+ if (ret != REG_NOERROR) return ret;
+ }
+
+ else if (p[0] == '-' && p[1] != ']')
+ { /* This handles ranges made up of characters only. */
+ reg_errcode_t ret;
+
+ /* Move past the `-'. */
+ PATFETCH (c1);
+
+ ret = compile_range (&p, pend, translate, syntax, b);
+ if (ret != REG_NOERROR) return ret;
+ }
+
+ /* See if we're at the beginning of a possible character
+ class. */
+
+ else if (syntax & RE_CHAR_CLASSES && c == '[' && *p == ':')
+ { /* Leave room for the null. */
+ char str[CHAR_CLASS_MAX_LENGTH + 1];
+
+ PATFETCH (c);
+ c1 = 0;
+
+ /* If pattern is `[[:'. */
+ if (p == pend) return REG_EBRACK;
+
+ for (;;)
+ {
+ PATFETCH (c);
+ if (c == ':' || c == ']' || p == pend
+ || c1 == CHAR_CLASS_MAX_LENGTH)
+ break;
+ str[c1++] = c;
+ }
+ str[c1] = '\0';
+
+ /* If isn't a word bracketed by `[:' and:`]':
+ undo the ending character, the letters, and leave
+ the leading `:' and `[' (but set bits for them). */
+ if (c == ':' && *p == ']')
+ {
+ int ch;
+ boolean is_alnum = STREQ (str, "alnum");
+ boolean is_alpha = STREQ (str, "alpha");
+ boolean is_blank = STREQ (str, "blank");
+ boolean is_cntrl = STREQ (str, "cntrl");
+ boolean is_digit = STREQ (str, "digit");
+ boolean is_graph = STREQ (str, "graph");
+ boolean is_lower = STREQ (str, "lower");
+ boolean is_print = STREQ (str, "print");
+ boolean is_punct = STREQ (str, "punct");
+ boolean is_space = STREQ (str, "space");
+ boolean is_upper = STREQ (str, "upper");
+ boolean is_xdigit = STREQ (str, "xdigit");
+
+ if (!IS_CHAR_CLASS (str)) return REG_ECTYPE;
+
+ /* Throw away the ] at the end of the character
+ class. */
+ PATFETCH (c);
+
+ if (p == pend) return REG_EBRACK;
+
+ for (ch = 0; ch < 1 << BYTEWIDTH; ch++)
+ {
+ if ( (is_alnum && ISALNUM (ch))
+ || (is_alpha && ISALPHA (ch))
+ || (is_blank && ISBLANK (ch))
+ || (is_cntrl && ISCNTRL (ch))
+ || (is_digit && ISDIGIT (ch))
+ || (is_graph && ISGRAPH (ch))
+ || (is_lower && ISLOWER (ch))
+ || (is_print && ISPRINT (ch))
+ || (is_punct && ISPUNCT (ch))
+ || (is_space && ISSPACE (ch))
+ || (is_upper && ISUPPER (ch))
+ || (is_xdigit && ISXDIGIT (ch)))
+ SET_LIST_BIT (ch);
+ }
+ had_char_class = true;
+ }
+ else
+ {
+ c1++;
+ while (c1--)
+ PATUNFETCH;
+ SET_LIST_BIT ('[');
+ SET_LIST_BIT (':');
+ had_char_class = false;
+ }
+ }
+ else
+ {
+ had_char_class = false;
+ SET_LIST_BIT (c);
+ }
+ }
+
+ /* Discard any (non)matching list bytes that are all 0 at the
+ end of the map. Decrease the map-length byte too. */
+ while ((int) b[-1] > 0 && b[b[-1] - 1] == 0)
+ b[-1]--;
+ b += b[-1];
+ }
+ break;
+
+
+ case '(':
+ if (syntax & RE_NO_BK_PARENS)
+ goto handle_open;
+ else
+ goto normal_char;
+
+
+ case ')':
+ if (syntax & RE_NO_BK_PARENS)
+ goto handle_close;
+ else
+ goto normal_char;
+
+
+ case '\n':
+ if (syntax & RE_NEWLINE_ALT)
+ goto handle_alt;
+ else
+ goto normal_char;
+
+
+ case '|':
+ if (syntax & RE_NO_BK_VBAR)
+ goto handle_alt;
+ else
+ goto normal_char;
+
+
+ case '{':
+ if (syntax & RE_INTERVALS && syntax & RE_NO_BK_BRACES)
+ goto handle_interval;
+ else
+ goto normal_char;
+
+
+ case '\\':
+ if (p == pend) return REG_EESCAPE;
+
+ /* Do not translate the character after the \, so that we can
+ distinguish, e.g., \B from \b, even if we normally would
+ translate, e.g., B to b. */
+ PATFETCH_RAW (c);
+
+ switch (c)
+ {
+ case '(':
+ if (syntax & RE_NO_BK_PARENS)
+ goto normal_backslash;
+
+ handle_open:
+ bufp->re_nsub++;
+ regnum++;
+
+ if (COMPILE_STACK_FULL)
+ {
+ RETALLOC (compile_stack.stack, compile_stack.size << 1,
+ compile_stack_elt_t);
+ if (compile_stack.stack == NULL) return REG_ESPACE;
+
+ compile_stack.size <<= 1;
+ }
+
+ /* These are the values to restore when we hit end of this
+ group. They are all relative offsets, so that if the
+ whole pattern moves because of realloc, they will still
+ be valid. */
+ COMPILE_STACK_TOP.begalt_offset = begalt - bufp->buffer;
+ COMPILE_STACK_TOP.fixup_alt_jump
+ = fixup_alt_jump ? fixup_alt_jump - bufp->buffer + 1 : 0;
+ COMPILE_STACK_TOP.laststart_offset = b - bufp->buffer;
+ COMPILE_STACK_TOP.regnum = regnum;
+
+ /* We will eventually replace the 0 with the number of
+ groups inner to this one. But do not push a
+ start_memory for groups beyond the last one we can
+ represent in the compiled pattern. */
+ if (regnum <= MAX_REGNUM)
+ {
+ COMPILE_STACK_TOP.inner_group_offset = b - bufp->buffer + 2;
+ BUF_PUSH_3 (start_memory, regnum, 0);
+ }
+
+ compile_stack.avail++;
+
+ fixup_alt_jump = 0;
+ laststart = 0;
+ begalt = b;
+ /* If we've reached MAX_REGNUM groups, then this open
+ won't actually generate any code, so we'll have to
+ clear pending_exact explicitly. */
+ pending_exact = 0;
+ break;
+
+
+ case ')':
+ if (syntax & RE_NO_BK_PARENS) goto normal_backslash;
+
+ if (COMPILE_STACK_EMPTY)
+ if (syntax & RE_UNMATCHED_RIGHT_PAREN_ORD)
+ goto normal_backslash;
+ else
+ return REG_ERPAREN;
+
+ handle_close:
+ if (fixup_alt_jump)
+ { /* Push a dummy failure point at the end of the
+ alternative for a possible future
+ `pop_failure_jump' to pop. See comments at
+ `push_dummy_failure' in `re_match_2'. */
+ BUF_PUSH (push_dummy_failure);
+
+ /* We allocated space for this jump when we assigned
+ to `fixup_alt_jump', in the `handle_alt' case below. */
+ STORE_JUMP (jump_past_alt, fixup_alt_jump, b - 1);
+ }
+
+ /* See similar code for backslashed left paren above. */
+ if (COMPILE_STACK_EMPTY)
+ if (syntax & RE_UNMATCHED_RIGHT_PAREN_ORD)
+ goto normal_char;
+ else
+ return REG_ERPAREN;
+
+ /* Since we just checked for an empty stack above, this
+ ``can't happen''. */
+ assert (compile_stack.avail != 0);
+ {
+ /* We don't just want to restore into `regnum', because
+ later groups should continue to be numbered higher,
+ as in `(ab)c(de)' -- the second group is #2. */
+ regnum_t this_group_regnum;
+
+ compile_stack.avail--;
+ begalt = bufp->buffer + COMPILE_STACK_TOP.begalt_offset;
+ fixup_alt_jump
+ = COMPILE_STACK_TOP.fixup_alt_jump
+ ? bufp->buffer + COMPILE_STACK_TOP.fixup_alt_jump - 1
+ : 0;
+ laststart = bufp->buffer + COMPILE_STACK_TOP.laststart_offset;
+ this_group_regnum = COMPILE_STACK_TOP.regnum;
+ /* If we've reached MAX_REGNUM groups, then this open
+ won't actually generate any code, so we'll have to
+ clear pending_exact explicitly. */
+ pending_exact = 0;
+
+ /* We're at the end of the group, so now we know how many
+ groups were inside this one. */
+ if (this_group_regnum <= MAX_REGNUM)
+ {
+ unsigned char *inner_group_loc
+ = bufp->buffer + COMPILE_STACK_TOP.inner_group_offset;
+
+ *inner_group_loc = regnum - this_group_regnum;
+ BUF_PUSH_3 (stop_memory, this_group_regnum,
+ regnum - this_group_regnum);
+ }
+ }
+ break;
+
+
+ case '|': /* `\|'. */
+ if (syntax & RE_LIMITED_OPS || syntax & RE_NO_BK_VBAR)
+ goto normal_backslash;
+ handle_alt:
+ if (syntax & RE_LIMITED_OPS)
+ goto normal_char;
+
+ /* Insert before the previous alternative a jump which
+ jumps to this alternative if the former fails. */
+ GET_BUFFER_SPACE (3);
+ INSERT_JUMP (on_failure_jump, begalt, b + 6);
+ pending_exact = 0;
+ b += 3;
+
+ /* The alternative before this one has a jump after it
+ which gets executed if it gets matched. Adjust that
+ jump so it will jump to this alternative's analogous
+ jump (put in below, which in turn will jump to the next
+ (if any) alternative's such jump, etc.). The last such
+ jump jumps to the correct final destination. A picture:
+ _____ _____
+ | | | |
+ | v | v
+ a | b | c
+
+ If we are at `b', then fixup_alt_jump right now points to a
+ three-byte space after `a'. We'll put in the jump, set
+ fixup_alt_jump to right after `b', and leave behind three
+ bytes which we'll fill in when we get to after `c'. */
+
+ if (fixup_alt_jump)
+ STORE_JUMP (jump_past_alt, fixup_alt_jump, b);
+
+ /* Mark and leave space for a jump after this alternative,
+ to be filled in later either by next alternative or
+ when know we're at the end of a series of alternatives. */
+ fixup_alt_jump = b;
+ GET_BUFFER_SPACE (3);
+ b += 3;
+
+ laststart = 0;
+ begalt = b;
+ break;
+
+
+ case '{':
+ /* If \{ is a literal. */
+ if (!(syntax & RE_INTERVALS)
+ /* If we're at `\{' and it's not the open-interval
+ operator. */
+ || ((syntax & RE_INTERVALS) && (syntax & RE_NO_BK_BRACES))
+ || (p - 2 == pattern && p == pend))
+ goto normal_backslash;
+
+ handle_interval:
+ {
+ /* If got here, then the syntax allows intervals. */
+
+ /* At least (most) this many matches must be made. */
+ int lower_bound = -1, upper_bound = -1;
+
+ beg_interval = p - 1;
+
+ if (p == pend)
+ {
+ if (syntax & RE_NO_BK_BRACES)
+ goto unfetch_interval;
+ else
+ return REG_EBRACE;
+ }
+
+ GET_UNSIGNED_NUMBER (lower_bound);
+
+ if (c == ',')
+ {
+ GET_UNSIGNED_NUMBER (upper_bound);
+ if (upper_bound < 0) upper_bound = RE_DUP_MAX;
+ }
+ else
+ /* Interval such as `{1}' => match exactly once. */
+ upper_bound = lower_bound;
+
+ if (lower_bound < 0 || upper_bound > RE_DUP_MAX
+ || lower_bound > upper_bound)
+ {
+ if (syntax & RE_NO_BK_BRACES)
+ goto unfetch_interval;
+ else
+ return REG_BADBR;
+ }
+
+ if (!(syntax & RE_NO_BK_BRACES))
+ {
+ if (c != '\\') return REG_EBRACE;
+
+ PATFETCH (c);
+ }
+
+ if (c != '}')
+ {
+ if (syntax & RE_NO_BK_BRACES)
+ goto unfetch_interval;
+ else
+ return REG_BADBR;
+ }
+
+ /* We just parsed a valid interval. */
+
+ /* If it's invalid to have no preceding re. */
+ if (!laststart)
+ {
+ if (syntax & RE_CONTEXT_INVALID_OPS)
+ return REG_BADRPT;
+ else if (syntax & RE_CONTEXT_INDEP_OPS)
+ laststart = b;
+ else
+ goto unfetch_interval;
+ }
+
+ /* If the upper bound is zero, don't want to succeed at
+ all; jump from `laststart' to `b + 3', which will be
+ the end of the buffer after we insert the jump. */
+ if (upper_bound == 0)
+ {
+ GET_BUFFER_SPACE (3);
+ INSERT_JUMP (jump, laststart, b + 3);
+ b += 3;
+ }
+
+ /* Otherwise, we have a nontrivial interval. When
+ we're all done, the pattern will look like:
+ set_number_at <jump count> <upper bound>
+ set_number_at <succeed_n count> <lower bound>
+ succeed_n <after jump addr> <succed_n count>
+ <body of loop>
+ jump_n <succeed_n addr> <jump count>
+ (The upper bound and `jump_n' are omitted if
+ `upper_bound' is 1, though.) */
+ else
+ { /* If the upper bound is > 1, we need to insert
+ more at the end of the loop. */
+ unsigned nbytes = 10 + (upper_bound > 1) * 10;
+
+ GET_BUFFER_SPACE (nbytes);
+
+ /* Initialize lower bound of the `succeed_n', even
+ though it will be set during matching by its
+ attendant `set_number_at' (inserted next),
+ because `re_compile_fastmap' needs to know.
+ Jump to the `jump_n' we might insert below. */
+ INSERT_JUMP2 (succeed_n, laststart,
+ b + 5 + (upper_bound > 1) * 5,
+ lower_bound);
+ b += 5;
+
+ /* Code to initialize the lower bound. Insert
+ before the `succeed_n'. The `5' is the last two
+ bytes of this `set_number_at', plus 3 bytes of
+ the following `succeed_n'. */
+ insert_op2 (set_number_at, laststart, 5, lower_bound, b);
+ b += 5;
+
+ if (upper_bound > 1)
+ { /* More than one repetition is allowed, so
+ append a backward jump to the `succeed_n'
+ that starts this interval.
+
+ When we've reached this during matching,
+ we'll have matched the interval once, so
+ jump back only `upper_bound - 1' times. */
+ STORE_JUMP2 (jump_n, b, laststart + 5,
+ upper_bound - 1);
+ b += 5;
+
+ /* The location we want to set is the second
+ parameter of the `jump_n'; that is `b-2' as
+ an absolute address. `laststart' will be
+ the `set_number_at' we're about to insert;
+ `laststart+3' the number to set, the source
+ for the relative address. But we are
+ inserting into the middle of the pattern --
+ so everything is getting moved up by 5.
+ Conclusion: (b - 2) - (laststart + 3) + 5,
+ i.e., b - laststart.
+
+ We insert this at the beginning of the loop
+ so that if we fail during matching, we'll
+ reinitialize the bounds. */
+ insert_op2 (set_number_at, laststart, b - laststart,
+ upper_bound - 1, b);
+ b += 5;
+ }
+ }
+ pending_exact = 0;
+ beg_interval = NULL;
+ }
+ break;
+
+ unfetch_interval:
+ /* If an invalid interval, match the characters as literals. */
+ assert (beg_interval);
+ p = beg_interval;
+ beg_interval = NULL;
+
+ /* normal_char and normal_backslash need `c'. */
+ PATFETCH (c);
+
+ if (!(syntax & RE_NO_BK_BRACES))
+ {
+ if (p > pattern && p[-1] == '\\')
+ goto normal_backslash;
+ }
+ goto normal_char;
+
+#ifdef emacs
+ /* There is no way to specify the before_dot and after_dot
+ operators. rms says this is ok. --karl */
+ case '=':
+ BUF_PUSH (at_dot);
+ break;
+
+ case 's':
+ laststart = b;
+ PATFETCH (c);
+ BUF_PUSH_2 (syntaxspec, syntax_spec_code[c]);
+ break;
+
+ case 'S':
+ laststart = b;
+ PATFETCH (c);
+ BUF_PUSH_2 (notsyntaxspec, syntax_spec_code[c]);
+ break;
+#endif /* emacs */
+
+
+ case 'w':
+ laststart = b;
+ BUF_PUSH (wordchar);
+ break;
+
+
+ case 'W':
+ laststart = b;
+ BUF_PUSH (notwordchar);
+ break;
+
+
+ case '<':
+ BUF_PUSH (wordbeg);
+ break;
+
+ case '>':
+ BUF_PUSH (wordend);
+ break;
+
+ case 'b':
+ BUF_PUSH (wordbound);
+ break;
+
+ case 'B':
+ BUF_PUSH (notwordbound);
+ break;
+
+ case '`':
+ BUF_PUSH (begbuf);
+ break;
+
+ case '\'':
+ BUF_PUSH (endbuf);
+ break;
+
+ case '1': case '2': case '3': case '4': case '5':
+ case '6': case '7': case '8': case '9':
+ if (syntax & RE_NO_BK_REFS)
+ goto normal_char;
+
+ c1 = c - '0';
+
+ if (c1 > regnum)
+ return REG_ESUBREG;
+
+ /* Can't back reference to a subexpression if inside of it. */
+ if (group_in_compile_stack (compile_stack, c1))
+ goto normal_char;
+
+ laststart = b;
+ BUF_PUSH_2 (duplicate, c1);
+ break;
+
+
+ case '+':
+ case '?':
+ if (syntax & RE_BK_PLUS_QM)
+ goto handle_plus;
+ else
+ goto normal_backslash;
+
+ default:
+ normal_backslash:
+ /* You might think it would be useful for \ to mean
+ not to translate; but if we don't translate it
+ it will never match anything. */
+ c = TRANSLATE (c);
+ goto normal_char;
+ }
+ break;
+
+
+ default:
+ /* Expects the character in `c'. */
+ normal_char:
+ /* If no exactn currently being built. */
+ if (!pending_exact
+
+ /* If last exactn not at current position. */
+ || pending_exact + *pending_exact + 1 != b
+
+ /* We have only one byte following the exactn for the count. */
+ || *pending_exact == (1 << BYTEWIDTH) - 1
+
+ /* If followed by a repetition operator. */
+ || *p == '*' || *p == '^'
+ || ((syntax & RE_BK_PLUS_QM)
+ ? *p == '\\' && (p[1] == '+' || p[1] == '?')
+ : (*p == '+' || *p == '?'))
+ || ((syntax & RE_INTERVALS)
+ && ((syntax & RE_NO_BK_BRACES)
+ ? *p == '{'
+ : (p[0] == '\\' && p[1] == '{'))))
+ {
+ /* Start building a new exactn. */
+
+ laststart = b;
+
+ BUF_PUSH_2 (exactn, 0);
+ pending_exact = b - 1;
+ }
+
+ BUF_PUSH (c);
+ (*pending_exact)++;
+ break;
+ } /* switch (c) */
+ } /* while p != pend */
+
+
+ /* Through the pattern now. */
+
+ if (fixup_alt_jump)
+ STORE_JUMP (jump_past_alt, fixup_alt_jump, b);
+
+ if (!COMPILE_STACK_EMPTY)
+ return REG_EPAREN;
+
+ free (compile_stack.stack);
+
+ /* We have succeeded; set the length of the buffer. */
+ bufp->used = b - bufp->buffer;
+
+#ifdef DEBUG
+ if (debug)
+ {
+ DEBUG_PRINT1 ("\nCompiled pattern: ");
+ print_compiled_pattern (bufp);
+ }
+#endif /* DEBUG */
+
+ return REG_NOERROR;
+} /* regex_compile */
+
+/* Subroutines for `regex_compile'. */
+
+/* Store OP at LOC followed by two-byte integer parameter ARG. */
+
+static void
+store_op1 (op, loc, arg)
+ re_opcode_t op;
+ unsigned char *loc;
+ int arg;
+{
+ *loc = (unsigned char) op;
+ STORE_NUMBER (loc + 1, arg);
+}
+
+
+/* Like `store_op1', but for two two-byte parameters ARG1 and ARG2. */
+
+static void
+store_op2 (op, loc, arg1, arg2)
+ re_opcode_t op;
+ unsigned char *loc;
+ int arg1, arg2;
+{
+ *loc = (unsigned char) op;
+ STORE_NUMBER (loc + 1, arg1);
+ STORE_NUMBER (loc + 3, arg2);
+}
+
+
+/* Copy the bytes from LOC to END to open up three bytes of space at LOC
+ for OP followed by two-byte integer parameter ARG. */
+
+static void
+insert_op1 (op, loc, arg, end)
+ re_opcode_t op;
+ unsigned char *loc;
+ int arg;
+ unsigned char *end;
+{
+ register unsigned char *pfrom = end;
+ register unsigned char *pto = end + 3;
+
+ while (pfrom != loc)
+ *--pto = *--pfrom;
+
+ store_op1 (op, loc, arg);
+}
+
+
+/* Like `insert_op1', but for two two-byte parameters ARG1 and ARG2. */
+
+static void
+insert_op2 (op, loc, arg1, arg2, end)
+ re_opcode_t op;
+ unsigned char *loc;
+ int arg1, arg2;
+ unsigned char *end;
+{
+ register unsigned char *pfrom = end;
+ register unsigned char *pto = end + 5;
+
+ while (pfrom != loc)
+ *--pto = *--pfrom;
+
+ store_op2 (op, loc, arg1, arg2);
+}
+
+
+/* P points to just after a ^ in PATTERN. Return true if that ^ comes
+ after an alternative or a begin-subexpression. We assume there is at
+ least one character before the ^. */
+
+static boolean
+at_begline_loc_p (pattern, p, syntax)
+ const char *pattern, *p;
+ reg_syntax_t syntax;
+{
+ const char *prev = p - 2;
+ boolean prev_prev_backslash = prev > pattern && prev[-1] == '\\';
+
+ return
+ /* After a subexpression? */
+ (*prev == '(' && (syntax & RE_NO_BK_PARENS || prev_prev_backslash))
+ /* After an alternative? */
+ || (*prev == '|' && (syntax & RE_NO_BK_VBAR || prev_prev_backslash));
+}
+
+
+/* The dual of at_begline_loc_p. This one is for $. We assume there is
+ at least one character after the $, i.e., `P < PEND'. */
+
+static boolean
+at_endline_loc_p (p, pend, syntax)
+ const char *p, *pend;
+ int syntax;
+{
+ const char *next = p;
+ boolean next_backslash = *next == '\\';
+ const char *next_next = p + 1 < pend ? p + 1 : NULL;
+
+ return
+ /* Before a subexpression? */
+ (syntax & RE_NO_BK_PARENS ? *next == ')'
+ : next_backslash && next_next && *next_next == ')')
+ /* Before an alternative? */
+ || (syntax & RE_NO_BK_VBAR ? *next == '|'
+ : next_backslash && next_next && *next_next == '|');
+}
+
+
+/* Returns true if REGNUM is in one of COMPILE_STACK's elements and
+ false if it's not. */
+
+static boolean
+group_in_compile_stack (compile_stack, regnum)
+ compile_stack_type compile_stack;
+ regnum_t regnum;
+{
+ int this_element;
+
+ for (this_element = compile_stack.avail - 1;
+ this_element >= 0;
+ this_element--)
+ if (compile_stack.stack[this_element].regnum == regnum)
+ return true;
+
+ return false;
+}
+
+
+/* Read the ending character of a range (in a bracket expression) from the
+ uncompiled pattern *P_PTR (which ends at PEND). We assume the
+ starting character is in `P[-2]'. (`P[-1]' is the character `-'.)
+ Then we set the translation of all bits between the starting and
+ ending characters (inclusive) in the compiled pattern B.
+
+ Return an error code.
+
+ We use these short variable names so we can use the same macros as
+ `regex_compile' itself. */
+
+static reg_errcode_t
+compile_range (p_ptr, pend, translate, syntax, b)
+ const char **p_ptr, *pend;
+ char *translate;
+ reg_syntax_t syntax;
+ unsigned char *b;
+{
+ unsigned this_char;
+
+ const char *p = *p_ptr;
+ int range_start, range_end;
+
+ if (p == pend)
+ return REG_ERANGE;
+
+ /* Even though the pattern is a signed `char *', we need to fetch
+ with unsigned char *'s; if the high bit of the pattern character
+ is set, the range endpoints will be negative if we fetch using a
+ signed char *.
+
+ We also want to fetch the endpoints without translating them; the
+ appropriate translation is done in the bit-setting loop below. */
+ range_start = ((unsigned char *) p)[-2];
+ range_end = ((unsigned char *) p)[0];
+
+ /* Have to increment the pointer into the pattern string, so the
+ caller isn't still at the ending character. */
+ (*p_ptr)++;
+
+ /* If the start is after the end, the range is empty. */
+ if (range_start > range_end)
+ return syntax & RE_NO_EMPTY_RANGES ? REG_ERANGE : REG_NOERROR;
+
+ /* Here we see why `this_char' has to be larger than an `unsigned
+ char' -- the range is inclusive, so if `range_end' == 0xff
+ (assuming 8-bit characters), we would otherwise go into an infinite
+ loop, since all characters <= 0xff. */
+ for (this_char = range_start; this_char <= range_end; this_char++)
+ {
+ SET_LIST_BIT (TRANSLATE (this_char));
+ }
+
+ return REG_NOERROR;
+}
+
+/* Failure stack declarations and macros; both re_compile_fastmap and
+ re_match_2 use a failure stack. These have to be macros because of
+ REGEX_ALLOCATE. */
+
+
+/* Number of failure points for which to initially allocate space
+ when matching. If this number is exceeded, we allocate more
+ space, so it is not a hard limit. */
+#ifndef INIT_FAILURE_ALLOC
+#define INIT_FAILURE_ALLOC 5
+#endif
+
+/* Roughly the maximum number of failure points on the stack. Would be
+ exactly that if always used MAX_FAILURE_SPACE each time we failed.
+ This is a variable only so users of regex can assign to it; we never
+ change it ourselves. */
+int re_max_failures = 2000;
+
+typedef const unsigned char *fail_stack_elt_t;
+
+typedef struct
+{
+ fail_stack_elt_t *stack;
+ unsigned size;
+ unsigned avail; /* Offset of next open position. */
+} fail_stack_type;
+
+#define FAIL_STACK_EMPTY() (fail_stack.avail == 0)
+#define FAIL_STACK_PTR_EMPTY() (fail_stack_ptr->avail == 0)
+#define FAIL_STACK_FULL() (fail_stack.avail == fail_stack.size)
+#define FAIL_STACK_TOP() (fail_stack.stack[fail_stack.avail])
+
+
+/* Initialize `fail_stack'. Do `return -2' if the alloc fails. */
+
+#define INIT_FAIL_STACK() \
+ do { \
+ fail_stack.stack = (fail_stack_elt_t *) \
+ REGEX_ALLOCATE (INIT_FAILURE_ALLOC * sizeof (fail_stack_elt_t)); \
+ \
+ if (fail_stack.stack == NULL) \
+ return -2; \
+ \
+ fail_stack.size = INIT_FAILURE_ALLOC; \
+ fail_stack.avail = 0; \
+ } while (0)
+
+
+/* Double the size of FAIL_STACK, up to approximately `re_max_failures' items.
+
+ Return 1 if succeeds, and 0 if either ran out of memory
+ allocating space for it or it was already too large.
+
+ REGEX_REALLOCATE requires `destination' be declared. */
+
+#define DOUBLE_FAIL_STACK(fail_stack) \
+ ((fail_stack).size > re_max_failures * MAX_FAILURE_ITEMS \
+ ? 0 \
+ : ((fail_stack).stack = (fail_stack_elt_t *) \
+ REGEX_REALLOCATE ((fail_stack).stack, \
+ (fail_stack).size * sizeof (fail_stack_elt_t), \
+ ((fail_stack).size << 1) * sizeof (fail_stack_elt_t)), \
+ \
+ (fail_stack).stack == NULL \
+ ? 0 \
+ : ((fail_stack).size <<= 1, \
+ 1)))
+
+
+/* Push PATTERN_OP on FAIL_STACK.
+
+ Return 1 if was able to do so and 0 if ran out of memory allocating
+ space to do so. */
+#define PUSH_PATTERN_OP(pattern_op, fail_stack) \
+ ((FAIL_STACK_FULL () \
+ && !DOUBLE_FAIL_STACK (fail_stack)) \
+ ? 0 \
+ : ((fail_stack).stack[(fail_stack).avail++] = pattern_op, \
+ 1))
+
+/* This pushes an item onto the failure stack. Must be a four-byte
+ value. Assumes the variable `fail_stack'. Probably should only
+ be called from within `PUSH_FAILURE_POINT'. */
+#define PUSH_FAILURE_ITEM(item) \
+ fail_stack.stack[fail_stack.avail++] = (fail_stack_elt_t) item
+
+/* The complement operation. Assumes `fail_stack' is nonempty. */
+#define POP_FAILURE_ITEM() fail_stack.stack[--fail_stack.avail]
+
+/* Used to omit pushing failure point id's when we're not debugging. */
+#ifdef DEBUG
+#define DEBUG_PUSH PUSH_FAILURE_ITEM
+#define DEBUG_POP(item_addr) *(item_addr) = POP_FAILURE_ITEM ()
+#else
+#define DEBUG_PUSH(item)
+#define DEBUG_POP(item_addr)
+#endif
+
+
+/* Push the information about the state we will need
+ if we ever fail back to it.
+
+ Requires variables fail_stack, regstart, regend, reg_info, and
+ num_regs be declared. DOUBLE_FAIL_STACK requires `destination' be
+ declared.
+
+ Does `return FAILURE_CODE' if runs out of memory. */
+
+#define PUSH_FAILURE_POINT(pattern_place, string_place, failure_code) \
+ do { \
+ char *destination; \
+ /* Must be int, so when we don't save any registers, the arithmetic \
+ of 0 + -1 isn't done as unsigned. */ \
+ int this_reg; \
+ \
+ DEBUG_STATEMENT (failure_id++); \
+ DEBUG_STATEMENT (nfailure_points_pushed++); \
+ DEBUG_PRINT2 ("\nPUSH_FAILURE_POINT #%u:\n", failure_id); \
+ DEBUG_PRINT2 (" Before push, next avail: %d\n", (fail_stack).avail);\
+ DEBUG_PRINT2 (" size: %d\n", (fail_stack).size);\
+ \
+ DEBUG_PRINT2 (" slots needed: %d\n", NUM_FAILURE_ITEMS); \
+ DEBUG_PRINT2 (" available: %d\n", REMAINING_AVAIL_SLOTS); \
+ \
+ /* Ensure we have enough space allocated for what we will push. */ \
+ while (REMAINING_AVAIL_SLOTS < NUM_FAILURE_ITEMS) \
+ { \
+ if (!DOUBLE_FAIL_STACK (fail_stack)) \
+ return failure_code; \
+ \
+ DEBUG_PRINT2 ("\n Doubled stack; size now: %d\n", \
+ (fail_stack).size); \
+ DEBUG_PRINT2 (" slots available: %d\n", REMAINING_AVAIL_SLOTS);\
+ } \
+ \
+ /* Push the info, starting with the registers. */ \
+ DEBUG_PRINT1 ("\n"); \
+ \
+ for (this_reg = lowest_active_reg; this_reg <= highest_active_reg; \
+ this_reg++) \
+ { \
+ DEBUG_PRINT2 (" Pushing reg: %d\n", this_reg); \
+ DEBUG_STATEMENT (num_regs_pushed++); \
+ \
+ DEBUG_PRINT2 (" start: 0x%x\n", regstart[this_reg]); \
+ PUSH_FAILURE_ITEM (regstart[this_reg]); \
+ \
+ DEBUG_PRINT2 (" end: 0x%x\n", regend[this_reg]); \
+ PUSH_FAILURE_ITEM (regend[this_reg]); \
+ \
+ DEBUG_PRINT2 (" info: 0x%x\n ", reg_info[this_reg]); \
+ DEBUG_PRINT2 (" match_null=%d", \
+ REG_MATCH_NULL_STRING_P (reg_info[this_reg])); \
+ DEBUG_PRINT2 (" active=%d", IS_ACTIVE (reg_info[this_reg])); \
+ DEBUG_PRINT2 (" matched_something=%d", \
+ MATCHED_SOMETHING (reg_info[this_reg])); \
+ DEBUG_PRINT2 (" ever_matched=%d", \
+ EVER_MATCHED_SOMETHING (reg_info[this_reg])); \
+ DEBUG_PRINT1 ("\n"); \
+ PUSH_FAILURE_ITEM (reg_info[this_reg].word); \
+ } \
+ \
+ DEBUG_PRINT2 (" Pushing low active reg: %d\n", lowest_active_reg);\
+ PUSH_FAILURE_ITEM (lowest_active_reg); \
+ \
+ DEBUG_PRINT2 (" Pushing high active reg: %d\n", highest_active_reg);\
+ PUSH_FAILURE_ITEM (highest_active_reg); \
+ \
+ DEBUG_PRINT2 (" Pushing pattern 0x%x: ", pattern_place); \
+ DEBUG_PRINT_COMPILED_PATTERN (bufp, pattern_place, pend); \
+ PUSH_FAILURE_ITEM (pattern_place); \
+ \
+ DEBUG_PRINT2 (" Pushing string 0x%x: `", string_place); \
+ DEBUG_PRINT_DOUBLE_STRING (string_place, string1, size1, string2, \
+ size2); \
+ DEBUG_PRINT1 ("'\n"); \
+ PUSH_FAILURE_ITEM (string_place); \
+ \
+ DEBUG_PRINT2 (" Pushing failure id: %u\n", failure_id); \
+ DEBUG_PUSH (failure_id); \
+ } while (0)
+
+/* This is the number of items that are pushed and popped on the stack
+ for each register. */
+#define NUM_REG_ITEMS 3
+
+/* Individual items aside from the registers. */
+#ifdef DEBUG
+#define NUM_NONREG_ITEMS 5 /* Includes failure point id. */
+#else
+#define NUM_NONREG_ITEMS 4
+#endif
+
+/* We push at most this many items on the stack. */
+#define MAX_FAILURE_ITEMS ((num_regs - 1) * NUM_REG_ITEMS + NUM_NONREG_ITEMS)
+
+/* We actually push this many items. */
+#define NUM_FAILURE_ITEMS \
+ ((highest_active_reg - lowest_active_reg + 1) * NUM_REG_ITEMS \
+ + NUM_NONREG_ITEMS)
+
+/* How many items can still be added to the stack without overflowing it. */
+#define REMAINING_AVAIL_SLOTS ((fail_stack).size - (fail_stack).avail)
+
+
+/* Pops what PUSH_FAIL_STACK pushes.
+
+ We restore into the parameters, all of which should be lvalues:
+ STR -- the saved data position.
+ PAT -- the saved pattern position.
+ LOW_REG, HIGH_REG -- the highest and lowest active registers.
+ REGSTART, REGEND -- arrays of string positions.
+ REG_INFO -- array of information about each subexpression.
+
+ Also assumes the variables `fail_stack' and (if debugging), `bufp',
+ `pend', `string1', `size1', `string2', and `size2'. */
+
+#define POP_FAILURE_POINT(str, pat, low_reg, high_reg, regstart, regend, reg_info)\
+{ \
+ DEBUG_STATEMENT (fail_stack_elt_t failure_id;) \
+ int this_reg; \
+ const unsigned char *string_temp; \
+ \
+ assert (!FAIL_STACK_EMPTY ()); \
+ \
+ /* Remove failure points and point to how many regs pushed. */ \
+ DEBUG_PRINT1 ("POP_FAILURE_POINT:\n"); \
+ DEBUG_PRINT2 (" Before pop, next avail: %d\n", fail_stack.avail); \
+ DEBUG_PRINT2 (" size: %d\n", fail_stack.size); \
+ \
+ assert (fail_stack.avail >= NUM_NONREG_ITEMS); \
+ \
+ DEBUG_POP (&failure_id); \
+ DEBUG_PRINT2 (" Popping failure id: %u\n", failure_id); \
+ \
+ /* If the saved string location is NULL, it came from an \
+ on_failure_keep_string_jump opcode, and we want to throw away the \
+ saved NULL, thus retaining our current position in the string. */ \
+ string_temp = POP_FAILURE_ITEM (); \
+ if (string_temp != NULL) \
+ str = (const char *) string_temp; \
+ \
+ DEBUG_PRINT2 (" Popping string 0x%x: `", str); \
+ DEBUG_PRINT_DOUBLE_STRING (str, string1, size1, string2, size2); \
+ DEBUG_PRINT1 ("'\n"); \
+ \
+ pat = (unsigned char *) POP_FAILURE_ITEM (); \
+ DEBUG_PRINT2 (" Popping pattern 0x%x: ", pat); \
+ DEBUG_PRINT_COMPILED_PATTERN (bufp, pat, pend); \
+ \
+ /* Restore register info. */ \
+ high_reg = (unsigned) POP_FAILURE_ITEM (); \
+ DEBUG_PRINT2 (" Popping high active reg: %d\n", high_reg); \
+ \
+ low_reg = (unsigned) POP_FAILURE_ITEM (); \
+ DEBUG_PRINT2 (" Popping low active reg: %d\n", low_reg); \
+ \
+ for (this_reg = high_reg; this_reg >= low_reg; this_reg--) \
+ { \
+ DEBUG_PRINT2 (" Popping reg: %d\n", this_reg); \
+ \
+ reg_info[this_reg].word = POP_FAILURE_ITEM (); \
+ DEBUG_PRINT2 (" info: 0x%x\n", reg_info[this_reg]); \
+ \
+ regend[this_reg] = (const char *) POP_FAILURE_ITEM (); \
+ DEBUG_PRINT2 (" end: 0x%x\n", regend[this_reg]); \
+ \
+ regstart[this_reg] = (const char *) POP_FAILURE_ITEM (); \
+ DEBUG_PRINT2 (" start: 0x%x\n", regstart[this_reg]); \
+ } \
+ \
+ DEBUG_STATEMENT (nfailure_points_popped++); \
+} /* POP_FAILURE_POINT */
+
+/* re_compile_fastmap computes a ``fastmap'' for the compiled pattern in
+ BUFP. A fastmap records which of the (1 << BYTEWIDTH) possible
+ characters can start a string that matches the pattern. This fastmap
+ is used by re_search to skip quickly over impossible starting points.
+
+ The caller must supply the address of a (1 << BYTEWIDTH)-byte data
+ area as BUFP->fastmap.
+
+ We set the `fastmap', `fastmap_accurate', and `can_be_null' fields in
+ the pattern buffer.
+
+ Returns 0 if we succeed, -2 if an internal error. */
+
+int
+re_compile_fastmap (bufp)
+ struct re_pattern_buffer *bufp;
+{
+ int j, k;
+ fail_stack_type fail_stack;
+#ifndef REGEX_MALLOC
+ char *destination;
+#endif
+ /* We don't push any register information onto the failure stack. */
+ unsigned num_regs = 0;
+
+ register char *fastmap = bufp->fastmap;
+ unsigned char *pattern = bufp->buffer;
+ unsigned long size = bufp->used;
+ const unsigned char *p = pattern;
+ register unsigned char *pend = pattern + size;
+
+ /* Assume that each path through the pattern can be null until
+ proven otherwise. We set this false at the bottom of switch
+ statement, to which we get only if a particular path doesn't
+ match the empty string. */
+ boolean path_can_be_null = true;
+
+ /* We aren't doing a `succeed_n' to begin with. */
+ boolean succeed_n_p = false;
+
+ assert (fastmap != NULL && p != NULL);
+
+ INIT_FAIL_STACK ();
+ bzero (fastmap, 1 << BYTEWIDTH); /* Assume nothing's valid. */
+ bufp->fastmap_accurate = 1; /* It will be when we're done. */
+ bufp->can_be_null = 0;
+
+ while (p != pend || !FAIL_STACK_EMPTY ())
+ {
+ if (p == pend)
+ {
+ bufp->can_be_null |= path_can_be_null;
+
+ /* Reset for next path. */
+ path_can_be_null = true;
+
+ p = fail_stack.stack[--fail_stack.avail];
+ }
+
+ /* We should never be about to go beyond the end of the pattern. */
+ assert (p < pend);
+
+#ifdef SWITCH_ENUM_BUG
+ switch ((int) ((re_opcode_t) *p++))
+#else
+ switch ((re_opcode_t) *p++)
+#endif
+ {
+
+ /* I guess the idea here is to simply not bother with a fastmap
+ if a backreference is used, since it's too hard to figure out
+ the fastmap for the corresponding group. Setting
+ `can_be_null' stops `re_search_2' from using the fastmap, so
+ that is all we do. */
+ case duplicate:
+ bufp->can_be_null = 1;
+ return 0;
+
+
+ /* Following are the cases which match a character. These end
+ with `break'. */
+
+ case exactn:
+ fastmap[p[1]] = 1;
+ break;
+
+
+ case charset:
+ for (j = *p++ * BYTEWIDTH - 1; j >= 0; j--)
+ if (p[j / BYTEWIDTH] & (1 << (j % BYTEWIDTH)))
+ fastmap[j] = 1;
+ break;
+
+
+ case charset_not:
+ /* Chars beyond end of map must be allowed. */
+ for (j = *p * BYTEWIDTH; j < (1 << BYTEWIDTH); j++)
+ fastmap[j] = 1;
+
+ for (j = *p++ * BYTEWIDTH - 1; j >= 0; j--)
+ if (!(p[j / BYTEWIDTH] & (1 << (j % BYTEWIDTH))))
+ fastmap[j] = 1;
+ break;
+
+
+ case wordchar:
+ for (j = 0; j < (1 << BYTEWIDTH); j++)
+ if (SYNTAX (j) == Sword)
+ fastmap[j] = 1;
+ break;
+
+
+ case notwordchar:
+ for (j = 0; j < (1 << BYTEWIDTH); j++)
+ if (SYNTAX (j) != Sword)
+ fastmap[j] = 1;
+ break;
+
+
+ case anychar:
+ /* `.' matches anything ... */
+ for (j = 0; j < (1 << BYTEWIDTH); j++)
+ fastmap[j] = 1;
+
+ /* ... except perhaps newline. */
+ if (!(bufp->syntax & RE_DOT_NEWLINE))
+ fastmap['\n'] = 0;
+
+ /* Return if we have already set `can_be_null'; if we have,
+ then the fastmap is irrelevant. Something's wrong here. */
+ else if (bufp->can_be_null)
+ return 0;
+
+ /* Otherwise, have to check alternative paths. */
+ break;
+
+
+#ifdef emacs
+ case syntaxspec:
+ k = *p++;
+ for (j = 0; j < (1 << BYTEWIDTH); j++)
+ if (SYNTAX (j) == (enum syntaxcode) k)
+ fastmap[j] = 1;
+ break;
+
+
+ case notsyntaxspec:
+ k = *p++;
+ for (j = 0; j < (1 << BYTEWIDTH); j++)
+ if (SYNTAX (j) != (enum syntaxcode) k)
+ fastmap[j] = 1;
+ break;
+
+
+ /* All cases after this match the empty string. These end with
+ `continue'. */
+
+
+ case before_dot:
+ case at_dot:
+ case after_dot:
+ continue;
+#endif /* not emacs */
+
+
+ case no_op:
+ case begline:
+ case endline:
+ case begbuf:
+ case endbuf:
+ case wordbound:
+ case notwordbound:
+ case wordbeg:
+ case wordend:
+ case push_dummy_failure:
+ continue;
+
+
+ case jump_n:
+ case pop_failure_jump:
+ case maybe_pop_jump:
+ case jump:
+ case jump_past_alt:
+ case dummy_failure_jump:
+ EXTRACT_NUMBER_AND_INCR (j, p);
+ p += j;
+ if (j > 0)
+ continue;
+
+ /* Jump backward implies we just went through the body of a
+ loop and matched nothing. Opcode jumped to should be
+ `on_failure_jump' or `succeed_n'. Just treat it like an
+ ordinary jump. For a * loop, it has pushed its failure
+ point already; if so, discard that as redundant. */
+ if ((re_opcode_t) *p != on_failure_jump
+ && (re_opcode_t) *p != succeed_n)
+ continue;
+
+ p++;
+ EXTRACT_NUMBER_AND_INCR (j, p);
+ p += j;
+
+ /* If what's on the stack is where we are now, pop it. */
+ if (!FAIL_STACK_EMPTY ()
+ && fail_stack.stack[fail_stack.avail - 1] == p)
+ fail_stack.avail--;
+
+ continue;
+
+
+ case on_failure_jump:
+ case on_failure_keep_string_jump:
+ handle_on_failure_jump:
+ EXTRACT_NUMBER_AND_INCR (j, p);
+
+ /* For some patterns, e.g., `(a?)?', `p+j' here points to the
+ end of the pattern. We don't want to push such a point,
+ since when we restore it above, entering the switch will
+ increment `p' past the end of the pattern. We don't need
+ to push such a point since we obviously won't find any more
+ fastmap entries beyond `pend'. Such a pattern can match
+ the null string, though. */
+ if (p + j < pend)
+ {
+ if (!PUSH_PATTERN_OP (p + j, fail_stack))
+ return -2;
+ }
+ else
+ bufp->can_be_null = 1;
+
+ if (succeed_n_p)
+ {
+ EXTRACT_NUMBER_AND_INCR (k, p); /* Skip the n. */
+ succeed_n_p = false;
+ }
+
+ continue;
+
+
+ case succeed_n:
+ /* Get to the number of times to succeed. */
+ p += 2;
+
+ /* Increment p past the n for when k != 0. */
+ EXTRACT_NUMBER_AND_INCR (k, p);
+ if (k == 0)
+ {
+ p -= 4;
+ succeed_n_p = true; /* Spaghetti code alert. */
+ goto handle_on_failure_jump;
+ }
+ continue;
+
+
+ case set_number_at:
+ p += 4;
+ continue;
+
+
+ case start_memory:
+ case stop_memory:
+ p += 2;
+ continue;
+
+
+ default:
+ abort (); /* We have listed all the cases. */
+ } /* switch *p++ */
+
+ /* Getting here means we have found the possible starting
+ characters for one path of the pattern -- and that the empty
+ string does not match. We need not follow this path further.
+ Instead, look at the next alternative (remembered on the
+ stack), or quit if no more. The test at the top of the loop
+ does these things. */
+ path_can_be_null = false;
+ p = pend;
+ } /* while p */
+
+ /* Set `can_be_null' for the last path (also the first path, if the
+ pattern is empty). */
+ bufp->can_be_null |= path_can_be_null;
+ return 0;
+} /* re_compile_fastmap */
+
+/* Set REGS to hold NUM_REGS registers, storing them in STARTS and
+ ENDS. Subsequent matches using PATTERN_BUFFER and REGS will use
+ this memory for recording register information. STARTS and ENDS
+ must be allocated using the malloc library routine, and must each
+ be at least NUM_REGS * sizeof (regoff_t) bytes long.
+
+ If NUM_REGS == 0, then subsequent matches should allocate their own
+ register data.
+
+ Unless this function is called, the first search or match using
+ PATTERN_BUFFER will allocate its own register data, without
+ freeing the old data. */
+
+void
+re_set_registers (bufp, regs, num_regs, starts, ends)
+ struct re_pattern_buffer *bufp;
+ struct re_registers *regs;
+ unsigned num_regs;
+ regoff_t *starts, *ends;
+{
+ if (num_regs)
+ {
+ bufp->regs_allocated = REGS_REALLOCATE;
+ regs->num_regs = num_regs;
+ regs->start = starts;
+ regs->end = ends;
+ }
+ else
+ {
+ bufp->regs_allocated = REGS_UNALLOCATED;
+ regs->num_regs = 0;
+ regs->start = regs->end = (regoff_t) 0;
+ }
+}
+
+/* Searching routines. */
+
+/* Like re_search_2, below, but only one string is specified, and
+ doesn't let you say where to stop matching. */
+
+int
+re_search (bufp, string, size, startpos, range, regs)
+ struct re_pattern_buffer *bufp;
+ const char *string;
+ int size, startpos, range;
+ struct re_registers *regs;
+{
+ return re_search_2 (bufp, NULL, 0, string, size, startpos, range,
+ regs, size);
+}
+
+
+/* Using the compiled pattern in BUFP->buffer, first tries to match the
+ virtual concatenation of STRING1 and STRING2, starting first at index
+ STARTPOS, then at STARTPOS + 1, and so on.
+
+ STRING1 and STRING2 have length SIZE1 and SIZE2, respectively.
+
+ RANGE is how far to scan while trying to match. RANGE = 0 means try
+ only at STARTPOS; in general, the last start tried is STARTPOS +
+ RANGE.
+
+ In REGS, return the indices of the virtual concatenation of STRING1
+ and STRING2 that matched the entire BUFP->buffer and its contained
+ subexpressions.
+
+ Do not consider matching one past the index STOP in the virtual
+ concatenation of STRING1 and STRING2.
+
+ We return either the position in the strings at which the match was
+ found, -1 if no match, or -2 if error (such as failure
+ stack overflow). */
+
+int
+re_search_2 (bufp, string1, size1, string2, size2, startpos, range, regs, stop)
+ struct re_pattern_buffer *bufp;
+ const char *string1, *string2;
+ int size1, size2;
+ int startpos;
+ int range;
+ struct re_registers *regs;
+ int stop;
+{
+ int val;
+ register char *fastmap = bufp->fastmap;
+ register char *translate = bufp->translate;
+ int total_size = size1 + size2;
+ int endpos = startpos + range;
+
+ /* Check for out-of-range STARTPOS. */
+ if (startpos < 0 || startpos > total_size)
+ return -1;
+
+ /* Fix up RANGE if it might eventually take us outside
+ the virtual concatenation of STRING1 and STRING2. */
+ if (endpos < -1)
+ range = -1 - startpos;
+ else if (endpos > total_size)
+ range = total_size - startpos;
+
+ /* If the search isn't to be a backwards one, don't waste time in a
+ search for a pattern that must be anchored. */
+ if (bufp->used > 0 && (re_opcode_t) bufp->buffer[0] == begbuf && range > 0)
+ {
+ if (startpos > 0)
+ return -1;
+ else
+ range = 1;
+ }
+
+ /* Update the fastmap now if not correct already. */
+ if (fastmap && !bufp->fastmap_accurate)
+ if (re_compile_fastmap (bufp) == -2)
+ return -2;
+
+ /* Loop through the string, looking for a place to start matching. */
+ for (;;)
+ {
+ /* If a fastmap is supplied, skip quickly over characters that
+ cannot be the start of a match. If the pattern can match the
+ null string, however, we don't need to skip characters; we want
+ the first null string. */
+ if (fastmap && startpos < total_size && !bufp->can_be_null)
+ {
+ if (range > 0) /* Searching forwards. */
+ {
+ register const char *d;
+ register int lim = 0;
+ int irange = range;
+
+ if (startpos < size1 && startpos + range >= size1)
+ lim = range - (size1 - startpos);
+
+ d = (startpos >= size1 ? string2 - size1 : string1) + startpos;
+
+ /* Written out as an if-else to avoid testing `translate'
+ inside the loop. */
+ if (translate)
+ while (range > lim
+ && !fastmap[(unsigned char)
+ translate[(unsigned char) *d++]])
+ range--;
+ else
+ while (range > lim && !fastmap[(unsigned char) *d++])
+ range--;
+
+ startpos += irange - range;
+ }
+ else /* Searching backwards. */
+ {
+ register char c = (size1 == 0 || startpos >= size1
+ ? string2[startpos - size1]
+ : string1[startpos]);
+
+ if (!fastmap[(unsigned char) TRANSLATE (c)])
+ goto advance;
+ }
+ }
+
+ /* If can't match the null string, and that's all we have left, fail. */
+ if (range >= 0 && startpos == total_size && fastmap
+ && !bufp->can_be_null)
+ return -1;
+
+ val = re_match_2 (bufp, string1, size1, string2, size2,
+ startpos, regs, stop);
+ if (val >= 0)
+ return startpos;
+
+ if (val == -2)
+ return -2;
+
+ advance:
+ if (!range)
+ break;
+ else if (range > 0)
+ {
+ range--;
+ startpos++;
+ }
+ else
+ {
+ range++;
+ startpos--;
+ }
+ }
+ return -1;
+} /* re_search_2 */
+
+/* Declarations and macros for re_match_2. */
+
+static int bcmp_translate ();
+static boolean alt_match_null_string_p (),
+ common_op_match_null_string_p (),
+ group_match_null_string_p ();
+
+/* Structure for per-register (a.k.a. per-group) information.
+ This must not be longer than one word, because we push this value
+ onto the failure stack. Other register information, such as the
+ starting and ending positions (which are addresses), and the list of
+ inner groups (which is a bits list) are maintained in separate
+ variables.
+
+ We are making a (strictly speaking) nonportable assumption here: that
+ the compiler will pack our bit fields into something that fits into
+ the type of `word', i.e., is something that fits into one item on the
+ failure stack. */
+typedef union
+{
+ fail_stack_elt_t word;
+ struct
+ {
+ /* This field is one if this group can match the empty string,
+ zero if not. If not yet determined, `MATCH_NULL_UNSET_VALUE'. */
+#define MATCH_NULL_UNSET_VALUE 3
+ unsigned match_null_string_p : 2;
+ unsigned is_active : 1;
+ unsigned matched_something : 1;
+ unsigned ever_matched_something : 1;
+ } bits;
+} register_info_type;
+
+#define REG_MATCH_NULL_STRING_P(R) ((R).bits.match_null_string_p)
+#define IS_ACTIVE(R) ((R).bits.is_active)
+#define MATCHED_SOMETHING(R) ((R).bits.matched_something)
+#define EVER_MATCHED_SOMETHING(R) ((R).bits.ever_matched_something)
+
+
+/* Call this when have matched a real character; it sets `matched' flags
+ for the subexpressions which we are currently inside. Also records
+ that those subexprs have matched. */
+#define SET_REGS_MATCHED() \
+ do \
+ { \
+ unsigned r; \
+ for (r = lowest_active_reg; r <= highest_active_reg; r++) \
+ { \
+ MATCHED_SOMETHING (reg_info[r]) \
+ = EVER_MATCHED_SOMETHING (reg_info[r]) \
+ = 1; \
+ } \
+ } \
+ while (0)
+
+
+/* This converts PTR, a pointer into one of the search strings `string1'
+ and `string2' into an offset from the beginning of that string. */
+#define POINTER_TO_OFFSET(ptr) \
+ (FIRST_STRING_P (ptr) ? (ptr) - string1 : (ptr) - string2 + size1)
+
+/* Registers are set to a sentinel when they haven't yet matched. */
+#define REG_UNSET_VALUE ((char *) -1)
+#define REG_UNSET(e) ((e) == REG_UNSET_VALUE)
+
+
+/* Macros for dealing with the split strings in re_match_2. */
+
+#define MATCHING_IN_FIRST_STRING (dend == end_match_1)
+
+/* Call before fetching a character with *d. This switches over to
+ string2 if necessary. */
+#define PREFETCH() \
+ while (d == dend) \
+ { \
+ /* End of string2 => fail. */ \
+ if (dend == end_match_2) \
+ goto fail; \
+ /* End of string1 => advance to string2. */ \
+ d = string2; \
+ dend = end_match_2; \
+ }
+
+
+/* Test if at very beginning or at very end of the virtual concatenation
+ of `string1' and `string2'. If only one string, it's `string2'. */
+#define AT_STRINGS_BEG(d) ((d) == (size1 ? string1 : string2) || !size2)
+#define AT_STRINGS_END(d) ((d) == end2)
+
+
+/* Test if D points to a character which is word-constituent. We have
+ two special cases to check for: if past the end of string1, look at
+ the first character in string2; and if before the beginning of
+ string2, look at the last character in string1. */
+#define WORDCHAR_P(d) \
+ (SYNTAX ((d) == end1 ? *string2 \
+ : (d) == string2 - 1 ? *(end1 - 1) : *(d)) \
+ == Sword)
+
+/* Test if the character before D and the one at D differ with respect
+ to being word-constituent. */
+#define AT_WORD_BOUNDARY(d) \
+ (AT_STRINGS_BEG (d) || AT_STRINGS_END (d) \
+ || WORDCHAR_P (d - 1) != WORDCHAR_P (d))
+
+
+/* Free everything we malloc. */
+#ifdef REGEX_MALLOC
+#define FREE_VAR(var) if (var) free (var); var = NULL
+#define FREE_VARIABLES() \
+ do { \
+ FREE_VAR (fail_stack.stack); \
+ FREE_VAR (regstart); \
+ FREE_VAR (regend); \
+ FREE_VAR (old_regstart); \
+ FREE_VAR (old_regend); \
+ FREE_VAR (best_regstart); \
+ FREE_VAR (best_regend); \
+ FREE_VAR (reg_info); \
+ FREE_VAR (reg_dummy); \
+ FREE_VAR (reg_info_dummy); \
+ } while (0)
+#else /* not REGEX_MALLOC */
+/* Some MIPS systems (at least) want this to free alloca'd storage. */
+#define FREE_VARIABLES() alloca (0)
+#endif /* not REGEX_MALLOC */
+
+
+/* These values must meet several constraints. They must not be valid
+ register values; since we have a limit of 255 registers (because
+ we use only one byte in the pattern for the register number), we can
+ use numbers larger than 255. They must differ by 1, because of
+ NUM_FAILURE_ITEMS above. And the value for the lowest register must
+ be larger than the value for the highest register, so we do not try
+ to actually save any registers when none are active. */
+#define NO_HIGHEST_ACTIVE_REG (1 << BYTEWIDTH)
+#define NO_LOWEST_ACTIVE_REG (NO_HIGHEST_ACTIVE_REG + 1)
+
+/* Matching routines. */
+
+#ifndef emacs /* Emacs never uses this. */
+/* re_match is like re_match_2 except it takes only a single string. */
+
+int
+re_match (bufp, string, size, pos, regs)
+ struct re_pattern_buffer *bufp;
+ const char *string;
+ int size, pos;
+ struct re_registers *regs;
+ {
+ return re_match_2 (bufp, NULL, 0, string, size, pos, regs, size);
+}
+#endif /* not emacs */
+
+
+/* re_match_2 matches the compiled pattern in BUFP against the
+ the (virtual) concatenation of STRING1 and STRING2 (of length SIZE1
+ and SIZE2, respectively). We start matching at POS, and stop
+ matching at STOP.
+
+ If REGS is non-null and the `no_sub' field of BUFP is nonzero, we
+ store offsets for the substring each group matched in REGS. See the
+ documentation for exactly how many groups we fill.
+
+ We return -1 if no match, -2 if an internal error (such as the
+ failure stack overflowing). Otherwise, we return the length of the
+ matched substring. */
+
+int
+re_match_2 (bufp, string1, size1, string2, size2, pos, regs, stop)
+ struct re_pattern_buffer *bufp;
+ const char *string1, *string2;
+ int size1, size2;
+ int pos;
+ struct re_registers *regs;
+ int stop;
+{
+ /* General temporaries. */
+ int mcnt;
+ unsigned char *p1;
+
+ /* Just past the end of the corresponding string. */
+ const char *end1, *end2;
+
+ /* Pointers into string1 and string2, just past the last characters in
+ each to consider matching. */
+ const char *end_match_1, *end_match_2;
+
+ /* Where we are in the data, and the end of the current string. */
+ const char *d, *dend;
+
+ /* Where we are in the pattern, and the end of the pattern. */
+ unsigned char *p = bufp->buffer;
+ register unsigned char *pend = p + bufp->used;
+
+ /* We use this to map every character in the string. */
+ char *translate = bufp->translate;
+
+ /* Failure point stack. Each place that can handle a failure further
+ down the line pushes a failure point on this stack. It consists of
+ restart, regend, and reg_info for all registers corresponding to
+ the subexpressions we're currently inside, plus the number of such
+ registers, and, finally, two char *'s. The first char * is where
+ to resume scanning the pattern; the second one is where to resume
+ scanning the strings. If the latter is zero, the failure point is
+ a ``dummy''; if a failure happens and the failure point is a dummy,
+ it gets discarded and the next next one is tried. */
+ fail_stack_type fail_stack;
+#ifdef DEBUG
+ static unsigned failure_id = 0;
+ unsigned nfailure_points_pushed = 0, nfailure_points_popped = 0;
+#endif
+
+ /* We fill all the registers internally, independent of what we
+ return, for use in backreferences. The number here includes
+ an element for register zero. */
+ unsigned num_regs = bufp->re_nsub + 1;
+
+ /* The currently active registers. */
+ unsigned lowest_active_reg = NO_LOWEST_ACTIVE_REG;
+ unsigned highest_active_reg = NO_HIGHEST_ACTIVE_REG;
+
+ /* Information on the contents of registers. These are pointers into
+ the input strings; they record just what was matched (on this
+ attempt) by a subexpression part of the pattern, that is, the
+ regnum-th regstart pointer points to where in the pattern we began
+ matching and the regnum-th regend points to right after where we
+ stopped matching the regnum-th subexpression. (The zeroth register
+ keeps track of what the whole pattern matches.) */
+ const char **regstart, **regend;
+
+ /* If a group that's operated upon by a repetition operator fails to
+ match anything, then the register for its start will need to be
+ restored because it will have been set to wherever in the string we
+ are when we last see its open-group operator. Similarly for a
+ register's end. */
+ const char **old_regstart, **old_regend;
+
+ /* The is_active field of reg_info helps us keep track of which (possibly
+ nested) subexpressions we are currently in. The matched_something
+ field of reg_info[reg_num] helps us tell whether or not we have
+ matched any of the pattern so far this time through the reg_num-th
+ subexpression. These two fields get reset each time through any
+ loop their register is in. */
+ register_info_type *reg_info;
+
+ /* The following record the register info as found in the above
+ variables when we find a match better than any we've seen before.
+ This happens as we backtrack through the failure points, which in
+ turn happens only if we have not yet matched the entire string. */
+ unsigned best_regs_set = false;
+ const char **best_regstart, **best_regend;
+
+ /* Logically, this is `best_regend[0]'. But we don't want to have to
+ allocate space for that if we're not allocating space for anything
+ else (see below). Also, we never need info about register 0 for
+ any of the other register vectors, and it seems rather a kludge to
+ treat `best_regend' differently than the rest. So we keep track of
+ the end of the best match so far in a separate variable. We
+ initialize this to NULL so that when we backtrack the first time
+ and need to test it, it's not garbage. */
+ const char *match_end = NULL;
+
+ /* Used when we pop values we don't care about. */
+ const char **reg_dummy;
+ register_info_type *reg_info_dummy;
+
+#ifdef DEBUG
+ /* Counts the total number of registers pushed. */
+ unsigned num_regs_pushed = 0;
+#endif
+
+ DEBUG_PRINT1 ("\n\nEntering re_match_2.\n");
+
+ INIT_FAIL_STACK ();
+
+ /* Do not bother to initialize all the register variables if there are
+ no groups in the pattern, as it takes a fair amount of time. If
+ there are groups, we include space for register 0 (the whole
+ pattern), even though we never use it, since it simplifies the
+ array indexing. We should fix this. */
+ if (bufp->re_nsub)
+ {
+ regstart = REGEX_TALLOC (num_regs, const char *);
+ regend = REGEX_TALLOC (num_regs, const char *);
+ old_regstart = REGEX_TALLOC (num_regs, const char *);
+ old_regend = REGEX_TALLOC (num_regs, const char *);
+ best_regstart = REGEX_TALLOC (num_regs, const char *);
+ best_regend = REGEX_TALLOC (num_regs, const char *);
+ reg_info = REGEX_TALLOC (num_regs, register_info_type);
+ reg_dummy = REGEX_TALLOC (num_regs, const char *);
+ reg_info_dummy = REGEX_TALLOC (num_regs, register_info_type);
+
+ if (!(regstart && regend && old_regstart && old_regend && reg_info
+ && best_regstart && best_regend && reg_dummy && reg_info_dummy))
+ {
+ FREE_VARIABLES ();
+ return -2;
+ }
+ }
+#ifdef REGEX_MALLOC
+ else
+ {
+ /* We must initialize all our variables to NULL, so that
+ `FREE_VARIABLES' doesn't try to free them. */
+ regstart = regend = old_regstart = old_regend = best_regstart
+ = best_regend = reg_dummy = NULL;
+ reg_info = reg_info_dummy = (register_info_type *) NULL;
+ }
+#endif /* REGEX_MALLOC */
+
+ /* The starting position is bogus. */
+ if (pos < 0 || pos > size1 + size2)
+ {
+ FREE_VARIABLES ();
+ return -1;
+ }
+
+ /* Initialize subexpression text positions to -1 to mark ones that no
+ start_memory/stop_memory has been seen for. Also initialize the
+ register information struct. */
+ for (mcnt = 1; mcnt < num_regs; mcnt++)
+ {
+ regstart[mcnt] = regend[mcnt]
+ = old_regstart[mcnt] = old_regend[mcnt] = REG_UNSET_VALUE;
+
+ REG_MATCH_NULL_STRING_P (reg_info[mcnt]) = MATCH_NULL_UNSET_VALUE;
+ IS_ACTIVE (reg_info[mcnt]) = 0;
+ MATCHED_SOMETHING (reg_info[mcnt]) = 0;
+ EVER_MATCHED_SOMETHING (reg_info[mcnt]) = 0;
+ }
+
+ /* We move `string1' into `string2' if the latter's empty -- but not if
+ `string1' is null. */
+ if (size2 == 0 && string1 != NULL)
+ {
+ string2 = string1;
+ size2 = size1;
+ string1 = 0;
+ size1 = 0;
+ }
+ end1 = string1 + size1;
+ end2 = string2 + size2;
+
+ /* Compute where to stop matching, within the two strings. */
+ if (stop <= size1)
+ {
+ end_match_1 = string1 + stop;
+ end_match_2 = string2;
+ }
+ else
+ {
+ end_match_1 = end1;
+ end_match_2 = string2 + stop - size1;
+ }
+
+ /* `p' scans through the pattern as `d' scans through the data.
+ `dend' is the end of the input string that `d' points within. `d'
+ is advanced into the following input string whenever necessary, but
+ this happens before fetching; therefore, at the beginning of the
+ loop, `d' can be pointing at the end of a string, but it cannot
+ equal `string2'. */
+ if (size1 > 0 && pos <= size1)
+ {
+ d = string1 + pos;
+ dend = end_match_1;
+ }
+ else
+ {
+ d = string2 + pos - size1;
+ dend = end_match_2;
+ }
+
+ DEBUG_PRINT1 ("The compiled pattern is: ");
+ DEBUG_PRINT_COMPILED_PATTERN (bufp, p, pend);
+ DEBUG_PRINT1 ("The string to match is: `");
+ DEBUG_PRINT_DOUBLE_STRING (d, string1, size1, string2, size2);
+ DEBUG_PRINT1 ("'\n");
+
+ /* This loops over pattern commands. It exits by returning from the
+ function if the match is complete, or it drops through if the match
+ fails at this starting point in the input data. */
+ for (;;)
+ {
+ DEBUG_PRINT2 ("\n0x%x: ", p);
+
+ if (p == pend)
+ { /* End of pattern means we might have succeeded. */
+ DEBUG_PRINT1 ("end of pattern ... ");
+
+ /* If we haven't matched the entire string, and we want the
+ longest match, try backtracking. */
+ if (d != end_match_2)
+ {
+ DEBUG_PRINT1 ("backtracking.\n");
+
+ if (!FAIL_STACK_EMPTY ())
+ { /* More failure points to try. */
+ boolean same_str_p = (FIRST_STRING_P (match_end)
+ == MATCHING_IN_FIRST_STRING);
+
+ /* If exceeds best match so far, save it. */
+ if (!best_regs_set
+ || (same_str_p && d > match_end)
+ || (!same_str_p && !MATCHING_IN_FIRST_STRING))
+ {
+ best_regs_set = true;
+ match_end = d;
+
+ DEBUG_PRINT1 ("\nSAVING match as best so far.\n");
+
+ for (mcnt = 1; mcnt < num_regs; mcnt++)
+ {
+ best_regstart[mcnt] = regstart[mcnt];
+ best_regend[mcnt] = regend[mcnt];
+ }
+ }
+ goto fail;
+ }
+
+ /* If no failure points, don't restore garbage. */
+ else if (best_regs_set)
+ {
+ restore_best_regs:
+ /* Restore best match. It may happen that `dend ==
+ end_match_1' while the restored d is in string2.
+ For example, the pattern `x.*y.*z' against the
+ strings `x-' and `y-z-', if the two strings are
+ not consecutive in memory. */
+ DEBUG_PRINT1 ("Restoring best registers.\n");
+
+ d = match_end;
+ dend = ((d >= string1 && d <= end1)
+ ? end_match_1 : end_match_2);
+
+ for (mcnt = 1; mcnt < num_regs; mcnt++)
+ {
+ regstart[mcnt] = best_regstart[mcnt];
+ regend[mcnt] = best_regend[mcnt];
+ }
+ }
+ } /* d != end_match_2 */
+
+ DEBUG_PRINT1 ("Accepting match.\n");
+
+ /* If caller wants register contents data back, do it. */
+ if (regs && !bufp->no_sub)
+ {
+ /* Have the register data arrays been allocated? */
+ if (bufp->regs_allocated == REGS_UNALLOCATED)
+ { /* No. So allocate them with malloc. We need one
+ extra element beyond `num_regs' for the `-1' marker
+ GNU code uses. */
+ regs->num_regs = MAX (RE_NREGS, num_regs + 1);
+ regs->start = TALLOC (regs->num_regs, regoff_t);
+ regs->end = TALLOC (regs->num_regs, regoff_t);
+ if (regs->start == NULL || regs->end == NULL)
+ return -2;
+ bufp->regs_allocated = REGS_REALLOCATE;
+ }
+ else if (bufp->regs_allocated == REGS_REALLOCATE)
+ { /* Yes. If we need more elements than were already
+ allocated, reallocate them. If we need fewer, just
+ leave it alone. */
+ if (regs->num_regs < num_regs + 1)
+ {
+ regs->num_regs = num_regs + 1;
+ RETALLOC (regs->start, regs->num_regs, regoff_t);
+ RETALLOC (regs->end, regs->num_regs, regoff_t);
+ if (regs->start == NULL || regs->end == NULL)
+ return -2;
+ }
+ }
+ else
+ assert (bufp->regs_allocated == REGS_FIXED);
+
+ /* Convert the pointer data in `regstart' and `regend' to
+ indices. Register zero has to be set differently,
+ since we haven't kept track of any info for it. */
+ if (regs->num_regs > 0)
+ {
+ regs->start[0] = pos;
+ regs->end[0] = (MATCHING_IN_FIRST_STRING ? d - string1
+ : d - string2 + size1);
+ }
+
+ /* Go through the first `min (num_regs, regs->num_regs)'
+ registers, since that is all we initialized. */
+ for (mcnt = 1; mcnt < MIN (num_regs, regs->num_regs); mcnt++)
+ {
+ if (REG_UNSET (regstart[mcnt]) || REG_UNSET (regend[mcnt]))
+ regs->start[mcnt] = regs->end[mcnt] = -1;
+ else
+ {
+ regs->start[mcnt] = POINTER_TO_OFFSET (regstart[mcnt]);
+ regs->end[mcnt] = POINTER_TO_OFFSET (regend[mcnt]);
+ }
+ }
+
+ /* If the regs structure we return has more elements than
+ were in the pattern, set the extra elements to -1. If
+ we (re)allocated the registers, this is the case,
+ because we always allocate enough to have at least one
+ -1 at the end. */
+ for (mcnt = num_regs; mcnt < regs->num_regs; mcnt++)
+ regs->start[mcnt] = regs->end[mcnt] = -1;
+ } /* regs && !bufp->no_sub */
+
+ FREE_VARIABLES ();
+ DEBUG_PRINT4 ("%u failure points pushed, %u popped (%u remain).\n",
+ nfailure_points_pushed, nfailure_points_popped,
+ nfailure_points_pushed - nfailure_points_popped);
+ DEBUG_PRINT2 ("%u registers pushed.\n", num_regs_pushed);
+
+ mcnt = d - pos - (MATCHING_IN_FIRST_STRING
+ ? string1
+ : string2 - size1);
+
+ DEBUG_PRINT2 ("Returning %d from re_match_2.\n", mcnt);
+
+ return mcnt;
+ }
+
+ /* Otherwise match next pattern command. */
+#ifdef SWITCH_ENUM_BUG
+ switch ((int) ((re_opcode_t) *p++))
+#else
+ switch ((re_opcode_t) *p++)
+#endif
+ {
+ /* Ignore these. Used to ignore the n of succeed_n's which
+ currently have n == 0. */
+ case no_op:
+ DEBUG_PRINT1 ("EXECUTING no_op.\n");
+ break;
+
+
+ /* Match the next n pattern characters exactly. The following
+ byte in the pattern defines n, and the n bytes after that
+ are the characters to match. */
+ case exactn:
+ mcnt = *p++;
+ DEBUG_PRINT2 ("EXECUTING exactn %d.\n", mcnt);
+
+ /* This is written out as an if-else so we don't waste time
+ testing `translate' inside the loop. */
+ if (translate)
+ {
+ do
+ {
+ PREFETCH ();
+ if (translate[(unsigned char) *d++] != (char) *p++)
+ goto fail;
+ }
+ while (--mcnt);
+ }
+ else
+ {
+ do
+ {
+ PREFETCH ();
+ if (*d++ != (char) *p++) goto fail;
+ }
+ while (--mcnt);
+ }
+ SET_REGS_MATCHED ();
+ break;
+
+
+ /* Match any character except possibly a newline or a null. */
+ case anychar:
+ DEBUG_PRINT1 ("EXECUTING anychar.\n");
+
+ PREFETCH ();
+
+ if ((!(bufp->syntax & RE_DOT_NEWLINE) && TRANSLATE (*d) == '\n')
+ || (bufp->syntax & RE_DOT_NOT_NULL && TRANSLATE (*d) == '\000'))
+ goto fail;
+
+ SET_REGS_MATCHED ();
+ DEBUG_PRINT2 (" Matched `%d'.\n", *d);
+ d++;
+ break;
+
+
+ case charset:
+ case charset_not:
+ {
+ register unsigned char c;
+ boolean not = (re_opcode_t) *(p - 1) == charset_not;
+
+ DEBUG_PRINT2 ("EXECUTING charset%s.\n", not ? "_not" : "");
+
+ PREFETCH ();
+ c = TRANSLATE (*d); /* The character to match. */
+
+ /* Cast to `unsigned' instead of `unsigned char' in case the
+ bit list is a full 32 bytes long. */
+ if (c < (unsigned) (*p * BYTEWIDTH)
+ && p[1 + c / BYTEWIDTH] & (1 << (c % BYTEWIDTH)))
+ not = !not;
+
+ p += 1 + *p;
+
+ if (!not) goto fail;
+
+ SET_REGS_MATCHED ();
+ d++;
+ break;
+ }
+
+
+ /* The beginning of a group is represented by start_memory.
+ The arguments are the register number in the next byte, and the
+ number of groups inner to this one in the next. The text
+ matched within the group is recorded (in the internal
+ registers data structure) under the register number. */
+ case start_memory:
+ DEBUG_PRINT3 ("EXECUTING start_memory %d (%d):\n", *p, p[1]);
+
+ /* Find out if this group can match the empty string. */
+ p1 = p; /* To send to group_match_null_string_p. */
+
+ if (REG_MATCH_NULL_STRING_P (reg_info[*p]) == MATCH_NULL_UNSET_VALUE)
+ REG_MATCH_NULL_STRING_P (reg_info[*p])
+ = group_match_null_string_p (&p1, pend, reg_info);
+
+ /* Save the position in the string where we were the last time
+ we were at this open-group operator in case the group is
+ operated upon by a repetition operator, e.g., with `(a*)*b'
+ against `ab'; then we want to ignore where we are now in
+ the string in case this attempt to match fails. */
+ old_regstart[*p] = REG_MATCH_NULL_STRING_P (reg_info[*p])
+ ? REG_UNSET (regstart[*p]) ? d : regstart[*p]
+ : regstart[*p];
+ DEBUG_PRINT2 (" old_regstart: %d\n",
+ POINTER_TO_OFFSET (old_regstart[*p]));
+
+ regstart[*p] = d;
+ DEBUG_PRINT2 (" regstart: %d\n", POINTER_TO_OFFSET (regstart[*p]));
+
+ IS_ACTIVE (reg_info[*p]) = 1;
+ MATCHED_SOMETHING (reg_info[*p]) = 0;
+
+ /* This is the new highest active register. */
+ highest_active_reg = *p;
+
+ /* If nothing was active before, this is the new lowest active
+ register. */
+ if (lowest_active_reg == NO_LOWEST_ACTIVE_REG)
+ lowest_active_reg = *p;
+
+ /* Move past the register number and inner group count. */
+ p += 2;
+ break;
+
+
+ /* The stop_memory opcode represents the end of a group. Its
+ arguments are the same as start_memory's: the register
+ number, and the number of inner groups. */
+ case stop_memory:
+ DEBUG_PRINT3 ("EXECUTING stop_memory %d (%d):\n", *p, p[1]);
+
+ /* We need to save the string position the last time we were at
+ this close-group operator in case the group is operated
+ upon by a repetition operator, e.g., with `((a*)*(b*)*)*'
+ against `aba'; then we want to ignore where we are now in
+ the string in case this attempt to match fails. */
+ old_regend[*p] = REG_MATCH_NULL_STRING_P (reg_info[*p])
+ ? REG_UNSET (regend[*p]) ? d : regend[*p]
+ : regend[*p];
+ DEBUG_PRINT2 (" old_regend: %d\n",
+ POINTER_TO_OFFSET (old_regend[*p]));
+
+ regend[*p] = d;
+ DEBUG_PRINT2 (" regend: %d\n", POINTER_TO_OFFSET (regend[*p]));
+
+ /* This register isn't active anymore. */
+ IS_ACTIVE (reg_info[*p]) = 0;
+
+ /* If this was the only register active, nothing is active
+ anymore. */
+ if (lowest_active_reg == highest_active_reg)
+ {
+ lowest_active_reg = NO_LOWEST_ACTIVE_REG;
+ highest_active_reg = NO_HIGHEST_ACTIVE_REG;
+ }
+ else
+ { /* We must scan for the new highest active register, since
+ it isn't necessarily one less than now: consider
+ (a(b)c(d(e)f)g). When group 3 ends, after the f), the
+ new highest active register is 1. */
+ unsigned char r = *p - 1;
+ while (r > 0 && !IS_ACTIVE (reg_info[r]))
+ r--;
+
+ /* If we end up at register zero, that means that we saved
+ the registers as the result of an `on_failure_jump', not
+ a `start_memory', and we jumped to past the innermost
+ `stop_memory'. For example, in ((.)*) we save
+ registers 1 and 2 as a result of the *, but when we pop
+ back to the second ), we are at the stop_memory 1.
+ Thus, nothing is active. */
+ if (r == 0)
+ {
+ lowest_active_reg = NO_LOWEST_ACTIVE_REG;
+ highest_active_reg = NO_HIGHEST_ACTIVE_REG;
+ }
+ else
+ highest_active_reg = r;
+ }
+
+ /* If just failed to match something this time around with a
+ group that's operated on by a repetition operator, try to
+ force exit from the ``loop'', and restore the register
+ information for this group that we had before trying this
+ last match. */
+ if ((!MATCHED_SOMETHING (reg_info[*p])
+ || (re_opcode_t) p[-3] == start_memory)
+ && (p + 2) < pend)
+ {
+ boolean is_a_jump_n = false;
+
+ p1 = p + 2;
+ mcnt = 0;
+ switch ((re_opcode_t) *p1++)
+ {
+ case jump_n:
+ is_a_jump_n = true;
+ case pop_failure_jump:
+ case maybe_pop_jump:
+ case jump:
+ case dummy_failure_jump:
+ EXTRACT_NUMBER_AND_INCR (mcnt, p1);
+ if (is_a_jump_n)
+ p1 += 2;
+ break;
+
+ default:
+ /* do nothing */ ;
+ }
+ p1 += mcnt;
+
+ /* If the next operation is a jump backwards in the pattern
+ to an on_failure_jump right before the start_memory
+ corresponding to this stop_memory, exit from the loop
+ by forcing a failure after pushing on the stack the
+ on_failure_jump's jump in the pattern, and d. */
+ if (mcnt < 0 && (re_opcode_t) *p1 == on_failure_jump
+ && (re_opcode_t) p1[3] == start_memory && p1[4] == *p)
+ {
+ /* If this group ever matched anything, then restore
+ what its registers were before trying this last
+ failed match, e.g., with `(a*)*b' against `ab' for
+ regstart[1], and, e.g., with `((a*)*(b*)*)*'
+ against `aba' for regend[3].
+
+ Also restore the registers for inner groups for,
+ e.g., `((a*)(b*))*' against `aba' (register 3 would
+ otherwise get trashed). */
+
+ if (EVER_MATCHED_SOMETHING (reg_info[*p]))
+ {
+ unsigned r;
+
+ EVER_MATCHED_SOMETHING (reg_info[*p]) = 0;
+
+ /* Restore this and inner groups' (if any) registers. */
+ for (r = *p; r < *p + *(p + 1); r++)
+ {
+ regstart[r] = old_regstart[r];
+
+ /* xx why this test? */
+ if ((int) old_regend[r] >= (int) regstart[r])
+ regend[r] = old_regend[r];
+ }
+ }
+ p1++;
+ EXTRACT_NUMBER_AND_INCR (mcnt, p1);
+ PUSH_FAILURE_POINT (p1 + mcnt, d, -2);
+
+ goto fail;
+ }
+ }
+
+ /* Move past the register number and the inner group count. */
+ p += 2;
+ break;
+
+
+ /* \<digit> has been turned into a `duplicate' command which is
+ followed by the numeric value of <digit> as the register number. */
+ case duplicate:
+ {
+ register const char *d2, *dend2;
+ int regno = *p++; /* Get which register to match against. */
+ DEBUG_PRINT2 ("EXECUTING duplicate %d.\n", regno);
+
+ /* Can't back reference a group which we've never matched. */
+ if (REG_UNSET (regstart[regno]) || REG_UNSET (regend[regno]))
+ goto fail;
+
+ /* Where in input to try to start matching. */
+ d2 = regstart[regno];
+
+ /* Where to stop matching; if both the place to start and
+ the place to stop matching are in the same string, then
+ set to the place to stop, otherwise, for now have to use
+ the end of the first string. */
+
+ dend2 = ((FIRST_STRING_P (regstart[regno])
+ == FIRST_STRING_P (regend[regno]))
+ ? regend[regno] : end_match_1);
+ for (;;)
+ {
+ /* If necessary, advance to next segment in register
+ contents. */
+ while (d2 == dend2)
+ {
+ if (dend2 == end_match_2) break;
+ if (dend2 == regend[regno]) break;
+
+ /* End of string1 => advance to string2. */
+ d2 = string2;
+ dend2 = regend[regno];
+ }
+ /* At end of register contents => success */
+ if (d2 == dend2) break;
+
+ /* If necessary, advance to next segment in data. */
+ PREFETCH ();
+
+ /* How many characters left in this segment to match. */
+ mcnt = dend - d;
+
+ /* Want how many consecutive characters we can match in
+ one shot, so, if necessary, adjust the count. */
+ if (mcnt > dend2 - d2)
+ mcnt = dend2 - d2;
+
+ /* Compare that many; failure if mismatch, else move
+ past them. */
+ if (translate
+ ? bcmp_translate (d, d2, mcnt, translate)
+ : bcmp (d, d2, mcnt))
+ goto fail;
+ d += mcnt, d2 += mcnt;
+ }
+ }
+ break;
+
+
+ /* begline matches the empty string at the beginning of the string
+ (unless `not_bol' is set in `bufp'), and, if
+ `newline_anchor' is set, after newlines. */
+ case begline:
+ DEBUG_PRINT1 ("EXECUTING begline.\n");
+
+ if (AT_STRINGS_BEG (d))
+ {
+ if (!bufp->not_bol) break;
+ }
+ else if (d[-1] == '\n' && bufp->newline_anchor)
+ {
+ break;
+ }
+ /* In all other cases, we fail. */
+ goto fail;
+
+
+ /* endline is the dual of begline. */
+ case endline:
+ DEBUG_PRINT1 ("EXECUTING endline.\n");
+
+ if (AT_STRINGS_END (d))
+ {
+ if (!bufp->not_eol) break;
+ }
+
+ /* We have to ``prefetch'' the next character. */
+ else if ((d == end1 ? *string2 : *d) == '\n'
+ && bufp->newline_anchor)
+ {
+ break;
+ }
+ goto fail;
+
+
+ /* Match at the very beginning of the data. */
+ case begbuf:
+ DEBUG_PRINT1 ("EXECUTING begbuf.\n");
+ if (AT_STRINGS_BEG (d))
+ break;
+ goto fail;
+
+
+ /* Match at the very end of the data. */
+ case endbuf:
+ DEBUG_PRINT1 ("EXECUTING endbuf.\n");
+ if (AT_STRINGS_END (d))
+ break;
+ goto fail;
+
+
+ /* on_failure_keep_string_jump is used to optimize `.*\n'. It
+ pushes NULL as the value for the string on the stack. Then
+ `pop_failure_point' will keep the current value for the
+ string, instead of restoring it. To see why, consider
+ matching `foo\nbar' against `.*\n'. The .* matches the foo;
+ then the . fails against the \n. But the next thing we want
+ to do is match the \n against the \n; if we restored the
+ string value, we would be back at the foo.
+
+ Because this is used only in specific cases, we don't need to
+ check all the things that `on_failure_jump' does, to make
+ sure the right things get saved on the stack. Hence we don't
+ share its code. The only reason to push anything on the
+ stack at all is that otherwise we would have to change
+ `anychar's code to do something besides goto fail in this
+ case; that seems worse than this. */
+ case on_failure_keep_string_jump:
+ DEBUG_PRINT1 ("EXECUTING on_failure_keep_string_jump");
+
+ EXTRACT_NUMBER_AND_INCR (mcnt, p);
+ DEBUG_PRINT3 (" %d (to 0x%x):\n", mcnt, p + mcnt);
+
+ PUSH_FAILURE_POINT (p + mcnt, NULL, -2);
+ break;
+
+
+ /* Uses of on_failure_jump:
+
+ Each alternative starts with an on_failure_jump that points
+ to the beginning of the next alternative. Each alternative
+ except the last ends with a jump that in effect jumps past
+ the rest of the alternatives. (They really jump to the
+ ending jump of the following alternative, because tensioning
+ these jumps is a hassle.)
+
+ Repeats start with an on_failure_jump that points past both
+ the repetition text and either the following jump or
+ pop_failure_jump back to this on_failure_jump. */
+ case on_failure_jump:
+ on_failure:
+ DEBUG_PRINT1 ("EXECUTING on_failure_jump");
+
+ EXTRACT_NUMBER_AND_INCR (mcnt, p);
+ DEBUG_PRINT3 (" %d (to 0x%x)", mcnt, p + mcnt);
+
+ /* If this on_failure_jump comes right before a group (i.e.,
+ the original * applied to a group), save the information
+ for that group and all inner ones, so that if we fail back
+ to this point, the group's information will be correct.
+ For example, in \(a*\)*\1, we need the preceding group,
+ and in \(\(a*\)b*\)\2, we need the inner group. */
+
+ /* We can't use `p' to check ahead because we push
+ a failure point to `p + mcnt' after we do this. */
+ p1 = p;
+
+ /* We need to skip no_op's before we look for the
+ start_memory in case this on_failure_jump is happening as
+ the result of a completed succeed_n, as in \(a\)\{1,3\}b\1
+ against aba. */
+ while (p1 < pend && (re_opcode_t) *p1 == no_op)
+ p1++;
+
+ if (p1 < pend && (re_opcode_t) *p1 == start_memory)
+ {
+ /* We have a new highest active register now. This will
+ get reset at the start_memory we are about to get to,
+ but we will have saved all the registers relevant to
+ this repetition op, as described above. */
+ highest_active_reg = *(p1 + 1) + *(p1 + 2);
+ if (lowest_active_reg == NO_LOWEST_ACTIVE_REG)
+ lowest_active_reg = *(p1 + 1);
+ }
+
+ DEBUG_PRINT1 (":\n");
+ PUSH_FAILURE_POINT (p + mcnt, d, -2);
+ break;
+
+
+ /* A smart repeat ends with `maybe_pop_jump'.
+ We change it to either `pop_failure_jump' or `jump'. */
+ case maybe_pop_jump:
+ EXTRACT_NUMBER_AND_INCR (mcnt, p);
+ DEBUG_PRINT2 ("EXECUTING maybe_pop_jump %d.\n", mcnt);
+ {
+ register unsigned char *p2 = p;
+
+ /* Compare the beginning of the repeat with what in the
+ pattern follows its end. If we can establish that there
+ is nothing that they would both match, i.e., that we
+ would have to backtrack because of (as in, e.g., `a*a')
+ then we can change to pop_failure_jump, because we'll
+ never have to backtrack.
+
+ This is not true in the case of alternatives: in
+ `(a|ab)*' we do need to backtrack to the `ab' alternative
+ (e.g., if the string was `ab'). But instead of trying to
+ detect that here, the alternative has put on a dummy
+ failure point which is what we will end up popping. */
+
+ /* Skip over open/close-group commands. */
+ while (p2 + 2 < pend
+ && ((re_opcode_t) *p2 == stop_memory
+ || (re_opcode_t) *p2 == start_memory))
+ p2 += 3; /* Skip over args, too. */
+
+ /* If we're at the end of the pattern, we can change. */
+ if (p2 == pend)
+ {
+ /* Consider what happens when matching ":\(.*\)"
+ against ":/". I don't really understand this code
+ yet. */
+ p[-3] = (unsigned char) pop_failure_jump;
+ DEBUG_PRINT1
+ (" End of pattern: change to `pop_failure_jump'.\n");
+ }
+
+ else if ((re_opcode_t) *p2 == exactn
+ || (bufp->newline_anchor && (re_opcode_t) *p2 == endline))
+ {
+ register unsigned char c
+ = *p2 == (unsigned char) endline ? '\n' : p2[2];
+ p1 = p + mcnt;
+
+ /* p1[0] ... p1[2] are the `on_failure_jump' corresponding
+ to the `maybe_finalize_jump' of this case. Examine what
+ follows. */
+ if ((re_opcode_t) p1[3] == exactn && p1[5] != c)
+ {
+ p[-3] = (unsigned char) pop_failure_jump;
+ DEBUG_PRINT3 (" %c != %c => pop_failure_jump.\n",
+ c, p1[5]);
+ }
+
+ else if ((re_opcode_t) p1[3] == charset
+ || (re_opcode_t) p1[3] == charset_not)
+ {
+ int not = (re_opcode_t) p1[3] == charset_not;
+
+ if (c < (unsigned char) (p1[4] * BYTEWIDTH)
+ && p1[5 + c / BYTEWIDTH] & (1 << (c % BYTEWIDTH)))
+ not = !not;
+
+ /* `not' is equal to 1 if c would match, which means
+ that we can't change to pop_failure_jump. */
+ if (!not)
+ {
+ p[-3] = (unsigned char) pop_failure_jump;
+ DEBUG_PRINT1 (" No match => pop_failure_jump.\n");
+ }
+ }
+ }
+ }
+ p -= 2; /* Point at relative address again. */
+ if ((re_opcode_t) p[-1] != pop_failure_jump)
+ {
+ p[-1] = (unsigned char) jump;
+ DEBUG_PRINT1 (" Match => jump.\n");
+ goto unconditional_jump;
+ }
+ /* Note fall through. */
+
+
+ /* The end of a simple repeat has a pop_failure_jump back to
+ its matching on_failure_jump, where the latter will push a
+ failure point. The pop_failure_jump takes off failure
+ points put on by this pop_failure_jump's matching
+ on_failure_jump; we got through the pattern to here from the
+ matching on_failure_jump, so didn't fail. */
+ case pop_failure_jump:
+ {
+ /* We need to pass separate storage for the lowest and
+ highest registers, even though we don't care about the
+ actual values. Otherwise, we will restore only one
+ register from the stack, since lowest will == highest in
+ `pop_failure_point'. */
+ unsigned dummy_low_reg, dummy_high_reg;
+ unsigned char *pdummy;
+ const char *sdummy;
+
+ DEBUG_PRINT1 ("EXECUTING pop_failure_jump.\n");
+ POP_FAILURE_POINT (sdummy, pdummy,
+ dummy_low_reg, dummy_high_reg,
+ reg_dummy, reg_dummy, reg_info_dummy);
+ }
+ /* Note fall through. */
+
+
+ /* Unconditionally jump (without popping any failure points). */
+ case jump:
+ unconditional_jump:
+ EXTRACT_NUMBER_AND_INCR (mcnt, p); /* Get the amount to jump. */
+ DEBUG_PRINT2 ("EXECUTING jump %d ", mcnt);
+ p += mcnt; /* Do the jump. */
+ DEBUG_PRINT2 ("(to 0x%x).\n", p);
+ break;
+
+
+ /* We need this opcode so we can detect where alternatives end
+ in `group_match_null_string_p' et al. */
+ case jump_past_alt:
+ DEBUG_PRINT1 ("EXECUTING jump_past_alt.\n");
+ goto unconditional_jump;
+
+
+ /* Normally, the on_failure_jump pushes a failure point, which
+ then gets popped at pop_failure_jump. We will end up at
+ pop_failure_jump, also, and with a pattern of, say, `a+', we
+ are skipping over the on_failure_jump, so we have to push
+ something meaningless for pop_failure_jump to pop. */
+ case dummy_failure_jump:
+ DEBUG_PRINT1 ("EXECUTING dummy_failure_jump.\n");
+ /* It doesn't matter what we push for the string here. What
+ the code at `fail' tests is the value for the pattern. */
+ PUSH_FAILURE_POINT (0, 0, -2);
+ goto unconditional_jump;
+
+
+ /* At the end of an alternative, we need to push a dummy failure
+ point in case we are followed by a `pop_failure_jump', because
+ we don't want the failure point for the alternative to be
+ popped. For example, matching `(a|ab)*' against `aab'
+ requires that we match the `ab' alternative. */
+ case push_dummy_failure:
+ DEBUG_PRINT1 ("EXECUTING push_dummy_failure.\n");
+ /* See comments just above at `dummy_failure_jump' about the
+ two zeroes. */
+ PUSH_FAILURE_POINT (0, 0, -2);
+ break;
+
+ /* Have to succeed matching what follows at least n times.
+ After that, handle like `on_failure_jump'. */
+ case succeed_n:
+ EXTRACT_NUMBER (mcnt, p + 2);
+ DEBUG_PRINT2 ("EXECUTING succeed_n %d.\n", mcnt);
+
+ assert (mcnt >= 0);
+ /* Originally, this is how many times we HAVE to succeed. */
+ if (mcnt > 0)
+ {
+ mcnt--;
+ p += 2;
+ STORE_NUMBER_AND_INCR (p, mcnt);
+ DEBUG_PRINT3 (" Setting 0x%x to %d.\n", p, mcnt);
+ }
+ else if (mcnt == 0)
+ {
+ DEBUG_PRINT2 (" Setting two bytes from 0x%x to no_op.\n", p+2);
+ p[2] = (unsigned char) no_op;
+ p[3] = (unsigned char) no_op;
+ goto on_failure;
+ }
+ break;
+
+ case jump_n:
+ EXTRACT_NUMBER (mcnt, p + 2);
+ DEBUG_PRINT2 ("EXECUTING jump_n %d.\n", mcnt);
+
+ /* Originally, this is how many times we CAN jump. */
+ if (mcnt)
+ {
+ mcnt--;
+ STORE_NUMBER (p + 2, mcnt);
+ goto unconditional_jump;
+ }
+ /* If don't have to jump any more, skip over the rest of command. */
+ else
+ p += 4;
+ break;
+
+ case set_number_at:
+ {
+ DEBUG_PRINT1 ("EXECUTING set_number_at.\n");
+
+ EXTRACT_NUMBER_AND_INCR (mcnt, p);
+ p1 = p + mcnt;
+ EXTRACT_NUMBER_AND_INCR (mcnt, p);
+ DEBUG_PRINT3 (" Setting 0x%x to %d.\n", p1, mcnt);
+ STORE_NUMBER (p1, mcnt);
+ break;
+ }
+
+ case wordbound:
+ DEBUG_PRINT1 ("EXECUTING wordbound.\n");
+ if (AT_WORD_BOUNDARY (d))
+ break;
+ goto fail;
+
+ case notwordbound:
+ DEBUG_PRINT1 ("EXECUTING notwordbound.\n");
+ if (AT_WORD_BOUNDARY (d))
+ goto fail;
+ break;
+
+ case wordbeg:
+ DEBUG_PRINT1 ("EXECUTING wordbeg.\n");
+ if (WORDCHAR_P (d) && (AT_STRINGS_BEG (d) || !WORDCHAR_P (d - 1)))
+ break;
+ goto fail;
+
+ case wordend:
+ DEBUG_PRINT1 ("EXECUTING wordend.\n");
+ if (!AT_STRINGS_BEG (d) && WORDCHAR_P (d - 1)
+ && (!WORDCHAR_P (d) || AT_STRINGS_END (d)))
+ break;
+ goto fail;
+
+#ifdef emacs
+#ifdef emacs19
+ case before_dot:
+ DEBUG_PRINT1 ("EXECUTING before_dot.\n");
+ if (PTR_CHAR_POS ((unsigned char *) d) >= point)
+ goto fail;
+ break;
+
+ case at_dot:
+ DEBUG_PRINT1 ("EXECUTING at_dot.\n");
+ if (PTR_CHAR_POS ((unsigned char *) d) != point)
+ goto fail;
+ break;
+
+ case after_dot:
+ DEBUG_PRINT1 ("EXECUTING after_dot.\n");
+ if (PTR_CHAR_POS ((unsigned char *) d) <= point)
+ goto fail;
+ break;
+#else /* not emacs19 */
+ case at_dot:
+ DEBUG_PRINT1 ("EXECUTING at_dot.\n");
+ if (PTR_CHAR_POS ((unsigned char *) d) + 1 != point)
+ goto fail;
+ break;
+#endif /* not emacs19 */
+
+ case syntaxspec:
+ DEBUG_PRINT2 ("EXECUTING syntaxspec %d.\n", mcnt);
+ mcnt = *p++;
+ goto matchsyntax;
+
+ case wordchar:
+ DEBUG_PRINT1 ("EXECUTING Emacs wordchar.\n");
+ mcnt = (int) Sword;
+ matchsyntax:
+ PREFETCH ();
+ if (SYNTAX (*d++) != (enum syntaxcode) mcnt)
+ goto fail;
+ SET_REGS_MATCHED ();
+ break;
+
+ case notsyntaxspec:
+ DEBUG_PRINT2 ("EXECUTING notsyntaxspec %d.\n", mcnt);
+ mcnt = *p++;
+ goto matchnotsyntax;
+
+ case notwordchar:
+ DEBUG_PRINT1 ("EXECUTING Emacs notwordchar.\n");
+ mcnt = (int) Sword;
+ matchnotsyntax:
+ PREFETCH ();
+ if (SYNTAX (*d++) == (enum syntaxcode) mcnt)
+ goto fail;
+ SET_REGS_MATCHED ();
+ break;
+
+#else /* not emacs */
+ case wordchar:
+ DEBUG_PRINT1 ("EXECUTING non-Emacs wordchar.\n");
+ PREFETCH ();
+ if (!WORDCHAR_P (d))
+ goto fail;
+ SET_REGS_MATCHED ();
+ d++;
+ break;
+
+ case notwordchar:
+ DEBUG_PRINT1 ("EXECUTING non-Emacs notwordchar.\n");
+ PREFETCH ();
+ if (WORDCHAR_P (d))
+ goto fail;
+ SET_REGS_MATCHED ();
+ d++;
+ break;
+#endif /* not emacs */
+
+ default:
+ abort ();
+ }
+ continue; /* Successfully executed one pattern command; keep going. */
+
+
+ /* We goto here if a matching operation fails. */
+ fail:
+ if (!FAIL_STACK_EMPTY ())
+ { /* A restart point is known. Restore to that state. */
+ DEBUG_PRINT1 ("\nFAIL:\n");
+ POP_FAILURE_POINT (d, p,
+ lowest_active_reg, highest_active_reg,
+ regstart, regend, reg_info);
+
+ /* If this failure point is a dummy, try the next one. */
+ if (!p)
+ goto fail;
+
+ /* If we failed to the end of the pattern, don't examine *p. */
+ assert (p <= pend);
+ if (p < pend)
+ {
+ boolean is_a_jump_n = false;
+
+ /* If failed to a backwards jump that's part of a repetition
+ loop, need to pop this failure point and use the next one. */
+ switch ((re_opcode_t) *p)
+ {
+ case jump_n:
+ is_a_jump_n = true;
+ case maybe_pop_jump:
+ case pop_failure_jump:
+ case jump:
+ p1 = p + 1;
+ EXTRACT_NUMBER_AND_INCR (mcnt, p1);
+ p1 += mcnt;
+
+ if ((is_a_jump_n && (re_opcode_t) *p1 == succeed_n)
+ || (!is_a_jump_n
+ && (re_opcode_t) *p1 == on_failure_jump))
+ goto fail;
+ break;
+ default:
+ /* do nothing */ ;
+ }
+ }
+
+ if (d >= string1 && d <= end1)
+ dend = end_match_1;
+ }
+ else
+ break; /* Matching at this starting point really fails. */
+ } /* for (;;) */
+
+ if (best_regs_set)
+ goto restore_best_regs;
+
+ FREE_VARIABLES ();
+
+ return -1; /* Failure to match. */
+} /* re_match_2 */
+
+/* Subroutine definitions for re_match_2. */
+
+
+/* We are passed P pointing to a register number after a start_memory.
+
+ Return true if the pattern up to the corresponding stop_memory can
+ match the empty string, and false otherwise.
+
+ If we find the matching stop_memory, sets P to point to one past its number.
+ Otherwise, sets P to an undefined byte less than or equal to END.
+
+ We don't handle duplicates properly (yet). */
+
+static boolean
+group_match_null_string_p (p, end, reg_info)
+ unsigned char **p, *end;
+ register_info_type *reg_info;
+{
+ int mcnt;
+ /* Point to after the args to the start_memory. */
+ unsigned char *p1 = *p + 2;
+
+ while (p1 < end)
+ {
+ /* Skip over opcodes that can match nothing, and return true or
+ false, as appropriate, when we get to one that can't, or to the
+ matching stop_memory. */
+
+ switch ((re_opcode_t) *p1)
+ {
+ /* Could be either a loop or a series of alternatives. */
+ case on_failure_jump:
+ p1++;
+ EXTRACT_NUMBER_AND_INCR (mcnt, p1);
+
+ /* If the next operation is not a jump backwards in the
+ pattern. */
+
+ if (mcnt >= 0)
+ {
+ /* Go through the on_failure_jumps of the alternatives,
+ seeing if any of the alternatives cannot match nothing.
+ The last alternative starts with only a jump,
+ whereas the rest start with on_failure_jump and end
+ with a jump, e.g., here is the pattern for `a|b|c':
+
+ /on_failure_jump/0/6/exactn/1/a/jump_past_alt/0/6
+ /on_failure_jump/0/6/exactn/1/b/jump_past_alt/0/3
+ /exactn/1/c
+
+ So, we have to first go through the first (n-1)
+ alternatives and then deal with the last one separately. */
+
+
+ /* Deal with the first (n-1) alternatives, which start
+ with an on_failure_jump (see above) that jumps to right
+ past a jump_past_alt. */
+
+ while ((re_opcode_t) p1[mcnt-3] == jump_past_alt)
+ {
+ /* `mcnt' holds how many bytes long the alternative
+ is, including the ending `jump_past_alt' and
+ its number. */
+
+ if (!alt_match_null_string_p (p1, p1 + mcnt - 3,
+ reg_info))
+ return false;
+
+ /* Move to right after this alternative, including the
+ jump_past_alt. */
+ p1 += mcnt;
+
+ /* Break if it's the beginning of an n-th alternative
+ that doesn't begin with an on_failure_jump. */
+ if ((re_opcode_t) *p1 != on_failure_jump)
+ break;
+
+ /* Still have to check that it's not an n-th
+ alternative that starts with an on_failure_jump. */
+ p1++;
+ EXTRACT_NUMBER_AND_INCR (mcnt, p1);
+ if ((re_opcode_t) p1[mcnt-3] != jump_past_alt)
+ {
+ /* Get to the beginning of the n-th alternative. */
+ p1 -= 3;
+ break;
+ }
+ }
+
+ /* Deal with the last alternative: go back and get number
+ of the `jump_past_alt' just before it. `mcnt' contains
+ the length of the alternative. */
+ EXTRACT_NUMBER (mcnt, p1 - 2);
+
+ if (!alt_match_null_string_p (p1, p1 + mcnt, reg_info))
+ return false;
+
+ p1 += mcnt; /* Get past the n-th alternative. */
+ } /* if mcnt > 0 */
+ break;
+
+
+ case stop_memory:
+ assert (p1[1] == **p);
+ *p = p1 + 2;
+ return true;
+
+
+ default:
+ if (!common_op_match_null_string_p (&p1, end, reg_info))
+ return false;
+ }
+ } /* while p1 < end */
+
+ return false;
+} /* group_match_null_string_p */
+
+
+/* Similar to group_match_null_string_p, but doesn't deal with alternatives:
+ It expects P to be the first byte of a single alternative and END one
+ byte past the last. The alternative can contain groups. */
+
+static boolean
+alt_match_null_string_p (p, end, reg_info)
+ unsigned char *p, *end;
+ register_info_type *reg_info;
+{
+ int mcnt;
+ unsigned char *p1 = p;
+
+ while (p1 < end)
+ {
+ /* Skip over opcodes that can match nothing, and break when we get
+ to one that can't. */
+
+ switch ((re_opcode_t) *p1)
+ {
+ /* It's a loop. */
+ case on_failure_jump:
+ p1++;
+ EXTRACT_NUMBER_AND_INCR (mcnt, p1);
+ p1 += mcnt;
+ break;
+
+ default:
+ if (!common_op_match_null_string_p (&p1, end, reg_info))
+ return false;
+ }
+ } /* while p1 < end */
+
+ return true;
+} /* alt_match_null_string_p */
+
+
+/* Deals with the ops common to group_match_null_string_p and
+ alt_match_null_string_p.
+
+ Sets P to one after the op and its arguments, if any. */
+
+static boolean
+common_op_match_null_string_p (p, end, reg_info)
+ unsigned char **p, *end;
+ register_info_type *reg_info;
+{
+ int mcnt;
+ boolean ret;
+ int reg_no;
+ unsigned char *p1 = *p;
+
+ switch ((re_opcode_t) *p1++)
+ {
+ case no_op:
+ case begline:
+ case endline:
+ case begbuf:
+ case endbuf:
+ case wordbeg:
+ case wordend:
+ case wordbound:
+ case notwordbound:
+#ifdef emacs
+ case before_dot:
+ case at_dot:
+ case after_dot:
+#endif
+ break;
+
+ case start_memory:
+ reg_no = *p1;
+ assert (reg_no > 0 && reg_no <= MAX_REGNUM);
+ ret = group_match_null_string_p (&p1, end, reg_info);
+
+ /* Have to set this here in case we're checking a group which
+ contains a group and a back reference to it. */
+
+ if (REG_MATCH_NULL_STRING_P (reg_info[reg_no]) == MATCH_NULL_UNSET_VALUE)
+ REG_MATCH_NULL_STRING_P (reg_info[reg_no]) = ret;
+
+ if (!ret)
+ return false;
+ break;
+
+ /* If this is an optimized succeed_n for zero times, make the jump. */
+ case jump:
+ EXTRACT_NUMBER_AND_INCR (mcnt, p1);
+ if (mcnt >= 0)
+ p1 += mcnt;
+ else
+ return false;
+ break;
+
+ case succeed_n:
+ /* Get to the number of times to succeed. */
+ p1 += 2;
+ EXTRACT_NUMBER_AND_INCR (mcnt, p1);
+
+ if (mcnt == 0)
+ {
+ p1 -= 4;
+ EXTRACT_NUMBER_AND_INCR (mcnt, p1);
+ p1 += mcnt;
+ }
+ else
+ return false;
+ break;
+
+ case duplicate:
+ if (!REG_MATCH_NULL_STRING_P (reg_info[*p1]))
+ return false;
+ break;
+
+ case set_number_at:
+ p1 += 4;
+
+ default:
+ /* All other opcodes mean we cannot match the empty string. */
+ return false;
+ }
+
+ *p = p1;
+ return true;
+} /* common_op_match_null_string_p */
+
+
+/* Return zero if TRANSLATE[S1] and TRANSLATE[S2] are identical for LEN
+ bytes; nonzero otherwise. */
+
+static int
+bcmp_translate (s1, s2, len, translate)
+ unsigned char *s1, *s2;
+ register int len;
+ char *translate;
+{
+ register unsigned char *p1 = s1, *p2 = s2;
+ while (len)
+ {
+ if (translate[*p1++] != translate[*p2++]) return 1;
+ len--;
+ }
+ return 0;
+}
+
+/* Entry points for GNU code. */
+
+/* re_compile_pattern is the GNU regular expression compiler: it
+ compiles PATTERN (of length SIZE) and puts the result in BUFP.
+ Returns 0 if the pattern was valid, otherwise an error string.
+
+ Assumes the `allocated' (and perhaps `buffer') and `translate' fields
+ are set in BUFP on entry.
+
+ We call regex_compile to do the actual compilation. */
+
+const char *
+re_compile_pattern (pattern, length, bufp)
+ const char *pattern;
+ int length;
+ struct re_pattern_buffer *bufp;
+{
+ reg_errcode_t ret;
+
+ /* GNU code is written to assume at least RE_NREGS registers will be set
+ (and at least one extra will be -1). */
+ bufp->regs_allocated = REGS_UNALLOCATED;
+
+ /* And GNU code determines whether or not to get register information
+ by passing null for the REGS argument to re_match, etc., not by
+ setting no_sub. */
+ bufp->no_sub = 0;
+
+ /* Match anchors at newline. */
+ bufp->newline_anchor = 1;
+
+ ret = regex_compile (pattern, length, re_syntax_options, bufp);
+
+ return re_error_msg[(int) ret];
+}
+
+/* Entry points compatible with 4.2 BSD regex library. We don't define
+ them if this is an Emacs or POSIX compilation. */
+
+#if !defined (emacs) && !defined (_POSIX_SOURCE)
+
+/* BSD has one and only one pattern buffer. */
+static struct re_pattern_buffer re_comp_buf;
+
+char *
+re_comp (s)
+ const char *s;
+{
+ reg_errcode_t ret;
+
+ if (!s)
+ {
+ if (!re_comp_buf.buffer)
+ return "No previous regular expression";
+ return 0;
+ }
+
+ if (!re_comp_buf.buffer)
+ {
+ re_comp_buf.buffer = (unsigned char *) malloc (200);
+ if (re_comp_buf.buffer == NULL)
+ return "Memory exhausted";
+ re_comp_buf.allocated = 200;
+
+ re_comp_buf.fastmap = (char *) malloc (1 << BYTEWIDTH);
+ if (re_comp_buf.fastmap == NULL)
+ return "Memory exhausted";
+ }
+
+ /* Since `re_exec' always passes NULL for the `regs' argument, we
+ don't need to initialize the pattern buffer fields which affect it. */
+
+ /* Match anchors at newlines. */
+ re_comp_buf.newline_anchor = 1;
+
+ ret = regex_compile (s, strlen (s), re_syntax_options, &re_comp_buf);
+
+ /* Yes, we're discarding `const' here. */
+ return (char *) re_error_msg[(int) ret];
+}
+
+
+int
+re_exec (s)
+ const char *s;
+{
+ const int len = strlen (s);
+ return
+ 0 <= re_search (&re_comp_buf, s, len, 0, len, (struct re_registers *) 0);
+}
+#endif /* not emacs and not _POSIX_SOURCE */
+
+/* POSIX.2 functions. Don't define these for Emacs. */
+
+#ifndef emacs
+
+/* regcomp takes a regular expression as a string and compiles it.
+
+ PREG is a regex_t *. We do not expect any fields to be initialized,
+ since POSIX says we shouldn't. Thus, we set
+
+ `buffer' to the compiled pattern;
+ `used' to the length of the compiled pattern;
+ `syntax' to RE_SYNTAX_POSIX_EXTENDED if the
+ REG_EXTENDED bit in CFLAGS is set; otherwise, to
+ RE_SYNTAX_POSIX_BASIC;
+ `newline_anchor' to REG_NEWLINE being set in CFLAGS;
+ `fastmap' and `fastmap_accurate' to zero;
+ `re_nsub' to the number of subexpressions in PATTERN.
+
+ PATTERN is the address of the pattern string.
+
+ CFLAGS is a series of bits which affect compilation.
+
+ If REG_EXTENDED is set, we use POSIX extended syntax; otherwise, we
+ use POSIX basic syntax.
+
+ If REG_NEWLINE is set, then . and [^...] don't match newline.
+ Also, regexec will try a match beginning after every newline.
+
+ If REG_ICASE is set, then we considers upper- and lowercase
+ versions of letters to be equivalent when matching.
+
+ If REG_NOSUB is set, then when PREG is passed to regexec, that
+ routine will report only success or failure, and nothing about the
+ registers.
+
+ It returns 0 if it succeeds, nonzero if it doesn't. (See regex.h for
+ the return codes and their meanings.) */
+
+int
+regcomp (preg, pattern, cflags)
+ regex_t *preg;
+ const char *pattern;
+ int cflags;
+{
+ reg_errcode_t ret;
+ unsigned syntax
+ = (cflags & REG_EXTENDED) ?
+ RE_SYNTAX_POSIX_EXTENDED : RE_SYNTAX_POSIX_BASIC;
+
+ /* regex_compile will allocate the space for the compiled pattern. */
+ preg->buffer = 0;
+ preg->allocated = 0;
+
+ /* Don't bother to use a fastmap when searching. This simplifies the
+ REG_NEWLINE case: if we used a fastmap, we'd have to put all the
+ characters after newlines into the fastmap. This way, we just try
+ every character. */
+ preg->fastmap = 0;
+
+ if (cflags & REG_ICASE)
+ {
+ unsigned i;
+
+ preg->translate = (char *) malloc (CHAR_SET_SIZE);
+ if (preg->translate == NULL)
+ return (int) REG_ESPACE;
+
+ /* Map uppercase characters to corresponding lowercase ones. */
+ for (i = 0; i < CHAR_SET_SIZE; i++)
+ preg->translate[i] = ISUPPER (i) ? tolower (i) : i;
+ }
+ else
+ preg->translate = NULL;
+
+ /* If REG_NEWLINE is set, newlines are treated differently. */
+ if (cflags & REG_NEWLINE)
+ { /* REG_NEWLINE implies neither . nor [^...] match newline. */
+ syntax &= ~RE_DOT_NEWLINE;
+ syntax |= RE_HAT_LISTS_NOT_NEWLINE;
+ /* It also changes the matching behavior. */
+ preg->newline_anchor = 1;
+ }
+ else
+ preg->newline_anchor = 0;
+
+ preg->no_sub = !!(cflags & REG_NOSUB);
+
+ /* POSIX says a null character in the pattern terminates it, so we
+ can use strlen here in compiling the pattern. */
+ ret = regex_compile (pattern, strlen (pattern), syntax, preg);
+
+ /* POSIX doesn't distinguish between an unmatched open-group and an
+ unmatched close-group: both are REG_EPAREN. */
+ if (ret == REG_ERPAREN) ret = REG_EPAREN;
+
+ return (int) ret;
+}
+
+
+/* regexec searches for a given pattern, specified by PREG, in the
+ string STRING.
+
+ If NMATCH is zero or REG_NOSUB was set in the cflags argument to
+ `regcomp', we ignore PMATCH. Otherwise, we assume PMATCH has at
+ least NMATCH elements, and we set them to the offsets of the
+ corresponding matched substrings.
+
+ EFLAGS specifies `execution flags' which affect matching: if
+ REG_NOTBOL is set, then ^ does not match at the beginning of the
+ string; if REG_NOTEOL is set, then $ does not match at the end.
+
+ We return 0 if we find a match and REG_NOMATCH if not. */
+
+int
+regexec (preg, string, nmatch, pmatch, eflags)
+ const regex_t *preg;
+ const char *string;
+ size_t nmatch;
+ regmatch_t pmatch[];
+ int eflags;
+{
+ int ret;
+ struct re_registers regs;
+ regex_t private_preg;
+ int len = strlen (string);
+ boolean want_reg_info = !preg->no_sub && nmatch > 0;
+
+ private_preg = *preg;
+
+ private_preg.not_bol = !!(eflags & REG_NOTBOL);
+ private_preg.not_eol = !!(eflags & REG_NOTEOL);
+
+ /* The user has told us exactly how many registers to return
+ information about, via `nmatch'. We have to pass that on to the
+ matching routines. */
+ private_preg.regs_allocated = REGS_FIXED;
+
+ if (want_reg_info)
+ {
+ regs.num_regs = nmatch;
+ regs.start = TALLOC (nmatch, regoff_t);
+ regs.end = TALLOC (nmatch, regoff_t);
+ if (regs.start == NULL || regs.end == NULL)
+ return (int) REG_NOMATCH;
+ }
+
+ /* Perform the searching operation. */
+ ret = re_search (&private_preg, string, len,
+ /* start: */ 0, /* range: */ len,
+ want_reg_info ? ®s : (struct re_registers *) 0);
+
+ /* Copy the register information to the POSIX structure. */
+ if (want_reg_info)
+ {
+ if (ret >= 0)
+ {
+ unsigned r;
+
+ for (r = 0; r < nmatch; r++)
+ {
+ pmatch[r].rm_so = regs.start[r];
+ pmatch[r].rm_eo = regs.end[r];
+ }
+ }
+
+ /* If we needed the temporary register info, free the space now. */
+ free (regs.start);
+ free (regs.end);
+ }
+
+ /* We want zero return to mean success, unlike `re_search'. */
+ return ret >= 0 ? (int) REG_NOERROR : (int) REG_NOMATCH;
+}
+
+
+/* Returns a message corresponding to an error code, ERRCODE, returned
+ from either regcomp or regexec. We don't use PREG here. */
+
+size_t
+regerror (int errcode, const regex_t *preg, char *errbuf, size_t errbuf_size)
+//regerror (errcode, preg, errbuf, errbuf_size)
+// int errcode;
+// const regex_t *preg;
+// char *errbuf;
+// size_t errbuf_size;
+{
+ const char *msg;
+ size_t msg_size;
+
+ if (errcode < 0
+ || errcode >= (sizeof (re_error_msg) / sizeof (re_error_msg[0])))
+ /* Only error codes returned by the rest of the code should be passed
+ to this routine. If we are given anything else, or if other regex
+ code generates an invalid error code, then the program has a bug.
+ Dump core so we can fix it. */
+ abort ();
+
+ msg = re_error_msg[errcode];
+
+ /* POSIX doesn't require that we do anything in this case, but why
+ not be nice. */
+ if (! msg)
+ msg = "Success";
+
+ msg_size = strlen (msg) + 1; /* Includes the null. */
+
+ if (errbuf_size != 0)
+ {
+ if (msg_size > errbuf_size)
+ {
+ strncpy (errbuf, msg, errbuf_size - 1);
+ errbuf[errbuf_size - 1] = 0;
+ }
+ else
+ strcpy (errbuf, msg);
+ }
+
+ return msg_size;
+}
+
+
+/* Free dynamically allocated space used by PREG. */
+
+void
+regfree (preg)
+ regex_t *preg;
+{
+ if (preg->buffer != NULL)
+ free (preg->buffer);
+ preg->buffer = NULL;
+
+ preg->allocated = 0;
+ preg->used = 0;
+
+ if (preg->fastmap != NULL)
+ free (preg->fastmap);
+ preg->fastmap = NULL;
+ preg->fastmap_accurate = 0;
+
+ if (preg->translate != NULL)
+ free (preg->translate);
+ preg->translate = NULL;
+}
+
+#endif /* not emacs */
+
+/*
+Local variables:
+make-backup-files: t
+version-control: t
+trim-versions-without-asking: nil
+End:
+*/
diff --git a/trunk/src/regex.h b/dev/src/regex.h
similarity index 100%
rename from trunk/src/regex.h
rename to dev/src/regex.h
diff --git a/dev/src/stl_helpers.hpp b/dev/src/stl_helpers.hpp
new file mode 100644
index 0000000..620db0c
--- /dev/null
+++ b/dev/src/stl_helpers.hpp
@@ -0,0 +1,129 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file stl_helpers.hpp
+ * Useful functions that take advantage of STL containers
+ */
+
+#ifndef GPSTK_STL_HELPERS_HPP
+#define GPSTK_STL_HELPERS_HPP
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#include <cmath>
+#include <algorithm>
+#include <list>
+
+namespace gpstk
+{
+ /** @defgroup datastructsgroup STL helpers */
+ //@{
+
+ /// A simple way to get the max value of a list of numbers
+ template<class For> For max(const std::list<For> lst)
+ {
+ return *max_element(lst.begin(), lst.end());
+ }
+
+ /// A simple way to get the minimum value of a list of numbers
+ template<class For> For min(const std::list<For> lst)
+ {
+ return *min_element(lst.begin(), lst.end());
+ }
+
+ /// ListStats (i.e. Statistics on a list of numbers)
+ template<class bt>
+ struct ListStats
+ {
+ /// number of items used in the statistics taking
+ unsigned n;
+ /// statistics values
+ bt mean, sigma, min, max;
+ /// constructor
+ ListStats():n(0),mean(0),sigma(0),min(0),max(0){};
+ };
+
+ /// Compute the statistics for a list of numbers.
+ /// This algorithm is written to be stable in computing the standard
+ /// deviation for sequences of number with a large mean value.
+ /// (i.e. it doesn't accumulate sum of the value squared.)
+ template<class bt> ListStats<bt> stats(const std::list<bt>& lst)
+ {
+ ListStats<bt> s;
+ bt sum=0, sumsq=0;
+
+ s.n = lst.size();
+ if (s.n<1)
+ return s;
+
+ typename std::list<bt>::const_iterator li;
+ li=lst.begin();
+ s.min = s.max = *li;
+ for(; li!=lst.end(); li++)
+ {
+ s.min = std::min(s.min, *li);
+ s.max = std::max(s.max, *li);
+ sum += *li;
+ }
+ s.mean = sum/s.n;
+
+ if (s.n<2)
+ return s;
+
+ for(li=lst.begin(); li!=lst.end(); li++)
+ {
+ bt z=*li-s.mean;
+ sumsq += z*z;
+ }
+
+ s.sigma = sqrt(sumsq/(s.n-1));
+
+ return s;
+ }
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/tests/ANSITime/ANSITime.cpp b/dev/tests/ANSITime/ANSITime.cpp
new file mode 120000
index 0000000..d49aa9d
--- /dev/null
+++ b/dev/tests/ANSITime/ANSITime.cpp
@@ -0,0 +1 @@
+../../src/ANSITime.cpp
\ No newline at end of file
diff --git a/dev/tests/ANSITime/ANSITime.hpp b/dev/tests/ANSITime/ANSITime.hpp
new file mode 120000
index 0000000..33fd981
--- /dev/null
+++ b/dev/tests/ANSITime/ANSITime.hpp
@@ -0,0 +1 @@
+../../src/ANSITime.hpp
\ No newline at end of file
diff --git a/dev/tests/ANSITime/Jamfile b/dev/tests/ANSITime/Jamfile
new file mode 100644
index 0000000..ebd37f3
--- /dev/null
+++ b/dev/tests/ANSITime/Jamfile
@@ -0,0 +1,2 @@
+SubDir TOP ANSITime ;
+TestMain ANSITime/xANSITime.tst : ANSITime/xANSITimeM.cpp ANSITime/xANSITime.cpp ANSITime/ANSITime.cpp ;
diff --git a/dev/tests/ANSITime/Logs/printfOutput b/dev/tests/ANSITime/Logs/printfOutput
new file mode 100644
index 0000000..b09955a
--- /dev/null
+++ b/dev/tests/ANSITime/Logs/printfOutput
@@ -0,0 +1,2 @@
+13500000
+0
diff --git a/dev/tests/ANSITime/xANSITime.cpp b/dev/tests/ANSITime/xANSITime.cpp
new file mode 100644
index 0000000..001210c
--- /dev/null
+++ b/dev/tests/ANSITime/xANSITime.cpp
@@ -0,0 +1,58 @@
+#include "xANSITime.hpp"
+#include <iostream>
+#include <fstream>
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xANSITime);
+
+using namespace gpstk;
+
+void xANSITime :: setUp (void)
+{
+}
+
+void xANSITime :: setFromInfoTest (void)
+{
+ gpstk::ANSITime setFromInfo1;
+ gpstk::ANSITime setFromInfo2;
+
+ gpstk::TimeTag::IdToValue Id;
+ Id.insert(make_pair('K',"13500000"));
+ CPPUNIT_ASSERT(setFromInfo1.setFromInfo(Id));
+ Id.erase('K');
+ CPPUNIT_ASSERT(setFromInfo2.setFromInfo(Id));
+ ofstream out("Logs/printfOutput");
+
+ out << setFromInfo1 << endl;
+ out << setFromInfo2 << endl;
+}
+
+void xANSITime :: operatorTest (void)
+{
+
+ gpstk::ANSITime Compare(13500000);
+ gpstk::ANSITime LessThan(13400000);
+
+ gpstk::ANSITime CompareCopy(Compare);
+
+ gpstk::ANSITime CompareCopy2;
+ //Assignment
+ CompareCopy2 = CompareCopy;
+ //Equality Assertion
+ CPPUNIT_ASSERT_EQUAL(Compare,CompareCopy);
+ //Non-equality Assertion
+ CPPUNIT_ASSERT(Compare != LessThan);
+ //Less than assertions
+ CPPUNIT_ASSERT(LessThan < Compare);
+ CPPUNIT_ASSERT(!(Compare < LessThan));
+ //Greater than assertions
+ CPPUNIT_ASSERT(Compare > LessThan);
+ //Less than equals assertion
+ CPPUNIT_ASSERT(LessThan <= Compare);
+ CPPUNIT_ASSERT(CompareCopy <= Compare);
+ //Greater than equals assertion
+ CPPUNIT_ASSERT(Compare >= LessThan);
+ CPPUNIT_ASSERT(Compare >= CompareCopy);
+
+ CPPUNIT_ASSERT(Compare.isValid());
+}
+
diff --git a/dev/tests/ANSITime/xANSITime.hpp b/dev/tests/ANSITime/xANSITime.hpp
new file mode 100644
index 0000000..96678c0
--- /dev/null
+++ b/dev/tests/ANSITime/xANSITime.hpp
@@ -0,0 +1,28 @@
+#ifndef XANSITIME_HPP
+#define XANSITIME_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "ANSITime.hpp"
+
+using namespace std;
+
+class xANSITime: public CPPUNIT_NS :: TestFixture
+{
+ CPPUNIT_TEST_SUITE (xANSITime);
+ CPPUNIT_TEST (setFromInfoTest);
+ CPPUNIT_TEST (operatorTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void);
+
+ protected:
+ void operatorTest (void);
+ void setFromInfoTest (void);
+
+ private:
+
+};
+
+#endif
diff --git a/dev/tests/ANSITime/xANSITimeM.cpp b/dev/tests/ANSITime/xANSITimeM.cpp
new file mode 100644
index 0000000..99b49bc
--- /dev/null
+++ b/dev/tests/ANSITime/xANSITimeM.cpp
@@ -0,0 +1,30 @@
+// CppUnit-Tutorial
+// file: ftest.cc
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/BCEphemerisStore/BCEphemerisStore.cpp b/dev/tests/BCEphemerisStore/BCEphemerisStore.cpp
new file mode 120000
index 0000000..12aec85
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/BCEphemerisStore.cpp
@@ -0,0 +1 @@
+../../src/BCEphemerisStore.cpp
\ No newline at end of file
diff --git a/dev/tests/BCEphemerisStore/BCEphemerisStore.hpp b/dev/tests/BCEphemerisStore/BCEphemerisStore.hpp
new file mode 120000
index 0000000..6158015
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/BCEphemerisStore.hpp
@@ -0,0 +1 @@
+../../src/BCEphemerisStore.hpp
\ No newline at end of file
diff --git a/dev/tests/BCEphemerisStore/Checks/DumpData0.chk b/dev/tests/BCEphemerisStore/Checks/DumpData0.chk
new file mode 100644
index 0000000..7138230
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Checks/DumpData0.chk
@@ -0,0 +1,4 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ Span is 01/31/2006 00:00:00 to 01/31/2006 22:00:00 with 41 entries.
diff --git a/dev/tests/BCEphemerisStore/Checks/DumpData1.chk b/dev/tests/BCEphemerisStore/Checks/DumpData1.chk
new file mode 100644
index 0000000..c59b097
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Checks/DumpData1.chk
@@ -0,0 +1,49 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 15 entries.
+PRN 1 TOE 01/31/2006 02:00:00 TOC 180000.000 HOW 172806.000 KEY 01/31/2006 00:00:00
+PRN 1 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 181806.000 KEY 01/31/2006 02:00:00
+PRN 1 TOE 01/31/2006 05:59:44 TOC 194384.000 HOW 192216.000 KEY 01/31/2006 03:59:44
+PRN 1 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 1 TOE 01/31/2006 07:59:44 TOC 201584.000 HOW 194406.000 KEY 01/31/2006 05:59:44
+PRN 1 TOE 01/31/2006 09:59:44 TOC 208784.000 HOW 208446.000 KEY 01/31/2006 07:59:44
+PRN 1 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 1 TOE 01/31/2006 11:59:44 TOC 215984.000 HOW 208806.000 KEY 01/31/2006 09:59:44
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 1 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+PRN 1 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 1 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237606.000 KEY 01/31/2006 18:00:00
+PRN 1 TOE 01/31/2006 21:59:44 TOC 251984.000 HOW 250056.000 KEY 01/31/2006 19:59:44
+PRN 1 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 1 TOE 01/31/2006 23:59:44 TOC 259184.000 HOW 252006.000 KEY 01/31/2006 21:59:44
+ BCE map for satellite 15 has 13 entries.
+PRN 15 TOE 01/31/2006 02:00:00 TOC 180000.000 HOW 172806.000 KEY 01/31/2006 00:00:00
+PRN 15 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 180006.000 KEY 01/31/2006 02:00:00
+PRN 15 TOE 01/31/2006 05:59:44 TOC 194384.000 HOW 193626.000 KEY 01/31/2006 03:59:44
+PRN 15 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 15 TOE 01/31/2006 07:59:44 TOC 201584.000 HOW 194406.000 KEY 01/31/2006 05:59:44
+PRN 15 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 15 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 15 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+PRN 15 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 15 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237606.000 KEY 01/31/2006 18:00:00
+PRN 15 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 15 TOE 02/01/2006 00:00:00 TOC 259200.000 HOW 252006.000 KEY 01/31/2006 22:00:00
+ BCE map for satellite 32 has 13 entries.
+PRN 32 TOE 01/31/2006 02:00:00 TOC 180000.000 HOW 172806.000 KEY 01/31/2006 00:00:00
+PRN 32 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 180006.000 KEY 01/31/2006 02:00:00
+PRN 32 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 32 TOE 01/31/2006 08:00:00 TOC 201600.000 HOW 194406.000 KEY 01/31/2006 06:00:00
+PRN 32 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 32 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 32 TOE 01/31/2006 13:59:44 TOC 223184.000 HOW 219786.000 KEY 01/31/2006 11:59:44
+PRN 32 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 32 TOE 01/31/2006 15:59:44 TOC 230384.000 HOW 223206.000 KEY 01/31/2006 13:59:44
+PRN 32 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 32 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237666.000 KEY 01/31/2006 18:00:00
+PRN 32 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 32 TOE 02/01/2006 00:00:00 TOC 259200.000 HOW 252006.000 KEY 01/31/2006 22:00:00
+ End of BCE maps.
+
diff --git a/trunk/src/Makefile.am b/dev/tests/BCEphemerisStore/Checks/DumpData2.chk
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/BCEphemerisStore/Checks/DumpData2.chk
diff --git a/trunk/src/Makefile.am b/dev/tests/BCEphemerisStore/Checks/TestRinexDump.dmp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/BCEphemerisStore/Checks/TestRinexDump.dmp
diff --git a/dev/tests/BCEphemerisStore/Checks/addEphemerisTest.chk b/dev/tests/BCEphemerisStore/Checks/addEphemerisTest.chk
new file mode 100644
index 0000000..dfcb5e5
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Checks/addEphemerisTest.chk
@@ -0,0 +1,5 @@
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 1 entries.
+PRN 1 TOE 01/31/2006 11:59:44 TOC 215984.000 HOW 208806.000 KEY 01/31/2006 09:59:44
+ End of BCE maps.
+
diff --git a/dev/tests/BCEphemerisStore/Checks/addToListTest.chk b/dev/tests/BCEphemerisStore/Checks/addToListTest.chk
new file mode 100644
index 0000000..76f8863
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Checks/addToListTest.chk
@@ -0,0 +1,1886 @@
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Eph Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 172806 Tue-2:00:00:06 0x043 0 off
+SF2 HOW: 172806 Tue-2:00:00:06 0x43 0 off
+SF3 HOW: 172806 Tue-2:00:00:06 0x43 0 off
+
+ CLOCK
+
+Bias T0: 3.41343693E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367689E+03 m**.5
+Motion correction: 4.34053794E-09 rad/sec
+Eccentricity: 6.32685330E-03
+Arg of perigee: -1.71098328E+00 rad
+Mean anomaly at epoch: 1.26681178E+00 rad
+Right ascension: -1.71526968E+00 rad -8.34177604E-09 rad/sec
+Inclination: 9.86356141E-01 rad 3.65729520E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.15968750E+02 m Cosine: 3.27531250E+02 m
+Inclination Sine: -1.17346644E-07 rad Cosine: -1.02445483E-07 rad
+In-track Sine: 3.52226198E-06 rad Cosine: 5.89340925E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Eph Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 181806 Tue-2:02:30:06 0x044 0 off
+SF2 HOW: 181806 Tue-2:02:30:06 0x44 0 off
+SF3 HOW: 181806 Tue-2:02:30:06 0x44 0 off
+
+ CLOCK
+
+Bias T0: 3.41478735E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367755E+03 m**.5
+Motion correction: 4.25303430E-09 rad/sec
+Eccentricity: 6.32700860E-03
+Arg of perigee: -1.71092165E+00 rad
+Mean anomaly at epoch: 2.31692691E+00 rad
+Right ascension: -1.71532878E+00 rad -8.11605235E-09 rad/sec
+Inclination: 9.86359782E-01 rad 3.52514684E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.12937500E+02 m Cosine: 3.30625000E+02 m
+Inclination Sine: -6.70552254E-08 rad Cosine: 1.28522515E-07 rad
+In-track Sine: 3.17767262E-06 rad Cosine: 5.77233732E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 194384 Tue-2 31 21584 01/31/2006 05:59:44
+Eph Epoch: 1360( 336) 194384 Tue-2 31 21584 01/31/2006 05:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 192216 Tue-2:05:23:36 0x259 0 off
+SF2 HOW: 192216 Tue-2:05:23:36 0x59 0 off
+SF3 HOW: 192216 Tue-2:05:23:36 0x59 0 off
+
+ CLOCK
+
+Bias T0: 3.41548584E-05 sec
+Drift: 1.81898940E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367874E+03 m**.5
+Motion correction: 4.25553440E-09 rad/sec
+Eccentricity: 6.32628636E-03
+Arg of perigee: -1.71094976E+00 rad
+Mean anomaly at epoch: -2.91838707E+00 rad
+Right ascension: -1.71538720E+00 rad -8.11176646E-09 rad/sec
+Inclination: 9.86362374E-01 rad 4.02516766E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.12750000E+02 m Cosine: 3.23406250E+02 m
+Inclination Sine: 4.84287739E-08 rad Cosine: 1.54599547E-07 rad
+In-track Sine: 3.57814133E-06 rad Cosine: 5.86546957E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Eph Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 187206 Tue-2:04:00:06 0x23F 0 off
+SF2 HOW: 187206 Tue-2:04:00:06 0x3F 0 off
+SF3 HOW: 187206 Tue-2:04:00:06 0x3F 0 off
+
+ CLOCK
+
+Bias T0: 3.41618434E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367875E+03 m**.5
+Motion correction: 4.25553440E-09 rad/sec
+Eccentricity: 6.32628449E-03
+Arg of perigee: -1.71094881E+00 rad
+Mean anomaly at epoch: -2.91605436E+00 rad
+Right ascension: -1.71538734E+00 rad -8.11176646E-09 rad/sec
+Inclination: 9.86362375E-01 rad 4.02516766E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.12750000E+02 m Cosine: 3.23406250E+02 m
+Inclination Sine: 4.84287739E-08 rad Cosine: 1.54599547E-07 rad
+In-track Sine: 3.57814133E-06 rad Cosine: 5.86546957E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 201584 Tue-2 31 28784 01/31/2006 07:59:44
+Eph Epoch: 1360( 336) 201584 Tue-2 31 28784 01/31/2006 07:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 194406 Tue-2:06:00:06 0x15A 0 off
+SF2 HOW: 194406 Tue-2:06:00:06 0x5A 0 off
+SF3 HOW: 194406 Tue-2:06:00:06 0x5A 0 off
+
+ CLOCK
+
+Bias T0: 3.41683626E-05 sec
+Drift: 1.81898940E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15368112E+03 m**.5
+Motion correction: 4.14945856E-09 rad/sec
+Eccentricity: 6.32504828E-03
+Arg of perigee: -1.71103397E+00 rad
+Mean anomaly at epoch: -1.86812836E+00 rad
+Right ascension: -1.71544585E+00 rad -8.06569311E-09 rad/sec
+Inclination: 9.86365821E-01 rad 4.89306096E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.06562500E+02 m Cosine: 3.13812500E+02 m
+Inclination Sine: 9.87201929E-08 rad Cosine: 2.79396772E-08 rad
+In-track Sine: 4.02703881E-06 rad Cosine: 5.71832061E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 208784 Tue-2 31 35984 01/31/2006 09:59:44
+Eph Epoch: 1360( 336) 208784 Tue-2 31 35984 01/31/2006 09:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208446 Tue-2:09:54:06 0x073 0 off
+SF2 HOW: 208446 Tue-2:09:54:06 0x73 0 off
+SF3 HOW: 208446 Tue-2:09:54:06 0x73 0 off
+
+ CLOCK
+
+Bias T0: 3.41916457E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367637E+03 m**.5
+Motion correction: 4.25303430E-09 rad/sec
+Eccentricity: 6.32467808E-03
+Arg of perigee: -1.71064445E+00 rad
+Mean anomaly at epoch: -8.18341978E-01 rad
+Right ascension: -1.71550465E+00 rad -8.23784314E-09 rad/sec
+Inclination: 9.86368594E-01 rad 5.06806825E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.06437500E+02 m Cosine: 2.95875000E+02 m
+Inclination Sine: 3.35276127E-08 rad Cosine: -1.35973096E-07 rad
+In-track Sine: 5.20423055E-06 rad Cosine: 5.66430390E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Eph Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 201606 Tue-2:08:00:06 0x15B 0 off
+SF2 HOW: 201606 Tue-2:08:00:06 0x5B 0 off
+SF3 HOW: 201606 Tue-2:08:00:06 0x5B 0 off
+
+ CLOCK
+
+Bias T0: 3.41818668E-05 sec
+Drift: 1.81898940E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367640E+03 m**.5
+Motion correction: 4.25303430E-09 rad/sec
+Eccentricity: 6.32467505E-03
+Arg of perigee: -1.71064293E+00 rad
+Mean anomaly at epoch: -8.16009862E-01 rad
+Right ascension: -1.71550477E+00 rad -8.23784314E-09 rad/sec
+Inclination: 9.86368607E-01 rad 5.06806825E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.06437500E+02 m Cosine: 2.95875000E+02 m
+Inclination Sine: 3.35276127E-08 rad Cosine: -1.35973096E-07 rad
+In-track Sine: 5.20423055E-06 rad Cosine: 5.66430390E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 215984 Tue-2 31 43184 01/31/2006 11:59:44
+Eph Epoch: 1360( 336) 215984 Tue-2 31 43184 01/31/2006 11:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x174 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0x74 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0x74 0 off
+
+ CLOCK
+
+Bias T0: 3.42056155E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367878E+03 m**.5
+Motion correction: 4.15874466E-09 rad/sec
+Eccentricity: 6.32588984E-03
+Arg of perigee: -1.71070282E+00 rad
+Mean anomaly at epoch: 2.31892822E-01 rad
+Right ascension: -1.71556436E+00 rad -8.27605902E-09 rad/sec
+Inclination: 9.86372320E-01 rad 5.33236497E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.13406250E+02 m Cosine: 2.90062500E+02 m
+Inclination Sine: -2.79396772E-08 rad Cosine: -7.45058060E-08 rad
+In-track Sine: 5.29363751E-06 rad Cosine: 5.78165054E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Eph Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 216006 Tue-2:12:00:06 0x175 0 off
+SF2 HOW: 216006 Tue-2:12:00:06 0x75 0 off
+SF3 HOW: 216006 Tue-2:12:00:06 0x75 0 off
+
+ CLOCK
+
+Bias T0: 3.42191197E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367680E+03 m**.5
+Motion correction: 4.14195824E-09 rad/sec
+Eccentricity: 6.32508728E-03
+Arg of perigee: -1.71080977E+00 rad
+Mean anomaly at epoch: 1.28450941E+00 rad
+Right ascension: -1.71562416E+00 rad -8.23998609E-09 rad/sec
+Inclination: 9.86376251E-01 rad 5.43236914E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.20250000E+02 m Cosine: 2.93375000E+02 m
+Inclination Sine: -1.11758709E-07 rad Cosine: -7.63684511E-08 rad
+In-track Sine: 5.04590571E-06 rad Cosine: 6.22309744E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 230400 Tue-2 31 57600 01/31/2006 16:00:00
+Eph Epoch: 1360( 336) 230400 Tue-2 31 57600 01/31/2006 16:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 223206 Tue-2:14:00:06 0x176 0 off
+SF2 HOW: 223206 Tue-2:14:00:06 0x76 0 off
+SF3 HOW: 223206 Tue-2:14:00:06 0x76 0 off
+
+ CLOCK
+
+Bias T0: 3.42330895E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367810E+03 m**.5
+Motion correction: 3.95159317E-09 rad/sec
+Eccentricity: 6.32507459E-03
+Arg of perigee: -1.71069671E+00 rad
+Mean anomaly at epoch: 2.33457123E+00 rad
+Right ascension: -1.71568233E+00 rad -7.97497505E-09 rad/sec
+Inclination: 9.86381295E-01 rad 5.13592822E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.19093750E+02 m Cosine: 2.98875000E+02 m
+Inclination Sine: 0.00000000E+00 rad Cosine: 1.73225999E-07 rad
+In-track Sine: 4.85964119E-06 rad Cosine: 6.14114106E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Eph Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 230406 Tue-2:16:00:06 0x177 0 off
+SF2 HOW: 230406 Tue-2:16:00:06 0x77 0 off
+SF3 HOW: 230406 Tue-2:16:00:06 0x77 0 off
+
+ CLOCK
+
+Bias T0: 3.42465937E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367751E+03 m**.5
+Motion correction: 3.94552149E-09 rad/sec
+Eccentricity: 6.32530451E-03
+Arg of perigee: -1.71075624E+00 rad
+Mean anomaly at epoch: -2.89838037E+00 rad
+Right ascension: -1.71573859E+00 rad -7.88925719E-09 rad/sec
+Inclination: 9.86384717E-01 rad 3.83230249E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.14312500E+02 m Cosine: 2.97218750E+02 m
+Inclination Sine: -3.72529030E-09 rad Cosine: -1.11758709E-08 rad
+In-track Sine: 5.05894423E-06 rad Cosine: 5.97164035E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Eph Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 237606 Tue-2:18:00:06 0x178 0 off
+SF2 HOW: 237606 Tue-2:18:00:06 0x78 0 off
+SF3 HOW: 237606 Tue-2:18:00:06 0x78 0 off
+
+ CLOCK
+
+Bias T0: 3.42600979E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15368125E+03 m**.5
+Motion correction: 3.94802159E-09 rad/sec
+Eccentricity: 6.32367632E-03
+Arg of perigee: -1.71094499E+00 rad
+Mean anomaly at epoch: -1.84801896E+00 rad
+Right ascension: -1.71579510E+00 rad -7.97426073E-09 rad/sec
+Inclination: 9.86386906E-01 rad 2.96440919E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.01968750E+02 m Cosine: 2.88843750E+02 m
+Inclination Sine: 6.33299351E-08 rad Cosine: 1.09896064E-07 rad
+In-track Sine: 5.53019345E-06 rad Cosine: 5.29736280E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 251984 Tue-2 31 79184 01/31/2006 21:59:44
+Eph Epoch: 1360( 336) 251984 Tue-2 31 79184 01/31/2006 21:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 250056 Tue-2:21:27:36 0x08D 0 off
+SF2 HOW: 250056 Tue-2:21:27:36 0x8D 0 off
+SF3 HOW: 250056 Tue-2:21:27:36 0x8D 0 off
+
+ CLOCK
+
+Bias T0: 3.42894346E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367653E+03 m**.5
+Motion correction: 4.16945939E-09 rad/sec
+Eccentricity: 6.32309169E-03
+Arg of perigee: -1.71055998E+00 rad
+Mean anomaly at epoch: -8.00563293E-01 rad
+Right ascension: -1.71585327E+00 rad -8.18998400E-09 rad/sec
+Inclination: 9.86388127E-01 rad 3.13584491E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 9.87812500E+01 m Cosine: 2.71312500E+02 m
+Inclination Sine: 7.45058060E-09 rad Cosine: -9.87201929E-08 rad
+In-track Sine: 6.31809235E-06 rad Cosine: 5.18187881E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Eph Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 244806 Tue-2:20:00:06 0x173 0 off
+SF2 HOW: 244806 Tue-2:20:00:06 0x73 0 off
+SF3 HOW: 244806 Tue-2:20:00:06 0x73 0 off
+
+ CLOCK
+
+Bias T0: 3.42740677E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367653E+03 m**.5
+Motion correction: 4.16945939E-09 rad/sec
+Eccentricity: 6.32309355E-03
+Arg of perigee: -1.71056065E+00 rad
+Mean anomaly at epoch: -7.98228821E-01 rad
+Right ascension: -1.71585343E+00 rad -8.18998400E-09 rad/sec
+Inclination: 9.86388094E-01 rad 3.13584491E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 9.87812500E+01 m Cosine: 2.71312500E+02 m
+Inclination Sine: 7.45058060E-09 rad Cosine: -9.87201929E-08 rad
+In-track Sine: 6.31809235E-06 rad Cosine: 5.18187881E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 259184 Tue-2 31 86384 01/31/2006 23:59:44
+Eph Epoch: 1360( 336) 259184 Tue-2 31 86384 01/31/2006 23:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 252006 Tue-2:22:00:06 0x08E 0 off
+SF2 HOW: 252006 Tue-2:22:00:06 0x8E 0 off
+SF3 HOW: 252006 Tue-2:22:00:06 0x8E 0 off
+
+ CLOCK
+
+Bias T0: 3.43038701E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367983E+03 m**.5
+Motion correction: 4.16553065E-09 rad/sec
+Eccentricity: 6.32479729E-03
+Arg of perigee: -1.71061566E+00 rad
+Mean anomaly at epoch: 2.49668417E-01 rad
+Right ascension: -1.71591282E+00 rad -8.23534304E-09 rad/sec
+Inclination: 9.86390525E-01 rad 3.76444252E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.06718750E+02 m Cosine: 2.61562500E+02 m
+Inclination Sine: -3.72529030E-09 rad Cosine: -7.45058060E-09 rad
+In-track Sine: 6.87316060E-06 rad Cosine: 5.65685332E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Eph Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 172806 Tue-2:00:00:06 0x2AC 0 off
+SF2 HOW: 172806 Tue-2:00:00:06 0xAC 0 off
+SF3 HOW: 172806 Tue-2:00:00:06 0xAC 0 off
+
+ CLOCK
+
+Bias T0: 5.58263157E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370760E+03 m**.5
+Motion correction: 4.95913514E-09 rad/sec
+Eccentricity: 9.35129554E-03
+Arg of perigee: 2.54594306E+00 rad
+Mean anomaly at epoch: -9.06095983E-02 rad
+Right ascension: 2.51239340E+00 rad -8.35570519E-09 rad/sec
+Inclination: 9.58205830E-01 rad -5.09306929E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.05000000E+01 m Cosine: 2.32312500E+02 m
+Inclination Sine: -8.19563866E-08 rad Cosine: 5.21540642E-08 rad
+In-track Sine: 7.47665763E-06 rad Cosine: -2.24076211E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 2
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Eph Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 180006 Tue-2:02:00:06 0x2AD 0 off
+SF2 HOW: 180006 Tue-2:02:00:06 0xAD 0 off
+SF3 HOW: 180006 Tue-2:02:00:06 0xAD 0 off
+
+ CLOCK
+
+Bias T0: 5.58305997E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15371153E+03 m**.5
+Motion correction: 4.84091593E-09 rad/sec
+Eccentricity: 9.35316086E-03
+Arg of perigee: 2.54603428E+00 rad
+Mean anomaly at epoch: 9.59460895E-01 rad
+Right ascension: 2.51233346E+00 rad -8.27070165E-09 rad/sec
+Inclination: 9.58202504E-01 rad -5.20021661E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.51562500E+01 m Cosine: 2.45906250E+02 m
+Inclination Sine: -3.53902578E-08 rad Cosine: 1.60187483E-07 rad
+In-track Sine: 6.79865479E-06 rad Cosine: -2.42330134E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 2
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 194384 Tue-2 31 21584 01/31/2006 05:59:44
+Eph Epoch: 1360( 336) 194384 Tue-2 31 21584 01/31/2006 05:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 193626 Tue-2:05:47:06 0x2C4 0 off
+SF2 HOW: 193626 Tue-2:05:47:06 0xC4 0 off
+SF3 HOW: 193626 Tue-2:05:47:06 0xC4 0 off
+
+ CLOCK
+
+Bias T0: 5.58349304E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15371032E+03 m**.5
+Motion correction: 4.84555898E-09 rad/sec
+Eccentricity: 9.35331150E-03
+Arg of perigee: 2.54596333E+00 rad
+Mean anomaly at epoch: 2.00735802E+00 rad
+Right ascension: 2.51227500E+00 rad -8.17534054E-09 rad/sec
+Inclination: 9.58198768E-01 rad -5.95024785E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.89062500E+01 m Cosine: 2.49906250E+02 m
+Inclination Sine: 7.63684511E-08 rad Cosine: 6.33299351E-08 rad
+In-track Sine: 6.62170351E-06 rad Cosine: -2.45310366E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Eph Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 187206 Tue-2:04:00:06 0x2AE 0 off
+SF2 HOW: 187206 Tue-2:04:00:06 0xAE 0 off
+SF3 HOW: 187206 Tue-2:04:00:06 0xAE 0 off
+
+ CLOCK
+
+Bias T0: 5.58348838E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15371032E+03 m**.5
+Motion correction: 4.84555898E-09 rad/sec
+Eccentricity: 9.35331290E-03
+Arg of perigee: 2.54596378E+00 rad
+Mean anomaly at epoch: 2.00969128E+00 rad
+Right ascension: 2.51227486E+00 rad -8.17534054E-09 rad/sec
+Inclination: 9.58198745E-01 rad -5.95024785E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.89062500E+01 m Cosine: 2.49906250E+02 m
+Inclination Sine: 7.63684511E-08 rad Cosine: 6.33299351E-08 rad
+In-track Sine: 6.62170351E-06 rad Cosine: -2.45310366E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 2
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 201584 Tue-2 31 28784 01/31/2006 07:59:44
+Eph Epoch: 1360( 336) 201584 Tue-2 31 28784 01/31/2006 07:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 194406 Tue-2:06:00:06 0x1C5 0 off
+SF2 HOW: 194406 Tue-2:06:00:06 0xC5 0 off
+SF3 HOW: 194406 Tue-2:06:00:06 0xC5 0 off
+
+ CLOCK
+
+Bias T0: 5.58392145E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370812E+03 m**.5
+Motion correction: 4.85734519E-09 rad/sec
+Eccentricity: 9.35426482E-03
+Arg of perigee: 2.54589149E+00 rad
+Mean anomaly at epoch: 3.05759168E+00 rad
+Right ascension: 2.51221588E+00 rad -8.14212487E-09 rad/sec
+Inclination: 9.58194788E-01 rad -5.32522182E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.34375000E+01 m Cosine: 2.56125000E+02 m
+Inclination Sine: 1.04308128E-07 rad Cosine: -2.23517418E-08 rad
+In-track Sine: 6.29760325E-06 rad Cosine: -2.15694308E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Eph Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 201606 Tue-2:08:00:06 0x1C6 0 off
+SF2 HOW: 201606 Tue-2:08:00:06 0xC6 0 off
+SF3 HOW: 201606 Tue-2:08:00:06 0xC6 0 off
+
+ CLOCK
+
+Bias T0: 5.58434986E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370631E+03 m**.5
+Motion correction: 4.91627621E-09 rad/sec
+Eccentricity: 9.35517496E-03
+Arg of perigee: 2.54592936E+00 rad
+Mean anomaly at epoch: -2.17313468E+00 rad
+Right ascension: 2.51215687E+00 rad -8.24570061E-09 rad/sec
+Inclination: 9.58190482E-01 rad -5.29307762E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.03125000E+01 m Cosine: 2.49781250E+02 m
+Inclination Sine: 8.94069672E-08 rad Cosine: -1.50874257E-07 rad
+In-track Sine: 6.75022602E-06 rad Cosine: -1.99861825E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Eph Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x1C7 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0xC7 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0xC7 0 off
+
+ CLOCK
+
+Bias T0: 5.58477826E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370655E+03 m**.5
+Motion correction: 4.89556106E-09 rad/sec
+Eccentricity: 9.35519312E-03
+Arg of perigee: 2.54591534E+00 rad
+Mean anomaly at epoch: -1.12295671E+00 rad
+Right ascension: 2.51209679E+00 rad -8.32106089E-09 rad/sec
+Inclination: 9.58186633E-01 rad -4.94663462E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -3.94062500E+01 m Cosine: 2.49156250E+02 m
+Inclination Sine: -4.65661287E-08 rad Cosine: -1.34110451E-07 rad
+In-track Sine: 6.76140189E-06 rad Cosine: -2.19792128E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Eph Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 216006 Tue-2:12:00:06 0x1C8 0 off
+SF2 HOW: 216006 Tue-2:12:00:06 0xC8 0 off
+SF3 HOW: 216006 Tue-2:12:00:06 0xC8 0 off
+
+ CLOCK
+
+Bias T0: 5.58520667E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370721E+03 m**.5
+Motion correction: 4.94806325E-09 rad/sec
+Eccentricity: 9.35553596E-03
+Arg of perigee: 2.54590311E+00 rad
+Mean anomaly at epoch: -7.27814121E-02 rad
+Right ascension: 2.51203755E+00 rad -8.40392149E-09 rad/sec
+Inclination: 9.58182252E-01 rad -6.62527597E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.21875000E+01 m Cosine: 2.48468750E+02 m
+Inclination Sine: -1.37835741E-07 rad Cosine: 6.51925802E-08 rad
+In-track Sine: 6.81355596E-06 rad Cosine: -2.41957605E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 230400 Tue-2 31 57600 01/31/2006 16:00:00
+Eph Epoch: 1360( 336) 230400 Tue-2 31 57600 01/31/2006 16:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 223206 Tue-2:14:00:06 0x0C9 0 off
+SF2 HOW: 223206 Tue-2:14:00:06 0xC9 0 off
+SF3 HOW: 223206 Tue-2:14:00:06 0xC9 0 off
+
+ CLOCK
+
+Bias T0: 5.58563508E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15371126E+03 m**.5
+Motion correction: 4.96199240E-09 rad/sec
+Eccentricity: 9.35740734E-03
+Arg of perigee: 2.54600791E+00 rad
+Mean anomaly at epoch: 9.77276156E-01 rad
+Right ascension: 2.51197711E+00 rad -8.37927760E-09 rad/sec
+Inclination: 9.58177516E-01 rad -6.83242746E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.54375000E+01 m Cosine: 2.62937500E+02 m
+Inclination Sine: -5.40167093E-08 rad Cosine: 1.19209290E-07 rad
+In-track Sine: 5.70528209E-06 rad Cosine: -2.64123082E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Eph Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 230406 Tue-2:16:00:06 0x3C4 0 off
+SF2 HOW: 230406 Tue-2:16:00:06 0xC4 0 off
+SF3 HOW: 230406 Tue-2:16:00:06 0xC4 0 off
+
+ CLOCK
+
+Bias T0: 5.58606349E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15371147E+03 m**.5
+Motion correction: 5.09914097E-09 rad/sec
+Eccentricity: 9.35770059E-03
+Arg of perigee: 2.54601763E+00 rad
+Mean anomaly at epoch: 2.02742773E+00 rad
+Right ascension: 2.51191656E+00 rad -8.39249244E-09 rad/sec
+Inclination: 9.58172632E-01 rad -6.30740559E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.35625000E+01 m Cosine: 2.67000000E+02 m
+Inclination Sine: 2.42143869E-08 rad Cosine: 1.99303031E-07 rad
+In-track Sine: 5.63822687E-06 rad Cosine: -2.02842057E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Eph Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 237606 Tue-2:18:00:06 0x2C5 0 off
+SF2 HOW: 237606 Tue-2:18:00:06 0xC5 0 off
+SF3 HOW: 237606 Tue-2:18:00:06 0xC5 0 off
+
+ CLOCK
+
+Bias T0: 5.58649190E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370851E+03 m**.5
+Motion correction: 5.13557106E-09 rad/sec
+Eccentricity: 9.35899641E-03
+Arg of perigee: 2.54592152E+00 rad
+Mean anomaly at epoch: 3.07768774E+00 rad
+Right ascension: 2.51185522E+00 rad -8.28748806E-09 rad/sec
+Inclination: 9.58169255E-01 rad -4.05016871E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -3.60000000E+01 m Cosine: 2.75468750E+02 m
+Inclination Sine: 1.63912773E-07 rad Cosine: -7.07805157E-08 rad
+In-track Sine: 5.40725887E-06 rad Cosine: -1.72853470E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Eph Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 244806 Tue-2:20:00:06 0x2C6 0 off
+SF2 HOW: 244806 Tue-2:20:00:06 0xC6 0 off
+SF3 HOW: 244806 Tue-2:20:00:06 0xC6 0 off
+
+ CLOCK
+
+Bias T0: 5.58691565E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370654E+03 m**.5
+Motion correction: 5.16735810E-09 rad/sec
+Eccentricity: 9.35994752E-03
+Arg of perigee: 2.54597027E+00 rad
+Mean anomaly at epoch: -2.15538154E+00 rad
+Right ascension: 2.51179534E+00 rad -8.36856287E-09 rad/sec
+Inclination: 9.58166043E-01 rad -3.85730353E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -3.37500000E+01 m Cosine: 2.68281250E+02 m
+Inclination Sine: 8.56816769E-08 rad Cosine: -1.97440386E-07 rad
+In-track Sine: 5.96605241E-06 rad Cosine: -1.59814954E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 259200 Wed-3 32 0 02/01/2006 00:00:00
+Eph Epoch: 1360( 336) 259200 Wed-3 32 0 02/01/2006 00:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 252006 Tue-2:22:00:06 0x2C7 0 off
+SF2 HOW: 252006 Tue-2:22:00:06 0xC7 0 off
+SF3 HOW: 252006 Tue-2:22:00:06 0xC7 0 off
+
+ CLOCK
+
+Bias T0: 5.58734406E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370608E+03 m**.5
+Motion correction: 5.14592863E-09 rad/sec
+Eccentricity: 9.36006801E-03
+Arg of perigee: 2.54599571E+00 rad
+Mean anomaly at epoch: -1.10524073E+00 rad
+Right ascension: 2.51173364E+00 rad -8.51249744E-09 rad/sec
+Inclination: 9.58163270E-01 rad -2.69296932E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -3.57187500E+01 m Cosine: 2.67156250E+02 m
+Inclination Sine: -8.00937414E-08 rad Cosine: -5.96046448E-08 rad
+In-track Sine: 5.89340925E-06 rad Cosine: -2.13272870E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 2
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Eph Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 172806 Tue-2:00:00:06 0x1B4 0 off
+SF2 HOW: 172806 Tue-2:00:00:06 0xB4 0 off
+SF3 HOW: 172806 Tue-2:00:00:06 0xB4 0 off
+
+ CLOCK
+
+Bias T0: 2.11610459E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360316E+03 m**.5
+Motion correction: 4.39589739E-09 rad/sec
+Eccentricity: 8.71090021E-03
+Arg of perigee: 1.29523927E+00 rad
+Mean anomaly at epoch: -2.23653823E+00 rad
+Right ascension: 3.07566662E-01 rad -7.75710883E-09 rad/sec
+Inclination: 9.44623504E-01 rad 1.08933109E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -6.76875000E+01 m Cosine: 1.15000000E+02 m
+Inclination Sine: -9.31322575E-08 rad Cosine: 1.21071935E-07 rad
+In-track Sine: 1.32359564E-05 rad Cosine: -3.53716314E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Eph Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 180006 Tue-2:02:00:06 0x1B5 0 off
+SF2 HOW: 180006 Tue-2:02:00:06 0xB5 0 off
+SF3 HOW: 180006 Tue-2:02:00:06 0xB5 0 off
+
+ CLOCK
+
+Bias T0: 2.11857259E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360674E+03 m**.5
+Motion correction: 4.54197491E-09 rad/sec
+Eccentricity: 8.71113362E-03
+Arg of perigee: 1.29501397E+00 rad
+Mean anomaly at epoch: -1.18609024E+00 rad
+Right ascension: 3.07510597E-01 rad -8.09319426E-09 rad/sec
+Inclination: 9.44622470E-01 rad -5.00020828E-12 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -7.28750000E+01 m Cosine: 1.30031250E+02 m
+Inclination Sine: 2.40281224E-07 rad Cosine: -7.45058060E-09 rad
+In-track Sine: 1.24983490E-05 rad Cosine: -3.84636223E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Eph Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 187206 Tue-2:04:00:06 0x1B6 0 off
+SF2 HOW: 187206 Tue-2:04:00:06 0xB6 0 off
+SF3 HOW: 187206 Tue-2:04:00:06 0xB6 0 off
+
+ CLOCK
+
+Bias T0: 2.12104060E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360359E+03 m**.5
+Motion correction: 4.66233706E-09 rad/sec
+Eccentricity: 8.70950485E-03
+Arg of perigee: 1.29508260E+00 rad
+Mean anomaly at epoch: -1.35935973E-01 rad
+Right ascension: 3.07451598E-01 rad -8.18676958E-09 rad/sec
+Inclination: 9.44622210E-01 rad 1.42863094E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -8.65312500E+01 m Cosine: 1.33937500E+02 m
+Inclination Sine: 1.09896064E-07 rad Cosine: -9.68575478E-08 rad
+In-track Sine: 1.23213977E-05 rad Cosine: -4.46103513E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 201600 Tue-2 31 28800 01/31/2006 08:00:00
+Eph Epoch: 1360( 336) 201600 Tue-2 31 28800 01/31/2006 08:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 194406 Tue-2:06:00:06 0x1B7 0 off
+SF2 HOW: 194406 Tue-2:06:00:06 0xB7 0 off
+SF3 HOW: 194406 Tue-2:06:00:06 0xB7 0 off
+
+ CLOCK
+
+Bias T0: 2.12350860E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360806E+03 m**.5
+Motion correction: 4.60804909E-09 rad/sec
+Eccentricity: 8.71139602E-03
+Arg of perigee: 1.29526135E+00 rad
+Mean anomaly at epoch: 9.14109252E-01 rad
+Right ascension: 3.07393065E-01 rad -8.17498338E-09 rad/sec
+Inclination: 9.44621932E-01 rad -6.39312344E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -1.00750000E+02 m Cosine: 1.20312500E+02 m
+Inclination Sine: -1.11758709E-08 rad Cosine: -1.34110451E-07 rad
+In-track Sine: 1.31167471E-05 rad Cosine: -5.17070293E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Eph Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 201606 Tue-2:08:00:06 0x1B8 0 off
+SF2 HOW: 201606 Tue-2:08:00:06 0xB8 0 off
+SF3 HOW: 201606 Tue-2:08:00:06 0xB8 0 off
+
+ CLOCK
+
+Bias T0: 2.12597661E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360479E+03 m**.5
+Motion correction: 4.61126351E-09 rad/sec
+Eccentricity: 8.71198589E-03
+Arg of perigee: 1.29505117E+00 rad
+Mean anomaly at epoch: 1.96454133E+00 rad
+Right ascension: 3.07334399E-01 rad -7.96354600E-09 rad/sec
+Inclination: 9.44622565E-01 rad -4.64305054E-12 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -1.00281250E+02 m Cosine: 1.02875000E+02 m
+Inclination Sine: -2.12341547E-07 rad Cosine: 5.58793545E-09 rad
+In-track Sine: 1.37276947E-05 rad Cosine: -5.29922545E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Eph Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x1B9 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0xB9 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0xB9 0 off
+
+ CLOCK
+
+Bias T0: 2.12844461E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360841E+03 m**.5
+Motion correction: 4.55768985E-09 rad/sec
+Eccentricity: 8.71008832E-03
+Arg of perigee: 1.29513505E+00 rad
+Mean anomaly at epoch: 3.01468050E+00 rad
+Right ascension: 3.07277461E-01 rad -7.91318676E-09 rad/sec
+Inclination: 9.44622686E-01 rad 3.57157734E-12 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -8.42187500E+01 m Cosine: 9.85625000E+01 m
+Inclination Sine: -1.30385160E-07 rad Cosine: 1.15483999E-07 rad
+In-track Sine: 1.38413161E-05 rad Cosine: -4.37162817E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 223184 Tue-2 31 50384 01/31/2006 13:59:44
+Eph Epoch: 1360( 336) 223184 Tue-2 31 50384 01/31/2006 13:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 219786 Tue-2:13:03:06 0x0CE 0 off
+SF2 HOW: 219786 Tue-2:13:03:06 0xCE 0 off
+SF3 HOW: 219786 Tue-2:13:03:06 0xCE 0 off
+
+ CLOCK
+
+Bias T0: 2.13137828E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360179E+03 m**.5
+Motion correction: 4.70841041E-09 rad/sec
+Eccentricity: 8.71319743E-03
+Arg of perigee: 1.29534120E+00 rad
+Mean anomaly at epoch: -2.22082140E+00 rad
+Right ascension: 3.07220032E-01 rad -7.91461539E-09 rad/sec
+Inclination: 9.44623207E-01 rad 1.13219002E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -7.14375000E+01 m Cosine: 1.22156250E+02 m
+Inclination Sine: 1.67638063E-08 rad Cosine: 1.28522515E-07 rad
+In-track Sine: 1.28187239E-05 rad Cosine: -3.76813114E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Eph Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 216006 Tue-2:12:00:06 0x2B4 0 off
+SF2 HOW: 216006 Tue-2:12:00:06 0xB4 0 off
+SF3 HOW: 216006 Tue-2:12:00:06 0xB4 0 off
+
+ CLOCK
+
+Bias T0: 2.13091262E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360179E+03 m**.5
+Motion correction: 4.70841041E-09 rad/sec
+Eccentricity: 8.71319557E-03
+Arg of perigee: 1.29534135E+00 rad
+Mean anomaly at epoch: -2.21848770E+00 rad
+Right ascension: 3.07219892E-01 rad -7.91461539E-09 rad/sec
+Inclination: 9.44623209E-01 rad 1.13219002E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -7.14375000E+01 m Cosine: 1.22156250E+02 m
+Inclination Sine: 1.67638063E-08 rad Cosine: 1.28522515E-07 rad
+In-track Sine: 1.28187239E-05 rad Cosine: -3.76813114E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 230384 Tue-2 31 57584 01/31/2006 15:59:44
+Eph Epoch: 1360( 336) 230384 Tue-2 31 57584 01/31/2006 15:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 223206 Tue-2:14:00:06 0x0CF 0 off
+SF2 HOW: 223206 Tue-2:14:00:06 0xCF 0 off
+SF3 HOW: 223206 Tue-2:14:00:06 0xCF 0 off
+
+ CLOCK
+
+Bias T0: 2.13384628E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360553E+03 m**.5
+Motion correction: 4.71126767E-09 rad/sec
+Eccentricity: 8.71346553E-03
+Arg of perigee: 1.29510646E+00 rad
+Mean anomaly at epoch: -1.17036120E+00 rad
+Right ascension: 3.07162875E-01 rad -8.14748223E-09 rad/sec
+Inclination: 9.44622831E-01 rad 5.07163983E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -7.65312500E+01 m Cosine: 1.37875000E+02 m
+Inclination Sine: 2.23517418E-07 rad Cosine: -1.86264515E-08 rad
+In-track Sine: 1.22822821E-05 rad Cosine: -3.85381281E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Eph Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 230406 Tue-2:16:00:06 0x0D0 0 off
+SF2 HOW: 230406 Tue-2:16:00:06 0xD0 0 off
+SF3 HOW: 230406 Tue-2:16:00:06 0xD0 0 off
+
+ CLOCK
+
+Bias T0: 2.13631429E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360266E+03 m**.5
+Motion correction: 4.72555398E-09 rad/sec
+Eccentricity: 8.71195330E-03
+Arg of perigee: 1.29516376E+00 rad
+Mean anomaly at epoch: -1.17860253E-01 rad
+Right ascension: 3.07103413E-01 rad -8.23248577E-09 rad/sec
+Inclination: 9.44622997E-01 rad 6.57170231E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -8.90312500E+01 m Cosine: 1.42281250E+02 m
+Inclination Sine: 9.87201929E-08 rad Cosine: -1.04308128E-07 rad
+In-track Sine: 1.21705234E-05 rad Cosine: -4.79258597E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Eph Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 237666 Tue-2:18:01:06 0x0D1 0 off
+SF2 HOW: 237666 Tue-2:18:01:06 0xD1 0 off
+SF3 HOW: 237666 Tue-2:18:01:06 0xD1 0 off
+
+ CLOCK
+
+Bias T0: 2.13873573E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360660E+03 m**.5
+Motion correction: 4.58126226E-09 rad/sec
+Eccentricity: 8.71358160E-03
+Arg of perigee: 1.29532649E+00 rad
+Mean anomaly at epoch: 9.32201625E-01 rad
+Right ascension: 3.07044718E-01 rad -8.23534304E-09 rad/sec
+Inclination: 9.44622947E-01 rad -5.07163983E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -1.02281250E+02 m Cosine: 1.30906250E+02 m
+Inclination Sine: -5.77419996E-08 rad Cosine: -9.87201929E-08 rad
+In-track Sine: 1.24275684E-05 rad Cosine: -5.36069274E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Eph Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 244806 Tue-2:20:00:06 0x0D2 0 off
+SF2 HOW: 244806 Tue-2:20:00:06 0xD2 0 off
+SF3 HOW: 244806 Tue-2:20:00:06 0xD2 0 off
+
+ CLOCK
+
+Bias T0: 2.14120373E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360381E+03 m**.5
+Motion correction: 4.50054461E-09 rad/sec
+Eccentricity: 8.71415599E-03
+Arg of perigee: 1.29514812E+00 rad
+Mean anomaly at epoch: 1.98260220E+00 rad
+Right ascension: 3.06985642E-01 rad -8.02461997E-09 rad/sec
+Inclination: 9.44623629E-01 rad -3.57157734E-12 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -1.02875000E+02 m Cosine: 1.15656250E+02 m
+Inclination Sine: -2.29105353E-07 rad Cosine: 7.63684511E-08 rad
+In-track Sine: 1.31297857E-05 rad Cosine: -5.29922545E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 259200 Wed-3 32 0 02/01/2006 00:00:00
+Eph Epoch: 1360( 336) 259200 Wed-3 32 0 02/01/2006 00:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 252006 Tue-2:22:00:06 0x0D3 0 off
+SF2 HOW: 252006 Tue-2:22:00:06 0xD3 0 off
+SF3 HOW: 252006 Tue-2:22:00:06 0xD3 0 off
+
+ CLOCK
+
+Bias T0: 2.14362517E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360734E+03 m**.5
+Motion correction: 4.35768151E-09 rad/sec
+Eccentricity: 8.71229277E-03
+Arg of perigee: 1.29522530E+00 rad
+Mean anomaly at epoch: 3.03274719E+00 rad
+Right ascension: 3.06929331E-01 rad -7.84746974E-09 rad/sec
+Inclination: 9.44623928E-01 rad -8.82179603E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -8.73125000E+01 m Cosine: 1.10812500E+02 m
+Inclination Sine: -3.72529030E-09 rad Cosine: 7.63684511E-08 rad
+In-track Sine: 1.33030117E-05 rad Cosine: -4.45544720E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
diff --git a/dev/tests/BCEphemerisStore/Checks/clearTest.chk b/dev/tests/BCEphemerisStore/Checks/clearTest.chk
new file mode 100644
index 0000000..e1dcfc7
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Checks/clearTest.chk
@@ -0,0 +1,5 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ End of BCE maps.
+
diff --git a/dev/tests/BCEphemerisStore/Checks/editTest.chk b/dev/tests/BCEphemerisStore/Checks/editTest.chk
new file mode 100644
index 0000000..87b4198
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Checks/editTest.chk
@@ -0,0 +1,33 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 9 entries.
+PRN 1 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 181806.000 KEY 01/31/2006 02:00:00
+PRN 1 TOE 01/31/2006 05:59:44 TOC 194384.000 HOW 192216.000 KEY 01/31/2006 03:59:44
+PRN 1 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 1 TOE 01/31/2006 07:59:44 TOC 201584.000 HOW 194406.000 KEY 01/31/2006 05:59:44
+PRN 1 TOE 01/31/2006 09:59:44 TOC 208784.000 HOW 208446.000 KEY 01/31/2006 07:59:44
+PRN 1 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 1 TOE 01/31/2006 11:59:44 TOC 215984.000 HOW 208806.000 KEY 01/31/2006 09:59:44
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 1 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+ BCE map for satellite 15 has 8 entries.
+PRN 15 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 180006.000 KEY 01/31/2006 02:00:00
+PRN 15 TOE 01/31/2006 05:59:44 TOC 194384.000 HOW 193626.000 KEY 01/31/2006 03:59:44
+PRN 15 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 15 TOE 01/31/2006 07:59:44 TOC 201584.000 HOW 194406.000 KEY 01/31/2006 05:59:44
+PRN 15 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 15 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 15 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+ BCE map for satellite 32 has 8 entries.
+PRN 32 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 180006.000 KEY 01/31/2006 02:00:00
+PRN 32 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 32 TOE 01/31/2006 08:00:00 TOC 201600.000 HOW 194406.000 KEY 01/31/2006 06:00:00
+PRN 32 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 32 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 32 TOE 01/31/2006 13:59:44 TOC 223184.000 HOW 219786.000 KEY 01/31/2006 11:59:44
+PRN 32 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 32 TOE 01/31/2006 15:59:44 TOC 230384.000 HOW 223206.000 KEY 01/31/2006 13:59:44
+ End of BCE maps.
+
diff --git a/dev/tests/BCEphemerisStore/Checks/findEph1.chk b/dev/tests/BCEphemerisStore/Checks/findEph1.chk
new file mode 100644
index 0000000..e5b77d1
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Checks/findEph1.chk
@@ -0,0 +1,46 @@
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 215984 Tue-2 31 43184 01/31/2006 11:59:44
+Eph Epoch: 1360( 336) 215984 Tue-2 31 43184 01/31/2006 11:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x174 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0x74 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0x74 0 off
+
+ CLOCK
+
+Bias T0: 3.42056155E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367878E+03 m**.5
+Motion correction: 4.15874466E-09 rad/sec
+Eccentricity: 6.32588984E-03
+Arg of perigee: -1.71070282E+00 rad
+Mean anomaly at epoch: 2.31892822E-01 rad
+Right ascension: -1.71556436E+00 rad -8.27605902E-09 rad/sec
+Inclination: 9.86372320E-01 rad 5.33236497E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.13406250E+02 m Cosine: 2.90062500E+02 m
+Inclination Sine: -2.79396772E-08 rad Cosine: -7.45058060E-08 rad
+In-track Sine: 5.29363751E-06 rad Cosine: 5.78165054E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
diff --git a/dev/tests/BCEphemerisStore/Checks/findEph15.chk b/dev/tests/BCEphemerisStore/Checks/findEph15.chk
new file mode 100644
index 0000000..8ca404a
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Checks/findEph15.chk
@@ -0,0 +1,46 @@
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Eph Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x1C7 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0xC7 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0xC7 0 off
+
+ CLOCK
+
+Bias T0: 5.58477826E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370655E+03 m**.5
+Motion correction: 4.89556106E-09 rad/sec
+Eccentricity: 9.35519312E-03
+Arg of perigee: 2.54591534E+00 rad
+Mean anomaly at epoch: -1.12295671E+00 rad
+Right ascension: 2.51209679E+00 rad -8.32106089E-09 rad/sec
+Inclination: 9.58186633E-01 rad -4.94663462E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -3.94062500E+01 m Cosine: 2.49156250E+02 m
+Inclination Sine: -4.65661287E-08 rad Cosine: -1.34110451E-07 rad
+In-track Sine: 6.76140189E-06 rad Cosine: -2.19792128E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
diff --git a/dev/tests/BCEphemerisStore/Checks/findEph32.chk b/dev/tests/BCEphemerisStore/Checks/findEph32.chk
new file mode 100644
index 0000000..071d04c
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Checks/findEph32.chk
@@ -0,0 +1,46 @@
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Eph Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x1B9 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0xB9 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0xB9 0 off
+
+ CLOCK
+
+Bias T0: 2.12844461E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360841E+03 m**.5
+Motion correction: 4.55768985E-09 rad/sec
+Eccentricity: 8.71008832E-03
+Arg of perigee: 1.29513505E+00 rad
+Mean anomaly at epoch: 3.01468050E+00 rad
+Right ascension: 3.07277461E-01 rad -7.91318676E-09 rad/sec
+Inclination: 9.44622686E-01 rad 3.57157734E-12 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -8.42187500E+01 m Cosine: 9.85625000E+01 m
+Inclination Sine: -1.30385160E-07 rad Cosine: 1.15483999E-07 rad
+In-track Sine: 1.38413161E-05 rad Cosine: -4.37162817E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
diff --git a/dev/tests/BCEphemerisStore/Checks/findNearTest.chk b/dev/tests/BCEphemerisStore/Checks/findNearTest.chk
new file mode 100644
index 0000000..c2311e3
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Checks/findNearTest.chk
@@ -0,0 +1,11 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 1 entries.
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+ BCE map for satellite 15 has 1 entries.
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+ BCE map for satellite 32 has 1 entries.
+PRN 32 TOE 01/31/2006 13:59:44 TOC 223184.000 HOW 219786.000 KEY 01/31/2006 11:59:44
+ End of BCE maps.
+
diff --git a/dev/tests/BCEphemerisStore/Checks/findUserTest.chk b/dev/tests/BCEphemerisStore/Checks/findUserTest.chk
new file mode 100644
index 0000000..ff4a2dd
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Checks/findUserTest.chk
@@ -0,0 +1,11 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 1 entries.
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+ BCE map for satellite 15 has 1 entries.
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+ BCE map for satellite 32 has 1 entries.
+PRN 32 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+ End of BCE maps.
+
diff --git a/dev/tests/BCEphemerisStore/Checks/getPrnXvt1.chk b/dev/tests/BCEphemerisStore/Checks/getPrnXvt1.chk
new file mode 100644
index 0000000..e4c3bff
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Checks/getPrnXvt1.chk
@@ -0,0 +1 @@
+x:(1.43293e+07, -2.70658e+06, -2.19986e+07), v:(354.696, 2812.26, -117.977), clk bias:3.42024e-05, clk drift:1.93268e-12
diff --git a/dev/tests/BCEphemerisStore/Checks/getPrnXvt15.chk b/dev/tests/BCEphemerisStore/Checks/getPrnXvt15.chk
new file mode 100644
index 0000000..ab2097d
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Checks/getPrnXvt15.chk
@@ -0,0 +1 @@
+x:(1.46708e+07, 7.54272e+06, 2.07205e+07), v:(-2147.79, 1575.58, 902.848), clk bias:0.000558493, clk drift:5.91172e-12
diff --git a/dev/tests/BCEphemerisStore/Checks/getPrnXvt32.chk b/dev/tests/BCEphemerisStore/Checks/getPrnXvt32.chk
new file mode 100644
index 0000000..0b3c565
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Checks/getPrnXvt32.chk
@@ -0,0 +1 @@
+x:(8.40859e+06, 1.71989e+07, -1.87307e+07), v:(-2248.12, -606.201, -1577.94), clk bias:2.12763e-05, clk drift:3.41061e-12
diff --git a/dev/tests/BCEphemerisStore/Checks/wiperTest.chk b/dev/tests/BCEphemerisStore/Checks/wiperTest.chk
new file mode 100644
index 0000000..31aca91
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Checks/wiperTest.chk
@@ -0,0 +1,31 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 8 entries.
+PRN 1 TOE 01/31/2006 11:59:44 TOC 215984.000 HOW 208806.000 KEY 01/31/2006 09:59:44
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 1 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+PRN 1 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 1 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237606.000 KEY 01/31/2006 18:00:00
+PRN 1 TOE 01/31/2006 21:59:44 TOC 251984.000 HOW 250056.000 KEY 01/31/2006 19:59:44
+PRN 1 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 1 TOE 01/31/2006 23:59:44 TOC 259184.000 HOW 252006.000 KEY 01/31/2006 21:59:44
+ BCE map for satellite 15 has 7 entries.
+PRN 15 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 15 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+PRN 15 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 15 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237606.000 KEY 01/31/2006 18:00:00
+PRN 15 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 15 TOE 02/01/2006 00:00:00 TOC 259200.000 HOW 252006.000 KEY 01/31/2006 22:00:00
+ BCE map for satellite 32 has 8 entries.
+PRN 32 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 32 TOE 01/31/2006 13:59:44 TOC 223184.000 HOW 219786.000 KEY 01/31/2006 11:59:44
+PRN 32 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 32 TOE 01/31/2006 15:59:44 TOC 230384.000 HOW 223206.000 KEY 01/31/2006 13:59:44
+PRN 32 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 32 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237666.000 KEY 01/31/2006 18:00:00
+PRN 32 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 32 TOE 02/01/2006 00:00:00 TOC 259200.000 HOW 252006.000 KEY 01/31/2006 22:00:00
+ End of BCE maps.
+
diff --git a/dev/tests/BCEphemerisStore/Checks/wiperTest2.chk b/dev/tests/BCEphemerisStore/Checks/wiperTest2.chk
new file mode 100644
index 0000000..f90c2f7
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Checks/wiperTest2.chk
@@ -0,0 +1,8 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for prn 1 has 0 entries.
+ BCE map for prn 15 has 0 entries.
+ BCE map for prn 32 has 0 entries.
+ End of BCE maps.
+
diff --git a/dev/tests/BCEphemerisStore/Jamfile b/dev/tests/BCEphemerisStore/Jamfile
new file mode 100644
index 0000000..3d9b25a
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Jamfile
@@ -0,0 +1,4 @@
+SubDir TOP BCEphemerisStore ;
+
+TestMain BCEphemerisStore/xBCEphemerisStore.tst : BCEphemerisStore/xRinexEphemerisStoreM.cpp BCEphemerisStore/xRinexEphemerisStore.cpp BCEphemerisStore/BCEphemerisStore.cpp ;
+
diff --git a/dev/tests/BCEphemerisStore/Logs/DumpData.txt b/dev/tests/BCEphemerisStore/Logs/DumpData.txt
new file mode 100644
index 0000000..c59b097
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/DumpData.txt
@@ -0,0 +1,49 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 15 entries.
+PRN 1 TOE 01/31/2006 02:00:00 TOC 180000.000 HOW 172806.000 KEY 01/31/2006 00:00:00
+PRN 1 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 181806.000 KEY 01/31/2006 02:00:00
+PRN 1 TOE 01/31/2006 05:59:44 TOC 194384.000 HOW 192216.000 KEY 01/31/2006 03:59:44
+PRN 1 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 1 TOE 01/31/2006 07:59:44 TOC 201584.000 HOW 194406.000 KEY 01/31/2006 05:59:44
+PRN 1 TOE 01/31/2006 09:59:44 TOC 208784.000 HOW 208446.000 KEY 01/31/2006 07:59:44
+PRN 1 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 1 TOE 01/31/2006 11:59:44 TOC 215984.000 HOW 208806.000 KEY 01/31/2006 09:59:44
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 1 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+PRN 1 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 1 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237606.000 KEY 01/31/2006 18:00:00
+PRN 1 TOE 01/31/2006 21:59:44 TOC 251984.000 HOW 250056.000 KEY 01/31/2006 19:59:44
+PRN 1 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 1 TOE 01/31/2006 23:59:44 TOC 259184.000 HOW 252006.000 KEY 01/31/2006 21:59:44
+ BCE map for satellite 15 has 13 entries.
+PRN 15 TOE 01/31/2006 02:00:00 TOC 180000.000 HOW 172806.000 KEY 01/31/2006 00:00:00
+PRN 15 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 180006.000 KEY 01/31/2006 02:00:00
+PRN 15 TOE 01/31/2006 05:59:44 TOC 194384.000 HOW 193626.000 KEY 01/31/2006 03:59:44
+PRN 15 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 15 TOE 01/31/2006 07:59:44 TOC 201584.000 HOW 194406.000 KEY 01/31/2006 05:59:44
+PRN 15 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 15 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 15 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+PRN 15 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 15 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237606.000 KEY 01/31/2006 18:00:00
+PRN 15 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 15 TOE 02/01/2006 00:00:00 TOC 259200.000 HOW 252006.000 KEY 01/31/2006 22:00:00
+ BCE map for satellite 32 has 13 entries.
+PRN 32 TOE 01/31/2006 02:00:00 TOC 180000.000 HOW 172806.000 KEY 01/31/2006 00:00:00
+PRN 32 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 180006.000 KEY 01/31/2006 02:00:00
+PRN 32 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 32 TOE 01/31/2006 08:00:00 TOC 201600.000 HOW 194406.000 KEY 01/31/2006 06:00:00
+PRN 32 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 32 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 32 TOE 01/31/2006 13:59:44 TOC 223184.000 HOW 219786.000 KEY 01/31/2006 11:59:44
+PRN 32 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 32 TOE 01/31/2006 15:59:44 TOC 230384.000 HOW 223206.000 KEY 01/31/2006 13:59:44
+PRN 32 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 32 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237666.000 KEY 01/31/2006 18:00:00
+PRN 32 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 32 TOE 02/01/2006 00:00:00 TOC 259200.000 HOW 252006.000 KEY 01/31/2006 22:00:00
+ End of BCE maps.
+
diff --git a/dev/tests/BCEphemerisStore/Logs/DumpData0.txt b/dev/tests/BCEphemerisStore/Logs/DumpData0.txt
new file mode 100644
index 0000000..7138230
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/DumpData0.txt
@@ -0,0 +1,4 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ Span is 01/31/2006 00:00:00 to 01/31/2006 22:00:00 with 41 entries.
diff --git a/dev/tests/BCEphemerisStore/Logs/DumpData1.txt b/dev/tests/BCEphemerisStore/Logs/DumpData1.txt
new file mode 100644
index 0000000..c59b097
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/DumpData1.txt
@@ -0,0 +1,49 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 15 entries.
+PRN 1 TOE 01/31/2006 02:00:00 TOC 180000.000 HOW 172806.000 KEY 01/31/2006 00:00:00
+PRN 1 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 181806.000 KEY 01/31/2006 02:00:00
+PRN 1 TOE 01/31/2006 05:59:44 TOC 194384.000 HOW 192216.000 KEY 01/31/2006 03:59:44
+PRN 1 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 1 TOE 01/31/2006 07:59:44 TOC 201584.000 HOW 194406.000 KEY 01/31/2006 05:59:44
+PRN 1 TOE 01/31/2006 09:59:44 TOC 208784.000 HOW 208446.000 KEY 01/31/2006 07:59:44
+PRN 1 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 1 TOE 01/31/2006 11:59:44 TOC 215984.000 HOW 208806.000 KEY 01/31/2006 09:59:44
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 1 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+PRN 1 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 1 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237606.000 KEY 01/31/2006 18:00:00
+PRN 1 TOE 01/31/2006 21:59:44 TOC 251984.000 HOW 250056.000 KEY 01/31/2006 19:59:44
+PRN 1 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 1 TOE 01/31/2006 23:59:44 TOC 259184.000 HOW 252006.000 KEY 01/31/2006 21:59:44
+ BCE map for satellite 15 has 13 entries.
+PRN 15 TOE 01/31/2006 02:00:00 TOC 180000.000 HOW 172806.000 KEY 01/31/2006 00:00:00
+PRN 15 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 180006.000 KEY 01/31/2006 02:00:00
+PRN 15 TOE 01/31/2006 05:59:44 TOC 194384.000 HOW 193626.000 KEY 01/31/2006 03:59:44
+PRN 15 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 15 TOE 01/31/2006 07:59:44 TOC 201584.000 HOW 194406.000 KEY 01/31/2006 05:59:44
+PRN 15 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 15 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 15 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+PRN 15 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 15 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237606.000 KEY 01/31/2006 18:00:00
+PRN 15 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 15 TOE 02/01/2006 00:00:00 TOC 259200.000 HOW 252006.000 KEY 01/31/2006 22:00:00
+ BCE map for satellite 32 has 13 entries.
+PRN 32 TOE 01/31/2006 02:00:00 TOC 180000.000 HOW 172806.000 KEY 01/31/2006 00:00:00
+PRN 32 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 180006.000 KEY 01/31/2006 02:00:00
+PRN 32 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 32 TOE 01/31/2006 08:00:00 TOC 201600.000 HOW 194406.000 KEY 01/31/2006 06:00:00
+PRN 32 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 32 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 32 TOE 01/31/2006 13:59:44 TOC 223184.000 HOW 219786.000 KEY 01/31/2006 11:59:44
+PRN 32 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 32 TOE 01/31/2006 15:59:44 TOC 230384.000 HOW 223206.000 KEY 01/31/2006 13:59:44
+PRN 32 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 32 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237666.000 KEY 01/31/2006 18:00:00
+PRN 32 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 32 TOE 02/01/2006 00:00:00 TOC 259200.000 HOW 252006.000 KEY 01/31/2006 22:00:00
+ End of BCE maps.
+
diff --git a/trunk/src/Makefile.am b/dev/tests/BCEphemerisStore/Logs/DumpData2.txt
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/BCEphemerisStore/Logs/DumpData2.txt
diff --git a/dev/tests/BCEphemerisStore/Logs/TestRinex06.031NEW b/dev/tests/BCEphemerisStore/Logs/TestRinex06.031NEW
new file mode 100644
index 0000000..bac0a39
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/TestRinex06.031NEW
@@ -0,0 +1,347 @@
+ 2.10 NAVIGATION RINEX VERSION / TYPE
+fic2rin 07/10/2006 09:16:03 PGM / RUN BY / DATE
+ END OF HEADER
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+ .518187880516D-05 .632309168577D-02 .631809234619D-05 .515367653465D+04
+ .251984000000D+06 -.987201929092D-07 -.171585326802D+01 .745058059692D-08
+ .986388127208D+00 .271312500000D+03 -.171055998422D+01 -.818998400285D-08
+ .313584490624D-09 .100000000000D+01 .136000000000D+04 .000000000000D+00
+ .240000000000D+01 .000000000000D+00 -.325962901115D-08 .141000000000D+03
+ .250056000000D+06 .400000000000D+01
+ 1 06 1 31 23 59 44.0 .343038700521D-04 .193267624127D-11 .000000000000D+00
+ .142000000000D+03 .106718750000D+03 .416553065393D-08 .249668416606D+00
+ .565685331821D-05 .632479728665D-02 .687316060066D-05 .515367983246D+04
+ .259184000000D+06 -.745058059692D-08 -.171591281756D+01 -.372529029846D-08
+ .986390524930D+00 .261562500000D+03 -.171061566288D+01 -.823534303509D-08
+ .376444251843D-09 .100000000000D+01 .136000000000D+04 .000000000000D+00
+ .240000000000D+01 .000000000000D+00 -.325962901115D-08 .142000000000D+03
+ .252006000000D+06 .400000000000D+01
+15 06 2 1 0 0 0.0 .558734405786D-03 .591171556152D-11 .000000000000D+00
+ .199000000000D+03 -.357187500000D+02 .514592863430D-08 -.110524072535D+01
+ -.213272869587D-05 .936006801203D-02 .589340925217D-05 .515370607948D+04
+ .259200000000D+06 -.596046447754D-07 .251173363883D+01 -.800937414169D-07
+ .958163270432D+00 .267156250000D+03 .254599570982D+01 -.851249743683D-08
+ -.269296931584D-09 .100000000000D+01 .136000000000D+04 .000000000000D+00
+ .485000000000D+01 .000000000000D+00 -.232830643654D-08 .711000000000D+03
+ .252006000000D+06 .400000000000D+01
+32 06 2 1 0 0 0.0 .214362516999D-04 .341060513165D-11 .000000000000D+00
+ .211000000000D+03 -.873125000000D+02 .435768151493D-08 .303274718753D+01
+ -.445544719696D-05 .871229276527D-02 .133030116558D-04 .515360733604D+04
+ .259200000000D+06 .763684511185D-07 .306929331399D+00 -.372529029846D-08
+ .944623928498D+00 .110812500000D+03 .129522530274D+01 -.784746973576D-08
+ -.882179603464D-10 .100000000000D+01 .136000000000D+04 .000000000000D+00
+ .240000000000D+01 .000000000000D+00 -.838190317154D-08 .211000000000D+03
+ .252006000000D+06 .400000000000D+01
diff --git a/dev/tests/BCEphemerisStore/Logs/addEphemerisTest.txt b/dev/tests/BCEphemerisStore/Logs/addEphemerisTest.txt
new file mode 100644
index 0000000..dfcb5e5
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/addEphemerisTest.txt
@@ -0,0 +1,5 @@
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 1 entries.
+PRN 1 TOE 01/31/2006 11:59:44 TOC 215984.000 HOW 208806.000 KEY 01/31/2006 09:59:44
+ End of BCE maps.
+
diff --git a/dev/tests/BCEphemerisStore/Logs/addToListTest.txt b/dev/tests/BCEphemerisStore/Logs/addToListTest.txt
new file mode 100644
index 0000000..76f8863
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/addToListTest.txt
@@ -0,0 +1,1886 @@
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Eph Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 172806 Tue-2:00:00:06 0x043 0 off
+SF2 HOW: 172806 Tue-2:00:00:06 0x43 0 off
+SF3 HOW: 172806 Tue-2:00:00:06 0x43 0 off
+
+ CLOCK
+
+Bias T0: 3.41343693E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367689E+03 m**.5
+Motion correction: 4.34053794E-09 rad/sec
+Eccentricity: 6.32685330E-03
+Arg of perigee: -1.71098328E+00 rad
+Mean anomaly at epoch: 1.26681178E+00 rad
+Right ascension: -1.71526968E+00 rad -8.34177604E-09 rad/sec
+Inclination: 9.86356141E-01 rad 3.65729520E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.15968750E+02 m Cosine: 3.27531250E+02 m
+Inclination Sine: -1.17346644E-07 rad Cosine: -1.02445483E-07 rad
+In-track Sine: 3.52226198E-06 rad Cosine: 5.89340925E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Eph Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 181806 Tue-2:02:30:06 0x044 0 off
+SF2 HOW: 181806 Tue-2:02:30:06 0x44 0 off
+SF3 HOW: 181806 Tue-2:02:30:06 0x44 0 off
+
+ CLOCK
+
+Bias T0: 3.41478735E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367755E+03 m**.5
+Motion correction: 4.25303430E-09 rad/sec
+Eccentricity: 6.32700860E-03
+Arg of perigee: -1.71092165E+00 rad
+Mean anomaly at epoch: 2.31692691E+00 rad
+Right ascension: -1.71532878E+00 rad -8.11605235E-09 rad/sec
+Inclination: 9.86359782E-01 rad 3.52514684E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.12937500E+02 m Cosine: 3.30625000E+02 m
+Inclination Sine: -6.70552254E-08 rad Cosine: 1.28522515E-07 rad
+In-track Sine: 3.17767262E-06 rad Cosine: 5.77233732E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 194384 Tue-2 31 21584 01/31/2006 05:59:44
+Eph Epoch: 1360( 336) 194384 Tue-2 31 21584 01/31/2006 05:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 192216 Tue-2:05:23:36 0x259 0 off
+SF2 HOW: 192216 Tue-2:05:23:36 0x59 0 off
+SF3 HOW: 192216 Tue-2:05:23:36 0x59 0 off
+
+ CLOCK
+
+Bias T0: 3.41548584E-05 sec
+Drift: 1.81898940E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367874E+03 m**.5
+Motion correction: 4.25553440E-09 rad/sec
+Eccentricity: 6.32628636E-03
+Arg of perigee: -1.71094976E+00 rad
+Mean anomaly at epoch: -2.91838707E+00 rad
+Right ascension: -1.71538720E+00 rad -8.11176646E-09 rad/sec
+Inclination: 9.86362374E-01 rad 4.02516766E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.12750000E+02 m Cosine: 3.23406250E+02 m
+Inclination Sine: 4.84287739E-08 rad Cosine: 1.54599547E-07 rad
+In-track Sine: 3.57814133E-06 rad Cosine: 5.86546957E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Eph Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 187206 Tue-2:04:00:06 0x23F 0 off
+SF2 HOW: 187206 Tue-2:04:00:06 0x3F 0 off
+SF3 HOW: 187206 Tue-2:04:00:06 0x3F 0 off
+
+ CLOCK
+
+Bias T0: 3.41618434E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367875E+03 m**.5
+Motion correction: 4.25553440E-09 rad/sec
+Eccentricity: 6.32628449E-03
+Arg of perigee: -1.71094881E+00 rad
+Mean anomaly at epoch: -2.91605436E+00 rad
+Right ascension: -1.71538734E+00 rad -8.11176646E-09 rad/sec
+Inclination: 9.86362375E-01 rad 4.02516766E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.12750000E+02 m Cosine: 3.23406250E+02 m
+Inclination Sine: 4.84287739E-08 rad Cosine: 1.54599547E-07 rad
+In-track Sine: 3.57814133E-06 rad Cosine: 5.86546957E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 201584 Tue-2 31 28784 01/31/2006 07:59:44
+Eph Epoch: 1360( 336) 201584 Tue-2 31 28784 01/31/2006 07:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 194406 Tue-2:06:00:06 0x15A 0 off
+SF2 HOW: 194406 Tue-2:06:00:06 0x5A 0 off
+SF3 HOW: 194406 Tue-2:06:00:06 0x5A 0 off
+
+ CLOCK
+
+Bias T0: 3.41683626E-05 sec
+Drift: 1.81898940E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15368112E+03 m**.5
+Motion correction: 4.14945856E-09 rad/sec
+Eccentricity: 6.32504828E-03
+Arg of perigee: -1.71103397E+00 rad
+Mean anomaly at epoch: -1.86812836E+00 rad
+Right ascension: -1.71544585E+00 rad -8.06569311E-09 rad/sec
+Inclination: 9.86365821E-01 rad 4.89306096E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.06562500E+02 m Cosine: 3.13812500E+02 m
+Inclination Sine: 9.87201929E-08 rad Cosine: 2.79396772E-08 rad
+In-track Sine: 4.02703881E-06 rad Cosine: 5.71832061E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 208784 Tue-2 31 35984 01/31/2006 09:59:44
+Eph Epoch: 1360( 336) 208784 Tue-2 31 35984 01/31/2006 09:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208446 Tue-2:09:54:06 0x073 0 off
+SF2 HOW: 208446 Tue-2:09:54:06 0x73 0 off
+SF3 HOW: 208446 Tue-2:09:54:06 0x73 0 off
+
+ CLOCK
+
+Bias T0: 3.41916457E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367637E+03 m**.5
+Motion correction: 4.25303430E-09 rad/sec
+Eccentricity: 6.32467808E-03
+Arg of perigee: -1.71064445E+00 rad
+Mean anomaly at epoch: -8.18341978E-01 rad
+Right ascension: -1.71550465E+00 rad -8.23784314E-09 rad/sec
+Inclination: 9.86368594E-01 rad 5.06806825E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.06437500E+02 m Cosine: 2.95875000E+02 m
+Inclination Sine: 3.35276127E-08 rad Cosine: -1.35973096E-07 rad
+In-track Sine: 5.20423055E-06 rad Cosine: 5.66430390E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Eph Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 201606 Tue-2:08:00:06 0x15B 0 off
+SF2 HOW: 201606 Tue-2:08:00:06 0x5B 0 off
+SF3 HOW: 201606 Tue-2:08:00:06 0x5B 0 off
+
+ CLOCK
+
+Bias T0: 3.41818668E-05 sec
+Drift: 1.81898940E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367640E+03 m**.5
+Motion correction: 4.25303430E-09 rad/sec
+Eccentricity: 6.32467505E-03
+Arg of perigee: -1.71064293E+00 rad
+Mean anomaly at epoch: -8.16009862E-01 rad
+Right ascension: -1.71550477E+00 rad -8.23784314E-09 rad/sec
+Inclination: 9.86368607E-01 rad 5.06806825E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.06437500E+02 m Cosine: 2.95875000E+02 m
+Inclination Sine: 3.35276127E-08 rad Cosine: -1.35973096E-07 rad
+In-track Sine: 5.20423055E-06 rad Cosine: 5.66430390E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 215984 Tue-2 31 43184 01/31/2006 11:59:44
+Eph Epoch: 1360( 336) 215984 Tue-2 31 43184 01/31/2006 11:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x174 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0x74 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0x74 0 off
+
+ CLOCK
+
+Bias T0: 3.42056155E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367878E+03 m**.5
+Motion correction: 4.15874466E-09 rad/sec
+Eccentricity: 6.32588984E-03
+Arg of perigee: -1.71070282E+00 rad
+Mean anomaly at epoch: 2.31892822E-01 rad
+Right ascension: -1.71556436E+00 rad -8.27605902E-09 rad/sec
+Inclination: 9.86372320E-01 rad 5.33236497E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.13406250E+02 m Cosine: 2.90062500E+02 m
+Inclination Sine: -2.79396772E-08 rad Cosine: -7.45058060E-08 rad
+In-track Sine: 5.29363751E-06 rad Cosine: 5.78165054E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Eph Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 216006 Tue-2:12:00:06 0x175 0 off
+SF2 HOW: 216006 Tue-2:12:00:06 0x75 0 off
+SF3 HOW: 216006 Tue-2:12:00:06 0x75 0 off
+
+ CLOCK
+
+Bias T0: 3.42191197E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367680E+03 m**.5
+Motion correction: 4.14195824E-09 rad/sec
+Eccentricity: 6.32508728E-03
+Arg of perigee: -1.71080977E+00 rad
+Mean anomaly at epoch: 1.28450941E+00 rad
+Right ascension: -1.71562416E+00 rad -8.23998609E-09 rad/sec
+Inclination: 9.86376251E-01 rad 5.43236914E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.20250000E+02 m Cosine: 2.93375000E+02 m
+Inclination Sine: -1.11758709E-07 rad Cosine: -7.63684511E-08 rad
+In-track Sine: 5.04590571E-06 rad Cosine: 6.22309744E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 230400 Tue-2 31 57600 01/31/2006 16:00:00
+Eph Epoch: 1360( 336) 230400 Tue-2 31 57600 01/31/2006 16:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 223206 Tue-2:14:00:06 0x176 0 off
+SF2 HOW: 223206 Tue-2:14:00:06 0x76 0 off
+SF3 HOW: 223206 Tue-2:14:00:06 0x76 0 off
+
+ CLOCK
+
+Bias T0: 3.42330895E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367810E+03 m**.5
+Motion correction: 3.95159317E-09 rad/sec
+Eccentricity: 6.32507459E-03
+Arg of perigee: -1.71069671E+00 rad
+Mean anomaly at epoch: 2.33457123E+00 rad
+Right ascension: -1.71568233E+00 rad -7.97497505E-09 rad/sec
+Inclination: 9.86381295E-01 rad 5.13592822E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.19093750E+02 m Cosine: 2.98875000E+02 m
+Inclination Sine: 0.00000000E+00 rad Cosine: 1.73225999E-07 rad
+In-track Sine: 4.85964119E-06 rad Cosine: 6.14114106E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Eph Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 230406 Tue-2:16:00:06 0x177 0 off
+SF2 HOW: 230406 Tue-2:16:00:06 0x77 0 off
+SF3 HOW: 230406 Tue-2:16:00:06 0x77 0 off
+
+ CLOCK
+
+Bias T0: 3.42465937E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367751E+03 m**.5
+Motion correction: 3.94552149E-09 rad/sec
+Eccentricity: 6.32530451E-03
+Arg of perigee: -1.71075624E+00 rad
+Mean anomaly at epoch: -2.89838037E+00 rad
+Right ascension: -1.71573859E+00 rad -7.88925719E-09 rad/sec
+Inclination: 9.86384717E-01 rad 3.83230249E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.14312500E+02 m Cosine: 2.97218750E+02 m
+Inclination Sine: -3.72529030E-09 rad Cosine: -1.11758709E-08 rad
+In-track Sine: 5.05894423E-06 rad Cosine: 5.97164035E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Eph Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 237606 Tue-2:18:00:06 0x178 0 off
+SF2 HOW: 237606 Tue-2:18:00:06 0x78 0 off
+SF3 HOW: 237606 Tue-2:18:00:06 0x78 0 off
+
+ CLOCK
+
+Bias T0: 3.42600979E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15368125E+03 m**.5
+Motion correction: 3.94802159E-09 rad/sec
+Eccentricity: 6.32367632E-03
+Arg of perigee: -1.71094499E+00 rad
+Mean anomaly at epoch: -1.84801896E+00 rad
+Right ascension: -1.71579510E+00 rad -7.97426073E-09 rad/sec
+Inclination: 9.86386906E-01 rad 2.96440919E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.01968750E+02 m Cosine: 2.88843750E+02 m
+Inclination Sine: 6.33299351E-08 rad Cosine: 1.09896064E-07 rad
+In-track Sine: 5.53019345E-06 rad Cosine: 5.29736280E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 251984 Tue-2 31 79184 01/31/2006 21:59:44
+Eph Epoch: 1360( 336) 251984 Tue-2 31 79184 01/31/2006 21:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 250056 Tue-2:21:27:36 0x08D 0 off
+SF2 HOW: 250056 Tue-2:21:27:36 0x8D 0 off
+SF3 HOW: 250056 Tue-2:21:27:36 0x8D 0 off
+
+ CLOCK
+
+Bias T0: 3.42894346E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367653E+03 m**.5
+Motion correction: 4.16945939E-09 rad/sec
+Eccentricity: 6.32309169E-03
+Arg of perigee: -1.71055998E+00 rad
+Mean anomaly at epoch: -8.00563293E-01 rad
+Right ascension: -1.71585327E+00 rad -8.18998400E-09 rad/sec
+Inclination: 9.86388127E-01 rad 3.13584491E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 9.87812500E+01 m Cosine: 2.71312500E+02 m
+Inclination Sine: 7.45058060E-09 rad Cosine: -9.87201929E-08 rad
+In-track Sine: 6.31809235E-06 rad Cosine: 5.18187881E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Eph Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 244806 Tue-2:20:00:06 0x173 0 off
+SF2 HOW: 244806 Tue-2:20:00:06 0x73 0 off
+SF3 HOW: 244806 Tue-2:20:00:06 0x73 0 off
+
+ CLOCK
+
+Bias T0: 3.42740677E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367653E+03 m**.5
+Motion correction: 4.16945939E-09 rad/sec
+Eccentricity: 6.32309355E-03
+Arg of perigee: -1.71056065E+00 rad
+Mean anomaly at epoch: -7.98228821E-01 rad
+Right ascension: -1.71585343E+00 rad -8.18998400E-09 rad/sec
+Inclination: 9.86388094E-01 rad 3.13584491E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 9.87812500E+01 m Cosine: 2.71312500E+02 m
+Inclination Sine: 7.45058060E-09 rad Cosine: -9.87201929E-08 rad
+In-track Sine: 6.31809235E-06 rad Cosine: 5.18187881E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 259184 Tue-2 31 86384 01/31/2006 23:59:44
+Eph Epoch: 1360( 336) 259184 Tue-2 31 86384 01/31/2006 23:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 252006 Tue-2:22:00:06 0x08E 0 off
+SF2 HOW: 252006 Tue-2:22:00:06 0x8E 0 off
+SF3 HOW: 252006 Tue-2:22:00:06 0x8E 0 off
+
+ CLOCK
+
+Bias T0: 3.43038701E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367983E+03 m**.5
+Motion correction: 4.16553065E-09 rad/sec
+Eccentricity: 6.32479729E-03
+Arg of perigee: -1.71061566E+00 rad
+Mean anomaly at epoch: 2.49668417E-01 rad
+Right ascension: -1.71591282E+00 rad -8.23534304E-09 rad/sec
+Inclination: 9.86390525E-01 rad 3.76444252E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.06718750E+02 m Cosine: 2.61562500E+02 m
+Inclination Sine: -3.72529030E-09 rad Cosine: -7.45058060E-09 rad
+In-track Sine: 6.87316060E-06 rad Cosine: 5.65685332E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Eph Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 172806 Tue-2:00:00:06 0x2AC 0 off
+SF2 HOW: 172806 Tue-2:00:00:06 0xAC 0 off
+SF3 HOW: 172806 Tue-2:00:00:06 0xAC 0 off
+
+ CLOCK
+
+Bias T0: 5.58263157E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370760E+03 m**.5
+Motion correction: 4.95913514E-09 rad/sec
+Eccentricity: 9.35129554E-03
+Arg of perigee: 2.54594306E+00 rad
+Mean anomaly at epoch: -9.06095983E-02 rad
+Right ascension: 2.51239340E+00 rad -8.35570519E-09 rad/sec
+Inclination: 9.58205830E-01 rad -5.09306929E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.05000000E+01 m Cosine: 2.32312500E+02 m
+Inclination Sine: -8.19563866E-08 rad Cosine: 5.21540642E-08 rad
+In-track Sine: 7.47665763E-06 rad Cosine: -2.24076211E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 2
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Eph Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 180006 Tue-2:02:00:06 0x2AD 0 off
+SF2 HOW: 180006 Tue-2:02:00:06 0xAD 0 off
+SF3 HOW: 180006 Tue-2:02:00:06 0xAD 0 off
+
+ CLOCK
+
+Bias T0: 5.58305997E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15371153E+03 m**.5
+Motion correction: 4.84091593E-09 rad/sec
+Eccentricity: 9.35316086E-03
+Arg of perigee: 2.54603428E+00 rad
+Mean anomaly at epoch: 9.59460895E-01 rad
+Right ascension: 2.51233346E+00 rad -8.27070165E-09 rad/sec
+Inclination: 9.58202504E-01 rad -5.20021661E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.51562500E+01 m Cosine: 2.45906250E+02 m
+Inclination Sine: -3.53902578E-08 rad Cosine: 1.60187483E-07 rad
+In-track Sine: 6.79865479E-06 rad Cosine: -2.42330134E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 2
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 194384 Tue-2 31 21584 01/31/2006 05:59:44
+Eph Epoch: 1360( 336) 194384 Tue-2 31 21584 01/31/2006 05:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 193626 Tue-2:05:47:06 0x2C4 0 off
+SF2 HOW: 193626 Tue-2:05:47:06 0xC4 0 off
+SF3 HOW: 193626 Tue-2:05:47:06 0xC4 0 off
+
+ CLOCK
+
+Bias T0: 5.58349304E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15371032E+03 m**.5
+Motion correction: 4.84555898E-09 rad/sec
+Eccentricity: 9.35331150E-03
+Arg of perigee: 2.54596333E+00 rad
+Mean anomaly at epoch: 2.00735802E+00 rad
+Right ascension: 2.51227500E+00 rad -8.17534054E-09 rad/sec
+Inclination: 9.58198768E-01 rad -5.95024785E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.89062500E+01 m Cosine: 2.49906250E+02 m
+Inclination Sine: 7.63684511E-08 rad Cosine: 6.33299351E-08 rad
+In-track Sine: 6.62170351E-06 rad Cosine: -2.45310366E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Eph Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 187206 Tue-2:04:00:06 0x2AE 0 off
+SF2 HOW: 187206 Tue-2:04:00:06 0xAE 0 off
+SF3 HOW: 187206 Tue-2:04:00:06 0xAE 0 off
+
+ CLOCK
+
+Bias T0: 5.58348838E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15371032E+03 m**.5
+Motion correction: 4.84555898E-09 rad/sec
+Eccentricity: 9.35331290E-03
+Arg of perigee: 2.54596378E+00 rad
+Mean anomaly at epoch: 2.00969128E+00 rad
+Right ascension: 2.51227486E+00 rad -8.17534054E-09 rad/sec
+Inclination: 9.58198745E-01 rad -5.95024785E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.89062500E+01 m Cosine: 2.49906250E+02 m
+Inclination Sine: 7.63684511E-08 rad Cosine: 6.33299351E-08 rad
+In-track Sine: 6.62170351E-06 rad Cosine: -2.45310366E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 2
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 201584 Tue-2 31 28784 01/31/2006 07:59:44
+Eph Epoch: 1360( 336) 201584 Tue-2 31 28784 01/31/2006 07:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 194406 Tue-2:06:00:06 0x1C5 0 off
+SF2 HOW: 194406 Tue-2:06:00:06 0xC5 0 off
+SF3 HOW: 194406 Tue-2:06:00:06 0xC5 0 off
+
+ CLOCK
+
+Bias T0: 5.58392145E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370812E+03 m**.5
+Motion correction: 4.85734519E-09 rad/sec
+Eccentricity: 9.35426482E-03
+Arg of perigee: 2.54589149E+00 rad
+Mean anomaly at epoch: 3.05759168E+00 rad
+Right ascension: 2.51221588E+00 rad -8.14212487E-09 rad/sec
+Inclination: 9.58194788E-01 rad -5.32522182E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.34375000E+01 m Cosine: 2.56125000E+02 m
+Inclination Sine: 1.04308128E-07 rad Cosine: -2.23517418E-08 rad
+In-track Sine: 6.29760325E-06 rad Cosine: -2.15694308E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Eph Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 201606 Tue-2:08:00:06 0x1C6 0 off
+SF2 HOW: 201606 Tue-2:08:00:06 0xC6 0 off
+SF3 HOW: 201606 Tue-2:08:00:06 0xC6 0 off
+
+ CLOCK
+
+Bias T0: 5.58434986E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370631E+03 m**.5
+Motion correction: 4.91627621E-09 rad/sec
+Eccentricity: 9.35517496E-03
+Arg of perigee: 2.54592936E+00 rad
+Mean anomaly at epoch: -2.17313468E+00 rad
+Right ascension: 2.51215687E+00 rad -8.24570061E-09 rad/sec
+Inclination: 9.58190482E-01 rad -5.29307762E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.03125000E+01 m Cosine: 2.49781250E+02 m
+Inclination Sine: 8.94069672E-08 rad Cosine: -1.50874257E-07 rad
+In-track Sine: 6.75022602E-06 rad Cosine: -1.99861825E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Eph Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x1C7 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0xC7 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0xC7 0 off
+
+ CLOCK
+
+Bias T0: 5.58477826E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370655E+03 m**.5
+Motion correction: 4.89556106E-09 rad/sec
+Eccentricity: 9.35519312E-03
+Arg of perigee: 2.54591534E+00 rad
+Mean anomaly at epoch: -1.12295671E+00 rad
+Right ascension: 2.51209679E+00 rad -8.32106089E-09 rad/sec
+Inclination: 9.58186633E-01 rad -4.94663462E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -3.94062500E+01 m Cosine: 2.49156250E+02 m
+Inclination Sine: -4.65661287E-08 rad Cosine: -1.34110451E-07 rad
+In-track Sine: 6.76140189E-06 rad Cosine: -2.19792128E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Eph Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 216006 Tue-2:12:00:06 0x1C8 0 off
+SF2 HOW: 216006 Tue-2:12:00:06 0xC8 0 off
+SF3 HOW: 216006 Tue-2:12:00:06 0xC8 0 off
+
+ CLOCK
+
+Bias T0: 5.58520667E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370721E+03 m**.5
+Motion correction: 4.94806325E-09 rad/sec
+Eccentricity: 9.35553596E-03
+Arg of perigee: 2.54590311E+00 rad
+Mean anomaly at epoch: -7.27814121E-02 rad
+Right ascension: 2.51203755E+00 rad -8.40392149E-09 rad/sec
+Inclination: 9.58182252E-01 rad -6.62527597E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.21875000E+01 m Cosine: 2.48468750E+02 m
+Inclination Sine: -1.37835741E-07 rad Cosine: 6.51925802E-08 rad
+In-track Sine: 6.81355596E-06 rad Cosine: -2.41957605E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 230400 Tue-2 31 57600 01/31/2006 16:00:00
+Eph Epoch: 1360( 336) 230400 Tue-2 31 57600 01/31/2006 16:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 223206 Tue-2:14:00:06 0x0C9 0 off
+SF2 HOW: 223206 Tue-2:14:00:06 0xC9 0 off
+SF3 HOW: 223206 Tue-2:14:00:06 0xC9 0 off
+
+ CLOCK
+
+Bias T0: 5.58563508E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15371126E+03 m**.5
+Motion correction: 4.96199240E-09 rad/sec
+Eccentricity: 9.35740734E-03
+Arg of perigee: 2.54600791E+00 rad
+Mean anomaly at epoch: 9.77276156E-01 rad
+Right ascension: 2.51197711E+00 rad -8.37927760E-09 rad/sec
+Inclination: 9.58177516E-01 rad -6.83242746E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.54375000E+01 m Cosine: 2.62937500E+02 m
+Inclination Sine: -5.40167093E-08 rad Cosine: 1.19209290E-07 rad
+In-track Sine: 5.70528209E-06 rad Cosine: -2.64123082E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Eph Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 230406 Tue-2:16:00:06 0x3C4 0 off
+SF2 HOW: 230406 Tue-2:16:00:06 0xC4 0 off
+SF3 HOW: 230406 Tue-2:16:00:06 0xC4 0 off
+
+ CLOCK
+
+Bias T0: 5.58606349E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15371147E+03 m**.5
+Motion correction: 5.09914097E-09 rad/sec
+Eccentricity: 9.35770059E-03
+Arg of perigee: 2.54601763E+00 rad
+Mean anomaly at epoch: 2.02742773E+00 rad
+Right ascension: 2.51191656E+00 rad -8.39249244E-09 rad/sec
+Inclination: 9.58172632E-01 rad -6.30740559E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.35625000E+01 m Cosine: 2.67000000E+02 m
+Inclination Sine: 2.42143869E-08 rad Cosine: 1.99303031E-07 rad
+In-track Sine: 5.63822687E-06 rad Cosine: -2.02842057E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Eph Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 237606 Tue-2:18:00:06 0x2C5 0 off
+SF2 HOW: 237606 Tue-2:18:00:06 0xC5 0 off
+SF3 HOW: 237606 Tue-2:18:00:06 0xC5 0 off
+
+ CLOCK
+
+Bias T0: 5.58649190E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370851E+03 m**.5
+Motion correction: 5.13557106E-09 rad/sec
+Eccentricity: 9.35899641E-03
+Arg of perigee: 2.54592152E+00 rad
+Mean anomaly at epoch: 3.07768774E+00 rad
+Right ascension: 2.51185522E+00 rad -8.28748806E-09 rad/sec
+Inclination: 9.58169255E-01 rad -4.05016871E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -3.60000000E+01 m Cosine: 2.75468750E+02 m
+Inclination Sine: 1.63912773E-07 rad Cosine: -7.07805157E-08 rad
+In-track Sine: 5.40725887E-06 rad Cosine: -1.72853470E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Eph Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 244806 Tue-2:20:00:06 0x2C6 0 off
+SF2 HOW: 244806 Tue-2:20:00:06 0xC6 0 off
+SF3 HOW: 244806 Tue-2:20:00:06 0xC6 0 off
+
+ CLOCK
+
+Bias T0: 5.58691565E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370654E+03 m**.5
+Motion correction: 5.16735810E-09 rad/sec
+Eccentricity: 9.35994752E-03
+Arg of perigee: 2.54597027E+00 rad
+Mean anomaly at epoch: -2.15538154E+00 rad
+Right ascension: 2.51179534E+00 rad -8.36856287E-09 rad/sec
+Inclination: 9.58166043E-01 rad -3.85730353E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -3.37500000E+01 m Cosine: 2.68281250E+02 m
+Inclination Sine: 8.56816769E-08 rad Cosine: -1.97440386E-07 rad
+In-track Sine: 5.96605241E-06 rad Cosine: -1.59814954E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 259200 Wed-3 32 0 02/01/2006 00:00:00
+Eph Epoch: 1360( 336) 259200 Wed-3 32 0 02/01/2006 00:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 252006 Tue-2:22:00:06 0x2C7 0 off
+SF2 HOW: 252006 Tue-2:22:00:06 0xC7 0 off
+SF3 HOW: 252006 Tue-2:22:00:06 0xC7 0 off
+
+ CLOCK
+
+Bias T0: 5.58734406E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370608E+03 m**.5
+Motion correction: 5.14592863E-09 rad/sec
+Eccentricity: 9.36006801E-03
+Arg of perigee: 2.54599571E+00 rad
+Mean anomaly at epoch: -1.10524073E+00 rad
+Right ascension: 2.51173364E+00 rad -8.51249744E-09 rad/sec
+Inclination: 9.58163270E-01 rad -2.69296932E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -3.57187500E+01 m Cosine: 2.67156250E+02 m
+Inclination Sine: -8.00937414E-08 rad Cosine: -5.96046448E-08 rad
+In-track Sine: 5.89340925E-06 rad Cosine: -2.13272870E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 2
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Eph Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 172806 Tue-2:00:00:06 0x1B4 0 off
+SF2 HOW: 172806 Tue-2:00:00:06 0xB4 0 off
+SF3 HOW: 172806 Tue-2:00:00:06 0xB4 0 off
+
+ CLOCK
+
+Bias T0: 2.11610459E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360316E+03 m**.5
+Motion correction: 4.39589739E-09 rad/sec
+Eccentricity: 8.71090021E-03
+Arg of perigee: 1.29523927E+00 rad
+Mean anomaly at epoch: -2.23653823E+00 rad
+Right ascension: 3.07566662E-01 rad -7.75710883E-09 rad/sec
+Inclination: 9.44623504E-01 rad 1.08933109E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -6.76875000E+01 m Cosine: 1.15000000E+02 m
+Inclination Sine: -9.31322575E-08 rad Cosine: 1.21071935E-07 rad
+In-track Sine: 1.32359564E-05 rad Cosine: -3.53716314E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Eph Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 180006 Tue-2:02:00:06 0x1B5 0 off
+SF2 HOW: 180006 Tue-2:02:00:06 0xB5 0 off
+SF3 HOW: 180006 Tue-2:02:00:06 0xB5 0 off
+
+ CLOCK
+
+Bias T0: 2.11857259E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360674E+03 m**.5
+Motion correction: 4.54197491E-09 rad/sec
+Eccentricity: 8.71113362E-03
+Arg of perigee: 1.29501397E+00 rad
+Mean anomaly at epoch: -1.18609024E+00 rad
+Right ascension: 3.07510597E-01 rad -8.09319426E-09 rad/sec
+Inclination: 9.44622470E-01 rad -5.00020828E-12 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -7.28750000E+01 m Cosine: 1.30031250E+02 m
+Inclination Sine: 2.40281224E-07 rad Cosine: -7.45058060E-09 rad
+In-track Sine: 1.24983490E-05 rad Cosine: -3.84636223E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Eph Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 187206 Tue-2:04:00:06 0x1B6 0 off
+SF2 HOW: 187206 Tue-2:04:00:06 0xB6 0 off
+SF3 HOW: 187206 Tue-2:04:00:06 0xB6 0 off
+
+ CLOCK
+
+Bias T0: 2.12104060E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360359E+03 m**.5
+Motion correction: 4.66233706E-09 rad/sec
+Eccentricity: 8.70950485E-03
+Arg of perigee: 1.29508260E+00 rad
+Mean anomaly at epoch: -1.35935973E-01 rad
+Right ascension: 3.07451598E-01 rad -8.18676958E-09 rad/sec
+Inclination: 9.44622210E-01 rad 1.42863094E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -8.65312500E+01 m Cosine: 1.33937500E+02 m
+Inclination Sine: 1.09896064E-07 rad Cosine: -9.68575478E-08 rad
+In-track Sine: 1.23213977E-05 rad Cosine: -4.46103513E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 201600 Tue-2 31 28800 01/31/2006 08:00:00
+Eph Epoch: 1360( 336) 201600 Tue-2 31 28800 01/31/2006 08:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 194406 Tue-2:06:00:06 0x1B7 0 off
+SF2 HOW: 194406 Tue-2:06:00:06 0xB7 0 off
+SF3 HOW: 194406 Tue-2:06:00:06 0xB7 0 off
+
+ CLOCK
+
+Bias T0: 2.12350860E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360806E+03 m**.5
+Motion correction: 4.60804909E-09 rad/sec
+Eccentricity: 8.71139602E-03
+Arg of perigee: 1.29526135E+00 rad
+Mean anomaly at epoch: 9.14109252E-01 rad
+Right ascension: 3.07393065E-01 rad -8.17498338E-09 rad/sec
+Inclination: 9.44621932E-01 rad -6.39312344E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -1.00750000E+02 m Cosine: 1.20312500E+02 m
+Inclination Sine: -1.11758709E-08 rad Cosine: -1.34110451E-07 rad
+In-track Sine: 1.31167471E-05 rad Cosine: -5.17070293E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Eph Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 201606 Tue-2:08:00:06 0x1B8 0 off
+SF2 HOW: 201606 Tue-2:08:00:06 0xB8 0 off
+SF3 HOW: 201606 Tue-2:08:00:06 0xB8 0 off
+
+ CLOCK
+
+Bias T0: 2.12597661E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360479E+03 m**.5
+Motion correction: 4.61126351E-09 rad/sec
+Eccentricity: 8.71198589E-03
+Arg of perigee: 1.29505117E+00 rad
+Mean anomaly at epoch: 1.96454133E+00 rad
+Right ascension: 3.07334399E-01 rad -7.96354600E-09 rad/sec
+Inclination: 9.44622565E-01 rad -4.64305054E-12 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -1.00281250E+02 m Cosine: 1.02875000E+02 m
+Inclination Sine: -2.12341547E-07 rad Cosine: 5.58793545E-09 rad
+In-track Sine: 1.37276947E-05 rad Cosine: -5.29922545E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Eph Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x1B9 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0xB9 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0xB9 0 off
+
+ CLOCK
+
+Bias T0: 2.12844461E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360841E+03 m**.5
+Motion correction: 4.55768985E-09 rad/sec
+Eccentricity: 8.71008832E-03
+Arg of perigee: 1.29513505E+00 rad
+Mean anomaly at epoch: 3.01468050E+00 rad
+Right ascension: 3.07277461E-01 rad -7.91318676E-09 rad/sec
+Inclination: 9.44622686E-01 rad 3.57157734E-12 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -8.42187500E+01 m Cosine: 9.85625000E+01 m
+Inclination Sine: -1.30385160E-07 rad Cosine: 1.15483999E-07 rad
+In-track Sine: 1.38413161E-05 rad Cosine: -4.37162817E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 223184 Tue-2 31 50384 01/31/2006 13:59:44
+Eph Epoch: 1360( 336) 223184 Tue-2 31 50384 01/31/2006 13:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 219786 Tue-2:13:03:06 0x0CE 0 off
+SF2 HOW: 219786 Tue-2:13:03:06 0xCE 0 off
+SF3 HOW: 219786 Tue-2:13:03:06 0xCE 0 off
+
+ CLOCK
+
+Bias T0: 2.13137828E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360179E+03 m**.5
+Motion correction: 4.70841041E-09 rad/sec
+Eccentricity: 8.71319743E-03
+Arg of perigee: 1.29534120E+00 rad
+Mean anomaly at epoch: -2.22082140E+00 rad
+Right ascension: 3.07220032E-01 rad -7.91461539E-09 rad/sec
+Inclination: 9.44623207E-01 rad 1.13219002E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -7.14375000E+01 m Cosine: 1.22156250E+02 m
+Inclination Sine: 1.67638063E-08 rad Cosine: 1.28522515E-07 rad
+In-track Sine: 1.28187239E-05 rad Cosine: -3.76813114E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Eph Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 216006 Tue-2:12:00:06 0x2B4 0 off
+SF2 HOW: 216006 Tue-2:12:00:06 0xB4 0 off
+SF3 HOW: 216006 Tue-2:12:00:06 0xB4 0 off
+
+ CLOCK
+
+Bias T0: 2.13091262E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360179E+03 m**.5
+Motion correction: 4.70841041E-09 rad/sec
+Eccentricity: 8.71319557E-03
+Arg of perigee: 1.29534135E+00 rad
+Mean anomaly at epoch: -2.21848770E+00 rad
+Right ascension: 3.07219892E-01 rad -7.91461539E-09 rad/sec
+Inclination: 9.44623209E-01 rad 1.13219002E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -7.14375000E+01 m Cosine: 1.22156250E+02 m
+Inclination Sine: 1.67638063E-08 rad Cosine: 1.28522515E-07 rad
+In-track Sine: 1.28187239E-05 rad Cosine: -3.76813114E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 230384 Tue-2 31 57584 01/31/2006 15:59:44
+Eph Epoch: 1360( 336) 230384 Tue-2 31 57584 01/31/2006 15:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 223206 Tue-2:14:00:06 0x0CF 0 off
+SF2 HOW: 223206 Tue-2:14:00:06 0xCF 0 off
+SF3 HOW: 223206 Tue-2:14:00:06 0xCF 0 off
+
+ CLOCK
+
+Bias T0: 2.13384628E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360553E+03 m**.5
+Motion correction: 4.71126767E-09 rad/sec
+Eccentricity: 8.71346553E-03
+Arg of perigee: 1.29510646E+00 rad
+Mean anomaly at epoch: -1.17036120E+00 rad
+Right ascension: 3.07162875E-01 rad -8.14748223E-09 rad/sec
+Inclination: 9.44622831E-01 rad 5.07163983E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -7.65312500E+01 m Cosine: 1.37875000E+02 m
+Inclination Sine: 2.23517418E-07 rad Cosine: -1.86264515E-08 rad
+In-track Sine: 1.22822821E-05 rad Cosine: -3.85381281E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Eph Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 230406 Tue-2:16:00:06 0x0D0 0 off
+SF2 HOW: 230406 Tue-2:16:00:06 0xD0 0 off
+SF3 HOW: 230406 Tue-2:16:00:06 0xD0 0 off
+
+ CLOCK
+
+Bias T0: 2.13631429E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360266E+03 m**.5
+Motion correction: 4.72555398E-09 rad/sec
+Eccentricity: 8.71195330E-03
+Arg of perigee: 1.29516376E+00 rad
+Mean anomaly at epoch: -1.17860253E-01 rad
+Right ascension: 3.07103413E-01 rad -8.23248577E-09 rad/sec
+Inclination: 9.44622997E-01 rad 6.57170231E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -8.90312500E+01 m Cosine: 1.42281250E+02 m
+Inclination Sine: 9.87201929E-08 rad Cosine: -1.04308128E-07 rad
+In-track Sine: 1.21705234E-05 rad Cosine: -4.79258597E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Eph Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 237666 Tue-2:18:01:06 0x0D1 0 off
+SF2 HOW: 237666 Tue-2:18:01:06 0xD1 0 off
+SF3 HOW: 237666 Tue-2:18:01:06 0xD1 0 off
+
+ CLOCK
+
+Bias T0: 2.13873573E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360660E+03 m**.5
+Motion correction: 4.58126226E-09 rad/sec
+Eccentricity: 8.71358160E-03
+Arg of perigee: 1.29532649E+00 rad
+Mean anomaly at epoch: 9.32201625E-01 rad
+Right ascension: 3.07044718E-01 rad -8.23534304E-09 rad/sec
+Inclination: 9.44622947E-01 rad -5.07163983E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -1.02281250E+02 m Cosine: 1.30906250E+02 m
+Inclination Sine: -5.77419996E-08 rad Cosine: -9.87201929E-08 rad
+In-track Sine: 1.24275684E-05 rad Cosine: -5.36069274E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Eph Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 244806 Tue-2:20:00:06 0x0D2 0 off
+SF2 HOW: 244806 Tue-2:20:00:06 0xD2 0 off
+SF3 HOW: 244806 Tue-2:20:00:06 0xD2 0 off
+
+ CLOCK
+
+Bias T0: 2.14120373E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360381E+03 m**.5
+Motion correction: 4.50054461E-09 rad/sec
+Eccentricity: 8.71415599E-03
+Arg of perigee: 1.29514812E+00 rad
+Mean anomaly at epoch: 1.98260220E+00 rad
+Right ascension: 3.06985642E-01 rad -8.02461997E-09 rad/sec
+Inclination: 9.44623629E-01 rad -3.57157734E-12 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -1.02875000E+02 m Cosine: 1.15656250E+02 m
+Inclination Sine: -2.29105353E-07 rad Cosine: 7.63684511E-08 rad
+In-track Sine: 1.31297857E-05 rad Cosine: -5.29922545E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 259200 Wed-3 32 0 02/01/2006 00:00:00
+Eph Epoch: 1360( 336) 259200 Wed-3 32 0 02/01/2006 00:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 252006 Tue-2:22:00:06 0x0D3 0 off
+SF2 HOW: 252006 Tue-2:22:00:06 0xD3 0 off
+SF3 HOW: 252006 Tue-2:22:00:06 0xD3 0 off
+
+ CLOCK
+
+Bias T0: 2.14362517E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360734E+03 m**.5
+Motion correction: 4.35768151E-09 rad/sec
+Eccentricity: 8.71229277E-03
+Arg of perigee: 1.29522530E+00 rad
+Mean anomaly at epoch: 3.03274719E+00 rad
+Right ascension: 3.06929331E-01 rad -7.84746974E-09 rad/sec
+Inclination: 9.44623928E-01 rad -8.82179603E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -8.73125000E+01 m Cosine: 1.10812500E+02 m
+Inclination Sine: -3.72529030E-09 rad Cosine: 7.63684511E-08 rad
+In-track Sine: 1.33030117E-05 rad Cosine: -4.45544720E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
diff --git a/dev/tests/BCEphemerisStore/Logs/clearTest.txt b/dev/tests/BCEphemerisStore/Logs/clearTest.txt
new file mode 100644
index 0000000..e1dcfc7
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/clearTest.txt
@@ -0,0 +1,5 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ End of BCE maps.
+
diff --git a/dev/tests/BCEphemerisStore/Logs/editTest.txt b/dev/tests/BCEphemerisStore/Logs/editTest.txt
new file mode 100644
index 0000000..87b4198
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/editTest.txt
@@ -0,0 +1,33 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 9 entries.
+PRN 1 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 181806.000 KEY 01/31/2006 02:00:00
+PRN 1 TOE 01/31/2006 05:59:44 TOC 194384.000 HOW 192216.000 KEY 01/31/2006 03:59:44
+PRN 1 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 1 TOE 01/31/2006 07:59:44 TOC 201584.000 HOW 194406.000 KEY 01/31/2006 05:59:44
+PRN 1 TOE 01/31/2006 09:59:44 TOC 208784.000 HOW 208446.000 KEY 01/31/2006 07:59:44
+PRN 1 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 1 TOE 01/31/2006 11:59:44 TOC 215984.000 HOW 208806.000 KEY 01/31/2006 09:59:44
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 1 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+ BCE map for satellite 15 has 8 entries.
+PRN 15 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 180006.000 KEY 01/31/2006 02:00:00
+PRN 15 TOE 01/31/2006 05:59:44 TOC 194384.000 HOW 193626.000 KEY 01/31/2006 03:59:44
+PRN 15 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 15 TOE 01/31/2006 07:59:44 TOC 201584.000 HOW 194406.000 KEY 01/31/2006 05:59:44
+PRN 15 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 15 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 15 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+ BCE map for satellite 32 has 8 entries.
+PRN 32 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 180006.000 KEY 01/31/2006 02:00:00
+PRN 32 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 32 TOE 01/31/2006 08:00:00 TOC 201600.000 HOW 194406.000 KEY 01/31/2006 06:00:00
+PRN 32 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 32 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 32 TOE 01/31/2006 13:59:44 TOC 223184.000 HOW 219786.000 KEY 01/31/2006 11:59:44
+PRN 32 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 32 TOE 01/31/2006 15:59:44 TOC 230384.000 HOW 223206.000 KEY 01/31/2006 13:59:44
+ End of BCE maps.
+
diff --git a/dev/tests/BCEphemerisStore/Logs/findEph1.txt b/dev/tests/BCEphemerisStore/Logs/findEph1.txt
new file mode 100644
index 0000000..e5b77d1
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/findEph1.txt
@@ -0,0 +1,46 @@
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 215984 Tue-2 31 43184 01/31/2006 11:59:44
+Eph Epoch: 1360( 336) 215984 Tue-2 31 43184 01/31/2006 11:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x174 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0x74 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0x74 0 off
+
+ CLOCK
+
+Bias T0: 3.42056155E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367878E+03 m**.5
+Motion correction: 4.15874466E-09 rad/sec
+Eccentricity: 6.32588984E-03
+Arg of perigee: -1.71070282E+00 rad
+Mean anomaly at epoch: 2.31892822E-01 rad
+Right ascension: -1.71556436E+00 rad -8.27605902E-09 rad/sec
+Inclination: 9.86372320E-01 rad 5.33236497E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.13406250E+02 m Cosine: 2.90062500E+02 m
+Inclination Sine: -2.79396772E-08 rad Cosine: -7.45058060E-08 rad
+In-track Sine: 5.29363751E-06 rad Cosine: 5.78165054E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
diff --git a/dev/tests/BCEphemerisStore/Logs/findEph15.txt b/dev/tests/BCEphemerisStore/Logs/findEph15.txt
new file mode 100644
index 0000000..8ca404a
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/findEph15.txt
@@ -0,0 +1,46 @@
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Eph Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x1C7 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0xC7 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0xC7 0 off
+
+ CLOCK
+
+Bias T0: 5.58477826E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370655E+03 m**.5
+Motion correction: 4.89556106E-09 rad/sec
+Eccentricity: 9.35519312E-03
+Arg of perigee: 2.54591534E+00 rad
+Mean anomaly at epoch: -1.12295671E+00 rad
+Right ascension: 2.51209679E+00 rad -8.32106089E-09 rad/sec
+Inclination: 9.58186633E-01 rad -4.94663462E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -3.94062500E+01 m Cosine: 2.49156250E+02 m
+Inclination Sine: -4.65661287E-08 rad Cosine: -1.34110451E-07 rad
+In-track Sine: 6.76140189E-06 rad Cosine: -2.19792128E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
diff --git a/dev/tests/BCEphemerisStore/Logs/findEph32.txt b/dev/tests/BCEphemerisStore/Logs/findEph32.txt
new file mode 100644
index 0000000..071d04c
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/findEph32.txt
@@ -0,0 +1,46 @@
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Eph Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x1B9 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0xB9 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0xB9 0 off
+
+ CLOCK
+
+Bias T0: 2.12844461E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360841E+03 m**.5
+Motion correction: 4.55768985E-09 rad/sec
+Eccentricity: 8.71008832E-03
+Arg of perigee: 1.29513505E+00 rad
+Mean anomaly at epoch: 3.01468050E+00 rad
+Right ascension: 3.07277461E-01 rad -7.91318676E-09 rad/sec
+Inclination: 9.44622686E-01 rad 3.57157734E-12 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -8.42187500E+01 m Cosine: 9.85625000E+01 m
+Inclination Sine: -1.30385160E-07 rad Cosine: 1.15483999E-07 rad
+In-track Sine: 1.38413161E-05 rad Cosine: -4.37162817E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
diff --git a/dev/tests/BCEphemerisStore/Logs/findNearTest.txt b/dev/tests/BCEphemerisStore/Logs/findNearTest.txt
new file mode 100644
index 0000000..c2311e3
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/findNearTest.txt
@@ -0,0 +1,11 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 1 entries.
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+ BCE map for satellite 15 has 1 entries.
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+ BCE map for satellite 32 has 1 entries.
+PRN 32 TOE 01/31/2006 13:59:44 TOC 223184.000 HOW 219786.000 KEY 01/31/2006 11:59:44
+ End of BCE maps.
+
diff --git a/dev/tests/BCEphemerisStore/Logs/findUserTest.txt b/dev/tests/BCEphemerisStore/Logs/findUserTest.txt
new file mode 100644
index 0000000..ff4a2dd
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/findUserTest.txt
@@ -0,0 +1,11 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 1 entries.
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+ BCE map for satellite 15 has 1 entries.
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+ BCE map for satellite 32 has 1 entries.
+PRN 32 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+ End of BCE maps.
+
diff --git a/dev/tests/BCEphemerisStore/Logs/getPrnXvt1.txt b/dev/tests/BCEphemerisStore/Logs/getPrnXvt1.txt
new file mode 100644
index 0000000..e4c3bff
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/getPrnXvt1.txt
@@ -0,0 +1 @@
+x:(1.43293e+07, -2.70658e+06, -2.19986e+07), v:(354.696, 2812.26, -117.977), clk bias:3.42024e-05, clk drift:1.93268e-12
diff --git a/dev/tests/BCEphemerisStore/Logs/getPrnXvt15.txt b/dev/tests/BCEphemerisStore/Logs/getPrnXvt15.txt
new file mode 100644
index 0000000..ab2097d
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/getPrnXvt15.txt
@@ -0,0 +1 @@
+x:(1.46708e+07, 7.54272e+06, 2.07205e+07), v:(-2147.79, 1575.58, 902.848), clk bias:0.000558493, clk drift:5.91172e-12
diff --git a/dev/tests/BCEphemerisStore/Logs/getPrnXvt2_1.txt b/dev/tests/BCEphemerisStore/Logs/getPrnXvt2_1.txt
new file mode 100644
index 0000000..e4c3bff
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/getPrnXvt2_1.txt
@@ -0,0 +1 @@
+x:(1.43293e+07, -2.70658e+06, -2.19986e+07), v:(354.696, 2812.26, -117.977), clk bias:3.42024e-05, clk drift:1.93268e-12
diff --git a/dev/tests/BCEphemerisStore/Logs/getPrnXvt2_15.txt b/dev/tests/BCEphemerisStore/Logs/getPrnXvt2_15.txt
new file mode 100644
index 0000000..ab2097d
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/getPrnXvt2_15.txt
@@ -0,0 +1 @@
+x:(1.46708e+07, 7.54272e+06, 2.07205e+07), v:(-2147.79, 1575.58, 902.848), clk bias:0.000558493, clk drift:5.91172e-12
diff --git a/dev/tests/BCEphemerisStore/Logs/getPrnXvt2_32.txt b/dev/tests/BCEphemerisStore/Logs/getPrnXvt2_32.txt
new file mode 100644
index 0000000..0b3c565
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/getPrnXvt2_32.txt
@@ -0,0 +1 @@
+x:(8.40859e+06, 1.71989e+07, -1.87307e+07), v:(-2248.12, -606.201, -1577.94), clk bias:2.12763e-05, clk drift:3.41061e-12
diff --git a/dev/tests/BCEphemerisStore/Logs/getPrnXvt32.txt b/dev/tests/BCEphemerisStore/Logs/getPrnXvt32.txt
new file mode 100644
index 0000000..0b3c565
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/getPrnXvt32.txt
@@ -0,0 +1 @@
+x:(8.40859e+06, 1.71989e+07, -1.87307e+07), v:(-2248.12, -606.201, -1577.94), clk bias:2.12763e-05, clk drift:3.41061e-12
diff --git a/dev/tests/BCEphemerisStore/Logs/s011100a.00nEdit b/dev/tests/BCEphemerisStore/Logs/s011100a.00nEdit
new file mode 100644
index 0000000..3ad7715
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/s011100a.00nEdit
@@ -0,0 +1,233 @@
+ 2.10 Navigation RINEX VERSION / TYPE
+RinexNavWriter NIMA 11-07-01 22:11:07 PGM / RUN BY / DATE
+ END OF HEADER
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diff --git a/dev/tests/BCEphemerisStore/Logs/wiperTest.txt b/dev/tests/BCEphemerisStore/Logs/wiperTest.txt
new file mode 100644
index 0000000..31aca91
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/wiperTest.txt
@@ -0,0 +1,31 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 8 entries.
+PRN 1 TOE 01/31/2006 11:59:44 TOC 215984.000 HOW 208806.000 KEY 01/31/2006 09:59:44
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 1 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+PRN 1 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 1 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237606.000 KEY 01/31/2006 18:00:00
+PRN 1 TOE 01/31/2006 21:59:44 TOC 251984.000 HOW 250056.000 KEY 01/31/2006 19:59:44
+PRN 1 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 1 TOE 01/31/2006 23:59:44 TOC 259184.000 HOW 252006.000 KEY 01/31/2006 21:59:44
+ BCE map for satellite 15 has 7 entries.
+PRN 15 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 15 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+PRN 15 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 15 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237606.000 KEY 01/31/2006 18:00:00
+PRN 15 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 15 TOE 02/01/2006 00:00:00 TOC 259200.000 HOW 252006.000 KEY 01/31/2006 22:00:00
+ BCE map for satellite 32 has 8 entries.
+PRN 32 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 32 TOE 01/31/2006 13:59:44 TOC 223184.000 HOW 219786.000 KEY 01/31/2006 11:59:44
+PRN 32 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 32 TOE 01/31/2006 15:59:44 TOC 230384.000 HOW 223206.000 KEY 01/31/2006 13:59:44
+PRN 32 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 32 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237666.000 KEY 01/31/2006 18:00:00
+PRN 32 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 32 TOE 02/01/2006 00:00:00 TOC 259200.000 HOW 252006.000 KEY 01/31/2006 22:00:00
+ End of BCE maps.
+
diff --git a/dev/tests/BCEphemerisStore/Logs/wiperTest2.txt b/dev/tests/BCEphemerisStore/Logs/wiperTest2.txt
new file mode 100644
index 0000000..23380d9
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Logs/wiperTest2.txt
@@ -0,0 +1,8 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 0 entries.
+ BCE map for satellite 15 has 0 entries.
+ BCE map for satellite 32 has 0 entries.
+ End of BCE maps.
+
diff --git a/dev/tests/BCEphemerisStore/Makefile b/dev/tests/BCEphemerisStore/Makefile
new file mode 100644
index 0000000..9d8eba1
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/Makefile
@@ -0,0 +1,24 @@
+# file: makefile
+# next line has to be changed to the installation-path of CppUnit
+CPPUNIT_PATH=/home/ehagen
+
+xBCEphemerisStore.tst: xRinexEphemerisStoreM.o xRinexEphemerisStore.o RinexEphemerisStore.o BCEphemerisStore.o
+ g++ -o xBCEphemerisStore.tst xRinexEphemerisStoreM.o xRinexEphemerisStore.o RinexEphemerisStore.o BCEphemerisStore.o -L${CPPUNIT_PATH}/lib -lstdc++ -lcppunit -ldl -lgpstk -fprofile-arcs -ftest-coverage
+
+RinexEphemerisStore.o: RinexEphemerisStore.cpp RinexEphemerisStore.hpp
+ g++ -c RinexEphemerisStore.cpp -I/home/ehagen/gpstk/src -L/home/ehagen/gpstk/src -lgpstk -fprofile-arcs -ftest-coverage
+xRinexEphemerisStore.o: xRinexEphemerisStore.cpp xRinexEphemerisStore.hpp
+ g++ -c xRinexEphemerisStore.cpp -I${CPPUNIT_PATH}/include -I/home/ehagen/gpstk/src -L/home/ehagen/gpstk/src -fprofile-arcs -ftest-coverage
+
+xRinexEphemerisStoreM.o: xRinexEphemerisStoreM.cpp
+ g++ -c xRinexEphemerisStoreM.cpp -I${CPPUNIT_PATH}/include -fprofile-arcs -ftest-coverage
+
+BCEphemerisStore.o: BCEphemerisStore.cpp BCEphemerisStore.hpp
+ g++ -c BCEphemerisStore.cpp -I/home/ehagen/gpstk/src -L/home/ehagen/gpstk/src -lgpstk -fprofile-arcs -ftest-coverage
+
+
+clean:
+ rm -f *.o
+ rm -f *.txt
+ rm -f *.g*
+ rm -f *.*.g*
diff --git a/dev/tests/BCEphemerisStore/RinexEphemerisStore.cpp b/dev/tests/BCEphemerisStore/RinexEphemerisStore.cpp
new file mode 120000
index 0000000..865c12c
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/RinexEphemerisStore.cpp
@@ -0,0 +1 @@
+../../src/RinexEphemerisStore.cpp
\ No newline at end of file
diff --git a/dev/tests/BCEphemerisStore/RinexEphemerisStore.hpp b/dev/tests/BCEphemerisStore/RinexEphemerisStore.hpp
new file mode 120000
index 0000000..d17be57
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/RinexEphemerisStore.hpp
@@ -0,0 +1 @@
+../../src/RinexEphemerisStore.hpp
\ No newline at end of file
diff --git a/dev/tests/BCEphemerisStore/TestRinex06.031 b/dev/tests/BCEphemerisStore/TestRinex06.031
new file mode 100644
index 0000000..5d88357
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/TestRinex06.031
@@ -0,0 +1,339 @@
+ 2.10 NAVIGATION RINEX VERSION / TYPE
+fic2rin 07/10/2006 09:16:03 PGM / RUN BY / DATE
+ END OF HEADER
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diff --git a/dev/tests/BCEphemerisStore/xRinexEphemerisStore.cpp b/dev/tests/BCEphemerisStore/xRinexEphemerisStore.cpp
new file mode 100644
index 0000000..fb411f5
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/xRinexEphemerisStore.cpp
@@ -0,0 +1,658 @@
+// file: xRinexEphemerisStore.cpp
+
+#include "xRinexEphemerisStore.hpp"
+
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xRinexEphemerisStore);
+
+
+void xRinexEphemerisStore :: setUp (void)
+{
+}
+
+/*
+**** General test for the RinexEphemerisStore (RES) class
+**** Test to assure the that RES throws its exceptions in the right place and
+**** that it loads the RINEX Nav file correctly
+
+**** To further check this data, please view DumpData.txt for the dumped information
+*/
+
+void xRinexEphemerisStore :: RESTest (void)
+{
+ ofstream DumpData;
+ DumpData.open ("Logs/DumpData.txt");
+
+ CPPUNIT_ASSERT_NO_THROW(gpstk::RinexEphemerisStore Store);
+ gpstk::RinexEphemerisStore Store;
+ try
+ {
+ CPPUNIT_ASSERT_THROW(Store.loadFile("NotaFILE"),gpstk::Exception);
+ }
+ catch (gpstk::Exception& e)
+ {
+ }
+
+ CPPUNIT_ASSERT_NO_THROW(Store.loadFile("TestRinex06.031"));
+ Store.loadFile("TestRinex06.031");
+ Store.dump(1,DumpData);
+ DumpData.close();
+
+}
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member findEph()
+
+**** This test makes sure that exceptions are thrown if there is no ephemeris data
+**** for the given PRN and also that an exception is thrown if there is no data for
+**** the PRN at the given time. Furthermore, this test finds an Ephemeris for a given
+**** DayTime Time and PRN.
+
+**** To see the ephemeris information for the selected Time and PRN please see
+**** findEph.txt
+*/
+void xRinexEphemerisStore :: BCESfindEphTest (void)
+{
+ ofstream fPRN1;
+ ofstream fPRN15;
+ ofstream fPRN32;
+ fPRN1.open ("Logs/findEph1.txt");
+ fPRN15.open ("Logs/findEph15.txt");
+ fPRN32.open ("Logs/findEph32.txt");
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ const short PRN0 = 0; // Zero PRN (Border test case)
+ const short PRN1 = 1;
+ const short PRN15 = 15;
+ const short PRN32 = 32;
+ const short PRN33 = 33; //Top PRN (33) (Border test case);
+
+ gpstk::DayTime Time(2006,1,31,11,45,0);
+ gpstk::DayTime bTime(2006,1,31,2,0,0); //Border Time (Time of Border test cases)
+
+
+ try
+ {
+ gpstk::DayTime crazy(200000,1,31,2,0,0);
+ CPPUNIT_ASSERT_NO_THROW(Store.findEphemeris(PRN1,Time));
+
+ fPRN1 << Store.findEphemeris(PRN1,Time);
+ fPRN15 << Store.findEphemeris(PRN15,Time);
+ fPRN32 << Store.findEphemeris(PRN32,Time);
+
+ CPPUNIT_ASSERT_THROW(Store.findEphemeris(PRN0,bTime),gpstk::EphemerisStore::NoEphemerisFound);
+ CPPUNIT_ASSERT_THROW(Store.findEphemeris(PRN33,bTime),gpstk::EphemerisStore::NoEphemerisFound);
+ CPPUNIT_ASSERT_THROW(Store.findEphemeris(PRN32,crazy),gpstk::EphemerisStore::NoEphemerisFound);
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+
+ CPPUNIT_ASSERT(fileEqualTest("Logs/findEph1.txt","Checks/findEph1.chk"));
+ CPPUNIT_ASSERT(fileEqualTest("Logs/findEph15.txt","Checks/findEph15.chk"));
+ CPPUNIT_ASSERT(fileEqualTest("Logs/findEph32.txt","Checks/findEph32.chk"));
+
+}
+
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member getPrnXvt()
+
+**** This test makes sure that exceptions are thrown if there is no ephemeris data
+**** for the given PRN and also that an exception is thrown if there is no data for
+**** the PRN at the given time. Furthermore, this test finds an Xvt for a given
+**** DayTime Time and PRN.
+
+**** To see the Xvt information for the selected Time and PRN please see
+**** getPrnXvt.txt
+*/
+
+void xRinexEphemerisStore :: BCESgetPrnXvtTest (void)
+{
+ ofstream fPRN1;
+ ofstream fPRN15;
+ ofstream fPRN32;
+
+ fPRN1.open ("Logs/getPrnXvt1.txt");
+ fPRN15.open ("Logs/getPrnXvt15.txt");
+ fPRN32.open ("Logs/getPrnXvt32.txt");
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ const short PRN0 = 0; // Zero PRN (Border test case)
+ const short PRN1 = 1;
+ const short PRN15 = 15;
+ const short PRN32 = 32;
+ const short PRN33 = 33; //Top PRN (33) (Border test case);
+
+ gpstk::DayTime Time(2006,1,31,11,45,0);
+ gpstk::DayTime bTime(2006,1,31,2,0,0); //Border Time (Time of Border test cases)
+
+ try
+ {
+ CPPUNIT_ASSERT_NO_THROW(Store.getPrnXvt(PRN1,Time));
+
+ fPRN1 << Store.getPrnXvt(PRN1,Time) << endl;
+ fPRN15 << Store.getPrnXvt(PRN15,Time) << endl;
+ fPRN32 << Store.getPrnXvt(PRN32,Time) << endl;
+
+ CPPUNIT_ASSERT_THROW(Store.getPrnXvt(PRN0,bTime),gpstk::EphemerisStore::NoEphemerisFound);
+ CPPUNIT_ASSERT_THROW(Store.getPrnXvt(PRN33,bTime),gpstk::EphemerisStore::NoEphemerisFound);
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+
+ CPPUNIT_ASSERT(fileEqualTest("Logs/getPrnXvt1.txt","Checks/getPrnXvt1.chk"));
+ CPPUNIT_ASSERT(fileEqualTest("Logs/getPrnXvt15.txt","Checks/getPrnXvt15.chk"));
+ CPPUNIT_ASSERT(fileEqualTest("Logs/getPrnXvt32.txt","Checks/getPrnXvt32.chk"));
+}
+
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member getPrnXvt()
+**** This test differs from the previous in that this getPrnXvt() has another parameter
+**** for the IODC
+
+**** This test makes sure that exceptions are thrown if there is no ephemeris data
+**** for the given PRN and also that an exception is thrown if there is no data for
+**** the PRN at the given time. Furthermore, this test finds an Xvt for a given
+**** DayTime Time and PRN and IODC.
+
+**** To see the Xvt information for the selected Time and PRN please see
+**** getPrnXvt2.txt
+*/
+void xRinexEphemerisStore :: BCESgetPrnXvt2Test (void)
+{
+
+ ofstream fPRN1;
+ ofstream fPRN15;
+ ofstream fPRN32;
+
+ fPRN1.open ("Logs/getPrnXvt2_1.txt");
+ fPRN15.open ("Logs/getPrnXvt2_15.txt");
+ fPRN32.open ("Logs/getPrnXvt2_32.txt");
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ const short PRN0 = 0; // Zero PRN (Border test case)
+ const short PRN1 = 1;
+ const short PRN15 = 15;
+ const short PRN32 = 32;
+ const short PRN33 = 33; //Top PRN (33) (Border test case);
+
+ short IODC0 = 89;
+ short IODC1 = 372;
+ short IODC15 = 455;
+ short IODC32 = 441;
+ short IODC33 = 392;
+
+ gpstk::DayTime Time(2006,1,31,11,45,0);
+ gpstk::DayTime bTime(2006,1,31,2,0,0); //Border Time (Time of Border test cases)
+
+ try
+ {
+ fPRN1 << Store.getPrnXvt(PRN1,Time,IODC1) << endl;
+ fPRN15 << Store.getPrnXvt(PRN15,Time,IODC15) << endl;
+ fPRN32 << Store.getPrnXvt(PRN32,Time,IODC32) << endl;
+
+ CPPUNIT_ASSERT_THROW(Store.getPrnXvt(PRN0,bTime,IODC0),gpstk::EphemerisStore::NoEphemerisFound);
+ CPPUNIT_ASSERT_THROW(Store.getPrnXvt(PRN33,bTime,IODC33),gpstk::EphemerisStore::NoEphemerisFound);
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+
+ CPPUNIT_ASSERT(fileEqualTest("Logs/getPrnXvt2_1.txt","Checks/getPrnXvt1.chk"));
+ CPPUNIT_ASSERT(fileEqualTest("Logs/getPrnXvt2_15.txt","Checks/getPrnXvt15.chk"));
+ CPPUNIT_ASSERT(fileEqualTest("Logs/getPrnXvt2_32.txt","Checks/getPrnXvt32.chk"));
+}
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member getPrnHealth()
+
+**** This test makes sure that exceptions are thrown if there is no ephemeris data
+**** for the given PRN and also that an exception is thrown if there is no data for
+**** the PRN at the given time. Furthermore, this test assures that for a specific PRN
+**** and Time, that SV is as we expect it, health (0).
+*/
+
+void xRinexEphemerisStore :: BCESgetPrnHealthTest (void)
+{
+ const short PRN0 = 0; // Zero PRN (Border test case)
+ const short PRN1 = 1;
+ const short PRN15 = 15;
+ const short PRN32 = 32;
+ const short PRN33 = 33; //Top PRN (33) (Border test case);
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ gpstk::DayTime Time(2006,1,31,11,45,0);
+ gpstk::DayTime bTime(2006,1,31,2,0,0); //Border Time (Time of Border test cases)
+
+ try
+ {
+
+
+ CPPUNIT_ASSERT_NO_THROW(Store.getPrnHealth(PRN1,Time));
+
+ CPPUNIT_ASSERT_EQUAL((short) 0,Store.getPrnHealth(PRN1,Time));
+ CPPUNIT_ASSERT_EQUAL((short) 0,Store.getPrnHealth(PRN15,Time));
+ CPPUNIT_ASSERT_EQUAL((short) 0,Store.getPrnHealth(PRN32,Time));
+
+ CPPUNIT_ASSERT_THROW(Store.getPrnHealth(PRN0,bTime),gpstk::EphemerisStore::NoEphemerisFound);
+ CPPUNIT_ASSERT_THROW(Store.getPrnHealth(PRN33,bTime),gpstk::EphemerisStore::NoEphemerisFound);
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+}
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member dump()
+
+**** This test makes sure that dump() behaves as expected. With paramters from
+**** 0-2 with each giving more and more respective information, this information is
+**** then put into txt files.
+
+**** To see the dump with paramter 0, please view DumpData0.txt
+**** To see the dump with paramter 1, pleave view DumpData1.txt
+**** To see the dump with paramter 2, please uncomment the test and view the command
+**** line output (cout).
+*/
+
+void xRinexEphemerisStore :: BCESdumpTest (void)
+{
+ ofstream DumpData0;
+ ofstream DumpData1;
+ ofstream DumpData2;
+ DumpData0.open ("Logs/DumpData0.txt");
+ DumpData1.open ("Logs/DumpData1.txt");
+ DumpData2.open ("Logs/DumpData2.txt");
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ try
+ {
+ CPPUNIT_ASSERT_NO_THROW(Store.dump(0,DumpData0));
+ CPPUNIT_ASSERT_NO_THROW(Store.dump(1,DumpData1));
+ //Code outputs to cout but does pass, just dont want to run that every time
+ //CPPUNIT_ASSERT_NO_THROW(Store.dump(2,DumpData2));
+ //Store.dump(2,DumpData2);
+
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+ CPPUNIT_ASSERT(fileEqualTest("Logs/DumpData0.txt","Checks/DumpData0.chk"));
+ CPPUNIT_ASSERT(fileEqualTest("Logs/DumpData1.txt","Checks/DumpData1.chk"));
+ //CPPUNIT_ASSERT(fileEqualTest("Logs/DumpData2.txt","Checks/DumpData2.chk"));
+}
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member addEphemeris()
+
+**** This test assures that no exceptions are thrown when a an ephemeris, taken from Store
+**** is added to a blank BCES Object. Then the test makes sure that only that Ephemeris
+**** is in the object by checking the start and end times of the Object
+
+**** Question: Why does this eph data begin two hours earlier than it does on the output?
+*/
+
+void xRinexEphemerisStore :: BCESaddEphemerisTest (void)
+{
+ ofstream DumpData;
+ DumpData.open ("Logs/addEphemerisTest.txt");
+
+
+ gpstk::BCEphemerisStore Blank;
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+ short PRN = 1;
+
+ gpstk::DayTime Time(2006,1,31,11,45,0);
+ gpstk::DayTime TimeB(2006,1,31,9,59,44);
+ const gpstk::EngEphemeris& eph = Store.findEphemeris(PRN,Time);
+
+ try
+ {
+ CPPUNIT_ASSERT_NO_THROW(Blank.addEphemeris(eph));
+ Blank.addEphemeris(eph);
+
+ CPPUNIT_ASSERT_EQUAL(TimeB,Blank.getInitialTime());
+ CPPUNIT_ASSERT_EQUAL(TimeB,Blank.getFinalTime());
+
+ Blank.dump(1,DumpData);
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+ CPPUNIT_ASSERT(fileEqualTest("Logs/addEphemerisTest.txt","Checks/addEphemerisTest.chk"));
+}
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member edit()
+
+**** This test assures that no exceptions are thrown when we edit a RES object
+**** then after we edit the RES Object, we test to make sure that our edit time
+**** parameters are now the time endpoints of the object.
+
+**** For further inspection of the edit, please view editTest.txt
+*/
+
+void xRinexEphemerisStore :: BCESeditTest (void)
+{
+ ofstream DumpData;
+ DumpData.open ("Logs/editTest.txt");
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ gpstk::DayTime TimeMax(2006,1,31,15,45,0);
+ gpstk::DayTime TimeMin(2006,1,31,3,0,0);
+
+ try
+ {
+ CPPUNIT_ASSERT_NO_THROW(Store.edit(TimeMin, TimeMax));
+ Store.edit(TimeMin, TimeMax);
+ CPPUNIT_ASSERT_EQUAL(TimeMin,Store.getInitialTime());
+ CPPUNIT_ASSERT_EQUAL(TimeMax,Store.getFinalTime());
+ Store.dump(1,DumpData);
+
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+ CPPUNIT_ASSERT(fileEqualTest("Logs/editTest.txt","Checks/editTest.chk"));
+}
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member wiper()
+
+**** This test assures that no exceptions are thrown when we wiper a RES object
+**** then after we wiper the RES Object, we test to make sure that our wiper time
+**** parameter in now the time endpoint of the object.
+
+**** For further inspection of the edit, please view wiperTest.txt
+
+**** Please note that this test also indirectly tests size
+*/
+
+void xRinexEphemerisStore :: BCESwiperTest (void)
+{
+ ofstream DumpData1;
+ ofstream DumpData2;
+ DumpData1.open ("Logs/wiperTest.txt");
+ DumpData2.open ("Logs/wiperTest2.txt");
+
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ gpstk::DayTime Time(2006,1,31,11,45,0);
+
+ try
+ {
+ //Make sure it doesn't fail but dont wipe anything
+ CPPUNIT_ASSERT_NO_THROW(Store.wiper(gpstk::DayTime::BEGINNING_OF_TIME));
+ //Wipe everything and make sure that we did wipe all the data
+ Store.wiper(Time);
+ Store.dump(1,DumpData1);
+
+ CPPUNIT_ASSERT_EQUAL(Time,Store.getInitialTime());
+
+ unsigned int Num = Store.ubeSize();
+
+ CPPUNIT_ASSERT_EQUAL(Num,Store.wiper(gpstk::DayTime::END_OF_TIME));
+
+ Store.dump(1,DumpData2);
+
+ CPPUNIT_ASSERT_EQUAL(gpstk::DayTime::END_OF_TIME,Store.getInitialTime());
+
+
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+ CPPUNIT_ASSERT(fileEqualTest("Logs/wiperTest.txt","Checks/wiperTest.chk"));
+ CPPUNIT_ASSERT(fileEqualTest("Logs/wiperTest.txt","Checks/wiperTest.chk"));
+}
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member clear()
+
+**** This test assures that no exceptions are thrown when we clear a RES object
+**** then after we clear the RES Object, we test to make sure that END_OF_TIME is our
+**** initial time and BEGINNING_OF_TIME is our final time
+
+**** For further inspection of the edit, please view clearTest.txt
+*/
+void xRinexEphemerisStore :: BCESclearTest (void)
+{
+ ofstream DumpData;
+ DumpData.open ("Checks/clearTest.chk");
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ try
+ {
+ CPPUNIT_ASSERT_NO_THROW(Store.clear());
+
+ CPPUNIT_ASSERT_EQUAL(gpstk::DayTime::END_OF_TIME,Store.getInitialTime());
+ CPPUNIT_ASSERT_EQUAL(gpstk::DayTime::BEGINNING_OF_TIME,Store.getFinalTime());
+ Store.dump(1,DumpData);
+
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+ CPPUNIT_ASSERT(fileEqualTest("Logs/clearTest.txt","Checks/clearTest.chk"));
+}
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member findUserEphemeris()
+
+**** findUserEphemeris find the ephemeris which a) is within the fit tinterval for the
+**** given time of interest and 2) is the last ephemeris transmitted before the time of
+**** interest (i.e. min(toi-HOW time))
+
+**** This test makes sure that exceptions are thrown if there is no ephemeris data
+**** for the given PRN and also that an exception is thrown if there is no data for
+**** the PRN at the given time. Store is then cleared and the ephemeris data is readded
+**** for output purposes.
+
+**** For further inspection of the find, please view findUserTest.txt
+*/
+
+void xRinexEphemerisStore :: BCESfindUserTest (void)
+{
+ ofstream DumpData;
+ DumpData.open ("Logs/findUserTest.txt");
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ gpstk::DayTime Time(2006,1,31,13,0,1);
+
+ short PRN0 = 0;
+ short PRN1 = 1;
+ short PRN15 = 15;
+ short PRN32 = 32;
+ short PRN33 = 33;
+
+ try
+ {
+ CPPUNIT_ASSERT_THROW(Store.findUserEphemeris(PRN0,Time),gpstk::EphemerisStore::NoEphemerisFound);
+ CPPUNIT_ASSERT_THROW(Store.findUserEphemeris(PRN33,Time),gpstk::EphemerisStore::NoEphemerisFound);
+ CPPUNIT_ASSERT_THROW(Store.findUserEphemeris(PRN1,gpstk::DayTime::END_OF_TIME),
+ gpstk::EphemerisStore::NoEphemerisFound);
+
+ CPPUNIT_ASSERT_NO_THROW(Store.findUserEphemeris(PRN1, Time));
+
+ const gpstk::EngEphemeris& Eph1 = Store.findUserEphemeris(PRN1, Time);
+ const gpstk::EngEphemeris& Eph15 = Store.findUserEphemeris(PRN15, Time);
+ const gpstk::EngEphemeris& Eph32 = Store.findUserEphemeris(PRN32, Time);
+
+ Store.clear();
+
+ Store.addEphemeris(Eph1);
+ Store.addEphemeris(Eph15);
+ Store.addEphemeris(Eph32);
+
+ Store.dump(1,DumpData);
+
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+ CPPUNIT_ASSERT(fileEqualTest("Logs/findUserTest.txt","Checks/findUserTest.chk"));
+}
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member findNearEphemeris()
+**** findNearEphemeris finds the ephemeris with the HOW time closest to the time t, i.e
+**** with the smalles fabs(t-HOW), but still within the fit interval
+
+**** This test makes sure that exceptions are thrown if there is no ephemeris data
+**** for the given PRN and also that an exception is thrown if there is no data for
+**** the PRN at the given time. Store is then cleared and the epeheris data is readded
+**** for output purposes.
+
+**** For further inspection of the find, please view findNearTest.txt
+*/
+
+void xRinexEphemerisStore :: BCESfindNearTest (void)
+{
+ ofstream DumpData;
+ DumpData.open ("Logs/findNearTest.txt");
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ gpstk::DayTime Time(2006,1,31,13,0,1);
+
+ short PRN0 = 0;
+ short PRN1 = 1;
+ short PRN15 = 15;
+ short PRN32 = 32;
+ short PRN33 = 33;
+
+ try
+ {
+ CPPUNIT_ASSERT_THROW(Store.findNearEphemeris(PRN0,Time),gpstk::EphemerisStore::NoEphemerisFound);
+ CPPUNIT_ASSERT_THROW(Store.findNearEphemeris(PRN33,Time),gpstk::EphemerisStore::NoEphemerisFound);
+ CPPUNIT_ASSERT_THROW(Store.findNearEphemeris(PRN1,gpstk::DayTime::END_OF_TIME),
+ gpstk::EphemerisStore::NoEphemerisFound);
+
+ CPPUNIT_ASSERT_NO_THROW(Store.findNearEphemeris(PRN1, Time));
+
+ const gpstk::EngEphemeris& Eph1 = Store.findNearEphemeris(PRN1, Time);
+ const gpstk::EngEphemeris& Eph15 = Store.findNearEphemeris(PRN15, Time);
+ const gpstk::EngEphemeris& Eph32 = Store.findNearEphemeris(PRN32, Time);
+
+ Store.clear();
+
+ Store.addEphemeris(Eph1);
+ Store.addEphemeris(Eph15);
+ Store.addEphemeris(Eph32);
+
+ Store.dump(1,DumpData);
+
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+ CPPUNIT_ASSERT(fileEqualTest("Logs/findNearTest.txt","Checks/findNearTest.chk"));
+}
+
+
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member addToList()
+
+**** This test creats a list of EngEphemeris and then adds all of the ephemeris
+**** members to that list. After that of the List and Store are checked to be
+**** equal.
+
+**** For further inspection of the add, please view addToListTest.txt
+*/
+
+void xRinexEphemerisStore :: BCESaddToListTest (void)
+{
+ ofstream DumpData;
+ DumpData.open ("Logs/addToListTest.txt");
+
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ try
+ {
+ std::list<gpstk::EngEphemeris> EphList; // Empty Ephemeris List
+
+ //Assert that the number of added members equals the size of Store (all members added)
+ CPPUNIT_ASSERT_EQUAL(Store.ubeSize(),(unsigned) Store.addToList(EphList));
+ CPPUNIT_ASSERT_EQUAL((unsigned) EphList.size(),Store.ubeSize());
+
+ typedef list<gpstk::EngEphemeris>::const_iterator LI;
+ for (LI i = EphList.begin();i!=EphList.end();i++)
+ {
+ const gpstk::EngEphemeris& e = *i;
+ DumpData << e;
+ }
+
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+ CPPUNIT_ASSERT(fileEqualTest("Logs/addToListTest.txt","Checks/addToListTest.chk"));
+}
+
+
+bool xRinexEphemerisStore :: fileEqualTest (char* handle1, char* handle2)
+{
+ bool isEqual = false;
+
+ ifstream File1;
+ ifstream File2;
+
+ std::string File1Line;
+ std::string File2Line;
+
+ File1.open(handle1);
+ File2.open(handle2);
+
+ while (!File1.eof())
+ {
+ if (File2.eof())
+ return isEqual;
+ getline (File1, File1Line);
+ getline (File2, File2Line);
+
+ if (File1Line != File2Line)
+ return isEqual;
+ }
+ if (!File2.eof())
+ return isEqual;
+ else
+ return isEqual = true;
+}
diff --git a/dev/tests/BCEphemerisStore/xRinexEphemerisStore.hpp b/dev/tests/BCEphemerisStore/xRinexEphemerisStore.hpp
new file mode 100644
index 0000000..d3c00c4
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/xRinexEphemerisStore.hpp
@@ -0,0 +1,57 @@
+// file: xRinexEphemerisStore.hpp
+
+#ifndef XRINEXEPHEMERISSTORE_HPP
+#define XRINEXEPHEMERISSTORE_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "RinexEphemerisStore.hpp"
+#include <fstream>
+
+
+using namespace std;
+
+
+class xRinexEphemerisStore: public CPPUNIT_NS :: TestFixture
+{
+ //Test Fixture information, e.g. what tests will be run
+ CPPUNIT_TEST_SUITE (xRinexEphemerisStore);
+ CPPUNIT_TEST (RESTest);
+ CPPUNIT_TEST (BCESfindEphTest);
+ CPPUNIT_TEST (BCESgetPrnXvtTest);
+ CPPUNIT_TEST (BCESgetPrnXvt2Test);
+ CPPUNIT_TEST (BCESgetPrnHealthTest);
+ CPPUNIT_TEST (BCESdumpTest);
+ CPPUNIT_TEST (BCESaddEphemerisTest);
+ CPPUNIT_TEST (BCESeditTest);
+ CPPUNIT_TEST (BCESwiperTest);
+ CPPUNIT_TEST (BCESclearTest);
+ CPPUNIT_TEST (BCESfindUserTest);
+ CPPUNIT_TEST (BCESfindNearTest);
+ CPPUNIT_TEST (BCESaddToListTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void); //Sets up test enviornment
+
+ protected:
+
+ void RESTest (void);
+ void BCESfindEphTest (void);
+ void BCESgetPrnXvtTest (void);
+ void BCESgetPrnXvt2Test (void);
+ void BCESgetPrnHealthTest (void);
+ void BCESdumpTest (void);
+ void BCESaddEphemerisTest (void);
+ void BCESeditTest (void);
+ void BCESwiperTest (void);
+ void BCESclearTest (void);
+ void BCESfindUserTest (void);
+ void BCESfindNearTest (void);
+ void BCESaddToListTest (void);
+ bool fileEqualTest (char[], char[]);
+
+ private:
+
+};
+#endif
diff --git a/dev/tests/BCEphemerisStore/xRinexEphemerisStoreM.cpp b/dev/tests/BCEphemerisStore/xRinexEphemerisStoreM.cpp
new file mode 100644
index 0000000..99b49bc
--- /dev/null
+++ b/dev/tests/BCEphemerisStore/xRinexEphemerisStoreM.cpp
@@ -0,0 +1,30 @@
+// CppUnit-Tutorial
+// file: ftest.cc
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/BinUtils/BinUtils.cpp b/dev/tests/BinUtils/BinUtils.cpp
new file mode 120000
index 0000000..2a157cb
--- /dev/null
+++ b/dev/tests/BinUtils/BinUtils.cpp
@@ -0,0 +1 @@
+../../src/BinUtils.cpp
\ No newline at end of file
diff --git a/dev/tests/BinUtils/BinUtils.hpp b/dev/tests/BinUtils/BinUtils.hpp
new file mode 120000
index 0000000..13d201b
--- /dev/null
+++ b/dev/tests/BinUtils/BinUtils.hpp
@@ -0,0 +1 @@
+../../src/BinUtils.hpp
\ No newline at end of file
diff --git a/dev/tests/BinUtils/Jamfile b/dev/tests/BinUtils/Jamfile
new file mode 100644
index 0000000..f0a0455
--- /dev/null
+++ b/dev/tests/BinUtils/Jamfile
@@ -0,0 +1,3 @@
+SubDir TOP BinUtils ;
+
+TestMain BinUtils/xBinUtils.tst : BinUtils/xBinUtilsM.cpp BinUtils/xBinUtils.cpp BinUtils/BinUtils.cpp ;
diff --git a/dev/tests/BinUtils/makefile b/dev/tests/BinUtils/makefile
new file mode 100644
index 0000000..39665e1
--- /dev/null
+++ b/dev/tests/BinUtils/makefile
@@ -0,0 +1,20 @@
+# file: makefile
+
+CPPUNIT_PATH=/home/ehagen
+
+xBinUtils.tst: xBinUtilsM.o xBinUtils.o BinUtils.o
+ g++ -o xBinUtils.tst xBinUtilsM.o xBinUtils.o BinUtils.o -L${CPPUNIT_PATH}/lib -lstdc++ -lcppunit -ldl -lgpstk -fprofile-arcs -ftest-coverage
+
+BinUtils.o: /home/ehagen/gpstk/src/BinUtils.cpp /home/ehagen/gpstk/src/BinUtils.hpp
+ g++ -c /home/ehagen/gpstk/src/BinUtils.cpp -I/home/ehagen/gpstk/src -L/home/ehagen/gpstk/src -fprofile-arcs -ftest-coverage
+
+xBinUtils.o: xBinUtils.cpp xBinUtils.hpp
+ g++ -c xBinUtils.cpp -I${CPPUNIT_PATH}/include -I/home/ehagen/gpstk/src -L/home/ehagen/gpstk/src -fprofile-arcs -ftest-coverage
+
+xBinUtilsM.o: xBinUtilsM.cpp
+ g++ -c xBinUtilsM.cpp -I${CPPUNIT_PATH}/include -fprofile-arcs -ftest-coverage
+
+clean:
+ rm -f *.o
+ rm -f *.g*
+ rm -f *.*.g*
diff --git a/dev/tests/BinUtils/xBinUtils.cpp b/dev/tests/BinUtils/xBinUtils.cpp
new file mode 100644
index 0000000..53cfaeb
--- /dev/null
+++ b/dev/tests/BinUtils/xBinUtils.cpp
@@ -0,0 +1,146 @@
+// file: xBinUtils.cpp
+
+#include "xBinUtils.hpp"
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xBinUtils);
+
+
+void xBinUtils :: setUp (void)
+{
+}
+
+void xBinUtils :: firstTest (void)
+{
+ cout.setf(ios_base::hex,ios_base::basefield);
+
+ unsigned char Store[12] = {0x11,0x33,0x77,0xFF,0xBB,0x22,0xDD,0x44,0x66,0xEE,0x99,0x66};
+
+ char a;
+ unsigned char *ptra = (unsigned char *)& a;
+ for (int i = sizeof(char)-1;i>=0;i--)
+ {
+ *ptra = Store[i];
+ *ptra++;
+ }
+
+ short b;
+ unsigned char *ptrb = (unsigned char *)& b;
+ for (int i = sizeof(short)-1;i>=0;i--)
+ {
+ *ptrb = Store[i];
+ *ptrb++;
+ }
+
+ int c;
+ unsigned char *ptrc = (unsigned char *)& c;
+ for (int i = sizeof(int)-1;i>=0;i--)
+ {
+ *ptrc = Store[i];
+ *ptrc++;
+ }
+
+ long d;
+ unsigned char *ptrd = (unsigned char *)& d;
+ for (int i = sizeof(long)-1;i>=0;i--)
+ {
+ *ptrd = Store[i];
+ *ptrd++;
+ }
+
+ float e;
+ unsigned char *ptre = (unsigned char *)& e;
+ for (int i = sizeof(float)-1;i>=0;i--)
+ {
+ *ptre = Store[i];
+ *ptre++;
+ }
+
+ double f;
+ unsigned char *ptrf = (unsigned char *)& f;
+ for (int i = sizeof(double)-1;i>=0;i--)
+ {
+ *ptrf = Store[i];
+ *ptrf++;
+ }
+
+ long double g;
+ unsigned char *ptrg = (unsigned char *)& g;
+ for (int i = sizeof(long double)-1;i>=0;i--)
+ {
+ *ptrg = Store[i];
+ *ptrg++;
+ }
+
+ char a1;
+ unsigned char *ptra1 = (unsigned char *)& a1;
+ for (int i =0;i<sizeof(char);i++)
+ {
+ *ptra1 = Store[i];
+ *ptra1++;
+ }
+
+ short b1;
+ unsigned char *ptrb1 = (unsigned char *)& b1;
+ for (int i =0;i<sizeof(short);i++)
+ {
+ *ptrb1 = Store[i];
+ *ptrb1++;
+ }
+
+ int c1;
+ unsigned char *ptrc1 = (unsigned char *)& c1;
+ for (int i =0;i<sizeof(int);i++)
+ {
+ *ptrc1 = Store[i];
+ *ptrc1++;
+ }
+
+ long d1;
+ unsigned char *ptrd1 = (unsigned char *)& d1;
+ for (int i =0;i<sizeof(long);i++)
+ {
+ *ptrd1 = Store[i];
+ *ptrd1++;
+ }
+
+ float e1;
+ unsigned char *ptre1 = (unsigned char *)& e1;
+ for (int i =0;i<sizeof(float);i++)
+ {
+ *ptre1 = Store[i];
+ *ptre1++;
+ }
+
+ double f1;
+ unsigned char *ptrf1 = (unsigned char *)& f1;
+ for (int i =0;i<sizeof(double);i++)
+ {
+ *ptrf1 = Store[i];
+ *ptrf1++;
+ }
+
+ long double g1;
+ unsigned char *ptrg1 = (unsigned char *)& g1;
+ for (int i =0;i<sizeof(long double);i++)
+ {
+ *ptrg1 = Store[i];
+ *ptrg1++;
+ }
+
+ gpstk::BinUtils::twiddle(a);
+ gpstk::BinUtils::twiddle(b);
+ gpstk::BinUtils::twiddle(c);
+ gpstk::BinUtils::twiddle(d);
+ gpstk::BinUtils::twiddle(e);
+ gpstk::BinUtils::twiddle(f);
+ gpstk::BinUtils::twiddle(g);
+
+ CPPUNIT_ASSERT_EQUAL(a1,a);
+ CPPUNIT_ASSERT_EQUAL(b1,b);
+ CPPUNIT_ASSERT_EQUAL(c1,c);
+ CPPUNIT_ASSERT_EQUAL(d1,d);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(e1,e,1e-50);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(f1,f,1e-50);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(g1,g,1e-50);
+
+}
diff --git a/dev/tests/BinUtils/xBinUtils.hpp b/dev/tests/BinUtils/xBinUtils.hpp
new file mode 100644
index 0000000..a8b311a
--- /dev/null
+++ b/dev/tests/BinUtils/xBinUtils.hpp
@@ -0,0 +1,30 @@
+// file: xBinUtils.hpp
+
+#ifndef XBINUTILS_HPP
+#define XBINUTILS_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "BinUtils.hpp"
+
+using namespace std;
+
+
+class xBinUtils: public CPPUNIT_NS :: TestFixture
+{
+ //Test Fixture information, e.g. what tests will be run
+ CPPUNIT_TEST_SUITE (xBinUtils);
+ CPPUNIT_TEST (firstTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void); //Sets up test enviornment
+
+ protected:
+
+ void firstTest (void); // Test constructors
+
+ private:
+};
+
+#endif
diff --git a/dev/tests/BinUtils/xBinUtilsM.cpp b/dev/tests/BinUtils/xBinUtilsM.cpp
new file mode 100644
index 0000000..99b49bc
--- /dev/null
+++ b/dev/tests/BinUtils/xBinUtilsM.cpp
@@ -0,0 +1,30 @@
+// CppUnit-Tutorial
+// file: ftest.cc
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/Binex/binex_read_write.cpp b/dev/tests/Binex/binex_read_write.cpp
new file mode 100644
index 0000000..273a1e9
--- /dev/null
+++ b/dev/tests/Binex/binex_read_write.cpp
@@ -0,0 +1,539 @@
+#pragma ident "$Id: //depot/msn/r5.3/code/shared/gpstk/test/binex_read_write.cpp#1 $"
+
+#include <stdlib.h> // For lrand48()
+#include "BinexData.hpp"
+#include "BinexStream.hpp"
+#include "BasicFramework.hpp"
+
+/**
+ * @file BinexReadWriteTest.cpp
+ *
+ * Tests gpstk::BinexData
+ */
+
+using namespace std;
+using namespace gpstk;
+
+/**
+ *
+ */
+class BinexReadWriteTest : public BasicFramework
+{
+public:
+
+ /**
+ *
+ */
+ BinexReadWriteTest(char* arg0);
+
+ /**
+ *
+ */
+ virtual ~BinexReadWriteTest() {};
+
+protected:
+
+ enum TestDataType
+ {
+ eChar,
+ eShort,
+ eLong,
+ eUBNXI,
+ eMGFZI
+ };
+
+ typedef pair<TestDataType, void*> TestData;
+ typedef vector<TestData> TestDataList;
+ typedef vector<TestDataList> TestDataListList;
+ typedef vector<BinexData> RecordList;
+
+ /**
+ *
+ */
+ void process()
+ throw();
+
+ /**
+ *
+ */
+ void report(string description,
+ bool pass);
+
+ /**
+ *
+ */
+ void report(string description,
+ const unsigned long expectedValue,
+ const size_t expectedSize,
+ const BinexData::UBNXI& actual,
+ const bool littleEndian = false);
+
+ /**
+ *
+ */
+ void report(string description,
+ const long long expectedValue,
+ const size_t expectedSize,
+ const BinexData::MGFZI& actual,
+ const bool littleEndian = false);
+
+ /**
+ *
+ */
+ void dumpBuffer(const unsigned char* buffer, size_t size);
+
+ TestDataListList testData;
+
+ RecordList testRecords;
+
+}; // class BinexReadWriteTest
+
+
+//---------------------------------------------------------------------------
+BinexReadWriteTest::BinexReadWriteTest(char* arg0) :
+ BasicFramework (arg0, "Tests Binex record reading and writing")
+{
+ // Intentionally empty
+}
+
+
+//---------------------------------------------------------------------------
+void BinexReadWriteTest::process()
+ throw()
+{
+ if (verboseLevel > 0)
+ {
+ cout << "Creating BINEX records . . ." << endl;
+ }
+
+ for (short recNum = 0; recNum < 10; recNum++)
+ {
+ BinexData record(recNum);
+ TestDataList recordData;
+ size_t offset = 0;
+
+ for (short dataNum = 0; dataNum < 80; dataNum++)
+ {
+ TestDataType whichType = (TestDataType)(rand() % (eMGFZI + 1) );
+ void *value = NULL;
+
+ switch (whichType)
+ {
+ case eChar:
+ {
+ char c = (char)(rand() % 0x100);
+ record.updateMessageData(offset, c, sizeof(c) );
+ value = new char(c);
+ break;
+ }
+ case eShort:
+ {
+ short s = (short)(rand() % 10000);
+ record.updateMessageData(offset, s, sizeof(s) );
+ value = new short(s);
+ break;
+ }
+ case eLong:
+ {
+ long l = (long)(lrand48() );
+ record.updateMessageData(offset, l, sizeof(l) );
+ value = new long(l);
+ break;
+ }
+ case eUBNXI:
+ {
+ BinexData::UBNXI u( (unsigned long)(abs(lrand48() ) ) % BinexData::UBNXI::MAX_VALUE);
+ record.updateMessageData(offset, u);
+ value = new BinexData::UBNXI(u);
+ break;
+ }
+ case eMGFZI:
+ {
+ BinexData::MGFZI m( (long long)(lrand48() ) );
+ record.updateMessageData(offset, m);
+ value = new BinexData::MGFZI(m);
+ break;
+ }
+ default:
+ // Internal error
+ exit(1);
+ }
+ if (value != NULL)
+ {
+ recordData.push_back(TestData(whichType, value) );
+ }
+ }
+ testData.push_back(recordData);
+ testRecords.push_back(record);
+ }
+
+ if (verboseLevel > 0)
+ {
+ cout << "Verifying BINEX records . . ." << endl;
+ }
+ TestDataListList::iterator dataListIter = testData.begin();
+ RecordList::iterator recordIter = testRecords.begin();
+ bool more = true;
+ while ( (dataListIter != testData.end() )
+ && (recordIter != testRecords.end() ) )
+ {
+ TestDataList dataList = *dataListIter;
+ BinexData record = *recordIter;
+ try
+ {
+ size_t offset = 0;
+ TestDataList::iterator dataIter = (*dataListIter).begin();
+ while (dataIter != (*dataListIter).end() )
+ {
+ switch ( (*dataIter).first)
+ {
+ case eChar:
+ {
+ string desc = "Comparing character record message data";
+ char c;
+ record.extractMessageData(offset, c, sizeof(c) );
+ if (memcmp( (void*)&c, (*dataIter).second, sizeof(c) ) )
+ {
+ report(desc, false);
+ cout << " Actual: " << c << endl;
+ cout << " Expected: " << *( (char*)(*dataIter).second) << endl;
+ }
+ else
+ {
+ report(desc, true);
+ }
+ break;
+ }
+ case eShort:
+ {
+ string desc = "Comparing short record message data";
+ short s;
+ record.extractMessageData(offset, s, sizeof(s) );
+ if (memcmp( (void*)&s, (*dataIter).second, sizeof(s) ) )
+ {
+ report(desc, false);
+ cout << " Actual: " << s << endl;
+ cout << " Expected: " << *( (char*)(*dataIter).second) << endl;
+ }
+ else
+ {
+ report(desc, true);
+ }
+ break;
+ }
+ case eLong:
+ {
+ string desc = "Comparing long record message data";
+ long l;
+ record.extractMessageData(offset, l, sizeof(l) );
+ if (memcmp( (void*)&l, (*dataIter).second, sizeof(l) ) )
+ {
+ report(desc, false);
+ cout << " Actual: " << l << endl;
+ cout << " Expected: " << *( (char*)(*dataIter).second) << endl;
+ }
+ else
+ {
+ report(desc, true);
+ }
+ break;
+ }
+ case eUBNXI:
+ {
+ string desc = "Comparing UBNXI record message data";
+ BinexData::UBNXI u;
+ record.extractMessageData(offset, u);
+ if (u == *( (BinexData::UBNXI*)(*dataIter).second) )
+ {
+ report(desc, true);
+ }
+ else
+ {
+ report(desc, false);
+ cout << " Actual: " << (unsigned long)u << endl;
+ cout << " Expected: " << (unsigned long)*( (BinexData::UBNXI*)(*dataIter).second) << endl;
+ }
+ break;
+ }
+ case eMGFZI:
+ {
+ string desc = "Comparing MGFZI record message data";
+ BinexData::MGFZI m;
+ record.extractMessageData(offset, m);
+ if (m == *( (BinexData::MGFZI*)(*dataIter).second) )
+ {
+ report(desc, true);
+ }
+ else
+ {
+ report(desc, false);
+ cout << " Actual: " << (long long)m << endl;
+ cout << " Expected: " << (long long)*( (BinexData::MGFZI*)(*dataIter).second) << endl;
+ }
+ break;
+ }
+ default:
+ // Internal error
+ exit(1);
+ }
+ dataIter++;
+ }
+ }
+ catch (FFStreamError e)
+ {
+ cout << " FFStreamError reading record." << endl;
+ }
+ catch (...)
+ {
+ cout << " Unknown error reading record." << endl;
+ }
+ dataListIter++;
+ recordIter++;
+
+ }
+
+ if (verboseLevel > 0)
+ {
+ cout << "Writing BINEX file . . ." << endl;
+ }
+ BinexStream outStream("test.out", std::ios::out | std::ios::binary);
+ outStream.exceptions(ios_base::failbit | ios_base::badbit);
+ recordIter = testRecords.begin();
+ while (recordIter != testRecords.end() )
+ {
+ try
+ {
+ (*recordIter).putRecord(outStream);
+ }
+ catch(...)
+ {
+ cout << " Error writing record." << endl;
+ }
+ recordIter++;
+ }
+ outStream.close();
+
+ if (verboseLevel > 0)
+ {
+ cout << "Reading BINEX file . . ." << endl;
+ }
+ BinexStream inStream("test.out", std::ios::in | std::ios::binary);
+ inStream.exceptions(ios_base::failbit);
+ recordIter = testRecords.begin();
+ while (inStream.good() && (EOF != inStream.peek() ) )
+ {
+ if (recordIter == testRecords.end() )
+ {
+ cout << "Stored records exhausted before file records - exiting." << endl;
+ break;
+ }
+ BinexData record;
+ try
+ {
+ record.getRecord(inStream);
+ if (record == *recordIter)
+ {
+ report("Reading and comparing BINEX record", true);
+ }
+ else
+ {
+ report("Reading and comparing BINEX record", false);
+ cout << "Actual record:" << endl;
+ (*recordIter).dump(cout);
+ cout << "Expected record:" << endl;
+ record.dump(cout);
+ }
+ }
+ catch (FFStreamError e)
+ {
+ cout << e << endl;
+ }
+ catch (...)
+ {
+ cout << " Unknown error reading record." << endl;
+ }
+ recordIter++;
+ }
+ inStream.close();
+
+}
+
+
+//---------------------------------------------------------------------------
+void BinexReadWriteTest::report(string description,
+ bool pass)
+{
+ if (pass)
+ {
+ if (verboseLevel > 1)
+ {
+ cout << " PASS - " << description << endl;
+ }
+ }
+ else
+ {
+ cout << " FAIL - " << description << endl;
+ }
+}
+
+/*
+//---------------------------------------------------------------------------
+void BinexReadWriteTest::report(string description,
+ const unsigned long expectedValue,
+ const unsigned short expectedSize,
+ const BinexData::UBNXI& actual,
+ const bool littleEndian)
+{
+ unsigned long actualValue = (unsigned long)actual;
+ unsigned short actualSize = actual.getSize();
+
+ if ( (expectedValue != (unsigned long)actualValue)
+ || (expectedSize != actualSize) )
+ {
+ cout << " FAIL - " << description;
+ if (littleEndian)
+ {
+ cout << " (Little Endian)" << endl;
+ }
+ else
+ {
+ cout << " (Big Endian)" << endl;
+ }
+ cout << " Expected Value = " << expectedValue << endl;
+ cout << " Actual Value = " << actualValue << endl;
+ cout << " Expected Size = " << expectedSize << endl;
+ cout << " Actual Size = " << actualSize << endl;
+
+ unsigned char bytes[8];
+ unsigned char byteCount;
+ actual.encode(bytes, byteCount); //, littleEndian);
+ cout << " Raw Hex Bytes =";
+ for (unsigned char i = 0; i < byteCount; i++)
+ {
+ cout << " " << hex << (unsigned short)bytes[i];
+ }
+ cout << dec << endl;
+ }
+ else
+ {
+ if (verboseLevel > 1)
+ {
+ cout << " PASS - " << description;
+ if (littleEndian)
+ {
+ cout << " (Little Endian)" << endl;
+ }
+ else
+ {
+ cout << " (Big Endian)" << endl;
+ }
+ unsigned char bytes[8];
+ unsigned char byteCount;
+ actual.encode(bytes, byteCount); //, littleEndian);
+ cout << " Value = " << (unsigned long)actual << " Raw Hex Bytes =";
+ for (unsigned char i = 0; i < byteCount; i++)
+ {
+ cout << " " << hex << (unsigned short)bytes[i];
+ }
+ cout << dec << endl;
+ }
+ }
+}
+
+
+//---------------------------------------------------------------------------
+void BinexReadWriteTest::report(string description,
+ const long long expectedValue,
+ const unsigned short expectedSize,
+ const BinexData::MGFZI& actual,
+ const bool littleEndian)
+{
+ long long actualValue = (long long)actual;
+ unsigned short actualSize = actual.getSize();
+
+ if ( (expectedValue != (long long)actualValue)
+ || (expectedSize != actualSize) )
+ {
+ cout << " FAIL - " << description;
+ if (littleEndian)
+ {
+ cout << " (Little Endian)" << endl;
+ }
+ else
+ {
+ cout << " (Big Endian)" << endl;
+ }
+ cout << " Expected Value = " << expectedValue << endl;
+ cout << " Actual Value = " << actualValue << endl;
+ cout << " Expected Size = " << expectedSize << endl;
+ cout << " Actual Size = " << actualSize << endl;
+
+ unsigned char bytes[8];
+ unsigned char byteCount;
+ actual.encode(bytes, byteCount); //, littleEndian);
+ cout << " Raw Hex Bytes =";
+ for (unsigned char i = 0; i < byteCount; i++)
+ {
+ cout << " " << hex << (unsigned short)bytes[i];
+ }
+ cout << dec << endl;
+ }
+ else
+ {
+ if (verboseLevel > 1)
+ {
+ cout << " PASS - " << description;
+ if (littleEndian)
+ {
+ cout << " (Little Endian)" << endl;
+ }
+ else
+ {
+ cout << " (Big Endian)" << endl;
+ }
+ unsigned char bytes[8];
+ unsigned char byteCount;
+ actual.encode(bytes, byteCount); //, littleEndian);
+ cout << " Value = " << actualValue << " Raw Hex Bytes =";
+ for (unsigned char i = 0; i < byteCount; i++)
+ {
+ cout << " " << hex << (unsigned short)bytes[i];
+ }
+ cout << dec << endl;
+ }
+ }
+}
+*/
+
+//---------------------------------------------------------------------------
+void BinexReadWriteTest::dumpBuffer(const unsigned char* buffer, size_t size)
+{
+ cout << " Raw Hex Bytes =";
+ for (size_t i = 0; i < size; i++)
+ {
+ cout << " " << hex << (unsigned short)buffer[i];
+ }
+ cout << dec << endl;
+}
+
+
+/**
+ * Returns 0 if successful.
+ */
+main(int argc, char *argv[])
+{
+ BinexReadWriteTest app(argv[0]);
+
+ if (!app.initialize(argc, argv) )
+ {
+ return 0;
+ }
+
+ if (!app.run() )
+ {
+ return 1;
+ }
+
+ exit(0);
+
+} // main()
diff --git a/dev/tests/Binex/binex_types_test.cpp b/dev/tests/Binex/binex_types_test.cpp
new file mode 100644
index 0000000..72f382a
--- /dev/null
+++ b/dev/tests/Binex/binex_types_test.cpp
@@ -0,0 +1,813 @@
+#pragma ident "$Id: //depot/msn/main/shared/gpstk/tests/binex_types_test.cpp#1 $"
+
+#include <stdlib.h> // For lrand48()
+#include "BinexData.hpp"
+#include "BasicFramework.hpp"
+
+/**
+ * @file binex_types_test.cpp
+ *
+ * Tests gpstk::BinexData::UBNXI, gpstk::BinexData::MGFZI
+ */
+
+using namespace std;
+using namespace gpstk;
+
+/**
+ *
+ */
+class BinexTypesTest : public BasicFramework
+{
+public:
+
+ /**
+ *
+ */
+ BinexTypesTest(char* arg0);
+
+ /**
+ *
+ */
+ virtual ~BinexTypesTest() {};
+
+protected:
+
+ /**
+ *
+ */
+ void process()
+ throw();
+
+ /**
+ *
+ */
+ void report(string description,
+ bool pass);
+
+ /**
+ *
+ */
+ void report(string description,
+ const unsigned long expectedValue,
+ const size_t expectedSize,
+ const BinexData::UBNXI& actual,
+ const bool littleEndian = false);
+
+ /**
+ *
+ */
+ void report(string description,
+ const long long expectedValue,
+ const size_t expectedSize,
+ const BinexData::MGFZI& actual,
+ const bool littleEndian = false);
+
+ /**
+ *
+ */
+ void dumpBuffer(const unsigned char* buffer, size_t size);
+
+}; // class BinexTypesTest
+
+
+//---------------------------------------------------------------------------
+BinexTypesTest::BinexTypesTest(char* arg0) :
+ BasicFramework (arg0, "Tests Binex types UBNXI and MGFZI")
+{
+ // Intentionally empty
+}
+
+
+//---------------------------------------------------------------------------
+void BinexTypesTest::process()
+ throw()
+{
+ // Test UBNXI class
+ if (verboseLevel > 0)
+ {
+ cout << "Testing UBNXI initialization . . ." << endl;
+ }
+ {
+ BinexData::UBNXI u;
+ report("UBNXI: Uninitialized", 0, 1, u);
+ }
+ {
+ BinexData::UBNXI u(0);
+ report("UBNXI: Initialize boundary condition", 0, 1, u);
+ }
+ {
+ BinexData::UBNXI u(127);
+ report("UBNXI: Initialize boundary condition", 127, 1, u);
+ }
+ {
+ BinexData::UBNXI u(128);
+ report("UBNXI: Initialize boundary condition", 128, 2, u);
+ }
+ {
+ BinexData::UBNXI u(16383);
+ report("UBNXI: Initialize boundary condition", 16383, 2, u);
+ }
+ {
+ BinexData::UBNXI u(16384);
+ report("UBNXI: Initialize boundary condition", 16384, 3, u);
+ }
+ {
+ BinexData::UBNXI u(2097151);
+ report("UBNXI: Initialize boundary condition", 2097151, 3, u);
+ }
+ {
+ BinexData::UBNXI u(2097152);
+ report("UBNXI: Initialize boundary condition", 2097152, 4, u);
+ }
+ {
+ BinexData::UBNXI u(536870911);
+ report("UBNXI: Initialize boundary condition", 536870911, 4, u);
+ }
+ try
+ {
+ BinexData::UBNXI u(536870912);
+ report("UBNXI: Overflow exception not generated for 536870912", false);
+ }
+ catch (Exception e)
+ {
+ report("UBNXI: Overflow exception correctly generated for 536870912", true);
+ }
+
+ if (verboseLevel > 0)
+ {
+ cout << "Testing UBNXI encoding/decoding . . ." << endl;
+ }
+ for (unsigned short littleEndian = 0; littleEndian <= 1; littleEndian++)
+ {
+ BinexData::UBNXI u2;
+ //unsigned char buffer[4];
+ std::string buffer;
+ size_t offset = 0;
+ size_t len;
+ string descB = "UBNXI: Encode/decode, boundary condition";
+ string descR = "UBNXI: Encode/decode, random";
+
+ {
+ BinexData::UBNXI u1(0);
+ u1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ u2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 0, 1, u2, (bool)littleEndian);
+ }
+ {
+ BinexData::UBNXI u1(127);
+ u1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ u2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 127, 1, u2, (bool)littleEndian);
+ }
+ {
+ BinexData::UBNXI u1(128);
+ u1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ u2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 128, 2, u2, (bool)littleEndian);
+ }
+ {
+ BinexData::UBNXI u1(506);
+ u1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ u2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 506, 2, u2, (bool)littleEndian);
+ }
+ {
+ BinexData::UBNXI u1(15619);
+ u1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ u2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 15619, 2, u2, (bool)littleEndian);
+ }
+ {
+ BinexData::UBNXI u1(16383);
+ u1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ u2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 16383, 2, u2, (bool)littleEndian);
+ }
+ {
+ BinexData::UBNXI u1(16384);
+ u1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ u2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 16384, 3, u2, (bool)littleEndian);
+ }
+ {
+ BinexData::UBNXI u1(2097151);
+ u1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ u2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 2097151, 3, u2, (bool)littleEndian);
+ }
+ {
+ BinexData::UBNXI u1(2097152);
+ u1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ u2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 2097152, 4, u2, (bool)littleEndian);
+ }
+ {
+ BinexData::UBNXI u1(536870911);
+ u1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ u2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 536870911, 4, u2, (bool)littleEndian);
+ }
+
+ for (unsigned long i = 1000; i < BinexData::UBNXI::MAX_VALUE; i <<= 3)
+ {
+ for (unsigned long j = 0; j < 50; j++)
+ {
+ unsigned long v = (unsigned long)lrand48() % i;
+ BinexData::UBNXI u1(v);
+ u1.encode(buffer, offset, (bool)littleEndian);
+ u2.decode(buffer, offset, (bool)littleEndian);
+ report(descR, v, u1.getSize(), u2, (bool)littleEndian);
+ }
+ }
+
+ }
+
+ // Test MGFZI class
+ if (verboseLevel > 0)
+ {
+ cout << "Testing MGFZI initialization . . ." << endl;
+ }
+ {
+ BinexData::MGFZI m;
+ report("MGFZI: Uninitialized", 0, 1, m);
+ }
+ {
+ BinexData::MGFZI m(0);
+ report("MGFZI: Initialize boundary condition", 0, 1, m);
+ }
+ {
+ BinexData::MGFZI m(15);
+ report("MGFZI: Initialize boundary condition", 15, 1, m);
+ }
+ {
+ BinexData::MGFZI m(-15);
+ report("MGFZI: Initialize boundary condition", -15, 1, m);
+ }
+ {
+ BinexData::MGFZI m(16);
+ report("MGFZI: Initialize boundary condition", 16, 2, m);
+ }
+ {
+ BinexData::MGFZI m(-16);
+ report("MGFZI: Initialize boundary condition", -16, 2, m);
+ }
+ {
+ BinexData::MGFZI m(4109);
+ report("MGFZI: Initialize boundary condition", 4109, 2, m);
+ }
+ {
+ BinexData::MGFZI m(-4109);
+ report("MGFZI: Initialize boundary condition", -4109, 2, m);
+ }
+ {
+ BinexData::MGFZI m(4110);
+ report("MGFZI: Initialize boundary condition", 4110, 3, m);
+ }
+ {
+ BinexData::MGFZI m(-4110);
+ report("MGFZI: Initialize boundary condition", -4110, 3, m);
+ }
+ {
+ BinexData::MGFZI m(1052684);
+ report("MGFZI: Initialize boundary condition", 1052684, 3, m);
+ }
+ {
+ BinexData::MGFZI m(-1052684);
+ report("MGFZI: Initialize boundary condition", -1052684, 3, m);
+ }
+ {
+ BinexData::MGFZI m(1052685);
+ report("MGFZI: Initialize boundary condition", 1052685, 4, m);
+ }
+ {
+ BinexData::MGFZI m(-1052685);
+ report("MGFZI: Initialize boundary condition", -1052685, 4, m);
+ }
+ {
+ BinexData::MGFZI m(269488139);
+ report("MGFZI: Initialize boundary condition", 269488139, 4, m);
+ }
+ {
+ BinexData::MGFZI m(-269488139);
+ report("MGFZI: Initialize boundary condition", -269488139, 4, m);
+ }
+ {
+ BinexData::MGFZI m(269488140);
+ report("MGFZI: Initialize boundary condition", 269488140, 5, m);
+ }
+ {
+ BinexData::MGFZI m(-269488140);
+ report("MGFZI: Initialize boundary condition", -269488140, 5, m);
+ }
+ {
+ BinexData::MGFZI m(68988964874LL);
+ report("MGFZI: Initialize boundary condition", 68988964874LL, 5, m);
+ }
+ {
+ BinexData::MGFZI m(-68988964874LL);
+ report("MGFZI: Initialize boundary condition", -68988964874LL, 5, m);
+ }
+ {
+ BinexData::MGFZI m(68988964875LL);
+ report("MGFZI: Initialize boundary condition", 68988964875LL, 6, m);
+ }
+ {
+ BinexData::MGFZI m(-68988964875LL);
+ report("MGFZI: Initialize boundary condition", -68988964875LL, 6, m);
+ }
+ {
+ BinexData::MGFZI m(17661175009289LL);
+ report("MGFZI: Initialize boundary condition", 17661175009289LL, 6, m);
+ }
+ {
+ BinexData::MGFZI m(-17661175009289LL);
+ report("MGFZI: Initialize boundary condition", -17661175009289LL, 6, m);
+ }
+ {
+ BinexData::MGFZI m(17661175009290LL);
+ report("MGFZI: Initialize boundary condition", 17661175009290LL, 7, m);
+ }
+ {
+ BinexData::MGFZI m(-17661175009290LL);
+ report("MGFZI: Initialize boundary condition", -17661175009290LL, 7, m);
+ }
+ {
+ BinexData::MGFZI m(4521260802379784LL);
+ report("MGFZI: Initialize boundary condition", 4521260802379784LL, 7, m);
+ }
+ {
+ BinexData::MGFZI m(-4521260802379784LL);
+ report("MGFZI: Initialize boundary condition", -4521260802379784LL, 7, m);
+ }
+ {
+ BinexData::MGFZI m(4521260802379785LL);
+ report("MGFZI: Initialize boundary condition", 4521260802379785LL, 8, m);
+ }
+ {
+ BinexData::MGFZI m(-4521260802379785LL);
+ report("MGFZI: Initialize boundary condition", -4521260802379785LL, 8, m);
+ }
+ {
+ BinexData::MGFZI m(BinexData::MGFZI::MAX_VALUE);
+ report("MGFZI: Initialize boundary condition", BinexData::MGFZI::MAX_VALUE, 8, m);
+ }
+ {
+ BinexData::MGFZI m(BinexData::MGFZI::MIN_VALUE);
+ report("MGFZI: Initialize boundary condition", BinexData::MGFZI::MIN_VALUE, 8, m);
+ }
+ try
+ {
+ BinexData::MGFZI m(BinexData::MGFZI::MAX_VALUE + 1);
+ report("MGFZI: Overflow exception not generated for BinexData::MGFZI::MAX_VALUE + 1", false);
+ }
+ catch (Exception e)
+ {
+ report("MGFZI: Overflow exception correctly generated for BinexData::MGFZI::MAX_VALUE + 1", true);
+ }
+ try
+ {
+ BinexData::MGFZI m(BinexData::MGFZI::MIN_VALUE - 1);
+ report("MGFZI: Underflow exception not generated for BinexData::MGFZI::MIN_VALUE - 1", false);
+ }
+ catch (Exception e)
+ {
+ report("MGFZI: Underflow exception correctly generated for BinexData::MGFZI::MIN_VALUE - 1", true);
+ }
+
+ if (verboseLevel > 0)
+ {
+ cout << "Testing MGFZI encoding/decoding . . ." << endl;
+ }
+ for (unsigned short littleEndian = 0; littleEndian <= 1; littleEndian++)
+ {
+ BinexData::MGFZI m2;
+ //unsigned char buffer[8];
+ std::string buffer;
+ size_t offset = 0;
+ size_t len;
+ string descB = "MGFZI: Encode/decode, boundary condition";
+ string descR = "MGFZI: Encode/decode, random";
+
+ {
+ BinexData::MGFZI m1(0);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 0, 1, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(15);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 15, 1, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(-15);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, -15, 1, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(16);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 16, 2, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(-16);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, -16, 2, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(4109);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 4109, 2, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(-4109);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, -4109, 2, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(4110);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 4110, 3, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(-4110);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, -4110, 3, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(1052684);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 1052684, 3, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(-1052684);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, -1052684, 3, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(1052685);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 1052685, 4, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(-1052685);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, -1052685, 4, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(269488139);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 269488139, 4, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(-269488139);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, -269488139, 4, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(269488140);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 269488140, 5, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(-269488140);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, -269488140, 5, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(68988964874LL);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 68988964874LL, 5, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(-68988964874LL);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, -68988964874LL, 5, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(68988964875LL);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 68988964875LL, 6, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(-68988964875LL);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, -68988964875LL, 6, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(17661175009289LL);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 17661175009289LL, 6, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(-17661175009289LL);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, -17661175009289LL, 6, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(17661175009290LL);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 17661175009290LL, 7, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(-17661175009290LL);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, -17661175009290LL, 7, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(4521260802379784LL);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 4521260802379784LL, 7, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(-4521260802379784LL);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, -4521260802379784LL, 7, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(4521260802379785LL);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, 4521260802379785LL, 8, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(-4521260802379785LL);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, -4521260802379785LL, 8, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(BinexData::MGFZI::MAX_VALUE);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, BinexData::MGFZI::MAX_VALUE, 8, m2, (bool)littleEndian);
+ }
+ {
+ BinexData::MGFZI m1(BinexData::MGFZI::MIN_VALUE);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ //dumpBuffer(buffer, len);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descB, BinexData::MGFZI::MIN_VALUE, 8, m2, (bool)littleEndian);
+ }
+
+ for (long long i = 1000; i < BinexData::MGFZI::MAX_VALUE; i <<= 3)
+ {
+ for (unsigned long j = 0; j < 50; j++)
+ {
+ long long v = ( (long long)lrand48() | ( (long long)lrand48() ) << 32) % i;
+ BinexData::MGFZI m1(v);
+ m1.encode(buffer, offset, (bool)littleEndian);
+ m2.decode(buffer, offset, (bool)littleEndian);
+ report(descR, v, m1.getSize(), m2, (bool)littleEndian);
+ }
+ }
+
+ }
+
+}
+
+
+//---------------------------------------------------------------------------
+void BinexTypesTest::report(string description,
+ bool pass)
+{
+ if (pass)
+ {
+ if (verboseLevel > 1)
+ {
+ cout << " PASS - " << description << endl;
+ }
+ }
+ else
+ {
+ cout << " FAIL - " << description << endl;
+ }
+}
+
+
+//---------------------------------------------------------------------------
+void BinexTypesTest::report(string description,
+ const unsigned long expectedValue,
+ const size_t expectedSize,
+ const BinexData::UBNXI& actual,
+ const bool littleEndian)
+{
+ unsigned long actualValue = (unsigned long)actual;
+ size_t actualSize = actual.getSize();
+
+ if ( (expectedValue != (unsigned long)actualValue)
+ || (expectedSize != actualSize) )
+ {
+ cout << " FAIL - " << description;
+ if (littleEndian)
+ {
+ cout << " (Little Endian)" << endl;
+ }
+ else
+ {
+ cout << " (Big Endian)" << endl;
+ }
+ cout << " Expected Value = " << expectedValue << endl;
+ cout << " Actual Value = " << actualValue << endl;
+ cout << " Expected Size = " << expectedSize << endl;
+ cout << " Actual Size = " << actualSize << endl;
+
+ std::string bytes;
+ size_t offset = 0;
+ actual.encode(bytes, offset); //, littleEndian);
+ cout << " Raw Hex Bytes =";
+ for (size_t i = 0; i < bytes.size(); i++)
+ {
+ cout << " " << hex << (unsigned short)bytes[i];
+ }
+ cout << dec << endl;
+ }
+ else
+ {
+ if (verboseLevel > 1)
+ {
+ cout << " PASS - " << description;
+ if (littleEndian)
+ {
+ cout << " (Little Endian)" << endl;
+ }
+ else
+ {
+ cout << " (Big Endian)" << endl;
+ }
+ std::string bytes;
+ size_t offset = 0;
+ actual.encode(bytes, offset); //, littleEndian);
+ cout << " Value = " << (unsigned long)actual << " Raw Hex Bytes =";
+ for (size_t i = 0; i < bytes.size(); i++)
+ {
+ cout << " " << hex << (unsigned short)bytes[i];
+ }
+ cout << dec << endl;
+ }
+ }
+}
+
+
+//---------------------------------------------------------------------------
+void BinexTypesTest::report(string description,
+ const long long expectedValue,
+ const size_t expectedSize,
+ const BinexData::MGFZI& actual,
+ const bool littleEndian)
+{
+ long long actualValue = (long long)actual;
+ size_t actualSize = actual.getSize();
+
+ if ( (expectedValue != (long long)actualValue)
+ || (expectedSize != actualSize) )
+ {
+ cout << " FAIL - " << description;
+ if (littleEndian)
+ {
+ cout << " (Little Endian)" << endl;
+ }
+ else
+ {
+ cout << " (Big Endian)" << endl;
+ }
+ cout << " Expected Value = " << expectedValue << endl;
+ cout << " Actual Value = " << actualValue << endl;
+ cout << " Expected Size = " << expectedSize << endl;
+ cout << " Actual Size = " << actualSize << endl;
+
+ std::string bytes;
+ size_t offset = 0;
+ actual.encode(bytes, offset); //, littleEndian);
+ cout << " Raw Hex Bytes =";
+ for (size_t i = 0; i < bytes.size(); i++)
+ {
+ cout << " " << hex << (unsigned short)bytes[i];
+ }
+ cout << dec << endl;
+ }
+ else
+ {
+ if (verboseLevel > 1)
+ {
+ cout << " PASS - " << description;
+ if (littleEndian)
+ {
+ cout << " (Little Endian)" << endl;
+ }
+ else
+ {
+ cout << " (Big Endian)" << endl;
+ }
+ std::string bytes;
+ size_t offset = 0;
+ actual.encode(bytes, offset); //, littleEndian);
+ cout << " Value = " << actualValue << " Raw Hex Bytes =";
+ for (size_t i = 0; i < bytes.size(); i++)
+ {
+ cout << " " << hex << (unsigned short)bytes[i];
+ }
+ cout << dec << endl;
+ }
+ }
+}
+
+
+//---------------------------------------------------------------------------
+void BinexTypesTest::dumpBuffer(const unsigned char* buffer, size_t size)
+{
+ cout << " Raw Hex Bytes =";
+ for (size_t i = 0; i < size; i++)
+ {
+ cout << " " << hex << (unsigned short)buffer[i];
+ }
+ cout << dec << endl;
+}
+
+
+/**
+ * Returns 0 if successful.
+ */
+main(int argc, char *argv[])
+{
+ BinexTypesTest app(argv[0]);
+
+ if (!app.initialize(argc, argv) )
+ {
+ return 0;
+ }
+
+ if (!app.run() )
+ {
+ return 1;
+ }
+
+ exit(0);
+
+} // main()
diff --git a/dev/tests/CivilTime/CivilTime.cpp b/dev/tests/CivilTime/CivilTime.cpp
new file mode 120000
index 0000000..0682790
--- /dev/null
+++ b/dev/tests/CivilTime/CivilTime.cpp
@@ -0,0 +1 @@
+../../src/CivilTime.cpp
\ No newline at end of file
diff --git a/dev/tests/CivilTime/CivilTime.hpp b/dev/tests/CivilTime/CivilTime.hpp
new file mode 120000
index 0000000..afd19ea
--- /dev/null
+++ b/dev/tests/CivilTime/CivilTime.hpp
@@ -0,0 +1 @@
+../../src/CivilTime.hpp
\ No newline at end of file
diff --git a/dev/tests/CivilTime/Jamfile b/dev/tests/CivilTime/Jamfile
new file mode 100644
index 0000000..03677c9
--- /dev/null
+++ b/dev/tests/CivilTime/Jamfile
@@ -0,0 +1,2 @@
+SubDir TOP CivilTime ;
+TestMain CivilTime/xCivilTime.tst : CivilTime/xCivilTimeM.cpp CivilTime/xCivilTime.cpp CivilTime/CivilTime.cpp ;
diff --git a/dev/tests/CivilTime/Logs/printfOutput b/dev/tests/CivilTime/Logs/printfOutput
new file mode 100644
index 0000000..644744e
--- /dev/null
+++ b/dev/tests/CivilTime/Logs/printfOutput
@@ -0,0 +1,4 @@
+12/31/2006 12:00:0.000000000
+12/31/2006 12:00:0.000000000
+12/31/1106 12:00:0.000000000
+00/00/0000 00:00:0.000000000
diff --git a/dev/tests/CivilTime/xCivilTime.cpp b/dev/tests/CivilTime/xCivilTime.cpp
new file mode 100644
index 0000000..07154f5
--- /dev/null
+++ b/dev/tests/CivilTime/xCivilTime.cpp
@@ -0,0 +1,94 @@
+#include "xCivilTime.hpp"
+#include <iostream>
+#include <fstream>
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xCivilTime);
+
+using namespace gpstk;
+
+void xCivilTime :: setUp (void)
+{
+}
+
+void xCivilTime :: setFromInfoTest (void)
+{
+ gpstk::CivilTime setFromInfo1;
+ gpstk::CivilTime setFromInfo2;
+ gpstk::CivilTime setFromInfo3;
+ gpstk::CivilTime setFromInfo4;
+ gpstk::CivilTime setFromInfo5;
+
+ gpstk::TimeTag::IdToValue Id;
+ Id.insert(make_pair('b',"Dec"));
+ Id.insert(make_pair('d',"31"));
+ Id.insert(make_pair('Y',"2006"));
+ Id.insert(make_pair('H',"12"));
+ Id.insert(make_pair('M',"00"));
+ Id.insert(make_pair('S',"00"));
+ CPPUNIT_ASSERT(setFromInfo1.setFromInfo(Id));
+ Id.erase('b');
+ Id.erase('Y');
+ Id.insert(make_pair('m',"12"));
+ Id.insert(make_pair('y',"06"));
+ CPPUNIT_ASSERT(setFromInfo2.setFromInfo(Id));
+ Id.erase('y');
+ Id.insert(make_pair('y',"006"));
+ CPPUNIT_ASSERT(setFromInfo3.setFromInfo(Id));
+ Id.erase('y');
+ CPPUNIT_ASSERT(setFromInfo4.setFromInfo(Id));
+ Id.erase('m');
+ Id.insert(make_pair('b',"AAA"));
+ CPPUNIT_ASSERT(!(setFromInfo5.setFromInfo(Id)));
+ ofstream out("Logs/printfOutput");
+
+ out << setFromInfo1 << endl;
+ out << setFromInfo2 << endl;
+ out << setFromInfo3 << endl;
+ out << setFromInfo4 << endl;
+}
+
+void xCivilTime :: operatorTest (void)
+{
+ gpstk::CivilTime Zero;
+
+ gpstk::CivilTime Aug21(2006,8,21,13,30,15.);
+ gpstk::CivilTime LessThanYear(2005,8,21,13,30,15.);
+ gpstk::CivilTime LessThanMonth(2006,7,21,13,30,15.);
+ gpstk::CivilTime LessThanDay(2006,8,20,13,30,15.);
+ gpstk::CivilTime LessThanHour(2006,8,21,12,30,15.);
+ gpstk::CivilTime LessThanMinute(2006,8,21,13,20,15.);
+ gpstk::CivilTime LessThanSecond(2006,8,21,13,30,0.);
+
+ gpstk::CivilTime Aug21Copy(Aug21);
+
+ gpstk::CivilTime Aug21Copy2 = Aug21Copy;
+ Aug21Copy2 = Aug21Copy;
+ //Equality Assertion
+ CPPUNIT_ASSERT_EQUAL(Aug21,Aug21Copy);
+ //Non-equality Assertion
+ CPPUNIT_ASSERT(Aug21 != LessThanYear);
+ //Less than assertions
+ CPPUNIT_ASSERT(LessThanYear < Aug21);
+ CPPUNIT_ASSERT(!(Aug21 < LessThanYear));
+ CPPUNIT_ASSERT(LessThanMonth < Aug21);
+ CPPUNIT_ASSERT(!(Aug21 < LessThanMonth));
+ CPPUNIT_ASSERT(LessThanDay < Aug21);
+ CPPUNIT_ASSERT(!(Aug21 < LessThanDay));
+ CPPUNIT_ASSERT(LessThanHour < Aug21);
+ CPPUNIT_ASSERT(!(Aug21 < LessThanHour));
+ CPPUNIT_ASSERT(LessThanMinute < Aug21);
+ CPPUNIT_ASSERT(!(Aug21 < LessThanMinute));
+ CPPUNIT_ASSERT(LessThanSecond < Aug21);
+ CPPUNIT_ASSERT(!(Aug21 < LessThanSecond));
+ //Greater than assertions
+ CPPUNIT_ASSERT(Aug21 > LessThanYear);
+ //Less than equals assertion
+ CPPUNIT_ASSERT(LessThanYear <= Aug21);
+ CPPUNIT_ASSERT(Aug21Copy <= Aug21);
+ //Greater than equals assertion
+ CPPUNIT_ASSERT(Aug21 >= LessThanYear);
+ CPPUNIT_ASSERT(Aug21 >= Aug21Copy);
+
+ CPPUNIT_ASSERT(Aug21.isValid());
+ CPPUNIT_ASSERT(!Zero.isValid());
+}
diff --git a/dev/tests/CivilTime/xCivilTime.hpp b/dev/tests/CivilTime/xCivilTime.hpp
new file mode 100644
index 0000000..684b48a
--- /dev/null
+++ b/dev/tests/CivilTime/xCivilTime.hpp
@@ -0,0 +1,28 @@
+#ifndef XCIVILTIME_HPP
+#define XCIVILTIME_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "CivilTime.hpp"
+
+using namespace std;
+
+class xCivilTime: public CPPUNIT_NS :: TestFixture
+{
+ CPPUNIT_TEST_SUITE (xCivilTime);
+ CPPUNIT_TEST (setFromInfoTest);
+ CPPUNIT_TEST (operatorTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void);
+
+ protected:
+ void operatorTest (void);
+ void setFromInfoTest (void);
+
+ private:
+
+};
+
+#endif
diff --git a/dev/tests/CivilTime/xCivilTimeM.cpp b/dev/tests/CivilTime/xCivilTimeM.cpp
new file mode 100644
index 0000000..99b49bc
--- /dev/null
+++ b/dev/tests/CivilTime/xCivilTimeM.cpp
@@ -0,0 +1,30 @@
+// CppUnit-Tutorial
+// file: ftest.cc
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/CommonTime/CommonTime.cpp b/dev/tests/CommonTime/CommonTime.cpp
new file mode 120000
index 0000000..4193aa9
--- /dev/null
+++ b/dev/tests/CommonTime/CommonTime.cpp
@@ -0,0 +1 @@
+../../src/CommonTime.cpp
\ No newline at end of file
diff --git a/dev/tests/CommonTime/CommonTime.hpp b/dev/tests/CommonTime/CommonTime.hpp
new file mode 120000
index 0000000..62f0a97
--- /dev/null
+++ b/dev/tests/CommonTime/CommonTime.hpp
@@ -0,0 +1 @@
+../../src/CommonTime.hpp
\ No newline at end of file
diff --git a/dev/tests/CommonTime/Jamfile b/dev/tests/CommonTime/Jamfile
new file mode 100644
index 0000000..588bd35
--- /dev/null
+++ b/dev/tests/CommonTime/Jamfile
@@ -0,0 +1,2 @@
+SubDir TOP CommonTime ;
+TestMain CommonTime/xCommonTime.tst : CommonTime/xCommonTimeM.cpp CommonTime/xCommonTime.cpp CommonTime/CommonTime.cpp ;
diff --git a/dev/tests/CommonTime/xCommonTime.cpp b/dev/tests/CommonTime/xCommonTime.cpp
new file mode 100644
index 0000000..6dd37ec
--- /dev/null
+++ b/dev/tests/CommonTime/xCommonTime.cpp
@@ -0,0 +1,128 @@
+#include "xCommonTime.hpp"
+#include "TimeConstants.hpp"
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xCommonTime);
+
+using namespace gpstk;
+
+void xCommonTime :: setUp (void)
+{
+}
+
+void xCommonTime :: setTest (void)
+{
+ try
+ {
+ CommonTime Zero;
+ CommonTime Test1(700000,0,0.);
+ //Copy-Constructer
+ CommonTime Test2(Test1);
+ CommonTime Test3 = Test1;
+ CommonTime Test4;
+ //Assignment
+ Test4 = Test1;
+ //Set Exceptions
+ CPPUNIT_ASSERT_THROW(Test1.set(-1,0,0.),gpstk::Exception);
+ CPPUNIT_ASSERT_THROW(Test1.set(3442449,0,0.),gpstk::Exception);
+ CPPUNIT_ASSERT_THROW(Test1.set(700000,-1,0.),gpstk::Exception);
+ CPPUNIT_ASSERT_THROW(Test1.set(700000,24*60*60+1,0.),gpstk::Exception);
+ CPPUNIT_ASSERT_THROW(Test1.set(700000,0,-1.),gpstk::Exception);
+ CPPUNIT_ASSERT_THROW(Test1.set(700000,0,2.),gpstk::Exception);
+
+ Test1.set(700001,1,.1);
+ Test2.set(700001,1.1);
+ double dec = 1.1/SEC_PER_DAY;
+ Test3.set(700001 + dec);
+
+ long day, day2;
+ long sod, sod2;
+ double fsod, fsod2;
+ //Load up compare variables
+ Test1.get(day,sod,fsod);
+ Test2.get(day2,sod2,fsod2);
+ //Compare different sets
+ CPPUNIT_ASSERT_EQUAL(day,day2);
+ CPPUNIT_ASSERT_EQUAL(sod,sod2);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(fsod,fsod2,1e-6);
+ //Load up compare variables
+ Test3.get(day2,sod2,fsod2);
+ //Compare different sets
+ CPPUNIT_ASSERT_EQUAL(day,day2);
+ CPPUNIT_ASSERT_EQUAL(sod,sod2);
+ //CPPUNIT_ASSERT_DOUBLES_EQUAL(fsod,fsod2,1e-6);
+
+ //Check to make sure that the proper exceptions are thrown for setInterval
+ CPPUNIT_ASSERT_THROW(Test4.setInternal(-1,0,0.),gpstk::Exception);
+ CPPUNIT_ASSERT_THROW(Test4.setInternal(700001,-1,0.),gpstk::Exception);
+ CPPUNIT_ASSERT_THROW(Test4.setInternal(700001,86400001,0.),gpstk::Exception);
+ CPPUNIT_ASSERT_THROW(Test4.setInternal(700001,1001,-1.),gpstk::Exception);
+ CPPUNIT_ASSERT_THROW(Test4.setInternal(700001,1001,1001.),gpstk::Exception);
+ //Load up compare variables
+ Test4.setInternal(700001,1100,0.);
+ Test4.get(day2,sod2,fsod2);
+ //Compare setInternal
+ CPPUNIT_ASSERT_EQUAL(day,day2);
+ CPPUNIT_ASSERT_EQUAL(sod,sod2);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(fsod,fsod2,1e-6);
+ }
+ catch (gpstk::Exception& e)
+ {
+ cout << e;
+ }
+}
+
+void xCommonTime :: arithmiticTest (void)
+{
+ CommonTime Arith1(700000,1,0.);
+ CommonTime Arith2(700000,0,0.);
+ double day;
+ long day2;
+ double sod;
+ double fsod;
+ //- between two CommonTimes
+ CPPUNIT_ASSERT_EQUAL(1.,Arith1-Arith2);
+
+ //Add Seconds with +
+ Arith2 = Arith2 + 1;
+ CPPUNIT_ASSERT_EQUAL(0.,Arith1-Arith2);
+
+ //Subtract seconds with -
+ Arith2 = Arith2 - 1;
+ CPPUNIT_ASSERT_EQUAL(1.,Arith1-Arith2);
+
+ //Add seconds with +=
+ Arith2 += 1;
+ CPPUNIT_ASSERT_EQUAL(0.,Arith1-Arith2);
+
+ //Subtract seconds with -=
+ Arith2 -= 1;
+ CPPUNIT_ASSERT_EQUAL(1.,Arith1-Arith2);
+
+ //Add days with addDays
+ Arith2.addDays((long)1);
+ day = Arith2.getDays();
+ CPPUNIT_ASSERT_EQUAL(700001.,day);
+ Arith2.addDays((long)-1);
+
+ //Add seconds with addSeconds(double)
+ Arith2.addSeconds(86400000.+1000.);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(86401000.,Arith2-Arith1,10e-3);
+
+ //Add seconds with addSeconds(long)
+ Arith2.addSeconds((long)-86401000);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0.,Arith2-Arith1,10e-3);
+
+ Arith2.get(day2,sod);
+ CPPUNIT_ASSERT_EQUAL((long)700000,day2);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL((double).001,sod,1e-6);
+ //Check seconds using getSecondOfDay()
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(sod,Arith2.getSecondOfDay(),1e-6);
+
+ //Add milliseconds with addMilliseconds(long)
+ Arith2.addMilliseconds((long)1);
+ Arith2.addMilliseconds((long)-1);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(sod,Arith2.getSecondOfDay(),1e-6);
+
+
+}
+
diff --git a/dev/tests/CommonTime/xCommonTime.hpp b/dev/tests/CommonTime/xCommonTime.hpp
new file mode 100644
index 0000000..5f4a746
--- /dev/null
+++ b/dev/tests/CommonTime/xCommonTime.hpp
@@ -0,0 +1,28 @@
+#ifndef XCOMMONTIME_HPP
+#define XCOMMONTIME_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "CommonTime.hpp"
+
+using namespace std;
+
+class xCommonTime: public CPPUNIT_NS :: TestFixture
+{
+ CPPUNIT_TEST_SUITE (xCommonTime);
+ CPPUNIT_TEST (setTest);
+ CPPUNIT_TEST (arithmiticTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void);
+
+ protected:
+ void setTest (void);
+ void arithmiticTest (void);
+
+ private:
+
+};
+
+#endif
diff --git a/dev/tests/CommonTime/xCommonTimeM.cpp b/dev/tests/CommonTime/xCommonTimeM.cpp
new file mode 100644
index 0000000..99b49bc
--- /dev/null
+++ b/dev/tests/CommonTime/xCommonTimeM.cpp
@@ -0,0 +1,30 @@
+// CppUnit-Tutorial
+// file: ftest.cc
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/DayTime/DayTime.cpp b/dev/tests/DayTime/DayTime.cpp
new file mode 120000
index 0000000..e3daa22
--- /dev/null
+++ b/dev/tests/DayTime/DayTime.cpp
@@ -0,0 +1 @@
+../../src/DayTime.cpp
\ No newline at end of file
diff --git a/dev/tests/DayTime/DayTime.hpp b/dev/tests/DayTime/DayTime.hpp
new file mode 120000
index 0000000..4c790a1
--- /dev/null
+++ b/dev/tests/DayTime/DayTime.hpp
@@ -0,0 +1 @@
+../../src/DayTime.hpp
\ No newline at end of file
diff --git a/dev/tests/DayTime/DayTimeConvTest.hpp b/dev/tests/DayTime/DayTimeConvTest.hpp
new file mode 100644
index 0000000..98f206f
--- /dev/null
+++ b/dev/tests/DayTime/DayTimeConvTest.hpp
@@ -0,0 +1,56 @@
+// file: DayTimeConvTest.hpp
+
+// This test provides the same functionality as DayTimeConversionTest.cpp
+// but uses the CppUnit unit testing framework.
+
+// This test evaluates the user defined comparision tolerance feature of DayTime
+
+#ifndef DAYTIMECONVTEST_HPP
+#define DAYTIMECONVTEST_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+
+using namespace std;
+using gpstk::DayTime;
+
+class DayTimeConvTest: public CPPUNIT_NS :: TestFixture
+{
+ //Test Fixture information, e.g. what tests will be run
+ CPPUNIT_TEST_SUITE (DayTimeConvTest);
+ CPPUNIT_TEST (constrTest);
+ CPPUNIT_TEST (mutatTest);
+ CPPUNIT_TEST (randTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void); //Sets up test enviornment
+
+ protected:
+
+ void constrTest (void); // Test constructors
+ void mutatTest (void); // Test mutators
+ void randTest (void); // Test frandom dates
+
+
+
+ private:
+
+ // Functions that help set up the tests
+ gpstk::DayTime** constrSetup(short,short,short,short,short,double,short,
+ double,long,short,double);
+ gpstk::DayTime** mutatSetup(short,short,short,short,short,double,short,
+ double,short,double,long,short,double);
+
+ //Definitions for objects used in the test
+ gpstk::DayTime ccase[4];
+ gpstk::DayTime mcase[6];
+ gpstk::DayTime rcase[6];
+ gpstk::DayTime** ccases;
+ gpstk::DayTime** mcases;
+ gpstk::DayTime** rcases;
+};
+
+#endif
diff --git a/dev/tests/DayTime/Jamfile b/dev/tests/DayTime/Jamfile
new file mode 100644
index 0000000..b3b8fa9
--- /dev/null
+++ b/dev/tests/DayTime/Jamfile
@@ -0,0 +1,5 @@
+SubDir TOP DayTime ;
+
+#TestMain DayTime/xDayTimeConv.tst : DayTime/xDayTimeM.cpp DayTime/xDayTimeConv.cpp DayTime/DayTime.cpp ;
+#TestMain DayTime/xDayTimeInc.tst : DayTime/xDayTimeM.cpp DayTime/xDayTimeInc.cpp DayTime/DayTime.cpp ;
+TestMain DayTime/xDayTime.tst : DayTime/xDayTimeM.cpp DayTime/xDayTime.cpp DayTime/DayTime.cpp ;
diff --git a/dev/tests/DayTime/Logs/DayTimeDump b/dev/tests/DayTime/Logs/DayTimeDump
new file mode 100644
index 0000000..7b413f8
--- /dev/null
+++ b/dev/tests/DayTime/Logs/DayTimeDump
@@ -0,0 +1,58 @@
+ double JD(): 2453969.062500
+ double MJD(): 53968.562500
+ short year(): 2006
+ short month(): 8
+ short day(): 21
+ short dayOfWeek(): 1
+ void getYMD(int& yy, int& mm, int& dd): 2006 8 21
+ short hour(): 13
+ short minute(): 30
+ double second(): 0.000000
+ double secOfDay(): 48600.000000
+ short GPS10bitweek(): 365
+ long GPSzcount(): 90000
+ long GPSzcountFloor(): 90000
+ double GPSsecond(): 135000.000000
+ double GPSsow(): 135000.000000
+ short GPSday(): 1
+ short GPSfullweek(): 1389
+ short GPSyear(): 2006
+ short DOYyear(): 2006
+ short DOYday(): 233
+ short DOY(): 233
+ double DOYsecond(): 48600.000000
+ double MJDdate(): 53968.562500
+ long double getMJDasLongDouble(): 53968.562500
+ struct timeval unixTime(): 1156167000 0
+ unsigned long fullZcount(): 191455120
+ unsigned long fullZcountFloor(): 191455120
+ double JD(): 2453969.062500
+ double MJD(): 53968.562500
+ short year(): 2006
+ short month(): 8
+ short day(): 21
+ short dayOfWeek(): 1
+ void getYMD(int& yy, int& mm, int& dd): 2006 8 21
+ short hour(): 13
+ short minute(): 30
+ double second(): 0.000000
+ double secOfDay(): 48600.000000
+ short GPS10bitweek(): 365
+ long GPSzcount(): 90000
+ long GPSzcountFloor(): 90000
+ double GPSsecond(): 135000.000000
+ double GPSsow(): 135000.000000
+ short GPSday(): 1
+ short GPSfullweek(): 1389
+ short GPSyear(): 2006
+ short DOYyear(): 2006
+ short DOYday(): 233
+ short DOY(): 233
+ double DOYsecond(): 48600.000000
+ double MJDdate(): 53968.562500
+ long double getMJDasLongDouble(): 53968.562500
+ struct timeval unixTime(): 1156167000 0
+ unsigned long fullZcount(): 191455120
+ unsigned long fullZcountFloor(): 191455120
+08/21/2006 13:30:00
+08/21/2006 13:30:00
diff --git a/dev/tests/DayTime/makefile b/dev/tests/DayTime/makefile
new file mode 100644
index 0000000..a79e455
--- /dev/null
+++ b/dev/tests/DayTime/makefile
@@ -0,0 +1,34 @@
+# CppUnit-Tutorial
+# file: makefile
+# next line has to be changed to the installation-path of CppUnit
+CPPUNIT_PATH=/home/ehagen
+
+all: xDayTime.tst
+
+xDayTime.tst: xDayTimeConv.tst xDayTimeInc.tst
+
+xDayTimeConv.tst: xDayTimeConvM.o xDayTimeConv.o DayTime.o
+ g++ -o xDayTimeConv.tst xDayTimeConvM.o xDayTimeConv.o DayTime.o -L${CPPUNIT_PATH}/lib -lstdc++ -lcppunit -ldl -lgpstk -fprofile-arcs -ftest-coverage
+
+xDayTimeInc.tst: xDayTimeIncM.o xDayTimeInc.o DayTime.o
+ g++ -o xDayTimeInc.tst xDayTimeIncM.o xDayTimeInc.o DayTime.o -L${CPPUNIT_PATH}/lib -lstdc++ -lcppunit -ldl -lgpstk -fprofile-arcs -ftest-coverage
+
+xDayTimeInc.o: xDayTimeInc.cpp
+ g++ -c xDayTimeInc.cpp -I${CPPUNIT_PATH}/include -lgpstk -fprofile-arcs -ftest-coverage
+
+xDayTimeIncM.o: xDayTimeIncM.cpp
+ g++ -c xDayTimeIncM.cpp -I${CPPUNIT_PATH}/include -fprofile-arcs -ftest-coverage
+
+DayTime.o: DayTime.cpp DayTime.hpp
+ g++ -c DayTime.cpp -I/home/ehagen/gpstk/src -L/home/ehagen/gpstk/src -lgpstk -fprofile-arcs -ftest-coverage
+
+xDayTimeConv.o: xDayTimeConv.cpp
+ g++ -c xDayTimeConv.cpp -I${CPPUNIT_PATH}/include -fprofile-arcs -ftest-coverage
+
+xDayTimeConvM.o: xDayTimeConvM.cpp
+ g++ -c xDayTimeConvM.cpp -I${CPPUNIT_PATH}/include -fprofile-arcs -ftest-coverage
+
+clean:
+ rm -f *.o
+ rm -f *.g*
+ rm -f *.*.g*
diff --git a/dev/tests/DayTime/xDayTime.cpp b/dev/tests/DayTime/xDayTime.cpp
new file mode 100644
index 0000000..3aaab3d
--- /dev/null
+++ b/dev/tests/DayTime/xDayTime.cpp
@@ -0,0 +1,299 @@
+#include "xDayTime.hpp"
+#include "RinexMetStream.hpp"
+#include <iostream>
+#include <fstream>
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xDayTime);
+
+using namespace gpstk;
+
+void xDayTime :: setUp (void)
+{
+}
+
+void xDayTime :: constrTest (void)
+{
+ gpstk::DayTime CurrentTime(2006,8,21,13,30,0);
+ double JD = CurrentTime.JD();
+ double MJD = CurrentTime.MJD();
+ short year = CurrentTime.year();
+ short month = CurrentTime.month();
+ short day = CurrentTime.day();
+ short dayOfWeek = CurrentTime.dayOfWeek();
+ short hour = CurrentTime.hour();
+ short minute = CurrentTime.minute();
+ double second = CurrentTime.second();
+ short GPS10bitweek = CurrentTime.GPS10bitweek();
+ long GPSzcount = CurrentTime.GPSzcount();
+ long GPSzcountFloor = CurrentTime.GPSzcountFloor();
+ double GPSsow = CurrentTime.GPSsow();
+ short GPSfullweek = CurrentTime.GPSfullweek();
+ short DOY = CurrentTime.DOY();
+ double secOfDay = CurrentTime.secOfDay();
+ long double MJDasLongDouble = CurrentTime.getMJDasLongDouble();
+ gpstk::DayTime unixTime = CurrentTime.unixTime();
+ unsigned long fullZcount = CurrentTime.fullZcount();
+ unsigned long fullZcountFloor = CurrentTime.fullZcountFloor();
+ gpstk::GPSZcount fullZcountOperator = GPSZcount(CurrentTime);
+ gpstk::CommonTime commonTimeTime = CommonTime(CurrentTime);
+
+ gpstk::DayTime GPSTimeFullWeek(GPSfullweek,GPSsow);
+ gpstk::DayTime GPStime(GPS10bitweek,GPSsow,year);
+ gpstk::DayTime GPStime2(GPS10bitweek,GPSzcount,year);
+ gpstk::DayTime GPStimeZcount(fullZcount);
+ gpstk::DayTime GPStimeZcount2(fullZcountOperator);
+ gpstk::DayTime commonTime(commonTimeTime);
+ gpstk::DayTime calenderTime(year,month,day,hour,minute,second);
+ gpstk::DayTime LongModJD(MJDasLongDouble);
+ gpstk::DayTime ModJD(MJD);
+ gpstk::DayTime DayofYear(year,DOY,secOfDay);
+ gpstk::DayTime Unix(unixTime);
+
+ CPPUNIT_ASSERT_EQUAL(GPSTimeFullWeek,GPStime);
+ CPPUNIT_ASSERT_EQUAL(GPSTimeFullWeek,GPStime2);
+ CPPUNIT_ASSERT_EQUAL(GPSTimeFullWeek,GPStimeZcount);
+ CPPUNIT_ASSERT_EQUAL(GPSTimeFullWeek,GPStimeZcount2);
+ //CPPUNIT_ASSERT_EQUAL(GPSTimeFullWeek,commonTime);
+ CPPUNIT_ASSERT_EQUAL(GPSTimeFullWeek,calenderTime);
+ CPPUNIT_ASSERT_EQUAL(GPSTimeFullWeek,LongModJD);
+ CPPUNIT_ASSERT_EQUAL(GPSTimeFullWeek,ModJD);
+ CPPUNIT_ASSERT_EQUAL(GPSTimeFullWeek,DayofYear);
+ CPPUNIT_ASSERT_EQUAL(GPSTimeFullWeek,Unix);
+}
+
+void xDayTime :: arithmeticTest (void)
+{
+ gpstk::DayTime CurrentTime(2006,8,21,13,30,0);
+ gpstk::DayTime Guess(2006,8,21,13,30,30);
+ gpstk::DayTime Guess2(2006,8,21,13,30,0);
+ gpstk::DayTime Guess3(2006,8,21,13,31,0);
+ gpstk::DayTime GuessMilli(2006,8,21,13,31,30);
+ gpstk::DayTime GuessMicro(2006,8,21,13,32,0);
+
+ CurrentTime+=30;
+ CPPUNIT_ASSERT_EQUAL(Guess,CurrentTime);
+ CurrentTime-=30;
+ CPPUNIT_ASSERT_EQUAL(Guess2,CurrentTime);
+ CPPUNIT_ASSERT_EQUAL(30.,Guess-CurrentTime);
+ CurrentTime = CurrentTime + 30;
+ CPPUNIT_ASSERT_EQUAL(Guess,CurrentTime);
+ CurrentTime = CurrentTime - 30;
+ CPPUNIT_ASSERT_EQUAL(Guess2,CurrentTime);
+ CurrentTime.addSeconds(30.);
+ CPPUNIT_ASSERT_EQUAL(Guess,CurrentTime);
+ CurrentTime.addSeconds((long) 30);
+ CPPUNIT_ASSERT_EQUAL(Guess3,CurrentTime);
+ CurrentTime.addMilliSeconds((long) 30000);
+ CPPUNIT_ASSERT_EQUAL(GuessMilli,CurrentTime);
+ CurrentTime.addMicroSeconds((long) 30e6);
+ CPPUNIT_ASSERT_EQUAL(GuessMicro,CurrentTime);
+}
+
+void xDayTime :: comparisonTest (void)
+{
+ gpstk::DayTime Time1(2006,8,21,13,30,0);
+ gpstk::DayTime Time2(2006,8,21,13,30,0);
+ gpstk::DayTime Time3(2006,8,23,13,30,0);
+
+ CPPUNIT_ASSERT(Time1 == Time2);
+ CPPUNIT_ASSERT(Time1 != Time3);
+ CPPUNIT_ASSERT(Time1 < Time3);
+ CPPUNIT_ASSERT(Time3 > Time1);
+ CPPUNIT_ASSERT(Time1 <= Time2);
+ CPPUNIT_ASSERT(Time1 <= Time3);
+ CPPUNIT_ASSERT(Time3 >= Time1);
+ CPPUNIT_ASSERT(Time2 >= Time1);
+
+}
+
+void xDayTime :: setTest (void)
+{
+ gpstk::DayTime setTest1;
+ gpstk::DayTime setTest2;
+ gpstk::DayTime setTest3;
+ gpstk::DayTime setTest4;
+ gpstk::DayTime setTest5;
+ gpstk::DayTime setTest6;
+ gpstk::DayTime setTest7;
+ gpstk::DayTime setTest8;
+ gpstk::DayTime setTest9;
+ gpstk::DayTime setTest10;
+ gpstk::DayTime setTest11;
+ gpstk::DayTime setTest12;
+ gpstk::DayTime setTest13;
+ gpstk::DayTime setTest14;
+ gpstk::DayTime setTest15;
+ gpstk::DayTime setTest16;
+ gpstk::DayTime setTest17;
+ gpstk::DayTime setTest18;
+
+ setTest1.setYMDHMS(2006,8,21,13,30,0);
+ setTest2.setGPS(setTest1.GPS10bitweek(),setTest1.GPSsow());
+ setTest3.setGPS(setTest2.GPS10bitweek(),setTest2.GPSzcount());
+ setTest4.setGPS(setTest3.GPS10bitweek(),setTest3.GPSzcount(),2006);
+ setTest5.setGPS(setTest4.GPS10bitweek(),setTest3.GPSsow(),2006);
+ setTest6.setGPS(setTest5.fullZcount());
+ setTest7.setGPS(setTest6.GPSfullweek(),setTest6.GPSsow());
+
+ setTest8.setGPSZcount(setTest7.GPSzcount());
+ gpstk::CommonTime commonTime = CommonTime(setTest7);
+ setTest9.setCommonTime(commonTime);
+
+ setTest10.setYDoySod(setTest7.year(),setTest7.DOY(),setTest7.secOfDay());
+ setTest11.setMJD(setTest10.MJD());
+ setTest12.setUnix(setTest11.unixTime());
+ setTest18.setAllButTimeFrame(setTest12);
+
+ time_t t;
+ time(&t);
+ struct tm *ltod;
+ ltod = localtime(&t);
+ //Just setting this to the local time becasue Im not sure how time_t works
+ //Won't be able to do any equality assertions
+ setTest13.setANSI(t);
+
+ setTest14.setSystemTime();
+ setTest15.setLocalTime();
+ setTest16.setYMD(2006,8,21);
+ setTest16.setHMS(13,30,0);
+ setTest17.setSecOfDay((double) 13*60*60+30*60);
+ setTest17.setYDoy(2006,setTest15.DOY());
+
+
+ CPPUNIT_ASSERT_EQUAL(setTest1,setTest2);
+ CPPUNIT_ASSERT_EQUAL(setTest2,setTest3);
+ CPPUNIT_ASSERT_EQUAL(setTest3,setTest4);
+ CPPUNIT_ASSERT_EQUAL(setTest4,setTest5);
+ CPPUNIT_ASSERT_EQUAL(setTest5,setTest6);
+ CPPUNIT_ASSERT_EQUAL(setTest6,setTest7);
+ //CPPUNIT_ASSERT_EQUAL(setTest7,setTest8);
+ //CPPUNIT_ASSERT_EQUAL(setTest8,setTest9);
+ CPPUNIT_ASSERT_EQUAL(setTest7,setTest10);
+ CPPUNIT_ASSERT_EQUAL(setTest10,setTest11);
+ CPPUNIT_ASSERT_EQUAL(setTest11,setTest12);
+ //CPPUNIT_ASSERT_EQUAL(setTest14,setTest15+60*60*5);
+ //CPPUNIT_ASSERT_EQUAL(setTest16,setTest17);
+ CPPUNIT_ASSERT_EQUAL(setTest1,setTest18);
+}
+
+void xDayTime :: stringTest (void)
+{
+ std::fstream out("Logs/DayTimeDump",ios::out);
+
+ gpstk::DayTime stringTest1;
+ gpstk::DayTime stringTest2;
+ gpstk::DayTime stringTest3;
+ gpstk::DayTime stringTest4;
+ gpstk::DayTime stringTest5;
+ gpstk::DayTime stringTest6;
+ gpstk::DayTime stringTest7;
+ gpstk::DayTime stringTest8;
+ gpstk::DayTime stringTest9;
+ gpstk::DayTime stringTest10;
+ gpstk::DayTime stringTest11;
+ gpstk::DayTime stringTest12;
+ gpstk::DayTime stringTest13;
+ gpstk::DayTime stringTest14;
+
+ gpstk::DayTime CurrentTime(2006,8,21,13,30,0);
+ stringTest1.setToString("Aug 21, 2006 13:30:00", "%b %d, %Y %H:%M:%S");
+ stringTest2.setToString("53968.5625","%Q");
+ stringTest3.setToString("365 135000 2006","%G %g %Y");
+ stringTest4.setToString("365 90000 2006","%G %Z %Y");
+ stringTest5.setToString("2006 233 48600","%Y %j %s");
+ stringTest6.setToString("1389 135000","%F %g");
+ stringTest7.setToString("1389 1 48600","%F %w %s");
+ stringTest8.setToString("1389 Mon 48600","%F %a %s");
+ stringTest9.setToString("8/21/2006 13:30:00", "%m/%d/%Y %H:%M:%f");
+ stringTest10.setToString("1156166999 1000000","%U %u");
+ stringTest11.setToString("191455120","%C");
+ stringTest12.setToString("8 21 2006 13:30:0.0", "%m %d %Y %H:%M:%f");
+ stringTest13.setToString("2006 233 13: 30: 0.0", "%Y %j %H:%M:%f");
+
+ CPPUNIT_ASSERT_EQUAL(CurrentTime,stringTest1);
+ CPPUNIT_ASSERT_EQUAL(CurrentTime,stringTest2);
+ CPPUNIT_ASSERT_EQUAL(CurrentTime,stringTest3);
+ CPPUNIT_ASSERT_EQUAL(CurrentTime,stringTest4);
+ CPPUNIT_ASSERT_EQUAL(CurrentTime,stringTest5);
+ CPPUNIT_ASSERT_EQUAL(CurrentTime,stringTest6);
+ CPPUNIT_ASSERT_EQUAL(CurrentTime,stringTest7);
+ CPPUNIT_ASSERT_EQUAL(CurrentTime,stringTest8);
+ CPPUNIT_ASSERT_EQUAL(CurrentTime,stringTest9);
+ CPPUNIT_ASSERT_EQUAL(CurrentTime,stringTest10);
+ CPPUNIT_ASSERT_EQUAL(CurrentTime,stringTest11);
+ CPPUNIT_ASSERT_EQUAL(CurrentTime,stringTest12);
+ CPPUNIT_ASSERT_EQUAL(CurrentTime,stringTest13);
+
+ CurrentTime.dump(out);
+ stringTest10.dump(out);
+ out << stringTest10 << endl;
+ out << stringTest10.asString() << endl;
+}
+
+
+//Exceptions and Weird Cases
+void xDayTime :: exceptionTest (void)
+{
+ try
+ {
+ gpstk::DayTime GenericException;
+ gpstk::DayTime WeirdCase1(1999,1,1,0,0,0);
+ gpstk::DayTime WeirdCase2(1999,10,1,0,0,0);
+ //10 bit rollover during 1999, before Aug rollover
+ WeirdCase1.setGPS(WeirdCase1.GPS10bitweek(),WeirdCase1.GPSsow(),WeirdCase1.year());
+ //10 bit rollover during 1999, after Aug rollover
+ WeirdCase2.setGPS(WeirdCase2.GPS10bitweek(),WeirdCase2.GPSsow(),WeirdCase2.year());
+ //Make sure a set throw is thrown for year < 1980 in setGPS (line 836)
+ CPPUNIT_ASSERT_THROW(WeirdCase2.setGPS(WeirdCase2.GPS10bitweek(),WeirdCase2.GPSsow(),0),
+ gpstk::Exception);
+ //Check to see if setGPS for fullZcount is thrown for zcount of -1
+ CPPUNIT_ASSERT_THROW(GenericException.setGPS((unsigned long) -1),gpstk::Exception);
+ //Throw for setGPSfullweek with a fullweek of -1
+ CPPUNIT_ASSERT_THROW(GenericException.setGPSfullweek((short) -1,0.),gpstk::Exception);
+ //Throw for very very low MJD which should not exist
+ CPPUNIT_ASSERT_THROW(GenericException.setMJD((long double) -10000000),gpstk::Exception);
+ //Bad YMD
+ CPPUNIT_ASSERT_THROW(GenericException.setYMD(-5000,-5000,-5000),gpstk::Exception);
+ //Bad Sec of Day
+ CPPUNIT_ASSERT_THROW(GenericException.setSecOfDay(-1.),gpstk::Exception);
+ //Bad Day of Year
+ CPPUNIT_ASSERT_THROW(GenericException.setYDoy(2006,-100),gpstk::Exception);
+ //Bad HMS
+ CPPUNIT_ASSERT_THROW(GenericException.setHMS(-5000,-5000,-5000),gpstk::Exception);
+ //Go through all of the elseif statments for Jan-Nov
+ GenericException.setToString("Dec 21, 2006 13:30:00", "%b %d, %Y %H:%M:%S");
+ //Not a real Jan-Dec abbreviation
+ CPPUNIT_ASSERT_THROW(GenericException.setToString("AAA 21, 2006 13:30:00", "%b %d, %Y %H:%M:%S"),
+ gpstk::Exception);
+ //2 digit %y check
+ GenericException.setToString("Dec 21, 06 13:30:00", "%b %d, %y %H:%M:%S");
+ //3 digit %y check
+ GenericException.setToString("Dec 21, 006 13:30:00", "%b %d, %y %H:%M:%S");
+ //4 digit %y check
+ GenericException.setToString("Dec 21, 2006 13:30:00", "%b %d, %y %H:%M:%S");
+ //Go through all of the else statments for Sun-Fri to get to Sat
+ GenericException.setToString("1389 Sat 48600","%F %a %s");
+ //Not a real Sun-Sat abbreviation
+ CPPUNIT_ASSERT_THROW(GenericException.setToString("1389 AAA 48600","%F %a %s"),
+ gpstk::Exception);
+ //Too much format info
+ CPPUNIT_ASSERT_THROW(GenericException.setToString("1389 Mon 48600","%F %a %s %s"),
+ gpstk::Exception);
+ //Too much string info
+ //CPPUNIT_ASSERT_THROW(GenericException.setToString("1389 Mon 48600 48600","%F %a %s"),
+ // gpstk::Exception);
+ //Not enough info to form a complete DayTime
+ CPPUNIT_ASSERT_THROW(GenericException.setToString("",""),
+ gpstk::Exception);
+ //Century/non-400 non-leap check
+ GenericException.setToString("Feb 29, 1700 13:30:00", "%b %d, %Y %H:%M:%S");
+ //There is no year 0 (turn to 1)
+ GenericException.setToString("Feb 29, 0 13:30:00", "%b %d, %Y %H:%M:%S");
+
+ GenericException.setToString("1389 Sat 48600","%%03F %a %s");
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+}
diff --git a/dev/tests/DayTime/xDayTime.hpp b/dev/tests/DayTime/xDayTime.hpp
new file mode 100644
index 0000000..6a90727
--- /dev/null
+++ b/dev/tests/DayTime/xDayTime.hpp
@@ -0,0 +1,36 @@
+#ifndef XDAYTIME_HPP
+#define XDAYTIME_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "DayTime.hpp"
+
+using namespace std;
+
+class xDayTime: public CPPUNIT_NS :: TestFixture
+{
+ CPPUNIT_TEST_SUITE (xDayTime);
+ CPPUNIT_TEST (constrTest);
+ CPPUNIT_TEST (arithmeticTest);
+ CPPUNIT_TEST (comparisonTest);
+ CPPUNIT_TEST (setTest);
+ CPPUNIT_TEST (stringTest);
+ CPPUNIT_TEST (exceptionTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void);
+
+ protected:
+ void constrTest (void);
+ void arithmeticTest (void);
+ void comparisonTest (void);
+ void setTest (void);
+ void stringTest (void);
+ void exceptionTest (void);
+
+ private:
+
+};
+
+#endif
diff --git a/dev/tests/DayTime/xDayTimeConv.cpp b/dev/tests/DayTime/xDayTimeConv.cpp
new file mode 100644
index 0000000..cf0db66
--- /dev/null
+++ b/dev/tests/DayTime/xDayTimeConv.cpp
@@ -0,0 +1,196 @@
+// file: DayTimeConvTest.cpp
+
+#include "DayTimeConvTest.hpp"
+
+CPPUNIT_TEST_SUITE_REGISTRATION (DayTimeConvTest);
+
+
+void DayTimeConvTest :: setUp (void)
+{
+ //Set microsecond tolerance
+ gpstk::DayTime::setDayTimeTolerance(DayTime::DAYTIME_TOLERANCE);
+}
+
+//Tests DayTime using different constructers and then tests equality
+
+void DayTimeConvTest :: constrTest (void)
+{
+ for (int z=1;z<=3;z++){
+ switch (z) {
+ case 1:
+ //Directly from ICD-GPS-200
+ //Beginning of GPS Time, as defined by ICD-GPS-200
+ ccases = constrSetup(1980,1,6,0,0,0,0,0.,0,1981,44244.);
+ break;
+ case 2:
+ //From GPS Signals and Performan, Misra and Enge, p. 91
+ //GPS 10 bit week rollover epoch
+ ccases = constrSetup(1999,8,22,0,0,0,0,0.,0,2000,51412.);
+ break;
+ case 3:
+ //From Hoffman-Wellenhof, et al.
+ //The J200 standard epoch
+ ccases = constrSetup(2000,1,1,12,0,0,1042,561600.,
+ 374400,2000,2451545-2400000.5);
+ break;
+
+ }
+
+ //Assign values that will be tested from pointers to constrSetup
+ for (int j = 0;j<=3;j++)
+ {
+ ccase[j] = *ccases[j];
+ }
+
+ //Test to make sure there is no difference between different constructers
+ for (int k = 0;k <= 3;k++)
+ {
+ CPPUNIT_ASSERT_EQUAL (ccase[0], ccase[k]);
+ }
+ }
+}
+
+//Function that takes in constructer parameters and outputs a reference to the
+//newly constructed DayTime objects
+
+gpstk::DayTime** DayTimeConvTest :: constrSetup (short year,short month,short dom,
+ short hour,short minute,double seconds,short week,double sow,long zcount,
+ short hintYear,double MJD)
+{
+ //Construct objects
+ gpstk::DayTime constr1(year,month,dom,hour,minute,seconds); //Calendar constructer
+ gpstk::DayTime constr2(week%1024, sow, hintYear); //10 bit GPS+SOW wk w/hint
+ gpstk::DayTime constr3(week%1024,zcount,hintYear); //10 bit GPS+Z count w/hint
+ gpstk::DayTime constr4(MJD); //JD converted to MJD incline
+ cout << constr1.printf("%-9B %02d, %Y %02H:%02M:%018.15f \n");
+
+ //Create an array of references to the constructed objects
+ gpstk::DayTime* constrs[4];
+ constrs[0] = &constr1;
+ constrs[1] = &constr2;
+ constrs[2] = &constr3;
+ constrs[3] = &constr4;
+ return constrs;
+
+}
+
+//Tests DayTime using different mutators and makes sure that they are equal
+
+void DayTimeConvTest :: mutatTest (void)
+{
+ for (int i=1;i<=3;i++){
+ switch (i) {
+ case 1:
+ //Directly from ICD-GPS-200
+ //Beginning of GPS Time, as defined by ICD-GPS-200
+ mcases = mutatSetup(1980,1,6,0,0,0,6,0.,0,0.,0,1981,44244);
+ break;
+ case 2:
+ //From GPS Signals and Performan, Misra and Enge, p. 91
+ //GPS 10 bit week rollover epoch
+ mcases = mutatSetup(1999,8,22,0,0,0,234,0.,0,0.,0,2000,51412);
+ break;
+ case 3:
+ //From Hoffman-Wellenhof, et al.
+ //The J200 standard epoch
+ mcases = mutatSetup(2000,1,1,12,0,0,1,43200.,1042,
+ 561600.,374400,2000,2451545-2400000.5);
+ break;
+ }
+
+ //Assign values that will be tested from pointers to mutatSetup
+ for (int j=0;j<=5;j++)
+ {
+ mcase[j] = *mcases[j];
+ }
+
+ //Test to make sure there is no difference between different mutators
+ for (int k = 1;k<=3;k++)
+ {
+ CPPUNIT_ASSERT_EQUAL (mcase[0], mcase[k]);
+ }
+ CPPUNIT_ASSERT_EQUAL (mcase[0].GPSzcount(),mcase[4].GPSzcount());
+ CPPUNIT_ASSERT (fabs(mcase[0].MJD() - mcase[5].MJD())<.001/DayTime::SEC_DAY);
+ }
+}
+
+//Function that takes in mutator parameters and outputs a reference to the
+//newly mutated DayTime objects
+
+gpstk::DayTime** DayTimeConvTest :: mutatSetup (short year,short month,short dom,
+ short hour,short minute,double seconds,short doy,
+ double sod,short week,double sow,long zcount,
+ short hintYear,double MJD)
+{
+ gpstk::DayTime msetup[6];
+
+ //Mutate the objects
+ msetup[0].setYMD(year,month,dom);
+ msetup[0].setHMS(hour,minute,seconds);
+ msetup[1].setYMDHMS(year,month,dom,hour,minute,seconds);
+ msetup[2].setYDoy(year,doy);
+ msetup[2].setSecOfDay(sod);
+ msetup[3].setGPS(week%1024, sow, hintYear);
+ msetup[4].setGPS(week%1024,zcount,hintYear);
+ msetup[5].setMJD(MJD);
+ cout << msetup[5].printf("%-9B %02d, %Y %02H:%02M:%018.15f \n");
+
+ //Create an array of references to the mutated objects
+ gpstk::DayTime* mutats[6];
+ for (int i =0;i<=5;i++)
+ {
+ mutats[i] = &msetup[i];
+ }
+ return mutats;
+
+}
+
+//This test tests accessors and mutators using randomly generated dates
+
+void DayTimeConvTest :: randTest (void)
+{
+ //Beginning and ending dates for the random date generation
+ gpstk::DayTime dtBegin(1995,1,1,0,0,0), dtEnd(2015,1,1,0,0,0), dt;
+ long ndates = 20; // Number of dates that will be generated
+
+ //Set up componets to randomly generate date
+ unsigned int seed = (unsigned int) dt.GPSsow();
+ srand(seed);
+ unsigned long dayDiff = (unsigned long) ceil(dtEnd.MJD() -dtBegin.MJD());
+
+ //Loop over number of dates
+ for (int j=0;j<ndates;++j)
+ {
+ //Randomly generate a date
+ double dayDelta = floor( rand()*1./RAND_MAX *dayDiff);
+ double sodDelta = rand()*1./RAND_MAX;
+
+ //Create a DayTime object and set it to the random day
+ gpstk::DayTime testDate;
+ testDate.setMJD(dtBegin.MJD()+dayDelta+sodDelta);
+
+ //Setup the mutators using mutatSetup
+ rcases = mutatSetup(testDate.year(),testDate.month(),testDate.day(),
+ testDate.hour(),testDate.minute(),testDate.second(),
+ testDate.DOY(),testDate.DOYsecond(),testDate.GPSfullweek()%1024,
+ testDate.GPSsow(),testDate.GPSzcount(),testDate.year(),
+ testDate.MJD());
+
+ //Assign values that will be tested from pointers to mutatSetup
+ for (int i = 0;i<=5;i++)
+ {
+ rcase[i] = *rcases[i];
+ }
+
+ //Test to make sure there is no difference between different mutators for the
+ //randomly generated dates
+ for (int i=1;i<=3;i++)
+ {
+ CPPUNIT_ASSERT_EQUAL (rcase[0], rcase[i]);
+ }
+ CPPUNIT_ASSERT_EQUAL (rcase[0].GPSzcount(),rcase[4].GPSzcount());
+ CPPUNIT_ASSERT (fabs(rcase[0].MJD() - rcase[5].MJD())<.001/DayTime::SEC_DAY);
+ }
+
+}
+
diff --git a/dev/tests/DayTime/xDayTimeInc.cpp b/dev/tests/DayTime/xDayTimeInc.cpp
new file mode 100644
index 0000000..ee149f5
--- /dev/null
+++ b/dev/tests/DayTime/xDayTimeInc.cpp
@@ -0,0 +1,98 @@
+#include "xDayTimeInc.hpp"
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xINCDayTime);
+
+void xINCDayTime :: setUp (void)
+{
+ totalIncrements=0;
+ gpstk::DayTime dtorig(2000,12,1,0,0,0.);
+}
+
+void xINCDayTime :: StartUp (void)
+{
+
+ cout << endl << "Testing DayTime increment safety." << endl << endl;
+ cout << setw(18) << "Increment operator";
+ cout << setw(18) << "# of increments";
+ cout << setw(22) << "Difference (seconds)";
+ cout << setw(21) << "Difference (meters)";
+ cout << setw(23) << "Acceptable Diff (sec)";
+ cout << endl;
+
+ cout << setw(18) << "------------------";
+ cout << setw(18) << "---------------";
+ cout << setw(22) << "--------------------";
+ cout << setw(21) << "-------------------";
+ cout << setw(23) << "--------------------";
+ cout << endl;
+}
+void xINCDayTime :: plusEqualsTest (void)
+{
+ StartUp();
+
+ TEST_METHOD(operator+=, 60, 1, 1e-15);
+ TEST_METHOD(operator+=, 3600, 1, 1e-15);
+ TEST_METHOD(operator+=, 86400, 1, 1e-15);
+ TEST_METHOD(operator+=, 7*86400, 1, 1e-15);
+ cout << endl;
+
+}
+
+void xINCDayTime :: addMilliSecTest (void)
+{
+
+ TEST_METHOD(addMilliSeconds, 1000, 1, 1e-15);
+ TEST_METHOD(addMilliSeconds, 60*1000, 1, 1e-15);
+ TEST_METHOD(addMilliSeconds, 3600*1000, 1, 1e-15);
+ TEST_METHOD(addMilliSeconds, 86400*1000, 1, 1e-15);
+ TEST_METHOD(addMilliSeconds, 86400*2*1000, 1, 1e-15);
+ TEST_METHOD(addMilliSeconds, 86400*7*1000, 1, 1e-15);
+ cout << endl;
+
+}
+void xINCDayTime :: addMicroSecTest (void)
+{
+
+ TEST_METHOD(addMicroSeconds, 1000*1000, 1, 1e-3);
+ TEST_METHOD(addMicroSeconds, 60*1000*1000, 1, 1e-3);
+ TEST_METHOD(addMicroSeconds, 5*60*1000*1000, 1, 1e-3);
+ cout << endl;
+
+}
+
+void xINCDayTime :: addSecondsTest (void)
+{
+ TEST_METHOD(addSeconds, 60, 1., 1e-12);
+ TEST_METHOD(addSeconds, 3600, 1., 1e-12);
+ TEST_METHOD(addSeconds, 86400, 1., 1e-12);
+ TEST_METHOD(addSeconds, 7*86400, 1., 1e-12);
+ cout << endl;
+ TEST_METHOD(addSeconds, 1000, 1e-3, 1e-12);
+ TEST_METHOD(addSeconds, 60*1000, 1e-3, 1e-12);
+ TEST_METHOD(addSeconds, 3600*1000, 1e-3, 1e-12);
+ TEST_METHOD(addSeconds, 86400*1000, 1e-3, 1e-12);
+ TEST_METHOD(addSeconds, 86400*2*1000, 1e-3, 1e-12);
+ TEST_METHOD(addSeconds, 86400*7*1000, 1e-3, 1e-12);
+ cout << endl;
+ TEST_METHOD(addSeconds, 1000*1000, 1e-6, 1e-12);
+ TEST_METHOD(addSeconds, 60*1000*1000, 1e-6, 1e-12);
+ TEST_METHOD(addSeconds, 5*60*1000*1000, 1e-6, 1e-12);
+ cout << endl;
+ TEST_METHOD(addSeconds, (1000*1000), 1e-9, 1e-12);
+ TEST_METHOD(addSeconds, (100*1000*1000), 1e-9, 1e-12);
+ cout << endl;
+ TEST_METHOD(addSeconds, (1000*1000), 1e-11, 1e-12);
+ TEST_METHOD(addSeconds, (100*1000*1000), 1e-11, 1e-12);
+ cout << endl;
+ FinishUp();
+}
+
+void xINCDayTime :: FinishUp (void)
+{
+ gpstk::DayTime dtorig(2000,12,1,0,0,0.);
+ DayTime endTime;
+ cout << endl << setprecision(4);
+ cout << endTime.printf("Completed on %B %d, %Y %H:%02M:%02S") << endl;
+ cout << "Processing time " << endTime-startTime << " seconds." << endl;
+ cout << endl;
+}
diff --git a/dev/tests/DayTime/xDayTimeInc.hpp b/dev/tests/DayTime/xDayTimeInc.hpp
new file mode 100644
index 0000000..2e3c99d
--- /dev/null
+++ b/dev/tests/DayTime/xDayTimeInc.hpp
@@ -0,0 +1,77 @@
+// file: xINCDayTime.hpp
+
+// This test provides the same functionality as DayTimeConversionTest.cpp
+// but uses the CppUnit unit testing framework.
+
+// This test evaluates the user defined comparision tolerance feature of DayTime
+
+#ifndef XINCDAYTIME_HPP
+#define XINCDAYTIME_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "StringUtils.hpp"
+#include "DayTime.hpp"
+#include "icd_200_constants.hpp"
+
+using namespace std;
+using namespace gpstk;
+using gpstk::DayTime;
+
+class xINCDayTime: public CPPUNIT_NS :: TestFixture
+{
+ //Test Fixture information, e.g. what tests will be run
+ CPPUNIT_TEST_SUITE (xINCDayTime);
+ CPPUNIT_TEST (plusEqualsTest);
+ CPPUNIT_TEST (addMilliSecTest);
+ CPPUNIT_TEST (addMicroSecTest);
+ CPPUNIT_TEST (addSecondsTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void); //Sets up test enviornment
+
+ protected:
+
+ void StartUp (void);
+ void plusEqualsTest (void);
+ void addMilliSecTest (void);
+ void addMicroSecTest (void);
+ void addSecondsTest (void);
+ void FinishUp (void);
+
+ private:
+ double tdiff;
+ long totalIncrements;
+ long incCountUse;
+ gpstk::DayTime dtorig;
+ gpstk::DayTime dtcopy;
+ gpstk::DayTime startTime;
+};
+
+#endif
+
+//NOTE: MACRO BELOW!
+
+#define TEST_METHOD(method, incCount, incValue, diffTolerance) \
+ dtcopy = dtorig; \
+ totalIncrements=0; \
+ incCountUse = incCount/2; \
+ for (long j=0; j<incCountUse; ++j) \
+ { \
+ dtcopy.method(incValue); \
+ totalIncrements++; \
+ } \
+ for (long j=0; j<incCountUse; ++j) \
+ { \
+ dtcopy.method(-incValue); \
+ totalIncrements++; \
+ } \
+ tdiff = dtcopy-dtorig; \
+ cout << setw(18) << #method; \
+ cout << setw(18) << totalIncrements; \
+ cout << setw(22) << setprecision(10) << tdiff; \
+ cout << setw(21) << setprecision(8) << tdiff * C_GPS_M; \
+ cout << setw(23) << setprecision(5) << diffTolerance; \
+ cout << endl; \
+ CPPUNIT_ASSERT(tdiff<diffTolerance);
diff --git a/dev/tests/DayTime/xDayTimeM.cpp b/dev/tests/DayTime/xDayTimeM.cpp
new file mode 100644
index 0000000..99b49bc
--- /dev/null
+++ b/dev/tests/DayTime/xDayTimeM.cpp
@@ -0,0 +1,30 @@
+// CppUnit-Tutorial
+// file: ftest.cc
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/trunk/src/Makefile.am b/dev/tests/Example_Classname/Example_ClassName.cpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/Example_Classname/Example_ClassName.cpp
diff --git a/trunk/src/Makefile.am b/dev/tests/Example_Classname/Example_ClassName.hpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/Example_Classname/Example_ClassName.hpp
diff --git a/trunk/src/Makefile.am b/dev/tests/Example_Classname/Example_Jamfile
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/Example_Classname/Example_Jamfile
diff --git a/trunk/src/Makefile.am b/dev/tests/Example_Classname/Example_xClassName.cpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/Example_Classname/Example_xClassName.cpp
diff --git a/trunk/src/Makefile.am b/dev/tests/Example_Classname/Example_xClassName.hpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/Example_Classname/Example_xClassName.hpp
diff --git a/trunk/src/Makefile.am b/dev/tests/Example_Classname/Example_xClassNameM.cpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/Example_Classname/Example_xClassNameM.cpp
diff --git a/dev/tests/GPSEpochWeekSecond/GPSEpochWeekSecond.cpp b/dev/tests/GPSEpochWeekSecond/GPSEpochWeekSecond.cpp
new file mode 120000
index 0000000..871162e
--- /dev/null
+++ b/dev/tests/GPSEpochWeekSecond/GPSEpochWeekSecond.cpp
@@ -0,0 +1 @@
+../../src/GPSEpochWeekSecond.cpp
\ No newline at end of file
diff --git a/dev/tests/GPSEpochWeekSecond/GPSEpochWeekSecond.hpp b/dev/tests/GPSEpochWeekSecond/GPSEpochWeekSecond.hpp
new file mode 120000
index 0000000..b49bc88
--- /dev/null
+++ b/dev/tests/GPSEpochWeekSecond/GPSEpochWeekSecond.hpp
@@ -0,0 +1 @@
+../../src/GPSEpochWeekSecond.hpp
\ No newline at end of file
diff --git a/dev/tests/GPSEpochWeekSecond/Jamfile b/dev/tests/GPSEpochWeekSecond/Jamfile
new file mode 100644
index 0000000..5aa002e
--- /dev/null
+++ b/dev/tests/GPSEpochWeekSecond/Jamfile
@@ -0,0 +1,2 @@
+SubDir TOP GPSEpochWeekSecond ;
+TestMain GPSEpochWeekSecond/xGPSEpochWeekSecond.tst : GPSEpochWeekSecond/xGPSEpochWeekSecondM.cpp GPSEpochWeekSecond/xGPSEpochWeekSecond.cpp GPSEpochWeekSecond/GPSEpochWeekSecond.cpp ;
diff --git a/dev/tests/GPSEpochWeekSecond/Logs/printfOutput b/dev/tests/GPSEpochWeekSecond/Logs/printfOutput
new file mode 100644
index 0000000..32e9440
--- /dev/null
+++ b/dev/tests/GPSEpochWeekSecond/Logs/printfOutput
@@ -0,0 +1,2 @@
+6 0001 0.000000
+0 0000 0.000000
diff --git a/dev/tests/GPSEpochWeekSecond/xGPSEpochWeekSecond.cpp b/dev/tests/GPSEpochWeekSecond/xGPSEpochWeekSecond.cpp
new file mode 100644
index 0000000..73420f9
--- /dev/null
+++ b/dev/tests/GPSEpochWeekSecond/xGPSEpochWeekSecond.cpp
@@ -0,0 +1,82 @@
+#include "xGPSEpochWeekSecond.hpp"
+#include <iostream>
+#include <fstream>
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xGPSEpochWeekSecond);
+
+using namespace gpstk;
+
+void xGPSEpochWeekSecond :: setUp (void)
+{
+}
+
+void xGPSEpochWeekSecond :: setFromInfoTest (void)
+{
+ try
+ {
+ gpstk::GPSEpochWeekSecond setFromInfo1;
+ gpstk::GPSEpochWeekSecond setFromInfo2;
+
+ gpstk::TimeTag::IdToValue Id;
+ Id.insert(make_pair('E',"6"));
+ Id.insert(make_pair('F',"1"));
+ Id.insert(make_pair('g',"0"));
+ CPPUNIT_ASSERT(setFromInfo1.setFromInfo(Id));
+ Id.erase('E');
+ CPPUNIT_ASSERT(setFromInfo2.setFromInfo(Id));
+ ofstream out("Logs/printfOutput");
+
+ out << setFromInfo1 << endl;
+ out << setFromInfo2 << endl;
+ }
+ catch (gpstk::Exception& e)
+ {
+ cout << e;
+ }
+}
+
+void xGPSEpochWeekSecond :: operatorTest (void)
+{
+ try
+ {
+ gpstk::GPSEpochWeekSecond Compare(6,2,1);
+ gpstk::GPSEpochWeekSecond LessThanEpoch(5,2,1);
+ gpstk::GPSEpochWeekSecond LessThanWeek(6,1,1);
+ gpstk::GPSEpochWeekSecond LessThanSOW(6,2,0);
+
+ gpstk::GPSEpochWeekSecond CompareCopy(Compare);
+
+ gpstk::GPSEpochWeekSecond CompareCopy2;
+ //Assignment
+ CompareCopy2 = CompareCopy;
+ //Equality Assertion
+ CPPUNIT_ASSERT_EQUAL(Compare,CompareCopy);
+ //Non-equality Assertion
+ CPPUNIT_ASSERT(Compare != LessThanEpoch);
+ //Less than assertions
+ CPPUNIT_ASSERT(LessThanEpoch < Compare);
+ CPPUNIT_ASSERT(!(Compare < LessThanEpoch));
+ CPPUNIT_ASSERT(LessThanWeek < Compare);
+ CPPUNIT_ASSERT(!(Compare < LessThanWeek));
+ CPPUNIT_ASSERT(LessThanSOW < Compare);
+ CPPUNIT_ASSERT(!(Compare < LessThanSOW));
+ //Greater than assertions
+ CPPUNIT_ASSERT(Compare > LessThanEpoch);
+ CPPUNIT_ASSERT(Compare > LessThanWeek);
+ CPPUNIT_ASSERT(Compare > LessThanSOW);
+ //Less than equals assertion
+ CPPUNIT_ASSERT(LessThanEpoch <= Compare);
+ CPPUNIT_ASSERT(CompareCopy <= Compare);
+ //Greater than equals assertion
+ CPPUNIT_ASSERT(Compare >= LessThanEpoch);
+ CPPUNIT_ASSERT(Compare >= CompareCopy);
+
+ CPPUNIT_ASSERT(Compare.isValid());
+ }
+ catch (gpstk::Exception& e)
+ {
+ cout << e;
+ }
+}
+
+
diff --git a/dev/tests/GPSEpochWeekSecond/xGPSEpochWeekSecond.hpp b/dev/tests/GPSEpochWeekSecond/xGPSEpochWeekSecond.hpp
new file mode 100644
index 0000000..cd080cf
--- /dev/null
+++ b/dev/tests/GPSEpochWeekSecond/xGPSEpochWeekSecond.hpp
@@ -0,0 +1,28 @@
+#ifndef XGPSEPOCHWEEKSECOND_HPP
+#define XGPSEPOCHWEEKSECOND_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "GPSEpochWeekSecond.hpp"
+
+using namespace std;
+
+class xGPSEpochWeekSecond: public CPPUNIT_NS :: TestFixture
+{
+ CPPUNIT_TEST_SUITE (xGPSEpochWeekSecond);
+ CPPUNIT_TEST (setFromInfoTest);
+ CPPUNIT_TEST (operatorTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void);
+
+ protected:
+ void operatorTest (void);
+ void setFromInfoTest (void);
+
+ private:
+
+};
+
+#endif
diff --git a/dev/tests/GPSEpochWeekSecond/xGPSEpochWeekSecondM.cpp b/dev/tests/GPSEpochWeekSecond/xGPSEpochWeekSecondM.cpp
new file mode 100644
index 0000000..99b49bc
--- /dev/null
+++ b/dev/tests/GPSEpochWeekSecond/xGPSEpochWeekSecondM.cpp
@@ -0,0 +1,30 @@
+// CppUnit-Tutorial
+// file: ftest.cc
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/GPSWeekSecond/GPSWeekSecond.cpp b/dev/tests/GPSWeekSecond/GPSWeekSecond.cpp
new file mode 120000
index 0000000..e7e0802
--- /dev/null
+++ b/dev/tests/GPSWeekSecond/GPSWeekSecond.cpp
@@ -0,0 +1 @@
+../../src/GPSWeekSecond.cpp
\ No newline at end of file
diff --git a/dev/tests/GPSWeekSecond/GPSWeekSecond.hpp b/dev/tests/GPSWeekSecond/GPSWeekSecond.hpp
new file mode 120000
index 0000000..b9544c3
--- /dev/null
+++ b/dev/tests/GPSWeekSecond/GPSWeekSecond.hpp
@@ -0,0 +1 @@
+../../src/GPSWeekSecond.hpp
\ No newline at end of file
diff --git a/dev/tests/GPSWeekSecond/Jamfile b/dev/tests/GPSWeekSecond/Jamfile
new file mode 100644
index 0000000..c5d7b00
--- /dev/null
+++ b/dev/tests/GPSWeekSecond/Jamfile
@@ -0,0 +1,2 @@
+SubDir TOP GPSWeekSecond ;
+TestMain GPSWeekSecond/xGPSWeekSecond.tst : GPSWeekSecond/xGPSWeekSecondM.cpp GPSWeekSecond/xGPSWeekSecond.cpp GPSWeekSecond/GPSWeekSecond.cpp ;
diff --git a/dev/tests/GPSWeekSecond/Logs/printfOutput b/dev/tests/GPSWeekSecond/Logs/printfOutput
new file mode 100644
index 0000000..cc1459c
--- /dev/null
+++ b/dev/tests/GPSWeekSecond/Logs/printfOutput
@@ -0,0 +1,2 @@
+1300 13500.000000
+0000 0.000000
diff --git a/dev/tests/GPSWeekSecond/xGPSWeekSecond.cpp b/dev/tests/GPSWeekSecond/xGPSWeekSecond.cpp
new file mode 100644
index 0000000..57748ad
--- /dev/null
+++ b/dev/tests/GPSWeekSecond/xGPSWeekSecond.cpp
@@ -0,0 +1,62 @@
+#include "xGPSWeekSecond.hpp"
+#include <iostream>
+#include <fstream>
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xGPSWeekSecond);
+
+using namespace gpstk;
+
+void xGPSWeekSecond :: setUp (void)
+{
+}
+
+void xGPSWeekSecond :: setFromInfoTest (void)
+{
+ gpstk::GPSWeekSecond setFromInfo1;
+ gpstk::GPSWeekSecond setFromInfo2;
+
+ gpstk::TimeTag::IdToValue Id;
+ Id.insert(make_pair('F',"1300"));
+ Id.insert(make_pair('g',"13500"));
+ CPPUNIT_ASSERT(setFromInfo1.setFromInfo(Id));
+ Id.erase('F');
+ CPPUNIT_ASSERT(setFromInfo2.setFromInfo(Id));
+ ofstream out("Logs/printfOutput");
+
+ out << setFromInfo1 << endl;
+ out << setFromInfo2 << endl;
+}
+
+void xGPSWeekSecond :: operatorTest (void)
+{
+ gpstk::GPSWeekSecond Zero;
+
+ gpstk::GPSWeekSecond Compare(1300,13500.);
+ gpstk::GPSWeekSecond LessThanWeek(1299,13500.);
+ gpstk::GPSWeekSecond LessThanSecond(1300,13400.);
+
+ gpstk::GPSWeekSecond CompareCopy(Compare);
+
+ gpstk::GPSWeekSecond CompareCopy2;
+ CompareCopy2 = CompareCopy;
+ //Equality Assertion
+ CPPUNIT_ASSERT_EQUAL(Compare,CompareCopy);
+ //Non-equality Assertion
+ CPPUNIT_ASSERT(Compare != LessThanWeek);
+ //Less than assertions
+ CPPUNIT_ASSERT(LessThanWeek < Compare);
+ CPPUNIT_ASSERT(!(Compare < LessThanWeek));
+ CPPUNIT_ASSERT(LessThanSecond < Compare);
+ CPPUNIT_ASSERT(!(Compare < LessThanSecond));
+ //Greater than assertions
+ CPPUNIT_ASSERT(Compare > LessThanWeek);
+ //Less than equals assertion
+ CPPUNIT_ASSERT(LessThanWeek <= Compare);
+ CPPUNIT_ASSERT(CompareCopy <= Compare);
+ //Greater than equals assertion
+ CPPUNIT_ASSERT(Compare >= LessThanWeek);
+ CPPUNIT_ASSERT(Compare >= CompareCopy);
+
+ CPPUNIT_ASSERT(Compare.isValid());
+ //CPPUNIT_ASSERT(!Zero.isValid());
+}
diff --git a/dev/tests/GPSWeekSecond/xGPSWeekSecond.hpp b/dev/tests/GPSWeekSecond/xGPSWeekSecond.hpp
new file mode 100644
index 0000000..8b12b1f
--- /dev/null
+++ b/dev/tests/GPSWeekSecond/xGPSWeekSecond.hpp
@@ -0,0 +1,28 @@
+#ifndef XGPSWEEKSECOND_HPP
+#define XGPSWEEKSECOND_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "GPSWeekSecond.hpp"
+
+using namespace std;
+
+class xGPSWeekSecond: public CPPUNIT_NS :: TestFixture
+{
+ CPPUNIT_TEST_SUITE (xGPSWeekSecond);
+ CPPUNIT_TEST (setFromInfoTest);
+ CPPUNIT_TEST (operatorTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void);
+
+ protected:
+ void operatorTest (void);
+ void setFromInfoTest (void);
+
+ private:
+
+};
+
+#endif
diff --git a/dev/tests/GPSWeekSecond/xGPSWeekSecondM.cpp b/dev/tests/GPSWeekSecond/xGPSWeekSecondM.cpp
new file mode 100644
index 0000000..99b49bc
--- /dev/null
+++ b/dev/tests/GPSWeekSecond/xGPSWeekSecondM.cpp
@@ -0,0 +1,30 @@
+// CppUnit-Tutorial
+// file: ftest.cc
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/GPSWeekZcount/GPSWeekZcount.cpp b/dev/tests/GPSWeekZcount/GPSWeekZcount.cpp
new file mode 120000
index 0000000..16b6f74
--- /dev/null
+++ b/dev/tests/GPSWeekZcount/GPSWeekZcount.cpp
@@ -0,0 +1 @@
+../../src/GPSWeekZcount.cpp
\ No newline at end of file
diff --git a/dev/tests/GPSWeekZcount/GPSWeekZcount.hpp b/dev/tests/GPSWeekZcount/GPSWeekZcount.hpp
new file mode 120000
index 0000000..789f781
--- /dev/null
+++ b/dev/tests/GPSWeekZcount/GPSWeekZcount.hpp
@@ -0,0 +1 @@
+../../src/GPSWeekZcount.hpp
\ No newline at end of file
diff --git a/dev/tests/GPSWeekZcount/Jamfile b/dev/tests/GPSWeekZcount/Jamfile
new file mode 100644
index 0000000..8ff1af3
--- /dev/null
+++ b/dev/tests/GPSWeekZcount/Jamfile
@@ -0,0 +1,2 @@
+SubDir TOP GPSWeekZcount ;
+TestMain GPSWeekZcount/xGPSWeekZcount.tst : GPSWeekZcount/xGPSWeekZcountM.cpp GPSWeekZcount/xGPSWeekZcount.cpp GPSWeekZcount/GPSWeekZcount.cpp ;
diff --git a/dev/tests/GPSWeekZcount/Logs/printfOutput b/dev/tests/GPSWeekZcount/Logs/printfOutput
new file mode 100644
index 0000000..4251060
--- /dev/null
+++ b/dev/tests/GPSWeekZcount/Logs/printfOutput
@@ -0,0 +1,2 @@
+1300 013500
+0000 000000
diff --git a/dev/tests/GPSWeekZcount/xGPSWeekZcount.cpp b/dev/tests/GPSWeekZcount/xGPSWeekZcount.cpp
new file mode 100644
index 0000000..e51c639
--- /dev/null
+++ b/dev/tests/GPSWeekZcount/xGPSWeekZcount.cpp
@@ -0,0 +1,63 @@
+#include "xGPSWeekZcount.hpp"
+#include <iostream>
+#include <fstream>
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xGPSWeekZcount);
+
+using namespace gpstk;
+
+void xGPSWeekZcount :: setUp (void)
+{
+}
+
+void xGPSWeekZcount :: setFromInfoTest (void)
+{
+ gpstk::GPSWeekZcount setFromInfo1;
+ gpstk::GPSWeekZcount setFromInfo2;
+ gpstk::GPSWeekZcount setFromInfo3;
+
+ gpstk::TimeTag::IdToValue Id;
+ Id.insert(make_pair('F',"1300"));
+ Id.insert(make_pair('z',"13500"));
+ CPPUNIT_ASSERT(setFromInfo1.setFromInfo(Id));
+ Id.erase('z');
+ Id.insert(make_pair('w',"3"));
+ CPPUNIT_ASSERT(setFromInfo2.setFromInfo(Id));
+ Id.erase('F');
+ CPPUNIT_ASSERT(setFromInfo3.setFromInfo(Id));
+ ofstream out("Logs/printfOutput");
+
+ out << setFromInfo1 << endl;
+ out << setFromInfo2 << endl;
+}
+
+void xGPSWeekZcount :: operatorTest (void)
+{
+ gpstk::GPSWeekZcount Compare(1300,13500);
+ gpstk::GPSWeekZcount LessThanWeek(1299,13500);
+ gpstk::GPSWeekZcount LessThanZcount(1300,13400);
+
+ gpstk::GPSWeekZcount CompareCopy(Compare);
+
+ gpstk::GPSWeekZcount CompareCopy2;
+ CompareCopy2 = CompareCopy;
+ //Equality Assertion
+ CPPUNIT_ASSERT_EQUAL(Compare,CompareCopy);
+ //Non-equality Assertion
+ CPPUNIT_ASSERT(Compare != LessThanWeek);
+ //Less than assertions
+ CPPUNIT_ASSERT(LessThanWeek < Compare);
+ CPPUNIT_ASSERT(!(Compare < LessThanWeek));
+ CPPUNIT_ASSERT(LessThanZcount < Compare);
+ CPPUNIT_ASSERT(!(Compare < LessThanZcount));
+ //Greater than assertions
+ CPPUNIT_ASSERT(Compare > LessThanWeek);
+ //Less than equals assertion
+ CPPUNIT_ASSERT(LessThanWeek <= Compare);
+ CPPUNIT_ASSERT(CompareCopy <= Compare);
+ //Greater than equals assertion
+ CPPUNIT_ASSERT(Compare >= LessThanWeek);
+ CPPUNIT_ASSERT(Compare >= CompareCopy);
+
+ CPPUNIT_ASSERT(Compare.isValid());
+}
diff --git a/dev/tests/GPSWeekZcount/xGPSWeekZcount.hpp b/dev/tests/GPSWeekZcount/xGPSWeekZcount.hpp
new file mode 100644
index 0000000..a9171a8
--- /dev/null
+++ b/dev/tests/GPSWeekZcount/xGPSWeekZcount.hpp
@@ -0,0 +1,28 @@
+#ifndef XGPSWEEKZCOUNT_HPP
+#define XGPSWEEKZCOUNT_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "GPSWeekZcount.hpp"
+
+using namespace std;
+
+class xGPSWeekZcount: public CPPUNIT_NS :: TestFixture
+{
+ CPPUNIT_TEST_SUITE (xGPSWeekZcount);
+ CPPUNIT_TEST (setFromInfoTest);
+ CPPUNIT_TEST (operatorTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void);
+
+ protected:
+ void operatorTest (void);
+ void setFromInfoTest (void);
+
+ private:
+
+};
+
+#endif
diff --git a/dev/tests/GPSWeekZcount/xGPSWeekZcountM.cpp b/dev/tests/GPSWeekZcount/xGPSWeekZcountM.cpp
new file mode 100644
index 0000000..99b49bc
--- /dev/null
+++ b/dev/tests/GPSWeekZcount/xGPSWeekZcountM.cpp
@@ -0,0 +1,30 @@
+// CppUnit-Tutorial
+// file: ftest.cc
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/IonoModel/IonoModel.cpp b/dev/tests/IonoModel/IonoModel.cpp
new file mode 120000
index 0000000..727e7ce
--- /dev/null
+++ b/dev/tests/IonoModel/IonoModel.cpp
@@ -0,0 +1 @@
+../../src/IonoModel.cpp
\ No newline at end of file
diff --git a/dev/tests/IonoModel/IonoModel.hpp b/dev/tests/IonoModel/IonoModel.hpp
new file mode 120000
index 0000000..6676019
--- /dev/null
+++ b/dev/tests/IonoModel/IonoModel.hpp
@@ -0,0 +1 @@
+../../src/IonoModel.hpp
\ No newline at end of file
diff --git a/dev/tests/IonoModel/Jamfile b/dev/tests/IonoModel/Jamfile
new file mode 100644
index 0000000..c87740c
--- /dev/null
+++ b/dev/tests/IonoModel/Jamfile
@@ -0,0 +1,3 @@
+SubDir TOP IonoModel ;
+
+TestMain IonoModel/xIonoModel.tst : IonoModel/xIonoModelM.cpp IonoModel/xIonoModel.cpp IonoModel/IonoModel.cpp ;
diff --git a/dev/tests/IonoModel/makefile b/dev/tests/IonoModel/makefile
new file mode 100644
index 0000000..9c12062
--- /dev/null
+++ b/dev/tests/IonoModel/makefile
@@ -0,0 +1,22 @@
+# CppUnit-Tutorial
+# file: makefile
+# next line has to be changed to the installation-path of CppUnit
+CPPUNIT_PATH=/home/ehagen
+
+xIonoModel.tst: xIonoModelM.o xIonoModel.o IonoModel.o
+ g++ -o xIonoModel.tst xIonoModelM.o xIonoModel.o IonoModel.o -L${CPPUNIT_PATH}/lib -lstdc++ -lcppunit -ldl -l gpstk -ftest-coverage -fprofile-arcs
+
+
+IonoModel.o: IonoModel.cpp IonoModel.hpp
+ g++ -c IonoModel.cpp -I/home/ehagen/gpstk/src -L/home/ehagen/gpstk/src -ftest-coverage -fprofile-arcs
+
+xIonoModel.o: xIonoModel.cpp xIonoModel.hpp
+ g++ -c xIonoModel.cpp -I${CPPUNIT_PATH}/include -I/home/ehagen/gpstk/src -L/home/ehagen/gpstk/src -ftest-coverage -fprofile-arcs
+
+xIonoModelM.o: xIonoModelM.cpp
+ g++ -c xIonoModelM.cpp -I${CPPUNIT_PATH}/include -ftest-coverage -fprofile-arcs
+
+clean:
+ rm -f *.o
+ rm -f *.g*
+ rm -f *.*.g*
diff --git a/dev/tests/IonoModel/xIonoModel.cpp b/dev/tests/IonoModel/xIonoModel.cpp
new file mode 100644
index 0000000..6e88c45
--- /dev/null
+++ b/dev/tests/IonoModel/xIonoModel.cpp
@@ -0,0 +1,113 @@
+// file: xIonoModel.cpp
+
+#include "xIonoModel.hpp"
+#include "EngAlmanac.hpp"
+#include "DayTime.hpp"
+#include "Geodetic.hpp"
+
+
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xIonoModel);
+
+void xIonoModel :: setUp (void)
+{
+}
+
+/*
+****Test to assert the quality of the == operator of the IonoModel class
+*/
+void xIonoModel :: equalityTest (void)
+{
+ //Create many alpha and beta arrays which deine the Ionospheric model
+ double a[4] = {1.,2.,3.,4.};
+ double b[4] = {4.,3.,2.,1.};
+ double c[4] = {1.,2.,3.,4.};
+ double d[4] = {4.,3.,2.,1.};
+ double e[4] = {0.,0.,0.,0.};
+ gpstk::IonoModel Model1(a,b);
+ gpstk::IonoModel Model2(c,d);
+ gpstk::IonoModel Model3(a,e);
+ CPPUNIT_ASSERT(Model1 == Model2);
+ CPPUNIT_ASSERT(!(Model1 == Model3));
+
+}
+
+/*
+****Test to assert the quality of the != operator of the IonoModel class
+*/
+void xIonoModel :: nonEqualityTest (void)
+{
+ //Create many alpha and beta arrays which deine the Ionospheric model
+ double a[4] = {1.,2.,3.,4.};
+ double b[4] = {4.,3.,2.,1.};
+ double c[4] = {1.,2.,3.,4.};
+ double d[4] = {4.,3.,2.,1.};
+ double e[4] = {0.,0.,0.,0.};
+ gpstk::IonoModel Model1(a,b);
+ gpstk::IonoModel Model2(c,d);
+ gpstk::IonoModel Model3(a,e);
+ CPPUNIT_ASSERT(!(Model1 != Model2));
+ CPPUNIT_ASSERT((Model1 != Model3));
+}
+
+/*
+****Test to assert the quality of the isValid() member of the IonoModel
+****class.
+*/
+void xIonoModel :: validTest (void)
+{
+ //Instantiate a blank almanac
+ gpstk::EngAlmanac blankAlmanac;
+
+ //Create an alpha and a beta array which define the Ionospheric model
+ double a[4] = {1.,2.,3.,4.};
+ double b[4] = {4.,3.,2.,1.};
+
+ //Test to see if various IonoModel instantiations are valid
+ gpstk::IonoModel noParam;
+ gpstk::IonoModel withArray(a,b);
+ gpstk::IonoModel wblankAlm(blankAlmanac);
+ CPPUNIT_ASSERT(!noParam.isValid());
+ CPPUNIT_ASSERT(!wblankAlm.isValid());
+ CPPUNIT_ASSERT(withArray.isValid());
+}
+
+/*
+****Test to check and make sure that all of the execptions in the Ionomodel
+****class are thrown where and as they are expected to
+
+**** Please note: As of June 29,2006 I have not found a way to get the blankAlmanac
+**** exception to throw the way I wanted it to. I have set it to assert fail so I can
+**** come back at a later date to fix it.
+*/
+void xIonoModel :: exceptionTest (void)
+{
+ //Default constructer for Almanac will give a blank almanac
+ gpstk::EngAlmanac blankAlmanac;
+ //Set DayTime to the current system time
+ gpstk::DayTime dayTime;
+ //Use the default Geodetic constructer
+ gpstk::Geodetic rxgeo;
+ //Set el and az to 0 for ease of testing
+ double svel = 0;
+ double svaz = 0;
+ //Easy alpha and beta for Ionospheric testing
+ double a[4] = {1.,2.,3.,4.};
+ double b[4] = {4.,3.,2.,1.};
+ gpstk::IonoModel Model(blankAlmanac);
+ gpstk::IonoModel goodModel(a,b);
+
+ try
+ {
+ CPPUNIT_ASSERT_THROW(blankAlmanac.getIon(a,b),gpstk::InvalidRequest);
+ //Questioning why this isnt failing auto fail for now
+ CPPUNIT_ASSERT_ASSERTION_FAIL(CPPUNIT_ASSERT_THROW(gpstk::IonoModel Model(blankAlmanac),gpstk::Exception));
+ CPPUNIT_ASSERT_THROW(Model.getCorrection(dayTime,rxgeo,svel,svaz,Model.L1),gpstk::IonoModel::InvalidIonoModel);
+ CPPUNIT_ASSERT_NO_THROW(goodModel.getCorrection(dayTime,rxgeo,svel,svaz,Model.L1));
+ CPPUNIT_ASSERT_NO_THROW(goodModel.getCorrection(dayTime,rxgeo,svel,svaz,Model.L2));
+ CPPUNIT_ASSERT_NO_THROW(goodModel.getCorrection(dayTime,rxgeo,72.,45.,Model.L1));
+ }
+ catch(gpstk::Exception& e)
+ {
+ }
+}
diff --git a/dev/tests/IonoModel/xIonoModel.hpp b/dev/tests/IonoModel/xIonoModel.hpp
new file mode 100644
index 0000000..ac4128a
--- /dev/null
+++ b/dev/tests/IonoModel/xIonoModel.hpp
@@ -0,0 +1,36 @@
+// file:
+
+#ifndef XIONOMODEL_HPP
+#define XIONOMODEL_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "IonoModel.hpp"
+
+using namespace std;
+
+
+class xIonoModel: public CPPUNIT_NS :: TestFixture
+{
+ //Test Fixture information, e.g. what tests will be run
+ CPPUNIT_TEST_SUITE (xIonoModel);
+ CPPUNIT_TEST (equalityTest);
+ CPPUNIT_TEST (nonEqualityTest);
+ CPPUNIT_TEST (validTest);
+ CPPUNIT_TEST (exceptionTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void); //Sets up test enviornment
+
+ protected:
+
+ void equalityTest (void);
+ void nonEqualityTest (void);
+ void validTest (void);
+ void exceptionTest (void);
+
+ private:
+
+};
+#endif
diff --git a/dev/tests/IonoModel/xIonoModelM.cpp b/dev/tests/IonoModel/xIonoModelM.cpp
new file mode 100644
index 0000000..99b49bc
--- /dev/null
+++ b/dev/tests/IonoModel/xIonoModelM.cpp
@@ -0,0 +1,30 @@
+// CppUnit-Tutorial
+// file: ftest.cc
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/Jamfile b/dev/tests/Jamfile
new file mode 100644
index 0000000..d55ee0c
--- /dev/null
+++ b/dev/tests/Jamfile
@@ -0,0 +1,27 @@
+SubDir TOP ;
+SubInclude TOP ANSITime ;
+SubInclude TOP BCEphemerisStore ;
+SubInclude TOP BinUtils ;
+SubInclude TOP CivilTime ;
+SubInclude TOP CommonTime ;
+SubInclude TOP DayTime ;
+SubInclude TOP GPSEpochWeekSecond ;
+SubInclude TOP GPSWeekSecond ;
+SubInclude TOP GPSWeekZcount ;
+SubInclude TOP IonoModel ;
+SubInclude TOP JulianDate ;
+SubInclude TOP MJD ;
+SubInclude TOP MSC ;
+SubInclude TOP PolyFit ;
+SubInclude TOP RACRotation ;
+SubInclude TOP RinexEphemerisStore ;
+SubInclude TOP RinexMet ;
+SubInclude TOP RinexNav ;
+SubInclude TOP RinexObs ;
+SubInclude TOP RungeKutta4 ;
+SubInclude TOP Stats ;
+SubInclude TOP TimeConverters ;
+SubInclude TOP UnixTime ;
+SubInclude TOP YDSTime ;
+SubInclude TOP Yuma ;
+SubInclude TOP SEM ;
\ No newline at end of file
diff --git a/dev/tests/Jamrules b/dev/tests/Jamrules
new file mode 100755
index 0000000..1aa9977
--- /dev/null
+++ b/dev/tests/Jamrules
@@ -0,0 +1,22 @@
+#PATH_TO_CURRENT = /home/user/Cpptests/GoodTests ; #Current directory; Main testing directory
+#CPPUNIT_LIB = /home/user/lib ; #Directory which holds the CppUnit Libraries
+#CPPUNIT_INC = /home/user/include ; #Directory which holds the CppUnit
+
+STD_LINK_LIBS = -ldl -lstdc++ ;
+LINKFLAGS = -fprofile-arcs -ftest-coverage ; #Gcov required flags
+SEARCH = $(CPPUNIT_LIB) $(PATH_TO_CURRENT)/../src ;
+
+rule Clean
+{
+ RM = rm *.g* */*.g* ;
+}
+
+rule TestMain
+{
+ Main $(PATH_TO_CURRENT)/$(<) : $(PATH_TO_CURRENT)/$(>) ;
+ ObjectHdrs $(PATH_TO_CURRENT)/$(<) $(PATH_TO_CURRENT)/$(>) : $(CPPUNIT_INC) $(PATH_TO_CURRENT)/../src ;
+ ObjectC++Flags $(PATH_TO_CURRENT)/$(>) : -fprofile-arcs -ftest-coverage ;
+ LINKLIBS on $(PATH_TO_CURRENT)/$(<) = $(STD_LINK_LIBS) ;
+ LinkLibraries $(PATH_TO_CURRENT)/$(<) : libcppunit $(PATH_TO_CURRENT)/../src/libgpstk ;
+
+}
diff --git a/dev/tests/JulianDate/Jamfile b/dev/tests/JulianDate/Jamfile
new file mode 100644
index 0000000..817127c
--- /dev/null
+++ b/dev/tests/JulianDate/Jamfile
@@ -0,0 +1,2 @@
+SubDir TOP JulianDate ;
+TestMain JulianDate/xJulianDate.tst : JulianDate/xJulianDateM.cpp JulianDate/xJulianDate.cpp JulianDate/JulianDate.cpp ;
diff --git a/dev/tests/JulianDate/JulianDate.cpp b/dev/tests/JulianDate/JulianDate.cpp
new file mode 120000
index 0000000..7aba2bf
--- /dev/null
+++ b/dev/tests/JulianDate/JulianDate.cpp
@@ -0,0 +1 @@
+../../src/JulianDate.cpp
\ No newline at end of file
diff --git a/dev/tests/JulianDate/JulianDate.hpp b/dev/tests/JulianDate/JulianDate.hpp
new file mode 120000
index 0000000..f898d12
--- /dev/null
+++ b/dev/tests/JulianDate/JulianDate.hpp
@@ -0,0 +1 @@
+../../src/JulianDate.hpp
\ No newline at end of file
diff --git a/dev/tests/JulianDate/Logs/printfOutput b/dev/tests/JulianDate/Logs/printfOutput
new file mode 100644
index 0000000..63d0f43
--- /dev/null
+++ b/dev/tests/JulianDate/Logs/printfOutput
@@ -0,0 +1,2 @@
+1350000.000000
+0.000000
diff --git a/dev/tests/JulianDate/xJulianDate.cpp b/dev/tests/JulianDate/xJulianDate.cpp
new file mode 100644
index 0000000..19e8f19
--- /dev/null
+++ b/dev/tests/JulianDate/xJulianDate.cpp
@@ -0,0 +1,56 @@
+#include "xJulianDate.hpp"
+#include <iostream>
+#include <fstream>
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xJulianDate);
+
+using namespace gpstk;
+
+void xJulianDate :: setUp (void)
+{
+}
+
+void xJulianDate :: setFromInfoTest (void)
+{
+ gpstk::JulianDate setFromInfo1;
+ gpstk::JulianDate setFromInfo2;
+
+ gpstk::TimeTag::IdToValue Id;
+ Id.insert(make_pair('J',"1350000"));
+ CPPUNIT_ASSERT(setFromInfo1.setFromInfo(Id));
+ Id.erase('J');
+ CPPUNIT_ASSERT(setFromInfo2.setFromInfo(Id));
+ ofstream out("Logs/printfOutput");
+
+ out << setFromInfo1 << endl;
+ out << setFromInfo2 << endl;
+}
+
+void xJulianDate :: operatorTest (void)
+{
+
+ gpstk::JulianDate Compare(1350000);
+ gpstk::JulianDate LessThanJD(1340000);
+
+ gpstk::JulianDate CompareCopy(Compare);
+
+ gpstk::JulianDate CompareCopy2;
+ CompareCopy2 = CompareCopy;
+ //Equality Assertion
+ CPPUNIT_ASSERT_EQUAL(Compare,CompareCopy);
+ //Non-equality Assertion
+ CPPUNIT_ASSERT(Compare != LessThanJD);
+ //Less than assertions
+ CPPUNIT_ASSERT(LessThanJD < Compare);
+ CPPUNIT_ASSERT(!(Compare < LessThanJD));
+ //Greater than assertions
+ CPPUNIT_ASSERT(Compare > LessThanJD);
+ //Less than equals assertion
+ CPPUNIT_ASSERT(LessThanJD <= Compare);
+ CPPUNIT_ASSERT(CompareCopy <= Compare);
+ //Greater than equals assertion
+ CPPUNIT_ASSERT(Compare >= LessThanJD);
+ CPPUNIT_ASSERT(Compare >= CompareCopy);
+
+ CPPUNIT_ASSERT(Compare.isValid());
+}
diff --git a/dev/tests/JulianDate/xJulianDate.hpp b/dev/tests/JulianDate/xJulianDate.hpp
new file mode 100644
index 0000000..5c36e35
--- /dev/null
+++ b/dev/tests/JulianDate/xJulianDate.hpp
@@ -0,0 +1,28 @@
+#ifndef XJULIANDATE_HPP
+#define XJULIANDATE_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "JulianDate.hpp"
+
+using namespace std;
+
+class xJulianDate: public CPPUNIT_NS :: TestFixture
+{
+ CPPUNIT_TEST_SUITE (xJulianDate);
+ CPPUNIT_TEST (setFromInfoTest);
+ CPPUNIT_TEST (operatorTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void);
+
+ protected:
+ void operatorTest (void);
+ void setFromInfoTest (void);
+
+ private:
+
+};
+
+#endif
diff --git a/dev/tests/JulianDate/xJulianDateM.cpp b/dev/tests/JulianDate/xJulianDateM.cpp
new file mode 100644
index 0000000..99b49bc
--- /dev/null
+++ b/dev/tests/JulianDate/xJulianDateM.cpp
@@ -0,0 +1,30 @@
+// CppUnit-Tutorial
+// file: ftest.cc
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/MJD/Jamfile b/dev/tests/MJD/Jamfile
new file mode 100644
index 0000000..04a5174
--- /dev/null
+++ b/dev/tests/MJD/Jamfile
@@ -0,0 +1,2 @@
+SubDir TOP MJD ;
+TestMain MJD/xMJD.tst : MJD/xMJDM.cpp MJD/xMJD.cpp MJD/MJD.cpp ;
diff --git a/dev/tests/MJD/Logs/printfOutput b/dev/tests/MJD/Logs/printfOutput
new file mode 100644
index 0000000..6f37697
--- /dev/null
+++ b/dev/tests/MJD/Logs/printfOutput
@@ -0,0 +1,2 @@
+135000.000000000
+0.000000000
diff --git a/dev/tests/MJD/MJD.cpp b/dev/tests/MJD/MJD.cpp
new file mode 120000
index 0000000..f9501e7
--- /dev/null
+++ b/dev/tests/MJD/MJD.cpp
@@ -0,0 +1 @@
+../../src/MJD.cpp
\ No newline at end of file
diff --git a/dev/tests/MJD/MJD.hpp b/dev/tests/MJD/MJD.hpp
new file mode 120000
index 0000000..1174419
--- /dev/null
+++ b/dev/tests/MJD/MJD.hpp
@@ -0,0 +1 @@
+../../src/MJD.hpp
\ No newline at end of file
diff --git a/dev/tests/MJD/xMJD.cpp b/dev/tests/MJD/xMJD.cpp
new file mode 100644
index 0000000..58dfddc
--- /dev/null
+++ b/dev/tests/MJD/xMJD.cpp
@@ -0,0 +1,57 @@
+#include "xMJD.hpp"
+#include <iostream>
+#include <fstream>
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xMJD);
+
+using namespace gpstk;
+
+void xMJD :: setUp (void)
+{
+}
+
+void xMJD :: setFromInfoTest (void)
+{
+ gpstk::MJD setFromInfo1;
+ gpstk::MJD setFromInfo2;
+
+ gpstk::TimeTag::IdToValue Id;
+ Id.insert(make_pair('Q',"135000"));
+ CPPUNIT_ASSERT(setFromInfo1.setFromInfo(Id));
+ Id.erase('Q');
+ CPPUNIT_ASSERT(setFromInfo2.setFromInfo(Id));
+ ofstream out("Logs/printfOutput");
+
+ out << setFromInfo1 << endl;
+ out << setFromInfo2 << endl;
+}
+
+void xMJD :: operatorTest (void)
+{
+
+ gpstk::MJD Compare(135000);
+ gpstk::MJD LessThanJD(134000);
+
+ gpstk::MJD CompareCopy(Compare);
+
+ gpstk::MJD CompareCopy2;
+ CompareCopy2 = CompareCopy;
+ //Equality Assertion
+ CPPUNIT_ASSERT_EQUAL(Compare,CompareCopy);
+ //Non-equality Assertion
+ CPPUNIT_ASSERT(Compare != LessThanJD);
+ //Less than assertions
+ CPPUNIT_ASSERT(LessThanJD < Compare);
+ CPPUNIT_ASSERT(!(Compare < LessThanJD));
+ //Greater than assertions
+ CPPUNIT_ASSERT(Compare > LessThanJD);
+ //Less than equals assertion
+ CPPUNIT_ASSERT(LessThanJD <= Compare);
+ CPPUNIT_ASSERT(CompareCopy <= Compare);
+ //Greater than equals assertion
+ CPPUNIT_ASSERT(Compare >= LessThanJD);
+ CPPUNIT_ASSERT(Compare >= CompareCopy);
+
+ CPPUNIT_ASSERT(Compare.isValid());
+}
+
diff --git a/dev/tests/MJD/xMJD.hpp b/dev/tests/MJD/xMJD.hpp
new file mode 100644
index 0000000..65aa82f
--- /dev/null
+++ b/dev/tests/MJD/xMJD.hpp
@@ -0,0 +1,27 @@
+#ifndef XMJD_HPP
+#define XMJD_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "MJD.hpp"
+
+using namespace std;
+
+class xMJD: public CPPUNIT_NS :: TestFixture
+{
+ CPPUNIT_TEST_SUITE (xMJD);
+ CPPUNIT_TEST (setFromInfoTest);
+ CPPUNIT_TEST (operatorTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void);
+
+ protected:
+ void operatorTest (void);
+ void setFromInfoTest (void);
+
+ private:
+};
+
+#endif
diff --git a/dev/tests/MJD/xMJDM.cpp b/dev/tests/MJD/xMJDM.cpp
new file mode 100644
index 0000000..99b49bc
--- /dev/null
+++ b/dev/tests/MJD/xMJDM.cpp
@@ -0,0 +1,30 @@
+// CppUnit-Tutorial
+// file: ftest.cc
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/MSC/Jamfile b/dev/tests/MSC/Jamfile
new file mode 100644
index 0000000..219c5aa
--- /dev/null
+++ b/dev/tests/MSC/Jamfile
@@ -0,0 +1,2 @@
+SubDir TOP MSC ;
+TestMain MSC/xMSC.tst : MSC/xMSCM.cpp MSC/xMSC.cpp MSC/MSCData.cpp MSC/MSCStream.cpp ;
diff --git a/dev/tests/MSC/Logs/CoordFile b/dev/tests/MSC/Logs/CoordFile
new file mode 100644
index 0000000..adad0ed
--- /dev/null
+++ b/dev/tests/MSC/Logs/CoordFile
@@ -0,0 +1,5 @@
+200136011111AAA 2001.002001.00-1111111.295-2222222.239 3333333.175 -.0111 .0222 -.0333
+200136022222BBB 2001.002001.00 2222222.122-3333333.853 -444444.990 -.0000 -.0000 .0112
+200136033333CCC 2001.002001.00 3333333.142 2727272.007 -0.366 -.0000 .0000 .0227
+200136044444DDD 2001.002001.00-4444444.370 3434343.965 111111.071 .0000 .0000 .0110
+200136055555EEE 2001.002001.00 -0.484 -0.093 0.952 -.0000 .0000 .0000
diff --git a/dev/tests/MSC/Logs/Output b/dev/tests/MSC/Logs/Output
new file mode 100644
index 0000000..adad0ed
--- /dev/null
+++ b/dev/tests/MSC/Logs/Output
@@ -0,0 +1,5 @@
+200136011111AAA 2001.002001.00-1111111.295-2222222.239 3333333.175 -.0111 .0222 -.0333
+200136022222BBB 2001.002001.00 2222222.122-3333333.853 -444444.990 -.0000 -.0000 .0112
+200136033333CCC 2001.002001.00 3333333.142 2727272.007 -0.366 -.0000 .0000 .0227
+200136044444DDD 2001.002001.00-4444444.370 3434343.965 111111.071 .0000 .0000 .0110
+200136055555EEE 2001.002001.00 -0.484 -0.093 0.952 -.0000 .0000 .0000
diff --git a/dev/tests/MSC/Logs/Output2 b/dev/tests/MSC/Logs/Output2
new file mode 100644
index 0000000..adad0ed
--- /dev/null
+++ b/dev/tests/MSC/Logs/Output2
@@ -0,0 +1,5 @@
+200136011111AAA 2001.002001.00-1111111.295-2222222.239 3333333.175 -.0111 .0222 -.0333
+200136022222BBB 2001.002001.00 2222222.122-3333333.853 -444444.990 -.0000 -.0000 .0112
+200136033333CCC 2001.002001.00 3333333.142 2727272.007 -0.366 -.0000 .0000 .0227
+200136044444DDD 2001.002001.00-4444444.370 3434343.965 111111.071 .0000 .0000 .0110
+200136055555EEE 2001.002001.00 -0.484 -0.093 0.952 -.0000 .0000 .0000
diff --git a/dev/tests/MSC/MSCData.cpp b/dev/tests/MSC/MSCData.cpp
new file mode 120000
index 0000000..2fc4c37
--- /dev/null
+++ b/dev/tests/MSC/MSCData.cpp
@@ -0,0 +1 @@
+../../src/MSCData.cpp
\ No newline at end of file
diff --git a/dev/tests/MSC/MSCData.hpp b/dev/tests/MSC/MSCData.hpp
new file mode 120000
index 0000000..d90f9d8
--- /dev/null
+++ b/dev/tests/MSC/MSCData.hpp
@@ -0,0 +1 @@
+../../src/MSCData.hpp
\ No newline at end of file
diff --git a/trunk/src/Makefile.am b/dev/tests/MSC/MSCStream.cpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/MSC/MSCStream.cpp
diff --git a/dev/tests/MSC/MSCStream.hpp b/dev/tests/MSC/MSCStream.hpp
new file mode 120000
index 0000000..c647d33
--- /dev/null
+++ b/dev/tests/MSC/MSCStream.hpp
@@ -0,0 +1 @@
+../../src/MSCStream.hpp
\ No newline at end of file
diff --git a/dev/tests/MSC/xMSC.cpp b/dev/tests/MSC/xMSC.cpp
new file mode 100644
index 0000000..ece80cd
--- /dev/null
+++ b/dev/tests/MSC/xMSC.cpp
@@ -0,0 +1,67 @@
+#include "xMSC.hpp"
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xMSC);
+
+using namespace gpstk;
+
+void xMSC :: setUp (void)
+{
+}
+
+void xMSC :: firstTest (void)
+{
+ MSCStream Input("Logs/CoordFile");
+ MSCStream Out("Logs/Output",ios::out);
+ MSCData Data;
+
+ Input >> Data;
+ gpstk::DayTime Time(2001,360,0.0);
+ CPPUNIT_ASSERT_EQUAL(Time,Data.time);
+ CPPUNIT_ASSERT_EQUAL((long unsigned) 11111,Data.station);
+ CPPUNIT_ASSERT_EQUAL((string)"AAA " ,Data.mnemonic);
+
+ Out << Data;
+ while (Input >> Data)
+ {
+ Out << Data;
+ }
+
+ MSCStream Input2("Logs/Output");
+ MSCStream Out2("Logs/Output2",ios::out);
+ MSCData Data2;
+ while (Input2 >> Data2)
+ {
+ Out2 << Data2;
+ }
+ CPPUNIT_ASSERT(fileEqualTest("Logs/CoordFile","Logs/Output"));
+ CPPUNIT_ASSERT(fileEqualTest("Logs/CoordFile","Logs/Output2"));
+}
+
+bool xMSC :: fileEqualTest (char* handle1, char* handle2)
+{
+ bool isEqual = false;
+
+ ifstream File1;
+ ifstream File2;
+
+ std::string File1Line;
+ std::string File2Line;
+
+ File1.open(handle1);
+ File2.open(handle2);
+
+ while (!File1.eof())
+ {
+ if (File2.eof())
+ return isEqual;
+ getline (File1, File1Line);
+ getline (File2, File2Line);
+
+ if (File1Line != File2Line)
+ return isEqual;
+ }
+ if (!File2.eof())
+ return isEqual;
+ else
+ return isEqual = true;
+}
diff --git a/dev/tests/MSC/xMSC.hpp b/dev/tests/MSC/xMSC.hpp
new file mode 100644
index 0000000..b79871f
--- /dev/null
+++ b/dev/tests/MSC/xMSC.hpp
@@ -0,0 +1,28 @@
+#ifndef XMSC_HPP
+#define XMSC_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "MSCData.hpp"
+#include "MSCStream.hpp"
+
+using namespace std;
+
+class xMSC: public CPPUNIT_NS :: TestFixture
+{
+ CPPUNIT_TEST_SUITE (xMSC);
+ CPPUNIT_TEST (firstTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void);
+
+ protected:
+ void firstTest (void);
+ bool fileEqualTest (char*, char*);
+
+ private:
+
+};
+
+#endif
diff --git a/dev/tests/MSC/xMSCM.cpp b/dev/tests/MSC/xMSCM.cpp
new file mode 100644
index 0000000..99b49bc
--- /dev/null
+++ b/dev/tests/MSC/xMSCM.cpp
@@ -0,0 +1,30 @@
+// CppUnit-Tutorial
+// file: ftest.cc
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/Makefile.am b/dev/tests/Makefile.am
new file mode 100644
index 0000000..82774ca
--- /dev/null
+++ b/dev/tests/Makefile.am
@@ -0,0 +1,3 @@
+# $Id$
+SUBDIRS = RungeKutta4 Stats BCEphemerisStore BinUtils DayTime IonoModel PolyFit RinexEphemerisStore RinexMet RinexObs RinexNav
+
diff --git a/dev/tests/PolyFit/Jamfile b/dev/tests/PolyFit/Jamfile
new file mode 100644
index 0000000..09edde8
--- /dev/null
+++ b/dev/tests/PolyFit/Jamfile
@@ -0,0 +1,4 @@
+SubDir TOP PolyFit ;
+
+TestMain PolyFit/xPolyFit.tst : PolyFit/xPolyFitM.cpp PolyFit/xPolyFit.cpp PolyFit/PolyFit.cpp ;
+
diff --git a/trunk/src/Makefile.am b/dev/tests/PolyFit/PolyFit.cpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/PolyFit/PolyFit.cpp
diff --git a/dev/tests/PolyFit/PolyFit.hpp b/dev/tests/PolyFit/PolyFit.hpp
new file mode 120000
index 0000000..0f0cec3
--- /dev/null
+++ b/dev/tests/PolyFit/PolyFit.hpp
@@ -0,0 +1 @@
+../../src/PolyFit.hpp
\ No newline at end of file
diff --git a/dev/tests/PolyFit/makefile b/dev/tests/PolyFit/makefile
new file mode 100644
index 0000000..9c42f65
--- /dev/null
+++ b/dev/tests/PolyFit/makefile
@@ -0,0 +1,22 @@
+# CppUnit-Tutorial
+# file: makefile
+# next line has to be changed to the installation-path of CppUnit
+CPPUNIT_PATH=/home/ehagen
+
+xPolyFit.tst: xPolyFitM.o xPolyFit.o PolyFit.o
+ g++ -o xPolyFit.tst xPolyFitM.o xPolyFit.o PolyFit.o -L${CPPUNIT_PATH}/lib -lstdc++ -lcppunit -ldl -lgpstk -fprofile-arcs -ftest-coverage
+
+
+PolyFit.o: PolyFit.cpp PolyFit.hpp
+ g++ -c PolyFit.cpp -I/home/ehagen/gpstk/src -L/home/ehagen/gpstk/src -fprofile-arcs -ftest-coverage
+
+xPolyFit.o: xPolyFit.cpp xPolyFit.hpp
+ g++ -c xPolyFit.cpp -I${CPPUNIT_PATH}/include -I/home/ehagen/gpstk/src -L/home/ehagen/gpstk/src -fprofile-arcs -ftest-coverage
+
+xPolyFitM.o: xPolyFitM.cpp
+ g++ -c xPolyFitM.cpp -I${CPPUNIT_PATH}/include -fprofile-arcs -ftest-coverage
+
+clean:
+ rm -f *.o
+ rm -f *.g*
+ rm -f *.*.g*
diff --git a/dev/tests/PolyFit/xPolyFit.cpp b/dev/tests/PolyFit/xPolyFit.cpp
new file mode 100644
index 0000000..6b28f9b
--- /dev/null
+++ b/dev/tests/PolyFit/xPolyFit.cpp
@@ -0,0 +1,280 @@
+// file:
+
+#include "xPolyFit.hpp"
+
+//Note to self Find out what covariance is and then add that to the test cases
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xPolyFit);
+
+
+void xPolyFit :: setUp (void)
+{
+}
+
+/*
+**** This test is designed to test the validity of the PolyFit constructors
+**** Both of the two constructors are tested to make sure they don't throw
+**** a random exceptions.
+
+**** Also this test makes sure that the constructer set up everything as we
+**** expected it to (e.g. N to 0)
+
+*/
+
+void xPolyFit :: constrTest (void)
+{
+ try
+ {
+ CPPUNIT_ASSERT_NO_THROW(gpstk::PolyFit<double> PolyCheck);
+ CPPUNIT_ASSERT_NO_THROW(gpstk::PolyFit<double> PolyNumCheck(4));
+
+ gpstk::PolyFit<double> Poly;
+ CPPUNIT_ASSERT_EQUAL((unsigned) 0, Poly.N());
+ CPPUNIT_ASSERT_EQUAL((unsigned) 0, Poly.Degree());
+ CPPUNIT_ASSERT_EQUAL(true, Poly.isSingular());
+ gpstk::PolyFit<double> Poly4((unsigned) 4);
+ CPPUNIT_ASSERT_EQUAL((unsigned) 0, Poly4.N());
+ CPPUNIT_ASSERT_EQUAL((unsigned) 4, Poly4.Degree());
+ CPPUNIT_ASSERT_EQUAL(true, Poly4.isSingular());
+ }
+ catch (gpstk::Exception& e)
+ {
+ cout << e;
+ }
+}
+
+/*
+**** This test is designed to test the validity of the three add members of the PolyFit class
+**** Addition to the PolyFit object is tested with individual datum, gpstk::Vectors of data and
+**** std::vectors of data.
+
+**** These are tested against a least squares polynomial fit that was done by hand
+
+**** Please note isSingular, Solution, Degreem N and Solve were tested inderectly
+**** Please note, I don't know enough about Covariance to test it for the example by hand
+
+*/
+void xPolyFit :: addTest (void)
+{
+ gpstk::PolyFit<double> AddSingle(2);
+ gpstk::PolyFit<double> AddGVect(2);
+ gpstk::PolyFit<double> AddSVect(2);
+
+ double data[4] = {0.,2.,4.,-1.};
+ double time[4] = {3.,3.,4.,2.,};
+
+ gpstk::Vector<double> gData(4,0.);
+ gData[0] = 0.;
+ gData[1] = 2.;
+ gData[2] = 4.;
+ gData[3] = -1.;
+ gpstk::Vector<double> gTime(4,0.);
+ gTime[0] = 3.;
+ gTime[1] = 3.;
+ gTime[2] = 4.;
+ gTime[3] = 2.;
+
+ std::vector<double> vData(4,0.);
+ vData[0] = 0.;
+ vData[1] = 2.;
+ vData[2] = 4.;
+ vData[3] = -1.;
+ std::vector<double> vTime(4,0.);
+ vTime[0] = 3.;
+ vTime[1] = 3.;
+ vTime[2] = 4.;
+ vTime[3] = 2.;
+
+ //Done by hand
+ gpstk::Vector<double> ExpSolution(2,0.);
+ ExpSolution[0] = 152./59;
+ ExpSolution[1] = 20./59;
+
+ for (int i =0;i<4;i++)
+ {
+ AddSingle.Add(time[i],data[i]);
+ }
+ gpstk::Vector<double> SingleSolution = AddSingle.Solution();
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(ExpSolution[0],SingleSolution[0],1e-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(ExpSolution[1],SingleSolution[1],1e-6);
+ CPPUNIT_ASSERT_EQUAL((unsigned) 4, AddSingle.N());
+ CPPUNIT_ASSERT_EQUAL((unsigned) 2, AddSingle.Degree());
+ CPPUNIT_ASSERT_EQUAL(false, AddSingle.isSingular());
+
+ //Add on an unweighted sample, N should increase but everything else should be the same
+ AddSingle.Add(7.,20.,0);
+
+ gpstk::Vector<double> SingleSolution2 = AddSingle.Solution();
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(ExpSolution[0],SingleSolution2[0],1e-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(ExpSolution[1],SingleSolution2[1],1e-6);
+ CPPUNIT_ASSERT_EQUAL((unsigned) 5, AddSingle.N());
+ CPPUNIT_ASSERT_EQUAL((unsigned) 2, AddSingle.Degree());
+ CPPUNIT_ASSERT_EQUAL(false, AddSingle.isSingular());
+
+
+ AddGVect.Add(gTime,gData);
+ gpstk::Vector<double> gVectSolution = AddGVect.Solution();
+
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(ExpSolution[0],gVectSolution[0],1e-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(ExpSolution[1],gVectSolution[1],1e-6);
+ CPPUNIT_ASSERT_EQUAL((unsigned) 4, AddGVect.N());
+ CPPUNIT_ASSERT_EQUAL((unsigned) 2, AddGVect.Degree());
+ CPPUNIT_ASSERT_EQUAL(false, AddGVect.isSingular());
+
+ AddSVect.Add(vTime,vData);
+ gpstk::Vector<double> sVectSolution = AddSVect.Solution();
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(ExpSolution[0],sVectSolution[0],1e-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(ExpSolution[1],sVectSolution[1],1e-6);
+ CPPUNIT_ASSERT_EQUAL((unsigned) 4, AddSVect.N());
+ CPPUNIT_ASSERT_EQUAL((unsigned) 2, AddSVect.Degree());
+ CPPUNIT_ASSERT_EQUAL(false, AddSVect.isSingular());
+
+}
+
+/*
+**** This test is designed to test the validity of the reset member of the PolyFit class
+**** Reset is tested by first adding data to a blank PolyFit object and then clearing
+**** that data (Please note this dad was already tested in the previous test)
+
+**** Please note isSingular, Solution, Degreem N and Solve were tested inderectly here
+
+*/
+void xPolyFit :: resetTest (void)
+{
+ //Polynomial will be reset without user inputed parameter
+ gpstk::PolyFit<double> resetPolyD(2);
+
+ //Poly will be reset with a parameter
+ gpstk::PolyFit<double> resetPolyP(2);
+
+
+ double data[4] = {0.,2.,4.,-1.};
+ double time[4] = {3.,3.,4.,2.,};
+
+ for (int i =0;i<4;i++)
+ {
+ resetPolyD.Add(time[i],data[i]);
+ resetPolyP.Add(time[i],data[i]);
+ }
+
+ resetPolyD.Reset();
+
+ gpstk::Matrix<double> Blank(2,2,0.);
+ gpstk::Vector<double> Zero(2,0.);
+
+ gpstk::Vector<double> resetPolyDSolution = resetPolyD.Solution();
+ gpstk::Matrix<double> resetPolyDCov = resetPolyD.Covariance();
+
+ CPPUNIT_ASSERT_EQUAL((unsigned) 0, resetPolyD.N());
+ CPPUNIT_ASSERT_EQUAL((unsigned) 2, resetPolyD.Degree());
+ CPPUNIT_ASSERT_EQUAL(true, resetPolyD.isSingular());
+ CPPUNIT_ASSERT_EQUAL(Blank[0][0],resetPolyDCov[0][0]);
+ CPPUNIT_ASSERT_EQUAL(Blank[0][1],resetPolyDCov[0][1]);
+ CPPUNIT_ASSERT_EQUAL(Blank[1][0],resetPolyDCov[1][0]);
+ CPPUNIT_ASSERT_EQUAL(Blank[1][1],resetPolyDCov[1][1]);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(Zero[0],resetPolyDSolution[0],1e-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(Zero[1],resetPolyDSolution[1],1e-6);
+
+ resetPolyP.Reset((unsigned) 3);
+
+ gpstk::Matrix<double> BlankP(3,3,0.);
+ gpstk::Vector<double> ZeroP(3,0.);
+
+ gpstk::Vector<double> resetPolyPSolution = resetPolyP.Solution();
+ gpstk::Matrix<double> resetPolyPCov = resetPolyP.Covariance();
+
+ CPPUNIT_ASSERT_EQUAL((unsigned) 0, resetPolyP.N());
+ CPPUNIT_ASSERT_EQUAL((unsigned) 3, resetPolyP.Degree());
+ CPPUNIT_ASSERT_EQUAL(true, resetPolyP.isSingular());
+ CPPUNIT_ASSERT_EQUAL(BlankP[0][0],resetPolyPCov[0][0]);
+ CPPUNIT_ASSERT_EQUAL(BlankP[0][1],resetPolyPCov[0][1]);
+ CPPUNIT_ASSERT_EQUAL(BlankP[0][2],resetPolyPCov[0][2]);
+ CPPUNIT_ASSERT_EQUAL(BlankP[1][0],resetPolyPCov[1][0]);
+ CPPUNIT_ASSERT_EQUAL(BlankP[1][1],resetPolyPCov[1][1]);
+ CPPUNIT_ASSERT_EQUAL(BlankP[1][2],resetPolyPCov[1][2]);
+ CPPUNIT_ASSERT_EQUAL(BlankP[2][0],resetPolyPCov[2][0]);
+ CPPUNIT_ASSERT_EQUAL(BlankP[2][1],resetPolyPCov[2][1]);
+ CPPUNIT_ASSERT_EQUAL(BlankP[2][2],resetPolyPCov[2][2]);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(ZeroP[0],resetPolyPSolution[0],1e-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(ZeroP[1],resetPolyPSolution[1],1e-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(ZeroP[2],resetPolyPSolution[2],1e-6);
+
+}
+
+/*
+**** This test is designed to test the validity of the Evaluate member of the PolyFit class
+**** This particular test only involves using Evaluate for a single datum and a blank, singular
+**** and a normal PolyFit.
+
+**** The Evaluate is tested by using the solution to a + b*x = d
+
+*/
+void xPolyFit :: evalTestSingle (void)
+{
+ gpstk::PolyFit<double> Blank;
+ gpstk::PolyFit<double> Single(2);
+ gpstk::PolyFit<double> Eval(2);
+
+ double data[4] = {0.,2.,4.,-1.};
+ double time[4] = {3.,3.,4.,2.,};
+ double dataS[4] = {1.,1.,1.,1.};
+ double timeS[4] = {0.,0.,0.,1.,};
+
+ for (int i =0;i<4;i++)
+ {
+ Eval.Add(time[i],data[i]);
+ Single.Add(timeS[i],dataS[i]);
+ }
+
+ gpstk::Vector<double> EvalSolution = Eval.Solution();
+
+ CPPUNIT_ASSERT_EQUAL(0.,Blank.Evaluate(3.));
+ CPPUNIT_ASSERT_EQUAL(0.,Single.Evaluate(10.));
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(EvalSolution[0]+3.*EvalSolution[1], Eval.Evaluate(3.),1e-6);
+}
+
+/*
+**** This test is designed to test the validity of the Evaluate member of the PolyFit class
+**** This particular test only involves using Evaluate for a gpstk::Vectors of data with
+**** a blank, singular, and a normal PolyFit.
+
+**** The Evaluate is tested by using the solution to a + b*x = d
+
+*/
+void xPolyFit :: evalTestVector (void)
+{
+ gpstk::PolyFit<double> Blank;
+ gpstk::PolyFit<double> Single(2);
+ gpstk::PolyFit<double> Eval(2);
+
+ gpstk::Vector<double> SData(4,0.);
+ SData[0] = 1.;
+ SData[1] = 1.;
+ SData[2] = 1.;
+ SData[3] = 1.;
+ gpstk::Vector<double> STime(4,0.);
+ STime[0] = 0.;
+ STime[1] = 0.;
+ STime[2] = 0.;
+ STime[3] = 1.;
+
+ gpstk::Vector<double> EData(4,0.);
+ EData[0] = 0.;
+ EData[1] = 2.;
+ EData[2] = 4.;
+ EData[3] = -1.;
+ gpstk::Vector<double> ETime(4,0.);
+ ETime[0] = 3.;
+ ETime[1] = 3.;
+ ETime[2] = 4.;
+ ETime[3] = 2.;
+
+ Single.Add(STime,SData);
+ Eval.Add(ETime,EData);
+
+ gpstk::Vector<double> EvalSolution = Eval.Solution();
+
+ CPPUNIT_ASSERT_EQUAL(0.,Blank.Evaluate(3.));
+ CPPUNIT_ASSERT_EQUAL(0.,Single.Evaluate(10.));
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(EvalSolution[0]+3.*EvalSolution[1], Eval.Evaluate(3.),1e-6);
+}
diff --git a/dev/tests/PolyFit/xPolyFit.hpp b/dev/tests/PolyFit/xPolyFit.hpp
new file mode 100644
index 0000000..557c166
--- /dev/null
+++ b/dev/tests/PolyFit/xPolyFit.hpp
@@ -0,0 +1,41 @@
+// file: xPolyFit.hpp
+
+#ifndef XPOLYFIT_HPP
+#define XPOLYFIT_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "PolyFit.hpp"
+
+
+using namespace std;
+
+
+class xPolyFit: public CPPUNIT_NS :: TestFixture
+{
+ //Test Fixture information, e.g. what tests will be run
+ CPPUNIT_TEST_SUITE (xPolyFit);
+ CPPUNIT_TEST (constrTest);
+ CPPUNIT_TEST (addTest);
+ CPPUNIT_TEST (resetTest);
+ CPPUNIT_TEST (evalTestSingle);
+ CPPUNIT_TEST (evalTestVector);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void); //Sets up test enviornment
+
+ protected:
+
+ void constrTest (void);
+ void addTest (void);
+ void resetTest (void);
+ void evalTestSingle (void);
+ void evalTestVector (void);
+
+
+ private:
+
+};
+
+#endif
diff --git a/dev/tests/PolyFit/xPolyFitM.cpp b/dev/tests/PolyFit/xPolyFitM.cpp
new file mode 100644
index 0000000..99b49bc
--- /dev/null
+++ b/dev/tests/PolyFit/xPolyFitM.cpp
@@ -0,0 +1,30 @@
+// CppUnit-Tutorial
+// file: ftest.cc
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/RACRotation/Jamfile b/dev/tests/RACRotation/Jamfile
new file mode 100644
index 0000000..56cbff2
--- /dev/null
+++ b/dev/tests/RACRotation/Jamfile
@@ -0,0 +1,2 @@
+SubDir TOP RACRotation ;
+TestMain RACRotation/xRACRotation.tst : RACRotation/xRACRotationM.cpp RACRotation/xRACRotation.cpp RACRotation/RACRotation.cpp ;
diff --git a/dev/tests/RACRotation/RACRotation.cpp b/dev/tests/RACRotation/RACRotation.cpp
new file mode 120000
index 0000000..862a319
--- /dev/null
+++ b/dev/tests/RACRotation/RACRotation.cpp
@@ -0,0 +1 @@
+../../src/RACRotation.cpp
\ No newline at end of file
diff --git a/dev/tests/RACRotation/RACRotation.hpp b/dev/tests/RACRotation/RACRotation.hpp
new file mode 120000
index 0000000..0d43890
--- /dev/null
+++ b/dev/tests/RACRotation/RACRotation.hpp
@@ -0,0 +1 @@
+../../src/RACRotation.hpp
\ No newline at end of file
diff --git a/dev/tests/RACRotation/xRACRotation.cpp b/dev/tests/RACRotation/xRACRotation.cpp
new file mode 100644
index 0000000..925fde4
--- /dev/null
+++ b/dev/tests/RACRotation/xRACRotation.cpp
@@ -0,0 +1,224 @@
+#include "xRACRotation.hpp"
+#include <stdio.h>
+
+#include "math.h"
+
+#include "RACRotation.hpp"
+#include "icd_200_constants.hpp"
+#include "Xvt.hpp"
+
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xRACRotation);
+
+using namespace std;
+using namespace gpstk;
+
+void xRACRotation :: setUp (void)
+{
+ GPSAlt = 26000000.0; // 26 million meters
+}
+
+// First test case. SV at GPS orbit altitude at 0 deg N, 0 deg E
+// Heading due N at 4 km/sec (Not realistic, but we want something
+// simple to start with;
+void xRACRotation :: firstTest (void)
+{
+ Triple testSVPos( GPSAlt, 0, 0);
+ Triple testSVVel( 0, 0, 4000 );
+ RACRotation rot( testSVPos, testSVVel );
+
+ // OK, now give it an "error vector" that 1 m in each component
+ testErrXYZ = Triple( 1.0, 1.0, 1.0);
+ testErrRAC = rot.convertToRAC( testErrXYZ );
+
+ CPPUNIT_ASSERT_EQUAL(Triple(1,1,-1),testErrRAC);
+
+ testErrXYZ = Triple( -1.0, -1.0, -1.0);
+ testErrRAC = rot.convertToRAC( testErrXYZ );
+
+ CPPUNIT_ASSERT_EQUAL(Triple(-1,-1,1),testErrRAC);
+
+ testErrXYZ = Triple( 0.0, 0.0, -1.0);
+ testErrRAC = rot.convertToRAC( testErrXYZ );
+
+ CPPUNIT_ASSERT_EQUAL(Triple(0,-1,0),testErrRAC);
+
+ testErrXYZ = Triple( 0.0, -1.0, 0.0);
+ testErrRAC = rot.convertToRAC( testErrXYZ );
+
+ CPPUNIT_ASSERT_EQUAL(Triple(0,0,1),testErrRAC);
+}
+
+// Second test case. SV at GPS orbit altitude at 0 deg N, 90 deg E
+// Heading due S at 4 km/sec (Not realistic, but we want something
+// simple to start with;
+void xRACRotation :: secondTest (void)
+{
+ Triple testSVPos2( 0, GPSAlt, 0);
+ Triple testSVVel2( 0, 0, -4000 );
+
+ RACRotation rot2( testSVPos2, testSVVel2 );
+
+ // OK, now give it an "error vector" that 1 m in each component
+ testErrXYZ = Triple( 1.0, 1.0, 1.0);
+ testErrRAC = rot2.convertToRAC( testErrXYZ );
+
+ CPPUNIT_ASSERT_EQUAL(Triple(1,-1,-1),testErrRAC);
+
+ testErrXYZ = Triple( -1.0, -1.0, -1.0);
+ testErrRAC = rot2.convertToRAC( testErrXYZ );
+
+ CPPUNIT_ASSERT_EQUAL(Triple(-1,1,1),testErrRAC);
+
+ testErrXYZ = Triple( 0.0, 0.0, -1.0);
+ testErrRAC = rot2.convertToRAC( testErrXYZ );
+
+ CPPUNIT_ASSERT_EQUAL(Triple(0,1,0),testErrRAC);
+
+ testErrXYZ = Triple( 0.0, -1.0, 0.0);
+ testErrRAC = rot2.convertToRAC( testErrXYZ );
+
+ CPPUNIT_ASSERT_EQUAL(Triple(-1,0,0),testErrRAC);
+}
+
+// Third test case. SV at GPS orbit altitude at 90 deg N, X deg E
+// Heading parallel to the Y axis at 4 km/sec
+// (Not realistic, but I want to see degenerate cases in all axes)
+void xRACRotation :: thirdTest (void)
+{
+
+ Triple testSVPos3( 0, 0, GPSAlt);
+ Triple testSVVel3( 0, 4000, 0 );
+
+ RACRotation rot3( testSVPos3, testSVVel3 );
+
+ // OK, now give it an "error vector" that 1 m in each component
+ testErrXYZ = Triple( 1.0, 1.0, 1.0);
+ testErrRAC = rot3.convertToRAC( testErrXYZ );
+
+ CPPUNIT_ASSERT_EQUAL(Triple(1,1,-1),testErrRAC);
+
+ testErrXYZ = Triple( -1.0, -1.0, -1.0);
+ testErrRAC = rot3.convertToRAC( testErrXYZ );
+
+ CPPUNIT_ASSERT_EQUAL(Triple(-1,-1,1),testErrRAC);
+
+ testErrXYZ = Triple( 0.0, 0.0, -1.0);
+ testErrRAC = rot3.convertToRAC( testErrXYZ );
+
+ CPPUNIT_ASSERT_EQUAL(Triple(-1,0,0),testErrRAC);
+
+ testErrXYZ = Triple( 0.0, -1.0, 0.0);
+ testErrRAC = rot3.convertToRAC( testErrXYZ );
+
+ CPPUNIT_ASSERT_EQUAL(Triple(0,-1,0),testErrRAC);
+}
+
+// Fourth test case. SV at GPS orbit altitude at 45 deg N, 45 deg E
+// Heading 4 km/sec
+// (Not realistic, but I want to see degenerate cases in all axes)
+void xRACRotation :: fourthTest (void)
+{
+ // A little Spherical to Cartesian slight of hand to make sure
+ // I know where the SV vectors are.
+ // Position
+ // Spherical: R = 26M m, phi = 45 deg N, theta = 45 deg E
+ // x = r sin phi cos theta
+ // y = r sin phi sin theta
+ // z = r cos phi
+ double thetaphi = 45.0 * ( PI / 180.0 );
+ double x4 = GPSAlt * sin(thetaphi) * cos(thetaphi);
+ double y4 = GPSAlt * sin(thetaphi) * sin(thetaphi);
+ double z4 = GPSAlt * cos(thetaphi);
+ Triple testSVPos4( x4, y4, z4 );
+
+ // Velocity
+ // Spherical: R = 4000 m/sec, phi = 45 deg E, theta = 135 deg E
+ // This rotates the radius vector 90 degrees about Z so the
+ // velocity should be perpendicular to the radius.
+ // Should make the end result roughly local E
+ // x = r sin phi cos theta
+ // y = r sin phi sin theta
+ // z = r cos phi
+ double theta = 135.0 * (PI/180.0);
+ double phi = 45.0 * (PI/180.0);
+ double xv4 = GPSAlt * sin(phi) * cos(theta);
+ double yv4 = GPSAlt * sin(phi) * sin(theta);
+ double zv4 = GPSAlt * cos(phi);
+ Triple testSVVel4( xv4, yv4, zv4 );
+
+ RACRotation rot4( testSVPos4, testSVVel4 );
+
+ // OK, now give it an "error vector" that 1 m in each component
+ testErrXYZ = Triple( 1.0, 1.0, 1.0);
+ testErrRAC = rot4.convertToRAC( testErrXYZ );
+
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(1.70711,testErrRAC[0],1e-4);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(-0.169102,testErrRAC[1],1e-4);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(-.239146,testErrRAC[2],1e-4);
+
+ testErrXYZ = Triple( -1.0, -1.0, -1.0);
+ testErrRAC = rot4.convertToRAC( testErrXYZ );
+
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(-1.70711,testErrRAC[0],1e-4);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0.169102,testErrRAC[1],1e-4);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(.239146,testErrRAC[2],1e-4);
+
+ testErrXYZ = Triple( 0.0, 0.0, -1.0);
+ testErrRAC = rot4.convertToRAC( testErrXYZ );
+
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(-.70711,testErrRAC[0],1e-4);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(-.408248,testErrRAC[1],1e-4);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(-.57735,testErrRAC[2],1e-4);
+
+ testErrXYZ = Triple( 0.0, -1.0, 0.0);
+ testErrRAC = rot4.convertToRAC( testErrXYZ );
+
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(-.5,testErrRAC[0],1e-4);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(-.288675,testErrRAC[1],1e-4);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(.816497,testErrRAC[2],1e-4);
+}
+
+ // Repeat first test case using the Xvt signatures of
+ // the RACRotation class
+void xRACRotation :: fifthTest (void)
+{
+
+ Xvt rotxvt;
+ rotxvt.x = ECEF( GPSAlt, 0, 0 );
+ rotxvt.v = Triple( 0, 0, 4000 );
+ rotxvt.dtime = 0.0;
+ rotxvt.ddtime = 0.0;
+
+ RACRotation rot5( rotxvt );
+
+ // OK, now set up a unit vector in the original radius and the
+ // orignial velocity and see that the results align properly.
+ Xvt testxvt1;
+ testxvt1.x = ECEF( 1.0, 0.0, 0.0 );
+ testxvt1.v = Triple( 0.0, 0.0, 1.0 );
+ testxvt1.dtime = 0.0;
+ testxvt1.ddtime = 0.0;
+ Xvt testxvtRAC1 = rot5.convertToRAC( testxvt1 );
+
+ CPPUNIT_ASSERT_EQUAL(ECEF(1,0,0),testxvtRAC1.x);
+ CPPUNIT_ASSERT_EQUAL(Triple(0,1,0),testxvtRAC1.v);
+ CPPUNIT_ASSERT_EQUAL(0.0,testxvtRAC1.dtime);
+ CPPUNIT_ASSERT_EQUAL(0.0,testxvtRAC1.ddtime);
+
+ // Reverse the two vectors and observe the results
+ testxvt1.x = ECEF( -1.0, 0.0, 0.0);
+ testxvt1.v = Triple( 0.0, 0.0,-1.0);
+ testxvt1.dtime = 0.0;
+ testxvt1.ddtime = 0.0;
+ testxvtRAC1 = rot5.convertToRAC( testxvt1 );
+
+ CPPUNIT_ASSERT_EQUAL(ECEF(-1,0,0),testxvtRAC1.x);
+ CPPUNIT_ASSERT_EQUAL(Triple(0,-1,0),testxvtRAC1.v);
+ CPPUNIT_ASSERT_EQUAL(0.0,testxvtRAC1.dtime);
+ CPPUNIT_ASSERT_EQUAL(0.0,testxvtRAC1.ddtime);
+
+ testErrXYZ = Triple( 0.0, 0.0, -1.0);
+ testErrRAC = rot5.convertToRAC( testErrXYZ );
+}
+
diff --git a/dev/tests/RACRotation/xRACRotation.hpp b/dev/tests/RACRotation/xRACRotation.hpp
new file mode 100644
index 0000000..2d1dd7c
--- /dev/null
+++ b/dev/tests/RACRotation/xRACRotation.hpp
@@ -0,0 +1,35 @@
+#ifndef XRACROTATION_HPP
+#define XRACROTATION_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "RACRotation.hpp"
+
+using namespace std;
+
+class xRACRotation: public CPPUNIT_NS :: TestFixture
+{
+ CPPUNIT_TEST_SUITE (xRACRotation);
+ CPPUNIT_TEST (firstTest);
+ CPPUNIT_TEST (secondTest);
+ CPPUNIT_TEST (thirdTest);
+ CPPUNIT_TEST (fourthTest);
+ CPPUNIT_TEST (fifthTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void);
+
+ protected:
+ void firstTest (void);
+ void secondTest (void);
+ void thirdTest (void);
+ void fourthTest (void);
+ void fifthTest (void);
+
+ private:
+ double GPSAlt; // 26 million meters
+ gpstk::Triple testErrXYZ, testErrRAC;
+};
+
+#endif
diff --git a/dev/tests/RACRotation/xRACRotationM.cpp b/dev/tests/RACRotation/xRACRotationM.cpp
new file mode 100644
index 0000000..99b49bc
--- /dev/null
+++ b/dev/tests/RACRotation/xRACRotationM.cpp
@@ -0,0 +1,30 @@
+// CppUnit-Tutorial
+// file: ftest.cc
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/RinexEphemerisStore/Checks/DumpData0.chk b/dev/tests/RinexEphemerisStore/Checks/DumpData0.chk
new file mode 100644
index 0000000..7138230
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Checks/DumpData0.chk
@@ -0,0 +1,4 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ Span is 01/31/2006 00:00:00 to 01/31/2006 22:00:00 with 41 entries.
diff --git a/dev/tests/RinexEphemerisStore/Checks/DumpData1.chk b/dev/tests/RinexEphemerisStore/Checks/DumpData1.chk
new file mode 100644
index 0000000..c59b097
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Checks/DumpData1.chk
@@ -0,0 +1,49 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 15 entries.
+PRN 1 TOE 01/31/2006 02:00:00 TOC 180000.000 HOW 172806.000 KEY 01/31/2006 00:00:00
+PRN 1 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 181806.000 KEY 01/31/2006 02:00:00
+PRN 1 TOE 01/31/2006 05:59:44 TOC 194384.000 HOW 192216.000 KEY 01/31/2006 03:59:44
+PRN 1 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 1 TOE 01/31/2006 07:59:44 TOC 201584.000 HOW 194406.000 KEY 01/31/2006 05:59:44
+PRN 1 TOE 01/31/2006 09:59:44 TOC 208784.000 HOW 208446.000 KEY 01/31/2006 07:59:44
+PRN 1 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 1 TOE 01/31/2006 11:59:44 TOC 215984.000 HOW 208806.000 KEY 01/31/2006 09:59:44
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 1 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+PRN 1 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 1 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237606.000 KEY 01/31/2006 18:00:00
+PRN 1 TOE 01/31/2006 21:59:44 TOC 251984.000 HOW 250056.000 KEY 01/31/2006 19:59:44
+PRN 1 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 1 TOE 01/31/2006 23:59:44 TOC 259184.000 HOW 252006.000 KEY 01/31/2006 21:59:44
+ BCE map for satellite 15 has 13 entries.
+PRN 15 TOE 01/31/2006 02:00:00 TOC 180000.000 HOW 172806.000 KEY 01/31/2006 00:00:00
+PRN 15 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 180006.000 KEY 01/31/2006 02:00:00
+PRN 15 TOE 01/31/2006 05:59:44 TOC 194384.000 HOW 193626.000 KEY 01/31/2006 03:59:44
+PRN 15 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 15 TOE 01/31/2006 07:59:44 TOC 201584.000 HOW 194406.000 KEY 01/31/2006 05:59:44
+PRN 15 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 15 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 15 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+PRN 15 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 15 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237606.000 KEY 01/31/2006 18:00:00
+PRN 15 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 15 TOE 02/01/2006 00:00:00 TOC 259200.000 HOW 252006.000 KEY 01/31/2006 22:00:00
+ BCE map for satellite 32 has 13 entries.
+PRN 32 TOE 01/31/2006 02:00:00 TOC 180000.000 HOW 172806.000 KEY 01/31/2006 00:00:00
+PRN 32 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 180006.000 KEY 01/31/2006 02:00:00
+PRN 32 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 32 TOE 01/31/2006 08:00:00 TOC 201600.000 HOW 194406.000 KEY 01/31/2006 06:00:00
+PRN 32 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 32 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 32 TOE 01/31/2006 13:59:44 TOC 223184.000 HOW 219786.000 KEY 01/31/2006 11:59:44
+PRN 32 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 32 TOE 01/31/2006 15:59:44 TOC 230384.000 HOW 223206.000 KEY 01/31/2006 13:59:44
+PRN 32 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 32 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237666.000 KEY 01/31/2006 18:00:00
+PRN 32 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 32 TOE 02/01/2006 00:00:00 TOC 259200.000 HOW 252006.000 KEY 01/31/2006 22:00:00
+ End of BCE maps.
+
diff --git a/trunk/src/Makefile.am b/dev/tests/RinexEphemerisStore/Checks/DumpData2.chk
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/RinexEphemerisStore/Checks/DumpData2.chk
diff --git a/trunk/src/Makefile.am b/dev/tests/RinexEphemerisStore/Checks/TestRinexDump.dmp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/RinexEphemerisStore/Checks/TestRinexDump.dmp
diff --git a/dev/tests/RinexEphemerisStore/Checks/addEphemerisTest.chk b/dev/tests/RinexEphemerisStore/Checks/addEphemerisTest.chk
new file mode 100644
index 0000000..dfcb5e5
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Checks/addEphemerisTest.chk
@@ -0,0 +1,5 @@
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 1 entries.
+PRN 1 TOE 01/31/2006 11:59:44 TOC 215984.000 HOW 208806.000 KEY 01/31/2006 09:59:44
+ End of BCE maps.
+
diff --git a/dev/tests/RinexEphemerisStore/Checks/addToListTest.chk b/dev/tests/RinexEphemerisStore/Checks/addToListTest.chk
new file mode 100644
index 0000000..76f8863
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Checks/addToListTest.chk
@@ -0,0 +1,1886 @@
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Eph Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 172806 Tue-2:00:00:06 0x043 0 off
+SF2 HOW: 172806 Tue-2:00:00:06 0x43 0 off
+SF3 HOW: 172806 Tue-2:00:00:06 0x43 0 off
+
+ CLOCK
+
+Bias T0: 3.41343693E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367689E+03 m**.5
+Motion correction: 4.34053794E-09 rad/sec
+Eccentricity: 6.32685330E-03
+Arg of perigee: -1.71098328E+00 rad
+Mean anomaly at epoch: 1.26681178E+00 rad
+Right ascension: -1.71526968E+00 rad -8.34177604E-09 rad/sec
+Inclination: 9.86356141E-01 rad 3.65729520E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.15968750E+02 m Cosine: 3.27531250E+02 m
+Inclination Sine: -1.17346644E-07 rad Cosine: -1.02445483E-07 rad
+In-track Sine: 3.52226198E-06 rad Cosine: 5.89340925E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Eph Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 181806 Tue-2:02:30:06 0x044 0 off
+SF2 HOW: 181806 Tue-2:02:30:06 0x44 0 off
+SF3 HOW: 181806 Tue-2:02:30:06 0x44 0 off
+
+ CLOCK
+
+Bias T0: 3.41478735E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367755E+03 m**.5
+Motion correction: 4.25303430E-09 rad/sec
+Eccentricity: 6.32700860E-03
+Arg of perigee: -1.71092165E+00 rad
+Mean anomaly at epoch: 2.31692691E+00 rad
+Right ascension: -1.71532878E+00 rad -8.11605235E-09 rad/sec
+Inclination: 9.86359782E-01 rad 3.52514684E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.12937500E+02 m Cosine: 3.30625000E+02 m
+Inclination Sine: -6.70552254E-08 rad Cosine: 1.28522515E-07 rad
+In-track Sine: 3.17767262E-06 rad Cosine: 5.77233732E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 194384 Tue-2 31 21584 01/31/2006 05:59:44
+Eph Epoch: 1360( 336) 194384 Tue-2 31 21584 01/31/2006 05:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 192216 Tue-2:05:23:36 0x259 0 off
+SF2 HOW: 192216 Tue-2:05:23:36 0x59 0 off
+SF3 HOW: 192216 Tue-2:05:23:36 0x59 0 off
+
+ CLOCK
+
+Bias T0: 3.41548584E-05 sec
+Drift: 1.81898940E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367874E+03 m**.5
+Motion correction: 4.25553440E-09 rad/sec
+Eccentricity: 6.32628636E-03
+Arg of perigee: -1.71094976E+00 rad
+Mean anomaly at epoch: -2.91838707E+00 rad
+Right ascension: -1.71538720E+00 rad -8.11176646E-09 rad/sec
+Inclination: 9.86362374E-01 rad 4.02516766E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.12750000E+02 m Cosine: 3.23406250E+02 m
+Inclination Sine: 4.84287739E-08 rad Cosine: 1.54599547E-07 rad
+In-track Sine: 3.57814133E-06 rad Cosine: 5.86546957E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Eph Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 187206 Tue-2:04:00:06 0x23F 0 off
+SF2 HOW: 187206 Tue-2:04:00:06 0x3F 0 off
+SF3 HOW: 187206 Tue-2:04:00:06 0x3F 0 off
+
+ CLOCK
+
+Bias T0: 3.41618434E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367875E+03 m**.5
+Motion correction: 4.25553440E-09 rad/sec
+Eccentricity: 6.32628449E-03
+Arg of perigee: -1.71094881E+00 rad
+Mean anomaly at epoch: -2.91605436E+00 rad
+Right ascension: -1.71538734E+00 rad -8.11176646E-09 rad/sec
+Inclination: 9.86362375E-01 rad 4.02516766E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.12750000E+02 m Cosine: 3.23406250E+02 m
+Inclination Sine: 4.84287739E-08 rad Cosine: 1.54599547E-07 rad
+In-track Sine: 3.57814133E-06 rad Cosine: 5.86546957E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 201584 Tue-2 31 28784 01/31/2006 07:59:44
+Eph Epoch: 1360( 336) 201584 Tue-2 31 28784 01/31/2006 07:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 194406 Tue-2:06:00:06 0x15A 0 off
+SF2 HOW: 194406 Tue-2:06:00:06 0x5A 0 off
+SF3 HOW: 194406 Tue-2:06:00:06 0x5A 0 off
+
+ CLOCK
+
+Bias T0: 3.41683626E-05 sec
+Drift: 1.81898940E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15368112E+03 m**.5
+Motion correction: 4.14945856E-09 rad/sec
+Eccentricity: 6.32504828E-03
+Arg of perigee: -1.71103397E+00 rad
+Mean anomaly at epoch: -1.86812836E+00 rad
+Right ascension: -1.71544585E+00 rad -8.06569311E-09 rad/sec
+Inclination: 9.86365821E-01 rad 4.89306096E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.06562500E+02 m Cosine: 3.13812500E+02 m
+Inclination Sine: 9.87201929E-08 rad Cosine: 2.79396772E-08 rad
+In-track Sine: 4.02703881E-06 rad Cosine: 5.71832061E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 208784 Tue-2 31 35984 01/31/2006 09:59:44
+Eph Epoch: 1360( 336) 208784 Tue-2 31 35984 01/31/2006 09:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208446 Tue-2:09:54:06 0x073 0 off
+SF2 HOW: 208446 Tue-2:09:54:06 0x73 0 off
+SF3 HOW: 208446 Tue-2:09:54:06 0x73 0 off
+
+ CLOCK
+
+Bias T0: 3.41916457E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367637E+03 m**.5
+Motion correction: 4.25303430E-09 rad/sec
+Eccentricity: 6.32467808E-03
+Arg of perigee: -1.71064445E+00 rad
+Mean anomaly at epoch: -8.18341978E-01 rad
+Right ascension: -1.71550465E+00 rad -8.23784314E-09 rad/sec
+Inclination: 9.86368594E-01 rad 5.06806825E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.06437500E+02 m Cosine: 2.95875000E+02 m
+Inclination Sine: 3.35276127E-08 rad Cosine: -1.35973096E-07 rad
+In-track Sine: 5.20423055E-06 rad Cosine: 5.66430390E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Eph Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 201606 Tue-2:08:00:06 0x15B 0 off
+SF2 HOW: 201606 Tue-2:08:00:06 0x5B 0 off
+SF3 HOW: 201606 Tue-2:08:00:06 0x5B 0 off
+
+ CLOCK
+
+Bias T0: 3.41818668E-05 sec
+Drift: 1.81898940E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367640E+03 m**.5
+Motion correction: 4.25303430E-09 rad/sec
+Eccentricity: 6.32467505E-03
+Arg of perigee: -1.71064293E+00 rad
+Mean anomaly at epoch: -8.16009862E-01 rad
+Right ascension: -1.71550477E+00 rad -8.23784314E-09 rad/sec
+Inclination: 9.86368607E-01 rad 5.06806825E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.06437500E+02 m Cosine: 2.95875000E+02 m
+Inclination Sine: 3.35276127E-08 rad Cosine: -1.35973096E-07 rad
+In-track Sine: 5.20423055E-06 rad Cosine: 5.66430390E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 215984 Tue-2 31 43184 01/31/2006 11:59:44
+Eph Epoch: 1360( 336) 215984 Tue-2 31 43184 01/31/2006 11:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x174 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0x74 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0x74 0 off
+
+ CLOCK
+
+Bias T0: 3.42056155E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367878E+03 m**.5
+Motion correction: 4.15874466E-09 rad/sec
+Eccentricity: 6.32588984E-03
+Arg of perigee: -1.71070282E+00 rad
+Mean anomaly at epoch: 2.31892822E-01 rad
+Right ascension: -1.71556436E+00 rad -8.27605902E-09 rad/sec
+Inclination: 9.86372320E-01 rad 5.33236497E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.13406250E+02 m Cosine: 2.90062500E+02 m
+Inclination Sine: -2.79396772E-08 rad Cosine: -7.45058060E-08 rad
+In-track Sine: 5.29363751E-06 rad Cosine: 5.78165054E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Eph Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 216006 Tue-2:12:00:06 0x175 0 off
+SF2 HOW: 216006 Tue-2:12:00:06 0x75 0 off
+SF3 HOW: 216006 Tue-2:12:00:06 0x75 0 off
+
+ CLOCK
+
+Bias T0: 3.42191197E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367680E+03 m**.5
+Motion correction: 4.14195824E-09 rad/sec
+Eccentricity: 6.32508728E-03
+Arg of perigee: -1.71080977E+00 rad
+Mean anomaly at epoch: 1.28450941E+00 rad
+Right ascension: -1.71562416E+00 rad -8.23998609E-09 rad/sec
+Inclination: 9.86376251E-01 rad 5.43236914E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.20250000E+02 m Cosine: 2.93375000E+02 m
+Inclination Sine: -1.11758709E-07 rad Cosine: -7.63684511E-08 rad
+In-track Sine: 5.04590571E-06 rad Cosine: 6.22309744E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 230400 Tue-2 31 57600 01/31/2006 16:00:00
+Eph Epoch: 1360( 336) 230400 Tue-2 31 57600 01/31/2006 16:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 223206 Tue-2:14:00:06 0x176 0 off
+SF2 HOW: 223206 Tue-2:14:00:06 0x76 0 off
+SF3 HOW: 223206 Tue-2:14:00:06 0x76 0 off
+
+ CLOCK
+
+Bias T0: 3.42330895E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367810E+03 m**.5
+Motion correction: 3.95159317E-09 rad/sec
+Eccentricity: 6.32507459E-03
+Arg of perigee: -1.71069671E+00 rad
+Mean anomaly at epoch: 2.33457123E+00 rad
+Right ascension: -1.71568233E+00 rad -7.97497505E-09 rad/sec
+Inclination: 9.86381295E-01 rad 5.13592822E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.19093750E+02 m Cosine: 2.98875000E+02 m
+Inclination Sine: 0.00000000E+00 rad Cosine: 1.73225999E-07 rad
+In-track Sine: 4.85964119E-06 rad Cosine: 6.14114106E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Eph Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 230406 Tue-2:16:00:06 0x177 0 off
+SF2 HOW: 230406 Tue-2:16:00:06 0x77 0 off
+SF3 HOW: 230406 Tue-2:16:00:06 0x77 0 off
+
+ CLOCK
+
+Bias T0: 3.42465937E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367751E+03 m**.5
+Motion correction: 3.94552149E-09 rad/sec
+Eccentricity: 6.32530451E-03
+Arg of perigee: -1.71075624E+00 rad
+Mean anomaly at epoch: -2.89838037E+00 rad
+Right ascension: -1.71573859E+00 rad -7.88925719E-09 rad/sec
+Inclination: 9.86384717E-01 rad 3.83230249E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.14312500E+02 m Cosine: 2.97218750E+02 m
+Inclination Sine: -3.72529030E-09 rad Cosine: -1.11758709E-08 rad
+In-track Sine: 5.05894423E-06 rad Cosine: 5.97164035E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Eph Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 237606 Tue-2:18:00:06 0x178 0 off
+SF2 HOW: 237606 Tue-2:18:00:06 0x78 0 off
+SF3 HOW: 237606 Tue-2:18:00:06 0x78 0 off
+
+ CLOCK
+
+Bias T0: 3.42600979E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15368125E+03 m**.5
+Motion correction: 3.94802159E-09 rad/sec
+Eccentricity: 6.32367632E-03
+Arg of perigee: -1.71094499E+00 rad
+Mean anomaly at epoch: -1.84801896E+00 rad
+Right ascension: -1.71579510E+00 rad -7.97426073E-09 rad/sec
+Inclination: 9.86386906E-01 rad 2.96440919E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.01968750E+02 m Cosine: 2.88843750E+02 m
+Inclination Sine: 6.33299351E-08 rad Cosine: 1.09896064E-07 rad
+In-track Sine: 5.53019345E-06 rad Cosine: 5.29736280E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 251984 Tue-2 31 79184 01/31/2006 21:59:44
+Eph Epoch: 1360( 336) 251984 Tue-2 31 79184 01/31/2006 21:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 250056 Tue-2:21:27:36 0x08D 0 off
+SF2 HOW: 250056 Tue-2:21:27:36 0x8D 0 off
+SF3 HOW: 250056 Tue-2:21:27:36 0x8D 0 off
+
+ CLOCK
+
+Bias T0: 3.42894346E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367653E+03 m**.5
+Motion correction: 4.16945939E-09 rad/sec
+Eccentricity: 6.32309169E-03
+Arg of perigee: -1.71055998E+00 rad
+Mean anomaly at epoch: -8.00563293E-01 rad
+Right ascension: -1.71585327E+00 rad -8.18998400E-09 rad/sec
+Inclination: 9.86388127E-01 rad 3.13584491E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 9.87812500E+01 m Cosine: 2.71312500E+02 m
+Inclination Sine: 7.45058060E-09 rad Cosine: -9.87201929E-08 rad
+In-track Sine: 6.31809235E-06 rad Cosine: 5.18187881E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Eph Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 244806 Tue-2:20:00:06 0x173 0 off
+SF2 HOW: 244806 Tue-2:20:00:06 0x73 0 off
+SF3 HOW: 244806 Tue-2:20:00:06 0x73 0 off
+
+ CLOCK
+
+Bias T0: 3.42740677E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367653E+03 m**.5
+Motion correction: 4.16945939E-09 rad/sec
+Eccentricity: 6.32309355E-03
+Arg of perigee: -1.71056065E+00 rad
+Mean anomaly at epoch: -7.98228821E-01 rad
+Right ascension: -1.71585343E+00 rad -8.18998400E-09 rad/sec
+Inclination: 9.86388094E-01 rad 3.13584491E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 9.87812500E+01 m Cosine: 2.71312500E+02 m
+Inclination Sine: 7.45058060E-09 rad Cosine: -9.87201929E-08 rad
+In-track Sine: 6.31809235E-06 rad Cosine: 5.18187881E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 259184 Tue-2 31 86384 01/31/2006 23:59:44
+Eph Epoch: 1360( 336) 259184 Tue-2 31 86384 01/31/2006 23:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 252006 Tue-2:22:00:06 0x08E 0 off
+SF2 HOW: 252006 Tue-2:22:00:06 0x8E 0 off
+SF3 HOW: 252006 Tue-2:22:00:06 0x8E 0 off
+
+ CLOCK
+
+Bias T0: 3.43038701E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367983E+03 m**.5
+Motion correction: 4.16553065E-09 rad/sec
+Eccentricity: 6.32479729E-03
+Arg of perigee: -1.71061566E+00 rad
+Mean anomaly at epoch: 2.49668417E-01 rad
+Right ascension: -1.71591282E+00 rad -8.23534304E-09 rad/sec
+Inclination: 9.86390525E-01 rad 3.76444252E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.06718750E+02 m Cosine: 2.61562500E+02 m
+Inclination Sine: -3.72529030E-09 rad Cosine: -7.45058060E-09 rad
+In-track Sine: 6.87316060E-06 rad Cosine: 5.65685332E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Eph Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 172806 Tue-2:00:00:06 0x2AC 0 off
+SF2 HOW: 172806 Tue-2:00:00:06 0xAC 0 off
+SF3 HOW: 172806 Tue-2:00:00:06 0xAC 0 off
+
+ CLOCK
+
+Bias T0: 5.58263157E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370760E+03 m**.5
+Motion correction: 4.95913514E-09 rad/sec
+Eccentricity: 9.35129554E-03
+Arg of perigee: 2.54594306E+00 rad
+Mean anomaly at epoch: -9.06095983E-02 rad
+Right ascension: 2.51239340E+00 rad -8.35570519E-09 rad/sec
+Inclination: 9.58205830E-01 rad -5.09306929E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.05000000E+01 m Cosine: 2.32312500E+02 m
+Inclination Sine: -8.19563866E-08 rad Cosine: 5.21540642E-08 rad
+In-track Sine: 7.47665763E-06 rad Cosine: -2.24076211E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 2
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Eph Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 180006 Tue-2:02:00:06 0x2AD 0 off
+SF2 HOW: 180006 Tue-2:02:00:06 0xAD 0 off
+SF3 HOW: 180006 Tue-2:02:00:06 0xAD 0 off
+
+ CLOCK
+
+Bias T0: 5.58305997E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15371153E+03 m**.5
+Motion correction: 4.84091593E-09 rad/sec
+Eccentricity: 9.35316086E-03
+Arg of perigee: 2.54603428E+00 rad
+Mean anomaly at epoch: 9.59460895E-01 rad
+Right ascension: 2.51233346E+00 rad -8.27070165E-09 rad/sec
+Inclination: 9.58202504E-01 rad -5.20021661E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.51562500E+01 m Cosine: 2.45906250E+02 m
+Inclination Sine: -3.53902578E-08 rad Cosine: 1.60187483E-07 rad
+In-track Sine: 6.79865479E-06 rad Cosine: -2.42330134E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 2
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 194384 Tue-2 31 21584 01/31/2006 05:59:44
+Eph Epoch: 1360( 336) 194384 Tue-2 31 21584 01/31/2006 05:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 193626 Tue-2:05:47:06 0x2C4 0 off
+SF2 HOW: 193626 Tue-2:05:47:06 0xC4 0 off
+SF3 HOW: 193626 Tue-2:05:47:06 0xC4 0 off
+
+ CLOCK
+
+Bias T0: 5.58349304E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15371032E+03 m**.5
+Motion correction: 4.84555898E-09 rad/sec
+Eccentricity: 9.35331150E-03
+Arg of perigee: 2.54596333E+00 rad
+Mean anomaly at epoch: 2.00735802E+00 rad
+Right ascension: 2.51227500E+00 rad -8.17534054E-09 rad/sec
+Inclination: 9.58198768E-01 rad -5.95024785E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.89062500E+01 m Cosine: 2.49906250E+02 m
+Inclination Sine: 7.63684511E-08 rad Cosine: 6.33299351E-08 rad
+In-track Sine: 6.62170351E-06 rad Cosine: -2.45310366E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Eph Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 187206 Tue-2:04:00:06 0x2AE 0 off
+SF2 HOW: 187206 Tue-2:04:00:06 0xAE 0 off
+SF3 HOW: 187206 Tue-2:04:00:06 0xAE 0 off
+
+ CLOCK
+
+Bias T0: 5.58348838E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15371032E+03 m**.5
+Motion correction: 4.84555898E-09 rad/sec
+Eccentricity: 9.35331290E-03
+Arg of perigee: 2.54596378E+00 rad
+Mean anomaly at epoch: 2.00969128E+00 rad
+Right ascension: 2.51227486E+00 rad -8.17534054E-09 rad/sec
+Inclination: 9.58198745E-01 rad -5.95024785E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.89062500E+01 m Cosine: 2.49906250E+02 m
+Inclination Sine: 7.63684511E-08 rad Cosine: 6.33299351E-08 rad
+In-track Sine: 6.62170351E-06 rad Cosine: -2.45310366E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 2
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 201584 Tue-2 31 28784 01/31/2006 07:59:44
+Eph Epoch: 1360( 336) 201584 Tue-2 31 28784 01/31/2006 07:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 194406 Tue-2:06:00:06 0x1C5 0 off
+SF2 HOW: 194406 Tue-2:06:00:06 0xC5 0 off
+SF3 HOW: 194406 Tue-2:06:00:06 0xC5 0 off
+
+ CLOCK
+
+Bias T0: 5.58392145E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370812E+03 m**.5
+Motion correction: 4.85734519E-09 rad/sec
+Eccentricity: 9.35426482E-03
+Arg of perigee: 2.54589149E+00 rad
+Mean anomaly at epoch: 3.05759168E+00 rad
+Right ascension: 2.51221588E+00 rad -8.14212487E-09 rad/sec
+Inclination: 9.58194788E-01 rad -5.32522182E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.34375000E+01 m Cosine: 2.56125000E+02 m
+Inclination Sine: 1.04308128E-07 rad Cosine: -2.23517418E-08 rad
+In-track Sine: 6.29760325E-06 rad Cosine: -2.15694308E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Eph Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 201606 Tue-2:08:00:06 0x1C6 0 off
+SF2 HOW: 201606 Tue-2:08:00:06 0xC6 0 off
+SF3 HOW: 201606 Tue-2:08:00:06 0xC6 0 off
+
+ CLOCK
+
+Bias T0: 5.58434986E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370631E+03 m**.5
+Motion correction: 4.91627621E-09 rad/sec
+Eccentricity: 9.35517496E-03
+Arg of perigee: 2.54592936E+00 rad
+Mean anomaly at epoch: -2.17313468E+00 rad
+Right ascension: 2.51215687E+00 rad -8.24570061E-09 rad/sec
+Inclination: 9.58190482E-01 rad -5.29307762E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.03125000E+01 m Cosine: 2.49781250E+02 m
+Inclination Sine: 8.94069672E-08 rad Cosine: -1.50874257E-07 rad
+In-track Sine: 6.75022602E-06 rad Cosine: -1.99861825E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Eph Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x1C7 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0xC7 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0xC7 0 off
+
+ CLOCK
+
+Bias T0: 5.58477826E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370655E+03 m**.5
+Motion correction: 4.89556106E-09 rad/sec
+Eccentricity: 9.35519312E-03
+Arg of perigee: 2.54591534E+00 rad
+Mean anomaly at epoch: -1.12295671E+00 rad
+Right ascension: 2.51209679E+00 rad -8.32106089E-09 rad/sec
+Inclination: 9.58186633E-01 rad -4.94663462E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -3.94062500E+01 m Cosine: 2.49156250E+02 m
+Inclination Sine: -4.65661287E-08 rad Cosine: -1.34110451E-07 rad
+In-track Sine: 6.76140189E-06 rad Cosine: -2.19792128E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Eph Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 216006 Tue-2:12:00:06 0x1C8 0 off
+SF2 HOW: 216006 Tue-2:12:00:06 0xC8 0 off
+SF3 HOW: 216006 Tue-2:12:00:06 0xC8 0 off
+
+ CLOCK
+
+Bias T0: 5.58520667E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370721E+03 m**.5
+Motion correction: 4.94806325E-09 rad/sec
+Eccentricity: 9.35553596E-03
+Arg of perigee: 2.54590311E+00 rad
+Mean anomaly at epoch: -7.27814121E-02 rad
+Right ascension: 2.51203755E+00 rad -8.40392149E-09 rad/sec
+Inclination: 9.58182252E-01 rad -6.62527597E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.21875000E+01 m Cosine: 2.48468750E+02 m
+Inclination Sine: -1.37835741E-07 rad Cosine: 6.51925802E-08 rad
+In-track Sine: 6.81355596E-06 rad Cosine: -2.41957605E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 230400 Tue-2 31 57600 01/31/2006 16:00:00
+Eph Epoch: 1360( 336) 230400 Tue-2 31 57600 01/31/2006 16:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 223206 Tue-2:14:00:06 0x0C9 0 off
+SF2 HOW: 223206 Tue-2:14:00:06 0xC9 0 off
+SF3 HOW: 223206 Tue-2:14:00:06 0xC9 0 off
+
+ CLOCK
+
+Bias T0: 5.58563508E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15371126E+03 m**.5
+Motion correction: 4.96199240E-09 rad/sec
+Eccentricity: 9.35740734E-03
+Arg of perigee: 2.54600791E+00 rad
+Mean anomaly at epoch: 9.77276156E-01 rad
+Right ascension: 2.51197711E+00 rad -8.37927760E-09 rad/sec
+Inclination: 9.58177516E-01 rad -6.83242746E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.54375000E+01 m Cosine: 2.62937500E+02 m
+Inclination Sine: -5.40167093E-08 rad Cosine: 1.19209290E-07 rad
+In-track Sine: 5.70528209E-06 rad Cosine: -2.64123082E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Eph Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 230406 Tue-2:16:00:06 0x3C4 0 off
+SF2 HOW: 230406 Tue-2:16:00:06 0xC4 0 off
+SF3 HOW: 230406 Tue-2:16:00:06 0xC4 0 off
+
+ CLOCK
+
+Bias T0: 5.58606349E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15371147E+03 m**.5
+Motion correction: 5.09914097E-09 rad/sec
+Eccentricity: 9.35770059E-03
+Arg of perigee: 2.54601763E+00 rad
+Mean anomaly at epoch: 2.02742773E+00 rad
+Right ascension: 2.51191656E+00 rad -8.39249244E-09 rad/sec
+Inclination: 9.58172632E-01 rad -6.30740559E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.35625000E+01 m Cosine: 2.67000000E+02 m
+Inclination Sine: 2.42143869E-08 rad Cosine: 1.99303031E-07 rad
+In-track Sine: 5.63822687E-06 rad Cosine: -2.02842057E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Eph Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 237606 Tue-2:18:00:06 0x2C5 0 off
+SF2 HOW: 237606 Tue-2:18:00:06 0xC5 0 off
+SF3 HOW: 237606 Tue-2:18:00:06 0xC5 0 off
+
+ CLOCK
+
+Bias T0: 5.58649190E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370851E+03 m**.5
+Motion correction: 5.13557106E-09 rad/sec
+Eccentricity: 9.35899641E-03
+Arg of perigee: 2.54592152E+00 rad
+Mean anomaly at epoch: 3.07768774E+00 rad
+Right ascension: 2.51185522E+00 rad -8.28748806E-09 rad/sec
+Inclination: 9.58169255E-01 rad -4.05016871E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -3.60000000E+01 m Cosine: 2.75468750E+02 m
+Inclination Sine: 1.63912773E-07 rad Cosine: -7.07805157E-08 rad
+In-track Sine: 5.40725887E-06 rad Cosine: -1.72853470E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Eph Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 244806 Tue-2:20:00:06 0x2C6 0 off
+SF2 HOW: 244806 Tue-2:20:00:06 0xC6 0 off
+SF3 HOW: 244806 Tue-2:20:00:06 0xC6 0 off
+
+ CLOCK
+
+Bias T0: 5.58691565E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370654E+03 m**.5
+Motion correction: 5.16735810E-09 rad/sec
+Eccentricity: 9.35994752E-03
+Arg of perigee: 2.54597027E+00 rad
+Mean anomaly at epoch: -2.15538154E+00 rad
+Right ascension: 2.51179534E+00 rad -8.36856287E-09 rad/sec
+Inclination: 9.58166043E-01 rad -3.85730353E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -3.37500000E+01 m Cosine: 2.68281250E+02 m
+Inclination Sine: 8.56816769E-08 rad Cosine: -1.97440386E-07 rad
+In-track Sine: 5.96605241E-06 rad Cosine: -1.59814954E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 259200 Wed-3 32 0 02/01/2006 00:00:00
+Eph Epoch: 1360( 336) 259200 Wed-3 32 0 02/01/2006 00:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 252006 Tue-2:22:00:06 0x2C7 0 off
+SF2 HOW: 252006 Tue-2:22:00:06 0xC7 0 off
+SF3 HOW: 252006 Tue-2:22:00:06 0xC7 0 off
+
+ CLOCK
+
+Bias T0: 5.58734406E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370608E+03 m**.5
+Motion correction: 5.14592863E-09 rad/sec
+Eccentricity: 9.36006801E-03
+Arg of perigee: 2.54599571E+00 rad
+Mean anomaly at epoch: -1.10524073E+00 rad
+Right ascension: 2.51173364E+00 rad -8.51249744E-09 rad/sec
+Inclination: 9.58163270E-01 rad -2.69296932E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -3.57187500E+01 m Cosine: 2.67156250E+02 m
+Inclination Sine: -8.00937414E-08 rad Cosine: -5.96046448E-08 rad
+In-track Sine: 5.89340925E-06 rad Cosine: -2.13272870E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 2
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Eph Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 172806 Tue-2:00:00:06 0x1B4 0 off
+SF2 HOW: 172806 Tue-2:00:00:06 0xB4 0 off
+SF3 HOW: 172806 Tue-2:00:00:06 0xB4 0 off
+
+ CLOCK
+
+Bias T0: 2.11610459E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360316E+03 m**.5
+Motion correction: 4.39589739E-09 rad/sec
+Eccentricity: 8.71090021E-03
+Arg of perigee: 1.29523927E+00 rad
+Mean anomaly at epoch: -2.23653823E+00 rad
+Right ascension: 3.07566662E-01 rad -7.75710883E-09 rad/sec
+Inclination: 9.44623504E-01 rad 1.08933109E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -6.76875000E+01 m Cosine: 1.15000000E+02 m
+Inclination Sine: -9.31322575E-08 rad Cosine: 1.21071935E-07 rad
+In-track Sine: 1.32359564E-05 rad Cosine: -3.53716314E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Eph Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 180006 Tue-2:02:00:06 0x1B5 0 off
+SF2 HOW: 180006 Tue-2:02:00:06 0xB5 0 off
+SF3 HOW: 180006 Tue-2:02:00:06 0xB5 0 off
+
+ CLOCK
+
+Bias T0: 2.11857259E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360674E+03 m**.5
+Motion correction: 4.54197491E-09 rad/sec
+Eccentricity: 8.71113362E-03
+Arg of perigee: 1.29501397E+00 rad
+Mean anomaly at epoch: -1.18609024E+00 rad
+Right ascension: 3.07510597E-01 rad -8.09319426E-09 rad/sec
+Inclination: 9.44622470E-01 rad -5.00020828E-12 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -7.28750000E+01 m Cosine: 1.30031250E+02 m
+Inclination Sine: 2.40281224E-07 rad Cosine: -7.45058060E-09 rad
+In-track Sine: 1.24983490E-05 rad Cosine: -3.84636223E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Eph Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 187206 Tue-2:04:00:06 0x1B6 0 off
+SF2 HOW: 187206 Tue-2:04:00:06 0xB6 0 off
+SF3 HOW: 187206 Tue-2:04:00:06 0xB6 0 off
+
+ CLOCK
+
+Bias T0: 2.12104060E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360359E+03 m**.5
+Motion correction: 4.66233706E-09 rad/sec
+Eccentricity: 8.70950485E-03
+Arg of perigee: 1.29508260E+00 rad
+Mean anomaly at epoch: -1.35935973E-01 rad
+Right ascension: 3.07451598E-01 rad -8.18676958E-09 rad/sec
+Inclination: 9.44622210E-01 rad 1.42863094E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -8.65312500E+01 m Cosine: 1.33937500E+02 m
+Inclination Sine: 1.09896064E-07 rad Cosine: -9.68575478E-08 rad
+In-track Sine: 1.23213977E-05 rad Cosine: -4.46103513E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 201600 Tue-2 31 28800 01/31/2006 08:00:00
+Eph Epoch: 1360( 336) 201600 Tue-2 31 28800 01/31/2006 08:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 194406 Tue-2:06:00:06 0x1B7 0 off
+SF2 HOW: 194406 Tue-2:06:00:06 0xB7 0 off
+SF3 HOW: 194406 Tue-2:06:00:06 0xB7 0 off
+
+ CLOCK
+
+Bias T0: 2.12350860E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360806E+03 m**.5
+Motion correction: 4.60804909E-09 rad/sec
+Eccentricity: 8.71139602E-03
+Arg of perigee: 1.29526135E+00 rad
+Mean anomaly at epoch: 9.14109252E-01 rad
+Right ascension: 3.07393065E-01 rad -8.17498338E-09 rad/sec
+Inclination: 9.44621932E-01 rad -6.39312344E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -1.00750000E+02 m Cosine: 1.20312500E+02 m
+Inclination Sine: -1.11758709E-08 rad Cosine: -1.34110451E-07 rad
+In-track Sine: 1.31167471E-05 rad Cosine: -5.17070293E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Eph Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 201606 Tue-2:08:00:06 0x1B8 0 off
+SF2 HOW: 201606 Tue-2:08:00:06 0xB8 0 off
+SF3 HOW: 201606 Tue-2:08:00:06 0xB8 0 off
+
+ CLOCK
+
+Bias T0: 2.12597661E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360479E+03 m**.5
+Motion correction: 4.61126351E-09 rad/sec
+Eccentricity: 8.71198589E-03
+Arg of perigee: 1.29505117E+00 rad
+Mean anomaly at epoch: 1.96454133E+00 rad
+Right ascension: 3.07334399E-01 rad -7.96354600E-09 rad/sec
+Inclination: 9.44622565E-01 rad -4.64305054E-12 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -1.00281250E+02 m Cosine: 1.02875000E+02 m
+Inclination Sine: -2.12341547E-07 rad Cosine: 5.58793545E-09 rad
+In-track Sine: 1.37276947E-05 rad Cosine: -5.29922545E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Eph Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x1B9 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0xB9 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0xB9 0 off
+
+ CLOCK
+
+Bias T0: 2.12844461E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360841E+03 m**.5
+Motion correction: 4.55768985E-09 rad/sec
+Eccentricity: 8.71008832E-03
+Arg of perigee: 1.29513505E+00 rad
+Mean anomaly at epoch: 3.01468050E+00 rad
+Right ascension: 3.07277461E-01 rad -7.91318676E-09 rad/sec
+Inclination: 9.44622686E-01 rad 3.57157734E-12 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -8.42187500E+01 m Cosine: 9.85625000E+01 m
+Inclination Sine: -1.30385160E-07 rad Cosine: 1.15483999E-07 rad
+In-track Sine: 1.38413161E-05 rad Cosine: -4.37162817E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 223184 Tue-2 31 50384 01/31/2006 13:59:44
+Eph Epoch: 1360( 336) 223184 Tue-2 31 50384 01/31/2006 13:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 219786 Tue-2:13:03:06 0x0CE 0 off
+SF2 HOW: 219786 Tue-2:13:03:06 0xCE 0 off
+SF3 HOW: 219786 Tue-2:13:03:06 0xCE 0 off
+
+ CLOCK
+
+Bias T0: 2.13137828E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360179E+03 m**.5
+Motion correction: 4.70841041E-09 rad/sec
+Eccentricity: 8.71319743E-03
+Arg of perigee: 1.29534120E+00 rad
+Mean anomaly at epoch: -2.22082140E+00 rad
+Right ascension: 3.07220032E-01 rad -7.91461539E-09 rad/sec
+Inclination: 9.44623207E-01 rad 1.13219002E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -7.14375000E+01 m Cosine: 1.22156250E+02 m
+Inclination Sine: 1.67638063E-08 rad Cosine: 1.28522515E-07 rad
+In-track Sine: 1.28187239E-05 rad Cosine: -3.76813114E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Eph Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 216006 Tue-2:12:00:06 0x2B4 0 off
+SF2 HOW: 216006 Tue-2:12:00:06 0xB4 0 off
+SF3 HOW: 216006 Tue-2:12:00:06 0xB4 0 off
+
+ CLOCK
+
+Bias T0: 2.13091262E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360179E+03 m**.5
+Motion correction: 4.70841041E-09 rad/sec
+Eccentricity: 8.71319557E-03
+Arg of perigee: 1.29534135E+00 rad
+Mean anomaly at epoch: -2.21848770E+00 rad
+Right ascension: 3.07219892E-01 rad -7.91461539E-09 rad/sec
+Inclination: 9.44623209E-01 rad 1.13219002E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -7.14375000E+01 m Cosine: 1.22156250E+02 m
+Inclination Sine: 1.67638063E-08 rad Cosine: 1.28522515E-07 rad
+In-track Sine: 1.28187239E-05 rad Cosine: -3.76813114E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 230384 Tue-2 31 57584 01/31/2006 15:59:44
+Eph Epoch: 1360( 336) 230384 Tue-2 31 57584 01/31/2006 15:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 223206 Tue-2:14:00:06 0x0CF 0 off
+SF2 HOW: 223206 Tue-2:14:00:06 0xCF 0 off
+SF3 HOW: 223206 Tue-2:14:00:06 0xCF 0 off
+
+ CLOCK
+
+Bias T0: 2.13384628E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360553E+03 m**.5
+Motion correction: 4.71126767E-09 rad/sec
+Eccentricity: 8.71346553E-03
+Arg of perigee: 1.29510646E+00 rad
+Mean anomaly at epoch: -1.17036120E+00 rad
+Right ascension: 3.07162875E-01 rad -8.14748223E-09 rad/sec
+Inclination: 9.44622831E-01 rad 5.07163983E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -7.65312500E+01 m Cosine: 1.37875000E+02 m
+Inclination Sine: 2.23517418E-07 rad Cosine: -1.86264515E-08 rad
+In-track Sine: 1.22822821E-05 rad Cosine: -3.85381281E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Eph Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 230406 Tue-2:16:00:06 0x0D0 0 off
+SF2 HOW: 230406 Tue-2:16:00:06 0xD0 0 off
+SF3 HOW: 230406 Tue-2:16:00:06 0xD0 0 off
+
+ CLOCK
+
+Bias T0: 2.13631429E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360266E+03 m**.5
+Motion correction: 4.72555398E-09 rad/sec
+Eccentricity: 8.71195330E-03
+Arg of perigee: 1.29516376E+00 rad
+Mean anomaly at epoch: -1.17860253E-01 rad
+Right ascension: 3.07103413E-01 rad -8.23248577E-09 rad/sec
+Inclination: 9.44622997E-01 rad 6.57170231E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -8.90312500E+01 m Cosine: 1.42281250E+02 m
+Inclination Sine: 9.87201929E-08 rad Cosine: -1.04308128E-07 rad
+In-track Sine: 1.21705234E-05 rad Cosine: -4.79258597E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Eph Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 237666 Tue-2:18:01:06 0x0D1 0 off
+SF2 HOW: 237666 Tue-2:18:01:06 0xD1 0 off
+SF3 HOW: 237666 Tue-2:18:01:06 0xD1 0 off
+
+ CLOCK
+
+Bias T0: 2.13873573E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360660E+03 m**.5
+Motion correction: 4.58126226E-09 rad/sec
+Eccentricity: 8.71358160E-03
+Arg of perigee: 1.29532649E+00 rad
+Mean anomaly at epoch: 9.32201625E-01 rad
+Right ascension: 3.07044718E-01 rad -8.23534304E-09 rad/sec
+Inclination: 9.44622947E-01 rad -5.07163983E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -1.02281250E+02 m Cosine: 1.30906250E+02 m
+Inclination Sine: -5.77419996E-08 rad Cosine: -9.87201929E-08 rad
+In-track Sine: 1.24275684E-05 rad Cosine: -5.36069274E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Eph Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 244806 Tue-2:20:00:06 0x0D2 0 off
+SF2 HOW: 244806 Tue-2:20:00:06 0xD2 0 off
+SF3 HOW: 244806 Tue-2:20:00:06 0xD2 0 off
+
+ CLOCK
+
+Bias T0: 2.14120373E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360381E+03 m**.5
+Motion correction: 4.50054461E-09 rad/sec
+Eccentricity: 8.71415599E-03
+Arg of perigee: 1.29514812E+00 rad
+Mean anomaly at epoch: 1.98260220E+00 rad
+Right ascension: 3.06985642E-01 rad -8.02461997E-09 rad/sec
+Inclination: 9.44623629E-01 rad -3.57157734E-12 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -1.02875000E+02 m Cosine: 1.15656250E+02 m
+Inclination Sine: -2.29105353E-07 rad Cosine: 7.63684511E-08 rad
+In-track Sine: 1.31297857E-05 rad Cosine: -5.29922545E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 259200 Wed-3 32 0 02/01/2006 00:00:00
+Eph Epoch: 1360( 336) 259200 Wed-3 32 0 02/01/2006 00:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 252006 Tue-2:22:00:06 0x0D3 0 off
+SF2 HOW: 252006 Tue-2:22:00:06 0xD3 0 off
+SF3 HOW: 252006 Tue-2:22:00:06 0xD3 0 off
+
+ CLOCK
+
+Bias T0: 2.14362517E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360734E+03 m**.5
+Motion correction: 4.35768151E-09 rad/sec
+Eccentricity: 8.71229277E-03
+Arg of perigee: 1.29522530E+00 rad
+Mean anomaly at epoch: 3.03274719E+00 rad
+Right ascension: 3.06929331E-01 rad -7.84746974E-09 rad/sec
+Inclination: 9.44623928E-01 rad -8.82179603E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -8.73125000E+01 m Cosine: 1.10812500E+02 m
+Inclination Sine: -3.72529030E-09 rad Cosine: 7.63684511E-08 rad
+In-track Sine: 1.33030117E-05 rad Cosine: -4.45544720E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
diff --git a/dev/tests/RinexEphemerisStore/Checks/clearTest.chk b/dev/tests/RinexEphemerisStore/Checks/clearTest.chk
new file mode 100644
index 0000000..e1dcfc7
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Checks/clearTest.chk
@@ -0,0 +1,5 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ End of BCE maps.
+
diff --git a/dev/tests/RinexEphemerisStore/Checks/editTest.chk b/dev/tests/RinexEphemerisStore/Checks/editTest.chk
new file mode 100644
index 0000000..87b4198
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Checks/editTest.chk
@@ -0,0 +1,33 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 9 entries.
+PRN 1 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 181806.000 KEY 01/31/2006 02:00:00
+PRN 1 TOE 01/31/2006 05:59:44 TOC 194384.000 HOW 192216.000 KEY 01/31/2006 03:59:44
+PRN 1 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 1 TOE 01/31/2006 07:59:44 TOC 201584.000 HOW 194406.000 KEY 01/31/2006 05:59:44
+PRN 1 TOE 01/31/2006 09:59:44 TOC 208784.000 HOW 208446.000 KEY 01/31/2006 07:59:44
+PRN 1 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 1 TOE 01/31/2006 11:59:44 TOC 215984.000 HOW 208806.000 KEY 01/31/2006 09:59:44
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 1 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+ BCE map for satellite 15 has 8 entries.
+PRN 15 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 180006.000 KEY 01/31/2006 02:00:00
+PRN 15 TOE 01/31/2006 05:59:44 TOC 194384.000 HOW 193626.000 KEY 01/31/2006 03:59:44
+PRN 15 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 15 TOE 01/31/2006 07:59:44 TOC 201584.000 HOW 194406.000 KEY 01/31/2006 05:59:44
+PRN 15 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 15 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 15 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+ BCE map for satellite 32 has 8 entries.
+PRN 32 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 180006.000 KEY 01/31/2006 02:00:00
+PRN 32 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 32 TOE 01/31/2006 08:00:00 TOC 201600.000 HOW 194406.000 KEY 01/31/2006 06:00:00
+PRN 32 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 32 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 32 TOE 01/31/2006 13:59:44 TOC 223184.000 HOW 219786.000 KEY 01/31/2006 11:59:44
+PRN 32 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 32 TOE 01/31/2006 15:59:44 TOC 230384.000 HOW 223206.000 KEY 01/31/2006 13:59:44
+ End of BCE maps.
+
diff --git a/dev/tests/RinexEphemerisStore/Checks/findEph1.chk b/dev/tests/RinexEphemerisStore/Checks/findEph1.chk
new file mode 100644
index 0000000..e5b77d1
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Checks/findEph1.chk
@@ -0,0 +1,46 @@
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 215984 Tue-2 31 43184 01/31/2006 11:59:44
+Eph Epoch: 1360( 336) 215984 Tue-2 31 43184 01/31/2006 11:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x174 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0x74 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0x74 0 off
+
+ CLOCK
+
+Bias T0: 3.42056155E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367878E+03 m**.5
+Motion correction: 4.15874466E-09 rad/sec
+Eccentricity: 6.32588984E-03
+Arg of perigee: -1.71070282E+00 rad
+Mean anomaly at epoch: 2.31892822E-01 rad
+Right ascension: -1.71556436E+00 rad -8.27605902E-09 rad/sec
+Inclination: 9.86372320E-01 rad 5.33236497E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.13406250E+02 m Cosine: 2.90062500E+02 m
+Inclination Sine: -2.79396772E-08 rad Cosine: -7.45058060E-08 rad
+In-track Sine: 5.29363751E-06 rad Cosine: 5.78165054E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
diff --git a/dev/tests/RinexEphemerisStore/Checks/findEph15.chk b/dev/tests/RinexEphemerisStore/Checks/findEph15.chk
new file mode 100644
index 0000000..8ca404a
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Checks/findEph15.chk
@@ -0,0 +1,46 @@
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Eph Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x1C7 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0xC7 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0xC7 0 off
+
+ CLOCK
+
+Bias T0: 5.58477826E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370655E+03 m**.5
+Motion correction: 4.89556106E-09 rad/sec
+Eccentricity: 9.35519312E-03
+Arg of perigee: 2.54591534E+00 rad
+Mean anomaly at epoch: -1.12295671E+00 rad
+Right ascension: 2.51209679E+00 rad -8.32106089E-09 rad/sec
+Inclination: 9.58186633E-01 rad -4.94663462E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -3.94062500E+01 m Cosine: 2.49156250E+02 m
+Inclination Sine: -4.65661287E-08 rad Cosine: -1.34110451E-07 rad
+In-track Sine: 6.76140189E-06 rad Cosine: -2.19792128E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
diff --git a/dev/tests/RinexEphemerisStore/Checks/findEph32.chk b/dev/tests/RinexEphemerisStore/Checks/findEph32.chk
new file mode 100644
index 0000000..071d04c
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Checks/findEph32.chk
@@ -0,0 +1,46 @@
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Eph Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x1B9 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0xB9 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0xB9 0 off
+
+ CLOCK
+
+Bias T0: 2.12844461E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360841E+03 m**.5
+Motion correction: 4.55768985E-09 rad/sec
+Eccentricity: 8.71008832E-03
+Arg of perigee: 1.29513505E+00 rad
+Mean anomaly at epoch: 3.01468050E+00 rad
+Right ascension: 3.07277461E-01 rad -7.91318676E-09 rad/sec
+Inclination: 9.44622686E-01 rad 3.57157734E-12 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -8.42187500E+01 m Cosine: 9.85625000E+01 m
+Inclination Sine: -1.30385160E-07 rad Cosine: 1.15483999E-07 rad
+In-track Sine: 1.38413161E-05 rad Cosine: -4.37162817E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
diff --git a/dev/tests/RinexEphemerisStore/Checks/findNearTest.chk b/dev/tests/RinexEphemerisStore/Checks/findNearTest.chk
new file mode 100644
index 0000000..c2311e3
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Checks/findNearTest.chk
@@ -0,0 +1,11 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 1 entries.
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+ BCE map for satellite 15 has 1 entries.
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+ BCE map for satellite 32 has 1 entries.
+PRN 32 TOE 01/31/2006 13:59:44 TOC 223184.000 HOW 219786.000 KEY 01/31/2006 11:59:44
+ End of BCE maps.
+
diff --git a/dev/tests/RinexEphemerisStore/Checks/findUserTest.chk b/dev/tests/RinexEphemerisStore/Checks/findUserTest.chk
new file mode 100644
index 0000000..ff4a2dd
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Checks/findUserTest.chk
@@ -0,0 +1,11 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 1 entries.
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+ BCE map for satellite 15 has 1 entries.
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+ BCE map for satellite 32 has 1 entries.
+PRN 32 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+ End of BCE maps.
+
diff --git a/dev/tests/RinexEphemerisStore/Checks/getPrnXvt1.chk b/dev/tests/RinexEphemerisStore/Checks/getPrnXvt1.chk
new file mode 100644
index 0000000..e4c3bff
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Checks/getPrnXvt1.chk
@@ -0,0 +1 @@
+x:(1.43293e+07, -2.70658e+06, -2.19986e+07), v:(354.696, 2812.26, -117.977), clk bias:3.42024e-05, clk drift:1.93268e-12
diff --git a/dev/tests/RinexEphemerisStore/Checks/getPrnXvt15.chk b/dev/tests/RinexEphemerisStore/Checks/getPrnXvt15.chk
new file mode 100644
index 0000000..ab2097d
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Checks/getPrnXvt15.chk
@@ -0,0 +1 @@
+x:(1.46708e+07, 7.54272e+06, 2.07205e+07), v:(-2147.79, 1575.58, 902.848), clk bias:0.000558493, clk drift:5.91172e-12
diff --git a/dev/tests/RinexEphemerisStore/Checks/getPrnXvt32.chk b/dev/tests/RinexEphemerisStore/Checks/getPrnXvt32.chk
new file mode 100644
index 0000000..0b3c565
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Checks/getPrnXvt32.chk
@@ -0,0 +1 @@
+x:(8.40859e+06, 1.71989e+07, -1.87307e+07), v:(-2248.12, -606.201, -1577.94), clk bias:2.12763e-05, clk drift:3.41061e-12
diff --git a/dev/tests/RinexEphemerisStore/Checks/wiperTest.chk b/dev/tests/RinexEphemerisStore/Checks/wiperTest.chk
new file mode 100644
index 0000000..31aca91
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Checks/wiperTest.chk
@@ -0,0 +1,31 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 8 entries.
+PRN 1 TOE 01/31/2006 11:59:44 TOC 215984.000 HOW 208806.000 KEY 01/31/2006 09:59:44
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 1 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+PRN 1 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 1 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237606.000 KEY 01/31/2006 18:00:00
+PRN 1 TOE 01/31/2006 21:59:44 TOC 251984.000 HOW 250056.000 KEY 01/31/2006 19:59:44
+PRN 1 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 1 TOE 01/31/2006 23:59:44 TOC 259184.000 HOW 252006.000 KEY 01/31/2006 21:59:44
+ BCE map for satellite 15 has 7 entries.
+PRN 15 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 15 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+PRN 15 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 15 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237606.000 KEY 01/31/2006 18:00:00
+PRN 15 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 15 TOE 02/01/2006 00:00:00 TOC 259200.000 HOW 252006.000 KEY 01/31/2006 22:00:00
+ BCE map for satellite 32 has 8 entries.
+PRN 32 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 32 TOE 01/31/2006 13:59:44 TOC 223184.000 HOW 219786.000 KEY 01/31/2006 11:59:44
+PRN 32 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 32 TOE 01/31/2006 15:59:44 TOC 230384.000 HOW 223206.000 KEY 01/31/2006 13:59:44
+PRN 32 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 32 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237666.000 KEY 01/31/2006 18:00:00
+PRN 32 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 32 TOE 02/01/2006 00:00:00 TOC 259200.000 HOW 252006.000 KEY 01/31/2006 22:00:00
+ End of BCE maps.
+
diff --git a/dev/tests/RinexEphemerisStore/Checks/wiperTest2.chk b/dev/tests/RinexEphemerisStore/Checks/wiperTest2.chk
new file mode 100644
index 0000000..f90c2f7
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Checks/wiperTest2.chk
@@ -0,0 +1,8 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for prn 1 has 0 entries.
+ BCE map for prn 15 has 0 entries.
+ BCE map for prn 32 has 0 entries.
+ End of BCE maps.
+
diff --git a/dev/tests/RinexEphemerisStore/DumpData.txt b/dev/tests/RinexEphemerisStore/DumpData.txt
new file mode 100644
index 0000000..c59b097
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/DumpData.txt
@@ -0,0 +1,49 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 15 entries.
+PRN 1 TOE 01/31/2006 02:00:00 TOC 180000.000 HOW 172806.000 KEY 01/31/2006 00:00:00
+PRN 1 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 181806.000 KEY 01/31/2006 02:00:00
+PRN 1 TOE 01/31/2006 05:59:44 TOC 194384.000 HOW 192216.000 KEY 01/31/2006 03:59:44
+PRN 1 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 1 TOE 01/31/2006 07:59:44 TOC 201584.000 HOW 194406.000 KEY 01/31/2006 05:59:44
+PRN 1 TOE 01/31/2006 09:59:44 TOC 208784.000 HOW 208446.000 KEY 01/31/2006 07:59:44
+PRN 1 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 1 TOE 01/31/2006 11:59:44 TOC 215984.000 HOW 208806.000 KEY 01/31/2006 09:59:44
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 1 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+PRN 1 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 1 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237606.000 KEY 01/31/2006 18:00:00
+PRN 1 TOE 01/31/2006 21:59:44 TOC 251984.000 HOW 250056.000 KEY 01/31/2006 19:59:44
+PRN 1 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 1 TOE 01/31/2006 23:59:44 TOC 259184.000 HOW 252006.000 KEY 01/31/2006 21:59:44
+ BCE map for satellite 15 has 13 entries.
+PRN 15 TOE 01/31/2006 02:00:00 TOC 180000.000 HOW 172806.000 KEY 01/31/2006 00:00:00
+PRN 15 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 180006.000 KEY 01/31/2006 02:00:00
+PRN 15 TOE 01/31/2006 05:59:44 TOC 194384.000 HOW 193626.000 KEY 01/31/2006 03:59:44
+PRN 15 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 15 TOE 01/31/2006 07:59:44 TOC 201584.000 HOW 194406.000 KEY 01/31/2006 05:59:44
+PRN 15 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 15 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 15 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+PRN 15 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 15 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237606.000 KEY 01/31/2006 18:00:00
+PRN 15 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 15 TOE 02/01/2006 00:00:00 TOC 259200.000 HOW 252006.000 KEY 01/31/2006 22:00:00
+ BCE map for satellite 32 has 13 entries.
+PRN 32 TOE 01/31/2006 02:00:00 TOC 180000.000 HOW 172806.000 KEY 01/31/2006 00:00:00
+PRN 32 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 180006.000 KEY 01/31/2006 02:00:00
+PRN 32 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 32 TOE 01/31/2006 08:00:00 TOC 201600.000 HOW 194406.000 KEY 01/31/2006 06:00:00
+PRN 32 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 32 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 32 TOE 01/31/2006 13:59:44 TOC 223184.000 HOW 219786.000 KEY 01/31/2006 11:59:44
+PRN 32 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 32 TOE 01/31/2006 15:59:44 TOC 230384.000 HOW 223206.000 KEY 01/31/2006 13:59:44
+PRN 32 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 32 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237666.000 KEY 01/31/2006 18:00:00
+PRN 32 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 32 TOE 02/01/2006 00:00:00 TOC 259200.000 HOW 252006.000 KEY 01/31/2006 22:00:00
+ End of BCE maps.
+
diff --git a/dev/tests/RinexEphemerisStore/Jamfile b/dev/tests/RinexEphemerisStore/Jamfile
new file mode 100644
index 0000000..66bcf31
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Jamfile
@@ -0,0 +1,5 @@
+SubDir TOP RinexEphemerisStore ;
+
+
+
+TestMain RinexEphemerisStore/xRinexEphemerisStore.tst : RinexEphemerisStore/xRinexEphemerisStoreM.cpp RinexEphemerisStore/xRinexEphemerisStore.cpp RinexEphemerisStore/RinexEphemerisStore.cpp ;
diff --git a/dev/tests/RinexEphemerisStore/Logs/DumpData0.txt b/dev/tests/RinexEphemerisStore/Logs/DumpData0.txt
new file mode 100644
index 0000000..7138230
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Logs/DumpData0.txt
@@ -0,0 +1,4 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ Span is 01/31/2006 00:00:00 to 01/31/2006 22:00:00 with 41 entries.
diff --git a/dev/tests/RinexEphemerisStore/Logs/DumpData1.txt b/dev/tests/RinexEphemerisStore/Logs/DumpData1.txt
new file mode 100644
index 0000000..c59b097
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Logs/DumpData1.txt
@@ -0,0 +1,49 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 15 entries.
+PRN 1 TOE 01/31/2006 02:00:00 TOC 180000.000 HOW 172806.000 KEY 01/31/2006 00:00:00
+PRN 1 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 181806.000 KEY 01/31/2006 02:00:00
+PRN 1 TOE 01/31/2006 05:59:44 TOC 194384.000 HOW 192216.000 KEY 01/31/2006 03:59:44
+PRN 1 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 1 TOE 01/31/2006 07:59:44 TOC 201584.000 HOW 194406.000 KEY 01/31/2006 05:59:44
+PRN 1 TOE 01/31/2006 09:59:44 TOC 208784.000 HOW 208446.000 KEY 01/31/2006 07:59:44
+PRN 1 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 1 TOE 01/31/2006 11:59:44 TOC 215984.000 HOW 208806.000 KEY 01/31/2006 09:59:44
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 1 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+PRN 1 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 1 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237606.000 KEY 01/31/2006 18:00:00
+PRN 1 TOE 01/31/2006 21:59:44 TOC 251984.000 HOW 250056.000 KEY 01/31/2006 19:59:44
+PRN 1 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 1 TOE 01/31/2006 23:59:44 TOC 259184.000 HOW 252006.000 KEY 01/31/2006 21:59:44
+ BCE map for satellite 15 has 13 entries.
+PRN 15 TOE 01/31/2006 02:00:00 TOC 180000.000 HOW 172806.000 KEY 01/31/2006 00:00:00
+PRN 15 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 180006.000 KEY 01/31/2006 02:00:00
+PRN 15 TOE 01/31/2006 05:59:44 TOC 194384.000 HOW 193626.000 KEY 01/31/2006 03:59:44
+PRN 15 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 15 TOE 01/31/2006 07:59:44 TOC 201584.000 HOW 194406.000 KEY 01/31/2006 05:59:44
+PRN 15 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 15 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 15 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+PRN 15 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 15 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237606.000 KEY 01/31/2006 18:00:00
+PRN 15 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 15 TOE 02/01/2006 00:00:00 TOC 259200.000 HOW 252006.000 KEY 01/31/2006 22:00:00
+ BCE map for satellite 32 has 13 entries.
+PRN 32 TOE 01/31/2006 02:00:00 TOC 180000.000 HOW 172806.000 KEY 01/31/2006 00:00:00
+PRN 32 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 180006.000 KEY 01/31/2006 02:00:00
+PRN 32 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 32 TOE 01/31/2006 08:00:00 TOC 201600.000 HOW 194406.000 KEY 01/31/2006 06:00:00
+PRN 32 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 32 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 32 TOE 01/31/2006 13:59:44 TOC 223184.000 HOW 219786.000 KEY 01/31/2006 11:59:44
+PRN 32 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 32 TOE 01/31/2006 15:59:44 TOC 230384.000 HOW 223206.000 KEY 01/31/2006 13:59:44
+PRN 32 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 32 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237666.000 KEY 01/31/2006 18:00:00
+PRN 32 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 32 TOE 02/01/2006 00:00:00 TOC 259200.000 HOW 252006.000 KEY 01/31/2006 22:00:00
+ End of BCE maps.
+
diff --git a/trunk/src/Makefile.am b/dev/tests/RinexEphemerisStore/Logs/DumpData2.txt
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/RinexEphemerisStore/Logs/DumpData2.txt
diff --git a/dev/tests/RinexEphemerisStore/Logs/TestRinex06.031NEW b/dev/tests/RinexEphemerisStore/Logs/TestRinex06.031NEW
new file mode 100644
index 0000000..bac0a39
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Logs/TestRinex06.031NEW
@@ -0,0 +1,347 @@
+ 2.10 NAVIGATION RINEX VERSION / TYPE
+fic2rin 07/10/2006 09:16:03 PGM / RUN BY / DATE
+ END OF HEADER
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diff --git a/dev/tests/RinexEphemerisStore/Logs/addEphemerisTest.txt b/dev/tests/RinexEphemerisStore/Logs/addEphemerisTest.txt
new file mode 100644
index 0000000..dfcb5e5
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Logs/addEphemerisTest.txt
@@ -0,0 +1,5 @@
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 1 entries.
+PRN 1 TOE 01/31/2006 11:59:44 TOC 215984.000 HOW 208806.000 KEY 01/31/2006 09:59:44
+ End of BCE maps.
+
diff --git a/dev/tests/RinexEphemerisStore/Logs/addToListTest.txt b/dev/tests/RinexEphemerisStore/Logs/addToListTest.txt
new file mode 100644
index 0000000..76f8863
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Logs/addToListTest.txt
@@ -0,0 +1,1886 @@
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Eph Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 172806 Tue-2:00:00:06 0x043 0 off
+SF2 HOW: 172806 Tue-2:00:00:06 0x43 0 off
+SF3 HOW: 172806 Tue-2:00:00:06 0x43 0 off
+
+ CLOCK
+
+Bias T0: 3.41343693E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367689E+03 m**.5
+Motion correction: 4.34053794E-09 rad/sec
+Eccentricity: 6.32685330E-03
+Arg of perigee: -1.71098328E+00 rad
+Mean anomaly at epoch: 1.26681178E+00 rad
+Right ascension: -1.71526968E+00 rad -8.34177604E-09 rad/sec
+Inclination: 9.86356141E-01 rad 3.65729520E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.15968750E+02 m Cosine: 3.27531250E+02 m
+Inclination Sine: -1.17346644E-07 rad Cosine: -1.02445483E-07 rad
+In-track Sine: 3.52226198E-06 rad Cosine: 5.89340925E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Eph Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 181806 Tue-2:02:30:06 0x044 0 off
+SF2 HOW: 181806 Tue-2:02:30:06 0x44 0 off
+SF3 HOW: 181806 Tue-2:02:30:06 0x44 0 off
+
+ CLOCK
+
+Bias T0: 3.41478735E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367755E+03 m**.5
+Motion correction: 4.25303430E-09 rad/sec
+Eccentricity: 6.32700860E-03
+Arg of perigee: -1.71092165E+00 rad
+Mean anomaly at epoch: 2.31692691E+00 rad
+Right ascension: -1.71532878E+00 rad -8.11605235E-09 rad/sec
+Inclination: 9.86359782E-01 rad 3.52514684E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.12937500E+02 m Cosine: 3.30625000E+02 m
+Inclination Sine: -6.70552254E-08 rad Cosine: 1.28522515E-07 rad
+In-track Sine: 3.17767262E-06 rad Cosine: 5.77233732E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 194384 Tue-2 31 21584 01/31/2006 05:59:44
+Eph Epoch: 1360( 336) 194384 Tue-2 31 21584 01/31/2006 05:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 192216 Tue-2:05:23:36 0x259 0 off
+SF2 HOW: 192216 Tue-2:05:23:36 0x59 0 off
+SF3 HOW: 192216 Tue-2:05:23:36 0x59 0 off
+
+ CLOCK
+
+Bias T0: 3.41548584E-05 sec
+Drift: 1.81898940E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367874E+03 m**.5
+Motion correction: 4.25553440E-09 rad/sec
+Eccentricity: 6.32628636E-03
+Arg of perigee: -1.71094976E+00 rad
+Mean anomaly at epoch: -2.91838707E+00 rad
+Right ascension: -1.71538720E+00 rad -8.11176646E-09 rad/sec
+Inclination: 9.86362374E-01 rad 4.02516766E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.12750000E+02 m Cosine: 3.23406250E+02 m
+Inclination Sine: 4.84287739E-08 rad Cosine: 1.54599547E-07 rad
+In-track Sine: 3.57814133E-06 rad Cosine: 5.86546957E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Eph Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 187206 Tue-2:04:00:06 0x23F 0 off
+SF2 HOW: 187206 Tue-2:04:00:06 0x3F 0 off
+SF3 HOW: 187206 Tue-2:04:00:06 0x3F 0 off
+
+ CLOCK
+
+Bias T0: 3.41618434E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367875E+03 m**.5
+Motion correction: 4.25553440E-09 rad/sec
+Eccentricity: 6.32628449E-03
+Arg of perigee: -1.71094881E+00 rad
+Mean anomaly at epoch: -2.91605436E+00 rad
+Right ascension: -1.71538734E+00 rad -8.11176646E-09 rad/sec
+Inclination: 9.86362375E-01 rad 4.02516766E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.12750000E+02 m Cosine: 3.23406250E+02 m
+Inclination Sine: 4.84287739E-08 rad Cosine: 1.54599547E-07 rad
+In-track Sine: 3.57814133E-06 rad Cosine: 5.86546957E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 201584 Tue-2 31 28784 01/31/2006 07:59:44
+Eph Epoch: 1360( 336) 201584 Tue-2 31 28784 01/31/2006 07:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 194406 Tue-2:06:00:06 0x15A 0 off
+SF2 HOW: 194406 Tue-2:06:00:06 0x5A 0 off
+SF3 HOW: 194406 Tue-2:06:00:06 0x5A 0 off
+
+ CLOCK
+
+Bias T0: 3.41683626E-05 sec
+Drift: 1.81898940E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15368112E+03 m**.5
+Motion correction: 4.14945856E-09 rad/sec
+Eccentricity: 6.32504828E-03
+Arg of perigee: -1.71103397E+00 rad
+Mean anomaly at epoch: -1.86812836E+00 rad
+Right ascension: -1.71544585E+00 rad -8.06569311E-09 rad/sec
+Inclination: 9.86365821E-01 rad 4.89306096E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.06562500E+02 m Cosine: 3.13812500E+02 m
+Inclination Sine: 9.87201929E-08 rad Cosine: 2.79396772E-08 rad
+In-track Sine: 4.02703881E-06 rad Cosine: 5.71832061E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 208784 Tue-2 31 35984 01/31/2006 09:59:44
+Eph Epoch: 1360( 336) 208784 Tue-2 31 35984 01/31/2006 09:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208446 Tue-2:09:54:06 0x073 0 off
+SF2 HOW: 208446 Tue-2:09:54:06 0x73 0 off
+SF3 HOW: 208446 Tue-2:09:54:06 0x73 0 off
+
+ CLOCK
+
+Bias T0: 3.41916457E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367637E+03 m**.5
+Motion correction: 4.25303430E-09 rad/sec
+Eccentricity: 6.32467808E-03
+Arg of perigee: -1.71064445E+00 rad
+Mean anomaly at epoch: -8.18341978E-01 rad
+Right ascension: -1.71550465E+00 rad -8.23784314E-09 rad/sec
+Inclination: 9.86368594E-01 rad 5.06806825E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.06437500E+02 m Cosine: 2.95875000E+02 m
+Inclination Sine: 3.35276127E-08 rad Cosine: -1.35973096E-07 rad
+In-track Sine: 5.20423055E-06 rad Cosine: 5.66430390E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Eph Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 201606 Tue-2:08:00:06 0x15B 0 off
+SF2 HOW: 201606 Tue-2:08:00:06 0x5B 0 off
+SF3 HOW: 201606 Tue-2:08:00:06 0x5B 0 off
+
+ CLOCK
+
+Bias T0: 3.41818668E-05 sec
+Drift: 1.81898940E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367640E+03 m**.5
+Motion correction: 4.25303430E-09 rad/sec
+Eccentricity: 6.32467505E-03
+Arg of perigee: -1.71064293E+00 rad
+Mean anomaly at epoch: -8.16009862E-01 rad
+Right ascension: -1.71550477E+00 rad -8.23784314E-09 rad/sec
+Inclination: 9.86368607E-01 rad 5.06806825E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.06437500E+02 m Cosine: 2.95875000E+02 m
+Inclination Sine: 3.35276127E-08 rad Cosine: -1.35973096E-07 rad
+In-track Sine: 5.20423055E-06 rad Cosine: 5.66430390E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 215984 Tue-2 31 43184 01/31/2006 11:59:44
+Eph Epoch: 1360( 336) 215984 Tue-2 31 43184 01/31/2006 11:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x174 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0x74 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0x74 0 off
+
+ CLOCK
+
+Bias T0: 3.42056155E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367878E+03 m**.5
+Motion correction: 4.15874466E-09 rad/sec
+Eccentricity: 6.32588984E-03
+Arg of perigee: -1.71070282E+00 rad
+Mean anomaly at epoch: 2.31892822E-01 rad
+Right ascension: -1.71556436E+00 rad -8.27605902E-09 rad/sec
+Inclination: 9.86372320E-01 rad 5.33236497E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.13406250E+02 m Cosine: 2.90062500E+02 m
+Inclination Sine: -2.79396772E-08 rad Cosine: -7.45058060E-08 rad
+In-track Sine: 5.29363751E-06 rad Cosine: 5.78165054E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Eph Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 216006 Tue-2:12:00:06 0x175 0 off
+SF2 HOW: 216006 Tue-2:12:00:06 0x75 0 off
+SF3 HOW: 216006 Tue-2:12:00:06 0x75 0 off
+
+ CLOCK
+
+Bias T0: 3.42191197E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367680E+03 m**.5
+Motion correction: 4.14195824E-09 rad/sec
+Eccentricity: 6.32508728E-03
+Arg of perigee: -1.71080977E+00 rad
+Mean anomaly at epoch: 1.28450941E+00 rad
+Right ascension: -1.71562416E+00 rad -8.23998609E-09 rad/sec
+Inclination: 9.86376251E-01 rad 5.43236914E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.20250000E+02 m Cosine: 2.93375000E+02 m
+Inclination Sine: -1.11758709E-07 rad Cosine: -7.63684511E-08 rad
+In-track Sine: 5.04590571E-06 rad Cosine: 6.22309744E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 230400 Tue-2 31 57600 01/31/2006 16:00:00
+Eph Epoch: 1360( 336) 230400 Tue-2 31 57600 01/31/2006 16:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 223206 Tue-2:14:00:06 0x176 0 off
+SF2 HOW: 223206 Tue-2:14:00:06 0x76 0 off
+SF3 HOW: 223206 Tue-2:14:00:06 0x76 0 off
+
+ CLOCK
+
+Bias T0: 3.42330895E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367810E+03 m**.5
+Motion correction: 3.95159317E-09 rad/sec
+Eccentricity: 6.32507459E-03
+Arg of perigee: -1.71069671E+00 rad
+Mean anomaly at epoch: 2.33457123E+00 rad
+Right ascension: -1.71568233E+00 rad -7.97497505E-09 rad/sec
+Inclination: 9.86381295E-01 rad 5.13592822E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.19093750E+02 m Cosine: 2.98875000E+02 m
+Inclination Sine: 0.00000000E+00 rad Cosine: 1.73225999E-07 rad
+In-track Sine: 4.85964119E-06 rad Cosine: 6.14114106E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Eph Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 230406 Tue-2:16:00:06 0x177 0 off
+SF2 HOW: 230406 Tue-2:16:00:06 0x77 0 off
+SF3 HOW: 230406 Tue-2:16:00:06 0x77 0 off
+
+ CLOCK
+
+Bias T0: 3.42465937E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367751E+03 m**.5
+Motion correction: 3.94552149E-09 rad/sec
+Eccentricity: 6.32530451E-03
+Arg of perigee: -1.71075624E+00 rad
+Mean anomaly at epoch: -2.89838037E+00 rad
+Right ascension: -1.71573859E+00 rad -7.88925719E-09 rad/sec
+Inclination: 9.86384717E-01 rad 3.83230249E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.14312500E+02 m Cosine: 2.97218750E+02 m
+Inclination Sine: -3.72529030E-09 rad Cosine: -1.11758709E-08 rad
+In-track Sine: 5.05894423E-06 rad Cosine: 5.97164035E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Eph Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 237606 Tue-2:18:00:06 0x178 0 off
+SF2 HOW: 237606 Tue-2:18:00:06 0x78 0 off
+SF3 HOW: 237606 Tue-2:18:00:06 0x78 0 off
+
+ CLOCK
+
+Bias T0: 3.42600979E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15368125E+03 m**.5
+Motion correction: 3.94802159E-09 rad/sec
+Eccentricity: 6.32367632E-03
+Arg of perigee: -1.71094499E+00 rad
+Mean anomaly at epoch: -1.84801896E+00 rad
+Right ascension: -1.71579510E+00 rad -7.97426073E-09 rad/sec
+Inclination: 9.86386906E-01 rad 2.96440919E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.01968750E+02 m Cosine: 2.88843750E+02 m
+Inclination Sine: 6.33299351E-08 rad Cosine: 1.09896064E-07 rad
+In-track Sine: 5.53019345E-06 rad Cosine: 5.29736280E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 251984 Tue-2 31 79184 01/31/2006 21:59:44
+Eph Epoch: 1360( 336) 251984 Tue-2 31 79184 01/31/2006 21:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 250056 Tue-2:21:27:36 0x08D 0 off
+SF2 HOW: 250056 Tue-2:21:27:36 0x8D 0 off
+SF3 HOW: 250056 Tue-2:21:27:36 0x8D 0 off
+
+ CLOCK
+
+Bias T0: 3.42894346E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367653E+03 m**.5
+Motion correction: 4.16945939E-09 rad/sec
+Eccentricity: 6.32309169E-03
+Arg of perigee: -1.71055998E+00 rad
+Mean anomaly at epoch: -8.00563293E-01 rad
+Right ascension: -1.71585327E+00 rad -8.18998400E-09 rad/sec
+Inclination: 9.86388127E-01 rad 3.13584491E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 9.87812500E+01 m Cosine: 2.71312500E+02 m
+Inclination Sine: 7.45058060E-09 rad Cosine: -9.87201929E-08 rad
+In-track Sine: 6.31809235E-06 rad Cosine: 5.18187881E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Eph Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 244806 Tue-2:20:00:06 0x173 0 off
+SF2 HOW: 244806 Tue-2:20:00:06 0x73 0 off
+SF3 HOW: 244806 Tue-2:20:00:06 0x73 0 off
+
+ CLOCK
+
+Bias T0: 3.42740677E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367653E+03 m**.5
+Motion correction: 4.16945939E-09 rad/sec
+Eccentricity: 6.32309355E-03
+Arg of perigee: -1.71056065E+00 rad
+Mean anomaly at epoch: -7.98228821E-01 rad
+Right ascension: -1.71585343E+00 rad -8.18998400E-09 rad/sec
+Inclination: 9.86388094E-01 rad 3.13584491E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 9.87812500E+01 m Cosine: 2.71312500E+02 m
+Inclination Sine: 7.45058060E-09 rad Cosine: -9.87201929E-08 rad
+In-track Sine: 6.31809235E-06 rad Cosine: 5.18187881E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 259184 Tue-2 31 86384 01/31/2006 23:59:44
+Eph Epoch: 1360( 336) 259184 Tue-2 31 86384 01/31/2006 23:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 252006 Tue-2:22:00:06 0x08E 0 off
+SF2 HOW: 252006 Tue-2:22:00:06 0x8E 0 off
+SF3 HOW: 252006 Tue-2:22:00:06 0x8E 0 off
+
+ CLOCK
+
+Bias T0: 3.43038701E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367983E+03 m**.5
+Motion correction: 4.16553065E-09 rad/sec
+Eccentricity: 6.32479729E-03
+Arg of perigee: -1.71061566E+00 rad
+Mean anomaly at epoch: 2.49668417E-01 rad
+Right ascension: -1.71591282E+00 rad -8.23534304E-09 rad/sec
+Inclination: 9.86390525E-01 rad 3.76444252E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.06718750E+02 m Cosine: 2.61562500E+02 m
+Inclination Sine: -3.72529030E-09 rad Cosine: -7.45058060E-09 rad
+In-track Sine: 6.87316060E-06 rad Cosine: 5.65685332E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Eph Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 172806 Tue-2:00:00:06 0x2AC 0 off
+SF2 HOW: 172806 Tue-2:00:00:06 0xAC 0 off
+SF3 HOW: 172806 Tue-2:00:00:06 0xAC 0 off
+
+ CLOCK
+
+Bias T0: 5.58263157E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370760E+03 m**.5
+Motion correction: 4.95913514E-09 rad/sec
+Eccentricity: 9.35129554E-03
+Arg of perigee: 2.54594306E+00 rad
+Mean anomaly at epoch: -9.06095983E-02 rad
+Right ascension: 2.51239340E+00 rad -8.35570519E-09 rad/sec
+Inclination: 9.58205830E-01 rad -5.09306929E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.05000000E+01 m Cosine: 2.32312500E+02 m
+Inclination Sine: -8.19563866E-08 rad Cosine: 5.21540642E-08 rad
+In-track Sine: 7.47665763E-06 rad Cosine: -2.24076211E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 2
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Eph Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 180006 Tue-2:02:00:06 0x2AD 0 off
+SF2 HOW: 180006 Tue-2:02:00:06 0xAD 0 off
+SF3 HOW: 180006 Tue-2:02:00:06 0xAD 0 off
+
+ CLOCK
+
+Bias T0: 5.58305997E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15371153E+03 m**.5
+Motion correction: 4.84091593E-09 rad/sec
+Eccentricity: 9.35316086E-03
+Arg of perigee: 2.54603428E+00 rad
+Mean anomaly at epoch: 9.59460895E-01 rad
+Right ascension: 2.51233346E+00 rad -8.27070165E-09 rad/sec
+Inclination: 9.58202504E-01 rad -5.20021661E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.51562500E+01 m Cosine: 2.45906250E+02 m
+Inclination Sine: -3.53902578E-08 rad Cosine: 1.60187483E-07 rad
+In-track Sine: 6.79865479E-06 rad Cosine: -2.42330134E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 2
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 194384 Tue-2 31 21584 01/31/2006 05:59:44
+Eph Epoch: 1360( 336) 194384 Tue-2 31 21584 01/31/2006 05:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 193626 Tue-2:05:47:06 0x2C4 0 off
+SF2 HOW: 193626 Tue-2:05:47:06 0xC4 0 off
+SF3 HOW: 193626 Tue-2:05:47:06 0xC4 0 off
+
+ CLOCK
+
+Bias T0: 5.58349304E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15371032E+03 m**.5
+Motion correction: 4.84555898E-09 rad/sec
+Eccentricity: 9.35331150E-03
+Arg of perigee: 2.54596333E+00 rad
+Mean anomaly at epoch: 2.00735802E+00 rad
+Right ascension: 2.51227500E+00 rad -8.17534054E-09 rad/sec
+Inclination: 9.58198768E-01 rad -5.95024785E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.89062500E+01 m Cosine: 2.49906250E+02 m
+Inclination Sine: 7.63684511E-08 rad Cosine: 6.33299351E-08 rad
+In-track Sine: 6.62170351E-06 rad Cosine: -2.45310366E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Eph Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 187206 Tue-2:04:00:06 0x2AE 0 off
+SF2 HOW: 187206 Tue-2:04:00:06 0xAE 0 off
+SF3 HOW: 187206 Tue-2:04:00:06 0xAE 0 off
+
+ CLOCK
+
+Bias T0: 5.58348838E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15371032E+03 m**.5
+Motion correction: 4.84555898E-09 rad/sec
+Eccentricity: 9.35331290E-03
+Arg of perigee: 2.54596378E+00 rad
+Mean anomaly at epoch: 2.00969128E+00 rad
+Right ascension: 2.51227486E+00 rad -8.17534054E-09 rad/sec
+Inclination: 9.58198745E-01 rad -5.95024785E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.89062500E+01 m Cosine: 2.49906250E+02 m
+Inclination Sine: 7.63684511E-08 rad Cosine: 6.33299351E-08 rad
+In-track Sine: 6.62170351E-06 rad Cosine: -2.45310366E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 2
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 201584 Tue-2 31 28784 01/31/2006 07:59:44
+Eph Epoch: 1360( 336) 201584 Tue-2 31 28784 01/31/2006 07:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 194406 Tue-2:06:00:06 0x1C5 0 off
+SF2 HOW: 194406 Tue-2:06:00:06 0xC5 0 off
+SF3 HOW: 194406 Tue-2:06:00:06 0xC5 0 off
+
+ CLOCK
+
+Bias T0: 5.58392145E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370812E+03 m**.5
+Motion correction: 4.85734519E-09 rad/sec
+Eccentricity: 9.35426482E-03
+Arg of perigee: 2.54589149E+00 rad
+Mean anomaly at epoch: 3.05759168E+00 rad
+Right ascension: 2.51221588E+00 rad -8.14212487E-09 rad/sec
+Inclination: 9.58194788E-01 rad -5.32522182E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.34375000E+01 m Cosine: 2.56125000E+02 m
+Inclination Sine: 1.04308128E-07 rad Cosine: -2.23517418E-08 rad
+In-track Sine: 6.29760325E-06 rad Cosine: -2.15694308E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Eph Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 201606 Tue-2:08:00:06 0x1C6 0 off
+SF2 HOW: 201606 Tue-2:08:00:06 0xC6 0 off
+SF3 HOW: 201606 Tue-2:08:00:06 0xC6 0 off
+
+ CLOCK
+
+Bias T0: 5.58434986E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370631E+03 m**.5
+Motion correction: 4.91627621E-09 rad/sec
+Eccentricity: 9.35517496E-03
+Arg of perigee: 2.54592936E+00 rad
+Mean anomaly at epoch: -2.17313468E+00 rad
+Right ascension: 2.51215687E+00 rad -8.24570061E-09 rad/sec
+Inclination: 9.58190482E-01 rad -5.29307762E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.03125000E+01 m Cosine: 2.49781250E+02 m
+Inclination Sine: 8.94069672E-08 rad Cosine: -1.50874257E-07 rad
+In-track Sine: 6.75022602E-06 rad Cosine: -1.99861825E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Eph Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x1C7 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0xC7 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0xC7 0 off
+
+ CLOCK
+
+Bias T0: 5.58477826E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370655E+03 m**.5
+Motion correction: 4.89556106E-09 rad/sec
+Eccentricity: 9.35519312E-03
+Arg of perigee: 2.54591534E+00 rad
+Mean anomaly at epoch: -1.12295671E+00 rad
+Right ascension: 2.51209679E+00 rad -8.32106089E-09 rad/sec
+Inclination: 9.58186633E-01 rad -4.94663462E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -3.94062500E+01 m Cosine: 2.49156250E+02 m
+Inclination Sine: -4.65661287E-08 rad Cosine: -1.34110451E-07 rad
+In-track Sine: 6.76140189E-06 rad Cosine: -2.19792128E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Eph Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 216006 Tue-2:12:00:06 0x1C8 0 off
+SF2 HOW: 216006 Tue-2:12:00:06 0xC8 0 off
+SF3 HOW: 216006 Tue-2:12:00:06 0xC8 0 off
+
+ CLOCK
+
+Bias T0: 5.58520667E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370721E+03 m**.5
+Motion correction: 4.94806325E-09 rad/sec
+Eccentricity: 9.35553596E-03
+Arg of perigee: 2.54590311E+00 rad
+Mean anomaly at epoch: -7.27814121E-02 rad
+Right ascension: 2.51203755E+00 rad -8.40392149E-09 rad/sec
+Inclination: 9.58182252E-01 rad -6.62527597E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.21875000E+01 m Cosine: 2.48468750E+02 m
+Inclination Sine: -1.37835741E-07 rad Cosine: 6.51925802E-08 rad
+In-track Sine: 6.81355596E-06 rad Cosine: -2.41957605E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 230400 Tue-2 31 57600 01/31/2006 16:00:00
+Eph Epoch: 1360( 336) 230400 Tue-2 31 57600 01/31/2006 16:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 223206 Tue-2:14:00:06 0x0C9 0 off
+SF2 HOW: 223206 Tue-2:14:00:06 0xC9 0 off
+SF3 HOW: 223206 Tue-2:14:00:06 0xC9 0 off
+
+ CLOCK
+
+Bias T0: 5.58563508E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15371126E+03 m**.5
+Motion correction: 4.96199240E-09 rad/sec
+Eccentricity: 9.35740734E-03
+Arg of perigee: 2.54600791E+00 rad
+Mean anomaly at epoch: 9.77276156E-01 rad
+Right ascension: 2.51197711E+00 rad -8.37927760E-09 rad/sec
+Inclination: 9.58177516E-01 rad -6.83242746E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.54375000E+01 m Cosine: 2.62937500E+02 m
+Inclination Sine: -5.40167093E-08 rad Cosine: 1.19209290E-07 rad
+In-track Sine: 5.70528209E-06 rad Cosine: -2.64123082E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Eph Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 230406 Tue-2:16:00:06 0x3C4 0 off
+SF2 HOW: 230406 Tue-2:16:00:06 0xC4 0 off
+SF3 HOW: 230406 Tue-2:16:00:06 0xC4 0 off
+
+ CLOCK
+
+Bias T0: 5.58606349E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15371147E+03 m**.5
+Motion correction: 5.09914097E-09 rad/sec
+Eccentricity: 9.35770059E-03
+Arg of perigee: 2.54601763E+00 rad
+Mean anomaly at epoch: 2.02742773E+00 rad
+Right ascension: 2.51191656E+00 rad -8.39249244E-09 rad/sec
+Inclination: 9.58172632E-01 rad -6.30740559E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -4.35625000E+01 m Cosine: 2.67000000E+02 m
+Inclination Sine: 2.42143869E-08 rad Cosine: 1.99303031E-07 rad
+In-track Sine: 5.63822687E-06 rad Cosine: -2.02842057E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Eph Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 237606 Tue-2:18:00:06 0x2C5 0 off
+SF2 HOW: 237606 Tue-2:18:00:06 0xC5 0 off
+SF3 HOW: 237606 Tue-2:18:00:06 0xC5 0 off
+
+ CLOCK
+
+Bias T0: 5.58649190E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370851E+03 m**.5
+Motion correction: 5.13557106E-09 rad/sec
+Eccentricity: 9.35899641E-03
+Arg of perigee: 2.54592152E+00 rad
+Mean anomaly at epoch: 3.07768774E+00 rad
+Right ascension: 2.51185522E+00 rad -8.28748806E-09 rad/sec
+Inclination: 9.58169255E-01 rad -4.05016871E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -3.60000000E+01 m Cosine: 2.75468750E+02 m
+Inclination Sine: 1.63912773E-07 rad Cosine: -7.07805157E-08 rad
+In-track Sine: 5.40725887E-06 rad Cosine: -1.72853470E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Eph Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 244806 Tue-2:20:00:06 0x2C6 0 off
+SF2 HOW: 244806 Tue-2:20:00:06 0xC6 0 off
+SF3 HOW: 244806 Tue-2:20:00:06 0xC6 0 off
+
+ CLOCK
+
+Bias T0: 5.58691565E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370654E+03 m**.5
+Motion correction: 5.16735810E-09 rad/sec
+Eccentricity: 9.35994752E-03
+Arg of perigee: 2.54597027E+00 rad
+Mean anomaly at epoch: -2.15538154E+00 rad
+Right ascension: 2.51179534E+00 rad -8.36856287E-09 rad/sec
+Inclination: 9.58166043E-01 rad -3.85730353E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -3.37500000E+01 m Cosine: 2.68281250E+02 m
+Inclination Sine: 8.56816769E-08 rad Cosine: -1.97440386E-07 rad
+In-track Sine: 5.96605241E-06 rad Cosine: -1.59814954E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 259200 Wed-3 32 0 02/01/2006 00:00:00
+Eph Epoch: 1360( 336) 259200 Wed-3 32 0 02/01/2006 00:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 252006 Tue-2:22:00:06 0x2C7 0 off
+SF2 HOW: 252006 Tue-2:22:00:06 0xC7 0 off
+SF3 HOW: 252006 Tue-2:22:00:06 0xC7 0 off
+
+ CLOCK
+
+Bias T0: 5.58734406E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370608E+03 m**.5
+Motion correction: 5.14592863E-09 rad/sec
+Eccentricity: 9.36006801E-03
+Arg of perigee: 2.54599571E+00 rad
+Mean anomaly at epoch: -1.10524073E+00 rad
+Right ascension: 2.51173364E+00 rad -8.51249744E-09 rad/sec
+Inclination: 9.58163270E-01 rad -2.69296932E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -3.57187500E+01 m Cosine: 2.67156250E+02 m
+Inclination Sine: -8.00937414E-08 rad Cosine: -5.96046448E-08 rad
+In-track Sine: 5.89340925E-06 rad Cosine: -2.13272870E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 2
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Eph Epoch: 1360( 336) 180000 Tue-2 31 7200 01/31/2006 02:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 172806 Tue-2:00:00:06 0x1B4 0 off
+SF2 HOW: 172806 Tue-2:00:00:06 0xB4 0 off
+SF3 HOW: 172806 Tue-2:00:00:06 0xB4 0 off
+
+ CLOCK
+
+Bias T0: 2.11610459E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360316E+03 m**.5
+Motion correction: 4.39589739E-09 rad/sec
+Eccentricity: 8.71090021E-03
+Arg of perigee: 1.29523927E+00 rad
+Mean anomaly at epoch: -2.23653823E+00 rad
+Right ascension: 3.07566662E-01 rad -7.75710883E-09 rad/sec
+Inclination: 9.44623504E-01 rad 1.08933109E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -6.76875000E+01 m Cosine: 1.15000000E+02 m
+Inclination Sine: -9.31322575E-08 rad Cosine: 1.21071935E-07 rad
+In-track Sine: 1.32359564E-05 rad Cosine: -3.53716314E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Eph Epoch: 1360( 336) 187200 Tue-2 31 14400 01/31/2006 04:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 180006 Tue-2:02:00:06 0x1B5 0 off
+SF2 HOW: 180006 Tue-2:02:00:06 0xB5 0 off
+SF3 HOW: 180006 Tue-2:02:00:06 0xB5 0 off
+
+ CLOCK
+
+Bias T0: 2.11857259E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360674E+03 m**.5
+Motion correction: 4.54197491E-09 rad/sec
+Eccentricity: 8.71113362E-03
+Arg of perigee: 1.29501397E+00 rad
+Mean anomaly at epoch: -1.18609024E+00 rad
+Right ascension: 3.07510597E-01 rad -8.09319426E-09 rad/sec
+Inclination: 9.44622470E-01 rad -5.00020828E-12 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -7.28750000E+01 m Cosine: 1.30031250E+02 m
+Inclination Sine: 2.40281224E-07 rad Cosine: -7.45058060E-09 rad
+In-track Sine: 1.24983490E-05 rad Cosine: -3.84636223E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Eph Epoch: 1360( 336) 194400 Tue-2 31 21600 01/31/2006 06:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 187206 Tue-2:04:00:06 0x1B6 0 off
+SF2 HOW: 187206 Tue-2:04:00:06 0xB6 0 off
+SF3 HOW: 187206 Tue-2:04:00:06 0xB6 0 off
+
+ CLOCK
+
+Bias T0: 2.12104060E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360359E+03 m**.5
+Motion correction: 4.66233706E-09 rad/sec
+Eccentricity: 8.70950485E-03
+Arg of perigee: 1.29508260E+00 rad
+Mean anomaly at epoch: -1.35935973E-01 rad
+Right ascension: 3.07451598E-01 rad -8.18676958E-09 rad/sec
+Inclination: 9.44622210E-01 rad 1.42863094E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -8.65312500E+01 m Cosine: 1.33937500E+02 m
+Inclination Sine: 1.09896064E-07 rad Cosine: -9.68575478E-08 rad
+In-track Sine: 1.23213977E-05 rad Cosine: -4.46103513E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 201600 Tue-2 31 28800 01/31/2006 08:00:00
+Eph Epoch: 1360( 336) 201600 Tue-2 31 28800 01/31/2006 08:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 194406 Tue-2:06:00:06 0x1B7 0 off
+SF2 HOW: 194406 Tue-2:06:00:06 0xB7 0 off
+SF3 HOW: 194406 Tue-2:06:00:06 0xB7 0 off
+
+ CLOCK
+
+Bias T0: 2.12350860E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360806E+03 m**.5
+Motion correction: 4.60804909E-09 rad/sec
+Eccentricity: 8.71139602E-03
+Arg of perigee: 1.29526135E+00 rad
+Mean anomaly at epoch: 9.14109252E-01 rad
+Right ascension: 3.07393065E-01 rad -8.17498338E-09 rad/sec
+Inclination: 9.44621932E-01 rad -6.39312344E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -1.00750000E+02 m Cosine: 1.20312500E+02 m
+Inclination Sine: -1.11758709E-08 rad Cosine: -1.34110451E-07 rad
+In-track Sine: 1.31167471E-05 rad Cosine: -5.17070293E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Eph Epoch: 1360( 336) 208800 Tue-2 31 36000 01/31/2006 10:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 201606 Tue-2:08:00:06 0x1B8 0 off
+SF2 HOW: 201606 Tue-2:08:00:06 0xB8 0 off
+SF3 HOW: 201606 Tue-2:08:00:06 0xB8 0 off
+
+ CLOCK
+
+Bias T0: 2.12597661E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360479E+03 m**.5
+Motion correction: 4.61126351E-09 rad/sec
+Eccentricity: 8.71198589E-03
+Arg of perigee: 1.29505117E+00 rad
+Mean anomaly at epoch: 1.96454133E+00 rad
+Right ascension: 3.07334399E-01 rad -7.96354600E-09 rad/sec
+Inclination: 9.44622565E-01 rad -4.64305054E-12 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -1.00281250E+02 m Cosine: 1.02875000E+02 m
+Inclination Sine: -2.12341547E-07 rad Cosine: 5.58793545E-09 rad
+In-track Sine: 1.37276947E-05 rad Cosine: -5.29922545E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Eph Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x1B9 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0xB9 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0xB9 0 off
+
+ CLOCK
+
+Bias T0: 2.12844461E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360841E+03 m**.5
+Motion correction: 4.55768985E-09 rad/sec
+Eccentricity: 8.71008832E-03
+Arg of perigee: 1.29513505E+00 rad
+Mean anomaly at epoch: 3.01468050E+00 rad
+Right ascension: 3.07277461E-01 rad -7.91318676E-09 rad/sec
+Inclination: 9.44622686E-01 rad 3.57157734E-12 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -8.42187500E+01 m Cosine: 9.85625000E+01 m
+Inclination Sine: -1.30385160E-07 rad Cosine: 1.15483999E-07 rad
+In-track Sine: 1.38413161E-05 rad Cosine: -4.37162817E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 223184 Tue-2 31 50384 01/31/2006 13:59:44
+Eph Epoch: 1360( 336) 223184 Tue-2 31 50384 01/31/2006 13:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 219786 Tue-2:13:03:06 0x0CE 0 off
+SF2 HOW: 219786 Tue-2:13:03:06 0xCE 0 off
+SF3 HOW: 219786 Tue-2:13:03:06 0xCE 0 off
+
+ CLOCK
+
+Bias T0: 2.13137828E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360179E+03 m**.5
+Motion correction: 4.70841041E-09 rad/sec
+Eccentricity: 8.71319743E-03
+Arg of perigee: 1.29534120E+00 rad
+Mean anomaly at epoch: -2.22082140E+00 rad
+Right ascension: 3.07220032E-01 rad -7.91461539E-09 rad/sec
+Inclination: 9.44623207E-01 rad 1.13219002E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -7.14375000E+01 m Cosine: 1.22156250E+02 m
+Inclination Sine: 1.67638063E-08 rad Cosine: 1.28522515E-07 rad
+In-track Sine: 1.28187239E-05 rad Cosine: -3.76813114E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Eph Epoch: 1360( 336) 223200 Tue-2 31 50400 01/31/2006 14:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 216006 Tue-2:12:00:06 0x2B4 0 off
+SF2 HOW: 216006 Tue-2:12:00:06 0xB4 0 off
+SF3 HOW: 216006 Tue-2:12:00:06 0xB4 0 off
+
+ CLOCK
+
+Bias T0: 2.13091262E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360179E+03 m**.5
+Motion correction: 4.70841041E-09 rad/sec
+Eccentricity: 8.71319557E-03
+Arg of perigee: 1.29534135E+00 rad
+Mean anomaly at epoch: -2.21848770E+00 rad
+Right ascension: 3.07219892E-01 rad -7.91461539E-09 rad/sec
+Inclination: 9.44623209E-01 rad 1.13219002E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -7.14375000E+01 m Cosine: 1.22156250E+02 m
+Inclination Sine: 1.67638063E-08 rad Cosine: 1.28522515E-07 rad
+In-track Sine: 1.28187239E-05 rad Cosine: -3.76813114E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 230384 Tue-2 31 57584 01/31/2006 15:59:44
+Eph Epoch: 1360( 336) 230384 Tue-2 31 57584 01/31/2006 15:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 223206 Tue-2:14:00:06 0x0CF 0 off
+SF2 HOW: 223206 Tue-2:14:00:06 0xCF 0 off
+SF3 HOW: 223206 Tue-2:14:00:06 0xCF 0 off
+
+ CLOCK
+
+Bias T0: 2.13384628E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360553E+03 m**.5
+Motion correction: 4.71126767E-09 rad/sec
+Eccentricity: 8.71346553E-03
+Arg of perigee: 1.29510646E+00 rad
+Mean anomaly at epoch: -1.17036120E+00 rad
+Right ascension: 3.07162875E-01 rad -8.14748223E-09 rad/sec
+Inclination: 9.44622831E-01 rad 5.07163983E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -7.65312500E+01 m Cosine: 1.37875000E+02 m
+Inclination Sine: 2.23517418E-07 rad Cosine: -1.86264515E-08 rad
+In-track Sine: 1.22822821E-05 rad Cosine: -3.85381281E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Eph Epoch: 1360( 336) 237600 Tue-2 31 64800 01/31/2006 18:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 230406 Tue-2:16:00:06 0x0D0 0 off
+SF2 HOW: 230406 Tue-2:16:00:06 0xD0 0 off
+SF3 HOW: 230406 Tue-2:16:00:06 0xD0 0 off
+
+ CLOCK
+
+Bias T0: 2.13631429E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360266E+03 m**.5
+Motion correction: 4.72555398E-09 rad/sec
+Eccentricity: 8.71195330E-03
+Arg of perigee: 1.29516376E+00 rad
+Mean anomaly at epoch: -1.17860253E-01 rad
+Right ascension: 3.07103413E-01 rad -8.23248577E-09 rad/sec
+Inclination: 9.44622997E-01 rad 6.57170231E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -8.90312500E+01 m Cosine: 1.42281250E+02 m
+Inclination Sine: 9.87201929E-08 rad Cosine: -1.04308128E-07 rad
+In-track Sine: 1.21705234E-05 rad Cosine: -4.79258597E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Eph Epoch: 1360( 336) 244800 Tue-2 31 72000 01/31/2006 20:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 237666 Tue-2:18:01:06 0x0D1 0 off
+SF2 HOW: 237666 Tue-2:18:01:06 0xD1 0 off
+SF3 HOW: 237666 Tue-2:18:01:06 0xD1 0 off
+
+ CLOCK
+
+Bias T0: 2.13873573E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360660E+03 m**.5
+Motion correction: 4.58126226E-09 rad/sec
+Eccentricity: 8.71358160E-03
+Arg of perigee: 1.29532649E+00 rad
+Mean anomaly at epoch: 9.32201625E-01 rad
+Right ascension: 3.07044718E-01 rad -8.23534304E-09 rad/sec
+Inclination: 9.44622947E-01 rad -5.07163983E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -1.02281250E+02 m Cosine: 1.30906250E+02 m
+Inclination Sine: -5.77419996E-08 rad Cosine: -9.87201929E-08 rad
+In-track Sine: 1.24275684E-05 rad Cosine: -5.36069274E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Eph Epoch: 1360( 336) 252000 Tue-2 31 79200 01/31/2006 22:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 244806 Tue-2:20:00:06 0x0D2 0 off
+SF2 HOW: 244806 Tue-2:20:00:06 0xD2 0 off
+SF3 HOW: 244806 Tue-2:20:00:06 0xD2 0 off
+
+ CLOCK
+
+Bias T0: 2.14120373E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360381E+03 m**.5
+Motion correction: 4.50054461E-09 rad/sec
+Eccentricity: 8.71415599E-03
+Arg of perigee: 1.29514812E+00 rad
+Mean anomaly at epoch: 1.98260220E+00 rad
+Right ascension: 3.06985642E-01 rad -8.02461997E-09 rad/sec
+Inclination: 9.44623629E-01 rad -3.57157734E-12 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -1.02875000E+02 m Cosine: 1.15656250E+02 m
+Inclination Sine: -2.29105353E-07 rad Cosine: 7.63684511E-08 rad
+In-track Sine: 1.31297857E-05 rad Cosine: -5.29922545E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 259200 Wed-3 32 0 02/01/2006 00:00:00
+Eph Epoch: 1360( 336) 259200 Wed-3 32 0 02/01/2006 00:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 252006 Tue-2:22:00:06 0x0D3 0 off
+SF2 HOW: 252006 Tue-2:22:00:06 0xD3 0 off
+SF3 HOW: 252006 Tue-2:22:00:06 0xD3 0 off
+
+ CLOCK
+
+Bias T0: 2.14362517E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360734E+03 m**.5
+Motion correction: 4.35768151E-09 rad/sec
+Eccentricity: 8.71229277E-03
+Arg of perigee: 1.29522530E+00 rad
+Mean anomaly at epoch: 3.03274719E+00 rad
+Right ascension: 3.06929331E-01 rad -7.84746974E-09 rad/sec
+Inclination: 9.44623928E-01 rad -8.82179603E-11 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -8.73125000E+01 m Cosine: 1.10812500E+02 m
+Inclination Sine: -3.72529030E-09 rad Cosine: 7.63684511E-08 rad
+In-track Sine: 1.33030117E-05 rad Cosine: -4.45544720E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
diff --git a/dev/tests/RinexEphemerisStore/Logs/clearTest.txt b/dev/tests/RinexEphemerisStore/Logs/clearTest.txt
new file mode 100644
index 0000000..e1dcfc7
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Logs/clearTest.txt
@@ -0,0 +1,5 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ End of BCE maps.
+
diff --git a/dev/tests/RinexEphemerisStore/Logs/editTest.txt b/dev/tests/RinexEphemerisStore/Logs/editTest.txt
new file mode 100644
index 0000000..87b4198
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Logs/editTest.txt
@@ -0,0 +1,33 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 9 entries.
+PRN 1 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 181806.000 KEY 01/31/2006 02:00:00
+PRN 1 TOE 01/31/2006 05:59:44 TOC 194384.000 HOW 192216.000 KEY 01/31/2006 03:59:44
+PRN 1 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 1 TOE 01/31/2006 07:59:44 TOC 201584.000 HOW 194406.000 KEY 01/31/2006 05:59:44
+PRN 1 TOE 01/31/2006 09:59:44 TOC 208784.000 HOW 208446.000 KEY 01/31/2006 07:59:44
+PRN 1 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 1 TOE 01/31/2006 11:59:44 TOC 215984.000 HOW 208806.000 KEY 01/31/2006 09:59:44
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 1 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+ BCE map for satellite 15 has 8 entries.
+PRN 15 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 180006.000 KEY 01/31/2006 02:00:00
+PRN 15 TOE 01/31/2006 05:59:44 TOC 194384.000 HOW 193626.000 KEY 01/31/2006 03:59:44
+PRN 15 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 15 TOE 01/31/2006 07:59:44 TOC 201584.000 HOW 194406.000 KEY 01/31/2006 05:59:44
+PRN 15 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 15 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 15 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+ BCE map for satellite 32 has 8 entries.
+PRN 32 TOE 01/31/2006 04:00:00 TOC 187200.000 HOW 180006.000 KEY 01/31/2006 02:00:00
+PRN 32 TOE 01/31/2006 06:00:00 TOC 194400.000 HOW 187206.000 KEY 01/31/2006 04:00:00
+PRN 32 TOE 01/31/2006 08:00:00 TOC 201600.000 HOW 194406.000 KEY 01/31/2006 06:00:00
+PRN 32 TOE 01/31/2006 10:00:00 TOC 208800.000 HOW 201606.000 KEY 01/31/2006 08:00:00
+PRN 32 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 32 TOE 01/31/2006 13:59:44 TOC 223184.000 HOW 219786.000 KEY 01/31/2006 11:59:44
+PRN 32 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 32 TOE 01/31/2006 15:59:44 TOC 230384.000 HOW 223206.000 KEY 01/31/2006 13:59:44
+ End of BCE maps.
+
diff --git a/dev/tests/RinexEphemerisStore/Logs/findEph1.txt b/dev/tests/RinexEphemerisStore/Logs/findEph1.txt
new file mode 100644
index 0000000..e5b77d1
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Logs/findEph1.txt
@@ -0,0 +1,46 @@
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 1
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 215984 Tue-2 31 43184 01/31/2006 11:59:44
+Eph Epoch: 1360( 336) 215984 Tue-2 31 43184 01/31/2006 11:59:44
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x174 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0x74 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0x74 0 off
+
+ CLOCK
+
+Bias T0: 3.42056155E-05 sec
+Drift: 1.93267624E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -3.25962901E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15367878E+03 m**.5
+Motion correction: 4.15874466E-09 rad/sec
+Eccentricity: 6.32588984E-03
+Arg of perigee: -1.71070282E+00 rad
+Mean anomaly at epoch: 2.31892822E-01 rad
+Right ascension: -1.71556436E+00 rad -8.27605902E-09 rad/sec
+Inclination: 9.86372320E-01 rad 5.33236497E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: 1.13406250E+02 m Cosine: 2.90062500E+02 m
+Inclination Sine: -2.79396772E-08 rad Cosine: -7.45058060E-08 rad
+In-track Sine: 5.29363751E-06 rad Cosine: 5.78165054E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
diff --git a/dev/tests/RinexEphemerisStore/Logs/findEph15.txt b/dev/tests/RinexEphemerisStore/Logs/findEph15.txt
new file mode 100644
index 0000000..8ca404a
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Logs/findEph15.txt
@@ -0,0 +1,46 @@
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 15
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Eph Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x1C7 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0xC7 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0xC7 0 off
+
+ CLOCK
+
+Bias T0: 5.58477826E-04 sec
+Drift: 5.91171556E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -2.32830644E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15370655E+03 m**.5
+Motion correction: 4.89556106E-09 rad/sec
+Eccentricity: 9.35519312E-03
+Arg of perigee: 2.54591534E+00 rad
+Mean anomaly at epoch: -1.12295671E+00 rad
+Right ascension: 2.51209679E+00 rad -8.32106089E-09 rad/sec
+Inclination: 9.58186633E-01 rad -4.94663462E-10 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -3.94062500E+01 m Cosine: 2.49156250E+02 m
+Inclination Sine: -4.65661287E-08 rad Cosine: -1.34110451E-07 rad
+In-track Sine: 6.76140189E-06 rad Cosine: -2.19792128E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 0
+Code on L2: P only L2 P Nav data: on
+
diff --git a/dev/tests/RinexEphemerisStore/Logs/findEph32.txt b/dev/tests/RinexEphemerisStore/Logs/findEph32.txt
new file mode 100644
index 0000000..071d04c
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Logs/findEph32.txt
@@ -0,0 +1,46 @@
+****************************************************************************
+Broadcast Ephemeris (Engineering Units)
+
+PRN : 32
+
+ Week(10bt) SOW DOW UTD SOD MM/DD/YYYY HH:MM:SS
+Clock Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Eph Epoch: 1360( 336) 216000 Tue-2 31 43200 01/31/2006 12:00:00
+Transmit Week:1360
+Fit interval flag : 0
+
+ SUBFRAME OVERHEAD
+
+ SOW DOW:HH:MM:SS IOD ALERT A-S
+SF1 HOW: 208806 Tue-2:10:00:06 0x1B9 0 off
+SF2 HOW: 208806 Tue-2:10:00:06 0xB9 0 off
+SF3 HOW: 208806 Tue-2:10:00:06 0xB9 0 off
+
+ CLOCK
+
+Bias T0: 2.12844461E-05 sec
+Drift: 3.41060513E-12 sec/sec
+Drift rate: 0.00000000E+00 sec/(sec**2)
+Group delay: -8.38190317E-09 sec
+
+ ORBIT PARAMETERS
+
+Semi-major axis: 5.15360841E+03 m**.5
+Motion correction: 4.55768985E-09 rad/sec
+Eccentricity: 8.71008832E-03
+Arg of perigee: 1.29513505E+00 rad
+Mean anomaly at epoch: 3.01468050E+00 rad
+Right ascension: 3.07277461E-01 rad -7.91318676E-09 rad/sec
+Inclination: 9.44622686E-01 rad 3.57157734E-12 rad/sec
+
+ HARMONIC CORRECTIONS
+
+Radial Sine: -8.42187500E+01 m Cosine: 9.85625000E+01 m
+Inclination Sine: -1.30385160E-07 rad Cosine: 1.15483999E-07 rad
+In-track Sine: 1.38413161E-05 rad Cosine: -4.37162817E-06 rad
+
+ SV STATUS
+
+Health bits: 0x00 URA index: 1
+Code on L2: P only L2 P Nav data: on
+
diff --git a/dev/tests/RinexEphemerisStore/Logs/findNearTest.txt b/dev/tests/RinexEphemerisStore/Logs/findNearTest.txt
new file mode 100644
index 0000000..c2311e3
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Logs/findNearTest.txt
@@ -0,0 +1,11 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 1 entries.
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+ BCE map for satellite 15 has 1 entries.
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+ BCE map for satellite 32 has 1 entries.
+PRN 32 TOE 01/31/2006 13:59:44 TOC 223184.000 HOW 219786.000 KEY 01/31/2006 11:59:44
+ End of BCE maps.
+
diff --git a/dev/tests/RinexEphemerisStore/Logs/findUserTest.txt b/dev/tests/RinexEphemerisStore/Logs/findUserTest.txt
new file mode 100644
index 0000000..ff4a2dd
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Logs/findUserTest.txt
@@ -0,0 +1,11 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 1 entries.
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+ BCE map for satellite 15 has 1 entries.
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+ BCE map for satellite 32 has 1 entries.
+PRN 32 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+ End of BCE maps.
+
diff --git a/dev/tests/RinexEphemerisStore/Logs/getPrnXvt1.txt b/dev/tests/RinexEphemerisStore/Logs/getPrnXvt1.txt
new file mode 100644
index 0000000..e4c3bff
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Logs/getPrnXvt1.txt
@@ -0,0 +1 @@
+x:(1.43293e+07, -2.70658e+06, -2.19986e+07), v:(354.696, 2812.26, -117.977), clk bias:3.42024e-05, clk drift:1.93268e-12
diff --git a/dev/tests/RinexEphemerisStore/Logs/getPrnXvt15.txt b/dev/tests/RinexEphemerisStore/Logs/getPrnXvt15.txt
new file mode 100644
index 0000000..ab2097d
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Logs/getPrnXvt15.txt
@@ -0,0 +1 @@
+x:(1.46708e+07, 7.54272e+06, 2.07205e+07), v:(-2147.79, 1575.58, 902.848), clk bias:0.000558493, clk drift:5.91172e-12
diff --git a/dev/tests/RinexEphemerisStore/Logs/getPrnXvt2_1.txt b/dev/tests/RinexEphemerisStore/Logs/getPrnXvt2_1.txt
new file mode 100644
index 0000000..e4c3bff
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Logs/getPrnXvt2_1.txt
@@ -0,0 +1 @@
+x:(1.43293e+07, -2.70658e+06, -2.19986e+07), v:(354.696, 2812.26, -117.977), clk bias:3.42024e-05, clk drift:1.93268e-12
diff --git a/dev/tests/RinexEphemerisStore/Logs/getPrnXvt2_15.txt b/dev/tests/RinexEphemerisStore/Logs/getPrnXvt2_15.txt
new file mode 100644
index 0000000..ab2097d
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Logs/getPrnXvt2_15.txt
@@ -0,0 +1 @@
+x:(1.46708e+07, 7.54272e+06, 2.07205e+07), v:(-2147.79, 1575.58, 902.848), clk bias:0.000558493, clk drift:5.91172e-12
diff --git a/dev/tests/RinexEphemerisStore/Logs/getPrnXvt2_32.txt b/dev/tests/RinexEphemerisStore/Logs/getPrnXvt2_32.txt
new file mode 100644
index 0000000..0b3c565
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Logs/getPrnXvt2_32.txt
@@ -0,0 +1 @@
+x:(8.40859e+06, 1.71989e+07, -1.87307e+07), v:(-2248.12, -606.201, -1577.94), clk bias:2.12763e-05, clk drift:3.41061e-12
diff --git a/dev/tests/RinexEphemerisStore/Logs/getPrnXvt32.txt b/dev/tests/RinexEphemerisStore/Logs/getPrnXvt32.txt
new file mode 100644
index 0000000..0b3c565
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Logs/getPrnXvt32.txt
@@ -0,0 +1 @@
+x:(8.40859e+06, 1.71989e+07, -1.87307e+07), v:(-2248.12, -606.201, -1577.94), clk bias:2.12763e-05, clk drift:3.41061e-12
diff --git a/dev/tests/RinexEphemerisStore/Logs/s011100a.00nEdit b/dev/tests/RinexEphemerisStore/Logs/s011100a.00nEdit
new file mode 100644
index 0000000..3ad7715
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Logs/s011100a.00nEdit
@@ -0,0 +1,233 @@
+ 2.10 Navigation RINEX VERSION / TYPE
+RinexNavWriter NIMA 11-07-01 22:11:07 PGM / RUN BY / DATE
+ END OF HEADER
+ 6 00 4 9 2 0 0.0 .163633376360D-05 .000000000000D+01 .000000000000D+01
+ .139000000000D+03 .110968750000D+03 .479127100424D-08 -.271185537978D+00
+ .587105751038D-05 .666063290555D-02 .486150383949D-05 .515376547623D+04
+ .720000000000D+04 .100582838059D-06 .166945390407D+01 .108033418655D-06
+ .948998078425D+00 .280656250000D+03 -.241616685489D+01 -.853356974315D-08
+ .295369446180D-09 .100000000000D+01 .105700000000D+04 .000000000000D+01
+ .480000000000D+02 .000000000000D+01 -.512227416039D-08 .139000000000D+03
+ .600000000000D+01 .400000000000D+01
+10 00 4 9 2 0 0.0 .492976978421D-04 .454747350886D-12 .000000000000D+01
+ .148000000000D+03 -.748750000000D+02 .415231581776D-08 .295979226314D+01
+ -.385195016861D-05 .409659452271D-02 .105686485767D-04 .515359637451D+04
+ .720000000000D+04 -.838190317154D-07 -.252978665650D+01 .242143869400D-07
+ .974400053365D+00 .183781250000D+03 -.997736974607D-01 -.774067957323D-08
+ .113219001740D-09 .100000000000D+01 .105700000000D+04 .000000000000D+01
+ .480000000000D+02 .000000000000D+01 -.186264514923D-08 .148000000000D+03
+ .600000000000D+01 .400000000000D+01
+22 00 4 9 2 0 0.0 .359528698027D-03 -.110276232590D-10 .000000000000D+01
+ .860000000000D+02 .381562500000D+02 .488556064607D-08 .251560405486D+01
+ .183284282684D-05 .130287357606D-01 .117607414722D-04 .515384888840D+04
+ .720000000000D+04 -.149011611938D-06 .559738517550D+00 -.223517417908D-06
+ .934327413664D+00 .138250000000D+03 .561874429148D+00 -.802712007606D-08
+ -.385016037463D-09 .100000000000D+01 .105700000000D+04 .000000000000D+01
+ .480000000000D+02 .000000000000D+01 -.372529029846D-08 .342000000000D+03
+ .600000000000D+01 .400000000000D+01
+17 00 4 9 1 59 44.0 -.250394456089D-03 -.170530256582D-11 .000000000000D+01
+ .177000000000D+03 -.726875000000D+02 .421874715632D-08 -.621796324633D+00
+ -.385381281376D-05 .114934575977D-01 .392086803913D-05 .515353078079D+04
+ .718400000000D+04 .670552253723D-07 .281169049785D+01 -.141561031342D-06
+ .984505588632D+00 .313687500000D+03 .294499385637D+01 -.827463038586D-08
+ -.825034365993D-10 .100000000000D+01 .105700000000D+04 .000000000000D+01
+ .480000000000D+02 .000000000000D+01 -.186264514923D-08 .177000000000D+03
+ .600000000000D+01 .400000000000D+01
+23 00 4 9 2 0 0.0 .889180228114D-05 .454747350886D-12 .000000000000D+01
+ .200000000000D+03 -.905937500000D+02 .392694928749D-08 .305905949251D+01
+ -.464916229248D-05 .146467217710D-01 .111218541861D-04 .515359329224D+04
+ .720000000000D+04 .180676579475D-06 -.248304348633D+01 -.191852450371D-06
+ .976962943937D+00 .168750000000D+03 -.189609092403D+01 -.753995692661D-08
+ .764317551180D-10 .100000000000D+01 .105700000000D+04 .000000000000D+01
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diff --git a/dev/tests/RinexEphemerisStore/Logs/wiperTest.txt b/dev/tests/RinexEphemerisStore/Logs/wiperTest.txt
new file mode 100644
index 0000000..31aca91
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Logs/wiperTest.txt
@@ -0,0 +1,31 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 8 entries.
+PRN 1 TOE 01/31/2006 11:59:44 TOC 215984.000 HOW 208806.000 KEY 01/31/2006 09:59:44
+PRN 1 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 1 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+PRN 1 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 1 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237606.000 KEY 01/31/2006 18:00:00
+PRN 1 TOE 01/31/2006 21:59:44 TOC 251984.000 HOW 250056.000 KEY 01/31/2006 19:59:44
+PRN 1 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 1 TOE 01/31/2006 23:59:44 TOC 259184.000 HOW 252006.000 KEY 01/31/2006 21:59:44
+ BCE map for satellite 15 has 7 entries.
+PRN 15 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 15 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 15 TOE 01/31/2006 16:00:00 TOC 230400.000 HOW 223206.000 KEY 01/31/2006 14:00:00
+PRN 15 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 15 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237606.000 KEY 01/31/2006 18:00:00
+PRN 15 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 15 TOE 02/01/2006 00:00:00 TOC 259200.000 HOW 252006.000 KEY 01/31/2006 22:00:00
+ BCE map for satellite 32 has 8 entries.
+PRN 32 TOE 01/31/2006 12:00:00 TOC 216000.000 HOW 208806.000 KEY 01/31/2006 10:00:00
+PRN 32 TOE 01/31/2006 13:59:44 TOC 223184.000 HOW 219786.000 KEY 01/31/2006 11:59:44
+PRN 32 TOE 01/31/2006 14:00:00 TOC 223200.000 HOW 216006.000 KEY 01/31/2006 12:00:00
+PRN 32 TOE 01/31/2006 15:59:44 TOC 230384.000 HOW 223206.000 KEY 01/31/2006 13:59:44
+PRN 32 TOE 01/31/2006 18:00:00 TOC 237600.000 HOW 230406.000 KEY 01/31/2006 16:00:00
+PRN 32 TOE 01/31/2006 20:00:00 TOC 244800.000 HOW 237666.000 KEY 01/31/2006 18:00:00
+PRN 32 TOE 01/31/2006 22:00:00 TOC 252000.000 HOW 244806.000 KEY 01/31/2006 20:00:00
+PRN 32 TOE 02/01/2006 00:00:00 TOC 259200.000 HOW 252006.000 KEY 01/31/2006 22:00:00
+ End of BCE maps.
+
diff --git a/dev/tests/RinexEphemerisStore/Logs/wiperTest2.txt b/dev/tests/RinexEphemerisStore/Logs/wiperTest2.txt
new file mode 100644
index 0000000..23380d9
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/Logs/wiperTest2.txt
@@ -0,0 +1,8 @@
+Dump of RinexEphemerisStore:
+TestRinex06.031
+Dump of BCEphemerisStore:
+ BCE map for satellite 1 has 0 entries.
+ BCE map for satellite 15 has 0 entries.
+ BCE map for satellite 32 has 0 entries.
+ End of BCE maps.
+
diff --git a/dev/tests/RinexEphemerisStore/RinexEphemerisStore.cpp b/dev/tests/RinexEphemerisStore/RinexEphemerisStore.cpp
new file mode 120000
index 0000000..865c12c
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/RinexEphemerisStore.cpp
@@ -0,0 +1 @@
+../../src/RinexEphemerisStore.cpp
\ No newline at end of file
diff --git a/dev/tests/RinexEphemerisStore/RinexEphemerisStore.hpp b/dev/tests/RinexEphemerisStore/RinexEphemerisStore.hpp
new file mode 120000
index 0000000..d17be57
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/RinexEphemerisStore.hpp
@@ -0,0 +1 @@
+../../src/RinexEphemerisStore.hpp
\ No newline at end of file
diff --git a/dev/tests/RinexEphemerisStore/TestRinex06.031 b/dev/tests/RinexEphemerisStore/TestRinex06.031
new file mode 100644
index 0000000..5d88357
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/TestRinex06.031
@@ -0,0 +1,339 @@
+ 2.10 NAVIGATION RINEX VERSION / TYPE
+fic2rin 07/10/2006 09:16:03 PGM / RUN BY / DATE
+ END OF HEADER
+ 1 06 1 31 2 0 0.0 .341343693435D-04 .193267624127D-11 .000000000000D+00
+ .670000000000D+02 .115968750000D+03 .434053794369D-08 .126681177927D+01
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diff --git a/dev/tests/RinexEphemerisStore/makefile b/dev/tests/RinexEphemerisStore/makefile
new file mode 100644
index 0000000..5fe34d2
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/makefile
@@ -0,0 +1,24 @@
+# file: makefile
+# next line has to be changed to the installation-path of CppUnit
+CPPUNIT_PATH=/home/ehagen
+
+xRinexEphemerisStore.tst: xRinexEphemerisStoreM.o xRinexEphemerisStore.o RinexEphemerisStore.o BCEphemerisStore.o
+ g++ -o xRinexEphemerisStore.tst xRinexEphemerisStoreM.o xRinexEphemerisStore.o RinexEphemerisStore.o BCEphemerisStore.o -L${CPPUNIT_PATH}/lib -lstdc++ -lcppunit -ldl -lgpstk -fprofile-arcs -ftest-coverage
+
+RinexEphemerisStore.o: RinexEphemerisStore.cpp RinexEphemerisStore.hpp
+ g++ -c RinexEphemerisStore.cpp -I/home/ehagen/gpstk/src -L/home/ehagen/gpstk/src -lgpstk -fprofile-arcs -ftest-coverage
+xRinexEphemerisStore.o: xRinexEphemerisStore.cpp xRinexEphemerisStore.hpp
+ g++ -c xRinexEphemerisStore.cpp -I${CPPUNIT_PATH}/include -I/home/ehagen/gpstk/src -L/home/ehagen/gpstk/src -fprofile-arcs -ftest-coverage
+
+xRinexEphemerisStoreM.o: xRinexEphemerisStoreM.cpp
+ g++ -c xRinexEphemerisStoreM.cpp -I${CPPUNIT_PATH}/include -fprofile-arcs -ftest-coverage
+
+BCEphemerisStore.o: BCEphemerisStore.cpp BCEphemerisStore.hpp
+ g++ -c BCEphemerisStore.cpp -I/home/ehagen/gpstk/src -L/home/ehagen/gpstk/src -lgpstk -fprofile-arcs -ftest-coverage
+
+
+clean:
+ rm -f *.o
+ rm -f *.txt
+ rm -f *.g*
+ rm -f *.*.g*
\ No newline at end of file
diff --git a/dev/tests/RinexEphemerisStore/xRinexEphemerisStore.cpp b/dev/tests/RinexEphemerisStore/xRinexEphemerisStore.cpp
new file mode 100644
index 0000000..1ca328f
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/xRinexEphemerisStore.cpp
@@ -0,0 +1,658 @@
+// file: xRinexEphemerisStore.cpp
+
+#include "xRinexEphemerisStore.hpp"
+
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xRinexEphemerisStore);
+
+
+void xRinexEphemerisStore :: setUp (void)
+{
+}
+
+/*
+**** General test for the RinexEphemerisStore (RES) class
+**** Test to assure the that RES throws its exceptions in the right place and
+**** that it loads the RINEX Nav file correctly
+
+**** To further check this data, please view DumpData.txt for the dumped information
+*/
+
+void xRinexEphemerisStore :: RESTest (void)
+{
+ ofstream DumpData;
+ DumpData.open ("DumpData.txt");
+
+ CPPUNIT_ASSERT_NO_THROW(gpstk::RinexEphemerisStore Store);
+ gpstk::RinexEphemerisStore Store;
+ try
+ {
+ CPPUNIT_ASSERT_THROW(Store.loadFile("NotaFILE"),gpstk::Exception);
+ }
+ catch (gpstk::Exception& e)
+ {
+ }
+
+ CPPUNIT_ASSERT_NO_THROW(Store.loadFile("TestRinex06.031"));
+ Store.loadFile("TestRinex06.031");
+ Store.dump(1,DumpData);
+ DumpData.close();
+
+}
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member findEph()
+
+**** This test makes sure that exceptions are thrown if there is no ephemeris data
+**** for the given PRN and also that an exception is thrown if there is no data for
+**** the PRN at the given time. Furthermore, this test finds an Ephemeris for a given
+**** DayTime Time and PRN.
+
+**** To see the ephemeris information for the selected Time and PRN please see
+**** findEph.txt
+*/
+void xRinexEphemerisStore :: BCESfindEphTest (void)
+{
+ ofstream fPRN1;
+ ofstream fPRN15;
+ ofstream fPRN32;
+ fPRN1.open ("Logs/findEph1.txt");
+ fPRN15.open ("Logs/findEph15.txt");
+ fPRN32.open ("Logs/findEph32.txt");
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ const short PRN0 = 0; // Zero PRN (Border test case)
+ const short PRN1 = 1;
+ const short PRN15 = 15;
+ const short PRN32 = 32;
+ const short PRN33 = 33; //Top PRN (33) (Border test case);
+
+ gpstk::DayTime Time(2006,1,31,11,45,0);
+ gpstk::DayTime bTime(2006,1,31,2,0,0); //Border Time (Time of Border test cases)
+
+
+ try
+ {
+ gpstk::DayTime crazy(200000,1,31,2,0,0);
+ CPPUNIT_ASSERT_NO_THROW(Store.findEphemeris(PRN1,Time));
+
+ fPRN1 << Store.findEphemeris(PRN1,Time);
+ fPRN15 << Store.findEphemeris(PRN15,Time);
+ fPRN32 << Store.findEphemeris(PRN32,Time);
+
+ CPPUNIT_ASSERT_THROW(Store.findEphemeris(PRN0,bTime),gpstk::EphemerisStore::NoEphemerisFound);
+ CPPUNIT_ASSERT_THROW(Store.findEphemeris(PRN33,bTime),gpstk::EphemerisStore::NoEphemerisFound);
+ CPPUNIT_ASSERT_THROW(Store.findEphemeris(PRN32,crazy),gpstk::EphemerisStore::NoEphemerisFound);
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+
+ CPPUNIT_ASSERT(fileEqualTest("Logs/findEph1.txt","Checks/findEph1.chk"));
+ CPPUNIT_ASSERT(fileEqualTest("Logs/findEph15.txt","Checks/findEph15.chk"));
+ CPPUNIT_ASSERT(fileEqualTest("Logs/findEph32.txt","Checks/findEph32.chk"));
+
+}
+
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member getPrnXvt()
+
+**** This test makes sure that exceptions are thrown if there is no ephemeris data
+**** for the given PRN and also that an exception is thrown if there is no data for
+**** the PRN at the given time. Furthermore, this test finds an Xvt for a given
+**** DayTime Time and PRN.
+
+**** To see the Xvt information for the selected Time and PRN please see
+**** getPrnXvt.txt
+*/
+
+void xRinexEphemerisStore :: BCESgetPrnXvtTest (void)
+{
+ ofstream fPRN1;
+ ofstream fPRN15;
+ ofstream fPRN32;
+
+ fPRN1.open ("Logs/getPrnXvt1.txt");
+ fPRN15.open ("Logs/getPrnXvt15.txt");
+ fPRN32.open ("Logs/getPrnXvt32.txt");
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ const short PRN0 = 0; // Zero PRN (Border test case)
+ const short PRN1 = 1;
+ const short PRN15 = 15;
+ const short PRN32 = 32;
+ const short PRN33 = 33; //Top PRN (33) (Border test case);
+
+ gpstk::DayTime Time(2006,1,31,11,45,0);
+ gpstk::DayTime bTime(2006,1,31,2,0,0); //Border Time (Time of Border test cases)
+
+ try
+ {
+ CPPUNIT_ASSERT_NO_THROW(Store.getPrnXvt(PRN1,Time));
+
+ fPRN1 << Store.getPrnXvt(PRN1,Time) << endl;
+ fPRN15 << Store.getPrnXvt(PRN15,Time) << endl;
+ fPRN32 << Store.getPrnXvt(PRN32,Time) << endl;
+
+ CPPUNIT_ASSERT_THROW(Store.getPrnXvt(PRN0,bTime),gpstk::EphemerisStore::NoEphemerisFound);
+ CPPUNIT_ASSERT_THROW(Store.getPrnXvt(PRN33,bTime),gpstk::EphemerisStore::NoEphemerisFound);
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+
+ CPPUNIT_ASSERT(fileEqualTest("Logs/getPrnXvt1.txt","Checks/getPrnXvt1.chk"));
+ CPPUNIT_ASSERT(fileEqualTest("Logs/getPrnXvt15.txt","Checks/getPrnXvt15.chk"));
+ CPPUNIT_ASSERT(fileEqualTest("Logs/getPrnXvt32.txt","Checks/getPrnXvt32.chk"));
+}
+
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member getPrnXvt()
+**** This test differs from the previous in that this getPrnXvt() has another parameter
+**** for the IODC
+
+**** This test makes sure that exceptions are thrown if there is no ephemeris data
+**** for the given PRN and also that an exception is thrown if there is no data for
+**** the PRN at the given time. Furthermore, this test finds an Xvt for a given
+**** DayTime Time and PRN and IODC.
+
+**** To see the Xvt information for the selected Time and PRN please see
+**** getPrnXvt2.txt
+*/
+void xRinexEphemerisStore :: BCESgetPrnXvt2Test (void)
+{
+
+ ofstream fPRN1;
+ ofstream fPRN15;
+ ofstream fPRN32;
+
+ fPRN1.open ("Logs/getPrnXvt2_1.txt");
+ fPRN15.open ("Logs/getPrnXvt2_15.txt");
+ fPRN32.open ("Logs/getPrnXvt2_32.txt");
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ const short PRN0 = 0; // Zero PRN (Border test case)
+ const short PRN1 = 1;
+ const short PRN15 = 15;
+ const short PRN32 = 32;
+ const short PRN33 = 33; //Top PRN (33) (Border test case);
+
+ short IODC0 = 89;
+ short IODC1 = 372;
+ short IODC15 = 455;
+ short IODC32 = 441;
+ short IODC33 = 392;
+
+ gpstk::DayTime Time(2006,1,31,11,45,0);
+ gpstk::DayTime bTime(2006,1,31,2,0,0); //Border Time (Time of Border test cases)
+
+ try
+ {
+ fPRN1 << Store.getPrnXvt(PRN1,Time,IODC1) << endl;
+ fPRN15 << Store.getPrnXvt(PRN15,Time,IODC15) << endl;
+ fPRN32 << Store.getPrnXvt(PRN32,Time,IODC32) << endl;
+
+ CPPUNIT_ASSERT_THROW(Store.getPrnXvt(PRN0,bTime,IODC0),gpstk::EphemerisStore::NoEphemerisFound);
+ CPPUNIT_ASSERT_THROW(Store.getPrnXvt(PRN33,bTime,IODC33),gpstk::EphemerisStore::NoEphemerisFound);
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+
+ CPPUNIT_ASSERT(fileEqualTest("Logs/getPrnXvt2_1.txt","Checks/getPrnXvt1.chk"));
+ CPPUNIT_ASSERT(fileEqualTest("Logs/getPrnXvt2_15.txt","Checks/getPrnXvt15.chk"));
+ CPPUNIT_ASSERT(fileEqualTest("Logs/getPrnXvt2_32.txt","Checks/getPrnXvt32.chk"));
+}
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member getPrnHealth()
+
+**** This test makes sure that exceptions are thrown if there is no ephemeris data
+**** for the given PRN and also that an exception is thrown if there is no data for
+**** the PRN at the given time. Furthermore, this test assures that for a specific PRN
+**** and Time, that SV is as we expect it, health (0).
+*/
+
+void xRinexEphemerisStore :: BCESgetPrnHealthTest (void)
+{
+ const short PRN0 = 0; // Zero PRN (Border test case)
+ const short PRN1 = 1;
+ const short PRN15 = 15;
+ const short PRN32 = 32;
+ const short PRN33 = 33; //Top PRN (33) (Border test case);
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ gpstk::DayTime Time(2006,1,31,11,45,0);
+ gpstk::DayTime bTime(2006,1,31,2,0,0); //Border Time (Time of Border test cases)
+
+ try
+ {
+
+
+ CPPUNIT_ASSERT_NO_THROW(Store.getPrnHealth(PRN1,Time));
+
+ CPPUNIT_ASSERT_EQUAL((short) 0,Store.getPrnHealth(PRN1,Time));
+ CPPUNIT_ASSERT_EQUAL((short) 0,Store.getPrnHealth(PRN15,Time));
+ CPPUNIT_ASSERT_EQUAL((short) 0,Store.getPrnHealth(PRN32,Time));
+
+ CPPUNIT_ASSERT_THROW(Store.getPrnHealth(PRN0,bTime),gpstk::EphemerisStore::NoEphemerisFound);
+ CPPUNIT_ASSERT_THROW(Store.getPrnHealth(PRN33,bTime),gpstk::EphemerisStore::NoEphemerisFound);
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+}
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member dump()
+
+**** This test makes sure that dump() behaves as expected. With paramters from
+**** 0-2 with each giving more and more respective information, this information is
+**** then put into txt files.
+
+**** To see the dump with paramter 0, please view DumpData0.txt
+**** To see the dump with paramter 1, pleave view DumpData1.txt
+**** To see the dump with paramter 2, please uncomment the test and view the command
+**** line output (cout).
+*/
+
+void xRinexEphemerisStore :: BCESdumpTest (void)
+{
+ ofstream DumpData0;
+ ofstream DumpData1;
+ ofstream DumpData2;
+ DumpData0.open ("Logs/DumpData0.txt");
+ DumpData1.open ("Logs/DumpData1.txt");
+ DumpData2.open ("Logs/DumpData2.txt");
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ try
+ {
+ CPPUNIT_ASSERT_NO_THROW(Store.dump(0,DumpData0));
+ CPPUNIT_ASSERT_NO_THROW(Store.dump(1,DumpData1));
+ //Code outputs to cout but does pass, just dont want to run that every time
+ //CPPUNIT_ASSERT_NO_THROW(Store.dump(2,DumpData2));
+ //Store.dump(2,DumpData2);
+
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+ CPPUNIT_ASSERT(fileEqualTest("Logs/DumpData0.txt","Checks/DumpData0.chk"));
+ CPPUNIT_ASSERT(fileEqualTest("Logs/DumpData1.txt","Checks/DumpData1.chk"));
+ //CPPUNIT_ASSERT(fileEqualTest("Logs/DumpData2.txt","Checks/DumpData2.chk"));
+}
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member addEphemeris()
+
+**** This test assures that no exceptions are thrown when a an ephemeris, taken from Store
+**** is added to a blank BCES Object. Then the test makes sure that only that Ephemeris
+**** is in the object by checking the start and end times of the Object
+
+**** Question: Why does this eph data begin two hours earlier than it does on the output?
+*/
+
+void xRinexEphemerisStore :: BCESaddEphemerisTest (void)
+{
+ ofstream DumpData;
+ DumpData.open ("Logs/addEphemerisTest.txt");
+
+
+ gpstk::BCEphemerisStore Blank;
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+ short PRN = 1;
+
+ gpstk::DayTime Time(2006,1,31,11,45,0);
+ gpstk::DayTime TimeB(2006,1,31,9,59,44);
+ const gpstk::EngEphemeris& eph = Store.findEphemeris(PRN,Time);
+
+ try
+ {
+ CPPUNIT_ASSERT_NO_THROW(Blank.addEphemeris(eph));
+ Blank.addEphemeris(eph);
+
+ CPPUNIT_ASSERT_EQUAL(TimeB,Blank.getInitialTime());
+ CPPUNIT_ASSERT_EQUAL(TimeB,Blank.getFinalTime());
+
+ Blank.dump(1,DumpData);
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+ CPPUNIT_ASSERT(fileEqualTest("Logs/addEphemerisTest.txt","Checks/addEphemerisTest.chk"));
+}
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member edit()
+
+**** This test assures that no exceptions are thrown when we edit a RES object
+**** then after we edit the RES Object, we test to make sure that our edit time
+**** parameters are now the time endpoints of the object.
+
+**** For further inspection of the edit, please view editTest.txt
+*/
+
+void xRinexEphemerisStore :: BCESeditTest (void)
+{
+ ofstream DumpData;
+ DumpData.open ("Logs/editTest.txt");
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ gpstk::DayTime TimeMax(2006,1,31,15,45,0);
+ gpstk::DayTime TimeMin(2006,1,31,3,0,0);
+
+ try
+ {
+ CPPUNIT_ASSERT_NO_THROW(Store.edit(TimeMin, TimeMax));
+ Store.edit(TimeMin, TimeMax);
+ CPPUNIT_ASSERT_EQUAL(TimeMin,Store.getInitialTime());
+ CPPUNIT_ASSERT_EQUAL(TimeMax,Store.getFinalTime());
+ Store.dump(1,DumpData);
+
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+ CPPUNIT_ASSERT(fileEqualTest("Logs/editTest.txt","Checks/editTest.chk"));
+}
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member wiper()
+
+**** This test assures that no exceptions are thrown when we wiper a RES object
+**** then after we wiper the RES Object, we test to make sure that our wiper time
+**** parameter in now the time endpoint of the object.
+
+**** For further inspection of the edit, please view wiperTest.txt
+
+**** Please note that this test also indirectly tests size
+*/
+
+void xRinexEphemerisStore :: BCESwiperTest (void)
+{
+ ofstream DumpData1;
+ ofstream DumpData2;
+ DumpData1.open ("Logs/wiperTest.txt");
+ DumpData2.open ("Logs/wiperTest2.txt");
+
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ gpstk::DayTime Time(2006,1,31,11,45,0);
+
+ try
+ {
+ //Make sure it doesn't fail but dont wipe anything
+ CPPUNIT_ASSERT_NO_THROW(Store.wiper(gpstk::DayTime::BEGINNING_OF_TIME));
+ //Wipe everything and make sure that we did wipe all the data
+ Store.wiper(Time);
+ Store.dump(1,DumpData1);
+
+ CPPUNIT_ASSERT_EQUAL(Time,Store.getInitialTime());
+
+ unsigned int Num = Store.ubeSize();
+
+ CPPUNIT_ASSERT_EQUAL(Num,Store.wiper(gpstk::DayTime::END_OF_TIME));
+
+ Store.dump(1,DumpData2);
+
+ CPPUNIT_ASSERT_EQUAL(gpstk::DayTime::END_OF_TIME,Store.getInitialTime());
+
+
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+ CPPUNIT_ASSERT(fileEqualTest("Logs/wiperTest.txt","Checks/wiperTest.chk"));
+ CPPUNIT_ASSERT(fileEqualTest("Logs/wiperTest.txt","Checks/wiperTest.chk"));
+}
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member clear()
+
+**** This test assures that no exceptions are thrown when we clear a RES object
+**** then after we clear the RES Object, we test to make sure that END_OF_TIME is our
+**** initial time and BEGINNING_OF_TIME is our final time
+
+**** For further inspection of the edit, please view clearTest.txt
+*/
+void xRinexEphemerisStore :: BCESclearTest (void)
+{
+ ofstream DumpData;
+ DumpData.open ("Checks/clearTest.chk");
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ try
+ {
+ CPPUNIT_ASSERT_NO_THROW(Store.clear());
+
+ CPPUNIT_ASSERT_EQUAL(gpstk::DayTime::END_OF_TIME,Store.getInitialTime());
+ CPPUNIT_ASSERT_EQUAL(gpstk::DayTime::BEGINNING_OF_TIME,Store.getFinalTime());
+ Store.dump(1,DumpData);
+
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+ CPPUNIT_ASSERT(fileEqualTest("Logs/clearTest.txt","Checks/clearTest.chk"));
+}
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member findUserEphemeris()
+
+**** findUserEphemeris find the ephemeris which a) is within the fit tinterval for the
+**** given time of interest and 2) is the last ephemeris transmitted before the time of
+**** interest (i.e. min(toi-HOW time))
+
+**** This test makes sure that exceptions are thrown if there is no ephemeris data
+**** for the given PRN and also that an exception is thrown if there is no data for
+**** the PRN at the given time. Store is then cleared and the ephemeris data is readded
+**** for output purposes.
+
+**** For further inspection of the find, please view findUserTest.txt
+*/
+
+void xRinexEphemerisStore :: BCESfindUserTest (void)
+{
+ ofstream DumpData;
+ DumpData.open ("Logs/findUserTest.txt");
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ gpstk::DayTime Time(2006,1,31,13,0,1);
+
+ short PRN0 = 0;
+ short PRN1 = 1;
+ short PRN15 = 15;
+ short PRN32 = 32;
+ short PRN33 = 33;
+
+ try
+ {
+ CPPUNIT_ASSERT_THROW(Store.findUserEphemeris(PRN0,Time),gpstk::EphemerisStore::NoEphemerisFound);
+ CPPUNIT_ASSERT_THROW(Store.findUserEphemeris(PRN33,Time),gpstk::EphemerisStore::NoEphemerisFound);
+ CPPUNIT_ASSERT_THROW(Store.findUserEphemeris(PRN1,gpstk::DayTime::END_OF_TIME),
+ gpstk::EphemerisStore::NoEphemerisFound);
+
+ CPPUNIT_ASSERT_NO_THROW(Store.findUserEphemeris(PRN1, Time));
+
+ const gpstk::EngEphemeris& Eph1 = Store.findUserEphemeris(PRN1, Time);
+ const gpstk::EngEphemeris& Eph15 = Store.findUserEphemeris(PRN15, Time);
+ const gpstk::EngEphemeris& Eph32 = Store.findUserEphemeris(PRN32, Time);
+
+ Store.clear();
+
+ Store.addEphemeris(Eph1);
+ Store.addEphemeris(Eph15);
+ Store.addEphemeris(Eph32);
+
+ Store.dump(1,DumpData);
+
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+ CPPUNIT_ASSERT(fileEqualTest("Logs/findUserTest.txt","Checks/findUserTest.chk"));
+}
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member findNearEphemeris()
+**** findNearEphemeris finds the ephemeris with the HOW time closest to the time t, i.e
+**** with the smalles fabs(t-HOW), but still within the fit interval
+
+**** This test makes sure that exceptions are thrown if there is no ephemeris data
+**** for the given PRN and also that an exception is thrown if there is no data for
+**** the PRN at the given time. Store is then cleared and the epeheris data is readded
+**** for output purposes.
+
+**** For further inspection of the find, please view findNearTest.txt
+*/
+
+void xRinexEphemerisStore :: BCESfindNearTest (void)
+{
+ ofstream DumpData;
+ DumpData.open ("Logs/findNearTest.txt");
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ gpstk::DayTime Time(2006,1,31,13,0,1);
+
+ short PRN0 = 0;
+ short PRN1 = 1;
+ short PRN15 = 15;
+ short PRN32 = 32;
+ short PRN33 = 33;
+
+ try
+ {
+ CPPUNIT_ASSERT_THROW(Store.findNearEphemeris(PRN0,Time),gpstk::EphemerisStore::NoEphemerisFound);
+ CPPUNIT_ASSERT_THROW(Store.findNearEphemeris(PRN33,Time),gpstk::EphemerisStore::NoEphemerisFound);
+ CPPUNIT_ASSERT_THROW(Store.findNearEphemeris(PRN1,gpstk::DayTime::END_OF_TIME),
+ gpstk::EphemerisStore::NoEphemerisFound);
+
+ CPPUNIT_ASSERT_NO_THROW(Store.findNearEphemeris(PRN1, Time));
+
+ const gpstk::EngEphemeris& Eph1 = Store.findNearEphemeris(PRN1, Time);
+ const gpstk::EngEphemeris& Eph15 = Store.findNearEphemeris(PRN15, Time);
+ const gpstk::EngEphemeris& Eph32 = Store.findNearEphemeris(PRN32, Time);
+
+ Store.clear();
+
+ Store.addEphemeris(Eph1);
+ Store.addEphemeris(Eph15);
+ Store.addEphemeris(Eph32);
+
+ Store.dump(1,DumpData);
+
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+ CPPUNIT_ASSERT(fileEqualTest("Logs/findNearTest.txt","Checks/findNearTest.chk"));
+}
+
+
+
+/*
+**** Test to assure the quality of BCEphemerisStore class member addToList()
+
+**** This test creats a list of EngEphemeris and then adds all of the ephemeris
+**** members to that list. After that of the List and Store are checked to be
+**** equal.
+
+**** For further inspection of the add, please view addToListTest.txt
+*/
+
+void xRinexEphemerisStore :: BCESaddToListTest (void)
+{
+ ofstream DumpData;
+ DumpData.open ("Logs/addToListTest.txt");
+
+
+ gpstk::RinexEphemerisStore Store;
+ Store.loadFile("TestRinex06.031");
+
+ try
+ {
+ std::list<gpstk::EngEphemeris> EphList; // Empty Ephemeris List
+
+ //Assert that the number of added members equals the size of Store (all members added)
+ CPPUNIT_ASSERT_EQUAL(Store.ubeSize(),(unsigned) Store.addToList(EphList));
+ CPPUNIT_ASSERT_EQUAL((unsigned) EphList.size(),Store.ubeSize());
+
+ typedef list<gpstk::EngEphemeris>::const_iterator LI;
+ for (LI i = EphList.begin();i!=EphList.end();i++)
+ {
+ const gpstk::EngEphemeris& e = *i;
+ DumpData << e;
+ }
+
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+ CPPUNIT_ASSERT(fileEqualTest("Logs/addToListTest.txt","Checks/addToListTest.chk"));
+}
+
+
+bool xRinexEphemerisStore :: fileEqualTest (char* handle1, char* handle2)
+{
+ bool isEqual = false;
+
+ ifstream File1;
+ ifstream File2;
+
+ std::string File1Line;
+ std::string File2Line;
+
+ File1.open(handle1);
+ File2.open(handle2);
+
+ while (!File1.eof())
+ {
+ if (File2.eof())
+ return isEqual;
+ getline (File1, File1Line);
+ getline (File2, File2Line);
+
+ if (File1Line != File2Line)
+ return isEqual;
+ }
+ if (!File2.eof())
+ return isEqual;
+ else
+ return isEqual = true;
+}
diff --git a/dev/tests/RinexEphemerisStore/xRinexEphemerisStore.hpp b/dev/tests/RinexEphemerisStore/xRinexEphemerisStore.hpp
new file mode 100644
index 0000000..d3c00c4
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/xRinexEphemerisStore.hpp
@@ -0,0 +1,57 @@
+// file: xRinexEphemerisStore.hpp
+
+#ifndef XRINEXEPHEMERISSTORE_HPP
+#define XRINEXEPHEMERISSTORE_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "RinexEphemerisStore.hpp"
+#include <fstream>
+
+
+using namespace std;
+
+
+class xRinexEphemerisStore: public CPPUNIT_NS :: TestFixture
+{
+ //Test Fixture information, e.g. what tests will be run
+ CPPUNIT_TEST_SUITE (xRinexEphemerisStore);
+ CPPUNIT_TEST (RESTest);
+ CPPUNIT_TEST (BCESfindEphTest);
+ CPPUNIT_TEST (BCESgetPrnXvtTest);
+ CPPUNIT_TEST (BCESgetPrnXvt2Test);
+ CPPUNIT_TEST (BCESgetPrnHealthTest);
+ CPPUNIT_TEST (BCESdumpTest);
+ CPPUNIT_TEST (BCESaddEphemerisTest);
+ CPPUNIT_TEST (BCESeditTest);
+ CPPUNIT_TEST (BCESwiperTest);
+ CPPUNIT_TEST (BCESclearTest);
+ CPPUNIT_TEST (BCESfindUserTest);
+ CPPUNIT_TEST (BCESfindNearTest);
+ CPPUNIT_TEST (BCESaddToListTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void); //Sets up test enviornment
+
+ protected:
+
+ void RESTest (void);
+ void BCESfindEphTest (void);
+ void BCESgetPrnXvtTest (void);
+ void BCESgetPrnXvt2Test (void);
+ void BCESgetPrnHealthTest (void);
+ void BCESdumpTest (void);
+ void BCESaddEphemerisTest (void);
+ void BCESeditTest (void);
+ void BCESwiperTest (void);
+ void BCESclearTest (void);
+ void BCESfindUserTest (void);
+ void BCESfindNearTest (void);
+ void BCESaddToListTest (void);
+ bool fileEqualTest (char[], char[]);
+
+ private:
+
+};
+#endif
diff --git a/dev/tests/RinexEphemerisStore/xRinexEphemerisStoreM.cpp b/dev/tests/RinexEphemerisStore/xRinexEphemerisStoreM.cpp
new file mode 100644
index 0000000..99b49bc
--- /dev/null
+++ b/dev/tests/RinexEphemerisStore/xRinexEphemerisStoreM.cpp
@@ -0,0 +1,30 @@
+// CppUnit-Tutorial
+// file: ftest.cc
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/RinexMet/Jamfile b/dev/tests/RinexMet/Jamfile
new file mode 100644
index 0000000..089e195
--- /dev/null
+++ b/dev/tests/RinexMet/Jamfile
@@ -0,0 +1,2 @@
+SubDir TOP RinexMet ;
+TestMain RinexMet/xRinexMet.tst : RinexMet/xRinexMetM.cpp RinexMet/xRinexMet.cpp RinexMet/RinexMetBase.cpp RinexMet/RinexMetData.cpp RinexMet/RinexMetHeader.cpp RinexMet/RinexMetFilterOperators.cpp RinexMet/RinexMetStream.cpp ;
diff --git a/dev/tests/RinexMet/Logs/408_110a.04m b/dev/tests/RinexMet/Logs/408_110a.04m
new file mode 100644
index 0000000..1131022
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/408_110a.04m
@@ -0,0 +1,108 @@
+ 2.10 Meteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 04/18/2004 23:58:50 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 3 PR TD HI # / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HI SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ END OF HEADER
+ 04 4 19 0 0 0 992.6 23.9 59.7
+ 04 4 19 0 15 0 992.8 23.6 61.6
+ 04 4 19 0 30 0 992.8 23.4 60.9
+ 04 4 19 0 45 0 992.7 23.0 61.3
+ 04 4 19 1 0 0 992.6 22.7 63.0
+ 04 4 19 1 15 0 992.9 22.2 65.0
+ 04 4 19 1 30 0 993.0 21.8 66.5
+ 04 4 19 1 45 0 993.1 21.5 67.4
+ 04 4 19 2 0 0 993.1 21.2 67.8
+ 04 4 19 2 15 0 992.9 21.0 67.4
+ 04 4 19 2 30 0 993.1 20.8 67.4
+ 04 4 19 2 45 0 993.5 20.3 69.8
+ 04 4 19 3 0 0 993.6 20.0 72.0
+ 04 4 19 3 15 0 993.7 19.8 74.3
+ 04 4 19 3 30 0 993.8 19.6 75.8
+ 04 4 19 3 45 0 993.7 19.3 78.2
+ 04 4 19 4 0 0 993.4 19.0 80.7
+ 04 4 19 4 15 0 994.0 18.8 81.1
+ 04 4 19 4 30 0 994.3 18.7 83.8
+ 04 4 19 4 45 0 994.3 18.6 85.7
+ 04 4 19 5 0 0 994.5 18.5 87.5
+ 04 4 19 5 15 0 994.7 18.5 89.3
+ 04 4 19 5 30 0 994.5 18.5 90.7
+ 04 4 19 5 45 0 994.6 18.6 91.7
+ 04 4 19 6 0 0 994.8 18.7 92.3
+ 04 4 19 6 15 0 994.6 18.7 92.8
+ 04 4 19 6 30 0 994.5 18.8 93.2
+ 04 4 19 6 45 0 994.8 18.7 93.4
+ 04 4 19 7 0 0 994.7 18.8 93.6
+ 04 4 19 7 15 0 994.4 18.9 93.3
+ 04 4 19 7 30 0 994.1 18.9 93.3
+ 04 4 19 7 45 0 993.8 18.9 93.3
+ 04 4 19 8 0 0 993.9 18.9 93.6
+ 04 4 19 8 15 0 993.8 19.0 93.5
+ 04 4 19 8 30 0 993.6 19.0 93.2
+ 04 4 19 8 45 0 993.5 19.0 93.2
+ 04 4 19 9 0 0 993.4 19.1 92.7
+ 04 4 19 9 15 0 993.3 19.1 93.0
+ 04 4 19 9 30 0 993.2 19.0 93.0
+ 04 4 19 9 45 0 993.1 19.1 92.8
+ 04 4 19 10 0 0 993.1 19.2 92.5
+ 04 4 19 10 15 0 992.9 19.2 92.0
+ 04 4 19 10 30 0 992.9 19.3 91.2
+ 04 4 19 10 45 0 992.9 19.3 91.3
+ 04 4 19 11 0 0 992.8 19.3 91.3
+ 04 4 19 11 15 0 992.9 19.3 91.7
+ 04 4 19 11 30 0 992.9 19.3 92.0
+ 04 4 19 11 45 0 993.1 19.3 92.1
+ 04 4 19 12 0 0 993.2 19.3 92.1
+ 04 4 19 12 15 0 993.4 19.4 92.7
+ 04 4 19 12 30 0 993.6 19.4 92.9
+ 04 4 19 12 45 0 993.7 19.5 92.9
+ 04 4 19 13 0 0 993.7 19.5 92.9
+ 04 4 19 13 15 0 994.0 19.4 94.2
+ 04 4 19 13 30 0 994.0 19.6 93.2
+ 04 4 19 13 45 0 994.1 19.6 91.8
+ 04 4 19 14 0 0 994.4 19.8 91.6
+ 04 4 19 14 15 0 994.4 19.9 90.5
+ 04 4 19 14 30 0 994.7 19.8 90.5
+ 04 4 19 14 45 0 994.6 19.9 89.9
+ 04 4 19 15 0 0 994.5 20.1 89.1
+ 04 4 19 15 15 0 994.4 20.3 86.3
+ 04 4 19 15 30 0 994.4 20.5 85.3
+ 04 4 19 15 45 0 994.4 21.0 84.2
+ 04 4 19 16 0 0 994.4 21.0 84.2
+ 04 4 19 16 15 0 994.3 21.0 84.6
+ 04 4 19 16 30 0 994.4 22.0 77.4
+ 04 4 19 16 45 0 994.2 22.9 71.5
+ 04 4 19 17 0 0 994.0 23.2 67.9
+ 04 4 19 17 15 0 994.2 24.2 65.7
+ 04 4 19 17 30 0 994.2 23.9 63.5
+ 04 4 19 17 45 0 994.3 24.3 60.7
+ 04 4 19 18 0 0 993.9 23.9 61.6
+ 04 4 19 18 15 0 993.6 23.9 61.8
+ 04 4 19 18 30 0 993.3 24.7 59.6
+ 04 4 19 18 45 0 993.2 26.4 55.1
+ 04 4 19 19 0 0 993.0 27.6 50.0
+ 04 4 19 19 15 0 992.6 26.8 52.5
+ 04 4 19 19 30 0 992.4 27.1 50.9
+ 04 4 19 19 45 0 992.2 26.5 55.1
+ 04 4 19 20 0 0 992.4 27.0 52.2
+ 04 4 19 20 15 0 992.3 26.7 53.0
+ 04 4 19 20 30 0 992.2 26.9 52.2
+ 04 4 19 20 45 0 992.0 26.7 52.8
+ 04 4 19 21 0 0 991.8 26.8 53.6
+ 04 4 19 21 15 0 992.0 26.4 53.9
+ 04 4 19 21 30 0 991.8 26.0 55.9
+ 04 4 19 21 45 0 991.6 26.8 51.2
+ 04 4 19 22 0 0 991.6 26.6 51.2
+ 04 4 19 22 15 0 991.6 26.2 52.7
+ 04 4 19 22 30 0 991.4 26.2 53.1
+ 04 4 19 22 45 0 991.4 26.2 53.4
+ 04 4 19 23 0 0 991.2 26.3 53.3
+ 04 4 19 23 15 0 991.1 25.9 54.7
+ 04 4 19 23 30 0 991.0 25.7 55.8
+ 04 4 19 23 45 0 990.9 25.3 56.3
diff --git a/dev/tests/RinexMet/Logs/BLL.04m b/dev/tests/RinexMet/Logs/BLL.04m
new file mode 100644
index 0000000..31bb7f9
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/BLL.04m
@@ -0,0 +1,15 @@
+ 2.10 Meteorological RINEX VERSION / TYPE zzzzzzzzzzzzzzzzzzzzzzzzzzzzz
+GFW - RMW NIMA 04/18/2004 23:58:50 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 3 PR TD HI # / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HI SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ END OF HEADER
+ 04 4 19 0 0 0 992.6 23.9 59.7
+ 04 4 19 0 15 0 992.8 23.6 61.6
+
diff --git a/dev/tests/RinexMet/Logs/BOL.04m b/dev/tests/RinexMet/Logs/BOL.04m
new file mode 100644
index 0000000..b4a044a
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/BOL.04m
@@ -0,0 +1,14 @@
+ 2.10 Meteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 04/18/2004 23:58:50 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 3 PR z TD HI # / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HI SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ END OF HEADER
+ 04 4 19 0 0 0 992.6 23.9 59.7
+ 04 4 19 0 15 0 992.8 23.6 61.6
diff --git a/dev/tests/RinexMet/Logs/ContLines10.04m b/dev/tests/RinexMet/Logs/ContLines10.04m
new file mode 100644
index 0000000..e389793
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/ContLines10.04m
@@ -0,0 +1,212 @@
+ 2.10 Meteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 04/18/2004 23:58:50 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 10 PR TD HR ZW ZD ZT WD WS RI# / TYPES OF OBSERV
+ HI # / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HR SENSOR MOD/TYPE/ACC
+Vaisala PTB220 0.1 ZW SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 ZD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 ZT SENSOR MOD/TYPE/ACC
+Vaisala PTB220 0.1 WD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 WS SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 RI SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HI SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ END OF HEADER
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diff --git a/dev/tests/RinexMet/Logs/ContinuationLines.04m b/dev/tests/RinexMet/Logs/ContinuationLines.04m
new file mode 100644
index 0000000..ce176db
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/ContinuationLines.04m
@@ -0,0 +1,210 @@
+ 2.10 Meteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 04/18/2004 23:58:50 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 9 PR TD HR ZW ZD ZT WD WS RI# / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HR SENSOR MOD/TYPE/ACC
+Vaisala PTB220 0.1 ZW SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 ZD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 ZT SENSOR MOD/TYPE/ACC
+Vaisala PTB220 0.1 WD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 WS SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 RI SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ END OF HEADER
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diff --git a/dev/tests/RinexMet/Logs/ContinuationLines.04mBKUP b/dev/tests/RinexMet/Logs/ContinuationLines.04mBKUP
new file mode 100644
index 0000000..1043d3e
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/ContinuationLines.04mBKUP
@@ -0,0 +1,205 @@
+ 2.10 Meteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 04/18/2004 23:58:50 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 10 PR TD HR ZW ZD ZT WD WS RI# / TYPES OF OBSERV
+ HI # / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HI SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ END OF HEADER
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diff --git a/dev/tests/RinexMet/Logs/ExtraH.04m b/dev/tests/RinexMet/Logs/ExtraH.04m
new file mode 100644
index 0000000..842e069
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/ExtraH.04m
@@ -0,0 +1,17 @@
+ 2.10 Meteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 04/18/2004 23:58:50 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+ EXTRAHEADER
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 3 PR TD HI # / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HI SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ EXTRAHEADER
+ END OF HEADER
+ EXTRAHEADER
+ 04 4 19 0 0 0 992.6 23.9 59.7
+ 04 4 19 0 15 0 992.8 23.6 61.6
diff --git a/trunk/src/Makefile.am b/dev/tests/RinexMet/Logs/ExtraOutput.txt
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/RinexMet/Logs/ExtraOutput.txt
diff --git a/dev/tests/RinexMet/Logs/FER.04m b/dev/tests/RinexMet/Logs/FER.04m
new file mode 100644
index 0000000..1ac6207
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/FER.04m
@@ -0,0 +1,14 @@
+ 2.10 Meteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 04/18/2004 23:58:50 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 3 PR TD HI # / TYPES OF OBSERV
+Vaisala PTB220 z 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HI SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ END OF HEADER
+ 04 4 19 0 0 0 992.6 23.9 59.7
+ 04 4 19 0 15 0 992.8 23.6 61.6
diff --git a/trunk/src/Makefile.am b/dev/tests/RinexMet/Logs/FilterOutput.txt
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/RinexMet/Logs/FilterOutput.txt
diff --git a/dev/tests/RinexMet/Logs/FilterTest1.04m b/dev/tests/RinexMet/Logs/FilterTest1.04m
new file mode 100644
index 0000000..18442c8
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/FilterTest1.04m
@@ -0,0 +1,18 @@
+ 2.10 Meteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 04/18/2004 23:58:50 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+THIS IS A COOL COMMENT COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 3 PR TD HR ZW ZD ZT # / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 ZW SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 ZD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 ZT SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ END OF HEADER
+ 04 4 19 0 0 0 992.6 23.9 49.7 992.6 23.9 49.7
+ 04 4 19 0 15 0 992.8 23.6 51.6 992.8 23.6 51.6
diff --git a/dev/tests/RinexMet/Logs/FilterTest2.04m b/dev/tests/RinexMet/Logs/FilterTest2.04m
new file mode 100644
index 0000000..2b0a238
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/FilterTest2.04m
@@ -0,0 +1,18 @@
+ 2.10 Meteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 04/18/2004 23:58:50 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+THIS IS AN EVEN COOLER COMMENT COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 3 PR TD HR ZW ZD ZT # / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 ZW SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 ZD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 ZT SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ END OF HEADER
+ 04 4 19 0 0 0 992.6 23.9 49.7 992.6 23.9 49.7
+ 04 4 19 0 15 0 992.8 23.6 51.6 992.8 23.6 61.6
diff --git a/dev/tests/RinexMet/Logs/FilterTest3.04m b/dev/tests/RinexMet/Logs/FilterTest3.04m
new file mode 100644
index 0000000..36b32e6
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/FilterTest3.04m
@@ -0,0 +1,14 @@
+ 2.10 Meteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 05/18/2004 23:58:50 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 3 PR TD HI # / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HI SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ END OF HEADER
+ 04 5 19 0 0 0 992.6 23.9 59.7
+ 04 5 19 0 15 0 992.8 23.6 61.6
diff --git a/dev/tests/RinexMet/Logs/InvalidTimeFormat.04m b/dev/tests/RinexMet/Logs/InvalidTimeFormat.04m
new file mode 100644
index 0000000..c5dc17e
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/InvalidTimeFormat.04m
@@ -0,0 +1,14 @@
+ 2.10 Meteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 04/18/2004 23:58:50 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 3 PR TD HI # / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HI SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ END OF HEADER
+04419000
+ 04 4 19 0 15 0
diff --git a/dev/tests/RinexMet/Logs/MetDumps b/dev/tests/RinexMet/Logs/MetDumps
new file mode 100644
index 0000000..27f0eed
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/MetDumps
@@ -0,0 +1,13 @@
+Marker 85408
+01/01/-4713 00:00:00
+04/19/2004 00:00:00
+PR 992.6
+TD 23.9
+HR 59.7
+ZW 50
+ZD 40
+ZT 30
+WD 20
+WS 15
+RI 10
+HI 27.7
diff --git a/dev/tests/RinexMet/Logs/MissingEOH.04m b/dev/tests/RinexMet/Logs/MissingEOH.04m
new file mode 100644
index 0000000..27415b1
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/MissingEOH.04m
@@ -0,0 +1,13 @@
+ 2.10 Meteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 04/18/2004 23:58:50 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 3 PR TD HI # / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HI SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ 04 4 19 0 0 0 992.6 23.9 59.7
+ 04 4 19 0 15 0 992.8 23.6 61.6
diff --git a/dev/tests/RinexMet/Logs/MissingMarkerName b/dev/tests/RinexMet/Logs/MissingMarkerName
new file mode 100644
index 0000000..2d150b3
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/MissingMarkerName
@@ -0,0 +1,16 @@
+ 2.10 Meteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 04/18/2004 23:58:50 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+85408 MARKER NUMBER
+ 3 PR TD HI # / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HI SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ END OF HEADER
+ 04 4 19 0 0 0 992.6 23.9 59.7
+ 04 4 19 0 15 0 992.8 23.6 61.6
+ 04 4 19 0 30 0 992.8 23.4 60.9
+ 04 4 19 0 45 0 992.7 23.0 61.3
+ 04 4 19 1 0 0 992.6 22.7 63.0
diff --git a/dev/tests/RinexMet/Logs/NoObsData.04m b/dev/tests/RinexMet/Logs/NoObsData.04m
new file mode 100644
index 0000000..7cbeb16
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/NoObsData.04m
@@ -0,0 +1,13 @@
+ 2.10 Meteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 04/18/2004 23:58:50 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 3 PR TD HI # / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HI SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ END OF HEADER
+ 13 1 1 0 0 0 1.1 2.1 3.1 4.1 5.1 6.1
\ No newline at end of file
diff --git a/dev/tests/RinexMet/Logs/NoObsDataCont.04m b/dev/tests/RinexMet/Logs/NoObsDataCont.04m
new file mode 100644
index 0000000..6dcde3e
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/NoObsDataCont.04m
@@ -0,0 +1,27 @@
+ 2.10 Meteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 04/18/2004 23:58:50 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 10 PR TD HR ZW ZD ZT WD WS RI# / TYPES OF OBSERV
+ zzzHIzzz # / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HR SENSOR MOD/TYPE/ACC
+Vaisala PTB220 0.1 ZW SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 ZD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 ZT SENSOR MOD/TYPE/ACC
+Vaisala PTB220 0.1 WD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 WS SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 RI SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HI SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ END OF HEADER
+ 04 4 19 0 0 0 992.6 23.9 59.7 50.0 40.0 30.0 20.0 15.0
+ 10.0
+ 04 4 19 0 15 0 992.8 23.6 61.6 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 0 30 0 992.8 23.4 60.9 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+
diff --git a/dev/tests/RinexMet/Logs/NotMetFile.04m b/dev/tests/RinexMet/Logs/NotMetFile.04m
new file mode 100644
index 0000000..8334883
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/NotMetFile.04m
@@ -0,0 +1,14 @@
+ 2.10 Neteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 04/18/2004 23:58:50 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 3 PR TD HI # / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HI SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ END OF HEADER
+ 04 4 19 0 0 0 992.6 23.9 59.7
+ 04 4 19 0 15 0 992.8 23.6 61.6
diff --git a/dev/tests/RinexMet/Logs/ObsHeaderStringError.04m b/dev/tests/RinexMet/Logs/ObsHeaderStringError.04m
new file mode 100644
index 0000000..cae25bd
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/ObsHeaderStringError.04m
@@ -0,0 +1,27 @@
+ 2.10 Meteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 04/18/2004 23:58:50 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 10 PR TD HR ZW ZD ZT WD WS RI# / TYPES OF OBSERV
+ zzzHIzzz # / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HR SENSOR MOD/TYPE/ACC
+Vaisala PTB220 0.1 ZW SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 ZD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 ZT SENSOR MOD/TYPE/ACC
+Vaisala PTB220 0.1 WD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 WS SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 RI SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HI SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ END OF HEADER
+ 04 4 19 0 0 0 992.6 23.9 59.7 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.7
+ 04 4 19 0 15 0 992.8 23.6 61.6 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 0 30 0 992.8 23.4 60.9 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+
diff --git a/dev/tests/RinexMet/Logs/Output.txt b/dev/tests/RinexMet/Logs/Output.txt
new file mode 100644
index 0000000..536ea3e
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/Output.txt
@@ -0,0 +1,108 @@
+ 2.10 Meteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 10/05/2006 12:29:21 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 3 PR TD HI # / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HI SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ END OF HEADER
+ 04 4 19 0 0 0 992.6 23.9 59.7
+ 04 4 19 0 15 0 992.8 23.6 61.6
+ 04 4 19 0 30 0 992.8 23.4 60.9
+ 04 4 19 0 45 0 992.7 23.0 61.3
+ 04 4 19 1 0 0 992.6 22.7 63.0
+ 04 4 19 1 15 0 992.9 22.2 65.0
+ 04 4 19 1 30 0 993.0 21.8 66.5
+ 04 4 19 1 45 0 993.1 21.5 67.4
+ 04 4 19 2 0 0 993.1 21.2 67.8
+ 04 4 19 2 15 0 992.9 21.0 67.4
+ 04 4 19 2 30 0 993.1 20.8 67.4
+ 04 4 19 2 45 0 993.5 20.3 69.8
+ 04 4 19 3 0 0 993.6 20.0 72.0
+ 04 4 19 3 15 0 993.7 19.8 74.3
+ 04 4 19 3 30 0 993.8 19.6 75.8
+ 04 4 19 3 45 0 993.7 19.3 78.2
+ 04 4 19 4 0 0 993.4 19.0 80.7
+ 04 4 19 4 15 0 994.0 18.8 81.1
+ 04 4 19 4 30 0 994.3 18.7 83.8
+ 04 4 19 4 45 0 994.3 18.6 85.7
+ 04 4 19 5 0 0 994.5 18.5 87.5
+ 04 4 19 5 15 0 994.7 18.5 89.3
+ 04 4 19 5 30 0 994.5 18.5 90.7
+ 04 4 19 5 45 0 994.6 18.6 91.7
+ 04 4 19 6 0 0 994.8 18.7 92.3
+ 04 4 19 6 15 0 994.6 18.7 92.8
+ 04 4 19 6 30 0 994.5 18.8 93.2
+ 04 4 19 6 45 0 994.8 18.7 93.4
+ 04 4 19 7 0 0 994.7 18.8 93.6
+ 04 4 19 7 15 0 994.4 18.9 93.3
+ 04 4 19 7 30 0 994.1 18.9 93.3
+ 04 4 19 7 45 0 993.8 18.9 93.3
+ 04 4 19 8 0 0 993.9 18.9 93.6
+ 04 4 19 8 15 0 993.8 19.0 93.5
+ 04 4 19 8 30 0 993.6 19.0 93.2
+ 04 4 19 8 45 0 993.5 19.0 93.2
+ 04 4 19 9 0 0 993.4 19.1 92.7
+ 04 4 19 9 15 0 993.3 19.1 93.0
+ 04 4 19 9 30 0 993.2 19.0 93.0
+ 04 4 19 9 45 0 993.1 19.1 92.8
+ 04 4 19 10 0 0 993.1 19.2 92.5
+ 04 4 19 10 15 0 992.9 19.2 92.0
+ 04 4 19 10 30 0 992.9 19.3 91.2
+ 04 4 19 10 45 0 992.9 19.3 91.3
+ 04 4 19 11 0 0 992.8 19.3 91.3
+ 04 4 19 11 15 0 992.9 19.3 91.7
+ 04 4 19 11 30 0 992.9 19.3 92.0
+ 04 4 19 11 45 0 993.1 19.3 92.1
+ 04 4 19 12 0 0 993.2 19.3 92.1
+ 04 4 19 12 15 0 993.4 19.4 92.7
+ 04 4 19 12 30 0 993.6 19.4 92.9
+ 04 4 19 12 45 0 993.7 19.5 92.9
+ 04 4 19 13 0 0 993.7 19.5 92.9
+ 04 4 19 13 15 0 994.0 19.4 94.2
+ 04 4 19 13 30 0 994.0 19.6 93.2
+ 04 4 19 13 45 0 994.1 19.6 91.8
+ 04 4 19 14 0 0 994.4 19.8 91.6
+ 04 4 19 14 15 0 994.4 19.9 90.5
+ 04 4 19 14 30 0 994.7 19.8 90.5
+ 04 4 19 14 45 0 994.6 19.9 89.9
+ 04 4 19 15 0 0 994.5 20.1 89.1
+ 04 4 19 15 15 0 994.4 20.3 86.3
+ 04 4 19 15 30 0 994.4 20.5 85.3
+ 04 4 19 15 45 0 994.4 21.0 84.2
+ 04 4 19 16 0 0 994.4 21.0 84.2
+ 04 4 19 16 15 0 994.3 21.0 84.6
+ 04 4 19 16 30 0 994.4 22.0 77.4
+ 04 4 19 16 45 0 994.2 22.9 71.5
+ 04 4 19 17 0 0 994.0 23.2 67.9
+ 04 4 19 17 15 0 994.2 24.2 65.7
+ 04 4 19 17 30 0 994.2 23.9 63.5
+ 04 4 19 17 45 0 994.3 24.3 60.7
+ 04 4 19 18 0 0 993.9 23.9 61.6
+ 04 4 19 18 15 0 993.6 23.9 61.8
+ 04 4 19 18 30 0 993.3 24.7 59.6
+ 04 4 19 18 45 0 993.2 26.4 55.1
+ 04 4 19 19 0 0 993.0 27.6 50.0
+ 04 4 19 19 15 0 992.6 26.8 52.5
+ 04 4 19 19 30 0 992.4 27.1 50.9
+ 04 4 19 19 45 0 992.2 26.5 55.1
+ 04 4 19 20 0 0 992.4 27.0 52.2
+ 04 4 19 20 15 0 992.3 26.7 53.0
+ 04 4 19 20 30 0 992.2 26.9 52.2
+ 04 4 19 20 45 0 992.0 26.7 52.8
+ 04 4 19 21 0 0 991.8 26.8 53.6
+ 04 4 19 21 15 0 992.0 26.4 53.9
+ 04 4 19 21 30 0 991.8 26.0 55.9
+ 04 4 19 21 45 0 991.6 26.8 51.2
+ 04 4 19 22 0 0 991.6 26.6 51.2
+ 04 4 19 22 15 0 991.6 26.2 52.7
+ 04 4 19 22 30 0 991.4 26.2 53.1
+ 04 4 19 22 45 0 991.4 26.2 53.4
+ 04 4 19 23 0 0 991.2 26.3 53.3
+ 04 4 19 23 15 0 991.1 25.9 54.7
+ 04 4 19 23 30 0 991.0 25.7 55.8
+ 04 4 19 23 45 0 990.9 25.3 56.3
diff --git a/dev/tests/RinexMet/Logs/OutputCont.txt b/dev/tests/RinexMet/Logs/OutputCont.txt
new file mode 100644
index 0000000..45a6f51
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/OutputCont.txt
@@ -0,0 +1,212 @@
+ 2.10 Meteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 10/05/2006 12:29:21 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 10 PR TD HR ZW ZD ZT WD WS RI# / TYPES OF OBSERV
+ HI # / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HR SENSOR MOD/TYPE/ACC
+Vaisala PTB220 0.1 ZW SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 ZD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 ZT SENSOR MOD/TYPE/ACC
+Vaisala PTB220 0.1 WD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 WS SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 RI SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HI SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ END OF HEADER
+ 04 4 19 0 0 0 992.6 23.9 59.7 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.7
+ 04 4 19 0 15 0 992.8 23.6 61.6 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 0 30 0 992.8 23.4 60.9 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.4
+ 04 4 19 0 45 0 992.7 23.0 61.3 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.5
+ 04 4 19 1 0 0 992.6 22.7 63.0 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.6
+ 04 4 19 1 15 0 992.9 22.2 65.0 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 1 30 0 993.0 21.8 66.5 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 1 45 0 993.1 21.5 67.4 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 2 0 0 993.1 21.2 67.8 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 2 15 0 992.9 21.0 67.4 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 2 30 0 993.1 20.8 67.4 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 2 45 0 993.5 20.3 69.8 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 3 0 0 993.6 20.0 72.0 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 3 15 0 993.7 19.8 74.3 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 3 30 0 993.8 19.6 75.8 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 3 45 0 993.7 19.3 78.2 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 4 0 0 993.4 19.0 80.7 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 4 15 0 994.0 18.8 81.1 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 4 30 0 994.3 18.7 83.8 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 4 45 0 994.3 18.6 85.7 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 5 0 0 994.5 18.5 87.5 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 5 15 0 994.7 18.5 89.3 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 5 30 0 994.5 18.5 90.7 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 5 45 0 994.6 18.6 91.7 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 6 0 0 994.8 18.7 92.3 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 6 15 0 994.6 18.7 92.8 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
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+ 10.0 27.3
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+ 10.0 27.3
+ 04 4 19 7 0 0 994.7 18.8 93.6 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 7 15 0 994.4 18.9 93.3 50.0 40.0 30.0 20.0 15.0
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+ 10.0 27.3
+ 04 4 19 7 45 0 993.8 18.9 93.3 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 8 0 0 993.9 18.9 93.6 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 8 15 0 993.8 19.0 93.5 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 8 30 0 993.6 19.0 93.2 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 8 45 0 993.5 19.0 93.2 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 9 0 0 993.4 19.1 92.7 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
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+ 10.0 27.3
+ 04 4 19 9 30 0 993.2 19.0 93.0 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 9 45 0 993.1 19.1 92.8 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 10 0 0 993.1 19.2 92.5 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 10 15 0 992.9 19.2 92.0 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 10 30 0 992.9 19.3 91.2 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 10 45 0 992.9 19.3 91.3 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 11 0 0 992.8 19.3 91.3 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 11 15 0 992.9 19.3 91.7 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 11 30 0 992.9 19.3 92.0 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 11 45 0 993.1 19.3 92.1 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
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+ 10.0 27.3
+ 04 4 19 12 15 0 993.4 19.4 92.7 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 12 30 0 993.6 19.4 92.9 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 12 45 0 993.7 19.5 92.9 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 13 0 0 993.7 19.5 92.9 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 13 15 0 994.0 19.4 94.2 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 13 30 0 994.0 19.6 93.2 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 13 45 0 994.1 19.6 91.8 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 14 0 0 994.4 19.8 91.6 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 14 15 0 994.4 19.9 90.5 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 14 30 0 994.7 19.8 90.5 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 14 45 0 994.6 19.9 89.9 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 15 0 0 994.5 20.1 89.1 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 15 15 0 994.4 20.3 86.3 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 15 30 0 994.4 20.5 85.3 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 15 45 0 994.4 21.0 84.2 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 16 0 0 994.4 21.0 84.2 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 16 15 0 994.3 21.0 84.6 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 16 30 0 994.4 22.0 77.4 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 16 45 0 994.2 22.9 71.5 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 17 0 0 994.0 23.2 67.9 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 17 15 0 994.2 24.2 65.7 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 17 30 0 994.2 23.9 63.5 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 17 45 0 994.3 24.3 60.7 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 18 0 0 993.9 23.9 61.6 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 18 15 0 993.6 23.9 61.8 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 18 30 0 993.3 24.7 59.6 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 18 45 0 993.2 26.4 55.1 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 19 0 0 993.0 27.6 50.0 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 19 15 0 992.6 26.8 52.5 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 19 30 0 992.4 27.1 50.9 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 19 45 0 992.2 26.5 55.1 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 20 0 0 992.4 27.0 52.2 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 20 15 0 992.3 26.7 53.0 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 20 30 0 992.2 26.9 52.2 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 20 45 0 992.0 26.7 52.8 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 21 0 0 991.8 26.8 53.6 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 21 15 0 992.0 26.4 53.9 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 21 30 0 991.8 26.0 55.9 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 21 45 0 991.6 26.8 51.2 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 22 0 0 991.6 26.6 51.2 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 22 15 0 991.6 26.2 52.7 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 22 30 0 991.4 26.2 53.1 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 22 45 0 991.4 26.2 53.4 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 23 0 0 991.2 26.3 53.3 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 23 15 0 991.1 25.9 54.7 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 23 30 0 991.0 25.7 55.8 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
+ 04 4 19 23 45 0 990.9 25.3 56.3 50.0 40.0 30.0 20.0 15.0
+ 10.0 27.3
diff --git a/dev/tests/RinexMet/Logs/OutputDataExceptions.txt b/dev/tests/RinexMet/Logs/OutputDataExceptions.txt
new file mode 100644
index 0000000..e7175a3
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/OutputDataExceptions.txt
@@ -0,0 +1,14 @@
+ 2.10 Meteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 10/05/2006 12:29:21 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 3 PR TD HI # / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HI SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ END OF HEADER
+ 13 1 1 0 0 0 1.1 2.1 3.1
+ 13 1 1 0 0 0 0.0 0.0 0.0
diff --git a/dev/tests/RinexMet/Logs/SensorTypeError.04m b/dev/tests/RinexMet/Logs/SensorTypeError.04m
new file mode 100644
index 0000000..829df0b
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/SensorTypeError.04m
@@ -0,0 +1,14 @@
+ 2.10 Meteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 04/18/2004 23:58:50 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 3 PR TD HI # / TYPES OF OBSERV
+Vaisala PTB220zzzzzzzzzzzzzzzzzzzz 0.1 zzzPR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HI SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ END OF HEADER
+ 04 4 19 0 0 0 992.6 23.9 59.7
+ 04 4 19 0 15 0 992.8 23.6 61.6
diff --git a/dev/tests/RinexMet/Logs/UnSupRinex.04m b/dev/tests/RinexMet/Logs/UnSupRinex.04m
new file mode 100644
index 0000000..88ab774
--- /dev/null
+++ b/dev/tests/RinexMet/Logs/UnSupRinex.04m
@@ -0,0 +1,14 @@
+ 3.30 Meteorological RINEX VERSION / TYPE
+GFW - RMW NIMA 04/18/2004 23:58:50 PGM / RUN BY / DATE
+Some weather data may have corrected values COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+ 3 PR TD HI # / TYPES OF OBSERV
+Vaisala PTB220 0.1 PR SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 TD SENSOR MOD/TYPE/ACC
+Vaisala HMP230 0.1 HI SENSOR MOD/TYPE/ACC
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 PR SENSOR POS XYZ/H
+ -740289.8363 -5457071.7414 3207245.6207 0.0000 TD SENSOR POS XYZ/H
+ END OF HEADER
+ 04 4 19 0 0 0 992.6 23.9 59.7
+ 04 4 19 0 15 0 992.8 23.6 61.6
diff --git a/trunk/src/Makefile.am b/dev/tests/RinexMet/RinexMetBase.cpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/RinexMet/RinexMetBase.cpp
diff --git a/dev/tests/RinexMet/RinexMetBase.hpp b/dev/tests/RinexMet/RinexMetBase.hpp
new file mode 120000
index 0000000..4420809
--- /dev/null
+++ b/dev/tests/RinexMet/RinexMetBase.hpp
@@ -0,0 +1 @@
+../../src/RinexMetBase.hpp
\ No newline at end of file
diff --git a/dev/tests/RinexMet/RinexMetData.cpp b/dev/tests/RinexMet/RinexMetData.cpp
new file mode 120000
index 0000000..e4ef581
--- /dev/null
+++ b/dev/tests/RinexMet/RinexMetData.cpp
@@ -0,0 +1 @@
+../../src/RinexMetData.cpp
\ No newline at end of file
diff --git a/dev/tests/RinexMet/RinexMetData.hpp b/dev/tests/RinexMet/RinexMetData.hpp
new file mode 120000
index 0000000..488ceb9
--- /dev/null
+++ b/dev/tests/RinexMet/RinexMetData.hpp
@@ -0,0 +1 @@
+../../src/RinexMetData.hpp
\ No newline at end of file
diff --git a/trunk/src/Makefile.am b/dev/tests/RinexMet/RinexMetFilterOperators.cpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/RinexMet/RinexMetFilterOperators.cpp
diff --git a/dev/tests/RinexMet/RinexMetFilterOperators.hpp b/dev/tests/RinexMet/RinexMetFilterOperators.hpp
new file mode 120000
index 0000000..8447294
--- /dev/null
+++ b/dev/tests/RinexMet/RinexMetFilterOperators.hpp
@@ -0,0 +1 @@
+../../src/RinexMetFilterOperators.hpp
\ No newline at end of file
diff --git a/dev/tests/RinexMet/RinexMetHeader.cpp b/dev/tests/RinexMet/RinexMetHeader.cpp
new file mode 120000
index 0000000..ae77cf6
--- /dev/null
+++ b/dev/tests/RinexMet/RinexMetHeader.cpp
@@ -0,0 +1 @@
+../../src/RinexMetHeader.cpp
\ No newline at end of file
diff --git a/dev/tests/RinexMet/RinexMetHeader.hpp b/dev/tests/RinexMet/RinexMetHeader.hpp
new file mode 120000
index 0000000..29b5215
--- /dev/null
+++ b/dev/tests/RinexMet/RinexMetHeader.hpp
@@ -0,0 +1 @@
+../../src/RinexMetHeader.hpp
\ No newline at end of file
diff --git a/trunk/src/Makefile.am b/dev/tests/RinexMet/RinexMetStream.cpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/RinexMet/RinexMetStream.cpp
diff --git a/dev/tests/RinexMet/RinexMetStream.hpp b/dev/tests/RinexMet/RinexMetStream.hpp
new file mode 120000
index 0000000..85653be
--- /dev/null
+++ b/dev/tests/RinexMet/RinexMetStream.hpp
@@ -0,0 +1 @@
+../../src/RinexMetStream.hpp
\ No newline at end of file
diff --git a/dev/tests/RinexMet/xRinexMet.cpp b/dev/tests/RinexMet/xRinexMet.cpp
new file mode 100644
index 0000000..d3135bc
--- /dev/null
+++ b/dev/tests/RinexMet/xRinexMet.cpp
@@ -0,0 +1,516 @@
+#include "xRinexMet.hpp"
+#include "StringUtils.hpp"
+
+using namespace gpstk;
+
+using namespace std;
+CPPUNIT_TEST_SUITE_REGISTRATION (xRinexMet);
+
+void xRinexMet :: setUp (void)
+{
+}
+
+/*
+**** A test to assure that the bistAsString function works as intended
+*/
+
+void xRinexMet :: bitsAsStringTest (void)
+{
+
+ gpstk::RinexMetHeader RinexMetHeader;
+
+ string a = "RINEX VERSION / TYPE";
+ string b = "PGM / RUN BY / DATE";
+ string c = "COMMENT";
+ string d = "MARKER NAME";
+ string e = "MARKER NUMBER";
+ string f = "# / TYPES OF OBSERV";
+ string g = "SENSOR MOD/TYPE/ACC";
+ string h = "SENSOR POS XYZ/H";
+ string i = "END OF HEADER";
+ string z = "*UNKNOWN/INVALID BITS*";
+ CPPUNIT_ASSERT_EQUAL(a,RinexMetHeader.bitsAsString(RinexMetHeader.versionValid));
+ CPPUNIT_ASSERT_EQUAL(b,RinexMetHeader.bitsAsString(RinexMetHeader.runByValid));
+ CPPUNIT_ASSERT_EQUAL(c,RinexMetHeader.bitsAsString(RinexMetHeader.commentValid));
+ CPPUNIT_ASSERT_EQUAL(d,RinexMetHeader.bitsAsString(RinexMetHeader.markerNameValid));
+ CPPUNIT_ASSERT_EQUAL(e,RinexMetHeader.bitsAsString(RinexMetHeader.markerNumberValid));
+ CPPUNIT_ASSERT_EQUAL(f,RinexMetHeader.bitsAsString(RinexMetHeader.obsTypeValid));
+ CPPUNIT_ASSERT_EQUAL(g,RinexMetHeader.bitsAsString(RinexMetHeader.sensorTypeValid));
+ CPPUNIT_ASSERT_EQUAL(h,RinexMetHeader.bitsAsString(RinexMetHeader.sensorPosValid));
+ CPPUNIT_ASSERT_EQUAL(i,RinexMetHeader.bitsAsString(RinexMetHeader.endValid));
+ //Defult Case
+ CPPUNIT_ASSERT_EQUAL(z,RinexMetHeader.bitsAsString(RinexMetHeader.allValid21));
+
+}
+
+/*
+**** A test to assure that the version validity bits are what we expect them to be
+*/
+void xRinexMet :: bitStringTest(void)
+{
+
+ gpstk::RinexMetHeader RinexMetHeader;
+ string sep=", ";
+ string a = "\"RINEX VERSION / TYPE\"";
+ string b = "\"RINEX VERSION / TYPE\", \"PGM / RUN BY / DATE\", \"MARKER NAME\", \"# / TYPES OF OBSERV\", \"SENSOR MOD/TYPE/ACC\", \"SENSOR POS XYZ/H\", \"END OF HEADER\"";
+ CPPUNIT_ASSERT_EQUAL(a, RinexMetHeader.bitString(RinexMetHeader.versionValid,'\"',sep));
+ CPPUNIT_ASSERT_EQUAL(b, RinexMetHeader.bitString(RinexMetHeader.allValid21,'\"',sep));
+ CPPUNIT_ASSERT_EQUAL(b, RinexMetHeader.bitString(RinexMetHeader.allValid20,'\"',sep));
+ //CPPUNIT_ASSERT_EQUAL(b, RinexMetHeader.bitString(RinexMetHeader.allValid20,' ',sep));
+
+}
+
+/*
+**** A small test of the reallyPutRecord member of the RinexMetHeader with a few execptions such as
+**** an Unsupported Rinex version (e.g. 3.33) and a Missing Marker Name
+*/
+void xRinexMet :: reallyPutRecordTest(void)
+{
+
+ gpstk::RinexMetHeader RinexMetHeader;
+ gpstk::RinexMetStream UnSupRinex("Logs/UnSupRinex.04m");
+ gpstk::RinexMetStream MissingMarkerName("Logs/MissingMarkerName");
+ gpstk::RinexMetStream output("Logs/ExtraOutput.txt", ios::out);
+ output.exceptions(fstream::failbit);
+ try
+ {
+ UnSupRinex >> RinexMetHeader;
+ CPPUNIT_ASSERT_THROW(output << RinexMetHeader, gpstk::Exception);
+ MissingMarkerName >> RinexMetHeader;
+ CPPUNIT_ASSERT_THROW(output << RinexMetHeader, gpstk::Exception);
+
+ }
+ catch(gpstk::Exception& e)
+ {
+ cout << (e);
+ }
+
+}
+
+// This function reads the RINEX MET header from the given FFStream.
+// If an error is encountered in reading form the stream, the stream
+// is reset to its original position and its fail-bit is set.
+void xRinexMet :: reallyGetRecordTest(void)
+{
+
+ //Header file we will be testing on
+ gpstk::RinexMetHeader RinexMetHeader;
+
+ //Normal Met File (No changes, straight from the archive)
+ gpstk::RinexMetStream Normal("Logs/408_110a.04m");
+
+ //Bad Line Length Met file (Add a space characacter to the end of the first line)
+ gpstk::RinexMetStream BLL("Logs/BLL.04m");
+
+ //Not a Met File (Change Met to zet in first line)
+ gpstk::RinexMetStream NMF("Logs/NotMetFile.04m");
+
+ //Bad Obs line (Add in something between the MET obs besides space)
+ gpstk::RinexMetStream BOL("Logs/BOL.04m");
+
+ //Bad Sesor Type line, Format Error
+ gpstk::RinexMetStream FER("Logs/FER.04m");
+
+ //Extra header line with HEADERLINE2
+ gpstk::RinexMetStream ExtraH("Logs/ExtraH.04m");
+
+ //Unsupported Rinex Version (3.30)
+ gpstk::RinexMetStream UnSupRinex("Logs/UnSupRinex.04m");
+
+ //Missing SensorPos
+ gpstk::RinexMetStream MissingSPos("Logs/MissingEOH.04m");
+
+ //Error in the part of the header which holds the list of observations within the Met file
+ gpstk::RinexMetStream ObsHeaderStringError("Logs/ObsHeaderStringError.04m");
+
+ //Error in the sensor type
+ gpstk::RinexMetStream SensorType("Logs/SensorTypeError.04m");
+
+ Normal.exceptions(fstream::failbit);
+ BLL.exceptions(fstream::failbit);
+ NMF.exceptions(fstream::failbit);
+ BOL.exceptions(fstream::failbit);
+ FER.exceptions(fstream::failbit);
+ ExtraH.exceptions(fstream::failbit);
+ UnSupRinex.exceptions(fstream::failbit);
+ MissingSPos.exceptions(fstream::failbit);
+ ObsHeaderStringError.exceptions(fstream::failbit);
+ SensorType.exceptions(fstream::failbit);
+
+ try
+ {
+ CPPUNIT_ASSERT_THROW(ExtraH >> RinexMetHeader, gpstk::Exception);
+ CPPUNIT_ASSERT_THROW(UnSupRinex >> RinexMetHeader, gpstk::Exception);
+ CPPUNIT_ASSERT_THROW(MissingSPos >> RinexMetHeader, gpstk::Exception);
+ CPPUNIT_ASSERT_THROW(ObsHeaderStringError >> RinexMetHeader, gpstk::Exception);
+ CPPUNIT_ASSERT_THROW(SensorType >> RinexMetHeader, gpstk::Exception);
+ CPPUNIT_ASSERT_THROW(BLL >> RinexMetHeader, gpstk::Exception);
+ CPPUNIT_ASSERT_THROW(NMF >> RinexMetHeader, gpstk::Exception);
+ CPPUNIT_ASSERT_THROW(BOL >> RinexMetHeader, gpstk::Exception);
+
+ CPPUNIT_ASSERT_NO_THROW(Normal >> RinexMetHeader);
+ }
+ catch(gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+
+}
+
+/*
+**** This test tests the convertObsType member of RinexMetHeader
+**** This particular test asserts if two Met Types are equal
+*/
+void xRinexMet :: convertObsTypeSTRTest (void)
+{
+
+ gpstk::RinexMetHeader RinexMetHeader;
+ gpstk::RinexMetStream Normal("Logs/408_110a.04m");
+ Normal >> RinexMetHeader;
+ gpstk::RinexMetHeader::RinexMetType PR = RinexMetHeader.convertObsType("PR");
+ gpstk::RinexMetHeader::RinexMetType TD = RinexMetHeader.convertObsType("TD");
+ gpstk::RinexMetHeader::RinexMetType HR = RinexMetHeader.convertObsType("HR");
+ gpstk::RinexMetHeader::RinexMetType ZW = RinexMetHeader.convertObsType("ZW");
+ gpstk::RinexMetHeader::RinexMetType ZD = RinexMetHeader.convertObsType("ZD");
+ gpstk::RinexMetHeader::RinexMetType ZT = RinexMetHeader.convertObsType("ZT");
+ gpstk::RinexMetHeader::RinexMetType HI = RinexMetHeader.convertObsType("HI");
+ gpstk::RinexMetHeader::RinexMetType KE = RinexMetHeader.convertObsType("HI");
+
+ string PRS = "PR";
+ string TDS = "TD";
+ string HRS = "HR";
+ string ZWS = "ZW";
+ string ZDS = "ZD";
+ string ZTS = "ZT";
+ string HIS = "HI";
+ CPPUNIT_ASSERT_EQUAL(PR,RinexMetHeader.convertObsType(PRS));
+ CPPUNIT_ASSERT_EQUAL(TD,RinexMetHeader.convertObsType(TDS));
+ CPPUNIT_ASSERT_EQUAL(HR,RinexMetHeader.convertObsType(HRS));
+ CPPUNIT_ASSERT_EQUAL(ZW,RinexMetHeader.convertObsType(ZWS));
+ CPPUNIT_ASSERT_EQUAL(ZD,RinexMetHeader.convertObsType(ZDS));
+ CPPUNIT_ASSERT_EQUAL(ZT,RinexMetHeader.convertObsType(ZTS));
+ CPPUNIT_ASSERT_EQUAL(HI,RinexMetHeader.convertObsType(HIS));
+
+}
+
+/*
+**** This test tests the convertObsType member of RinexMetHeader
+**** This particular test asserts if two strings are equal
+*/
+void xRinexMet :: convertObsTypeHeaderTest (void)
+{
+
+ gpstk::RinexMetHeader RinexMetHeader;
+ gpstk::RinexMetStream Normal("Logs/408_110a.04m");
+ Normal >> RinexMetHeader;
+ gpstk::RinexMetHeader::RinexMetType PR = RinexMetHeader.convertObsType("PR");
+ gpstk::RinexMetHeader::RinexMetType TD = RinexMetHeader.convertObsType("TD");
+ gpstk::RinexMetHeader::RinexMetType HR = RinexMetHeader.convertObsType("HR");
+ gpstk::RinexMetHeader::RinexMetType ZW = RinexMetHeader.convertObsType("ZW");
+ gpstk::RinexMetHeader::RinexMetType ZD = RinexMetHeader.convertObsType("ZD");
+ gpstk::RinexMetHeader::RinexMetType ZT = RinexMetHeader.convertObsType("ZT");
+ gpstk::RinexMetHeader::RinexMetType KE = RinexMetHeader.convertObsType("ZT");
+ string PRS = "PR";
+ string TDS = "TD";
+ string HRS = "HR";
+ string ZWS = "ZW";
+ string ZDS = "ZD";
+ string ZTS = "ZT";
+ CPPUNIT_ASSERT_EQUAL(PRS,RinexMetHeader.convertObsType(PR));
+ CPPUNIT_ASSERT_EQUAL(TDS,RinexMetHeader.convertObsType(TD));
+ CPPUNIT_ASSERT_EQUAL(HRS,RinexMetHeader.convertObsType(HR));
+ CPPUNIT_ASSERT_EQUAL(ZWS,RinexMetHeader.convertObsType(ZW));
+ CPPUNIT_ASSERT_EQUAL(ZDS,RinexMetHeader.convertObsType(ZD));
+ CPPUNIT_ASSERT_EQUAL(ZTS,RinexMetHeader.convertObsType(ZT));
+ try
+ {
+ CPPUNIT_ASSERT_THROW(RinexMetHeader.convertObsType("KE"),gpstk::FFStreamError);
+ }
+ catch (gpstk::Exception& e)
+ {
+ }
+
+}
+
+/*
+**** This test checks to make sure that the internal members of the RinexMetHeader are as we think they
+**** should be. Also at the end of this test, we check and make sure our output file is equal to our input
+*/
+void xRinexMet :: hardCodeTest (void)
+{
+
+ gpstk::RinexMetStream RinexMetStream("Logs/408_110a.04m");
+ gpstk::RinexMetStream out("Logs/Output.txt",ios::out);
+ gpstk::RinexMetHeader RinexMetHeader;
+ RinexMetStream >> RinexMetHeader;
+
+ //Start of RinexMetHeader member check to assure that what we want is whats in there
+ CPPUNIT_ASSERT_EQUAL(2.1,RinexMetHeader.version);
+ CPPUNIT_ASSERT_EQUAL((string)"Meteorological",RinexMetHeader.fileType);
+ CPPUNIT_ASSERT_EQUAL((string)"GFW - RMW",RinexMetHeader.fileProgram);
+ CPPUNIT_ASSERT_EQUAL((string)"NIMA", RinexMetHeader.fileAgency);
+ CPPUNIT_ASSERT_EQUAL((string)"04/18/2004 23:58:50",RinexMetHeader.date);
+
+ vector<string>::const_iterator itr1 = RinexMetHeader.commentList.begin();
+ while (itr1 != RinexMetHeader.commentList.end())
+ {
+ CPPUNIT_ASSERT_EQUAL((string)"Some weather data may have corrected values",(*itr1));
+ itr1++;
+ }
+
+ CPPUNIT_ASSERT_EQUAL((string)"85408", RinexMetHeader.markerName);
+ CPPUNIT_ASSERT_EQUAL((string)"85408", RinexMetHeader.markerNumber);
+
+ vector<RinexMetHeader::RinexMetType>::const_iterator itr2 = RinexMetHeader.obsTypeList.begin();
+ CPPUNIT_ASSERT_EQUAL((string)"PR",RinexMetHeader.convertObsType(*itr2));
+ itr2++;
+ CPPUNIT_ASSERT_EQUAL((string)"TD",RinexMetHeader.convertObsType(*itr2));
+ itr2++;
+ CPPUNIT_ASSERT_EQUAL((string)"HI",RinexMetHeader.convertObsType(*itr2));
+
+ vector<RinexMetHeader::sensorType>::const_iterator itr3 = RinexMetHeader.sensorTypeList.begin();
+ CPPUNIT_ASSERT_EQUAL((string)"Vaisala",(*itr3).model);
+ CPPUNIT_ASSERT_EQUAL((string)"PTB220",(*itr3).type);
+ CPPUNIT_ASSERT_EQUAL(0.1, (*itr3).accuracy);
+ CPPUNIT_ASSERT_EQUAL((string)"PR",RinexMetHeader.convertObsType((*itr3).obsType));
+ itr3++;
+
+ CPPUNIT_ASSERT_EQUAL((string)"Vaisala",(*itr3).model);
+ CPPUNIT_ASSERT_EQUAL((string)"HMP230",(*itr3).type);
+ CPPUNIT_ASSERT_EQUAL(0.1, (*itr3).accuracy);
+ CPPUNIT_ASSERT_EQUAL((string)"TD",RinexMetHeader.convertObsType((*itr3).obsType));
+ itr3++;
+ CPPUNIT_ASSERT_EQUAL((string)"Vaisala",(*itr3).model);
+ CPPUNIT_ASSERT_EQUAL((string)"HMP230",(*itr3).type);
+ CPPUNIT_ASSERT_EQUAL(0.1, (*itr3).accuracy);
+ CPPUNIT_ASSERT_EQUAL((string)"HI",RinexMetHeader.convertObsType((*itr3).obsType));
+ itr3++;
+
+ vector<RinexMetHeader::sensorPosType>::const_iterator itr4 = RinexMetHeader.sensorPosList.begin();
+ CPPUNIT_ASSERT_EQUAL(-740289.8363,(*itr4).position[0]);
+ CPPUNIT_ASSERT_EQUAL(-5457071.7414,(*itr4).position[1]);
+ CPPUNIT_ASSERT_EQUAL(3207245.6207,(*itr4).position[2]);
+ CPPUNIT_ASSERT_EQUAL(0.0000,(*itr4).height);
+ CPPUNIT_ASSERT_EQUAL((string) "PR",RinexMetHeader.convertObsType((*itr4).obsType));
+ itr4++;
+ CPPUNIT_ASSERT_EQUAL(-740289.8363,(*itr4).position[0]);
+ CPPUNIT_ASSERT_EQUAL(-5457071.7414,(*itr4).position[1]);
+ CPPUNIT_ASSERT_EQUAL(3207245.6207,(*itr4).position[2]);
+ CPPUNIT_ASSERT_EQUAL(0.0000,(*itr4).height);
+ CPPUNIT_ASSERT_EQUAL((string) "TD",RinexMetHeader.convertObsType((*itr4).obsType));
+ //End of Header
+
+ out << RinexMetHeader;
+
+ gpstk::RinexMetData RinexMetData;
+
+ RinexMetStream >> RinexMetData;
+ gpstk::DayTime TimeGuess(2004,4,19,0,0,0);
+ CPPUNIT_ASSERT_EQUAL(TimeGuess,RinexMetData.time);
+ CPPUNIT_ASSERT_EQUAL(992.6,RinexMetData.data[RinexMetHeader.convertObsType("PR")]);
+ CPPUNIT_ASSERT_EQUAL(23.9,RinexMetData.data[RinexMetHeader.convertObsType("TD")]);
+ CPPUNIT_ASSERT_EQUAL(59.7,RinexMetData.data[RinexMetHeader.convertObsType("HI")]);
+ out << RinexMetData;
+ RinexMetStream >> RinexMetData;
+ gpstk::DayTime TimeGuess2(2004,4,19,0,15,0);
+ CPPUNIT_ASSERT_EQUAL(TimeGuess2,RinexMetData.time);
+ CPPUNIT_ASSERT_EQUAL(992.8,RinexMetData.data[RinexMetHeader.convertObsType("PR")]);
+ CPPUNIT_ASSERT_EQUAL(23.6,RinexMetData.data[RinexMetHeader.convertObsType("TD")]);
+ CPPUNIT_ASSERT_EQUAL(61.6,RinexMetData.data[RinexMetHeader.convertObsType("HI")]);
+ out << RinexMetData;
+ while (RinexMetStream >> RinexMetData)
+ {
+ out << RinexMetData;
+ }
+ CPPUNIT_ASSERT(fileEqualTest("Logs/408_110a.04m","Logs/Output.txt"));
+
+ gpstk::RinexMetStream MetDumps("Logs/MetDumps",ios::out);
+ RinexMetHeader.dump(MetDumps);
+ RinexMetData.dump(MetDumps);
+}
+
+/*
+**** This test covers are of the RinexMetHeader and Data which deal with continuation lines
+**** for the observations
+*/
+void xRinexMet :: continuationTest (void)
+{
+
+ gpstk::RinexMetStream RinexMetStream("Logs/ContLines10.04m");
+ gpstk::RinexMetStream out("Logs/OutputCont.txt",ios::out);
+ gpstk::RinexMetStream MetDumps("Logs/MetDumps",ios::out);
+ gpstk::RinexMetHeader RinexMetHeader;
+ gpstk::RinexMetData RinexMetData;
+ try
+ {
+ RinexMetStream >> RinexMetHeader;
+ out << RinexMetHeader;
+
+ RinexMetHeader.dump(MetDumps);
+ RinexMetData.dump(MetDumps);
+ RinexMetStream >> RinexMetData;
+ RinexMetData.dump(MetDumps);
+ out << RinexMetData;
+ while (RinexMetStream >> RinexMetData)
+ {
+ out << RinexMetData;
+ }
+
+ CPPUNIT_ASSERT(fileEqualTest("Logs/ContLines10.04m","Logs/OutputCont.txt"));
+ }
+ catch (gpstk::Exception& e)
+ {
+ cout << e;
+ }
+}
+
+/*
+**** This test coveres several RinexMetData exceptions including a test with no observations data for the
+**** listed header Obs and an invalid time format
+*/
+void xRinexMet :: dataExceptionsTest (void)
+{
+ gpstk::RinexMetStream NoObs("Logs/NoObsData.04m");
+ gpstk::RinexMetStream InvalidTimeFormat("Logs/InvalidTimeFormat.04m");
+ gpstk::RinexMetStream out("Logs/OutputDataExceptions.txt",ios::out);
+ gpstk::RinexMetHeader rmh;
+ gpstk::RinexMetData rme;
+ try{
+ NoObs >> rmh;
+ out << rmh;
+
+ while (NoObs >> rme)
+ {
+ out << rme;
+ }
+ InvalidTimeFormat >> rme;
+ out << rme;
+ InvalidTimeFormat >> rme;
+ out << rme;
+ }
+ catch (gpstk::Exception& e)
+ {
+ cout << e;
+ }
+}
+
+/*
+**** Test for several of the members within RinexMetFilterOperators including merge, LessThanSimple, EqualsSimple,
+**** and LessThanFull.
+*/
+void xRinexMet :: filterOperatorsTest (void)
+{
+ try
+ {
+
+
+ gpstk::RinexMetStream FilterStream1("Logs/FilterTest1.04m");
+ FilterStream1.open("Logs/FilterTest1.04m",std::ios::in);
+ gpstk::RinexMetStream FilterStream2("Logs/FilterTest2.04m");
+ gpstk::RinexMetStream FilterStream3("Logs/FilterTest3.04m");
+ gpstk::RinexMetStream FilterStream4("Logs/FilterTest4.04m");
+ gpstk::RinexMetStream out("Logs/FilterOutput.txt",ios::out);
+
+ gpstk::RinexMetHeader FilterHeader1;
+ gpstk::RinexMetHeader FilterHeader2;
+ gpstk::RinexMetHeader FilterHeader3;
+ gpstk::RinexMetHeader FilterHeader4;
+
+ gpstk::RinexMetData FilterData1;
+ gpstk::RinexMetData FilterData2;
+ gpstk::RinexMetData FilterData3;
+ gpstk::RinexMetData FilterData4;
+
+
+ FilterStream1 >> FilterHeader1;
+ FilterStream2 >> FilterHeader2;
+ FilterStream3 >> FilterHeader3;
+ FilterStream4 >> FilterHeader4;
+
+ while (FilterStream1 >> FilterData1)
+ {
+ }
+ while (FilterStream2 >> FilterData2)
+ {
+ }
+ while (FilterStream3 >> FilterData3)
+ {
+ }
+ while (FilterStream4 >> FilterData4)
+ {
+ }
+
+ gpstk::RinexMetHeaderTouchHeaderMerge merged;
+ merged(FilterHeader1);
+ merged(FilterHeader2);
+ gpstk::RinexMetDataOperatorLessThanFull(merged.obsSet);
+ out << merged.theHeader;
+
+ gpstk::RinexMetDataOperatorEqualsSimple EqualsSimple;
+ CPPUNIT_ASSERT_EQUAL(true,EqualsSimple(FilterData1, FilterData2));
+ CPPUNIT_ASSERT_EQUAL(false,EqualsSimple(FilterData1, FilterData3));
+
+ gpstk::RinexMetDataOperatorLessThanSimple LessThanSimple;
+ CPPUNIT_ASSERT_EQUAL(false,LessThanSimple(FilterData1, FilterData2));
+ CPPUNIT_ASSERT_EQUAL(true,LessThanSimple(FilterData1, FilterData3));
+
+ gpstk::RinexMetDataOperatorLessThanFull LessThanFull(merged.obsSet);
+ CPPUNIT_ASSERT_EQUAL(false,LessThanFull(FilterData1, FilterData2));
+ CPPUNIT_ASSERT_EQUAL(false,LessThanFull(FilterData2, FilterData1));
+ CPPUNIT_ASSERT_EQUAL(true,LessThanFull(FilterData1, FilterData3));
+ CPPUNIT_ASSERT_EQUAL(false,LessThanFull(FilterData3, FilterData1));
+
+ gpstk::DayTime Start = gpstk::DayTime::END_OF_TIME;
+ gpstk::DayTime End = gpstk::DayTime::BEGINNING_OF_TIME;
+ gpstk::DayTime Start2 = gpstk::DayTime::BEGINNING_OF_TIME;
+ gpstk::DayTime End2 = gpstk::DayTime::END_OF_TIME;
+ gpstk::RinexMetDataFilterTime FilterTime(Start,End);
+ gpstk::RinexMetDataFilterTime FilterTime2(Start2,End2);
+ CPPUNIT_ASSERT_EQUAL(true,FilterTime(FilterData1));
+ CPPUNIT_ASSERT_EQUAL(false,FilterTime2(FilterData1));
+ }
+ catch(gpstk::Exception& e)
+ {
+
+ }
+
+
+}
+
+/*
+**** A helper function for xRinexMet to line by line, check if the two files given are the same.
+**** Takes in two file names within double quotes "FILEONE.TXT" "FILETWO.TXT". Returns true if
+**** the files are equal. Skips the first two lines becasue dates are often writen as the current
+**** data and thus very hard to pin down a specific time for.
+*/
+bool xRinexMet :: fileEqualTest (char* handle1, char* handle2)
+{
+ bool isEqual = false;
+ int counter = 0;
+ ifstream File1;
+ ifstream File2;
+
+ std::string File1Line;
+ std::string File2Line;
+
+ File1.open(handle1);
+ File2.open(handle2);
+ getline (File1, File1Line);
+ getline (File2, File2Line);
+ getline (File1, File1Line);
+ getline (File2, File2Line);
+
+ while (!File1.eof())
+ {
+ if (File2.eof())
+ return isEqual;
+ getline (File1, File1Line);
+ getline (File2, File2Line);
+ if (File1Line != File2Line)
+ return isEqual;
+ }
+ if (!File2.eof())
+ return isEqual;
+ else
+ return isEqual = true;
+}
diff --git a/dev/tests/RinexMet/xRinexMet.hpp b/dev/tests/RinexMet/xRinexMet.hpp
new file mode 100644
index 0000000..12646a2
--- /dev/null
+++ b/dev/tests/RinexMet/xRinexMet.hpp
@@ -0,0 +1,54 @@
+#ifndef XRINEXMET_HPP
+#define XRINEXMET_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "RinexMetBase.hpp"
+#include "RinexMetData.hpp"
+#include "RinexMetHeader.hpp"
+#include "RinexMetFilterOperators.hpp"
+#include "RinexMetStream.hpp"
+#include "Exception.hpp"
+#include <fstream>
+
+/*
+**** This test covers the RinexMet*.[ch]pp files for Rinex I/O Manipulation
+*/
+
+using namespace std;
+
+class xRinexMet: public CPPUNIT_NS :: TestFixture
+{
+ CPPUNIT_TEST_SUITE (xRinexMet);
+ CPPUNIT_TEST (bitsAsStringTest);
+ CPPUNIT_TEST (bitStringTest);
+ CPPUNIT_TEST (reallyPutRecordTest);
+ CPPUNIT_TEST (reallyGetRecordTest);
+ CPPUNIT_TEST (convertObsTypeSTRTest);
+ CPPUNIT_TEST (convertObsTypeHeaderTest);
+ CPPUNIT_TEST (hardCodeTest);
+ CPPUNIT_TEST (continuationTest);
+ CPPUNIT_TEST (dataExceptionsTest);
+ CPPUNIT_TEST (filterOperatorsTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void);
+
+ protected:
+ void bitsAsStringTest (void);
+ void bitStringTest (void);
+ void reallyPutRecordTest (void);
+ void reallyGetRecordTest (void);
+ void convertObsTypeSTRTest (void);
+ void convertObsTypeHeaderTest (void);
+ void hardCodeTest (void);
+ void continuationTest (void);
+ void dataExceptionsTest (void);
+ void filterOperatorsTest (void);
+ bool fileEqualTest (char* handle1, char* handle2);
+ private:
+
+};
+
+#endif
diff --git a/dev/tests/RinexMet/xRinexMetM.cpp b/dev/tests/RinexMet/xRinexMetM.cpp
new file mode 100644
index 0000000..34e6efc
--- /dev/null
+++ b/dev/tests/RinexMet/xRinexMetM.cpp
@@ -0,0 +1,28 @@
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/RinexNav/Jamfile b/dev/tests/RinexNav/Jamfile
new file mode 100644
index 0000000..8187483
--- /dev/null
+++ b/dev/tests/RinexNav/Jamfile
@@ -0,0 +1,2 @@
+SubDir TOP RinexNav ;
+TestMain RinexNav/xRinexNav.tst : RinexNav/xRinexNavM.cpp RinexNav/xRinexNav.cpp RinexNav/RinexNavBase.cpp RinexNav/RinexNavData.cpp RinexNav/RinexNavFilterOperators.cpp RinexNav/RinexNavHeader.cpp RinexNav/RinexNavStream.cpp ;
diff --git a/dev/tests/RinexNav/Logs/BACKUP b/dev/tests/RinexNav/Logs/BACKUP
new file mode 100644
index 0000000..cfc32db
--- /dev/null
+++ b/dev/tests/RinexNav/Logs/BACKUP
@@ -0,0 +1,24 @@
+ 2.10 NAVIGATION RINEX VERSION / TYPE
+XXRINEXN V3 AIUB 09/02/1999 19:22:36 PGM / RUN BY / DATE
+THIS IS ONE COMMENT COMMENT
+ .1676D-07 .2235D-07 -.1192D-06 -.1192D-06 ION ALPHA
+ .1208D+06 .1310D+06 -.1310D+06 -.1966D+06 ION BETA
+ .1331791281700D-06 .1074695887800D-12 552960 1025 DELTA-UTC: A0,A1,T,W
+ 13 LEAP SECONDS
+ END OF HEADER
+ 6 99 9 2 17 51 44.0 -.839701388031D-03 -.165982783074D-10 .000000000000D+00
+ .910000000000D+02 .934062500000D+02 .116040547840D-08 .162092304801D+00
+ .484101474285D-05 .626740418375D-02 .652112066746D-05 .515365489006D+04
+ .409904000000D+06 -.242143869400D-07 .329237003460D+00 -.596046447754D-07
+ .111541663136D+01 .326593750000D+03 .206958726335D+01 -.638312302555D-08
+ .307155651409D-09 .000000000000D+00 .102500000000D+04 .000000000000D+00
+ .000000000000D+00 .000000000000D+00 .000000000000D+00 .910000000000D+02
+ .406800000000D+06 .000000000000D+00
+13 99 9 2 19 0 0.0 .490025617182D-03 .204636307899D-11 .000000000000D+00
+ .133000000000D+03 -.963125000000D+02 .146970407622D-08 .292961152146D+01
+ -.498816370964D-05 .200239347760D-02 .928156077862D-05 .515328476143D+04
+ .414000000000D+06 -.279396772385D-07 .243031939942D+01 -.558793544769D-07
+ .110192796930D+01 .271187500000D+03 -.232757915425D+01 -.619632953057D-08
+ -.785747015231D-11 .000000000000D+00 .102500000000D+04 .000000000000D+00
+ .000000000000D+00 .000000000000D+00 .000000000000D+00 .389000000000D+03
+ .410400000000D+06 .000000000000D+00
diff --git a/dev/tests/RinexNav/Logs/BadHeader.99n b/dev/tests/RinexNav/Logs/BadHeader.99n
new file mode 100644
index 0000000..88bdf58
--- /dev/null
+++ b/dev/tests/RinexNav/Logs/BadHeader.99n
@@ -0,0 +1,8 @@
+ 3.33 N : GPS NAV DATA DATARINEX VERSION / TYPE
+XXRINEXN V3 AIUB 1999-09-02 19:22:36 PGM / RUN BY / DATE
+EXAMPLE OF VERSION 2.10 FORMAT COMMENT
+ .1676D-07 .2235D-07 -.1192D-06 -.1192D-06 ION ALPHA
+ .1208D+06 .1310D+06 -.1310D+06 -.1966D+06 ION BETA
+ .133179128170D-06 .107469588780D-12 552960 1025 DELTA-UTC: A0,A1,T,W
+ 13 LEAP SECONDS
+ END OF HEADER
diff --git a/dev/tests/RinexNav/Logs/FilterOutput.txt b/dev/tests/RinexNav/Logs/FilterOutput.txt
new file mode 100644
index 0000000..042a341
--- /dev/null
+++ b/dev/tests/RinexNav/Logs/FilterOutput.txt
@@ -0,0 +1,9 @@
+ 2.10 NAVIGATION RINEX VERSION / TYPE
+XXRINEXN V3 AIUB 10/05/2006 12:29:20 PGM / RUN BY / DATE
+THIS IS A DIFFERENT COMMENT COMMENT
+THIS IS ONE COMMENT COMMENT
+ .167600D-07 .223500D-07-.119200D-06-.119200D-06 ION ALPHA
+ .120800D+06 .131000D+06-.131000D+06-.196600D+06 ION BETA
+ .1331791281700D-06 .1074695887800D-12 552960 1025 DELTA-UTC: A0,A1,T,W
+ 13 LEAP SECONDS
+ END OF HEADER
diff --git a/dev/tests/RinexNav/Logs/FilterTest1.99n b/dev/tests/RinexNav/Logs/FilterTest1.99n
new file mode 100644
index 0000000..dec360e
--- /dev/null
+++ b/dev/tests/RinexNav/Logs/FilterTest1.99n
@@ -0,0 +1,24 @@
+ 2.10 N : GPS NAV DATA RINEX VERSION / TYPE
+XXRINEXN V3 AIUB 1999-09-02 19:22:36 PGM / RUN BY / DATE
+THIS IS ONE COMMENT COMMENT
+ .1676D-07 .2235D-07 -.1192D-06 -.1192D-06 ION ALPHA
+ .1208D+06 .1310D+06 -.1310D+06 -.1966D+06 ION BETA
+ .133179128170D-06 .107469588780D-12 552960 1025 DELTA-UTC: A0,A1,T,W
+ 13 LEAP SECONDS
+ END OF HEADER
+ 6 99 9 2 17 51 44.0 -.839701388031D-03 -.165982783074D-10 .000000000000D+00
+ .910000000000D+02 .934062500000D+02 .116040547840D-08 .162092304801D+00
+ .484101474285D-05 .626740418375D-02 .652112066746D-05 .515365489006D+04
+ .409904000000D+06 -.242143869400D-07 .329237003460D+00 -.596046447754D-07
+ .111541663136D+01 .326593750000D+03 .206958726335D+01 -.638312302555D-08
+ .307155651409D-09 .000000000000D+00 .102500000000D+04 .000000000000D+00
+ .000000000000D+00 .000000000000D+00 .000000000000D+00 .910000000000D+02
+ .406800000000D+06 .000000000000D+00
+13 99 9 2 19 0 0.0 .490025617182D-03 .204636307899D-11 .000000000000D+00
+ .133000000000D+03 -.963125000000D+02 .146970407622D-08 .292961152146D+01
+ -.498816370964D-05 .200239347760D-02 .928156077862D-05 .515328476143D+04
+ .414000000000D+06 -.279396772385D-07 .243031939942D+01 -.558793544769D-07
+ .110192796930D+01 .271187500000D+03 -.232757915425D+01 -.619632953057D-08
+ -.785747015231D-11 .000000000000D+00 .102500000000D+04 .000000000000D+00
+ .000000000000D+00 .000000000000D+00 .000000000000D+00 .389000000000D+03
+ .410400000000D+06 .000000000000D+00
\ No newline at end of file
diff --git a/dev/tests/RinexNav/Logs/FilterTest2.99n b/dev/tests/RinexNav/Logs/FilterTest2.99n
new file mode 100644
index 0000000..a30cd6d
--- /dev/null
+++ b/dev/tests/RinexNav/Logs/FilterTest2.99n
@@ -0,0 +1,24 @@
+ 2.10 N : GPS NAV DATA RINEX VERSION / TYPE
+XXRINEXN V3 AIUB 1999-09-02 19:22:36 PGM / RUN BY / DATE
+THIS IS A DIFFERENT COMMENT COMMENT
+ .1676D-07 .2235D-07 -.1192D-06 -.1192D-06 ION ALPHA
+ .1208D+06 .1310D+06 -.1310D+06 -.1966D+06 ION BETA
+ .133179128170D-06 .107469588780D-12 552960 1025 DELTA-UTC: A0,A1,T,W
+ 13 LEAP SECONDS
+ END OF HEADER
+ 6 99 9 2 17 51 44.0 -.839701388031D-03 -.165982783074D-10 .000000000000D+00
+ .910000000000D+02 .934062500000D+02 .116040547840D-08 .162092304801D+00
+ .484101474285D-05 .626740418375D-02 .652112066746D-05 .515365489006D+04
+ .409904000000D+06 -.242143869400D-07 .329237003460D+00 -.596046447754D-07
+ .111541663136D+01 .326593750000D+03 .206958726335D+01 -.638312302555D-08
+ .307155651409D-09 .000000000000D+00 .102500000000D+04 .000000000000D+00
+ .000000000000D+00 .000000000000D+00 .000000000000D+00 .910000000000D+02
+ .406800000000D+06 .000000000000D+00
+13 99 9 2 19 0 0.0 .490025617182D-03 .204636307899D-11 .000000000000D+00
+ .133000000000D+03 -.963125000000D+02 .146970407622D-08 .292961152146D+01
+ -.498816370964D-05 .200239347760D-02 .928156077862D-05 .515328476143D+04
+ .414000000000D+06 -.279396772385D-07 .243031939942D+01 -.558793544769D-07
+ .110192796930D+01 .271187500000D+03 -.232757915425D+01 -.619632953057D-08
+ -.785747015231D-11 .000000000000D+00 .102500000000D+04 .000000000000D+00
+ .000000000000D+00 .000000000000D+00 .000000000000D+00 .389000000000D+03
+ .410400000000D+06 .000000000000D+00
\ No newline at end of file
diff --git a/dev/tests/RinexNav/Logs/FilterTest3.99n b/dev/tests/RinexNav/Logs/FilterTest3.99n
new file mode 100644
index 0000000..7211d9a
--- /dev/null
+++ b/dev/tests/RinexNav/Logs/FilterTest3.99n
@@ -0,0 +1,24 @@
+ 2.10 N : GPS NAV DATA RINEX VERSION / TYPE
+XXRINEXN V3 AIUB 1999-09-02 19:22:36 PGM / RUN BY / DATE
+EXAMPLE OF VERSION 2.10 FORMAT COMMENT
+ .1676D-07 .2235D-07 -.1192D-06 -.1192D-06 ION ALPHA
+ .1208D+06 .1310D+06 -.1310D+06 -.1966D+06 ION BETA
+ .133179128170D-06 .107469588780D-12 552960 1025 DELTA-UTC: A0,A1,T,W
+ 13 LEAP SECONDS
+ END OF HEADER
+ 6 99 9 2 00 19 44.0 -.839701388031D-03 -.165982783074D-10 .000000000000D+00
+ .910000000000D+02 .934062500000D+02 .116040547840D-08 .162092304801D+00
+ .484101474285D-05 .626740418375D-02 .652112066746D-05 .515365489006D+04
+ .409904000000D+06 -.242143869400D-07 .329237003460D+00 -.596046447754D-07
+ .111541663136D+01 .326593750000D+03 .206958726335D+01 -.638312302555D-08
+ .307155651409D-09 .000000000000D+00 .102500000000D+04 .000000000000D+00
+ .000000000000D+00 .000000000000D+00 .000000000000D+00 .910000000000D+02
+ .406800000000D+06 .000000000000D+00
+13 99 9 2 00 00 0.0 .490025617182D-03 .204636307899D-11 .000000000000D+00
+ .133000000000D+03 -.963125000000D+02 .146970407622D-08 .292961152146D+01
+ -.498816370964D-05 .200239347760D-02 .928156077862D-05 .515328476143D+04
+ .414000000000D+06 -.279396772385D-07 .243031939942D+01 -.558793544769D-07
+ .110192796930D+01 .271187500000D+03 -.232757915425D+01 -.619632953057D-08
+ -.785747015231D-11 .000000000000D+00 .102500000000D+04 .000000000000D+00
+ .000000000000D+00 .000000000000D+00 .000000000000D+00 .389000000000D+03
+ .410400000000D+06 .000000000000D+00
\ No newline at end of file
diff --git a/dev/tests/RinexNav/Logs/IncompleteHeader.99n b/dev/tests/RinexNav/Logs/IncompleteHeader.99n
new file mode 100644
index 0000000..68c97cf
--- /dev/null
+++ b/dev/tests/RinexNav/Logs/IncompleteHeader.99n
@@ -0,0 +1,7 @@
+ 2.10 N : GPS NAV DATA RINEX VERSION / TYPE
+EXAMPLE OF VERSION 2.10 FORMAT COMMENT
+ .1676D-07 .2235D-07 -.1192D-06 -.1192D-06 ION ALPHA
+ .1208D+06 .1310D+06 -.1310D+06 -.1966D+06 ION BETA
+ .133179128170D-06 .107469588780D-12 552960 1025 DELTA-UTC: A0,A1,T,W
+ 13 LEAP SECONDS
+ END OF HEADER
\ No newline at end of file
diff --git a/dev/tests/RinexNav/Logs/InvalidLineLength.99n b/dev/tests/RinexNav/Logs/InvalidLineLength.99n
new file mode 100644
index 0000000..7de843d
--- /dev/null
+++ b/dev/tests/RinexNav/Logs/InvalidLineLength.99n
@@ -0,0 +1,8 @@
+ 2.10 N : GPS NAV DATA RINEX VERSION / TYPEEEEEE
+XXRINEXN V3 AIUB 1999-09-02 19:22:36 PGM / RUN BY / DATE
+EXAMPLE OF VERSION 2.10 FORMAT COMMENT
+ .1676D-07 .2235D-07 -.1192D-06 -.1192D-06 ION ALPHA
+ .1208D+06 .1310D+06 -.1310D+06 -.1966D+06 ION BETA
+ .133179128170D-06 .107469588780D-12 552960 1025 DELTA-UTC: A0,A1,T,W
+ 13 LEAP SECONDS
+ END OF HEADER
\ No newline at end of file
diff --git a/dev/tests/RinexNav/Logs/NotaNavFile.99n b/dev/tests/RinexNav/Logs/NotaNavFile.99n
new file mode 100644
index 0000000..1bd1b7c
--- /dev/null
+++ b/dev/tests/RinexNav/Logs/NotaNavFile.99n
@@ -0,0 +1,8 @@
+ 2.10 Z : GPS NAV DATA RINEX VERSION / TYPE
+XXRINEXN V3 AIUB 1999-09-02 19:22:36 PGM / RUN BY / DATE
+EXAMPLE OF VERSION 2.10 FORMAT COMMENT
+ .1676D-07 .2235D-07 -.1192D-06 -.1192D-06 ION ALPHA
+ .1208D+06 .1310D+06 -.1310D+06 -.1966D+06 ION BETA
+ .133179128170D-06 .107469588780D-12 552960 1025 DELTA-UTC: A0,A1,T,W
+ 13 LEAP SECONDS
+ END OF HEADER
\ No newline at end of file
diff --git a/dev/tests/RinexNav/Logs/RinexDump b/dev/tests/RinexNav/Logs/RinexDump
new file mode 100644
index 0000000..65aecd7
--- /dev/null
+++ b/dev/tests/RinexNav/Logs/RinexDump
@@ -0,0 +1,13 @@
+---------------------------------- REQUIRED ----------------------------------
+Rinex Version 2.10, File type NAVIGATION.
+Prgm: XXRINEXN V3, Run: 09/02/1999 19:22:36, By: AIUB
+(This header is VALID 2.1 Rinex.)
+---------------------------------- OPTIONAL ----------------------------------
+Ion alpha: 1.6760e-08 2.2350e-08 -1.1920e-07 -1.1920e-07
+Ion beta: 1.2080e+05 1.3100e+05 -1.3100e+05 -1.9660e+05
+Delta UTC: A0=1.331791281700e-07, A1=1.074695887800e-13, UTC ref = (1025,552960)
+Leap seconds: 13
+Comments (1) :
+THIS IS ONE COMMENT
+-------------------------------- END OF HEADER -------------------------------
+PRN: 13 TOE: 09/02/1999 19:00:00 TOC: 1025 414000.000 IODE: 133 HOWtime: 410400
diff --git a/dev/tests/RinexNav/Logs/RinexNavExample.99n b/dev/tests/RinexNav/Logs/RinexNavExample.99n
new file mode 100644
index 0000000..2df5b7f
--- /dev/null
+++ b/dev/tests/RinexNav/Logs/RinexNavExample.99n
@@ -0,0 +1,24 @@
+ 2.10 NAVIGATION RINEX VERSION / TYPE
+XXRINEXN V3 AIUB 09/02/1999 19:22:36 PGM / RUN BY / DATE
+THIS IS ONE COMMENT COMMENT
+ .167600D-07 .223500D-07-.119200D-06-.119200D-06 ION ALPHA
+ .120800D+06 .131000D+06-.131000D+06-.196600D+06 ION BETA
+ .1331791281700D-06 .1074695887800D-12 552960 1025 DELTA-UTC: A0,A1,T,W
+ 13 LEAP SECONDS
+ END OF HEADER
+ 6 99 9 2 17 51 44.0 -.839701388031D-03 -.165982783074D-10 .000000000000D+00
+ .910000000000D+02 .934062500000D+02 .116040547840D-08 .162092304801D+00
+ .484101474285D-05 .626740418375D-02 .652112066746D-05 .515365489006D+04
+ .409904000000D+06 -.242143869400D-07 .329237003460D+00 -.596046447754D-07
+ .111541663136D+01 .326593750000D+03 .206958726335D+01 -.638312302555D-08
+ .307155651409D-09 .000000000000D+00 .102500000000D+04 .000000000000D+00
+ .000000000000D+00 .000000000000D+00 .000000000000D+00 .910000000000D+02
+ .406800000000D+06 .000000000000D+00
+13 99 9 2 19 0 0.0 .490025617182D-03 .204636307899D-11 .000000000000D+00
+ .133000000000D+03 -.963125000000D+02 .146970407622D-08 .292961152146D+01
+ -.498816370964D-05 .200239347760D-02 .928156077862D-05 .515328476143D+04
+ .414000000000D+06 -.279396772385D-07 .243031939942D+01 -.558793544769D-07
+ .110192796930D+01 .271187500000D+03 -.232757915425D+01 -.619632953057D-08
+ -.785747015231D-11 .000000000000D+00 .102500000000D+04 .000000000000D+00
+ .000000000000D+00 .000000000000D+00 .000000000000D+00 .389000000000D+03
+ .410400000000D+06 .000000000000D+00
diff --git a/dev/tests/RinexNav/Logs/RinexNavHeaderNorm.99n b/dev/tests/RinexNav/Logs/RinexNavHeaderNorm.99n
new file mode 100644
index 0000000..38aae6d
--- /dev/null
+++ b/dev/tests/RinexNav/Logs/RinexNavHeaderNorm.99n
@@ -0,0 +1,8 @@
+ 2.10 N : GPS NAV DATA RINEX VERSION / TYPE
+XXRINEXN V3 AIUB 1999-09-02 19:22:36 PGM / RUN BY / DATE
+EXAMPLE OF VERSION 2.10 FORMAT COMMENT
+ .1676D-07 .2235D-07 -.1192D-06 -.1192D-06 ION ALPHA
+ .1208D+06 .1310D+06 -.1310D+06 -.1966D+06 ION BETA
+ .133179128170D-06 .107469588780D-12 552960 1025 DELTA-UTC: A0,A1,T,W
+ 13 LEAP SECONDS
+ END OF HEADER
diff --git a/dev/tests/RinexNav/Logs/TestOutput.99n b/dev/tests/RinexNav/Logs/TestOutput.99n
new file mode 100644
index 0000000..a0c0552
--- /dev/null
+++ b/dev/tests/RinexNav/Logs/TestOutput.99n
@@ -0,0 +1,24 @@
+ 2.10 NAVIGATION RINEX VERSION / TYPE
+XXRINEXN V3 AIUB 10/05/2006 12:29:20 PGM / RUN BY / DATE
+THIS IS ONE COMMENT COMMENT
+ .167600D-07 .223500D-07-.119200D-06-.119200D-06 ION ALPHA
+ .120800D+06 .131000D+06-.131000D+06-.196600D+06 ION BETA
+ .1331791281700D-06 .1074695887800D-12 552960 1025 DELTA-UTC: A0,A1,T,W
+ 13 LEAP SECONDS
+ END OF HEADER
+ 6 99 9 2 17 51 44.0 -.839701388031D-03 -.165982783074D-10 .000000000000D+00
+ .910000000000D+02 .934062500000D+02 .116040547840D-08 .162092304801D+00
+ .484101474285D-05 .626740418375D-02 .652112066746D-05 .515365489006D+04
+ .409904000000D+06 -.242143869400D-07 .329237003460D+00 -.596046447754D-07
+ .111541663136D+01 .326593750000D+03 .206958726335D+01 -.638312302555D-08
+ .307155651409D-09 .000000000000D+00 .102500000000D+04 .000000000000D+00
+ .000000000000D+00 .000000000000D+00 .000000000000D+00 .910000000000D+02
+ .406800000000D+06 .000000000000D+00
+13 99 9 2 19 0 0.0 .490025617182D-03 .204636307899D-11 .000000000000D+00
+ .133000000000D+03 -.963125000000D+02 .146970407622D-08 .292961152146D+01
+ -.498816370964D-05 .200239347760D-02 .928156077862D-05 .515328476143D+04
+ .414000000000D+06 -.279396772385D-07 .243031939942D+01 -.558793544769D-07
+ .110192796930D+01 .271187500000D+03 -.232757915425D+01 -.619632953057D-08
+ -.785747015231D-11 .000000000000D+00 .102500000000D+04 .000000000000D+00
+ .000000000000D+00 .000000000000D+00 .000000000000D+00 .389000000000D+03
+ .410400000000D+06 .000000000000D+00
diff --git a/dev/tests/RinexNav/Logs/TestOutput2.99n b/dev/tests/RinexNav/Logs/TestOutput2.99n
new file mode 100644
index 0000000..a0c0552
--- /dev/null
+++ b/dev/tests/RinexNav/Logs/TestOutput2.99n
@@ -0,0 +1,24 @@
+ 2.10 NAVIGATION RINEX VERSION / TYPE
+XXRINEXN V3 AIUB 10/05/2006 12:29:20 PGM / RUN BY / DATE
+THIS IS ONE COMMENT COMMENT
+ .167600D-07 .223500D-07-.119200D-06-.119200D-06 ION ALPHA
+ .120800D+06 .131000D+06-.131000D+06-.196600D+06 ION BETA
+ .1331791281700D-06 .1074695887800D-12 552960 1025 DELTA-UTC: A0,A1,T,W
+ 13 LEAP SECONDS
+ END OF HEADER
+ 6 99 9 2 17 51 44.0 -.839701388031D-03 -.165982783074D-10 .000000000000D+00
+ .910000000000D+02 .934062500000D+02 .116040547840D-08 .162092304801D+00
+ .484101474285D-05 .626740418375D-02 .652112066746D-05 .515365489006D+04
+ .409904000000D+06 -.242143869400D-07 .329237003460D+00 -.596046447754D-07
+ .111541663136D+01 .326593750000D+03 .206958726335D+01 -.638312302555D-08
+ .307155651409D-09 .000000000000D+00 .102500000000D+04 .000000000000D+00
+ .000000000000D+00 .000000000000D+00 .000000000000D+00 .910000000000D+02
+ .406800000000D+06 .000000000000D+00
+13 99 9 2 19 0 0.0 .490025617182D-03 .204636307899D-11 .000000000000D+00
+ .133000000000D+03 -.963125000000D+02 .146970407622D-08 .292961152146D+01
+ -.498816370964D-05 .200239347760D-02 .928156077862D-05 .515328476143D+04
+ .414000000000D+06 -.279396772385D-07 .243031939942D+01 -.558793544769D-07
+ .110192796930D+01 .271187500000D+03 -.232757915425D+01 -.619632953057D-08
+ -.785747015231D-11 .000000000000D+00 .102500000000D+04 .000000000000D+00
+ .000000000000D+00 .000000000000D+00 .000000000000D+00 .389000000000D+03
+ .410400000000D+06 .000000000000D+00
diff --git a/dev/tests/RinexNav/Logs/TestOutput3.99n b/dev/tests/RinexNav/Logs/TestOutput3.99n
new file mode 100644
index 0000000..a0c0552
--- /dev/null
+++ b/dev/tests/RinexNav/Logs/TestOutput3.99n
@@ -0,0 +1,24 @@
+ 2.10 NAVIGATION RINEX VERSION / TYPE
+XXRINEXN V3 AIUB 10/05/2006 12:29:20 PGM / RUN BY / DATE
+THIS IS ONE COMMENT COMMENT
+ .167600D-07 .223500D-07-.119200D-06-.119200D-06 ION ALPHA
+ .120800D+06 .131000D+06-.131000D+06-.196600D+06 ION BETA
+ .1331791281700D-06 .1074695887800D-12 552960 1025 DELTA-UTC: A0,A1,T,W
+ 13 LEAP SECONDS
+ END OF HEADER
+ 6 99 9 2 17 51 44.0 -.839701388031D-03 -.165982783074D-10 .000000000000D+00
+ .910000000000D+02 .934062500000D+02 .116040547840D-08 .162092304801D+00
+ .484101474285D-05 .626740418375D-02 .652112066746D-05 .515365489006D+04
+ .409904000000D+06 -.242143869400D-07 .329237003460D+00 -.596046447754D-07
+ .111541663136D+01 .326593750000D+03 .206958726335D+01 -.638312302555D-08
+ .307155651409D-09 .000000000000D+00 .102500000000D+04 .000000000000D+00
+ .000000000000D+00 .000000000000D+00 .000000000000D+00 .910000000000D+02
+ .406800000000D+06 .000000000000D+00
+13 99 9 2 19 0 0.0 .490025617182D-03 .204636307899D-11 .000000000000D+00
+ .133000000000D+03 -.963125000000D+02 .146970407622D-08 .292961152146D+01
+ -.498816370964D-05 .200239347760D-02 .928156077862D-05 .515328476143D+04
+ .414000000000D+06 -.279396772385D-07 .243031939942D+01 -.558793544769D-07
+ .110192796930D+01 .271187500000D+03 -.232757915425D+01 -.619632953057D-08
+ -.785747015231D-11 .000000000000D+00 .102500000000D+04 .000000000000D+00
+ .000000000000D+00 .000000000000D+00 .000000000000D+00 .389000000000D+03
+ .410400000000D+06 .000000000000D+00
diff --git a/dev/tests/RinexNav/Logs/TestOutputEric.99n b/dev/tests/RinexNav/Logs/TestOutputEric.99n
new file mode 100644
index 0000000..82f8cbd
--- /dev/null
+++ b/dev/tests/RinexNav/Logs/TestOutputEric.99n
@@ -0,0 +1,24 @@
+ 2.10 NAVIGATION RINEX VERSION / TYPE
+XXRINEXN V3 AIUB 08/14/2006 14:17:58 PGM / RUN BY / DATE
+THIS IS ONE COMMENT COMMENT
+ .167600D-07 .223500D-07-.119200D-06-.119200D-06 ION ALPHA
+ .120800D+06 .131000D+06-.131000D+06-.196600D+06 ION BETA
+ .1331791281700D-06 .1074695887800D-12 552960 1025 DELTA-UTC: A0,A1,T,W
+ 13 LEAP SECONDS
+ END OF HEADER
+ 6 99 9 2 17 51 44.0 -.839701388031D-03 -.165982783074D-10 .000000000000D+00
+ .910000000000D+02 .934062500000D+02 .116040547840D-08 .162092304801D+00
+ .484101474285D-05 .626740418375D-02 .652112066746D-05 .515365489006D+04
+ .409904000000D+06 -.242143869400D-07 .329237003460D+00 -.596046447754D-07
+ .111541663136D+01 .326593750000D+03 .206958726335D+01 -.638312302555D-08
+ .307155651409D-09 .000000000000D+00 .102500000000D+04 .000000000000D+00
+ .000000000000D+00 .000000000000D+00 .000000000000D+00 .910000000000D+02
+ .406800000000D+06 .000000000000D+00
+13 99 9 2 19 0 0.0 .490025617182D-03 .204636307899D-11 .000000000000D+00
+ .133000000000D+03 -.963125000000D+02 .146970407622D-08 .292961152146D+01
+ -.498816370964D-05 .200239347760D-02 .928156077862D-05 .515328476143D+04
+ .414000000000D+06 -.279396772385D-07 .243031939942D+01 -.558793544769D-07
+ .110192796930D+01 .271187500000D+03 -.232757915425D+01 -.619632953057D-08
+ -.785747015231D-11 .000000000000D+00 .102500000000D+04 .000000000000D+00
+ .000000000000D+00 .000000000000D+00 .000000000000D+00 .389000000000D+03
+ .410400000000D+06 .000000000000D+00
diff --git a/trunk/src/Makefile.am b/dev/tests/RinexNav/Logs/TestOutputHeader.99n
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/RinexNav/Logs/TestOutputHeader.99n
diff --git a/trunk/src/Makefile.am b/dev/tests/RinexNav/Logs/TestOutputHeader2.99n
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/RinexNav/Logs/TestOutputHeader2.99n
diff --git a/trunk/src/Makefile.am b/dev/tests/RinexNav/Logs/TestOutputHeader3.99n
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/RinexNav/Logs/TestOutputHeader3.99n
diff --git a/dev/tests/RinexNav/Logs/UnknownHeaderLabel.99n b/dev/tests/RinexNav/Logs/UnknownHeaderLabel.99n
new file mode 100644
index 0000000..fbef794
--- /dev/null
+++ b/dev/tests/RinexNav/Logs/UnknownHeaderLabel.99n
@@ -0,0 +1,9 @@
+ 2.10 N : GPS NAV DATA RINEX VERSION / TYPE
+XXRINEXN V3 AIUB 1999-09-02 19:22:36 PGM / RUN BY / DATE
+EXAMPLE OF VERSION 2.10 FORMAT COMMENT
+ .1676D-07 .2235D-07 -.1192D-06 -.1192D-06 ION ALPHA
+ .1208D+06 .1310D+06 -.1310D+06 -.1966D+06 ION BETA
+ .133179128170D-06 .107469588780D-12 552960 1025 DELTA-UTC: A0,A1,T,W
+ 13 LEAP SECONDS
+ UNKNOWN LABEL
+ END OF HEADER
\ No newline at end of file
diff --git a/dev/tests/RinexNav/Logs/UnsupportedRinex.99n b/dev/tests/RinexNav/Logs/UnsupportedRinex.99n
new file mode 100644
index 0000000..fcdb7d0
--- /dev/null
+++ b/dev/tests/RinexNav/Logs/UnsupportedRinex.99n
@@ -0,0 +1,8 @@
+ 3.33 N : GPS NAV DATA RINEX VERSION / TYPE
+XXRINEXN V3 AIUB 1999-09-02 19:22:36 PGM / RUN BY / DATE
+EXAMPLE OF VERSION 2.10 FORMAT COMMENT
+ .1676D-07 .2235D-07 -.1192D-06 -.1192D-06 ION ALPHA
+ .1208D+06 .1310D+06 -.1310D+06 -.1966D+06 ION BETA
+ .133179128170D-06 .107469588780D-12 552960 1025 DELTA-UTC: A0,A1,T,W
+ 13 LEAP SECONDS
+ END OF HEADER
diff --git a/trunk/src/Makefile.am b/dev/tests/RinexNav/RinexNavBase.cpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/RinexNav/RinexNavBase.cpp
diff --git a/dev/tests/RinexNav/RinexNavBase.hpp b/dev/tests/RinexNav/RinexNavBase.hpp
new file mode 120000
index 0000000..058930f
--- /dev/null
+++ b/dev/tests/RinexNav/RinexNavBase.hpp
@@ -0,0 +1 @@
+../../src/RinexNavBase.hpp
\ No newline at end of file
diff --git a/dev/tests/RinexNav/RinexNavData.cpp b/dev/tests/RinexNav/RinexNavData.cpp
new file mode 120000
index 0000000..95e5280
--- /dev/null
+++ b/dev/tests/RinexNav/RinexNavData.cpp
@@ -0,0 +1 @@
+../../src/RinexNavData.cpp
\ No newline at end of file
diff --git a/dev/tests/RinexNav/RinexNavData.hpp b/dev/tests/RinexNav/RinexNavData.hpp
new file mode 120000
index 0000000..facc636
--- /dev/null
+++ b/dev/tests/RinexNav/RinexNavData.hpp
@@ -0,0 +1 @@
+../../src/RinexNavData.hpp
\ No newline at end of file
diff --git a/trunk/src/Makefile.am b/dev/tests/RinexNav/RinexNavFilterOperators.cpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/RinexNav/RinexNavFilterOperators.cpp
diff --git a/dev/tests/RinexNav/RinexNavFilterOperators.hpp b/dev/tests/RinexNav/RinexNavFilterOperators.hpp
new file mode 120000
index 0000000..40ad292
--- /dev/null
+++ b/dev/tests/RinexNav/RinexNavFilterOperators.hpp
@@ -0,0 +1 @@
+../../src/RinexNavFilterOperators.hpp
\ No newline at end of file
diff --git a/dev/tests/RinexNav/RinexNavHeader.cpp b/dev/tests/RinexNav/RinexNavHeader.cpp
new file mode 120000
index 0000000..7571667
--- /dev/null
+++ b/dev/tests/RinexNav/RinexNavHeader.cpp
@@ -0,0 +1 @@
+../../src/RinexNavHeader.cpp
\ No newline at end of file
diff --git a/dev/tests/RinexNav/RinexNavHeader.hpp b/dev/tests/RinexNav/RinexNavHeader.hpp
new file mode 120000
index 0000000..7cffa75
--- /dev/null
+++ b/dev/tests/RinexNav/RinexNavHeader.hpp
@@ -0,0 +1 @@
+../../src/RinexNavHeader.hpp
\ No newline at end of file
diff --git a/trunk/src/Makefile.am b/dev/tests/RinexNav/RinexNavStream.cpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/RinexNav/RinexNavStream.cpp
diff --git a/dev/tests/RinexNav/RinexNavStream.hpp b/dev/tests/RinexNav/RinexNavStream.hpp
new file mode 120000
index 0000000..e95553a
--- /dev/null
+++ b/dev/tests/RinexNav/RinexNavStream.hpp
@@ -0,0 +1 @@
+../../src/RinexNavStream.hpp
\ No newline at end of file
diff --git a/dev/tests/RinexNav/xRinexNav.cpp b/dev/tests/RinexNav/xRinexNav.cpp
new file mode 100644
index 0000000..121d6d9
--- /dev/null
+++ b/dev/tests/RinexNav/xRinexNav.cpp
@@ -0,0 +1,271 @@
+#include "xRinexNav.hpp"
+#include "Exception.hpp"
+#include "RinexEphemerisStore.hpp"
+#include <string>
+#include "StringUtils.hpp"
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xRinexNav);
+
+using namespace gpstk;
+
+void xRinexNav :: setUp (void)
+{
+}
+/*
+**** This test checks to make sure that the internal members of the RinexNavHeader are as we think they
+**** should be. Also at the end of this test, we check and make sure our output file is equal to our input
+**** This assures that if any changes happen, the test will fail and the user will know. Also, output was put
+**** into input three times over to make sure there were no small errors which blow up into big errors
+*/
+void xRinexNav :: hardCodeTest (void)
+{
+ try{
+ gpstk::RinexNavStream RinexNavStream("Logs/RinexNavExample.99n");
+ gpstk::RinexNavStream out("Logs/TestOutput.99n",ios::out);
+ gpstk::RinexNavStream dmp("Logs/RinexDump",ios::out);
+ gpstk::RinexNavHeader RinexNavHeader;
+ gpstk::RinexNavData RinexNavData;
+ RinexNavStream >> RinexNavHeader;
+ out << RinexNavHeader;
+
+ while (RinexNavStream >> RinexNavData)
+ {
+ out << RinexNavData;
+ }
+
+
+ CPPUNIT_ASSERT_EQUAL(2.1,RinexNavHeader.version);
+
+ CPPUNIT_ASSERT_EQUAL((string)"XXRINEXN V3",RinexNavHeader.fileProgram);
+ CPPUNIT_ASSERT_EQUAL((string)"AIUB", RinexNavHeader.fileAgency);
+ CPPUNIT_ASSERT_EQUAL((string)"09/02/1999 19:22:36",RinexNavHeader.date);
+
+ vector<string>::const_iterator itr1 = RinexNavHeader.commentList.begin();
+ CPPUNIT_ASSERT_EQUAL((string)"THIS IS ONE COMMENT",(*itr1));
+
+ CPPUNIT_ASSERT(fileEqualTest("Logs/RinexNavExample.99n","Logs/TestOutput.99n"));
+
+ gpstk::RinexNavStream RinexNavStream2("Logs/TestOutput.99n");
+ gpstk::RinexNavStream out2("Logs/TestOutput2.99n",ios::out);
+ gpstk::RinexNavHeader RinexNavHeader2;
+ gpstk::RinexNavData RinexNavData2;
+ RinexNavStream2 >> RinexNavHeader2;
+ out2 << RinexNavHeader2;
+
+ while (RinexNavStream2 >> RinexNavData2)
+ {
+ out2 << RinexNavData2;
+ }
+
+ gpstk::RinexNavStream RinexNavStream3("Logs/TestOutput2.99n");
+ gpstk::RinexNavStream out3("Logs/TestOutput3.99n",ios::out);
+ gpstk::RinexNavHeader RinexNavHeader3;
+ gpstk::RinexNavData RinexNavData3;
+ RinexNavStream3 >> RinexNavHeader3;
+ out3 << RinexNavHeader3;
+
+ while (RinexNavStream3 >> RinexNavData3)
+ {
+ out3 << RinexNavData3;
+ }
+ RinexNavHeader.dump(dmp);
+ RinexNavData.dump(dmp);
+ CPPUNIT_ASSERT(fileEqualTest("Logs/RinexNavExample.99n","Logs/TestOutput3.99n"));
+ }
+ catch (gpstk::Exception& e)
+ {
+ cout << e;
+ }
+}
+
+/*
+**** This test check that Rinex Header exceptions are thrown
+*/
+void xRinexNav :: headerExceptionTest (void)
+{
+ try{
+ gpstk::RinexNavStream InvalidLineLength("Logs/InvalidLineLength.99n");
+ gpstk::RinexNavStream NotaNavFile("Logs/NotaNavFile.99n");
+ gpstk::RinexNavStream UnknownHeaderLabel("Logs/UnknownHeaderLabel.99n");
+ gpstk::RinexNavStream IncompleteHeader("Logs/IncompleteHeader.99n");
+ gpstk::RinexNavStream UnsupportedRinex("Logs/UnsupportedRinex.99n");
+ gpstk::RinexNavStream BadHeader("Logs/BadHeader.99n");
+ gpstk::RinexNavStream out("Logs/TestOutputHeader.99n",ios::out);
+ gpstk::RinexNavHeader Header;
+
+ InvalidLineLength.exceptions(fstream::failbit);
+ NotaNavFile.exceptions(fstream::failbit);
+ UnknownHeaderLabel.exceptions(fstream::failbit);
+ IncompleteHeader.exceptions(fstream::failbit);
+ UnsupportedRinex.exceptions(fstream::failbit);
+ BadHeader.exceptions(fstream::failbit);
+
+ CPPUNIT_ASSERT_THROW(InvalidLineLength >> Header,gpstk::Exception);
+ CPPUNIT_ASSERT_THROW(NotaNavFile >> Header,gpstk::Exception);
+ CPPUNIT_ASSERT_THROW(UnknownHeaderLabel >> Header,gpstk::Exception);
+ CPPUNIT_ASSERT_THROW(IncompleteHeader >> Header,gpstk::Exception);
+ CPPUNIT_ASSERT_THROW(UnsupportedRinex >> Header,gpstk::Exception);
+ CPPUNIT_ASSERT_THROW(BadHeader >> Header,gpstk::Exception);
+
+ IncompleteHeader >> Header;
+ out << Header;
+
+ UnsupportedRinex >> Header;
+ out << Header;
+
+ Header.dump(out);
+
+ }
+ catch (gpstk::Exception& e)
+ {
+ //cout << e;
+ }
+
+
+}
+
+/*
+**** Test for RinexNavData methods
+*/
+void xRinexNav :: dataTest (void)
+{
+ try
+ {
+ gpstk::RinexEphemerisStore Store;
+ gpstk::DayTime Time(1999,9,2,17,51,44);
+ Store.loadFile("Logs/RinexNavExample.99n");
+ const gpstk::EngEphemeris& Eph6 = Store.findUserEphemeris((short) 6, Time);
+ gpstk::RinexNavData Data(Eph6);
+ list<double> NavDataList = Data.toList();
+
+ }
+ catch (gpstk::Exception& e)
+ {
+ cout << e;
+ }
+
+}
+/*
+**** test for several of the members within RinexNavFilterOperators including merge, EqualsFull, LessThanSimple
+**** LessThanFull, and FilterPRN
+*/
+void xRinexNav :: filterOperatorsTest (void)
+{
+ try
+ {
+
+
+ gpstk::RinexNavStream FilterStream1("Logs/FilterTest1.99n");
+ FilterStream1.open("Logs/FilterTest1.99n",std::ios::in);
+ gpstk::RinexNavStream FilterStream2("Logs/FilterTest2.99n");
+ gpstk::RinexNavStream FilterStream3("Logs/FilterTest3.99n");
+ gpstk::RinexNavStream out("Logs/FilterOutput.txt",ios::out);
+
+ gpstk::RinexNavHeader FilterHeader1;
+ gpstk::RinexNavHeader FilterHeader2;
+ gpstk::RinexNavHeader FilterHeader3;
+
+
+ gpstk::RinexNavData FilterData1;
+ gpstk::RinexNavData FilterData2;
+ gpstk::RinexNavData FilterData3;
+
+
+
+ FilterStream1 >> FilterHeader1;
+ FilterStream2 >> FilterHeader2;
+ FilterStream3 >> FilterHeader3;
+
+
+ while (FilterStream1 >> FilterData1)
+ {
+ }
+ while (FilterStream2 >> FilterData2)
+ {
+ }
+ while (FilterStream3 >> FilterData3)
+ {
+ }
+
+
+ gpstk::RinexNavHeaderTouchHeaderMerge merged;
+ merged(FilterHeader1);
+ merged(FilterHeader2);
+ out << merged.theHeader;
+
+ gpstk::RinexNavDataOperatorEqualsFull EqualsFull;
+ CPPUNIT_ASSERT_EQUAL(true,EqualsFull(FilterData1, FilterData2));
+ CPPUNIT_ASSERT_EQUAL(false,EqualsFull(FilterData1, FilterData3));
+
+ gpstk::RinexNavDataOperatorLessThanSimple LessThanSimple;
+ CPPUNIT_ASSERT_EQUAL(false,LessThanSimple(FilterData1, FilterData2));
+ //CPPUNIT_ASSERT_EQUAL(true,LessThanSimple(FilterData1, FilterData3));
+
+ gpstk::RinexNavDataOperatorLessThanFull LessThanFull;
+ //CPPUNIT_ASSERT_EQUAL(true,LessThanFull(FilterData1, FilterData3));
+ //CPPUNIT_ASSERT_EQUAL(false,LessThanFull(FilterData3, FilterData1));
+ CPPUNIT_ASSERT_EQUAL(false,LessThanFull(FilterData1, FilterData1));
+
+ std::list<long> list;
+ list.push_front(6);
+ gpstk::RinexNavDataFilterPRN FilterPRN(list);
+ CPPUNIT_ASSERT_EQUAL(true,FilterPRN(FilterData3));
+ //cout << FilterPRN(FilterData3) << endl;
+ }
+ catch(gpstk::Exception& e)
+ {
+
+ }
+
+
+}
+
+/*
+**** A helper function for xRinexNav to line by line, check if the two files given are the same.
+**** Takes in two file names within double quotes "FILEONE.TXT" "FILETWO.TXT". Returns true if
+**** the files are equal. Skips the first two lines becasue dates are often writen as the current
+**** data and thus very hard to pin down a specific time for.
+*/
+bool xRinexNav :: fileEqualTest (char* handle1, char* handle2)
+{
+ bool isEqual = false;
+ int counter = 0;
+ ifstream File1;
+ ifstream File2;
+
+ std::string File1Line;
+ std::string File2Line;
+
+ File1.open(handle1);
+ File2.open(handle2);
+ getline (File1, File1Line);
+ getline (File2, File2Line);
+ getline (File1, File1Line);
+ getline (File2, File2Line);
+
+ while (!File1.eof())
+ {
+ if (File2.eof())
+ {
+ cout << "ONE" << counter << endl;
+
+ return isEqual;
+ }
+ getline (File1, File1Line);
+ getline (File2, File2Line);
+
+ if (File1Line != File2Line)
+ {
+ cout << "TWO" << counter << endl;
+ cout << File1Line << endl;
+ cout << File2Line << endl;
+ return isEqual;
+ }
+ }
+ if (!File2.eof()){
+ cout << "THREE" << counter << endl;
+ return isEqual;
+ }
+ else
+ return isEqual = true;
+}
diff --git a/dev/tests/RinexNav/xRinexNav.hpp b/dev/tests/RinexNav/xRinexNav.hpp
new file mode 100644
index 0000000..922da76
--- /dev/null
+++ b/dev/tests/RinexNav/xRinexNav.hpp
@@ -0,0 +1,37 @@
+#ifndef XRINEXNAV_HPP
+#define XRINEXNAV_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "RinexNavHeader.hpp"
+#include "RinexNavData.hpp"
+#include "RinexNavStream.hpp"
+#include "RinexNavFilterOperators.hpp"
+#include "StringUtils.hpp"
+
+using namespace std;
+
+class xRinexNav: public CPPUNIT_NS :: TestFixture
+{
+ CPPUNIT_TEST_SUITE (xRinexNav);
+ CPPUNIT_TEST (hardCodeTest);
+ CPPUNIT_TEST (headerExceptionTest);
+ CPPUNIT_TEST (dataTest);
+ CPPUNIT_TEST (filterOperatorsTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void);
+
+ protected:
+ void hardCodeTest (void);
+ void headerExceptionTest (void);
+ void dataTest (void);
+ void filterOperatorsTest (void);
+ bool fileEqualTest (char*, char*);
+
+ private:
+
+};
+
+#endif
diff --git a/dev/tests/RinexNav/xRinexNavM.cpp b/dev/tests/RinexNav/xRinexNavM.cpp
new file mode 100644
index 0000000..34e6efc
--- /dev/null
+++ b/dev/tests/RinexNav/xRinexNavM.cpp
@@ -0,0 +1,28 @@
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/RinexObs/Jamfile b/dev/tests/RinexObs/Jamfile
new file mode 100644
index 0000000..d4629c3
--- /dev/null
+++ b/dev/tests/RinexObs/Jamfile
@@ -0,0 +1,2 @@
+SubDir TOP RinexObs ;
+TestMain RinexObs/xRinexObs.tst : RinexObs/xRinexObsM.cpp RinexObs/xRinexObs.cpp RinexObs/RinexObsBase.cpp RinexObs/RinexObsData.cpp RinexObs/RinexObsFilterOperators.cpp RinexObs/RinexObsHeader.cpp RinexObs/RinexObsStream.cpp ;
diff --git a/dev/tests/RinexObs/Logs/BACKUP.06o b/dev/tests/RinexObs/Logs/BACKUP.06o
new file mode 100644
index 0000000..46f872a
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/BACKUP.06o
@@ -0,0 +1,155 @@
+ 2.10 Observation S (GEOSYNC) RINEX VERSION / TYPE
+row Dataflow Processing 04/11/2006 23:59:18 PGM / RUN BY / DATE
+85408 MARKER NAME
+Monitor Station NGA OBSERVER / AGENCY
+1 ZY12 REC # / TYPE / VERS
+85408 AshTech Geodetic 3 ANT # / TYPE
+ -740289.8540 -5457071.7398 3207245.6036 APPROX POSITION XYZ
+ 0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N
+ 1 1 WAVELENGTH FACT L1/2
+ 1 1 7 G 1 G 5 G11 G14 G15 G18 G22WAVELENGTH FACT L1/2
+ 1 1 2 G25 G30 WAVELENGTH FACT L1/2
+ 10 L1 L2 C1 P1 P2 D1 D2 S1 S2# / TYPES OF OBSERV
+ C2 # / TYPES OF OBSERV
+ 30.000 INTERVAL
+ 2006 4 12 0 0 0.0000000 GPS TIME OF FIRST OBS
+ 2006 4 12 0 2 30.0000000 GPS TIME OF LAST OBS
+85408 MARKER NUMBER
+ 0 RCV CLOCK OFFS APPL
+ 0 LEAP SECONDS
+THIS IS AN EXAMPLE RINEX OBS FILE COMMENT
+ 9 # OF SATELLITES
+ G 1 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G 5 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G11 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G14 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G15 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G18 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G22 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G25 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G30 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ END OF HEADER
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diff --git a/dev/tests/RinexObs/Logs/BadEpochFlag.06o b/dev/tests/RinexObs/Logs/BadEpochFlag.06o
new file mode 100644
index 0000000..c366f0d
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/BadEpochFlag.06o
@@ -0,0 +1,154 @@
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diff --git a/dev/tests/RinexObs/Logs/BadEpochLine.06o b/dev/tests/RinexObs/Logs/BadEpochLine.06o
new file mode 100644
index 0000000..145f3ed
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/BadEpochLine.06o
@@ -0,0 +1,154 @@
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diff --git a/dev/tests/RinexObs/Logs/BadLineSize.06o b/dev/tests/RinexObs/Logs/BadLineSize.06o
new file mode 100644
index 0000000..91eaf25
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/BadLineSize.06o
@@ -0,0 +1,154 @@
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diff --git a/trunk/src/Makefile.am b/dev/tests/RinexObs/Logs/DataExceptionOutput.06o
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/RinexObs/Logs/DataExceptionOutput.06o
diff --git a/dev/tests/RinexObs/Logs/FilterOutput.txt b/dev/tests/RinexObs/Logs/FilterOutput.txt
new file mode 100644
index 0000000..f9b9d16
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/FilterOutput.txt
@@ -0,0 +1,41 @@
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diff --git a/dev/tests/RinexObs/Logs/FilterTest1.06o b/dev/tests/RinexObs/Logs/FilterTest1.06o
new file mode 100644
index 0000000..5f3aa9c
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/FilterTest1.06o
@@ -0,0 +1,154 @@
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diff --git a/dev/tests/RinexObs/Logs/FilterTest2.06o b/dev/tests/RinexObs/Logs/FilterTest2.06o
new file mode 100644
index 0000000..2c759fe
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/FilterTest2.06o
@@ -0,0 +1,154 @@
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diff --git a/dev/tests/RinexObs/Logs/FilterTest3.06o b/dev/tests/RinexObs/Logs/FilterTest3.06o
new file mode 100644
index 0000000..5f3aa9c
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/FilterTest3.06o
@@ -0,0 +1,154 @@
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diff --git a/dev/tests/RinexObs/Logs/FilterTest4.06o b/dev/tests/RinexObs/Logs/FilterTest4.06o
new file mode 100644
index 0000000..5f3aa9c
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/FilterTest4.06o
@@ -0,0 +1,154 @@
+ 2.10 Observation S (GEOSYNC) RINEX VERSION / TYPE
+row Dataflow Processing 04/10/2006 23:59:18 PGM / RUN BY / DATE
+85408 MARKER NAME
+Monitor Station NGA OBSERVER / AGENCY
+1 ZY12 REC # / TYPE / VERS
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+ 0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N
+ 1 1 WAVELENGTH FACT L1/2
+ 1 1 7 G 1 G 5 G11 G14 G15 G18 G22WAVELENGTH FACT L1/2
+ 1 1 2 G25 G30 WAVELENGTH FACT L1/2
+ 10 L1 L2 C1 P1 P2 D1 D2 S1 S2# / TYPES OF OBSERV
+ C2 # / TYPES OF OBSERV
+ 30.000 INTERVAL
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diff --git a/dev/tests/RinexObs/Logs/IncompleteHeader.06o b/dev/tests/RinexObs/Logs/IncompleteHeader.06o
new file mode 100644
index 0000000..a62861e
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/IncompleteHeader.06o
@@ -0,0 +1,154 @@
+ 2.10 Observation G (GPS) RINEX VERSION / TYPE
+row Dataflow Processing 04/11/2006 23:59:18 PGM / RUN BY / DATE
+THIS IS AN EXAMPLE RINEX OBS FILE COMMENT
+THIS IS MISSING A MARKER NAME COMMENT
+Monitor Station NGA OBSERVER / AGENCY
+1 ZY12 REC # / TYPE / VERS
+85408 AshTech Geodetic 3 ANT # / TYPE
+ -740289.8540 -5457071.7398 3207245.6036 APPROX POSITION XYZ
+ 0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N
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+ 1 1 2 G25 G30 WAVELENGTH FACT L1/2
+ 10 L1 L2 C1 P1 P2 D1 D2 S1 S2# / TYPES OF OBSERV
+ C2 # / TYPES OF OBSERV
+ 30.000 INTERVAL
+ 2006 4 12 0 0 0.0000000 TIME OF FIRST OBS
+ 2006 4 12 0 2 30.0000000 TIME OF LAST OBS
+ 0 RCV CLOCK OFFS APPL
+ 0 LEAP SECONDS
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diff --git a/dev/tests/RinexObs/Logs/InvalidLineLength.06o b/dev/tests/RinexObs/Logs/InvalidLineLength.06o
new file mode 100644
index 0000000..86a3c64
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/InvalidLineLength.06o
@@ -0,0 +1,155 @@
+ 2.10 Observation G (GPS) RINEX VERSION / TYPEzzzzzzzzzzzzzzzzzzz
+row Dataflow Processing 04/11/2006 23:59:18 PGM / RUN BY / DATE
+THIS IS AN EXAMPLE RINEX OBS FILE COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+Monitor Station NGA OBSERVER / AGENCY
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diff --git a/dev/tests/RinexObs/Logs/InvalidNumPRNWaveFact.06o b/dev/tests/RinexObs/Logs/InvalidNumPRNWaveFact.06o
new file mode 100644
index 0000000..ff1df1e
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/InvalidNumPRNWaveFact.06o
@@ -0,0 +1,155 @@
+ 2.10 Observation G (GPS) RINEX VERSION / TYPE
+row Dataflow Processing 04/11/2006 23:59:18 PGM / RUN BY / DATE
+THIS IS AN EXAMPLE RINEX OBS FILE COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+Monitor Station NGA OBSERVER / AGENCY
+1 ZY12 REC # / TYPE / VERS
+85408 AshTech Geodetic 3 ANT # / TYPE
+ -740289.8540 -5457071.7398 3207245.6036 APPROX POSITION XYZ
+ 0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N
+ 1 1 WAVELENGTH FACT L1/2
+ 1 1 9 G 1 G 5 G11 G14 G15 G18 G22WAVELENGTH FACT L1/2
+ 1 1 2 G25 G30 WAVELENGTH FACT L1/2
+ 10 L1 L2 C1 P1 P2 D1 D2 S1 S2# / TYPES OF OBSERV
+ C2 # / TYPES OF OBSERV
+ 30.000 INTERVAL
+ 2006 4 12 0 0 0.0000000 TIME OF FIRST OBS
+ 2006 4 12 0 2 30.0000000 TIME OF LAST OBS
+ 0 RCV CLOCK OFFS APPL
+ 0 LEAP SECONDS
+ G 1 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G 5 6 6 6 6 6 6 6 6 6PRN / # OF OBS
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+ END OF HEADER
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diff --git a/dev/tests/RinexObs/Logs/InvalidTimeFormat.06o b/dev/tests/RinexObs/Logs/InvalidTimeFormat.06o
new file mode 100644
index 0000000..17c8965
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/InvalidTimeFormat.06o
@@ -0,0 +1,154 @@
+ 2.10 Observation S (GEOSYNC) RINEX VERSION / TYPE
+row Dataflow Processing 04/11/2006 23:59:18 PGM / RUN BY / DATE
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diff --git a/dev/tests/RinexObs/Logs/NotObs.06o b/dev/tests/RinexObs/Logs/NotObs.06o
new file mode 100644
index 0000000..fa964b2
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/NotObs.06o
@@ -0,0 +1,155 @@
+ 2.10 Dbservation G (GPS) RINEX VERSION / TYPE
+row Dataflow Processing 04/11/2006 23:59:18 PGM / RUN BY / DATE
+THIS IS AN EXAMPLE RINEX OBS FILE COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
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+
diff --git a/dev/tests/RinexObs/Logs/ObsDump b/dev/tests/RinexObs/Logs/ObsDump
new file mode 100644
index 0000000..5649e1f
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/ObsDump
@@ -0,0 +1,45 @@
+---------------------------------- REQUIRED ----------------------------------
+Rinex Version 2.10, File type Observation, System S (Geosync).
+Prgm: row, Run: 04/11/2006 23:59:18, By: Dataflow Processing
+Marker name: 85408.
+Obs'r : Monitor Station, Agency: NGA
+Rec#: 1, Type: ZY12, Vers:
+Antenna # : 85408, Type : AshTech Geodetic 3
+Position (XYZ,m) : (-740289.8540, -5457071.7398, 3207245.6036).
+Antenna offset (ENU,m) : (0.0000, 0.0000, 0.0000).
+Wavelength factors (default) L1:1, L2: 1.
+Wavelength factors (extra) L1:1, L2: 1, for PRNs GPS 1 GPS 5 GPS 11 GPS 14 GPS 15 GPS 18 GPS 22
+Wavelength factors (extra) L1:1, L2: 1, for PRNs GPS 25 GPS 30
+Observation types (10) :
+ Type #0 = L1 L1 Carrier Phase (L1 cycles).
+ Type #1 = L2 L2 Carrier Phase (L2 cycles).
+ Type #2 = C1 C/A-code pseudorange (meters).
+ Type #3 = P1 Pcode L1 pseudorange (meters).
+ Type #4 = P2 Pcode L2 pseudorange (meters).
+ Type #5 = D1 Doppler Frequency L1 (Hz).
+ Type #6 = D2 Doppler Frequency L2 (Hz).
+ Type #7 = S1 Signal-to-Noise L1 (dB-Hz).
+ Type #8 = S2 Signal-to-Noise L2 (dB-Hz).
+ Type #9 = C2 L2C-code pseudorange (meters).
+Time of first obs 2006/04/12 00:00:00.0000000 GPS
+(This header is VALID 2.11 Rinex.)
+---------------------------------- OPTIONAL ----------------------------------
+Marker number : 85408
+Interval = 30.000
+Time of last obs 2006/04/12 00:02:30.0000000 GPS
+Leap seconds: 0
+Clock offset record is present and offsets are NOT applied.
+Number of Satellites with data : 9
+SAT L1 L2 C1 P1 P2 D1 D2 S1 S2 C2
+ GPS 1 6 6 6 6 6 6 6 6 6 6
+ GPS 5 6 6 6 6 6 6 6 6 6 6
+ GPS 11 6 6 6 6 6 6 6 6 6 6
+ GPS 14 6 6 6 6 6 6 6 6 6 6
+ GPS 15 6 6 6 6 6 6 6 6 6 6
+ GPS 18 6 6 6 6 6 6 6 6 6 6
+ GPS 22 6 6 6 6 6 6 6 6 6 6
+ GPS 25 6 6 6 6 6 6 6 6 6 6
+ GPS 30 6 6 6 6 6 6 6 6 6 6
+Comments (1) :
+THIS IS AN EXAMPLE RINEX OBS FILE
+-------------------------------- END OF HEADER -------------------------------
diff --git a/dev/tests/RinexObs/Logs/RinexContData.06o b/dev/tests/RinexObs/Logs/RinexContData.06o
new file mode 100644
index 0000000..b578e7b
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/RinexContData.06o
@@ -0,0 +1,187 @@
+ 2.10 Observation S (GEOSYNC) RINEX VERSION / TYPE
+row Dataflow Processing 04/11/2006 23:59:18 PGM / RUN BY / DATE
+85408 MARKER NAME
+Monitor Station NGA OBSERVER / AGENCY
+1 ZY12 REC # / TYPE / VERS
+85408 AshTech Geodetic 3 ANT # / TYPE
+ -740289.8540 -5457071.7398 3207245.6036 APPROX POSITION XYZ
+ 0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N
+ 1 1 WAVELENGTH FACT L1/2
+ 1 1 7 G 1 G 5 G11 G14 G15 G18 G22WAVELENGTH FACT L1/2
+ 1 1 2 G25 G30 WAVELENGTH FACT L1/2
+ 10 L1 L2 C1 P1 P2 D1 D2 S1 S2# / TYPES OF OBSERV
+ C2 # / TYPES OF OBSERV
+ 30.000 INTERVAL
+ 2006 4 12 0 0 0.0000000 GPS TIME OF FIRST OBS
+ 2006 4 12 0 3 0.0000000 GPS TIME OF LAST OBS
+85408 MARKER NUMBER
+ 0 RCV CLOCK OFFS APPL
+ 0 LEAP SECONDS
+TEST COMMENT
+ 9 # OF SATELLITES
+ G 1 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G 5 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G11 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G14 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G15 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G18 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G22 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G25 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G30 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ END OF HEADER
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+ 455.015 354.529 41.450 39.370 23316553.121
+ 3 1
+85408 MARKER NAME
+85408 MARKER NUMBER
+THIS IS THE START OF A NEW SITE COMMENT
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+ -2620995.320 8 -2036717.878 7 23316553.121 23316552.816 23316557.199
+ 455.015 354.529 41.450 39.370 23316553.121
+THIS IS THE START OF A COMMENT COMMENT
\ No newline at end of file
diff --git a/dev/tests/RinexObs/Logs/RinexObsFile.06o b/dev/tests/RinexObs/Logs/RinexObsFile.06o
new file mode 100644
index 0000000..cdb8c4d
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/RinexObsFile.06o
@@ -0,0 +1,154 @@
+ 2.10 Observation S (Geosync) RINEX VERSION / TYPE
+row Dataflow Processing 04/11/2006 23:59:18 PGM / RUN BY / DATE
+85408 MARKER NAME
+Monitor Station NGA OBSERVER / AGENCY
+1 ZY12 REC # / TYPE / VERS
+85408 AshTech Geodetic 3 ANT # / TYPE
+ -740289.8540 -5457071.7398 3207245.6036 APPROX POSITION XYZ
+ 0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N
+ 1 1 WAVELENGTH FACT L1/2
+ 1 1 7 G01 G05 G11 G14 G15 G18 G22WAVELENGTH FACT L1/2
+ 1 1 2 G25 G30 WAVELENGTH FACT L1/2
+ 10 L1 L2 C1 P1 P2 D1 D2 S1 S2# / TYPES OF OBSERV
+ C2 # / TYPES OF OBSERV
+ 30.000 INTERVAL
+ 2006 4 12 0 0 0.0000000 GPS TIME OF FIRST OBS
+ 2006 4 12 0 2 30.0000000 GPS TIME OF LAST OBS
+85408 MARKER NUMBER
+ 0 RCV CLOCK OFFS APPL
+ 0 LEAP SECONDS
+THIS IS AN EXAMPLE RINEX OBS FILE COMMENT
+ 9 # OF SATELLITES
+ G01 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G05 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G11 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G14 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G15 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G18 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G22 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G25 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G30 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ END OF HEADER
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diff --git a/dev/tests/RinexObs/Logs/SystemGeosync.06o b/dev/tests/RinexObs/Logs/SystemGeosync.06o
new file mode 100644
index 0000000..9c4c0c1
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/SystemGeosync.06o
@@ -0,0 +1,155 @@
+ 2.10 Observation S (GEOSYNC) RINEX VERSION / TYPE
+row Dataflow Processing 04/11/2006 23:59:18 PGM / RUN BY / DATE
+THIS IS AN EXAMPLE RINEX OBS FILE COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+Monitor Station NGA OBSERVER / AGENCY
+1 ZY12 REC # / TYPE / VERS
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diff --git a/dev/tests/RinexObs/Logs/SystemGlonass.06o b/dev/tests/RinexObs/Logs/SystemGlonass.06o
new file mode 100644
index 0000000..b566f35
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/SystemGlonass.06o
@@ -0,0 +1,155 @@
+ 2.10 Observation R (GLONASS) RINEX VERSION / TYPE
+row Dataflow Processing 04/11/2006 23:59:18 PGM / RUN BY / DATE
+THIS IS AN EXAMPLE RINEX OBS FILE COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+Monitor Station NGA OBSERVER / AGENCY
+1 ZY12 REC # / TYPE / VERS
+85408 AshTech Geodetic 3 ANT # / TYPE
+ -740289.8540 -5457071.7398 3207245.6036 APPROX POSITION XYZ
+ 0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N
+ 1 1 WAVELENGTH FACT L1/2
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+ 1 1 2 G25 G30 WAVELENGTH FACT L1/2
+ 10 L1 L2 C1 P1 P2 D1 D2 S1 S2# / TYPES OF OBSERV
+ C2 # / TYPES OF OBSERV
+ 30.000 INTERVAL
+ 2006 4 12 0 0 0.0000000 TIME OF FIRST OBS
+ 2006 4 12 0 2 30.0000000 TIME OF LAST OBS
+ 0 RCV CLOCK OFFS APPL
+ 0 LEAP SECONDS
+ G 1 6 6 6 6 6 6 6 6 6PRN / # OF OBS
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+ END OF HEADER
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diff --git a/dev/tests/RinexObs/Logs/SystemMixed.06o b/dev/tests/RinexObs/Logs/SystemMixed.06o
new file mode 100644
index 0000000..cef672f
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/SystemMixed.06o
@@ -0,0 +1,155 @@
+ 2.10 Observation M (MIXED) RINEX VERSION / TYPE
+row Dataflow Processing 04/11/2006 23:59:18 PGM / RUN BY / DATE
+THIS IS AN EXAMPLE RINEX OBS FILE COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+Monitor Station NGA OBSERVER / AGENCY
+1 ZY12 REC # / TYPE / VERS
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+ 0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N
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+ 10 L1 L2 C1 P1 P2 D1 D2 S1 S2# / TYPES OF OBSERV
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+ 30.000 INTERVAL
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diff --git a/dev/tests/RinexObs/Logs/SystemTransit.06o b/dev/tests/RinexObs/Logs/SystemTransit.06o
new file mode 100644
index 0000000..a3981ed
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/SystemTransit.06o
@@ -0,0 +1,155 @@
+ 2.10 Observation T (TRANSIT) RINEX VERSION / TYPE
+row Dataflow Processing 04/11/2006 23:59:18 PGM / RUN BY / DATE
+THIS IS AN EXAMPLE RINEX OBS FILE COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
+Monitor Station NGA OBSERVER / AGENCY
+1 ZY12 REC # / TYPE / VERS
+85408 AshTech Geodetic 3 ANT # / TYPE
+ -740289.8540 -5457071.7398 3207245.6036 APPROX POSITION XYZ
+ 0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N
+ 1 1 WAVELENGTH FACT L1/2
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+ 1 1 2 G25 G30 WAVELENGTH FACT L1/2
+ 10 L1 L2 C1 P1 P2 D1 D2 S1 S2# / TYPES OF OBSERV
+ C2 # / TYPES OF OBSERV
+ 30.000 INTERVAL
+ 2006 4 12 0 0 0.0000000 TIME OF FIRST OBS
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+ END OF HEADER
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diff --git a/dev/tests/RinexObs/Logs/TestOutput.06o b/dev/tests/RinexObs/Logs/TestOutput.06o
new file mode 100644
index 0000000..5ad3626
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/TestOutput.06o
@@ -0,0 +1,215 @@
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+row Dataflow Processing 10/05/2006 12:29:23 PGM / RUN BY / DATE
+85408 MARKER NAME
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diff --git a/dev/tests/RinexObs/Logs/TestOutput2.06o b/dev/tests/RinexObs/Logs/TestOutput2.06o
new file mode 100644
index 0000000..5164083
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/TestOutput2.06o
@@ -0,0 +1,154 @@
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+row Dataflow Processing 10/05/2006 12:29:23 PGM / RUN BY / DATE
+85408 MARKER NAME
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diff --git a/dev/tests/RinexObs/Logs/TestOutput3.06o b/dev/tests/RinexObs/Logs/TestOutput3.06o
new file mode 100644
index 0000000..2d324df
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/TestOutput3.06o
@@ -0,0 +1,165 @@
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diff --git a/dev/tests/RinexObs/Logs/UnSupVersion.06o b/dev/tests/RinexObs/Logs/UnSupVersion.06o
new file mode 100644
index 0000000..021432e
--- /dev/null
+++ b/dev/tests/RinexObs/Logs/UnSupVersion.06o
@@ -0,0 +1,155 @@
+ 3.33 Observation G (GPS) RINEX VERSION / TYPE
+row Dataflow Processing 04/11/2006 23:59:18 PGM / RUN BY / DATE
+THIS IS AN EXAMPLE RINEX OBS FILE COMMENT
+85408 MARKER NAME
+85408 MARKER NUMBER
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+ 2006 4 12 0 0 0.0000000 TIME OF FIRST OBS
+ 2006 4 12 0 2 30.0000000 TIME OF LAST OBS
+ 0 RCV CLOCK OFFS APPL
+ 0 LEAP SECONDS
+ G 1 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G 5 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G11 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G14 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G15 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G18 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G22 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G25 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ G30 6 6 6 6 6 6 6 6 6PRN / # OF OBS
+ 6 PRN / # OF OBS
+ 9 # OF SATELLITES
+ END OF HEADER
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+ 455.015 354.529 41.450 39.370 23316553.121
+
diff --git a/trunk/src/Makefile.am b/dev/tests/RinexObs/RinexObsBase.cpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/RinexObs/RinexObsBase.cpp
diff --git a/dev/tests/RinexObs/RinexObsBase.hpp b/dev/tests/RinexObs/RinexObsBase.hpp
new file mode 120000
index 0000000..3bd24bb
--- /dev/null
+++ b/dev/tests/RinexObs/RinexObsBase.hpp
@@ -0,0 +1 @@
+../../src/RinexObsBase.hpp
\ No newline at end of file
diff --git a/dev/tests/RinexObs/RinexObsData.cpp b/dev/tests/RinexObs/RinexObsData.cpp
new file mode 120000
index 0000000..e81f623
--- /dev/null
+++ b/dev/tests/RinexObs/RinexObsData.cpp
@@ -0,0 +1 @@
+../../src/RinexObsData.cpp
\ No newline at end of file
diff --git a/dev/tests/RinexObs/RinexObsData.hpp b/dev/tests/RinexObs/RinexObsData.hpp
new file mode 120000
index 0000000..3598474
--- /dev/null
+++ b/dev/tests/RinexObs/RinexObsData.hpp
@@ -0,0 +1 @@
+../../src/RinexObsData.hpp
\ No newline at end of file
diff --git a/trunk/src/Makefile.am b/dev/tests/RinexObs/RinexObsFilterOperators.cpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/RinexObs/RinexObsFilterOperators.cpp
diff --git a/dev/tests/RinexObs/RinexObsFilterOperators.hpp b/dev/tests/RinexObs/RinexObsFilterOperators.hpp
new file mode 120000
index 0000000..2e5f9cc
--- /dev/null
+++ b/dev/tests/RinexObs/RinexObsFilterOperators.hpp
@@ -0,0 +1 @@
+../../src/RinexObsFilterOperators.hpp
\ No newline at end of file
diff --git a/dev/tests/RinexObs/RinexObsHeader.cpp b/dev/tests/RinexObs/RinexObsHeader.cpp
new file mode 120000
index 0000000..0671097
--- /dev/null
+++ b/dev/tests/RinexObs/RinexObsHeader.cpp
@@ -0,0 +1 @@
+../../src/RinexObsHeader.cpp
\ No newline at end of file
diff --git a/dev/tests/RinexObs/RinexObsHeader.hpp b/dev/tests/RinexObs/RinexObsHeader.hpp
new file mode 120000
index 0000000..4ba78dc
--- /dev/null
+++ b/dev/tests/RinexObs/RinexObsHeader.hpp
@@ -0,0 +1 @@
+../../src/RinexObsHeader.hpp
\ No newline at end of file
diff --git a/trunk/src/Makefile.am b/dev/tests/RinexObs/RinexObsStream.cpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/RinexObs/RinexObsStream.cpp
diff --git a/dev/tests/RinexObs/RinexObsStream.hpp b/dev/tests/RinexObs/RinexObsStream.hpp
new file mode 120000
index 0000000..69883a8
--- /dev/null
+++ b/dev/tests/RinexObs/RinexObsStream.hpp
@@ -0,0 +1 @@
+../../src/RinexObsStream.hpp
\ No newline at end of file
diff --git a/dev/tests/RinexObs/xRinexObs.cpp b/dev/tests/RinexObs/xRinexObs.cpp
new file mode 100644
index 0000000..953338c
--- /dev/null
+++ b/dev/tests/RinexObs/xRinexObs.cpp
@@ -0,0 +1,277 @@
+#include "xRinexObs.hpp"
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xRinexObs);
+
+using namespace gpstk;
+
+void xRinexObs :: setUp (void)
+{
+}
+/*
+**** This tests throws many GPSTK RinexObsHeader exceptions including Incomplete headers, invalid line lengths etc
+**** Also an extended obs type is used and dumped within this test.
+*/
+void xRinexObs :: headerExceptionTest (void)
+{
+ try{
+ gpstk::RinexObsStream RinexObsFile("Logs/RinexObsFile.06o");
+ gpstk::RinexObsStream ih("Logs/IncompleteHeader.06o");
+ gpstk::RinexObsStream il("Logs/InvalidLineLength.06o");
+ gpstk::RinexObsStream inpwf("Logs/InvalidNumPRNWaveFact.06o");
+ gpstk::RinexObsStream no("Logs/NotObs.06o");
+ gpstk::RinexObsStream ss("Logs/SystemGeosync.06o");
+ gpstk::RinexObsStream sr("Logs/SystemGlonass.06o");
+ gpstk::RinexObsStream sm("Logs/SystemMixed.06o");
+ gpstk::RinexObsStream st("Logs/SystemTransit.06o");
+ gpstk::RinexObsStream unsupv("Logs/UnSupVersion.06o");
+ gpstk::RinexObsStream contdata("Logs/RinexContData.06o");
+
+ gpstk::RinexObsStream out("Logs/TestOutput.06o",ios::out);
+ gpstk::RinexObsStream out2("Logs/TestOutput3.06o",ios::out);
+ gpstk::RinexObsStream dump("Logs/ObsDump",ios::out);
+
+ gpstk::RinexObsHeader RinexObsFileh;
+ gpstk::RinexObsHeader ihh;
+ gpstk::RinexObsHeader ilh;
+ gpstk::RinexObsHeader inpwfh;
+ gpstk::RinexObsHeader noh;
+ gpstk::RinexObsHeader ssh;
+ gpstk::RinexObsHeader srh;
+ gpstk::RinexObsHeader smh;
+ gpstk::RinexObsHeader sth;
+ gpstk::RinexObsHeader unsupvh;
+ gpstk::RinexObsHeader contdatah;
+
+ gpstk::RegisterExtendedRinexObsType("ER","Testing Type", "Candela", (unsigned) 2);
+ gpstk::RinexObsData RinexObsFiled;
+ gpstk::RinexObsData contdatad;
+
+ RinexObsFile >> RinexObsFileh;
+ ih >> ihh;
+ il >> ilh;
+ inpwf >> inpwfh;
+ no >> noh;
+ ss >> ssh;
+ sr >> srh;
+ sm >> smh;
+ unsupv >> unsupvh;
+ contdata >> contdatah;
+
+ out << RinexObsFileh;
+ out << ihh;
+ out << ilh;
+ out << inpwfh;
+ out << noh;
+ out << ssh;
+ out << srh;
+ out << smh;
+ out << unsupvh;
+ out2 << contdatah;
+ RinexObsFile >> RinexObsFiled;
+ RinexObsFiled.dump(dump);
+ while (RinexObsFile >> RinexObsFiled)
+ {
+ out << RinexObsFiled;
+ }
+ while (contdata >> contdatad)
+ {
+ out2 << contdatad;
+ }
+ RinexObsFileh.dump(dump);
+ contdatah.dump(dump);
+ ilh.dump(dump);
+ gpstk::DisplayExtendedRinexObsTypes(dump);
+ //RinexObsFiled.dump(cout);
+ CPPUNIT_ASSERT_EQUAL(39,RinexObsFileh.NumberHeaderRecordsToBeWritten());
+ }
+ catch (gpstk::Exception& e)
+ {
+ cout << e;
+ }
+}
+
+/*
+**** This test checks to make sure that the output from a read in RinexObsFile matches the input.
+*/
+void xRinexObs :: hardCodeTest (void)
+{
+ try
+ {
+ gpstk::RinexObsStream RinexObsFile("Logs/RinexObsFile.06o");
+ gpstk::RinexObsStream out("Logs/TestOutput2.06o",ios::out);
+ gpstk::RinexObsStream dump("Logs/ObsDump",ios::out);
+ gpstk::RinexObsHeader RinexObsFileh;
+ gpstk::RinexObsData RinexObsFiled;
+ RinexObsFile >> RinexObsFileh;
+ out << RinexObsFileh;
+ while (RinexObsFile >> RinexObsFiled)
+ {
+ out << RinexObsFiled;
+ }
+ RinexObsFiled.dump(dump);
+ RinexObsFileh.dump(dump);
+ CPPUNIT_ASSERT(fileEqualTest("Logs/RinexObsFile.06o","Logs/TestOutput2.06o"));
+ }
+ catch (gpstk::Exception& e)
+ {
+ cout << e;
+ }
+}
+
+/*
+**** This test throws many GPSTK exceptions within the RinexObsData including BadEpochLine and BadEpochFlag
+*/
+void xRinexObs :: dataExceptionsTest (void)
+{
+ gpstk::RinexObsStream BadEpochLine("Logs/BadEpochLine.");
+ gpstk::RinexObsStream BadEpochFlag("Logs/BadEpochFlag.06o");
+ gpstk::RinexObsStream BadLineSize("Logs/BadLineSize.06o");
+ gpstk::RinexObsStream InvalidTimeFormat("Logs/InvalidTimeFormat.06o");
+ gpstk::RinexObsStream out("Logs/DataExceptionOutput.06o",ios::out);
+ gpstk::RinexObsData BadEpochLined;
+ gpstk::RinexObsData BadEpochFlagd;
+ gpstk::RinexObsData BadLineSized;
+ gpstk::RinexObsData InvalidTimeFormatd;
+ while (BadEpochLine >> BadEpochLined)
+ {
+ out << BadEpochLined;
+ }
+ while (BadEpochFlag >> BadEpochFlagd)
+ {
+ out << BadEpochFlagd;
+ }
+ while (BadLineSize >> BadLineSized)
+ {
+ out << BadLineSized;
+ }
+ while (InvalidTimeFormat >> InvalidTimeFormatd)
+ {
+ out << InvalidTimeFormatd;
+ }
+
+}
+
+/*
+**** This is the test for several of the members within RinexObsFilterOperators including merge, LessThanSimple,
+**** EqualsSimple, and LessThanFull
+
+**** This is still under development
+*/
+void xRinexObs :: filterOperatorsTest (void)
+{
+ try
+ {
+
+
+ gpstk::RinexObsStream FilterStream1("Logs/FilterTest1.06o");
+ FilterStream1.open("Logs/FilterTest1.06o",std::ios::in);
+ gpstk::RinexObsStream FilterStream2("Logs/FilterTest2.06o");
+ gpstk::RinexObsStream FilterStream3("Logs/FilterTest3.06o");
+ gpstk::RinexObsStream FilterStream4("Logs/FilterTest4.06o");
+ gpstk::RinexObsStream out("Logs/FilterOutput.txt",ios::out);
+
+ gpstk::RinexObsHeader FilterHeader1;
+ gpstk::RinexObsHeader FilterHeader2;
+ gpstk::RinexObsHeader FilterHeader3;
+ gpstk::RinexObsHeader FilterHeader4;
+
+ gpstk::RinexObsData FilterData1;
+ gpstk::RinexObsData FilterData2;
+ gpstk::RinexObsData FilterData3;
+ gpstk::RinexObsData FilterData4;
+
+
+ FilterStream1 >> FilterHeader1;
+ FilterStream2 >> FilterHeader2;
+ FilterStream3 >> FilterHeader3;
+ FilterStream4 >> FilterHeader4;
+
+ while (FilterStream1 >> FilterData1)
+ {
+ }
+ while (FilterStream2 >> FilterData2)
+ {
+ }
+ while (FilterStream3 >> FilterData3)
+ {
+ }
+ while (FilterStream4 >> FilterData4)
+ {
+ }
+
+ gpstk::RinexObsHeaderTouchHeaderMerge merged;
+ merged(FilterHeader1);
+ merged(FilterHeader2);
+ gpstk::RinexObsDataOperatorLessThanFull(merged.obsSet);
+ out << merged.theHeader;
+
+ gpstk::RinexObsDataOperatorEqualsSimple EqualsSimple;
+ CPPUNIT_ASSERT_EQUAL(true,EqualsSimple(FilterData1, FilterData1));
+ //CPPUNIT_ASSERT_EQUAL(false,EqualsSimple(FilterData1, FilterData3));
+
+ gpstk::RinexObsDataOperatorLessThanSimple LessThanSimple;
+ CPPUNIT_ASSERT_EQUAL(false,LessThanSimple(FilterData1, FilterData1));
+ //CPPUNIT_ASSERT_EQUAL(true,LessThanSimple(FilterData3, FilterData1));
+
+ gpstk::RinexObsDataOperatorLessThanFull LessThanFull(merged.obsSet);
+ CPPUNIT_ASSERT_EQUAL(false,LessThanFull(FilterData1, FilterData1));
+ CPPUNIT_ASSERT_EQUAL(false,LessThanFull(FilterData1, FilterData2));
+ //CPPUNIT_ASSERT_EQUAL(false,LessThanFull(FilterData1, FilterData1));
+ //CPPUNIT_ASSERT_EQUAL(true,LessThanFull(FilterData4, FilterData2));
+
+ }
+ catch(gpstk::Exception& e)
+ {
+
+ }
+
+
+}
+
+/*
+**** A helper function for xRinexObs to line by line, check if the two files given are the same.
+**** Takes in two file names within double quotes "FILEONE.TXT" "FILETWO.TXT". Returns true if
+**** the files are equal. Skips the first two lines becasue dates are often writen as the current
+**** data and thus very hard to pin down a specific time for.
+*/
+bool xRinexObs :: fileEqualTest (char* handle1, char* handle2)
+{
+ bool isEqual = false;
+ int counter = 2;
+ ifstream File1;
+ ifstream File2;
+
+ std::string File1Line;
+ std::string File2Line;
+
+ File1.open(handle1);
+ File2.open(handle2);
+ getline (File1, File1Line);
+ getline (File2, File2Line);
+ getline (File1, File1Line);
+ getline (File2, File2Line);
+
+ while (!File1.eof())
+ {
+ if (File2.eof())
+ {
+ cout << counter << "ONE" << endl;
+ return isEqual;
+ }
+ getline (File1, File1Line);
+ getline (File2, File2Line);
+ counter++;
+ if (File1Line != File2Line)
+ {
+ cout << counter << "TWO" << endl;
+ return isEqual;
+ }
+ }
+ if (!File2.eof())
+ {
+ cout << counter << "THREE" << endl;
+ return isEqual;
+ }
+ else
+ return isEqual = true;
+}
diff --git a/dev/tests/RinexObs/xRinexObs.hpp b/dev/tests/RinexObs/xRinexObs.hpp
new file mode 100644
index 0000000..77a54b5
--- /dev/null
+++ b/dev/tests/RinexObs/xRinexObs.hpp
@@ -0,0 +1,37 @@
+#ifndef XRINEXOBS_HPP
+#define XRINEXOBS_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "RinexObsBase.hpp"
+#include "RinexObsData.hpp"
+#include "RinexObsStream.hpp"
+#include "RinexObsHeader.hpp"
+#include "RinexObsFilterOperators.hpp"
+
+using namespace std;
+
+class xRinexObs: public CPPUNIT_NS :: TestFixture
+{
+ CPPUNIT_TEST_SUITE (xRinexObs);
+ CPPUNIT_TEST (headerExceptionTest);
+ CPPUNIT_TEST (hardCodeTest);
+ CPPUNIT_TEST (filterOperatorsTest);
+ CPPUNIT_TEST (dataExceptionsTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void);
+
+ protected:
+ void headerExceptionTest (void);
+ void hardCodeTest (void);
+ void filterOperatorsTest (void);
+ void dataExceptionsTest (void);
+ bool fileEqualTest (char*, char*);
+
+ private:
+
+};
+
+#endif
diff --git a/dev/tests/RinexObs/xRinexObsM.cpp b/dev/tests/RinexObs/xRinexObsM.cpp
new file mode 100644
index 0000000..34e6efc
--- /dev/null
+++ b/dev/tests/RinexObs/xRinexObsM.cpp
@@ -0,0 +1,28 @@
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/RungeKutta4/Jamfile b/dev/tests/RungeKutta4/Jamfile
new file mode 100644
index 0000000..781d0f4
--- /dev/null
+++ b/dev/tests/RungeKutta4/Jamfile
@@ -0,0 +1,3 @@
+SubDir TOP RungeKutta4 ;
+
+TestMain RungeKutta4/xRungeKutta4.tst : RungeKutta4/xRungeKutta4M.cpp RungeKutta4/xRungeKutta4.cpp RungeKutta4/RungeKutta4.cpp ;
diff --git a/dev/tests/RungeKutta4/RungeKutta4.cpp b/dev/tests/RungeKutta4/RungeKutta4.cpp
new file mode 120000
index 0000000..9ff0658
--- /dev/null
+++ b/dev/tests/RungeKutta4/RungeKutta4.cpp
@@ -0,0 +1 @@
+../../src/RungeKutta4.cpp
\ No newline at end of file
diff --git a/dev/tests/RungeKutta4/RungeKutta4.hpp b/dev/tests/RungeKutta4/RungeKutta4.hpp
new file mode 120000
index 0000000..352614c
--- /dev/null
+++ b/dev/tests/RungeKutta4/RungeKutta4.hpp
@@ -0,0 +1 @@
+../../src/RungeKutta4.hpp
\ No newline at end of file
diff --git a/dev/tests/RungeKutta4/makefile b/dev/tests/RungeKutta4/makefile
new file mode 100644
index 0000000..1bb38c5
--- /dev/null
+++ b/dev/tests/RungeKutta4/makefile
@@ -0,0 +1,22 @@
+# CppUnit-Tutorial
+# file: makefile
+# next line has to be changed to the installation-path of CppUnit
+CPPUNIT_PATH=/home/ehagen
+
+xRungeKutta4.tst: xRungeKutta4M.o xRungeKutta4.o RungeKutta4.o
+ g++ -o xRungeKutta4.tst xRungeKutta4M.o xRungeKutta4.o RungeKutta4.o -L${CPPUNIT_PATH}/lib -lstdc++ -lcppunit -ldl -lgpstk -fprofile-arcs -ftest-coverage
+
+
+RungeKutta4.o: RungeKutta4.cpp RungeKutta4.hpp
+ g++ -c RungeKutta4.cpp -I/home/ehagen/gpstk/src -L/home/ehagen/gpstk/src -fprofile-arcs -ftest-coverage
+
+xRungeKutta4.o: xRungeKutta4.cpp xRungeKutta4.hpp
+ g++ -c xRungeKutta4.cpp -I${CPPUNIT_PATH}/include -I/home/ehagen/gpstk/src -L/home/ehagen/gpstk/src -fprofile-arcs -ftest-coverage
+
+xRungeKutta4M.o: xRungeKutta4M.cpp
+ g++ -c xRungeKutta4M.cpp -I${CPPUNIT_PATH}/include -fprofile-arcs -ftest-coverage
+
+clean:
+ rm -f *.o
+ rm -f *.g*
+ rm -f *.*.g*
\ No newline at end of file
diff --git a/dev/tests/RungeKutta4/pendulum.hpp b/dev/tests/RungeKutta4/pendulum.hpp
new file mode 100644
index 0000000..2073539
--- /dev/null
+++ b/dev/tests/RungeKutta4/pendulum.hpp
@@ -0,0 +1,43 @@
+//file: pendulum.hpp
+
+#include <math.h>
+#include "RungeKutta4.hpp"
+
+using namespace gpstk;
+using namespace std;
+
+//A pendulum is of the equation d^2x/dt^2 + (g/L)*sin(x) = 0
+
+// The full, nonlinear equation of motion for a simple pendulum
+class PendulumIntegrator : public RungeKutta4
+{
+ public:
+
+ PendulumIntegrator(const Matrix<double>& initialState,
+ double initialTime=0)
+ : RungeKutta4(initialState, initialTime)
+ {};
+
+ virtual gpstk::Matrix<double>&
+ derivative(long double time,
+ const gpstk::Matrix<double>& inState,
+ gpstk::Matrix<double>& inStateDot);
+
+ void setPhysics(double accGrav, double length)
+ { g = accGrav; L = length; };
+
+ private:
+
+ double g; //< the acceleration due to gravity
+ double L; //< the length of the pendulum (in meters?)
+};
+
+gpstk::Matrix<double>&
+PendulumIntegrator::derivative(long double time,
+ const gpstk::Matrix<double>& inState,
+ gpstk::Matrix<double>& inStateDot)
+{
+ inStateDot(0,0) = inState(1,0); // velocity along x
+ inStateDot(1,0) = -g/L * sin(inState(0,0));
+ return inStateDot;
+}
diff --git a/dev/tests/RungeKutta4/xRungeKutta4.cpp b/dev/tests/RungeKutta4/xRungeKutta4.cpp
new file mode 100644
index 0000000..e430ad1
--- /dev/null
+++ b/dev/tests/RungeKutta4/xRungeKutta4.cpp
@@ -0,0 +1,110 @@
+// file: xRungeKutta4.cpp
+
+#include "xRungeKutta4.hpp"
+#include "pendulum.hpp"
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xRungeKutta4);
+
+
+void xRungeKutta4 :: setUp (void)
+{
+}
+
+void xRungeKutta4 :: quarterTest (void)
+{
+ gpstk::Matrix<double> x0(2,1), truncError(2,1);
+ x0(0,0) = 0.001; // Initial angle in radians
+ x0(1,0) = 0.0; // Initial angular velocity in radians/second
+
+ PendulumIntegrator pModel(x0,0.);
+
+ double g = 9.81, L = 1.0;
+ pModel.setPhysics(g,L);
+
+ double deltaT = .00001; // Step size in seconds for integrator
+
+ double time = 0;
+ double Nper = 2.25; // number of periods
+
+ double addError = 0; //Total Error for angle
+ double addDotError = 0; //Total Error for rate of change in angle
+
+ long count = 0;
+
+ while (pModel.getTime() < Nper * (2*3.14159265/sqrt(g/L)))
+ {
+ pModel.integrateTo((count++)*deltaT,truncError);
+ addError += fabs(truncError(0,0));
+ addDotError += fabs(truncError(1,0));
+ }
+
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0.,pModel.getState()(0,0),addError*4);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(-sqrt(2*g*(1-cos(.001))),pModel.getState()(1,0),addDotError*2);
+
+}
+
+void xRungeKutta4 :: halfTest (void)
+{
+ gpstk::Matrix<double> x0(2,1), truncError(2,1);
+ x0(0,0) = 0.001; // Initial angle in radians
+ x0(1,0) = 0.0; // Initial angular velocity in radians/second
+
+ PendulumIntegrator pModel(x0,0.);
+
+ double g = 9.81, L = 1.0;
+ pModel.setPhysics(g,L);
+
+ double deltaT = .00001; // Step size in seconds for integrator
+
+ double time = 0;
+ double Nper = 2.5; // number of periods
+
+ double addError = 0; //Total Error for angle
+ double addDotError = 0; //Total Error for rate of change in angle
+
+ long count = 0;
+
+ while (pModel.getTime() < Nper * (2*3.14159265/sqrt(g/L)))
+ {
+ pModel.integrateTo((count++)*deltaT,truncError);
+ addError += fabs(truncError(0,0));
+ addDotError += fabs(truncError(1,0));
+ }
+
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(-x0(0,0),pModel.getState()(0,0),addError*2);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(x0(1,0),pModel.getState()(1,0),addDotError*2);
+
+}
+
+void xRungeKutta4 :: fullTest (void)
+{
+ gpstk::Matrix<double> x0(2,1), truncError(2,1);
+ x0(0,0) = 0.001; // Initial angle in radians
+ x0(1,0) = 0.0; // Initial angular velocity in radians/second
+
+ PendulumIntegrator pModel(x0,0.);
+
+ double g = 9.81, L = 1.0;
+ pModel.setPhysics(g,L);
+
+ double deltaT = .00001; // Step size in seconds for integrator
+
+ double time = 0;
+ double Nper = 2; // number of periods
+
+ double addError = 0; //Total Error for angle
+ double addDotError = 0; //Total Error for rate of change in angle
+
+ long count = 0;
+
+ while (pModel.getTime() < Nper * (2*3.14159265/sqrt(g/L)))
+ {
+ pModel.integrateTo((count++)*deltaT,truncError);
+ addError += fabs(truncError(0,0));
+ addDotError += fabs(truncError(1,0));
+ }
+
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(x0(0,0),pModel.getState()(0,0),addError*2);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(x0(1,0),pModel.getState()(1,0),addDotError*2);
+
+}
diff --git a/dev/tests/RungeKutta4/xRungeKutta4.hpp b/dev/tests/RungeKutta4/xRungeKutta4.hpp
new file mode 100644
index 0000000..6daf85e
--- /dev/null
+++ b/dev/tests/RungeKutta4/xRungeKutta4.hpp
@@ -0,0 +1,35 @@
+// file: xRungeKutta4.hpp
+
+#ifndef XRUNGEKUTTA4_HPP
+#define XRUNGEKUTTA4_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+
+
+using namespace std;
+
+
+class xRungeKutta4: public CPPUNIT_NS :: TestFixture
+{
+ //Test Fixture information, e.g. what tests will be run
+ CPPUNIT_TEST_SUITE (xRungeKutta4);
+ CPPUNIT_TEST (quarterTest);
+ CPPUNIT_TEST (halfTest);
+ CPPUNIT_TEST (fullTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void); //Sets up test enviornment
+
+ protected:
+
+ void quarterTest (void); // Test constructors
+ void halfTest (void);
+ void fullTest (void);
+
+
+ private:
+
+};
+#endif
diff --git a/dev/tests/RungeKutta4/xRungeKutta4M.cpp b/dev/tests/RungeKutta4/xRungeKutta4M.cpp
new file mode 100644
index 0000000..99b49bc
--- /dev/null
+++ b/dev/tests/RungeKutta4/xRungeKutta4M.cpp
@@ -0,0 +1,30 @@
+// CppUnit-Tutorial
+// file: ftest.cc
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/SEM/Jamfile b/dev/tests/SEM/Jamfile
new file mode 100644
index 0000000..7aa1142
--- /dev/null
+++ b/dev/tests/SEM/Jamfile
@@ -0,0 +1,2 @@
+SubDir TOP SEM ;
+TestMain SEM/xSEM.tst : SEM/xSEM.cpp SEM/SEMBase.cpp SEM/SEMData.cpp SEM/SEMStream.cpp SEM/StringUtils.cpp ;
diff --git a/trunk/src/Makefile.am b/dev/tests/SEM/SEMBase.cpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/SEM/SEMBase.cpp
diff --git a/dev/tests/SEM/SEMBase.hpp b/dev/tests/SEM/SEMBase.hpp
new file mode 100644
index 0000000..78ab8fd
--- /dev/null
+++ b/dev/tests/SEM/SEMBase.hpp
@@ -0,0 +1,78 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file SEMBase.hpp
+ * gpstk::SEMBase - base class for SEM FFData.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#ifndef SEMBASE_HPP
+#define SEMBASE_HPP
+
+#include "FFData.hpp"
+
+namespace gpstk
+{
+
+ /** @defgroup SEM SEM Almanac files */
+ //@{
+
+ /**
+ * This is a base class for all SEM-related classes.
+ */
+ class SEMBase : public FFData
+ {
+
+ public:
+
+ /// in deference to our coding standards, this is declared virtual
+ virtual ~SEMBase() {}
+
+ };
+
+ //@}
+}
+
+#endif
diff --git a/dev/tests/SEM/SEMData.cpp b/dev/tests/SEM/SEMData.cpp
new file mode 100644
index 0000000..4915a4c
--- /dev/null
+++ b/dev/tests/SEM/SEMData.cpp
@@ -0,0 +1,198 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file SEMData.cpp
+ * Encapsulate SEM almanac file data, including I/O
+ */
+
+#include "StringUtils.hpp"
+#include "icd_200_constants.hpp"
+
+#include "SEMData.hpp"
+#include "SEMStream.hpp"
+
+
+using namespace gpstk::StringUtils;
+using namespace std;
+
+namespace gpstk
+{
+ void SEMData::reallyPutRecord(FFStream& ffs) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+ string line;
+
+ SEMStream& strm = dynamic_cast<SEMStream&>(ffs);
+
+ //First output blank line to mark between records
+ strm << std::endl;
+
+ //PRN output
+ strm << asString<short>(PRN) << endl;
+
+ //SVNnum
+ strm << asString<short>(SVNnum) << endl;
+
+ //URAnum
+ strm << asString<short>(URAnum) << endl;
+
+ //Ecc, i_offset, OMEGAdot
+ line += rightJustify(asString(doub2for(ecc,22,4,false)),23);
+ line += rightJustify(asString(doub2for(i_offset/gpstk::PI,22,4,false)),24);
+ line += rightJustify(asString(doub2for((OMEGAdot/gpstk::PI),22,4,false)),24);
+ strm << line << endl;
+ line.erase();
+
+ //Ahalf, OMEGA0, w
+ line += rightJustify(asString(doub2for(Ahalf,22,4,false)),23);
+ line += rightJustify(asString(doub2for((OMEGA0/gpstk::PI),22,4,false)),24);
+ line += rightJustify(asString(doub2for((w/gpstk::PI),22,4,false)),24);
+ strm << line << endl;
+ line.erase();
+
+ //M0, AF0, AF1
+ line += rightJustify(asString(doub2for((M0/gpstk::PI),22,4,false)),23);
+ line += rightJustify(asString(doub2for(AF0,22,4,false)),24);
+ line += rightJustify(asString(doub2for(AF1,22,4,false)),24);
+ strm << line << endl;
+ line.erase();
+
+ //SV_health
+ strm << asString<short>(SV_health) << endl;
+
+ //satConfig
+ strm << asString<short>(satConfig) << endl;
+
+
+ } // end SEMData::reallyPutRecord
+
+
+ void SEMData::reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+ string line;
+
+ SEMStream& strm = dynamic_cast<SEMStream&>(ffs);
+
+ //if(!strm.headerRead)
+ // strm >> strm.header;
+
+ SEMHeader& hdr = strm.header;
+
+ //Don't need first line - empty space
+ strm.formattedGetLine(line, true);
+
+ // Second line - PRN
+ strm.formattedGetLine(line, true);
+ PRN = asInt(line);
+
+ // Third line - SVN Number
+ // HACKHACKHACK This information might not be here??? Find out more info
+ strm.formattedGetLine(line, true);
+ SVNnum = (short) asInt(line);
+
+ // Fourth line - Average URA Number as defined in ICD-GPS-200
+ strm.formattedGetLine(line, true);
+ URAnum = (short) asInt(line);
+
+
+ // Fifth line - Eccentricity, Inclinatin Offset, and Rate of Right Ascension
+ strm.formattedGetLine(line, true);
+ ecc = asDouble(line.substr(0,23));
+ i_offset = asDouble(line.substr(24,47));
+ OMEGAdot = asDouble(line.substr(48,72));
+ i_offset *= gpstk::PI;
+ OMEGAdot *= gpstk::PI;
+
+
+ // Sixth line - Sqrt of A, Omega0, and Arg of Perigee
+ strm.formattedGetLine(line, true);
+ Ahalf = asDouble(line.substr(0,23));
+ OMEGA0 = asDouble(line.substr(24,47));
+ OMEGA0 *= gpstk::PI;
+ w = asDouble(line.substr(48,72));
+ w *= gpstk::PI;
+
+ // Seventh Line - M0, AF0, AF1
+ strm.formattedGetLine(line, true);
+ M0 = asDouble(line.substr(0,23));
+ M0 *= gpstk::PI;
+ AF0 = asDouble(line.substr(24,47));
+ AF1 = asDouble(line.substr(48,72));
+
+ // Eigth line - Satellite Health
+ strm.formattedGetLine(line, true);
+ SV_health = (short) asInt(line);
+
+ // Ninth line - Satellite Config
+ strm.formattedGetLine(line, true);
+ satConfig = (short) asInt(line);
+
+
+ //week = strm.header.week + 1024; // Need a way to set epoch Hmmm really?
+
+
+ week = hdr.week;
+ Toa = hdr.Toa;
+
+
+ xmit_time = 0;
+
+ } // end of reallyGetRecord()
+
+ void SEMData::dump(ostream& s) const
+ {
+ std::cout << "PRN =" << PRN << std::endl;
+ std::cout << "SVNnum =" << SVNnum << std::endl;
+ std::cout << "URAnum =" << URAnum << std::endl;
+ std::cout << "ecc =" << ecc << std::endl;
+ std::cout << "i_offset =" << i_offset << std::endl;
+ std::cout << "OMEGAdot =" << OMEGAdot << std::endl;
+ std::cout << "Ahalf =" << Ahalf << std::endl;
+ std::cout << "OMEGA0 =" << OMEGA0 << std::endl;
+ std::cout << "w =" << w << std::endl;
+ std::cout << "M0 =" << M0 << std::endl;
+ std::cout << "AF0 =" << AF0 << std::endl;
+ std::cout << "AF1 =" << AF1 << std::endl;
+ std::cout << "SV_health =" << SV_health << std::endl;
+ std::cout << "satConfig =" << satConfig << std::endl;
+ std::cout << "xmit_time =" << xmit_time << std::endl;
+ std::cout << "week" << week << std::endl;
+ std::cout << "toa" << Toa << std::endl;
+ }
+
+ SEMData::operator AlmOrbit() const
+ {
+
+ AlmOrbit ao(PRN, ecc,i_offset, OMEGAdot, Ahalf, OMEGA0,
+ w, M0, AF0, AF1, Toa, xmit_time, week, SV_health);
+
+ return ao;
+
+ }
+
+} // namespace
diff --git a/dev/tests/SEM/SEMData.hpp b/dev/tests/SEM/SEMData.hpp
new file mode 100644
index 0000000..332c222
--- /dev/null
+++ b/dev/tests/SEM/SEMData.hpp
@@ -0,0 +1,135 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file SEMData.hpp
+ * Encapsulate SEM Almanac file data, including I/O
+ */
+
+#ifndef SEMDATA_HPP
+#define SEMDATA_HPP
+
+#include <vector>
+#include <list>
+#include <map>
+
+#include "FFStream.hpp"
+#include "AlmOrbit.hpp"
+#include "SEMBase.hpp"
+#include "StringUtils.hpp"
+#include "SEMHeader.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup SEM */
+ //@{
+
+ /**
+ * This class stores, reads, and writes SEM records.
+ * @warning The SEM header information and data information don't
+ * correctly talk to each other at the time of completion of this file.
+ * The current fix is in SEMAlamanacStore.hpp.
+ *
+ * @sa tests/SEM for examples
+ * @sa SEMStream.
+ * @sa SEMHeader for information on writing SEM files.
+ */
+ class SEMData : public SEMBase
+ {
+ public:
+
+ /// Constructor.
+ SEMData() {}
+
+ /// Destructor
+ virtual ~SEMData() {}
+
+
+ short PRN;
+ short SVNnum;
+ short URAnum;
+ double ecc;
+ double i_offset;
+ double OMEGAdot;
+ double Ahalf;
+ double OMEGA0;
+ double w;
+ double M0;
+ double AF0;
+ double AF1;
+ short SV_health;
+ short satConfig;
+
+ long xmit_time;
+
+ long Toa;
+ short week;
+
+ /**
+ * Debug output function.
+ * Dump the contents of each of the SEM class to a
+ * given ostream \c s.
+ */
+ virtual void dump(std::ostream& s) const;
+
+ //! This class is "data" so this function always returns "true".
+ virtual bool isData() const {return true;}
+
+ /**
+ * cast *this into an AlmOrbit
+ * @return the constructed AlmOrbit object
+ */
+ operator AlmOrbit() const;
+
+
+ protected:
+
+ /**
+ * Writes a correctly formatted record from this data to stream \a s.
+ */
+ virtual void reallyPutRecord(FFStream& s) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ /**
+ * This functions obtains a SEM almanac record from the given
+ * FFStream.
+ * If there is an error in reading from the stream, it is reset
+ * to its original position and its fail-bit is set.
+ * @throws StringException when a StringUtils function fails
+ * @throws FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to its pre-read position.
+ */
+ virtual void reallyGetRecord(FFStream& s)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ }; // class SEMData
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/dev/tests/SEM/SEMHeader.cpp b/dev/tests/SEM/SEMHeader.cpp
new file mode 100644
index 0000000..2126f43
--- /dev/null
+++ b/dev/tests/SEM/SEMHeader.cpp
@@ -0,0 +1,94 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file SEMHeader.cpp
+ * Encapsulate header of SEM file data, including I/O
+ */
+
+#include "StringUtils.hpp"
+#include "icd_200_constants.hpp"
+
+#include "SEMHeader.hpp"
+#include "SEMStream.hpp"
+
+
+using namespace gpstk::StringUtils;
+using namespace std;
+
+namespace gpstk
+{
+ void SEMHeader::reallyPutRecord(FFStream& ffs) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+ string line;
+
+ SEMStream& strm = dynamic_cast<SEMStream&>(ffs);
+
+ line = leftJustify(asString<short>(numRecords),2);
+ line += " ";
+ line += Title;
+ strm << line << endl;
+ line.erase();
+
+ line = rightJustify(asString<short>(week),4);
+ line += " ";
+ line += asString<long>(Toa);
+ strm << line << endl;
+ line.erase();
+
+ } // end SEMAHeader::reallyPutRecord
+
+
+ void SEMHeader::reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+ string line;
+
+ SEMStream& strm = dynamic_cast<SEMStream&>(ffs);
+
+ //Grab the first line
+ strm.formattedGetLine(line);
+
+ numRecords = (short) asInt(line.substr(0,2));
+ Title = line.substr(3,24);
+
+ //Grab the second line
+ strm.formattedGetLine(line);
+ week = (short) asInt(line.substr(0,4));
+ Toa = asInt(line.substr(5,6));
+
+ } // end of reallyGetRecord()
+
+ void SEMHeader::dump(ostream& s) const
+ {
+ std::cout << "numRecords = " << numRecords << std::endl;
+ std::cout << "Title = " << Title << std::endl;
+ std::cout << "week = " << week << std::endl;
+ std::cout << "Toa = " << Toa << std::endl;
+ }
+
+} // namespace
diff --git a/dev/tests/SEM/SEMHeader.hpp b/dev/tests/SEM/SEMHeader.hpp
new file mode 100644
index 0000000..ff5ead6
--- /dev/null
+++ b/dev/tests/SEM/SEMHeader.hpp
@@ -0,0 +1,112 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file SEMHeader.hpp
+ * Encapsulate SEM Almanac header data, including I/O
+ */
+
+#ifndef SEMHEADER_HPP
+#define SEMHEADER_HPP
+
+#include <vector>
+#include <list>
+#include <map>
+
+#include "FFStream.hpp"
+#include "AlmOrbit.hpp"
+#include "SEMBase.hpp"
+#include "StringUtils.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup SEM */
+ //@{
+
+ /**
+ * This class stores, reads, and writes SEM records.
+ * @warning The SEM header information and data information don't
+ * correctly talk to each other at the time of completion of this file.
+ * The current fix is in SEMAlamanacStore.hpp.
+ *
+ * @sa tests/SEM for examples
+ * @sa SEMStream.
+ * @sa SEMHeader for information on writing SEM files.
+ */
+ class SEMHeader : public SEMBase
+ {
+ public:
+ /// Constructor.
+ SEMHeader() {}
+
+ /// Destructor
+ virtual ~SEMHeader() {}
+
+ short numRecords;
+ std::string Title;
+ short week;
+ long Toa;
+
+
+ /**
+ * Debug output function.
+ * Dump the contents of each of the SEM header to a
+ * given ostream \c s.
+ */
+ virtual void dump(std::ostream& s) const;
+
+ //! This class is a "header" so this function always returns "true".
+ virtual bool isHeader() const {return true;}
+
+
+
+ protected:
+ /**
+ * Writes a correctly formatted record from this header to stream \a s.
+ */
+ virtual void reallyPutRecord(FFStream& s) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ /**
+ * This functions obtains a SEM header record from the given
+ * FFStream.
+ * If there is an error in reading from the stream, it is reset
+ * to its original position and its fail-bit is set.
+ * @throws StringException when a StringUtils function fails
+ * @throws FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to its pre-read position.
+ */
+ virtual void reallyGetRecord(FFStream& s)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ }; // class SEMHeader
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/trunk/src/Makefile.am b/dev/tests/SEM/SEMStream.cpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/SEM/SEMStream.cpp
diff --git a/dev/tests/SEM/SEMStream.hpp b/dev/tests/SEM/SEMStream.hpp
new file mode 100644
index 0000000..59e1096
--- /dev/null
+++ b/dev/tests/SEM/SEMStream.hpp
@@ -0,0 +1,114 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file SEMStream.hpp
+ * gpstk::SEMStream - ASCII SEM file stream container.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#ifndef SEMSTREAM_HPP
+#define SEMSTREAM_HPP
+
+
+#include "FFTextStream.hpp"
+#include "SEMHeader.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup SEM */
+ //@{
+
+ /**
+ * This class performs file i/o on a SEM file for the
+ * SEMHeader and SEMData classes.
+ *
+ * @sa tests/SEM for examples.
+ * @sa SEMData.
+ * @sa SEMHeader for information on writing SEM files.
+ *
+ * @warning The SEM header information and data information don't
+ * correctly talk to each other at the time of completion of this file.
+ * The current fix is in SEMAlamanacStore.hpp.
+ */
+ class SEMStream : public FFTextStream
+ {
+ public:
+
+ /// Default constructor
+ SEMStream() {}
+
+ /**
+ * Constructor
+ * @param fn the name of the ascii SEM file to be opened
+ * @param mode the ios::openmode to be used on \a fn
+ */
+ SEMStream(const char* fn,
+ std::ios::openmode mode=std::ios::in)
+ : FFTextStream(fn, mode), headerRead(false) {};
+
+ /// destructor per the coding standards
+ virtual ~SEMStream() {}
+
+ /// overrides open to reset the header
+ virtual void open(const char* fn, std::ios::openmode mode)
+ {
+ FFTextStream::open(fn, mode);
+ headerRead = false;
+ header = SEMHeader();
+ }
+
+ ///SEMHeader for this file
+ SEMHeader header;
+
+ /// Flag showing whether or not the header has been read.
+ bool headerRead;
+
+ }; // class SEMStream
+
+ //@}
+
+} // namespace gpstk
+
+#endif
diff --git a/trunk/src/Makefile.am b/dev/tests/SEM/StringUtils.cpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/SEM/StringUtils.cpp
diff --git a/dev/tests/SEM/StringUtils.hpp b/dev/tests/SEM/StringUtils.hpp
new file mode 100644
index 0000000..e372824
--- /dev/null
+++ b/dev/tests/SEM/StringUtils.hpp
@@ -0,0 +1,2603 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file StringUtils.hpp
+ * StringUtils namespace and GPSTK string utility functions
+ */
+
+#ifndef GPSTK_STRINGUTILS_HPP
+#define GPSTK_STRINGUTILS_HPP
+
+//lgpl-license START
+//lgpl-license END
+
+//dod-release-statement START
+//dod-release-statement END
+
+#include <string>
+#include <sstream>
+#include <iomanip>
+#include <iostream>
+#include <list>
+
+/// @todo Get rid of the stdio.h dependency if possible.
+#include <cstdio>
+
+#include <regex.h>
+#include <cctype>
+
+#include <limits>
+
+#include "Exception.hpp"
+
+namespace gpstk
+{
+ /**
+ * Stuff to make the C++ string class a little easier to use. All the
+ * functionality here is inlined since they are farily small
+ * functions.
+ *
+ * All functions here will throw gpstk::StringUtils::StringException
+ * on an error. Any std::exception is converted to a
+ * gpstk::StringUtils::StringException so
+ * that's the only exception a user of this class needs to catch.
+ *
+ * For any function that modifies a string, make sure there is a
+ * non-const (std::string&) version and a const (const std::string&)
+ * version. The convention for writing the functions is the non-const
+ * version fully implements the function and the const version calls
+ * the non-const version.
+ *
+ * @sa stringutiltest.cpp for some examples.
+ */
+ namespace StringUtils
+ {
+ /** @defgroup stringutilsgroup Text String Manipulation Tools */
+ //@{
+
+ /// This is thrown instread of a std::exception when a
+ /// gpstk::StringUtils function fails.
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(StringException, Exception);
+
+ /// Class for configuring the appearance of hexDumpData() output
+ class HexDumpDataConfig
+ {
+ public:
+ HexDumpDataConfig()
+ : showIndex(true), hexIndex(true), upperHex(false),
+ idxDigits(4), indexWS(1), groupBy(1), groupWS(1),
+ group2By(8), group2WS(2), bytesPerLine(16), showText(true),
+ separator(0), textWS(4)
+ {}
+ HexDumpDataConfig(bool ashowIndex, bool ahexIndex, bool aupperHex,
+ unsigned aidxDigits, unsigned aindexWS,
+ unsigned agroupBy, unsigned agroupWS,
+ unsigned agroup2By, unsigned agroup2WS,
+ unsigned abytesPerLine, bool ashowText,
+ char aseparator, unsigned atextWS)
+ : showIndex(ashowIndex), hexIndex(ahexIndex),
+ upperHex(aupperHex), idxDigits(aidxDigits),
+ indexWS(aindexWS), groupBy(agroupBy), groupWS(agroupWS),
+ group2By(agroup2By), group2WS(agroup2WS),
+ bytesPerLine(abytesPerLine), showText(ashowText),
+ separator(aseparator), textWS(atextWS)
+ {}
+ bool showIndex; ///< display index into string on each line.
+ bool hexIndex; ///< if true, use hex index numbers (else decimal).
+ bool upperHex; ///< if true, use upper-case hex digits.
+ unsigned idxDigits; ///< number of positions to use for index.
+ unsigned indexWS; ///< number of whitespace charaters between index and data.
+ unsigned groupBy; ///< number of bytes of data to show between spaces.
+ unsigned groupWS; ///< number of whitespace charaters between groups of hex data.
+ unsigned group2By; ///< number of groups to show per 2nd layer group (0=none, must be multiple of groupBy).
+ unsigned group2WS; ///< number of whitespace charaters between 2nd layer groups.
+ unsigned bytesPerLine; ///< number of bytes to display on a line of output (must be evenly divisible by both groupBy and group2By).
+ bool showText; ///< if true, show text of message (unprintable characters become '.'.
+ char separator; ///< character to offset text with (0 = none).
+ unsigned textWS; ///< number of whitespace characters between hex and text.
+ };
+
+ /**
+ * Perform a formatted hex-dump of the (potentially) binary
+ * data to the given stream.
+ * @param s stream to dump data to.
+ * @param data data to hex-dump.
+ * @param indent indents the string by that many spaces.
+ * @param cfg formatting configuration.
+ */
+ inline void hexDumpData(std::ostream& s, const std::string& data,
+ unsigned indent = 0,
+ HexDumpDataConfig cfg = HexDumpDataConfig());
+
+ /**
+ * Perform a formatted hex-dump of the (potentially) binary
+ * data to the given stream.
+ * @param s stream to dump data to.
+ * @param data data to hex-dump.
+ * @param tag string to put at the beginning of each line of output.
+ * @param cfg formatting configuration.
+ */
+ inline void hexDumpData(std::ostream& s, const std::string& data,
+ const std::string& tag,
+ HexDumpDataConfig cfg = HexDumpDataConfig());
+
+ /**
+ * Remove a string from the beginning of another string.
+ * Occurrences of the string \a aString appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline
+ std::string& stripLeading(std::string& s,
+ const std::string& aString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException);
+
+ /**
+ * Remove a string from the beginning of another string const version.
+ * Occurrences of the string \a aString appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripLeading(const std::string& s,
+ const std::string& aString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripLeading(t, aString, num); return t; }
+
+ /**
+ * Remove a string from the beginning of another string.
+ * Occurrences of the string \a pString appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param pString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& stripLeading(std::string& s,
+ const char* pString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return stripLeading(s, std::string(pString), num); }
+
+ /**
+ * Remove a string from the beginning of another string const version.
+ * Occurrences of the string \a pString appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param pString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripLeading(const std::string& s,
+ const char* pString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripLeading(t, std::string(pString), num); return t; }
+
+ /**
+ * Strip character(s) from the beginning of a string.
+ * Occurrences of the character \a aCharacter appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aCharacter character to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& stripLeading(std::string& s,
+ const char aCharacter,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return stripLeading(s, std::string(1,aCharacter), num); }
+
+ /**
+ * Strip character(s) from the beginning of a string const version.
+ * Occurrences of the character \a aCharacter appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aCharacter character to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripLeading(const std::string& s,
+ const char aCharacter,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripLeading(t, std::string(1,aCharacter), num); return t; }
+
+ /**
+ * Strip blanks from the beginning of a string.
+ * Occurrences of the space character appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& stripLeading(std::string& s,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return stripLeading(s,std::string(1,' '),num); }
+
+ /**
+ * Strip blanks from the beginning of a string const version.
+ * Occurrences of the space character appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripLeading(const std::string& s,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripLeading(t,std::string(1,' '),num); return t; }
+
+ /**
+ * Remove a string from the end of another string.
+ * Occurrences of the string \a aString appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& stripTrailing(std::string& s,
+ const std::string& aString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException);
+
+ /**
+ * Remove a string from the end of another string const version.
+ * Occurrences of the string \a aString appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripTrailing(const std::string& s,
+ const std::string& aString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripTrailing(t, aString, num); return t;}
+
+ /**
+ * Remove a string from the end of another string.
+ * Occurrences of the string \a pString appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param pString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& stripTrailing(std::string& s,
+ const char* pString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return stripTrailing(s, std::string(pString), num); }
+
+ /**
+ * Remove a string from the end of another string const version.
+ * Occurrences of the string \a pString appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param pString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripTrailing(const std::string& s,
+ const char* pString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripTrailing(t, std::string(pString), num); return t; }
+
+ /**
+ * Strip character(s) from the end of a string.
+ * Occurrences of the character \a aCharacter appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aCharacter character to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& stripTrailing(std::string& s,
+ const char aCharacter,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return stripTrailing(s, std::string(1,aCharacter), num); }
+
+ /**
+ * Strip character(s) from the end of a string const version.
+ * Occurrences of the character \a aCharacter appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aCharacter character to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripTrailing(const std::string& s,
+ const char aCharacter,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripTrailing(t, std::string(1,aCharacter), num); return t; }
+
+ /**
+ * Strip blanks from the end of a string.
+ * Occurrences of the space character appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& stripTrailing(std::string& s,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return stripTrailing(s, std::string(1,' '), num); }
+
+ /**
+ * Strip blanks from the end of a string const version.
+ * Occurrences of the space character appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripTrailing(const std::string& s,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripTrailing(t, std::string(1,' '), num); return t;}
+
+ /**
+ * Remove a string from the beginning and end of another string.
+ * Occurrences of the string \a aString appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& strip(std::string& s,
+ const std::string& aString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException);
+
+
+ /**
+ * Remove a string from the beginning and end of another string const version.
+ * Occurrences of the string \a aString appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string strip(const std::string& s,
+ const std::string& aString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); strip(t, aString, num); return t; }
+
+
+ /**
+ * Remove a string from the beginning and end of another string.
+ * Occurrences of the string \a pString appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param pString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& strip(std::string& s,
+ const char* pString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return strip(s, std::string(pString), num); }
+
+ /**
+ * Remove a string from the beginning and end of another string cosnt version.
+ * Occurrences of the string \a pString appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param pString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string strip(const std::string& s,
+ const char* pString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); strip(t, std::string(pString), num); return t; }
+
+ /**
+ * Strip character(s) from the beginning and end of a string.
+ * Occurrences of the character \a aCharacter appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aCharacter character to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& strip(std::string& s,
+ const char aCharacter,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return strip(s, std::string(1,aCharacter), num); }
+
+ /**
+ * Strip character(s) from the beginning and end of a string const version.
+ * Occurrences of the character \a aCharacter appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aCharacter character to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string strip(const std::string& s,
+ const char aCharacter,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); strip(t, std::string(1,aCharacter), num); return t;}
+
+ /**
+ * Strip blanks from the beginning and end of a string.
+ * Occurrences of the space character appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& strip(std::string& s,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return strip(s, std::string(1, ' '), num); }
+
+ /**
+ * Strip blanks from the beginning and end of a string const version.
+ * Occurrences of the space character appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string strip(const std::string& s,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); strip(t, std::string(1, ' '), num); return t;}
+
+ /**
+ * Converts all of the receiver's characters that are in the
+ * first specified string to the corresponding character in
+ * the second specified string.
+ * @param aString string to perform translation on.
+ * @param inputChars characters in \a aString to translate from.
+ * @param outputChars characters to translate to.
+ * @param pad pad character in the event inputChars and
+ * outputChars are not equal length. The pad character will
+ * become the translated character.
+ */
+ inline std::string translate(const std::string& aString,
+ const std::string& inputChars,
+ const std::string& outputChars,
+ const char pad = ' ');
+
+ /**
+ * Changes occurrences of a specified pattern to a specified
+ * replacement string. You can specify the number of changes
+ * to perform. The default is to change all occurrences of
+ * the pattern. You can also specify the position in the
+ * receiver at which to begin.
+ * @param aString string to perform translation on.
+ * @param inputString The pattern string as a reference to an
+ * object of type string. The library searches for the
+ * pattern string within the receiver's data.
+ * @param outputString The replacement string as a reference
+ * to an object of type string. It replaces the occurrences
+ * of the pattern string in the receiver's data.
+ * @param startPos The position to start the search at within
+ * the receiver's data. The default is 0.
+ * @param numChanges the number of patterns to search for and
+ * change. The default is to change all occurrences of the
+ * pattern.
+ */
+ inline std::string change(const std::string& aString,
+ const std::string& inputString,
+ const std::string& outputString,
+ std::string::size_type startPos = 0,
+ unsigned numChanges = std::numeric_limits<unsigned>::max());
+
+ /**
+ * Changes occurrences of a specified pattern to a specified
+ * replacement string. You can specify the number of changes
+ * to perform. The default is to change all occurrences of
+ * the pattern. You can also specify the position in the
+ * receiver at which to begin.
+ * @param aString string to perform translation on.
+ * @param inputString The pattern string as a reference to an
+ * object of type string. The library searches for the
+ * pattern string within the receiver's data.
+ * @param outputString The replacement string as a reference
+ * to an object of type string. It replaces the occurrences
+ * of the pattern string in the receiver's data.
+ * @param startPos The position to start the search at within
+ * the receiver's data. The default is 0.
+ * @param numChanges the number of patterns to search for and
+ * change. The default is to change all occurrences of the
+ * pattern.
+ */
+ inline std::string& change(std::string& aString,
+ const std::string& inputString,
+ const std::string& outputString,
+ std::string::size_type startPos = 0,
+ unsigned numChanges = std::numeric_limits<unsigned>::max());
+
+ /**
+ * Right-justifies the receiver in a string of the specified
+ * length. If the receiver's data is shorter than the
+ * requested length (\a length), it is padded on the left with
+ * the pad character (\a pad). The default pad
+ * character is a blank.
+ * @param s string to be modified.
+ * @param length new desired length of string.
+ * @param pad character to pad string with (blank by default).
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s. */
+ inline std::string& rightJustify(std::string& s,
+ const std::string::size_type length,
+ const char pad = ' ')
+ throw(StringException);
+
+ /**
+ * Right-justifies the receiver in a string of the specified
+ * length (const version). If the receiver's data is shorter than the
+ * requested length (\a length), it is padded on the left with
+ * the pad character (\a pad). The default pad
+ * character is a blank.
+ * @param s string to be modified.
+ * @param length new desired length of string.
+ * @param pad character to pad string with (blank by default).
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s. */
+ inline std::string rightJustify(const std::string& s,
+ const std::string::size_type length,
+ const char pad = ' ')
+ throw(StringException)
+ { std::string t(s); return rightJustify(t, length, pad); }
+
+ /**
+ * Left-justifies the receiver in a string of the specified
+ * length. If the new length (\a length) is larger than the
+ * current length, the string is extended by the pad
+ * character (\a pad). The default pad character is a
+ * blank.
+ * @param s string to be modified.
+ * @param length new desired length of string.
+ * @param pad character to pad string with (blank by default).
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s. */
+ inline std::string& leftJustify(std::string& s,
+ const std::string::size_type length,
+ const char pad = ' ')
+ throw(StringException);
+
+ /**
+ * Left-justifies the receiver in a string of the specified
+ * length (const version). If the new length (\a length) is larger
+ * than the current length, the string is extended by the pad
+ * character (\a pad). The default pad character is a
+ * blank.
+ * @param s string to be modified.
+ * @param length new desired length of string.
+ * @param pad character to pad string with (blank by default).
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s. */
+ inline std::string leftJustify(const std::string& s,
+ const std::string::size_type length,
+ const char pad = ' ')
+ throw(StringException)
+ { std::string t(s); return leftJustify(t, length, pad); }
+
+ /**
+ * Change the length of a string by adding to the beginning and end.
+ * The string \a s is modified to the specified
+ * length. If the string is shorter than
+ * \a length, then the string is truncated with the
+ * left-most \a length characters remaining.
+ * Otherwise, characters are added to the beginning and end of the
+ * string until the string is the specified length, where the
+ * number of characters added to the beginning and the end
+ * does not differ by more than one so the original string
+ * is centered.
+ * @param s string to be modified.
+ * @param length new desired length of string.
+ * @param pad character to pad string with (blank by default).
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& center(std::string& s,
+ const std::string::size_type length,
+ const char pad = ' ')
+ throw(StringException);
+
+ /**
+ * Change the length of a string by adding to the beginning and end
+ * (const version).
+ * The string \a s is modified to the specified
+ * length. If the string is shorter than
+ * \a length, then the string is truncated with the
+ * left-most \a length characters remaining.
+ * Otherwise, characters are added to the beginning and end of the
+ * string until the string is the specified length, where the
+ * number of characters added to the beginning and the end
+ * does not differ by more than one so the original string
+ * is centered.
+ * @param s string to be modified.
+ * @param length new desired length of string.
+ * @param pad character to pad string with (blank by default).
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string center(const std::string& s,
+ const std::string::size_type length,
+ const char pad = ' ')
+ throw(StringException)
+ { std::string t(s); return center(t, length, pad); }
+
+ /**
+ * Convert a string to a double precision floating point number.
+ * @param s string containing a number.
+ * @return double representation of string.
+ */
+ inline double asDouble(const std::string& s)
+ { return strtod(s.c_str(), 0); }
+
+ /**
+ * Convert a string to an integer.
+ * @param s string containing a number.
+ * @return long integer representation of string.
+ */
+ inline long asInt(const std::string& s)
+ { return strtol(s.c_str(), 0, 10); }
+
+ /**
+ * Convert a string to an unsigned integer.
+ * @param s string containing a number.
+ * @return unsigned long integer representation of string.
+ */
+ inline unsigned long asUnsigned(const std::string& s)
+ { return strtoul(s.c_str(), 0, 10); }
+
+ /**
+ * Convert a string to a single precision floating point number.
+ * @param s string containing a number.
+ * @return single representation of string.
+ */
+ inline float asFloat(const std::string& s)
+ throw(StringException);
+
+ /**
+ * Convert a string to a big precision floating point number.
+ * @param s string containing a number.
+ * @return long double representation of string.
+ */
+ inline long double asLongDouble(const std::string& s)
+ throw(StringException);
+
+ /**
+ * Convert a value in a string to a type specified by the template
+ * class. The template class type must have stream operators
+ * defined.
+ * @param x object to turn into the templatized type.
+ * @return the template object of \a x.
+ */
+ template <class X>
+ inline X asData(const std::string& s)
+ throw(StringException);
+
+ /**
+ * Convert a long double to a string in fixed notation.
+ * @param x long double.
+ * @param precision the number of decimal places you want displayed.
+ * @return string representation of \a x.
+ */
+ inline std::string asString(const long double x,
+ const std::string::size_type precision = 21);
+
+ /**
+ * Convert a double to a string in fixed notation.
+ * @param x double.
+ * @param precision the number of decimal places you want displayed.
+ * @return string representation of \a x.
+ */
+ inline std::string asString(const double x,
+ const std::string::size_type precision = 17);
+
+ /**
+ * Convert any old object to a string.
+ * The class must have stream operators defined.
+ * @param x object to turn into a string.
+ * @return string representation of \a x.
+ */
+ template <class X>
+ inline std::string asString(const X x);
+
+ /**
+ * Convert a decimal string to a hexadecimal string.
+ * Modify the string such that the decimal integer is now
+ * represented as hexadecimal. Only the first decimal encountered is
+ * changed; the rest of the string is unmodified.
+ * @param s string containing an integer.
+ * @return reference to modified \a s.
+ */
+ inline std::string& d2x(std::string& s)
+ throw(StringException);
+
+ /**
+ * Convert a decimal string to a hexadecimal string.
+ * Given a string containing a decimal integer, convert the
+ * integer from base 10 to base 16 and return the result. No
+ * prefix is added. Only the first decimal encountered is
+ * changed; the rest of the string is unmodified.
+ * @param s string containing an integer.
+ * @return string containing a hexadecimal number.
+ */
+ inline std::string d2x(const std::string& s)
+ throw(StringException)
+ { std::string t(s); return d2x(t); }
+
+ /**
+ * Convert a hexadecimal string to a decimal string.
+ * Modify the string such that the hexadecimal number is now
+ * represented as decimal. Only the first hex number encountered
+ * is changed; the rest of the string is unmodified.
+ * @param s string containing an integer.
+ * @return reference to modified \a s.
+ */
+ inline std::string& x2d(std::string& s)
+ throw(StringException);
+
+ /**
+ * Convert a hexadecimal string to a decimal string.
+ * Given a string containing a hexadecimal number, convert the
+ * integer from base 16 to base 10 and return the result.
+ * Only the first hex number encountered
+ * is changed; the rest of the string is unmodified.
+ * @param s string containing an integer.
+ * @return string containing a hexadecimal number.
+ */
+ inline std::string x2d(const std::string& s)
+ throw(StringException)
+ { std::string t(s); return x2d(t); }
+
+ /**
+ * Convert a character string to a hexadecimal string.
+ * Modify the string such that the character string is now
+ * represented as series of hexadecimal digits.
+ * @param s string to convert.
+ * @return reference to modified \a s.
+ */
+ inline std::string& c2x(std::string& s)
+ throw(StringException);
+
+ /**
+ * Convert a character string to a hexadecimal string.
+ * @param s string containing an integer.
+ * @return string containing a sequence of hexadecimal numbers.
+ */
+ inline std::string c2x(const std::string& s)
+ throw(StringException)
+ { std::string t(s); return c2x(t); }
+
+ /**
+ * Convert a hexadecimal string to an int.
+ * Only the first hex number encountered is converted.
+ * @param s string containing a hex integer.
+ * @return a long holding the value of \a s.
+ */
+ inline unsigned int x2int(const std::string& s)
+ throw(StringException);
+
+
+ /**
+ * Convert an int to a string.
+ * @param i the integer to convert
+ * @return a string with the hex equivalent of i
+ */
+ inline std::string int2x(const unsigned int& i)
+ throw(StringException);
+
+ /**
+ * Replace all instances of \a oldString with \a newString in \a s.
+ * @param s the string whose contents will be modified.
+ * @param oldString the string to search for in \a s.
+ * @param newString the string to replace \a oldString in \a s.
+ * @return a reference to the modified string.
+ */
+ inline std::string& replaceAll(std::string& s,
+ const std::string& oldString,
+ const std::string& newString )
+ throw(StringException);
+
+ /**
+ * isDigitString is exactly like the C function isDigit
+ * except it checks all the characters of string \a s to see if
+ * they are all digits.
+ * @param s the string to check the digits in.
+ * @return true if \a s is all digits, false otherwise.
+ */
+ inline bool isDigitString(const std::string& s);
+
+ /**
+ * isDecimalString is like isDigitString() except it allows a
+ * single period ('.') character in the string.
+ * @param s the string to check.
+ * @return true if \a s is a valid fixed-point number.
+ */
+ inline bool isDecimalString(const std::string& s);
+
+ /**
+ * isAlphaString is exactly like the C function isAlpha
+ * except it checks all the characters of string \a s to see if
+ * they are all alphabet characters.
+ * @param s the string to check the characters in.
+ * @return true if \a s is all digits, false otherwise.
+ */
+ inline bool isAlphaString(const std::string& s);
+
+ /**
+ * Perform pattern matching on strings.
+ * Looks for a pattern in a string. Wildcards are allowed.
+ * Uses POSIX regular expressions.
+ * @param s string to search.
+ * @param aPattern pattern to search for. This is a POSIX
+ * regular expression.
+ * @param zeroOrMore character representing wildcards
+ * matching strings of zero or more characters (default '*').
+ * @param oneOrMore character representing plus sign
+ * matching strings of one or more characters (default '+').
+ * @param anyChar character representing wildcards matching a
+ * single arbitrary character (default '.').
+ * @return string representing the first match of \a aPattern in
+ * \a s. Returns a null string if no match is found.
+ */
+ inline std::string matches(const std::string& s,
+ const std::string& aPattern,
+ const char zeroOrMore = '*',
+ const char oneOrMore = '+',
+ const char anyChar = '.' )
+ throw(StringException);
+
+ /**
+ * Perform pattern matching on strings.
+ * Looks for a pattern in a string. Wildcards are allowed.
+ * Uses POSIX regular expressions.
+ * @param s string to search.
+ * @param aPattern pattern to search for. This is a POSIX
+ * regular expression.
+ * @param zeroOrMore character representing wildcards
+ * matching strings of zero or more characters (default '*').
+ * @param oneOrMore character representing plus sign
+ * matching strings of one or more characters (default '+').
+ * @param anyChar character representing wildcards matching a
+ * single arbitrary character (default '.').
+ * @return t if a match is found, f if not.
+ */
+ inline bool isLike(const std::string& s,
+ const std::string& aPattern,
+ const char zeroOrMore = '*',
+ const char oneOrMore = '+',
+ const char anyChar = '.' )
+ throw(StringException)
+ { return matches(s, aPattern, zeroOrMore, oneOrMore, anyChar) !=
+ std::string(); }
+
+
+ /**
+ * Perform pattern matching on strings.
+ * Looks for a pattern in a string. Wildcards are allowed.
+ * Uses POSIX regular expressions.
+ * @param s string to search.
+ * @param pPattern pattern to search for. This is a POSIX
+ * regular expression.
+ * @param zeroOrMore character representing wildcards
+ * matching strings of zero or more characters (default '*').
+ * @param oneOrMore character representing plus sign
+ * matching strings of one or more characters (default '+').
+ * @param anyChar character representing wildcards matching a
+ * single arbitrary character (default '.').
+ * @return t if a match is found, f if not.
+ */
+ inline bool isLike(const std::string& s,
+ const char* pPattern,
+ const char zeroOrMore = '*',
+ const char oneOrMore = '+',
+ const char anyChar = '.' )
+ throw(StringException)
+ { return matches(s, std::string(pPattern), zeroOrMore, oneOrMore, anyChar) !=
+ std::string(); }
+
+
+ /**
+ * Work-horse method for printf. Substitutes patterns
+ * matching \a pat with \a rep. Use only one pattern/token
+ * at a time! This used to be DayTime::iprint().
+ * @param fmt format to use for this time.
+ * @param pat regular expression pattern to match.
+ * @param rep sprintf token replacement. First character is
+ * token character used in fmt, remainder is sprintf token to
+ * use. For example, with fmt="%15S", pat="%[ 0-]?[[:digit:]]*S",
+ * and rep="Sd", the fmt will be translated to "%15d" before
+ * using it in a sprintf call like printf("%15d"), \a to.
+ * @param to the value to stuff into the string.
+ * @return \a fmt with \a pat replaced by \a to. If there is no
+ * match, \a fmt is returned unchanged.
+ */
+ template <class T>
+ std::string formattedPrint(const std::string& fmt,
+ const std::string& pat,
+ const std::string& rep,
+ T to)
+ throw(StringException);
+
+ /**
+ * Get a substring of a string.
+ * Try to avoid using this, use the stl string's substr
+ * method instead (and ::leftJustify if needed).
+ */
+ inline std::string subString(const std::string& s,
+ const std::string::size_type startPos = 0,
+ const std::string::size_type length = std::string::npos,
+ const char pad = ' ' )
+ throw(StringException);
+
+ /**
+ * Change all upper-case letters in a string to lower-case.
+ * \a s is modified as a result.
+ * @param s string to change to lower case.
+ * @return a copy of the original string, all in lower-case.
+ */
+ inline std::string& lowerCase(std::string& s);
+
+ /**
+ * Change all upper-case letters in a string to lower-case.
+ * Does not modify the original string.
+ * @param s a string containing upper-case characters.
+ * @return a copy of the original string, all in lower-case.
+ */
+ inline std::string lowerCase(const std::string& s)
+ { std::string t(s); return lowerCase(t); }
+
+ /**
+ * Change all lower-case letters in a string to upper-case.
+ * \a s is modified as a result.
+ * @param s string to change to upper case.
+ * @return a copy of the original string, all in upper-case.
+ */
+ inline std::string& upperCase(std::string& s);
+
+ /**
+ * Change all lower-case letters in a string to upper-case.
+ * Does not modify the original string.
+ * @param s a string containing lower-case characters.
+ * @return a copy of the original string, all in upper-case.
+ */
+ inline std::string upperCase(const std::string& s)
+ { std::string t(s); return upperCase(t); }
+
+ /**
+ * Make a string from a void pointer.
+ * This function should not be used. Instead, use the string
+ * constructor as follows:
+ * \code string((char*)p, size); \endcode
+ * @param p pointer to memory.
+ * @param size length of the data to turn into a string.
+ * @return string object containing the contents of \a p.
+ */
+ inline std::string memToString(const void* p,
+ const std::string::size_type size);
+
+ /**
+ * Returns the first word in string \a s without modifying the string.
+ * @param s the string to count the words from.
+ * @param delimiter the character that marks the start and
+ * end of a word.
+ * @return the first word from \a s;
+ */
+ inline std::string firstWord(const std::string& s,
+ const char delimiter = ' ')
+ throw(StringException);
+
+ /**
+ * Counts the number of words in \a s and returns it.
+ * @param s the string to count the words from.
+ * @param delimiter the character that marks the start and
+ * end of a word.
+ * @return the number of words in \a s.
+ */
+ inline int numWords(const std::string& s,
+ const char delimiter = ' ')
+ throw(StringException);
+
+ /**
+ * Returns \a numWords words starting with \a firstWord from
+ * \a s (if any).
+ * @param s a string with the word you want removed.
+ * @param firstWord the number of the first word you want from \a s.
+ * The first word is word 0.
+ * @param numWords number of words to get from \a s.
+ * @param delimiter the character that marks the start and
+ * end of a word.
+ * @return the first word from \a s or an empty string if there is
+ * no \a wordNum'th word.
+ */
+ inline std::string words(const std::string& s,
+ const std::string::size_type firstWord = 0,
+ const std::string::size_type numWords = std::string::npos,
+ const char delimiter = ' ')
+ throw(StringException);
+
+ /**
+ * Returns word number \a wordNum from \a s (if any).
+ * @param s a string with the word you want removed.
+ * @param wordNum the number of the word you want from \a s.
+ * The first word is word 0.
+ * @param delimiter the character that marks the start and
+ * end of a word.
+ * @return the first word from \a s or an empty string if there is
+ * no \a wordNum'th word.
+ */
+ inline std::string word(const std::string& s,
+ const std::string::size_type wordNum = 0,
+ const char delimiter = ' ')
+ throw(StringException)
+ { return words(s, wordNum, 1, delimiter); }
+
+ /**
+ * Removes the first word off string \a s and returns it.
+ * \a s is modified as a result.
+ * @param s a string with the word you want removed.
+ * @param delimiter the character that marks the start and
+ * end of a word.
+ * @return the first word from \a s
+ */
+ inline std::string stripFirstWord(std::string& s,
+ const char delimiter = ' ')
+ throw(StringException);
+
+ /**
+ * Removes indicated words from the string \a s.
+ * \a s is modified as a result.
+ * @param s a string with the words you want removed.
+ * @param first the first word to be removed (the first word is 0).
+ * @param wordsToReplace the number of words you want removed.
+ * @param delimiter the character that marks the start and
+ * end of a word.
+ * @return a reference to string \a s with the words removed.
+ */
+ inline std::string& removeWords(std::string& s,
+ const std::string::size_type first = 0,
+ const std::string::size_type wordsToReplace = std::string::npos,
+ const char delimiter = ' ')
+ throw(StringException);
+
+ /**
+ * Convert a double to a scientific notation number.
+ * @param d the double to convert
+ * @param length length (in characters) of output, including exponent
+ * @param expLen length (in characters) of the exponent, with sign
+ * @param showSign if true, reserves 1 character for +/- sign
+ * @param checkSwitch if true, keeps the exponential sanity check for
+ * exponentials above three characters in length. If false, it removes
+ * that check.
+ */
+ inline std::string doub2sci(const double& d,
+ const std::string::size_type length,
+ const std::string::size_type expLen,
+ const bool showSign = true,
+ const bool checkSwitch = true);
+
+ /**
+ * Convert scientific notation to FORTRAN notation.
+ * As an example, the string "1.5636E5" becomes " .15636D6".
+ * Note that the first character of the string will be '-' if
+ * the number is negative or ' ' if the first character is positive.
+ * @param aStr string with number to convert
+ * @param length length (in characters) of number, including exponent.
+ * @param expLen length (in characters of exponent, not including sign.
+ * @param startPos start position of number in string
+ * @param checkSwitch will keep the method running as orignially programed
+ * when set to true. If false, the method will always resize exponentials,
+ * produce an exponential with an E instead of a D, and always have a leading
+ * zero. For example -> 0.87654E-0004 or -0.1234E00005.
+ * @throws Exception if the string is not a number in
+ * scientific notation
+ */
+ inline std::string& sci2for(std::string& aStr,
+ const std::string::size_type length,
+ const std::string::size_type startPos = 0,
+ const std::string::size_type expLen = 3,
+ const bool checkSwitch = true)
+ throw(StringException);
+
+ /**
+ * Convert double precision floating point to a string
+ * containing the number in FORTRAN notation.
+ * As an example, the number 156360 becomes ".15636D6".
+ * @param d number to convert.
+ * @param length length (in characters) of number, including exponent.
+ * @param expLen length (in characters of exponent, including sign.
+ * @param checkSwitch if true, keeps the exponential sanity check for
+ * exponentials above three characters in length. If false, it removes
+ * that check.
+ * @return a string containing \a d in FORTRAN notation.
+ */
+ inline std::string doub2for(const double& d,
+ const std::string::size_type length,
+ const std::string::size_type expLen,
+ const bool checkSwitch = true)
+ throw(StringException);
+
+ /**
+ * Convert FORTRAN representation of a double precision
+ * floating point in a string to a number.
+ * As an example, the number ".15636D6" becomes 156360.
+ * @param aStr string containing FORTRAN representation of number.
+ * @param length length (in characters) of number, including exponent.
+ * @param startPos beginning of number in string.
+ * @return value of the number.
+ */
+ inline double for2doub(const std::string& aStr,
+ const std::string::size_type length,
+ const std::string::size_type startPos = 0);
+
+ /**
+ * Change a string into printable characters. Control
+ * characters (0-26) are changed to ^@, ^A, etc. Other
+ * non-printable characters are changed to hex sequences
+ * enclosed in <>.
+ * @param aStr the string to make printable.
+ */
+ inline std::string printable(const std::string& aStr)
+ throw(StringException);
+
+ /**
+ * Nicely expands the input string into several lines, non-const
+ * version.
+ * @param aStr the string to be modified.
+ * @param lineDelim a string to put between every line.
+ * @param indent an indentataion string used on all but the first line
+ * @param firstIndent is the indentation used on the first line.
+ * @param len the maximum length of string to put on a line.
+ * @param wordDelim the character that separates each word.
+ * @return the string nicely formatted.
+ */
+ inline std::string& prettyPrint(std::string& aStr,
+ const std::string& lineDelim = "\n",
+ const std::string& indent = "",
+ const std::string& firstIndent = " ",
+ const std::string::size_type len = 80,
+ const char wordDelim = ' ')
+ throw(StringException);
+
+ /**
+ * Const version of prettyPrint, which nicely expands the
+ * input string into several lines.
+ * @param aStr the string to be modified.
+ * @param lineDelim a string to put between every line.
+ * @param indent an indentataion string used on all but the first line
+ * @param firstIndent is the indentation used on the first line.
+ * @param len the maximum length of string to put on a line.
+ * @param wordDelim the character that separates each word.
+ * @return the string nicely formatted.
+ */
+ inline std::string prettyPrint(const std::string& aStr,
+ const std::string& lineDelim = "\n",
+ const std::string& indent = "",
+ const std::string& firstIndent = " ",
+ const std::string::size_type len = 80,
+ const char wordDelim = ' ')
+ throw(StringException)
+ {
+ std::string temp(aStr);
+ prettyPrint(temp, lineDelim, indent, firstIndent, len, wordDelim);
+ return temp;
+ }
+
+ } // namespace StringUtils
+
+} // namespace gpstk
+
+// ################################################
+// Implementations of inline functions follow
+// ################################################
+
+namespace gpstk
+{
+
+ namespace StringUtils
+ {
+ inline void hexDumpData(std::ostream& s, const std::string& data,
+ unsigned indent, HexDumpDataConfig cfg)
+ {
+ std::string instr(indent, ' ');
+ hexDumpData(s, data, instr, cfg);
+ }
+
+ inline void hexDumpData(std::ostream& s, const std::string& data,
+ const std::string& tag, HexDumpDataConfig cfg)
+ {
+ std::string ascii="";
+ unsigned indent = tag.length();
+ int col = 0;
+ int datasize=data.size();
+ std::string groupws(cfg.groupWS, ' ');
+ std::string group2ws(cfg.group2WS, ' ');
+ std::string indexws(cfg.indexWS, ' ');
+ std::string textws(cfg.textWS, ' ');
+ unsigned linesize;
+
+ if (cfg.groupBy && ((cfg.bytesPerLine % cfg.groupBy) != 0))
+ {
+ s << "hexDumpData: cfg.bytesPerLine % cfg.groupBy != 0"
+ << std::endl;
+ return;
+ }
+ if (cfg.group2By && ((cfg.bytesPerLine % cfg.group2By) != 0))
+ {
+ s << "hexDumpData: cfg.bytesPerLine % cfg.group2By != 0"
+ << std::endl;
+ return;
+ }
+ if (cfg.groupBy && ((cfg.group2By % cfg.groupBy) != 0))
+ {
+ s << "hexDumpData: cfg.group2By % cfg.groupBy != 0"
+ << std::endl;
+ return;
+ }
+
+ // line format:
+ // <tag><index>:<indexws><group1byte1>...<group1byte[groupBy]><groupws>...<group[group2By]byte1>...<group[group2By]byte[groupBy]><group2ws>....<byte[bytesPerLine]><textws><separator><text><separator>\n
+ linesize = indent;
+ if (cfg.showIndex)
+ linesize += cfg.idxDigits + 1 + cfg.indexWS;
+ linesize += cfg.bytesPerLine * 2;
+ unsigned w2 = 0;
+ unsigned w1 = 0;
+ if (cfg.group2By)
+ w2 = (cfg.bytesPerLine / cfg.group2By) - 1;
+ if (cfg.groupBy)
+ w1 = (cfg.bytesPerLine / cfg.groupBy) - w2 - 1;
+ if (cfg.groupBy > 0)
+ linesize += cfg.groupWS * w1;
+ if (cfg.group2By > 0)
+ linesize += cfg.group2WS * w2;
+ /*
+ linesize doesn't include text stuff
+ if (cfg.showText)
+ linesize += cfg.textWS + cfg.bytesPerLine;
+ if (cfg.separator)
+ linesize += 2;
+ */
+
+ for (int i=0; i<datasize; i++)
+ {
+ if (i%cfg.bytesPerLine==0)
+ {
+ s << tag;
+ col = indent;
+ if (cfg.showIndex)
+ {
+ if (cfg.hexIndex)
+ {
+ s << std::hex;
+ if (cfg.upperHex)
+ s << std::uppercase;
+ else
+ s << std::nouppercase;
+ }
+ else
+ s << std::dec;
+ s << std::setfill('0');
+ s << std::setw(cfg.idxDigits) << i << ":" << indexws;
+ s << std::dec << std::nouppercase;
+ }
+ col += cfg.idxDigits + 1 + cfg.indexWS;
+ }
+ unsigned char c=data[i];
+ if (isprint(c))
+ ascii += c;
+ else
+ ascii += '.';
+ if (cfg.upperHex)
+ s << std::uppercase;
+ else
+ s << std::nouppercase;
+ s << std::hex << std::setw(2) << (int)c << std::dec
+ << std::nouppercase;
+ col += 2;
+ if (((i % cfg.bytesPerLine) == (cfg.bytesPerLine-1)) ||
+ (i == (datasize-1)))
+ {
+ if (cfg.showText)
+ {
+ int extra = linesize-col;
+ std::string space(extra, ' ');
+ s << space << textws;
+ if (cfg.separator)
+ s << cfg.separator;
+ s << ascii;
+ if (cfg.separator)
+ s << cfg.separator;
+ s << std::endl;
+ }
+ // this *should* be updated at the beginning of the loop
+ //col=indent+6;
+ ascii.erase();
+ }
+ else if (cfg.group2By && ((i % cfg.group2By) == (cfg.group2By-1)))
+ {
+ s << group2ws;
+ col += cfg.group2WS;
+ }
+ else if (cfg.groupBy && ((i % cfg.groupBy) == (cfg.groupBy-1)))
+ {
+ s << groupws;
+ col += cfg.groupWS;
+ }
+ }
+ }
+
+ // Keep searching for aString at the start of s
+ // until num == 0 or aString is not found at the start of s
+ inline std::string& stripLeading(std::string& s,
+ const std::string& aString,
+ std::string::size_type num)
+ throw(StringException)
+ {
+ try
+ {
+ if (aString == "")
+ return s;
+
+ while((num > 0) &&
+ (s.find(aString,0) == 0) &&
+ (s.length() > 0))
+ {
+ s.erase(0,aString.length());
+ --num;
+ }
+ return s;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ // keep searching for aString at the end of s
+ // until aString isn't found there or num == 0
+ inline std::string& stripTrailing(std::string& s,
+ const std::string& aString,
+ std::string::size_type num)
+ throw(StringException)
+ {
+ try
+ {
+ std::string::size_type pos = s.length() - aString.length();
+
+ // empty string, etc.
+ if ((pos > s.length()) || (aString == ""))
+ return s;
+
+ while((num > 0) &&
+ (s.rfind(aString,pos) == pos) &&
+ (s.length() > 0))
+ {
+ s.erase(pos, std::string::npos);
+ --num;
+ pos = s.length() - aString.length();
+ }
+ return s;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string& strip(std::string& s,
+ const std::string& aString,
+ std::string::size_type num)
+ throw(StringException)
+ {
+ stripLeading(s, aString, num);
+ stripTrailing(s, aString, num);
+ return s;
+ }
+
+ inline std::string translate(const std::string& aString,
+ const std::string& inputChars,
+ const std::string& outputChars,
+ const char pad)
+ {
+ std::string rv = aString;
+ std::string::size_type aspos = 0;
+ std::string::size_type inpos = std::string::npos;
+ char toc = pad;
+
+ // By starting at the last position, we avoid infinite
+ // loops in case someone did something dumb, like, for
+ // example, setting inputChars=outputChars.
+ while ((aspos = rv.find_first_of(inputChars, aspos))
+ != std::string::npos)
+ {
+ // figure out which char we found;
+ inpos = inputChars.find(rv[aspos]);
+ if (outputChars.length() < inpos)
+ toc = pad;
+ else
+ toc = outputChars[inpos];
+ rv[aspos] = toc;
+
+ aspos++; // try to guarantee no infinite loops
+ }
+
+ return rv;
+ }
+
+ inline std::string change(const std::string& aString, const std::string& inputString,
+ const std::string& outputString,
+ std::string::size_type startPos, unsigned numChanges)
+ {
+ std::string rv(aString);
+ change(rv, inputString, outputString, startPos, numChanges);
+ return rv;
+ }
+
+ inline std::string& change(std::string& aString, const std::string& inputString,
+ const std::string& outputString,
+ std::string::size_type startPos, unsigned numChanges)
+ {
+ unsigned count = 0;
+ std::string::size_type opos = startPos;
+
+ while (count < numChanges)
+ {
+ std::string::size_type pos = aString.find(inputString, opos);
+ if (pos != std::string::npos)
+ {
+ count++;
+ aString.replace(pos, inputString.length(), outputString);
+ opos = pos + outputString.length();
+ }
+ else
+ break;
+ }
+
+ return aString;
+ }
+
+ // if the string is bigger than length, truncate it from the left.
+ // otherwise, add pad characters to it's left.
+ inline std::string& rightJustify(std::string& s,
+ const std::string::size_type length,
+ const char pad)
+ throw(StringException)
+ {
+ try
+ {
+ if(length < s.length())
+ {
+ s = s.substr(s.length()-length, std::string::npos);
+ }
+ else
+ {
+ s.insert((std::string::size_type)0, length-s.length(), pad);
+ }
+ return s;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ // if the string is bigger than length, truncate it from the right.
+ // otherwise, add pad characters to it's right.
+ inline std::string& leftJustify(std::string& s,
+ const std::string::size_type length,
+ const char pad)
+ throw(StringException)
+ {
+ try
+ {
+ if(length < s.length())
+ {
+ s = s.substr(0, length);
+ }
+ else
+ {
+ s.append(length-s.length(), pad);
+ }
+ return s;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ // leftJustify if s is bigger than length.
+ // otherwise, add pad to the left and right of s.
+ inline std::string& center(std::string& s,
+ const std::string::size_type length,
+ const char pad)
+ throw(StringException)
+ {
+ try
+ {
+ if(length < s.length())
+ {
+ leftJustify(s, length, pad);
+ }
+ else {
+ std::string::size_type leftOff = s.length() + (length - s.length()) / 2;
+ leftJustify(s, leftOff, pad);
+ rightJustify(s, length, pad);
+ }
+ return s;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+
+ inline float asFloat(const std::string& s)
+ throw(StringException)
+ {
+ try
+ {
+ std::istringstream is(s);
+ float f;
+ is >> f;
+ return f;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline long double asLongDouble(const std::string& s)
+ throw(StringException)
+ {
+ try
+ {
+ std::istringstream is(s);
+ long double x;
+ is >> x;
+ return x;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ template <class X>
+ inline X asData(const std::string& s)
+ throw(StringException)
+ {
+ try
+ {
+ std::istringstream is(s);
+ X x;
+ is >> x;
+ return x;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string asString(const long double x, const std::string::size_type precision)
+ {
+ std::ostringstream ss;
+ ss << std::fixed << std::setprecision(precision) << x ;
+ return ss.str();
+ }
+
+ inline std::string asString(const double x, const std::string::size_type precision)
+ {
+ std::ostringstream ss;
+ ss << std::fixed << std::setprecision(precision) << x;
+ return ss.str();
+ }
+
+ template<class X>
+ inline std::string asString(const X x)
+ {
+ std::ostringstream ss;
+ ss << x;
+ return ss.str();
+ }
+
+ // decimal to hex...
+ inline std::string& d2x(std::string& s)
+ throw(StringException)
+ {
+ try
+ {
+ // remove the integer from s, including
+ // leading spaces and 0's
+ long l = asInt(s);
+ stripLeading(s);
+ stripLeading(s, "0");
+ stripLeading(s, asString<long>(l));
+
+ // put the int in a stringstream to convert it
+ std::ostringstream st;
+ st << std::hex << l << std::dec;
+
+ // add the new hex to s
+ s.insert(0, upperCase(st.str()) );
+
+ return s;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ // character to hex...
+ inline std::string& c2x(std::string& s)
+ throw(StringException)
+ {
+ const char hexDigits[] = "0123456789ABCDEF";
+ try
+ {
+ std::string old(s);
+ const unsigned char *pSource = (unsigned char *)old.c_str();
+ unsigned n = old.length();
+
+ s.resize(n * 2, 0);
+
+ for (int i = 0; i < (int)n * 2;)
+ {
+ unsigned char c = *pSource++;
+ s[i++] = hexDigits[ c / 16 ];
+ s[i++] = hexDigits[ c % 16 ];
+ }
+
+ return s;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ /// @todo Need to find a way to combine this with x2d.
+ // hex to a long.
+ inline unsigned int x2int(const std::string& s)
+ throw (StringException)
+ {
+ try
+ {
+ std::string t(s);
+ // remove the "0x" part, leading zeros and spaces from the
+ // string
+ // ex. ' 0x003' -> '3'
+ stripLeading(t);
+ stripLeading(t, "0x", 1);
+ stripLeading(t, "0");
+
+ // if it's empty, it was 0
+ if (t.empty())
+ {
+ return 0;
+ }
+
+ // make the stringstream, get the integer, and
+ // remove it from the string
+ std::istringstream strstr(t);
+ int i;
+ strstr >> std::hex >> i;
+ return i;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ /// @todo detecting 0 isn't quite right...
+ // hex to decimal
+ inline std::string& x2d(std::string& s)
+ throw(StringException)
+ {
+ try
+ {
+ // remove the "0x" part, leading zeros and spaces from the
+ // string
+ // ex. ' 0x003' -> '3'
+ stripLeading(s);
+ stripLeading(s, "0x", 1);
+ stripLeading(s, "0");
+
+ // make the stringstream, get the integer, and
+ // remove it from the string
+ std::istringstream strstr(s);
+ int i = 0;
+ strstr >> std::hex >> i;
+ stripLeading(s, asString<int>(asInt(s)), 1);
+
+ // append the decimal to the existing string
+ s.insert(0,asString<int>(i));
+ return s;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string int2x(const unsigned int& i)
+ throw(StringException)
+ {
+ try
+ {
+ std::ostringstream ss;
+ ss << std::hex << i;
+ return ss.str();
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string& replaceAll(std::string& s,
+ const std::string& oldString,
+ const std::string& newString)
+ throw(StringException)
+ {
+ try
+ {
+ int spot = s.find(oldString, 0);
+ while (spot != (int)std::string::npos)
+ {
+ s.replace(spot, oldString.length(), newString);
+ spot += newString.length();
+ spot = s.find(oldString, spot);
+ }
+ return s;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline bool isDigitString(const std::string& s)
+ {
+ if (s.size() == 0)
+ return false;
+
+ std::string::size_type index = 0;
+ if((s[0] == '-') || (s[0] == '+'))
+ index++;
+ for( ; index < s.size(); index++)
+ if (!isdigit(s[index]))
+ return false;
+ return true;
+ }
+
+ inline bool isDecimalString(const std::string& s)
+ {
+ if (s.size() == 0)
+ return false;
+
+ std::string::size_type index = 0;
+ bool sawdot = false;
+ if((s[0] == '-') || (s[0] == '+'))
+ index++;
+ for( ; index < s.size(); index++)
+ {
+ if (s[index] == '.')
+ {
+ if (sawdot)
+ return false;
+ else sawdot = true;
+ }
+ else if (!isdigit(s[index]))
+ return false;
+ }
+ return true;
+ }
+
+ inline bool isAlphaString(const std::string& s)
+ {
+ if (s.size() == 0)
+ return false;
+
+ std::string::size_type index;
+ for(index = 0; index < s.size(); index++)
+ if (!isalpha(s[index]))
+ return false;
+ return true;
+ }
+
+ inline std::string matches(const std::string& s,
+ const std::string& aPattern,
+ const char zeroOrMore,
+ const char oneOrMore,
+ const char anyChar)
+ throw(StringException)
+ {
+ const std::string::size_type regErrorBufSize = 512;
+
+ std::string thisPattern(aPattern);
+ std::string thisStr(s);
+
+ // check if something other than the regex standard
+ // characters (*,+,.) is used for those variables
+ if (zeroOrMore != '*')
+ {
+ replaceAll(thisPattern, "*", "\\*");
+ replaceAll(thisPattern, std::string(1, zeroOrMore), "*");
+ }
+ if (oneOrMore != '+')
+ {
+ replaceAll(thisPattern, "+", "\\+");
+ replaceAll(thisPattern, std::string(1, oneOrMore), "+");
+ }
+ if (anyChar != '.')
+ {
+ replaceAll(thisPattern, ".", "\\.");
+ replaceAll(thisPattern, std::string(1, anyChar), ".");
+ }
+ regmatch_t matches;
+ regex_t regExp;
+ char errorMsg[regErrorBufSize];
+ int rc;
+
+ if ((rc = regcomp(®Exp, thisPattern.c_str(), REG_EXTENDED)) != 0)
+ {
+ regerror(rc, ®Exp, errorMsg, regErrorBufSize - 1);
+ regfree(®Exp);
+ StringException strerr("Regexp error: " + std::string(errorMsg));
+ GPSTK_THROW(strerr);
+ }
+ rc = regexec(®Exp, thisStr.c_str(), 1, &matches,
+ REG_NOTBOL | REG_NOTEOL);
+ if ( (rc != 0) && (rc != REG_NOMATCH) )
+ {
+ regerror(rc, ®Exp, errorMsg, regErrorBufSize - 1);
+ regfree(®Exp);
+ StringException strerr("Regexp error: " + std::string(errorMsg));
+ GPSTK_THROW(strerr);
+ }
+
+ regfree(®Exp);
+ if (rc == REG_NOMATCH)
+ return std::string();
+ else
+ return thisStr.substr(matches.rm_so, matches.rm_eo - matches.rm_so);
+ }
+
+ template <class T>
+ inline std::string formattedPrint(const std::string& fmt, const std::string& pat,
+ const std::string& rep, T to)
+ throw(StringException)
+ {
+ regex_t re;
+ regmatch_t r;
+ std::string rv = fmt;
+ int rc;
+ char buffer[513];
+
+ // if the regex doesnt compile, toast =)
+ if ((rc = regcomp(&re, pat.c_str(), REG_EXTENDED)) != 0)
+ {
+ StringException se("Bad regular expression: regcomp() rc = " +
+ asString(rc));
+ GPSTK_THROW(se);
+ }
+
+ int len = rv.length();
+ for (int i = 0; i < len; i++)
+ {
+ if ((rc = regexec(&re, rv.c_str(), 1, &r, 0)) != 0)
+ break;
+ else
+ {
+ std::string mac = rv.substr(r.rm_so, r.rm_eo - r.rm_so);
+ mac = replaceAll(mac, rep.substr(0,1), rep.substr(1));
+ sprintf(buffer, mac.c_str(), to);
+ rv = rv.substr(0, r.rm_so) + std::string(buffer) +
+ rv.substr(r.rm_eo);
+ i = r.rm_eo;
+ }
+ }
+
+ regfree(&re);
+
+ return rv;
+ }
+
+ inline std::string subString(const std::string& s,
+ const std::string::size_type startPos,
+ const std::string::size_type length,
+ const char pad)
+ throw(StringException)
+ {
+ try
+ {
+ if(startPos >= s.length())
+ {
+ return std::string(length, pad);
+ }
+ std::string temp = s.substr(startPos, length);
+ return leftJustify(temp, length, pad);
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string& lowerCase(std::string& s)
+ {
+ for(std::string::size_type i = 0; i < s.length(); i++)
+ {
+ s[i] = tolower(s[i]);
+ }
+ return s;
+ }
+
+ inline std::string& upperCase(std::string& s)
+ {
+ for(std::string::size_type i = 0; i < s.length(); i++)
+ {
+ s[i] = toupper(s[i]);
+ }
+ return s;
+ }
+
+ inline std::string memToString(const void* p,
+ const std::string::size_type size)
+ {
+ unsigned char* q = (unsigned char*)p;
+ std::string s(size,'\0');
+ for (int i=0; i<(int)size; i++)
+ {
+ s[i] = (unsigned char)(*q++);
+ }
+ return s;
+ }
+
+ inline std::string firstWord(const std::string& s,
+ const char delimiter)
+ throw(StringException)
+ {
+ try
+ {
+ // return s if there are no delimiters
+ std::string::size_type pos = s.find_first_not_of(delimiter);
+ if (pos == std::string::npos)
+ {
+ return s;
+ }
+ // find the end delimiter (if any) and return the string
+ std::string::size_type endPos = s.find(delimiter, pos);
+ if (endPos == std::string::npos)
+ {
+ return std::string(s, pos, endPos);
+ }
+ else
+ {
+ return std::string(s, pos, endPos - pos);
+ }
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline int numWords(const std::string& s,
+ const char delimiter)
+ throw(StringException)
+ {
+ try
+ {
+ std::string t(s);
+ stripTrailing(t, delimiter);
+
+ int words = 0;
+ while(t.length())
+ {
+ stripLeading(t, delimiter);
+ stripLeading(t, firstWord(t, delimiter));
+ words++;
+ }
+ return words;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string words(const std::string& s,
+ const std::string::size_type firstWord,
+ const std::string::size_type numWords,
+ const char delimiter)
+ throw(StringException)
+ {
+ try
+ {
+ if ((firstWord == 0) && (numWords == 1))
+ return StringUtils::firstWord(s, delimiter);
+ if (numWords == 0)
+ return "";
+ std::string::size_type wordNum = 0;
+ std::string::size_type pos = 0, startPos = 0;
+
+ std::string toReturn;
+
+ // get position of word wordNum
+ pos = s.find_first_not_of(delimiter, pos);
+ while ((pos != std::string::npos) && (pos <= s.length()))
+ {
+ if (wordNum == firstWord)
+ startPos = pos;
+ // get first delimter after word wordNum
+ pos = s.find(delimiter, pos);
+ if (((int)numWords != -1) && ((int)wordNum == (int)(firstWord + (numWords-1))))
+ break;
+ pos = s.find_first_not_of(delimiter, pos);
+ wordNum++;
+ }
+
+ if (pos == std::string::npos)
+ return s.substr(startPos);
+ return s.substr(startPos, pos-startPos);
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string stripFirstWord(std::string& s,
+ const char delimiter)
+ throw(StringException)
+ {
+ try
+ {
+ stripLeading(s, delimiter);
+ std::string toReturn = firstWord(s, delimiter);
+ stripLeading(s, toReturn);
+ stripLeading(s, delimiter);
+ return toReturn;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string& removeWords(std::string& s,
+ const std::string::size_type first,
+ const std::string::size_type wordsToReplace,
+ const char delimiter)
+ throw(StringException)
+ {
+ try
+ {
+ std::string temp(s);
+ std::string::size_type thisWord;
+
+ // empty out s. add the new parts of s as they are parsed
+ s.erase(0, std::string::npos);
+
+ // copy the part of the string through word 'first'
+ // by appending any delimiters then appending
+ // a word for however many words we're keeping.
+ for(thisWord = 0; thisWord < first; thisWord++)
+ {
+ s.append(temp.find_first_not_of(delimiter),delimiter);
+ stripLeading(temp, delimiter);
+ s.append(firstWord(temp));
+ stripLeading(temp, firstWord(temp));
+ }
+
+ // skip over the number of words to replace, making
+ // sure to stop when there's no more string left
+ // to skip
+ for(thisWord = 0;
+ (thisWord < wordsToReplace) &&
+ (temp.length() != 0);
+ thisWord++)
+ {
+ stripLeading(temp, delimiter);
+ stripLeading(temp, firstWord(temp));
+ }
+
+ // add on any extra words at the end
+ s.append(temp);
+
+ return s;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string doub2sci(const double& d,
+ const std::string::size_type length,
+ const std::string::size_type expLen,
+ const bool showSign,
+ const bool checkSwitch)
+ {
+ std::string toReturn;
+ short exponentLength = expLen;
+
+ /* Validate the assumptions regarding the input arguments */
+ if (exponentLength < 0) exponentLength = 1;
+ if (exponentLength > 3 && checkSwitch) exponentLength = 3;
+
+ std::stringstream c;
+ c.setf(std::ios::scientific, std::ios::floatfield);
+
+ // length - 3 for special characters ('.', 'e', '+' or '-')
+ // - exponentlength (e04)
+ // - 1 for the digit before the decimal (2.)
+ // and if showSign == true,
+ // an extra -1 for '-' or ' ' if it's positive or negative
+ int expSize = 0;
+ if (showSign)
+ expSize = 1;
+ c.precision(length - 3 - exponentLength - 1 - expSize);
+
+
+ c << d;
+
+ c >> toReturn;
+
+ return toReturn;
+ }
+
+ inline std::string& sci2for(std::string& aStr,
+ const std::string::size_type length,
+ const std::string::size_type startPos,
+ const std::string::size_type expLen,
+ const bool checkSwitch)
+ throw(StringException)
+ {
+ try
+ {
+ std::string::size_type idx = aStr.find('.', startPos);
+ int expAdd = 0;
+ std::string exp;
+ long iexp;
+ //If checkSwitch is false, always redo the exponential. Otherwise,
+ //set it to false.
+ bool redoexp=!checkSwitch;
+
+ // Check for decimal place within specified boundaries
+ if ((idx == 0) || (idx >= (startPos + length - expLen - 1)))
+ {
+ StringException e("sci2for: no decimal point in string");
+ GPSTK_THROW(e);
+ }
+
+ // Here, account for the possibility that there are
+ // no numbers to the left of the decimal, but do not
+ // account for the possibility of non-scientific
+ // notation (more than one digit to the left of the
+ // decimal)
+ if (idx > startPos)
+ {
+ redoexp = true;
+ // Swap digit and decimal.
+ aStr[idx] = aStr[idx-1];
+ aStr[idx-1] = '.';
+ // Only add one to the exponent if the number is non-zero
+ if (asDouble(aStr.substr(startPos, length)) != 0.0)
+ expAdd = 1;
+ }
+
+ idx = aStr.find('e', startPos);
+ if (idx == std::string::npos)
+ {
+ idx = aStr.find('E', startPos);
+ if (idx == std::string::npos)
+ {
+ StringException e("sci2for:no 'e' or 'E' in string");
+ GPSTK_THROW(e);
+ }
+ }
+ // Change the exponent character to D normally, or E of checkSwitch is false.
+ if (checkSwitch)
+ aStr[idx] = 'D';
+ else
+ aStr[idx] = 'E';
+
+ // Change the exponent itself
+ if (redoexp)
+ {
+ exp = aStr.substr(idx + 1, std::string::npos);
+ iexp = asInt(exp);
+ iexp += expAdd;
+
+ aStr.erase(idx + 1);
+ if (iexp < 0)
+ {
+ aStr += "-";
+ iexp -= iexp*2;
+ }
+ else
+ aStr += "+";
+ aStr += rightJustify(asString(iexp),expLen,'0');
+
+ }
+
+ // if the number is positive, append a space
+ // (if it's negative, there's a leading '-'
+ if (aStr[0] == '.')
+ {
+ aStr.insert((std::string::size_type)0, 1, ' ');
+ }
+
+ //If checkSwitch is false, add on one leading zero to the string
+ if (!checkSwitch)
+ {
+ aStr.insert((std::string::size_type)1, 1, '0');
+ }
+
+
+ return aStr;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ } // end sci2for
+
+
+ inline std::string doub2for(const double& d,
+ const std::string::size_type length,
+ const std::string::size_type expLen,
+ const bool checkSwitch)
+ throw(StringException)
+ {
+ try
+ {
+ short exponentLength = expLen;
+
+ /* Validate the assumptions regarding the input arguments */
+ if (exponentLength < 0) exponentLength = 1;
+ if (exponentLength > 3 && checkSwitch) exponentLength = 3;
+
+ std::string toReturn = doub2sci(d, length, exponentLength, true, checkSwitch);
+ sci2for(toReturn, length, 0, exponentLength, checkSwitch);
+
+ return toReturn;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+
+ inline double for2doub(const std::string& aStr,
+ const std::string::size_type length,
+ const std::string::size_type startPos)
+ {
+ std::string s(aStr);
+ strip(s);
+ std::string::size_type pos;
+
+ // you can blame Rinex for these special checks
+ if (s.empty())
+ {
+ return 0;
+ }
+
+ if ( ((pos = s.find('E', startPos)) != std::string::npos) ||
+ ((pos = s.find('d', startPos)) != std::string::npos) ||
+ ((pos = s.find('D', startPos)) != std::string::npos))
+ {
+ s[pos] = 'e';
+ }
+ // just treat it like a double
+ else
+ {
+ return asDouble(aStr.substr(length, startPos));
+ }
+
+ std::stringstream st;
+ st << s;
+
+ double d;
+ st >> d;
+
+ return d;
+ }
+
+ inline std::string printable(const std::string& aStr)
+ throw(StringException)
+ {
+ try
+ {
+ std::string rv(aStr);
+
+ for (int i = 0; i < (int)rv.length(); i++)
+ {
+ char c = rv[i];
+ if (!isprint(c))
+ {
+ if (iscntrl(c))
+ {
+ rv.replace(i,1,2,'^');
+ rv.replace(i+1,1,1, 64+(c));
+ }
+ else
+ {
+ std::string mess(c2x(rv.substr(i,1)));
+ rv.replace(i,1,"<"+mess+">");
+ }
+ }
+ }
+
+ return rv;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string& prettyPrint(std::string& aStr,
+ const std::string& lineDelim,
+ const std::string& indent,
+ const std::string& firstIndent,
+ const std::string::size_type len,
+ const char wordDelim)
+ throw(StringException)
+ {
+ try
+ {
+ // chop aStr up into words based on wordDelim
+ std::list<std::string> wordList;
+ std::string tempStr(aStr);
+ stripLeading(tempStr, wordDelim);
+ while (!tempStr.empty())
+ {
+ std::string theFirstWord = firstWord(tempStr,wordDelim);
+ wordList.push_back(theFirstWord);
+ stripLeading(tempStr, theFirstWord);
+ stripLeading(tempStr, wordDelim);
+ }
+
+ // now reassemble the words into sentences
+ std::string toReturn;
+ std::string thisLine = firstIndent, lastLine;
+ while (!wordList.empty())
+ {
+ lastLine = thisLine;
+ if (!lastLine.empty())
+ thisLine += wordDelim;
+ thisLine += wordList.front();
+
+ if (thisLine.length() > len)
+ {
+ // if the first word is longer than a line, just add it.
+ // if this is the first line, remember to add the indent.
+ if (lastLine.empty())
+ {
+ if (toReturn.empty())
+ lastLine += firstIndent;
+ lastLine = wordList.front();
+ }
+
+ toReturn += lastLine + lineDelim;
+
+ thisLine.erase();
+ lastLine.erase();
+
+ thisLine = indent;
+ }
+ else
+ wordList.erase(wordList.begin());
+ }
+ if (!thisLine.empty())
+ toReturn += (thisLine + lineDelim);
+
+ aStr = toReturn;
+ return aStr;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ //@}
+
+ } // namespace StringUtils
+
+} // namespace gpstk
+#endif // GPSTK_STRINGUTILS_HPP
+
+
+
diff --git a/dev/tests/SEM/sem.txt b/dev/tests/SEM/sem.txt
new file mode 100644
index 0000000..fbe4e65
--- /dev/null
+++ b/dev/tests/SEM/sem.txt
@@ -0,0 +1,272 @@
+30 CURRENT.ALM
+ 385 405504
+
+1
+32
+0
+ 0.67038536071777E-0002 0.14900207519531E-0001 -0.24301698431373E-0008
+ 0.51536850585938E+0004 -0.49867236614227E+0000 -0.56126058101654E+0000
+ 0.76654481887817E+0000 0.10108947753906E-0003 0.36379788070917E-0011
+0
+9
+
+2
+61
+0
+ 0.88553428649902E-0002 0.16784667968750E-0002 -0.25647750589997E-0008
+ 0.51537119140625E+0004 0.81902885437012E+0000 0.69743275642395E+0000
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diff --git a/dev/tests/SEM/sem387.txt b/dev/tests/SEM/sem387.txt
new file mode 100644
index 0000000..9fe28c8
--- /dev/null
+++ b/dev/tests/SEM/sem387.txt
@@ -0,0 +1,274 @@
+30 CURRENT.ALM
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diff --git a/dev/tests/SEM/xSEM.cpp b/dev/tests/SEM/xSEM.cpp
new file mode 100644
index 0000000..839edc3
--- /dev/null
+++ b/dev/tests/SEM/xSEM.cpp
@@ -0,0 +1,49 @@
+/*********************************************************************
+* $Id$
+*
+* Test program from November 2006. Written to test the SEMAlmRecord.cpp
+* module..
+*
+// *********************************************************************/
+
+#include "SEMData.hpp"
+#include "SEMStream.hpp"
+#include "SEMHeader.hpp"
+#include "SEMBase.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+int main( int argc, char * argv[] )
+{
+ // Read an existing SEM almanac file and write it back out.
+ try
+ {
+ SEMStream In("sem387.txt");
+ SEMStream Out("sem.dbg", ios::out);
+ SEMHeader Header;
+ SEMData Data;
+
+ In >> Header;
+ Out << Header;
+ while (In >> Data)
+ {
+ Out << Data;
+ }
+
+
+ }
+ catch(gpstk::Exception& e)
+ {
+ cout << e;
+ exit(1);
+ }
+ catch (...)
+ {
+ cout << "unknown error. Done." << endl;
+ exit(1);
+ }
+
+
+ return(0);
+}
diff --git a/dev/tests/SetVariables b/dev/tests/SetVariables
new file mode 100755
index 0000000..d1c2d75
--- /dev/null
+++ b/dev/tests/SetVariables
@@ -0,0 +1,27 @@
+#!/bin/sh
+
+echo "This script will help you set up the variables to compile and run the GPSTk"
+echo "test suite."
+
+export PATH_TO_CURRENT=`pwd`
+
+echo "Please enter the directory which holds the CppUnit Libraries"
+echo "e.g. /home/user/lib"
+
+read CppLib
+echo ""
+
+export CPPUNIT_LIB=$CppLib
+
+echo "Please enter the directory which holds the CppUnit Includes"
+echo "e.g. /home/user/include"
+
+read CppInc
+echo ""
+
+export CPPUNIT_INC=$CppInc
+
+
+
+
+
diff --git a/dev/tests/Stats/Jamfile b/dev/tests/Stats/Jamfile
new file mode 100644
index 0000000..7bb2a6c
--- /dev/null
+++ b/dev/tests/Stats/Jamfile
@@ -0,0 +1,3 @@
+SubDir TOP Stats ;
+
+TestMain Stats/xStats.tst : Stats/xStatsM.cpp Stats/xStats.cpp Stats/Stats.cpp ;
diff --git a/trunk/src/Makefile.am b/dev/tests/Stats/Stats.cpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/Stats/Stats.cpp
diff --git a/dev/tests/Stats/Stats.hpp b/dev/tests/Stats/Stats.hpp
new file mode 120000
index 0000000..5a3e2f6
--- /dev/null
+++ b/dev/tests/Stats/Stats.hpp
@@ -0,0 +1 @@
+../../src/Stats.hpp
\ No newline at end of file
diff --git a/dev/tests/Stats/makefile b/dev/tests/Stats/makefile
new file mode 100644
index 0000000..33e8f73
--- /dev/null
+++ b/dev/tests/Stats/makefile
@@ -0,0 +1,18 @@
+CPPUNIT_PATH=/home/ehagen
+
+xStats.tst: xStatsM.o xStats.o Stats.o
+ g++ -o xStats.tst xStatsM.o xStats.o Stats.o -L${CPPUNIT_PATH}/lib -lstdc++ -lcppunit -ldl -lgpstk -fprofile-arcs -ftest-coverage
+
+Stats.o: Stats.cpp
+ g++ -c Stats.cpp -I/home/ehagen/gpstk/src -L/home/ehagen/gpstk/src -lgpstk -fprofile-arcs -ftest-coverage
+
+xStats.o: xStats.cpp xStats.hpp
+ g++ -c xStats.cpp -I${CPPUNIT_PATH}/include -fprofile-arcs -ftest-coverage
+
+xStatsM.o: xStatsM.cpp
+ g++ -c xStatsM.cpp -I${CPPUNIT_PATH}/include -fprofile-arcs -ftest-coverage
+
+clean:
+ rm -f *.o
+ rm -f *.*.g*
+ rm -f *.g*
diff --git a/dev/tests/Stats/xStats.cpp b/dev/tests/Stats/xStats.cpp
new file mode 100644
index 0000000..8af01bf
--- /dev/null
+++ b/dev/tests/Stats/xStats.cpp
@@ -0,0 +1,454 @@
+// file: xStats.cpp
+
+#include "xStats.hpp"
+
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xStats);
+
+void xStats :: setUp (void)
+{
+}
+
+/*
+****Test to assess the quality of the Add member of the Stats
+****class which is designed to add a gpstk::Vector or an individual
+****sample to an instance of Stats
+
+**** This test partially indirectly tests Minimum, Maximum
+**** Average,Variance,StdDev which are all memebers of the
+**** Stats class
+*/
+void xStats :: addTest (void)
+{
+ gpstk::Stats<double> addTest;
+ CPPUNIT_ASSERT_NO_THROW(addTest.Add(10.,1));
+
+ addTest.Add(20.,1);
+ addTest.Add(30.,1);
+ //Create a vector of 1 member with a value of 40.0
+ gpstk::Vector<double> one(1,40.);
+ //Create a vector with one member with a value of 1
+ gpstk::Vector<double> weight(1,1);
+
+
+ CPPUNIT_ASSERT_NO_THROW(addTest.Add(one,weight));
+
+ CPPUNIT_ASSERT_EQUAL((unsigned) 4, addTest.N());
+ CPPUNIT_ASSERT_EQUAL(10., addTest.Minimum());
+ CPPUNIT_ASSERT_EQUAL(40., addTest.Maximum());
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(25., addTest.Average(),1E-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(166.66667, addTest.Variance(),1E-3);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(12.9099445, addTest.StdDev(),1E-6);
+ CPPUNIT_ASSERT_EQUAL(4., addTest.Normalization());
+ CPPUNIT_ASSERT_EQUAL(true, addTest.Weighted());
+
+ gpstk::Stats<double> addTest0;
+ gpstk::Vector<double> weight0(0,1);
+ addTest0.Add(10.,0);
+ addTest0.Add(20.,0);
+ addTest0.Add(30.,0);
+ addTest0.Add(one,weight0);
+
+ CPPUNIT_ASSERT_EQUAL((unsigned) 4, addTest0.N());
+ CPPUNIT_ASSERT_EQUAL(10., addTest0.Minimum());
+ CPPUNIT_ASSERT_EQUAL(40., addTest0.Maximum());
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(25., addTest0.Average(),1E-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(166.66667, addTest0.Variance(),1E-3);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(12.9099445, addTest0.StdDev(),1E-6);
+ CPPUNIT_ASSERT_EQUAL(0., addTest0.Normalization());
+ CPPUNIT_ASSERT_EQUAL(false, addTest0.Weighted());
+
+
+ gpstk::Vector<double> two(4,20.);
+ gpstk::Vector<double> weight2(1,0);
+ try
+ {
+ CPPUNIT_ASSERT_THROW(addTest.Add(two,weight2),gpstk::Exception);
+ }
+ catch(gpstk::Exception& e)
+ {
+ }
+
+}
+
+/*
+**** Test to assess the quality of the Reset member of the Stats
+**** class which is designed to reset a Stats instance to an unmodified
+**** state
+
+**** This test finishes the indirect testing of Minimum, Maximum
+**** Average,Variance and StdDev which are all memebers of the
+**** Stats class
+*/
+
+
+void xStats :: resetTest (void)
+{
+ gpstk::Stats<double> resetTest;
+ resetTest.Add(10.,1);
+ resetTest.Add(20.,1);
+ resetTest.Add(30.,1);
+ gpstk::Vector<double> one(1,40.);
+ gpstk::Vector<double> weight(1,1);
+ resetTest.Add(one,weight);
+
+ CPPUNIT_ASSERT_NO_THROW(resetTest.Reset());
+
+ CPPUNIT_ASSERT_EQUAL((unsigned) 0, resetTest.N());
+ CPPUNIT_ASSERT_EQUAL(0., resetTest.Minimum());
+ CPPUNIT_ASSERT_EQUAL(0., resetTest.Maximum());
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0., resetTest.Average(),1E-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0., resetTest.Variance(),1E-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0., resetTest.StdDev(),1E-6);
+ CPPUNIT_ASSERT_EQUAL(0., resetTest.Normalization());
+ CPPUNIT_ASSERT_EQUAL(false, resetTest.Weighted());
+ resetTest.Add(10.,1);
+ CPPUNIT_ASSERT_EQUAL(1., resetTest.Normalization());
+}
+
+/*
+**** Test to assess the quality of the Subtract member of the Stats
+**** class which, according to comments by the coder, is designed to
+**** "remove a sample from the computation of statistics"
+
+**** Note: Removed average tests from suite. Averages make little sense
+**** without a weight within the subtract method.
+*/
+void xStats :: subtractTest (void)
+{
+ gpstk::Stats<double> subTest;
+ subTest.Add(30.,1);
+ subTest.Add(40.,1);
+ subTest.Add(10.,1);
+ subTest.Add(20.,1);
+ //CPPUNIT_ASSERT_DOUBLES_EQUAL(25,subTest.Average(),1e-4);
+ CPPUNIT_ASSERT_EQUAL((unsigned) 4,subTest.N());
+ subTest.Subtract(30);
+ //CPPUNIT_ASSERT_EQUAL((40+10+20)/3.,subTest.Average());
+ CPPUNIT_ASSERT_EQUAL((unsigned) 3,subTest.N());
+
+ gpstk::Stats<double> subTest2;
+ subTest2.Add(30.,1);
+ subTest2.Add(40.,1);
+ subTest2.Subtract(30);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0.,subTest2.Variance(),1e-4);
+ //CPPUNIT_ASSERT_EQUAL(40.,subTest2.Average());
+ CPPUNIT_ASSERT_EQUAL((unsigned) 1,subTest2.N());
+ subTest2.Subtract(40);
+ CPPUNIT_ASSERT_EQUAL((unsigned) 0,subTest2.N());
+ //CPPUNIT_ASSERT_EQUAL(0.,subTest2.Average());
+}
+
+/*
+**** Test to assess the quality of the LoadTest member of the Stats
+**** class which, according to comments by the coder, is designed to
+**** "define private members directly"
+*/
+void xStats :: loadTest (void)
+{
+ gpstk::Stats<int> loadTest;
+ loadTest.Load((unsigned) 4, 0,20,1,2,true,4);
+ CPPUNIT_ASSERT_EQUAL((unsigned) 4, loadTest.N());
+ CPPUNIT_ASSERT_EQUAL(0, loadTest.Minimum());
+ CPPUNIT_ASSERT_EQUAL(20, loadTest.Maximum());
+ CPPUNIT_ASSERT_EQUAL(true, loadTest.Weighted());
+ CPPUNIT_ASSERT_EQUAL(4, loadTest.Normalization());
+ //30*10/2
+ CPPUNIT_ASSERT_EQUAL(1, loadTest.Average());
+ //var*10^4/2^4
+ CPPUNIT_ASSERT_EQUAL(2, loadTest.Variance());
+
+
+}
+
+/*
+**** Test to assess the quality of the overloaded += operator of the Stats
+**** class which is designed to add data from one Stats instance onto another
+**** Stats instance with the operator +=
+*/
+void xStats :: addEqualsTest (void)
+{
+ gpstk::Stats<int> addEquals1;
+ addEquals1.Add(10,1);
+ addEquals1.Add(20,1);
+
+ gpstk::Stats<int> addEquals2;
+ addEquals2.Add(30,0);
+ addEquals2.Add(40,0);
+
+ try
+ {
+ CPPUNIT_ASSERT_THROW(addEquals1+=addEquals2,gpstk::Exception);
+ }
+ catch(gpstk::Exception& e)
+ {
+ }
+ gpstk::Stats<int> addEquals3;
+ addEquals3.Add(30,1);
+ addEquals3.Add(40,1);
+ CPPUNIT_ASSERT_NO_THROW(addEquals1+=addEquals3);
+ CPPUNIT_ASSERT_EQUAL((unsigned) 4, addEquals1.N());
+ CPPUNIT_ASSERT_EQUAL(10, addEquals1.Minimum());
+ CPPUNIT_ASSERT_EQUAL(40, addEquals1.Maximum());
+ CPPUNIT_ASSERT_EQUAL(166, addEquals1.Variance());
+ CPPUNIT_ASSERT_EQUAL(25, addEquals1.Average());
+ CPPUNIT_ASSERT_EQUAL(true,addEquals1.Weighted());
+ CPPUNIT_ASSERT_EQUAL(4,addEquals1.Normalization());
+
+ gpstk::Stats<int> addEquals4;
+ gpstk::Stats<int> addEquals5;
+
+ CPPUNIT_ASSERT_NO_THROW(addEquals4+=addEquals5);
+ addEquals5.Add(30,0);
+
+ addEquals4+=addEquals5;
+ addEquals4.Add(10,0);
+
+
+ addEquals5+=addEquals4;
+ //CPPUNIT_ASSERT_EQUAL((unsigned) 2, addEquals1.N());
+ CPPUNIT_ASSERT_EQUAL(10, addEquals5.Minimum());
+ CPPUNIT_ASSERT_EQUAL(30, addEquals5.Maximum());
+ CPPUNIT_ASSERT_EQUAL(156, addEquals5.Variance());
+ CPPUNIT_ASSERT_EQUAL((30+30+10)/3, addEquals5.Average());
+ CPPUNIT_ASSERT_EQUAL(false,addEquals5.Weighted());
+ CPPUNIT_ASSERT_EQUAL(0,addEquals5.Normalization());
+}
+
+
+/*
+**** Test to assess the quality of the Add member of the TwoSampleStats
+**** class which is designed to add a gpstk::Vector or a sample to an
+**** instance of TwoSampleStats
+
+**** This test partially indirectly tests MinX, MaxX
+**** MinY, MaxY,AverageX,AverageY,VarianceX,VarianceY,StdDevX,StdDevY
+**** which are all memeber of the TwoSampleStats class
+*/
+void xStats :: add2Test (void)
+{
+ gpstk::TwoSampleStats<double> add2Test1;
+ CPPUNIT_ASSERT_NO_THROW(add2Test1.Add(10.,20.));
+ gpstk::Vector<double> addVectx(1,20.);
+ gpstk::Vector<double> addVecty(1,30.);
+
+ CPPUNIT_ASSERT_NO_THROW(add2Test1.Add(addVectx,addVecty));
+ CPPUNIT_ASSERT_EQUAL((unsigned) 2, add2Test1.N());
+ CPPUNIT_ASSERT_EQUAL(10., add2Test1.MinimumX());
+ CPPUNIT_ASSERT_EQUAL(20., add2Test1.MaximumX());
+ CPPUNIT_ASSERT_EQUAL(20., add2Test1.MinimumY());
+ CPPUNIT_ASSERT_EQUAL(30., add2Test1.MaximumY());
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(15.0, add2Test1.AverageX(),1E-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(25.0, add2Test1.AverageY(),1E-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(50.0, add2Test1.VarianceX(),1E-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(50.0, add2Test1.VarianceY(),1E-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(sqrt(50.0), add2Test1.StdDevX(),1E-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(sqrt(50.0), add2Test1.StdDevY(),1E-6);
+
+}
+
+/*
+**** Test to assess the quality of the Reset member of the TwoSampleStats
+**** class which is designed to return a TwoSampleStats intance to an
+**** unmodified state
+
+**** This test finishes indirectly testing the rest of MinX, MaxX
+**** MinY, MaxY,AverageX,AverageY,VarianceX,VarianceY,StdDevX,StdDevY
+**** which are all members of the TwoSampleStats class.
+*/
+void xStats :: reset2Test (void)
+{
+ gpstk::TwoSampleStats<double> resetTest1;
+ resetTest1.Add(10.,20.);
+ gpstk::Vector<double> resetx(1,20.);
+ gpstk::Vector<double> resety(1,30.);
+ resetTest1.Add(resetx,resety);
+
+ CPPUNIT_ASSERT_NO_THROW(resetTest1.Reset());
+ CPPUNIT_ASSERT_EQUAL((unsigned) 0, resetTest1.N());
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0., resetTest1.MinimumX(), 1e-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0., resetTest1.MaximumX(), 1e-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0., resetTest1.MinimumY(), 1e-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0., resetTest1.MaximumY(), 1e-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0., resetTest1.AverageX(), 1e-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0., resetTest1.AverageY(), 1e-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0., resetTest1.VarianceX(), 1e-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0., resetTest1.VarianceY(), 1e-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0., resetTest1.StdDevX(), 1e-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0., resetTest1.StdDevY(), 1e-6);
+
+}
+
+void xStats :: subtract2Test (void)
+{
+ gpstk::TwoSampleStats<double> sub2Test;
+ sub2Test.Add(30.,0.);
+ sub2Test.Add(40.,10.);
+ sub2Test.Add(10.,20.);
+ sub2Test.Add(20.,30.);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(25,sub2Test.AverageX(),1e-4);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(15,sub2Test.AverageY(),1e-4);
+ CPPUNIT_ASSERT_EQUAL((unsigned) 4,sub2Test.N());
+ sub2Test.Subtract(20,30);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL((30+40+10)/3.,sub2Test.AverageX(),1e-4);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL((0+10+20)/3.,sub2Test.AverageY(),1e-4);
+ CPPUNIT_ASSERT_EQUAL((unsigned) 3,sub2Test.N());
+
+ sub2Test.Add(20.,30.);
+ gpstk::Vector<double> subVectorX(1,20);
+ gpstk::Vector<double> subVectorY(1,30);
+ sub2Test.Subtract(subVectorX,subVectorY);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL((30+40+10)/3.,sub2Test.AverageX(),1e-4);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL((0+10+20)/3.,sub2Test.AverageY(),1e-4);
+ CPPUNIT_ASSERT_EQUAL((unsigned) 3,sub2Test.N());
+
+ sub2Test.Subtract(10.,20.);
+ sub2Test.Subtract(40.,10.);
+ sub2Test.Subtract(30.,0.);
+
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0,sub2Test.AverageX(),1e-4);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0,sub2Test.AverageY(),1e-4);
+}
+
+/*
+****Test to assess the quality of the Slope member of the TwoSampleStats
+****class which is designed to return the slope of the best fit line
+****Y=slope*X + intercept
+*/
+void xStats :: slopeTest (void)
+{
+ gpstk::TwoSampleStats<double> slopeTest;
+ CPPUNIT_ASSERT_NO_THROW(slopeTest.Slope());
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0.,slopeTest.Slope(),1e-6);
+ slopeTest.Add(0.,0.);
+ slopeTest.Add(10.,10.);
+ slopeTest.Add(20.,20.);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(1.,slopeTest.Slope(),1e-6);
+
+ gpstk::TwoSampleStats<double> slopeTest2;
+ slopeTest2.Add(0.,0.);
+ slopeTest2.Add(10.,5.);
+ slopeTest2.Add(20.,10.);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(.5,slopeTest2.Slope(),1e-6);
+}
+
+/*
+****Test to assess the quality of the Intercept member of the TwoSampleStats
+****class which is designed to return the intercept with the Y axis of the best
+****fit line Y=slope*X + intercept
+*/
+void xStats :: interceptTest (void)
+{
+ gpstk::TwoSampleStats<double> interceptTest;
+ CPPUNIT_ASSERT_NO_THROW(interceptTest.Intercept());
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0.,interceptTest.Intercept(),1e-6);
+ interceptTest.Add(0.,0.);
+ interceptTest.Add(10.,10.);
+ interceptTest.Add(20.,20.);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0.,interceptTest.Intercept(),1e-6);
+
+ gpstk::TwoSampleStats<double> interceptTest2;
+ interceptTest2.Add(10.,10.);
+ interceptTest2.Add(20.,15.);
+ interceptTest2.Add(30.,20.);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(5.,interceptTest2.Intercept(),1e-6);
+}
+
+/*
+****Test to assess the quality of the SigmaSlop member of the TwoSampleStats
+****class which is designed to return the slope of the best fit line
+****Y=slope*X + intercept
+
+****This test has not been checked throughly by hand, as I do not have the correct
+****tools at the moment.
+*/
+void xStats :: sigmaSlopeTest (void)
+{
+ gpstk::TwoSampleStats<double> sigmaSlopeTest;
+ CPPUNIT_ASSERT_NO_THROW(sigmaSlopeTest.SigmaSlope());
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0.,sigmaSlopeTest.SigmaSlope(),1e-6);
+ sigmaSlopeTest.Add(0.,0.);
+ sigmaSlopeTest.Add(10.,10.);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0.,sigmaSlopeTest.SigmaSlope(),1e-6);
+ sigmaSlopeTest.Add(20.,21.);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(.0288675,sigmaSlopeTest.SigmaSlope(),1e-6);
+
+}
+
+/*
+****Test to assess the quality of the Correlation member of the TwoSampleStats
+****class which is designed to return the correlation between X and Y
+*/
+void xStats :: correlationTest (void)
+{
+ gpstk::TwoSampleStats<double> correlationTest;
+ CPPUNIT_ASSERT_NO_THROW(correlationTest.Correlation());
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0.,correlationTest.Correlation(),1e-6);
+ correlationTest.Add(0.,0.);
+ correlationTest.Add(10.,10.);
+ correlationTest.Add(20.,20.);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(1.,correlationTest.Correlation(),1e-6);
+}
+
+/*
+****Test to assess the quality of the SigmaYX member of the TwoSampleStats
+****class which is designed to return the conditional uncertainty of y given x
+*/
+void xStats :: sigmayxTest (void)
+{
+ gpstk::TwoSampleStats<double> sigmayxTest;
+ CPPUNIT_ASSERT_NO_THROW(sigmayxTest.SigmaYX());
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0.,sigmayxTest.SigmaYX(),1e-6);
+ sigmayxTest.Add(0.,0.);
+ sigmayxTest.Add(10.,10.);
+ sigmayxTest.Add(20.,20.);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(0.,sigmayxTest.SigmaYX(),1e-6);
+}
+
+/*
+****Test to assess the quality of the += operator of the TwoSampleStats
+****class which is designed to overload the += operator to add on data to
+****TwoSampleStats instantiantions
+*/
+void xStats :: addEquals2Test (void)
+{
+ gpstk::TwoSampleStats<double> addEquals2Test1;
+ addEquals2Test1.Add(10.,20.);
+ gpstk::Vector<double> addVectx(1,20.);
+ gpstk::Vector<double> addVecty(1,30.);
+ gpstk::TwoSampleStats<double> addEquals2Test2;
+ addEquals2Test2.Add(addVectx,addVecty);
+ CPPUNIT_ASSERT_NO_THROW(addEquals2Test1+=addEquals2Test2);
+ CPPUNIT_ASSERT_EQUAL((unsigned) 2, addEquals2Test1.N());
+ CPPUNIT_ASSERT_EQUAL(10., addEquals2Test1.MinimumX());
+ CPPUNIT_ASSERT_EQUAL(20., addEquals2Test1.MaximumX());
+ CPPUNIT_ASSERT_EQUAL(20., addEquals2Test1.MinimumY());
+ CPPUNIT_ASSERT_EQUAL(30., addEquals2Test1.MaximumY());
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(15.0, addEquals2Test1.AverageX(),1E-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(25.0, addEquals2Test1.AverageY(),1E-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(50.0, addEquals2Test1.VarianceX(),1E-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(50.0, addEquals2Test1.VarianceY(),1E-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(sqrt(50.0), addEquals2Test1.StdDevX(),1E-6);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(sqrt(50.0), addEquals2Test1.StdDevY(),1E-6);
+}
+
+/*
+**** Test to assess the quality of the median function for finding the median
+**** of a gpstk::Vector
+*/
+void xStats :: medianTest (void)
+{
+ /*
+ gpstk::Vector<double> medianTest(10,10.);
+ cout << gpstk::median(medianTest);
+ CPPUNIT_ASSERT_EQUAL(0.,gpstk::median(medianTest));
+ for (int i =0;i<11;i++)
+ {
+ medianTest(i) = i;
+ }
+ //CPPUNIT_ASSERT_EQUAL(5.,gpstk::median(medianTest));
+ medianTest[0] = 20;
+ CPPUNIT_ASSERT_EQUAL(5.5,gpstk::median(medianTest));
+ */
+
+}
diff --git a/dev/tests/Stats/xStats.hpp b/dev/tests/Stats/xStats.hpp
new file mode 100644
index 0000000..87fbab2
--- /dev/null
+++ b/dev/tests/Stats/xStats.hpp
@@ -0,0 +1,64 @@
+// file: xStats.hpp
+
+#ifndef XSTATS_HPP
+#define XSTATS_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "Stats.hpp"
+
+using namespace std;
+
+
+class xStats: public CPPUNIT_NS :: TestFixture
+{
+ //Test Fixture information, e.g. what tests will be run
+ CPPUNIT_TEST_SUITE (xStats);
+ CPPUNIT_TEST (addTest);
+ CPPUNIT_TEST (resetTest);
+ CPPUNIT_TEST (subtractTest);
+ CPPUNIT_TEST (loadTest);
+ CPPUNIT_TEST (addEqualsTest);
+
+ CPPUNIT_TEST (add2Test);
+ CPPUNIT_TEST (subtract2Test);
+ CPPUNIT_TEST (reset2Test);
+ CPPUNIT_TEST (slopeTest);
+ CPPUNIT_TEST (interceptTest);
+ CPPUNIT_TEST (sigmaSlopeTest);
+ CPPUNIT_TEST (correlationTest);
+ CPPUNIT_TEST (sigmayxTest);
+ CPPUNIT_TEST (addEquals2Test);
+
+ CPPUNIT_TEST (medianTest);
+
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void); //Sets up test enviornment
+
+
+ protected:
+ void addTest (void);
+ void resetTest (void);
+ void subtractTest (void);
+ void loadTest (void);
+ void addEqualsTest (void);
+
+ void add2Test (void);
+ void subtract2Test (void);
+ void reset2Test (void);
+ void slopeTest (void);
+ void interceptTest (void);
+ void sigmaSlopeTest (void);
+ void correlationTest (void);
+ void sigmayxTest (void);
+ void addEquals2Test (void);
+
+ void medianTest (void);
+ private:
+
+};
+
+#endif
+
diff --git a/dev/tests/Stats/xStatsM.cpp b/dev/tests/Stats/xStatsM.cpp
new file mode 100644
index 0000000..99b49bc
--- /dev/null
+++ b/dev/tests/Stats/xStatsM.cpp
@@ -0,0 +1,30 @@
+// CppUnit-Tutorial
+// file: ftest.cc
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/TimeConverters/Jamfile b/dev/tests/TimeConverters/Jamfile
new file mode 100644
index 0000000..c7c466f
--- /dev/null
+++ b/dev/tests/TimeConverters/Jamfile
@@ -0,0 +1,2 @@
+SubDir TOP TimeConverters ;
+TestMain TimeConverters/xTimeConverters.tst : TimeConverters/xTimeConvertersM.cpp TimeConverters/xTimeConverters.cpp TimeConverters/TimeConverters.cpp ;
diff --git a/dev/tests/TimeConverters/TimeConverters.cpp b/dev/tests/TimeConverters/TimeConverters.cpp
new file mode 120000
index 0000000..c89ad77
--- /dev/null
+++ b/dev/tests/TimeConverters/TimeConverters.cpp
@@ -0,0 +1 @@
+../../src/TimeConverters.cpp
\ No newline at end of file
diff --git a/dev/tests/TimeConverters/TimeConverters.hpp b/dev/tests/TimeConverters/TimeConverters.hpp
new file mode 120000
index 0000000..059a601
--- /dev/null
+++ b/dev/tests/TimeConverters/TimeConverters.hpp
@@ -0,0 +1 @@
+../../src/TimeConverters.hpp
\ No newline at end of file
diff --git a/dev/tests/TimeConverters/xTimeConverters.cpp b/dev/tests/TimeConverters/xTimeConverters.cpp
new file mode 100644
index 0000000..1573d04
--- /dev/null
+++ b/dev/tests/TimeConverters/xTimeConverters.cpp
@@ -0,0 +1,89 @@
+#include "xTimeConverters.hpp"
+#include <iostream>
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xTimeConverters);
+
+using namespace gpstk;
+
+void xTimeConverters :: setUp (void)
+{
+}
+
+//I am testing these conversions against the U.S. Naval Observatory's Julian Date
+//Converter found at http://aa.usno.navy.mil/data/docs/JulianDate.html
+
+void xTimeConverters :: convertTest (void)
+{
+ int year;
+ int month;
+ int day;
+
+ gpstk::convertJDtoCalendar(2453971,year,month,day);
+ CPPUNIT_ASSERT_EQUAL(2006,year);
+ CPPUNIT_ASSERT_EQUAL(8,month);
+ CPPUNIT_ASSERT_EQUAL(23,day);
+ gpstk::convertJDtoCalendar(2299159,year,month,day);
+ CPPUNIT_ASSERT_EQUAL(1582,year);
+ CPPUNIT_ASSERT_EQUAL(10,month);
+ CPPUNIT_ASSERT_EQUAL(3,day);
+ gpstk::convertJDtoCalendar(2342032,year,month,day);
+ CPPUNIT_ASSERT_EQUAL(1700,year);
+ CPPUNIT_ASSERT_EQUAL(3,month);
+ CPPUNIT_ASSERT_EQUAL(1,day);
+ gpstk::convertJDtoCalendar(2377095,year,month,day);
+ CPPUNIT_ASSERT_EQUAL(1796,year);
+ CPPUNIT_ASSERT_EQUAL(2,month);
+ CPPUNIT_ASSERT_EQUAL(29,day);
+ gpstk::convertJDtoCalendar(1721118,year,month,day);
+ CPPUNIT_ASSERT_EQUAL(-1,year);
+ CPPUNIT_ASSERT_EQUAL(3,month);
+ CPPUNIT_ASSERT_EQUAL(1,day);
+
+ long JD;
+ year = 2006;
+ month = 8;
+ day = 23;
+ JD = gpstk::convertCalendarToJD(year,month,day);
+ CPPUNIT_ASSERT_EQUAL((long int)2453971,JD);
+ year = 1582;
+ month = 10;
+ day = 3;
+ JD = gpstk::convertCalendarToJD(year,month,day);
+
+ CPPUNIT_ASSERT_EQUAL((long int)2299159,JD);
+ year = 1700;
+ month = 3;
+ day = 1;
+ JD = gpstk::convertCalendarToJD(year,month,day);
+
+ CPPUNIT_ASSERT_EQUAL((long int)2342032,JD);
+ year = 0;
+ month = 3;
+ day = 1;
+ JD = gpstk::convertCalendarToJD(year,month,day);
+
+ CPPUNIT_ASSERT_EQUAL((long int)1721118,JD);
+ year = -5;
+ month = 3;
+ day = 1;
+ JD = gpstk::convertCalendarToJD(year,month,day);
+ CPPUNIT_ASSERT_EQUAL((long int)1719657,JD);
+
+ int hour;
+ int minute;
+ double second;
+ gpstk::convertSODtoTime(-.01,hour,minute,second);
+ CPPUNIT_ASSERT_EQUAL(23,hour);
+ CPPUNIT_ASSERT_EQUAL(59,minute);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(59.99,second,1e-6);
+ gpstk::convertSODtoTime(24*60*60+1.11,hour,minute,second);
+ CPPUNIT_ASSERT_EQUAL(0,hour);
+ CPPUNIT_ASSERT_EQUAL(0,minute);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(1.11,second,1e-6);
+
+ hour = 1;
+ minute = 10;
+ second = 30.5;
+ double SOD = gpstk::convertTimeToSOD(hour,minute,second);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(60*60+600+30.5,SOD,1e-6);
+}
diff --git a/dev/tests/TimeConverters/xTimeConverters.hpp b/dev/tests/TimeConverters/xTimeConverters.hpp
new file mode 100644
index 0000000..f31d07a
--- /dev/null
+++ b/dev/tests/TimeConverters/xTimeConverters.hpp
@@ -0,0 +1,26 @@
+#ifndef XTIMECONVERTERS_HPP
+#define XTIMECONVERTERS_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "TimeConverters.hpp"
+
+using namespace std;
+
+class xTimeConverters: public CPPUNIT_NS :: TestFixture
+{
+ CPPUNIT_TEST_SUITE (xTimeConverters);
+ CPPUNIT_TEST (convertTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void);
+
+ protected:
+ void convertTest (void);
+
+ private:
+
+};
+
+#endif
diff --git a/dev/tests/TimeConverters/xTimeConvertersM.cpp b/dev/tests/TimeConverters/xTimeConvertersM.cpp
new file mode 100644
index 0000000..99b49bc
--- /dev/null
+++ b/dev/tests/TimeConverters/xTimeConvertersM.cpp
@@ -0,0 +1,30 @@
+// CppUnit-Tutorial
+// file: ftest.cc
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/TotalTest.pl b/dev/tests/TotalTest.pl
new file mode 100755
index 0000000..cdf3708
--- /dev/null
+++ b/dev/tests/TotalTest.pl
@@ -0,0 +1,72 @@
+#!/usr/bin/perl
+#This script is the fully automated tool to test all of the tests within the test suite.
+
+use strict;
+use warnings;
+
+
+my $dirn = $ENV{PATH_TO_CURRENT};
+
+print "\n\n\n\n\n\n\nPLEASE WAIT THIS MAY TAKE SOME TIME\n\n\n\n\n\n\n\n";
+
+system("rm $dirn/TestResults.log"); #Results of the tests
+system("rm $dirn/CovResults.log"); #Gcov results
+open (DATA,">>CovResults.log"); #Open file to which the output will go
+chdir "$dirn";
+system("jam clean");
+print ("Jamming!\n\n");
+
+system("jam");
+dirz("$dirn","Nothing"); #Start Subroutine
+chdir "$dirn";
+system("rm GcovStuff");
+close(DATA); #Close the output file
+
+
+sub dirz {
+ my($dir, $oldFname) = @_;
+ chdir $dir;
+ opendir D, $dir or die "Unable to open $dir: $!"; #Open the directory or throw exception
+
+ foreach my $fname (readdir D) { #Loop over available files/directories
+ next if "$fname" =~ /^\./; #As long as the file is not a . or .. file
+ next if "$dir/$fname" =~ /Checks/;
+ next if "$dir/$fname" =~ /Logs/;
+ next if "$dir/$fname" =~ /Examples/;
+ dirz("$dir/$fname",$fname) if -d "$dir/$fname"; #Recursion to find the files in sub directories
+ opendir D, "$dir/$fname" if -d "$dir/$fname"; #Reopen the old directory from before recursion
+ if ($fname =~ /x(.*)\.tst$/) {
+ print "Executing $fname\n\n";
+ system "echo $fname >>$dirn/TestResults.log 2>&1" ;
+ system "echo >>$dirn/TestResults.log 2>&1";
+ system("./$fname >>$dirn/TestResults.log 2>&1");
+ system "echo >>$dirn/TestResults.log 2>&1";
+ gcov($dir , $oldFname);
+ }
+
+ }
+ closedir D; #Close the directory
+}
+
+#Subroutine to gather gcov results.
+sub gcov {
+ my($dirn2, $filename) = @_;
+ opendir D, $dirn2;
+ foreach my $fname (readdir D) {
+ next if "$fname" =~ /^\./;
+ next unless $fname =~ /^(x?.*$filename.*)\.gcda$/;
+ system("gcov $1.gcda >$dirn/GcovStuff");
+ print ("gcov $1.gcda >$dirn/GcovStuff\n\n");
+ open FILE, "<$dirn/GcovStuff";
+ while(defined(my $linez = <FILE>)) {
+ if ($linez =~ /$filename\/[^x].*\.[ch]pp\b/) {
+ print DATA "$filename\n";
+ print DATA "\t$linez";
+ $linez = <FILE>;
+ print DATA "\t$linez";
+ $linez = <FILE>;
+ print DATA "\t$linez";
+ }
+ }
+ }
+}
diff --git a/dev/tests/UnixTime/Jamfile b/dev/tests/UnixTime/Jamfile
new file mode 100644
index 0000000..1fa4c7d
--- /dev/null
+++ b/dev/tests/UnixTime/Jamfile
@@ -0,0 +1,2 @@
+SubDir TOP UnixTime ;
+TestMain UnixTime/xUnixTime.tst : UnixTime/xUnixTimeM.cpp UnixTime/xUnixTime.cpp UnixTime/UnixTime.cpp ;
diff --git a/dev/tests/UnixTime/Logs/printfOutput b/dev/tests/UnixTime/Logs/printfOutput
new file mode 100644
index 0000000..c32d967
--- /dev/null
+++ b/dev/tests/UnixTime/Logs/printfOutput
@@ -0,0 +1,2 @@
+1350000 0
+0 0
diff --git a/dev/tests/UnixTime/UnixTime.cpp b/dev/tests/UnixTime/UnixTime.cpp
new file mode 120000
index 0000000..bd07a3d
--- /dev/null
+++ b/dev/tests/UnixTime/UnixTime.cpp
@@ -0,0 +1 @@
+../../src/UnixTime.cpp
\ No newline at end of file
diff --git a/dev/tests/UnixTime/UnixTime.hpp b/dev/tests/UnixTime/UnixTime.hpp
new file mode 120000
index 0000000..a1287ee
--- /dev/null
+++ b/dev/tests/UnixTime/UnixTime.hpp
@@ -0,0 +1 @@
+../../src/UnixTime.hpp
\ No newline at end of file
diff --git a/dev/tests/UnixTime/xUnixTime.cpp b/dev/tests/UnixTime/xUnixTime.cpp
new file mode 100644
index 0000000..a96c84e
--- /dev/null
+++ b/dev/tests/UnixTime/xUnixTime.cpp
@@ -0,0 +1,64 @@
+#include "xUnixTime.hpp"
+#include <iostream>
+#include <fstream>
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xUnixTime);
+
+using namespace gpstk;
+
+void xUnixTime :: setUp (void)
+{
+}
+
+void xUnixTime :: setFromInfoTest (void)
+{
+ gpstk::UnixTime setFromInfo1;
+ gpstk::UnixTime setFromInfo2;
+
+ gpstk::TimeTag::IdToValue Id;
+ Id.insert(make_pair('U',"1350000"));
+ Id.insert(make_pair('u',"0"));
+ CPPUNIT_ASSERT(setFromInfo1.setFromInfo(Id));
+ Id.erase('U');
+ CPPUNIT_ASSERT(setFromInfo2.setFromInfo(Id));
+ ofstream out("Logs/printfOutput");
+
+ out << setFromInfo1 << endl;
+ out << setFromInfo2 << endl;
+}
+
+void xUnixTime :: operatorTest (void)
+{
+
+ gpstk::UnixTime Compare(1350000, 100);
+ gpstk::UnixTime LessThanSec(1340000, 100);
+ gpstk::UnixTime LessThanMicroSec(1350000,0);
+
+ gpstk::UnixTime CompareCopy(Compare);
+
+ gpstk::UnixTime CompareCopy2;
+ CompareCopy2 = CompareCopy;
+ //Equality Assertion
+ CPPUNIT_ASSERT_EQUAL(Compare,CompareCopy);
+ //Non-equality Assertion
+ CPPUNIT_ASSERT(Compare != LessThanSec);
+ //Less than assertions
+ CPPUNIT_ASSERT(LessThanSec < Compare);
+ CPPUNIT_ASSERT(LessThanMicroSec < Compare);
+ CPPUNIT_ASSERT(!(Compare < LessThanSec));
+ //Greater than assertions
+ CPPUNIT_ASSERT(Compare > LessThanSec);
+ //Less than equals assertion
+ CPPUNIT_ASSERT(LessThanSec <= Compare);
+ CPPUNIT_ASSERT(CompareCopy <= Compare);
+ //Greater than equals assertion
+ CPPUNIT_ASSERT(Compare >= LessThanSec);
+ CPPUNIT_ASSERT(Compare >= CompareCopy);
+
+ gpstk::CommonTime Rollover(1,1,.9999999999999);
+ gpstk::UnixTime Temp;
+ Temp.convertFromCommonTime(Rollover);
+
+ CPPUNIT_ASSERT(Compare.isValid());
+}
+
diff --git a/dev/tests/UnixTime/xUnixTime.hpp b/dev/tests/UnixTime/xUnixTime.hpp
new file mode 100644
index 0000000..6e47780
--- /dev/null
+++ b/dev/tests/UnixTime/xUnixTime.hpp
@@ -0,0 +1,28 @@
+#ifndef XUNIXTIME_HPP
+#define XUNIXTIME_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "UnixTime.hpp"
+
+using namespace std;
+
+class xUnixTime: public CPPUNIT_NS :: TestFixture
+{
+ CPPUNIT_TEST_SUITE (xUnixTime);
+ CPPUNIT_TEST (setFromInfoTest);
+ CPPUNIT_TEST (operatorTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void);
+
+ protected:
+ void operatorTest (void);
+ void setFromInfoTest (void);
+
+ private:
+
+};
+
+#endif
diff --git a/dev/tests/UnixTime/xUnixTimeM.cpp b/dev/tests/UnixTime/xUnixTimeM.cpp
new file mode 100644
index 0000000..99b49bc
--- /dev/null
+++ b/dev/tests/UnixTime/xUnixTimeM.cpp
@@ -0,0 +1,30 @@
+// CppUnit-Tutorial
+// file: ftest.cc
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/YDSTime/Jamfile b/dev/tests/YDSTime/Jamfile
new file mode 100644
index 0000000..09f368e
--- /dev/null
+++ b/dev/tests/YDSTime/Jamfile
@@ -0,0 +1,2 @@
+SubDir TOP YDSTime ;
+TestMain YDSTime/xYDSTime.tst : YDSTime/xYDSTimeM.cpp YDSTime/xYDSTime.cpp YDSTime/YDSTime.cpp ;
diff --git a/dev/tests/YDSTime/Logs/printfOutput b/dev/tests/YDSTime/Logs/printfOutput
new file mode 100644
index 0000000..433f850
--- /dev/null
+++ b/dev/tests/YDSTime/Logs/printfOutput
@@ -0,0 +1,4 @@
+2006/001 0.000000
+2006/001 0.000000
+1106/001 0.000000
+2006/001 0.000000
diff --git a/dev/tests/YDSTime/YDSTime.cpp b/dev/tests/YDSTime/YDSTime.cpp
new file mode 120000
index 0000000..e0d627b
--- /dev/null
+++ b/dev/tests/YDSTime/YDSTime.cpp
@@ -0,0 +1 @@
+../../src/YDSTime.cpp
\ No newline at end of file
diff --git a/dev/tests/YDSTime/YDSTime.hpp b/dev/tests/YDSTime/YDSTime.hpp
new file mode 120000
index 0000000..124cba0
--- /dev/null
+++ b/dev/tests/YDSTime/YDSTime.hpp
@@ -0,0 +1 @@
+../../src/YDSTime.hpp
\ No newline at end of file
diff --git a/dev/tests/YDSTime/xYDSTime.cpp b/dev/tests/YDSTime/xYDSTime.cpp
new file mode 100644
index 0000000..fdda2e4
--- /dev/null
+++ b/dev/tests/YDSTime/xYDSTime.cpp
@@ -0,0 +1,82 @@
+#include "xYDSTime.hpp"
+#include <iostream>
+#include <fstream>
+
+CPPUNIT_TEST_SUITE_REGISTRATION (xYDSTime);
+
+using namespace gpstk;
+
+void xYDSTime :: setUp (void)
+{
+}
+
+void xYDSTime :: setFromInfoTest (void)
+{
+ gpstk::YDSTime setFromInfo1;
+ gpstk::YDSTime setFromInfo2;
+ gpstk::YDSTime setFromInfo3;
+ gpstk::YDSTime setFromInfo4;
+ gpstk::YDSTime setFromInfo5;
+
+ gpstk::TimeTag::IdToValue Id;
+ Id.insert(make_pair('Y',"2006"));
+ Id.insert(make_pair('j',"1"));
+ Id.insert(make_pair('s',"0"));
+ CPPUNIT_ASSERT(setFromInfo1.setFromInfo(Id));
+ Id.erase('Y');
+ Id.insert(make_pair('y',"06"));
+ CPPUNIT_ASSERT(setFromInfo2.setFromInfo(Id));
+ Id.erase('y');
+ Id.insert(make_pair('y',"006"));
+ CPPUNIT_ASSERT(setFromInfo3.setFromInfo(Id));
+ Id.erase('y');
+ Id.insert(make_pair('y',"2006"));
+ CPPUNIT_ASSERT(setFromInfo4.setFromInfo(Id));
+ Id.erase('y');
+ CPPUNIT_ASSERT(setFromInfo5.setFromInfo(Id));
+ ofstream out("Logs/printfOutput");
+
+ out << setFromInfo1 << endl;
+ out << setFromInfo2 << endl;
+ out << setFromInfo3 << endl;
+ out << setFromInfo4 << endl;
+}
+
+void xYDSTime :: operatorTest (void)
+{
+
+ gpstk::YDSTime Compare(2006,2,1);
+ gpstk::YDSTime LessThanYear(2005,2,1);
+ gpstk::YDSTime LessThanDOY(2006,1,1);
+ gpstk::YDSTime LessThanSOD(2006,2,0);
+
+ gpstk::YDSTime CompareCopy(Compare);
+
+ gpstk::YDSTime CompareCopy2;
+ //Assignment
+ CompareCopy2 = CompareCopy;
+ //Equality Assertion
+ CPPUNIT_ASSERT_EQUAL(Compare,CompareCopy);
+ //Non-equality Assertion
+ CPPUNIT_ASSERT(Compare != LessThanYear);
+ //Less than assertions
+ CPPUNIT_ASSERT(LessThanYear < Compare);
+ CPPUNIT_ASSERT(!(Compare < LessThanYear));
+ CPPUNIT_ASSERT(LessThanDOY < Compare);
+ CPPUNIT_ASSERT(!(Compare < LessThanDOY));
+ CPPUNIT_ASSERT(LessThanSOD < Compare);
+ CPPUNIT_ASSERT(!(Compare < LessThanSOD));
+ //Greater than assertions
+ CPPUNIT_ASSERT(Compare > LessThanYear);
+ CPPUNIT_ASSERT(Compare > LessThanDOY);
+ CPPUNIT_ASSERT(Compare > LessThanSOD);
+ //Less than equals assertion
+ CPPUNIT_ASSERT(LessThanYear <= Compare);
+ CPPUNIT_ASSERT(CompareCopy <= Compare);
+ //Greater than equals assertion
+ CPPUNIT_ASSERT(Compare >= LessThanYear);
+ CPPUNIT_ASSERT(Compare >= CompareCopy);
+
+ CPPUNIT_ASSERT(Compare.isValid());
+}
+
diff --git a/dev/tests/YDSTime/xYDSTime.hpp b/dev/tests/YDSTime/xYDSTime.hpp
new file mode 100644
index 0000000..d057e05
--- /dev/null
+++ b/dev/tests/YDSTime/xYDSTime.hpp
@@ -0,0 +1,28 @@
+#ifndef XYDSTIME_HPP
+#define XYDSTIME_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+#include "YDSTime.hpp"
+
+using namespace std;
+
+class xYDSTime: public CPPUNIT_NS :: TestFixture
+{
+ CPPUNIT_TEST_SUITE (xYDSTime);
+ CPPUNIT_TEST (setFromInfoTest);
+ CPPUNIT_TEST (operatorTest);
+ CPPUNIT_TEST_SUITE_END ();
+
+ public:
+ void setUp (void);
+
+ protected:
+ void operatorTest (void);
+ void setFromInfoTest (void);
+
+ private:
+
+};
+
+#endif
diff --git a/dev/tests/YDSTime/xYDSTimeM.cpp b/dev/tests/YDSTime/xYDSTimeM.cpp
new file mode 100644
index 0000000..99b49bc
--- /dev/null
+++ b/dev/tests/YDSTime/xYDSTimeM.cpp
@@ -0,0 +1,30 @@
+// CppUnit-Tutorial
+// file: ftest.cc
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+int main (int argc, char* argv[])
+{
+
+ // informs test-listener about testresults
+ CPPUNIT_NS :: TestResult testresult;
+
+ // register listener for collecting the test-results
+ CPPUNIT_NS :: TestResultCollector collectedresults;
+ testresult.addListener (&collectedresults);
+
+ // insert test-suite at test-runner by registry
+ CPPUNIT_NS :: TestRunner testrunner;
+ testrunner.addTest (CPPUNIT_NS :: TestFactoryRegistry :: getRegistry ().makeTest ());
+ testrunner.run (testresult);
+
+ // output results in compiler-format
+ CPPUNIT_NS :: CompilerOutputter compileroutputter (&collectedresults, std::cerr);
+ compileroutputter.write ();
+
+ // return 0 if tests were successful
+ return collectedresults.wasSuccessful () ? 0 : 1;
+}
diff --git a/dev/tests/Yuma/Jamfile b/dev/tests/Yuma/Jamfile
new file mode 100644
index 0000000..b27493b
--- /dev/null
+++ b/dev/tests/Yuma/Jamfile
@@ -0,0 +1,2 @@
+SubDir TOP Yuma ;
+TestMain Yuma/xYuma.tst : Yuma/xYuma.cpp Yuma/YumaBase.cpp Yuma/YumaData.cpp Yuma/YumaStream.cpp Yuma/StringUtils.cpp ;
\ No newline at end of file
diff --git a/trunk/src/Makefile.am b/dev/tests/Yuma/StringUtils.cpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/Yuma/StringUtils.cpp
diff --git a/dev/tests/Yuma/StringUtils.hpp b/dev/tests/Yuma/StringUtils.hpp
new file mode 100644
index 0000000..e372824
--- /dev/null
+++ b/dev/tests/Yuma/StringUtils.hpp
@@ -0,0 +1,2603 @@
+#pragma ident "$Id$"
+
+
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+/**
+ * @file StringUtils.hpp
+ * StringUtils namespace and GPSTK string utility functions
+ */
+
+#ifndef GPSTK_STRINGUTILS_HPP
+#define GPSTK_STRINGUTILS_HPP
+
+//lgpl-license START
+//lgpl-license END
+
+//dod-release-statement START
+//dod-release-statement END
+
+#include <string>
+#include <sstream>
+#include <iomanip>
+#include <iostream>
+#include <list>
+
+/// @todo Get rid of the stdio.h dependency if possible.
+#include <cstdio>
+
+#include <regex.h>
+#include <cctype>
+
+#include <limits>
+
+#include "Exception.hpp"
+
+namespace gpstk
+{
+ /**
+ * Stuff to make the C++ string class a little easier to use. All the
+ * functionality here is inlined since they are farily small
+ * functions.
+ *
+ * All functions here will throw gpstk::StringUtils::StringException
+ * on an error. Any std::exception is converted to a
+ * gpstk::StringUtils::StringException so
+ * that's the only exception a user of this class needs to catch.
+ *
+ * For any function that modifies a string, make sure there is a
+ * non-const (std::string&) version and a const (const std::string&)
+ * version. The convention for writing the functions is the non-const
+ * version fully implements the function and the const version calls
+ * the non-const version.
+ *
+ * @sa stringutiltest.cpp for some examples.
+ */
+ namespace StringUtils
+ {
+ /** @defgroup stringutilsgroup Text String Manipulation Tools */
+ //@{
+
+ /// This is thrown instread of a std::exception when a
+ /// gpstk::StringUtils function fails.
+ /// @ingroup exceptiongroup
+ NEW_EXCEPTION_CLASS(StringException, Exception);
+
+ /// Class for configuring the appearance of hexDumpData() output
+ class HexDumpDataConfig
+ {
+ public:
+ HexDumpDataConfig()
+ : showIndex(true), hexIndex(true), upperHex(false),
+ idxDigits(4), indexWS(1), groupBy(1), groupWS(1),
+ group2By(8), group2WS(2), bytesPerLine(16), showText(true),
+ separator(0), textWS(4)
+ {}
+ HexDumpDataConfig(bool ashowIndex, bool ahexIndex, bool aupperHex,
+ unsigned aidxDigits, unsigned aindexWS,
+ unsigned agroupBy, unsigned agroupWS,
+ unsigned agroup2By, unsigned agroup2WS,
+ unsigned abytesPerLine, bool ashowText,
+ char aseparator, unsigned atextWS)
+ : showIndex(ashowIndex), hexIndex(ahexIndex),
+ upperHex(aupperHex), idxDigits(aidxDigits),
+ indexWS(aindexWS), groupBy(agroupBy), groupWS(agroupWS),
+ group2By(agroup2By), group2WS(agroup2WS),
+ bytesPerLine(abytesPerLine), showText(ashowText),
+ separator(aseparator), textWS(atextWS)
+ {}
+ bool showIndex; ///< display index into string on each line.
+ bool hexIndex; ///< if true, use hex index numbers (else decimal).
+ bool upperHex; ///< if true, use upper-case hex digits.
+ unsigned idxDigits; ///< number of positions to use for index.
+ unsigned indexWS; ///< number of whitespace charaters between index and data.
+ unsigned groupBy; ///< number of bytes of data to show between spaces.
+ unsigned groupWS; ///< number of whitespace charaters between groups of hex data.
+ unsigned group2By; ///< number of groups to show per 2nd layer group (0=none, must be multiple of groupBy).
+ unsigned group2WS; ///< number of whitespace charaters between 2nd layer groups.
+ unsigned bytesPerLine; ///< number of bytes to display on a line of output (must be evenly divisible by both groupBy and group2By).
+ bool showText; ///< if true, show text of message (unprintable characters become '.'.
+ char separator; ///< character to offset text with (0 = none).
+ unsigned textWS; ///< number of whitespace characters between hex and text.
+ };
+
+ /**
+ * Perform a formatted hex-dump of the (potentially) binary
+ * data to the given stream.
+ * @param s stream to dump data to.
+ * @param data data to hex-dump.
+ * @param indent indents the string by that many spaces.
+ * @param cfg formatting configuration.
+ */
+ inline void hexDumpData(std::ostream& s, const std::string& data,
+ unsigned indent = 0,
+ HexDumpDataConfig cfg = HexDumpDataConfig());
+
+ /**
+ * Perform a formatted hex-dump of the (potentially) binary
+ * data to the given stream.
+ * @param s stream to dump data to.
+ * @param data data to hex-dump.
+ * @param tag string to put at the beginning of each line of output.
+ * @param cfg formatting configuration.
+ */
+ inline void hexDumpData(std::ostream& s, const std::string& data,
+ const std::string& tag,
+ HexDumpDataConfig cfg = HexDumpDataConfig());
+
+ /**
+ * Remove a string from the beginning of another string.
+ * Occurrences of the string \a aString appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline
+ std::string& stripLeading(std::string& s,
+ const std::string& aString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException);
+
+ /**
+ * Remove a string from the beginning of another string const version.
+ * Occurrences of the string \a aString appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripLeading(const std::string& s,
+ const std::string& aString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripLeading(t, aString, num); return t; }
+
+ /**
+ * Remove a string from the beginning of another string.
+ * Occurrences of the string \a pString appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param pString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& stripLeading(std::string& s,
+ const char* pString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return stripLeading(s, std::string(pString), num); }
+
+ /**
+ * Remove a string from the beginning of another string const version.
+ * Occurrences of the string \a pString appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param pString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripLeading(const std::string& s,
+ const char* pString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripLeading(t, std::string(pString), num); return t; }
+
+ /**
+ * Strip character(s) from the beginning of a string.
+ * Occurrences of the character \a aCharacter appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aCharacter character to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& stripLeading(std::string& s,
+ const char aCharacter,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return stripLeading(s, std::string(1,aCharacter), num); }
+
+ /**
+ * Strip character(s) from the beginning of a string const version.
+ * Occurrences of the character \a aCharacter appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aCharacter character to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripLeading(const std::string& s,
+ const char aCharacter,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripLeading(t, std::string(1,aCharacter), num); return t; }
+
+ /**
+ * Strip blanks from the beginning of a string.
+ * Occurrences of the space character appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& stripLeading(std::string& s,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return stripLeading(s,std::string(1,' '),num); }
+
+ /**
+ * Strip blanks from the beginning of a string const version.
+ * Occurrences of the space character appearing
+ * at the beginning of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripLeading(const std::string& s,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripLeading(t,std::string(1,' '),num); return t; }
+
+ /**
+ * Remove a string from the end of another string.
+ * Occurrences of the string \a aString appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& stripTrailing(std::string& s,
+ const std::string& aString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException);
+
+ /**
+ * Remove a string from the end of another string const version.
+ * Occurrences of the string \a aString appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripTrailing(const std::string& s,
+ const std::string& aString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripTrailing(t, aString, num); return t;}
+
+ /**
+ * Remove a string from the end of another string.
+ * Occurrences of the string \a pString appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param pString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& stripTrailing(std::string& s,
+ const char* pString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return stripTrailing(s, std::string(pString), num); }
+
+ /**
+ * Remove a string from the end of another string const version.
+ * Occurrences of the string \a pString appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param pString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripTrailing(const std::string& s,
+ const char* pString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripTrailing(t, std::string(pString), num); return t; }
+
+ /**
+ * Strip character(s) from the end of a string.
+ * Occurrences of the character \a aCharacter appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aCharacter character to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& stripTrailing(std::string& s,
+ const char aCharacter,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return stripTrailing(s, std::string(1,aCharacter), num); }
+
+ /**
+ * Strip character(s) from the end of a string const version.
+ * Occurrences of the character \a aCharacter appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aCharacter character to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripTrailing(const std::string& s,
+ const char aCharacter,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripTrailing(t, std::string(1,aCharacter), num); return t; }
+
+ /**
+ * Strip blanks from the end of a string.
+ * Occurrences of the space character appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& stripTrailing(std::string& s,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return stripTrailing(s, std::string(1,' '), num); }
+
+ /**
+ * Strip blanks from the end of a string const version.
+ * Occurrences of the space character appearing
+ * at the end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string stripTrailing(const std::string& s,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); stripTrailing(t, std::string(1,' '), num); return t;}
+
+ /**
+ * Remove a string from the beginning and end of another string.
+ * Occurrences of the string \a aString appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& strip(std::string& s,
+ const std::string& aString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException);
+
+
+ /**
+ * Remove a string from the beginning and end of another string const version.
+ * Occurrences of the string \a aString appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string strip(const std::string& s,
+ const std::string& aString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); strip(t, aString, num); return t; }
+
+
+ /**
+ * Remove a string from the beginning and end of another string.
+ * Occurrences of the string \a pString appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param pString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& strip(std::string& s,
+ const char* pString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return strip(s, std::string(pString), num); }
+
+ /**
+ * Remove a string from the beginning and end of another string cosnt version.
+ * Occurrences of the string \a pString appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param pString string to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string strip(const std::string& s,
+ const char* pString,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); strip(t, std::string(pString), num); return t; }
+
+ /**
+ * Strip character(s) from the beginning and end of a string.
+ * Occurrences of the character \a aCharacter appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aCharacter character to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& strip(std::string& s,
+ const char aCharacter,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return strip(s, std::string(1,aCharacter), num); }
+
+ /**
+ * Strip character(s) from the beginning and end of a string const version.
+ * Occurrences of the character \a aCharacter appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param aCharacter character to remove.
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string strip(const std::string& s,
+ const char aCharacter,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); strip(t, std::string(1,aCharacter), num); return t;}
+
+ /**
+ * Strip blanks from the beginning and end of a string.
+ * Occurrences of the space character appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& strip(std::string& s,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { return strip(s, std::string(1, ' '), num); }
+
+ /**
+ * Strip blanks from the beginning and end of a string const version.
+ * Occurrences of the space character appearing
+ * at the beginning and end of the string \a s are removed.
+ * @param s string to be stripped (modified).
+ * @param num maximum number of occurrences to remove.
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string strip(const std::string& s,
+ std::string::size_type num = std::string::npos)
+ throw(StringException)
+ { std::string t(s); strip(t, std::string(1, ' '), num); return t;}
+
+ /**
+ * Converts all of the receiver's characters that are in the
+ * first specified string to the corresponding character in
+ * the second specified string.
+ * @param aString string to perform translation on.
+ * @param inputChars characters in \a aString to translate from.
+ * @param outputChars characters to translate to.
+ * @param pad pad character in the event inputChars and
+ * outputChars are not equal length. The pad character will
+ * become the translated character.
+ */
+ inline std::string translate(const std::string& aString,
+ const std::string& inputChars,
+ const std::string& outputChars,
+ const char pad = ' ');
+
+ /**
+ * Changes occurrences of a specified pattern to a specified
+ * replacement string. You can specify the number of changes
+ * to perform. The default is to change all occurrences of
+ * the pattern. You can also specify the position in the
+ * receiver at which to begin.
+ * @param aString string to perform translation on.
+ * @param inputString The pattern string as a reference to an
+ * object of type string. The library searches for the
+ * pattern string within the receiver's data.
+ * @param outputString The replacement string as a reference
+ * to an object of type string. It replaces the occurrences
+ * of the pattern string in the receiver's data.
+ * @param startPos The position to start the search at within
+ * the receiver's data. The default is 0.
+ * @param numChanges the number of patterns to search for and
+ * change. The default is to change all occurrences of the
+ * pattern.
+ */
+ inline std::string change(const std::string& aString,
+ const std::string& inputString,
+ const std::string& outputString,
+ std::string::size_type startPos = 0,
+ unsigned numChanges = std::numeric_limits<unsigned>::max());
+
+ /**
+ * Changes occurrences of a specified pattern to a specified
+ * replacement string. You can specify the number of changes
+ * to perform. The default is to change all occurrences of
+ * the pattern. You can also specify the position in the
+ * receiver at which to begin.
+ * @param aString string to perform translation on.
+ * @param inputString The pattern string as a reference to an
+ * object of type string. The library searches for the
+ * pattern string within the receiver's data.
+ * @param outputString The replacement string as a reference
+ * to an object of type string. It replaces the occurrences
+ * of the pattern string in the receiver's data.
+ * @param startPos The position to start the search at within
+ * the receiver's data. The default is 0.
+ * @param numChanges the number of patterns to search for and
+ * change. The default is to change all occurrences of the
+ * pattern.
+ */
+ inline std::string& change(std::string& aString,
+ const std::string& inputString,
+ const std::string& outputString,
+ std::string::size_type startPos = 0,
+ unsigned numChanges = std::numeric_limits<unsigned>::max());
+
+ /**
+ * Right-justifies the receiver in a string of the specified
+ * length. If the receiver's data is shorter than the
+ * requested length (\a length), it is padded on the left with
+ * the pad character (\a pad). The default pad
+ * character is a blank.
+ * @param s string to be modified.
+ * @param length new desired length of string.
+ * @param pad character to pad string with (blank by default).
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s. */
+ inline std::string& rightJustify(std::string& s,
+ const std::string::size_type length,
+ const char pad = ' ')
+ throw(StringException);
+
+ /**
+ * Right-justifies the receiver in a string of the specified
+ * length (const version). If the receiver's data is shorter than the
+ * requested length (\a length), it is padded on the left with
+ * the pad character (\a pad). The default pad
+ * character is a blank.
+ * @param s string to be modified.
+ * @param length new desired length of string.
+ * @param pad character to pad string with (blank by default).
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s. */
+ inline std::string rightJustify(const std::string& s,
+ const std::string::size_type length,
+ const char pad = ' ')
+ throw(StringException)
+ { std::string t(s); return rightJustify(t, length, pad); }
+
+ /**
+ * Left-justifies the receiver in a string of the specified
+ * length. If the new length (\a length) is larger than the
+ * current length, the string is extended by the pad
+ * character (\a pad). The default pad character is a
+ * blank.
+ * @param s string to be modified.
+ * @param length new desired length of string.
+ * @param pad character to pad string with (blank by default).
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s. */
+ inline std::string& leftJustify(std::string& s,
+ const std::string::size_type length,
+ const char pad = ' ')
+ throw(StringException);
+
+ /**
+ * Left-justifies the receiver in a string of the specified
+ * length (const version). If the new length (\a length) is larger
+ * than the current length, the string is extended by the pad
+ * character (\a pad). The default pad character is a
+ * blank.
+ * @param s string to be modified.
+ * @param length new desired length of string.
+ * @param pad character to pad string with (blank by default).
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s. */
+ inline std::string leftJustify(const std::string& s,
+ const std::string::size_type length,
+ const char pad = ' ')
+ throw(StringException)
+ { std::string t(s); return leftJustify(t, length, pad); }
+
+ /**
+ * Change the length of a string by adding to the beginning and end.
+ * The string \a s is modified to the specified
+ * length. If the string is shorter than
+ * \a length, then the string is truncated with the
+ * left-most \a length characters remaining.
+ * Otherwise, characters are added to the beginning and end of the
+ * string until the string is the specified length, where the
+ * number of characters added to the beginning and the end
+ * does not differ by more than one so the original string
+ * is centered.
+ * @param s string to be modified.
+ * @param length new desired length of string.
+ * @param pad character to pad string with (blank by default).
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string& center(std::string& s,
+ const std::string::size_type length,
+ const char pad = ' ')
+ throw(StringException);
+
+ /**
+ * Change the length of a string by adding to the beginning and end
+ * (const version).
+ * The string \a s is modified to the specified
+ * length. If the string is shorter than
+ * \a length, then the string is truncated with the
+ * left-most \a length characters remaining.
+ * Otherwise, characters are added to the beginning and end of the
+ * string until the string is the specified length, where the
+ * number of characters added to the beginning and the end
+ * does not differ by more than one so the original string
+ * is centered.
+ * @param s string to be modified.
+ * @param length new desired length of string.
+ * @param pad character to pad string with (blank by default).
+ * @throws StringException if there's a std::exception thrown.
+ * @return a reference to \a s.
+ */
+ inline std::string center(const std::string& s,
+ const std::string::size_type length,
+ const char pad = ' ')
+ throw(StringException)
+ { std::string t(s); return center(t, length, pad); }
+
+ /**
+ * Convert a string to a double precision floating point number.
+ * @param s string containing a number.
+ * @return double representation of string.
+ */
+ inline double asDouble(const std::string& s)
+ { return strtod(s.c_str(), 0); }
+
+ /**
+ * Convert a string to an integer.
+ * @param s string containing a number.
+ * @return long integer representation of string.
+ */
+ inline long asInt(const std::string& s)
+ { return strtol(s.c_str(), 0, 10); }
+
+ /**
+ * Convert a string to an unsigned integer.
+ * @param s string containing a number.
+ * @return unsigned long integer representation of string.
+ */
+ inline unsigned long asUnsigned(const std::string& s)
+ { return strtoul(s.c_str(), 0, 10); }
+
+ /**
+ * Convert a string to a single precision floating point number.
+ * @param s string containing a number.
+ * @return single representation of string.
+ */
+ inline float asFloat(const std::string& s)
+ throw(StringException);
+
+ /**
+ * Convert a string to a big precision floating point number.
+ * @param s string containing a number.
+ * @return long double representation of string.
+ */
+ inline long double asLongDouble(const std::string& s)
+ throw(StringException);
+
+ /**
+ * Convert a value in a string to a type specified by the template
+ * class. The template class type must have stream operators
+ * defined.
+ * @param x object to turn into the templatized type.
+ * @return the template object of \a x.
+ */
+ template <class X>
+ inline X asData(const std::string& s)
+ throw(StringException);
+
+ /**
+ * Convert a long double to a string in fixed notation.
+ * @param x long double.
+ * @param precision the number of decimal places you want displayed.
+ * @return string representation of \a x.
+ */
+ inline std::string asString(const long double x,
+ const std::string::size_type precision = 21);
+
+ /**
+ * Convert a double to a string in fixed notation.
+ * @param x double.
+ * @param precision the number of decimal places you want displayed.
+ * @return string representation of \a x.
+ */
+ inline std::string asString(const double x,
+ const std::string::size_type precision = 17);
+
+ /**
+ * Convert any old object to a string.
+ * The class must have stream operators defined.
+ * @param x object to turn into a string.
+ * @return string representation of \a x.
+ */
+ template <class X>
+ inline std::string asString(const X x);
+
+ /**
+ * Convert a decimal string to a hexadecimal string.
+ * Modify the string such that the decimal integer is now
+ * represented as hexadecimal. Only the first decimal encountered is
+ * changed; the rest of the string is unmodified.
+ * @param s string containing an integer.
+ * @return reference to modified \a s.
+ */
+ inline std::string& d2x(std::string& s)
+ throw(StringException);
+
+ /**
+ * Convert a decimal string to a hexadecimal string.
+ * Given a string containing a decimal integer, convert the
+ * integer from base 10 to base 16 and return the result. No
+ * prefix is added. Only the first decimal encountered is
+ * changed; the rest of the string is unmodified.
+ * @param s string containing an integer.
+ * @return string containing a hexadecimal number.
+ */
+ inline std::string d2x(const std::string& s)
+ throw(StringException)
+ { std::string t(s); return d2x(t); }
+
+ /**
+ * Convert a hexadecimal string to a decimal string.
+ * Modify the string such that the hexadecimal number is now
+ * represented as decimal. Only the first hex number encountered
+ * is changed; the rest of the string is unmodified.
+ * @param s string containing an integer.
+ * @return reference to modified \a s.
+ */
+ inline std::string& x2d(std::string& s)
+ throw(StringException);
+
+ /**
+ * Convert a hexadecimal string to a decimal string.
+ * Given a string containing a hexadecimal number, convert the
+ * integer from base 16 to base 10 and return the result.
+ * Only the first hex number encountered
+ * is changed; the rest of the string is unmodified.
+ * @param s string containing an integer.
+ * @return string containing a hexadecimal number.
+ */
+ inline std::string x2d(const std::string& s)
+ throw(StringException)
+ { std::string t(s); return x2d(t); }
+
+ /**
+ * Convert a character string to a hexadecimal string.
+ * Modify the string such that the character string is now
+ * represented as series of hexadecimal digits.
+ * @param s string to convert.
+ * @return reference to modified \a s.
+ */
+ inline std::string& c2x(std::string& s)
+ throw(StringException);
+
+ /**
+ * Convert a character string to a hexadecimal string.
+ * @param s string containing an integer.
+ * @return string containing a sequence of hexadecimal numbers.
+ */
+ inline std::string c2x(const std::string& s)
+ throw(StringException)
+ { std::string t(s); return c2x(t); }
+
+ /**
+ * Convert a hexadecimal string to an int.
+ * Only the first hex number encountered is converted.
+ * @param s string containing a hex integer.
+ * @return a long holding the value of \a s.
+ */
+ inline unsigned int x2int(const std::string& s)
+ throw(StringException);
+
+
+ /**
+ * Convert an int to a string.
+ * @param i the integer to convert
+ * @return a string with the hex equivalent of i
+ */
+ inline std::string int2x(const unsigned int& i)
+ throw(StringException);
+
+ /**
+ * Replace all instances of \a oldString with \a newString in \a s.
+ * @param s the string whose contents will be modified.
+ * @param oldString the string to search for in \a s.
+ * @param newString the string to replace \a oldString in \a s.
+ * @return a reference to the modified string.
+ */
+ inline std::string& replaceAll(std::string& s,
+ const std::string& oldString,
+ const std::string& newString )
+ throw(StringException);
+
+ /**
+ * isDigitString is exactly like the C function isDigit
+ * except it checks all the characters of string \a s to see if
+ * they are all digits.
+ * @param s the string to check the digits in.
+ * @return true if \a s is all digits, false otherwise.
+ */
+ inline bool isDigitString(const std::string& s);
+
+ /**
+ * isDecimalString is like isDigitString() except it allows a
+ * single period ('.') character in the string.
+ * @param s the string to check.
+ * @return true if \a s is a valid fixed-point number.
+ */
+ inline bool isDecimalString(const std::string& s);
+
+ /**
+ * isAlphaString is exactly like the C function isAlpha
+ * except it checks all the characters of string \a s to see if
+ * they are all alphabet characters.
+ * @param s the string to check the characters in.
+ * @return true if \a s is all digits, false otherwise.
+ */
+ inline bool isAlphaString(const std::string& s);
+
+ /**
+ * Perform pattern matching on strings.
+ * Looks for a pattern in a string. Wildcards are allowed.
+ * Uses POSIX regular expressions.
+ * @param s string to search.
+ * @param aPattern pattern to search for. This is a POSIX
+ * regular expression.
+ * @param zeroOrMore character representing wildcards
+ * matching strings of zero or more characters (default '*').
+ * @param oneOrMore character representing plus sign
+ * matching strings of one or more characters (default '+').
+ * @param anyChar character representing wildcards matching a
+ * single arbitrary character (default '.').
+ * @return string representing the first match of \a aPattern in
+ * \a s. Returns a null string if no match is found.
+ */
+ inline std::string matches(const std::string& s,
+ const std::string& aPattern,
+ const char zeroOrMore = '*',
+ const char oneOrMore = '+',
+ const char anyChar = '.' )
+ throw(StringException);
+
+ /**
+ * Perform pattern matching on strings.
+ * Looks for a pattern in a string. Wildcards are allowed.
+ * Uses POSIX regular expressions.
+ * @param s string to search.
+ * @param aPattern pattern to search for. This is a POSIX
+ * regular expression.
+ * @param zeroOrMore character representing wildcards
+ * matching strings of zero or more characters (default '*').
+ * @param oneOrMore character representing plus sign
+ * matching strings of one or more characters (default '+').
+ * @param anyChar character representing wildcards matching a
+ * single arbitrary character (default '.').
+ * @return t if a match is found, f if not.
+ */
+ inline bool isLike(const std::string& s,
+ const std::string& aPattern,
+ const char zeroOrMore = '*',
+ const char oneOrMore = '+',
+ const char anyChar = '.' )
+ throw(StringException)
+ { return matches(s, aPattern, zeroOrMore, oneOrMore, anyChar) !=
+ std::string(); }
+
+
+ /**
+ * Perform pattern matching on strings.
+ * Looks for a pattern in a string. Wildcards are allowed.
+ * Uses POSIX regular expressions.
+ * @param s string to search.
+ * @param pPattern pattern to search for. This is a POSIX
+ * regular expression.
+ * @param zeroOrMore character representing wildcards
+ * matching strings of zero or more characters (default '*').
+ * @param oneOrMore character representing plus sign
+ * matching strings of one or more characters (default '+').
+ * @param anyChar character representing wildcards matching a
+ * single arbitrary character (default '.').
+ * @return t if a match is found, f if not.
+ */
+ inline bool isLike(const std::string& s,
+ const char* pPattern,
+ const char zeroOrMore = '*',
+ const char oneOrMore = '+',
+ const char anyChar = '.' )
+ throw(StringException)
+ { return matches(s, std::string(pPattern), zeroOrMore, oneOrMore, anyChar) !=
+ std::string(); }
+
+
+ /**
+ * Work-horse method for printf. Substitutes patterns
+ * matching \a pat with \a rep. Use only one pattern/token
+ * at a time! This used to be DayTime::iprint().
+ * @param fmt format to use for this time.
+ * @param pat regular expression pattern to match.
+ * @param rep sprintf token replacement. First character is
+ * token character used in fmt, remainder is sprintf token to
+ * use. For example, with fmt="%15S", pat="%[ 0-]?[[:digit:]]*S",
+ * and rep="Sd", the fmt will be translated to "%15d" before
+ * using it in a sprintf call like printf("%15d"), \a to.
+ * @param to the value to stuff into the string.
+ * @return \a fmt with \a pat replaced by \a to. If there is no
+ * match, \a fmt is returned unchanged.
+ */
+ template <class T>
+ std::string formattedPrint(const std::string& fmt,
+ const std::string& pat,
+ const std::string& rep,
+ T to)
+ throw(StringException);
+
+ /**
+ * Get a substring of a string.
+ * Try to avoid using this, use the stl string's substr
+ * method instead (and ::leftJustify if needed).
+ */
+ inline std::string subString(const std::string& s,
+ const std::string::size_type startPos = 0,
+ const std::string::size_type length = std::string::npos,
+ const char pad = ' ' )
+ throw(StringException);
+
+ /**
+ * Change all upper-case letters in a string to lower-case.
+ * \a s is modified as a result.
+ * @param s string to change to lower case.
+ * @return a copy of the original string, all in lower-case.
+ */
+ inline std::string& lowerCase(std::string& s);
+
+ /**
+ * Change all upper-case letters in a string to lower-case.
+ * Does not modify the original string.
+ * @param s a string containing upper-case characters.
+ * @return a copy of the original string, all in lower-case.
+ */
+ inline std::string lowerCase(const std::string& s)
+ { std::string t(s); return lowerCase(t); }
+
+ /**
+ * Change all lower-case letters in a string to upper-case.
+ * \a s is modified as a result.
+ * @param s string to change to upper case.
+ * @return a copy of the original string, all in upper-case.
+ */
+ inline std::string& upperCase(std::string& s);
+
+ /**
+ * Change all lower-case letters in a string to upper-case.
+ * Does not modify the original string.
+ * @param s a string containing lower-case characters.
+ * @return a copy of the original string, all in upper-case.
+ */
+ inline std::string upperCase(const std::string& s)
+ { std::string t(s); return upperCase(t); }
+
+ /**
+ * Make a string from a void pointer.
+ * This function should not be used. Instead, use the string
+ * constructor as follows:
+ * \code string((char*)p, size); \endcode
+ * @param p pointer to memory.
+ * @param size length of the data to turn into a string.
+ * @return string object containing the contents of \a p.
+ */
+ inline std::string memToString(const void* p,
+ const std::string::size_type size);
+
+ /**
+ * Returns the first word in string \a s without modifying the string.
+ * @param s the string to count the words from.
+ * @param delimiter the character that marks the start and
+ * end of a word.
+ * @return the first word from \a s;
+ */
+ inline std::string firstWord(const std::string& s,
+ const char delimiter = ' ')
+ throw(StringException);
+
+ /**
+ * Counts the number of words in \a s and returns it.
+ * @param s the string to count the words from.
+ * @param delimiter the character that marks the start and
+ * end of a word.
+ * @return the number of words in \a s.
+ */
+ inline int numWords(const std::string& s,
+ const char delimiter = ' ')
+ throw(StringException);
+
+ /**
+ * Returns \a numWords words starting with \a firstWord from
+ * \a s (if any).
+ * @param s a string with the word you want removed.
+ * @param firstWord the number of the first word you want from \a s.
+ * The first word is word 0.
+ * @param numWords number of words to get from \a s.
+ * @param delimiter the character that marks the start and
+ * end of a word.
+ * @return the first word from \a s or an empty string if there is
+ * no \a wordNum'th word.
+ */
+ inline std::string words(const std::string& s,
+ const std::string::size_type firstWord = 0,
+ const std::string::size_type numWords = std::string::npos,
+ const char delimiter = ' ')
+ throw(StringException);
+
+ /**
+ * Returns word number \a wordNum from \a s (if any).
+ * @param s a string with the word you want removed.
+ * @param wordNum the number of the word you want from \a s.
+ * The first word is word 0.
+ * @param delimiter the character that marks the start and
+ * end of a word.
+ * @return the first word from \a s or an empty string if there is
+ * no \a wordNum'th word.
+ */
+ inline std::string word(const std::string& s,
+ const std::string::size_type wordNum = 0,
+ const char delimiter = ' ')
+ throw(StringException)
+ { return words(s, wordNum, 1, delimiter); }
+
+ /**
+ * Removes the first word off string \a s and returns it.
+ * \a s is modified as a result.
+ * @param s a string with the word you want removed.
+ * @param delimiter the character that marks the start and
+ * end of a word.
+ * @return the first word from \a s
+ */
+ inline std::string stripFirstWord(std::string& s,
+ const char delimiter = ' ')
+ throw(StringException);
+
+ /**
+ * Removes indicated words from the string \a s.
+ * \a s is modified as a result.
+ * @param s a string with the words you want removed.
+ * @param first the first word to be removed (the first word is 0).
+ * @param wordsToReplace the number of words you want removed.
+ * @param delimiter the character that marks the start and
+ * end of a word.
+ * @return a reference to string \a s with the words removed.
+ */
+ inline std::string& removeWords(std::string& s,
+ const std::string::size_type first = 0,
+ const std::string::size_type wordsToReplace = std::string::npos,
+ const char delimiter = ' ')
+ throw(StringException);
+
+ /**
+ * Convert a double to a scientific notation number.
+ * @param d the double to convert
+ * @param length length (in characters) of output, including exponent
+ * @param expLen length (in characters) of the exponent, with sign
+ * @param showSign if true, reserves 1 character for +/- sign
+ * @param checkSwitch if true, keeps the exponential sanity check for
+ * exponentials above three characters in length. If false, it removes
+ * that check.
+ */
+ inline std::string doub2sci(const double& d,
+ const std::string::size_type length,
+ const std::string::size_type expLen,
+ const bool showSign = true,
+ const bool checkSwitch = true);
+
+ /**
+ * Convert scientific notation to FORTRAN notation.
+ * As an example, the string "1.5636E5" becomes " .15636D6".
+ * Note that the first character of the string will be '-' if
+ * the number is negative or ' ' if the first character is positive.
+ * @param aStr string with number to convert
+ * @param length length (in characters) of number, including exponent.
+ * @param expLen length (in characters of exponent, not including sign.
+ * @param startPos start position of number in string
+ * @param checkSwitch will keep the method running as orignially programed
+ * when set to true. If false, the method will always resize exponentials,
+ * produce an exponential with an E instead of a D, and always have a leading
+ * zero. For example -> 0.87654E-0004 or -0.1234E00005.
+ * @throws Exception if the string is not a number in
+ * scientific notation
+ */
+ inline std::string& sci2for(std::string& aStr,
+ const std::string::size_type length,
+ const std::string::size_type startPos = 0,
+ const std::string::size_type expLen = 3,
+ const bool checkSwitch = true)
+ throw(StringException);
+
+ /**
+ * Convert double precision floating point to a string
+ * containing the number in FORTRAN notation.
+ * As an example, the number 156360 becomes ".15636D6".
+ * @param d number to convert.
+ * @param length length (in characters) of number, including exponent.
+ * @param expLen length (in characters of exponent, including sign.
+ * @param checkSwitch if true, keeps the exponential sanity check for
+ * exponentials above three characters in length. If false, it removes
+ * that check.
+ * @return a string containing \a d in FORTRAN notation.
+ */
+ inline std::string doub2for(const double& d,
+ const std::string::size_type length,
+ const std::string::size_type expLen,
+ const bool checkSwitch = true)
+ throw(StringException);
+
+ /**
+ * Convert FORTRAN representation of a double precision
+ * floating point in a string to a number.
+ * As an example, the number ".15636D6" becomes 156360.
+ * @param aStr string containing FORTRAN representation of number.
+ * @param length length (in characters) of number, including exponent.
+ * @param startPos beginning of number in string.
+ * @return value of the number.
+ */
+ inline double for2doub(const std::string& aStr,
+ const std::string::size_type length,
+ const std::string::size_type startPos = 0);
+
+ /**
+ * Change a string into printable characters. Control
+ * characters (0-26) are changed to ^@, ^A, etc. Other
+ * non-printable characters are changed to hex sequences
+ * enclosed in <>.
+ * @param aStr the string to make printable.
+ */
+ inline std::string printable(const std::string& aStr)
+ throw(StringException);
+
+ /**
+ * Nicely expands the input string into several lines, non-const
+ * version.
+ * @param aStr the string to be modified.
+ * @param lineDelim a string to put between every line.
+ * @param indent an indentataion string used on all but the first line
+ * @param firstIndent is the indentation used on the first line.
+ * @param len the maximum length of string to put on a line.
+ * @param wordDelim the character that separates each word.
+ * @return the string nicely formatted.
+ */
+ inline std::string& prettyPrint(std::string& aStr,
+ const std::string& lineDelim = "\n",
+ const std::string& indent = "",
+ const std::string& firstIndent = " ",
+ const std::string::size_type len = 80,
+ const char wordDelim = ' ')
+ throw(StringException);
+
+ /**
+ * Const version of prettyPrint, which nicely expands the
+ * input string into several lines.
+ * @param aStr the string to be modified.
+ * @param lineDelim a string to put between every line.
+ * @param indent an indentataion string used on all but the first line
+ * @param firstIndent is the indentation used on the first line.
+ * @param len the maximum length of string to put on a line.
+ * @param wordDelim the character that separates each word.
+ * @return the string nicely formatted.
+ */
+ inline std::string prettyPrint(const std::string& aStr,
+ const std::string& lineDelim = "\n",
+ const std::string& indent = "",
+ const std::string& firstIndent = " ",
+ const std::string::size_type len = 80,
+ const char wordDelim = ' ')
+ throw(StringException)
+ {
+ std::string temp(aStr);
+ prettyPrint(temp, lineDelim, indent, firstIndent, len, wordDelim);
+ return temp;
+ }
+
+ } // namespace StringUtils
+
+} // namespace gpstk
+
+// ################################################
+// Implementations of inline functions follow
+// ################################################
+
+namespace gpstk
+{
+
+ namespace StringUtils
+ {
+ inline void hexDumpData(std::ostream& s, const std::string& data,
+ unsigned indent, HexDumpDataConfig cfg)
+ {
+ std::string instr(indent, ' ');
+ hexDumpData(s, data, instr, cfg);
+ }
+
+ inline void hexDumpData(std::ostream& s, const std::string& data,
+ const std::string& tag, HexDumpDataConfig cfg)
+ {
+ std::string ascii="";
+ unsigned indent = tag.length();
+ int col = 0;
+ int datasize=data.size();
+ std::string groupws(cfg.groupWS, ' ');
+ std::string group2ws(cfg.group2WS, ' ');
+ std::string indexws(cfg.indexWS, ' ');
+ std::string textws(cfg.textWS, ' ');
+ unsigned linesize;
+
+ if (cfg.groupBy && ((cfg.bytesPerLine % cfg.groupBy) != 0))
+ {
+ s << "hexDumpData: cfg.bytesPerLine % cfg.groupBy != 0"
+ << std::endl;
+ return;
+ }
+ if (cfg.group2By && ((cfg.bytesPerLine % cfg.group2By) != 0))
+ {
+ s << "hexDumpData: cfg.bytesPerLine % cfg.group2By != 0"
+ << std::endl;
+ return;
+ }
+ if (cfg.groupBy && ((cfg.group2By % cfg.groupBy) != 0))
+ {
+ s << "hexDumpData: cfg.group2By % cfg.groupBy != 0"
+ << std::endl;
+ return;
+ }
+
+ // line format:
+ // <tag><index>:<indexws><group1byte1>...<group1byte[groupBy]><groupws>...<group[group2By]byte1>...<group[group2By]byte[groupBy]><group2ws>....<byte[bytesPerLine]><textws><separator><text><separator>\n
+ linesize = indent;
+ if (cfg.showIndex)
+ linesize += cfg.idxDigits + 1 + cfg.indexWS;
+ linesize += cfg.bytesPerLine * 2;
+ unsigned w2 = 0;
+ unsigned w1 = 0;
+ if (cfg.group2By)
+ w2 = (cfg.bytesPerLine / cfg.group2By) - 1;
+ if (cfg.groupBy)
+ w1 = (cfg.bytesPerLine / cfg.groupBy) - w2 - 1;
+ if (cfg.groupBy > 0)
+ linesize += cfg.groupWS * w1;
+ if (cfg.group2By > 0)
+ linesize += cfg.group2WS * w2;
+ /*
+ linesize doesn't include text stuff
+ if (cfg.showText)
+ linesize += cfg.textWS + cfg.bytesPerLine;
+ if (cfg.separator)
+ linesize += 2;
+ */
+
+ for (int i=0; i<datasize; i++)
+ {
+ if (i%cfg.bytesPerLine==0)
+ {
+ s << tag;
+ col = indent;
+ if (cfg.showIndex)
+ {
+ if (cfg.hexIndex)
+ {
+ s << std::hex;
+ if (cfg.upperHex)
+ s << std::uppercase;
+ else
+ s << std::nouppercase;
+ }
+ else
+ s << std::dec;
+ s << std::setfill('0');
+ s << std::setw(cfg.idxDigits) << i << ":" << indexws;
+ s << std::dec << std::nouppercase;
+ }
+ col += cfg.idxDigits + 1 + cfg.indexWS;
+ }
+ unsigned char c=data[i];
+ if (isprint(c))
+ ascii += c;
+ else
+ ascii += '.';
+ if (cfg.upperHex)
+ s << std::uppercase;
+ else
+ s << std::nouppercase;
+ s << std::hex << std::setw(2) << (int)c << std::dec
+ << std::nouppercase;
+ col += 2;
+ if (((i % cfg.bytesPerLine) == (cfg.bytesPerLine-1)) ||
+ (i == (datasize-1)))
+ {
+ if (cfg.showText)
+ {
+ int extra = linesize-col;
+ std::string space(extra, ' ');
+ s << space << textws;
+ if (cfg.separator)
+ s << cfg.separator;
+ s << ascii;
+ if (cfg.separator)
+ s << cfg.separator;
+ s << std::endl;
+ }
+ // this *should* be updated at the beginning of the loop
+ //col=indent+6;
+ ascii.erase();
+ }
+ else if (cfg.group2By && ((i % cfg.group2By) == (cfg.group2By-1)))
+ {
+ s << group2ws;
+ col += cfg.group2WS;
+ }
+ else if (cfg.groupBy && ((i % cfg.groupBy) == (cfg.groupBy-1)))
+ {
+ s << groupws;
+ col += cfg.groupWS;
+ }
+ }
+ }
+
+ // Keep searching for aString at the start of s
+ // until num == 0 or aString is not found at the start of s
+ inline std::string& stripLeading(std::string& s,
+ const std::string& aString,
+ std::string::size_type num)
+ throw(StringException)
+ {
+ try
+ {
+ if (aString == "")
+ return s;
+
+ while((num > 0) &&
+ (s.find(aString,0) == 0) &&
+ (s.length() > 0))
+ {
+ s.erase(0,aString.length());
+ --num;
+ }
+ return s;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ // keep searching for aString at the end of s
+ // until aString isn't found there or num == 0
+ inline std::string& stripTrailing(std::string& s,
+ const std::string& aString,
+ std::string::size_type num)
+ throw(StringException)
+ {
+ try
+ {
+ std::string::size_type pos = s.length() - aString.length();
+
+ // empty string, etc.
+ if ((pos > s.length()) || (aString == ""))
+ return s;
+
+ while((num > 0) &&
+ (s.rfind(aString,pos) == pos) &&
+ (s.length() > 0))
+ {
+ s.erase(pos, std::string::npos);
+ --num;
+ pos = s.length() - aString.length();
+ }
+ return s;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string& strip(std::string& s,
+ const std::string& aString,
+ std::string::size_type num)
+ throw(StringException)
+ {
+ stripLeading(s, aString, num);
+ stripTrailing(s, aString, num);
+ return s;
+ }
+
+ inline std::string translate(const std::string& aString,
+ const std::string& inputChars,
+ const std::string& outputChars,
+ const char pad)
+ {
+ std::string rv = aString;
+ std::string::size_type aspos = 0;
+ std::string::size_type inpos = std::string::npos;
+ char toc = pad;
+
+ // By starting at the last position, we avoid infinite
+ // loops in case someone did something dumb, like, for
+ // example, setting inputChars=outputChars.
+ while ((aspos = rv.find_first_of(inputChars, aspos))
+ != std::string::npos)
+ {
+ // figure out which char we found;
+ inpos = inputChars.find(rv[aspos]);
+ if (outputChars.length() < inpos)
+ toc = pad;
+ else
+ toc = outputChars[inpos];
+ rv[aspos] = toc;
+
+ aspos++; // try to guarantee no infinite loops
+ }
+
+ return rv;
+ }
+
+ inline std::string change(const std::string& aString, const std::string& inputString,
+ const std::string& outputString,
+ std::string::size_type startPos, unsigned numChanges)
+ {
+ std::string rv(aString);
+ change(rv, inputString, outputString, startPos, numChanges);
+ return rv;
+ }
+
+ inline std::string& change(std::string& aString, const std::string& inputString,
+ const std::string& outputString,
+ std::string::size_type startPos, unsigned numChanges)
+ {
+ unsigned count = 0;
+ std::string::size_type opos = startPos;
+
+ while (count < numChanges)
+ {
+ std::string::size_type pos = aString.find(inputString, opos);
+ if (pos != std::string::npos)
+ {
+ count++;
+ aString.replace(pos, inputString.length(), outputString);
+ opos = pos + outputString.length();
+ }
+ else
+ break;
+ }
+
+ return aString;
+ }
+
+ // if the string is bigger than length, truncate it from the left.
+ // otherwise, add pad characters to it's left.
+ inline std::string& rightJustify(std::string& s,
+ const std::string::size_type length,
+ const char pad)
+ throw(StringException)
+ {
+ try
+ {
+ if(length < s.length())
+ {
+ s = s.substr(s.length()-length, std::string::npos);
+ }
+ else
+ {
+ s.insert((std::string::size_type)0, length-s.length(), pad);
+ }
+ return s;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ // if the string is bigger than length, truncate it from the right.
+ // otherwise, add pad characters to it's right.
+ inline std::string& leftJustify(std::string& s,
+ const std::string::size_type length,
+ const char pad)
+ throw(StringException)
+ {
+ try
+ {
+ if(length < s.length())
+ {
+ s = s.substr(0, length);
+ }
+ else
+ {
+ s.append(length-s.length(), pad);
+ }
+ return s;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ // leftJustify if s is bigger than length.
+ // otherwise, add pad to the left and right of s.
+ inline std::string& center(std::string& s,
+ const std::string::size_type length,
+ const char pad)
+ throw(StringException)
+ {
+ try
+ {
+ if(length < s.length())
+ {
+ leftJustify(s, length, pad);
+ }
+ else {
+ std::string::size_type leftOff = s.length() + (length - s.length()) / 2;
+ leftJustify(s, leftOff, pad);
+ rightJustify(s, length, pad);
+ }
+ return s;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+
+ inline float asFloat(const std::string& s)
+ throw(StringException)
+ {
+ try
+ {
+ std::istringstream is(s);
+ float f;
+ is >> f;
+ return f;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline long double asLongDouble(const std::string& s)
+ throw(StringException)
+ {
+ try
+ {
+ std::istringstream is(s);
+ long double x;
+ is >> x;
+ return x;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ template <class X>
+ inline X asData(const std::string& s)
+ throw(StringException)
+ {
+ try
+ {
+ std::istringstream is(s);
+ X x;
+ is >> x;
+ return x;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string asString(const long double x, const std::string::size_type precision)
+ {
+ std::ostringstream ss;
+ ss << std::fixed << std::setprecision(precision) << x ;
+ return ss.str();
+ }
+
+ inline std::string asString(const double x, const std::string::size_type precision)
+ {
+ std::ostringstream ss;
+ ss << std::fixed << std::setprecision(precision) << x;
+ return ss.str();
+ }
+
+ template<class X>
+ inline std::string asString(const X x)
+ {
+ std::ostringstream ss;
+ ss << x;
+ return ss.str();
+ }
+
+ // decimal to hex...
+ inline std::string& d2x(std::string& s)
+ throw(StringException)
+ {
+ try
+ {
+ // remove the integer from s, including
+ // leading spaces and 0's
+ long l = asInt(s);
+ stripLeading(s);
+ stripLeading(s, "0");
+ stripLeading(s, asString<long>(l));
+
+ // put the int in a stringstream to convert it
+ std::ostringstream st;
+ st << std::hex << l << std::dec;
+
+ // add the new hex to s
+ s.insert(0, upperCase(st.str()) );
+
+ return s;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ // character to hex...
+ inline std::string& c2x(std::string& s)
+ throw(StringException)
+ {
+ const char hexDigits[] = "0123456789ABCDEF";
+ try
+ {
+ std::string old(s);
+ const unsigned char *pSource = (unsigned char *)old.c_str();
+ unsigned n = old.length();
+
+ s.resize(n * 2, 0);
+
+ for (int i = 0; i < (int)n * 2;)
+ {
+ unsigned char c = *pSource++;
+ s[i++] = hexDigits[ c / 16 ];
+ s[i++] = hexDigits[ c % 16 ];
+ }
+
+ return s;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ /// @todo Need to find a way to combine this with x2d.
+ // hex to a long.
+ inline unsigned int x2int(const std::string& s)
+ throw (StringException)
+ {
+ try
+ {
+ std::string t(s);
+ // remove the "0x" part, leading zeros and spaces from the
+ // string
+ // ex. ' 0x003' -> '3'
+ stripLeading(t);
+ stripLeading(t, "0x", 1);
+ stripLeading(t, "0");
+
+ // if it's empty, it was 0
+ if (t.empty())
+ {
+ return 0;
+ }
+
+ // make the stringstream, get the integer, and
+ // remove it from the string
+ std::istringstream strstr(t);
+ int i;
+ strstr >> std::hex >> i;
+ return i;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ /// @todo detecting 0 isn't quite right...
+ // hex to decimal
+ inline std::string& x2d(std::string& s)
+ throw(StringException)
+ {
+ try
+ {
+ // remove the "0x" part, leading zeros and spaces from the
+ // string
+ // ex. ' 0x003' -> '3'
+ stripLeading(s);
+ stripLeading(s, "0x", 1);
+ stripLeading(s, "0");
+
+ // make the stringstream, get the integer, and
+ // remove it from the string
+ std::istringstream strstr(s);
+ int i = 0;
+ strstr >> std::hex >> i;
+ stripLeading(s, asString<int>(asInt(s)), 1);
+
+ // append the decimal to the existing string
+ s.insert(0,asString<int>(i));
+ return s;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string int2x(const unsigned int& i)
+ throw(StringException)
+ {
+ try
+ {
+ std::ostringstream ss;
+ ss << std::hex << i;
+ return ss.str();
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string& replaceAll(std::string& s,
+ const std::string& oldString,
+ const std::string& newString)
+ throw(StringException)
+ {
+ try
+ {
+ int spot = s.find(oldString, 0);
+ while (spot != (int)std::string::npos)
+ {
+ s.replace(spot, oldString.length(), newString);
+ spot += newString.length();
+ spot = s.find(oldString, spot);
+ }
+ return s;
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline bool isDigitString(const std::string& s)
+ {
+ if (s.size() == 0)
+ return false;
+
+ std::string::size_type index = 0;
+ if((s[0] == '-') || (s[0] == '+'))
+ index++;
+ for( ; index < s.size(); index++)
+ if (!isdigit(s[index]))
+ return false;
+ return true;
+ }
+
+ inline bool isDecimalString(const std::string& s)
+ {
+ if (s.size() == 0)
+ return false;
+
+ std::string::size_type index = 0;
+ bool sawdot = false;
+ if((s[0] == '-') || (s[0] == '+'))
+ index++;
+ for( ; index < s.size(); index++)
+ {
+ if (s[index] == '.')
+ {
+ if (sawdot)
+ return false;
+ else sawdot = true;
+ }
+ else if (!isdigit(s[index]))
+ return false;
+ }
+ return true;
+ }
+
+ inline bool isAlphaString(const std::string& s)
+ {
+ if (s.size() == 0)
+ return false;
+
+ std::string::size_type index;
+ for(index = 0; index < s.size(); index++)
+ if (!isalpha(s[index]))
+ return false;
+ return true;
+ }
+
+ inline std::string matches(const std::string& s,
+ const std::string& aPattern,
+ const char zeroOrMore,
+ const char oneOrMore,
+ const char anyChar)
+ throw(StringException)
+ {
+ const std::string::size_type regErrorBufSize = 512;
+
+ std::string thisPattern(aPattern);
+ std::string thisStr(s);
+
+ // check if something other than the regex standard
+ // characters (*,+,.) is used for those variables
+ if (zeroOrMore != '*')
+ {
+ replaceAll(thisPattern, "*", "\\*");
+ replaceAll(thisPattern, std::string(1, zeroOrMore), "*");
+ }
+ if (oneOrMore != '+')
+ {
+ replaceAll(thisPattern, "+", "\\+");
+ replaceAll(thisPattern, std::string(1, oneOrMore), "+");
+ }
+ if (anyChar != '.')
+ {
+ replaceAll(thisPattern, ".", "\\.");
+ replaceAll(thisPattern, std::string(1, anyChar), ".");
+ }
+ regmatch_t matches;
+ regex_t regExp;
+ char errorMsg[regErrorBufSize];
+ int rc;
+
+ if ((rc = regcomp(®Exp, thisPattern.c_str(), REG_EXTENDED)) != 0)
+ {
+ regerror(rc, ®Exp, errorMsg, regErrorBufSize - 1);
+ regfree(®Exp);
+ StringException strerr("Regexp error: " + std::string(errorMsg));
+ GPSTK_THROW(strerr);
+ }
+ rc = regexec(®Exp, thisStr.c_str(), 1, &matches,
+ REG_NOTBOL | REG_NOTEOL);
+ if ( (rc != 0) && (rc != REG_NOMATCH) )
+ {
+ regerror(rc, ®Exp, errorMsg, regErrorBufSize - 1);
+ regfree(®Exp);
+ StringException strerr("Regexp error: " + std::string(errorMsg));
+ GPSTK_THROW(strerr);
+ }
+
+ regfree(®Exp);
+ if (rc == REG_NOMATCH)
+ return std::string();
+ else
+ return thisStr.substr(matches.rm_so, matches.rm_eo - matches.rm_so);
+ }
+
+ template <class T>
+ inline std::string formattedPrint(const std::string& fmt, const std::string& pat,
+ const std::string& rep, T to)
+ throw(StringException)
+ {
+ regex_t re;
+ regmatch_t r;
+ std::string rv = fmt;
+ int rc;
+ char buffer[513];
+
+ // if the regex doesnt compile, toast =)
+ if ((rc = regcomp(&re, pat.c_str(), REG_EXTENDED)) != 0)
+ {
+ StringException se("Bad regular expression: regcomp() rc = " +
+ asString(rc));
+ GPSTK_THROW(se);
+ }
+
+ int len = rv.length();
+ for (int i = 0; i < len; i++)
+ {
+ if ((rc = regexec(&re, rv.c_str(), 1, &r, 0)) != 0)
+ break;
+ else
+ {
+ std::string mac = rv.substr(r.rm_so, r.rm_eo - r.rm_so);
+ mac = replaceAll(mac, rep.substr(0,1), rep.substr(1));
+ sprintf(buffer, mac.c_str(), to);
+ rv = rv.substr(0, r.rm_so) + std::string(buffer) +
+ rv.substr(r.rm_eo);
+ i = r.rm_eo;
+ }
+ }
+
+ regfree(&re);
+
+ return rv;
+ }
+
+ inline std::string subString(const std::string& s,
+ const std::string::size_type startPos,
+ const std::string::size_type length,
+ const char pad)
+ throw(StringException)
+ {
+ try
+ {
+ if(startPos >= s.length())
+ {
+ return std::string(length, pad);
+ }
+ std::string temp = s.substr(startPos, length);
+ return leftJustify(temp, length, pad);
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string& lowerCase(std::string& s)
+ {
+ for(std::string::size_type i = 0; i < s.length(); i++)
+ {
+ s[i] = tolower(s[i]);
+ }
+ return s;
+ }
+
+ inline std::string& upperCase(std::string& s)
+ {
+ for(std::string::size_type i = 0; i < s.length(); i++)
+ {
+ s[i] = toupper(s[i]);
+ }
+ return s;
+ }
+
+ inline std::string memToString(const void* p,
+ const std::string::size_type size)
+ {
+ unsigned char* q = (unsigned char*)p;
+ std::string s(size,'\0');
+ for (int i=0; i<(int)size; i++)
+ {
+ s[i] = (unsigned char)(*q++);
+ }
+ return s;
+ }
+
+ inline std::string firstWord(const std::string& s,
+ const char delimiter)
+ throw(StringException)
+ {
+ try
+ {
+ // return s if there are no delimiters
+ std::string::size_type pos = s.find_first_not_of(delimiter);
+ if (pos == std::string::npos)
+ {
+ return s;
+ }
+ // find the end delimiter (if any) and return the string
+ std::string::size_type endPos = s.find(delimiter, pos);
+ if (endPos == std::string::npos)
+ {
+ return std::string(s, pos, endPos);
+ }
+ else
+ {
+ return std::string(s, pos, endPos - pos);
+ }
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline int numWords(const std::string& s,
+ const char delimiter)
+ throw(StringException)
+ {
+ try
+ {
+ std::string t(s);
+ stripTrailing(t, delimiter);
+
+ int words = 0;
+ while(t.length())
+ {
+ stripLeading(t, delimiter);
+ stripLeading(t, firstWord(t, delimiter));
+ words++;
+ }
+ return words;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string words(const std::string& s,
+ const std::string::size_type firstWord,
+ const std::string::size_type numWords,
+ const char delimiter)
+ throw(StringException)
+ {
+ try
+ {
+ if ((firstWord == 0) && (numWords == 1))
+ return StringUtils::firstWord(s, delimiter);
+ if (numWords == 0)
+ return "";
+ std::string::size_type wordNum = 0;
+ std::string::size_type pos = 0, startPos = 0;
+
+ std::string toReturn;
+
+ // get position of word wordNum
+ pos = s.find_first_not_of(delimiter, pos);
+ while ((pos != std::string::npos) && (pos <= s.length()))
+ {
+ if (wordNum == firstWord)
+ startPos = pos;
+ // get first delimter after word wordNum
+ pos = s.find(delimiter, pos);
+ if (((int)numWords != -1) && ((int)wordNum == (int)(firstWord + (numWords-1))))
+ break;
+ pos = s.find_first_not_of(delimiter, pos);
+ wordNum++;
+ }
+
+ if (pos == std::string::npos)
+ return s.substr(startPos);
+ return s.substr(startPos, pos-startPos);
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string stripFirstWord(std::string& s,
+ const char delimiter)
+ throw(StringException)
+ {
+ try
+ {
+ stripLeading(s, delimiter);
+ std::string toReturn = firstWord(s, delimiter);
+ stripLeading(s, toReturn);
+ stripLeading(s, delimiter);
+ return toReturn;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string& removeWords(std::string& s,
+ const std::string::size_type first,
+ const std::string::size_type wordsToReplace,
+ const char delimiter)
+ throw(StringException)
+ {
+ try
+ {
+ std::string temp(s);
+ std::string::size_type thisWord;
+
+ // empty out s. add the new parts of s as they are parsed
+ s.erase(0, std::string::npos);
+
+ // copy the part of the string through word 'first'
+ // by appending any delimiters then appending
+ // a word for however many words we're keeping.
+ for(thisWord = 0; thisWord < first; thisWord++)
+ {
+ s.append(temp.find_first_not_of(delimiter),delimiter);
+ stripLeading(temp, delimiter);
+ s.append(firstWord(temp));
+ stripLeading(temp, firstWord(temp));
+ }
+
+ // skip over the number of words to replace, making
+ // sure to stop when there's no more string left
+ // to skip
+ for(thisWord = 0;
+ (thisWord < wordsToReplace) &&
+ (temp.length() != 0);
+ thisWord++)
+ {
+ stripLeading(temp, delimiter);
+ stripLeading(temp, firstWord(temp));
+ }
+
+ // add on any extra words at the end
+ s.append(temp);
+
+ return s;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string doub2sci(const double& d,
+ const std::string::size_type length,
+ const std::string::size_type expLen,
+ const bool showSign,
+ const bool checkSwitch)
+ {
+ std::string toReturn;
+ short exponentLength = expLen;
+
+ /* Validate the assumptions regarding the input arguments */
+ if (exponentLength < 0) exponentLength = 1;
+ if (exponentLength > 3 && checkSwitch) exponentLength = 3;
+
+ std::stringstream c;
+ c.setf(std::ios::scientific, std::ios::floatfield);
+
+ // length - 3 for special characters ('.', 'e', '+' or '-')
+ // - exponentlength (e04)
+ // - 1 for the digit before the decimal (2.)
+ // and if showSign == true,
+ // an extra -1 for '-' or ' ' if it's positive or negative
+ int expSize = 0;
+ if (showSign)
+ expSize = 1;
+ c.precision(length - 3 - exponentLength - 1 - expSize);
+
+
+ c << d;
+
+ c >> toReturn;
+
+ return toReturn;
+ }
+
+ inline std::string& sci2for(std::string& aStr,
+ const std::string::size_type length,
+ const std::string::size_type startPos,
+ const std::string::size_type expLen,
+ const bool checkSwitch)
+ throw(StringException)
+ {
+ try
+ {
+ std::string::size_type idx = aStr.find('.', startPos);
+ int expAdd = 0;
+ std::string exp;
+ long iexp;
+ //If checkSwitch is false, always redo the exponential. Otherwise,
+ //set it to false.
+ bool redoexp=!checkSwitch;
+
+ // Check for decimal place within specified boundaries
+ if ((idx == 0) || (idx >= (startPos + length - expLen - 1)))
+ {
+ StringException e("sci2for: no decimal point in string");
+ GPSTK_THROW(e);
+ }
+
+ // Here, account for the possibility that there are
+ // no numbers to the left of the decimal, but do not
+ // account for the possibility of non-scientific
+ // notation (more than one digit to the left of the
+ // decimal)
+ if (idx > startPos)
+ {
+ redoexp = true;
+ // Swap digit and decimal.
+ aStr[idx] = aStr[idx-1];
+ aStr[idx-1] = '.';
+ // Only add one to the exponent if the number is non-zero
+ if (asDouble(aStr.substr(startPos, length)) != 0.0)
+ expAdd = 1;
+ }
+
+ idx = aStr.find('e', startPos);
+ if (idx == std::string::npos)
+ {
+ idx = aStr.find('E', startPos);
+ if (idx == std::string::npos)
+ {
+ StringException e("sci2for:no 'e' or 'E' in string");
+ GPSTK_THROW(e);
+ }
+ }
+ // Change the exponent character to D normally, or E of checkSwitch is false.
+ if (checkSwitch)
+ aStr[idx] = 'D';
+ else
+ aStr[idx] = 'E';
+
+ // Change the exponent itself
+ if (redoexp)
+ {
+ exp = aStr.substr(idx + 1, std::string::npos);
+ iexp = asInt(exp);
+ iexp += expAdd;
+
+ aStr.erase(idx + 1);
+ if (iexp < 0)
+ {
+ aStr += "-";
+ iexp -= iexp*2;
+ }
+ else
+ aStr += "+";
+ aStr += rightJustify(asString(iexp),expLen,'0');
+
+ }
+
+ // if the number is positive, append a space
+ // (if it's negative, there's a leading '-'
+ if (aStr[0] == '.')
+ {
+ aStr.insert((std::string::size_type)0, 1, ' ');
+ }
+
+ //If checkSwitch is false, add on one leading zero to the string
+ if (!checkSwitch)
+ {
+ aStr.insert((std::string::size_type)1, 1, '0');
+ }
+
+
+ return aStr;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ } // end sci2for
+
+
+ inline std::string doub2for(const double& d,
+ const std::string::size_type length,
+ const std::string::size_type expLen,
+ const bool checkSwitch)
+ throw(StringException)
+ {
+ try
+ {
+ short exponentLength = expLen;
+
+ /* Validate the assumptions regarding the input arguments */
+ if (exponentLength < 0) exponentLength = 1;
+ if (exponentLength > 3 && checkSwitch) exponentLength = 3;
+
+ std::string toReturn = doub2sci(d, length, exponentLength, true, checkSwitch);
+ sci2for(toReturn, length, 0, exponentLength, checkSwitch);
+
+ return toReturn;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+
+ inline double for2doub(const std::string& aStr,
+ const std::string::size_type length,
+ const std::string::size_type startPos)
+ {
+ std::string s(aStr);
+ strip(s);
+ std::string::size_type pos;
+
+ // you can blame Rinex for these special checks
+ if (s.empty())
+ {
+ return 0;
+ }
+
+ if ( ((pos = s.find('E', startPos)) != std::string::npos) ||
+ ((pos = s.find('d', startPos)) != std::string::npos) ||
+ ((pos = s.find('D', startPos)) != std::string::npos))
+ {
+ s[pos] = 'e';
+ }
+ // just treat it like a double
+ else
+ {
+ return asDouble(aStr.substr(length, startPos));
+ }
+
+ std::stringstream st;
+ st << s;
+
+ double d;
+ st >> d;
+
+ return d;
+ }
+
+ inline std::string printable(const std::string& aStr)
+ throw(StringException)
+ {
+ try
+ {
+ std::string rv(aStr);
+
+ for (int i = 0; i < (int)rv.length(); i++)
+ {
+ char c = rv[i];
+ if (!isprint(c))
+ {
+ if (iscntrl(c))
+ {
+ rv.replace(i,1,2,'^');
+ rv.replace(i+1,1,1, 64+(c));
+ }
+ else
+ {
+ std::string mess(c2x(rv.substr(i,1)));
+ rv.replace(i,1,"<"+mess+">");
+ }
+ }
+ }
+
+ return rv;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ inline std::string& prettyPrint(std::string& aStr,
+ const std::string& lineDelim,
+ const std::string& indent,
+ const std::string& firstIndent,
+ const std::string::size_type len,
+ const char wordDelim)
+ throw(StringException)
+ {
+ try
+ {
+ // chop aStr up into words based on wordDelim
+ std::list<std::string> wordList;
+ std::string tempStr(aStr);
+ stripLeading(tempStr, wordDelim);
+ while (!tempStr.empty())
+ {
+ std::string theFirstWord = firstWord(tempStr,wordDelim);
+ wordList.push_back(theFirstWord);
+ stripLeading(tempStr, theFirstWord);
+ stripLeading(tempStr, wordDelim);
+ }
+
+ // now reassemble the words into sentences
+ std::string toReturn;
+ std::string thisLine = firstIndent, lastLine;
+ while (!wordList.empty())
+ {
+ lastLine = thisLine;
+ if (!lastLine.empty())
+ thisLine += wordDelim;
+ thisLine += wordList.front();
+
+ if (thisLine.length() > len)
+ {
+ // if the first word is longer than a line, just add it.
+ // if this is the first line, remember to add the indent.
+ if (lastLine.empty())
+ {
+ if (toReturn.empty())
+ lastLine += firstIndent;
+ lastLine = wordList.front();
+ }
+
+ toReturn += lastLine + lineDelim;
+
+ thisLine.erase();
+ lastLine.erase();
+
+ thisLine = indent;
+ }
+ else
+ wordList.erase(wordList.begin());
+ }
+ if (!thisLine.empty())
+ toReturn += (thisLine + lineDelim);
+
+ aStr = toReturn;
+ return aStr;
+ }
+ catch(StringException &e)
+ {
+ GPSTK_RETHROW(e);
+ }
+ catch(std::exception &e)
+ {
+ StringException strexc("Exception thrown: " + std::string(e.what()));
+ GPSTK_THROW(strexc);
+ }
+ }
+
+ //@}
+
+ } // namespace StringUtils
+
+} // namespace gpstk
+#endif // GPSTK_STRINGUTILS_HPP
+
+
+
diff --git a/trunk/src/Makefile.am b/dev/tests/Yuma/YumaBase.cpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/Yuma/YumaBase.cpp
diff --git a/dev/tests/Yuma/YumaBase.hpp b/dev/tests/Yuma/YumaBase.hpp
new file mode 100644
index 0000000..87f0dbd
--- /dev/null
+++ b/dev/tests/Yuma/YumaBase.hpp
@@ -0,0 +1,77 @@
+#pragma ident "$Id$"
+
+
+
+/**
+ * @file YumaBase.hpp
+ * gpstk::YumaBase - base class for Yuma FFData.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+
+
+
+
+#ifndef YUMABASE_HPP
+#define YUMABASE_HPP
+
+#include "FFData.hpp"
+
+namespace gpstk
+{
+ /** @defgroup Yuma Yuma almanac files */
+ //@{
+
+ /**
+ * This is a base class for all Yuma-related classes.
+ */
+ class YumaBase : public FFData
+ {
+
+ public:
+
+ /// in deference to our coding standards, this is declared virtual
+ virtual ~YumaBase() {}
+
+ };
+
+ //@}
+}
+
+#endif
diff --git a/dev/tests/Yuma/YumaData.cpp b/dev/tests/Yuma/YumaData.cpp
new file mode 100644
index 0000000..5b693d1
--- /dev/null
+++ b/dev/tests/Yuma/YumaData.cpp
@@ -0,0 +1,273 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file YumaData.cpp
+ * Encapsulate Yuma almanac file data, including I/O
+ */
+
+#include "StringUtils.hpp"
+#include "icd_200_constants.hpp"
+
+#include "YumaData.hpp"
+#include "YumaStream.hpp"
+
+
+using namespace gpstk::StringUtils;
+using namespace std;
+
+namespace gpstk
+{
+ const std::string YumaData::sID = "ID: ";
+ const std::string YumaData::sHlth = "Health: ";
+ const std::string YumaData::sEcc = "Eccentricity: ";
+ const std::string YumaData::sTOA = "Time of Applicability(s): ";
+ const std::string YumaData::sOrbI = "Orbital Inclination(rad): ";
+ const std::string YumaData::sRRA = "Rate of Right Ascen(r/s): ";
+ const std::string YumaData::sSqrA = "SQRT(A) (m 1/2): ";
+ const std::string YumaData::sRtAs = "Right Ascen at Week(rad): ";
+ const std::string YumaData::sArgP = "Argument of Perigee(rad): ";
+ const std::string YumaData::sMnAn = "Mean Anom(rad): ";
+ const std::string YumaData::sAf0 = "Af0(s): ";
+ const std::string YumaData::sAf1 = "Af1(s/s): ";
+ const std::string YumaData::sweek = "week: ";
+
+ void YumaData::reallyPutRecord(FFStream& ffs) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+ string line;
+
+ YumaStream& strm = dynamic_cast<YumaStream&>(ffs);
+
+ // first the epoch line to 'line'
+ line = "******** Week";
+ int epochWeek = week % 1024;
+ line += rightJustify(asString<short>(epochWeek), 5);
+ line += " almanac for PRN-";
+ line += rightJustify(asString<short>(PRN), 2, '0');
+ line += " ********";
+
+ // write the header line
+ strm << line << endl;
+ line.erase();
+
+ // Write the ID line
+ line = sID;
+ line += rightJustify(asString<short>(PRN),2,'0');
+ strm << line << endl;
+ line.erase();
+
+ // Write the Health line
+ line = sHlth;
+ line += rightJustify(asString<short>(SV_health),3,'0'); // should be hex
+ strm << line << endl;
+ line.erase();
+
+ // Write the Ecc line
+ line = sEcc;
+ line += leftJustify(asString(doub2for(ecc,17,3,false)),18);
+ strm << line << endl;
+ line.erase();
+
+ // Write the Toa line
+ line = sTOA;
+ line += leftJustify(asString((double)Toa,4),11);
+ strm << line << endl;
+ line.erase();
+
+ // Write the Orbital Inc line
+ line = sOrbI;
+ double i_total = i_offset + 54.0 * (gpstk::PI / 180.0 );
+ if (i_total >=0) line += " ";
+ line += leftJustify(asString(i_total,10),17);
+ strm << line << endl;
+ line.erase();
+
+ // Write the Rate of Right Ascen line
+ line = sRRA;
+ line += leftJustify(asString(doub2for(OMEGAdot,17,3,false)),18);
+ strm << line << endl;
+ line.erase();
+
+ // Write the SqrtA line
+ line = sSqrA;
+ line += " ";
+ line += leftJustify(asString(Ahalf,6),18);
+ strm << line << endl;
+ line.erase();
+
+ // Write the Right Ascen at Week line
+ line = sRtAs;
+ line += leftJustify(asString(doub2for(OMEGA0,17,3,false)),18);
+ strm << line << endl;
+ line.erase();
+
+ // Write the Argument of Perigee line
+ line = sArgP;
+ if (w>=0) line += " ";
+ line += leftJustify(asString(w,9),18);
+ strm << line << endl;
+ line.erase();
+
+ // Write Mean Anomaly line
+ line = sMnAn;
+ line += leftJustify(asString(doub2for(M0,17,3,false)),18);
+ strm << line << endl;
+ line.erase();
+
+ // Write the Af0 line
+ line = sAf0;
+ line += leftJustify(asString(doub2for(AF0,17,3,false)),18);
+ strm << line << endl;
+ line.erase();
+
+ // Write the AF1 line
+ line = sAf1;
+ line += leftJustify(asString(doub2for(AF1,17,3,false)),18); // should be hex
+ strm << line << endl;
+ line.erase();
+
+ // Write the week line
+ line = sweek;
+ line += rightJustify(asString<short>(epochWeek),5); // should be hex
+ strm << line << endl;
+ line.erase();
+ strm << endl;
+
+ } // end YumaData::reallyPutRecord
+
+
+ void YumaData::reallyGetRecord(FFStream& ffs)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException)
+ {
+ YumaStream& strm = dynamic_cast<YumaStream&>(ffs);
+
+ string line;
+
+ // We don't need first line as we will get all the information from the others
+ strm.formattedGetLine(line, true);
+
+ //Second Line - PRN
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sID );
+ PRN = asInt(line);
+
+ //Third Line - Satellite Health
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sHlth );
+ SV_health = asInt(line);
+
+ //Fourth Line - Eccentricity
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sEcc );
+ ecc = asDouble(line);
+
+ //Fifth Line - Time of Applicability
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sTOA );
+ double dToa = asDouble(line);
+ Toa = (long) dToa;
+
+ //Sixth Line - Orbital Inclination
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sOrbI );
+ double i_total = asDouble(line);
+ i_offset = i_total - 54.0 * (gpstk::PI / 180.0);
+
+ //Seventh Line - Rate of Right Ascen
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sRRA );
+ OMEGAdot = asDouble(line);
+
+ //Eigth Line - SqrtA
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sSqrA );
+ Ahalf = asDouble(line);
+
+ //Ninth Line - Right Ascen at Week
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sRtAs );
+ OMEGA0 = asDouble(line);
+
+ //Tenth Line - Argument of Perigee
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sArgP );
+ w = asDouble(line);
+
+ //Eleventh Line - Mean Anomaly
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sMnAn );
+ M0 = asDouble(line);
+
+ //Twelfth Line - Af0
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sAf0 );
+ AF0 = asDouble(line);
+
+ //Thirteenth Line - Af1
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sAf1 );
+ AF1 = asDouble(line);
+
+ //Fourteenth Line - week
+ strm.formattedGetLine(line, true);
+ stripLeading( line, sweek );
+ int epoch_week = asInt(line);
+ week = epoch_week + 1024; // Need a way to set epoch Do we??
+
+ xmit_time = 0;
+ strm.formattedGetLine(line,true);
+
+ } // end of reallyGetRecord()
+
+ void YumaData::dump(ostream& s) const
+ {
+ cout << "PRN = " << PRN << endl;
+ cout << "week = " << week << endl;
+ cout << "SV_health = " << SV_health << endl;
+ cout << "ecc = " << ecc << endl;
+ cout << "Toa = " << Toa << endl;
+ cout << "i_offset = " << i_offset << endl;
+ cout << "OMEGAdot = " << OMEGAdot << endl;
+ cout << "Ahalf = " << Ahalf << endl;
+ cout << "OMEGA0 = " << OMEGA0 << endl;
+ cout << "w = " << w << endl;
+ cout << "M0 = " << M0 << endl;
+ cout << "AF0 = " << AF0 << endl;
+ cout << "AF1 = " << AF1 << endl;
+ cout << "xmit_time = " << xmit_time << endl;
+
+ } // end of dump()
+
+ YumaData::operator AlmOrbit() const
+ {
+ AlmOrbit ao(PRN, ecc,i_offset, OMEGAdot, Ahalf, OMEGA0,
+ w, M0, AF0, AF1, Toa, xmit_time, week, SV_health);
+
+ return ao;
+
+ } // end of AlmOrbit()
+} // namespace
diff --git a/dev/tests/Yuma/YumaData.hpp b/dev/tests/Yuma/YumaData.hpp
new file mode 100644
index 0000000..7a9bd0a
--- /dev/null
+++ b/dev/tests/Yuma/YumaData.hpp
@@ -0,0 +1,141 @@
+#pragma ident "$Id$"
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+/**
+ * @file YumaData.hpp
+ * Encapsulate Yuma Almanac file data, including I/O
+ */
+
+#ifndef YUMADATA_HPP
+#define YUMADATA_HPP
+
+#include <vector>
+#include <list>
+#include <map>
+
+#include "FFStream.hpp"
+#include "AlmOrbit.hpp"
+#include "YumaBase.hpp"
+#include "YumaHeader.hpp"
+#include "StringUtils.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup Yuma */
+ //@{
+
+ /**
+ * This class stores, reads, and writes Yuma records.
+ *
+ * @sa tests/Yuma for examples
+ * @sa YumaStream.
+ * @sa YumaHeader for information on writing Yuma files.
+ */
+ class YumaData : public YumaBase
+ {
+ public:
+ /// Constructor.
+ YumaData() {}
+
+ /// Destructor
+ virtual ~YumaData() {}
+
+ static const std::string sID; // ID label string
+ static const std::string sHlth; // Satellite Health string
+ static const std::string sEcc; // Eccentricity string
+ static const std::string sTOA;
+ static const std::string sOrbI;
+ static const std::string sRRA;
+ static const std::string sSqrA;
+ static const std::string sRtAs;
+ static const std::string sArgP;
+ static const std::string sMnAn;
+ static const std::string sAf0;
+ static const std::string sAf1;
+ static const std::string sweek;
+
+
+ short PRN;
+ short week;
+ short SV_health;
+ double ecc;
+ long Toa;
+ double i_offset;
+ double OMEGAdot;
+ double Ahalf;
+ double OMEGA0;
+ double w;
+ double M0;
+ double AF0;
+ double AF1;
+ long xmit_time;
+
+
+ /**
+ * Debug output function.
+ * Dump the contents of each of the Yuma class to a
+ * given ostream \c s.
+ */
+ virtual void dump(std::ostream& s) const;
+
+ //! This class is "data" so this function always returns "true".
+ virtual bool isData() const {return true;}
+
+ /**
+ * cast *this into an AlmOrbit
+ * @return the constructed AlmOrbit object
+ */
+ operator AlmOrbit() const;
+
+
+
+ protected:
+ /**
+ * Writes a correctly formatted record from this data to stream \a s.
+ */
+ void reallyPutRecord(FFStream& s) const
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ /**
+ * This functions obtains a Yuma almanac record from the given
+ * FFStream.
+ * If there is an error in reading from the stream, it is reset
+ * to its original position and its fail-bit is set.
+ * @throws StringException when a StringUtils function fails
+ * @throws FFStreamError when exceptions(failbit) is set and
+ * a read or formatting error occurs. This also resets the
+ * stream to its pre-read position.
+ */
+ virtual void reallyGetRecord(FFStream& s)
+ throw(std::exception, FFStreamError,
+ gpstk::StringUtils::StringException);
+
+ }; // class YumaData
+
+ //@}
+
+} // namespace
+
+#endif
diff --git a/trunk/src/Makefile.am b/dev/tests/Yuma/YumaStream.cpp
similarity index 100%
copy from trunk/src/Makefile.am
copy to dev/tests/Yuma/YumaStream.cpp
diff --git a/dev/tests/Yuma/YumaStream.hpp b/dev/tests/Yuma/YumaStream.hpp
new file mode 100644
index 0000000..03b48bd
--- /dev/null
+++ b/dev/tests/Yuma/YumaStream.hpp
@@ -0,0 +1,104 @@
+#pragma ident "$Id$"
+
+
+/**
+ * @file YumaStream.hpp
+ * gpstk::YumaStream - ASCII FIC file stream container.
+ */
+
+//============================================================================
+//
+// This file is part of GPSTk, the GPS Toolkit.
+//
+// The GPSTk is free software; you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published
+// by the Free Software Foundation; either version 2.1 of the License, or
+// any later version.
+//
+// The GPSTk is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with GPSTk; if not, write to the Free Software Foundation,
+// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// Copyright 2004, The University of Texas at Austin
+//
+//============================================================================
+
+//============================================================================
+//
+//This software developed by Applied Research Laboratories at the University of
+//Texas at Austin, under contract to an agency or agencies within the U.S.
+//Department of Defense. The U.S. Government retains all rights to use,
+//duplicate, distribute, disclose, or release this software.
+//
+//Pursuant to DoD Directive 523024
+//
+// DISTRIBUTION STATEMENT A: This software has been approved for public
+// release, distribution is unlimited.
+//
+//=============================================================================
+
+
+#ifndef YUMASTREAM_HPP
+#define YUMASTREAM_HPP
+
+
+#include "FFTextStream.hpp"
+#include "YumaHeader.hpp"
+
+namespace gpstk
+{
+ /** @addtogroup Yuma */
+ //@{
+
+ /**
+ * This class performs file i/o on a Yuma file for the
+ * YumaHeader and YumaData classes.
+ *
+ * @sa tests/Yuma for examples.
+ * @sa YumaData.
+ * @sa YumaHeader for information on writing Yuma files.
+ *
+ */
+ class YumaStream : public FFTextStream
+ {
+ public:
+ /// Default constructor
+ YumaStream() {}
+
+ /**
+ * Constructor
+ * @param fn the name of the ascuu FIC file to be opened
+ * @param mode the ios::openmode to be used on \a fn
+ */
+ YumaStream(const char* fn,
+ std::ios::openmode mode=std::ios::in)
+ : FFTextStream(fn, mode), headerRead(false) {};
+
+ /// destructor per the coding standards
+ virtual ~YumaStream() {}
+
+ /// overrides open to reset the header
+ virtual void open(const char* fn, std::ios::openmode mode)
+ {
+ FFTextStream::open(fn, mode);
+ headerRead = false;
+ header = YumaHeader();
+ }
+ /// YumaHeader for this file
+ YumaHeader header;
+
+ /// Flag showing whether or not the header has been read.
+ bool headerRead;
+
+ }; // class YumaStream
+
+ //@}
+
+} // namespace gpstk
+
+#endif
diff --git a/dev/tests/Yuma/xYuma.cpp b/dev/tests/Yuma/xYuma.cpp
new file mode 100644
index 0000000..8d45822
--- /dev/null
+++ b/dev/tests/Yuma/xYuma.cpp
@@ -0,0 +1,53 @@
+/*********************************************************************
+* $Id$
+*
+* Test program from November 2006. Written to test the YumaAlmRecord.cpp
+* module..
+*
+// *********************************************************************/
+
+#include "YumaData.hpp"
+#include "YumaStream.hpp"
+#include "YumaBase.hpp"
+#include "SMODFData.hpp"
+
+using namespace std;
+using namespace gpstk;
+
+int main( int argc, char * argv[] )
+{
+ // Read an existing Yuma almanac file and write it back out.
+ try
+ {
+ YumaStream In("yuma377.txt");
+ YumaStream Out("yuma377.dbg", ios::out);
+ YumaData Data;
+
+ while (In >> Data)
+ {
+ Out << Data;
+ }
+
+ YumaStream In2("yuma377.dbg");
+ YumaStream Out2("yuma377_2.dbg", ios::out);
+
+ while (In2 >> Data)
+ {
+ Out2 << Data;
+ }
+
+ }
+ catch(gpstk::Exception& e)
+ {
+ cout << e;
+ exit(1);
+ }
+ catch (...)
+ {
+ cout << "unknown error. Done." << endl;
+ exit(1);
+ }
+
+
+ return(0);
+}
diff --git a/dev/tests/Yuma/yuma377.txt b/dev/tests/Yuma/yuma377.txt
new file mode 100644
index 0000000..b9fc124
--- /dev/null
+++ b/dev/tests/Yuma/yuma377.txt
@@ -0,0 +1,450 @@
+******** Week 377 almanac for PRN-01 ********
+ID: 01
+Health: 000
+Eccentricity: 0.6597995758E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9893061549
+Rate of Right Ascen(r/s): -0.7508884204E-008
+SQRT(A) (m 1/2): 5153.683594
+Right Ascen at Week(rad): -0.5644326501E+000
+Argument of Perigee(rad): -1.781409342
+Mean Anom(rad): 0.4668447322E+000
+Af0(s): 0.8964538574E-004
+Af1(s/s): 0.3637978807E-011
+week: 377
+
+******** Week 377 almanac for PRN-02 ********
+ID: 02
+Health: 000
+Eccentricity: 0.8788585663E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9486556640
+Rate of Right Ascen(r/s): -0.8194627053E-008
+SQRT(A) (m 1/2): 5153.689453
+Right Ascen at Week(rad): -0.2706789619E+001
+Argument of Perigee(rad): 2.168846226
+Mean Anom(rad): 0.1697055754E+001
+Af0(s): 0.5531311035E-004
+Af1(s/s): 0.3637978807E-011
+week: 377
+
+******** Week 377 almanac for PRN-03 ********
+ID: 03
+Health: 000
+Eccentricity: 0.8888721466E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9261013527
+Rate of Right Ascen(r/s): -0.8046049436E-008
+SQRT(A) (m 1/2): 5153.652832
+Right Ascen at Week(rad): 0.2438618993E+001
+Argument of Perigee(rad): 0.711806034
+Mean Anom(rad): 0.9986211184E+000
+Af0(s): 0.3986358643E-003
+Af1(s/s): 0.3274180926E-010
+week: 377
+
+******** Week 377 almanac for PRN-04 ********
+ID: 04
+Health: 000
+Eccentricity: 0.7640361786E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9481283581
+Rate of Right Ascen(r/s): -0.8194627053E-008
+SQRT(A) (m 1/2): 5153.637695
+Right Ascen at Week(rad): -0.2687302895E+001
+Argument of Perigee(rad): 0.195425258
+Mean Anom(rad): -0.2027215907E+001
+Af0(s): 0.3366470337E-003
+Af1(s/s): 0.3637978807E-011
+week: 377
+
+******** Week 377 almanac for PRN-05 ********
+ID: 05
+Health: 063
+Eccentricity: 0.7648944855E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9383612148
+Rate of Right Ascen(r/s): -0.8206056101E-008
+SQRT(A) (m 1/2): 5153.694336
+Right Ascen at Week(rad): 0.1401713145E+001
+Argument of Perigee(rad): 1.135486959
+Mean Anom(rad): -0.2373708311E+001
+Af0(s): 0.3604888916E-003
+Af1(s/s): -0.3637978807E-011
+week: 377
+
+******** Week 377 almanac for PRN-06 ********
+ID: 06
+Health: 000
+Eccentricity: 0.5786418915E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9336873671
+Rate of Right Ascen(r/s): -0.8000333246E-008
+SQRT(A) (m 1/2): 5153.585449
+Right Ascen at Week(rad): 0.2498518022E+001
+Argument of Perigee(rad): -1.772147035
+Mean Anom(rad): -0.1132766914E+001
+Af0(s): 0.5493164062E-003
+Af1(s/s): -0.1455191523E-010
+week: 377
+
+******** Week 377 almanac for PRN-07 ********
+ID: 07
+Health: 000
+Eccentricity: 0.1089382172E-001
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9352213479
+Rate of Right Ascen(r/s): -0.7977475151E-008
+SQRT(A) (m 1/2): 5152.062988
+Right Ascen at Week(rad): 0.2472658686E+001
+Argument of Perigee(rad): -1.719578232
+Mean Anom(rad): -0.1928668502E+001
+Af0(s): 0.4949569702E-003
+Af1(s/s): -0.7275957614E-011
+week: 377
+
+******** Week 377 almanac for PRN-08 ********
+ID: 08
+Health: 000
+Eccentricity: 0.9947299957E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9755422726
+Rate of Right Ascen(r/s): -0.7863184676E-008
+SQRT(A) (m 1/2): 5153.538086
+Right Ascen at Week(rad): 0.4820411039E+000
+Argument of Perigee(rad): 2.708419848
+Mean Anom(rad): -0.9777550848E+000
+Af0(s): -0.8583068848E-004
+Af1(s/s): 0.0000000000E+000
+week: 377
+
+******** Week 377 almanac for PRN-09 ********
+ID: 09
+Health: 000
+Eccentricity: 0.1846265793E-001
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9632764184
+Rate of Right Ascen(r/s): -0.7966046104E-008
+SQRT(A) (m 1/2): 5153.673340
+Right Ascen at Week(rad): 0.4002379082E+000
+Argument of Perigee(rad): 1.295024331
+Mean Anom(rad): -0.1348972443E+001
+Af0(s): 0.4482269287E-004
+Af1(s/s): 0.0000000000E+000
+week: 377
+
+******** Week 377 almanac for PRN-10 ********
+ID: 10
+Health: 000
+Eccentricity: 0.7205486298E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9714376756
+Rate of Right Ascen(r/s): -0.7988904198E-008
+SQRT(A) (m 1/2): 5153.667480
+Right Ascen at Week(rad): -0.1632406478E+001
+Argument of Perigee(rad): 0.433487766
+Mean Anom(rad): 0.2224699080E+001
+Af0(s): 0.9250640869E-004
+Af1(s/s): 0.0000000000E+000
+week: 377
+
+******** Week 377 almanac for PRN-11 ********
+ID: 11
+Health: 000
+Eccentricity: 0.6191730499E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.8959310665
+Rate of Right Ascen(r/s): -0.8640359906E-008
+SQRT(A) (m 1/2): 5153.632324
+Right Ascen at Week(rad): -0.2860074597E+001
+Argument of Perigee(rad): 0.412382048
+Mean Anom(rad): -0.5374164621E+000
+Af0(s): 0.3595352173E-003
+Af1(s/s): 0.0000000000E+000
+week: 377
+
+******** Week 377 almanac for PRN-13 ********
+ID: 13
+Health: 000
+Eccentricity: 0.2932548523E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9934706730
+Rate of Right Ascen(r/s): -0.7474597061E-008
+SQRT(A) (m 1/2): 5153.656738
+Right Ascen at Week(rad): -0.5781676953E+000
+Argument of Perigee(rad): 1.279112651
+Mean Anom(rad): 0.2001802983E+001
+Af0(s): 0.1134872437E-003
+Af1(s/s): 0.3637978807E-011
+week: 377
+
+******** Week 377 almanac for PRN-14 ********
+ID: 14
+Health: 000
+Eccentricity: 0.2929687500E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9875324896
+Rate of Right Ascen(r/s): -0.7520313251E-008
+SQRT(A) (m 1/2): 5153.665039
+Right Ascen at Week(rad): -0.5922750006E+000
+Argument of Perigee(rad): -2.115729519
+Mean Anom(rad): 0.1507391163E+001
+Af0(s): -0.9536743164E-006
+Af1(s/s): 0.0000000000E+000
+week: 377
+
+******** Week 377 almanac for PRN-15 ********
+ID: 15
+Health: 063
+Eccentricity: 0.9917736053E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9551151612
+Rate of Right Ascen(r/s): -0.8148910863E-008
+SQRT(A) (m 1/2): 5153.578125
+Right Ascen at Week(rad): -0.2628770443E+001
+Argument of Perigee(rad): 2.717787393
+Mean Anom(rad): -0.1064126143E+001
+Af0(s): 0.9632110596E-004
+Af1(s/s): 0.4001776688E-010
+week: 377
+
+******** Week 377 almanac for PRN-16 ********
+ID: 16
+Health: 000
+Eccentricity: 0.3469944000E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9623716094
+Rate of Right Ascen(r/s): -0.7954617056E-008
+SQRT(A) (m 1/2): 5153.486816
+Right Ascen at Week(rad): 0.1497336399E+001
+Argument of Perigee(rad): -0.763012006
+Mean Anom(rad): -0.2678242072E+001
+Af0(s): 0.9250640869E-004
+Af1(s/s): 0.3637978807E-011
+week: 377
+
+******** Week 377 almanac for PRN-17 ********
+ID: 17
+Health: 000
+Eccentricity: 0.2281188965E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9600826225
+Rate of Right Ascen(r/s): -0.7714607059E-008
+SQRT(A) (m 1/2): 5153.707031
+Right Ascen at Week(rad): 0.2536622988E+001
+Argument of Perigee(rad): 3.054354612
+Mean Anom(rad): 0.2632875040E+001
+Af0(s): 0.8964538574E-004
+Af1(s/s): 0.0000000000E+000
+week: 377
+
+******** Week 377 almanac for PRN-18 ********
+ID: 18
+Health: 000
+Eccentricity: 0.7791519165E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9555226249
+Rate of Right Ascen(r/s): -0.8103194673E-008
+SQRT(A) (m 1/2): 5153.674805
+Right Ascen at Week(rad): -0.1613166928E+001
+Argument of Perigee(rad): -2.603686336
+Mean Anom(rad): -0.2653196165E+001
+Af0(s): -0.2527236938E-003
+Af1(s/s): 0.0000000000E+000
+week: 377
+
+******** Week 377 almanac for PRN-19 ********
+ID: 19
+Health: 000
+Eccentricity: 0.3495693207E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9580453042
+Rate of Right Ascen(r/s): -0.7748894201E-008
+SQRT(A) (m 1/2): 5153.627930
+Right Ascen at Week(rad): 0.2595480513E+001
+Argument of Perigee(rad): -1.045645344
+Mean Anom(rad): 0.2226834894E+001
+Af0(s): 0.3433227539E-004
+Af1(s/s): 0.3637978807E-011
+week: 377
+
+******** Week 377 almanac for PRN-20 ********
+ID: 20
+Health: 000
+Eccentricity: 0.2786636353E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9550372638
+Rate of Right Ascen(r/s): -0.8148910863E-008
+SQRT(A) (m 1/2): 5153.593750
+Right Ascen at Week(rad): -0.1666267156E+001
+Argument of Perigee(rad): 1.314164637
+Mean Anom(rad): -0.2728643228E+001
+Af0(s): -0.2193450928E-004
+Af1(s/s): 0.0000000000E+000
+week: 377
+
+******** Week 377 almanac for PRN-21 ********
+ID: 21
+Health: 000
+Eccentricity: 0.1173782349E-001
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9416808451
+Rate of Right Ascen(r/s): -0.8251772291E-008
+SQRT(A) (m 1/2): 5153.619629
+Right Ascen at Week(rad): -0.2668159219E+001
+Argument of Perigee(rad): -2.905931484
+Mean Anom(rad): -0.1344352150E+001
+Af0(s): 0.6103515625E-004
+Af1(s/s): 0.0000000000E+000
+week: 377
+
+******** Week 377 almanac for PRN-22 ********
+ID: 22
+Health: 000
+Eccentricity: 0.5032062531E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9530838351
+Rate of Right Ascen(r/s): -0.8148910863E-008
+SQRT(A) (m 1/2): 5153.627930
+Right Ascen at Week(rad): -0.1605437478E+001
+Argument of Perigee(rad): -1.661783558
+Mean Anom(rad): 0.2115357634E+001
+Af0(s): 0.1497268677E-003
+Af1(s/s): 0.3637978807E-011
+week: 377
+
+******** Week 377 almanac for PRN-23 ********
+ID: 23
+Health: 000
+Eccentricity: 0.4751205444E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9697658762
+Rate of Right Ascen(r/s): -0.7714607059E-008
+SQRT(A) (m 1/2): 5153.672363
+Right Ascen at Week(rad): -0.6087709117E+000
+Argument of Perigee(rad): 2.573718284
+Mean Anom(rad): 0.1234485270E+001
+Af0(s): 0.1401901245E-003
+Af1(s/s): 0.0000000000E+000
+week: 377
+
+******** Week 377 almanac for PRN-24 ********
+ID: 24
+Health: 000
+Eccentricity: 0.8847713470E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9583149493
+Rate of Right Ascen(r/s): -0.8080336578E-008
+SQRT(A) (m 1/2): 5155.348633
+Right Ascen at Week(rad): -0.2651758433E+001
+Argument of Perigee(rad): -0.797973735
+Mean Anom(rad): -0.1474707186E+001
+Af0(s): 0.5245208740E-004
+Af1(s/s): 0.3637978807E-011
+week: 377
+
+******** Week 377 almanac for PRN-25 ********
+ID: 25
+Health: 000
+Eccentricity: 0.1273775101E-001
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9566731105
+Rate of Right Ascen(r/s): -0.8068907531E-008
+SQRT(A) (m 1/2): 5153.632812
+Right Ascen at Week(rad): 0.3446767945E+000
+Argument of Perigee(rad): -1.316009458
+Mean Anom(rad): -0.7540773916E+000
+Af0(s): 0.4053115845E-003
+Af1(s/s): 0.3637978807E-011
+week: 377
+
+******** Week 377 almanac for PRN-26 ********
+ID: 26
+Health: 000
+Eccentricity: 0.1753950119E-001
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9915711734
+Rate of Right Ascen(r/s): -0.7508884204E-008
+SQRT(A) (m 1/2): 5153.563965
+Right Ascen at Week(rad): -0.5778542330E+000
+Argument of Perigee(rad): 0.819809742
+Mean Anom(rad): 0.4070752830E+000
+Af0(s): -0.5722045898E-005
+Af1(s/s): -0.1455191523E-010
+week: 377
+
+******** Week 377 almanac for PRN-27 ********
+ID: 27
+Health: 000
+Eccentricity: 0.2011394501E-001
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9612211238
+Rate of Right Ascen(r/s): -0.7977475151E-008
+SQRT(A) (m 1/2): 5153.523926
+Right Ascen at Week(rad): 0.3772570334E+000
+Argument of Perigee(rad): -1.882197797
+Mean Anom(rad): -0.2183613038E+001
+Af0(s): 0.7820129395E-004
+Af1(s/s): 0.3637978807E-011
+week: 377
+
+******** Week 377 almanac for PRN-28 ********
+ID: 28
+Health: 000
+Eccentricity: 0.1181697845E-001
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9604541334
+Rate of Right Ascen(r/s): -0.7954617056E-008
+SQRT(A) (m 1/2): 5153.626465
+Right Ascen at Week(rad): 0.1506702070E+001
+Argument of Perigee(rad): -2.238082838
+Mean Anom(rad): 0.2879402530E+001
+Af0(s): 0.1430511475E-004
+Af1(s/s): 0.0000000000E+000
+week: 377
+
+******** Week 377 almanac for PRN-29 ********
+ID: 29
+Health: 000
+Eccentricity: 0.9733200073E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9881137245
+Rate of Right Ascen(r/s): -0.7520313251E-008
+SQRT(A) (m 1/2): 5153.563477
+Right Ascen at Week(rad): -0.6129770001E+000
+Argument of Perigee(rad): -0.826235908
+Mean Anom(rad): 0.2259862294E+001
+Af0(s): 0.1964569092E-003
+Af1(s/s): 0.2910383046E-010
+week: 377
+
+******** Week 377 almanac for PRN-30 ********
+ID: 30
+Health: 000
+Eccentricity: 0.9547710419E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9448386884
+Rate of Right Ascen(r/s): -0.8126052768E-008
+SQRT(A) (m 1/2): 5153.611328
+Right Ascen at Week(rad): 0.1449469157E+001
+Argument of Perigee(rad): 1.324386431
+Mean Anom(rad): -0.3128663173E+001
+Af0(s): 0.1621246338E-004
+Af1(s/s): 0.0000000000E+000
+week: 377
+
+******** Week 377 almanac for PRN-31 ********
+ID: 31
+Health: 000
+Eccentricity: 0.5969047546E-002
+Time of Applicability(s): 319488.0000
+Orbital Inclination(rad): 0.9598549222
+Rate of Right Ascen(r/s): -0.8057478483E-008
+SQRT(A) (m 1/2): 5153.530762
+Right Ascen at Week(rad): 0.4343877061E+000
+Argument of Perigee(rad): -1.431907774
+Mean Anom(rad): -0.5736043272E+000
+Af0(s): -0.4386901855E-004
+Af1(s/s): 0.1091393642E-010
+week: 377
+
diff --git a/dev/tests/a.txt b/dev/tests/a.txt
new file mode 100644
index 0000000..42812b7
--- /dev/null
+++ b/dev/tests/a.txt
@@ -0,0 +1,3 @@
+$Id$
+
+This is a test
diff --git a/ref/build/gpstk.aip b/ref/build/gpstk.aip
new file mode 100644
index 0000000..06e8504
--- /dev/null
+++ b/ref/build/gpstk.aip
@@ -0,0 +1,431 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<DOCUMENT type="Advanced Installer" CreateVersion="5.1.1" version="5.1.1" modules="freeware" RootPath="." Language="en">
+ <COMPONENT cid="caphyon.advinst.msicomp.MsiPropsComponent">
+ <ROW Property="ALLUSERS" Value="2"/>
+ <ROW Property="ARPCOMMENTS" Value="This installer database contains the logic and data required to install [|ProductName]." ValueLocId="*"/>
+ <ROW Property="ARPCONTACT" Value="gpstk at arlut.utexas.edu"/>
+ <ROW Property="ARPHELPLINK" Value="http://www.gpstk.org/"/>
+ <ROW Property="ARPURLINFOABOUT" Value="http://www.gpstk.org/"/>
+ <ROW Property="BannerBitmap" Value="default_banner.bmp" Type="1"/>
+ <ROW Property="DialogBitmap" Value="default_dialog.bmp" Type="1"/>
+ <ROW Property="Manufacturer" Value="Applied Research Laboratories, The University of Texas at Austin" ValueLocId="*"/>
+ <ROW Property="ProductCode" Value="1033:{DD7ACB95-0DB8-4F83-87C4-B8D401826F58} "/>
+ <ROW Property="ProductLanguage" Value="1033"/>
+ <ROW Property="ProductName" Value="GPS Toolkit" ValueLocId="*"/>
+ <ROW Property="ProductVersion" Value="1.3"/>
+ <ROW Property="SecureCustomProperties" Value="OLDPRODUCTS;AI_NEWERPRODUCTFOUND"/>
+ <ROW Property="UpgradeCode" Value="{9F409322-AF3A-476F-B2CF-A0E349ACA55A}"/>
+ </COMPONENT>
+ <COMPONENT cid="caphyon.advinst.msicomp.MsiDirsComponent">
+ <ROW Directory="APPDIR" Directory_Parent="TARGETDIR" DefaultDir="APPDIR:." IsPseudoRoot="1"/>
+ <ROW Directory="DDBase_DIR" Directory_Parent="SHORTCUTDIR" DefaultDir="DDBase"/>
+ <ROW Directory="SHORTCUTDIR" Directory_Parent="TARGETDIR" DefaultDir="SHORTC~1|SHORTCUTDIR" IsPseudoRoot="1"/>
+ <ROW Directory="TARGETDIR" DefaultDir="SourceDir"/>
+ <ROW Directory="bin_DIR" Directory_Parent="APPDIR" DefaultDir="bin"/>
+ <ROW Directory="include_DIR" Directory_Parent="APPDIR" DefaultDir="include"/>
+ <ROW Directory="lib_DIR" Directory_Parent="APPDIR" DefaultDir="lib"/>
+ </COMPONENT>
+ <COMPONENT cid="caphyon.advinst.msicomp.MsiCompsComponent">
+ <ROW Component="APPDIR" ComponentId="{1403A03C-AA0C-4D01-8F19-B7C8F006372E}" Directory_="APPDIR" Attributes="0"/>
+ <ROW Component="AlmanacStore.hpp" ComponentId="{31E7644B-6038-4D3E-8CC1-2BC96B451487}" Directory_="include_DIR" Attributes="0" KeyPath="AlmanacStore.hpp" FullKeyPath="APPDIR\include"/>
+ <ROW Component="DDBase.exe" ComponentId="{34CFCAA4-AB17-4C2D-9D57-E07E965227C5}" Directory_="bin_DIR" Attributes="0" KeyPath="DDBase.exe" FullKeyPath="APPDIR\bin\DDBase.exe"/>
+ <ROW Component="DDBaseDoc.pdf" ComponentId="{F3213EF2-3140-439E-B5F9-E7A749EC5C67}" Directory_="DDBase_DIR" Attributes="0" KeyPath="DDBaseDoc.pdf" FullKeyPath="SHORTCUTDIR\DDBase"/>
+ <ROW Component="DiscFix.exe" ComponentId="{C18E72F2-DB33-4AE0-87F7-B018984D12AA}" Directory_="bin_DIR" Attributes="0" KeyPath="DiscFix.exe" FullKeyPath="APPDIR\bin\DiscFix.exe"/>
+ <ROW Component="EditRinex.exe" ComponentId="{36A83182-B17F-4D4C-88C2-86373E477E4B}" Directory_="bin_DIR" Attributes="0" KeyPath="EditRinex.exe" FullKeyPath="APPDIR\bin\EditRinex.exe"/>
+ <ROW Component="IonoBias.exe" ComponentId="{6290C754-497D-4656-9B50-B34A2261CF39}" Directory_="bin_DIR" Attributes="0" KeyPath="IonoBias.exe" FullKeyPath="APPDIR\bin\IonoBias.exe"/>
+ <ROW Component="NavMerge.exe" ComponentId="{6CDA2B1D-A7C1-4F28-BBE8-26D6F9675CDE}" Directory_="bin_DIR" Attributes="0" KeyPath="NavMerge.exe" FullKeyPath="APPDIR\bin\NavMerge.exe"/>
+ <ROW Component="PRSolve.exe" ComponentId="{52D2914E-FF97-4CBB-B483-2E53F3D15380}" Directory_="bin_DIR" Attributes="0" KeyPath="PRSolve.exe" FullKeyPath="APPDIR\bin\PRSolve.exe"/>
+ <ROW Component="ResCor.exe" ComponentId="{C7E96632-2CC7-4423-B97E-271FC95327AB}" Directory_="bin_DIR" Attributes="0" KeyPath="ResCor.exe" FullKeyPath="APPDIR\bin\ResCor.exe"/>
+ <ROW Component="RinSum.exe" ComponentId="{ACBFE622-8111-4F21-B0D9-F065FCB0A6A5}" Directory_="bin_DIR" Attributes="0" KeyPath="RinSum.exe" FullKeyPath="APPDIR\bin\RinSum.exe"/>
+ <ROW Component="RinexDump.exe" ComponentId="{42244EEF-8501-4E13-B3E7-291F1183997F}" Directory_="bin_DIR" Attributes="0" KeyPath="RinexDump.exe" FullKeyPath="APPDIR\bin\RinexDump.exe"/>
+ <ROW Component="TECMaps.exe" ComponentId="{357A76AB-0B9F-4CA7-A066-BEA0940C7012}" Directory_="bin_DIR" Attributes="0" KeyPath="TECMaps.exe" FullKeyPath="APPDIR\bin\TECMaps.exe"/>
+ <ROW Component="bc2sp3.exe" ComponentId="{FCD06097-8D49-49A6-A438-6ABCB0C025E7}" Directory_="bin_DIR" Attributes="0" KeyPath="bc2sp3.exe" FullKeyPath="APPDIR\bin\bc2sp3.exe"/>
+ <ROW Component="calgps.exe" ComponentId="{E8572896-07F4-4E5C-BA49-CD953EE08736}" Directory_="bin_DIR" Attributes="0" KeyPath="calgps.exe" FullKeyPath="APPDIR\bin\calgps.exe"/>
+ <ROW Component="ddmerge.exe" ComponentId="{486CC858-95CB-4253-9C62-4E5614AD35EF}" Directory_="bin_DIR" Attributes="0" KeyPath="ddmerge.exe" FullKeyPath="APPDIR\bin\ddmerge.exe"/>
+ <ROW Component="ephdiff.exe" ComponentId="{0D3D23F9-156B-4407-9C09-EEB2A8FFF389}" Directory_="bin_DIR" Attributes="0" KeyPath="ephdiff.exe" FullKeyPath="APPDIR\bin\ephdiff.exe"/>
+ <ROW Component="fic2rin.exe" ComponentId="{45639FBC-32EA-4AA5-86EF-7D9C56037DA8}" Directory_="bin_DIR" Attributes="0" KeyPath="fic2rin.exe" FullKeyPath="APPDIR\bin\fic2rin.exe"/>
+ <ROW Component="ficacheck.exe" ComponentId="{A7D7E4A6-D078-4F24-B4F5-2D1C74CDF063}" Directory_="bin_DIR" Attributes="0" KeyPath="ficacheck.exe" FullKeyPath="APPDIR\bin\ficacheck.exe"/>
+ <ROW Component="ficafic.exe" ComponentId="{312E9BE2-D51A-437B-9E12-393351C5DA86}" Directory_="bin_DIR" Attributes="0" KeyPath="ficafic.exe" FullKeyPath="APPDIR\bin\ficafic.exe"/>
+ <ROW Component="ficcheck.exe" ComponentId="{E6454D10-BCC6-449E-ACEE-CD48F152FA6A}" Directory_="bin_DIR" Attributes="0" KeyPath="ficcheck.exe" FullKeyPath="APPDIR\bin\ficcheck.exe"/>
+ <ROW Component="ficdiff.exe" ComponentId="{0FE26648-66CB-4C2A-8462-41FBA7D75B7A}" Directory_="bin_DIR" Attributes="0" KeyPath="ficdiff.exe" FullKeyPath="APPDIR\bin\ficdiff.exe"/>
+ <ROW Component="ficfica.exe" ComponentId="{A50FA514-F2BF-440D-9A43-A47E9780975F}" Directory_="bin_DIR" Attributes="0" KeyPath="ficfica.exe" FullKeyPath="APPDIR\bin\ficfica.exe"/>
+ <ROW Component="gpstk.lib" ComponentId="{92E69E2C-0E65-4284-BDEE-6722BACB1FA7}" Directory_="lib_DIR" Attributes="0" KeyPath="gpstk.lib" FullKeyPath="APPDIR\lib"/>
+ <ROW Component="gpstk_user_reference.pdf_1" ComponentId="{FA0A4E59-6949-449B-BB63-DE6E0E7E05A1}" Directory_="SHORTCUTDIR" Attributes="0" KeyPath="gpstk_user_reference.pdf" FullKeyPath="SHORTCUTDIR"/>
+ <ROW Component="mergeFIC.exe" ComponentId="{EFDDE139-F69F-4C20-8CFF-8685DB973820}" Directory_="bin_DIR" Attributes="0" KeyPath="mergeFIC.exe" FullKeyPath="APPDIR\bin\mergeFIC.exe"/>
+ <ROW Component="mergeRinMet.exe" ComponentId="{231A13CB-6C7D-4296-AB60-78FD040F4023}" Directory_="bin_DIR" Attributes="0" KeyPath="mergeRinMet.exe" FullKeyPath="APPDIR\bin\mergeRinMet.exe"/>
+ <ROW Component="mergeRinNav.exe" ComponentId="{66D0EAE1-A262-48CB-9F4E-35920EB4EF0E}" Directory_="bin_DIR" Attributes="0" KeyPath="mergeRinNav.exe" FullKeyPath="APPDIR\bin\mergeRinNav.exe"/>
+ <ROW Component="mergeRinObs.exe" ComponentId="{167F6DB6-315B-48C1-B0D2-BBA3BEEC389B}" Directory_="bin_DIR" Attributes="0" KeyPath="mergeRinObs.exe" FullKeyPath="APPDIR\bin\mergeRinObs.exe"/>
+ <ROW Component="mergeSRI.exe" ComponentId="{2566B8B9-3429-4BBF-BA2C-68E9CF24D08C}" Directory_="bin_DIR" Attributes="0" KeyPath="mergeSRI.exe" FullKeyPath="APPDIR\bin\mergeSRI.exe"/>
+ <ROW Component="mpsolve.exe" ComponentId="{4515D68C-01C0-4B53-9C72-3BF45AD253B4}" Directory_="bin_DIR" Attributes="0" KeyPath="mpsolve.exe" FullKeyPath="APPDIR\bin\mpsolve.exe"/>
+ <ROW Component="navdmp.exe" ComponentId="{67EF2C9E-D17E-402C-8164-A200BE9C1BF0}" Directory_="bin_DIR" Attributes="0" KeyPath="navdmp.exe" FullKeyPath="APPDIR\bin\navdmp.exe"/>
+ <ROW Component="novaRinex.exe" ComponentId="{C2159EC6-8E9F-4C50-BA19-C044712DA73F}" Directory_="bin_DIR" Attributes="0" KeyPath="novaRinex.exe" FullKeyPath="APPDIR\bin\novaRinex.exe"/>
+ <ROW Component="posInterp.exe" ComponentId="{DF80F91D-6FBA-48AF-A8B3-40DAF65CB578}" Directory_="bin_DIR" Attributes="0" KeyPath="posInterp.exe" FullKeyPath="APPDIR\bin\posInterp.exe"/>
+ <ROW Component="poscvt.exe" ComponentId="{7D440995-7E4C-4E72-AD48-AD748C0B6096}" Directory_="bin_DIR" Attributes="0" KeyPath="poscvt.exe" FullKeyPath="APPDIR\bin\poscvt.exe"/>
+ <ROW Component="rinexpvt.exe" ComponentId="{53FB158D-5710-4DF1-911F-A52A0CF4E927}" Directory_="bin_DIR" Attributes="0" KeyPath="rinexpvt.exe" FullKeyPath="APPDIR\bin\rinexpvt.exe"/>
+ <ROW Component="rinexthin.exe" ComponentId="{E70DD697-2250-4564-9924-1C346F3C2B58}" Directory_="bin_DIR" Attributes="0" KeyPath="rinexthin.exe" FullKeyPath="APPDIR\bin\rinexthin.exe"/>
+ <ROW Component="rmwcheck.exe" ComponentId="{63C834F5-A340-4FC0-B85E-EFFE4C1013F0}" Directory_="bin_DIR" Attributes="0" KeyPath="rmwcheck.exe" FullKeyPath="APPDIR\bin\rmwcheck.exe"/>
+ <ROW Component="rmwdiff.exe" ComponentId="{023DC1D4-6DBA-488C-B814-DAF786B95320}" Directory_="bin_DIR" Attributes="0" KeyPath="rmwdiff.exe" FullKeyPath="APPDIR\bin\rmwdiff.exe"/>
+ <ROW Component="rnwcheck.exe" ComponentId="{14BF220D-865D-427D-BF77-3A67A871EDB2}" Directory_="bin_DIR" Attributes="0" KeyPath="rnwcheck.exe" FullKeyPath="APPDIR\bin\rnwcheck.exe"/>
+ <ROW Component="rnwdiff.exe" ComponentId="{603C6DD7-FFC3-4F91-9FA1-FDFD7C2B2B70}" Directory_="bin_DIR" Attributes="0" KeyPath="rnwdiff.exe" FullKeyPath="APPDIR\bin\rnwdiff.exe"/>
+ <ROW Component="rowcheck.exe" ComponentId="{D56AA307-2140-46F4-AC17-C5E64C6A4A65}" Directory_="bin_DIR" Attributes="0" KeyPath="rowcheck.exe" FullKeyPath="APPDIR\bin\rowcheck.exe"/>
+ <ROW Component="rowdiff.exe" ComponentId="{07991397-61A1-4BE3-A205-C96D98F61E00}" Directory_="bin_DIR" Attributes="0" KeyPath="rowdiff.exe" FullKeyPath="APPDIR\bin\rowdiff.exe"/>
+ <ROW Component="rstats.exe" ComponentId="{107D4FB8-CE7A-49D7-8103-262C91E26CC5}" Directory_="bin_DIR" Attributes="0" KeyPath="rstats.exe" FullKeyPath="APPDIR\bin\rstats.exe"/>
+ <ROW Component="sp3version.exe" ComponentId="{6B47BD50-B3DC-4369-9BA4-9A753DF24888}" Directory_="bin_DIR" Attributes="0" KeyPath="sp3version.exe" FullKeyPath="APPDIR\bin\sp3version.exe"/>
+ <ROW Component="timeconvert.exe" ComponentId="{A6C5459B-A15C-4B8A-A4F7-516AB67E15BC}" Directory_="bin_DIR" Attributes="0" KeyPath="timeconvert.exe" FullKeyPath="APPDIR\bin\timeconvert.exe"/>
+ <ROW Component="tnl.exe" ComponentId="{76E3434F-94DA-4ACD-AA71-DFB6810E0E21}" Directory_="bin_DIR" Attributes="0" KeyPath="tnl.exe" FullKeyPath="APPDIR\bin\tnl.exe"/>
+ <ROW Component="tsrif.exe" ComponentId="{F1B95E0F-D908-4A2E-959C-49059EC63149}" Directory_="bin_DIR" Attributes="0" KeyPath="tsrif.exe" FullKeyPath="APPDIR\bin\tsrif.exe"/>
+ <ROW Component="tsrifsu.exe" ComponentId="{39094244-CE40-4682-A93D-3505D46D8CEA}" Directory_="bin_DIR" Attributes="0" KeyPath="tsrifsu.exe" FullKeyPath="APPDIR\bin\tsrifsu.exe"/>
+ <ROW Component="tsriftu.exe" ComponentId="{54041AAC-90E1-4574-8BDF-650B72396C4A}" Directory_="bin_DIR" Attributes="0" KeyPath="tsriftu.exe" FullKeyPath="APPDIR\bin\tsriftu.exe"/>
+ <ROW Component="vecsol.exe" ComponentId="{B89FA2AC-87B8-4488-BF06-0D8CE70FBDBE}" Directory_="bin_DIR" Attributes="0" KeyPath="vecsol.exe" FullKeyPath="APPDIR\bin\vecsol.exe"/>
+ </COMPONENT>
+ <COMPONENT cid="caphyon.advinst.msicomp.MsiFeatsComponent">
+ <ROW Feature="MainFeature" Title="MainFeature" Description="Description" Display="1" Level="1" Directory_="APPDIR" Attributes="0" Components="APPDIR bc2sp3.exe calgps.exe DDBase.exe ddmerge.exe DiscFix.exe EditRinex.exe ephdiff.exe fic2rin.exe ficacheck.exe ficafic.exe ficcheck.exe ficdiff.exe ficfica.exe IonoBias.exe mergeFIC.exe mergeRinMet.exe mergeRinNav.exe mergeRinObs.exe mergeSRI.exe mpsolve.exe navdmp.exe NavMerge.exe novaRinex.exe poscvt.exe posInterp.exe PRSolve.exe ResCor. [...]
+ <ATTRIBUTE name="CurrentFeature" value="MainFeature"/>
+ </COMPONENT>
+ <COMPONENT cid="caphyon.advinst.msicomp.MsiFilesComponent">
+ <ROW File="ANSITime.hpp" Component_="AlmanacStore.hpp" FileName="ANSITime.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ANSITime.hpp" SelfReg="false" Sequence="49"/>
+ <ROW File="AlmOrbit.hpp" Component_="AlmanacStore.hpp" FileName="AlmOrbit.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\AlmOrbit.hpp" SelfReg="false" Sequence="48"/>
+ <ROW File="AlmanacStore.hpp" Component_="AlmanacStore.hpp" FileName="Almana~1.hpp|AlmanacStore.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\AlmanacStore.hpp" SelfReg="false" Sequence="47"/>
+ <ROW File="AshtechALB.hpp" Component_="AlmanacStore.hpp" FileName="Ashtec~1.hpp|AshtechALB.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\AshtechALB.hpp" SelfReg="false" Sequence="50"/>
+ <ROW File="AshtechData.hpp" Component_="AlmanacStore.hpp" FileName="Ashtec~2.hpp|AshtechData.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\AshtechData.hpp" SelfReg="false" Sequence="51"/>
+ <ROW File="AshtechEPB.hpp" Component_="AlmanacStore.hpp" FileName="Ashtec~3.hpp|AshtechEPB.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\AshtechEPB.hpp" SelfReg="false" Sequence="52"/>
+ <ROW File="AshtechMBEN.hpp" Component_="AlmanacStore.hpp" FileName="Ashtec~4.hpp|AshtechMBEN.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\AshtechMBEN.hpp" SelfReg="false" Sequence="53"/>
+ <ROW File="AshtechPBEN.hpp" Component_="AlmanacStore.hpp" FileName="Ashtec~5.hpp|AshtechPBEN.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\AshtechPBEN.hpp" SelfReg="false" Sequence="54"/>
+ <ROW File="AshtechStream.hpp" Component_="AlmanacStore.hpp" FileName="Ashtec~6.hpp|AshtechStream.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\AshtechStream.hpp" SelfReg="false" Sequence="55"/>
+ <ROW File="BCEphemerisStore.hpp" Component_="AlmanacStore.hpp" FileName="BCEphe~1.hpp|BCEphemerisStore.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\BCEphemerisStore.hpp" SelfReg="false" Sequence="58"/>
+ <ROW File="Bancroft.hpp" Component_="AlmanacStore.hpp" FileName="Bancroft.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\Bancroft.hpp" SelfReg="false" Sequence="56"/>
+ <ROW File="BasicFramework.hpp" Component_="AlmanacStore.hpp" FileName="BasicF~1.hpp|BasicFramework.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\BasicFramework.hpp" SelfReg="false" Sequence="57"/>
+ <ROW File="BinUtils.hpp" Component_="AlmanacStore.hpp" FileName="BinUtils.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\BinUtils.hpp" SelfReg="false" Sequence="62"/>
+ <ROW File="BinexData.hpp" Component_="AlmanacStore.hpp" FileName="BinexD~1.hpp|BinexData.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\BinexData.hpp" SelfReg="false" Sequence="59"/>
+ <ROW File="BinexFilterOperators.hpp" Component_="AlmanacStore.hpp" FileName="BinexF~1.hpp|BinexFilterOperators.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\BinexFilterOperators.hpp" SelfReg="false" Sequence="60"/>
+ <ROW File="BinexStream.hpp" Component_="AlmanacStore.hpp" FileName="BinexS~1.hpp|BinexStream.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\BinexStream.hpp" SelfReg="false" Sequence="61"/>
+ <ROW File="BivarStats.hpp" Component_="AlmanacStore.hpp" FileName="BivarS~1.hpp|BivarStats.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\BivarStats.hpp" SelfReg="false" Sequence="63"/>
+ <ROW File="CheckPRData.hpp" Component_="AlmanacStore.hpp" FileName="CheckP~1.hpp|CheckPRData.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\CheckPRData.hpp" SelfReg="false" Sequence="64"/>
+ <ROW File="CivilTime.hpp" Component_="AlmanacStore.hpp" FileName="CivilT~1.hpp|CivilTime.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\CivilTime.hpp" SelfReg="false" Sequence="65"/>
+ <ROW File="ClockModel.hpp" Component_="AlmanacStore.hpp" FileName="ClockM~1.hpp|ClockModel.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ClockModel.hpp" SelfReg="false" Sequence="66"/>
+ <ROW File="CodeBuffer.hpp" Component_="AlmanacStore.hpp" FileName="CodeBu~1.hpp|CodeBuffer.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\CodeBuffer.hpp" SelfReg="false" Sequence="67"/>
+ <ROW File="CodeSmoother.hpp" Component_="AlmanacStore.hpp" FileName="CodeSm~1.hpp|CodeSmoother.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\CodeSmoother.hpp" SelfReg="false" Sequence="68"/>
+ <ROW File="CommandOption.hpp" Component_="AlmanacStore.hpp" FileName="Comman~1.hpp|CommandOption.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\CommandOption.hpp" SelfReg="false" Sequence="69"/>
+ <ROW File="CommandOptionParser.hpp" Component_="AlmanacStore.hpp" FileName="Comman~2.hpp|CommandOptionParser.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\CommandOptionParser.hpp" SelfReg="false" Sequence="70"/>
+ <ROW File="CommandOptionWithCommonTimeArg.hpp" Component_="AlmanacStore.hpp" FileName="Comman~3.hpp|CommandOptionWithCommonTimeArg.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\CommandOptionWithCommonTimeArg.hpp" SelfReg="false" Sequence="71"/>
+ <ROW File="CommandOptionWithPositionArg.hpp" Component_="AlmanacStore.hpp" FileName="Comman~4.hpp|CommandOptionWithPositionArg.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\CommandOptionWithPositionArg.hpp" SelfReg="false" Sequence="72"/>
+ <ROW File="CommandOptionWithTimeArg.hpp" Component_="AlmanacStore.hpp" FileName="Comman~5.hpp|CommandOptionWithTimeArg.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\CommandOptionWithTimeArg.hpp" SelfReg="false" Sequence="73"/>
+ <ROW File="CommonTime.hpp" Component_="AlmanacStore.hpp" FileName="Common~1.hpp|CommonTime.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\CommonTime.hpp" SelfReg="false" Sequence="74"/>
+ <ROW File="ComputeCombination.hpp" Component_="AlmanacStore.hpp" FileName="Comput~1.hpp|ComputeCombination.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ComputeCombination.hpp" SelfReg="false" Sequence="75"/>
+ <ROW File="ComputeIURAWeights.hpp" Component_="AlmanacStore.hpp" FileName="Comput~2.hpp|ComputeIURAWeights.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ComputeIURAWeights.hpp" SelfReg="false" Sequence="76"/>
+ <ROW File="ComputeLC.hpp" Component_="AlmanacStore.hpp" FileName="Comput~3.hpp|ComputeLC.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ComputeLC.hpp" SelfReg="false" Sequence="77"/>
+ <ROW File="ComputeLI.hpp" Component_="AlmanacStore.hpp" FileName="Comput~5.hpp|ComputeLI.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ComputeLI.hpp" SelfReg="false" Sequence="79"/>
+ <ROW File="ComputeLdelta.hpp" Component_="AlmanacStore.hpp" FileName="Comput~4.hpp|ComputeLdelta.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ComputeLdelta.hpp" SelfReg="false" Sequence="78"/>
+ <ROW File="ComputeMOPSWeights.hpp" Component_="AlmanacStore.hpp" FileName="Comput~7.hpp|ComputeMOPSWeights.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ComputeMOPSWeights.hpp" SelfReg="false" Sequence="81"/>
+ <ROW File="ComputeMelbourneWubbena.hpp" Component_="AlmanacStore.hpp" FileName="Comput~6.hpp|ComputeMelbourneWubbena.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ComputeMelbourneWubbena.hpp" SelfReg="false" Sequence="80"/>
+ <ROW File="ComputePC.hpp" Component_="AlmanacStore.hpp" FileName="Comput~8.hpp|ComputePC.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ComputePC.hpp" SelfReg="false" Sequence="82"/>
+ <ROW File="ComputePI.hpp" Component_="AlmanacStore.hpp" FileName="Compu~10.hpp|ComputePI.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ComputePI.hpp" SelfReg="false" Sequence="84"/>
+ <ROW File="ComputePdelta.hpp" Component_="AlmanacStore.hpp" FileName="Comput~9.hpp|ComputePdelta.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ComputePdelta.hpp" SelfReg="false" Sequence="83"/>
+ <ROW File="DDBase.exe" Component_="DDBase.exe" FileName="DDBase.exe" Attributes="0" SourcePath="..\..\..\Test\install\bin\DDBase.exe" SelfReg="false" Sequence="3"/>
+ <ROW File="DDBaseCmdLineRef.pdf" Component_="DDBaseDoc.pdf" FileName="DDBase~2.pdf|DDBaseCmdLineRef.pdf" Attributes="0" SourcePath="..\..\dev\apps\geomatics\relposition\doc\DDBaseCmdLineRef.pdf" SelfReg="false" Sequence="281"/>
+ <ROW File="DDBaseDoc.pdf" Component_="DDBaseDoc.pdf" FileName="DDBase~1.pdf|DDBaseDoc.pdf" Attributes="0" SourcePath="..\..\dev\apps\geomatics\relposition\doc\DDBaseDoc.pdf" SelfReg="false" Sequence="280"/>
+ <ROW File="DOP.hpp" Component_="AlmanacStore.hpp" FileName="DOP.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\DOP.hpp" SelfReg="false" Sequence="92"/>
+ <ROW File="DataHeaders.hpp" Component_="AlmanacStore.hpp" FileName="DataHe~1.hpp|DataHeaders.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\DataHeaders.hpp" SelfReg="false" Sequence="86"/>
+ <ROW File="DataStatus.hpp" Component_="AlmanacStore.hpp" FileName="DataSt~1.hpp|DataStatus.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\DataStatus.hpp" SelfReg="false" Sequence="87"/>
+ <ROW File="DataStructures.hpp" Component_="AlmanacStore.hpp" FileName="DataSt~2.hpp|DataStructures.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\DataStructures.hpp" SelfReg="false" Sequence="88"/>
+ <ROW File="DayTime.hpp" Component_="AlmanacStore.hpp" FileName="DayTime.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\DayTime.hpp" SelfReg="false" Sequence="89"/>
+ <ROW File="DeltaOp.hpp" Component_="AlmanacStore.hpp" FileName="DeltaOp.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\DeltaOp.hpp" SelfReg="false" Sequence="90"/>
+ <ROW File="DeviceStream.hpp" Component_="AlmanacStore.hpp" FileName="Device~1.hpp|DeviceStream.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\DeviceStream.hpp" SelfReg="false" Sequence="91"/>
+ <ROW File="DiscFix.exe" Component_="DiscFix.exe" FileName="DiscFix.exe" Attributes="0" SourcePath="..\..\..\Test\install\bin\DiscFix.exe" SelfReg="false" Sequence="5"/>
+ <ROW File="ECEF.hpp" Component_="AlmanacStore.hpp" FileName="ECEF.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ECEF.hpp" SelfReg="false" Sequence="93"/>
+ <ROW File="EditRinex.exe" Component_="EditRinex.exe" FileName="EditRi~1.exe|EditRinex.exe" Attributes="0" SourcePath="..\..\..\Test\install\bin\EditRinex.exe" SelfReg="false" Sequence="6"/>
+ <ROW File="EngAlmanac.hpp" Component_="AlmanacStore.hpp" FileName="EngAlm~1.hpp|EngAlmanac.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\EngAlmanac.hpp" SelfReg="false" Sequence="94"/>
+ <ROW File="EngEphemeris.hpp" Component_="AlmanacStore.hpp" FileName="EngEph~1.hpp|EngEphemeris.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\EngEphemeris.hpp" SelfReg="false" Sequence="95"/>
+ <ROW File="EngNav.hpp" Component_="AlmanacStore.hpp" FileName="EngNav.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\EngNav.hpp" SelfReg="false" Sequence="96"/>
+ <ROW File="EphReader.hpp" Component_="AlmanacStore.hpp" FileName="EphRea~1.hpp|EphReader.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\EphReader.hpp" SelfReg="false" Sequence="99"/>
+ <ROW File="EphemerisRange.hpp" Component_="AlmanacStore.hpp" FileName="Epheme~1.hpp|EphemerisRange.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\EphemerisRange.hpp" SelfReg="false" Sequence="97"/>
+ <ROW File="EphemerisStore.hpp" Component_="AlmanacStore.hpp" FileName="Epheme~2.hpp|EphemerisStore.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\EphemerisStore.hpp" SelfReg="false" Sequence="98"/>
+ <ROW File="EpochClockModel.hpp" Component_="AlmanacStore.hpp" FileName="EpochC~1.hpp|EpochClockModel.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\EpochClockModel.hpp" SelfReg="false" Sequence="100"/>
+ <ROW File="Exception.hpp" Component_="AlmanacStore.hpp" FileName="Except~1.hpp|Exception.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\Exception.hpp" SelfReg="false" Sequence="101"/>
+ <ROW File="Expression.hpp" Component_="AlmanacStore.hpp" FileName="Expres~1.hpp|Expression.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\Expression.hpp" SelfReg="false" Sequence="102"/>
+ <ROW File="ExtractC1.hpp" Component_="AlmanacStore.hpp" FileName="Extrac~1.hpp|ExtractC1.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ExtractC1.hpp" SelfReg="false" Sequence="103"/>
+ <ROW File="ExtractCombinationData.hpp" Component_="AlmanacStore.hpp" FileName="Extrac~2.hpp|ExtractCombinationData.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ExtractCombinationData.hpp" SelfReg="false" Sequence="104"/>
+ <ROW File="ExtractD1.hpp" Component_="AlmanacStore.hpp" FileName="Extrac~3.hpp|ExtractD1.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ExtractD1.hpp" SelfReg="false" Sequence="105"/>
+ <ROW File="ExtractD2.hpp" Component_="AlmanacStore.hpp" FileName="Extrac~4.hpp|ExtractD2.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ExtractD2.hpp" SelfReg="false" Sequence="106"/>
+ <ROW File="ExtractData.hpp" Component_="AlmanacStore.hpp" FileName="Extrac~5.hpp|ExtractData.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ExtractData.hpp" SelfReg="false" Sequence="107"/>
+ <ROW File="ExtractL1.hpp" Component_="AlmanacStore.hpp" FileName="Extrac~6.hpp|ExtractL1.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ExtractL1.hpp" SelfReg="false" Sequence="108"/>
+ <ROW File="ExtractL2.hpp" Component_="AlmanacStore.hpp" FileName="Extrac~7.hpp|ExtractL2.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ExtractL2.hpp" SelfReg="false" Sequence="109"/>
+ <ROW File="ExtractLC.hpp" Component_="AlmanacStore.hpp" FileName="Extrac~8.hpp|ExtractLC.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ExtractLC.hpp" SelfReg="false" Sequence="110"/>
+ <ROW File="ExtractP1.hpp" Component_="AlmanacStore.hpp" FileName="Extrac~9.hpp|ExtractP1.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ExtractP1.hpp" SelfReg="false" Sequence="111"/>
+ <ROW File="ExtractP2.hpp" Component_="AlmanacStore.hpp" FileName="Extra~10.hpp|ExtractP2.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ExtractP2.hpp" SelfReg="false" Sequence="112"/>
+ <ROW File="ExtractPC.hpp" Component_="AlmanacStore.hpp" FileName="Extra~11.hpp|ExtractPC.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ExtractPC.hpp" SelfReg="false" Sequence="113"/>
+ <ROW File="FDStreamBuff.hpp" Component_="AlmanacStore.hpp" FileName="FDStre~1.hpp|FDStreamBuff.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FDStreamBuff.hpp" SelfReg="false" Sequence="114"/>
+ <ROW File="FFBinaryStream.hpp" Component_="AlmanacStore.hpp" FileName="FFBina~1.hpp|FFBinaryStream.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FFBinaryStream.hpp" SelfReg="false" Sequence="115"/>
+ <ROW File="FFData.hpp" Component_="AlmanacStore.hpp" FileName="FFData.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FFData.hpp" SelfReg="false" Sequence="116"/>
+ <ROW File="FFIdentifier.hpp" Component_="AlmanacStore.hpp" FileName="FFIden~1.hpp|FFIdentifier.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FFIdentifier.hpp" SelfReg="false" Sequence="117"/>
+ <ROW File="FFStream.hpp" Component_="AlmanacStore.hpp" FileName="FFStream.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FFStream.hpp" SelfReg="false" Sequence="118"/>
+ <ROW File="FFStreamError.hpp" Component_="AlmanacStore.hpp" FileName="FFStre~1.hpp|FFStreamError.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FFStreamError.hpp" SelfReg="false" Sequence="119"/>
+ <ROW File="FFTextStream.hpp" Component_="AlmanacStore.hpp" FileName="FFText~1.hpp|FFTextStream.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FFTextStream.hpp" SelfReg="false" Sequence="120"/>
+ <ROW File="FICAStream.hpp" Component_="AlmanacStore.hpp" FileName="FICASt~1.hpp|FICAStream.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FICAStream.hpp" SelfReg="false" Sequence="121"/>
+ <ROW File="FICBase.hpp" Component_="AlmanacStore.hpp" FileName="FICBase.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FICBase.hpp" SelfReg="false" Sequence="122"/>
+ <ROW File="FICData.hpp" Component_="AlmanacStore.hpp" FileName="FICData.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FICData.hpp" SelfReg="false" Sequence="123"/>
+ <ROW File="FICData109.hpp" Component_="AlmanacStore.hpp" FileName="FICDat~1.hpp|FICData109.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FICData109.hpp" SelfReg="false" Sequence="124"/>
+ <ROW File="FICData162.hpp" Component_="AlmanacStore.hpp" FileName="FICDat~2.hpp|FICData162.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FICData162.hpp" SelfReg="false" Sequence="125"/>
+ <ROW File="FICData62.hpp" Component_="AlmanacStore.hpp" FileName="FICDat~3.hpp|FICData62.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FICData62.hpp" SelfReg="false" Sequence="126"/>
+ <ROW File="FICData9.hpp" Component_="AlmanacStore.hpp" FileName="FICData9.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FICData9.hpp" SelfReg="false" Sequence="127"/>
+ <ROW File="FICFilterOperators.hpp" Component_="AlmanacStore.hpp" FileName="FICFil~1.hpp|FICFilterOperators.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FICFilterOperators.hpp" SelfReg="false" Sequence="128"/>
+ <ROW File="FICHeader.hpp" Component_="AlmanacStore.hpp" FileName="FICHea~1.hpp|FICHeader.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FICHeader.hpp" SelfReg="false" Sequence="129"/>
+ <ROW File="FICStream.hpp" Component_="AlmanacStore.hpp" FileName="FICStr~1.hpp|FICStream.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FICStream.hpp" SelfReg="false" Sequence="130"/>
+ <ROW File="FICStreamBase.hpp" Component_="AlmanacStore.hpp" FileName="FICStr~2.hpp|FICStreamBase.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FICStreamBase.hpp" SelfReg="false" Sequence="131"/>
+ <ROW File="FileFilter.hpp" Component_="AlmanacStore.hpp" FileName="FileFi~1.hpp|FileFilter.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FileFilter.hpp" SelfReg="false" Sequence="132"/>
+ <ROW File="FileFilterFrame.hpp" Component_="AlmanacStore.hpp" FileName="FileFi~2.hpp|FileFilterFrame.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FileFilterFrame.hpp" SelfReg="false" Sequence="133"/>
+ <ROW File="FileFilterFrameWithHeader.hpp" Component_="AlmanacStore.hpp" FileName="FileFi~3.hpp|FileFilterFrameWithHeader.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FileFilterFrameWithHeader.hpp" SelfReg="false" Sequence="134"/>
+ <ROW File="FileHunter.hpp" Component_="AlmanacStore.hpp" FileName="FileHu~1.hpp|FileHunter.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FileHunter.hpp" SelfReg="false" Sequence="135"/>
+ <ROW File="FileSpec.hpp" Component_="AlmanacStore.hpp" FileName="FileSpec.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FileSpec.hpp" SelfReg="false" Sequence="136"/>
+ <ROW File="FileStore.hpp" Component_="AlmanacStore.hpp" FileName="FileSt~1.hpp|FileStore.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FileStore.hpp" SelfReg="false" Sequence="137"/>
+ <ROW File="FileUtils.hpp" Component_="AlmanacStore.hpp" FileName="FileUt~1.hpp|FileUtils.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\FileUtils.hpp" SelfReg="false" Sequence="138"/>
+ <ROW File="GPSEpochWeekSecond.hpp" Component_="AlmanacStore.hpp" FileName="GPSEpo~1.hpp|GPSEpochWeekSecond.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\GPSEpochWeekSecond.hpp" SelfReg="false" Sequence="144"/>
+ <ROW File="GPSGeoid.hpp" Component_="AlmanacStore.hpp" FileName="GPSGeoid.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\GPSGeoid.hpp" SelfReg="false" Sequence="145"/>
+ <ROW File="GPSWeekSecond.hpp" Component_="AlmanacStore.hpp" FileName="GPSWee~1.hpp|GPSWeekSecond.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\GPSWeekSecond.hpp" SelfReg="false" Sequence="147"/>
+ <ROW File="GPSWeekZcount.hpp" Component_="AlmanacStore.hpp" FileName="GPSWee~2.hpp|GPSWeekZcount.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\GPSWeekZcount.hpp" SelfReg="false" Sequence="148"/>
+ <ROW File="GPSZcount.hpp" Component_="AlmanacStore.hpp" FileName="GPSZco~1.hpp|GPSZcount.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\GPSZcount.hpp" SelfReg="false" Sequence="149"/>
+ <ROW File="GPSZcount29.hpp" Component_="AlmanacStore.hpp" FileName="GPSZco~2.hpp|GPSZcount29.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\GPSZcount29.hpp" SelfReg="false" Sequence="150"/>
+ <ROW File="GPSZcount32.hpp" Component_="AlmanacStore.hpp" FileName="GPSZco~3.hpp|GPSZcount32.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\GPSZcount32.hpp" SelfReg="false" Sequence="151"/>
+ <ROW File="GenXSequence.hpp" Component_="AlmanacStore.hpp" FileName="GenXSe~1.hpp|GenXSequence.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\GenXSequence.hpp" SelfReg="false" Sequence="139"/>
+ <ROW File="Geodetic.hpp" Component_="AlmanacStore.hpp" FileName="Geodetic.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\Geodetic.hpp" SelfReg="false" Sequence="140"/>
+ <ROW File="GeoidModel.hpp" Component_="AlmanacStore.hpp" FileName="GeoidM~1.hpp|GeoidModel.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\GeoidModel.hpp" SelfReg="false" Sequence="141"/>
+ <ROW File="IonoBias.exe" Component_="IonoBias.exe" FileName="IonoBias.exe" Attributes="0" SourcePath="..\..\..\Test\install\bin\IonoBias.exe" SelfReg="false" Sequence="14"/>
+ <ROW File="IonoModel.hpp" Component_="AlmanacStore.hpp" FileName="IonoMo~1.hpp|IonoModel.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\IonoModel.hpp" SelfReg="false" Sequence="154"/>
+ <ROW File="IonoModelStore.hpp" Component_="AlmanacStore.hpp" FileName="IonoMo~2.hpp|IonoModelStore.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\IonoModelStore.hpp" SelfReg="false" Sequence="155"/>
+ <ROW File="JulianDate.hpp" Component_="AlmanacStore.hpp" FileName="Julian~1.hpp|JulianDate.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\JulianDate.hpp" SelfReg="false" Sequence="156"/>
+ <ROW File="LICSDetector.hpp" Component_="AlmanacStore.hpp" FileName="LICSDe~1.hpp|LICSDetector.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\LICSDetector.hpp" SelfReg="false" Sequence="157"/>
+ <ROW File="LinearClockModel.hpp" Component_="AlmanacStore.hpp" FileName="Linear~1.hpp|LinearClockModel.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\LinearClockModel.hpp" SelfReg="false" Sequence="158"/>
+ <ROW File="LoopedFramework.hpp" Component_="AlmanacStore.hpp" FileName="Looped~1.hpp|LoopedFramework.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\LoopedFramework.hpp" SelfReg="false" Sequence="159"/>
+ <ROW File="MDPHeader.hpp" Component_="AlmanacStore.hpp" FileName="MDPHea~1.hpp|MDPHeader.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\MDPHeader.hpp" SelfReg="false" Sequence="167"/>
+ <ROW File="MDPNavSubframe.hpp" Component_="AlmanacStore.hpp" FileName="MDPNav~1.hpp|MDPNavSubframe.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\MDPNavSubframe.hpp" SelfReg="false" Sequence="168"/>
+ <ROW File="MDPObsEpoch.hpp" Component_="AlmanacStore.hpp" FileName="MDPObs~1.hpp|MDPObsEpoch.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\MDPObsEpoch.hpp" SelfReg="false" Sequence="169"/>
+ <ROW File="MDPPVTSolution.hpp" Component_="AlmanacStore.hpp" FileName="MDPPVT~1.hpp|MDPPVTSolution.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\MDPPVTSolution.hpp" SelfReg="false" Sequence="170"/>
+ <ROW File="MDPSelftestStatus.hpp" Component_="AlmanacStore.hpp" FileName="MDPSel~1.hpp|MDPSelftestStatus.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\MDPSelftestStatus.hpp" SelfReg="false" Sequence="171"/>
+ <ROW File="MJD.hpp" Component_="AlmanacStore.hpp" FileName="MJD.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\MJD.hpp" SelfReg="false" Sequence="176"/>
+ <ROW File="MOPSWeight.hpp" Component_="AlmanacStore.hpp" FileName="MOPSWe~1.hpp|MOPSWeight.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\MOPSWeight.hpp" SelfReg="false" Sequence="180"/>
+ <ROW File="MSCData.hpp" Component_="AlmanacStore.hpp" FileName="MSCData.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\MSCData.hpp" SelfReg="false" Sequence="181"/>
+ <ROW File="MSCStream.hpp" Component_="AlmanacStore.hpp" FileName="MSCStr~1.hpp|MSCStream.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\MSCStream.hpp" SelfReg="false" Sequence="182"/>
+ <ROW File="MWCSDetector.hpp" Component_="AlmanacStore.hpp" FileName="MWCSDe~1.hpp|MWCSDetector.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\MWCSDetector.hpp" SelfReg="false" Sequence="183"/>
+ <ROW File="MathBase.hpp" Component_="AlmanacStore.hpp" FileName="MathBase.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\MathBase.hpp" SelfReg="false" Sequence="160"/>
+ <ROW File="Matrix.hpp" Component_="AlmanacStore.hpp" FileName="Matrix.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\Matrix.hpp" SelfReg="false" Sequence="161"/>
+ <ROW File="MatrixBase.hpp" Component_="AlmanacStore.hpp" FileName="Matrix~1.hpp|MatrixBase.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\MatrixBase.hpp" SelfReg="false" Sequence="162"/>
+ <ROW File="MatrixBaseOperators.hpp" Component_="AlmanacStore.hpp" FileName="Matrix~2.hpp|MatrixBaseOperators.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\MatrixBaseOperators.hpp" SelfReg="false" Sequence="163"/>
+ <ROW File="MatrixFunctors.hpp" Component_="AlmanacStore.hpp" FileName="Matrix~3.hpp|MatrixFunctors.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\MatrixFunctors.hpp" SelfReg="false" Sequence="164"/>
+ <ROW File="MatrixImplementation.hpp" Component_="AlmanacStore.hpp" FileName="Matrix~4.hpp|MatrixImplementation.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\MatrixImplementation.hpp" SelfReg="false" Sequence="165"/>
+ <ROW File="MatrixOperators.hpp" Component_="AlmanacStore.hpp" FileName="Matrix~5.hpp|MatrixOperators.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\MatrixOperators.hpp" SelfReg="false" Sequence="166"/>
+ <ROW File="MetReader.hpp" Component_="AlmanacStore.hpp" FileName="MetRea~1.hpp|MetReader.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\MetReader.hpp" SelfReg="false" Sequence="173"/>
+ <ROW File="MiscMath.hpp" Component_="AlmanacStore.hpp" FileName="MiscMath.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\MiscMath.hpp" SelfReg="false" Sequence="175"/>
+ <ROW File="ModeledPR.hpp" Component_="AlmanacStore.hpp" FileName="Modele~1.hpp|ModeledPR.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ModeledPR.hpp" SelfReg="false" Sequence="177"/>
+ <ROW File="ModeledPseudorangeBase.hpp" Component_="AlmanacStore.hpp" FileName="Modele~2.hpp|ModeledPseudorangeBase.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ModeledPseudorangeBase.hpp" SelfReg="false" Sequence="178"/>
+ <ROW File="ModeledReferencePR.hpp" Component_="AlmanacStore.hpp" FileName="Modele~3.hpp|ModeledReferencePR.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ModeledReferencePR.hpp" SelfReg="false" Sequence="179"/>
+ <ROW File="NavMerge.exe" Component_="NavMerge.exe" FileName="NavMerge.exe" Attributes="0" SourcePath="..\..\..\Test\install\bin\NavMerge.exe" SelfReg="false" Sequence="22"/>
+ <ROW File="ORDEpoch.hpp" Component_="AlmanacStore.hpp" FileName="ORDEpoch.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ORDEpoch.hpp" SelfReg="false" Sequence="191"/>
+ <ROW File="ObsClockModel.hpp" Component_="AlmanacStore.hpp" FileName="ObsClo~1.hpp|ObsClockModel.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ObsClockModel.hpp" SelfReg="false" Sequence="184"/>
+ <ROW File="ObsEpochMap.hpp" Component_="AlmanacStore.hpp" FileName="ObsEpo~1.hpp|ObsEpochMap.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ObsEpochMap.hpp" SelfReg="false" Sequence="185"/>
+ <ROW File="ObsID.hpp" Component_="AlmanacStore.hpp" FileName="ObsID.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ObsID.hpp" SelfReg="false" Sequence="186"/>
+ <ROW File="ObsReader.hpp" Component_="AlmanacStore.hpp" FileName="ObsRea~1.hpp|ObsReader.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ObsReader.hpp" SelfReg="false" Sequence="187"/>
+ <ROW File="ObsRngDev.hpp" Component_="AlmanacStore.hpp" FileName="ObsRng~1.hpp|ObsRngDev.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ObsRngDev.hpp" SelfReg="false" Sequence="188"/>
+ <ROW File="ObsUtils.hpp" Component_="AlmanacStore.hpp" FileName="ObsUtils.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ObsUtils.hpp" SelfReg="false" Sequence="189"/>
+ <ROW File="OneFreqCSDetector.hpp" Component_="AlmanacStore.hpp" FileName="OneFre~1.hpp|OneFreqCSDetector.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\OneFreqCSDetector.hpp" SelfReg="false" Sequence="190"/>
+ <ROW File="PCSmoother.hpp" Component_="AlmanacStore.hpp" FileName="PCSmoo~1.hpp|PCSmoother.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\PCSmoother.hpp" SelfReg="false" Sequence="193"/>
+ <ROW File="PCodeConst.hpp" Component_="AlmanacStore.hpp" FileName="PCodeC~1.hpp|PCodeConst.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\PCodeConst.hpp" SelfReg="false" Sequence="192"/>
+ <ROW File="PRSolution.hpp" Component_="AlmanacStore.hpp" FileName="PRSolu~1.hpp|PRSolution.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\PRSolution.hpp" SelfReg="false" Sequence="196"/>
+ <ROW File="PRSolve.exe" Component_="PRSolve.exe" FileName="PRSolve.exe" Attributes="0" SourcePath="..\..\..\Test\install\bin\PRSolve.exe" SelfReg="false" Sequence="26"/>
+ <ROW File="PolyFit.hpp" Component_="AlmanacStore.hpp" FileName="PolyFit.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\PolyFit.hpp" SelfReg="false" Sequence="194"/>
+ <ROW File="Position.hpp" Component_="AlmanacStore.hpp" FileName="Position.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\Position.hpp" SelfReg="false" Sequence="195"/>
+ <ROW File="RACRotation.hpp" Component_="AlmanacStore.hpp" FileName="RACRot~1.hpp|RACRotation.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RACRotation.hpp" SelfReg="false" Sequence="197"/>
+ <ROW File="RTFileFrame.hpp" Component_="AlmanacStore.hpp" FileName="RTFile~1.hpp|RTFileFrame.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RTFileFrame.hpp" SelfReg="false" Sequence="219"/>
+ <ROW File="ResCor.exe" Component_="ResCor.exe" FileName="ResCor.exe" Attributes="0" SourcePath="..\..\..\Test\install\bin\ResCor.exe" SelfReg="false" Sequence="27"/>
+ <ROW File="RinSum.exe" Component_="RinSum.exe" FileName="RinSum.exe" Attributes="0" SourcePath="..\..\..\Test\install\bin\RinSum.exe" SelfReg="false" Sequence="31"/>
+ <ROW File="RinexConverters.hpp" Component_="AlmanacStore.hpp" FileName="RinexC~1.hpp|RinexConverters.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RinexConverters.hpp" SelfReg="false" Sequence="199"/>
+ <ROW File="RinexDump.exe" Component_="RinexDump.exe" FileName="RinexD~1.exe|RinexDump.exe" Attributes="0" SourcePath="..\..\..\Test\install\bin\RinexDump.exe" SelfReg="false" Sequence="28"/>
+ <ROW File="RinexEphemerisStore.hpp" Component_="AlmanacStore.hpp" FileName="RinexE~1.hpp|RinexEphemerisStore.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RinexEphemerisStore.hpp" SelfReg="false" Sequence="200"/>
+ <ROW File="RinexMetBase.hpp" Component_="AlmanacStore.hpp" FileName="RinexM~1.hpp|RinexMetBase.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RinexMetBase.hpp" SelfReg="false" Sequence="201"/>
+ <ROW File="RinexMetData.hpp" Component_="AlmanacStore.hpp" FileName="RinexM~2.hpp|RinexMetData.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RinexMetData.hpp" SelfReg="false" Sequence="202"/>
+ <ROW File="RinexMetFilterOperators.hpp" Component_="AlmanacStore.hpp" FileName="RinexM~3.hpp|RinexMetFilterOperators.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RinexMetFilterOperators.hpp" SelfReg="false" Sequence="203"/>
+ <ROW File="RinexMetHeader.hpp" Component_="AlmanacStore.hpp" FileName="RinexM~4.hpp|RinexMetHeader.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RinexMetHeader.hpp" SelfReg="false" Sequence="204"/>
+ <ROW File="RinexMetStream.hpp" Component_="AlmanacStore.hpp" FileName="RinexM~5.hpp|RinexMetStream.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RinexMetStream.hpp" SelfReg="false" Sequence="205"/>
+ <ROW File="RinexNavBase.hpp" Component_="AlmanacStore.hpp" FileName="RinexN~1.hpp|RinexNavBase.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RinexNavBase.hpp" SelfReg="false" Sequence="206"/>
+ <ROW File="RinexNavData.hpp" Component_="AlmanacStore.hpp" FileName="RinexN~2.hpp|RinexNavData.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RinexNavData.hpp" SelfReg="false" Sequence="207"/>
+ <ROW File="RinexNavFilterOperators.hpp" Component_="AlmanacStore.hpp" FileName="RinexN~3.hpp|RinexNavFilterOperators.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RinexNavFilterOperators.hpp" SelfReg="false" Sequence="208"/>
+ <ROW File="RinexNavHeader.hpp" Component_="AlmanacStore.hpp" FileName="RinexN~4.hpp|RinexNavHeader.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RinexNavHeader.hpp" SelfReg="false" Sequence="209"/>
+ <ROW File="RinexNavStream.hpp" Component_="AlmanacStore.hpp" FileName="RinexN~5.hpp|RinexNavStream.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RinexNavStream.hpp" SelfReg="false" Sequence="210"/>
+ <ROW File="RinexObsBase.hpp" Component_="AlmanacStore.hpp" FileName="RinexO~1.hpp|RinexObsBase.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RinexObsBase.hpp" SelfReg="false" Sequence="211"/>
+ <ROW File="RinexObsData.hpp" Component_="AlmanacStore.hpp" FileName="RinexO~2.hpp|RinexObsData.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RinexObsData.hpp" SelfReg="false" Sequence="212"/>
+ <ROW File="RinexObsFilterOperators.hpp" Component_="AlmanacStore.hpp" FileName="RinexO~3.hpp|RinexObsFilterOperators.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RinexObsFilterOperators.hpp" SelfReg="false" Sequence="213"/>
+ <ROW File="RinexObsHeader.hpp" Component_="AlmanacStore.hpp" FileName="RinexO~4.hpp|RinexObsHeader.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RinexObsHeader.hpp" SelfReg="false" Sequence="214"/>
+ <ROW File="RinexObsID.hpp" Component_="AlmanacStore.hpp" FileName="RinexO~5.hpp|RinexObsID.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RinexObsID.hpp" SelfReg="false" Sequence="215"/>
+ <ROW File="RinexObsStream.hpp" Component_="AlmanacStore.hpp" FileName="RinexO~6.hpp|RinexObsStream.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RinexObsStream.hpp" SelfReg="false" Sequence="216"/>
+ <ROW File="RinexSatID.hpp" Component_="AlmanacStore.hpp" FileName="RinexS~1.hpp|RinexSatID.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RinexSatID.hpp" SelfReg="false" Sequence="217"/>
+ <ROW File="RinexUtilities.hpp" Component_="AlmanacStore.hpp" FileName="RinexU~1.hpp|RinexUtilities.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RinexUtilities.hpp" SelfReg="false" Sequence="218"/>
+ <ROW File="RungeKutta4.hpp" Component_="AlmanacStore.hpp" FileName="RungeK~1.hpp|RungeKutta4.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\RungeKutta4.hpp" SelfReg="false" Sequence="220"/>
+ <ROW File="SEMAlmanacStore.hpp" Component_="AlmanacStore.hpp" FileName="SEMAlm~1.hpp|SEMAlmanacStore.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SEMAlmanacStore.hpp" SelfReg="false" Sequence="222"/>
+ <ROW File="SEMBase.hpp" Component_="AlmanacStore.hpp" FileName="SEMBase.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SEMBase.hpp" SelfReg="false" Sequence="223"/>
+ <ROW File="SEMData.hpp" Component_="AlmanacStore.hpp" FileName="SEMData.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SEMData.hpp" SelfReg="false" Sequence="224"/>
+ <ROW File="SEMHeader.hpp" Component_="AlmanacStore.hpp" FileName="SEMHea~1.hpp|SEMHeader.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SEMHeader.hpp" SelfReg="false" Sequence="225"/>
+ <ROW File="SEMStream.hpp" Component_="AlmanacStore.hpp" FileName="SEMStr~1.hpp|SEMStream.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SEMStream.hpp" SelfReg="false" Sequence="226"/>
+ <ROW File="SMODFData.hpp" Component_="AlmanacStore.hpp" FileName="SMODFD~1.hpp|SMODFData.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SMODFData.hpp" SelfReg="false" Sequence="229"/>
+ <ROW File="SMODFStream.hpp" Component_="AlmanacStore.hpp" FileName="SMODFS~1.hpp|SMODFStream.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SMODFStream.hpp" SelfReg="false" Sequence="230"/>
+ <ROW File="SP3Base.hpp" Component_="AlmanacStore.hpp" FileName="SP3Base.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SP3Base.hpp" SelfReg="false" Sequence="235"/>
+ <ROW File="SP3Data.hpp" Component_="AlmanacStore.hpp" FileName="SP3Data.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SP3Data.hpp" SelfReg="false" Sequence="236"/>
+ <ROW File="SP3EphemerisStore.hpp" Component_="AlmanacStore.hpp" FileName="SP3Eph~1.hpp|SP3EphemerisStore.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SP3EphemerisStore.hpp" SelfReg="false" Sequence="237"/>
+ <ROW File="SP3Header.hpp" Component_="AlmanacStore.hpp" FileName="SP3Hea~1.hpp|SP3Header.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SP3Header.hpp" SelfReg="false" Sequence="238"/>
+ <ROW File="SP3SatID.hpp" Component_="AlmanacStore.hpp" FileName="SP3SatID.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SP3SatID.hpp" SelfReg="false" Sequence="239"/>
+ <ROW File="SP3Stream.hpp" Component_="AlmanacStore.hpp" FileName="SP3Str~1.hpp|SP3Stream.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SP3Stream.hpp" SelfReg="false" Sequence="240"/>
+ <ROW File="SVExclusionList.hpp" Component_="AlmanacStore.hpp" FileName="SVExcl~1.hpp|SVExclusionList.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SVExclusionList.hpp" SelfReg="false" Sequence="244"/>
+ <ROW File="SVPCodeGen.hpp" Component_="AlmanacStore.hpp" FileName="SVPCod~1.hpp|SVPCodeGen.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SVPCodeGen.hpp" SelfReg="false" Sequence="245"/>
+ <ROW File="SatID.hpp" Component_="AlmanacStore.hpp" FileName="SatID.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SatID.hpp" SelfReg="false" Sequence="221"/>
+ <ROW File="SimpleFilter.hpp" Component_="AlmanacStore.hpp" FileName="Simple~1.hpp|SimpleFilter.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SimpleFilter.hpp" SelfReg="false" Sequence="227"/>
+ <ROW File="SimpleIURAWeight.hpp" Component_="AlmanacStore.hpp" FileName="Simple~2.hpp|SimpleIURAWeight.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SimpleIURAWeight.hpp" SelfReg="false" Sequence="228"/>
+ <ROW File="SolverBase.hpp" Component_="AlmanacStore.hpp" FileName="Solver~1.hpp|SolverBase.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SolverBase.hpp" SelfReg="false" Sequence="231"/>
+ <ROW File="SolverLMS.hpp" Component_="AlmanacStore.hpp" FileName="Solver~2.hpp|SolverLMS.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SolverLMS.hpp" SelfReg="false" Sequence="232"/>
+ <ROW File="SolverWMS.hpp" Component_="AlmanacStore.hpp" FileName="Solver~3.hpp|SolverWMS.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SolverWMS.hpp" SelfReg="false" Sequence="233"/>
+ <ROW File="SourceID.hpp" Component_="AlmanacStore.hpp" FileName="SourceID.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SourceID.hpp" SelfReg="false" Sequence="234"/>
+ <ROW File="Stats.hpp" Component_="AlmanacStore.hpp" FileName="Stats.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\Stats.hpp" SelfReg="false" Sequence="241"/>
+ <ROW File="StringUtils.hpp" Component_="AlmanacStore.hpp" FileName="String~1.hpp|StringUtils.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\StringUtils.hpp" SelfReg="false" Sequence="243"/>
+ <ROW File="SystemTime.hpp" Component_="AlmanacStore.hpp" FileName="System~1.hpp|SystemTime.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\SystemTime.hpp" SelfReg="false" Sequence="246"/>
+ <ROW File="TCPStream.hpp" Component_="AlmanacStore.hpp" FileName="TCPStr~1.hpp|TCPStream.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\TCPStream.hpp" SelfReg="false" Sequence="248"/>
+ <ROW File="TCPStreamBuff.hpp" Component_="AlmanacStore.hpp" FileName="TCPStr~2.hpp|TCPStreamBuff.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\TCPStreamBuff.hpp" SelfReg="false" Sequence="249"/>
+ <ROW File="TECMaps.exe" Component_="TECMaps.exe" FileName="TECMaps.exe" Attributes="0" SourcePath="..\..\..\Test\install\bin\TECMaps.exe" SelfReg="false" Sequence="40"/>
+ <ROW File="TabularEphemerisStore.hpp" Component_="AlmanacStore.hpp" FileName="Tabula~1.hpp|TabularEphemerisStore.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\TabularEphemerisStore.hpp" SelfReg="false" Sequence="247"/>
+ <ROW File="TimeConstants.hpp" Component_="AlmanacStore.hpp" FileName="TimeCo~1.hpp|TimeConstants.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\TimeConstants.hpp" SelfReg="false" Sequence="250"/>
+ <ROW File="TimeConverters.hpp" Component_="AlmanacStore.hpp" FileName="TimeCo~2.hpp|TimeConverters.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\TimeConverters.hpp" SelfReg="false" Sequence="251"/>
+ <ROW File="TimeNamedFileStream.hpp" Component_="AlmanacStore.hpp" FileName="TimeNa~1.hpp|TimeNamedFileStream.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\TimeNamedFileStream.hpp" SelfReg="false" Sequence="252"/>
+ <ROW File="TimeString.hpp" Component_="AlmanacStore.hpp" FileName="TimeSt~1.hpp|TimeString.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\TimeString.hpp" SelfReg="false" Sequence="253"/>
+ <ROW File="TimeTag.hpp" Component_="AlmanacStore.hpp" FileName="TimeTag.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\TimeTag.hpp" SelfReg="false" Sequence="254"/>
+ <ROW File="Triple.hpp" Component_="AlmanacStore.hpp" FileName="Triple.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\Triple.hpp" SelfReg="false" Sequence="255"/>
+ <ROW File="TropModel.hpp" Component_="AlmanacStore.hpp" FileName="TropMo~1.hpp|TropModel.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\TropModel.hpp" SelfReg="false" Sequence="256"/>
+ <ROW File="TypeID.hpp" Component_="AlmanacStore.hpp" FileName="TypeID.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\TypeID.hpp" SelfReg="false" Sequence="257"/>
+ <ROW File="UnixTime.hpp" Component_="AlmanacStore.hpp" FileName="UnixTime.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\UnixTime.hpp" SelfReg="false" Sequence="258"/>
+ <ROW File="ValidType.hpp" Component_="AlmanacStore.hpp" FileName="ValidT~1.hpp|ValidType.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\ValidType.hpp" SelfReg="false" Sequence="259"/>
+ <ROW File="Vector.hpp" Component_="AlmanacStore.hpp" FileName="Vector.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\Vector.hpp" SelfReg="false" Sequence="260"/>
+ <ROW File="VectorBase.hpp" Component_="AlmanacStore.hpp" FileName="Vector~1.hpp|VectorBase.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\VectorBase.hpp" SelfReg="false" Sequence="261"/>
+ <ROW File="VectorBaseOperators.hpp" Component_="AlmanacStore.hpp" FileName="Vector~2.hpp|VectorBaseOperators.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\VectorBaseOperators.hpp" SelfReg="false" Sequence="262"/>
+ <ROW File="VectorOperators.hpp" Component_="AlmanacStore.hpp" FileName="Vector~3.hpp|VectorOperators.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\VectorOperators.hpp" SelfReg="false" Sequence="263"/>
+ <ROW File="WGS84Geoid.hpp" Component_="AlmanacStore.hpp" FileName="WGS84G~1.hpp|WGS84Geoid.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\WGS84Geoid.hpp" SelfReg="false" Sequence="265"/>
+ <ROW File="WeightBase.hpp" Component_="AlmanacStore.hpp" FileName="Weight~1.hpp|WeightBase.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\WeightBase.hpp" SelfReg="false" Sequence="264"/>
+ <ROW File="WxObsMap.hpp" Component_="AlmanacStore.hpp" FileName="WxObsMap.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\WxObsMap.hpp" SelfReg="false" Sequence="266"/>
+ <ROW File="X1Sequence.hpp" Component_="AlmanacStore.hpp" FileName="X1Sequ~1.hpp|X1Sequence.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\X1Sequence.hpp" SelfReg="false" Sequence="267"/>
+ <ROW File="X2Sequence.hpp" Component_="AlmanacStore.hpp" FileName="X2Sequ~1.hpp|X2Sequence.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\X2Sequence.hpp" SelfReg="false" Sequence="268"/>
+ <ROW File="XYZ2NED.hpp" Component_="AlmanacStore.hpp" FileName="XYZ2NED.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\XYZ2NED.hpp" SelfReg="false" Sequence="270"/>
+ <ROW File="XYZ2NEU.hpp" Component_="AlmanacStore.hpp" FileName="XYZ2NEU.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\XYZ2NEU.hpp" SelfReg="false" Sequence="271"/>
+ <ROW File="Xvt.hpp" Component_="AlmanacStore.hpp" FileName="Xvt.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\Xvt.hpp" SelfReg="false" Sequence="269"/>
+ <ROW File="YDSTime.hpp" Component_="AlmanacStore.hpp" FileName="YDSTime.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\YDSTime.hpp" SelfReg="false" Sequence="272"/>
+ <ROW File="YumaAlmanacStore.hpp" Component_="AlmanacStore.hpp" FileName="YumaAl~1.hpp|YumaAlmanacStore.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\YumaAlmanacStore.hpp" SelfReg="false" Sequence="273"/>
+ <ROW File="YumaBase.hpp" Component_="AlmanacStore.hpp" FileName="YumaBase.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\YumaBase.hpp" SelfReg="false" Sequence="274"/>
+ <ROW File="YumaData.hpp" Component_="AlmanacStore.hpp" FileName="YumaData.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\YumaData.hpp" SelfReg="false" Sequence="275"/>
+ <ROW File="YumaHeader.hpp" Component_="AlmanacStore.hpp" FileName="YumaHe~1.hpp|YumaHeader.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\YumaHeader.hpp" SelfReg="false" Sequence="276"/>
+ <ROW File="YumaStream.hpp" Component_="AlmanacStore.hpp" FileName="YumaSt~1.hpp|YumaStream.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\YumaStream.hpp" SelfReg="false" Sequence="277"/>
+ <ROW File="bc2sp3.exe" Component_="bc2sp3.exe" FileName="bc2sp3.exe" Attributes="0" SourcePath="..\..\..\Test\install\bin\bc2sp3.exe" SelfReg="false" Sequence="1"/>
+ <ROW File="calgps.exe" Component_="calgps.exe" FileName="calgps.exe" Attributes="0" SourcePath="..\..\..\Test\install\bin\calgps.exe" SelfReg="false" Sequence="2"/>
+ <ROW File="convhelp.hpp" Component_="AlmanacStore.hpp" FileName="convhelp.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\convhelp.hpp" SelfReg="false" Sequence="85"/>
+ <ROW File="ddmerge.exe" Component_="ddmerge.exe" FileName="ddmerge.exe" Attributes="0" SourcePath="..\..\..\Test\install\bin\ddmerge.exe" SelfReg="false" Sequence="4"/>
+ <ROW File="ephdiff.exe" Component_="ephdiff.exe" FileName="ephdiff.exe" Attributes="0" SourcePath="..\..\..\Test\install\bin\ephdiff.exe" SelfReg="false" Sequence="7"/>
+ <ROW File="fic2rin.exe" Component_="fic2rin.exe" FileName="fic2rin.exe" Attributes="0" SourcePath="..\..\..\Test\install\bin\fic2rin.exe" SelfReg="false" Sequence="8"/>
+ <ROW File="ficacheck.exe" Component_="ficacheck.exe" FileName="ficach~1.exe|ficacheck.exe" Attributes="0" SourcePath="..\..\..\Test\install\bin\ficacheck.exe" SelfReg="false" Sequence="9"/>
+ <ROW File="ficafic.exe" Component_="ficafic.exe" FileName="ficafic.exe" Attributes="0" SourcePath="..\..\..\Test\install\bin\ficafic.exe" SelfReg="false" Sequence="10"/>
+ <ROW File="ficcheck.exe" Component_="ficcheck.exe" FileName="ficcheck.exe" Attributes="0" SourcePath="..\..\..\Test\install\bin\ficcheck.exe" SelfReg="false" Sequence="11"/>
+ <ROW File="ficdiff.exe" Component_="ficdiff.exe" FileName="ficdiff.exe" Attributes="0" SourcePath="..\..\..\Test\install\bin\ficdiff.exe" SelfReg="false" Sequence="12"/>
+ <ROW File="ficfica.exe" Component_="ficfica.exe" FileName="ficfica.exe" Attributes="0" SourcePath="..\..\..\Test\install\bin\ficfica.exe" SelfReg="false" Sequence="13"/>
+ <ROW File="geometry.hpp" Component_="AlmanacStore.hpp" FileName="geometry.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\geometry.hpp" SelfReg="false" Sequence="142"/>
+ <ROW File="getopt.h" Component_="AlmanacStore.hpp" FileName="getopt.h" Attributes="0" SourcePath="..\..\..\Test\install\include\getopt.h" SelfReg="false" Sequence="143"/>
+ <ROW File="gps_constants.hpp" Component_="AlmanacStore.hpp" FileName="gps_co~1.hpp|gps_constants.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\gps_constants.hpp" SelfReg="false" Sequence="152"/>
+ <ROW File="gpstk.lib" Component_="gpstk.lib" FileName="gpstk.lib" Attributes="0" SourcePath="..\..\..\Test\install\lib\gpstk.lib" SelfReg="false" Sequence="278"/>
+ <ROW File="gpstk_user_reference.pdf" Component_="gpstk_user_reference.pdf_1" FileName="gpstk-~1.pdf|gpstk-user-reference.pdf" Attributes="0" SourcePath="..\usersguide\gpstk-user-reference.pdf" SelfReg="false" Sequence="279"/>
+ <ROW File="gpstkplatform.h" Component_="AlmanacStore.hpp" FileName="gpstkp~1.h|gpstkplatform.h" Attributes="0" SourcePath="..\..\..\Test\install\include\gpstkplatform.h" SelfReg="false" Sequence="146"/>
+ <ROW File="icd_200_constants.hpp" Component_="AlmanacStore.hpp" FileName="icd_20~1.hpp|icd_200_constants.hpp" Attributes="0" SourcePath="..\..\..\Test\install\include\icd_200_constants.hpp" SelfReg="false" Sequence="153"/>
+ <ROW File="mergeFIC.exe" Component_="mergeFIC.exe" FileName="mergeFIC.exe" Attributes="0" SourcePath="..\..\..\Test\install\bin\mergeFIC.exe" SelfReg="false" Sequence="15"/>
+ <ROW File="mergePCodeWords.h" Component_="AlmanacStore.hpp" FileName="mergeP~1.h|mergePCodeWords.h" Attributes="0" SourcePath="..\..\..\Test\install\include\mergePCodeWords.h" SelfReg="false" Sequence="172"/>
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+ <COMPONENT cid="caphyon.advinst.msicomp.BuildComponent">
+ <ROW BuildName="DefaultBuild" BuildOrder="1" BuildType="0" InstallationType="4"/>
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+ </COMPONENT>
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+ <ROW Path="<ui.ail>"/>
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+ <ROW Dialog_="FolderDlg" Control_="Back" Event="NewDialog" Argument="WelcomeDlg" Condition="AI_INSTALL" Ordering="1"/>
+ <ROW Dialog_="WelcomeDlg" Control_="Next" Event="NewDialog" Argument="FolderDlg" Condition="AI_INSTALL" Ordering="1"/>
+ <ROW Dialog_="VerifyReadyDlg" Control_="Back" Event="NewDialog" Argument="FolderDlg" Condition="AI_INSTALL" Ordering="1"/>
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+ </COMPONENT>
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+ <ROW Directory_="APPDIR" Component_="APPDIR"/>
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+ <ROW Action="SET_TARGETDIR_TO_APPDIR" Type="51" Source="TARGETDIR" Target="[APPDIR]"/>
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+ <COMPONENT cid="caphyon.advinst.msicomp.MsiEnvComponent">
+ <ROW Environment="PATH" Name="+*PATH" Value="[~];[ProgramFilesFolder][ProductName]\bin" Component_="PRSolve.exe"/>
+ </COMPONENT>
+ <COMPONENT cid="caphyon.advinst.msicomp.MsiIniFileComponent">
+ <ROW IniFile="URL" FileName="GPSTkW~1.url|GPSTk Website.url" DirProperty="SHORTCUTDIR" Section="InternetShortcut" Key="URL" Value="http://www.gpstk.org/" Action="0" Component_="PRSolve.exe"/>
+ <ROW IniFile="WorkingDirectory" FileName="GPSTkW~1.url|GPSTk Website.url" DirProperty="SHORTCUTDIR" Section="InternetShortcut" Key="WorkingDirectory" Value="[SHORTCUTDIR]" Action="0" Component_="PRSolve.exe"/>
+ </COMPONENT>
+ <COMPONENT cid="caphyon.advinst.msicomp.MsiInstExSeqComponent">
+ <ROW Action="AI_DOWNGRADE" Condition="AI_NEWERPRODUCTFOUND AND (UILevel <> 5)" Sequence="210"/>
+ <ROW Action="AI_RESTORE_LOCATION" Condition="APPDIR=""" Sequence="740"/>
+ <ROW Action="AI_STORE_LOCATION" Condition="Not Installed" Sequence="1545"/>
+ <ROW Action="AI_PREPARE_UPGRADE" Condition="AI_UPGRADE="No" AND (Not Installed)" Sequence="1300"/>
+ </COMPONENT>
+ <COMPONENT cid="caphyon.advinst.msicomp.MsiInstallUISequenceComponent">
+ <ROW Action="AI_RESTORE_LOCATION" Condition="APPDIR=""" Sequence="740"/>
+ </COMPONENT>
+ <COMPONENT cid="caphyon.advinst.msicomp.MsiUpgradeComponent">
+ <ROW UpgradeCode="[|UpgradeCode]" VersionMax="[|ProductVersion]" Attributes="1025" ActionProperty="OLDPRODUCTS"/>
+ <ROW UpgradeCode="[|UpgradeCode]" VersionMin="[|ProductVersion]" Attributes="2" ActionProperty="AI_NEWERPRODUCTFOUND"/>
+ </COMPONENT>
+</DOCUMENT>
diff --git a/ref/glance/colortbl.dtx b/ref/glance/colortbl.dtx
new file mode 100644
index 0000000..b5a5a22
--- /dev/null
+++ b/ref/glance/colortbl.dtx
@@ -0,0 +1,1296 @@
+% \iffalse
+%%
+%% Source File: `colortbl.dtx'.
+%% Copyright 1996 1998 1999 David Carlisle
+%%
+%% This file may be distributed under the terms of the LPPL.
+%% See 00readme.txt for details.
+%%
+%
+%<*dtx>
+ \ProvidesFile{colortbl.dtx}
+%</dtx>
+%<package>\NeedsTeXFormat{LaTeX2e}[1995/06/01]
+%<package>\ProvidesPackage{colortbl}
+%<driver>\ProvidesFile{colortbl.drv}
+% \fi
+% \ProvidesFile{colortbl.dtx}
+ [2001/02/13 v0.1j Color table columns (DPC)]
+%
+% \iffalse
+%<*driver>
+\documentclass{ltxdoc}
+\usepackage
+% [debugshow]
+ {colortbl}
+\usepackage{dcolumn,longtable,hhline}
+\setlongtables% in case an old copy of longtable is being used.
+\begin{document}
+\DeleteShortVerb{\|}
+\MakeShortVerb{\"}
+\DocInput{colortbl.dtx}
+\end{document}
+%</driver>
+% \fi
+%
+% \GetFileInfo{colortbl.dtx}
+% \title{The \textsf{colortbl} package\thanks{This file
+% has version number \fileversion, last
+% revised \filedate.}}
+% \author{David Carlisle}
+% \date{\filedate}
+%
+% \maketitle
+%
+% \CheckSum{941}
+%
+%
+% \begin{abstract}
+% This package implements a flexibable mechanism for giving colured
+% `panels' behind specified columns in a table.
+% This package requires the \textsf{array} and \textsf{color} packages.
+% \end{abstract}
+%
+% \changes{v0.1}{1996/09/20}{First draft}
+% \changes{v0.1a}{1996/09/21}{Started documentation in doc format}
+% \changes{v0.1b}{1996/09/22}
+% {New scheme: redefine \cs{@classz} rather than just
+% simple \cs{newcolumntype} definition.}
+% \changes{v0.1c}{1996/09/24}
+% {Make overhang arguments optional (suggestion of S. Rahtz).}
+% \changes{v0.1d}{1996/10/05}
+% {\cs{rowcolor} added to make S. Rahtz happy.}
+% \changes{v0.1d}{1996/10/05}
+% {Add \cs{hline} \cs{hhline} and \cs{longtable} support
+% to make S. Rahtz even happier.}
+% \changes{v0.1e}{1996/10/06}
+% {Minor cleanup.}
+% \changes{v0.1f}{1996/10/10}
+% {Better \cs{hhline} and support nested constructs}
+% \changes{v0.1f}{1996/10/12}
+% {0.1f, first public version, had a missing percent....}
+% \changes{v0.1i}{1999/03/24}
+% {LPPL}
+% \changes{v0.1j}{2001/02/13}{\cs{cellcolor} (Donald Arseneau)}
+%
+% \section{Introduction}
+%
+% This package is for colouring tables (i.e., giving coloured panels
+% behind column entries). In that it has many similarities with
+% Timothy Van Zandt's \textsf{colortab} package. The internal
+% implementation is quite different though, also \textsf{colortab}
+% works with the table constructs of other formats besides \LaTeX.
+% This package requires \LaTeX\ (and its \textsf{color} and
+% \textsf{array} packages).
+%
+% First, a standard \textsf{tabular}, for comparison.
+% \begin{center}
+%\begin{minipage}{.75\textwidth}
+%\begin{verbatim}
+% \begin{tabular}{|l|c|}
+% one&two\\
+% three&four
+% \end{tabular}
+%\end{verbatim}
+%\end{minipage}
+% {\bfseries
+% \begin{tabular}{|l|c|}
+% one&two\\
+% three&four
+% \end{tabular}}
+% \end{center}
+%
+% \section{ The \cs{columncolor} command}
+%
+% The examples below demonstrate various possibilities of the
+% "\columncolor" command introduced by this package. The vertical rules
+% specified by "|" are kept in all the examples, to make the column
+% positioning clearer, although possibly you would not want coloured
+% panels \emph{and} vertical rules in practice.
+%
+% The package supplies a "\columncolor" command, that should (only) be
+% used in the argument of a ">" column specifier, to add a coloured
+% panel behind the specified column. It can be used in the main
+% `preamble' argument of \textsf{array} or \textsf{tabular}, and also in
+% "\multicolumn" specifiers.
+%
+% The basic format is:\\
+% "\columncolor"\oarg{color model}\marg{colour}
+% \oarg{left overhang}\oarg{right overhang}
+%
+% The first argument (or first two if the optional argument is used)
+% are standard \textsf{color} package arguments, as used by "\color".
+%
+% The last two arguments control how far the panel overlaps past the
+% widest entry in the column.
+% If the \emph{right overhang} argument is omitted then it defaults to
+% \emph{left overhang}. If they are both omitted they default to
+% "\tabcolsep" (in \textsf{tabular}) or "\arraycolsep"
+% (in \textsf{array}).
+%
+% If the overhangs are both set to "0pt" then the effect is:
+% \begin{center}
+%\begin{minipage}{.75\textwidth}
+%\begin{verbatim}
+%|>{\columncolor[gray]{.8}[0pt]}l|
+%>{\color{white}%
+% \columncolor[gray]{.2}[0pt]}l|
+%\end{verbatim}
+%\end{minipage}
+% {\bfseries
+% \begin{tabular}{%
+% |>{\columncolor[gray]{.8}[0pt]}l|
+% >{\color{white}%
+% \columncolor[gray]{.2}[0pt]}l|
+% }
+% one&two\\
+% three&four
+% \end{tabular}}
+% \end{center}
+% The default overhang of "\tabcolsep" produces:
+%\begin{center}
+%\begin{minipage}{.75\textwidth}
+%\begin{verbatim}
+%|>{\columncolor[gray]{.8}}l|
+%>{\color{white}%
+% \columncolor[gray]{.2}}l|
+%\end{verbatim}
+%\end{minipage}
+% {\bfseries
+% \begin{tabular}{%
+% |>{\columncolor[gray]{.8}}l|
+% >{\color{white}%
+% \columncolor[gray]{.2}}l|
+% }
+% one&two\\
+% three&four
+% \end{tabular}}
+% \end{center}
+% You might want something between these two extremes.
+% A value of ".5\tabcolsep" produces the following effect
+% \begin{center}
+%\begin{minipage}{.75\textwidth}
+%\begin{verbatim}
+%|>{\columncolor[gray]{.8}[.5\tabcolsep]}l|
+% >{\color{white}%
+% \columncolor[gray]{.2}[.5\tabcolsep]}l|
+%\end{verbatim}
+%\end{minipage}
+% {\bfseries
+% \begin{tabular}{%
+% |>{\columncolor[gray]{.8}[.5\tabcolsep]}l|
+% >{\color{white}\columncolor[gray]{.2}[.5\tabcolsep]}l|
+% }
+% one&two\\
+% three&four
+% \end{tabular}}
+% \end{center}
+%
+%
+% This package should work with most other packages that are
+% compatible with the \textsf{array} package syntax. In particular it
+% works with \textsf{longtable} and \textsf{dcolumn}
+% as the following example shows.
+%\errorcontextlines10
+% \newcolumntype{A}{%^^A
+% >{\color{white}\columncolor{red}[.5\tabcolsep]%^^A
+% \raggedright}%
+% p{2cm}}
+% \newcolumntype{B}{%^^A
+% >{\columncolor{blue}[.5\tabcolsep]%^^A
+% \color{yellow}\raggedright}
+% p{3cm}}
+% \newcolumntype{E}{%^^A
+% >{\large\bfseries
+% \columncolor{cyan}[.5\tabcolsep]}c}
+% \newcolumntype{F}{%^^A
+% >{\color{white}
+% \columncolor{magenta}[.5\tabcolsep]}c}
+% \newcolumntype{G}{%^^A
+% >{\columncolor[gray]{0.8}[.5\tabcolsep][\tabcolsep]}l}
+% \newcolumntype{H}{>{\columncolor[gray]{0.8}}l}
+%
+%
+%^^A 3.3 (as used in the verbatim text below) is best but
+%^^A needs a June 96 version of dcolumn, so use -1 here.
+% \newcolumntype{C}{%
+% >{\columncolor{yellow}[.5\tabcolsep]}%
+% D{.}{\cdot}{-1}}
+% \newcolumntype{I}{%^^A
+% >{\columncolor[gray]{0.8}[\tabcolsep][.5\tabcolsep]}%^^A
+% D{.}{\cdot}{-1}}
+%
+% \setlength\minrowclearance{2pt}
+% Before starting give a little space: "\setlength\minrowclearance{2pt}"
+%
+% \begin{longtable}{ABC}
+% \multicolumn{3}{E}{A long table example}\\
+% \multicolumn{2}{F}{First two columns}&
+% \multicolumn{1}{F}{Third column}\\
+% \multicolumn{2}{F}{p-type}&
+% \multicolumn{1}{F}{D-type (\textsf{dcolumn})}\endfirsthead
+% \multicolumn{3}{E}{A long table example (continued)}\\
+% \multicolumn{2}{F}{First two columns}&
+% \multicolumn{1}{F}{Third column}\\
+% \multicolumn{2}{F}{p-type}&
+% \multicolumn{1}{F}{D-type (\textsf{dcolumn})}\endhead
+% \multicolumn{3}{E}{Continued\ldots}\endfoot
+% \multicolumn{3}{E}{The End}\endlastfoot
+% P-column&and another one&12.34\\
+% \multicolumn{1}{G}{Total}&
+% \multicolumn{1}{H}{(wrong)}&
+% \multicolumn{1}{I}{100.6}\\
+% Some long text in the first column&bbb&1.2\\
+% aaa&and some long text in the second column&1.345\\
+% \multicolumn{1}{G}{Total}&
+% \multicolumn{1}{H}{(wrong)}&
+% \multicolumn{1}{I}{100.6}\\
+% aaa&bbb&1.345\\
+% Note that the coloured rules in all columns stretch to accomodate
+% large entries in one column. &bbb&1.345\\
+% aaa&bbb&100\\
+% aaa&Depending on your driver you may get unsightly gaps or lines
+% where the `screens' used to produce different shapes interact
+% badly. You may want to cause adjacent panels of the same colour by
+% specifying a larger overhang
+% or by adding some negative space (in a "\noalign" between rows.&12.4\\
+% aaa&bbb&45.3\\
+% \end{longtable}
+%
+% This
+% example shows rather poor taste but is quite colourful!
+% Inspect the source file, "colortbl.dtx", to see the full code for
+% the example, but it uses the following column types.
+%\begin{verbatim}
+% \newcolumntype{A}{%
+% >{\color{white}\columncolor{red}[.5\tabcolsep]%
+% \raggedright}%
+% p{2cm}}
+% \newcolumntype{B}{%
+% >{\columncolor{blue}[.5\tabcolsep]%
+% \color{yellow}\raggedright}
+% p{3cm}}
+% \newcolumntype{C}{%
+% >{\columncolor{yellow}[.5\tabcolsep]}%
+% D{.}{\cdot}{3.3}}
+% \newcolumntype{E}{%
+% >{\large\bfseries
+% \columncolor{cyan}[.5\tabcolsep]}c}
+% \newcolumntype{F}{%
+% >{\color{white}
+% \columncolor{magenta}[.5\tabcolsep]}c}
+% \newcolumntype{G}{%
+% >{\columncolor[gray]{0.8}[.5\tabcolsep][\tabcolsep]}l}
+% \newcolumntype{H}{>{\columncolor[gray]{0.8}}l}
+% \newcolumntype{I}{%
+% >{\columncolor[gray]{0.8}[\tabcolsep][.5\tabcolsep]}%
+% D{.}{\cdot}{3.3}}
+%\end{verbatim}
+%
+% \section{Using the `overhang' arguments for \textsf{tabular*}}
+%
+% The above is all very well for \textsf{tabular}, but what about
+% \textsf{tabular*}?
+%
+% Here the problem is rather harder. Although \TeX's "\leader" mechanism
+% which is used by this package to insert the `stretchy' coloured panels
+% is rather like \emph{glue}, the "\tabskip" glue that is inserted
+% between columns of \textsf{tabular*} (and \textsf{longtable} for that
+% matter) has to be `real glue' and not `leaders'.
+%
+% Within limits the overhang options may be used here. Consider the
+% first table example above. If we use \textsf{tabular*} set to 3\,cm
+% with a preamble setting of
+% \begin{center}
+%\begin{minipage}{.6\textwidth}
+%\begin{verbatim}
+%\begin{tabular*}{3cm}{%
+%@{\extracolsep{\fill}}
+%>{\columncolor[gray]{.8}[0pt][20mm]}l
+%>{\columncolor[gray]{.8}[5mm][0pt]}l
+%@{}}
+%\end{verbatim}
+%\end{minipage}
+% {\bfseries
+% \begin{tabular*}{3cm}{%
+% @{\extracolsep{\fill}}
+% >{\columncolor[gray]{.8}[0pt][20mm]}l
+% >{\columncolor[gray]{.8}[5mm][0pt]}l
+% @{}%
+% }
+% one&two\\
+% three&four
+% \end{tabular*}}
+% \end{center}
+%
+% Changing the specified width to 4\,cm works, but don't push your
+% luck to 5\,cm\ldots
+% \begin{center}
+% \bfseries
+% \begin{tabular*}{4cm}{%
+% @{\extracolsep{\fill}}
+% >{\columncolor[gray]{.8}[0pt][20mm]}l
+% >{\columncolor[gray]{.8}[5mm][0pt]}l
+% @{}%
+% }
+% one&two\\
+% three&four
+% \end{tabular*}\hfill
+% \begin{tabular*}{5cm}{%
+% @{\extracolsep{\fill}}
+% >{\columncolor[gray]{.8}[0pt][20mm]}l
+% >{\columncolor[gray]{.8}[5mm][0pt]}l
+% @{}%
+% }
+% one&two\\
+% three&four
+% \end{tabular*}
+% \end{center}
+%
+% \section{The \cs{rowcolor} command}
+%
+% As demonstrated above, one may change the colour of specified rows
+% of a table by the use of "\multicolumn" commands in each entry of
+% the row. However if your table is to be marked principally by
+% \emph{rows}, you may find this rather inconvenient. For this reason
+% a new mechanism, "\rowcolor", has been introduced\footnote{At some
+% cost to the internal complexity of this package}.
+%
+% "\rowcolor" takes the same argument forms as "\columncolor". It must
+% be used at the \emph{start} of a row. If the optional overhang
+% arguments are not used the overhangs will default to the overhangs
+% specified in any "\columncolor" comands for that column, or
+% "\tabcolsep" ("\arraycolsep" in \textsf{array}).
+%
+% If a table entry is in the scope of a "\columncolor" specified in the
+% table preamble, and also a "\rowcolor" at the start of the current
+% row, the colour specified by "\rowcolor" will take effect. A
+% "\multicolumn" command may contain ">{\rowcolor"\ldots\ which will
+% override the default colours for both the current row and column.
+% \begin{center}
+%\begin{minipage}{.75\textwidth}
+%\begin{verbatim}
+% \begin{tabular}{|l|c|}
+% \rowcolor[gray]{.9}
+% one&two\\
+% \rowcolor[gray]{.5}
+% three&four
+% \end{tabular}
+%\end{verbatim}
+%\end{minipage}
+% {\bfseries
+% \begin{tabular}{|l|c|}
+% \rowcolor[gray]{.9}
+% one&two\\
+% \rowcolor[gray]{.5}
+% three&four
+% \end{tabular}}
+% \end{center}
+%
+% \section{The \cs{cellcolor} command}
+%
+% A background colour can be applied to a single cell of a table by
+% beginning it with
+% "\multicolumn"\nolinebreak[3]"{1}"\nolinebreak[3]"{>{\rowcolor"\ldots,
+% (or "\columncolor" if no row-colour is in effect) but this has some
+% deficiencies:
+% 1)~It prevents data within the cell from triggering the colouration; \
+% 2)~The alignment specification must be copied from the top of the tabular,
+% which is prone to errors, especially for "p{}" columns; \
+% 3)~"\multicolumn{1}" is just silly. \
+% Therefore, there is the \cs{cellcolor} command, which works like
+% \cs{columncolor} and \cs{rowcolor}, but over-rides both of them;
+% \cs{cellcolor} can be placed anywhere in the tabular cell to which
+% it applies.
+%
+% \section{Colouring rules.}
+%
+% So you want coloured rules as well?
+%
+% One could do vertical rules without any special commands, just use
+% something like "!{\color{green}\vline}" where you'd
+% normally use "|". The space between "||" will normally be left white.
+% If you want to colour that as well, either increase the overhang of
+% the previous column (to
+% "\tabcolsep" + "\arrayrulewidth" + "\doublerulesep")
+% Or remove the inter rule glue, and replace by a coloured rule of the
+% required thickness. So
+%\begin{verbatim}
+%!{\color{green}\vline}
+%@{\color{yellow}\vrule width \doublerulesep}
+%!{\color{green}\vline}
+%\end{verbatim}
+% Should give the same spacing as "||" but more colour.
+%
+% However colouring "\hline" and "\cline" is a bit more tricky, so
+% extra commands are provided (which then apply to vertical rules as
+% well).
+%
+% \section{\cs{arrayrulecolor}}
+% "\arrayrulecolor" takes the same arguments as "\color", and is a
+% global declaration which affects all following horizontal and
+% vertical rules in tables. It may be given outside any table, or at
+% the start of a row, or in a ">" specification in a table preamble.
+% You should note however that if given mid-table it only affects
+% rules that are specified after this point, any vertical rules
+% specified in the preamble will keep their original colours.
+%
+% \section{\cs{doublerulesepcolor}}
+% Having coloured your rules, you'll probably want something other
+% than white to go in the gaps made by "||" or "\hline\hline".
+% "\doublerulesepcolor" works just the same way as "\arrayrulecolor".
+% The main thing to note that if this command is used, then
+% \textsf{longtable} will not `discard' the space between
+% "\hline\hline" at a page break. (\TeX\ has a built-in ability to
+% discard space, but the coloured `space' which is used once
+% "\doublerulesep" is in effect is really a third rule of a different
+% colour to the two outer rules, and rules are rather harder to
+% discard.)
+%
+% \begin{center}
+% \setlength\arrayrulewidth{2pt}\arrayrulecolor{blue}
+% \setlength\doublerulesep{2pt}\doublerulesepcolor{yellow}
+%
+%\begin{minipage}{.75\textwidth}
+%\begin{verbatim}
+%\setlength\arrayrulewidth{2pt}\arrayrulecolor{blue}
+%\setlength\doublerulesep{2pt}\doublerulesepcolor{yellow}
+% \begin{tabular}{||l||c||}
+% \hline\hline
+% one&two\\
+% three&four\\
+% \hline\hline
+% \end{tabular}
+%\end{verbatim}
+%\end{minipage}
+% {\bfseries
+% \begin{tabular}{|l||c||}
+% \hline\hline
+% one&two\\
+% three&four\\
+% \hline\hline
+% \end{tabular}}
+% \end{center}
+%
+% \section{More fun with \cs{hhline}}
+% The above commands work with "\hhline" from the \textsf{hhline}
+% package, however if \textsf{hhline} is loaded in addition to this
+% package, a new possibility is added. You may use ">{"\ldots"}" to add
+% declarations that apply to the following "-" or "=" column rule.
+% In particular you may give "\arrayrulecolor" and
+% "\doublerulesepcolor" declarations in this argument.
+%
+% Most manuals of style warn against over use of rules in tables.
+% I hate to think what they would make of the following rainbow
+% example:
+% \begin{center}
+% \setlength\arrayrulewidth{5pt}
+% \setlength\doublerulesep{5pt}
+% \renewcommand{\arraystretch}{2}
+% \definecolor{orange}{cmyk}{0,0.61,0.87,0}
+% \definecolor{indigo}{cmyk}{0.8,0.9,0,0}
+% \definecolor{violet}{cmyk}{0.6,0.9,0,0}
+% \newcommand\rainbowline[1]{%^^A
+% \hhline{%^^A
+% >{\arrayrulecolor {red}\doublerulesepcolor[rgb]{.3,.3,1}}%^^A
+% |#1:=%^^A
+% >{\arrayrulecolor{orange}\doublerulesepcolor[rgb]{.4,.4,1}}%^^A
+% =%^^A
+% >{\arrayrulecolor{yellow}\doublerulesepcolor[rgb]{.5,.5,1}}%^^A
+% =%^^A
+% >{\arrayrulecolor {green}\doublerulesepcolor[rgb]{.6,.6,1}}%^^A
+% =%^^A
+% >{\arrayrulecolor {blue}\doublerulesepcolor[rgb]{.7,.7,1}}%^^A
+% =%^^A
+% >{\arrayrulecolor{indigo}\doublerulesepcolor[rgb]{.8,.8,1}}%^^A
+% =%^^A
+% >{\arrayrulecolor{violet}\doublerulesepcolor[rgb]{.9,.9,1}}%^^A
+% =:#1|%^^A
+% }}
+% \arrayrulecolor{red}
+% \doublerulesepcolor[rgb]{.3,.3,1}
+% \begin{tabular}{||*7{>{\columncolor[gray]{.9}}c}||}
+% \rainbowline{t}%^^A
+% \arrayrulecolor{violet}\doublerulesepcolor[rgb]{.9,.9,1}
+% Richard&of&York&gave&battle&in&
+% \multicolumn{1}{>{\columncolor[gray]{.9}}c||}{vain}\\
+% \rainbowline{}%^^A
+% 1&2&3&4&5&6&
+% \multicolumn{1}{>{\columncolor[gray]{.9}}c||}{7}\\
+% \rainbowline{b}%^^A
+% \end{tabular}
+% \end{center}
+%\begin{verbatim}
+% \newcommand\rainbowline[1]{%
+% \hhline{%
+% >{\arrayrulecolor {red}\doublerulesepcolor[rgb]{.3,.3,1}}%
+% |#1:=%
+% >{\arrayrulecolor{orange}\doublerulesepcolor[rgb]{.4,.4,1}}%
+% =%
+% >{\arrayrulecolor{yellow}\doublerulesepcolor[rgb]{.5,.5,1}}%
+% =%
+% >{\arrayrulecolor {green}\doublerulesepcolor[rgb]{.6,.6,1}}%
+% =%
+% >{\arrayrulecolor {blue}\doublerulesepcolor[rgb]{.7,.7,1}}%
+% =%
+% >{\arrayrulecolor{indigo}\doublerulesepcolor[rgb]{.8,.8,1}}%
+% =%
+% >{\arrayrulecolor{violet}\doublerulesepcolor[rgb]{.9,.9,1}}%
+% =:#1|%
+% }}
+% \arrayrulecolor{red}
+% \doublerulesepcolor[rgb]{.3,.3,1}%
+% \begin{tabular}{||*7{>{\columncolor[gray]{.9}}c}||}
+% \rainbowline{t}%
+% \arrayrulecolor{violet}\doublerulesepcolor[rgb]{.9,.9,1}
+% Richard&of&York&gave&battle&in&
+% \multicolumn{1}{>{\columncolor[gray]{.9}}c||}{vain}\\
+% \rainbowline{}%
+% 1&2&3&4&5&6&
+% \multicolumn{1}{>{\columncolor[gray]{.9}}c||}{7}\\
+% \rainbowline{b}%
+% \end{tabular}
+%\end{verbatim}
+%
+% \section{Less fun with \cs{cline}}
+% Lines produced by "\cline" are coloured if you use
+% "\arrayrulecolor" but you may not notice as they are covered up by
+% any colour pannels in the following row. This is a `feature' of
+% "\cline". If using this package you would probably better using the
+% "-" rule type in a "\hhline" argument, rather than "\cline".
+%
+% \section{The \cs{minrowclearance} command}
+%
+% As this package has to box and measure every entry to figure out
+% how wide to make the rules, I thought I may as well add the
+% following feature. `Large' entries in tables may touch a preceding
+% "\hline" or the top of a colour panel defined by this style.
+% It is best to increase "\extrarowsep" or "\arraystretch"
+% sufficiently to ensure this doesn't happen, as that will keep the
+% line spacing in the table regular. Sometimes however, you just want
+% to \LaTeX\ to insert a bit of extra space above a large entry.
+% You can set the length "\minrowclearance" to a small value.
+% (The height of a capital letter plus this value should not be
+% greater than the normal height of table rows, else a very uneven
+% table spacing will result.)
+%
+% Donald Arseneau's \textsf{tabls} packages provides a similar
+% "\tablinesep". I was going to give this the same name for
+% compatibility with \textsf{tabls}, but that is implemented quite
+% differently and probably has different behaviour. So I'll keep a new
+% name for now.
+%
+% \StopEventually{}
+%
+% \section{The Code}
+% \begin{macrocode}
+%<*package>
+% \end{macrocode}
+%
+% Nasty hacky way used by all the graphics packages to include debugging
+% code.
+% \begin{macrocode}
+\edef\@tempa{%
+ \noexpand\AtEndOfPackage{%
+ \catcode`\noexpand\^^A\the\catcode`\^^A\relax}}
+\@tempa
+\catcode`\^^A=\catcode`\%
+\DeclareOption{debugshow}{\catcode`\^^A=9 }
+% \end{macrocode}
+%
+% All the other options are handled by the \textsf{color} package.
+% \begin{macrocode}
+\DeclareOption*{\PassOptionsToPackage\CurrentOption{color}}
+\ProcessOptions
+% \end{macrocode}
+%
+% I need these so load them now. Actually Mark Wooding's
+% \textsf{mdwtab} package could probably work instead of \textsf{array},
+% but currently I assume \textsf{array} package internals so\ldots
+% \begin{macrocode}
+\RequirePackage{array,color}
+% \end{macrocode}
+%
+%
+% \begin{macro}{\@classz}
+% "\@classz" is the main function in the \textsf{array} package handling
+% of primitive column types: It inserts the code for each of the column
+% specifiers, `"clrpmb"'. The other classes deal with the other preamble
+% tokens such as `"@" 'or `">"'.
+% \begin{macrocode}
+\def\@classz{\@classx
+ \@tempcnta \count@
+ \prepnext at tok
+% \end{macrocode}
+% At this point the colour specification for the background panel will
+% be in the code for the `">"' specification of this column. This is
+% saved in "\toks\@temptokena" but \textsf{array} will insert it too
+% late (well it would work for "c", but not for "p") so fish the colour
+% stuff out of that token register by hand, and then insert it around
+% the entry.
+%
+% Of course this is a terrible hack. What is really needed is a new
+% column type that inserts stuff in the right place (rather like "!"
+% but without the spacing that that does). The "\newcolumntype"
+% command of \textsf{array} only adds `second class' column types.
+% The re-implementations of "\newcolumntype" in my \textsf{blkarray} or
+% Mark Wooding's \textsf{mdwtab} allow new `first class' column types
+% to be declared, but stick with \textsf{array} for now. This means we
+% have to lift the stuff out of the register before the register gets
+% emptied in the wrong place.
+% \begin{macrocode}
+\expandafter\CT at extract\the\toks\@tempcnta\columncolor!\@nil
+% \end{macrocode}
+% Save the entry into a box (using a double group for colour safety as
+% usual).
+% \begin{macrocode}
+ \@addtopreamble{%
+ \setbox\z@\hbox\bgroup\bgroup
+ \ifcase \@chnum
+% \end{macrocode}
+% "c" code: This used to use twice as much glue as "l" and "r" (1fil
+% on each side). Now modify it to use 1fill total. Also increase the
+% order from 1fil to 1fill to dissuade people from putting stretch glue
+% in table entries.
+% \begin{macrocode}
+ \hskip\stretch{.5}\kern\z@
+ \d at llarbegin
+ \insert at column
+ \d at llarend\hskip\stretch{.5}\or
+% \end{macrocode}
+% "l" and "r" as before, but using fill glue.
+% \begin{macrocode}
+ \d at llarbegin \insert at column \d at llarend \hfill \or
+ \hfill\kern\z@ \d at llarbegin \insert at column \d at llarend \or
+% \end{macrocode}
+% "m", "p" and "b" as before.
+% \begin{macrocode}
+ $\vcenter
+ \@startpbox{\@nextchar}\insert at column \@endpbox $\or
+ \vtop \@startpbox{\@nextchar}\insert at column \@endpbox \or
+ \vbox \@startpbox{\@nextchar}\insert at column \@endpbox
+ \fi
+% \end{macrocode}
+% Close the box register assignment.
+% \begin{macrocode}
+ \egroup\egroup
+% \end{macrocode}
+% \changes{v0.1d}{1996/10/05}
+% {add \cs{CT at row@color} to support \cs{rowcolor}}
+% The main new stuff.
+% \begin{macrocode}
+\begingroup
+% \end{macrocode}
+% Initalise colour command and overhands.
+% \begin{macrocode}
+ \CT at setup
+% \end{macrocode}
+% Run any code resulting from "\columncolor" commands.
+% \begin{macrocode}
+ \CT at column@color
+% \end{macrocode}
+% Run code from "\rowcolor" (so this takes precedence over
+% "\columncolor").
+% \begin{macrocode}
+ \CT at row@color
+% \end{macrocode}
+% Run code from "\cellcolor" (so this takes precedence over
+% both "\columncolor" and "\rowcolor").
+% \begin{macrocode}
+ \CT at cell@color
+% \end{macrocode}
+% This is "\relax" unless one of the three previous commands has requested
+% a colour, in which case it will be "\CT@@do at color" which will insert
+% "\leaders" of appropriate colour.
+% \begin{macrocode}
+ \CT at do@color
+\endgroup
+% \end{macrocode}
+% Nothing to do with colour this bit, since we are boxing and measuring
+% the entry anyway may as well check the height, so that large entries
+% don't bump into horizontal rules (or the top of the colour panels).
+% \begin{macrocode}
+ \@tempdima\ht\z@
+ \advance\@tempdima\minrowclearance
+ \vrule\@height\@tempdima\@width\z@
+% \end{macrocode}
+% It would be safer to leave this boxed, but unboxing allows some
+% flexibilty. However the total glue stretch should either be finite
+% or fil (which will be ignored). There may be fill glue (which will not
+% be ignored) but it should \emph{total 0fill}. If this box contributes
+% fill glue, then the leaders will not reach the full width of the
+% entry. In the case of "\multicolumn" entries it is actually possible
+% for this box to contribute \emph{shrink} glue, in which case the
+% coloured panel for that entry will be too wide. Tough luck.
+% \begin{macrocode}
+ \unhbox\z@}%
+% \end{macrocode}
+%
+% \begin{macrocode}
+ \prepnext at tok}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\CT at setup}
+% Initialise the overhang lengths and the colour command.
+% \begin{macrocode}
+\def\CT at setup{%
+ \@tempdimb\col at sep
+ \@tempdimc\col at sep
+ \def\CT at color{%
+ \global\let\CT at do@color\CT@@do at color
+ \color}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\CT@@do at color}
+% The main point of the package: Add the colour panels.
+%
+% Add a leader of the specified colour, with natural width the
+% width of the entry plus the specified overhangs and 1fill stretch.
+% Surround by negative kerns so total natural width is not affected by
+% overhang.
+% \begin{macrocode}
+\def\CT@@do at color{%
+ \global\let\CT at do@color\relax
+ \@tempdima\wd\z@
+ \advance\@tempdima\@tempdimb
+ \advance\@tempdima\@tempdimc
+ \kern-\@tempdimb
+ \leaders\vrule
+% \end{macrocode}
+% For quick debugging with xdvi (which can't do colours). Limit the size
+% of the rule, so I can see the text as well.
+% \begin{macrocode}
+^^A \@height\p@\@depth\p@
+% \end{macrocode}
+%
+% \begin{macrocode}
+ \hskip\@tempdima\@plus 1fill
+ \kern-\@tempdimc
+% \end{macrocode}
+% Now glue to exactly compensate for the leaders.
+% \begin{macrocode}
+ \hskip-\wd\z@ \@plus -1fill }
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\CT at extract}
+% Now the code to extract the "\columncolor" commands.
+% \begin{macrocode}
+\def\CT at extract#1\columncolor#2#3\@nil{%
+ \if!#2%
+% \end{macrocode}
+% "!" is a fake token inserted at the end.
+% \begin{macrocode}
+ \let\CT at column@color\@empty
+ \else
+% \end{macrocode}
+% If there was an optional argument
+% \begin{macrocode}
+ \if[#2%
+ \CT at extractb{#1}#3\@nil
+ \else
+% \end{macrocode}
+% No optional argument
+% \begin{macrocode}
+ \def\CT at column@color{%
+ \CT at color{#2}}%
+ \CT at extractd{#1}#3\@nil
+ \fi
+ \fi}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\CT at extractb}
+% Define "\CT at column@color" to add the right colour, and save the
+% overhang lengths. Finally reconstitute the saved `">"' tokens,
+% without the colour specification.
+% First grab the colour spec, with optional arg.
+% \begin{macrocode}
+\def\CT at extractb#1#2]#3{%
+ \def\CT at column@color{%
+ \CT at color[#2]{#3}}%
+ \CT at extractd{#1}}%
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\CT at extractd}
+% Now look for left-overhang (default to "\col at sep").
+% \begin{macrocode}
+\def\CT at extractd#1{\@testopt{\CT at extracte{#1}}\col at sep}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\CT at extracte}
+% Same for right-overhang (default to left-overhang).
+% \begin{macrocode}
+\def\CT at extracte#1[#2]{\@testopt{\CT at extractf{#1}[#2]}{#2}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\CT at extractf}
+% Add the overhang info to "\CT at do@color", for excuting later.
+% \begin{macrocode}
+\def\CT at extractf#1[#2][#3]#4\columncolor#5\@nil{%
+ \@tempdimb#2\relax
+ \@tempdimc#3\relax
+ \edef\CT at column@color{%
+ \CT at column@color
+ \@tempdimb\the\@tempdimb\@tempdimc\the\@tempdimc\relax}%
+ \toks\@tempcnta{#1#4}}%
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \begin{macro}{\CT at everycr}
+% Steal "\everypar" to initialise row colours
+% \begin{macrocode}
+\let\CT at everycr\everycr
+\newtoks\everycr
+\CT at everycr{\noalign{\global\let\CT at row@color\relax}\the\everycr}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\CT at start}
+% \changes{v0.1f}{1996/10/10}
+% {Nested support for \cs{rowcolor} (prompted by Denis Girou)}
+%
+% \begin{macrocode}
+\def\CT at start{%
+ \let\CT at arc@save\CT at arc@
+ \let\CT at drsc@save\CT at drsc@
+ \let\CT at row@color at save\CT at row@color
+ \let\CT at cell@color at save\CT at cell@color
+ \global\let\CT at cell@color\relax}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\CT at end}
+% \begin{macrocode}
+\def\CT at end{%
+ \global\let\CT at arc@\CT at arc@save
+ \global\let\CT at drsc@\CT at drsc@save
+ \global\let\CT at row@color\CT at row@color at save
+ \global\let\CT at cell@color\CT at cell@color at save}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\shortstack}
+% "\shortstack"
+% \begin{macrocode}
+\gdef\@ishortstack#1{%
+ \CT at start\ialign{\mb at l {##}\unskip\mb at r\cr #1\crcr}\CT at end\egroup}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\@tabarray}
+% \textsf{array} and \textsf{tabular} (delayed for \textsf{delarray})
+% \begin{macrocode}
+\AtBeginDocument{%
+ \expandafter\def\expandafter\@tabarray\expandafter{%
+ \expandafter\CT at start\@tabarray}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\endarray}
+% \begin{macrocode}
+\def\endarray{\crcr \egroup \egroup \gdef\@preamble{}\CT at end}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\multicolumn}
+% "\multicolumn"
+% \begin{macrocode}
+\def\multicolumn#1#2#3{%
+ \multispan{#1}\begingroup
+ \def\@addamp{\if at firstamp \@firstampfalse \else
+ \@preamerr 5\fi}%
+ \@mkpream{#2}\@addtopreamble\@empty
+ \endgroup
+ \def\@sharp{#3}%
+ \let\CT at cell@color\relax
+ \let\CT at row@color\relax
+ \let\CT at column@color\relax
+ \let\CT at do@color\relax
+ \@arstrut \@preamble
+ \null
+ \ignorespaces}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \begin{macro}{\@classvi}
+% Coloured rules and rule separations.
+% \begin{macrocode}
+\def\@classvi{\ifcase \@lastchclass
+ \@acol \or
+ \ifx\CT at drsc@\relax
+ \@addtopreamble{\hskip\doublerulesep}%
+ \else
+ \@addtopreamble{{\CT at drsc@\vrule\@width\doublerulesep}}%
+ \fi\or
+ \@acol \or
+ \@classvii
+ \fi}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\doublerulesepcolor}
+% \begin{macrocode}
+\def\doublerulesepcolor#1#{\CT at drs{#1}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\CT at drs}
+% \begin{macrocode}
+\def\CT at drs#1#2{%
+ \ifdim\baselineskip=\z@\noalign\fi
+ {\gdef\CT at drsc@{\color#1{#2}}}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\CT at drsc@}
+% \begin{macrocode}
+\let\CT at drsc@\relax
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\arrayrulecolor}
+% \begin{macrocode}
+\def\arrayrulecolor#1#{\CT at arc{#1}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\CT at arc}
+% \begin{macrocode}
+\def\CT at arc#1#2{%
+ \ifdim\baselineskip=\z@\noalign\fi
+ {\gdef\CT at arc@{\color#1{#2}}}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\CT at arc@}
+% \begin{macrocode}
+\let\CT at arc@\relax
+% \end{macrocode}
+% \end{macro}
+%
+% hline
+%
+% \begin{macro}{\@arrayrule}
+% \begin{macrocode}
+\def\@arrayrule{\@addtopreamble {{\CT at arc@\vline}}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\hline}
+% \begin{macrocode}
+\def\hline{%
+ \noalign{\ifnum0=`}\fi
+ \let\hskip\vskip
+ \let\vrule\hrule
+ \let\@width\@height
+ {\CT at arc@\vline}%
+ \futurelet
+ \reserved at a\@xhline}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\@xhline}
+% \begin{macrocode}
+\def\@xhline{\ifx\reserved at a\hline
+ {\ifx\CT at drsc@\relax
+ \vskip
+ \else
+ \CT at drsc@\hrule\@height
+ \fi
+ \doublerulesep}%
+ \fi
+ \ifnum0=`{\fi}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\cline}
+% "\cline" doesn't really work, as it comes behind the coloured panels,
+% but at least make it the right colour (the bits you can see, anyway).
+% \begin{macrocode}
+\def\@cline#1-#2\@nil{%
+ \omit
+ \@multicnt#1%
+ \advance\@multispan\m at ne
+ \ifnum\@multicnt=\@ne\@firstofone{&\omit}\fi
+ \@multicnt#2%
+ \advance\@multicnt-#1%
+ \advance\@multispan\@ne
+ {\CT at arc@\leaders\hrule\@height\arrayrulewidth\hfill}%
+ \cr
+ \noalign{\vskip-\arrayrulewidth}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\minrowclearance}
+% The row height fudge length.
+% \begin{macrocode}
+\newlength\minrowclearance
+\minrowclearance=0pt
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\@mkpream}
+% While expanding the preamble \textsf{array} passes tokens through an
+% "\edef". It doesn't use "\protect"ion as it thinks it has full control
+% at that point. As the redefinition above adds "\color", I need to add
+% that to the list of commands made safe.
+% \begin{macrocode}
+\expandafter\def\expandafter\@mkpream\expandafter#\expandafter1%
+ \expandafter{%
+ \expandafter\let\expandafter\CT at setup\expandafter\relax
+ \expandafter\let\expandafter\CT at color\expandafter\relax
+ \expandafter\let\expandafter\CT at do@color\expandafter\relax
+ \expandafter\let\expandafter\color\expandafter\relax
+ \expandafter\let\expandafter\CT at column@color\expandafter\relax
+ \expandafter\let\expandafter\CT at row@color\expandafter\relax
+ \expandafter\let\expandafter\CT at cell@color\expandafter\relax
+ \@mkpream{#1}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\CT at do@color}
+% For similar reasons, need to make this non-expandable
+% \begin{macrocode}
+\let\CT at do@color\relax
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\rowcolor}
+% \changes{v0.1f}{1996/10/10}
+% {Add \cs{noalign} (Denis Girou)}
+% \begin{macrocode}
+\def\rowcolor{%
+ \noalign{\ifnum0=`}\fi
+ \global\let\CT at do@color\CT@@do at color
+ \@ifnextchar[\CT at rowa\CT at rowb}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\CT at rowa}
+% \begin{macrocode}
+\def\CT at rowa[#1]#2{%
+ \gdef\CT at row@color{\CT at color[#1]{#2}}%
+ \CT at rowc}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\CT at rowb}
+% \begin{macrocode}
+\def\CT at rowb#1{%
+ \gdef\CT at row@color{\CT at color{#1}}%
+ \CT at rowc}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\CT at rowc}
+% \begin{macrocode}
+\def\CT at rowc{%
+ \@ifnextchar[\CT at rowd{\ifnum`{=0\fi}}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\CT at rowd}
+% \begin{macrocode}
+\def\CT at rowd[#1]{\@testopt{\CT at rowe[#1]}{#1}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\CT at rowe}
+% \changes{v0.1h}{1998/05/06}
+% {Fix typo in \cs{ifnum} (Robin F.)}
+% \begin{macrocode}
+\def\CT at rowe[#1][#2]{%
+ \@tempdimb#1%
+ \@tempdimc#2%
+ \xdef\CT at row@color{%
+ \expandafter\noexpand\CT at row@color
+ \@tempdimb\the\@tempdimb
+ \@tempdimc\the\@tempdimc
+ \relax}%
+ \ifnum0=`{\fi}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\cellcolor}
+% "\cellcolor" applies the specified colour to just its own tabular cell.
+% It is defined robust, but without using "\DeclareRobustCommand" or
+% "\newcommand{}[][]" because those forms are not used elsewhere, and
+% would not work in \emph{very} old \LaTeX.
+% \begin{macrocode}
+\edef\cellcolor{\noexpand\protect
+ \expandafter\noexpand\csname cellcolor \endcsname}
+\@namedef{cellcolor }{%
+ \@ifnextchar[{\CT at cellc\@firstofone}{\CT at cellc\@gobble[]}%
+}
+\def\CT at cellc#1[#2]#3{%
+ \expandafter\gdef\expandafter\CT at cell@color\expandafter{%
+ \expandafter\CT at color#1{[#2]}{#3}%
+ \global\let\CT at cell@color\relax
+}}
+\global\let\CT at cell@color\relax
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\DC at endright}
+% \textsf{dcolumn} support. the "D" column sometimes internally converts
+% a "c" column to an "r" one by squashing the supplied glue. This is bad
+% news for this package, so redefine it to add negative glue to one
+% side and positive to the other to keep the total added zero.
+% \begin{macrocode}
+\AtBeginDocument{%
+ \def\@tempa{$\hfil\egroup\box\z@\box\tw@}%
+ \ifx\@tempa\DC at endright
+% \end{macrocode}
+%
+% New version of \textsf{dcolumn}, only want to fudge it
+% in the "D{.}{.}{3}" case, not the new "D{.}{.}{3.3}" possibility.
+% "\hfill" has already been inserted, so need to remove 1fill's worth
+% of stretch.
+% \begin{macrocode}
+ \def\DC at endright{%
+ $\hfil\egroup
+ \ifx\DC at rl\bgroup
+ \hskip\stretch{-.5}\box\z@\box\tw@\hskip\stretch{-.5}%
+ \else
+ \box\z@\box\tw@
+ \fi}%
+ \else
+ \def\@tempa{$\hfil\egroup\hfill\box\z@\box\tw@}%
+ \ifx\@tempa\DC at endright
+% \end{macrocode}
+%
+% Old \textsf{dcolumn} code.
+% \begin{macrocode}
+ \def\DC at endright{%
+ $\hfil\egroup%
+ \hskip\stretch{.5}\box\z@\box\tw@\hskip\stretch{-.5}}%
+ \fi
+ \fi}
+% \end{macrocode}
+% \end{macro}
+%
+% hhline support (almost the whole package, repeated, sigh).
+% \begin{macrocode}
+\AtBeginDocument{%
+ \ifx\hhline\@undefined\else
+\def\HH at box#1#2{\vbox{{%
+ {\CT at drsc@\dimen@\tw@\arrayrulewidth
+ \advance\dimen@\doublerulesep
+ \hrule \@height\dimen@
+ \vskip-\dimen@}%
+ \CT at arc@
+ \hrule \@height \arrayrulewidth \@width #1
+ \vskip\doublerulesep
+ \hrule \@height \arrayrulewidth \@width #2}}}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\HH at loop{%
+ \ifx\@tempb`\def\next##1{\the\toks@\cr}\else\let\next\HH at let
+ \ifx\@tempb|\if at tempswa
+ \ifx\CT at drsc@\relax
+ \HH at add{\hskip\doublerulesep}%
+ \else
+ \HH at add{{\CT at drsc@\vrule\@width\doublerulesep}}%
+ \fi
+ \fi\@tempswatrue
+ \HH at add{{\CT at arc@\vline}}\else
+ \ifx\@tempb:\if at tempswa
+ \ifx\CT at drsc@\relax
+ \HH at add{\hskip\doublerulesep}%
+ \else
+ \HH at add{{\CT at drsc@\vrule\@width\doublerulesep}}%
+ \fi
+ \fi\@tempswatrue
+ \HH at add{\@tempc\HH at box\arrayrulewidth\arrayrulewidth\@tempc}\else
+ \ifx\@tempb##\if at tempswa\HH at add{\hskip\doublerulesep}\fi\@tempswatrue
+ \HH at add{{\CT at arc@\vline\copy\@ne\@tempc\vline}}\else
+ \ifx\@tempb~\@tempswafalse
+ \if at firstamp\@firstampfalse\else\HH at add{&\omit}\fi
+ \ifx\CT at drsc@\relax
+ \HH at add{\hfil}\else
+ \HH at add{{%
+\CT at drsc@\leaders\hrule\@height\doublerulesep\hfil}}%
+ \fi
+ \else
+ \ifx\@tempb-\@tempswafalse
+ \if at firstamp\@firstampfalse\else\HH at add{&\omit}\fi
+ \HH at add{{%
+ \CT at arc@\leaders\hrule\@height\arrayrulewidth\hfil}}%
+ \else
+ \ifx\@tempb=\@tempswafalse
+ \if at firstamp\@firstampfalse\else\HH at add{&\omit}\fi
+ \HH at add
+ {\rlap{\copy\@ne}\leaders\copy\@ne\hfil\llap{\copy\@ne}}\else
+% \end{macrocode}
+% \changes{v0.1f}{1996/10/10}
+% {Remove backspacing for t and b in \cs{hhline}}
+% Stop the backspacing for "t" and "b", it messes up the underlying
+% colour.
+% \begin{macrocode}
+ \ifx\@tempb t\HH at add{\HH at box\doublerulesep\z@}\@tempswafalse\else
+ \ifx\@tempb b\HH at add{\HH at box\z@\doublerulesep}\@tempswafalse\else
+ \ifx\@tempb>\def\next##1##2{%
+ \HH at add{%
+ {\baselineskip\p@\relax
+ ##2%
+ \global\setbox\@ne\HH at box\doublerulesep\doublerulesep}}%
+ \HH at let!}\else
+ \PackageWarning{hhline}%
+ {\meaning\@tempb\space ignored in \noexpand\hhline argument%
+ \MessageBreak}%
+ \fi\fi\fi\fi\fi\fi\fi\fi\fi\fi
+ \next}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\fi}
+% \end{macrocode}
+%
+%
+% longtable support.
+% \begin{macrocode}
+\AtBeginDocument{
+ \ifx\longtable\@undefined\else
+ \def\LT@@hline{%
+ \ifx\LT at next\hline
+ \global\let\LT at next\@gobble
+ \ifx\CT at drsc@\relax
+ \gdef\CT at LT@sep{%
+ \noalign{\penalty-\@medpenalty\vskip\doublerulesep}}%
+ \else
+ \gdef\CT at LT@sep{%
+ \multispan\LT at cols{%
+ \CT at drsc@\leaders\hrule\@height\doublerulesep\hfill}\cr}%
+ \fi
+ \else
+ \global\let\LT at next\empty
+ \gdef\CT at LT@sep{%
+ \noalign{\penalty-\@lowpenalty\vskip-\arrayrulewidth}}%
+ \fi
+ \ifnum0=`{\fi}%
+ \multispan\LT at cols
+ {\CT at arc@\leaders\hrule\@height\arrayrulewidth\hfill}\cr
+ \CT at LT@sep
+ \multispan\LT at cols
+ {\CT at arc@\leaders\hrule\@height\arrayrulewidth\hfill}\cr
+ \noalign{\penalty\@M}%
+ \LT at next}
+ \fi}
+% \end{macrocode}
+%
+%
+% \begin{macrocode}
+%</package>
+% \end{macrocode}
+%
+% \Finale
+%
diff --git a/ref/glance/colortbl.ins b/ref/glance/colortbl.ins
new file mode 100644
index 0000000..6a2a99c
--- /dev/null
+++ b/ref/glance/colortbl.ins
@@ -0,0 +1,5 @@
+\def\batchfile{colortbl.ins}
+\input docstrip
+\preamble
+\endpreamble
+\generate{\file{colortbl.sty}{\from{colortbl.dtx}{package}}}
diff --git a/ref/glance/colortbl.sty b/ref/glance/colortbl.sty
new file mode 100644
index 0000000..ef4fe21
--- /dev/null
+++ b/ref/glance/colortbl.sty
@@ -0,0 +1,339 @@
+%%
+%% This is file `colortbl.sty',
+%% generated with the docstrip utility.
+%%
+%% The original source files were:
+%%
+%% colortbl.dtx (with options: `package')
+%%
+%%
+%% Source File: `colortbl.dtx'.
+%% Copyright 1996 1998 1999 David Carlisle
+%%
+%% This file may be distributed under the terms of the LPPL.
+%% See 00readme.txt for details.
+%%
+\NeedsTeXFormat{LaTeX2e}[1995/06/01]
+\ProvidesPackage{colortbl}
+ [2001/02/13 v0.1j Color table columns (DPC)]
+\edef\@tempa{%
+ \noexpand\AtEndOfPackage{%
+ \catcode`\noexpand\^^A\the\catcode`\^^A\relax}}
+\@tempa
+\catcode`\^^A=\catcode`\%
+\DeclareOption{debugshow}{\catcode`\^^A=9 }
+\DeclareOption*{\PassOptionsToPackage\CurrentOption{color}}
+\ProcessOptions
+\RequirePackage{array,color}
+\def\@classz{\@classx
+ \@tempcnta \count@
+ \prepnext at tok
+\expandafter\CT at extract\the\toks\@tempcnta\columncolor!\@nil
+ \@addtopreamble{%
+ \setbox\z@\hbox\bgroup\bgroup
+ \ifcase \@chnum
+ \hskip\stretch{.5}\kern\z@
+ \d at llarbegin
+ \insert at column
+ \d at llarend\hskip\stretch{.5}\or
+ \d at llarbegin \insert at column \d at llarend \hfill \or
+ \hfill\kern\z@ \d at llarbegin \insert at column \d at llarend \or
+ $\vcenter
+ \@startpbox{\@nextchar}\insert at column \@endpbox $\or
+ \vtop \@startpbox{\@nextchar}\insert at column \@endpbox \or
+ \vbox \@startpbox{\@nextchar}\insert at column \@endpbox
+ \fi
+ \egroup\egroup
+\begingroup
+ \CT at setup
+ \CT at column@color
+ \CT at row@color
+ \CT at cell@color
+ \CT at do@color
+\endgroup
+ \@tempdima\ht\z@
+ \advance\@tempdima\minrowclearance
+ \vrule\@height\@tempdima\@width\z@
+ \unhbox\z@}%
+ \prepnext at tok}
+\def\CT at setup{%
+ \@tempdimb\col at sep
+ \@tempdimc\col at sep
+ \def\CT at color{%
+ \global\let\CT at do@color\CT@@do at color
+ \color}}
+\def\CT@@do at color{%
+ \global\let\CT at do@color\relax
+ \@tempdima\wd\z@
+ \advance\@tempdima\@tempdimb
+ \advance\@tempdima\@tempdimc
+ \kern-\@tempdimb
+ \leaders\vrule
+^^A \@height\p@\@depth\p@
+ \hskip\@tempdima\@plus 1fill
+ \kern-\@tempdimc
+ \hskip-\wd\z@ \@plus -1fill }
+\def\CT at extract#1\columncolor#2#3\@nil{%
+ \if!#2%
+ \let\CT at column@color\@empty
+ \else
+ \if[#2%
+ \CT at extractb{#1}#3\@nil
+ \else
+ \def\CT at column@color{%
+ \CT at color{#2}}%
+ \CT at extractd{#1}#3\@nil
+ \fi
+ \fi}
+\def\CT at extractb#1#2]#3{%
+ \def\CT at column@color{%
+ \CT at color[#2]{#3}}%
+ \CT at extractd{#1}}%
+\def\CT at extractd#1{\@testopt{\CT at extracte{#1}}\col at sep}
+\def\CT at extracte#1[#2]{\@testopt{\CT at extractf{#1}[#2]}{#2}}
+\def\CT at extractf#1[#2][#3]#4\columncolor#5\@nil{%
+ \@tempdimb#2\relax
+ \@tempdimc#3\relax
+ \edef\CT at column@color{%
+ \CT at column@color
+ \@tempdimb\the\@tempdimb\@tempdimc\the\@tempdimc\relax}%
+ \toks\@tempcnta{#1#4}}%
+\let\CT at everycr\everycr
+\newtoks\everycr
+\CT at everycr{\noalign{\global\let\CT at row@color\relax}\the\everycr}
+\def\CT at start{%
+ \let\CT at arc@save\CT at arc@
+ \let\CT at drsc@save\CT at drsc@
+ \let\CT at row@color at save\CT at row@color
+ \let\CT at cell@color at save\CT at cell@color
+ \global\let\CT at cell@color\relax}
+\def\CT at end{%
+ \global\let\CT at arc@\CT at arc@save
+ \global\let\CT at drsc@\CT at drsc@save
+ \global\let\CT at row@color\CT at row@color at save
+ \global\let\CT at cell@color\CT at cell@color at save}
+\gdef\@ishortstack#1{%
+ \CT at start\ialign{\mb at l {##}\unskip\mb at r\cr #1\crcr}\CT at end\egroup}
+\AtBeginDocument{%
+ \expandafter\def\expandafter\@tabarray\expandafter{%
+ \expandafter\CT at start\@tabarray}}
+\def\endarray{\crcr \egroup \egroup \gdef\@preamble{}\CT at end}
+\def\multicolumn#1#2#3{%
+ \multispan{#1}\begingroup
+ \def\@addamp{\if at firstamp \@firstampfalse \else
+ \@preamerr 5\fi}%
+ \@mkpream{#2}\@addtopreamble\@empty
+ \endgroup
+ \def\@sharp{#3}%
+ \let\CT at cell@color\relax
+ \let\CT at row@color\relax
+ \let\CT at column@color\relax
+ \let\CT at do@color\relax
+ \@arstrut \@preamble
+ \null
+ \ignorespaces}
+\def\@classvi{\ifcase \@lastchclass
+ \@acol \or
+ \ifx\CT at drsc@\relax
+ \@addtopreamble{\hskip\doublerulesep}%
+ \else
+ \@addtopreamble{{\CT at drsc@\vrule\@width\doublerulesep}}%
+ \fi\or
+ \@acol \or
+ \@classvii
+ \fi}
+\def\doublerulesepcolor#1#{\CT at drs{#1}}
+\def\CT at drs#1#2{%
+ \ifdim\baselineskip=\z@\noalign\fi
+ {\gdef\CT at drsc@{\color#1{#2}}}}
+\let\CT at drsc@\relax
+\def\arrayrulecolor#1#{\CT at arc{#1}}
+\def\CT at arc#1#2{%
+ \ifdim\baselineskip=\z@\noalign\fi
+ {\gdef\CT at arc@{\color#1{#2}}}}
+\let\CT at arc@\relax
+\def\@arrayrule{\@addtopreamble {{\CT at arc@\vline}}}
+\def\hline{%
+ \noalign{\ifnum0=`}\fi
+ \let\hskip\vskip
+ \let\vrule\hrule
+ \let\@width\@height
+ {\CT at arc@\vline}%
+ \futurelet
+ \reserved at a\@xhline}
+\def\@xhline{\ifx\reserved at a\hline
+ {\ifx\CT at drsc@\relax
+ \vskip
+ \else
+ \CT at drsc@\hrule\@height
+ \fi
+ \doublerulesep}%
+ \fi
+ \ifnum0=`{\fi}}
+\def\@cline#1-#2\@nil{%
+ \omit
+ \@multicnt#1%
+ \advance\@multispan\m at ne
+ \ifnum\@multicnt=\@ne\@firstofone{&\omit}\fi
+ \@multicnt#2%
+ \advance\@multicnt-#1%
+ \advance\@multispan\@ne
+ {\CT at arc@\leaders\hrule\@height\arrayrulewidth\hfill}%
+ \cr
+ \noalign{\vskip-\arrayrulewidth}}
+\newlength\minrowclearance
+\minrowclearance=0pt
+\expandafter\def\expandafter\@mkpream\expandafter#\expandafter1%
+ \expandafter{%
+ \expandafter\let\expandafter\CT at setup\expandafter\relax
+ \expandafter\let\expandafter\CT at color\expandafter\relax
+ \expandafter\let\expandafter\CT at do@color\expandafter\relax
+ \expandafter\let\expandafter\color\expandafter\relax
+ \expandafter\let\expandafter\CT at column@color\expandafter\relax
+ \expandafter\let\expandafter\CT at row@color\expandafter\relax
+ \expandafter\let\expandafter\CT at cell@color\expandafter\relax
+ \@mkpream{#1}}
+\let\CT at do@color\relax
+\def\rowcolor{%
+ \noalign{\ifnum0=`}\fi
+ \global\let\CT at do@color\CT@@do at color
+ \@ifnextchar[\CT at rowa\CT at rowb}
+\def\CT at rowa[#1]#2{%
+ \gdef\CT at row@color{\CT at color[#1]{#2}}%
+ \CT at rowc}
+\def\CT at rowb#1{%
+ \gdef\CT at row@color{\CT at color{#1}}%
+ \CT at rowc}
+\def\CT at rowc{%
+ \@ifnextchar[\CT at rowd{\ifnum`{=0\fi}}}
+\def\CT at rowd[#1]{\@testopt{\CT at rowe[#1]}{#1}}
+\def\CT at rowe[#1][#2]{%
+ \@tempdimb#1%
+ \@tempdimc#2%
+ \xdef\CT at row@color{%
+ \expandafter\noexpand\CT at row@color
+ \@tempdimb\the\@tempdimb
+ \@tempdimc\the\@tempdimc
+ \relax}%
+ \ifnum0=`{\fi}}
+\edef\cellcolor{\noexpand\protect
+ \expandafter\noexpand\csname cellcolor \endcsname}
+\@namedef{cellcolor }{%
+ \@ifnextchar[{\CT at cellc\@firstofone}{\CT at cellc\@gobble[]}%
+}
+\def\CT at cellc#1[#2]#3{%
+ \expandafter\gdef\expandafter\CT at cell@color\expandafter{%
+ \expandafter\CT at color#1{[#2]}{#3}%
+ \global\let\CT at cell@color\relax
+}}
+\global\let\CT at cell@color\relax
+\AtBeginDocument{%
+ \def\@tempa{$\hfil\egroup\box\z@\box\tw@}%
+ \ifx\@tempa\DC at endright
+ \def\DC at endright{%
+ $\hfil\egroup
+ \ifx\DC at rl\bgroup
+ \hskip\stretch{-.5}\box\z@\box\tw@\hskip\stretch{-.5}%
+ \else
+ \box\z@\box\tw@
+ \fi}%
+ \else
+ \def\@tempa{$\hfil\egroup\hfill\box\z@\box\tw@}%
+ \ifx\@tempa\DC at endright
+ \def\DC at endright{%
+ $\hfil\egroup%
+ \hskip\stretch{.5}\box\z@\box\tw@\hskip\stretch{-.5}}%
+ \fi
+ \fi}
+\AtBeginDocument{%
+ \ifx\hhline\@undefined\else
+\def\HH at box#1#2{\vbox{{%
+ {\CT at drsc@\dimen@\tw@\arrayrulewidth
+ \advance\dimen@\doublerulesep
+ \hrule \@height\dimen@
+ \vskip-\dimen@}%
+ \CT at arc@
+ \hrule \@height \arrayrulewidth \@width #1
+ \vskip\doublerulesep
+ \hrule \@height \arrayrulewidth \@width #2}}}
+\def\HH at loop{%
+ \ifx\@tempb`\def\next##1{\the\toks@\cr}\else\let\next\HH at let
+ \ifx\@tempb|\if at tempswa
+ \ifx\CT at drsc@\relax
+ \HH at add{\hskip\doublerulesep}%
+ \else
+ \HH at add{{\CT at drsc@\vrule\@width\doublerulesep}}%
+ \fi
+ \fi\@tempswatrue
+ \HH at add{{\CT at arc@\vline}}\else
+ \ifx\@tempb:\if at tempswa
+ \ifx\CT at drsc@\relax
+ \HH at add{\hskip\doublerulesep}%
+ \else
+ \HH at add{{\CT at drsc@\vrule\@width\doublerulesep}}%
+ \fi
+ \fi\@tempswatrue
+ \HH at add{\@tempc\HH at box\arrayrulewidth\arrayrulewidth\@tempc}\else
+ \ifx\@tempb##\if at tempswa\HH at add{\hskip\doublerulesep}\fi\@tempswatrue
+ \HH at add{{\CT at arc@\vline\copy\@ne\@tempc\vline}}\else
+ \ifx\@tempb~\@tempswafalse
+ \if at firstamp\@firstampfalse\else\HH at add{&\omit}\fi
+ \ifx\CT at drsc@\relax
+ \HH at add{\hfil}\else
+ \HH at add{{%
+\CT at drsc@\leaders\hrule\@height\doublerulesep\hfil}}%
+ \fi
+ \else
+ \ifx\@tempb-\@tempswafalse
+ \if at firstamp\@firstampfalse\else\HH at add{&\omit}\fi
+ \HH at add{{%
+ \CT at arc@\leaders\hrule\@height\arrayrulewidth\hfil}}%
+ \else
+ \ifx\@tempb=\@tempswafalse
+ \if at firstamp\@firstampfalse\else\HH at add{&\omit}\fi
+ \HH at add
+ {\rlap{\copy\@ne}\leaders\copy\@ne\hfil\llap{\copy\@ne}}\else
+ \ifx\@tempb t\HH at add{\HH at box\doublerulesep\z@}\@tempswafalse\else
+ \ifx\@tempb b\HH at add{\HH at box\z@\doublerulesep}\@tempswafalse\else
+ \ifx\@tempb>\def\next##1##2{%
+ \HH at add{%
+ {\baselineskip\p@\relax
+ ##2%
+ \global\setbox\@ne\HH at box\doublerulesep\doublerulesep}}%
+ \HH at let!}\else
+ \PackageWarning{hhline}%
+ {\meaning\@tempb\space ignored in \noexpand\hhline argument%
+ \MessageBreak}%
+ \fi\fi\fi\fi\fi\fi\fi\fi\fi\fi
+ \next}
+\fi}
+\AtBeginDocument{
+ \ifx\longtable\@undefined\else
+ \def\LT@@hline{%
+ \ifx\LT at next\hline
+ \global\let\LT at next\@gobble
+ \ifx\CT at drsc@\relax
+ \gdef\CT at LT@sep{%
+ \noalign{\penalty-\@medpenalty\vskip\doublerulesep}}%
+ \else
+ \gdef\CT at LT@sep{%
+ \multispan\LT at cols{%
+ \CT at drsc@\leaders\hrule\@height\doublerulesep\hfill}\cr}%
+ \fi
+ \else
+ \global\let\LT at next\empty
+ \gdef\CT at LT@sep{%
+ \noalign{\penalty-\@lowpenalty\vskip-\arrayrulewidth}}%
+ \fi
+ \ifnum0=`{\fi}%
+ \multispan\LT at cols
+ {\CT at arc@\leaders\hrule\@height\arrayrulewidth\hfill}\cr
+ \CT at LT@sep
+ \multispan\LT at cols
+ {\CT at arc@\leaders\hrule\@height\arrayrulewidth\hfill}\cr
+ \noalign{\penalty\@M}%
+ \LT at next}
+ \fi}
+\endinput
+%%
+%% End of file `colortbl.sty'.
diff --git a/ref/glance/svgnam.def b/ref/glance/svgnam.def
new file mode 100644
index 0000000..0d748d9
--- /dev/null
+++ b/ref/glance/svgnam.def
@@ -0,0 +1,186 @@
+%%
+%% This is file `svgnam.def',
+%% generated with the docstrip utility.
+%%
+%% The original source files were:
+%%
+%% xcolor.dtx (with options: `svgnames')
+%%
+%% IMPORTANT NOTICE:
+%%
+%% For the copyright see the source file.
+%%
+%% Any modified versions of this file must be renamed
+%% with new filenames distinct from svgnam.def.
+%%
+%% For distribution of the original source see the terms
+%% for copying and modification in the file xcolor.dtx.
+%%
+%% This generated file may be distributed as long as the
+%% original source files, as listed above, are part of the
+%% same distribution. (The sources need not necessarily be
+%% in the same archive or directory.)
+%%
+\ProvidesFile{svgnam.def}
+ [2005/12/21 v2.09 Predefined colors according to SVG 1.1 (UK)]
+%%
+%% ----------------------------------------------------------------
+%% Copyright (C) 2003-2005 by Dr. Uwe Kern <xcolor at ukern dot de>
+%% ----------------------------------------------------------------
+%%
+\def\colornameprefix{XC@}
+\preparecolorset{rgb}{}{}{%
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+Tan,.824,.705,.55;%
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+White,1,1,1;%
+WhiteSmoke,.96,.96,.96;%
+Yellow,1,1,0;%
+YellowGreen,.604,.804,.196}
+\endinput
+%%
+%% End of file `svgnam.def'.
diff --git a/ref/glance/toolkitlandscape.tex b/ref/glance/toolkitlandscape.tex
new file mode 100644
index 0000000..f2594a7
--- /dev/null
+++ b/ref/glance/toolkitlandscape.tex
@@ -0,0 +1,118 @@
+\documentclass{article}
+\usepackage{multirow}
+\usepackage{rotating}
+\usepackage{colortbl}
+\usepackage{xcolor}
+\usepackage[total={8.5in,11in},top=0.5cm,left=5mm,landscape=true]{geometry}
+
+\newcommand{\sideco}{gray}
+\newcommand{\sideso}{1.0}
+\newcommand{\sidect}{gray}
+\newcommand{\sidest}{1.0}
+\newcommand{\sidewidth}{0.15in}
+\newcommand{\entco}{gray}
+\newcommand{\entso}{1.00}
+\newcommand{\entct}{gray}
+\newcommand{\entst}{0.95}
+
+\newcommand{\twidth}{1.5in}
+\newcommand{\dwidth}{4.025in}
+\newcommand{\ewidth}{4.275in}
+
+\pagestyle{empty}
+
+\begin{document}
+
+\begin{tabular}{clll}
+
+\multicolumn{4}{c}{GPSTk Apps at a Glance} \\
+& \textbf{Tool} & \textbf{Description} & \textbf{Execution Example} \\
+\hline
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} \multirow{1}{\twidth}{calgps} & \cellcolor[\entct]{\entst} \multirow{1}{\dwidth}{\footnotesize{generates a GPS calendar}} & \cellcolor[\entct]{\entst} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{calgps -Y 2004}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} \multirow{1}{\twidth}{poscvt} & \cellcolor[\entco]{\entso} \multirow{1}{\dwidth}{\footnotesize{converts a given input position to other position formats}} & \cellcolor[\entco]{\entso} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{poscvt --geodetic="30.28 262.26700 167.64" }}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} \multirow{1}{\twidth}{timeconvert} & \cellcolor[\entct]{\entst} \multirow{1}{\dwidth}{\footnotesize{converts given input time to other time formats}} & \cellcolor[\entct]{\entst} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{timeconvert --calendar="07 04 2006"}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} \multirow{1}{\twidth}{WhereSat} & \cellcolor[\entco]{\entso} \multirow{1}{\dwidth}{\footnotesize{outputs expected location of a satellite}} & \cellcolor[\entco]{\entso} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{WhereSat -b arl2100.06n -p 3}}} \\
+\hline
+
+\multirow{-5}{\sidewidth}{\rotatebox{90}{\tiny{\hspace{3mm}Transforms}}}
+
+
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entct]{\entst} \multirow{1}{\twidth}{rtAshtech} & \cellcolor[\entct]{\entst} \multirow{1}{\dwidth}{\footnotesize{records observations from an Ashtech receiver}} & \cellcolor[\entct]{\entst} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{rtAshtech -p /dev/ttyS1 -o "minute\%03j\%02H\%02m.\%06yo}}} \\
+
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entco]{\entso} \multirow{1}{\twidth}{ficfica ficafic fic2rin} & \cellcolor[\entco]{\entso} \multirow{1}{\dwidth}{\footnotesize{convert fic files between ASCII, binary, and Rinex formats}} & \cellcolor[\entco]{\entso} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{fic2rin fic2100.06 rin121.06n}}} \\
+
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entct]{\entst} \multirow{1}{\twidth}{mdp2fic mdp2rinex} & \cellcolor[\entct]{\entst} \multirow{1}{\dwidth}{\footnotesize{convert MDP files to fic or rinex files}} & \cellcolor[\entct]{\entst} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{mdp2rinex -i mdpfile -o arl2100.06o }}} \\
+
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entco]{\entso} \multirow{1}{\twidth}{novaRinex} & \cellcolor[\entco]{\entso} \multirow{1}{\dwidth}{\footnotesize{convert Novatel files to Rinex files}} & \cellcolor[\entco]{\entso} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{novaRinex --input nova2100.06 --obstype L1}}} \\
+
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entct]{\entst} \multirow{1}{\twidth}{navdmp} & \cellcolor[\entct]{\entst} \multirow{1}{\dwidth}{\footnotesize{dumps information from nav files to human readable formats}} & \cellcolor[\entct]{\entst} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{navdmp -i arl2100.06n -o arl2100.06.dmp}}} \\
+
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entco]{\entso} \multirow{1}{\twidth}{RinexDump} & \cellcolor[\entco]{\entso} \multirow{1}{\dwidth}{\footnotesize{dumps observation data for specified satellites from a Rinex file}} & \cellcolor[\entco]{\entso} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{RinexDump arl2100.06o 3 4 L1 L2}}} \\
+\hline
+
+\multirow{-7}{\sidewidth}{\rotatebox{90}{\tiny{\hspace{2mm} Collecting/Converting}}}
+
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} \multirow{1}{\twidth}{ephdiff} & \cellcolor[\entct]{\entst} \multirow{1}{\dwidth}{\footnotesize{compares the satellite positions from two ephemeris sources}} & \cellcolor[\entct]{\entst} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{ephdiff arl2100.06n fic2100.06}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} \multirow{1}{\twidth}{ficdiff} & \cellcolor[\entco]{\entso} \multirow{1}{\dwidth}{\footnotesize{compares contents of two FIC files}} & \cellcolor[\entco]{\entso} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{ficidff fic12100.06 fic22100.06}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} \multirow{1}{\twidth}{ficcheck ficacheck} & \cellcolor[\entct]{\entst} \multirow{1}{\dwidth}{\footnotesize{reads a FIC file and checks it for errors reporting the first found}} & \cellcolor[\entct]{\entst} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{ficcheck fic2100.06 -t "07/20/2006 11:00:00"}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} \multirow{1}{\twidth}{rmwdiff, rnwdiff, rowdiff} & \cellcolor[\entco]{\entso} \multirow{1}{\dwidth}{\footnotesize{compares contents of two RINEX files}} & \cellcolor[\entco]{\entso} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{rowdiff arl1210.06o arl22100.06o}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} \multirow{1}{\twidth}{row/rnw/rmwcheck} & \cellcolor[\entct]{\entst} \multirow{1}{\dwidth}{\footnotesize{read Rinex files and checks it for errors reporting the first found}} & \cellcolor[\entct]{\entst} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{rnwcheck arl210.06n -e "07/20/2006 11:00:00"}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} \multirow{1}{\twidth}{navsum RinSum} & \cellcolor[\entco]{\entso} \multirow{1}{\dwidth}{\footnotesize{summarizes the contents of nav/Rinex files}} & \cellcolor[\entco]{\entso} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{RinSum -i arl2100.06o --EpochBeg 2006,07,20,13,20,00}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} \multirow{1}{\twidth}{mdptool} & \cellcolor[\entct]{\entst} \multirow{1}{\dwidth}{\footnotesize{manipulates MDP data streams}} & \cellcolor[\entct]{\entst} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{mdptool -i mdpfile --pvt --obs}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} \multirow{1}{\twidth}{reszilla} & \cellcolor[\entco]{\entso} \multirow{1}{\dwidth}{\footnotesize{computes various residuals from GPS data}} & \cellcolor[\entco]{\entso} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{reszilla -o arl210.06o -e arl2100.06n}}} \\
+\hline
+
+\multirow{-9}{\sidewidth}{\rotatebox{90}{\tiny{Comparing \& Validating}}}
+
+
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entct]{\entst} \multirow{1}{\twidth}{mergeFIC} & \cellcolor[\entct]{\entst} \multirow{1}{\dwidth}{\footnotesize{sorts and merges input FIC files into a single file}} & \cellcolor[\entct]{\entst} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{mergeFIC -i fic12100.06 -i fic22100.06 -o ficmerge2100.06}}} \\
+
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entco]{\entso} \multirow{1}{\twidth}{mergeRinObs/Nav/Met} & \cellcolor[\entco]{\entso} \multirow{1}{\dwidth}{\footnotesize{sorts and merges RINEX files}} & \cellcolor[\entco]{\entso} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{mergeRinNav -i arl2100.06n -i arl2110.06n arl210-211.06n}}} \\
+
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entct]{\entst} \multirow{1}{\twidth}{NavMerge} & \cellcolor[\entct]{\entst} \multirow{1}{\dwidth}{\footnotesize{merges Rinex nav files into a single file}} & \cellcolor[\entct]{\entst} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{NavMerge -oarlnavs.06n arl2100.06n arl2110.06n}}} \\
+
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entco]{\entso} \multirow{1}{\twidth}{rinexthin} & \cellcolor[\entco]{\entso} \multirow{1}{\dwidth}{\footnotesize{decimates an input Rinex observation files to desired data rate}} & \cellcolor[\entco]{\entso} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{rinexthin -f arl2100.06o -s 30 -o arl2100thin.06n}}} \\
+
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entct]{\entst} \multirow{1}{\twidth}{ResCor} & \cellcolor[\entct]{\entst} \multirow{1}{\dwidth}{\footnotesize{edits Rinex files and computes corrections}} & \cellcolor[\entct]{\entst} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{ResCor -IFalr2100.06o -OFarl2100mod.06o -DS12,12:00:00 }}} \\
+
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entco]{\entso} \multirow{1}{\twidth}{DiscFix} & \cellcolor[\entco]{\entso} \multirow{1}{\dwidth}{\footnotesize{cycle slip corrector}} & \cellcolor[\entco]{\entso} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{DiscFix -i arl2100.06o --DT 1.5}}} \\
+\hline
+
+\multirow{-7}{\sidewidth}{\rotatebox{90}{\tiny{Editing Data}}}
+
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} \multirow{1}{\twidth}{IonoBias} & \cellcolor[\entct]{\entst} \multirow{1}{\dwidth}{\footnotesize{solves interfrequency biases and a simple ionosphere model}} & \cellcolor[\entct]{\entst} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{IonoBias --input arl2100.06o --nav arl2100.06n --XSat 3}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} \multirow{1}{\twidth}{TECMaps} & \cellcolor[\entco]{\entso} \multirow{1}{\dwidth}{\footnotesize{creates maps of Total Electron Content (TEC)}} & \cellcolor[\entco]{\entso} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{TECMaps --input arl2100.06o --nav arl2100.06n --LinearFit}}} \\
+\hline
+
+\multirow{-3}{\sidewidth}{\rotatebox{90}{\tiny{\hspace{3mm}Iono}}}
+
+
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entct]{\entst} \multirow{1}{\twidth}{PRSolve} & \cellcolor[\entct]{\entst} \multirow{1}{\dwidth}{\footnotesize{generates autonomous position solution}} & \cellcolor[\entct]{\entst} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{PRSolve -o alr2100.06o -n arl2100.06nn --XPRN 12}}} \\
+
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entco]{\entso} \multirow{1}{\twidth}{rinexpvt} & \cellcolor[\entco]{\entso} \multirow{1}{\dwidth}{\footnotesize{generates autonous position solution}} & \cellcolor[\entco]{\entso} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{rinexpvt -o alr2100.06o -n arl2100.06n}}} \\
+
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entct]{\entst} \multirow{1}{\twidth}{DDBase} & \cellcolor[\entct]{\entst} \multirow{1}{\dwidth}{\footnotesize{computes a network solution using carrier phase}} & \cellcolor[\entct]{\entst} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{DDBase ... --ObsFile arl2100.06o --PosXYZ x,y,z,1 --Fix ...}}} \\
+
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entco]{\entso} \multirow{1}{\twidth}{vecsol} & \cellcolor[\entco]{\entso} \multirow{1}{\dwidth}{\footnotesize{estimates short baseline using range or carrier phase}} & \cellcolor[\entco]{\entso} \multirow{1}{\ewidth}{\ttfamily{\footnotesize{vecsol station12100.06o station22100.06o}}} \\
+\hline
+
+\multirow{-5}{\sidewidth}{\rotatebox{90}{\tiny{\hspace{3mm}Positioning}}}
+
+
+\end{tabular}
+
+\end{document}
diff --git a/ref/glance/toolkitportrait.tex b/ref/glance/toolkitportrait.tex
new file mode 100644
index 0000000..b360d20
--- /dev/null
+++ b/ref/glance/toolkitportrait.tex
@@ -0,0 +1,158 @@
+\documentclass[8pt]{article}
+\usepackage{multirow}
+\usepackage{rotating}
+\usepackage{colortbl}
+\usepackage{xcolor}
+
+\newcommand{\sideco}{gray}
+\newcommand{\sideso}{1.0}
+\newcommand{\sidect}{gray}
+\newcommand{\sidest}{1.0}
+\newcommand{\sidewidth}{.05in}
+\newcommand{\entco}{gray}
+\newcommand{\entso}{1.00}
+\newcommand{\entct}{gray}
+\newcommand{\entst}{0.95}
+
+\newcommand{\twidth}{1.15in}
+\newcommand{\dwidth}{2.0in}
+\newcommand{\ewidth}{3.0in}
+\newcommand{\bkup}{-2}
+\newcommand{\execsize}{\scriptsize}
+\newcommand{\sidesize}{\small}
+
+\pagestyle{empty}
+
+\paperwidth = 8.5in
+\paperheight = 11in
+
+\oddsidemargin = -.25in
+\evensidemargin = -.25in
+\topmargin = -.25in
+\headsep = 0in
+\headheight = 0in
+
+\begin{document}
+\begin{table}
+\begin{footnotesize}
+\begin{tabular}{clll}
+
+& \textbf{Tool} & \textbf{Description} & \textbf{Execution Example} \\
+\hline
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} \\
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\twidth}{calgps} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\dwidth}{\footnotesize{generates a GPS calendar}} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{calgps -Y 2004}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} \\
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\twidth}{poscvt} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\dwidth}{\footnotesize{converts a given input position to other position formats}} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{poscvt --geodetic="30.28 262.26700 167.64" }}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} \\
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\twidth}{timeconvert} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\dwidth}{\footnotesize{converts given input time to other time formats}} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{timeconvert --calendar="07 04 2006"}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} \\
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\twidth}{WhereSat} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\dwidth}{\footnotesize{outputs expected location of a satellite}} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{WhereSat -b arl2100.06n -p 3}}} \\
+\hline
+
+\multirow{-9}{\sidewidth}{\rotatebox{90}{\sidesize{\hspace{3mm}Transforms}}}
+
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} \\
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\twidth}{rtAshtech} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\dwidth}{\footnotesize{records observations from an Ashtech receiver}} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{rtAshtech -p /dev/ttyS1 -o "minute\%03j\%02H\%02m.\%06yo"}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} \\
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\twidth}{ficfica ficafic fic2rin} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\dwidth}{\footnotesize{convert fic files between ASCII, binary, and Rinex formats}} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{fic2rin fic2100.06 rin121.06n}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} \\
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\twidth}{mdp2fic mdp2rinex} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\dwidth}{\footnotesize{convert MDP files to fic or rinex files}} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{mdp2rinex -i mdpfile -o arl2100.06o }}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} \\
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\twidth}{novaRinex} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\dwidth}{\footnotesize{convert Novatel files to Rinex files}} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{novaRinex --input nova2100.06 --obstype L1}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} \\
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\twidth}{navdmp} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\dwidth}{\footnotesize{dumps information from nav files to human readable formats}} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{navdmp -i arl2100.06n -o arl2100.06.dmp}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} \\
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\twidth}{RinexDump} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\dwidth}{\footnotesize{dumps observation data for specified satellites from a Rinex file}} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{RinexDump arl2100.06o 3 4 L1 L2}}} \\
+\hline
+
+\multirow{-13}{\sidewidth}{\rotatebox{90}{\sidesize{\hspace{2mm} Collecting \& Converting}}}
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} \\
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\twidth}{ephdiff} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\dwidth}{\footnotesize{compares the satellite positions from two ephemeris sources}} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{ephdiff arl2100.06n fic2100.06}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} \\
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\twidth}{ficdiff} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\dwidth}{\footnotesize{compares contents of two FIC files}} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{ficidff fic12100.06 fic22100.06}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} \\
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\twidth}{ficcheck ficacheck} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\dwidth}{\footnotesize{reads a FIC file and checks it for errors reporting the first found}} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{ficcheck fic2100.06 -t "07/20/2006 11:00:00"}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} \\
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\twidth}{row/rnw/rmwdiff} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\dwidth}{\footnotesize{compares contents of two RINEX files}} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{rowdiff arl1210.06o arl22100.06o}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} \\
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\twidth}{row/rnw/rmwcheck} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\dwidth}{\footnotesize{read Rinex files and checks it for errors reporting the first found}} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{rnwcheck arl210.06n -e "07/20/2006 11:00:00"}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} \\
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\twidth}{navsum RinSum} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\dwidth}{\footnotesize{summarizes the contents of nav/Rinex files}} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{RinSum -i arl2100.06o --EpochBeg 2006,07,20,13,20,00}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} \\
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\twidth}{mdptool} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\dwidth}{\footnotesize{manipulates MDP data streams}} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{mdptool -i mdpfile --pvt --obs}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} \\
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\twidth}{reszilla} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\dwidth}{\footnotesize{computes various residuals from GPS data}} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{reszilla -o arl210.06o -e arl2100.06n}}} \\
+\hline
+
+\multirow{-17}{\sidewidth}{\rotatebox{90}{\sidesize{Comparing \& Validating}}}
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} \\
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\twidth}{mergeFIC} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\dwidth}{\footnotesize{sorts and merges input FIC files into a single file}} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{mergeFIC -i fic12100.06 -i fic22100.06 -o ficmerge2100.06}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} \\
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\twidth}{mergeRinObs/Nav/Met} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\dwidth}{\footnotesize{sorts and merges RINEX files}} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{mergeRinNav -i arl2100.06n -i arl2110.06n arl210-211.06n}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} \\
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\twidth}{NavMerge} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\dwidth}{\footnotesize{merges Rinex nav files into a single file}} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{NavMerge -oarlnavs.06n arl2100.06n arl2110.06n}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} \\
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\twidth}{rinexthin} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\dwidth}{\footnotesize{decimates an input Rinex observation files to desired data rate}} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{rinexthin -f arl2100.06o -s 30 -o arl2100thin.06n}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} \\
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\twidth}{ResCor} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\dwidth}{\footnotesize{edits Rinex files and computes corrections}} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{ResCor -IFalr2100.06o -OFarl2100mod.06o -DS12,12:00:00 }}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} \\
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\twidth}{DiscFix} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\dwidth}{\footnotesize{cycle slip corrector}} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{DiscFix -i arl2100.06o --DT 1.5}}} \\
+\hline
+
+\multirow{-13}{\sidewidth}{\rotatebox{90}{\sidesize{Editing Data}}}
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} \\
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\twidth}{IonoBias} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\dwidth}{\footnotesize{solves interfrequency biases and a simple ionosphere model}} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{IonoBias --input arl2100.06o --nav arl2100.06n --XSat 3}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} \\
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\twidth}{TECMaps} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\dwidth}{\footnotesize{creates maps of Total Electron Content (TEC)}} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{TECMaps --input arl2100.06o --nav arl2100.06n --LinearFit}}} \\
+\hline
+
+\multirow{-5}{\sidewidth}{\rotatebox{90}{\sidesize{\hspace{3mm}Iono}}}
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} \\
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\twidth}{PRSolve} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\dwidth}{\footnotesize{generates autonomous position solution}} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{PRSolve -o alr2100.06o -n arl2100.06nn --XPRN 12}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} \\
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\twidth}{rinexpvt} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\dwidth}{\footnotesize{generates autonous position solution}} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{rinexpvt -o alr2100.06o -n arl2100.06n}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} & \cellcolor[\entct]{\entst} \\
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\twidth}{DDBase} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\dwidth}{\footnotesize{computes a network solution using carrier phase}} & \cellcolor[\entct]{\entst} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{DDBase ... --ObsFile arl2100.06o --PosXYZ x,y,z,1 --Fix}}} \\
+
+\cellcolor[\sideco]{\sideso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} & \cellcolor[\entco]{\entso} \\
+\cellcolor[\sidect]{\sidest} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\twidth}{vecsol} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\dwidth}{\footnotesize{estimates short baseline using range or carrier phase}} & \cellcolor[\entco]{\entso} \multirow{\bkup}{\ewidth}{\ttfamily{\execsize{vecsol station12100.06o station22100.06o}}} \\
+\hline
+
+\multirow{-9}{\sidewidth}{\rotatebox{90}{\sidesize{\hspace{3mm}Positioning}}} \\
+
+\multicolumn{4}{c}{Table \thetable: Awsome Table}
+
+\end{tabular}
+\end{footnotesize}
+\end{table}
+
+\end{document}
diff --git a/ref/glance/x11nam.def b/ref/glance/x11nam.def
new file mode 100644
index 0000000..ff73886
--- /dev/null
+++ b/ref/glance/x11nam.def
@@ -0,0 +1,352 @@
+%%
+%% This is file `x11nam.def',
+%% generated with the docstrip utility.
+%%
+%% The original source files were:
+%%
+%% xcolor.dtx (with options: `x11names')
+%%
+%% IMPORTANT NOTICE:
+%%
+%% For the copyright see the source file.
+%%
+%% Any modified versions of this file must be renamed
+%% with new filenames distinct from x11nam.def.
+%%
+%% For distribution of the original source see the terms
+%% for copying and modification in the file xcolor.dtx.
+%%
+%% This generated file may be distributed as long as the
+%% original source files, as listed above, are part of the
+%% same distribution. (The sources need not necessarily be
+%% in the same archive or directory.)
+%%
+\ProvidesFile{x11nam.def}
+ [2005/12/21 v2.09 Predefined colors according to Unix/X11 (UK)]
+%%
+%% ----------------------------------------------------------------
+%% Copyright (C) 2003-2005 by Dr. Uwe Kern <xcolor at ukern dot de>
+%% ----------------------------------------------------------------
+%%
+\def\colornameprefix{XC@}
+\preparecolorset{rgb}{}{}{%
+AntiqueWhite1,1,.936,.86;%
+AntiqueWhite2,.932,.875,.8;%
+AntiqueWhite3,.804,.752,.69;%
+AntiqueWhite4,.545,.512,.47;%
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+Aquamarine4,.27,.545,.455;%
+Azure1,.94,1,1;%
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+Azure4,.512,.545,.545;%
+Bisque1,1,.894,.77;%
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+Bisque4,.545,.49,.42;%
+Blue1,0,0,1;%
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+Khaki2,.932,.9,.52;%
+Khaki3,.804,.776,.45;%
+Khaki4,.545,.525,.305;%
+LavenderBlush1,1,.94,.96;%
+LavenderBlush2,.932,.88,.898;%
+LavenderBlush3,.804,.756,.772;%
+LavenderBlush4,.545,.512,.525;%
+LemonChiffon1,1,.98,.804;%
+LemonChiffon2,.932,.912,.75;%
+LemonChiffon3,.804,.79,.648;%
+LemonChiffon4,.545,.536,.44;%
+LightBlue1,.75,.936,1;%
+LightBlue2,.698,.875,.932;%
+LightBlue3,.604,.752,.804;%
+LightBlue4,.408,.512,.545;%
+LightCyan1,.88,1,1;%
+LightCyan2,.82,.932,.932;%
+LightCyan3,.705,.804,.804;%
+LightCyan4,.48,.545,.545;%
+LightGoldenrod1,1,.925,.545;%
+LightGoldenrod2,.932,.864,.51;%
+LightGoldenrod3,.804,.745,.44;%
+LightGoldenrod4,.545,.505,.298;%
+LightPink1,1,.684,.725;%
+LightPink2,.932,.635,.68;%
+LightPink3,.804,.55,.585;%
+LightPink4,.545,.372,.396;%
+LightSalmon1,1,.628,.48;%
+LightSalmon2,.932,.585,.448;%
+LightSalmon3,.804,.505,.385;%
+LightSalmon4,.545,.34,.26;%
+LightSkyBlue1,.69,.888,1;%
+LightSkyBlue2,.644,.828,.932;%
+LightSkyBlue3,.552,.712,.804;%
+LightSkyBlue4,.376,.484,.545;%
+LightSteelBlue1,.792,.884,1;%
+LightSteelBlue2,.736,.824,.932;%
+LightSteelBlue3,.635,.71,.804;%
+LightSteelBlue4,.43,.484,.545;%
+LightYellow1,1,1,.88;%
+LightYellow2,.932,.932,.82;%
+LightYellow3,.804,.804,.705;%
+LightYellow4,.545,.545,.48;%
+Magenta1,1,0,1;%
+Magenta2,.932,0,.932;%
+Magenta3,.804,0,.804;%
+Magenta4,.545,0,.545;%
+Maroon1,1,.204,.7;%
+Maroon2,.932,.19,.655;%
+Maroon3,.804,.16,.565;%
+Maroon4,.545,.11,.385;%
+MediumOrchid1,.88,.4,1;%
+MediumOrchid2,.82,.372,.932;%
+MediumOrchid3,.705,.32,.804;%
+MediumOrchid4,.48,.215,.545;%
+MediumPurple1,.67,.51,1;%
+MediumPurple2,.624,.475,.932;%
+MediumPurple3,.536,.408,.804;%
+MediumPurple4,.365,.28,.545;%
+MistyRose1,1,.894,.884;%
+MistyRose2,.932,.835,.824;%
+MistyRose3,.804,.716,.71;%
+MistyRose4,.545,.49,.484;%
+NavajoWhite1,1,.87,.68;%
+NavajoWhite2,.932,.81,.63;%
+NavajoWhite3,.804,.7,.545;%
+NavajoWhite4,.545,.475,.37;%
+OliveDrab1,.752,1,.244;%
+OliveDrab2,.7,.932,.228;%
+OliveDrab3,.604,.804,.196;%
+OliveDrab4,.41,.545,.132;%
+Orange1,1,.648,0;%
+Orange2,.932,.604,0;%
+Orange3,.804,.52,0;%
+Orange4,.545,.352,0;%
+OrangeRed1,1,.27,0;%
+OrangeRed2,.932,.25,0;%
+OrangeRed3,.804,.215,0;%
+OrangeRed4,.545,.145,0;%
+Orchid1,1,.512,.98;%
+Orchid2,.932,.48,.912;%
+Orchid3,.804,.41,.79;%
+Orchid4,.545,.28,.536;%
+PaleGreen1,.604,1,.604;%
+PaleGreen2,.565,.932,.565;%
+PaleGreen3,.488,.804,.488;%
+PaleGreen4,.33,.545,.33;%
+PaleTurquoise1,.732,1,1;%
+PaleTurquoise2,.684,.932,.932;%
+PaleTurquoise3,.59,.804,.804;%
+PaleTurquoise4,.4,.545,.545;%
+PaleVioletRed1,1,.51,.67;%
+PaleVioletRed2,.932,.475,.624;%
+PaleVioletRed3,.804,.408,.536;%
+PaleVioletRed4,.545,.28,.365;%
+PeachPuff1,1,.855,.725;%
+PeachPuff2,.932,.796,.68;%
+PeachPuff3,.804,.688,.585;%
+PeachPuff4,.545,.468,.396;%
+Pink1,1,.71,.772;%
+Pink2,.932,.664,.72;%
+Pink3,.804,.57,.62;%
+Pink4,.545,.39,.424;%
+Plum1,1,.732,1;%
+Plum2,.932,.684,.932;%
+Plum3,.804,.59,.804;%
+Plum4,.545,.4,.545;%
+Purple1,.608,.19,1;%
+Purple2,.57,.172,.932;%
+Purple3,.49,.15,.804;%
+Purple4,.332,.1,.545;%
+Red1,1,0,0;%
+Red2,.932,0,0;%
+Red3,.804,0,0;%
+Red4,.545,0,0;%
+RosyBrown1,1,.756,.756;%
+RosyBrown2,.932,.705,.705;%
+RosyBrown3,.804,.608,.608;%
+RosyBrown4,.545,.41,.41;%
+RoyalBlue1,.284,.464,1;%
+RoyalBlue2,.264,.43,.932;%
+RoyalBlue3,.228,.372,.804;%
+RoyalBlue4,.152,.25,.545;%
+Salmon1,1,.55,.41;%
+Salmon2,.932,.51,.385;%
+Salmon3,.804,.44,.33;%
+Salmon4,.545,.298,.224;%
+SeaGreen1,.33,1,.624;%
+SeaGreen2,.305,.932,.58;%
+SeaGreen3,.264,.804,.5;%
+SeaGreen4,.18,.545,.34;%
+Seashell1,1,.96,.932;%
+Seashell2,.932,.898,.87;%
+Seashell3,.804,.772,.75;%
+Seashell4,.545,.525,.51;%
+Sienna1,1,.51,.28;%
+Sienna2,.932,.475,.26;%
+Sienna3,.804,.408,.224;%
+Sienna4,.545,.28,.15;%
+SkyBlue1,.53,.808,1;%
+SkyBlue2,.494,.752,.932;%
+SkyBlue3,.424,.65,.804;%
+SkyBlue4,.29,.44,.545;%
+SlateBlue1,.512,.435,1;%
+SlateBlue2,.48,.404,.932;%
+SlateBlue3,.41,.35,.804;%
+SlateBlue4,.28,.235,.545;%
+SlateGray1,.776,.888,1;%
+SlateGray2,.725,.828,.932;%
+SlateGray3,.624,.712,.804;%
+SlateGray4,.424,.484,.545;%
+Snow1,1,.98,.98;%
+Snow2,.932,.912,.912;%
+Snow3,.804,.79,.79;%
+Snow4,.545,.536,.536;%
+SpringGreen1,0,1,.498;%
+SpringGreen2,0,.932,.464;%
+SpringGreen3,0,.804,.4;%
+SpringGreen4,0,.545,.27;%
+SteelBlue1,.39,.72,1;%
+SteelBlue2,.36,.675,.932;%
+SteelBlue3,.31,.58,.804;%
+SteelBlue4,.21,.392,.545;%
+Tan1,1,.648,.31;%
+Tan2,.932,.604,.288;%
+Tan3,.804,.52,.248;%
+Tan4,.545,.352,.17;%
+Thistle1,1,.884,1;%
+Thistle2,.932,.824,.932;%
+Thistle3,.804,.71,.804;%
+Thistle4,.545,.484,.545;%
+Tomato1,1,.39,.28;%
+Tomato2,.932,.36,.26;%
+Tomato3,.804,.31,.224;%
+Tomato4,.545,.21,.15;%
+Turquoise1,0,.96,1;%
+Turquoise2,0,.898,.932;%
+Turquoise3,0,.772,.804;%
+Turquoise4,0,.525,.545;%
+VioletRed1,1,.244,.59;%
+VioletRed2,.932,.228,.55;%
+VioletRed3,.804,.196,.47;%
+VioletRed4,.545,.132,.32;%
+Wheat1,1,.905,.73;%
+Wheat2,.932,.848,.684;%
+Wheat3,.804,.73,.59;%
+Wheat4,.545,.494,.4;%
+Yellow1,1,1,0;%
+Yellow2,.932,.932,0;%
+Yellow3,.804,.804,0;%
+Yellow4,.545,.545,0;%
+Gray0,.745,.745,.745;%
+Green0,0,1,0;%
+Grey0,.745,.745,.745;%
+Maroon0,.69,.19,.376;%
+Purple0,.628,.125,.94}
+\endinput
+%%
+%% End of file `x11nam.def'.
diff --git a/ref/glance/xcolor.dtx b/ref/glance/xcolor.dtx
new file mode 100644
index 0000000..92b4ea5
--- /dev/null
+++ b/ref/glance/xcolor.dtx
@@ -0,0 +1,8231 @@
+% \iffalse meta-comment
+%%
+%% ----------------------------------------------------------------
+%% Copyright (C) 2003-2005 by Dr. Uwe Kern <xcolor at ukern dot de>
+%% ----------------------------------------------------------------
+%%
+%<*package>
+%% Please send error reports and suggestions for
+%% improvements to the above email address.
+%%
+%% This package contains code copied from
+%%
+%% color.dtx [1999/02/16 v1.0i Standard LaTeX Color (DPC)]
+%% Copyright (C) 1994--1999 David Carlisle
+%%
+%% which is part of the Standard LaTeX `Graphics Bundle'.
+%%
+%</package>
+%<*extract|driver|test1|test2|test3|test4>
+\def\XCfileversion{v2.09}%
+\def\XCfiledate{2005/12/21}%
+%</extract|driver|test1|test2|test3|test4>
+%
+% This file may be distributed and/or modified under the
+% conditions of the LaTeX Project Public License, either version 1.2
+% of this license or (at your option) any later version.
+% The latest version of this license is in:
+%
+% http://www.latex-project.org/lppl.txt
+%
+% and version 1.2 or later is part of all distributions of LaTeX
+% version 1999/12/01 or later.
+%
+% \fi
+%
+% \CheckSum{4875}
+%
+% \DoNotIndex{\def,\gdef,\edef,\xdef,\long,\let}
+% \DoNotIndex{\ifnum,\ifdim,\iftrue,\iffalse,\ifx,\ifcase,\else,\or,\fi}
+% \DoNotIndex{\bgroup,\egroup,\begingroup,\endgroup,\begin,\end}
+% \DoNotIndex{\relax,\endinput}
+% \DoNotIndex{\csname,\endcsname,\string,\the,\noexpand,\expandafter}
+% \DoNotIndex{\advance,\count,\dimen}
+% \DoNotIndex{\m at ne,\z@,\@ne,\tw@,\p@,\@@tmp}
+%
+% \CharacterTable
+% {Upper-case \A\B\C\D\E\F\G\H\I\J\K\L\M\N\O\P\Q\R\S\T\U\V\W\X\Y\Z
+% Lower-case \a\b\c\d\e\f\g\h\i\j\k\l\m\n\o\p\q\r\s\t\u\v\w\x\y\z
+% Digits \0\1\2\3\4\5\6\7\8\9
+% Exclamation \! Double quote \" Hash (number) \#
+% Dollar \$ Percent \% Ampersand \&
+% Acute accent \' Left paren \( Right paren \)
+% Asterisk \* Plus \+ Comma \,
+% Minus \- Point \. Solidus \/
+% Colon \: Semicolon \; Less than \<
+% Equals \= Greater than \> Question mark \?
+% Commercial at \@ Left bracket \[ Backslash \\
+% Right bracket \] Circumflex \^ Underscore \_
+% Grave accent \` Left brace \{ Vertical bar \|
+% Right brace \} Tilde \~}
+%
+%
+% \iffalse
+%<*batchfile>
+\IfFileExists{xcolor.ins}{\let\uknext=\relax}{\let\uknext=\stop}
+\begin{filecontents*}{xcolor.ins}
+%% Package `xcolor' by Dr. Uwe Kern
+%%
+%% Extract all package files:
+%% `latex xcolor.ins'
+%%
+%% Put the generated files to their respective locations
+%% within the TeX installation:
+%% *.sty -> /tex/latex/xcolor/
+%% *.def -> /tex/latex/xcolor/
+%% *.pro -> /dvips/xcolor/
+%%
+%% Create the documentation:
+%% `latex xcolor.dtx'
+%% `latex xcolor.dtx'
+%% `makeindex -s gind.ist xcolor.idx'
+%% `latex xcolor.dtx'
+%% `latex xcolor.dtx'
+%%
+%% Run the test files (N=1,2,...):
+%% `latex xcolorN.tex'
+%% `latex xcolorN.tex'
+%%
+\def\batchfile{xcolor.ins}
+\input docstrip.tex
+\askforoverwritefalse
+\generate{\file{xcolor.lox}{\from{xcolor.dtx}{extract}}}
+\batchinput{xcolor.lox}
+\endbatchfile
+\end{filecontents*}
+%</batchfile>
+%
+%<*driver>
+\listfiles
+\ProvidesFile{xcolor.dtx}[\XCfiledate\space\XCfileversion\space
+ `xcolor' source and documentation (UK)]
+\documentclass{ltxdoc}
+\usepackage[table,showerrors,dvipsnames,hyperref]{xcolor}[2005/06/06]
+\usepackage{chngpage,varioref,tabularx,amsmath,amsthm}
+\usepackage
+ [\GinDriver,hyperindex=false,bookmarks,bookmarksopen,bookmarksopenlevel=1,%
+ pdftitle={xcolor \XCfileversion{} (\XCfiledate)},pdfauthor={Dr. Uwe Kern},%
+ pdfsubject={Color extensions for LaTeX and pdfLaTeX},%
+ pdfkeywords={xcolor,color,colour,model,tint,tone,shade,harmony,spot,latex,pdftex,dvips,%
+ conversion,blend,mix,mask,separation,rgb,cmy,cmyk,hsb,gray,html,wave,thsb,wheel}]{hyperref}
+\OnlyDescription
+\EnableCrossrefs
+\CodelineIndex
+\makeatletter
+\def\Meaning#1{\texttt{\expandafter\expandafter\expandafter\strip at prefix\expandafter\meaning\csname #1\endcsname}}
+\makeatother
+\pagestyle{myheadings}
+\markright{\hskip-2.5cm xcolor \XCfileversion\space(\XCfiledate)}
+\begin{document}
+ \DocInput{xcolor.dtx}
+ \let\Section\section\def\section*#1{\Section*{#1}\addcontentsline{toc}{section}{#1}}
+ \begin{adjustwidth}{-2.5cm}{}
+ \def\markboth#1#2{}\PrintIndex
+ \end{adjustwidth}
+\end{document}
+%</driver>
+%
+%<*extract>
+\def\ukfile#1#2#3#4%
+ {\def\ukhead
+ {\ifnum#1>2 \perCent!^^J\fi
+ \defaultpreamble^^J\MetaPrefix^^J%
+ \ifcase#1
+ \string\ProvidesPackage{#2}^^J\or
+ \string\ProvidesFile{#2}^^J\or
+ \string\ProvidesFile{#2.def}^^J\or
+ \MetaPrefix\space #2.pro (PostScript/dvips header file)^^J\MetaPrefix\space
+ \fi
+ \space[\XCfiledate\space\XCfileversion\space#4\space(UK)]}
+ \usepreamble\ukhead
+ \file{#2.\ifcase#1sty\or tex\or def\or pro\fi}{\from{xcolor.dtx}{#3}}}
+\generate{
+\ukfile0{xcolor}{package}{LaTeX color extensions}
+\ukfile2{svgnam}{svgnames}{Predefined colors according to SVG 1.1}
+\ukfile2{x11nam}{x11names}{Predefined colors according to Unix/X11}
+\ukfile1{xcolor1}{test1}{Color conversion test}
+\ukfile1{xcolor2}{test2}{Pstricks color test}
+\ukfile1{xcolor3}{test3}{Color logging test}
+\ukfile1{xcolor4}{test4}{Color driver test}
+\def\PStail{\MetaPrefix\space End of file `\outFileName'.}
+\usepostamble\PStail
+\ukfile3{xcolor}{dvips}{LaTeX color extensions}
+}
+%</extract>
+% \fi
+%
+%
+%
+% \iffalse
+%-------------------------------------------------------------------------------
+% \fi
+%
+%
+% \makeatletter
+%
+% \def\testclr#1#{\@testclr{#1}}
+% \def\@testclr#1#2{{\fboxsep\z@\fbox{\colorbox#1{#2}{\phantom{XX}}}}}
+% \def\Testclr#1#{\@Testclr{#1}}
+% \def\@Testclr#1#2#3{\testclr#1{#2}~\rlap{\Color[-]{#3}}\\}
+% \def\TestClr#1#{\@TestClr{#1}}
+% \def\@TestClr#1#2#3{\testclr#1{#2}~\rlap{\Color[+]{#3}}\\}
+% \newif\if at Meta
+% \DeclareRobustCommand*\Meta{\@ifstar{\@Metatrue\@Meta}{\@Metafalse\@Meta}}
+% \newcommand*\@Meta[2][]{\meta{#2}\@ifxempty{#1}{}{\ensuremath{\mskip-1mu\rule[-.4ex]{0pt}{1ex}_{#1}}}\if at Meta\index{arguments\levelchar\meta{#2}\string|usage}\fi}
+% \def\DescribeArg#1{\leavevmode\@bsphack\marginpar{\raggedleft\Meta*{#1}}\@esphack\ignorespaces}
+% \def\DescribeFunc#1{\leavevmode\@bsphack\marginpar{\raggedleft\Function{#1}\strut}\@esphack\ignorespaces}
+%
+% \makeatother
+%
+% \def\Index#1{#1\index{#1\string|usage}}
+% \def\Package#1{\textsf{#1}\index{packages\levelchar\textsf{#1}\string|usage}}
+% \def\Program#1{\textsf{\itshape#1}\index{programs\levelchar\textsf{\itshape#1}\string|usage}}
+% \def\Model#1{\textsf{\bfseries#1}\index{color models\levelchar\textsf{\bfseries#1}\string|usage}}
+% \def\nModel#1{`#1'\index{color models\levelchar`#1'\string|usage}}
+% \def\pModel#1{\textbf{\itshape #1}}
+% \def\People#1#2{#1 #2\index{people\levelchar#2, #1\string|usage}}
+% \newcommand*\Color[2][+]{\textsl{#2}\ifx#1+\index{color names\levelchar\textsl{#2}\string|usage}\fi}
+% \def\Option#1{\texttt{#1}\index{package options\levelchar\texttt{#1}\string|usage}}
+% \def\Key#1{\textit{#1}\index{keys\levelchar\textit{#1}\string|usage}}
+% \def\File#1{\texttt{#1}\index{files\levelchar\texttt{#1}\string|usage}}
+% \def\Function#1{\textit{#1}\index{color functions\levelchar\textit{#1}\string|usage}}
+% \def\Op#1#2{#1\nolimits_{\,\Model{#2}}}
+% \def\med{\mathop{\textrm{med}}}
+% \def\mix{\mathop{\textrm{mix}}}
+% \def\rd{\mathop{\textrm{round}}}
+% \def\tint{\mathop{\textrm{tint}}}
+% \def\shade{\mathop{\textrm{shade}}}
+% \def\tone{\mathop{\textrm{tone}}}
+% \def\LC{\Package{color}}
+% \def\LCP{\Package{color} package}
+% \def\XC{\Package{xcolor}}
+% \def\XCP{\Package{xcolor} package}
+% \def\XCW{\texttt{\href{http://www.ukern.de/tex/xcolor.html}{www.ukern.de/tex/xcolor.html}}}
+% \def\URL#1{\texttt{\url{#1}}}
+% \def\CTAN#1#2{\texttt{\href{http://www.ctan.org/tex-archive/#1}{CTAN/#1#2}}}
+% \newtheorem{lemma}{Lemma}
+% \def\RtoI#1{\Gamma_{\!#1}}
+% \def\ItoR#1{\Delta_{#1}}
+% \def\bbbN{\textrm{I\kern-.333ex N}}
+% \def\bbbR{\textrm{I\kern-.333ex R}}
+% \def\Circ{\textsuperscript{$\circ$}}
+%
+% \newdimen\XCdim
+%
+% \parindent0pt
+% \extrarowheight1pt
+% \def\textfraction{0.01}
+% \def\topfraction{0.99}
+% \def\bottomfraction{0.99}
+% \def\floatpagefraction{0.70}
+% \setlength\abovecaptionskip{12pt}
+% \setlength\belowcaptionskip{10pt}
+% \colorlet{tableheadcolor}{gray!25}
+% \colorlet{tablerowcolor}{gray!12.5}
+%
+%
+%
+% \title{Extending \LaTeX's color facilities: the \XCP}
+% \author{\href{mailto:xcolor at ukern.de}{\fboxrule0pt\fboxsep2pt\fbox{Dr. Uwe Kern}}}
+% \date{\XCfileversion{} (\XCfiledate)
+% \thanks{This package can be downloaded from \CTAN{macros/latex/contrib/xcolor/}{}.
+% There is also an \textsf{xcolor} homepage: \XCW.
+% Please send error reports and suggestions for improvements to the author:
+% \texttt{\href{mailto:xcolor at ukern.de}{xcolor at ukern.de}}.}}
+% \maketitle
+%
+% \begin{abstract}
+% \noindent
+% \XC{} provides easy driver-independent access to several kinds of colors, tints, shades, tones, and mixes of arbitrary colors by means of color expressions like |\color{red!50!green!20!blue}|.
+% It allows to select a document-wide target color model and offers tools for automatic color schemes, conversion between twelve color models, alternating table row colors, color blending and masking, color separation, and color wheel calculations.
+% \end{abstract}
+%
+% \phantomsection\pdfbookmark[1]{\contentsname}{toc}
+% \tableofcontents\listoftables\listoffigures\newpage
+%
+%
+%
+%
+% \clearpage
+% \section{Introduction}
+%
+% \subsection{Purpose of this package}
+%
+% The \LCP{} provides a powerful and stable tool for handling colors within (pdf)\LaTeX{} in a consistent and driver-independent way, supporting several color models (slightly less driver-independent).
+%
+% Nevertheless, it is sometimes a bit clumsy to use, especially in cases where slight color variations, color mixes or color conversions are involved:
+% this usually implies the usage of another program that calculates the necessary parameters, which are then copied into a |\definecolor| command in \LaTeX.
+% Quite often, also a pocket calculator is involved in the treatment of issues like the following:
+% \begin{itemize}
+% \item My company has defined a corporate color, and the printing office tells me how expensive it is to use more than two colors in our new brochure, whereas all kinds of tints (e.g., a 75\% version) of our color can be used at no extra cost.
+% But how to access these color variations in \LaTeX?\\
+% (Answer: |\color{CorporateColor!75}| etc.)
+% \item My friend uses a nice color which I would like to apply in my own documents; unfortunately, it is defined in the \Model{hsb} model which is not supported in my favorite application pdf\LaTeX.
+% What to do now?\\
+% (Answer: just use the \Model{hsb} definitions, \XC{} will do the necessary calculations)
+% \item How does a mixture of 40\% \Color{green} and 60\% \Color{yellow} look like?\\
+% (Answer: 40\% \testclr{green} $+$ 60\% \testclr{yellow} $=$ \testclr{green!40!yellow}, e.g., |\color{green!40!yellow}|)
+% \item And how does its complementary color look like?\\
+% (Answer: \testclr{-green!40!yellow}, accessible via |\color{-green!40!yellow}|)
+% \item Now I want to mix three parts of the last color with two parts of its complement and one part of \Color{red}.
+% How does that look?\\
+% (Answer: $3\times$ \testclr{-green!40!yellow} $+ 2\times$ \testclr{green!40!yellow} $+ 1\times$ \testclr{red} $=$ \testclr{rgb:-green!40!yellow,3;green!40!yellow,2;red,1}, the last color being accessible via |\color{rgb:-green!40!yellow,3;green!40!yellow,2;red,1}|)
+% \item I know that light waves of 485nm are within the visible range. But which color do they represent?\\
+% (Answer: approximately \testclr[wave]{485}, via |\color[wave]{485}|)
+% \item My printing office wants all color definitions in my document to be transformed into the \Model{cmyk} model.
+% How can I do the calculations efficiently?\\
+% (Answer: |\usepackage[cmyk]{xcolor}| or |\selectcolormodel{cmyk}|)
+% \item I have a table with 50 rows.
+% How can I get alternating colors for entire rows without copying 50 |\rowcolor| commands? The alternating scheme should start in the 3rd row.\\
+% (Answer: something like |\rowcolors{3}{OddColor}{EvenColor}|)
+% \end{itemize}
+% These are some of the issues solved by the \XCP.
+% Its purpose can be summarized as to maintain the characteristics of \LC, while providing additional features and flexibility with (hopefully) easy-to-use interfaces.
+%
+%
+%
+% \subsection{Color tints, shades, tones, and complements}
+%
+% According to \cite{smith} we define the terms
+% \begin{itemize}
+% \item \textbf{\Index{tint}}: a color with \Color{white} added,
+% \item \textbf{\Index{shade}}: a color with \Color{black} added,
+% \item \textbf{\Index{tone}}: a color with \Color{gray} added.
+% \end{itemize}
+% These are special cases of a general function
+% $\mix(C,C',p)$ which constructs a new color, consisting of $p$ parts of color $C$ and $1-p$ parts of color $C'$, where $0\le p\le1$.
+% Thus, we set
+% \begin{align}
+% \tint(C,p) &:= \mix(C,|white|,p)\\
+% \shade(C,p) &:= \mix(C,|black|,p)\\
+% \tone(C,p) &:= \mix(C,|gray|,p)
+% \end{align}
+% where |white|, |black|, and |gray| are model-specific constants, see table \vref{tab.const}.
+% Further we define the term
+% \begin{itemize}
+% \item \textbf{complement}: a color $C^*$ that yields \Color{white} if superposed with the original color $C$,
+% \end{itemize}
+% knowing that there are also different concepts of complementarity in place (e.g., opposite colors on \emph{color wheels}).
+% See section \vref{sec.cnv} for calculation details and section \vref{sec.harmony} for some remarks on color wheels.
+%
+%
+%
+% \subsection{Color models}
+%
+% A color model is a tool to describe or represent a certain set of colors in a way that is suitable for the desired target device, e.g., a screen or a printer.
+% There are proprietary models (like \Index{Pantone} or \Index{HKS}) that provide finite sets of colors (often called \emph{\Index{spot color}s}), where the user has to choose from without caring about parametrisations; on the other hand, there are parameter-driven models like \Model{gray}, \Model{rgb}, and \Model{cmyk}, that aim to represent large finite or even (theoretically) infinite sets of colors, built on very small subsets of base colors and rules, how to construct other colors f [...]
+% For example, a large range of colors can be constructed by linear combinations of the base colors \Color{red}, \Color{green}, and \Color{blue}.
+% On the other hand, usually \Index{spot color}s can only be \emph{approximated} by parameter values in models like \Model{cmyk} or \Model{rgb}; the original colors are being physically mixed even dependent on the targeted kind of paper.
+% Finally, there are certain colors like \Color{gold} and \Color{silver} that are hardly reproducable by any parameter-driven color model on standard ink or laser printers.
+%
+%
+%
+% \subsection{Color wheels and color harmony}\label{sec.harmony}
+%
+% There has been a long history of placing colors (hues) on wheels in order to discuss theoretical or practical color issues (e.g., \People{Isaac}{Newton}, \People{Johann Wolfgang von}{Goethe}).
+% One reason may be that the circle itself is a natural tool to demonstrate common relationships as well as opposite properties.
+%
+% Nowadays, there exists some confusion about notions, since both major areas related to color --- art and graphics design on one hand, scientific color theory on the other hand --- tend to use the same words to describe color properties, however meaning sometimes very different facts!
+% Thus, the appearance of color wheels differs as well as the meaning of concepts like `primary' or `complementary' colors.
+%
+%
+% \paragraph{Typical color wheel construction}
+% First, three \emph{primary colors} are placed at 0\Circ, 120\Circ, 240\Circ (artists often choose \Color{red}, \Color{yellow}, \Color{blue}, whereas color scientists might prefer \Color{red}, \Color{green}, \Color{blue}).
+% Next, three \emph{secondary colors} are put at 60\Circ, 180\Circ, 300\Circ.
+% Then, six \emph{tertiary colors} may be placed in between (30\Circ, 90\Circ, \dots).
+% This is why color wheels are frequently described to consist of twelve equidistant colors, although the algorithm can be repeated arbitrarily often.
+%
+%
+% \paragraph{Color harmonies derived from a wheel}
+% We start with an arbitrary color wheel:
+% \begin{itemize}
+% \item \textbf{complementary colors} have a distance of 180\Circ{} on the wheel,
+% \item \textbf{color triads} consist of three colors in 120\Circ{} steps,
+% \item \textbf{color tetrads} consist of four colors in 90\Circ{} steps.
+% \end{itemize}
+% We assume now that the wheel is partitioned into $2n$ sectors of equal size:
+% \begin{itemize}
+% \item \textbf{split complementary colors} of a given color are the two immediate neighbours of its complementary color, characterised by the positions $\frac{n\pm1}{2n}\cdot360^\circ$,
+% \item \textbf{analogous colors} to a given color are its two or four neighbours, characterised by the positions $\pm\frac{1}{2n}\cdot360^\circ$ and $\pm\frac{2}{2n}\cdot360^\circ$.
+% \end{itemize}
+% Given these methods to generate `color harmonies', we conclude that the results depend heavily on how we constructed the wheel!
+% Moreover, the choice of $n$ will affect the visual results as well.
+% Examples are shown in figure \vref{fig.harmony}.
+%
+%
+%
+%
+% \clearpage
+% \section{The User Interface}
+%
+% \subsection{Preparation}
+%
+% \subsubsection{Package installation}
+%
+% First of all, put \File{xcolor.sty} and all the \File{.def} files to some place where (pdf)\LaTeX{} finds them.
+% A typical place according to the \emph{\TeX\ Directory Structure} (TDS) would be the directory |texmf/tex/latex/xcolor|, where |texmf| denotes the main directory of your \TeX\ installation.
+% Additionally, put \File{xcolor.pro} to a place where \Program{dvips} finds it, typically |texmf/dvips/xcolor|.
+% Usually, you will have to run some kind of filename database update in order to make the files known and quickly searchable to the \TeX\ system.
+% Then simply use \XC{} (instead of \LC) in your document.
+% Thus, the general command is |\usepackage|\oarg{options}|{xcolor}| in the document preamble.
+% Table \vref{tab.package} shows what has to be taken into account with respect to the package loading order.
+%
+%
+% \subsubsection{Package options}
+%
+% In general, there are several types of options:
+% \begin{itemize}
+% \item options that determine the color driver as explained in \cite{dpc} and \cite{color}, currently: \Option{dvips}, \Option{xdvi}, \Option{dvipdf}, \Option{dvipdfm}, \Option{dvipdfmx}, \Option{pdftex}, \Option{dvipsone}, \Option{dviwindo}, \Option{emtex}, \Option{dviwin}, \Option{oztex}, \Option{textures}, \Option{pctexps}, \Option{pctexwin}, \Option{pctexhp}, \Option{pctex32}, \Option{truetex}, \Option{tcidvi}, \Option{vtex}, \Option{xetex},
+% \item options that determine the target color model\footnote{Section \vref{sec.tgt} explains how this setting can be overridden at any point in a document.} (\Option{natural}, \Option{rgb}, \Option{cmy}, \Option{cmyk}, \Option{hsb}, \Option{gray}, \Option{RGB}, \Option{HTML}, \Option{HSB}, \Option{Gray}) or disable colored output (\Option{monochrome}),
+% \item options that control whether and how certain sets of predefined colors are being loaded: \Option{dvipsnames}, \Option{dvipsnames*}, \Option{svgnames}, \Option{svgnames*}, \Option{x11names}, \Option{x11names*},
+% \item options that determine which other packages are to be loaded (\Option{table}, \Option{fixpdftex}, \Option{pst}\footnote{\label{fnt.pst}This option will soon become obsolete, since recent \File{pstricks.sty} versions do load \XC, whereas \Package{pstcol} is no longer needed.}) or supported (\Option{hyperref}),
+% \item options that determine the behaviour of other commands: \Option{prologue}, \Option{kernelfbox}, \Option{xcdraw}, \Option{noxcdraw}, \Option{showerrors}, \Option{hideerrors},
+% \item obsolete options: \Option{override}, \Option{usenames}, \Option{nodvipsnames}.
+% \end{itemize}
+% All available package options (except driver selection and obsolete options) are listed in table \vref{tab.opt}.
+% \DescribeMacro\GetGinDriver
+% \DescribeMacro\GinDriver
+% In order to facilitate the co-operation with the \Package{hyperref} package, there is a command |\GetGinDriver|\footnote{This command is executed automatically if the package option \Option{hyperref} is used.} that grabs the driver actually used and puts it into the command |\GinDriver|.
+% The latter can then be used within \Package{hyperref} (or other packages), see the code example on page \pageref{ex.range}.
+% If there is no corresponding \Package{hyperref} option, \Option{hypertex} will be taken as default.
+%
+% Warning: there is a substantial difference between \XC{} and \LC{} regarding how the \Option{dvips} option is being handled.
+% The \LCP{} implicitly invokes the \Option{dvipsnames} option, whenever one of the |dvips|, |oztex|, |xdvi| drivers is selected.
+% This makes documents less portable, since whenever one of these colors is used without explicit \Option{dvipsnames} option, other drivers like |pdftex| will issue error messages because of unknown colors.
+% Therefore, \XC{} always requires an explicit \Option{dvipsnames} option to use these names --- which then works for all drivers.
+%
+%
+% \begin{table}[p]\caption{Package options}\label{tab.opt}
+% \extrarowheight2pt
+% \begin{adjustwidth}{-2.5cm}{}
+% \advance\textwidth2.5cm
+% \rowcolors{3}{tablerowcolor}{}
+% \begin{tabularx}{\linewidth}{lX}
+% \hline
+% \rowcolor{tableheadcolor}
+% \em Option & \em Description\\
+% \Option{natural}& (Default.) Keep all colors in their model, except \Model{RGB} (converted to \Model{rgb}), \Model{HSB} (converted to \Model{hsb}), and \Model{Gray} (converted to \Model{gray}).\\
+% \Option{rgb}& Convert all colors to the \Model{rgb} model.\\
+% \Option{cmy}& Convert all colors to the \Model{cmy} model.\\
+% \Option{cmyk}& Convert all colors to the \Model{cmyk} model.\\
+% \Option{hsb}& Convert all colors to the \Model{hsb} model.\\
+% \Option{gray}& Convert all colors to the \Model{gray} model. Especially useful to simulate how a black \& white printer will output the document.\\
+% \Option{RGB}& Convert all colors to the \Model{RGB} model (and afterwards to \Model{rgb}).\\
+% \Option{HTML}& Convert all colors to the \Model{HTML} model (and afterwards to \Model{rgb}).\\
+% \Option{HSB}& Convert all colors to the \Model{HSB} model (and afterwards to \Model{hsb}).\\
+% \Option{Gray}& Convert all colors to the \Model{Gray} model (and afterwards to \Model{gray}).\\
+% \hline
+% \Option{dvipsnames}, \Option{dvipsnames*}& Load a set of predefined colors.\footnotemark[1]\\
+% \Option{svgnames}, \Option{svgnames*}& Load a set of predefined colors according to \Index{SVG} 1.1.\footnotemark[1]\\
+% \Option{x11names}, \Option{x11names*}& Load a set of predefined colors according to \Index{Unix}/\Index{X11}.\footnotemark[1]\\
+% \hline
+% \Option{table}& Load the \Package{colortbl} package, in order to use the tools for coloring rows, columns, and cells within tables.\\
+% \Option{fixpdftex}& Load the \Package{pdfcolmk} package, in order to improve |pdftex|'s color behaviour (see section \vref{sec.fixpdftex}).\\
+% \Option{pst}& Load the \Package{pstcol} package, in order to use `normal' color definitions within \Package{pstricks} macros (see footnote \vref{fnt.pst}).\\
+% \Option{hyperref}& Support the \Package{hyperref} package in terms of color expressions by defining additional keys (see section \vref{sec.hyperref}).\\
+% \hline
+% \Option{prologue}& Write prologue information to \File{.xcp} file for every color definition (as described in section \vref{sec.prologue}).\\
+% \hline
+% \Option{kernelfbox}& Use \LaTeX{} kernel method to draw \texttt{\string\f(rame)box} frames\footnotemark[2].\\
+% \Option{xcdraw}& Use driver-specific commands to draw frames and color boxes.\footnotemark[2]\\
+% \Option{noxcdraw}& (Default.) Use generic code to draw frames and color boxes.\footnotemark[2]\\
+% \hline
+% \Option{showerrors}& (Default.) Display an error message if an undefined color is being used (same behaviour as in the original \LCP).\\
+% \Option{hideerrors}& Display only a warning if an undefined color is being used, and replace this color by \Color{black}.\\
+% \hline\hline
+% \multicolumn2{c}{\footnotemark[1]\,See section \vref{sec.additionalcolors}.\quad \footnotemark[2]\,See section \vref{sec.fbox}.}\\
+% \hline
+% \end{tabularx}
+% \end{adjustwidth}
+% \end{table}
+%
+%
+% \begin{table}[htbp]\caption{Package loading order}\label{tab.package}
+% \centering
+% \extrarowheight2pt
+% \rowcolors{3}{tablerowcolor}{}
+% \begin{tabular}{lccccc}
+% \hline
+% \rowcolor{tableheadcolor}
+% \em Action/Package & \LC & \Package{colortbl}& \Package{pdfcolmk}& \Package{pstcol}& \Package{hyperref}\\
+% load before \XC & no & no & no & no & allowed \\
+% load with \XC{} option& --- & \Option{table} & \Option{fixpdftex} & \Option{pst}\footnotemark[1] & ---\\
+% load after \XC & no & no & allowed & no & allowed \\
+% \hline\hline
+% \multicolumn5{c}{\footnotemark[1]\,not recommended, better use recent \File{pstricks.sty}}\\
+% \hline
+% \end{tabular}
+% \end{table}
+%
+%
+% \begin{table}[htbp]\caption{Supported color models}\label{tab.mod}
+% \centering
+% \extrarowheight2pt
+% \rowcolors{3}{tablerowcolor}{}
+% \begin{tabular}{l>{\em}l>{$}l<{$}rl}
+% \hline
+% \rowcolor{tableheadcolor}
+% \emph{Name} & Base colors/notions & \emph{Parameter range}& \multicolumn2{>{\columncolor{tableheadcolor}}l}{\emph{Default}}\\
+% \Model{rgb} & red, green, blue & \left[0,1\right]^3&& \\
+% \Model{cmy} & cyan, magenta, yellow & \left[0,1\right]^3&& \\
+% \Model{cmyk} & cyan, magenta, yellow, black & \left[0,1\right]^4&& \\
+% \Model{hsb} & hue, saturation, brightness & \left[0,1\right]^3&& \\
+% \Model{Hsb} & hue\Circ\!, saturation, brightness & \left[0,H\right]\times\left[0,1\right]^2&$H=$& $\mkern-15mu\rangeHsb$\\
+% \Model{tHsb} & hue\Circ\!, saturation, brightness & \left[0,H\right]\times\left[0,1\right]^2&$H=$& $\mkern-15mu\rangeHsb$\\
+% \Model{gray} & gray & \left[0,1\right]&& \\
+% \Model{RGB} & Red, Green, Blue & \{0,1,\dots,L\}^3& $L\,=$& $\mkern-15mu\rangeRGB$\\
+% \Model{HTML} & RRGGBB & \{\texttt{000000},\dots,\texttt{FFFFFF}\}&& \\
+% \Model{HSB} & Hue, Saturation, Brightness & \{0,1,\dots,M\}^3& $M=$& $\mkern-15mu\rangeHSB$\\
+% \Model{Gray} & Gray & \{0,1,\dots,N\}& $N\,=$& $\mkern-15mu\rangeGray$\\
+% \Model{wave} & lambda \emph{(nm)}& \left[363,814\right]&& \\
+% \hline\hline
+% \multicolumn5{c}{$L,M,N$ are positive integers; $H$ is a positive real number}\\
+% \hline
+% \end{tabular}
+% \end{table}
+%
+%
+% \subsubsection{Executing additional initialisation commands}
+%
+% \DescribeMacro\xcolorcmd
+% Here is a simple interface to pass commands that should be executed at the end of the \XCP{} (immediately before the initialising |\color{black}| is executed).
+% Just say |\def\xcolorcmd|\marg{commands} at some point before \XC{} is loaded.
+%
+% Example: assuming that |a.tex| is a complete \LaTeX{} document, a command like
+% `|latex \def\xcolorcmd{\colorlet{black}{red}}\input{a}|'
+% at the console generates a file |a.dvi| with all occurences of \Color{black} being replaced by \Color{red}, without the necessity to change the source file itself.
+% (The exact spelling of the console command might vary across operating systems and \TeX{} distributions.)
+%
+%
+%
+% \subsection{Color models}
+%
+% \subsubsection{Supported color models}
+%
+% The list of supported color models and their parameter ranges is given in table \vref{tab.mod}.
+% We emphasize that this color support is independent of the chosen driver.
+%
+% `Color model support' also means that it is possible to specify colors directly with their parameters, e.g., by saying |\textcolor[cmy]{0.7,0.5,0.3}{foo}| (\textcolor[cmy]{0.7,0.5,0.3}{foo}) or |\textcolor[HTML]{AFFE90}{foo}| (\textcolor[HTML]{AFFE90}{foo}).
+%
+% \paragraph{\Model{rgb}, \Model{cmyk}, \Model{hsb}, \Model{gray}}
+% These are the models supported by \Index{PostScript} directly.
+% We therefore refer to \cite{plrm} for a description of their properties and relations.
+% There is a special command
+% \DescribeMacro\adjustUCRBG
+% to fine-tune the mechanisms of \emph{undercolor-removal} and \emph{black-generation} during conversion to the \Model{cmyk} model, see section \vref{sec.cmy2cmyk} for details.
+%
+% \paragraph{\Model{cmy}}
+% This is mainly a model for intermediary calculation steps.
+% With respect to that, it is a simple complement of \Model{rgb}.
+% As far as visualisation is concerned, \Model{cmy} is treated as \Model{cmyk} with $k=0$.
+%
+% \paragraph{\Model{HTML}}
+% This is a model derived from \Model{rgb} in order to enable input of color parameters from web pages or CSS files.
+% Therefore, it is not really a color model of its own right, but rather a user interface for convenience.
+% It is worth mentioning that \Model{HTML} accepts any combination of the characters |0|--|9|, |A|--|F|, |a|--|f|, as long as the string has a length of exactly 6~characters.
+% However, outputs of conversions to \Model{HTML} will always consist of numbers and \emph{uppercase} letters.
+%
+% \paragraph{\Model{Hsb}, \Model{tHsb}}
+% Firstly, \Model{Hsb} is a `user interface' model, mapping $\emph{hue}\in[0,1]$ onto $\emph{hue\Circ}\in[0,H]$, where $H$ is given by |\def\rangeHsb|\marg{H}.
+% \DescribeMacro\rangeHsb
+% Thus, if $H=360$, we can think of a circle or wheel to specify the \emph{hue\Circ} parameter.
+% Secondly, \Model{Hsb} is the basis for \Model{tHsb}, also named \pModel{tuned} \Model{Hsb}, which enables the user to apply a piecewise linear transformation on \emph{hue\Circ} by shifting selected \emph{hue\Circ} values forward or backward on the circle.
+% This transformation is defined by |\def\rangetHsb{|$x_1,y_1;x_2,y_2;\dots$|}|
+% \DescribeMacro\rangetHsb
+% which specifies that $\emph{hue\Circ}=x_1$ in \Model{tHsb} means $\emph{hue\Circ}=y_1$ in \Model{Hsb}, etc.
+% For example, \Color{yellow} is at 60\Circ{} in the \Model{Hsb} circle (\Color{red} being at 0\Circ), however, in most color wheels used by artists, \Color{yellow} is at 120\Circ.
+% Therefore, a `|120,60|' entry would make sense if we planned to replicate an artist's color wheel via \Model{tHsb}.
+% See section \vref{sec.tHsb2Hsb} for the exact transformation formula and further restrictions, and section \vref{sec.harmony} for color wheels and color harmonies.
+% Figure \vref{fig.tHsb} may serve for comparison purposes.
+%
+% Example: `|\def\rangetHsb{|\texttt{\rangetHsb}|}|' is in fact \XC's default setting.
+%
+% \paragraph{\Model{wave}}
+% With this model we try to make wavelengths transformable to standard color models, in order to approximate the visual appearance of light waves.
+% While the visible spectrum covers a range of approximately 400--750\,nm, the implementation in \XC{} generally allows for all real `wavelengths' $\lambda$ that have an absolute value less than \csname strip at pt\endcsname\maxdimen{} (the biggest number \TeX{} can represent as a dimension).
+% However, the probability of getting any non-black color outside the range of $\lambda\in[363,814]$ is exactly zero.
+% Therefore, figure \vref{fig.spectrum} illustrates only the mentioned wavelength interval.
+% Note that it is not possible to convert other models to \Model{wave} in a sensible way, since the latter covers only a limited range of colors.
+%
+% \paragraph{\Model{RGB}, \Model{HSB}, \Model{Gray}}
+% These are derived models, turning the continuous $[0,1]$ parameter ranges of \Model{rgb}, \Model{hsb}, and \Model{gray} to finite sets of integers; we therefore use the term \emph{integer models}.
+% The constants $L, M, N$ of table \ref{tab.mod} are defined via the commands |\def\rangeRGB|\marg{L},
+% \DescribeMacro\rangeRGB
+% |\def\rangeHSB|\marg{M},
+% \DescribeMacro\rangeHSB
+% and |\def\rangeGray|\marg{N}.
+% \DescribeMacro\rangeGray
+% Changes of these constants can be done \emph{before} or \emph{after} the \XCP{} is loaded, e.g.,
+% \label{ex.range}\begin{verbatim}
+% \documentclass{article}
+% ...
+% \def\rangeRGB{15}
+% \usepackage[dvips]{xcolor}
+% ...
+% \GetGinDriver
+% \usepackage[\GinDriver]{hyperref}
+% ...
+% \begin{document}
+% ...
+% \def\rangeRGB{63}
+% ...
+% \end{verbatim}
+%
+%
+% \subsubsection{Substituting individual color models}\label{sec.subst}
+%
+% \DescribeMacro\substitutecolormodel
+% \marg{source model}\marg{target model-list}\\
+% Substitute \Meta{source model} by the first actually present model that occurs in \Meta{target model-list}.
+% Only color models of type \Meta{num model} are allowed;
+% all changes are local to the current group, but a prepended |\xglobal| is obeyed.
+%
+% Example: assume the actual driver has an incorrect implementation of \Model{hsb} whereas \Model{rgb} looks well.
+% Then |\substitutecolormodel{hsb}{rgb}| could be a good choice, since it converts --- from that point onwards --- all definitions of \Model{hsb} colors by \XC's algorithms into \Model{rgb} specifications, without touching other models.
+%
+%
+% \subsubsection{Changing the target color model within a document}\label{sec.tgt}
+%
+% \DescribeMacro\selectcolormodel
+% \marg{num model}\\
+% Sets the target model to \Meta{num model}, where the latter is one of the model names allowed as package option (i.e., \Option{natural}, \Option{rgb}, \Option{cmy}, \Option{cmyk}, \Option{hsb}, \Option{gray}, \Option{RGB}, \Option{HTML}, \Option{HSB}, \Option{Gray}), see figure \vref{fig.tgt} for an example.
+% There are two possible hooks, where the conversion to the target model can take place:
+% \begin{itemize}
+% \item \DescribeMacro\ifconvertcolorsD at color \emph{definition} time\footnote{This means that all \emph{newly} defined colors will be first converted to the target model, then saved.} (i.e., within |\definecolor| and friends); this is controlled by the switch |\ifconvertcolorsD|;
+% \item \DescribeMacro\ifconvertcolorsU at time of color \emph{usage} (immediately before a color is displayed, therefore covering colors that have been defined in other models or that are being specified directly like |\color[rgb]{.1,.2,.3}|); this is controlled by the switch |\ifconvertcolorsU|.
+% \end{itemize}
+% Both switches are set to `true' by selecting any of the models, except \Option{natural}, which sets them to `false'.
+% This applies for selection via a package option as well as via |\selectcolormodel|.
+% Why don't we simply convert all colors at time of usage?
+% If many colors are involved, it can save some processing time when all conversions are already done during color definitions.
+% Best performance can be achieved by saying |\usepackage[rgb,...]{xcolor}\convertcolorsUfalse|, which is actually the way how \XC{} worked up to version 1.07.
+%
+%
+% \begin{table}[p]\caption{Arguments and terminology}\label{tab.term}
+% \def\RS{\ensuremath{\to}\space}
+% \footnotesize\raggedleft
+% \extrarowheight2pt
+% \begin{adjustwidth}{-2.5cm}{}
+% \advance\textwidth2.5cm
+% \tabcolsep.25em
+% \rowcolors{3}{tablerowcolor}{}
+% \begin{tabularx}{\textwidth}{lX}
+% \hline
+% \rowcolor{tableheadcolor}
+% \em Element & \em Replacement string\\
+% \Meta*{empty}& \RS empty string `'\\
+% \Meta*{minus}& \RS non-empty string consisting of one or more minus signs `|-|'\\
+% \Meta*{plus}& \RS non-empty string consisting of one or more plus signs `|+|'\\
+% \hline
+% \Meta*{int}& \RS integer number\hfill(\emph{integer})\\
+% \Meta*{num}& \RS non-negative integer number\hfill(\emph{number})\\
+% \Meta*{dec}& \RS real number\hfill(\emph{decimal})\\
+% \Meta*{div}& \RS non-zero real number\hfill(\emph{divisor})\\
+% \Meta*{pct}& \RS real number from the interval $[0,100]$\hfill(\emph{percentage})\\
+% \hline
+% \Meta*{id}& \RS non-empty string consisting of letters and digits\hfill(\emph{identifier})\\
+% \Meta*{ext id}& \RS \Meta{id}\newline
+% \RS \Meta[1]{id}|=|\Meta[2]{id}\\
+% \Meta*{id-list}& \RS \Meta[1]{ext id}|,|\Meta[2]{ext id}|,...,|\Meta[l]{ext id}\\
+% \Meta*{name}& \RS \Meta{id}\hfill(\emph{explicit name})\newline
+% \RS `|.|'\hfill(\emph{implicit name})\\
+% \Meta*{core model}& \RS `|rgb|', `|cmy|', `|cmyk|', `|hsb|', `|gray|'\hfill(\emph{core models})\\
+% \Meta*{num model}& \RS \Meta{core model}\newline
+% \RS `|RGB|', `|HTML|', `|HSB|', `|Gray|'\hfill(\emph{integer models})\newline
+% \RS `|Hsb|', `|tHsb|', `|wave|'\hfill(\emph{decimal models})\\
+% \Meta*{model}& \RS \Meta{num model}\hfill(\emph{numerical models})\newline
+% \RS `|named|'\hfill(\emph{pseudo model})\\
+% \Meta*{model-list}& \RS \Meta[1]{model}|/|\Meta[2]{model}|/.../|\Meta[m]{model} \hfill(\emph{multiple models})\newline
+% \RS \Meta{core model}|:|\Meta[1]{model}|/|\Meta[2]{model}|/.../|\Meta[m]{model}\\
+% \Meta*{spec}& \RS comma-separated list of numerical values\hfill(\emph{explicit specification})\newline
+% \RS space-separated list of numerical values\hfill(\emph{explicit specification})\newline
+% \RS name of a `named' color\hfill(\emph{implicit specification})\\
+% \Meta*{spec-list}& \RS \Meta[1]{spec}|/|\Meta[2]{spec}|/.../|\Meta[m]{spec} \hfill(\emph{multiple specifications})\\
+% \Meta*{type}& \RS \Meta{empty}\newline
+% \RS `|named|', `|ps|'\\
+% \hline
+% \Meta*{expr}& \RS \Meta{prefix}\Meta{name}\Meta{mix expr}\Meta{postfix}\hfill(\emph{standard color expression})\\
+% \Meta*{prefix}& \RS \Meta{empty}\newline
+% \RS \Meta{minus}\hfill(\emph{complement indicator})\\
+% \Meta*{mix expr}& \RS |!|\Meta[1]{pct}|!|\Meta[1]{name}|!|\Meta[2]{pct}|!|\Meta[2]{name}|!...!|\Meta[n]{pct}|!|\Meta[n]{name} \hfill(\emph{complete mix expr.})\newline
+% \RS |!|\Meta[1]{pct}|!|\Meta[1]{name}|!|\Meta[2]{pct}|!|\Meta[2]{name}|!...!|\Meta[n]{pct} \hfill(\emph{incomplete mix expr.})\\
+% \Meta*{postfix}& \RS \Meta{empty}\newline
+% \RS |!!|\Meta{plus}\hfill(\emph{series step})\newline
+% \RS |!![|\Meta{num}|]|\hfill(\emph{series access})\\
+% \hline
+% \Meta*{ext expr}& \RS \Meta{core model}|,|\Meta{div}|:|\Meta[1]{expr}|,|\Meta[1]{dec}|;|\Meta[2]{expr}|,|\Meta[2]{dec}|;...;|\Meta[k]{expr}|,|\Meta[k]{dec}\newline
+% \RS \Meta{core model}|:|\Meta[1]{expr}|,|\Meta[1]{dec}|;|\Meta[2]{expr}|,|\Meta[2]{dec}|;...;|\Meta[k]{expr}|,|\Meta[k]{dec}\\
+% \hline
+% \Meta*{func expr}& \RS |>|\Meta{function}|,|\Meta[1]{arg}|,|\Meta[2]{arg}|,...,|\Meta[j]{arg}\hfill(\emph{color function expression})\\
+% \Meta*{function}& \RS `|wheel|', `|twheel|'\hfill(\emph{color functions})\\
+% \hline
+% \Meta*{color}& \RS \Meta{color expr}\Meta[1]{func expr}\Meta[2]{func expr}|...|\Meta[i]{func expr}\\
+% \Meta*{color expr}& \RS \Meta{name}\newline
+% \RS \Meta{expr}\newline
+% \RS \Meta{ext expr}\\
+% \hline\hline
+% \rowcolor{white}
+% Remarks:& Each \RS denotes a possible replacement string for the element in the left column;
+% however, further context-dependent restrictions may apply.
+% See main text for details.
+% A string `|foo|' is always to be understood without the quotes.
+% $i,j,k,l,m,n$ denote non-negative integers, $k,l,m,n>0$, $m\le8$.\\
+% \hline
+% \end{tabularx}
+% \end{adjustwidth}
+% \end{table}
+%
+%
+%
+% \subsection{Arguments and terminology}\label{sec.term}
+%
+% Before we describe \XC's color-related commands in detail, we define several elements or identifiers that appear repeatedly within arguments of those commands.
+% A general syntax overview is given in table \vref{tab.term}.
+%
+%
+% \subsubsection{Additional remarks and restrictions on arguments}
+%
+% \paragraph{Basic strings and numbers}
+% \DescribeArg{empty}
+% \DescribeArg{minus}
+% \DescribeArg{plus}
+% \DescribeArg{int}
+% \DescribeArg{num}
+% \DescribeArg{dec}
+% \DescribeArg{pct}
+% \DescribeArg{div}
+% These arguments do not need much explanation.
+% However, as far as numerical values are concerned, it is noteworthy that real numbers in (La)\TeX{} are --- as long as they are to be used in the context of lengths, dimensions, or skips --- are restricted to a maximum absolute value $<16384$.
+% Certainly, in a chain of numerical calculations, this constraint has also to be obeyed for every single interim result, which usually implies further range restrictions.
+% Since \XC{} makes extensive use of \TeX's internal dimension registers for most types of calculations, this should be kept in mind whenever \Meta{ext expr} expressions are to be used.
+%
+%
+% \paragraph{Color names}
+% \DescribeArg{name}
+% A \Meta{name} denotes the declared name (or the name to be declared) of a \emph{color} or a \emph{color series};
+% it may be declared \emph{explicitly} by one of the following commands: |\definecolor|, |\providecolor|, |\colorlet|, |\definecolorset|, |\providecolorset|, |\definecolorseries|, |\definecolors|, |\providecolors|.
+% On the other hand, the reserved color name `|.|' is declared \emph{implicitly} and denotes the \emph{current color}.
+% Actually, besides letters and digits, certain other characters do also work for \Meta{name} declarations, but the given restriction avoids misunderstandings and ensures compatibility with future extensions of \XC.
+%
+% Examples: `|red|', `|MySpecialGreen1980|', `|.|'.
+%
+%
+% \paragraph{Color models}
+% \DescribeArg{core model}
+% \DescribeArg{num model}
+% \DescribeArg{model}
+% The differentiation between \emph{core models} (\Model{rgb}, \Model{cmy}, \Model{cmyk}, \Model{hsb}, \Model{gray}), \emph{integer models} (\Model{RGB}, \Model{HTML}, \Model{HSB}, \Model{Gray}), \emph{decimal models} (\Model{Hsb}, \Model{tHsb}, \Model{wave}) and \emph{pseudo models} (currently \nModel{named}, \nModel{ps}) has a simple reason: core models with their parameter ranges based on the unit interval $[0,1]$ are best suited for all kinds of calculations, whereas the purpose of t [...]
+% Finally, the decimal models \Model{Hsb} and \Model{tHsb} are special-purpose versions of \Model{hsb}, whereas \Model{wave} and the pseudo model \nModel{named} have a special status, since they are `calculation-averse': it is usually only possible to convert such a color into one of the other models, but not the other way round.
+% Even worse for the pseudo model \nModel{ps}: since such colors contain \Index{PostScript} code, they are absolutely intransparent for \TeX.
+%
+%
+% \paragraph{Color specifications}
+% \DescribeArg{spec}
+% The \Meta{spec} argument --- which specifies the parameters of a color --- obviously depends on the underlying color model.
+% We differentiate between \emph{explicit} and \emph{implicit} specification, the former referring to numerical parameters as explained in table \vref{tab.mod}, the latter --- ideally --- referring to driver-provided names.
+%
+% Examples: `|.1,.2,.3|', `|.1 .2 .3|', `|0.56789|', `|89ABCD|', `|ForestGreen|'.
+%
+%
+% \paragraph{Multiple models and specifications}
+% \DescribeArg{model-list}
+% \DescribeArg{spec-list}
+% These arguments always appear in (explicit or implicit) pairs within the following color definition commands:
+% |\definecolor|, |\providecolor|, |\definecolorset|, |\providecolorset|.
+% First, \Meta{model-spec} is being reconciled with the current target model (as set by a package option or the |\selectcolormodel| command); in case there is no exact match, the first model of the list is chosen.
+% Then, the corresponding color specification will be selected from \Meta{spec-list}, such that we arrive at a proper $(\Meta{model}, \Meta{spec})$ pair.
+% Therefore, in the actual executed color definition there is no ambiguity anymore.
+% The extended form \Meta{core model}|:|\Meta[1]{model}|/|\Meta[2]{model}|/.../|\Meta[m]{model} causes an immediate conversion of the relevant \Meta{spec} to \Meta{core model}; an unknown target model will be silently ignored here.
+%
+% Examples: `|rgb/cmyk/named/gray|', `|0,0,0/0,0,0,1/Black/0|', `|rgb:cmy/hsb|'.
+%
+%
+% \paragraph{The type argument}
+% \DescribeArg{type}
+% This is used only in the context of color defining commands, see the description of |\definecolor| and friends.
+%
+%
+% \paragraph{Standard color expressions}
+% \DescribeArg{expr}
+% \DescribeArg{prefix}
+% \DescribeArg{mix expr}
+% \DescribeArg{postfix}
+% These expressions serve as a tool to easily specify a certain form of cascaded color mixing which is described in detail in section~\ref{sec.expr-meaning}.
+% The \Meta{prefix} argument controls whether the color following thereafter or its complement will be relevant:
+% an odd number of minus signs indicates that the color resulting from the remaining expression has to be converted into its complementary color.
+% An \emph{incomplete mix expression} is just an abbreviation for a \emph{complete mix expression} with $\Meta[n]{name} = |white|$, in order to save some keystrokes in the case of tints.
+% The \Meta{postfix} string is usually empty, but it offers some additional functionality in the case of a \emph{color series}:
+% the non-empty cases require that
+% \begin{itemize}
+% \item \Meta{name} denotes the name of a \emph{color series},
+% \item \Meta{mix expr} is a \emph{complete} mix expression.
+% \end{itemize}
+% Examples: `|red|', `|-red|', `|--red!50!green!12.345|', `|red!50!green!20!blue|', `|foo!!+|', `|foo!![7]|', `|foo!25!red!!+++|', `|foo!25!red!70!green!![7]|'.
+%
+%
+% \paragraph{Extended color expressions}
+% \DescribeArg{ext expr}
+% These expressions provide another method of color mixing, see section \vref{sec.extexpr-meaning} for details.
+% The shorter form
+% \begin{align*}
+% \Meta{core model}&|:|\Meta[1]{expr}|,|\Meta[1]{dec}|;|\Meta[2]{expr}|,|\Meta[2]{dec}|;...;|\Meta[k]{expr}|!|\Meta[k]{dec}\\
+% \intertext{is an abbreviation for the special (and probably most used) case}
+% \Meta{core model}|,|\Meta{div}&|:|\Meta[1]{expr}|,|\Meta[1]{dec}|;|\Meta[2]{expr}|,|\Meta[2]{dec}|;...;|\Meta[k]{expr}|!|\Meta[k]{dec}\\
+% \intertext{with the following definition (requiring a non-zero sum of all \Meta[\kappa]{dec} coefficients):}
+% \Meta{div} &:= \Meta[1]{dec} + \Meta[2]{dec} + \dots + \Meta[k]{dec} \neq0.
+% \end{align*}
+% Examples: `|rgb:red,1|', `|cmyk:red,1;-green!25!blue!60,11.25;blue,-2|'.
+%
+%
+% \paragraph{Function expressions}
+% \DescribeArg{func expression}
+% \DescribeArg{function}
+% These expressions extend the functionality of \emph{standard} or \emph{extended} expressions by taking the result of such an expression to perform additional calculations.
+% The number of arguments may vary between different functions, see section \vref{sec.functions} for details.
+%
+% Examples: `|>wheel,30|', `|>wheel,30,|', `|>twheel,1,12|', `|>twheel,-11,12|'.
+%
+%
+%
+% \paragraph{Colors}
+% \DescribeArg{color}
+% \DescribeArg{color expr}
+% Finally, \Meta{color} is the `umbrella' argument, covering the different concepts of specifying colors.
+% This means, whenever there is a \Meta{color} argument, the full range of names and expressions, as explained above, may be used.
+%
+%
+% \subsubsection{Meaning of standard color expressions}\label{sec.expr-meaning}
+%
+% We explain now how an expression
+% \begin{gather*}
+% \Meta{prefix}\Meta{name}|!|\Meta[1]{pct}|!|\Meta[1]{name}|!|\Meta[2]{pct}|!|\dots|!|\Meta[n]{pct}|!|\Meta[n]{name}\Meta{postfix}
+% \end{gather*}
+% is being interpreted and processed:
+% \begin{enumerate}
+% \item First of all, the model and color parameters of \Meta{name} are extracted to define a temporary color \Meta{temp}.
+% If \Meta{postfix} has the form `|!![|\Meta{num}|]|', then \Meta{temp} will be the corresponding (direct-accessed) color \Meta{num} from the series \Meta{name}.
+% \item Then a color mix, consisting of \Meta[1]{pct}\% of color \Meta{temp} and $(100-\Meta[1]{pct})$\% of color \Meta[1]{name} is computed; this is the new temporary color \Meta{temp}.
+% \item The previous step is being repeated for all remaining parameter pairs (\Meta[2]{pct},\Meta[2]{name}), \dots, (\Meta[n]{pct},\Meta[n]{name}).
+% \item If \Meta{prefix} consists of an odd number of minus signs `-', then \Meta{temp} will be changed into its complementary color.
+% \item If \Meta{postfix} has the form `|!!+|', `|!!++|', `|!!+++|', etc., a number of step commands (=~number of `|+|' signs) are performed on the underlying color series \Meta{name}.
+% This has no consequences for the color \Meta{temp}.
+% \item Now the color \Meta{temp} is being displayed or serves as an input for other operations, depending on the invoking command.
+% \end{enumerate}
+% Note that in a typical step 2 expression \Meta{temp}|!|\Meta[\nu]{pct}|!|\Meta[\nu]{name}, if \Meta[\nu]{pct}=100 resp.{} \Meta[\nu]{pct}=0, the color \Meta{temp} resp.{} \Meta[\nu]{name} is used without further transformations.
+% In the true mix case, $0<$\Meta[\nu]{pct}$<100$, the two involved colors may have been defined in different color models, e.g., |\definecolor{foo}{rgb}{...}| and |\definecolor{bar}{cmyk}{...}|.
+% In general, the second color, \Meta[\nu]{name}, is transformed into the model of the first color, \Meta{temp}, then the mix is calculated within that model.\,\footnote{Exception: in order to avoid strange results, this rule is being reversed if \Meta{temp} origins from the \Model{gray} model; in this case it is converted into the underlying model of \Meta[\nu]{name}.}
+% Thus, \Meta{temp}|!|\Meta[\nu]{pct}|!|\Meta[\nu]{name} and \Meta[\nu]{name}|!|\Meta[\nu]{$100-$pct}|!|\Meta{temp}, which should be equivalent theoretically, will not necessarily yield identical visual results.
+%
+% Figures \vrefrange{fig.expr}{fig.ex} show some first applications of colors and expressions.
+% More examples are given in figure \vref{fig.progress}.
+% Over and above that, a large set of color examples can be found in \cite{chroma}.
+%
+%
+% \subsubsection{Meaning of extended color expressions}\label{sec.extexpr-meaning}
+%
+% An \emph{extended color expression}
+% \begin{gather*}
+% \Meta{core model}|:|\Meta[1]{expr}|,|\Meta[1]{dec}|;|\Meta[2]{expr}|,|\Meta[2]{dec}|;...;|\Meta[k]{expr}|,|\Meta[k]{dec}
+% \end{gather*}
+% mimes color mixing as painters do it: specify a list of colors, each with a \Meta{dec} factor attached to.
+% For such an \Meta{ext expr}, each standard color expression \Meta[\kappa]{expr} will be converted to \Meta{core model}, then the resulting vector is multiplied by $\Meta[\kappa]{dec}/\Meta{div}$, where
+% \begin{gather*}
+% \Meta{div} := \Meta[1]{dec} + \Meta[2]{dec} + \dots + \Meta[k]{dec}.
+% \end{gather*}
+% Afterwards the sum of all of these vectors is calculated.
+%
+% Example: mixing 4~parts of \testclr{red} \Color{red}, 2~parts of \testclr{green} \Color{green}, and 1~part of \testclr{yellow} \Color{yellow}, we get \testclr{rgb:red,4;green,2;yellow,1} by saying |\color{rgb:red,4;green,2;yellow,1}|.
+% Trying the same with $-1$ parts of \Color{yellow} instead, we get \testclr{rgb:red,4;green,2;yellow,-1}.
+% Note that this mechanism can also be used to display an individual color (expression) in a certain color model: |\color{rgb:yellow,1}| results in such a conversion.
+% The general form
+% \begin{gather*}
+% \Meta{core model}|,|\Meta{div}|:|\Meta[1]{expr}|,|\Meta[1]{dec}|;|\Meta[2]{expr}|,|\Meta[2]{dec}|;...;|\Meta[k]{expr}|,|\Meta[k]{dec}
+% \end{gather*}
+% does the same operation with the only difference that the divisor \Meta{div} is being specified instead of calculated.
+% In the above example, we get a shaded version \testclr{rgb,9:red,4;green,2;yellow,1} by saying |\color{rgb,9:red,4;green,2;yellow,1}|.
+% Note that it is not forbidden to specify a \Meta{div} argument which is smaller than the sum of all \Meta[\kappa]{dec}, such that one or more of the final color specification parameters could be outside the interval $[0,1]$.
+% However, the mapping of equation (\ref{eq.U}) takes care of such cases.
+%
+%
+% \subsubsection{Color functions}\label{sec.functions}
+%
+% Color functions take a comma-separated list of arguments, and they serve to transform the \emph{given color} (i.e., the result of all calculations prior to the function call) into a new color.
+%
+% \paragraph{Color wheel calculations}
+% \DescribeFunc{wheel}
+% \DescribeFunc{twheel}
+% Arguments: \Meta{angle} or \Meta{angle}|,|\Meta{full circle}, the former being an abbreviataion of \Meta{angle}|,\rangeHsb|.
+% These functions allow to calculate related colors by harmonic relations based on color wheels (cf.~section \vref{sec.harmony}).
+% The second argument \Meta{full circle} declares how many units a full circle consists of, the first argument states by how many units the given color has to be rotated.
+% To this end, the given color is first converted to \Model{Hsb} (in case of \Function{wheel}), yielding \emph{hue\Circ}, \emph{saturation}, and \emph{brightness}, respectively.
+% Then
+% \begin{gather}
+% \displaystyle\emph{hue\Circ} := \emph{hue\Circ} + \frac{\Meta{angle}}{\Meta{full circle}}\cdot H, \qquad \emph{hue} := u\Bigl( \frac{\emph{hue\Circ}}{H} \Bigr)
+% \end{gather}
+% where $u$ is the range-reduction function of equation~(\ref{eq.U}) and $H = \texttt{\string\rangeHsb}$.
+% With \emph{saturation} and \emph{brightness} left untouched, the final model is \Model{hsb}.
+% The \Function{twheel} function works similarly, but its arguments refer to \Model{tHsb} instead of \Model{Hsb}.
+% Examples are shown in figure \vref{fig.harmony}.
+%
+%
+% \subsection{Predefined colors}
+%
+% \subsubsection{Colors that are always available}
+%
+% \def\test#1{\testclr{#1}~\Color{#1}}
+% Within \File{xcolor.sty}, the following color names are defined:
+% \test{red}, \test{green}, \test{blue}, \test{cyan}, \test{magenta}, \test{yellow}, \test{orange}, \test{violet}, \test{purple}, \test{brown}, \test{pink}, \test{olive}, \test{black}, \test{darkgray}, \test{gray}, \test{lightgray}, \test{white}.
+%
+% This base set of colors can be used without restrictions in all kinds of color expressions, as explained in section \vref{sec.term}.
+%
+%
+% \subsubsection{Additional sets of colors}\label{sec.additionalcolors}
+%
+% There are also sets of color names that may be loaded by \XC{} via package options, available in two variants:
+% a `normal' version (e.g., \Option{dvipsnames}) and a `starred' version (e.g., \Option{dvipsnames*}).
+% The first variant simply defines all the colors \emph{immediately}, whereas the second applies the mechanism of \emph{deferred} definition.
+% In the latter case, individual color names have to be activated by |\definecolors| or |\providecolors| commands, as described in section \vref{sec.deferred}, before they can be applied in a document.
+% \begin{itemize}
+% \item \Option{dvipsnames}/\Option{dvipsnames*} loads a set of 68 \Model{cmyk} colors as defined in the |dvips| driver. However, these colors may be used in all supported drivers.
+% \item \Option{svgnames}/\Option{svgnames*} loads a set of 151 \Model{rgb} color names\footnote{In fact, these names represent 141 different colors.} according to the \Index{SVG}~1.1 specification \cite{svg}\footnote{Actually, the cited specification lists only lowercase names, and the original definitions are given in \Model{RGB} parameters, converted to \Model{rgb} by the author.}, enhanced by~4 names taken from the file \File{rgb.txt} which is part of \Index{Unix}/\Index{X11} distributions.
+% \item \Option{x11names}/\Option{x11names*} loads a set of 317 \Model{rgb} color names\footnote{These names represent 315 different colors.} that are basically variations of a subset of the \Index{SVG} set mentioned before, according to the file \File{rgb.txt} which is part of \Index{Unix}/\Index{X11} distributions\footnote{Again, the original definitions are given in \Model{RGB} parameters, converted to \Model{rgb} by the author.}.
+% We describe now how to access all 752 color names of \File{rgb.txt} without much effort:
+% \begin{itemize}
+% \item Load \Option{x11namees} as well as \Option{svgnames}.
+% \item Capitalise initials and skip blanks: \Color[-]{DarkSlateGray} instead of \Color[-]{dark slate gray}.
+% \item \Index{X11} names without numbers are identical to the corresponding \Index{SVG} colors, except in 5~cases:
+% use \Color{Gray0}, \Color{Grey0}, \Color{Green0}, \Color{Maroon0}, \Color{Purple0} instead of \Color[-]{Gray}, \Color[-]{Grey}, \Color[-]{Green}, \Color[-]{Maroon}, \Color[-]{Purple} to obtain the original \Index{X11} colors.
+% \item For $N=0,1,\dots,100$ use `|[gray]{|$N/100$|}|' or `|black!|$100-N$' instead of \Color[-]{grayN} or \Color[-]{greyN}.
+% \end{itemize}
+% \end{itemize}
+% The color names and corresponding displays are listed in section \vref{sec.names}.
+% Section \vref{sec.clash} describes how to deal with name clashs while using both \Option{svgnames} and \Option{dvipsnames} in the same document.
+% See also \cite{chroma} for a systematic set of color and mix examples.
+%
+%
+% \subsection{Color definition}\label{sec.def}
+%
+% \subsubsection{Ordinary and named colors}\label{sec.prologue}
+%
+% In the \LCP{} there is a distinction between `colors' (defined by the command |\definecolor|) and `named colors' (defined by |\DefineNamedColor|, which is allowed only in the preamble).
+% Whenever an ordinary color is being used in a document, it will be translated into a |\special| command that contains a --- driver-specific --- numerical description of the color which is written to the \File{.dvi} file.
+% On the other hand, named colors offer the opportunity to store numerical values at a central place whereas during usage, colors may be identified by their names, thus enabling post-processing if required by the output device.
+%
+% All drivers delivered with the standard \Package{graphics} package support the \emph{formalism} of defining and invoking `named colors'.
+% However, real support for the \emph{concept} behind that, i.e.~employing names instead of parameters, ranges from `none' to `complete'.
+% We demonstrate the current situation for three different drivers:
+% \begin{itemize}
+% \item \Option{dvips} has very good support for the `named' concept; the \Index{PostScript} equivalents to the color names defined by \Option{dvipsnames} are being loaded -- unless switched off -- by \Program{dvips} automatically.
+% However, additional names have to be made known to the \Index{PostScript} interpreter by some kind of header file.
+% Since version 2.01, \XC{} offers an integrated solution for this task: by invoking the package option \Option{prologue}, a \Index{PostScript} header file \File{xcolor.pro} is loaded by \Program{dvips}.
+% Additionally, under this option every color definition command\footnote{This is not only true for the document preamble, but for the document body as well.} (|\definecolor|, |\colorlet|, etc.) will generate some \Index{PostScript} code that is written to an auxiliary file with the extension \File{.xcp} (shortcut for \textbf{xc}olor \textbf prologue).
+% This file is as well loaded by \Program{dvips} as a prologue, thus making all color names available to the \Index{PostScript} interpreter.
+% Of course, the \File{.xcp} file may be edited before \Program{dvips} is applied, making it easy to change device-specific color parameters at a central place.
+% Note that the \Index{PostScript} code is designed similar to \File{color.pro}: only \emph{new} names are defined.
+% This allows to preload other prologue files with color definitions that are not being destroyed by \XC.
+% On the other hand, it requires the user to take care about redefining color names.\\
+% Example: |\colorlet{foo}{red}\colorlet{foo}{blue}\color{foo}| will switch to \Color{blue} in the usual \XC{} logic, however the \File{.ps} file would display \Color{red} (unless \Color{foo} had been defined differently before).\\
+% It should be stressed that this mechanism is only employed by the \Option{prologue} option.
+% Without that, the predefined `named' colors activated by the \Option{dvipsnames} option (without employing any tints, shades, color expressions, etc.) may be used in this way, all other `named' colors are unknown to \Index{PostScript}.
+% \item \Option{dvipdfm} supports only the standard \Option{dvipsnames} colors since these are hard-coded in the \Program{dvipdfm} program itself; there seems to be no way to load any user-defined prologue files.
+% \item \Option{pdftex} does not offer conceptual support, all `named' colors are converted immediately to their numerical representation. It therefore allows unrestricted definition and usage of named colors (although offering no added value through this).
+% \end{itemize}
+%
+% Typically, a \File{.dvi} viewer will have difficulties to display user-defined `named' colors.
+% For example, \Index{MiK\TeX}'s viewer \Program{Yap} currently displays only `named' colors from the \Option{dvipsnames} set.
+% Thus, whenever the \Option{prologue} option is invoked together with \Option{dvips}, \emph{all} other colors will appear black.
+% However, after employing \Program{dvips}, a \Index{PostScript} viewer should display the correct colors.
+%
+%
+% \subsubsection{Color definition in \XC}
+%
+% \DescribeMacro\definecolor
+% \oarg{type}\marg{name}\marg{model-list}\marg{spec-list}\footnote{Prior to version 2.00, this command was called \cs{xdefinecolor}, the latter name still being available for compatibility reasons.}\\
+% This is one of the commands that may be used to assign a \Meta{name} to a specific color.
+% Afterwards, this color is known to the system (in the current group) and may be used in \emph{\Index{color expression}s}, as explained in section \vref{sec.term}.
+% It replaces both \LC's |\DefineNamedColor| and |\definecolor|.
+% Note that an already existing color \Meta{name} will be overwritten.
+% The variable |\tracingcolors| controls whether such an overwriting will be logged or not (see section \vref{sec.info} for details).
+% The arguments are described in section \vref{sec.term}.
+% Hence, valid expressions for color definitions are
+% \begin{itemize}
+% \item |\definecolor{red}{rgb}{1,0,0}|,
+% \item |\definecolor{red}{rgb/cmyk}{1,0,0/0,1,1,0}|,
+% \item |\definecolor{red}{hsb:rgb/cmyk}{1,0,0/0,1,1,0}|,
+% \item |\definecolor[named]{Black}{cmyk}{0,0,0,1}|,
+% \item |\definecolor{myblack}{named}{Black}|,
+% \end{itemize}
+% where the last command is equivalent to |\colorlet{myblack}{Black}| (see below); the second command defines \Color{red} in the \Model{rgb} or \Model{cmyk} model, depending on the current setting of the \emph{target model}, whereas the third will additionally transform the color to \Model{hsb} prior to saving.
+% Note that there is a special \Package{pstricks} version as described in section \vref{sec.pstricks}.
+%
+% \medskip
+%
+% \DescribeMacro\providecolor
+% \oarg{type}\marg{name}\marg{model-list}\marg{spec-list}\\
+% Similar to |\definecolor|, but the color \Meta{name} is only defined if it does not exist already.
+%
+% \medskip
+%
+% \DescribeMacro\colorlet
+% \oarg{type}\marg{name}\oarg{num model}\marg{color}\\
+% Copies the actual color which results from \Meta{color} to \Meta{name}.
+% If \Meta{num model} is non-empty, \Meta{color} is first transformed to the specified model, before \Meta{name} is being defined.
+% The pseudo model \nModel{named} is \emph{not} allowed here, it may, however, be specified in the \Meta{type} argument.
+% Note that an already existing color \Meta{name} will be overwritten.
+%
+% Example: we said |\colorlet{tableheadcolor}{gray!25}| in the preamble of this document.
+% In most of the tables we then formatted the first row by using the command |\rowcolor{tableheadcolor}|.
+%
+%
+% \subsubsection{Defining sets of colors}
+%
+% \DescribeMacro\definecolorset
+% \oarg{type}\marg{model-list}\marg{head}\marg{tail}\marg{set spec}\\
+% This command facilitates the construction of \emph{\Index{color set}s}, i.e.~(possibly large) sets of individual colors with common underlying \Meta{model-list} and \Meta{type}.
+% Here, \Meta{set spec} = \Meta[1]{name},\Meta[1]{spec-list};\dots;\Meta[l]{name},\Meta[l]{spec-list} ($l\ge1$ name/specification-list pairs).
+% Individual colors are being constructed by single
+% \begin{center}
+% |\definecolor|\oarg{type}|{|\Meta{head}\Meta[\lambda]{name}\Meta{tail}|}|\marg{model-list}|{|\Meta[\lambda]{spec-list}|}|
+% \end{center}
+% commands, $\lambda=1,\dots,l$.
+% For example,
+% \begin{itemize}
+% \item |\definecolorset{rgb}{}{}{red,1,0,0;green,0,1,0;blue,0,0,1}|\\
+% could be used to define the basic colors \Color{red}, \Color{green}, and \Color{blue};\footnote{Actually, \XC{} uses a more complicated variant to provide the basic colors for different underlying models (see the source code for the full command):\\
+% \cs{definecolorset\string{rgb/hsb/cmyk/gray\string}\string{\string}\string{\string}\string{red,1,0,0/0,1,1/0,1,1,0/.3;green,...\string}}.}
+% \item |\definecolorset{rgb}{x}{10}{red,1,0,0;green,0,1,0;blue,0,0,1}|\\
+% would define the colors \Color[-]{xred10}, \Color[-]{xgreen10}, and \Color[-]{xblue10}.
+% \end{itemize}
+%
+% \DescribeMacro\providecolorset
+% \oarg{type}\marg{model-list}\marg{head}\marg{tail}\marg{set spec}\\
+% Similar to |\definecolorset|, but based on |\providecolor|, thus the individual colors are defined only if they do not exist already.
+%
+%
+% \subsubsection{Immediate and deferred definitions}\label{sec.deferred}
+%
+% Traditionally, the definition of a color as described above leads to the immediate construction of a command that holds at least the information needed by the driver to display the desired color.
+% Thus, defining 300 colors, e.g., by loading a huge set of predefined colors, will result in 300 new commands, although most of them --- except for the purpose of displaying lists of colors --- will hardly ever be used within a document.
+% Along the development of computer memory --- increasing in size, decreasing in price --- recent \TeX{} implementations have increased their provisions for internal memory stacks that are available for strings, control sequences, etc.
+% However, as memory continues to be finite, it may still be useful (or occasionally necessary) to have a method at hand that allows to reduce memory requirements a bit.
+% This is the point where \emph{deferred color definition} comes into play.
+% Its principle is simple: for every definition of this type (e.g., via |\preparecolor|), all necessary information is saved on a specific global \emph{\Index{definition stack}}, where it can be taken from later (e.g., via |\definecolors|) in order to construct the actual color command.
+%
+% Note that the following commands are only to be used in the document preamble, since the definition stack of colors for deferred definitions is deleted at the begin of the document body --- in order to save memory.
+%
+% \medskip
+%
+% \DescribeMacro\preparecolor
+% \oarg{type}\marg{name}\marg{model-list}\marg{spec-list}\\
+% Similar to |\definecolor|, but the color \Meta{name} is not yet being defined: the arguments \Meta{model-list} and \Meta{spec-list} are evaluated immediately, then all necessary parameters (i.e.~\Meta{type}, \Meta{name}, \Meta{model}, \Meta{spec}) are put onto the \emph{\Index{definition stack}} for later usage.
+%
+% \medskip
+%
+% \DescribeMacro\preparecolorset
+% \oarg{type}\marg{model-list}\marg{head}\marg{tail}\marg{set spec}
+% \DescribeMacro\ifdefinecolors\\
+% Similar to |\definecolorset|, but depending on the |\ifdefinecolors| switch: if set to `true', to each element of the set the command |\definecolor| (i.e.~immediate definition) is applied; if set to `false', |\preparecolor| (i.e.~deferred definition) is applied.
+% For example, the package option \Option{svgnames} performs something like |\definecolorstrue\preparecolorset|, whereas \Option{svgnames*} acts like |\definecolorsfalse\preparecolorset|.
+% Both options set |\definecolorstrue| at the end, in order to have a proper starting point for other color sets.
+%
+% \medskip
+%
+% \DescribeMacro\DefineNamedColor
+% \marg{type}\marg{name}\marg{model-list}\marg{spec-list}
+% is provided mainly for compatibility reasons, especially to support the predefined colors in \File{dvipsnam.def}.
+% It is the same as \Meta{cmd}\oarg{type}\marg{name}\marg{model}\marg{spec}, where \Meta{cmd} is either |\definecolor| or |\preparecolor|, depending on the state of |\ifdefinecolors|.
+% Note that \LC's restriction to allow |\DefineNamedColor| only in the document preamble has been abolished in \XC.
+%
+% \medskip
+%
+% \DescribeMacro\definecolors
+% \marg{id-list}\\
+% Recall that \Meta{id-list} has the form \Meta[1]{ext id}|,...,|\Meta[l]{ext id} where each \Meta[\lambda]{ext id} is either an identifier \Meta[\lambda]{id} or an assignment \Meta[\lambda']{id}|=|\Meta[\lambda]{id}.
+% We consider the first case to be an abbreviation for \Meta[\lambda]{id}|=|\Meta[\lambda]{id} and describe the general case:
+% the \Index{definition stack} is searched for the name \Meta[\lambda]{id} and its corresponding color parameters; if there is no match, nothing happens; if the name \Meta[\lambda]{id} is on the stack and its color parameters are \Meta[\lambda]{type}, \Meta[\lambda]{model}, and \Meta[\lambda]{spec}, then the command |\definecolor[|\Meta[\lambda]{type}|]{|\Meta[\lambda']{id}|}{|\Meta[\lambda]{model}|}{|\Meta[\lambda]{spec}|}| is executed.
+% Thus, the user may control by which names the \emph{prepared} colors are to be used in the document.
+% Note that the entry \Meta[\lambda]{id} is not removed from the stack, such that it can be used several times (even within the same |\definecolors| command).
+%
+% \medskip
+%
+% \DescribeMacro\providecolors
+% \marg{id-list}\\
+% Similar to |\definecolors|, but based on |\providecolor|, thus the individual colors are defined only if they do not exist already.
+%
+%
+% \subsubsection{Global color definitions}
+%
+% \DescribeMacro\ifglobalcolors
+% By default, definitions via |\definecolor|, |\providecolor|, \dots{} are available only within the current group.
+% By setting |\globalcolorstrue|, all such definitions are being made globally available --- until the current group ends.\footnote{The switch may also be set in the preamble in order to control the whole document.}
+% \DescribeMacro\xglobal
+% Another method to specify that an individual color definition is to be made global is to prefix it by |\xglobal|, e.g., |\xglobal\definecolor{foo}...|.
+%
+%
+%
+% \subsection{Color application}
+%
+% \subsubsection{Standard color commands}
+%
+% Here is the list of user-level color commands, as known from the \LCP, but with an extended syntax for the colors, allowing for expressions etc.:\\
+% \DescribeMacro\color\marg{color}\\
+% \oarg{model-list}\marg{spec-list}\\
+% Switches to the color given either by name/expression or by model/specification.
+% This color will stay in effect until the end of the current \TeX\ group.\\
+% \DescribeMacro\textcolor\marg{color}\marg{text}\\
+% \oarg{model-list}\marg{spec-list}\marg{text}\\
+% are just alternative syntax for |\color|, in which the groups are added implicitly.
+% Thus \meta{text} appears in the specified color, but then the color reverts to its previous value.
+% Additionally, it calls |\leavevmode| to ensure the start of horizontal mode.\\
+% \DescribeMacro\pagecolor\marg{color}\\
+% \oarg{model-list}\marg{spec-list}\\
+% Specifies the background color for the current, and all following, pages.
+% It is a global declaration which does not respect \TeX\ groups.
+%
+% Remark: all of these commands except |\color| require that the \Meta{color} resp.\ \Meta{spec} arguments are put into curly braces |{}|, even if they are buried in macros.
+%
+% For example, after |\def\foo{red}|, one may say |\color\foo|, but one should always write |\textcolor{\foo}{bar}| instead of |\textcolor\foo{bar}| in order to avoid strange results.
+%
+% Note that color-specific commands from other packages may give unexpected results if directly confronted with color expressions (e.g., \Package{soul}'s |\sethlcolor| and friends).
+% However, one can turn the expression into a name via |\colorlet| and try to use that name instead.
+%
+%
+% \subsubsection{Colored boxes}\label{sec.fbox}
+%
+% \DescribeMacro\colorbox\marg{color}\marg{text}\\
+% \oarg{model-list}\marg{spec-list}\marg{text}\\
+% Takes the same argument forms as |\textcolor|, but the color specifies the \emph{background} color of the box.\\
+% \DescribeMacro\fcolorbox\marg{frame color}\marg{background color}\marg{text}\\
+% \oarg{model-list}\marg{frame spec-list}\marg{background spec-list}\marg{text}\\
+% \oarg{fr.~model-list}\marg{fr.~spec-list}\oarg{backgr.~model-list}\marg{backgr.~spec-list}\marg{text}\\
+% \marg{frame color}\oarg{background model-list}\marg{background spec-list}\marg{text}\\
+% Puts a frame of the first color around a box with a background specified by the second color.
+% If only the first optional argument is given, it specifies the color model for both colors.
+% Besides the possibility to specify color \emph{expressions} as arguments, |\fcolorbox| now offers more flexibility for its arguments than the \LC{} version:
+% \begin{itemize}
+% \item \fcolorbox{gray}{yellow}{test} |\fcolorbox{gray}{yellow}{test}|,
+% \item \fcolorbox[cmyk]{0,0,0,0.5}{0,0,1,0}{test} |\fcolorbox[cmyk]{0,0,0,0.5}{0,0,1,0}{test}|,
+% \item \fcolorbox[gray]{0.5}[wave]{580}{test} |\fcolorbox[gray]{0.5}[wave]{580}{test}|,
+% \item \fcolorbox{gray}[wave]{580}{test} |\fcolorbox{gray}[wave]{580}{test}|.
+% \end{itemize}
+% Additionally, |\fcolorbox| uses a new approach to frame drawing, which is an extension of \People{Donald}{Arseneau}'s suggestion in bug report latex/3655 \cite{fbox}.
+% The main difference to \LaTeX's implementation is that box construction and frame drawing are split into separate operations, such that the frame is drawn \emph{after} the box contents has been constructed.
+% This ensures that the frame is always on top of the box.
+% \People{Donald}{Arseneau} improved speed as well as memory requirements of this approach.
+% Furthermore, a new macro is introduced:
+%
+% \DescribeMacro\boxframe\marg{width}\marg{height}\marg{depth}\\
+% Draws a frame with a linewidth of |\fboxrule|.
+% Returns a |\hbox| with outer dimensions \meta{width}, \meta{height}, \meta{depth}.
+% By this approach, a frame-primitive may also be provided by a driver file, in order to exploit driver-specific drawing facilities (see below).
+% Again, this macro was optimised by \People{Donald}{Arseneau}.
+%
+% The new frame approach is used for |\fcolorbox| as well as \LaTeX's |\fbox| and |\framebox| commands, unless the \Option{kernelfbox} option is specified, which returns to \LaTeX's original definitions of |\f(rame)box|.
+%
+% Option \Option{xcdraw} uses \Index{PostScript} commands to draw frames and color boxes in case of the \Option{dvips} driver and \Index{PDF} code to draw frames in case of the \Option{pdftex} and \Option{dvipdfm} drivers.
+% This is still experimental code that may confuse \File{.dvi} viewers.
+% The opposite option \Option{noxcdraw} forces usage of the generic (driver-independent) code.
+%
+%
+% \subsubsection{Using the current color}
+%
+% Within a color expression, `.' serves as a placeholder for the current color.
+% See figure \vref{fig.cc} for an example.
+%
+% It is also possible to save the current color for later use, e.g., via the command |\colorlet{foo}{.}|.
+%
+% Note that in some cases the current color is of rather limited use, e.g., the construction of an |\fcolorbox| implies that at the time when the \Meta{background color} is evaluated, the current color equals the \Meta{frame color}; in this case `|.|' does not refer to the current color \emph{outside} the box.
+%
+%
+% \subsubsection{Color testing}
+%
+% \DescribeEnv{testcolors}
+% \oarg{num models}\\
+% This is a simple tabular environment in order to test (display) colors in different models, showing both the visual result and the model-specific parameters.
+% The optional \Meta{num models} argument is a comma-separated list of \emph{numerical} color models (as usual without spaces) which form the table columns; the default list is
+% {\makeatletter\ttfamily\let\@protected at testopt\@gobbletwo\edef\tmp{\testcolors}\expandafter\@firstofone\tmp}.
+%
+% \DescribeMacro\testcolor
+% \marg{color}\\
+% \oarg{model-list}\marg{spec-list}\\
+% Each |\testcolor| command generates a table row, containing a display sample plus the respective parameters for each of the models.
+% If the column-model matches the model of the color in question, its parameters are underlined.
+% Note that this command is only available within the |testcolors| environment.
+%
+% For applications see figure \vref{fig.testcolors} and figures \ref{fig.tHsb}, \ref{fig.harmony}.
+%
+%
+%
+% \subsection{Color blending}
+%
+% The purpose of \emph{color blending} is to add some mixing color (expression) to all subsequent explicit color commands.
+% Thus, it is possible to perform such a mix (or blend) operation for many colors without touching the individual commands.
+%
+% \medskip
+%
+% \DescribeMacro\blendcolors
+% \marg{mix expr}\\
+% \DescribeMacro{\blendcolors*}
+% \marg{mix expr}\\
+% Initialises all necessary parameters for color blending.
+% The actual (completed) color blend expression is stored in |\colorblend|.
+% In the starred version, the argument will be appended to a previously defined blend expression.
+% An empty \Meta{mix expr} argument will switch blending off.
+%
+% Example: after |\blendcolors{!50!yellow}|, the colors \testclr{red} \testclr{green} \testclr{blue} are transformed into {\blendcolors{!50!yellow}\testclr{red} \testclr{green} \testclr{blue}, an additional |\blendcolors*{!50}| yields \blendcolors*{!50}\testclr{red} \testclr{green} \testclr{blue}}.
+% \DescribeMacro\xglobal
+% In order to achieve global scope, |\blendcolors| may be prefixed by |\xglobal|.
+%
+% Remark: color blending is applied only to \emph{explicit} color commands, i.e.~|\color|, |\fcolorbox| and the like.
+% In the previous example the frames are not being blended because their color is set by an driver-internal command (switching back to the `current color').
+% Thus, to influence these \emph{implicit} colors as well, we have to set the current color \emph{after} the blending:
+% |\blendcolors{!50!yellow}\color{black}| results in {\blendcolors{!50!yellow}\color{black}\testclr{red} \testclr{green} \testclr{blue}, an additional |\blendcolors*{!50}\color{black}| yields \blendcolors*{!50}\color{black}\testclr{red} \testclr{green} \testclr{blue}}.
+%
+%
+%
+% \subsection{Color masks and separation}
+%
+% The purpose of \emph{color separation} is to represent all colors that appear in the document as a combination of a finite subset of base colors and their tints.
+% Most prominent is \Model{cmyk} separation, where the base colors are \Color{cyan}, \Color{magenta}, \Color{yellow}, and \Color{black}, as required by the printers.
+% This can be done by choosing the package option \Option{cmyk}, such that all colors will be converted in this model, and post-processing the output file.
+% We describe now another --- and more general --- solution: \emph{color masking}.
+% How does it work?
+% Color masking is based on a specified color model \Meta{m-model} and a parameter vector \Meta{m-spec}.
+% Whenever a color is to be displayed in the document, it will first be converted to \Meta{m-model}, afterwards each component of the resulting color vector will be multiplied by the corresponding component of \Meta{m-spec}.
+% For example, let's assume that \Meta{m-model} equals |cmyk|, and \Meta{m-spec} equals $(\mu_c,\mu_m,\mu_y,\mu_k)$.
+% Then an arbitrary color \Color{foo} will be transformed according to
+% \begin{gather}
+% \Color{foo} \mapsto (c,m,y,k) \mapsto (\mu_c\cdot c,\mu_m\cdot m,\mu_y\cdot y,\mu_k\cdot k)
+% \end{gather}
+% Obviously, color separation is a special case of masking by the vectors $(1,0,0,0)$, $(0,1,0,0)$, etc.
+% An interesting application is to shade or tint all colors by masking them with $(x,x,x)$ in the \Model{rgb} or \Model{cmy} model, see the last two rows in figure \vref{fig.mask}.
+%
+% \medskip
+%
+% \DescribeMacro\maskcolors
+% \oarg{num model}\marg{color}\\
+% Initialises all necessary parameters for color masking:
+% if \Meta{num model} is not specified (or empty), \Meta{m-model} will be set to the natural model of \Meta{color}, otherwise to \Meta{num model};
+% the color specification of \Meta{color} is extracted to define \Meta{m-spec}.
+% Additionally, |\maskcolorstrue| is performed.
+% \DescribeMacro\ifmaskcolors
+% Color masking can be switched off temporarily by |\maskcolorsfalse|, or --- in a more radical way --- by |\maskcolors{}|, which in addition clears the initialisation parameters.
+% \DescribeMacro\xglobal
+% In general, the scope of |\maskcolors| is the current group (unless it is prefixed by the |\xglobal| command), but it may be used in the document preamble as well.
+% The final remark of the color blending section applies here similarly.
+%
+% Now it is easy to separate a complete document without touching the source code:
+% |latex| |\def\xcolorcmd{\maskcolors[cmyk]{cyan}}\input{a}| will do the \Color{cyan} part of the job for |a.tex|.
+%
+% \DescribeMacro\colormask
+% Caution: \XC{} has no idea about colors in files that are included via the command |\includegraphics|, e.g., images of type \File{.eps}, \File{.pdf}, \File{.jpg}, or \File{.png}.
+% Such files have to be separated separately.
+% Nevertheless, \XC{} offers some basic support by storing the mask color in |\colormask|, which can be used to decide which file is to be included:
+% \begin{verbatim}
+% \def\temp{cyan}\ifx\colormask\temp \includegraphics{foo_c}\else
+% \def\temp{magenta}\ifx\colormask\temp \includegraphics{foo_m}\else
+% ...
+% \fi\fi
+% \end{verbatim}
+%
+%
+%
+% \subsection{Color series}\label{sec.series}
+%
+% Automatic coloring may be useful in graphics or chart applications, where a --- potentially large and unspecified --- number of colors are needed, and the user does not want or is not able to specify each individual color.
+% Therefore, we introduce the term \emph{color series}, which consists of a base color and a scheme, how the next color is being constructed from the current color.
+%
+% The practical application consists of three parts:
+% definition of a color series (usually once in the document), initialisation of the series (potentially several times), and application --- with or without stepping --- of the current color of the series (potentially many times).
+%
+%
+% \subsubsection{Definition of a color series}
+%
+% \DescribeMacro\definecolorseries
+% \marg{name}\marg{core model}\marg{method}\oarg{b-model}\marg{b-spec}\oarg{s-model}\marg{s-spec}\\
+% Defines a color series called \Meta{name}, whose calculations are performed within the color model \Meta{core model}, where \Meta{method} selects the algorithm (one of |step|, |grad|, |last|, see below).
+% The method details are determined by the remaining arguments:
+% \begin{itemize}
+% \item \oarg{b-model}\marg{b-spec} specifies the \emph{base} (= first) color in the algorithm, either directly, e.g., |[rgb]{1,0.5,0.5}|, or as a \Meta{color}, e.g., |{-yellow!50}|, if the optional argument is missing.
+% \item \oarg{s-model}\marg{s-spec} specifies how the \emph{step} vector is calculated in the algorithm, according to the chosen \Meta{method}:
+% \begin{itemize}
+% \item |step|,\ |grad|:\ the optional argument is meaningless, and \Meta{s-spec} is a parameter vector whose dimension is determined by \Meta{core model}, e.g., |{0.1,-0.2,0.3}| in case of |rgb|, |cmy|, or |hsb|.
+% \item |last|:\ the last color is specified either directly, e.g., |[rgb]{1,0.5,0.5}|, or as a \Meta{color}, e.g., |{-yellow!50}|, if the optional argument is missing.
+% \end{itemize}
+% \end{itemize}
+% This is the general scheme:
+% \begin{gather}
+% \emph{color}_1 := \emph{base},\qquad
+% \emph{color}_{n+1} := U\bigl(\emph{color}_{n} + \emph{step}\bigr)
+% \end{gather}
+% for $n=1,2,\dots$, where $U$ maps arbitrary real $m$-vectors into the unit $m$-cube:
+% \begin{gather}
+% U(x_1,\dots,x_m) = (u(x_1),\dots,u(x_m)),\qquad
+% u(x) =
+% \begin{cases}
+% 1 & \text{if $x=1$}\\
+% x-[x]& \text{if $x\neq1$}\\
+% \end{cases}\label{eq.U}
+% \end{gather}
+% Thus, every step of the algorithm yields a valid color with parameters from the interval $[0,1]$.
+%
+% \medskip
+% Now, the different methods use different schemes to calculate the \emph{step} vector:
+% \begin{itemize}
+% \item |step|,\ |grad|:\ the last argument, \marg{s-spec}, defines the directional vector \emph{grad}.
+% \item |last|:\ \marg{s-spec} resp.\ \oarg{s-model}\marg{s-spec} defines the color parameter vector \emph{last}.
+% \end{itemize}
+% Then, during |\resetcolorseries|, the actual \emph{step} vector is calculated:
+% \begin{gather}
+% \emph{step} :=
+% \begin{cases}
+% \emph{grad} & \text{if $\Meta{method} = |step|$}\\
+% \frac1{\Meta{div}}\cdot\emph{grad} & \text{if $\Meta{method} = |grad|$}\\
+% \frac1{\Meta{div}}\cdot(\emph{last}-\emph{base}) & \text{if $\Meta{method} = |last|$}\\
+% \end{cases}\label{eq.cs}
+% \end{gather}
+% Please note that it is also possible to use the current color placeholder `.' within the definition of color series.
+% Thus, |\definecolorseries{foo}{rgb}{last}{.}{-.}| will set up a series that starts with the current color and ends with its complement.
+% Of course, similar to \TeX's |\let| primitive, the \emph{current} definition of the current color at the time of execution is used, there is no relation to current colors in any later stage of the document.
+%
+%
+% \subsubsection{Initialisation of a color series}
+%
+% \DescribeMacro\resetcolorseries
+% \oarg{div}\marg{name}\\
+% This command has to be applied at least once, in order to make use of the color series \Meta{name}.
+% It resets the current color of the series to the base color and calculates the actual step vector according to the chosen \Meta{div}, a non-zero real number, for the methods |grad| and |last|, see equation (\ref{eq.cs}).
+% \DescribeMacro\colorseriescycle
+% If the optional argument is empty, the value stored in the macro |\colorseriescycle| is applied.
+% Its default value is \colorseriescycle, which can be changed by |\def\colorseriescycle|\marg{div}, applied \emph{before} the \XCP{} is loaded (similar to |\rangeRGB| and friends).
+% The optional argument is ignored in case of the |step| method.
+%
+%
+% \subsubsection{Application of a color series}
+%
+% There are two ways to display the current color of a color series:
+% any of the \emph{color expressions} in section \vref{sec.term} used within a |\color|, |\textcolor|, \dots{} command will display this color according to the usual syntax of such expressions.
+% However, in the cases when \Meta{postfix} equals `|!!+|', |\color{|\Meta{name}|!!+}| etc., will not only display the color, but it will also perform a step operation.
+% Thus, the current color of the series will be changed in that case.
+% An expression |\color{|\Meta{name}|!![|\Meta{num}|]}| enables direct access to an element of a series, where \Meta{num} = $0,1,2,\dots$, starting with~0 for the base color.
+% See figure \vref{fig.csx} for a demonstration of different methods.
+%
+%
+% \subsubsection{Differences between colors and color series}
+%
+% Although they behave similar if applied within color expressions, the objects defined by |\definecolor| and |\definecolorseries| are fundamentally different with respect to their scope/availability:
+% like \LC's original |\definecolor| command, |\definecolor| generates \emph{local} colors, whereas |\definecolorseries| generates \emph{global} objects (otherwise it would not be possible to use the stepping mechanism within tables or graphics conveniently).
+% E.g., if we assume that |bar| is an undefined color, then after saying
+% \begin{verbatim}
+% \begingroup
+% \definecolorseries{foo}{rgb}{last}{red}{blue}
+% \resetcolorseries[10]{foo}
+% \definecolor{bar}{rgb}{.6,.5,.4}
+% \endgroup
+% \end{verbatim}
+% commands like |\color{foo}| or |\color{foo!!+}| may be used without restrictions, whereas |\color{bar}| will give an error message.
+% However, it is possible to say |\colorlet{bar}{foo}| or |\colorlet{bar}{foo!!+}| in order to save the current color of a series locally --- with or without stepping.
+%
+%
+%
+%
+% \subsection{Border colors for hyperlinks}\label{sec.hyperref}
+%
+% The \Package{hyperref} package offers all kinds of support for hyperlinks, pdfmarks etc.
+% There are two standard ways to make hyperlinks visible (see the package documentation \cite{hyperref} for additional information on how to set up these features):
+% \begin{itemize}
+% \item print hyperlinks in a different color than normal text, using the keys \Key{citecolor}, \Key{filecolor}, \Key{linkcolor}, \Key{menucolor}, \Key{pagecolor}, \Key{runcolor}, \Key{urlcolor} with color expressions, e.g., |\hypersetup{urlcolor=-green!50}|;
+% \item display a colored border around hyperlinks, using the keys \Key{citebordercolor}, \Key{filebordercolor}, \Key{linkbordercolor}, \Key{menubordercolor}, \Key{pagebordercolor}, \Key{runbordercolor}, \Key{urlbordercolor} with explicit numerical \Model{rgb} parameter specification, e.g., |\hypersetup{urlbordercolor={1 0.5 0.25}}|.
+% \end{itemize}
+% Obviously, the second method is somewhat inconvenient since it does not allow for color names or even color expressions.
+% Therefore, \XC{} provides --- via the package option \Option{hyperref} --- a set of extended keys \Key{xcitebordercolor}, \Key{xfilebordercolor}, \Key{xlinkbordercolor}, \Key{xmenubordercolor}, \Key{xpagebordercolor}, \Key{xrunbordercolor}, \Key{xurlbordercolor} which are being used in conjunction with color expressions, e.g., |\hypersetup{xurlbordercolor=-green!50}|.
+%
+% Another new key, \Key{xpdfborder}, provides a way to deal with a \Program{dvips}-related problem:
+% for most of the drivers, a setting like |pdfborder={0 0 1}| will determine the width of the border that is drawn around hyperlinks in points.
+% However, in the \Program{dvips} case, the numerical parameters are interpreted in relation to the chosen output resolution for processing the \File{.dvi} file into a \File{.ps} file.
+% Unfortunately, at the time when the \File{.dvi} is constructed, nobody knows if and at which resolution a transformation into \File{.ps} will take place afterwards.
+% Consequently, any default value for \Key{pdfborder} may be useful or not.
+% Within \Package{hyperref}, the default for \Program{dvips} is |pdfborder={0 0 12}|, which works fine for a resolution of 600 or 1200 dpi, but which produces an invisible border for a resolution of 8000 dpi, as determined by the command-line switch |-Ppdf|.
+% On the other hand, setting |pdfborder={0 0 80}| works fine for \Program{dvips} at 8000 dpi, but makes a document unportable, since other drivers (or even |dvips| in a low resolution) will draw very thick boxes in that case.
+% This is were the \Key{xpdfborder} key comes in handy: it rescales its arguments for the |dvips| case by a factor 80 (ready for 8000 dpi) and leaves everything unchanged for other drivers.
+% Thus one can say |xpdfborder={0 0 1}| in a driver-independent way.
+%
+%
+%
+% \subsection{Additional color specification in the \Package{pstricks} world}\label{sec.pstricks}
+%
+% For \Package{pstricks} users, there are different ways of invoking colors within command option keys:
+% \begin{itemize}
+% \item |\psset{linecolor=green!50}|
+% \item |\psset{linecolor=[rgb]{0.5,1,0.5}}|
+% \item |\psframebox[linecolor={[rgb]{0.5,1,0.5}}]{foo}|
+% \end{itemize}
+% Note the additional curly braces in the last case; without them, the optional argument of |\psframebox| would be terminated too early.
+%
+% \DescribeMacro\definecolor
+% |[ps]|\marg{name}\marg{core model-list}\marg{code}\\
+% Stores \Index{PostScript} \Meta{code} --- that should not contain slash~`|/|' characters --- within a color.
+% Example:
+% after |\definecolor[ps]{foo}{rgb}{bar}|, the \Package{pstricks} command |\psline[linecolor=foo]...| inserts `|bar setrgbcolor|' where the linecolor information is required --- at least in case of the \Option{dvips} driver.
+% See also \href{xcolor2.pdf}{\File{xcolor2.tex}} for an illustrative application.
+%
+%
+%
+% \subsection{Color in tables}
+%
+% \DescribeMacro\rowcolors
+% \oarg{commands}\marg{row}\marg{odd-row color}\marg{even-row color}\\
+% \DescribeMacro{\rowcolors*}
+% \oarg{commands}\marg{row}\marg{odd-row color}\marg{even-row color}\\
+% One of these commands has to be executed \emph{before} a table starts.
+% \Meta{row} tells the number of the first row which should be colored according to the \Meta{odd-row color} and \Meta{even-row color} scheme.
+% Each of the color arguments may also be left empty (= no color).
+% In the starred version, \Meta{commands} are ignored in rows with inactive \emph{rowcolors status} (see below), whereas in the non-starred version, \Meta{commands} are applied to every row of the table.
+% Such optional commands may be |\hline| or |\noalign|\marg{stuff}.
+%
+% \DescribeMacro\showrowcolors
+% \DescribeMacro\hiderowcolors
+% The \emph{rowcolors status} is activated (i.e., use coloring scheme) by default and/or |\showrowcolors|, it is inactivated (i.e., ignore coloring scheme) by the command |\hiderowcolors|.
+% \DescribeMacro\rownum
+% The counter |\rownum| may be used within such a table to access the current row number.
+% An example is given in figure \vref{fig.row}.
+% These commands require the \Option{table} option (which loads the \Package{colortbl} package).
+%
+% Note that table coloring may be combined with color series.
+% This method was used to construct the examples in figure \vref{fig.csx}.
+%
+%
+%
+% \subsection{Color information}\label{sec.info}
+%
+% \DescribeMacro\extractcolorspec
+% \marg{color}\marg{cmd}\\
+% Extracts the color specification of \Meta{color} and puts it into \Meta{cmd}; equivalent to |\def\cmd{|\marg{model}\marg{spec}|}|.
+%
+% \DescribeMacro\extractcolorspecs
+% \marg{color}\marg{model-cmd}\marg{color-cmd}\\
+% Extracts the color specification of \Meta{color} and puts it into \Meta{model-cmd} and \Meta{color-cmd}, respectively.
+%
+% \medskip
+% \DescribeMacro\tracingcolors
+% |=|\Meta{int}\\
+% Controls the amount of information that is written into the |log| file:
+% \begin{itemize}
+% \item \mbox{$\Meta{int}\le0$:}~no specific color logging.
+% \item \mbox{$\Meta{int}\ge1$:}~ignored color definitions due to |\providecolor| are logged.
+% \item \mbox{$\Meta{int}\ge2$:}~multiple (i.e.~overwritten) color definitions are logged.
+% \item \mbox{$\Meta{int}\ge3$:}~every command that defines a color will be logged.
+% \item \mbox{$\Meta{int}\ge4$:}~every command that sets a color will be logged.
+% \end{itemize}
+% Like \TeX's |\tracing...| commands, this command may be used globally (in the document preamble) or locally/block-wise.
+% The package sets |\tracingcolors=0| as default.
+% Remark: since registers are limited and valuable, no counter is wasted for this issue.
+%
+% Note that whenever a color is used that has been defined via \LC's |\definecolor| command rather than \XC's new |\definecolor| and friends, a warning message `Incompatible color definition' will be issued.\footnote{This should not happen since usually there is no reason to load \LC{} in parallel to \XC{}.}
+%
+%
+%
+% \subsection{Color conversion}
+%
+% \DescribeMacro\convertcolorspec
+% \marg{model}\marg{spec}\marg{target model}\marg{cmd}\\
+% Converts a color, given by the \Meta{spec} in model \Meta{model}, into \Meta{target model} and stores the new color specification in |\cmd|.
+% \Meta{target model} must be of type \Meta{num model}, whereas \Meta{model} may also be `named', in which case \Meta{spec} is simply the name of the color.
+%
+% Example: |\convertcolorspec{cmyk}{0.81,1,0,0.07}{HTML}\tmp| acts like |\def| |\tmp{1F00ED}|.
+%
+%
+%
+% \subsection{Problems and solutions}
+%
+% \subsubsection{Name clashs between \Option{dvipsnames} and \Option{svgnames}}\label{sec.clash}
+%
+% Due to the fixed option processing order (which does not depend on the order how the options were specified in the |\usepackage| command), the \Option{svgnames} colors will always overrule \Option{dvipsnames} colors with identical names.
+% This can lead to undesired results if both options are used together.
+% For instance, \Color{Fuchsia} yields \testclr[cmyk]{0.47,0.91,0,0.08} under the regime of \Option{dvipsnames} and \testclr[rgb]{1,0,1} with respect to \Option{svgnames}.
+% However, there is a simple trick --- based on \emph{deferred color definition} --- that allows us to use colors from both sets in the desired way:
+% \begin{verbatim}
+% \usepackage[dvipsnames*,svgnames]{xcolor}
+% \definecolors{Fuchsia}
+% \end{verbatim}
+% Now all colors from the \Index{SVG} set are available (except \Color{Fuchsia}) plus \Color{Fuchsia} from the other set.
+%
+% \subsubsection{Page breaks and pdf\TeX}\label{sec.fixpdftex}
+%
+% Since pdf\TeX{} does not maintain a \emph{\Index{color stack}} --- in contrast to \Program{dvips} --- a typical problem is the behaviour of colors in the case of page breaks, as illustrated by the following example:
+% \begin{verbatim}
+% \documentclass{minimal}
+% \usepackage{xcolor}
+% \begin{document}
+% black\color{red}red1\newpage red2\color{black}black
+% \end{document}
+% \end{verbatim}
+% This works as expected with |dvips|, i.e., `red1' and `red2' being \Color{red}, however, with |pdftex|, `red2' is displayed in \Color{black}.
+% The problem may be solved by using the \Option{fixpdftex} option which simply loads Heiko Oberdiek's \Package{pdfcolmk} package \cite{pdfcolmk}.
+% However, its author also lists some limitations:
+% \begin{itemize}
+% \item Mark limitations: page breaks in math.
+% \item LaTeX's output routine is redefinded.
+% \begin{itemize}
+% \item Changes in the output routine of newer versions of LaTeX are not detected.
+% \item Packages that change the output routine are not supported.
+% \end{itemize}
+% \item It does not support several independent text streams like footnotes.
+% \end{itemize}
+%
+%
+%
+%
+% \clearpage
+% \begin{adjustwidth}{-2.5cm}{}
+% \section{Examples}
+%
+%
+% \begin{figure}[htbp]\caption{Color spectrum}\label{fig.spectrum}
+% \small
+% \newcount\WL \unitlength.75pt
+% \begin{picture}(460,60)(355,-10)
+% \sffamily \tiny \linethickness{1.25\unitlength} \WL=360
+% \multiput(360,0)(1,0){456}%
+% {{\color[wave]{\the\WL}\line(0,1){50}}\global\advance\WL1}
+% \linethickness{0.25\unitlength}\WL=360
+% \multiput(360,0)(20,0){23}%
+% {\picture(0,0)
+% \line(0,-1){5} \multiput(5,0)(5,0){3}{\line(0,-1){2.5}}
+% \put(0,-10){\makebox(0,0){\the\WL}}\global\advance\WL20
+% \endpicture}
+% \end{picture}
+% \vspace*{3ex}
+% \begin{verbatim}
+% \newcount\WL \unitlength.75pt
+% \begin{picture}(460,60)(355,-10)
+% \sffamily \tiny \linethickness{1.25\unitlength} \WL=360
+% \multiput(360,0)(1,0){456}%
+% {{\color[wave]{\the\WL}\line(0,1){50}}\global\advance\WL1}
+% \linethickness{0.25\unitlength}\WL=360
+% \multiput(360,0)(20,0){23}%
+% {\picture(0,0)
+% \line(0,-1){5} \multiput(5,0)(5,0){3}{\line(0,-1){2.5}}
+% \put(0,-10){\makebox(0,0){\the\WL}}\global\advance\WL20
+% \endpicture}
+% \end{picture}
+% \end{verbatim}
+% \end{figure}
+%
+%
+% \begin{figure}[htbp]\caption{Color testing}\label{fig.testcolors}
+% \small
+% \begin{adjustwidth}{-2.5cm}{}
+% \raggedleft
+% \sffamily
+% \begin{testcolors}[rgb,cmyk,hsb,HTML,gray]
+% \testcolor{olive}
+% \testcolor{red!50!green}
+% \testcolor{-cyan!50!magenta}
+% \testcolor[cmyk]{0,0,1,0.5}
+% \testcolor[cmyk]{0,0,.5,.5}
+% \testcolor[rgb:cmyk]{0,0,.5,.5}
+% \end{testcolors}
+% \end{adjustwidth}
+% \vspace*{3ex}
+% \begin{adjustwidth}{2.5cm}{}
+% \begin{verbatim}
+% \sffamily
+% \begin{testcolors}[rgb,cmyk,hsb,HTML,gray]
+% \testcolor{olive}
+% \testcolor{red!50!green}
+% \testcolor{-cyan!50!magenta}
+% \testcolor[cmyk]{0,0,1,0.5}
+% \testcolor[cmyk]{0,0,.5,.5}
+% \testcolor[rgb:cmyk]{0,0,.5,.5}
+% \end{testcolors}
+% \end{verbatim}
+% \end{adjustwidth}
+% \end{figure}
+%
+%
+% \def\ukColor{MyGreen}
+% \definecolor{\ukColor}{cmyk}{0.92,0,0.87,0.09}
+% \colorlet{\ukColor-rgb}[rgb]{\ukColor}
+% \colorlet{\ukColor-cmy}[cmy]{\ukColor}
+% \colorlet{\ukColor-hsb}[hsb]{\ukColor}
+% \colorlet{\ukColor-gray}[gray]{\ukColor}
+%
+% \begin{figure}[htbp]\caption{Progressing from one to another color}\label{fig.progress}
+% \small
+% \begin{adjustwidth}{-2.5cm}{}
+% \makeatletter
+% \def\ColorLoop#1#2{\@tfor\@@tmp:={}{-rgb}{-cmy}{-hsb}{-gray}\do
+% {\ifcase#1
+% \expandafter\Colorloop\expandafter{\expandafter\ukColor\@@tmp}{#2}\or
+% \expandafter\Colorshow\expandafter{\expandafter\ukColor\@@tmp}\fi}\\[-2ex]\ignorespaces}
+% \def\Colorloop#1#2{\@ifxempty{#1}{}{\texttt{#1!}}&
+% \count at 105 \@whilenum\count@>\z@\do
+% {\advance\count at -5
+% \@ifxempty{#1}{\hb at xt@\XCdim{\hss\textsf{\the\count@}\hss}}{\testclr{#1!\the\count@!#2}}\hskip-\fboxrule}\hskip\fboxrule&
+% \@ifxempty{#1}{}{\texttt{!#2}}\\}
+% \def\Colorshow#1{\texttt{#1}&
+% \multicolumn2{l@{}}{\expandafter\let\expandafter\@@tmp\csname\string\color@#1\endcsname
+% \edef\@@tmp{\expandafter\@gobbletwo\@@tmp}\Meaning{@@tmp}}\\}
+% \makeatother
+% \sbox0{\testclr{red}}\XCdim\wd0
+% \begin{tabular}{@{}lll@{}}
+% \Colorloop{}{}\\[-2ex]
+% \ColorLoop0{white}
+% \ColorLoop0{gray}
+% \ColorLoop0{black}
+% \ColorLoop0{red}
+% \ColorLoop0{blue}
+% \ColorLoop0{yellow}
+% \\\noalign{\vspace*{-2.5ex}}\hline\noalign{\vspace*{1.5ex}}
+% \itshape Color&\itshape Definition/representation (\textup{\Option{\csname XC@@drv\endcsname}} driver)\\
+% \ColorLoop1{}
+% \end{tabular}
+% \end{adjustwidth}
+% \end{figure}
+%
+%
+% \begin{figure}[htbp]\caption{Target color model}\label{fig.tgt}
+% \small
+% \begin{adjustwidth}{-2.5cm}{}
+% \raggedleft
+% \extrarowheight2pt
+% \makeatletter
+% \def\X#1%
+% {\def\tmp{{#1}}\dots\Meaning{tmp}&
+% \selectcolormodel{#1}\testclr{red} \testclr{green} \testclr{blue} \testclr{cyan} \testclr{magenta} \testclr{yellow} \testclr{orange} \testclr{violet} \testclr{purple} \testclr{brown} \testclr{pink} \testclr{olive} \testclr{black} \testclr{darkgray} \testclr{gray} \testclr{lightgray} \testclr{white}\\}
+% \makeatother
+% \begin{tabular}{@{}>{\ttfamily}l@{ }l@{}}
+% \string\selectcolormodel&\\
+% \X{natural}
+% \X{rgb}
+% \X{cmy}
+% \X{cmyk}
+% \X{hsb}
+% \X{gray}
+% \end{tabular}
+% \end{adjustwidth}
+% \end{figure}
+%
+%
+% \begin{figure}[htbp]\caption{Standard color expressions}\label{fig.expr}
+% \centering\small
+% \def\test#1{\testclr{#1}& \texttt{#1}}
+% \def\X#1{\test{#1}& \test{-#1}}
+% \begin{tabular}{@{}l@{ \ }ll@{ \ }l@{}}
+% \X{red}\\
+% \X{red!75}\\
+% \X{red!75!green}\\
+% \X{red!75!green!50}\\
+% \X{red!75!green!50!blue}\\
+% \X{red!75!green!50!blue!25}\\
+% \X{red!75!green!50!blue!25!gray}\\
+% \end{tabular}
+% \end{figure}
+%
+%
+% \begin{figure}[htbp]\caption{Standard color expressions}\label{fig.ex}
+% \begin{minipage}{\textwidth}\small
+% \begin{verbatim}
+% \fboxrule6pt
+% \fcolorbox
+% {red!70!green}% outer frame
+% {yellow!30!blue}% outer background
+% {\fcolorbox
+% {-yellow!30!blue}% inner frame
+% {-red!70!green}% inner background
+% {Test\textcolor{red!72.75}{Test}\color{-green}Test}}
+% \end{verbatim}
+% \end{minipage}\relax
+% \llap{\fboxrule6pt \fcolorbox
+% {red!70!green}{yellow!30!blue}{\fcolorbox
+% {-yellow!30!blue}{-red!70!green}{Test\textcolor{red!72.75}{Test}\color{-green}Test}}}
+% \end{figure}
+%
+%
+% \begin{figure}[htbp]\caption{Current color}\label{fig.cc}
+% \begin{minipage}{\textwidth}\small
+% \begin{verbatim}
+% \def\test{current, \textcolor{.!50}{50\%},
+% \textcolor{-.}{complement},
+% \textcolor{yellow!50!.}{mix}}
+% \textcolor{blue}{\test}\\
+% and \textcolor{red}{\test}\\
+% \def\Test{\color{.!80}Test}
+% \textcolor{blue}{\Test\Test\Test\Test\Test}\\
+% and \textcolor{red}{\Test\Test\Test\Test\Test}
+% \end{verbatim}
+% \end{minipage}\relax
+% \llap{\begin{minipage}{.5\textwidth}\small\raggedleft
+% \def\test{current, \textcolor{.!50}{50\%},
+% \textcolor{-.}{complement},
+% \textcolor{yellow!50!.}{mix}}
+% \textcolor{blue}{\test}\\
+% and \textcolor{red}{\test}\\
+% \def\Test{\color{.!80}Test}
+% \textcolor{blue}{\Test\Test\Test\Test\Test}\\
+% and \textcolor{red}{\Test\Test\Test\Test\Test}
+% \end{minipage}}
+% \end{figure}
+%
+%
+% \begin{figure}[htbp]\caption{Color series}\label{fig.csx}
+% \centering
+% \def\tabulartest#1{\definecolorseries{test}#1\resetcolorseries[12]{test}%
+% \rowcolors[\hline]{1}{test!!+}{test!!+}%
+% \begin{tabular}{c}
+% \number\rownum\\ \number\rownum\\ \number\rownum\\ \number\rownum\\
+% \number\rownum\\ \number\rownum\\ \number\rownum\\ \number\rownum\\
+% \number\rownum\\ \number\rownum\\ \number\rownum\\ \number\rownum\\
+% \number\rownum\\ \number\rownum\\ \number\rownum\\ \number\rownum\\
+% \end{tabular}}
+%
+% \begin{tabular}{@{}*{9}{c}@{}}
+% $S_1$ & $S_2$ & $G_1$ & $G_2$ & $L_1$ & $L_2$ & $L_3$ & $L_4$ & $L_5$ \\[3pt]
+% \tabulartest{{rgb}{step}[rgb]{.95,.85,.55}{.17,.47,.37}}&
+% \tabulartest{{hsb}{step}[hsb]{.575,1,1}{.11,-.05,0}}&
+% \tabulartest{{rgb}{grad}[rgb]{.95,.85,.55}{3,11,17}}&
+% \tabulartest{{hsb}{grad}[hsb]{.575,1,1}{.987,-.234,0}}&
+% \tabulartest{{rgb}{last}[rgb]{.95,.85,.55}[rgb]{.05,.15,.55}}&
+% \tabulartest{{hsb}{last}[hsb]{.575,1,1}[hsb]{-.425,.15,1}}&
+% \tabulartest{{rgb}{last}{yellow!50}{blue}}&
+% \tabulartest{{hsb}{last}{yellow!50}{blue}}&
+% \tabulartest{{cmy}{last}{yellow!50}{blue}}\\
+% \end{tabular}
+%
+% \bigskip
+%
+% \footnotesize
+% \rowcolors{3}{tablerowcolor}{}
+% \begin{tabular}{>{$}l<{$}l}
+% \hline
+% \multicolumn2{>{\columncolor{tableheadcolor}}c}{\em Individual definitions}\\
+% S_1& |\definecolorseries{test}{rgb}{step}[rgb]{.95,.85,.55}{.17,.47,.37}|\\
+% S_2& |\definecolorseries{test}{hsb}{step}[hsb]{.575,1,1}{.11,-.05,0}|\\
+% G_1& |\definecolorseries{test}{rgb}{grad}[rgb]{.95,.85,.55}{3,11,17}|\\
+% G_2& |\definecolorseries{test}{hsb}{grad}[hsb]{.575,1,1}{.987,-.234,0}|\\
+% L_1& |\definecolorseries{test}{rgb}{last}[rgb]{.95,.85,.55}[rgb]{.05,.15,.55}|\\
+% L_2& |\definecolorseries{test}{hsb}{last}[hsb]{.575,1,1}[hsb]{-.425,.15,1}|\\
+% L_3& |\definecolorseries{test}{rgb}{last}{yellow!50}{blue}|\\
+% L_4& |\definecolorseries{test}{hsb}{last}{yellow!50}{blue}|\\
+% L_5& |\definecolorseries{test}{cmy}{last}{yellow!50}{blue}|\\
+% \hline
+% \multicolumn2{>{\columncolor{tableheadcolor}}c}{\em Common definitions}\\
+% \hiderowcolors
+% &|\resetcolorseries[12]{test}|\\
+% &|\rowcolors[\hline]{1}{test!!+}{test!!+}|\\
+% &|\begin{tabular}{c}|\\
+% &|\number\rownum\\ \number\rownum\\ \number\rownum\\ \number\rownum\\|\\
+% &|\number\rownum\\ \number\rownum\\ \number\rownum\\ \number\rownum\\|\\
+% &|\number\rownum\\ \number\rownum\\ \number\rownum\\ \number\rownum\\|\\
+% &|\number\rownum\\ \number\rownum\\ \number\rownum\\ \number\rownum\\|\\
+% &|\end{tabular}|\\
+% \hline
+% \end{tabular}
+% \end{figure}
+%
+%
+% \begin{figure}[htbp]\caption{Color masking}\label{fig.mask}
+% \begin{adjustwidth}{-2.5cm}{}
+% \small\raggedleft
+% \extrarowheight2pt
+% \makeatletter
+% \def\X#1#2{\edef\tmp{\@ifxempty{#1}{}{[#1]}{#2}}\dots\Meaning{tmp}&
+% \maskcolors[#1]{#2}\testclr{red} \testclr{green} \testclr{blue} \testclr{cyan} \testclr{magenta}
+% \testclr{yellow} \testclr{orange} \testclr{violet} \testclr{purple} \testclr{brown} \testclr{pink}
+% \testclr{olive} \testclr{black} \testclr{darkgray} \testclr{gray} \testclr{lightgray} \testclr{white}\\}\relax
+% \makeatother
+% \begin{tabular}{@{}>{\ttfamily}l@{ }l@{}}
+% \string\maskcolors&\\
+% \hline
+% \X{}{}
+% \hline
+% \X{cmyk}{cyan}
+% \X{cmyk}{magenta}
+% \X{cmyk}{yellow}
+% \X{cmyk}{black}
+% \hline
+% \X{cmyk}{red}
+% \X{cmyk}{green}
+% \X{cmyk}{blue}
+% \hline
+% \X{rgb}{red}
+% \X{rgb}{green}
+% \X{rgb}{blue}
+% \hline
+% \X{hsb}{red}
+% \X{hsb}{green}
+% \X{hsb}{blue}
+% \hline
+% \X{rgb}{gray}
+% \X{cmy}{gray}
+% \end{tabular}
+% \end{adjustwidth}
+% \end{figure}
+%
+%
+% \begin{figure}[htbp]\caption{Alternating row colors in tables: \cmd\rowcolors{} vs. \cmd\rowcolors\texttt*}\label{fig.row}
+% \centering
+% \begin{minipage}{\textwidth}
+% \begin{verbatim}
+% \rowcolors[\hline]{3}{green!25}{yellow!50} \arrayrulecolor{red!75!gray}
+% \begin{tabular}{ll}
+% test & row \number\rownum\\
+% test & row \number\rownum\\
+% test & row \number\rownum\\
+% test & row \number\rownum\\
+% \arrayrulecolor{black}
+% test & row \number\rownum\\
+% test & row \number\rownum\\
+% \rowcolor{blue!25}
+% test & row \number\rownum\\
+% test & row \number\rownum\\
+% \hiderowcolors
+% test & row \number\rownum\\
+% test & row \number\rownum\\
+% \showrowcolors
+% test & row \number\rownum\\
+% test & row \number\rownum\\
+% \multicolumn{1}%
+% {>{\columncolor{red!12}}l}{test} & row \number\rownum\\
+% \end{tabular}
+% \end{verbatim}
+% \end{minipage}
+% \hskip-.5\textwidth
+% \rowcolors[\hline]{3}{green!25}{yellow!50} \arrayrulecolor{red!75!gray}
+% \begin{tabular}{ll}
+% test & row \number\rownum\\
+% test & row \number\rownum\\
+% test & row \number\rownum\\
+% test & row \number\rownum\\
+% \arrayrulecolor{black}
+% test & row \number\rownum\\
+% test & row \number\rownum\\
+% \rowcolor{blue!25}
+% test & row \number\rownum\\
+% test & row \number\rownum\\
+% \hiderowcolors
+% test & row \number\rownum\\
+% test & row \number\rownum\\
+% \showrowcolors
+% test & row \number\rownum\\
+% test & row \number\rownum\\
+% \multicolumn{1}%
+% {>{\columncolor{red!12}}l}{test} & row \number\rownum\\
+% \end{tabular}
+% \qquad
+% \rowcolors*[\hline]{3}{green!25}{yellow!50}\arrayrulecolor{red!75!gray}
+% \begin{tabular}{ll}
+% test & row \number\rownum\\
+% test & row \number\rownum\\
+% test & row \number\rownum\\
+% test & row \number\rownum\\
+% \arrayrulecolor{black}
+% test & row \number\rownum\\
+% test & row \number\rownum\\
+% \rowcolor{blue!25}
+% test & row \number\rownum\\
+% test & row \number\rownum\\
+% \hiderowcolors
+% test & row \number\rownum\\
+% test & row \number\rownum\\
+% \showrowcolors
+% test & row \number\rownum\\
+% test & row \number\rownum\\
+% \multicolumn{1}%
+% {>{\columncolor{red!12}}l}{test} & row \number\rownum\\
+% \end{tabular}
+% \arrayrulecolor{black}
+% \end{figure}
+%
+%
+% \begin{figure}[htbp]\caption{\Model{Hsb} and \Model{tHsb}: \emph{hue\Circ} in $15^\circ$ steps}\label{fig.tHsb}
+% \begin{adjustwidth}{-2.5cm}{}
+% \footnotesize\sffamily\raggedleft
+% \extrarowheight.5pt
+% \begin{testcolors}[rgb,cmyk,hsb,Hsb,tHsb]
+% \testcolor[Hsb]{0,1,1}
+% \testcolor[Hsb]{15,1,1}
+% \testcolor[Hsb]{30,1,1}
+% \testcolor[Hsb]{45,1,1}
+% \testcolor[Hsb]{60,1,1}
+% \testcolor[Hsb]{75,1,1}
+% \testcolor[Hsb]{90,1,1}
+% \testcolor[Hsb]{105,1,1}
+% \testcolor[Hsb]{120,1,1}
+% \testcolor[Hsb]{135,1,1}
+% \testcolor[Hsb]{150,1,1}
+% \testcolor[Hsb]{165,1,1}
+% \testcolor[Hsb]{180,1,1}
+% \testcolor[Hsb]{195,1,1}
+% \testcolor[Hsb]{210,1,1}
+% \testcolor[Hsb]{225,1,1}
+% \testcolor[Hsb]{240,1,1}
+% \testcolor[Hsb]{255,1,1}
+% \testcolor[Hsb]{270,1,1}
+% \testcolor[Hsb]{285,1,1}
+% \testcolor[Hsb]{300,1,1}
+% \testcolor[Hsb]{315,1,1}
+% \testcolor[Hsb]{330,1,1}
+% \testcolor[Hsb]{345,1,1}
+% \testcolor[Hsb]{360,1,1}
+% \noalign{\medskip}
+% \testcolor[tHsb]{0,1,1}
+% \testcolor[tHsb]{15,1,1}
+% \testcolor[tHsb]{30,1,1}
+% \testcolor[tHsb]{45,1,1}
+% \testcolor[tHsb]{60,1,1}
+% \testcolor[tHsb]{75,1,1}
+% \testcolor[tHsb]{90,1,1}
+% \testcolor[tHsb]{105,1,1}
+% \testcolor[tHsb]{120,1,1}
+% \testcolor[tHsb]{135,1,1}
+% \testcolor[tHsb]{150,1,1}
+% \testcolor[tHsb]{165,1,1}
+% \testcolor[tHsb]{180,1,1}
+% \testcolor[tHsb]{195,1,1}
+% \testcolor[tHsb]{210,1,1}
+% \testcolor[tHsb]{225,1,1}
+% \testcolor[tHsb]{240,1,1}
+% \testcolor[tHsb]{255,1,1}
+% \testcolor[tHsb]{270,1,1}
+% \testcolor[tHsb]{285,1,1}
+% \testcolor[tHsb]{300,1,1}
+% \testcolor[tHsb]{315,1,1}
+% \testcolor[tHsb]{330,1,1}
+% \testcolor[tHsb]{345,1,1}
+% \testcolor[tHsb]{360,1,1}
+% \end{testcolors}
+% \end{adjustwidth}
+% \end{figure}
+%
+%
+% \begin{figure}[htbp]\caption{Color harmony}\label{fig.harmony}
+% \begin{adjustwidth}{-2.5cm}{}
+% \small\sffamily\raggedleft
+% \extrarowheight1.5pt
+% \begin{testcolors}[rgb,cmyk,Hsb,tHsb]
+% \noalign{\smallskip}
+% \rlap{\em complementary colors (two-color harmony):}\\
+% \testcolor{yellow>wheel,1,2}
+% \testcolor{yellow}
+% \testcolor{yellow>twheel,1,2}
+% \noalign{\medskip}
+% \rlap{\em color triad (three-color harmony):}\\
+% \testcolor{yellow>wheel,2,3}
+% \testcolor{yellow>wheel,1,3}
+% \testcolor{yellow}
+% \testcolor{yellow>twheel,1,3}
+% \testcolor{yellow>twheel,2,3}
+% \noalign{\medskip}
+% \rlap{\em color tetrad (four-color harmony):}\\
+% \testcolor{yellow>wheel,3,4}
+% \testcolor{yellow>wheel,2,4}
+% \testcolor{yellow>wheel,1,4}
+% \testcolor{yellow}
+% \testcolor{yellow>twheel,1,4}
+% \testcolor{yellow>twheel,2,4}
+% \testcolor{yellow>twheel,3,4}
+% \noalign{\medskip}
+% \rlap{\em split complementary colors:}\\
+% \testcolor{yellow>wheel,7,12}
+% \testcolor{yellow>wheel,5,12}
+% \testcolor{yellow}
+% \testcolor{yellow>twheel,5,12}
+% \testcolor{yellow>twheel,7,12}
+% \noalign{\medskip}
+% \rlap{\em analogous (adjacent) colors:}\\
+% \testcolor{yellow>wheel,11,12}
+% \testcolor{yellow>wheel,10,12}
+% \testcolor{yellow>wheel,2,12}
+% \testcolor{yellow>wheel,1,12}
+% \testcolor{yellow}
+% \testcolor{yellow>twheel,1,12}
+% \testcolor{yellow>twheel,2,12}
+% \testcolor{yellow>twheel,10,12}
+% \testcolor{yellow>twheel,11,12}
+% \end{testcolors}
+% \end{adjustwidth}
+% \end{figure}
+%
+% \end{adjustwidth}
+%
+%
+% \clearpage
+%
+% \begin{adjustwidth}{-2.5cm}{}
+% \raggedcolumns\columnsep2.5em
+%
+% \section{Colors by Name}\label{sec.names}
+%
+% \begin{multicols}{5}[\subsection{Base Colors}\label{sec.basenam}]
+% \footnotesize\def\0#1{\Testclr{#1}{#1}}
+% \0{black}
+% \0{blue}
+% \0{brown}
+% \0{cyan}
+% \0{darkgray}
+% \0{gray}
+% \0{green}
+% \0{lightgray}
+% \0{magenta}
+% \0{olive}
+% \0{orange}
+% \0{pink}
+% \0{purple}
+% \0{red}
+% \0{violet}
+% \0{white}
+% \0{yellow}
+% \end{multicols}
+%
+%
+% \begin{multicols}{5}[\subsection{Colors via \Option{dvipsnames}}\label{sec.dvipsnam}]
+% \footnotesize\def\0#1{\Testclr{#1}{#1}}
+% \0{Apricot}
+% \0{Aquamarine}
+% \0{Bittersweet}
+% \0{Black}
+% \0{Blue}
+% \0{BlueGreen}
+% \0{BlueViolet}
+% \0{BrickRed}
+% \0{Brown}
+% \0{BurntOrange}
+% \0{CadetBlue}
+% \0{CarnationPink}
+% \0{Cerulean}
+% \0{CornflowerBlue}
+% \0{Cyan}
+% \0{Dandelion}
+% \0{DarkOrchid}
+% \0{Emerald}
+% \0{ForestGreen}
+% \0{Fuchsia}
+% \0{Goldenrod}
+% \0{Gray}
+% \0{Green}
+% \0{GreenYellow}
+% \0{JungleGreen}
+% \0{Lavender}
+% \0{LimeGreen}
+% \0{Magenta}
+% \0{Mahogany}
+% \0{Maroon}
+% \0{Melon}
+% \0{MidnightBlue}
+% \0{Mulberry}
+% \0{NavyBlue}
+% \0{OliveGreen}
+% \0{Orange}
+% \0{OrangeRed}
+% \0{Orchid}
+% \0{Peach}
+% \0{Periwinkle}
+% \0{PineGreen}
+% \0{Plum}
+% \0{ProcessBlue}
+% \0{Purple}
+% \0{RawSienna}
+% \0{Red}
+% \0{RedOrange}
+% \0{RedViolet}
+% \0{Rhodamine}
+% \0{RoyalBlue}
+% \0{RoyalPurple}
+% \0{RubineRed}
+% \0{Salmon}
+% \0{SeaGreen}
+% \0{Sepia}
+% \0{SkyBlue}
+% \0{SpringGreen}
+% \0{Tan}
+% \0{TealBlue}
+% \0{Thistle}
+% \0{Turquoise}
+% \0{Violet}
+% \0{VioletRed}
+% \0{White}
+% \0{WildStrawberry}
+% \0{Yellow}
+% \0{YellowGreen}
+% \0{YellowOrange}
+% \end{multicols}
+%
+%
+% \makeatletter
+% \def\ColorList#1#2#3#4{\begin{multicols}{#1}[\subsection{Colors via \Option{#2names}}\label{sec.#2nam}]
+% \footnotesize
+% \def\preparecolorset
+% {\def\XC@@cmd[####1]####2####3####4{\definecolor[####1]{@test}{####3}{####4}#4{@test}{####2}}\@testopt{\XC at definecolorset}{}}
+% \edef\restore{\catcode`\noexpand\%\the\catcode`\%\relax}
+% \catcode`\%14\relax\input{#3nam.def}\restore
+% \end{multicols}}
+% \makeatother
+%
+% \ColorList4{svg}{svg}\Testclr
+% \medskip
+% \begin{adjustwidth}{1cm}{1cm}
+% \footnotesize\raggedright Duplicate colors:
+% \Color[-]{Aqua} = \Color[-]{Cyan},
+% \Color[-]{Fuchsia} = \Color[-]{Magenta};
+% \Color[-]{Navy} = \Color[-]{NavyBlue};
+% \Color[-]{Gray} = \Color[-]{Grey},
+% \Color[-]{DarkGray} = \Color[-]{DarkGrey},
+% \Color[-]{LightGray} = \Color[-]{LightGrey},
+% \Color[-]{SlateGray} = \Color[-]{SlateGrey},
+% \Color[-]{DarkSlateGray} = \Color[-]{DarkSlateGrey},
+% \Color[-]{LightSlateGray} = \Color[-]{LightSlateGrey},
+% \Color[-]{DimGray} = \Color[-]{DimGrey}.
+% \par
+% Colors taken from \Index{Unix}/\Index{X11}:
+% \Color[-]{LightGoldenrod},
+% \Color[-]{LightSlateBlue},
+% \Color[-]{NavyBlue},
+% \Color[-]{VioletRed}.
+% \end{adjustwidth}
+%
+% \ColorList4{x11}{x11}\Testclr
+% \medskip
+% \begin{adjustwidth}{1cm}{1cm}
+% \footnotesize\raggedright Duplicate colors:
+% \Color[-]{Gray0} = \Color[-]{Grey0},
+% \Color[-]{Green0} = \Color[-]{Green1}.
+% \end{adjustwidth}
+%
+% \end{adjustwidth}
+%
+%
+%
+%
+% \clearpage
+% \section{Technical Supplement}
+%
+% \subsection{Color models supported by drivers}
+%
+% Since some of the drivers only pretend to support the \Model{hsb} model, we included some code to bypass this behaviour.
+% The models actually added by \XC{} are shown in the log file.
+% Table \vref{tab.drv} lists mainly the drivers that are part of current MiK\TeX{} \cite{mik} distributions and their color model support.
+% Probably, other distributions behave similarly.
+%
+% \begin{table}[htbp]\caption{Drivers and color models}\label{tab.drv}
+% \centering\small
+% \extrarowheight1pt
+% \tabcolsep3pt
+% \rowcolors{3}{tablerowcolor}{}
+% \begin{tabular}{ll*{9}{c}}
+% \rowcolor{tableheadcolor}
+% \hline
+% \em Driver&\em Version&\Model{rgb}&\Model{cmy}&\Model{cmyk}&\Model{hsb}&\Model{gray}&\Model{RGB}&\Model{HTML}&\Model{HSB}&\Model{Gray}\\
+% \Option{dvipdf}&1999/02/16 v3.0i&d&n&d&n&d&i&n&n&n\\
+% \Option{dvips}&1999/02/16 v3.0i&d&n&d&d&d&i&n&n&n\\
+% \Option{dvipsone}&1999/02/16 v3.0i&d&n&d&d&d&i&n&n&n\\
+% \Option{pctex32}&1999/02/16 v3.0i&d&n&d&d&d&i&n&n&n\\
+% \Option{pctexps}&1999/02/16 v3.0i&d&n&d&d&d&i&n&n&n\\
+% \hline
+% \Option{pdftex}&2002/06/19 v0.03k&d&n&d&n&d&i&n&n&n\\
+% \hline
+% \Option{dvipdfm}&1998/11/24 vx.x\,\footnotemark[1]&d&n&d&a&d&i&n&n&n\\
+% \Option{dvipdfm}&1999/9/6 vx.x\,\footnotemark[2]&d&n&d&a&d&i&n&n&n\\
+% \hline
+% \Option{dvipdfmx}&?&d&n&d&f&d&i&n&n&n\\
+% \hline
+% \Option{textures}&1997/5/28 v0.3&d&n&d&a&i&n&n&n&n\\
+% \hline
+% \Option{vtex}&1999/01/14 v6.3&d&n&d&n&i&i&n&n&n\\
+% \hline
+% \Option{xetex}&2004/05/09 v0.7&i&n&i&i&i&i&d&n&n\\
+% \hline
+% \Option{tcidvi}&1999/02/16 v3.0i&i&n&i&n&i&d&n&n&n\\
+% \Option{truetex}&1999/02/16 v3.0i&i&n&i&n&i&d&n&n&n\\
+% \hline
+% \Option{dviwin}&1999/02/16 v3.0i&n&n&n&n&n&n&n&n&n\\
+% \Option{emtex}&1999/02/16 v3.0i&n&n&n&n&n&n&n&n&n\\
+% \Option{pctexhp}&1999/02/16 v3.0i&n&n&n&n&n&n&n&n&n\\
+% \Option{pctexwin}&1999/02/16 v3.0i&n&n&n&n&n&n&n&n&n\\
+% \hline\hline
+% \multicolumn{11}c{\Option{dviwindo} = \Option{dvipsone}; \Option{oztex} = \Option{dvips}; \Option{xdvi} = \Option{dvips} + \Option{monochrome}}\\
+% \multicolumn{11}c{\footnotemark[1]\,part of \Package{graphics} package\quad \footnotemark[2]\,additionally distributed with MiK\TeX}\\
+% \hline
+% \multicolumn{11}c{Driver's color model support: d\,=\,direct, i\,=\,indirect, a\,=\,alleged, n\,=\,none, f\,=\,faulty}\\
+% \hline
+% \end{tabular}
+% \end{table}
+%
+%
+%
+% \subsection{How \XC{} handles driver-specific color models}
+%
+% Although there is a variety of drivers that implement different approaches to color visualisation, they all have some features in common, as defined by the original \LCP.
+% One of these features is that any color model `foo' requires a |\color at foo|\marg{cmd}\marg{spec} command in order to translate the `foo'-dependent color \Meta{spec} into some driver-specific code that is stored in \Meta{cmd}.
+% Therefore, \XC{} in general detects driver-support for the `foo' model via the existence of |\color at foo|.
+%
+% By this mechanism, \XC{} can also change the behaviour of certain models without touching the driver file itself.
+% A good example is the |\substitutecolormodel| command which is used during the package initialisation process to provide support for models that are not covered by the actual driver (like \Model{hsb} for \Option{pdftex}) or that have incorrect implementations (like \Model{hsb} for \Option{dvipdfm}).
+%
+%
+% \subsection{Behind the scenes: internal color representation}
+%
+% Every definition of a color in order to access it by its name requires an internal representation of the color, i.e.~a macro that contains some bits of information required by the driver to display the color properly.
+%
+% \LC's |\definecolor{foo}{...}{...}| generates a command |\\color at foo|\footnote{The double backslash is intentional.} which contains the color definition in a driver-dependent way; therefore it is possible but non-trivial to access the color model and parameters afterwards (see the \Package{colorinfo} package \cite{colorinfo} for a solution).
+%
+% \LC's |\DefineNamedColor{named}{foo}{...}{...}| generates |\col at foo|\footnote{The single backslash is intentional.} which again contains some driver-dependent information.
+% In this case, an additional |\\color at foo| will only be defined if the package option \Option{usecolors} is active.
+%
+% \XC's |\definecolor{foo}{...}{...}| generates\footnote{This was introduced in version 1.10; prior to that, a command \cs{\string\xcolor at foo} with a different syntax was generated.} a command |\\color at foo| as well, which combines the features of the former commands and contains both the driver-dependent and driver-independent information, thus making it possible to access the relevant parameters in a standardised way.
+% Although it has now a different syntax, |\\color at foo| expands to the same expression as the original command.
+% On the other hand, |\col at foo| commands are no longer needed and therefore not generated in the `named' case: \XC{} works with a single color data structure (as described).
+%
+% Table \vref{tab.internal} shows some examples for the two most prominent drivers.
+% See also figure \vref{fig.progress} which displays the definitions with respect to the driver that was used to process this document.
+%
+%
+% \begin{table}[htb]\caption{Driver-dependent internal color representation}\label{tab.internal}
+% \centering\small
+% \def\X{\hspace*{-.845\textwidth}\\}
+% \extrarowheight1pt
+% \tabcolsep8pt
+% \begin{tabular}{l>{\color{blue}(}r<{)}l}
+% \hline
+% \multicolumn3{>{\columncolor{tableheadcolor}}l}{\Option{dvips} driver}\\
+% \hline
+% |\\color at Plum=macro:| & |\definecolor{Plum}{rgb}{.5,0,1}| & \LC\\
+% |->rgb .5 0 1.|\X
+% \hline
+% |\\color at Plum=macro:| & |\definecolor{Plum}{rgb}{.5,0,1}|& \XC\\
+% |->\xcolor@ {}{rgb 0.5 0 1}{rgb}{0.5,0,1}.|\X
+% \hline
+% |\col at Plum=macro:| & |\DefineNamedColor{Plum}{rgb}{.5,0,1}|& \LC\\
+% |->\@nil .|\X
+% |\\color at Plum=macro:| & with option \Option{usenames}\\
+% |-> Plum.|\X
+% \hline
+% |\\color at Plum=macro:| & |\definecolor[named]{Plum}{rgb}{.5,0,1}|& \XC\\
+% |->\xcolor@ {named}{ Plum}{rgb}{0.5,0,1}.|\X
+% \hline
+% \multicolumn3{>{\columncolor{tableheadcolor}}l}{\Option{pdftex} driver}\\
+% \hline
+% |\\color at Plum=macro:| & |\definecolor{Plum}{rgb}{.5,0,1}|& \LC\\
+% |->.5 0 1 rg .5 0 1 RG.|\X
+% \hline
+% |\\color at Plum=macro:| & |\definecolor{Plum}{rgb}{.5,0,1}|& \XC\\
+% |->\xcolor@ {}{0.5 0 1 rg 0.5 0 1 RG}{rgb}{0.5,0,1}.|\X
+% \hline
+% |\col at Plum=macro:| & |\DefineNamedColor{Plum}{rgb}{.5,0,1}|& \LC\\
+% |->.5 0 1 rg .5 0 1 RG.|\X
+% |\\color at Plum=macro:| & with option \Option{usenames}\\
+% |->.5 0 1 rg .5 0 1 RG.|\X
+% \hline
+% |\\color at Plum=macro:| & |\definecolor[named]{Plum}{rgb}{.5,0,1}|& \XC\\
+% |->\xcolor@ {}{0.5 0 1 rg 0.5 0 1 RG}{rgb}{0.5,0,1}.|\X
+% \hline
+% \end{tabular}
+% \end{table}
+%
+%
+%
+% \subsection{A remark on accuracy}
+%
+% Since the macros presented here require some computation, special efforts were made to ensure a maximum of accuracy for conversion and mixing formulas --- all within \TeX's limited numerical capabilities.\footnote{For example, applying the `transformation' \cs{dimen0=0.}\Meta{int}\texttt{pt} \cs{the\string\dimen0} to all 5-digit numbers \Meta{int} of the range 00000\dots 99999, exactly 34464 of these 100000 numbers don't survive unchanged. We are not talking about gobbled final zeros h [...]
+% We decided to develop and include a small set of commands to improve the quality of division and multiplication results, instead of loading one of the packages that provide multi-digit arithmetic and a lot more, like \Package{realcalc} or \Package{fp}.
+% The marginal contribution of the latter packages seems not to justify their usage for our purposes.
+% Thus, we stay within a sort of fixed-point arithmetic framework, providing at most 5~decimal digits via \TeX's dimension registers.
+%
+%
+%
+%
+% \clearpage
+% \section{The Formulas}
+%
+% \subsection{Color mixing}
+%
+% In general, we use linear interpolation for color mixing:
+% \begin{align}
+% \mix(C, C', p) = p \cdot C + (1-p) \cdot C'\label{eq.mix}
+% \end{align}
+% Note that there is a special situation in the \Model{hsb} case:
+% if $\emph{saturation}=0$ then the color equals a gray color of level \emph{brightness}, independently of the \emph{hue} value.
+% Therefore, to achieve smooth transitions of an arbitrary color to a specific gray (like white or black), we actually use the formulas
+% \begin{align}
+% \Op\tint{hsb}(C, p) &= p \cdot C + (1-p) \cdot \bigl(\emph{hue},0,1\bigr)\\
+% \Op\shade{hsb}(C, p) &= p \cdot C + (1-p) \cdot \bigl(\emph{hue},0,0\bigr)\\
+% \Op\tone{hsb}(C, p) &\textstyle= p \cdot C + (1-p) \cdot \bigl(\emph{hue},0,\frac12\bigr)
+% \end{align}
+% where $C=(\emph{hue},\emph{saturation},\emph{brightness})$.
+%
+% From equation (\ref{eq.mix}) and the way how color expressions are being interpreted, as described in section \vref{sec.term}, it is an easy proof by induction to verify that a color expression
+% \begin{gather}
+% C_0!P_1!C_1!P_2!\dots!P_n!C_n
+% \end{gather}
+% with $n\in\{0,1,2,\dots\}$, colors $C_0,C_1,\dots,C_n$, and percentages $P_1,\dots,P_n\in [0,100]$ will result in a parameter vector
+% \begin{equation}
+% \begin{split}
+% C &= \sum_{\nu=0}^n \Biggl(\prod_{\mu=\nu+1}^n p_\mu \Biggr) (1-p_\nu)\cdot C_\nu\\
+% &= p_n\cdots p_1\cdot C_0\\
+% &\quad + p_n\cdots p_2(1-p_1)\cdot C_1\\
+% &\quad + p_n\cdots p_3(1-p_2)\cdot C_2\\
+% &\quad + \dots\\
+% &\quad + p_n(1-p_{n-1})\cdot C_{n-1}\\
+% &\quad + (1-p_n)\cdot C_n
+% \end{split}
+% \end{equation}
+% where $p_0 := 0$ and $p_\nu := P_\nu/100$ for $\nu=1,\dots,n$.
+% We note also a split formula:
+% \begin{equation}
+% \begin{split}
+% C_0!P_1!C_1!\dots!P_{n+k}!C_{n+k}
+% &= p_{n+k}\cdots p_{n+1}\cdot C_0!P_1!C_1!\dots!P_n!C_n\\
+% &\quad - p_{n+k}\cdots p_{n+1}\cdot C_n\\
+% &\quad + C_n!P_{n+1}!C_{n+1}!\dots!P_{n+k}!C_{n+k}
+% \end{split}
+% \end{equation}
+%
+%
+% \begin{table}[p]\caption{Color constants}\label{tab.const}
+% \centering
+% \extrarowheight2pt
+% \rowcolors{3}{tablerowcolor}{}
+% \begin{tabular}{*4{c}}
+% \hline
+% \rowcolor{tableheadcolor}
+% \emph{model/constant} &
+% \ttfamily white & \ttfamily black & \ttfamily gray\\[2pt]
+% \Model{rgb}& $(1,1,1)$ & $(0,0,0)$ & $(\frac12,\frac12,\frac12)$ \\[2pt]
+% \Model{cmy}& $(0,0,0)$ & $(1,1,1)$ & $(\frac12,\frac12,\frac12)$ \\[2pt]
+% \Model{cmyk}& $(0,0,0,0)$ & $(0,0,0,1)$ & $(0,0,0,\frac12)$ \\[2pt]
+% \Model{hsb}& $(h,0,1)$ & $(h,0,0)$ & $(h,0,\frac12)$ \\[2pt]
+% \Model{Hsb}& $(h^\circ,0,1)$ & $(h^\circ,0,0)$ & $(h^\circ,0,\frac12)$ \\[2pt]
+% \Model{tHsb}& $(h^\circ,0,1)$ & $(h^\circ,0,0)$ & $(h^\circ,0,\frac12)$ \\[2pt]
+% \Model{gray}& $1$ & $0$ & $\frac12$ \\[2pt]
+% \Model{RGB}& $(L,L,L)$ & $(0,0,0)$ & $(\lfloor\frac {L+1}2\rfloor,\lfloor\frac {L+1}2\rfloor,\lfloor\frac {L+1}2\rfloor)$ \\[2pt]
+% \Model{HTML}& \texttt{FFFFFF}& \texttt{000000}& \texttt{808080}\\[2pt]
+% \Model{HSB}& $(H,0,M)$ & $(H,0,0)$ & $(H,0,\lfloor\frac {M+1}2\rfloor)$ \\[2pt]
+% \Model{Gray}& $N$ & $0$ & $\lfloor\frac {N+1}2\rfloor$ \\[2pt]
+% \hline
+% \end{tabular}
+% \end{table}
+%
+%
+% \begin{table}[p]\caption{Color conversion pairs}\label{tab.cnv}
+% \begin{adjustwidth}{-2.5cm}{}
+% \small\raggedleft
+% \def\Em#1{\Model{#1}}
+% \def\sp{\hbox to3em{\hfil$\ast$\hfil}}
+% \def\id{\textrm{id}}
+% \extrarowheight1pt
+% \tabcolsep3pt
+% \rowcolors{3}{tablerowcolor}{}
+% \begin{tabular}{c*{11}{>{\sffamily}c}}
+% \rowcolor{tableheadcolor}
+% \hline
+% \emph{from/to}&
+% \Em{rgb}& \Em{cmy}& \Em{cmyk}& \Em{hsb}& \Em{Hsb} & \Em{tHsb} & \Em{gray}& \Em{RGB}& \Em{HTML}& \Em{HSB}& \Em{Gray}\\
+% \Em{rgb}& \id & \sp & (cmy) & \sp & (hsb) & (hsb) & \sp & \sp & \sp & (hsb) & (gray)\\
+% \Em{cmy}& \sp & \id & \sp & (rgb) & (rgb) & (rgb) & \sp & (rgb) & (rgb) & (rgb) & (gray)\\
+% \Em{cmyk}& (cmy) & \sp & \id & (cmy) & (cmy) & (cmy) & \sp & (cmy) & (cmy) & (cmy) & (gray)\\
+% \Em{hsb}& \sp & (rgb) & (rgb) & \id & \sp & (Hsb) & (rgb) & (rgb) & (rgb) & \sp & (rgb)\\
+% \Em{Hsb}& (hsb) & (hsb) & (hsb) & \sp & \id & \sp & (hsb) & (hsb) & (hsb) & (hsb) & (hsb)\\
+% \Em{tHsb}& (Hsb) & (Hsb) & (Hsb) & (Hsb) & \sp & \id & (Hsb) & (Hsb) & (Hsb) & (Hsb) & (Hsb)\\
+% \Em{gray}& \sp & \sp & \sp & \sp & \sp & \sp & \id & \sp & \sp & \sp & \sp\\
+% \Em{RGB}& \sp & (rgb) & (rgb) & (rgb) & (rgb) & (rgb) & (rgb) & \id & (rgb) & (rgb) & (rgb)\\
+% \Em{HTML}& \sp & (rgb) & (rgb) & (rgb) & (rgb) & (rgb) & (rgb) & (rgb) & \id & (rgb) & (rgb)\\
+% \Em{HSB}& (hsb) & (hsb) & (hsb) & \sp & (hsb) & (hsb) & (hsb) & (hsb) & (hsb) & \id & (hsb)\\
+% \Em{Gray}& (gray) & (gray) & (gray) & (gray) & (gray) & (gray) & \sp & (gray) & (gray) & (gray) & \id\\
+% \Em{wave}& (hsb) & (hsb) & (hsb) & \sp & (hsb) & (hsb) & (hsb) & (hsb) & (hsb) & (hsb) & (hsb)\\
+% \hline\hline
+% \multicolumn{12}{c}{\id{} = identity function; $\ast$ = specific conversion function;}\\
+% \multicolumn{12}{c}{\textsf{(model)} = conversion via specified model}\\
+% \hline
+% \end{tabular}
+% \end{adjustwidth}
+% \end{table}
+%
+%
+%
+% \subsection{Conversion between integer and real models}
+%
+% We fix a positive integer $n$ and define the sets $\mathcal I_n:=\{0,1,\dots,n\}$ and $\mathcal R:= [0,1]$.
+% The complement of $\nu\in\mathcal I_n$ is $n-\nu$, the complement of $x\in\mathcal R$ is $1-x$.
+%
+% \subsubsection{Real to integer conversion}\label{sec.real2int}
+%
+% The straightforward mapping for this case is
+% \begin{gather}
+% \textstyle\RtoI n : \mathcal R \to \mathcal I_n,\ x \mapsto \rd(n\cdot x,0) = \left\lfloor \frac12+n\cdot x\right\rfloor
+% \end{gather}
+% where $\rd(r,d)$ rounds the real number $r$ to $d\ge0$ decimal digits.
+% This mapping nearly always preserves complements, as shown in the next lemma.
+% \begin{lemma}[Preservation of complements]
+% For $x\in\mathcal R$,
+% \begin{gather}
+% \textstyle\RtoI n(x) + \RtoI n(1-x) = n \iff x \notin \mathcal R_n^\circ := \left\{ \frac1n\bigl(\nu - \frac12\bigr) \bigm\vert \nu=1,2,\dots,n\right\}.
+% \end{gather}
+% \end{lemma}
+% \begin{proof}
+% Let $\nu:=\RtoI n(x)$, then from $-\frac12 \le \eta := n\cdot x - \nu < \frac12$ we conclude
+% \begin{gather*}
+% \textstyle \RtoI n(1-x) = \rd(n(1-x),0) = \rd(n-\nu-\eta,0) =
+% \begin{cases}
+% n-\nu & \text{if $\eta\neq-\frac12$}\\
+% n-\nu+1 & \text{if $\eta=-\frac12$}
+% \end{cases}
+% \end{gather*}
+% Now, $\eta = -\frac12 \iff x = \frac1n\bigl(\nu-\frac12\bigr) \iff x\in\mathcal I_n'$.
+% \end{proof}
+% Remark: the set $\mathcal R_n^\circ$ is obviously identical to the set of points where $\RtoI n$ is not continuous.
+%
+%
+% \subsubsection{Integer to real conversion}\label{sec.int2real}
+%
+% The straightforward way in this case is the function
+% \begin{gather}
+% \ItoR n^*: \mathcal I_n \to \mathcal R,\ \nu \mapsto \frac \nu n.
+% \end{gather}
+% This is, however, only one out of a variety of solutions: every function $\ItoR n:\mathcal I_n\to\mathcal R$ that obeys the condition
+% \begin{gather}
+% \nu\in\mathcal I_n \Rightarrow \Gamma_n\bigl(\ItoR n(\nu)\bigr) = \nu
+% \end{gather}
+% which is equivalent to
+% \begin{gather}
+% \nu\in\mathcal I_n \Rightarrow \nu + \frac12 > n\cdot\ItoR n(\nu) \ge \nu - \frac12\label{eq.round}
+% \end{gather}
+% does at least guarantee that all integers $\nu$ may be reconstructed from $\ItoR n(\nu)$ via multiplication by $n$ and rounding to the nearest integer.
+% Preservation of complements means now
+% \begin{gather}
+% \nu\in\mathcal I_n \Rightarrow \ItoR n(\nu) + \ItoR n(n-\nu) = 1
+% \end{gather}
+% which is obviously the case for $\ItoR n = \ItoR n^*$.
+% If we consider, more generally, a transformation
+% \begin{gather}
+% \ItoR n(\nu) = \frac{\nu + \alpha}{n + \beta}
+% \end{gather}
+% with $\beta\neq-n$, then the magic inequality (\ref{eq.round}) is equivalent to
+% \begin{gather}
+% \frac12 > \frac{\alpha n - \beta\nu}{n + \beta} \ge -\frac12
+% \end{gather}
+% which is obeyed by the function
+% \begin{gather}
+% \ItoR n':\mathcal I_n\to\mathcal R,\ \nu \mapsto
+% \begin{cases}
+% \frac\nu{n+1}& \text{if $\nu\le\frac{n+1}2$}\\[0.25ex]
+% \frac{\nu+1}{n+1}& \text{if $\nu>\frac{n+1}2$}
+% \end{cases}
+% \end{gather}
+% that has the nice feature $\ItoR n'\bigl(\frac{n+1}2\bigr) = \frac12$ for odd $n$.
+% \begin{lemma}[Preservation of complements]
+% For odd $n$ and each $\nu\in\mathcal I_n$,
+% \begin{gather}
+% \textstyle\ItoR n'(\nu) + \ItoR n'(n-\nu) = 1 \iff \nu \notin \mathcal I_n^\circ := \left\{ \frac{n-1}2, \frac{n+1}2 \right\}.
+% \end{gather}
+% \end{lemma}
+% \begin{proof}
+% The assertion is a consequence of the following arguments:
+% \begin{itemize}
+% \item $\nu<\frac{n-1}2 \iff n-\nu>\frac{n+1}2$ \ and \ $\frac{n-1}2 + \frac{n+1}2 = n$;
+% \item $\nu<\frac{n-1}2 \,\Rightarrow\, \ItoR n'(\nu) + \ItoR n'(n-\nu) = \frac\nu{n+1} + \frac{n-\nu+1}{n+1} = 1$;
+% \item $\nu=\frac{n-1}2 \,\Rightarrow\, \ItoR n'(\nu) + \ItoR n'(n-\nu) = \frac{n-1}{2(n+1)} + \frac12 = \frac n{n+1} \neq1$.\qedhere
+% \end{itemize}
+% \end{proof}
+%
+% For the time being, we choose \fbox{$\ItoR n := \ItoR n^*$} as default transformation function.
+%
+% \medskip
+% Another variant --- which is probably too slow for large-scale on-the-fly calculations --- may be used for constructing sets of predefined colors.
+% The basic idea is to minimize the number of decimal digits in the representation while keeping some invariance with respect to the original resolution:
+% \begin{gather}
+% \textstyle\ItoR n'':\mathcal I_n\to\mathcal R,\ \nu \mapsto \rd\bigl(\frac\nu n, d_n(\frac\nu n)\bigr)
+% \end{gather}
+% where
+% \begin{gather}
+% d_n:[0,1]\to\bbbN,\ x \mapsto \min\bigl\{ d\in\bbbN \bigm\vert \RtoI n\bigl(\rd(\ItoR n^*(\RtoI n(x)),d)\bigr) = \RtoI n(x)\bigr\}
+% \end{gather}
+% In the most common case $n=255$ it turns out that we end up with at most 3 decimal digits; preservation of complements is only violated for $\nu\in\{25,26,76,77,127,128,178,179,229,230\}$ where the corresponding set of decimal numbers is $\{0.098,0.1,0.298,0.3,0.498,0.5,0.698,0.7,0.898,0.9\}$.
+%
+%
+%
+% \subsection{Color conversion and complements}\label{sec.cnv}
+%
+% We collect here the specific conversion formulas between the supported color models.
+% Table \vref{tab.cnv} gives an overwiew of how each conversion pair is handled.
+% In general, PostScript (as described in \cite{plrm}) is used as a basis for most of the calculations, since it supports the color models \Model{rgb}, \Model{cmyk}, \Model{hsb}, and \Model{gray} natively.
+% Furthermore, \People{Alvy Ray}{Smith}'s paper \cite{smith} is cited in \cite{plrm} as reference for \Model{hsb}-related formulas.
+%
+% First, we define a constant which is being used throughout the conversion formulas:
+% \begin{gather}
+% E := (1,1,1)
+% \end{gather}
+%
+%
+% \subsubsection{The \Model{rgb} model}
+%
+% \paragraph{Conversion \Model{rgb} to \Model{cmy}}\label{sec.rgb2cmy}
+% Source: \cite{plrm}, p. 475.
+% \begin{gather}
+% (\emph{cyan}, \emph{magenta}, \emph{yellow}) := E-(\emph{red}, \emph{green}, \emph{blue})
+% \end{gather}
+%
+%
+% \paragraph{Conversion \Model{rgb} to \Model{hsb} (1)}
+% We set
+% \begin{align}
+% x & := \max\{\emph{red}, \emph{green}, \emph{blue}\}\\
+% y & := \med\{\emph{red}, \emph{green}, \emph{blue}\}\\
+% z & := \min\{\emph{red}, \emph{green}, \emph{blue}\}%\\
+% \end{align}
+% where `$\med$' denotes the median of the values.
+% Then,
+% \begin{align}
+% \emph{brightness} & := x\\
+% \intertext{Case $x=z$:}
+% \emph{saturation} & := 0\\
+% \emph{hue} & := 0\\
+% \intertext{Case $x\neq z$:}
+% \emph{saturation} & := \frac{x - z}x\\
+% f & := \frac{x - y}{x - z}
+% \end{align}
+% \begin{gather}
+% \emph{hue} := \frac 16\cdot
+% \begin{cases}
+% 1-f & \text{if $x=\emph{red}\ge\emph{green}\ge\emph{blue}=z$}\\
+% 1+f & \text{if $x=\emph{green}\ge\emph{red}\ge\emph{blue}=z$}\\
+% 3-f & \text{if $x=\emph{green}\ge\emph{blue}\ge\emph{red}=z$}\\
+% 3+f & \text{if $x=\emph{blue}\ge\emph{green}\ge\emph{red}=z$}\\
+% 5-f & \text{if $x=\emph{blue}\ge\emph{red}\ge\emph{green}=z$}\\
+% 5+f & \text{if $x=\emph{red}\ge\emph{blue}>\emph{green}=z$}
+% \end{cases}\label{eq.rgb2hsb1}
+% \end{gather}
+%
+% \medskip
+%
+% This is based on \cite{smith}, \emph{RGB to HSV Algorithm (Hexcone Model)}, which reads (slightly reformulated):
+% \begin{gather}
+% r := \frac{x - \emph{red}}{x - z},\qquad
+% g := \frac{x - \emph{green}}{x - z},\qquad
+% b := \frac{x - \emph{blue}}{x - z}\\
+% \emph{hue} := \frac 16\cdot
+% \begin{cases}
+% 5+b & \text{if $\emph{red}=x$ and $\emph{green}=z$}\\
+% 1-g & \text{if $\emph{red}=x$ and $\emph{green}>z$}\\
+% 1+r & \text{if $\emph{green}=x$ and $\emph{blue}=z$}\\
+% 3-b & \text{if $\emph{green}=x$ and $\emph{blue}>z$}\\
+% 3+g & \text{if $\emph{blue}=x$ and $\emph{red}=z$}\\
+% 5-r & \text{if $\emph{blue}=x$ and $\emph{red}>z$}
+% \end{cases}
+% \end{gather}
+% Note that the singular case $x=z$ is not covered completely in Smith's original algorithm; we stick here to PostScript's behaviour in real life.
+%
+% Because we need to sort three numbers in order to calculate $x,y,z$, several comparisons are involved in the algorithm.
+% We present now a second method which is more suited for \TeX.
+%
+%
+% \paragraph{Conversion \Model{rgb} to \Model{hsb} (2)}
+% Let $\beta$ be a function that takes a Boolean expression as argument and returns 1 if the expression is true, 0 otherwise; set
+% \begin{gather}
+% i := 4\cdot\beta(\emph{red}\ge\emph{green}) + 2\cdot\beta(\emph{green}\ge\emph{blue}) + \beta(\emph{blue}\ge\emph{red}),
+% \intertext{and}
+% (\emph{hue},\emph{saturation},\emph{brightness}) :=
+% \begin{cases}
+% \Phi(\emph{blue},\emph{green},\emph{red},3,1) & \text{if $i=1$}\\
+% \Phi(\emph{green},\emph{red},\emph{blue},1,1) & \text{if $i=2$}\\
+% \Phi(\emph{green},\emph{blue},\emph{red},3,-1) & \text{if $i=3$}\\
+% \Phi(\emph{red},\emph{blue},\emph{green},5,1) & \text{if $i=4$}\\
+% \Phi(\emph{blue},\emph{red},\emph{green},5,-1) & \text{if $i=5$}\\
+% \Phi(\emph{red},\emph{green},\emph{blue},1,-1) & \text{if $i=6$}\\
+% (0,0,\emph{blue}) & \text{if $i=7$}
+% \end{cases}\label{eq.rgb2hsb2}
+% \intertext{where}
+% \Phi(x,y,z,u,v) := \Bigl( \frac{u\cdot(x-z)+v\cdot(x-y)}{6(x-z)}, \frac{x-z}x, x\Bigr)
+% \end{gather}
+%
+% The singular case $x=z$, which is equivalent to $\emph{red}=\emph{green}=\emph{blue}$, is covered here by $i=7$.
+%
+% \medskip
+%
+% It is not difficult to see that this algorithm is a reformulation of the previous method.
+% The following table explains how the transition from equation (\ref{eq.rgb2hsb1}) to equation (\ref{eq.rgb2hsb2}) works:
+%
+% \medskip
+%
+% \begin{tabular*}{\textwidth}{@{\extracolsep\fill}*5{>{$}c<{$}}l@{}}
+% 6\cdot\emph{hue}& \emph{Condition}& \emph{red}\ge\emph{green}& \emph{green}\ge\emph{blue}& \emph{blue}\ge\emph{red}& $i$\\\hline
+% 1-f & \emph{red}\ge\emph{green}\ge\emph{blue}& 1& 1& *& \textbf6/7\\
+% 1+f & \emph{green}\ge\emph{red}\ge\emph{blue}& *& 1& *& \textbf2/3/6/7\\
+% 3-f & \emph{green}\ge\emph{blue}\ge\emph{red}& *& 1& 1& \textbf3/7\\
+% 3+f & \emph{blue}\ge\emph{green}\ge\emph{red}& *& *& 1& \textbf1/3/5/7\\
+% 5-f & \emph{blue}\ge\emph{red}\ge\emph{green}& 1& *& 1& \textbf5/7\\
+% 5+f & \emph{red}\ge\emph{blue}\ge\emph{green}& 1& *& *& \textbf4/5/6/7\\
+% \end{tabular*}
+%
+% \medskip
+%
+% Here, $*$ denotes possible 0 or 1 values.
+% Bold $i$~values mark the main cases where all $*$~values of a row are zero.
+% The slight difference to equation (\ref{eq.rgb2hsb1}) in the last inequality is intentional and does no harm.
+%
+%
+% \paragraph{Conversion \Model{rgb} to \Model{gray}}
+% Source: \cite{plrm}, p. 474.
+% \begin{align}
+% \emph{gray} & := 0.3\cdot\emph{red} + 0.59\cdot\emph{green} + 0.11\cdot\emph{blue}
+% \end{align}
+%
+%
+% \paragraph{Conversion \Model{rgb} to \Model{RGB}}
+% As described in section \vref{sec.real2int}.
+% \begin{gather}
+% (\emph{Red},\emph{Green},\emph{Blue}) := \bigl(\RtoI L(\emph{red}), \RtoI L(\emph{green}), \RtoI L(\emph{blue})\bigr)
+% \end{gather}
+%
+%
+% \paragraph{Conversion \Model{rgb} to \Model{HTML}}
+% As described in section \vref{sec.real2int}.
+% Convert to 6-digit hexadecimal afterwards.
+% Certainly, multiplication and summation can be replaced by simple text concatenation of 2-digit hexadecimals.
+% \begin{gather}
+% \emph{RRGGBB} := \bigl( 65536\cdot\RtoI L(\emph{red}) + 256\cdot \RtoI L(\emph{green}) + \RtoI L(\emph{blue}) \bigr)_{\emph{hex}}
+% \end{gather}
+%
+%
+% \paragraph{Complement of \Model{rgb} color}
+% We simply take the complementary vector:
+% \begin{gather}
+% (\emph{red}^*, \emph{green}^*, \emph{blue}^*) := E - (\emph{red}, \emph{green}, \emph{blue})
+% \end{gather}
+%
+%
+% \subsubsection{The \Model{cmy} model}
+%
+% \paragraph{Conversion \Model{cmy} to \Model{rgb}}
+% This is simply a reversion of the $\Model{rgb}\to\Model{cmy}$ case, cf. section \vref{sec.rgb2cmy}.
+% \begin{gather}
+% (\emph{red}, \emph{green}, \emph{blue}) := E - (\emph{cyan}, \emph{magenta}, \emph{yellow})
+% \end{gather}
+%
+%
+% \paragraph{Conversion \Model{cmy} to \Model{cmyk}}\label{sec.cmy2cmyk}
+% This is probably the hardest of our conversion tasks: many sources emphasize that there does not exist any universal conversion algorithm for this case because of device-dependence.
+% The following algorithm is an extended version of the one given in \cite{plrm}, p. 476.
+% \begin{align}
+% k & := \min\{\emph{cyan},\emph{magenta},\emph{yellow}\}\\
+% \emph{cyan} & := \min\{1,\max\{0,\emph{cyan} - \emph{UCR}_c(k)\}\}\\
+% \emph{magenta} & := \min\{1,\max\{0,\emph{magenta} - \emph{UCR}_m(k)\}\}\\
+% \emph{yellow} & := \min\{1,\max\{0,\emph{yellow} - \emph{UCR}_y(k)\}\}\\
+% \emph{black} & := \emph{BG}(k)
+% \end{align}
+% Here, four additional functions are required:
+% \begin{align}
+% \emph{UCR}_c, \emph{UCR}_m, \emph{UCR}_y & : [0,1] \to [-1,1]\tag*{\em undercolor-removal}\\
+% \emph{BG} & : [0,1] \to [0,1]\tag*{\em black-generation}
+% \end{align}
+% These functions are device-dependent, see the remarks in \cite{plrm}.
+% Although there are some indications that they should be chosen as nonlinear functions, as long as we have no further knowledge about the target device we define them linearly:
+% \begin{align}
+% \emph{UCR}_c(k) &:= \beta_c\cdot k\\
+% \emph{UCR}_m(k) &:= \beta_m\cdot k\\
+% \emph{UCR}_y(k) &:= \beta_y\cdot k\\
+% \emph{BG}(k) &:= \beta_k\cdot k
+% \end{align}
+% \DescribeMacro\adjustUCRBG
+% where the parameters are given by |\def\adjustUCRBG{|\Meta{$\beta_c$},\Meta{$\beta_m$},\Meta{$\beta_y$},\Meta{$\beta_k$}|}| at any point in a document, defaulting to |{|$\adjustUCRBG$|}|.
+%
+%
+% \paragraph{Conversion \Model{cmy} to \Model{gray}}
+% This is derived from the conversion chain $\Model{cmy}\to\Model{rgb}\to\Model{gray}$.
+% \begin{align}
+% \emph{gray} & := 1 - (0.3\cdot\emph{cyan} + 0.59\cdot\emph{magenta} + 0.11\cdot\emph{yellow})
+% \end{align}
+%
+%
+% \paragraph{Complement of \Model{cmy} color}
+% We simply take the complementary vector:
+% \begin{gather}
+% (\emph{cyan}^*, \emph{magenta}^*, \emph{yellow}^*) := E - (\emph{cyan}, \emph{magenta}, \emph{yellow})
+% \end{gather}
+%
+%
+% \subsubsection{The \Model{cmyk} model}
+%
+% \paragraph{Conversion \Model{cmyk} to \Model{cmy}}\label{sec.cmyk2cmy}
+% Based on \cite{plrm}, p. 477, in connection with $\Model{rgb}\to\Model{cmy}$ conversion.
+% \begin{align}
+% \emph{cyan} & := \min\{1,\emph{cyan} + \emph{black}\}\\
+% \emph{magenta} & := \min\{1,\emph{magenta} + \emph{black}\}\\
+% \emph{yellow} & := \min\{1,\emph{yellow} + \emph{black}\}
+% \end{align}
+%
+%
+% \paragraph{Conversion \Model{cmyk} to \Model{gray}}
+% Source: \cite{plrm}, p. 475.
+% \begin{align}
+% \emph{gray} & := 1 - \min\{1,0.3\cdot\emph{cyan} + 0.59\cdot\emph{magenta} + 0.11\cdot\emph{yellow} + black\}
+% \end{align}
+%
+%
+% \paragraph{Complement of \Model{cmyk} color}
+% The simple vector complement does not yield useful results.
+% Therefore, we first convert %$C=(\emph{cyan}, \emph{magenta}, \emph{yellow}, \emph{black})$
+% to the \Model{cmy} model, calculate the complement there, and convert back to \Model{cmyk}.
+%
+%
+% \subsubsection{The \Model{hsb} model}
+%
+% \paragraph{Conversion \Model{hsb} to \Model{rgb}}
+% \begin{gather}
+% (\emph{red},\emph{green},\emph{blue}) :=
+% \emph{brightness}\cdot( E - \emph{saturation}\cdot F)\\
+% \intertext{with}
+% i := \left\lfloor 6\cdot\emph{hue}\right\rfloor,\qquad f := 6\cdot\emph{hue} - i\\
+% \intertext{and}
+% F :=
+% \begin{cases}
+% (0,1-f,1) & \text{if $i=0$}\\
+% (f,0,1) & \text{if $i=1$}\\
+% (1,0,1-f) & \text{if $i=2$}\\
+% (1,f,0) & \text{if $i=3$}\\
+% (1-f,1,0) & \text{if $i=4$}\\
+% (0,1,f) & \text{if $i=5$}\\
+% (0,1,1) & \text{if $i=6$}
+% \end{cases}\label{eq.hsb2rgb2}
+% \end{gather}
+%
+% \medskip
+%
+% This is based on \cite{smith}, \emph{HSV to RGB Algorithm (Hexcone Model)}, which reads (slightly reformulated):
+% \begin{align}
+% m & := 1-\emph{saturation}\\
+% n & := 1-f\cdot\emph{saturation}\\
+% k & := 1-(1-f)\cdot\emph{saturation}\\
+% (\emph{red},\emph{green},\emph{blue}) & := \emph{brightness}\cdot
+% \begin{cases}
+% (1,k,m) & \text{if $i=0,6$}\\
+% (n,1,m) & \text{if $i=1$}\\
+% (m,1,k) & \text{if $i=2$}\\
+% (m,n,1) & \text{if $i=3$}\\
+% (k,m,1) & \text{if $i=4$}\\
+% (1,m,n) & \text{if $i=5$}
+% \end{cases}\label{eq.hsb2rgb1}
+% \end{align}
+% Note that the case $i=6$ (which results from $\emph{hue}=1$) is missing in Smith's algorithm.
+% Because of
+% \begin{align}
+% \lim_{f\to1} (0,1,f) = (0,1,1) = \lim_{f\to0} (0,1-f,1)
+% \end{align}
+% it is clear that there is only one way to define $F$ for $i=6$ in order to get a continuous function, as shown in equation (\ref{eq.hsb2rgb2}).
+% This has been transformed back to equation (\ref{eq.hsb2rgb1}).
+% A similar argument shows that $F$ indeed is a continuous function of \emph{hue} over the whole range $[0,1]$.
+%
+%
+% \paragraph{Conversion \Model{hsb} to \Model{Hsb}}
+% Only the first component has to be changed.
+% \begin{gather}
+% (\emph{hue\Circ}, \emph{saturation}, \emph{brightness}) := (H\cdot\emph{hue}, \emph{saturation}, \emph{brightness})
+% \end{gather}
+%
+%
+% \paragraph{Conversion \Model{hsb} to \Model{HSB}}
+% As described in section \vref{sec.real2int}.
+% \begin{gather}
+% (\emph{Hue}, \emph{Saturation}, \emph{Brightness}) := \bigl(\RtoI M(\emph{hue}), \RtoI M(\emph{saturation}), \RtoI M(\emph{brightness})\bigr)
+% \end{gather}
+%
+%
+% \paragraph{Complement of \Model{hsb} color}
+% We have not found a formula in the literature, therefore we give a short proof afterwards.
+% \begin{lemma}
+% The \textup{\Model{hsb}}-complement can be calculated by the following formulas:\em
+% \begin{align}
+% \emph{hue}^* & :=
+% \begin{cases}
+% \emph{hue} + \frac12 & \text{if $\emph{hue}<\frac12$}\\[1ex]
+% \emph{hue} - \frac12 & \text{if $\emph{hue}\ge\frac12$}\\
+% \end{cases}\\[1ex]
+% \emph{brightness}^* & := 1 - \emph{brightness}\cdot(1-\emph{saturation})\\[1ex]
+% \emph{saturation}^* & :=
+% \begin{cases}
+% 0 & \text{if $\emph{brightness}^*=0$}\\[1ex]
+% \displaystyle\frac{\emph{brightness}\cdot\emph{saturation}}{\emph{brightness}^*} & \text{if $\emph{brightness}^*\ne0$}
+% \end{cases}
+% \end{align}
+% \end{lemma}
+%
+% \begin{proof}
+% Starting with the original color $C=(h,s,b)$, we define color $C^*=(h^*,s^*,b^*)$ by the given formulas, convert both $C$ and $C^*$ to the \Model{rgb} model and show that
+% \begin{gather}
+% C_{\Model{rgb}} + C_{\Model{rgb}}^* = b\cdot(E - s\cdot F) + b^*\cdot(E - s'\cdot F^*) \stackrel!= E,\label{eq.hsbcompl1}
+% \end{gather}
+% which means that $C_{\Model{rgb}}$ is the complement of $C_{\Model{rgb}}^*$.
+% First we note that the parameters of $C^*$ are in the legal range $[0,1]$.
+% This is obvious for $h^*,b^*$.
+% From
+% $b^* = 1-b\cdot(1-s) = 1 - b + b\cdot s$
+% we derive $b\cdot s = b^* - (1-b) \le b^*$, therefore $s^*\in[0,1]$, and
+% \begin{gather*}
+% b^* = 0 \Leftrightarrow s=0 \text{ and } b=1.
+% \end{gather*}
+% Thus, equation (\ref{eq.hsbcompl1}) holds in the case $b^*=0$.
+% Now we assume $b^*\ne0$, hence
+% \begin{align*}
+% C_{\Model{rgb}} + C_{\Model{rgb}}^*
+% &= b\cdot(E - s\cdot F) + b^*\cdot\Bigl(E - \frac{b\cdot s}{b^*}\cdot F^*\Bigr) \\
+% &= b\cdot E - b\cdot s\cdot F + b^*\cdot E - b\cdot s\cdot F^*\\[1ex]
+% &= E - b\cdot s\cdot(F+F^*-E)
+% \end{align*}
+% since $b^*=1-b+bs$.
+% Therefore, it is sufficient to show that
+% \begin{gather}
+% F+F^*=E.\label{eq.hsbcompl2}
+% \end{gather}
+% From
+% \begin{gather*}\textstyle
+% h<\frac12 \Rightarrow h^*=h+\frac12 \Rightarrow 6h^* = 6h+3 \Rightarrow i^*=i+3 \text{ and } f^*=f
+% \end{gather*}
+% it is easy to see from (\ref{eq.hsb2rgb2}) that equation (\ref{eq.hsbcompl2}) holds for the cases $i=0,1,2$.
+% Similarly,
+% \begin{gather*}\textstyle
+% h\ge\frac12 \Rightarrow h^*=h-\frac12 \Rightarrow 6h^* = 6h-3 \Rightarrow i^*=i-3 \text{ and } f^*=f
+% \end{gather*}
+% and again from (\ref{eq.hsb2rgb2}) we derive (\ref{eq.hsbcompl2}) for the cases $i=3,4,5$.
+% Finally, if $i=6$ then $f=0$ and $F+F^* = (0,1,1) + (1,0,0) = E$.
+% \end{proof}
+%
+%
+% \subsubsection{The \Model{Hsb} model}
+%
+% \paragraph{Conversion \Model{Hsb} to \Model{hsb}}
+% Only the first component has to be changed.
+% \begin{gather}
+% (\emph{hue}, \emph{saturation}, \emph{brightness}) := (\emph{hue\Circ}/H, \emph{saturation}, \emph{brightness})
+% \end{gather}
+%
+%
+% \paragraph{Conversion \Model{Hsb} to \Model{tHsb}}
+% Under the settings of (\ref{eq.tHsb1})--(\ref{eq.tHsb3}) we simply have to exchange the letters $x$ and $y$ in equation (\ref{eq.tHsb4}) to get the inverse transformation:
+% \begin{gather}
+% \displaystyle \emph{hue\Circ}\in\left[y_{\eta-1},y_\eta\right] \Rightarrow
+% \emph{hue\Circ} := x_{\eta-1} + \frac{x_\eta - x_{\eta-1}}{y_\eta - y_{\eta-1}}\cdot(\emph{hue\Circ} - y_{\eta-1})
+% \end{gather}
+% while \emph{saturation} and \emph{brightness} are left unchanged.
+%
+%
+% \subsubsection{The \Model{tHsb} model}
+%
+% \paragraph{Conversion \Model{tHsb} to \Model{Hsb}}\label{sec.tHsb2Hsb}
+% \DescribeMacro\rangeHsb
+% \DescribeMacro\rangetHsb
+% We assume that $\texttt{\string\rangeHsb}=H$ and |\rangetHsb| expands to
+% \begin{gather}
+% x_1,y_1;x_2,y_2;\dots;x_{h-1},y_{h-1}\label{eq.tHsb1}
+% \intertext{where}
+% x_0:=0<x_1<x_2<\dots<x_{h-1}<x_h:=H\label{eq.tHsb2}\\
+% y_0:=0<y_1<y_2<\dots<y_{h-1}<y_h:=H\label{eq.tHsb3}
+% \end{gather}
+% with an integer $h>0$.
+% Now the $x$ and $y$ values determine a piecewise linear transformation:
+% \begin{gather}
+% \displaystyle \emph{hue\Circ}\in\left[x_{\eta-1},x_\eta\right] \Rightarrow
+% \emph{hue\Circ} := y_{\eta-1} + \frac{y_\eta - y_{\eta-1}}{x_\eta - x_{\eta-1}}\cdot(\emph{hue\Circ} - x_{\eta-1})
+% \label{eq.tHsb4}
+% \end{gather}
+% while \emph{saturation} and \emph{brightness} are left unchanged.
+%
+%
+% \subsubsection{The \Model{gray} model}
+%
+% \paragraph{Conversion \Model{gray} to \Model{rgb}}
+% Source: \cite{plrm}, p. 474.
+% \begin{gather}
+% (\emph{red}, \emph{green}, \emph{blue}) := \emph{gray}\cdot E
+% \end{gather}
+%
+%
+% \paragraph{Conversion \Model{gray} to \Model{cmy}}
+% This is derived from the conversion chain $\Model{gray}\to\Model{rgb}\to\Model{cmy}$.
+% \begin{gather}
+% (\emph{cyan}, \emph{magenta}, \emph{yellow}) := (1-\emph{gray})\cdot E
+% \end{gather}
+%
+%
+% \paragraph{Conversion \Model{gray} to \Model{cmyk}}
+% Source: \cite{plrm}, p. 475.
+% \begin{gather}
+% (\emph{cyan}, \emph{magenta}, \emph{yellow}, \emph{black}) := (0,0,0,1-\emph{gray})
+% \end{gather}
+%
+%
+% \paragraph{Conversion \Model{gray} to \Model{hsb}}
+% This is derived from the conversion chain $\Model{gray}\to\Model{rgb}\to\Model{hsb}$.
+% \begin{gather}
+% (\emph{hue}, \emph{saturation}, \emph{brightness}) := (0,0,\emph{gray})
+% \end{gather}
+%
+%
+% \paragraph{Conversion \Model{gray} to \Model{Hsb}/\Model{tHsb}}
+% This is derived from the conversion chain $\Model{gray}\to\Model{hsb}\to\Model{Hsb}$, followed by $\Model{Hsb}\to\Model{tHsb}$ if applicable.
+% \begin{gather}
+% (\emph{hue\Circ}, \emph{saturation}, \emph{brightness}) := (0,0,\emph{gray})
+% \end{gather}
+%
+%
+% \paragraph{Conversion \Model{gray} to \Model{Gray}}
+% As described in section \vref{sec.real2int}.
+% \begin{gather}
+% \emph{Gray} := \RtoI N(\emph{gray})
+% \end{gather}
+%
+%
+% \paragraph{Complement of \Model{gray} color}
+% This is similar to the \Model{rgb} case:
+% \begin{gather}
+% \emph{gray}^* := 1 - \emph{gray}
+% \end{gather}
+%
+%
+% \subsubsection{The \Model{RGB} model}
+%
+% \paragraph{Conversion \Model{RGB} to \Model{rgb}}
+% As described in section \vref{sec.int2real}.
+% \begin{gather}
+% (\emph{red}, \emph{green}, \emph{blue}) := \bigl(\ItoR L(\emph{Red}), \ItoR L(\emph{Green}), \ItoR L(\emph{Blue})\bigr)
+% \end{gather}
+%
+%
+% \subsubsection{The \Model{HTML} model}
+%
+% \paragraph{Conversion \Model{HTML} to \Model{rgb}}
+% As described in section \vref{sec.int2real}: starting with \emph{RRGGBB} set
+% \begin{gather}
+% (\emph{red}, \emph{green}, \emph{blue}) := \bigl(\ItoR{255}(\emph{RR}_{\emph{dec}}), \ItoR{255}(\emph{GG}_{\emph{dec}}), \ItoR{255}(\emph{BB}_{\emph{dec}})\bigr)
+% \end{gather}
+%
+%
+% \subsubsection{The \Model{HSB} model}
+%
+% \paragraph{Conversion \Model{HSB} to \Model{hsb}}
+% As described in section \vref{sec.int2real}.
+% \begin{gather}
+% (\emph{hue}, \emph{saturation}, \emph{brightness}) := \bigl(\ItoR M(\emph{Hue}), \ItoR M(\emph{Saturation}), \ItoR M(\emph{Brightness})\bigr)
+% \end{gather}
+%
+%
+% \subsubsection{The \Model{Gray} model}
+%
+% \paragraph{Conversion \Model{Gray} to \Model{gray}}
+% As described in section \vref{sec.int2real}.
+% \begin{gather}
+% \emph{gray} := \ItoR N(\emph{Gray})
+% \end{gather}
+%
+%
+% \subsubsection{The \Model{wave} model}
+%
+% \paragraph{Conversion \Model{wave} to \Model{rgb}}
+% Source: based on \People{Dan}{Bruton}'s algorithm \cite{Bruton}.
+% Let $\lambda$ be a visible wavelength, given in nanometers (nm), i.e., $\lambda\in\left[380,780\right]$.
+% We assume further that $\gamma>0$ is a fixed number ($\gamma=0.8$ in \cite{Bruton}).
+% First set
+% \begin{align}
+% (r,g,b) & :=
+% \begin{cases}
+% \displaystyle \Bigl(\frac{440-\lambda}{440-380},0,1\Bigr) & \text{if $\lambda\in[380,440[$}\\[1.75ex]
+% \displaystyle \Bigl(0,\frac{\lambda-440}{490-440},1\Bigr) & \text{if $\lambda\in[440,490[$}\\[1.75ex]
+% \displaystyle \Bigl(0,1,\frac{510-\lambda}{510-490}\Bigr) & \text{if $\lambda\in[490,510[$}\\[1.75ex]
+% \displaystyle \Bigl(\frac{\lambda-510}{580-510},1,0\Bigr) & \text{if $\lambda\in[510,580[$}\\[1.75ex]
+% \displaystyle \Bigl(1,\frac{645-\lambda}{645-580},0\Bigr) & \text{if $\lambda\in[580,645[$}\\[2.5ex]
+% \displaystyle (1,0,0) & \text{if $\lambda\in[645,780]$}\\
+% \end{cases}\label{eq.gamma2rgb1}\\
+% \intertext{then, in order to let the intensity fall off near the vision limits,}
+% f & :=
+% \begin{cases}
+% \displaystyle 0.3 + 0.7\cdot\frac{\lambda-380}{420-380} & \text{if $\lambda\in\left[380,420\right[$}\\[1.25ex]
+% \displaystyle 1 & \text{if $\lambda\in[420,700]$}\\[1ex]
+% \displaystyle 0.3 + 0.7\cdot\frac{780-\lambda}{780-700} & \text{if $\lambda\in\left]700,780\right]$}\\
+% \end{cases}\label{eq.gamma2rgb2}\\
+% \intertext{and finally}
+% (\emph{red},\emph{green},\emph{blue}) & := \bigl((f\cdot r)^\gamma, (f\cdot g)^\gamma, (f\cdot b)^\gamma\bigr)
+% \end{align}
+% The intermediate colors $(r,g,b)$ at the interval borders of equation (\ref{eq.gamma2rgb1}) are well-known:
+% for $\lambda=380,440,490,510,580,645$ we get \Color{magenta}, \Color{blue}, \Color{cyan}, \Color{green}, \Color{yellow}, \Color{red}, respectively.
+% These turn out to be represented in the \Model{hsb} model by $\emph{hue}=\frac56,\frac46,\frac36,\frac26,\frac16,\frac06$, whereas $\emph{saturation}=\emph{brightness}=1$ throughout the 6~colors.
+% Furthermore, these \Model{hsb} representations are independent of the actual $\gamma$ value.
+% Staying within this model framework, we observe that the intensity fall off near the vision limits --- as represented by equation (\ref{eq.gamma2rgb2}) --- translates into decreasing \emph{brightness} parameters towards the margins.
+% A simple calculation shows that the edges $\lambda=380,780$ of the algorithm yield the colors |magenta!|$0.3^\gamma$|!black|, |red!|$0.3^\gamma$|!black|, respectively.
+% We see no reason why we should not extend these edges in a similar fashion to end-up with true \Color{black} on either side.
+% Now we are prepared to translate everything into another, more natural algorithm.
+%
+%
+% \paragraph{Conversion \Model{wave} to \Model{hsb}}
+% Let $\lambda>0$ be a wavelength, given in nanometers (nm), and let
+% \begin{gather}
+% \varrho : \bbbR \to \left[0,1\right],\ x \mapsto \bigl( \min\{ 1, \max\{ 0,x\} \} )^\gamma
+% \end{gather}
+% with a fixed correction number $\gamma>0$.
+% Then
+% \begin{align}
+% \emph{hue} & := \displaystyle \frac16\cdot
+% \begin{cases}
+% \displaystyle 4 + \varrho\Bigl(\frac{\lambda-440}{380-440}\Bigr) & \text{if $\lambda<440$}\\[1.75ex]
+% \displaystyle 4 - \varrho\Bigl(\frac{\lambda-440}{490-440}\Bigr) & \text{if $\lambda\in[440,490[$}\\[1.75ex]
+% \displaystyle 2 + \varrho\Bigl(\frac{\lambda-510}{490-510}\Bigr) & \text{if $\lambda\in[490,510[$}\\[1.75ex]
+% \displaystyle 2 - \varrho\Bigl(\frac{\lambda-510}{580-510}\Bigr) & \text{if $\lambda\in[510,580[$}\\[1.75ex]
+% \displaystyle 0 + \varrho\Bigl(\frac{\lambda-645}{580-645}\Bigr) & \text{if $\lambda\in[580,645[$}\\[2.5ex]
+% \displaystyle 0 & \text{if $\lambda\ge645$}\\
+% \end{cases}\label{eq.gamma2hsb1}\\[1ex]
+% \emph{saturation} & := 1\\[1ex]
+% \emph{brightness} & :=
+% \begin{cases}
+% \displaystyle \varrho\Bigl(0.3 + 0.7\cdot\frac{\lambda-380}{420-380}\Bigr) & \text{if $\lambda<420$}\\[1.5ex]
+% \displaystyle 1 & \text{if $\lambda\in[420,700]$}\\[1ex]
+% \displaystyle \varrho\Bigl(0.3 + 0.7\cdot\frac{\lambda-780}{700-780}\Bigr) & \text{if $\lambda>700$}\\
+% \end{cases}\label{eq.gamma2hsb2}
+% \end{align}
+% For the sake of completeness we note that, independent of $\gamma$,
+% \begin{gather*}
+% (\emph{hue},\emph{saturation},\emph{brightness}) =
+% \begin{cases}
+% \bigl(\frac56,1,0\bigr) & \text{if $\lambda\le 380 - \frac{3\cdot(420-380)}7 = 362.857\dots$}\\[1.5ex]
+% \bigl(0,1,0\bigr) & \text{if $\lambda\ge 780 + \frac{3\cdot(780-700)}7 = 814.285\dots$}\\
+% \end{cases}\label{eq.gamma2hsb3}
+% \end{gather*}
+% What is the best (or, at least, a good) value for $\gamma$?
+% In the original algorithm \cite{Bruton}, $\gamma=0.8$ is chosen.
+% However, we could not detect significant visible difference between the cases $\gamma=0.8$ and $\gamma=1$.
+% Thus, for the time being, \XC's implementation uses the latter value which implies a pure linear approach.
+% In the \Package{pstricks} examples file \href{xcolor2.pdf}{\File{xcolor2.tex}}, there is a demonstration of different $\gamma$ values.
+%
+% \clearpage
+%
+%
+%
+% \begin{adjustwidth}{-2.5cm}{}
+% \begingroup\raggedright
+% \begin{thebibliography}{00}
+% \addcontentsline{toc}{section}{References}
+%
+% \bibitem{plrm}%
+% {Adobe Systems Incorporated: ``PostScript Language Reference Manual''. Addison-Wesley, third edition, 1999.
+% \URL{http://www.adobe.com/products/postscript/pdfs/PLRM.pdf}}
+%
+% \bibitem{fbox}%
+% {\People{Donald}{Arseneau}: ``Patch so \cmd\fbox{} draws frame on top of text''. \LaTeX{} bug report, latex/3655, 2004/03/18.
+% \URL{http://www.latex-project.org/cgi-bin/ltxbugs2html?pr=latex/3655}}
+%
+% \bibitem{url}%
+% {\People{Donald}{Arseneau}: \Package{url} package, ``2005/06/27 ver 3.2 Verb mode for urls, etc.''.
+% \CTAN{macros/latex/contrib/misc/}{url.sty}}
+%
+% \bibitem{Bruton}%
+% {\People{Dan}{Bruton}: ``Approximate RGB values for Visible Wavelengths'', 1996.
+% \URL{http://www.physics.sfasu.edu/astro/color/spectra.html}}
+%
+% \bibitem{dpc}%
+% {\People{David P.}{Carlisle}: ``Packages in the `graphics' bundle'', 1999.
+% \CTAN{macros/latex/required/graphics/}{grfguide.*}}
+%
+% \bibitem{color}%
+% {\People{David P.}{Carlisle}: \LCP, ``1999/02/16 v1.0i Standard \LaTeX{} Color''.
+% \CTAN{macros/latex/required/graphics/}{color.*}}
+%
+% \bibitem{colortbl}%
+% {\People{David P.}{Carlisle}: \Package{colortbl} package, ``2001/02/13 v0.1j Color table columns''.
+% \CTAN{macros/latex/contrib/carlisle/}{colortbl.*}}
+%
+% \bibitem{pstcol}%
+% {\People{David P.}{Carlisle}: \Package{pstcol} package, ``2001/06/20 v1.1 PSTricks color compatibility''.
+% \CTAN{macros/latex/required/graphics/}{pstcol.*}}
+%
+% \bibitem{chroma}%
+% {\People{Uwe}{Kern}: ``Chroma: a reference book of \LaTeX{} colors''.
+% \CTAN{info/colour/chroma/}{} and
+% \URL{http://www.ukern.de/tex/chroma.html}}
+%
+% \bibitem{xcolor}%
+% {\People{Uwe}{Kern}: \Package{xcolor} package, ``\LaTeX{} color extensions''.
+% \CTAN{macros/latex/contrib/xcolor/}{} and
+% \URL{http://www.ukern.de/tex/xcolor.html}}
+%
+% \bibitem{mik}%
+% {MiK\TeX{} Project:
+% \URL{http://www.miktex.org/}}
+%
+% \bibitem{colorinfo}%
+% {\People{Rolf}{Niepraschk}: \Package{colorinfo} package, ``2003/05/04 v0.3c Info from defined colors''.
+% \CTAN{macros/latex/contrib/colorinfo/}{}}
+%
+% \bibitem{pdfcolmk}%
+% {\People{Heiko}{Oberdiek}: \Package{pdfcolmk} package, ``2005/07/09 v0.7''.
+% \CTAN{macros/latex/contrib/oberdiek/pdfcolmk.sty}{}}
+%
+% \bibitem{hyperref}%
+% {\People{Sebastian}{Rahtz}: \Package{hyperref} package, ``2003/11/30 v6.74m Hypertext links for \LaTeX''.
+% \CTAN{macros/latex/contrib/hyperref/}{}}
+%
+% \bibitem{smith}%
+% {\People{Alvy Ray}{Smith}: ``Color Gamut Transform Pairs''. \emph{Computer Graphics} (ACM SIGGRAPH), Volume 12, Number 3, August 1978.
+% \URL{http://alvyray.com/Papers/PapersCG.htm}}
+%
+% \bibitem{svg}%
+% {World Wide Web Consortium: ``Scalable Vector Graphics (\Index{SVG}) 1.1 Specification --- Basic Data Types and Interfaces''.
+% \URL{http://www.w3.org/TR/SVG11/types.html\#ColorKeywords}}
+%
+% \end{thebibliography}
+% \endgroup
+% \clearpage
+%
+% \columnsep2.25em
+% \begin{multicols}{2}[\section*{Appendix}%
+% \addcontentsline{toc}{section}{Appendix}]
+%
+% \subsection*{Acknowledgement}
+% \addcontentsline{toc}{subsection}{Acknowledgement}
+% This package is based on and contains code copied from \cite{color} (Copyright (C) 1994--1999 \People{David P.}{Carlisle}), which is part of the Standard \LaTeX{} `Graphics Bundle'.
+% Although many commands and features have been added and most of the original \LC{} commands have been rewritten or adapted within \XC, the latter package would not exist without \LC.
+% Thus, the author is grateful to \People{David P.}{Carlisle} for having created \LC{} and its accompanying files.
+%
+% \subsection*{Trademarks}
+% \addcontentsline{toc}{subsection}{Trademarks}
+% Trademarks appear throughout this documentation without any trademark symbol; they are the property of their respective trademark owner.
+% There is no intention of infringement; the usage is to the benefit of the trademark owner.
+%
+% \raggedright
+% \leftmargini1em
+% \leftmarginii1em
+% \leftmarginiii1em
+%
+% \subsection*{Known Issues}
+% \addcontentsline{toc}{subsection}{Known Issues}
+% \begin{itemize}
+% \item |\rowcolors[\hline]...| does not work with \Package{longtable}.
+% \end{itemize}
+%
+% \subsection*{History}
+% \addcontentsline{toc}{subsection}{History}
+%
+% \subsubsection*{2005/12/21 v2.09}
+% \begin{itemize}
+% \item New features:
+% \begin{itemize}
+% \item |\definecolor| and |\color| now accept space-separated color specifications, e.g., |\color| |[rgb]{1 .5 0}|;
+% \item experimental \Option{xcdraw} option extended to \Option{pdftex} and \Option{dvipdfm} drivers.
+% \end{itemize}
+% \item Changes:
+% \begin{itemize}
+% \item test file \File{xcolor2.tex} made compatible with recent changes in \Package{pstricks};
+% \item test file \File{xcolor3.tex} extended;
+% \item driver test file \File{xcolor4.tex} extended to demonstrate the different frame drawing approaches;
+% \item more efficient implementation of driver-specific code.
+% \end{itemize}
+% \end{itemize}
+%
+% \subsubsection*{2005/11/25 v2.08}
+% \begin{itemize}
+% \item New features:
+% \begin{itemize}
+% \item more flexibility for |\fcolorbox| arguments, e.g., |\fcolorbox| |[gray]{0.5}[wave]{580}{test}|;
+% \item |\boxframe| returns a frame of given dimensions;
+% \item new implementation of |\f(rame)box| and |\fcolorbox| as an extension of bug report latex/3655 to reduce pixel positioning errors in output devices;
+% \item \Option{kernelfbox} option for those who prefer the previous |\f(rame)box| approach;
+% \item experimental \Option{xcdraw} option uses \Index{PostScript} commands to draw frames and color boxes in case of \Option{dvips}.
+% \end{itemize}
+% \item Bugfixes:
+% \begin{itemize}
+% \item insufficient expression type detection within |\colorlet|;
+% \item wrong calculation in the unit interval reduction for negative integers (affecting color series and extended color expressions).
+% \end{itemize}
+% \end{itemize}
+%
+% \subsubsection*{2005/11/12 v2.07}
+% \begin{itemize}
+% \item New features:
+% \begin{itemize}
+% \item color model \Model{Hsb} allows to specify \emph{hue} in degrees;
+% \item color model \Model{tHsb} (\pModel{tuned} \Model{Hsb}) for user-defined \emph{hue} configuration on color wheels;
+% \item easy generation of color harmonies derived from \Model{Hsb} or \Model{tHsb} color wheels, e.g., |\color{red>wheel,1,12}| yields an `analogous' color to \Color{red} on a 12-spoke wheel;
+% \item additional 317 predefined color names according to \File{rgb.txt}, which is part of \Index{Unix}/\Index{X11} distributions;
+% \item \Option{svgnames} option extended by~4~colors taken from \File{rgb.txt};
+% \item enhanced syntax for immediate conversion, e.g., |\definecolor| |{foo}{rgb:gray}{0.3}| or |\color| |[rgb:wave]{478}|;
+% \item |\@ifundefinedcolor| and |\@ifundefinedmodel| commands;
+% \end{itemize}
+% \item Changes:
+% \begin{itemize}
+% \item enhanced documentation;
+% \item several changes to internal macros.
+% \end{itemize}
+% \item Bugfixes:
+% \begin{itemize}
+% \item wrong calculation of color series components in some cases of negative step parameters.
+% \end{itemize}
+% \end{itemize}
+%
+% \subsubsection*{2005/10/15 v2.06}
+% \begin{itemize}
+% \item New features:
+% \begin{itemize}
+% \item color model \Model{wave} for (approximate) visualisation of light wavelengths, still somewhat experimental;
+% \item pseudo-model \nModel{ps} for colors defined by literal \Index{PostScript} code in conjunction with \Package{pstricks} and \Option{dvips}; an illustrative example for a $\gamma$-correction approach is given in \href{xcolor2.pdf}{\File{xcolor2.tex}};
+% \item |\substitutecolormodel| command for replacement of missing or faulty driver-specific color models;
+% \item improved detection and handling of driver-specific color models;
+% \item \Option{dvipdfmx} and \Option{xetex} options to support these drivers;
+% \item generic driver test file \File{xcolor4.tex}.
+% \end{itemize}
+% \item Changes:
+% \begin{itemize}
+% \item |\XC at strip@comma| doesn't generate a trailing space anymore, which improves also the output of the |testcolors| environment.
+% \end{itemize}
+% \end{itemize}
+%
+% \subsubsection*{2005/09/30 v2.05}
+% \begin{itemize}
+% \item New features:
+% \begin{itemize}
+% \item |testcolors| environment helps to test colors in different models, showing both the visual result and the model-specific parameters;
+% \item |\extractcolorspecs| puts model/color specification into two separate commands, as opposed to |\extractcolorspec|;
+% \item color names \Color{pink} and \Color{olive} added to the set of predefined colors.
+% \end{itemize}
+% \item Bugfixes:
+% \begin{itemize}
+% \item |\definecolor{foo}{named}{bar}| did not work in v2.04.
+% \end{itemize}
+% \end{itemize}
+%
+% \subsubsection*{2005/09/23 v2.04}
+% \begin{itemize}
+% \item New features:
+% \begin{itemize}
+% \item preparation for usage of additional -- driver-provided -- color models;
+% \item \Package{pstricks} users may now specify explicit color parameters within |\psset| and related commands, e.g., |\psset{linecolor=[rgb]{1,0,0}}|; an illustrative example is given in \href{xcolor2.pdf}{\File{xcolor2.tex}}.
+% \end{itemize}
+% \item Changes:
+% \begin{itemize}
+% \item color model names sanitized (i.e., turned to catcode~12) throughout the package;
+% \item |\@namelet| command deprecated because of name clash with \Package{memoir} --- please use |\XC at let@cc| instead (more |\XC at let@..| commands are available as well);
+% \item simplified color conversion code by using the new |\XC at ifxcase| command;
+% \item some minor changes to internal macros.
+% \end{itemize}
+% \end{itemize}
+%
+% \subsubsection*{2005/06/06 v2.03}
+% \begin{itemize}
+% \item New features:
+% \begin{itemize}
+% \item \Option{fixpdftex} option loads \Package{pdfcolmk} package in order to improve pdf\TeX's color behaviour during page breaks.
+% \end{itemize}
+% \item Changes:
+% \begin{itemize}
+% \item some minor changes to internal macros.
+% \end{itemize}
+% \item Bugfixes:
+% \begin{itemize}
+% \item due to an incorrect |\if| statement within |\XC at info|, |\colorlet| caused trouble whenever its second argument started with two identical letters, e.g., |\colorlet{rab}{oof}|;
+% \item argument processing of |\XC at getcolor| caused incompatibility with \Package{msc} package;
+% \item \Option{prologue} option caused incompatibility with \Package{preview} package.
+% \end{itemize}
+% \end{itemize}
+%
+% \subsubsection*{2005/03/24 v2.02}
+% \begin{itemize}
+% \item New features:
+% \begin{itemize}
+% \item |\aftergroupedef| command to reproduce |\aftergroupdef|'s behaviour prior to v2.01;
+% \item \XC's homepage \XCW{} now provides also a ready-to-run TDS-compliant archive containing all required files.
+% \end{itemize}
+% \item Changes:
+% \begin{itemize}
+% \item |\rowcolors| and friends are solely enabled by the \Option{table} option;
+% \item |\@ifxempty| changed back to more robust variant of v2.00.
+% \end{itemize}
+% \item Bugfixes:
+% \begin{itemize}
+% \item |\psset{linecolor=\ifcase\foo| |red\or green\or blue\fi}| did not work with \Package{pstricks} (error introduced in v2.01).
+% \end{itemize}
+% \end{itemize}
+%
+% \subsubsection*{2005/03/15 v2.01}
+% \begin{itemize}
+% \item New features:
+% \begin{itemize}
+% \item \Option{prologue} option for comprehensive `named' color support in conjunction with \Option{dvips}: on-the-fly generation of \Index{PostScript} prologue files with all color definitions, ready for \Program{dvips} inclusion and/or post-processing with device-specific parameters (e.g., spot colors);
+% \item \Program{dvips} prologue file \File{xcolor.pro} to support additional `named' colors;
+% \item |\colorlet| may now also be used to create named colors from arbitrary color expressions;
+% \item enhanced color definition syntax to allow for target-model specific color parameters, e.g., |\definecolor| |{red}{rgb/cmyk}{1,0,0/0,1,1,0}|, facilitating the usage of tailor-made colors both for displays and printers;
+% \item `deferred definition' of colors: |\preparecolor| and |\definecolors| enable decoupling of color specification and control sequence generation, especially useful (= memory saving) for large lists of colors, of which only a few names are actually used;
+% \item \Option{dvipsnames*} and \Option{svgnames*} options to support deferred definition.
+% \end{itemize}
+% \item Changes:
+% \begin{itemize}
+% \item higher accuracy: most complement calculations are now exact for all 5-digit decimals;
+% \item |\rangeRGB| and similar variables may now be changed at any point in a document;
+% \item |\aftergroupdef| now performs only a first-level expansion of its code argument;
+% \item |\XCfileversion| and similar internal constants removed from \File{.sty} and \File{.def} files;
+% \item improved memory management (reduced generation of `multiletter control sequences' by |\@ifundefined| tests);
+% \item several internal macros improved and/or renamed.
+% \end{itemize}
+% \item Bugfixes:
+% \begin{itemize}
+% \item |\XC at getcolor| could cause unwanted spaces when |\psset| was used inside |pspicture| environments (\Package{pstricks});
+% \item arithmetic overflow could happen when too many decimal digits were used within color parameters, e.g., as a result of \Package{fp} calculations.
+% \end{itemize}
+% \end{itemize}
+%
+% \subsubsection*{2004/07/04 v2.00}
+% \begin{itemize}
+% \item New features:
+% \begin{itemize}
+% \item extended functionality for color expressions: mix colors like a painter;
+% \item support for color blending: specify color mix expressions that are being blended with every displayed color;
+% \item |\xglobal| command for selective control of globality for color definitions, blends, and masks;
+% \item multiple step operations (e.g., |\color{foo!!+++}|) and access to individual members (e.g., |\color{foo!![7]}|) in color series;
+% \item |\providecolor| command to define only non-existent colors;
+% \item |\definecolorset| and |\providecolorset| commands to facilitate the construction of color sets with common underlying color model;
+% \item additional 147 predefined color names according to \Index{SVG}~1.1 specification;
+% \item \Key{xpdfborder} key for setting the width of hyperlink borders in a more driver-independent way if \Program{dvips} is used.
+% \end{itemize}
+% \item Changes:
+% \begin{itemize}
+% \item \LCP{} now completely integrated within \XC;
+% \item \Option{override}, \Option{usenames}, \Option{nodvipsnames} options and |\xdefinecolor| command no longer needed;
+% \item \Option{dvips} and \Option{dvipsnames} options now independent of each other;
+% \item |\tracingcolors|'s behaviour changed to make it more versatile and reduce log file size in standard cases;
+% \item |\rdivide|'s syntax made more flexible (divide by numbers and/or dimensions);
+% \item code restructured, some internal commands renamed;
+% \item documentation rearranged and enhanced.
+% \end{itemize}
+% \item Bugfixes:
+% \begin{itemize}
+% \item |\definecolor{foo}{named}{bar}| did not work (error introduced in v1.11);
+% \item more robust behaviour of conditionals within \Package{pstricks} key-values.
+% \end{itemize}
+% \end{itemize}
+%
+% \subsubsection*{2004/05/09 v1.11}
+% \begin{itemize}
+% \item New features:
+% \begin{itemize}
+% \item switch |\ifglobalcolors| to control whether color definitions are global or local;
+% \item option \Option{hyperref} provides color expression support for the border colors of hyperlinks, e.g., |\hypersetup| |{xurlbordercolor=red!50!yellow}|;
+% \item internal hooks |\XC at bcolor|, |\XC at mcolor|, and |\XC at ecolor| for additional code that has to be executed immediately before/after the current color is being displayed.
+% \end{itemize}
+% \item Changes:
+% \begin{itemize}
+% \item |\XC at logcolor| renamed to |\XC at display|, which is now the core color display command;
+% \item improved interface to \Package{pstricks}.
+% \end{itemize}
+% \end{itemize}
+%
+% \subsubsection*{2004/03/27 v1.10}
+% \begin{itemize}
+% \item New features:
+% \begin{itemize}
+% \item support for \nModel{named} model;
+% \item support for \Program{dvips} colors (may now be used within color expressions);
+% \item internal representation of `ordinary' and `named' colors merged into unified data structure;
+% \item allow multiple `-' signs at the beginning of color expressions.
+% \end{itemize}
+% \item Bugfixes:
+% \begin{itemize}
+% \item commands like |\color[named]{foo}| caused errors when color masking or target model conversion were active;
+% \item incompatibility with \Package{soul} package: commands |\hl|, |\ul|, etc. could yield unexpected results.
+% \end{itemize}
+% \item Documentation:
+% \begin{itemize}
+% \item added formula for general color expressions;
+% \item enhanced text and index;
+% \item removed dependence of index generation on local configuration file.
+% \end{itemize}
+% \end{itemize}
+%
+% \subsubsection*{2004/02/16 v1.09}
+% \begin{itemize}
+% \item New features:
+% \begin{itemize}
+% \item color model \Model{HTML}, a 24-bit hexadecimal \Model{RGB} variant; allows to specify colors like |\color[HTML]{AFFE90}|;
+% \item color names \Color{orange}, \Color{violet}, \Color{purple}, and \Color{brown} added to the set of predefined colors.
+% \end{itemize}
+% \item New \XC{} homepage: \XCW
+% \item Bugfix: |\xdefinecolor| sometimes did not normalise its parameters.
+% \item Changes:
+% \begin{itemize}
+% \item slight improvements of the documentation;
+% \item example file |xcolor1.tex| reorganised and abridged.
+% \end{itemize}
+% \end{itemize}
+%
+% \subsubsection*{2004/02/04 v1.08}
+% \begin{itemize}
+% \item New commands:
+% \begin{itemize}
+% \item |\selectcolormodel| to change the target model within a document;
+% \item |\adjustUCRBG| to fine-tune undercolor-removal and black-generation during conversion to \Model{cmyk}.
+% \end{itemize}
+% \item Bugfix: color expressions did not work correctly in connection with active `!' character, e.g., in case of |\usepackage[frenchb]babel}|.
+% \item Code re-organisation:
+% \begin{itemize}
+% \item |\XC at xdefinecolor| merged into |\xdefinecolor|, making the first command obsolete;
+% \item several internal commands improved/streamlined.
+% \end{itemize}
+% \end{itemize}
+%
+% \subsubsection*{2004/01/20 v1.07}
+% \begin{itemize}
+% \item New feature: support for color masking and color separation.
+% \item New commands:
+% \begin{itemize}
+% \item |\rmultiply| to multiply a dimension register by a real number;
+% \item |\xcolorcmd| to pass commands that are to be executed at the end of the package.
+% \end{itemize}
+% \item Changes:
+% \begin{itemize}
+% \item more consistent color handling: extended colors now always take precedence over standard colors;
+% \item several commands improved by using code from the \LaTeX{} kernel.
+% \end{itemize}
+% \item Documentation: some minor changes.
+% \item Example files: additional \Package{pstricks} examples (file \href{xcolor2.pdf}{\File{xcolor2.tex}}).
+% \end{itemize}
+%
+% \subsubsection*{2003/12/15 v1.06}
+% \begin{itemize}
+% \item New feature: extended color expressions, allowing for cascaded mix operations, e.g., |\color{red!30!green!40!blue}|.
+% \item Documentation: new section on color expressions.
+% \item Bugfix:~color series stepping did not work correctly within non-displaying commands like |\extractcolorspec{foo!!+}| (this bug was introduced in v1.05).
+% \item Renamed~commands:~|\ukfileversion| and similar internal constants renamed to |\XCfileversion| etc.
+% \item Removed~commands:~|\ifXCpst| and |\ifXCtable| made obsolete by a simple trick.
+% \end{itemize}
+%
+% \subsubsection*{2003/11/21 v1.05}
+% \begin{itemize}
+% \item Bugfixes:
+% \begin{itemize}
+% \item package option \Option{hideerrors} should now work as expected;
+% \item usage of `.' in the first color expression in a document caused an error due to incorrect initialisation.
+% \end{itemize}
+% \item Code re-organisation: |\extractcolorspec| now uses |\XC at splitcolor|, making |\XC at extract| obsolete.
+% \end{itemize}
+%
+% \subsubsection*{2003/11/09 v1.04}
+% \begin{itemize}
+% \item New feature: easy access to current color within color expressions.
+% \item New option: \Option{override} to replace |\definecolor| by |\xdefinecolor|.
+% \item New command: |\tracingcolors| for logging color-specific information.
+% \end{itemize}
+%
+% \subsubsection*{2003/09/21 v1.03}
+% \begin{itemize}
+% \item Change: bypass strange behaviour of some drivers.
+% \item New feature: driver-sharing with \Package{hyperref}.
+% \end{itemize}
+%
+% \subsubsection*{2003/09/19 v1.02}
+% \begin{itemize}
+% \item Change: |\extractcolorspec| and |\colorlet| now also accept color series as arguments.
+% \end{itemize}
+%
+% \subsubsection*{2003/09/15 v1.01}
+% \begin{itemize}
+% \item New feature: |\definecolorseries| and friends.
+% \item Documentation: removed some \Package{doc}-related side-effects.
+% \item Code re-organisation: all calculation-related tools put to one place.
+% \item Bugfixes:
+% \begin{itemize}
+% \item |\@rdivide|: added |\relax| to fix problem with negative numerators;
+% \item |\rowc at l@rs|: replaced |\@ifempty| by |\@ifxempty|.
+% \end{itemize}
+% \end{itemize}
+%
+% \subsubsection*{2003/09/09 v1.00}
+% \begin{itemize}
+% \item First published release.
+% \end{itemize}
+%
+% \end{multicols}
+% \end{adjustwidth}
+%
+% \StopEventually{}
+% \clearpage
+%
+% \section{The Implementation}
+%
+% Some commands have been copied unchanged from \cite{color} (Copyright (C) 1994--1999 \People{David P.}{Carlisle}), which is part of the Standard \LaTeX{} `Graphics Bundle'.
+% Additionally, also some parts of the code documentation were copied from \cite{color}.
+%
+%
+%
+% \subsection{Preparation}
+%
+% \subsubsection{File identification}
+%
+% \renewcommand*\MacroFont{\footnotesize\ttfamily}
+% \renewcommand*\AltMacroFont{\footnotesize\ttfamily\slshape}
+%
+% \begin{macrocode}
+%<*package>
+% \end{macrocode}
+%
+% \fbox{\MacroFont\string\ProvidesPackage\string{xcolor\string}[\XCfiledate\space\XCfileversion\space LaTeX color extensions (UK)]}
+%
+% \begin{macrocode}
+\NeedsTeXFormat{LaTeX2e}
+% \end{macrocode}
+%
+%
+% \subsubsection{Safety first}
+%
+% \begin{macro}{\XC at catcodes}
+% Save catcodes for later restore:
+% \begin{macrocode}
+\expandafter\edef\csname XC at catcodes\endcsname
+ {\catcode`\noexpand\@\the\catcode`\@\relax
+ \catcode`\noexpand\!\the\catcode`\!\relax
+ \catcode`\noexpand\:\the\catcode`\:\relax
+ \catcode`\noexpand\-\the\catcode`\-\relax
+ \catcode`\noexpand\+\the\catcode`\+\relax
+ \catcode`\noexpand\;\the\catcode`\;\relax
+ \catcode`\noexpand\/\the\catcode`\/\relax
+ \catcode`\noexpand\"\the\catcode`\"\relax
+ \catcode`\noexpand\>\the\catcode`\>\relax
+ \catcode`\noexpand\^^A\the\catcode`\^^A\relax}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macrocode}
+\catcode`\@=11
+\catcode`\!=12
+\catcode`\:=12
+\catcode`\-=12
+\catcode`\+=12
+\catcode`\;=12
+\catcode`\/=12
+\catcode`\"=12
+\catcode`\>=12
+\catcode`\^^A=\catcode`\%
+% \end{macrocode}
+%
+%
+% \subsubsection{Constants}
+%
+% \begin{macro}{\XC@@}
+% Macro consisting of the macro |\\XC@@|, serves as a delimiter.
+% \begin{macrocode}
+\edef\XC@@{\expandafter\noexpand\csname\string\XC@@\endcsname}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \subsubsection{Switches}
+%
+% \begin{macro}{\ifcolors@}
+% This boolean can be tested by higher level macros that may want to alter their behaviour if a monochrome driver is being used.
+% \begin{macrocode}
+\newif\ifcolors@ \colors at true
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\ifcolorerrors@}
+% Controls whether missing color models/names result in error or warning messages.
+% \begin{macrocode}
+\newif\ifcolorerrors@
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\ifglobalcolors}
+% Controls whether |\definecolor| and |\colorlet| generate global or local color definitions.
+% \begin{macrocode}
+\newif\ifglobalcolors \globalcolorsfalse
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\ifdefinecolors}
+% Controls whether |\definecolorset| should \emph{define} or \emph{prepare} colors.
+% \begin{macrocode}
+\newif\ifdefinecolors \definecolorstrue
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\ifconvertcolorsD}
+% \begin{macro}{\ifconvertcolorsU}
+% Control whether conversion to target models take place at \emph{definition} time (|\ifconvertcolorsD|) and/or \emph{usage} (|\ifconvertcolorsU|).
+% \begin{macrocode}
+\newif\ifconvertcolorsD
+\newif\ifconvertcolorsU
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+% \begin{macro}{\ifblendcolors}
+% \begin{macro}{\ifmaskcolors}
+% Control whether colors are to be blended and/or masked at display time.
+% \begin{macrocode}
+\newif\ifblendcolors
+\newif\ifmaskcolors
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+% \begin{macro}{\ifXC@@fbox}
+% \begin{macro}{\ifXC@@tst}
+% Auxiliary test variables.
+% \begin{macrocode}
+\newif\ifXC@@fbox \XC@@fboxtrue
+\newif\ifXC@@tst
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+%
+% \subsubsection{Error handling}
+%
+% \begin{macro}{\c at lor@error}
+% Multi-purpose error handler (issues warnings instead of errors if the \Option{hideerrors} option is used).
+% This command is used already in the options section.
+% \begin{macrocode}
+\def\c at lor@error#1%
+ {\ifcolorerrors@\PackageError{xcolor}{Undefined color #1}\@ehc
+ \else\PackageWarning{xcolor}{Undefined color #1}\fi}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \subsubsection{Macro concatenation}
+%
+% \begin{macro}{\XC at append}
+% \marg{cmd}\marg{token list}\\
+% Append \Meta{token list} to the definition of \Meta{cmd}.
+% This command is used already in the options section.
+% \begin{macrocode}
+\def\XC at append#1#2%
+ {\ifx#1\@undefined\def#1{#2}\else\ifx#1\relax\def#1{#2}\else
+ \toks@\expandafter{#1#2}\edef#1{\the\toks@}\fi\fi}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \subsubsection{Macro definition}
+%
+% The following |\XC at let@..| commands mimic \LaTeX3's coding syntax for the type of arguments used:
+% the `c' type is for brace delimited arguments which turn into a control sequence inside |\csname ... \endcsname|, whereas `N' is just a single token.
+% Thanks to \People{Morten}{H\o gholm} for pointing me to that.
+%
+% \begin{macro}{\XC at let@cc}
+% \marg{target character string}\marg{source character string}\\
+% Performs |\let\|\Meta{target character string}|=\|\Meta{source character string}.
+% \begin{macrocode}
+\def\XC at let@cc#1{\expandafter\XC at let@Nc\csname#1\endcsname}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\@namelet}
+% This is provided for compatibility reasons only, although deprecated because of a name clash with \Package{memoir}.
+% \begin{macrocode}
+\providecommand*\@namelet[1]{\expandafter\XC at let@Nc\csname#1\endcsname}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at let@Nc}
+% \marg{target name}\marg{source character string}\\
+% Performs |\let|\Meta{target name}|=\|\Meta{source character string}.
+% Formerly called |\@@namelet|.
+% \begin{macrocode}
+\def\XC at let@Nc#1#2{\expandafter\let\expandafter#1\csname#2\endcsname}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at let@cN}
+% \marg{target character string}\marg{source name}\\
+% Performs |\let\|\Meta{target character string}|=|\Meta{source name}.
+% \begin{macrocode}
+\def\XC at let@cN#1{\expandafter\let\csname#1\endcsname}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\@namexdef}
+% \marg{character string}\marg{code}\\
+% Performs |\xdef\|\Meta{character string}|{|\Meta{code}|}|.
+% Similar to the \LaTeX{} internal |\@namedef| command.
+% \begin{macrocode}
+\def\@namexdef#1{\expandafter\xdef\csname #1\endcsname}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\aftergroupdef}
+% \begin{macro}{\aftergroupedef}
+% \marg{cmd}\marg{code}\\
+% Defines \meta{cmd} with the first-level or complete expansion of \meta{code} after the end of the current group.
+% \begin{macrocode}
+\def\aftergroupdef#1#2%
+ {\expandafter\endgroup\expandafter\def\expandafter#1\expandafter{#2}}
+\def\aftergroupedef#1#2%
+ {\edef\@@tmp{\def\noexpand#1{#2}}\expandafter\endgroup\@@tmp}
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+% \begin{macro}{\XC at edef}
+% \begin{macro}{\XC at mdef}
+% \begin{macro}{\XC at sdef}
+% \marg{cmd}\marg{code}\\
+% Defines \Meta{cmd} as a safe expansion of \Meta{code}; needed for color expressions in certain languages.
+% The second form is a streamlined version that takes only care of active `|/|' and `|:|' characters that may occur in \Meta{model-list} and \Meta{spec-list} arguments.
+% The third form defines a sanitized expansion without considering active characters.
+% It is faster since it needs no grouping operation.
+% \begin{macrocode}
+\begingroup
+\catcode`\!=13 \catcode`\:=13 \catcode`\-=13 \catcode`\+=13
+\catcode`\;=13 \catcode`\/=13 \catcode`\"=13 \catcode`\>=13
+\gdef\XC at edef#1#2%
+ {\begingroup
+ \ifnum\catcode`\!=13 \edef!{\string!}\fi
+ \ifnum\catcode`\:=13 \edef:{\string:}\fi
+ \ifnum\catcode`\-=13 \edef-{\string-}\fi
+ \ifnum\catcode`\+=13 \edef+{\string+}\fi
+ \ifnum\catcode`\;=13 \edef;{\string;}\fi
+ \ifnum\catcode`\"=13 \edef"{\string"}\fi
+ \ifnum\catcode`\>=13 \edef>{\string>}\fi
+ \edef#1{#2}\@onelevel at sanitize#1\aftergroupdef#1#1}
+\gdef\XC at mdef#1#2%
+ {\begingroup
+ \ifnum\catcode`\/=13 \edef/{\string/}\fi
+ \ifnum\catcode`\:=13 \edef:{\string:}\fi
+ \edef#1{#2}\@onelevel at sanitize#1\aftergroupdef#1#1}
+\endgroup
+\def\XC at sdef#1#2{\edef#1{#2}\@onelevel at sanitize#1}
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+%
+%
+% \subsubsection{Conditional processing}
+%
+% \begin{macro}{\@ifxempty}
+% \marg{arg}\marg{empty}\marg{non-empty}\\
+% Tests without expanding, whether the argument \Meta{arg} is empty and executes the following code accordingly; \Meta{arg} must not start with the token |\XC@@|.
+% Can also be used within |\edef|.
+% \begin{macrocode}
+\def\@ifxempty#1{\@@ifxempty#1\@@ifxempty\XC@@}
+\def\@@ifxempty#1#2\XC@@
+ {\ifx#1\@@ifxempty
+ \expandafter\@firstoftwo\else\expandafter\@secondoftwo\fi}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at ifxcase}
+% \marg{cmd}|{{|\Meta[1]{cmd}|}{|\Meta[1]{code}|}...{|\Meta[n]{cmd}|}{|\Meta[n]{code}|}}|\marg{default code}\\
+% Performs the test |\ifx|\Meta{cmd}\Meta[k]{cmd} for $k=1,\dots,n$.
+% If for some $k$ the test is `true', then the attached code \Meta[k]{code} is executed.
+% If all tests are `false', then \Meta{default code} is executed.
+% \begin{macrocode}
+\long\def\XC at ifxcase#1#2#3%
+ {\long\def\@@tmp##1##2%
+ {\ifx#1##1%
+ \toks@{##2}\expandafter\remove at to@nnil\else\expandafter\@@tmp\fi}%
+ \@@tmp#2#1{#3}\@nnil\the\toks@}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at ifcase}
+% \marg{str}|{{|\Meta[1]{str-list}|}{|\Meta[1]{code}|}...{|\Meta[n]{str-list}|}{|\Meta[n]{code}|}}|\marg{default code}\\
+% Tests whether \Meta{str} appears in one of the comma-separated lists \Meta[k]{str-list}.
+% Performs the test |\if|\Meta{str}\Meta[kl]{str} for $k=1,\dots,n$ and $l=1,\ldots,m_n$.
+% If for some $k,l$ the test is `true', then the attached code \Meta[k]{code} is executed.
+% If all tests are `false', then \Meta{default code} is executed.
+% \begin{macrocode}
+\long\def\XC at ifcase#1#2#3%
+ {\long\def\@@tmp##1##2%
+ {\@expandtwoargs\in@{,#1,}{,##1,}\ifin@
+ \toks@{##2}\expandafter\remove at to@nnil\else\expandafter\@@tmp\fi}%
+ \@@tmp#2{#1}{#3}\@nnil\the\toks@}
+% \end{macrocode}
+% \end{macro}
+%
+%
+%
+% \subsection{Package options}
+%
+% \begin{macro}{\XC@@opt}
+% Initialise the macro to hold the names of \emph{executed} \XCP{} options.
+% \begin{macrocode}
+\def\XC@@opt{,}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\@ifXCopt}
+% \marg{option}\marg{executed}\marg{not executed}\\
+% Performs action dependent on whether a specific \XCP{} option has been executed or not.
+% \begin{macrocode}
+\def\@ifXCopt#1%
+ {\@expandtwoargs\in@{,#1,}{\XC@@opt}%
+ \ifin@\expandafter\@firstoftwo\else\expandafter\@secondoftwo\fi}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC@@pkg}
+% Initialise the macro to hold the names of packages that are to be loaded by \XC.
+% \begin{macrocode}
+\let\XC@@pkg\relax
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\DeclareOption}
+% |\DeclareOption| has to be redefined in order to collect every executed package option in |\XC@@opt|.
+% This is being restored immediately before |\ProcessOptions|; thus, other packages use the original definition.
+% \begin{macrocode}
+\let\XC at declareoption\@declareoption
+\long\def\@declareoption#1#2%
+ {\XC at declareoption{#1}{\edef\XC@@opt{\XC@@opt#1,}#2}}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \subsubsection{Color model selection}
+%
+% \begin{macro}{\selectcolormodel}
+% \marg{num model}\\
+% Determines the target model for color definitions with |\definecolor| and friends.
+% \begin{macrocode}
+\def\selectcolormodel#1%
+ {\@ifundefined{XC at mod@#1}%
+ {\c at lor@error{target model `#1'}}%
+ {\expandafter\ifx\csname XC at mod@#1\endcsname\XC at mod@natural
+ \def\XC at tgt@mod##1{##1}\convertcolorsDfalse\convertcolorsUfalse
+ \else\expandafter\ifx\csname XC at mod@#1\endcsname\XC at mod@named
+ \c at lor@error{target model `#1'}
+ \else
+ \edef\XC at tgt@mod##1{#1}\convertcolorsDtrue\convertcolorsUtrue
+ \fi\fi}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at mod@Hsb}
+% \begin{macro}{\XC at mod@tHsb}
+% \begin{macro}{\XC at mod@ignore}
+% \begin{macro}{\XC at mod@named}
+% \begin{macro}{\XC at mod@ps}
+% \begin{macro}{\XC at mod@wave}
+% \begin{macro}{\XC at mod@natural}
+% \begin{macro}{\XC at mod@rgb}
+% \begin{macro}{\XC at mod@cmy}
+% \begin{macro}{\XC at mod@cmyk}
+% \begin{macro}{\XC at mod@hsb}
+% \begin{macro}{\XC at mod@gray}
+% \begin{macro}{\XC at mod@RGB}
+% \begin{macro}{\XC at mod@HTML}
+% \begin{macro}{\XC at mod@HSB}
+% \begin{macro}{\XC at mod@Gray}
+% Put model names into commands and define package options
+% \Option{natural}, \Option{rgb}, \Option{cmy}, \Option{cmyk}, \Option{hsb}, \Option{gray}, \Option{RGB}, \Option{HTML}, \Option{HSB}, \Option{Gray}.
+% \begin{macrocode}
+\@tfor\@@tmp:={Hsb}{tHsb}{ignore}{named}{ps}{wave}\do
+ {\expandafter\XC at sdef\csname XC at mod@\@@tmp\endcsname{\@@tmp}}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\@tfor\@@tmp:={natural}{rgb}{cmy}{cmyk}{hsb}{gray}{RGB}{HTML}{HSB}{Gray}\do
+ {\expandafter\XC at sdef\csname XC at mod@\@@tmp\endcsname{\@@tmp}%
+ \edef\@@tmp
+ {\noexpand\DeclareOption{\@@tmp}{\noexpand\selectcolormodel{\@@tmp}}}%
+ \@@tmp}
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+%
+% The \Option{monochrome} option should be used \emph{in addition} to one of the standard driver options.
+% \begin{macrocode}
+\DeclareOption{monochrome}
+ {\ExecuteOptions{hideerrors}%
+ \AtEndOfPackage
+ {\colors at false
+ \def\set at color{\c at lor@special\m at ne
+ {color push \current at color}\aftergroup\reset at color}%
+ \def\reset at color{\c at lor@special\m at ne{color pop}}%
+ \def\set at page@color{\c at lor@special\m at ne{background \current at color}}}}
+% \end{macrocode}
+%
+%
+% \subsubsection{Sets of predefined colors}
+%
+% \begin{macro}{\XC@@names}
+% Initialise the macro to hold the names of files that contain predefined colors; these files are loaded near to the end of this package.
+% \begin{macrocode}
+\let\XC@@names\relax
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\colornameprefix}
+% \begin{macro}{\XC@@nameprefix}
+% Initialise the macro to hold the string that is prefixed to driver-specific color names.
+% Save the value for later restore.
+% \begin{macrocode}
+\providecommand*\colornameprefix{XC@}
+\let\XC@@nameprefix\colornameprefix
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+% \begin{macro}{\XC at declarenames}
+% \marg{base name}\marg{file name}\marg{initial commands}\\
+% Construct package options for color names.
+% \begin{macrocode}
+\def\XC at declarenames#1#2#3%
+ {\DeclareOption{#1}{\XC at append\XC@@names
+ {#3\definecolorstrue\input{#2.def}\definecolorstrue
+ \let\colornameprefix\XC@@nameprefix}}
+ \DeclareOption{#1*}{\XC at append\XC@@names
+ {#3\definecolorsfalse\input{#2.def}\definecolorstrue
+ \let\colornameprefix\XC@@nameprefix}}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macrocode}
+\XC at declarenames{dvipsnames}{dvipsnam}{\let\colornameprefix\@empty}
+\XC at declarenames{svgnames}{svgnam}{}
+\XC at declarenames{x11names}{x11nam}{}
+\XC at declarenames{hksnames}%
+ {hks\ifcase\paperquality k\or n\or k\or z\else n\fi nam}{}
+\XC at declarenames{pmsnames}{pmsnam}{}
+\XC at declarenames{ralnames}{ralnam}{}
+% \end{macrocode}
+%
+%
+% \subsubsection{Support for other packages}
+%
+% Use this option to load \People{David P.}{Carlisle}'s \Package{colortbl} package:
+% \begin{macrocode}
+\DeclareOption{table}{\XC at append\XC@@pkg{\RequirePackage{colortbl}}}
+% \end{macrocode}
+%
+% Use this option to load \People{Heiko}{Oberdiek}'s \Package{pdfcolmk} package:
+% \begin{macrocode}
+\DeclareOption{fixpdftex}{\XC at append\XC@@pkg{\RequirePackage{pdfcolmk}}}
+% \end{macrocode}
+%
+% Use this option to load \People{David P.}{Carlisle}'s \Package{pstcol} package in order to make standard color definitions available within \Package{pstricks}.
+% Warning: this option is neither needed nor useful with recent \Package{pstricks} versions.
+% \begin{macrocode}
+\DeclareOption{pst}{\def\XC at pst{\RequirePackage{pstcol}}}
+% \end{macrocode}
+%
+% \begin{macro}{\KV at Hyp@xcitebordercolor}
+% \begin{macro}{\KV at Hyp@xfilebordercolor}
+% \begin{macro}{\KV at Hyp@xlinkbordercolor}
+% \begin{macro}{\KV at Hyp@xmenubordercolor}
+% \begin{macro}{\KV at Hyp@xpagebordercolor}
+% \begin{macro}{\KV at Hyp@xrunbordercolor}
+% \begin{macro}{\KV at Hyp@xurlbordercolor}
+% \begin{macro}{\KV at Hyp@xpdfborder}
+% Use this option to define the extended keys for the \Package{hyperref} package.
+% \begin{macrocode}
+\DeclareOption{hyperref}
+ {\@tfor\@@tmp:={cite}{file}{link}{menu}{page}{run}{url}\do
+ {\expandafter\edef\csname KV at Hyp@x\@@tmp bordercolor\endcsname #1%
+ {\noexpand\XC at bordercolor{\@@tmp}{#1}}}%
+ \AtEndOfPackage
+ {\GetGinDriver\def\KV at Hyp@xpdfborder#1{\edef\@pdfborder{#1}}%
+ \@tfor\@@tmp:={dvips}\do
+ {\ifx\GinDriver\@@tmp
+ \def\KV at Hyp@xpdfborder#1%
+ {\edef\@pdfborder{#1}\expandafter\XC at pdfborder\@pdfborder\relax}%
+ \@break at tfor\fi}}}
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+%
+%
+% \subsubsection{Driver options}
+%
+% \begin{macro}{\Gin at driver}
+% Initialise the macro to hold the driver file name.
+% \begin{macrocode}
+\providecommand*\Gin at driver{}
+% \end{macrocode}
+%
+% Drivers that come with their individual definition files:
+% \begin{macrocode}
+\@tfor\@@tmp:={dvipdf}{dvipdfm}{dvipdfmx}{dvips}{dvipsone}{dviwin}%
+ {emtex}{pctex32}{pctexhp}{pctexps}{pctexwin}{pdftex}%
+ {tcidvi}{textures}{truetex}{vtex}{xetex}\do
+ {\edef\@@tmp{\noexpand\DeclareOption{\@@tmp}%
+ {\def\noexpand\Gin at driver{\@@tmp.def}}}%
+ \@@tmp}
+% \end{macrocode}
+%
+% Drivers that are derivatives of others:
+% \begin{macrocode}
+\DeclareOption{dviwindo}{\ExecuteOptions{dvipsone}}
+\DeclareOption{oztex}{\ExecuteOptions{dvips}}
+\DeclareOption{xdvi}{\ExecuteOptions{dvips,monochrome}}
+% \end{macrocode}
+%
+% Options used by (some) drivers.
+% \begin{macrocode}
+\DeclareOption{xcdraw}{\def\XC@@xcd@{1}}
+\DeclareOption{noxcdraw}{\def\XC@@xcd@{-1}}
+\DeclareOption{prologue}{\def\XC@@xcp@{1}}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \subsubsection{Other options}
+%
+% Switch to original kernel |\fbox| command instead of new \XC{} version.
+% \begin{macrocode}
+\DeclareOption{kernelfbox}{\XC@@fboxfalse}
+% \end{macrocode}
+%
+% These options control how non-existing colors are treated:
+% \begin{macrocode}
+\DeclareOption{showerrors}{\colorerrors at true}
+\DeclareOption{hideerrors}{\colorerrors at false}
+% \end{macrocode}
+%
+% The \Option{debugshow} option turns on debugging info (perhaps).
+% \begin{macrocode}
+\DeclareOption{debugshow}{\catcode`\^^A=9 \let\GDebug\typeout}
+% \end{macrocode}
+%
+% All other options (including \LC's \Option{usenames}, \Option{nodvipsnames}) are being ignored.
+% \begin{macrocode}
+\DeclareOption*%
+ {\PackageInfo{xcolor}{Package option `\CurrentOption' ignored}}
+% \end{macrocode}
+%
+% Choose default options:
+% \begin{macrocode}
+\def\XC@@xcd@{-1}
+\def\XC@@xcp@{-1}
+\ExecuteOptions{natural,showerrors}
+% \end{macrocode}
+%
+%
+% \subsubsection{Processing options}
+%
+% A local configuration file may declare more options.
+% It should also make one driver option the default, by calling |\ExecuteOptions| with the appropriate option.
+% \begin{macrocode}
+\InputIfFileExists{color.cfg}{}{}
+% \end{macrocode}
+%
+% After the options are processed, load the appropriate driver file.
+% If a site wants a default driver (e.g., \Option{dvips}) it just needs to put |\ExecuteOptions{dvips}| in a \File{color.cfg} file.
+% \begin{macrocode}
+\let\@declareoption\XC at declareoption
+\ProcessOptions\relax
+% \end{macrocode}
+%
+% \begin{macro}{\XC@@drv}
+% Holds the name of the loaded driver (without \File{.def} extension).
+% \begin{macrocode}
+\edef\Gin at driver{\Gin at driver}
+\if!\Gin at driver!
+ \PackageError{xcolor}
+ {No driver specified}
+ {You should make a default driver option in a file \MessageBreak
+ color.cfg\MessageBreak
+ eg: \protect\ExecuteOptions{dvips}}
+\else
+ \PackageInfo{xcolor}{Driver file: \Gin at driver}
+ \@ifundefined{ver@\Gin at driver}{\input{\Gin at driver}}{}
+ \def\@@tmp#1.def{\def\XC@@drv{#1}}
+ \expandafter\@@tmp\Gin at driver
+\fi
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC@@xcd@}
+% \begin{macro}{\XC@@xcp@}
+% These are used firstly by the \Option{xcdraw} and \Option{prologue} options, indicating whether either option is swithed on or off.
+% Secondly, the macros serve as test variables for |\ifcase| expressions, storing the intended type of output: $-1=\text{dvi}, 0=\text{ps}, 1=\text{pdf}$.
+% \begin{macrocode}
+\count@\XC@@xcd@ \advance\count@\XC@@xcp@\relax
+\ifnum\count@>-2
+% \end{macrocode}
+%
+% \begin{macro}{\XC at special}
+% \meta{code}\\
+% Driver-specific variant of |\special|.
+% Even if the intended type of output is the same (e.g., pdf), the |\special| commands may differ.
+% \begin{macrocode}
+ \XC at ifcase\XC@@drv
+ {{dvips,pctex32}%
+ {\def\@tempa{0}
+ \def\XC at special#1{\special{ps:XC!b}\special{"#1}\special{ps:XC!e}}}%
+ {pdftex}%
+ {\def\@tempa{1}
+ \def\XC at special#1{\pdfliteral{ q #1 Q }}}%
+ {dvipdfm}%
+ {\def\@tempa{1}
+ \def\XC at special#1{\special{pdf: content #1}}}%
+ }{\def\@tempa{-1}}
+% \end{macrocode}
+%
+% Since the options are independent of each other, we have to adjust the affiliated test variables independently as well.
+% \begin{macrocode}
+ \ifnum\XC@@xcd@>\m at ne\let\XC@@xcd@\@tempa\fi
+ \ifnum\XC@@xcp@>\m at ne\let\XC@@xcp@\@tempa\fi
+% \end{macrocode}
+% \end{macro}
+%
+% File variable for prologue output.
+% \begin{macrocode}
+ \ifnum\@tempa=0 \AtBeginDvi{\special{header=xcolor.pro}}\fi
+ \ifcase\XC@@xcp@
+ \AtBeginDvi{\special{header=\jobname.xcp}}
+ \newwrite\XC@@xcp\immediate\openout\XC@@xcp=\jobname.xcp
+ \immediate\write\XC@@xcp{\@percentchar!}
+ \immediate\write\XC@@xcp{TeXDict begin}
+ \AtEndDocument
+ {\immediate\write\XC@@xcp{end}\immediate\closeout\XC@@xcp}
+ \fi
+% \end{macrocode}
+%
+% End of driver-specific part.
+% \begin{macrocode}
+\fi
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+%
+% \subsubsection{Required packages}
+%
+% The --- obsolete --- package \Package{pstcol} needs the real \LCP; all other packages receive a pretended \LC.
+% \begin{macrocode}
+\@nameuse{XC at pst}
+\@namedef{ver at color.sty}{1999/02/16}
+\XC@@pkg
+% \end{macrocode}
+%
+%
+% \subsection{Macro tools}
+%
+% \subsubsection{General tools}
+%
+% \begin{macro}{\@secondoffive}
+% \begin{macro}{\@thirdoffive}
+% Argument grabbing, similar to \LaTeX{} kernel.
+% \begin{macrocode}
+\long\def\@secondoffive#1#2#3#4#5{#2}
+\long\def\@thirdoffive#1#2#3#4#5{#3}
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+% \begin{macro}{\xglobal}
+% \begin{macro}{\xglobal at test}
+% If |\foo| occurs in the token list |\xglobal@@|, then the command |\xglobal\foo| will set the switch |\xglobal at true| which can be used inside |\foo| to determine whether certain definitions are to be made explicitely global.
+% |\foo| is responsible for resetting |\xglobal at false| in order to avoid side effects.
+% To include |\foo| in the magic list, simply say |\XC at append\xglobal at list{\foo}|.
+% If |\foo| is not in the list, |\xglobal\foo| will behave like |\global\foo|, thus |\xglobal\let| will be like |\global\let| etc.
+% \begin{macrocode}
+\def\xglobal{\xglobal at stop\begingroup\futurelet\@@tok\xglobal at test}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\xglobal at test
+ {\expandafter\@tfor\expandafter\@@tmp
+ \expandafter:\expandafter=\xglobal at list\do
+ {\expandafter\ifx\@@tmp\@@tok
+ \aftergroup\let\aftergroup\xglobal@\@break at tfor\fi}%
+ \endgroup\global}
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+% \begin{macro}{\xglobal at stop}
+% Resetting |\xglobal@|.
+% \begin{macrocode}
+\def\xglobal at stop{\let\xglobal@\@empty}
+\xglobal at stop
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\xglobal at list}
+% Initial list of commands that may be prefixed by |\xglobal|.
+% \begin{macrocode}
+\def\xglobal at list
+ {\definecolor\definecolors\definecolorset\colorlet\providecolor
+ \providecolors\providecolorset\blendcolors\maskcolors
+ \substitutecolormodel}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\xglobalize@}
+% Globalisation command: makes a local definition global.
+% \begin{macrocode}
+\def\xglobalize@#1{\ifx\xglobal@\global\global\let#1#1\fi}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\GetGinDriver}
+% Transforms the chosen driver option ready for \Package{hyperref}.
+% \begin{macrocode}
+\def\GetGinDriver
+ {\@tempswafalse
+ \@tfor\@@tmp:={dvips}{pdftex}{dvipdf}{dvipdfm}{dvipsone}{vtex}{textures}%
+ \do{\ifx\XC@@drv\@@tmp\@tempswatrue\@break at tfor\fi}%
+ \edef\GinDriver{\if at tempswa\XC@@drv\else hypertex\fi}}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \subsubsection{String manipulation}
+%
+% \begin{macro}{\@hex at Hex}
+% \Meta{hex-string}|\relax|\\
+% Converts \Meta{hex-string} to a string where all letters a--f are changed into their uppercase variants.
+% All other letters are left unchanged.
+% May be used inside |\edef|.
+% \begin{macrocode}
+\def\@hex at Hex#1{\ifx#1\relax\else\expandafter\@hex@@Hex\expandafter#1\fi}
+\def\@hex@@Hex#1%
+ {\if a#1A\else \if b#1B\else \if c#1C\else \if d#1D\else
+ \if e#1E\else \if f#1f\else #1\fi\fi\fi\fi\fi\fi \@hex at Hex}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at strip@comma}
+% \Meta[1]{string}|,|\Meta[2]{string}|,...,|\Meta[n]{string}|,,\@nnil|\\
+% Converts a comma-separated list into a space-separated list.
+% The evaluation stops at the first empty argument, skipping all remaining tokens until (and including) |\@nnil|.
+% Thus, the list to be converted should always contain at least one |,,| sequence.
+% May be used inside |\edef|.
+% \begin{macrocode}
+\def\XC at strip@comma#1,#2%
+ {\ifx,#2%
+ #1\expandafter\remove at to@nnil\else#1 \expandafter\XC at strip@comma\fi
+ #2}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at replace}
+% \marg{cmd}\marg{search}\marg{replace}\\
+% Replace all occurences of \meta{search} within the first-level expansion of \meta{cmd} by \meta{replace} and save the result in \meta{cmd}.
+% The replacement is recursive, so don't put the search pattern into the replacement text!
+% Note that this macro is incapable of seeing `into' braces.
+% The code and its explanation is taken from \People{Donald}{Arseneau}'s \Package{url} package \cite{url}, with only minor changes and renamings applied.
+% The original name of the game is |\Url at Edit|.
+% Thanks to \People{Donald}{Arseneau} for giving me valuable hints.
+% \begin{macrocode}
+{\catcode`Q=3
+ \gdef\XC at replace#1#2#3%
+ {\begingroup
+% \end{macrocode}
+%
+% If finished, then remove |\@empty|'s and redefine macro else, re-iterate.
+% \begin{macrocode}
+ \def\XC at repl@ce##1#2##2Q##3%
+ {\@ifxempty{##2}{\XC at r@pl at ce##1Q}{\XC at repl@ce##1##3##2Q{##3}}}%
+ \def\XC at r@pl at ce##1\@empty Q%
+ {\expandafter\endgroup\expandafter\def\expandafter#1\expandafter{##1}}%
+% \end{macrocode}
+%
+% The leading |\@empty| preserves braces, as does the trailing pattern.
+% \begin{macrocode}
+ \expandafter\XC at repl@ce\expandafter\@empty #1\@empty#2Q{#3}}
+}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at clean}
+% \marg{cmd}\\
+% Makes a proper comma-separated list from \meta{cmd}'s contents and stores it again in \meta{cmd}.
+% Firstly, all commas are changed into spaces, secondly, spaces are turned into commas (using a technique similar to \LaTeX's |\zap at space|).
+% Thirdly, the two leading commas are gobbled.
+% For example, `| 1 2 , 3 |' is mapped to `|1,2,3|'.
+% \begin{macrocode}
+\def\XC at clean#1%
+ {\edef#1{ #1 }\edef#1{\expandafter\XC at strip@comma#1,,\@nnil}%
+ \edef#1{\expandafter\XC at cle@n#1\@empty}%
+ \edef#1{\expandafter\@gobbletwo#1}}
+\def\XC at cle@n#1 #2{,#1\ifx#2\@empty\else\expandafter\XC at cle@n\fi#2}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \subsubsection{Scalar arithmetic}
+%
+% \begin{macro}{\rdivide}
+% \marg{dimension register}\marg{div}\\
+% Divides \Meta{dimension register} by a real number \Meta{div}, which may also be buried in a dimension (register), and stores the resulting rounded dimension in \Meta{dimension register}.
+% The denominator \Meta{div} is assumed to be non-zero.
+% \begin{macrocode}
+\def\rdivide#1#2%
+ {\begingroup\toks@{#1}\edef\@@tmp{\noexpand\@tempdima\the#1}%
+ \@defaultunits\@tempdimb=#2pt\relax\@nnil \@@tmp\relax
+ \ifdim\@tempdima<\z@ \@tempdima-\@tempdima\def\@sign{-}\else
+ \def\@sign{}\fi
+ \ifdim\@tempdimb<\z@ \@tempdimb-\@tempdimb\edef\@sign{\@sign-}\fi
+ \ifdim\@tempdima<.1\maxdimen \ifdim\@tempdimb<.01\maxdimen
+ \lshift\@tempdima \lshift\@tempdimb \fi\fi
+ \@tempcnta=\@tempdima \@tempcntb=\@tempdimb
+ \count@=\@tempcnta \divide\count@\@tempcntb
+ \edef\@@tmp{\number\count at .}%
+ \@tempswatrue \@rdivide \@rdivide \@rdivide \@rdivide \@rdivide
+ \@tempswafalse \@rdivide
+ \dimen@\@@tmp\p@ \ifnum\count@>4\advance\dimen at 1sp\fi
+ \dimen@\@sign\dimen@
+ \edef\@@tmp{\the\toks@\the\dimen@}%
+ \expandafter\endgroup\@@tmp}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\@rdivide
+ {\multiply\count@\@tempcntb \advance\@tempcnta-\count@
+ \multiply\@tempcnta10 \count@=\@tempcnta \divide\count@\@tempcntb
+ \if at tempswa\edef\@@tmp{\@@tmp\number\count@}\fi}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\rmultiply}
+% \marg{dimension register}\marg{dec}\\
+% Multiplies \Meta{dimension register} by \Meta{dec} and stores the resulting dimension in \Meta{dimension register}.
+% \begin{macrocode}
+\def\rmultiply#1#2%
+ {\begingroup
+ \edef\@@mul{#2}\@tempdima\the#1\relax
+ \afterassignment\@tempdimb\@tempcntb=\@@mul\p@
+ \ifdim\@tempdima<\z@ \@tempdima-\@tempdima\def\@sign{-}\else
+ \def\@sign{}\fi
+ \ifnum\@tempcntb<\z@ \@tempcntb-\@tempcntb\edef\@sign{\@sign-}\fi
+ \lshift\@tempdima \dimen@\z@
+ \expandafter\@rmultiply\@@mul.0.\@nil
+ \advance\dimen@\@tempcntb\@tempdima \rshift\dimen@
+ \dimen@\@sign\dimen@
+ \edef\@@tmp{#1\the\dimen@}%
+ \expandafter\endgroup\@@tmp}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\@rmultiply#1.#2.#3\@nil
+ {\def\@@tmp{}%
+ \@tfor\@@mul:=#2\do
+ {\edef\@@tmp
+ {\advance\dimen@\@@mul\@tempdima \divide\dimen at 10 \@@tmp}}%
+ \@@tmp}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\lshift}
+% \begin{macro}{\llshift}
+% \marg{dimension register}\\
+% Multiplies \Meta{dimension register} safely by 10 resp. 100.
+% \begin{macrocode}
+\def\lshift#1{#1\expandafter\lshift@\the#1}
+\def\llshift#1{\lshift#1\lshift#1}
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+% \begin{macro}{\lshiftnum}
+% \begin{macro}{\llshiftnum}
+% \marg{decimal number}\\
+% Multiplies \Meta{decimal number} by 10 resp. 100.
+% \begin{macrocode}
+\def\lshiftnum#1{\expandafter\lshiftnum@#1.00.:}
+\def\lshiftnum@#1.#2#3.#4:{#1#2\ifnum0#3>\z at .#3\fi}
+\def\llshiftnum#1{\expandafter\llshiftnum@#1\@empty.00.:}
+\def\llshiftnum@#1.#2#3#4.#5:%
+ {#1#2\ifnum0#3>\z@#3\else0\fi\ifnum0#4>\z at .#4\fi}
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+% \begin{macro}{\lshiftset}
+% \begin{macro}{\llshiftset}
+% \marg{dimension register}\marg{decimal number}\\
+% Multiplies \Meta{decimal number} by 10 resp. 100 and puts it into \Meta{dimension register}.
+% \begin{macrocode}
+\def\lshiftset#1#2{\edef\@@XC{\noexpand\lshiftnum{#2}}#1\@@XC\p@}
+\def\llshiftset#1#2{\edef\@@XC{\noexpand\llshiftnum{#2}}#1\@@XC\p@}
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+% \begin{macro}{\rshift}
+% \begin{macro}{\rrshift}
+% \marg{dimension register}\\
+% Divides \Meta{dimension register} safely by 10 resp. 100.
+% \begin{macrocode}
+\def\rshift#1{#1\expandafter\rshift@\the#1}
+\def\rrshift#1{\rshift#1\rshift#1}
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+% \begin{macro}{\lshift}
+% \begin{macro}{\llshift}
+% \marg{dec}\\
+% Multiplies \Meta{dec}, which may be either a number or something like |\the\dimen@|, safely by 10 resp. 100.
+% The following definitions are similar to the way how |\strip at pt| is defined in the \LaTeX{} kernel.
+% \begin{macrocode}
+\begingroup
+\catcode`P=12
+\catcode`T=12
+\lowercase
+ {\def\@@tmp{\def\lshift@##1.##2##3PT{##1##2\ifnum0##3>\z at .##3\fi\p@}
+ \def\rshift@##1.##2PT{\rshift@@##1\relax##2\p@}}}
+\expandafter\endgroup\@@tmp
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+% \begin{macrocode}
+\def\rshift@@#1#2%
+ {\ifx#2\relax.#1\else#1\expandafter\rshift@@\expandafter#2\fi}
+% \end{macrocode}
+%
+%
+% \subsubsection{Vector arithmetic}
+%
+% \begin{macro}{\XC at inflate}
+% \marg{core model}\marg{first}\marg{second}\marg{cmd}\\
+% Constructs an 8-dimensional vector based on two vectors \Meta{first}, \Meta{second} (of common dimension $1,3,4$) and an underlying color model (stored in the macro \Meta{core model}).
+% The resulting vector is stored in \Meta{cmd}.
+% \begin{macrocode}
+\def\XC at inflate#1#2#3#4%
+ {\edef#4{#2,\ifx#1\XC at mod@cmyk #3\else
+ \ifx#1\XC at mod@gray ,,,#3,,,\else ,#3,\fi\fi}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at vec}
+% \Meta{a}|,|\Meta{b}|,|\Meta{c}|,|\Meta{d}|,|\Meta{a'}|,|\Meta{b'}|,|\Meta{c'}|,|\Meta{d'}|,|\marg{cmd}\\
+% Generic vector calculation for two vectors (of common dimension $1,3,4$), puts the result into \Meta{cmd}.
+% \begin{macrocode}
+\def\XC at vec#1,#2,#3,#4,#5,#6,#7,#8,#9%
+ {\def\@@tmp{}%
+ \XC at vec@{#1}{#5}%
+ \ifx,#2,\else
+ \XC at vec@{#2}{#6}\XC at vec@{#3}{#7}\ifx,#4,\else\XC at vec@{#4}{#8}\fi\fi
+ \aftergroupdef#9\@@tmp}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at vec@@{\edef\@@tmp{\ifx\@@tmp\@empty\else\@@tmp,\fi\strip at pt\dimen@}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at add}
+% \Meta{a}|,|\Meta{b}|,|\Meta{c}|,|\Meta{d}|,|\Meta{a'}|,|\Meta{b'}|,|\Meta{c'}|,|\Meta{d'}|,|\marg{cmd}\\
+% Calculates the sum of two vectors (of common dimension $1,3,4$) and puts it into \Meta{cmd}.
+% \begin{macrocode}
+\def\XC at add{\begingroup \let\XC at vec@\XC at add@ \XC at vec}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at add@#1#2%
+ {\llshiftset\dimen@{#1}\llshiftset\@tempdima{#2}%
+ \advance\dimen@\@tempdima \rrshift\dimen@ \XC at vec@@}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at sub}
+% \Meta{a}|,|\Meta{b}|,|\Meta{c}|,|\Meta{d}|,|\Meta{a'}|,|\Meta{b'}|,|\Meta{c'}|,|\Meta{d'}|,|\marg{cmd}\\
+% Calculates the difference of two vectors (of common dimension $1,3,4$) and puts it into \Meta{cmd}.
+% \begin{macrocode}
+\def\XC at sub{\begingroup \let\XC at vec@\XC at sub@ \XC at vec}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at sub@#1#2{\XC at add@{#1}{-#2}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at mul}
+% \Meta{a}|,|\Meta{b}|,|\Meta{c}|,|\Meta{d}|,|\Meta{a'}|,|\Meta{b'}|,|\Meta{c'}|,|\Meta{d'}|,|\marg{cmd}\\
+% Calculates the (component-wise) product of two vectors (of common dimension $1,3,4$) and puts it into \Meta{cmd}.
+% \begin{macrocode}
+\def\XC at mul{\begingroup \let\XC at vec@\XC at mul@ \XC at vec}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at mul@#1#2%
+ {\llshiftset\dimen@{#1}\rmultiply\dimen@{#2}\rrshift\dimen@ \XC at vec@@}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at mix}
+% \Meta{a}|,|\Meta{b}|,|\Meta{c}|,|\Meta{d}|,|\Meta{a'}|,|\Meta{b'}|,|\Meta{c'}|,|\Meta{d'}|,|\marg{cmd}\\
+% Calculates the linear interpolation of two color parameter vectors and puts it into \Meta{cmd}.
+% The percentage parameter $p$ is input via register |\dimen@|.
+% \begin{macrocode}
+\def\XC at mix%
+ {\begingroup
+ \@tempdima\dimen@ \@tempdimb100\p@ \advance\@tempdimb-\@tempdima
+ \let\XC at vec@\XC at mix@ \XC at vec}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at mix@#1#2%
+ {\dimen@#1\@tempdima \advance\dimen@#2\@tempdimb \rrshift\dimen@ \XC at vec@@}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \begin{macro}{\XC at calc@}
+% \Meta{x}|,|\Meta{y}|,|\Meta{z}|,|\Meta{w}|,|\Meta{dummy}|:|\marg{function}\\
+% Performs, dependent on the number of non-empty parameters, |\edef\@@tmp{|$f(x)$|}| or |\edef\@@tmp{|$f(x),f(y),f(z)$|}| or |\edef\@@tmp{|$f(x),f(y),f(z),f(w)$|}|, where the function $f$ is determined by the parameter \Meta{function}.
+% \begin{macrocode}
+\def\XC at calc@#1,#2,#3,#4,#5:#6%
+ {\XC at let@Nc\@@cmd{XC at calc#6}\@@cmd{#1}\@@tmp
+ \ifx,#2,\else
+ \@@cmd{#2}\@tempa\@@cmd{#3}\@tempb
+ \ifx,#4,%
+ \edef\@@tmp{\@@tmp,\@tempa,\@tempb}\else
+ \@@cmd{#4}\@tempc\edef\@@tmp{\@@tmp,\@tempa,\@tempb,\@tempc}\fi\fi}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at calcC}
+% \marg{x}\marg{cmd}\\
+% \textbf Complement of $x$: performs |\def|\Meta{cmd}|{|$1-x$|}|.
+% Yields exact results for all numbers within $[0,1]$ with 5 decimal digits.
+% \begin{macrocode}
+\def\XC at calcC#1#2%
+ {\llshiftset\dimen@{-#1}\advance\dimen at 100\p@
+ \rrshift\dimen@ \XC at calcN{\strip at pt\dimen@}#2}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at calcD}
+% \marg{x}\marg{cmd}\\
+% \textbf Division of $x$ by $s$: performs |\def|\Meta{cmd}|{|$x/s$|}|.
+% The parameter $s$ is input via |\@@scl|.
+% \begin{macrocode}
+\def\XC at calcD{\XC at c@lcD\@@scl{}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at c@lcD}
+% \marg{s}\marg{string}\marg{x}\marg{cmd}\\
+% \textbf Division of $x$ by $s$, appending \Meta{string}: performs |\def|\Meta{cmd}|{|$x/s$\Meta{string}|}|.
+% \begin{macrocode}
+\def\XC at c@lcD#1#2#3#4%
+ {\dimen@#3\p@ \rdivide\dimen@{#1}\edef#4{\strip at pt\dimen@#2}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at calcF}
+% \marg{x}\marg{cmd}\\
+% \textbf Format $x$ with 5 decimals, no range checks.
+% \begin{macrocode}
+\def\XC at calcF#1#2%
+ {\edef#2{#1}\expandafter\XC at c@lcF#2.0.:#2}
+% \end{macrocode}
+%
+% Special treatment of integer part because of so many possible variations ($---.0$, $7$, \dots).
+% \begin{macrocode}
+\def\XC at c@lcF#1.#2.#3:#4%
+ {\edef#4{\XC at c@@cR#200000:}%
+ \dimen@#1.5\p@ \afterassignment\dimen@\count@=\the\dimen@
+ \edef#4%
+ {\ifnum#4>0 \ifnum\count@=0 \ifdim#1.5\p@<\z@ -\fi\fi\fi
+ \number\count at .#4}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at calcH}
+% \marg{x}\marg{cmd}\\
+% \textbf Hexadecimal transformation of $x\in\{0,1,\dots,255\}$: performs |\def|\Meta{cmd}|{|$x_{16}$|}|.
+% \begin{macrocode}
+\def\XC at calcH#1#2%
+ {\count@#1 \divide\count@\sixt@@n \edef\XC@@tmp{\hexnumber@\count@}%
+ \multiply\count at -\sixt@@n \advance\count@#1
+ \edef#2{\XC@@tmp\hexnumber@\count@}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at calcM}
+% \marg{x}\marg{cmd}\\
+% \textbf Multiplication of $x$ by $s$ plus rounding: performs |\def|\Meta{cmd}|{|$[s\cdot x+0.5]$|}|.
+% The parameter $s$ is input via |\@@scl|.
+% \begin{macrocode}
+\def\XC at calcM#1#2%
+ {\dimen@#1\p@ \dimen@\@@scl\dimen@ \advance\dimen at .5\p@
+ \afterassignment\dimen@\count@=\the\dimen@ \edef#2{\number\count@}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at calcN}
+% \marg{x}\marg{cmd}\\
+% \textbf Normalisation of $x$: similar to |\XC at calcR|, but trailing zeros are eliminated.
+% \begin{macrocode}
+\def\XC at calcN#1#2%
+ {\XC at calcR{#1}#2\edef#2{\expandafter\XC at c@lcN#200000:}}
+% \end{macrocode}
+%
+% Gobble trailing zeros.
+% \begin{macrocode}
+\def\XC at c@lcN#1.#200000#3:{#1\ifnum0#2=0 \else.#2\fi}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at calcR}
+% \marg{x}\marg{cmd}\\
+% \textbf Reduction of $x$ to the unit interval: performs |\def|\Meta{cmd}|{|$\min\{1,\max\{0,x\}\}$|}|.
+% Numbers are output with 5 decimals.
+% This could also be done using |\XC at calcF|, followed by a range check, but perhaps less efficiently.
+% \begin{macrocode}
+\def\XC at calcR#1#2{\edef#2{#1}\edef#2{\expandafter\XC at c@lcR#2.0.:}}
+% \end{macrocode}
+%
+% Check interval.
+% \begin{macrocode}
+\def\XC at c@lcR#1.#2.#3:%
+ {\ifnum#10>0 1.00000\else 0.\ifnum#11<0 00000\else
+ \XC at c@@cR#200000:\fi\fi}
+% \end{macrocode}
+%
+% Normalize to 5 digits.
+% \begin{macrocode}
+\def\XC at c@@cR#1#2#3#4#5#6:{#1#2#3#4#5}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at calcS}
+% \marg{x}\marg{cmd}\\
+% \textbf Scaling of $x$ by $s$: performs |\def|\Meta{cmd}|{|$s\cdot x$|}|.
+% The parameter $s$ is input via |\@@scl|.
+% \begin{macrocode}
+\def\XC at calcS{\XC at c@lcS\@@scl{}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at c@lcS}
+% \marg{s}\marg{string}\marg{x}\marg{cmd}\\
+% \textbf Scaling of $x$ by $s$, appending \Meta{string}: performs |\def|\Meta{cmd}|{|$s\cdot x$\Meta{string}|}|.
+% \begin{macrocode}
+\def\XC at c@lcS#1#2#3#4%
+ {\lshiftset\dimen@{#3}%
+ \ifdim#1\p@<100\p@
+ \dimen@\lshiftnum#1\dimen@ \rrshift\dimen@ \else
+ \dimen@#1\dimen@ \rshift\dimen@ \fi
+ \edef#4{\strip at pt\dimen@#2}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at calcT}
+% \marg{x}\marg{cmd}\\
+% \textbf Translate $x$ by $a$ and cut to unit interval: performs |\def|\Meta{cmd}|{|$\min\{1,\max\{0,x+a\}\}$|}|.
+% The parameter $a$ is input via |\@@arg|.
+% \begin{macrocode}
+\def\XC at calcT#1#2%
+ {\lshiftset\dimen@{#1}\advance\dimen@\lshiftnum\@@arg\p@ \rshift\dimen@
+ \edef#2%
+ {\ifdim\dimen@>\p at 1\else\ifdim\dimen@<\z at 0\else\strip at pt\dimen@\fi\fi}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at calcU}
+% \marg{x}\marg{cmd}\\
+% \textbf Unit interval mapping of $x$: performs |\def|\Meta{cmd}|{|$x-[x]$|}| if $x\neq1$, $1$ otherwise.
+% \begin{macrocode}
+\def\XC at calcU#1#2%
+ {\dimen@#1\p@
+ \ifdim\dimen@=\p@\else
+ \afterassignment\dimen@\count@=\the\dimen@
+ \relax\ifdim\dimen@=\z@\else
+ \ifdim#1\p@<\z@ \dimen at -\dimen@ \advance\dimen@\p@ \fi
+ \fi
+ \fi
+ \edef#2{\strip at pt\dimen@}}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \subsection{Color definition}
+%
+% \subsubsection{Constants}
+%
+% \begin{macro}{\rangeRGB}
+% \begin{macro}{\rangeHSB}
+% \begin{macro}{\rangeHsb}
+% \begin{macro}{\rangetHsb}
+% \begin{macro}{\rangeGray}
+% Scaling ranges for `integer' and other special models:
+% \begin{macrocode}
+\providecommand*\rangeRGB{255}
+\providecommand*\rangeHSB{240}
+\providecommand*\rangeHsb{360}
+\providecommand*\rangetHsb{60,30;120,60;180,120;210,180;240,240}
+\providecommand*\rangeGray{15}
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+%
+% \begin{macro}{\adjustUCRBG}
+% Parameters for undercolor-removal (UCR) and black-generation (BG) during \Model{cmy} to \Model{cmyk} conversion:
+% \begin{macrocode}
+\providecommand*\adjustUCRBG{1,1,1,1}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\paperquality}
+% Parameter for choosing different color sets according to the paper quality; yet supported only for the HKS colors.
+% \begin{macrocode}
+\providecommand*\paperquality{1}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\colorseriescycle}
+% Default cycle length for color series:
+% \begin{macrocode}
+\providecommand*\colorseriescycle{16}
+% \end{macrocode}
+% \end{macro}
+%
+% Model-dependent base colors:
+% \begin{macrocode}
+\def\XC at clr@rgb at white{1,1,1}
+\def\XC at clr@cmy at white{0,0,0}
+\def\XC at clr@cmyk at white{0,0,0,0}
+\def\XC at clr@hsb at white{\@@hue,0,1}
+\def\XC at clr@hsb at gray{\@@hue,0,0.5}
+\def\XC at clr@hsb at black{\@@hue,0,0}
+\def\XC at clr@gray at white{1}
+% \end{macrocode}
+%
+% \begin{macro}{\XC at met@grad}
+% \begin{macro}{\XC at met@last}
+% \begin{macro}{\XC at met@step}
+% Methods for color series:
+% \begin{macrocode}
+\@tfor\@@tmp:={grad}{last}{step}\do
+ {\XC at let@cN{XC at met@\@@tmp}\@@tmp}
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+%
+%
+% \subsubsection{Colors}\label{sec.definition}
+%
+% \begin{macro}{\definecolor}
+% \oarg{type}\marg{name}\oarg{prefix}\marg{model-list}\marg{spec-list}\\
+% Extends the facilities of \LC's |\definecolor|.
+% The optional argument \Meta{type} has currently to be either empty (= normal color definition) or `named' or `ps'.
+% \Meta{prefix} is an argument used for the internal driver-dependent representation.
+% |\definecolor| creates a new command |\\color@|\Meta{name} that contains the \emph{internal representation}
+% |\xcolor@|\marg{type-spec}\marg{driver-spec}\marg{n-model}\marg{n-color-spec} of the color, where
+% \begin{itemize}
+% \item \Meta{type-spec} is either empty (if \Meta{type} was empty), or a driver-dependent macro or expression (if \Meta{type} was `named', `ps');
+% \item \Meta{driver-spec} is a driver-dependent representation of the color, which also depends on \Meta{type};
+% \item \Meta{n-model} is either \Meta{model} or the name of another color model, dependent on the desired transformation(s) at definition time;
+% \item \Meta{n-color-spec} are the comma-separated normalised parameter values of the color with respect to \Meta{n-model}.
+% \end{itemize}
+% See table \vref{tab.internal} for some examples.
+% \begin{macrocode}
+\def\definecolor{\@testopt{\XC at definecolor}{}}
+\def\XC at definecolor[#1]#2%
+ {\@testopt{\XC at definec@lor[#1]{#2}}\colornameprefix}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at definec@lor[#1]#2[#3]#4#5%
+ {\begingroup
+ \XC at sdef\@@cls{#1}\XC at edef\@@nam{#2}\edef\colornameprefix{#3}%
+ \XC at logdef\@@nam
+ \XC at getmodclr02{#4}{#5}{\let\@@tmp\relax}%
+ {\ifx\@@mod\XC at mod@named
+ \XC at c@l at rlet\@@nam\@@clr
+ \else
+ \ifx\@@cls\XC at mod@ps
+ \edef\@@drv{\@@mod\space\@@clr}\def\@@hue{0}%
+ \edef\@@clr{\@nameuse{XC at clr@\@@mod @white}}%
+ \else
+ \ifconvertcolorsD
+ \let\@@tmp\@@mod\XC at sdef\@@mod{\XC at tgt@mod\@@tmp}%
+ \convertcolorspec\@@tmp\@@clr\@@mod\@@clr
+ \fi
+ \XC at coremodel\@@mod\@@clr
+% \end{macrocode}
+%
+% Determine driver-dependent color definition:
+% \begin{macrocode}
+ \csname color@\@@mod\expandafter\endcsname
+ \expandafter\@@drv\expandafter{\@@clr}%
+% \end{macrocode}
+%
+% Handle prologue and `named' colors:
+% \begin{macrocode}
+ \ifcase\XC@@xcp@
+ \immediate\write\XC@@xcp{/\colornameprefix\@@nam{\expandafter
+ \XC at strip@comma\@@clr,,\@nnil}XC\@@mod}%
+ \let\@@cls\XC at mod@named
+ \fi
+ \ifx\@@cls\@empty\else
+ \let\@@tmp\@@cls
+ \@nameuse{define at color@\@@cls}\@@nam\@@drv
+ \csname color@\@@tmp\expandafter\endcsname
+ \expandafter\@@drv\expandafter{\@@nam}%
+ \fi
+ \fi
+% \end{macrocode}
+%
+% Finally write all information into macro |\\color@|\Meta{name}:
+% \begin{macrocode}
+ \toks@\expandafter{\@@drv}%
+ \edef\@@tmp
+ {\ifglobalcolors\global\else\xglobal@\fi
+ \noexpand\@namedef{\string\color@\@@nam}%
+ {\noexpand\xcolor@{\@@cls}{\the\toks@}{\@@mod}{\@@clr}}}%
+ \fi}%
+ \expandafter\endgroup\@@tmp\xglobal at stop}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at getmodclr}
+% \marg{mod-opt}\marg{clr-opt}\marg{model-list}\marg{spec-list}\marg{undefined}\marg{defined}\\
+% Depending on \Meta{mod-opt}, different tasks are performed:
+% \begin{itemize}
+% \item[0:] Retrieve color model and target model from \Meta{model-list} if |\XC@@getmod| is `true'.
+% \item[1:] Retrieve color model and target model from \Meta{model-list} always.
+% \end{itemize}
+% The color model is stored in |\@@mod|, its position in |\XC@@pos|, a possible target model in |\@@Mod|.
+% Depending on \Meta{clr-opt}, different tasks are performed:
+% \begin{itemize}
+% \item[0:] Don't pick color specification from \Meta{spec-list}.
+% \item[1:] Pick color specification from \Meta{spec-list}, convert it from model |\@@mod| to |\@@Mod|, unless the latter is `ignore' or |\@@cls| is `ps'.
+% \item[2:] Like the former case, additionally |\let\@@mod\@@Mod|.
+% \end{itemize}
+% The color specification is stored in |\@@clr|.
+% Color specification picking relies on the position |\XC@@pos|, conversion relies on the model |\@@mod|, and the target model |\@@Mod|.
+% If |\@@mod| represents an undefined color model, then \Meta{undefined} is executed at the end of the macro, else \Meta{defined}.
+% \begin{macrocode}
+\def\XC at getmodclr#1#2#3#4%
+ {\ifnum\ifcase#1 \ifXC@@getmod1\else0 \fi \or1 \fi>0
+ \XC at mdef\@@mod{#3}\expandafter\XC at getmod\@@mod////////\XC@@
+ \@ifundefinedmodel\@@Mod{\let\@@Mod\XC at mod@ignore}{}\fi
+ \@ifundefined{XC at mod@\@@mod}%
+ {\c at lor@error{model `\@@mod'}\@firstoftwo}%
+ {\ifcase#2\else
+ \XC at mdef\@@clr{#4}%
+ \edef\@@clr{\expandafter\XC at getclr\@@clr////////\XC@@}%
+ \ifx\@@cls\XC at mod@ps\else\XC at clean\@@clr\fi
+ \ifx\@@Mod\XC at mod@ignore\else
+ \convertcolorspec\@@mod\@@clr\@@Mod\@@clr
+ \ifnum#2>1 \let\@@mod\@@Mod\fi
+ \fi
+ \fi \@secondoftwo}}
+% \end{macrocode}
+%
+% \begin{macro}{\XC at getmod}
+% Retrieve model position |\XC@@pos|, model |\@@mod|, and target model |\@@Mod| from multiple definitions (up to~8), separated by `|/|'.
+% \begin{macrocode}
+\def\XC at getmod#1/#2/#3/#4/#5/#6/#7/#8/#9\XC@@
+ {\XC at g@tm at d0#1::\XC@@ \XC at getm@d1{#2}\XC at getm@d2{#3}%
+ \XC at getm@d3{#4}\XC at getm@d4{#5}\XC at getm@d5{#6}\XC at getm@d6{#7}%
+ \XC at getm@d7{#8}\def\XC@@pos{0}\def\@@mod{#1}\@gobble\@nnil}%
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at getm@d#1#2%
+ {\edef\XC@@pos{#2}\XC at sdef\@@mod{\XC at tgt@mod\XC@@pos}%
+ \ifx\XC@@pos\@@mod\def\XC@@pos{#1}\expandafter\remove at to@nnil\fi}%
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at g@tm at d#1#2:#3:#4\XC@@
+ {\@ifxempty{#3}{\let\@@Mod\XC at mod@ignore\XC at getm@d0{#2}}%
+ {\def\@@Mod{#2}\XC at getm@d0{#3}}}%
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at getclr}
+% Pick color specification on position |\XC@@pos| from multiple definitions (up to~8), separated by `|/|'.
+% Expandable.
+% \begin{macrocode}
+\def\XC at getclr#1/#2/#3/#4/#5/#6/#7/#8/#9\XC@@
+ {\ifcase\XC@@pos\space #1\or#2\or#3\or#4\or#5\or#6\or#7\or#8\fi}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\ifXC@@getmod}
+% Switch used to determine whether the model has to be retrieved (e.g., ordinary |\definecolor|) or not (e.g., |\definecolor| acting as subroutine to |\definecolorset|).
+% \begin{macrocode}
+\newif\ifXC@@getmod \XC@@getmodtrue
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+% \begin{macro}{\xdefinecolor}
+% This command is identical with |\definecolor|, it is kept only for compatibility reasons.
+% \begin{macrocode}
+\let\xdefinecolor\definecolor
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\providecolor}
+% \oarg{type}\marg{name}\marg{model-list}\marg{spec-list}\\
+% Similar to |\definecolor|, but the color \Meta{name} is only defined if it does not exist already.
+% \begin{macrocode}
+\def\providecolor{\@testopt{\XC at providecolor}{}}
+\def\XC at providecolor[#1]#2%
+ {\@testopt{\XC at providec@lor[#1]{#2}}\colornameprefix}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at providec@lor[#1]#2[#3]%
+ {\XC at edef\XC@@tmp{#2}%
+ \@ifundefinedcolor\XC@@tmp{\XC at definecolor[#1]{#2}[#3]}%
+ {\ifnum\XC at tracing>0
+ \PackageInfo{xcolor}{Ignoring color definition `\XC@@tmp'}\fi
+ \@gobbletwo}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\xcolor@}
+% \marg{type-spec}\marg{driver-spec}\marg{model}\marg{spec}\\
+% Simply grabs the driver-specific part of the color definition.
+% Therefore, the command |\\color@|\Meta{name} behaves like in the original case, when first-level expanded.
+% \begin{macrocode}
+\def\xcolor@#1#2#3#4{#2}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\colorlet}
+% \oarg{type}\marg{name}\oarg{num model}\marg{color}\\
+% Create a color `name' consisting of \Meta{color}, converted to \Meta{num model} if non-empty.
+% \begin{macrocode}
+\def\colorlet{\@testopt{\XC at colorlet}{}}
+\def\XC at colorlet[#1]#2{\@testopt{\XC at col@rlet[#1]{#2}}{}}
+\def\XC at col@rlet[#1]#2[#3]#4%
+ {\begingroup
+ \edef\@@cls{#1}\XC at edef\@@nam{#2}\XC at sdef\@@mod{#3}\XC at edef\@@clr{#4}%
+% \end{macrocode}
+%
+% Check whether |#4| is an explicit name, |#3| is empty and |#1| is either empty or equal to the corresponding parameter of |#4|: in this case, a simple |\let| command will do the job.
+% \begin{macrocode}
+ \XC at info\@@clr\@@tmp\XC@@tstfalse
+ \ifnum\@@tmp=\@ne\ifx\@@mod\@empty
+ \ifx\@@cls\@empty
+ \XC@@tsttrue
+ \else
+ \edef\@@tmp
+ {\expandafter\expandafter\expandafter\@secondoffive
+ \csname\string\color@\@@clr\endcsname}%
+ \ifx\@@cls\@@tmp\XC@@tsttrue\fi
+ \fi
+ \fi\fi
+ \ifXC@@tst
+ \XC at logdef\@@nam\XC at c@l at rlet\@@nam\@@clr
+ \else
+ \extractcolorspec\@@clr\@@clr
+ \ifx\@@mod\@empty\else
+ \expandafter\convertcolorspec\@@clr\@@mod\@@clr
+ \edef\@@clr{{\@@mod}{\@@clr}}\fi
+ \edef\@@tmp{\noexpand\XC at definecolor[\@@cls]{\@@nam}\@@clr}%
+ \fi
+ \expandafter\endgroup\@@tmp\xglobal at stop}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at c@l at rlet#1#2%
+ {\@ifundefinedcolor{#2}%
+ {\c at lor@error{`#2'}\let\@@tmp\@empty}%
+ {\edef\@@tmp
+ {\ifglobalcolors\global\else\xglobal@\fi
+ \noexpand\XC at let@cc{\string\color@#1}{\string\color@#2}}}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\DefineNamedColor}
+% \marg{type}\marg{name}\marg{model-list}\marg{spec-list}
+% \begin{macrocode}
+\def\DefineNamedColor#1%
+ {\@nameuse{XC@\ifdefinecolors defin\else prepar\fi ecolor}[#1]}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \subsubsection{Deferred definition}
+%
+% \begin{macro}{\preparecolor}
+% \oarg{type}\marg{name}\oarg{prefix}\marg{model-list}\marg{spec-list}\\
+% \begin{macrocode}
+\def\preparecolor{\@testopt{\XC at preparecolor}{}}
+\def\XC at preparecolor[#1]#2%
+ {\@testopt{\XC at preparec@lor[#1]{#2}}\colornameprefix}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at preparec@lor[#1]#2[#3]#4#5%
+ {\XC at sdef\@@cls{#1}\XC at edef\@@nam{#2}%
+ \XC at getmodclr01{#4}{#5}{}%
+ {\xdef\XC@@stack
+ {\ifx\XC@@stack\@empty\else\XC@@stack,\fi{#1}{\@@nam}{#3}%
+ {\ifx\@@Mod\XC at mod@ignore\@@mod\else\@@Mod\fi}{\@@clr}}}}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\let\XC@@stack\@empty
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\definecolors}
+% \marg{id-list}
+% \begin{macrocode}
+\def\definecolors#1%
+ {\let\XC@@cmd\definecolor\let\XC@@glb\xglobal@
+ \expandafter\XC at definecolors#1,,}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at definecolors#1,%
+ {\@ifxempty{#1}{}{\expandafter\XC at definec@lors#1=#1=:\XC at definecolors}}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at definec@lors#1=#2=#3:%
+ {\XC at edef\@@nam{#1}\XC at edef\@@arg{#2}%
+ \let\next\XC at definec@l at rs\expandafter\next\XC@@stack,,\@nnil}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at definec@l at rs#1,%
+ {\ifx,#1,\let\next\remove at to@nnil\else\XC at defin@c at l@rs#1\fi\next}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at defin@c at l@rs#1#2#3#4#5%
+ {\def\@@tmp{#2}%
+ \ifx\@@tmp\@@arg
+ \let\xglobal@\XC@@glb\XC@@cmd[#1]{\@@nam}[#3]{#4}{#5}%
+ \let\next\remove at to@nnil
+ \fi}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\providecolors}
+% \marg{id-list}\\
+% Similar to |\definecolor|, but based on |\providecolor|, thus the individual colors are defined only if they do not exist already.
+% \begin{macrocode}
+\def\providecolors#1%
+ {\let\XC@@cmd\providecolor\let\XC@@glb\xglobal@
+ \expandafter\XC at definecolors#1,,}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \subsubsection{Sets of colors}
+%
+% \begin{macro}{\definecolorset}
+% \oarg{type}\marg{model-list}\marg{head}\marg{tail}\marg{set spec}\\
+% This command facilitates the construction of \emph{color sets} with common underlying \Meta{model-list} and \Meta{type}.
+% Here, \Meta{set spec} = \Meta[1]{name},\Meta[1]{spec-list};\dots;\Meta[k]{name},\Meta[k]{spec-list} ($k\ge1$ name/specification-list pairs).
+% Individual colors are being constructed by |\definecolor|\oarg{type}|{|\Meta{head}\Meta[1]{name}\Meta{tail}|}|\marg{model-list}|{|\Meta[1]{spec-list}|}| etc.
+% \begin{macrocode}
+\def\definecolorset
+ {\let\XC@@cmd\definecolor\@testopt{\XC at definecolorset}{}}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at definecolorset[#1]#2#3#4#5%
+ {\XC at getmodclr10{#2}{}{}%
+ {\XC@@getmodfalse\XC at edef\XC@@tmp{#5}\let\XC@@glb\xglobal@
+ \def\XC at definec@lorset##1,##2;%
+ {\@ifxempty{##1}{}%
+ {\let\xglobal@\XC@@glb
+ \XC@@cmd[#1]{#3##1#4}{\@@mod}{##2}\XC at definec@lorset}}%
+ \expandafter\XC at definec@lorset\XC@@tmp;,;\XC@@getmodtrue}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\providecolorset}
+% \oarg{type}\marg{model-list}\marg{name-prefix}\marg{name-postfix}\marg{set spec}\\
+% Similar to |\definecolorset|, but based on |\providecolor|, thus the individual colors are defined only if they do not exist already.
+% \begin{macrocode}
+\def\providecolorset
+ {\let\XC@@cmd\providecolor\@testopt{\XC at definecolorset}{}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\preparecolorset}
+% \oarg{type}\marg{model-list}\marg{name-prefix}\marg{name-postfix}\marg{set spec}\\
+% Similar to |\definecolorset|, but dependent on |\ifdefinecolors|, either a |\definecolor| or a |\preparecolor| command will be executed for each single set member.
+% \begin{macrocode}
+\def\preparecolorset
+ {\ifdefinecolors\let\XC@@cmd\definecolor\else\let\XC@@cmd\preparecolor\fi
+ \@testopt{\XC at definecolorset}{}}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \subsubsection{Color series}
+%
+% \begin{macro}{\definecolorseries}
+% \marg{name}\marg{core model}\marg{method}\oarg{b-model}\marg{base color}\oarg{l-model}\marg{delta}
+% \begin{macrocode}
+\def\definecolorseries#1#2#3%
+ {\@testopt{\XC at definecolorseries{#1}{#2}{#3}}{}}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at definecolorseries#1#2#3[#4]#5%
+ {\@testopt{\XC at definec@lorseries{#1}{#2}{#3}[#4]{#5}}{}}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at definec@lorseries#1#2#3[#4]#5[#6]#7%
+ {\begingroup
+ \XC at sdef\@@mod{#2}%
+ \@ifxempty{#4}{\extractcolorspec{#5}\@@clr}{\edef\@@clr{{#4}{#5}}}%
+ \expandafter\convertcolorspec\@@clr\@@mod\@@clr
+ \@namexdef{\string\colorB@#1}{{\@@mod}{\@@clr}}%
+ \edef\@@met{#3}%
+ \ifx\@@met\XC at met@last
+ \@ifxempty{#6}{\extractcolorspec{#7}\@@tmp}{\edef\@@tmp{{#6}{#7}}}%
+ \expandafter\convertcolorspec\@@tmp\@@mod\@@tmp
+ \XC at inflate\@@mod\@@tmp\@@clr\@@tmp
+ \expandafter\XC at sub\@@tmp,\@@tmp
+ \else
+ \edef\@@tmp{#7}%
+ \fi
+ \@namexdef{\string\colorD@#1}{{\@@met}{\@@tmp}}%
+ \endgroup}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\resetcolorseries}
+% \oarg{div}\marg{name}
+% \begin{macrocode}
+\def\resetcolorseries{\@testopt{\XC at resetcolorseries}{}}
+\def\XC at resetcolorseries[#1]#2%
+ {\begingroup
+ \@namexdef
+ {\string\color@#2}{\noexpand\xcolor@{}{}\@nameuse{\string\colorB@#2}}%
+ \XC at let@Nc\@@tmp{\string\colorD@#2}%
+ \edef\@@met{\expandafter\@firstoftwo\@@tmp}%
+ \edef\@@tmp{\expandafter\@secondoftwo\@@tmp}%
+ \ifx\@@met\XC at met@step\else
+ \edef\@@scl{\@ifxempty{#1}\colorseriescycle{#1}}%
+ \expandafter\XC at calc@\@@tmp,,,,:D%
+ \fi
+ \@namexdef{\string\colorS@#2}{\@@tmp}%
+ \endgroup}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at step}
+% \begin{macro}{\XC at stepabs}
+% \marg{name}\\
+% Perform a relative or absolute (= direct access) step within a color series \Meta{name}.
+% In the relative case, the (non-negative) number of single steps is supposed to be stored in |\@tempcnta|.
+% \begin{macrocode}
+\def\XC at step#1%
+ {\let\xcolor@\@gobbletwo\edef\@@tmp{\@nameuse{\string\color@#1}}%
+ \expandafter\XC at st@p\@@tmp{#1}%
+ \@namexdef{\string\color@#1}{\noexpand\xcolor@{}{}{\@@mod}{\@@tmp}}}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at st@p#1#2#3%
+ {\def\@@mod{#1}\def\@@tmp{#2}\edef\@@vec{\@nameuse{\string\colorS@#3}}%
+ \@whilenum\@tempcnta>\z@\do
+ {\XC at inflate\@@mod\@@tmp\@@vec\@@tmp
+ \expandafter\XC at add\@@tmp,\@@tmp \expandafter\XC at calc@\@@tmp,,,,:U%
+ \advance\@tempcnta\m at ne}}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at stepabs#1%
+ {\edef\@@tmp{\@nameuse{\string\colorB@#1}}%
+ \expandafter\XC at st@p\@@tmp{#1}%
+ \edef\@@tmp
+ {\def\noexpand\@@mod{\@@mod}\def\noexpand\@@clr{\@@tmp}}}
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+%
+% \subsubsection{Color blending}
+%
+% \begin{macro}{\blendcolors}
+% \begin{macro}{\blendcolors*}
+% \marg{mix expr}\\
+% Initialises all necessary parameters for color blending.
+% The actual (completed) color blend expression is stored in |\colorblend|.
+% In the starred version, the argument will be appended to a previously defined blend expression.
+% An empty \Meta{mix expr} argument will switch blending off.
+% \begin{macrocode}
+\def\blendcolors{\@ifstar{\XC at blendcolors\colorblend}{\XC at blendcolors{}}}
+\def\XC at blendcolors#1#2%
+ {\edef\colorblend{#1}\XC at edef\XC@@tmp{#2}%
+ \ifx\XC@@tmp\@empty
+ \xglobal@\blendcolorsfalse
+ \else
+ \xglobal@\blendcolorstrue
+ \expandafter\XC at blendc@lors\XC@@tmp!!\@nil
+ \fi
+ \xglobalize@\colorblend \xglobal at stop}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at blendc@lors!#1!#2!#3\@nil
+ {\@ifxempty{#1}{}%
+ {\@ifxempty{#2}%
+ {\edef\colorblend{\colorblend!#1!white}}%
+ {\edef\colorblend{\colorblend!#1!#2}\XC at blendc@lors!#3!\@nil}}}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\blendcolors{}
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+%
+% \subsubsection{Color masks and separation}
+%
+% \begin{macro}{\maskcolors}
+% \oarg{core model}\marg{color}\\
+% Initialises all necessary parameters for color masking.
+% The actual color mask expression is stored in |\colormask|.
+% An empty \Meta{color} argument will switch masking off.
+% The optional \Meta{core model} argument may be used to determine the underlying color model.
+% \begin{macrocode}
+\def\maskcolors{\@testopt{\XC at maskcolors}{}}
+\def\XC at maskcolors[#1]#2%
+ {\XC at edef\colormask{#2}%
+ \ifx\colormask\@empty
+ \xglobal@\maskcolorsfalse \def\XC at mmod{}\def\XC at mclr{}%
+ \else
+ \xglobal@\maskcolorstrue \extractcolorspecs\colormask\XC at mmod\XC at mclr
+ \@ifxempty{#1}{}%
+ {\convertcolorspec\XC at mmod\XC at mclr{#1}\XC at mclr \XC at sdef\XC at mmod{#1}}%
+ \XC at coremodel\XC at mmod\XC at mclr
+ \fi
+ \xglobalize@\colormask \xglobalize@\XC at mmod \xglobalize@\XC at mclr
+ \xglobal at stop}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\maskcolors{}
+% \end{macrocode}
+% \end{macro}
+%
+%
+%
+% \subsection{Color application}
+%
+% \subsubsection{Standard color commands}
+%
+% \begin{macro}{\color}
+% \marg{color}\\
+% \oarg{model-list}\marg{spec-list}\\
+% Switches to the color given either by name/expression or by model/specification.
+% This color will stay in effect until the end of the current \TeX\ group.
+% \begin{macrocode}
+\DeclareRobustCommand\color
+ {\@ifnextchar[\@undeclaredcolor\@declaredcolor}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\@undeclaredcolor}
+% \oarg{model-list}\marg{spec-list}\\
+% Display a color that is given by \Meta{model} name and numerical \Meta{spec}.
+% \begin{macrocode}
+\def\@undeclaredcolor[#1]#2%
+ {\begingroup
+ \let\@@cls\@empty
+ \XC at getmodclr12{#1}{#2}{}%
+ {\ifblendcolors
+ \ifx\colorblend\@empty\else
+ \edef\@@mix{\expandafter\@gobble\colorblend}\@tempswafalse
+ \XC at coremodel\@@mod\@@clr\@xcolor@{}{}\@@mod\@@clr
+ \fi
+ \fi
+ \ifconvertcolorsU
+ \edef\@@tmp{\XC at tgt@mod{\@@mod}}%
+ \convertcolorspec\@@mod\@@clr\@@tmp\@@clr \let\@@mod\@@tmp
+ \fi
+ \ifmaskcolors
+ \convertcolorspec\@@mod\@@clr\XC at mmod\@@clr
+ \let\@@mod\XC at mmod
+ \XC at inflate\@@mod\XC at mclr\@@clr\@@tmp
+ \expandafter\XC at mul\@@tmp,\@@clr
+ \fi
+ \edef\@@tmp{\noexpand\XC at undeclaredcolor{\@@mod}{\@@clr}}%
+ \expandafter\endgroup\@@tmp}}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at undeclaredcolor#1#2%
+ {\@ifundefinedmodel{#1}%
+ {\c at lor@error{model `#1'}}%
+ {\@nameuse{color@#1}\current at color{#2}%
+ \edef\XC at current@color{\noexpand\xcolor@{}{\current at color}{#1}{#2}}%
+ \XC at display}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\@declaredcolor}
+% \marg{color}\\
+% Display a color that is given by an arbitrary \Meta{color}.
+% \begin{macrocode}
+\def\@declaredcolor#1%
+ {\XC at edef\XC@@tmp{#1}\XC@@tstfalse
+ \ifcase\XC at type\XC@@tmp\relax \XC@@tsttrue\or \relax\else
+ \ifblendcolors\XC@@tsttrue\fi \ifmaskcolors\XC@@tsttrue\fi
+ \ifconvertcolorsU\XC@@tsttrue\fi
+ \fi
+ \ifXC@@tst
+ \expandafter\XC at declaredcolor\else
+ \expandafter\XC at declaredc@lor\fi}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at declaredcolor
+ {\XC at split\XC@@tmp
+ \edef\@@tmp{\noexpand\@undeclaredcolor[\@@mod]{\@@clr}}%
+ \expandafter\endgroup\@@tmp}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at declaredc@lor
+ {\XC at let@Nc\XC at current@color{\string\color@\XC@@tmp}%
+ \edef\current at color{\XC at current@color}%
+ \XC at display}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\textcolor}
+% \marg{color}\marg{text}\\
+% \oarg{model-list}\marg{spec-list}\marg{text}\\
+% are just alternative syntax for |\color|, in which the groups are added implicitly.
+% Thus \emph{text} appears in the specified color, but then the color reverts to its previous value.
+% The naming is by analogy with |\textrm| (as opposed to |\rm| and |\rmfamily|) although it is slightly a misnomer as the command also works in math-mode.
+% Additionally, it calls |\leavevmode| to ensure the start of horizontal mode.
+% \begin{macrocode}
+\def\textcolor#1#{\@textcolor{#1}}
+\def\@textcolor#1#2#3{\protect\leavevmode{\color#1{#2}#3}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\pagecolor}
+% \marg{color}\\
+% \oarg{model-list}\marg{spec-list}\\
+% Specifies the background color for the current, and all following, pages.
+% It is a global declaration which does not respect \TeX\ groups.
+% \begin{macrocode}
+\def\pagecolor
+ {\begingroup
+ \let\ignorespaces\endgroup \let\set at color\set at page@color
+ \color}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \subsubsection{Colored boxes}
+%
+% \begin{macro}{\colorbox}
+% \marg{color}\marg{text}\\
+% \oarg{model}\marg{spec}\marg{text}\\
+% Takes the same argument forms as |\textcolor|, but the color specifies the \emph{background} color of the box.
+% \begin{macrocode}
+\def\colorbox#1#{\color at box{#1}}
+\def\color at box#1#2{\color at b@x\relax{\color#1{#2}}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\fcolorbox}
+% \marg{frame color}\marg{background color}\marg{text}\\
+% \oarg{model}\marg{frame spec}\marg{background spec}\marg{text}\\
+% \oarg{frame model}\marg{frame spec}\oarg{background model}\marg{background spec}\marg{text}\\
+% \marg{frame color}\oarg{background model}\marg{background spec}\marg{text}\\
+% Puts a frame of the first color around a box with a background specified by the second color.
+% If only the first optional argument is given, it specifies the color model for both colors.
+% \begin{macrocode}
+\def\fcolorbox#1#{\color at fbox{#1}}
+\def\color at fbox#1#2#3#{\color at fb@x{#1}{#2}{#3}}
+\def\color at fb@x#1#2#3#4%
+ {\color at b@x{\fboxsep\z@\color#1{#2}\XC at fbox}%
+ {\@ifxempty{#3}{\color#1}{\color#3}{#4}}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\color at b@x}
+% Internal macro for |\colorbox| and |\fcolorbox|.
+% \begin{macrocode}
+\long\def\color at b@x#1#2#3%
+ {\leavevmode
+ \setbox\z@\hbox{\kern\fboxsep{\set at color#3}\kern\fboxsep}%
+ \dimen@\ht\z@\advance\dimen@\fboxsep\ht\z@\dimen@
+ \dimen@\dp\z@\advance\dimen@\fboxsep\dp\z@\dimen@
+ {#1{#2\color at block{\wd\z@}{\ht\z@}{\dp\z@}\box\z@}}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at frameb@x}
+% Common part of |\framebox| and |\fbox|.
+% |#1| is a negative kern in the |\framebox| case so that the vertical rules do not add to the width of the box.
+% Optimised by \People{Donald}{Arseneau}.
+% \begin{macrocode}
+\def\XC at frameb@x#1%
+ {\hbox
+ {\@tempdima\fboxrule \advance\@tempdima\fboxsep
+ \advance\@tempdima\dp\@tempboxa
+ \setbox\@tempboxa\hbox
+ {\lower\@tempdima\hbox
+ {\vbox
+ {\kern\fboxrule
+ \hbox
+ {\kern\fboxrule#1%
+ \vbox{\kern\fboxsep\box\@tempboxa\kern\fboxsep}%
+ #1\kern\fboxrule}%
+ \kern\fboxrule}}}%
+ \@tempdima\wd\@tempboxa
+ \edef\@tempa{{\the\@tempdima}{\the\ht\@tempboxa}{\the\dp\@tempboxa}}%
+ \box\@tempboxa\kern-\@tempdima\expandafter\boxframe\@tempa}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at fbox}
+% \begin{macro}{\@frameb at x}
+% If no \Option{kernelfbox} option was specified, switch to the new method in general, else only for |\fcolorbox|.
+% \begin{macrocode}
+\ifXC@@fbox
+ \let\@frameb at x\XC at frameb@x \let\XC at fbox\fbox
+\else
+ \def\XC at fbox{\let\@frameb at x\XC at frameb@x\fbox}
+\fi
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+%
+% \subsubsection{Driver-specific and generic drawing}
+%
+% \begin{macro}{\color at block}
+% \marg{width}\marg{height}\marg{depth}\\
+% Should take up no space for \TeX, but produce a block in the current color of the specified size.
+% It is mainly used for producing box backgrounds.
+% \begin{macro}{\boxframe}
+% \marg{width}\marg{height}\marg{depth}\\
+% Draw a frame with a linewidth of |\fboxrule|.
+% Return a |\hbox| with outer dimensions \meta{width}, \meta{height}, \meta{depth}.
+
+% \begin{macro}{\XC at boxframe}
+% \marg{width}\marg{height}\marg{depth}\marg{frame construction}\\
+% Wrapper for |\boxframe| commands that return zero-dimension frames.
+% \begin{macrocode}
+\ifnum\XC@@xcd@>\m at ne
+\def\XC at boxframe#1#2#3#4%
+ {\hbox{\sbox\z@{\ifdim\fboxrule>\z@ #4\fi}%
+ \wd\z@#1\relax\ht\z@#2\relax\dp\z@#3\relax\box\z@}}
+\fi
+% \end{macrocode}
+% \end{macro}
+%
+% \textbf{\Option{dvips}-optimised code}
+% \begin{macrocode}
+\ifcase\XC@@xcd@
+% \end{macrocode}
+%
+% \begin{macrocode}
+\providecommand*\color at block[3]%
+ {{\set at color\hbox
+ {\dimen@#3\edef\@tempa{ \number\dimen@\space}%
+ \dimen@#2\edef\@tempa{ \number\dimen@\@tempa}%
+ \dimen@#1\relax
+ \XC at special{\number\dimen@\@tempa XCcolorblock}}}}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\providecommand*\boxframe[3]%
+ {\XC at boxframe{#1}{#2}{#3}%
+ {\dimen@#3\edef\@tempa{ \number\dimen@\space}%
+ \dimen@#2\edef\@tempa{ \number\dimen@\@tempa}%
+ \dimen@#1\relax
+ \XC at special{\number\fboxrule\space\number\dimen@\@tempa XCboxframe}}}
+% \end{macrocode}
+%
+% \textbf{\Option{pdftex}-optimised code }
+% There seems to be no improvement by adding a specific |\color at block| command, since the PDF format doesn't offer higher accuracy than \TeX.
+% For |\boxframe| we want to achieve this PDF pseudo-code (besides initial scaling):\\[1ex]
+% \centerline{\ttfamily $l$ w [] $0$ d $2$ J $0$ j $4$ M
+% $1$ $0$ $0$ $1$ $\frac12\,l$ $\frac12\,l$ cm
+% $0$ $-d$ $(w-l)$ $(h+d-l)$ re s}
+% \begin{macrocode}
+\or
+% \end{macrocode}
+%
+% \begin{macrocode}
+\providecommand*\boxframe[3]%
+ {\XC at boxframe{#1}{#2}{#3}%
+ {\dimen@#3\edef\@tempa{ 0 -\strip at pt\dimen@\space}%
+ \edef\@tempb{\advance\dimen@\the\dimen@}%
+ \dimen@#2\advance\dimen at -\fboxrule\@tempb
+ \edef\@tempb{ \strip at pt\dimen@\space re s}%
+ \dimen@#1\advance\dimen at -\fboxrule
+ \edef\@tempb{ cm\@tempa\strip at pt\dimen@\@tempb}%
+ \dimen at .5\fboxrule\edef\@tempa{ \strip at pt\dimen@}%
+ \XC at special
+ {0.996264 0 0 0.996264 0 0 cm
+ \strip at pt\fboxrule\space w [] 0 d 2 J 0 j 4 M
+ 1 0 0 1\@tempa\@tempa\@tempb}}}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\fi
+% \end{macrocode}
+%
+% \textbf{Generic code }
+% The definition here works by selecting a color, and then drawing a \TeX\ rule (unless |\ifcolors at false|).
+% \begin{macrocode}
+\providecommand*\color at block[3]%
+ {{\set at color\rlap{\ifcolors@\vrule\@width#1\@height#2\@depth#3\fi}}}
+% \end{macrocode}
+%
+% The following definition was optimised by \People{Donald}{Arseneau}.
+% \begin{macrocode}
+\providecommand*\boxframe[3]%
+ {\hbox
+ {\dimen@#2\advance\dimen@#3\relax
+ \lower#3\vbox
+ {\hrule\@height\fboxrule
+ \@tempdima-0.5\fboxrule \ifodd\fboxrule\advance\@tempdima\m at ne sp\fi
+ \kern\@tempdima
+ \hbox
+ {\advance\dimen at -\fboxrule
+ \vrule\@width\fboxrule\@height\dimen@\@depth\z@
+ \@tempdima#1\advance\@tempdima-\tw@\fboxrule \kern\@tempdima
+ \vrule\@width\fboxrule\@height\dimen@\@depth\z@}%
+ \kern-0.5\fboxrule
+ \hrule\@height\fboxrule}}}
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+%
+% \subsubsection{Color argument processing}
+%
+% \begin{macro}{\@xcolor@}
+% \marg{type-spec}\marg{driver-spec}\marg{model}\marg{spec}\\
+% This is the `work-horse' that does all necessary conversions and calculations if a color (expression) has to be displayed.
+% \Meta{type-spec} and \Meta{driver-spec} are ignored.
+% |\@@mix| may contain a mix expression without leading `!'.
+% \begin{macrocode}
+\def\@xcolor@#1#2#3#4%
+ {\edef\@@mod{#3}\edef\@@clr{#4}%
+ \ifx\@@mix\@empty\else\expandafter\@xcolor@@\@@mix!!!!\@nil\fi
+ \if at tempswa
+ \XC at let@Nc\@@tmp{XC at cnv@\@@mod @compl}%
+ \ifx\@@tmp\relax \expandafter\XC at calc@\@@clr,,,,:C\else
+ \expandafter\@@tmp\@@clr,\fi
+ \let\@@clr\@@tmp
+ \fi}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\@xcolor@@#1!#2!#3!#4!#5\@nil
+ {\dimen@\@ifxempty{#1}{100}{#1}\p@
+ \edef\@@mix{\@ifxempty{#2}{white}{#2}}%
+ \ifdim\dimen@=100\p@
+ \expandafter\XC at postfix\@@mix]\relax
+ \else\ifdim\dimen@=\z@
+ \extractcolorspecs\@@mix\@@mod\@@clr
+ \else
+ \XC at let@Nc\@@tmp{XC at clr@\@@mod @\@@mix}%
+ \ifx\@@tmp\relax
+ \extractcolorspec\@@mix\@@tmp
+ \ifx\@@mod\XC at mod@gray
+ \edef\@@mod{\expandafter\@firstoftwo\@@tmp}%
+ \edef\@@tmp{\expandafter\@secondoftwo\@@tmp}%
+ \convertcolorspec\XC at mod@gray\@@clr\@@mod\@@clr
+ \else
+ \expandafter\convertcolorspec\@@tmp\@@mod\@@tmp
+ \fi
+ \else
+ \ifx\@@mod\XC at mod@hsb\expandafter\XC at extract@hue\@@clr:\@@hue\fi
+ \fi
+ \XC at inflate\@@mod\@@clr\@@tmp\@@tmp
+ \expandafter\XC at mix\@@tmp,\@@clr
+ \fi\fi
+ \@ifxempty{#3}%
+ {\@ifxempty{#4}{}{\@xcolor@@!#4!#5\@nil}}%
+ {\@xcolor@@#3!#4!#5\@nil}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at split}
+% \marg{ext expr}\\
+% Split \Meta{ext expr} into all of its components, do the necessary calculations, and save the model of the resulting color in |\@@mod| and the parameters in |\@@clr|.
+% Note: |\XC at split| opens a group which has to be closed afterwards by |\endgroup|.
+% \begin{macrocode}
+\def\XC at split#1%
+ {\begingroup\XC at edef\@@tmp{#1}\expandafter\XC at split@i\@@tmp>>\@nnil}
+% \end{macrocode}
+%
+% \begin{macro}{\XC at split@i}
+% Separate first part of expression chain and apply function(s) afterwards as requested.
+% \begin{macrocode}
+\def\XC at split@i#1>%
+ {\def\@@tmp{#1}\XC at split@ii#1:\@nil \XC at func}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at split@ii}
+% Check whether it is an \emph{extended} or \emph{standard} color expression.
+% \begin{macrocode}
+\def\XC at split@ii#1:#2\@nil
+ {\@ifxempty{#2}{\XC at split@vi}{\XC at split@iii#1,,:#2}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at split@iii}
+% Initialisation for extended color expressions.
+% The magic \Meta{div} is either given as second argument, or calculated as the sum of all weights.
+% \begin{macrocode}
+\def\XC at split@iii#1,#2,#3:#4:%
+ {\edef\XC@@mod{#1}\let\@tempa\@empty
+ \ifx,#2,\XC@@tsttrue\@tempdima\z@\else\XC@@tstfalse\@tempdima#2\p@\fi
+ \XC at split@iv#4;,;}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at split@iv}
+% \marg{expr}\marg{dec}\\
+% Step through the list of \Meta{expr},\Meta{dec} pairs.
+% Add \Meta{dec} to the sum of weights (in order to calculate the ultimate \Meta{div}) and append pair information to |\@tempa| command.
+% At the end of the list, execute |\@tempa| and map resulting parameter vector into unit cube.
+% Finally, |\@@mod| and |\@@clr| contain the desired information about color model and parameters.
+% \begin{macrocode}
+\def\XC at split@iv#1,#2;%
+ {\@ifxempty{#1}%
+ {\let\XC@@clr\@empty \@tempa \expandafter\XC at calc@\XC@@clr,,,,:U%
+ \let\@@mod\XC@@mod \let\@@clr\@@tmp}
+ {\XC at append\@tempa{\XC at split@v{#1}{#2}}%
+ \ifXC@@tst\advance\@tempdima#2\p@\fi
+ \XC at split@iv}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at split@v}
+% \marg{expr}\marg{dec}\\
+% Extract color specification from \Meta{expr}, convert to target model, multiply the resulting vector by the quotient of \Meta{dec} and \Meta{div}, add that vector to the overall parameter vector.
+% \begin{macrocode}
+\def\XC at split@v#1#2%
+ {\def\@@tmp{#1}\XC at split@vi
+ \ifx\@@mod\XC@@mod\else
+ \convertcolorspec\@@mod\@@clr\XC@@mod\@@clr
+ \fi
+ \dimen@#2\p@ \rdivide\dimen@\@tempdima
+ \edef\@@scl{\strip at pt\dimen@}%
+ \expandafter\XC at calc@\@@clr,,,,:S%
+ \ifx\XC@@clr\@empty\let\XC@@clr\@@tmp\else
+ \XC at inflate\XC@@mod\XC@@clr\@@tmp\@@tmp
+ \expandafter\XC at add\@@tmp,\XC@@clr
+ \fi}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at split@vi}
+% Start splitting process for standard color expression.
+% \begin{macrocode}
+\def\XC at split@vi{\count@\z@ \expandafter\XC at split@vii\@@tmp!\@nil}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at split@vii}
+% Count number of `-' signs at the beginning of the string.
+% \begin{macrocode}
+\def\XC at split@vii#1%
+ {\ifx#1-\advance\count@\@ne\expandafter\XC at split@vii
+ \else\expandafter\XC at split@viii\expandafter#1\fi}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at split@viii}
+% Extract \Meta{name} and \Meta{mix expr} part of color expression.
+% Delegate control to |\@xcolor@|.
+% \begin{macrocode}
+\def\XC at split@viii#1!#2\@nil
+ {\edef\@@nam{#1}\edef\@@mix{#2}%
+ \ifodd\count@\@tempswatrue\else\@tempswafalse\fi
+ \@ifundefinedcolor\@@nam
+ {\c at lor@error{`\@@nam'}\def\@@nam{black}}{}%
+ \let\xcolor@\@xcolor@\@nameuse{\string\color@\@@nam}}
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+% \begin{macro}{\XC at postfix}
+% Examine the postfix of a color expression and derive the actions to be taken for color series.
+% \begin{macrocode}
+\def\XC at postfix#1#2]#3\relax
+ {\begingroup
+ \if[#1\@tempcnta#2\relax\XC at stepabs\@@nam
+ \else\@tempcnta\z@
+ \@tfor\@@tok:=#1#2\do
+ {\if+\@@tok\advance\@tempcnta\@ne
+ \else\if-\@@tok\advance\@tempcnta\m at ne
+ \else\@tempcnta\z@\expandafter\@break at tfor\fi\fi}%
+ \ifnum\@tempcnta=\z@\relax\else\XC at step\@@nam\fi
+ \let\@@tmp\@empty
+ \fi\expandafter\endgroup\@@tmp}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at func}
+% \marg{function}|,{|\Meta[1]{arg}|,...,{|\Meta[n]{arg}|}>...\@nnil>|\\
+% General macro to handle color functions.
+% The number of arguments depends on the function.
+% Multiple consecutive functions may be applied.
+% Color model and specifications are input and output via |\@@mod| and |\@@clr|.
+% \begin{macrocode}
+\def\XC at func#1>{\@ifxempty{#1}{\remove at to@nnil}{\XC at fun@#1,>\XC at func}}
+\def\XC at fun@#1,#2>{\@nameuse{XC at func@#1}#2,,>}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at func@wheel}
+% \begin{macro}{\XC at func@twheel}
+% \marg{angle}|,|\marg{full circle}|,>|\\
+% Calculate color wheel position according to \Model{Hsb} or \Model{tHsb} model: \emph{hue} is rotated by \meta{angle} relative to \meta{full circle}.
+% The latter value is taken from |\rangeHsb| if left empty.
+% Finally, |\@@mod| is changed to \Model{hsb}.
+% \begin{macrocode}
+\def\XC at func@wheel#1,#2,#3>{\XC at func@wh at el{#1}{#2}0}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at func@twheel#1,#2,#3>{\XC at func@wh at el{#1}{#2}1}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at func@wh at el#1#2#3%
+ {\convertcolorspec\@@mod\@@clr
+ {\ifcase#3 \XC at mod@Hsb\or\XC at mod@tHsb\fi}\@@clr
+ \expandafter\XC at extract@hue\@@clr:\@@hue \dimen@#1\p@
+ \@ifxempty{#2}{}%
+ {\rdivide\dimen@{#2}\lshift\dimen@
+ \dimen@\rangeHsb\dimen@\rshift\dimen@}%
+ \advance\dimen@\@@hue\p@ \rdivide\dimen@\rangeHsb
+ \edef\@@hue{\strip at pt\dimen@}\XC at calcU\@@hue\@@hue
+ \ifcase#3
+ \expandafter\XC at replace@hue\@@clr:\@@hue,\@@clr
+ \or
+ \XC at c@lcS\rangeHsb{}\@@hue\@@hue
+ \expandafter\XC at replace@hue\@@clr:\@@hue,\@@clr
+ \convertcolorspec\XC at mod@tHsb\@@clr\XC at mod@hsb\@@clr
+ \fi
+ \let\@@mod\XC at mod@hsb}
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+% \begin{macro}{\XC at display}
+% Write information to log file and display the current color.
+% \begin{macrocode}
+\def\XC at display
+ {\XC at bcolor\XC at let@cN{\string\color at .}\XC at current@color
+ \ifnum\XC at type{.}=1
+ \PackageWarning{xcolor}{Incompatible color definition}\else
+ \ifnum\XC at tracing>2
+ \begingroup \let\xcolor@\@empty \def\@nil{\string\@nil}%
+ \PackageInfo{xcolor}{Setting color `\XC at current@color'}%
+ \endgroup
+ \fi\fi
+ \XC at mcolor\set at color\XC at ecolor\ignorespaces}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at bcolor}
+% \begin{macro}{\XC at mcolor}
+% \begin{macro}{\XC at ecolor}
+% Hooks that may be used to execute additional code within |\XC at display| immediately before/after a color is being displayed.
+% Note that |\XC at bcolor| can use the current color information given by |\current at color| and |\XC at current@color| if further manipulation of the color is necessary.
+% These hooks are intended for class/package writers and not used by \XC{} itself.
+% In order to prevent unwanted side effects, please make sure that all internal \XC{} variables are restored properly at the end of |\XC at display|.
+% \begin{macrocode}
+\let\XC at bcolor\relax
+\let\XC at mcolor\relax
+\let\XC at ecolor\relax
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+%
+%
+% \subsubsection{Border colors for hyperlinks}
+%
+% \begin{macro}{\XC at bordercolor}
+% \marg{type}\marg{color}\\
+% Basic macro to transform \Meta{color} into the format required by \Package{hyperref}.
+% Here, \Meta{type} corresponds to the key `x\Meta{type}bordercolor'.
+% \begin{macrocode}
+\def\XC at bordercolor#1#2%
+ {\extractcolorspec{#2}\XC@@tmp
+ \expandafter\convertcolorspec\XC@@tmp\XC at mod@rgb\XC@@tmp
+ \expandafter\edef\csname @#1bordercolor\endcsname
+ {\expandafter\XC at strip@comma\XC@@tmp,\@nnil}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at pdfborder}
+% \Meta[1]{number}| |\Meta[2]{number}| |\Meta[3]{number}|\relax|\\
+% Basic macro to transform a pdfborder expression into a suitable format for \Program{dvips} with a resolution of 8000~dpi.
+% \begin{macrocode}
+\def\XC at pdfborder#1 #2 #3\relax
+ {\def\@@scl{80}\XC at calc@#1,#2,#3,,:S%
+ \edef\@pdfborder{\expandafter\XC at strip@comma\@@tmp,\@nnil}}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \subsubsection{Colored rows in tables}
+%
+% The following definitions make only sense if the \Package{colortbl} package has been loaded by the \Option{table} option.
+% \begin{macrocode}
+\@ifXCopt{table}{%
+% \end{macrocode}
+%
+% \begin{macro}{\rowcolors}
+% \begin{macro}{\rowcolors*}
+% \oarg{commands}\marg{row}\marg{odd-row color}\marg{even-row color}\\
+% Defines alternating colors for the next tabular environment.
+% Starting with row \Meta{row}, odd and even rows get their respective colors.
+% The color arguments may also be left empty (= no color).
+% Optional commands may be |\hline| or |\noalign|\marg{stuff}.
+% \begin{macrocode}
+ \def\rowcolors
+ {\@ifstar{\@rowcmdfalse\rowc at lors}{\@rowcmdtrue\rowc at lors}}
+% \end{macrocode}
+%
+% \begin{macrocode}
+ \def\rowc at lors{\@testopt{\rowc at l@rs}{}}
+% \end{macrocode}
+%
+% \begin{macrocode}
+ \def\rowc at l@rs[#1]#2#3#4%
+ {\global\rownum=\z@
+ \global\@rowcolorstrue
+ \@ifxempty{#3}%
+ {\def\@oddrowcolor{\@norowcolor}}%
+ {\def\@oddrowcolor{\gdef\CT at row@color{\CT at color{#3}}}}%
+ \@ifxempty{#4}%
+ {\def\@evenrowcolor{\@norowcolor}}%
+ {\def\@evenrowcolor{\gdef\CT at row@color{\CT at color{#4}}}}%
+ \if at rowcmd
+ \def\@rowcolors
+ {#1\if at rowcolors
+ \noalign{\relax\ifnum\rownum<#2\@norowcolor\else
+ \ifodd\rownum\@oddrowcolor\else\@evenrowcolor\fi\fi}%
+ \fi}%
+ \else
+ \def\@rowcolors
+ {\if at rowcolors
+ \ifnum\rownum<#2\noalign{\@norowcolor}\else
+ #1\noalign{\ifodd\rownum\@oddrowcolor\else\@evenrowcolor\fi}\fi
+ \fi}%
+ \fi
+ \CT at everycr{\@rowc at lors\the\everycr}%
+ \ignorespaces}
+% \end{macrocode}
+%
+% \begin{macrocode}
+ \def\@rowc at lors{\noalign{\global\advance\rownum\@ne}\@rowcolors}
+ \let\@rowcolors\@empty
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+% \begin{macro}{\showrowcolors}
+% \begin{macro}{\hiderowcolors}
+% Switch coloring mode on/off.
+% \begin{macrocode}
+ \def\showrowcolors{\noalign{\global\@rowcolorstrue}\@rowcolors}
+ \def\hiderowcolors{\noalign{\global\@rowcolorsfalse\@norowcolor}}
+ \def\@norowcolor{\global\let\CT at row@color\relax}
+ \@norowcolor
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+% \begin{macro}{\if at rowcolors}
+% \begin{macro}{\if at rowcmd}
+% \begin{macrocode}
+ \newif\if at rowcolors
+ \newif\if at rowcmd
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+% \begin{macro}{\rownum}
+% Reserve a counter register.
+% \begin{macrocode}
+ \@ifundefined{rownum}{\newcount\rownum}{}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\CT at extract}
+% This is a fix for active `!' character to enable color expressions; it is apparently only necessary for |\columncolor| commands within |\multicolumn|.
+% \begin{macrocode}
+ \def\CT at extract#1\columncolor#2#3\@nil
+ {\if!#2%
+ \let\CT at column@color\@empty
+ \else
+ \if[#2%
+ \expandafter\CT at extractb
+ \else
+ \XC at edef\XC@@tmp{#2}%
+ \edef\CT at column@color{\noexpand\CT at color{\XC@@tmp}}%
+ \expandafter\CT at extractd
+ \fi
+ {#1}#3\@nil
+ \fi}
+% \end{macrocode}
+% \end{macro}
+%
+% End of conditional code for colored tables.
+% \begin{macrocode}
+}{}
+% \end{macrocode}
+%
+%
+% \subsubsection{Color information}
+%
+% \begin{macro}{\extractcolorspec}
+% \marg{color}\marg{cmd}\\
+% Extracts the color specification of \Meta{color} and puts it into \Meta{cmd}; equivalent to
+% |\def|\Meta{cmd}|{|\marg{model}\marg{spec}|}|.
+% \begin{macrocode}
+\def\extractcolorspec#1#2%
+ {\XC at split{#1}\edef\@@tmp{{\@@mod}{\@@clr}}\aftergroupdef#2\@@tmp}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\extractcolorspecs}
+% \marg{color}\marg{model-cmd}\marg{color-cmd}\\
+% Extracts the color specification of \Meta{color} and puts it into \Meta{model-cmd} and \Meta{color-cmd}, respectively.
+% \begin{macrocode}
+\def\extractcolorspecs#1#2#3%
+ {\extractcolorspec{#1}#3%
+ \edef#2{\expandafter\@firstoftwo#3}%
+ \edef#3{\expandafter\@secondoftwo#3}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at extract@hue}
+% Extract first entry of comma-separated value list.
+% \begin{macrocode}
+\def\XC at extract@hue#1,#2:#3{\edef#3{#1}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at extract@hue}
+% Change first entry of comma-separated value list.
+% \begin{macrocode}
+\def\XC at replace@hue#1,#2:#3,#4{\edef#4{#3,#2}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\@ifundefinedcolor}
+% \marg{name}\marg{undefined}\marg{defined}\\
+% Checks whether \Meta{name} is a defined color name and executes the respective code.
+% \begin{macrocode}
+\def\@ifundefinedcolor#1{\@ifundefined{\string\color@#1}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\@ifundefinedmodel}
+% \marg{model}\marg{undefined}\marg{defined}\\
+% Checks whether \Meta{model} is a defined color model and executes the respective code.
+% \begin{macrocode}
+\def\@ifundefinedmodel#1{\@ifundefined{color@#1}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at type}
+% \marg{name}\\
+% Determines the \emph{type} of color \Meta{name}, expressed as a natural number (here, $t_1,t_2,\dots$ denote the tokens of |\\color@|\Meta{name}):
+% \begin{center}
+% \begin{tabular}{cll}
+% \em type& \em description& \em conditions\\
+% 0 & undefined\\
+% 1 & unidentified& $t_1\neq|\xcolor@|$\\
+% 2 & named & $t_1=|\xcolor@|\quad t_2\neq\emptyset$\\
+% 3 & declared & $t_1=|\xcolor@|\quad t_2=\emptyset\quad t_3\neq\emptyset$\\
+% 4 & undeclared & $t_1=|\xcolor@|\quad t_2=\emptyset\quad t_3=\emptyset$\\
+% \end{tabular}
+% \end{center}
+% \begin{macrocode}
+\def\XC at type#1%
+ {\expandafter\expandafter\expandafter\XC at typ@
+ \csname\string\color@#1\endcsname\@empty\@empty\@empty\XC@@}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at typ@#1#2#3#4\XC@@
+ {\ifx#1\relax 0\else
+ \ifx#1\xcolor@
+ \ifx$#2$%
+ \ifx$#3$4\else3\fi\@gobbletwo
+ \else2\fi\@gobbletwo
+ \else1\fi
+ \fi}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at info}
+% \marg{color}\marg{cmd}\\
+% Determines the \emph{type} of color \Meta{color}, expressed as a natural number; the result is stored in \Meta{cmd}.
+% \begin{center}
+% \begin{tabular}{cll}
+% \em type& \em description& \em examples\\
+% 0 & implicit name& `|.|'\\
+% 1 & explicit name& `|red|', `|green|'\\
+% 2 & standard color expression& `|-red|', `|green!50|'\\
+% 3 & extended color expression& `|rgb:-red,1;green!50,2|'\\
+% 4 & color function expression& `|rgb:-red,1;green!50,2>wheel,30|'\\
+% \end{tabular}
+% \end{center}
+% \begin{macrocode}
+\def\XC at info#1#2%
+ {\XC at edef#2{#1}%
+ \if.#2\def#2{0}\else\expandafter\in@\expandafter>\expandafter{#2}%
+ \ifin@\def#2{4}\else\expandafter\in@\expandafter:\expandafter{#2}%
+ \ifin@\def#2{3}\else\expandafter\in@\expandafter!\expandafter{#2}%
+ \ifin@\def#2{2}\else\edef#2{\noexpand\in@{/-}{/#2}}#2%
+ \edef#2{\ifin at 2\else1\fi}\fi\fi\fi\fi}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\tracingcolors}
+% Put the integer following |\tracingcolors| into the macro |\XC at tracing|.
+% \begin{macrocode}
+\def\tracingcolors{\begingroup\afterassignment\XC at tracingcolors\count@}
+\def\XC at tracingcolors{\aftergroupdef\XC at tracing{\the\count@}}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\tracingcolors=0
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at logdef}
+% \marg{name}\\
+% Issue a log file information if color \Meta{name} is being (re)defined.
+% \begin{macrocode}
+\def\XC at logdef#1%
+ {\ifnum\XC at tracing>1
+ \@ifundefinedcolor{#1}%
+ {\ifnum\XC at tracing>2
+ \PackageInfo{xcolor}{Defining color `#1'}%
+ \fi}%
+ {\PackageInfo{xcolor}{Redefining color `#1'}}%
+ \fi}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \subsubsection{Color testing}
+%
+% \begin{environment}{testcolors}
+% \oarg{num models}\\
+% This is a simple tabular environment in order to test (display) colors in different models, showing both the visual result and the model-specific parameters.
+% The optional \Meta{num models} argument is a comma-separated list of \emph{numerical} color models.
+% \begin{macrocode}
+\newenvironment*{testcolors}[1][rgb,cmyk,hsb,HTML]%
+ {\let\@@nam\@empty\count@\z@
+ \@for\@@tmp:=#1\do
+ {\advance\count@\@ne
+ \XC at sdef\@@tmp{\@@tmp}\edef\@@nam{\@@nam{\@@tmp}}}%
+ \edef\@@num{\the\count@}%
+% \end{macrocode}
+%
+% Check whether the actual font belongs to a set of OT1-encoded monospaced fonts in order to display |>| instead of |\textgreater|.
+% \begin{macro}{\XC@@gt}
+% \begin{macrocode}
+ \def\XC@@gt{\textgreater}\def\@@tmp{OT1}%
+ \ifx\f at encoding\@@tmp
+ \@expandtwoargs\in@{,\f at family,}{,cmtt,pcr,}%
+ \ifin@\def\XC@@gt{>}\fi
+ \fi
+% \end{macrocode}
+% \end{macro}
+%
+% Disable prologue and tracing commands for temporary color definitions.
+% \begin{macrocode}
+% \XC@@xcpfalse \ifnum\XC at tracing>1 \def\XC at tracing{1}\fi
+ \def\XC@@xcp@{-1}\ifnum\XC at tracing>1 \def\XC at tracing{1}\fi
+% \end{macrocode}
+%
+% \begin{macro}{\testcolor}
+% \marg{color}\\
+% \oarg{model-list}\marg{spec-list}\\
+% Each |\testcolor| command generates a table row.
+% If the column-model matches the model of the color in question, its parameters are underlined.
+% \begin{macrocode}
+ \def\testcolor{\@testopt{\@testcolor}{}}%
+ \def\@testcolor[##1]##2%
+ {\XC at mdef\@@mod{##1}\XC at edef\@@clr{##2}%
+ \ifx\@@mod\@empty
+ \let\@@arg\@@clr\XC at replace\@@arg>\XC@@gt\else
+ \edef\@@arg{[\@@mod]{\@@clr}}\XC at definecolor[]{*}\@@mod\@@clr
+ \def\@@clr{*}\fi
+ \XC at append\@@arg{&}\extractcolorspecs\@@clr\@@mod\@@clr
+ \@testc at lor}%
+% \end{macrocode}
+% \end{macro}
+%
+% Common loop macro for table head and |\testcolor| rows.
+% Note that this command is only available within the |testcolors| environment.
+% \begin{macrocode}
+ \def\@testc at lor
+ {\count@\z@
+ \expandafter\@tfor\expandafter\@@tmp\expandafter:\expandafter=\@@nam\do
+ {\ifx\@@clr\@empty
+ \edef\@@cmd{\noexpand\textbf{\@@tmp}}%
+ \else
+ \convertcolorspec\@@mod\@@clr\@@tmp\@@cmd
+ \edef\@@cmd
+ {\noexpand\@testc at l@r{\@@tmp}{\@@cmd}%
+ \ifx\@@mod\@@tmp\noexpand\underline\fi
+ {\expandafter\XC at strip@comma\@@cmd,,\@nnil}}%
+ \fi
+ \expandafter\XC at append\expandafter\@@arg\expandafter{\@@cmd}%
+ \advance\count@\@ne
+ \ifnum\count@=\@@num\XC at append\@@arg{\\}\else\XC at append\@@arg{&}\fi}%
+ \@@arg}%
+% \end{macrocode}
+%
+% Display color sample box:
+% \begin{macrocode}
+ \def\@testc at l@r##1##2%
+ {\fboxsep\z@\fbox{\colorbox[##1]{##2}{\phantom{XX}}} }%
+% \end{macrocode}
+%
+% Now start the table:
+% \begin{macrocode}
+ \tabular{@{}l*{\@@num}{l}@{}}%
+ \def\@@arg{\textbf{color}& }\let\@@clr\@empty\@testc at lor}%
+% \end{macrocode}
+%
+% End of environment:
+% \begin{macrocode}
+ {\endtabular\ignorespacesafterend}
+% \end{macrocode}
+% \end{environment}
+%
+%
+% \subsubsection{Extra groups}
+% Turning on extra groups in the standard \LaTeX\ commands, so that color commands are scoped corectly.
+%
+% Like |\normalcolor|, the following five commands are defined in the kernel, with empty definitions (|\relax|).
+% This means that they can be used to make macros in packages `color safe'.
+% The commands will not have any effect unless a user also uses a color package, when the `active definitions' here will take effect and keep color commands correctly scoped.
+%
+% \begin{macro}{\color at setgroup}
+% This is to be used in contexts (e.g., `lrbox') where text is to be saved and used after some other, unknown, text that may contain color commands.
+% A matching |\color at endgroup| should be used at the end of the text.
+% \begin{macrocode}
+\def\color at setgroup{\begingroup\set at color}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\color at begingroup}
+% This is to be used at the start of contexts that may contain color commands, but where it is not necessary to save the current color.
+% Examples of this are in the box commands of \File{ltboxes.dtx} where user-supplied text is saved internally in a box between |\color at begingroup|, |\color at endgroup|, but the box is used before any other color commands could intervene.
+% A matching |\color at endgroup| should be used at the end of the text.
+% \begin{macrocode}
+\let\color at begingroup\begingroup
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\color at endgroup}
+% To be used to close the `group' started by one of the above two commands.
+% The |\endgraf| in its definition is required in the case of groups of text in vertical `par' mode, but doesn't do any harm in horizontal `LR' contexts.
+% \begin{macrocode}
+\def\color at endgroup{\endgraf\endgroup}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\color at hbox}
+% To be used to open a `colored hbox'
+% \begin{macrocode}
+\def\color at hbox{\hbox\bgroup\color at begingroup}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\color at vbox}
+% To be used to open a `colored hbox'
+% \begin{macrocode}
+\def\color at vbox{\vbox\bgroup\color at begingroup}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\color at endbox}
+% To be used to close a `colored (h/v)box'
+% \begin{macrocode}
+\def\color at endbox{\color at endgroup\egroup}
+% \end{macrocode}
+% \end{macro}
+%
+%
+%
+% \subsection{Color calculation}
+%
+% \subsubsection{Color conversion}
+%
+% \begin{macro}{\convertcolorspec}
+% \marg{source model}\marg{spec}\marg{target model}\marg{cmd}\\
+% General color conversion command.
+% \begin{macrocode}
+\def\convertcolorspec#1#2#3#4%
+ {\begingroup
+ \XC at sdef\sm{#1}\XC at sdef\tm{#3}\edef\@@tmp{#2}%
+ \ifx\sm\XC at mod@named\extractcolorspecs\@@tmp\sm\@@tmp\fi
+ \ifx\sm\tm\else\csname XC at cnv@\sm\expandafter\endcsname\@@tmp,\fi
+ \aftergroupdef#4\@@tmp}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at coremodel}
+% \marg{model-cmd}\marg{color-cmd}\\
+% Convert color, given by \marg{model-cmd} and \marg{color-cmd}, into parametrisation in one of the \emph{core} models.
+% The result is again saved in \marg{model-cmd} and \marg{color-cmd}.
+% \begin{macrocode}
+\def\XC at coremodel#1#2%
+ {\XC at ifxcase#1%
+ {\XC at mod@RGB {\convertcolorspec#1#2\XC at mod@rgb#2\let#1\XC at mod@rgb}%
+ \XC at mod@HTML{\convertcolorspec#1#2\XC at mod@rgb#2\let#1\XC at mod@rgb}%
+ \XC at mod@Hsb {\convertcolorspec#1#2\XC at mod@hsb#2\let#1\XC at mod@hsb}%
+ \XC at mod@tHsb{\convertcolorspec#1#2\XC at mod@hsb#2\let#1\XC at mod@hsb}%
+ \XC at mod@HSB {\convertcolorspec#1#2\XC at mod@hsb#2\let#1\XC at mod@hsb}%
+ \XC at mod@Gray{\convertcolorspec#1#2\XC at mod@gray#2\let#1\XC at mod@gray}%
+ \XC at mod@wave{\convertcolorspec#1#2\XC at mod@hsb#2\let#1\XC at mod@hsb}%
+ \XC at mod@named{}%
+ \XC at mod@ps{}}%
+ {\expandafter\XC at calc@#2,,,,:N\let#2\@@tmp}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at cnv@rgb}
+% \Meta{red}|,|\Meta{green}|,|\Meta{blue}|,|
+% \begin{macrocode}
+\def\XC at cnv@rgb#1,#2,#3,%
+ {\XC at ifxcase\tm
+ {\XC at mod@cmy {\XC at calc@#1,#2,#3,,:C}%
+ \XC at mod@cmyk
+ {\XC at calc@#1,#2,#3,,:C\expandafter\XC at cnv@cmy at cmyk\@@tmp,}%
+ \XC at mod@RGB {\edef\@@scl{\rangeRGB}\XC at calc@#1,#2,#3,,:M}%
+ \XC at mod@HTML{\edef\@@scl{\@cclv}\XC at calc@#1,#2,#3,,:M%
+ \expandafter\XC at calc@\@@tmp,,:H%
+ \expandafter\XC at cnv@rgb at HTML\@@tmp,}%
+ \XC at mod@gray{\XC at cnv@rgb at gray#1,#2,#3,}%
+ \XC at mod@Gray{\XC at cnv@rgb at gray#1,#2,#3,\XC at cnv@gray\@@tmp,}}%
+ {\XC at cnv@rgb at hsb#1,#2,#3,\XC at cnv@hsb@}}
+% \end{macrocode}
+%
+% \begin{macro}{\XC at cnv@rgb@}
+% \begin{macrocode}
+\def\XC at cnv@rgb@
+ {\ifx\tm\XC at mod@rgb\else\expandafter\XC at cnv@rgb\@@tmp,\fi}
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+% \begin{macro}{\XC at cnv@rgb at hsb}
+% \Meta{red}|,|\Meta{green}|,|\Meta{blue}|,|
+% \begin{macrocode}
+\def\XC at cnv@rgb at hsb#1,#2,#3,%
+ {\count@\z@
+ \ifdim#2\p@>#1\p@ \else\advance\count at 4 \fi
+ \ifdim#3\p@>#2\p@ \else\advance\count at 2 \fi
+ \ifdim#1\p@>#3\p@ \else\advance\count at 1 \fi
+ \ifcase\count@\or
+ \XC at c@v at rgb@hsb{#3}{#2}{#1}3{}\or
+ \XC at c@v at rgb@hsb{#2}{#1}{#3}1{}\or
+ \XC at c@v at rgb@hsb{#2}{#3}{#1}3-\or
+ \XC at c@v at rgb@hsb{#1}{#3}{#2}5{}\or
+ \XC at c@v at rgb@hsb{#3}{#1}{#2}5-\or
+ \XC at c@v at rgb@hsb{#1}{#2}{#3}1-\or
+ \def\@tempa{0}\def\@tempb{0}\XC at calcN{#3}\@tempc
+ \fi
+ \edef\@@tmp{\@tempa,\@tempb,\@tempc}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at c@v at rgb@hsb}
+% \marg{max}\marg{med}\marg{min}\marg{const}\marg{sign}
+% \begin{macrocode}
+\def\XC at c@v at rgb@hsb#1#2#3#4#5%
+ {\XC at calcN{#1}\@tempc \llshiftset\dimen@{#1}%
+ \llshiftset\@tempdimb{-#3}\advance\@tempdimb\dimen@
+ \llshiftset\@tempdima{-#5#2}\advance\@tempdima#5\dimen@
+ \advance\@tempdima#4\@tempdimb \rdivide\@tempdima{6\@tempdimb}%
+ \edef\@tempa{\ifdim\@tempdima>\p at 1\else\strip at pt\@tempdima\fi}%
+ \rdivide\@tempdimb\dimen@
+ \edef\@tempb{\strip at pt\@tempdimb}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at cnv@rgb at gray}
+% \Meta{red}|,|\Meta{green}|,|\Meta{blue}|,|
+% \begin{macrocode}
+\def\XC at cnv@rgb at gray#1,#2,#3,%
+ {\llshiftset\dimen@{#1}\@tempdima30\dimen@
+ \llshiftset\dimen@{#2}\advance\@tempdima59\dimen@
+ \llshiftset\dimen@{#3}\advance\@tempdima11\dimen@
+ \rrshift\@tempdima \rdivide\@tempdima{100}%
+ \edef\@@tmp{\strip at pt\@tempdima}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at cnv@rgb at HTML}
+% \Meta{red}|,|\Meta{green}|,|\Meta{blue}|,|
+% \begin{macrocode}
+\def\XC at cnv@rgb at HTML#1,#2,#3,%
+ {\edef\@@tmp{#1#2#3}}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \begin{macro}{\XC at cnv@cmy}
+% \Meta{cyan}|,|\Meta{magenta}|,|\Meta{yellow}|,|
+% \begin{macrocode}
+\def\XC at cnv@cmy#1,#2,#3,%
+ {\XC at ifxcase\tm
+ {\XC at mod@cmyk{\XC at cnv@cmy at cmyk#1,#2,#3,}%
+ \XC at mod@gray{\XC at cnv@rgb at gray#1,#2,#3,\XC at calcC\@@tmp\@@tmp}%
+ \XC at mod@Gray{\XC at cnv@rgb at gray#1,#2,#3,\XC at calcC\@@tmp\@@tmp
+ \XC at cnv@gray\@@tmp,}}%
+ {\XC at calc@#1,#2,#3,,:C\XC at cnv@rgb@}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at cnv@cmy at cmyk}
+% \Meta{cyan}|,|\Meta{magenta}|,|\Meta{yellow}|,|\\
+% This transformation includes linear \emph{undercolor-removal} and \emph{black-generation}, as specified by the 4-dimensional parameter vector |\adjustUCRBG|.
+% \begin{macrocode}
+\def\XC at cnv@cmy at cmyk#1,#2,#3,%
+ {\edef\@@scl
+ {\ifdim#1\p@<#2\p@
+ \ifdim#1\p@<#3\p@ #1\else #3\fi \else
+ \ifdim#2\p@<#3\p@ #2\else #3\fi \fi}%
+ \expandafter\XC at calc@\adjustUCRBG,:S%
+ \expandafter\XC at c@v at cmy@cmyk\@@tmp,#1,#2,#3,}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at c@v at cmy@cmyk#1,#2,#3,#4,#5,#6,#7,%
+ {\XC at add#5,#6,#7,,-#1,-#2,-#3,,\@@tmp \edef\@@tmp{\@@tmp,#4}%
+ \expandafter\XC at calc@\@@tmp,:N}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \begin{macro}{\XC at cnv@cmyk}
+% \Meta{cyan}|,|\Meta{magenta}|,|\Meta{yellow}|,|\Meta{black}|,|
+% \begin{macrocode}
+\def\XC at cnv@cmyk#1,#2,#3,#4,%
+ {\XC at ifxcase\tm
+ {\XC at mod@gray{\XC at cnv@rgb at gray#1,#2,#3,\edef\@@arg{#4}%
+ \XC at calcT\@@tmp\@@tmp \XC at calcC\@@tmp\@@tmp}%
+ \XC at mod@Gray{\XC at cnv@rgb at gray#1,#2,#3,\edef\@@arg{#4}%
+ \XC at calcT\@@tmp\@@tmp \XC at calcC\@@tmp\@@tmp \XC at cnv@gray\@@tmp,}}%
+ {\XC at cnv@cmyk at cmy#1,#2,#3,#4,%
+ \ifx\tm\XC at mod@cmy\else\expandafter\XC at cnv@cmy\@@tmp,\fi}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at cnv@cmyk at cmy}
+% \Meta{cyan}|,|\Meta{magenta}|,|\Meta{yellow}|,|\Meta{black}|,|
+% \begin{macrocode}
+\def\XC at cnv@cmyk at cmy#1,#2,#3,#4,%
+ {\edef\@@arg{#4}\XC at calc@#1,#2,#3,,:T}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \begin{macro}{\XC at cnv@hsb}
+% \Meta{hue}|,|\Meta{saturation}|,|\Meta{brightness}|,|
+% \begin{macrocode}
+\def\XC at cnv@hsb#1,#2,#3,%
+ {\XC at ifxcase\tm
+ {\XC at mod@Hsb {\XC at cnv@hsb at Hsb#1,#2,#3,}%
+ \XC at mod@tHsb{\XC at cnv@hsb at Hsb#1,#2,#3,\expandafter\XC at cnv@Hsb\@@tmp,}%
+ \XC at mod@HSB {\edef\@@scl{\rangeHSB}\XC at calc@#1,#2,#3,,:M}}%
+ {\XC at cnv@hsb at rgb#1,#2,#3,\XC at cnv@rgb@}}
+% \end{macrocode}
+%
+% \begin{macro}{\XC at cnv@hsb@}
+% \begin{macrocode}
+\def\XC at cnv@hsb@
+ {\ifx\tm\XC at mod@hsb\else\expandafter\XC at cnv@hsb\@@tmp,\fi}
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+% \begin{macro}{\XC at cnv@hsb at rgb}
+% \Meta{hue}|,|\Meta{saturation}|,|\Meta{brightness}|,|
+% \begin{macrocode}
+\def\XC at cnv@hsb at rgb#1,#2,#3,%
+ {\llshiftset\dimen@{#1}\dimen at 6\dimen@ \rrshift\dimen@
+ \afterassignment\dimen@\count@=\the\dimen@
+ \edef\@@tmp{\strip at pt\dimen@}%
+ \ifodd\count@\else\XC at calcC\@@tmp\@@tmp\fi
+ \edef\@@tmp
+ {\ifcase\count@ 0,\@@tmp,1\or \@@tmp,0,1\or 1,0,\@@tmp\or
+ 1,\@@tmp,0\or \@@tmp,1,0\or 0,1,\@@tmp\or 0,\@@tmp,1\fi}%
+ \edef\@@scl{#2}\expandafter\XC at calc@\@@tmp,,:S%
+ \expandafter\XC at calc@\@@tmp,,:C%
+ \edef\@@scl{#3}\expandafter\XC at calc@\@@tmp,,:S%
+ \expandafter\XC at calc@\@@tmp,,:N}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at cnv@hsb at Hsb}
+% \Meta{hue}|,|\Meta{saturation}|,|\Meta{brightness}|,|
+% \begin{macrocode}
+\def\XC at cnv@hsb at Hsb#1,#2,#3,%
+ {\XC at c@lcS\rangeHsb{,#2,#3}{#1}\@@tmp}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at cnv@gray}
+% \Meta{gray}|,|
+% \begin{macrocode}
+\def\XC at cnv@gray#1,%
+ {\XC at ifxcase\tm
+ {\XC at mod@rgb {\XC at calcN{#1}\@@tmp \edef\@@tmp{\@@tmp,\@@tmp,\@@tmp}}%
+ \XC at mod@cmy {\XC at calcC{#1}\@@tmp \edef\@@tmp{\@@tmp,\@@tmp,\@@tmp}}%
+ \XC at mod@cmyk{\XC at calcC{#1}\@@tmp \edef\@@tmp{0,0,0,\@@tmp}}%
+ \XC at mod@RGB {\edef\@@scl{\rangeRGB}\XC at calcM{#1}\@@tmp
+ \edef\@@tmp{\@@tmp,\@@tmp,\@@tmp}}%
+ \XC at mod@HTML{\edef\@@scl{\@cclv}\XC at calcM{#1}\@@tmp
+ \XC at calcH\@@tmp\@@tmp \edef\@@tmp{\@@tmp\@@tmp\@@tmp}}%
+ \XC at mod@HSB {\edef\@@scl{\rangeHSB}\XC at calcM{#1}\@@tmp
+ \edef\@@tmp{0,0,\@@tmp}}%
+ \XC at mod@Gray{\edef\@@scl{\rangeGray}\XC at calcM{#1}\@@tmp}}%
+ {\XC at calcN{#1}\@@tmp \edef\@@tmp{0,0,\@@tmp}}}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \begin{macro}{\XC at cnv@RGB}
+% \Meta{Red}|,|\Meta{Green}|,|\Meta{Blue}|,|
+% \begin{macrocode}
+\def\XC at cnv@RGB#1,#2,#3,%
+ {\edef\@@scl{\rangeRGB}\XC at calc@#1,#2,#3,,:D\XC at cnv@rgb@}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \begin{macro}{\XC at cnv@HTML}
+% \Meta{RRGGBB}|,|
+% \begin{macrocode}
+\def\XC at cnv@HTML#1,%
+ {\edef\@@tmp{\expandafter\@hex at Hex#1\relax}\expandafter\XC at cnv@HTML@\@@tmp
+ \edef\@@scl{\@cclv}\expandafter\XC at calc@\@@tmp,,:D\XC at cnv@rgb@}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at cnv@HTML@#1#2#3#4#5#6%
+ {\edef\@@tmp{\number"#1#2,\number"#3#4,\number"#5#6}}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \begin{macro}{\XC at cnv@Hsb}
+% \Meta{hue\Circ}|,|\Meta{saturation}|,|\Meta{brightness}|,|
+% \begin{macrocode}
+\def\XC at cnv@Hsb#1,#2,#3,%
+ {\ifx\tm\XC at mod@tHsb\XC at cnv@@Hsb#1,#2,#3,\XC at cnv@Hsb@
+ \else\XC at cnv@Hsb at hsb#1,#2,#3,\XC at cnv@hsb@\fi}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at cnv@Hsb at hsb}
+% \Meta{hue\Circ}|,|\Meta{saturation}|,|\Meta{brightness}|,|
+% \begin{macrocode}
+\def\XC at cnv@Hsb at hsb#1,#2,#3,%
+ {\XC at c@lcD\rangeHsb{,#2,#3}{#1}\@@tmp}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at cnv@@Hsb}
+% \Meta{hue\Circ}|,|\Meta{saturation}|,|\Meta{brightness}|,|\marg{cmd}
+% \begin{macrocode}
+\def\XC at cnv@@Hsb#1,#2,#3,#4%
+ {\dimen@\rangeHsb\p@ \advance\dimen@\p@ \edef\@@tmp{\strip at pt\dimen@}%
+ \edef\@@tmp{0,0;\rangetHsb;\rangeHsb,\rangeHsb;\@@tmp,\@@tmp;}%
+ \dimen@#1\p@ \expandafter#4\@@tmp\@nnil
+ \edef\@@tmp{\strip at pt\dimen@,#2,#3}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at cnv@Hsb@}
+% \Meta{x}|,|\Meta{y}|;|\Meta{x'}|,|\Meta{y'}|;|
+% \begin{macrocode}
+\def\XC at cnv@Hsb@#1,#2;#3,#4;%
+ {\ifdim\dimen@<#4\p@
+ \@tempdima#3\p@ \advance\@tempdima-#1\p@
+ \@tempdimb#4\p@ \advance\@tempdimb-#2\p@
+ \rdivide\@tempdima\@tempdimb
+ \advance\dimen at -#2\p@ \rmultiply\dimen@{\strip at pt\@tempdima}%
+ \advance\dimen@#1\p@ \expandafter\remove at to@nnil
+ \else
+ \def\@@tmp{\XC at cnv@Hsb@#3,#4;}\expandafter\@@tmp
+ \fi}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \begin{macro}{\XC at cnv@tHsb}
+% \Meta{hue\Circ}|,|\Meta{saturation}|,|\Meta{brightness}|,|
+% \begin{macrocode}
+\def\XC at cnv@tHsb#1,#2,#3,%
+ {\XC at cnv@@Hsb#1,#2,#3,\XC at cnv@tHsb@
+ \ifx\tm\XC at mod@Hsb\else\expandafter\XC at cnv@Hsb\@@tmp,\fi}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at cnv@tHsb@}
+% \Meta{x}|,|\Meta{y}|;|\Meta{x'}|,|\Meta{y'}|;|
+% \begin{macrocode}
+\def\XC at cnv@tHsb@#1,#2;#3,#4;%
+ {\ifdim\dimen@<#3\p@
+ \@tempdima#4\p@ \advance\@tempdima-#2\p@
+ \@tempdimb#3\p@ \advance\@tempdimb-#1\p@
+ \rdivide\@tempdima\@tempdimb
+ \advance\dimen at -#1\p@ \rmultiply\dimen@{\strip at pt\@tempdima}%
+ \advance\dimen@#2\p@ \expandafter\remove at to@nnil
+ \else
+ \def\@@tmp{\XC at cnv@tHsb@#3,#4;}\expandafter\@@tmp
+ \fi}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \begin{macro}{\XC at cnv@HSB}
+% \Meta{Hue}|,|\Meta{Saturation}|,|\Meta{Brightness}|,|
+% \begin{macrocode}
+\def\XC at cnv@HSB#1,#2,#3,%
+ {\edef\@@scl{\rangeHSB}\XC at calc@#1,#2,#3,,:D\XC at cnv@hsb@}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \begin{macro}{\XC at cnv@Gray}
+% \Meta{Gray}|,|
+% \begin{macrocode}
+\def\XC at cnv@Gray#1,%
+ {\XC at c@lcD\rangeGray{}{#1}\@@tmp \XC at cnv@gray\@@tmp,}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \begin{macro}{\XC at cnv@wave}
+% \Meta{lambda}|,|
+% \begin{macrocode}
+\def\XC at cnv@wave#1,%
+ {\XC at cnv@wave at hsb#1,\XC at cnv@hsb@}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at cnv@wave at hsb}
+% \Meta{lambda}|,|
+% \begin{macrocode}
+\def\XC at cnv@wave at hsb#1,%
+ {\@tempdima#1\p@
+% \end{macrocode}
+%
+% Calculate hue:
+% \begin{macrocode}
+ \ifdim\@tempdima<440\p@
+ \XC at c@v at wave@hsb{-.0166667}{7.33333}4{}\else
+ \ifdim\@tempdima<490\p@
+ \XC at c@v at wave@hsb{.02}{-8.8}4-\else
+ \ifdim\@tempdima<510\p@
+ \XC at c@v at wave@hsb{-.05}{25.5}2{}\else
+ \ifdim\@tempdima<580\p@
+ \XC at c@v at wave@hsb{.0142857}{-7.28571}2-\else
+ \ifdim\@tempdima<645\p@
+ \XC at c@v at wave@hsb{-.0153846}{9.92308}0{}\else
+ \dimen@\z@ \fi\fi\fi\fi\fi
+ \divide\dimen at 6\relax
+ \edef\@@tmp{\strip at pt\dimen@,1,}%
+% \end{macrocode}
+%
+% Calculate brightness:
+% \begin{macrocode}
+ \ifdim\@tempdima<420\p@
+ \XC at c@v at wave@hsb{.0175}{-6.35}0{}\else
+ \ifdim\@tempdima>700\p@
+ \XC at c@v at wave@hsb{-.00875}{7.125}0{}\else
+ \dimen@\p@ \fi\fi
+ \edef\@@tmp{\@@tmp\strip at pt\dimen@}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at c@v at wave@hsb}
+% \marg{factor}\marg{const}\marg{offset}\marg{sign}\\
+% Calculates $\Meta{offset} + \Meta{sign}\cdot\varrho\bigl(\Meta{const} + \Meta{factor}\cdot\lambda\bigr)$, where $\varrho$ is the reduction function.
+% The result is stored in |\dimen@|.
+% \begin{macrocode}
+\def\XC at c@v at wave@hsb#1#2#3#4%
+ {\dimen@#1\@tempdima \advance\dimen@#2\p@
+ \XC at calcR{\strip at pt\dimen@}\@tempa
+ \dimen@#4\@tempa\p@ \advance\dimen@#3\p@}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \subsubsection{Color complement}
+%
+% \begin{macro}{\XC at cnv@cmyk at compl}
+% \Meta{cyan}|,|\Meta{magenta}|,|\Meta{yellow}|,|\Meta{black}|,|
+% \begin{macrocode}
+\def\XC at cnv@cmyk at compl#1,#2,#3,#4,%
+ {\XC at cnv@cmyk at cmy#1,#2,#3,#4,%
+ \expandafter\XC at calc@\@@tmp,,:C\expandafter\XC at cnv@cmy at cmyk\@@tmp,}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\XC at cnv@hsb at compl}
+% \Meta{hue}|,|\Meta{saturation}|,|\Meta{brightness}|,|
+% \begin{macrocode}
+\def\XC at cnv@hsb at compl#1,#2,#3,%
+ {\lshiftset\dimen@{#1}\advance\dimen@\ifdim\dimen@<5\p at -\fi-5\p@
+ \rshift\dimen@ \edef\@@tmp{\strip at pt\dimen@}%
+ \lshiftset\dimen@{#3}\@tempdima#2\dimen@
+ \@tempdimb\@tempdima \advance\@tempdimb10\p@ \advance\@tempdimb-\dimen@
+ \ifdim\@tempdimb=\z@
+ \edef\@@tmp{\@@tmp,0,0}%
+ \else
+ \rdivide\@tempdima\@tempdimb \rshift\@tempdimb
+ \edef\@@tmp{\@@tmp,\strip at pt\@tempdima,\strip at pt\@tempdimb}%
+ \fi}
+% \end{macrocode}
+% \end{macro}
+%
+%
+%
+% \subsection{Color initialisation}
+%
+% \subsubsection{Support for missing color models}
+%
+% These macros provide generic support for missing color models in specific drivers.
+% For example, \File{pdftex.def} does not support the \Model{hsb} model.
+% It is assumed that at least one of the models \Model{rgb}, \Model{RGB}, \Model{HTML}, \Model{hsb}, \Model{Hsb}, \Model{HSB}, \Model{cmy}, \Model{cmyk}, \Model{gray}, \Model{Gray} exists.
+%
+% \begin{macro}{\substitutecolormodel}
+% \marg{source model}\marg{target model-list}\\
+% Substitute \Meta{source model} by the first actually present model from \Meta{target model-list}:
+% each reference to the driver-specific command |\color@|\Meta{source model} is replaced by a color model conversion, followed by the driver-specific command |\color@|\Meta{target model}.
+% \begin{macrocode}
+\def\substitutecolormodel#1#2%
+ {\XC at sdef\XC@@tmp{\expandafter\XC at substitutecolormodel#2/ignore/\@nnil}%
+ \ifx\XC@@tmp\XC at mod@ignore
+ \XC at let@cN{color@#1}\color at ignore
+ \else
+ \expandafter\edef\csname color@#1\endcsname##1##2%
+ {\noexpand\convertcolorspec
+ \expandafter\noexpand\csname XC at mod@#1\endcsname{##2}%
+ \expandafter\noexpand\csname XC at mod@\XC@@tmp\endcsname
+ \noexpand\XC@@tmp\noexpand\expandafter
+ \expandafter\noexpand\csname color@\XC@@tmp\endcsname
+ \noexpand\expandafter##1\noexpand\expandafter{\noexpand\XC@@tmp}}%
+ \fi
+ \expandafter\xglobalize@\csname color@#1\endcsname \xglobal at stop
+ \PackageInfo{xcolor}{Model `#1' substituted by `\XC@@tmp'}}
+% \end{macrocode}
+%
+% \begin{macrocode}
+\def\XC at substitutecolormodel#1/%
+ {\@ifundefinedmodel{#1}{\XC at substitutecolormodel}{#1\remove at to@nnil}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\color at ignore}
+% \marg{cmd}\marg{spec}\\
+% Empty color model: no driver-specific representation at all.
+% \begin{macrocode}
+\def\color at ignore#1#2{\def#1{}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\color at rgb}
+% \marg{cmd}\marg{spec}\\
+% Takes the color specification \Meta{spec}, turns it into a driver-specific representation and puts the result into the macro \Meta{cmd}.
+% For example, if \File{dvips.def} is loaded, then |\color at rgb\foo{1,0,0}| will be equivalent to |\def\foo{rgb 1 0 0}|.
+% In the case of \File{pdftex.def}, it will act like |\def\foo{1 0 0 rg 1 0 0 RG}| instead.
+% \begin{macrocode}
+\@ifundefinedmodel{rgb}%
+ {\substitutecolormodel{rgb}{RGB/HTML/hsb/Hsb/HSB/cmy/cmyk/gray/Gray}}{}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\color at cmyk}
+% \marg{cmd}\marg{spec}
+% \begin{macrocode}
+\@ifundefinedmodel{cmyk}{\substitutecolormodel{cmyk}{cmy/rgb}}{}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\color at cmy}
+% \marg{cmd}\marg{spec}
+% \begin{macrocode}
+\@ifundefinedmodel{cmy}%
+ {\PackageInfo{xcolor}{Model `cmy' substituted by `cmy0'}
+ \def\color at cmy#1#2{\color at cmyk#1{#2,0}}}{}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\color at hsb}
+% \marg{cmd}\marg{spec}\\
+% Since the \Option{dvipdfm} and \Option{textures} drivers only pretend to support \Model{hsb}, we have to check for these drivers.
+% \begin{macrocode}
+\@ifundefinedmodel{hsb}{\@tempswatrue}%
+ {\XC at ifcase\XC@@drv{{dvipdfm,textures}\@tempswatrue}\@tempswafalse}
+\if at tempswa
+ \substitutecolormodel{hsb}{Hsb/HSB/rgb}
+\fi
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\color at RGB}
+% \marg{cmd}\marg{spec}\\
+% If the model is supported and |\rangeRGB| equals 255, we stick to the algorithm provided by the driver.
+% \begin{macrocode}
+\@ifundefinedmodel{RGB}%
+ {\substitutecolormodel{RGB}{HTML/rgb}}
+ {\PackageInfo{xcolor}{Model `RGB' extended}
+ \let\XC at color@RGB\color at RGB
+ \def\color at RGB#1#2%
+ {\relax\ifnum\rangeRGB=255
+ \XC at color@RGB#1{#2}%
+ \else
+ \convertcolorspec\XC at mod@RGB{#2}\XC at mod@rgb\XC@@tmp
+ \expandafter\color at rgb\expandafter#1\expandafter{\XC@@tmp}%
+ \fi}}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\color at gray}
+% \begin{macro}{\color at HTML}
+% \begin{macro}{\color at Hsb}
+% \begin{macro}{\color at tHsb}
+% \begin{macro}{\color at HSB}
+% \begin{macro}{\color at Gray}
+% \begin{macro}{\color at wave}
+% \marg{cmd}\marg{spec}
+% \begin{macrocode}
+\@ifundefinedmodel{gray}{\substitutecolormodel{gray}{Gray/rgb}}{}
+\@ifundefinedmodel{HTML}{\substitutecolormodel{HTML}{rgb}}{}
+\@ifundefinedmodel{Hsb}{\substitutecolormodel{Hsb}{hsb}}{}
+\@ifundefinedmodel{tHsb}{\substitutecolormodel{tHsb}{hsb}}{}
+\@ifundefinedmodel{HSB}{\substitutecolormodel{HSB}{hsb}}{}
+\@ifundefinedmodel{Gray}{\substitutecolormodel{Gray}{gray}}{}
+\@ifundefinedmodel{wave}{\substitutecolormodel{wave}{hsb}}{}
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+% \end{macro}
+%
+%
+% \subsubsection{PostScript-related stuff}
+%
+% \begin{macrocode}
+\@ifundefined{XC at pst}{%
+% \end{macrocode}
+%
+% \begin{macro}{\XC at getcolor}
+% \marg{color}\marg{cmd}\\
+% \marg{color command}\marg{cmd}\\
+% |{|\oarg{model}\marg{spec}|}|\marg{cmd}\\
+% Transformation of a color, given by the first argument, especially needed for \Package{pstricks}.
+% The result will always be an internal color representation (as described in section \vref{sec.definition}) and is stored in \Meta{cmd}.
+% There are different ways of specifying the color:
+% \begin{itemize}
+% \item \Meta{color} is a color name, expression, etc., e.g., |\XC at getcolor{green!50}\foo|;
+% \item \Meta{color command} is a macro whose \emph{first level} expansion is an internal color representation, e.g., |\XC at getcolor\pslinecolor\foo|;
+% \item \Meta{model} and \Meta{spec} provide, as usual, explicit parameter specifications.
+% \end{itemize}
+% \begin{macrocode}
+\def\XC at getcolor#1#2%
+ {\begingroup\toks@{#1}\XC at getc@lor#1\XC@@\aftergroupdef#2{\@@tmp}}
+% \end{macrocode}
+%
+% Check whether the argument consists of one or more tokens.
+% In the first case, expand by one level and go to next check.
+% In the second case, assume it's a \Meta{color} and simulate its display, but without performing the real |\set at color| command (which would insert |\special|s, possibly causing trouble with blank spaces).
+% This simulation ensures that we get exactly the same color --- including all blending, masking --- as if we had executed an explicit |\color| command at that point.
+% \begin{macrocode}
+\def\XC at getc@lor#1#2\XC@@
+ {\@ifxempty{#2}%
+ {\expandafter\XC at getc@l at r#1\XC@@}%
+ {\let\set at color\relax
+ \ifx#1[%
+ \expandafter\@undeclaredcolor\the\toks@\else
+ \expandafter\@declaredcolor\expandafter{\the\toks@}\fi
+ \let\@@tmp\XC at current@color}}
+% \end{macrocode}
+%
+% Check whether the first token is |\xcolor@|.
+% In that case, |#1#2| is assumed to be a complete internal color representation.
+% Otherwise, perform a simulation as described before.
+% \begin{macrocode}
+\def\XC at getc@l at r#1#2\XC@@
+ {\ifx#1\xcolor@
+ \def\@@tmp{\xcolor@#2}%
+ \else
+ \let\set at color\relax
+ \expandafter\@declaredcolor\expandafter{\the\toks@}%
+ \let\@@tmp\XC at current@color
+ \fi}
+% \end{macrocode}
+% \end{macro}
+%
+% This alternative code is temporarily needed for compatibility reasons if \Package{pstricks} is loaded via the \Option{pst} option:
+% \begin{macrocode}
+}{% compatibility code begin
+\def\XC at getcolor#1#2%
+ {\@ifundefinedcolor{#1}%
+ {\begingroup\color{#1}%
+ \edef\@@tmp
+ {\edef\noexpand#2{\noexpand\expandafter\noexpand\c at lor@to at ps
+ \current at color\noexpand\@@}}%
+ \expandafter\endgroup\@@tmp}%
+ {\edef#2{\XC at usecolor{#1}}}}
+}% compatibility code end
+% \end{macrocode}
+%
+% \begin{macro}{\XC at usecolor}
+% \marg{name}\\
+% \marg{color command}\\
+% Transformation of a color into \Index{PostScript} code.
+% The argument may be either a command whose \emph{first-level} expansion is an internal color representation (e.g., the outcome of an |\XC at getcolor| command: |\XC at usecolor\pslinecolor|), or a \Meta{name} (e.g., |\XC at usecolor{green}|).
+% Note that non-trivial color expressions like |green!50| are forbidden and that |\XC at usecolor| is fully expandable, for example, |\edef\foo{\XC at usecolor{green}}| is valid.
+% \begin{macrocode}
+\def\XC at usecolor#1{\expandafter\XC at usec@lor#1\XC@@}
+\def\XC at usec@lor#1#2\XC@@
+ {\ifx#1\xcolor@
+ \expandafter\expandafter\expandafter\c at lor@to at ps#1#2\@@
+ \else
+ \expandafter\expandafter\expandafter\expandafter\expandafter\expandafter
+ \expandafter\c at lor@to at ps\csname\string\color@#1#2\endcsname\@@
+ \fi
+ \space}
+% \end{macrocode}
+%
+% For compatibility reasons, we need the following command temporarily; however, |\XC at c@lor at to@ps| will disappear!
+% \begin{macrocode}
+\let\XC at c@lor at to@ps\XC at usecolor
+% \end{macrocode}
+% \end{macro}
+%
+% If \Package{pstcol} has been loaded, we have to redefine two macros from this package.
+% The conditional code is needed temporarily, until nobody uses old \Package{pstricks} versions anymore.
+% \begin{macrocode}
+\let\pst at getcolor\XC at getcolor
+\@ifundefined{XC at pst}{%
+ \let\pst at usecolor\XC at usecolor
+}{}
+% \end{macrocode}
+%
+%
+% \subsubsection{Whatsit \ldots}
+%
+% \begin{macro}{\c at lor@special}
+% Some drivers do not support all the features of this package.
+% They should always put a \Meta{whatsit} in the current list though.
+% The following macro has most of the features of |\special|, but does not put anything into the \File{.dvi} file.
+% It does write to the |log| file or the terminal (depending on the value of |#1|).
+% \begin{macrocode}
+\def\c at lor@special#1#2{\edef\@tempa{\write#1{#2}}\@tempa}
+% \end{macrocode}
+% \end{macro}
+%
+%
+% \subsubsection{Default color}
+%
+% \begin{macro}{\normalcolor}
+% |\normalcolor| is defined (to |\relax|) in the \LaTeX\ kernel, so it is safe to use this in macros that may possibly be used in conjunction with color.
+% It will have no effect until the \XCP{} is also loaded.
+% \begin{macrocode}
+\def\normalcolor{\let\current at color\default at color\set at color}
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{\default at color}
+% Internal macro to store the `default' color used by |\normalcolor|.
+% \begin{macrocode}
+\AtBeginDocument{\let\default at color\current at color}
+% \end{macrocode}
+% \end{macro}
+% |\current at color| (which is the expansion of |\XC at current@color|) contains an internal representation of the color at this point in the document.
+% This can only be an approximation to the truth as the `macro layer' of \TeX\ does not know where the output routine is going to re-insert floats.
+% This is why drivers must maintain their own stack of colors in order to fully support these commands.
+%
+%
+% \subsubsection{Driver-specific definitions for named colors}
+%
+% \begin{macro}{\c at lor@@named}
+% \begin{macro}{\define at color@named}
+% We have to modify a few driver-specific commands in order to avoid generation of superfluous macros.
+% \begin{macrocode}
+\XC at ifcase\XC@@drv
+ {{dvipdf,dvipdfm,dvipdfmx,dvips,pctex32}%
+ {\def\c at lor@@named#1,#2,#3\@@#4%
+ {\edef#4{\expandafter\expandafter\expandafter\@thirdoffive
+ \csname\string\color@#1\endcsname}}
+ \def\define at color@named#1#2%
+ {\@namedef{\string\color@#1}{{}{}{ \colornameprefix#1}{}{}}}}%
+% \end{macrocode}
+%
+% \begin{macrocode}
+ {dvipsone,pctexps,pdftex,tcidvi,truetex,vtex,xetex}%
+ {\def\c at lor@@named#1,#2,#3\@@#4%
+ {\edef#4{\expandafter\expandafter\expandafter\@thirdoffive
+ \csname\string\color@#1\endcsname}}
+ \def\define at color@named#1#2%
+ {\let\@@cls\@empty\@namedef{\string\color@#1}{{}{}{#2}{}{}}}}%
+% \end{macrocode}
+%
+% \begin{macrocode}
+ {textures}%
+ {\def\c at lor@@named#1,#2,#3\@@#4%
+ {\edef\@tempa{\color at P@custom{#1}{\if!#2!1\else#2\fi}}%
+ \expandafter\def\expandafter#4\@tempa}
+ \def\define at color@named#1#2%
+ {\edef\@tempa{{#1}{#2}}\expandafter\AddCustomColor\@tempa}
+ \def\c at lor@ps@#1 #2\@@
+ {\expandafter\expandafter\expandafter\expandafter\expandafter
+ \expandafter\expandafter\c at lor@to at ps@
+ \csname\string\color@#1\expandafter\endcsname\space
+ #2. \@@{#1}}}%
+% \end{macrocode}
+%
+% \begin{macrocode}
+ }{}
+% \end{macrocode}
+% \end{macro}
+% \end{macro}
+%
+%
+% \subsubsection{Basic color definitions}
+%
+% \Model{rgb}-minded colors.\footnote{Generic definitions:
+% \Color{orange} = \Color{red}|!|50|!|\Color{yellow},
+% \Color{violet} = \Color{blue}|!|50|!|\Color{red},
+% \Color{purple} = \Color{violet}|!|50|!|\Color{red},
+% \Color{brown} = \Color{violet}|!|50|!|\Color{yellow},
+% \Color{pink} = \Color{red}|!|25.}
+% \begin{macrocode}
+\definecolorset{rgb/hsb/cmyk/gray}{}{}%
+ {red,1,0,0/0,1,1/0,1,1,0/.3;%
+ green,0,1,0/.33333,1,1/1,0,1,0/.59;%
+ blue,0,0,1/.66667,1,1/1,1,0,0/.11;%
+ orange,1,.5,0/.083333,1,1/0,.5,1,0/.595;%
+ violet,.5,0,.5/.83333,1,.5/0,.5,0,.5/.205;%
+ purple,.75,0,.25/.94444,1,.75/0,.75,.5,.25/.2525;%
+ brown,.75,.5,.25/.083333,.66667,.75/0,.25,.5,.25/.5475;%
+ pink,1,.75,.75/0,.25,1/0,.25,.25,0/.825}%
+% \end{macrocode}
+%
+% \Model{cmyk}-minded colors.\footnote{Generic definitions:
+% \Color{olive} = \Color{red}|!|50|!|\Color{green}.}
+% \begin{macrocode}
+\definecolorset{cmyk/rgb/hsb/gray}{}{}%
+ {cyan,1,0,0,0/0,1,1/.5,1,1/.7;%
+ magenta,0,1,0,0/1,0,1/.83333,1,1/.41;%
+ yellow,0,0,1,0/1,1,0/.16667,1,1/.89;%
+ olive,0,0,1,.5/.5,.5,0/.16667,1,.5/.39}
+% \end{macrocode}
+%
+% \Model{gray}-minded colors.
+% \begin{macrocode}
+\definecolorset{gray/rgb/hsb/cmyk}{}{}%
+ {black,0/0,0,0/0,0,0/0,0,0,1;%
+ darkgray,.25/.25,.25,.25/0,0,.25/0,0,0,.75;%
+ gray,.5/.5,.5,.5/0,0,.5/0,0,0,.5;%
+ lightgray,.75/.75,.75,.75/0,0,.75/0,0,0,.25;%
+ white,1/1,1,1/0,0,1/0,0,0,0}
+% \end{macrocode}
+%
+% Load predefined sets of colors (e.g., \File{dvipsnam.def}).
+% \begin{macrocode}
+\XC@@names
+% \end{macrocode}
+%
+%
+% \subsubsection{Finale}
+%
+% Clear color stack and restore catcodes.
+% \begin{macrocode}
+\AtBeginDocument{\let\XC@@stack\@empty}
+\let\colornameprefix\XC@@nameprefix
+\XC at catcodes
+% \end{macrocode}
+%
+% \begin{macrocode}
+\csname xcolorcmd\endcsname
+\color{black}
+%</package>
+% \end{macrocode}
+%
+%
+% \iffalse
+%-------------------------------------------------------------------------------
+% \fi
+%
+% \subsection{Auxiliary definitions}
+%
+% \subsubsection{\Index{PostScript} prologue file \File{xcolor.pro}}
+%
+% \begin{macrocode}
+%<*dvips>
+userdict begin
+/setcmycolor{0 setcmykcolor}def
+/XCbd{bind def}bind def
+/XCed{exch def}XCbd
+% \end{macrocode}
+%
+% \Index{PostScript} version of |\providecommand|.
+% \begin{macrocode}
+/XCdef{exch dup TeXDict exch known{pop pop}{XCed}ifelse}XCbd
+% \end{macrocode}
+%
+% \Index{PostScript} version of |\providecolor|.
+% \begin{macrocode}
+/XCsetcolor{cvx counttomark array astore cvx exch pop XCdef}XCbd
+% \end{macrocode}
+%
+% Now define model-dependent color definition commands.
+% \begin{macrocode}
+/XCcmy{mark exch exec/setcmycolor XCsetcolor}XCbd
+/XCcmyk{mark exch exec/setcmykcolor XCsetcolor}XCbd
+/XCgray{mark exch exec/setgray XCsetcolor}XCbd
+/XChsb{mark exch exec/sethsbcolor XCsetcolor}XCbd
+/XCrgb{mark exch exec/setrgbcolor XCsetcolor}XCbd
+% \end{macrocode}
+%
+% Grouping operators.
+% We have to disable the |setgray| operator which is invoked by |normalscale| as part of |@beginspecial| as defined by \File{special.pro}.
+% \begin{macrocode}
+/XC!b{save/setgray{pop}def}XCbd
+/XC!e{restore}XCbd
+% \end{macrocode}
+%
+% Scale `sp' coordinates back to `bp' units.
+% \begin{macrocode}
+/XCsp2bp{1 65781.76 div dup scale}XCbd
+% \end{macrocode}
+%
+% \begin{macro}{XCsetline}
+% \meta{linewidth} |XCsetline|\\
+% Common line definition.
+% \begin{macrocode}
+/XCsetline
+ {setlinewidth [] 0 setdash 2 setlinecap 0 setlinejoin 4 setmiterlimit}XCbd
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{XCboxframe}
+% \meta{linewidth} \meta{width} \meta{height} \meta{depth} |XCboxframe|\\
+% Draw a frame in `sp' coordinates using LanguageLevel~2.
+% \begin{macrocode}
+/XCboxframe{/d XCed/h XCed/w XCed/l XCed w 0 gt{h d neg gt{l 0 gt
+ {XCsp2bp l XCsetline
+ l 2 div dup translate
+ 0 d neg w l sub h l sub d add rectstroke}if}if}if}XCbd
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macro}{XCcolorblock}
+% \meta{width} \meta{height} \meta{depth} |XCcolorblock|\\
+% Draw a colored box in `sp' coordinates using LanguageLevel~2.
+% \begin{macrocode}
+/XCcolorblock{/d XCed/h XCed/w XCed w 0 gt{h d neg gt
+ {XCsp2bp 0 XCsetline
+ 0 d neg w h d add rectfill}if}if}XCbd
+% \end{macrocode}
+% \end{macro}
+%
+% \begin{macrocode}
+end
+%</dvips>
+% \end{macrocode}
+%
+%
+% \clearpage
+% \Finale
+% \endinput
+%
+%
+% \iffalse
+%-------------------------------------------------------------------------------
+%<*svgnames|x11names|hksknames|hksnnames|hksznames|pmsnames|ralnames>
+\def\colornameprefix{XC@}
+%</svgnames|x11names|hksknames|hksnnames|hksznames|pmsnames|ralnames>
+%
+%<*svgnames>
+\preparecolorset{rgb}{}{}{%
+AliceBlue,.94,.972,1;%
+AntiqueWhite,.98,.92,.844;%
+Aqua,0,1,1;%
+Aquamarine,.498,1,.83;%
+Azure,.94,1,1;%
+Beige,.96,.96,.864;%
+Bisque,1,.894,.77;%
+Black,0,0,0;%
+BlanchedAlmond,1,.92,.804;%
+Blue,0,0,1;%
+BlueViolet,.54,.17,.888;%
+Brown,.648,.165,.165;%
+BurlyWood,.87,.72,.53;%
+CadetBlue,.372,.62,.628;%
+Chartreuse,.498,1,0;%
+Chocolate,.824,.41,.116;%
+Coral,1,.498,.312;%
+CornflowerBlue,.392,.585,.93;%
+Cornsilk,1,.972,.864;%
+Crimson,.864,.08,.235;%
+Cyan,0,1,1;%
+DarkBlue,0,0,.545;%
+DarkCyan,0,.545,.545;%
+DarkGoldenrod,.72,.525,.044;%
+DarkGray,.664,.664,.664;%
+DarkGreen,0,.392,0;%
+DarkGrey,.664,.664,.664;%
+DarkKhaki,.74,.716,.42;%
+DarkMagenta,.545,0,.545;%
+DarkOliveGreen,.332,.42,.185;%
+DarkOrange,1,.55,0;%
+DarkOrchid,.6,.196,.8;%
+DarkRed,.545,0,0;%
+DarkSalmon,.912,.59,.48;%
+DarkSeaGreen,.56,.736,.56;%
+DarkSlateBlue,.284,.24,.545;%
+DarkSlateGray,.185,.31,.31;%
+DarkSlateGrey,.185,.31,.31;%
+DarkTurquoise,0,.808,.82;%
+DarkViolet,.58,0,.828;%
+DeepPink,1,.08,.576;%
+DeepSkyBlue,0,.75,1;%
+DimGray,.41,.41,.41;%
+DimGrey,.41,.41,.41;%
+DodgerBlue,.116,.565,1;%
+FireBrick,.698,.132,.132;%
+FloralWhite,1,.98,.94;%
+ForestGreen,.132,.545,.132;%
+Fuchsia,1,0,1;%
+Gainsboro,.864,.864,.864;%
+GhostWhite,.972,.972,1;%
+Gold,1,.844,0;%
+Goldenrod,.855,.648,.125;%
+Gray,.5,.5,.5;%
+Green,0,.5,0;%
+GreenYellow,.68,1,.185;%
+Grey,.5,.5,.5;%
+Honeydew,.94,1,.94;%
+HotPink,1,.41,.705;%
+IndianRed,.804,.36,.36;%
+Indigo,.294,0,.51;%
+Ivory,1,1,.94;%
+Khaki,.94,.9,.55;%
+Lavender,.9,.9,.98;%
+LavenderBlush,1,.94,.96;%
+LawnGreen,.488,.99,0;%
+LemonChiffon,1,.98,.804;%
+LightBlue,.68,.848,.9;%
+LightCoral,.94,.5,.5;%
+LightCyan,.88,1,1;%
+LightGoldenrod,.933,.867,.51;%
+LightGoldenrodYellow,.98,.98,.824;%
+LightGray,.828,.828,.828;%
+LightGreen,.565,.932,.565;%
+LightGrey,.828,.828,.828;%
+LightPink,1,.712,.756;%
+LightSalmon,1,.628,.48;%
+LightSeaGreen,.125,.698,.668;%
+LightSkyBlue,.53,.808,.98;%
+LightSlateBlue,.518,.44,1;%
+LightSlateGray,.468,.532,.6;%
+LightSlateGrey,.468,.532,.6;%
+LightSteelBlue,.69,.77,.87;%
+LightYellow,1,1,.88;%
+Lime,0,1,0;%
+LimeGreen,.196,.804,.196;%
+Linen,.98,.94,.9;%
+Magenta,1,0,1;%
+Maroon,.5,0,0;%
+MediumAquamarine,.4,.804,.668;%
+MediumBlue,0,0,.804;%
+MediumOrchid,.73,.332,.828;%
+MediumPurple,.576,.44,.86;%
+MediumSeaGreen,.235,.7,.444;%
+MediumSlateBlue,.484,.408,.932;%
+MediumSpringGreen,0,.98,.604;%
+MediumTurquoise,.284,.82,.8;%
+MediumVioletRed,.78,.084,.52;%
+MidnightBlue,.098,.098,.44;%
+MintCream,.96,1,.98;%
+MistyRose,1,.894,.884;%
+Moccasin,1,.894,.71;%
+NavajoWhite,1,.87,.68;%
+Navy,0,0,.5;%
+NavyBlue,0,0,.5;%
+OldLace,.992,.96,.9;%
+Olive,.5,.5,0;%
+OliveDrab,.42,.556,.136;%
+Orange,1,.648,0;%
+OrangeRed,1,.27,0;%
+Orchid,.855,.44,.84;%
+PaleGoldenrod,.932,.91,.668;%
+PaleGreen,.596,.985,.596;%
+PaleTurquoise,.688,.932,.932;%
+PaleVioletRed,.86,.44,.576;%
+PapayaWhip,1,.936,.835;%
+PeachPuff,1,.855,.725;%
+Peru,.804,.52,.248;%
+Pink,1,.752,.796;%
+Plum,.868,.628,.868;%
+PowderBlue,.69,.88,.9;%
+Purple,.5,0,.5;%
+Red,1,0,0;%
+RosyBrown,.736,.56,.56;%
+RoyalBlue,.255,.41,.884;%
+SaddleBrown,.545,.27,.075;%
+Salmon,.98,.5,.448;%
+SandyBrown,.956,.644,.376;%
+SeaGreen,.18,.545,.34;%
+Seashell,1,.96,.932;%
+Sienna,.628,.32,.176;%
+Silver,.752,.752,.752;%
+SkyBlue,.53,.808,.92;%
+SlateBlue,.415,.352,.804;%
+SlateGray,.44,.5,.565;%
+SlateGrey,.44,.5,.565;%
+Snow,1,.98,.98;%
+SpringGreen,0,1,.498;%
+SteelBlue,.275,.51,.705;%
+Tan,.824,.705,.55;%
+Teal,0,.5,.5;%
+Thistle,.848,.75,.848;%
+Tomato,1,.39,.28;%
+Turquoise,.25,.88,.815;%
+Violet,.932,.51,.932;%
+VioletRed,.816,.125,.565;%
+Wheat,.96,.87,.7;%
+White,1,1,1;%
+WhiteSmoke,.96,.96,.96;%
+Yellow,1,1,0;%
+YellowGreen,.604,.804,.196}
+%</svgnames>
+%
+%<*x11names>
+\preparecolorset{rgb}{}{}{%
+AntiqueWhite1,1,.936,.86;%
+AntiqueWhite2,.932,.875,.8;%
+AntiqueWhite3,.804,.752,.69;%
+AntiqueWhite4,.545,.512,.47;%
+Aquamarine1,.498,1,.83;%
+Aquamarine2,.464,.932,.776;%
+Aquamarine3,.4,.804,.668;%
+Aquamarine4,.27,.545,.455;%
+Azure1,.94,1,1;%
+Azure2,.88,.932,.932;%
+Azure3,.756,.804,.804;%
+Azure4,.512,.545,.545;%
+Bisque1,1,.894,.77;%
+Bisque2,.932,.835,.716;%
+Bisque3,.804,.716,.62;%
+Bisque4,.545,.49,.42;%
+Blue1,0,0,1;%
+Blue2,0,0,.932;%
+Blue3,0,0,.804;%
+Blue4,0,0,.545;%
+Brown1,1,.25,.25;%
+Brown2,.932,.23,.23;%
+Brown3,.804,.2,.2;%
+Brown4,.545,.136,.136;%
+Burlywood1,1,.828,.608;%
+Burlywood2,.932,.772,.57;%
+Burlywood3,.804,.668,.49;%
+Burlywood4,.545,.45,.332;%
+CadetBlue1,.596,.96,1;%
+CadetBlue2,.556,.898,.932;%
+CadetBlue3,.48,.772,.804;%
+CadetBlue4,.325,.525,.545;%
+Chartreuse1,.498,1,0;%
+Chartreuse2,.464,.932,0;%
+Chartreuse3,.4,.804,0;%
+Chartreuse4,.27,.545,0;%
+Chocolate1,1,.498,.14;%
+Chocolate2,.932,.464,.13;%
+Chocolate3,.804,.4,.112;%
+Chocolate4,.545,.27,.075;%
+Coral1,1,.448,.336;%
+Coral2,.932,.415,.312;%
+Coral3,.804,.356,.27;%
+Coral4,.545,.244,.185;%
+Cornsilk1,1,.972,.864;%
+Cornsilk2,.932,.91,.804;%
+Cornsilk3,.804,.785,.694;%
+Cornsilk4,.545,.532,.47;%
+Cyan1,0,1,1;%
+Cyan2,0,.932,.932;%
+Cyan3,0,.804,.804;%
+Cyan4,0,.545,.545;%
+DarkGoldenrod1,1,.725,.06;%
+DarkGoldenrod2,.932,.68,.055;%
+DarkGoldenrod3,.804,.585,.048;%
+DarkGoldenrod4,.545,.396,.03;%
+DarkOliveGreen1,.792,1,.44;%
+DarkOliveGreen2,.736,.932,.408;%
+DarkOliveGreen3,.635,.804,.352;%
+DarkOliveGreen4,.43,.545,.24;%
+DarkOrange1,1,.498,0;%
+DarkOrange2,.932,.464,0;%
+DarkOrange3,.804,.4,0;%
+DarkOrange4,.545,.27,0;%
+DarkOrchid1,.75,.244,1;%
+DarkOrchid2,.698,.228,.932;%
+DarkOrchid3,.604,.196,.804;%
+DarkOrchid4,.408,.132,.545;%
+DarkSeaGreen1,.756,1,.756;%
+DarkSeaGreen2,.705,.932,.705;%
+DarkSeaGreen3,.608,.804,.608;%
+DarkSeaGreen4,.41,.545,.41;%
+DarkSlateGray1,.592,1,1;%
+DarkSlateGray2,.552,.932,.932;%
+DarkSlateGray3,.475,.804,.804;%
+DarkSlateGray4,.32,.545,.545;%
+DeepPink1,1,.08,.576;%
+DeepPink2,.932,.07,.536;%
+DeepPink3,.804,.064,.464;%
+DeepPink4,.545,.04,.312;%
+DeepSkyBlue1,0,.75,1;%
+DeepSkyBlue2,0,.698,.932;%
+DeepSkyBlue3,0,.604,.804;%
+DeepSkyBlue4,0,.408,.545;%
+DodgerBlue1,.116,.565,1;%
+DodgerBlue2,.11,.525,.932;%
+DodgerBlue3,.094,.455,.804;%
+DodgerBlue4,.064,.305,.545;%
+Firebrick1,1,.19,.19;%
+Firebrick2,.932,.172,.172;%
+Firebrick3,.804,.15,.15;%
+Firebrick4,.545,.1,.1;%
+Gold1,1,.844,0;%
+Gold2,.932,.79,0;%
+Gold3,.804,.68,0;%
+Gold4,.545,.46,0;%
+Goldenrod1,1,.756,.145;%
+Goldenrod2,.932,.705,.132;%
+Goldenrod3,.804,.608,.112;%
+Goldenrod4,.545,.41,.08;%
+Green1,0,1,0;%
+Green2,0,.932,0;%
+Green3,0,.804,0;%
+Green4,0,.545,0;%
+Honeydew1,.94,1,.94;%
+Honeydew2,.88,.932,.88;%
+Honeydew3,.756,.804,.756;%
+Honeydew4,.512,.545,.512;%
+HotPink1,1,.43,.705;%
+HotPink2,.932,.415,.655;%
+HotPink3,.804,.376,.565;%
+HotPink4,.545,.228,.385;%
+IndianRed1,1,.415,.415;%
+IndianRed2,.932,.39,.39;%
+IndianRed3,.804,.332,.332;%
+IndianRed4,.545,.228,.228;%
+Ivory1,1,1,.94;%
+Ivory2,.932,.932,.88;%
+Ivory3,.804,.804,.756;%
+Ivory4,.545,.545,.512;%
+Khaki1,1,.965,.56;%
+Khaki2,.932,.9,.52;%
+Khaki3,.804,.776,.45;%
+Khaki4,.545,.525,.305;%
+LavenderBlush1,1,.94,.96;%
+LavenderBlush2,.932,.88,.898;%
+LavenderBlush3,.804,.756,.772;%
+LavenderBlush4,.545,.512,.525;%
+LemonChiffon1,1,.98,.804;%
+LemonChiffon2,.932,.912,.75;%
+LemonChiffon3,.804,.79,.648;%
+LemonChiffon4,.545,.536,.44;%
+LightBlue1,.75,.936,1;%
+LightBlue2,.698,.875,.932;%
+LightBlue3,.604,.752,.804;%
+LightBlue4,.408,.512,.545;%
+LightCyan1,.88,1,1;%
+LightCyan2,.82,.932,.932;%
+LightCyan3,.705,.804,.804;%
+LightCyan4,.48,.545,.545;%
+LightGoldenrod1,1,.925,.545;%
+LightGoldenrod2,.932,.864,.51;%
+LightGoldenrod3,.804,.745,.44;%
+LightGoldenrod4,.545,.505,.298;%
+LightPink1,1,.684,.725;%
+LightPink2,.932,.635,.68;%
+LightPink3,.804,.55,.585;%
+LightPink4,.545,.372,.396;%
+LightSalmon1,1,.628,.48;%
+LightSalmon2,.932,.585,.448;%
+LightSalmon3,.804,.505,.385;%
+LightSalmon4,.545,.34,.26;%
+LightSkyBlue1,.69,.888,1;%
+LightSkyBlue2,.644,.828,.932;%
+LightSkyBlue3,.552,.712,.804;%
+LightSkyBlue4,.376,.484,.545;%
+LightSteelBlue1,.792,.884,1;%
+LightSteelBlue2,.736,.824,.932;%
+LightSteelBlue3,.635,.71,.804;%
+LightSteelBlue4,.43,.484,.545;%
+LightYellow1,1,1,.88;%
+LightYellow2,.932,.932,.82;%
+LightYellow3,.804,.804,.705;%
+LightYellow4,.545,.545,.48;%
+Magenta1,1,0,1;%
+Magenta2,.932,0,.932;%
+Magenta3,.804,0,.804;%
+Magenta4,.545,0,.545;%
+Maroon1,1,.204,.7;%
+Maroon2,.932,.19,.655;%
+Maroon3,.804,.16,.565;%
+Maroon4,.545,.11,.385;%
+MediumOrchid1,.88,.4,1;%
+MediumOrchid2,.82,.372,.932;%
+MediumOrchid3,.705,.32,.804;%
+MediumOrchid4,.48,.215,.545;%
+MediumPurple1,.67,.51,1;%
+MediumPurple2,.624,.475,.932;%
+MediumPurple3,.536,.408,.804;%
+MediumPurple4,.365,.28,.545;%
+MistyRose1,1,.894,.884;%
+MistyRose2,.932,.835,.824;%
+MistyRose3,.804,.716,.71;%
+MistyRose4,.545,.49,.484;%
+NavajoWhite1,1,.87,.68;%
+NavajoWhite2,.932,.81,.63;%
+NavajoWhite3,.804,.7,.545;%
+NavajoWhite4,.545,.475,.37;%
+OliveDrab1,.752,1,.244;%
+OliveDrab2,.7,.932,.228;%
+OliveDrab3,.604,.804,.196;%
+OliveDrab4,.41,.545,.132;%
+Orange1,1,.648,0;%
+Orange2,.932,.604,0;%
+Orange3,.804,.52,0;%
+Orange4,.545,.352,0;%
+OrangeRed1,1,.27,0;%
+OrangeRed2,.932,.25,0;%
+OrangeRed3,.804,.215,0;%
+OrangeRed4,.545,.145,0;%
+Orchid1,1,.512,.98;%
+Orchid2,.932,.48,.912;%
+Orchid3,.804,.41,.79;%
+Orchid4,.545,.28,.536;%
+PaleGreen1,.604,1,.604;%
+PaleGreen2,.565,.932,.565;%
+PaleGreen3,.488,.804,.488;%
+PaleGreen4,.33,.545,.33;%
+PaleTurquoise1,.732,1,1;%
+PaleTurquoise2,.684,.932,.932;%
+PaleTurquoise3,.59,.804,.804;%
+PaleTurquoise4,.4,.545,.545;%
+PaleVioletRed1,1,.51,.67;%
+PaleVioletRed2,.932,.475,.624;%
+PaleVioletRed3,.804,.408,.536;%
+PaleVioletRed4,.545,.28,.365;%
+PeachPuff1,1,.855,.725;%
+PeachPuff2,.932,.796,.68;%
+PeachPuff3,.804,.688,.585;%
+PeachPuff4,.545,.468,.396;%
+Pink1,1,.71,.772;%
+Pink2,.932,.664,.72;%
+Pink3,.804,.57,.62;%
+Pink4,.545,.39,.424;%
+Plum1,1,.732,1;%
+Plum2,.932,.684,.932;%
+Plum3,.804,.59,.804;%
+Plum4,.545,.4,.545;%
+Purple1,.608,.19,1;%
+Purple2,.57,.172,.932;%
+Purple3,.49,.15,.804;%
+Purple4,.332,.1,.545;%
+Red1,1,0,0;%
+Red2,.932,0,0;%
+Red3,.804,0,0;%
+Red4,.545,0,0;%
+RosyBrown1,1,.756,.756;%
+RosyBrown2,.932,.705,.705;%
+RosyBrown3,.804,.608,.608;%
+RosyBrown4,.545,.41,.41;%
+RoyalBlue1,.284,.464,1;%
+RoyalBlue2,.264,.43,.932;%
+RoyalBlue3,.228,.372,.804;%
+RoyalBlue4,.152,.25,.545;%
+Salmon1,1,.55,.41;%
+Salmon2,.932,.51,.385;%
+Salmon3,.804,.44,.33;%
+Salmon4,.545,.298,.224;%
+SeaGreen1,.33,1,.624;%
+SeaGreen2,.305,.932,.58;%
+SeaGreen3,.264,.804,.5;%
+SeaGreen4,.18,.545,.34;%
+Seashell1,1,.96,.932;%
+Seashell2,.932,.898,.87;%
+Seashell3,.804,.772,.75;%
+Seashell4,.545,.525,.51;%
+Sienna1,1,.51,.28;%
+Sienna2,.932,.475,.26;%
+Sienna3,.804,.408,.224;%
+Sienna4,.545,.28,.15;%
+SkyBlue1,.53,.808,1;%
+SkyBlue2,.494,.752,.932;%
+SkyBlue3,.424,.65,.804;%
+SkyBlue4,.29,.44,.545;%
+SlateBlue1,.512,.435,1;%
+SlateBlue2,.48,.404,.932;%
+SlateBlue3,.41,.35,.804;%
+SlateBlue4,.28,.235,.545;%
+SlateGray1,.776,.888,1;%
+SlateGray2,.725,.828,.932;%
+SlateGray3,.624,.712,.804;%
+SlateGray4,.424,.484,.545;%
+Snow1,1,.98,.98;%
+Snow2,.932,.912,.912;%
+Snow3,.804,.79,.79;%
+Snow4,.545,.536,.536;%
+SpringGreen1,0,1,.498;%
+SpringGreen2,0,.932,.464;%
+SpringGreen3,0,.804,.4;%
+SpringGreen4,0,.545,.27;%
+SteelBlue1,.39,.72,1;%
+SteelBlue2,.36,.675,.932;%
+SteelBlue3,.31,.58,.804;%
+SteelBlue4,.21,.392,.545;%
+Tan1,1,.648,.31;%
+Tan2,.932,.604,.288;%
+Tan3,.804,.52,.248;%
+Tan4,.545,.352,.17;%
+Thistle1,1,.884,1;%
+Thistle2,.932,.824,.932;%
+Thistle3,.804,.71,.804;%
+Thistle4,.545,.484,.545;%
+Tomato1,1,.39,.28;%
+Tomato2,.932,.36,.26;%
+Tomato3,.804,.31,.224;%
+Tomato4,.545,.21,.15;%
+Turquoise1,0,.96,1;%
+Turquoise2,0,.898,.932;%
+Turquoise3,0,.772,.804;%
+Turquoise4,0,.525,.545;%
+VioletRed1,1,.244,.59;%
+VioletRed2,.932,.228,.55;%
+VioletRed3,.804,.196,.47;%
+VioletRed4,.545,.132,.32;%
+Wheat1,1,.905,.73;%
+Wheat2,.932,.848,.684;%
+Wheat3,.804,.73,.59;%
+Wheat4,.545,.494,.4;%
+Yellow1,1,1,0;%
+Yellow2,.932,.932,0;%
+Yellow3,.804,.804,0;%
+Yellow4,.545,.545,0;%
+Gray0,.745,.745,.745;%
+Green0,0,1,0;%
+Grey0,.745,.745,.745;%
+Maroon0,.69,.19,.376;%
+Purple0,.628,.125,.94}
+%</x11names>
+%
+%<*test1>
+\documentclass[a4paper]{article}
+
+\usepackage{array,multicol,multido,textcomp}
+\usepackage{xcolor}[2005/03/24]
+\usepackage[hmargin={1.25cm,.75cm},vmargin=1.25cm,footskip=.5cm,nohead]{geometry}
+
+\newdimen\Argwd
+\newdimen\Errsum
+\newdimen\Errmax
+\newcount\Colors
+\newcount\Errors
+\newcount\Loops
+\newif\ifColor
+
+\makeatletter
+
+\def\DisplayColor#1#2#3%
+ {\global\advance\Loops\@ne
+ \@tempdima=#1\p@ \edef\@tempa{\the\@tempdima}%
+ \edef\Colori{\strip at pt\@tempdima}%
+ \ifColor
+ \@tempdimb=#2\p@ \edef\@tempb{\the\@tempdimb}%
+ \@tempdimc=#3\p@ \edef\@tempc{\the\@tempdimc}%
+ \edef\Colori{\Colori,\strip at pt\@tempdimb,\strip at pt\@tempdimc}%
+ \fi
+ \Make12\Make23\Make34\Make45\Make56\Make67%
+ \begin{tabular}{@{}ll*4{@{ }p{\Argwd}}@{}}
+ \Row1\Row2\Row3\Row4\Row5\Row6\noalign{\medskip}
+ \end{tabular}
+ \global\advance\Colors1 \relax\ifnum\Colors=30 \newpage\global\Colors=0 \fi}
+
+\def\Make#1#2%
+ {\edef\@@tmp
+ {\noexpand\definecolor{Color\romannumeral#1}%
+ {\@nameuse{Model\romannumeral#1}}{\@nameuse{Color\romannumeral#1}}%
+ }\@@tmp
+ \relax\ifnum#1<6
+ \convertcolorspec
+ {\@nameuse{Model\romannumeral#1}}{\@nameuse{Color\romannumeral#1}}%
+ {\@nameuse{Model\romannumeral#2}}\@@tmp
+ \XC at let@cN{Color\romannumeral#2}\@@tmp
+ \fi}
+\def\Row#1%
+ {\edef\@@tmp{\@nameuse{Color\romannumeral#1}\@nameuse{Row\romannumeral#1}}%
+ \expandafter\@Row\@@tmp}
+
+\def\@Row#1,#2,#3,#4,#5#6%
+ {\fcolorbox{black}{Color\romannumeral#5}{\phantom{000}}&
+ \csname Model\romannumeral#5\endcsname &
+ \ifodd#6 \@Error{#1}\@tempa \else #1\fi &
+ \ifColor\ifodd#6 \@Error{#2}\@tempb \else #2\fi\else #2\fi &
+ \ifColor\ifodd#6 \@Error{#3}\@tempc \else #3\fi\else #3\fi &
+ #4\\}
+
+\def\defModel#1#2#3#4% number, name, commas, check
+ {\@namedef{Model\romannumeral#1}{#2}\@namedef{Row\romannumeral#1}{#3#1#4}}
+
+\def\@Error#1#2%
+ {\ifdim#1\p@=#2\relax #1\else
+ \textcolor{red}{#1}\global\advance\Errors\@ne
+ \dimen@#2\advance\dimen at -#1\p@ \ifdim\dimen@<\z@\dimen at -\dimen@\fi
+ \global\advance\Errsum\dimen@
+ \ifdim\dimen@>\Errmax \global\Errmax\dimen@
+ \dimen@\@tempa \edef\@@tempa{\strip at pt\dimen@}%
+ \ifColor
+ \dimen@\@tempb \edef\@@tempb{\strip at pt\dimen@}%
+ \dimen@\@tempc \edef\@@tempc{\strip at pt\dimen@}%
+ \xdef\Errcase{\@@tempa\noexpand~\@@tempb\noexpand~\@@tempc}%
+ \else
+ \xdef\Errcase{\@@tempa}%
+ \fi
+ \fi
+ \fi}
+
+\newenvironment{ColorTest}[1]%
+ {\addcontentsline{toc}{section}{Color conversion chain: #1}
+ \Colors\z@ \Errors\z@ \Loops\z@ \Errsum\z@ \Errmax\z@
+ \begin{multicols}{3}\centering}%
+ {\end{multicols}\bigskip
+ \begin{tabular}{@{}l@{ = }l@{}}
+ \multicolumn2{@{}l@{}}{Rounding error statistics of color conversion test}\\
+ \multicolumn2{@{}l@{}}%
+ {$\textbf\Modeli\rightarrow \textbf\Modelii\rightarrow \textbf\Modeliii\rightarrow
+ \textbf\Modeliv\rightarrow \textbf\Modelv\rightarrow \textbf\Modelvi$:}\\[1ex]
+ number of examples& \number\Loops\\
+ number of errors& \number\Errors\\
+ sum of absolute errors& \strip at pt\Errsum\\
+ \ifnum\Errors>\z@
+ average error& \Errsum100\Errsum \dimen@\Errors\p@ \divide\dimen@\@m
+ \rdivide\Errsum\dimen@ \strip at pt\Errsum\textperiodcentered10\textsuperscript{-5}\\
+ maximum error& \strip at pt\Errmax{} @ \Modeli~\Errcase\\
+ \fi
+ \end{tabular}\newpage}
+
+\def\thepage{\sffamily\footnotesize\@nameuse{@arabic}\c at page}
+
+\makeatother
+
+\parindent0pt
+\setcounter{secnumdepth}{-1}
+
+\begin{document}
+
+\title{Color conversion with the \textsf{xcolor} package --- Examples}
+\author{Dr. Uwe Kern\thanks{This file is part of the \textsf{xcolor} distribution which can be downloaded from the CTAN mirrors (\texttt{macros/latex/contrib/xcolor/}) or the homepage \texttt{www.ukern.de/tex/xcolor.html}. Please send error reports and suggestions for improvements to \texttt{xcolor at ukern.de}.}}
+\date{\XCfileversion{} (\XCfiledate)}
+\maketitle
+
+\begin{center}
+\begin{minipage}{.75\textwidth}
+\tableofcontents
+\end{minipage}
+\end{center}
+\newpage
+
+\sffamily\footnotesize
+\fboxrule.25pt
+\settowidth\Argwd{0.00000}
+
+\defModel1{rgb}{,,}0
+\defModel2{cmy}{,,}0
+\defModel3{cmyk}{,}0
+\defModel4{hsb}{,,}0
+\defModel5{rgb}{,,}1
+\defModel6{gray}{,,,,}0
+\Colortrue
+
+\begin{ColorTest}{rgb, cmy, cmyk, hsb, rgb, gray}
+\multido{\nR=1+-.1}{11}%
+ {\multido{\nG=1+-.1}{11}%
+ {\multido{\nB=1+-.1}{11}%
+ {\DisplayColor{\nR}{\nG}{\nB}}}}%
+\end{ColorTest}
+
+\defModel1{gray}{,,,,}0
+\defModel2{rgb}{,,}0
+\defModel3{cmy}{,,}0
+\defModel4{cmyk}{,}0
+\defModel5{hsb}{,,}0
+\defModel6{gray}{,,,,}1
+\Colorfalse
+
+\begin{ColorTest}{gray, rgb, cmy, cmyk, hsb, gray}
+\multido{\nG=1+-.01}{101}{\DisplayColor{\nG}{}{}}%
+\end{ColorTest}
+
+\end{document}
+%</test1>
+%
+%<*test2>
+\listfiles
+\documentclass{article}
+
+\usepackage{pstricks,pst-tree,pst-slpe,multido}
+\makeatletter
+\@ifpackagelater{pstricks}{2004/05/12}{}{\usepackage[pst]{xcolor}}
+\makeatother
+\usepackage{fvrb-ex}
+
+\def\textfraction{0.01}
+\def\topfraction{0.99}
+\def\bottomfraction{0.99}
+\def\floatpagefraction{0.70}
+\setlength\abovecaptionskip{12pt}
+\setlength\belowcaptionskip{10pt}
+\parindent0pt
+
+\begin{document}
+\title{Color extensions with the \textsf{xcolor} package --- \textsf{pstricks} examples}
+\author{Dr. Uwe Kern\thanks{This file is part of the \textsf{xcolor} distribution which can be downloaded from the CTAN mirrors (\texttt{macros/latex/contrib/xcolor/}) or the homepage \texttt{www.ukern.de/tex/xcolor.html}. Please send error reports and suggestions for improvements to \texttt{xcolor at ukern.de}.}}
+\date{\XCfileversion{} (\XCfiledate)}
+\maketitle
+
+\centerline{\fcolorbox{red}{yellow!50}{This document is not suitable for pdf\LaTeX! Please use \LaTeX{} + \texttt{dvips} etc.}}
+
+\begin{figure}[htb]\caption{Modified version of an example from the \textsf{pstricks} manual; requires \textsf{pst-tree}}
+\begin{SideBySideExample}[fontsize=\footnotesize,xrightmargin=.45\textwidth]
+ \begin{pspicture}(-0.5,-2)(3,2)
+ \cnode(0,0){.5cm}{root}
+ \cnode*[linecolor=red](3,1.5){4pt}{A}
+ \cnode*[linecolor=red!72.5375!blue](3,0){4pt}{B}
+ \cnode*[linecolor=-red](3,-1.5){4pt}{C}
+ \psset{nodesep=3pt}
+ \ncline[linecolor=green!50!red]{root}{A}
+ \ncline[linecolor=blue]{root}{B}
+ \ncline[linecolor=-green!50!red]{root}{C}
+ \end{pspicture}
+\end{SideBySideExample}
+\end{figure}
+
+\begin{figure}[htb]\caption{Moving from one color to its complement; requires \textsf{pst-slpe}}
+\begin{SideBySideExample}[fontsize=\footnotesize,xrightmargin=.45\textwidth]
+ \begin{pspicture}(4,1)
+ \psframe[fillstyle=slope,
+ slopeangle=30,
+ slopebegin=red!72.5375!blue,
+ slopeend=-red!72.5375!blue](4,1)
+ \end{pspicture}
+\end{SideBySideExample}
+\end{figure}
+
+\begin{figure}[htb]\caption{Explicit color specification via a loop command; requires \textsf{multido}}
+\begin{SideBySideExample}[fontsize=\footnotesize,xrightmargin=.45\textwidth]
+ \psset{unit=1.75}%
+ \begin{pspicture}(0,-1)(2,1)
+ \multido{\rHue=0.00+0.01}{100}%
+ {\pscircle[linewidth=0.01,
+ linecolor={[hsb]{\rHue,1,1}}](1,0){\rHue}}
+ \end{pspicture}
+\end{SideBySideExample}
+\end{figure}
+
+\begin{figure}[htb]\caption{Color series --- modified version of an example from the \textsf{pst-fill} manual; note that the \texttt{\string\multirput} command does not give the desired result here}
+\begin{SideBySideExample}[fontsize=\footnotesize,xrightmargin=.45\textwidth]
+ \newcommand*\Sheep
+ {\begin{pspicture}(3,1.5)
+ \pscustom[liftpen=2,fillstyle=solid,fillcolor=sheep!!+]%
+ {\pscurve(0.5,-0.2)(0.6,0.5)(0.2,1.3)(0,1.5)(0,1.5)
+ (0.4,1.3)(0.8,1.5)(2.2,1.9)(3,1.5)(3,1.5)(3.2,1.3)
+ (3.6,0.5)(3.4,-0.3)(3,0)(2.2,0.4)(0.5,-0.2)}
+ \pscircle*(2.65,1.25){0.12\psunit}% Eye
+ \psccurve*(3.5,0.3)(3.35,0.45)(3.5,0.6)(3.6,0.4)% Muzzle
+ \pscurve(3,0.35)(3.3,0.1)(3.6,0.05)% Mouth
+ \pscurve(2.3,1.3)(2.1,1.5)(2.15,1.7)
+ \pscurve(2.1,1.7)(2.35,1.6)(2.45,1.4)% Ear
+ \end{pspicture}}
+ \definecolorseries
+ {sheep}{rgb}{step}[rgb]{.95,.85,.55}{.17,.47,.37}
+ \resetcolorseries{sheep}
+ \psset{unit=0.4}
+ \begin{pspicture}(-3,-6)(0,7.5)
+ \Multido{\ry=6.0+-1.5}{5}%
+ {\rput(0,\ry){\Multido{}{5}{\Sheep}}}
+ \resetcolorseries{sheep}%
+ \multirput(-6,-6)(3,0)5{\Sheep}
+ \end{pspicture}
+\end{SideBySideExample}
+\end{figure}
+
+\begin{figure}[htb]\caption{Interaction with native PostScript code --- $\gamma$-corrected wavelengths}
+\begin{Example}[fontsize=\footnotesize,xrightmargin=.45\textwidth]
+ \newcount\WL \unitlength.75pt
+ \def\WaveToPS#1%
+ {\definecolor{tmp}{rgb:wave}{#1}\extractcolorspecs{tmp}\tmpm\tmpc
+ \expandafter\WaveToPSi\tmpc,}
+ \def\WaveToPSi#1,#2,#3,{\pstVerb{/Red{#1}def /Green{#2}def /Blue{#3}def}}
+ \def\DisplayBar#1#2%
+ {\linethickness{1.25\unitlength}\WL=360
+ \pstVerb{/Gamma{#1}def}%
+ \multiput(360,#2)(1,0){456}%
+ {\WaveToPS{\the\WL}{\color{lambda}\line(0,1){50}}\global\advance\WL1}%
+ \linethickness{0.25\unitlength}\WL=360
+ \multiput(360,#2)(20,0){23}%
+ {\picture(0,0)
+ \line(0,-1){5}\multiput(5,0)(5,0){3}{\line(0,-1){2.5}}%
+ \put(0,-10){\makebox(0,0){\the\WL}}\global\advance\WL20
+ \endpicture}%
+ \put(350,#2){\makebox(0,50)[r]{\small$\gamma$\,=\,#1}}}
+ \pstVerb{/Corr{dup 0 gt {Gamma exp}if}def}
+ \definecolor[ps]{lambda}{rgb}{Red Corr Green Corr Blue Corr}%
+ \begin{picture}(510,345)(310,-10)
+ \sffamily\tiny
+ \DisplayBar{0.4}{0}%
+ \DisplayBar{0.6}{70}%
+ \DisplayBar{0.8}{140}%
+ \DisplayBar{1.0}{210}%
+ \DisplayBar{1.2}{280}%
+ \end{picture}
+\end{Example}
+\end{figure}
+
+\end{document}
+%</test2>
+%
+%<*test3>
+\listfiles
+\documentclass[a4paper]{article}
+\usepackage[showerrors,table,dvipsnames*,hyperref]{xcolor}[2005/12/21]
+\usepackage[margin=2.25cm]{geometry}
+\usepackage
+ [\GinDriver,hyperindex=false,bookmarks,bookmarksopen,bookmarksopenlevel=1,%
+ pdftitle={xcolor3 \XCfileversion{} (\XCfiledate)},pdfauthor={Dr. Uwe Kern},%
+ pdfsubject={Color extensions for LaTeX and pdfLaTeX},%
+ pdfkeywords={xcolor,color,colour,model,tint,tone,shade,harmony,spot,latex,pdftex,dvips,%
+ conversion,blend,mix,mask,separation,rgb,cmy,cmyk,hsb,gray,html,wave,thsb,wheel}]{hyperref}
+
+\tracingcolors=4
+%%\tracingcolors=3
+%%\tracingcolors=2
+%%\tracingcolors=1
+%%\tracingcolors=0
+
+\parindent0pt
+\pagecolor{gray!25}
+
+\definecolors{JungleGreen,DarkOrchid}
+
+\begin{document}
+\title{Color extensions with the \textsf{xcolor} package --- various examples}
+\author{\href{mailto:xcolor at ukern.de}{\fboxrule0pt\fboxsep2pt\fbox{Dr. Uwe Kern}}}
+\date{\XCfileversion{} (\XCfiledate)
+\thanks{This file (\texttt{\jobname.tex}) is part of the \textsf{xcolor} distribution which can be downloaded from the CTAN mirrors \texttt{\href{http://www.ctan.org/tex-archive/macros/latex/contrib/xcolor/}{CTAN/macros/latex/contrib/xcolor/}} or the homepage \texttt{\href{http://www.ukern.de/tex/xcolor.html}{www.ukern.de/tex/xcolor.html}}. Please send error reports and suggestions for improvements to \texttt{\href{mailto:xcolor at ukern.de}{xcolor at ukern.de}}.}}
+\maketitle
+
+The purpose of this file is to demonstrate a variety of capabilities including the logging facilities of the \textsf{xcolor} package.
+By playing around with different values of \texttt{\string\tracingcolors}, one can observe the different behavior in the \texttt{log} file.
+
+\section{Predefined colors}
+
+\begingroup
+\small\sffamily
+\rowcolors1{}{}
+\begin{testcolors}[rgb,cmyk,hsb,HTML,gray]
+\testcolor{red}
+\testcolor{green}
+\testcolor{blue}
+\testcolor{cyan}
+\testcolor{magenta}
+\testcolor{yellow}
+\testcolor{orange}
+\testcolor{violet}
+\testcolor{purple}
+\testcolor{brown}
+\testcolor{pink}
+\testcolor{olive}
+\testcolor{black}
+\testcolor{darkgray}
+\testcolor{gray}
+\testcolor{lightgray}
+\testcolor{white}
+\noalign{\medskip}\hline\noalign{\medskip}
+\testcolor{-red}
+\testcolor{-green}
+\testcolor{-blue}
+\testcolor{-cyan}
+\testcolor{-magenta}
+\testcolor{-yellow}
+\testcolor{-orange}
+\testcolor{-violet}
+\testcolor{-purple}
+\testcolor{-brown}
+\testcolor{-pink}
+\testcolor{-olive}
+\testcolor{-black}
+\testcolor{-darkgray}
+\testcolor{-gray}
+\testcolor{-lightgray}
+\testcolor{-white}
+\noalign{\medskip}\hline\noalign{\medskip}
+\testcolor{JungleGreen}
+\testcolor{DarkOrchid}
+\noalign{\medskip}\hline\noalign{\medskip}
+\testcolor{-JungleGreen}
+\testcolor{-DarkOrchid}
+\end{testcolors}
+\endgroup
+
+\vfill
+
+\clearpage
+\pagecolor{white}
+
+\section{Color definition and application}
+
+\providecolor{dummy}{rgb}{.6,.5,.4}
+\definecolor{dummy}{rgb}{.6,.5,.4}
+\providecolor{dummy}{rgb}{.6,.5,.4}
+\hbox{\textcolor{dummy}{Test with \texttt{\string\definecolor}}}
+
+\bigskip
+
+Comma-separated and space-separated definitions:
+
+\definecolor{c1}{rgb}{.7,.6,.5}
+\definecolor{c2}{rgb}{.7 .6 .5}
+\colorlet{c1a}{c1}
+\colorlet{c2a}{c2}
+
+\textcolor{c1}{identical} =
+\textcolor{c2}{identical} =
+\textcolor{c1a}{identical} =
+\textcolor{c2a}{identical} =
+\textcolor[rgb]{.7,.6,.5}{identical} =
+\textcolor[rgb]{.7 .6 .5}{identical} =
+\textcolor{rgb,10:red,7;green,6;blue,5}{identical}
+\textcolor{rgb,15:red,10.5;green,9;blue,7.5}{identical}
+
+\medskip
+
+\begingroup
+\sffamily
+\begin{testcolors}
+\testcolor{c1}
+\testcolor{c2}
+\testcolor{c1a}
+\testcolor{c2a}
+\testcolor[rgb]{.7,.6,.5}
+\testcolor[rgb]{.7 .6 .5}
+\testcolor{rgb,10:red,7;green,6;blue,5}
+\testcolor{rgb,15:red,10.5;green,9;blue,7.5}
+\end{testcolors}
+\endgroup
+
+\bigskip
+
+\textcolor{rgb:red!50,4;green!25,2}{Another extended color expression (rgb:red!50,4;green!25,2)}.
+
+\bigskip
+
+\begingroup
+\color{black}
+Test with named colors:\par
+\color{blue}
+Test: \textcolor[named]{JungleGreen}{JungleGreen};
+Test: \textcolor{JungleGreen}{JungleGreen};
+Test: \textcolor{JungleGreen!50!DarkOrchid}{JungleGreen!50!DarkOrchid};
+Test: \textcolor{green!50!red}{green!50!red}.
+\endgroup
+
+\bigskip
+
+{\color[rgb]{.4,.5,.6}Test with \texttt{\string\color}}
+
+\bigskip
+Current color application:\par
+\def\test{current, \textcolor{.!50}{50\%}, \textcolor{-.}{complement},
+ \textcolor{yellow!50!.}{mix}}
+\textcolor{blue}{\test} and \textcolor{red}{\test},\par
+\def\Test{\color{.!80}Test}
+\textcolor{blue}{\Test\Test\Test\Test\Test} and
+\textcolor{red}{\Test\Test\Test\Test\Test}.
+
+\bigskip
+Current color test with \texttt{\string\definecolorseries}:\par
+\begingroup
+\color{blue}
+\definecolorseries{foo}{rgb}{last}{.}{-.}
+\resetcolorseries[5]{foo}
+\def\test{\hbox to 1em{{\color{foo!!+}\vrule width 1em height 1.5ex}}}
+Test\test\test\test\test\test\test Test
+
+\resetcolorseries[5]{foo}
+\def\test{\hbox to 1em{{\color{foo!!++}\vrule width 1em height 1.5ex}}}
+Test\test\test\test\test\test\test Test
+
+\resetcolorseries[5]{foo}
+\def\test{\hbox to 1em{{\color{foo!![2]}\vrule width 1em height 1.5ex}}}
+Test\test\test\test\test\test\test Test
+
+\endgroup
+
+\section{Color in tables}
+
+\rowcolors[\hline]{1}{green!25}{yellow!50}
+\begin{tabular}{ll}
+test & row \number\rownum\\
+test & row \number\rownum\\
+\rowcolor{blue!25}
+test & row \number\rownum\\
+test & row \number\rownum\\
+\hiderowcolors
+test & row \number\rownum\\
+test & row \number\rownum\\
+\showrowcolors
+test & row \number\rownum\\
+test & row \number\rownum\\
+\multicolumn{1}%
+ {>{\columncolor{red!12}}l}{test} & row \number\rownum\\
+\end{tabular}
+
+\section{Color information}
+
+Type test:
+\makeatletter
+\@namedef{\string\color at foo1}{foo1{}{}{}{}}\edef\tempa{\XC at type{foo1}}\tempa
+\@namedef{\string\color at foo2}{\xcolor@{foo2}{}{}{}}\edef\tempb{\XC at type{foo2}}\tempb
+\@namedef{\string\color at foo3}{\xcolor@{}{foo3}{}{}}\edef\tempc{\XC at type{foo3}}\tempc
+\@namedef{\string\color at foo4}{\xcolor@{}{}{foo4}{}}\edef\tempd{\XC at type{foo4}}\tempd
+\makeatother
+
+\end{document}
+%</test3>
+%
+%<*test4>
+\listfiles
+\documentclass[a4paper]{article}
+%%\PassOptionsToPackage{dvipdf}{xcolor}
+%%\PassOptionsToPackage{dvipdfm}{xcolor}
+%%\PassOptionsToPackage{dvipdfmx}{xcolor}
+%%\PassOptionsToPackage{dvips}{xcolor}
+%%\PassOptionsToPackage{dvipsone}{xcolor}
+%%\PassOptionsToPackage{dviwin}{xcolor}
+%%\PassOptionsToPackage{dviwindo}{xcolor}
+%%\PassOptionsToPackage{emtex}{xcolor}
+%%\PassOptionsToPackage{oztex}{xcolor}
+%%\PassOptionsToPackage{pctex32}{xcolor}
+%%\PassOptionsToPackage{pctexhp}{xcolor}
+%%\PassOptionsToPackage{pctexps}{xcolor}
+%%\PassOptionsToPackage{pctexwin}{xcolor}
+%%\PassOptionsToPackage{pdftex}{xcolor}
+%%\PassOptionsToPackage{tcidvi}{xcolor}
+%%\PassOptionsToPackage{textures}{xcolor}
+%%\PassOptionsToPackage{truetex}{xcolor}
+%%\PassOptionsToPackage{vtex}{xcolor}
+%%\PassOptionsToPackage{xdvi}{xcolor}
+%%\PassOptionsToPackage{xetex}{xcolor}
+%%\PassOptionsToPackage{prologue}{xcolor}
+%%\PassOptionsToPackage{kernelfbox}{xcolor}
+%%\PassOptionsToPackage{xcdraw}{xcolor}
+\usepackage[emtex]{graphics}
+\usepackage{xcolor}
+\usepackage[margin=1.25cm,noheadfoot]{geometry}
+\pagestyle{empty}
+\parindent0pt
+\nofiles
+\let\familydefault\sfdefault
+\makeatletter
+%% special code for driver list construction via
+%% latex \def\xcdriverlist{1}\input{xcolor4}
+%% writes list in file xcolor4.tmp
+\@ifundefined{xcdriverlist}{}{%
+%% optional * (skips test whether #1.def exists)
+%% #1 = driver
+%% #2 = additional options (stored in \options@#2)
+%% #3 = processor 1
+%% #4 = output format 1
+%% #5 = processor 2
+%% #6 = output format 2
+%% #7 = processor 3
+%% #8 = output format 3
+\def\0{\@ifstar
+ {\def\@@tmp####1{\@firstoftwo}\1}{\def\@@tmp####1{\IfFileExists{####1.def}}\1}}
+\def\1#1#2#3#4#5#6#7#8{\@@tmp{#1}%
+ {\XC at let@Nc\@@tmp{options@#2}
+ \ifx\@@tmp\@empty\else
+ \edef\@@tmp{,\@@tmp}\XC at replace\@@tmp,{;#1-}\XC at replace\@@tmp;,
+ \fi
+ \edef\@@tmp{:=#1\@@tmp}
+ \expandafter\@for\expandafter\@tempa\@@tmp\do
+ {\let\@@tmp\@tempa\XC at replace\@@tmp-,
+ \edef\@@tmp{\@tempa\space\string\PassOptionsToPackage{\@@tmp}{xcolor}}
+ \@namexdef{list@#4}{\@nameuse{list@#4},#3 \@@tmp}
+ \@namexdef{list@#6}{\@nameuse{list@#6},#5 \@@tmp}
+ \@namexdef{list@#8}{\@nameuse{list@#8},#7 \@@tmp}}}%
+ {\typeout{No file `#1.def' found.}}}
+\def\list@{}
+\def\list at dvi{}
+\def\list at ps{}
+\def\list at pdf{}
+\@namedef{options at 0}{}
+\@namedef{options at 1}{kernelfbox,prologue,xcdraw,kernelfbox-xcdraw,prologue-xcdraw}
+\0{dvips}1{latex}{dvi}{dvips}{ps}{ps2pdf}{pdf}
+\0{pctex32}0{latex}{dvi}{dvips}{ps}{ps2pdf}{pdf}
+\0{dvipdf}0{latex}{dvi}{dvipdf}{pdf}{}{}
+\0{dvipdfm}1{latex}{dvi}{dvipdfm}{pdf}{}{}
+\0{dvipdfmx}0{latex}{dvi}{dvipdfmx}{pdf}{}{}
+\0{dvipsone}0{latex}{dvi}{}{}{}{}
+\0{dviwin}0{latex}{dvi}{}{}{}{}
+\0*{dviwindo}0{latex}{dvi}{}{}{}{}
+\0{emtex}0{latex}{dvi}{}{}{}{}
+\0*{oztex}0{latex}{dvi}{}{}{}{}
+\0{pctexhp}0{latex}{dvi}{}{}{}{}
+\0{pctexps}0{latex}{dvi}{}{}{}{}
+\0{pctexwin}0{latex}{dvi}{}{}{}{}
+\0{tcidvi}0{latex}{dvi}{}{}{}{}
+\0{textures}0{latex}{dvi}{}{}{}{}
+\0{truetex}0{latex}{dvi}{}{}{}{}
+\0*{xdvi}0{latex}{dvi}{}{}{}{}
+\0{pdftex}1{pdflatex}{pdf}{}{}{}{}
+\0{vtex}0{vlatex}{pdf}{}{}{}{}
+\0{xetex}0{xelatex}{pdf}{}{}{}{}
+\newwrite\@tempa\immediate\openout\@tempa=\jobname.tmp
+\@tfor\@tempb:={dvi}{ps}{pdf}\do
+ {\edef\@@tmp{\@nameuse{list@\@tempb}}\edef\@@tmp{:=\expandafter\@gobble\@@tmp}
+ \expandafter\@for\expandafter\@@tmp\@@tmp\do
+ {\immediate\write\@tempa{\@@tmp}}}
+\immediate\closeout\@tempa
+\@@end}% end of driver list construction code
+\edef\Options{\expandafter\@gobble\XC@@opt}
+\@tfor\@@tmp:={dvipdf}{dvipdfm}{dvipdfmx}{dvips}{dvipsone}{dviwin}{dviwindo}%
+ {emtex}{oztex}{pctex32}{pctexhp}{pctexps}{pctexwin}{pdftex}%
+ {tcidvi}{textures}{truetex}{vtex}{xdvi}{xetex}%
+ {natural}{table}{fixpdftex}{hyperref}{showerrors}{hideerrors}%
+ {override}{usenames}{nodvipsnames}{debugshow}\do
+ {\expandafter\XC at replace\expandafter\Options\expandafter{\@@tmp,}{}}
+\edef\Options{\XC@@drv,\Options}
+\def\@@tmp#1,#2%
+ {\ifx,#2#1\expandafter\remove at to@nnil\else#1', `\expandafter\@@tmp\fi#2}
+\edef\Options{`\expandafter\@@tmp\Options,,\@nnil'}
+\makeatother
+\begin{document}
+\vbox to\textheight{\vss\centering
+{\Large\textbf{xcolor} driver test: \Options}
+\vskip0.5cm
+\begin{testcolors}[rgb,hsb,cmyk,gray,HTML]
+\testcolor{magenta}
+\testcolor[rgb]{1,0,1}
+\testcolor[hsb]{0.83333,1,1}
+\testcolor[cmyk]{0,1,0,0}
+\testcolor[gray]{0.41}
+\noalign{\medskip}
+\testcolor{blue}
+\testcolor[rgb]{0,0,1}
+\testcolor[hsb]{0.66667,1,1}
+\testcolor[cmyk]{1,1,0,0}
+\testcolor[gray]{0.11}
+\noalign{\medskip}
+\testcolor{cyan}
+\testcolor[rgb]{0,1,1}
+\testcolor[hsb]{0.5,1,1}
+\testcolor[cmyk]{1,0,0,0}
+\testcolor[gray]{0.7}
+\noalign{\medskip}
+\testcolor{green}
+\testcolor[rgb]{0,1,0}
+\testcolor[hsb]{0.33333,1,1}
+\testcolor[cmyk]{1,0,1,0}
+\testcolor[gray]{0.59}
+\noalign{\medskip}
+\testcolor{yellow}
+\testcolor[rgb]{1,1,0}
+\testcolor[hsb]{0.16667,1,1}
+\testcolor[cmyk]{0,0,1,0}
+\testcolor[gray]{0.89}
+\noalign{\medskip}
+\testcolor{red}
+\testcolor[rgb]{1,0,0}
+\testcolor[hsb]{0,1,1}
+\testcolor[cmyk]{0,1,1,0}
+\testcolor[gray]{0.3}
+\noalign{\medskip}
+\testcolor{black}
+\testcolor[rgb]{0,0,0}
+\testcolor[hsb]{0,0,0}
+\testcolor[cmyk]{0,0,0,1}
+\testcolor[gray]{0}
+\noalign{\medskip}
+\testcolor{gray}
+\testcolor[rgb]{0.5,0.5,0.5}
+\testcolor[hsb]{0,0,0.5}
+\testcolor[cmyk]{0,0,0,0.5}
+\testcolor[gray]{0.5}
+\noalign{\medskip}
+\testcolor{white}
+\testcolor[rgb]{1,1,1}
+\testcolor[hsb]{0,0,1}
+\testcolor[cmyk]{0,0,0,0}
+\testcolor[gray]{1}
+\noalign{\medskip\smallskip}
+f(color)box &
+\multicolumn5{c}{\def\i{\fbox{\a}}\def\ii{\fcolorbox{red}{yellow}{\a}}\def\iii{\scalebox{3}}%
+\def\a{{\setbox0=\hbox to3ex{\hss\textcolor{blue}{\vrule width .75ex height1.5ex depth1.5ex}\hss}\ht0=0pt\dp0=0pt\box0}}%
+\fboxsep0.333ex \i\quad\ii\quad\iii\i\quad\iii\ii\quad\fboxrule.75ex \iii\i\quad\iii\ii}
+\end{testcolors}
+\vskip0.5cm
+{\footnotesize This table was generated with \textbf{xcolor4.tex} which is part of the \textbf{xcolor} package \XCfileversion{} (\XCfiledate) by Uwe Kern.}
+\vss}
+\end{document}
+%</test4>
+%
+% \fi
+\endinput
+%%
+%% End of file `xcolor.dtx'.
diff --git a/ref/glance/xcolor.ins b/ref/glance/xcolor.ins
new file mode 100644
index 0000000..9941813
--- /dev/null
+++ b/ref/glance/xcolor.ins
@@ -0,0 +1,28 @@
+%% Package `xcolor' by Dr. Uwe Kern
+%%
+%% Extract all package files:
+%% `latex xcolor.ins'
+%%
+%% Put the generated files to their respective locations
+%% within the TeX installation:
+%% *.sty -> /tex/latex/xcolor/
+%% *.def -> /tex/latex/xcolor/
+%% *.pro -> /dvips/xcolor/
+%%
+%% Create the documentation:
+%% `latex xcolor.dtx'
+%% `latex xcolor.dtx'
+%% `makeindex -s gind.ist xcolor.idx'
+%% `latex xcolor.dtx'
+%% `latex xcolor.dtx'
+%%
+%% Run the test files (N=1,2,...):
+%% `latex xcolorN.tex'
+%% `latex xcolorN.tex'
+%%
+\def\batchfile{xcolor.ins}
+\input docstrip.tex
+\askforoverwritefalse
+\generate{\file{xcolor.lox}{\from{xcolor.dtx}{extract}}}
+\batchinput{xcolor.lox}
+\endbatchfile
diff --git a/ref/glance/xcolor.lox b/ref/glance/xcolor.lox
new file mode 100644
index 0000000..0323304
--- /dev/null
+++ b/ref/glance/xcolor.lox
@@ -0,0 +1,57 @@
+%%
+%% This is file `xcolor.lox',
+%% generated with the docstrip utility.
+%%
+%% The original source files were:
+%%
+%% xcolor.dtx (with options: `extract')
+%%
+%% IMPORTANT NOTICE:
+%%
+%% For the copyright see the source file.
+%%
+%% Any modified versions of this file must be renamed
+%% with new filenames distinct from xcolor.lox.
+%%
+%% For distribution of the original source see the terms
+%% for copying and modification in the file xcolor.dtx.
+%%
+%% This generated file may be distributed as long as the
+%% original source files, as listed above, are part of the
+%% same distribution. (The sources need not necessarily be
+%% in the same archive or directory.)
+%%
+%% ----------------------------------------------------------------
+%% Copyright (C) 2003-2005 by Dr. Uwe Kern <xcolor at ukern dot de>
+%% ----------------------------------------------------------------
+%%
+\def\XCfileversion{v2.09}%
+\def\XCfiledate{2005/12/21}%
+\def\ukfile#1#2#3#4%
+ {\def\ukhead
+ {\ifnum#1>2 \perCent!^^J\fi
+ \defaultpreamble^^J\MetaPrefix^^J%
+ \ifcase#1
+ \string\ProvidesPackage{#2}^^J\or
+ \string\ProvidesFile{#2}^^J\or
+ \string\ProvidesFile{#2.def}^^J\or
+ \MetaPrefix\space #2.pro (PostScript/dvips header file)^^J\MetaPrefix\space
+ \fi
+ \space[\XCfiledate\space\XCfileversion\space#4\space(UK)]}
+ \usepreamble\ukhead
+ \file{#2.\ifcase#1sty\or tex\or def\or pro\fi}{\from{xcolor.dtx}{#3}}}
+\generate{
+\ukfile0{xcolor}{package}{LaTeX color extensions}
+\ukfile2{svgnam}{svgnames}{Predefined colors according to SVG 1.1}
+\ukfile2{x11nam}{x11names}{Predefined colors according to Unix/X11}
+\ukfile1{xcolor1}{test1}{Color conversion test}
+\ukfile1{xcolor2}{test2}{Pstricks color test}
+\ukfile1{xcolor3}{test3}{Color logging test}
+\ukfile1{xcolor4}{test4}{Color driver test}
+\def\PStail{\MetaPrefix\space End of file `\outFileName'.}
+\usepostamble\PStail
+\ukfile3{xcolor}{dvips}{LaTeX color extensions}
+}
+\endinput
+%%
+%% End of file `xcolor.lox'.
diff --git a/ref/glance/xcolor.pro b/ref/glance/xcolor.pro
new file mode 100644
index 0000000..ced9a1e
--- /dev/null
+++ b/ref/glance/xcolor.pro
@@ -0,0 +1,56 @@
+%!
+%%
+%% This is file `xcolor.pro',
+%% generated with the docstrip utility.
+%%
+%% The original source files were:
+%%
+%% xcolor.dtx (with options: `dvips')
+%%
+%% IMPORTANT NOTICE:
+%%
+%% For the copyright see the source file.
+%%
+%% Any modified versions of this file must be renamed
+%% with new filenames distinct from xcolor.pro.
+%%
+%% For distribution of the original source see the terms
+%% for copying and modification in the file xcolor.dtx.
+%%
+%% This generated file may be distributed as long as the
+%% original source files, as listed above, are part of the
+%% same distribution. (The sources need not necessarily be
+%% in the same archive or directory.)
+%%
+%% xcolor.pro (PostScript/dvips header file)
+%% [2005/12/21 v2.09 LaTeX color extensions (UK)]
+%%
+%% ----------------------------------------------------------------
+%% Copyright (C) 2003-2005 by Dr. Uwe Kern <xcolor at ukern dot de>
+%% ----------------------------------------------------------------
+%%
+userdict begin
+/setcmycolor{0 setcmykcolor}def
+/XCbd{bind def}bind def
+/XCed{exch def}XCbd
+/XCdef{exch dup TeXDict exch known{pop pop}{XCed}ifelse}XCbd
+/XCsetcolor{cvx counttomark array astore cvx exch pop XCdef}XCbd
+/XCcmy{mark exch exec/setcmycolor XCsetcolor}XCbd
+/XCcmyk{mark exch exec/setcmykcolor XCsetcolor}XCbd
+/XCgray{mark exch exec/setgray XCsetcolor}XCbd
+/XChsb{mark exch exec/sethsbcolor XCsetcolor}XCbd
+/XCrgb{mark exch exec/setrgbcolor XCsetcolor}XCbd
+/XC!b{save/setgray{pop}def}XCbd
+/XC!e{restore}XCbd
+/XCsp2bp{1 65781.76 div dup scale}XCbd
+/XCsetline
+ {setlinewidth [] 0 setdash 2 setlinecap 0 setlinejoin 4 setmiterlimit}XCbd
+/XCboxframe{/d XCed/h XCed/w XCed/l XCed w 0 gt{h d neg gt{l 0 gt
+ {XCsp2bp l XCsetline
+ l 2 div dup translate
+ 0 d neg w l sub h l sub d add rectstroke}if}if}if}XCbd
+/XCcolorblock{/d XCed/h XCed/w XCed w 0 gt{h d neg gt
+ {XCsp2bp 0 XCsetline
+ 0 d neg w h d add rectfill}if}if}XCbd
+end
+%% End of file `xcolor.pro'.
diff --git a/ref/glance/xcolor.sty b/ref/glance/xcolor.sty
new file mode 100644
index 0000000..23d6d61
--- /dev/null
+++ b/ref/glance/xcolor.sty
@@ -0,0 +1,1451 @@
+%%
+%% This is file `xcolor.sty',
+%% generated with the docstrip utility.
+%%
+%% The original source files were:
+%%
+%% xcolor.dtx (with options: `package')
+%%
+%% IMPORTANT NOTICE:
+%%
+%% For the copyright see the source file.
+%%
+%% Any modified versions of this file must be renamed
+%% with new filenames distinct from xcolor.sty.
+%%
+%% For distribution of the original source see the terms
+%% for copying and modification in the file xcolor.dtx.
+%%
+%% This generated file may be distributed as long as the
+%% original source files, as listed above, are part of the
+%% same distribution. (The sources need not necessarily be
+%% in the same archive or directory.)
+%%
+\ProvidesPackage{xcolor}
+ [2005/12/21 v2.09 LaTeX color extensions (UK)]
+%%
+%% ----------------------------------------------------------------
+%% Copyright (C) 2003-2005 by Dr. Uwe Kern <xcolor at ukern dot de>
+%% ----------------------------------------------------------------
+%%
+%% Please send error reports and suggestions for
+%% improvements to the above email address.
+%%
+%% This package contains code copied from
+%%
+%% color.dtx [1999/02/16 v1.0i Standard LaTeX Color (DPC)]
+%% Copyright (C) 1994--1999 David Carlisle
+%%
+%% which is part of the Standard LaTeX `Graphics Bundle'.
+%%
+\NeedsTeXFormat{LaTeX2e}
+\expandafter\edef\csname XC at catcodes\endcsname
+ {\catcode`\noexpand\@\the\catcode`\@\relax
+ \catcode`\noexpand\!\the\catcode`\!\relax
+ \catcode`\noexpand\:\the\catcode`\:\relax
+ \catcode`\noexpand\-\the\catcode`\-\relax
+ \catcode`\noexpand\+\the\catcode`\+\relax
+ \catcode`\noexpand\;\the\catcode`\;\relax
+ \catcode`\noexpand\/\the\catcode`\/\relax
+ \catcode`\noexpand\"\the\catcode`\"\relax
+ \catcode`\noexpand\>\the\catcode`\>\relax
+ \catcode`\noexpand\^^A\the\catcode`\^^A\relax}
+\catcode`\@=11
+\catcode`\!=12
+\catcode`\:=12
+\catcode`\-=12
+\catcode`\+=12
+\catcode`\;=12
+\catcode`\/=12
+\catcode`\"=12
+\catcode`\>=12
+\catcode`\^^A=\catcode`\%
+\edef\XC@@{\expandafter\noexpand\csname\string\XC@@\endcsname}
+\newif\ifcolors@ \colors at true
+\newif\ifcolorerrors@
+\newif\ifglobalcolors \globalcolorsfalse
+\newif\ifdefinecolors \definecolorstrue
+\newif\ifconvertcolorsD
+\newif\ifconvertcolorsU
+\newif\ifblendcolors
+\newif\ifmaskcolors
+\newif\ifXC@@fbox \XC@@fboxtrue
+\newif\ifXC@@tst
+\def\c at lor@error#1%
+ {\ifcolorerrors@\PackageError{xcolor}{Undefined color #1}\@ehc
+ \else\PackageWarning{xcolor}{Undefined color #1}\fi}
+\def\XC at append#1#2%
+ {\ifx#1\@undefined\def#1{#2}\else\ifx#1\relax\def#1{#2}\else
+ \toks@\expandafter{#1#2}\edef#1{\the\toks@}\fi\fi}
+\def\XC at let@cc#1{\expandafter\XC at let@Nc\csname#1\endcsname}
+\providecommand*\@namelet[1]{\expandafter\XC at let@Nc\csname#1\endcsname}
+\def\XC at let@Nc#1#2{\expandafter\let\expandafter#1\csname#2\endcsname}
+\def\XC at let@cN#1{\expandafter\let\csname#1\endcsname}
+\def\@namexdef#1{\expandafter\xdef\csname #1\endcsname}
+\def\aftergroupdef#1#2%
+ {\expandafter\endgroup\expandafter\def\expandafter#1\expandafter{#2}}
+\def\aftergroupedef#1#2%
+ {\edef\@@tmp{\def\noexpand#1{#2}}\expandafter\endgroup\@@tmp}
+\begingroup
+\catcode`\!=13 \catcode`\:=13 \catcode`\-=13 \catcode`\+=13
+\catcode`\;=13 \catcode`\/=13 \catcode`\"=13 \catcode`\>=13
+\gdef\XC at edef#1#2%
+ {\begingroup
+ \ifnum\catcode`\!=13 \edef!{\string!}\fi
+ \ifnum\catcode`\:=13 \edef:{\string:}\fi
+ \ifnum\catcode`\-=13 \edef-{\string-}\fi
+ \ifnum\catcode`\+=13 \edef+{\string+}\fi
+ \ifnum\catcode`\;=13 \edef;{\string;}\fi
+ \ifnum\catcode`\"=13 \edef"{\string"}\fi
+ \ifnum\catcode`\>=13 \edef>{\string>}\fi
+ \edef#1{#2}\@onelevel at sanitize#1\aftergroupdef#1#1}
+\gdef\XC at mdef#1#2%
+ {\begingroup
+ \ifnum\catcode`\/=13 \edef/{\string/}\fi
+ \ifnum\catcode`\:=13 \edef:{\string:}\fi
+ \edef#1{#2}\@onelevel at sanitize#1\aftergroupdef#1#1}
+\endgroup
+\def\XC at sdef#1#2{\edef#1{#2}\@onelevel at sanitize#1}
+\def\@ifxempty#1{\@@ifxempty#1\@@ifxempty\XC@@}
+\def\@@ifxempty#1#2\XC@@
+ {\ifx#1\@@ifxempty
+ \expandafter\@firstoftwo\else\expandafter\@secondoftwo\fi}
+\long\def\XC at ifxcase#1#2#3%
+ {\long\def\@@tmp##1##2%
+ {\ifx#1##1%
+ \toks@{##2}\expandafter\remove at to@nnil\else\expandafter\@@tmp\fi}%
+ \@@tmp#2#1{#3}\@nnil\the\toks@}
+\long\def\XC at ifcase#1#2#3%
+ {\long\def\@@tmp##1##2%
+ {\@expandtwoargs\in@{,#1,}{,##1,}\ifin@
+ \toks@{##2}\expandafter\remove at to@nnil\else\expandafter\@@tmp\fi}%
+ \@@tmp#2{#1}{#3}\@nnil\the\toks@}
+\def\XC@@opt{,}
+\def\@ifXCopt#1%
+ {\@expandtwoargs\in@{,#1,}{\XC@@opt}%
+ \ifin@\expandafter\@firstoftwo\else\expandafter\@secondoftwo\fi}
+\let\XC@@pkg\relax
+\let\XC at declareoption\@declareoption
+\long\def\@declareoption#1#2%
+ {\XC at declareoption{#1}{\edef\XC@@opt{\XC@@opt#1,}#2}}
+\def\selectcolormodel#1%
+ {\@ifundefined{XC at mod@#1}%
+ {\c at lor@error{target model `#1'}}%
+ {\expandafter\ifx\csname XC at mod@#1\endcsname\XC at mod@natural
+ \def\XC at tgt@mod##1{##1}\convertcolorsDfalse\convertcolorsUfalse
+ \else\expandafter\ifx\csname XC at mod@#1\endcsname\XC at mod@named
+ \c at lor@error{target model `#1'}
+ \else
+ \edef\XC at tgt@mod##1{#1}\convertcolorsDtrue\convertcolorsUtrue
+ \fi\fi}}
+\@tfor\@@tmp:={Hsb}{tHsb}{ignore}{named}{ps}{wave}\do
+ {\expandafter\XC at sdef\csname XC at mod@\@@tmp\endcsname{\@@tmp}}
+\@tfor\@@tmp:={natural}{rgb}{cmy}{cmyk}{hsb}{gray}{RGB}{HTML}{HSB}{Gray}\do
+ {\expandafter\XC at sdef\csname XC at mod@\@@tmp\endcsname{\@@tmp}%
+ \edef\@@tmp
+ {\noexpand\DeclareOption{\@@tmp}{\noexpand\selectcolormodel{\@@tmp}}}%
+ \@@tmp}
+\DeclareOption{monochrome}
+ {\ExecuteOptions{hideerrors}%
+ \AtEndOfPackage
+ {\colors at false
+ \def\set at color{\c at lor@special\m at ne
+ {color push \current at color}\aftergroup\reset at color}%
+ \def\reset at color{\c at lor@special\m at ne{color pop}}%
+ \def\set at page@color{\c at lor@special\m at ne{background \current at color}}}}
+\let\XC@@names\relax
+\providecommand*\colornameprefix{XC@}
+\let\XC@@nameprefix\colornameprefix
+\def\XC at declarenames#1#2#3%
+ {\DeclareOption{#1}{\XC at append\XC@@names
+ {#3\definecolorstrue\input{#2.def}\definecolorstrue
+ \let\colornameprefix\XC@@nameprefix}}
+ \DeclareOption{#1*}{\XC at append\XC@@names
+ {#3\definecolorsfalse\input{#2.def}\definecolorstrue
+ \let\colornameprefix\XC@@nameprefix}}}
+\XC at declarenames{dvipsnames}{dvipsnam}{\let\colornameprefix\@empty}
+\XC at declarenames{svgnames}{svgnam}{}
+\XC at declarenames{x11names}{x11nam}{}
+\XC at declarenames{hksnames}%
+ {hks\ifcase\paperquality k\or n\or k\or z\else n\fi nam}{}
+\XC at declarenames{pmsnames}{pmsnam}{}
+\XC at declarenames{ralnames}{ralnam}{}
+\DeclareOption{table}{\XC at append\XC@@pkg{\RequirePackage{colortbl}}}
+\DeclareOption{fixpdftex}{\XC at append\XC@@pkg{\RequirePackage{pdfcolmk}}}
+\DeclareOption{pst}{\def\XC at pst{\RequirePackage{pstcol}}}
+\DeclareOption{hyperref}
+ {\@tfor\@@tmp:={cite}{file}{link}{menu}{page}{run}{url}\do
+ {\expandafter\edef\csname KV at Hyp@x\@@tmp bordercolor\endcsname #1%
+ {\noexpand\XC at bordercolor{\@@tmp}{#1}}}%
+ \AtEndOfPackage
+ {\GetGinDriver\def\KV at Hyp@xpdfborder#1{\edef\@pdfborder{#1}}%
+ \@tfor\@@tmp:={dvips}\do
+ {\ifx\GinDriver\@@tmp
+ \def\KV at Hyp@xpdfborder#1%
+ {\edef\@pdfborder{#1}\expandafter\XC at pdfborder\@pdfborder\relax}%
+ \@break at tfor\fi}}}
+\providecommand*\Gin at driver{}
+\@tfor\@@tmp:={dvipdf}{dvipdfm}{dvipdfmx}{dvips}{dvipsone}{dviwin}%
+ {emtex}{pctex32}{pctexhp}{pctexps}{pctexwin}{pdftex}%
+ {tcidvi}{textures}{truetex}{vtex}{xetex}\do
+ {\edef\@@tmp{\noexpand\DeclareOption{\@@tmp}%
+ {\def\noexpand\Gin at driver{\@@tmp.def}}}%
+ \@@tmp}
+\DeclareOption{dviwindo}{\ExecuteOptions{dvipsone}}
+\DeclareOption{oztex}{\ExecuteOptions{dvips}}
+\DeclareOption{xdvi}{\ExecuteOptions{dvips,monochrome}}
+\DeclareOption{xcdraw}{\def\XC@@xcd@{1}}
+\DeclareOption{noxcdraw}{\def\XC@@xcd@{-1}}
+\DeclareOption{prologue}{\def\XC@@xcp@{1}}
+\DeclareOption{kernelfbox}{\XC@@fboxfalse}
+\DeclareOption{showerrors}{\colorerrors at true}
+\DeclareOption{hideerrors}{\colorerrors at false}
+\DeclareOption{debugshow}{\catcode`\^^A=9 \let\GDebug\typeout}
+\DeclareOption*%
+ {\PackageInfo{xcolor}{Package option `\CurrentOption' ignored}}
+\def\XC@@xcd@{-1}
+\def\XC@@xcp@{-1}
+\ExecuteOptions{natural,showerrors}
+\InputIfFileExists{color.cfg}{}{}
+\let\@declareoption\XC at declareoption
+\ProcessOptions\relax
+\edef\Gin at driver{\Gin at driver}
+\if!\Gin at driver!
+ \PackageError{xcolor}
+ {No driver specified}
+ {You should make a default driver option in a file \MessageBreak
+ color.cfg\MessageBreak
+ eg: \protect\ExecuteOptions{dvips}}
+\else
+ \PackageInfo{xcolor}{Driver file: \Gin at driver}
+ \@ifundefined{ver@\Gin at driver}{\input{\Gin at driver}}{}
+ \def\@@tmp#1.def{\def\XC@@drv{#1}}
+ \expandafter\@@tmp\Gin at driver
+\fi
+\count@\XC@@xcd@ \advance\count@\XC@@xcp@\relax
+\ifnum\count@>-2
+ \XC at ifcase\XC@@drv
+ {{dvips,pctex32}%
+ {\def\@tempa{0}
+ \def\XC at special#1{\special{ps:XC!b}\special{"#1}\special{ps:XC!e}}}%
+ {pdftex}%
+ {\def\@tempa{1}
+ \def\XC at special#1{\pdfliteral{ q #1 Q }}}%
+ {dvipdfm}%
+ {\def\@tempa{1}
+ \def\XC at special#1{\special{pdf: content #1}}}%
+ }{\def\@tempa{-1}}
+ \ifnum\XC@@xcd@>\m at ne\let\XC@@xcd@\@tempa\fi
+ \ifnum\XC@@xcp@>\m at ne\let\XC@@xcp@\@tempa\fi
+ \ifnum\@tempa=0 \AtBeginDvi{\special{header=xcolor.pro}}\fi
+ \ifcase\XC@@xcp@
+ \AtBeginDvi{\special{header=\jobname.xcp}}
+ \newwrite\XC@@xcp\immediate\openout\XC@@xcp=\jobname.xcp
+ \immediate\write\XC@@xcp{\@percentchar!}
+ \immediate\write\XC@@xcp{TeXDict begin}
+ \AtEndDocument
+ {\immediate\write\XC@@xcp{end}\immediate\closeout\XC@@xcp}
+ \fi
+\fi
+\@nameuse{XC at pst}
+\@namedef{ver at color.sty}{1999/02/16}
+\XC@@pkg
+\long\def\@secondoffive#1#2#3#4#5{#2}
+\long\def\@thirdoffive#1#2#3#4#5{#3}
+\def\xglobal{\xglobal at stop\begingroup\futurelet\@@tok\xglobal at test}
+\def\xglobal at test
+ {\expandafter\@tfor\expandafter\@@tmp
+ \expandafter:\expandafter=\xglobal at list\do
+ {\expandafter\ifx\@@tmp\@@tok
+ \aftergroup\let\aftergroup\xglobal@\@break at tfor\fi}%
+ \endgroup\global}
+\def\xglobal at stop{\let\xglobal@\@empty}
+\xglobal at stop
+\def\xglobal at list
+ {\definecolor\definecolors\definecolorset\colorlet\providecolor
+ \providecolors\providecolorset\blendcolors\maskcolors
+ \substitutecolormodel}
+\def\xglobalize@#1{\ifx\xglobal@\global\global\let#1#1\fi}
+\def\GetGinDriver
+ {\@tempswafalse
+ \@tfor\@@tmp:={dvips}{pdftex}{dvipdf}{dvipdfm}{dvipsone}{vtex}{textures}%
+ \do{\ifx\XC@@drv\@@tmp\@tempswatrue\@break at tfor\fi}%
+ \edef\GinDriver{\if at tempswa\XC@@drv\else hypertex\fi}}
+\def\@hex at Hex#1{\ifx#1\relax\else\expandafter\@hex@@Hex\expandafter#1\fi}
+\def\@hex@@Hex#1%
+ {\if a#1A\else \if b#1B\else \if c#1C\else \if d#1D\else
+ \if e#1E\else \if f#1f\else #1\fi\fi\fi\fi\fi\fi \@hex at Hex}
+\def\XC at strip@comma#1,#2%
+ {\ifx,#2%
+ #1\expandafter\remove at to@nnil\else#1 \expandafter\XC at strip@comma\fi
+ #2}
+{\catcode`Q=3
+ \gdef\XC at replace#1#2#3%
+ {\begingroup
+ \def\XC at repl@ce##1#2##2Q##3%
+ {\@ifxempty{##2}{\XC at r@pl at ce##1Q}{\XC at repl@ce##1##3##2Q{##3}}}%
+ \def\XC at r@pl at ce##1\@empty Q%
+ {\expandafter\endgroup\expandafter\def\expandafter#1\expandafter{##1}}%
+ \expandafter\XC at repl@ce\expandafter\@empty #1\@empty#2Q{#3}}
+}
+\def\XC at clean#1%
+ {\edef#1{ #1 }\edef#1{\expandafter\XC at strip@comma#1,,\@nnil}%
+ \edef#1{\expandafter\XC at cle@n#1\@empty}%
+ \edef#1{\expandafter\@gobbletwo#1}}
+\def\XC at cle@n#1 #2{,#1\ifx#2\@empty\else\expandafter\XC at cle@n\fi#2}
+\def\rdivide#1#2%
+ {\begingroup\toks@{#1}\edef\@@tmp{\noexpand\@tempdima\the#1}%
+ \@defaultunits\@tempdimb=#2pt\relax\@nnil \@@tmp\relax
+ \ifdim\@tempdima<\z@ \@tempdima-\@tempdima\def\@sign{-}\else
+ \def\@sign{}\fi
+ \ifdim\@tempdimb<\z@ \@tempdimb-\@tempdimb\edef\@sign{\@sign-}\fi
+ \ifdim\@tempdima<.1\maxdimen \ifdim\@tempdimb<.01\maxdimen
+ \lshift\@tempdima \lshift\@tempdimb \fi\fi
+ \@tempcnta=\@tempdima \@tempcntb=\@tempdimb
+ \count@=\@tempcnta \divide\count@\@tempcntb
+ \edef\@@tmp{\number\count at .}%
+ \@tempswatrue \@rdivide \@rdivide \@rdivide \@rdivide \@rdivide
+ \@tempswafalse \@rdivide
+ \dimen@\@@tmp\p@ \ifnum\count@>4\advance\dimen at 1sp\fi
+ \dimen@\@sign\dimen@
+ \edef\@@tmp{\the\toks@\the\dimen@}%
+ \expandafter\endgroup\@@tmp}
+\def\@rdivide
+ {\multiply\count@\@tempcntb \advance\@tempcnta-\count@
+ \multiply\@tempcnta10 \count@=\@tempcnta \divide\count@\@tempcntb
+ \if at tempswa\edef\@@tmp{\@@tmp\number\count@}\fi}
+\def\rmultiply#1#2%
+ {\begingroup
+ \edef\@@mul{#2}\@tempdima\the#1\relax
+ \afterassignment\@tempdimb\@tempcntb=\@@mul\p@
+ \ifdim\@tempdima<\z@ \@tempdima-\@tempdima\def\@sign{-}\else
+ \def\@sign{}\fi
+ \ifnum\@tempcntb<\z@ \@tempcntb-\@tempcntb\edef\@sign{\@sign-}\fi
+ \lshift\@tempdima \dimen@\z@
+ \expandafter\@rmultiply\@@mul.0.\@nil
+ \advance\dimen@\@tempcntb\@tempdima \rshift\dimen@
+ \dimen@\@sign\dimen@
+ \edef\@@tmp{#1\the\dimen@}%
+ \expandafter\endgroup\@@tmp}
+\def\@rmultiply#1.#2.#3\@nil
+ {\def\@@tmp{}%
+ \@tfor\@@mul:=#2\do
+ {\edef\@@tmp
+ {\advance\dimen@\@@mul\@tempdima \divide\dimen at 10 \@@tmp}}%
+ \@@tmp}
+\def\lshift#1{#1\expandafter\lshift@\the#1}
+\def\llshift#1{\lshift#1\lshift#1}
+\def\lshiftnum#1{\expandafter\lshiftnum@#1.00.:}
+\def\lshiftnum@#1.#2#3.#4:{#1#2\ifnum0#3>\z at .#3\fi}
+\def\llshiftnum#1{\expandafter\llshiftnum@#1\@empty.00.:}
+\def\llshiftnum@#1.#2#3#4.#5:%
+ {#1#2\ifnum0#3>\z@#3\else0\fi\ifnum0#4>\z at .#4\fi}
+\def\lshiftset#1#2{\edef\@@XC{\noexpand\lshiftnum{#2}}#1\@@XC\p@}
+\def\llshiftset#1#2{\edef\@@XC{\noexpand\llshiftnum{#2}}#1\@@XC\p@}
+\def\rshift#1{#1\expandafter\rshift@\the#1}
+\def\rrshift#1{\rshift#1\rshift#1}
+\begingroup
+\catcode`P=12
+\catcode`T=12
+\lowercase
+ {\def\@@tmp{\def\lshift@##1.##2##3PT{##1##2\ifnum0##3>\z at .##3\fi\p@}
+ \def\rshift@##1.##2PT{\rshift@@##1\relax##2\p@}}}
+\expandafter\endgroup\@@tmp
+\def\rshift@@#1#2%
+ {\ifx#2\relax.#1\else#1\expandafter\rshift@@\expandafter#2\fi}
+\def\XC at inflate#1#2#3#4%
+ {\edef#4{#2,\ifx#1\XC at mod@cmyk #3\else
+ \ifx#1\XC at mod@gray ,,,#3,,,\else ,#3,\fi\fi}}
+\def\XC at vec#1,#2,#3,#4,#5,#6,#7,#8,#9%
+ {\def\@@tmp{}%
+ \XC at vec@{#1}{#5}%
+ \ifx,#2,\else
+ \XC at vec@{#2}{#6}\XC at vec@{#3}{#7}\ifx,#4,\else\XC at vec@{#4}{#8}\fi\fi
+ \aftergroupdef#9\@@tmp}
+\def\XC at vec@@{\edef\@@tmp{\ifx\@@tmp\@empty\else\@@tmp,\fi\strip at pt\dimen@}}
+\def\XC at add{\begingroup \let\XC at vec@\XC at add@ \XC at vec}
+\def\XC at add@#1#2%
+ {\llshiftset\dimen@{#1}\llshiftset\@tempdima{#2}%
+ \advance\dimen@\@tempdima \rrshift\dimen@ \XC at vec@@}
+\def\XC at sub{\begingroup \let\XC at vec@\XC at sub@ \XC at vec}
+\def\XC at sub@#1#2{\XC at add@{#1}{-#2}}
+\def\XC at mul{\begingroup \let\XC at vec@\XC at mul@ \XC at vec}
+\def\XC at mul@#1#2%
+ {\llshiftset\dimen@{#1}\rmultiply\dimen@{#2}\rrshift\dimen@ \XC at vec@@}
+\def\XC at mix%
+ {\begingroup
+ \@tempdima\dimen@ \@tempdimb100\p@ \advance\@tempdimb-\@tempdima
+ \let\XC at vec@\XC at mix@ \XC at vec}
+\def\XC at mix@#1#2%
+ {\dimen@#1\@tempdima \advance\dimen@#2\@tempdimb \rrshift\dimen@ \XC at vec@@}
+\def\XC at calc@#1,#2,#3,#4,#5:#6%
+ {\XC at let@Nc\@@cmd{XC at calc#6}\@@cmd{#1}\@@tmp
+ \ifx,#2,\else
+ \@@cmd{#2}\@tempa\@@cmd{#3}\@tempb
+ \ifx,#4,%
+ \edef\@@tmp{\@@tmp,\@tempa,\@tempb}\else
+ \@@cmd{#4}\@tempc\edef\@@tmp{\@@tmp,\@tempa,\@tempb,\@tempc}\fi\fi}
+\def\XC at calcC#1#2%
+ {\llshiftset\dimen@{-#1}\advance\dimen at 100\p@
+ \rrshift\dimen@ \XC at calcN{\strip at pt\dimen@}#2}
+\def\XC at calcD{\XC at c@lcD\@@scl{}}
+\def\XC at c@lcD#1#2#3#4%
+ {\dimen@#3\p@ \rdivide\dimen@{#1}\edef#4{\strip at pt\dimen@#2}}
+\def\XC at calcF#1#2%
+ {\edef#2{#1}\expandafter\XC at c@lcF#2.0.:#2}
+\def\XC at c@lcF#1.#2.#3:#4%
+ {\edef#4{\XC at c@@cR#200000:}%
+ \dimen@#1.5\p@ \afterassignment\dimen@\count@=\the\dimen@
+ \edef#4%
+ {\ifnum#4>0 \ifnum\count@=0 \ifdim#1.5\p@<\z@ -\fi\fi\fi
+ \number\count at .#4}}
+\def\XC at calcH#1#2%
+ {\count@#1 \divide\count@\sixt@@n \edef\XC@@tmp{\hexnumber@\count@}%
+ \multiply\count at -\sixt@@n \advance\count@#1
+ \edef#2{\XC@@tmp\hexnumber@\count@}}
+\def\XC at calcM#1#2%
+ {\dimen@#1\p@ \dimen@\@@scl\dimen@ \advance\dimen at .5\p@
+ \afterassignment\dimen@\count@=\the\dimen@ \edef#2{\number\count@}}
+\def\XC at calcN#1#2%
+ {\XC at calcR{#1}#2\edef#2{\expandafter\XC at c@lcN#200000:}}
+\def\XC at c@lcN#1.#200000#3:{#1\ifnum0#2=0 \else.#2\fi}
+\def\XC at calcR#1#2{\edef#2{#1}\edef#2{\expandafter\XC at c@lcR#2.0.:}}
+\def\XC at c@lcR#1.#2.#3:%
+ {\ifnum#10>0 1.00000\else 0.\ifnum#11<0 00000\else
+ \XC at c@@cR#200000:\fi\fi}
+\def\XC at c@@cR#1#2#3#4#5#6:{#1#2#3#4#5}
+\def\XC at calcS{\XC at c@lcS\@@scl{}}
+\def\XC at c@lcS#1#2#3#4%
+ {\lshiftset\dimen@{#3}%
+ \ifdim#1\p@<100\p@
+ \dimen@\lshiftnum#1\dimen@ \rrshift\dimen@ \else
+ \dimen@#1\dimen@ \rshift\dimen@ \fi
+ \edef#4{\strip at pt\dimen@#2}}
+\def\XC at calcT#1#2%
+ {\lshiftset\dimen@{#1}\advance\dimen@\lshiftnum\@@arg\p@ \rshift\dimen@
+ \edef#2%
+ {\ifdim\dimen@>\p at 1\else\ifdim\dimen@<\z at 0\else\strip at pt\dimen@\fi\fi}}
+\def\XC at calcU#1#2%
+ {\dimen@#1\p@
+ \ifdim\dimen@=\p@\else
+ \afterassignment\dimen@\count@=\the\dimen@
+ \relax\ifdim\dimen@=\z@\else
+ \ifdim#1\p@<\z@ \dimen at -\dimen@ \advance\dimen@\p@ \fi
+ \fi
+ \fi
+ \edef#2{\strip at pt\dimen@}}
+\providecommand*\rangeRGB{255}
+\providecommand*\rangeHSB{240}
+\providecommand*\rangeHsb{360}
+\providecommand*\rangetHsb{60,30;120,60;180,120;210,180;240,240}
+\providecommand*\rangeGray{15}
+\providecommand*\adjustUCRBG{1,1,1,1}
+\providecommand*\paperquality{1}
+\providecommand*\colorseriescycle{16}
+\def\XC at clr@rgb at white{1,1,1}
+\def\XC at clr@cmy at white{0,0,0}
+\def\XC at clr@cmyk at white{0,0,0,0}
+\def\XC at clr@hsb at white{\@@hue,0,1}
+\def\XC at clr@hsb at gray{\@@hue,0,0.5}
+\def\XC at clr@hsb at black{\@@hue,0,0}
+\def\XC at clr@gray at white{1}
+\@tfor\@@tmp:={grad}{last}{step}\do
+ {\XC at let@cN{XC at met@\@@tmp}\@@tmp}
+\def\definecolor{\@testopt{\XC at definecolor}{}}
+\def\XC at definecolor[#1]#2%
+ {\@testopt{\XC at definec@lor[#1]{#2}}\colornameprefix}
+\def\XC at definec@lor[#1]#2[#3]#4#5%
+ {\begingroup
+ \XC at sdef\@@cls{#1}\XC at edef\@@nam{#2}\edef\colornameprefix{#3}%
+ \XC at logdef\@@nam
+ \XC at getmodclr02{#4}{#5}{\let\@@tmp\relax}%
+ {\ifx\@@mod\XC at mod@named
+ \XC at c@l at rlet\@@nam\@@clr
+ \else
+ \ifx\@@cls\XC at mod@ps
+ \edef\@@drv{\@@mod\space\@@clr}\def\@@hue{0}%
+ \edef\@@clr{\@nameuse{XC at clr@\@@mod @white}}%
+ \else
+ \ifconvertcolorsD
+ \let\@@tmp\@@mod\XC at sdef\@@mod{\XC at tgt@mod\@@tmp}%
+ \convertcolorspec\@@tmp\@@clr\@@mod\@@clr
+ \fi
+ \XC at coremodel\@@mod\@@clr
+ \csname color@\@@mod\expandafter\endcsname
+ \expandafter\@@drv\expandafter{\@@clr}%
+ \ifcase\XC@@xcp@
+ \immediate\write\XC@@xcp{/\colornameprefix\@@nam{\expandafter
+ \XC at strip@comma\@@clr,,\@nnil}XC\@@mod}%
+ \let\@@cls\XC at mod@named
+ \fi
+ \ifx\@@cls\@empty\else
+ \let\@@tmp\@@cls
+ \@nameuse{define at color@\@@cls}\@@nam\@@drv
+ \csname color@\@@tmp\expandafter\endcsname
+ \expandafter\@@drv\expandafter{\@@nam}%
+ \fi
+ \fi
+ \toks@\expandafter{\@@drv}%
+ \edef\@@tmp
+ {\ifglobalcolors\global\else\xglobal@\fi
+ \noexpand\@namedef{\string\color@\@@nam}%
+ {\noexpand\xcolor@{\@@cls}{\the\toks@}{\@@mod}{\@@clr}}}%
+ \fi}%
+ \expandafter\endgroup\@@tmp\xglobal at stop}
+\def\XC at getmodclr#1#2#3#4%
+ {\ifnum\ifcase#1 \ifXC@@getmod1\else0 \fi \or1 \fi>0
+ \XC at mdef\@@mod{#3}\expandafter\XC at getmod\@@mod////////\XC@@
+ \@ifundefinedmodel\@@Mod{\let\@@Mod\XC at mod@ignore}{}\fi
+ \@ifundefined{XC at mod@\@@mod}%
+ {\c at lor@error{model `\@@mod'}\@firstoftwo}%
+ {\ifcase#2\else
+ \XC at mdef\@@clr{#4}%
+ \edef\@@clr{\expandafter\XC at getclr\@@clr////////\XC@@}%
+ \ifx\@@cls\XC at mod@ps\else\XC at clean\@@clr\fi
+ \ifx\@@Mod\XC at mod@ignore\else
+ \convertcolorspec\@@mod\@@clr\@@Mod\@@clr
+ \ifnum#2>1 \let\@@mod\@@Mod\fi
+ \fi
+ \fi \@secondoftwo}}
+\def\XC at getmod#1/#2/#3/#4/#5/#6/#7/#8/#9\XC@@
+ {\XC at g@tm at d0#1::\XC@@ \XC at getm@d1{#2}\XC at getm@d2{#3}%
+ \XC at getm@d3{#4}\XC at getm@d4{#5}\XC at getm@d5{#6}\XC at getm@d6{#7}%
+ \XC at getm@d7{#8}\def\XC@@pos{0}\def\@@mod{#1}\@gobble\@nnil}%
+\def\XC at getm@d#1#2%
+ {\edef\XC@@pos{#2}\XC at sdef\@@mod{\XC at tgt@mod\XC@@pos}%
+ \ifx\XC@@pos\@@mod\def\XC@@pos{#1}\expandafter\remove at to@nnil\fi}%
+\def\XC at g@tm at d#1#2:#3:#4\XC@@
+ {\@ifxempty{#3}{\let\@@Mod\XC at mod@ignore\XC at getm@d0{#2}}%
+ {\def\@@Mod{#2}\XC at getm@d0{#3}}}%
+\def\XC at getclr#1/#2/#3/#4/#5/#6/#7/#8/#9\XC@@
+ {\ifcase\XC@@pos\space #1\or#2\or#3\or#4\or#5\or#6\or#7\or#8\fi}
+\newif\ifXC@@getmod \XC@@getmodtrue
+\let\xdefinecolor\definecolor
+\def\providecolor{\@testopt{\XC at providecolor}{}}
+\def\XC at providecolor[#1]#2%
+ {\@testopt{\XC at providec@lor[#1]{#2}}\colornameprefix}
+\def\XC at providec@lor[#1]#2[#3]%
+ {\XC at edef\XC@@tmp{#2}%
+ \@ifundefinedcolor\XC@@tmp{\XC at definecolor[#1]{#2}[#3]}%
+ {\ifnum\XC at tracing>0
+ \PackageInfo{xcolor}{Ignoring color definition `\XC@@tmp'}\fi
+ \@gobbletwo}}
+\def\xcolor@#1#2#3#4{#2}
+\def\colorlet{\@testopt{\XC at colorlet}{}}
+\def\XC at colorlet[#1]#2{\@testopt{\XC at col@rlet[#1]{#2}}{}}
+\def\XC at col@rlet[#1]#2[#3]#4%
+ {\begingroup
+ \edef\@@cls{#1}\XC at edef\@@nam{#2}\XC at sdef\@@mod{#3}\XC at edef\@@clr{#4}%
+ \XC at info\@@clr\@@tmp\XC@@tstfalse
+ \ifnum\@@tmp=\@ne\ifx\@@mod\@empty
+ \ifx\@@cls\@empty
+ \XC@@tsttrue
+ \else
+ \edef\@@tmp
+ {\expandafter\expandafter\expandafter\@secondoffive
+ \csname\string\color@\@@clr\endcsname}%
+ \ifx\@@cls\@@tmp\XC@@tsttrue\fi
+ \fi
+ \fi\fi
+ \ifXC@@tst
+ \XC at logdef\@@nam\XC at c@l at rlet\@@nam\@@clr
+ \else
+ \extractcolorspec\@@clr\@@clr
+ \ifx\@@mod\@empty\else
+ \expandafter\convertcolorspec\@@clr\@@mod\@@clr
+ \edef\@@clr{{\@@mod}{\@@clr}}\fi
+ \edef\@@tmp{\noexpand\XC at definecolor[\@@cls]{\@@nam}\@@clr}%
+ \fi
+ \expandafter\endgroup\@@tmp\xglobal at stop}
+\def\XC at c@l at rlet#1#2%
+ {\@ifundefinedcolor{#2}%
+ {\c at lor@error{`#2'}\let\@@tmp\@empty}%
+ {\edef\@@tmp
+ {\ifglobalcolors\global\else\xglobal@\fi
+ \noexpand\XC at let@cc{\string\color@#1}{\string\color@#2}}}}
+\def\DefineNamedColor#1%
+ {\@nameuse{XC@\ifdefinecolors defin\else prepar\fi ecolor}[#1]}
+\def\preparecolor{\@testopt{\XC at preparecolor}{}}
+\def\XC at preparecolor[#1]#2%
+ {\@testopt{\XC at preparec@lor[#1]{#2}}\colornameprefix}
+\def\XC at preparec@lor[#1]#2[#3]#4#5%
+ {\XC at sdef\@@cls{#1}\XC at edef\@@nam{#2}%
+ \XC at getmodclr01{#4}{#5}{}%
+ {\xdef\XC@@stack
+ {\ifx\XC@@stack\@empty\else\XC@@stack,\fi{#1}{\@@nam}{#3}%
+ {\ifx\@@Mod\XC at mod@ignore\@@mod\else\@@Mod\fi}{\@@clr}}}}
+\let\XC@@stack\@empty
+\def\definecolors#1%
+ {\let\XC@@cmd\definecolor\let\XC@@glb\xglobal@
+ \expandafter\XC at definecolors#1,,}
+\def\XC at definecolors#1,%
+ {\@ifxempty{#1}{}{\expandafter\XC at definec@lors#1=#1=:\XC at definecolors}}
+\def\XC at definec@lors#1=#2=#3:%
+ {\XC at edef\@@nam{#1}\XC at edef\@@arg{#2}%
+ \let\next\XC at definec@l at rs\expandafter\next\XC@@stack,,\@nnil}
+\def\XC at definec@l at rs#1,%
+ {\ifx,#1,\let\next\remove at to@nnil\else\XC at defin@c at l@rs#1\fi\next}
+\def\XC at defin@c at l@rs#1#2#3#4#5%
+ {\def\@@tmp{#2}%
+ \ifx\@@tmp\@@arg
+ \let\xglobal@\XC@@glb\XC@@cmd[#1]{\@@nam}[#3]{#4}{#5}%
+ \let\next\remove at to@nnil
+ \fi}
+\def\providecolors#1%
+ {\let\XC@@cmd\providecolor\let\XC@@glb\xglobal@
+ \expandafter\XC at definecolors#1,,}
+\def\definecolorset
+ {\let\XC@@cmd\definecolor\@testopt{\XC at definecolorset}{}}
+\def\XC at definecolorset[#1]#2#3#4#5%
+ {\XC at getmodclr10{#2}{}{}%
+ {\XC@@getmodfalse\XC at edef\XC@@tmp{#5}\let\XC@@glb\xglobal@
+ \def\XC at definec@lorset##1,##2;%
+ {\@ifxempty{##1}{}%
+ {\let\xglobal@\XC@@glb
+ \XC@@cmd[#1]{#3##1#4}{\@@mod}{##2}\XC at definec@lorset}}%
+ \expandafter\XC at definec@lorset\XC@@tmp;,;\XC@@getmodtrue}}
+\def\providecolorset
+ {\let\XC@@cmd\providecolor\@testopt{\XC at definecolorset}{}}
+\def\preparecolorset
+ {\ifdefinecolors\let\XC@@cmd\definecolor\else\let\XC@@cmd\preparecolor\fi
+ \@testopt{\XC at definecolorset}{}}
+\def\definecolorseries#1#2#3%
+ {\@testopt{\XC at definecolorseries{#1}{#2}{#3}}{}}
+\def\XC at definecolorseries#1#2#3[#4]#5%
+ {\@testopt{\XC at definec@lorseries{#1}{#2}{#3}[#4]{#5}}{}}
+\def\XC at definec@lorseries#1#2#3[#4]#5[#6]#7%
+ {\begingroup
+ \XC at sdef\@@mod{#2}%
+ \@ifxempty{#4}{\extractcolorspec{#5}\@@clr}{\edef\@@clr{{#4}{#5}}}%
+ \expandafter\convertcolorspec\@@clr\@@mod\@@clr
+ \@namexdef{\string\colorB@#1}{{\@@mod}{\@@clr}}%
+ \edef\@@met{#3}%
+ \ifx\@@met\XC at met@last
+ \@ifxempty{#6}{\extractcolorspec{#7}\@@tmp}{\edef\@@tmp{{#6}{#7}}}%
+ \expandafter\convertcolorspec\@@tmp\@@mod\@@tmp
+ \XC at inflate\@@mod\@@tmp\@@clr\@@tmp
+ \expandafter\XC at sub\@@tmp,\@@tmp
+ \else
+ \edef\@@tmp{#7}%
+ \fi
+ \@namexdef{\string\colorD@#1}{{\@@met}{\@@tmp}}%
+ \endgroup}
+\def\resetcolorseries{\@testopt{\XC at resetcolorseries}{}}
+\def\XC at resetcolorseries[#1]#2%
+ {\begingroup
+ \@namexdef
+ {\string\color@#2}{\noexpand\xcolor@{}{}\@nameuse{\string\colorB@#2}}%
+ \XC at let@Nc\@@tmp{\string\colorD@#2}%
+ \edef\@@met{\expandafter\@firstoftwo\@@tmp}%
+ \edef\@@tmp{\expandafter\@secondoftwo\@@tmp}%
+ \ifx\@@met\XC at met@step\else
+ \edef\@@scl{\@ifxempty{#1}\colorseriescycle{#1}}%
+ \expandafter\XC at calc@\@@tmp,,,,:D%
+ \fi
+ \@namexdef{\string\colorS@#2}{\@@tmp}%
+ \endgroup}
+\def\XC at step#1%
+ {\let\xcolor@\@gobbletwo\edef\@@tmp{\@nameuse{\string\color@#1}}%
+ \expandafter\XC at st@p\@@tmp{#1}%
+ \@namexdef{\string\color@#1}{\noexpand\xcolor@{}{}{\@@mod}{\@@tmp}}}
+\def\XC at st@p#1#2#3%
+ {\def\@@mod{#1}\def\@@tmp{#2}\edef\@@vec{\@nameuse{\string\colorS@#3}}%
+ \@whilenum\@tempcnta>\z@\do
+ {\XC at inflate\@@mod\@@tmp\@@vec\@@tmp
+ \expandafter\XC at add\@@tmp,\@@tmp \expandafter\XC at calc@\@@tmp,,,,:U%
+ \advance\@tempcnta\m at ne}}
+\def\XC at stepabs#1%
+ {\edef\@@tmp{\@nameuse{\string\colorB@#1}}%
+ \expandafter\XC at st@p\@@tmp{#1}%
+ \edef\@@tmp
+ {\def\noexpand\@@mod{\@@mod}\def\noexpand\@@clr{\@@tmp}}}
+\def\blendcolors{\@ifstar{\XC at blendcolors\colorblend}{\XC at blendcolors{}}}
+\def\XC at blendcolors#1#2%
+ {\edef\colorblend{#1}\XC at edef\XC@@tmp{#2}%
+ \ifx\XC@@tmp\@empty
+ \xglobal@\blendcolorsfalse
+ \else
+ \xglobal@\blendcolorstrue
+ \expandafter\XC at blendc@lors\XC@@tmp!!\@nil
+ \fi
+ \xglobalize@\colorblend \xglobal at stop}
+\def\XC at blendc@lors!#1!#2!#3\@nil
+ {\@ifxempty{#1}{}%
+ {\@ifxempty{#2}%
+ {\edef\colorblend{\colorblend!#1!white}}%
+ {\edef\colorblend{\colorblend!#1!#2}\XC at blendc@lors!#3!\@nil}}}
+\blendcolors{}
+\def\maskcolors{\@testopt{\XC at maskcolors}{}}
+\def\XC at maskcolors[#1]#2%
+ {\XC at edef\colormask{#2}%
+ \ifx\colormask\@empty
+ \xglobal@\maskcolorsfalse \def\XC at mmod{}\def\XC at mclr{}%
+ \else
+ \xglobal@\maskcolorstrue \extractcolorspecs\colormask\XC at mmod\XC at mclr
+ \@ifxempty{#1}{}%
+ {\convertcolorspec\XC at mmod\XC at mclr{#1}\XC at mclr \XC at sdef\XC at mmod{#1}}%
+ \XC at coremodel\XC at mmod\XC at mclr
+ \fi
+ \xglobalize@\colormask \xglobalize@\XC at mmod \xglobalize@\XC at mclr
+ \xglobal at stop}
+\maskcolors{}
+\DeclareRobustCommand\color
+ {\@ifnextchar[\@undeclaredcolor\@declaredcolor}
+\def\@undeclaredcolor[#1]#2%
+ {\begingroup
+ \let\@@cls\@empty
+ \XC at getmodclr12{#1}{#2}{}%
+ {\ifblendcolors
+ \ifx\colorblend\@empty\else
+ \edef\@@mix{\expandafter\@gobble\colorblend}\@tempswafalse
+ \XC at coremodel\@@mod\@@clr\@xcolor@{}{}\@@mod\@@clr
+ \fi
+ \fi
+ \ifconvertcolorsU
+ \edef\@@tmp{\XC at tgt@mod{\@@mod}}%
+ \convertcolorspec\@@mod\@@clr\@@tmp\@@clr \let\@@mod\@@tmp
+ \fi
+ \ifmaskcolors
+ \convertcolorspec\@@mod\@@clr\XC at mmod\@@clr
+ \let\@@mod\XC at mmod
+ \XC at inflate\@@mod\XC at mclr\@@clr\@@tmp
+ \expandafter\XC at mul\@@tmp,\@@clr
+ \fi
+ \edef\@@tmp{\noexpand\XC at undeclaredcolor{\@@mod}{\@@clr}}%
+ \expandafter\endgroup\@@tmp}}
+\def\XC at undeclaredcolor#1#2%
+ {\@ifundefinedmodel{#1}%
+ {\c at lor@error{model `#1'}}%
+ {\@nameuse{color@#1}\current at color{#2}%
+ \edef\XC at current@color{\noexpand\xcolor@{}{\current at color}{#1}{#2}}%
+ \XC at display}}
+\def\@declaredcolor#1%
+ {\XC at edef\XC@@tmp{#1}\XC@@tstfalse
+ \ifcase\XC at type\XC@@tmp\relax \XC@@tsttrue\or \relax\else
+ \ifblendcolors\XC@@tsttrue\fi \ifmaskcolors\XC@@tsttrue\fi
+ \ifconvertcolorsU\XC@@tsttrue\fi
+ \fi
+ \ifXC@@tst
+ \expandafter\XC at declaredcolor\else
+ \expandafter\XC at declaredc@lor\fi}
+\def\XC at declaredcolor
+ {\XC at split\XC@@tmp
+ \edef\@@tmp{\noexpand\@undeclaredcolor[\@@mod]{\@@clr}}%
+ \expandafter\endgroup\@@tmp}
+\def\XC at declaredc@lor
+ {\XC at let@Nc\XC at current@color{\string\color@\XC@@tmp}%
+ \edef\current at color{\XC at current@color}%
+ \XC at display}
+\def\textcolor#1#{\@textcolor{#1}}
+\def\@textcolor#1#2#3{\protect\leavevmode{\color#1{#2}#3}}
+\def\pagecolor
+ {\begingroup
+ \let\ignorespaces\endgroup \let\set at color\set at page@color
+ \color}
+\def\colorbox#1#{\color at box{#1}}
+\def\color at box#1#2{\color at b@x\relax{\color#1{#2}}}
+\def\fcolorbox#1#{\color at fbox{#1}}
+\def\color at fbox#1#2#3#{\color at fb@x{#1}{#2}{#3}}
+\def\color at fb@x#1#2#3#4%
+ {\color at b@x{\fboxsep\z@\color#1{#2}\XC at fbox}%
+ {\@ifxempty{#3}{\color#1}{\color#3}{#4}}}
+\long\def\color at b@x#1#2#3%
+ {\leavevmode
+ \setbox\z@\hbox{\kern\fboxsep{\set at color#3}\kern\fboxsep}%
+ \dimen@\ht\z@\advance\dimen@\fboxsep\ht\z@\dimen@
+ \dimen@\dp\z@\advance\dimen@\fboxsep\dp\z@\dimen@
+ {#1{#2\color at block{\wd\z@}{\ht\z@}{\dp\z@}\box\z@}}}
+\def\XC at frameb@x#1%
+ {\hbox
+ {\@tempdima\fboxrule \advance\@tempdima\fboxsep
+ \advance\@tempdima\dp\@tempboxa
+ \setbox\@tempboxa\hbox
+ {\lower\@tempdima\hbox
+ {\vbox
+ {\kern\fboxrule
+ \hbox
+ {\kern\fboxrule#1%
+ \vbox{\kern\fboxsep\box\@tempboxa\kern\fboxsep}%
+ #1\kern\fboxrule}%
+ \kern\fboxrule}}}%
+ \@tempdima\wd\@tempboxa
+ \edef\@tempa{{\the\@tempdima}{\the\ht\@tempboxa}{\the\dp\@tempboxa}}%
+ \box\@tempboxa\kern-\@tempdima\expandafter\boxframe\@tempa}}
+\ifXC@@fbox
+ \let\@frameb at x\XC at frameb@x \let\XC at fbox\fbox
+\else
+ \def\XC at fbox{\let\@frameb at x\XC at frameb@x\fbox}
+\fi
+
+\ifnum\XC@@xcd@>\m at ne
+\def\XC at boxframe#1#2#3#4%
+ {\hbox{\sbox\z@{\ifdim\fboxrule>\z@ #4\fi}%
+ \wd\z@#1\relax\ht\z@#2\relax\dp\z@#3\relax\box\z@}}
+\fi
+\ifcase\XC@@xcd@
+\providecommand*\color at block[3]%
+ {{\set at color\hbox
+ {\dimen@#3\edef\@tempa{ \number\dimen@\space}%
+ \dimen@#2\edef\@tempa{ \number\dimen@\@tempa}%
+ \dimen@#1\relax
+ \XC at special{\number\dimen@\@tempa XCcolorblock}}}}
+\providecommand*\boxframe[3]%
+ {\XC at boxframe{#1}{#2}{#3}%
+ {\dimen@#3\edef\@tempa{ \number\dimen@\space}%
+ \dimen@#2\edef\@tempa{ \number\dimen@\@tempa}%
+ \dimen@#1\relax
+ \XC at special{\number\fboxrule\space\number\dimen@\@tempa XCboxframe}}}
+\or
+\providecommand*\boxframe[3]%
+ {\XC at boxframe{#1}{#2}{#3}%
+ {\dimen@#3\edef\@tempa{ 0 -\strip at pt\dimen@\space}%
+ \edef\@tempb{\advance\dimen@\the\dimen@}%
+ \dimen@#2\advance\dimen at -\fboxrule\@tempb
+ \edef\@tempb{ \strip at pt\dimen@\space re s}%
+ \dimen@#1\advance\dimen at -\fboxrule
+ \edef\@tempb{ cm\@tempa\strip at pt\dimen@\@tempb}%
+ \dimen at .5\fboxrule\edef\@tempa{ \strip at pt\dimen@}%
+ \XC at special
+ {0.996264 0 0 0.996264 0 0 cm
+ \strip at pt\fboxrule\space w [] 0 d 2 J 0 j 4 M
+ 1 0 0 1\@tempa\@tempa\@tempb}}}
+\fi
+\providecommand*\color at block[3]%
+ {{\set at color\rlap{\ifcolors@\vrule\@width#1\@height#2\@depth#3\fi}}}
+\providecommand*\boxframe[3]%
+ {\hbox
+ {\dimen@#2\advance\dimen@#3\relax
+ \lower#3\vbox
+ {\hrule\@height\fboxrule
+ \@tempdima-0.5\fboxrule \ifodd\fboxrule\advance\@tempdima\m at ne sp\fi
+ \kern\@tempdima
+ \hbox
+ {\advance\dimen at -\fboxrule
+ \vrule\@width\fboxrule\@height\dimen@\@depth\z@
+ \@tempdima#1\advance\@tempdima-\tw@\fboxrule \kern\@tempdima
+ \vrule\@width\fboxrule\@height\dimen@\@depth\z@}%
+ \kern-0.5\fboxrule
+ \hrule\@height\fboxrule}}}
+\def\@xcolor@#1#2#3#4%
+ {\edef\@@mod{#3}\edef\@@clr{#4}%
+ \ifx\@@mix\@empty\else\expandafter\@xcolor@@\@@mix!!!!\@nil\fi
+ \if at tempswa
+ \XC at let@Nc\@@tmp{XC at cnv@\@@mod @compl}%
+ \ifx\@@tmp\relax \expandafter\XC at calc@\@@clr,,,,:C\else
+ \expandafter\@@tmp\@@clr,\fi
+ \let\@@clr\@@tmp
+ \fi}
+\def\@xcolor@@#1!#2!#3!#4!#5\@nil
+ {\dimen@\@ifxempty{#1}{100}{#1}\p@
+ \edef\@@mix{\@ifxempty{#2}{white}{#2}}%
+ \ifdim\dimen@=100\p@
+ \expandafter\XC at postfix\@@mix]\relax
+ \else\ifdim\dimen@=\z@
+ \extractcolorspecs\@@mix\@@mod\@@clr
+ \else
+ \XC at let@Nc\@@tmp{XC at clr@\@@mod @\@@mix}%
+ \ifx\@@tmp\relax
+ \extractcolorspec\@@mix\@@tmp
+ \ifx\@@mod\XC at mod@gray
+ \edef\@@mod{\expandafter\@firstoftwo\@@tmp}%
+ \edef\@@tmp{\expandafter\@secondoftwo\@@tmp}%
+ \convertcolorspec\XC at mod@gray\@@clr\@@mod\@@clr
+ \else
+ \expandafter\convertcolorspec\@@tmp\@@mod\@@tmp
+ \fi
+ \else
+ \ifx\@@mod\XC at mod@hsb\expandafter\XC at extract@hue\@@clr:\@@hue\fi
+ \fi
+ \XC at inflate\@@mod\@@clr\@@tmp\@@tmp
+ \expandafter\XC at mix\@@tmp,\@@clr
+ \fi\fi
+ \@ifxempty{#3}%
+ {\@ifxempty{#4}{}{\@xcolor@@!#4!#5\@nil}}%
+ {\@xcolor@@#3!#4!#5\@nil}}
+\def\XC at split#1%
+ {\begingroup\XC at edef\@@tmp{#1}\expandafter\XC at split@i\@@tmp>>\@nnil}
+\def\XC at split@i#1>%
+ {\def\@@tmp{#1}\XC at split@ii#1:\@nil \XC at func}
+\def\XC at split@ii#1:#2\@nil
+ {\@ifxempty{#2}{\XC at split@vi}{\XC at split@iii#1,,:#2}}
+\def\XC at split@iii#1,#2,#3:#4:%
+ {\edef\XC@@mod{#1}\let\@tempa\@empty
+ \ifx,#2,\XC@@tsttrue\@tempdima\z@\else\XC@@tstfalse\@tempdima#2\p@\fi
+ \XC at split@iv#4;,;}
+\def\XC at split@iv#1,#2;%
+ {\@ifxempty{#1}%
+ {\let\XC@@clr\@empty \@tempa \expandafter\XC at calc@\XC@@clr,,,,:U%
+ \let\@@mod\XC@@mod \let\@@clr\@@tmp}
+ {\XC at append\@tempa{\XC at split@v{#1}{#2}}%
+ \ifXC@@tst\advance\@tempdima#2\p@\fi
+ \XC at split@iv}}
+\def\XC at split@v#1#2%
+ {\def\@@tmp{#1}\XC at split@vi
+ \ifx\@@mod\XC@@mod\else
+ \convertcolorspec\@@mod\@@clr\XC@@mod\@@clr
+ \fi
+ \dimen@#2\p@ \rdivide\dimen@\@tempdima
+ \edef\@@scl{\strip at pt\dimen@}%
+ \expandafter\XC at calc@\@@clr,,,,:S%
+ \ifx\XC@@clr\@empty\let\XC@@clr\@@tmp\else
+ \XC at inflate\XC@@mod\XC@@clr\@@tmp\@@tmp
+ \expandafter\XC at add\@@tmp,\XC@@clr
+ \fi}
+\def\XC at split@vi{\count@\z@ \expandafter\XC at split@vii\@@tmp!\@nil}
+\def\XC at split@vii#1%
+ {\ifx#1-\advance\count@\@ne\expandafter\XC at split@vii
+ \else\expandafter\XC at split@viii\expandafter#1\fi}
+\def\XC at split@viii#1!#2\@nil
+ {\edef\@@nam{#1}\edef\@@mix{#2}%
+ \ifodd\count@\@tempswatrue\else\@tempswafalse\fi
+ \@ifundefinedcolor\@@nam
+ {\c at lor@error{`\@@nam'}\def\@@nam{black}}{}%
+ \let\xcolor@\@xcolor@\@nameuse{\string\color@\@@nam}}
+\def\XC at postfix#1#2]#3\relax
+ {\begingroup
+ \if[#1\@tempcnta#2\relax\XC at stepabs\@@nam
+ \else\@tempcnta\z@
+ \@tfor\@@tok:=#1#2\do
+ {\if+\@@tok\advance\@tempcnta\@ne
+ \else\if-\@@tok\advance\@tempcnta\m at ne
+ \else\@tempcnta\z@\expandafter\@break at tfor\fi\fi}%
+ \ifnum\@tempcnta=\z@\relax\else\XC at step\@@nam\fi
+ \let\@@tmp\@empty
+ \fi\expandafter\endgroup\@@tmp}
+\def\XC at func#1>{\@ifxempty{#1}{\remove at to@nnil}{\XC at fun@#1,>\XC at func}}
+\def\XC at fun@#1,#2>{\@nameuse{XC at func@#1}#2,,>}
+\def\XC at func@wheel#1,#2,#3>{\XC at func@wh at el{#1}{#2}0}
+\def\XC at func@twheel#1,#2,#3>{\XC at func@wh at el{#1}{#2}1}
+\def\XC at func@wh at el#1#2#3%
+ {\convertcolorspec\@@mod\@@clr
+ {\ifcase#3 \XC at mod@Hsb\or\XC at mod@tHsb\fi}\@@clr
+ \expandafter\XC at extract@hue\@@clr:\@@hue \dimen@#1\p@
+ \@ifxempty{#2}{}%
+ {\rdivide\dimen@{#2}\lshift\dimen@
+ \dimen@\rangeHsb\dimen@\rshift\dimen@}%
+ \advance\dimen@\@@hue\p@ \rdivide\dimen@\rangeHsb
+ \edef\@@hue{\strip at pt\dimen@}\XC at calcU\@@hue\@@hue
+ \ifcase#3
+ \expandafter\XC at replace@hue\@@clr:\@@hue,\@@clr
+ \or
+ \XC at c@lcS\rangeHsb{}\@@hue\@@hue
+ \expandafter\XC at replace@hue\@@clr:\@@hue,\@@clr
+ \convertcolorspec\XC at mod@tHsb\@@clr\XC at mod@hsb\@@clr
+ \fi
+ \let\@@mod\XC at mod@hsb}
+\def\XC at display
+ {\XC at bcolor\XC at let@cN{\string\color at .}\XC at current@color
+ \ifnum\XC at type{.}=1
+ \PackageWarning{xcolor}{Incompatible color definition}\else
+ \ifnum\XC at tracing>2
+ \begingroup \let\xcolor@\@empty \def\@nil{\string\@nil}%
+ \PackageInfo{xcolor}{Setting color `\XC at current@color'}%
+ \endgroup
+ \fi\fi
+ \XC at mcolor\set at color\XC at ecolor\ignorespaces}
+\let\XC at bcolor\relax
+\let\XC at mcolor\relax
+\let\XC at ecolor\relax
+\def\XC at bordercolor#1#2%
+ {\extractcolorspec{#2}\XC@@tmp
+ \expandafter\convertcolorspec\XC@@tmp\XC at mod@rgb\XC@@tmp
+ \expandafter\edef\csname @#1bordercolor\endcsname
+ {\expandafter\XC at strip@comma\XC@@tmp,\@nnil}}
+\def\XC at pdfborder#1 #2 #3\relax
+ {\def\@@scl{80}\XC at calc@#1,#2,#3,,:S%
+ \edef\@pdfborder{\expandafter\XC at strip@comma\@@tmp,\@nnil}}
+\@ifXCopt{table}{%
+ \def\rowcolors
+ {\@ifstar{\@rowcmdfalse\rowc at lors}{\@rowcmdtrue\rowc at lors}}
+ \def\rowc at lors{\@testopt{\rowc at l@rs}{}}
+ \def\rowc at l@rs[#1]#2#3#4%
+ {\global\rownum=\z@
+ \global\@rowcolorstrue
+ \@ifxempty{#3}%
+ {\def\@oddrowcolor{\@norowcolor}}%
+ {\def\@oddrowcolor{\gdef\CT at row@color{\CT at color{#3}}}}%
+ \@ifxempty{#4}%
+ {\def\@evenrowcolor{\@norowcolor}}%
+ {\def\@evenrowcolor{\gdef\CT at row@color{\CT at color{#4}}}}%
+ \if at rowcmd
+ \def\@rowcolors
+ {#1\if at rowcolors
+ \noalign{\relax\ifnum\rownum<#2\@norowcolor\else
+ \ifodd\rownum\@oddrowcolor\else\@evenrowcolor\fi\fi}%
+ \fi}%
+ \else
+ \def\@rowcolors
+ {\if at rowcolors
+ \ifnum\rownum<#2\noalign{\@norowcolor}\else
+ #1\noalign{\ifodd\rownum\@oddrowcolor\else\@evenrowcolor\fi}\fi
+ \fi}%
+ \fi
+ \CT at everycr{\@rowc at lors\the\everycr}%
+ \ignorespaces}
+ \def\@rowc at lors{\noalign{\global\advance\rownum\@ne}\@rowcolors}
+ \let\@rowcolors\@empty
+ \def\showrowcolors{\noalign{\global\@rowcolorstrue}\@rowcolors}
+ \def\hiderowcolors{\noalign{\global\@rowcolorsfalse\@norowcolor}}
+ \def\@norowcolor{\global\let\CT at row@color\relax}
+ \@norowcolor
+ \newif\if at rowcolors
+ \newif\if at rowcmd
+ \@ifundefined{rownum}{\newcount\rownum}{}
+ \def\CT at extract#1\columncolor#2#3\@nil
+ {\if!#2%
+ \let\CT at column@color\@empty
+ \else
+ \if[#2%
+ \expandafter\CT at extractb
+ \else
+ \XC at edef\XC@@tmp{#2}%
+ \edef\CT at column@color{\noexpand\CT at color{\XC@@tmp}}%
+ \expandafter\CT at extractd
+ \fi
+ {#1}#3\@nil
+ \fi}
+}{}
+\def\extractcolorspec#1#2%
+ {\XC at split{#1}\edef\@@tmp{{\@@mod}{\@@clr}}\aftergroupdef#2\@@tmp}
+\def\extractcolorspecs#1#2#3%
+ {\extractcolorspec{#1}#3%
+ \edef#2{\expandafter\@firstoftwo#3}%
+ \edef#3{\expandafter\@secondoftwo#3}}
+\def\XC at extract@hue#1,#2:#3{\edef#3{#1}}
+\def\XC at replace@hue#1,#2:#3,#4{\edef#4{#3,#2}}
+\def\@ifundefinedcolor#1{\@ifundefined{\string\color@#1}}
+\def\@ifundefinedmodel#1{\@ifundefined{color@#1}}
+\def\XC at type#1%
+ {\expandafter\expandafter\expandafter\XC at typ@
+ \csname\string\color@#1\endcsname\@empty\@empty\@empty\XC@@}
+\def\XC at typ@#1#2#3#4\XC@@
+ {\ifx#1\relax 0\else
+ \ifx#1\xcolor@
+ \ifx$#2$%
+ \ifx$#3$4\else3\fi\@gobbletwo
+ \else2\fi\@gobbletwo
+ \else1\fi
+ \fi}
+\def\XC at info#1#2%
+ {\XC at edef#2{#1}%
+ \if.#2\def#2{0}\else\expandafter\in@\expandafter>\expandafter{#2}%
+ \ifin@\def#2{4}\else\expandafter\in@\expandafter:\expandafter{#2}%
+ \ifin@\def#2{3}\else\expandafter\in@\expandafter!\expandafter{#2}%
+ \ifin@\def#2{2}\else\edef#2{\noexpand\in@{/-}{/#2}}#2%
+ \edef#2{\ifin at 2\else1\fi}\fi\fi\fi\fi}
+\def\tracingcolors{\begingroup\afterassignment\XC at tracingcolors\count@}
+\def\XC at tracingcolors{\aftergroupdef\XC at tracing{\the\count@}}
+\tracingcolors=0
+\def\XC at logdef#1%
+ {\ifnum\XC at tracing>1
+ \@ifundefinedcolor{#1}%
+ {\ifnum\XC at tracing>2
+ \PackageInfo{xcolor}{Defining color `#1'}%
+ \fi}%
+ {\PackageInfo{xcolor}{Redefining color `#1'}}%
+ \fi}
+\newenvironment*{testcolors}[1][rgb,cmyk,hsb,HTML]%
+ {\let\@@nam\@empty\count@\z@
+ \@for\@@tmp:=#1\do
+ {\advance\count@\@ne
+ \XC at sdef\@@tmp{\@@tmp}\edef\@@nam{\@@nam{\@@tmp}}}%
+ \edef\@@num{\the\count@}%
+ \def\XC@@gt{\textgreater}\def\@@tmp{OT1}%
+ \ifx\f at encoding\@@tmp
+ \@expandtwoargs\in@{,\f at family,}{,cmtt,pcr,}%
+ \ifin@\def\XC@@gt{>}\fi
+ \fi
+ \def\XC@@xcp@{-1}\ifnum\XC at tracing>1 \def\XC at tracing{1}\fi
+ \def\testcolor{\@testopt{\@testcolor}{}}%
+ \def\@testcolor[##1]##2%
+ {\XC at mdef\@@mod{##1}\XC at edef\@@clr{##2}%
+ \ifx\@@mod\@empty
+ \let\@@arg\@@clr\XC at replace\@@arg>\XC@@gt\else
+ \edef\@@arg{[\@@mod]{\@@clr}}\XC at definecolor[]{*}\@@mod\@@clr
+ \def\@@clr{*}\fi
+ \XC at append\@@arg{&}\extractcolorspecs\@@clr\@@mod\@@clr
+ \@testc at lor}%
+ \def\@testc at lor
+ {\count@\z@
+ \expandafter\@tfor\expandafter\@@tmp\expandafter:\expandafter=\@@nam\do
+ {\ifx\@@clr\@empty
+ \edef\@@cmd{\noexpand\textbf{\@@tmp}}%
+ \else
+ \convertcolorspec\@@mod\@@clr\@@tmp\@@cmd
+ \edef\@@cmd
+ {\noexpand\@testc at l@r{\@@tmp}{\@@cmd}%
+ \ifx\@@mod\@@tmp\noexpand\underline\fi
+ {\expandafter\XC at strip@comma\@@cmd,,\@nnil}}%
+ \fi
+ \expandafter\XC at append\expandafter\@@arg\expandafter{\@@cmd}%
+ \advance\count@\@ne
+ \ifnum\count@=\@@num\XC at append\@@arg{\\}\else\XC at append\@@arg{&}\fi}%
+ \@@arg}%
+ \def\@testc at l@r##1##2%
+ {\fboxsep\z@\fbox{\colorbox[##1]{##2}{\phantom{XX}}} }%
+ \tabular{@{}l*{\@@num}{l}@{}}%
+ \def\@@arg{\textbf{color}& }\let\@@clr\@empty\@testc at lor}%
+ {\endtabular\ignorespacesafterend}
+\def\color at setgroup{\begingroup\set at color}
+\let\color at begingroup\begingroup
+\def\color at endgroup{\endgraf\endgroup}
+\def\color at hbox{\hbox\bgroup\color at begingroup}
+\def\color at vbox{\vbox\bgroup\color at begingroup}
+\def\color at endbox{\color at endgroup\egroup}
+\def\convertcolorspec#1#2#3#4%
+ {\begingroup
+ \XC at sdef\sm{#1}\XC at sdef\tm{#3}\edef\@@tmp{#2}%
+ \ifx\sm\XC at mod@named\extractcolorspecs\@@tmp\sm\@@tmp\fi
+ \ifx\sm\tm\else\csname XC at cnv@\sm\expandafter\endcsname\@@tmp,\fi
+ \aftergroupdef#4\@@tmp}
+\def\XC at coremodel#1#2%
+ {\XC at ifxcase#1%
+ {\XC at mod@RGB {\convertcolorspec#1#2\XC at mod@rgb#2\let#1\XC at mod@rgb}%
+ \XC at mod@HTML{\convertcolorspec#1#2\XC at mod@rgb#2\let#1\XC at mod@rgb}%
+ \XC at mod@Hsb {\convertcolorspec#1#2\XC at mod@hsb#2\let#1\XC at mod@hsb}%
+ \XC at mod@tHsb{\convertcolorspec#1#2\XC at mod@hsb#2\let#1\XC at mod@hsb}%
+ \XC at mod@HSB {\convertcolorspec#1#2\XC at mod@hsb#2\let#1\XC at mod@hsb}%
+ \XC at mod@Gray{\convertcolorspec#1#2\XC at mod@gray#2\let#1\XC at mod@gray}%
+ \XC at mod@wave{\convertcolorspec#1#2\XC at mod@hsb#2\let#1\XC at mod@hsb}%
+ \XC at mod@named{}%
+ \XC at mod@ps{}}%
+ {\expandafter\XC at calc@#2,,,,:N\let#2\@@tmp}}
+\def\XC at cnv@rgb#1,#2,#3,%
+ {\XC at ifxcase\tm
+ {\XC at mod@cmy {\XC at calc@#1,#2,#3,,:C}%
+ \XC at mod@cmyk
+ {\XC at calc@#1,#2,#3,,:C\expandafter\XC at cnv@cmy at cmyk\@@tmp,}%
+ \XC at mod@RGB {\edef\@@scl{\rangeRGB}\XC at calc@#1,#2,#3,,:M}%
+ \XC at mod@HTML{\edef\@@scl{\@cclv}\XC at calc@#1,#2,#3,,:M%
+ \expandafter\XC at calc@\@@tmp,,:H%
+ \expandafter\XC at cnv@rgb at HTML\@@tmp,}%
+ \XC at mod@gray{\XC at cnv@rgb at gray#1,#2,#3,}%
+ \XC at mod@Gray{\XC at cnv@rgb at gray#1,#2,#3,\XC at cnv@gray\@@tmp,}}%
+ {\XC at cnv@rgb at hsb#1,#2,#3,\XC at cnv@hsb@}}
+\def\XC at cnv@rgb@
+ {\ifx\tm\XC at mod@rgb\else\expandafter\XC at cnv@rgb\@@tmp,\fi}
+\def\XC at cnv@rgb at hsb#1,#2,#3,%
+ {\count@\z@
+ \ifdim#2\p@>#1\p@ \else\advance\count at 4 \fi
+ \ifdim#3\p@>#2\p@ \else\advance\count at 2 \fi
+ \ifdim#1\p@>#3\p@ \else\advance\count at 1 \fi
+ \ifcase\count@\or
+ \XC at c@v at rgb@hsb{#3}{#2}{#1}3{}\or
+ \XC at c@v at rgb@hsb{#2}{#1}{#3}1{}\or
+ \XC at c@v at rgb@hsb{#2}{#3}{#1}3-\or
+ \XC at c@v at rgb@hsb{#1}{#3}{#2}5{}\or
+ \XC at c@v at rgb@hsb{#3}{#1}{#2}5-\or
+ \XC at c@v at rgb@hsb{#1}{#2}{#3}1-\or
+ \def\@tempa{0}\def\@tempb{0}\XC at calcN{#3}\@tempc
+ \fi
+ \edef\@@tmp{\@tempa,\@tempb,\@tempc}}
+\def\XC at c@v at rgb@hsb#1#2#3#4#5%
+ {\XC at calcN{#1}\@tempc \llshiftset\dimen@{#1}%
+ \llshiftset\@tempdimb{-#3}\advance\@tempdimb\dimen@
+ \llshiftset\@tempdima{-#5#2}\advance\@tempdima#5\dimen@
+ \advance\@tempdima#4\@tempdimb \rdivide\@tempdima{6\@tempdimb}%
+ \edef\@tempa{\ifdim\@tempdima>\p at 1\else\strip at pt\@tempdima\fi}%
+ \rdivide\@tempdimb\dimen@
+ \edef\@tempb{\strip at pt\@tempdimb}}
+\def\XC at cnv@rgb at gray#1,#2,#3,%
+ {\llshiftset\dimen@{#1}\@tempdima30\dimen@
+ \llshiftset\dimen@{#2}\advance\@tempdima59\dimen@
+ \llshiftset\dimen@{#3}\advance\@tempdima11\dimen@
+ \rrshift\@tempdima \rdivide\@tempdima{100}%
+ \edef\@@tmp{\strip at pt\@tempdima}}
+\def\XC at cnv@rgb at HTML#1,#2,#3,%
+ {\edef\@@tmp{#1#2#3}}
+\def\XC at cnv@cmy#1,#2,#3,%
+ {\XC at ifxcase\tm
+ {\XC at mod@cmyk{\XC at cnv@cmy at cmyk#1,#2,#3,}%
+ \XC at mod@gray{\XC at cnv@rgb at gray#1,#2,#3,\XC at calcC\@@tmp\@@tmp}%
+ \XC at mod@Gray{\XC at cnv@rgb at gray#1,#2,#3,\XC at calcC\@@tmp\@@tmp
+ \XC at cnv@gray\@@tmp,}}%
+ {\XC at calc@#1,#2,#3,,:C\XC at cnv@rgb@}}
+\def\XC at cnv@cmy at cmyk#1,#2,#3,%
+ {\edef\@@scl
+ {\ifdim#1\p@<#2\p@
+ \ifdim#1\p@<#3\p@ #1\else #3\fi \else
+ \ifdim#2\p@<#3\p@ #2\else #3\fi \fi}%
+ \expandafter\XC at calc@\adjustUCRBG,:S%
+ \expandafter\XC at c@v at cmy@cmyk\@@tmp,#1,#2,#3,}
+\def\XC at c@v at cmy@cmyk#1,#2,#3,#4,#5,#6,#7,%
+ {\XC at add#5,#6,#7,,-#1,-#2,-#3,,\@@tmp \edef\@@tmp{\@@tmp,#4}%
+ \expandafter\XC at calc@\@@tmp,:N}
+\def\XC at cnv@cmyk#1,#2,#3,#4,%
+ {\XC at ifxcase\tm
+ {\XC at mod@gray{\XC at cnv@rgb at gray#1,#2,#3,\edef\@@arg{#4}%
+ \XC at calcT\@@tmp\@@tmp \XC at calcC\@@tmp\@@tmp}%
+ \XC at mod@Gray{\XC at cnv@rgb at gray#1,#2,#3,\edef\@@arg{#4}%
+ \XC at calcT\@@tmp\@@tmp \XC at calcC\@@tmp\@@tmp \XC at cnv@gray\@@tmp,}}%
+ {\XC at cnv@cmyk at cmy#1,#2,#3,#4,%
+ \ifx\tm\XC at mod@cmy\else\expandafter\XC at cnv@cmy\@@tmp,\fi}}
+\def\XC at cnv@cmyk at cmy#1,#2,#3,#4,%
+ {\edef\@@arg{#4}\XC at calc@#1,#2,#3,,:T}
+\def\XC at cnv@hsb#1,#2,#3,%
+ {\XC at ifxcase\tm
+ {\XC at mod@Hsb {\XC at cnv@hsb at Hsb#1,#2,#3,}%
+ \XC at mod@tHsb{\XC at cnv@hsb at Hsb#1,#2,#3,\expandafter\XC at cnv@Hsb\@@tmp,}%
+ \XC at mod@HSB {\edef\@@scl{\rangeHSB}\XC at calc@#1,#2,#3,,:M}}%
+ {\XC at cnv@hsb at rgb#1,#2,#3,\XC at cnv@rgb@}}
+\def\XC at cnv@hsb@
+ {\ifx\tm\XC at mod@hsb\else\expandafter\XC at cnv@hsb\@@tmp,\fi}
+\def\XC at cnv@hsb at rgb#1,#2,#3,%
+ {\llshiftset\dimen@{#1}\dimen at 6\dimen@ \rrshift\dimen@
+ \afterassignment\dimen@\count@=\the\dimen@
+ \edef\@@tmp{\strip at pt\dimen@}%
+ \ifodd\count@\else\XC at calcC\@@tmp\@@tmp\fi
+ \edef\@@tmp
+ {\ifcase\count@ 0,\@@tmp,1\or \@@tmp,0,1\or 1,0,\@@tmp\or
+ 1,\@@tmp,0\or \@@tmp,1,0\or 0,1,\@@tmp\or 0,\@@tmp,1\fi}%
+ \edef\@@scl{#2}\expandafter\XC at calc@\@@tmp,,:S%
+ \expandafter\XC at calc@\@@tmp,,:C%
+ \edef\@@scl{#3}\expandafter\XC at calc@\@@tmp,,:S%
+ \expandafter\XC at calc@\@@tmp,,:N}
+\def\XC at cnv@hsb at Hsb#1,#2,#3,%
+ {\XC at c@lcS\rangeHsb{,#2,#3}{#1}\@@tmp}
+\def\XC at cnv@gray#1,%
+ {\XC at ifxcase\tm
+ {\XC at mod@rgb {\XC at calcN{#1}\@@tmp \edef\@@tmp{\@@tmp,\@@tmp,\@@tmp}}%
+ \XC at mod@cmy {\XC at calcC{#1}\@@tmp \edef\@@tmp{\@@tmp,\@@tmp,\@@tmp}}%
+ \XC at mod@cmyk{\XC at calcC{#1}\@@tmp \edef\@@tmp{0,0,0,\@@tmp}}%
+ \XC at mod@RGB {\edef\@@scl{\rangeRGB}\XC at calcM{#1}\@@tmp
+ \edef\@@tmp{\@@tmp,\@@tmp,\@@tmp}}%
+ \XC at mod@HTML{\edef\@@scl{\@cclv}\XC at calcM{#1}\@@tmp
+ \XC at calcH\@@tmp\@@tmp \edef\@@tmp{\@@tmp\@@tmp\@@tmp}}%
+ \XC at mod@HSB {\edef\@@scl{\rangeHSB}\XC at calcM{#1}\@@tmp
+ \edef\@@tmp{0,0,\@@tmp}}%
+ \XC at mod@Gray{\edef\@@scl{\rangeGray}\XC at calcM{#1}\@@tmp}}%
+ {\XC at calcN{#1}\@@tmp \edef\@@tmp{0,0,\@@tmp}}}
+\def\XC at cnv@RGB#1,#2,#3,%
+ {\edef\@@scl{\rangeRGB}\XC at calc@#1,#2,#3,,:D\XC at cnv@rgb@}
+\def\XC at cnv@HTML#1,%
+ {\edef\@@tmp{\expandafter\@hex at Hex#1\relax}\expandafter\XC at cnv@HTML@\@@tmp
+ \edef\@@scl{\@cclv}\expandafter\XC at calc@\@@tmp,,:D\XC at cnv@rgb@}
+\def\XC at cnv@HTML@#1#2#3#4#5#6%
+ {\edef\@@tmp{\number"#1#2,\number"#3#4,\number"#5#6}}
+\def\XC at cnv@Hsb#1,#2,#3,%
+ {\ifx\tm\XC at mod@tHsb\XC at cnv@@Hsb#1,#2,#3,\XC at cnv@Hsb@
+ \else\XC at cnv@Hsb at hsb#1,#2,#3,\XC at cnv@hsb@\fi}
+\def\XC at cnv@Hsb at hsb#1,#2,#3,%
+ {\XC at c@lcD\rangeHsb{,#2,#3}{#1}\@@tmp}
+\def\XC at cnv@@Hsb#1,#2,#3,#4%
+ {\dimen@\rangeHsb\p@ \advance\dimen@\p@ \edef\@@tmp{\strip at pt\dimen@}%
+ \edef\@@tmp{0,0;\rangetHsb;\rangeHsb,\rangeHsb;\@@tmp,\@@tmp;}%
+ \dimen@#1\p@ \expandafter#4\@@tmp\@nnil
+ \edef\@@tmp{\strip at pt\dimen@,#2,#3}}
+\def\XC at cnv@Hsb@#1,#2;#3,#4;%
+ {\ifdim\dimen@<#4\p@
+ \@tempdima#3\p@ \advance\@tempdima-#1\p@
+ \@tempdimb#4\p@ \advance\@tempdimb-#2\p@
+ \rdivide\@tempdima\@tempdimb
+ \advance\dimen at -#2\p@ \rmultiply\dimen@{\strip at pt\@tempdima}%
+ \advance\dimen@#1\p@ \expandafter\remove at to@nnil
+ \else
+ \def\@@tmp{\XC at cnv@Hsb@#3,#4;}\expandafter\@@tmp
+ \fi}
+\def\XC at cnv@tHsb#1,#2,#3,%
+ {\XC at cnv@@Hsb#1,#2,#3,\XC at cnv@tHsb@
+ \ifx\tm\XC at mod@Hsb\else\expandafter\XC at cnv@Hsb\@@tmp,\fi}
+\def\XC at cnv@tHsb@#1,#2;#3,#4;%
+ {\ifdim\dimen@<#3\p@
+ \@tempdima#4\p@ \advance\@tempdima-#2\p@
+ \@tempdimb#3\p@ \advance\@tempdimb-#1\p@
+ \rdivide\@tempdima\@tempdimb
+ \advance\dimen at -#1\p@ \rmultiply\dimen@{\strip at pt\@tempdima}%
+ \advance\dimen@#2\p@ \expandafter\remove at to@nnil
+ \else
+ \def\@@tmp{\XC at cnv@tHsb@#3,#4;}\expandafter\@@tmp
+ \fi}
+\def\XC at cnv@HSB#1,#2,#3,%
+ {\edef\@@scl{\rangeHSB}\XC at calc@#1,#2,#3,,:D\XC at cnv@hsb@}
+\def\XC at cnv@Gray#1,%
+ {\XC at c@lcD\rangeGray{}{#1}\@@tmp \XC at cnv@gray\@@tmp,}
+\def\XC at cnv@wave#1,%
+ {\XC at cnv@wave at hsb#1,\XC at cnv@hsb@}
+\def\XC at cnv@wave at hsb#1,%
+ {\@tempdima#1\p@
+ \ifdim\@tempdima<440\p@
+ \XC at c@v at wave@hsb{-.0166667}{7.33333}4{}\else
+ \ifdim\@tempdima<490\p@
+ \XC at c@v at wave@hsb{.02}{-8.8}4-\else
+ \ifdim\@tempdima<510\p@
+ \XC at c@v at wave@hsb{-.05}{25.5}2{}\else
+ \ifdim\@tempdima<580\p@
+ \XC at c@v at wave@hsb{.0142857}{-7.28571}2-\else
+ \ifdim\@tempdima<645\p@
+ \XC at c@v at wave@hsb{-.0153846}{9.92308}0{}\else
+ \dimen@\z@ \fi\fi\fi\fi\fi
+ \divide\dimen at 6\relax
+ \edef\@@tmp{\strip at pt\dimen@,1,}%
+ \ifdim\@tempdima<420\p@
+ \XC at c@v at wave@hsb{.0175}{-6.35}0{}\else
+ \ifdim\@tempdima>700\p@
+ \XC at c@v at wave@hsb{-.00875}{7.125}0{}\else
+ \dimen@\p@ \fi\fi
+ \edef\@@tmp{\@@tmp\strip at pt\dimen@}}
+\def\XC at c@v at wave@hsb#1#2#3#4%
+ {\dimen@#1\@tempdima \advance\dimen@#2\p@
+ \XC at calcR{\strip at pt\dimen@}\@tempa
+ \dimen@#4\@tempa\p@ \advance\dimen@#3\p@}
+\def\XC at cnv@cmyk at compl#1,#2,#3,#4,%
+ {\XC at cnv@cmyk at cmy#1,#2,#3,#4,%
+ \expandafter\XC at calc@\@@tmp,,:C\expandafter\XC at cnv@cmy at cmyk\@@tmp,}
+\def\XC at cnv@hsb at compl#1,#2,#3,%
+ {\lshiftset\dimen@{#1}\advance\dimen@\ifdim\dimen@<5\p at -\fi-5\p@
+ \rshift\dimen@ \edef\@@tmp{\strip at pt\dimen@}%
+ \lshiftset\dimen@{#3}\@tempdima#2\dimen@
+ \@tempdimb\@tempdima \advance\@tempdimb10\p@ \advance\@tempdimb-\dimen@
+ \ifdim\@tempdimb=\z@
+ \edef\@@tmp{\@@tmp,0,0}%
+ \else
+ \rdivide\@tempdima\@tempdimb \rshift\@tempdimb
+ \edef\@@tmp{\@@tmp,\strip at pt\@tempdima,\strip at pt\@tempdimb}%
+ \fi}
+\def\substitutecolormodel#1#2%
+ {\XC at sdef\XC@@tmp{\expandafter\XC at substitutecolormodel#2/ignore/\@nnil}%
+ \ifx\XC@@tmp\XC at mod@ignore
+ \XC at let@cN{color@#1}\color at ignore
+ \else
+ \expandafter\edef\csname color@#1\endcsname##1##2%
+ {\noexpand\convertcolorspec
+ \expandafter\noexpand\csname XC at mod@#1\endcsname{##2}%
+ \expandafter\noexpand\csname XC at mod@\XC@@tmp\endcsname
+ \noexpand\XC@@tmp\noexpand\expandafter
+ \expandafter\noexpand\csname color@\XC@@tmp\endcsname
+ \noexpand\expandafter##1\noexpand\expandafter{\noexpand\XC@@tmp}}%
+ \fi
+ \expandafter\xglobalize@\csname color@#1\endcsname \xglobal at stop
+ \PackageInfo{xcolor}{Model `#1' substituted by `\XC@@tmp'}}
+\def\XC at substitutecolormodel#1/%
+ {\@ifundefinedmodel{#1}{\XC at substitutecolormodel}{#1\remove at to@nnil}}
+\def\color at ignore#1#2{\def#1{}}
+\@ifundefinedmodel{rgb}%
+ {\substitutecolormodel{rgb}{RGB/HTML/hsb/Hsb/HSB/cmy/cmyk/gray/Gray}}{}
+\@ifundefinedmodel{cmyk}{\substitutecolormodel{cmyk}{cmy/rgb}}{}
+\@ifundefinedmodel{cmy}%
+ {\PackageInfo{xcolor}{Model `cmy' substituted by `cmy0'}
+ \def\color at cmy#1#2{\color at cmyk#1{#2,0}}}{}
+\@ifundefinedmodel{hsb}{\@tempswatrue}%
+ {\XC at ifcase\XC@@drv{{dvipdfm,textures}\@tempswatrue}\@tempswafalse}
+\if at tempswa
+ \substitutecolormodel{hsb}{Hsb/HSB/rgb}
+\fi
+\@ifundefinedmodel{RGB}%
+ {\substitutecolormodel{RGB}{HTML/rgb}}
+ {\PackageInfo{xcolor}{Model `RGB' extended}
+ \let\XC at color@RGB\color at RGB
+ \def\color at RGB#1#2%
+ {\relax\ifnum\rangeRGB=255
+ \XC at color@RGB#1{#2}%
+ \else
+ \convertcolorspec\XC at mod@RGB{#2}\XC at mod@rgb\XC@@tmp
+ \expandafter\color at rgb\expandafter#1\expandafter{\XC@@tmp}%
+ \fi}}
+\@ifundefinedmodel{gray}{\substitutecolormodel{gray}{Gray/rgb}}{}
+\@ifundefinedmodel{HTML}{\substitutecolormodel{HTML}{rgb}}{}
+\@ifundefinedmodel{Hsb}{\substitutecolormodel{Hsb}{hsb}}{}
+\@ifundefinedmodel{tHsb}{\substitutecolormodel{tHsb}{hsb}}{}
+\@ifundefinedmodel{HSB}{\substitutecolormodel{HSB}{hsb}}{}
+\@ifundefinedmodel{Gray}{\substitutecolormodel{Gray}{gray}}{}
+\@ifundefinedmodel{wave}{\substitutecolormodel{wave}{hsb}}{}
+\@ifundefined{XC at pst}{%
+\def\XC at getcolor#1#2%
+ {\begingroup\toks@{#1}\XC at getc@lor#1\XC@@\aftergroupdef#2{\@@tmp}}
+\def\XC at getc@lor#1#2\XC@@
+ {\@ifxempty{#2}%
+ {\expandafter\XC at getc@l at r#1\XC@@}%
+ {\let\set at color\relax
+ \ifx#1[%
+ \expandafter\@undeclaredcolor\the\toks@\else
+ \expandafter\@declaredcolor\expandafter{\the\toks@}\fi
+ \let\@@tmp\XC at current@color}}
+\def\XC at getc@l at r#1#2\XC@@
+ {\ifx#1\xcolor@
+ \def\@@tmp{\xcolor@#2}%
+ \else
+ \let\set at color\relax
+ \expandafter\@declaredcolor\expandafter{\the\toks@}%
+ \let\@@tmp\XC at current@color
+ \fi}
+}{% compatibility code begin
+\def\XC at getcolor#1#2%
+ {\@ifundefinedcolor{#1}%
+ {\begingroup\color{#1}%
+ \edef\@@tmp
+ {\edef\noexpand#2{\noexpand\expandafter\noexpand\c at lor@to at ps
+ \current at color\noexpand\@@}}%
+ \expandafter\endgroup\@@tmp}%
+ {\edef#2{\XC at usecolor{#1}}}}
+}% compatibility code end
+\def\XC at usecolor#1{\expandafter\XC at usec@lor#1\XC@@}
+\def\XC at usec@lor#1#2\XC@@
+ {\ifx#1\xcolor@
+ \expandafter\expandafter\expandafter\c at lor@to at ps#1#2\@@
+ \else
+ \expandafter\expandafter\expandafter\expandafter\expandafter\expandafter
+ \expandafter\c at lor@to at ps\csname\string\color@#1#2\endcsname\@@
+ \fi
+ \space}
+\let\XC at c@lor at to@ps\XC at usecolor
+\let\pst at getcolor\XC at getcolor
+\@ifundefined{XC at pst}{%
+ \let\pst at usecolor\XC at usecolor
+}{}
+\def\c at lor@special#1#2{\edef\@tempa{\write#1{#2}}\@tempa}
+\def\normalcolor{\let\current at color\default at color\set at color}
+\AtBeginDocument{\let\default at color\current at color}
+\XC at ifcase\XC@@drv
+ {{dvipdf,dvipdfm,dvipdfmx,dvips,pctex32}%
+ {\def\c at lor@@named#1,#2,#3\@@#4%
+ {\edef#4{\expandafter\expandafter\expandafter\@thirdoffive
+ \csname\string\color@#1\endcsname}}
+ \def\define at color@named#1#2%
+ {\@namedef{\string\color@#1}{{}{}{ \colornameprefix#1}{}{}}}}%
+ {dvipsone,pctexps,pdftex,tcidvi,truetex,vtex,xetex}%
+ {\def\c at lor@@named#1,#2,#3\@@#4%
+ {\edef#4{\expandafter\expandafter\expandafter\@thirdoffive
+ \csname\string\color@#1\endcsname}}
+ \def\define at color@named#1#2%
+ {\let\@@cls\@empty\@namedef{\string\color@#1}{{}{}{#2}{}{}}}}%
+ {textures}%
+ {\def\c at lor@@named#1,#2,#3\@@#4%
+ {\edef\@tempa{\color at P@custom{#1}{\if!#2!1\else#2\fi}}%
+ \expandafter\def\expandafter#4\@tempa}
+ \def\define at color@named#1#2%
+ {\edef\@tempa{{#1}{#2}}\expandafter\AddCustomColor\@tempa}
+ \def\c at lor@ps@#1 #2\@@
+ {\expandafter\expandafter\expandafter\expandafter\expandafter
+ \expandafter\expandafter\c at lor@to at ps@
+ \csname\string\color@#1\expandafter\endcsname\space
+ #2. \@@{#1}}}%
+ }{}
+\definecolorset{rgb/hsb/cmyk/gray}{}{}%
+ {red,1,0,0/0,1,1/0,1,1,0/.3;%
+ green,0,1,0/.33333,1,1/1,0,1,0/.59;%
+ blue,0,0,1/.66667,1,1/1,1,0,0/.11;%
+ orange,1,.5,0/.083333,1,1/0,.5,1,0/.595;%
+ violet,.5,0,.5/.83333,1,.5/0,.5,0,.5/.205;%
+ purple,.75,0,.25/.94444,1,.75/0,.75,.5,.25/.2525;%
+ brown,.75,.5,.25/.083333,.66667,.75/0,.25,.5,.25/.5475;%
+ pink,1,.75,.75/0,.25,1/0,.25,.25,0/.825}%
+\definecolorset{cmyk/rgb/hsb/gray}{}{}%
+ {cyan,1,0,0,0/0,1,1/.5,1,1/.7;%
+ magenta,0,1,0,0/1,0,1/.83333,1,1/.41;%
+ yellow,0,0,1,0/1,1,0/.16667,1,1/.89;%
+ olive,0,0,1,.5/.5,.5,0/.16667,1,.5/.39}
+\definecolorset{gray/rgb/hsb/cmyk}{}{}%
+ {black,0/0,0,0/0,0,0/0,0,0,1;%
+ darkgray,.25/.25,.25,.25/0,0,.25/0,0,0,.75;%
+ gray,.5/.5,.5,.5/0,0,.5/0,0,0,.5;%
+ lightgray,.75/.75,.75,.75/0,0,.75/0,0,0,.25;%
+ white,1/1,1,1/0,0,1/0,0,0,0}
+\XC@@names
+\AtBeginDocument{\let\XC@@stack\@empty}
+\let\colornameprefix\XC@@nameprefix
+\XC at catcodes
+\csname xcolorcmd\endcsname
+\color{black}
+\endinput
+%%
+%% End of file `xcolor.sty'.
diff --git a/ref/glance/xcolor1.tex b/ref/glance/xcolor1.tex
new file mode 100644
index 0000000..5beeb03
--- /dev/null
+++ b/ref/glance/xcolor1.tex
@@ -0,0 +1,182 @@
+%%
+%% This is file `xcolor1.tex',
+%% generated with the docstrip utility.
+%%
+%% The original source files were:
+%%
+%% xcolor.dtx (with options: `test1')
+%%
+%% IMPORTANT NOTICE:
+%%
+%% For the copyright see the source file.
+%%
+%% Any modified versions of this file must be renamed
+%% with new filenames distinct from xcolor1.tex.
+%%
+%% For distribution of the original source see the terms
+%% for copying and modification in the file xcolor.dtx.
+%%
+%% This generated file may be distributed as long as the
+%% original source files, as listed above, are part of the
+%% same distribution. (The sources need not necessarily be
+%% in the same archive or directory.)
+%%
+\ProvidesFile{xcolor1}
+ [2005/12/21 v2.09 Color conversion test (UK)]
+%%
+%% ----------------------------------------------------------------
+%% Copyright (C) 2003-2005 by Dr. Uwe Kern <xcolor at ukern dot de>
+%% ----------------------------------------------------------------
+%%
+\def\XCfileversion{v2.09}%
+\def\XCfiledate{2005/12/21}%
+\documentclass[a4paper]{article}
+
+\usepackage{array,multicol,multido,textcomp}
+\usepackage{xcolor}[2005/03/24]
+\usepackage[hmargin={1.25cm,.75cm},vmargin=1.25cm,footskip=.5cm,nohead]{geometry}
+
+\newdimen\Argwd
+\newdimen\Errsum
+\newdimen\Errmax
+\newcount\Colors
+\newcount\Errors
+\newcount\Loops
+\newif\ifColor
+
+\makeatletter
+
+\def\DisplayColor#1#2#3%
+ {\global\advance\Loops\@ne
+ \@tempdima=#1\p@ \edef\@tempa{\the\@tempdima}%
+ \edef\Colori{\strip at pt\@tempdima}%
+ \ifColor
+ \@tempdimb=#2\p@ \edef\@tempb{\the\@tempdimb}%
+ \@tempdimc=#3\p@ \edef\@tempc{\the\@tempdimc}%
+ \edef\Colori{\Colori,\strip at pt\@tempdimb,\strip at pt\@tempdimc}%
+ \fi
+ \Make12\Make23\Make34\Make45\Make56\Make67%
+ \begin{tabular}{@{}ll*4{@{ }p{\Argwd}}@{}}
+ \Row1\Row2\Row3\Row4\Row5\Row6\noalign{\medskip}
+ \end{tabular}
+ \global\advance\Colors1 \relax\ifnum\Colors=30 \newpage\global\Colors=0 \fi}
+
+\def\Make#1#2%
+ {\edef\@@tmp
+ {\noexpand\definecolor{Color\romannumeral#1}%
+ {\@nameuse{Model\romannumeral#1}}{\@nameuse{Color\romannumeral#1}}%
+ }\@@tmp
+ \relax\ifnum#1<6
+ \convertcolorspec
+ {\@nameuse{Model\romannumeral#1}}{\@nameuse{Color\romannumeral#1}}%
+ {\@nameuse{Model\romannumeral#2}}\@@tmp
+ \XC at let@cN{Color\romannumeral#2}\@@tmp
+ \fi}
+\def\Row#1%
+ {\edef\@@tmp{\@nameuse{Color\romannumeral#1}\@nameuse{Row\romannumeral#1}}%
+ \expandafter\@Row\@@tmp}
+
+\def\@Row#1,#2,#3,#4,#5#6%
+ {\fcolorbox{black}{Color\romannumeral#5}{\phantom{000}}&
+ \csname Model\romannumeral#5\endcsname &
+ \ifodd#6 \@Error{#1}\@tempa \else #1\fi &
+ \ifColor\ifodd#6 \@Error{#2}\@tempb \else #2\fi\else #2\fi &
+ \ifColor\ifodd#6 \@Error{#3}\@tempc \else #3\fi\else #3\fi &
+ #4\\}
+
+\def\defModel#1#2#3#4% number, name, commas, check
+ {\@namedef{Model\romannumeral#1}{#2}\@namedef{Row\romannumeral#1}{#3#1#4}}
+
+\def\@Error#1#2%
+ {\ifdim#1\p@=#2\relax #1\else
+ \textcolor{red}{#1}\global\advance\Errors\@ne
+ \dimen@#2\advance\dimen at -#1\p@ \ifdim\dimen@<\z@\dimen at -\dimen@\fi
+ \global\advance\Errsum\dimen@
+ \ifdim\dimen@>\Errmax \global\Errmax\dimen@
+ \dimen@\@tempa \edef\@@tempa{\strip at pt\dimen@}%
+ \ifColor
+ \dimen@\@tempb \edef\@@tempb{\strip at pt\dimen@}%
+ \dimen@\@tempc \edef\@@tempc{\strip at pt\dimen@}%
+ \xdef\Errcase{\@@tempa\noexpand~\@@tempb\noexpand~\@@tempc}%
+ \else
+ \xdef\Errcase{\@@tempa}%
+ \fi
+ \fi
+ \fi}
+
+\newenvironment{ColorTest}[1]%
+ {\addcontentsline{toc}{section}{Color conversion chain: #1}
+ \Colors\z@ \Errors\z@ \Loops\z@ \Errsum\z@ \Errmax\z@
+ \begin{multicols}{3}\centering}%
+ {\end{multicols}\bigskip
+ \begin{tabular}{@{}l@{ = }l@{}}
+ \multicolumn2{@{}l@{}}{Rounding error statistics of color conversion test}\\
+ \multicolumn2{@{}l@{}}%
+ {$\textbf\Modeli\rightarrow \textbf\Modelii\rightarrow \textbf\Modeliii\rightarrow
+ \textbf\Modeliv\rightarrow \textbf\Modelv\rightarrow \textbf\Modelvi$:}\\[1ex]
+ number of examples& \number\Loops\\
+ number of errors& \number\Errors\\
+ sum of absolute errors& \strip at pt\Errsum\\
+ \ifnum\Errors>\z@
+ average error& \Errsum100\Errsum \dimen@\Errors\p@ \divide\dimen@\@m
+ \rdivide\Errsum\dimen@ \strip at pt\Errsum\textperiodcentered10\textsuperscript{-5}\\
+ maximum error& \strip at pt\Errmax{} @ \Modeli~\Errcase\\
+ \fi
+ \end{tabular}\newpage}
+
+\def\thepage{\sffamily\footnotesize\@nameuse{@arabic}\c at page}
+
+\makeatother
+
+\parindent0pt
+\setcounter{secnumdepth}{-1}
+
+\begin{document}
+
+\title{Color conversion with the \textsf{xcolor} package --- Examples}
+\author{Dr. Uwe Kern\thanks{This file is part of the \textsf{xcolor} distribution which can be downloaded from the CTAN mirrors (\texttt{macros/latex/contrib/xcolor/}) or the homepage \texttt{www.ukern.de/tex/xcolor.html}. Please send error reports and suggestions for improvements to \texttt{xcolor at ukern.de}.}}
+\date{\XCfileversion{} (\XCfiledate)}
+\maketitle
+
+\begin{center}
+\begin{minipage}{.75\textwidth}
+\tableofcontents
+\end{minipage}
+\end{center}
+\newpage
+
+\sffamily\footnotesize
+\fboxrule.25pt
+\settowidth\Argwd{0.00000}
+
+\defModel1{rgb}{,,}0
+\defModel2{cmy}{,,}0
+\defModel3{cmyk}{,}0
+\defModel4{hsb}{,,}0
+\defModel5{rgb}{,,}1
+\defModel6{gray}{,,,,}0
+\Colortrue
+
+\begin{ColorTest}{rgb, cmy, cmyk, hsb, rgb, gray}
+\multido{\nR=1+-.1}{11}%
+ {\multido{\nG=1+-.1}{11}%
+ {\multido{\nB=1+-.1}{11}%
+ {\DisplayColor{\nR}{\nG}{\nB}}}}%
+\end{ColorTest}
+
+\defModel1{gray}{,,,,}0
+\defModel2{rgb}{,,}0
+\defModel3{cmy}{,,}0
+\defModel4{cmyk}{,}0
+\defModel5{hsb}{,,}0
+\defModel6{gray}{,,,,}1
+\Colorfalse
+
+\begin{ColorTest}{gray, rgb, cmy, cmyk, hsb, gray}
+\multido{\nG=1+-.01}{101}{\DisplayColor{\nG}{}{}}%
+\end{ColorTest}
+
+\end{document}
+\endinput
+%%
+%% End of file `xcolor1.tex'.
diff --git a/ref/glance/xcolor2.tex b/ref/glance/xcolor2.tex
new file mode 100644
index 0000000..e369af1
--- /dev/null
+++ b/ref/glance/xcolor2.tex
@@ -0,0 +1,157 @@
+%%
+%% This is file `xcolor2.tex',
+%% generated with the docstrip utility.
+%%
+%% The original source files were:
+%%
+%% xcolor.dtx (with options: `test2')
+%%
+%% IMPORTANT NOTICE:
+%%
+%% For the copyright see the source file.
+%%
+%% Any modified versions of this file must be renamed
+%% with new filenames distinct from xcolor2.tex.
+%%
+%% For distribution of the original source see the terms
+%% for copying and modification in the file xcolor.dtx.
+%%
+%% This generated file may be distributed as long as the
+%% original source files, as listed above, are part of the
+%% same distribution. (The sources need not necessarily be
+%% in the same archive or directory.)
+%%
+\ProvidesFile{xcolor2}
+ [2005/12/21 v2.09 Pstricks color test (UK)]
+%%
+%% ----------------------------------------------------------------
+%% Copyright (C) 2003-2005 by Dr. Uwe Kern <xcolor at ukern dot de>
+%% ----------------------------------------------------------------
+%%
+\def\XCfileversion{v2.09}%
+\def\XCfiledate{2005/12/21}%
+\listfiles
+\documentclass{article}
+
+\usepackage{pstricks,pst-tree,pst-slpe,multido}
+\makeatletter
+\@ifpackagelater{pstricks}{2004/05/12}{}{\usepackage[pst]{xcolor}}
+\makeatother
+\usepackage{fvrb-ex}
+
+\def\textfraction{0.01}
+\def\topfraction{0.99}
+\def\bottomfraction{0.99}
+\def\floatpagefraction{0.70}
+\setlength\abovecaptionskip{12pt}
+\setlength\belowcaptionskip{10pt}
+\parindent0pt
+
+\begin{document}
+\title{Color extensions with the \textsf{xcolor} package --- \textsf{pstricks} examples}
+\author{Dr. Uwe Kern\thanks{This file is part of the \textsf{xcolor} distribution which can be downloaded from the CTAN mirrors (\texttt{macros/latex/contrib/xcolor/}) or the homepage \texttt{www.ukern.de/tex/xcolor.html}. Please send error reports and suggestions for improvements to \texttt{xcolor at ukern.de}.}}
+\date{\XCfileversion{} (\XCfiledate)}
+\maketitle
+
+\centerline{\fcolorbox{red}{yellow!50}{This document is not suitable for pdf\LaTeX! Please use \LaTeX{} + \texttt{dvips} etc.}}
+
+\begin{figure}[htb]\caption{Modified version of an example from the \textsf{pstricks} manual; requires \textsf{pst-tree}}
+\begin{SideBySideExample}[fontsize=\footnotesize,xrightmargin=.45\textwidth]
+ \begin{pspicture}(-0.5,-2)(3,2)
+ \cnode(0,0){.5cm}{root}
+ \cnode*[linecolor=red](3,1.5){4pt}{A}
+ \cnode*[linecolor=red!72.5375!blue](3,0){4pt}{B}
+ \cnode*[linecolor=-red](3,-1.5){4pt}{C}
+ \psset{nodesep=3pt}
+ \ncline[linecolor=green!50!red]{root}{A}
+ \ncline[linecolor=blue]{root}{B}
+ \ncline[linecolor=-green!50!red]{root}{C}
+ \end{pspicture}
+\end{SideBySideExample}
+\end{figure}
+
+\begin{figure}[htb]\caption{Moving from one color to its complement; requires \textsf{pst-slpe}}
+\begin{SideBySideExample}[fontsize=\footnotesize,xrightmargin=.45\textwidth]
+ \begin{pspicture}(4,1)
+ \psframe[fillstyle=slope,
+ slopeangle=30,
+ slopebegin=red!72.5375!blue,
+ slopeend=-red!72.5375!blue](4,1)
+ \end{pspicture}
+\end{SideBySideExample}
+\end{figure}
+
+\begin{figure}[htb]\caption{Explicit color specification via a loop command; requires \textsf{multido}}
+\begin{SideBySideExample}[fontsize=\footnotesize,xrightmargin=.45\textwidth]
+ \psset{unit=1.75}%
+ \begin{pspicture}(0,-1)(2,1)
+ \multido{\rHue=0.00+0.01}{100}%
+ {\pscircle[linewidth=0.01,
+ linecolor={[hsb]{\rHue,1,1}}](1,0){\rHue}}
+ \end{pspicture}
+\end{SideBySideExample}
+\end{figure}
+
+\begin{figure}[htb]\caption{Color series --- modified version of an example from the \textsf{pst-fill} manual; note that the \texttt{\string\multirput} command does not give the desired result here}
+\begin{SideBySideExample}[fontsize=\footnotesize,xrightmargin=.45\textwidth]
+ \newcommand*\Sheep
+ {\begin{pspicture}(3,1.5)
+ \pscustom[liftpen=2,fillstyle=solid,fillcolor=sheep!!+]%
+ {\pscurve(0.5,-0.2)(0.6,0.5)(0.2,1.3)(0,1.5)(0,1.5)
+ (0.4,1.3)(0.8,1.5)(2.2,1.9)(3,1.5)(3,1.5)(3.2,1.3)
+ (3.6,0.5)(3.4,-0.3)(3,0)(2.2,0.4)(0.5,-0.2)}
+ \pscircle*(2.65,1.25){0.12\psunit}% Eye
+ \psccurve*(3.5,0.3)(3.35,0.45)(3.5,0.6)(3.6,0.4)% Muzzle
+ \pscurve(3,0.35)(3.3,0.1)(3.6,0.05)% Mouth
+ \pscurve(2.3,1.3)(2.1,1.5)(2.15,1.7)
+ \pscurve(2.1,1.7)(2.35,1.6)(2.45,1.4)% Ear
+ \end{pspicture}}
+ \definecolorseries
+ {sheep}{rgb}{step}[rgb]{.95,.85,.55}{.17,.47,.37}
+ \resetcolorseries{sheep}
+ \psset{unit=0.4}
+ \begin{pspicture}(-3,-6)(0,7.5)
+ \Multido{\ry=6.0+-1.5}{5}%
+ {\rput(0,\ry){\Multido{}{5}{\Sheep}}}
+ \resetcolorseries{sheep}%
+ \multirput(-6,-6)(3,0)5{\Sheep}
+ \end{pspicture}
+\end{SideBySideExample}
+\end{figure}
+
+\begin{figure}[htb]\caption{Interaction with native PostScript code --- $\gamma$-corrected wavelengths}
+\begin{Example}[fontsize=\footnotesize,xrightmargin=.45\textwidth]
+ \newcount\WL \unitlength.75pt
+ \def\WaveToPS#1%
+ {\definecolor{tmp}{rgb:wave}{#1}\extractcolorspecs{tmp}\tmpm\tmpc
+ \expandafter\WaveToPSi\tmpc,}
+ \def\WaveToPSi#1,#2,#3,{\pstVerb{/Red{#1}def /Green{#2}def /Blue{#3}def}}
+ \def\DisplayBar#1#2%
+ {\linethickness{1.25\unitlength}\WL=360
+ \pstVerb{/Gamma{#1}def}%
+ \multiput(360,#2)(1,0){456}%
+ {\WaveToPS{\the\WL}{\color{lambda}\line(0,1){50}}\global\advance\WL1}%
+ \linethickness{0.25\unitlength}\WL=360
+ \multiput(360,#2)(20,0){23}%
+ {\picture(0,0)
+ \line(0,-1){5}\multiput(5,0)(5,0){3}{\line(0,-1){2.5}}%
+ \put(0,-10){\makebox(0,0){\the\WL}}\global\advance\WL20
+ \endpicture}%
+ \put(350,#2){\makebox(0,50)[r]{\small$\gamma$\,=\,#1}}}
+ \pstVerb{/Corr{dup 0 gt {Gamma exp}if}def}
+ \definecolor[ps]{lambda}{rgb}{Red Corr Green Corr Blue Corr}%
+ \begin{picture}(510,345)(310,-10)
+ \sffamily\tiny
+ \DisplayBar{0.4}{0}%
+ \DisplayBar{0.6}{70}%
+ \DisplayBar{0.8}{140}%
+ \DisplayBar{1.0}{210}%
+ \DisplayBar{1.2}{280}%
+ \end{picture}
+\end{Example}
+\end{figure}
+
+\end{document}
+\endinput
+%%
+%% End of file `xcolor2.tex'.
diff --git a/ref/glance/xcolor3.tex b/ref/glance/xcolor3.tex
new file mode 100644
index 0000000..4956e60
--- /dev/null
+++ b/ref/glance/xcolor3.tex
@@ -0,0 +1,241 @@
+%%
+%% This is file `xcolor3.tex',
+%% generated with the docstrip utility.
+%%
+%% The original source files were:
+%%
+%% xcolor.dtx (with options: `test3')
+%%
+%% IMPORTANT NOTICE:
+%%
+%% For the copyright see the source file.
+%%
+%% Any modified versions of this file must be renamed
+%% with new filenames distinct from xcolor3.tex.
+%%
+%% For distribution of the original source see the terms
+%% for copying and modification in the file xcolor.dtx.
+%%
+%% This generated file may be distributed as long as the
+%% original source files, as listed above, are part of the
+%% same distribution. (The sources need not necessarily be
+%% in the same archive or directory.)
+%%
+\ProvidesFile{xcolor3}
+ [2005/12/21 v2.09 Color logging test (UK)]
+%%
+%% ----------------------------------------------------------------
+%% Copyright (C) 2003-2005 by Dr. Uwe Kern <xcolor at ukern dot de>
+%% ----------------------------------------------------------------
+%%
+\def\XCfileversion{v2.09}%
+\def\XCfiledate{2005/12/21}%
+\listfiles
+\documentclass[a4paper]{article}
+\usepackage[showerrors,table,dvipsnames*,hyperref]{xcolor}[2005/12/21]
+\usepackage[margin=2.25cm]{geometry}
+\usepackage
+ [\GinDriver,hyperindex=false,bookmarks,bookmarksopen,bookmarksopenlevel=1,%
+ pdftitle={xcolor3 \XCfileversion{} (\XCfiledate)},pdfauthor={Dr. Uwe Kern},%
+ pdfsubject={Color extensions for LaTeX and pdfLaTeX},%
+ pdfkeywords={xcolor,color,colour,model,tint,tone,shade,harmony,spot,latex,pdftex,dvips,%
+ conversion,blend,mix,mask,separation,rgb,cmy,cmyk,hsb,gray,html,wave,thsb,wheel}]{hyperref}
+
+\tracingcolors=4
+%%\tracingcolors=3
+%%\tracingcolors=2
+%%\tracingcolors=1
+%%\tracingcolors=0
+
+\parindent0pt
+\pagecolor{gray!25}
+
+\definecolors{JungleGreen,DarkOrchid}
+
+\begin{document}
+\title{Color extensions with the \textsf{xcolor} package --- various examples}
+\author{\href{mailto:xcolor at ukern.de}{\fboxrule0pt\fboxsep2pt\fbox{Dr. Uwe Kern}}}
+\date{\XCfileversion{} (\XCfiledate)
+\thanks{This file (\texttt{\jobname.tex}) is part of the \textsf{xcolor} distribution which can be downloaded from the CTAN mirrors \texttt{\href{http://www.ctan.org/tex-archive/macros/latex/contrib/xcolor/}{CTAN/macros/latex/contrib/xcolor/}} or the homepage \texttt{\href{http://www.ukern.de/tex/xcolor.html}{www.ukern.de/tex/xcolor.html}}. Please send error reports and suggestions for improvements to \texttt{\href{mailto:xcolor at ukern.de}{xcolor at ukern.de}}.}}
+\maketitle
+
+The purpose of this file is to demonstrate a variety of capabilities including the logging facilities of the \textsf{xcolor} package.
+By playing around with different values of \texttt{\string\tracingcolors}, one can observe the different behavior in the \texttt{log} file.
+
+\section{Predefined colors}
+
+\begingroup
+\small\sffamily
+\rowcolors1{}{}
+\begin{testcolors}[rgb,cmyk,hsb,HTML,gray]
+\testcolor{red}
+\testcolor{green}
+\testcolor{blue}
+\testcolor{cyan}
+\testcolor{magenta}
+\testcolor{yellow}
+\testcolor{orange}
+\testcolor{violet}
+\testcolor{purple}
+\testcolor{brown}
+\testcolor{pink}
+\testcolor{olive}
+\testcolor{black}
+\testcolor{darkgray}
+\testcolor{gray}
+\testcolor{lightgray}
+\testcolor{white}
+\noalign{\medskip}\hline\noalign{\medskip}
+\testcolor{-red}
+\testcolor{-green}
+\testcolor{-blue}
+\testcolor{-cyan}
+\testcolor{-magenta}
+\testcolor{-yellow}
+\testcolor{-orange}
+\testcolor{-violet}
+\testcolor{-purple}
+\testcolor{-brown}
+\testcolor{-pink}
+\testcolor{-olive}
+\testcolor{-black}
+\testcolor{-darkgray}
+\testcolor{-gray}
+\testcolor{-lightgray}
+\testcolor{-white}
+\noalign{\medskip}\hline\noalign{\medskip}
+\testcolor{JungleGreen}
+\testcolor{DarkOrchid}
+\noalign{\medskip}\hline\noalign{\medskip}
+\testcolor{-JungleGreen}
+\testcolor{-DarkOrchid}
+\end{testcolors}
+\endgroup
+
+\vfill
+
+\clearpage
+\pagecolor{white}
+
+\section{Color definition and application}
+
+\providecolor{dummy}{rgb}{.6,.5,.4}
+\definecolor{dummy}{rgb}{.6,.5,.4}
+\providecolor{dummy}{rgb}{.6,.5,.4}
+\hbox{\textcolor{dummy}{Test with \texttt{\string\definecolor}}}
+
+\bigskip
+
+Comma-separated and space-separated definitions:
+
+\definecolor{c1}{rgb}{.7,.6,.5}
+\definecolor{c2}{rgb}{.7 .6 .5}
+\colorlet{c1a}{c1}
+\colorlet{c2a}{c2}
+
+\textcolor{c1}{identical} =
+\textcolor{c2}{identical} =
+\textcolor{c1a}{identical} =
+\textcolor{c2a}{identical} =
+\textcolor[rgb]{.7,.6,.5}{identical} =
+\textcolor[rgb]{.7 .6 .5}{identical} =
+\textcolor{rgb,10:red,7;green,6;blue,5}{identical}
+\textcolor{rgb,15:red,10.5;green,9;blue,7.5}{identical}
+
+\medskip
+
+\begingroup
+\sffamily
+\begin{testcolors}
+\testcolor{c1}
+\testcolor{c2}
+\testcolor{c1a}
+\testcolor{c2a}
+\testcolor[rgb]{.7,.6,.5}
+\testcolor[rgb]{.7 .6 .5}
+\testcolor{rgb,10:red,7;green,6;blue,5}
+\testcolor{rgb,15:red,10.5;green,9;blue,7.5}
+\end{testcolors}
+\endgroup
+
+\bigskip
+
+\textcolor{rgb:red!50,4;green!25,2}{Another extended color expression (rgb:red!50,4;green!25,2)}.
+
+\bigskip
+
+\begingroup
+\color{black}
+Test with named colors:\par
+\color{blue}
+Test: \textcolor[named]{JungleGreen}{JungleGreen};
+Test: \textcolor{JungleGreen}{JungleGreen};
+Test: \textcolor{JungleGreen!50!DarkOrchid}{JungleGreen!50!DarkOrchid};
+Test: \textcolor{green!50!red}{green!50!red}.
+\endgroup
+
+\bigskip
+
+{\color[rgb]{.4,.5,.6}Test with \texttt{\string\color}}
+
+\bigskip
+Current color application:\par
+\def\test{current, \textcolor{.!50}{50\%}, \textcolor{-.}{complement},
+ \textcolor{yellow!50!.}{mix}}
+\textcolor{blue}{\test} and \textcolor{red}{\test},\par
+\def\Test{\color{.!80}Test}
+\textcolor{blue}{\Test\Test\Test\Test\Test} and
+\textcolor{red}{\Test\Test\Test\Test\Test}.
+
+\bigskip
+Current color test with \texttt{\string\definecolorseries}:\par
+\begingroup
+\color{blue}
+\definecolorseries{foo}{rgb}{last}{.}{-.}
+\resetcolorseries[5]{foo}
+\def\test{\hbox to 1em{{\color{foo!!+}\vrule width 1em height 1.5ex}}}
+Test\test\test\test\test\test\test Test
+
+\resetcolorseries[5]{foo}
+\def\test{\hbox to 1em{{\color{foo!!++}\vrule width 1em height 1.5ex}}}
+Test\test\test\test\test\test\test Test
+
+\resetcolorseries[5]{foo}
+\def\test{\hbox to 1em{{\color{foo!![2]}\vrule width 1em height 1.5ex}}}
+Test\test\test\test\test\test\test Test
+
+\endgroup
+
+\section{Color in tables}
+
+\rowcolors[\hline]{1}{green!25}{yellow!50}
+\begin{tabular}{ll}
+test & row \number\rownum\\
+test & row \number\rownum\\
+\rowcolor{blue!25}
+test & row \number\rownum\\
+test & row \number\rownum\\
+\hiderowcolors
+test & row \number\rownum\\
+test & row \number\rownum\\
+\showrowcolors
+test & row \number\rownum\\
+test & row \number\rownum\\
+\multicolumn{1}%
+ {>{\columncolor{red!12}}l}{test} & row \number\rownum\\
+\end{tabular}
+
+\section{Color information}
+
+Type test:
+\makeatletter
+\@namedef{\string\color at foo1}{foo1{}{}{}{}}\edef\tempa{\XC at type{foo1}}\tempa
+\@namedef{\string\color at foo2}{\xcolor@{foo2}{}{}{}}\edef\tempb{\XC at type{foo2}}\tempb
+\@namedef{\string\color at foo3}{\xcolor@{}{foo3}{}{}}\edef\tempc{\XC at type{foo3}}\tempc
+\@namedef{\string\color at foo4}{\xcolor@{}{}{foo4}{}}\edef\tempd{\XC at type{foo4}}\tempd
+\makeatother
+
+\end{document}
+\endinput
+%%
+%% End of file `xcolor3.tex'.
diff --git a/ref/glance/xcolor4.tex b/ref/glance/xcolor4.tex
new file mode 100644
index 0000000..a922f2b
--- /dev/null
+++ b/ref/glance/xcolor4.tex
@@ -0,0 +1,209 @@
+%%
+%% This is file `xcolor4.tex',
+%% generated with the docstrip utility.
+%%
+%% The original source files were:
+%%
+%% xcolor.dtx (with options: `test4')
+%%
+%% IMPORTANT NOTICE:
+%%
+%% For the copyright see the source file.
+%%
+%% Any modified versions of this file must be renamed
+%% with new filenames distinct from xcolor4.tex.
+%%
+%% For distribution of the original source see the terms
+%% for copying and modification in the file xcolor.dtx.
+%%
+%% This generated file may be distributed as long as the
+%% original source files, as listed above, are part of the
+%% same distribution. (The sources need not necessarily be
+%% in the same archive or directory.)
+%%
+\ProvidesFile{xcolor4}
+ [2005/12/21 v2.09 Color driver test (UK)]
+%%
+%% ----------------------------------------------------------------
+%% Copyright (C) 2003-2005 by Dr. Uwe Kern <xcolor at ukern dot de>
+%% ----------------------------------------------------------------
+%%
+\def\XCfileversion{v2.09}%
+\def\XCfiledate{2005/12/21}%
+\listfiles
+\documentclass[a4paper]{article}
+%%\PassOptionsToPackage{dvipdf}{xcolor}
+%%\PassOptionsToPackage{dvipdfm}{xcolor}
+%%\PassOptionsToPackage{dvipdfmx}{xcolor}
+%%\PassOptionsToPackage{dvips}{xcolor}
+%%\PassOptionsToPackage{dvipsone}{xcolor}
+%%\PassOptionsToPackage{dviwin}{xcolor}
+%%\PassOptionsToPackage{dviwindo}{xcolor}
+%%\PassOptionsToPackage{emtex}{xcolor}
+%%\PassOptionsToPackage{oztex}{xcolor}
+%%\PassOptionsToPackage{pctex32}{xcolor}
+%%\PassOptionsToPackage{pctexhp}{xcolor}
+%%\PassOptionsToPackage{pctexps}{xcolor}
+%%\PassOptionsToPackage{pctexwin}{xcolor}
+%%\PassOptionsToPackage{pdftex}{xcolor}
+%%\PassOptionsToPackage{tcidvi}{xcolor}
+%%\PassOptionsToPackage{textures}{xcolor}
+%%\PassOptionsToPackage{truetex}{xcolor}
+%%\PassOptionsToPackage{vtex}{xcolor}
+%%\PassOptionsToPackage{xdvi}{xcolor}
+%%\PassOptionsToPackage{xetex}{xcolor}
+%%\PassOptionsToPackage{prologue}{xcolor}
+%%\PassOptionsToPackage{kernelfbox}{xcolor}
+%%\PassOptionsToPackage{xcdraw}{xcolor}
+\usepackage[emtex]{graphics}
+\usepackage{xcolor}
+\usepackage[margin=1.25cm,noheadfoot]{geometry}
+\pagestyle{empty}
+\parindent0pt
+\nofiles
+\let\familydefault\sfdefault
+\makeatletter
+%% special code for driver list construction via
+%% latex \def\xcdriverlist{1}\input{xcolor4}
+%% writes list in file xcolor4.tmp
+\@ifundefined{xcdriverlist}{}{%
+%% optional * (skips test whether #1.def exists)
+%% #1 = driver
+%% #2 = additional options (stored in \options@#2)
+%% #3 = processor 1
+%% #4 = output format 1
+%% #5 = processor 2
+%% #6 = output format 2
+%% #7 = processor 3
+%% #8 = output format 3
+\def\0{\@ifstar
+ {\def\@@tmp####1{\@firstoftwo}\1}{\def\@@tmp####1{\IfFileExists{####1.def}}\1}}
+\def\1#1#2#3#4#5#6#7#8{\@@tmp{#1}%
+ {\XC at let@Nc\@@tmp{options@#2}
+ \ifx\@@tmp\@empty\else
+ \edef\@@tmp{,\@@tmp}\XC at replace\@@tmp,{;#1-}\XC at replace\@@tmp;,
+ \fi
+ \edef\@@tmp{:=#1\@@tmp}
+ \expandafter\@for\expandafter\@tempa\@@tmp\do
+ {\let\@@tmp\@tempa\XC at replace\@@tmp-,
+ \edef\@@tmp{\@tempa\space\string\PassOptionsToPackage{\@@tmp}{xcolor}}
+ \@namexdef{list@#4}{\@nameuse{list@#4},#3 \@@tmp}
+ \@namexdef{list@#6}{\@nameuse{list@#6},#5 \@@tmp}
+ \@namexdef{list@#8}{\@nameuse{list@#8},#7 \@@tmp}}}%
+ {\typeout{No file `#1.def' found.}}}
+\def\list@{}
+\def\list at dvi{}
+\def\list at ps{}
+\def\list at pdf{}
+\@namedef{options at 0}{}
+\@namedef{options at 1}{kernelfbox,prologue,xcdraw,kernelfbox-xcdraw,prologue-xcdraw}
+\0{dvips}1{latex}{dvi}{dvips}{ps}{ps2pdf}{pdf}
+\0{pctex32}0{latex}{dvi}{dvips}{ps}{ps2pdf}{pdf}
+\0{dvipdf}0{latex}{dvi}{dvipdf}{pdf}{}{}
+\0{dvipdfm}1{latex}{dvi}{dvipdfm}{pdf}{}{}
+\0{dvipdfmx}0{latex}{dvi}{dvipdfmx}{pdf}{}{}
+\0{dvipsone}0{latex}{dvi}{}{}{}{}
+\0{dviwin}0{latex}{dvi}{}{}{}{}
+\0*{dviwindo}0{latex}{dvi}{}{}{}{}
+\0{emtex}0{latex}{dvi}{}{}{}{}
+\0*{oztex}0{latex}{dvi}{}{}{}{}
+\0{pctexhp}0{latex}{dvi}{}{}{}{}
+\0{pctexps}0{latex}{dvi}{}{}{}{}
+\0{pctexwin}0{latex}{dvi}{}{}{}{}
+\0{tcidvi}0{latex}{dvi}{}{}{}{}
+\0{textures}0{latex}{dvi}{}{}{}{}
+\0{truetex}0{latex}{dvi}{}{}{}{}
+\0*{xdvi}0{latex}{dvi}{}{}{}{}
+\0{pdftex}1{pdflatex}{pdf}{}{}{}{}
+\0{vtex}0{vlatex}{pdf}{}{}{}{}
+\0{xetex}0{xelatex}{pdf}{}{}{}{}
+\newwrite\@tempa\immediate\openout\@tempa=\jobname.tmp
+\@tfor\@tempb:={dvi}{ps}{pdf}\do
+ {\edef\@@tmp{\@nameuse{list@\@tempb}}\edef\@@tmp{:=\expandafter\@gobble\@@tmp}
+ \expandafter\@for\expandafter\@@tmp\@@tmp\do
+ {\immediate\write\@tempa{\@@tmp}}}
+\immediate\closeout\@tempa
+\@@end}% end of driver list construction code
+\edef\Options{\expandafter\@gobble\XC@@opt}
+\@tfor\@@tmp:={dvipdf}{dvipdfm}{dvipdfmx}{dvips}{dvipsone}{dviwin}{dviwindo}%
+ {emtex}{oztex}{pctex32}{pctexhp}{pctexps}{pctexwin}{pdftex}%
+ {tcidvi}{textures}{truetex}{vtex}{xdvi}{xetex}%
+ {natural}{table}{fixpdftex}{hyperref}{showerrors}{hideerrors}%
+ {override}{usenames}{nodvipsnames}{debugshow}\do
+ {\expandafter\XC at replace\expandafter\Options\expandafter{\@@tmp,}{}}
+\edef\Options{\XC@@drv,\Options}
+\def\@@tmp#1,#2%
+ {\ifx,#2#1\expandafter\remove at to@nnil\else#1', `\expandafter\@@tmp\fi#2}
+\edef\Options{`\expandafter\@@tmp\Options,,\@nnil'}
+\makeatother
+\begin{document}
+\vbox to\textheight{\vss\centering
+{\Large\textbf{xcolor} driver test: \Options}
+\vskip0.5cm
+\begin{testcolors}[rgb,hsb,cmyk,gray,HTML]
+\testcolor{magenta}
+\testcolor[rgb]{1,0,1}
+\testcolor[hsb]{0.83333,1,1}
+\testcolor[cmyk]{0,1,0,0}
+\testcolor[gray]{0.41}
+\noalign{\medskip}
+\testcolor{blue}
+\testcolor[rgb]{0,0,1}
+\testcolor[hsb]{0.66667,1,1}
+\testcolor[cmyk]{1,1,0,0}
+\testcolor[gray]{0.11}
+\noalign{\medskip}
+\testcolor{cyan}
+\testcolor[rgb]{0,1,1}
+\testcolor[hsb]{0.5,1,1}
+\testcolor[cmyk]{1,0,0,0}
+\testcolor[gray]{0.7}
+\noalign{\medskip}
+\testcolor{green}
+\testcolor[rgb]{0,1,0}
+\testcolor[hsb]{0.33333,1,1}
+\testcolor[cmyk]{1,0,1,0}
+\testcolor[gray]{0.59}
+\noalign{\medskip}
+\testcolor{yellow}
+\testcolor[rgb]{1,1,0}
+\testcolor[hsb]{0.16667,1,1}
+\testcolor[cmyk]{0,0,1,0}
+\testcolor[gray]{0.89}
+\noalign{\medskip}
+\testcolor{red}
+\testcolor[rgb]{1,0,0}
+\testcolor[hsb]{0,1,1}
+\testcolor[cmyk]{0,1,1,0}
+\testcolor[gray]{0.3}
+\noalign{\medskip}
+\testcolor{black}
+\testcolor[rgb]{0,0,0}
+\testcolor[hsb]{0,0,0}
+\testcolor[cmyk]{0,0,0,1}
+\testcolor[gray]{0}
+\noalign{\medskip}
+\testcolor{gray}
+\testcolor[rgb]{0.5,0.5,0.5}
+\testcolor[hsb]{0,0,0.5}
+\testcolor[cmyk]{0,0,0,0.5}
+\testcolor[gray]{0.5}
+\noalign{\medskip}
+\testcolor{white}
+\testcolor[rgb]{1,1,1}
+\testcolor[hsb]{0,0,1}
+\testcolor[cmyk]{0,0,0,0}
+\testcolor[gray]{1}
+\noalign{\medskip\smallskip}
+f(color)box &
+\multicolumn5{c}{\def\i{\fbox{\a}}\def\ii{\fcolorbox{red}{yellow}{\a}}\def\iii{\scalebox{3}}%
+\def\a{{\setbox0=\hbox to3ex{\hss\textcolor{blue}{\vrule width .75ex height1.5ex depth1.5ex}\hss}\ht0=0pt\dp0=0pt\box0}}%
+\fboxsep0.333ex \i\quad\ii\quad\iii\i\quad\iii\ii\quad\fboxrule.75ex \iii\i\quad\iii\ii}
+\end{testcolors}
+\vskip0.5cm
+{\footnotesize This table was generated with \textbf{xcolor4.tex} which is part of the \textbf{xcolor} package \XCfileversion{} (\XCfiledate) by Uwe Kern.}
+\vss}
+\end{document}
+\endinput
+%%
+%% End of file `xcolor4.tex'.
diff --git a/ref/usersguide/DiscFix.tex b/ref/usersguide/DiscFix.tex
new file mode 100644
index 0000000..bef9d19
--- /dev/null
+++ b/ref/usersguide/DiscFix.tex
@@ -0,0 +1,67 @@
+%\documentclass{article}
+%\usepackage{fancyvrb}
+%\ussepackage{src/perltex}
+%\usepackage{src/xcolor}
+%\usepackage{listings}
+%\usepackage{longtable}
+%\usepackage{multirow}
+%\input{src/cmd}
+%\begin{document}
+
+\index{DiscFix!application writeup}
+
+\section{\emph{DiscFix}}
+\subsection{Overview}
+The application reads a data file containing dual-frequency pseudorange and phase
+ measurements and finds and fixes discontinuities in the phase; output is
+ a list of editing commands (for use with PRGM RinexEdit); the program will
+ also (optional) write out the raw (uncorrected) data to a RINEX file.
+
+\subsection{Usage}
+\begin{\outputsize}
+\begin{longtable}{lll}
+\multicolumn{3}{c}{\application{DiscFix}} \\
+\multicolumn{3}{l}{\textbf{Required Arguments}} \\
+\entry{Short Arg.}{Long Arg.}{Description}{1}
+\entry{-i}{--inputfile}{Input (Rinex obs) file(s)}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Optional Arguments}} \\
+\entry{-f}{}{file containing more options}{1}
+\entry{-d}{--directory}{Directory of input file(s)}{1}
+\entry{}{--decimate}{Decimate data to time interval dt}{1}
+\entry{}{--EpochBeg}{Start time, arg is of the form YYYY,MM,DD,HH,Min,Sec}{2}
+\entry{}{--GPSBeg}{Start time, arg is of the form GPSweek,GPSsow}{1}
+\entry{}{--EpochEnd}{End time, arg is of the form YYYY,MM,DD,HH,Min,Sec}{2}
+\entry{}{--GPSEnd}{End time, arg is of the form GPSweek,GPSsow}{1}
+\entry{}{--CA}{Use C/A code pseudorange if P1 is not available}{1}
+\entry{}{--DT}{Time interval (s) of data points (needed for -Ps only)}{2}
+\entry{}{--Gap}{Time (s) of largest allowed gap within pass}{1}
+\entry{}{--Points}{Minimum number of points needed to process a pass}{2}
+\entry{}{--XPRN}{Exclude this satellite (prn may be only $<$system$>$)}{2}
+\entry{}{--SVonly}{Process this satellite ONLY}{1}
+\entry{}{--Log}{Output log file name (df.log)}{1}
+\entry{}{--Err}{Output error file name (df.err)}{1}
+\entry{}{--Out}{Output (editing commands) file name (df.out)}{1}
+\entry{}{--RinexFile}{Output Rinex obs file name}{1}
+\entry{}{--RunBy}{Output Rinex header 'RUN BY' string}{1}
+\entry{}{--Observer}{Output Rinex header 'OBSERVER' string}{1}
+\entry{}{--Agency}{Output Rinex header 'AGENCY' string}{1}
+\entry{}{--Marker}{Output Rinex header 'MARKER' string}{1}
+\entry{}{--Number}{Output Rinex header 'NUMBER' string}{1}
+\entry{}{--Smooth}{Smooth pseudorange and debias phase and output both in place of raw}{2}
+\entry{}{--SmoothPR}{Smooth pseudorange and debias phase but replace only raw pseudorange}{2}
+\entry{}{--SmoothPH}{Smooth pseudorange and debias phase but replace only raw phase}{2}
+\entry{}{--CAOut}{Output C/A code in Rinex}{1}
+\entry{}{--DOut}{Output Doppler in Rinex}{1}
+\entry{}{--verbose}{print extended output (NB --DCDebug,7 => all debugging output)}{2}
+\entry{-h}{--help}{print syntax and quit.}{1}
+\end{longtable}
+\end{\outputsize}
+
+\subsection{Examples}
+\getuse{DiscFix --dt 1.5 --inputfile arl2800.06o}
+
+%\subsection{Notes}
+
+
+
diff --git a/ref/usersguide/FICcheck.tex b/ref/usersguide/FICcheck.tex
new file mode 100644
index 0000000..1d48e83
--- /dev/null
+++ b/ref/usersguide/FICcheck.tex
@@ -0,0 +1,45 @@
+%\documentclass{article}
+%\usepackage{fancyvrb}
+%\usepackage{src/perltex}
+%\usepackage{src/xcolor}
+%\usepackage{listings}
+%\usepackage{longtable}
+%\usepackage{multirow}
+%\input{src/cmd}
+%\begin{document}
+
+\index{ficacheck!application writeup}
+\index{ficcheck!application writeup}
+
+\section{\emph{ficacheck ficcheck}}
+\subsection{Overview}
+These applications read input ASCII or binary FIC and check them for errors. \application{ficcheck} checks binary files
+and \application{ficacheck} checks ASCII files.
+
+\subsection{Usage}
+\begin{\outputsize}
+
+\begin{longtable}{lll}
+\multicolumn{3}{l}{\textbf{Optional Arguments}} \\
+\entry{Short Arg.}{Long Arg.}{Description}{1}
+\entry{-d}{--debug}{Increase debug level}{1}
+\entry{-v}{--verbose}{Increase verbosity}{1}
+\entry{-h}{--help}{Print help usage}{1}
+\entry{-t}{--time=TIME}{Time of first record to count (default = "beginning of time")}{2}
+\entry{-e}{--end-time=TIME}{End of time range to compare (default = "end of time")}{2}
+& & \\
+\multicolumn{3}{c}{ficacheck usage: ficacheck [options] <FICA file>} \\
+\multicolumn{3}{c}{ficcheck usage: ficcheck [options] <FIC file} \\
+
+\end{longtable}
+
+\end{\outputsize}
+
+\subsection{Examples}
+\getuse{ficcheck fic06.187}
+\getuse{ficacheck brokenfica}
+
+\subsection{Notes}
+Only the first error in each file is reported. The entire file is always checked regardless of time options.
+
+%\end{document}
diff --git a/ref/usersguide/IonoBias.tex b/ref/usersguide/IonoBias.tex
new file mode 100644
index 0000000..1c58488
--- /dev/null
+++ b/ref/usersguide/IonoBias.tex
@@ -0,0 +1,110 @@
+%\documentclass{article}
+%\usepackage{fancyvrb}
+%\usepackage{src/perltex}
+%\usepackage{src/xcolor}
+%\usepackage{listings}
+%\usepackage{longtable}
+%\usepackage{multirow}
+%\input{src/cmd}
+%\begin{document}
+
+\index{IonoBias!application writeup}
+
+\section{\emph{IonoBias}}
+\subsection{Overview}
+The application will open and read several preprocessed RINEX obs files
+ (containing obs types EL,LA,LO,SR or SS) and use the data to estimate
+ satellite and receiver biases and to compute a simple ionospheric model
+ using least squares and the slant TEC values.
+
+\subsection{Usage}
+\begin{\outputsize}
+\begin{longtable}{lll}
+\multicolumn{3}{c}{\application{IonoBias}} \\
+\multicolumn{3}{l}{\textbf{Optional Arguments}} \\
+\entry{}{--input}{Input Rinex obs file name(s)}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Optional Arguments}} \\
+\entry{Short Arg.}{Long Arg.}{Description}{1}
+\entry{-f}{}{file containing more options}{1}
+\entry{}{--inputdir}{Path for input file(s)}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Ephemeris input}} \\
+\entry{}{--navdir}{Path of navigation file(s)}{1}
+\entry{}{--nav}{Navigation (Rinex Nav OR SP3) file(s)}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Output}} \\
+\entry{}{--datafile}{Data (AT) file name, for output and/or input}{1}
+\entry{}{--log}{Output log file name}{1}
+\entry{}{--biasout}{Output satellite+receiver biases file name}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Time limits}} \\
+\entry{}{--BeginTime}{Start time, arg is of the form YYYY,MM,DD,HH,Min,Sec}{2}
+\entry{}{--BeginGPSTime}{Start time, arg is of the form GPSweek,GPSsow}{1}
+\entry{}{--EndTime}{End time, arg is of the form YYYY,MM,DD,HH,Min,Sec}{2}
+\entry{}{--EndGPSTime}{End time, arg is of the form GPSweek,GPSsow}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Processing}} \\
+\entry{}{--NoEstimation}{Do NOT perform the estimation (default=false).}{1}
+\entry{}{--NoPreprocess}{Skip preprocessing; read (existing) AT file (false).}{2}
+\entry{}{--NoSatBiases}{Compute Receiver biases ONLY (not Rx+Sat biases) (false).}{2}
+\entry{}{--Model}{Ionospheric model: type is linear, quadratic or cubic}{2}
+\entry{}{--MinPoints}{Minimum points per satellite required}{1}
+\entry{}{--MinTimeSpan}{Minimum timespan per satellite required (minutes)}{2}
+\entry{}{--MinElevation}{Minimum elevation angle (degrees)}{1}
+\entry{}{--MinLatitude}{Minimum latitude (degrees)}{1}
+\entry{}{--MaxLatitude}{Maximum latitude (degrees)}{1}
+\entry{}{--MinLongitude}{Minimum longitude (degrees)}{1}
+\entry{}{--MaxLongitude}{Maximum longitude (degrees)}{1}
+\entry{}{--TimeSector}{Time sector (day | night | both)}{1}
+\entry{}{--TerminOffset}{Terminator offset (minutes)}{1}
+\entry{}{--IonoHeight}{Ionosphere height (km)}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Other options}} \\
+\entry{}{--XSat}{Exclude this satellite (<sat> may be <system> only)}{2}
+\entry{-v}{--verbose}{print extended output info.}{1}
+\entry{-d}{--debug}{print extended output info.}{1}
+\entry{-h}{--help}{print syntax and quit.}{1}
+
+\end{longtable}
+\end{\outputsize}
+
+\subsection{Examples}
+\begin{\outputsize}
+\begin{lstlisting}
+> IonoBias --inputdir data_set --navdir data_set --input s081213a.99o --input s081214a.99o
+--input s081215a.99o --nav s081213a.99n --nav s081214a.99n --nav s081215a.99n --datafile output}
+IonoBias, built on the GPSTK ToolKit, Ver 1.0 6/25/04, Run 2006/08/17 09:50:59
+IonoBias output directed to log file IonoBias.log
+IonoBias timing: 6.210 seconds.
+\end{lstlisting}
+
+\begin{verbatim}
+Output File Snippet
+
+ 3 3 Number (max, good) stations in this file
+010101101100001111110111011101110
+010101101100001111110111011101110
+010100101100001111110111011101110
+Npt 9737 Sta 85408 LLH 30.2160 262.2746 163.4226
+1021 0.0 0.00000 -463513.64930 0.32 0.000 1 1 1
+1021 0.0 0.00000 -463513.64930 0.32 0.000 1 14 1
+1021 0.0 0.00000 -463513.64930 0.32 0.000 1 15 1
+1021 0.0 0.00000 -463513.64930 0.32 0.000 1 21 1
+1021 0.0 0.00000 -463513.64930 0.32 0.000 1 22 1
+1021 0.0 0.00000 -463513.64930 0.32 0.000 1 25 1
+1021 0.0 0.00000 -463513.64930 0.32 0.000 1 29 1
+1021 0.0 0.00000 -463513.64930 0.32 0.000 1 30 1
+1021 30.0 0.00000 -463513.52430 0.32 0.000 1 1 1
+1021 30.0 0.00000 -463513.52430 0.32 0.000 1 14 1
+
+\end{verbatim}
+
+\end{\outputsize}
+
+\subsection{Notes}
+Input can be either on the command line or put in a file and then input using the -f option. The file is formatted just as if
+it were the command line.
+
+%\end{document}
+
diff --git a/ref/usersguide/NavMerge.tex b/ref/usersguide/NavMerge.tex
new file mode 100644
index 0000000..d30f29e
--- /dev/null
+++ b/ref/usersguide/NavMerge.tex
@@ -0,0 +1,39 @@
+%\documentclass{article}
+%\usepackage{fancyvrb}
+%\usepackage{src/perltex}
+%\usepackage{src/xcolor}
+%\usepackage{listings}
+%\usepackage{longtable}
+%\usepackage{multirow}
+%\input{src/cmd}
+%\begin{document}
+
+\index{NavMerge!application writeup}
+
+\section{\emph{NavMerge}}
+\subsection{Overview}
+The application merges RINEX Nav files into a single file.
+
+\subsection{Usage}
+\begin{\outputsize}
+\begin{longtable}{lll}
+\multicolumn{3}{c}{\application{NavMerge}} \\
+\multicolumn{3}{l}{\textbf{Optional Arguments}} \\
+\entry{Short Arg.}{Long Arg.}{Description}{1}
+\entry{-o}{}{Write all data to an output Rinex nav file. If omitted, a data summary is written to the screen.}{3}
+\entry{-tb}{}{Output only if epoch is within 4 hours of the interval (tb,te).}{2}
+\entry{-te}{}{If te or tb is missing, they are made equal. Timetags have the form year,mon,day,HH,min,sec OR GPSweek,sow}{3}
+& & \\
+\multicolumn{3}{c}{NavMerge usage: NavMerge [options] $<$RINEX nav file$>$ $<$RINEX nav file$>$} \\
+\end{longtable}
+\end{\outputsize}
+
+\subsection{Examples}
+\getuse{NavMerge -os081213-214.99n s081213a.99n s081214a.99n}
+
+
+\subsection{Notes}
+NavMerge will also correct the output data when the GPS full week number is inconsistent with the epoch time.
+
+%\end{document}
+
diff --git a/ref/usersguide/PRSolve.tex b/ref/usersguide/PRSolve.tex
new file mode 100644
index 0000000..085122e
--- /dev/null
+++ b/ref/usersguide/PRSolve.tex
@@ -0,0 +1,82 @@
+%\documentclass{article}
+%\usepackage{fancyvrb}
+%\usepackage{src/perltex}
+%\usepackage{src/xcolor}
+%\usepackage{listings}
+%\usepackage{longtable}
+%\usepackage{multirow}
+%\input{src/cmd}
+%\begin{document}
+
+\index{PRSolve!application writeup}
+\section{\emph{PRSolve}}
+\subsection{Overview}
+The application reads one or more RINEX observation files, plus one or more
+ navigation (ephemeris) files, and computes an autonomous pseudorange
+ position solution, using a RAIM-like algorithm to eliminate outliers.
+ Output is to the log file, and also optionally to a RINEX obs file with
+ the position solutions in auxiliary header blocks.
+
+\subsection{Usage}
+\begin{\outputsize}
+\begin{longtable}{lll}
+\multicolumn{3}{c}{\application{navdmp}} \\
+\multicolumn{3}{l}{\textbf{Required Arguments}} \\
+\entry{Short Arg.}{Long Arg.}{Description}{1}
+\entry{-o}{--obs}{Input Rinex observation file(s)}{1}
+\entry{-n}{--nav}{Input navigation (ephemeris) file(s) (Rinex or SP3)}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Optional Arguments: Input}} \\
+\entry{-f}{}{File containing more options}{1}
+\entry{}{--obsdir}{Directory of input observation file(s)}{1}
+\entry{}{--navdir}{Directory of input navigation file(s)}{1}
+\entry{}{--decimate}{Decimate data to time interval dt}{1}
+\entry{}{--EpochBeg}{Start time, arg is of the form YYYY,MM,DD,HH,Min,Sec}{2}
+\entry{}{--GPSBeg}{Start time, arg is of the form GPSweek,GPSsow}{1}
+\entry{}{--EpochEnd}{End time, arg is of the form YYYY,MM,DD,HH,Min,Sec}{2}
+\entry{}{--GPSEnd}{End time, arg is of the form GPSweek,GPSsow}{1}
+\entry{}{--CA}{Use C/A code pseudorange if P1 is not available}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Optional Arguments: Configuration}} \\
+\entry{}{--RMSlimit}{Upper limit on RMS post-fit residuals (m) for a good solution}{2}
+\entry{}{--SlopeLimit}{Upper limit on RAIM 'slope' for a good solution}{1}
+\entry{}{--Algebra}{Use algebraic algorithm (otherwise linearized LS)}{2}
+\entry{}{--DistanceCriterion}{Use distance from a priori as convergence criterion (else RMS)}{2}
+\entry{}{--ReturnAtOnce}{Return as soon as a good solution is found}{1}
+\entry{}{--NReject}{Maximum number of satellites to reject}{1}
+\entry{}{--NIter}{Maximum iteration count (linearized LS algorithm)}{2}
+\entry{}{--Conv}{Minimum convergence criterion (m) (LLS algorithm)}{2}
+\entry{}{--MinElev}{Minimum elevation angle (deg) (only if --PosXYZ)}{2}
+\entry{}{--XPRN}{Exclude this satellite.}{1}
+\entry{}{--Trop $<$model,T,P,H$>$}{Trop model (one of BL,SA,NB,GG,GGH (cf.GPSTk)), with OPTIONAL weather Temp(C),Press(mb),RH(\%)}{2}
+& & \\
+\multicolumn{3}{l}{\textbf{Optional Arguments: Output}} \\
+\entry{}{--Log}{Output log file name (prs.log).}{1}
+\entry{}{--PosXYZ $<$X,Y,Z$>$}{Known position (ECEF,m), used to compute output residuals.}{2}
+\entry{}{--APSout}{Output autonomous pseudorange solution (APS - no RAIM)}{2}
+\entry{}{--TimeFormat}{Output time format (ala DayTime) (default: \%4F \%10.3g)}{2}
+& & \\
+\multicolumn{3}{l}{\textbf{Optional Arguments: RINEX Output}} \\
+\entry{}{--RinexFile}{Output Rinex obs file name}{1}
+\entry{}{--RunBy}{Output Rinex header 'RUN BY' string}{1}
+\entry{}{--Observer}{Output Rinex header 'OBSERVER' string}{1}
+\entry{}{--Agency}{Output Rinex header 'AGENCY' string}{1}
+\entry{}{--Marker}{Output Rinex header 'MARKER' string}{1}
+\entry{}{--Number}{Output Rinex header 'NUMBER' string}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Optional Arguments: Help}} \\
+\entry{}{--verbose}{Print extended output.}{1}
+\entry{}{--debug}{Print very extended output.}{1}
+\entry{-h}{--help}{Print syntax and quit.}{1}
+\end{longtable}
+\end{\outputsize}
+
+\subsection{Examples}
+\getuse{PRSolve -o arl2800.06o -n arl2800.06n}
+
+\getuse{PRSolve -o arl2800.06o -n arl2800.06n --EpochBeg 2006,1,1,00,00,00 --EpochEnd 2006,1,1,12,00,00}
+
+\subsection{Notes}
+
+%\end{document}
+
diff --git a/ref/usersguide/RINcheck.tex b/ref/usersguide/RINcheck.tex
new file mode 100644
index 0000000..46d7852
--- /dev/null
+++ b/ref/usersguide/RINcheck.tex
@@ -0,0 +1,44 @@
+%\documentclass{article}
+%\usepackage{fancyvrb}
+%\usepackage{src/perltex}
+%\usepackage{src/xcolor}
+%\usepackage{listings}
+%\usepackage{longtable}
+%\usepackage{multirow}
+%\input{src/cmd}
+%\begin{document}
+
+\index{rmwcheck!application writeup}
+\index{rnwcheck!application writeup}
+\index{rowcheck!application writeup}
+
+\section{\emph{rmwcheck rnwcheck rowcheck}}
+\subsection{Overview}
+The applications read a RINEX observation (\application{rowcheck}), navigation(\application{rnwcheck}), or meteorological (\application{rmwcheck}) data file and check it for errors.
+
+\subsection{Usage}
+\begin{\outputsize}
+
+\begin{longtable}{lll}
+\multicolumn{3}{l}{\textbf{Optional Arguments}} \\
+\entry{Short Arg.}{Long Arg.}{Description}{1}
+\entry{-d}{--debug}{Increase debug level}{1}
+\entry{-v}{--verbose}{Increase verbosity}{1}
+\entry{-h}{--help}{Print help usage}{1}
+\entry{-t}{--time=TIME}{Time of first record to count (default = "beginning of time")}{2}
+\entry{-e}{--end-time=TIME}{End of time range to compare (default = "end of time")}{2}
+& & \\
+\multicolumn{3}{l}{rmwcheck usage: rmwcheck [options] $<$RINEX Met file$>$} \\
+\multicolumn{3}{l}{rnwcheck usage: rnwcheck [options] $<$RINEX Nav file$>$} \\
+\multicolumn{3}{l}{rowcheck usage: rowcheck [options] $<$RINEX Obs file$>$} \\
+\end{longtable}
+\end{\outputsize}
+
+\subsection{Examples}
+\getuse{rnwcheck -t "08/01/2006 12:00:00" -e "08/01/2006 15:00:00" s081213a.99n}
+
+\subsection{Notes}
+Only the first error in each file is reported. The entire file is always checked regardless of time options.
+
+%\end{document}
+
diff --git a/ref/usersguide/RINdiff.tex b/ref/usersguide/RINdiff.tex
new file mode 100644
index 0000000..a9d8f24
--- /dev/null
+++ b/ref/usersguide/RINdiff.tex
@@ -0,0 +1,44 @@
+%\documentclass{article}
+%\usepackage{fancyvrb}
+%\usepackage{src/perltex}
+%\usepackage{src/xcolor}
+%\usepackage{listings}
+%\usepackage{longtable}
+%\usepackage{multirow}
+%\input{src/cmd}
+%\begin{document}
+
+\index{rmwdiff!application writeup}
+\index{rnwdiff!application writeup}
+\index{rowdiff!application writeup}
+
+\section{\emph{rmwdiff rnwdiff rowdiff}}
+\subsection{Overview}
+The applications difference RINEX observation, navigation, and meteorological data files.
+
+\subsection{Usage}
+\begin{\outputsize}
+
+\begin{longtable}{lll}
+\multicolumn{3}{l}{\textbf{Optional Arguments}} \\
+\entry{Short Arg.}{Long Arg.}{Description}{1}
+\entry{-d}{--debug}{Increase debug level}{1}
+\entry{-v}{--verbose}{Increase verbosity}{1}
+\entry{-h}{--help}{Print help usage}{1}
+\entry{-t}{--time=TIME}{Start of time range to compare (default = "beginning of time")}{2}
+\entry{-e}{--end-time=TIME}{End of time range to compare (default = "end of time")}{2}
+& & \\
+\multicolumn{3}{l}{rmwdiff usage: rmwdiff [options] $<$RINEX Met file$>$ $<$RINEX Met file$>$} \\
+\multicolumn{3}{l}{rnwdiff usage: rnwdiff [options] $<$RINEX Nav file$>$ $<$RINEX Nav file$>$} \\
+\multicolumn{3}{l}{rowdiff usage: rowdiff [options] $<$RINEX Obs file$>$ $<$RINEX Obs file$>$} \\
+
+\end{longtable}
+
+\end{\outputsize}
+
+\subsection{Examples}
+
+\subsection{Notes}
+
+%\end{document}
+
diff --git a/ref/usersguide/ResCor.tex b/ref/usersguide/ResCor.tex
new file mode 100644
index 0000000..fcfe2f2
--- /dev/null
+++ b/ref/usersguide/ResCor.tex
@@ -0,0 +1,189 @@
+%\documentclass{article}
+%\usepackage{fancyvrb}
+%\usepackage{src/perltex}
+%\usepackage{src/xcolor}
+%\usepackage{listings}
+%\usepackage{multirow}
+%\usepackage{longtable}
+%\input{src/cmd}
+%\begin{document}
+
+\index{ResCor!application writeup}
+\section{\emph{ResCor}}
+\subsection{Overview}
+The application will open and read a single RINEX observation file, apply editing commands
+ using the RinexEditor package, compute any of several residuals and corrections and
+ register extended RINEX observation types for them, and then write the edited data,
+ along with the new extended observation types, to an output RINEX observation file.
+
+\subsection{Usage}
+%Required arguments:
+% -IF and -OF (RinexEditor commands, see below) are required argument
+\begin{\outputsize}
+
+\begin{longtable}{lll}
+\multicolumn{3}{c}{\application{ResCor}} \\
+\multicolumn{3}{l}{\textbf{Configuration Arguments}} \\
+\entry{Short Arg.}{Long Arg.}{Description}{1}
+\entry{-f$<$file$>$}{}{File containing more options}{1}
+\entry{}{--nav $<$file$>$}{Navigation (Rinex Nav OR SP3) file(s)}{1}
+\entry{}{--navdir $<$dir$>$}{Directory of navigation file(s)}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Reference position input}} \\
+\entry{}{--RxLLH $<$l,l,h$>$}{1.Receiver position (static) in geodetic lat, lon(E), ht (deg,deg,m)}{2}
+\entry{}{--RxXYZ $<$x,y,z$>$}{2.Receiver position (static) in ECEF coordinates (m)}{2}
+\entry{}{--Rxhere}{3.Reference site positions(time) from this file (i.e. -IF$<$RinexFile$>$)}{2}
+\entry{}{--RxRinex $<$fn$>$}{4.Reference site positions(time) from another Rinex file named $<$fn$>$}{2}
+\entry{}{--RxFlat $<$fn$>$}{5.Reference site positions and times given in a flat file named $<$fn$>$}{2}
+\entry{}{--Rxhelp}{(Enter --Rxhelp for a description of the -RxFlat file format)}{2}
+\entry{}{--RAIM}{6.Reference site positions computed via RAIM (requires P1,P2,EP)}{2}
+\entry{}{}{NB the following two options apply only if --RAIM is found)}{2}
+\entry{}{--noRAIMedit}{Do not edit data based on RAIM solution}{1}
+\entry{}{--RAIMhead}{Output average RAIM solution to Rinex header (if -HDf also appears)}{2}
+\entry{}{--noRefout}{Do not output reference solution to Rinex}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Residual/Correction computation}} \\
+\entry{}{--debias $<$OT,l$>$}{Debias new output type $<$OT$>$; trigger a bias reset with limit $<$l$>$}{2}
+\entry{}{--Callow}{Allow C1 to replace P1 when P1 is not available}{1}
+\entry{}{--Cforce}{Force C/A code pseudorange C1 to replace P1}{1}
+\entry{}{--IonoHt $<$ht$>$}{Height of ionosphere in km (default 400) (needed for LA,LO,VR,VP)}{2}
+\entry{}{--SVonly $<$prn$>$}{Process this satellite ONLY}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Output files}} \\
+\entry{}{--Log $<$file$>$}{Output log file name (rc.log)}{1}
+\entry{}{--Err $<$file$>$}{Output error file name (rc.err)}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Help}} \\
+\entry{}{--verbose}{Print extended output}{1}
+\entry{}{--debug}{Print debugging information.}{1}
+\entry{-h}{--help}{Print syntax and quit.}{1}
+\end{longtable}
+
+\begin{verbatim}
+Rinex Editor commands:
+ ==============================================================================
+ Commands begin with a '-' or '/', followed by an identifier, then data fields.
+ Fields beyond the initial 2- or 3-character identifier are comma delimited.
+ <SV> gives a satellite; SV=<PRN><System(optional)> eg. 19G or 19 = PRN 19 GPS.
+ <System> is a single character (G=GPS, R=GLONASS, T=Transit, S=Geosynchronous).
+ <OT> gives a Rinex observation type, e.g. L1 or P2 (case sensitive).
+ <time> gives a time; time=<week,sow> OR time=<year,mon,day,hour,min,second>.
+\end{verbatim}
+
+\begin{longtable}{lll}
+\multicolumn{3}{l}{\textbf{File I/O}} \\
+\entry{-IF$<$file$>$}{}{Input Rinex observation file name (required)}{1}
+\entry{-ID$<$dir$>$}{}{Directory in which to find input file}{1}
+\entry{-OF$<$file$>$}{}{Output Rinex file name (required, or -OF$<$file$>$,$<$time$>$)}{2}
+\entry{-OF$<$f$>$,$<$time$>$}{}{At time=$<$time$>$, close output file and open another named $<$f$>$}{2}
+\entry{-OD$<$dir$>$}{}{Directory in which to put output file(s)}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Output Rinex header fields}} \\
+\entry{-HDf}{}{If present, fill optional records in the output Rinex header (NB EditObs() and EditFile() will do this, but NOT EditHeader().)}{3}
+\entry{-HDp$<$program$>$}{}{Set output Rinex header 'program' field}{1}
+%\entry{-HDr<run_by>}{}{Set output Rinex header 'run by' field}{2}
+\entry{-HDo$<$observer$>$}{}{Set output Rinex header 'observer' field}{1}
+\entry{-HDa$<$agency$>$}{}{Set output Rinex header 'agency' field}{1}
+\entry{-HDm$<$marker$>$}{}{Set output Rinex header 'marker' field}{1}
+\entry{-HDn$<$number$>$}{}{Set output Rinex header 'number' field}{1}
+\entry{-HDc$<$comment$>$}{}{Add comment to output Rinex header (more than one allowed).}{2}
+\entry{-HDdc}{}{Delete all comments in output Rinex header}{1}
+\entry{}{}{(NB -HDdc cannot delete comments created by *subsequent* -HDc commands)}{2}
+\entry{-AO$<$OT$>$}{}{Add observation type OT to header and observation data}{2}
+& & \\
+\multicolumn{3}{l}{\textbf{General edit commands}} \\
+\entry{-TB$<$time$>$}{}{Begin time: reject data before this time (also used for decimation)}{2}
+\entry{-TE$<$time$>$}{}{End time: reject data after this time}{1}
+\entry{-TT$<$dt$>$}{}{Tolerance in comparing times, in seconds (default=1ms)}{2}
+\entry{-TN$<$dt$>$}{}{Decimate data to epochs = Begin + integer*dt (within tolerance)}{2}
+\end{longtable}
+\begin{verbatim}
+ Specific edit commands:
+ =======================
+ (Generally each '+' command (e.g DA+,<time>) has a corresponding '-' command,
+ and vice-versa; if not, End-of-file or Begin-of-file is assumed.
+ Note commands at one time are applied AFTER other commands of the same type.)
+\end{verbatim}
+
+\begin{longtable}{lll}
+\multicolumn{3}{l}{\textbf{Delete Command}} \\
+\entry{-DA+$<$time$>$}{}{Delete all data beginning at this time}{1}
+\entry{-DA-$<$time$>$}{}{Stop deleting data at this time}{1}
+\entry{-DO$<$OT$>$}{}{Delete observation type OT entirely (including in header)}{3}
+\entry{-DS$<$SV$>$}{}{Delete all data for satellite SV entirely (SV may be system only)}{2}
+\entry{-DS$<$SV$>$,$<$time$>$}{}{Delete all data for satellite SV at this single time (only)}{2}
+\entry{-DA-$<$time$>$}{}{Stop deleting data at this time}{1}
+\entry{-DO$<$OT$>$}{}{Delete observation type OT entirely (including in header)}{1}
+\entry{-DS$<$SV$>$}{}{Delete all data for satellite SV entirely (SV may be system only)}{2}
+\entry{-DS$<$SV$>$,$<$time$>$}{}{Delete all data for satellite SV at this single time (only)}{2}
+\entry{-DS+$<$SV$>$,$<$time$>$}{}{Delete all data for satellite SV beginning at this time}{2}
+\entry{-DS-$<$SV$>$,$<$time$>$}{}{Stop deleting all data for satellite SV at this time}{2}
+\entry{}{}{(NB DS commands with SV=system (only) delete all satellites of that system.)}{2}
+\entry{-DD$<$SV,OT,t$>$}{}{Delete a single Rinex data(SV,OT,t) at time $<$t$>$}{2}
+\entry{-DD+$<$SV,OT,t$>$}{}{Delete all (SV,OT) data, beginning at time $<$t$>$}{1}
+\entry{-DD-$<$SV,OT,t$>$}{}{Stop deleting all (SV,OT) data at time $<$t$>$}{1}
+\entry{}{}{(NB deleting data for one OT means setting it to zero - here and in Rinex)}{2}
+& & \\
+\multicolumn{3}{l}{\textbf{Set Commands}} \\
+\entry{-SD$<$SV,OT,t,d$>$}{}{Set data(SV,OT,t) to $<$d$>$ at time $<$t$>$}{1}
+\entry{-SS$<$SV,OT,t,s$>$}{}{Set ssi(SV,OT,t) to $<$s$>$ at time $<$t$>$}{1}
+\entry{-SL+$<$SV,OT,t,l$>$}{}{Set all lli(SV,OT,t) to $<$l$>$ at time $<$t$>$}{1}
+\entry{-SL-$<$SV,OT,t,l$>$}{}{Stop setting lli(SV,OT,t) to $<$l$>$ at time $<$t$>$ (',$<$l$>$' is optional)}{2}
+\entry{-SL$<$SV,OT,t,l$>$}{}{Set lli(SV,OT,t) to $<$l$>$ at the single time $<$t$>$ (only)}{2}
+\entry{}{}{(NB SL commands with SV=system (only) modify all satellites of that system.)}{2}
+& & \\
+\multicolumn{3}{l}{\textbf{Bias Commands}} \\
+\entry{}{}{(NB. BD commands apply only when data is non-zero, unless -BZ appears)}{2}
+\entry{-BZ}{}{Apply bias data commands (BD) even when data is zero}{2}
+\entry{-BD$<$SV,OT,t,d$>$}{}{Add the value of $<$d$>$ to data(SV,OT,t) at time $<$t$>$}{2}
+\entry{-BD+$<$SV,OT,t,d$>$}{}{Add value of $<$d$>$ to data(SV,OT) beginning at time $<$t$>$}{2}
+\entry{-BD-$<$SV,OT,t,d$>$}{}{Stop adding $<$d$>$ to data(SV,OT) at time $<$t$>$ (',$<$d$>$' optional)}{2}
+\entry{-BS$<$SV,OT,t,s$>$}{}{Add the value of $<$s$>$ to ssi(SV,OT,t) at time $<$t$>$}{2}
+\entry{-BL$<$SV,OT,t,l$>$}{}{Add the value of $<$l$>$ to lli(SV,OT,t) at time $<$t$>$}{2}
+\end{longtable}
+
+\begin{verbatim}
+The list of available extended Rinex obs types:
+ OT Description Units Required input (EP=ephemeris,PS=Rx Position)
+ ER Ephemeris range meters EP PS
+ RI Iono Delay, Range meters P1
+ PI Iono Delay, Phase meters L1 L2
+ TR Tropospheric Delay meters EP PS
+ RL Relativity Correct. meters EP
+ SC SV Clock Bias meters EP
+ EL Elevation Angle degrees EP PS
+ AZ Azimuth Angle degrees EP PS
+ SR Slant TEC (PR) TECU P1
+ SP Slant TEC (Ph) TECU L1 L2
+ VR Vertical TEC (PR) TECU P1 EP PS
+ VP Vertical TEC (Ph) TECU L1 L2 EP PS
+ LA Lat Iono Intercept degrees EP PS
+ LO Lon Iono Intercept degrees EP PS
+ P3 TFC(IF) Pseudorange meters P1
+ L3 TFC(IF) Phase meters L1 L2
+ P4 GeoFree Pseudorange meters P1
+ L4 GeoFree Phase meters L1 L2
+ P5 WideLane Pseudorange meters P1
+ L5 WideLane Phase meters L1 L2
+ MP Multipath (=M3) meters L1 L2 P1
+ M1 L1 Range minus Phase meters L1 P1
+ M2 L2 Range minus Phase meters L2
+ M3 IF Range minus Phase meters L1 L2 P1
+ M4 GF Range minus Phase meters L1 L2 P1
+ M5 WL Range minus Phase meters L1 L2 P1
+ XR Non-dispersive Range meters L1 L2 P1
+ XI Ionospheric delay meters L1 L2 P1
+ X1 Range Error L1 meters L1 L2 P1
+ X2 Range Error L2 meters L1 L2 P1
+ SX Satellite ECEF-X meters EP
+ SY Satellite ECEF-Y meters EP
+ SZ Satellite ECEF-Z meters EP
+\end{verbatim}
+
+\end{\outputsize}
+
+\subsection{Examples}
+
+\subsection{Notes}
+
+%\end{document}
diff --git a/ref/usersguide/RinSum.tex b/ref/usersguide/RinSum.tex
new file mode 100644
index 0000000..c44d226
--- /dev/null
+++ b/ref/usersguide/RinSum.tex
@@ -0,0 +1,104 @@
+%\documentclass{article}
+%\usepackage{fancyvrb}
+%\usepackage{src/perltex}
+%\usepackage{src/xcolor}
+%\usepackage{listings}
+%\usepackage{longtable}
+%\usepackage{multirow}
+%\input{src/cmd}
+%\begin{document}
+
+\index{RinSum!application writeup}
+
+\section{\emph{RinSum}}
+\subsection{Overview}
+The application reads a RINEX file and summarizes it content.
+
+\subsection{Usage}
+\begin{\outputsize}
+\begin{longtable}{lll}
+\multicolumn{3}{c}{\application{RinSum}} \\
+\multicolumn{3}{l}{\textbf{Optional Arguments}} \\
+\entry{Short Arg.}{Long Arg.}{Description}{1}
+\entry{-i}{--input}{Input file name(s)}{1}
+\entry{-f}{}{file containing more options}{1}
+\entry{-o}{--output}{Output file name}{1}
+\entry{-p}{--path}{Path for input file(s)}{1}
+\entry{-R}{--Replace}{Replace header with full one.}{1}
+\entry{-s}{--sort}{Sort the PRN/Obs table on begin time.}{1}
+\entry{-g}{--gps}{Print times in the PRN/Obs table as GPS times.}{2}
+\entry{}{--EpochBeg}{Start time, arg is of the form YYYY,MM,DD,HH,Min,Sec}{2}
+\entry{}{--GPSBeg}{Start time, arg is of the form GPSweek,GPSsow}{1}
+\entry{}{--EpochEnd}{End time, arg is of the form YYYY,MM,DD,HH,Min,Sec}{2}
+\entry{}{--GPSEnd}{End time, arg is of the form GPSweek,GPSsow}{1}
+\entry{-h}{--help}{print syntax and quit.}{1}
+\entry{-d}{--debug}{print debugging info.}{1}
+\end{longtable}
+\end{\outputsize}
+
+\subsection{Examples}
+\begin{\outputsize}
+\begin{lstlisting}
+> RinSum -i data_set/s081213a.99o --EpochBeg 2006,08,1,12,0,0'
+
++++++++++++++ RinSum summary of Rinex obs file data_set/s081213a.99o +++++++++++++
+Rinex header:
+---------------------------------- REQUIRED ----------------------------------
+Rinex Version 2.10, File type Observation, System G (GPS).
+Prgm: RinexObsWriter, Run: 11-14-01 10:04:27, By: NIMA
+Marker name: 85408.
+Obs'r : Monitor Station, Agency: NIMA
+Rec#: 1, Type: ZY12, Vers:
+Antenna # : 85408, Type : AshTech Geodetic 3
+Position (XYZ,m) : (-740289.7851, -5457071.6555, 3207245.8294).
+Antenna offset (ENU,m) : (0.0000, 0.0000, 0.0000).
+Wavelength factors (default) L1:1, L2: 1.
+Observation types (7) :
+ Type #0 = L1 L1 Carrier Phase (L1 cycles).
+ Type #1 = L2 L2 Carrier Phase (L2 cycles).
+ Type #2 = C1 C/A-code pseudorange (meters).
+ Type #3 = P1 Pcode L1 pseudorange (meters).
+ Type #4 = P2 Pcode L2 pseudorange (meters).
+ Type #5 = D1 Doppler Frequency L1 (Hz).
+ Type #6 = D2 Doppler Frequency L2 (Hz).
+Time of first obs 1999/08/01 00:00:00.0000000 GPS
+(This header is VALID 2.1 Rinex.)
+---------------------------------- OPTIONAL ----------------------------------
+Comments (3) :
+The AS bit flag is set if receiver is in Z mode
+Signal to Noise ratio information is omitted
+This file contains SMOOTHED obs data
+-------------------------------- END OF HEADER -------------------------------
+
+ WARNING: Computed first time does not agree with header
+
+ Computed interval is 0.00
+ Computed first epoch is -4713/01/01 00:00:00.0000000
+ Computed last epoch is 1999/08/01 23:59:30.0000000
+ There were 0 epochs (-0.00% of -2147483647 possible epochs in this timespan) and 0 inline header blocks.
+
+ Summary of data available in this file: (Totals are based on times and interval)
+PRN/OT: L1 L2 C1 P1 P2 D1 D2 Total Begin - End time
+TOTAL 0 0 0 0 0 0 0
+
+ WARNING: ObsType L1 should be deleted from header.
+
+ WARNING: ObsType L2 should be deleted from header.
+
+ WARNING: ObsType C1 should be deleted from header.
+
+ WARNING: ObsType P1 should be deleted from header.
+
+ WARNING: ObsType P2 should be deleted from header.
+
+ WARNING: ObsType D1 should be deleted from header.
+
+ WARNING: ObsType D2 should be deleted from header.
+
++++++++++++++ End of RinSum summary of data_set/s081213a.99o +++++++++++++
+\end{lstlisting}
+\end{\outputsize}
+
+\subsection{Notes}
+
+%\end{document}
diff --git a/ref/usersguide/RinexDump.tex b/ref/usersguide/RinexDump.tex
new file mode 100644
index 0000000..5b2b6ee
--- /dev/null
+++ b/ref/usersguide/RinexDump.tex
@@ -0,0 +1,56 @@
+%\documentclass{article}
+%\usepackage{fancyvrb}
+%\usepackage{src/perltex}
+%\usepackage{src/xcolor}
+%\usepackage{listings}
+%\usepackage{longtable}
+%\usepackage{multirow}
+%\input{src/cmd}
+%\begin{document}
+
+\index{RinexDump!application writeup}
+\section{\emph{RinexDump}}
+\subsection{Overview}
+The application reads a RINEX file and dumps the obervation data for the given satellite(s) to the standard output.
+
+\subsection{Usage}
+\begin{\outputsize}
+\begin{verbatim}
+RinexDump usage: RinexDump [-n] <rinex obs file> [<satellite(s)> <obstype(s)>]
+
+The optional argument -n tells RinexDump its output should be purely numeric.
+\end{verbatim}
+\end{\outputsize}
+
+\subsection{Examples}
+\begin{\outputsize}
+\begin{lstlisting}
+> RinexDump algo1580.06o 3 4 5
+
+# Rinexdump file: algo1580.06o Satellites: G03 G04 G05 Observations: ALL
+# Week GPS_sow Sat L1 L S L2 L S C1 L S
+1378 259200.000 G03 -3843024.647 0 3 -2994560.443 0 1 23796436.087 0 0
+1378 259230.000 G03 -3954052.735 0 3 -3081075.654 0 2 23775308.750 0 0
+1378 259260.000 G03 -4064994.465 0 2 -3167523.561 0 3 23754197.617 0 0
+1378 259290.000 G03 -4175846.973 0 3 -3253901.944 0 3 23733104.211 0 0
+1378 259320.000 G03 -4286607.460 0 4 -3340208.647 0 3 23712026.249 0 0
+1378 259350.000 G03 -4397272.869 0 4 -3426441.227 0 3 23690967.159 0 0
+
+ . . .
+
+ P2 L S P1 L S S1 L S S2 L S
+23796439.457 0 0 23796436.350 0 0 21.100 0 0 11.000 0 0
+23775311.168 0 0 23775308.182 0 0 22.100 0 0 17.800 0 0
+23754199.648 0 0 23754196.550 0 0 17.000 0 0 18.600 0 0
+23733104.928 0 0 23733102.480 0 0 19.900 0 0 21.600 0 0
+23712027.682 0 0 23712024.790 0 0 24.200 0 0 19.300 0 0
+23690968.861 0 0 23690965.837 0 0 25.600 0 0 19.900 0 0
+
+ . . .
+\end{lstlisting}
+\end{\outputsize}
+
+\subsection{Notes}
+MATLAB and Octave can read the purely numeric output.
+
+%\end{document}
diff --git a/ref/usersguide/TECMaps.tex b/ref/usersguide/TECMaps.tex
new file mode 100644
index 0000000..3b39732
--- /dev/null
+++ b/ref/usersguide/TECMaps.tex
@@ -0,0 +1,92 @@
+%\documentclass{article}
+%\usepackage{fancyvrb}
+%\usepackage{src/perltex}
+%\usepackage{src/xcolor}
+%\usepackage{listings}
+%\usepackage{longtable}
+%\usepackage{multirow}
+%\input{src/cmd}
+%\begin{document}
+
+\index{TECMaps!application writeup}
+
+\section{\emph{TECMaps}}
+\subsection{Overview}
+ The application will open and read several preprocessed RINEX obs files
+ (containing obs types EL,AZ,VR|SR) and use the data to create maps of
+ the Total Electron Content (TEC).
+
+\subsection{Usage}
+\begin{\outputsize}
+\begin{longtable}{lll}
+\multicolumn{3}{c}{\application{TECMaps}} \\
+\multicolumn{3}{l}{\textbf{Required Arguments}} \\
+\entry{}{--input}{Input Rinex obs file name(s)}{1}
+
+& & \\
+\multicolumn{3}{l}{\textbf{Optional Arguments}} \\
+\entry{}{-f}{file containing more options}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Reference station position (one required)}} \\
+\entry{}{--RxLLH $<$l,l,h$>$}{Reference site position in geodetic lat, lon (E), ht (deg,deg,m)}{2}
+\entry{}{--RxXYZ $<$x,y,z$>$}{Reference site position in ECEF coordinates (m)}{1}
+\entry{}{--inputdir}{Path for input file(s)}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Ephemeris input}} \\
+\entry{}{--navdir}{Path of navigation file(s)}{1}
+\entry{}{--nav}{Navigation (Rinex Nav OR SP3) file(s)}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Output}} \\
+\entry{}{--log}{Output log file name}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Time limits}} \\
+\entry{}{--BeginTime}{Start time, arg is of the form YYYY,MM,DD,HH,Min,Sec}{2}
+\entry{}{--BeginGPSTime}{Start time, arg is of the form GPSweek,GPSsow}{1}
+\entry{}{--EndTime}{End time, arg is of the form YYYY,MM,DD,HH,Min,Sec}{2}
+\entry{}{--EndGPSTime}{End time, arg is of the form GPSweek,GPSsow}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Processing}} \\
+\entry{}{--noVTECmap}{Do NOT create the VTEC map.}{1}
+\entry{}{--MUFmap}{Create MUF map as well as VTEC map.}{1}
+\entry{}{--F0F2map}{Create F0F2 map as well as VTEC map}{1}
+\entry{}{--Title1}{Title information}{1}
+\entry{}{--Title2}{Second title information}{1}
+\entry{}{--BaseName}{Base name for output files (a)}{1}
+\entry{}{--DecorrError}{Decorrelation error rate in TECU/1000km (3)}{1}
+\entry{}{--Biases}{File containing estimated sat+rx biases (Prgm IonoBias)}{2}
+\entry{}{--ElevThresh}{Minimum elevation (6 deg)}{1}
+\entry{}{--MinAcqTime}{Minimum acquisition time (0 sec)}{1}
+\entry{}{--FlatFit}{Flat fit type (default)}{1}
+\entry{}{--LinearFit}{Linear fit type}{1}
+\entry{}{--IonoHeight}{Ionosphere height (km)}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Grid}} \\
+\entry{}{--UniformSpacing}{Grid uniform in space (XYZ) (default)}{1}
+\entry{}{--UniformGrid}{Grid uniform in Lat and Lon}{1}
+\entry{}{--OutputGrid}{Output the grid to file $<$basename.LL$>$}{1}
+\entry{}{--GnuplotOutput}{Write the grid file for gnuplot (default: for Matlab)}{2}
+\entry{}{--NumLat}{Number of latitude grid points (40)}{1}
+\entry{}{--NumLon}{Number of longitude grid points (40)}{1}
+\entry{}{--BeginLat}{Beginning latitude (21 deg)}{1}
+\entry{}{--BeginLon}{Beginning longitude (230 deg E)}{1}
+\entry{}{--DeltaLat}{Grid spacing in latitude (0.25 deg)}{1}
+\entry{}{--DeltaLon}{Grid spacing in longitude (1.0 deg)}{1}
+& & \\
+\multicolumn{3}{l}{\textbf{Other options}} \\
+\entry{}{--XSat}{Exclude this satellite (<sat> may be <system> only)}{2}
+& & \\
+\multicolumn{3}{l}{\textbf{Help}} \\
+\entry{-v}{--verbose}{print extended output info.}{1}
+\entry{-d}{--debug}{print extended output info.}{1}
+\entry{-h}{--help}{print syntax and summary of input, then quit.}{1}
+
+\end{longtable}
+\end{\outputsize}
+
+\subsection{Examples}
+
+\subsection{Notes}
+Input is on the command line, or of the same format in a file (-f$<$file$>$).
+
+%\end{document}
+
diff --git a/ref/usersguide/WhereSat.tex b/ref/usersguide/WhereSat.tex
new file mode 100644
index 0000000..562b641
--- /dev/null
+++ b/ref/usersguide/WhereSat.tex
@@ -0,0 +1,99 @@
+%\documentclass{article}
+%\usepackage{fancyvrb}
+%\usepackage{src/perltex}
+%\usepackage{src/xcolor}
+%\usepackage{listings}
+%\usepackage{multirow}
+%\input{src/cmd}
+%\begin{document}
+
+\index{WhereSat!application writeup}
+\section{\emph{WhereSat}}
+\subsection{Overview}
+This application uses input ephemeris to compute the predicted location of a
+satellite. The Earth-centered, Earth-fixed (ECEF) position of the satellite is
+reported. Optionally, the topocentric coordinates--azimuth, elevation, and
+range--can be generated. The user can specify the time interval between
+successive predictions. Also the output can generated in a format easily
+imported into numerical packages.
+
+\subsection{Usage}
+\begin{\outputsize}
+\begin{tabular}{lll}
+\multicolumn{3}{l}{\textbf{Required Arguments}} \\
+Short Arg. & Long Arg. & Description \\
+-b & --broadcast=ARG & \multirow{2}{2.5in}{Specify a RINEX navigation file. The user may enter multiple files.} \\
+& & \\
+-p & --prn=NUM & Specify which SV to analuze. \\
+& & \\
+\multicolumn{3}{l}{\textbf{Optional Arguments}} \\
+Short Arg. & Long Arg. & Description \\
+-h & --help & Generates help and usage. \\
+-u & --position=ARG & \multirow{4}{2.5in}{Specify antenna position in ECEF (x,y,z) coordinates as "X Y Z". Used to give user-centered data (SV range, azimuth \& elevation).} \\
+& & \\
+& & \\
+& & \\
+-s & --start=ARG & \multirow{3}{2.5in}{Specify time to begin analysis as "MO/DD/YYYY HH:MM:SS". The default is the end of the file.} \\
+& & \\
+& & \\
+-e & --end=ARG & \multirow{3}{2.5in}{Specify time to end analysis as "MO/DD/YYYY HH:MM:SS". The default is the beggning of the file.} \\
+& & \\
+& & \\
+-o & --output-filename=ARG & Outputs results to a MATLAB readable file. \\
+-t & --time=NUM & \multirow{3}{2.5in}{Specify time increment for ephemeris calculation in seconds. Default is 900 (15 min.)} \\
+& & \\
+& & \\
+\end{tabular}
+\end{\outputsize}
+
+\subsection{Examples}
+\begin{\outputsize}
+\begin{lstlisting}
+> WhereSat -b aira1720.06n -p 2 -u "918129.01 -4346070.45 803.18"
+ -s "06/21/2006 17:00:00" -e "06/21/2006 20:00:00" -t 1800
+
+ Antenna Position: 918129 -4.34607e+06 803.18
+ Navigation File: aira1720.06n
+ Start Time: 06/21/2006 17:00:00
+ End Time: 06/21/2006 20:00:00
+ PRN: 2
+
+ Prn 2 Earth-fixed position and clock information:
+
+ Date Time(UTC) X (meters) Y (meters) Z (meters)
+ ===============================================================================
+ 06/21/2006 18:00:00 12758891.971859 18901201.616227 -14049016.596144
+ 06/21/2006 18:30:00 12847888.097031 21541501.416411 -9315422.851798
+ 06/21/2006 19:00:00 12843576.989405 23087218.618683 -3957280.515764
+ 06/21/2006 19:30:00 12450313.769289 23516935.034029 1667186.089065
+
+ . . .
+
+ Clock Correc (s)
+==================
+ 0.000007
+ 0.000007
+ 0.000007
+ 0.000007
+
+
+
+ Data for user reference frame:
+
+ Date Time(UTC) Azimuth Elevation Range to SV (m)
+ =====================================================================
+ 06/21/2006 18:00:00 130.596202 -43.242769 29627531.177821
+ 06/21/2006 18:30:00 118.680085 -49.681012 29983796.522429
+ 06/21/2006 19:00:00 102.845663 -53.888528 30169796.433699
+ 06/21/2006 19:30:00 84.400419 -55.459042 30197072.648367
+
+ Calculated 4 increments for prn 2 .
+
+
+\end{lstlisting}
+\end{\outputsize}
+
+\subsection{Notes}
+
+%\end{document}
+
diff --git a/ref/usersguide/arl280-10.06m b/ref/usersguide/arl280-10.06m
new file mode 100644
index 0000000..f64b0eb
--- /dev/null
+++ b/ref/usersguide/arl280-10.06m
@@ -0,0 +1,299 @@
+ 2.00 METEOROLOGICAL DATA RINEX VERSION / TYPE
+mergeRinMet gpstk 01/04/2007 15:36:46 PGM / RUN BY / DATE
+ COMMENT
+ALGO CACS-ACP 883160 ALGONQUIN PARK ONT CANADA MARKER NAME
+40104M002 MARKER NUMBER
+ 3 PR TD HR # / TYPES OF OBSERV
+VAISALA PTB-100A 0.1 PR SENSOR MOD/TYPE/ACC
+YSI 44212 0.2 TD SENSOR MOD/TYPE/ACC
+VAISALA HMP-35A 3.0 HR SENSOR MOD/TYPE/ACC
+ 0.0000 0.0000 0.0000 200.9000 PR SENSOR POS XYZ/H
+ END OF HEADER
+ 06 1 2 0 0 34 991.4 -7.3 91.8
+ 06 1 2 0 5 22 991.5 -7.2 91.4
+ 06 1 2 0 10 21 991.6 -7.2 90.9
+ 06 1 2 0 15 35 991.6 -7.2 90.9
+ 06 1 2 0 20 22 991.6 -7.1 90.8
+ 06 1 2 0 25 19 991.7 -7.1 90.7
+ 06 1 2 0 30 33 991.8 -7.1 90.9
+ 06 1 2 0 35 20 991.7 -7.1 91.0
+ 06 1 2 0 40 22 991.8 -7.0 90.9
+ 06 1 2 0 45 31 991.8 -7.0 91.0
+ 06 1 2 0 50 21 991.9 -7.0 91.4
+ 06 1 2 0 55 24 992.0 -7.0 91.6
+ 06 1 2 1 0 32 992.0 -7.0 92.0
+ 06 1 2 1 5 21 991.9 -7.0 92.5
+ 06 1 2 1 10 23 992.0 -7.0 92.8
+ 06 1 2 1 15 27 992.1 -7.0 92.8
+ 06 1 2 1 20 21 992.0 -7.0 92.9
+ 06 1 2 1 25 21 991.9 -7.0 93.0
+ 06 1 2 1 30 30 991.9 -7.0 92.9
+ 06 1 2 1 35 23 991.9 -7.0 92.9
+ 06 1 2 1 40 21 991.9 -7.0 92.9
+ 06 1 2 1 45 32 991.8 -6.9 92.9
+ 06 1 2 1 50 19 991.9 -7.0 93.1
+ 06 1 2 1 55 19 992.0 -7.0 93.1
+ 06 1 2 2 0 46 991.9 -6.9 93.2
+ 06 1 2 2 5 20 992.0 -6.9 92.9
+ 06 1 2 2 10 19 992.0 -6.9 92.7
+ 06 1 2 2 15 33 992.1 -6.8 92.6
+ 06 1 2 2 20 18 992.0 -6.8 92.6
+ 06 1 2 2 25 20 992.1 -6.8 92.6
+ 06 1 2 2 30 32 992.0 -6.8 92.8
+ 06 1 2 2 35 19 992.1 -6.8 92.7
+ 06 1 2 2 40 19 992.1 -6.7 92.6
+ 06 1 2 2 45 28 992.2 -6.8 93.0
+ 06 1 2 2 50 19 992.2 -6.8 93.3
+ 06 1 2 2 55 21 992.1 -6.8 93.1
+ 06 1 2 3 0 29 992.1 -6.8 92.9
+ 06 1 2 3 5 20 992.2 -6.7 92.8
+ 06 1 2 3 10 21 992.1 -6.7 92.7
+ 06 1 2 3 15 32 992.2 -6.7 92.6
+ 06 1 2 3 20 19 992.1 -6.7 92.5
+ 06 1 2 3 25 19 992.3 -6.7 92.4
+ 06 1 2 3 30 32 992.3 -6.7 92.7
+ 06 1 2 3 35 22 992.4 -6.7 92.5
+ 06 1 2 3 40 19 992.4 -6.7 92.5
+ 06 1 2 3 45 32 992.3 -6.7 92.3
+ 06 1 2 3 50 23 992.4 -6.6 92.4
+ 06 1 2 3 55 20 992.4 -6.6 92.2
+ 06 1 2 4 0 35 992.4 -6.6 91.7
+ 06 1 2 4 5 20 992.4 -6.6 92.0
+ 06 1 2 4 10 19 992.4 -6.6 92.1
+ 06 1 2 4 15 31 992.4 -6.6 92.3
+ 06 1 2 4 20 19 992.3 -6.6 92.3
+ 06 1 2 4 25 23 992.4 -6.6 92.5
+ 06 1 2 4 30 32 992.6 -6.7 92.5
+ 06 1 2 4 35 22 992.5 -6.6 92.5
+ 06 1 2 4 40 20 992.4 -6.5 92.1
+ 06 1 2 4 45 34 992.4 -6.6 92.6
+ 06 1 2 4 50 21 992.4 -6.6 92.8
+ 06 1 2 4 55 21 992.5 -6.6 92.8
+ 06 1 2 5 0 30 992.5 -6.6 93.0
+ 06 1 2 5 5 21 992.4 -6.6 93.1
+ 06 1 2 5 10 19 992.5 -6.6 93.0
+ 06 1 2 5 15 34 992.5 -6.6 93.0
+ 06 1 2 5 20 19 992.6 -6.6 92.9
+ 06 1 2 5 25 20 992.6 -6.7 93.1
+ 06 1 2 5 30 28 992.6 -6.7 93.0
+ 06 1 2 5 35 24 992.7 -6.6 92.7
+ 06 1 2 5 40 21 992.8 -6.5 92.7
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+ 06 1 2 5 55 20 992.9 -6.5 92.8
+ 06 1 2 6 0 37 992.9 -6.5 93.0
+ 06 1 2 6 5 24 992.9 -6.5 92.8
+ 06 1 2 6 10 19 993.0 -6.5 92.9
+ 06 1 2 6 15 38 993.1 -6.5 93.0
+ 06 1 2 6 20 24 993.1 -6.6 93.2
+ 06 1 2 6 25 22 993.2 -6.5 93.1
+ 06 1 2 6 30 34 993.2 -6.5 92.9
+ 06 1 2 6 35 22 993.2 -6.4 92.9
+ 06 1 2 6 40 20 993.4 -6.5 93.0
+ 06 1 2 6 45 31 993.5 -6.5 93.3
+ 06 1 2 6 50 20 993.6 -6.4 93.2
+ 06 1 2 6 55 22 993.7 -6.4 93.0
+ 06 1 2 7 0 34 993.7 -6.3 92.8
+ 06 1 2 7 5 19 993.7 -6.3 92.8
+ 06 1 2 7 10 22 993.8 -6.4 93.1
+ 06 1 2 7 15 30 993.9 -6.3 92.5
+ 06 1 2 7 20 19 994.0 -6.2 92.0
+ 06 1 2 7 25 20 994.0 -6.2 91.8
+ 06 1 2 7 30 38 994.1 -6.2 92.1
+ 06 1 2 7 35 20 994.1 -6.2 92.7
+ 06 1 2 7 40 21 994.1 -6.3 93.1
+ 06 1 2 7 45 37 994.1 -6.2 93.1
+ 06 1 2 7 50 23 994.1 -6.2 93.0
+ 06 1 2 7 55 24 994.2 -6.3 92.9
+ 06 1 2 8 0 39 994.2 -6.4 93.4
+ 06 1 2 8 5 18 994.2 -6.3 93.4
+ 06 1 2 8 10 18 994.2 -6.4 93.5
+ 06 1 2 8 15 40 994.2 -6.4 93.5
+ 06 1 2 8 20 18 994.3 -6.4 93.2
+ 06 1 2 8 25 23 994.3 -6.4 93.2
+ 06 1 2 8 30 31 994.2 -6.5 93.3
+ 06 1 2 8 35 21 994.2 -6.6 93.6
+ 06 1 2 8 40 20 994.3 -6.6 93.6
+ 06 1 2 8 45 30 994.3 -6.6 93.5
+ 06 1 2 8 50 20 994.4 -6.6 93.7
+ 06 1 2 8 55 18 994.3 -6.7 93.9
+ 06 1 2 9 0 27 994.3 -6.6 94.0
+ 06 1 2 9 5 19 994.4 -6.7 93.8
+ 06 1 2 9 10 23 994.3 -6.7 93.8
+ 06 1 2 9 15 28 994.3 -6.7 94.3
+ 06 1 2 9 20 19 994.3 -6.7 94.0
+ 06 1 2 9 25 19 994.4 -6.7 93.6
+ 06 1 2 9 30 28 994.4 -6.8 93.5
+ 06 1 2 9 35 21 994.3 -6.9 93.2
+ 06 1 2 9 40 18 994.3 -7.0 94.0
+ 06 1 2 9 45 27 994.4 -7.2 93.6
+ 06 1 2 9 50 22 994.3 -7.3 94.1
+ 06 1 2 9 55 19 994.3 -7.4 93.5
+ 06 1 2 10 0 30 994.2 -7.6 93.1
+ 06 1 2 10 5 18 994.2 -7.6 93.5
+ 06 1 2 10 10 19 994.3 -7.6 93.6
+ 06 1 2 10 15 30 994.3 -7.7 93.5
+ 06 1 2 10 20 19 994.4 -7.6 94.5
+ 06 1 2 10 25 19 994.4 -7.6 93.7
+ 06 1 2 10 30 28 994.5 -7.6 93.4
+ 06 1 2 10 35 19 994.6 -7.6 93.6
+ 06 1 2 10 40 19 994.6 -7.5 93.9
+ 06 1 2 10 45 28 994.6 -7.5 93.3
+ 06 1 2 10 50 19 994.7 -7.5 93.4
+ 06 1 2 10 55 19 994.7 -7.4 93.7
+ 06 1 2 11 0 28 994.7 -7.4 92.9
+ 06 1 2 11 5 21 994.6 -7.4 93.7
+ 06 1 2 11 10 19 994.7 -7.3 94.3
+ 06 1 2 11 15 27 994.8 -7.2 93.8
+ 06 1 2 11 20 21 994.9 -7.2 93.6
+ 06 1 2 11 25 19 994.8 -7.1 93.9
+ 06 1 2 11 30 29 994.9 -7.0 93.4
+ 06 1 2 11 35 19 994.9 -7.1 92.9
+ 06 1 2 11 40 18 994.9 -7.2 92.5
+ 06 1 2 11 45 32 994.9 -7.3 92.9
+ 06 1 2 11 50 19 994.8 -7.3 93.3
+ 06 1 2 11 55 19 994.9 -7.3 93.4
+ 06 1 2 12 0 28 994.8 -7.3 93.2
+ 06 1 2 12 5 18 994.8 -7.3 93.3
+ 06 1 2 12 10 18 994.8 -7.3 93.8
+ 06 1 2 12 15 28 994.7 -7.3 93.7
+ 06 1 2 12 20 18 994.8 -7.3 94.2
+ 06 1 2 12 25 18 994.9 -7.3 94.4
+ 06 1 2 12 30 26 994.9 -7.3 95.0
+ 06 1 2 12 35 19 995.0 -7.3 95.4
+ 06 1 2 12 40 19 995.0 -7.3 95.7
+ 06 1 2 12 45 27 994.9 -7.2 96.1
+ 06 1 2 12 50 21 995.0 -7.2 96.4
+ 06 1 2 12 55 18 994.9 -7.2 96.6
+ 06 1 2 13 0 30 995.0 -7.2 96.6
+ 06 1 2 13 5 19 995.1 -7.2 96.5
+ 06 1 2 13 10 19 995.1 -7.1 96.3
+ 06 1 2 13 15 30 995.2 -7.1 96.3
+ 06 1 2 13 20 19 995.2 -7.1 96.8
+ 06 1 2 13 25 18 995.3 -7.1 96.8
+ 06 1 2 13 30 30 995.3 -7.1 96.8
+ 06 1 2 13 35 19 995.3 -7.1 96.9
+ 06 1 2 13 40 19 995.3 -7.1 96.9
+ 06 1 2 13 45 28 995.4 -7.0 96.5
+ 06 1 2 13 50 19 995.4 -6.9 96.2
+ 06 1 2 13 55 21 995.5 -6.9 95.9
+ 06 1 2 14 0 29 995.7 -6.8 95.8
+ 06 1 2 14 5 19 995.8 -6.6 95.6
+ 06 1 2 14 10 18 995.9 -6.5 95.1
+ 06 1 2 14 15 28 996.0 -6.4 95.1
+ 06 1 2 14 20 22 996.2 -6.4 94.7
+ 06 1 2 14 25 20 996.3 -6.5 95.3
+ 06 1 2 14 30 41 996.4 -6.4 95.2
+ 06 1 2 14 35 20 996.4 -6.2 95.2
+ 06 1 2 14 40 19 996.4 -6.0 95.2
+ 06 1 2 14 45 32 996.3 -5.6 95.6
+ 06 1 2 14 50 23 996.2 -5.3 94.9
+ 06 1 2 14 55 19 996.2 -5.4 94.0
+ 06 1 2 15 0 31 996.2 -5.5 94.0
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+ 06 1 2 15 10 19 996.2 -5.7 95.0
+ 06 1 2 15 15 29 996.2 -5.5 95.2
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+ 06 1 2 15 25 24 996.2 -5.6 95.0
+ 06 1 2 15 30 37 996.1 -5.5 95.7
+ 06 1 2 15 35 25 996.2 -5.4 95.2
+ 06 1 2 15 40 21 996.2 -5.4 94.6
+ 06 1 2 15 45 36 996.3 -5.2 94.8
+ 06 1 2 15 50 20 996.3 -4.8 95.6
+ 06 1 2 15 55 21 996.3 -4.9 93.7
+ 06 1 2 16 0 29 996.1 -5.1 94.2
+ 06 1 2 16 5 19 996.2 -5.2 94.6
+ 06 1 2 16 10 19 996.1 -5.2 95.2
+ 06 1 2 16 15 32 996.0 -5.1 94.8
+ 06 1 2 16 20 25 995.9 -5.0 95.5
+ 06 1 2 16 25 24 996.0 -4.8 94.8
+ 06 1 2 16 30 29 995.9 -4.8 94.6
+ 06 1 2 16 35 24 995.9 -4.6 94.6
+ 06 1 2 16 40 20 995.9 -4.6 94.3
+ 06 1 2 16 45 27 995.9 -4.5 94.4
+ 06 1 2 16 50 20 995.9 -4.6 94.4
+ 06 1 2 16 55 19 995.8 -4.6 95.0
+ 06 1 2 17 0 32 995.7 -4.5 95.0
+ 06 1 2 17 5 19 995.7 -4.6 95.0
+ 06 1 2 17 10 22 995.7 -4.6 94.9
+ 06 1 2 17 15 28 995.6 -4.5 95.2
+ 06 1 2 17 20 20 995.5 -4.4 94.7
+ 06 1 2 17 25 19 995.4 -4.4 95.1
+ 06 1 2 17 30 31 995.4 -4.3 94.7
+ 06 1 2 17 35 20 995.4 -4.3 94.9
+ 06 1 2 17 40 20 995.5 -4.3 94.6
+ 06 1 2 17 45 34 995.5 -4.2 94.7
+ 06 1 2 17 50 18 995.5 -4.2 94.6
+ 06 1 2 17 55 20 995.3 -4.3 94.9
+ 06 1 2 18 0 28 995.0 -4.2 95.0
+ 06 1 2 18 5 21 994.9 -4.2 94.5
+ 06 1 2 18 10 19 995.0 -4.2 94.9
+ 06 1 2 18 15 30 995.1 -4.1 95.2
+ 06 1 2 18 20 23 995.0 -4.2 94.8
+ 06 1 2 18 25 20 994.9 -4.2 95.0
+ 06 1 2 18 30 27 995.1 -4.1 95.0
+ 06 1 2 18 35 19 995.1 -4.1 94.8
+ 06 1 2 18 40 19 995.0 -4.0 94.8
+ 06 1 2 18 45 32 994.9 -4.1 94.7
+ 06 1 2 18 50 19 994.8 -4.0 94.8
+ 06 1 2 18 55 20 994.8 -4.0 94.3
+ 06 1 2 19 0 32 994.9 -3.9 94.4
+ 06 1 2 19 5 20 994.9 -3.9 94.2
+ 06 1 2 19 10 19 994.8 -3.9 94.4
+ 06 1 2 19 15 29 995.0 -3.9 94.4
+ 06 1 2 19 20 19 995.0 -4.0 94.3
+ 06 1 2 19 25 19 995.0 -4.1 94.6
+ 06 1 2 19 30 29 995.0 -4.1 94.9
+ 06 1 2 19 35 20 995.0 -4.0 94.6
+ 06 1 2 19 40 19 995.0 -4.0 94.5
+ 06 1 2 19 45 27 995.0 -3.9 94.7
+ 06 1 2 19 50 19 994.8 -3.9 94.5
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+ 06 1 2 20 0 28 994.7 -4.0 94.8
+ 06 1 2 20 5 22 994.6 -4.1 94.7
+ 06 1 2 20 10 19 994.6 -4.1 95.0
+ 06 1 2 20 15 29 994.6 -4.1 95.3
+ 06 1 2 20 20 19 994.5 -4.1 94.9
+ 06 1 2 20 25 19 994.3 -4.2 95.1
+ 06 1 2 20 30 33 994.4 -4.3 94.9
+ 06 1 2 20 35 19 994.5 -4.3 95.4
+ 06 1 2 20 40 19 994.3 -4.4 95.5
+ 06 1 2 20 45 33 994.1 -4.4 95.4
+ 06 1 2 20 50 18 994.2 -4.5 95.3
+ 06 1 2 20 55 22 994.1 -4.5 95.3
+ 06 1 2 21 0 30 994.2 -4.5 95.6
+ 06 1 2 21 5 19 994.0 -4.6 95.5
+ 06 1 2 21 10 18 994.0 -4.7 95.8
+ 06 1 2 21 15 32 994.1 -4.7 95.7
+ 06 1 2 21 20 19 993.9 -4.8 96.0
+ 06 1 2 21 25 18 993.9 -4.8 96.1
+ 06 1 2 21 30 32 993.9 -4.8 96.1
+ 06 1 2 21 35 19 994.1 -4.8 96.1
+ 06 1 2 21 40 19 994.4 -4.8 96.1
+ 06 1 2 21 45 29 994.5 -4.7 96.0
+ 06 1 2 21 50 18 994.4 -4.8 96.0
+ 06 1 2 21 55 18 994.4 -4.8 96.2
+ 06 1 2 22 0 29 994.5 -4.8 96.2
+ 06 1 2 22 5 19 994.5 -4.8 96.2
+ 06 1 2 22 10 19 994.5 -4.8 96.2
+ 06 1 2 22 15 28 994.4 -4.8 96.2
+ 06 1 2 22 20 19 994.5 -4.8 96.3
+ 06 1 2 22 25 21 994.8 -4.8 96.3
+ 06 1 2 22 30 28 994.9 -4.8 96.2
+ 06 1 2 22 35 18 994.9 -4.8 96.1
+ 06 1 2 22 40 19 994.8 -4.9 96.2
+ 06 1 2 22 45 28 994.9 -4.9 96.3
+ 06 1 2 22 50 19 995.0 -4.9 96.3
+ 06 1 2 22 55 19 994.9 -4.9 96.5
+ 06 1 2 23 0 28 994.9 -5.0 96.6
+ 06 1 2 23 5 21 994.8 -5.0 96.7
+ 06 1 2 23 10 19 994.6 -5.0 96.7
+ 06 1 2 23 15 28 994.4 -5.0 96.7
+ 06 1 2 23 20 19 994.6 -5.0 96.7
+ 06 1 2 23 25 19 994.8 -5.0 96.6
+ 06 1 2 23 30 32 994.8 -5.0 96.5
+ 06 1 2 23 35 19 994.7 -5.0 96.5
+ 06 1 2 23 40 18 994.7 -5.1 96.4
+ 06 1 2 23 45 27 994.7 -5.1 96.4
+ 06 1 2 23 50 18 994.7 -5.1 96.4
+ 06 1 2 23 55 18 994.7 -5.1 96.4
diff --git a/ref/usersguide/arl280-10.06n b/ref/usersguide/arl280-10.06n
new file mode 100644
index 0000000..28e2612
--- /dev/null
+++ b/ref/usersguide/arl280-10.06n
@@ -0,0 +1,1285 @@
+ 2.10 NAVIGATION RINEX VERSION / TYPE
+mergeRinNav gpstk 01/04/2007 15:36:46 PGM / RUN BY / DATE
+Linux 2.4.20-8|Pentium IV|gcc|Linux|486/DX+ COMMENT
+teqc 2005Sep1 20060102 01:18:13UTCCOMMENT
+ END OF HEADER
+ 2 06 1 2 0 0 0.0 -.231787562370D-04 .102318153950D-11 .000000000000D+00
+ .214000000000D+03 .834375000000D+01 .481520057243D-08 .644377417546D+00
+ .379979610443D-06 .906153733376D-02 .105854123831D-04 .515363423920D+04
+ .864000000000D+05 -.596046447754D-07 .293809152360D+01 -.912696123123D-07
+ .952299428099D+00 .175250000000D+03 .195619747781D+01 -.806426448041D-08
+ -.620740142033D-09 .100000000000D+01 .135600000000D+04 .000000000000D+00
+ .200000000000D+01 .000000000000D+00 -.172294676304D-07 .214000000000D+03
+ .792180000000D+05 .400000000000D+01
+ 4 06 1 2 0 0 0.0 .104762613773D-03 .122781784739D-10 .000000000000D+00
+ .420000000000D+02 .130312500000D+02 .469805283562D-08 .300537209598D+01
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+ .864000000000D+05 -.134110450745D-06 .295787889356D+01 .372529029846D-07
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+ -.631812031793D-09 .100000000000D+01 .135600000000D+04 .000000000000D+00
+ .280000000000D+01 .000000000000D+00 -.605359673500D-08 .298000000000D+03
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+ -.229850411415D-05 .678558263462D-02 .119972974062D-04 .515368592262D+04
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+ .200000000000D+01 .000000000000D+00 -.419095158577D-08 .810000000000D+02
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+ .163000000000D+03 .104062500000D+02 .577381193101D-08 -.242695821347D+00
+ .478699803352D-06 .132325546583D-01 .522471964359D-05 .515380368996D+04
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+ .823289155960D-05 .680295575876D-02 .770017504692D-05 .515379232216D+04
+ .864000000000D+05 .204890966415D-07 -.227708168278D+01 .875443220139D-07
+ .975647477759D+00 .236656250000D+03 .358337179713D+00 -.790997233924D-08
+ -.225009372544D-10 .100000000000D+01 .135600000000D+04 .000000000000D+00
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diff --git a/ref/usersguide/arl280-10.06o b/ref/usersguide/arl280-10.06o
new file mode 100644
index 0000000..bb79019
--- /dev/null
+++ b/ref/usersguide/arl280-10.06o
@@ -0,0 +1,48828 @@
+ 2.10 Observation G (GPS) RINEX VERSION / TYPE
+mergeRinObs gpstk 01/04/2007 15:36:44 PGM / RUN BY / DATE
+ALGO CACS-ACP 883160 ALGONQUIN PARK ONT CANADA MARKER NAME
+-Unknown- GEOD. SURVEY, NATURAL RESOURCES CANADA OBSERVER / AGENCY
+1103 AOA BENCHMARK ACT 3.3.32.2N REC # / TYPE / VERS
+386 AOAD/M_T NONE ANT # / TYPE
+ 918129.4000 -4346071.2000 4561977.8000 APPROX POSITION XYZ
+ 0.1000 0.0000 0.0000 ANTENNA: DELTA H/E/N
+ 1 1 WAVELENGTH FACT L1/2
+ 7 L1 L2 C1 P2 P1 S1 S2 # / TYPES OF OBSERV
+ 30.000 INTERVAL
+ 2006 1 2 0 0 0.0000000 GPS TIME OF FIRST OBS
+40104M002 MARKER NUMBER
+Linux 2.4.20-8|Pentium IV|gcc|Linux|486/DX+ COMMENT
+L1 PHASE CENTRE .110m ABOVE ARP COMMENT
+L2 PHASE CENTRE .128m ABOVE ARP COMMENT
+where ARP is the Antenna Reference Point for HI measurement COMMENT
+P1 = P1 TurboRogue; = Y1 Benchmark COMMENT
+L1 = L1(CA) COMMENT
+P2 = P2 TurboRogue; = Y2 Benchmark COMMENT
+L2 = L2(P2) TurboRogue; = L2(Y2) Benchmark COMMENT
+SNR is mapped to RINEX snr flag value [0-9] COMMENT
+L1 & L2: min(max(int(snr_dBHz/6), 0), 9) COMMENT
+ END OF HEADER
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diff --git a/ref/usersguide/arl2800.06m b/ref/usersguide/arl2800.06m
new file mode 100644
index 0000000..b4d60ab
--- /dev/null
+++ b/ref/usersguide/arl2800.06m
@@ -0,0 +1,299 @@
+ 2 METEOROLOGICAL DATA RINEX VERSION / TYPE
+ACSMET NRCan 01-JAN-06 00:15 PGM / RUN BY / DATE
+ COMMENT
+ALGO CACS-ACP 883160 ALGONQUIN PARK ONT CANADA MARKER NAME
+40104M002 MARKER NUMBER
+ 3 PR TD HR # / TYPES OF OBSERV
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+YSI 44212 0.2 TD SENSOR MOD/TYPE/ACC
+VAISALA HMP-35A 3.0 HR SENSOR MOD/TYPE/ACC
+ 0.0 0.0 0.0 200.9 PR SENSOR POS XYZ/H
+ END OF HEADER
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diff --git a/ref/usersguide/arl2800.06n b/ref/usersguide/arl2800.06n
new file mode 100644
index 0000000..6b5dc58
--- /dev/null
+++ b/ref/usersguide/arl2800.06n
@@ -0,0 +1,1261 @@
+ 2.10 N: GPS NAV DATA RINEX VERSION / TYPE
+teqc 2005Sep1 20060102 00:16:12UTCPGM / RUN BY / DATE
+Linux 2.4.20-8|Pentium IV|gcc|Linux|486/DX+ COMMENT
+teqc 2005Sep1 20060101 01:04:05UTCCOMMENT
+ END OF HEADER
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diff --git a/ref/usersguide/arl2800.06o b/ref/usersguide/arl2800.06o
new file mode 100644
index 0000000..b8892c0
--- /dev/null
+++ b/ref/usersguide/arl2800.06o
@@ -0,0 +1,48700 @@
+ 2.10 OBSERVATION DATA G (GPS) RINEX VERSION / TYPE
+teqc 2005Sep1 20060101 01:04:01UTCPGM / RUN BY / DATE
+Linux 2.4.20-8|Pentium IV|gcc|Linux|486/DX+ COMMENT
+ALGO CACS-ACP 883160 ALGONQUIN PARK ONT CANADA MARKER NAME
+40104M002 MARKER NUMBER
+-Unknown- GEOD. SURVEY, NATURAL RESOURCES CANADA OBSERVER / AGENCY
+1103 AOA BENCHMARK ACT 3.3.32.2N REC # / TYPE / VERS
+386 AOAD/M_T NONE ANT # / TYPE
+ 918129.4000 -4346071.2000 4561977.8000 APPROX POSITION XYZ
+ 0.1000 0.0000 0.0000 ANTENNA: DELTA H/E/N
+ 1 1 WAVELENGTH FACT L1/2
+ 7 L1 L2 C1 P2 P1 S1 S2 # / TYPES OF OBSERV
+ 30.0000 INTERVAL
+L1 PHASE CENTRE .110m ABOVE ARP COMMENT
+L2 PHASE CENTRE .128m ABOVE ARP COMMENT
+where ARP is the Antenna Reference Point for HI measurement COMMENT
+ P1 = P1 TurboRogue; = Y1 Benchmark COMMENT
+ L1 = L1(CA) COMMENT
+ P2 = P2 TurboRogue; = Y2 Benchmark COMMENT
+ L2 = L2(P2) TurboRogue; = L2(Y2) Benchmark COMMENT
+ SNR is mapped to RINEX snr flag value [0-9] COMMENT
+ L1 & L2: min(max(int(snr_dBHz/6), 0), 9) COMMENT
+ 2006 1 1 0 0 0.0000000 GPS TIME OF FIRST OBS
+ END OF HEADER
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diff --git a/ref/usersguide/arl2800thin.06o b/ref/usersguide/arl2800thin.06o
new file mode 100644
index 0000000..cb287fd
--- /dev/null
+++ b/ref/usersguide/arl2800thin.06o
@@ -0,0 +1,24356 @@
+ 2.10 Observation G (GPS) RINEX VERSION / TYPE
+teqc 2005Sep1 01/04/2007 15:37:37 PGM / RUN BY / DATE
+ALGO CACS-ACP 883160 ALGONQUIN PARK ONT CANADA MARKER NAME
+-Unknown- GEOD. SURVEY, NATURAL RESOURCES CANADA OBSERVER / AGENCY
+1103 AOA BENCHMARK ACT 3.3.32.2N REC # / TYPE / VERS
+386 AOAD/M_T NONE ANT # / TYPE
+ 918129.4000 -4346071.2000 4561977.8000 APPROX POSITION XYZ
+ 0.1000 0.0000 0.0000 ANTENNA: DELTA H/E/N
+ 1 1 WAVELENGTH FACT L1/2
+ 7 L1 L2 C1 P2 P1 S1 S2 # / TYPES OF OBSERV
+ 60.000 INTERVAL
+ 2006 1 1 0 0 0.0000000 GPS TIME OF FIRST OBS
+40104M002 MARKER NUMBER
+Linux 2.4.20-8|Pentium IV|gcc|Linux|486/DX+ COMMENT
+L1 PHASE CENTRE .110m ABOVE ARP COMMENT
+L2 PHASE CENTRE .128m ABOVE ARP COMMENT
+where ARP is the Antenna Reference Point for HI measurement COMMENT
+P1 = P1 TurboRogue; = Y1 Benchmark COMMENT
+L1 = L1(CA) COMMENT
+P2 = P2 TurboRogue; = Y2 Benchmark COMMENT
+L2 = L2(P2) TurboRogue; = L2(Y2) Benchmark COMMENT
+SNR is mapped to RINEX snr flag value [0-9] COMMENT
+L1 & L2: min(max(int(snr_dBHz/6), 0), 9) COMMENT
+ END OF HEADER
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diff --git a/ref/usersguide/arl2810.06m b/ref/usersguide/arl2810.06m
new file mode 100644
index 0000000..cf70b86
--- /dev/null
+++ b/ref/usersguide/arl2810.06m
@@ -0,0 +1,299 @@
+ 2 METEOROLOGICAL DATA RINEX VERSION / TYPE
+ACSMET NRCan 02-JAN-06 00:34 PGM / RUN BY / DATE
+ COMMENT
+ALGO CACS-ACP 883160 ALGONQUIN PARK ONT CANADA MARKER NAME
+40104M002 MARKER NUMBER
+ 3 PR TD HR # / TYPES OF OBSERV
+VAISALA PTB-100A 0.1 PR SENSOR MOD/TYPE/ACC
+YSI 44212 0.2 TD SENSOR MOD/TYPE/ACC
+VAISALA HMP-35A 3.0 HR SENSOR MOD/TYPE/ACC
+ 0.0 0.0 0.0 200.9 PR SENSOR POS XYZ/H
+ END OF HEADER
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diff --git a/ref/usersguide/arl2810.06n b/ref/usersguide/arl2810.06n
new file mode 100644
index 0000000..0c5a682
--- /dev/null
+++ b/ref/usersguide/arl2810.06n
@@ -0,0 +1,1285 @@
+ 2.10 N: GPS NAV DATA RINEX VERSION / TYPE
+teqc 2005Sep1 20060103 00:24:56UTCPGM / RUN BY / DATE
+Linux 2.4.20-8|Pentium IV|gcc|Linux|486/DX+ COMMENT
+teqc 2005Sep1 20060102 01:18:13UTCCOMMENT
+ END OF HEADER
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diff --git a/ref/usersguide/arl2810.06o b/ref/usersguide/arl2810.06o
new file mode 100644
index 0000000..2c03795
--- /dev/null
+++ b/ref/usersguide/arl2810.06o
@@ -0,0 +1,48828 @@
+ 2.10 OBSERVATION DATA G (GPS) RINEX VERSION / TYPE
+teqc 2005Sep1 20060102 01:17:09UTCPGM / RUN BY / DATE
+Linux 2.4.20-8|Pentium IV|gcc|Linux|486/DX+ COMMENT
+ALGO CACS-ACP 883160 ALGONQUIN PARK ONT CANADA MARKER NAME
+40104M002 MARKER NUMBER
+-Unknown- GEOD. SURVEY, NATURAL RESOURCES CANADA OBSERVER / AGENCY
+1103 AOA BENCHMARK ACT 3.3.32.2N REC # / TYPE / VERS
+386 AOAD/M_T NONE ANT # / TYPE
+ 918129.4000 -4346071.2000 4561977.8000 APPROX POSITION XYZ
+ 0.1000 0.0000 0.0000 ANTENNA: DELTA H/E/N
+ 1 1 WAVELENGTH FACT L1/2
+ 7 L1 L2 C1 P2 P1 S1 S2 # / TYPES OF OBSERV
+ 30.0000 INTERVAL
+L1 PHASE CENTRE .110m ABOVE ARP COMMENT
+L2 PHASE CENTRE .128m ABOVE ARP COMMENT
+where ARP is the Antenna Reference Point for HI measurement COMMENT
+ P1 = P1 TurboRogue; = Y1 Benchmark COMMENT
+ L1 = L1(CA) COMMENT
+ P2 = P2 TurboRogue; = Y2 Benchmark COMMENT
+ L2 = L2(P2) TurboRogue; = L2(Y2) Benchmark COMMENT
+ SNR is mapped to RINEX snr flag value [0-9] COMMENT
+ L1 &