| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | #include "RinexObsLogger.hpp" | ||
| 10 | |||
| 11 | #include <chrono> | ||
| 12 | #include <string> | ||
| 13 | #include "Navigation/GNSS/Core/SatelliteSystem.hpp" | ||
| 14 | #include <fmt/chrono.h> | ||
| 15 | #include <fmt/format.h> | ||
| 16 | using namespace fmt::literals; // NOLINT(google-build-using-namespace) | ||
| 17 | |||
| 18 | #include "internal/gui/widgets/imgui_ex.hpp" | ||
| 19 | #include "internal/FlowManager.hpp" | ||
| 20 | |||
| 21 | #include "internal/gui/widgets/EnumComboWithTooltip.hpp" | ||
| 22 | #include "internal/gui/widgets/HelpMarker.hpp" | ||
| 23 | |||
| 24 | #include "NodeData/GNSS/GnssObs.hpp" | ||
| 25 | |||
| 26 | #include "Nodes/DataProvider/GNSS/FileReader/RinexObsFile.hpp" | ||
| 27 | |||
| 28 | #include "util/Logger.hpp" | ||
| 29 | |||
| 30 | 126 | NAV::RinexObsLogger::RinexObsLogger() | |
| 31 |
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126 | : Node(typeStatic()) |
| 32 | { | ||
| 33 | LOG_TRACE("{}: called", name); | ||
| 34 | |||
| 35 | 126 | _fileType = FileType::ASCII; | |
| 36 | |||
| 37 | 126 | _hasConfig = true; | |
| 38 | 126 | _guiConfigDefaultWindowSize = { 643, 728 }; | |
| 39 | |||
| 40 |
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126 | _dynamicInputPins.addPin(this); |
| 41 | 126 | } | |
| 42 | |||
| 43 | 276 | NAV::RinexObsLogger::~RinexObsLogger() | |
| 44 | { | ||
| 45 | LOG_TRACE("{}: called", nameId()); | ||
| 46 | 276 | } | |
| 47 | |||
| 48 | 240 | std::string NAV::RinexObsLogger::typeStatic() | |
| 49 | { | ||
| 50 |
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480 | return "RinexObsLogger"; |
| 51 | } | ||
| 52 | |||
| 53 | ✗ | std::string NAV::RinexObsLogger::type() const | |
| 54 | { | ||
| 55 | ✗ | return typeStatic(); | |
| 56 | } | ||
| 57 | |||
| 58 | 114 | std::string NAV::RinexObsLogger::category() | |
| 59 | { | ||
| 60 |
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228 | return "Data Logger"; |
| 61 | } | ||
| 62 | |||
| 63 | ✗ | void NAV::RinexObsLogger::guiConfig() | |
| 64 | { | ||
| 65 | ✗ | if (_dynamicInputPins.ShowGuiWidgets(size_t(id), inputPins, this, {})) | |
| 66 | { | ||
| 67 | ✗ | flow::ApplyChanges(); | |
| 68 | } | ||
| 69 | |||
| 70 | ✗ | constexpr float COL1_WIDTH = 470.0F; | |
| 71 | |||
| 72 | ✗ | const auto now = std::chrono::system_clock::now(); | |
| 73 | ✗ | ImGui::SetNextItemWidth(COL1_WIDTH); | |
| 74 | ✗ | if (FileWriter::guiConfig(fmt::format(".obs,.rnx,.{:%y}O", now).c_str(), { ".obs", ".rnx", fmt::format(".{:%y}O", now) }, size_t(id), nameId())) | |
| 75 | { | ||
| 76 | ✗ | flow::ApplyChanges(); | |
| 77 | ✗ | doDeinitialize(); | |
| 78 | } | ||
| 79 | |||
| 80 | ✗ | if (ImGui::CollapsingHeader(fmt::format("General##{}", size_t(id)).c_str(), ImGuiTreeNodeFlags_DefaultOpen)) | |
| 81 | { | ||
| 82 | ✗ | if (ImGui::BeginTable(fmt::format("Table1##{}", size_t(id)).c_str(), 2, ImGuiTableFlags_SizingFixedFit)) | |
| 83 | { | ||
| 84 | ✗ | ImGui::TableNextColumn(); | |
| 85 | ✗ | ImGui::BeginDisabled(); | |
| 86 | ✗ | ImGui::SetNextItemWidth(COL1_WIDTH); | |
| 87 | ✗ | if (ImGui::BeginCombo(fmt::format("##Version {}", size_t(id)).c_str(), fmt::format("{}", _header.version).c_str())) | |
| 88 | { | ||
| 89 | ✗ | for (const auto& version : _supportedVersions) | |
| 90 | { | ||
| 91 | ✗ | const bool is_selected = _header.version == version; | |
| 92 | ✗ | if (ImGui::Selectable(fmt::format("{}##Version {}", version, size_t(id)).c_str(), is_selected)) | |
| 93 | { | ||
| 94 | ✗ | _header.version = version; | |
| 95 | ✗ | flow::ApplyChanges(); | |
| 96 | } | ||
| 97 | ✗ | if (is_selected) { ImGui::SetItemDefaultFocus(); } | |
| 98 | } | ||
| 99 | ✗ | ImGui::EndCombo(); | |
| 100 | } | ||
| 101 | ✗ | ImGui::EndDisabled(); | |
| 102 | ✗ | ImGui::TableNextColumn(); | |
| 103 | ✗ | ImGui::TextUnformatted("Version"); | |
| 104 | |||
| 105 | ✗ | ImGui::TableNextColumn(); | |
| 106 | ✗ | ImGui::SetNextItemWidth(COL1_WIDTH); | |
| 107 | ✗ | if (ImGui::InputTextL(fmt::format("##Run By {}", size_t(id)).c_str(), &_header.runBy, 20)) | |
| 108 | { | ||
| 109 | ✗ | flow::ApplyChanges(); | |
| 110 | } | ||
| 111 | ✗ | ImGui::TableNextColumn(); | |
| 112 | ✗ | ImGui::TextUnformatted("Run By"); | |
| 113 | |||
| 114 | ✗ | ImGui::TableNextColumn(); | |
| 115 | ✗ | ImGui::SetNextItemWidth(COL1_WIDTH); | |
| 116 | ✗ | if (ImGui::InputTextL(fmt::format("##Observer {}", size_t(id)).c_str(), &_header.observer, 20)) | |
| 117 | { | ||
| 118 | ✗ | flow::ApplyChanges(); | |
| 119 | } | ||
| 120 | ✗ | ImGui::TableNextColumn(); | |
| 121 | ✗ | ImGui::TextUnformatted("Observer"); | |
| 122 | |||
| 123 | ✗ | ImGui::TableNextColumn(); | |
| 124 | ✗ | ImGui::SetNextItemWidth(COL1_WIDTH); | |
| 125 | ✗ | if (ImGui::InputTextL(fmt::format("##Agency {}", size_t(id)).c_str(), &_header.agency, 40)) | |
| 126 | { | ||
| 127 | ✗ | flow::ApplyChanges(); | |
| 128 | } | ||
| 129 | ✗ | ImGui::TableNextColumn(); | |
| 130 | ✗ | ImGui::TextUnformatted("Agency"); | |
| 131 | |||
| 132 | ✗ | ImGui::EndTable(); | |
| 133 | } | ||
| 134 | } | ||
| 135 | |||
| 136 | ✗ | if (ImGui::CollapsingHeader(fmt::format("Comments##{}", size_t(id)).c_str(), ImGuiTreeNodeFlags_DefaultOpen)) | |
| 137 | { | ||
| 138 | ✗ | std::vector<size_t> commentsToRemove; | |
| 139 | ✗ | if (ImGui::BeginTable(fmt::format("Table2##{}", size_t(id)).c_str(), 2, ImGuiTableFlags_SizingFixedFit)) | |
| 140 | { | ||
| 141 | ✗ | for (size_t i = 0; i < _header.comments.size(); i++) | |
| 142 | { | ||
| 143 | ✗ | ImGui::TableNextRow(); | |
| 144 | ✗ | ImGui::TableNextColumn(); | |
| 145 | ✗ | auto& comment = _header.comments.at(i); | |
| 146 | ✗ | float startPos = ImGui::GetCursorPosX(); | |
| 147 | ✗ | if (ImGui::Button(fmt::format("X##Remove comment {} {}", i, size_t(id)).c_str())) | |
| 148 | { | ||
| 149 | ✗ | commentsToRemove.push_back(i); | |
| 150 | } | ||
| 151 | ✗ | ImGui::SameLine(); | |
| 152 | ✗ | ImGui::SetNextItemWidth(COL1_WIDTH - (ImGui::GetCursorPosX() - startPos)); | |
| 153 | ✗ | if (ImGui::InputTextL(fmt::format("##Comment {} {}", i, size_t(id)).c_str(), &comment, 60)) | |
| 154 | { | ||
| 155 | ✗ | flow::ApplyChanges(); | |
| 156 | } | ||
| 157 | } | ||
| 158 | ✗ | ImGui::EndTable(); | |
| 159 | } | ||
| 160 | ✗ | for (const size_t& idx : commentsToRemove) | |
| 161 | { | ||
| 162 | ✗ | _header.comments.erase(std::next(_header.comments.begin(), static_cast<int>(idx))); | |
| 163 | ✗ | flow::ApplyChanges(); | |
| 164 | } | ||
| 165 | ✗ | if (ImGui::Button(fmt::format("Add##Comment {}", size_t(id)).c_str())) | |
| 166 | { | ||
| 167 | ✗ | _header.comments.emplace_back(); | |
| 168 | ✗ | flow::ApplyChanges(); | |
| 169 | } | ||
| 170 | ✗ | } | |
| 171 | |||
| 172 | ✗ | if (ImGui::CollapsingHeader(fmt::format("Marker##{}", size_t(id)).c_str(), ImGuiTreeNodeFlags_DefaultOpen)) | |
| 173 | { | ||
| 174 | ✗ | if (ImGui::BeginTable(fmt::format("Table3##{}", size_t(id)).c_str(), 2, ImGuiTableFlags_SizingFixedFit)) | |
| 175 | { | ||
| 176 | ✗ | ImGui::TableNextColumn(); | |
| 177 | ✗ | ImGui::SetNextItemWidth(COL1_WIDTH); | |
| 178 | ✗ | if (gui::widgets::EnumComboWithToolTip(fmt::format("##Marker Type {}", size_t(id)).c_str(), _header.markerType)) | |
| 179 | { | ||
| 180 | ✗ | flow::ApplyChanges(); | |
| 181 | } | ||
| 182 | ✗ | if (_header.markerType != vendor::RINEX::ObsHeader::MarkerTypes::USER_DEFINED) { ImGui::BeginDisabled(); } | |
| 183 | ✗ | ImGui::TableNextColumn(); | |
| 184 | ✗ | ImGui::TextUnformatted("Type"); | |
| 185 | |||
| 186 | ✗ | ImGui::TableNextColumn(); | |
| 187 | ✗ | ImGui::SetNextItemWidth(COL1_WIDTH); | |
| 188 | ✗ | if (ImGui::InputTextL(fmt::format("##Marker User Type {}", size_t(id)).c_str(), &_header.markerTypeUser, 20)) | |
| 189 | { | ||
| 190 | ✗ | flow::ApplyChanges(); | |
| 191 | } | ||
| 192 | ✗ | if (_header.markerType != vendor::RINEX::ObsHeader::MarkerTypes::USER_DEFINED) { ImGui::EndDisabled(); } | |
| 193 | ✗ | ImGui::TableNextColumn(); | |
| 194 | ✗ | ImGui::TextUnformatted("User Type"); | |
| 195 | ✗ | ImGui::SameLine(); | |
| 196 | ✗ | ImGui::Dummy(ImVec2(ImGui::GetContentRegionAvail().x, 0.0F)); | |
| 197 | |||
| 198 | ✗ | ImGui::TableNextColumn(); | |
| 199 | ✗ | ImGui::SetNextItemWidth(COL1_WIDTH); | |
| 200 | ✗ | if (ImGui::InputTextL(fmt::format("##Marker Name {}", size_t(id)).c_str(), &_header.markerName, 60)) | |
| 201 | { | ||
| 202 | ✗ | flow::ApplyChanges(); | |
| 203 | } | ||
| 204 | ✗ | ImGui::TableNextColumn(); | |
| 205 | ✗ | ImGui::TextUnformatted("Name"); | |
| 206 | |||
| 207 | ✗ | ImGui::TableNextColumn(); | |
| 208 | ✗ | ImGui::SetNextItemWidth(COL1_WIDTH); | |
| 209 | ✗ | if (ImGui::InputTextL(fmt::format("##Marker Number {}", size_t(id)).c_str(), &_header.markerNumber, 20)) | |
| 210 | { | ||
| 211 | ✗ | flow::ApplyChanges(); | |
| 212 | } | ||
| 213 | ✗ | ImGui::TableNextColumn(); | |
| 214 | ✗ | ImGui::TextUnformatted("Number"); | |
| 215 | |||
| 216 | ✗ | ImGui::EndTable(); | |
| 217 | } | ||
| 218 | } | ||
| 219 | |||
| 220 | ✗ | if (ImGui::CollapsingHeader(fmt::format("Receiver##{}", size_t(id)).c_str(), ImGuiTreeNodeFlags_DefaultOpen)) | |
| 221 | { | ||
| 222 | ✗ | if (ImGui::BeginTable(fmt::format("Table4##{}", size_t(id)).c_str(), 2, ImGuiTableFlags_SizingFixedFit)) | |
| 223 | { | ||
| 224 | ✗ | ImGui::TableNextColumn(); | |
| 225 | ✗ | ImGui::SetNextItemWidth(COL1_WIDTH); | |
| 226 | ✗ | if (ImGui::InputTextL(fmt::format("##Receiver Number {}", size_t(id)).c_str(), &_header.receiverNumber, 20)) | |
| 227 | { | ||
| 228 | ✗ | flow::ApplyChanges(); | |
| 229 | } | ||
| 230 | ✗ | ImGui::TableNextColumn(); | |
| 231 | ✗ | ImGui::TextUnformatted("Number"); | |
| 232 | |||
| 233 | ✗ | ImGui::TableNextColumn(); | |
| 234 | ✗ | ImGui::SetNextItemWidth(COL1_WIDTH); | |
| 235 | ✗ | if (ImGui::InputTextL(fmt::format("##Receiver Type {}", size_t(id)).c_str(), &_header.receiverType, 20)) | |
| 236 | { | ||
| 237 | ✗ | flow::ApplyChanges(); | |
| 238 | } | ||
| 239 | ✗ | ImGui::TableNextColumn(); | |
| 240 | ✗ | ImGui::TextUnformatted("Type"); | |
| 241 | |||
| 242 | ✗ | ImGui::TableNextColumn(); | |
| 243 | ✗ | ImGui::SetNextItemWidth(COL1_WIDTH); | |
| 244 | ✗ | if (ImGui::InputTextL(fmt::format("##Receiver Version {}", size_t(id)).c_str(), &_header.receiverVersion, 20)) | |
| 245 | { | ||
| 246 | ✗ | flow::ApplyChanges(); | |
| 247 | } | ||
| 248 | ✗ | ImGui::TableNextColumn(); | |
| 249 | ✗ | ImGui::TextUnformatted("Version"); | |
| 250 | |||
| 251 | ✗ | ImGui::EndTable(); | |
| 252 | } | ||
| 253 | } | ||
| 254 | |||
| 255 | ✗ | if (ImGui::CollapsingHeader(fmt::format("Antenna##{}", size_t(id)).c_str(), ImGuiTreeNodeFlags_DefaultOpen)) | |
| 256 | { | ||
| 257 | ✗ | if (ImGui::BeginTable(fmt::format("Table5##{}", size_t(id)).c_str(), 2, ImGuiTableFlags_SizingFixedFit)) | |
| 258 | { | ||
| 259 | ✗ | ImGui::TableNextColumn(); | |
| 260 | ✗ | ImGui::SetNextItemWidth(COL1_WIDTH); | |
| 261 | ✗ | if (ImGui::InputTextL(fmt::format("##Antenna Number {}", size_t(id)).c_str(), &_header.antennaNumber, 20)) | |
| 262 | { | ||
| 263 | ✗ | flow::ApplyChanges(); | |
| 264 | } | ||
| 265 | ✗ | ImGui::TableNextColumn(); | |
| 266 | ✗ | ImGui::TextUnformatted("Number"); | |
| 267 | |||
| 268 | ✗ | ImGui::TableNextColumn(); | |
| 269 | ✗ | ImGui::SetNextItemWidth(COL1_WIDTH); | |
| 270 | ✗ | if (ImGui::InputTextL(fmt::format("##Antenna Type {}", size_t(id)).c_str(), &_header.antennaType, 20)) | |
| 271 | { | ||
| 272 | ✗ | flow::ApplyChanges(); | |
| 273 | } | ||
| 274 | ✗ | ImGui::TableNextColumn(); | |
| 275 | ✗ | ImGui::TextUnformatted("Type"); | |
| 276 | |||
| 277 | ✗ | ImGui::TableNextColumn(); | |
| 278 | ✗ | float startPos = ImGui::GetCursorPosX(); | |
| 279 | ✗ | if (ImGui::Checkbox(fmt::format("##ApproxEnabled {}", size_t(id)).c_str(), &_header.approxPositionEnabled)) | |
| 280 | { | ||
| 281 | ✗ | flow::ApplyChanges(); | |
| 282 | } | ||
| 283 | ✗ | ImGui::SameLine(); | |
| 284 | ✗ | ImGui::SetNextItemWidth(COL1_WIDTH - (ImGui::GetCursorPosX() - startPos)); | |
| 285 | ✗ | if (!_header.approxPositionEnabled) { ImGui::BeginDisabled(); } | |
| 286 | ✗ | if (ImGui::InputDouble3L(fmt::format("##Approx position XYZ {}", size_t(id)).c_str(), _header.approxPositionXYZ.data(), -99999999.9999, 99999999.9999, "%.4f m")) | |
| 287 | { | ||
| 288 | ✗ | flow::ApplyChanges(); | |
| 289 | } | ||
| 290 | ✗ | if (!_header.approxPositionEnabled) { ImGui::EndDisabled(); } | |
| 291 | ✗ | ImGui::TableNextColumn(); | |
| 292 | ✗ | ImGui::TextUnformatted("Approx position XYZ"); | |
| 293 | ✗ | ImGui::SameLine(); | |
| 294 | ✗ | gui::widgets::HelpMarker("Geocentric approximate marker position\n" | |
| 295 | "System: ITRS recommended\n" | ||
| 296 | "Optional for moving platforms"); | ||
| 297 | |||
| 298 | ✗ | ImGui::TableNextColumn(); | |
| 299 | ✗ | ImGui::SetNextItemWidth(COL1_WIDTH); | |
| 300 | ✗ | if (ImGui::InputDouble3L(fmt::format("##Antenna delta HEN {}", size_t(id)).c_str(), _header.antennaDeltaHeightEastNorth.data(), -99999999.9999, 99999999.9999, "%.4f m")) | |
| 301 | { | ||
| 302 | ✗ | flow::ApplyChanges(); | |
| 303 | } | ||
| 304 | ✗ | ImGui::TableNextColumn(); | |
| 305 | ✗ | ImGui::TextUnformatted("Delta HEN"); | |
| 306 | |||
| 307 | ✗ | ImGui::EndTable(); | |
| 308 | } | ||
| 309 | } | ||
| 310 | ✗ | } | |
| 311 | |||
| 312 | ✗ | [[nodiscard]] json NAV::RinexObsLogger::save() const | |
| 313 | { | ||
| 314 | LOG_TRACE("{}: called", nameId()); | ||
| 315 | |||
| 316 | return { | ||
| 317 | ✗ | { "dynamicInputPins", _dynamicInputPins }, | |
| 318 | ✗ | { "FileWriter", FileWriter::save() }, | |
| 319 | ✗ | { "HeaderInfo", _header }, | |
| 320 | ✗ | }; | |
| 321 | ✗ | } | |
| 322 | |||
| 323 | 12 | void NAV::RinexObsLogger::restore(json const& j) | |
| 324 | { | ||
| 325 | LOG_TRACE("{}: called", nameId()); | ||
| 326 | |||
| 327 |
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12 | if (j.contains("dynamicInputPins")) { NAV::gui::widgets::from_json(j.at("dynamicInputPins"), _dynamicInputPins, this); } |
| 328 |
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12 | if (j.contains("FileWriter")) { FileWriter::restore(j.at("FileWriter")); } |
| 329 |
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12 | if (j.contains("HeaderInfo")) { j.at("HeaderInfo").get_to(_header); } |
| 330 | 12 | } | |
| 331 | |||
| 332 | 12 | void NAV::RinexObsLogger::flush() | |
| 333 | { | ||
| 334 | LOG_TRACE("{}: called", nameId()); | ||
| 335 |
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12 | _filestream.close(); |
| 336 | |||
| 337 | LOG_DATA("{}: ", nameId()); | ||
| 338 | |||
| 339 |
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12 | auto fs = std::fstream(getFilepath(), std::ios::in | std::ios::out | std::ios::binary); |
| 340 |
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12 | if (!fs.good()) { LOG_CRITICAL("{}: Could not open file: {}", nameId(), getFilepath()); } |
| 341 | |||
| 342 |
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342 | while (!fs.eof()) |
| 343 | { | ||
| 344 | 342 | std::string line; | |
| 345 |
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342 | auto pos = fs.tellg(); |
| 346 |
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342 | std::getline(fs, line); |
| 347 | LOG_DATA("{}: line: {}", nameId(), line); | ||
| 348 |
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342 | if (line.find("RINEX VERSION / TYPE", 60) != std::string::npos) |
| 349 | { | ||
| 350 |
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12 | fs.seekg(pos); |
| 351 | LOG_DATA("{}: new : {}", nameId(), _header.headerLineRinexVersionType()); | ||
| 352 |
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12 | fs << _header.headerLineRinexVersionType(); |
| 353 |
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12 | fs.flush(); |
| 354 | } | ||
| 355 |
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330 | else if (line.find("TIME OF LAST OBS", 60) != std::string::npos) |
| 356 | { | ||
| 357 |
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12 | fs.seekg(pos); |
| 358 | LOG_DATA("{}: new : {}", nameId(), _header.headerLineTimeOfLastObs()); | ||
| 359 |
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12 | fs << _header.headerLineTimeOfLastObs(); |
| 360 |
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12 | fs.flush(); |
| 361 | } | ||
| 362 |
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318 | else if (line.find("INTERVAL", 60) != std::string::npos) |
| 363 | { | ||
| 364 |
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12 | fs.seekg(pos); |
| 365 | LOG_DATA("{}: new : {}", nameId(), _header.headerLineInterval()); | ||
| 366 |
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12 | fs << _header.headerLineInterval(); |
| 367 |
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12 | fs.flush(); |
| 368 | } | ||
| 369 |
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306 | else if (line.find("# OF SATELLITES", 60) != std::string::npos) |
| 370 | { | ||
| 371 |
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12 | fs.seekg(pos); |
| 372 | LOG_DATA("{}: new : {}", nameId(), _header.headerLineNumSatellites()); | ||
| 373 |
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12 | fs << _header.headerLineNumSatellites(); |
| 374 |
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12 | fs.flush(); |
| 375 | } | ||
| 376 |
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294 | else if (line[0] == '>') { break; } |
| 377 | 342 | } | |
| 378 | 12 | } | |
| 379 | |||
| 380 | 36 | bool NAV::RinexObsLogger::initialize() | |
| 381 | { | ||
| 382 | LOG_TRACE("{}: called", nameId()); | ||
| 383 | |||
| 384 |
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36 | if (!FileWriter::initialize()) |
| 385 | { | ||
| 386 | ✗ | return false; | |
| 387 | } | ||
| 388 | |||
| 389 | 36 | _header.reset(); | |
| 390 | |||
| 391 |
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36 | _filestream << _header.generateHeader(); |
| 392 | 36 | _filestream.flush(); | |
| 393 | |||
| 394 | 36 | return true; | |
| 395 | } | ||
| 396 | |||
| 397 | 12 | void NAV::RinexObsLogger::deinitialize() | |
| 398 | { | ||
| 399 | LOG_TRACE("{}: called", nameId()); | ||
| 400 | |||
| 401 | 12 | FileWriter::deinitialize(); | |
| 402 | 12 | } | |
| 403 | |||
| 404 | 126 | void NAV::RinexObsLogger::pinAddCallback(Node* node) | |
| 405 | { | ||
| 406 |
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378 | node->CreateInputPin(GnssObs::type().c_str(), Pin::Type::Flow, { GnssObs::type() }, &RinexObsLogger::writeObservation); |
| 407 | 252 | } | |
| 408 | |||
| 409 | ✗ | void NAV::RinexObsLogger::pinDeleteCallback(Node* node, size_t pinIdx) | |
| 410 | { | ||
| 411 | ✗ | node->DeleteInputPin(pinIdx); | |
| 412 | ✗ | } | |
| 413 | |||
| 414 | 13 | void NAV::RinexObsLogger::updateFileHeader(TimeSystem oldTimeSys) | |
| 415 | { | ||
| 416 | LOG_TRACE("{}: called", nameId()); | ||
| 417 | |||
| 418 |
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13 | _filestream.close(); |
| 419 |
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13 | _filestream.clear(); |
| 420 | |||
| 421 |
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13 | std::string pathTmp = getFilepath().string() + ".tmp"; |
| 422 | { | ||
| 423 |
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13 | auto fsTmp = std::ofstream(pathTmp, std::ios_base::trunc | std::ios_base::binary); |
| 424 |
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13 | if (!fsTmp.good()) { LOG_CRITICAL("{}: Could not create temporary file: {}", nameId(), pathTmp); } |
| 425 | |||
| 426 |
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13 | auto fsOld = std::ifstream(getFilepath(), std::ios_base::in); |
| 427 |
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13 | if (!fsOld.good()) { LOG_CRITICAL("{}: Could not open old file: {}", nameId(), getFilepath()); } |
| 428 | |||
| 429 |
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13 | fsTmp << _header.generateHeader(); |
| 430 | LOG_DATA("{}: New Header\n{}", nameId(), _header.generateHeader()); | ||
| 431 | |||
| 432 | 13 | bool dataRecords = false; | |
| 433 |
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332 | while (!fsOld.eof()) |
| 434 | { | ||
| 435 | 319 | std::string line; | |
| 436 |
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319 | std::getline(fsOld, line); |
| 437 | LOG_DATA("{}: Line: {}", nameId(), line); | ||
| 438 |
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319 | if (line[0] == '>') |
| 439 | { | ||
| 440 | 2 | dataRecords = true; | |
| 441 |
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2 | if (oldTimeSys == _header.timeSys) |
| 442 | { | ||
| 443 | LOG_DATA("{}: Read whole file", nameId()); | ||
| 444 | ✗ | fsTmp << line << '\n'; | |
| 445 | ✗ | fsTmp << fsOld.rdbuf(); // Read whole data record at once | |
| 446 | ✗ | break; | |
| 447 | } | ||
| 448 | |||
| 449 | LOG_DATA("{}: Read epoch [{}][{}][{}][{}][{}][{}] [{}]", nameId(), line.substr(2, 4), line.substr(7, 2), line.substr(10, 2), | ||
| 450 | line.substr(13, 2), line.substr(16, 2), line.substr(18, 11), line.substr(29 + 3, 3)); | ||
| 451 |
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2 | auto epochTime = InsTime{ static_cast<uint16_t>(std::stoi(line.substr(2, 4))), // year [1X,I4] |
| 452 |
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4 | static_cast<uint16_t>(std::stoi(line.substr(7, 2))), // month [1X,I2.2] |
| 453 |
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4 | static_cast<uint16_t>(std::stoi(line.substr(10, 2))), // day [1X,I2.2] |
| 454 |
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4 | static_cast<uint16_t>(std::stoi(line.substr(13, 2))), // hour [1X,I2.2] |
| 455 |
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4 | static_cast<uint16_t>(std::stoi(line.substr(16, 2))), // min [1X,I2.2] |
| 456 | 2 | std::stold(line.substr(18, 11)), // sec [F11.7,2X,I1,] | |
| 457 |
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10 | oldTimeSys }; |
| 458 |
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2 | fsTmp << _header.epochRecordLine(epochTime, std::stoul(line.substr(29 + 3, 3))); // Num satellites I3,6X,F15.12 |
| 459 | } | ||
| 460 |
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317 | else if (dataRecords) |
| 461 | { | ||
| 462 |
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18 | fsTmp << line; |
| 463 |
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18 | if (!line.empty()) { fsTmp << '\n'; } |
| 464 | } | ||
| 465 | 319 | } | |
| 466 | 13 | } | |
| 467 |
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13 | std::filesystem::rename(pathTmp, getFilepath()); |
| 468 | |||
| 469 |
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13 | _filestream.open(getFilepath(), std::ios_base::app | std::ios_base::binary); |
| 470 |
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13 | if (!_filestream.good()) { LOG_CRITICAL("{}: Could not open file: {}", nameId(), getFilepath()); } |
| 471 | 13 | } | |
| 472 | |||
| 473 | 2035 | void NAV::RinexObsLogger::writeObservation(NAV::InputPin::NodeDataQueue& queue, size_t /* pinIdx */) | |
| 474 | { | ||
| 475 |
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2035 | auto obs = std::static_pointer_cast<const GnssObs>(queue.extract_front()); |
| 476 | LOG_DATA("{}: [{}]", nameId(), obs->insTime.toYMDHMS(GPST)); | ||
| 477 | |||
| 478 |
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2035 | _header.interval = std::min(_header.interval, std::round(static_cast<double>((obs->insTime - _header.timeLastObs).count()) * 1e3) / 1e3); |
| 479 |
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2035 | if (_header.timeFirstObs.empty()) { _header.timeFirstObs = obs->insTime; } |
| 480 | 2035 | _header.timeLastObs = obs->insTime; | |
| 481 | |||
| 482 | 2035 | std::set<SatId> satellites; | |
| 483 | 2035 | bool satelliteSystemDescriptionChanged = false; | |
| 484 |
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132699 | for (const auto& sig : obs->data) |
| 485 | { | ||
| 486 |
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130664 | auto satId = sig.satSigId.toSatId(); |
| 487 |
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130664 | satellites.insert(satId); |
| 488 |
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130664 | _header.satellites.insert(satId); |
| 489 | 130664 | _header.satSys |= satId.satSys; | |
| 490 | |||
| 491 |
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130664 | if (sig.pseudorange) { satelliteSystemDescriptionChanged |= _header.addObsType(sig.satSigId.code, vendor::RINEX::ObsType::C); } |
| 492 |
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130664 | if (sig.carrierPhase) { satelliteSystemDescriptionChanged |= _header.addObsType(sig.satSigId.code, vendor::RINEX::ObsType::L); } |
| 493 |
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130664 | if (sig.doppler) { satelliteSystemDescriptionChanged |= _header.addObsType(sig.satSigId.code, vendor::RINEX::ObsType::D); } |
| 494 |
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130664 | if (sig.CN0) { satelliteSystemDescriptionChanged |= _header.addObsType(sig.satSigId.code, vendor::RINEX::ObsType::S); } |
| 495 | } | ||
| 496 |
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2035 | if (satelliteSystemDescriptionChanged) |
| 497 | { | ||
| 498 | 13 | TimeSystem oldTimeSys = _header.timeSys; | |
| 499 |
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13 | _header.timeSys = vendor::RINEX::timeSystem(_header.satSys); |
| 500 |
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13 | updateFileHeader(oldTimeSys); |
| 501 | } | ||
| 502 | |||
| 503 |
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2035 | _filestream << _header.epochRecordLine(obs->insTime, satellites.size()); |
| 504 | |||
| 505 |
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72809 | for (const auto& satId : satellites) |
| 506 | { | ||
| 507 | 141548 | _filestream << fmt::format("{0}{1:02d}", satId.satSys.toChar(), | |
| 508 |
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141548 | satId.satSys == SBAS && satId.satNum > 100 ? satId.satNum - 100 : satId.satNum); |
| 509 |
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70774 | const auto& obsDescriptions = _header.systemObsTypes.at(satId.satSys); |
| 510 |
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603885 | for (size_t i = 0; i < obsDescriptions.size(); i++) |
| 511 | { | ||
| 512 |
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533111 | const auto& obsDesc = obsDescriptions.at(i); |
| 513 | |||
| 514 |
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533111 | auto signal = std::ranges::find_if(obs->data, [&obsDesc, &satId](const auto& sig) { |
| 515 |
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22581641 | return sig.satSigId == SatSigId{ obsDesc.code, satId.satNum }; |
| 516 | }); | ||
| 517 | |||
| 518 | 533111 | bool obsWritten = false; | |
| 519 |
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533111 | if (signal != obs->data.end()) |
| 520 | { | ||
| 521 |
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486147 | switch (obsDesc.type) |
| 522 | { | ||
| 523 | 130664 | case vendor::RINEX::ObsType::C: | |
| 524 |
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130664 | if (signal->pseudorange && signal->pseudorange->value < 100'000'000.0) |
| 525 | { | ||
| 526 | 261216 | _filestream << fmt::format("{obs:14.3f} {SSI}", | |
| 527 |
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130608 | "obs"_a = signal->pseudorange->value, |
| 528 |
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402218 | "SSI"_a = signal->pseudorange->SSI == 0 ? " " : std::to_string(signal->pseudorange->SSI)); |
| 529 | 130608 | obsWritten = true; | |
| 530 | } | ||
| 531 | 130664 | break; | |
| 532 | 129775 | case vendor::RINEX::ObsType::L: | |
| 533 |
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129775 | if (signal->carrierPhase && signal->carrierPhase->value < 1'000'000'000.0) |
| 534 | { | ||
| 535 | 248798 | _filestream << fmt::format("{obs:14.3f}{LLI:1}{SSI:1}", | |
| 536 |
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124399 | "obs"_a = signal->carrierPhase->value, |
| 537 |
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373152 | "LLI"_a = signal->carrierPhase->LLI == 0 ? " " : std::to_string(signal->carrierPhase->LLI), |
| 538 |
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383591 | "SSI"_a = signal->carrierPhase->SSI == 0 ? " " : std::to_string(signal->carrierPhase->SSI)); |
| 539 | 124399 | obsWritten = true; | |
| 540 | } | ||
| 541 | 129775 | break; | |
| 542 | 95086 | case vendor::RINEX::ObsType::D: | |
| 543 |
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95086 | if (signal->doppler) |
| 544 | { | ||
| 545 |
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190172 | _filestream << fmt::format("{:14.3f} ", signal->doppler.value()); |
| 546 | 95086 | obsWritten = true; | |
| 547 | } | ||
| 548 | 95086 | break; | |
| 549 | 130622 | case vendor::RINEX::ObsType::S: | |
| 550 |
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130622 | if (signal->CN0) |
| 551 | { | ||
| 552 |
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261244 | _filestream << fmt::format("{:14.3f} ", signal->CN0.value()); |
| 553 | 130622 | obsWritten = true; | |
| 554 | } | ||
| 555 | 130622 | break; | |
| 556 | ✗ | case vendor::RINEX::ObsType::I: | |
| 557 | case vendor::RINEX::ObsType::X: | ||
| 558 | case vendor::RINEX::ObsType::Error: | ||
| 559 | ✗ | break; | |
| 560 | } | ||
| 561 | } | ||
| 562 |
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533111 | if (!obsWritten) |
| 563 | { | ||
| 564 |
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104792 | _filestream << fmt::format("{X:16}", "X"_a = ""); |
| 565 | } | ||
| 566 |
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533111 | if (i == obsDescriptions.size() - 1) |
| 567 | { | ||
| 568 |
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70774 | _filestream << "\n"; |
| 569 | } | ||
| 570 | } | ||
| 571 | } | ||
| 572 | 2035 | } | |
| 573 |