/
navparse.cc
3180 lines (2714 loc) · 118 KB
/
navparse.cc
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#include <stdio.h>
#include <string>
#include <iostream>
#include <arpa/inet.h>
#include "fmt/format.h"
#include "fmt/printf.h"
#include <fstream>
#include <map>
#include <bitset>
#include <vector>
#include <thread>
#include <signal.h>
#include <mutex>
#include "ext/powerblog/h2o-pp.hh"
#include "minicurl.hh"
#include <time.h>
#include "ubx.hh"
#include "bits.hh"
#include "minivec.hh"
#include "navmon.pb.h"
#include "ephemeris.hh"
#include "gps.hh"
#include "glonass.hh"
#include "beidou.hh"
#include "galileo.hh"
#include "tle.hh"
#include <optional>
#include "navmon.hh"
#include <Tle.h>
#include "navparse.hh"
#include <fenv.h>
#include "influxpush.hh"
#include "sbas.hh"
#include <sys/resource.h>
#include "CLI/CLI.hpp"
#include "gpscnav.hh"
#include "rtcm.hh"
#include "version.hh"
//#include "nequick.hh"
static char program[]="navparse";
using namespace std;
extern const char* g_gitHash;
struct ObserverFacts
{
Point pos;
double groundSpeed{-1};
double accuracy{-1.0};
string serialno;
string hwversion;
string swversion;
string mods;
string vendor;
double clockOffsetNS{-1};
double clockOffsetDriftNS{-1};
double clockAccuracyNS{-1};
double freqAccuracyPS{-1};
time_t uptime;
string githash;
string owner;
string remark;
bool impinav{false};
time_t impinavTime{0};
time_t lastSeen{0};
};
std::map<int, ObserverFacts> g_srcfacts;
struct SBASAndReceiverStatus
{
SBASState status;
struct PerRecv
{
time_t last_seen{0};
};
map<int, PerRecv> perrecv;
};
typedef map<int, SBASAndReceiverStatus> sbas_t;
sbas_t g_sbas;
GetterSetter<sbas_t> g_sbaskeeper;
map<int, BeidouAlmanacEntry> g_beidoualma;
map<int, pair<GlonassMessage, GlonassMessage>> g_glonassalma;
map<int, GalileoMessage::Almanac> g_galileoalma;
map<int, GPSAlmanac> g_gpsalma;
GetterSetter<map<int, BeidouAlmanacEntry>> g_beidoualmakeeper;
GetterSetter<map<int, pair<GlonassMessage, GlonassMessage>>> g_glonassalmakeeper;
GetterSetter<map<int, GalileoMessage::Almanac>> g_galileoalmakeeper;
GetterSetter<map<int, GPSAlmanac>> g_gpsalmakeeper;
TLERepo g_tles;
struct GNSSReceiver
{
Point position;
};
double g_GSTUTCOffset, g_GSTGPSOffset, g_GPSUTCOffset, g_BeiDouUTCOffset, g_GlonassUTCOffset, g_GlonassGPSOffset;
/*
The situation. We have a single ephemeris function that is able to operate on
Galileo, GPS1 and Beidou structs. It does so using functions like getT0e().
This ephemeris function also does speed and doppler.
We have structs for all four GNSS.
All GNSS have ephemerides that are spread out over multiple messages.
Because of that, we have to do some kind of atomic update.
We also have an SVStat that has some knowledge about IODs.
It would be great is we could ask the svstat about "the latest ephemeris"
and get a useful answer.
More concretely, we could ask the svstat about the latest *position* or *speed*.
It would be easier to do that. There is no unified "ephemeris object" between all the GNSS.
We do need a unified "do we have a complete ephemeris method".
For Galileo this is messages 1, 2, 3 and 4
For GPS it is 2 and 3
For BeiDou it is message 2 and message 3 in succession (?)
sow is in each message, forms a link
For GLONASS I don't really know
We also care about ephemeris discontinuities.
Idea is that SVStat has four structs around, one for each GNSS, each containing "the lastest complete ephemeris".
ephglomsg etc
It also has infrastructure for storing the ephemerides as they are being assembled.
Open question:
*/
// XXX conversion glonass??
int SVStat::wn() const
{
if(gnss == 0)
return gpsmsg.wn;
else if(gnss == 2)
return galmsg.wn;
else if(gnss == 3)
return beidoumsg.wn;
else if(gnss == 6) {
uint32_t glotime = glonassMessage.getGloTime(); // this starts GLONASS time at 31st of december 1995, 00:00 UTC
return glotime / (7*86400);
}
return 0;
}
int SVStat::tow() const
{
if(gnss == 0)
return gpsmsg.tow;
else if(gnss == 2)
return galmsg.tow;
else if(gnss == 3)
return beidoumsg.sow;
else if(gnss == 6) {
uint32_t glotime = glonassMessage.getGloTime(); // this starts GLONASS time at 31st of december 1995, 00:00 UTC
return glotime % (7*86400);
}
return 0;
}
const GPSLikeEphemeris& SVStat::liveIOD() const
{
if(gnss == 0)
return ephgpsmsg;
else if(gnss == 2)
return ephgalmsg;
else if(gnss == 3)
return ephBeidoumsg;
throw std::runtime_error("Asked for GPS like ephemeris for gnss " + to_string(gnss));
}
const GPSLikeEphemeris& SVStat::prevIOD() const
{
if(gnss == 0)
return oldephgpsmsg;
else if(gnss == 2)
return oldephgalmsg;
else if(gnss == 3)
return oldephBeidoumsg;
throw std::runtime_error("Asked for old-GPS like ephemeris for gnss " + to_string(gnss));
}
bool SVStat::completeIOD() const
{
if(gnss == 6)
return false;
// yeah now what
return true;
}
double SVStat::getCoordinates(double tow, Point* p, bool quiet) const
{
if(gnss == 6)
return ::getCoordinates(tow, ephglomsg, p);
// getCoordinates needs to be overloaded for GLONASS
return ::getCoordinates(tow, liveIOD(), p, quiet);
}
double SVStat::getOldEphCoordinates(double tow, Point* p, bool quiet) const
{
if(gnss == 6)
return ::getCoordinates(tow, oldephglomsg, p);
// getCoordinates needs to be overloaded for GLONASS
return ::getCoordinates(tow, prevIOD(), p, quiet);
}
void SVStat::getSpeed(double tow, Vector* v) const
{
return ::getSpeed(tow, liveIOD(), v);
}
DopplerData SVStat::doDoppler(double tow, const Point& us, double freq) const
{
if(gnss == 6)
return ::doDoppler(tow, us, ephglomsg, freq);
else
return ::doDoppler(tow, us, liveIOD(), freq);
}
double satUTCTime(const SatID& id);
void SVStat::reportNewEphemeris(const SatID& id, InfluxPusher& idb)
{
int ephage;
if(gnss==6)
ephage = ephAge(ephglomsg.getT0e(), oldephglomsg.getT0e());
else
ephage = ephAge(liveIOD().getT0e(), prevIOD().getT0e());
Point p, oldp;
getCoordinates(tow(), &p);
getOldEphCoordinates(tow(), &oldp);
double hours = ephage / 3600;
double disco = Vector(p, oldp).length();
// cout<<id.first<<","<<id.second<<" discontinuity after "<< hours<<" hours: "<< disco <<endl;
if(hours < 4) {
latestDisco= disco;
latestDiscoAge= ephage;
}
else
latestDisco= -1;
if(gnss==0) { // GPS
const auto& eg = ephgpsmsg;
idb.addValue(id, "ephemeris-actual", {
{"iod", eg.getIOD()},
{"t0e", eg.t0e},
{"sqrta", eg.sqrtA},
{"e", eg.e},
{"cuc", eg.cuc},
{"cus", eg.cus},
{"crc", eg.crc},
{"crs", eg.crs},
{"m0", eg.m0},
{"deltan", eg.deltan},
{"i0", eg.i0},
{"cic", eg.cic},
{"cis", eg.cis},
{"omegadot", eg.omegadot},
{"omega0", eg.omega0},
{"idot", eg.idot},
{"af0", eg.af0},
{"af1", eg.af1},
{"af2", eg.af2},
{"t0c", eg.t0c},
{"omega", eg.omega}}, satUTCTime(id));
}
if(gnss==2) {
const auto& eg = ephgalmsg;
idb.addValue(id, "ephemeris-actual", {
{"iod", eg.getIOD()},
{"t0e", eg.t0e},
{"sqrta", eg.sqrtA},
{"e", eg.e},
{"cuc", eg.cuc},
{"cus", eg.cus},
{"crc", eg.crc},
{"crs", eg.crs},
{"m0", eg.m0},
{"deltan", eg.deltan},
{"i0", eg.i0},
{"cic", eg.cic},
{"cis", eg.cis},
{"omegadot", eg.omegadot},
{"omega0", eg.omega0},
{"idot", eg.idot},
{"af0", eg.af0},
{"af1", eg.af1},
{"af2", eg.af2},
{"t0c", eg.t0c},
{"omega", eg.omega}}, satUTCTime(id));
}
if(hours < 24) {
idb.addValue(id, "eph-disco",
{{"meters", disco},
{"seconds", hours*3600.0},
{"oldx", oldp.x},
{"oldy", oldp.y},
{"oldz", oldp.z},
{"x", p.x},
{"y", p.y},
{"z", p.z},
{"iod", gnss == 6 ? -1.0 : 1.0*liveIOD().getIOD()},
{"oldiod", gnss== 6 ? -1.0 : 1.0*prevIOD().getIOD()}}, satUTCTime(id));
}
}
svstats_t g_svstats;
GetterSetter<svstats_t> g_statskeeper;
int latestWN(int gnssid, const svstats_t& stats)
{
map<int, SatID> ages;
for(const auto& s: stats)
if(s.first.gnss == (unsigned int)gnssid)
ages[7*s.second.wn()*86400 + s.second.tow()]= s.first;
if(ages.empty())
throw runtime_error("Asked for latest WN for "+to_string(gnssid)+": we don't know it yet ("+to_string(stats.size())+")");
return stats.find(ages.rbegin()->second)->second.wn();
}
int latestTow(int gnssid, const svstats_t& stats)
{
map<int, SatID> ages;
for(const auto& s: stats)
if(s.first.gnss == (unsigned int) gnssid)
ages[7*s.second.wn()*86400 + s.second.tow()]= s.first;
if(ages.empty())
throw runtime_error("Asked for latest TOW for "+to_string(gnssid)+": we don't know it yet ("+to_string(stats.size())+")");
return stats.find(ages.rbegin()->second)->second.tow();
}
// nanoseconds posix time from that gnss WN and TOW
int64_t nanoTime(int gnssid, int wn, double tow)
{
int offset;
if(gnssid == 0) // GPS
offset = 315964800;
if(gnssid == 2) // Galileo, 22-08-1999
offset = 935280000;
if(gnssid == 3) {// Beidou, 01-01-2006 - I think leap seconds count differently in Beidou!! XXX
offset = 1136073600;
return 1000000000ULL*(offset + wn * 7*86400 + tow - g_dtLSBeidou);
}
if(gnssid == 6) { // GLONASS
offset = 820368000;
return 1000000000ULL*(offset + wn * 7*86400 + tow); // no leap seconds in glonass
}
return 1000000000ULL*(offset + wn * 7*86400 + tow - g_dtLS);
}
// same in seconds
double satUTCTime(const SatID& id)
{
return nanoTime(id.gnss, g_svstats[id].wn(), g_svstats[id].tow())/1000000000.0;
}
/* The GST start epoch is defined as 13 seconds before midnight between 21st August and
22nd August 1999, i.e. GST was equal to 13 seconds at 22nd August 1999 00:00:00 UTC. */
std::string humanTime(int gnssid, int wn, int tow)
{
time_t t = nanoTime(gnssid, wn, tow)/1000000000;
struct tm tm;
gmtime_r(&t, &tm);
char buffer[80];
strftime(buffer, sizeof(buffer), "%a, %d %b %Y %T %z", &tm);
return buffer;
}
std::optional<double> getHzCorrection(time_t now, int src, unsigned int gnssid, unsigned int sigid, const svstats_t& svstats)
{
std::optional<double> allHzCorr;
double alltot=0;
int allcount=0;
// cout<<"getHzCorrection called for src "<<src<<" gnss "<<gnssid <<" sigid "<< sigid <<endl;
for(const auto& s: svstats) {
if(s.first.gnss != gnssid)
continue;
if(s.first.sigid != sigid)
continue;
if(auto iter = s.second.perrecv.find(src); iter != s.second.perrecv.end() && now - iter->second.deltaHzTime < 60) {
// cout<<" Found entry for SV "<<s.first.gnss<<","<<s.first.sv<<","<<s.first.sigid<<" from src "<<iter->first<<", deltaHz: "<<iter->second.deltaHz<< " age " << now - iter->second.deltaHzTime<<" db "<<iter->second.db<<endl;
alltot+=iter->second.deltaHz;
allcount++;
}
}
if(allcount > 3) {
allHzCorr = alltot/allcount;
// cout<<"Returning "<<*allHzCorr<<endl;
}
else
; // cout<<"Not enough data"<<endl;
return allHzCorr;
}
std::string humanBhs(int bhs)
{
static vector<string> options{"ok", "OUT", "will be out of service", "test"};
if(bhs >= (int)options.size()) {
cerr<<"Asked for humanBHS "<<bhs<<endl;
return "??";
}
return options.at(bhs);
}
void addHeaders(h2o_req_t* req)
{
h2o_add_header(&req->pool, &req->res.headers, H2O_TOKEN_CACHE_CONTROL,
NULL, H2O_STRLIT("max-age=3"));
// Access-Control-Allow-Origin
h2o_add_header(&req->pool, &req->res.headers, H2O_TOKEN_ACCESS_CONTROL_ALLOW_ORIGIN,
NULL, H2O_STRLIT("*"));
}
time_t getSatelliteUTC(svstats_t& svstats)
{
time_t ret;
try {
ret=utcFromGST(latestWN(2, svstats), latestTow(2, svstats));
}
catch(...)
{
ret=utcFromGPS(latestWN(0, svstats), latestTow(0, svstats));
// if this throws, we are done
}
return ret;
}
static double get_cpu_seconds_total()
{
struct rusage usage;
getrusage(RUSAGE_SELF, &usage);
return usage.ru_utime.tv_sec + usage.ru_utime.tv_usec/1000000.0 + usage.ru_stime.tv_sec + usage.ru_stime.tv_usec/1000000.0;
}
void storeSelfStats(InfluxPusher& idb, time_t t)
{
map<int, int> receivers;
time_t now;
try {
now=getSatelliteUTC(g_svstats);
}
catch(...) {
return;
}
map<SatID, int> svcount, sigcount;
map<int, int> siggnsscount, svgnsscount;
for(const auto& sv : g_svstats) {
bool fresh=false;
for(const auto& pr : sv.second.perrecv) {
int age = now - pr.second.t;
if(age < 30) {
fresh= true;
receivers[pr.first]++;
}
}
if(fresh) {
sigcount[sv.first]++;
siggnsscount[sv.first.gnss]++;
SatID id = sv.first;
id.sigid=0;
svcount[id]++;
}
}
for(const auto& sv : svcount)
svgnsscount[sv.first.gnss]++;
vector<pair<string,InfluxPusher::var_t>> tags;
idb.addValue(tags, "self", {
{"measurements", idb.d_nummsmts},
{"dedup-msmts", idb.d_numdedupmsmts},
{"values", idb.d_numvalues},
{"total-live-svs", (int64_t)svcount.size()},
{"total-live-signals", (int64_t)sigcount.size()},
{"gps-svs", svgnsscount[0]},
{"galileo-svs", svgnsscount[2]},
{"beidou-svs",svgnsscount[3]},
{"glonass-svs",svgnsscount[6]},
{"gps-sigs", siggnsscount[0]},
{"galileo-sigs", siggnsscount[2]},
{"beidou-sigs", siggnsscount[3]},
{"glonass-sigs", siggnsscount[6]},
{"total-cpu-msec", 1000.0*get_cpu_seconds_total()},
{"total-live-receivers", (int64_t)receivers.size()}
}, t);
for(const auto& p : idb.d_msmtmap) {
idb.addValue({{"metric", p.first}}, "msmts", {{"value", p.second}}, t);
}
}
// GALILEO ONLY FOR NOW
void storeCoverageStats(InfluxPusher& idb, time_t t)
try {
int tow;
tow=latestTow(2, g_svstats);
vector<Point> sats;
for(const auto &g : g_galileoalma) {
Point sat;
getCoordinates(tow, g.second, &sat);
if(g.first < 0)
continue;
SatID id{2,(uint32_t)g.first,1};
const auto& svstat = g_svstats[id];
if(svstat.completeIOD() && svstat.galmsg.sisa == 255) {
continue;
}
if(svstat.galmsg.e1bhs || svstat.galmsg.e1bdvs) {
continue;
}
sats.push_back(sat);
}
vector<SatID> aux{{2, 14, 1}, {2,18,1}};
for(const auto& id : aux) {
if(!g_svstats.count(id))
continue;
const auto& svstat = g_svstats[id];
if(svstat.completeIOD() && svstat.galmsg.sisa == 255) {
continue;
}
if(svstat.galmsg.e1bhs || svstat.galmsg.e1bdvs) {
continue;
}
Point sat;
getCoordinates(tow, svstat.galmsg, &sat);
sats.push_back(sat);
}
// cout<<endl;
auto cov = emitCoverage(sats);
int cells=0;
int pdopexceeds5=0, pdopexceeds10=0, pdopexceeds20=0;
int covlow5=0, covlow10=0, covlow20=0;
for(const auto& latvect : cov) {
for(const auto& longpair : latvect.second) {
cells++;
if(get<4>(longpair) >= 6.0 || get<4>(longpair) < 0.0 )
pdopexceeds5++;
if(get<5>(longpair) >= 6.0 || get<5>(longpair) < 0.0 )
pdopexceeds10++;
if(get<6>(longpair) >= 6.0 || get<6>(longpair) < 0.0 )
pdopexceeds20++;
if(get<1>(longpair) < 4)
covlow5++;
if(get<2>(longpair) < 4)
covlow10++;
if(get<3>(longpair) < 4)
covlow20++;
// else
//cout<<get<6>(longpair) << endl;
}
}
/*
fmt::printf("At %s, %.2f%% (%d) of %d cells exceeded PDOP 6 for 5 degrees horizon (%d sats)\n", humanTime(t), 100.0*pdopexceeds5/cells, pdopexceeds5, cells, sats.size());
fmt::printf("At %s, %.2f%% (%d) of %d cells exceeded PDOP 6 for 10 degrees horizon (%d sats)\n", humanTime(t), 100.0*pdopexceeds10/cells, pdopexceeds10, cells, sats.size());
fmt::printf("At %s, %.2f%% (%d) of %d cells exceeded PDOP 6 for 20 degrees horizon (%d sats)\n", humanTime(t), 100.0*pdopexceeds20/cells, pdopexceeds20, cells, sats.size());
fmt::printf("At %s, %.2f%% (%d) of %d cells have less than 4 sats in view for 5 degrees horizon (%d sats)\n", humanTime(t), 100.0*covlow5/cells, covlow5, cells, sats.size());
fmt::printf("At %s, %.2f%% (%d) of %d cells have less than 4 sats in view for 10 degrees horizon (%d sats)\n", humanTime(t), 100.0*covlow10/cells, covlow10, cells, sats.size());
fmt::printf("At %s, %.2f%% (%d) of %d cells have less than 4 sats in view for 20 degrees horizon (%d sats)\n", humanTime(t), 100.0*covlow20/cells, covlow20, cells, sats.size());
*/
idb.addValue({{"sigid", 1},{"gnss", 2}}, "quality", {
{"pdop5perc", 100.0*pdopexceeds5/cells},
{"pdop10perc", 100.0*pdopexceeds10/cells},
{"pdop20perc", 100.0*pdopexceeds20/cells},
{"covlow5", 100.0*covlow5/cells},
{"covlow10", 100.0*covlow10/cells},
{"covlow20", 100.0*covlow20/cells},
{"sats", (int)sats.size()}
}, t);
}
catch(std::exception&e) {
cout<<"Error with coverage: "<<e.what()<<endl;
}
int main(int argc, char** argv)
try
{
bool doVERSION{false};
CLI::App app(program);
string localAddress("127.0.0.1:29599");
string htmlDir("./html");
string influxDBName("null");
bool doGalileoReportSpeedup{false};
bool doLogRFData{false};
app.add_flag("--version", doVERSION, "show program version and copyright");
app.add_flag("--log-rf-data", doLogRFData, "store per station RF/correlator data");
app.add_flag("--gal-report-speedup", doGalileoReportSpeedup, "skip debugging data, glonass, beidou, SBAS");
app.add_option("--bind,-b", localAddress, "Address to bind to");
app.add_option("--html", htmlDir, "Where to source the HTML & JavaScript");
app.add_option("--influxdb", influxDBName, "Name of influxdb database");
try {
app.parse(argc, argv);
} catch(const CLI::Error &e) {
return app.exit(e);
}
if(doVERSION) {
showVersion(program, g_gitHash);
exit(0);
}
// feenableexcept(FE_DIVBYZERO | FE_INVALID | FE_OVERFLOW );
// g_tles.parseFile("active.txt");
g_tles.parseFile("galileo.txt");
g_tles.parseFile("glo-ops.txt");
g_tles.parseFile("gps-ops.txt");
g_tles.parseFile("beidou.txt");
signal(SIGPIPE, SIG_IGN);
InfluxPusher idb(influxDBName);
MiniCurl::init();
H2OWebserver h2s("galmon");
h2s.addHandler("/global.json", [](auto handler, auto req) {
addHeaders(req);
nlohmann::json ret = nlohmann::json::object();
auto svstats = g_statskeeper.get();
ret["leap-seconds"] = g_dtLS;
try {
// if we haven't seen galileo, we have no idea
ret["last-seen"]=utcFromGST(latestWN(2, svstats), latestTow(2, svstats));
}
catch(...)
{
try {
ret["last-seen"]=utcFromGPS(latestWN(0, svstats), latestTow(0, svstats));
}
catch(...)
{}
}
ret["gst-utc-offset-ns"] = g_GSTUTCOffset;
ret["gst-gps-offset-ns"] = g_GSTGPSOffset;
ret["gps-utc-offset-ns"] = g_GPSUTCOffset;
ret["beidou-utc-offset-ns"] = g_BeiDouUTCOffset;
ret["glonass-utc-offset-ns"] = g_GlonassUTCOffset;
ret["glonass-gps-offset-ns"] = g_GlonassGPSOffset;
map<int, int> siggnsscount, svgnsscount;
map<SatID, int> svcount, sigcount;
map<int, int> receivers;
time_t now=time(0);
for(const auto& sv : svstats) {
bool fresh=false;
for(const auto& pr : sv.second.perrecv) {
int age = now - pr.second.t;
if(age < 30) {
fresh= true;
receivers[pr.first]++;
}
}
if(fresh) {
sigcount[sv.first]++;
siggnsscount[sv.first.gnss]++;
SatID id = sv.first;
id.sigid=0;
svcount[id]++;
}
}
for(const auto& sv : svcount)
svgnsscount[sv.first.gnss]++;
ret["total-live-receivers"] = receivers.size();
ret["total-live-svs"] = svcount.size();
ret["total-live-signals"] = sigcount.size();
ret["gps-svs"] = svgnsscount[0];
ret["galileo-svs"] = svgnsscount[2];
ret["beidou-svs"] = svgnsscount[3];
ret["glonass-svs"] = svgnsscount[6];
ret["gps-sigs"] = siggnsscount[0];
ret["galileo-sigs"] = siggnsscount[2];
ret["beidou-sigs"] = siggnsscount[3];
ret["glonass-sigs"] = siggnsscount[6];
return ret;
});
h2s.addHandler("/almanac.json", [](auto handler, auto req) {
addHeaders(req);
auto beidoualma = g_beidoualmakeeper.get();
auto svstats = g_statskeeper.get();
nlohmann::json ret = nlohmann::json::object();
for(const auto& ae : beidoualma) {
nlohmann::json item = nlohmann::json::object();
item["gnssid"]=3;
if(ae.second.alma.getT0e() > 7*86400)
continue;
Point sat;
getCoordinates(latestTow(3, svstats), ae.second.alma, &sat);
item["eph-ecefX"]= sat.x/1000;
item["eph-ecefY"]= sat.y/1000;
item["eph-ecefZ"]= sat.z/1000;
auto longlat = getLongLat(sat.x, sat.y, sat.z);
item["eph-longitude"] = 180*longlat.first/M_PI;
item["eph-latitude"]= 180*longlat.second/M_PI;
item["t0e"] = ae.second.alma.getT0e();
item["t"]= ephAge(ae.second.alma.getT0e(), latestTow(3, svstats))/86400.0;
item["inclination"] = 180 * ae.second.alma.getI0() /M_PI;
item["observed"]=false;
if(auto iter = svstats.find({3, (uint32_t)ae.first, 0}); iter != svstats.end()) {
if(time(0) - nanoTime(3, iter->second.wn(), iter->second.tow())/1000000000 < 300)
item["observed"] = true;
}
if(ephAge(ae.second.alma.getT0e(), latestTow(3, svstats)) < 0) {
auto match = g_tles.getBestMatch(nanoTime(3, latestWN(3, svstats), latestTow(3, svstats))/1000000000.0,
sat.x, sat.y, sat.z);
if(match.distance < 200000) {
item["best-tle"] = match.name;
item["best-tle-norad"] = match.norad;
item["best-tle-int-desig"] = match.internat;
item["best-tle-dist"] = match.distance/1000.0;
item["tle-ecefX"] = match.ecefX/1000;
item["tle-ecefY"] = match.ecefY/1000;
item["tle-ecefZ"] = match.ecefZ/1000;
item["tle-eciX"] = match.eciX/1000;
item["tle-eciY"] = match.eciY/1000;
item["tle-eciZ"] = match.eciZ/1000;
item["tle-latitude"] = 180*match.latitude/M_PI;
item["tle-longitude"] = 180*match.longitude/M_PI;
item["tle-altitude"] = match.altitude;
}
}
auto name = fmt::sprintf("C%02d", ae.first);
item["name"]=name;
ret[name] = item;
}
auto glonassalma = g_glonassalmakeeper.get();
for(const auto& ae : glonassalma) {
nlohmann::json item = nlohmann::json::object();
// ae.second.first -> even ae.second.sceond -> odd
item["gnssid"]=6;
item["e"] = ae.second.first.getE();
item["inclination"] = 180 * ae.second.first.getI0() /M_PI;
item["health"] = ae.second.first.CnA;
item["tlambdana"] = ae.second.second.gettLambdaNa();
item["lambdana"] = ae.second.second.getLambdaNaDeg();
item["hna"] = ae.second.second.hna;
item["observed"] = false;
for(uint32_t sigid : {0,1,2}) { // XXX SIGIDS
if(auto iter = svstats.find({6, (uint32_t)ae.first, sigid}); iter != svstats.end()) {
if(time(0) - nanoTime(6, iter->second.wn(), iter->second.tow())/1000000000 < 300) {
item["observed"] = true;
auto longlat = getLongLat(iter->second.glonassMessage.x, iter->second.glonassMessage.y, iter->second.glonassMessage.z);
item["eph-longitude"] = 180*longlat.first/M_PI;
item["eph-latitude"]= 180*longlat.second/M_PI;
break;
}
}
}
auto name = fmt::sprintf("R%02d", ae.first);
item["name"]=name;
ret[name] = item;
}
auto galileoalma = g_galileoalmakeeper.get();
for(const auto& ae : galileoalma) {
nlohmann::json item = nlohmann::json::object();
item["gnssid"]=2;
item["e"] = ae.second.getE();
item["e1bhs"] = ae.second.e1bhs;
item["e5bhs"] = ae.second.e5bhs;
item["t0e"] = ae.second.getT0e();
item["t"]= ephAge(ae.second.getT0e(), latestTow(2, svstats))/86400.0;
item["eph-age"] = ephAge(latestTow(2, svstats), ae.second.getT0e());
item["i0"] = 180.0 * ae.second.getI0()/ M_PI;
item["inclination"] = 180 * ae.second.getI0() /M_PI;
item["omega"] = ae.second.getOmega();
item["sqrtA"]= ae.second.getSqrtA();
item["M0"] = ae.second.getM0();
item["delta-n"] = ae.second.getDeltan();
item["omega-dot"] = ae.second.getOmegadot();
item["omega0"] = ae.second.getOmega0();
item["idot"] = ae.second.getIdot();
item["t0e"] = ae.second.getT0e();
Point sat;
double E=getCoordinates(latestTow(2, svstats), ae.second, &sat);
item["E"]=E;
item["eph-ecefX"]= sat.x/1000;
item["eph-ecefY"]= sat.y/1000;
item["eph-ecefZ"]= sat.z/1000;
auto longlat = getLongLat(sat.x, sat.y, sat.z);
item["eph-longitude"] = 180*longlat.first/M_PI;
item["eph-latitude"]= 180*longlat.second/M_PI;
item["observed"] = false;
for(uint32_t sigid : {0,1,5}) {
if(auto iter = svstats.find({2, (uint32_t)ae.first, sigid}); iter != svstats.end()) {
if(iter->second.completeIOD()) {
item["sisa"] = iter->second.galmsg.sisa;
}
// if we hit an 'observed', stop trying sigids
if(time(0) - nanoTime(2, iter->second.wn(), iter->second.tow())/1000000000 < 300) {
item["observed"] = true;
break;
}
}
}
auto match = g_tles.getBestMatch(nanoTime(2, latestWN(2, svstats), latestTow(2, svstats))/1000000000.0,
sat.x, sat.y, sat.z);
if(match.distance < 200000) {
item["best-tle"] = match.name;
item["best-tle-norad"] = match.norad;
item["best-tle-int-desig"] = match.internat;
item["best-tle-dist"] = match.distance/1000.0;
item["tle-ecefX"] = match.ecefX/1000;
item["tle-ecefY"] = match.ecefY/1000;
item["tle-ecefZ"] = match.ecefZ/1000;
item["tle-eciX"] = match.eciX/1000;
item["tle-eciY"] = match.eciY/1000;
item["tle-eciZ"] = match.eciZ/1000;
item["tle-latitude"] = 180*match.latitude/M_PI;
item["tle-longitude"] = 180*match.longitude/M_PI;
item["tle-altitude"] = match.altitude;
}
auto name = fmt::sprintf("E%02d", ae.first);
item["name"]= name;
ret[name] = item;
}
auto gpsalma = g_gpsalmakeeper.get();
for(const auto& ae : gpsalma) {
nlohmann::json item = nlohmann::json::object();
item["gnssid"]=0;
item["e"] = ae.second.getE();
item["health"] = ae.second.health;
item["t0e"] = ae.second.getT0e();
item["t"]= ephAge(ae.second.getT0e(), latestTow(0, svstats))/86400.0;
item["eph-age"] = ephAge(latestTow(0, svstats), ae.second.getT0e());
item["i0"] = 180.0 * ae.second.getI0()/ M_PI;
item["inclination"] = 180 * ae.second.getI0() /M_PI;
Point sat;
getCoordinates(latestTow(0, svstats), ae.second, &sat);
item["eph-ecefX"]= sat.x/1000;
item["eph-ecefY"]= sat.y/1000;
item["eph-ecefZ"]= sat.z/1000;
auto longlat = getLongLat(sat.x, sat.y, sat.z);
item["eph-longitude"] = 180*longlat.first/M_PI;
item["eph-latitude"]= 180*longlat.second/M_PI;
item["observed"] = false;
for(uint32_t sigid : {0,1,4}) {
if(auto iter = svstats.find({0, (uint32_t)ae.first, sigid}); iter != svstats.end()) {
if(time(0) - nanoTime(0, iter->second.wn(), iter->second.tow())/1000000000 < 300)
item["observed"] = true;
}
}
auto match = g_tles.getBestMatch(nanoTime(0, latestWN(0, svstats), latestTow(0, svstats))/1000000000.0,
sat.x, sat.y, sat.z);
if(match.distance < 200000) {
item["best-tle"] = match.name;
item["best-tle-norad"] = match.norad;
item["best-tle-int-desig"] = match.internat;
item["best-tle-dist"] = match.distance/1000.0;
item["tle-ecefX"] = match.ecefX/1000;
item["tle-ecefY"] = match.ecefY/1000;
item["tle-ecefZ"] = match.ecefZ/1000;
item["tle-eciX"] = match.eciX/1000;
item["tle-eciY"] = match.eciY/1000;
item["tle-eciZ"] = match.eciZ/1000;
item["tle-latitude"] = 180*match.latitude/M_PI;
item["tle-longitude"] = 180*match.longitude/M_PI;
item["tle-altitude"] = match.altitude;
}
auto name = fmt::sprintf("G%02d", ae.first);
item["name"]=name;
ret[name] = item;
}
return ret;
});
h2s.addHandler("/observers.json", [](auto handler, auto req) {
addHeaders(req);
nlohmann::json ret = nlohmann::json::array();
for(const auto& src : g_srcfacts) {
nlohmann::json obj;
obj["id"] = src.first;
auto latlonh = ecefToWGS84(src.second.pos.x, src.second.pos.y, src.second.pos.z);
get<0>(latlonh) *= 180.0/M_PI;
get<1>(latlonh) *= 180.0/M_PI;
get<0>(latlonh) = ((int)(10*get<0>(latlonh)))/10.0;
get<1>(latlonh) = ((int)(10*get<1>(latlonh)))/10.0;
get<2>(latlonh) = ((int)(10*get<2>(latlonh)))/10.0;
obj["latitude"] = get<0>(latlonh);
obj["longitude"] = get<1>(latlonh);
obj["last-seen"] = src.second.lastSeen;
obj["ground-speed"] = src.second.groundSpeed;
obj["swversion"] = src.second.swversion;
obj["hwversion"] = src.second.hwversion;
obj["mods"] = src.second.mods;